+ python -m lidar_slam --no-model /working/f5d9b053-cb01-4ee7-9660-7228cd122273 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/f5d9b053-cb01-4ee7-9660-7228cd122273 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 0.007552018 Adjusted end_distance from 9.223372036854776e+18 to 113.457552018 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.007552018 meters Centerline goodness [0,1] 0.9793475074966744 Centerline is valid? [0, True] SLAMing on 0.037552018 meters Centerline goodness [0,1] 0.978132733408324 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99999629e-01 -3.60084220e-04 7.82751966e-04 2.99865024e-02] [ 3.60131968e-04 9.99999933e-01 -6.08589231e-05 -2.38462294e-03] [-7.82730000e-04 6.11407946e-05 9.99999692e-01 9.44185245e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06755201799999999 meters Centerline goodness [0,1] 0.977865577156198 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99996883e-01 -5.56552839e-04 2.43377571e-03 6.00860932e-02] [ 5.57015012e-04 9.99999827e-01 -1.89225930e-04 -2.81928077e-03] [-2.43366997e-03 1.90580990e-04 9.99997020e-01 2.37304423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09755201799999999 meters Centerline goodness [0,1] 0.9764414414414414 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:0.00 [[ 9.99996331e-01 -4.88103819e-04 2.66447725e-03 9.14523844e-02] [ 4.88657074e-04 9.99999859e-01 -2.06994054e-04 -4.44208707e-03] [-2.66437584e-03 2.08295310e-04 9.99996429e-01 2.24178243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.127552018 meters Centerline goodness [0,1] 0.9751792980957306 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:0.00 [[ 9.99995737e-01 -8.68208169e-04 2.78785770e-03 1.22421719e-01] [ 8.68815425e-04 9.99999599e-01 -2.16617932e-04 -8.04155906e-03] [-2.78766852e-03 2.19039143e-04 9.99996090e-01 2.16989018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.157552018 meters Centerline goodness [0,1] 0.9783041041403001 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.00, Z:0.00 [[ 9.99997721e-01 -1.23236313e-03 1.74354565e-03 1.53816867e-01] [ 1.23260128e-03 9.99999231e-01 -1.35520030e-04 -4.09245265e-03] [-1.74337730e-03 1.37668818e-04 9.99998471e-01 1.94647255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.187552018 meters Centerline goodness [0,1] 0.9769643706539219 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.01, Z:0.00 [[ 9.99998077e-01 -1.73162406e-03 9.20441256e-04 1.85145508e-01] [ 1.73169044e-03 9.99998498e-01 -7.13295957e-05 -7.62408360e-03] [-9.20316357e-04 7.29233778e-05 9.99999574e-01 1.16967721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21755201799999999 meters Centerline goodness [0,1] 0.9764319673986869 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.01, Z:0.00 [[ 9.99997647e-01 -2.13854187e-03 3.63501266e-04 2.15828855e-01] [ 2.13855227e-03 9.99997713e-01 -2.82040858e-05 -1.05948398e-02] [-3.63440119e-04 2.89813859e-05 9.99999934e-01 1.83216103e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24755201799999998 meters Centerline goodness [0,1] 0.9760351544803841 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.01, Z:-0.00 [[ 9.99996078e-01 -2.72359173e-03 -6.52632972e-04 2.45893945e-01] [ 2.72362561e-03 9.99996290e-01 5.10286749e-05 -1.21784056e-02] [ 6.52491569e-04 -5.28060027e-05 9.99999786e-01 -3.83653723e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.277552018 meters Centerline goodness [0,1] 0.9745804988662131 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.02, Z:-0.00 [[ 9.99994964e-01 -3.02732859e-03 -9.52836270e-04 2.76144142e-01] [ 3.02740090e-03 9.99995415e-01 7.44559994e-05 -1.52232949e-02] [ 9.52606499e-04 -7.73402418e-05 9.99999543e-01 -3.97241018e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.307552018 meters Centerline goodness [0,1] 0.9733472338689573 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.02, Z:-0.00 [[ 9.99995602e-01 -2.85131320e-03 -8.16380841e-04 3.07070099e-01] [ 2.85136637e-03 9.99995933e-01 6.39740749e-05 -1.73858404e-02] [ 8.16195110e-04 -6.63015944e-05 9.99999665e-01 -4.68826259e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33755201799999995 meters Centerline goodness [0,1] 0.971244994457139 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.02, Z:-0.00 [[ 9.99995038e-01 -3.01947168e-03 -8.97840430e-04 3.38067306e-01] [ 3.01953607e-03 9.99995439e-01 7.03627134e-05 -1.99875299e-02] [ 8.97623877e-04 -7.30734258e-05 9.99999594e-01 -9.50677482e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.367552018 meters Centerline goodness [0,1] 0.9777787845153691 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.01, Z:-0.00 [[ 9.99997344e-01 -2.14035342e-03 -8.54613551e-04 3.69645906e-01] [ 2.14041148e-03 9.99997707e-01 6.70299666e-05 -1.47189168e-02] [ 8.54468124e-04 -6.88590132e-05 9.99999633e-01 -1.71240556e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.397552018 meters Centerline goodness [0,1] 0.9696253182975627 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.02, Z:-0.00 [[ 9.99998134e-01 -1.76236317e-03 -7.91015150e-04 3.99589910e-01] [ 1.76241272e-03 9.99998445e-01 6.19398212e-05 -2.17909535e-02] [ 7.90904759e-04 -6.33338008e-05 9.99999685e-01 -4.11387090e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.427552018 meters Centerline goodness [0,1] 0.9773740299115324 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.02, Z:0.00 [[ 9.99999381e-01 -1.04659383e-03 -3.78526999e-04 4.30433148e-01] [ 1.04660510e-03 9.99999452e-01 2.95758693e-05 -1.60446101e-02] [ 3.78495837e-04 -2.99720193e-05 9.99999928e-01 2.82626186e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45755201799999995 meters Centerline goodness [0,1] 0.97700102470682 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.02, Z:0.00 [[ 9.99999959e-01 -2.86457761e-04 2.46676094e-05 4.61119536e-01] [ 2.86457805e-04 9.99999959e-01 -1.79270755e-06 -1.68152766e-02] [-2.46670948e-05 1.79977371e-06 1.00000000e+00 1.46743208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.487552018 meters Centerline goodness [0,1] 0.9776720684632192 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.02, Z:0.00 [[ 9.99999989e-01 -1.47707079e-04 -3.11174873e-05 4.91984200e-01] [ 1.47707154e-04 9.99999989e-01 2.43193428e-06 -1.50296216e-02] [ 3.11171277e-05 -2.43653053e-06 1.00000000e+00 1.73719997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5175520180000001 meters Centerline goodness [0,1] 0.9771733187534172 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.02, Z:0.00 [[ 9.99999954e-01 -9.72379913e-06 3.02352717e-04 5.22588216e-01] [ 9.73090465e-06 1.00000000e+00 -2.34993023e-05 -1.77277106e-02] [-3.02352489e-04 2.35022434e-05 9.99999954e-01 2.10507782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5475520180000001 meters Centerline goodness [0,1] 0.9777939736260733 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.02, Z:0.00 [[ 9.99999969e-01 2.66082212e-05 2.46624333e-04 5.53034022e-01] [-2.66034672e-05 9.99999999e-01 -1.92792825e-05 -1.95130079e-02] [-2.46624845e-04 1.92727209e-05 9.99999969e-01 1.96220066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.577552018 meters Centerline goodness [0,1] 0.9770990630401164 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.02, Z:0.00 [[ 9.99999504e-01 -7.09370429e-04 -6.99036592e-04 5.82822436e-01] [ 7.09409319e-04 9.99999747e-01 5.53871726e-05 -2.28229837e-02] [ 6.98997125e-04 -5.58830482e-05 9.99999754e-01 8.32299002e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.607552018 meters Centerline goodness [0,1] 0.9758604151917236 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.03, Z:-0.00 [[ 9.99998239e-01 -1.25858890e-03 -1.39237776e-03 6.12948102e-01] [ 1.25874185e-03 9.99999202e-01 1.08979278e-04 -2.53307545e-02] [ 1.39223949e-03 -1.10731730e-04 9.99999025e-01 -4.29598618e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.637552018 meters Centerline goodness [0,1] 0.9767701636802991 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.03, Z:-0.00 [[ 9.99996312e-01 -1.86954961e-03 -1.96995892e-03 6.43602587e-01] [ 1.86985695e-03 9.99998240e-01 1.54185672e-04 -2.68370340e-02] [ 1.96966720e-03 -1.57868644e-04 9.99998048e-01 -8.96357648e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.667552018 meters Centerline goodness [0,1] 0.9767701636802991 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.03, Z:-0.00 [[ 9.99996312e-01 -1.86954961e-03 -1.96995892e-03 6.73607508e-01] [ 1.86985695e-03 9.99998240e-01 1.54185672e-04 -2.91854733e-02] [ 1.96966720e-03 -1.57868644e-04 9.99998048e-01 -1.10896299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.697552018 meters Centerline goodness [0,1] 0.9741991460602324 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.03, Z:-0.00 [[ 9.99991146e-01 -3.40730557e-03 -2.46956902e-03 7.03980173e-01] [ 3.40779324e-03 9.99994175e-01 1.93289390e-04 -3.42044992e-02] [ 2.46889604e-03 -2.01703460e-04 9.99996932e-01 -1.99233573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.727552018 meters Centerline goodness [0,1] 0.9692882529845985 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.04, Z:-0.00 [[ 9.99986934e-01 -4.37244708e-03 -2.64841421e-03 7.33350516e-01] [ 4.37301130e-03 9.99990417e-01 2.07287330e-04 -3.99028906e-02] [ 2.64748248e-03 -2.18866167e-04 9.99996471e-01 -2.38473934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.757552018 meters Centerline goodness [0,1] 0.969727341062846 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.04, Z:-0.00 [[ 9.99981930e-01 -5.26738450e-03 -2.89720947e-03 7.63731002e-01] [ 5.26806344e-03 9.99986098e-01 2.26760154e-04 -4.22697057e-02] [ 2.89597476e-03 -2.42018740e-04 9.99995777e-01 -2.18944819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7875520180000001 meters Centerline goodness [0,1] 0.9771664499646433 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.04, Z:-0.00 [[ 9.99977809e-01 -6.08371001e-03 -2.71491239e-03 7.95438698e-01] [ 6.08431022e-03 9.99981468e-01 2.12874795e-04 -4.15861647e-02] [ 2.71356701e-03 -2.29388441e-04 9.99996292e-01 -8.51875676e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.817552018 meters Centerline goodness [0,1] 0.9744857279540743 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.05, Z:-0.00 [[ 9.99978400e-01 -6.06028626e-03 -2.54396131e-03 8.26225947e-01] [ 6.06081568e-03 9.99981613e-01 2.00449386e-04 -4.59988904e-02] [ 2.54269976e-03 -2.15863537e-04 9.99996744e-01 -8.21683143e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.847552018 meters Centerline goodness [0,1] 0.9711981041790092 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.05, Z:-0.00 [[ 9.99979391e-01 -5.90552379e-03 -2.51839638e-03 8.57391694e-01] [ 5.90604126e-03 9.99982540e-01 1.98088643e-04 -4.98351422e-02] [ 2.51718259e-03 -2.12958314e-04 9.99996809e-01 -6.08533950e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.877552018 meters Centerline goodness [0,1] 0.9755925411534345 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.05, Z:-0.00 [[ 9.99982179e-01 -5.53115517e-03 -2.24683898e-03 8.88473647e-01] [ 5.53156611e-03 9.99984685e-01 1.76725110e-04 -5.08482923e-02] [ 2.24582707e-03 -1.89150499e-04 9.99997460e-01 -3.02305219e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.907552018 meters Centerline goodness [0,1] 0.9759630690862783 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.05, Z:-0.00 [[ 9.99987678e-01 -4.52438522e-03 -2.04277024e-03 9.20248807e-01] [ 4.52472340e-03 9.99989750e-01 1.60958594e-04 -5.28106459e-02] [ 2.04202106e-03 -1.70199581e-04 9.99997901e-01 -2.94336917e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.937552018 meters Centerline goodness [0,1] 0.9643639350246396 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.06, Z:-0.00 [[ 9.99990256e-01 -4.05084730e-03 -1.75469421e-03 9.49728169e-01] [ 4.05109577e-03 9.99991785e-01 1.38074740e-04 -6.10720568e-02] [ 1.75412048e-03 -1.45181829e-04 9.99998451e-01 -1.11219047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.967552018 meters Centerline goodness [0,1] 0.9772376192639709 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.06, Z:-0.00 [[ 9.99992116e-01 -3.61655968e-03 -1.63983646e-03 9.81929164e-01] [ 3.61677646e-03 9.99993451e-01 1.29249977e-04 -5.66589655e-02] [ 1.63935829e-03 -1.35179880e-04 9.99998647e-01 -5.65909918e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.997552018 meters Centerline goodness [0,1] 0.9682788730472747 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.07, Z:-0.00 [[ 9.99994293e-01 -2.89868586e-03 -1.73532473e-03 1.01137056e+00] [ 2.89892819e-03 9.99995789e-01 1.37147738e-04 -6.57217232e-02] [ 1.73491988e-03 -1.42177537e-04 9.99998485e-01 -1.51817384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.027552018 meters Centerline goodness [0,1] 0.977896791176871 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.06, Z:-0.00 [[ 9.99997284e-01 8.17178974e-04 -2.18264988e-03 1.04233311e+00] [-8.16805916e-04 9.99999652e-01 1.71805465e-04 -6.40992158e-02] [ 2.18278951e-03 -1.70022197e-04 9.99997603e-01 -3.28727883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.057552018 meters Centerline goodness [0,1] 0.9787880850291522 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.06, Z:-0.00 [[ 9.99995606e-01 2.42965794e-03 -1.69865138e-03 1.07223395e+00] [-2.42943485e-03 9.99997040e-01 1.33386787e-04 -6.48637162e-02] [ 1.69897044e-03 -1.29259438e-04 9.99998548e-01 -2.35845533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.087552018 meters Centerline goodness [0,1] 0.9779461814221536 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.07, Z:-0.00 [[ 9.99992093e-01 3.91093919e-03 -7.19673722e-04 1.10143936e+00] [-3.91089965e-03 9.99992351e-01 5.63314227e-05 -6.73538900e-02] [ 7.19888526e-04 -5.35164056e-05 9.99999739e-01 -1.15251083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1175520179999998 meters Centerline goodness [0,1] 0.9773227203664648 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.07, Z:0.00 [[ 9.99974973e-01 6.99255890e-03 1.07630405e-03 1.12997675e+00] [-6.99247147e-03 9.99975549e-01 -8.49776628e-05 -6.98176728e-02] [-1.07687195e-03 7.74495106e-05 9.99999417e-01 2.85606189e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1475520179999998 meters Centerline goodness [0,1] 0.9770190413657256 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.07, Z:0.00 [[ 9.99957798e-01 9.06466669e-03 1.49462606e-03 1.15927662e+00] [-9.06450088e-03 9.99958910e-01 -1.17671164e-04 -7.26108227e-02] [-1.49563130e-03 1.04118159e-04 9.99998876e-01 2.64258258e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1775520179999999 meters Centerline goodness [0,1] 0.9774770683861593 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.08, Z:-0.00 [[ 9.99936552e-01 1.11757734e-02 1.41190294e-03 1.18939037e+00] [-1.11756277e-02 9.99937545e-01 -1.11014946e-04 -7.55250079e-02] [-1.41305544e-03 9.52290008e-05 9.99998997e-01 -5.94603938e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.207552018 meters Centerline goodness [0,1] 0.9775041386035331 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.08, Z:-0.00 [[ 9.99904038e-01 1.38390860e-02 6.28827044e-04 1.21765108e+00] [-1.38390575e-02 9.99904234e-01 -4.97382111e-05 -7.91945509e-02] [-6.29455155e-04 4.10310645e-05 9.99999801e-01 -2.64399017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.237552018 meters Centerline goodness [0,1] 0.9778625265153225 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.08, Z:-0.00 [[ 9.99891675e-01 1.47073811e-02 5.76071775e-04 1.24663749e+00] [-1.47073572e-02 9.99891840e-01 -4.56793868e-05 -8.20467334e-02] [-5.76681291e-04 3.72019452e-05 9.99999833e-01 -3.11389658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.267552018 meters Centerline goodness [0,1] 0.978137999638271 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.09, Z:-0.00 [[ 9.99893366e-01 1.46005203e-02 2.83848032e-04 1.27433357e+00] [-1.46005144e-02 9.99893407e-01 -2.28633766e-05 -8.55778313e-02] [-2.84151593e-04 1.87166113e-05 9.99999959e-01 -3.37542994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.297552018 meters Centerline goodness [0,1] 0.978025693035835 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.09, Z:-0.00 [[ 9.99893992e-01 1.45500839e-02 -5.47078882e-04 1.30241753e+00] [-1.45500630e-02 9.99894141e-01 4.21700333e-05 -8.90823065e-02] [ 5.47634547e-04 -3.42055307e-05 9.99999849e-01 -3.99371263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3275520179999998 meters Centerline goodness [0,1] 0.9793555681175805 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.09, Z:-0.01 [[ 9.99915234e-01 1.29196518e-02 -1.61472385e-03 1.33210010e+00] [-1.29194651e-02 9.99916532e-01 1.26001966e-04 -9.25514854e-02] [ 1.61621698e-03 -1.05129917e-04 9.99998688e-01 -5.48734681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3575520179999998 meters Centerline goodness [0,1] 0.978411111861507 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.10, Z:-0.01 [[ 9.99929439e-01 1.17495187e-02 -1.75069801e-03 1.35934843e+00] [-1.17492985e-02 9.99930965e-01 1.35996602e-04 -9.88648704e-02] [ 1.75217505e-03 -1.15417533e-04 9.99998458e-01 -6.69591201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3875520179999998 meters Centerline goodness [0,1] 0.9744486829334357 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.11, Z:-0.01 [[ 9.99947368e-01 1.01156323e-02 -1.71306189e-03 1.38761090e+00] [-1.01154187e-02 9.99948829e-01 1.33302544e-04 -1.08723028e-01] [ 1.71432267e-03 -1.15967190e-04 9.99998524e-01 -8.32020281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4175520179999999 meters Centerline goodness [0,1] 0.9800117048575159 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.10, Z:-0.01 [[ 9.99975648e-01 6.64624717e-03 -2.12863112e-03 1.41830354e+00] [-6.64590907e-03 9.99977902e-01 1.65868549e-04 -1.01531507e-01] [ 2.12968648e-03 -1.51717820e-04 9.99997721e-01 -6.17108270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4475520179999999 meters Centerline goodness [0,1] 0.9789629829411368 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.11, Z:-0.01 [[ 9.99984263e-01 5.39573411e-03 -1.53605057e-03 1.44608516e+00] [-5.39555766e-03 9.99985437e-01 1.18992432e-04 -1.07329523e-01] [ 1.53667025e-03 -1.10702711e-04 9.99998813e-01 -5.53323548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.477552018 meters Centerline goodness [0,1] 0.9783822734642407 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.11, Z:-0.00 [[ 9.99992984e-01 3.62758738e-03 -9.33747337e-04 1.47470566e+00] [-3.62752145e-03 9.99993418e-01 7.22917772e-05 -1.12697208e-01] [ 9.34003436e-04 -6.89040815e-05 9.99999561e-01 -4.93917705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.507552018 meters Centerline goodness [0,1] 0.9793574877047331 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.11, Z:-0.00 [[ 9.99996695e-01 2.56565817e-03 1.67974938e-04 1.50352678e+00] [-2.56565592e-03 9.99996709e-01 -1.36187319e-05 -1.13843506e-01] [-1.68009326e-04 1.31877210e-05 9.99999986e-01 -3.83690719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.537552018 meters Centerline goodness [0,1] 0.9796340887098589 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.12, Z:-0.00 [[ 9.99997766e-01 2.47109698e-04 2.09912014e-03 1.53363094e+00] [-2.46767531e-04 9.99999956e-01 -1.63262675e-04 -1.21681018e-01] [-2.09916039e-03 1.62744316e-04 9.99997784e-01 -2.84716316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.567552018 meters Centerline goodness [0,1] 0.9785131744040151 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.13, Z:-0.00 [[ 9.99996354e-01 -9.42060865e-04 2.53085021e-03 1.56371651e+00] [ 9.42561288e-04 9.99999536e-01 -1.96543935e-04 -1.28233788e-01] [-2.53066388e-03 1.98928700e-04 9.99996778e-01 -3.03179946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5975520179999998 meters Centerline goodness [0,1] 0.9790088774019553 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.13, Z:-0.00 [[ 9.99995021e-01 -1.45042351e-03 2.80238302e-03 1.59528936e+00] [ 1.45103749e-03 9.99998924e-01 -2.17071379e-04 -1.32569483e-01] [-2.80206516e-03 2.21136661e-04 9.99996050e-01 -2.64420427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6275520179999998 meters Centerline goodness [0,1] 0.9781733989704857 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.14, Z:-0.00 [[ 9.99992128e-01 -2.49890039e-03 3.08221057e-03 1.62720198e+00] [ 2.49965315e-03 9.99996847e-01 -2.40399555e-04 -1.36957841e-01] [-3.08160011e-03 2.48102120e-04 9.99995221e-01 -2.71738735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6575520179999998 meters Centerline goodness [0,1] 0.9779664443096826 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.14, Z:-0.00 [[ 9.99988568e-01 -3.67832570e-03 3.05513798e-03 1.65864336e+00] [ 3.67907171e-03 9.99993204e-01 -2.38599864e-04 -1.42771055e-01] [-3.05423957e-03 2.49837208e-04 9.99995305e-01 -2.40601572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6875520179999999 meters Centerline goodness [0,1] 0.9753280251205563 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.15, Z:-0.00 [[ 9.99986745e-01 -4.09472142e-03 3.12139352e-03 1.68927391e+00] [ 4.09550276e-03 9.99991584e-01 -2.43965865e-04 -1.47927133e-01] [-3.12036827e-03 2.56746307e-04 9.99995099e-01 -2.92831553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.717552018 meters Centerline goodness [0,1] 0.9754061674797476 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.15, Z:-0.00 [[ 9.99986289e-01 -4.26794076e-03 3.03422827e-03 1.72108041e+00] [ 4.26868013e-03 9.99990861e-01 -2.37241797e-04 -1.52827931e-01] [-3.03318800e-03 2.50190694e-04 9.99995369e-01 -3.42665213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.747552018 meters Centerline goodness [0,1] 0.9754796485565717 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.16, Z:-0.01 [[ 9.99983545e-01 -5.25022637e-03 2.31204333e-03 1.75319151e+00] [ 5.25065838e-03 9.99986199e-01 -1.80821938e-04 -1.57340700e-01] [-2.31106207e-03 1.92958712e-04 9.99997311e-01 -5.13107827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.777552018 meters Centerline goodness [0,1] 0.9771783305792506 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.16, Z:-0.01 [[ 9.99982772e-01 -5.61708308e-03 1.70411527e-03 1.78558617e+00] [ 5.61731827e-03 9.99984214e-01 -1.33260773e-04 -1.58976589e-01] [-1.70333983e-03 1.42831035e-04 9.99998539e-01 -5.46976218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8075520179999998 meters Centerline goodness [0,1] 0.9529485570890841 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.17, Z:-0.01 [[ 9.99979108e-01 -6.43246844e-03 6.37467753e-04 1.81602424e+00] [ 6.43250121e-03 9.99979310e-01 -4.93660593e-05 -1.69211380e-01] [-6.37137018e-04 5.34655400e-05 9.99999796e-01 -6.55152762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8375520179999998 meters Centerline goodness [0,1] 0.9381698821007503 Centerline is valid? [True, False] Translation: X:1.82, Y:-0.17, Z:-0.01 [[ 9.99981360e-01 -6.08850016e-03 4.57125641e-04 1.81685121e+00] [ 6.08823130e-03 9.99981294e-01 5.87244393e-04 -1.70319161e-01] [-4.60692527e-04 -5.84450361e-04 9.99999723e-01 -7.26380998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8675520179999998 meters Centerline goodness [0,1] 0.9763522574877067 Centerline is valid? [False, True] Translation: X:1.82, Y:-0.17, Z:-0.01 [[ 9.99984115e-01 -5.61623359e-03 4.77471096e-04 1.81752602e+00] [ 5.61547649e-03 9.99982997e-01 1.57247041e-03 -1.72341101e-01] [-4.86294339e-04 -1.56976420e-03 9.99998650e-01 -8.39583594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8975520179999998 meters Centerline goodness [0,1] 0.9805085695082334 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.17, Z:-0.01 [[ 9.99985035e-01 -5.45594814e-03 4.03884597e-04 1.85030677e+00] [ 5.45596147e-03 9.99985116e-01 -3.19317648e-05 -1.70559831e-01] [-4.03704367e-04 3.41348657e-05 9.99999918e-01 -7.73052984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9275520179999999 meters Centerline goodness [0,1] 0.975598855917054 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.18, Z:-0.01 [[ 9.99989182e-01 -4.64944884e-03 1.33993999e-04 1.88154904e+00] [ 4.64945026e-03 9.99989191e-01 -1.02552505e-05 -1.77785250e-01] [-1.33944870e-04 1.08781380e-05 9.99999991e-01 -8.72695024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.957552018 meters Centerline goodness [0,1] 0.979601422532376 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.18, Z:-0.01 [[ 9.99993211e-01 -3.53108602e-03 1.05333882e-03 1.91369997e+00] [ 3.53117688e-03 9.99993762e-01 -8.44124391e-05 -1.75604021e-01] [-1.05303419e-03 8.81313917e-05 9.99999442e-01 -7.67862712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.987552018 meters Centerline goodness [0,1] 0.9767061982546431 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.18, Z:-0.01 [[ 9.99993853e-01 -3.19212124e-03 1.45045611e-03 1.94489160e+00] [ 3.19229351e-03 9.99994898e-01 -1.16474531e-04 -1.81497942e-01] [-1.45007691e-03 1.21104097e-04 9.99998941e-01 -7.65217411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.017552018 meters Centerline goodness [0,1] 0.9781208053691275 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.18, Z:-0.01 [[ 9.99993713e-01 -3.03131505e-03 1.83970207e-03 1.97714140e+00] [ 3.03159216e-03 9.99995394e-01 -1.47856484e-04 -1.83748040e-01] [-1.83924540e-03 1.53432781e-04 9.99998297e-01 -7.06579290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.047552018 meters Centerline goodness [0,1] 0.9557559658012813 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.20, Z:-0.01 [[ 9.99990029e-01 -3.55879386e-03 2.69744624e-03 2.00712067e+00] [ 3.55939237e-03 9.99993642e-01 -2.17110710e-04 -1.95317824e-01] [-2.69665643e-03 2.26709814e-04 9.99996338e-01 -7.38971599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.077552018 meters Centerline goodness [0,1] 0.9722587694846464 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.19, Z:-0.01 [[ 9.99987144e-01 -4.41681794e-03 2.49069077e-03 2.03908189e+00] [ 4.41733195e-03 9.99990223e-01 -2.00911427e-04 -1.94291052e-01] [-2.48977903e-03 2.11911052e-04 9.99996878e-01 -7.62196906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1075520180000002 meters Centerline goodness [0,1] 0.978551022230158 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.19, Z:-0.01 [[ 9.99982568e-01 -5.41527418e-03 2.35353917e-03 2.07146221e+00] [ 5.41573594e-03 9.99985317e-01 -1.89869369e-04 -1.93473302e-01] [-2.35247642e-03 2.02612206e-04 9.99997212e-01 -7.69290078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.137552018 meters Centerline goodness [0,1] 0.9741732774757108 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.20, Z:-0.01 [[ 9.99978894e-01 -6.14890059e-03 2.09825285e-03 2.10188538e+00] [ 6.14926889e-03 9.99981079e-01 -1.69121333e-04 -1.98971172e-01] [-2.09717324e-03 1.82020485e-04 9.99997784e-01 -8.47513985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1675520180000003 meters Centerline goodness [0,1] 0.9779758314905403 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.20, Z:-0.01 [[ 9.99969647e-01 -7.75928755e-03 7.06608793e-04 2.13353227e+00] [ 7.75932977e-03 9.99969894e-01 -5.70219294e-05 -1.99557740e-01] [-7.06145070e-04 6.25030092e-05 9.99999749e-01 -9.80195906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.197552018 meters Centerline goodness [0,1] 0.9725285742931622 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.21, Z:-0.01 [[ 9.99967700e-01 -8.03261843e-03 2.76109184e-04 2.16424322e+00] [ 8.03262481e-03 9.99967738e-01 -2.20052187e-05 -2.06459910e-01] [-2.75923516e-04 2.42223894e-05 9.99999962e-01 -1.08624423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.227552018 meters Centerline goodness [0,1] 0.9740650714715786 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.21, Z:-0.01 [[ 9.99963482e-01 -8.53095448e-03 -5.06802410e-04 2.19617723e+00] [ 8.53097669e-03 9.99963610e-01 4.16835624e-05 -2.07834479e-01] [ 5.06428367e-04 -4.60055597e-05 9.99999871e-01 -1.14089785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.257552018 meters Centerline goodness [0,1] 0.9722438796195229 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.21, Z:-0.01 [[ 9.99965057e-01 -8.33950105e-03 -5.80582598e-04 2.22805315e+00] [ 8.33953015e-03 9.99965224e-01 4.77177401e-05 -2.11667164e-01] [ 5.80164466e-04 -5.25578587e-05 9.99999830e-01 -1.19065372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.287552018 meters Centerline goodness [0,1] 0.9676714527780255 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.22, Z:-0.01 [[ 9.99968566e-01 -7.89366653e-03 -7.46991930e-04 2.26016120e+00] [ 7.89371451e-03 9.99968842e-01 6.12998084e-05 -2.15258929e-01] [ 7.46484775e-04 -6.71944225e-05 9.99999719e-01 -1.19190659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.317552018 meters Centerline goodness [0,1] 0.970176492844584 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.22, Z:-0.01 [[ 9.99973094e-01 -7.33419683e-03 -1.44234813e-04 2.29209165e+00] [ 7.33419868e-03 9.99973104e-01 1.22642745e-05 -2.17683676e-01] [ 1.44140985e-04 -1.33217913e-05 9.99999990e-01 -1.14184479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.347552018 meters Centerline goodness [0,1] 0.9741150195421552 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.22, Z:-0.01 [[ 9.99974934e-01 -7.05433763e-03 6.06045775e-04 2.32437624e+00] [ 7.05436855e-03 9.99975116e-01 -4.88849989e-05 -2.18061181e-01] [-6.05685843e-04 5.31590438e-05 9.99999815e-01 -1.07398133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3775520180000003 meters Centerline goodness [0,1] 0.9688495732970878 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.22, Z:-0.01 [[ 9.99980444e-01 -6.04975527e-03 1.58513246e-03 2.35423486e+00] [ 6.04996751e-03 9.99981690e-01 -1.29131183e-04 -2.23750543e-01] [-1.58432223e-03 1.38718658e-04 9.99998735e-01 -9.97995573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.407552018 meters Centerline goodness [0,1] 0.9764818654004771 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.22, Z:-0.01 [[ 9.99981648e-01 -5.68888137e-03 2.08318358e-03 2.38636490e+00] [ 5.68924676e-03 9.99983802e-01 -1.69514698e-04 -2.22271633e-01] [-2.08218549e-03 1.81363332e-04 9.99997816e-01 -9.79977758e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.437552018 meters Centerline goodness [0,1] 0.9774816996964828 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.23, Z:-0.01 [[ 9.99983315e-01 -5.37613622e-03 2.11342591e-03 2.41869404e+00] [ 5.37651196e-03 9.99985532e-01 -1.72150125e-04 -2.25257137e-01] [-2.11246983e-03 1.83510112e-04 9.99997752e-01 -1.00279147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.467552018 meters Centerline goodness [0,1] 0.977328799093152 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.23, Z:-0.01 [[ 9.99985487e-01 -5.00632593e-03 1.99055321e-03 2.45037051e+00] [ 5.00665879e-03 9.99987453e-01 -1.62270689e-04 -2.29271337e-01] [-1.98971585e-03 1.72234354e-04 9.99998006e-01 -1.05448326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.497552018 meters Centerline goodness [0,1] 0.9738468747907973 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.23, Z:-0.01 [[ 9.99983945e-01 -5.38877786e-03 1.75214421e-03 2.48122030e+00] [ 5.38903665e-03 9.99985469e-01 -1.43009327e-04 -2.33754069e-01] [-1.75134810e-03 1.52449401e-04 9.99998455e-01 -1.14540524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.527552018 meters Centerline goodness [0,1] 0.9761198688933979 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.24, Z:-0.01 [[ 9.99987232e-01 -4.99643641e-03 7.55975085e-04 2.51346341e+00] [ 4.99648425e-03 9.99987516e-01 -6.14069213e-05 -2.35284084e-01] [-7.55658831e-04 6.51833549e-05 9.99999712e-01 -1.25425841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.557552018 meters Centerline goodness [0,1] 0.976016939708013 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.24, Z:-0.01 [[ 9.99988251e-01 -4.82573573e-03 4.58624501e-04 2.54524974e+00] [ 4.82575324e-03 9.99988355e-01 -3.70838964e-05 -2.38303512e-01] [-4.58440203e-04 3.92966694e-05 9.99999894e-01 -1.30631201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5875520180000002 meters Centerline goodness [0,1] 0.9748211031601405 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.24, Z:-0.01 [[ 9.99989289e-01 -4.62271997e-03 2.30763075e-04 2.57727922e+00] [ 4.62272435e-03 9.99989315e-01 -1.84208315e-05 -2.41887344e-01] [-2.30675455e-04 1.94873883e-05 9.99999973e-01 -1.39095556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.617552018 meters Centerline goodness [0,1] 0.9748211031601405 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.24, Z:-0.01 [[ 9.99989646e-01 -4.54484018e-03 2.30761614e-04 2.60898168e+00] [ 4.54484456e-03 9.99989672e-01 -1.84388629e-05 -2.44565050e-01] [-2.30675429e-04 1.94874476e-05 9.99999973e-01 -1.41209391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.647552018 meters Centerline goodness [0,1] 0.972017117896184 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.25, Z:-0.01 [[ 9.99991993e-01 -3.99434257e-03 2.41445987e-04 2.63954301e+00] [ 3.99434738e-03 9.99992022e-01 -1.94633155e-05 -2.48890387e-01] [-2.41366318e-04 2.04275789e-05 9.99999971e-01 -1.46189988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.677552018 meters Centerline goodness [0,1] 0.9787964593877505 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.25, Z:-0.01 [[ 9.99994862e-01 -3.20408962e-03 1.02829661e-04 2.67147749e+00] [ 3.20409048e-03 9.99994867e-01 -8.19369408e-06 -2.46512182e-01] [-1.02802880e-04 8.52312752e-06 9.99999995e-01 -1.45765137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.707552018 meters Centerline goodness [0,1] 0.975742199670628 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.25, Z:-0.02 [[ 9.99995868e-01 -2.85856567e-03 3.04758043e-04 2.70271416e+00] [ 2.85857333e-03 9.99995914e-01 -2.46906387e-05 -2.51786645e-01] [-3.04686217e-04 2.55617099e-05 9.99999953e-01 -1.53830463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.737552018 meters Centerline goodness [0,1] 0.9783726053000468 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.25, Z:-0.02 [[ 9.99996762e-01 -2.46697905e-03 6.24680160e-04 2.73434846e+00] [ 2.46701150e-03 9.99996956e-01 -5.11811560e-05 -2.51720021e-01] [-6.24551995e-04 5.27220834e-05 9.99999804e-01 -1.53335180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.767552018 meters Centerline goodness [0,1] 0.9716645940664417 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.26, Z:-0.02 [[ 9.99998575e-01 -1.57300451e-03 6.13537290e-04 2.76416918e+00] [ 1.57303573e-03 9.99998762e-01 -5.04084683e-05 -2.60108677e-01] [-6.13457237e-04 5.13735126e-05 9.99999811e-01 -1.60300334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.797552018 meters Centerline goodness [0,1] 0.9775956527548885 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.26, Z:-0.02 [[ 9.99999317e-01 -8.41193021e-04 8.11495474e-04 2.79574246e+00] [ 8.41247356e-04 9.99999644e-01 -6.66183791e-05 -2.58606247e-01] [-8.11439147e-04 6.73010020e-05 9.99999669e-01 -1.53822679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.827552018 meters Centerline goodness [0,1] 0.9763429384560655 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.26, Z:-0.02 [[ 9.99999118e-01 -5.40317557e-04 1.21308861e-03 2.82546933e+00] [ 5.40439102e-04 9.99999849e-01 -9.98688931e-05 -2.62050001e-01] [-1.21303446e-03 1.00524406e-04 9.99999259e-01 -1.53108695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8575520180000002 meters Centerline goodness [0,1] 0.9795391294667706 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.26, Z:-0.02 [[ 9.99998573e-01 -3.41577818e-04 1.65450678e-03 2.85703837e+00] [ 3.41803600e-04 9.99999932e-01 -1.36183828e-04 -2.59045515e-01] [-1.65446015e-03 1.36749150e-04 9.99998622e-01 -1.50200423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.887552018 meters Centerline goodness [0,1] 0.9797140821234523 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.26, Z:-0.02 [[ 9.99998751e-01 2.83344189e-04 1.55504845e-03 2.88805733e+00] [-2.83145413e-04 9.99999952e-01 -1.28044920e-04 -2.61975452e-01] [-1.55508466e-03 1.27604455e-04 9.99998783e-01 -1.50042540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.917552018 meters Centerline goodness [0,1] 0.9795001778726432 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.27, Z:-0.02 [[ 9.99998323e-01 6.68233070e-04 1.70534010e-03 2.91835215e+00] [-6.67994240e-04 9.99999767e-01 -1.40613595e-04 -2.66703721e-01] [-1.70543366e-03 1.39474202e-04 9.99998536e-01 -1.55931556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.947552018 meters Centerline goodness [0,1] 0.9798454446250807 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.27, Z:-0.02 [[ 9.99998980e-01 6.69450205e-04 1.26176391e-03 2.94915750e+00] [-6.69319999e-04 9.99999771e-01 -1.03612843e-04 -2.68772104e-01] [-1.26183298e-03 1.02768213e-04 9.99999199e-01 -1.58972536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.977552018 meters Centerline goodness [0,1] 0.9792697813783154 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.27, Z:-0.02 [[ 9.99998075e-01 1.03992987e-03 1.66366897e-03 2.97984360e+00] [-1.03970260e-03 9.99999450e-01 -1.37468316e-04 -2.72389036e-01] [-1.66381101e-03 1.35738330e-04 9.99998607e-01 -1.64837810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.007552018 meters Centerline goodness [0,1] 0.978514754390657 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.28, Z:-0.02 [[ 9.99998047e-01 1.61669658e-03 1.13643758e-03 3.00998409e+00] [-1.61659091e-03 9.99998689e-01 -9.39033924e-05 -2.75538158e-01] [-1.13658791e-03 9.20660544e-05 9.99999350e-01 -1.72350198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.037552018 meters Centerline goodness [0,1] 0.9774288954613178 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.28, Z:-0.02 [[ 9.99997414e-01 2.04141060e-03 1.00262633e-03 3.03910947e+00] [-2.04132844e-03 9.99997913e-01 -8.29560333e-05 -2.81068491e-01] [-1.00279358e-03 8.09091291e-05 9.99999494e-01 -1.84295177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.067552018 meters Centerline goodness [0,1] 0.978107722489745 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.28, Z:-0.02 [[ 9.99997348e-01 2.19564138e-03 6.94443333e-04 3.06922514e+00] [-2.19560207e-03 9.99997588e-01 -5.73680704e-05 -2.82511181e-01] [-6.94567617e-04 5.58431971e-05 9.99999757e-01 -1.91795526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.097552018 meters Centerline goodness [0,1] 0.9789360942520529 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.29, Z:-0.02 [[ 9.99996351e-01 2.69756278e-03 1.46862366e-04 3.09948223e+00] [-2.69756102e-03 9.99996362e-01 -1.21323226e-05 -2.85582846e-01] [-1.46894559e-04 1.17361081e-05 9.99999989e-01 -1.96708121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1275520180000003 meters Centerline goodness [0,1] 0.9758034026465028 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.29, Z:-0.02 [[ 9.99995100e-01 3.12112893e-03 2.43268635e-04 3.12840851e+00] [-3.12112411e-03 9.99995129e-01 -2.02180210e-05 -2.90309928e-01] [-2.43330553e-04 1.94586503e-05 9.99999970e-01 -2.02534216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.157552018 meters Centerline goodness [0,1] 0.9784131077566084 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.29, Z:-0.02 [[ 9.99994993e-01 3.11744935e-03 5.42715623e-04 3.15872873e+00] [-3.11742535e-03 9.99995140e-01 -4.50598578e-05 -2.88991529e-01] [-5.42853457e-04 4.33677568e-05 9.99999852e-01 -2.01812821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.187552018 meters Centerline goodness [0,1] 0.9795217274917463 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.29, Z:-0.02 [[ 9.99992277e-01 3.79846933e-03 1.00913526e-03 3.18861529e+00] [-3.79838696e-03 9.99992783e-01 -8.35285747e-05 -2.88986068e-01] [-1.00944525e-03 7.96948434e-05 9.99999487e-01 -2.00613473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.217552018 meters Centerline goodness [0,1] 0.9796232647413293 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.29, Z:-0.02 [[ 9.99984319e-01 5.44015456e-03 1.32924240e-03 3.21788086e+00] [-5.44001341e-03 9.99985197e-01 -1.09783260e-04 -2.92226368e-01] [-1.32981997e-03 1.02550442e-04 9.99999111e-01 -1.98804013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.247552018 meters Centerline goodness [0,1] 0.97881308682174 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.29, Z:-0.02 [[ 9.99978096e-01 6.37063425e-03 1.79508742e-03 3.24717669e+00] [-6.37037829e-03 9.99979698e-01 -1.48269487e-04 -2.93906870e-01] [-1.79599555e-03 1.36830853e-04 9.99998378e-01 -1.98422769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.277552018 meters Centerline goodness [0,1] 0.9789213062098501 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.30, Z:-0.02 [[ 9.99971562e-01 7.20884118e-03 2.21514809e-03 3.27711039e+00] [-7.20845379e-03 9.99974002e-01 -1.82819069e-04 -2.95472352e-01] [-2.21640841e-03 1.66846078e-04 9.99997530e-01 -1.93906716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.307552018 meters Centerline goodness [0,1] 0.9786735149620366 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.30, Z:-0.02 [[ 9.99965785e-01 7.93569073e-03 2.33527780e-03 3.30638170e+00] [-7.93526220e-03 9.99968497e-01 -1.92712803e-04 -2.96713976e-01] [-2.33673354e-03 1.74175168e-04 9.99997255e-01 -1.96266591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3375520180000002 meters Centerline goodness [0,1] 0.9790432497438867 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.30, Z:-0.02 [[ 9.99958580e-01 8.82886353e-03 2.21115821e-03 3.33504200e+00] [-8.82848176e-03 9.99961012e-01 -1.82360501e-04 -2.99345420e-01] [-2.21268203e-03 1.62831778e-04 9.99997539e-01 -2.04560789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.367552018 meters Centerline goodness [0,1] 0.979942501838604 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.30, Z:-0.02 [[ 9.99958555e-01 8.92624296e-03 1.79187080e-03 3.36363331e+00] [-8.92599227e-03 9.99960152e-01 -1.47854671e-04 -2.97141260e-01] [-1.79311918e-03 1.31854318e-04 9.99998384e-01 -2.08141142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.397552018 meters Centerline goodness [0,1] 0.9788251518049779 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.31, Z:-0.02 [[ 9.99957664e-01 9.05912570e-03 1.61327122e-03 3.39069012e+00] [-9.05892263e-03 9.99958958e-01 -1.33137634e-04 -3.05058871e-01] [-1.61441112e-03 1.18517499e-04 9.99998690e-01 -2.18646929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.427552018 meters Centerline goodness [0,1] 0.9791708347226853 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.31, Z:-0.02 [[ 9.99970330e-01 7.47733191e-03 1.85184793e-03 3.41987836e+00] [-7.47706269e-03 9.99972035e-01 -1.52258214e-04 -3.09250527e-01] [-1.85293463e-03 1.38407314e-04 9.99998274e-01 -2.25720472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.457552018 meters Centerline goodness [0,1] 0.9787853854877805 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.31, Z:-0.02 [[ 9.99974347e-01 6.88396619e-03 1.97907910e-03 3.44920432e+00] [-6.88365737e-03 9.99976294e-01 -1.62812437e-04 -3.09114402e-01] [-1.98015298e-03 1.49184958e-04 9.99998028e-01 -2.25396576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.487552018 meters Centerline goodness [0,1] 0.9775613886536834 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.31, Z:-0.02 [[ 9.99981125e-01 5.81905184e-03 1.97205536e-03 3.47736853e+00] [-5.81874362e-03 9.99983058e-01 -1.61990956e-04 -3.13574558e-01] [-1.97296458e-03 1.50513014e-04 9.99998042e-01 -2.30104196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.517552018 meters Centerline goodness [0,1] 0.9780038370588497 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.32, Z:-0.02 [[ 9.99988843e-01 4.59434633e-03 1.09783912e-03 3.50715920e+00] [-4.59425008e-03 9.99989442e-01 -9.01806680e-05 -3.15007639e-01] [-1.09824185e-03 8.51359144e-05 9.99999393e-01 -2.37335090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.547552018 meters Centerline goodness [0,1] 0.9802180685358255 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.32, Z:-0.02 [[ 9.99991082e-01 4.09496198e-03 1.03275014e-03 3.53684171e+00] [-4.09487656e-03 9.99991612e-01 -8.48109539e-05 -3.16711233e-01] [-1.03308878e-03 8.05812132e-05 9.99999463e-01 -2.39870609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.577552018 meters Centerline goodness [0,1] 0.9794826048171276 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.32, Z:-0.02 [[ 9.99993824e-01 3.23995021e-03 1.36201502e-03 3.56664977e+00] [-3.23980118e-03 9.99994746e-01 -1.11611851e-04 -3.20679379e-01] [-1.36236948e-03 1.07198504e-04 9.99999066e-01 -2.45865870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.607552018 meters Centerline goodness [0,1] 0.9783263094521373 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.32, Z:-0.02 [[ 9.99995200e-01 2.45942812e-03 1.88428093e-03 3.59679576e+00] [-2.45914184e-03 9.99996964e-01 -1.54231863e-04 -3.22717479e-01] [-1.88465453e-03 1.49597409e-04 9.99998213e-01 -2.47377670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.637552018 meters Centerline goodness [0,1] 0.9773521879523438 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.33, Z:-0.02 [[ 9.99995912e-01 7.91889332e-04 2.74751264e-03 3.62697334e+00] [-7.91274413e-04 9.99999662e-01 -2.24888968e-04 -3.27416776e-01] [-2.74768980e-03 2.22714012e-04 9.99996200e-01 -2.39178423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.667552018 meters Centerline goodness [0,1] 0.9762116496220542 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.33, Z:-0.02 [[ 9.99993594e-01 9.91601351e-05 3.57813238e-03 3.65666855e+00] [-9.81136608e-05 9.99999952e-01 -2.92638190e-04 -3.32921205e-01] [-3.57816123e-03 2.92285251e-04 9.99993556e-01 -2.36692302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.697552018 meters Centerline goodness [0,1] 0.9777332888443999 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.33, Z:-0.02 [[ 9.99991319e-01 -6.63904328e-04 4.11360624e-03 3.68812461e+00] [ 6.65295919e-04 9.99999722e-01 -3.36930464e-04 -3.34632047e-01] [-4.11338140e-03 3.39664304e-04 9.99991482e-01 -2.32358897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.727552018 meters Centerline goodness [0,1] 0.9751635732407531 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.34, Z:-0.02 [[ 9.99991635e-01 -1.58119915e-03 3.77222722e-03 3.71945455e+00] [ 1.58237523e-03 9.99998700e-01 -3.08809890e-04 -3.39280304e-01] [-3.77173402e-03 3.14776386e-04 9.99992837e-01 -2.35601255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.757552018 meters Centerline goodness [0,1] 0.9768434152629005 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.34, Z:-0.02 [[ 9.99987146e-01 -3.65988463e-03 3.50894323e-03 3.75021838e+00] [ 3.66091775e-03 9.99993257e-01 -2.88049009e-04 -3.40737594e-01] [-3.50786535e-03 3.00891259e-04 9.99993802e-01 -2.40191369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.787552018 meters Centerline goodness [0,1] 0.978129663036458 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.34, Z:-0.02 [[ 9.99984454e-01 -4.68198952e-03 3.02843449e-03 3.78204556e+00] [ 4.68276320e-03 9.99989005e-01 -2.48431252e-04 -3.43765122e-01] [-3.02723804e-03 2.62608832e-04 9.99995383e-01 -2.48986237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.817552018 meters Centerline goodness [0,1] 0.9738011643926937 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.35, Z:-0.03 [[ 9.99980888e-01 -5.64901424e-03 2.51261469e-03 3.81250905e+00] [ 5.64955053e-03 9.99984020e-01 -2.06390452e-04 -3.49424292e-01] [-2.51140864e-03 2.20581651e-04 9.99996822e-01 -2.56949058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.847552018 meters Centerline goodness [0,1] 0.9071759927196857 Centerline is valid? [True, False] Translation: X:3.81, Y:-0.35, Z:-0.03 [[ 9.99981804e-01 -5.50512436e-03 2.46698271e-03 3.81321273e+00] [ 5.50402010e-03 9.99984750e-01 4.54183292e-04 -3.50847411e-01] [-2.46944543e-03 -4.40596705e-04 9.99996854e-01 -2.67441538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.877552018 meters Centerline goodness [0,1] 0.9696024941543258 Centerline is valid? [False, True] Translation: X:3.81, Y:-0.35, Z:-0.03 [[ 9.99982927e-01 -5.34091729e-03 2.37087655e-03 3.81376916e+00] [ 5.33915175e-03 9.99985465e-01 7.50382027e-04 -3.51087846e-01] [-2.37484982e-03 -7.37710746e-04 9.99996908e-01 -2.72901393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.907552018 meters Centerline goodness [0,1] 0.9680806103610117 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.35, Z:-0.03 [[ 9.99984403e-01 -5.22423648e-03 1.97530998e-03 3.84603724e+00] [ 5.22457553e-03 9.99986338e-01 -1.66524723e-04 -3.53109698e-01] [-1.97441303e-03 1.76842282e-04 9.99998035e-01 -2.70640033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.937552018 meters Centerline goodness [0,1] 0.971946204290319 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.36, Z:-0.03 [[ 9.99986633e-01 -4.77044361e-03 1.99406070e-03 3.87829877e+00] [ 4.77078855e-03 9.99988606e-01 -1.68266448e-04 -3.55051085e-01] [-1.99323527e-03 1.77777441e-04 9.99997998e-01 -2.67780714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.967552018 meters Centerline goodness [0,1] 0.9666362076266465 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.36, Z:-0.03 [[ 9.99992568e-01 -3.18798742e-03 2.16816498e-03 3.90894923e+00] [ 3.18839245e-03 9.99994900e-01 -1.83375165e-04 -3.57266516e-01] [-2.16756932e-03 1.90286763e-04 9.99997633e-01 -2.65077876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.997552018 meters Centerline goodness [0,1] 0.9783422459893049 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.35, Z:-0.03 [[ 9.99995184e-01 -2.10004277e-03 2.28498562e-03 3.94126616e+00] [ 2.10048981e-03 9.99997775e-01 -1.93257212e-04 -3.53441221e-01] [-2.28457468e-03 1.98055870e-04 9.99997371e-01 -2.64318199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.027552018 meters Centerline goodness [0,1] 0.9765953190638128 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.36, Z:-0.03 [[ 9.99997114e-01 -9.75019138e-04 2.19565301e-03 3.97167181e+00] [ 9.75429901e-04 9.99999507e-01 -1.86016845e-04 -3.57509263e-01] [-2.19547055e-03 1.88158013e-04 9.99997572e-01 -2.66640781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.057552018 meters Centerline goodness [0,1] 0.9760211564958443 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.36, Z:-0.03 [[ 9.99996765e-01 -1.69928717e-04 2.53785467e-03 4.00326086e+00] [ 1.70474878e-04 9.99999962e-01 -2.14991179e-04 -3.60061276e-01] [-2.53781805e-03 2.15423124e-04 9.99996757e-01 -2.73839220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.087552018 meters Centerline goodness [0,1] 0.9767535338648088 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.36, Z:-0.03 [[ 9.99996230e-01 1.18334127e-03 2.47783878e-03 4.03517705e+00] [-1.18282486e-03 9.99999278e-01 -2.09867532e-04 -3.61963406e-01] [-2.47808534e-03 2.06935892e-04 9.99996908e-01 -2.77489510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.117552018 meters Centerline goodness [0,1] 0.9794057993625604 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.36, Z:-0.03 [[ 9.99995337e-01 1.73540906e-03 2.51271817e-03 4.06652203e+00] [-1.73487899e-03 9.99998472e-01 -2.13121567e-04 -3.60957484e-01] [-2.51308419e-03 2.08761311e-04 9.99996820e-01 -2.77504330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.147552018 meters Centerline goodness [0,1] 0.9779738620199147 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.36, Z:-0.03 [[ 9.99994848e-01 1.97790274e-03 2.52825019e-03 4.09630726e+00] [-1.97736637e-03 9.99998022e-01 -2.14632682e-04 -3.64829036e-01] [-2.52866972e-03 2.09632300e-04 9.99996781e-01 -2.77839083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.177552018 meters Centerline goodness [0,1] 0.9785109228711547 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.37, Z:-0.03 [[ 9.99994965e-01 1.90651587e-03 2.53672667e-03 4.12668891e+00] [-1.90597532e-03 9.99998160e-01 -2.15492839e-04 -3.66933553e-01] [-2.53713285e-03 2.10656816e-04 9.99996759e-01 -2.78985141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.207552018 meters Centerline goodness [0,1] 0.9779907941189614 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.37, Z:-0.03 [[ 9.99996026e-01 1.68667390e-03 2.25897893e-03 4.15686590e+00] [-1.68624467e-03 9.99998560e-01 -1.91898397e-04 -3.69684777e-01] [-2.25929934e-03 1.88088443e-04 9.99997430e-01 -2.81299362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.237552018 meters Centerline goodness [0,1] 0.9787868006759761 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.37, Z:-0.03 [[ 9.99996928e-01 1.52933507e-03 1.95048510e-03 4.18770999e+00] [-1.52901566e-03 9.99998817e-01 -1.65240428e-04 -3.71549625e-01] [-1.95073550e-03 1.62257598e-04 9.99998084e-01 -2.84661355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.267552018 meters Centerline goodness [0,1] 0.975377815478715 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.38, Z:-0.03 [[ 9.99997430e-01 1.41845976e-03 1.76848167e-03 4.21740440e+00] [-1.41819620e-03 9.99998983e-01 -1.50279325e-04 -3.76662156e-01] [-1.76869304e-03 1.47770885e-04 9.99998425e-01 -2.92973919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.297552018 meters Centerline goodness [0,1] 0.9765110411503338 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.38, Z:-0.03 [[ 9.99999310e-01 9.91890869e-04 6.29859453e-04 4.24783600e+00] [-9.91857321e-04 9.99999507e-01 -5.35726354e-05 -3.79050721e-01] [-6.29912280e-04 5.29478677e-05 9.99999800e-01 -3.04642962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3275520180000004 meters Centerline goodness [0,1] 0.9764191945082131 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.38, Z:-0.03 [[ 9.99999579e-01 9.16290336e-04 5.10662050e-05 4.27815145e+00] [-9.16290115e-04 9.99999580e-01 -4.34343117e-06 -3.81352965e-01] [-5.10701635e-05 4.29663788e-06 9.99999999e-01 -3.10388162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.357552018 meters Centerline goodness [0,1] 0.9762844967985186 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.38, Z:-0.03 [[ 9.99999625e-01 8.65903488e-04 -1.45572827e-05 4.30899321e+00] [-8.65903470e-04 9.99999625e-01 1.23816828e-06 -3.83851354e-01] [ 1.45583493e-05 -1.22556262e-06 1.00000000e+00 -3.13615031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.387552018 meters Centerline goodness [0,1] 0.9798356482515296 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.38, Z:-0.03 [[ 9.99999319e-01 1.16498006e-03 -7.58476168e-05 4.33936223e+00] [-1.16497958e-03 9.99999321e-01 6.45121177e-06 -3.83550941e-01] [ 7.58550808e-05 -6.36284645e-06 9.99999997e-01 -3.11854611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.417552018 meters Centerline goodness [0,1] 0.979231266870413 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.39, Z:-0.03 [[ 9.99998329e-01 1.76919212e-03 4.59737945e-04 4.37011402e+00] [-1.76917433e-03 9.99998434e-01 -3.91029668e-05 -3.85450548e-01] [-4.59806406e-04 3.82895449e-05 9.99999894e-01 -3.12968042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.447552018 meters Centerline goodness [0,1] 0.9791480621539561 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.39, Z:-0.03 [[ 9.99996787e-01 2.47705691e-03 5.39335284e-04 4.40083295e+00] [-2.47703253e-03 9.99996931e-01 -4.58731109e-05 -3.88258215e-01] [-5.39447259e-04 4.45370124e-05 9.99999854e-01 -3.15709221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.477552018 meters Centerline goodness [0,1] 0.9791480621539561 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.39, Z:-0.03 [[ 9.99996881e-01 2.43858735e-03 5.39313567e-04 4.42998192e+00] [-2.43856283e-03 9.99997026e-01 -4.61285056e-05 -3.90699509e-01] [-5.39424451e-04 4.48132118e-05 9.99999854e-01 -3.17816493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.507552018 meters Centerline goodness [0,1] 0.9817355666429081 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.39, Z:-0.03 [[ 9.99993825e-01 3.48371370e-03 4.63261568e-04 4.46043576e+00] [-3.48369577e-03 9.99993931e-01 -3.95183213e-05 -3.88257261e-01] [-4.63396427e-04 3.79042149e-05 9.99999892e-01 -3.12937123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.537552018 meters Centerline goodness [0,1] 0.9813422818791946 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.39, Z:-0.03 [[ 9.99982989e-01 5.73752124e-03 1.04965856e-03 4.48994323e+00] [-5.73743061e-03 9.99983537e-01 -8.93381616e-05 -3.90708047e-01] [-1.05015386e-03 8.33142988e-05 9.99999445e-01 -3.08337010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567552018 meters Centerline goodness [0,1] 0.9822261072261073 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.39, Z:-0.03 [[ 9.99974439e-01 7.03592863e-03 1.27136669e-03 4.52001701e+00] [-7.03579662e-03 9.99975243e-01 -1.08273888e-04 -3.86579311e-01] [-1.27209702e-03 9.93260430e-05 9.99999186e-01 -3.03780900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.597552018 meters Centerline goodness [0,1] 0.9821716538254793 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.39, Z:-0.03 [[ 9.99962128e-01 8.60403651e-03 1.30903309e-03 4.54854650e+00] [-8.60389783e-03 9.99962980e-01 -1.11535704e-04 -3.88489972e-01] [-1.30994429e-03 1.00268693e-04 9.99999137e-01 -3.04888654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.627552018 meters Centerline goodness [0,1] 0.9819501052537287 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.39, Z:-0.03 [[ 9.99946657e-01 1.02336289e-02 1.39889812e-03 4.57670090e+00] [-1.02334723e-02 9.99947630e-01 -1.19075561e-04 -3.92187920e-01] [-1.40004344e-03 1.04753624e-04 9.99999014e-01 -3.09246139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.657552018 meters Centerline goodness [0,1] 0.9818590536135776 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.39, Z:-0.03 [[ 9.99910364e-01 1.33666664e-02 7.71616463e-04 4.60555078e+00] [-1.33666197e-02 9.99910661e-01 -6.56926669e-05 -3.93085435e-01] [-7.72425619e-04 5.53728747e-05 9.99999700e-01 -3.19647114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.687552018 meters Centerline goodness [0,1] 0.9816530263512906 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.39, Z:-0.03 [[ 9.99900467e-01 1.40933353e-02 6.58309625e-04 4.63467271e+00] [-1.40933013e-02 9.99900683e-01 -5.63071887e-05 -3.94001189e-01] [-6.59037799e-04 4.70238284e-05 9.99999782e-01 -3.21948824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.717552018 meters Centerline goodness [0,1] 0.9819162080197686 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.40, Z:-0.03 [[ 9.99881173e-01 1.54142562e-02 2.03319399e-04 4.66261557e+00] [-1.54142529e-02 9.99881193e-01 -1.78796921e-05 -3.95440117e-01] [-2.03570846e-04 1.47435509e-05 9.99999979e-01 -3.26222942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.747552018 meters Centerline goodness [0,1] 0.9827930006945533 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.39, Z:-0.03 [[ 9.99837568e-01 1.80213254e-02 -2.62556496e-04 4.69276953e+00] [-1.80213202e-02 9.99837603e-01 2.19255594e-05 -3.90934474e-01] [ 2.62908985e-04 -1.71903833e-05 9.99999965e-01 -3.28788706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.777552018 meters Centerline goodness [0,1] 0.9824837896253602 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.39, Z:-0.03 [[ 9.99822006e-01 1.88575422e-02 -5.90845011e-04 4.72128027e+00] [-1.88575163e-02 9.99822180e-01 4.93624203e-05 -3.91548041e-01] [ 5.91670801e-04 -3.82117646e-05 9.99999824e-01 -3.33903563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.807552018 meters Centerline goodness [0,1] 0.9837370942708685 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.39, Z:-0.03 [[ 9.99796048e-01 2.01955115e-02 6.64919373e-05 4.74985979e+00] [-2.01955112e-02 9.99796050e-01 -6.17050392e-06 -3.92757680e-01] [-6.66029927e-05 4.82640677e-06 9.99999998e-01 -3.30197994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.837552018 meters Centerline goodness [0,1] 0.9833603166037057 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.39, Z:-0.03 [[ 9.99773573e-01 2.12750452e-02 4.18884797e-04 4.77920505e+00] [-2.12750319e-02 9.99773660e-01 -3.62736624e-05 -3.91995928e-01] [-4.19561711e-04 2.73536616e-05 9.99999912e-01 -3.25616956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.867552018 meters Centerline goodness [0,1] 0.984157260507596 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.39, Z:-0.03 [[ 9.99701475e-01 2.44086273e-02 1.08663196e-03 4.80948311e+00] [-2.44085420e-02 9.99702063e-01 -9.16988484e-05 -3.91795220e-01] [-1.08854645e-03 6.51483722e-05 9.99999405e-01 -3.21680232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.897552018 meters Centerline goodness [0,1] 0.983495670995671 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.39, Z:-0.03 [[ 9.99673875e-01 2.55272133e-02 7.11153596e-04 4.83878170e+00] [-2.55271768e-02 9.99674127e-01 -6.03035630e-05 -3.91949604e-01] [-7.12461232e-04 4.21301529e-05 9.99999745e-01 -3.24689991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.927552018 meters Centerline goodness [0,1] 0.984115572131479 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.39, Z:-0.03 [[ 9.99638571e-01 2.68803866e-02 4.14656339e-04 4.86645124e+00] [-2.68803741e-02 9.99638657e-01 -3.55735268e-05 -3.94488867e-01] [-4.15462736e-04 2.44145520e-05 9.99999913e-01 -3.30340726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.957552018 meters Centerline goodness [0,1] 0.9829734592892487 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.40, Z:-0.03 [[ 9.99592716e-01 2.85361799e-02 -2.95993329e-04 4.89521375e+00] [-2.85361739e-02 9.99592760e-01 2.43193263e-05 -3.95402369e-01] [ 2.96566770e-04 -1.58629043e-05 9.99999956e-01 -3.35853409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.987552018 meters Centerline goodness [0,1] 0.9839180629800998 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.40, Z:-0.03 [[ 9.99581895e-01 2.89140494e-02 -1.12949531e-04 4.92436762e+00] [-2.89140486e-02 9.99581901e-01 8.92647937e-06 -3.96586409e-01] [ 1.13160407e-04 -5.65691896e-06 9.99999994e-01 -3.40178701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.017552018 meters Centerline goodness [0,1] 0.9836072936315459 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.40, Z:-0.03 [[ 9.99568448e-01 2.93752745e-02 -1.01832887e-04 4.95194602e+00] [-2.93752739e-02 9.99568453e-01 7.85095539e-06 -4.00191218e-01] [ 1.02019565e-04 -4.85619836e-06 9.99999995e-01 -3.43908313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.047552018 meters Centerline goodness [0,1] 0.984375 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.40, Z:-0.03 [[ 9.99572185e-01 2.92462658e-02 -3.20880157e-04 4.98045048e+00] [-2.92462589e-02 9.99572236e-01 2.60280232e-05 -4.00069378e-01] [ 3.21504118e-04 -1.66323438e-05 9.99999948e-01 -3.48784254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.077552018 meters Centerline goodness [0,1] 0.9845758933597533 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.40, Z:-0.04 [[ 9.99551631e-01 2.98908377e-02 -1.75336716e-03 5.00954226e+00] [-2.98906273e-02 9.99553165e-01 1.46124227e-04 -4.02556375e-01] [ 1.75695147e-03 -9.36494653e-05 9.99998452e-01 -3.58120612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.107552018 meters Centerline goodness [0,1] 0.9843429216018048 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.41, Z:-0.04 [[ 9.99540106e-01 3.02359755e-02 -2.31578303e-03 5.03832301e+00] [-3.02356093e-02 9.99542781e-01 1.92997674e-04 -4.05111005e-01] [ 2.32055968e-03 -1.22889805e-04 9.99997300e-01 -3.66173062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.137552018 meters Centerline goodness [0,1] 0.9839617966391855 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.41, Z:-0.04 [[ 9.99533874e-01 3.04045007e-02 -2.75694943e-03 5.06672058e+00] [-3.04039825e-02 9.99537666e-01 2.29658202e-04 -4.07187452e-01] [ 2.76265744e-03 -1.45728909e-04 9.99996173e-01 -3.75672623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.167552018 meters Centerline goodness [0,1] 0.9833896777101645 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.41, Z:-0.04 [[ 9.99535248e-01 3.02810530e-02 -3.51361682e-03 5.09315741e+00] [-3.02802159e-02 9.99541407e-01 2.91215910e-04 -4.10519755e-01] [ 3.52082382e-03 -1.84687491e-04 9.99993785e-01 -3.83930738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.197552018 meters Centerline goodness [0,1] 0.9845811011569802 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.41, Z:-0.04 [[ 9.99527291e-01 3.04711151e-02 -4.08732398e-03 5.12177627e+00] [-3.04699805e-02 9.99535625e-01 3.39602420e-04 -4.11186616e-01] [ 4.09577400e-03 -2.14901205e-04 9.99991589e-01 -3.91064104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.227552018 meters Centerline goodness [0,1] 0.9835803414568224 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.41, Z:-0.04 [[ 9.99533944e-01 3.03020151e-02 -3.69912993e-03 5.14974610e+00] [-3.03010874e-02 9.99540770e-01 3.06591562e-04 -4.13021911e-01] [ 3.70672152e-03 -1.94361014e-04 9.99993111e-01 -3.91634751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.257552018 meters Centerline goodness [0,1] 0.9841459564295701 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.41, Z:-0.04 [[ 9.99536821e-01 3.01858686e-02 -3.86733485e-03 5.17898810e+00] [-3.01848537e-02 9.99544282e-01 3.20539116e-04 -4.14316314e-01] [ 3.87524819e-03 -2.03655713e-04 9.99992470e-01 -3.89488506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2875520179999995 meters Centerline goodness [0,1] 0.9833592289851156 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.42, Z:-0.04 [[ 9.99592735e-01 2.83962375e-02 -2.83173569e-03 5.20697548e+00] [-2.83956892e-02 9.99596734e-01 2.33667783e-04 -4.17740408e-01] [ 2.83722903e-03 -1.53163532e-04 9.99995963e-01 -3.76980036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.317552018 meters Centerline goodness [0,1] 0.9820732833367115 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.43, Z:-0.04 [[ 9.99635055e-01 2.69198391e-02 -2.25370965e-03 5.23369950e+00] [-2.69194886e-02 9.99637588e-01 1.85708342e-04 -4.26987303e-01] [ 2.25789212e-03 -1.24971858e-04 9.99997443e-01 -3.82552221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.347552018 meters Centerline goodness [0,1] 0.9825255819183627 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.43, Z:-0.04 [[ 9.99686523e-01 2.50071109e-02 -1.22501933e-03 5.26340216e+00] [-2.50070058e-02 9.99687271e-01 1.01071645e-04 -4.26201083e-01] [ 1.22716375e-03 -7.04058953e-05 9.99999245e-01 -3.68591344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.377552018 meters Centerline goodness [0,1] 0.9817759956748964 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.43, Z:-0.04 [[ 9.99796710e-01 2.01509028e-02 -6.92002280e-04 5.29186398e+00] [-2.01508679e-02 9.99796949e-01 5.72673430e-05 -4.34534669e-01] [ 6.93015757e-04 -4.33112546e-05 9.99999759e-01 -3.66035999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407552018 meters Centerline goodness [0,1] 0.981095219919621 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.44, Z:-0.04 [[ 9.99843695e-01 1.76654666e-02 -7.18825676e-04 5.32125989e+00] [-1.76654286e-02 9.99843952e-01 5.91743650e-05 -4.40607971e-01] [ 7.19758847e-04 -4.64667522e-05 9.99999740e-01 -3.69736114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.437552018 meters Centerline goodness [0,1] 0.9798041202296521 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.45, Z:-0.04 [[ 9.99893907e-01 1.45440769e-02 -8.03377554e-04 5.34962950e+00] [-1.45440285e-02 9.99894228e-01 6.61382461e-05 -4.47129654e-01] [ 8.04254498e-04 -5.44468832e-05 9.99999675e-01 -3.76754419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.467552018 meters Centerline goodness [0,1] 0.9795500101349068 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.45, Z:-0.04 [[ 9.99931625e-01 1.16603493e-02 -8.84629121e-04 5.37957874e+00] [-1.16602893e-02 9.99932014e-01 7.29721121e-05 -4.53048693e-01] [ 8.85419859e-04 -6.26520911e-05 9.99999606e-01 -3.80127833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.497552018 meters Centerline goodness [0,1] 0.9712398328315284 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.46, Z:-0.04 [[ 9.99976186e-01 6.73155896e-03 -1.52127781e-03 5.40809549e+00] [-6.73137593e-03 9.99977336e-01 1.25402408e-04 -4.61906813e-01] [ 1.52208749e-03 -1.15159129e-04 9.99998835e-01 -3.86320250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.527552018 meters Centerline goodness [0,1] 0.9606841453808934 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.47, Z:-0.04 [[ 9.99986667e-01 4.80724515e-03 -1.88593714e-03 5.43700037e+00] [-4.80696077e-03 9.99988434e-01 1.55289994e-04 -4.67411402e-01] [ 1.88666184e-03 -1.46222298e-04 9.99998210e-01 -3.94893841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.557552018 meters Centerline goodness [0,1] 0.9486326764487787 Centerline is valid? [True, False] Translation: X:5.44, Y:-0.47, Z:-0.04 [[ 9.99987541e-01 4.56467062e-03 -2.02046170e-03 5.43735162e+00] [-4.56441628e-03 9.99989574e-01 1.30478775e-04 -4.68078822e-01] [ 2.02103623e-03 -1.21254921e-04 9.99997950e-01 -3.96564091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.587552018 meters Centerline goodness [0,1] 0.9373368146214099 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.47, Z:-0.04 [[ 9.99988490e-01 4.34420559e-03 -2.03674008e-03 5.43742620e+00] [-4.34414124e-03 9.99990564e-01 3.60186001e-05 -4.68505695e-01] [ 2.03687734e-03 -2.71702989e-05 9.99997925e-01 -3.97839007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.617552018 meters Centerline goodness [0,1] 0.9137055837563451 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.47, Z:-0.04 [[ 9.99987867e-01 4.28926077e-03 -2.42246169e-03 5.43843911e+00] [-4.28969600e-03 9.99990784e-01 -1.74498985e-04 -4.68023793e-01] [ 2.42169089e-03 1.84888492e-04 9.99997051e-01 -4.00412562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.647552018 meters Centerline goodness [0,1] 0.9153872091716309 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.47, Z:-0.04 [[ 9.99988216e-01 4.11821058e-03 -2.57076583e-03 5.43867972e+00] [-4.12022080e-03 9.99991210e-01 -7.77147447e-04 -4.66568787e-01] [ 2.56754277e-03 7.87730412e-04 9.99996394e-01 -3.97454697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.677552018 meters Centerline goodness [0,1] 0.9222775736537204 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.46, Z:-0.04 [[ 9.99988445e-01 3.96765902e-03 -2.71444559e-03 5.43871012e+00] [-3.97147705e-03 9.99991130e-01 -1.40261801e-03 -4.64912979e-01] [ 2.70885640e-03 1.41338216e-03 9.99995332e-01 -3.91991630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.707552018 meters Centerline goodness [0,1] 0.9527249740371156 Centerline is valid? [False, True] Translation: X:5.44, Y:-0.46, Z:-0.04 [[ 9.99988176e-01 3.91681372e-03 -2.88210826e-03 5.43887045e+00] [-3.92236669e-03 9.99990457e-01 -1.92357952e-03 -4.63478346e-01] [ 2.87454645e-03 1.93486146e-03 9.99993997e-01 -3.87474021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.737552018 meters Centerline goodness [0,1] 0.980501079525009 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.45, Z:-0.04 [[ 9.99980117e-01 6.17662770e-03 -1.27083559e-03 5.47020008e+00] [-6.17650223e-03 9.99980920e-01 1.02635840e-04 -4.51285672e-01] [ 1.27144529e-03 -9.47844799e-05 9.99999187e-01 -3.76833205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.767552018 meters Centerline goodness [0,1] 0.9161290322580645 Centerline is valid? [True, False] Translation: X:5.47, Y:-0.45, Z:-0.04 [[ 9.99981207e-01 5.98054895e-03 -1.34859487e-03 5.47020562e+00] [-5.98110582e-03 9.99982029e-01 -4.09269203e-04 -4.50355821e-01] [ 1.34612298e-03 4.17327601e-04 9.99999007e-01 -3.73471396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.797552018 meters Centerline goodness [0,1] 0.9472198382944126 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.45, Z:-0.04 [[ 9.99982439e-01 5.75409121e-03 -1.41861938e-03 5.47026725e+00] [-5.75531461e-03 9.99983068e-01 -8.59819817e-04 -4.49608895e-01] [ 1.41364788e-03 8.67969318e-04 9.99998624e-01 -3.71474999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.827552018 meters Centerline goodness [0,1] 0.9799264722466563 Centerline is valid? [False, True] Translation: X:5.47, Y:-0.45, Z:-0.04 [[ 9.99982491e-01 5.67874223e-03 -1.66406782e-03 5.47075320e+00] [-5.68054244e-03 9.99983283e-01 -1.07908984e-03 -4.49166228e-01] [ 1.65791213e-03 1.08852376e-03 9.99998033e-01 -3.70846493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.857552018 meters Centerline goodness [0,1] 0.8817965833239054 Centerline is valid? [True, False] Translation: X:5.47, Y:-0.45, Z:-0.04 [[ 9.99983457e-01 5.47096827e-03 -1.77619160e-03 5.47098840e+00] [-5.47336578e-03 9.99984113e-01 -1.34775931e-03 -4.48870924e-01] [ 1.76878984e-03 1.35745876e-03 9.99997514e-01 -3.71026045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.887552018 meters Centerline goodness [0,1] 0.9790103931314957 Centerline is valid? [False, True] Translation: X:5.47, Y:-0.45, Z:-0.04 [[ 9.99985935e-01 5.01664258e-03 -1.72114455e-03 5.47110862e+00] [-5.01962418e-03 9.99985901e-01 -1.73240971e-03 -4.48568086e-01] [ 1.71242940e-03 1.74102484e-03 9.99997018e-01 -3.74308649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.917552018 meters Centerline goodness [0,1] 0.842690797490635 Centerline is valid? [True, False] Translation: X:5.47, Y:-0.45, Z:-0.04 [[ 9.99986706e-01 4.83735382e-03 -1.78571006e-03 5.47143530e+00] [-4.84051633e-03 9.99986716e-01 -1.77095544e-03 -4.48652644e-01] [ 1.77711960e-03 1.77957565e-03 9.99996837e-01 -3.77349111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.947552018 meters Centerline goodness [0,1] 0.9670500676589986 Centerline is valid? [False, True] Translation: X:5.47, Y:-0.45, Z:-0.04 [[ 9.99987790e-01 4.57465377e-03 -1.86858607e-03 5.47159652e+00] [-4.57829923e-03 9.99987616e-01 -1.95132208e-03 -4.48569755e-01] [ 1.85963631e-03 1.95985320e-03 9.99996350e-01 -3.77872005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.977552018 meters Centerline goodness [0,1] 0.9767725058632509 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.45, Z:-0.04 [[ 9.99990454e-01 3.91129247e-03 -1.94775913e-03 5.50057009e+00] [-3.91099073e-03 9.99992339e-01 1.58700385e-04 -4.47194724e-01] [ 1.94836494e-03 -1.51081202e-04 9.99998091e-01 -3.86901142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.007552018 meters Centerline goodness [0,1] 0.9768549880323353 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.45, Z:-0.04 [[ 9.99993959e-01 2.90622526e-03 -1.90700757e-03 5.52995242e+00] [-2.90593418e-03 9.99995766e-01 1.55392343e-04 -4.47099788e-01] [ 1.90745110e-03 -1.49849766e-04 9.99998170e-01 -3.91016938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0375520179999995 meters Centerline goodness [0,1] 0.9764753691244864 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.45, Z:-0.04 [[ 9.99994423e-01 2.59461375e-03 -2.10275893e-03 5.55853015e+00] [-2.59425931e-03 9.99996620e-01 1.71269899e-04 -4.50354389e-01] [ 2.10319621e-03 -1.65813842e-04 9.99997775e-01 -3.96167872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.067552018 meters Centerline goodness [0,1] 0.9675277752687201 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.45, Z:-0.04 [[ 9.99993852e-01 2.75767734e-03 -2.16572709e-03 5.58677810e+00] [-2.75730197e-03 9.99996183e-01 1.76290560e-04 -4.54086457e-01] [ 2.16620498e-03 -1.70317912e-04 9.99997639e-01 -4.08256102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.097552018 meters Centerline goodness [0,1] 0.9775400103835128 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.45, Z:-0.04 [[ 9.99994569e-01 2.61752479e-03 -2.00247756e-03 5.61605658e+00] [-2.61720431e-03 9.99996562e-01 1.62648727e-04 -4.48420801e-01] [ 2.00289641e-03 -1.57406951e-04 9.99997982e-01 -4.04287312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.127552018 meters Centerline goodness [0,1] 0.9764857647218576 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.45, Z:-0.04 [[ 9.99994115e-01 2.75880340e-03 -2.03937968e-03 5.64444356e+00] [-2.75847120e-03 9.99996182e-01 1.65687179e-04 -4.51927073e-01] [ 2.03982899e-03 -1.60060634e-04 9.99997907e-01 -4.12648635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.157552018 meters Centerline goodness [0,1] 0.97735626446431 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.45, Z:-0.04 [[ 9.99994162e-01 2.86790102e-03 -1.85774946e-03 5.67320628e+00] [-2.86762615e-03 9.99995877e-01 1.50604164e-04 -4.53165827e-01] [ 1.85817372e-03 -1.45275954e-04 9.99998263e-01 -4.15518372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.187552018 meters Centerline goodness [0,1] 0.9753828086182754 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.45, Z:-0.04 [[ 9.99992934e-01 3.61056908e-03 -1.04682744e-03 5.70189135e+00] [-3.61048238e-03 9.99993479e-01 8.46987399e-05 -4.54187847e-01] [ 1.04712642e-03 -8.09185894e-05 9.99999448e-01 -4.14224787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.217552018 meters Centerline goodness [0,1] 0.9730195829267739 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.46, Z:-0.04 [[ 9.99990992e-01 4.19984835e-03 -6.14059643e-04 5.73011044e+00] [-4.19981875e-03 9.99991179e-01 4.94759149e-05 -4.56165044e-01] [ 6.14262018e-04 -4.68965300e-05 9.99999810e-01 -4.12311585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.247552018 meters Centerline goodness [0,1] 0.972539941902687 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.46, Z:-0.04 [[ 9.99987543e-01 4.99099719e-03 -6.23028007e-05 5.75934612e+00] [-4.99099693e-03 9.99987545e-01 4.30616853e-06 -4.57537547e-01] [ 6.23235168e-05 -3.99516180e-06 9.99999998e-01 -4.10960293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.277552018 meters Centerline goodness [0,1] 0.9720955557067992 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.46, Z:-0.04 [[ 9.99981619e-01 6.05199424e-03 3.67683973e-04 5.78793222e+00] [-6.05198353e-03 9.99981686e-01 -3.02407407e-05 -4.59142484e-01] [-3.67860256e-04 2.80149675e-05 9.99999932e-01 -4.13691400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.307552018 meters Centerline goodness [0,1] 0.9740065662855202 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.46, Z:-0.04 [[ 9.99964734e-01 8.28360426e-03 1.38263434e-03 5.81853718e+00] [-8.28345668e-03 9.99965685e-01 -1.12426360e-04 -4.57434032e-01] [-1.38351819e-03 1.00969403e-04 9.99999038e-01 -4.13959254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.337552018 meters Centerline goodness [0,1] 0.9762018628589647 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.45, Z:-0.04 [[ 9.99958044e-01 8.94042767e-03 1.99488480e-03 5.84733811e+00] [-8.94012194e-03 9.99960023e-01 -1.62125047e-04 -4.54874200e-01] [-1.99625451e-03 1.44283731e-04 9.99997997e-01 -4.18444835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.367552018 meters Centerline goodness [0,1] 0.9759380745919688 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.46, Z:-0.04 [[ 9.99952665e-01 9.52522558e-03 1.98431707e-03 5.87660426e+00] [-9.52492473e-03 9.99954624e-01 -1.61007844e-04 -4.56023809e-01] [-1.98576067e-03 1.42099751e-04 9.99998018e-01 -4.23066998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.397552018 meters Centerline goodness [0,1] 0.9759380745919688 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.46, Z:-0.04 [[ 9.99953395e-01 9.44831799e-03 1.98431789e-03 5.90489039e+00] [-9.44801701e-03 9.99955354e-01 -1.60998015e-04 -4.58237844e-01] [-1.98575045e-03 1.42242643e-04 9.99998018e-01 -4.25178807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.427552018 meters Centerline goodness [0,1] 0.9736980056980057 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.46, Z:-0.04 [[ 9.99944716e-01 1.02215065e-02 2.46690796e-03 5.93186586e+00] [-1.02210442e-02 9.99947744e-01 -1.99914305e-04 -4.64927689e-01] [-2.46882248e-03 1.74688878e-04 9.99996937e-01 -4.47702483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.457552018 meters Centerline goodness [0,1] 0.976515428154099 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.46, Z:-0.05 [[ 9.99945601e-01 1.02240748e-02 2.06485363e-03 5.96084866e+00] [-1.02237513e-02 9.99947722e-01 -1.67150001e-04 -4.61738815e-01] [-2.06645464e-03 1.46030358e-04 9.99997854e-01 -4.52044862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.487552018 meters Centerline goodness [0,1] 0.9772794468830313 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.46, Z:-0.05 [[ 9.99948091e-01 9.98417181e-03 2.03285140e-03 5.98988364e+00] [-9.98385810e-03 9.99950147e-01 -1.64411670e-04 -4.63877113e-01] [-2.03439157e-03 1.44107435e-04 9.99997920e-01 -4.58282717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.517552018 meters Centerline goodness [0,1] 0.9769968051118211 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.47, Z:-0.05 [[ 9.99955718e-01 9.19896133e-03 1.98546559e-03 6.01889649e+00] [-9.19866081e-03 9.99957679e-01 -1.60441203e-04 -4.65768615e-01] [-1.98685745e-03 1.42170474e-04 9.99998016e-01 -4.62949972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.547552018 meters Centerline goodness [0,1] 0.9770303902093751 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.47, Z:-0.05 [[ 9.99969007e-01 7.64798056e-03 1.86923935e-03 6.04859623e+00] [-7.64771210e-03 9.99970744e-01 -1.50721931e-04 -4.70059906e-01] [-1.87033738e-03 1.36421855e-04 9.99998242e-01 -4.71335713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.577552018 meters Centerline goodness [0,1] 0.9776486671223513 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.47, Z:-0.05 [[ 9.99972746e-01 7.02124026e-03 2.28252930e-03 6.07768502e+00] [-7.02083822e-03 9.99975337e-01 -1.84101091e-04 -4.70995823e-01] [-2.28376562e-03 1.68070804e-04 9.99997378e-01 -4.77721468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.607552018 meters Centerline goodness [0,1] 0.9784100494722203 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.48, Z:-0.05 [[ 9.99976011e-01 6.55967877e-03 2.22444140e-03 6.10648004e+00] [-6.55929640e-03 9.99978472e-01 -1.79149889e-04 -4.75551624e-01] [-2.22556867e-03 1.64554821e-04 9.99997510e-01 -4.81329439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.637552018 meters Centerline goodness [0,1] 0.973228310606233 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.49, Z:-0.05 [[ 9.99975421e-01 6.47250803e-03 2.69519721e-03 6.13446951e+00] [-6.47194705e-03 9.99979033e-01 -2.16809231e-04 -4.86051120e-01] [-2.69654400e-03 1.99360728e-04 9.99996344e-01 -4.97526805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.667552018 meters Centerline goodness [0,1] 0.9736536226268888 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.49, Z:-0.05 [[ 9.99974036e-01 6.76643010e-03 2.47827708e-03 6.16365277e+00] [-6.76595699e-03 9.99977091e-01 -1.99238253e-04 -4.88126738e-01] [-2.47956843e-03 1.82465164e-04 9.99996909e-01 -5.05905702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.697552018 meters Centerline goodness [0,1] 0.9795360906876693 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.48, Z:-0.05 [[ 9.99969165e-01 7.45954066e-03 2.45461576e-03 6.19331777e+00] [-7.45907914e-03 9.99972161e-01 -1.97120939e-04 -4.84338286e-01] [-2.45601786e-03 1.78805688e-04 9.99996968e-01 -5.12958202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.727552018 meters Centerline goodness [0,1] 0.979319455199745 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.49, Z:-0.05 [[ 9.99964191e-01 8.05048204e-03 2.60888668e-03 6.22167559e+00] [-8.04996251e-03 9.99967577e-01 -2.09575300e-04 -4.86911976e-01] [-2.61048927e-03 1.88566356e-04 9.99996575e-01 -5.19952375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.757552018 meters Centerline goodness [0,1] 0.9717043410958592 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.50, Z:-0.05 [[ 9.99951232e-01 9.50764156e-03 2.67169596e-03 6.25007723e+00] [-9.50710298e-03 9.99954784e-01 -2.14216026e-04 -4.97504290e-01] [-2.67361184e-03 1.88805491e-04 9.99996408e-01 -5.33125051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7875520179999995 meters Centerline goodness [0,1] 0.9783563576776895 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.49, Z:-0.05 [[ 9.99944432e-01 1.00377531e-02 3.22136839e-03 6.27940531e+00] [-1.00369729e-02 9.99949595e-01 -2.58267421e-04 -4.90389394e-01] [-3.22379844e-03 2.25920282e-04 9.99994778e-01 -5.25850496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.817552018 meters Centerline goodness [0,1] 0.9773663019494552 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.49, Z:-0.05 [[ 9.99935619e-01 1.07623889e-02 3.59567382e-03 6.30862186e+00] [-1.07614227e-02 9.99942053e-01 -2.87941108e-04 -4.89784424e-01] [-3.59856440e-03 2.49228004e-04 9.99993494e-01 -5.25664073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.847552018 meters Centerline goodness [0,1] 0.9766065902057164 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.49, Z:-0.05 [[ 9.99902547e-01 1.26866070e-02 5.82636515e-03 6.33770792e+00] [-1.26841078e-02 9.99919445e-01 -4.65697051e-04 -4.93167276e-01] [-5.83180392e-03 3.91749423e-04 9.99982918e-01 -5.18925177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.877552018 meters Centerline goodness [0,1] 0.9776449655549979 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.49, Z:-0.05 [[ 9.99886648e-01 1.36456594e-02 6.36294658e-03 6.36691510e+00] [-1.36426995e-02 9.99906805e-01 -5.08353810e-04 -4.93383536e-01] [-6.36929040e-03 4.21488419e-04 9.99979627e-01 -5.14872007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.907552018 meters Centerline goodness [0,1] 0.9778587699316629 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.50, Z:-0.05 [[ 9.99860828e-01 1.52317379e-02 6.80575055e-03 6.39601089e+00] [-1.52283922e-02 9.99883894e-01 -5.43150472e-04 -4.95858976e-01] [-6.81323349e-03 4.39434242e-04 9.99976693e-01 -5.16432261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.937552018 meters Centerline goodness [0,1] 0.977085701295749 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.50, Z:-0.05 [[ 9.99841401e-01 1.62176934e-02 7.35933706e-03 6.42444735e+00] [-1.62138112e-02 9.99868375e-01 -5.86872224e-04 -4.97663968e-01] [-7.36788610e-03 4.67456245e-04 9.99972747e-01 -5.20169452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.967552018 meters Centerline goodness [0,1] 0.9785722418308095 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.50, Z:-0.05 [[ 9.99792394e-01 1.89095392e-02 7.58933919e-03 6.45400563e+00] [-1.89054923e-02 9.99821092e-01 -6.04622344e-04 -4.96627939e-01] [-7.59941453e-03 4.61016627e-04 9.99971018e-01 -5.33170141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9975520179999995 meters Centerline goodness [0,1] 0.9769169601272294 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.50, Z:-0.05 [[ 9.99766979e-01 2.02272598e-02 7.53964997e-03 6.48204383e+00] [-2.02233053e-02 9.99795308e-01 -6.00367456e-04 -5.02402243e-01] [-7.55025045e-03 4.47750914e-04 9.99971396e-01 -5.39043863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.027552018 meters Centerline goodness [0,1] 0.9775219547708969 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.50, Z:-0.05 [[ 9.99747569e-01 2.12928901e-02 7.17017003e-03 6.50997767e+00] [-2.12893448e-02 9.99773193e-01 -5.70425195e-04 -5.04594137e-01] [-7.18068979e-03 4.17632981e-04 9.99974131e-01 -5.44156861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.057552018 meters Centerline goodness [0,1] 0.97731247019281 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.51, Z:-0.06 [[ 9.99730472e-01 2.20855657e-02 7.15616339e-03 6.53885307e+00] [-2.20820593e-02 9.99756000e-01 -5.68646838e-04 -5.05579213e-01] [-7.16697618e-03 4.10470747e-04 9.99974233e-01 -5.51558950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.087552018 meters Centerline goodness [0,1] 0.9783312805072761 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.50, Z:-0.06 [[ 9.99693930e-01 2.35469543e-02 7.58859082e-03 6.56826483e+00] [-2.35430577e-02 9.99722642e-01 -6.02416978e-04 -5.04291311e-01] [-7.60067115e-03 4.23573965e-04 9.99971025e-01 -5.57668107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.117552018 meters Centerline goodness [0,1] 0.9787704656359739 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.51, Z:-0.06 [[ 9.99676505e-01 2.41135895e-02 8.08826871e-03 6.59734925e+00] [-2.41091854e-02 9.99709125e-01 -6.41581962e-04 -5.06649711e-01] [-8.10138688e-03 4.46372844e-04 9.99967084e-01 -5.61854696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.147552018 meters Centerline goodness [0,1] 0.9791395937350387 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.51, Z:-0.06 [[ 9.99660284e-01 2.47135116e-02 8.27999881e-03 6.62633279e+00] [-2.47089221e-02 9.99694473e-01 -6.56150970e-04 -5.09019879e-01] [-8.29368483e-03 4.51338220e-04 9.99965505e-01 -5.66830255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.177552018 meters Centerline goodness [0,1] 0.9797624185159107 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.51, Z:-0.06 [[ 9.99638360e-01 2.56774573e-02 7.98852967e-03 6.65423478e+00] [-2.56732205e-02 9.99670188e-01 -6.32462890e-04 -5.12475535e-01] [-8.00213500e-03 4.27142882e-04 9.99967891e-01 -5.75744521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2075520179999994 meters Centerline goodness [0,1] 0.9789832821562606 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.52, Z:-0.06 [[ 9.99628050e-01 2.59906683e-02 8.26112672e-03 6.68285295e+00] [-2.59861546e-02 9.99662089e-01 -6.53268800e-04 -5.15491679e-01] [-8.27531409e-03 4.38350901e-04 9.99965663e-01 -5.80403713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.237552018 meters Centerline goodness [0,1] 0.9794738758419808 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.52, Z:-0.06 [[ 9.99627544e-01 2.61050889e-02 7.95594401e-03 6.71153375e+00] [-2.61009106e-02 9.99659116e-01 -6.28572031e-04 -5.18080116e-01] [-7.96964088e-03 4.20680532e-04 9.99968153e-01 -5.85984808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.267552018 meters Centerline goodness [0,1] 0.9806079068815786 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.52, Z:-0.06 [[ 9.99618514e-01 2.63633851e-02 8.23392473e-03 6.73992024e+00] [-2.63589236e-02 9.99652332e-01 -6.49913998e-04 -5.20534460e-01] [-8.24819599e-03 4.32628673e-04 9.99965889e-01 -5.89005759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.297552018 meters Centerline goodness [0,1] 0.9806488332384746 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.52, Z:-0.06 [[ 9.99596204e-01 2.71296843e-02 8.45039598e-03 6.76709225e+00] [-2.71250179e-02 9.99631827e-01 -6.66352669e-04 -5.23917744e-01] [-8.46536271e-03 4.36866456e-04 9.99964073e-01 -5.98115720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.327552018 meters Centerline goodness [0,1] 0.9824014915531707 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.52, Z:-0.06 [[ 9.99579631e-01 2.76726238e-02 8.64795144e-03 6.79601913e+00] [-2.76677637e-02 9.99616942e-01 -6.81150393e-04 -5.19331148e-01] [-8.66348799e-03 4.41594582e-04 9.99962374e-01 -6.04995810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.357552018 meters Centerline goodness [0,1] 0.9813762052028379 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.52, Z:-0.06 [[ 9.99567983e-01 2.81400156e-02 8.48446528e-03 6.82497115e+00] [-2.81353598e-02 9.99603899e-01 -6.67628534e-04 -5.21103164e-01] [-8.49989166e-03 4.28626624e-04 9.99963783e-01 -6.08145573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.387552018 meters Centerline goodness [0,1] 0.9828139582527144 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.52, Z:-0.06 [[ 9.99549622e-01 2.88883067e-02 8.12524559e-03 6.85373994e+00] [-2.88840664e-02 9.99582564e-01 -6.38759340e-04 -5.23376777e-01] [-8.14030650e-03 4.03781524e-04 9.99966786e-01 -6.11466992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.417552018 meters Centerline goodness [0,1] 0.98284870513403 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.53, Z:-0.06 [[ 9.99541761e-01 2.91092598e-02 8.30171619e-03 6.88231959e+00] [-2.91048463e-02 9.99576152e-01 -6.51981344e-04 -5.25128568e-01] [-8.31717622e-03 4.10062407e-04 9.99965328e-01 -6.16738847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.447552018 meters Centerline goodness [0,1] 0.9828289039192913 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.53, Z:-0.06 [[ 9.99532526e-01 2.94071495e-02 8.36352284e-03 6.91035211e+00] [-2.94026859e-02 9.99567432e-01 -6.56185783e-04 -5.29359085e-01] [-8.37920160e-03 4.09968998e-04 9.99964810e-01 -6.27816966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.477552018 meters Centerline goodness [0,1] 0.9833109446506227 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.53, Z:-0.06 [[ 9.99538597e-01 2.92340553e-02 8.24397196e-03 6.93931728e+00] [-2.92297177e-02 9.99572512e-01 -6.46182683e-04 -5.31746868e-01] [-8.25933830e-03 4.04915559e-04 9.99965809e-01 -6.35467240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.507552018 meters Centerline goodness [0,1] 0.9826664543572712 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.53, Z:-0.06 [[ 9.99553731e-01 2.86900282e-02 8.31989959e-03 6.96840105e+00] [-2.86855968e-02 9.99588271e-01 -6.51487480e-04 -5.34168094e-01] [-8.33516524e-03 4.12535456e-04 9.99965177e-01 -6.41681460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5375520179999995 meters Centerline goodness [0,1] 0.9828632468919748 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.54, Z:-0.06 [[ 9.99567650e-01 2.82780826e-02 8.05378605e-03 6.99622825e+00] [-2.82739219e-02 9.99600014e-01 -6.30019127e-04 -5.38031594e-01] [-8.06838038e-03 4.02034620e-04 9.99967369e-01 -6.42716214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.567552018 meters Centerline goodness [0,1] 0.983270445969905 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.54, Z:-0.06 [[ 9.99590950e-01 2.72871821e-02 8.56402962e-03 7.02462818e+00] [-2.72824497e-02 9.99627541e-01 -6.68953618e-04 -5.41420079e-01] [-8.57909373e-03 4.35032275e-04 9.99963104e-01 -6.38285645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.597552018 meters Centerline goodness [0,1] 0.9836552412042074 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.54, Z:-0.06 [[ 9.99606944e-01 2.66375161e-02 8.74075895e-03 7.05334021e+00] [-2.66325676e-02 9.99645058e-01 -6.82067354e-04 -5.44185397e-01] [-8.75582507e-03 4.49010409e-04 9.99961566e-01 -6.38871245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.627552018 meters Centerline goodness [0,1] 0.984330419817943 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.55, Z:-0.06 [[ 9.99621073e-01 2.60435582e-02 8.91312063e-03 7.08159144e+00] [-2.60383957e-02 9.99660702e-01 -6.94778391e-04 -5.46363140e-01] [-8.92819093e-03 4.62431759e-04 9.99960036e-01 -6.38030453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.657552018 meters Centerline goodness [0,1] 0.9826287575490262 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.55, Z:-0.06 [[ 9.99642243e-01 2.49918158e-02 9.52865901e-03 7.10853880e+00] [-2.49858778e-02 9.99687529e-01 -7.41728362e-04 -5.52416397e-01] [-9.54421872e-03 5.03381093e-04 9.99954326e-01 -6.37501653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.687552018 meters Centerline goodness [0,1] 0.9820450120001811 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.56, Z:-0.06 [[ 9.99657682e-01 2.43141201e-02 9.66136366e-03 7.13699395e+00] [-2.43079942e-02 9.99704235e-01 -7.51001691e-04 -5.55012009e-01] [-9.67676611e-03 5.15896239e-04 9.99953046e-01 -6.42150074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.717552018 meters Centerline goodness [0,1] 0.9828450182835989 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.56, Z:-0.06 [[ 9.99668677e-01 2.37372311e-02 9.95385789e-03 7.16552136e+00] [-2.37307080e-02 9.99718088e-01 -7.72954672e-04 -5.58494801e-01] [-9.96939959e-03 5.36486479e-04 9.99950160e-01 -6.41459693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7475520179999995 meters Centerline goodness [0,1] 0.982885693615482 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.56, Z:-0.06 [[ 9.99700799e-01 2.25896343e-02 9.38198840e-03 7.19399885e+00] [-2.25837952e-02 9.99744689e-01 -7.27861410e-04 -5.62240741e-01] [-9.39603519e-03 5.15762728e-04 9.99955723e-01 -6.48240790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.777552018 meters Centerline goodness [0,1] 0.9842291963216521 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.56, Z:-0.07 [[ 9.99757777e-01 2.02239285e-02 8.68222183e-03 7.22295142e+00] [-2.02188443e-02 9.99795352e-01 -6.72975137e-04 -5.64223018e-01] [-8.69405523e-03 4.97267636e-04 9.99962082e-01 -6.63765555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.807552018 meters Centerline goodness [0,1] 0.9824858374523213 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.57, Z:-0.07 [[ 9.99784788e-01 1.89304397e-02 8.48627684e-03 7.25050575e+00] [-1.89255397e-02 9.99820680e-01 -6.57342971e-04 -5.73729495e-01] [-8.49719887e-03 4.96594134e-04 9.99963775e-01 -6.72347379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.837552018 meters Centerline goodness [0,1] 0.9823615653546859 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.58, Z:-0.07 [[ 9.99819210e-01 1.71699926e-02 8.16941965e-03 7.27950625e+00] [-1.71653944e-02 9.99852464e-01 -6.32650934e-04 -5.78403239e-01] [-8.17907698e-03 4.92305246e-04 9.99966430e-01 -6.78947505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.867552018 meters Centerline goodness [0,1] 0.9824822455191072 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.58, Z:-0.07 [[ 9.99852242e-01 1.53430641e-02 7.75147756e-03 7.30877005e+00] [-1.53388728e-02 9.99882173e-01 -5.99879412e-04 -5.82925338e-01] [-7.75976821e-03 4.80891847e-04 9.99969777e-01 -6.84343290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.897552018 meters Centerline goodness [0,1] 0.9833656841059901 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.58, Z:-0.07 [[ 9.99902277e-01 1.21221611e-02 6.96340449e-03 7.33920595e+00] [-1.21187026e-02 9.99926421e-01 -5.38653430e-04 -5.82061834e-01] [-6.96942177e-03 4.54213363e-04 9.99975610e-01 -6.88044819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.927552018 meters Centerline goodness [0,1] 0.9810823593000473 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.59, Z:-0.07 [[ 9.99917714e-01 1.07289558e-02 7.03233917e-03 7.36753767e+00] [-1.07253953e-02 9.99942333e-01 -5.43820252e-04 -5.93589500e-01] [-7.03776826e-03 4.68350886e-04 9.99975125e-01 -6.92193067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9575520179999994 meters Centerline goodness [0,1] 0.9825351098307527 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.59, Z:-0.07 [[ 9.99930076e-01 9.47664316e-03 7.07361257e-03 7.39792276e+00] [-9.47300693e-03 9.99954980e-01 -5.47383777e-04 -5.91632960e-01] [-7.07848148e-03 4.80337120e-04 9.99974832e-01 -6.98151044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.987552018 meters Centerline goodness [0,1] 0.9826061453774309 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.59, Z:-0.07 [[ 9.99954075e-01 6.68566088e-03 6.86662080e-03 7.42778810e+00] [-6.68216851e-03 9.99977533e-01 -5.31417091e-04 -5.94403956e-01] [-6.87001941e-03 4.85508768e-04 9.99976283e-01 -7.06128967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.017552018 meters Centerline goodness [0,1] 0.9827205053011505 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.60, Z:-0.07 [[ 9.99960088e-01 5.55939817e-03 6.99397693e-03 7.45756476e+00] [-5.55574874e-03 9.99984420e-01 -5.41117035e-04 -5.99432518e-01] [-6.99687625e-03 5.02238659e-04 9.99975395e-01 -7.08361952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.047552018 meters Centerline goodness [0,1] 0.9828709233924587 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.60, Z:-0.07 [[ 9.99967557e-01 4.45196137e-03 6.71305878e-03 7.48854105e+00] [-4.44857365e-03 9.99989970e-01 -5.19494017e-04 -6.02957870e-01] [-6.71530421e-03 4.89613627e-04 9.99977332e-01 -7.13348804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.077552018 meters Centerline goodness [0,1] 0.9814268668812896 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.61, Z:-0.07 [[ 9.99973749e-01 3.82683756e-03 6.15277068e-03 7.52010633e+00] [-3.82397865e-03 9.99992575e-01 -4.76349861e-04 -6.06566147e-01] [-6.15454791e-03 4.52809293e-04 9.99980958e-01 -7.19509017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.107552018 meters Centerline goodness [0,1] 0.9807124670467092 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.61, Z:-0.07 [[ 9.99977464e-01 2.37280936e-03 6.28018324e-03 7.55067606e+00] [-2.36980075e-03 9.99997074e-01 -4.86461451e-04 -6.10987509e-01] [-6.28131914e-03 4.71567705e-04 9.99980161e-01 -7.21214800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.137552018 meters Centerline goodness [0,1] 0.9821709963531583 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.61, Z:-0.07 [[ 9.99977330e-01 2.29264635e-03 6.33112480e-03 7.58264314e+00] [-2.28958719e-03 9.99997259e-01 -4.90399523e-04 -6.11842310e-01] [-6.33223175e-03 4.75892743e-04 9.99979838e-01 -7.26740095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.167552018 meters Centerline goodness [0,1] 0.9801807053337219 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.62, Z:-0.07 [[ 9.99979974e-01 1.74958145e-03 6.08203268e-03 7.61342709e+00] [-1.74673854e-03 9.99998363e-01 -4.72708093e-04 -6.19055154e-01] [-6.08284977e-03 4.62074905e-04 9.99981393e-01 -7.25472039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.197552018 meters Centerline goodness [0,1] 0.9795301862121827 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.62, Z:-0.07 [[ 9.99983573e-01 5.32475069e-04 5.70709292e-03 7.64539339e+00] [-5.29944650e-04 9.99999761e-01 -4.44884401e-04 -6.19390720e-01] [-5.70732844e-03 4.41852650e-04 9.99983615e-01 -7.37001806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.227552017999999 meters Centerline goodness [0,1] 0.9795237987971076 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.62, Z:-0.07 [[ 9.99983426e-01 4.26689195e-04 5.74158375e-03 7.67600501e+00] [-4.24118082e-04 9.99999809e-01 -4.49015649e-04 -6.23845602e-01] [-5.74177425e-03 4.46573097e-04 9.99983416e-01 -7.38682426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.257552018 meters Centerline goodness [0,1] 0.9789006732869463 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.63, Z:-0.07 [[ 9.99983068e-01 3.39124277e-04 5.80934664e-03 7.70800807e+00] [-3.36482356e-04 9.99999840e-01 -4.55742083e-04 -6.25877800e-01] [-5.80950026e-03 4.53779624e-04 9.99983022e-01 -7.42761798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.287552018 meters Centerline goodness [0,1] 0.9789006732869463 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.63, Z:-0.07 [[ 9.99983041e-01 4.14472593e-04 5.80920250e-03 7.73969707e+00] [-4.11821373e-04 9.99999811e-01 -4.57571590e-04 -6.28451077e-01] [-5.80939105e-03 4.55171476e-04 9.99983022e-01 -7.45119689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.317552018 meters Centerline goodness [0,1] 0.9777497238440903 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.63, Z:-0.07 [[ 9.99986051e-01 4.56539370e-04 5.26200722e-03 7.77149081e+00] [-4.54362846e-04 9.99999811e-01 -4.14818094e-04 -6.31303479e-01] [-5.26219561e-03 4.12421448e-04 9.99986070e-01 -7.48370492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.347552018 meters Centerline goodness [0,1] 0.9808876954667509 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.63, Z:-0.08 [[ 9.99986781e-01 1.63622385e-03 4.87448414e-03 7.80338034e+00] [-1.63436800e-03 9.99998590e-01 -3.84687046e-04 -6.29190800e-01] [-4.87510670e-03 3.76715260e-04 9.99988046e-01 -7.60149654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.377552018 meters Centerline goodness [0,1] 0.9804961737285266 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.63, Z:-0.08 [[ 9.99986769e-01 2.11468178e-03 4.68939547e-03 7.83552961e+00] [-2.11297155e-03 9.99997699e-01 -3.69626201e-04 -6.30740254e-01] [-4.69016632e-03 3.59712752e-04 9.99988936e-01 -7.62740577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.407552018 meters Centerline goodness [0,1] 0.9796849931078119 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.63, Z:-0.08 [[ 9.99983665e-01 2.87831646e-03 4.93814928e-03 7.86682334e+00] [-2.87641937e-03 9.99995787e-01 -3.91229240e-04 -6.32715101e-01] [-4.93925455e-03 3.77018661e-04 9.99987731e-01 -7.65522388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.437552018 meters Centerline goodness [0,1] 0.9805728743110147 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.63, Z:-0.08 [[ 9.99977776e-01 4.33456682e-03 5.06556139e-03 7.89828553e+00] [-4.33258814e-03 9.99990534e-01 -4.01522763e-04 -6.33636929e-01] [-5.06725387e-03 3.79566849e-04 9.99987089e-01 -7.66534939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.467552018 meters Centerline goodness [0,1] 0.9807239286037872 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.63, Z:-0.08 [[ 9.99955150e-01 7.59540044e-03 5.65752773e-03 7.92837083e+00] [-7.59298239e-03 9.99971072e-01 -4.48759604e-04 -6.32187107e-01] [-5.66077258e-03 4.05781968e-04 9.99983895e-01 -7.64262529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.497552018 meters Centerline goodness [0,1] 0.9809443775693293 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.63, Z:-0.08 [[ 9.99942767e-01 9.06171393e-03 5.68749758e-03 7.95894846e+00] [-9.05929380e-03 9.99958862e-01 -4.51136836e-04 -6.31712451e-01] [-5.69135168e-03 3.99586304e-04 9.99983724e-01 -7.69623047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.527552018 meters Centerline goodness [0,1] 0.9818169420642316 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.63, Z:-0.08 [[ 9.99929399e-01 1.06202149e-02 5.32988570e-03 7.98917369e+00] [-1.06181112e-02 9.99943537e-01 -4.22850337e-04 -6.28104260e-01] [-5.33407552e-03 3.66227164e-04 9.99985707e-01 -7.77396528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.557552017999999 meters Centerline goodness [0,1] 0.9803058968338993 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.63, Z:-0.08 [[ 9.99893547e-01 1.36574065e-02 5.13516080e-03 8.01824298e+00] [-1.36554945e-02 9.99906676e-01 -4.07215132e-04 -6.30821552e-01] [-5.14024307e-03 3.37048623e-04 9.99986732e-01 -7.89165902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.587552018 meters Centerline goodness [0,1] 0.9810933940774488 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.63, Z:-0.08 [[ 9.99876117e-01 1.49540918e-02 4.91179806e-03 8.04704448e+00] [-1.49523587e-02 9.99888131e-01 -3.89369667e-04 -6.32040997e-01] [-4.91707126e-03 3.15878464e-04 9.99987861e-01 -7.94797971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.617552018 meters Centerline goodness [0,1] 0.9825792734505384 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.63, Z:-0.08 [[ 9.99867636e-01 1.56673006e-02 4.38697123e-03 8.07680428e+00] [-1.56659258e-02 9.99877221e-01 -3.47577564e-04 -6.27364564e-01] [-4.39187821e-03 2.78805592e-04 9.99990317e-01 -7.98448050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.647552018 meters Centerline goodness [0,1] 0.9813904574655358 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.63, Z:-0.08 [[ 9.99859089e-01 1.62525782e-02 4.20199997e-03 8.10461642e+00] [-1.62513224e-02 9.99867883e-01 -3.32821976e-04 -6.31468277e-01] [-4.20685403e-03 2.64487021e-04 9.99991116e-01 -8.06322754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.677552018 meters Centerline goodness [0,1] 0.9808338860553942 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.63, Z:-0.08 [[ 9.99858914e-01 1.64359412e-02 3.46595064e-03 8.13195348e+00] [-1.64350886e-02 9.99864897e-01 -2.74309363e-04 -6.32247376e-01] [-3.46999091e-03 2.17307455e-04 9.99993956e-01 -8.18785261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.707552018 meters Centerline goodness [0,1] 0.9804701792901573 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.64, Z:-0.08 [[ 9.99865219e-01 1.61197109e-02 3.11419720e-03 8.15968722e+00] [-1.61190218e-02 9.99870050e-01 -2.46254557e-04 -6.35012421e-01] [-3.11776206e-03 1.96023554e-04 9.99995121e-01 -8.26913598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.737552018 meters Centerline goodness [0,1] 0.9844249566091167 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.62, Z:-0.08 [[ 9.99876876e-01 1.54763869e-02 2.59116347e-03 8.18924959e+00] [-1.54759081e-02 9.99880220e-01 -2.04733248e-04 -6.24187127e-01] [-2.59402163e-03 1.64607433e-04 9.99996622e-01 -8.21007530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.767552018 meters Centerline goodness [0,1] 0.9831821097974521 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.62, Z:-0.08 [[ 9.99890392e-01 1.47035843e-02 1.73448259e-03 8.21793473e+00] [-1.47033686e-02 9.99891890e-01 -1.37101666e-04 -6.24939671e-01] [-1.73631096e-03 1.11583902e-04 9.99998486e-01 -8.32555592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.797552018 meters Centerline goodness [0,1] 0.983159582999198 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.63, Z:-0.08 [[ 9.99890119e-01 1.47464808e-02 1.51377815e-03 8.24610210e+00] [-1.47463164e-02 9.99891260e-01 -1.19722877e-04 -6.27206527e-01] [-1.51537903e-03 9.73870699e-05 9.99998847e-01 -8.37263408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.827552018 meters Centerline goodness [0,1] 0.9830761116334533 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.63, Z:-0.08 [[ 9.99891120e-01 1.47221603e-02 1.00333752e-03 8.27512778e+00] [-1.47220880e-02 9.99891621e-01 -7.93697502e-05 -6.28195163e-01] [-1.00439727e-03 6.45898851e-05 9.99999494e-01 -8.43218402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.857552018 meters Centerline goodness [0,1] 0.9830939454333035 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.63, Z:-0.08 [[ 9.99883616e-01 1.52542873e-02 2.48805621e-04 8.30376623e+00] [-1.52542828e-02 9.99883646e-01 -2.00976903e-05 -6.28267303e-01] [-2.49083248e-04 1.62999999e-05 9.99999969e-01 -8.48650410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.887552018 meters Centerline goodness [0,1] 0.9830828365594863 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.63, Z:-0.09 [[ 9.99872210e-01 1.59830445e-02 -3.25626677e-04 8.33129603e+00] [-1.59830373e-02 9.99872263e-01 2.47973840e-05 -6.27746105e-01] [ 3.25981420e-04 -1.95897118e-05 9.99999947e-01 -8.54018859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.917552018 meters Centerline goodness [0,1] 0.9844506990264384 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.63, Z:-0.09 [[ 9.99862696e-01 1.65614211e-02 -5.55293316e-04 8.36008121e+00] [-1.65613999e-02 9.99862850e-01 4.28852949e-05 -6.25731699e-01] [ 5.55927398e-04 -3.36829720e-05 9.99999845e-01 -8.54196650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.947552018 meters Centerline goodness [0,1] 0.982743864356596 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.63, Z:-0.09 [[ 9.99854862e-01 1.70331295e-02 -3.57890285e-04 8.38726582e+00] [-1.70331208e-02 9.99854926e-01 2.72597532e-05 -6.29960762e-01] [ 3.58302683e-04 -2.11598083e-05 9.99999936e-01 -8.62486403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.977552017999999 meters Centerline goodness [0,1] 0.9840081345904973 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.63, Z:-0.09 [[ 9.99846045e-01 1.75454641e-02 -2.06111621e-04 8.41619580e+00] [-1.75454612e-02 9.99846066e-01 1.55170896e-05 -6.26224934e-01] [ 2.06352148e-04 -1.18983772e-05 9.99999979e-01 -8.59731591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.007552018 meters Centerline goodness [0,1] 0.9833830914855701 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.63, Z:-0.09 [[ 9.99823460e-01 1.87769085e-02 6.90272031e-04 8.44369830e+00] [-1.87768752e-02 9.99823697e-01 -5.47031164e-05 -6.26068641e-01] [-6.91177490e-04 4.17323074e-05 9.99999760e-01 -8.55893855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.037552018 meters Centerline goodness [0,1] 0.9833290884252934 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.63, Z:-0.09 [[ 9.99813150e-01 1.93174410e-02 7.08514757e-04 8.47155445e+00] [-1.93174062e-02 9.99813400e-01 -5.58960641e-05 -6.28035773e-01] [-7.09462317e-04 4.21989526e-05 9.99999747e-01 -8.58114163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.067552018 meters Centerline goodness [0,1] 0.9830182559540358 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.63, Z:-0.09 [[ 9.99798580e-01 2.00446633e-02 1.00502399e-03 8.50009419e+00] [-2.00445942e-02 9.99799084e-01 -7.87694902e-05 -6.27449378e-01] [-1.00640097e-03 5.86083265e-05 9.99999492e-01 -8.56920493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.097552018 meters Centerline goodness [0,1] 0.9825485600241349 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.63, Z:-0.09 [[ 9.99773088e-01 2.12896686e-02 7.23011119e-04 8.52762595e+00] [-2.12896330e-02 9.99773348e-01 -5.68925357e-05 -6.28453809e-01] [-7.24058471e-04 4.14869847e-05 9.99999737e-01 -8.65023077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.127552018 meters Centerline goodness [0,1] 0.9834566522406812 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.63, Z:-0.09 [[ 9.99744633e-01 2.25872604e-02 6.96636435e-04 8.55655867e+00] [-2.25872278e-02 9.99744875e-01 -5.46589162e-05 -6.26324967e-01] [-6.97693301e-04 3.89098723e-05 9.99999756e-01 -8.67962951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.157552018 meters Centerline goodness [0,1] 0.9841236536578543 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.63, Z:-0.09 [[ 9.99692808e-01 2.47788584e-02 -5.46355186e-04 8.58608294e+00] [-2.47788392e-02 9.99692957e-01 4.19582005e-05 -6.25231510e-01] [ 5.47227108e-04 -2.84072640e-05 9.99999850e-01 -8.79473499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.187552018 meters Centerline goodness [0,1] 0.9838999883163921 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.63, Z:-0.09 [[ 9.99630823e-01 2.71425162e-02 -1.22509142e-03 8.61468873e+00] [-2.71424208e-02 9.99631572e-01 9.43837464e-05 -6.26483947e-01] [ 1.22720187e-03 -6.10969552e-05 9.99999245e-01 -8.93762131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.217552018 meters Centerline goodness [0,1] 0.9845497762863534 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.63, Z:-0.09 [[ 9.99575207e-01 2.91089678e-02 -1.43998540e-03 8.64219684e+00] [-2.91088384e-02 9.99576242e-01 1.10765945e-04 -6.28414750e-01] [ 1.44259947e-03 -6.88025905e-05 9.99998957e-01 -9.03634340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.247552018 meters Centerline goodness [0,1] 0.985661240979893 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.63, Z:-0.09 [[ 9.99485030e-01 3.20742901e-02 -9.55905365e-04 8.67178801e+00] [-3.20742342e-02 9.99485487e-01 7.36708525e-05 -6.26765961e-01] [ 9.57776480e-04 -4.29729816e-05 9.99999540e-01 -8.99018956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.277552018 meters Centerline goodness [0,1] 0.9853353915239966 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.63, Z:-0.09 [[ 9.99462943e-01 3.27517770e-02 -1.07083545e-03 8.69958531e+00] [-3.27517079e-02 9.99463516e-01 8.20328797e-05 -6.32051270e-01] [ 1.07294769e-03 -4.69171336e-05 9.99999423e-01 -9.06904594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.307552017999999 meters Centerline goodness [0,1] 0.9853859779973895 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.63, Z:-0.09 [[ 9.99450975e-01 3.31159296e-02 -1.04097197e-03 8.72809862e+00] [-3.31158644e-02 9.99451516e-01 7.97907934e-05 -6.31356982e-01] [ 1.04304336e-03 -4.52742996e-05 9.99999455e-01 -9.03865468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.337552018 meters Centerline goodness [0,1] 0.9857006894310453 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.63, Z:-0.09 [[ 9.99434495e-01 3.35895865e-02 -1.55890854e-03 8.75574889e+00] [-3.35894409e-02 9.99435708e-01 1.19489131e-04 -6.34752391e-01] [ 1.56204245e-03 -6.70586926e-05 9.99998778e-01 -9.09414093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.367552018 meters Centerline goodness [0,1] 0.9850947564236716 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.64, Z:-0.09 [[ 9.99422018e-01 3.39226838e-02 -2.20934454e-03 8.78287972e+00] [-3.39223920e-02 9.99424456e-01 1.69445416e-04 -6.39944211e-01] [ 2.21382101e-03 -9.44012286e-05 9.99997545e-01 -9.22708874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.397552017999999 meters Centerline goodness [0,1] 0.9857979638324578 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.64, Z:-0.09 [[ 9.99400796e-01 3.43674101e-02 -4.11463015e-03 8.81073983e+00] [-3.43664018e-02 9.99409251e-01 3.15526755e-04 -6.37616187e-01] [ 4.12304328e-03 -1.73932657e-04 9.99991485e-01 -9.26534914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.427552018 meters Centerline goodness [0,1] 0.9868335197613721 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.64, Z:-0.09 [[ 9.99397518e-01 3.43768112e-02 -4.77874201e-03 8.83924839e+00] [-3.43754510e-02 9.99408922e-01 3.66516459e-04 -6.40842770e-01] [ 4.78851707e-03 -2.02024228e-04 9.99988515e-01 -9.26060407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.457552018 meters Centerline goodness [0,1] 0.9856980334796035 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.65, Z:-0.09 [[ 9.99439890e-01 3.31204640e-02 -4.78971974e-03 8.86602488e+00] [-3.31190870e-02 9.99451345e-01 3.66534087e-04 -6.47989193e-01] [ 4.79923162e-03 -2.07697642e-04 9.99988462e-01 -9.33059716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.487552018 meters Centerline goodness [0,1] 0.9859953085444876 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.65, Z:-0.09 [[ 9.99485296e-01 3.16628031e-02 -5.15855193e-03 8.89506142e+00] [-3.16611868e-02 9.99498581e-01 3.94720748e-04 -6.50184531e-01] [ 5.16846329e-03 -2.31191707e-04 9.99986617e-01 -9.31094265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.517552018 meters Centerline goodness [0,1] 0.983936488776434 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.66, Z:-0.09 [[ 9.99528023e-01 3.02022587e-02 -5.61731531e-03 8.92315764e+00] [-3.02003225e-02 9.99543774e-01 4.29210479e-04 -6.55010381e-01] [ 5.62771567e-03 -2.59363168e-04 9.99984131e-01 -9.35677355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.547552018 meters Centerline goodness [0,1] 0.9851605861452358 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.66, Z:-0.09 [[ 9.99571629e-01 2.86534121e-02 -5.96150302e-03 8.95129388e+00] [-2.86512110e-02 9.99589367e-01 4.54311898e-04 -6.57344520e-01] [ 5.97207262e-03 -2.83313003e-04 9.99982127e-01 -9.34073205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.577552018 meters Centerline goodness [0,1] 0.9849389228206552 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.66, Z:-0.09 [[ 9.99659034e-01 2.55082781e-02 -5.58063055e-03 8.97979744e+00] [-2.55062989e-02 9.99674571e-01 4.25548065e-04 -6.63787883e-01] [ 5.58966945e-03 -2.83061737e-04 9.99984338e-01 -9.23430686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.607552018 meters Centerline goodness [0,1] 0.9834391962120337 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.67, Z:-0.09 [[ 9.99711608e-01 2.35266531e-02 -4.81640899e-03 9.00712639e+00] [-2.35251586e-02 9.99723178e-01 3.66715196e-04 -6.74807360e-01] [ 4.82370328e-03 -2.53302653e-04 9.99988334e-01 -9.35141451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.637552018 meters Centerline goodness [0,1] 0.9833783503012674 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.68, Z:-0.09 [[ 9.99748425e-01 2.20242039e-02 -4.24524918e-03 9.03608868e+00] [-2.20230309e-02 9.99757412e-01 3.22878030e-04 -6.77289667e-01] [ 4.25133046e-03 -2.29303549e-04 9.99990937e-01 -9.22282055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.667552018 meters Centerline goodness [0,1] 0.9832136507423399 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.68, Z:-0.09 [[ 9.99781790e-01 2.05524251e-02 -3.73769486e-03 9.06487932e+00] [-2.05515069e-02 9.99788755e-01 2.83904539e-04 -6.77426783e-01] [ 3.74274021e-03 -2.07027326e-04 9.99992974e-01 -9.05119781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.697552018 meters Centerline goodness [0,1] 0.9832210908589423 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.69, Z:-0.09 [[ 9.99847917e-01 1.71222158e-02 -3.31249278e-03 9.09305987e+00] [-1.71214755e-02 9.99853385e-01 2.51701973e-04 -6.85500558e-01] [ 3.31631681e-03 -1.94948930e-04 9.99994482e-01 -8.98893093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.727552017999999 meters Centerline goodness [0,1] 0.9826253049201454 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.69, Z:-0.09 [[ 9.99880427e-01 1.50978997e-02 -3.34454296e-03 9.12282257e+00] [-1.50971342e-02 9.99886000e-01 2.54000369e-04 -6.85961480e-01] [ 3.34799655e-03 -2.03476983e-04 9.99994375e-01 -8.90443517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.757552018 meters Centerline goodness [0,1] 0.9834027761791856 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.69, Z:-0.09 [[ 9.99907371e-01 1.32627701e-02 -3.05746649e-03 9.15180305e+00] [-1.32621229e-02 9.99912027e-01 2.31845119e-04 -6.89616561e-01] [ 3.06027242e-03 -1.91275147e-04 9.99995299e-01 -8.87943258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.787552018 meters Centerline goodness [0,1] 0.9828665795087044 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.70, Z:-0.09 [[ 9.99954998e-01 9.14766971e-03 -2.51422373e-03 9.18067106e+00] [-9.14721871e-03 9.99958145e-01 1.90822563e-04 -7.00309679e-01] [ 2.51586408e-03 -1.67815821e-04 9.99996821e-01 -8.86767183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.817552018 meters Centerline goodness [0,1] 0.9797357431368522 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.71, Z:-0.09 [[ 9.99970193e-01 7.18151939e-03 -2.83517406e-03 9.20781268e+00] [-7.18093928e-03 9.99974194e-01 2.14737785e-04 -7.13753391e-01] [ 2.83664304e-03 -1.94372171e-04 9.99995958e-01 -9.02137063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.847552018 meters Centerline goodness [0,1] 0.9831982786247311 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.71, Z:-0.09 [[ 9.99980019e-01 5.45556380e-03 -3.19365159e-03 9.23807293e+00] [-5.45481871e-03 9.99985093e-01 2.41968460e-04 -7.09294416e-01] [ 3.19492406e-03 -2.24542835e-04 9.99994871e-01 -8.92937541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.877552018 meters Centerline goodness [0,1] 0.9816914285714285 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.71, Z:-0.09 [[ 9.99983766e-01 4.15805109e-03 -3.89583598e-03 9.26738404e+00] [-4.15693287e-03 9.99991316e-01 2.95082793e-04 -7.14238023e-01] [ 3.89702912e-03 -2.78883274e-04 9.99992368e-01 -9.00146873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907552018 meters Centerline goodness [0,1] 0.9824413188419033 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.72, Z:-0.09 [[ 9.99981728e-01 3.08610348e-03 -5.19808518e-03 9.29544540e+00] [-3.08410107e-03 9.99995167e-01 3.93191410e-04 -7.20832016e-01] [ 5.19927348e-03 -3.77152806e-04 9.99986413e-01 -9.12303729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.937552018 meters Centerline goodness [0,1] 0.9833767182719094 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.72, Z:-0.09 [[ 9.99981338e-01 2.86971062e-03 -5.39337696e-03 9.32471987e+00] [-2.86755419e-03 9.99995806e-01 4.07519484e-04 -7.21653059e-01] [ 5.39452380e-03 -3.92046078e-04 9.99985373e-01 -9.09387699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.967552018 meters Centerline goodness [0,1] 0.9819090203951271 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.73, Z:-0.09 [[ 9.99979903e-01 2.35828545e-03 -5.88496088e-03 9.35219542e+00] [-2.35571305e-03 9.99997127e-01 4.44007219e-04 -7.28647442e-01] [ 5.88599107e-03 -4.30135016e-04 9.99982585e-01 -9.15716961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.997552018 meters Centerline goodness [0,1] 0.9829446097245248 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.73, Z:-0.09 [[ 9.99985475e-01 1.91806701e-03 -5.03696587e-03 9.38076651e+00] [-1.91617870e-03 9.99998092e-01 3.79688825e-04 -7.30629882e-01] [ 5.03768453e-03 -3.70031583e-04 9.99987242e-01 -9.07038459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.027552018 meters Centerline goodness [0,1] 0.9830384825825278 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.73, Z:-0.09 [[ 9.99985364e-01 1.96480826e-03 -5.04106098e-03 9.40996034e+00] [-1.96291951e-03 9.99998001e-01 3.79593649e-04 -7.31123142e-01] [ 5.04179673e-03 -3.69692896e-04 9.99987222e-01 -9.03322211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.057552017999999 meters Centerline goodness [0,1] 0.9824633230979188 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.73, Z:-0.09 [[ 9.99988019e-01 2.37978897e-03 -4.27762066e-03 9.43882061e+00] [-2.37843458e-03 9.99997120e-01 3.21681217e-04 -7.33135092e-01] [ 4.27837387e-03 -3.11503323e-04 9.99990799e-01 -8.97105639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.087552018 meters Centerline goodness [0,1] 0.9824322174496034 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.74, Z:-0.09 [[ 9.99983450e-01 4.80037265e-03 -3.17127362e-03 9.46757276e+00] [-4.79964030e-03 9.99988453e-01 2.38502584e-04 -7.38416238e-01] [ 3.17238190e-03 -2.23277664e-04 9.99994943e-01 -8.88022708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.117552018 meters Centerline goodness [0,1] 0.9832110321012336 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.74, Z:-0.09 [[ 9.99979823e-01 5.64353094e-03 -2.91622198e-03 9.49655860e+00] [-5.64291679e-03 9.99984055e-01 2.18784450e-04 -7.37805384e-01] [ 2.91741019e-03 -2.02324038e-04 9.99995724e-01 -8.80959392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.147552017999999 meters Centerline goodness [0,1] 0.9826112719068347 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.74, Z:-0.09 [[ 9.99972355e-01 6.84679337e-03 -2.89998107e-03 9.52417891e+00] [-6.84619209e-03 9.99976541e-01 2.17216422e-04 -7.42393880e-01] [ 2.90140028e-03 -1.97356590e-04 9.99995771e-01 -8.85144935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.177552018 meters Centerline goodness [0,1] 0.9836972608665954 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.74, Z:-0.09 [[ 9.99965234e-01 7.89954929e-03 -2.66991005e-03 9.55297141e+00] [-7.89904381e-03 9.99968782e-01 1.99816987e-04 -7.41873249e-01] [ 2.67140516e-03 -1.78720303e-04 9.99996416e-01 -8.81445761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.207552018 meters Centerline goodness [0,1] 0.9836972608665954 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.74, Z:-0.09 [[ 9.99965835e-01 7.82304610e-03 -2.66992533e-03 9.58126309e+00] [-7.82254089e-03 9.99969384e-01 1.99612981e-04 -7.43921588e-01] [ 2.67140517e-03 -1.78720561e-04 9.99996416e-01 -8.83557553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.237552018 meters Centerline goodness [0,1] 0.9832999635966508 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.75, Z:-0.09 [[ 9.99947300e-01 9.83491258e-03 -2.94484550e-03 9.61013938e+00] [-9.83430597e-03 9.99951618e-01 2.20401211e-04 -7.47307530e-01] [ 2.94687065e-03 -1.91429084e-04 9.99995640e-01 -8.94757980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.267552018 meters Centerline goodness [0,1] 0.9839193922576537 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.75, Z:-0.09 [[ 9.99937884e-01 1.06475324e-02 -3.29530639e-03 9.63889098e+00] [-1.06467789e-02 9.99943291e-01 2.46103408e-04 -7.46170842e-01] [ 3.29773992e-03 -2.11003723e-04 9.99994540e-01 -8.93044437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.297552018 meters Centerline goodness [0,1] 0.9837514771384419 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.75, Z:-0.09 [[ 9.99928526e-01 1.12206285e-02 -4.12791099e-03 9.66598335e+00] [-1.12194526e-02 9.99937013e-01 3.07890582e-04 -7.52235631e-01] [ 4.13110571e-03 -2.61555674e-04 9.99991433e-01 -9.10172775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.327552018 meters Centerline goodness [0,1] 0.9841089670828604 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.75, Z:-0.09 [[ 9.99915796e-01 1.20344616e-02 -4.85524559e-03 9.69485910e+00] [-1.20328450e-02 9.99927537e-01 3.62031159e-04 -7.51944072e-01] [ 4.85925062e-03 -3.03578257e-04 9.99988148e-01 -9.13456439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.357552018 meters Centerline goodness [0,1] 0.9848405764211959 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.75, Z:-0.09 [[ 9.99882643e-01 1.39305933e-02 -6.37478047e-03 9.72412238e+00] [-1.39278452e-02 9.99902890e-01 4.75285116e-04 -7.53933688e-01] [ 6.38078242e-03 -3.86442383e-04 9.99979568e-01 -9.26321207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.387552018 meters Centerline goodness [0,1] 0.984634212673375 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.76, Z:-0.09 [[ 9.99864420e-01 1.50206916e-02 -6.74692083e-03 9.75215834e+00] [-1.50176423e-02 9.99887103e-01 5.02391203e-04 -7.56892954e-01] [ 6.75370539e-03 -4.01000245e-04 9.99977113e-01 -9.34586535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.417552018 meters Centerline goodness [0,1] 0.9843718149079296 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.76, Z:-0.09 [[ 9.99842223e-01 1.62084864e-02 -7.26734045e-03 9.78057697e+00] [-1.62049835e-02 9.99868544e-01 5.40629720e-04 -7.59011521e-01] [ 7.27514790e-03 -4.22777289e-04 9.99973446e-01 -9.38486162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.447552018 meters Centerline goodness [0,1] 0.9840593183828031 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.76, Z:-0.09 [[ 9.99785324e-01 1.94130307e-02 -7.24162300e-03 9.81057712e+00] [-1.94096343e-02 9.99811470e-01 5.39002862e-04 -7.59927420e-01] [ 7.25072142e-03 -3.98329897e-04 9.99973634e-01 -9.33179932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.477552017999999 meters Centerline goodness [0,1] 0.9854996941341732 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.76, Z:-0.09 [[ 9.99756067e-01 2.10583422e-02 -6.65977814e-03 9.83803189e+00] [-2.10555142e-02 9.99778186e-01 4.94474996e-04 -7.63032009e-01] [ 6.66871373e-03 -3.54129324e-04 9.99977701e-01 -9.30210996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.507552018 meters Centerline goodness [0,1] 0.9834478380155545 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.76, Z:-0.09 [[ 9.99721202e-01 2.26926801e-02 -6.52379669e-03 9.86651903e+00] [-2.26900035e-02 9.99742432e-01 4.84008242e-04 -7.64263512e-01] [ 6.53309981e-03 -3.35848332e-04 9.99978603e-01 -9.25081766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.537552018 meters Centerline goodness [0,1] 0.9839965593734438 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.76, Z:-0.09 [[ 9.99686936e-01 2.43633373e-02 -5.69722183e-03 9.89566221e+00] [-2.43613260e-02 9.99703130e-01 4.22163495e-04 -7.64642293e-01] [ 5.70581580e-03 -2.83239453e-04 9.99983682e-01 -9.17508386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.567552017999999 meters Centerline goodness [0,1] 0.9832073507445798 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.77, Z:-0.09 [[ 9.99602680e-01 2.77595810e-02 -4.88759267e-03 9.92463400e+00] [-2.77581411e-02 9.99614603e-01 3.62190789e-04 -7.66553405e-01] [ 4.89576327e-03 -2.26376396e-04 9.99987990e-01 -9.15298111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.597552018 meters Centerline goodness [0,1] 0.9844747828049193 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.77, Z:-0.09 [[ 9.99568825e-01 2.89862108e-02 -4.68659050e-03 9.95378372e+00] [-2.89849035e-02 9.99579789e-01 3.46636418e-04 -7.67918167e-01] [ 4.69466882e-03 -2.10646584e-04 9.99988958e-01 -9.14669753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.627552018 meters Centerline goodness [0,1] 0.9836132177681474 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.77, Z:-0.09 [[ 9.99540051e-01 2.99868887e-02 -4.52470036e-03 9.98098986e+00] [-2.99856855e-02 9.99550273e-01 3.33538792e-04 -7.71264886e-01] [ 4.53266727e-03 -1.97709139e-04 9.99989708e-01 -9.19487707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.657552018 meters Centerline goodness [0,1] 0.9852546008806594 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.77, Z:-0.09 [[ 9.99525251e-01 3.04726006e-02 -4.54907477e-03 1.00097086e+01] [-3.04713889e-02 9.99535583e-01 3.35438850e-04 -7.70981332e-01] [ 4.55718380e-03 -1.96662974e-04 9.99989597e-01 -9.15303943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.687552018 meters Centerline goodness [0,1] 0.9840475868595376 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.78, Z:-0.09 [[ 9.99534838e-01 3.01001402e-02 -4.90797313e-03 1.00373189e+01] [-3.00987310e-02 9.99546865e-01 3.60744770e-04 -7.78841352e-01] [ 4.91660762e-03 -2.12853202e-04 9.99987891e-01 -9.29507742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.717552018 meters Centerline goodness [0,1] 0.9849547740960458 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.78, Z:-0.09 [[ 9.99565587e-01 2.90741646e-02 -4.83008556e-03 1.00656113e+01] [-2.90727913e-02 9.99577234e-01 3.54310422e-04 -7.80424454e-01] [ 4.83834485e-03 -2.13732436e-04 9.99988272e-01 -9.25310769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.747552018 meters Centerline goodness [0,1] 0.9844474454197614 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.79, Z:-0.09 [[ 9.99602709e-01 2.77834790e-02 -4.74361595e-03 1.00930839e+01] [-2.77821405e-02 9.99613941e-01 3.47848121e-04 -7.89187704e-01] [ 4.75144907e-03 -2.15922119e-04 9.99988688e-01 -9.35185382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.777552018 meters Centerline goodness [0,1] 0.9840286321440554 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.80, Z:-0.09 [[ 9.99701754e-01 2.40894847e-02 -4.01249332e-03 1.01220486e+01] [-2.40884987e-02 9.99709787e-01 2.93893735e-04 -7.95343956e-01] [ 4.01840859e-03 -1.97151142e-04 9.99991907e-01 -9.20027891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.807552017999999 meters Centerline goodness [0,1] 0.9831743746625877 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.80, Z:-0.09 [[ 9.99758247e-01 2.16129968e-02 -4.04054922e-03 1.01513810e+01] [-2.16119760e-02 9.99766390e-01 2.96129088e-04 -8.01898777e-01] [ 4.04600555e-03 -2.08733245e-04 9.99991793e-01 -9.18952760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.837552018 meters Centerline goodness [0,1] 0.9835090868297061 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.80, Z:-0.09 [[ 9.99810401e-01 1.91420742e-02 -3.56960996e-03 1.01808235e+01] [-1.91412625e-02 9.99816755e-01 2.61428480e-04 -8.04682886e-01] [ 3.57396013e-03 -1.93052072e-04 9.99993595e-01 -9.12380290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.867552018 meters Centerline goodness [0,1] 0.9826237079886101 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.82, Z:-0.09 [[ 9.99892339e-01 1.43984161e-02 -2.82755849e-03 1.02094026e+01] [-1.43978884e-02 9.99896324e-01 2.06913104e-04 -8.17769709e-01] [ 2.83024456e-03 -1.66179956e-04 9.99995981e-01 -9.12974393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.897552017999999 meters Centerline goodness [0,1] 0.9832609905397885 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.82, Z:-0.09 [[ 9.99913439e-01 1.28871676e-02 -2.65248527e-03 1.02379408e+01] [-1.28866992e-02 9.99916944e-01 1.93593522e-04 -8.23358510e-01] [ 2.65475984e-03 -1.59394985e-04 9.99996463e-01 -9.11403734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.927552018 meters Centerline goodness [0,1] 0.9833106190933667 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.83, Z:-0.09 [[ 9.99940823e-01 1.06292410e-02 -2.31717134e-03 1.02670954e+01] [-1.06288772e-02 9.99943498e-01 1.69245622e-04 -8.29198442e-01] [ 2.31883936e-03 -1.44606677e-04 9.99997301e-01 -9.16543008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.957552018 meters Centerline goodness [0,1] 0.9822848717719597 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.84, Z:-0.09 [[ 9.99956096e-01 8.99133889e-03 -2.63857456e-03 1.02949545e+01] [-8.99086220e-03 9.99959563e-01 1.92468253e-04 -8.37959607e-01] [ 2.64019841e-03 -1.68736743e-04 9.99996500e-01 -9.21803023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.987552018 meters Centerline goodness [0,1] 0.9824420855864877 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.85, Z:-0.09 [[ 9.99971964e-01 7.07061856e-03 -2.46530084e-03 1.03229541e+01] [-7.07019699e-03 9.99974990e-01 1.79673504e-04 -8.49067693e-01] [ 2.46650959e-03 -1.62238304e-04 9.99996945e-01 -9.27574887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.017552018 meters Centerline goodness [0,1] 0.9834685034996111 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.85, Z:-0.09 [[ 9.99976111e-01 6.56201513e-03 -2.17201179e-03 1.03518361e+01] [-6.56168752e-03 9.99978459e-01 1.57926307e-04 -8.49953118e-01] [ 2.17300131e-03 -1.43670471e-04 9.99997629e-01 -9.26614299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.047552018 meters Centerline goodness [0,1] 0.983113737862999 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.85, Z:-0.09 [[ 9.99978272e-01 6.21948452e-03 -2.18502665e-03 1.03803687e+01] [-6.21915257e-03 9.99980648e-01 1.58680259e-04 -8.50624897e-01] [ 2.18597128e-03 -1.45087797e-04 9.99997600e-01 -9.24141533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.077552018 meters Centerline goodness [0,1] 0.9843819425930863 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.86, Z:-0.09 [[ 9.99978655e-01 6.05207143e-03 -2.46199912e-03 1.04088425e+01] [-6.05164979e-03 9.99981673e-01 1.78673552e-04 -8.55174309e-01] [ 2.46303534e-03 -1.63770582e-04 9.99996953e-01 -9.28896405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.107552018 meters Centerline goodness [0,1] 0.9833780874814141 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.87, Z:-0.09 [[ 9.99973070e-01 6.40992914e-03 -3.57389885e-03 1.04362336e+01] [-6.40904374e-03 9.99979428e-01 2.59138417e-04 -8.67052056e-01] [ 3.57548639e-03 -2.36226164e-04 9.99993580e-01 -9.48448265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.137552018 meters Centerline goodness [0,1] 0.9842929617404018 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.87, Z:-0.10 [[ 9.99967148e-01 6.91370473e-03 -4.23115069e-03 1.04646420e+01] [-6.91246831e-03 9.99976062e-01 3.06772476e-04 -8.68826573e-01] [ 4.23317034e-03 -2.77514703e-04 9.99991002e-01 -9.51321786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.167552018 meters Centerline goodness [0,1] 0.9843590991549046 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.87, Z:-0.10 [[ 9.99957784e-01 7.76043214e-03 -4.91995577e-03 1.04932706e+01] [-7.75877206e-03 9.99969837e-01 3.56413168e-04 -8.70087440e-01] [ 4.92257329e-03 -3.18225306e-04 9.99987833e-01 -9.55541211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.197552018 meters Centerline goodness [0,1] 0.9862088812148581 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.87, Z:-0.10 [[ 9.99939715e-01 9.65178341e-03 -5.23534062e-03 1.05215574e+01] [-9.64993147e-03 9.99953367e-01 3.78884456e-04 -8.73643918e-01] [ 5.23875338e-03 -3.28340937e-04 9.99986224e-01 -9.61774315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.227552017999999 meters Centerline goodness [0,1] 0.9856181963005576 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.88, Z:-0.10 [[ 9.99929215e-01 1.08136615e-02 -4.96276902e-03 1.05493214e+01] [-1.08120149e-02 9.99941484e-01 3.58506775e-04 -8.77827409e-01] [ 4.96635540e-03 -3.04823865e-04 9.99987621e-01 -9.66122261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.257552018 meters Centerline goodness [0,1] 0.9858980866418026 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.88, Z:-0.10 [[ 9.99918015e-01 1.19176060e-02 -4.68347199e-03 1.05778015e+01] [-1.19161528e-02 9.99928943e-01 3.38083646e-04 -8.80728966e-01] [ 4.68716834e-03 -2.82246960e-04 9.99988975e-01 -9.59681364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.287552018 meters Centerline goodness [0,1] 0.9860194088713609 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.88, Z:-0.09 [[ 9.99908133e-01 1.30324786e-02 -3.72562643e-03 1.06068270e+01] [-1.30315683e-02 9.99915049e-01 2.68524434e-04 -8.81206544e-01] [ 3.72880948e-03 -2.19949011e-04 9.99993024e-01 -9.48902114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.317552017999999 meters Centerline goodness [0,1] 0.9856354325995876 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.89, Z:-0.09 [[ 9.99882492e-01 1.51717752e-02 -2.19521985e-03 1.06359253e+01] [-1.51714644e-02 9.99884894e-01 1.58189758e-04 -8.85758086e-01] [ 2.19736719e-03 -1.24866469e-04 9.99997578e-01 -9.36521212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.347552018 meters Centerline goodness [0,1] 0.9858174888091122 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.89, Z:-0.09 [[ 9.99894122e-01 1.45162611e-02 -1.01161533e-03 1.06631172e+01] [-1.45161954e-02 9.99894632e-01 7.22285288e-05 -8.90012034e-01] [ 1.01255723e-03 -5.75360755e-05 9.99999486e-01 -9.34275739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.377552018 meters Centerline goodness [0,1] 0.9855566877852111 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.89, Z:-0.09 [[ 9.99900482e-01 1.40987139e-02 -5.03074399e-04 1.06919945e+01] [-1.40986977e-02 9.99900608e-01 3.56712261e-05 -8.93315919e-01] [ 5.03527316e-04 -2.85749822e-05 9.99999873e-01 -9.28807235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.407552018 meters Centerline goodness [0,1] 0.9845363098914673 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.90, Z:-0.09 [[ 9.99911433e-01 1.33070024e-02 -2.24173226e-04 1.07202598e+01] [-1.33069993e-02 9.99911458e-01 1.53648965e-05 -8.95618988e-01] [ 2.24357838e-04 -1.23804627e-05 9.99999975e-01 -9.26215182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.437552018 meters Centerline goodness [0,1] 0.9857322148094326 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.90, Z:-0.09 [[ 9.99946660e-01 1.03208121e-02 -3.97673513e-04 1.07502682e+01] [-1.03208016e-02 9.99946739e-01 2.84477310e-05 -9.00776611e-01] [ 3.97945936e-04 -2.43419042e-05 9.99999921e-01 -9.25012899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.467552018 meters Centerline goodness [0,1] 0.9856129373402661 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.90, Z:-0.09 [[ 9.99970352e-01 7.68943708e-03 -4.10159471e-04 1.07795637e+01] [-7.68942582e-03 9.99970436e-01 2.90139356e-05 -9.03933302e-01] [ 4.10370445e-04 -2.58591845e-05 9.99999915e-01 -9.28542491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.497552018 meters Centerline goodness [0,1] 0.9847642986285664 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.92, Z:-0.09 [[ 9.99995577e-01 2.56721374e-03 -1.50160578e-03 1.08086299e+01] [-2.56705491e-03 9.99996699e-01 1.07694492e-04 -9.16605166e-01] [ 1.50187730e-03 -1.03839311e-04 9.99998867e-01 -9.44744660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.527552018 meters Centerline goodness [0,1] 0.984016050090392 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.92, Z:-0.10 [[ 9.99998391e-01 -4.07313880e-05 -1.79319771e-03 1.08377097e+01] [ 4.09620728e-05 9.99999991e-01 1.28607803e-04 -9.24046338e-01] [ 1.79319246e-03 -1.28681049e-04 9.99998384e-01 -9.51948656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.557552017999999 meters Centerline goodness [0,1] 0.983141728634789 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.93, Z:-0.10 [[ 9.99993757e-01 -2.59472454e-03 -2.39870531e-03 1.08661853e+01] [ 2.59514534e-03 9.99996618e-01 1.72329434e-04 -9.31616501e-01] [ 2.39825005e-03 -1.78553347e-04 9.99997108e-01 -9.62928704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.587552018 meters Centerline goodness [0,1] 0.984220256173247 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.93, Z:-0.10 [[ 9.99983297e-01 -5.03996714e-03 -2.82912168e-03 1.08963143e+01] [ 5.04056139e-03 9.99987276e-01 2.02957898e-04 -9.31930218e-01] [ 2.82806278e-03 -2.17214870e-04 9.99995977e-01 -9.62733598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.617552018 meters Centerline goodness [0,1] 0.9833476508293134 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.94, Z:-0.10 [[ 9.99968378e-01 -7.27823014e-03 -3.20488999e-03 1.09263690e+01] [ 7.27900469e-03 9.99973481e-01 2.30079671e-04 -9.37804451e-01] [ 3.20313043e-03 -2.53400805e-04 9.99994838e-01 -9.72645391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.647552017999999 meters Centerline goodness [0,1] 0.9712476919018729 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.95, Z:-0.10 [[ 9.99939289e-01 -1.04941986e-02 -3.36017651e-03 1.09552668e+01] [ 1.04950675e-02 9.99944896e-01 2.41069909e-04 -9.49755081e-01] [ 3.35746152e-03 -2.76320553e-04 9.99994326e-01 -9.76595275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.677552018 meters Centerline goodness [0,1] 0.9838493484805203 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.94, Z:-0.10 [[ 9.99932855e-01 -1.12270120e-02 -2.87055892e-03 1.09874164e+01] [ 1.12276506e-02 9.99936947e-01 2.06446545e-04 -9.44814991e-01] [ 2.86806014e-03 -2.38662316e-04 9.99995859e-01 -9.60042185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.707552018 meters Centerline goodness [0,1] 0.9824934268185802 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.95, Z:-0.10 [[ 9.99925523e-01 -1.19797471e-02 -2.33123099e-03 1.10183657e+01] [ 1.19801711e-02 9.99928221e-01 1.68000383e-04 -9.50386062e-01] [ 2.32905106e-03 -1.95916417e-04 9.99997269e-01 -9.60047533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.737552018 meters Centerline goodness [0,1] 0.9822309970384995 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.95, Z:-0.09 [[ 9.99923698e-01 -1.23137819e-02 -9.84138494e-04 1.10502131e+01] [ 1.23138581e-02 9.99924179e-01 7.13967865e-05 -9.54155985e-01] [ 9.83184711e-04 -8.35098806e-05 9.99999513e-01 -9.47524711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.767552018 meters Centerline goodness [0,1] 0.9824411228901911 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.96, Z:-0.09 [[ 9.99921386e-01 -1.25162761e-02 -7.51053364e-04 1.10818686e+01] [ 1.25163206e-02 9.99921666e-01 5.46830038e-05 -9.57466112e-01] [ 7.50310104e-04 -6.40791297e-05 9.99999716e-01 -9.46608585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.797552018 meters Centerline goodness [0,1] 0.9767507983027864 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.96, Z:-0.10 [[ 9.99919849e-01 -1.26529726e-02 -4.45856786e-04 1.11123273e+01] [ 1.26529886e-02 9.99919947e-01 3.31068447e-05 -9.63504946e-01] [ 4.45402194e-04 -3.87456120e-05 9.99999900e-01 -9.51737371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.827552018 meters Centerline goodness [0,1] 0.9798097158891617 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.97, Z:-0.10 [[ 9.99911013e-01 -1.33305961e-02 -5.11837752e-04 1.11443332e+01] [ 1.33306170e-02 9.99911143e-01 3.75496227e-05 -9.66024491e-01] [ 5.11291712e-04 -4.43693943e-05 9.99999868e-01 -9.51516848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.857552018 meters Centerline goodness [0,1] 0.9836612057810821 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.96, Z:-0.09 [[ 9.99907595e-01 -1.35825789e-02 -5.61365848e-04 1.11765814e+01] [ 1.35826042e-02 9.99907751e-01 4.11888653e-05 -9.64988912e-01] [ 5.60754612e-04 -4.88098694e-05 9.99999842e-01 -9.48573708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.887552018 meters Centerline goodness [0,1] 0.9824742494454571 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.97, Z:-0.10 [[ 9.99899532e-01 -1.41662244e-02 -4.93526764e-04 1.12086095e+01] [ 1.41662441e-02 9.99899653e-01 3.63215101e-05 -9.68237664e-01] [ 4.92962701e-04 -4.33092816e-05 9.99999878e-01 -9.50001617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.917552018 meters Centerline goodness [0,1] 0.9806420531686594 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.97, Z:-0.10 [[ 9.99891003e-01 -1.47429153e-02 -7.92877546e-04 1.12394540e+01] [ 1.47429658e-02 9.99891315e-01 5.78895714e-05 -9.72455512e-01] [ 7.91937910e-04 -6.95726281e-05 9.99999684e-01 -9.58767588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.947552018 meters Centerline goodness [0,1] 0.9783170528713478 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.98, Z:-0.10 [[ 9.99883486e-01 -1.52075159e-02 -1.32139593e-03 1.12701338e+01] [ 1.52076563e-02 9.99884352e-01 9.62565510e-05 -9.77067876e-01] [ 1.31977929e-03 -1.16340671e-04 9.99999122e-01 -9.66656296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.977552017999999 meters Centerline goodness [0,1] 0.9825418382546219 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.98, Z:-0.10 [[ 9.99881114e-01 -1.53334683e-02 -1.62535825e-03 1.13025961e+01] [ 1.53336811e-02 9.99882425e-01 1.18587686e-04 -9.76084739e-01] [ 1.62334878e-03 -1.43496312e-04 9.99998672e-01 -9.70346577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.007552018 meters Centerline goodness [0,1] 0.9829418221734358 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.98, Z:-0.10 [[ 9.99883581e-01 -1.50906088e-02 -2.25789435e-03 1.13343310e+01] [ 1.50910189e-02 9.99886111e-01 1.64691949e-04 -9.78058114e-01] [ 2.25515189e-03 -1.98746702e-04 9.99997437e-01 -9.76222910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.037552018 meters Centerline goodness [0,1] 0.9792067517928984 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.98, Z:-0.10 [[ 9.99890410e-01 -1.45691020e-02 -2.62838179e-03 1.13656907e+01] [ 1.45696562e-02 9.99893839e-01 1.91822130e-04 -9.83223645e-01] [ 2.62530808e-03 -2.30095727e-04 9.99996527e-01 -9.85446705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.067552017999999 meters Centerline goodness [0,1] 0.9745879874476069 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.99, Z:-0.10 [[ 9.99906942e-01 -1.34150087e-02 -2.47891016e-03 1.13957142e+01] [ 1.34154972e-02 9.99909992e-01 1.80546728e-04 -9.86891110e-01] [ 2.47626500e-03 -2.13785739e-04 9.99996911e-01 -9.86416475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.097552018 meters Centerline goodness [0,1] 0.9745879874476069 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.99, Z:-0.10 [[ 9.99907969e-01 -1.33382356e-02 -2.47886530e-03 1.14274338e+01] [ 1.33387254e-02 9.99911019e-01 1.81162788e-04 -9.89276577e-01] [ 2.47622833e-03 -2.14211019e-04 9.99996911e-01 -9.88781907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.127552018 meters Centerline goodness [0,1] 0.9766799025952658 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.99, Z:-0.10 [[ 9.99917757e-01 -1.25586335e-02 -2.59983966e-03 1.14586220e+01] [ 1.25591691e-02 9.99921113e-01 1.89790388e-04 -9.90128755e-01] [ 2.59725105e-03 -2.22426605e-04 9.99996602e-01 -9.92374317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.157552018 meters Centerline goodness [0,1] 0.9711270541258036 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.99, Z:-0.10 [[ 9.99927542e-01 -1.17800188e-02 -2.47809340e-03 1.14888577e+01] [ 1.17805028e-02 9.99930591e-01 1.80819480e-04 -9.93758522e-01] [ 2.47579134e-03 -2.09999565e-04 9.99996913e-01 -9.97323763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.187552018 meters Centerline goodness [0,1] 0.9823006913450599 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.99, Z:-0.10 [[ 9.99943698e-01 -1.03535929e-02 -2.32472550e-03 1.15205717e+01] [ 1.03540156e-02 9.99946381e-01 1.69882185e-04 -9.90004777e-01] [ 2.32284196e-03 -1.93942864e-04 9.99997283e-01 -9.93130304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.217552018 meters Centerline goodness [0,1] 0.9684178227803713 Centerline is valid? [True, True] Translation: X:11.55, Y:-1.00, Z:-0.10 [[ 9.99947287e-01 -9.97637784e-03 -2.42780450e-03 1.15514508e+01] [ 9.97683845e-03 9.99950214e-01 1.77687619e-04 -9.97798094e-01] [ 2.42591095e-03 -2.01900065e-04 9.99997037e-01 -1.00349558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.247552018 meters Centerline goodness [0,1] 0.9833424537594396 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.99, Z:-0.10 [[ 9.99955194e-01 -9.10561301e-03 -2.58808738e-03 1.15831680e+01] [ 9.10613338e-03 9.99958520e-01 1.89350261e-04 -9.90839971e-01] [ 2.58625587e-03 -2.12909246e-04 9.99996633e-01 -9.94417156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.277552018 meters Centerline goodness [0,1] 0.9830839012205009 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.99, Z:-0.10 [[ 9.99954337e-01 -9.13913057e-03 -2.79293027e-03 1.16141163e+01] [ 9.13973694e-03 9.99958211e-01 2.04423312e-04 -9.92785955e-01] [ 2.79094531e-03 -2.29940625e-04 9.99996079e-01 -9.97860907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.307552017999999 meters Centerline goodness [0,1] 0.9804765564950039 Centerline is valid? [True, True] Translation: X:11.64, Y:-1.00, Z:-0.10 [[ 9.99960209e-01 -8.51611172e-03 -2.65637746e-03 1.16445898e+01] [ 8.51665891e-03 9.99963714e-01 1.94746179e-04 -9.97861328e-01] [ 2.65462259e-03 -2.17361891e-04 9.99996453e-01 -1.00556454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.337552018 meters Centerline goodness [0,1] 0.9826962300151326 Centerline is valid? [True, True] Translation: X:11.68, Y:-1.00, Z:-0.10 [[ 9.99961376e-01 -8.16342491e-03 -3.25650037e-03 1.16755853e+01] [ 8.16424500e-03 9.99966644e-01 2.38618481e-04 -9.97866891e-01] [ 3.25444380e-03 -2.65196131e-04 9.99994669e-01 -1.00958018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.367552018 meters Centerline goodness [0,1] 0.9780398001227316 Centerline is valid? [True, True] Translation: X:11.71, Y:-1.00, Z:-0.10 [[ 9.99962982e-01 -7.73937652e-03 -3.75978187e-03 1.17060130e+01] [ 7.74046627e-03 9.99970004e-01 2.75378944e-04 -1.00300129e+00] [ 3.75753783e-03 -3.04471215e-04 9.99992894e-01 -1.02009689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.397552017999999 meters Centerline goodness [0,1] 0.9811921868477138 Centerline is valid? [True, True] Translation: X:11.74, Y:-1.00, Z:-0.10 [[ 9.99962826e-01 -7.56275123e-03 -4.14145324e-03 1.17368931e+01] [ 7.56407130e-03 9.99971346e-01 3.03176307e-04 -1.00228732e+00] [ 4.13904172e-03 -3.34491284e-04 9.99991378e-01 -1.02400511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.427552018 meters Centerline goodness [0,1] 0.9834866817453172 Centerline is valid? [True, True] Translation: X:11.77, Y:-1.00, Z:-0.10 [[ 9.99969190e-01 -6.23835888e-03 -4.76466160e-03 1.17680521e+01] [ 6.24009233e-03 9.99980470e-01 3.49035667e-04 -9.99390473e-01] [ 4.76239114e-03 -3.78756842e-04 9.99988588e-01 -1.02123335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.457552018 meters Centerline goodness [0,1] 0.9830471158080141 Centerline is valid? [True, True] Translation: X:11.80, Y:-1.00, Z:-0.10 [[ 9.99974753e-01 -5.07346877e-03 -4.97521705e-03 1.17989121e+01] [ 5.07534375e-03 9.99987054e-01 3.64309113e-04 -9.99969173e-01] [ 4.97330433e-03 -3.89550852e-04 9.99987557e-01 -1.02310792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.487552018 meters Centerline goodness [0,1] 0.9828324295844219 Centerline is valid? [True, True] Translation: X:11.83, Y:-1.00, Z:-0.10 [[ 9.99981753e-01 -3.67444251e-03 -4.79509479e-03 1.18284912e+01] [ 3.67616593e-03 9.99993181e-01 3.50648966e-04 -1.00001939e+00] [ 4.79377365e-03 -3.68270131e-04 9.99988442e-01 -1.02197433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.517552018 meters Centerline goodness [0,1] 0.9831832889436728 Centerline is valid? [True, True] Translation: X:11.86, Y:-1.00, Z:-0.10 [[ 9.99990035e-01 9.12408858e-04 -4.36994728e-03 1.18581255e+01] [-9.11021076e-04 9.99999534e-01 3.19553900e-04 -9.96847343e-01] [ 4.37023681e-03 -3.15569602e-04 9.99990401e-01 -1.01873165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.547552018 meters Centerline goodness [0,1] 0.9845834437671173 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.99, Z:-0.10 [[ 9.99982267e-01 3.81474939e-03 -4.57309377e-03 1.18886390e+01] [-3.81326005e-03 9.99992674e-01 3.34348732e-04 -9.89680807e-01] [ 4.57433572e-03 -3.16904407e-04 9.99989487e-01 -1.00875525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.577552018 meters Centerline goodness [0,1] 0.9850693524162912 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.99, Z:-0.10 [[ 9.99963502e-01 7.49226308e-03 -4.10617785e-03 1.19177026e+01] [-7.49109402e-03 9.99971896e-01 3.00014303e-04 -9.88377780e-01] [ 4.10831023e-03 -2.69243589e-04 9.99991525e-01 -1.01070400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.607552018 meters Centerline goodness [0,1] 0.9858535399305939 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.98, Z:-0.10 [[ 9.99877910e-01 1.52587008e-02 -3.36718608e-03 1.19488224e+01] [-1.52579585e-02 9.99883560e-01 2.46056685e-04 -9.77726042e-01] [ 3.37054851e-03 -1.94650259e-04 9.99994301e-01 -9.98910032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.637552018 meters Centerline goodness [0,1] 0.9850637119113573 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.98, Z:-0.10 [[ 9.99811371e-01 1.91598616e-02 -3.18162459e-03 1.19774218e+01] [-1.91592202e-02 9.99816418e-01 2.31962901e-04 -9.77848961e-01] [ 3.18548488e-03 -1.70961700e-04 9.99994912e-01 -1.00232729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.667552018 meters Centerline goodness [0,1] 0.9861357193479802 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.97, Z:-0.10 [[ 9.99728019e-01 2.31339878e-02 -2.95083421e-03 1.20076919e+01] [-2.31334533e-02 9.99732363e-01 2.15137164e-04 -9.71498789e-01] [ 2.95502144e-03 -1.46815665e-04 9.99995623e-01 -9.92646928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.697552018 meters Centerline goodness [0,1] 0.9865128227842495 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.97, Z:-0.10 [[ 9.99644131e-01 2.65471444e-02 -2.61919090e-03 1.20383018e+01] [-2.65467348e-02 9.99647555e-01 1.91019652e-04 -9.68872762e-01] [ 2.62333880e-03 -1.21420708e-04 9.99996552e-01 -9.94520328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.727552017999999 meters Centerline goodness [0,1] 0.9858588104502501 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.96, Z:-0.10 [[ 9.99480841e-01 3.21219037e-02 -2.49624502e-03 1.20678530e+01] [-3.21215496e-02 9.99483953e-01 1.81815694e-04 -9.63790469e-01] [ 2.50079710e-03 -1.01538045e-04 9.99996868e-01 -9.98532166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.757552018 meters Centerline goodness [0,1] 0.9873462682591129 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.96, Z:-0.10 [[ 9.99414964e-01 3.40962903e-02 -2.67807011e-03 1.20974140e+01] [-3.40958905e-02 9.99418547e-01 1.94782571e-04 -9.62498813e-01] [ 2.68315431e-03 -1.03357431e-04 9.99996395e-01 -9.97827998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.787552018 meters Centerline goodness [0,1] 0.9868573207614304 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.96, Z:-0.10 [[ 9.99324737e-01 3.66246553e-02 -2.95039817e-03 1.21261997e+01] [-3.66241821e-02 9.99329087e-01 2.14253271e-04 -9.60735664e-01] [ 2.95626566e-03 -1.06052673e-04 9.99995625e-01 -9.97359811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.817552017999999 meters Centerline goodness [0,1] 0.9862349618626165 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.96, Z:-0.10 [[ 9.99303532e-01 3.72364584e-02 -2.42842156e-03 1.21550283e+01] [-3.72361403e-02 9.99306479e-01 1.76059357e-04 -9.60464118e-01] [ 2.43329322e-03 -8.55116918e-05 9.99997036e-01 -1.00122140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.847552018 meters Centerline goodness [0,1] 0.9868561753698093 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.96, Z:-0.10 [[ 9.99214979e-01 3.95417337e-02 -2.42411791e-03 1.21833162e+01] [-3.95414240e-02 9.99217917e-01 1.75565731e-04 -9.59531008e-01] [ 2.42916422e-03 -7.95748342e-05 9.99997046e-01 -1.00517278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.877552018 meters Centerline goodness [0,1] 0.9865184589973662 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.96, Z:-0.10 [[ 9.99180499e-01 4.03984529e-02 -2.50888612e-03 1.22118849e+01] [-4.03981243e-02 9.99183646e-01 1.81534001e-04 -9.59729790e-01] [ 2.51417168e-03 -8.00309402e-05 9.99996836e-01 -1.00518956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.907552018 meters Centerline goodness [0,1] 0.9866333430031464 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.96, Z:-0.10 [[ 9.99159981e-01 4.09202516e-02 -2.20556429e-03 1.22412250e+01] [-4.09200032e-02 9.99162413e-01 1.57624505e-04 -9.58914228e-01] [ 2.21016697e-03 -6.72403999e-05 9.99997555e-01 -9.99912782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.937552018 meters Centerline goodness [0,1] 0.9868726558313985 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.96, Z:-0.10 [[ 9.99083857e-01 4.27742007e-02 -1.34692052e-03 1.22691252e+01] [-4.27741093e-02 9.99084764e-01 9.65656158e-05 -9.59472323e-01] [ 1.34981828e-03 -3.88638225e-05 9.99999088e-01 -9.94903519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.967552018 meters Centerline goodness [0,1] 0.9870977840388184 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.96, Z:-0.10 [[ 9.99018750e-01 4.42789904e-02 -9.52839777e-04 1.22967201e+01] [-4.42789457e-02 9.99019204e-01 6.80224494e-05 -9.60963921e-01] [ 9.54917202e-04 -2.57649617e-05 9.99999544e-01 -9.90202513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.997552018 meters Centerline goodness [0,1] 0.9867840427902831 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.96, Z:-0.10 [[ 9.98996373e-01 4.47892083e-02 4.15941039e-04 1.23259817e+01] [-4.47891990e-02 9.98996460e-01 -3.17545186e-05 -9.61594843e-01] [-4.16945885e-04 1.30929830e-05 9.99999913e-01 -9.82322453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.027552018 meters Centerline goodness [0,1] 0.986633751445601 Centerline is valid? [True, True] Translation: X:12.35, Y:-0.96, Z:-0.10 [[ 9.98947344e-01 4.58355209e-02 1.81912412e-03 1.23535892e+01] [-4.58353578e-02 9.98948999e-01 -1.31298119e-04 -9.63550049e-01] [-1.82323033e-03 4.77797021e-05 9.99998337e-01 -9.78486747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.057552017999999 meters Centerline goodness [0,1] 0.9863487319042626 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.96, Z:-0.10 [[ 9.98821249e-01 4.85047357e-02 1.84471000e-03 1.23827881e+01] [-4.85045730e-02 9.98822952e-01 -1.32861327e-04 -9.64024112e-01] [-1.84898309e-03 4.32278457e-05 9.99998290e-01 -9.75298515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.087552018 meters Centerline goodness [0,1] 0.9868849533835928 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.97, Z:-0.10 [[ 9.98772165e-01 4.95065203e-02 1.80747427e-03 1.24111633e+01] [-4.95063660e-02 9.98773800e-01 -1.30049701e-04 -9.65806818e-01] [-1.81169625e-03 4.04085386e-05 9.99998358e-01 -9.83805128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.117552018 meters Centerline goodness [0,1] 0.9863942553522599 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.97, Z:-0.10 [[ 9.98729554e-01 5.03744676e-02 1.30033077e-03 1.24386781e+01] [-5.03743883e-02 9.98730400e-01 -9.37333245e-05 -9.67722401e-01] [-1.30340164e-03 2.81108743e-05 9.99999150e-01 -9.90485786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.147552017999999 meters Centerline goodness [0,1] 0.987443406115485 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.97, Z:-0.10 [[ 9.98686770e-01 5.12267629e-02 7.45033281e-04 1.24677616e+01] [-5.12267367e-02 9.98687047e-01 -5.42691274e-05 -9.71562487e-01] [-7.46835120e-04 1.60322358e-05 9.99999721e-01 -1.00573871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.177552018 meters Centerline goodness [0,1] 0.9877633657418737 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.97, Z:-0.10 [[ 9.98698066e-01 5.10057867e-02 7.63065020e-04 1.24954239e+01] [-5.10057594e-02 9.98698358e-01 -5.52483854e-05 -9.74410482e-01] [-7.64889769e-04 1.62557449e-05 9.99999707e-01 -1.01380906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.207552018 meters Centerline goodness [0,1] 0.9877886026958494 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.98, Z:-0.10 [[ 9.98722844e-01 5.05169635e-02 8.46422069e-04 1.25244463e+01] [-5.05169301e-02 9.98723203e-01 -6.08498450e-05 -9.77805114e-01] [-8.48415309e-04 1.80134858e-05 9.99999640e-01 -1.01615202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.237552017999999 meters Centerline goodness [0,1] 0.9879759073633676 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.98, Z:-0.10 [[ 9.98800185e-01 4.89675848e-02 6.04693288e-04 1.25529402e+01] [-4.89675674e-02 9.98800368e-01 -4.35869571e-05 -9.84382077e-01] [-6.06102227e-04 1.39243015e-05 9.99999816e-01 -1.01777673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.267552018 meters Centerline goodness [0,1] 0.9877604513750056 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.99, Z:-0.10 [[ 9.98849815e-01 4.79393131e-02 9.32666167e-04 1.25799440e+01] [-4.79392714e-02 9.98850250e-01 -6.70865673e-05 -9.89472659e-01] [-9.34809918e-04 2.22980689e-05 9.99999563e-01 -1.02460757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.297552018 meters Centerline goodness [0,1] 0.9880711731123798 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.99, Z:-0.10 [[ 9.98904889e-01 4.67796260e-02 8.30644881e-04 1.26074742e+01] [-4.67795926e-02 9.98905234e-01 -5.96044546e-05 -9.94674680e-01] [-8.32523793e-04 2.06819520e-05 9.99999653e-01 -1.02834137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327552018 meters Centerline goodness [0,1] 0.9878576660969167 Centerline is valid? [True, True] Translation: X:12.64, Y:-1.00, Z:-0.10 [[ 9.98973227e-01 4.53010856e-02 5.50042215e-04 1.26354063e+01] [-4.53010707e-02 9.98973379e-01 -3.96631466e-05 -1.00018407e+00] [-5.51274314e-04 1.47049203e-05 9.99999848e-01 -1.02498177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.357552018 meters Centerline goodness [0,1] 0.9880038069099842 Centerline is valid? [True, True] Translation: X:12.66, Y:-1.00, Z:-0.10 [[ 9.99039988e-01 4.37760428e-02 1.66143947e-03 1.26641316e+01] [-4.37759069e-02 9.99041369e-01 -1.18090712e-04 -1.00449597e+00] [-1.66501631e-03 4.52463237e-05 9.99998613e-01 -1.02675528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.387552018 meters Centerline goodness [0,1] 0.9880138506614579 Centerline is valid? [True, True] Translation: X:12.69, Y:-1.01, Z:-0.10 [[ 9.99090479e-01 4.26046114e-02 1.75003919e-03 1.26918461e+01] [-4.26044589e-02 9.99092010e-01 -1.24327875e-04 -1.00961534e+00] [-1.75374711e-03 4.96553230e-05 9.99998461e-01 -1.02825625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.417552018 meters Centerline goodness [0,1] 0.9870616124243968 Centerline is valid? [True, True] Translation: X:12.72, Y:-1.02, Z:-0.10 [[ 9.99188881e-01 4.02188013e-02 2.00712800e-03 1.27200014e+01] [-4.02185968e-02 9.99190895e-01 -1.42191088e-04 -1.01783488e+00] [-2.01122278e-03 6.13518819e-05 9.99997976e-01 -1.03495484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.447552018 meters Centerline goodness [0,1] 0.9865085673909203 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.02, Z:-0.10 [[ 9.99244882e-01 3.87540879e-02 2.79048329e-03 1.27472546e+01] [-3.87536877e-02 9.99248774e-01 -1.97342271e-04 -1.02315811e+00] [-2.79603482e-03 8.90517363e-05 9.99996087e-01 -1.03275319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.477552017999999 meters Centerline goodness [0,1] 0.986820574056875 Centerline is valid? [True, True] Translation: X:12.78, Y:-1.02, Z:-0.10 [[ 9.99291913e-01 3.75036348e-02 3.02504721e-03 1.27756986e+01] [-3.75031601e-02 9.99296486e-01 -2.13523700e-04 -1.02474421e+00] [-3.03092696e-03 9.99236765e-05 9.99995402e-01 -1.02912753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.507552018 meters Centerline goodness [0,1] 0.9876016619519095 Centerline is valid? [True, True] Translation: X:12.80, Y:-1.03, Z:-0.10 [[ 9.99329396e-01 3.64400867e-02 3.58856834e-03 1.28028172e+01] [-3.64394129e-02 9.99335832e-01 -2.52981896e-04 -1.02952699e+00] [-3.59540361e-03 1.22046922e-04 9.99993529e-01 -1.02735520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.537552018 meters Centerline goodness [0,1] 0.986521365070261 Centerline is valid? [True, True] Translation: X:12.83, Y:-1.04, Z:-0.10 [[ 9.99404464e-01 3.42833174e-02 3.92074595e-03 1.28304747e+01] [-3.42824983e-02 9.99412144e-01 -2.75947079e-04 -1.03622693e+00] [-3.92790150e-03 1.41369776e-04 9.99992276e-01 -1.03218615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.567552017999999 meters Centerline goodness [0,1] 0.9876107755389973 Centerline is valid? [True, True] Translation: X:12.86, Y:-1.04, Z:-0.10 [[ 9.99437071e-01 3.33676907e-02 3.48409771e-03 1.28593713e+01] [-3.33670394e-02 9.99443135e-01 -2.44887122e-04 -1.03991953e+00] [-3.49032886e-03 1.28495242e-04 9.99993901e-01 -1.03883258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.597552018 meters Centerline goodness [0,1] 0.9870044198166106 Centerline is valid? [True, True] Translation: X:12.89, Y:-1.04, Z:-0.10 [[ 9.99465177e-01 3.25505867e-02 3.13344041e-03 1.28881885e+01] [-3.25500565e-02 9.99470082e-01 -2.20057337e-04 -1.04373000e+00] [-3.13894294e-03 1.17945983e-04 9.99995067e-01 -1.04608425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.627552018 meters Centerline goodness [0,1] 0.9871704590466969 Centerline is valid? [True, True] Translation: X:12.92, Y:-1.05, Z:-0.11 [[ 9.99489754e-01 3.18428173e-02 2.50318720e-03 1.29155299e+01] [-3.18424767e-02 9.99492884e-01 -1.75809208e-04 -1.04904563e+00] [-2.50751606e-03 9.60118216e-05 9.99996852e-01 -1.05518092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.657552018 meters Centerline goodness [0,1] 0.9876703296703296 Centerline is valid? [True, True] Translation: X:12.94, Y:-1.05, Z:-0.11 [[ 9.99538412e-01 3.03405758e-02 1.55321389e-03 1.29444397e+01] [-3.03404428e-02 9.99539617e-01 -1.09106188e-04 -1.05181253e+00] [-1.55580916e-03 6.19306292e-05 9.99998788e-01 -1.06631088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.687552018 meters Centerline goodness [0,1] 0.9877357246472372 Centerline is valid? [True, True] Translation: X:12.97, Y:-1.06, Z:-0.11 [[ 9.99550052e-01 2.99881866e-02 6.33716258e-04 1.29719187e+01] [-2.99881641e-02 9.99550253e-01 -4.49418359e-05 -1.05645105e+00] [-6.34778970e-04 2.59176273e-05 9.99999798e-01 -1.07631691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.717552018 meters Centerline goodness [0,1] 0.98701926244811 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.06, Z:-0.11 [[ 9.99551943e-01 2.99316713e-02 9.59994017e-05 1.30007659e+01] [-2.99316707e-02 9.99551947e-01 -7.26909900e-06 -1.05882545e+00] [-9.61739652e-05 4.39241954e-06 9.99999995e-01 -1.08033495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.747552018 meters Centerline goodness [0,1] 0.9876716535778528 Centerline is valid? [True, True] Translation: X:13.03, Y:-1.06, Z:-0.11 [[ 9.99534234e-01 3.05159303e-02 -3.06607859e-04 1.30285271e+01] [-3.05159254e-02 9.99534280e-01 2.03807582e-05 -1.06278012e+00] [ 3.07087004e-04 -1.10148430e-05 9.99999953e-01 -1.09078028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.777552018 meters Centerline goodness [0,1] 0.9870437876059555 Centerline is valid? [True, True] Translation: X:13.06, Y:-1.06, Z:-0.11 [[ 9.99472416e-01 3.24775731e-02 -3.12308988e-04 1.30570101e+01] [-3.24775681e-02 9.99472464e-01 2.11299544e-05 -1.06362567e+00] [ 3.12830484e-04 -1.09757701e-05 9.99999951e-01 -1.08924678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.807552017999999 meters Centerline goodness [0,1] 0.9876391149430344 Centerline is valid? [True, True] Translation: X:13.09, Y:-1.06, Z:-0.11 [[ 9.99423678e-01 3.39453317e-02 -1.64827440e-04 1.30856241e+01] [-3.39453304e-02 9.99423691e-01 1.08690830e-05 -1.06459456e+00] [ 1.65101403e-04 -5.26769698e-06 9.99999986e-01 -1.08603145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.837552018 meters Centerline goodness [0,1] 0.9879060579455663 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.07, Z:-0.11 [[ 9.99369650e-01 3.55007312e-02 -2.65166954e-05 1.31143535e+01] [-3.55007311e-02 9.99369650e-01 1.26701929e-06 -1.06535168e+00] [ 2.65449607e-05 -3.24858548e-07 1.00000000e+00 -1.08485713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.867552018 meters Centerline goodness [0,1] 0.9883677545376731 Centerline is valid? [True, True] Translation: X:13.14, Y:-1.06, Z:-0.11 [[ 9.99304739e-01 3.72784505e-02 5.96146813e-04 1.31429429e+01] [-3.72784322e-02 9.99304917e-01 -4.18783516e-05 -1.06435916e+00] [-5.97293601e-04 1.96258167e-05 9.99999821e-01 -1.07612676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.897552017999999 meters Centerline goodness [0,1] 0.9885549844031457 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.07, Z:-0.11 [[ 9.99194016e-01 4.01176772e-02 1.37501300e-03 1.31701893e+01] [-4.01175833e-02 9.99194961e-01 -9.58215981e-05 -1.06799543e+00] [-1.37775020e-03 4.05821689e-05 9.99999050e-01 -1.07623759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.927552018 meters Centerline goodness [0,1] 0.9883738785179985 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.07, Z:-0.11 [[ 9.99145196e-01 4.13181042e-02 1.30023361e-03 1.31995617e+01] [-4.13180217e-02 9.99146042e-01 -9.02705703e-05 -1.06889393e+00] [-1.30285307e-03 3.64703265e-05 9.99999151e-01 -1.06844986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.957552018 meters Centerline goodness [0,1] 0.9892723164337582 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.07, Z:-0.11 [[ 9.99114767e-01 4.20187967e-02 2.02567705e-03 1.32288204e+01] [-4.20185986e-02 9.99116819e-01 -1.40281719e-04 -1.07063380e+00] [-2.02978248e-03 5.50414261e-05 9.99997938e-01 -1.06500481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.987552017999999 meters Centerline goodness [0,1] 0.9879985958137698 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.08, Z:-0.11 [[ 9.99084736e-01 4.26902412e-02 2.68963292e-03 1.32560300e+01] [-4.26898947e-02 9.99088354e-01 -1.86142388e-04 -1.07654140e+00] [-2.69512739e-03 7.11518725e-05 9.99996366e-01 -1.06435342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.017552018 meters Centerline goodness [0,1] 0.9879985958137698 Centerline is valid? [True, True] Translation: X:13.28, Y:-1.08, Z:-0.11 [[ 9.99089440e-01 4.25799941e-02 2.68964663e-03 1.32834436e+01] [-4.25796477e-02 9.99093058e-01 -1.85943945e-04 -1.07831722e+00] [-2.69512477e-03 7.12504255e-05 9.99996366e-01 -1.06639871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.047552018 meters Centerline goodness [0,1] 0.9885410047983173 Centerline is valid? [True, True] Translation: X:13.31, Y:-1.08, Z:-0.11 [[ 9.99096209e-01 4.24342366e-02 2.47000121e-03 1.33119912e+01] [-4.24339450e-02 9.99099260e-01 -1.70383614e-04 -1.07949608e+00] [-2.47500648e-03 6.54177277e-05 9.99996935e-01 -1.06754469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.077552018 meters Centerline goodness [0,1] 0.9888898609045578 Centerline is valid? [True, True] Translation: X:13.34, Y:-1.08, Z:-0.11 [[ 9.99087872e-01 4.26408383e-02 2.27643998e-03 1.33405846e+01] [-4.26405914e-02 9.99090464e-01 -1.56908464e-04 -1.08220391e+00] [-2.28106019e-03 5.96965966e-05 9.99997397e-01 -1.06726146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.107552018 meters Centerline goodness [0,1] 0.988617708219328 Centerline is valid? [True, True] Translation: X:13.37, Y:-1.09, Z:-0.11 [[ 9.99074021e-01 4.30099776e-02 1.11501624e-03 1.33684164e+01] [-4.30099182e-02 9.99074642e-01 -7.71814370e-05 -1.08906681e+00] [-1.11730402e-03 2.91532113e-05 9.99999375e-01 -1.08232449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.137552018 meters Centerline goodness [0,1] 0.988467838811838 Centerline is valid? [True, True] Translation: X:13.40, Y:-1.09, Z:-0.11 [[ 9.99048720e-01 4.36045511e-02 5.46840541e-04 1.33973784e+01] [-4.36045368e-02 9.99048869e-01 -3.80446467e-05 -1.08965865e+00] [-5.47979344e-04 1.41637270e-05 9.99999850e-01 -1.08097736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.167552018 meters Centerline goodness [0,1] 0.9892374327339546 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.09, Z:-0.11 [[ 9.99054532e-01 4.34679744e-02 7.59942356e-04 1.34244018e+01] [-4.34679467e-02 9.99054821e-01 -5.29696611e-05 -1.09343338e+00] [-7.61526559e-04 1.98864461e-05 9.99999710e-01 -1.08377293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.197552018 meters Centerline goodness [0,1] 0.9897961413245352 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.10, Z:-0.11 [[ 9.99073302e-01 4.30382998e-02 4.91300952e-04 1.34533242e+01] [-4.30382883e-02 9.99073423e-01 -3.41253836e-05 -1.09719118e+00] [-4.92314422e-04 1.29490076e-05 9.99999879e-01 -1.08389595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.227552017999999 meters Centerline goodness [0,1] 0.988889858995067 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.10, Z:-0.11 [[ 9.99133852e-01 4.16004466e-02 9.74031064e-04 1.34802501e+01] [-4.16004009e-02 9.99134326e-01 -6.71308875e-05 -1.10468506e+00] [-9.75980546e-04 2.65526594e-05 9.99999523e-01 -1.08340150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.257552018 meters Centerline goodness [0,1] 0.9876992075241662 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.11, Z:-0.11 [[ 9.99200688e-01 3.99677747e-02 7.49444547e-04 1.35084955e+01] [-3.99677472e-02 9.99200969e-01 -5.16121511e-05 -1.10858176e+00] [-7.50908541e-04 2.16172866e-05 9.99999718e-01 -1.08272573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.287552018 meters Centerline goodness [0,1] 0.9889114001263534 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.11, Z:-0.11 [[ 9.99273229e-01 3.80958638e-02 1.31102096e-03 1.35369475e+01] [-3.80957787e-02 9.99274088e-01 -8.97635847e-05 -1.11297097e+00] [-1.31348890e-03 3.97539827e-05 9.99999137e-01 -1.07953331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.317552017999999 meters Centerline goodness [0,1] 0.9881283701513307 Centerline is valid? [True, True] Translation: X:13.57, Y:-1.12, Z:-0.11 [[ 9.99424023e-01 3.38751492e-02 2.02392807e-03 1.35661166e+01] [-3.38749393e-02 9.99426070e-01 -1.37902205e-04 -1.12028121e+00] [-2.02743794e-03 6.92623360e-05 9.99997942e-01 -1.08115401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.347552018 meters Centerline goodness [0,1] 0.9887647774687065 Centerline is valid? [True, True] Translation: X:13.59, Y:-1.13, Z:-0.11 [[ 9.99478008e-01 3.22658914e-02 1.61962778e-03 1.35942272e+01] [-3.22657543e-02 9.99479319e-01 -1.10701407e-04 -1.12527434e+00] [-1.62235635e-03 5.83851102e-05 9.99998682e-01 -1.08131096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.377552018 meters Centerline goodness [0,1] 0.9882335062848707 Centerline is valid? [True, True] Translation: X:13.62, Y:-1.13, Z:-0.11 [[ 9.99581687e-01 2.88484755e-02 2.05353174e-03 1.36221213e+01] [-2.88482490e-02 9.99583793e-01 -1.39851279e-04 -1.13370167e+00] [-2.05671155e-03 8.05519823e-05 9.99997882e-01 -1.08450162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.407552017999999 meters Centerline goodness [0,1] 0.987050951690089 Centerline is valid? [True, True] Translation: X:13.65, Y:-1.14, Z:-0.11 [[ 9.99699297e-01 2.44908698e-02 1.23005911e-03 1.36508460e+01] [-2.44907852e-02 9.99700052e-01 -8.37716388e-05 -1.13891044e+00] [-1.23174180e-03 5.36213349e-05 9.99999240e-01 -1.08438120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.437552018 meters Centerline goodness [0,1] 0.9876005289284863 Centerline is valid? [True, True] Translation: X:13.68, Y:-1.14, Z:-0.11 [[ 9.99761862e-01 2.17587890e-02 1.66535966e-03 1.36795918e+01] [-2.17586305e-02 9.99763247e-01 -1.13248417e-04 -1.14384617e+00] [-1.66742953e-03 7.69855024e-05 9.99998607e-01 -1.08619360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.467552018 meters Centerline goodness [0,1] 0.9881086223298452 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.15, Z:-0.11 [[ 9.99792039e-01 2.03607617e-02 1.14791074e-03 1.37081917e+01] [-2.03606853e-02 9.99792697e-01 -7.81837771e-05 -1.14724383e+00] [-1.14926466e-03 5.47952686e-05 9.99999338e-01 -1.09160911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.497552018 meters Centerline goodness [0,1] 0.9865378797700851 Centerline is valid? [True, True] Translation: X:13.74, Y:-1.15, Z:-0.11 [[ 9.99783660e-01 2.07928422e-02 5.39867468e-04 1.37353897e+01] [-2.07928251e-02 9.99783805e-01 -3.71703188e-05 -1.15473455e+00] [-5.40523628e-04 2.59369075e-05 9.99999854e-01 -1.10267569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.527552018 meters Centerline goodness [0,1] 0.9881299863786729 Centerline is valid? [True, True] Translation: X:13.76, Y:-1.16, Z:-0.11 [[ 9.99766065e-01 2.16267161e-02 3.17933448e-04 1.37640538e+01] [-2.16267102e-02 9.99766115e-01 -2.19991736e-05 -1.15503496e+00] [-3.18334858e-04 1.51181727e-05 9.99999949e-01 -1.10108097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.557552017999999 meters Centerline goodness [0,1] 0.9872937401071142 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.16, Z:-0.11 [[ 9.99742333e-01 2.26995118e-02 2.72350504e-05 1.37925862e+01] [-2.26995118e-02 9.99742333e-01 -2.39967842e-06 -1.15539837e+00] [-2.72825043e-05 1.78083775e-06 1.00000000e+00 -1.10589195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.587552018 meters Centerline goodness [0,1] 0.9873625542762092 Centerline is valid? [True, True] Translation: X:13.82, Y:-1.15, Z:-0.11 [[ 9.99630229e-01 2.71919258e-02 6.18893596e-05 1.38223841e+01] [-2.71919256e-02 9.99630231e-01 -4.44785582e-06 -1.15379992e+00] [-6.19874206e-05 2.76332027e-06 9.99999998e-01 -1.10587501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.617552018 meters Centerline goodness [0,1] 0.9875352265337091 Centerline is valid? [True, True] Translation: X:13.85, Y:-1.15, Z:-0.11 [[ 9.99528408e-01 3.07076786e-02 -2.22802501e-05 1.38527525e+01] [-3.07076785e-02 9.99528408e-01 1.35349080e-06 -1.15153618e+00] [ 2.23113054e-05 -6.68677747e-07 1.00000000e+00 -1.10675636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.647552017999999 meters Centerline goodness [0,1] 0.9880954948349112 Centerline is valid? [True, True] Translation: X:13.88, Y:-1.15, Z:-0.11 [[ 9.99432968e-01 3.36710007e-02 -7.53722352e-05 1.38805275e+01] [-3.36710005e-02 9.99432971e-01 4.14548627e-06 -1.15138450e+00] [ 7.54690797e-05 -1.60527708e-06 9.99999997e-01 -1.11091119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.677552018 meters Centerline goodness [0,1] 0.9888139781915931 Centerline is valid? [True, True] Translation: X:13.91, Y:-1.15, Z:-0.11 [[ 9.99293657e-01 3.75770787e-02 -3.88585730e-04 1.39093307e+01] [-3.75770716e-02 9.99293732e-01 2.54755522e-05 -1.14839866e+00] [ 3.89268581e-04 -1.08556440e-05 9.99999924e-01 -1.10906194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.707552018 meters Centerline goodness [0,1] 0.9890577507598785 Centerline is valid? [True, True] Translation: X:13.94, Y:-1.15, Z:-0.11 [[ 9.99127281e-01 4.17678592e-02 -3.50022777e-04 1.39372708e+01] [-4.17678538e-02 9.99127342e-01 2.27131770e-05 -1.14849535e+00] [ 3.50666008e-04 -8.07365464e-06 9.99999938e-01 -1.11327229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.737552017999999 meters Centerline goodness [0,1] 0.9897207432359013 Centerline is valid? [True, True] Translation: X:13.97, Y:-1.14, Z:-0.11 [[ 9.98760183e-01 4.97661668e-02 1.19370506e-03 1.39681885e+01] [-4.97661066e-02 9.98760896e-01 -8.00846105e-05 -1.14183502e+00] [-1.19621144e-03 2.05792669e-05 9.99999284e-01 -1.09735593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.767552018 meters Centerline goodness [0,1] 0.9893847957278687 Centerline is valid? [True, True] Translation: X:14.00, Y:-1.14, Z:-0.11 [[ 9.98593633e-01 5.29643379e-02 2.35272498e-03 1.39965935e+01] [-5.29641127e-02 9.98596404e-01 -1.57949843e-04 -1.14148895e+00] [-2.35778841e-03 3.31177168e-05 9.99997220e-01 -1.08857047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.797552018 meters Centerline goodness [0,1] 0.9900803125678316 Centerline is valid? [True, True] Translation: X:14.02, Y:-1.14, Z:-0.11 [[ 9.98363700e-01 5.70150140e-02 4.38291251e-03 1.40247837e+01] [-5.70142751e-02 9.98373320e-01 -2.93456505e-04 -1.14072082e+00] [-4.39251434e-03 4.30877423e-05 9.99990352e-01 -1.07612412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.827552018 meters Centerline goodness [0,1] 0.9905678787484551 Centerline is valid? [True, True] Translation: X:14.05, Y:-1.14, Z:-0.11 [[ 9.98283691e-01 5.83539133e-02 4.94907888e-03 1.40534082e+01] [-5.83529907e-02 9.98295958e-01 -3.30749668e-04 -1.14219039e+00] [-4.95994598e-03 4.13884455e-05 9.99987699e-01 -1.07649679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.857552018 meters Centerline goodness [0,1] 0.990041134444685 Centerline is valid? [True, True] Translation: X:14.08, Y:-1.14, Z:-0.11 [[ 9.98226373e-01 5.93351447e-02 4.84249399e-03 1.40818001e+01] [-5.93342746e-02 9.98238118e-01 -3.23265623e-04 -1.14424781e+00] [-4.85314309e-03 3.53664021e-05 9.99988223e-01 -1.08172005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.887552018 meters Centerline goodness [0,1] 0.9911510196982215 Centerline is valid? [True, True] Translation: X:14.11, Y:-1.15, Z:-0.11 [[ 9.98206222e-01 5.96831648e-02 4.71788415e-03 1.41098708e+01] [-5.96823440e-02 9.98217371e-01 -3.14703357e-04 -1.14687821e+00] [-4.72825640e-03 3.25644648e-05 9.99988821e-01 -1.08805893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.917552018 meters Centerline goodness [0,1] 0.9904196289231836 Centerline is valid? [True, True] Translation: X:14.14, Y:-1.15, Z:-0.11 [[ 9.98212626e-01 5.95965601e-02 4.45000054e-03 1.41378923e+01] [-5.95958310e-02 9.98222545e-01 -2.96379444e-04 -1.15142553e+00] [-4.45975406e-03 3.06482237e-05 9.99990055e-01 -1.10519774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.947552018 meters Centerline goodness [0,1] 0.9909313248057485 Centerline is valid? [True, True] Translation: X:14.17, Y:-1.16, Z:-0.11 [[ 9.98249406e-01 5.90403694e-02 3.51540443e-03 1.41665385e+01] [-5.90399122e-02 9.98255596e-01 -2.33757098e-04 -1.15537553e+00] [-3.52307325e-03 2.57987150e-05 9.99993794e-01 -1.11415654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.977552017999999 meters Centerline goodness [0,1] 0.989673349464224 Centerline is valid? [True, True] Translation: X:14.19, Y:-1.16, Z:-0.11 [[ 9.98270648e-01 5.86966711e-02 3.22712513e-03 1.41928267e+01] [-5.86962840e-02 9.98275864e-01 -2.14623381e-04 -1.15894051e+00] [-3.23415881e-03 2.48319690e-05 9.99994770e-01 -1.12718920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.007552018 meters Centerline goodness [0,1] 0.9903673398705544 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.16, Z:-0.11 [[ 9.98303496e-01 5.81625722e-02 2.69155788e-03 1.42214831e+01] [-5.81623022e-02 9.98307124e-01 -1.78548121e-04 -1.16260959e+00] [-2.69738622e-03 2.16980110e-05 9.99996362e-01 -1.13283778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.037552018 meters Centerline goodness [0,1] 0.9900855365474339 Centerline is valid? [True, True] Translation: X:14.25, Y:-1.17, Z:-0.12 [[ 9.98352016e-01 5.73779495e-02 1.01113546e-03 1.42496066e+01] [-5.73779107e-02 9.98352528e-01 -6.73653714e-05 -1.16798154e+00] [-1.01333493e-03 9.23751406e-06 9.99999487e-01 -1.15255987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.067552017999999 meters Centerline goodness [0,1] 0.990865903692507 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.17, Z:-0.12 [[ 9.98393784e-01 5.66534248e-02 4.91258766e-04 1.42777723e+01] [-5.66534155e-02 9.98393905e-01 -3.29917984e-05 -1.17208253e+00] [-4.92338856e-04 5.10731946e-06 9.99999879e-01 -1.15869031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.097552018 meters Centerline goodness [0,1] 0.9897910833512815 Centerline is valid? [True, True] Translation: X:14.31, Y:-1.18, Z:-0.12 [[ 9.98422707e-01 5.61435427e-02 -2.46072849e-05 1.43054413e+01] [-5.61435427e-02 9.98422707e-01 8.99403757e-07 -1.17735493e+00] [ 2.46189677e-05 4.83555013e-07 1.00000000e+00 -1.17759089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.127552018 meters Centerline goodness [0,1] 0.9895258620689655 Centerline is valid? [True, True] Translation: X:14.33, Y:-1.18, Z:-0.12 [[ 9.98481468e-01 5.50784138e-02 1.06092305e-03 1.43317349e+01] [-5.50783698e-02 9.98482032e-01 -7.06967662e-05 -1.18389411e+00] [-1.06320647e-03 1.21554989e-05 9.99999435e-01 -1.17408818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.157552017999999 meters Centerline goodness [0,1] 0.9886497990068575 Centerline is valid? [True, True] Translation: X:14.36, Y:-1.19, Z:-0.12 [[ 9.98520657e-01 5.43301987e-02 2.17433320e-03 1.43599448e+01] [-5.43300150e-02 9.98523024e-01 -1.43522121e-04 -1.18786249e+00] [-2.17891935e-03 2.51782467e-05 9.99997626e-01 -1.16538608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.187552018 meters Centerline goodness [0,1] 0.9880919055104546 Centerline is valid? [True, True] Translation: X:14.39, Y:-1.19, Z:-0.12 [[ 9.98500500e-01 5.46948526e-02 2.28569822e-03 1.43884841e+01] [-5.46946516e-02 9.98503116e-01 -1.50397884e-04 -1.19262894e+00] [-2.29050279e-03 2.51568943e-05 9.99997376e-01 -1.15894571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.217552018 meters Centerline goodness [0,1] 0.988274132350104 Centerline is valid? [True, True] Translation: X:14.42, Y:-1.20, Z:-0.12 [[ 9.98585905e-01 5.30266761e-02 3.78976448e-03 1.44171803e+01] [-5.30261139e-02 9.98593095e-01 -2.48745521e-04 -1.19678222e+00] [-3.79762279e-03 4.74372877e-05 9.99992788e-01 -1.15683501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.247552018 meters Centerline goodness [0,1] 0.988495860660144 Centerline is valid? [True, True] Translation: X:14.45, Y:-1.20, Z:-0.11 [[ 9.98672764e-01 5.13198092e-02 4.35749333e-03 1.44457615e+01] [-5.13190513e-02 9.98682268e-01 -2.85638779e-04 -1.20247370e+00] [-4.36641025e-03 6.16372446e-05 9.99990465e-01 -1.14426961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.277552018 meters Centerline goodness [0,1] 0.9885375155332733 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.21, Z:-0.11 [[ 9.98704056e-01 5.06740764e-02 4.72715686e-03 1.44740249e+01] [-5.06731791e-02 9.98715241e-01 -3.09460127e-04 -1.20703379e+00] [-4.73676521e-03 6.95190178e-05 9.99988779e-01 -1.14540872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.307552017999999 meters Centerline goodness [0,1] 0.9880190664319148 Centerline is valid? [True, True] Translation: X:14.50, Y:-1.21, Z:-0.11 [[ 9.98743658e-01 4.98213446e-02 5.37952214e-03 1.45029782e+01] [-4.98201729e-02 9.98758142e-01 -3.51665792e-04 -1.21139667e+00] [-5.39036200e-03 8.32152557e-05 9.99985468e-01 -1.14232802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.337552018 meters Centerline goodness [0,1] 0.9872854146153517 Centerline is valid? [True, True] Translation: X:14.53, Y:-1.22, Z:-0.11 [[ 9.98768462e-01 4.93134848e-02 5.45331634e-03 1.45311787e+01] [-4.93122756e-02 9.98783346e-01 -3.56055286e-04 -1.21539804e+00] [-5.46423987e-03 8.67013523e-05 9.99985067e-01 -1.13785735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.367552018 meters Centerline goodness [0,1] 0.9872631916943166 Centerline is valid? [True, True] Translation: X:14.56, Y:-1.22, Z:-0.11 [[ 9.98836322e-01 4.76973060e-02 7.13922721e-03 1.45600402e+01] [-4.76951977e-02 9.98861828e-01 -4.65380891e-04 -1.22230291e+00] [-7.15329895e-03 1.24332485e-04 9.99974407e-01 -1.12402184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.397552017999999 meters Centerline goodness [0,1] 0.9866715082128287 Centerline is valid? [True, True] Translation: X:14.59, Y:-1.23, Z:-0.11 [[ 9.98857194e-01 4.72181882e-02 7.39926726e-03 1.45872750e+01] [-4.72159148e-02 9.98884591e-01 -4.81727013e-04 -1.22784736e+00] [-7.41376032e-03 1.31813320e-04 9.99972509e-01 -1.12218259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.427552018 meters Centerline goodness [0,1] 0.9865737375465002 Centerline is valid? [True, True] Translation: X:14.62, Y:-1.23, Z:-0.11 [[ 9.98887972e-01 4.66432753e-02 6.87206086e-03 1.46159877e+01] [-4.66413051e-02 9.98911602e-01 -4.46773143e-04 -1.23101458e+00] [-6.88542029e-03 1.25754431e-04 9.99976287e-01 -1.12442208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.457552018 meters Centerline goodness [0,1] 0.9855850460893556 Centerline is valid? [True, True] Translation: X:14.64, Y:-1.24, Z:-0.11 [[ 9.98925154e-01 4.59000160e-02 6.45948633e-03 1.46443126e+01] [-4.58982627e-02 9.98946031e-01 -4.19484124e-04 -1.23709937e+00] [-6.47193256e-03 1.22554042e-04 9.99979049e-01 -1.13155196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.487552017999999 meters Centerline goodness [0,1] 0.9852099843200407 Centerline is valid? [True, True] Translation: X:14.67, Y:-1.24, Z:-0.11 [[ 9.98919097e-01 4.60195991e-02 6.54483169e-03 1.46718240e+01] [-4.60178051e-02 9.98940529e-01 -4.24511677e-04 -1.24278470e+00] [-6.55743349e-03 1.22874032e-04 9.99978492e-01 -1.13586636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.517552018 meters Centerline goodness [0,1] 0.9851944686364892 Centerline is valid? [True, True] Translation: X:14.70, Y:-1.25, Z:-0.11 [[ 9.98913181e-01 4.60644164e-02 7.10822038e-03 1.47008212e+01] [-4.60623069e-02 9.98938463e-01 -4.60276896e-04 -1.24696531e+00] [-7.12187712e-03 1.32355629e-04 9.99974630e-01 -1.13552995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.547552018 meters Centerline goodness [0,1] 0.9852881515170927 Centerline is valid? [True, True] Translation: X:14.73, Y:-1.25, Z:-0.11 [[ 9.98911240e-01 4.61226439e-02 7.00253848e-03 1.47298426e+01] [-4.61206018e-02 9.98935776e-01 -4.52907331e-04 -1.24974101e+00] [-7.01597550e-03 1.29452935e-04 9.99975379e-01 -1.13882490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.577552018 meters Centerline goodness [0,1] 0.9844583721521132 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.26, Z:-0.11 [[ 9.98892982e-01 4.64985163e-02 7.12029335e-03 1.47571891e+01] [-4.64964185e-02 9.98918351e-01 -4.59961093e-04 -1.25504913e+00] [-7.13397920e-03 1.28383768e-04 9.99974545e-01 -1.14283720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.607552018 meters Centerline goodness [0,1] 0.985003088852438 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.26, Z:-0.11 [[ 9.98908771e-01 4.62386664e-02 6.57676616e-03 1.47854529e+01] [-4.62368756e-02 9.98930414e-01 -4.24166024e-04 -1.25866690e+00] [-6.58934462e-03 1.19614043e-04 9.99978283e-01 -1.14825812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.637552018 meters Centerline goodness [0,1] 0.9842828239804068 Centerline is valid? [True, True] Translation: X:14.81, Y:-1.26, Z:-0.12 [[ 9.98932060e-01 4.57496747e-02 6.45805752e-03 1.48128973e+01] [-4.57479409e-02 9.98952928e-01 -4.16028220e-04 -1.26363905e+00] [-6.47032863e-03 1.20141093e-04 9.99979060e-01 -1.15678280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.667552018 meters Centerline goodness [0,1] 0.9847694110128874 Centerline is valid? [True, True] Translation: X:14.84, Y:-1.27, Z:-0.12 [[ 9.99012060e-01 4.40303724e-02 6.01912280e-03 1.48410529e+01] [-4.40288384e-02 9.99030185e-01 -3.87187282e-04 -1.26910343e+00] [-6.03033337e-03 1.21789779e-04 9.99981810e-01 -1.16655461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.697552018 meters Centerline goodness [0,1] 0.9842546491340057 Centerline is valid? [True, True] Translation: X:14.87, Y:-1.27, Z:-0.12 [[ 9.99060207e-01 4.29391194e-02 5.91050740e-03 1.48685038e+01] [-4.29376237e-02 9.99077683e-01 -3.79764896e-04 -1.27480944e+00] [-5.92136281e-03 1.25624853e-04 9.99982461e-01 -1.16822980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.727552017999999 meters Centerline goodness [0,1] 0.9838627484287413 Centerline is valid? [True, True] Translation: X:14.90, Y:-1.28, Z:-0.12 [[ 9.99127916e-01 4.12994576e-02 6.14504118e-03 1.48957609e+01] [-4.12978139e-02 9.99146804e-01 -3.94191743e-04 -1.28145734e+00] [-6.15607815e-03 1.40071208e-04 9.99981041e-01 -1.17076975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.757552018 meters Centerline goodness [0,1] 0.9828350767011097 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.29, Z:-0.12 [[ 9.99207261e-01 3.92818590e-02 6.46419872e-03 1.49240857e+01] [-3.92800024e-02 9.99228157e-01 -4.13980705e-04 -1.28544806e+00] [-6.47547131e-03 1.59738785e-04 9.99979021e-01 -1.17432492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.787552018 meters Centerline goodness [0,1] 0.9827252419955324 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.29, Z:-0.12 [[ 9.99380161e-01 3.45549672e-02 6.72673390e-03 1.49529578e+01] [-3.45528534e-02 9.99402779e-01 -4.30230189e-04 -1.29453934e+00] [-6.73758314e-03 1.97535665e-04 9.99977283e-01 -1.17450269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.817552017999999 meters Centerline goodness [0,1] 0.9818624854327789 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.30, Z:-0.12 [[ 9.99461476e-01 3.20892429e-02 6.85847521e-03 1.49810157e+01] [-3.20869904e-02 9.99484984e-01 -4.38241612e-04 -1.30024306e+00] [-6.86900582e-03 2.17937780e-04 9.99976384e-01 -1.17365647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.847552018 meters Centerline goodness [0,1] 0.9811256516650707 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.31, Z:-0.12 [[ 9.99551645e-01 2.90582063e-02 7.22005085e-03 1.50101019e+01] [-2.90556340e-02 9.99577690e-01 -4.60926447e-04 -1.30593440e+00] [-7.23039544e-03 2.50936634e-04 9.99973829e-01 -1.17471087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.877552018 meters Centerline goodness [0,1] 0.9802060104067113 Centerline is valid? [True, True] Translation: X:15.04, Y:-1.32, Z:-0.12 [[ 9.99697977e-01 2.33347182e-02 7.71016603e-03 1.50383721e+01] [-2.33316173e-02 9.99727660e-01 -4.91895219e-04 -1.31855183e+00] [-7.71954448e-03 3.11856012e-04 9.99970155e-01 -1.18206749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.907552017999999 meters Centerline goodness [0,1] 0.9802060104067113 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.32, Z:-0.12 [[ 9.99698845e-01 2.32974941e-02 7.71018496e-03 1.50674967e+01] [-2.32943944e-02 9.99728528e-01 -4.91598375e-04 -1.32037079e+00] [-7.71954487e-03 3.11846238e-04 9.99970155e-01 -1.18423833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.937552018 meters Centerline goodness [0,1] 0.9807933105541289 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.32, Z:-0.12 [[ 9.99764455e-01 2.03720658e-02 7.48414903e-03 1.50976679e+01] [-2.03690653e-02 9.99792415e-01 -4.76915828e-04 -1.32127959e+00] [-7.49231120e-03 3.24358373e-04 9.99971880e-01 -1.19094560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.967552018 meters Centerline goodness [0,1] 0.98003907245392 Centerline is valid? [True, True] Translation: X:15.13, Y:-1.33, Z:-0.12 [[ 9.99821393e-01 1.75174776e-02 7.09360135e-03 1.51279820e+01] [-1.75147115e-02 9.99846504e-01 -4.51888273e-04 -1.32591633e+00] [-7.10042845e-03 3.27565182e-04 9.99974738e-01 -1.19226644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.997552018 meters Centerline goodness [0,1] 0.9796360393264392 Centerline is valid? [True, True] Translation: X:15.16, Y:-1.33, Z:-0.12 [[ 9.99904320e-01 1.19191817e-02 7.02018200e-03 1.51578038e+01] [-1.19163349e-02 9.99928898e-01 -4.47209210e-04 -1.33355783e+00] [-7.02501322e-03 3.63511582e-04 9.99975258e-01 -1.19880388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.027552017999998 meters Centerline goodness [0,1] 0.9784299557973478 Centerline is valid? [True, True] Translation: X:15.19, Y:-1.34, Z:-0.12 [[ 9.99931961e-01 9.22005722e-03 7.14591319e-03 1.51887118e+01] [-9.21703856e-03 9.99957419e-01 -4.55250368e-04 -1.33722550e+00] [-7.14980634e-03 3.89355236e-04 9.99974364e-01 -1.19891611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.057552018 meters Centerline goodness [0,1] 0.9776396461378535 Centerline is valid? [True, True] Translation: X:15.22, Y:-1.34, Z:-0.12 [[ 9.99950731e-01 6.50089117e-03 7.50164052e-03 1.52185519e+01] [-6.49748701e-03 9.99978777e-01 -4.78070797e-04 -1.34201912e+00] [-7.50458920e-03 4.29305431e-04 9.99971748e-01 -1.19808206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.087552017999997 meters Centerline goodness [0,1] 0.9776127343533868 Centerline is valid? [True, True] Translation: X:15.25, Y:-1.35, Z:-0.12 [[ 9.99962203e-01 4.06337534e-03 7.68645607e-03 1.52499309e+01] [-4.05972953e-03 9.99991639e-01 -4.89859456e-04 -1.34566770e+00] [-7.68838229e-03 4.58636008e-04 9.99970339e-01 -1.19682381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.117552017999998 meters Centerline goodness [0,1] 0.9763530709195792 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.35, Z:-0.12 [[ 9.99971105e-01 1.21432541e-03 7.50425964e-03 1.52809503e+01] [-1.21076826e-03 9.99999153e-01 -4.78541471e-04 -1.34969676e+00] [-7.50483438e-03 4.69441725e-04 9.99971728e-01 -1.19424751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.147552018 meters Centerline goodness [0,1] 0.9764219015280136 Centerline is valid? [True, True] Translation: X:15.31, Y:-1.35, Z:-0.12 [[ 9.99973507e-01 8.87115615e-04 7.22483179e-03 1.53118701e+01] [-8.83808258e-04 9.99999503e-01 -4.60956149e-04 -1.35212077e+00] [-7.22523712e-03 4.54558571e-04 9.99973794e-01 -1.19816596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.177552017999997 meters Centerline goodness [0,1] 0.9773787462457665 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.35, Z:-0.12 [[ 9.99982575e-01 2.46168275e-03 5.36555555e-03 1.53445549e+01] [-2.45987449e-03 9.99996915e-01 -3.43585759e-04 -1.34933924e+00] [-5.36638480e-03 3.30381179e-04 9.99985546e-01 -1.19588456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.207552017999998 meters Centerline goodness [0,1] 0.9785768936495792 Centerline is valid? [True, True] Translation: X:15.38, Y:-1.35, Z:-0.12 [[ 9.99970614e-01 5.05268285e-03 5.76551349e-03 1.53762859e+01] [-5.05063447e-03 9.99987177e-01 -3.69785143e-04 -1.34639827e+00] [-5.76730796e-03 3.40654775e-04 9.99983311e-01 -1.21279412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.237552018 meters Centerline goodness [0,1] 0.9775149439469037 Centerline is valid? [True, True] Translation: X:15.41, Y:-1.35, Z:-0.12 [[ 9.99955986e-01 7.96828985e-03 4.95307381e-03 1.54083051e+01] [-7.96681319e-03 9.99968214e-01 -3.17789351e-04 -1.34544115e+00] [-4.95544861e-03 2.78315150e-04 9.99987683e-01 -1.21689132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.267552017999996 meters Centerline goodness [0,1] 0.9789068153761015 Centerline is valid? [True, True] Translation: X:15.44, Y:-1.34, Z:-0.12 [[ 9.99914988e-01 1.23060767e-02 4.31023061e-03 1.54392290e+01] [-1.23049973e-02 9.99924252e-01 -2.76873265e-04 -1.34244626e+00] [-4.31331135e-03 2.23812352e-04 9.99990673e-01 -1.21895433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.297552017999998 meters Centerline goodness [0,1] 0.9806707873999023 Centerline is valid? [True, True] Translation: X:15.47, Y:-1.33, Z:-0.12 [[ 9.99749455e-01 2.19010405e-02 4.62301393e-03 1.54701296e+01] [-2.18999001e-02 9.99760124e-01 -2.97162566e-04 -1.33267052e+00] [-4.62841315e-03 1.95844570e-04 9.99989270e-01 -1.21144536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.327552018 meters Centerline goodness [0,1] 0.9803349241520368 Centerline is valid? [True, True] Translation: X:15.50, Y:-1.33, Z:-0.12 [[ 9.99611014e-01 2.74138033e-02 5.12865422e-03 1.54994842e+01] [-2.74124723e-02 9.99624153e-01 -3.29647925e-04 -1.33057991e+00] [-5.13576353e-03 1.88930605e-04 9.99986794e-01 -1.21255691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.357552017999996 meters Centerline goodness [0,1] 0.980823727441246 Centerline is valid? [True, True] Translation: X:15.53, Y:-1.33, Z:-0.12 [[ 9.99417789e-01 3.36270103e-02 5.77120193e-03 1.55290447e+01] [-3.36254299e-02 9.99434437e-01 -3.70678854e-04 -1.32799198e+00] [-5.78040277e-03 1.76403895e-04 9.99983278e-01 -1.20520951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.387552017999997 meters Centerline goodness [0,1] 0.9839822782653148 Centerline is valid? [True, True] Translation: X:15.56, Y:-1.31, Z:-0.12 [[ 9.98914218e-01 4.59821906e-02 7.48489646e-03 1.55605687e+01] [-4.59798816e-02 9.98942250e-01 -4.80378392e-04 -1.31215602e+00] [-7.49906816e-03 1.35702153e-04 9.99971872e-01 -1.18604516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.417552018 meters Centerline goodness [0,1] 0.9842543141051556 Centerline is valid? [True, True] Translation: X:15.59, Y:-1.31, Z:-0.12 [[ 9.98646555e-01 5.12421109e-02 8.90534218e-03 1.55885038e+01] [-5.12390529e-02 9.98686254e-01 -5.71357047e-04 -1.30894325e+00] [-8.92292036e-03 1.14282448e-04 9.99960183e-01 -1.18072582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.447552017999996 meters Centerline goodness [0,1] 0.9854648680952788 Centerline is valid? [True, True] Translation: X:15.62, Y:-1.31, Z:-0.12 [[ 9.98379819e-01 5.60082417e-02 1.00406259e-02 1.56166505e+01] [-5.60046061e-02 9.98430303e-01 -6.43109568e-04 -1.30645985e+00] [-1.00608846e-02 7.97463143e-05 9.99949385e-01 -1.17463617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.477552017999997 meters Centerline goodness [0,1] 0.9869205862304021 Centerline is valid? [True, True] Translation: X:15.65, Y:-1.30, Z:-0.12 [[ 9.97938574e-01 6.32200385e-02 1.10375967e-02 1.56462081e+01] [-6.32160978e-02 9.97999613e-01 -7.05901613e-04 -1.30056218e+00] [-1.10601444e-02 6.69265428e-06 9.99938835e-01 -1.17484857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.507552018 meters Centerline goodness [0,1] 0.9880191012194082 Centerline is valid? [True, True] Translation: X:15.68, Y:-1.30, Z:-0.12 [[ 9.97780169e-01 6.55826632e-02 1.15606747e-02 1.56752731e+01] [-6.55785092e-02 9.97847140e-01 -7.38439084e-04 -1.30026855e+00] [-1.15842150e-02 -2.13319386e-05 9.99932901e-01 -1.18296634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.537552018 meters Centerline goodness [0,1] 0.9884944606911862 Centerline is valid? [True, True] Translation: X:15.70, Y:-1.30, Z:-0.12 [[ 9.97674155e-01 6.72410214e-02 1.11769991e-02 1.57038364e+01] [-6.72372522e-02 9.97736761e-01 -7.13081229e-04 -1.30136421e+00] [-1.11996512e-02 -4.00879948e-05 9.99937281e-01 -1.19187973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.567552017999997 meters Centerline goodness [0,1] 0.9886446104589114 Centerline is valid? [True, True] Translation: X:15.73, Y:-1.30, Z:-0.12 [[ 9.97612923e-01 6.81564653e-02 1.10974336e-02 1.57314039e+01] [-6.81528167e-02 9.97674643e-01 -7.07052864e-04 -1.30303468e+00] [-1.11198183e-02 -5.09562817e-05 9.99938172e-01 -1.19669836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.597552018 meters Centerline goodness [0,1] 0.9883490173484412 Centerline is valid? [True, True] Translation: X:15.76, Y:-1.31, Z:-0.12 [[ 9.97645989e-01 6.77857866e-02 1.03714548e-02 1.57592058e+01] [-6.77825906e-02 9.97699897e-01 -6.59763181e-04 -1.30797928e+00] [-1.03923219e-02 -4.47939806e-05 9.99945997e-01 -1.21283496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.627552018 meters Centerline goodness [0,1] 0.9889021683455694 Centerline is valid? [True, True] Translation: X:15.79, Y:-1.31, Z:-0.12 [[ 9.97750406e-01 6.63626395e-02 9.49353069e-03 1.57881822e+01] [-6.63599064e-02 9.97795570e-01 -6.02948622e-04 -1.31251252e+00] [-9.51261613e-03 -2.83975756e-05 9.99954754e-01 -1.22246586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.657552017999997 meters Centerline goodness [0,1] 0.988124986651289 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.32, Z:-0.12 [[ 9.97874275e-01 6.45308344e-02 9.09414586e-03 1.58163899e+01] [-6.45282567e-02 9.97915714e-01 -5.76893989e-04 -1.31805049e+00] [-9.11241851e-03 -1.11617071e-05 9.99958481e-01 -1.23476731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.687552017999998 meters Centerline goodness [0,1] 0.9869389491597532 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.33, Z:-0.13 [[ 9.98144175e-01 6.04067644e-02 7.69601550e-03 1.58436695e+01] [-6.04047998e-02 9.98173844e-01 -4.87676889e-04 -1.32722977e+00] [-7.71142036e-03 2.18955707e-05 9.99970266e-01 -1.25354157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.717552018 meters Centerline goodness [0,1] 0.9865520469827219 Centerline is valid? [True, True] Translation: X:15.87, Y:-1.33, Z:-0.13 [[ 9.98261375e-01 5.86103884e-02 6.24899503e-03 1.58718410e+01] [-5.86090618e-02 9.98280933e-01 -3.95366271e-04 -1.33284780e+00] [-6.26142516e-03 2.84311410e-05 9.99980397e-01 -1.26362010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.747552017999997 meters Centerline goodness [0,1] 0.9854807119134804 Centerline is valid? [True, True] Translation: X:15.90, Y:-1.34, Z:-0.13 [[ 9.98356158e-01 5.70027358e-02 5.97247934e-03 1.58989558e+01] [-5.70014977e-02 9.98374021e-01 -3.77454987e-04 -1.33839724e+00] [-5.98428418e-03 3.63942433e-05 9.99982093e-01 -1.27911177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.777552017999998 meters Centerline goodness [0,1] 0.9857950920767236 Centerline is valid? [True, True] Translation: X:15.93, Y:-1.34, Z:-0.13 [[ 9.98420332e-01 5.59499477e-02 5.14231298e-03 1.59273965e+01] [-5.59490182e-02 9.98433574e-01 -3.24541593e-04 -1.34353344e+00] [-5.15241601e-03 3.63215626e-05 9.99986726e-01 -1.28621484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.807552018 meters Centerline goodness [0,1] 0.9860779972752044 Centerline is valid? [True, True] Translation: X:15.95, Y:-1.35, Z:-0.13 [[ 9.98502302e-01 5.45811520e-02 3.74855356e-03 1.59545554e+01] [-5.45806487e-02 9.98509337e-01 -2.36512896e-04 -1.35187015e+00] [-3.75587488e-03 3.15601862e-05 9.99992946e-01 -1.30508191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.837552017999997 meters Centerline goodness [0,1] 0.9862713845499946 Centerline is valid? [True, True] Translation: X:15.98, Y:-1.36, Z:-0.13 [[ 9.98520554e-01 5.42563289e-02 3.59911875e-03 1.59826358e+01] [-5.42558636e-02 9.98527040e-01 -2.26857443e-04 -1.35546292e+00] [-3.60612585e-03 3.12485237e-05 9.99993497e-01 -1.31030147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.867552017999998 meters Centerline goodness [0,1] 0.9855848609288345 Centerline is valid? [True, True] Translation: X:16.01, Y:-1.36, Z:-0.13 [[ 9.98499033e-01 5.47051030e-02 2.65202263e-03 1.60105556e+01] [-5.47048509e-02 9.98502554e-01 -1.67556013e-04 -1.36040797e+00] [-2.65721754e-03 2.22260139e-05 9.99996469e-01 -1.32321601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.897552018 meters Centerline goodness [0,1] 0.9856807462086762 Centerline is valid? [True, True] Translation: X:16.04, Y:-1.36, Z:-0.13 [[ 9.98433021e-01 5.59291711e-02 1.85239930e-03 1.60384165e+01] [-5.59290509e-02 9.98434739e-01 -1.16640703e-04 -1.36422220e+00] [-1.85602343e-03 1.28549948e-05 9.99998278e-01 -1.32671458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.927552017999997 meters Centerline goodness [0,1] 0.9858398850283202 Centerline is valid? [True, True] Translation: X:16.07, Y:-1.37, Z:-0.13 [[ 9.98417622e-01 5.61063212e-02 3.78575155e-03 1.60671025e+01] [-5.61058270e-02 9.98424799e-01 -2.36700768e-04 -1.36946975e+00] [-3.79306865e-03 2.39234964e-05 9.99992806e-01 -1.31091211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.957552017999998 meters Centerline goodness [0,1] 0.9856427874623573 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.37, Z:-0.13 [[ 9.98378206e-01 5.67937519e-02 3.92775151e-03 1.60957267e+01] [-5.67932267e-02 9.98385932e-01 -2.45220845e-04 -1.37415358e+00] [-3.93533886e-03 2.17534656e-05 9.99992256e-01 -1.30101058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.987552018 meters Centerline goodness [0,1] 0.9854472489175203 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.38, Z:-0.13 [[ 9.98455922e-01 5.52643239e-02 5.62377892e-03 1.61239777e+01] [-5.52632272e-02 9.98471759e-01 -3.50328199e-04 -1.37908955e+00] [-5.63454508e-03 3.89990929e-05 9.99984125e-01 -1.29101993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.017552017999996 meters Centerline goodness [0,1] 0.9842466476612818 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.39, Z:-0.13 [[ 9.98638174e-01 5.16209545e-02 7.55483111e-03 1.61513238e+01] [-5.16188781e-02 9.98666747e-01 -4.69715548e-04 -1.39001180e+00] [-7.56900578e-03 7.91039713e-05 9.99971352e-01 -1.27158852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.047552017999998 meters Centerline goodness [0,1] 0.9828145402468303 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.40, Z:-0.13 [[ 9.98759036e-01 4.91898884e-02 7.79371808e-03 1.61793766e+01] [-4.91876114e-02 9.98789440e-01 -4.83692805e-04 -1.39687466e+00] [-7.80807611e-03 9.97381837e-05 9.99969512e-01 -1.26646681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.077552018 meters Centerline goodness [0,1] 0.9825473292765382 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.40, Z:-0.13 [[ 9.98903250e-01 4.60546845e-02 8.44179151e-03 1.62075025e+01] [-4.60519077e-02 9.98938911e-01 -5.23125103e-04 -1.40335371e+00] [-8.45692638e-03 1.33790762e-04 9.99964231e-01 -1.26111249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.107552017999996 meters Centerline goodness [0,1] 0.9814468906751737 Centerline is valid? [True, True] Translation: X:16.23, Y:-1.41, Z:-0.13 [[ 9.99030690e-01 4.32116114e-02 8.39264823e-03 1.62346921e+01] [-4.32087730e-02 9.99065930e-01 -5.19319115e-04 -1.41183055e+00] [-8.40724952e-03 1.56179702e-04 9.99964646e-01 -1.26030517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.137552017999997 meters Centerline goodness [0,1] 0.9810318027139436 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.42, Z:-0.13 [[ 9.99227682e-01 3.82873519e-02 8.83846772e-03 1.62633192e+01] [-3.82840197e-02 9.99266749e-01 -5.45954396e-04 -1.42121145e+00] [-8.85289005e-03 2.07160673e-04 9.99960791e-01 -1.26011825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.167552018 meters Centerline goodness [0,1] 0.980568232003533 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.43, Z:-0.13 [[ 9.99291139e-01 3.66186937e-02 8.73449199e-03 1.62919800e+01] [-3.66153805e-02 9.99329287e-01 -5.38990691e-04 -1.42719441e+00] [-8.74837079e-03 2.18791873e-04 9.99961708e-01 -1.26490284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.197552017999996 meters Centerline goodness [0,1] 0.9800406287596395 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.44, Z:-0.13 [[ 9.99272512e-01 3.75010478e-02 6.93671021e-03 1.63208367e+01] [-3.74989814e-02 9.99296574e-01 -4.27758867e-04 -1.44138125e+00] [-6.94787216e-03 1.67328111e-04 9.99975849e-01 -1.27561346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.227552017999997 meters Centerline goodness [0,1] 0.9810277012388785 Centerline is valid? [True, True] Translation: X:16.35, Y:-1.44, Z:-0.13 [[ 9.99332441e-01 3.53497246e-02 9.22334739e-03 1.63508393e+01] [-3.53459823e-02 9.99374974e-01 -5.68483298e-04 -1.43697193e+00] [-9.23767829e-03 2.42095527e-04 9.99957302e-01 -1.26380048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.257552018 meters Centerline goodness [0,1] 0.9810884639630174 Centerline is valid? [True, True] Translation: X:16.38, Y:-1.44, Z:-0.13 [[ 9.99288262e-01 3.62956846e-02 1.02757993e-02 1.63803013e+01] [-3.62910937e-02 9.99341061e-01 -6.32943305e-04 -1.44176298e+00] [-1.02920013e-02 2.59572820e-04 9.99947002e-01 -1.25380565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287552018 meters Centerline goodness [0,1] 0.9810238305383936 Centerline is valid? [True, True] Translation: X:16.41, Y:-1.44, Z:-0.13 [[ 9.99250149e-01 3.71948132e-02 1.07557063e-02 1.64104862e+01] [-3.71898372e-02 9.99307999e-01 -6.62341230e-04 -1.44424277e+00] [-1.07728990e-02 2.61841607e-04 9.99941936e-01 -1.25165443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.317552017999997 meters Centerline goodness [0,1] 0.9814748617448535 Centerline is valid? [True, True] Translation: X:16.44, Y:-1.45, Z:-0.12 [[ 9.99194375e-01 3.85527241e-02 1.11484823e-02 1.64404770e+01] [-3.85474626e-02 9.99256535e-01 -6.86528552e-04 -1.44649538e+00] [-1.11666613e-02 2.56229764e-04 9.99937618e-01 -1.24655803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.347552018 meters Centerline goodness [0,1] 0.9829483410331793 Centerline is valid? [True, True] Translation: X:16.47, Y:-1.45, Z:-0.12 [[ 9.99035537e-01 4.23565618e-02 1.15722620e-02 1.64698435e+01] [-4.23511486e-02 9.99102534e-01 -7.12539839e-04 -1.44790383e+00] [-1.15920570e-02 2.21754033e-04 9.99932785e-01 -1.24439774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.377552018 meters Centerline goodness [0,1] 0.983700459082677 Centerline is valid? [True, True] Translation: X:16.50, Y:-1.45, Z:-0.12 [[ 9.98934961e-01 4.46502595e-02 1.16317617e-02 1.64992131e+01] [-4.46449497e-02 9.99002661e-01 -7.15879731e-04 -1.44883704e+00] [-1.16521251e-02 1.95817877e-04 9.99932093e-01 -1.24723076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.407552017999997 meters Centerline goodness [0,1] 0.9834517851886118 Centerline is valid? [True, True] Translation: X:16.53, Y:-1.45, Z:-0.13 [[ 9.98843719e-01 4.68192558e-02 1.09170265e-02 1.65284877e+01] [-4.68147126e-02 9.98903365e-01 -6.71469278e-04 -1.44925616e+00] [-1.09364922e-02 1.59615413e-04 9.99940182e-01 -1.26108738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.437552017999998 meters Centerline goodness [0,1] 0.9854990108178642 Centerline is valid? [True, True] Translation: X:16.56, Y:-1.45, Z:-0.13 [[ 9.98609995e-01 5.19024832e-02 9.17659164e-03 1.65573873e+01] [-5.18994910e-02 9.98652154e-01 -5.64066949e-04 -1.44817152e+00] [-9.19349948e-03 8.70224583e-05 9.99957735e-01 -1.28840313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.467552018 meters Centerline goodness [0,1] 0.9863931249473418 Centerline is valid? [True, True] Translation: X:16.59, Y:-1.45, Z:-0.13 [[ 9.98471688e-01 5.45693255e-02 8.74509787e-03 1.65863793e+01] [-5.45667150e-02 9.98509983e-01 -5.37009082e-04 -1.44723270e+00] [-8.76137175e-03 5.89971009e-05 9.99961617e-01 -1.29922294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.497552017999997 meters Centerline goodness [0,1] 0.9875313825186185 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.45, Z:-0.13 [[ 9.98308486e-01 5.75475041e-02 8.27360273e-03 1.66151188e+01] [-5.75452754e-02 9.98342769e-01 -5.07373156e-04 -1.44702024e+00] [-8.28908951e-03 3.04081790e-05 9.99965644e-01 -1.30680805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.527552017999998 meters Centerline goodness [0,1] 0.988160175905958 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.45, Z:-0.13 [[ 9.97943881e-01 6.35581377e-02 8.26880683e-03 1.66434057e+01] [-6.35561242e-02 9.97978137e-01 -5.06312844e-04 -1.44513805e+00] [-8.28426874e-03 -2.02615092e-05 9.99965685e-01 -1.30573116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.557552018 meters Centerline goodness [0,1] 0.989222316145393 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.45, Z:-0.13 [[ 9.97722002e-01 6.68272862e-02 9.21520123e-03 1.66722094e+01] [-6.68249349e-02 9.97764557e-01 -5.63176340e-04 -1.44518259e+00] [-9.23223671e-03 -5.39117968e-05 9.99957381e-01 -1.29867190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.587552017999997 meters Centerline goodness [0,1] 0.9899394680783751 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.45, Z:-0.13 [[ 9.97474871e-01 7.03646559e-02 9.62795162e-03 1.67014772e+01] [-7.03622624e-02 9.97521332e-01 -5.87519975e-04 -1.44546131e+00] [-9.64542776e-03 -9.14080471e-05 9.99953478e-01 -1.29520409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.617552017999998 meters Centerline goodness [0,1] 0.9930128976421169 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.44, Z:-0.13 [[ 9.97244145e-01 7.34332324e-02 1.05676416e-02 1.67299155e+01] [-7.34305326e-02 9.97300127e-01 -6.43782421e-04 -1.44257582e+00] [-1.05863853e-02 -1.33979297e-04 9.99943954e-01 -1.28053270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.647552018 meters Centerline goodness [0,1] 0.9933570931483161 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.44, Z:-0.13 [[ 9.96812116e-01 7.89762262e-02 1.13296415e-02 1.67589831e+01] [-7.89734933e-02 9.96876478e-01 -6.89100401e-04 -1.44132829e+00] [-1.13486756e-02 -2.07837736e-04 9.99935580e-01 -1.27074891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.677552017999997 meters Centerline goodness [0,1] 0.9935981407141348 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.45, Z:-0.13 [[ 9.96649128e-01 8.10484679e-02 1.10300671e-02 1.67872361e+01] [-8.10460124e-02 9.96710136e-01 -6.70160280e-04 -1.44773938e+00] [-1.10480951e-02 -2.26028295e-04 9.99938942e-01 -1.28608045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.707552017999998 meters Centerline goodness [0,1] 0.9945773726632063 Centerline is valid? [True, True] Translation: X:16.82, Y:-1.45, Z:-0.13 [[ 9.96499675e-01 8.28283360e-02 1.13076918e-02 1.68153770e+01] [-8.28258820e-02 9.96563798e-01 -6.85950284e-04 -1.44950834e+00] [-1.13256525e-02 -2.53020316e-04 9.99935831e-01 -1.28871954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.737552018 meters Centerline goodness [0,1] 0.9945416463917743 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.46, Z:-0.13 [[ 9.96326747e-01 8.50742437e-02 9.76662733e-03 1.68436613e+01] [-8.50725297e-02 9.96374586e-01 -5.91561768e-04 -1.45841011e+00] [-9.78154593e-03 -2.41482882e-04 9.99952130e-01 -1.29894873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.767552017999996 meters Centerline goodness [0,1] 0.9945936849191156 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.46, Z:-0.13 [[ 9.96395623e-01 8.41328975e-02 1.08359624e-02 1.68724221e+01] [-8.41307436e-02 9.96454509e-01 -6.55261954e-04 -1.46399813e+00] [-1.08526727e-02 -2.58737432e-04 9.99941075e-01 -1.30236972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.797552017999998 meters Centerline goodness [0,1] 0.9944183686413802 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.47, Z:-0.13 [[ 9.96463533e-01 8.33019217e-02 1.10099147e-02 1.69001609e+01] [-8.32996596e-02 9.96524322e-01 -6.64676777e-04 -1.47020573e+00] [-1.10270166e-02 -2.54795975e-04 9.99939168e-01 -1.30160914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.827552018 meters Centerline goodness [0,1] 0.9944183686413802 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.47, Z:-0.13 [[ 9.96471030e-01 8.32121730e-02 1.10099850e-02 1.69284402e+01] [-8.32099183e-02 9.96531820e-01 -6.63509382e-04 -1.47181290e+00] [-1.10270125e-02 -2.54972078e-04 9.99939168e-01 -1.30371690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.857552017999996 meters Centerline goodness [0,1] 0.9951511573976473 Centerline is valid? [True, True] Translation: X:16.96, Y:-1.48, Z:-0.13 [[ 9.96631505e-01 8.12966834e-02 1.07931924e-02 1.69569663e+01] [-8.12944147e-02 9.96689920e-01 -6.49481323e-04 -1.47927292e+00] [-1.08102667e-02 -2.30132708e-04 9.99941541e-01 -1.30481026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.887552017999997 meters Centerline goodness [0,1] 0.9954416916388806 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.49, Z:-0.13 [[ 9.96966666e-01 7.71369567e-02 1.03613004e-02 1.69853125e+01] [-7.71346508e-02 9.97020490e-01 -6.22577854e-04 -1.49373222e+00] [-1.03784526e-02 -1.78525924e-04 9.99946126e-01 -1.30514769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.917552018 meters Centerline goodness [0,1] 0.9957379470408271 Centerline is valid? [True, True] Translation: X:17.01, Y:-1.50, Z:-0.13 [[ 9.97179290e-01 7.43450656e-02 1.03089557e-02 1.70123041e+01] [-7.43426441e-02 9.97232565e-01 -6.18431829e-04 -1.50155681e+00] [-1.03264037e-02 -1.49707614e-04 9.99946670e-01 -1.30817463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.947552017999996 meters Centerline goodness [0,1] 0.9956314367719061 Centerline is valid? [True, True] Translation: X:17.04, Y:-1.51, Z:-0.13 [[ 9.97347081e-01 7.20639384e-02 1.02755941e-02 1.70406799e+01] [-7.20614227e-02 9.97400006e-01 -6.15334828e-04 -1.51045718e+00] [-1.02932210e-02 -1.26771532e-04 9.99947015e-01 -1.30749749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.977552017999997 meters Centerline goodness [0,1] 0.9959231955387507 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.52, Z:-0.13 [[ 9.97660740e-01 6.75626631e-02 1.04083719e-02 1.70685668e+01] [-6.75598470e-02 9.97715029e-01 -6.22327353e-04 -1.52412008e+00] [-1.04266352e-02 -8.23164469e-05 9.99945638e-01 -1.29935834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.007552018 meters Centerline goodness [0,1] 0.9962768195204039 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.53, Z:-0.13 [[ 9.97804002e-01 6.55430261e-02 9.55428814e-03 1.70966579e+01] [-6.55405680e-02 9.97849742e-01 -5.70489186e-04 -1.53122630e+00] [-9.57113554e-03 -5.69570777e-05 9.99954194e-01 -1.30489678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.037552017999996 meters Centerline goodness [0,1] 0.9959036297219114 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.54, Z:-0.13 [[ 9.97942503e-01 6.34910838e-02 8.92425063e-03 1.71258297e+01] [-6.34888620e-02 9.97982405e-01 -5.32326053e-04 -1.53859481e+00] [-8.94004306e-03 -3.53597225e-05 9.99960036e-01 -1.31156184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.067552017999997 meters Centerline goodness [0,1] 0.9968387110371135 Centerline is valid? [True, True] Translation: X:17.15, Y:-1.55, Z:-0.13 [[ 9.98139360e-01 6.04653145e-02 7.85896997e-03 1.71547384e+01] [-6.04635002e-02 9.98170299e-01 -4.68465777e-04 -1.55042487e+00] [-7.87291633e-03 -7.58670128e-06 9.99969008e-01 -1.31902816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.097552018 meters Centerline goodness [0,1] 0.9974910923235858 Centerline is valid? [True, True] Translation: X:17.18, Y:-1.56, Z:-0.13 [[ 9.98245002e-01 5.87572085e-02 7.38281431e-03 1.71837988e+01] [-5.87555630e-02 9.98272303e-01 -4.39766617e-04 -1.55700596e+00] [-7.39589850e-03 5.21341659e-06 9.99972650e-01 -1.32001229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.127552018 meters Centerline goodness [0,1] 0.9972890047074647 Centerline is valid? [True, True] Translation: X:17.21, Y:-1.56, Z:-0.13 [[ 9.98372460e-01 5.65592560e-02 7.31314783e-03 1.72129625e+01] [-5.65575849e-02 9.98399244e-01 -4.35285923e-04 -1.56393778e+00] [-7.32606071e-03 2.09634984e-05 9.99973164e-01 -1.31812518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.157552017999997 meters Centerline goodness [0,1] 0.9976383763837638 Centerline is valid? [True, True] Translation: X:17.24, Y:-1.57, Z:-0.13 [[ 9.98487542e-01 5.46094234e-02 6.35925997e-03 1.72432499e+01] [-5.46081211e-02 9.98507792e-01 -3.78364602e-04 -1.57091532e+00] [-6.37043291e-03 3.05251020e-05 9.99979708e-01 -1.32501986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.187552017999998 meters Centerline goodness [0,1] 0.9973282844220048 Centerline is valid? [True, True] Translation: X:17.27, Y:-1.58, Z:-0.13 [[ 9.98832224e-01 4.76963827e-02 7.69698370e-03 1.72742936e+01] [-4.76942696e-02 9.98861876e-01 -4.57969434e-04 -1.58403347e+00] [-7.71006706e-03 9.03326130e-05 9.99970273e-01 -1.30590604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.217552018 meters Centerline goodness [0,1] 0.997176748203864 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.59, Z:-0.13 [[ 9.98993853e-01 4.39860143e-02 8.74713069e-03 1.73054085e+01] [-4.39831390e-02 9.99032138e-01 -5.20905488e-04 -1.59186093e+00] [-8.76157722e-03 1.35655116e-04 9.99961607e-01 -1.29676756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.247552017999997 meters Centerline goodness [0,1] 0.9976574371095729 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.60, Z:-0.13 [[ 9.99131165e-01 4.04647601e-02 9.97585896e-03 1.73366887e+01] [-4.04608333e-02 9.99180948e-01 -5.95220042e-04 -1.60018257e+00] [-9.99177365e-03 1.91071328e-04 9.99950063e-01 -1.28275426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.277552017999998 meters Centerline goodness [0,1] 0.9967602818975492 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.61, Z:-0.13 [[ 9.99264696e-01 3.68150999e-02 1.07105468e-02 1.73674485e+01] [-3.68103283e-02 9.99322064e-01 -6.42369113e-04 -1.60845119e+00] [-1.07269346e-02 2.47638033e-04 9.99942434e-01 -1.27383968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.307552018 meters Centerline goodness [0,1] 0.9965889710062535 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.62, Z:-0.13 [[ 9.99490264e-01 2.94520227e-02 1.23203444e-02 1.73983081e+01] [-2.94451161e-02 9.99566123e-01 -7.41641655e-04 -1.62067253e+00] [-1.23368417e-02 3.78489643e-04 9.99923827e-01 -1.25724601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.337552017999997 meters Centerline goodness [0,1] 0.9967972355085443 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.63, Z:-0.13 [[ 9.99572922e-01 2.68917250e-02 1.14371819e-02 1.74299905e+01] [-2.68855877e-02 9.99638279e-01 -6.90050627e-04 -1.62778595e+00] [-1.14516015e-02 3.82260564e-04 9.99934355e-01 -1.26794072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.367552017999998 meters Centerline goodness [0,1] 0.9962430475390912 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.63, Z:-0.13 [[ 9.99621376e-01 2.36440421e-02 1.40735293e-02 1.74614538e+01] [-2.36343596e-02 9.99720305e-01 -8.53934943e-04 -1.63260281e+00] [-1.40897834e-02 5.20992770e-04 9.99900598e-01 -1.25107577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.397552018 meters Centerline goodness [0,1] 0.9966553073330809 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.64, Z:-0.13 [[ 9.99672391e-01 2.16687414e-02 1.36226416e-02 1.74929734e+01] [-2.16594329e-02 9.99765062e-01 -8.30490994e-04 -1.63726104e+00] [-1.36374369e-02 5.35160225e-04 9.99906863e-01 -1.25333333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.427552017999997 meters Centerline goodness [0,1] 0.9967830785727803 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.64, Z:-0.13 [[ 9.99698368e-01 2.03538126e-02 1.37439156e-02 1.75242852e+01] [-2.03441586e-02 9.99792682e-01 -8.41879335e-04 -1.64273230e+00] [-1.37582016e-02 5.62016999e-04 9.99905194e-01 -1.26011214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.457552017999998 meters Centerline goodness [0,1] 0.9967586453663362 Centerline is valid? [True, True] Translation: X:17.56, Y:-1.64, Z:-0.13 [[ 9.99687163e-01 2.08887396e-02 1.37563415e-02 1.75576032e+01] [-2.08790578e-02 9.99781650e-01 -8.47059759e-04 -1.64301678e+00] [-1.37710318e-02 5.59575318e-04 9.99905018e-01 -1.26954638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.487552018 meters Centerline goodness [0,1] 0.9967793541868396 Centerline is valid? [True, True] Translation: X:17.59, Y:-1.64, Z:-0.13 [[ 9.99668124e-01 2.20115910e-02 1.33840463e-02 1.75896032e+01] [-2.20024662e-02 9.99757573e-01 -8.28650748e-04 -1.64302214e+00] [-1.33990415e-02 5.33893713e-04 9.99910086e-01 -1.27658001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.517552017999996 meters Centerline goodness [0,1] 0.9969051980041685 Centerline is valid? [True, True] Translation: X:17.62, Y:-1.64, Z:-0.13 [[ 9.99638231e-01 2.35695094e-02 1.29570700e-02 1.76215898e+01] [-2.35610355e-02 9.99722075e-01 -8.06284793e-04 -1.64354501e+00] [-1.29724726e-02 5.00711119e-04 9.99915729e-01 -1.28683806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.547552017999998 meters Centerline goodness [0,1] 0.9970260693495318 Centerline is valid? [True, True] Translation: X:17.65, Y:-1.64, Z:-0.13 [[ 9.99546715e-01 2.76447720e-02 1.19219069e-02 1.76526347e+01] [-2.76378590e-02 9.99617724e-01 -7.44253039e-04 -1.64047278e+00] [-1.19379241e-02 4.14419699e-04 9.99928655e-01 -1.30943612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.577552018 meters Centerline goodness [0,1] 0.9970203122377035 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.64, Z:-0.13 [[ 9.99472459e-01 3.05502356e-02 1.10221189e-02 1.76851622e+01] [-3.05444872e-02 9.99533170e-01 -6.89532477e-04 -1.63786104e+00] [-1.10380389e-02 3.52503750e-04 9.99939017e-01 -1.32729913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.607552017999996 meters Centerline goodness [0,1] 0.9963544410494153 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.64, Z:-0.13 [[ 9.99379565e-01 3.34474256e-02 1.10342511e-02 1.77174864e+01] [-3.34418024e-02 9.99440426e-01 -6.93780163e-04 -1.63617374e+00] [-1.10512817e-02 3.24344474e-04 9.99938880e-01 -1.33467583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.637552017999997 meters Centerline goodness [0,1] 0.9962914850821321 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.63, Z:-0.13 [[ 9.99204276e-01 3.84305502e-02 1.06727899e-02 1.77490353e+01] [-3.84255476e-02 9.99261239e-01 -6.73463108e-04 -1.62900851e+00] [-1.06907868e-02 2.62819421e-04 9.99942817e-01 -1.34767753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.667552018 meters Centerline goodness [0,1] 0.996121253003921 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.63, Z:-0.14 [[ 9.99101751e-01 4.10559915e-02 1.04926627e-02 1.77816610e+01] [-4.10512874e-02 9.99156820e-01 -6.63389054e-04 -1.62739143e+00] [-1.05110516e-02 2.32055852e-04 9.99944730e-01 -1.35391756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.697552017999996 meters Centerline goodness [0,1] 0.9964696240569904 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.63, Z:-0.14 [[ 9.98990534e-01 4.37711095e-02 1.00996530e-02 1.78142604e+01] [-4.37668588e-02 9.99041566e-01 -6.41621389e-04 -1.62565318e+00] [-1.01180576e-02 1.98943609e-04 9.99948791e-01 -1.35860872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.727552017999997 meters Centerline goodness [0,1] 0.9967735132855335 Centerline is valid? [True, True] Translation: X:17.85, Y:-1.62, Z:-0.14 [[ 9.98880339e-01 4.62265009e-02 1.00587525e-02 1.78465724e+01] [-4.62223772e-02 9.98930968e-01 -6.42179472e-04 -1.62434440e+00] [-1.00776850e-02 1.76520998e-04 9.99949203e-01 -1.36478817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.757552018 meters Centerline goodness [0,1] 0.9962927075873109 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.62, Z:-0.14 [[ 9.98656418e-01 5.09672430e-02 9.36479327e-03 1.78778122e+01] [-5.09638513e-02 9.98700318e-01 -6.00615768e-04 -1.61965100e+00] [-9.38323375e-03 1.22542860e-04 9.99955969e-01 -1.37143988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.787552017999996 meters Centerline goodness [0,1] 0.9956349373708405 Centerline is valid? [True, True] Translation: X:17.91, Y:-1.62, Z:-0.14 [[ 9.98532217e-01 5.34191344e-02 8.93356806e-03 1.79089364e+01] [-5.34161276e-02 9.98572174e-01 -5.75013887e-04 -1.61768107e+00] [-8.95152922e-03 9.69732796e-05 9.99959930e-01 -1.37920090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.817552017999997 meters Centerline goodness [0,1] 0.9962674764344911 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.62, Z:-0.14 [[ 9.98402449e-01 5.58198045e-02 8.75776429e-03 1.79389532e+01] [-5.58170069e-02 9.98440857e-01 -5.63734827e-04 -1.61622307e+00] [-8.77557724e-03 7.40020423e-05 9.99961491e-01 -1.37787665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.847552018 meters Centerline goodness [0,1] 0.9959946032549118 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.61, Z:-0.14 [[ 9.98113507e-01 6.06008385e-02 9.84714523e-03 1.79687479e+01] [-6.05975324e-02 9.98162080e-01 -6.34034064e-04 -1.61136367e+00] [-9.86746995e-03 3.61252612e-05 9.99951315e-01 -1.36308311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.877552018 meters Centerline goodness [0,1] 0.9966700387792953 Centerline is valid? [True, True] Translation: X:18.00, Y:-1.61, Z:-0.14 [[ 9.97976368e-01 6.27652878e-02 1.01827520e-02 1.79997038e+01] [-6.27618669e-02 9.98028315e-01 -6.55475801e-04 -1.61064303e+00] [-1.02038159e-02 1.50608344e-05 9.99947940e-01 -1.35588107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.907552017999997 meters Centerline goodness [0,1] 0.9961610664641735 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.61, Z:-0.14 [[ 9.97829856e-01 6.51524456e-02 9.52563084e-03 1.80298927e+01] [-6.51495607e-02 9.97875322e-01 -6.13176135e-04 -1.61038742e+00] [-9.54534187e-03 -8.74521059e-06 9.99954442e-01 -1.36227285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.937552017999998 meters Centerline goodness [0,1] 0.9971939152267021 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.61, Z:-0.14 [[ 9.97652921e-01 6.75862236e-02 1.09886822e-02 1.80595941e+01] [-6.75825338e-02 9.97713436e-01 -7.07190701e-04 -1.60932611e+00] [-1.10113522e-02 -3.71121191e-05 9.99939373e-01 -1.35090112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.967552018 meters Centerline goodness [0,1] 0.9968163609529833 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.61, Z:-0.14 [[ 9.97563511e-01 6.88757424e-02 1.10983851e-02 1.80894732e+01] [-6.88720631e-02 9.97625245e-01 -7.13823161e-04 -1.60993663e+00] [-1.11211942e-02 -5.22847398e-05 9.99938156e-01 -1.35630785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.997552017999997 meters Centerline goodness [0,1] 0.997215307370997 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.61, Z:-0.14 [[ 9.97405842e-01 7.14591869e-02 8.67017559e-03 1.81186288e+01] [-7.14570407e-02 9.97443522e-01 -5.57457713e-04 -1.61115407e+00] [-8.68784595e-03 -6.35335109e-05 9.99962258e-01 -1.37027583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.027552017999998 meters Centerline goodness [0,1] 0.9971527396971359 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.61, Z:-0.14 [[ 9.97387729e-01 7.14311516e-02 1.07381521e-02 1.81485644e+01] [-7.14278640e-02 9.97445530e-01 -6.89848857e-04 -1.61334586e+00] [-1.07599985e-02 -7.89564855e-05 9.99942106e-01 -1.36204881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.057552018 meters Centerline goodness [0,1] 0.996952052634898 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.62, Z:-0.14 [[ 9.97358408e-01 7.18623478e-02 1.05834356e-02 1.81771624e+01] [-7.18591845e-02 9.97414556e-01 -6.79358244e-04 -1.61550450e+00] [-1.06048930e-02 -8.29533951e-05 9.99943763e-01 -1.36612633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.087552017999997 meters Centerline goodness [0,1] 0.9981726528040328 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.62, Z:-0.14 [[ 9.97335086e-01 7.21807028e-02 1.06147375e-02 1.82068208e+01] [-7.21775457e-02 9.97391567e-01 -6.80713729e-04 -1.61854581e+00] [-1.06361840e-02 -8.72460131e-05 9.99943430e-01 -1.36430559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.117552017999998 meters Centerline goodness [0,1] 0.9981038260576437 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.62, Z:-0.14 [[ 9.97385856e-01 7.16658054e-02 9.24483535e-03 1.82366880e+01] [-7.16633920e-02 9.97428698e-01 -5.92484275e-04 -1.62336102e+00] [-9.26352495e-03 -7.15808243e-05 9.99957090e-01 -1.37935379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.147552018 meters Centerline goodness [0,1] 0.998064421114641 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.63, Z:-0.14 [[ 9.97430800e-01 7.11749186e-02 8.11968120e-03 1.82666399e+01] [-7.11730435e-02 9.97463848e-01 -5.20026694e-04 -1.62731240e+00] [-8.13610131e-03 -5.92117811e-05 9.99966900e-01 -1.39210083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.177552017999997 meters Centerline goodness [0,1] 0.9986312331536388 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.63, Z:-0.14 [[ 9.97489292e-01 7.04481599e-02 7.22288643e-03 1.82952807e+01] [-7.04466605e-02 9.97515441e-01 -4.62118676e-04 -1.63140866e+00] [-7.23749615e-03 -4.78697972e-05 9.99973808e-01 -1.40094949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.207552017999998 meters Centerline goodness [0,1] 0.9979823031169214 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.64, Z:-0.14 [[ 9.97595667e-01 6.90312275e-02 6.12975177e-03 1.83243291e+01] [-6.90301223e-02 9.97614499e-01 -3.91936870e-04 -1.63942052e+00] [-6.14218512e-03 -3.21429910e-05 9.99981136e-01 -1.40867529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.237552018 meters Centerline goodness [0,1] 0.9984193222053617 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.64, Z:-0.14 [[ 9.97660290e-01 6.81147800e-02 5.85848081e-03 1.83538497e+01] [-6.81137561e-02 9.97677491e-01 -3.74342646e-04 -1.64454133e+00] [-5.87037270e-03 -2.55763398e-05 9.99982769e-01 -1.41011573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.267552017999996 meters Centerline goodness [0,1] 0.9984824213809965 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.65, Z:-0.14 [[ 9.97721871e-01 6.72570367e-02 5.24976920e-03 1.83831563e+01] [-6.72562037e-02 9.97735682e-01 -3.35246277e-04 -1.64978655e+00] [-5.26042972e-03 -1.85970040e-05 9.99986164e-01 -1.41553325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.297552017999998 meters Centerline goodness [0,1] 0.9986399112803666 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.65, Z:-0.14 [[ 9.97797336e-01 6.61852812e-02 4.47038490e-03 1.84118292e+01] [-6.61846668e-02 9.97807350e-01 -2.85387075e-04 -1.65495920e+00] [-4.47947133e-03 -1.11124718e-05 9.99989967e-01 -1.42230312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.327552018 meters Centerline goodness [0,1] 0.9984630608248942 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.66, Z:-0.14 [[ 9.97970088e-01 6.35880760e-02 3.50154213e-03 1.84404931e+01] [-6.35876838e-02 9.97976230e-01 -2.23321001e-04 -1.66470825e+00] [-3.50865637e-03 2.12725067e-07 9.99993845e-01 -1.43056152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.357552017999996 meters Centerline goodness [0,1] 0.999009588030766 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.67, Z:-0.14 [[ 9.98040108e-01 6.24949219e-02 3.21358560e-03 1.84693734e+01] [-6.24945863e-02 9.98045282e-01 -2.04838806e-04 -1.67050875e+00] [-3.22010533e-03 3.60564156e-06 9.99994815e-01 -1.42662962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.387552017999997 meters Centerline goodness [0,1] 0.9989041095890411 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.68, Z:-0.14 [[ 9.98088372e-01 6.16955834e-02 3.64094212e-03 1.84989622e+01] [-6.16951481e-02 9.98095013e-01 -2.31877685e-04 -1.67589795e+00] [-3.64831200e-03 6.80595794e-06 9.99993345e-01 -1.41815401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.417552018 meters Centerline goodness [0,1] 0.9991564918496025 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.68, Z:-0.14 [[ 9.98179662e-01 6.01717337e-02 4.08956926e-03 1.85292645e+01] [-6.01711732e-02 9.98188040e-01 -2.60065532e-04 -1.68484854e+00] [-4.09780772e-03 1.35179445e-05 9.99991604e-01 -1.40673321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.447552017999996 meters Centerline goodness [0,1] 0.9989058620544544 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.69, Z:-0.14 [[ 9.98222063e-01 5.94459991e-02 4.34586119e-03 1.85598106e+01] [-5.94453596e-02 9.98231523e-01 -2.76292636e-04 -1.69010784e+00] [-4.35460012e-03 1.74601242e-05 9.99990519e-01 -1.40440933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.477552017999997 meters Centerline goodness [0,1] 0.9990942982918044 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.70, Z:-0.14 [[ 9.98250754e-01 5.89342685e-02 4.70998209e-03 1.85905700e+01] [-5.89335113e-02 9.98261865e-01 -2.99502953e-04 -1.69542980e+00] [-4.71944649e-03 2.14032661e-05 9.99988863e-01 -1.39624357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.507552018 meters Centerline goodness [0,1] 0.9992623814541622 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.70, Z:-0.14 [[ 9.98285494e-01 5.84770797e-02 2.55008393e-03 1.86211450e+01] [-5.84768564e-02 9.98288751e-01 -1.62114016e-04 -1.70082866e+00] [-2.55520005e-03 1.27151789e-05 9.99996735e-01 -1.41298160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.537552017999996 meters Centerline goodness [0,1] 0.9993263583352631 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.71, Z:-0.14 [[ 9.98467637e-01 5.50932040e-02 5.20731818e-03 1.86509938e+01] [-5.50922233e-02 9.98481215e-01 -3.31698943e-04 -1.71116766e+00] [-5.21768375e-03 4.43079233e-05 9.99986387e-01 -1.39627427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.567552017999997 meters Centerline goodness [0,1] 0.9993699199798375 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.72, Z:-0.14 [[ 9.98574206e-01 5.31686131e-02 4.75958604e-03 1.86816438e+01] [-5.31677718e-02 9.98585548e-01 -3.03214376e-04 -1.71752625e+00] [-4.76897532e-03 4.97254706e-05 9.99988627e-01 -1.39778526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.597552018 meters Centerline goodness [0,1] 0.9992615877972109 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.72, Z:-0.14 [[ 9.98679908e-01 5.11094673e-02 5.12487938e-03 1.87126616e+01] [-5.11084650e-02 9.98693055e-01 -3.26444623e-04 -1.72412972e+00] [-5.13486586e-03 6.40889677e-05 9.99986814e-01 -1.39891264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.627552018 meters Centerline goodness [0,1] 0.9993255490452304 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.73, Z:-0.14 [[ 9.98790751e-01 4.88780733e-02 5.28863961e-03 1.87447691e+01] [-4.88769709e-02 9.98804750e-01 -3.37566947e-04 -1.73081201e+00] [-5.29881799e-03 7.86660597e-05 9.99985958e-01 -1.39904190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.657552017999997 meters Centerline goodness [0,1] 0.9994735290401382 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.74, Z:-0.14 [[ 9.99025003e-01 4.38142922e-02 5.41769065e-03 1.87764527e+01] [-4.38130515e-02 9.99039687e-01 -3.47538185e-04 -1.74110569e+00] [-5.42771511e-03 1.09833777e-04 9.99985264e-01 -1.39868503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.687552017999998 meters Centerline goodness [0,1] 0.9994321408290744 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.75, Z:-0.14 [[ 9.99102257e-01 4.20492225e-02 5.15190371e-03 1.88081198e+01] [-4.20480691e-02 9.99115534e-01 -3.32032416e-04 -1.74721396e+00] [-5.16130873e-03 1.15106734e-04 9.99986674e-01 -1.40183871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.717552018 meters Centerline goodness [0,1] 0.9994321408290744 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.75, Z:-0.14 [[ 9.99088674e-01 4.23707448e-02 5.15179570e-03 1.88397236e+01] [-4.23695871e-02 9.99101950e-01 -3.33698021e-04 -1.74943926e+00] [-5.16130817e-03 1.15114457e-04 9.99986674e-01 -1.40419563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.747552017999997 meters Centerline goodness [0,1] 0.9997469368818406 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.76, Z:-0.14 [[ 9.99145637e-01 4.10477403e-02 4.80415875e-03 1.88713233e+01] [-4.10467116e-02 9.99157180e-01 -3.12573440e-04 -1.75513732e+00] [-4.81294014e-03 1.15111470e-04 9.99988411e-01 -1.40613285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.777552017999998 meters Centerline goodness [0,1] 0.9996839177343223 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.76, Z:-0.14 [[ 9.99193245e-01 3.99370865e-02 4.22949600e-03 1.89020827e+01] [-3.99362744e-02 9.99202191e-01 -2.76342180e-04 -1.76230832e+00] [-4.23715797e-03 1.07208927e-04 9.99991017e-01 -1.41885936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.807552018 meters Centerline goodness [0,1] 0.9995584617648914 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.77, Z:-0.14 [[ 9.99164425e-01 4.07005566e-02 3.73043051e-03 1.89336052e+01] [-4.06999272e-02 9.99171385e-01 -2.44505907e-04 -1.76600465e+00] [-3.73729095e-03 9.24733536e-05 9.99993012e-01 -1.42645236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.837552017999997 meters Centerline goodness [0,1] 0.9995176680297787 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.77, Z:-0.14 [[ 9.99105977e-01 4.21243916e-02 3.57532956e-03 1.89646287e+01] [-4.21238185e-02 9.99112370e-01 -2.35472291e-04 -1.76908506e+00] [-3.58207512e-03 8.46552394e-05 9.99993581e-01 -1.43026181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.867552017999998 meters Centerline goodness [0,1] 0.9996840575436527 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.77, Z:-0.14 [[ 9.98917312e-01 4.64258046e-02 2.97449288e-03 1.89965854e+01] [-4.64254258e-02 9.98921739e-01 -1.96308775e-04 -1.76957607e+00] [-2.98039939e-03 5.80041357e-05 9.99995557e-01 -1.43815055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.897552018 meters Centerline goodness [0,1] 0.9997898850671317 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.77, Z:-0.14 [[ 9.98781078e-01 4.92582497e-02 3.15957132e-03 1.90283577e+01] [-4.92578328e-02 9.98786074e-01 -2.09665046e-04 -1.77049539e+00] [-3.16606357e-03 5.37758449e-05 9.99994987e-01 -1.44200775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.927552017999997 meters Centerline goodness [0,1] 0.9998738621313096 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.77, Z:-0.14 [[ 9.98645254e-01 5.19735024e-02 2.53224520e-03 1.90602224e+01] [-5.19732395e-02 9.98648463e-01 -1.69577706e-04 -1.77068148e+00] [-2.53763633e-03 3.77389852e-05 9.99996779e-01 -1.44722946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.957552017999998 meters Centerline goodness [0,1] 0.9998100985377587 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.77, Z:-0.15 [[ 9.98459017e-01 5.54448076e-02 2.33764779e-03 1.90910581e+01] [-5.54445955e-02 9.98461753e-01 -1.55507214e-04 -1.77171564e+00] [-2.34267398e-03 2.56576441e-05 9.99997256e-01 -1.45189961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.987552018 meters Centerline goodness [0,1] 0.9997686742934051 Centerline is valid? [True, True] Translation: X:19.12, Y:-1.77, Z:-0.15 [[ 9.98123386e-01 6.11963037e-02 2.17220022e-03 1.91222954e+01] [-6.11961302e-02 9.98125750e-01 -1.46317509e-04 -1.77031866e+00] [-2.17708306e-03 1.31126806e-05 9.99997630e-01 -1.45335224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.017552017999996 meters Centerline goodness [0,1] 0.9997046662728883 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.77, Z:-0.15 [[ 9.97913509e-01 6.45588027e-02 8.89017036e-04 1.91533841e+01] [-6.45587751e-02 9.97913905e-01 -5.97222513e-05 -1.77053866e+00] [-8.91018059e-04 2.20379041e-06 9.99999603e-01 -1.47973298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.047552017999998 meters Centerline goodness [0,1] 0.9999579637647652 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.77, Z:-0.14 [[ 9.97767158e-01 6.67448527e-02 2.41315805e-03 1.91851873e+01] [-6.67446541e-02 9.97770076e-01 -1.62803348e-04 -1.77169287e+00] [-2.41864318e-03 1.37443418e-06 9.99997075e-01 -1.44376516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.077552018 meters Centerline goodness [0,1] 0.9999156491849602 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.77, Z:-0.14 [[ 9.97592275e-01 6.92669997e-02 3.42572932e-03 1.92163385e+01] [-6.92666135e-02 9.97598157e-01 -2.31412387e-04 -1.77277146e+00] [-3.43353049e-03 -6.43345874e-06 9.99994105e-01 -1.43685473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.107552017999996 meters Centerline goodness [0,1] 0.9999789376132103 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.77, Z:-0.14 [[ 9.97284556e-01 7.35308031e-02 4.09094530e-03 1.92477911e+01] [-7.35302871e-02 9.97292946e-01 -2.76592473e-04 -1.77353923e+00] [-4.10020896e-03 -2.49669805e-05 9.99991594e-01 -1.42475708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.137552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.77, Z:-0.14 [[ 9.97160198e-01 7.51763943e-02 4.47759164e-03 1.92783928e+01] [-7.51757914e-02 9.97170251e-01 -3.03040897e-04 -1.77478534e+00] [-4.48770270e-03 -3.44261748e-05 9.99989930e-01 -1.42388651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.167552018 meters Centerline goodness [0,1] 0.9998735830769879 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.78, Z:-0.15 [[ 9.97010656e-01 7.72031812e-02 3.06927438e-03 1.93099809e+01] [-7.72029078e-02 9.97015380e-01 -2.07642643e-04 -1.77708396e+00] [-3.07614444e-03 -2.99349796e-05 9.99995268e-01 -1.45013674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.197552017999996 meters Centerline goodness [0,1] 0.9999578245924802 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.78, Z:-0.14 [[ 9.96777973e-01 8.00967457e-02 4.26414168e-03 1.93415171e+01] [-8.00962430e-02 9.96787093e-01 -2.88807620e-04 -1.77939184e+00] [-4.27357394e-03 -5.36646541e-05 9.99990867e-01 -1.42962189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.227552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.78, Z:-0.14 [[ 9.96661308e-01 8.15790733e-02 3.33057725e-03 1.93729680e+01] [-8.15787747e-02 9.96666871e-01 -2.25657869e-04 -1.78173689e+00] [-3.33788496e-03 -4.67999442e-05 9.99994428e-01 -1.43969781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.257552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.78, Z:-0.14 [[ 9.96527858e-01 8.32087503e-02 2.92097033e-03 1.94036840e+01] [-8.32085270e-02 9.96532138e-01 -1.98098920e-04 -1.78429018e+00] [-2.92732438e-03 -4.56385460e-05 9.99995714e-01 -1.44823033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.287552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.78, Z:-0.15 [[ 9.96406984e-01 8.46498962e-02 2.74190090e-03 1.94336008e+01] [-8.46497047e-02 9.96410755e-01 -1.86007677e-04 -1.78477563e+00] [-2.74780508e-03 -4.67617528e-05 9.99996224e-01 -1.46040084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.317552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.79, Z:-0.15 [[ 9.96123646e-01 8.79346703e-02 2.27485055e-03 1.94647160e+01] [-8.79345473e-02 9.96126243e-01 -1.54227827e-04 -1.79013113e+00] [-2.27960031e-03 -4.64079680e-05 9.99997401e-01 -1.45820021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.347552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.49, Y:-1.79, Z:-0.15 [[ 9.95977735e-01 8.95572566e-02 2.80179415e-03 1.94947996e+01] [-8.95570756e-02 9.95981674e-01 -1.90262912e-04 -1.78952605e+00] [-2.80757505e-03 -6.14228660e-05 9.99996057e-01 -1.46255725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.377552018 meters Centerline goodness [0,1] 0.9998524856173477 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.80, Z:-0.15 [[ 9.95783057e-01 9.17075343e-02 2.41480134e-03 1.95260831e+01] [-9.17074063e-02 9.95785983e-01 -1.63896678e-04 -1.79621191e+00] [-2.41965589e-03 -5.82496327e-05 9.99997071e-01 -1.47706906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.407552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.80, Z:-0.14 [[ 9.95666319e-01 9.29100797e-02 4.03700350e-03 1.95568036e+01] [-9.29097303e-02 9.95674498e-01 -2.74410158e-04 -1.79993558e+00] [-4.04503690e-03 -1.01855954e-04 9.99991814e-01 -1.44484006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.437552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.81, Z:-0.15 [[ 9.95418380e-01 9.55549535e-02 3.39111163e-03 1.95889462e+01] [-9.55547257e-02 9.95424152e-01 -2.29494963e-04 -1.80643705e+00] [-3.39752380e-03 -9.55932373e-05 9.99994224e-01 -1.45068263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.467552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.81, Z:-0.15 [[ 9.95324153e-01 9.65271885e-02 3.51170399e-03 1.96204569e+01] [-9.65269460e-02 9.95330343e-01 -2.38878719e-04 -1.81114261e+00] [-3.51836382e-03 -1.01212302e-04 9.99993805e-01 -1.45773845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.497552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.82, Z:-0.15 [[ 9.95250636e-01 9.72868815e-02 3.38137952e-03 1.96515859e+01] [-9.72866573e-02 9.95256375e-01 -2.31111565e-04 -1.81600279e+00] [-3.38782365e-03 -9.89491791e-05 9.99994256e-01 -1.46148359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.527552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.68, Y:-1.83, Z:-0.15 [[ 9.95277747e-01 9.70005347e-02 3.61981793e-03 1.96816483e+01] [-9.70002714e-02 9.95284324e-01 -2.48643101e-04 -1.82619742e+00] [-3.62686656e-03 -1.03654377e-04 9.99993418e-01 -1.46308182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.557552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.71, Y:-1.83, Z:-0.15 [[ 9.95278285e-01 9.69814497e-02 3.96651701e-03 1.97136611e+01] [-9.69811283e-02 9.95286183e-01 -2.73731904e-04 -1.83400194e+00] [-3.97436649e-03 -1.12237874e-04 9.99992096e-01 -1.45765160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.587552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.84, Z:-0.15 [[ 9.95273068e-01 9.70309178e-02 4.06465552e-03 1.97455841e+01] [-9.70305755e-02 9.95281361e-01 -2.81784752e-04 -1.84044877e+00] [-4.07281771e-03 -1.13943090e-04 9.99991700e-01 -1.45263052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.617552017999998 meters Centerline goodness [0,1] 0.9999367528935551 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.85, Z:-0.15 [[ 9.95173155e-01 9.80346489e-02 4.42699165e-03 1.97774953e+01] [-9.80342449e-02 9.95182994e-01 -3.08676774e-04 -1.85005545e+00] [-4.43592783e-03 -1.26809945e-04 9.99990153e-01 -1.46071103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.647552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.85, Z:-0.14 [[ 9.95075874e-01 9.89973218e-02 4.85141625e-03 1.98085715e+01] [-9.89968379e-02 9.95087690e-01 -3.40373023e-04 -1.85399365e+00] [-4.86128061e-03 -1.41577885e-04 9.99988174e-01 -1.44960826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.677552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.86, Z:-0.14 [[ 9.94935349e-01 1.00410025e-01 4.63450271e-03 1.98406944e+01] [-1.00409597e-01 9.94946133e-01 -3.25470275e-04 -1.86187041e+00] [-4.64376103e-03 -1.41526670e-04 9.99989208e-01 -1.44957088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.707552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.87, Y:-1.87, Z:-0.15 [[ 9.94787326e-01 1.01864428e-01 4.67047602e-03 1.98718033e+01] [-1.01864001e-01 9.94798279e-01 -3.29895322e-04 -1.86606037e+00] [-4.67978611e-03 -1.47577688e-04 9.99989039e-01 -1.45328323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.737552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.88, Z:-0.14 [[ 9.94528053e-01 1.04336793e-01 5.27118505e-03 1.99035136e+01] [-1.04336279e-01 9.94542006e-01 -3.73069941e-04 -1.87675128e+00] [-5.28133988e-03 -1.78947315e-04 9.99986038e-01 -1.44831057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.767552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.88, Z:-0.15 [[ 9.94408696e-01 1.05474565e-01 5.14413447e-03 1.99354601e+01] [-1.05474083e-01 9.94421985e-01 -3.65624912e-04 -1.88244036e+00] [-5.15400454e-03 -1.78992275e-04 9.99986702e-01 -1.45293705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.797552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.89, Z:-0.15 [[ 9.94294674e-01 1.06544946e-01 5.12606436e-03 1.99669836e+01] [-1.06544474e-01 9.94307870e-01 -3.65897038e-04 -1.88910317e+00] [-5.13587061e-03 -1.82344355e-04 9.99986795e-01 -1.45623959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.827552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.90, Z:-0.15 [[ 9.94241542e-01 1.07064902e-01 4.56759270e-03 1.99998247e+01] [-1.07064528e-01 9.94252020e-01 -3.27039751e-04 -1.89771306e+00] [-4.57635275e-03 -1.63870651e-04 9.99989515e-01 -1.46332208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.857552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.92, Z:-0.15 [[ 9.94335235e-01 1.06232897e-01 3.46571912e-03 2.00303355e+01] [-1.06232673e-01 9.94341268e-01 -2.48946947e-04 -1.91660449e+00] [-3.47255390e-03 -1.20635887e-04 9.99993963e-01 -1.47080119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.887552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.93, Z:-0.15 [[ 9.94450880e-01 1.05148827e-01 3.34248415e-03 2.00622488e+01] [-1.05148610e-01 9.94456491e-01 -2.41189997e-04 -1.92568512e+00] [-3.34931590e-03 -1.11605957e-04 9.99994385e-01 -1.47553787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.917552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.94, Z:-0.15 [[ 9.94633202e-01 1.03408983e-01 3.37263938e-03 2.00939210e+01] [-1.03408749e-01 9.94638915e-01 -2.44318980e-04 -1.93539263e+00] [-3.37982315e-03 -1.05752649e-04 9.99994283e-01 -1.47313451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.947552017999996 meters Centerline goodness [0,1] 0.9998735750858636 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.94, Z:-0.15 [[ 9.94893651e-01 1.00913311e-01 1.76826048e-03 2.01248815e+01] [-1.00913243e-01 9.94895221e-01 -1.27617977e-04 -1.94458110e+00] [-1.77211225e-03 -5.14745847e-05 9.99998428e-01 -1.50511871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.977552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.96, Z:-0.15 [[ 9.95369024e-01 9.60527470e-02 3.79157596e-03 2.01547490e+01] [-9.60523848e-02 9.95376241e-01 -2.77905954e-04 -1.96197784e+00] [-3.80073825e-03 -8.75709351e-05 9.99992773e-01 -1.45833343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.007552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.97, Z:-0.15 [[ 9.95582070e-01 9.38182963e-02 3.80386041e-03 2.01853637e+01] [-9.38179180e-02 9.95589333e-01 -2.78165207e-04 -1.97083890e+00] [-3.81317983e-03 -7.99339709e-05 9.99992727e-01 -1.46012821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.037552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.98, Z:-0.15 [[ 9.95798985e-01 9.14890171e-02 3.76043496e-03 2.02174065e+01] [-9.14886249e-02 9.95806083e-01 -2.76540760e-04 -1.98013226e+00] [-3.76996445e-03 -6.86580152e-05 9.99992891e-01 -1.45795207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.067552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.99, Z:-0.15 [[ 9.95967595e-01 8.96228060e-02 4.03749752e-03 2.02477492e+01] [-8.96223376e-02 9.95975777e-01 -2.97173821e-04 -1.98695173e+00] [-4.04788328e-03 -6.58744701e-05 9.99991805e-01 -1.45908770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.097552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.28, Y:-2.00, Z:-0.14 [[ 9.96265947e-01 8.62316898e-02 4.27294222e-03 2.02789598e+01] [-8.62311322e-02 9.96275109e-01 -3.14879000e-04 -2.00259643e+00] [-4.28417852e-03 -5.47574209e-05 9.99990821e-01 -1.44748636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.127552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.31, Y:-2.01, Z:-0.14 [[ 9.96366601e-01 8.50491843e-02 4.49811349e-03 2.03105525e+01] [-8.50485483e-02 9.96376753e-01 -3.32834165e-04 -2.01040984e+00] [-4.51012299e-03 -5.09331770e-05 9.99989828e-01 -1.44162267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.157552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.34, Y:-2.02, Z:-0.14 [[ 9.96477671e-01 8.37397805e-02 4.46091594e-03 2.03412628e+01] [-8.37391349e-02 9.96487655e-01 -3.31644433e-04 -2.01730273e+00] [-4.47301950e-03 -4.30769694e-05 9.99989995e-01 -1.44062302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.187552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.37, Y:-2.03, Z:-0.14 [[ 9.96600581e-01 8.22904951e-02 3.94413206e-03 2.03734220e+01] [-8.22899764e-02 9.96608385e-01 -2.93897756e-04 -2.02501188e+00] [-3.95494007e-03 -3.16638594e-05 9.99992179e-01 -1.43985898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.217552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.40, Y:-2.04, Z:-0.14 [[ 9.96795395e-01 7.99269228e-02 3.26003395e-03 2.04044406e+01] [-7.99265575e-02 9.96800726e-01 -2.42386337e-04 -2.03569156e+00] [-3.26897741e-03 -1.89537067e-05 9.99994657e-01 -1.44044761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.247552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.44, Y:-2.04, Z:-0.14 [[ 9.96917280e-01 7.83801494e-02 3.53398696e-03 2.04366737e+01] [-7.83797040e-02 9.96923544e-01 -2.64570519e-04 -2.04246652e+00] [-3.54385188e-03 -1.32379296e-05 9.99993720e-01 -1.43829984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.277552017999998 meters Centerline goodness [0,1] 0.9998310739473796 Centerline is valid? [True, True] Translation: X:20.47, Y:-2.05, Z:-0.15 [[ 9.97106326e-01 7.60057014e-02 1.45189045e-03 2.04689358e+01] [-7.60056260e-02 9.97107383e-01 -1.07111402e-04 -2.04903993e+00] [-1.45583176e-03 -3.55038549e-06 9.99998940e-01 -1.47566602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.307552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.50, Y:-2.06, Z:-0.14 [[ 9.97432607e-01 7.15237835e-02 3.54159783e-03 2.05014396e+01] [-7.15232907e-02 9.97438894e-01 -2.65748683e-04 -2.06030841e+00] [-3.55153477e-03 1.17596708e-05 9.99993693e-01 -1.43658563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.337552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.53, Y:-2.07, Z:-0.14 [[ 9.97635231e-01 6.86235387e-02 3.84133382e-03 2.05325407e+01] [-6.86229311e-02 9.97642626e-01 -2.89911996e-04 -2.06766083e+00] [-3.85217315e-03 2.56228352e-05 9.99992580e-01 -1.43450038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.367552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.56, Y:-2.07, Z:-0.14 [[ 9.97844921e-01 6.54986049e-02 3.93006421e-03 2.05645322e+01] [-6.54979407e-02 9.97852660e-01 -2.97610423e-04 -2.07475072e+00] [-3.94111809e-03 3.95579368e-05 9.99992233e-01 -1.43051489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.397552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.60, Y:-2.08, Z:-0.14 [[ 9.98043992e-01 6.23981931e-02 3.82816190e-03 2.05965159e+01] [-6.23975363e-02 9.98051333e-01 -2.90900546e-04 -2.08116059e+00] [-3.83885375e-03 5.14636719e-05 9.99992630e-01 -1.42897301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.427552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.63, Y:-2.09, Z:-0.14 [[ 9.98392235e-01 5.65641872e-02 3.66586736e-03 2.06273454e+01] [-5.65635418e-02 9.98398962e-01 -2.79584254e-04 -2.09076659e+00] [-3.67581262e-03 7.17803068e-05 9.99993242e-01 -1.43154577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.457552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.66, Y:-2.10, Z:-0.14 [[ 9.98526034e-01 5.41760004e-02 3.27417183e-03 2.06594659e+01] [-5.41754709e-02 9.98531399e-01 -2.50279594e-04 -2.09593245e+00] [-3.28292252e-03 7.25308897e-05 9.99994609e-01 -1.43360405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.487552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.69, Y:-2.10, Z:-0.14 [[ 9.98625778e-01 5.23086298e-02 3.21912472e-03 2.06904775e+01] [-5.23081051e-02 9.98630963e-01 -2.47004477e-04 -2.10168628e+00] [-3.22763808e-03 7.82787243e-05 9.99994788e-01 -1.43693606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.517552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.72, Y:-2.10, Z:-0.14 [[ 9.98716099e-01 5.05688920e-02 2.99007023e-03 2.07226651e+01] [-5.05684299e-02 9.98720572e-01 -2.29965819e-04 -2.10498477e+00] [-2.99787377e-03 7.84674088e-05 9.99995503e-01 -1.43855196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.547552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.75, Y:-2.11, Z:-0.14 [[ 9.98802561e-01 4.87809029e-02 3.72386643e-03 2.07545381e+01] [-4.87801684e-02 9.98809498e-01 -2.87876081e-04 -2.10819830e+00] [-3.73347601e-03 1.05880536e-04 9.99993025e-01 -1.42517444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.577552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.79, Y:-2.11, Z:-0.14 [[ 9.98797163e-01 4.88490384e-02 4.24256635e-03 2.07878434e+01] [-4.88480801e-02 9.98806166e-01 -3.29273881e-04 -2.11055798e+00] [-4.25358614e-03 1.21636597e-04 9.99990946e-01 -1.42033039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.607552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.82, Y:-2.11, Z:-0.14 [[ 9.98766054e-01 4.94424720e-02 4.67021805e-03 2.08201823e+01] [-4.94413090e-02 9.98776964e-01 -3.64227085e-04 -2.11049396e+00] [-4.68251449e-03 1.32875956e-04 9.99989028e-01 -1.41370419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.637552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.85, Y:-2.11, Z:-0.14 [[ 9.98750402e-01 4.97576629e-02 4.67012561e-03 2.08525310e+01] [-4.97564978e-02 9.98761312e-01 -3.65407452e-04 -2.11313301e+00] [-4.68252260e-03 1.32581745e-04 9.99989028e-01 -1.41612299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.667552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.88, Y:-2.11, Z:-0.14 [[ 9.98656457e-01 5.15743207e-02 5.03697206e-03 2.08839757e+01] [-5.15729787e-02 9.98669150e-01 -3.96042924e-04 -2.11369275e+00] [-5.05069425e-03 1.35739171e-04 9.99987236e-01 -1.42743863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.697552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.92, Y:-2.11, Z:-0.14 [[ 9.98607249e-01 5.25559138e-02 4.63012900e-03 2.09165646e+01] [-5.25547858e-02 9.98617976e-01 -3.65031617e-04 -2.11287107e+00] [-4.64291462e-03 1.21187782e-04 9.99989214e-01 -1.43457075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.727552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.95, Y:-2.11, Z:-0.14 [[ 9.98554308e-01 5.35928367e-02 4.13532221e-03 2.09488339e+01] [-5.35919421e-02 9.98562866e-01 -3.26925060e-04 -2.11283204e+00] [-4.14690004e-03 1.04832479e-04 9.99991396e-01 -1.43885701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.757552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.98, Y:-2.11, Z:-0.14 [[ 9.98501678e-01 5.45882446e-02 3.81092323e-03 2.09795633e+01] [-5.45874884e-02 9.98508946e-01 -3.02256569e-04 -2.11340457e+00] [-3.82174059e-03 9.37749637e-05 9.99992693e-01 -1.44418369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.787552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.01, Y:-2.11, Z:-0.15 [[ 9.98391972e-01 5.65422834e-02 4.05469028e-03 2.10109203e+01] [-5.65414374e-02 9.98400201e-01 -3.23084385e-04 -2.11123408e+00] [-4.06647152e-03 9.33068396e-05 9.99991728e-01 -1.45060204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.817552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.04, Y:-2.11, Z:-0.14 [[ 9.98323740e-01 5.77353864e-02 4.04158166e-03 2.10428716e+01] [-5.77345546e-02 9.98331917e-01 -3.22273857e-04 -2.11069346e+00] [-4.05344658e-03 8.83947254e-05 9.99991781e-01 -1.44738978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.847552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.07, Y:-2.11, Z:-0.14 [[ 9.98235762e-01 5.91963257e-02 4.59987302e-03 2.10737904e+01] [-5.91952551e-02 9.98246355e-01 -3.68663718e-04 -2.11093224e+00] [-4.61363002e-03 9.57226509e-05 9.99989353e-01 -1.44948676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.877552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.11, Y:-2.11, Z:-0.14 [[ 9.98149922e-01 6.06172672e-02 4.72019377e-03 2.11062777e+01] [-6.06161537e-02 9.98161078e-01 -3.78744802e-04 -2.10874438e+00] [-4.73447218e-03 9.19241036e-05 9.99988788e-01 -1.44750096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.907552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.14, Y:-2.11, Z:-0.15 [[ 9.97922608e-01 6.42433747e-02 4.82247670e-03 2.11375920e+01] [-6.42422477e-02 9.97934258e-01 -3.88393970e-04 -2.10658321e+00] [-4.83746645e-03 7.77803802e-05 9.99988296e-01 -1.45470820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.937552017999998 meters Centerline goodness [0,1] 0.9998736815511905 Centerline is valid? [True, True] Translation: X:21.17, Y:-2.10, Z:-0.15 [[ 9.97833848e-01 6.56735851e-02 3.82003596e-03 2.11699422e+01] [-6.56728865e-02 9.97841158e-01 -3.08155667e-04 -2.10472028e+00] [-3.83202680e-03 5.66153663e-05 9.99992656e-01 -1.48410389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.967552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.20, Y:-2.11, Z:-0.15 [[ 9.97624957e-01 6.86909367e-02 5.09913566e-03 2.12016445e+01] [-6.86897205e-02 9.97637986e-01 -4.13469975e-04 -2.10605764e+00] [-5.11549307e-03 6.22297620e-05 9.99986914e-01 -1.45472856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.997552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.23, Y:-2.10, Z:-0.15 [[ 9.97248219e-01 7.39974587e-02 4.51291718e-03 2.12343026e+01] [-7.39965558e-02 9.97258429e-01 -3.66952726e-04 -2.09972460e+00] [-4.52769827e-03 3.20026243e-05 9.99989749e-01 -1.46453411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.027552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.27, Y:-2.10, Z:-0.15 [[ 9.97014028e-01 7.70942431e-02 4.41648810e-03 2.12667508e+01] [-7.70934036e-02 9.97023810e-01 -3.60262921e-04 -2.09802985e+00] [-4.43111799e-03 1.87050864e-05 9.99990182e-01 -1.47218059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.057552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.30, Y:-2.10, Z:-0.15 [[ 9.96765068e-01 8.02692725e-02 4.03035535e-03 2.12997443e+01] [-8.02685960e-02 9.96773216e-01 -3.29588221e-04 -2.09726199e+00] [-4.04380607e-03 5.01106020e-06 9.99991824e-01 -1.47791077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.087552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.33, Y:-2.09, Z:-0.15 [[ 9.96369777e-01 8.50192420e-02 4.35842611e-03 2.13318164e+01] [-8.50184891e-02 9.96379309e-01 -3.58069633e-04 -2.09429360e+00] [-4.37308840e-03 -1.37770414e-05 9.99990438e-01 -1.47986996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.117552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.09, Z:-0.15 [[ 9.96197741e-01 8.69950140e-02 4.68279146e-03 2.13641303e+01] [-8.69941593e-02 9.96208747e-01 -3.86292654e-04 -2.09476899e+00] [-4.69864334e-03 -2.25516363e-05 9.99988961e-01 -1.48386941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.147552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.40, Y:-2.10, Z:-0.15 [[ 9.96062535e-01 8.85151782e-02 4.94869853e-03 2.13963436e+01] [-8.85142323e-02 9.96074828e-01 -4.10253971e-04 -2.09678059e+00] [-4.96558774e-03 -2.93916417e-05 9.99987671e-01 -1.47676572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.177552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.43, Y:-2.10, Z:-0.15 [[ 9.95946000e-01 8.97940810e-02 5.34687260e-03 2.14287490e+01] [-8.97929943e-02 9.95960351e-01 -4.43446706e-04 -2.09858216e+00] [-5.36509200e-03 -3.84627281e-05 9.99985607e-01 -1.47639474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.207552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.46, Y:-2.10, Z:-0.15 [[ 9.95816827e-01 9.11879507e-02 5.79700669e-03 2.14612350e+01] [-9.11866854e-02 9.95833699e-01 -4.82737359e-04 -2.09908643e+00] [-5.81687445e-03 -4.78918412e-05 9.99983081e-01 -1.47327974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.237552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.49, Y:-2.10, Z:-0.15 [[ 9.95776230e-01 9.15831253e-02 6.49860200e-03 2.14939914e+01] [-9.15815294e-02 9.95797433e-01 -5.43351619e-04 -2.10159251e+00] [-6.52105303e-03 -5.40952833e-05 9.99978736e-01 -1.47388631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.267552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.53, Y:-2.10, Z:-0.15 [[ 9.95777099e-01 9.15538225e-02 6.77242714e-03 2.15270965e+01] [-9.15520733e-02 9.95800128e-01 -5.68499148e-04 -2.10447224e+00] [-6.79603208e-03 -5.39313131e-05 9.99976905e-01 -1.47588995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.297552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.56, Y:-2.11, Z:-0.15 [[ 9.95820801e-01 9.10490920e-02 7.14112020e-03 2.15585783e+01] [-9.10471170e-02 9.95846404e-01 -6.01852714e-04 -2.10742259e+00] [-7.16625702e-03 -5.08409551e-05 9.99974321e-01 -1.47769604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.327552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.59, Y:-2.11, Z:-0.15 [[ 9.96010771e-01 8.89133124e-02 7.54762461e-03 2.15903154e+01] [-8.89110269e-02 9.96039368e-01 -6.38473122e-04 -2.11255663e+00] [-7.57450001e-03 -3.51409483e-05 9.99971312e-01 -1.48190413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.357552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.62, Y:-2.12, Z:-0.15 [[ 9.96133607e-01 8.75286043e-02 7.52200787e-03 2.16234205e+01] [-8.75262791e-02 9.96162006e-01 -6.38395153e-04 -2.11711457e+00] [-7.54901629e-03 -2.24464933e-05 9.99971506e-01 -1.48507383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.387552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.65, Y:-2.12, Z:-0.15 [[ 9.96260233e-01 8.61009157e-02 7.22356361e-03 2.16548302e+01] [-8.60987178e-02 9.96286421e-01 -6.15271821e-04 -2.12146528e+00] [-7.24971380e-03 -8.96871672e-06 9.99973720e-01 -1.49213671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.417552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.69, Y:-2.13, Z:-0.15 [[ 9.96614104e-01 8.19431359e-02 6.75642135e-03 2.16876647e+01] [-8.19411050e-02 9.96637006e-01 -5.77317990e-04 -2.12826277e+00] [-6.78100680e-03 2.17346198e-05 9.99977008e-01 -1.49971676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.447552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.72, Y:-2.13, Z:-0.15 [[ 9.96790617e-01 7.98135964e-02 6.18504755e-03 2.17206711e+01] [-7.98118424e-02 9.96809806e-01 -5.30279148e-04 -2.13341691e+00] [-6.20763953e-03 3.49372394e-05 9.99980732e-01 -1.51057620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.477552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.75, Y:-2.14, Z:-0.15 [[ 9.96992909e-01 7.72760376e-02 5.79250967e-03 2.17516209e+01] [-7.72744449e-02 9.97009735e-01 -4.98596512e-04 -2.13919381e+00] [-5.81371810e-03 4.94842169e-05 9.99983099e-01 -1.51681489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.507552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.78, Y:-2.14, Z:-0.15 [[ 9.97185202e-01 7.47732322e-02 5.53505214e-03 2.17836600e+01] [-7.47717362e-02 9.97200562e-01 -4.77015038e-04 -2.14380929e+00] [-5.55522506e-03 6.18068790e-05 9.99984568e-01 -1.51981072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.537552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.82, Y:-2.15, Z:-0.15 [[ 9.97562429e-01 6.95607010e-02 5.52344632e-03 2.18150404e+01] [-6.95591232e-02 9.97577716e-01 -4.77483220e-04 -2.14978890e+00] [-5.54328104e-03 9.21132377e-05 9.99984632e-01 -1.51975834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.567552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.85, Y:-2.16, Z:-0.15 [[ 9.97712637e-01 6.73688777e-02 5.56123936e-03 2.18459392e+01] [-6.73672367e-02 9.97728131e-01 -4.82091979e-04 -2.15944067e+00] [-5.58108295e-03 1.06343932e-04 9.99984420e-01 -1.52340904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.597552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.88, Y:-2.16, Z:-0.15 [[ 9.97865359e-01 6.50650242e-02 5.59183855e-03 2.18781471e+01] [-6.50633189e-02 9.97881019e-01 -4.86531723e-04 -2.15997053e+00] [-5.61164575e-03 1.21669578e-04 9.99984247e-01 -1.51945753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.627552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.91, Y:-2.17, Z:-0.15 [[ 9.97992225e-01 6.30658040e-02 5.85007163e-03 2.19081008e+01] [-6.30638916e-02 9.98009361e-01 -5.10978600e-04 -2.17082144e+00] [-5.87065153e-03 1.41024387e-04 9.99982758e-01 -1.52532872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.657552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.94, Y:-2.18, Z:-0.15 [[ 9.98208471e-01 5.95203890e-02 6.09689597e-03 2.19382942e+01] [-5.95182313e-02 9.98227075e-01 -5.34889610e-04 -2.17615971e+00] [-6.11792347e-03 1.71054876e-04 9.99981271e-01 -1.52954808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.687552017999998 meters Centerline goodness [0,1] 0.9999790987375637 Centerline is valid? [True, True] Translation: X:21.97, Y:-2.18, Z:-0.15 [[ 9.98275149e-01 5.83886255e-02 6.12334456e-03 2.19701438e+01] [-5.83864281e-02 9.98293913e-01 -5.37149289e-04 -2.18010616e+00] [-6.14426101e-03 1.78702569e-04 9.99981108e-01 -1.52976015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.717552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.00, Y:-2.18, Z:-0.15 [[ 9.98395797e-01 5.61373175e-02 7.37799353e-03 2.20019700e+01] [-5.61340462e-02 9.98423030e-01 -6.49889690e-04 -2.17918867e+00] [-7.40284172e-03 2.34690505e-04 9.99972571e-01 -1.51763892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.747552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.03, Y:-2.18, Z:-0.15 [[ 9.98414670e-01 5.57022771e-02 8.08724618e-03 2.20327002e+01] [-5.56983195e-02 9.98447388e-01 -7.13947581e-04 -2.18170617e+00] [-8.11445833e-03 2.62369717e-04 9.99967043e-01 -1.51074873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.777552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.06, Y:-2.18, Z:-0.15 [[ 9.98431812e-01 5.52671667e-02 8.91386528e-03 2.20649487e+01] [-5.52623151e-02 9.98471558e-01 -7.89853385e-04 -2.18409936e+00] [-8.94389391e-03 2.96013915e-04 9.99959959e-01 -1.50209777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.807552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.10, Y:-2.19, Z:-0.15 [[ 9.98437453e-01 5.51164590e-02 9.21018209e-03 2.20973019e+01] [-5.51112449e-02 9.98479884e-01 -8.19157575e-04 -2.18569732e+00] [-9.24133061e-03 3.10293003e-04 9.99957250e-01 -1.49775180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.837552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.13, Y:-2.19, Z:-0.15 [[ 9.98427969e-01 5.52550903e-02 9.40564642e-03 2.21298314e+01] [-5.52496289e-02 9.98472220e-01 -8.39706626e-04 -2.18671640e+00] [-9.43767473e-03 3.18728107e-04 9.99955413e-01 -1.49800416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.867552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.16, Y:-2.19, Z:-0.15 [[ 9.98405117e-01 5.55390163e-02 1.01311290e-02 2.21621918e+01] [-5.55326552e-02 9.98456458e-01 -9.08325723e-04 -2.18516889e+00] [-1.01659387e-02 3.44268556e-04 9.99948266e-01 -1.49267717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.897552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.20, Y:-2.18, Z:-0.15 [[ 9.98361430e-01 5.62592758e-02 1.04569800e-02 2.21956366e+01] [-5.62524992e-02 9.98416131e-01 -9.41279217e-04 -2.18331347e+00] [-1.04933732e-02 3.51505606e-04 9.99944881e-01 -1.49431358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.927552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.23, Y:-2.18, Z:-0.15 [[ 9.98315042e-01 5.70565362e-02 1.05654032e-02 2.22271873e+01] [-5.70496233e-02 9.98370887e-01 -9.54769238e-04 -2.18389555e+00] [-1.06026668e-02 3.50408217e-04 9.99943729e-01 -1.49502500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.957552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.18, Z:-0.15 [[ 9.98215072e-01 5.88930464e-02 9.91361277e-03 2.22592671e+01] [-5.88870220e-02 9.98264249e-01 -8.98742580e-04 -2.17990261e+00] [-9.94933489e-03 3.13355256e-04 9.99950455e-01 -1.50451646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.987552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.29, Y:-2.18, Z:-0.15 [[ 9.98134476e-01 6.02814997e-02 9.68028186e-03 2.22913793e+01] [-6.02757914e-02 9.98181373e-01 -8.80612621e-04 -2.17789583e+00] [-9.71576169e-03 2.95483166e-04 9.99952757e-01 -1.50978976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.017552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.18, Z:-0.15 [[ 9.98029405e-01 6.20069930e-02 9.61450346e-03 2.23239767e+01] [-6.20014127e-02 9.98075676e-01 -8.77682214e-04 -2.17508744e+00] [-9.65042447e-03 2.79839861e-04 9.99953394e-01 -1.51452683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.047552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.36, Y:-2.17, Z:-0.15 [[ 9.97927125e-01 6.36595217e-02 9.42968509e-03 2.23558024e+01] [-6.36541990e-02 9.97971641e-01 -8.63824778e-04 -2.17375130e+00] [-9.46554898e-03 2.61795126e-04 9.99955166e-01 -1.51668996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.077552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.39, Y:-2.17, Z:-0.15 [[ 9.97747461e-01 6.65927110e-02 8.08790286e-03 2.23878260e+01] [-6.65888734e-02 9.97780221e-01 -7.43150640e-04 -2.16664460e+00] [-8.11943792e-03 2.02912325e-04 9.99967016e-01 -1.53532519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.107552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.42, Y:-2.17, Z:-0.15 [[ 9.97659608e-01 6.79910978e-02 7.24692335e-03 2.24202592e+01] [-6.79880399e-02 9.97685913e-01 -6.67769955e-04 -2.16530546e+00] [-7.27555575e-03 1.73502997e-04 9.99973518e-01 -1.54650676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.137552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.45, Y:-2.16, Z:-0.16 [[ 9.97576805e-01 6.92457451e-02 6.74871433e-03 2.24524522e+01] [-6.92431086e-02 9.97599620e-01 -6.23815692e-04 -2.16363608e+00] [-6.77571144e-03 1.55002105e-04 9.99977033e-01 -1.55703366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.167552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.48, Y:-2.16, Z:-0.16 [[ 9.97488346e-01 7.05254182e-02 6.57004666e-03 2.24849983e+01] [-7.05229338e-02 9.97509972e-01 -6.09349969e-04 -2.16250526e+00] [-6.59666172e-03 1.44480527e-04 9.99978231e-01 -1.56108099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.197552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.52, Y:-2.16, Z:-0.16 [[ 9.97385640e-01 7.20007459e-02 6.14640395e-03 2.25163906e+01] [-7.19985879e-02 9.97404570e-01 -5.71937100e-04 -2.15863934e+00] [-6.17163129e-03 1.27909445e-04 9.99980947e-01 -1.56485996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.227552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.16, Z:-0.16 [[ 9.97294710e-01 7.32337513e-02 6.33079551e-03 2.25487827e+01] [-7.32314745e-02 9.97314796e-01 -5.91012812e-04 -2.15684623e+00] [-6.35707812e-03 1.25800461e-04 9.99979786e-01 -1.56947345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.257552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.58, Y:-2.16, Z:-0.16 [[ 9.97214281e-01 7.43072033e-02 6.48974553e-03 2.25802225e+01] [-7.43048184e-02 9.97235391e-01 -6.08151265e-04 -2.15595692e+00] [-6.51699394e-03 1.24237763e-04 9.99978756e-01 -1.56761375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.287552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.61, Y:-2.15, Z:-0.16 [[ 9.97102386e-01 7.57995011e-02 6.42397832e-03 2.26130296e+01] [-7.57971887e-02 9.97123073e-01 -6.03009358e-04 -2.15405080e+00] [-6.45120481e-03 1.14342572e-04 9.99979184e-01 -1.56796389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.317552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.64, Y:-2.15, Z:-0.16 [[ 9.96759095e-01 8.01570195e-02 6.79398738e-03 2.26449292e+01] [-8.01545180e-02 9.96782245e-01 -6.40117079e-04 -2.14739942e+00] [-6.82343587e-03 9.34737366e-05 9.99976716e-01 -1.56665707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.347552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.68, Y:-2.15, Z:-0.16 [[ 9.96538629e-01 8.28297824e-02 7.07015333e-03 2.26767578e+01] [-8.28271249e-02 9.96563706e-01 -6.68352922e-04 -2.14594111e+00] [-7.10121774e-03 8.04390313e-05 9.99974783e-01 -1.56551067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.377552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.71, Y:-2.14, Z:-0.16 [[ 9.96275590e-01 8.59623381e-02 6.73982498e-03 2.27084797e+01] [-8.59599819e-02 9.96298386e-01 -6.39028209e-04 -2.14419233e+00] [-6.76980911e-03 5.72929728e-05 9.99977083e-01 -1.56489606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.407552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:-2.14, Z:-0.16 [[ 9.95759769e-01 9.16151822e-02 8.31508303e-03 2.27417860e+01] [-9.16117684e-02 9.95794486e-01 -7.91327919e-04 -2.13669801e+00] [-8.35261148e-03 2.62130460e-05 9.99965116e-01 -1.55033448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.437552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-2.14, Z:-0.15 [[ 9.95480961e-01 9.45606154e-02 8.71473806e-03 2.27750494e+01] [-9.45569523e-02 9.95519106e-01 -8.32324836e-04 -2.13513118e+00] [-8.75439339e-03 4.52445610e-06 9.99961680e-01 -1.54674420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.467552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.81, Y:-2.13, Z:-0.15 [[ 9.95244767e-01 9.69816771e-02 9.07785112e-03 2.28082067e+01] [-9.69777718e-02 9.95286167e-01 -8.70441713e-04 -2.13409383e+00] [-9.11947655e-03 -1.40472146e-05 9.99958417e-01 -1.54383207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.497552017999997 meters Centerline goodness [0,1] 0.9998736097067745 Centerline is valid? [True, True] Translation: X:22.84, Y:-2.13, Z:-0.16 [[ 9.95054168e-01 9.90448543e-02 7.57091091e-03 2.28411997e+01] [-9.90421800e-02 9.95082970e-01 -7.28274011e-04 -2.13391069e+00] [-7.60581630e-03 -2.51674302e-05 9.99971075e-01 -1.58514779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.527552017999998 meters Centerline goodness [0,1] 0.9998736097067745 Centerline is valid? [True, True] Translation: X:22.87, Y:-2.14, Z:-0.16 [[ 9.95017482e-01 9.94127530e-02 7.57064054e-03 2.28735169e+01] [-9.94100680e-02 9.95046282e-01 -7.31073940e-04 -2.13725328e+00] [-7.60581580e-03 -2.51665400e-05 9.99971075e-01 -1.58756629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.557552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.91, Y:-2.14, Z:-0.16 [[ 9.94708880e-01 1.02424361e-01 7.96836090e-03 2.29055735e+01] [-1.02421458e-01 9.94740794e-01 -7.72584396e-04 -2.13630466e+00] [-8.00558512e-03 -4.76345830e-05 9.99967954e-01 -1.56294937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.587552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.94, Y:-2.14, Z:-0.16 [[ 9.94652784e-01 1.03002373e-01 7.50666961e-03 2.29388111e+01] [-1.02999795e-01 9.94681109e-01 -7.30274853e-04 -2.13917145e+00] [-7.54196249e-03 -4.68155136e-05 9.99971558e-01 -1.57604855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.617552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.97, Y:-2.14, Z:-0.16 [[ 9.94658659e-01 1.03015629e-01 6.47556875e-03 2.29713198e+01] [-1.03013697e-01 9.94679737e-01 -6.31956202e-04 -2.14247067e+00] [-6.50621838e-03 -3.84915712e-05 9.99978834e-01 -1.59080597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.647552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.00, Y:-2.15, Z:-0.16 [[ 9.94879487e-01 1.00874717e-01 6.25289034e-03 2.30041545e+01] [-1.00872860e-01 9.94899136e-01 -6.12418636e-04 -2.14774219e+00] [-6.28277276e-03 -2.14641963e-05 9.99980263e-01 -1.60406401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.677552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.04, Y:-2.15, Z:-0.16 [[ 9.95026953e-01 9.94174507e-02 6.12639752e-03 2.30368635e+01] [-9.94156274e-02 9.95045813e-01 -6.02179301e-04 -2.15301031e+00] [-6.15591333e-03 -9.87501849e-06 9.99981052e-01 -1.60821741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.707552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.07, Y:-2.16, Z:-0.16 [[ 9.95202723e-01 9.76527938e-02 5.95591790e-03 2.30679927e+01] [-9.76510264e-02 9.95220544e-01 -5.87532414e-04 -2.15868267e+00] [-5.98482603e-03 3.11236175e-06 9.99982091e-01 -1.61280941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.737552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.10, Y:-2.17, Z:-0.16 [[ 9.95393511e-01 9.56710895e-02 6.22897761e-03 2.30998795e+01] [-9.56691036e-02 9.95413001e-01 -6.16680692e-04 -2.16502517e+00] [-6.25940381e-03 1.79192551e-05 9.99980410e-01 -1.61575539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.767552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.13, Y:-2.17, Z:-0.16 [[ 9.95584452e-01 9.36595753e-02 6.28357730e-03 2.31321037e+01] [-9.36575012e-02 9.95604280e-01 -6.24166872e-04 -2.17186837e+00] [-6.31441566e-03 3.29066848e-05 9.99980063e-01 -1.61217235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.797552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.16, Y:-2.18, Z:-0.16 [[ 9.96029185e-01 8.88037829e-02 6.30474454e-03 2.31620466e+01] [-8.88015831e-02 9.96049137e-01 -6.28553770e-04 -2.18246719e+00] [-6.33565331e-03 6.61866039e-05 9.99979927e-01 -1.61837309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.827552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.19, Y:-2.19, Z:-0.16 [[ 9.96233112e-01 8.65321234e-02 5.63725853e-03 2.31934922e+01] [-8.65303208e-02 9.96249058e-01 -5.63336649e-04 -2.18945604e+00] [-5.66486021e-03 7.34208342e-05 9.99983952e-01 -1.62862610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.857552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.22, Y:-2.20, Z:-0.16 [[ 9.96448147e-01 8.40349540e-02 5.40520321e-03 2.32245569e+01] [-8.40332515e-02 9.96462804e-01 -5.41715562e-04 -2.19642085e+00] [-5.43160699e-03 8.55746676e-05 9.99985245e-01 -1.63651885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.887552017999997 meters Centerline goodness [0,1] 0.9998733161606351 Centerline is valid? [True, True] Translation: X:23.26, Y:-2.20, Z:-0.17 [[ 9.96677803e-01 8.13854038e-02 3.12622036e-03 2.32564736e+01] [-8.13848217e-02 9.96682704e-01 -3.13162846e-04 -2.20207374e+00] [-3.14133665e-03 5.76955704e-05 9.99995064e-01 -1.68095910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.917552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.29, Y:-2.21, Z:-0.17 [[ 9.97025304e-01 7.69716183e-02 3.98919973e-03 2.32879943e+01] [-7.69706276e-02 9.97033280e-01 -4.01506141e-04 -2.21139220e+00] [-4.00826947e-03 9.32605752e-05 9.99991963e-01 -1.65185840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.947552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.32, Y:-2.22, Z:-0.17 [[ 9.97187651e-01 7.48505902e-02 3.76539047e-03 2.33187284e+01] [-7.48496864e-02 9.97194755e-01 -3.80565036e-04 -2.22068959e+00] [-3.78331314e-03 9.76564584e-05 9.99992838e-01 -1.65706653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.977552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.35, Y:-2.22, Z:-0.16 [[ 9.97321438e-01 7.30351218e-02 3.97755081e-03 2.33511306e+01] [-7.30340979e-02 9.97329363e-01 -4.02251812e-04 -2.22293711e+00] [-3.99630673e-03 1.10677519e-04 9.99992009e-01 -1.64806601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.007552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.38, Y:-2.23, Z:-0.16 [[ 9.97576259e-01 6.94564190e-02 4.17281487e-03 2.33825266e+01] [-6.94552544e-02 9.97584978e-01 -4.23529431e-04 -2.22861904e+00] [-4.19215427e-03 1.32678987e-04 9.99991204e-01 -1.64268719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.037552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.41, Y:-2.23, Z:-0.16 [[ 9.97673651e-01 6.80085442e-02 4.70363718e-03 2.34139964e+01] [-6.80070405e-02 9.97684726e-01 -4.79082236e-04 -2.23327357e+00] [-4.72532866e-03 1.58087279e-04 9.99988823e-01 -1.64115861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.067552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.45, Y:-2.24, Z:-0.16 [[ 9.97775177e-01 6.64925479e-02 4.84128216e-03 2.34459635e+01] [-6.64909289e-02 9.97786907e-01 -4.94782187e-04 -2.23790380e+00] [-4.86346728e-03 1.71780036e-04 9.99988159e-01 -1.64079408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.097552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.48, Y:-2.24, Z:-0.16 [[ 9.97945094e-01 6.37986295e-02 5.94338405e-03 2.34763940e+01] [-6.37961263e-02 9.97962766e-01 -6.09997225e-04 -2.24355096e+00] [-5.97019297e-03 2.29578859e-04 9.99982152e-01 -1.63269005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.51, Y:-2.25, Z:-0.16 [[ 9.98010863e-01 6.27522390e-02 6.03932331e-03 2.35080372e+01] [-6.27496240e-02 9.98029107e-01 -6.21698196e-04 -2.24620739e+00] [-6.06643340e-03 2.41496286e-04 9.99981570e-01 -1.63530429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.157552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.54, Y:-2.25, Z:-0.16 [[ 9.98088107e-01 6.15279941e-02 5.86830692e-03 2.35384729e+01] [-6.15254924e-02 9.98105328e-01 -6.06055634e-04 -2.25024652e+00] [-5.89447779e-03 2.43846447e-04 9.99982598e-01 -1.64037967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.187552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.57, Y:-2.25, Z:-0.16 [[ 9.98160440e-01 6.03951905e-02 5.30635911e-03 2.35708071e+01] [-6.03931236e-02 9.98174518e-01 -5.49041220e-04 -2.25140480e+00] [-5.32983190e-03 2.27563624e-04 9.99985770e-01 -1.64762394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.217552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.60, Y:-2.26, Z:-0.17 [[ 9.98221438e-01 5.93575699e-02 5.53529081e-03 2.36018396e+01] [-5.93552938e-02 9.98236755e-01 -5.74723447e-04 -2.25702061e+00] [-5.55964492e-03 2.45152453e-04 9.99984515e-01 -1.65362967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.247552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.63, Y:-2.26, Z:-0.17 [[ 9.98392756e-01 5.64297076e-02 5.25291740e-03 2.36325939e+01] [-5.64276093e-02 9.98406543e-01 -5.46924387e-04 -2.26054095e+00] [-5.27540989e-03 2.49635775e-04 9.99986054e-01 -1.65949978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.277552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.66, Y:-2.26, Z:-0.17 [[ 9.98473467e-01 5.49654353e-02 5.43478795e-03 2.36648668e+01] [-5.49631587e-02 9.98488222e-01 -5.67479405e-04 -2.26373161e+00] [-5.45776351e-03 2.67900016e-04 9.99985070e-01 -1.66222181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.307552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.70, Y:-2.27, Z:-0.17 [[ 9.98542605e-01 5.37095948e-02 5.28627447e-03 2.36972816e+01] [-5.37074150e-02 9.98556562e-01 -5.53542978e-04 -2.26579033e+00] [-5.30837463e-03 2.68824110e-04 9.99985874e-01 -1.66522433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.337552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.73, Y:-2.26, Z:-0.17 [[ 9.98638968e-01 5.19134073e-02 5.02097709e-03 2.37295174e+01] [-5.19114108e-02 9.98651555e-01 -5.27224472e-04 -2.26196370e+00] [-5.04157659e-03 2.65860898e-04 9.99987256e-01 -1.66499666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.367552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.76, Y:-2.26, Z:-0.17 [[ 9.98676076e-01 5.11539252e-02 5.41946506e-03 2.37615819e+01] [-5.11515787e-02 9.98690738e-01 -5.70787595e-04 -2.26253316e+00] [-5.44156758e-03 2.92817723e-04 9.99985152e-01 -1.66582647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.397552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.79, Y:-2.26, Z:-0.17 [[ 9.98725000e-01 5.01735154e-02 5.56712413e-03 2.37941697e+01] [-5.01710139e-02 9.98740469e-01 -5.88157858e-04 -2.26347051e+00] [-5.58962211e-03 3.08099694e-04 9.99984330e-01 -1.66977316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.427552017999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.83, Y:-2.26, Z:-0.17 [[ 9.98839960e-01 4.79572735e-02 4.33974314e-03 2.38271717e+01] [-4.79557260e-02 9.98849356e-01 -4.60017161e-04 -2.25839120e+00] [-4.35681081e-03 2.51367990e-04 9.99990477e-01 -1.68697957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.457552017999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.86, Y:-2.26, Z:-0.17 [[ 9.98877281e-01 4.72460032e-02 3.46303852e-03 2.38582033e+01] [-4.72450156e-02 9.98883264e-01 -3.66466540e-04 -2.26095245e+00] [-3.47648530e-03 2.02443792e-04 9.99993937e-01 -1.70300752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.487552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.89, Y:-2.26, Z:-0.17 [[ 9.98894224e-01 4.69445981e-02 2.55633106e-03 2.38909977e+01] [-4.69440588e-02 9.98897483e-01 -2.70589804e-04 -2.25822799e+00] [-2.56621540e-03 1.50286037e-04 9.99996696e-01 -1.70895232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.517552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.92, Y:-2.26, Z:-0.17 [[ 9.98898301e-01 4.68867595e-02 1.95356602e-03 2.39235537e+01] [-4.68864443e-02 9.98900204e-01 -2.06869947e-04 -2.25792893e+00] [-1.96111696e-03 1.15046274e-04 9.99998070e-01 -1.71954041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.547552017999998 meters Centerline goodness [0,1] 0.999873931040279 Centerline is valid? [True, True] Translation: X:23.96, Y:-2.25, Z:-0.17 [[ 9.98857919e-01 4.77534933e-02 1.56897290e-03 2.39551087e+01] [-4.77532907e-02 9.98859147e-01 -1.66331579e-04 -2.25349741e+00] [-1.57512585e-03 9.12179954e-05 9.99998755e-01 -1.72375541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.577552018 meters Centerline goodness [0,1] 0.9998322534650144 Centerline is valid? [True, True] Translation: X:23.99, Y:-2.25, Z:-0.17 [[ 9.98813843e-01 4.86381152e-02 2.28912056e-03 2.39875702e+01] [-4.86376828e-02 9.98816458e-01 -2.44216181e-04 -2.24996812e+00] [-2.29828950e-03 1.32588983e-04 9.99997350e-01 -1.72032208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.607552017999996 meters Centerline goodness [0,1] 0.9996632287939381 Centerline is valid? [True, True] Translation: X:24.02, Y:-2.25, Z:-0.17 [[ 9.98742547e-01 5.00312010e-02 3.19435422e-03 2.40207389e+01] [-5.00303573e-02 9.98747638e-01 -3.43540131e-04 -2.24675180e+00] [-3.20754146e-03 1.83293462e-04 9.99994839e-01 -1.71395663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.637552017999997 meters Centerline goodness [0,1] 0.999348383570858 Centerline is valid? [True, True] Translation: X:24.05, Y:-2.24, Z:-0.17 [[ 9.98570507e-01 5.32453668e-02 4.67698412e-03 2.40518069e+01] [-5.32435878e-02 9.98581427e-01 -5.04150706e-04 -2.24210826e+00] [-4.69719316e-03 2.54410612e-04 9.99988936e-01 -1.70741065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.667552018 meters Centerline goodness [0,1] 0.9990971886875643 Centerline is valid? [True, True] Translation: X:24.08, Y:-2.23, Z:-0.17 [[ 9.98449102e-01 5.54617305e-02 4.83599525e-03 2.40849775e+01] [-5.54598575e-02 9.98460782e-01 -5.20666151e-04 -2.23484061e+00] [-4.85742865e-03 2.51655044e-04 9.99988171e-01 -1.70753796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.697552017999996 meters Centerline goodness [0,1] 0.9989906636386576 Centerline is valid? [True, True] Translation: X:24.12, Y:-2.23, Z:-0.17 [[ 9.98313198e-01 5.78101250e-02 5.36165174e-03 2.41162242e+01] [-5.78078457e-02 9.98327560e-01 -5.79236500e-04 -2.23227361e+00] [-5.38617044e-03 2.68313906e-04 9.99985458e-01 -1.71168703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.727552017999997 meters Centerline goodness [0,1] 0.9988432741650543 Centerline is valid? [True, True] Translation: X:24.15, Y:-2.23, Z:-0.17 [[ 9.98152798e-01 6.05221215e-02 5.29762744e-03 2.41483348e+01] [-6.05199238e-02 9.98166824e-01 -5.74321022e-04 -2.22670204e+00] [-5.32267509e-03 2.52648127e-04 9.99985803e-01 -1.71538550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.757552018 meters Centerline goodness [0,1] 0.9985241719550505 Centerline is valid? [True, True] Translation: X:24.18, Y:-2.22, Z:-0.17 [[ 9.97796676e-01 6.60990906e-02 5.71867279e-03 2.41804633e+01] [-6.60966192e-02 9.97813035e-01 -6.20291736e-04 -2.21623685e+00] [-5.74716697e-03 2.40940096e-04 9.99983456e-01 -1.72191064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.787552017999996 meters Centerline goodness [0,1] 0.9982113923784273 Centerline is valid? [True, True] Translation: X:24.21, Y:-2.21, Z:-0.17 [[ 9.97587006e-01 6.91675930e-02 6.00084637e-03 2.42127212e+01] [-6.91649266e-02 9.97605027e-01 -6.50978787e-04 -2.21314022e+00] [-6.03150113e-03 2.34359880e-04 9.99981783e-01 -1.72495378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.817552017999997 meters Centerline goodness [0,1] 0.9981724224855054 Centerline is valid? [True, True] Translation: X:24.25, Y:-2.21, Z:-0.17 [[ 9.97366263e-01 7.22453035e-02 6.41517437e-03 2.42451577e+01] [-7.22423167e-02 9.97386867e-01 -6.96390937e-04 -2.21045796e+00] [-6.44872165e-03 2.31109767e-04 9.99979180e-01 -1.72509811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.847552018 meters Centerline goodness [0,1] 0.9977550720684808 Centerline is valid? [True, True] Translation: X:24.28, Y:-2.20, Z:-0.17 [[ 9.96920467e-01 7.81110470e-02 6.94599816e-03 2.42773184e+01] [-7.81076840e-02 9.96944643e-01 -7.54538129e-04 -2.20054930e+00] [-6.98371341e-03 2.09678675e-04 9.99975592e-01 -1.72480805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.877552017999996 meters Centerline goodness [0,1] 0.9979978081267914 Centerline is valid? [True, True] Translation: X:24.31, Y:-2.20, Z:-0.17 [[ 9.96657156e-01 8.13778823e-02 7.22171589e-03 2.43084309e+01] [-8.13743315e-02 9.96683301e-01 -7.84659254e-04 -2.19638077e+00] [-7.26161754e-03 1.94373958e-04 9.99973615e-01 -1.72659231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.907552017999997 meters Centerline goodness [0,1] 0.9974770304648571 Centerline is valid? [True, True] Translation: X:24.34, Y:-2.19, Z:-0.17 [[ 9.96400702e-01 8.44676866e-02 7.13097877e-03 2.43383794e+01] [-8.44643036e-02 9.96426205e-01 -7.74789301e-04 -2.19433637e+00] [-7.17093877e-03 1.69687447e-04 9.99974274e-01 -1.73546179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.937552017999998 meters Centerline goodness [0,1] 0.9973183608480684 Centerline is valid? [True, True] Translation: X:24.37, Y:-2.19, Z:-0.17 [[ 9.96111042e-01 8.78332811e-02 6.93585346e-03 2.43687425e+01] [-8.78301599e-02 9.96135179e-01 -7.53913294e-04 -2.19076023e+00] [-6.97526631e-03 1.41804238e-04 9.99975662e-01 -1.74262984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.967552018 meters Centerline goodness [0,1] 0.9977087843945095 Centerline is valid? [True, True] Translation: X:24.40, Y:-2.18, Z:-0.18 [[ 9.95630364e-01 9.31976900e-02 5.86257633e-03 2.43990670e+01] [-9.31955542e-02 9.95647620e-01 -6.37041514e-04 -2.18372512e+00] [-5.89643097e-03 8.78918232e-05 9.99982612e-01 -1.76958550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.997552017999997 meters Centerline goodness [0,1] 0.9971779967989217 Centerline is valid? [True, True] Translation: X:24.43, Y:-2.18, Z:-0.18 [[ 9.95408224e-01 9.55546911e-02 5.63629207e-03 2.44281243e+01] [-9.55527557e-02 9.95424179e-01 -6.12295464e-04 -2.18195318e+00] [-5.66900911e-03 7.09207015e-05 9.99983929e-01 -1.78185817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.027552017999998 meters Centerline goodness [0,1] 0.997197285792557 Centerline is valid? [True, True] Translation: X:24.46, Y:-2.18, Z:-0.18 [[ 9.95191773e-01 9.78053934e-02 5.23830037e-03 2.44558783e+01] [-9.78037548e-02 9.95205558e-01 -5.68670633e-04 -2.18095058e+00] [-5.26880470e-03 5.36108903e-05 9.99986118e-01 -1.78962393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.057552018 meters Centerline goodness [0,1] 0.9978324459689808 Centerline is valid? [True, True] Translation: X:24.48, Y:-2.18, Z:-0.18 [[ 9.94991062e-01 9.98496736e-02 4.77800964e-03 2.44841037e+01] [-9.98483362e-02 9.95002533e-01 -5.18226048e-04 -2.18112322e+00] [-4.80587640e-03 3.85539727e-05 9.99988451e-01 -1.80127915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.087552017999997 meters Centerline goodness [0,1] 0.997348931156371 Centerline is valid? [True, True] Translation: X:24.51, Y:-2.18, Z:-0.18 [[ 9.94645932e-01 1.03222582e-01 4.95664064e-03 2.45130865e+01] [-1.03221188e-01 9.94658282e-01 -5.36950153e-04 -2.17866366e+00] [-4.98558905e-03 2.24449514e-05 9.99987572e-01 -1.80249268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.117552017999998 meters Centerline goodness [0,1] 0.9971996462711079 Centerline is valid? [True, True] Translation: X:24.54, Y:-2.18, Z:-0.18 [[ 9.94492421e-01 1.04656972e-01 5.63400128e-03 2.45422028e+01] [-1.04655197e-01 9.94508380e-01 -6.09728663e-04 -2.17993149e+00] [-5.66687384e-03 1.67430225e-05 9.99983943e-01 -1.79937424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.147552018 meters Centerline goodness [0,1] 0.9980208859693448 Centerline is valid? [True, True] Translation: X:24.57, Y:-2.18, Z:-0.18 [[ 9.94221508e-01 1.07161937e-01 6.31758306e-03 2.45703211e+01] [-1.07159760e-01 9.94241580e-01 -6.83081986e-04 -2.18044493e+00] [-6.35440415e-03 2.14411970e-06 9.99979811e-01 -1.78628640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.177552017999997 meters Centerline goodness [0,1] 0.9978525411596277 Centerline is valid? [True, True] Translation: X:24.60, Y:-2.18, Z:-0.18 [[ 9.94094052e-01 1.08265908e-01 7.45045972e-03 2.45994493e+01] [-1.08262919e-01 9.94121971e-01 -8.04596130e-04 -2.18266968e+00] [-7.49377603e-03 -6.76428906e-06 9.99971921e-01 -1.78104689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.207552017999998 meters Centerline goodness [0,1] 0.9982348120284952 Centerline is valid? [True, True] Translation: X:24.63, Y:-2.19, Z:-0.18 [[ 9.93977770e-01 1.09309209e-01 7.72588845e-03 2.46281346e+01] [-1.09306032e-01 9.94007795e-01 -8.33636909e-04 -2.18560412e+00] [-7.77071753e-03 -1.58696507e-05 9.99969807e-01 -1.77354122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.237552018 meters Centerline goodness [0,1] 0.9977469415257628 Centerline is valid? [True, True] Translation: X:24.66, Y:-2.19, Z:-0.18 [[ 9.93927484e-01 1.09699810e-01 8.60858512e-03 2.46558035e+01] [-1.09695887e-01 9.93964764e-01 -9.28029591e-04 -2.18907324e+00] [-8.65843495e-03 -2.19322604e-05 9.99962515e-01 -1.76781051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.267552017999996 meters Centerline goodness [0,1] 0.9980192595402153 Centerline is valid? [True, True] Translation: X:24.68, Y:-2.19, Z:-0.18 [[ 9.93909747e-01 1.09814470e-01 9.17588400e-03 2.46844487e+01] [-1.09810027e-01 9.93952102e-01 -9.88174700e-04 -2.19314359e+00] [-9.22890507e-03 -2.54476052e-05 9.99957412e-01 -1.75920250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.297552017999998 meters Centerline goodness [0,1] 0.9982576934380116 Centerline is valid? [True, True] Translation: X:24.71, Y:-2.20, Z:-0.17 [[ 9.93982431e-01 1.09014273e-01 1.07151745e-02 2.47119301e+01] [-1.09008179e-01 9.94040184e-01 -1.15284473e-03 -2.19940346e+00] [-1.07769906e-02 -2.21342569e-05 9.99941926e-01 -1.74519865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.327552018 meters Centerline goodness [0,1] 0.9982853080172306 Centerline is valid? [True, True] Translation: X:24.74, Y:-2.20, Z:-0.17 [[ 9.94071797e-01 1.08181475e-01 1.08641681e-02 2.47404610e+01] [-1.08175173e-01 9.94131162e-01 -1.16777622e-03 -2.20482999e+00] [-1.09267398e-02 -1.43798617e-05 9.99940301e-01 -1.74200708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.357552017999996 meters Centerline goodness [0,1] 0.9980855002945385 Centerline is valid? [True, True] Translation: X:24.77, Y:-2.21, Z:-0.17 [[ 9.94182452e-01 1.07067340e-01 1.17404178e-02 2.47675012e+01] [-1.07059916e-01 9.94251771e-01 -1.26082587e-03 -2.21047681e+00] [-1.18079245e-02 -3.43718923e-06 9.99930284e-01 -1.73959696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.387552017999997 meters Centerline goodness [0,1] 0.9985468483457237 Centerline is valid? [True, True] Translation: X:24.80, Y:-2.22, Z:-0.17 [[ 9.94478219e-01 1.04342113e-01 1.12158853e-02 2.47956857e+01] [-1.04335175e-01 9.94541464e-01 -1.20351573e-03 -2.22038362e+00] [-1.12802403e-02 2.66588252e-05 9.99936376e-01 -1.74707682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.417552018 meters Centerline goodness [0,1] 0.998495392138424 Centerline is valid? [True, True] Translation: X:24.82, Y:-2.23, Z:-0.18 [[ 9.94595312e-01 1.03328064e-01 1.01723640e-02 2.48243341e+01] [-1.03322309e-01 9.94647329e-01 -1.09101099e-03 -2.22721047e+00] [-1.02306467e-02 3.40822741e-05 9.99947665e-01 -1.76248999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.447552017999996 meters Centerline goodness [0,1] 0.998495392138424 Centerline is valid? [True, True] Translation: X:24.85, Y:-2.23, Z:-0.18 [[ 9.94599502e-01 1.03287723e-01 1.01724082e-02 2.48533358e+01] [-1.03281971e-01 9.94651519e-01 -1.09059903e-03 -2.23026841e+00] [-1.02306467e-02 3.40828844e-05 9.99947665e-01 -1.76465906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.477552017999997 meters Centerline goodness [0,1] 0.9985028677462888 Centerline is valid? [True, True] Translation: X:24.88, Y:-2.24, Z:-0.18 [[ 9.94727986e-01 1.02095903e-01 9.62601589e-03 2.48825476e+01] [-1.02090700e-01 9.94774560e-01 -1.03164099e-03 -2.23762134e+00] [-9.68104204e-03 4.34754688e-05 9.99953137e-01 -1.77243878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.507552018 meters Centerline goodness [0,1] 0.9983182324623179 Centerline is valid? [True, True] Translation: X:24.91, Y:-2.25, Z:-0.18 [[ 9.94985464e-01 9.96358732e-02 8.75327917e-03 2.49106036e+01] [-9.96314788e-02 9.95023964e-01 -9.37749431e-04 -2.24893645e+00] [-8.80315602e-03 6.09449038e-05 9.99961250e-01 -1.79003622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.537552017999996 meters Centerline goodness [0,1] 0.998232211629522 Centerline is valid? [True, True] Translation: X:24.94, Y:-2.26, Z:-0.18 [[ 9.95086234e-01 9.86836802e-02 8.05715982e-03 2.49388006e+01] [-9.86799294e-02 9.95118851e-01 -8.62718171e-04 -2.25542132e+00] [-8.10296782e-03 6.33990137e-05 9.99967168e-01 -1.80030060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.567552017999997 meters Centerline goodness [0,1] 0.9983552631578947 Centerline is valid? [True, True] Translation: X:24.97, Y:-2.26, Z:-0.18 [[ 9.95158773e-01 9.80868754e-02 6.16291893e-03 2.49679478e+01] [-9.80846713e-02 9.95177855e-01 -6.59603056e-04 -2.26185812e+00] [-6.19789885e-03 5.19218896e-05 9.99980791e-01 -1.82799205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.597552018 meters Centerline goodness [0,1] 0.9987337497889583 Centerline is valid? [True, True] Translation: X:25.00, Y:-2.27, Z:-0.18 [[ 9.95282399e-01 9.67358680e-02 7.42412622e-03 2.49975527e+01] [-9.67326346e-02 9.95310086e-01 -7.94231361e-04 -2.26865189e+00] [-7.46613836e-03 7.23292061e-05 9.99972125e-01 -1.81252818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627552017999996 meters Centerline goodness [0,1] 0.9987155731491619 Centerline is valid? [True, True] Translation: X:25.03, Y:-2.28, Z:-0.18 [[ 9.95372984e-01 9.58349327e-02 6.94892909e-03 2.50270994e+01] [-9.58320797e-02 9.95397237e-01 -7.43138251e-04 -2.27579065e+00] [-6.98816342e-03 7.37694126e-05 9.99975580e-01 -1.82263953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.657552017999997 meters Centerline goodness [0,1] 0.9987571882965054 Centerline is valid? [True, True] Translation: X:25.06, Y:-2.29, Z:-0.18 [[ 9.95572498e-01 9.37756271e-02 6.44459392e-03 2.50559675e+01] [-9.37731317e-02 9.95593353e-01 -6.88951685e-04 -2.28695799e+00] [-6.48080175e-03 8.15715954e-05 9.99978996e-01 -1.82739309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.687552017999998 meters Centerline goodness [0,1] 0.999178099513182 Centerline is valid? [True, True] Translation: X:25.08, Y:-2.29, Z:-0.18 [[ 9.95693226e-01 9.24605425e-02 6.78582050e-03 2.50844289e+01] [-9.24577463e-02 9.95716345e-01 -7.25289183e-04 -2.29440943e+00] [-6.82381302e-03 9.47638559e-05 9.99976713e-01 -1.82687067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.717552017999996 meters Centerline goodness [0,1] 0.9993461295085425 Centerline is valid? [True, True] Translation: X:25.11, Y:-2.30, Z:-0.18 [[ 9.95830298e-01 9.09789272e-02 6.69717732e-03 2.51144490e+01] [-9.09761710e-02 9.95852812e-01 -7.15673691e-04 -2.29743860e+00] [-6.73451409e-03 1.03405996e-04 9.99977318e-01 -1.82302554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.747552017999997 meters Centerline goodness [0,1] 0.9993028119916337 Centerline is valid? [True, True] Translation: X:25.14, Y:-2.31, Z:-0.18 [[ 9.96154231e-01 8.74156465e-02 5.93739860e-03 2.51448001e+01] [-8.74134174e-02 9.96171919e-01 -6.34415380e-04 -2.30864663e+00] [-5.97012759e-03 1.12967263e-04 9.99982172e-01 -1.84007029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.777552017999998 meters Centerline goodness [0,1] 0.9994514999367116 Centerline is valid? [True, True] Translation: X:25.18, Y:-2.32, Z:-0.18 [[ 9.96353895e-01 8.49692391e-02 7.69048154e-03 2.51759505e+01] [-8.49654229e-02 9.96383561e-01 -8.22186343e-04 -2.31597051e+00] [-7.73252993e-03 1.65763550e-04 9.99970090e-01 -1.81388409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.807552018 meters Centerline goodness [0,1] 0.9992193104612398 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.33, Z:-0.18 [[ 9.96525715e-01 8.30599009e-02 6.12804172e-03 2.52066021e+01] [-8.30574423e-02 9.96544546e-01 -6.55045335e-04 -2.32506925e+00] [-6.16127456e-03 1.43790049e-04 9.99981009e-01 -1.84181461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.837552017999997 meters Centerline goodness [0,1] 0.99955699006392 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.34, Z:-0.18 [[ 9.96936192e-01 7.77800718e-02 8.27581490e-03 2.52374433e+01] [-7.77753795e-02 9.96970512e-01 -8.87810490e-04 -2.33660878e+00] [-8.31979738e-03 2.41435765e-04 9.99965361e-01 -1.81054629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.867552017999998 meters Centerline goodness [0,1] 0.9993678887484198 Centerline is valid? [True, True] Translation: X:25.27, Y:-2.34, Z:-0.18 [[ 9.97144324e-01 7.50235088e-02 8.64115291e-03 2.52684549e+01] [-7.50182669e-02 9.97181726e-01 -9.29614885e-04 -2.34408450e+00] [-8.68654275e-03 2.78715891e-04 9.99962232e-01 -1.80491981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.897552018 meters Centerline goodness [0,1] 0.9995777651107312 Centerline is valid? [True, True] Translation: X:25.30, Y:-2.35, Z:-0.18 [[ 9.97285011e-01 7.32546234e-02 7.50784193e-03 2.53004847e+01] [-7.32506020e-02 9.97313238e-01 -8.09592617e-04 -2.35046215e+00] [-7.54697654e-03 2.57440640e-04 9.99971488e-01 -1.83163401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.927552017999997 meters Centerline goodness [0,1] 0.9996004290130597 Centerline is valid? [True, True] Translation: X:25.33, Y:-2.36, Z:-0.18 [[ 9.97413407e-01 7.13186874e-02 8.95211654e-03 2.53320716e+01] [-7.13128624e-02 9.97453526e-01 -9.68624653e-04 -2.35695999e+00] [-8.99840125e-03 3.27718161e-04 9.99959460e-01 -1.80880379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.957552017999998 meters Centerline goodness [0,1] 0.9994737396063572 Centerline is valid? [True, True] Translation: X:25.36, Y:-2.37, Z:-0.18 [[ 9.97592703e-01 6.87573307e-02 9.01272891e-03 2.53618720e+01] [-6.87513002e-02 9.97633351e-01 -9.77604866e-04 -2.36570353e+00] [-9.05861645e-03 3.55614650e-04 9.99958907e-01 -1.80900313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.987552018 meters Centerline goodness [0,1] 0.9993710823672459 Centerline is valid? [True, True] Translation: X:25.39, Y:-2.37, Z:-0.18 [[ 9.97598797e-01 6.86608959e-02 9.07317262e-03 2.53930636e+01] [-6.86547729e-02 9.97639991e-01 -9.84962061e-04 -2.37068419e+00] [-9.11938823e-03 3.59680361e-04 9.99958353e-01 -1.81211392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.017552017999996 meters Centerline goodness [0,1] 0.9991793965408408 Centerline is valid? [True, True] Translation: X:25.43, Y:-2.37, Z:-0.18 [[ 9.97584181e-01 6.87755251e-02 9.78408510e-03 2.54264856e+01] [-6.87683804e-02 9.97632084e-01 -1.06520175e-03 -2.37275960e+00] [-9.83417702e-03 3.89792726e-04 9.99951567e-01 -1.81417661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.047552017999998 meters Centerline goodness [0,1] 0.999409594095941 Centerline is valid? [True, True] Translation: X:25.46, Y:-2.37, Z:-0.18 [[ 9.97535023e-01 6.94572787e-02 9.97822639e-03 2.54583034e+01] [-6.94498468e-02 9.97584849e-01 -1.08981152e-03 -2.37484194e+00] [-1.00298228e-02 3.94138863e-04 9.99949622e-01 -1.81395035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.077552018 meters Centerline goodness [0,1] 0.9992029365495543 Centerline is valid? [True, True] Translation: X:25.49, Y:-2.38, Z:-0.18 [[ 9.97484287e-01 7.02004726e-02 9.84841469e-03 2.54908381e+01] [-7.01932387e-02 9.97532829e-01 -1.07869519e-03 -2.37719040e+00] [-9.89984189e-03 3.84689378e-04 9.99950921e-01 -1.82183591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.107552017999996 meters Centerline goodness [0,1] 0.9992645359221669 Centerline is valid? [True, True] Translation: X:25.52, Y:-2.38, Z:-0.18 [[ 9.97414755e-01 7.12152625e-02 9.60169386e-03 2.55227110e+01] [-7.12084048e-02 9.97460902e-01 -1.05463399e-03 -2.38026715e+00] [-9.65242025e-03 3.68186205e-04 9.99953347e-01 -1.82768917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.137552017999997 meters Centerline goodness [0,1] 0.9991633724456715 Centerline is valid? [True, True] Translation: X:25.55, Y:-2.38, Z:-0.18 [[ 9.97323017e-01 7.25456117e-02 9.16151567e-03 2.55549633e+01] [-7.25393992e-02 9.97365037e-01 -1.00903281e-03 -2.38326385e+00] [-9.21057632e-03 3.41760802e-04 9.99957523e-01 -1.84078707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.167552018 meters Centerline goodness [0,1] 0.9994948431909072 Centerline is valid? [True, True] Translation: X:25.59, Y:-2.38, Z:-0.19 [[ 9.97054235e-01 7.62853647e-02 7.96218983e-03 2.55868599e+01] [-7.62807752e-02 9.97085990e-01 -8.78951425e-04 -2.38162182e+00] [-8.00603906e-03 2.69000228e-04 9.99967915e-01 -1.86035731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.197552017999996 meters Centerline goodness [0,1] 0.9993468871800274 Centerline is valid? [True, True] Translation: X:25.62, Y:-2.38, Z:-0.19 [[ 9.96855688e-01 7.88815271e-02 7.51277409e-03 2.56195332e+01] [-7.88775121e-02 9.96883970e-01 -8.29691735e-04 -2.38017912e+00] [-7.55481141e-03 2.34493996e-04 9.99971435e-01 -1.87585302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.227552017999997 meters Centerline goodness [0,1] 0.99926444318349 Centerline is valid? [True, True] Translation: X:25.65, Y:-2.38, Z:-0.19 [[ 9.96616097e-01 8.19155547e-02 6.79685053e-03 2.56508157e+01] [-8.19123254e-02 9.96639255e-01 -7.52605553e-04 -2.38147731e+00] [-6.83565815e-03 1.93312977e-04 9.99976618e-01 -1.88393066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.257552018 meters Centerline goodness [0,1] 0.9992826852887192 Centerline is valid? [True, True] Translation: X:25.68, Y:-2.38, Z:-0.19 [[ 9.96161217e-01 8.73189166e-02 6.18363958e-03 2.56831241e+01] [-8.73163358e-02 9.96180398e-01 -6.86618347e-04 -2.37744704e+00] [-6.21997531e-03 1.44049818e-04 9.99980645e-01 -1.91214669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.287552017999996 meters Centerline goodness [0,1] 0.999410141355411 Centerline is valid? [True, True] Translation: X:25.71, Y:-2.38, Z:-0.19 [[ 9.96007994e-01 8.89114369e-02 7.92664116e-03 2.57148948e+01] [-8.89072412e-02 9.96039521e-01 -8.80830686e-04 -2.37753289e+00] [-7.97356378e-03 1.72578607e-04 9.99968196e-01 -1.87592160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.317552017999997 meters Centerline goodness [0,1] 0.9993027972618947 Centerline is valid? [True, True] Translation: X:25.75, Y:-2.38, Z:-0.19 [[ 9.95855429e-01 9.05106468e-02 8.93237682e-03 2.57473094e+01] [-9.05053751e-02 9.95895471e-01 -9.93482905e-04 -2.37936173e+00] [-8.98563440e-03 1.80937231e-04 9.99959612e-01 -1.86769469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.347552018 meters Centerline goodness [0,1] 0.9991342905405406 Centerline is valid? [True, True] Translation: X:25.78, Y:-2.38, Z:-0.19 [[ 9.95758612e-01 9.14478383e-02 1.01033918e-02 2.57796672e+01] [-9.14411051e-02 9.95809848e-01 -1.12734565e-03 -2.38188004e+00] [-1.01641504e-02 1.98698835e-04 9.99948324e-01 -1.85955394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.377552017999996 meters Centerline goodness [0,1] 0.9990299042557679 Centerline is valid? [True, True] Translation: X:25.81, Y:-2.38, Z:-0.19 [[ 9.95705368e-01 9.19048630e-02 1.11496976e-02 2.58106694e+01] [-9.18966492e-02 9.95767768e-01 -1.24787678e-03 -2.38337873e+00] [-1.12171954e-02 2.17897759e-04 9.99937062e-01 -1.85235501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.407552017999997 meters Centerline goodness [0,1] 0.9989501091886444 Centerline is valid? [True, True] Translation: X:25.84, Y:-2.39, Z:-0.19 [[ 9.95683265e-01 9.21201490e-02 1.13452236e-02 2.58424767e+01] [-9.21116182e-02 9.95747874e-01 -1.27329610e-03 -2.38627873e+00] [-1.14142785e-02 2.22772718e-04 9.99934830e-01 -1.85568572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.437552017999998 meters Centerline goodness [0,1] 0.99902951539062 Centerline is valid? [True, True] Translation: X:25.87, Y:-2.39, Z:-0.19 [[ 9.95696835e-01 9.19417701e-02 1.15984001e-02 2.58745964e+01] [-9.19327977e-02 9.95764358e-01 -1.30551504e-03 -2.38954210e+00] [-1.16693048e-02 2.33623818e-04 9.99931884e-01 -1.86121492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.467552017999996 meters Centerline goodness [0,1] 0.9991398120174555 Centerline is valid? [True, True] Translation: X:25.91, Y:-2.39, Z:-0.19 [[ 9.95750622e-01 9.14184134e-02 1.11073074e-02 2.59057700e+01] [-9.14101142e-02 9.95812542e-01 -1.25364114e-03 -2.39392731e+00] [-1.11754019e-02 2.32993708e-04 9.99937526e-01 -1.87118367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.497552017999997 meters Centerline goodness [0,1] 0.9987816917680173 Centerline is valid? [True, True] Translation: X:25.94, Y:-2.40, Z:-0.19 [[ 9.95926247e-01 8.95837418e-02 1.02793128e-02 2.59371386e+01] [-8.95765063e-02 9.95979265e-01 -1.16307610e-03 -2.39866396e+00] [-1.03421751e-02 2.37553090e-04 9.99946490e-01 -1.88899870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.527552017999998 meters Centerline goodness [0,1] 0.9990737427109867 Centerline is valid? [True, True] Translation: X:25.97, Y:-2.40, Z:-0.19 [[ 9.96037473e-01 8.83892543e-02 9.83317306e-03 2.59688769e+01] [-8.83825470e-02 9.96085981e-01 -1.11543166e-03 -2.40320831e+00] [-9.89327800e-03 2.41930849e-04 9.99951031e-01 -1.89734832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.557552018 meters Centerline goodness [0,1] 0.998698354047699 Centerline is valid? [True, True] Translation: X:26.00, Y:-2.41, Z:-0.19 [[ 9.96127233e-01 8.73901088e-02 9.66975537e-03 2.60009885e+01] [-8.73835465e-02 9.96174134e-01 -1.09987891e-03 -2.40782523e+00] [-9.72887872e-03 2.50641816e-04 9.99952642e-01 -1.90221065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.587552017999997 meters Centerline goodness [0,1] 0.998632212448971 Centerline is valid? [True, True] Translation: X:26.03, Y:-2.41, Z:-0.19 [[ 9.96326225e-01 8.50291092e-02 1.02031384e-02 2.60330700e+01] [-8.50216453e-02 9.96378425e-01 -1.16385168e-03 -2.41222415e+00] [-1.02651483e-02 2.92088334e-04 9.99947269e-01 -1.89854129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.617552017999998 meters Centerline goodness [0,1] 0.998776758409786 Centerline is valid? [True, True] Translation: X:26.07, Y:-2.42, Z:-0.19 [[ 9.96407237e-01 8.40470358e-02 1.04265505e-02 2.60651751e+01] [-8.40391530e-02 9.96461740e-01 -1.19264918e-03 -2.41704796e+00] [-1.04898973e-02 3.12125805e-04 9.99944931e-01 -1.89273103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.647552018 meters Centerline goodness [0,1] 0.998927377121585 Centerline is valid? [True, True] Translation: X:26.10, Y:-2.42, Z:-0.19 [[ 9.96483124e-01 8.31181796e-02 1.06184283e-02 2.60971172e+01] [-8.31099150e-02 9.96539642e-01 -1.21799114e-03 -2.41874576e+00] [-1.06829220e-02 3.31210939e-04 9.99942881e-01 -1.89393591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.677552017999997 meters Centerline goodness [0,1] 0.998634883965137 Centerline is valid? [True, True] Translation: X:26.13, Y:-2.43, Z:-0.19 [[ 9.96586474e-01 8.18825496e-02 1.05188922e-02 2.61279539e+01] [-8.18743394e-02 9.96641926e-01 -1.20951163e-03 -2.42567784e+00] [-1.05826069e-02 3.44155575e-04 9.99943943e-01 -1.89504624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.707552017999998 meters Centerline goodness [0,1] 0.9985729874926551 Centerline is valid? [True, True] Translation: X:26.16, Y:-2.43, Z:-0.19 [[ 9.96835980e-01 7.88248240e-02 1.02310979e-02 2.61596010e+01] [-7.88168806e-02 9.96888415e-01 -1.17792418e-03 -2.42956330e+00] [-1.02921126e-02 3.67813978e-04 9.99946967e-01 -1.90677150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.737552018 meters Centerline goodness [0,1] 0.9985337550533084 Centerline is valid? [True, True] Translation: X:26.19, Y:-2.43, Z:-0.19 [[ 9.96968096e-01 7.72180350e-02 9.59118945e-03 2.61915998e+01] [-7.72109675e-02 9.97014165e-01 -1.10553818e-03 -2.43386816e+00] [-9.64791923e-03 3.61641280e-04 9.99953392e-01 -1.91583533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.767552017999996 meters Centerline goodness [0,1] 0.9983003902807503 Centerline is valid? [True, True] Translation: X:26.22, Y:-2.44, Z:-0.19 [[ 9.97111553e-01 7.53423879e-02 9.59561097e-03 2.62232459e+01] [-7.53352018e-02 9.97157650e-01 -1.10867499e-03 -2.43620411e+00] [-9.65186710e-03 3.82585350e-04 9.99953346e-01 -1.92679915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.797552017999998 meters Centerline goodness [0,1] 0.9982368868459165 Centerline is valid? [True, True] Translation: X:26.25, Y:-2.44, Z:-0.19 [[ 9.97253658e-01 7.34664589e-02 9.37129005e-03 2.62539646e+01] [-7.34595055e-02 9.97297611e-01 -1.08452376e-03 -2.44094794e+00] [-9.42564130e-03 3.93134951e-04 9.99955500e-01 -1.93185818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.827552018 meters Centerline goodness [0,1] 0.9979061099711043 Centerline is valid? [True, True] Translation: X:26.28, Y:-2.44, Z:-0.19 [[ 9.97602870e-01 6.85256372e-02 9.63073184e-03 2.62847526e+01] [-6.85180410e-02 9.97649252e-01 -1.11687624e-03 -2.44419018e+00] [-9.68462707e-03 4.54320060e-04 9.99953000e-01 -1.94064412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.857552017999996 meters Centerline goodness [0,1] 0.9975658377924667 Centerline is valid? [True, True] Translation: X:26.32, Y:-2.45, Z:-0.19 [[ 9.97775448e-01 6.60352972e-02 9.13754313e-03 2.63153430e+01] [-6.60283466e-02 9.97817184e-01 -1.06058109e-03 -2.44959838e+00] [-9.18763335e-03 4.54884908e-04 9.99957689e-01 -1.94810611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.887552017999997 meters Centerline goodness [0,1] 0.997555063317591 Centerline is valid? [True, True] Translation: X:26.34, Y:-2.45, Z:-0.20 [[ 9.98140507e-01 6.03298042e-02 8.70875122e-03 2.63449167e+01] [-6.03232556e-02 9.98178380e-01 -1.01291308e-03 -2.45450349e+00] [-8.75399603e-03 4.85689348e-04 9.99961565e-01 -1.95130565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.917552018 meters Centerline goodness [0,1] 0.9971233595800525 Centerline is valid? [True, True] Translation: X:26.38, Y:-2.46, Z:-0.20 [[ 9.98308266e-01 5.73948682e-02 9.29706221e-03 2.63761065e+01] [-5.73872745e-02 9.98351406e-01 -1.08172962e-03 -2.45522410e+00] [-9.34382086e-03 5.46366555e-04 9.99956196e-01 -1.95316507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.947552017999996 meters Centerline goodness [0,1] 0.9965181642755264 Centerline is valid? [True, True] Translation: X:26.41, Y:-2.46, Z:-0.20 [[ 9.98456492e-01 5.47121332e-02 9.55075243e-03 2.64054783e+01] [-5.47039924e-02 9.98501997e-01 -1.11174190e-03 -2.46093891e+00] [-9.59727114e-03 5.87561634e-04 9.99953773e-01 -1.95078418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.977552017999997 meters Centerline goodness [0,1] 0.9961506276150628 Centerline is valid? [True, True] Translation: X:26.44, Y:-2.46, Z:-0.19 [[ 9.98586839e-01 5.21780525e-02 1.00884329e-02 2.64361088e+01] [-5.21688387e-02 9.98637588e-01 -1.17449852e-03 -2.46378667e+00] [-1.01359714e-02 6.46536934e-04 9.99948421e-01 -1.94945069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.007552018 meters Centerline goodness [0,1] 0.9958638644523294 Centerline is valid? [True, True] Translation: X:26.47, Y:-2.46, Z:-0.20 [[ 9.98680735e-01 5.02399552e-02 1.06177679e-02 2.64680954e+01] [-5.02296248e-02 9.98736929e-01 -1.23753998e-03 -2.46452422e+00] [-1.06665308e-02 7.02580838e-04 9.99942864e-01 -1.95065260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.037552017999996 meters Centerline goodness [0,1] 0.9954576998296637 Centerline is valid? [True, True] Translation: X:26.50, Y:-2.46, Z:-0.20 [[ 9.98880050e-01 4.60373126e-02 1.09183689e-02 2.64990416e+01] [-4.60261148e-02 9.98939423e-01 -1.27479452e-03 -2.46425066e+00] [-1.09654772e-02 7.70836714e-04 9.99939580e-01 -1.96166135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.067552017999997 meters Centerline goodness [0,1] 0.9936941451599433 Centerline is valid? [True, True] Translation: X:26.53, Y:-2.47, Z:-0.20 [[ 9.98952139e-01 4.45746215e-02 1.03791307e-02 2.65297782e+01] [-4.45644186e-02 9.99005777e-01 -1.21235166e-03 -2.46664118e+00] [-1.04228517e-02 7.48541354e-04 9.99945400e-01 -1.97689104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.097552018 meters Centerline goodness [0,1] 0.992979441289268 Centerline is valid? [True, True] Translation: X:26.56, Y:-2.47, Z:-0.20 [[ 9.99030494e-01 4.27465720e-02 1.05262411e-02 2.65619940e+01] [-4.27359619e-02 9.99085643e-01 -1.23094855e-03 -2.46786041e+00] [-1.05692352e-02 7.79906102e-04 9.99943840e-01 -1.99015828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.127552017999996 meters Centerline goodness [0,1] 0.9912690270304223 Centerline is valid? [True, True] Translation: X:26.59, Y:-2.47, Z:-0.20 [[ 9.99160019e-01 3.97088074e-02 1.01225721e-02 2.65921311e+01] [-3.96988320e-02 9.99210988e-01 -1.18457955e-03 -2.46593297e+00] [-1.01616235e-02 7.81730235e-04 9.99948064e-01 -2.00461669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.157552017999997 meters Centerline goodness [0,1] 0.9897627965043695 Centerline is valid? [True, True] Translation: X:26.62, Y:-2.47, Z:-0.20 [[ 9.99200105e-01 3.86358338e-02 1.03161011e-02 2.66246903e+01] [-3.86254074e-02 9.99253030e-01 -1.20809909e-03 -2.46634133e+00] [-1.03550712e-02 8.08669127e-04 9.99946058e-01 -2.01094573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.187552017999998 meters Centerline goodness [0,1] 0.9888721867301349 Centerline is valid? [True, True] Translation: X:26.66, Y:-2.46, Z:-0.20 [[ 9.99226297e-01 3.79194084e-02 1.04367744e-02 2.66576564e+01] [-3.79086817e-02 9.99280458e-01 -1.22376809e-03 -2.46280733e+00] [-1.04756693e-02 8.27176894e-04 9.99944787e-01 -2.01962738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.217552017999996 meters Centerline goodness [0,1] 0.9841093942752002 Centerline is valid? [True, True] Translation: X:26.69, Y:-2.46, Z:-0.20 [[ 9.99231579e-01 3.75145317e-02 1.13538799e-02 2.66893718e+01] [-3.75017712e-02 9.99295670e-01 -1.33478794e-03 -2.46051356e+00] [-1.13959570e-02 9.07971652e-04 9.99934652e-01 -2.02012178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.247552017999997 meters Centerline goodness [0,1] 0.9855958005249343 Centerline is valid? [True, True] Translation: X:26.72, Y:-2.45, Z:-0.20 [[ 9.99207975e-01 3.78884857e-02 1.21608504e-02 2.67239278e+01] [-3.78738276e-02 9.99281501e-01 -1.43348184e-03 -2.45130640e+00] [-1.22064253e-02 9.71768533e-04 9.99925027e-01 -2.02460322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.277552017999998 meters Centerline goodness [0,1] 0.9853033538500189 Centerline is valid? [True, True] Translation: X:26.76, Y:-2.44, Z:-0.20 [[ 9.99191327e-01 3.82060779e-02 1.25294966e-02 2.67582953e+01] [-3.81904868e-02 9.99269379e-01 -1.48135477e-03 -2.43838506e+00] [-1.25769391e-02 1.00164927e-03 9.99920405e-01 -2.03638195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.307552018 meters Centerline goodness [0,1] 0.9851184854018429 Centerline is valid? [True, True] Translation: X:26.79, Y:-2.43, Z:-0.20 [[ 9.99177646e-01 3.85101227e-02 1.26886737e-02 2.67913027e+01] [-3.84941049e-02 9.99257695e-01 -1.50428250e-03 -2.43104064e+00] [-1.27371849e-02 1.01460631e-03 9.99918364e-01 -2.04126568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.337552017999997 meters Centerline goodness [0,1] 0.9851184854018429 Centerline is valid? [True, True] Translation: X:26.82, Y:-2.43, Z:-0.20 [[ 9.99166747e-01 3.87920076e-02 1.26882475e-02 2.68228713e+01] [-3.87759671e-02 9.99246792e-01 -1.50787042e-03 -2.43487718e+00] [-1.27371839e-02 1.01461492e-03 9.99918364e-01 -2.04362949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.367552017999998 meters Centerline goodness [0,1] 0.9816114660390047 Centerline is valid? [True, True] Translation: X:26.86, Y:-2.43, Z:-0.21 [[ 9.99142814e-01 3.92019199e-02 1.32983569e-02 2.68567974e+01] [-3.91842836e-02 9.99230745e-01 -1.58427206e-03 -2.42536438e+00] [-1.33502336e-02 1.06182745e-03 9.99910318e-01 -2.05772241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.397552018 meters Centerline goodness [0,1] 0.9804732609654188 Centerline is valid? [True, True] Translation: X:26.89, Y:-2.43, Z:-0.21 [[ 9.99148555e-01 3.91423939e-02 1.30398717e-02 2.68885545e+01] [-3.91253852e-02 9.99233096e-01 -1.55701929e-03 -2.42579257e+00] [-1.30908169e-02 1.04550357e-03 9.99913765e-01 -2.06421765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.427552017999997 meters Centerline goodness [0,1] 0.9778686805118523 Centerline is valid? [True, True] Translation: X:26.92, Y:-2.43, Z:-0.21 [[ 9.99181314e-01 3.84348262e-02 1.26279735e-02 2.69200295e+01] [-3.84187782e-02 9.99260584e-01 -1.51105484e-03 -2.42721838e+00] [-1.26767133e-02 1.02466645e-03 9.99919122e-01 -2.07540195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.457552017999998 meters Centerline goodness [0,1] 0.97864925576806 Centerline is valid? [True, True] Translation: X:26.95, Y:-2.42, Z:-0.21 [[ 9.99225500e-01 3.75222901e-02 1.18523181e-02 2.69523637e+01] [-3.75080661e-02 9.99295316e-01 -1.42019645e-03 -2.41955287e+00] [-1.18972550e-02 9.74538975e-04 9.99928750e-01 -2.09230728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.487552018 meters Centerline goodness [0,1] 0.9763913729615992 Centerline is valid? [True, True] Translation: X:26.98, Y:-2.41, Z:-0.21 [[ 9.99317882e-01 3.56124363e-02 9.77364377e-03 2.69830480e+01] [-3.56026689e-02 9.99365337e-01 -1.17159071e-03 -2.41423465e+00] [-9.80916400e-03 8.22823742e-04 9.99951550e-01 -2.11789205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.517552017999996 meters Centerline goodness [0,1] 0.9764547311669439 Centerline is valid? [True, True] Translation: X:27.01, Y:-2.41, Z:-0.21 [[ 9.99357349e-01 3.46275442e-02 9.26404966e-03 2.70139772e+01] [-3.46187207e-02 9.99399975e-01 -1.11116642e-03 -2.41214077e+00] [-9.29696796e-03 7.89742777e-04 9.99956470e-01 -2.12612999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.547552017999998 meters Centerline goodness [0,1] 0.9768765413882506 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.41, Z:-0.21 [[ 9.99386749e-01 3.38198326e-02 9.07441047e-03 2.70457673e+01] [-3.38113336e-02 9.99427641e-01 -1.08842035e-03 -2.40636440e+00] [-9.10602684e-03 7.80934955e-04 9.99958234e-01 -2.12779283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.577552018 meters Centerline goodness [0,1] 0.9757174859461516 Centerline is valid? [True, True] Translation: X:27.08, Y:-2.40, Z:-0.21 [[ 9.99433157e-01 3.25709080e-02 8.51471502e-03 2.70757856e+01] [-3.25633796e-02 9.99469151e-01 -1.02134383e-03 -2.40073922e+00] [-8.54346109e-03 7.43496991e-04 9.99963228e-01 -2.12376912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.607552017999996 meters Centerline goodness [0,1] 0.9766859181246815 Centerline is valid? [True, True] Translation: X:27.11, Y:-2.40, Z:-0.21 [[ 9.99441292e-01 3.22520120e-02 8.76990527e-03 2.71066738e+01] [-3.22440106e-02 9.99479473e-01 -1.05227213e-03 -2.39576155e+00] [-8.79927819e-03 7.68907298e-04 9.99960990e-01 -2.12261124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.637552017999997 meters Centerline goodness [0,1] 0.9781963808958766 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.39, Z:-0.21 [[ 9.99430550e-01 3.24799042e-02 9.14497971e-03 2.71376884e+01] [-3.24712167e-02 9.99472069e-01 -1.09689420e-03 -2.38758854e+00] [-9.17577881e-03 7.99320952e-04 9.99957582e-01 -2.11685162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.667552018 meters Centerline goodness [0,1] 0.9787314930196211 Centerline is valid? [True, True] Translation: X:27.17, Y:-2.38, Z:-0.21 [[ 9.99393869e-01 3.34674524e-02 9.58253400e-03 2.71677932e+01] [-3.34579623e-02 9.99439465e-01 -1.14900310e-03 -2.37917907e+00] [-9.61561686e-03 8.27694593e-04 9.99953426e-01 -2.10876850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.697552017999996 meters Centerline goodness [0,1] 0.9796758316361167 Centerline is valid? [True, True] Translation: X:27.20, Y:-2.37, Z:-0.21 [[ 9.99376696e-01 3.39289953e-02 9.74900727e-03 2.71978957e+01] [-3.39191971e-02 9.99423895e-01 -1.16868569e-03 -2.37488261e+00] [-9.78304315e-03 8.37278744e-04 9.99951794e-01 -2.10389815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.727552017999997 meters Centerline goodness [0,1] 0.9796665397147815 Centerline is valid? [True, True] Translation: X:27.23, Y:-2.37, Z:-0.21 [[ 9.99353179e-01 3.45117476e-02 1.01075592e-02 2.72265264e+01] [-3.45012498e-02 9.99403921e-01 -1.21118859e-03 -2.37386427e+00] [-1.01433346e-02 8.61681741e-04 9.99948184e-01 -2.10569295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.757552018 meters Centerline goodness [0,1] 0.9791591655194324 Centerline is valid? [True, True] Translation: X:27.26, Y:-2.37, Z:-0.21 [[ 9.99324614e-01 3.52605645e-02 1.03444830e-02 2.72565586e+01] [-3.52496146e-02 9.99377771e-01 -1.23899944e-03 -2.37061092e+00] [-1.03817341e-02 8.73523597e-04 9.99945727e-01 -2.10342836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.787552017999996 meters Centerline goodness [0,1] 0.9811966175158289 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.36, Z:-0.21 [[ 9.99276475e-01 3.66241167e-02 1.02567176e-02 2.72871427e+01] [-3.66134274e-02 9.99328749e-01 -1.22807700e-03 -2.36213158e+00] [-1.02948100e-02 8.51654875e-04 9.99946644e-01 -2.10238009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.817552017999997 meters Centerline goodness [0,1] 0.9803269603768356 Centerline is valid? [True, True] Translation: X:27.31, Y:-2.36, Z:-0.21 [[ 9.99281648e-01 3.66359487e-02 9.69509546e-03 2.73147068e+01] [-3.66264035e-02 9.99328355e-01 -1.16032398e-03 -2.36207408e+00] [-9.73109336e-03 8.04393981e-04 9.99952328e-01 -2.10589558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.847552018 meters Centerline goodness [0,1] 0.9821078640197666 Centerline is valid? [True, True] Translation: X:27.34, Y:-2.36, Z:-0.21 [[ 9.99295950e-01 3.64015549e-02 9.08462419e-03 2.73447810e+01] [-3.63931718e-02 9.99336959e-01 -1.08644128e-03 -2.35713986e+00] [-9.11814886e-03 7.55058081e-04 9.99958144e-01 -2.10974811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.877552017999996 meters Centerline goodness [0,1] 0.6660400751909771 Centerline is valid? [True, False] Translation: X:27.39, Y:-2.35, Z:-0.21 [[ 9.99349098e-01 3.51567253e-02 8.08607023e-03 2.73926819e+01] [-3.51177670e-02 9.99371117e-01 -4.91054850e-03 -2.35424647e+00] [-8.25362384e-03 4.62338749e-03 9.99955250e-01 -2.10419196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.907552017999997 meters Centerline goodness [0,1] 0.9855403021044025 Centerline is valid? [False, True] Translation: X:27.35, Y:-2.34, Z:-0.21 [[ 9.99467978e-01 3.21946646e-02 5.22160944e-03 2.73538689e+01] [-3.22143151e-02 9.99474047e-01 3.72389251e-03 -2.33960845e+00] [-5.09897364e-03 -3.89012189e-03 9.99979433e-01 -2.10398172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.937552017999998 meters Centerline goodness [0,1] 0.9858211045747409 Centerline is valid? [True, True] Translation: X:27.38, Y:-2.33, Z:-0.21 [[ 9.99479704e-01 3.20531996e-02 3.59344331e-03 2.73829917e+01] [-3.20519088e-02 9.99486119e-01 -4.16235363e-04 -2.33463331e+00] [-3.60493838e-03 3.00842080e-04 9.99993457e-01 -2.10151194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.967552017999996 meters Centerline goodness [0,1] 0.9840177724096282 Centerline is valid? [True, True] Translation: X:27.41, Y:-2.34, Z:-0.21 [[ 9.99482071e-01 3.20085517e-02 3.32286301e-03 2.74106949e+01] [-3.20074484e-02 9.99487556e-01 -3.84715202e-04 -2.33936217e+00] [-3.33347440e-03 2.78159581e-04 9.99994405e-01 -2.10635637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.997552017999997 meters Centerline goodness [0,1] 0.9815161894913721 Centerline is valid? [True, True] Translation: X:27.44, Y:-2.34, Z:-0.21 [[ 9.99473771e-01 3.23534876e-02 2.33093748e-03 2.74386499e+01] [-3.23529457e-02 9.99476470e-01 -2.69821412e-04 -2.33994366e+00] [-2.33844683e-03 1.94266731e-04 9.99997247e-01 -2.11272351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.027552017999998 meters Centerline goodness [0,1] 0.9845379827814282 Centerline is valid? [True, True] Translation: X:27.47, Y:-2.33, Z:-0.21 [[ 9.99481192e-01 3.21789046e-02 1.36569178e-03 2.74684308e+01] [-3.21787184e-02 9.99482118e-01 -1.58096885e-04 -2.32966260e+00] [-1.37007190e-03 1.14068652e-04 9.99999055e-01 -2.11651456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.057552018 meters Centerline goodness [0,1] 0.9858103549587586 Centerline is valid? [True, True] Translation: X:27.50, Y:-2.32, Z:-0.21 [[ 9.99477572e-01 3.22897530e-02 1.39829841e-03 2.74979893e+01] [-3.22895581e-02 9.99478543e-01 -1.61762874e-04 -2.32296213e+00] [-1.40279254e-03 1.16527927e-04 9.99999009e-01 -2.11243781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.087552017999997 meters Centerline goodness [0,1] 0.9816080445760056 Centerline is valid? [True, True] Translation: X:27.53, Y:-2.33, Z:-0.21 [[ 9.99464114e-01 3.27215572e-02 8.85855374e-04 2.75251412e+01] [-3.27214789e-02 9.99464504e-01 -1.02693892e-04 -2.32798838e+00] [-8.88741306e-04 7.36523615e-05 9.99999602e-01 -2.11823596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.117552017999998 meters Centerline goodness [0,1] 0.9845985321502903 Centerline is valid? [True, True] Translation: X:27.56, Y:-2.32, Z:-0.21 [[ 9.99451190e-01 3.31216917e-02 5.22727458e-04 2.75554598e+01] [-3.31216646e-02 9.99451325e-01 -6.05660830e-05 -2.32099521e+00] [-5.24446702e-04 4.32192402e-05 9.99999862e-01 -2.11458659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.147552018 meters Centerline goodness [0,1] 0.9847084081847259 Centerline is valid? [True, True] Translation: X:27.58, Y:-2.32, Z:-0.21 [[ 9.99426364e-01 3.38664779e-02 -7.21288549e-05 2.75847669e+01] [-3.38664775e-02 9.99426366e-01 7.82070384e-06 -2.31914675e+00] [ 7.23523391e-05 -5.37346736e-06 9.99999997e-01 -2.11354503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.177552017999997 meters Centerline goodness [0,1] 0.9850772510494274 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.31, Z:-0.21 [[ 9.99408352e-01 3.43938597e-02 8.95895818e-05 2.76142230e+01] [-3.43938589e-02 9.99408356e-01 -1.07856719e-05 -2.31182667e+00] [-8.99075375e-05 7.69795917e-06 9.99999996e-01 -2.11110957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.207552017999998 meters Centerline goodness [0,1] 0.983376577685914 Centerline is valid? [True, True] Translation: X:27.64, Y:-2.31, Z:-0.21 [[ 9.99426261e-01 3.38689774e-02 2.03567303e-04 2.76430491e+01] [-3.38689732e-02 9.99426281e-01 -2.40035325e-05 -2.30894548e+00] [-2.04263488e-04 1.70951452e-05 9.99999979e-01 -2.10794184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.237552018 meters Centerline goodness [0,1] 0.9841882415207516 Centerline is valid? [True, True] Translation: X:27.67, Y:-2.31, Z:-0.21 [[ 9.99451367e-01 3.31194341e-02 2.59942151e-04 2.76726420e+01] [-3.31194273e-02 9.99451401e-01 -3.03463987e-05 -2.30639281e+00] [-2.60804603e-04 2.17206145e-05 9.99999966e-01 -2.10432671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.267552017999996 meters Centerline goodness [0,1] 0.9844959525810589 Centerline is valid? [True, True] Translation: X:27.70, Y:-2.31, Z:-0.21 [[ 9.99486577e-01 3.20384030e-02 3.51276599e-04 2.77011209e+01] [-3.20383906e-02 9.99486638e-01 -4.09228665e-05 -2.30552097e+00] [-3.52407370e-04 2.96475189e-05 9.99999937e-01 -2.09982198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.297552017999998 meters Centerline goodness [0,1] 0.9828352761618262 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.30, Z:-0.21 [[ 9.99512471e-01 3.12190525e-02 -4.36767908e-04 2.77296025e+01] [-3.12190338e-02 9.99512566e-01 4.94570234e-05 -2.30277565e+00] [ 4.38099014e-04 -3.57974396e-05 9.99999903e-01 -2.09826675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.327552018 meters Centerline goodness [0,1] 0.9812328281485421 Centerline is valid? [True, True] Translation: X:27.76, Y:-2.30, Z:-0.21 [[ 9.99516634e-01 3.10808671e-02 -6.91642728e-04 2.77564221e+01] [-3.10808203e-02 9.99516872e-01 7.83526765e-05 -2.30338248e+00] [ 6.93743845e-04 -5.68179801e-05 9.99999758e-01 -2.10441591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.357552017999996 meters Centerline goodness [0,1] 0.9826792903596868 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.30, Z:-0.21 [[ 9.99493796e-01 3.18060309e-02 -7.26319749e-04 2.77855958e+01] [-3.18059792e-02 9.99494058e-01 8.26181031e-05 -2.29829083e+00] [ 7.28580028e-04 -5.94749707e-05 9.99999733e-01 -2.10020285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.387552017999997 meters Centerline goodness [0,1] 0.9829532826599102 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.30, Z:-0.21 [[ 9.99451298e-01 3.30964772e-02 -1.31397706e-03 2.78149568e+01] [-3.30963088e-02 9.99452156e-01 1.49758529e-04 -2.29664658e+00] [ 1.31821368e-03 -1.06188565e-04 9.99999126e-01 -2.10427491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.417552018 meters Centerline goodness [0,1] 0.9840516761331997 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.29, Z:-0.21 [[ 9.99293441e-01 3.75173281e-02 -2.25152777e-03 2.78463846e+01] [-3.75168428e-02 9.99295962e-01 2.57430075e-04 -2.28790019e+00] [ 2.25960070e-03 -1.72777972e-04 9.99997432e-01 -2.11306493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.447552017999996 meters Centerline goodness [0,1] 0.985183527305282 Centerline is valid? [True, True] Translation: X:27.88, Y:-2.28, Z:-0.21 [[ 9.99178599e-01 4.04108425e-02 -3.01498177e-03 2.78778282e+01] [-4.04099858e-02 9.99183124e-01 3.44552957e-04 -2.28003456e+00] [ 3.02644258e-03 -2.22434570e-04 9.99995396e-01 -2.11421544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.477552017999997 meters Centerline goodness [0,1] 0.9850646006404085 Centerline is valid? [True, True] Translation: X:27.91, Y:-2.28, Z:-0.21 [[ 9.99038658e-01 4.37271599e-02 -3.11381062e-03 2.79076853e+01] [-4.37262629e-02 9.99043486e-01 3.55605803e-04 -2.27699551e+00] [ 3.12638185e-03 -2.19108642e-04 9.99995089e-01 -2.11847273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.507552018 meters Centerline goodness [0,1] 0.9849109294417044 Centerline is valid? [True, True] Translation: X:27.94, Y:-2.27, Z:-0.21 [[ 9.98700518e-01 5.08501807e-02 -3.39632012e-03 2.79379309e+01] [-5.08491551e-02 9.98706270e-01 3.87708858e-04 -2.26740058e+00] [ 3.41164127e-03 -2.14505028e-04 9.99994157e-01 -2.11813469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.537552017999996 meters Centerline goodness [0,1] 0.9850472371372255 Centerline is valid? [True, True] Translation: X:27.97, Y:-2.26, Z:-0.21 [[ 9.98530197e-01 5.41146191e-02 -3.00905776e-03 2.79688715e+01] [-5.41138292e-02 9.98534714e-01 3.43360014e-04 -2.26405232e+00] [ 3.02322942e-03 -1.80023705e-04 9.99995414e-01 -2.11363070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.567552017999997 meters Centerline goodness [0,1] 0.9853280282135913 Centerline is valid? [True, True] Translation: X:28.00, Y:-2.26, Z:-0.21 [[ 9.98352302e-01 5.73476718e-02 -1.98144591e-03 2.79992460e+01] [-5.73473356e-02 9.98354262e-01 2.26113399e-04 -2.26124349e+00] [ 1.99115205e-03 -1.12110189e-04 9.99998011e-01 -2.10642155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.597552018 meters Centerline goodness [0,1] 0.985661287752919 Centerline is valid? [True, True] Translation: X:28.03, Y:-2.26, Z:-0.21 [[ 9.98223150e-01 5.95670758e-02 -1.51840874e-03 2.80291795e+01] [-5.95668813e-02 9.98224302e-01 1.73068665e-04 -2.25900868e+00] [ 1.52602170e-03 -8.23142745e-05 9.99998832e-01 -2.10351401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.627552017999996 meters Centerline goodness [0,1] 0.9862916998747581 Centerline is valid? [True, True] Translation: X:28.06, Y:-2.26, Z:-0.21 [[ 9.98114752e-01 6.13657750e-02 -1.08800722e-03 2.80573568e+01] [-6.13656771e-02 9.98115343e-01 1.23201589e-04 -2.25759510e+00] [ 1.09351706e-03 -5.62030233e-05 9.99999401e-01 -2.09762430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.657552017999997 meters Centerline goodness [0,1] 0.9854293426048767 Centerline is valid? [True, True] Translation: X:28.09, Y:-2.25, Z:-0.21 [[ 9.97992686e-01 6.33187465e-02 -1.15568885e-03 2.80873289e+01] [-6.33186369e-02 9.97993353e-01 1.31184847e-04 -2.25073740e+00] [ 1.16167625e-03 -5.77448748e-05 9.99999324e-01 -2.09335465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.687552017999998 meters Centerline goodness [0,1] 0.9859582193827132 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.25, Z:-0.21 [[ 9.98009407e-01 6.30469710e-02 -1.51754550e-03 2.81151603e+01] [-6.30467844e-02 9.98010558e-01 1.70491717e-04 -2.25023516e+00] [ 1.52527542e-03 -7.44759734e-05 9.99998834e-01 -2.09687363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.717552017999996 meters Centerline goodness [0,1] 0.9848901098901099 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.25, Z:-0.21 [[ 9.98019792e-01 6.28712530e-02 -1.92369044e-03 2.81425483e+01] [-6.28709498e-02 9.98021641e-01 2.17779329e-04 -2.25311698e+00] [ 1.93357675e-03 -9.64038354e-05 9.99998126e-01 -2.10999906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.747552017999997 meters Centerline goodness [0,1] 0.9852395119813648 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.25, Z:-0.21 [[ 9.98002139e-01 6.30592843e-02 -3.90607861e-03 2.81708512e+01] [-6.30580430e-02 9.98009764e-01 4.40271093e-04 -2.25219839e+00] [ 3.92606778e-03 -1.93081820e-04 9.99992274e-01 -2.13368683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.777552017999998 meters Centerline goodness [0,1] 0.9849939008953026 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.26, Z:-0.22 [[ 9.97885283e-01 6.47355060e-02 -5.85458002e-03 2.81981509e+01] [-6.47327358e-02 9.97902418e-01 6.61622650e-04 -2.25639535e+00] [ 5.88513003e-03 -2.81240523e-04 9.99982643e-01 -2.16654429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.807552017999996 meters Centerline goodness [0,1] 0.9858421819696024 Centerline is valid? [True, True] Translation: X:28.23, Y:-2.25, Z:-0.22 [[ 9.97816726e-01 6.57321575e-02 -6.40819295e-03 2.82273103e+01] [-6.57288769e-02 9.97837258e-01 7.21427394e-04 -2.25164060e+00] [ 6.44175466e-03 -2.98648995e-04 9.99979207e-01 -2.16002417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.837552017999997 meters Centerline goodness [0,1] 0.9857868020304569 Centerline is valid? [True, True] Translation: X:28.25, Y:-2.25, Z:-0.22 [[ 9.97746691e-01 6.67625129e-02 -6.65636632e-03 2.82548429e+01] [-6.67589928e-02 9.97768848e-01 7.49877155e-04 -2.25408831e+00] [ 6.69157864e-03 -3.03815139e-04 9.99977565e-01 -2.16287263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.867552017999998 meters Centerline goodness [0,1] 0.9858858372475069 Centerline is valid? [True, True] Translation: X:28.28, Y:-2.25, Z:-0.22 [[ 9.97675678e-01 6.77832864e-02 -6.97627619e-03 2.82838388e+01] [-6.77794657e-02 9.97700021e-01 7.82927632e-04 -2.25106730e+00] [ 7.01330030e-03 -3.08259583e-04 9.99975359e-01 -2.15203398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.897552018 meters Centerline goodness [0,1] 0.9853289382051162 Centerline is valid? [True, True] Translation: X:28.31, Y:-2.25, Z:-0.21 [[ 9.97489356e-01 7.04504986e-02 -7.19109351e-03 2.83130956e+01] [-7.04465030e-02 9.97515232e-01 8.07740138e-04 -2.24926705e+00] [ 7.23013101e-03 -2.99124799e-04 9.99973818e-01 -2.14444565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.927552017999997 meters Centerline goodness [0,1] 0.9864603481624759 Centerline is valid? [True, True] Translation: X:28.34, Y:-2.25, Z:-0.21 [[ 9.97384900e-01 7.19402673e-02 -6.92519192e-03 2.83411805e+01] [-7.19366073e-02 9.97408904e-01 7.76476731e-04 -2.25095489e+00] [ 6.96310803e-03 -2.76271355e-04 9.99975719e-01 -2.14390277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.957552017999998 meters Centerline goodness [0,1] 0.9866663558591109 Centerline is valid? [True, True] Translation: X:28.37, Y:-2.25, Z:-0.21 [[ 9.97329667e-01 7.27553164e-02 -6.34027929e-03 2.83702442e+01] [-7.27522813e-02 9.97349790e-01 7.08344340e-04 -2.25256475e+00] [ 6.37501204e-03 -2.45183042e-04 9.99979649e-01 -2.14130306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.987552018 meters Centerline goodness [0,1] 0.986749859786876 Centerline is valid? [True, True] Translation: X:28.40, Y:-2.25, Z:-0.21 [[ 9.97166106e-01 7.50405232e-02 -5.35508087e-03 2.83992882e+01] [-7.50383881e-02 9.97180466e-01 5.98799213e-04 -2.25279636e+00] [ 5.38491625e-03 -1.95265643e-04 9.99985482e-01 -2.12894051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.017552017999996 meters Centerline goodness [0,1] 0.9865944229062544 Centerline is valid? [True, True] Translation: X:28.43, Y:-2.25, Z:-0.21 [[ 9.97130554e-01 7.55620255e-02 -4.58680329e-03 2.84279666e+01] [-7.55604761e-02 9.97141090e-01 5.10395428e-04 -2.25392645e+00] [ 4.61225655e-03 -1.62349836e-04 9.99989350e-01 -2.11843018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.047552017999998 meters Centerline goodness [0,1] 0.9868715604887603 Centerline is valid? [True, True] Translation: X:28.46, Y:-2.25, Z:-0.21 [[ 9.97129878e-01 7.55974937e-02 -4.12610181e-03 2.84564643e+01] [-7.55962459e-02 9.97138405e-01 4.57754653e-04 -2.25424628e+00] [ 4.14889968e-03 -1.44523034e-04 9.99991383e-01 -2.10502387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.077552018 meters Centerline goodness [0,1] 0.9854775169584372 Centerline is valid? [True, True] Translation: X:28.48, Y:-2.26, Z:-0.21 [[ 9.97154432e-01 7.53177509e-02 -3.20544358e-03 2.84828518e+01] [-7.53169963e-02 9.97159578e-01 3.55658499e-04 -2.25822232e+00] [ 3.22312616e-03 -1.13222066e-04 9.99994799e-01 -2.10024884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.107552017999996 meters Centerline goodness [0,1] 0.9858322670699081 Centerline is valid? [True, True] Translation: X:28.51, Y:-2.26, Z:-0.21 [[ 9.97248546e-01 7.40881186e-02 -2.50749163e-03 2.85096326e+01] [-7.40876538e-02 9.97251695e-01 2.77880321e-04 -2.26423786e+00] [ 2.52118791e-03 -9.13415747e-05 9.99996818e-01 -2.08442793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.137552017999997 meters Centerline goodness [0,1] 0.9861722187303583 Centerline is valid? [True, True] Translation: X:28.54, Y:-2.27, Z:-0.21 [[ 9.97344828e-01 7.27979336e-02 -1.93756953e-03 2.85383894e+01] [-7.27976568e-02 9.97346708e-01 2.13053542e-04 -2.26557562e+00] [ 1.94793845e-03 -7.14373272e-05 9.99998100e-01 -2.07371696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.167552018 meters Centerline goodness [0,1] 0.9857539229172981 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.27, Z:-0.21 [[ 9.97427389e-01 7.16404113e-02 -2.50106040e-03 2.85664789e+01] [-7.16399432e-02 9.97430520e-01 2.76338907e-04 -2.26927995e+00] [ 2.51443101e-03 -9.64521692e-05 9.99996834e-01 -2.07435714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.197552017999996 meters Centerline goodness [0,1] 0.9861256119347579 Centerline is valid? [True, True] Translation: X:28.59, Y:-2.28, Z:-0.21 [[ 9.97519171e-01 7.03544226e-02 -2.39961612e-03 2.85933400e+01] [-7.03539896e-02 9.97522053e-01 2.64453503e-04 -2.27538827e+00] [ 2.41227547e-03 -9.49748722e-05 9.99997086e-01 -2.08464964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.227552017999997 meters Centerline goodness [0,1] 0.9863576251131064 Centerline is valid? [True, True] Translation: X:28.62, Y:-2.28, Z:-0.21 [[ 9.97705995e-01 6.75690664e-02 -4.14343413e-03 2.86221528e+01] [-6.75677476e-02 9.97714583e-01 4.57598522e-04 -2.28184586e+00] [ 4.16488416e-03 -1.76586277e-04 9.99991311e-01 -2.10268680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.257552018 meters Centerline goodness [0,1] 0.9863576251131064 Centerline is valid? [True, True] Translation: X:28.65, Y:-2.28, Z:-0.21 [[ 9.97726943e-01 6.72590305e-02 -4.14374875e-03 2.86493797e+01] [-6.72577209e-02 9.97735532e-01 4.54747467e-04 -2.28473103e+00] [ 4.16495123e-03 -1.75014703e-04 9.99991311e-01 -2.10439290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.287552017999996 meters Centerline goodness [0,1] 0.9871565599089579 Centerline is valid? [True, True] Translation: X:28.68, Y:-2.29, Z:-0.21 [[ 9.97847799e-01 6.53748238e-02 -5.08940772e-03 2.86774839e+01] [-6.53728274e-02 9.97860753e-01 5.57812744e-04 -2.28975328e+00] [ 5.11498713e-03 -2.23903247e-04 9.99986893e-01 -2.11607777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.317552017999997 meters Centerline goodness [0,1] 0.986282356751255 Centerline is valid? [True, True] Translation: X:28.71, Y:-2.29, Z:-0.21 [[ 9.97945564e-01 6.38240670e-02 -5.58024421e-03 2.87054704e+01] [-6.38216387e-02 9.97961133e-01 6.12324454e-04 -2.29487161e+00] [ 5.60794788e-03 -2.54926143e-04 9.99984243e-01 -2.12248726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.347552018 meters Centerline goodness [0,1] 0.9860060601855064 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.30, Z:-0.21 [[ 9.98023503e-01 6.25314692e-02 -6.23722574e-03 2.87329939e+01] [-6.25284137e-02 9.98042950e-01 6.83884740e-04 -2.30019040e+00] [ 6.26778350e-03 -2.92529213e-04 9.99980314e-01 -2.12570085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.377552017999996 meters Centerline goodness [0,1] 0.986397868149693 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.30, Z:-0.21 [[ 9.98164400e-01 6.02410068e-02 -6.23316048e-03 2.87614066e+01] [-6.02379285e-02 9.98183815e-01 6.80594779e-04 -2.30216401e+00] [ 6.26283962e-03 -3.03872804e-04 9.99980342e-01 -2.10864190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.407552017999997 meters Centerline goodness [0,1] 0.9853542867770132 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.31, Z:-0.21 [[ 9.98229649e-01 5.91704146e-02 -6.03566252e-03 2.87885572e+01] [-5.91675060e-02 9.98247851e-01 6.59489346e-04 -2.30636950e+00] [ 6.06410939e-03 -3.01206720e-04 9.99981568e-01 -2.10549233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.437552017999998 meters Centerline goodness [0,1] 0.9861432404922735 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.31, Z:-0.21 [[ 9.98277857e-01 5.84019915e-02 -5.52512533e-03 2.88157582e+01] [-5.83995456e-02 9.98293108e-01 6.03125381e-04 -2.31055391e+00] [ 5.55091826e-03 -2.79421904e-04 9.99984554e-01 -2.10489426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.467552017999996 meters Centerline goodness [0,1] 0.9864511198091577 Centerline is valid? [True, True] Translation: X:28.84, Y:-2.31, Z:-0.21 [[ 9.98309888e-01 5.78922465e-02 -5.08486526e-03 2.88431340e+01] [-5.78901710e-02 9.98322804e-01 5.54539993e-04 -2.31442146e+00] [ 5.10844051e-03 -2.59239039e-04 9.99986918e-01 -2.10429422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.497552017999997 meters Centerline goodness [0,1] 0.9864092556453861 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.32, Z:-0.21 [[ 9.98348747e-01 5.72581797e-02 -4.61309492e-03 2.88719734e+01] [-5.72564756e-02 9.98359377e-01 5.00734834e-04 -2.31747884e+00] [ 4.63419774e-03 -2.35778437e-04 9.99989234e-01 -2.10246864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.527552017999998 meters Centerline goodness [0,1] 0.9858884048567986 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.32, Z:-0.21 [[ 9.98380066e-01 5.67844865e-02 -3.57306879e-03 2.88997833e+01] [-5.67834675e-02 9.98386443e-01 3.86085156e-04 -2.31699299e+00] [ 3.58922709e-03 -1.82568488e-04 9.99993542e-01 -2.08904648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.557552017999996 meters Centerline goodness [0,1] 0.9859220261149895 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.32, Z:-0.21 [[ 9.98390147e-01 5.66286813e-02 -3.21036832e-03 2.89262145e+01] [-5.66278564e-02 9.98395295e-01 3.47359109e-04 -2.32056800e+00] [ 3.22488711e-03 -1.65003636e-04 9.99994786e-01 -2.08987507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.587552017999997 meters Centerline goodness [0,1] 0.9864673192736066 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.32, Z:-0.21 [[ 9.98413492e-01 5.62023557e-02 -3.43431921e-03 2.89544365e+01] [-5.62014165e-02 9.98419383e-01 3.69449589e-04 -2.31900461e+00] [ 3.44965480e-03 -1.75849850e-04 9.99994034e-01 -2.08030870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.617552017999998 meters Centerline goodness [0,1] 0.9858793923012397 Centerline is valid? [True, True] Translation: X:28.98, Y:-2.32, Z:-0.21 [[ 9.98402744e-01 5.63676716e-02 -3.82693796e-03 2.89835208e+01] [-5.63665089e-02 9.98410060e-01 4.11077638e-04 -2.31857430e+00] [ 3.84402485e-03 -1.94709909e-04 9.99992593e-01 -2.08495844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.647552018 meters Centerline goodness [0,1] 0.9865583870064407 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.32, Z:-0.21 [[ 9.98365335e-01 5.70074043e-02 -4.10042701e-03 2.90109452e+01] [-5.70060715e-02 9.98373734e-01 4.41287409e-04 -2.32222406e+00] [ 4.11891527e-03 -2.06816817e-04 9.99991496e-01 -2.09762643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.677552017999997 meters Centerline goodness [0,1] 0.9862591858159337 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.32, Z:-0.21 [[ 9.98325250e-01 5.76981060e-02 -4.19815541e-03 2.90400463e+01] [-5.76967243e-02 9.98334055e-01 4.49579827e-04 -2.32267987e+00] [ 4.21710142e-03 -2.06607078e-04 9.99991087e-01 -2.10099501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.707552017999998 meters Centerline goodness [0,1] 0.9848796929126487 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.32, Z:-0.21 [[ 9.98251521e-01 5.89687996e-02 -4.07210811e-03 2.90675050e+01] [-5.89675094e-02 9.98259807e-01 4.36270429e-04 -2.32411270e+00] [ 4.09074820e-03 -1.95385546e-04 9.99991614e-01 -2.11011307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.737552018 meters Centerline goodness [0,1] 0.9862090029132601 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.32, Z:-0.21 [[ 9.98058290e-01 6.21628091e-02 -3.92881702e-03 2.90962457e+01] [-6.21616318e-02 9.98066007e-01 4.21184201e-04 -2.32239705e+00] [ 3.94740071e-03 -1.76144707e-04 9.99992193e-01 -2.11147168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.767552017999996 meters Centerline goodness [0,1] 0.9860752359930494 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.32, Z:-0.21 [[ 9.98011915e-01 6.29284552e-02 -3.49676708e-03 2.91253313e+01] [-6.29275353e-02 9.98018029e-01 3.72583023e-04 -2.32384378e+00] [ 3.51328266e-03 -1.51799362e-04 9.99993817e-01 -2.11085042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.797552017999998 meters Centerline goodness [0,1] 0.986190889269219 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.33, Z:-0.21 [[ 9.97979180e-01 6.34792021e-02 -2.81894914e-03 2.91531329e+01] [-6.34786051e-02 9.97983154e-01 3.00845649e-04 -2.32659251e+00] [ 2.83236120e-03 -1.21294735e-04 9.99995982e-01 -2.10565858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.827552018 meters Centerline goodness [0,1] 0.9866334656675045 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.33, Z:-0.21 [[ 9.97932616e-01 6.42116442e-02 -2.71280092e-03 2.91822483e+01] [-6.42110991e-02 9.97936297e-01 2.87665107e-04 -2.32640791e+00] [ 2.72567395e-03 -1.12878464e-04 9.99996279e-01 -2.09777729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.857552017999996 meters Centerline goodness [0,1] 0.9856618951851414 Centerline is valid? [True, True] Translation: X:29.21, Y:-2.33, Z:-0.21 [[ 9.97801057e-01 6.62262055e-02 -2.67217772e-03 2.92114633e+01] [-6.62256811e-02 9.97804629e-01 2.84329203e-04 -2.32541565e+00] [ 2.68514134e-03 -1.06737190e-04 9.99996389e-01 -2.09834732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.887552017999997 meters Centerline goodness [0,1] 0.9864509557761092 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.33, Z:-0.21 [[ 9.97715770e-01 6.74924670e-02 -2.83010335e-03 2.92406651e+01] [-6.74918895e-02 9.97719778e-01 2.99172863e-04 -2.32526468e+00] [ 2.84384200e-03 -1.07480461e-04 9.99995950e-01 -2.09720801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.917552018 meters Centerline goodness [0,1] 0.9864063389637502 Centerline is valid? [True, True] Translation: X:29.27, Y:-2.33, Z:-0.21 [[ 9.97590358e-01 6.93345721e-02 -2.48903453e-03 2.92682693e+01] [-6.93341295e-02 9.97593459e-01 2.63768081e-04 -2.32634252e+00] [ 2.50133281e-03 -9.05574519e-05 9.99996868e-01 -2.09646304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.947552017999996 meters Centerline goodness [0,1] 0.985574409430106 Centerline is valid? [True, True] Translation: X:29.30, Y:-2.33, Z:-0.21 [[ 9.97477674e-01 7.09561504e-02 -1.87463218e-03 2.92974860e+01] [-7.09559052e-02 9.97479434e-01 1.97092136e-04 -2.32655422e+00] [ 1.88389195e-03 -6.35787824e-05 9.99998223e-01 -2.09322807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.977552017999997 meters Centerline goodness [0,1] 0.9863799795223468 Centerline is valid? [True, True] Translation: X:29.33, Y:-2.33, Z:-0.21 [[ 9.97307836e-01 7.33159442e-02 -1.36098813e-03 2.93264879e+01] [-7.33158164e-02 9.97308764e-01 1.43630904e-04 -2.32700040e+00] [ 1.36785583e-03 -4.34622703e-05 9.99999064e-01 -2.08823345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.007552018 meters Centerline goodness [0,1] 0.9871187089977493 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.32, Z:-0.21 [[ 9.96902411e-01 7.86484748e-02 3.18798335e-05 2.93573115e+01] [-7.86484747e-02 9.96902411e-01 -3.49632388e-06 -2.32374995e+00] [-3.20560635e-05 9.78193419e-07 9.99999999e-01 -2.07374876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.037552017999996 meters Centerline goodness [0,1] 0.9887055776701357 Centerline is valid? [True, True] Translation: X:29.39, Y:-2.32, Z:-0.21 [[ 9.96679173e-01 8.14235791e-02 9.09191921e-04 2.93864825e+01] [-8.14235238e-02 9.96679588e-01 -9.76852500e-05 -2.32349775e+00] [-9.14126911e-04 2.33312441e-05 9.99999582e-01 -2.06332248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.067552017999997 meters Centerline goodness [0,1] 0.9883910582365921 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.32, Z:-0.21 [[ 9.96455487e-01 8.41057075e-02 1.64084655e-03 2.94153990e+01] [-8.41055341e-02 9.96456837e-01 -1.74507671e-04 -2.32352350e+00] [-1.64970986e-03 3.58848501e-05 9.99998639e-01 -2.05315587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.097552018 meters Centerline goodness [0,1] 0.9902401500036059 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.32, Z:-0.20 [[ 9.95967508e-01 8.96522176e-02 3.34701671e-03 2.94447209e+01] [-8.96515383e-02 9.95973131e-01 -3.52734384e-04 -2.32131373e+00] [-3.36516213e-03 5.12467883e-05 9.99994337e-01 -2.03770342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127552017999996 meters Centerline goodness [0,1] 0.9909780209233132 Centerline is valid? [True, True] Translation: X:29.47, Y:-2.32, Z:-0.20 [[ 9.95731614e-01 9.21974547e-02 4.26395331e-03 2.94721852e+01] [-9.21963775e-02 9.95740743e-01 -4.48935664e-04 -2.32278666e+00] [-4.28718277e-03 5.38983845e-05 9.99990809e-01 -2.03970736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.157552017999997 meters Centerline goodness [0,1] 0.9914743389610702 Centerline is valid? [True, True] Translation: X:29.50, Y:-2.32, Z:-0.20 [[ 9.95523079e-01 9.44093905e-02 4.54601502e-03 2.95002584e+01] [-9.44081913e-02 9.95533457e-01 -4.78145653e-04 -2.32449022e+00] [-4.57085149e-03 4.68239776e-05 9.99989553e-01 -2.04185382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.187552017999998 meters Centerline goodness [0,1] 0.9918280291411044 Centerline is valid? [True, True] Translation: X:29.53, Y:-2.33, Z:-0.20 [[ 9.95343275e-01 9.62380864e-02 5.47676441e-03 2.95285806e+01] [-9.62363764e-02 9.95358342e-01 -5.75527230e-04 -2.32601250e+00] [-5.50673078e-03 4.57831968e-05 9.99984837e-01 -2.04372303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.217552017999996 meters Centerline goodness [0,1] 0.9916139543799118 Centerline is valid? [True, True] Translation: X:29.56, Y:-2.33, Z:-0.20 [[ 9.95067578e-01 9.89372656e-02 7.20645494e-03 2.95560458e+01] [-9.89343923e-02 9.95093672e-01 -7.54991731e-04 -2.32809056e+00] [-7.24579452e-03 3.83015530e-05 9.99973748e-01 -2.03570155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.247552017999997 meters Centerline goodness [0,1] 0.9923167422987347 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.33, Z:-0.20 [[ 9.95021923e-01 9.93133675e-02 8.25997458e-03 2.95834688e+01] [-9.93096166e-02 9.95056206e-01 -8.64038828e-04 -2.33063816e+00] [-8.30494957e-03 3.94426675e-05 9.99965513e-01 -2.02885492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.277552017999998 meters Centerline goodness [0,1] 0.9913677345098791 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.33, Z:-0.20 [[ 9.94991412e-01 9.95220073e-02 9.35205885e-03 2.96102003e+01] [-9.95172329e-02 9.95035360e-01 -9.75656348e-04 -2.33421174e+00] [-9.40272852e-03 4.00786687e-05 9.99955793e-01 -2.02021731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307552017999996 meters Centerline goodness [0,1] 0.9917568633072898 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.34, Z:-0.20 [[ 9.95060952e-01 9.86926736e-02 1.06516394e-02 2.96374423e+01] [-9.86864495e-02 9.95117960e-01 -1.10965005e-03 -2.33834197e+00] [-1.07091520e-02 5.29969645e-05 9.99942654e-01 -2.01124712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.337552017999997 meters Centerline goodness [0,1] 0.9910911552989808 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.34, Z:-0.20 [[ 9.95202448e-01 9.70980508e-02 1.20022932e-02 2.96653844e+01] [-9.70900629e-02 9.95274818e-01 -1.24780553e-03 -2.34298537e+00] [-1.20667396e-02 7.65157159e-05 9.99927191e-01 -2.00381743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.367552017999998 meters Centerline goodness [0,1] 0.9887201011136814 Centerline is valid? [True, True] Translation: X:29.69, Y:-2.35, Z:-0.20 [[ 9.95643776e-01 9.22053396e-02 1.38436178e-02 2.96931725e+01] [-9.21942949e-02 9.95740002e-01 -1.43524937e-03 -2.35201788e+00] [-1.39169817e-02 1.52694523e-04 9.99903142e-01 -1.99087126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.397552018 meters Centerline goodness [0,1] 0.9887525562372188 Centerline is valid? [True, True] Translation: X:29.72, Y:-2.36, Z:-0.20 [[ 9.95877015e-01 8.95290409e-02 1.46123912e-02 2.97217016e+01] [-8.95165069e-02 9.95984193e-01 -1.51090446e-03 -2.35814860e+00] [-1.46889805e-02 1.96624805e-04 9.99892092e-01 -1.99123240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.427552017999997 meters Centerline goodness [0,1] 0.9875683739433118 Centerline is valid? [True, True] Translation: X:29.75, Y:-2.37, Z:-0.20 [[ 9.96213654e-01 8.55333885e-02 1.55690092e-02 2.97488273e+01] [-8.55187136e-02 9.96335268e-01 -1.60712727e-03 -2.36731250e+00] [-1.56494160e-02 2.69600491e-04 9.99877504e-01 -1.99041650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.457552017999998 meters Centerline goodness [0,1] 0.9867519954659236 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.37, Z:-0.20 [[ 9.96338842e-01 8.40648664e-02 1.55566499e-02 2.97774230e+01] [-8.40500845e-02 9.96460242e-01 -1.60273827e-03 -2.37226555e+00] [-1.56363171e-02 2.89332648e-04 9.99877703e-01 -1.99661157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.487552018 meters Centerline goodness [0,1] 0.9864062169840114 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.38, Z:-0.20 [[ 9.96408652e-01 8.31643381e-02 1.59214046e-02 2.98044224e+01] [-8.31487821e-02 9.96535799e-01 -1.63768665e-03 -2.37699169e+00] [-1.60024468e-02 3.07959744e-04 9.99871905e-01 -1.99928401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.517552017999996 meters Centerline goodness [0,1] 0.9867046310240963 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.38, Z:-0.20 [[ 9.96484274e-01 8.21889987e-02 1.62499145e-02 2.98326865e+01] [-8.21727187e-02 9.96616707e-01 -1.66815133e-03 -2.38081947e+00] [-1.63320400e-02 3.26986912e-04 9.99866570e-01 -2.00376188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.547552017999998 meters Centerline goodness [0,1] 0.9865581308060429 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.39, Z:-0.20 [[ 9.96548427e-01 8.11013892e-02 1.77143101e-02 2.98605901e+01] [-8.10819234e-02 9.96705787e-01 -1.81552154e-03 -2.38555437e+00] [-1.78031967e-02 3.72944803e-04 9.99841441e-01 -2.00381677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.577552018 meters Centerline goodness [0,1] 0.9861446489274411 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.39, Z:-0.20 [[ 9.96630171e-01 7.98754755e-02 1.86604279e-02 2.98889154e+01] [-7.98537366e-02 9.96804765e-01 -1.90839263e-03 -2.38944846e+00] [-1.87532372e-02 4.11856779e-04 9.99824058e-01 -2.00248199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.607552017999996 meters Centerline goodness [0,1] 0.9867989888587211 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.39, Z:-0.20 [[ 9.96689372e-01 7.89334115e-02 1.94887633e-02 2.99170600e+01] [-7.89096271e-02 9.96879792e-01 -1.98761433e-03 -2.39362302e+00] [-1.95848435e-02 4.43183036e-04 9.99808100e-01 -2.00238442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.637552017999997 meters Centerline goodness [0,1] 0.9863478831022855 Centerline is valid? [True, True] Translation: X:29.94, Y:-2.40, Z:-0.20 [[ 9.96743759e-01 7.81212478e-02 1.99737064e-02 2.99439733e+01] [-7.80961700e-02 9.96943756e-01 -2.03367796e-03 -2.39828534e+00] [-2.00715354e-02 4.67185841e-04 9.99798437e-01 -2.00012283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.667552018 meters Centerline goodness [0,1] 0.9846444657067513 Centerline is valid? [True, True] Translation: X:29.97, Y:-2.40, Z:-0.20 [[ 9.96876989e-01 7.60956960e-02 2.11119285e-02 2.99724885e+01] [-7.60673272e-02 9.97100377e-01 -2.14471473e-03 -2.40464322e+00] [-2.12139154e-02 5.32088784e-04 9.99774818e-01 -2.00478700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.697552017999996 meters Centerline goodness [0,1] 0.9849441816020696 Centerline is valid? [True, True] Translation: X:30.00, Y:-2.41, Z:-0.20 [[ 9.96945982e-01 7.52253900e-02 2.09725749e-02 3.00012374e+01] [-7.51973242e-02 9.97166409e-01 -2.12476617e-03 -2.40819601e+00] [-2.10729835e-02 5.41195587e-04 9.99777794e-01 -2.01524482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.727552017999997 meters Centerline goodness [0,1] 0.9852619324796275 Centerline is valid? [True, True] Translation: X:30.03, Y:-2.41, Z:-0.20 [[ 9.96984068e-01 7.47583737e-02 2.08315510e-02 3.00290792e+01] [-7.47306482e-02 9.97201529e-01 -2.10732974e-03 -2.41255756e+00] [-2.09307950e-02 5.44218867e-04 9.99780779e-01 -2.01920313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.757552018 meters Centerline goodness [0,1] 0.98478184991274 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.42, Z:-0.20 [[ 9.97119825e-01 7.30329997e-02 2.04507971e-02 3.00572121e+01] [-7.30060103e-02 9.97329365e-01 -2.06421822e-03 -2.41624818e+00] [-2.05469365e-02 5.65241802e-04 9.99788730e-01 -2.04038673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.787552017999996 meters Centerline goodness [0,1] 0.9843742776570662 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.42, Z:-0.20 [[ 9.97162435e-01 7.25288268e-02 2.01654827e-02 3.00850356e+01] [-7.25025452e-02 9.97366157e-01 -2.03232102e-03 -2.42200218e+00] [-2.02597718e-02 5.64505355e-04 9.99794590e-01 -2.04071122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.817552017999997 meters Centerline goodness [0,1] 0.9851190476190477 Centerline is valid? [True, True] Translation: X:30.11, Y:-2.42, Z:-0.21 [[ 9.97239751e-01 7.15440017e-02 1.98578726e-02 3.01138469e+01] [-7.15184086e-02 9.97437281e-01 -1.99691842e-03 -2.42487574e+00] [-1.99498500e-02 5.71202981e-04 9.99800819e-01 -2.06033774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.847552018 meters Centerline goodness [0,1] 0.9843793519636059 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.43, Z:-0.21 [[ 9.97309056e-01 7.06785357e-02 1.94728314e-02 3.01413577e+01] [-7.06538193e-02 9.97498980e-01 -1.95520772e-03 -2.43089514e+00] [-1.95623207e-02 5.74116454e-04 9.99808475e-01 -2.06009956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.877552017999996 meters Centerline goodness [0,1] 0.9852570185386628 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.44, Z:-0.21 [[ 9.97482520e-01 6.83544534e-02 1.88756790e-02 3.01696860e+01] [-6.83308912e-02 9.97660921e-01 -1.89118455e-03 -2.43580954e+00] [-1.89607981e-02 5.96631567e-04 9.99820050e-01 -2.08988616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.907552017999997 meters Centerline goodness [0,1] 0.9848421734703323 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.44, Z:-0.21 [[ 9.97581483e-01 6.70580330e-02 1.82867543e-02 3.01976779e+01] [-6.70357914e-02 9.97748898e-01 -1.82724517e-03 -2.44094564e+00] [-1.83681204e-02 5.96958901e-04 9.99831114e-01 -2.10017973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.937552017999998 meters Centerline goodness [0,1] 0.9840079613043579 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.45, Z:-0.21 [[ 9.97683218e-01 6.55329136e-02 1.82656301e-02 3.02257917e+01] [-6.55105587e-02 9.97850216e-01 -1.82019332e-03 -2.44634037e+00] [-1.83456455e-02 6.19384696e-04 9.99831513e-01 -2.11016438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.967552017999996 meters Centerline goodness [0,1] 0.9850311176919696 Centerline is valid? [True, True] Translation: X:30.25, Y:-2.45, Z:-0.21 [[ 9.97783234e-01 6.40682578e-02 1.79965411e-02 3.02546007e+01] [-6.40464071e-02 9.97945319e-01 -1.78849712e-03 -2.45027925e+00] [-1.80741498e-02 6.31918647e-04 9.99836450e-01 -2.12322402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.997552017999997 meters Centerline goodness [0,1] 0.9848090777268856 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.46, Z:-0.21 [[ 9.97937509e-01 6.19214258e-02 1.69253007e-02 3.02815370e+01] [-6.19018356e-02 9.98080830e-01 -1.67940096e-03 -2.45702198e+00] [-1.69968091e-02 6.28230026e-04 9.99855346e-01 -2.13680601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.027552017999998 meters Centerline goodness [0,1] 0.9855710499020399 Centerline is valid? [True, True] Translation: X:30.31, Y:-2.46, Z:-0.21 [[ 9.97992320e-01 6.09922618e-02 1.70667005e-02 3.03098036e+01] [-6.09722687e-02 9.98138030e-01 -1.68984416e-03 -2.46061596e+00] [-1.71379902e-02 6.45856046e-04 9.99852925e-01 -2.14693902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.057552017999996 meters Centerline goodness [0,1] 0.9846376744934802 Centerline is valid? [True, True] Translation: X:30.34, Y:-2.47, Z:-0.21 [[ 9.98055722e-01 6.00313062e-02 1.67636145e-02 3.03372618e+01] [-6.00119271e-02 9.98196285e-01 -1.65714047e-03 -2.46667962e+00] [-1.68328581e-02 6.47901710e-04 9.99858107e-01 -2.14974688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.087552017999997 meters Centerline goodness [0,1] 0.985437898272332 Centerline is valid? [True, True] Translation: X:30.37, Y:-2.47, Z:-0.22 [[ 9.98150763e-01 5.85619150e-02 1.62958914e-02 3.03657818e+01] [-5.85434294e-02 9.98283565e-01 -1.60952228e-03 -2.47241158e+00] [-1.63621772e-02 6.52528532e-04 9.99865918e-01 -2.16514719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.117552017999998 meters Centerline goodness [0,1] 0.983620847861993 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.48, Z:-0.22 [[ 9.98196961e-01 5.77749065e-02 1.62753392e-02 3.03931281e+01] [-5.77563871e-02 9.98329415e-01 -1.60601675e-03 -2.48124678e+00] [-1.63409373e-02 6.63116251e-04 9.99866258e-01 -2.16864659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.147552018 meters Centerline goodness [0,1] 0.983620847861993 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.48, Z:-0.22 [[ 9.98203423e-01 5.76631130e-02 1.62755097e-02 3.04204794e+01] [-5.76446069e-02 9.98335878e-01 -1.60428735e-03 -2.48383145e+00] [-1.63409335e-02 6.63209765e-04 9.99866258e-01 -2.17035943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.177552017999997 meters Centerline goodness [0,1] 0.984174175547729 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.49, Z:-0.22 [[ 9.98225823e-01 5.72413227e-02 1.63901274e-02 3.04489682e+01] [-5.72225230e-02 9.98360144e-01 -1.61408230e-03 -2.48703973e+00] [-1.64556422e-02 6.73334192e-04 9.99864370e-01 -2.18613987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.207552017999998 meters Centerline goodness [0,1] 0.9841994702712576 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.50, Z:-0.22 [[ 9.98276821e-01 5.65448789e-02 1.56864650e-02 3.04759730e+01] [-5.65275949e-02 9.98399844e-01 -1.54340249e-03 -2.49590521e+00] [-1.57486357e-02 6.54024793e-04 9.99875769e-01 -2.19646984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.237552018 meters Centerline goodness [0,1] 0.984094839355602 Centerline is valid? [True, True] Translation: X:30.50, Y:-2.50, Z:-0.22 [[ 9.98266022e-01 5.68230955e-02 1.53650657e-02 3.05048512e+01] [-5.68065654e-02 9.98384061e-01 -1.51048394e-03 -2.50055186e+00] [-1.54260670e-02 6.35028187e-04 9.99880809e-01 -2.20453594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.267552017999996 meters Centerline goodness [0,1] 0.9845326772819426 Centerline is valid? [True, True] Translation: X:30.53, Y:-2.51, Z:-0.22 [[ 9.98236889e-01 5.75149560e-02 1.46677303e-02 3.05335402e+01] [-5.74999833e-02 9.98344468e-01 -1.44082602e-03 -2.50617825e+00] [-1.47263164e-02 5.94891439e-04 9.99891385e-01 -2.21320150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.297552017999998 meters Centerline goodness [0,1] 0.9854950359777758 Centerline is valid? [True, True] Translation: X:30.56, Y:-2.51, Z:-0.22 [[ 9.98185965e-01 5.84929164e-02 1.42603911e-02 3.05626130e+01] [-5.84788793e-02 9.98287665e-01 -1.39970574e-03 -2.50842155e+00] [-1.43178454e-02 5.63234932e-04 9.99897336e-01 -2.23453168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.327552018 meters Centerline goodness [0,1] 0.9859292376824093 Centerline is valid? [True, True] Translation: X:30.59, Y:-2.52, Z:-0.22 [[ 9.98068666e-01 6.05606276e-02 1.38328686e-02 3.05896824e+01] [-6.05476350e-02 9.98164387e-01 -1.35650500e-03 -2.51864470e+00] [-1.38896276e-02 5.16337656e-04 9.99903401e-01 -2.24903837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.357552017999996 meters Centerline goodness [0,1] 0.986178346830747 Centerline is valid? [True, True] Translation: X:30.62, Y:-2.52, Z:-0.23 [[ 9.97984621e-01 6.19787687e-02 1.36135437e-02 3.06184821e+01] [-6.19663327e-02 9.98077349e-01 -1.33382103e-03 -2.52387159e+00] [-1.36700382e-02 4.87551496e-04 9.99906442e-01 -2.25771499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.387552017999997 meters Centerline goodness [0,1] 0.9858101543258694 Centerline is valid? [True, True] Translation: X:30.65, Y:-2.53, Z:-0.23 [[ 9.97882619e-01 6.36892862e-02 1.31891441e-02 3.06469085e+01] [-6.36777762e-02 9.97969676e-01 -1.29123314e-03 -2.52815019e+00] [-1.32446035e-02 4.48643740e-04 9.99912186e-01 -2.26667417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.417552018 meters Centerline goodness [0,1] 0.9865246145859197 Centerline is valid? [True, True] Translation: X:30.68, Y:-2.53, Z:-0.23 [[ 9.97730489e-01 6.60980835e-02 1.28419257e-02 3.06751328e+01] [-6.60873836e-02 9.97813048e-01 -1.25624925e-03 -2.53257397e+00] [-1.28968767e-02 4.04708904e-04 9.99916750e-01 -2.27912846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.447552017999996 meters Centerline goodness [0,1] 0.9878881848006831 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.54, Z:-0.23 [[ 9.97414290e-01 7.09232090e-02 1.16031557e-02 3.07042145e+01] [-7.09148076e-02 9.97481731e-01 -1.13441271e-03 -2.53982346e+00] [-1.16543920e-02 3.08643897e-04 9.99932038e-01 -2.30333953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.477552017999997 meters Centerline goodness [0,1] 0.9882637520157678 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.55, Z:-0.23 [[ 9.97266439e-01 7.30969713e-02 1.07927162e-02 3.07321045e+01] [-7.30898462e-02 9.97324804e-01 -1.05366781e-03 -2.54547921e+00] [-1.08408635e-02 2.61949578e-04 9.99941202e-01 -2.31791864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.507552018 meters Centerline goodness [0,1] 0.9879644986328388 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.55, Z:-0.23 [[ 9.97062207e-01 7.59081862e-02 1.02422050e-02 3.07595731e+01] [-7.59019386e-02 9.97114788e-01 -9.97886159e-04 -2.55160015e+00] [-1.02884018e-02 2.17551363e-04 9.99947049e-01 -2.33437653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.537552017999996 meters Centerline goodness [0,1] 0.9894328517924024 Centerline is valid? [True, True] Translation: X:30.79, Y:-2.56, Z:-0.23 [[ 9.96847113e-01 7.87652172e-02 9.58507066e-03 3.07866334e+01] [-7.87598877e-02 9.96893179e-01 -9.32809038e-04 -2.55742671e+00] [-9.62876447e-03 1.74948908e-04 9.99953627e-01 -2.34906486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.567552017999997 meters Centerline goodness [0,1] 0.9896459959299595 Centerline is valid? [True, True] Translation: X:30.81, Y:-2.56, Z:-0.24 [[ 9.96675427e-01 8.09971145e-02 8.80684914e-03 3.08147179e+01] [-8.09927160e-02 9.96714326e-01 -8.55544119e-04 -2.56278887e+00] [-8.84720931e-03 1.39409170e-04 9.99960853e-01 -2.36297606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.597552018 meters Centerline goodness [0,1] 0.9904462153173061 Centerline is valid? [True, True] Translation: X:30.84, Y:-2.57, Z:-0.24 [[ 9.96380205e-01 8.46338195e-02 7.97520933e-03 3.08423317e+01] [-8.46303452e-02 9.96412117e-01 -7.72718560e-04 -2.57269230e+00] [-8.01199333e-03 9.49767581e-05 9.99967899e-01 -2.37789981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627552017999996 meters Centerline goodness [0,1] 0.991436304743311 Centerline is valid? [True, True] Translation: X:30.87, Y:-2.58, Z:-0.24 [[ 9.96302301e-01 8.55919413e-02 7.46619300e-03 3.08700559e+01] [-8.55889378e-02 9.96330273e-01 -7.21452075e-04 -2.57998636e+00] [-7.50054460e-03 7.97608342e-05 9.99971867e-01 -2.38400519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.657552017999997 meters Centerline goodness [0,1] 0.9908842297174111 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.59, Z:-0.24 [[ 9.96253709e-01 8.62466658e-02 6.32922605e-03 3.08975645e+01] [-8.62445301e-02 9.96273812e-01 -6.10103844e-04 -2.58859905e+00] [-6.35826159e-03 6.19570912e-05 9.99979784e-01 -2.39856533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.687552017999998 meters Centerline goodness [0,1] 0.9913812154696132 Centerline is valid? [True, True] Translation: X:30.92, Y:-2.61, Z:-0.24 [[ 9.96427744e-01 8.42830795e-02 5.30212305e-03 3.09235646e+01] [-8.42815613e-02 9.96441849e-01 -5.09527649e-04 -2.60672348e+00] [-5.32620185e-03 6.08362770e-05 9.99985814e-01 -2.43094735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.717552017999996 meters Centerline goodness [0,1] 0.9903527749569517 Centerline is valid? [True, True] Translation: X:30.95, Y:-2.62, Z:-0.24 [[ 9.96602799e-01 8.22176617e-02 4.80808693e-03 3.09507313e+01] [-8.22163912e-02 9.96614395e-01 -4.61630918e-04 -2.61826769e+00] [-4.82976286e-03 6.47591092e-05 9.99988335e-01 -2.44532779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.747552017999997 meters Centerline goodness [0,1] 0.990810119887165 Centerline is valid? [True, True] Translation: X:30.98, Y:-2.63, Z:-0.25 [[ 9.96817297e-01 7.95952396e-02 4.45812042e-03 3.09781079e+01] [-7.95941215e-02 9.96827263e-01 -4.27946712e-04 -2.62943650e+00] [-4.47803850e-03 7.17445068e-05 9.99989971e-01 -2.45643385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.777552017999998 meters Centerline goodness [0,1] 0.9897197082857394 Centerline is valid? [True, True] Translation: X:31.00, Y:-2.64, Z:-0.25 [[ 9.97017870e-01 7.70760409e-02 3.82767145e-03 3.10045313e+01] [-7.70752028e-02 9.97025215e-01 -3.66213865e-04 -2.64137891e+00] [-3.84451126e-03 7.01032143e-05 9.99992607e-01 -2.47142875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807552017999996 meters Centerline goodness [0,1] 0.9890049957459806 Centerline is valid? [True, True] Translation: X:31.03, Y:-2.66, Z:-0.25 [[ 9.97441833e-01 7.14079068e-02 3.27117172e-03 3.10314938e+01] [-7.14072653e-02 9.97447194e-01 -3.12630044e-04 -2.66303840e+00] [-3.28514531e-03 7.82448577e-05 9.99994601e-01 -2.48531261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.837552017999997 meters Centerline goodness [0,1] 0.9890274965710927 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.68, Z:-0.25 [[ 9.97646339e-01 6.84932564e-02 3.23344037e-03 3.10584248e+01] [-6.84926146e-02 9.97651576e-01 -3.08953519e-04 -2.67580115e+00] [-3.24700811e-03 8.67595623e-05 9.99994725e-01 -2.49208411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.867552017999998 meters Centerline goodness [0,1] 0.9882967425933552 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.69, Z:-0.25 [[ 9.97828751e-01 6.57746331e-02 3.38830555e-03 3.10861297e+01] [-6.57739139e-02 9.97834499e-01 -3.23361841e-04 -2.68575251e+00] [-3.40223717e-03 9.97976248e-05 9.99994207e-01 -2.49859632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.897552018 meters Centerline goodness [0,1] 0.988731967904492 Centerline is valid? [True, True] Translation: X:31.11, Y:-2.70, Z:-0.25 [[ 9.98003926e-01 6.30686606e-02 3.24142599e-03 3.11126855e+01] [-6.30679887e-02 9.98009185e-01 -3.09166366e-04 -2.70122269e+00] [-3.25447162e-03 1.04119029e-04 9.99994699e-01 -2.50718334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.927552017999997 meters Centerline goodness [0,1] 0.9868364357118236 Centerline is valid? [True, True] Translation: X:31.14, Y:-2.72, Z:-0.25 [[ 9.98296583e-01 5.82106013e-02 3.93177223e-03 3.11411324e+01] [-5.82095777e-02 9.98304315e-01 -3.74368237e-04 -2.71684355e+00] [-3.94689739e-03 1.44863731e-04 9.99992200e-01 -2.51106635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.957552017999998 meters Centerline goodness [0,1] 0.9860252447192169 Centerline is valid? [True, True] Translation: X:31.17, Y:-2.73, Z:-0.25 [[ 9.98413568e-01 5.61576237e-02 4.08260475e-03 3.11678738e+01] [-5.61565028e-02 9.98421903e-01 -3.88781565e-04 -2.72901755e+00] [-4.09799505e-03 1.58899985e-04 9.99991591e-01 -2.51745623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.987552018 meters Centerline goodness [0,1] 0.9854056834254854 Centerline is valid? [True, True] Translation: X:31.20, Y:-2.74, Z:-0.25 [[ 9.98508431e-01 5.44505586e-02 4.00614661e-03 3.11956471e+01] [-5.44494684e-02 9.98516455e-01 -3.80785822e-04 -2.73930231e+00] [-4.02093731e-03 1.62085301e-04 9.99991903e-01 -2.52220620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.017552017999996 meters Centerline goodness [0,1] 0.9841595149652022 Centerline is valid? [True, True] Translation: X:31.22, Y:-2.76, Z:-0.25 [[ 9.98682721e-01 5.12425983e-02 2.64927170e-03 3.12236846e+01] [-5.12421108e-02 9.98686228e-01 -2.51631163e-04 -2.75785520e+00] [-2.65868540e-03 1.15545420e-04 9.99996459e-01 -2.54681710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.047552018 meters Centerline goodness [0,1] 0.9843009099064463 Centerline is valid? [True, True] Translation: X:31.25, Y:-2.77, Z:-0.26 [[ 9.98783338e-01 4.92985570e-02 1.22305555e-03 3.12513967e+01] [-4.92984513e-02 9.98784085e-01 -1.16450932e-04 -2.76756897e+00] [-1.22730928e-03 5.60145060e-05 9.99999245e-01 -2.56415728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.077552018 meters Centerline goodness [0,1] 0.9838255377261864 Centerline is valid? [True, True] Translation: X:31.28, Y:-2.78, Z:-0.26 [[ 9.98877700e-01 4.73639021e-02 -2.80418032e-05 3.12798437e+01] [-4.73639021e-02 9.98877701e-01 2.40989975e-06 -2.77841998e+00] [ 2.81244742e-05 -1.07902590e-06 1.00000000e+00 -2.58097111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.107552018 meters Centerline goodness [0,1] 0.9834422937230269 Centerline is valid? [True, True] Translation: X:31.31, Y:-2.79, Z:-0.26 [[ 9.98967374e-01 4.54178736e-02 -1.18406130e-03 3.13085237e+01] [-4.54177728e-02 9.98968074e-01 1.11918240e-04 -2.78936897e+00] [ 1.18792253e-03 -5.80252430e-05 9.99999293e-01 -2.59453777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.137552017999994 meters Centerline goodness [0,1] 0.9830226506846393 Centerline is valid? [True, True] Translation: X:31.34, Y:-2.81, Z:-0.26 [[ 9.99117443e-01 4.19314618e-02 -2.46744905e-03 3.13368807e+01] [-4.19310125e-02 9.99120481e-01 2.33563338e-04 -2.80556486e+00] [ 2.47507253e-03 -1.29894568e-04 9.99996929e-01 -2.60860967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.167552017999995 meters Centerline goodness [0,1] 0.981755937825597 Centerline is valid? [True, True] Translation: X:31.36, Y:-2.82, Z:-0.26 [[ 9.99186668e-01 4.02600084e-02 -2.26568900e-03 3.13636947e+01] [-4.02596269e-02 9.99189230e-01 2.13723472e-04 -2.81880367e+00] [ 2.27245655e-03 -1.22333850e-04 9.99997410e-01 -2.61588291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.197552017999996 meters Centerline goodness [0,1] 0.981702516967724 Centerline is valid? [True, True] Translation: X:31.39, Y:-2.83, Z:-0.26 [[ 9.99273539e-01 3.79568137e-02 -3.41692668e-03 3.13924798e+01] [-3.79559309e-02 9.99279362e-01 3.22884800e-04 -2.83135641e+00] [ 3.42671999e-03 -1.92957604e-04 9.99994110e-01 -2.61777967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.227552018 meters Centerline goodness [0,1] 0.9815223386651958 Centerline is valid? [True, True] Translation: X:31.42, Y:-2.84, Z:-0.26 [[ 9.99309019e-01 3.69837059e-02 -3.70012287e-03 3.14204043e+01] [-3.69826660e-02 9.99315846e-01 3.49113167e-04 -2.83826199e+00] [ 3.71050291e-03 -2.12031529e-04 9.99993094e-01 -2.61883990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.257552018 meters Centerline goodness [0,1] 0.98162551658366 Centerline is valid? [True, True] Translation: X:31.45, Y:-2.85, Z:-0.26 [[ 9.99342734e-01 3.60051805e-02 -4.21037287e-03 3.14476492e+01] [-3.60038272e-02 9.99351573e-01 3.96784731e-04 -2.84923993e+00] [ 4.22192905e-03 -2.44934400e-04 9.99991058e-01 -2.63169499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.287552018 meters Centerline goodness [0,1] 0.9819556515661731 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.86, Z:-0.26 [[ 9.99383320e-01 3.47285218e-02 -5.18742071e-03 3.14760298e+01] [-3.47264512e-02 9.99396735e-01 4.88716249e-04 -2.85807722e+00] [ 5.20126372e-03 -3.08274155e-04 9.99986426e-01 -2.63699182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.317552018 meters Centerline goodness [0,1] 0.9817980777409203 Centerline is valid? [True, True] Translation: X:31.50, Y:-2.87, Z:-0.26 [[ 9.99361568e-01 3.50310874e-02 -7.01995413e-03 3.15031892e+01] [-3.50273074e-02 9.99386137e-01 6.60725245e-04 -2.86505459e+00] [ 7.03879077e-03 -4.14413325e-04 9.99975142e-01 -2.64281564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.347552017999995 meters Centerline goodness [0,1] 0.9818297736691106 Centerline is valid? [True, True] Translation: X:31.53, Y:-2.87, Z:-0.27 [[ 9.99378387e-01 3.44781942e-02 -7.35489217e-03 3.15312176e+01] [-3.44740330e-02 9.99405354e-01 6.91836319e-04 -2.87063488e+00] [ 7.37437188e-03 -4.37853469e-04 9.99972713e-01 -2.65243695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.377552017999996 meters Centerline goodness [0,1] 0.9829899428036827 Centerline is valid? [True, True] Translation: X:31.56, Y:-2.87, Z:-0.26 [[ 9.99375626e-01 3.44447695e-02 -7.86870306e-03 3.15598139e+01] [-3.44400106e-02 9.99406493e-01 7.39536223e-04 -2.87031276e+00] [ 7.88950609e-03 -4.68076259e-04 9.99968768e-01 -2.64787532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.407552018 meters Centerline goodness [0,1] 0.9836936956015332 Centerline is valid? [True, True] Translation: X:31.59, Y:-2.88, Z:-0.27 [[ 9.99364891e-01 3.45655371e-02 -8.66249824e-03 3.15866708e+01] [-3.45597846e-02 9.99402302e-01 8.12933997e-04 -2.87946831e+00] [ 8.68542018e-03 -5.13043622e-04 9.99962149e-01 -2.65900110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.437552018 meters Centerline goodness [0,1] 0.9842292078471381 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.88, Z:-0.27 [[ 9.99370920e-01 3.44374905e-02 -8.47488874e-03 3.16147840e+01] [-3.44319888e-02 9.99406728e-01 7.94283399e-04 -2.88138899e+00] [ 8.49721395e-03 -5.01976458e-04 9.99963772e-01 -2.65027059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.467552018 meters Centerline goodness [0,1] 0.9839192142054013 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.89, Z:-0.27 [[ 9.99362042e-01 3.47597555e-02 -8.20168306e-03 3.16419137e+01] [-3.47546208e-02 9.99395581e-01 7.67786198e-04 -2.88956829e+00] [ 8.22341387e-03 -4.82249998e-04 9.99966071e-01 -2.65636973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.497552018 meters Centerline goodness [0,1] 0.983853514671872 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.89, Z:-0.26 [[ 9.99388413e-01 3.41742680e-02 -7.41074193e-03 3.16709321e+01] [-3.41700633e-02 9.99415792e-01 6.93293504e-04 -2.88889832e+00] [ 7.43010531e-03 -4.39643975e-04 9.99972300e-01 -2.63082875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.527552017999994 meters Centerline goodness [0,1] 0.9836996841681328 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.89, Z:-0.26 [[ 9.99418659e-01 3.34112720e-02 -6.78457114e-03 3.17000234e+01] [-3.34077344e-02 9.99441605e-01 6.34119801e-04 -2.89035227e+00] [ 6.80196942e-03 -4.07094010e-04 9.99976783e-01 -2.61948242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.557552017999996 meters Centerline goodness [0,1] 0.9835708546538673 Centerline is valid? [True, True] Translation: X:31.73, Y:-2.89, Z:-0.26 [[ 9.99470620e-01 3.19695426e-02 -6.03558684e-03 3.17270762e+01] [-3.19667229e-02 9.99488775e-01 5.63096424e-04 -2.89492511e+00] [ 6.05050323e-03 -3.69860400e-04 9.99981627e-01 -2.60967338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.587552018 meters Centerline goodness [0,1] 0.9823649918688885 Centerline is valid? [True, True] Translation: X:31.76, Y:-2.90, Z:-0.26 [[ 9.99603429e-01 2.78549420e-02 -4.13354972e-03 3.17559697e+01] [-2.78535831e-02 9.99611939e-01 3.85948388e-04 -2.90300040e+00] [ 4.14269622e-03 -2.70661161e-04 9.99991382e-01 -2.58683360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.617552018 meters Centerline goodness [0,1] 0.9812015750031754 Centerline is valid? [True, True] Translation: X:31.79, Y:-2.91, Z:-0.26 [[ 9.99672428e-01 2.53076694e-02 -3.81564165e-03 3.17851314e+01] [-2.53064955e-02 9.99679676e-01 3.55630691e-04 -2.90751321e+00] [ 3.82341959e-03 -2.58953678e-04 9.99992657e-01 -2.58449751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.647552018 meters Centerline goodness [0,1] 0.9809194140740428 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.91, Z:-0.26 [[ 9.99717883e-01 2.33563471e-02 -4.31686707e-03 3.18144509e+01] [-2.33548259e-02 9.99727158e-01 4.02462689e-04 -2.91201381e+00] [ 4.32508930e-03 -3.01529469e-04 9.99990601e-01 -2.58733760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.677552018 meters Centerline goodness [0,1] 0.9810465508517456 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.92, Z:-0.26 [[ 9.99757634e-01 2.16019176e-02 -4.24612332e-03 3.18439714e+01] [-2.16004309e-02 9.99766605e-01 3.95701675e-04 -2.91673477e+00] [ 4.25368021e-03 -3.03887678e-04 9.99990907e-01 -2.59040433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.707552017999994 meters Centerline goodness [0,1] 0.9797969135932783 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.92, Z:-0.26 [[ 9.99801962e-01 1.92355333e-02 -5.10214048e-03 3.18732843e+01] [-1.92333556e-02 9.99814909e-01 4.75545688e-04 -2.91982619e+00] [ 5.11034349e-03 -3.77320229e-04 9.99986871e-01 -2.59067938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.737552017999995 meters Centerline goodness [0,1] 0.9802342296634534 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.91, Z:-0.26 [[ 9.99817150e-01 1.84366172e-02 -5.07514782e-03 3.19032504e+01] [-1.84344563e-02 9.99829959e-01 4.72230218e-04 -2.91302005e+00] [ 5.08299117e-03 -3.78586280e-04 9.99987010e-01 -2.57263445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.767552017999996 meters Centerline goodness [0,1] 0.9794251709293492 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.92, Z:-0.26 [[ 9.99827115e-01 1.78952893e-02 -5.04969825e-03 3.19309320e+01] [-1.78931464e-02 9.99839795e-01 4.69229305e-04 -2.92029872e+00] [ 5.05728626e-03 -3.78793192e-04 9.99987140e-01 -2.57854798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.797552018 meters Centerline goodness [0,1] 0.9781995546601633 Centerline is valid? [True, True] Translation: X:31.96, Y:-2.92, Z:-0.26 [[ 9.99831985e-01 1.74286441e-02 -5.67845349e-03 3.19594473e+01] [-1.74259280e-02 9.99848018e-01 5.27446634e-04 -2.92147673e+00] [ 5.68678314e-03 -4.28405693e-04 9.99983738e-01 -2.58157515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.827552018 meters Centerline goodness [0,1] 0.9789728558684848 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.92, Z:-0.26 [[ 9.99823953e-01 1.68473568e-02 -8.26011247e-03 3.19891838e+01] [-1.68415935e-02 9.99857876e-01 7.66792706e-04 -2.91536414e+00] [ 8.27185694e-03 -6.27544257e-04 9.99965591e-01 -2.59105800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.857552018 meters Centerline goodness [0,1] 0.9778326683133828 Centerline is valid? [True, True] Translation: X:32.02, Y:-2.92, Z:-0.26 [[ 9.99822280e-01 1.67665924e-02 -8.61920937e-03 3.20182907e+01] [-1.67603197e-02 9.99859216e-01 7.99479777e-04 -2.91721672e+00] [ 8.63140048e-03 -6.54876988e-04 9.99962534e-01 -2.59905451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.887552017999994 meters Centerline goodness [0,1] 0.9797588926923649 Centerline is valid? [True, True] Translation: X:32.05, Y:-2.91, Z:-0.26 [[ 9.99826754e-01 1.66041257e-02 -8.41216005e-03 3.20477986e+01] [-1.65981510e-02 9.99861937e-01 7.79568268e-04 -2.91425770e+00] [ 8.42394269e-03 -6.39806909e-04 9.99964313e-01 -2.58455019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.917552017999995 meters Centerline goodness [0,1] 0.9795948732118945 Centerline is valid? [True, True] Translation: X:32.08, Y:-2.92, Z:-0.26 [[ 9.99827830e-01 1.69021384e-02 -7.65692101e-03 3.20770215e+01] [-1.68972021e-02 9.99856981e-01 7.08922942e-04 -2.91548065e+00] [ 7.66780824e-03 -5.79420346e-04 9.99970434e-01 -2.57503429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.947552017999996 meters Centerline goodness [0,1] 0.9799144662652397 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.91, Z:-0.25 [[ 9.99813715e-01 1.84639436e-02 -5.62294533e-03 3.21076103e+01] [-1.84613068e-02 9.99829440e-01 5.20489416e-04 -2.90920395e+00] [ 5.63159657e-03 -4.16585538e-04 9.99984056e-01 -2.54103093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.977552018 meters Centerline goodness [0,1] 0.9796131174054606 Centerline is valid? [True, True] Translation: X:32.14, Y:-2.91, Z:-0.25 [[ 9.99787939e-01 1.98445320e-02 -5.50195364e-03 3.21352806e+01] [-1.98420330e-02 9.99802998e-01 5.08430037e-04 -2.91122286e+00] [ 5.51095930e-03 -3.99152274e-04 9.99984735e-01 -2.53465877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.007552018 meters Centerline goodness [0,1] 0.980432106625918 Centerline is valid? [True, True] Translation: X:32.16, Y:-2.91, Z:-0.25 [[ 9.99751569e-01 2.14557072e-02 -6.03769142e-03 3.21649046e+01] [-2.14527276e-02 9.99769708e-01 5.57844536e-04 -2.90864549e+00] [ 6.04826994e-03 -4.28181001e-04 9.99981617e-01 -2.53204347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.037552018 meters Centerline goodness [0,1] 0.9810002556019426 Centerline is valid? [True, True] Translation: X:32.19, Y:-2.91, Z:-0.25 [[ 9.99713561e-01 2.29144656e-02 -6.90817548e-03 3.21931520e+01] [-2.29106037e-02 9.99737314e-01 6.37656663e-04 -2.91047008e+00] [ 6.92097236e-03 -4.79203543e-04 9.99975935e-01 -2.53588873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.067552018 meters Centerline goodness [0,1] 0.9822014051522249 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.91, Z:-0.25 [[ 9.99634701e-01 2.60116988e-02 -7.33861719e-03 3.22238451e+01] [-2.60074218e-02 9.99661520e-01 6.77643263e-04 -2.90525670e+00] [ 7.35375987e-03 -4.86537207e-04 9.99972842e-01 -2.52763210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.097552017999995 meters Centerline goodness [0,1] 0.9822014051522249 Centerline is valid? [True, True] Translation: X:32.25, Y:-2.91, Z:-0.25 [[ 9.99637756e-01 2.58940147e-02 -7.33875303e-03 3.22512783e+01] [-2.58897453e-02 9.99664576e-01 6.76171433e-04 -2.90767832e+00] [ 7.35380022e-03 -4.85928047e-04 9.99972842e-01 -2.52934686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127552017999996 meters Centerline goodness [0,1] 0.982132969887985 Centerline is valid? [True, True] Translation: X:32.28, Y:-2.91, Z:-0.25 [[ 9.99618095e-01 2.67153276e-02 -7.06795266e-03 3.22803846e+01] [-2.67113905e-02 9.99642975e-01 6.50860215e-04 -2.90554595e+00] [ 7.08281717e-03 -4.61816805e-04 9.99974810e-01 -2.52255008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.157552018 meters Centerline goodness [0,1] 0.9816849816849816 Centerline is valid? [True, True] Translation: X:32.31, Y:-2.91, Z:-0.25 [[ 9.99610631e-01 2.69137068e-02 -7.36466700e-03 3.23093616e+01] [-2.69094418e-02 9.99637646e-01 6.77618543e-04 -2.90714582e+00] [ 7.38023561e-03 -4.79175622e-04 9.99972651e-01 -2.52404413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.187552018 meters Centerline goodness [0,1] 0.9809513674576993 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.91, Z:-0.25 [[ 9.99647022e-01 2.54381430e-02 -7.66366543e-03 3.23384514e+01] [-2.54334838e-02 9.99676268e-01 7.04820455e-04 -2.90917689e+00] [ 7.67911378e-03 -5.09657958e-04 9.99970385e-01 -2.51837280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.217552018 meters Centerline goodness [0,1] 0.9813219000721654 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.91, Z:-0.25 [[ 9.99678172e-01 2.41724461e-02 -7.69713172e-03 3.23669129e+01] [-2.41677167e-02 9.99707668e-01 7.06873706e-04 -2.91010155e+00] [ 7.71196847e-03 -5.20624115e-04 9.99970127e-01 -2.51205888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.247552018 meters Centerline goodness [0,1] 0.9807888040712468 Centerline is valid? [True, True] Translation: X:32.39, Y:-2.91, Z:-0.25 [[ 9.99716956e-01 2.26737348e-02 -7.20483924e-03 3.23943353e+01] [-2.26695605e-02 9.99742794e-01 6.60526770e-04 -2.91459050e+00] [ 7.21796272e-03 -4.97009273e-04 9.99973827e-01 -2.50862624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.277552017999994 meters Centerline goodness [0,1] 0.9803133703254885 Centerline is valid? [True, True] Translation: X:32.42, Y:-2.92, Z:-0.25 [[ 9.99752324e-01 2.12159058e-02 -6.72136584e-03 3.24238796e+01] [-2.12122386e-02 9.99774805e-01 6.16427131e-04 -2.91616733e+00] [ 6.73293028e-03 -4.73699240e-04 9.99977221e-01 -2.49798668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.307552017999996 meters Centerline goodness [0,1] 0.9794980859208847 Centerline is valid? [True, True] Translation: X:32.45, Y:-2.92, Z:-0.25 [[ 9.99812984e-01 1.86980268e-02 -4.93770418e-03 3.24535813e+01] [-1.86960185e-02 9.99825112e-01 4.52574608e-04 -2.91784661e+00] [ 4.94530289e-03 -3.60174560e-04 9.99987707e-01 -2.47358613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.337552018 meters Centerline goodness [0,1] 0.9792703150912107 Centerline is valid? [True, True] Translation: X:32.48, Y:-2.92, Z:-0.25 [[ 9.99823732e-01 1.82422349e-02 -4.44137106e-03 3.24824233e+01] [-1.82406084e-02 9.99833544e-01 4.06445895e-04 -2.92000007e+00] [ 4.44804624e-03 -3.25360941e-04 9.99990054e-01 -2.46290418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.367552018 meters Centerline goodness [0,1] 0.9791264094451405 Centerline is valid? [True, True] Translation: X:32.51, Y:-2.92, Z:-0.25 [[ 9.99826481e-01 1.79794319e-02 -4.87326989e-03 3.25113239e+01] [-1.79774723e-02 9.99838293e-01 4.45626122e-04 -2.92162304e+00] [ 4.88049395e-03 -3.57939723e-04 9.99988026e-01 -2.45702416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.397552018 meters Centerline goodness [0,1] 0.9791702127659574 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.92, Z:-0.25 [[ 9.99827987e-01 1.77780960e-02 -5.28547142e-03 3.25399886e+01] [-1.77757901e-02 9.99841882e-01 4.82937055e-04 -2.92261445e+00] [ 5.29322139e-03 -3.88900553e-04 9.99985915e-01 -2.45665818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.427552018 meters Centerline goodness [0,1] 0.9794130810050509 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.92, Z:-0.24 [[ 9.99811241e-01 1.86326480e-02 -5.50521555e-03 3.25687749e+01] [-1.86301615e-02 9.99826317e-01 5.02598816e-04 -2.92192183e+00] [ 5.51362413e-03 -3.99940891e-04 9.99984720e-01 -2.44797312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.457552017999994 meters Centerline goodness [0,1] 0.9787514342781862 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.93, Z:-0.24 [[ 9.99798043e-01 1.94305321e-02 -5.13095248e-03 3.25967930e+01] [-1.94283849e-02 9.99811142e-01 4.67994117e-04 -2.92573161e+00] [ 5.13907683e-03 -3.68213483e-04 9.99986727e-01 -2.44975613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.487552017999995 meters Centerline goodness [0,1] 0.9793230690927599 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.92, Z:-0.24 [[ 9.99782376e-01 2.03786827e-02 -4.46214874e-03 3.26258262e+01] [-2.03770701e-02 9.99792283e-01 4.06577338e-04 -2.92499980e+00] [ 4.46950738e-03 -3.15563339e-04 9.99989962e-01 -2.44339716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.517552017999996 meters Centerline goodness [0,1] 0.9807847466983736 Centerline is valid? [True, True] Translation: X:32.65, Y:-2.92, Z:-0.24 [[ 9.99771437e-01 2.10129116e-02 -3.94087434e-03 3.26549908e+01] [-2.10116602e-02 9.99779166e-01 3.58696049e-04 -2.92387577e+00] [ 3.94754131e-03 -2.75809752e-04 9.99992170e-01 -2.43348199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.547552018 meters Centerline goodness [0,1] 0.979012214551248 Centerline is valid? [True, True] Translation: X:32.68, Y:-2.92, Z:-0.24 [[ 9.99753044e-01 2.20028880e-02 -3.11844751e-03 3.26840150e+01] [-2.20021103e-02 9.99757884e-01 2.83485588e-04 -2.92486130e+00] [ 3.12392999e-03 -2.14803153e-04 9.99995097e-01 -2.42548928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.577552018 meters Centerline goodness [0,1] 0.979435047433095 Centerline is valid? [True, True] Translation: X:32.71, Y:-2.93, Z:-0.24 [[ 9.99743198e-01 2.23887174e-02 -3.50477074e-03 3.27123705e+01] [-2.23877382e-02 9.99749312e-01 3.18383519e-04 -2.92661126e+00] [ 3.51102034e-03 -2.39837868e-04 9.99993808e-01 -2.42364791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.607552018 meters Centerline goodness [0,1] 0.9802018137693191 Centerline is valid? [True, True] Translation: X:32.74, Y:-2.93, Z:-0.24 [[ 9.99736715e-01 2.25882898e-02 -4.03359123e-03 3.27414388e+01] [-2.25869954e-02 9.99744814e-01 3.66177833e-04 -2.92918120e+00] [ 4.04083324e-03 -2.74974717e-04 9.99991798e-01 -2.42320371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.637552017999994 meters Centerline goodness [0,1] 0.9793970062935874 Centerline is valid? [True, True] Translation: X:32.77, Y:-2.93, Z:-0.24 [[ 9.99748245e-01 2.21006372e-02 -3.87415342e-03 3.27686170e+01] [-2.20994404e-02 9.99755716e-01 3.51459546e-04 -2.93215290e+00] [ 3.88097450e-03 -2.65754442e-04 9.99992434e-01 -2.41836529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667552017999995 meters Centerline goodness [0,1] 0.980822910229912 Centerline is valid? [True, True] Translation: X:32.80, Y:-2.93, Z:-0.24 [[ 9.99779066e-01 2.05559217e-02 -4.39010537e-03 3.27981775e+01] [-2.05543697e-02 9.99788657e-01 3.98342267e-04 -2.93341426e+00] [ 4.39736584e-03 -3.08018410e-04 9.99990284e-01 -2.41296911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.697552017999996 meters Centerline goodness [0,1] 0.9802169751116784 Centerline is valid? [True, True] Translation: X:32.83, Y:-2.94, Z:-0.24 [[ 9.99783775e-01 2.03289459e-02 -4.37461844e-03 3.28269197e+01] [-2.03274054e-02 9.99793298e-01 3.96323481e-04 -2.93576878e+00] [ 4.38177104e-03 -3.07313144e-04 9.99990353e-01 -2.41158710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.727552018 meters Centerline goodness [0,1] 0.9802047347561622 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.94, Z:-0.24 [[ 9.99791934e-01 2.00093657e-02 -3.96411528e-03 3.28545865e+01] [-2.00081005e-02 9.99799754e-01 3.58565795e-04 -2.94105930e+00] [ 3.97049615e-03 -2.79176773e-04 9.99992079e-01 -2.41420680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.757552018 meters Centerline goodness [0,1] 0.9797457031499585 Centerline is valid? [True, True] Translation: X:32.88, Y:-2.94, Z:-0.24 [[ 9.99783011e-01 2.05063105e-02 -3.66353199e-03 3.28833867e+01] [-2.05052341e-02 9.99789691e-01 3.31155904e-04 -2.94149743e+00] [ 3.66955230e-03 -2.55962466e-04 9.99993234e-01 -2.40456227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.787552018 meters Centerline goodness [0,1] 0.9797600084952744 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.94, Z:-0.24 [[ 9.99761197e-01 2.14340831e-02 -4.25783363e-03 3.29112799e+01] [-2.14326394e-02 9.99770221e-01 3.84411814e-04 -2.94475756e+00] [ 4.26509478e-03 -2.93063403e-04 9.99990861e-01 -2.41070608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.817552018 meters Centerline goodness [0,1] 0.9801056488029309 Centerline is valid? [True, True] Translation: X:32.94, Y:-2.94, Z:-0.24 [[ 9.99747927e-01 2.20322195e-02 -4.32014829e-03 3.29401536e+01] [-2.20307397e-02 9.99757218e-01 3.89820886e-04 -2.94494576e+00] [ 4.32768805e-03 -2.94546560e-04 9.99990592e-01 -2.41112402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.847552017999995 meters Centerline goodness [0,1] 0.9806161964338908 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.95, Z:-0.24 [[ 9.99724779e-01 2.30315114e-02 -4.46277853e-03 3.29680779e+01] [-2.30299447e-02 9.99734695e-01 4.02142120e-04 -2.94802136e+00] [ 4.47085648e-03 -2.99253899e-04 9.99989961e-01 -2.41311718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.877552017999996 meters Centerline goodness [0,1] 0.9805404486743712 Centerline is valid? [True, True] Translation: X:33.00, Y:-2.95, Z:-0.24 [[ 9.99670943e-01 2.54088100e-02 -3.52117967e-03 3.29973446e+01] [-2.54078489e-02 9.99677118e-01 3.17399310e-04 -2.95042291e+00] [ 3.52810749e-03 -2.27829266e-04 9.99993750e-01 -2.40670556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.907552018 meters Centerline goodness [0,1] 0.9801623466078885 Centerline is valid? [True, True] Translation: X:33.03, Y:-2.95, Z:-0.24 [[ 9.99648130e-01 2.62895312e-02 -3.53223093e-03 3.30264273e+01] [-2.62885731e-02 9.99654345e-01 3.17421916e-04 -2.95294090e+00] [ 3.53935488e-03 -2.24452914e-04 9.99993711e-01 -2.40456096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.937552018 meters Centerline goodness [0,1] 0.9805411140583554 Centerline is valid? [True, True] Translation: X:33.06, Y:-2.96, Z:-0.24 [[ 9.99621735e-01 2.73478937e-02 -2.91209215e-03 3.30550229e+01] [-2.73472471e-02 9.99625960e-01 2.61624726e-04 -2.95575120e+00] [ 2.91815780e-03 -1.81888059e-04 9.99995726e-01 -2.40167012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.967552018 meters Centerline goodness [0,1] 0.9806568179402699 Centerline is valid? [True, True] Translation: X:33.08, Y:-2.96, Z:-0.24 [[ 9.99593956e-01 2.83821281e-02 -2.52562319e-03 3.30829890e+01] [-2.83816461e-02 9.99597134e-01 2.26487289e-04 -2.95907994e+00] [ 2.53103389e-03 -1.54713982e-04 9.99996785e-01 -2.40320655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.997552018 meters Centerline goodness [0,1] 0.9806381759123622 Centerline is valid? [True, True] Translation: X:33.11, Y:-2.96, Z:-0.24 [[ 9.99517786e-01 3.10275956e-02 -1.21769521e-03 3.31135834e+01] [-3.10274856e-02 9.99518526e-01 1.09112384e-04 -2.95510750e+00] [ 1.22049442e-03 -7.12777476e-05 9.99999253e-01 -2.38001574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.027552017999994 meters Centerline goodness [0,1] 0.9811577559440262 Centerline is valid? [True, True] Translation: X:33.14, Y:-2.95, Z:-0.24 [[ 9.99479164e-01 3.22679171e-02 -4.26922412e-04 3.31422935e+01] [-3.22679039e-02 9.99479255e-01 3.78296025e-05 -2.95411762e+00] [ 4.27920777e-04 -2.40340081e-05 9.99999908e-01 -2.37161536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.057552017999996 meters Centerline goodness [0,1] 0.9815956135503889 Centerline is valid? [True, True] Translation: X:33.17, Y:-2.96, Z:-0.24 [[ 9.99425632e-01 3.38869687e-02 -2.81339218e-04 3.31713830e+01] [-3.38869631e-02 9.99425672e-01 2.47390288e-05 -2.95584736e+00] [ 2.82015968e-04 -1.51910878e-05 9.99999960e-01 -2.36918129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.087552018 meters Centerline goodness [0,1] 0.9813420134456642 Centerline is valid? [True, True] Translation: X:33.20, Y:-2.96, Z:-0.24 [[ 9.99384803e-01 3.50715312e-02 5.29545167e-05 3.31998708e+01] [-3.50715310e-02 9.99384805e-01 -5.24453553e-06 -2.95752677e+00] [-5.31058733e-05 3.38411314e-06 9.99999999e-01 -2.37338550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.117552018 meters Centerline goodness [0,1] 0.9810882760089448 Centerline is valid? [True, True] Translation: X:33.23, Y:-2.96, Z:-0.24 [[ 9.99289780e-01 3.76547620e-02 -1.43310807e-03 3.32280183e+01] [-3.76546173e-02 9.99290805e-01 1.27833400e-04 -2.96124403e+00] [ 1.43690525e-03 -7.37794744e-05 9.99998965e-01 -2.37824223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.147552018 meters Centerline goodness [0,1] 0.9812085404091035 Centerline is valid? [True, True] Translation: X:33.26, Y:-2.96, Z:-0.24 [[ 9.99292729e-01 3.75748252e-02 -1.47479099e-03 3.32560565e+01] [-3.75746724e-02 9.99293814e-01 1.31137911e-04 -2.96216461e+00] [ 1.47867700e-03 -7.56303725e-05 9.99998904e-01 -2.38035793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.177552018 meters Centerline goodness [0,1] 0.9813994685562445 Centerline is valid? [True, True] Translation: X:33.28, Y:-2.97, Z:-0.24 [[ 9.99304532e-01 3.72706664e-02 -1.16188361e-03 3.32834060e+01] [-3.72705716e-02 9.99305206e-01 1.03169515e-04 -2.96680332e+00] [ 1.16492154e-03 -5.97936980e-05 9.99999320e-01 -2.38917810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.207552017999994 meters Centerline goodness [0,1] 0.9809578519605966 Centerline is valid? [True, True] Translation: X:33.31, Y:-2.97, Z:-0.24 [[ 9.99318437e-01 3.69133333e-02 -2.58936860e-04 3.33122269e+01] [-3.69133287e-02 9.99318471e-01 2.26241223e-05 -2.96762647e+00] [ 2.59595519e-04 -1.30504812e-05 9.99999966e-01 -2.38366901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.237552017999995 meters Centerline goodness [0,1] 0.9814319667260843 Centerline is valid? [True, True] Translation: X:33.34, Y:-2.97, Z:-0.24 [[ 9.99347699e-01 3.61105450e-02 4.53631750e-04 3.33407451e+01] [-3.61105301e-02 9.99347801e-01 -4.09320993e-05 -2.97180126e+00] [-4.54813972e-04 2.45245163e-05 9.99999896e-01 -2.37621236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.267552017999996 meters Centerline goodness [0,1] 0.9804983055904857 Centerline is valid? [True, True] Translation: X:33.37, Y:-2.98, Z:-0.24 [[ 9.99381195e-01 3.51626709e-02 9.02401270e-04 3.33695304e+01] [-3.51626122e-02 9.99381601e-01 -8.08780019e-05 -2.97526814e+00] [-9.04687113e-04 4.90971683e-05 9.99999590e-01 -2.37712540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.297552018 meters Centerline goodness [0,1] 0.9813163662673164 Centerline is valid? [True, True] Translation: X:33.40, Y:-2.98, Z:-0.24 [[ 9.99412348e-01 3.42707279e-02 6.90276199e-04 3.33979359e+01] [-3.42706933e-02 9.99412585e-01 -6.19345877e-05 -2.97728431e+00] [-6.91993264e-04 3.82419478e-05 9.99999760e-01 -2.38039567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.327552018 meters Centerline goodness [0,1] 0.9802194537003629 Centerline is valid? [True, True] Translation: X:33.42, Y:-2.98, Z:-0.24 [[ 9.99464298e-01 3.27275150e-02 -1.64191278e-04 3.34247740e+01] [-3.27275131e-02 9.99464311e-01 1.40226814e-05 -2.98441171e+00] [ 1.64562250e-04 -8.64159723e-06 9.99999986e-01 -2.39598995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.357552018 meters Centerline goodness [0,1] 0.979962522890848 Centerline is valid? [True, True] Translation: X:33.45, Y:-2.99, Z:-0.24 [[ 9.99567837e-01 2.93060341e-02 -2.30107054e-03 3.34535152e+01] [-2.93056408e-02 9.99570477e-01 2.04476379e-04 -2.99256407e+00] [ 2.30607457e-03 -1.36953665e-04 9.99997332e-01 -2.41576170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.387552017999994 meters Centerline goodness [0,1] 0.9801352673444212 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.99, Z:-0.24 [[ 9.99654593e-01 2.61740184e-02 -2.36964679e-03 3.34835612e+01] [-2.61735927e-02 9.99657391e-01 2.10497271e-04 -2.99480043e+00] [ 2.37434449e-03 -1.48402394e-04 9.99997170e-01 -2.42201756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.417552017999995 meters Centerline goodness [0,1] 0.9790966699272743 Centerline is valid? [True, True] Translation: X:33.51, Y:-3.01, Z:-0.24 [[ 9.99730861e-01 2.30460275e-02 -2.66194317e-03 3.35122152e+01] [-2.30454793e-02 9.99734390e-01 2.36426751e-04 -3.00593305e+00] [ 2.66668483e-03 -1.75017363e-04 9.99996429e-01 -2.43315930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.447552017999996 meters Centerline goodness [0,1] 0.9786187001527236 Centerline is valid? [True, True] Translation: X:33.54, Y:-3.01, Z:-0.24 [[ 9.99832785e-01 1.82217962e-02 -1.53870890e-03 3.35423950e+01] [-1.82216073e-02 9.99833963e-01 1.36694538e-04 -3.00603086e+00] [ 1.54094424e-03 -1.08633932e-04 9.99998807e-01 -2.41160029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.477552018 meters Centerline goodness [0,1] 0.9774888291226361 Centerline is valid? [True, True] Translation: X:33.57, Y:-3.01, Z:-0.24 [[ 9.99852815e-01 1.71551423e-02 -2.20728850e-04 3.35698134e+01] [-1.71551385e-02 9.99852840e-01 1.89999145e-05 -3.01177001e+00] [ 2.21022314e-04 -1.52104840e-05 9.99999975e-01 -2.39796694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.507552018 meters Centerline goodness [0,1] 0.9785472577521442 Centerline is valid? [True, True] Translation: X:33.60, Y:-3.01, Z:-0.24 [[ 9.99865008e-01 1.63921526e-02 1.12407838e-03 3.35982754e+01] [-1.63920502e-02 9.99865636e-01 -1.00281309e-04 -3.01213381e+00] [-1.12557117e-03 8.18418228e-05 9.99999363e-01 -2.38434395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.537552018 meters Centerline goodness [0,1] 0.9782770896842823 Centerline is valid? [True, True] Translation: X:33.63, Y:-3.01, Z:-0.24 [[ 9.99862232e-01 1.65335150e-02 1.46963110e-03 3.36267676e+01] [-1.65333407e-02 9.99863306e-01 -1.30674816e-04 -3.01479443e+00] [-1.47159073e-03 1.06358902e-04 9.99998912e-01 -2.37703046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.567552018 meters Centerline goodness [0,1] 0.9790571458976269 Centerline is valid? [True, True] Translation: X:33.66, Y:-3.01, Z:-0.24 [[ 9.99813491e-01 1.92141122e-02 1.94965203e-03 3.36575467e+01] [-1.92138114e-02 9.99815383e-01 -1.72893778e-04 -3.01179522e+00] [-1.95261409e-03 1.35401286e-04 9.99998084e-01 -2.37546607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.597552017999995 meters Centerline goodness [0,1] 0.9785458879618594 Centerline is valid? [True, True] Translation: X:33.69, Y:-3.01, Z:-0.24 [[ 9.99739195e-01 2.28156525e-02 9.94127745e-04 3.36876704e+01] [-2.28155761e-02 9.99739687e-01 -8.81239807e-05 -3.01239748e+00] [-9.95879567e-04 6.54194002e-05 9.99999502e-01 -2.37427006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.627552017999996 meters Centerline goodness [0,1] 0.9789748376967794 Centerline is valid? [True, True] Translation: X:33.72, Y:-3.01, Z:-0.24 [[ 9.99700867e-01 2.44324940e-02 1.10888372e-03 3.37157598e+01] [-2.44323996e-02 9.99701480e-01 -9.86155396e-05 -3.01340533e+00] [-1.11096212e-03 7.14933504e-05 9.99999380e-01 -2.38691808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.657552018 meters Centerline goodness [0,1] 0.9795041884594123 Centerline is valid? [True, True] Translation: X:33.75, Y:-3.01, Z:-0.24 [[ 9.99636957e-01 2.69071805e-02 1.39915233e-03 3.37460099e+01] [-2.69070334e-02 9.99637933e-01 -1.23821902e-04 -3.01133236e+00] [-1.40197744e-03 8.61299105e-05 9.99999014e-01 -2.38773109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.687552018 meters Centerline goodness [0,1] 0.9800341296928328 Centerline is valid? [True, True] Translation: X:33.78, Y:-3.01, Z:-0.24 [[ 9.99500268e-01 3.15678646e-02 1.63818771e-03 3.37764160e+01] [-3.15676694e-02 9.99501606e-01 -1.44852067e-04 -3.00845077e+00] [-1.64194392e-03 9.30659116e-05 9.99998648e-01 -2.38528363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.717552018 meters Centerline goodness [0,1] 0.9810790677875918 Centerline is valid? [True, True] Translation: X:33.81, Y:-3.01, Z:-0.24 [[ 9.99450337e-01 3.31180684e-02 1.48885009e-03 3.38054388e+01] [-3.31179084e-02 9.99451443e-01 -1.31998350e-04 -3.00911509e+00] [-1.49240490e-03 8.26181941e-05 9.99998883e-01 -2.38592550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.747552018 meters Centerline goodness [0,1] 0.9801258129864591 Centerline is valid? [True, True] Translation: X:33.83, Y:-3.01, Z:-0.24 [[ 9.99399227e-01 3.46532425e-02 5.81801610e-04 3.38348263e+01] [-3.46532183e-02 9.99399396e-01 -5.17294196e-05 -3.00954302e+00] [-5.83244770e-04 3.15370437e-05 9.99999829e-01 -2.38370715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.777552017999994 meters Centerline goodness [0,1] 0.9805537806176784 Centerline is valid? [True, True] Translation: X:33.86, Y:-3.01, Z:-0.24 [[ 9.99433967e-01 3.36201186e-02 1.19744848e-03 3.38622758e+01] [-3.36200155e-02 9.99434682e-01 -1.06193619e-04 -3.01175245e+00] [-1.20034178e-03 6.58752740e-05 9.99999277e-01 -2.39005494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.807552017999996 meters Centerline goodness [0,1] 0.9809014840206954 Centerline is valid? [True, True] Translation: X:33.89, Y:-3.01, Z:-0.24 [[ 9.99459036e-01 3.28648618e-02 1.23907012e-03 3.38910581e+01] [-3.28647511e-02 9.99459802e-01 -1.09635229e-04 -3.01448305e+00] [-1.24200392e-03 6.88541898e-05 9.99999226e-01 -2.39155602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.837552018 meters Centerline goodness [0,1] 0.9802216031135025 Centerline is valid? [True, True] Translation: X:33.92, Y:-3.02, Z:-0.24 [[ 9.99543145e-01 3.02069547e-02 1.02044558e-03 3.39200792e+01] [-3.02068783e-02 9.99543664e-01 -9.01946118e-05 -3.01856034e+00] [-1.02270442e-03 5.93289306e-05 9.99999475e-01 -2.40093090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.867552018 meters Centerline goodness [0,1] 0.9795718184919823 Centerline is valid? [True, True] Translation: X:33.95, Y:-3.02, Z:-0.24 [[ 9.99603088e-01 2.81628959e-02 7.19403616e-04 3.39497419e+01] [-2.81628574e-02 9.99603346e-01 -6.35432945e-05 -3.02269231e+00] [-7.20907825e-04 4.32576119e-05 9.99999739e-01 -2.40461716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.897552018 meters Centerline goodness [0,1] 0.9795549314951919 Centerline is valid? [True, True] Translation: X:33.98, Y:-3.03, Z:-0.24 [[ 9.99663185e-01 2.59496610e-02 3.63187568e-04 3.39785470e+01] [-2.59496510e-02 9.99663251e-01 -3.23050700e-05 -3.02697242e+00] [-3.63903571e-04 2.28695986e-05 9.99999934e-01 -2.40709761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.927552018 meters Centerline goodness [0,1] 0.9791826309067688 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.03, Z:-0.24 [[ 9.99776949e-01 2.11028274e-02 8.50357546e-04 3.40089966e+01] [-2.11027714e-02 9.99777309e-01 -7.47808400e-05 -3.03258450e+00] [-8.51746266e-04 5.68192592e-05 9.99999636e-01 -2.40814663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.957552017999994 meters Centerline goodness [0,1] 0.9791826309067688 Centerline is valid? [True, True] Translation: X:34.04, Y:-3.03, Z:-0.24 [[ 9.99778615e-01 2.10237650e-02 8.50322082e-04 3.40372722e+01] [-2.10237087e-02 9.99778975e-01 -7.51844110e-05 -3.03499668e+00] [-8.51714798e-04 5.72908426e-05 9.99999636e-01 -2.40991346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.987552017999995 meters Centerline goodness [0,1] 0.9789487141243901 Centerline is valid? [True, True] Translation: X:34.07, Y:-3.04, Z:-0.24 [[ 9.99820272e-01 1.89207978e-02 1.19448730e-03 3.40667671e+01] [-1.89206857e-02 9.99820982e-01 -1.05121797e-04 -3.03757844e+00] [-1.19626245e-03 8.25023851e-05 9.99999281e-01 -2.40320263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.017552017999996 meters Centerline goodness [0,1] 0.9779559968599495 Centerline is valid? [True, True] Translation: X:34.10, Y:-3.04, Z:-0.24 [[ 9.99848397e-01 1.73381904e-02 1.60329183e-03 3.40957218e+01] [-1.73379864e-02 9.99849676e-01 -1.41032421e-04 -3.04049540e+00] [-1.60549607e-03 1.13213188e-04 9.99998705e-01 -2.39557040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.047552018 meters Centerline goodness [0,1] 0.978215546951453 Centerline is valid? [True, True] Translation: X:34.12, Y:-3.04, Z:-0.24 [[ 9.99866567e-01 1.60426067e-02 3.07953215e-03 3.41249345e+01] [-1.60418498e-02 9.99871285e-01 -2.70319551e-04 -3.04366816e+00] [-3.08347240e-03 2.20882089e-04 9.99995222e-01 -2.38897521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.077552018 meters Centerline goodness [0,1] 0.9771081523008642 Centerline is valid? [True, True] Translation: X:34.15, Y:-3.05, Z:-0.24 [[ 9.99872047e-01 1.55395680e-02 3.79616546e-03 3.41529811e+01] [-1.55384150e-02 9.99879216e-01 -3.33035133e-04 -3.04851244e+00] [-3.80088217e-03 2.74006126e-04 9.99992739e-01 -2.38448245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.107552018 meters Centerline goodness [0,1] 0.9778681889830869 Centerline is valid? [True, True] Translation: X:34.18, Y:-3.05, Z:-0.24 [[ 9.99858940e-01 1.61497155e-02 4.61376198e-03 3.41830749e+01] [-1.61480202e-02 9.99869530e-01 -4.04468512e-04 -3.04745360e+00] [-4.61969207e-03 3.29908336e-04 9.99989275e-01 -2.37414933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.137552017999994 meters Centerline goodness [0,1] 0.9787238583013231 Centerline is valid? [True, True] Translation: X:34.21, Y:-3.05, Z:-0.24 [[ 9.99847520e-01 1.68185808e-02 4.69805620e-03 3.42127203e+01] [-1.68168312e-02 9.99858502e-01 -4.11672642e-04 -3.04517244e+00] [-4.70431518e-03 3.32603453e-04 9.99988879e-01 -2.36998134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.167552017999995 meters Centerline goodness [0,1] 0.978496690155883 Centerline is valid? [True, True] Translation: X:34.24, Y:-3.04, Z:-0.24 [[ 9.99824012e-01 1.81089795e-02 4.89994986e-03 3.42426486e+01] [-1.81070927e-02 9.99835961e-01 -4.29159883e-04 -3.04453310e+00] [-4.90691772e-03 3.40360509e-04 9.99987903e-01 -2.36758999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.197552017999996 meters Centerline goodness [0,1] 0.9794201784723112 Centerline is valid? [True, True] Translation: X:34.27, Y:-3.04, Z:-0.24 [[ 9.99773950e-01 2.03110319e-02 6.28583178e-03 3.42726887e+01] [-2.03079721e-02 9.99793620e-01 -5.50223813e-04 -3.04127290e+00] [-6.29571013e-03 4.22446938e-04 9.99980093e-01 -2.36178934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.227552018 meters Centerline goodness [0,1] 0.9775893009741925 Centerline is valid? [True, True] Translation: X:34.30, Y:-3.05, Z:-0.24 [[ 9.99746971e-01 2.14944573e-02 6.63198330e-03 3.43008180e+01] [-2.14910790e-02 9.99768872e-01 -5.80238810e-04 -3.04572938e+00] [-6.64292238e-03 4.37563515e-04 9.99977840e-01 -2.36501445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.257552018 meters Centerline goodness [0,1] 0.9792307035519126 Centerline is valid? [True, True] Translation: X:34.33, Y:-3.04, Z:-0.24 [[ 9.99721882e-01 2.26477461e-02 6.57557266e-03 3.43305509e+01] [-2.26444524e-02 9.99743416e-01 -5.74925897e-04 -3.04331320e+00] [-6.58690625e-03 4.25865758e-04 9.99978215e-01 -2.36690083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.287552018 meters Centerline goodness [0,1] 0.9797551789077212 Centerline is valid? [True, True] Translation: X:34.36, Y:-3.05, Z:-0.24 [[ 9.99705482e-01 2.35238467e-02 5.96479942e-03 3.43593320e+01] [-2.35211532e-02 9.99723203e-01 -5.21316014e-04 -3.04514694e+00] [-5.97541174e-03 3.80863516e-04 9.99982075e-01 -2.38768393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31755201799999 meters Centerline goodness [0,1] 0.9789984190061103 Centerline is valid? [True, True] Translation: X:34.39, Y:-3.05, Z:-0.24 [[ 9.99707907e-01 2.36755765e-02 4.85463027e-03 3.43887722e+01] [-2.36737954e-02 9.99719647e-01 -4.24045179e-04 -3.04738425e+00] [-4.86330877e-03 3.08993795e-04 9.99988126e-01 -2.40429022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.347552017999995 meters Centerline goodness [0,1] 0.9788776055585249 Centerline is valid? [True, True] Translation: X:34.42, Y:-3.05, Z:-0.24 [[ 9.99726807e-01 2.30353970e-02 3.96009013e-03 3.44173448e+01] [-2.30342070e-02 9.99734618e-01 -3.45841819e-04 -3.05044892e+00] [-3.96700579e-03 2.54529802e-04 9.99992099e-01 -2.42142230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.377552017999996 meters Centerline goodness [0,1] 0.980216442809479 Centerline is valid? [True, True] Translation: X:34.45, Y:-3.05, Z:-0.24 [[ 9.99725019e-01 2.33890933e-02 1.68405430e-03 3.44461260e+01] [-2.33888782e-02 9.99726432e-01 -1.47283330e-04 -3.04739034e+00] [-1.68703842e-03 1.07854689e-04 9.99998571e-01 -2.42847713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.407552018 meters Centerline goodness [0,1] 0.9797292962986721 Centerline is valid? [True, True] Translation: X:34.47, Y:-3.06, Z:-0.25 [[ 9.99784227e-01 2.07707084e-02 2.79295406e-04 3.44742177e+01] [-2.07707024e-02 9.99784265e-01 -2.43814109e-05 -3.05691446e+00] [-2.79741572e-04 1.85749883e-05 9.99999961e-01 -2.45362167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.437552018 meters Centerline goodness [0,1] 0.9803206686282034 Centerline is valid? [True, True] Translation: X:34.50, Y:-3.05, Z:-0.25 [[ 9.99795002e-01 2.02435850e-02 -3.89496631e-04 3.45030802e+01] [-2.02435735e-02 9.99795077e-01 3.34323230e-05 -3.05378534e+00] [ 3.90093604e-04 -2.55406658e-05 9.99999924e-01 -2.45877356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.467552018 meters Centerline goodness [0,1] 0.9803846317854249 Centerline is valid? [True, True] Translation: X:34.53, Y:-3.05, Z:-0.25 [[ 9.99810549e-01 1.94449393e-02 -8.71753934e-04 3.45322579e+01] [-1.94448809e-02 9.99810928e-01 7.53462083e-05 -3.05345685e+00] [ 8.73054211e-04 -5.83807825e-05 9.99999617e-01 -2.45875385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.497552018 meters Centerline goodness [0,1] 0.9815785532424741 Centerline is valid? [True, True] Translation: X:34.56, Y:-3.05, Z:-0.25 [[ 9.99811756e-01 1.93832214e-02 -8.61627188e-04 3.45607265e+01] [-1.93831644e-02 9.99812126e-01 7.43940019e-05 -3.05456791e+00] [ 8.62907306e-04 -5.76789362e-05 9.99999626e-01 -2.45241723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.527552017999994 meters Centerline goodness [0,1] 0.98222621953831 Centerline is valid? [True, True] Translation: X:34.59, Y:-3.05, Z:-0.24 [[ 9.99791447e-01 2.04137999e-02 5.83206409e-04 3.45903004e+01] [-2.04137735e-02 9.99791616e-01 -5.10299144e-05 -3.05356450e+00] [-5.84126592e-04 3.91138284e-05 9.99999829e-01 -2.43658223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.557552017999996 meters Centerline goodness [0,1] 0.9818201284796574 Centerline is valid? [True, True] Translation: X:34.62, Y:-3.05, Z:-0.24 [[ 9.99762548e-01 2.17082056e-02 1.89798816e-03 3.46194549e+01] [-2.17079309e-02 9.99764341e-01 -1.65203092e-04 -3.05297680e+00] [-1.90112715e-03 1.23962468e-04 9.99998185e-01 -2.43143548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.587552018 meters Centerline goodness [0,1] 0.9821034357116831 Centerline is valid? [True, True] Translation: X:34.65, Y:-3.05, Z:-0.24 [[ 9.99725950e-01 2.32769662e-02 2.49171318e-03 3.46474277e+01] [-2.32764984e-02 9.99729042e-01 -2.16570139e-04 -3.05436061e+00] [-2.49607913e-03 1.58512430e-04 9.99996872e-01 -2.42642162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.617552018 meters Centerline goodness [0,1] 0.9827604668594068 Centerline is valid? [True, True] Translation: X:34.68, Y:-3.05, Z:-0.24 [[ 9.99660247e-01 2.58591125e-02 3.27069283e-03 3.46781140e+01] [-2.58583226e-02 9.99665577e-01 -2.83567787e-04 -3.05019383e+00] [-3.27693185e-03 1.98896814e-04 9.99994611e-01 -2.41780637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.647552018 meters Centerline goodness [0,1] 0.9819949046222356 Centerline is valid? [True, True] Translation: X:34.71, Y:-3.05, Z:-0.24 [[ 9.99642071e-01 2.65256832e-02 3.48117692e-03 3.47060120e+01] [-2.65247919e-02 9.99648110e-01 -3.01954895e-04 -3.05406591e+00] [-3.48796149e-03 2.09509323e-04 9.99993895e-01 -2.41975340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.677552018 meters Centerline goodness [0,1] 0.983404182231955 Centerline is valid? [True, True] Translation: X:34.73, Y:-3.05, Z:-0.24 [[ 9.99611493e-01 2.76835376e-02 3.23800268e-03 3.47347052e+01] [-2.76827736e-02 9.99616719e-01 -2.80524734e-04 -3.05223286e+00] [-3.24452753e-03 1.90778853e-04 9.99994718e-01 -2.41848527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.707552017999994 meters Centerline goodness [0,1] 0.9827219849327123 Centerline is valid? [True, True] Translation: X:34.76, Y:-3.05, Z:-0.24 [[ 9.99636255e-01 2.65396477e-02 4.79629787e-03 3.47630901e+01] [-2.65379612e-02 9.99647720e-01 -4.14935107e-04 -3.05364611e+00] [-4.80562046e-03 2.87500210e-04 9.99988412e-01 -2.41324762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.737552017999995 meters Centerline goodness [0,1] 0.982761947642632 Centerline is valid? [True, True] Translation: X:34.79, Y:-3.06, Z:-0.24 [[ 9.99657354e-01 2.57183446e-02 4.87247063e-03 3.47906670e+01] [-2.57165968e-02 9.99669185e-01 -4.21047423e-04 -3.05718706e+00] [-4.88168739e-03 2.95599791e-04 9.99988041e-01 -2.41444567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.767552017999996 meters Centerline goodness [0,1] 0.982481375727259 Centerline is valid? [True, True] Translation: X:34.82, Y:-3.06, Z:-0.24 [[ 9.99659170e-01 2.57111263e-02 4.52579277e-03 3.48185563e+01] [-2.57096204e-02 9.99669377e-01 -3.90610629e-04 -3.06043232e+00] [-4.53433948e-03 2.74121083e-04 9.99989682e-01 -2.41112554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.797552018 meters Centerline goodness [0,1] 0.9826672673059185 Centerline is valid? [True, True] Translation: X:34.85, Y:-3.06, Z:-0.24 [[ 9.99702985e-01 2.38277783e-02 5.11643301e-03 3.48475820e+01] [-2.38258323e-02 9.99716027e-01 -4.40970517e-04 -3.06143043e+00] [-5.12548743e-03 3.18936267e-04 9.99986814e-01 -2.40903198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.827552018 meters Centerline goodness [0,1] 0.9833614558192187 Centerline is valid? [True, True] Translation: X:34.88, Y:-3.06, Z:-0.24 [[ 9.99741623e-01 2.23417245e-02 4.18754861e-03 3.48774200e+01] [-2.23404089e-02 9.99750357e-01 -3.60694752e-04 -3.06142480e+00] [-4.19456176e-03 2.67050009e-04 9.99991167e-01 -2.41489819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.857552018 meters Centerline goodness [0,1] 0.9835099864553996 Centerline is valid? [True, True] Translation: X:34.91, Y:-3.06, Z:-0.24 [[ 9.99754699e-01 2.18768860e-02 3.45592552e-03 3.49062114e+01] [-2.18759871e-02 9.99760648e-01 -2.97692658e-04 -3.06269870e+00] [-3.46161093e-03 2.22017851e-04 9.99993984e-01 -2.42426070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.887552017999994 meters Centerline goodness [0,1] 0.9839898566608644 Centerline is valid? [True, True] Translation: X:34.94, Y:-3.06, Z:-0.24 [[ 9.99752941e-01 2.20037312e-02 3.14522332e-03 3.49351653e+01] [-2.20029880e-02 9.99757868e-01 -2.70723380e-04 -3.06461788e+00] [-3.15041868e-03 2.01452185e-04 9.99995017e-01 -2.43507063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.917552017999995 meters Centerline goodness [0,1] 0.9832140477572162 Centerline is valid? [True, True] Translation: X:34.96, Y:-3.07, Z:-0.25 [[ 9.99737599e-01 2.27842974e-02 2.36821096e-03 3.49625525e+01] [-2.27838782e-02 9.99740393e-01 -2.03849012e-04 -3.06704598e+00] [-2.37224071e-03 1.49838492e-04 9.99997175e-01 -2.45034826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.947552017999996 meters Centerline goodness [0,1] 0.9841954948570938 Centerline is valid? [True, True] Translation: X:34.99, Y:-3.07, Z:-0.25 [[ 9.99636628e-01 2.69533597e-02 3.57603421e-04 3.49915540e+01] [-2.69533504e-02 9.99636692e-01 -3.09136877e-05 -3.06720932e+00] [-3.58306729e-04 2.12638442e-05 9.99999936e-01 -2.48057375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.977552018 meters Centerline goodness [0,1] 0.9855194259486716 Centerline is valid? [True, True] Translation: X:35.02, Y:-3.07, Z:-0.25 [[ 9.99570099e-01 2.93175172e-02 3.15395816e-04 3.50218647e+01] [-2.93175101e-02 9.99570149e-01 -2.71706008e-05 -3.06585706e+00] [-3.16056818e-04 1.79123002e-05 9.99999950e-01 -2.48310608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.007552018 meters Centerline goodness [0,1] 0.9854622988951347 Centerline is valid? [True, True] Translation: X:35.05, Y:-3.06, Z:-0.25 [[ 9.99523585e-01 3.08614139e-02 4.18668839e-04 3.50510132e+01] [-3.08614013e-02 9.99523673e-01 -3.63620592e-05 -3.06467450e+00] [-4.19591601e-04 2.34240287e-05 9.99999912e-01 -2.48632965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.037552018 meters Centerline goodness [0,1] 0.985550562280947 Centerline is valid? [True, True] Translation: X:35.08, Y:-3.06, Z:-0.25 [[ 9.99305352e-01 3.72659722e-02 2.48303421e-04 3.50816953e+01] [-3.72659681e-02 9.99305382e-01 -2.12974698e-05 -3.05908417e+00] [-2.48924616e-04 1.20294082e-05 9.99999969e-01 -2.48167617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06755201799999 meters Centerline goodness [0,1] 0.9860408833571027 Centerline is valid? [True, True] Translation: X:35.11, Y:-3.06, Z:-0.25 [[ 9.99184026e-01 4.03885295e-02 2.20599100e-04 3.51112977e+01] [-4.03885262e-02 9.99184050e-01 -1.91367886e-05 -3.05829209e+00] [-2.21192009e-04 1.02115009e-05 9.99999975e-01 -2.47842786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.097552017999995 meters Centerline goodness [0,1] 0.9867359703230816 Centerline is valid? [True, True] Translation: X:35.14, Y:-3.06, Z:-0.25 [[ 9.99057505e-01 4.34057207e-02 2.10053472e-04 3.51400063e+01] [-4.34057178e-02 9.99057528e-01 -1.83405120e-05 -3.05967024e+00] [-2.10651585e-04 9.20570447e-06 9.99999978e-01 -2.48361505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.127552017999996 meters Centerline goodness [0,1] 0.9870962191922233 Centerline is valid? [True, True] Translation: X:35.17, Y:-3.06, Z:-0.25 [[ 9.98928866e-01 4.62693386e-02 5.18519388e-04 3.51690598e+01] [-4.62693216e-02 9.98929000e-01 -4.48253757e-05 -3.05793139e+00] [-5.20038094e-04 2.07858214e-05 9.99999865e-01 -2.47780948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.157552018 meters Centerline goodness [0,1] 0.9871388187566086 Centerline is valid? [True, True] Translation: X:35.20, Y:-3.06, Z:-0.25 [[ 9.98589319e-01 5.30635659e-02 1.90538949e-03 3.51992602e+01] [-5.30633514e-02 9.98591135e-01 -1.62999332e-04 -3.05574073e+00] [-1.91135437e-03 6.16630397e-05 9.99998171e-01 -2.46264386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.187552018 meters Centerline goodness [0,1] 0.9864172933136234 Centerline is valid? [True, True] Translation: X:35.23, Y:-3.06, Z:-0.25 [[ 9.98428394e-01 5.59096006e-02 3.85479731e-03 3.52274184e+01] [-5.59087440e-02 9.98435829e-01 -3.29702049e-04 -3.05914820e+00] [-3.86720126e-03 1.13667011e-04 9.99992516e-01 -2.45324937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.217552018 meters Centerline goodness [0,1] 0.9873979448956292 Centerline is valid? [True, True] Translation: X:35.26, Y:-3.06, Z:-0.24 [[ 9.98209221e-01 5.96318530e-02 4.73216107e-03 3.52565237e+01] [-5.96306062e-02 9.98220430e-01 -4.04249718e-04 -3.05909346e+00] [-4.74784601e-03 1.21344163e-04 9.99988722e-01 -2.44651203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.247552018 meters Centerline goodness [0,1] 0.987116062978577 Centerline is valid? [True, True] Translation: X:35.29, Y:-3.06, Z:-0.24 [[ 9.97924208e-01 6.42376704e-02 4.56038869e-03 3.52858902e+01] [-6.42365623e-02 9.97934623e-01 -3.89206061e-04 -3.05971144e+00] [-4.57597146e-03 9.54544587e-05 9.99989526e-01 -2.44861633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.277552017999994 meters Centerline goodness [0,1] 0.9884876915131692 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.06, Z:-0.24 [[ 9.97379756e-01 7.21240261e-02 5.63444104e-03 3.53151320e+01] [-7.21224626e-02 9.97395669e-01 -4.80434756e-04 -3.05933631e+00] [-5.65441798e-03 7.28061361e-05 9.99984011e-01 -2.44888521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.307552017999996 meters Centerline goodness [0,1] 0.9886089577950044 Centerline is valid? [True, True] Translation: X:35.34, Y:-3.06, Z:-0.25 [[ 9.96989903e-01 7.73788174e-02 4.86328783e-03 3.53436303e+01] [-7.73777156e-02 9.97001764e-01 -4.14573025e-04 -3.06068469e+00] [-4.88078572e-03 3.70150166e-05 9.99988088e-01 -2.45905164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.337552018 meters Centerline goodness [0,1] 0.9898514266056032 Centerline is valid? [True, True] Translation: X:35.37, Y:-3.06, Z:-0.25 [[ 9.96743373e-01 8.04552102e-02 5.44126931e-03 3.53728955e+01] [-8.04538787e-02 9.96758225e-01 -4.63497593e-04 -3.06184284e+00] [-5.46092073e-03 2.42169327e-05 9.99985089e-01 -2.46241048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.367552018 meters Centerline goodness [0,1] 0.9904481208183638 Centerline is valid? [True, True] Translation: X:35.40, Y:-3.06, Z:-0.25 [[ 9.96436857e-01 8.41195011e-02 6.12372434e-03 3.54003949e+01] [-8.41178947e-02 9.96455674e-01 -5.19871984e-04 -3.06399122e+00] [-6.14575124e-03 2.90480589e-06 9.99981115e-01 -2.46916316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.397552018 meters Centerline goodness [0,1] 0.9907471017604121 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.07, Z:-0.25 [[ 9.96128107e-01 8.76858777e-02 6.32308084e-03 3.54284946e+01] [-8.76842496e-02 9.96148175e-01 -5.34781610e-04 -3.06698488e+00] [-6.34561824e-03 -2.17236064e-05 9.99979866e-01 -2.46699794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.427552018 meters Centerline goodness [0,1] 0.9908404478956626 Centerline is valid? [True, True] Translation: X:35.46, Y:-3.07, Z:-0.25 [[ 9.95698014e-01 9.23521553e-02 7.51965009e-03 3.54568121e+01] [-9.23499939e-02 9.95726406e-01 -6.34903806e-04 -3.07341894e+00] [-7.54614890e-03 -6.22671822e-05 9.99971525e-01 -2.47143197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.457552017999994 meters Centerline goodness [0,1] 0.9906728418885887 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.08, Z:-0.25 [[ 9.95522162e-01 9.42329898e-02 7.46786293e-03 3.54849926e+01] [-9.42309245e-02 9.95550168e-01 -6.28717988e-04 -3.07898689e+00] [-7.49387817e-03 -7.78009375e-05 9.99971917e-01 -2.47428172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.487552017999995 meters Centerline goodness [0,1] 0.9910467581982136 Centerline is valid? [True, True] Translation: X:35.51, Y:-3.08, Z:-0.25 [[ 9.95386799e-01 9.56305498e-02 7.74073720e-03 3.55122446e+01] [-9.56283781e-02 9.95416892e-01 -6.51033638e-04 -3.08464827e+00] [-7.76751927e-03 -9.22038552e-05 9.99969828e-01 -2.47785293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.517552017999996 meters Centerline goodness [0,1] 0.9901272112048657 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.10, Z:-0.25 [[ 9.95251664e-01 9.69902930e-02 8.18590626e-03 3.55398731e+01] [-9.69879169e-02 9.95285321e-01 -6.87673822e-04 -3.09773239e+00] [-8.21401003e-03 -1.09525481e-04 9.99966258e-01 -2.48466989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.547552018 meters Centerline goodness [0,1] 0.9898229144442073 Centerline is valid? [True, True] Translation: X:35.57, Y:-3.11, Z:-0.25 [[ 9.95262228e-01 9.68617027e-02 8.42067785e-03 3.55660383e+01] [-9.68591908e-02 9.95297844e-01 -7.06575288e-04 -3.10514953e+00] [-8.44952259e-03 -1.12392346e-04 9.99964296e-01 -2.48701845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.577552018 meters Centerline goodness [0,1] 0.9891561892970735 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.11, Z:-0.25 [[ 9.95303781e-01 9.64022577e-02 8.77423888e-03 3.55944168e+01] [-9.63995223e-02 9.95342449e-01 -7.35139520e-04 -3.11477971e+00] [-8.80424152e-03 -1.14145291e-04 9.99961235e-01 -2.49205226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.607552018 meters Centerline goodness [0,1] 0.9891836647787762 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.12, Z:-0.25 [[ 9.95426419e-01 9.50475355e-02 9.60264890e-03 3.56222660e+01] [-9.50442124e-02 9.95472728e-01 -8.02851193e-04 -3.12167278e+00] [-9.63548412e-03 -1.13496914e-04 9.99953571e-01 -2.49136159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.637552017999994 meters Centerline goodness [0,1] 0.9883184492318111 Centerline is valid? [True, True] Translation: X:35.65, Y:-3.14, Z:-0.25 [[ 9.95657971e-01 9.26939838e-02 8.54574142e-03 3.56483407e+01] [-9.26912837e-02 9.95694641e-01 -7.12340557e-04 -3.13891757e+00] [-8.57497862e-03 -8.28681891e-05 9.99963231e-01 -2.51084520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.667552017999995 meters Centerline goodness [0,1] 0.9881139881139881 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.15, Z:-0.25 [[ 9.95819392e-01 9.09948055e-02 7.98018031e-03 3.56751942e+01] [-9.09924032e-02 9.95851365e-01 -6.64347001e-04 -3.14932942e+00] [-8.00752558e-03 -6.45661576e-05 9.99967937e-01 -2.52541752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.697552017999996 meters Centerline goodness [0,1] 0.9873778415686937 Centerline is valid? [True, True] Translation: X:35.70, Y:-3.16, Z:-0.25 [[ 9.96003507e-01 8.90131810e-02 7.32577353e-03 3.57030040e+01] [-8.90111082e-02 9.96030447e-01 -6.09144964e-04 -3.16088136e+00] [-7.35091541e-03 -4.53646998e-05 9.99972981e-01 -2.54021849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.727552018 meters Centerline goodness [0,1] 0.987458898912402 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.17, Z:-0.26 [[ 9.96220530e-01 8.65989468e-02 6.72886356e-03 3.57301591e+01] [-8.65971468e-02 9.96243254e-01 -5.58950210e-04 -3.17175417e+00] [-6.75198943e-03 -2.58627111e-05 9.99977205e-01 -2.55225175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.757552018 meters Centerline goodness [0,1] 0.9869396697000337 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.19, Z:-0.26 [[ 9.96543653e-01 8.28312892e-02 6.30272337e-03 3.57565162e+01] [-8.28296387e-02 9.96563584e-01 -5.22905478e-04 -3.19234280e+00] [-6.32437753e-03 -9.54164289e-07 9.99980001e-01 -2.55546962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.787552018 meters Centerline goodness [0,1] 0.9855054197126292 Centerline is valid? [True, True] Translation: X:35.78, Y:-3.20, Z:-0.25 [[ 9.96695697e-01 8.09189340e-02 7.05794588e-03 3.57837368e+01] [-8.09168221e-02 9.96720686e-01 -5.84736926e-04 -3.20374094e+00] [-7.08211695e-03 1.16982267e-05 9.99974921e-01 -2.54718389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81755201799999 meters Centerline goodness [0,1] 0.9856621755540094 Centerline is valid? [True, True] Translation: X:35.81, Y:-3.21, Z:-0.25 [[ 9.96710341e-01 8.07321008e-02 7.12916748e-03 3.58107739e+01] [-8.07299478e-02 9.96735836e-01 -5.89728326e-04 -3.21491908e+00] [-7.15350672e-03 1.22510021e-05 9.99974413e-01 -2.53322796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.847552017999995 meters Centerline goodness [0,1] 0.9877059569074779 Centerline is valid? [True, True] Translation: X:35.84, Y:-3.23, Z:-0.25 [[ 9.96960971e-01 7.72855021e-02 9.78636319e-03 3.58385381e+01] [-7.72812929e-02 9.97009001e-01 -8.08102497e-04 -3.23293644e+00] [-9.81954679e-03 4.93438503e-05 9.99951786e-01 -2.50047863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.877552017999996 meters Centerline goodness [0,1] 0.9877059569074779 Centerline is valid? [True, True] Translation: X:35.87, Y:-3.24, Z:-0.25 [[ 9.96970962e-01 7.71565115e-02 9.78644567e-03 3.58659348e+01] [-7.71523060e-02 9.97018992e-01 -8.07102522e-04 -3.23505295e+00] [-9.81954541e-03 4.96109272e-05 9.99951786e-01 -2.50219006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.907552018 meters Centerline goodness [0,1] 0.9876485962397774 Centerline is valid? [True, True] Translation: X:35.89, Y:-3.24, Z:-0.25 [[ 9.97043108e-01 7.60992778e-02 1.06742953e-02 3.58936930e+01] [-7.60942275e-02 9.97100244e-01 -8.79058318e-04 -3.24421644e+00] [-1.07102381e-02 6.42067839e-05 9.99942642e-01 -2.49138408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.937552018 meters Centerline goodness [0,1] 0.9894254717379375 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.25, Z:-0.25 [[ 9.97135024e-01 7.48509470e-02 1.09123314e-02 3.59217078e+01] [-7.48456048e-02 9.97194730e-01 -8.97685243e-04 -3.25254669e+00] [-1.09489119e-02 7.83733536e-05 9.99940056e-01 -2.48728244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.967552018 meters Centerline goodness [0,1] 0.9894516993312378 Centerline is valid? [True, True] Translation: X:35.95, Y:-3.26, Z:-0.25 [[ 9.97252416e-01 7.32263608e-02 1.12035157e-02 3.59489912e+01] [-7.32206401e-02 9.97315342e-01 -9.20494525e-04 -3.26303923e+00] [-1.12408425e-02 9.76367992e-05 9.99936815e-01 -2.48123310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.997552018 meters Centerline goodness [0,1] 0.9906189392022936 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.28, Z:-0.25 [[ 9.97546965e-01 6.91894476e-02 1.06241598e-02 3.59768684e+01] [-6.91840834e-02 9.97603530e-01 -8.72037791e-04 -3.28158954e+00] [-1.06590351e-02 1.34875895e-04 9.99943182e-01 -2.49135486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.027552017999994 meters Centerline goodness [0,1] 0.9911733726564146 Centerline is valid? [True, True] Translation: X:36.00, Y:-3.29, Z:-0.25 [[ 9.97764571e-01 6.61530680e-02 9.46746308e-03 3.60044078e+01] [-6.61486755e-02 9.97809476e-01 -7.76680937e-04 -3.29333832e+00] [-9.49810419e-03 1.48684578e-04 9.99954881e-01 -2.49319845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.057552017999996 meters Centerline goodness [0,1] 0.992105429359382 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.30, Z:-0.25 [[ 9.97977646e-01 6.29004014e-02 9.17376155e-03 3.60331631e+01] [-6.28961440e-02 9.98019794e-01 -7.52137820e-04 -3.30267293e+00] [-9.20290538e-03 1.73622503e-04 9.99957637e-01 -2.49940420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.087552018 meters Centerline goodness [0,1] 0.9930212945393211 Centerline is valid? [True, True] Translation: X:36.06, Y:-3.32, Z:-0.25 [[ 9.98441845e-01 5.53269610e-02 7.26700121e-03 3.60619242e+01] [-5.53240906e-02 9.98468272e-01 -5.95565417e-04 -3.31995139e+00] [-7.28882097e-03 1.92597200e-04 9.99973418e-01 -2.50864216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.117552018 meters Centerline goodness [0,1] 0.9935486591330747 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.33, Z:-0.25 [[ 9.98644120e-01 5.16010709e-02 6.87400290e-03 3.60920022e+01] [-5.15984154e-02 9.98667756e-01 -5.63224005e-04 -3.33013149e+00] [-6.89390801e-03 2.07772684e-04 9.99976215e-01 -2.51006392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.147552018 meters Centerline goodness [0,1] 0.9943458722757864 Centerline is valid? [True, True] Translation: X:36.12, Y:-3.34, Z:-0.25 [[ 9.98831949e-01 4.76767915e-02 7.85241540e-03 3.61215613e+01] [-4.76732051e-02 9.98862779e-01 -6.43390600e-04 -3.34004918e+00] [-7.87416027e-03 2.68289278e-04 9.99968962e-01 -2.49942040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.177552018 meters Centerline goodness [0,1] 0.9947491617637756 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.35, Z:-0.25 [[ 9.99004531e-01 4.38112063e-02 8.39789455e-03 3.61522797e+01] [-4.38069670e-02 9.99039777e-01 -6.88184171e-04 -3.34840724e+00] [-8.41998087e-03 3.19612817e-04 9.99964500e-01 -2.48764257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.207552017999994 meters Centerline goodness [0,1] 0.9952528641053231 Centerline is valid? [True, True] Translation: X:36.18, Y:-3.36, Z:-0.25 [[ 9.99263543e-01 3.68518274e-02 1.06917572e-02 3.61820082e+01] [-3.68445536e-02 9.99320624e-01 -8.76562767e-04 -3.36228801e+00] [-1.07167964e-02 4.81984195e-04 9.99942457e-01 -2.45831320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.237552017999995 meters Centerline goodness [0,1] 0.9954891338715457 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.37, Z:-0.25 [[ 9.99366107e-01 3.40191538e-02 1.04919241e-02 3.62135836e+01] [-3.40119887e-02 9.99421054e-01 -8.60635485e-04 -3.36876706e+00] [-1.05151279e-02 5.03238731e-04 9.99944588e-01 -2.45638694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.267552017999996 meters Centerline goodness [0,1] 0.995398773006135 Centerline is valid? [True, True] Translation: X:36.24, Y:-3.38, Z:-0.25 [[ 9.99458175e-01 3.12716944e-02 1.02683195e-02 3.62437018e+01] [-3.12646792e-02 9.99510785e-01 -8.43040934e-04 -3.37591886e+00] [-1.02896594e-02 5.21548437e-04 9.99946924e-01 -2.46239465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.297552018 meters Centerline goodness [0,1] 0.9959554046690976 Centerline is valid? [True, True] Translation: X:36.27, Y:-3.39, Z:-0.25 [[ 9.99591795e-01 2.72357413e-02 8.62883839e-03 3.62734246e+01] [-2.72306350e-02 9.99628926e-01 -7.08730951e-04 -3.38506579e+00] [-8.64493927e-03 4.73472895e-04 9.99962520e-01 -2.47685845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.327552018 meters Centerline goodness [0,1] 0.9950774000293261 Centerline is valid? [True, True] Translation: X:36.31, Y:-3.39, Z:-0.25 [[ 9.99633555e-01 2.58714084e-02 7.96400403e-03 3.63050611e+01] [-2.58670104e-02 9.99665178e-01 -6.54752684e-04 -3.38840931e+00] [-7.97827689e-03 4.48507778e-04 9.99968072e-01 -2.49210865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.357552018 meters Centerline goodness [0,1] 0.9954900151032052 Centerline is valid? [True, True] Translation: X:36.34, Y:-3.39, Z:-0.25 [[ 9.99656609e-01 2.49070668e-02 8.14261360e-03 3.63369071e+01] [-2.49024179e-02 9.99689661e-01 -6.71847433e-04 -3.39014554e+00] [-8.15682038e-03 4.68845961e-04 9.99966623e-01 -2.48966447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.387552017999994 meters Centerline goodness [0,1] 0.9947414732255091 Centerline is valid? [True, True] Translation: X:36.37, Y:-3.39, Z:-0.25 [[ 9.99673592e-01 2.40270829e-02 8.68386519e-03 3.63684110e+01] [-2.40217381e-02 9.99711178e-01 -7.19278721e-04 -3.39333503e+00] [-8.69863927e-03 5.10442406e-04 9.99962036e-01 -2.49026791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.417552017999995 meters Centerline goodness [0,1] 0.9948528636219808 Centerline is valid? [True, True] Translation: X:36.40, Y:-3.39, Z:-0.25 [[ 9.99689882e-01 2.32037304e-02 9.04032079e-03 3.64006407e+01] [-2.31978795e-02 9.99730611e-01 -7.51536741e-04 -3.39381574e+00] [-9.05532388e-03 5.41587404e-04 9.99958853e-01 -2.48052065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.447552017999996 meters Centerline goodness [0,1] 0.9955488988271032 Centerline is valid? [True, True] Translation: X:36.43, Y:-3.39, Z:-0.25 [[ 9.99681738e-01 2.39546160e-02 7.91200280e-03 3.64331323e+01] [-2.39501403e-02 9.99712936e-01 -6.59962133e-04 -3.39450799e+00] [-7.92554069e-03 4.70258515e-04 9.99968482e-01 -2.49258148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.477552018 meters Centerline goodness [0,1] 0.9941341601374283 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.40, Z:-0.25 [[ 9.99658495e-01 2.38275983e-02 1.07303107e-02 3.64646762e+01] [-2.38193162e-02 9.99715876e-01 -8.98994827e-04 -3.39711661e+00] [-1.07486828e-02 6.43099153e-04 9.99942024e-01 -2.47274026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.507552018 meters Centerline goodness [0,1] 0.993896407299055 Centerline is valid? [True, True] Translation: X:36.50, Y:-3.40, Z:-0.25 [[ 9.99633911e-01 2.43342427e-02 1.18274937e-02 3.64978002e+01] [-2.43241683e-02 9.99703629e-01 -9.94907617e-04 -3.39654144e+00] [-1.18481987e-02 7.06849445e-04 9.99929558e-01 -2.46922311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.537552018 meters Centerline goodness [0,1] 0.9927775789096881 Centerline is valid? [True, True] Translation: X:36.53, Y:-3.40, Z:-0.25 [[ 9.99625864e-01 2.47277351e-02 1.16906605e-02 3.65304071e+01] [-2.47178721e-02 9.99693979e-01 -9.87421417e-04 -3.39666657e+00] [-1.17114997e-02 6.98083734e-04 9.99931174e-01 -2.47562936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56755201799999 meters Centerline goodness [0,1] 0.9928834561286002 Centerline is valid? [True, True] Translation: X:36.56, Y:-3.39, Z:-0.25 [[ 9.99639511e-01 2.46181055e-02 1.07142864e-02 3.65630168e+01] [-2.46097795e-02 9.99696721e-01 -9.08264743e-04 -3.39284515e+00] [-1.07333967e-02 6.44261099e-04 9.99942188e-01 -2.49529135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.597552017999995 meters Centerline goodness [0,1] 0.9919114873643183 Centerline is valid? [True, True] Translation: X:36.59, Y:-3.40, Z:-0.25 [[ 9.99655867e-01 2.42955022e-02 9.89322214e-03 3.65936660e+01] [-2.42883593e-02 9.99704640e-01 -8.41528506e-04 -3.39732177e+00] [-9.91074544e-03 6.00948775e-04 9.99950707e-01 -2.50940402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.627552017999996 meters Centerline goodness [0,1] 0.9909868171671651 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.39, Z:-0.25 [[ 9.99687430e-01 2.34202486e-02 8.74840703e-03 3.66264610e+01] [-2.34146088e-02 9.99725562e-01 -7.46545161e-04 -3.38906378e+00] [-8.76349041e-03 5.41471286e-04 9.99961453e-01 -2.53916237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.657552018 meters Centerline goodness [0,1] 0.9900211292650781 Centerline is valid? [True, True] Translation: X:36.66, Y:-3.39, Z:-0.26 [[ 9.99701286e-01 2.30695881e-02 8.07047927e-03 3.66569993e+01] [-2.30647587e-02 9.99733734e-01 -6.90984258e-04 -3.39228429e+00] [-8.08427110e-03 5.04634195e-04 9.99967194e-01 -2.55196315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.687552018 meters Centerline goodness [0,1] 0.9883847246594802 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.39, Z:-0.26 [[ 9.99698492e-01 2.32004923e-02 8.04133169e-03 3.66894786e+01] [-2.31956863e-02 9.99730705e-01 -6.90428270e-04 -3.39258337e+00] [-8.05518448e-03 5.03695893e-04 9.99967430e-01 -2.55526018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.717552018 meters Centerline goodness [0,1] 0.9884888767743694 Centerline is valid? [True, True] Translation: X:36.72, Y:-3.39, Z:-0.26 [[ 9.99696655e-01 2.31452333e-02 8.42003530e-03 3.67211164e+01] [-2.31399470e-02 9.99731973e-01 -7.24717753e-04 -3.39207241e+00] [-8.43455226e-03 5.29658743e-04 9.99964288e-01 -2.55309891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.747552018 meters Centerline goodness [0,1] 0.9856922371000709 Centerline is valid? [True, True] Translation: X:36.75, Y:-3.39, Z:-0.25 [[ 9.99690076e-01 2.29157129e-02 9.72743554e-03 3.67543050e+01] [-2.29086249e-02 9.99737211e-01 -8.39474657e-04 -3.38555887e+00] [-9.74411643e-03 6.16372312e-04 9.99952335e-01 -2.54350977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.777552017999994 meters Centerline goodness [0,1] 0.984901641398321 Centerline is valid? [True, True] Translation: X:36.79, Y:-3.38, Z:-0.25 [[ 9.99684229e-01 2.27194077e-02 1.07364078e-02 3.67864716e+01] [-2.27107250e-02 9.99741646e-01 -9.29963371e-04 -3.38255700e+00] [-1.07547622e-02 6.85838111e-04 9.99941931e-01 -2.54004636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.807552017999996 meters Centerline goodness [0,1] 0.9833347326001175 Centerline is valid? [True, True] Translation: X:36.82, Y:-3.38, Z:-0.25 [[ 9.99672080e-01 2.27197792e-02 1.18128878e-02 3.68188804e+01] [-2.27092234e-02 9.99741585e-01 -1.02696765e-03 -3.38278188e+00] [-1.18331676e-02 7.58369378e-04 9.99929698e-01 -2.53857790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.837552018 meters Centerline goodness [0,1] 0.9823733344471827 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.38, Z:-0.25 [[ 9.99671634e-01 2.25981381e-02 1.20809049e-02 3.68514280e+01] [-2.25870446e-02 9.99744325e-01 -1.05393489e-03 -3.38365937e+00] [-1.21016330e-02 7.80716879e-04 9.99926468e-01 -2.54384347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.867552018 meters Centerline goodness [0,1] 0.9809318936530148 Centerline is valid? [True, True] Translation: X:36.88, Y:-3.38, Z:-0.26 [[ 9.99692810e-01 2.17640182e-02 1.18580544e-02 3.68826072e+01] [-2.17532318e-02 9.99762832e-01 -1.03786775e-03 -3.38240406e+00] [-1.18778303e-02 7.79597924e-04 9.99929152e-01 -2.56035554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.897552018 meters Centerline goodness [0,1] 0.9825989984429575 Centerline is valid? [True, True] Translation: X:36.92, Y:-3.37, Z:-0.26 [[ 9.99702851e-01 2.13576297e-02 1.17499882e-02 3.69159146e+01] [-2.13469716e-02 9.99771595e-01 -1.03176302e-03 -3.36973711e+00] [-1.17693404e-02 7.80629765e-04 9.99930434e-01 -2.57700037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.927552018 meters Centerline goodness [0,1] 0.9811974062493443 Centerline is valid? [True, True] Translation: X:36.95, Y:-3.37, Z:-0.26 [[ 9.99697571e-01 2.16235021e-02 1.17128254e-02 3.69498535e+01] [-2.16128869e-02 9.99765882e-01 -1.03213055e-03 -3.36614670e+00] [-1.17324015e-02 7.78670432e-04 9.99930870e-01 -2.58400770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.957552017999994 meters Centerline goodness [0,1] 0.9799957797003587 Centerline is valid? [True, True] Translation: X:36.98, Y:-3.36, Z:-0.26 [[ 9.99657519e-01 2.24296201e-02 1.34817218e-02 3.69828869e+01] [-2.24155704e-02 9.99748029e-01 -1.19235542e-03 -3.36188237e+00] [-1.35050689e-02 8.89746576e-04 9.99908407e-01 -2.57228827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.987552017999995 meters Centerline goodness [0,1] 0.9793155797330635 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.36, Z:-0.26 [[ 9.99628994e-01 2.30779451e-02 1.44666297e-02 3.70155150e+01] [-2.30617734e-02 9.99733218e-01 -1.28371074e-03 -3.35867560e+00] [-1.44923956e-02 9.49608337e-04 9.99894529e-01 -2.57701293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.017552017999996 meters Centerline goodness [0,1] 0.9794933400775586 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.36, Z:-0.26 [[ 9.99602342e-01 2.41952221e-02 1.44827246e-02 3.70479073e+01] [-2.41790708e-02 9.99706812e-01 -1.28929619e-03 -3.35822705e+00] [-1.45096732e-02 9.38604669e-04 9.99894289e-01 -2.58211012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.047552018 meters Centerline goodness [0,1] 0.9787757677745057 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.36, Z:-0.26 [[ 9.99590115e-01 2.49433763e-02 1.40509938e-02 3.70801987e+01] [-2.49281913e-02 9.99688457e-01 -1.25484131e-03 -3.35673485e+00] [-1.40779163e-02 9.04061105e-04 9.99900493e-01 -2.59416737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.077552018 meters Centerline goodness [0,1] 0.9768972719792391 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.35, Z:-0.26 [[ 9.99565483e-01 2.62979782e-02 1.33139921e-02 3.71114771e+01] [-2.62844262e-02 9.99653794e-01 -1.19187488e-03 -3.35404704e+00] [-1.33407267e-02 8.41406343e-04 9.99910655e-01 -2.60513127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.107552018 meters Centerline goodness [0,1] 0.9771179112976359 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.35, Z:-0.26 [[ 9.99532419e-01 2.74232247e-02 1.35244093e-02 3.71443139e+01] [-2.74093015e-02 9.99623558e-01 -1.21380771e-03 -3.35128589e+00] [-1.35526046e-02 8.42545550e-04 9.99907804e-01 -2.61020742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.137552017999994 meters Centerline goodness [0,1] 0.9779206496912275 Centerline is valid? [True, True] Translation: X:37.18, Y:-3.35, Z:-0.26 [[ 9.99490041e-01 2.89313444e-02 1.35142464e-02 3.71763869e+01] [-2.89175497e-02 9.99581062e-01 -1.21508857e-03 -3.34909903e+00] [-1.35437389e-02 8.23670039e-04 9.99907940e-01 -2.60545547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.167552017999995 meters Centerline goodness [0,1] 0.9759910310107036 Centerline is valid? [True, True] Translation: X:37.21, Y:-3.35, Z:-0.26 [[ 9.99419094e-01 3.10434133e-02 1.40634306e-02 3.72079493e+01] [-3.10286728e-02 9.99517694e-01 -1.26518391e-03 -3.34588847e+00] [-1.40959233e-02 8.28079368e-04 9.99900305e-01 -2.61328487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.197552017999996 meters Centerline goodness [0,1] 0.9770416807861741 Centerline is valid? [True, True] Translation: X:37.24, Y:-3.34, Z:-0.26 [[ 9.99246048e-01 3.65675956e-02 1.30439899e-02 3.72385867e+01] [-3.65553824e-02 9.99330940e-01 -1.17358462e-03 -3.33969737e+00] [-1.30781779e-02 6.95871750e-04 9.99914235e-01 -2.61810691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.227552018 meters Centerline goodness [0,1] 0.9784061260420422 Centerline is valid? [True, True] Translation: X:37.27, Y:-3.33, Z:-0.26 [[ 9.99133219e-01 3.97050462e-02 1.25028384e-02 3.72694009e+01] [-3.96940718e-02 9.99211247e-01 -1.12478830e-03 -3.33456332e+00] [-1.25376365e-02 6.27524790e-04 9.99921204e-01 -2.62993280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.257552018 meters Centerline goodness [0,1] 0.978489372093517 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.33, Z:-0.26 [[ 9.98961645e-01 4.42955915e-02 1.06551545e-02 3.73001913e+01] [-4.42878826e-02 9.99018351e-01 -9.58476765e-04 -3.32743367e+00] [-1.06871511e-02 4.85587296e-04 9.99942773e-01 -2.64383160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.287552018 meters Centerline goodness [0,1] 0.978764068804417 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.33, Z:-0.27 [[ 9.98909195e-01 4.56990693e-02 9.59250243e-03 3.73291271e+01] [-4.56928897e-02 9.98955162e-01 -8.62504577e-04 -3.32502361e+00] [-9.62189548e-03 4.23254597e-04 9.99953619e-01 -2.65215102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31755201799999 meters Centerline goodness [0,1] 0.9800275628114068 Centerline is valid? [True, True] Translation: X:37.36, Y:-3.32, Z:-0.27 [[ 9.98855894e-01 4.70555512e-02 8.52518377e-03 3.73584165e+01] [-4.70507250e-02 9.98892208e-01 -7.65910583e-04 -3.32228962e+00] [-8.55177998e-03 3.63918224e-04 9.99963367e-01 -2.65996562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.347552017999995 meters Centerline goodness [0,1] 0.9798908542670886 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.32, Z:-0.27 [[ 9.98793746e-01 4.84566725e-02 7.93750924e-03 3.73873074e+01] [-4.84525377e-02 9.98825232e-01 -7.12510152e-04 -3.32249031e+00] [-7.96271038e-03 3.27058217e-04 9.99968244e-01 -2.66604213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.377552017999996 meters Centerline goodness [0,1] 0.9808297203094448 Centerline is valid? [True, True] Translation: X:37.42, Y:-3.32, Z:-0.27 [[ 9.98651252e-01 5.13107770e-02 7.92981137e-03 3.74164255e+01] [-5.13067451e-02 9.98682688e-01 -7.11187180e-04 -3.32100986e+00] [-7.95585691e-03 3.03375157e-04 9.99968306e-01 -2.67405574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.407552018 meters Centerline goodness [0,1] 0.979761474521142 Centerline is valid? [True, True] Translation: X:37.44, Y:-3.32, Z:-0.27 [[ 9.98521299e-01 5.38857170e-02 7.17948112e-03 3.74445807e+01] [-5.38824822e-02 9.98547077e-01 -6.43368513e-04 -3.32294883e+00] [-7.20371825e-03 2.55568900e-04 9.99974020e-01 -2.67234134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.437552018 meters Centerline goodness [0,1] 0.9804641878835496 Centerline is valid? [True, True] Translation: X:37.47, Y:-3.32, Z:-0.27 [[ 9.98503395e-01 5.40439021e-02 8.38019440e-03 3.74740283e+01] [-5.40395066e-02 9.98538516e-01 -7.50221259e-04 -3.32171373e+00] [-8.40849177e-03 2.96236903e-04 9.99964604e-01 -2.67630561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.467552018 meters Centerline goodness [0,1] 0.9818573965998477 Centerline is valid? [True, True] Translation: X:37.50, Y:-3.32, Z:-0.27 [[ 9.98444556e-01 5.50927586e-02 8.55901864e-03 3.75032718e+01] [-5.50882180e-02 9.98481198e-01 -7.65536223e-04 -3.32135022e+00] [-8.58819469e-03 2.92844389e-04 9.99963078e-01 -2.66871825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.497552018 meters Centerline goodness [0,1] 0.9811848461734045 Centerline is valid? [True, True] Translation: X:37.53, Y:-3.32, Z:-0.27 [[ 9.98310123e-01 5.73096537e-02 9.61782996e-03 3.75317023e+01] [-5.73040309e-02 9.98356404e-01 -8.59407539e-04 -3.32118748e+00] [-9.65127448e-03 3.06814820e-04 9.99953378e-01 -2.65447052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.527552017999994 meters Centerline goodness [0,1] 0.9814319667260843 Centerline is valid? [True, True] Translation: X:37.56, Y:-3.32, Z:-0.27 [[ 9.98213339e-01 5.88837224e-02 1.01408689e-02 3.75609218e+01] [-5.88775603e-02 9.98264801e-01 -9.05389807e-04 -3.32274138e+00] [-1.01765852e-02 3.06702561e-04 9.99948170e-01 -2.65304229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.557552017999996 meters Centerline goodness [0,1] 0.9821439932138691 Centerline is valid? [True, True] Translation: X:37.59, Y:-3.32, Z:-0.27 [[ 9.98103672e-01 6.07519863e-02 9.91244710e-03 3.75895044e+01] [-6.07461973e-02 9.98152853e-01 -8.84336016e-04 -3.32379124e+00] [-9.94786252e-03 2.80515558e-04 9.99950479e-01 -2.65739567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.587552018 meters Centerline goodness [0,1] 0.9818996834569055 Centerline is valid? [True, True] Translation: X:37.62, Y:-3.33, Z:-0.27 [[ 9.98013531e-01 6.21713333e-02 1.01841618e-02 3.76172216e+01] [-6.21653059e-02 9.98065454e-01 -9.07634116e-04 -3.32649486e+00] [-1.02208889e-02 2.72729597e-04 9.99947728e-01 -2.66059377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.617552018 meters Centerline goodness [0,1] 0.982415105573157 Centerline is valid? [True, True] Translation: X:37.65, Y:-3.32, Z:-0.27 [[ 9.97877992e-01 6.45262081e-02 8.71102338e-03 3.76466595e+01] [-6.45218961e-02 9.97915990e-01 -7.75417097e-04 -3.32474365e+00] [-8.74290425e-03 2.11719910e-04 9.99961758e-01 -2.67240608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.647552018 meters Centerline goodness [0,1] 0.9828344415882391 Centerline is valid? [True, True] Translation: X:37.67, Y:-3.33, Z:-0.27 [[ 9.97819532e-01 6.54381243e-02 8.60425975e-03 3.76745422e+01] [-6.54339609e-02 9.97856609e-01 -7.64804203e-04 -3.32757014e+00] [-8.63586481e-03 2.00125776e-04 9.99962690e-01 -2.67095981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.677552018 meters Centerline goodness [0,1] 0.9825557895632565 Centerline is valid? [True, True] Translation: X:37.70, Y:-3.33, Z:-0.27 [[ 9.97746079e-01 6.65791303e-02 8.36543793e-03 3.77029253e+01] [-6.65752415e-02 9.97781131e-01 -7.42797661e-04 -3.32988011e+00] [-8.39633095e-03 1.84192403e-04 9.99964733e-01 -2.66746275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.707552017999994 meters Centerline goodness [0,1] 0.9822918440320109 Centerline is valid? [True, True] Translation: X:37.73, Y:-3.33, Z:-0.27 [[ 9.97770275e-01 6.61343301e-02 8.98491062e-03 3.77319593e+01] [-6.61298327e-02 9.97810708e-01 -7.97044601e-04 -3.33283466e+00] [-9.01795204e-03 2.01096775e-04 9.99959317e-01 -2.67259306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.737552017999995 meters Centerline goodness [0,1] 0.9831886512809654 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.34, Z:-0.27 [[ 9.97703871e-01 6.70891018e-02 9.27571486e-03 3.77590232e+01] [-6.70843576e-02 9.97746969e-01 -8.22015578e-04 -3.34055671e+00] [-9.30996467e-03 1.97872752e-04 9.99956642e-01 -2.68001006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.767552017999996 meters Centerline goodness [0,1] 0.9831886512809654 Centerline is valid? [True, True] Translation: X:37.79, Y:-3.34, Z:-0.27 [[ 9.97711634e-01 6.69735325e-02 9.27580096e-03 3.77864040e+01] [-6.69687923e-02 9.97754733e-01 -8.21043020e-04 -3.34287245e+00] [-9.30996246e-03 1.97974986e-04 9.99956642e-01 -2.68172199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.797552018 meters Centerline goodness [0,1] 0.9824219989423585 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.35, Z:-0.27 [[ 9.97709071e-01 6.70163913e-02 9.24186798e-03 3.78139066e+01] [-6.70116976e-02 9.97751855e-01 -8.16953611e-04 -3.34615765e+00] [-9.27584021e-03 1.95768765e-04 9.99956959e-01 -2.68939301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.827552018 meters Centerline goodness [0,1] 0.9836694873915718 Centerline is valid? [True, True] Translation: X:37.84, Y:-3.35, Z:-0.27 [[ 9.97695485e-01 6.72586874e-02 8.94357771e-03 3.78428936e+01] [-6.72543100e-02 9.97735553e-01 -7.89646285e-04 -3.35017116e+00] [-8.97643602e-03 1.86332386e-04 9.99959694e-01 -2.69375596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.857552018 meters Centerline goodness [0,1] 0.9831449954417283 Centerline is valid? [True, True] Translation: X:37.87, Y:-3.35, Z:-0.27 [[ 9.97742271e-01 6.65912265e-02 8.71604250e-03 3.78701040e+01] [-6.65870500e-02 9.97780323e-01 -7.68822227e-04 -3.35467230e+00] [-8.74789252e-03 1.86710876e-04 9.99961719e-01 -2.69978087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.887552017999994 meters Centerline goodness [0,1] 0.9836249629284413 Centerline is valid? [True, True] Translation: X:37.90, Y:-3.36, Z:-0.27 [[ 9.97823947e-01 6.54427762e-02 8.03833239e-03 3.78985469e+01] [-6.54391924e-02 9.97856307e-01 -7.08326728e-04 -3.36214858e+00] [-8.06745554e-03 1.80763392e-04 9.99967441e-01 -2.71074239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.917552017999995 meters Centerline goodness [0,1] 0.9833170814431679 Centerline is valid? [True, True] Translation: X:37.93, Y:-3.37, Z:-0.27 [[ 9.97917252e-01 6.40143293e-02 7.95764717e-03 3.79255902e+01] [-6.40107770e-02 9.97948961e-01 -7.00550180e-04 -3.36971842e+00] [-7.98617098e-03 1.89715932e-04 9.99968092e-01 -2.71720815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.947552017999996 meters Centerline goodness [0,1] 0.9827421714334175 Centerline is valid? [True, True] Translation: X:37.95, Y:-3.38, Z:-0.27 [[ 9.98020145e-01 6.24481918e-02 7.48424488e-03 3.79541679e+01] [-6.24450107e-02 9.98048189e-01 -6.58193550e-04 -3.37677514e+00] [-7.51074005e-03 1.89536670e-04 9.99971776e-01 -2.72057685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.977552018 meters Centerline goodness [0,1] 0.9818939442011972 Centerline is valid? [True, True] Translation: X:37.98, Y:-3.38, Z:-0.27 [[ 9.98118275e-01 6.09176099e-02 6.99676957e-03 3.79824530e+01] [-6.09147958e-02 9.98142780e-01 -6.14801311e-04 -3.38399867e+00] [-7.02122726e-03 1.87437634e-04 9.99975333e-01 -2.72977105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.007552018 meters Centerline goodness [0,1] 0.981531179341969 Centerline is valid? [True, True] Translation: X:38.01, Y:-3.40, Z:-0.27 [[ 9.98217486e-01 5.91354724e-02 8.05277472e-03 3.80091959e+01] [-5.91316928e-02 9.98249940e-01 -7.06839214e-04 -3.39610129e+00] [-8.08048115e-03 2.29405062e-04 9.99967326e-01 -2.71405247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.037552018 meters Centerline goodness [0,1] 0.9803242695490627 Centerline is valid? [True, True] Translation: X:38.04, Y:-3.41, Z:-0.27 [[ 9.98189935e-01 5.93939503e-02 9.44524741e-03 3.80368651e+01] [-5.93887710e-02 9.98234586e-01 -8.28134371e-04 -3.40613306e+00] [-9.47775880e-03 2.65693759e-04 9.99955050e-01 -2.69310368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06755201799999 meters Centerline goodness [0,1] 0.9795810745248592 Centerline is valid? [True, True] Translation: X:38.06, Y:-3.41, Z:-0.27 [[ 9.98108244e-01 6.04393390e-02 1.12703050e-02 3.80645937e+01] [-6.04320430e-02 9.98171826e-01 -9.87116837e-04 -3.41083296e+00] [-1.13093616e-02 3.04161896e-04 9.99936001e-01 -2.66556938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.097552017999995 meters Centerline goodness [0,1] 0.9811150323502227 Centerline is valid? [True, True] Translation: X:38.09, Y:-3.41, Z:-0.26 [[ 9.97863888e-01 6.38541009e-02 1.37954587e-02 3.80931041e+01] [-6.38435156e-02 9.97959192e-01 -1.20679408e-03 -3.41493483e+00] [-1.38443636e-02 3.23465653e-04 9.99904110e-01 -2.63632175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.127552017999996 meters Centerline goodness [0,1] 0.9821604925301002 Centerline is valid? [True, True] Translation: X:38.12, Y:-3.42, Z:-0.26 [[ 9.97719274e-01 6.60744355e-02 1.37992617e-02 3.81219818e+01] [-6.60640733e-02 9.97814654e-01 -1.20591906e-03 -3.41941950e+00] [-1.38487859e-02 2.91533256e-04 9.99904058e-01 -2.63388766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.157552018 meters Centerline goodness [0,1] 0.9821630685390903 Centerline is valid? [True, True] Translation: X:38.15, Y:-3.42, Z:-0.26 [[ 9.97551703e-01 6.85810799e-02 1.36834085e-02 3.81509706e+01] [-6.85711408e-02 9.97645514e-01 -1.19476638e-03 -3.42406725e+00] [-1.37331295e-02 2.53554306e-04 9.99905664e-01 -2.64631576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.187552018 meters Centerline goodness [0,1] 0.9839788066103191 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.43, Z:-0.27 [[ 9.97372057e-01 7.14304951e-02 1.21105150e-02 3.81791022e+01] [-7.14229302e-02 9.97445562e-01 -1.05655854e-03 -3.42855006e+00] [-1.21550499e-02 1.88813493e-04 9.99926107e-01 -2.66659115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.217552018 meters Centerline goodness [0,1] 0.985952275647101 Centerline is valid? [True, True] Translation: X:38.21, Y:-3.43, Z:-0.27 [[ 9.96905334e-01 7.80931764e-02 9.01169155e-03 3.82080608e+01] [-7.80892650e-02 9.96946061e-01 -7.85625364e-04 -3.43240886e+00] [-9.04552238e-03 7.94777467e-05 9.99959085e-01 -2.70347456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.247552018 meters Centerline goodness [0,1] 0.988714839144349 Centerline is valid? [True, True] Translation: X:38.24, Y:-3.43, Z:-0.27 [[ 9.96651505e-01 8.13874755e-02 7.86484298e-03 3.82366798e+01] [-8.13846029e-02 9.96682536e-01 -6.85142059e-04 -3.43426842e+00] [-7.89451363e-03 4.27707422e-05 9.99968837e-01 -2.71402063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.277552017999994 meters Centerline goodness [0,1] 0.9897363485004953 Centerline is valid? [True, True] Translation: X:38.26, Y:-3.44, Z:-0.27 [[ 9.96313717e-01 8.54859839e-02 7.15004273e-03 3.82641825e+01] [-8.54837196e-02 9.96339373e-01 -6.22256721e-04 -3.43623793e+00] [-7.17706332e-03 8.75065964e-06 9.99974245e-01 -2.72251996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.307552017999996 meters Centerline goodness [0,1] 0.9923338472260353 Centerline is valid? [True, True] Translation: X:38.29, Y:-3.44, Z:-0.27 [[ 9.95589684e-01 9.36219348e-02 6.00946246e-03 3.82929107e+01] [-9.36204868e-02 9.95607820e-01 -5.22426120e-04 -3.43988092e+00] [-6.03197837e-03 -4.24867454e-05 9.99981807e-01 -2.73747575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.337552018 meters Centerline goodness [0,1] 0.9931971356360573 Centerline is valid? [True, True] Translation: X:38.32, Y:-3.44, Z:-0.27 [[ 9.95186912e-01 9.78258247e-02 5.75491213e-03 3.83214840e+01] [-9.78245698e-02 9.95203549e-01 -4.99817828e-04 -3.44404044e+00] [-5.77620406e-03 -6.55596426e-05 9.99983315e-01 -2.73673540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.367552018 meters Centerline goodness [0,1] 0.9943817860449458 Centerline is valid? [True, True] Translation: X:38.35, Y:-3.45, Z:-0.27 [[ 9.94845757e-01 1.01222918e-01 5.98673637e-03 3.83490147e+01] [-1.01221624e-01 9.94863766e-01 -5.19405408e-04 -3.44801907e+00] [-6.00856282e-03 -8.92589133e-05 9.99981944e-01 -2.72891263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.397552018 meters Centerline goodness [0,1] 0.9954474560553049 Centerline is valid? [True, True] Translation: X:38.38, Y:-3.45, Z:-0.27 [[ 9.94494465e-01 1.04546928e-01 7.12034726e-03 3.83777245e+01] [-1.04545193e-01 9.94519946e-01 -6.16505693e-04 -3.45245338e+00] [-7.14578114e-03 -1.31286576e-04 9.99974460e-01 -2.71597532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.427552018 meters Centerline goodness [0,1] 0.996699253652896 Centerline is valid? [True, True] Translation: X:38.41, Y:-3.46, Z:-0.27 [[ 9.94162405e-01 1.07575503e-01 8.28394083e-03 3.84063964e+01] [-1.07573266e-01 9.94196902e-01 -7.16426539e-04 -3.45730235e+00] [-8.31293825e-03 -1.78886236e-04 9.99965431e-01 -2.69962328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.457552017999994 meters Centerline goodness [0,1] 0.9976029773544439 Centerline is valid? [True, True] Translation: X:38.43, Y:-3.47, Z:-0.27 [[ 9.93698225e-01 1.11725148e-01 9.01824472e-03 3.84330266e+01] [-1.11722677e-01 9.93739119e-01 -7.78856954e-04 -3.46621337e+00] [-9.04880047e-03 -2.33593669e-04 9.99959031e-01 -2.67811141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.487552017999995 meters Centerline goodness [0,1] 0.9980012623606144 Centerline is valid? [True, True] Translation: X:38.46, Y:-3.48, Z:-0.27 [[ 9.93605341e-01 1.12570377e-01 8.73705515e-03 3.84609845e+01] [-1.12568101e-01 9.93643726e-01 -7.53333315e-04 -3.47629999e+00] [-8.76632305e-03 -2.34997702e-04 9.99961547e-01 -2.68192462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.517552017999996 meters Centerline goodness [0,1] 0.9986359153008332 Centerline is valid? [True, True] Translation: X:38.49, Y:-3.48, Z:-0.27 [[ 9.93641086e-01 1.12314507e-01 7.92735317e-03 3.84878147e+01] [-1.12312632e-01 9.93672686e-01 -6.82635766e-04 -3.48407918e+00] [-7.95386421e-03 -2.12046958e-04 9.99968345e-01 -2.68856215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.547552018 meters Centerline goodness [0,1] 0.99869457194593 Centerline is valid? [True, True] Translation: X:38.51, Y:-3.50, Z:-0.27 [[ 9.93924210e-01 1.09858632e-01 6.76353346e-03 3.85146535e+01] [-1.09857219e-01 9.93947209e-01 -5.81255931e-04 -3.49966067e+00] [-6.78645119e-03 -1.65298634e-04 9.99976958e-01 -2.69062061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.577552018 meters Centerline goodness [0,1] 0.9988635167841734 Centerline is valid? [True, True] Translation: X:38.54, Y:-3.51, Z:-0.27 [[ 9.94070802e-01 1.08493957e-01 7.23206121e-03 3.85422626e+01] [-1.08492311e-01 9.94097094e-01 -6.20670438e-04 -3.51234088e+00] [-7.25671002e-03 -1.67632671e-04 9.99973656e-01 -2.67626046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.607552018 meters Centerline goodness [0,1] 0.9990749306197965 Centerline is valid? [True, True] Translation: X:38.57, Y:-3.52, Z:-0.27 [[ 9.94260185e-01 1.06691178e-01 7.97978252e-03 3.85702847e+01] [-1.06689123e-01 9.94292192e-01 -6.84053557e-04 -3.52310802e+00] [-8.00721793e-03 -1.71228779e-04 9.99967927e-01 -2.66134062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.637552017999994 meters Centerline goodness [0,1] 0.999120382005529 Centerline is valid? [True, True] Translation: X:38.60, Y:-3.54, Z:-0.26 [[ 9.94593505e-01 1.03493724e-01 8.53282681e-03 3.85961316e+01] [-1.03491264e-01 9.94630094e-01 -7.30596115e-04 -3.54313946e+00] [-8.56261845e-03 -1.56426879e-04 9.99963328e-01 -2.63469379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.667552017999995 meters Centerline goodness [0,1] 0.9993902823623405 Centerline is valid? [True, True] Translation: X:38.62, Y:-3.55, Z:-0.26 [[ 9.94748406e-01 1.01986239e-01 8.62642238e-03 3.86239660e+01] [-1.01983675e-01 9.94785799e-01 -7.37677469e-04 -3.55491449e+00] [-8.65667543e-03 -1.45950772e-04 9.99962520e-01 -2.62416808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.697552017999996 meters Centerline goodness [0,1] 0.9993490950321253 Centerline is valid? [True, True] Translation: X:38.65, Y:-3.57, Z:-0.26 [[ 9.94887506e-01 1.00596183e-01 8.90275723e-03 3.86528247e+01] [-1.00593403e-01 9.94927328e-01 -7.60589645e-04 -3.56510714e+00] [-8.93410888e-03 -1.38857512e-04 9.99960080e-01 -2.62043576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.727552018 meters Centerline goodness [0,1] 0.9996642957554395 Centerline is valid? [True, True] Translation: X:38.68, Y:-3.57, Z:-0.26 [[ 9.95016141e-01 9.92893608e-02 9.19254330e-03 3.86806854e+01] [-9.92863462e-02 9.95058594e-01 -7.84840350e-04 -3.57443896e+00] [-9.22504551e-03 -1.31765221e-04 9.99957440e-01 -2.61645747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.757552018 meters Centerline goodness [0,1] 0.999748770019889 Centerline is valid? [True, True] Translation: X:38.71, Y:-3.58, Z:-0.26 [[ 9.95095027e-01 9.85054534e-02 9.08646320e-03 3.87096748e+01] [-9.85024805e-02 9.95136503e-01 -7.75224690e-04 -3.58411548e+00] [-9.11863508e-03 -1.23616930e-04 9.99958417e-01 -2.61915647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.787552018 meters Centerline goodness [0,1] 0.9996637171861535 Centerline is valid? [True, True] Translation: X:38.74, Y:-3.60, Z:-0.26 [[ 9.95166153e-01 9.78429148e-02 8.43159998e-03 3.87381136e+01] [-9.78403338e-02 9.95201865e-01 -7.19037571e-04 -3.60009594e+00] [-8.46149675e-03 -1.09388703e-04 9.99964195e-01 -2.63664085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81755201799999 meters Centerline goodness [0,1] 0.9997896242689444 Centerline is valid? [True, True] Translation: X:38.77, Y:-3.61, Z:-0.26 [[ 9.95148536e-01 9.81301835e-02 7.06111542e-03 3.87683834e+01] [-9.81283815e-02 9.95173582e-01 -6.02045535e-04 -3.60985091e+00] [-7.08611437e-03 -9.37710951e-05 9.99974889e-01 -2.64989049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.847552017999995 meters Centerline goodness [0,1] 0.9998949182463956 Centerline is valid? [True, True] Translation: X:38.80, Y:-3.62, Z:-0.27 [[ 9.95146493e-01 9.82618539e-02 5.29769354e-03 3.87980785e+01] [-9.82608415e-02 9.95160592e-01 -4.51671155e-04 -3.62369695e+00] [-5.31643788e-03 -7.10768588e-05 9.99985865e-01 -2.67013246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.877552017999996 meters Centerline goodness [0,1] 0.9999579434339186 Centerline is valid? [True, True] Translation: X:38.83, Y:-3.63, Z:-0.27 [[ 9.95147408e-01 9.82825805e-02 4.70867149e-03 3.88275055e+01] [-9.82817804e-02 9.95158545e-01 -4.01582114e-04 -3.63268187e+00] [-4.72534319e-03 -6.31432175e-05 9.99988834e-01 -2.67832569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.907552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.86, Y:-3.64, Z:-0.27 [[ 9.95195792e-01 9.78119532e-02 4.26114539e-03 3.88569626e+01] [-9.78112938e-02 9.95204913e-01 -3.63369837e-04 -3.64070863e+00] [-4.27625474e-03 -5.51640108e-05 9.99990855e-01 -2.68621631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.937552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.89, Y:-3.65, Z:-0.27 [[ 9.95247112e-01 9.72913213e-02 4.19342044e-03 3.88874859e+01] [-9.72906779e-02 9.95255945e-01 -3.57643270e-04 -3.64983810e+00] [-4.20832221e-03 -5.20372852e-05 9.99991144e-01 -2.69040491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.967552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.92, Y:-3.67, Z:-0.27 [[ 9.95387171e-01 9.58237495e-02 4.71041835e-03 3.89175092e+01] [-9.58229217e-02 9.95398315e-01 -4.01614737e-04 -3.66639676e+00] [-4.72722672e-03 -5.16038924e-05 9.99988825e-01 -2.67865507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.997552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.95, Y:-3.68, Z:-0.27 [[ 9.95421675e-01 9.54177406e-02 5.58070384e-03 3.89495261e+01] [-9.54165615e-02 9.95437317e-01 -4.77759937e-04 -3.67566937e+00] [-5.60082763e-03 -5.69189748e-05 9.99984314e-01 -2.67510127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.027552017999994 meters Centerline goodness [0,1] 0.9998531478800847 Centerline is valid? [True, True] Translation: X:38.98, Y:-3.68, Z:-0.27 [[ 9.95402844e-01 9.56355582e-02 5.19792573e-03 3.89815248e+01] [-9.56345293e-02 9.95416414e-01 -4.46707188e-04 -3.68344925e+00] [-5.21682168e-03 -5.24475747e-05 9.99986391e-01 -2.69217478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.057552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.01, Y:-3.69, Z:-0.27 [[ 9.95330633e-01 9.62197136e-02 7.66150280e-03 3.90141013e+01] [-9.62174666e-02 9.95360116e-01 -6.62197661e-04 -3.69069307e+00] [-7.68967079e-03 -7.80647735e-05 9.99970431e-01 -2.65360392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.087552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.04, Y:-3.70, Z:-0.27 [[ 9.95138224e-01 9.81705134e-02 7.90350468e-03 3.90443396e+01] [-9.81681618e-02 9.95169604e-01 -6.85872025e-04 -3.70083291e+00] [-7.93266004e-03 -9.33350577e-05 9.99968532e-01 -2.65126245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.117552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.08, Y:-3.71, Z:-0.27 [[ 9.94999894e-01 9.96079181e-02 7.31261168e-03 3.90764958e+01] [-9.96059289e-02 9.95026760e-01 -6.36616953e-04 -3.70754441e+00] [-7.33965639e-03 -9.49456781e-05 9.99973060e-01 -2.65997897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.147552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.11, Y:-3.71, Z:-0.27 [[ 9.94842337e-01 1.01212813e-01 6.68517722e-03 3.91086608e+01] [-1.01211173e-01 9.94864793e-01 -5.84100027e-04 -3.71379850e+00] [-6.70996586e-03 -9.55271917e-05 9.99977483e-01 -2.66677228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.177552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.14, Y:-3.72, Z:-0.27 [[ 9.94508572e-01 1.04452372e-01 6.51174075e-03 3.91401301e+01] [-1.04450873e-01 9.94529884e-01 -5.70854956e-04 -3.72154704e+00] [-6.53574792e-03 -1.12436858e-04 9.99978635e-01 -2.67878808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.207552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.17, Y:-3.73, Z:-0.27 [[ 9.94350838e-01 1.05923135e-01 6.83381922e-03 3.91716570e+01] [-1.05921504e-01 9.94374313e-01 -6.01208675e-04 -3.72690827e+00] [-6.85905619e-03 -1.26036060e-04 9.99976468e-01 -2.67762125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.237552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.20, Y:-3.73, Z:-0.27 [[ 9.94195902e-01 1.07351557e-01 7.08173759e-03 3.92019965e+01] [-1.07349828e-01 9.94221114e-01 -6.24948014e-04 -3.73196521e+00] [-7.10790218e-03 -1.38902555e-04 9.99974729e-01 -2.67419439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.267552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.23, Y:-3.74, Z:-0.27 [[ 9.94062349e-01 1.08535509e-01 7.75176810e-03 3.92335008e+01] [-1.08533467e-01 9.94092560e-01 -6.84807897e-04 -3.73713122e+00] [-7.78030097e-03 -1.60584523e-04 9.99969720e-01 -2.66508984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.297552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.26, Y:-3.74, Z:-0.27 [[ 9.93781530e-01 1.11053725e-01 8.08335185e-03 3.92643595e+01] [-1.11051571e-01 9.93814387e-01 -7.16244421e-04 -3.74413905e+00] [-8.11289297e-03 -1.85878447e-04 9.99967073e-01 -2.66378143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.327552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.29, Y:-3.75, Z:-0.27 [[ 9.93657980e-01 1.12155010e-01 8.06677850e-03 3.92948627e+01] [-1.12152889e-01 9.93690705e-01 -7.16197220e-04 -3.74966934e+00] [-8.09620791e-03 -1.93057432e-04 9.99967207e-01 -2.66484352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.357552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.33, Y:-3.76, Z:-0.27 [[ 9.93590929e-01 1.12712854e-01 8.53685855e-03 3.93266850e+01] [-1.12710479e-01 9.93627581e-01 -7.60325930e-04 -3.75535970e+00] [-8.56815661e-03 -2.06740471e-04 9.99963271e-01 -2.66941627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.387552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.36, Y:-3.76, Z:-0.27 [[ 9.93584401e-01 1.12771461e-01 8.52271178e-03 3.93596636e+01] [-1.12769074e-01 9.93620932e-01 -7.61630252e-04 -3.76230820e+00] [-8.55423498e-03 -2.04354377e-04 9.99963391e-01 -2.67733823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.417552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.39, Y:-3.78, Z:-0.27 [[ 9.93826171e-01 1.10573339e-01 9.11478097e-03 3.93905257e+01] [-1.10570489e-01 9.93867948e-01 -8.17534065e-04 -3.77869078e+00] [-9.14928613e-03 -1.95339039e-04 9.99958125e-01 -2.68254733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.447552017999996 meters Centerline goodness [0,1] 0.9998945592576972 Centerline is valid? [True, True] Translation: X:39.42, Y:-3.79, Z:-0.27 [[ 9.94053819e-01 1.08536369e-01 8.76709931e-03 3.94223515e+01] [-1.08533634e-01 9.94092465e-01 -7.88507732e-04 -3.78850605e+00] [-8.80088913e-03 -1.67706029e-04 9.99961257e-01 -2.71335160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.477552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.45, Y:-3.80, Z:-0.27 [[ 9.94146316e-01 1.07574975e-01 1.00363022e-02 3.94534290e+01] [-1.07571321e-01 9.94196959e-01 -9.04726955e-04 -3.79621580e+00] [-1.00753871e-02 -1.80187317e-04 9.99949226e-01 -2.68106419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.507552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.48, Y:-3.81, Z:-0.27 [[ 9.94589981e-01 1.03476921e-01 9.12674283e-03 3.94840715e+01] [-1.03473702e-01 9.94631847e-01 -8.25475972e-04 -3.81437695e+00] [-9.16316680e-03 -1.23367734e-04 9.99958010e-01 -2.69444172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.537552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.52, Y:-3.82, Z:-0.27 [[ 9.94796204e-01 1.01550743e-01 8.24375044e-03 3.95156165e+01] [-1.01548033e-01 9.94830356e-01 -7.47721660e-04 -3.81995481e+00] [-8.27706488e-03 -9.33059742e-05 9.99965740e-01 -2.69960026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.55, Y:-3.83, Z:-0.27 [[ 9.94952770e-01 1.00044219e-01 7.75502411e-03 3.95472648e+01] [-1.00041764e-01 9.94982989e-01 -7.04873447e-04 -3.82998672e+00] [-7.78663558e-03 -7.45104995e-05 9.99969681e-01 -2.70651505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.597552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.58, Y:-3.84, Z:-0.27 [[ 9.95392378e-01 9.55779474e-02 7.67261922e-03 3.95771217e+01] [-9.55753935e-02 9.95421948e-01 -6.99685421e-04 -3.84262868e+00] [-7.70436806e-03 -3.68520647e-05 9.99970320e-01 -2.70251049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.627552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.61, Y:-3.85, Z:-0.27 [[ 9.95609038e-01 9.31492820e-02 9.26573078e-03 3.96097695e+01] [-9.31454253e-02 9.95652154e-01 -8.47844119e-04 -3.85129118e+00] [-9.30442088e-03 -1.89391656e-05 9.99956713e-01 -2.69130839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.657552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.64, Y:-3.86, Z:-0.27 [[ 9.95815363e-01 9.07576397e-02 1.07151145e-02 3.96416170e+01] [-9.07523045e-02 9.95873009e-01 -9.84103603e-04 -3.85969116e+00] [-1.07602082e-02 7.56415634e-06 9.99942107e-01 -2.67630926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.687552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.67, Y:-3.86, Z:-0.27 [[ 9.95786846e-01 9.10700282e-02 1.07148152e-02 3.96739375e+01] [-9.10646761e-02 9.95844491e-01 -9.87353222e-04 -3.86277623e+00] [-1.07602080e-02 7.45217382e-06 9.99942107e-01 -2.67833360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.717552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.71, Y:-3.87, Z:-0.27 [[ 9.95947967e-01 8.91437412e-02 1.18760226e-02 3.97067040e+01] [-8.91369815e-02 9.96018771e-01 -1.09835142e-03 -3.87034228e+00] [-1.19266525e-02 3.53080614e-05 9.99928874e-01 -2.67153284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.747552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-3.88, Z:-0.27 [[ 9.96225902e-01 8.59476052e-02 1.21227551e-02 3.97376697e+01] [-8.59402811e-02 9.96299655e-01 -1.12476758e-03 -3.87931518e+00] [-1.21745678e-02 7.86896119e-05 9.99925884e-01 -2.67498302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.777552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:-3.89, Z:-0.27 [[ 9.96274854e-01 8.54845243e-02 1.13494942e-02 3.97690312e+01] [-8.54780358e-02 9.96339495e-01 -1.05644884e-03 -3.88632575e+00] [-1.13982593e-02 8.23809452e-05 9.99935034e-01 -2.67819018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.807552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.80, Y:-3.89, Z:-0.27 [[ 9.96305294e-01 8.53193356e-02 9.81690771e-03 3.98015250e+01] [-8.53144409e-02 9.96353655e-01 -9.17066482e-04 -3.88983635e+00] [-9.85935538e-03 7.61541987e-05 9.99951392e-01 -2.70734763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.837552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.83, Y:-3.90, Z:-0.27 [[ 9.96406589e-01 8.43283264e-02 7.91476377e-03 3.98339667e+01] [-8.43250948e-02 9.96438020e-01 -7.41732740e-04 -3.89655479e+00] [-7.94912063e-03 7.16541840e-05 9.99968403e-01 -2.72452293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.867552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.87, Y:-3.90, Z:-0.27 [[ 9.96472682e-01 8.35424722e-02 7.92781341e-03 3.98657602e+01] [-8.35391850e-02 9.96504214e-01 -7.45468175e-04 -3.90281158e+00] [-7.96237773e-03 8.05556003e-05 9.99968297e-01 -2.72415104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.897552018 meters Centerline goodness [0,1] 0.999852273926348 Centerline is valid? [True, True] Translation: X:39.90, Y:-3.91, Z:-0.28 [[ 9.96653170e-01 8.14139745e-02 7.36363820e-03 3.98974508e+01] [-8.14110655e-02 9.96680368e-01 -6.94437385e-04 -3.90795413e+00] [-7.39573054e-03 9.26315904e-05 9.99972647e-01 -2.75569352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.927552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.93, Y:-3.91, Z:-0.27 [[ 9.96702023e-01 8.06878278e-02 8.63433391e-03 3.99296366e+01] [-8.06837788e-02 9.96739415e-01 -8.16825581e-04 -3.91182147e+00] [-8.67208881e-03 1.17481022e-04 9.99962390e-01 -2.71590751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.957552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.96, Y:-3.92, Z:-0.27 [[ 9.97048405e-01 7.64232985e-02 7.34554341e-03 3.99595279e+01] [-7.64202390e-02 9.97075454e-01 -6.96705926e-04 -3.92401051e+00] [-7.37730559e-03 1.33301350e-04 9.99972778e-01 -2.72080154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.987552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.99, Y:-3.92, Z:-0.27 [[ 9.97204613e-01 7.43182746e-02 7.73011505e-03 3.99918733e+01] [-7.43148036e-02 9.97234561e-01 -7.35686396e-04 -3.92182218e+00] [-7.76341283e-03 1.59167886e-04 9.99969852e-01 -2.72453446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.017552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.02, Y:-3.93, Z:-0.27 [[ 9.97376177e-01 7.19708767e-02 7.80739168e-03 4.00220996e+01] [-7.19672446e-02 9.97406717e-01 -7.45536740e-04 -3.93219249e+00] [-7.84080184e-03 1.81704117e-04 9.99969244e-01 -2.71710691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.047552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.05, Y:-3.94, Z:-0.27 [[ 9.97759962e-01 6.63123979e-02 8.81617897e-03 4.00513469e+01] [-6.63075262e-02 9.97798877e-01 -8.44052686e-04 -3.94042109e+00] [-8.85274464e-03 2.57582957e-04 9.99960781e-01 -2.69832182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.077552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.08, Y:-3.95, Z:-0.27 [[ 9.97926743e-01 6.36536135e-02 9.50958302e-03 4.00832318e+01] [-6.36478152e-02 9.97972006e-01 -9.11439221e-04 -3.94553624e+00] [-9.54831404e-03 3.04285392e-04 9.99954368e-01 -2.69004135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.107552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.11, Y:-3.95, Z:-0.27 [[ 9.98075185e-01 6.11642110e-02 1.02403228e-02 4.01138029e+01] [-6.11573238e-02 9.98127653e-01 -9.84646932e-04 -3.95091006e+00] [-1.02813745e-02 3.56480929e-04 9.99947082e-01 -2.68235708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.137552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.15, Y:-3.95, Z:-0.27 [[ 9.98237042e-01 5.84669410e-02 1.02188139e-02 4.01460954e+01] [-5.84599198e-02 9.98289271e-01 -9.84701926e-04 -3.95447440e+00] [-1.02589048e-02 3.85574898e-04 9.99947302e-01 -2.68700040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.167552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.18, Y:-3.96, Z:-0.27 [[ 9.98455972e-01 5.44935356e-02 1.07761587e-02 4.01758344e+01] [-5.44854891e-02 9.98514022e-01 -1.03909007e-03 -3.96224821e+00] [-1.08167693e-02 4.50341412e-04 9.99941396e-01 -2.68161826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.197552017999996 meters Centerline goodness [0,1] 0.9999581484891604 Centerline is valid? [True, True] Translation: X:40.21, Y:-3.96, Z:-0.27 [[ 9.98513658e-01 5.33386513e-02 1.12010113e-02 4.02078944e+01] [-5.33298741e-02 9.98576365e-01 -1.08104507e-03 -3.95957889e+00] [-1.12427266e-02 4.82089744e-04 9.99936682e-01 -2.68976242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.227552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.24, Y:-3.96, Z:-0.27 [[ 9.98544079e-01 5.26999193e-02 1.15082557e-02 4.02386583e+01] [-5.26905812e-02 9.98610266e-01 -1.11333492e-03 -3.96189105e+00] [-1.15509349e-02 5.05337314e-04 9.99933158e-01 -2.68505242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.257552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.27, Y:-3.96, Z:-0.27 [[ 9.98547344e-01 5.25323418e-02 1.19814309e-02 4.02714521e+01] [-5.25221627e-02 9.98619082e-01 -1.16286773e-03 -3.96015580e+00] [-1.20259737e-02 5.31887816e-04 9.99927544e-01 -2.69031688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.287552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.30, Y:-3.96, Z:-0.27 [[ 9.98525953e-01 5.29456027e-02 1.19450506e-02 4.03037891e+01] [-5.29354674e-02 9.98597258e-01 -1.16329802e-03 -3.95854225e+00] [-1.19898863e-02 5.29266426e-04 9.99927979e-01 -2.69126598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-3.96, Z:-0.27 [[ 9.98486210e-01 5.38034003e-02 1.14229343e-02 4.03365743e+01] [-5.37941452e-02 9.98551423e-01 -1.11615298e-03 -3.95786167e+00] [-1.14664401e-02 4.99976372e-04 9.99934133e-01 -2.70178241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.347552017999995 meters Centerline goodness [0,1] 0.9999791188139486 Centerline is valid? [True, True] Translation: X:40.37, Y:-3.96, Z:-0.27 [[ 9.98453495e-01 5.45163372e-02 1.08897549e-02 4.03691324e+01] [-5.45079312e-02 9.98512767e-01 -1.06745996e-03 -3.95724056e+00] [-1.09317533e-02 4.72231117e-04 9.99940135e-01 -2.71222388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.377552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:-3.95, Z:-0.27 [[ 9.98408599e-01 5.54226194e-02 1.04212477e-02 4.04011104e+01] [-5.54149422e-02 9.98462886e-01 -1.02422522e-03 -3.95249688e+00] [-1.04619943e-02 4.45102426e-04 9.99945173e-01 -2.71836925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.407552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.43, Y:-3.95, Z:-0.27 [[ 9.98365968e-01 5.61309325e-02 1.07103602e-02 4.04337294e+01] [-5.61228352e-02 9.98423314e-01 -1.05532271e-03 -3.94702999e+00] [-1.07527095e-02 4.52502504e-04 9.99942086e-01 -2.72483300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.437552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.47, Y:-3.95, Z:-0.27 [[ 9.98336490e-01 5.66402769e-02 1.07764007e-02 4.04659820e+01] [-5.66320687e-02 9.98394548e-01 -1.06555755e-03 -3.94838671e+00] [-1.08194532e-02 4.53495118e-04 9.99941365e-01 -2.72312967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.467552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.50, Y:-3.94, Z:-0.27 [[ 9.98325376e-01 5.67822992e-02 1.10550171e-02 4.04999131e+01] [-5.67736248e-02 9.98386474e-01 -1.09716151e-03 -3.94457280e+00] [-1.10994789e-02 4.67690782e-04 9.99938290e-01 -2.72687355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.497552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.53, Y:-3.94, Z:-0.27 [[ 9.98359569e-01 5.62591711e-02 1.06337648e-02 4.05319053e+01] [-5.62510767e-02 9.98416093e-01 -1.05899136e-03 -3.94371270e+00] [-1.06764999e-02 4.59093441e-04 9.99942899e-01 -2.73549827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.527552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.56, Y:-3.94, Z:-0.27 [[ 9.98416965e-01 5.54834351e-02 9.22785222e-03 4.05637272e+01] [-5.54772813e-02 9.98459524e-01 -9.21719470e-04 -3.94443219e+00] [-9.26477710e-03 4.08324202e-04 9.99956998e-01 -2.74889856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.557552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.60, Y:-3.94, Z:-0.28 [[ 9.98563449e-01 5.30571685e-02 7.48159719e-03 4.05966232e+01] [-5.30530423e-02 9.98591415e-01 -7.49048177e-04 -3.94190078e+00] [-7.51080110e-03 3.51050640e-04 9.99971732e-01 -2.77610536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.587552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.63, Y:-3.94, Z:-0.28 [[ 9.98598808e-01 5.24194095e-02 7.25442228e-03 4.06285284e+01] [-5.24155066e-02 9.98625098e-01 -7.27215944e-04 -3.94240475e+00] [-7.28256838e-03 3.45952756e-04 9.99973422e-01 -2.78117471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.617552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.66, Y:-3.94, Z:-0.28 [[ 9.98637603e-01 5.16077126e-02 7.71895432e-03 4.06606671e+01] [-5.16032490e-02 9.98667363e-01 -7.76442599e-04 -3.94285992e+00] [-7.74873818e-03 3.77061653e-04 9.99969907e-01 -2.77986318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.647552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.94, Z:-0.28 [[ 9.98754366e-01 4.91843002e-02 8.40366315e-03 4.06916193e+01] [-4.91789046e-02 9.98789626e-01 -8.47630435e-04 -3.94207367e+00] [-8.43518168e-03 4.33291649e-04 9.99964329e-01 -2.77156256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.677552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.72, Y:-3.94, Z:-0.28 [[ 9.98788347e-01 4.83892158e-02 8.96223447e-03 4.07233950e+01] [-4.83830368e-02 9.98828445e-01 -9.05112759e-04 -3.94169960e+00] [-8.99553242e-03 4.70395957e-04 9.99959429e-01 -2.76775511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.707552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.76, Y:-3.94, Z:-0.28 [[ 9.98793262e-01 4.82572494e-02 9.12460848e-03 4.07561124e+01] [-4.82508129e-02 9.98834823e-01 -9.24359071e-04 -3.94223239e+00] [-9.15858373e-03 4.82973834e-04 9.99957943e-01 -2.76260668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.737552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.79, Y:-3.94, Z:-0.27 [[ 9.98736199e-01 4.91483675e-02 1.05091685e-02 4.07882301e+01] [-4.91398397e-02 9.98791337e-01 -1.06830512e-03 -3.93950003e+00] [-1.05489719e-02 5.50536137e-04 9.99944206e-01 -2.74464782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.767552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.82, Y:-3.94, Z:-0.27 [[ 9.98636954e-01 5.08330265e-02 1.18421782e-02 4.08202642e+01] [-5.08222683e-02 9.98706983e-01 -1.20782478e-03 -3.93852138e+00] [-1.18882634e-02 6.04332098e-04 9.99929149e-01 -2.73544675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.797552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:-3.94, Z:-0.27 [[ 9.98523622e-01 5.30109145e-02 1.18498221e-02 4.08530716e+01] [-5.30002508e-02 9.98593763e-01 -1.21235014e-03 -3.93644393e+00] [-1.18974263e-02 5.82516705e-04 9.99929053e-01 -2.73886953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.827552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.89, Y:-3.94, Z:-0.28 [[ 9.98423984e-01 5.49326464e-02 1.14870279e-02 4.08856137e+01] [-5.49227116e-02 9.98489913e-01 -1.17878160e-03 -3.93524961e+00] [-1.15344351e-02 5.46025096e-04 9.99933327e-01 -2.75171939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.857552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.92, Y:-3.93, Z:-0.28 [[ 9.98317262e-01 5.71517108e-02 9.81459687e-03 4.09188175e+01] [-5.71445377e-02 9.98365405e-01 -1.00997602e-03 -3.92971586e+00] [-9.85627584e-03 4.47425893e-04 9.99951326e-01 -2.78398061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.887552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.95, Y:-3.93, Z:-0.28 [[ 9.98272478e-01 5.79535811e-02 9.66652119e-03 4.09503138e+01] [-5.79466313e-02 9.98319184e-01 -9.97721892e-04 -3.93134652e+00] [-9.70809510e-03 4.35855967e-04 9.99952780e-01 -2.78865322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.917552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.98, Y:-3.93, Z:-0.28 [[ 9.98230857e-01 5.87285361e-02 9.27979491e-03 4.09823566e+01] [-5.87221394e-02 9.98273904e-01 -9.60526531e-04 -3.93216191e+00] [-9.32018741e-03 4.13897813e-04 9.99956480e-01 -2.79641577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.947552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.01, Y:-3.93, Z:-0.28 [[ 9.98149359e-01 6.02415495e-02 8.29533362e-03 4.10132488e+01] [-6.02364707e-02 9.98183764e-01 -8.60964335e-04 -3.93230544e+00] [-8.33213316e-03 3.59689378e-04 9.99965222e-01 -2.80675447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.977552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.05, Y:-3.93, Z:-0.28 [[ 9.98092370e-01 6.11594151e-02 8.43488063e-03 4.10457966e+01] [-6.11541752e-02 9.98127946e-01 -8.77987942e-04 -3.92677854e+00] [-8.47278730e-03 3.60484899e-04 9.99964040e-01 -2.80937571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.007552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.08, Y:-3.93, Z:-0.28 [[ 9.98042528e-01 6.19091472e-02 8.85271474e-03 4.10765526e+01] [-6.19033789e-02 9.98081719e-01 -9.24384383e-04 -3.92875413e+00] [-8.89296059e-03 3.74561971e-04 9.99960387e-01 -2.80051395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.037552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.11, Y:-3.93, Z:-0.28 [[ 9.97973685e-01 6.28927107e-02 9.64526230e-03 4.11079552e+01] [-6.28858799e-02 9.98020213e-01 -1.01016645e-03 -3.93077032e+00] [-9.68969884e-03 4.01568724e-04 9.99952973e-01 -2.79548206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.14, Y:-3.92, Z:-0.28 [[ 9.97842227e-01 6.46790812e-02 1.12918857e-02 4.11404821e+01] [-6.46697897e-02 9.97906013e-01 -1.18643515e-03 -3.92489134e+00] [-1.13449782e-02 4.53631215e-04 9.99935541e-01 -2.78259795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.097552017999995 meters Centerline goodness [0,1] 0.9998953274158432 Centerline is valid? [True, True] Translation: X:41.17, Y:-3.93, Z:-0.28 [[ 9.97749452e-01 6.60011292e-02 1.18271932e-02 4.11710840e+01] [-6.59909828e-02 9.97819441e-01 -1.24653358e-03 -3.92897020e+00] [-1.18836759e-02 4.63240092e-04 9.99929279e-01 -2.76974990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.127552017999996 meters Centerline goodness [0,1] 0.9998949491553912 Centerline is valid? [True, True] Translation: X:41.20, Y:-3.93, Z:-0.28 [[ 9.97670596e-01 6.70974867e-02 1.23007954e-02 4.12040494e+01] [-6.70865617e-02 9.97746313e-01 -1.29909788e-03 -3.92733967e+00] [-1.23602395e-02 4.70853686e-04 9.99923498e-01 -2.77210951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.157552018 meters Centerline goodness [0,1] 0.9998738143809544 Centerline is valid? [True, True] Translation: X:41.24, Y:-3.93, Z:-0.28 [[ 9.97595938e-01 6.82782084e-02 1.18503154e-02 4.12353381e+01] [-6.82681243e-02 9.97666222e-01 -1.25386306e-03 -3.92894895e+00] [-1.19082709e-02 4.41849891e-04 9.99928996e-01 -2.78146103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.187552018 meters Centerline goodness [0,1] 0.9998738303017559 Centerline is valid? [True, True] Translation: X:41.27, Y:-3.93, Z:-0.28 [[ 9.97525828e-01 6.95272713e-02 1.04009708e-02 4.12679383e+01] [-6.95195404e-02 9.97579980e-01 -1.10343009e-03 -3.92819858e+00] [-1.04525187e-02 3.77629303e-04 9.99945300e-01 -2.80616133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.217552018 meters Centerline goodness [0,1] 0.9999371688273608 Centerline is valid? [True, True] Translation: X:41.30, Y:-3.93, Z:-0.28 [[ 9.97447897e-01 7.06956141e-02 9.99117908e-03 4.13006322e+01] [-7.06885159e-02 9.97497872e-01 -1.06225752e-03 -3.92974391e+00] [-1.00412768e-02 3.53284912e-04 9.99949523e-01 -2.81363058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.33, Y:-3.93, Z:-0.28 [[ 9.97210170e-01 7.40028267e-02 9.77028321e-03 4.13319517e+01] [-7.39961891e-02 9.97257982e-01 -1.03961597e-03 -3.92737141e+00] [-9.82042744e-03 3.13751898e-04 9.99951729e-01 -2.82115669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.277552017999994 meters Centerline goodness [0,1] 0.9997491219267436 Centerline is valid? [True, True] Translation: X:41.36, Y:-3.93, Z:-0.28 [[ 9.97018581e-01 7.65641777e-02 9.58516913e-03 4.13647182e+01] [-7.65578944e-02 9.97064615e-01 -1.02127971e-03 -3.92560874e+00] [-9.63522641e-03 2.84414483e-04 9.99953540e-01 -2.82780167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.307552017999996 meters Centerline goodness [0,1] 0.9998530029399412 Centerline is valid? [True, True] Translation: X:41.40, Y:-3.93, Z:-0.28 [[ 9.96810654e-01 7.91450220e-02 1.02267184e-02 4.13965305e+01] [-7.91379700e-02 9.96863073e-01 -1.09303795e-03 -3.92617115e+00] [-1.02811464e-02 2.80230140e-04 9.99947108e-01 -2.82386084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.337552018 meters Centerline goodness [0,1] 0.9996855609592487 Centerline is valid? [True, True] Translation: X:41.43, Y:-3.92, Z:-0.28 [[ 9.96585607e-01 8.18607815e-02 1.07675436e-02 4.14288421e+01] [-8.18530841e-02 9.96643738e-01 -1.15437248e-03 -3.92435518e+00] [-1.08259027e-02 2.69074343e-04 9.99941362e-01 -2.82255913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.367552018 meters Centerline goodness [0,1] 0.9997052879757494 Centerline is valid? [True, True] Translation: X:41.46, Y:-3.92, Z:-0.28 [[ 9.96415330e-01 8.38706076e-02 1.10549466e-02 4.14617675e+01] [-8.38625885e-02 9.96476621e-01 -1.18777816e-03 -3.92348224e+00] [-1.11156155e-02 2.56423928e-04 9.99938187e-01 -2.82200673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.397552018 meters Centerline goodness [0,1] 0.9997060058798825 Centerline is valid? [True, True] Translation: X:41.49, Y:-3.93, Z:-0.28 [[ 9.96175798e-01 8.66130727e-02 1.14871313e-02 4.14926975e+01] [-8.66045694e-02 9.96241998e-01 -1.23656186e-03 -3.92518825e+00] [-1.15510650e-02 2.36994945e-04 9.99933256e-01 -2.82388423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.427552018 meters Centerline goodness [0,1] 0.9997272116837335 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.93, Z:-0.28 [[ 9.96076686e-01 8.77172836e-02 1.17009972e-02 4.15250657e+01] [-8.77084938e-02 9.96145383e-01 -1.26324495e-03 -3.92865851e+00] [-1.17667028e-02 2.32011998e-04 9.99930743e-01 -2.82820386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.457552017999994 meters Centerline goodness [0,1] 0.9996840309228403 Centerline is valid? [True, True] Translation: X:41.56, Y:-3.93, Z:-0.28 [[ 9.96017754e-01 8.83723043e-02 1.17885645e-02 4.15580104e+01] [-8.83633801e-02 9.96087488e-01 -1.27676749e-03 -3.93130622e+00] [-1.18552725e-02 2.30005678e-04 9.99929697e-01 -2.83471285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.487552017999995 meters Centerline goodness [0,1] 0.9996632925777058 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.93, Z:-0.28 [[ 9.95935398e-01 8.93546408e-02 1.13327732e-02 4.15892388e+01] [-8.93464144e-02 9.95999851e-01 -1.23112829e-03 -3.93303507e+00] [-1.13974475e-02 2.13581585e-04 9.99935024e-01 -2.84539779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.517552017999996 meters Centerline goodness [0,1] 0.9996855873228808 Centerline is valid? [True, True] Translation: X:41.62, Y:-3.93, Z:-0.29 [[ 9.95823327e-01 9.06945432e-02 1.05072448e-02 4.16215713e+01] [-9.06875135e-02 9.95878740e-01 -1.14454930e-03 -3.93437839e+00] [-1.05677461e-02 1.86892983e-04 9.99944142e-01 -2.85624847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.547552018 meters Centerline goodness [0,1] 0.9994969924339279 Centerline is valid? [True, True] Translation: X:41.65, Y:-3.94, Z:-0.29 [[ 9.95663926e-01 9.24572113e-02 1.02475094e-02 4.16531113e+01] [-9.24505854e-02 9.95716645e-01 -1.11942750e-03 -3.93636437e+00] [-1.03071148e-02 1.67185338e-04 9.99946866e-01 -2.86476114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.577552018 meters Centerline goodness [0,1] 0.9994969924339279 Centerline is valid? [True, True] Translation: X:41.69, Y:-3.94, Z:-0.29 [[ 9.95630666e-01 9.28147255e-02 1.02471500e-02 4.16854061e+01] [-9.28080848e-02 9.95683383e-01 -1.12270908e-03 -3.94012589e+00] [-1.03071209e-02 1.66785222e-04 9.99946866e-01 -2.86678581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.607552018 meters Centerline goodness [0,1] 0.9995177084862337 Centerline is valid? [True, True] Translation: X:41.72, Y:-3.94, Z:-0.29 [[ 9.95253510e-01 9.67651946e-02 1.03416059e-02 4.17176772e+01] [-9.67586067e-02 9.95307229e-01 -1.13665111e-03 -3.94123781e+00] [-1.04030633e-02 1.30616632e-04 9.99945878e-01 -2.86741610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.637552017999994 meters Centerline goodness [0,1] 0.9997685282605951 Centerline is valid? [True, True] Translation: X:41.75, Y:-3.94, Z:-0.29 [[ 9.95061840e-01 9.87397086e-02 1.01195291e-02 4.17491384e+01] [-9.87334703e-02 9.95113289e-01 -1.11542116e-03 -3.94462445e+00] [-1.01802142e-02 1.10776808e-04 9.99948174e-01 -2.86804843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.667552017999995 meters Centerline goodness [0,1] 0.9999790242060662 Centerline is valid? [True, True] Translation: X:41.78, Y:-3.95, Z:-0.29 [[ 9.94880013e-01 1.00590807e-01 9.75959055e-03 4.17808824e+01] [-1.00585064e-01 9.94927877e-01 -1.07878706e-03 -3.94717593e+00] [-9.81860477e-03 9.15946482e-05 9.99951792e-01 -2.87491868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.697552017999996 meters Centerline goodness [0,1] 0.9998322147651006 Centerline is valid? [True, True] Translation: X:41.81, Y:-3.95, Z:-0.29 [[ 9.94707829e-01 1.02298435e-01 9.55846842e-03 4.18117100e+01] [-1.02292976e-01 9.94753751e-01 -1.05949649e-03 -3.94980522e+00] [-9.61670715e-03 7.61252709e-05 9.99953756e-01 -2.87840323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.727552018 meters Centerline goodness [0,1] 0.9998326954848694 Centerline is valid? [True, True] Translation: X:41.84, Y:-3.95, Z:-0.29 [[ 9.94533558e-01 1.03989165e-01 9.44747495e-03 4.18425535e+01] [-1.03983886e-01 9.94578428e-01 -1.04958617e-03 -3.95241989e+00] [-9.50540037e-03 6.14635133e-05 9.99954821e-01 -2.87802723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.757552018 meters Centerline goodness [0,1] 0.9997894515212128 Centerline is valid? [True, True] Translation: X:41.87, Y:-3.96, Z:-0.29 [[ 9.94182445e-01 1.07123560e-01 1.12164216e-02 4.18749632e+01] [-1.07116286e-01 9.94245715e-01 -1.24902002e-03 -3.95533590e+00] [-1.12856786e-02 4.02923565e-05 9.99936314e-01 -2.86124927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.787552018 meters Centerline goodness [0,1] 0.999957882323211 Centerline is valid? [True, True] Translation: X:41.91, Y:-3.96, Z:-0.29 [[ 9.94029836e-01 1.08458830e-01 1.18897837e-02 4.19072362e+01] [-1.08450702e-01 9.94100941e-01 -1.32818341e-03 -3.95936873e+00] [-1.19636984e-02 3.07985480e-05 9.99928432e-01 -2.85929357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81755201799999 meters Centerline goodness [0,1] 0.999683937714659 Centerline is valid? [True, True] Translation: X:41.94, Y:-3.96, Z:-0.29 [[ 9.93973932e-01 1.09163776e-01 9.95450786e-03 4.19394885e+01] [-1.09158081e-01 9.94023777e-01 -1.11526885e-03 -3.96367408e+00] [-1.00167645e-02 2.19331912e-05 9.99949831e-01 -2.89532014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.847552017999995 meters Centerline goodness [0,1] 0.9997481214054825 Centerline is valid? [True, True] Translation: X:41.97, Y:-3.97, Z:-0.29 [[ 9.94125794e-01 1.07698719e-01 1.07187845e-02 4.19706270e+01] [-1.07691994e-01 9.94183577e-01 -1.20434516e-03 -3.97140078e+00] [-1.07861459e-02 4.29433180e-05 9.99941827e-01 -2.87810148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.877552017999996 meters Centerline goodness [0,1] 0.9998952111495337 Centerline is valid? [True, True] Translation: X:42.00, Y:-3.98, Z:-0.29 [[ 9.94257474e-01 1.06531573e-01 1.01537765e-02 4.20026322e+01] [-1.06525449e-01 9.94309319e-01 -1.14357361e-03 -3.97912832e+00] [-1.02178213e-02 5.53709990e-05 9.99947795e-01 -2.88469983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.907552018 meters Centerline goodness [0,1] 0.9998745871828101 Centerline is valid? [True, True] Translation: X:42.03, Y:-3.99, Z:-0.29 [[ 9.94482732e-01 1.04467714e-01 9.51802485e-03 4.20343215e+01] [-1.04462209e-01 9.94528276e-01 -1.07508738e-03 -3.98821548e+00] [-9.57825676e-03 7.48819412e-05 9.99954125e-01 -2.89074096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.937552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.07, Y:-4.00, Z:-0.29 [[ 9.94952156e-01 9.98355920e-02 1.01519002e-02 4.20650377e+01] [-9.98290533e-02 9.95003938e-01 -1.15006860e-03 -4.00130567e+00] [-1.02159984e-02 1.30808649e-04 9.99947807e-01 -2.87700672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.967552018 meters Centerline goodness [0,1] 0.999916072177927 Centerline is valid? [True, True] Translation: X:42.10, Y:-4.01, Z:-0.29 [[ 9.95135401e-01 9.80026737e-02 1.00503808e-02 4.20958786e+01] [-9.79961413e-02 9.95186140e-01 -1.14157433e-03 -4.00926064e+00] [-1.01138770e-02 1.51122495e-04 9.99948842e-01 -2.87295200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99755201799999 meters Centerline goodness [0,1] 0.9998533017582832 Centerline is valid? [True, True] Translation: X:42.13, Y:-4.01, Z:-0.29 [[ 9.95258043e-01 9.67629115e-02 9.91799722e-03 4.21271517e+01] [-9.67564648e-02 9.95307446e-01 -1.12891000e-03 -4.01471178e+00] [-9.98069310e-03 1.63926408e-04 9.99950178e-01 -2.87719205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.027552017999994 meters Centerline goodness [0,1] 0.9999789207419899 Centerline is valid? [True, True] Translation: X:42.16, Y:-4.02, Z:-0.29 [[ 9.95347589e-01 9.58327961e-02 9.96252334e-03 4.21583843e+01] [-9.58262237e-02 9.95397430e-01 -1.13607848e-03 -4.02055596e+00] [-1.00255437e-02 1.76121983e-04 9.99949727e-01 -2.87870933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.057552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.19, Y:-4.03, Z:-0.29 [[ 9.95572796e-01 9.35160704e-02 9.46321842e-03 4.21894322e+01] [-9.35100106e-02 9.95617752e-01 -1.08177347e-03 -4.02730506e+00] [-9.52291145e-03 1.92078582e-04 9.99954638e-01 -2.88890044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.087552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.22, Y:-4.03, Z:-0.29 [[ 9.95688902e-01 9.23074359e-02 9.10754926e-03 4.22212045e+01] [-9.23017474e-02 9.95730535e-01 -1.04385533e-03 -4.03432118e+00] [-9.16502050e-03 1.98712453e-04 9.99957981e-01 -2.89199216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.117552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.25, Y:-4.04, Z:-0.29 [[ 9.95778084e-01 9.13770148e-02 8.73206825e-03 4.22526887e+01] [-9.13717256e-02 9.95816349e-01 -1.00358664e-03 -4.04107982e+00] [-8.78724107e-03 2.01485440e-04 9.99961371e-01 -2.89752659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.147552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.28, Y:-4.05, Z:-0.29 [[ 9.95930420e-01 8.97602647e-02 8.10508930e-03 4.22829598e+01] [-8.97556341e-02 9.95963380e-01 -9.34005015e-04 -4.05100697e+00] [-8.15620867e-03 2.02726578e-04 9.99966717e-01 -2.90029600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.177552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.32, Y:-4.05, Z:-0.29 [[ 9.95874827e-01 9.03194673e-02 8.70187958e-03 4.23157093e+01] [-9.03141251e-02 9.95912821e-01 -1.00573545e-03 -4.05472233e+00] [-8.75715093e-03 2.15683977e-04 9.99961632e-01 -2.89657272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.207552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.35, Y:-4.06, Z:-0.29 [[ 9.95740905e-01 9.17330837e-02 9.22451859e-03 4.23467425e+01] [-9.17271099e-02 9.95783608e-01 -1.06949392e-03 -4.05937278e+00] [-9.28373237e-03 2.18800415e-04 9.99956881e-01 -2.89040305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.237552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.38, Y:-4.06, Z:-0.29 [[ 9.95547276e-01 9.38063657e-02 9.27286800e-03 4.23793786e+01] [-9.38003984e-02 9.95590440e-01 -1.07731617e-03 -4.06189078e+00] [-9.33303785e-03 2.02720469e-04 9.99956426e-01 -2.88747219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.267552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.41, Y:-4.06, Z:-0.29 [[ 9.94975335e-01 9.97004844e-02 9.15944180e-03 4.24114735e+01] [-9.96948963e-02 9.95017483e-01 -1.06579615e-03 -4.06335085e+00] [-9.22006512e-03 1.47291286e-04 9.99957483e-01 -2.89191885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.297552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.44, Y:-4.07, Z:-0.29 [[ 9.94633027e-01 1.03114259e-01 8.51998798e-03 4.24422367e+01] [-1.03109528e-01 9.94669512e-01 -9.93936165e-04 -4.06839875e+00] [-8.57706128e-03 1.10109802e-04 9.99963210e-01 -2.89265333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.327552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.47, Y:-4.07, Z:-0.29 [[ 9.94317721e-01 1.06102002e-01 8.63919206e-03 4.24746648e+01] [-1.06097226e-01 9.94355247e-01 -1.01049532e-03 -4.06738904e+00] [-8.69764153e-03 8.81590838e-05 9.99962171e-01 -2.89810723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.357552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.51, Y:-4.07, Z:-0.29 [[ 9.93786387e-01 1.10977961e-01 8.51527613e-03 4.25067816e+01] [-1.10973477e-01 9.93822866e-01 -9.98706304e-04 -4.06898034e+00] [-8.57351052e-03 4.75309265e-05 9.99963246e-01 -2.89911155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.387552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.54, Y:-4.07, Z:-0.29 [[ 9.93509591e-01 1.13411113e-01 8.75283339e-03 4.25397065e+01] [-1.13406444e-01 9.93548146e-01 -1.02957126e-03 -4.07340647e+00] [-8.81312621e-03 3.02612167e-05 9.99961163e-01 -2.89937635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.417552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.57, Y:-4.08, Z:-0.29 [[ 9.93296002e-01 1.15296173e-01 8.35737265e-03 4.25717161e+01] [-1.15291958e-01 9.93331159e-01 -9.85990504e-04 -4.07848076e+00] [-8.41531960e-03 1.58425646e-05 9.99964590e-01 -2.89962298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.447552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.60, Y:-4.08, Z:-0.29 [[ 9.93081724e-01 1.17135852e-01 8.23905016e-03 4.26042182e+01] [-1.17131796e-01 9.93115901e-01 -9.74872502e-04 -4.08321449e+00] [-8.29652424e-03 3.07332500e-06 9.99965583e-01 -2.90333686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.477552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.64, Y:-4.09, Z:-0.29 [[ 9.92558369e-01 1.21568201e-01 7.00397331e-03 4.26362473e+01] [-1.21565364e-01 9.92583081e-01 -8.30926680e-04 -4.08625667e+00] [-7.05303966e-03 -2.66973359e-05 9.99975127e-01 -2.91317585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.507552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.67, Y:-4.09, Z:-0.29 [[ 9.92150440e-01 1.24901834e-01 6.08573259e-03 4.26687372e+01] [-1.24899744e-01 9.92169104e-01 -7.23767878e-04 -4.09014861e+00] [-6.12847579e-03 -4.20198228e-05 9.99981220e-01 -2.92659456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.537552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.70, Y:-4.09, Z:-0.29 [[ 9.91728093e-01 1.28252473e-01 5.16650380e-03 4.27001518e+01] [-1.28251004e-01 9.91741549e-01 -6.16141800e-04 -4.09259280e+00] [-5.20285819e-03 -5.15641654e-05 9.99986464e-01 -2.94376329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.73, Y:-4.10, Z:-0.30 [[ 9.90823314e-01 1.35088369e-01 4.50481955e-03 4.27318302e+01] [-1.35087317e-01 9.90833552e-01 -5.38356420e-04 -4.09648123e+00] [-4.53625205e-03 -7.51278935e-05 9.99989708e-01 -2.95168943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.597552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.76, Y:-4.10, Z:-0.29 [[ 9.90338564e-01 1.38578644e-01 5.04857435e-03 4.27633140e+01] [-1.38577359e-01 9.90351427e-01 -6.05145166e-04 -4.10167309e+00] [-5.08372301e-03 -1.00319507e-04 9.99987073e-01 -2.94518493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.627552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:-4.11, Z:-0.29 [[ 9.89848460e-01 1.42004635e-01 5.89146422e-03 4.27948083e+01] [-1.42002933e-01 9.89865983e-01 -7.08422769e-04 -4.10635683e+00] [-5.93235934e-03 -1.35374010e-04 9.99982394e-01 -2.93827714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.657552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.83, Y:-4.11, Z:-0.29 [[ 9.89110835e-01 1.47031171e-01 6.44907458e-03 4.28258443e+01] [-1.47029223e-01 9.89131843e-01 -7.77734655e-04 -4.11354877e+00] [-6.49333626e-03 -1.78936652e-04 9.99978902e-01 -2.93356349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.687552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.86, Y:-4.12, Z:-0.29 [[ 9.88847320e-01 1.48789363e-01 6.53471355e-03 4.28560723e+01] [-1.48787388e-01 9.88868894e-01 -7.90023167e-04 -4.11912553e+00] [-6.57952200e-03 -1.91070671e-04 9.99978336e-01 -2.93472934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.717552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.89, Y:-4.13, Z:-0.29 [[ 9.88693616e-01 1.49803173e-01 6.62890664e-03 4.28867429e+01] [-1.49801153e-01 9.88715818e-01 -8.03110337e-04 -4.12570898e+00] [-6.67441333e-03 -1.98987792e-04 9.99977706e-01 -2.94151242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.92, Y:-4.13, Z:-0.29 [[ 9.88626624e-01 1.50243540e-01 6.65406760e-03 4.29181471e+01] [-1.50241501e-01 9.88648997e-01 -8.08059833e-04 -4.13304150e+00] [-6.69994303e-03 -2.00847638e-04 9.99977535e-01 -2.94820727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.777552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.95, Y:-4.15, Z:-0.30 [[ 9.88710336e-01 1.49718677e-01 6.01567623e-03 4.29487752e+01] [-1.49716994e-01 9.88728621e-01 -7.31716860e-04 -4.14823861e+00] [-6.05742295e-03 -1.77192940e-04 9.99981638e-01 -2.96206066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.807552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.98, Y:-4.16, Z:-0.30 [[ 9.88740905e-01 1.49525119e-01 5.80181863e-03 4.29799105e+01] [-1.49523539e-01 9.88757913e-01 -7.07439539e-04 -4.15834440e+00] [-5.84237406e-03 -1.68034046e-04 9.99982919e-01 -2.96531597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.837552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.01, Y:-4.17, Z:-0.30 [[ 9.88820685e-01 1.49001385e-01 5.67800905e-03 4.30109239e+01] [-1.48999854e-01 9.88836974e-01 -6.94059182e-04 -4.16857354e+00] [-5.71804107e-03 -1.59722445e-04 9.99983639e-01 -2.96989384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.867552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.04, Y:-4.18, Z:-0.30 [[ 9.88855581e-01 1.48762469e-01 5.86245044e-03 4.30423277e+01] [-1.48760822e-01 9.88872945e-01 -7.18477614e-04 -4.17837783e+00] [-5.90410114e-03 -1.61632346e-04 9.99982558e-01 -2.96559807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.897552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.07, Y:-4.20, Z:-0.30 [[ 9.88914395e-01 1.48301588e-01 7.41332784e-03 4.30716374e+01] [-1.48298920e-01 9.88942162e-01 -9.11328264e-04 -4.19686298e+00] [-7.46650389e-03 -1.98162874e-04 9.99972106e-01 -2.95658011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.927552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.10, Y:-4.21, Z:-0.30 [[ 9.88881032e-01 1.48513105e-01 7.62646719e-03 4.31031846e+01] [-1.48510270e-01 9.88910419e-01 -9.39817341e-04 -4.20830838e+00] [-7.68146805e-03 -2.03241162e-04 9.99970476e-01 -2.95206936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.957552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.14, Y:-4.22, Z:-0.29 [[ 9.88878880e-01 1.48528682e-01 7.60211709e-03 4.31356821e+01] [-1.48525847e-01 9.88908080e-01 -9.39282596e-04 -4.21777891e+00] [-7.65730542e-03 -2.00274160e-04 9.99970662e-01 -2.94952364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.987552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.17, Y:-4.23, Z:-0.30 [[ 9.88941639e-01 1.48160584e-01 6.54795794e-03 4.31667710e+01] [-1.48158461e-01 9.88963302e-01 -8.10869690e-04 -4.23088532e+00] [-6.59582904e-03 -1.68232570e-04 9.99978233e-01 -2.96266918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.017552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.20, Y:-4.24, Z:-0.30 [[ 9.88886413e-01 1.48556871e-01 5.87521524e-03 4.31975290e+01] [-1.48555160e-01 9.88903854e-01 -7.29044481e-04 -4.23867513e+00] [-5.91832756e-03 -1.51851358e-04 9.99982475e-01 -2.97318755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.047552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.23, Y:-4.25, Z:-0.30 [[ 9.88878310e-01 1.48655963e-01 4.59274864e-03 4.32292684e+01] [-1.48654914e-01 9.88888968e-01 -5.70856844e-04 -4.24738524e+00] [-4.62657974e-03 -1.18226703e-04 9.99989290e-01 -2.98592854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.077552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.26, Y:-4.26, Z:-0.30 [[ 9.88917576e-01 1.48437690e-01 2.87755835e-03 4.32609229e+01] [-1.48437275e-01 9.88921760e-01 -3.58253886e-04 -4.25534850e+00] [-2.89885845e-03 -7.28533564e-05 9.99995796e-01 -3.00046959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.107552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.29, Y:-4.27, Z:-0.30 [[ 9.89382489e-01 1.45334698e-01 3.40040843e-04 4.32921880e+01] [-1.45334692e-01 9.89382548e-01 -4.18974056e-05 -4.26834118e+00] [-3.42519622e-04 -7.96717185e-06 9.99999941e-01 -3.02140511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.137552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.32, Y:-4.28, Z:-0.30 [[ 9.89715959e-01 1.43046197e-01 3.25240569e-04 4.33226142e+01] [-1.43046192e-01 9.89716013e-01 -3.91601770e-05 -4.27687335e+00] [-3.27497513e-04 -7.76697272e-06 9.99999946e-01 -3.02465323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.167552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.35, Y:-4.29, Z:-0.30 [[ 9.90055988e-01 1.40671649e-01 7.91986027e-04 4.33540221e+01] [-1.40671615e-01 9.90056305e-01 -9.77389106e-05 -4.28715299e+00] [-7.97859853e-04 -1.46429602e-05 9.99999682e-01 -3.01348748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.197552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.39, Y:-4.30, Z:-0.30 [[ 9.90474952e-01 1.37680000e-01 1.89405403e-03 4.33851275e+01] [-1.37679799e-01 9.90476762e-01 -2.36624034e-04 -4.29729573e+00] [-1.90859490e-03 -2.64028000e-05 9.99998178e-01 -2.99875219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.227552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.41, Y:-4.31, Z:-0.30 [[ 9.91367652e-01 1.31045817e-01 4.14392522e-03 4.34144534e+01] [-1.31044783e-01 9.91376313e-01 -5.21183617e-04 -4.31225898e+00] [-4.17648823e-03 -2.63552013e-05 9.99991278e-01 -2.96440027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.257552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.45, Y:-4.32, Z:-0.30 [[ 9.91755955e-01 1.28032810e-01 5.26543447e-03 4.34459628e+01] [-1.28031094e-01 9.91769933e-01 -6.63240926e-04 -4.32201527e+00] [-5.30701619e-03 -1.63661956e-05 9.99985918e-01 -2.95322950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.287552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.48, Y:-4.33, Z:-0.29 [[ 9.92095179e-01 1.25349574e-01 5.88551776e-03 4.34774651e+01] [-1.25347371e-01 9.92112637e-01 -7.43179501e-04 -4.33143169e+00] [-5.93225378e-03 -4.29379026e-07 9.99982404e-01 -2.94822464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.51, Y:-4.34, Z:-0.30 [[ 9.92797804e-01 1.19663380e-01 5.76165922e-03 4.35085052e+01] [-1.19661163e-01 9.92814522e-01 -7.29209850e-04 -4.34286610e+00] [-5.80751866e-03 3.45110921e-05 9.99983136e-01 -2.95745884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.347552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.54, Y:-4.35, Z:-0.30 [[ 9.93119769e-01 1.16992793e-01 5.08038030e-03 4.35402594e+01] [-1.16991029e-01 9.93132763e-01 -6.44212375e-04 -4.35017096e+00] [-5.12086033e-03 4.54211288e-05 9.99986887e-01 -2.97021734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.377552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.57, Y:-4.36, Z:-0.30 [[ 9.93397690e-01 1.14632708e-01 4.51346404e-03 4.35711381e+01] [-1.14631286e-01 9.93407942e-01 -5.73428335e-04 -4.35755262e+00] [-4.54944467e-03 5.22581966e-05 9.99989650e-01 -2.98046840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.407552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-4.37, Z:-0.30 [[ 9.93662518e-01 1.12329493e-01 4.10916835e-03 4.36027531e+01] [-1.12328290e-01 9.93671013e-01 -5.22938085e-04 -4.36517371e+00] [-4.14190285e-03 5.80481187e-05 9.99991421e-01 -2.98263915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.437552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:-4.38, Z:-0.30 [[ 9.94026409e-01 1.08991250e-01 5.69263918e-03 4.36328100e+01] [-1.08988875e-01 9.94042704e-01 -7.26674726e-04 -4.37667565e+00] [-5.73792763e-03 1.01899529e-04 9.99983533e-01 -2.95629672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.467552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.67, Y:-4.38, Z:-0.29 [[ 9.94074560e-01 1.08463610e-01 7.17042397e-03 4.36650100e+01] [-1.08459812e-01 9.94100411e-01 -9.17546531e-04 -4.38085277e+00] [-7.22764183e-03 1.34406829e-04 9.99973871e-01 -2.93706090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.70, Y:-4.39, Z:-0.29 [[ 9.94041607e-01 1.08765216e-01 7.17017522e-03 4.36971879e+01] [-1.08761412e-01 9.94067457e-01 -9.19486589e-04 -4.38509566e+00] [-7.22764601e-03 1.34169546e-04 9.99973871e-01 -2.93908522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.527552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.73, Y:-4.39, Z:-0.29 [[ 9.94013598e-01 1.08905373e-01 8.75136505e-03 4.37295081e+01] [-1.08899684e-01 9.94052107e-01 -1.12536853e-03 -4.38967928e+00] [-8.82187155e-03 1.65610728e-04 9.99961073e-01 -2.92690932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.557552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.76, Y:-4.39, Z:-0.29 [[ 9.93918576e-01 1.09755139e-01 8.92603070e-03 4.37629127e+01] [-1.09749230e-01 9.93958642e-01 -1.15063292e-03 -4.39179013e+00] [-8.99839323e-03 1.64010439e-04 9.99959500e-01 -2.92420247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.587552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.79, Y:-4.39, Z:-0.29 [[ 9.93583476e-01 1.12850967e-01 7.51900734e-03 4.37938339e+01] [-1.12846848e-01 9.93611919e-01 -9.71251619e-04 -4.39244694e+00] [-7.58058200e-03 1.16523282e-04 9.99971260e-01 -2.94731896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.617552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.82, Y:-4.39, Z:-0.30 [[ 9.93295577e-01 1.15376608e-01 7.22045938e-03 4.38245861e+01] [-1.15372863e-01 9.93321816e-01 -9.34461914e-04 -4.39474579e+00] [-7.28005486e-03 9.51518137e-05 9.99973496e-01 -2.95491036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.647552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.86, Y:-4.40, Z:-0.30 [[ 9.92955354e-01 1.18301976e-01 6.65643386e-03 4.38570018e+01] [-1.18298849e-01 9.92977662e-01 -8.63023985e-04 -4.39659992e+00] [-6.71178757e-03 6.94958243e-05 9.99977473e-01 -2.96339437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.677552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.89, Y:-4.40, Z:-0.30 [[ 9.92524220e-01 1.21925980e-01 5.45237627e-03 4.38896024e+01] [-1.21923929e-01 9.92539195e-01 -7.08077200e-04 -4.39607779e+00] [-5.49803016e-03 3.80086313e-05 9.99984885e-01 -2.98125655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.707552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.92, Y:-4.40, Z:-0.30 [[ 9.92400611e-01 1.22955742e-01 4.78676985e-03 4.39228429e+01] [-1.22954169e-01 9.92412155e-01 -6.22663873e-04 -4.39901835e+00] [-4.82700868e-03 2.93786975e-05 9.99988349e-01 -2.99268522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.737552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.96, Y:-4.40, Z:-0.30 [[ 9.92393701e-01 1.23051802e-01 3.60502499e-03 4.39558861e+01] [-1.23050908e-01 9.92400249e-01 -4.69546400e-04 -4.40208874e+00] [-3.63540623e-03 2.23732915e-05 9.99993392e-01 -3.00386043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.767552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.99, Y:-4.41, Z:-0.30 [[ 9.92714993e-01 1.20471972e-01 1.85630049e-03 4.39860303e+01] [-1.20471730e-01 9.92716729e-01 -2.42197860e-04 -4.40767061e+00] [-1.87195860e-03 1.68017156e-05 9.99998248e-01 -3.01586207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.797552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.02, Y:-4.41, Z:-0.30 [[ 9.92964468e-01 1.18402020e-01 1.58975891e-03 4.40178435e+01] [-1.18401840e-01 9.92965740e-01 -2.06904761e-04 -4.41384209e+00] [-1.60307407e-03 1.72186955e-05 9.99998715e-01 -3.01281395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.827552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.05, Y:-4.42, Z:-0.30 [[ 9.93225663e-01 1.16176510e-01 2.40867000e-03 4.40495736e+01] [-1.16176088e-01 9.93228583e-01 -3.15006662e-04 -4.41976138e+00] [-2.42895627e-03 3.30428432e-05 9.99997050e-01 -3.00733847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.857552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.08, Y:-4.43, Z:-0.30 [[ 9.93491031e-01 1.13866556e-01 3.15892393e-03 4.40800610e+01] [-1.13865813e-01 9.93496052e-01 -4.14902702e-04 -4.42585923e+00] [-3.18562200e-03 5.25086725e-05 9.99994925e-01 -2.99871064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.887552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.11, Y:-4.43, Z:-0.30 [[ 9.94044126e-01 1.08891651e-01 4.34550508e-03 4.41114810e+01] [-1.08890192e-01 9.94053620e-01 -5.71857459e-04 -4.43143349e+00] [-4.38193556e-03 9.52686677e-05 9.99990395e-01 -2.98154182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.917552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.14, Y:-4.44, Z:-0.30 [[ 9.94214201e-01 1.07323203e-01 4.45555351e-03 4.41432795e+01] [-1.07321653e-01 9.94224179e-01 -5.86365883e-04 -4.43629223e+00] [-4.49274969e-03 1.04795922e-04 9.99989902e-01 -2.98439309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.947552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.17, Y:-4.44, Z:-0.30 [[ 9.94328224e-01 1.06262370e-01 4.43745526e-03 4.41735659e+01] [-1.06260815e-01 9.94338120e-01 -5.85301825e-04 -4.44127139e+00] [-4.47452648e-03 1.10454510e-04 9.99989983e-01 -2.98516792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.977552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.21, Y:-4.45, Z:-0.30 [[ 9.94394031e-01 1.05643967e-01 4.45686773e-03 4.42053872e+01] [-1.05642388e-01 9.94404012e-01 -5.88736352e-04 -4.44629756e+00] [-4.49412360e-03 1.14601763e-04 9.99989895e-01 -2.99146552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.007552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.24, Y:-4.45, Z:-0.30 [[ 9.94356850e-01 1.06003955e-01 4.19713206e-03 4.42367724e+01] [-1.06002553e-01 9.94365702e-01 -5.55767640e-04 -4.45381990e+00] [-4.23239774e-03 1.07724646e-04 9.99991038e-01 -2.99766699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.037552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.27, Y:-4.45, Z:-0.30 [[ 9.94287559e-01 1.06657318e-01 4.05779825e-03 4.42690321e+01] [-1.06656013e-01 9.94295834e-01 -5.37275064e-04 -4.45216367e+00] [-4.09195621e-03 1.01417329e-04 9.99991623e-01 -3.00271926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.30, Y:-4.45, Z:-0.30 [[ 9.94117814e-01 1.08255296e-01 3.24995855e-03 4.43009835e+01] [-1.08254465e-01 9.94123124e-01 -4.31184836e-04 -4.45331438e+00] [-3.27753699e-03 7.68260034e-05 9.99994626e-01 -3.01121739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.097552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.33, Y:-4.45, Z:-0.30 [[ 9.93709238e-01 1.11957495e-01 2.73308213e-03 4.43338740e+01] [-1.11956918e-01 9.93712995e-01 -3.63682193e-04 -4.45384510e+00] [-2.75661617e-03 5.54069019e-05 9.99996199e-01 -3.01081672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.127552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.37, Y:-4.46, Z:-0.30 [[ 9.93369422e-01 1.14926203e-01 3.02646560e-03 4.43654831e+01] [-1.14925510e-01 9.93374031e-01 -4.02539859e-04 -4.45560345e+00] [-3.05267471e-03 5.20526851e-05 9.99995339e-01 -3.00537664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.157552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.40, Y:-4.46, Z:-0.30 [[ 9.92951719e-01 1.18462835e-01 3.66621588e-03 4.43973477e+01] [-1.18461837e-01 9.92958486e-01 -4.88977756e-04 -4.45586684e+00] [-3.69832585e-03 5.12246371e-05 9.99993160e-01 -3.00153286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.187552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.43, Y:-4.45, Z:-0.30 [[ 9.92500487e-01 1.22170627e-01 4.13789736e-03 4.44300138e+01] [-1.22169382e-01 9.92509111e-01 -5.53145638e-04 -4.45373558e+00] [-4.17447898e-03 4.34729491e-05 9.99991286e-01 -3.00157300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.217552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.46, Y:-4.45, Z:-0.30 [[ 9.91468401e-01 1.30310173e-01 3.10947749e-03 4.44616923e+01] [-1.30309508e-01 9.91473277e-01 -4.16184594e-04 -4.44970756e+00] [-3.13719692e-03 7.43939142e-06 9.99995079e-01 -3.02047987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.49, Y:-4.45, Z:-0.30 [[ 9.90856069e-01 1.34893534e-01 2.82589204e-03 4.44947390e+01] [-1.34893003e-01 9.90860098e-01 -3.78603708e-04 -4.45076137e+00] [-2.85113486e-03 -6.05128266e-06 9.99995935e-01 -3.03165974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.277552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.53, Y:-4.45, Z:-0.30 [[ 9.90237499e-01 1.39373460e-01 2.17585335e-03 4.45261208e+01] [-1.39373154e-01 9.90239889e-01 -2.92442884e-04 -4.45180295e+00] [-2.19537556e-03 -1.36676346e-05 9.99997590e-01 -3.03895548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.307552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.56, Y:-4.45, Z:-0.30 [[ 9.89103609e-01 1.47190173e-01 3.01731425e-03 4.45583517e+01] [-1.47189619e-01 9.89108210e-01 -4.06049927e-04 -4.44750295e+00] [-3.04421686e-03 -4.24918862e-05 9.99995365e-01 -3.04451659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.337552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.59, Y:-4.45, Z:-0.30 [[ 9.88587424e-01 1.50595333e-01 3.99391002e-03 4.45905045e+01] [-1.50594385e-01 9.88595489e-01 -5.38989756e-04 -4.44978337e+00] [-4.02953078e-03 -6.86219277e-05 9.99991879e-01 -3.04031181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.367552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.62, Y:-4.45, Z:-0.30 [[ 9.88114650e-01 1.53652494e-01 4.51109000e-03 4.46230219e+01] [-1.53651309e-01 9.88124943e-01 -6.10266695e-04 -4.45150119e+00] [-4.55128955e-03 -9.01214210e-05 9.99989639e-01 -3.04137017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.397552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.65, Y:-4.45, Z:-0.31 [[ 9.87247260e-01 1.59173613e-01 2.57075433e-03 4.46544769e+01] [-1.59173247e-01 9.87250605e-01 -3.47833307e-04 -4.45197247e+00] [-2.59334465e-03 -6.57978337e-05 9.99996635e-01 -3.05925802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.427552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.69, Y:-4.46, Z:-0.31 [[ 9.86877946e-01 1.61462624e-01 1.31913630e-03 4.46865116e+01] [-1.61462531e-01 9.86878827e-01 -1.77940474e-04 -4.45588911e+00] [-1.33055842e-03 -3.73855562e-05 9.99999114e-01 -3.07284493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.457552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.72, Y:-4.46, Z:-0.31 [[ 9.86562385e-01 1.63383559e-01 6.87591218e-04 4.47188332e+01] [-1.63383534e-01 9.86562625e-01 -9.21050950e-05 -4.45978447e+00] [-6.93400255e-04 -2.14736612e-05 9.99999759e-01 -3.07843850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.487552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.75, Y:-4.46, Z:-0.31 [[ 9.86340736e-01 1.64714568e-01 1.03134866e-03 4.47503830e+01] [-1.64714513e-01 9.86341275e-01 -1.39312421e-04 -4.46369467e+00] [-1.04020854e-03 -3.24685764e-05 9.99999458e-01 -3.07952360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.517552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.78, Y:-4.47, Z:-0.31 [[ 9.86218457e-01 1.65435088e-01 2.09463318e-03 4.47823828e+01] [-1.65434856e-01 9.86220679e-01 -2.85159997e-04 -4.47056695e+00] [-2.11294602e-03 -6.52952845e-05 9.99997766e-01 -3.06274849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.547552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.81, Y:-4.48, Z:-0.31 [[ 9.86268435e-01 1.65120030e-01 3.15443303e-03 4.48140619e+01] [-1.65119494e-01 9.86273475e-01 -4.31574759e-04 -4.47804956e+00] [-3.18239526e-03 -9.52098214e-05 9.99994932e-01 -3.05284373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.577552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:-4.49, Z:-0.30 [[ 9.86409101e-01 1.64253743e-01 4.21829117e-03 4.48454998e+01] [-1.64252768e-01 9.86418113e-01 -5.78895527e-04 -4.48588437e+00] [-4.25608457e-03 -1.21838185e-04 9.99990935e-01 -3.04170189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.607552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:-4.49, Z:-0.30 [[ 9.86545041e-01 1.63406632e-01 5.21106874e-03 4.48764162e+01] [-1.63405122e-01 9.86558793e-01 -7.17137686e-04 -4.49246534e+00] [-5.25821074e-03 -1.44026695e-04 9.99986165e-01 -3.03375340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.637552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.91, Y:-4.50, Z:-0.30 [[ 9.86777961e-01 1.61998777e-01 5.06481977e-03 4.49074845e+01] [-1.61997329e-01 9.86790950e-01 -6.97668204e-04 -4.50100874e+00] [-5.11093971e-03 -1.32043667e-04 9.99986930e-01 -3.04777916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.667552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.94, Y:-4.51, Z:-0.31 [[ 9.86841700e-01 1.61628241e-01 4.44653074e-03 4.49388399e+01] [-1.61627116e-01 9.86851711e-01 -6.13521818e-04 -4.50864068e+00] [-4.48722892e-03 -1.13231025e-04 9.99989926e-01 -3.05916438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.697552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:-4.52, Z:-0.31 [[ 9.86836759e-01 1.61677240e-01 3.69883429e-03 4.49701663e+01] [-1.61676460e-01 9.86843686e-01 -5.11060097e-04 -4.51576793e+00] [-3.73279805e-03 -9.36815421e-05 9.99993029e-01 -3.07060039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.727552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.00, Y:-4.53, Z:-0.31 [[ 9.87063046e-01 1.60323717e-01 1.68804273e-03 4.50003451e+01] [-1.60323552e-01 9.87064488e-01 -2.33366369e-04 -4.52585695e+00] [-1.70362120e-03 -4.02856882e-05 9.99998548e-01 -3.08441384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.757552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-4.54, Z:-0.31 [[ 9.87180869e-01 1.59596713e-01 1.67984696e-03 4.50316022e+01] [-1.59596549e-01 9.87182297e-01 -2.31925942e-04 -4.53597328e+00] [-1.69532980e-03 -3.91449248e-05 9.99998562e-01 -3.08176320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.787552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-4.54, Z:-0.31 [[ 9.87332788e-01 1.58651021e-01 1.95408638e-03 4.50629673e+01] [-1.58650796e-01 9.87334721e-01 -2.70639350e-04 -4.54395236e+00] [-1.97227454e-03 -4.28062574e-05 9.99998054e-01 -3.08202181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:-4.55, Z:-0.31 [[ 9.87480870e-01 1.57720185e-01 2.42380755e-03 4.50934882e+01] [-1.57719833e-01 9.87483843e-01 -3.37259965e-04 -4.55021619e+00] [-2.44666350e-03 -4.92447567e-05 9.99997006e-01 -3.07810171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.847552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.12, Y:-4.56, Z:-0.31 [[ 9.87609956e-01 1.56893924e-01 3.29720006e-03 4.51238337e+01] [-1.56893265e-01 9.87615458e-01 -4.59320230e-04 -4.56485951e+00] [-3.32843030e-03 -6.36792501e-05 9.99994459e-01 -3.05764665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.877552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.15, Y:-4.57, Z:-0.31 [[ 9.87570178e-01 1.57130028e-01 3.91114286e-03 4.51549434e+01] [-1.57129096e-01 9.87577920e-01 -5.46465920e-04 -4.57152084e+00] [-3.94842454e-03 -7.48808940e-05 9.99992202e-01 -3.05829394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.907552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.19, Y:-4.58, Z:-0.31 [[ 9.87426775e-01 1.58020714e-01 4.22116700e-03 4.51864967e+01] [-1.58019633e-01 9.87435794e-01 -5.90491112e-04 -4.58090436e+00] [-4.26144121e-03 -8.39605252e-05 9.99990916e-01 -3.05947640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.937552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.22, Y:-4.59, Z:-0.31 [[ 9.87277436e-01 1.58936974e-01 4.72261861e-03 4.52190979e+01] [-1.58935623e-01 9.87288726e-01 -6.62408240e-04 -4.58846180e+00] [-4.76786928e-03 -9.66116217e-05 9.99988629e-01 -3.06394242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.967552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.25, Y:-4.59, Z:-0.31 [[ 9.87116780e-01 1.59942602e-01 4.33895127e-03 4.52497340e+01] [-1.59941466e-01 9.87126312e-01 -6.09962851e-04 -4.59457060e+00] [-4.38065201e-03 -9.18736614e-05 9.99990401e-01 -3.07047164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.28, Y:-4.60, Z:-0.31 [[ 9.86905680e-01 1.61245403e-01 4.13504772e-03 4.52810197e+01] [-1.61244378e-01 9.86914339e-01 -5.82259219e-04 -4.60253640e+00] [-4.17482451e-03 -9.21182677e-05 9.99991281e-01 -3.07179794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.027552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.31, Y:-4.61, Z:-0.31 [[ 9.86574583e-01 1.63274227e-01 3.48109303e-03 4.53120297e+01] [-1.63273511e-01 9.86580721e-01 -4.90891547e-04 -4.61240126e+00] [-3.51452921e-03 -8.40691569e-05 9.99993820e-01 -3.08133499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.057552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.34, Y:-4.62, Z:-0.31 [[ 9.86470339e-01 1.63902994e-01 3.47545399e-03 4.53430045e+01] [-1.63902281e-01 9.86476458e-01 -4.91033804e-04 -4.61965570e+00] [-3.50893545e-03 -8.52445521e-05 9.99993840e-01 -3.08409801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.087552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.37, Y:-4.63, Z:-0.31 [[ 9.86417166e-01 1.64212439e-01 3.93050303e-03 4.53739899e+01] [-1.64211523e-01 9.86424992e-01 -5.56778280e-04 -4.62767632e+00] [-3.96857634e-03 -9.62182340e-05 9.99992121e-01 -3.08093159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.117552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.41, Y:-4.64, Z:-0.31 [[ 9.86535222e-01 1.63486535e-01 4.51758305e-03 4.54050405e+01] [-1.63485309e-01 9.86545560e-01 -6.41780449e-04 -4.64097481e+00] [-4.56172396e-03 -1.05419443e-04 9.99989590e-01 -3.07834955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.147552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.44, Y:-4.65, Z:-0.31 [[ 9.86450594e-01 1.63978544e-01 5.12469171e-03 4.54373830e+01] [-1.63976970e-01 9.86463898e-01 -7.28751573e-04 -4.64951996e+00] [-5.17482298e-03 -1.21453994e-04 9.99986603e-01 -3.07391959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.177552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.47, Y:-4.66, Z:-0.31 [[ 9.86320008e-01 1.64753816e-01 5.38714038e-03 4.54680454e+01] [-1.64752077e-01 9.86334712e-01 -7.68047472e-04 -4.65537583e+00] [-5.44006230e-03 -1.30001978e-04 9.99985194e-01 -3.07342544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.207552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.50, Y:-4.66, Z:-0.31 [[ 9.86125783e-01 1.65916741e-01 5.25123482e-03 4.54985851e+01] [-1.65915101e-01 9.86139756e-01 -7.49464667e-04 -4.66121864e+00] [-5.30280015e-03 -1.32192722e-04 9.99985931e-01 -3.07870747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.237552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.53, Y:-4.67, Z:-0.31 [[ 9.85660725e-01 1.68684853e-01 4.28429693e-03 4.55289491e+01] [-1.68683786e-01 9.85670029e-01 -6.11712660e-04 -4.67255662e+00] [-4.32608974e-03 -1.19750283e-04 9.99990635e-01 -3.09824122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.267552017999996 meters Centerline goodness [0,1] 0.999957881436243 Centerline is valid? [True, True] Translation: X:45.56, Y:-4.68, Z:-0.31 [[ 9.85487735e-01 1.69713268e-01 3.36628822e-03 4.55596666e+01] [-1.69712613e-01 9.85493479e-01 -4.81179137e-04 -4.67796500e+00] [-3.39911757e-03 -9.71054324e-05 9.99994218e-01 -3.12415621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.297552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.59, Y:-4.69, Z:-0.31 [[ 9.85294319e-01 1.70825285e-01 3.71843295e-03 4.55904272e+01] [-1.70824490e-01 9.85301330e-01 -5.32580389e-04 -4.68932948e+00] [-3.75475513e-03 -1.10450982e-04 9.99992945e-01 -3.10665862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.327552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.62, Y:-4.70, Z:-0.31 [[ 9.84849123e-01 1.73381030e-01 3.35021191e-03 4.56216542e+01] [-1.73380397e-01 9.84854815e-01 -4.80622029e-04 -4.69893861e+00] [-3.38280307e-03 -1.07520886e-04 9.99994273e-01 -3.11733192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.357552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.65, Y:-4.70, Z:-0.31 [[ 9.84647648e-01 1.74531112e-01 2.81075229e-03 4.56521283e+01] [-1.74530669e-01 9.84651655e-01 -4.03823348e-04 -4.70468499e+00] [-2.83809164e-03 -9.29387688e-05 9.99995968e-01 -3.12841669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.387552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.68, Y:-4.71, Z:-0.31 [[ 9.84592739e-01 1.74840608e-01 2.81067643e-03 4.56842290e+01] [-1.74840165e-01 9.84596746e-01 -4.04350459e-04 -4.70943573e+00] [-2.83807975e-03 -9.32986049e-05 9.99995968e-01 -3.13044126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.417552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.72, Y:-4.72, Z:-0.31 [[ 9.84458040e-01 1.75608140e-01 2.03659458e-03 4.57156911e+01] [-1.75607909e-01 9.84460145e-01 -2.93265983e-04 -4.71732675e+00] [-2.05644609e-03 -6.89340597e-05 9.99997883e-01 -3.14015743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.447552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.75, Y:-4.73, Z:-0.32 [[ 9.84150748e-01 1.77333876e-01 -3.67381390e-05 4.57457616e+01] [-1.77333876e-01 9.84150749e-01 6.94457365e-06 -4.72999336e+00] [ 3.73873752e-05 -3.19590758e-07 9.99999999e-01 -3.15176670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.477552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.78, Y:-4.74, Z:-0.32 [[ 9.84055976e-01 1.77857712e-01 -6.85631238e-04 4.57773993e+01] [-1.77857684e-01 9.84056215e-01 1.01710778e-04 -4.73868617e+00] [ 6.92789727e-04 2.18556857e-05 9.99999760e-01 -3.15280243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.507552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.81, Y:-4.75, Z:-0.32 [[ 9.84087755e-01 1.77682827e-01 -3.20894346e-04 4.58090215e+01] [-1.77682821e-01 9.84087808e-01 4.84874776e-05 -4.74651372e+00] [ 3.24403606e-04 9.30147968e-06 9.99999947e-01 -3.15870539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.537552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.84, Y:-4.76, Z:-0.32 [[ 9.84128383e-01 1.77457825e-01 2.13484992e-04 4.58405531e+01] [-1.77457823e-01 9.84128406e-01 -2.94433095e-05 -4.75511895e+00] [-2.15321591e-04 -8.90858533e-06 9.99999977e-01 -3.15976000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.87, Y:-4.77, Z:-0.32 [[ 9.84382261e-01 1.76043744e-01 -4.04755957e-04 4.58704299e+01] [-1.76043734e-01 9.84382344e-01 6.07828530e-05 -4.76849685e+00] [ 4.09135059e-04 1.14211877e-05 9.99999916e-01 -3.16488833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.597552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.90, Y:-4.78, Z:-0.32 [[ 9.84507229e-01 1.75340974e-01 -1.02945951e-03 4.59006668e+01] [-1.75340910e-01 9.84507766e-01 1.52384628e-04 -4.77673178e+00] [ 1.04023016e-03 3.04826003e-05 9.99999458e-01 -3.16981792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.627552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:-4.79, Z:-0.32 [[ 9.84601317e-01 1.74812377e-01 -9.37562953e-04 4.59313462e+01] [-1.74812324e-01 9.84601763e-01 1.39266932e-04 -4.78512185e+00] [ 9.47471720e-04 2.67751542e-05 9.99999551e-01 -3.17197700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.657552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.96, Y:-4.80, Z:-0.32 [[ 9.84872486e-01 1.73280138e-01 4.24503897e-04 4.59619158e+01] [-1.73280128e-01 9.84872577e-01 -6.07380202e-05 -4.79893535e+00] [-4.28606939e-04 -1.37388846e-05 9.99999908e-01 -3.16045811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.687552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.99, Y:-4.81, Z:-0.32 [[ 9.85044992e-01 1.72293216e-01 1.18804223e-03 4.59931571e+01] [-1.72293132e-01 9.85045708e-01 -1.73335984e-04 -4.80821867e+00] [-1.20014052e-03 -3.39477742e-05 9.99999279e-01 -3.15245989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.717552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.02, Y:-4.82, Z:-0.32 [[ 9.85273711e-01 1.70974540e-01 1.84949562e-03 4.60232906e+01] [-1.70974331e-01 9.85275446e-01 -2.71382445e-04 -4.81576325e+00] [-1.86866211e-03 -4.88302891e-05 9.99998253e-01 -3.15034037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.05, Y:-4.83, Z:-0.31 [[ 9.85529527e-01 1.69487579e-01 2.34772446e-03 4.60547296e+01] [-1.69487236e-01 9.85532322e-01 -3.45895191e-04 -4.82650220e+00] [-2.37238328e-03 -5.70194046e-05 9.99997184e-01 -3.13887865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.777552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.08, Y:-4.84, Z:-0.31 [[ 9.85851654e-01 1.67612401e-01 1.61229719e-03 4.60843383e+01] [-1.67612238e-01 9.85852972e-01 -2.37023478e-04 -4.83787516e+00] [-1.62921605e-03 -3.65707515e-05 9.99998672e-01 -3.14211633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.807552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.11, Y:-4.85, Z:-0.31 [[ 9.85972632e-01 1.66903182e-01 1.13901920e-03 4.61149100e+01] [-1.66903100e-01 9.85973289e-01 -1.67091985e-04 -4.84863401e+00] [-1.15093069e-03 -2.53577108e-05 9.99999337e-01 -3.14789068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.837552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.15, Y:-4.85, Z:-0.32 [[ 9.86141557e-01 1.65905592e-01 4.04139047e-04 4.61455005e+01] [-1.65905582e-01 9.86141640e-01 -5.83856751e-05 -4.85315454e+00] [-4.08224853e-04 -9.47238316e-06 9.99999917e-01 -3.16381064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.867552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.18, Y:-4.87, Z:-0.32 [[ 9.86545352e-01 1.63487415e-01 3.64113611e-04 4.61759689e+01] [-1.63487407e-01 9.86545420e-01 -5.24267028e-05 -4.86885402e+00] [-3.67785721e-04 -7.80667017e-06 9.99999932e-01 -3.15640330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.897552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.21, Y:-4.88, Z:-0.32 [[ 9.86776806e-01 1.62084963e-01 -8.62328959e-06 4.62066081e+01] [-1.62084963e-01 9.86776806e-01 2.90285441e-06 -4.87599678e+00] [ 8.97977121e-06 -1.46676383e-06 1.00000000e+00 -3.17007058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.927552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.24, Y:-4.88, Z:-0.32 [[ 9.87075424e-01 1.60255754e-01 -4.48088564e-04 4.62378476e+01] [-1.60255739e-01 9.87075526e-01 6.86043732e-05 -4.88415669e+00] [ 4.53291500e-04 4.09107317e-06 9.99999897e-01 -3.18265808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.957552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.27, Y:-4.90, Z:-0.32 [[ 9.87850954e-01 1.55401575e-01 -9.17843997e-04 4.62679866e+01] [-1.55401513e-01 9.87851381e-01 1.39068083e-04 -4.89664436e+00] [ 9.28304859e-04 5.25580643e-06 9.99999569e-01 -3.19777280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.987552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.30, Y:-4.91, Z:-0.32 [[ 9.88292333e-01 1.52571286e-01 -5.17708677e-04 4.62983789e+01] [-1.52571266e-01 9.88292468e-01 7.85263909e-05 -4.90505162e+00] [ 5.23628459e-04 1.38043813e-06 9.99999863e-01 -3.21135097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.017552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.33, Y:-4.92, Z:-0.32 [[ 9.88778549e-01 1.49388561e-01 1.96173669e-04 4.63290938e+01] [-1.49388558e-01 9.88778569e-01 -2.77145515e-05 -4.91631205e+00] [-1.98112557e-04 -1.90254756e-06 9.99999980e-01 -3.18696528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.047552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.36, Y:-4.93, Z:-0.32 [[ 9.89256314e-01 1.46188181e-01 9.80706892e-04 4.63602144e+01] [-1.46188109e-01 9.89256800e-01 -1.45631337e-04 -4.92657808e+00] [-9.91460542e-04 6.99033804e-07 9.99999509e-01 -3.17218989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.077552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.39, Y:-4.94, Z:-0.32 [[ 9.90060073e-01 1.40616282e-01 2.84819727e-03 4.63908467e+01] [-1.40615634e-01 9.90064170e-01 -4.27366253e-04 -4.93902363e+00] [-2.87999272e-03 2.26171974e-05 9.99995853e-01 -3.15561016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.107552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.42, Y:-4.95, Z:-0.32 [[ 9.90311510e-01 1.38836585e-01 2.74145623e-03 4.64212241e+01] [-1.38835976e-01 9.90315304e-01 -4.12120105e-04 -4.94563168e+00] [-2.77212341e-03 2.75145319e-05 9.99996157e-01 -3.16562707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.137552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.45, Y:-4.95, Z:-0.32 [[ 9.90472615e-01 1.37696241e-01 1.93478989e-03 4.64531016e+01] [-1.37695936e-01 9.90474505e-01 -2.90813180e-04 -4.95197370e+00] [-1.95640394e-03 2.16297866e-05 9.99998086e-01 -3.17863161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.167552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.49, Y:-4.96, Z:-0.32 [[ 9.90546091e-01 1.37171988e-01 1.51261462e-03 4.64856579e+01] [-1.37171801e-01 9.90547245e-01 -2.27195604e-04 -4.95804250e+00] [-1.52948111e-03 1.75596452e-05 9.99998830e-01 -3.18541312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.197552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.52, Y:-4.97, Z:-0.32 [[ 9.90535061e-01 1.37253452e-01 1.33513792e-03 4.65165713e+01] [-1.37253306e-01 9.90535961e-01 -2.00839574e-04 -4.96574637e+00] [-1.35006805e-03 1.56865454e-05 9.99999089e-01 -3.18268195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.227552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.55, Y:-4.97, Z:-0.32 [[ 9.90426591e-01 1.38035002e-01 1.22701217e-03 4.65494002e+01] [-1.38034879e-01 9.90427351e-01 -1.84673507e-04 -4.97039000e+00] [-1.24075782e-03 1.35350744e-05 9.99999230e-01 -3.18326589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.257552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.58, Y:-4.97, Z:-0.32 [[ 9.90265036e-01 1.39189976e-01 1.14429638e-03 4.65801134e+01] [-1.39189869e-01 9.90265697e-01 -1.72768158e-04 -4.97480854e+00] [-1.15720505e-03 1.18118024e-05 9.99999330e-01 -3.18938085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.287552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.61, Y:-4.98, Z:-0.32 [[ 9.89946321e-01 1.41441232e-01 8.12297798e-04 4.66125868e+01] [-1.41441179e-01 9.89946654e-01 -1.23225662e-04 -4.97808358e+00] [-8.21560676e-04 7.09443336e-06 9.99999662e-01 -3.20063490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.64, Y:-4.98, Z:-0.32 [[ 9.89784533e-01 1.42566225e-01 1.20399165e-03 4.66430074e+01] [-1.42566108e-01 9.89785265e-01 -1.82781322e-04 -4.98254261e+00] [-1.21775164e-03 9.26572225e-06 9.99999258e-01 -3.20203515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.347552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.67, Y:-4.99, Z:-0.32 [[ 9.89670371e-01 1.43348731e-01 1.92320358e-03 4.66747111e+01] [-1.43348434e-01 9.89672239e-01 -2.92268826e-04 -4.98685617e+00] [-1.94523756e-03 1.35615766e-05 9.99998108e-01 -3.20235597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.377552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.71, Y:-4.99, Z:-0.32 [[ 9.89559892e-01 1.44090077e-01 3.04448130e-03 4.67072046e+01] [-1.44089330e-01 9.89564576e-01 -4.64523773e-04 -4.99086482e+00] [-3.07964411e-03 2.09968255e-05 9.99995258e-01 -3.19717483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.407552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-4.99, Z:-0.32 [[ 9.89683408e-01 1.43201625e-01 4.47739634e-03 4.67400544e+01] [-1.43199989e-01 9.89693535e-01 -6.85485845e-04 -4.99492957e+00] [-4.52941290e-03 3.72508605e-05 9.99989741e-01 -3.19727280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.437552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.77, Y:-5.00, Z:-0.32 [[ 9.89831981e-01 1.42174216e-01 4.37507875e-03 4.67720541e+01] [-1.42172638e-01 9.89841649e-01 -6.71151872e-04 -5.00087931e+00] [-4.42605565e-03 4.23110992e-05 9.99990204e-01 -3.19742636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.467552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.80, Y:-5.01, Z:-0.32 [[ 9.90021292e-01 1.40851059e-01 4.33821082e-03 4.68031852e+01] [-1.40849489e-01 9.90030796e-01 -6.66904207e-04 -5.00701208e+00] [-4.38889647e-03 4.92145893e-05 9.99990368e-01 -3.19385520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.83, Y:-5.01, Z:-0.32 [[ 9.90206762e-01 1.39537457e-01 4.45722779e-03 4.68349099e+01] [-1.39535780e-01 9.90216792e-01 -6.86464484e-04 -5.01306305e+00] [-4.50940931e-03 5.77990165e-05 9.99989831e-01 -3.18677935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.527552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:-5.02, Z:-0.32 [[ 9.90694368e-01 1.35950221e-01 6.49670576e-03 4.68664896e+01] [-1.35946566e-01 9.90715663e-01 -1.00309541e-03 -5.01844144e+00] [-6.57275920e-03 1.10556139e-04 9.99978393e-01 -3.16823087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.557552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-5.02, Z:-0.32 [[ 9.90903075e-01 1.34388397e-01 7.13121791e-03 4.68984532e+01] [-1.34383937e-01 9.90928726e-01 -1.10316697e-03 -5.02182940e+00] [-7.21478153e-03 1.34810410e-04 9.99973964e-01 -3.16779885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.587552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.93, Y:-5.03, Z:-0.32 [[ 9.91054001e-01 1.33272618e-01 7.09758823e-03 4.69306625e+01] [-1.33268157e-01 9.91079406e-01 -1.09993212e-03 -5.02540479e+00] [-7.18086436e-03 1.44209631e-04 9.99974207e-01 -3.17642811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.617552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:-5.03, Z:-0.32 [[ 9.91280084e-01 1.31657130e-01 5.49507008e-03 4.69617231e+01] [-1.31654424e-01 9.91295307e-01 -8.52740634e-04 -5.02951876e+00] [-5.55950656e-03 1.21854519e-04 9.99984538e-01 -3.20695988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.647552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:-5.03, Z:-0.32 [[ 9.91395172e-01 1.30821164e-01 4.62982005e-03 4.69938409e+01] [-1.30819230e-01 9.91405977e-01 -7.19376551e-04 -5.03015412e+00] [-4.68414095e-03 1.07516945e-04 9.99989024e-01 -3.21687979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.677552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.03, Y:-5.03, Z:-0.32 [[ 9.91502986e-01 1.30015159e-01 4.22942629e-03 4.70252280e+01] [-1.30013534e-01 9.91512001e-01 -6.58219092e-04 -5.03375087e+00] [-4.27910539e-03 1.02743537e-04 9.99990839e-01 -3.22389229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.707552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.06, Y:-5.04, Z:-0.32 [[ 9.91663660e-01 1.28769789e-01 4.63968061e-03 4.70569388e+01] [-1.28767813e-01 9.91674507e-01 -7.23364453e-04 -5.03679330e+00] [-4.69420046e-03 1.19892716e-04 9.99988975e-01 -3.22828711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.737552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.09, Y:-5.04, Z:-0.32 [[ 9.92038722e-01 1.25833490e-01 5.01059851e-03 4.70884350e+01] [-1.25831140e-01 9.92051365e-01 -7.82720082e-04 -5.03818149e+00] [-5.06926349e-03 1.45999306e-04 9.99987141e-01 -3.23029842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.767552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.12, Y:-5.04, Z:-0.32 [[ 9.92238348e-01 1.24253905e-01 4.90183129e-03 4.71196120e+01] [-1.24251631e-01 9.92250444e-01 -7.66932111e-04 -5.04157265e+00] [-4.95913858e-03 1.51918917e-04 9.99987692e-01 -3.23674322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.797552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:-5.04, Z:-0.32 [[ 9.92451551e-01 1.22549852e-01 4.63180454e-03 4.71519009e+01] [-1.22547799e-01 9.92462347e-01 -7.25709980e-04 -5.04327253e+00] [-4.68582726e-03 1.52614544e-04 9.99989010e-01 -3.24441147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.827552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.18, Y:-5.05, Z:-0.33 [[ 9.92654215e-01 1.20909252e-01 4.30845472e-03 4.71829918e+01] [-1.20907454e-01 9.92663553e-01 -6.76351750e-04 -5.04674360e+00] [-4.35862316e-03 1.50459123e-04 9.99990490e-01 -3.25551905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.857552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.21, Y:-5.05, Z:-0.33 [[ 9.93032903e-01 1.17750355e-01 4.52842982e-03 4.72145965e+01] [-1.17748332e-01 9.93043214e-01 -7.11592275e-04 -5.04810038e+00] [-4.58071674e-03 1.73419485e-04 9.99989493e-01 -3.25692707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.887552017999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.25, Y:-5.05, Z:-0.32 [[ 9.93204644e-01 1.16236290e-01 5.80174338e-03 4.72464379e+01] [-1.16232939e-01 9.93221562e-01 -9.12571173e-04 -5.04966218e+00] [-5.86849051e-03 2.32016242e-04 9.99982753e-01 -3.24467667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.917552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.28, Y:-5.05, Z:-0.32 [[ 9.93580482e-01 1.12926553e-01 6.73934714e-03 4.72766973e+01] [-1.12921943e-01 9.93603295e-01 -1.06185938e-03 -5.05166417e+00] [-6.81614964e-03 2.94022578e-04 9.99976727e-01 -3.24300417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.947552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.31, Y:-5.05, Z:-0.32 [[ 9.93737080e-01 1.11529464e-01 6.91332724e-03 4.73094880e+01] [-1.11524577e-01 9.93761079e-01 -1.08959701e-03 -5.05151692e+00] [-6.99171770e-03 3.11767053e-04 9.99975509e-01 -3.24675264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.977552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.34, Y:-5.05, Z:-0.32 [[ 9.93855252e-01 1.10451970e-01 7.21809123e-03 4.73418430e+01] [-1.10446600e-01 9.93881406e-01 -1.13963214e-03 -5.05368005e+00] [-7.29980128e-03 3.35415753e-04 9.99973300e-01 -3.24514228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.007552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.37, Y:-5.05, Z:-0.32 [[ 9.93914472e-01 1.09880735e-01 7.76181466e-03 4.73745982e+01] [-1.09874490e-01 9.93944711e-01 -1.22770030e-03 -5.05156624e+00] [-7.84971525e-03 3.67403664e-04 9.99969123e-01 -3.23980732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.037552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.41, Y:-5.05, Z:-0.32 [[ 9.93958123e-01 1.09446598e-01 8.28801075e-03 4.74066659e+01] [-1.09439443e-01 9.93992597e-01 -1.31333948e-03 -5.05032643e+00] [-8.38196187e-03 3.98369164e-04 9.99964791e-01 -3.23346987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.44, Y:-5.06, Z:-0.32 [[ 9.93967894e-01 1.09373031e-01 8.08490279e-03 4.74375158e+01] [-1.09366203e-01 9.94000698e-01 -1.28320998e-03 -5.05661066e+00] [-8.17674758e-03 3.91254403e-04 9.99966493e-01 -3.23774697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.097552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.47, Y:-5.05, Z:-0.32 [[ 9.93990085e-01 1.09195569e-01 7.74848922e-03 4.74706251e+01] [-1.09189277e-01 9.94020213e-01 -1.23174595e-03 -5.05482089e+00] [-7.83665610e-03 3.78291325e-04 9.99969221e-01 -3.24943812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.127552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.51, Y:-5.05, Z:-0.33 [[ 9.94125010e-01 1.08012404e-01 6.98457874e-03 4.75050534e+01] [-1.08007250e-01 9.94149484e-01 -1.11200631e-03 -5.04519185e+00] [-7.06382583e-03 3.51088141e-04 9.99974989e-01 -3.26692100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.157552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.54, Y:-5.05, Z:-0.33 [[ 9.94203932e-01 1.07305930e-01 6.63161916e-03 4.75375373e+01] [-1.07301257e-01 9.94225991e-01 -1.05757083e-03 -5.04626518e+00] [-6.70681175e-03 3.39860003e-04 9.99977451e-01 -3.26812021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.187552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.57, Y:-5.05, Z:-0.33 [[ 9.94324848e-01 1.06175759e-01 6.69367646e-03 4.75687096e+01] [-1.06170959e-01 9.94347316e-01 -1.06932628e-03 -5.04843633e+00] [-6.76937574e-03 3.52583635e-04 9.99977025e-01 -3.26877916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.217552018 meters Centerline goodness [0,1] 0.9999790065919302 Centerline is valid? [True, True] Translation: X:47.60, Y:-5.04, Z:-0.33 [[ 9.94710445e-01 1.02464830e-01 7.21726085e-03 4.76010833e+01] [-1.02459140e-01 9.94736544e-01 -1.15470221e-03 -5.04408795e+00] [-7.29758948e-03 4.09120012e-04 9.99973289e-01 -3.26657424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.63, Y:-5.04, Z:-0.33 [[ 9.94878954e-01 1.00774224e-01 7.77320700e-03 4.76344083e+01] [-1.00767569e-01 9.94909217e-01 -1.24403963e-03 -5.04114860e+00] [-7.85900242e-03 4.54381674e-04 9.99969014e-01 -3.26753822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.277552017999994 meters Centerline goodness [0,1] 0.999978997773764 Centerline is valid? [True, True] Translation: X:47.67, Y:-5.04, Z:-0.33 [[ 9.95029672e-01 9.92275099e-02 8.35781277e-03 4.76658651e+01] [-9.92197530e-02 9.95064645e-01 -1.33870878e-03 -5.04307463e+00] [-8.44940074e-03 5.02794837e-04 9.99964177e-01 -3.26912030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.307552017999996 meters Centerline goodness [0,1] 0.999978997773764 Centerline is valid? [True, True] Translation: X:47.70, Y:-5.05, Z:-0.33 [[ 9.94999346e-01 9.95311681e-02 8.35745533e-03 4.76979240e+01] [-9.95234032e-02 9.95034318e-01 -1.34093700e-03 -5.04832387e+00] [-8.44941989e-03 5.02469045e-04 9.99964177e-01 -3.27114742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.337552018 meters Centerline goodness [0,1] 0.9999789398310974 Centerline is valid? [True, True] Translation: X:47.73, Y:-5.04, Z:-0.33 [[ 9.95312179e-01 9.63055726e-02 8.88275811e-03 4.77307794e+01] [-9.62966540e-02 9.95351655e-01 -1.42732091e-03 -5.03836086e+00] [-8.97892694e-03 5.65250002e-04 9.99959529e-01 -3.28135866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.367552018 meters Centerline goodness [0,1] 0.9998738329548322 Centerline is valid? [True, True] Translation: X:47.76, Y:-5.04, Z:-0.33 [[ 9.95407297e-01 9.52998226e-02 9.06957735e-03 4.77631158e+01] [-9.52904749e-02 9.95448441e-01 -1.45826524e-03 -5.03896198e+00] [-9.16726905e-03 5.87323532e-04 9.99957807e-01 -3.28486867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.397552018 meters Centerline goodness [0,1] 0.9999370792172655 Centerline is valid? [True, True] Translation: X:47.79, Y:-5.04, Z:-0.33 [[ 9.95493044e-01 9.44149686e-02 8.91144616e-03 4.77943985e+01] [-9.44058874e-02 9.95532756e-01 -1.43520609e-03 -5.04023770e+00] [-9.00714149e-03 5.87444699e-04 9.99959262e-01 -3.28633836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.427552018 meters Centerline goodness [0,1] 0.9773827740163917 Centerline is valid? [True, True] Translation: X:47.82, Y:-5.05, Z:-0.33 [[ 9.95515289e-01 9.42383281e-02 8.27324001e-03 4.78242583e+01] [-9.42304770e-02 9.95549515e-01 -1.33457855e-03 -5.05208761e+00] [-8.36218852e-03 5.49002004e-04 9.99964886e-01 -3.28469815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.457552017999994 meters Centerline goodness [0,1] 0.984549356223176 Centerline is valid? [True, True] Translation: X:47.86, Y:-5.05, Z:-0.33 [[ 9.95480435e-01 9.45974735e-02 8.36793308e-03 4.78579224e+01] [-9.45894352e-02 9.95515450e-01 -1.35210844e-03 -5.04844440e+00] [-8.45831270e-03 5.54479434e-04 9.99964074e-01 -3.28930136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.487552017999995 meters Centerline goodness [0,1] 0.9829227557411273 Centerline is valid? [True, True] Translation: X:47.89, Y:-5.05, Z:-0.33 [[ 9.95358756e-01 9.58722030e-02 8.33477319e-03 4.78897901e+01] [-9.58642611e-02 9.95393503e-01 -1.34812348e-03 -5.04649930e+00] [-8.42562665e-03 5.42859635e-04 9.99964356e-01 -3.29167378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.517552017999996 meters Centerline goodness [0,1] 0.9880659294804924 Centerline is valid? [True, True] Translation: X:47.92, Y:-5.04, Z:-0.33 [[ 9.95205294e-01 9.74060170e-02 8.85949863e-03 4.79234942e+01] [-9.73970788e-02 9.95244567e-01 -1.43583004e-03 -5.04135962e+00] [-8.95722636e-03 5.66056371e-04 9.99959723e-01 -3.29241903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.547552018 meters Centerline goodness [0,1] 0.9896436757657845 Centerline is valid? [True, True] Translation: X:47.96, Y:-5.03, Z:-0.33 [[ 9.94876511e-01 1.00638348e-01 9.62550847e-03 4.79567483e+01] [-1.00627926e-01 9.94922901e-01 -1.56227873e-03 -5.02963438e+00] [-9.73386396e-03 5.85679465e-04 9.99952453e-01 -3.29216268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.577552018 meters Centerline goodness [0,1] 0.996886297619794 Centerline is valid? [True, True] Translation: X:47.99, Y:-5.02, Z:-0.33 [[ 9.94716651e-01 1.02205251e-01 9.63692904e-03 4.79903164e+01] [-1.02194863e-01 9.94763167e-01 -1.56553807e-03 -5.02210863e+00] [-9.74646827e-03 5.72422141e-04 9.99952338e-01 -3.29907932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.607552018 meters Centerline goodness [0,1] 0.9990193419158303 Centerline is valid? [True, True] Translation: X:48.02, Y:-5.02, Z:-0.33 [[ 9.94587070e-01 1.03478180e-01 9.42473851e-03 4.80242324e+01] [-1.03468278e-01 9.94631572e-01 -1.53359406e-03 -5.01697277e+00] [-9.53283600e-03 5.50131356e-04 9.99954410e-01 -3.30540984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.637552017999994 meters Centerline goodness [0,1] 0.9998322499475781 Centerline is valid? [True, True] Translation: X:48.06, Y:-5.01, Z:-0.33 [[ 9.94381345e-01 1.05581573e-01 7.63365987e-03 4.80587548e+01] [-1.05575128e-01 9.94410552e-01 -1.24353222e-03 -5.00581374e+00] [-7.72228601e-03 4.30620621e-04 9.99970090e-01 -3.32985113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.667552017999995 meters Centerline goodness [0,1] 0.9998319504253755 Centerline is valid? [True, True] Translation: X:48.09, Y:-5.01, Z:-0.33 [[ 9.94274289e-01 1.06653647e-01 6.60588794e-03 4.80900086e+01] [-1.06648832e-01 9.94296165e-01 -1.07800005e-03 -5.00537468e+00] [-6.68318169e-03 3.67317500e-04 9.99977600e-01 -3.34604054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.697552017999996 meters Centerline goodness [0,1] 0.9997489854829937 Centerline is valid? [True, True] Translation: X:48.12, Y:-5.00, Z:-0.34 [[ 9.94175562e-01 1.07576315e-01 6.50295637e-03 4.81233570e+01] [-1.07571655e-01 9.94196766e-01 -1.06315185e-03 -5.00290350e+00] [-6.57958815e-03 3.57425810e-04 9.99978290e-01 -3.35374355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.727552018 meters Centerline goodness [0,1] 0.999978953571579 Centerline is valid? [True, True] Translation: X:48.16, Y:-5.00, Z:-0.34 [[ 9.94073305e-01 1.08509120e-01 6.63594183e-03 4.81561277e+01] [-1.08504274e-01 9.94095388e-01 -1.08703207e-03 -4.99922887e+00] [-6.71471206e-03 3.60561518e-04 9.99977391e-01 -3.35223245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.757552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:-4.99, Z:-0.33 [[ 9.93912728e-01 1.09931296e-01 7.25248222e-03 4.81898935e+01] [-1.09925528e-01 9.93939113e-01 -1.19050206e-03 -4.98826537e+00] [-7.33939918e-03 3.86022216e-04 9.99972992e-01 -3.34803767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.787552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.22, Y:-4.98, Z:-0.33 [[ 9.93841006e-01 1.10540238e-01 7.80446285e-03 4.82230808e+01] [-1.10533556e-01 9.93871564e-01 -1.28371421e-03 -4.98390003e+00] [-7.89853577e-03 4.13152784e-04 9.99968721e-01 -3.34413002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.25, Y:-4.98, Z:-0.33 [[ 9.93731120e-01 1.11486502e-01 8.31997445e-03 4.82542292e+01] [-1.11478918e-01 9.93765853e-01 -1.37123777e-03 -4.98401677e+00] [-8.42098101e-03 4.35139894e-04 9.99964448e-01 -3.34217913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.847552017999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.29, Y:-4.98, Z:-0.34 [[ 9.93623133e-01 1.12541045e-01 6.89796034e-03 4.82883872e+01] [-1.12535845e-01 9.93647013e-01 -1.13861349e-03 -4.97508132e+00] [-6.98227844e-03 3.55084906e-04 9.99975561e-01 -3.36054267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.877552017999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:-4.97, Z:-0.34 [[ 9.93488474e-01 1.13758224e-01 6.30218934e-03 4.83212886e+01] [-1.13753897e-01 9.93508412e-01 -1.04214373e-03 -4.97305497e+00] [-6.37983054e-03 3.18459190e-04 9.99979598e-01 -3.36866234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.907552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.35, Y:-4.97, Z:-0.34 [[ 9.93261342e-01 1.15749820e-01 5.82121797e-03 4.83530563e+01] [-1.15746151e-01 9.93278359e-01 -9.64349147e-04 -4.97126366e+00] [-5.89371307e-03 2.84067152e-04 9.99982592e-01 -3.37267375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.937552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.39, Y:-4.97, Z:-0.34 [[ 9.92960126e-01 1.18330122e-01 5.30763271e-03 4.83859838e+01] [-1.18327101e-01 9.92974280e-01 -8.80888696e-04 -4.96523072e+00] [-5.37457843e-03 2.46650562e-04 9.99985526e-01 -3.38062121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.967552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.42, Y:-4.95, Z:-0.34 [[ 9.92138729e-01 1.25103813e-01 3.12716633e-03 4.84181043e+01] [-1.25102797e-01 9.92143649e-01 -5.19176853e-04 -4.95388578e+00] [-3.16754922e-03 1.23878208e-04 9.99994976e-01 -3.39987454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99755201799999 meters Centerline goodness [0,1] 0.9999580404909263 Centerline is valid? [True, True] Translation: X:48.45, Y:-4.95, Z:-0.34 [[ 9.91650194e-01 1.28927508e-01 2.75495519e-03 4.84504305e+01] [-1.28926735e-01 9.91654016e-01 -4.57223717e-04 -4.94960588e+00] [-2.79091109e-03 9.82186108e-05 9.99996101e-01 -3.41047780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.027552017999994 meters Centerline goodness [0,1] 0.9997051514258035 Centerline is valid? [True, True] Translation: X:48.48, Y:-4.95, Z:-0.34 [[ 9.91051025e-01 1.33455757e-01 2.72536545e-03 4.84823807e+01] [-1.33455017e-01 9.91054768e-01 -4.52439286e-04 -4.94606817e+00] [-2.76136706e-03 8.46767260e-05 9.99996184e-01 -3.41457352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.057552017999996 meters Centerline goodness [0,1] 0.9997482006840548 Centerline is valid? [True, True] Translation: X:48.52, Y:-4.94, Z:-0.34 [[ 9.90419095e-01 1.38069919e-01 2.59115168e-03 4.85154167e+01] [-1.38069265e-01 9.90422482e-01 -4.30184844e-04 -4.94234459e+00] [-2.62573046e-03 6.83048753e-05 9.99996550e-01 -3.40874611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.087552018 meters Centerline goodness [0,1] 0.9997258945326502 Centerline is valid? [True, True] Translation: X:48.55, Y:-4.93, Z:-0.34 [[ 9.89343646e-01 1.45546778e-01 3.90976795e-03 4.85475071e+01] [-1.45545346e-01 9.89351368e-01 -6.49836633e-04 -4.93008824e+00] [-3.96271590e-03 7.38632130e-05 9.99992146e-01 -3.39375050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.117552018 meters Centerline goodness [0,1] 0.9995576712444182 Centerline is valid? [True, True] Translation: X:48.58, Y:-4.93, Z:-0.34 [[ 9.88950222e-01 1.48177145e-01 4.58164611e-03 4.85785310e+01] [-1.48175208e-01 9.88960832e-01 -7.61291390e-04 -4.92727055e+00] [-4.64387454e-03 7.39929226e-05 9.99989214e-01 -3.38725347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.147552018 meters Centerline goodness [0,1] 0.9995796111403048 Centerline is valid? [True, True] Translation: X:48.61, Y:-4.93, Z:-0.34 [[ 9.88780255e-01 1.49299585e-01 4.82085482e-03 4.86073924e+01] [-1.49297455e-01 9.88792005e-01 -8.00671525e-04 -4.92692654e+00] [-4.88636263e-03 7.19468381e-05 9.99988059e-01 -3.38579111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.177552018 meters Centerline goodness [0,1] 0.9993277875808756 Centerline is valid? [True, True] Translation: X:48.64, Y:-4.93, Z:-0.34 [[ 9.88868369e-01 1.48725990e-01 4.46412494e-03 4.86366668e+01] [-1.48724159e-01 9.88878443e-01 -7.41111422e-04 -4.92620123e+00] [-4.52469945e-03 6.89384161e-05 9.99989761e-01 -3.39213111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.207552017999994 meters Centerline goodness [0,1] 0.9993242387126747 Centerline is valid? [True, True] Translation: X:48.67, Y:-4.93, Z:-0.34 [[ 9.89176993e-01 1.46664564e-01 4.28742690e-03 4.86663798e+01] [-1.46662857e-01 9.89186282e-01 -7.11528614e-04 -4.92981211e+00] [-4.34541991e-03 7.50214553e-05 9.99990556e-01 -3.39534002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.237552017999995 meters Centerline goodness [0,1] 0.9992218062507887 Centerline is valid? [True, True] Translation: X:48.69, Y:-4.94, Z:-0.34 [[ 9.89575686e-01 1.43949367e-01 4.30605085e-03 4.86944499e+01] [-1.43947621e-01 9.89585050e-01 -7.14452472e-04 -4.93558699e+00] [-4.36404853e-03 8.71590199e-05 9.99990474e-01 -3.39777383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.267552017999996 meters Centerline goodness [0,1] 0.9992408746810619 Centerline is valid? [True, True] Translation: X:48.72, Y:-4.94, Z:-0.34 [[ 9.90099085e-01 1.40315897e-01 3.90520087e-03 4.87232693e+01] [-1.40314434e-01 9.90106782e-01 -6.47651135e-04 -4.94114244e+00] [-3.95744162e-03 9.32827470e-05 9.99992165e-01 -3.40244115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.297552018 meters Centerline goodness [0,1] 0.9987979755377477 Centerline is valid? [True, True] Translation: X:48.75, Y:-4.95, Z:-0.34 [[ 9.90950708e-01 1.34178527e-01 3.58009572e-03 4.87521429e+01] [-1.34177257e-01 9.90957169e-01 -5.93528095e-04 -4.94649263e+00] [-3.62736024e-03 1.07789662e-04 9.99993415e-01 -3.41770720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.327552018 meters Centerline goodness [0,1] 0.9985476130335943 Centerline is valid? [True, True] Translation: X:48.78, Y:-4.95, Z:-0.34 [[ 9.91247156e-01 1.31984685e-01 3.01968373e-03 4.87819570e+01] [-1.31983771e-01 9.91251751e-01 -5.00642883e-04 -4.94934220e+00] [-3.05934398e-03 9.77115859e-05 9.99995315e-01 -3.42835932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.357552018 meters Centerline goodness [0,1] 0.9987784072958571 Centerline is valid? [True, True] Translation: X:48.81, Y:-4.95, Z:-0.34 [[ 9.91415394e-01 1.30724197e-01 2.58870565e-03 4.88116733e+01] [-1.30723522e-01 9.91418770e-01 -4.29109474e-04 -4.95365785e+00] [-2.62258636e-03 8.70210193e-05 9.99996557e-01 -3.43513021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.387552017999994 meters Centerline goodness [0,1] 0.9988888888888889 Centerline is valid? [True, True] Translation: X:48.84, Y:-4.96, Z:-0.34 [[ 9.91461880e-01 1.30369644e-01 2.66388842e-03 4.88406088e+01] [-1.30368928e-01 9.91465455e-01 -4.41520737e-04 -4.95748835e+00] [-2.69871424e-03 9.04627040e-05 9.99996354e-01 -3.43257613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.417552017999995 meters Centerline goodness [0,1] 0.9987614669269685 Centerline is valid? [True, True] Translation: X:48.87, Y:-4.96, Z:-0.34 [[ 9.91419070e-01 1.30697303e-01 2.53815163e-03 4.88707931e+01] [-1.30696654e-01 9.91422316e-01 -4.20450269e-04 -4.95913056e+00] [-2.57133188e-03 8.51144894e-05 9.99996690e-01 -3.43451350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.447552017999996 meters Centerline goodness [0,1] 0.9985302763080541 Centerline is valid? [True, True] Translation: X:48.90, Y:-4.96, Z:-0.34 [[ 9.91379966e-01 1.31004118e-01 1.91961172e-03 4.88990002e+01] [-1.31003747e-01 9.91381822e-01 -3.17960429e-04 -4.96131485e+00] [-1.94472229e-03 6.37432707e-05 9.99998107e-01 -3.44156125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.477552018 meters Centerline goodness [0,1] 0.9982340698383333 Centerline is valid? [True, True] Translation: X:48.93, Y:-4.96, Z:-0.35 [[ 9.91186627e-01 1.32464563e-01 1.48648468e-03 4.89286830e+01] [-1.32464342e-01 9.91187741e-01 -2.46434117e-04 -4.95956907e+00] [-1.50602918e-03 4.73559856e-05 9.99998865e-01 -3.45046621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.507552018 meters Centerline goodness [0,1] 0.9983645055774554 Centerline is valid? [True, True] Translation: X:48.96, Y:-4.96, Z:-0.34 [[ 9.91082495e-01 1.33225839e-01 2.52284455e-03 4.89561636e+01] [-1.33225207e-01 9.91085703e-01 -4.17689590e-04 -4.96206345e+00] [-2.55600221e-03 7.78583528e-05 9.99996730e-01 -3.44439664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.537552018 meters Centerline goodness [0,1] 0.9981983491850672 Centerline is valid? [True, True] Translation: X:48.98, Y:-4.96, Z:-0.34 [[ 9.90985609e-01 1.33932468e-01 3.10113695e-03 4.89843759e+01] [-1.33931518e-01 9.90990457e-01 -5.12905331e-04 -4.96455803e+00] [-3.14189180e-03 9.29418235e-05 9.99995060e-01 -3.43570144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56755201799999 meters Centerline goodness [0,1] 0.9979130654749357 Centerline is valid? [True, True] Translation: X:49.01, Y:-4.96, Z:-0.34 [[ 9.91008166e-01 1.33749570e-01 3.72396390e-03 4.90132038e+01] [-1.33748202e-01 9.91015156e-01 -6.15310348e-04 -4.96403599e+00] [-3.77280216e-03 1.11704105e-04 9.99992877e-01 -3.42782239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.597552017999995 meters Centerline goodness [0,1] 0.998003110942952 Centerline is valid? [True, True] Translation: X:49.04, Y:-4.97, Z:-0.34 [[ 9.91095214e-01 1.33098220e-01 3.89105015e-03 4.90405120e+01] [-1.33096722e-01 9.91102845e-01 -6.42574696e-04 -4.96932776e+00] [-3.94195643e-03 1.18966684e-04 9.99992223e-01 -3.43053026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.627552017999996 meters Centerline goodness [0,1] 0.998031908211549 Centerline is valid? [True, True] Translation: X:49.07, Y:-4.97, Z:-0.34 [[ 9.91418405e-01 1.30678357e-01 3.56550985e-03 4.90688495e+01] [-1.30677086e-01 9.91424810e-01 -5.88341676e-04 -4.97498938e+00] [-3.61181845e-03 1.17362329e-04 9.99993470e-01 -3.43476868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.657552018 meters Centerline goodness [0,1] 0.9981979716704383 Centerline is valid? [True, True] Translation: X:49.10, Y:-4.98, Z:-0.34 [[ 9.91590486e-01 1.29362492e-01 3.69503996e-03 4.90974369e+01] [-1.29361118e-01 9.91597363e-01 -6.09501718e-04 -4.97887023e+00] [-3.74283854e-03 1.26381605e-04 9.99992988e-01 -3.43657604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.687552018 meters Centerline goodness [0,1] 0.997694741915879 Centerline is valid? [True, True] Translation: X:49.13, Y:-4.98, Z:-0.34 [[ 9.91712072e-01 1.28431542e-01 3.53639560e-03 4.91262666e+01] [-1.28430278e-01 9.91718369e-01 -5.82971880e-04 -4.98342524e+00] [-3.58198045e-03 1.23959979e-04 9.99993577e-01 -3.43758238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.717552018 meters Centerline goodness [0,1] 0.9977611625058083 Centerline is valid? [True, True] Translation: X:49.16, Y:-4.99, Z:-0.34 [[ 9.91751083e-01 1.28124286e-01 3.73596985e-03 4.91550653e+01] [-1.28122875e-01 9.91758111e-01 -6.15646938e-04 -4.98790706e+00] [-3.78405773e-03 1.31905318e-04 9.99992832e-01 -3.43347835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74755201799999 meters Centerline goodness [0,1] 0.9969703345255628 Centerline is valid? [True, True] Translation: X:49.18, Y:-4.99, Z:-0.34 [[ 9.91790158e-01 1.27800901e-01 4.38316145e-03 4.91833602e+01] [-1.27798957e-01 9.91799831e-01 -7.21805313e-04 -4.99074515e+00] [-4.43946615e-03 1.55715943e-04 9.99990133e-01 -3.43010779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.777552017999994 meters Centerline goodness [0,1] 0.9974821653378095 Centerline is valid? [True, True] Translation: X:49.21, Y:-5.00, Z:-0.34 [[ 9.91778382e-01 1.27901210e-01 4.11365177e-03 4.92116275e+01] [-1.27899501e-01 9.91786902e-01 -6.77030151e-04 -4.99597848e+00] [-4.16645892e-03 1.45329860e-04 9.99991310e-01 -3.43507092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.807552017999996 meters Centerline goodness [0,1] 0.997128604963112 Centerline is valid? [True, True] Translation: X:49.24, Y:-5.00, Z:-0.34 [[ 9.91730538e-01 1.28268158e-01 4.22125202e-03 4.92396002e+01] [-1.28266363e-01 9.91739511e-01 -6.94519192e-04 -5.00014442e+00] [-4.27546711e-03 1.47331249e-04 9.99990849e-01 -3.44205909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.837552018 meters Centerline goodness [0,1] 0.9971108018052216 Centerline is valid? [True, True] Translation: X:49.27, Y:-5.00, Z:-0.34 [[ 9.91410969e-01 1.30626979e-01 6.39393526e-03 4.92693428e+01] [-1.30622915e-01 9.91431566e-01 -1.05093416e-03 -4.99736728e+00] [-6.47642960e-03 2.06713192e-04 9.99979006e-01 -3.42282521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.867552018 meters Centerline goodness [0,1] 0.9971974039109912 Centerline is valid? [True, True] Translation: X:49.30, Y:-5.00, Z:-0.34 [[ 9.91189752e-01 1.32247206e-01 7.31787464e-03 4.92970046e+01] [-1.32241933e-01 9.91216740e-01 -1.20202170e-03 -4.99885190e+00] [-7.41256386e-03 2.23701705e-04 9.99972502e-01 -3.41347205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.897552018 meters Centerline goodness [0,1] 0.9967915111353437 Centerline is valid? [True, True] Translation: X:49.33, Y:-5.00, Z:-0.34 [[ 9.90909166e-01 1.34319816e-01 7.56384422e-03 4.93262509e+01] [-1.34314249e-01 9.90938011e-01 -1.24157800e-03 -5.00044747e+00] [-7.66206927e-03 2.14358969e-04 9.99970623e-01 -3.41459470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.927552018 meters Centerline goodness [0,1] 0.9969348337252267 Centerline is valid? [True, True] Translation: X:49.36, Y:-5.00, Z:-0.34 [[ 9.90671087e-01 1.36066116e-01 7.53716988e-03 4.93555150e+01] [-1.36060644e-01 9.90699739e-01 -1.23652108e-03 -5.00210645e+00] [-7.63532085e-03 1.99473491e-04 9.99970831e-01 -3.41911003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.957552017999994 meters Centerline goodness [0,1] 0.9971309227458757 Centerline is valid? [True, True] Translation: X:49.38, Y:-5.00, Z:-0.34 [[ 9.90258735e-01 1.39096940e-01 6.29917259e-03 4.93849459e+01] [-1.39093182e-01 9.90278759e-01 -1.03293600e-03 -5.00233950e+00] [-6.38161505e-03 1.46701936e-04 9.99979627e-01 -3.43382953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.987552017999995 meters Centerline goodness [0,1] 0.9976206017982354 Centerline is valid? [True, True] Translation: X:49.41, Y:-5.01, Z:-0.34 [[ 9.90120329e-01 1.40101713e-01 5.76580001e-03 4.94126200e+01] [-1.40098585e-01 9.90137108e-01 -9.45003750e-04 -5.00524648e+00] [-5.84132919e-03 1.27887003e-04 9.99982931e-01 -3.44324930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.017552017999996 meters Centerline goodness [0,1] 0.9982705530012232 Centerline is valid? [True, True] Translation: X:49.44, Y:-5.01, Z:-0.35 [[ 9.90026310e-01 1.40792466e-01 5.03855384e-03 4.94416542e+01] [-1.40790088e-01 9.90039125e-01 -8.25279403e-04 -5.00727731e+00] [-5.10455856e-03 1.07669884e-04 9.99986966e-01 -3.45377345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.047552018 meters Centerline goodness [0,1] 0.9980049561090344 Centerline is valid? [True, True] Translation: X:49.47, Y:-5.01, Z:-0.35 [[ 9.89938522e-01 1.41438965e-01 4.09174564e-03 4.94687353e+01] [-1.41437403e-01 9.89946974e-01 -6.69967564e-04 -5.01174745e+00] [-4.14537073e-03 8.45008220e-05 9.99991404e-01 -3.46909215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.077552018 meters Centerline goodness [0,1] 0.9978067400565186 Centerline is valid? [True, True] Translation: X:49.50, Y:-5.02, Z:-0.35 [[ 9.89819288e-01 1.42285154e-01 3.56536451e-03 4.94961424e+01] [-1.42283975e-01 9.89825707e-01 -5.83448935e-04 -5.01679593e+00] [-3.61210557e-03 7.02147754e-05 9.99993474e-01 -3.47672227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.107552018 meters Centerline goodness [0,1] 0.9976232042571987 Centerline is valid? [True, True] Translation: X:49.52, Y:-5.02, Z:-0.35 [[ 9.89794018e-01 1.42455044e-01 3.78987680e-03 4.95244553e+01] [-1.42453715e-01 9.89801271e-01 -6.19653501e-04 -5.02032610e+00] [-3.83949764e-03 7.34472983e-05 9.99992626e-01 -3.47288795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.137552017999994 meters Centerline goodness [0,1] 0.997452148828199 Centerline is valid? [True, True] Translation: X:49.55, Y:-5.03, Z:-0.35 [[ 9.89823425e-01 1.42235010e-01 4.33458053e-03 4.95530517e+01] [-1.42233272e-01 9.89832913e-01 -7.08243140e-04 -5.02528476e+00] [-4.39124744e-03 8.45140802e-05 9.99990355e-01 -3.46564172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.167552017999995 meters Centerline goodness [0,1] 0.997514586010068 Centerline is valid? [True, True] Translation: X:49.58, Y:-5.03, Z:-0.35 [[ 9.89853992e-01 1.42023828e-01 4.27860142e-03 4.95799535e+01] [-1.42022134e-01 9.89863236e-01 -6.98749242e-04 -5.03141903e+00] [-4.33446929e-03 8.40036215e-05 9.99990603e-01 -3.46702736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.197552017999996 meters Centerline goodness [0,1] 0.997514586010068 Centerline is valid? [True, True] Translation: X:49.61, Y:-5.04, Z:-0.35 [[ 9.89866632e-01 1.41935706e-01 4.27868673e-03 4.96079314e+01] [-1.41934013e-01 9.89875875e-01 -6.98226389e-04 -5.03588533e+00] [-4.33447203e-03 8.38598244e-05 9.99990603e-01 -3.46879144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.227552018 meters Centerline goodness [0,1] 0.9979166666666667 Centerline is valid? [True, True] Translation: X:49.63, Y:-5.04, Z:-0.35 [[ 9.89914254e-01 1.41615453e-01 3.85152083e-03 4.96349739e+01] [-1.41614080e-01 9.89921743e-01 -6.28294383e-04 -5.04242546e+00] [-3.90168041e-03 7.65279870e-05 9.99992385e-01 -3.47290177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.257552018 meters Centerline goodness [0,1] 0.9982980332829047 Centerline is valid? [True, True] Translation: X:49.66, Y:-5.05, Z:-0.35 [[ 9.89980260e-01 1.41152779e-01 3.87012459e-03 4.96632161e+01] [-1.41151391e-01 9.89987822e-01 -6.30778918e-04 -5.04761461e+00] [-3.92041241e-03 7.81852068e-05 9.99992312e-01 -3.47657379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.287552018 meters Centerline goodness [0,1] 0.998049701163888 Centerline is valid? [True, True] Translation: X:49.69, Y:-5.05, Z:-0.35 [[ 9.89974985e-01 1.41203097e-01 3.34894878e-03 4.96902774e+01] [-1.41202058e-01 9.89980647e-01 -5.45687829e-04 -5.05314125e+00] [-3.39244729e-03 6.73388395e-05 9.99994243e-01 -3.48299547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31755201799999 meters Centerline goodness [0,1] 0.9979810725552051 Centerline is valid? [True, True] Translation: X:49.72, Y:-5.06, Z:-0.35 [[ 9.90033962e-01 1.40801776e-01 2.75926324e-03 4.97182695e+01] [-1.40801070e-01 9.90037806e-01 -4.49299111e-04 -5.05929927e+00] [-2.79503704e-03 5.63141607e-05 9.99996092e-01 -3.49166973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.347552017999995 meters Centerline goodness [0,1] 0.9984604677647257 Centerline is valid? [True, True] Translation: X:49.75, Y:-5.06, Z:-0.35 [[ 9.90067766e-01 1.40557014e-01 3.08930708e-03 4.97466247e+01] [-1.40556129e-01 9.90072584e-01 -5.02696839e-04 -5.06444235e+00] [-3.12929581e-03 6.34828911e-05 9.99995102e-01 -3.48133040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.377552017999996 meters Centerline goodness [0,1] 0.9983121294596704 Centerline is valid? [True, True] Translation: X:49.78, Y:-5.07, Z:-0.35 [[ 9.90083545e-01 1.40434765e-01 3.55679272e-03 4.97753584e+01] [-1.40433593e-01 9.90089931e-01 -5.78350864e-04 -5.06909215e+00] [-3.60276522e-03 7.31224917e-05 9.99993507e-01 -3.47571081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.407552018 meters Centerline goodness [0,1] 0.9982753543936398 Centerline is valid? [True, True] Translation: X:49.80, Y:-5.07, Z:-0.35 [[ 9.90119437e-01 1.40161792e-01 4.26298360e-03 4.98026872e+01] [-1.40160108e-01 9.90128610e-01 -6.92703109e-04 -5.07440709e+00] [-4.31799253e-03 8.83585696e-05 9.99990674e-01 -3.46321691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.437552018 meters Centerline goodness [0,1] 0.9979771587508955 Centerline is valid? [True, True] Translation: X:49.83, Y:-5.08, Z:-0.35 [[ 9.90151418e-01 1.39921332e-01 4.71060829e-03 4.98309586e+01] [-1.39919277e-01 9.90162619e-01 -7.64776917e-04 -5.07923665e+00] [-4.77127685e-03 9.81400439e-05 9.99988613e-01 -3.46451513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.467552018 meters Centerline goodness [0,1] 0.9982808863917483 Centerline is valid? [True, True] Translation: X:49.86, Y:-5.09, Z:-0.35 [[ 9.90201563e-01 1.39564428e-01 4.75760274e-03 4.98580207e+01] [-1.39562329e-01 9.90212987e-01 -7.72008519e-04 -5.08596026e+00] [-4.81878495e-03 1.00461924e-04 9.99988385e-01 -3.46290859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49755201799999 meters Centerline goodness [0,1] 0.9987987861417854 Centerline is valid? [True, True] Translation: X:49.89, Y:-5.09, Z:-0.35 [[ 9.90477844e-01 1.37582387e-01 4.97271524e-03 4.98858076e+01] [-1.37580072e-01 9.90490320e-01 -8.06236951e-04 -5.09352920e+00] [-5.03635032e-03 1.14413314e-04 9.99987311e-01 -3.45281005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.527552017999994 meters Centerline goodness [0,1] 0.9981728830645161 Centerline is valid? [True, True] Translation: X:49.91, Y:-5.10, Z:-0.35 [[ 9.90730077e-01 1.35749756e-01 5.09105496e-03 4.99125683e+01] [-1.35747308e-01 9.90743149e-01 -8.24951211e-04 -5.10027389e+00] [-5.15591475e-03 1.26206969e-04 9.99986700e-01 -3.45254236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.557552017999996 meters Centerline goodness [0,1] 0.9978247555489852 Centerline is valid? [True, True] Translation: X:49.94, Y:-5.11, Z:-0.35 [[ 9.90939442e-01 1.34212801e-01 5.09379402e-03 4.99393695e+01] [-1.34210333e-01 9.90952525e-01 -8.24763789e-04 -5.10595587e+00] [-5.15840190e-03 1.33651175e-04 9.99986686e-01 -3.45160567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.587552018 meters Centerline goodness [0,1] 0.998418188720631 Centerline is valid? [True, True] Translation: X:49.97, Y:-5.11, Z:-0.35 [[ 9.91168091e-01 1.32518238e-01 4.97314456e-03 4.99680384e+01] [-1.32515866e-01 9.91180557e-01 -8.04834652e-04 -5.11075743e+00] [-5.03593947e-03 1.38705865e-04 9.99987310e-01 -3.45388303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.617552018 meters Centerline goodness [0,1] 0.9980803712688535 Centerline is valid? [True, True] Translation: X:50.00, Y:-5.12, Z:-0.35 [[ 9.91349929e-01 1.31175422e-01 4.28095558e-03 4.99961644e+01] [-1.31173653e-01 9.91359165e-01 -6.92494325e-04 -5.11734796e+00] [-4.33480278e-03 1.24955617e-04 9.99990597e-01 -3.46559332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.647552018 meters Centerline goodness [0,1] 0.9984451168263574 Centerline is valid? [True, True] Translation: X:50.02, Y:-5.13, Z:-0.35 [[ 9.91857397e-01 1.27332577e-01 2.30630440e-03 5.00236055e+01] [-1.27332053e-01 9.91860075e-01 -3.73030729e-04 -5.12762632e+00] [-2.33503022e-03 7.63268136e-05 9.99997271e-01 -3.48910407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67755201799999 meters Centerline goodness [0,1] 0.9984203875315922 Centerline is valid? [True, True] Translation: X:50.05, Y:-5.13, Z:-0.35 [[ 9.92103860e-01 1.25409818e-01 1.51948180e-03 5.00524035e+01] [-1.25409589e-01 9.92105022e-01 -2.45700395e-04 -5.13477324e+00] [-1.53829877e-03 5.32027217e-05 9.99998815e-01 -3.49861499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.707552017999994 meters Centerline goodness [0,1] 0.9983824888664818 Centerline is valid? [True, True] Translation: X:50.08, Y:-5.14, Z:-0.35 [[ 9.92546988e-01 1.21859563e-01 8.50492595e-04 5.00800260e+01] [-1.21859490e-01 9.92547352e-01 -1.37726335e-04 -5.14296535e+00] [-8.60937444e-04 3.30592652e-05 9.99999629e-01 -3.50267619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.737552017999995 meters Centerline goodness [0,1] 0.9979227864036928 Centerline is valid? [True, True] Translation: X:50.11, Y:-5.15, Z:-0.35 [[ 9.92695463e-01 1.20634888e-01 1.71480137e-03 5.01086013e+01] [-1.20634589e-01 9.92696942e-01 -2.77150167e-04 -5.14890972e+00] [-1.73571205e-03 6.82613560e-05 9.99998491e-01 -3.50078439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.767552017999996 meters Centerline goodness [0,1] 0.99764165841949 Centerline is valid? [True, True] Translation: X:50.14, Y:-5.15, Z:-0.35 [[ 9.92787821e-01 1.19866527e-01 2.08742173e-03 5.01377819e+01] [-1.19866083e-01 9.92790012e-01 -3.37053154e-04 -5.15443373e+00] [-2.11277283e-03 8.44112000e-05 9.99997765e-01 -3.49004706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.797552018 meters Centerline goodness [0,1] 0.9980031948881789 Centerline is valid? [True, True] Translation: X:50.17, Y:-5.16, Z:-0.35 [[ 9.92946183e-01 1.18540813e-01 2.43991093e-03 5.01656382e+01] [-1.18540202e-01 9.92949176e-01 -3.93892906e-04 -5.15943491e+00] [-2.46939993e-03 1.01886922e-04 9.99996946e-01 -3.48126607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.827552018 meters Centerline goodness [0,1] 0.997762957960493 Centerline is valid? [True, True] Translation: X:50.19, Y:-5.16, Z:-0.35 [[ 9.93077116e-01 1.17428804e-01 2.88409435e-03 5.01941705e+01] [-1.17427947e-01 9.93081296e-01 -4.65289824e-04 -5.16435687e+00] [-2.91877858e-03 1.23395397e-04 9.99995733e-01 -3.47895301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.857552018 meters Centerline goodness [0,1] 0.997436651678783 Centerline is valid? [True, True] Translation: X:50.22, Y:-5.17, Z:-0.35 [[ 9.93226067e-01 1.16155806e-01 3.13176942e-03 5.02228150e+01] [-1.16154790e-01 9.93230995e-01 -5.05100990e-04 -5.16957115e+00] [-3.16924087e-03 1.37909450e-04 9.99994968e-01 -3.47574798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.887552017999994 meters Centerline goodness [0,1] 0.9972728035579425 Centerline is valid? [True, True] Translation: X:50.25, Y:-5.17, Z:-0.35 [[ 9.93602274e-01 1.12879716e-01 3.56248773e-03 5.02539275e+01] [-1.12878381e-01 9.93608646e-01 -5.74120758e-04 -5.16914534e+00] [-3.60452520e-03 1.68319843e-04 9.99993490e-01 -3.46821371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.917552017999995 meters Centerline goodness [0,1] 0.997180372022557 Centerline is valid? [True, True] Translation: X:50.28, Y:-5.18, Z:-0.35 [[ 9.93808652e-01 1.11048431e-01 3.55082288e-03 5.02824153e+01] [-1.11047093e-01 9.93814981e-01 -5.72299455e-04 -5.17745853e+00] [-3.59241393e-03 1.74447590e-04 9.99993532e-01 -3.47329399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.947552017999996 meters Centerline goodness [0,1] 0.996982270841192 Centerline is valid? [True, True] Translation: X:50.31, Y:-5.18, Z:-0.35 [[ 9.93979072e-01 1.09486333e-01 4.28347674e-03 5.03105354e+01] [-1.09484373e-01 9.93988277e-01 -6.90334522e-04 -5.18274685e+00] [-4.33330786e-03 2.17204304e-04 9.99990588e-01 -3.47023146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.977552018 meters Centerline goodness [0,1] 0.9962941907228434 Centerline is valid? [True, True] Translation: X:50.34, Y:-5.18, Z:-0.34 [[ 9.94164705e-01 1.07646991e-01 6.97595488e-03 5.03411912e+01] [-1.07641750e-01 9.94189112e-01 -1.12358891e-03 -5.17756109e+00] [-7.05636936e-03 3.66128449e-04 9.99975036e-01 -3.44600952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.007552018 meters Centerline goodness [0,1] 0.9960762804826597 Centerline is valid? [True, True] Translation: X:50.37, Y:-5.18, Z:-0.35 [[ 9.94157322e-01 1.07732858e-01 6.69710208e-03 5.03713733e+01] [-1.07728031e-01 9.94179817e-01 -1.07836105e-03 -5.17980482e+00] [-6.77429864e-03 3.50594908e-04 9.99976993e-01 -3.45033295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.037552018 meters Centerline goodness [0,1] 0.9962008484771734 Centerline is valid? [True, True] Translation: X:50.40, Y:-5.18, Z:-0.34 [[ 9.94246341e-01 1.06724619e-01 9.16896012e-03 5.04015702e+01] [-1.06715537e-01 9.94288498e-01 -1.47559693e-03 -5.18122072e+00] [-9.27407411e-03 4.88636352e-04 9.99956875e-01 -3.42498906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06755201799999 meters Centerline goodness [0,1] 0.9954174724627932 Centerline is valid? [True, True] Translation: X:50.43, Y:-5.18, Z:-0.34 [[ 9.94118610e-01 1.07915325e-01 9.08144656e-03 5.04315654e+01] [-1.07906467e-01 9.94159977e-01 -1.46116991e-03 -5.17928864e+00] [-9.18609333e-03 4.72629381e-04 9.99957695e-01 -3.44348014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.097552017999995 meters Centerline goodness [0,1] 0.9947790572830045 Centerline is valid? [True, True] Translation: X:50.46, Y:-5.18, Z:-0.35 [[ 9.94052481e-01 1.08600044e-01 8.10524446e-03 5.04613929e+01] [-1.08593013e-01 9.94085438e-01 -1.30389052e-03 -5.17930717e+00] [-8.19890806e-03 4.15962688e-04 9.99966302e-01 -3.46493981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.127552017999996 meters Centerline goodness [0,1] 0.9936967703853613 Centerline is valid? [True, True] Translation: X:50.49, Y:-5.19, Z:-0.35 [[ 9.94026224e-01 1.08861315e-01 7.81540751e-03 5.04894386e+01] [-1.08854788e-01 9.94056867e-01 -1.25695750e-03 -5.19277717e+00] [-7.90579355e-03 3.98704183e-04 9.99968669e-01 -3.47442471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.157552018 meters Centerline goodness [0,1] 0.9933102652825836 Centerline is valid? [True, True] Translation: X:50.52, Y:-5.20, Z:-0.35 [[ 9.94059542e-01 1.08591125e-01 7.32087339e-03 5.05188514e+01] [-1.08585392e-01 9.94086428e-01 -1.17724610e-03 -5.19502097e+00] [-7.40541936e-03 3.75312815e-04 9.99972509e-01 -3.48894273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.187552018 meters Centerline goodness [0,1] 0.9933866309488929 Centerline is valid? [True, True] Translation: X:50.55, Y:-5.18, Z:-0.35 [[ 9.94125656e-01 1.08006235e-01 6.98806244e-03 5.05507761e+01] [-1.08000999e-01 9.94150151e-01 -1.12346196e-03 -5.18244492e+00] [-7.06852423e-03 3.62144641e-04 9.99974952e-01 -3.50477273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.217552018 meters Centerline goodness [0,1] 0.9927760794003099 Centerline is valid? [True, True] Translation: X:50.58, Y:-5.18, Z:-0.35 [[ 9.94228510e-01 1.07055825e-01 6.98001406e-03 5.05802864e+01] [-1.07050580e-01 9.94252943e-01 -1.12185381e-03 -5.18405338e+00] [-7.06000051e-03 3.68164486e-04 9.99975010e-01 -3.51292604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24755201799999 meters Centerline goodness [0,1] 0.9921645856029498 Centerline is valid? [True, True] Translation: X:50.61, Y:-5.19, Z:-0.35 [[ 9.94327456e-01 1.06168703e-01 6.41226001e-03 5.06092326e+01] [-1.06164259e-01 9.94348072e-01 -1.03032338e-03 -5.18574438e+00] [-6.48540648e-03 3.43725988e-04 9.99978910e-01 -3.52348152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.277552017999994 meters Centerline goodness [0,1] 0.9913782279328673 Centerline is valid? [True, True] Translation: X:50.64, Y:-5.19, Z:-0.35 [[ 9.94487881e-01 1.04695107e-01 5.72622321e-03 5.06378565e+01] [-1.04691543e-01 9.94504316e-01 -9.19624020e-04 -5.18892685e+00] [-5.79103384e-03 3.15067802e-04 9.99983182e-01 -3.54184517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.307552017999996 meters Centerline goodness [0,1] 0.9897229388200256 Centerline is valid? [True, True] Translation: X:50.67, Y:-5.19, Z:-0.36 [[ 9.94780806e-01 1.01927622e-01 4.68054724e-03 5.06675665e+01] [-1.01925211e-01 9.94791781e-01 -7.51453296e-04 -5.18911119e+00] [-4.73276377e-03 2.70465549e-04 9.99988764e-01 -3.56389461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.337552018 meters Centerline goodness [0,1] 0.9895711174401072 Centerline is valid? [True, True] Translation: X:50.70, Y:-5.19, Z:-0.36 [[ 9.94895279e-01 1.00813317e-01 4.47861474e-03 5.06967089e+01] [-1.00811099e-01 9.94905325e-01 -7.18787057e-04 -5.19193558e+00] [-4.52826097e-03 2.63623774e-04 9.99989713e-01 -3.57301289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.367552018 meters Centerline goodness [0,1] 0.9880795808020709 Centerline is valid? [True, True] Translation: X:50.72, Y:-5.20, Z:-0.36 [[ 9.94931101e-01 1.00456976e-01 4.52763294e-03 5.07235198e+01] [-1.00454707e-01 9.94941367e-01 -7.26315145e-04 -5.19728934e+00] [-4.57769273e-03 2.67811486e-04 9.99989486e-01 -3.57670711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.397552018 meters Centerline goodness [0,1] 0.9870998867307128 Centerline is valid? [True, True] Translation: X:50.75, Y:-5.19, Z:-0.36 [[ 9.94805358e-01 1.01665558e-01 5.13949168e-03 5.07540635e+01] [-1.01662655e-01 9.94818590e-01 -8.23630041e-04 -5.18999431e+00] [-5.19659667e-03 2.96857208e-04 9.99986454e-01 -3.57444770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42755201799999 meters Centerline goodness [0,1] 0.986606486826913 Centerline is valid? [True, True] Translation: X:50.78, Y:-5.19, Z:-0.36 [[ 9.94619944e-01 1.03458676e-01 5.24118872e-03 5.07823463e+01] [-1.03455684e-01 9.94633710e-01 -8.39444020e-04 -5.19193882e+00] [-5.29991075e-03 2.92697000e-04 9.99985913e-01 -3.57799096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.457552017999994 meters Centerline goodness [0,1] 0.9860474845727434 Centerline is valid? [True, True] Translation: X:50.81, Y:-5.19, Z:-0.36 [[ 9.94402037e-01 1.05529283e-01 5.30654308e-03 5.08117530e+01] [-1.05526248e-01 9.94416155e-01 -8.49436280e-04 -5.18899956e+00] [-5.36655257e-03 2.84701584e-04 9.99985559e-01 -3.58249854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.487552017999995 meters Centerline goodness [0,1] 0.9857118878771348 Centerline is valid? [True, True] Translation: X:50.84, Y:-5.19, Z:-0.36 [[ 9.94204922e-01 1.07340288e-01 5.88521031e-03 5.08408398e+01] [-1.07336591e-01 9.94222294e-01 -9.41485982e-04 -5.18907698e+00] [-5.95226667e-03 3.04331588e-04 9.99982239e-01 -3.58728743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.517552017999996 meters Centerline goodness [0,1] 0.9854019184853181 Centerline is valid? [True, True] Translation: X:50.87, Y:-5.19, Z:-0.36 [[ 9.93802140e-01 1.10982208e-01 6.34479049e-03 5.08718693e+01] [-1.10977988e-01 9.93822347e-01 -1.01442497e-03 -5.18588289e+00] [-6.41817770e-03 3.04005620e-04 9.99979357e-01 -3.59141236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.547552018 meters Centerline goodness [0,1] 0.9852805308247943 Centerline is valid? [True, True] Translation: X:50.90, Y:-5.19, Z:-0.36 [[ 9.93714595e-01 1.11729015e-01 6.92327212e-03 5.09007031e+01] [-1.11724010e-01 9.93738658e-01 -1.10669717e-03 -5.18754095e+00] [-7.00357333e-03 3.26245403e-04 9.99975421e-01 -3.59233387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.577552018 meters Centerline goodness [0,1] 0.9845147173304719 Centerline is valid? [True, True] Translation: X:50.93, Y:-5.19, Z:-0.36 [[ 9.93664236e-01 1.12117635e-01 7.81169273e-03 5.09300745e+01] [-1.12111281e-01 9.93694874e-01 -1.24794682e-03 -5.18864703e+00] [-7.90235587e-03 3.64261249e-04 9.99968710e-01 -3.58593471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.607552018 meters Centerline goodness [0,1] 0.9835064141722664 Centerline is valid? [True, True] Translation: X:50.96, Y:-5.19, Z:-0.36 [[ 9.93590337e-01 1.12736650e-01 8.28794644e-03 5.09575632e+01] [-1.12729526e-01 9.93624830e-01 -1.32321340e-03 -5.19010446e+00] [-8.38428402e-03 3.80435768e-04 9.99964779e-01 -3.57594031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.637552017999994 meters Centerline goodness [0,1] 0.9826895504765117 Centerline is valid? [True, True] Translation: X:50.99, Y:-5.19, Z:-0.36 [[ 9.93582043e-01 1.12663066e-01 1.00874580e-02 5.09873752e+01] [-1.12652521e-01 9.93633141e-01 -1.60934750e-03 -5.18674062e+00] [-1.02045466e-02 4.62641199e-04 9.99947825e-01 -3.57169759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.667552017999995 meters Centerline goodness [0,1] 0.9811257233035244 Centerline is valid? [True, True] Translation: X:51.02, Y:-5.19, Z:-0.36 [[ 9.93546190e-01 1.12964967e-01 1.02412989e-02 5.10163209e+01] [-1.12954123e-01 9.93598862e-01 -1.63298581e-03 -5.18887064e+00] [-1.03602132e-02 4.65649888e-04 9.99946223e-01 -3.58397268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.697552017999996 meters Centerline goodness [0,1] 0.9844186046511628 Centerline is valid? [True, True] Translation: X:51.05, Y:-5.18, Z:-0.36 [[ 9.93576105e-01 1.12812197e-01 8.94039888e-03 5.10460001e+01] [-1.12803935e-01 9.93616245e-01 -1.42470197e-03 -5.17910394e+00] [-9.04404932e-03 4.07037663e-04 9.99959019e-01 -3.61111925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.727552018 meters Centerline goodness [0,1] 0.9827106936781367 Centerline is valid? [True, True] Translation: X:51.07, Y:-5.19, Z:-0.36 [[ 9.93553626e-01 1.13066278e-01 8.19816653e-03 5.10729031e+01] [-1.13059347e-01 9.93587379e-01 -1.30546675e-03 -5.18958625e+00] [-8.29319906e-03 3.70171867e-04 9.99965542e-01 -3.61517487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.757552018 meters Centerline goodness [0,1] 0.9824617144309589 Centerline is valid? [True, True] Translation: X:51.10, Y:-5.18, Z:-0.36 [[ 9.93421396e-01 1.14258286e-01 7.67941287e-03 5.11032082e+01] [-1.14252246e-01 9.93451021e-01 -1.22220580e-03 -5.18188076e+00] [-7.76876770e-03 3.36775229e-04 9.99969766e-01 -3.62179759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.787552018 meters Centerline goodness [0,1] 0.9828562972984399 Centerline is valid? [True, True] Translation: X:51.13, Y:-5.18, Z:-0.36 [[ 9.93368605e-01 1.14673284e-01 8.29773279e-03 5.11320883e+01] [-1.14666252e-01 9.93403195e-01 -1.31984316e-03 -5.18263702e+00] [-8.39434502e-03 3.59620832e-04 9.99964702e-01 -3.62235735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81755201799999 meters Centerline goodness [0,1] 0.9830133406394234 Centerline is valid? [True, True] Translation: X:51.16, Y:-5.18, Z:-0.36 [[ 9.93237140e-01 1.15805361e-01 8.31278849e-03 5.11610431e+01] [-1.15798349e-01 9.93271864e-01 -1.32156122e-03 -5.18430364e+00] [-8.40990279e-03 3.50016510e-04 9.99964575e-01 -3.62622261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.847552017999995 meters Centerline goodness [0,1] 0.9820266959533666 Centerline is valid? [True, True] Translation: X:51.19, Y:-5.19, Z:-0.36 [[ 9.93004079e-01 1.17820043e-01 7.83173695e-03 5.11897158e+01] [-1.17813887e-01 9.93034914e-01 -1.24434864e-03 -5.18973642e+00] [-7.92379743e-03 3.12955908e-04 9.99968557e-01 -3.62597552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.877552017999996 meters Centerline goodness [0,1] 0.9828091712544031 Centerline is valid? [True, True] Translation: X:51.22, Y:-5.19, Z:-0.36 [[ 9.92868382e-01 1.18959910e-01 7.80488804e-03 5.12176022e+01] [-1.18953841e-01 9.92899012e-01 -1.23886531e-03 -5.19148772e+00] [-7.89684093e-03 3.01608782e-04 9.99968774e-01 -3.62800888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.907552018 meters Centerline goodness [0,1] 0.9828767123287672 Centerline is valid? [True, True] Translation: X:51.25, Y:-5.18, Z:-0.36 [[ 9.92643356e-01 1.20781405e-01 8.42734068e-03 5.12483603e+01] [-1.20774405e-01 9.92679081e-01 -1.33645935e-03 -5.18414504e+00] [-8.52706423e-03 3.08820433e-04 9.99963596e-01 -3.63106296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.937552018 meters Centerline goodness [0,1] 0.9819713064454696 Centerline is valid? [True, True] Translation: X:51.28, Y:-5.18, Z:-0.36 [[ 9.92182923e-01 1.24363430e-01 1.03336311e-02 5.12764235e+01] [-1.24353110e-01 9.92236676e-01 -1.63784761e-03 -5.18346872e+00] [-1.04570961e-02 3.40025263e-04 9.99945265e-01 -3.61506308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.967552018 meters Centerline goodness [0,1] 0.9814689456760873 Centerline is valid? [True, True] Translation: X:51.31, Y:-5.18, Z:-0.36 [[ 9.91965276e-01 1.26020594e-01 1.11220776e-02 5.13056962e+01] [-1.26008754e-01 9.92027565e-01 -1.76175416e-03 -5.18461363e+00] [-1.12554249e-02 3.46119817e-04 9.99936596e-01 -3.61586411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99755201799999 meters Centerline goodness [0,1] 0.9822154471544715 Centerline is valid? [True, True] Translation: X:51.33, Y:-5.19, Z:-0.36 [[ 9.91795182e-01 1.27352773e-01 1.11169831e-02 5.13337575e+01] [-1.27341037e-01 9.91857430e-01 -1.76012116e-03 -5.19210741e+00] [-1.12506186e-02 3.30031534e-04 9.99936655e-01 -3.60514895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.027552017999994 meters Centerline goodness [0,1] 0.981797473160237 Centerline is valid? [True, True] Translation: X:51.36, Y:-5.19, Z:-0.36 [[ 9.91708960e-01 1.28085664e-01 1.03635034e-02 5.13627146e+01] [-1.28075513e-01 9.91763063e-01 -1.64006279e-03 -5.19339568e+00] [-1.04882084e-02 2.99153957e-04 9.99944952e-01 -3.61857371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.057552017999996 meters Centerline goodness [0,1] 0.9820280784844384 Centerline is valid? [True, True] Translation: X:51.39, Y:-5.19, Z:-0.36 [[ 9.91772800e-01 1.27620933e-01 9.98050143e-03 5.13919012e+01] [-1.27611504e-01 9.91822974e-01 -1.57857391e-03 -5.19218216e+00] [-1.01003497e-02 2.91959867e-04 9.99948948e-01 -3.63277919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.087552018 meters Centerline goodness [0,1] 0.9814498258942703 Centerline is valid? [True, True] Translation: X:51.42, Y:-5.20, Z:-0.36 [[ 9.91836814e-01 1.27144413e-01 9.69708294e-03 5.14189784e+01] [-1.27135498e-01 9.91884174e-01 -1.53285037e-03 -5.19677181e+00] [-9.81327647e-03 2.87493966e-04 9.99951807e-01 -3.63360878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.117552018 meters Centerline goodness [0,1] 0.9814498258942703 Centerline is valid? [True, True] Translation: X:51.45, Y:-5.20, Z:-0.36 [[ 9.91851729e-01 1.27027990e-01 9.69724419e-03 5.14461468e+01] [-1.27019079e-01 9.91899091e-01 -1.53182972e-03 -5.20095592e+00] [-9.81327295e-03 2.87612937e-04 9.99951807e-01 -3.63532108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.147552018 meters Centerline goodness [0,1] 0.9824026427800012 Centerline is valid? [True, True] Translation: X:51.47, Y:-5.21, Z:-0.36 [[ 9.91965350e-01 1.26065585e-01 1.05930123e-02 5.14748949e+01] [-1.26054909e-01 9.92021856e-01 -1.67216547e-03 -5.20638953e+00] [-1.07193023e-02 3.23428995e-04 9.99942494e-01 -3.63103523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17755201799999 meters Centerline goodness [0,1] 0.9819464751128345 Centerline is valid? [True, True] Translation: X:51.50, Y:-5.21, Z:-0.36 [[ 9.92114047e-01 1.24880315e-01 1.07063159e-02 5.15027515e+01] [-1.24869350e-01 9.92171755e-01 -1.68918653e-03 -5.21335627e+00] [-1.08334504e-02 3.38974977e-04 9.99941259e-01 -3.63074400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.207552017999994 meters Centerline goodness [0,1] 0.9816266329540666 Centerline is valid? [True, True] Translation: X:51.53, Y:-5.22, Z:-0.36 [[ 9.92207923e-01 1.24160433e-01 1.03742332e-02 5.15297013e+01] [-1.24150108e-01 9.92262100e-01 -1.63589578e-03 -5.21983384e+00] [-1.04970720e-02 3.35186577e-04 9.99944848e-01 -3.62892475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.237552017999995 meters Centerline goodness [0,1] 0.9829077909165909 Centerline is valid? [True, True] Translation: X:51.56, Y:-5.22, Z:-0.36 [[ 9.92289744e-01 1.23487891e-01 1.05737787e-02 5.15583694e+01] [-1.23477137e-01 9.92346018e-01 -1.66638248e-03 -5.22288669e+00] [-1.06986252e-02 3.47914330e-04 9.99942708e-01 -3.62936496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.267552017999996 meters Centerline goodness [0,1] 0.9820929641859284 Centerline is valid? [True, True] Translation: X:51.59, Y:-5.23, Z:-0.36 [[ 9.92438931e-01 1.22227865e-01 1.11945260e-02 5.15857742e+01] [-1.22215746e-01 9.92501992e-01 -1.76293752e-03 -5.22824642e+00] [-1.13260694e-02 3.81460486e-04 9.99935785e-01 -3.62145134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.297552018 meters Centerline goodness [0,1] 0.9827141164522681 Centerline is valid? [True, True] Translation: X:51.61, Y:-5.23, Z:-0.36 [[ 9.92489705e-01 1.21898831e-01 1.02401346e-02 5.16128017e+01] [-1.21888685e-01 9.92542468e-01 -1.61148353e-03 -5.23448984e+00] [-1.03602065e-02 3.51224273e-04 9.99946270e-01 -3.62435998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.327552018 meters Centerline goodness [0,1] 0.9821289000612603 Centerline is valid? [True, True] Translation: X:51.64, Y:-5.24, Z:-0.36 [[ 9.92588154e-01 1.21194345e-01 8.98261519e-03 5.16416205e+01] [-1.21186515e-01 9.92628748e-01 -1.41293367e-03 -5.23907310e+00] [-9.08764164e-03 3.13889396e-04 9.99958657e-01 -3.64151206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.357552018 meters Centerline goodness [0,1] 0.9823823019330824 Centerline is valid? [True, True] Translation: X:51.67, Y:-5.25, Z:-0.37 [[ 9.92931866e-01 1.18504914e-01 6.54940277e-03 5.16685648e+01] [-1.18500696e-01 9.92953435e-01 -1.02980105e-03 -5.24887434e+00] [-6.62528847e-03 2.46413498e-04 9.99978022e-01 -3.67630291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.387552017999994 meters Centerline goodness [0,1] 0.9829752136029101 Centerline is valid? [True, True] Translation: X:51.70, Y:-5.26, Z:-0.37 [[ 9.93095063e-01 1.17189715e-01 5.36346133e-03 5.16969919e+01] [-1.17186870e-01 9.93109524e-01 -8.42901308e-04 -5.25549837e+00] [-5.42528389e-03 2.08553884e-04 9.99985261e-01 -3.68865747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.417552017999995 meters Centerline goodness [0,1] 0.9832933552160923 Centerline is valid? [True, True] Translation: X:51.72, Y:-5.26, Z:-0.37 [[ 9.93274616e-01 1.15698648e-01 4.39991236e-03 5.17248580e+01] [-1.15696719e-01 9.93284346e-01 -6.91215314e-04 -5.26138216e+00] [-4.45033674e-03 1.77511201e-04 9.99990081e-01 -3.69034085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.447552017999996 meters Centerline goodness [0,1] 0.9823207699156314 Centerline is valid? [True, True] Translation: X:51.75, Y:-5.27, Z:-0.37 [[ 9.93495019e-01 1.13809807e-01 3.86972721e-03 5.17522067e+01] [-1.13808302e-01 9.93502542e-01 -6.07723468e-04 -5.26872562e+00] [-3.91374871e-03 1.63363158e-04 9.99992328e-01 -3.67899547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.477552018 meters Centerline goodness [0,1] 0.9820573910476713 Centerline is valid? [True, True] Translation: X:51.78, Y:-5.27, Z:-0.37 [[ 9.93730415e-01 1.11704956e-01 4.67599318e-03 5.17805852e+01] [-1.11702738e-01 9.93741395e-01 -7.33738936e-04 -5.27422128e+00] [-4.72869026e-03 2.06817456e-04 9.99988798e-01 -3.67272141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.507552018 meters Centerline goodness [0,1] 0.9815549260308467 Centerline is valid? [True, True] Translation: X:51.81, Y:-5.28, Z:-0.37 [[ 9.93869989e-01 1.10446519e-01 4.90010671e-03 5.18086079e+01] [-1.10444070e-01 9.93882044e-01 -7.68511880e-04 -5.27989556e+00] [-4.95500753e-03 2.22613167e-04 9.99987699e-01 -3.66634932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.537552018 meters Centerline goodness [0,1] 0.9826845325035456 Centerline is valid? [True, True] Translation: X:51.84, Y:-5.28, Z:-0.37 [[ 9.94293763e-01 1.06555616e-01 5.08076200e-03 5.18382494e+01] [-1.06552934e-01 9.94306712e-01 -7.96380132e-04 -5.28441207e+00] [-5.13669454e-03 2.50465698e-04 9.99986776e-01 -3.66647454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56755201799999 meters Centerline goodness [0,1] 0.9821240577757191 Centerline is valid? [True, True] Translation: X:51.87, Y:-5.29, Z:-0.37 [[ 9.94519549e-01 1.04440479e-01 4.80129328e-03 5.18675662e+01] [-1.04438060e-01 9.94531108e-01 -7.52513179e-04 -5.29064318e+00] [-4.85362836e-03 2.46951314e-04 9.99988191e-01 -3.66862874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.597552017999995 meters Centerline goodness [0,1] 0.9821277674497212 Centerline is valid? [True, True] Translation: X:51.89, Y:-5.30, Z:-0.37 [[ 9.94797034e-01 1.01780738e-01 4.42078003e-03 5.18946105e+01] [-1.01778661e-01 9.94806828e-01 -6.92784509e-04 -5.29880223e+00] [-4.46833427e-03 2.39238901e-04 9.99989988e-01 -3.67011216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.627552017999996 meters Centerline goodness [0,1] 0.9802209851551957 Centerline is valid? [True, True] Translation: X:51.92, Y:-5.31, Z:-0.37 [[ 9.95330401e-01 9.64214502e-02 4.50523930e-03 5.19244622e+01] [-9.64192409e-02 9.95340561e-01 -7.05522096e-04 -5.30742207e+00] [-4.55227487e-03 2.67835837e-04 9.99989602e-01 -3.67503695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.657552018 meters Centerline goodness [0,1] 0.9796162817576228 Centerline is valid? [True, True] Translation: X:51.95, Y:-5.31, Z:-0.37 [[ 9.95597172e-01 9.36757897e-02 3.33435735e-03 5.19525644e+01] [-9.36745637e-02 9.95602734e-01 -5.22316278e-04 -5.31465087e+00] [-3.36862368e-03 2.07672139e-04 9.99994305e-01 -3.67885188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.687552018 meters Centerline goodness [0,1] 0.9802869276764774 Centerline is valid? [True, True] Translation: X:51.98, Y:-5.32, Z:-0.37 [[ 9.95871532e-01 9.07093130e-02 3.42227260e-03 5.19824906e+01] [-9.07080051e-02 9.95877387e-01 -5.35775607e-04 -5.31815756e+00] [-3.45676373e-03 2.23136155e-04 9.99994000e-01 -3.67598762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.717552018 meters Centerline goodness [0,1] 0.9790958423953209 Centerline is valid? [True, True] Translation: X:52.01, Y:-5.32, Z:-0.37 [[ 9.96102123e-01 8.81347798e-02 3.58056498e-03 5.20115627e+01] [-8.81333318e-02 9.96108529e-01 -5.60517920e-04 -5.32329475e+00] [-3.61603244e-03 2.42765969e-04 9.99993433e-01 -3.67285273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74755201799999 meters Centerline goodness [0,1] 0.9793416190796104 Centerline is valid? [True, True] Translation: X:52.04, Y:-5.33, Z:-0.37 [[ 9.96435335e-01 8.42519149e-02 4.27049075e-03 5.20413761e+01] [-8.42498206e-02 9.96444440e-01 -6.68263207e-04 -5.32707536e+00] [-4.31160921e-03 3.06092993e-04 9.99990658e-01 -3.65811783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.777552017999994 meters Centerline goodness [0,1] 0.9793488568117164 Centerline is valid? [True, True] Translation: X:52.07, Y:-5.33, Z:-0.37 [[ 9.96584781e-01 8.24762257e-02 4.05540124e-03 5.20697268e+01] [-8.24743224e-02 9.96592988e-01 -6.34616776e-04 -5.33260505e+00] [-4.09392523e-03 2.97982952e-04 9.99991575e-01 -3.66065339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.807552017999996 meters Centerline goodness [0,1] 0.9788338488919022 Centerline is valid? [True, True] Translation: X:52.10, Y:-5.34, Z:-0.37 [[ 9.96683357e-01 8.12877394e-02 3.81953049e-03 5.20987106e+01] [-8.12860430e-02 9.96690635e-01 -5.97546196e-04 -5.33513523e+00] [-3.85546345e-03 2.85089829e-04 9.99992527e-01 -3.67296593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.837552018 meters Centerline goodness [0,1] 0.9782287042908476 Centerline is valid? [True, True] Translation: X:52.13, Y:-5.34, Z:-0.37 [[ 9.96805578e-01 7.98285760e-02 2.45731702e-03 5.21278870e+01] [-7.98278697e-02 9.96808589e-01 -3.84341134e-04 -5.33668609e+00] [-2.48015612e-03 1.86951002e-04 9.99996907e-01 -3.69323205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.867552018 meters Centerline goodness [0,1] 0.978353329524535 Centerline is valid? [True, True] Translation: X:52.16, Y:-5.34, Z:-0.37 [[ 9.96833375e-01 7.94969449e-02 1.85945505e-03 5.21555323e+01] [-7.94965396e-02 9.96835099e-01 -2.90980886e-04 -5.34129248e+00] [-1.87670215e-03 1.42239217e-04 9.99998229e-01 -3.69787721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.897552018 meters Centerline goodness [0,1] 0.9783232118758435 Centerline is valid? [True, True] Translation: X:52.18, Y:-5.34, Z:-0.37 [[ 9.96848938e-01 7.93014493e-02 1.86429513e-03 5.21843238e+01] [-7.93010421e-02 9.96850671e-01 -2.91453083e-04 -5.34302273e+00] [-1.88153651e-03 1.42694149e-04 9.99998220e-01 -3.69839686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92755201799999 meters Centerline goodness [0,1] 0.978372550263208 Centerline is valid? [True, True] Translation: X:52.21, Y:-5.34, Z:-0.37 [[ 9.96759365e-01 8.04166360e-02 1.98336682e-03 5.22146140e+01] [-8.04161779e-02 9.96761327e-01 -3.09799912e-04 -5.33932490e+00] [-2.00185641e-03 1.49301185e-04 9.99997985e-01 -3.69735172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.957552017999994 meters Centerline goodness [0,1] 0.9787787745429926 Centerline is valid? [True, True] Translation: X:52.24, Y:-5.34, Z:-0.37 [[ 9.96706822e-01 8.10751519e-02 1.52640885e-03 5.22417100e+01] [-8.10748810e-02 9.96707985e-01 -2.38602106e-04 -5.34336564e+00] [-1.54072859e-03 1.14062931e-04 9.99998807e-01 -3.69909797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.987552017999995 meters Centerline goodness [0,1] 0.9793929915035718 Centerline is valid? [True, True] Translation: X:52.27, Y:-5.34, Z:-0.37 [[ 9.96645997e-01 8.18211298e-02 1.43510003e-03 5.22713980e+01] [-8.18208914e-02 9.96647025e-01 -2.24128323e-04 -5.34085145e+00] [-1.44862660e-03 1.05955433e-04 9.99998945e-01 -3.69636838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.017552017999996 meters Centerline goodness [0,1] 0.9794758714273598 Centerline is valid? [True, True] Translation: X:52.30, Y:-5.34, Z:-0.37 [[ 9.96685659e-01 8.13443665e-02 8.89300396e-04 5.22995226e+01] [-8.13442744e-02 9.96686054e-01 -1.39334698e-04 -5.34102131e+00] [-8.97687395e-04 6.65334003e-05 9.99999595e-01 -3.69851670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.047552018 meters Centerline goodness [0,1] 0.9798735756115092 Centerline is valid? [True, True] Translation: X:52.33, Y:-5.34, Z:-0.37 [[ 9.96730306e-01 8.07999407e-02 2.60107447e-04 5.23280252e+01] [-8.07999327e-02 9.96730339e-01 -4.10936260e-05 -5.34174231e+00] [-2.62577347e-04 1.99425982e-05 9.99999965e-01 -3.70593775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.077552018 meters Centerline goodness [0,1] 0.9802011646373743 Centerline is valid? [True, True] Translation: X:52.36, Y:-5.34, Z:-0.37 [[ 9.96829141e-01 7.95694388e-02 -6.07234266e-04 5.23563923e+01] [-7.95693964e-02 9.96829325e-01 9.37881163e-05 -5.34449447e+00] [ 6.12771591e-04 -4.51734633e-05 9.99999811e-01 -3.71274907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.107552018 meters Centerline goodness [0,1] 0.9790252669415371 Centerline is valid? [True, True] Translation: X:52.38, Y:-5.35, Z:-0.37 [[ 9.96922187e-01 7.83944917e-02 -6.75924573e-04 5.23838678e+01] [-7.83944389e-02 9.96922415e-01 1.04403884e-04 -5.34957400e+00] [ 6.82029047e-04 -5.10938210e-05 9.99999766e-01 -3.71930310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.137552017999994 meters Centerline goodness [0,1] 0.980208289234156 Centerline is valid? [True, True] Translation: X:52.41, Y:-5.35, Z:-0.37 [[ 9.97080454e-01 7.63581593e-02 -1.88322433e-05 5.24139481e+01] [-7.63581593e-02 9.97080454e-01 2.54749630e-06 -5.34629069e+00] [ 1.89717838e-05 -1.10206333e-06 1.00000000e+00 -3.70698689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.167552017999995 meters Centerline goodness [0,1] 0.978648591400127 Centerline is valid? [True, True] Translation: X:52.44, Y:-5.35, Z:-0.37 [[ 9.97134937e-01 7.56427453e-02 3.03270137e-04 5.24411395e+01] [-7.56427342e-02 9.97134983e-01 -4.79553713e-05 -5.35002257e+00] [-3.06028739e-04 2.48777938e-05 9.99999953e-01 -3.70299756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.197552017999996 meters Centerline goodness [0,1] 0.980268450692298 Centerline is valid? [True, True] Translation: X:52.47, Y:-5.35, Z:-0.37 [[ 9.97115059e-01 7.59044133e-02 2.81176760e-04 5.24700044e+01] [-7.59044038e-02 9.97115098e-01 -4.41002165e-05 -5.35125599e+00] [-2.83712994e-04 2.26304356e-05 9.99999959e-01 -3.69766818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.227552018 meters Centerline goodness [0,1] 0.9815381346930104 Centerline is valid? [True, True] Translation: X:52.50, Y:-5.35, Z:-0.37 [[ 9.96934647e-01 7.82356437e-02 -7.02326282e-04 5.25016546e+01] [-7.82355865e-02 9.96934893e-01 1.08572415e-04 -5.34511823e+00] [ 7.08667810e-04 -5.32926935e-05 9.99999747e-01 -3.70288451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.257552018 meters Centerline goodness [0,1] 0.980700074476008 Centerline is valid? [True, True] Translation: X:52.53, Y:-5.35, Z:-0.37 [[ 9.96762263e-01 8.03910212e-02 -1.50831108e-03 5.25306788e+01] [-8.03907594e-02 9.96763398e-01 2.33541329e-04 -5.34741411e+00] [ 1.52220390e-03 -1.11530910e-04 9.99998835e-01 -3.70886085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.287552018 meters Centerline goodness [0,1] 0.980967351360537 Centerline is valid? [True, True] Translation: X:52.56, Y:-5.35, Z:-0.37 [[ 9.96517434e-01 8.33710515e-02 -1.50742084e-03 5.25611513e+01] [-8.33707934e-02 9.96518568e-01 2.33335419e-04 -5.34561639e+00] [ 1.52162627e-03 -1.06847941e-04 9.99998837e-01 -3.71426663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31755201799999 meters Centerline goodness [0,1] 0.9813388373478594 Centerline is valid? [True, True] Translation: X:52.59, Y:-5.34, Z:-0.37 [[ 9.96225235e-01 8.67874567e-02 -1.79414727e-03 5.25927099e+01] [-8.67870964e-02 9.96226843e-01 2.77855532e-04 -5.33840760e+00] [ 1.81149205e-03 -1.21097860e-04 9.99998352e-01 -3.70795028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.347552017999995 meters Centerline goodness [0,1] 0.9828866507340389 Centerline is valid? [True, True] Translation: X:52.62, Y:-5.33, Z:-0.37 [[ 9.95556688e-01 9.41614426e-02 -7.09826955e-04 5.26230386e+01] [-9.41613883e-02 9.95556940e-01 1.09597278e-04 -5.33147064e+00] [ 7.16992989e-04 -4.22720111e-05 9.99999742e-01 -3.68619219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.377552017999996 meters Centerline goodness [0,1] 0.98301064239005 Centerline is valid? [True, True] Translation: X:52.65, Y:-5.33, Z:-0.37 [[ 9.95174807e-01 9.81173653e-02 2.94823489e-04 5.26543855e+01] [-9.81173561e-02 9.95174850e-01 -4.57826029e-05 -5.32698327e+00] [-2.97892990e-04 1.66343917e-05 9.99999955e-01 -3.67523101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.407552018 meters Centerline goodness [0,1] 0.9845127064259434 Centerline is valid? [True, True] Translation: X:52.69, Y:-5.32, Z:-0.37 [[ 9.94340964e-01 1.06233399e-01 7.15556604e-04 5.26865764e+01] [-1.06233346e-01 9.94341221e-01 -1.11056111e-04 -5.31699944e+00] [-7.23305296e-04 3.44116684e-05 9.99999738e-01 -3.66011280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.437552018 meters Centerline goodness [0,1] 0.9856364961625863 Centerline is valid? [True, True] Translation: X:52.72, Y:-5.32, Z:-0.37 [[ 9.93956266e-01 1.09775852e-01 4.51275006e-04 5.27159374e+01] [-1.09775831e-01 9.93956368e-01 -7.00953615e-05 -5.31764500e+00] [-4.56242444e-04 2.01326348e-05 9.99999896e-01 -3.66457141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.467552018 meters Centerline goodness [0,1] 0.9857754927163668 Centerline is valid? [True, True] Translation: X:52.75, Y:-5.32, Z:-0.37 [[ 9.93564238e-01 1.13268959e-01 4.97926890e-04 5.27461772e+01] [-1.13268934e-01 9.93564363e-01 -7.72929557e-05 -5.31714756e+00] [-5.03477305e-04 2.03958685e-05 9.99999873e-01 -3.67118100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49755201799999 meters Centerline goodness [0,1] 0.9856009971846725 Centerline is valid? [True, True] Translation: X:52.77, Y:-5.32, Z:-0.37 [[ 9.93269890e-01 1.15822768e-01 -1.09071694e-04 5.27736576e+01] [-1.15822767e-01 9.93269896e-01 1.62591852e-05 -5.31943080e+00] [ 1.10220814e-04 -3.51677368e-06 9.99999994e-01 -3.68787656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.527552017999994 meters Centerline goodness [0,1] 0.9865439244751063 Centerline is valid? [True, True] Translation: X:52.80, Y:-5.32, Z:-0.37 [[ 9.92711411e-01 1.20511683e-01 -9.93963386e-04 5.28041013e+01] [-1.20511589e-01 9.92711909e-01 1.53424427e-04 -5.31610473e+00] [ 1.00520873e-03 -3.25220718e-05 9.99999494e-01 -3.70150885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.557552017999996 meters Centerline goodness [0,1] 0.9873641158109999 Centerline is valid? [True, True] Translation: X:52.83, Y:-5.31, Z:-0.37 [[ 9.92473921e-01 1.22448970e-01 -1.32857078e-03 5.28330381e+01] [-1.22448808e-01 9.92474810e-01 2.03268633e-04 -5.31471238e+00] [ 1.34346307e-03 -3.90569089e-05 9.99999097e-01 -3.68938708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.587552018 meters Centerline goodness [0,1] 0.9875263452191492 Centerline is valid? [True, True] Translation: X:52.86, Y:-5.32, Z:-0.37 [[ 9.92172530e-01 1.24873797e-01 -4.53273148e-04 5.28614923e+01] [-1.24873779e-01 9.92172633e-01 6.81457734e-05 -5.31575193e+00] [ 4.58234835e-04 -1.10104333e-05 9.99999895e-01 -3.68538578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.617552018 meters Centerline goodness [0,1] 0.9887882244076697 Centerline is valid? [True, True] Translation: X:52.89, Y:-5.32, Z:-0.37 [[ 9.91843102e-01 1.27463647e-01 -5.29663421e-04 5.28904037e+01] [-1.27463622e-01 9.91843243e-01 7.97351964e-05 -5.31622321e+00] [ 5.35506424e-04 -1.15719862e-05 9.99999857e-01 -3.67701335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.647552018 meters Centerline goodness [0,1] 0.9888638073739654 Centerline is valid? [True, True] Translation: X:52.92, Y:-5.32, Z:-0.37 [[ 9.91117909e-01 1.32984897e-01 -5.54668375e-04 5.29184338e+01] [-1.32984870e-01 9.91118064e-01 8.46335298e-05 -5.31542440e+00] [ 5.60996828e-04 -1.01193051e-05 9.99999843e-01 -3.68725675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67755201799999 meters Centerline goodness [0,1] 0.9886065044152488 Centerline is valid? [True, True] Translation: X:52.95, Y:-5.32, Z:-0.37 [[ 9.90845774e-01 1.34996657e-01 -7.44813487e-04 5.29474893e+01] [-1.34996610e-01 9.90846054e-01 1.12523041e-04 -5.31735195e+00] [ 7.53185739e-04 -1.09456830e-05 9.99999716e-01 -3.69117528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.707552017999994 meters Centerline goodness [0,1] 0.9891191933120744 Centerline is valid? [True, True] Translation: X:52.97, Y:-5.32, Z:-0.37 [[ 9.90572205e-01 1.36987154e-01 -1.10720464e-03 5.29748007e+01] [-1.36987051e-01 9.90572824e-01 1.69113542e-04 -5.32037392e+00] [ 1.11993321e-03 -1.58464763e-05 9.99999373e-01 -3.69399979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.737552017999995 meters Centerline goodness [0,1] 0.9896275850171437 Centerline is valid? [True, True] Translation: X:53.00, Y:-5.32, Z:-0.37 [[ 9.89923487e-01 1.41602315e-01 -5.23469117e-04 5.30040391e+01] [-1.41602294e-01 9.89923626e-01 7.83670859e-05 -5.32091265e+00] [ 5.29291407e-04 -3.45299137e-06 9.99999860e-01 -3.68272451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.767552017999996 meters Centerline goodness [0,1] 0.9896758341236314 Centerline is valid? [True, True] Translation: X:53.03, Y:-5.32, Z:-0.37 [[ 9.89604703e-01 1.43813597e-01 4.25924043e-04 5.30329833e+01] [-1.43813581e-01 9.89604795e-01 -6.67929251e-05 -5.32366323e+00] [-4.31102206e-04 4.84493073e-06 9.99999907e-01 -3.67342202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.797552018 meters Centerline goodness [0,1] 0.9898079605192576 Centerline is valid? [True, True] Translation: X:53.06, Y:-5.33, Z:-0.37 [[ 9.89225559e-01 1.46391152e-01 1.55714768e-03 5.30603958e+01] [-1.46390958e-01 9.89226784e-01 -2.38274088e-04 -5.32730780e+00] [-1.57525341e-03 7.75447568e-06 9.99998759e-01 -3.66477803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.827552018 meters Centerline goodness [0,1] 0.9898686598116305 Centerline is valid? [True, True] Translation: X:53.09, Y:-5.33, Z:-0.37 [[ 9.88611034e-01 1.50453446e-01 3.46181236e-03 5.30875751e+01] [-1.50452517e-01 9.88617095e-01 -5.28750249e-04 -5.33237561e+00] [-3.50195918e-03 1.88994693e-06 9.99993868e-01 -3.66446257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.857552018 meters Centerline goodness [0,1] 0.9901312245469629 Centerline is valid? [True, True] Translation: X:53.11, Y:-5.34, Z:-0.37 [[ 9.88463564e-01 1.51432880e-01 2.80452228e-03 5.31147907e+01] [-1.51432273e-01 9.88467543e-01 -4.28703308e-04 -5.33803376e+00] [-2.83709902e-03 -9.37583981e-07 9.99995975e-01 -3.67772946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.887552017999994 meters Centerline goodness [0,1] 0.9897633722684367 Centerline is valid? [True, True] Translation: X:53.14, Y:-5.34, Z:-0.37 [[ 9.88335306e-01 1.52277599e-01 2.20367360e-03 5.31421857e+01] [-1.52277229e-01 9.88337762e-01 -3.35694418e-04 -5.34432687e+00] [-2.22909257e-03 -3.79066443e-06 9.99997516e-01 -3.68890448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.917552017999995 meters Centerline goodness [0,1] 0.990001716443529 Centerline is valid? [True, True] Translation: X:53.17, Y:-5.35, Z:-0.37 [[ 9.88497951e-01 1.51221753e-01 1.94505346e-03 5.31690375e+01] [-1.51221461e-01 9.88499864e-01 -2.97099712e-04 -5.35366861e+00] [-1.96761302e-03 -4.51369236e-07 9.99998064e-01 -3.69403791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.947552017999996 meters Centerline goodness [0,1] 0.9889335367556997 Centerline is valid? [True, True] Translation: X:53.20, Y:-5.36, Z:-0.37 [[ 9.88703884e-01 1.49865864e-01 2.20289445e-03 5.31962490e+01] [-1.49865488e-01 9.88706338e-01 -3.35512235e-04 -5.36167744e+00] [-2.22829754e-03 1.58439707e-06 9.99997517e-01 -3.69810760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.977552018 meters Centerline goodness [0,1] 0.9889477863381763 Centerline is valid? [True, True] Translation: X:53.22, Y:-5.37, Z:-0.37 [[ 9.88939952e-01 1.48304964e-01 1.84629350e-03 5.32217685e+01] [-1.48304700e-01 9.88941676e-01 -2.80158010e-04 -5.37070410e+00] [-1.86742541e-03 3.24544604e-06 9.99998256e-01 -3.70519118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.007552018 meters Centerline goodness [0,1] 0.9889477863381763 Centerline is valid? [True, True] Translation: X:53.25, Y:-5.37, Z:-0.37 [[ 9.88985018e-01 1.48004142e-01 1.84621990e-03 5.32488849e+01] [-1.48003876e-01 9.88986741e-01 -2.80645878e-04 -5.37468143e+00] [-1.86742375e-03 4.30686735e-06 9.99998256e-01 -3.70689953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.037552018 meters Centerline goodness [0,1] 0.9884907197050881 Centerline is valid? [True, True] Translation: X:53.28, Y:-5.39, Z:-0.37 [[ 9.89678857e-01 1.43296956e-01 1.32024603e-03 5.32754098e+01] [-1.43296816e-01 9.89679737e-01 -2.00702490e-04 -5.39087281e+00] [-1.33538080e-03 9.44395875e-06 9.99999108e-01 -3.72215802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06755201799999 meters Centerline goodness [0,1] 0.9881333504076493 Centerline is valid? [True, True] Translation: X:53.30, Y:-5.40, Z:-0.37 [[ 9.90046221e-01 1.40739960e-01 8.62640193e-04 5.33020446e+01] [-1.40739899e-01 9.90046597e-01 -1.30524191e-04 -5.40126777e+00] [-8.72423956e-04 7.81708852e-06 9.99999619e-01 -3.72768719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.097552017999995 meters Centerline goodness [0,1] 0.9873812986568569 Centerline is valid? [True, True] Translation: X:53.33, Y:-5.41, Z:-0.37 [[ 9.90469147e-01 1.37725346e-01 1.61204208e-03 5.33295330e+01] [-1.37725131e-01 9.90470458e-01 -2.44045310e-04 -5.41073658e+00] [-1.63029128e-03 1.97006433e-05 9.99998671e-01 -3.72345255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.127552017999996 meters Centerline goodness [0,1] 0.9860773008755072 Centerline is valid? [True, True] Translation: X:53.36, Y:-5.42, Z:-0.37 [[ 9.90881738e-01 1.34707730e-01 2.68499538e-03 5.33566940e+01] [-1.34707128e-01 9.90885375e-01 -4.04549444e-04 -5.42076657e+00] [-2.71501859e-03 3.91726396e-05 9.99996314e-01 -3.71754309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.157552018 meters Centerline goodness [0,1] 0.9849612864800477 Centerline is valid? [True, True] Translation: X:53.38, Y:-5.44, Z:-0.37 [[ 9.91472556e-01 1.30239746e-01 4.44737578e-03 5.33817555e+01] [-1.30238062e-01 9.91482527e-01 -6.67493338e-04 -5.43722414e+00] [-4.49642955e-03 8.25837247e-05 9.99989888e-01 -3.70243556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.187552018 meters Centerline goodness [0,1] 0.9841225864200162 Centerline is valid? [True, True] Translation: X:53.41, Y:-5.45, Z:-0.37 [[ 9.91721238e-01 1.28317117e-01 4.86868369e-03 5.34084598e+01] [-1.28315080e-01 9.91733184e-01 -7.29720138e-04 -5.44702690e+00] [-4.92207077e-03 9.89534217e-05 9.99987882e-01 -3.70302890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.217552018 meters Centerline goodness [0,1] 0.9845578708128889 Centerline is valid? [True, True] Translation: X:53.43, Y:-5.46, Z:-0.37 [[ 9.91932925e-01 1.26666322e-01 4.97143723e-03 5.34346423e+01] [-1.26664182e-01 9.91945377e-01 -7.44334391e-04 -5.45626358e+00] [-5.02567628e-03 1.08626759e-04 9.99987365e-01 -3.70944481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24755201799999 meters Centerline goodness [0,1] 0.9839977839807377 Centerline is valid? [True, True] Translation: X:53.46, Y:-5.47, Z:-0.37 [[ 9.92459051e-01 1.22502970e-01 4.24898437e-03 5.34620036e+01] [-1.22501368e-01 9.92468141e-01 -6.36096722e-04 -5.46811479e+00] [-4.29490536e-03 1.10793549e-04 9.99990771e-01 -3.72676808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.277552017999994 meters Centerline goodness [0,1] 0.9827714401036688 Centerline is valid? [True, True] Translation: X:53.49, Y:-5.48, Z:-0.37 [[ 9.92754354e-01 1.20107538e-01 3.60167031e-03 5.34882231e+01] [-1.20106376e-01 9.92760882e-01 -5.37965667e-04 -5.47998188e+00] [-3.64021113e-03 1.01484189e-04 9.99993369e-01 -3.74089305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.307552017999996 meters Centerline goodness [0,1] 0.9837071968731413 Centerline is valid? [True, True] Translation: X:53.52, Y:-5.49, Z:-0.37 [[ 9.93047080e-01 1.17674538e-01 3.19375675e-03 5.35162055e+01] [-1.17673610e-01 9.93052211e-01 -4.77334255e-04 -5.48691677e+00] [-3.22773729e-03 9.81944997e-05 9.99994786e-01 -3.74582462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.337552018 meters Centerline goodness [0,1] 0.982346568096361 Centerline is valid? [True, True] Translation: X:53.54, Y:-5.50, Z:-0.37 [[ 9.93717452e-01 1.11850877e-01 3.87399827e-03 5.35440678e+01] [-1.11849477e-01 9.93724993e-01 -5.76917490e-04 -5.50326384e+00] [-3.91421763e-03 1.39988298e-04 9.99992330e-01 -3.74670695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.367552018 meters Centerline goodness [0,1] 0.9824598657946148 Centerline is valid? [True, True] Translation: X:53.57, Y:-5.51, Z:-0.37 [[ 9.94016463e-01 1.09134738e-01 4.56944475e-03 5.35728978e+01] [-1.09132762e-01 9.94026950e-01 -6.80401516e-04 -5.51178159e+00] [-4.61640667e-03 1.77654182e-04 9.99989329e-01 -3.73665403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.397552018 meters Centerline goodness [0,1] 0.9818127861624555 Centerline is valid? [True, True] Translation: X:53.60, Y:-5.52, Z:-0.37 [[ 9.94262063e-01 1.06845801e-01 5.18890062e-03 5.35993518e+01] [-1.06843223e-01 9.94275580e-01 -7.72451483e-04 -5.52137436e+00] [-5.24173037e-03 2.13620341e-04 9.99986239e-01 -3.72616057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42755201799999 meters Centerline goodness [0,1] 0.9812841010024108 Centerline is valid? [True, True] Translation: X:53.63, Y:-5.53, Z:-0.37 [[ 9.94480491e-01 1.04765326e-01 5.72528943e-03 5.36277856e+01] [-1.04762156e-01 9.94496941e-01 -8.51645478e-04 -5.52793575e+00] [-5.78300574e-03 2.47151152e-04 9.99983248e-01 -3.71934750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.457552017999994 meters Centerline goodness [0,1] 0.980559085133418 Centerline is valid? [True, True] Translation: X:53.66, Y:-5.54, Z:-0.37 [[ 9.94718726e-01 1.02448643e-01 6.23958388e-03 5.36564692e+01] [-1.02444836e-01 9.94738255e-01 -9.27602079e-04 -5.53732325e+00] [-6.30178435e-03 2.83490010e-04 9.99980103e-01 -3.72086835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.487552017999995 meters Centerline goodness [0,1] 0.981160033869602 Centerline is valid? [True, True] Translation: X:53.68, Y:-5.55, Z:-0.37 [[ 9.94767160e-01 1.01989734e-01 6.03254677e-03 5.36831871e+01] [-1.01986168e-01 9.94785413e-01 -8.96599017e-04 -5.54604648e+00] [-6.09253342e-03 2.76670930e-04 9.99981402e-01 -3.73390065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.517552017999996 meters Centerline goodness [0,1] 0.9812478977463841 Centerline is valid? [True, True] Translation: X:53.71, Y:-5.56, Z:-0.37 [[ 9.94775520e-01 1.01960073e-01 5.08014305e-03 5.37087532e+01] [-1.01957547e-01 9.94788465e-01 -7.54498678e-04 -5.55521871e+00] [-5.13059644e-03 2.32597891e-04 9.99986811e-01 -3.74805922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.547552018 meters Centerline goodness [0,1] 0.9813527716562129 Centerline is valid? [True, True] Translation: X:53.74, Y:-5.56, Z:-0.38 [[ 9.94789027e-01 1.01838624e-01 4.86681771e-03 5.37362484e+01] [-1.01836309e-01 9.94800907e-01 -7.21754636e-04 -5.55822930e+00] [-4.91501718e-03 2.22374839e-04 9.99987897e-01 -3.75810127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.577552018 meters Centerline goodness [0,1] 0.9814666103127642 Centerline is valid? [True, True] Translation: X:53.77, Y:-5.56, Z:-0.38 [[ 9.94563475e-01 1.04061849e-01 3.82435144e-03 5.37652567e+01] [-1.04060437e-01 9.94570814e-01 -5.66886919e-04 -5.56312321e+00] [-3.86257963e-03 1.65841343e-04 9.99992526e-01 -3.76791735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.607552018 meters Centerline goodness [0,1] 0.981593272754231 Centerline is valid? [True, True] Translation: X:53.79, Y:-5.57, Z:-0.38 [[ 9.94319036e-01 1.06384127e-01 3.47443251e-03 5.37943658e+01] [-1.06382978e-01 9.94325096e-01 -5.14442918e-04 -5.56602141e+00] [-3.50944401e-03 1.41899909e-04 9.99993832e-01 -3.77266311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.637552017999994 meters Centerline goodness [0,1] 0.9817106652587118 Centerline is valid? [True, True] Translation: X:53.82, Y:-5.57, Z:-0.38 [[ 9.93956066e-01 1.09714916e-01 3.73846679e-03 5.38237453e+01] [-1.09713610e-01 9.93963087e-01 -5.53238778e-04 -5.56862526e+00] [-3.77659653e-03 1.39734352e-04 9.99992859e-01 -3.76916465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.667552017999995 meters Centerline goodness [0,1] 0.9828258841489271 Centerline is valid? [True, True] Translation: X:53.85, Y:-5.57, Z:-0.38 [[ 9.93132046e-01 1.16891509e-01 5.01137124e-03 5.38536475e+01] [-1.16889255e-01 9.93144679e-01 -7.41328286e-04 -5.56824227e+00] [-5.06367166e-03 1.50461428e-04 9.99987168e-01 -3.75453963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.697552017999996 meters Centerline goodness [0,1] 0.9833280507131538 Centerline is valid? [True, True] Translation: X:53.88, Y:-5.57, Z:-0.38 [[ 9.92750977e-01 1.20091771e-01 4.84393912e-03 5.38827372e+01] [-1.20089704e-01 9.92762786e-01 -7.16434044e-04 -5.56891081e+00] [-4.89492033e-03 1.29533383e-04 9.99988011e-01 -3.75007912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.727552018 meters Centerline goodness [0,1] 0.9829376070363871 Centerline is valid? [True, True] Translation: X:53.91, Y:-5.58, Z:-0.38 [[ 9.92426350e-01 1.22750621e-01 4.71433423e-03 5.39099627e+01] [-1.22748694e-01 9.92437541e-01 -6.96919065e-04 -5.57626031e+00] [-4.76422952e-03 1.12962471e-04 9.99988645e-01 -3.75787024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.757552018 meters Centerline goodness [0,1] 0.983576410906785 Centerline is valid? [True, True] Translation: X:53.94, Y:-5.58, Z:-0.38 [[ 9.92129007e-01 1.25135466e-01 4.59880821e-03 5.39392457e+01] [-1.25133660e-01 9.92139660e-01 -6.79466632e-04 -5.57721130e+00] [-4.64768539e-03 9.86528516e-05 9.99989195e-01 -3.76062184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.787552018 meters Centerline goodness [0,1] 0.9836300734115264 Centerline is valid? [True, True] Translation: X:53.97, Y:-5.58, Z:-0.38 [[ 9.91675405e-01 1.28610878e-01 6.25566451e-03 5.39679973e+01] [-1.28607610e-01 9.91695129e-01 -9.23502577e-04 -5.57930315e+00] [-6.32248450e-03 1.11288728e-04 9.99980007e-01 -3.75036102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81755201799999 meters Centerline goodness [0,1] 0.9836366320140016 Centerline is valid? [True, True] Translation: X:54.00, Y:-5.59, Z:-0.37 [[ 9.91503424e-01 1.29893780e-01 6.96896387e-03 5.39955093e+01] [-1.29889762e-01 9.91527908e-01 -1.02808611e-03 -5.58506915e+00] [-7.04346416e-03 1.14153840e-04 9.99975188e-01 -3.74078405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.847552017999995 meters Centerline goodness [0,1] 0.9833764159468718 Centerline is valid? [True, True] Translation: X:54.02, Y:-5.59, Z:-0.37 [[ 9.91246267e-01 1.31794247e-01 7.81753642e-03 5.40241987e+01] [-1.31789257e-01 9.91277087e-01 -1.15234192e-03 -5.58628408e+00] [-7.90121676e-03 1.11987314e-04 9.99968779e-01 -3.74381020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.877552017999996 meters Centerline goodness [0,1] 0.9835886444346382 Centerline is valid? [True, True] Translation: X:54.05, Y:-5.59, Z:-0.38 [[ 9.91160767e-01 1.32443068e-01 7.69203809e-03 5.40531318e+01] [-1.32438262e-01 9.91190609e-01 -1.13317425e-03 -5.58987522e+00] [-7.77435699e-03 1.04437703e-04 9.99969774e-01 -3.75168775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.907552018 meters Centerline goodness [0,1] 0.9833914981289156 Centerline is valid? [True, True] Translation: X:54.08, Y:-5.59, Z:-0.38 [[ 9.91015361e-01 1.33556495e-01 7.15652997e-03 5.40808985e+01] [-1.33552368e-01 9.91041197e-01 -1.05366475e-03 -5.59403163e+00] [-7.23313980e-03 8.84264325e-05 9.99973837e-01 -3.75218446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.937552018 meters Centerline goodness [0,1] 0.9840989027189824 Centerline is valid? [True, True] Translation: X:54.11, Y:-5.60, Z:-0.38 [[ 9.90638127e-01 1.36389068e-01 5.84150620e-03 5.41101617e+01] [-1.36386370e-01 9.90655348e-01 -8.59589889e-04 -5.59639022e+00] [-5.90415802e-03 5.48406932e-05 9.99982569e-01 -3.75057677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.967552018 meters Centerline goodness [0,1] 0.985682610072854 Centerline is valid? [True, True] Translation: X:54.14, Y:-5.60, Z:-0.37 [[ 9.90623143e-01 1.36460824e-01 6.65071123e-03 5.41380408e+01] [-1.36457343e-01 9.90645466e-01 -9.76492504e-04 -5.59893890e+00] [-6.72174990e-03 5.97976896e-05 9.99977407e-01 -3.74774723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99755201799999 meters Centerline goodness [0,1] 0.9851881505204163 Centerline is valid? [True, True] Translation: X:54.17, Y:-5.60, Z:-0.38 [[ 9.90523161e-01 1.37190142e-01 6.53693520e-03 5.41660263e+01] [-1.37186811e-01 9.90544730e-01 -9.57501550e-04 -5.60228393e+00] [-6.60648648e-03 5.16461712e-05 9.99978176e-01 -3.75119106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.027552017999994 meters Centerline goodness [0,1] 0.9851312014408076 Centerline is valid? [True, True] Translation: X:54.19, Y:-5.61, Z:-0.38 [[ 9.90415762e-01 1.37953576e-01 6.74008164e-03 5.41936226e+01] [-1.37950067e-01 9.90438695e-01 -9.84924511e-04 -5.60704739e+00] [-6.81151152e-03 4.56900464e-05 9.99976800e-01 -3.75204106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.057552017999996 meters Centerline goodness [0,1] 0.9854213257943373 Centerline is valid? [True, True] Translation: X:54.22, Y:-5.61, Z:-0.37 [[ 9.90357883e-01 1.38268961e-01 8.54157761e-03 5.42210709e+01] [-1.38263353e-01 9.90394715e-01 -1.24642850e-03 -5.61483722e+00] [-8.63187570e-03 5.34231226e-05 9.99962743e-01 -3.73663846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.087552018 meters Centerline goodness [0,1] 0.9860213469190122 Centerline is valid? [True, True] Translation: X:54.25, Y:-5.62, Z:-0.37 [[ 9.90402408e-01 1.37871768e-01 9.71829504e-03 5.42477438e+01] [-1.37864519e-01 9.90450085e-01 -1.41512213e-03 -5.62140601e+00] [-9.82059154e-03 6.17322932e-05 9.99951775e-01 -3.72644983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.117552018 meters Centerline goodness [0,1] 0.9863749315587752 Centerline is valid? [True, True] Translation: X:54.28, Y:-5.63, Z:-0.37 [[ 9.90585423e-01 1.36592980e-01 9.10370229e-03 5.42757896e+01] [-1.36586573e-01 9.90627252e-01 -1.32470202e-03 -5.62865715e+00] [-9.19932058e-03 6.87870115e-05 9.99957683e-01 -3.73750693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.147552018 meters Centerline goodness [0,1] 0.9869378654663246 Centerline is valid? [True, True] Translation: X:54.30, Y:-5.64, Z:-0.38 [[ 9.90802260e-01 1.35105466e-01 7.57597633e-03 5.43039696e+01] [-1.35100991e-01 9.90831221e-01 -1.10181478e-03 -5.63581753e+00] [-7.65537507e-03 6.81586682e-05 9.99970695e-01 -3.75991851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17755201799999 meters Centerline goodness [0,1] 0.9866360804781548 Centerline is valid? [True, True] Translation: X:54.33, Y:-5.64, Z:-0.38 [[ 9.90976090e-01 1.33882472e-01 6.47091901e-03 5.43318085e+01] [-1.33879184e-01 9.90997215e-01 -9.40603122e-04 -5.64420296e+00] [-6.53859299e-03 6.57938464e-05 9.99978621e-01 -3.77985055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.207552017999994 meters Centerline goodness [0,1] 0.9876283010516997 Centerline is valid? [True, True] Translation: X:54.36, Y:-5.65, Z:-0.38 [[ 9.91137699e-01 1.32715271e-01 5.72000279e-03 5.43591440e+01] [-1.32712685e-01 9.91154202e-01 -8.31004073e-04 -5.65329404e+00] [-5.77969173e-03 6.45225394e-05 9.99983295e-01 -3.78714682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.237552017999995 meters Centerline goodness [0,1] 0.9881315054582381 Centerline is valid? [True, True] Translation: X:54.39, Y:-5.67, Z:-0.38 [[ 9.91211597e-01 1.32229495e-01 3.86403823e-03 5.43865203e+01] [-1.32228312e-01 9.91219127e-01 -5.61201797e-04 -5.66554636e+00] [-3.90431603e-03 4.53344785e-05 9.99992377e-01 -3.79061878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.267552017999996 meters Centerline goodness [0,1] 0.9904250841750841 Centerline is valid? [True, True] Translation: X:54.41, Y:-5.67, Z:-0.38 [[ 9.91220297e-01 1.32142074e-01 4.56024107e-03 5.44144765e+01] [-1.32140427e-01 9.91230785e-01 -6.61889443e-04 -5.67099976e+00] [-4.60771478e-03 5.34860465e-05 9.99989383e-01 -3.78378590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.297552018 meters Centerline goodness [0,1] 0.9906255938179591 Centerline is valid? [True, True] Translation: X:54.44, Y:-5.68, Z:-0.38 [[ 9.91002223e-01 1.33753926e-01 4.94782782e-03 5.44423363e+01] [-1.33752011e-01 9.91014574e-01 -7.17371272e-04 -5.67548218e+00] [-4.99932070e-03 4.91346037e-05 9.99987502e-01 -3.77908218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.327552018 meters Centerline goodness [0,1] 0.9898252739349325 Centerline is valid? [True, True] Translation: X:54.47, Y:-5.68, Z:-0.38 [[ 9.90695491e-01 1.35997257e-01 5.21440582e-03 5.44706104e+01] [-1.35995165e-01 9.90709213e-01 -7.55375032e-04 -5.67858111e+00] [-5.26868882e-03 3.92126562e-05 9.99986120e-01 -3.77305833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.357552018 meters Centerline goodness [0,1] 0.9918238860837049 Centerline is valid? [True, True] Translation: X:54.50, Y:-5.68, Z:-0.38 [[ 9.89953842e-01 1.41273404e-01 5.76327588e-03 5.44979037e+01] [-1.41270941e-01 9.89970618e-01 -8.34321811e-04 -5.68254105e+00] [-5.82334127e-03 1.17566774e-05 9.99983044e-01 -3.75664672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.387552017999994 meters Centerline goodness [0,1] 0.9928764120721633 Centerline is valid? [True, True] Translation: X:54.52, Y:-5.69, Z:-0.38 [[ 9.89569269e-01 1.43928441e-01 6.10452603e-03 5.45242908e+01] [-1.43925732e-01 9.89588098e-01 -8.83009722e-04 -5.68880893e+00] [-6.16805652e-03 -4.79909509e-06 9.99980977e-01 -3.75234687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.417552017999995 meters Centerline goodness [0,1] 0.9943001899936669 Centerline is valid? [True, True] Translation: X:54.55, Y:-5.70, Z:-0.37 [[ 9.88945981e-01 1.48083639e-01 7.55531999e-03 5.45524212e+01] [-1.48079621e-01 9.88974840e-01 -1.09157128e-03 -5.69844217e+00] [-7.63366522e-03 -3.92838845e-05 9.99970862e-01 -3.73283158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.447552017999996 meters Centerline goodness [0,1] 0.9945779446823773 Centerline is valid? [True, True] Translation: X:54.58, Y:-5.70, Z:-0.37 [[ 9.88717090e-01 1.49554289e-01 8.48704167e-03 5.45811099e+01] [-1.49549280e-01 9.88753514e-01 -1.22534424e-03 -5.70314532e+00] [-8.57484776e-03 -5.77121827e-05 9.99963234e-01 -3.72606537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.477552018 meters Centerline goodness [0,1] 0.9947651715039578 Centerline is valid? [True, True] Translation: X:54.61, Y:-5.71, Z:-0.37 [[ 9.88587146e-01 1.50433917e-01 8.06797055e-03 5.46097107e+01] [-1.50429425e-01 9.88620065e-01 -1.16412631e-03 -5.70795574e+00] [-8.15128165e-03 -6.28198644e-05 9.99966776e-01 -3.72700585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.507552018 meters Centerline goodness [0,1] 0.9948622925966478 Centerline is valid? [True, True] Translation: X:54.64, Y:-5.72, Z:-0.37 [[ 9.88922098e-01 1.48265776e-01 7.09538443e-03 5.46370076e+01] [-1.48262251e-01 9.88947551e-01 -1.02320953e-03 -5.71947713e+00] [-7.16867000e-03 -4.01031524e-05 9.99974304e-01 -3.73997531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.537552018 meters Centerline goodness [0,1] 0.9946048472075869 Centerline is valid? [True, True] Translation: X:54.66, Y:-5.73, Z:-0.37 [[ 9.89309860e-01 1.45677310e-01 6.64246513e-03 5.46643443e+01] [-1.45674166e-01 9.89332159e-01 -9.57326638e-04 -5.73033564e+00] [-6.71106513e-03 -2.05428842e-05 9.99977480e-01 -3.74692991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56755201799999 meters Centerline goodness [0,1] 0.9951893659668741 Centerline is valid? [True, True] Translation: X:54.69, Y:-5.74, Z:-0.37 [[ 9.89820473e-01 1.42186534e-01 6.19851192e-03 5.46917103e+01] [-1.42183731e-01 9.89839881e-01 -8.92818996e-04 -5.74237081e+00] [-6.26248114e-03 2.40296658e-06 9.99980390e-01 -3.74432642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.597552017999995 meters Centerline goodness [0,1] 0.9949144316191522 Centerline is valid? [True, True] Translation: X:54.72, Y:-5.76, Z:-0.37 [[ 9.91044006e-01 1.33407866e-01 5.84123752e-03 5.47166006e+01] [-1.33405227e-01 9.91061218e-01 -8.40856344e-04 -5.76315227e+00] [-5.90120082e-03 5.40740227e-05 9.99982586e-01 -3.73793107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.627552017999996 meters Centerline goodness [0,1] 0.9951729516662802 Centerline is valid? [True, True] Translation: X:54.74, Y:-5.77, Z:-0.37 [[ 9.91629219e-01 1.28971656e-01 6.14846560e-03 5.47439518e+01] [-1.28968652e-01 9.91648277e-01 -8.84340921e-04 -5.77444659e+00] [-6.21117023e-03 8.39789778e-05 9.99980707e-01 -3.72936421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.657552018 meters Centerline goodness [0,1] 0.9951480887688803 Centerline is valid? [True, True] Translation: X:54.77, Y:-5.78, Z:-0.37 [[ 9.92162559e-01 1.24777640e-01 6.63304197e-03 5.47718817e+01] [-1.24774053e-01 9.92184724e-01 -9.53375755e-04 -5.78489142e+00] [-6.70016289e-03 1.18272196e-04 9.99977547e-01 -3.72185424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.687552018 meters Centerline goodness [0,1] 0.9952745606818134 Centerline is valid? [True, True] Translation: X:54.80, Y:-5.80, Z:-0.37 [[ 9.93032787e-01 1.17624126e-01 7.10277942e-03 5.47983602e+01] [-1.17619836e-01 9.93058172e-01 -1.02021311e-03 -5.79995100e+00] [-7.17347483e-03 1.77677321e-04 9.99974255e-01 -3.70508531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.717552018 meters Centerline goodness [0,1] 0.9953615854944128 Centerline is valid? [True, True] Translation: X:54.83, Y:-5.81, Z:-0.37 [[ 9.93409938e-01 1.14352074e-01 7.76513629e-03 5.48263622e+01] [-1.14346851e-01 9.93440262e-01 -1.11471833e-03 -5.80914752e+00] [-7.84166939e-03 2.19453389e-04 9.99969230e-01 -3.69900122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74755201799999 meters Centerline goodness [0,1] 0.9957647653764302 Centerline is valid? [True, True] Translation: X:54.85, Y:-5.82, Z:-0.37 [[ 9.93777173e-01 1.11080056e-01 8.25534176e-03 5.48545499e+01] [-1.11074046e-01 9.93811428e-01 -1.18439650e-03 -5.81942516e+00] [-8.33581581e-03 2.60071999e-04 9.99965223e-01 -3.69075072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.777552017999994 meters Centerline goodness [0,1] 0.9951646133793045 Centerline is valid? [True, True] Translation: X:54.88, Y:-5.83, Z:-0.37 [[ 9.94122543e-01 1.07894727e-01 8.89363284e-03 5.48831180e+01] [-1.07887628e-01 9.94162277e-01 -1.27554603e-03 -5.83018950e+00] [-8.97933896e-03 3.08536114e-04 9.99959637e-01 -3.69001212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.807552017999996 meters Centerline goodness [0,1] 0.9962527893562376 Centerline is valid? [True, True] Translation: X:54.91, Y:-5.84, Z:-0.37 [[ 9.94690757e-01 1.02594355e-01 8.04344723e-03 5.49114598e+01] [-1.02588378e-01 9.94723225e-01 -1.15331680e-03 -5.84327764e+00] [-8.11932757e-03 3.22029351e-04 9.99966986e-01 -3.69864075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.837552018 meters Centerline goodness [0,1] 0.9960213039176473 Centerline is valid? [True, True] Translation: X:54.94, Y:-5.85, Z:-0.37 [[ 9.94917291e-01 1.00472732e-01 6.69426340e-03 5.49407988e+01] [-1.00468545e-01 9.94939772e-01 -9.59723416e-04 -5.84856390e+00] [-6.75681494e-03 2.82282518e-04 9.99977133e-01 -3.71760835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.867552018 meters Centerline goodness [0,1] 0.996287206594928 Centerline is valid? [True, True] Translation: X:54.97, Y:-5.85, Z:-0.37 [[ 9.95049692e-01 9.92352059e-02 5.33698477e-03 5.49685018e+01] [-9.92325276e-02 9.95063978e-01 -7.64968534e-04 -5.85453956e+00] [-5.38655311e-03 2.31579215e-04 9.99985466e-01 -3.73421578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.897552018 meters Centerline goodness [0,1] 0.9962696004046535 Centerline is valid? [True, True] Translation: X:55.00, Y:-5.86, Z:-0.37 [[ 9.95138686e-01 9.83962455e-02 4.14411814e-03 5.49964420e+01] [-9.83946243e-02 9.95147298e-01 -5.93773791e-04 -5.86178094e+00] [-4.18243309e-03 1.83128322e-04 9.99991237e-01 -3.74949375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92755201799999 meters Centerline goodness [0,1] 0.9962696004046535 Centerline is valid? [True, True] Translation: X:55.02, Y:-5.87, Z:-0.38 [[ 9.95147159e-01 9.83105147e-02 4.14413973e-03 5.50245237e+01] [-9.83088934e-02 9.95155771e-01 -5.93623130e-04 -5.86570621e+00] [-4.18242396e-03 1.83336581e-04 9.99991237e-01 -3.75125910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.957552017999994 meters Centerline goodness [0,1] 0.996555924230333 Centerline is valid? [True, True] Translation: X:55.05, Y:-5.87, Z:-0.37 [[ 9.95188406e-01 9.79052292e-02 3.82147146e-03 5.50529531e+01] [-9.79038486e-02 9.95195728e-01 -5.47114872e-04 -5.87046537e+00] [-3.85667748e-03 1.70345614e-04 9.99992548e-01 -3.74992838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.987552017999995 meters Centerline goodness [0,1] 0.9958813146171304 Centerline is valid? [True, True] Translation: X:55.08, Y:-5.88, Z:-0.37 [[ 9.95182327e-01 9.79103038e-02 5.07031252e-03 5.50810880e+01] [-9.79078771e-02 9.95195218e-01 -7.25244130e-04 -5.87760012e+00] [-5.11695964e-03 2.25326607e-04 9.99986883e-01 -3.73514898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.017552017999996 meters Centerline goodness [0,1] 0.9961747829924967 Centerline is valid? [True, True] Translation: X:55.11, Y:-5.88, Z:-0.37 [[ 9.95151592e-01 9.81432461e-02 6.41960003e-03 5.51101760e+01] [-9.81393643e-02 9.95172258e-01 -9.17694376e-04 -5.87866969e+00] [-6.47867336e-03 2.83229554e-04 9.99978973e-01 -3.72411727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.047552018 meters Centerline goodness [0,1] 0.995669175461464 Centerline is valid? [True, True] Translation: X:55.14, Y:-5.88, Z:-0.37 [[ 9.95144547e-01 9.81746147e-02 7.00541392e-03 5.51382088e+01] [-9.81699975e-02 9.95169156e-01 -1.00077493e-03 -5.88271396e+00] [-7.06982255e-03 3.08194247e-04 9.99974961e-01 -3.72053364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.077552018 meters Centerline goodness [0,1] 0.996374457740428 Centerline is valid? [True, True] Translation: X:55.17, Y:-5.88, Z:-0.37 [[ 9.95192843e-01 9.77504694e-02 6.00425538e-03 5.51675089e+01] [-9.77470720e-02 9.95210920e-01 -8.57406888e-04 -5.88414955e+00] [-6.05931245e-03 2.66386815e-04 9.99981607e-01 -3.73276822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.107552018 meters Centerline goodness [0,1] 0.9963499056010069 Centerline is valid? [True, True] Translation: X:55.20, Y:-5.89, Z:-0.37 [[ 9.95272035e-01 9.69640671e-02 5.61657358e-03 5.51960268e+01] [-9.69610835e-02 9.95287851e-01 -8.01749410e-04 -5.88948635e+00] [-5.66784833e-03 2.53369707e-04 9.99983906e-01 -3.74832881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.137552017999994 meters Centerline goodness [0,1] 0.995720489206822 Centerline is valid? [True, True] Translation: X:55.23, Y:-5.89, Z:-0.38 [[ 9.95628362e-01 9.32495343e-02 5.35620908e-03 5.52260362e+01] [-9.32467650e-02 9.95642735e-01 -7.64995325e-04 -5.89339175e+00] [-5.40420611e-03 2.62201874e-04 9.99985363e-01 -3.76415405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.167552017999995 meters Centerline goodness [0,1] 0.9958989673810175 Centerline is valid? [True, True] Translation: X:55.25, Y:-5.91, Z:-0.38 [[ 9.95837578e-01 9.09692457e-02 5.66697465e-03 5.52540598e+01] [-9.09661097e-02 9.95853660e-01 -8.09241294e-04 -5.90596762e+00] [-5.71709352e-03 2.90370253e-04 9.99983615e-01 -3.76383001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.197552017999996 meters Centerline goodness [0,1] 0.9965779308028216 Centerline is valid? [True, True] Translation: X:55.28, Y:-5.91, Z:-0.38 [[ 9.96090797e-01 8.81537785e-02 5.66007339e-03 5.52849107e+01] [-8.81506056e-02 9.96106830e-01 -8.08115430e-04 -5.90654208e+00] [-5.70927619e-03 3.06017445e-04 9.99983655e-01 -3.75957230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.227552018 meters Centerline goodness [0,1] 0.9950728587902296 Centerline is valid? [True, True] Translation: X:55.31, Y:-5.92, Z:-0.38 [[ 9.96314199e-01 8.55437664e-02 6.34669356e-03 5.53129435e+01] [-8.55397241e-02 9.96334349e-01 -9.06143292e-04 -5.91800437e+00] [-6.40094371e-03 3.59909012e-04 9.99979449e-01 -3.75768605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.257552018 meters Centerline goodness [0,1] 0.9939281003329076 Centerline is valid? [True, True] Translation: X:55.34, Y:-5.92, Z:-0.38 [[ 9.96782874e-01 7.98992955e-02 6.32488959e-03 5.53441341e+01] [-7.98951686e-02 9.96802863e-01 -9.02892260e-04 -5.91531202e+00] [-6.37680850e-03 3.94659422e-04 9.99979590e-01 -3.75764468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.287552018 meters Centerline goodness [0,1] 0.9943600319878783 Centerline is valid? [True, True] Translation: X:55.37, Y:-5.92, Z:-0.38 [[ 9.96983785e-01 7.73714088e-02 6.08248365e-03 5.53747901e+01] [-7.73675451e-02 9.97002261e-01 -8.68312826e-04 -5.91999378e+00] [-6.13143254e-03 3.95106981e-04 9.99981125e-01 -3.75531095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31755201799999 meters Centerline goodness [0,1] 0.9932794287514439 Centerline is valid? [True, True] Translation: X:55.40, Y:-5.93, Z:-0.38 [[ 9.97172074e-01 7.48864658e-02 6.31436979e-03 5.54049562e+01] [-7.48822514e-02 9.97191975e-01 -9.01561024e-04 -5.92581244e+00] [-6.36415361e-03 4.26177251e-04 9.99979658e-01 -3.76365066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.347552017999995 meters Centerline goodness [0,1] 0.9934309623430962 Centerline is valid? [True, True] Translation: X:55.44, Y:-5.93, Z:-0.38 [[ 9.97303429e-01 7.31199647e-02 6.27233074e-03 5.54357540e+01] [-7.31157706e-02 9.97323058e-01 -8.95695234e-04 -5.92929677e+00] [-6.32103328e-03 4.34673632e-04 9.99979928e-01 -3.76506013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.377552017999996 meters Centerline goodness [0,1] 0.9923268310021117 Centerline is valid? [True, True] Translation: X:55.47, Y:-5.93, Z:-0.38 [[ 9.97472853e-01 7.07402579e-02 6.61233557e-03 5.54650791e+01] [-7.07355434e-02 9.97494657e-01 -9.44442722e-04 -5.93450026e+00] [-6.66257952e-03 4.74328827e-04 9.99977692e-01 -3.76847201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.407552018 meters Centerline goodness [0,1] 0.9925769488123118 Centerline is valid? [True, True] Translation: X:55.50, Y:-5.93, Z:-0.38 [[ 9.97520985e-01 7.00298348e-02 6.90695481e-03 5.54968744e+01] [-7.00246687e-02 9.97544771e-01 -9.87267290e-04 -5.93459409e+00] [-6.95913482e-03 5.01162617e-04 9.99975659e-01 -3.76302841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.437552018 meters Centerline goodness [0,1] 0.9907409351445547 Centerline is valid? [True, True] Translation: X:55.53, Y:-5.94, Z:-0.38 [[ 9.97518104e-01 7.00074584e-02 7.52247570e-03 5.55272198e+01] [-7.00013275e-02 9.97546318e-01 -1.07557341e-03 -5.93893385e+00] [-7.57931610e-03 5.46320666e-04 9.99971127e-01 -3.75978532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.467552018 meters Centerline goodness [0,1] 0.9901099820181491 Centerline is valid? [True, True] Translation: X:55.56, Y:-5.93, Z:-0.38 [[ 9.97375987e-01 7.19170321e-02 8.31149548e-03 5.55585051e+01] [-7.19096122e-02 9.97410445e-01 -1.18853707e-03 -5.93334525e+00] [-8.37544846e-03 5.87741916e-04 9.99964753e-01 -3.76480288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49755201799999 meters Centerline goodness [0,1] 0.9888835388448092 Centerline is valid? [True, True] Translation: X:55.59, Y:-5.94, Z:-0.38 [[ 9.97278183e-01 7.32150458e-02 8.70528854e-03 5.55878597e+01] [-7.32069553e-02 9.97315994e-01 -1.24484916e-03 -5.93889525e+00] [-8.77306518e-03 6.04173236e-04 9.99961333e-01 -3.76811409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.527552017999994 meters Centerline goodness [0,1] 0.9890132930766973 Centerline is valid? [True, True] Translation: X:55.62, Y:-5.94, Z:-0.38 [[ 9.97120069e-01 7.52961111e-02 9.05884939e-03 5.56194829e+01] [-7.52874350e-02 9.97161032e-01 -1.29546920e-03 -5.93593414e+00] [-9.13067540e-03 6.09720808e-04 9.99958129e-01 -3.76993631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.557552017999996 meters Centerline goodness [0,1] 0.9890745905592719 Centerline is valid? [True, True] Translation: X:55.65, Y:-5.93, Z:-0.38 [[ 9.97012963e-01 7.66419997e-02 9.54754355e-03 5.56499242e+01] [-7.66324237e-02 9.97058477e-01 -1.36534541e-03 -5.93188350e+00] [-9.62410204e-03 6.29615675e-04 9.99953489e-01 -3.77863283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.587552018 meters Centerline goodness [0,1] 0.987262607100419 Centerline is valid? [True, True] Translation: X:55.68, Y:-5.93, Z:-0.38 [[ 9.96762178e-01 7.98460149e-02 9.47494989e-03 5.56799311e+01] [-7.98367320e-02 9.96807033e-01 -1.35455572e-03 -5.92817197e+00] [-9.55285256e-03 5.93720877e-04 9.99954194e-01 -3.79414899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.617552018 meters Centerline goodness [0,1] 0.987291517875898 Centerline is valid? [True, True] Translation: X:55.71, Y:-5.92, Z:-0.38 [[ 9.96643383e-01 8.13295074e-02 9.35298374e-03 5.57111687e+01] [-8.13205302e-02 9.96687105e-01 -1.33678592e-03 -5.92218148e+00] [-9.43071842e-03 5.71709248e-04 9.99955366e-01 -3.80690368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.647552018 meters Centerline goodness [0,1] 0.9859290388676326 Centerline is valid? [True, True] Translation: X:55.74, Y:-5.92, Z:-0.38 [[ 9.96410323e-01 8.43022502e-02 7.72000107e-03 5.57416003e+01] [-8.42962244e-02 9.96440128e-01 -1.10320748e-03 -5.91618289e+00] [-7.78552173e-03 4.48480379e-04 9.99969592e-01 -3.82782914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67755201799999 meters Centerline goodness [0,1] 0.9855199648968846 Centerline is valid? [True, True] Translation: X:55.77, Y:-5.91, Z:-0.38 [[ 9.96349196e-01 8.49994348e-02 7.96088735e-03 5.57713960e+01] [-8.49930525e-02 9.96380895e-01 -1.13722969e-03 -5.91470142e+00] [-8.02873994e-03 4.56457773e-04 9.99967665e-01 -3.83418874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.707552017999994 meters Centerline goodness [0,1] 0.9860386879730866 Centerline is valid? [True, True] Translation: X:55.80, Y:-5.91, Z:-0.38 [[ 9.96313805e-01 8.53642108e-02 8.47074250e-03 5.58002660e+01] [-8.53570035e-02 9.96349697e-01 -1.20942277e-03 -5.91472481e+00] [-8.54306314e-03 4.81927402e-04 9.99963391e-01 -3.83220228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.737552017999995 meters Centerline goodness [0,1] 0.9851548556430446 Centerline is valid? [True, True] Translation: X:55.83, Y:-5.92, Z:-0.38 [[ 9.96273861e-01 8.57890575e-02 8.86748137e-03 5.58291960e+01] [-8.57811832e-02 9.96313198e-01 -1.26525782e-03 -5.91585676e+00] [-8.94333400e-03 4.99880244e-04 9.99959883e-01 -3.83480535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.767552017999996 meters Centerline goodness [0,1] 0.9840065917349784 Centerline is valid? [True, True] Translation: X:55.86, Y:-5.91, Z:-0.38 [[ 9.96167414e-01 8.69951748e-02 9.07314411e-03 5.58590163e+01] [-8.69869883e-02 9.96208608e-01 -1.29378713e-03 -5.90938548e+00] [-9.15129750e-03 4.99583098e-04 9.99958001e-01 -3.83716908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.797552018 meters Centerline goodness [0,1] 0.982466492455534 Centerline is valid? [True, True] Translation: X:55.89, Y:-5.91, Z:-0.38 [[ 9.96213969e-01 8.64029629e-02 9.60496774e-03 5.58868960e+01] [-8.63937705e-02 9.96260128e-01 -1.36865484e-03 -5.91267505e+00] [-9.68730222e-03 5.33663693e-04 9.99952935e-01 -3.83511565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.827552018 meters Centerline goodness [0,1] 0.9820934603120974 Centerline is valid? [True, True] Translation: X:55.92, Y:-5.90, Z:-0.39 [[ 9.96193512e-01 8.68733427e-02 7.17692449e-03 5.59181743e+01] [-8.68682270e-02 9.96219286e-01 -1.02207325e-03 -5.89926127e+00] [-7.23858152e-03 3.94736036e-04 9.99973723e-01 -3.86440552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.857552018 meters Centerline goodness [0,1] 0.980823367552122 Centerline is valid? [True, True] Translation: X:55.95, Y:-5.90, Z:-0.39 [[ 9.96229252e-01 8.64785989e-02 6.98071233e-03 5.59457004e+01] [-8.64737536e-02 9.96253634e-01 -9.93529784e-04 -5.90356250e+00] [-7.04047908e-03 3.86135036e-04 9.99975141e-01 -3.87334236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.887552017999994 meters Centerline goodness [0,1] 0.9820143884892086 Centerline is valid? [True, True] Translation: X:55.98, Y:-5.90, Z:-0.39 [[ 9.96352926e-01 8.50029364e-02 7.43961431e-03 5.59759677e+01] [-8.49973977e-02 9.96380611e-01 -1.05809413e-03 -5.89739705e+00] [-7.50262856e-03 4.21887328e-04 9.99971766e-01 -3.88500140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.917552017999995 meters Centerline goodness [0,1] 0.9809035080339867 Centerline is valid? [True, True] Translation: X:56.00, Y:-5.90, Z:-0.39 [[ 9.96352445e-01 8.50465226e-02 6.99244941e-03 5.60040892e+01] [-8.50416348e-02 9.96376903e-01 -9.93934127e-04 -5.89921454e+00] [-7.05164573e-03 3.95659368e-04 9.99975059e-01 -3.88726652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.947552017999996 meters Centerline goodness [0,1] 0.9803701745108409 Centerline is valid? [True, True] Translation: X:56.03, Y:-5.89, Z:-0.39 [[ 9.96280115e-01 8.59469259e-02 6.24967780e-03 5.60340739e+01] [-8.59430426e-02 9.96299656e-01 -8.87783086e-04 -5.89345115e+00] [-6.30285408e-03 3.47364309e-04 9.99980076e-01 -3.87946040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.977552018 meters Centerline goodness [0,1] 0.9795957244152821 Centerline is valid? [True, True] Translation: X:56.06, Y:-5.89, Z:-0.39 [[ 9.96306379e-01 8.55707185e-02 7.15895531e-03 5.60619833e+01] [-8.55656183e-02 9.96332019e-01 -1.01626976e-03 -5.89444431e+00] [-7.21965933e-03 3.99955612e-04 9.99973858e-01 -3.88321464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.007552018 meters Centerline goodness [0,1] 0.9793764277857687 Centerline is valid? [True, True] Translation: X:56.09, Y:-5.90, Z:-0.39 [[ 9.96230928e-01 8.64752526e-02 6.77999988e-03 5.60893386e+01] [-8.64707033e-02 9.96253930e-01 -9.61820842e-04 -5.89665390e+00] [-6.83777522e-03 3.71924311e-04 9.99976553e-01 -3.87746317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.037552018 meters Centerline goodness [0,1] 0.9794681640004238 Centerline is valid? [True, True] Translation: X:56.12, Y:-5.90, Z:-0.39 [[ 9.96322764e-01 8.52873107e-02 8.18684507e-03 5.61184322e+01] [-8.52806451e-02 9.96356294e-01 -1.16048792e-03 -5.89727406e+00] [-8.25598951e-03 4.58041102e-04 9.99965814e-01 -3.88336841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06755201799999 meters Centerline goodness [0,1] 0.9791918292967178 Centerline is valid? [True, True] Translation: X:56.15, Y:-5.90, Z:-0.39 [[ 9.96273596e-01 8.58938936e-02 7.82054720e-03 5.61469214e+01] [-8.58878349e-02 9.96304197e-01 -1.10792422e-03 -5.89597636e+00] [-7.88680792e-03 4.32105783e-04 9.99968805e-01 -3.88582168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.097552017999995 meters Centerline goodness [0,1] 0.9799547501744444 Centerline is valid? [True, True] Translation: X:56.18, Y:-5.89, Z:-0.39 [[ 9.96215041e-01 8.66055505e-02 7.42092389e-03 5.61764521e+01] [-8.66001200e-02 9.96242599e-01 -1.05062331e-03 -5.89413938e+00] [-7.48403031e-03 4.03993843e-04 9.99971913e-01 -3.89196391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.127552017999996 meters Centerline goodness [0,1] 0.9796453256113801 Centerline is valid? [True, True] Translation: X:56.21, Y:-5.89, Z:-0.39 [[ 9.96162079e-01 8.72783100e-02 6.60374067e-03 5.62051992e+01] [-8.72740276e-02 9.96183904e-01 -9.34448345e-04 -5.89421885e+00] [-6.66009723e-03 3.54526961e-04 9.99977758e-01 -3.89713873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.157552018 meters Centerline goodness [0,1] 0.9788258757134067 Centerline is valid? [True, True] Translation: X:56.23, Y:-5.90, Z:-0.39 [[ 9.95984087e-01 8.92270705e-02 7.36404438e-03 5.62325683e+01] [-8.92218034e-02 9.96011238e-01 -1.04134980e-03 -5.89846422e+00] [-7.42758755e-03 3.80134510e-04 9.99972343e-01 -3.89053898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.187552018 meters Centerline goodness [0,1] 0.9782253789886568 Centerline is valid? [True, True] Translation: X:56.26, Y:-5.90, Z:-0.39 [[ 9.95766706e-01 9.16858169e-02 6.50978487e-03 5.62626112e+01] [-9.16817570e-02 9.95787934e-01 -9.19983225e-04 -5.89939418e+00] [-6.56671463e-03 3.19260152e-04 9.99978388e-01 -3.88869611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.217552018 meters Centerline goodness [0,1] 0.9800862856778526 Centerline is valid? [True, True] Translation: X:56.29, Y:-5.89, Z:-0.39 [[ 9.95739274e-01 9.19642317e-02 6.77330306e-03 5.62925115e+01] [-9.19598449e-02 9.95762256e-01 -9.56929721e-04 -5.89389647e+00] [-6.83260285e-03 3.29980606e-04 9.99976603e-01 -3.88667466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24755201799999 meters Centerline goodness [0,1] 0.9805649957519116 Centerline is valid? [True, True] Translation: X:56.32, Y:-5.89, Z:-0.39 [[ 9.95622566e-01 9.32282991e-02 6.64753369e-03 5.63205637e+01] [-9.32241055e-02 9.95644708e-01 -9.38619083e-04 -5.89414287e+00] [-6.70608760e-03 3.14799958e-04 9.99977464e-01 -3.88976322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.277552017999994 meters Centerline goodness [0,1] 0.9805122141756223 Centerline is valid? [True, True] Translation: X:56.35, Y:-5.89, Z:-0.39 [[ 9.95405397e-01 9.55340296e-02 6.42992293e-03 5.63494608e+01] [-9.55301581e-02 9.95426123e-01 -9.07269510e-04 -5.89406571e+00] [-6.48718836e-03 2.88849413e-04 9.99978916e-01 -3.89733118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.307552017999996 meters Centerline goodness [0,1] 0.9814963967782959 Centerline is valid? [True, True] Translation: X:56.38, Y:-5.90, Z:-0.39 [[ 9.95303574e-01 9.65615818e-02 6.83060200e-03 5.63784754e+01] [-9.65572409e-02 9.95326967e-01 -9.63228270e-04 -5.89594931e+00] [-6.89169322e-03 2.99160456e-04 9.99976207e-01 -3.89683779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.337552018 meters Centerline goodness [0,1] 0.9809998938541556 Centerline is valid? [True, True] Translation: X:56.41, Y:-5.90, Z:-0.39 [[ 9.95180509e-01 9.77696234e-02 7.54023575e-03 5.64076762e+01] [-9.77643731e-02 9.95209022e-01 -1.06266267e-03 -5.89841907e+00] [-7.60800678e-03 3.20374755e-04 9.99971007e-01 -3.89611573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.367552018 meters Centerline goodness [0,1] 0.9816795194069277 Centerline is valid? [True, True] Translation: X:56.44, Y:-5.90, Z:-0.39 [[ 9.94993475e-01 9.96601473e-02 7.47258860e-03 5.64364024e+01] [-9.96550476e-02 9.95021489e-01 -1.05265428e-03 -5.89740187e+00] [-7.54029391e-03 3.02702966e-04 9.99971526e-01 -3.89126770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.397552018 meters Centerline goodness [0,1] 0.9811801690810995 Centerline is valid? [True, True] Translation: X:56.47, Y:-5.90, Z:-0.39 [[ 9.94909992e-01 1.00536281e-01 6.82382348e-03 5.64654885e+01] [-1.00532052e-01 9.94933356e-01 -9.60760110e-04 -5.89912751e+00] [-6.88584085e-03 2.69856856e-04 9.99976256e-01 -3.90129141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42755201799999 meters Centerline goodness [0,1] 0.9817976666950524 Centerline is valid? [True, True] Translation: X:56.49, Y:-5.90, Z:-0.39 [[ 9.94863557e-01 1.01027061e-01 6.32744418e-03 5.64944935e+01] [-1.01023438e-01 9.94883648e-01 -8.90406753e-04 -5.90165538e+00] [-6.38502592e-03 2.46613062e-04 9.99979585e-01 -3.91263807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.457552017999994 meters Centerline goodness [0,1] 0.9807127971760303 Centerline is valid? [True, True] Translation: X:56.52, Y:-5.91, Z:-0.39 [[ 9.94792135e-01 1.01823899e-01 4.52779699e-03 5.65214913e+01] [-1.01822053e-01 9.94802424e-01 -6.36967001e-04 -5.90796929e+00] [-4.56912189e-03 1.72620176e-04 9.99989547e-01 -3.92358668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.487552017999995 meters Centerline goodness [0,1] 0.9822546972860126 Centerline is valid? [True, True] Translation: X:56.55, Y:-5.91, Z:-0.39 [[ 9.95032545e-01 9.94158609e-02 5.16914341e-03 5.65513972e+01] [-9.94134259e-02 9.95045950e-01 -7.26531328e-04 -5.91012304e+00] [-5.21576395e-03 2.09040062e-04 9.99986376e-01 -3.92673423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.517552017999996 meters Centerline goodness [0,1] 0.982558510978129 Centerline is valid? [True, True] Translation: X:56.58, Y:-5.92, Z:-0.39 [[ 9.95236644e-01 9.73865999e-02 4.45796474e-03 5.65780758e+01] [-9.73847687e-02 9.95246610e-01 -6.26530298e-04 -5.91806718e+00] [-4.49778995e-03 1.89408046e-04 9.99989867e-01 -3.93282777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.547552018 meters Centerline goodness [0,1] 0.9812631893078677 Centerline is valid? [True, True] Translation: X:56.61, Y:-5.92, Z:-0.39 [[ 9.95499272e-01 9.46719784e-02 4.29138033e-03 5.66068837e+01] [-9.46702584e-02 9.95508503e-01 -6.02641842e-04 -5.92196914e+00] [-4.32915890e-03 1.93663431e-04 9.99990610e-01 -3.93797130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.577552018 meters Centerline goodness [0,1] 0.9819673878290526 Centerline is valid? [True, True] Translation: X:56.64, Y:-5.93, Z:-0.39 [[ 9.95906279e-01 9.02818101e-02 4.45845040e-03 5.66359726e+01] [-9.02799112e-02 9.95916234e-01 -6.25762973e-04 -5.93063636e+00] [-4.49673815e-03 2.20692768e-04 9.99989865e-01 -3.92740493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60755201799999 meters Centerline goodness [0,1] 0.9811618629061507 Centerline is valid? [True, True] Translation: X:56.67, Y:-5.94, Z:-0.39 [[ 9.96319628e-01 8.55540384e-02 5.26355684e-03 5.66653451e+01] [-8.55513267e-02 9.96333491e-01 -7.38612411e-04 -5.93674573e+00] [-5.30744924e-03 2.85589772e-04 9.99985875e-01 -3.92751720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.637552017999994 meters Centerline goodness [0,1] 0.9804426473717812 Centerline is valid? [True, True] Translation: X:56.69, Y:-5.94, Z:-0.39 [[ 9.96646413e-01 8.16620669e-02 5.21857532e-03 5.66945344e+01] [-8.16593487e-02 9.96660030e-01 -7.32195537e-04 -5.94246910e+00] [-5.26093803e-03 3.03594594e-04 9.99986115e-01 -3.92771657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.667552017999995 meters Centerline goodness [0,1] 0.9803921568627451 Centerline is valid? [True, True] Translation: X:56.72, Y:-5.96, Z:-0.39 [[ 9.97260953e-01 7.38972098e-02 3.12964908e-03 5.67218755e+01] [-7.38961939e-02 9.97265842e-01 -4.39149149e-04 -5.95531701e+00] [-3.15354402e-03 2.06677144e-04 9.99995006e-01 -3.94789744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.697552017999996 meters Centerline goodness [0,1] 0.9794455168317672 Centerline is valid? [True, True] Translation: X:56.75, Y:-5.97, Z:-0.40 [[ 9.97534749e-01 7.01374447e-02 2.27234402e-03 5.67502147e+01] [-7.01368995e-02 9.97537324e-01 -3.18832293e-04 -5.96533901e+00] [-2.28911006e-03 1.58671127e-04 9.99997367e-01 -3.95960220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.727552018 meters Centerline goodness [0,1] 0.9796635434412265 Centerline is valid? [True, True] Translation: X:56.78, Y:-5.97, Z:-0.40 [[ 9.97772696e-01 6.66706000e-02 2.16284124e-03 5.67809369e+01] [-6.66700984e-02 9.97775028e-01 -3.03238396e-04 -5.96573659e+00] [-2.17824607e-03 1.58366154e-04 9.99997615e-01 -3.95897686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.757552018 meters Centerline goodness [0,1] 0.9783624240879942 Centerline is valid? [True, True] Translation: X:56.81, Y:-5.97, Z:-0.40 [[ 9.97979502e-01 6.34965338e-02 2.25921379e-03 5.68101789e+01] [-6.34959784e-02 9.97982044e-01 -3.16829330e-04 -5.97220983e+00] [-2.27477236e-03 1.72738187e-04 9.99997398e-01 -3.95866626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.787552018 meters Centerline goodness [0,1] 0.9787527886964836 Centerline is valid? [True, True] Translation: X:56.84, Y:-5.98, Z:-0.39 [[ 9.98314806e-01 5.79401645e-02 3.23825780e-03 5.68404010e+01] [-5.79389948e-02 9.98320022e-01 -4.53946591e-04 -5.97688330e+00] [-3.25911934e-03 2.65560201e-04 9.99994654e-01 -3.93636287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81755201799999 meters Centerline goodness [0,1] 0.9787527886964836 Centerline is valid? [True, True] Translation: X:56.87, Y:-5.98, Z:-0.39 [[ 9.98321871e-01 5.78182974e-02 3.23820669e-03 5.68677147e+01] [-5.78171258e-02 9.98327087e-01 -4.54311356e-04 -5.98060282e+00] [-3.25905696e-03 2.66325159e-04 9.99994654e-01 -3.93807902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.847552017999995 meters Centerline goodness [0,1] 0.9769005599864246 Centerline is valid? [True, True] Translation: X:56.89, Y:-5.99, Z:-0.39 [[ 9.98447424e-01 5.55593888e-02 3.98697715e-03 5.68947267e+01] [-5.55575981e-02 9.98455328e-01 -5.58596168e-04 -5.99101853e+00] [-4.01185384e-03 3.36222031e-04 9.99991896e-01 -3.93291084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.877552017999996 meters Centerline goodness [0,1] 0.9770471595859987 Centerline is valid? [True, True] Translation: X:56.92, Y:-5.99, Z:-0.39 [[ 9.98557807e-01 5.35470303e-02 3.87570852e-03 5.69237606e+01] [-5.35453244e-02 9.98565273e-01 -5.42653721e-04 -5.99277243e+00] [-3.89920543e-03 3.34345040e-04 9.99992342e-01 -3.92862377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.907552018 meters Centerline goodness [0,1] 0.9766703596386569 Centerline is valid? [True, True] Translation: X:56.95, Y:-6.00, Z:-0.39 [[ 9.98627790e-01 5.22405787e-02 3.66856960e-03 5.69528357e+01] [-5.22390423e-02 9.98634477e-01 -5.13447703e-04 -5.99580874e+00] [-3.69038289e-03 3.21100583e-04 9.99993139e-01 -3.92488990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.937552018 meters Centerline goodness [0,1] 0.9730623213752506 Centerline is valid? [True, True] Translation: X:56.98, Y:-6.00, Z:-0.39 [[ 9.98696001e-01 5.09723404e-02 2.84922975e-03 5.69802324e+01] [-5.09714086e-02 9.98700033e-01 -3.98749618e-04 -6.00329109e+00] [-2.86585104e-03 2.53000396e-04 9.99995861e-01 -3.93468762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.967552018 meters Centerline goodness [0,1] 0.9774439290122143 Centerline is valid? [True, True] Translation: X:57.01, Y:-6.00, Z:-0.39 [[ 9.98688089e-01 5.11204148e-02 2.96712618e-03 5.70095954e+01] [-5.11194057e-02 9.98692462e-01 -4.14988367e-04 -5.99989547e+00] [-2.98446093e-03 2.62766212e-04 9.99995512e-01 -3.93342153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99755201799999 meters Centerline goodness [0,1] 0.9746652497343252 Centerline is valid? [True, True] Translation: X:57.04, Y:-6.01, Z:-0.39 [[ 9.98685590e-01 5.11480305e-02 3.31241624e-03 5.70372986e+01] [-5.11467741e-02 9.98691040e-01 -4.62949739e-04 -6.00631255e+00] [-3.33175939e-03 2.92921828e-04 9.99994407e-01 -3.93023111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.027552017999994 meters Centerline goodness [0,1] 0.9767046058929901 Centerline is valid? [True, True] Translation: X:57.07, Y:-6.00, Z:-0.39 [[ 9.98647852e-01 5.18957975e-02 3.04844413e-03 5.70673285e+01] [-5.18947372e-02 9.98652469e-01 -4.25947411e-04 -6.00328831e+00] [-3.06644114e-03 2.67173260e-04 9.99995263e-01 -3.92797053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.057552017999996 meters Centerline goodness [0,1] 0.9781557018945932 Centerline is valid? [True, True] Translation: X:57.10, Y:-6.00, Z:-0.39 [[ 9.98635797e-01 5.21499240e-02 2.63246622e-03 5.70961708e+01] [-5.21491350e-02 9.98639240e-01 -3.67517645e-04 -6.00280152e+00] [-2.64805008e-03 2.29735441e-04 9.99996468e-01 -3.92937218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.087552018 meters Centerline goodness [0,1] 0.9781560646785272 Centerline is valid? [True, True] Translation: X:57.12, Y:-6.00, Z:-0.39 [[ 9.98619681e-01 5.24681617e-02 2.41340927e-03 5.71248823e+01] [-5.24674999e-02 9.98622575e-01 -3.36778541e-04 -6.00490502e+00] [-2.42775513e-03 2.09688129e-04 9.99997031e-01 -3.93905087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.117552018 meters Centerline goodness [0,1] 0.9763823165792727 Centerline is valid? [True, True] Translation: X:57.15, Y:-6.01, Z:-0.39 [[ 9.98608600e-01 5.26845917e-02 2.28000830e-03 5.71519121e+01] [-5.26840017e-02 9.98611183e-01 -3.18080161e-04 -6.01122539e+00] [-2.29359971e-03 1.97517623e-04 9.99997350e-01 -3.94421912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.147552018 meters Centerline goodness [0,1] 0.9776149602777363 Centerline is valid? [True, True] Translation: X:57.18, Y:-6.01, Z:-0.39 [[ 9.98620613e-01 5.24685431e-02 1.98048489e-03 5.71819493e+01] [-5.24680979e-02 9.98622563e-01 -2.76086891e-04 -6.00760371e+00] [-1.99224277e-03 1.71793786e-04 9.99998001e-01 -3.93857210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17755201799999 meters Centerline goodness [0,1] 0.9777621423393459 Centerline is valid? [True, True] Translation: X:57.21, Y:-6.01, Z:-0.39 [[ 9.98638723e-01 5.21086658e-02 2.32106368e-03 5.72106097e+01] [-5.21080541e-02 9.98641400e-01 -3.23295497e-04 -6.00750645e+00] [-2.33475678e-03 2.01909290e-04 9.99997254e-01 -3.92878208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.207552017999994 meters Centerline goodness [0,1] 0.9782437298898335 Centerline is valid? [True, True] Translation: X:57.24, Y:-6.01, Z:-0.39 [[ 9.98650448e-01 5.18848969e-02 2.28915507e-03 5.72395515e+01] [-5.18843017e-02 9.98653052e-01 -3.18672058e-04 -6.00899203e+00] [-2.30260596e-03 1.99470781e-04 9.99997329e-01 -3.92472258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.237552017999995 meters Centerline goodness [0,1] 0.9787731338843677 Centerline is valid? [True, True] Translation: X:57.27, Y:-6.01, Z:-0.39 [[ 9.98682105e-01 5.13181885e-02 7.05222750e-04 5.72684894e+01] [-5.13181317e-02 9.98682352e-01 -9.84644480e-05 -6.01065545e+00] [-7.09346532e-04 6.21439682e-05 9.99999746e-01 -3.94080144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.267552017999996 meters Centerline goodness [0,1] 0.9755151618471243 Centerline is valid? [True, True] Translation: X:57.30, Y:-6.02, Z:-0.40 [[ 9.98681799e-01 5.13289537e-02 5.99343817e-05 5.72953332e+01] [-5.13289533e-02 9.98681800e-01 -8.94461326e-06 -6.01740034e+00] [-6.03144938e-05 5.85645338e-06 9.99999998e-01 -3.95473757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.297552018 meters Centerline goodness [0,1] 0.9785111281657713 Centerline is valid? [True, True] Translation: X:57.32, Y:-6.01, Z:-0.40 [[ 9.98698541e-01 5.09973579e-02 -7.02113013e-04 5.73249938e+01] [-5.09973023e-02 9.98698786e-01 9.68961775e-05 -6.01484105e+00] [ 7.06140863e-04 -6.09642016e-05 9.99999749e-01 -3.95932293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.327552018 meters Centerline goodness [0,1] 0.9799436114315007 Centerline is valid? [True, True] Translation: X:57.35, Y:-6.02, Z:-0.40 [[ 9.98687933e-01 5.12036925e-02 -7.70636497e-04 5.73538566e+01] [-5.12036256e-02 9.98688228e-01 1.06335615e-04 -6.01571413e+00] [ 7.75070374e-04 -6.67367133e-05 9.99999697e-01 -3.95901347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35755201799999 meters Centerline goodness [0,1] 0.9802632982695714 Centerline is valid? [True, True] Translation: X:57.38, Y:-6.01, Z:-0.40 [[ 9.98648846e-01 5.19625181e-02 -6.16293813e-04 5.73832963e+01] [-5.19624756e-02 9.98649034e-01 8.48879207e-05 -6.01453592e+00] [ 6.19872211e-04 -5.27490718e-05 9.99999806e-01 -3.95294046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.387552017999994 meters Centerline goodness [0,1] 0.9787932394126047 Centerline is valid? [True, True] Translation: X:57.41, Y:-6.02, Z:-0.40 [[ 9.98636723e-01 5.21903633e-02 -9.28471628e-04 5.74108185e+01] [-5.21902668e-02 9.98637151e-01 1.27929037e-04 -6.02071362e+00] [ 9.33882925e-04 -7.92974519e-05 9.99999561e-01 -3.96701474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.417552017999995 meters Centerline goodness [0,1] 0.9702536247380351 Centerline is valid? [True, True] Translation: X:57.44, Y:-6.03, Z:-0.40 [[ 9.98620508e-01 5.24812125e-02 -1.67413928e-03 5.74380869e+01] [-5.24808984e-02 9.98621901e-01 2.31027309e-04 -6.02692693e+00] [ 1.68395674e-03 -1.42848275e-04 9.99998572e-01 -3.98726380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.447552017999996 meters Centerline goodness [0,1] 0.979371736711461 Centerline is valid? [True, True] Translation: X:57.47, Y:-6.02, Z:-0.40 [[ 9.98646361e-01 5.18843233e-02 -3.66906685e-03 5.74677442e+01] [-5.18828087e-02 9.98653051e-01 5.06861210e-04 -6.02148158e+00] [ 3.69042296e-03 -3.15813610e-04 9.99993140e-01 -3.99180042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.477552018 meters Centerline goodness [0,1] 0.9775247228049146 Centerline is valid? [True, True] Translation: X:57.50, Y:-6.02, Z:-0.40 [[ 9.98678932e-01 5.12454045e-02 -3.78156958e-03 5.74968357e+01] [-5.12437921e-02 9.98686037e-01 5.22121332e-04 -6.02350196e+00] [ 3.80335706e-03 -3.27649608e-04 9.99992714e-01 -3.98738346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.507552018 meters Centerline goodness [0,1] 0.9754390484778221 Centerline is valid? [True, True] Translation: X:57.53, Y:-6.03, Z:-0.40 [[ 9.98682007e-01 5.11335198e-02 -4.42851050e-03 5.75259451e+01] [-5.11313085e-02 9.98691752e-01 6.11176988e-04 -6.02583136e+00] [ 4.45396854e-03 -3.83935925e-04 9.99990007e-01 -3.97923773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.537552018 meters Centerline goodness [0,1] 0.9679252160116636 Centerline is valid? [True, True] Translation: X:57.55, Y:-6.03, Z:-0.40 [[ 9.98783524e-01 4.92282282e-02 -2.83777594e-03 5.75545316e+01] [-4.92273139e-02 9.98787524e-01 3.91194847e-04 -6.02906799e+00] [ 2.85359303e-03 -2.51022881e-04 9.99995897e-01 -3.96989480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56755201799999 meters Centerline goodness [0,1] 0.9636348023957237 Centerline is valid? [True, True] Translation: X:57.58, Y:-6.03, Z:-0.40 [[ 9.98796677e-01 4.90059912e-02 -1.90025834e-03 5.75828309e+01] [-4.90055813e-02 9.98798470e-01 2.61674749e-04 -6.03374666e+00] [ 1.91079876e-03 -1.68236605e-04 9.99998160e-01 -3.96313075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.597552017999995 meters Centerline goodness [0,1] 0.9617337647033617 Centerline is valid? [True, True] Translation: X:57.61, Y:-6.04, Z:-0.40 [[ 9.98814824e-01 4.86575999e-02 -1.17679277e-03 5.76115967e+01] [-4.86574428e-02 9.98815512e-01 1.61777606e-04 -6.03759291e+00] [ 1.18327059e-03 -1.04326144e-04 9.99999294e-01 -3.96029566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.627552017999996 meters Centerline goodness [0,1] 0.9512257843305332 Centerline is valid? [True, True] Translation: X:57.64, Y:-6.04, Z:-0.40 [[ 9.98806717e-01 4.88148295e-02 -1.50162415e-03 5.76391079e+01] [-4.88145744e-02 9.98807837e-01 2.06036702e-04 -6.04032220e+00] [ 1.50989162e-03 -1.32489698e-04 9.99998851e-01 -3.96179305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.657552018 meters Centerline goodness [0,1] 0.9500754147812971 Centerline is valid? [True, True] Translation: X:57.67, Y:-6.04, Z:-0.40 [[ 9.98810881e-01 4.87164350e-02 -1.87938550e-03 5.76682025e+01] [-4.87160346e-02 9.98812636e-01 2.58267382e-04 -6.04194672e+00] [ 1.88973585e-03 -1.66404063e-04 9.99998201e-01 -3.95637732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.687552018 meters Centerline goodness [0,1] 0.9674994092754495 Centerline is valid? [True, True] Translation: X:57.70, Y:-6.04, Z:-0.40 [[ 9.98795651e-01 4.90200184e-02 -2.07007315e-03 5.76974498e+01] [-4.90195336e-02 9.98797780e-01 2.84350973e-04 -6.04023971e+00] [ 2.08152335e-03 -1.82534495e-04 9.99997817e-01 -3.95200349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.717552018 meters Centerline goodness [0,1] 0.9484498217565086 Centerline is valid? [True, False] Translation: X:57.70, Y:-6.04, Z:-0.39 [[ 9.98817807e-01 4.85427620e-02 -2.56691252e-03 5.76983046e+01] [-4.85462637e-02 9.98820063e-01 -1.31989826e-03 -6.03558463e+00] [ 2.49981222e-03 1.44295190e-03 9.99995834e-01 -3.94731668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74755201799999 meters Centerline goodness [0,1] 0.9834639193108523 Centerline is valid? [False, True] Translation: X:57.70, Y:-6.04, Z:-0.40 [[ 9.98814763e-01 4.85921621e-02 -2.80562055e-03 5.76992865e+01] [-4.85962357e-02 9.98817520e-01 -1.40244811e-03 -6.03512825e+00] [ 2.73415497e-03 1.53712847e-03 9.99995081e-01 -3.95472193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.777552017999994 meters Centerline goodness [0,1] 0.983196366782007 Centerline is valid? [True, True] Translation: X:57.73, Y:-6.04, Z:-0.40 [[ 9.98828827e-01 4.83159735e-02 -2.55771895e-03 5.77266251e+01] [-4.83152425e-02 9.98832076e-01 3.46841083e-04 -6.04112985e+00] [ 2.57148970e-03 -2.22858061e-04 9.99996669e-01 -3.97436082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.807552017999996 meters Centerline goodness [0,1] 0.9823236138389485 Centerline is valid? [True, True] Translation: X:57.76, Y:-6.04, Z:-0.40 [[ 9.98833400e-01 4.81981376e-02 -2.96286377e-03 5.77553428e+01] [-4.81971561e-02 9.98837761e-01 4.01839012e-04 -6.04419352e+00] [ 2.97878811e-03 -2.58568619e-04 9.99995530e-01 -3.97672440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.837552018 meters Centerline goodness [0,1] 0.9810537243706203 Centerline is valid? [True, True] Translation: X:57.79, Y:-6.04, Z:-0.40 [[ 9.98819751e-01 4.84737324e-02 -3.06615149e-03 5.77851306e+01] [-4.84726832e-02 9.98824422e-01 4.15629033e-04 -6.04206567e+00] [ 3.08269408e-03 -2.66513898e-04 9.99995213e-01 -3.95440828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.867552018 meters Centerline goodness [0,1] 0.8228807868113776 Centerline is valid? [True, False] Translation: X:57.79, Y:-6.04, Z:-0.39 [[ 9.98844674e-01 4.79323382e-02 -3.43643695e-03 5.77854420e+01] [-4.79362190e-02 9.98849841e-01 -1.05592516e-03 -6.03824642e+00] [ 3.38187154e-03 1.21943502e-03 9.99993538e-01 -3.94588897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.897552018 meters Centerline goodness [0,1] 0.980609297982759 Centerline is valid? [False, True] Translation: X:57.79, Y:-6.03, Z:-0.39 [[ 9.98865946e-01 4.74632255e-02 -3.75011925e-03 5.77858188e+01] [-4.74736103e-02 9.98868761e-01 -2.73043393e-03 -6.03366287e+00] [ 3.61628177e-03 2.90536917e-03 9.99989241e-01 -3.93835206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92755201799999 meters Centerline goodness [0,1] 0.9783268313827481 Centerline is valid? [True, True] Translation: X:57.81, Y:-6.04, Z:-0.40 [[ 9.98837664e-01 4.81317171e-02 -2.58056804e-03 5.78133619e+01] [-4.81309945e-02 9.98840974e-01 3.41428769e-04 -6.03853042e+00] [ 2.59401065e-03 -2.16826608e-04 9.99996612e-01 -3.95206711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.957552017999994 meters Centerline goodness [0,1] 0.9810811986256687 Centerline is valid? [True, True] Translation: X:57.84, Y:-6.04, Z:-0.40 [[ 9.98810007e-01 4.86969455e-02 -2.67891355e-03 5.78421995e+01] [-4.86961689e-02 9.98813575e-01 3.54383169e-04 -6.03796923e+00] [ 2.69299260e-03 -2.23508629e-04 9.99996349e-01 -3.95209169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.987552017999995 meters Centerline goodness [0,1] 0.9819422938520925 Centerline is valid? [True, True] Translation: X:57.87, Y:-6.03, Z:-0.40 [[ 9.98757914e-01 4.97426228e-02 -2.88105087e-03 5.78713803e+01] [-4.97417295e-02 9.98762041e-01 3.80931297e-04 -6.03480123e+00] [ 2.89643277e-03 -2.37149695e-04 9.99995777e-01 -3.95215683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.017552017999996 meters Centerline goodness [0,1] 0.9829539253988694 Centerline is valid? [True, True] Translation: X:57.90, Y:-6.04, Z:-0.40 [[ 9.98752016e-01 4.98524683e-02 -3.02354935e-03 5.79004508e+01] [-4.98514856e-02 9.98756562e-01 3.99558682e-04 -6.03555704e+00] [ 3.03970874e-03 -2.48331612e-04 9.99995349e-01 -3.95028381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.047552018 meters Centerline goodness [0,1] 0.9812409812409812 Centerline is valid? [True, True] Translation: X:57.93, Y:-6.04, Z:-0.39 [[ 9.98767941e-01 4.95279568e-02 -3.09531639e-03 5.79296666e+01] [-4.95269260e-02 9.98772705e-01 4.08815673e-04 -6.03773132e+00] [ 3.11176532e-03 -2.55010482e-04 9.99995126e-01 -3.94569766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.077552018 meters Centerline goodness [0,1] 0.9822330033436045 Centerline is valid? [True, True] Translation: X:57.96, Y:-6.04, Z:-0.39 [[ 9.98809886e-01 4.86778528e-02 -3.04588636e-03 5.79592606e+01] [-4.86768516e-02 9.98814499e-01 4.02021463e-04 -6.03673119e+00] [ 3.06184500e-03 -2.53278853e-04 9.99995280e-01 -3.94371678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10755201799999 meters Centerline goodness [0,1] 0.8825519469181072 Centerline is valid? [True, False] Translation: X:57.96, Y:-6.03, Z:-0.39 [[ 9.98991813e-01 4.47137204e-02 -4.00519863e-03 5.79614423e+01] [-4.47315331e-02 9.98989026e-01 -4.47401539e-03 -6.03243396e+00] [ 3.80109960e-03 4.64866342e-03 9.99981971e-01 -3.94798938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.137552017999994 meters Centerline goodness [0,1] 0.9752133012469919 Centerline is valid? [False, True] Translation: X:57.96, Y:-6.03, Z:-0.40 [[ 9.99012198e-01 4.42453224e-02 -4.12069188e-03 5.79618220e+01] [-4.42651914e-02 9.99007984e-01 -4.86225627e-03 -6.03192515e+00] [ 3.90147199e-03 5.03985654e-03 9.99979689e-01 -3.95120499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.167552017999995 meters Centerline goodness [0,1] 0.9402811588481699 Centerline is valid? [True, False] Translation: X:57.96, Y:-6.03, Z:-0.40 [[ 9.99039417e-01 4.36117804e-02 -4.27265956e-03 5.79620387e+01] [-4.36355121e-02 9.99031664e-01 -5.62811004e-03 -6.03050026e+00] [ 4.02307029e-03 5.80914346e-03 9.99975034e-01 -3.95011893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.197552017999996 meters Centerline goodness [0,1] 0.8725316538739093 Centerline is valid? [False, False] Translation: X:57.96, Y:-6.03, Z:-0.39 [[ 9.99090093e-01 4.24248817e-02 -4.37207202e-03 5.79616419e+01] [-4.24565048e-02 9.99070811e-01 -7.41349500e-03 -6.02641851e+00] [ 4.05349289e-03 7.59237231e-03 9.99962962e-01 -3.93960682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.227552018 meters Centerline goodness [0,1] 0.9724286530935315 Centerline is valid? [False, True] Translation: X:57.96, Y:-6.02, Z:-0.39 [[ 9.99102254e-01 4.21267874e-02 -4.47432983e-03 5.79617707e+01] [-4.21613487e-02 9.99079317e-01 -7.93336540e-03 -6.02485918e+00] [ 4.13600319e-03 8.11488703e-03 9.99958520e-01 -3.93749812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.257552018 meters Centerline goodness [0,1] 0.8592332968236582 Centerline is valid? [True, False] Translation: X:57.96, Y:-6.02, Z:-0.39 [[ 9.99108894e-01 4.19429578e-02 -4.71235519e-03 5.79621222e+01] [-4.19815948e-02 9.99082876e-01 -8.42336002e-03 -6.02357890e+00] [ 4.35473274e-03 8.61368610e-03 9.99953419e-01 -3.93466477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.287552018 meters Centerline goodness [0,1] 0.9733263254713882 Centerline is valid? [False, True] Translation: X:57.96, Y:-6.02, Z:-0.39 [[ 9.99101814e-01 4.20637347e-02 -5.11925148e-03 5.79634076e+01] [-4.21086660e-02 9.99072404e-01 -9.01069738e-03 -6.02042152e+00] [ 4.73547930e-03 9.21816895e-03 9.99946299e-01 -3.93775752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31755201799999 meters Centerline goodness [0,1] 0.9755157461346415 Centerline is valid? [True, True] Translation: X:57.99, Y:-6.02, Z:-0.40 [[ 9.99048312e-01 4.34399732e-02 -3.92916939e-03 5.79930320e+01] [-4.34381891e-02 9.99055971e-01 5.38297891e-04 -6.02473371e+00] [ 3.94884379e-03 -3.67109597e-04 9.99992136e-01 -3.96745944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.347552017999995 meters Centerline goodness [0,1] 0.9566277766791905 Centerline is valid? [True, True] Translation: X:58.02, Y:-6.03, Z:-0.40 [[ 9.98971750e-01 4.51058918e-02 -4.57187471e-03 5.80214261e+01] [-4.51034960e-02 9.98982123e-01 6.25832369e-04 -6.02995720e+00] [ 4.59544984e-03 -4.18981323e-04 9.99989353e-01 -3.97273675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.377552017999996 meters Centerline goodness [0,1] 0.9700556643418187 Centerline is valid? [True, True] Translation: X:58.05, Y:-6.02, Z:-0.40 [[ 9.98747696e-01 4.97698743e-02 -5.09901142e-03 5.80528012e+01] [-4.97669548e-02 9.98760614e-01 6.97923472e-04 -6.02491521e+00] [ 5.12742734e-03 -4.43287189e-04 9.99986756e-01 -3.97197007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.407552018 meters Centerline goodness [0,1] 0.9781100662864189 Centerline is valid? [True, True] Translation: X:58.08, Y:-6.02, Z:-0.40 [[ 9.98616935e-01 5.23308760e-02 -5.06917074e-03 5.80828264e+01] [-5.23280243e-02 9.98629710e-01 6.93662961e-04 -6.02339233e+00] [ 5.09852449e-03 -4.27443891e-04 9.99986911e-01 -3.97357937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.437552018 meters Centerline goodness [0,1] 0.981700729766078 Centerline is valid? [True, True] Translation: X:58.11, Y:-6.02, Z:-0.40 [[ 9.98496748e-01 5.45992792e-02 -4.81280618e-03 5.81133327e+01] [-5.45967347e-02 9.98508269e-01 6.58600649e-04 -6.02312431e+00] [ 4.84158589e-03 -3.94847104e-04 9.99988202e-01 -3.97226719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.467552018 meters Centerline goodness [0,1] 0.9801039968272154 Centerline is valid? [True, True] Translation: X:58.14, Y:-6.03, Z:-0.40 [[ 9.98394241e-01 5.64725095e-02 -4.44924684e-03 5.81420562e+01] [-5.64703548e-02 9.98404091e-01 6.08537668e-04 -6.02727660e+00] [ 4.47651190e-03 -3.56309955e-04 9.99989917e-01 -3.98126614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49755201799999 meters Centerline goodness [0,1] 0.9826292845920648 Centerline is valid? [True, True] Translation: X:58.17, Y:-6.02, Z:-0.40 [[ 9.98174246e-01 6.01921480e-02 -5.00789840e-03 5.81735400e+01] [-6.01894638e-02 9.98186736e-01 6.85114500e-04 -6.02085896e+00] [ 5.04005627e-03 -3.82440930e-04 9.99987226e-01 -3.97549349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.527552017999994 meters Centerline goodness [0,1] 0.9823892962364044 Centerline is valid? [True, True] Translation: X:58.20, Y:-6.02, Z:-0.40 [[ 9.98074029e-01 6.18020437e-02 -5.36096244e-03 5.82016382e+01] [-6.17989955e-02 9.98088347e-01 7.32555235e-04 -6.02257807e+00] [ 5.39598755e-03 -3.99842261e-04 9.99985362e-01 -3.97582486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.557552017999996 meters Centerline goodness [0,1] 0.9828739808578518 Centerline is valid? [True, True] Translation: X:58.23, Y:-6.02, Z:-0.40 [[ 9.97967012e-01 6.34899287e-02 -5.55625194e-03 5.82306332e+01] [-6.34866826e-02 9.97982397e-01 7.58832942e-04 -6.02098860e+00] [ 5.59321988e-03 -4.04542240e-04 9.99984276e-01 -3.97879790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.587552018 meters Centerline goodness [0,1] 0.9828818827708703 Centerline is valid? [True, True] Translation: X:58.26, Y:-6.02, Z:-0.40 [[ 9.97748217e-01 6.68341914e-02 -5.62910992e-03 5.82596503e+01] [-6.68309137e-02 9.97764019e-01 7.68586313e-04 -6.01944970e+00] [ 5.66789118e-03 -3.90657064e-04 9.99983861e-01 -3.98602959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.617552018 meters Centerline goodness [0,1] 0.9831174889486194 Centerline is valid? [True, True] Translation: X:58.29, Y:-6.02, Z:-0.40 [[ 9.97651320e-01 6.83270622e-02 -4.82254456e-03 5.82892725e+01] [-6.83246862e-02 9.97662923e-01 6.55926052e-04 -6.01956637e+00] [ 4.85609140e-03 -3.24886647e-04 9.99988156e-01 -3.98678046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.647552018 meters Centerline goodness [0,1] 0.9826884136979596 Centerline is valid? [True, True] Translation: X:58.32, Y:-6.02, Z:-0.40 [[ 9.97551048e-01 6.97799408e-02 -4.76083471e-03 5.83186167e+01] [-6.97776475e-02 9.97562360e-01 6.46318173e-04 -6.02086793e+00] [ 4.79432955e-03 -3.12535525e-04 9.99988458e-01 -3.98992824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67755201799999 meters Centerline goodness [0,1] 0.983491723553295 Centerline is valid? [True, True] Translation: X:58.35, Y:-6.02, Z:-0.40 [[ 9.97384951e-01 7.20031628e-02 -6.22935960e-03 5.83482606e+01] [-7.19992693e-02 9.97404325e-01 8.47330780e-04 -6.01982564e+00] [ 6.27420070e-03 -3.96605629e-04 9.99980238e-01 -4.00487737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.707552017999994 meters Centerline goodness [0,1] 0.9843328653250429 Centerline is valid? [True, True] Translation: X:58.38, Y:-6.02, Z:-0.40 [[ 9.97351154e-01 7.24038284e-02 -6.95422864e-03 5.83779305e+01] [-7.23990096e-02 9.97375303e-01 9.42525942e-04 -6.01764822e+00] [ 7.00421838e-03 -4.36550070e-04 9.99975375e-01 -4.00398224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.737552017999995 meters Centerline goodness [0,1] 0.9843328653250429 Centerline is valid? [True, True] Translation: X:58.41, Y:-6.02, Z:-0.40 [[ 9.97373388e-01 7.20968721e-02 -6.95455279e-03 5.84051354e+01] [-7.20920625e-02 9.97397539e-01 9.40134010e-04 -6.02120851e+00] [ 7.00423456e-03 -4.36296588e-04 9.99975375e-01 -4.00578336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.767552017999996 meters Centerline goodness [0,1] 0.9841553224726624 Centerline is valid? [True, True] Translation: X:58.43, Y:-6.02, Z:-0.40 [[ 9.97490709e-01 7.04249857e-02 -7.25299536e-03 5.84341770e+01] [-7.04197224e-02 9.97516970e-01 9.78834238e-04 -6.01949856e+00] [ 7.30392034e-03 -4.65624139e-04 9.99973218e-01 -3.99882211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.797552018 meters Centerline goodness [0,1] 0.9841908722971311 Centerline is valid? [True, True] Translation: X:58.46, Y:-6.02, Z:-0.40 [[ 9.97546375e-01 6.97347021e-02 -6.18881221e-03 5.84617328e+01] [-6.97308588e-02 9.97565492e-01 8.34892488e-04 -6.02420382e+00] [ 6.23196648e-03 -4.01292784e-04 9.99980501e-01 -4.00034980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.827552018 meters Centerline goodness [0,1] 0.9832457219550386 Centerline is valid? [True, True] Translation: X:58.49, Y:-6.02, Z:-0.40 [[ 9.97639679e-01 6.85087321e-02 -4.65026384e-03 5.84910579e+01] [-6.85065604e-02 9.97650470e-01 6.24899770e-04 -6.02347544e+00] [ 4.68214900e-03 -3.04851225e-04 9.99988992e-01 -3.98512415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85755201799999 meters Centerline goodness [0,1] 0.9824903159356038 Centerline is valid? [True, True] Translation: X:58.52, Y:-6.03, Z:-0.40 [[ 9.97788101e-01 6.63308216e-02 -4.37362627e-03 5.85189412e+01] [-6.63288749e-02 9.97797642e-01 5.88797088e-04 -6.03124226e+00] [ 4.40304937e-03 -2.97397018e-04 9.99990262e-01 -3.98589056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.887552017999994 meters Centerline goodness [0,1] 0.9818950854892131 Centerline is valid? [True, True] Translation: X:58.55, Y:-6.04, Z:-0.40 [[ 9.97882255e-01 6.48743858e-02 -4.72436242e-03 5.85468964e+01] [-6.48720993e-02 9.97893384e-01 6.35789580e-04 -6.03606536e+00] [ 4.75565647e-03 -3.27963832e-04 9.99988638e-01 -3.99218926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.917552017999995 meters Centerline goodness [0,1] 0.9812975130625883 Centerline is valid? [True, True] Translation: X:58.58, Y:-6.04, Z:-0.40 [[ 9.97964511e-01 6.35781013e-02 -4.96593065e-03 5.85756728e+01] [-6.35755722e-02 9.97976805e-01 6.65649703e-04 -6.03934040e+00] [ 4.99820435e-03 -3.48582898e-04 9.99987448e-01 -3.99729379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.947552017999996 meters Centerline goodness [0,1] 0.9799816180591361 Centerline is valid? [True, True] Translation: X:58.60, Y:-6.04, Z:-0.40 [[ 9.98011715e-01 6.28121121e-02 -5.22061881e-03 5.86026711e+01] [-6.28093040e-02 9.98025301e-01 7.00279737e-04 -6.04373946e+00] [ 5.25429571e-03 -3.70983948e-04 9.99986127e-01 -4.00846158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.977552018 meters Centerline goodness [0,1] 0.9809600609278051 Centerline is valid? [True, True] Translation: X:58.63, Y:-6.05, Z:-0.40 [[ 9.98085458e-01 6.15419574e-02 -6.16487820e-03 5.86316106e+01] [-6.15380330e-02 9.98104399e-01 8.24431174e-04 -6.04500587e+00] [ 6.20392916e-03 -4.43478288e-04 9.99980657e-01 -4.01784055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.007552018 meters Centerline goodness [0,1] 0.9765033582676281 Centerline is valid? [True, True] Translation: X:58.66, Y:-6.05, Z:-0.40 [[ 9.98062238e-01 6.19295455e-02 -6.04154318e-03 5.86584993e+01] [-6.19257806e-02 9.98080430e-01 8.08449863e-04 -6.05082788e+00] [ 6.08001295e-03 -4.32756003e-04 9.99981423e-01 -4.02755163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.037552018 meters Centerline goodness [0,1] 0.9694118175489029 Centerline is valid? [True, True] Translation: X:58.69, Y:-6.06, Z:-0.40 [[ 9.98069193e-01 6.18035448e-02 -6.18125112e-03 5.86861601e+01] [-6.17996046e-02 9.98088235e-01 8.26604934e-04 -6.05535649e+00] [ 6.22052114e-03 -4.43010044e-04 9.99980554e-01 -4.02595599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06755201799999 meters Centerline goodness [0,1] 0.9814689875410426 Centerline is valid? [True, True] Translation: X:58.72, Y:-6.04, Z:-0.40 [[ 9.98029434e-01 6.24834628e-02 -5.75029456e-03 5.87170520e+01] [-6.24800794e-02 9.98045917e-01 7.66347988e-04 -6.04488993e+00] [ 5.78694208e-03 -4.05558988e-04 9.99983173e-01 -4.00123583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.097552017999995 meters Centerline goodness [0,1] 0.9813025162758217 Centerline is valid? [True, True] Translation: X:58.75, Y:-6.04, Z:-0.40 [[ 9.97934687e-01 6.40396526e-02 -5.02830356e-03 5.87461838e+01] [-6.40370823e-02 9.97947294e-01 6.70679391e-04 -6.04338433e+00] [ 5.06093201e-03 -3.47296338e-04 9.99987133e-01 -3.99075532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.127552017999996 meters Centerline goodness [0,1] 0.9815823839329941 Centerline is valid? [True, True] Translation: X:58.77, Y:-6.05, Z:-0.40 [[ 9.97927750e-01 6.41442063e-02 -5.07212354e-03 5.87737262e+01] [-6.41415955e-02 9.97940579e-01 6.75902825e-04 -6.04799681e+00] [ 5.10503315e-03 -3.49168088e-04 9.99986908e-01 -3.99337220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.157552018 meters Centerline goodness [0,1] 0.9819878716833111 Centerline is valid? [True, True] Translation: X:58.80, Y:-6.05, Z:-0.40 [[ 9.97950876e-01 6.38109347e-02 -4.71321446e-03 5.88020517e+01] [-6.38086909e-02 9.97961953e-01 6.25062080e-04 -6.04706381e+00] [ 4.74349450e-03 -3.23037206e-04 9.99988697e-01 -3.98835898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.187552018 meters Centerline goodness [0,1] 0.9821122825989006 Centerline is valid? [True, True] Translation: X:58.83, Y:-6.05, Z:-0.40 [[ 9.97994885e-01 6.31556572e-02 -4.19193514e-03 5.88295505e+01] [-6.31538732e-02 9.98003646e-01 5.56727686e-04 -6.05268582e+00] [ 4.21872706e-03 -2.90874442e-04 9.99991059e-01 -4.00362091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.217552018 meters Centerline goodness [0,1] 0.9823224351747464 Centerline is valid? [True, True] Translation: X:58.86, Y:-6.06, Z:-0.40 [[ 9.98040869e-01 6.24495598e-02 -3.80468542e-03 5.88578782e+01] [-6.24480936e-02 9.98048086e-01 5.03051456e-04 -6.05656944e+00] [ 3.82867434e-03 -2.64470561e-04 9.99992636e-01 -4.01096715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24755201799999 meters Centerline goodness [0,1] 0.9829724853405503 Centerline is valid? [True, True] Translation: X:58.89, Y:-6.06, Z:-0.40 [[ 9.98125493e-01 6.10321778e-02 -4.53577174e-03 5.88878007e+01] [-6.10300718e-02 9.98135747e-01 6.01399260e-04 -6.05639898e+00] [ 4.56402062e-03 -3.23453458e-04 9.99989532e-01 -4.01262808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.277552017999994 meters Centerline goodness [0,1] 0.9835332384631023 Centerline is valid? [True, True] Translation: X:58.92, Y:-6.06, Z:-0.40 [[ 9.98180169e-01 6.01053197e-02 -4.86838876e-03 5.89154291e+01] [-6.01028896e-02 9.98191979e-01 6.44082968e-04 -6.06221449e+00] [ 4.89829943e-03 -3.50306614e-04 9.99987942e-01 -4.01574803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.307552017999996 meters Centerline goodness [0,1] 0.9837089329351072 Centerline is valid? [True, True] Translation: X:58.94, Y:-6.06, Z:-0.40 [[ 9.98250055e-01 5.88847579e-02 -5.42340075e-03 5.89444745e+01] [-5.88817364e-02 9.98264709e-01 7.15271074e-04 -6.06422701e+00] [ 5.45610814e-03 -3.94680135e-04 9.99985037e-01 -4.01418883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.337552018 meters Centerline goodness [0,1] 0.9827726532826913 Centerline is valid? [True, True] Translation: X:58.97, Y:-6.07, Z:-0.40 [[ 9.98311205e-01 5.78170662e-02 -5.65026623e-03 5.89714331e+01] [-5.78137690e-02 9.98327107e-01 7.45278334e-04 -6.06997829e+00] [ 5.68390374e-03 -4.17356525e-04 9.99983759e-01 -4.01962521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.367552018 meters Centerline goodness [0,1] 0.9798032459878502 Centerline is valid? [True, True] Translation: X:59.00, Y:-6.08, Z:-0.40 [[ 9.98392285e-01 5.63852033e-02 -5.79264734e-03 5.89995560e+01] [-5.63817123e-02 9.98408994e-01 7.64331854e-04 -6.07701226e+00] [ 5.82652820e-03 -4.36503650e-04 9.99982930e-01 -4.02873442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.397552018 meters Centerline goodness [0,1] 0.9818462026607438 Centerline is valid? [True, True] Translation: X:59.03, Y:-6.08, Z:-0.40 [[ 9.98488850e-01 5.47022082e-02 -5.26160687e-03 5.90292061e+01] [-5.46993054e-02 9.98502631e-01 6.94145258e-04 -6.07826775e+00] [ 5.29169958e-03 -4.05290060e-04 9.99985917e-01 -4.02675355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42755201799999 meters Centerline goodness [0,1] 0.9817880418738788 Centerline is valid? [True, True] Translation: X:59.06, Y:-6.08, Z:-0.40 [[ 9.98561967e-01 5.32977110e-02 -5.77514171e-03 5.90590221e+01] [-5.32941917e-02 9.98578564e-01 7.61692317e-04 -6.08148745e+00] [ 5.80752917e-03 -4.52815469e-04 9.99983034e-01 -4.03564834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.457552017999994 meters Centerline goodness [0,1] 0.9816449234259784 Centerline is valid? [True, True] Translation: X:59.09, Y:-6.08, Z:-0.40 [[ 9.98619863e-01 5.21638589e-02 -6.10749998e-03 5.90877406e+01] [-5.21599212e-02 9.98638422e-01 8.02352294e-04 -6.08465809e+00] [ 6.14103793e-03 -4.82678220e-04 9.99981027e-01 -4.03590410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.487552017999995 meters Centerline goodness [0,1] 0.9828205244739354 Centerline is valid? [True, True] Translation: X:59.12, Y:-6.08, Z:-0.40 [[ 9.98643119e-01 5.16965898e-02 -6.27562213e-03 5.91166758e+01] [-5.16924343e-02 9.98662714e-01 8.22678228e-04 -6.08378390e+00] [ 6.30975949e-03 -4.97159767e-04 9.99979970e-01 -4.02969250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.517552017999996 meters Centerline goodness [0,1] 0.9793025105077814 Centerline is valid? [True, True] Translation: X:59.14, Y:-6.09, Z:-0.40 [[ 9.98662751e-01 5.13051234e-02 -6.36345648e-03 5.91439249e+01] [-5.13008432e-02 9.98682896e-01 8.34131249e-04 -6.08999048e+00] [ 6.39787036e-03 -5.06565124e-04 9.99979405e-01 -4.03457214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.547552018 meters Centerline goodness [0,1] 0.9821099770407583 Centerline is valid? [True, True] Translation: X:59.17, Y:-6.09, Z:-0.40 [[ 9.98704047e-01 5.06877038e-02 -4.58075814e-03 5.91714723e+01] [-5.06854925e-02 9.98714486e-01 5.97623102e-04 -6.09074105e+00] [ 4.60516165e-03 -3.64670628e-04 9.99989330e-01 -4.02793828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.577552018 meters Centerline goodness [0,1] 0.9797004691447131 Centerline is valid? [True, True] Translation: X:59.20, Y:-6.10, Z:-0.40 [[ 9.98704997e-01 5.07267440e-02 -3.88921651e-03 5.91986282e+01] [-5.07251474e-02 9.98712522e-01 5.08131176e-04 -6.09833822e+00] [ 3.90998507e-03 -3.10192064e-04 9.99992308e-01 -4.03493528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60755201799999 meters Centerline goodness [0,1] 0.982219999090537 Centerline is valid? [True, True] Translation: X:59.23, Y:-6.10, Z:-0.40 [[ 9.98743750e-01 4.99657172e-02 -3.78794242e-03 5.92274847e+01] [-4.99642058e-02 9.98750888e-01 4.92643239e-04 -6.09800939e+00] [ 3.80782613e-03 -3.02762821e-04 9.99992704e-01 -4.02836707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.637552017999994 meters Centerline goodness [0,1] 0.9771235914377517 Centerline is valid? [True, True] Translation: X:59.25, Y:-6.10, Z:-0.40 [[ 9.98725012e-01 5.03647025e-02 -3.42742440e-03 5.92545420e+01] [-5.03634652e-02 9.98730856e-01 4.46418974e-04 -6.10429246e+00] [ 3.44555826e-03 -2.73232825e-04 9.99994027e-01 -4.02522229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.667552017999995 meters Centerline goodness [0,1] 0.9816461597944006 Centerline is valid? [True, True] Translation: X:59.28, Y:-6.10, Z:-0.40 [[ 9.98709248e-01 5.06705893e-02 -3.51128877e-03 5.92836707e+01] [-5.06693001e-02 9.98715382e-01 4.55205466e-04 -6.10051530e+00] [ 3.52984363e-03 -2.76703365e-04 9.99993732e-01 -4.01300941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.697552017999996 meters Centerline goodness [0,1] 0.9812015547928079 Centerline is valid? [True, True] Translation: X:59.31, Y:-6.10, Z:-0.40 [[ 9.98643768e-01 5.19554193e-02 -3.35538071e-03 5.93111179e+01] [-5.19542467e-02 9.98649371e-01 4.35753124e-04 -6.10329438e+00] [ 3.37348857e-03 -2.60835864e-04 9.99994276e-01 -4.02188741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.727552018 meters Centerline goodness [0,1] 0.9823352885008867 Centerline is valid? [True, True] Translation: X:59.34, Y:-6.11, Z:-0.40 [[ 9.98604367e-01 5.26833859e-02 -3.71192829e-03 5.93401688e+01] [-5.26819630e-02 9.98611226e-01 4.80151655e-04 -6.10605568e+00] [ 3.73206928e-03 -2.83929870e-04 9.99992995e-01 -4.03016299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.757552018 meters Centerline goodness [0,1] 0.9823091459666219 Centerline is valid? [True, True] Translation: X:59.37, Y:-6.11, Z:-0.40 [[ 9.98582212e-01 5.30508886e-02 -4.37831801e-03 5.93690156e+01] [-5.30489170e-02 9.98591755e-01 5.65314042e-04 -6.10829634e+00] [ 4.40214268e-03 -3.32247518e-04 9.99990255e-01 -4.04053721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.787552018 meters Centerline goodness [0,1] 0.9823091459666219 Centerline is valid? [True, True] Translation: X:59.40, Y:-6.11, Z:-0.40 [[ 9.98598629e-01 5.27409477e-02 -4.37852620e-03 5.93962539e+01] [-5.27389801e-02 9.98608173e-01 5.63702650e-04 -6.11169252e+00] [ 4.40216225e-03 -3.31993687e-04 9.99990255e-01 -4.04233986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81755201799999 meters Centerline goodness [0,1] 0.9830612523304988 Centerline is valid? [True, True] Translation: X:59.42, Y:-6.11, Z:-0.40 [[ 9.98595584e-01 5.27992263e-02 -4.37054277e-03 5.94245048e+01] [-5.27972708e-02 9.98605093e-01 5.61683431e-04 -6.11364153e+00] [ 4.39410272e-03 -3.30141864e-04 9.99990291e-01 -4.04850629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.847552017999995 meters Centerline goodness [0,1] 0.9810182761681498 Centerline is valid? [True, True] Translation: X:59.45, Y:-6.12, Z:-0.41 [[ 9.98619857e-01 5.23166409e-02 -4.62059630e-03 5.94533262e+01] [-5.23144555e-02 9.98630485e-01 5.92655550e-04 -6.11820944e+00] [ 4.64527408e-03 -3.50113621e-04 9.99989149e-01 -4.06147467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.877552017999996 meters Centerline goodness [0,1] 0.9795345653661875 Centerline is valid? [True, True] Translation: X:59.48, Y:-6.12, Z:-0.41 [[ 9.98623338e-01 5.22154291e-02 -4.99783033e-03 5.94798631e+01] [-5.22128692e-02 9.98635772e-01 6.41411857e-04 -6.12362230e+00] [ 5.02450374e-03 -3.79577788e-04 9.99987305e-01 -4.06379832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.907552018 meters Centerline goodness [0,1] 0.9794715400896697 Centerline is valid? [True, True] Translation: X:59.51, Y:-6.13, Z:-0.41 [[ 9.98620869e-01 5.22272244e-02 -5.35508598e-03 5.95082632e+01] [-5.22242976e-02 9.98635145e-01 6.85015547e-04 -6.12577533e+00] [ 5.38355353e-03 -4.04405217e-04 9.99985427e-01 -4.05913409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.937552018 meters Centerline goodness [0,1] 0.9785289357919449 Centerline is valid? [True, True] Translation: X:59.54, Y:-6.13, Z:-0.41 [[ 9.98606123e-01 5.24651415e-02 -5.76370157e-03 5.95352648e+01] [-5.24617542e-02 9.98622662e-01 7.37425193e-04 -6.13017690e+00] [ 5.79445212e-03 -4.34023418e-04 9.99983118e-01 -4.07623485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.967552018 meters Centerline goodness [0,1] 0.9800529486945408 Centerline is valid? [True, True] Translation: X:59.56, Y:-6.13, Z:-0.41 [[ 9.98559192e-01 5.33380235e-02 -5.88177751e-03 5.95641642e+01] [-5.33345259e-02 9.98576420e-01 7.50019996e-04 -6.12874652e+00] [ 5.91340891e-03 -4.35237546e-04 9.99982421e-01 -4.08090387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99755201799999 meters Centerline goodness [0,1] 0.9800460126193025 Centerline is valid? [True, True] Translation: X:59.59, Y:-6.13, Z:-0.41 [[ 9.98594433e-01 5.26810029e-02 -5.81977103e-03 5.95913007e+01] [-5.26775642e-02 9.98611297e-01 7.42685729e-04 -6.13334997e+00] [ 5.85081452e-03 -4.35070472e-04 9.99982789e-01 -4.08644420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.027552017999994 meters Centerline goodness [0,1] 0.9802235990763392 Centerline is valid? [True, True] Translation: X:59.62, Y:-6.13, Z:-0.41 [[ 9.98570986e-01 5.31070137e-02 -5.96911549e-03 5.96201959e+01] [-5.31034207e-02 9.98588730e-01 7.58931357e-04 -6.13307431e+00] [ 6.00099604e-03 -4.40866383e-04 9.99981897e-01 -4.07599791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.057552017999996 meters Centerline goodness [0,1] 0.9802330895795247 Centerline is valid? [True, True] Translation: X:59.65, Y:-6.14, Z:-0.41 [[ 9.98554658e-01 5.34456449e-02 -5.67077711e-03 5.96481423e+01] [-5.34424169e-02 9.98570674e-01 7.19360426e-04 -6.13736735e+00] [ 5.70111840e-03 -4.15260670e-04 9.99983662e-01 -4.07452771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.087552018 meters Centerline goodness [0,1] 0.977938823099081 Centerline is valid? [True, True] Translation: X:59.68, Y:-6.14, Z:-0.41 [[ 9.98557304e-01 5.34546985e-02 -5.08971743e-03 5.96757861e+01] [-5.34520957e-02 9.98570206e-01 6.46137250e-04 -6.14107454e+00] [ 5.11697925e-03 -3.73149007e-04 9.99986839e-01 -4.07632674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.117552018 meters Centerline goodness [0,1] 0.9798113898553379 Centerline is valid? [True, True] Translation: X:59.70, Y:-6.14, Z:-0.41 [[ 9.98559275e-01 5.34047586e-02 -5.22557355e-03 5.97045671e+01] [-5.34020281e-02 9.98572875e-01 6.60756792e-04 -6.14051118e+00] [ 5.25340356e-03 -3.80748597e-04 9.99986128e-01 -4.07803793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.147552018 meters Centerline goodness [0,1] 0.9790278636353229 Centerline is valid? [True, True] Translation: X:59.73, Y:-6.15, Z:-0.41 [[ 9.98606225e-01 5.24601749e-02 -5.79111481e-03 5.97318473e+01] [-5.24568046e-02 9.98622925e-01 7.32452164e-04 -6.14753590e+00] [ 5.82156458e-03 -4.27647913e-04 9.99982963e-01 -4.10010786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17755201799999 meters Centerline goodness [0,1] 0.9783803591058996 Centerline is valid? [True, True] Translation: X:59.76, Y:-6.15, Z:-0.41 [[ 9.98643753e-01 5.17772723e-02 -5.45598361e-03 5.97588269e+01] [-5.17742720e-02 9.98658575e-01 6.89815808e-04 -6.15298065e+00] [ 5.48438160e-03 -4.06400668e-04 9.99984878e-01 -4.10444087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.207552017999994 meters Centerline goodness [0,1] 0.9792595641535753 Centerline is valid? [True, True] Translation: X:59.79, Y:-6.15, Z:-0.41 [[ 9.98695866e-01 5.07903304e-02 -5.18749038e-03 5.97873243e+01] [-5.07876186e-02 9.98709263e-01 6.53245875e-04 -6.15373014e+00] [ 5.21397327e-03 -3.88933671e-04 9.99986332e-01 -4.09188829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.237552017999995 meters Centerline goodness [0,1] 0.9794909357260575 Centerline is valid? [True, True] Translation: X:59.81, Y:-6.16, Z:-0.41 [[ 9.98706916e-01 5.05890672e-02 -5.02417352e-03 5.98145987e+01] [-5.05865304e-02 9.98719483e-01 6.30804601e-04 -6.15670331e+00] [ 5.04965180e-03 -3.75833411e-04 9.99987180e-01 -4.08946920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.267552017999996 meters Centerline goodness [0,1] 0.9789153178727593 Centerline is valid? [True, True] Translation: X:59.84, Y:-6.16, Z:-0.41 [[ 9.98687141e-01 5.09957207e-02 -4.84049936e-03 5.98436473e+01] [-5.09933764e-02 9.98698807e-01 6.06576645e-04 -6.15863202e+00] [ 4.86513375e-03 -3.58946889e-04 9.99988101e-01 -4.08960193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.297552018 meters Centerline goodness [0,1] 0.9795634739815912 Centerline is valid? [True, True] Translation: X:59.87, Y:-6.16, Z:-0.41 [[ 9.98657724e-01 5.15841846e-02 -4.67146896e-03 5.98719349e+01] [-5.15820140e-02 9.98668591e-01 5.84027298e-04 -6.16082869e+00] [ 4.69537590e-03 -3.42279594e-04 9.99988918e-01 -4.09081426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.327552018 meters Centerline goodness [0,1] 0.9787657142857142 Centerline is valid? [True, True] Translation: X:59.90, Y:-6.17, Z:-0.41 [[ 9.98558220e-01 5.35163696e-02 -4.18081200e-03 5.98996678e+01] [-5.35146437e-02 9.98566927e-01 5.23670022e-04 -6.16877378e+00] [ 4.20284552e-03 -2.99180340e-04 9.99991123e-01 -4.10419011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35755201799999 meters Centerline goodness [0,1] 0.9797619047619047 Centerline is valid? [True, True] Translation: X:59.93, Y:-6.17, Z:-0.41 [[ 9.98525261e-01 5.41471166e-02 -3.92345442e-03 5.99286027e+01] [-5.41456114e-02 9.98532931e-01 4.88919916e-04 -6.16625278e+00] [ 3.94417205e-03 -2.75761048e-04 9.99992184e-01 -4.09044700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.387552017999994 meters Centerline goodness [0,1] 0.9796193787455968 Centerline is valid? [True, True] Translation: X:59.96, Y:-6.17, Z:-0.41 [[ 9.98457127e-01 5.54063643e-02 -3.67435630e-03 5.99579566e+01] [-5.54050562e-02 9.98463856e-01 4.56935574e-04 -6.16756679e+00] [ 3.69402910e-03 -2.52652663e-04 9.99993145e-01 -4.08990985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.417552017999995 meters Centerline goodness [0,1] 0.9797580110244505 Centerline is valid? [True, True] Translation: X:59.99, Y:-6.17, Z:-0.41 [[ 9.98338664e-01 5.74884518e-02 -3.87177846e-03 5.99879576e+01] [-5.74870089e-02 9.98346138e-01 4.83045561e-04 -6.17105861e+00] [ 3.89314461e-03 -2.59666097e-04 9.99992388e-01 -4.09920663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.447552017999996 meters Centerline goodness [0,1] 0.9801018892924862 Centerline is valid? [True, True] Translation: X:60.02, Y:-6.18, Z:-0.41 [[ 9.98149307e-01 6.07198569e-02 -3.32563450e-03 6.00163808e+01] [-6.07188111e-02 9.98154825e-01 4.14635491e-04 -6.17522949e+00] [ 3.34467473e-03 -2.11939555e-04 9.99994384e-01 -4.10438772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.477552018 meters Centerline goodness [0,1] 0.9805282569353767 Centerline is valid? [True, True] Translation: X:60.05, Y:-6.18, Z:-0.41 [[ 9.98094372e-01 6.16221428e-02 -3.21484560e-03 6.00456766e+01] [-6.16211772e-02 9.98099530e-01 3.98629191e-04 -6.17655141e+00] [ 3.23330026e-03 -1.99766982e-04 9.99994753e-01 -4.10249929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.507552018 meters Centerline goodness [0,1] 0.9807234976676118 Centerline is valid? [True, True] Translation: X:60.07, Y:-6.18, Z:-0.41 [[ 9.98061180e-01 6.21284077e-02 -3.73376089e-03 6.00745165e+01] [-6.21271123e-02 9.98068138e-01 4.62036899e-04 -6.17619345e+00] [ 3.75525340e-03 -2.29173311e-04 9.99992923e-01 -4.10059760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.537552018 meters Centerline goodness [0,1] 0.9817632656797016 Centerline is valid? [True, True] Translation: X:60.10, Y:-6.18, Z:-0.41 [[ 9.97991829e-01 6.31740983e-02 -4.61990512e-03 6.01016533e+01] [-6.31721209e-02 9.98002482e-01 5.72829236e-04 -6.18064560e+00] [ 4.64686475e-03 -2.79829692e-04 9.99989164e-01 -4.11790446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56755201799999 meters Centerline goodness [0,1] 0.9819665386725178 Centerline is valid? [True, True] Translation: X:60.13, Y:-6.18, Z:-0.41 [[ 9.97982046e-01 6.32883760e-02 -5.13976212e-03 6.01298268e+01] [-6.32859429e-02 9.97995234e-01 6.34818631e-04 -6.18488082e+00] [ 5.16963473e-03 -3.08262905e-04 9.99986590e-01 -4.13171823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.597552017999995 meters Centerline goodness [0,1] 0.9799753963914708 Centerline is valid? [True, True] Translation: X:60.16, Y:-6.20, Z:-0.42 [[ 9.97960306e-01 6.35975457e-02 -5.52984334e-03 6.01563367e+01] [-6.35947298e-02 9.97975572e-01 6.83744185e-04 -6.19900651e+00] [ 5.56213302e-03 -3.30680663e-04 9.99984477e-01 -4.16162389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.627552017999996 meters Centerline goodness [0,1] 0.9799753963914708 Centerline is valid? [True, True] Translation: X:60.18, Y:-6.20, Z:-0.42 [[ 9.97978221e-01 6.33157806e-02 -5.53018657e-03 6.01835756e+01] [-6.33129758e-02 9.97993489e-01 6.80966876e-04 -6.20222017e+00] [ 5.56220614e-03 -3.29457543e-04 9.99984477e-01 -4.16342089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.657552018 meters Centerline goodness [0,1] 0.9812704141065759 Centerline is valid? [True, True] Translation: X:60.21, Y:-6.20, Z:-0.41 [[ 9.98019198e-01 6.27193173e-02 -4.89567468e-03 6.02130434e+01] [-6.27171191e-02 9.98031162e-01 6.01396943e-04 -6.19758345e+00] [ 4.92375510e-03 -2.93163082e-04 9.99987835e-01 -4.13448652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.687552018 meters Centerline goodness [0,1] 0.9810526315789474 Centerline is valid? [True, True] Translation: X:60.24, Y:-6.20, Z:-0.41 [[ 9.98032131e-01 6.25804294e-02 -3.94408976e-03 6.02418161e+01] [-6.25790073e-02 9.98039896e-01 4.83066953e-04 -6.19959512e+00] [ 3.96658947e-03 -2.35299119e-04 9.99992105e-01 -4.11650832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.717552018 meters Centerline goodness [0,1] 0.9812254767770782 Centerline is valid? [True, True] Translation: X:60.27, Y:-6.20, Z:-0.41 [[ 9.97984262e-01 6.33975572e-02 -2.85700262e-03 6.02711372e+01] [-6.33968144e-02 9.97988337e-01 3.49896070e-04 -6.20106592e+00] [ 2.87343786e-03 -1.68065906e-04 9.99995858e-01 -4.09280964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74755201799999 meters Centerline goodness [0,1] 0.9800872325363659 Centerline is valid? [True, True] Translation: X:60.30, Y:-6.21, Z:-0.41 [[ 9.97958643e-01 6.38138781e-02 -2.51704542e-03 6.02994621e+01] [-6.38133071e-02 9.97961807e-01 3.06609424e-04 -6.20543785e+00] [ 2.53148113e-03 -1.45362533e-04 9.99996785e-01 -4.09957537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.777552017999994 meters Centerline goodness [0,1] 0.981651376146789 Centerline is valid? [True, True] Translation: X:60.33, Y:-6.21, Z:-0.41 [[ 9.97908614e-01 6.46035446e-02 -2.18635884e-03 6.03272355e+01] [-6.46031150e-02 9.97911001e-01 2.66635721e-04 -6.21021817e+00] [ 2.19901715e-03 -1.24832491e-04 9.99997574e-01 -4.10509015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.807552017999996 meters Centerline goodness [0,1] 0.9811432745867957 Centerline is valid? [True, True] Translation: X:60.35, Y:-6.22, Z:-0.41 [[ 9.97861341e-01 6.53276482e-02 -2.24571703e-03 6.03546164e+01] [-6.53271965e-02 9.97863860e-01 2.73985206e-04 -6.21592155e+00] [ 2.25881867e-03 -1.26692847e-04 9.99997441e-01 -4.11557929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.837552018 meters Centerline goodness [0,1] 0.981521615147713 Centerline is valid? [True, True] Translation: X:60.38, Y:-6.22, Z:-0.41 [[ 9.97751159e-01 6.69936026e-02 -2.11687472e-03 6.03839007e+01] [-6.69932083e-02 9.97753398e-01 2.56696820e-04 -6.21789515e+00] [ 2.12931599e-03 -1.14303321e-04 9.99997726e-01 -4.11276316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.867552018 meters Centerline goodness [0,1] 0.9815925731621086 Centerline is valid? [True, True] Translation: X:60.41, Y:-6.22, Z:-0.41 [[ 9.97679072e-01 6.80587086e-02 -2.11707646e-03 6.04115772e+01] [-6.80583150e-02 9.97681312e-01 2.57524511e-04 -6.22147272e+00] [ 2.12969441e-03 -1.12842158e-04 9.99997726e-01 -4.10622450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.897552018 meters Centerline goodness [0,1] 0.9836230328224572 Centerline is valid? [True, True] Translation: X:60.44, Y:-6.22, Z:-0.41 [[ 9.97615219e-01 6.90006257e-02 -1.67004876e-03 6.04409890e+01] [-6.90003851e-02 9.97616613e-01 2.01367687e-04 -6.21918507e+00] [ 1.67996288e-03 -8.56534618e-05 9.99998585e-01 -4.09127272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92755201799999 meters Centerline goodness [0,1] 0.9837526564749435 Centerline is valid? [True, True] Translation: X:60.47, Y:-6.22, Z:-0.41 [[ 9.97476198e-01 7.09938192e-02 -1.05419869e-03 6.04698377e+01] [-7.09937238e-02 9.97476754e-01 1.27654669e-04 -6.22266391e+00] [ 1.06060138e-03 -5.24910026e-05 9.99999436e-01 -4.09034305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.957552017999994 meters Centerline goodness [0,1] 0.9843049837363237 Centerline is valid? [True, True] Translation: X:60.50, Y:-6.23, Z:-0.41 [[ 9.97387620e-01 7.22341106e-02 -4.10752954e-04 6.04969124e+01] [-7.22340964e-02 9.97387704e-01 4.92638324e-05 -6.22798064e+00] [ 4.13238475e-04 -1.94647680e-05 9.99999914e-01 -4.09878855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.987552017999995 meters Centerline goodness [0,1] 0.9837437300501596 Centerline is valid? [True, True] Translation: X:60.53, Y:-6.23, Z:-0.41 [[ 9.97352618e-01 7.27099997e-02 -1.00522856e-03 6.05251513e+01] [-7.27099156e-02 9.97353124e-01 1.20048198e-04 -6.23127438e+00] [ 1.01129655e-03 -4.66403004e-05 9.99999488e-01 -4.10191985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.017552017999996 meters Centerline goodness [0,1] 0.9852312033497178 Centerline is valid? [True, True] Translation: X:60.55, Y:-6.24, Z:-0.41 [[ 9.97267508e-01 7.38748555e-02 -1.54562926e-04 6.05521705e+01] [-7.38748536e-02 9.97267520e-01 1.80861387e-05 -6.23646030e+00] [ 1.55476696e-04 -6.61840496e-06 9.99999988e-01 -4.09228538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.047552018 meters Centerline goodness [0,1] 0.9846248322605591 Centerline is valid? [True, True] Translation: X:60.58, Y:-6.24, Z:-0.41 [[ 9.97265180e-01 7.39063783e-02 9.46270027e-05 6.05805181e+01] [-7.39063774e-02 9.97265184e-01 -1.31977258e-05 -6.23824555e+00] [-9.53436114e-05 6.16809340e-06 9.99999995e-01 -4.07953260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.077552018 meters Centerline goodness [0,1] 0.9847335201768177 Centerline is valid? [True, True] Translation: X:60.61, Y:-6.24, Z:-0.41 [[ 9.97261650e-01 7.39511854e-02 6.50484695e-04 6.06091199e+01] [-7.39511488e-02 9.97261862e-01 -8.02161989e-05 -6.24138502e+00] [-6.54635661e-04 3.18924485e-05 9.99999785e-01 -4.07635846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10755201799999 meters Centerline goodness [0,1] 0.9852222348527907 Centerline is valid? [True, True] Translation: X:60.64, Y:-6.25, Z:-0.41 [[ 9.97274512e-01 7.37799814e-02 2.51019044e-04 6.06356785e+01] [-7.37799760e-02 9.97274543e-01 -3.08723868e-05 -6.25030738e+00] [-2.52612667e-04 1.22680654e-05 9.99999968e-01 -4.08980535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.137552017999994 meters Centerline goodness [0,1] 0.9860776743129684 Centerline is valid? [True, True] Translation: X:60.66, Y:-6.25, Z:-0.41 [[ 9.97326043e-01 7.30800682e-02 -2.59305585e-04 6.06640625e+01] [-7.30800630e-02 9.97326077e-01 2.93850521e-05 -6.25167532e+00] [ 2.60759684e-04 -1.03564092e-05 9.99999966e-01 -4.09342015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.167552017999995 meters Centerline goodness [0,1] 0.985481232391166 Centerline is valid? [True, True] Translation: X:60.69, Y:-6.26, Z:-0.41 [[ 9.97380300e-01 7.23309734e-02 -8.76323144e-04 6.06924765e+01] [-7.23309105e-02 9.97380684e-01 1.03301672e-04 -6.25635181e+00] [ 8.81499687e-04 -3.96458017e-05 9.99999611e-01 -4.09700699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.197552017999996 meters Centerline goodness [0,1] 0.984928716904277 Centerline is valid? [True, True] Translation: X:60.72, Y:-6.26, Z:-0.41 [[ 9.97477814e-01 7.09688686e-02 -1.19590442e-03 6.07192868e+01] [-7.09687489e-02 9.97478529e-01 1.42285849e-04 -6.26358677e+00] [ 1.20298685e-03 -5.70551369e-05 9.99999275e-01 -4.10201520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.227552018 meters Centerline goodness [0,1] 0.985916772669453 Centerline is valid? [True, True] Translation: X:60.75, Y:-6.27, Z:-0.41 [[ 9.97553379e-01 6.98905724e-02 -1.60103026e-03 6.07484491e+01] [-6.98903581e-02 9.97554661e-01 1.89497028e-04 -6.26501182e+00] [ 1.61035926e-03 -7.71368226e-05 9.99998700e-01 -4.09511037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.257552018 meters Centerline goodness [0,1] 0.9853184403108504 Centerline is valid? [True, True] Translation: X:60.78, Y:-6.27, Z:-0.41 [[ 9.97614956e-01 6.89941194e-02 -2.05197861e-03 6.07768701e+01] [-6.89937655e-02 9.97617061e-01 2.42810440e-04 -6.26926264e+00] [ 2.06384136e-03 -1.00657596e-04 9.99997865e-01 -4.09912089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.287552018 meters Centerline goodness [0,1] 0.9855420594633792 Centerline is valid? [True, True] Translation: X:60.80, Y:-6.28, Z:-0.41 [[ 9.97800103e-01 6.61826962e-02 -3.84773656e-03 6.08042774e+01] [-6.61814212e-02 9.97807501e-01 4.57877941e-04 -6.27766182e+00] [ 3.86960400e-03 -2.02221983e-04 9.99992493e-01 -4.12356193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31755201799999 meters Centerline goodness [0,1] 0.9845148747626368 Centerline is valid? [True, True] Translation: X:60.83, Y:-6.29, Z:-0.41 [[ 9.97885220e-01 6.48607827e-02 -4.26222253e-03 6.08304593e+01] [-6.48592116e-02 9.97894296e-01 5.05943539e-04 -6.28914166e+00] [ 4.28606344e-03 -2.28429187e-04 9.99990789e-01 -4.14385385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.347552017999995 meters Centerline goodness [0,1] 0.9862675897018235 Centerline is valid? [True, True] Translation: X:60.86, Y:-6.28, Z:-0.41 [[ 9.97955113e-01 6.37362185e-02 -4.82567600e-03 6.08600126e+01] [-6.37342008e-02 9.97966746e-01 5.70919181e-04 -6.28430200e+00] [ 4.85225240e-03 -2.62191113e-04 9.99988193e-01 -4.12651390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.377552017999996 meters Centerline goodness [0,1] 0.9849885831845002 Centerline is valid? [True, True] Translation: X:60.89, Y:-6.29, Z:-0.41 [[ 9.97975768e-01 6.34045402e-02 -4.92256120e-03 6.08876872e+01] [-6.34024330e-02 9.97987871e-01 5.83102699e-04 -6.29033453e+00] [ 4.94962773e-03 -2.69820007e-04 9.99987714e-01 -4.12852615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.407552018 meters Centerline goodness [0,1] 0.9850726014384584 Centerline is valid? [True, True] Translation: X:60.92, Y:-6.29, Z:-0.41 [[ 9.98009651e-01 6.29057135e-02 -4.42809091e-03 6.09154940e+01] [-6.29040162e-02 9.98019445e-01 5.21657753e-04 -6.29183030e+00] [ 4.45213608e-03 -2.42074769e-04 9.99990060e-01 -4.11861785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.437552018 meters Centerline goodness [0,1] 0.9853441861513833 Centerline is valid? [True, True] Translation: X:60.94, Y:-6.30, Z:-0.41 [[ 9.97981568e-01 6.33441405e-02 -4.50658330e-03 6.09429555e+01] [-6.33423825e-02 9.97991713e-01 5.31918084e-04 -6.29626702e+00] [ 4.53122668e-03 -2.45386720e-04 9.99989704e-01 -4.12674501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.467552018 meters Centerline goodness [0,1] 0.9849900235806276 Centerline is valid? [True, True] Translation: X:60.97, Y:-6.30, Z:-0.41 [[ 9.97982484e-01 6.32486902e-02 -5.52848967e-03 6.09709519e+01] [-6.32460593e-02 9.97997753e-01 6.49601887e-04 -6.29939172e+00] [ 5.55850673e-03 -2.98636119e-04 9.99984507e-01 -4.13564968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49755201799999 meters Centerline goodness [0,1] 0.9849497948729572 Centerline is valid? [True, True] Translation: X:61.00, Y:-6.30, Z:-0.41 [[ 9.97926203e-01 6.40965426e-02 -5.90989145e-03 6.09981483e+01] [-6.40935453e-02 9.97943653e-01 6.95377343e-04 -6.30278638e+00] [ 5.94230995e-03 -3.15149377e-04 9.99982295e-01 -4.14187435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.527552017999994 meters Centerline goodness [0,1] 0.985904002175588 Centerline is valid? [True, True] Translation: X:61.03, Y:-6.30, Z:-0.41 [[ 9.97900543e-01 6.45165256e-02 -5.66789788e-03 6.10277295e+01] [-6.45137825e-02 9.97916594e-01 6.65671434e-04 -6.30144258e+00] [ 5.69903615e-03 -2.98616354e-04 9.99983716e-01 -4.12863727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.557552017999996 meters Centerline goodness [0,1] 0.9852410254081424 Centerline is valid? [True, True] Translation: X:61.06, Y:-6.30, Z:-0.41 [[ 9.97818119e-01 6.58123466e-02 -5.26657692e-03 6.10557584e+01] [-6.58099975e-02 9.97831981e-01 6.18284412e-04 -6.30386402e+00] [ 5.29584963e-03 -2.70341975e-04 9.99985940e-01 -4.12087144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.587552018 meters Centerline goodness [0,1] 0.9856468023255814 Centerline is valid? [True, True] Translation: X:61.08, Y:-6.31, Z:-0.41 [[ 9.97758279e-01 6.67203391e-02 -5.17813195e-03 6.10849713e+01] [-6.67180927e-02 9.97771682e-01 6.05558669e-04 -6.30548851e+00] [ 5.20699650e-03 -2.58726089e-04 9.99986410e-01 -4.12087175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.617552018 meters Centerline goodness [0,1] 0.9865515674693321 Centerline is valid? [True, True] Translation: X:61.11, Y:-6.31, Z:-0.41 [[ 9.97700032e-01 6.75737647e-02 -5.33211984e-03 6.11133781e+01] [-6.75714030e-02 9.97714247e-01 6.22049626e-04 -6.30772071e+00] [ 5.36196616e-03 -2.60320114e-04 9.99985591e-01 -4.11903228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.647552018 meters Centerline goodness [0,1] 0.9860293950614479 Centerline is valid? [True, True] Translation: X:61.14, Y:-6.31, Z:-0.41 [[ 9.97639200e-01 6.84651742e-02 -5.34295285e-03 6.11424144e+01] [-6.84628233e-02 9.97653474e-01 6.21886845e-04 -6.30972499e+00] [ 5.37299307e-03 -2.54625058e-04 9.99985533e-01 -4.12106575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67755201799999 meters Centerline goodness [0,1] 0.9860959402876388 Centerline is valid? [True, True] Translation: X:61.17, Y:-6.31, Z:-0.41 [[ 9.97527370e-01 7.01261955e-02 -4.63271251e-03 6.11713622e+01] [-7.01244429e-02 9.97538105e-01 5.39857662e-04 -6.30835418e+00] [ 4.65916542e-03 -2.13656410e-04 9.99989123e-01 -4.10643292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.707552017999994 meters Centerline goodness [0,1] 0.9857468123861567 Centerline is valid? [True, True] Translation: X:61.20, Y:-6.31, Z:-0.41 [[ 9.97525300e-01 7.01716709e-02 -4.38322456e-03 6.11987215e+01] [-7.01701050e-02 9.97534910e-01 5.10201128e-04 -6.31495069e+00] [ 4.40822118e-03 -2.01367206e-04 9.99990263e-01 -4.11071035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.737552017999995 meters Centerline goodness [0,1] 0.9854989853849837 Centerline is valid? [True, True] Translation: X:61.23, Y:-6.32, Z:-0.41 [[ 9.97623344e-01 6.87826363e-02 -4.07583442e-03 6.12279477e+01] [-6.87812803e-02 9.97631652e-01 4.72106100e-04 -6.31525172e+00] [ 4.09865413e-03 -1.90642957e-04 9.99991582e-01 -4.09769322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.767552017999996 meters Centerline goodness [0,1] 0.9853018253082059 Centerline is valid? [True, True] Translation: X:61.26, Y:-6.32, Z:-0.41 [[ 9.97697627e-01 6.76778483e-02 -4.37645005e-03 6.12553103e+01] [-6.76762705e-02 9.97707204e-01 5.07788351e-04 -6.32082851e+00] [ 4.40078177e-03 -2.10437415e-04 9.99990294e-01 -4.11080416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.797552018 meters Centerline goodness [0,1] 0.9847626844966 Centerline is valid? [True, True] Translation: X:61.28, Y:-6.33, Z:-0.41 [[ 9.97792930e-01 6.62390378e-02 -4.65385987e-03 6.12817123e+01] [-6.62372437e-02 9.97803757e-01 5.38764311e-04 -6.33010768e+00] [ 4.67932609e-03 -2.29316370e-04 9.99989026e-01 -4.13293712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.827552018 meters Centerline goodness [0,1] 0.9854503359360813 Centerline is valid? [True, True] Translation: X:61.31, Y:-6.33, Z:-0.41 [[ 9.97901053e-01 6.45853958e-02 -4.71336102e-03 6.13102610e+01] [-6.45835462e-02 9.97912155e-01 5.43736575e-04 -6.33162103e+00] [ 4.73863770e-03 -2.38189732e-04 9.99988744e-01 -4.13577550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85755201799999 meters Centerline goodness [0,1] 0.9834513756469627 Centerline is valid? [True, True] Translation: X:61.34, Y:-6.34, Z:-0.42 [[ 9.98123858e-01 6.09188802e-02 -6.13626570e-03 6.13386302e+01] [-6.09156639e-02 9.98142664e-01 7.09859629e-04 -6.34258101e+00] [ 6.16811245e-03 -3.34733133e-04 9.99980921e-01 -4.15609952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.887552017999994 meters Centerline goodness [0,1] 0.9842419851476182 Centerline is valid? [True, True] Translation: X:61.37, Y:-6.35, Z:-0.42 [[ 9.98212101e-01 5.93662785e-02 -6.94591387e-03 6.13679257e+01] [-5.93621221e-02 9.98236191e-01 8.03212431e-04 -6.34657902e+00] [ 6.98134633e-03 -3.89452182e-04 9.99975554e-01 -4.15849398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.917552017999995 meters Centerline goodness [0,1] 0.9844119251045265 Centerline is valid? [True, True] Translation: X:61.40, Y:-6.35, Z:-0.41 [[ 9.98289898e-01 5.79194572e-02 -7.91298782e-03 6.13966144e+01] [-5.79140321e-02 9.98321156e-01 9.13222171e-04 -6.34502139e+00] [ 7.95259648e-03 -4.53387438e-04 9.99968275e-01 -4.14390573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.947552017999996 meters Centerline goodness [0,1] 0.9835994918791399 Centerline is valid? [True, True] Translation: X:61.42, Y:-6.36, Z:-0.42 [[ 9.98355346e-01 5.66934571e-02 -8.51210981e-03 6.14228975e+01] [-5.66871477e-02 9.98391509e-01 9.80864847e-04 -6.35587610e+00] [ 8.55402677e-03 -4.96724437e-04 9.99963290e-01 -4.16463161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.977552018 meters Centerline goodness [0,1] 0.9827570559941918 Centerline is valid? [True, True] Translation: X:61.45, Y:-6.37, Z:-0.42 [[ 9.98560799e-01 5.30811811e-02 -7.66279718e-03 6.14508854e+01] [-5.30759584e-02 9.98590087e-01 8.83471462e-04 -6.36579022e+00] [ 7.69888901e-03 -4.75489664e-04 9.99970250e-01 -4.18297870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.007552018 meters Centerline goodness [0,1] 0.981406555439378 Centerline is valid? [True, True] Translation: X:61.48, Y:-6.37, Z:-0.42 [[ 9.98660849e-01 5.11338162e-02 -7.86394948e-03 6.14797328e+01] [-5.11282577e-02 9.98691684e-01 9.06392206e-04 -6.37255363e+00] [ 7.90000824e-03 -5.03108374e-04 9.99968668e-01 -4.19260917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.037552018 meters Centerline goodness [0,1] 0.9840165049424141 Centerline is valid? [True, True] Translation: X:61.51, Y:-6.37, Z:-0.42 [[ 9.98752215e-01 4.93473426e-02 -7.67153154e-03 6.15103421e+01] [-4.93420028e-02 9.98781550e-01 8.83883803e-04 -6.36612034e+00] [ 7.70580148e-03 -5.04252176e-04 9.99970183e-01 -4.16818140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06755201799999 meters Centerline goodness [0,1] 0.964525993883792 Centerline is valid? [True, True] Translation: X:61.54, Y:-6.38, Z:-0.42 [[ 9.98815921e-01 4.78957865e-02 -8.52931698e-03 6.15373494e+01] [-4.78891382e-02 9.98852174e-01 9.82122583e-04 -6.38397179e+00] [ 8.56656635e-03 -5.72498033e-04 9.99963142e-01 -4.19471762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.097552017999995 meters Centerline goodness [0,1] 0.9839053845455371 Centerline is valid? [True, True] Translation: X:61.57, Y:-6.37, Z:-0.42 [[ 9.98861123e-01 4.69599958e-02 -8.43889586e-03 6.15673222e+01] [-4.69534701e-02 9.98896607e-01 9.69869580e-04 -6.37103345e+00] [ 8.47512951e-03 -5.72529574e-04 9.99963922e-01 -4.15947127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.127552017999996 meters Centerline goodness [0,1] 0.9828867525738051 Centerline is valid? [True, True] Translation: X:61.59, Y:-6.38, Z:-0.42 [[ 9.98851529e-01 4.71649757e-02 -8.43141904e-03 6.15949497e+01] [-4.71584730e-02 9.98886951e-01 9.68508123e-04 -6.37518976e+00] [ 8.46771411e-03 -5.69782972e-04 9.99963986e-01 -4.16235299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.157552018 meters Centerline goodness [0,1] 0.9834025838385214 Centerline is valid? [True, True] Translation: X:61.62, Y:-6.38, Z:-0.42 [[ 9.98795005e-01 4.83945300e-02 -8.15519067e-03 6.16243185e+01] [-4.83884978e-02 9.98828152e-01 9.35480617e-04 -6.37695930e+00] [ 8.19090618e-03 -5.39735941e-04 9.99966308e-01 -4.15670398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.187552018 meters Centerline goodness [0,1] 0.9841828966206849 Centerline is valid? [True, True] Translation: X:61.65, Y:-6.38, Z:-0.42 [[ 9.98785108e-01 4.86843379e-02 -7.62517506e-03 6.16533178e+01] [-4.86790967e-02 9.98814090e-01 8.71561646e-04 -6.37781875e+00] [ 7.65856369e-03 -4.99316158e-04 9.99970548e-01 -4.15098216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.217552018 meters Centerline goodness [0,1] 0.9828673867659072 Centerline is valid? [True, True] Translation: X:61.68, Y:-6.38, Z:-0.41 [[ 9.98724894e-01 4.99704852e-02 -7.17883830e-03 6.16807716e+01] [-4.99658702e-02 9.98750588e-01 8.20902200e-04 -6.38101596e+00] [ 7.21088986e-03 -4.61158560e-04 9.99973895e-01 -4.14288390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24755201799999 meters Centerline goodness [0,1] 0.9817558049711456 Centerline is valid? [True, True] Translation: X:61.71, Y:-6.38, Z:-0.41 [[ 9.98713543e-01 5.04074542e-02 -5.50878939e-03 6.17091001e+01] [-5.04047587e-02 9.98728675e-01 6.27157500e-04 -6.38242766e+00] [ 5.53339934e-03 -3.48681490e-04 9.99984630e-01 -4.12797252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.277552017999994 meters Centerline goodness [0,1] 0.9831496348709575 Centerline is valid? [True, True] Translation: X:61.74, Y:-6.38, Z:-0.41 [[ 9.98679930e-01 5.11026272e-02 -5.18839406e-03 6.17378772e+01] [-5.11002533e-02 9.98693355e-01 5.89157831e-04 -6.38371331e+00] [ 5.21172218e-03 -3.23251851e-04 9.99986367e-01 -4.12967575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.307552017999996 meters Centerline goodness [0,1] 0.9826455842653298 Centerline is valid? [True, True] Translation: X:61.77, Y:-6.39, Z:-0.41 [[ 9.98630742e-01 5.20739273e-02 -4.99472820e-03 6.17650348e+01] [-5.20717365e-02 9.98643185e-01 5.67766054e-04 -6.38744940e+00] [ 5.01751708e-03 -3.06904465e-04 9.99987365e-01 -4.13851803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.337552018 meters Centerline goodness [0,1] 0.9834109760254517 Centerline is valid? [True, True] Translation: X:61.79, Y:-6.39, Z:-0.42 [[ 9.98546826e-01 5.35342407e-02 -6.19045314e-03 6.17942786e+01] [-5.35309185e-02 9.98565946e-01 7.01249558e-04 -6.38762866e+00] [ 6.21911656e-03 -3.68849878e-04 9.99980593e-01 -4.16186353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.367552018 meters Centerline goodness [0,1] 0.9843693119767019 Centerline is valid? [True, True] Translation: X:61.82, Y:-6.39, Z:-0.42 [[ 9.98521915e-01 5.39382230e-02 -6.68227979e-03 6.18231189e+01] [-5.39343732e-02 9.98544197e-01 7.55111875e-04 -6.38937591e+00] [ 6.71328110e-03 -3.93591184e-04 9.99977388e-01 -4.16800909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.397552018 meters Centerline goodness [0,1] 0.9840832498406048 Centerline is valid? [True, True] Translation: X:61.85, Y:-6.39, Z:-0.42 [[ 9.98527532e-01 5.38080133e-02 -6.88959550e-03 6.18498117e+01] [-5.38039178e-02 9.98551217e-01 7.78558908e-04 -6.39343001e+00] [ 6.92150668e-03 -4.06725275e-04 9.99975963e-01 -4.17593946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42755201799999 meters Centerline goodness [0,1] 0.9829926559196016 Centerline is valid? [True, True] Translation: X:61.88, Y:-6.40, Z:-0.42 [[ 9.98542020e-01 5.34924704e-02 -7.23813055e-03 6.18773296e+01] [-5.34879658e-02 9.98568162e-01 8.14635959e-04 -6.39654044e+00] [ 7.27134361e-03 -4.26295357e-04 9.99973473e-01 -4.17700815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.457552017999994 meters Centerline goodness [0,1] 0.9828045641924977 Centerline is valid? [True, True] Translation: X:61.91, Y:-6.40, Z:-0.42 [[ 9.98581992e-01 5.28363550e-02 -6.50576787e-03 6.19057649e+01] [-5.28327135e-02 9.98603110e-01 7.30449841e-04 -6.39740002e+00] [ 6.53527434e-03 -3.85696687e-04 9.99978570e-01 -4.16012068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.487552017999995 meters Centerline goodness [0,1] 0.9825560211331754 Centerline is valid? [True, True] Translation: X:61.93, Y:-6.40, Z:-0.42 [[ 9.98619928e-01 5.21842197e-02 -5.91995888e-03 6.19341956e+01] [-5.21812039e-02 9.98637413e-01 6.62855731e-04 -6.39962083e+00] [ 5.94648303e-03 -3.53030361e-04 9.99982257e-01 -4.15047267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.517552017999996 meters Centerline goodness [0,1] 0.9825573472632296 Centerline is valid? [True, True] Translation: X:61.96, Y:-6.41, Z:-0.42 [[ 9.98650019e-01 5.16644998e-02 -5.37761819e-03 6.19612246e+01] [-5.16620012e-02 9.98664445e-01 6.02602032e-04 -6.40794178e+00] [ 5.40156922e-03 -3.23970013e-04 9.99985359e-01 -4.15846759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.547552018 meters Centerline goodness [0,1] 0.9825573472632296 Centerline is valid? [True, True] Translation: X:61.99, Y:-6.41, Z:-0.42 [[ 9.98665423e-01 5.13658521e-02 -5.37794557e-03 6.19884913e+01] [-5.13633648e-02 9.98679851e-01 5.99678793e-04 -6.41085952e+00] [ 5.40164889e-03 -3.22649095e-04 9.99985359e-01 -4.16026427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.577552018 meters Centerline goodness [0,1] 0.9826631734821734 Centerline is valid? [True, True] Translation: X:62.02, Y:-6.41, Z:-0.42 [[ 9.98757969e-01 4.96053646e-02 -4.67199139e-03 6.20177304e+01] [-4.96034623e-02 9.98768854e-01 5.22236072e-04 -6.41349545e+00] [ 4.69214520e-03 -2.89840490e-04 9.99988950e-01 -4.16854247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60755201799999 meters Centerline goodness [0,1] 0.9830427459370874 Centerline is valid? [True, True] Translation: X:62.05, Y:-6.42, Z:-0.42 [[ 9.98820603e-01 4.83282925e-02 -4.66689205e-03 6.20459254e+01] [-4.83263937e-02 9.98831462e-01 5.18850126e-04 -6.41664736e+00] [ 4.68651375e-03 -2.92704133e-04 9.99988975e-01 -4.17205370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.637552017999994 meters Centerline goodness [0,1] 0.9828542841549937 Centerline is valid? [True, True] Translation: X:62.07, Y:-6.42, Z:-0.42 [[ 9.98896558e-01 4.66583262e-02 -5.35406482e-03 6.20746023e+01] [-4.66558098e-02 9.98910848e-01 5.94013102e-04 -6.41900553e+00] [ 5.37594909e-03 -3.43559414e-04 9.99985490e-01 -4.17686677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.667552017999995 meters Centerline goodness [0,1] 0.982778310721301 Centerline is valid? [True, True] Translation: X:62.10, Y:-6.42, Z:-0.42 [[ 9.98972350e-01 4.47855309e-02 -6.96420263e-03 6.21027933e+01] [-4.47812172e-02 9.98996518e-01 7.74199768e-04 -6.42473304e+00] [ 6.99188712e-03 -4.61538692e-04 9.99975450e-01 -4.18252621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.697552017999996 meters Centerline goodness [0,1] 0.9825264836541747 Centerline is valid? [True, True] Translation: X:62.13, Y:-6.43, Z:-0.42 [[ 9.99012843e-01 4.37865170e-02 -7.48866229e-03 6.21312553e+01] [-4.37815269e-02 9.99040785e-01 8.29081160e-04 -6.42776342e+00] [ 7.51778163e-03 -5.00397657e-04 9.99971616e-01 -4.18680897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.727552018 meters Centerline goodness [0,1] 0.9826340618519109 Centerline is valid? [True, True] Translation: X:62.16, Y:-6.43, Z:-0.42 [[ 9.99038086e-01 4.31983792e-02 -7.53670458e-03 6.21592310e+01] [-4.31933049e-02 9.99066385e-01 8.34827735e-04 -6.43234322e+00] [ 7.56573141e-03 -5.08489524e-04 9.99971250e-01 -4.19151684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.757552018 meters Centerline goodness [0,1] 0.9822705500442669 Centerline is valid? [True, True] Translation: X:62.19, Y:-6.44, Z:-0.42 [[ 9.99060991e-01 4.26537131e-02 -7.60248440e-03 6.21874825e+01] [-4.26485587e-02 9.99089784e-01 8.38904655e-04 -6.43599740e+00] [ 7.63134690e-03 -5.13881913e-04 9.99970749e-01 -4.20065483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.787552018 meters Centerline goodness [0,1] 0.9832170383545401 Centerline is valid? [True, True] Translation: X:62.22, Y:-6.44, Z:-0.42 [[ 9.99056695e-01 4.28934501e-02 -6.77288195e-03 6.22163495e+01] [-4.28893610e-02 9.99079548e-01 7.47900848e-04 -6.43870548e+00] [ 6.79872788e-03 -4.56710771e-04 9.99976784e-01 -4.19653351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81755201799999 meters Centerline goodness [0,1] 0.9821829819106198 Centerline is valid? [True, True] Translation: X:62.24, Y:-6.44, Z:-0.42 [[ 9.99034526e-01 4.34851828e-02 -6.24945876e-03 6.22442496e+01] [-4.34817161e-02 9.99053985e-01 6.89579980e-04 -6.44350743e+00] [ 6.27353319e-03 -4.17177017e-04 9.99980234e-01 -4.19641033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.847552017999995 meters Centerline goodness [0,1] 0.9819477326534329 Centerline is valid? [True, True] Translation: X:62.27, Y:-6.45, Z:-0.42 [[ 9.98997453e-01 4.43260256e-02 -6.26835648e-03 6.22727804e+01] [-4.43225573e-02 9.99017033e-01 6.91206612e-04 -6.44591277e+00] [ 6.29283334e-03 -4.12684056e-04 9.99980115e-01 -4.19233508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.877552017999996 meters Centerline goodness [0,1] 0.983804375099797 Centerline is valid? [True, True] Translation: X:62.30, Y:-6.44, Z:-0.42 [[ 9.98861318e-01 4.74510537e-02 -4.94612540e-03 6.23031553e+01] [-4.74489328e-02 9.98873516e-01 5.45335588e-04 -6.44031223e+00] [ 4.96643042e-03 -3.10026253e-04 9.99987619e-01 -4.17177394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.907552018 meters Centerline goodness [0,1] 0.9816041709355008 Centerline is valid? [True, True] Translation: X:62.33, Y:-6.45, Z:-0.42 [[ 9.98770296e-01 4.94031149e-02 -4.15074568e-03 6.23311855e+01] [-4.94016398e-02 9.98778889e-01 4.57226227e-04 -6.44902740e+00] [ 4.16826556e-03 -2.51610331e-04 9.99991281e-01 -4.18322175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.937552018 meters Centerline goodness [0,1] 0.9830828349894267 Centerline is valid? [True, True] Translation: X:62.36, Y:-6.44, Z:-0.42 [[ 9.98661594e-01 5.16202322e-02 -3.22054384e-03 6.23619813e+01] [-5.16193565e-02 9.98666769e-01 3.54498069e-04 -6.44431732e+00] [ 3.23454938e-03 -1.87781206e-04 9.99994751e-01 -4.16764271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.967552018 meters Centerline goodness [0,1] 0.9829740741583776 Centerline is valid? [True, True] Translation: X:62.39, Y:-6.44, Z:-0.42 [[ 9.98397171e-01 5.65717415e-02 -1.65126707e-03 6.23921076e+01] [-5.65715181e-02 9.98398533e-01 1.81747520e-04 -6.44387460e+00] [ 1.65890440e-03 -8.80415251e-05 9.99998620e-01 -4.15365089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99755201799999 meters Centerline goodness [0,1] 0.983507083057691 Centerline is valid? [True, True] Translation: X:62.42, Y:-6.45, Z:-0.42 [[ 9.98258051e-01 5.89700370e-02 -1.84358355e-03 6.24215313e+01] [-5.89697661e-02 9.98259749e-01 2.00965712e-04 -6.44525421e+00] [ 1.85222621e-03 -9.18999490e-05 9.99998280e-01 -4.15078228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.027552018 meters Centerline goodness [0,1] 0.9842107668403254 Centerline is valid? [True, True] Translation: X:62.45, Y:-6.44, Z:-0.42 [[ 9.98111038e-01 6.14161158e-02 -1.55447018e-03 6.24504739e+01] [-6.14159250e-02 9.98112246e-01 1.70209755e-04 -6.44483846e+00] [ 1.56198934e-03 -7.44190114e-05 9.99998777e-01 -4.15081657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.057552018 meters Centerline goodness [0,1] 0.9838558887242048 Centerline is valid? [True, True] Translation: X:62.48, Y:-6.45, Z:-0.42 [[ 9.97862752e-01 6.53085404e-02 -2.17315508e-03 6.24786477e+01] [-6.53081763e-02 9.97865114e-01 2.38161852e-04 -6.44945336e+00] [ 2.18406965e-03 -9.57280459e-05 9.99997610e-01 -4.17673591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.087552018 meters Centerline goodness [0,1] 0.9853340948029697 Centerline is valid? [True, True] Translation: X:62.51, Y:-6.45, Z:-0.42 [[ 9.97770497e-01 6.66759833e-02 -2.88936106e-03 6.25072800e+01] [-6.66753515e-02 9.97774673e-01 3.14564496e-04 -6.44990092e+00] [ 2.90390518e-03 -1.21214009e-04 9.99995776e-01 -4.18481257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.117552018 meters Centerline goodness [0,1] 0.9862891819135831 Centerline is valid? [True, True] Translation: X:62.54, Y:-6.45, Z:-0.42 [[ 9.97696988e-01 6.77104518e-02 -4.00186673e-03 6.25359332e+01] [-6.77092497e-02 9.97705001e-01 4.35249114e-04 -6.45225745e+00] [ 4.02215336e-03 -1.63283336e-04 9.99991898e-01 -4.19628637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.147552018 meters Centerline goodness [0,1] 0.9854711593375214 Centerline is valid? [True, True] Translation: X:62.56, Y:-6.46, Z:-0.42 [[ 9.97533102e-01 6.99636240e-02 -5.72728794e-03 6.25638327e+01] [-6.99612035e-02 9.97549519e-01 6.22133821e-04 -6.45716528e+00] [ 5.75678006e-03 -2.19911123e-04 9.99983405e-01 -4.22078903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.177552018 meters Centerline goodness [0,1] 0.9863051281465054 Centerline is valid? [True, True] Translation: X:62.59, Y:-6.46, Z:-0.42 [[ 9.97449377e-01 7.11588502e-02 -5.58197122e-03 6.25925423e+01] [-7.11565783e-02 9.97464975e-01 6.04802271e-04 -6.45866212e+00] [ 5.61085782e-03 -2.06065677e-04 9.99984238e-01 -4.21904000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.207552018 meters Centerline goodness [0,1] 0.986480632879648 Centerline is valid? [True, True] Translation: X:62.62, Y:-6.46, Z:-0.42 [[ 9.97382370e-01 7.21249693e-02 -5.13786751e-03 6.26212510e+01] [-7.21230653e-02 9.97395586e-01 5.55134673e-04 -6.46046684e+00] [ 5.16452544e-03 -1.83122782e-04 9.99986647e-01 -4.21484028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.237552018 meters Centerline goodness [0,1] 0.986302933455085 Centerline is valid? [True, True] Translation: X:62.65, Y:-6.46, Z:-0.42 [[ 9.97284009e-01 7.34988785e-02 -4.74563498e-03 6.26491856e+01] [-7.34972764e-02 9.97295287e-01 5.11354284e-04 -6.46396530e+00] [ 4.77038337e-03 -1.61174204e-04 9.99988609e-01 -4.20831694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26755201799999 meters Centerline goodness [0,1] 0.9864751018921196 Centerline is valid? [True, True] Translation: X:62.68, Y:-6.47, Z:-0.42 [[ 9.97316850e-01 7.30419438e-02 -4.89643421e-03 6.26764039e+01] [-7.30402410e-02 9.97328856e-01 5.25926832e-04 -6.46853969e+00] [ 4.92176984e-03 -1.66878957e-04 9.99987874e-01 -4.21473975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29755201799999 meters Centerline goodness [0,1] 0.9848801782547406 Centerline is valid? [True, True] Translation: X:62.70, Y:-6.47, Z:-0.42 [[ 9.97391286e-01 7.20465888e-02 -4.46225843e-03 6.27042639e+01] [-7.20451695e-02 9.97401256e-01 4.78190346e-04 -6.47440037e+00] [ 4.48511414e-03 -1.55458720e-04 9.99989930e-01 -4.22153731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32755201799999 meters Centerline goodness [0,1] 0.9843097184377838 Centerline is valid? [True, True] Translation: X:62.73, Y:-6.48, Z:-0.42 [[ 9.97489164e-01 7.06972816e-02 -4.15478522e-03 6.27311185e+01] [-7.06960390e-02 9.97497805e-01 4.45350405e-04 -6.48442522e+00] [ 4.17587420e-03 -1.50505345e-04 9.99991270e-01 -4.23635799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35755201799999 meters Centerline goodness [0,1] 0.9841777173297065 Centerline is valid? [True, True] Translation: X:62.76, Y:-6.49, Z:-0.42 [[ 9.97780449e-01 6.65206132e-02 -3.03059304e-03 6.27596961e+01] [-6.65199332e-02 9.97785043e-01 3.24752778e-04 -6.49154446e+00] [ 3.04548316e-03 -1.22437126e-04 9.99995355e-01 -4.22306359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.387552018 meters Centerline goodness [0,1] 0.9842484044720047 Centerline is valid? [True, True] Translation: X:62.79, Y:-6.50, Z:-0.42 [[ 9.97945868e-01 6.40149786e-02 -2.47542511e-03 6.27889276e+01] [-6.40145169e-02 9.97948932e-01 2.65356165e-04 -6.49883522e+00] [ 2.48733461e-03 -1.06347946e-04 9.99996901e-01 -4.22135715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.417552018 meters Centerline goodness [0,1] 0.9844498689087786 Centerline is valid? [True, True] Translation: X:62.82, Y:-6.51, Z:-0.42 [[ 9.98114816e-01 6.13399096e-02 -2.05643664e-03 6.28172318e+01] [-6.13395859e-02 9.98116930e-01 2.20170695e-04 -6.50676630e+00] [ 2.06606948e-03 -9.36146606e-05 9.99997861e-01 -4.22004820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.447552018 meters Centerline goodness [0,1] 0.9839124548736462 Centerline is valid? [True, True] Translation: X:62.85, Y:-6.51, Z:-0.42 [[ 9.98398265e-01 5.65485264e-02 -1.78033048e-03 6.28472248e+01] [-5.65482756e-02 9.98399848e-01 1.90919416e-04 -6.51365154e+00] [ 1.78827789e-03 -8.99389948e-05 9.99998397e-01 -4.20696105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.477552018 meters Centerline goodness [0,1] 0.9838745951781216 Centerline is valid? [True, True] Translation: X:62.88, Y:-6.52, Z:-0.42 [[ 9.98531380e-01 5.41421996e-02 -1.92486998e-03 6.28764502e+01] [-5.41419026e-02 9.98533230e-01 2.06093426e-04 -6.51950091e+00] [ 1.93320499e-03 -1.01574630e-04 9.99998126e-01 -4.20507454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.507552018 meters Centerline goodness [0,1] 0.982701997480655 Centerline is valid? [True, True] Translation: X:62.91, Y:-6.53, Z:-0.42 [[ 9.98629769e-01 5.22846771e-02 -2.21276193e-03 6.29054624e+01] [-5.22842802e-02 9.98632214e-01 2.36871134e-04 -6.52540142e+00] [ 2.22212008e-03 -1.20853901e-04 9.99997524e-01 -4.20334253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.537552018 meters Centerline goodness [0,1] 0.9825337314505085 Centerline is valid? [True, True] Translation: X:62.93, Y:-6.53, Z:-0.42 [[ 9.98778905e-01 4.93651427e-02 -1.94482342e-03 6.29334004e+01] [-4.93648311e-02 9.98780792e-01 2.07924438e-04 -6.53445750e+00] [ 1.95271649e-03 -1.11664663e-04 9.99998087e-01 -4.20814763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.567552018 meters Centerline goodness [0,1] 0.982246792062743 Centerline is valid? [True, True] Translation: X:62.96, Y:-6.54, Z:-0.42 [[ 9.98858222e-01 4.77381007e-02 -1.82352697e-03 6.29617431e+01] [-4.77378243e-02 9.98859881e-01 1.94833798e-04 -6.54187127e+00] [ 1.83074892e-03 -1.07560131e-04 9.99998318e-01 -4.21559452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.597552018 meters Centerline goodness [0,1] 0.98422649140546 Centerline is valid? [True, True] Translation: X:62.99, Y:-6.55, Z:-0.42 [[ 9.98977480e-01 4.51201437e-02 -2.85788571e-03 6.29908283e+01] [-4.51194547e-02 9.98981552e-01 3.05136513e-04 -6.54570892e+00] [ 2.86874291e-03 -1.75878260e-04 9.99995870e-01 -4.22910730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.627552018 meters Centerline goodness [0,1] 0.9841081274936119 Centerline is valid? [True, True] Translation: X:63.02, Y:-6.55, Z:-0.42 [[ 9.99045331e-01 4.35601174e-02 -3.30791847e-03 6.30183766e+01] [-4.35591864e-02 9.99050786e-01 3.53019998e-04 -6.55246708e+00] [ 3.32015614e-03 -2.08592744e-04 9.99994467e-01 -4.24517864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65755201799999 meters Centerline goodness [0,1] 0.9836616687958045 Centerline is valid? [True, True] Translation: X:63.05, Y:-6.56, Z:-0.43 [[ 9.99074177e-01 4.29013621e-02 -3.20329116e-03 6.30467266e+01] [-4.29004864e-02 9.99079292e-01 3.41629144e-04 -6.55761138e+00] [ 3.21499822e-03 -2.03890107e-04 9.99994811e-01 -4.25069930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68755201799999 meters Centerline goodness [0,1] 0.9841425827489167 Centerline is valid? [True, True] Translation: X:63.07, Y:-6.56, Z:-0.42 [[ 9.99100234e-01 4.22852441e-02 -3.26804274e-03 6.30749604e+01] [-4.22843301e-02 9.99105557e-01 3.48301073e-04 -6.56188169e+00] [ 3.27984766e-03 -2.09800685e-04 9.99994599e-01 -4.24700872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71755201799999 meters Centerline goodness [0,1] 0.98283540337921 Centerline is valid? [True, True] Translation: X:63.10, Y:-6.56, Z:-0.42 [[ 9.99068569e-01 4.30814845e-02 -2.44562601e-03 6.31042392e+01] [-4.30809759e-02 9.99071550e-01 2.60317170e-04 -6.55989300e+00] [ 2.45457022e-03 -1.54714747e-04 9.99996976e-01 -4.22241463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.747552018 meters Centerline goodness [0,1] 0.9837331065962588 Centerline is valid? [True, True] Translation: X:63.13, Y:-6.56, Z:-0.42 [[ 9.99039184e-01 4.37912463e-02 -1.74230378e-03 6.31331334e+01] [-4.37909897e-02 9.99040697e-01 1.85170838e-04 -6.56191024e+00] [ 1.74874124e-03 -1.08695717e-04 9.99998465e-01 -4.21612363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.777552018 meters Centerline goodness [0,1] 0.9836139068839523 Centerline is valid? [True, True] Translation: X:63.16, Y:-6.57, Z:-0.42 [[ 9.99001448e-01 4.46644940e-02 -1.09099793e-03 6.31605810e+01] [-4.46643943e-02 9.99002041e-01 1.15532096e-04 -6.56628374e+00] [ 1.09506934e-03 -6.66879699e-05 9.99999398e-01 -4.21963118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.807552018 meters Centerline goodness [0,1] 0.9843431971191483 Centerline is valid? [True, True] Translation: X:63.19, Y:-6.57, Z:-0.42 [[ 9.98987935e-01 4.49671612e-02 -1.02949993e-03 6.31898123e+01] [-4.49670726e-02 9.98988464e-01 1.09022097e-04 -6.56684315e+00] [ 1.03336097e-03 -6.26181611e-05 9.99999464e-01 -4.21890576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.837552018 meters Centerline goodness [0,1] 0.9832378479992838 Centerline is valid? [True, True] Translation: X:63.22, Y:-6.57, Z:-0.42 [[ 9.98992483e-01 4.48203087e-02 -2.27150990e-03 6.32169220e+01] [-4.48198765e-02 9.98995055e-01 2.40822764e-04 -6.57476370e+00] [ 2.28002091e-03 -1.38771337e-04 9.99997391e-01 -4.23586869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.867552018 meters Centerline goodness [0,1] 0.9830603293949158 Centerline is valid? [True, True] Translation: X:63.25, Y:-6.57, Z:-0.42 [[ 9.99057475e-01 4.33226907e-02 -2.70290242e-03 6.32469680e+01] [-4.33220723e-02 9.99061117e-01 2.86955386e-04 -6.57447588e+00] [ 2.71279639e-03 -1.69589589e-04 9.99996306e-01 -4.23135895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.897552018 meters Centerline goodness [0,1] 0.984199453918804 Centerline is valid? [True, True] Translation: X:63.28, Y:-6.58, Z:-0.42 [[ 9.99108497e-01 4.21015199e-02 -3.11018236e-03 6.32755559e+01] [-4.21006966e-02 9.99113318e-01 3.29733111e-04 -6.57716798e+00] [ 3.12130689e-03 -1.98498309e-04 9.99995109e-01 -4.22931146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.927552018 meters Centerline goodness [0,1] 0.9834721848965332 Centerline is valid? [True, True] Translation: X:63.30, Y:-6.58, Z:-0.42 [[ 9.99240341e-01 3.87764355e-02 -3.88959123e-03 6.33043103e+01] [-3.87751219e-02 9.99247877e-01 4.12597108e-04 -6.58404423e+00] [ 3.90266482e-03 -2.61464301e-04 9.99992350e-01 -4.24864042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.957552018 meters Centerline goodness [0,1] 0.9844279850080314 Centerline is valid? [True, True] Translation: X:63.33, Y:-6.59, Z:-0.43 [[ 9.99311162e-01 3.68718312e-02 -4.20342161e-03 6.33331886e+01] [-3.68702818e-02 9.99319961e-01 4.45525646e-04 -6.58712381e+00] [ 4.21699047e-03 -2.90237412e-04 9.99991066e-01 -4.25791016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.987552018 meters Centerline goodness [0,1] 0.9828902873267193 Centerline is valid? [True, True] Translation: X:63.36, Y:-6.60, Z:-0.43 [[ 9.99364208e-01 3.53497285e-02 -4.64500168e-03 6.33610123e+01] [-3.53478212e-02 9.99374949e-01 4.92101194e-04 -6.59540362e+00] [ 4.65949396e-03 -3.27597632e-04 9.99989091e-01 -4.27632536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01755201799999 meters Centerline goodness [0,1] 0.9839471622075451 Centerline is valid? [True, True] Translation: X:63.39, Y:-6.59, Z:-0.43 [[ 9.99476382e-01 3.18776518e-02 -5.54779763e-03 6.33914036e+01] [-3.18748766e-02 9.99491694e-01 5.87958205e-04 -6.59372585e+00] [ 5.56372038e-03 -4.10814975e-04 9.99984438e-01 -4.26960656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04755201799999 meters Centerline goodness [0,1] 0.9830815709969789 Centerline is valid? [True, True] Translation: X:63.42, Y:-6.60, Z:-0.43 [[ 9.99513103e-01 3.06135087e-02 -6.03078836e-03 6.34211213e+01] [-3.06102085e-02 9.99531194e-01 6.38784146e-04 -6.59600502e+00] [ 6.04751652e-03 -4.53869434e-04 9.99981611e-01 -4.26110102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07755201799999 meters Centerline goodness [0,1] 0.9819866301763202 Centerline is valid? [True, True] Translation: X:63.45, Y:-6.60, Z:-0.43 [[ 9.99544839e-01 2.96056675e-02 -5.79824689e-03 6.34479261e+01] [-2.96026072e-02 9.99561559e-01 6.12934627e-04 -6.60130252e+00] [ 5.81385104e-03 -4.41012418e-04 9.99983002e-01 -4.25590496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10755201799999 meters Centerline goodness [0,1] 0.9812310797174572 Centerline is valid? [True, True] Translation: X:63.48, Y:-6.60, Z:-0.42 [[ 9.99578084e-01 2.89323286e-02 -2.56391666e-03 6.34767982e+01] [-2.89317289e-02 9.99581353e-01 2.70662429e-04 -6.60209035e+00] [ 2.57067418e-03 -1.96369690e-04 9.99996677e-01 -4.22938001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.137552018 meters Centerline goodness [0,1] 0.9815905578822423 Centerline is valid? [True, True] Translation: X:63.51, Y:-6.60, Z:-0.42 [[ 9.99597242e-01 2.83497885e-02 -1.28205028e-03 6.35060164e+01] [-2.83496386e-02 9.99598059e-01 1.34973834e-04 -6.60330615e+00] [ 1.28536146e-03 -9.85738099e-05 9.99999169e-01 -4.22247359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.167552018 meters Centerline goodness [0,1] 0.9808170674315936 Centerline is valid? [True, True] Translation: X:63.53, Y:-6.61, Z:-0.42 [[ 9.99600272e-01 2.82639677e-02 -6.66068447e-04 6.35344025e+01] [-2.82639274e-02 9.99600493e-01 6.98249012e-05 -6.60751216e+00] [ 6.67775877e-04 -5.09712800e-05 9.99999776e-01 -4.22196218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.197552018 meters Centerline goodness [0,1] 0.9794723381343384 Centerline is valid? [True, True] Translation: X:63.56, Y:-6.61, Z:-0.42 [[ 9.99655762e-01 2.62304535e-02 -5.66199234e-04 6.35620449e+01] [-2.62304242e-02 9.99655921e-01 5.91906636e-05 -6.61359002e+00] [ 5.67557015e-04 -4.43186418e-05 9.99999838e-01 -4.22536314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.227552018 meters Centerline goodness [0,1] 0.9797086485151848 Centerline is valid? [True, True] Translation: X:63.59, Y:-6.62, Z:-0.42 [[ 9.99691956e-01 2.47979688e-02 -1.02649534e-03 6.35916792e+01] [-2.47978709e-02 9.99692480e-01 1.08024245e-04 -6.61604805e+00] [ 1.02885846e-03 -8.25360700e-05 9.99999467e-01 -4.23142012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.257552018 meters Centerline goodness [0,1] 0.9774667505391804 Centerline is valid? [True, True] Translation: X:63.62, Y:-6.62, Z:-0.42 [[ 9.99711593e-01 2.39726582e-02 -1.42944506e-03 6.36196188e+01] [-2.39724680e-02 9.99712608e-01 1.50016216e-04 -6.62036839e+00] [ 1.43263054e-03 -1.15705624e-04 9.99998967e-01 -4.23772164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.287552018 meters Centerline goodness [0,1] 0.9720444594139441 Centerline is valid? [True, True] Translation: X:63.65, Y:-6.63, Z:-0.42 [[ 9.99760803e-01 2.17915411e-02 -1.86135649e-03 6.36490900e+01] [-2.17912137e-02 9.99762524e-01 1.96000190e-04 -6.62502709e+00] [ 1.86518561e-03 -1.55392091e-04 9.99998248e-01 -4.24537921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.317552018 meters Centerline goodness [0,1] 0.977889018586693 Centerline is valid? [True, True] Translation: X:63.68, Y:-6.63, Z:-0.43 [[ 9.99780261e-01 2.09066313e-02 -1.53078089e-03 6.36780546e+01] [-2.09064097e-02 9.99781424e-01 1.60660793e-04 -6.62548346e+00] [ 1.53380517e-03 -1.28622357e-04 9.99998815e-01 -4.25265329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.347552018 meters Centerline goodness [0,1] 0.9765642520744562 Centerline is valid? [True, True] Translation: X:63.71, Y:-6.63, Z:-0.43 [[ 9.99777663e-01 2.09656412e-02 -2.25094421e-03 6.37064412e+01] [-2.09651619e-02 9.99780179e-01 2.36312288e-04 -6.63054040e+00] [ 2.25540385e-03 -1.89068337e-04 9.99997439e-01 -4.26762591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.377552018 meters Centerline goodness [0,1] 0.9771434967539736 Centerline is valid? [True, True] Translation: X:63.74, Y:-6.63, Z:-0.43 [[ 9.99801769e-01 1.97590098e-02 -2.45047467e-03 6.37364090e+01] [-1.97584377e-02 9.99804750e-01 2.57458790e-04 -6.63197134e+00] [ 2.45508335e-03 -2.08990202e-04 9.99996964e-01 -4.27494829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40755201799999 meters Centerline goodness [0,1] 0.9797975263193338 Centerline is valid? [True, True] Translation: X:63.77, Y:-6.63, Z:-0.43 [[ 9.99803276e-01 1.95337501e-02 -3.44119782e-03 6.37654913e+01] [-1.95326221e-02 9.99809155e-01 3.61111377e-04 -6.63242297e+00] [ 3.44759494e-03 -2.93824721e-04 9.99994014e-01 -4.28293465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43755201799999 meters Centerline goodness [0,1] 0.9797975263193338 Centerline is valid? [True, True] Translation: X:63.79, Y:-6.64, Z:-0.43 [[ 9.99805599e-01 1.94144925e-02 -3.44126808e-03 6.37929067e+01] [-1.94133661e-02 9.99811478e-01 3.60442157e-04 -6.63519345e+00] [ 3.44761712e-03 -2.93565489e-04 9.99994014e-01 -4.28473942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46755201799999 meters Centerline goodness [0,1] 0.9781403595394663 Centerline is valid? [True, True] Translation: X:63.82, Y:-6.64, Z:-0.43 [[ 9.99811446e-01 1.91440510e-02 -3.25243565e-03 6.38202133e+01] [-1.91430441e-02 9.99816697e-01 3.40432889e-04 -6.63864001e+00] [ 3.25835674e-03 -2.78107180e-04 9.99994653e-01 -4.28180348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.497552018 meters Centerline goodness [0,1] 0.9653450939130045 Centerline is valid? [True, True] Translation: X:63.85, Y:-6.64, Z:-0.43 [[ 9.99798355e-01 1.98049292e-02 -3.31881887e-03 6.38472235e+01] [-1.98038854e-02 9.99803824e-01 3.47077772e-04 -6.64474382e+00] [ 3.32504165e-03 -2.81282277e-04 9.99994432e-01 -4.28339148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.527552018 meters Centerline goodness [0,1] 0.9820519148363359 Centerline is valid? [True, True] Translation: X:63.88, Y:-6.64, Z:-0.43 [[ 9.99759161e-01 2.18233264e-02 -2.31574307e-03 6.38782092e+01] [-2.18228236e-02 9.99761824e-01 2.42172507e-04 -6.63939522e+00] [ 2.32047653e-03 -1.91578130e-04 9.99997289e-01 -4.27944220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.557552018 meters Centerline goodness [0,1] 0.9792940647482015 Centerline is valid? [True, True] Translation: X:63.91, Y:-6.65, Z:-0.43 [[ 9.99733829e-01 2.29490147e-02 -2.36955578e-03 6.39058214e+01] [-2.29484923e-02 9.99736618e-01 2.47429181e-04 -6.64590841e+00] [ 2.37460994e-03 -1.92985589e-04 9.99997162e-01 -4.28963252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.587552018 meters Centerline goodness [0,1] 0.9809718969555035 Centerline is valid? [True, True] Translation: X:63.93, Y:-6.65, Z:-0.43 [[ 9.99714225e-01 2.38135298e-02 -2.09366474e-03 6.39343700e+01] [-2.38131243e-02 9.99716403e-01 2.18410177e-04 -6.64797726e+00] [ 2.09827210e-03 -1.68491063e-04 9.99997784e-01 -4.29380065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.617552018 meters Centerline goodness [0,1] 0.9799775280898877 Centerline is valid? [True, True] Translation: X:63.96, Y:-6.65, Z:-0.43 [[ 9.99699490e-01 2.44040798e-02 -2.31744739e-03 6.39621268e+01] [-2.44035853e-02 9.99702159e-01 2.41463048e-04 -6.65033905e+00] [ 2.32264984e-03 -1.84836461e-04 9.99997286e-01 -4.29609392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.647552018 meters Centerline goodness [0,1] 0.9826188760806917 Centerline is valid? [True, True] Translation: X:63.99, Y:-6.65, Z:-0.43 [[ 9.99704807e-01 2.41888452e-02 -2.27992168e-03 6.39915335e+01] [-2.41883662e-02 9.99707390e-01 2.37469397e-04 -6.64695616e+00] [ 2.28499866e-03 -1.82251718e-04 9.99997373e-01 -4.28926144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.677552018 meters Centerline goodness [0,1] 0.9802551776809381 Centerline is valid? [True, True] Translation: X:64.02, Y:-6.65, Z:-0.43 [[ 9.99704833e-01 2.42030907e-02 -2.11128541e-03 6.40185717e+01] [-2.42026807e-02 9.99707048e-01 2.19532246e-04 -6.65238488e+00] [ 2.11598027e-03 -1.68368681e-04 9.99997747e-01 -4.29052002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.707552018 meters Centerline goodness [0,1] 0.9810122320727191 Centerline is valid? [True, True] Translation: X:64.05, Y:-6.65, Z:-0.43 [[ 9.99710595e-01 2.39923100e-02 -1.75950601e-03 6.40471927e+01] [-2.39920252e-02 9.99712133e-01 1.82833057e-04 -6.65192392e+00] [ 1.76338609e-03 -1.40566032e-04 9.99998435e-01 -4.28447844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.737552018 meters Centerline goodness [0,1] 0.9813589085505876 Centerline is valid? [True, True] Translation: X:64.08, Y:-6.66, Z:-0.43 [[ 9.99680401e-01 2.52374068e-02 -1.47298148e-03 6.40757323e+01] [-2.52372088e-02 9.99681479e-01 1.52857095e-04 -6.65527457e+00] [ 1.47637002e-03 -1.15634301e-04 9.99998903e-01 -4.28983305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76755201799999 meters Centerline goodness [0,1] 0.9805748756386882 Centerline is valid? [True, True] Translation: X:64.10, Y:-6.66, Z:-0.43 [[ 9.99678614e-01 2.53266804e-02 -1.10799075e-03 6.41031585e+01] [-2.53265688e-02 9.99679224e-01 1.14618156e-04 -6.65871364e+00] [ 1.11053823e-03 -8.65197152e-05 9.99999380e-01 -4.29490140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79755201799999 meters Centerline goodness [0,1] 0.9806380439921651 Centerline is valid? [True, True] Translation: X:64.13, Y:-6.66, Z:-0.43 [[ 9.99693187e-01 2.47689306e-02 -1.80397365e-04 6.41317832e+01] [-2.47689278e-02 9.99693203e-01 1.82367737e-05 -6.65934457e+00] [ 1.80793725e-04 -1.37629291e-05 9.99999984e-01 -4.28901440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82755201799999 meters Centerline goodness [0,1] 0.9793168709444845 Centerline is valid? [True, True] Translation: X:64.16, Y:-6.66, Z:-0.43 [[ 9.99697231e-01 2.45945445e-02 -7.45032457e-04 6.41598181e+01] [-2.45944941e-02 9.99697507e-01 7.67327965e-05 -6.66030332e+00] [ 7.46694298e-04 -5.83858679e-05 9.99999720e-01 -4.28583658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85755201799999 meters Centerline goodness [0,1] 0.979607029258499 Centerline is valid? [True, True] Translation: X:64.19, Y:-6.66, Z:-0.43 [[ 9.99703295e-01 2.43380558e-02 -9.90144989e-04 6.41889128e+01] [-2.43379664e-02 9.99703783e-01 1.02231153e-04 -6.66123785e+00] [ 9.92339798e-04 -7.81027055e-05 9.99999505e-01 -4.29144880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.887552018 meters Centerline goodness [0,1] 0.9789024775486258 Centerline is valid? [True, True] Translation: X:64.22, Y:-6.67, Z:-0.43 [[ 9.99704344e-01 2.43040687e-02 -7.32925534e-04 6.42166265e+01] [-2.43040202e-02 9.99704611e-01 7.50738877e-05 -6.66532712e+00] [ 7.34533637e-04 -5.72386547e-05 9.99999729e-01 -4.29621029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.917552018 meters Centerline goodness [0,1] 0.9796374472311895 Centerline is valid? [True, True] Translation: X:64.25, Y:-6.67, Z:-0.43 [[ 9.99705723e-01 2.42572833e-02 -2.27115756e-04 6.42452696e+01] [-2.42572787e-02 9.99705749e-01 2.30012491e-05 -6.66614014e+00] [ 2.27606874e-04 -1.74852702e-05 9.99999974e-01 -4.29477806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.947552018 meters Centerline goodness [0,1] 0.9789259468626342 Centerline is valid? [True, True] Translation: X:64.27, Y:-6.67, Z:-0.43 [[ 9.99701375e-01 2.44177733e-02 9.65888619e-04 6.42728784e+01] [-2.44176875e-02 9.99701839e-01 -1.00569489e-04 -6.66891648e+00] [-9.68056312e-04 7.69546902e-05 9.99999528e-01 -4.29046763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.977552018 meters Centerline goodness [0,1] 0.9800298872435811 Centerline is valid? [True, True] Translation: X:64.30, Y:-6.67, Z:-0.43 [[ 9.99706867e-01 2.41813658e-02 1.20093122e-03 6.43017651e+01] [-2.41812334e-02 9.99707583e-01 -1.24674839e-04 -6.66679991e+00] [-1.20359485e-03 9.55982950e-05 9.99999271e-01 -4.28504953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.007552018 meters Centerline goodness [0,1] 0.9787633435860322 Centerline is valid? [True, True] Translation: X:64.33, Y:-6.67, Z:-0.43 [[ 9.99702224e-01 2.43179992e-02 2.02418013e-03 6.43290257e+01] [-2.43176242e-02 9.99704261e-01 -2.09701691e-04 -6.67073236e+00] [-2.02868102e-03 1.60415996e-04 9.99997929e-01 -4.28178221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.037552018 meters Centerline goodness [0,1] 0.9792200140497179 Centerline is valid? [True, True] Translation: X:64.36, Y:-6.67, Z:-0.43 [[ 9.99703933e-01 2.42459875e-02 2.04421266e-03 6.43572830e+01] [-2.42456051e-02 9.99706010e-01 -2.11650196e-04 -6.67209445e+00] [-2.04874335e-03 1.62024360e-04 9.99997888e-01 -4.27832674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.067552018 meters Centerline goodness [0,1] 0.9753609719609221 Centerline is valid? [True, True] Translation: X:64.38, Y:-6.68, Z:-0.43 [[ 9.99704156e-01 2.42645652e-02 1.68242868e-03 6.43843601e+01] [-2.42643065e-02 9.99705563e-01 -1.74028061e-04 -6.67935362e+00] [-1.68615603e-03 1.33153611e-04 9.99998570e-01 -4.28384060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.097552018 meters Centerline goodness [0,1] 0.9792990739059378 Centerline is valid? [True, True] Translation: X:64.41, Y:-6.67, Z:-0.43 [[ 9.99701708e-01 2.43967704e-02 1.13673328e-03 6.44137976e+01] [-2.43966524e-02 9.99702350e-01 -1.17571433e-04 -6.67493521e+00] [-1.13926330e-03 8.98038761e-05 9.99999347e-01 -4.28739701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.127552018 meters Centerline goodness [0,1] 0.9789728616373554 Centerline is valid? [True, True] Translation: X:64.44, Y:-6.68, Z:-0.43 [[ 9.99713118e-01 2.39393270e-02 7.68280055e-04 6.44428665e+01] [-2.39392729e-02 9.99713411e-01 -7.95707007e-05 -6.67630246e+00] [-7.69964744e-04 6.11558074e-05 9.99999702e-01 -4.29771769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15755201799999 meters Centerline goodness [0,1] 0.9786186077127358 Centerline is valid? [True, True] Translation: X:64.47, Y:-6.68, Z:-0.43 [[ 9.99750476e-01 2.23327664e-02 4.83679055e-04 6.44712060e+01] [-2.23327447e-02 9.99750592e-01 -5.01253780e-05 -6.68224086e+00] [-4.84677860e-04 3.93109897e-05 9.99999882e-01 -4.30592048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18755201799999 meters Centerline goodness [0,1] 0.9793131606405662 Centerline is valid? [True, True] Translation: X:64.50, Y:-6.68, Z:-0.43 [[ 9.99774190e-01 2.12390534e-02 6.86227356e-04 6.45000189e+01] [-2.12390096e-02 9.99774424e-01 -7.10355246e-05 -6.68133641e+00] [-6.87581287e-04 5.64446946e-05 9.99999762e-01 -4.30220738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21755201799999 meters Centerline goodness [0,1] 0.9765226267437904 Centerline is valid? [True, True] Translation: X:64.53, Y:-6.69, Z:-0.43 [[ 9.99814340e-01 1.92423430e-02 1.00923156e-03 6.45282998e+01] [-1.92422477e-02 9.99814845e-01 -1.04035706e-04 -6.68784569e+00] [-1.01104659e-03 8.45965072e-05 9.99999485e-01 -4.30592758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.247552018 meters Centerline goodness [0,1] 0.9790697146489297 Centerline is valid? [True, True] Translation: X:64.56, Y:-6.69, Z:-0.43 [[ 9.99813734e-01 1.92757594e-02 9.70301520e-04 6.45567866e+01] [-1.92756713e-02 9.99814202e-01 -1.00090354e-04 -6.68806447e+00] [-9.72050557e-04 8.13684971e-05 9.99999524e-01 -4.31285841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.277552018 meters Centerline goodness [0,1] 0.9793903157131857 Centerline is valid? [True, True] Translation: X:64.59, Y:-6.69, Z:-0.43 [[ 9.99802702e-01 1.98492331e-02 7.51234526e-04 6.45860568e+01] [-1.98491805e-02 9.99802983e-01 -7.74357010e-05 -6.69042943e+00] [-7.52623559e-04 6.25090334e-05 9.99999715e-01 -4.32210634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.307552018 meters Centerline goodness [0,1] 0.980606143282632 Centerline is valid? [True, True] Translation: X:64.62, Y:-6.69, Z:-0.43 [[ 9.99790093e-01 2.04846245e-02 3.87066018e-04 6.46151754e+01] [-2.04846105e-02 9.99790168e-01 -4.01876874e-05 -6.69104246e+00] [-3.87808028e-04 3.22503551e-05 9.99999924e-01 -4.32742564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.337552018 meters Centerline goodness [0,1] 0.9781907401517561 Centerline is valid? [True, True] Translation: X:64.64, Y:-6.70, Z:-0.43 [[ 9.99741068e-01 2.27546853e-02 -1.47942365e-04 6.46438899e+01] [-2.27546833e-02 9.99741079e-01 1.48986293e-05 -6.69559594e+00] [ 1.48243073e-04 -1.15283899e-05 9.99999989e-01 -4.33603496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.367552018 meters Centerline goodness [0,1] 0.9802402169701666 Centerline is valid? [True, True] Translation: X:64.67, Y:-6.69, Z:-0.43 [[ 9.99713361e-01 2.39413214e-02 8.98655356e-05 6.46729385e+01] [-2.39413207e-02 9.99713365e-01 -9.71335614e-06 -6.69206581e+00] [-9.00723276e-05 7.55907231e-06 9.99999996e-01 -4.33336274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.397552018 meters Centerline goodness [0,1] 0.9808348886966813 Centerline is valid? [True, True] Translation: X:64.70, Y:-6.70, Z:-0.43 [[ 9.99697909e-01 2.45744466e-02 4.32694680e-04 6.47004644e+01] [-2.45744294e-02 9.99698002e-01 -4.50726166e-05 -6.69530732e+00] [-4.33671642e-04 3.44257757e-05 9.99999905e-01 -4.33370730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.427552018 meters Centerline goodness [0,1] 0.9816572221842925 Centerline is valid? [True, True] Translation: X:64.73, Y:-6.69, Z:-0.43 [[ 9.99608218e-01 2.79690534e-02 1.06883543e-03 6.47312745e+01] [-2.79689524e-02 9.99608786e-01 -1.09368108e-04 -6.69325739e+00] [-1.07147621e-03 7.94310525e-05 9.99999423e-01 -4.33306330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.457552018 meters Centerline goodness [0,1] 0.9816645408163265 Centerline is valid? [True, True] Translation: X:64.76, Y:-6.70, Z:-0.43 [[ 9.99568475e-01 2.93555521e-02 1.05623683e-03 6.47597908e+01] [-2.93554538e-02 9.99569030e-01 -1.08400757e-04 -6.69525255e+00] [-1.05896379e-03 7.73476680e-05 9.99999436e-01 -4.33606053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.487552018 meters Centerline goodness [0,1] 0.9827150947258295 Centerline is valid? [True, True] Translation: X:64.79, Y:-6.70, Z:-0.43 [[ 9.99522110e-01 3.09024628e-02 7.67618323e-04 6.47884402e+01] [-3.09024113e-02 9.99522403e-01 -7.88570849e-05 -6.69743116e+00] [-7.69688589e-04 5.50981428e-05 9.99999702e-01 -4.33943396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51755201799999 meters Centerline goodness [0,1] 0.9828644442923312 Centerline is valid? [True, True] Translation: X:64.82, Y:-6.70, Z:-0.43 [[ 9.99416618e-01 3.41481612e-02 5.72126137e-04 6.48185227e+01] [-3.41481332e-02 9.99416781e-01 -5.85104692e-05 -6.69731972e+00] [-5.73790487e-04 3.89392956e-05 9.99999835e-01 -4.34219678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54755201799999 meters Centerline goodness [0,1] 0.9835736448256981 Centerline is valid? [True, True] Translation: X:64.85, Y:-6.70, Z:-0.43 [[ 9.99388460e-01 3.49558654e-02 8.90766660e-04 6.48477419e+01] [-3.49557978e-02 9.99388855e-01 -9.13462021e-05 -6.69835629e+00] [-8.93415358e-04 6.01528809e-05 9.99999599e-01 -4.34191127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57755201799999 meters Centerline goodness [0,1] 0.9834703217139865 Centerline is valid? [True, True] Translation: X:64.88, Y:-6.70, Z:-0.43 [[ 9.99364850e-01 3.55946532e-02 1.70810138e-03 6.48754052e+01] [-3.55944061e-02 9.99366303e-01 -1.74854570e-04 -6.70194764e+00] [-1.71324285e-03 1.13944658e-04 9.99998526e-01 -4.34378746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60755201799999 meters Centerline goodness [0,1] 0.982238132153769 Centerline is valid? [True, True] Translation: X:64.90, Y:-6.71, Z:-0.44 [[ 9.99364741e-01 3.56117457e-02 1.38495168e-03 6.49034571e+01] [-3.56115838e-02 9.99365696e-01 -1.41416975e-04 -6.70633845e+00] [-1.38910930e-03 9.20068158e-05 9.99999031e-01 -4.35303851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.637552018 meters Centerline goodness [0,1] 0.9828347675636298 Centerline is valid? [True, True] Translation: X:64.93, Y:-6.71, Z:-0.44 [[ 9.99359960e-01 3.57436339e-02 1.43655003e-03 6.49315390e+01] [-3.57434600e-02 9.99360988e-01 -1.46555091e-04 -6.71143583e+00] [-1.44087047e-03 9.51140215e-05 9.99998957e-01 -4.36664840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.667552018 meters Centerline goodness [0,1] 0.9827492158734488 Centerline is valid? [True, True] Translation: X:64.96, Y:-6.72, Z:-0.44 [[ 9.99372251e-01 3.54167073e-02 8.71899115e-04 6.49585232e+01] [-3.54166429e-02 9.99372630e-01 -8.91887878e-05 -6.71728372e+00] [-8.74510885e-04 5.82530600e-05 9.99999616e-01 -4.37721233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.697552018 meters Centerline goodness [0,1] 0.9833522856493063 Centerline is valid? [True, True] Translation: X:64.99, Y:-6.72, Z:-0.44 [[ 9.99388210e-01 3.49690641e-02 6.08933265e-04 6.49867419e+01] [-3.49690326e-02 9.99388394e-01 -6.23022459e-05 -6.72175605e+00] [-6.10739489e-04 4.09703228e-05 9.99999813e-01 -4.38556842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.727552018 meters Centerline goodness [0,1] 0.9846384243606907 Centerline is valid? [True, True] Translation: X:65.02, Y:-6.72, Z:-0.44 [[ 9.99455095e-01 3.30046697e-02 -4.52683669e-04 6.50165305e+01] [-3.30046524e-02 9.99455197e-01 4.56654740e-05 -6.72410890e+00] [ 4.53944220e-04 -3.06999235e-05 9.99999896e-01 -4.38455131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.757552018 meters Centerline goodness [0,1] 0.9829576440647155 Centerline is valid? [True, True] Translation: X:65.04, Y:-6.73, Z:-0.44 [[ 9.99473648e-01 3.24288679e-02 -8.91696071e-04 6.50441886e+01] [-3.24288007e-02 9.99474044e-01 8.97328654e-05 -6.73019217e+00] [ 8.94137014e-04 -6.07690002e-05 9.99999598e-01 -4.39424849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.787552018 meters Centerline goodness [0,1] 0.984674852205548 Centerline is valid? [True, True] Translation: X:65.07, Y:-6.73, Z:-0.44 [[ 9.99527208e-01 3.07219213e-02 -1.23455714e-03 6.50736690e+01] [-3.07217905e-02 9.99527967e-01 1.24816748e-04 -6.73436073e+00] [ 1.23780900e-03 -8.68299295e-05 9.99999230e-01 -4.40201741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.817552018 meters Centerline goodness [0,1] 0.9823976409209482 Centerline is valid? [True, True] Translation: X:65.10, Y:-6.75, Z:-0.44 [[ 9.99601316e-01 2.82012062e-02 -1.37891609e-03 6.51016058e+01] [-2.82010407e-02 9.99602262e-01 1.39390216e-04 -6.74569973e+00] [ 1.38229861e-03 -1.00447775e-04 9.99999040e-01 -4.41485354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.847552018 meters Centerline goodness [0,1] 0.9817433205891003 Centerline is valid? [True, True] Translation: X:65.13, Y:-6.75, Z:-0.44 [[ 9.99616995e-01 2.76558308e-02 -1.00936969e-03 6.51303618e+01] [-2.76557422e-02 9.99617502e-01 1.01643128e-04 -6.75129321e+00] [ 1.01179463e-03 -7.36893300e-05 9.99999485e-01 -4.41888588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.877552018 meters Centerline goodness [0,1] 0.9819407984068073 Centerline is valid? [True, True] Translation: X:65.16, Y:-6.76, Z:-0.44 [[ 9.99656290e-01 2.62123066e-02 -4.65633140e-04 6.51593523e+01] [-2.62122877e-02 9.99656398e-01 4.67151522e-05 -6.75501650e+00] [ 4.66697659e-04 -3.44937859e-05 9.99999891e-01 -4.41490610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90755201799999 meters Centerline goodness [0,1] 0.9832352941176471 Centerline is valid? [True, True] Translation: X:65.19, Y:-6.76, Z:-0.44 [[ 9.99672966e-01 2.55698348e-02 -3.81562069e-04 6.51885554e+01] [-2.55698221e-02 9.99673038e-01 3.80461507e-05 -6.75661045e+00] [ 3.82410147e-04 -2.82772341e-05 9.99999926e-01 -4.40847834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93755201799999 meters Centerline goodness [0,1] 0.9823010849909584 Centerline is valid? [True, True] Translation: X:65.22, Y:-6.76, Z:-0.44 [[ 9.99681398e-01 2.52375750e-02 4.09167142e-04 6.52171928e+01] [-2.52375600e-02 9.99681481e-01 -4.18312106e-05 -6.76064877e+00] [-4.10092533e-04 3.14915028e-05 9.99999915e-01 -4.40131170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96755201799999 meters Centerline goodness [0,1] 0.9824857232789244 Centerline is valid? [True, True] Translation: X:65.25, Y:-6.76, Z:-0.44 [[ 9.99689824e-01 2.49021238e-02 3.73270688e-04 6.52460605e+01] [-2.49021113e-02 9.99689894e-01 -3.81733653e-05 -6.76474180e+00] [-3.74105532e-04 2.88662966e-05 9.99999930e-01 -4.40488222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.997552018 meters Centerline goodness [0,1] 0.9832683157823529 Centerline is valid? [True, True] Translation: X:65.27, Y:-6.77, Z:-0.44 [[ 9.99697668e-01 2.45878401e-02 1.00647220e-04 6.52749516e+01] [-2.45878391e-02 9.99697673e-01 -1.06557191e-05 -6.76960423e+00] [-1.00878793e-04 8.17779986e-06 9.99999995e-01 -4.41296319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.027552018 meters Centerline goodness [0,1] 0.9824146094014203 Centerline is valid? [True, True] Translation: X:65.30, Y:-6.78, Z:-0.44 [[ 9.99713224e-01 2.39411656e-02 -5.38246523e-04 6.53016965e+01] [-2.39411402e-02 9.99713368e-01 5.35846016e-05 -6.77801502e+00] [ 5.39375123e-04 -4.06829994e-05 9.99999854e-01 -4.43709220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.057552018 meters Centerline goodness [0,1] 0.9819388214125057 Centerline is valid? [True, True] Translation: X:65.33, Y:-6.78, Z:-0.44 [[ 9.99723630e-01 2.35004051e-02 -6.27790600e-04 6.53301741e+01] [-2.35003704e-02 9.99723826e-01 6.26865138e-05 -6.78257899e+00] [ 6.29090379e-04 -4.79158775e-05 9.99999801e-01 -4.44556661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.087552018 meters Centerline goodness [0,1] 0.9822915260339319 Centerline is valid? [True, True] Translation: X:65.36, Y:-6.78, Z:-0.44 [[ 9.99739245e-01 2.28337030e-02 -2.53963622e-04 6.53585726e+01] [-2.28336974e-02 9.99739277e-01 2.47175910e-05 -6.78356288e+00] [ 2.54461802e-04 -1.89122172e-05 9.99999967e-01 -4.44419316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.117552018 meters Centerline goodness [0,1] 0.9824478604818411 Centerline is valid? [True, True] Translation: X:65.39, Y:-6.79, Z:-0.44 [[ 9.99757209e-01 2.20237400e-02 -6.90692000e-04 6.53873593e+01] [-2.20236977e-02 9.99757447e-01 6.88687772e-05 -6.78849625e+00] [ 6.92041219e-04 -5.36404647e-05 9.99999759e-01 -4.44163539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.147552018 meters Centerline goodness [0,1] 0.9820347194186516 Centerline is valid? [True, True] Translation: X:65.42, Y:-6.79, Z:-0.44 [[ 9.99768619e-01 2.14983790e-02 -7.27421968e-04 6.54154258e+01] [-2.14983320e-02 9.99768882e-01 7.23587397e-05 -6.79196901e+00] [ 7.28809443e-04 -5.67036382e-05 9.99999733e-01 -4.44172850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.177552018 meters Centerline goodness [0,1] 0.9826584408300617 Centerline is valid? [True, True] Translation: X:65.44, Y:-6.79, Z:-0.44 [[ 9.99776301e-01 2.11415160e-02 -6.19867581e-04 6.54439461e+01] [-2.11414818e-02 9.99776492e-01 6.16371663e-05 -6.79441834e+00] [ 6.21032139e-04 -4.85184589e-05 9.99999806e-01 -4.44230768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.207552018 meters Centerline goodness [0,1] 0.9812216029902191 Centerline is valid? [True, True] Translation: X:65.47, Y:-6.81, Z:-0.45 [[ 9.99807912e-01 1.95988901e-02 -1.50433994e-04 6.54713443e+01] [-1.95988881e-02 9.99807923e-01 1.46915077e-05 -6.80625795e+00] [ 1.50693036e-04 -1.17403466e-05 9.99999989e-01 -4.45543955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.237552018 meters Centerline goodness [0,1] 0.981132918034251 Centerline is valid? [True, True] Translation: X:65.50, Y:-6.81, Z:-0.45 [[ 9.99829954e-01 1.84405108e-02 1.05841401e-04 6.54993520e+01] [-1.84405097e-02 9.99829959e-01 -1.13097412e-05 -6.81178059e+00] [-1.06031961e-04 9.35604861e-06 9.99999994e-01 -4.46084578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26755201799999 meters Centerline goodness [0,1] 0.979659276129234 Centerline is valid? [True, True] Translation: X:65.53, Y:-6.82, Z:-0.45 [[ 9.99859632e-01 1.67509568e-02 -3.48407023e-04 6.55281807e+01] [-1.67509458e-02 9.99859692e-01 3.44763056e-05 -6.81783514e+00] [ 3.48935650e-04 -2.86353191e-05 9.99999939e-01 -4.46175346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29755201799999 meters Centerline goodness [0,1] 0.9724690945539592 Centerline is valid? [True, True] Translation: X:65.56, Y:-6.83, Z:-0.45 [[ 9.99910286e-01 1.32915975e-02 -1.65908501e-03 6.55569748e+01] [-1.32913405e-02 9.99911652e-01 1.65797897e-04 -6.82770544e+00] [ 1.66114216e-03 -1.43731558e-04 9.99998610e-01 -4.47293392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32755201799999 meters Centerline goodness [0,1] 0.9705554564907275 Centerline is valid? [True, True] Translation: X:65.59, Y:-6.83, Z:-0.45 [[ 9.99930800e-01 1.16126096e-02 -1.88238862e-03 6.55858186e+01] [-1.16122768e-02 9.99932558e-01 1.87634542e-04 -6.83372415e+00] [ 1.88444059e-03 -1.65762740e-04 9.99998211e-01 -4.48481889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35755201799999 meters Centerline goodness [0,1] 0.9705554564907275 Centerline is valid? [True, True] Translation: X:65.61, Y:-6.84, Z:-0.45 [[ 9.99931682e-01 1.15363326e-02 -1.88240334e-03 6.56141005e+01] [-1.15359999e-02 9.99933441e-01 1.87486982e-04 -6.83647378e+00] [ 1.88444096e-03 -1.65758769e-04 9.99998211e-01 -4.48667977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.387552018 meters Centerline goodness [0,1] 0.9575939515232377 Centerline is valid? [True, True] Translation: X:65.64, Y:-6.84, Z:-0.45 [[ 9.99949560e-01 9.79287580e-03 -2.23071521e-03 6.56429498e+01] [-9.79240375e-03 9.99952029e-01 2.22438602e-04 -6.84473619e+00] [ 2.23278651e-03 -2.00583319e-04 9.99997487e-01 -4.50149028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.417552018 meters Centerline goodness [0,1] 0.9380485745394751 Centerline is valid? [True, False] Translation: X:65.64, Y:-6.85, Z:-0.45 [[ 9.99977966e-01 6.08394782e-03 -2.65566529e-03 6.56438083e+01] [-6.09349203e-03 9.99974952e-01 -3.60073083e-03 -6.84528110e+00] [ 2.63369211e-03 3.61683377e-03 9.99989991e-01 -4.50105474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.447552018 meters Centerline goodness [0,1] 0.957306914858171 Centerline is valid? [False, True] Translation: X:65.64, Y:-6.85, Z:-0.45 [[ 9.99983053e-01 5.25439245e-03 -2.50687898e-03 6.56430815e+01] [-5.26191541e-03 9.99981644e-01 -3.00382807e-03 -6.85050762e+00] [ 2.49104967e-03 3.01696815e-03 9.99992346e-01 -4.50282416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.477552018 meters Centerline goodness [0,1] 0.8323542501112595 Centerline is valid? [True, False] Translation: X:65.64, Y:-6.85, Z:-0.45 [[ 9.99984465e-01 5.13926301e-03 -2.15838101e-03 6.56425254e+01] [-5.14430202e-03 9.99984040e-01 -2.33560038e-03 -6.85294691e+00] [ 2.14634330e-03 2.34666746e-03 9.99994943e-01 -4.50671486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.507552018 meters Centerline goodness [0,1] 0.9080974441956864 Centerline is valid? [False, False] Translation: X:65.64, Y:-6.85, Z:-0.45 [[ 9.99993574e-01 2.17682755e-03 -2.84840592e-03 6.56444720e+01] [-2.19266586e-03 9.99982088e-01 -5.56915646e-03 -6.85302928e+00] [ 2.83623181e-03 5.57536628e-03 9.99980435e-01 -4.51174263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.537552018 meters Centerline goodness [0,1] 0.8652179709372083 Centerline is valid? [False, False] Translation: X:65.64, Y:-6.86, Z:-0.45 [[ 9.99993851e-01 2.30509050e-03 -2.64287251e-03 6.56438047e+01] [-2.31725777e-03 9.99986689e-01 -4.61002632e-03 -6.85632954e+00] [ 2.63221080e-03 4.61612219e-03 9.99985881e-01 -4.50968887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.567552018 meters Centerline goodness [0,1] 0.9614872364039956 Centerline is valid? [False, True] Translation: X:65.64, Y:-6.86, Z:-0.45 [[ 9.99992694e-01 2.73102013e-03 -2.67444045e-03 6.56442491e+01] [-2.74101761e-03 9.99989243e-01 -3.74165459e-03 -6.85834659e+00] [ 2.66419315e-03 3.74895794e-03 9.99989424e-01 -4.51498428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.597552018 meters Centerline goodness [0,1] 0.9385233172116964 Centerline is valid? [True, False] Translation: X:65.64, Y:-6.86, Z:-0.45 [[ 9.99991797e-01 3.14189927e-03 -2.55627290e-03 6.56443589e+01] [-3.14934030e-03 9.99990801e-01 -2.91208902e-03 -6.86023360e+00] [ 2.54709989e-03 2.92011571e-03 9.99992493e-01 -4.51974522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.627552018 meters Centerline goodness [0,1] 0.9677741527398629 Centerline is valid? [False, True] Translation: X:65.64, Y:-6.86, Z:-0.45 [[ 9.99990581e-01 3.43390222e-03 -2.65454323e-03 6.56446924e+01] [-3.44064316e-03 9.99990858e-01 -2.53901771e-03 -6.86101275e+00] [ 2.64580022e-03 2.54812714e-03 9.99993253e-01 -4.52123614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65755201799999 meters Centerline goodness [0,1] 0.9786178015111564 Centerline is valid? [True, True] Translation: X:65.68, Y:-6.86, Z:-0.45 [[ 9.99959822e-01 8.55755808e-03 -2.66887783e-03 6.56754733e+01] [-8.55687341e-03 9.99963353e-01 2.67851889e-04 -6.86120247e+00] [ 2.67107218e-03 -2.45003878e-04 9.99996403e-01 -4.52395618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68755201799999 meters Centerline goodness [0,1] 0.9714456075261694 Centerline is valid? [True, True] Translation: X:65.70, Y:-6.87, Z:-0.45 [[ 9.99927510e-01 1.15681855e-02 -3.33950533e-03 6.57041014e+01] [-1.15671310e-02 9.99933042e-01 3.34885385e-04 -6.86714805e+00] [ 3.34315574e-03 -2.96232613e-04 9.99994368e-01 -4.53163384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71755201799999 meters Centerline goodness [0,1] 0.9787985081253885 Centerline is valid? [True, True] Translation: X:65.73, Y:-6.87, Z:-0.45 [[ 9.99892306e-01 1.41567313e-02 -3.86813122e-03 6.57342862e+01] [-1.41553359e-02 9.99899733e-01 3.87878488e-04 -6.86573313e+00] [ 3.87323447e-03 -3.33082019e-04 9.99992444e-01 -4.53063779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.747552018 meters Centerline goodness [0,1] 0.9812123360510457 Centerline is valid? [True, True] Translation: X:65.76, Y:-6.87, Z:-0.45 [[ 9.99783545e-01 2.03244382e-02 -4.44745150e-03 6.57642171e+01] [-2.03226539e-02 9.99793374e-01 4.46020616e-04 -6.86518839e+00] [ 4.45559766e-03 -3.55540055e-04 9.99990011e-01 -4.53362098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.777552018 meters Centerline goodness [0,1] 0.9835876252026562 Centerline is valid? [True, True] Translation: X:65.80, Y:-6.86, Z:-0.45 [[ 9.99722075e-01 2.32899963e-02 -3.65360704e-03 6.57950351e+01] [-2.32888123e-02 9.99728712e-01 3.66263406e-04 -6.86210531e+00] [ 3.66114613e-03 -2.81073443e-04 9.99993258e-01 -4.52408411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.807552018 meters Centerline goodness [0,1] 0.9837730900037789 Centerline is valid? [True, True] Translation: X:65.83, Y:-6.86, Z:-0.45 [[ 9.99644131e-01 2.64763183e-02 -3.25814836e-03 6.58250678e+01] [-2.64753939e-02 9.99649412e-01 3.26547848e-04 -6.86220733e+00] [ 3.26565188e-03 -2.40170879e-04 9.99994639e-01 -4.51638015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.837552018 meters Centerline goodness [0,1] 0.9845527375735847 Centerline is valid? [True, True] Translation: X:65.86, Y:-6.86, Z:-0.45 [[ 9.99559702e-01 2.95523560e-02 -2.65708429e-03 6.58551131e+01] [-2.95517522e-02 9.99563216e-01 2.66233783e-04 -6.86292913e+00] [ 2.66379155e-03 -1.87595064e-04 9.99996435e-01 -4.51140986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.867552018 meters Centerline goodness [0,1] 0.9852405894886364 Centerline is valid? [True, True] Translation: X:65.88, Y:-6.86, Z:-0.45 [[ 9.99370264e-01 3.53750779e-02 -2.77113753e-03 6.58841450e+01] [-3.53744443e-02 9.99374090e-01 2.77366541e-04 -6.86232299e+00] [ 2.77921491e-03 -1.79164423e-04 9.99996122e-01 -4.51499525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.897552018 meters Centerline goodness [0,1] 0.9859445776711964 Centerline is valid? [True, True] Translation: X:65.91, Y:-6.86, Z:-0.45 [[ 9.99274214e-01 3.79665512e-02 -3.09626078e-03 6.59141429e+01] [-3.79657728e-02 9.99278992e-01 3.09795529e-04 -6.86410492e+00] [ 3.10579022e-03 -1.92018750e-04 9.99995159e-01 -4.52408255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.927552018 meters Centerline goodness [0,1] 0.9868880924289308 Centerline is valid? [True, True] Translation: X:65.94, Y:-6.86, Z:-0.45 [[ 9.99181976e-01 4.02174675e-02 -4.23483546e-03 6.59439871e+01] [-4.02160316e-02 9.99190918e-01 4.23707698e-04 -6.86264401e+00] [ 4.24844958e-03 -2.53052819e-04 9.99990943e-01 -4.53172925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.957552018 meters Centerline goodness [0,1] 0.9867031939061873 Centerline is valid? [True, True] Translation: X:65.97, Y:-6.86, Z:-0.45 [[ 9.99157485e-01 4.08102321e-02 -4.34099558e-03 6.59727884e+01] [-4.08087313e-02 9.99166883e-01 4.33787815e-04 -6.86280708e+00] [ 4.35508200e-03 -2.56271820e-04 9.99990484e-01 -4.52800446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.987552018 meters Centerline goodness [0,1] 0.986949065722367 Centerline is valid? [True, True] Translation: X:66.00, Y:-6.86, Z:-0.45 [[ 9.99138985e-01 4.12556285e-02 -4.38889380e-03 6.60021331e+01] [-4.12541002e-02 9.99148591e-01 4.38217638e-04 -6.86167044e+00] [ 4.40323600e-03 -2.56780461e-04 9.99990273e-01 -4.52148041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01755201799999 meters Centerline goodness [0,1] 0.9857831485883111 Centerline is valid? [True, True] Translation: X:66.03, Y:-6.87, Z:-0.45 [[ 9.99124061e-01 4.16758902e-02 -3.77250455e-03 6.60299052e+01] [-4.16747654e-02 9.99131159e-01 3.76319028e-04 -6.86786796e+00] [ 3.78491027e-03 -2.18771153e-04 9.99992813e-01 -4.53127324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04755201799999 meters Centerline goodness [0,1] 0.9868762331242102 Centerline is valid? [True, True] Translation: X:66.06, Y:-6.87, Z:-0.45 [[ 9.99128449e-01 4.16087753e-02 -3.32434804e-03 6.60590701e+01] [-4.16079025e-02 9.99133961e-01 3.31310182e-04 -6.86901653e+00] [ 3.33525444e-03 -1.92702279e-04 9.99994419e-01 -4.52905275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07755201799999 meters Centerline goodness [0,1] 0.9851107802395609 Centerline is valid? [True, True] Translation: X:66.09, Y:-6.87, Z:-0.45 [[ 9.99158865e-01 4.08643832e-02 -3.41533469e-03 6.60873615e+01] [-4.08634591e-02 9.99164682e-01 3.39944549e-04 -6.87104691e+00] [ 3.42637343e-03 -2.00096220e-04 9.99994110e-01 -4.52167640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10755201799999 meters Centerline goodness [0,1] 0.9857130160423054 Centerline is valid? [True, True] Translation: X:66.12, Y:-6.87, Z:-0.45 [[ 9.99194694e-01 4.00025437e-02 -3.12415794e-03 6.61160174e+01] [-4.00017669e-02 9.99199561e-01 3.10759680e-04 -6.87030325e+00] [ 3.13408842e-03 -1.85537586e-04 9.99995072e-01 -4.50749057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.137552018 meters Centerline goodness [0,1] 0.985607356240144 Centerline is valid? [True, True] Translation: X:66.15, Y:-6.87, Z:-0.45 [[ 9.99263960e-01 3.82844166e-02 -2.41681831e-03 6.61452078e+01] [-3.82839467e-02 9.99266872e-01 2.40424657e-04 -6.87327984e+00] [ 2.42425099e-03 -1.47722352e-04 9.99997051e-01 -4.49384958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.167552018 meters Centerline goodness [0,1] 0.9845146052895435 Centerline is valid? [True, True] Translation: X:66.17, Y:-6.88, Z:-0.45 [[ 9.99258949e-01 3.83679541e-02 -3.07466292e-03 6.61725325e+01] [-3.83671957e-02 9.99263661e-01 3.05292785e-04 -6.88327806e+00] [ 3.08411238e-03 -1.87100353e-04 9.99995227e-01 -4.50431963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.197552018 meters Centerline goodness [0,1] 0.984924511545293 Centerline is valid? [True, True] Translation: X:66.20, Y:-6.88, Z:-0.45 [[ 9.99390390e-01 3.48009834e-02 -2.78206976e-03 6.62023817e+01] [-3.48003477e-02 9.99394246e-01 2.76573443e-04 -6.88410746e+00] [ 2.79000954e-03 -1.79587846e-04 9.99996092e-01 -4.50562841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.227552018 meters Centerline goodness [0,1] 0.9853568571682517 Centerline is valid? [True, True] Translation: X:66.23, Y:-6.89, Z:-0.45 [[ 9.99448836e-01 3.30636266e-02 -2.97014055e-03 6.62318272e+01] [-3.30628952e-02 9.99453229e-01 2.95048843e-04 -6.88835153e+00] [ 2.97827195e-03 -1.96684776e-04 9.99995546e-01 -4.51436277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.257552018 meters Centerline goodness [0,1] 0.9842509175842509 Centerline is valid? [True, True] Translation: X:66.26, Y:-6.89, Z:-0.45 [[ 9.99525194e-01 3.06084992e-02 -3.53641551e-03 6.62605373e+01] [-3.06074479e-02 9.99531421e-01 3.51026263e-04 -6.89453576e+00] [ 3.54550281e-03 -2.42618940e-04 9.99993685e-01 -4.52203937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.287552018 meters Centerline goodness [0,1] 0.9842072575636589 Centerline is valid? [True, True] Translation: X:66.29, Y:-6.90, Z:-0.45 [[ 9.99638307e-01 2.65888133e-02 -4.03604087e-03 6.62886933e+01] [-2.65874108e-02 9.99646412e-01 4.00745118e-04 -6.90383889e+00] [ 4.04526911e-03 -2.93292294e-04 9.99991775e-01 -4.52786128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.317552018 meters Centerline goodness [0,1] 0.9840126298001023 Centerline is valid? [True, True] Translation: X:66.32, Y:-6.91, Z:-0.45 [[ 9.99678104e-01 2.50791054e-02 -3.83753113e-03 6.63181683e+01] [-2.50778274e-02 9.99685429e-01 3.80806079e-04 -6.90700103e+00] [ 3.84587424e-03 -2.84446556e-04 9.99992564e-01 -4.52428698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.347552018 meters Centerline goodness [0,1] 0.9838175472914398 Centerline is valid? [True, True] Translation: X:66.35, Y:-6.91, Z:-0.45 [[ 9.99698987e-01 2.41394737e-02 -4.38425706e-03 6.63464713e+01] [-2.41377988e-02 9.99708546e-01 4.34530003e-04 -6.91017407e+00] [ 4.39346858e-03 -3.28572889e-04 9.99990295e-01 -4.52509034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.377552018 meters Centerline goodness [0,1] 0.9839107535723016 Centerline is valid? [True, True] Translation: X:66.37, Y:-6.91, Z:-0.45 [[ 9.99701895e-01 2.40137093e-02 -4.41164134e-03 6.63743988e+01] [-2.40120156e-02 9.99711575e-01 4.36506621e-04 -6.91267699e+00] [ 4.42085106e-03 -3.30444096e-04 9.99990173e-01 -4.52884617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40755201799999 meters Centerline goodness [0,1] 0.9829171850008885 Centerline is valid? [True, True] Translation: X:66.40, Y:-6.92, Z:-0.45 [[ 9.99672126e-01 2.50029833e-02 -5.52191852e-03 6.64025932e+01] [-2.50003450e-02 9.99687293e-01 5.46313288e-04 -6.91682768e+00] [ 5.53385124e-03 -4.08084298e-04 9.99984605e-01 -4.54305532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43755201799999 meters Centerline goodness [0,1] 0.9830990294712062 Centerline is valid? [True, True] Translation: X:66.43, Y:-6.92, Z:-0.45 [[ 9.99682715e-01 2.45620864e-02 -5.58326538e-03 6.64312080e+01] [-2.45593847e-02 9.99698220e-01 5.51942201e-04 -6.91727465e+00] [ 5.59513732e-03 -4.14645515e-04 9.99984261e-01 -4.53833176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46755201799999 meters Centerline goodness [0,1] 0.9829977330310709 Centerline is valid? [True, True] Translation: X:66.46, Y:-6.92, Z:-0.45 [[ 9.99665202e-01 2.53809228e-02 -5.02914685e-03 6.64586346e+01] [-2.53787443e-02 9.99677784e-01 4.96527044e-04 -6.92170161e+00] [ 5.04012870e-03 -3.68727376e-04 9.99987230e-01 -4.53385254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.497552018 meters Centerline goodness [0,1] 0.9816572772035665 Centerline is valid? [True, True] Translation: X:66.49, Y:-6.93, Z:-0.45 [[ 9.99652510e-01 2.59656236e-02 -4.54364833e-03 6.64871567e+01] [-2.59638528e-02 9.99662782e-01 4.48306303e-04 -6.92521109e+00] [ 4.55375668e-03 -3.30179905e-04 9.99989577e-01 -4.53172154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.527552018 meters Centerline goodness [0,1] 0.9813715683005446 Centerline is valid? [True, True] Translation: X:66.51, Y:-6.93, Z:-0.45 [[ 9.99641687e-01 2.64735957e-02 -3.95547113e-03 6.65145061e+01] [-2.64722612e-02 9.99649472e-01 3.89379206e-04 -6.93003179e+00] [ 3.96439289e-03 -2.84529422e-04 9.99992101e-01 -4.53348675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.557552018 meters Centerline goodness [0,1] 0.9810469715149092 Centerline is valid? [True, True] Translation: X:66.54, Y:-6.93, Z:-0.45 [[ 9.99596391e-01 2.82084314e-02 -3.36743187e-03 6.65442979e+01] [-2.82074735e-02 9.99602035e-01 3.31646764e-04 -6.93278333e+00] [ 3.37544699e-03 -2.36526163e-04 9.99994275e-01 -4.53172765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.587552018 meters Centerline goodness [0,1] 0.9820992315551015 Centerline is valid? [True, True] Translation: X:66.57, Y:-6.93, Z:-0.45 [[ 9.99592280e-01 2.83846168e-02 -3.09641418e-03 6.65720033e+01] [-2.83838094e-02 9.99597052e-01 3.04418235e-04 -6.93437300e+00] [ 3.10380728e-03 -2.16406088e-04 9.99995160e-01 -4.52524059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.617552018 meters Centerline goodness [0,1] 0.9836922666192044 Centerline is valid? [True, True] Translation: X:66.60, Y:-6.93, Z:-0.45 [[ 9.99573466e-01 2.89703159e-02 -3.68878116e-03 6.66020390e+01] [-2.89691736e-02 9.99580240e-01 3.62724376e-04 -6.92834980e+00] [ 3.69774100e-03 -2.55708720e-04 9.99993131e-01 -4.52398867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.647552018 meters Centerline goodness [0,1] 0.9829120683517266 Centerline is valid? [True, True] Translation: X:66.63, Y:-6.93, Z:-0.45 [[ 9.99540973e-01 2.99411953e-02 -4.62263079e-03 6.66310198e+01] [-2.99394136e-02 9.99551612e-01 4.54162076e-04 -6.93121330e+00] [ 4.63415622e-03 -3.15554748e-04 9.99989212e-01 -4.53616859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.677552018 meters Centerline goodness [0,1] 0.9834519572953737 Centerline is valid? [True, True] Translation: X:66.66, Y:-6.94, Z:-0.46 [[ 9.99577077e-01 2.84908983e-02 -5.82545310e-03 6.66593804e+01] [-2.84880450e-02 9.99593969e-01 5.72218254e-04 -6.93688226e+00] [ 5.83939080e-03 -4.06020480e-04 9.99982868e-01 -4.56355075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.707552018 meters Centerline goodness [0,1] 0.9832396025518483 Centerline is valid? [True, True] Translation: X:66.69, Y:-6.94, Z:-0.46 [[ 9.99587217e-01 2.80547985e-02 -6.19069324e-03 6.66876199e+01] [-2.80515713e-02 9.99606293e-01 6.07533539e-04 -6.94044919e+00] [ 6.20530015e-03 -4.33624087e-04 9.99980653e-01 -4.56789966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.737552018 meters Centerline goodness [0,1] 0.9837072649572649 Centerline is valid? [True, True] Translation: X:66.72, Y:-6.94, Z:-0.46 [[ 9.99602019e-01 2.73789296e-02 -6.79692252e-03 6.67163239e+01] [-2.73750272e-02 9.99625012e-01 6.66527624e-04 -6.94083325e+00] [ 6.81262257e-03 -4.80196419e-04 9.99976679e-01 -4.56232485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76755201799999 meters Centerline goodness [0,1] 0.9825810326800294 Centerline is valid? [True, True] Translation: X:66.74, Y:-6.94, Z:-0.46 [[ 9.99627454e-01 2.63911417e-02 -6.96135034e-03 6.67438494e+01] [-2.63870298e-02 9.99651569e-01 6.81881403e-04 -6.94448823e+00] [ 6.97692042e-03 -4.97938012e-04 9.99975537e-01 -4.56175931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79755201799999 meters Centerline goodness [0,1] 0.9831876709587031 Centerline is valid? [True, True] Translation: X:66.77, Y:-6.95, Z:-0.46 [[ 9.99666918e-01 2.50207891e-02 -6.32553254e-03 6.67728012e+01] [-2.50173695e-02 9.99686825e-01 6.19163481e-04 -6.94769352e+00] [ 6.33904350e-03 -4.60709065e-04 9.99979802e-01 -4.56218797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82755201799999 meters Centerline goodness [0,1] 0.9823160423525225 Centerline is valid? [True, True] Translation: X:66.80, Y:-6.95, Z:-0.46 [[ 9.99671780e-01 2.48651413e-02 -6.16896858e-03 6.67990989e+01] [-2.48618932e-02 9.99690714e-01 6.02675439e-04 -6.95325709e+00] [ 6.18204622e-03 -4.49105391e-04 9.99980790e-01 -4.56706536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85755201799999 meters Centerline goodness [0,1] 0.9822088468942931 Centerline is valid? [True, True] Translation: X:66.83, Y:-6.96, Z:-0.46 [[ 9.99722513e-01 2.30939453e-02 -4.64394481e-03 6.68282795e+01] [-2.30920848e-02 9.99733239e-01 4.53858308e-04 -6.95762408e+00] [ 4.65318736e-03 -3.46494001e-04 9.99989114e-01 -4.55988095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.887552018 meters Centerline goodness [0,1] 0.9829230428032824 Centerline is valid? [True, True] Translation: X:66.86, Y:-6.96, Z:-0.46 [[ 9.99758929e-01 2.15670321e-02 -4.11667180e-03 6.68575478e+01] [-2.15655596e-02 9.99767356e-01 4.01753456e-04 -6.95832408e+00] [ 4.12437871e-03 -3.12878273e-04 9.99991446e-01 -4.55159829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.917552018 meters Centerline goodness [0,1] 0.9813848101828199 Centerline is valid? [True, True] Translation: X:66.88, Y:-6.96, Z:-0.46 [[ 9.99775228e-01 2.05087980e-02 -5.37423797e-03 6.68848103e+01] [-2.05062759e-02 9.99789587e-01 5.23982187e-04 -6.96276832e+00] [ 5.38385341e-03 -4.13658804e-04 9.99985421e-01 -4.55550317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.947552018 meters Centerline goodness [0,1] 0.9822511397335458 Centerline is valid? [True, True] Translation: X:66.91, Y:-6.96, Z:-0.46 [[ 9.99791230e-01 1.96214614e-02 -5.70048371e-03 6.69131929e+01] [-1.96186112e-02 9.99807382e-01 5.55490456e-04 -6.96470184e+00] [ 5.71028523e-03 -4.43538912e-04 9.99983598e-01 -4.56182740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.977552018 meters Centerline goodness [0,1] 0.9829150857573942 Centerline is valid? [True, True] Translation: X:66.94, Y:-6.96, Z:-0.46 [[ 9.99779699e-01 2.03192142e-02 -5.26140021e-03 6.69424544e+01] [-2.03167982e-02 9.99793461e-01 5.12236814e-04 -6.96337663e+00] [ 5.27072177e-03 -4.05229161e-04 9.99986028e-01 -4.55703906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.007552018 meters Centerline goodness [0,1] 0.980995154760061 Centerline is valid? [True, True] Translation: X:66.97, Y:-6.97, Z:-0.46 [[ 9.99781805e-01 2.03881058e-02 -4.54623365e-03 6.69697970e+01] [-2.03863055e-02 9.99792080e-01 4.41993005e-04 -6.96942953e+00] [ 4.55429980e-03 -3.49215657e-04 9.99989568e-01 -4.55886349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.037552018 meters Centerline goodness [0,1] 0.9821230290917167 Centerline is valid? [True, True] Translation: X:67.00, Y:-6.96, Z:-0.45 [[ 9.99777370e-01 2.07558892e-02 -3.79521905e-03 6.69990072e+01] [-2.07546384e-02 9.99784531e-01 3.68678445e-04 -6.96499906e+00] [ 3.80205354e-03 -2.89827967e-04 9.99992730e-01 -4.54663339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.067552018 meters Centerline goodness [0,1] 0.9812462592272395 Centerline is valid? [True, True] Translation: X:67.03, Y:-6.97, Z:-0.45 [[ 9.99767021e-01 2.12009542e-02 -4.05259120e-03 6.70268293e+01] [-2.11995336e-02 9.99775187e-01 3.93195881e-04 -6.96921918e+00] [ 4.06001626e-03 -3.07191232e-04 9.99991711e-01 -4.54622877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.097552018 meters Centerline goodness [0,1] 0.9811165663252838 Centerline is valid? [True, True] Translation: X:67.05, Y:-6.97, Z:-0.46 [[ 9.99766531e-01 2.11190833e-02 -4.56820917e-03 6.70543874e+01] [-2.11172799e-02 9.99776907e-01 4.42670626e-04 -6.97156585e+00] [ 4.57653883e-03 -3.46099125e-04 9.99989468e-01 -4.55469445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.127552018 meters Centerline goodness [0,1] 0.980663966890659 Centerline is valid? [True, True] Translation: X:67.08, Y:-6.97, Z:-0.46 [[ 9.99776211e-01 2.05270373e-02 -5.11550097e-03 6.70833420e+01] [-2.05247687e-02 9.99789222e-01 4.95594614e-04 -6.97292211e+00] [ 5.12459582e-03 -3.90489231e-04 9.99986793e-01 -4.56272054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15755201799999 meters Centerline goodness [0,1] 0.980386936457224 Centerline is valid? [True, True] Translation: X:67.11, Y:-6.98, Z:-0.46 [[ 9.99781247e-01 1.99836284e-02 -6.17359669e-03 6.71105279e+01] [-1.99803176e-02 9.99800195e-01 5.97491848e-04 -6.97941518e+00] [ 6.18430323e-03 -4.74010722e-04 9.99980765e-01 -4.58814347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18755201799999 meters Centerline goodness [0,1] 0.9781481317317495 Centerline is valid? [True, True] Translation: X:67.14, Y:-6.98, Z:-0.46 [[ 9.99796157e-01 1.92043281e-02 -6.23206186e-03 6.71389171e+01] [-1.92009416e-02 9.99815463e-01 6.02793824e-04 -6.98347793e+00] [ 6.24248806e-03 -4.83009493e-04 9.99980399e-01 -4.59789733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21755201799999 meters Centerline goodness [0,1] 0.9803075142965221 Centerline is valid? [True, True] Translation: X:67.17, Y:-6.98, Z:-0.46 [[ 9.99811193e-01 1.82541672e-02 -6.66055054e-03 6.71680477e+01] [-1.82502813e-02 9.99833243e-01 6.43737048e-04 -6.98327577e+00] [ 6.67119073e-03 -5.22058585e-04 9.99977611e-01 -4.59774351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.247552018 meters Centerline goodness [0,1] 0.9803075142965221 Centerline is valid? [True, True] Translation: X:67.20, Y:-6.99, Z:-0.46 [[ 9.99813310e-01 1.81378556e-02 -6.66064609e-03 6.71954736e+01] [-1.81339737e-02 9.99835359e-01 6.42748247e-04 -6.98581498e+00] [ 6.67120755e-03 -5.21844271e-04 9.99977611e-01 -4.59926617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.277552018 meters Centerline goodness [0,1] 0.9792366751975075 Centerline is valid? [True, True] Translation: X:67.23, Y:-6.99, Z:-0.46 [[ 9.99835935e-01 1.67075120e-02 -6.99728715e-03 6.72250503e+01] [-1.67031916e-02 9.99860264e-01 6.75426064e-04 -6.98830636e+00] [ 7.00759406e-03 -5.58438222e-04 9.99975291e-01 -4.59343013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.307552018 meters Centerline goodness [0,1] 0.9767338305688523 Centerline is valid? [True, True] Translation: X:67.25, Y:-6.99, Z:-0.46 [[ 9.99853046e-01 1.58471350e-02 -6.53872055e-03 6.72521663e+01] [-1.58433518e-02 9.99874288e-01 6.29968380e-04 -6.99205176e+00] [ 6.54788175e-03 -5.26280553e-04 9.99978424e-01 -4.58770815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.337552018 meters Centerline goodness [0,1] 0.9758344459279039 Centerline is valid? [True, True] Translation: X:67.28, Y:-7.00, Z:-0.46 [[ 9.99867456e-01 1.51796850e-02 -5.88627849e-03 6.72801913e+01] [-1.51766108e-02 9.99884668e-01 5.66589931e-04 -6.99589973e+00] [ 5.89420027e-03 -4.77181075e-04 9.99982515e-01 -4.58122639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.367552018 meters Centerline goodness [0,1] 0.9804314879201212 Centerline is valid? [True, True] Translation: X:67.31, Y:-7.00, Z:-0.46 [[ 9.99884904e-01 1.42448335e-02 -5.22148747e-03 6.73091089e+01] [-1.42424038e-02 9.99898446e-01 5.02221499e-04 -6.99575888e+00] [ 5.22811127e-03 -4.27797162e-04 9.99986242e-01 -4.57774768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.397552018 meters Centerline goodness [0,1] 0.9807134894091416 Centerline is valid? [True, True] Translation: X:67.34, Y:-7.00, Z:-0.46 [[ 9.99909836e-01 1.23797057e-02 -5.20210088e-03 6.73384709e+01] [-1.23772689e-02 9.99923273e-01 5.00358376e-04 -6.99846974e+00] [ 5.20789603e-03 -4.35925461e-04 9.99986344e-01 -4.58203810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.427552018 meters Centerline goodness [0,1] 0.967108187394435 Centerline is valid? [True, True] Translation: X:67.37, Y:-7.01, Z:-0.46 [[ 9.99912932e-01 1.19001368e-02 -5.70217730e-03 6.73653099e+01] [-1.18972063e-02 9.99929076e-01 5.47582345e-04 -7.00951184e+00] [ 5.70828918e-03 -4.79694689e-04 9.99983593e-01 -4.59481557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.457552018 meters Centerline goodness [0,1] 0.9596808250538996 Centerline is valid? [True, True] Translation: X:67.39, Y:-7.01, Z:-0.46 [[ 9.99924464e-01 1.06135492e-02 -6.19830156e-03 6.73949021e+01] [-1.06100610e-02 9.99943534e-01 5.95378147e-04 -7.01343096e+00] [ 6.20427064e-03 -5.29568817e-04 9.99980613e-01 -4.59406762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.487552018 meters Centerline goodness [0,1] 0.9742785305831831 Centerline is valid? [True, True] Translation: X:67.42, Y:-7.01, Z:-0.46 [[ 9.99924516e-01 9.98689857e-03 -7.15716671e-03 6.74244220e+01] [-9.98223709e-03 9.99949940e-01 6.86730807e-04 -7.01124013e+00] [ 7.16366673e-03 -6.15234435e-04 9.99974151e-01 -4.59122140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51755201799999 meters Centerline goodness [0,1] 0.9757587877171933 Centerline is valid? [True, True] Translation: X:67.45, Y:-7.01, Z:-0.46 [[ 9.99923076e-01 9.91665997e-03 -7.44995767e-03 6.74520330e+01] [-9.91161539e-03 9.99950624e-01 7.13745689e-04 -7.01383737e+00] [ 7.45666779e-03 -6.39849670e-04 9.99971994e-01 -4.59634081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54755201799999 meters Centerline goodness [0,1] 0.9510754115772703 Centerline is valid? [True, True] Translation: X:67.48, Y:-7.02, Z:-0.46 [[ 9.99917348e-01 1.04007819e-02 -7.55782800e-03 6.74790077e+01] [-1.03956104e-02 9.99945703e-01 7.23228321e-04 -7.02313929e+00] [ 7.56493977e-03 -6.44600310e-04 9.99971178e-01 -4.61646881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57755201799999 meters Centerline goodness [0,1] 0.9574756590939404 Centerline is valid? [True, True] Translation: X:67.51, Y:-7.03, Z:-0.46 [[ 9.99912957e-01 1.11218900e-02 -7.09797721e-03 6.75075126e+01] [-1.11173492e-02 9.99937970e-01 6.78866708e-04 -7.02545786e+00] [ 7.10508721e-03 -5.99896926e-04 9.99974579e-01 -4.61471792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60755201799999 meters Centerline goodness [0,1] 0.9723563845177947 Centerline is valid? [True, True] Translation: X:67.54, Y:-7.02, Z:-0.46 [[ 9.99898881e-01 1.24922176e-02 -6.79495505e-03 6.75364042e+01] [-1.24880913e-02 9.99921810e-01 6.49349082e-04 -7.02393090e+00] [ 6.80253556e-03 -5.64427402e-04 9.99976703e-01 -4.60149169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.637552018 meters Centerline goodness [0,1] 0.9770691268886215 Centerline is valid? [True, True] Translation: X:67.57, Y:-7.02, Z:-0.46 [[ 9.99879717e-01 1.40497996e-02 -6.56915224e-03 6.75669852e+01] [-1.40459752e-02 9.99901153e-01 6.27941778e-04 -7.02285533e+00] [ 6.57732536e-03 -5.35596098e-04 9.99978226e-01 -4.58936937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.667552018 meters Centerline goodness [0,1] 0.9810387469084914 Centerline is valid? [True, True] Translation: X:67.60, Y:-7.02, Z:-0.46 [[ 9.99817664e-01 1.82264861e-02 -5.69501349e-03 6.75981992e+01] [-1.82236788e-02 9.99833787e-01 5.44436042e-04 -7.01992006e+00] [ 5.70399006e-03 -4.40552675e-04 9.99983635e-01 -4.57257658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.697552018 meters Centerline goodness [0,1] 0.9815478442807221 Centerline is valid? [True, True] Translation: X:67.63, Y:-7.02, Z:-0.46 [[ 9.99787023e-01 1.99661852e-02 -5.22105719e-03 6.76286278e+01] [-1.99638504e-02 9.99800578e-01 4.98934873e-04 -7.02014862e+00] [ 5.22997782e-03 -3.94596207e-04 9.99986246e-01 -4.57345069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.727552018 meters Centerline goodness [0,1] 0.9807311923547061 Centerline is valid? [True, True] Translation: X:67.66, Y:-7.02, Z:-0.46 [[ 9.99725615e-01 2.28543902e-02 -5.13536841e-03 6.76573730e+01] [-2.28521709e-02 9.99738735e-01 4.90440425e-04 -7.02428076e+00] [ 5.14523544e-03 -3.72951539e-04 9.99986694e-01 -4.58744699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.757552018 meters Centerline goodness [0,1] 0.9822607997143877 Centerline is valid? [True, True] Translation: X:67.69, Y:-7.02, Z:-0.46 [[ 9.99700025e-01 2.37792101e-02 -5.86587923e-03 6.76870475e+01] [-2.37763328e-02 9.99717146e-01 5.59784386e-04 -7.02234617e+00] [ 5.87753127e-03 -4.20147369e-04 9.99982639e-01 -4.59049504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.787552018 meters Centerline goodness [0,1] 0.9833028668242008 Centerline is valid? [True, True] Translation: X:67.72, Y:-7.02, Z:-0.46 [[ 9.99673856e-01 2.46456462e-02 -6.69137788e-03 6.77154601e+01] [-2.46419252e-02 9.99696138e-01 6.37980634e-04 -7.02359664e+00] [ 6.70506807e-03 -4.72884127e-04 9.99977409e-01 -4.59592794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.817552018 meters Centerline goodness [0,1] 0.9839048129297259 Centerline is valid? [True, True] Translation: X:67.74, Y:-7.02, Z:-0.46 [[ 9.99663552e-01 2.49947824e-02 -6.93131341e-03 6.77446160e+01] [-2.49908018e-02 9.99687463e-01 6.60317108e-04 -7.02284260e+00] [ 6.94565160e-03 -4.86875866e-04 9.99975760e-01 -4.59314513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.847552018 meters Centerline goodness [0,1] 0.9836615185176907 Centerline is valid? [True, True] Translation: X:67.77, Y:-7.03, Z:-0.46 [[ 9.99643407e-01 2.57831550e-02 -6.94892984e-03 6.77726379e+01] [-2.57791769e-02 9.99667443e-01 6.61456673e-04 -7.02648725e+00] [ 6.96367337e-03 -4.82083110e-04 9.99975637e-01 -4.59635923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87755201799999 meters Centerline goodness [0,1] 0.9831603332293848 Centerline is valid? [True, True] Translation: X:67.80, Y:-7.03, Z:-0.46 [[ 9.99645094e-01 2.58509705e-02 -6.43524872e-03 6.78015697e+01] [-2.58475636e-02 9.99665709e-01 6.12029119e-04 -7.02769457e+00] [ 6.44891902e-03 -4.45476406e-04 9.99979106e-01 -4.59212594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90755201799999 meters Centerline goodness [0,1] 0.983144687786038 Centerline is valid? [True, True] Translation: X:67.83, Y:-7.04, Z:-0.46 [[ 9.99653404e-01 2.56315930e-02 -6.00774634e-03 6.78283237e+01] [-2.56286267e-02 9.99671370e-01 5.70215858e-04 -7.03521022e+00] [ 6.02038756e-03 -4.16047935e-04 9.99981791e-01 -4.60374419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93755201799999 meters Centerline goodness [0,1] 0.983764348564027 Centerline is valid? [True, True] Translation: X:67.86, Y:-7.04, Z:-0.46 [[ 9.99676364e-01 2.48255717e-02 -5.55510218e-03 6.78568536e+01] [-2.48230242e-02 9.99691722e-01 5.27081101e-04 -7.03549884e+00] [ 5.56647476e-03 -3.89016083e-04 9.99984431e-01 -4.59520677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96755201799999 meters Centerline goodness [0,1] 0.9842117016525235 Centerline is valid? [True, True] Translation: X:67.89, Y:-7.04, Z:-0.46 [[ 9.99692876e-01 2.41964933e-02 -5.35572523e-03 6.78856451e+01] [-2.41941187e-02 9.99707151e-01 5.07736683e-04 -7.03899604e+00] [ 5.36644226e-03 -3.78003693e-04 9.99985529e-01 -4.59403636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.997552018 meters Centerline goodness [0,1] 0.9841315960038441 Centerline is valid? [True, True] Translation: X:67.91, Y:-7.04, Z:-0.46 [[ 9.99709180e-01 2.35515212e-02 -5.18471381e-03 6.79148589e+01] [-2.35492893e-02 9.99722556e-01 4.91110998e-04 -7.04039708e+00] [ 5.19484176e-03 -3.68871848e-04 9.99986439e-01 -4.57828444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.027552018 meters Centerline goodness [0,1] 0.9844756621331424 Centerline is valid? [True, True] Translation: X:67.94, Y:-7.04, Z:-0.46 [[ 9.99710823e-01 2.35594147e-02 -4.81923866e-03 6.79440016e+01] [-2.35574885e-02 9.99722380e-01 4.56090483e-04 -7.04285974e+00] [ 4.82864596e-03 -3.42429433e-04 9.99988283e-01 -4.57472048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.057552018 meters Centerline goodness [0,1] 0.9848715423865365 Centerline is valid? [True, True] Translation: X:67.97, Y:-7.04, Z:-0.46 [[ 9.99698495e-01 2.42486519e-02 -3.86296263e-03 6.79733401e+01] [-2.42474201e-02 9.99705921e-01 3.65375432e-04 -7.04328535e+00] [ 3.87068648e-03 -2.71598392e-04 9.99992472e-01 -4.56775701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.087552018 meters Centerline goodness [0,1] 0.9837498599125855 Centerline is valid? [True, True] Translation: X:68.00, Y:-7.05, Z:-0.46 [[ 9.99720543e-01 2.34413337e-02 -3.05618964e-03 6.80017778e+01] [-2.34405602e-02 9.99725191e-01 2.88645209e-04 -7.04537138e+00] [ 3.06211600e-03 -2.16925748e-04 9.99995288e-01 -4.56318293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.117552018 meters Centerline goodness [0,1] 0.9836006970820859 Centerline is valid? [True, True] Translation: X:68.03, Y:-7.05, Z:-0.46 [[ 9.99714889e-01 2.37417577e-02 -2.54338599e-03 6.80300239e+01] [-2.37412237e-02 9.99718109e-01 2.39937969e-04 -7.04794933e+00] [ 2.54836558e-03 -1.79486464e-04 9.99996737e-01 -4.55925957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.147552018 meters Centerline goodness [0,1] 0.9847157668930997 Centerline is valid? [True, True] Translation: X:68.06, Y:-7.05, Z:-0.46 [[ 9.99710038e-01 2.39285943e-02 -2.69479441e-03 6.80589050e+01] [-2.39279960e-02 9.99713652e-01 2.54038159e-04 -7.05045914e+00] [ 2.70010154e-03 -1.89483468e-04 9.99996337e-01 -4.56116528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.177552018 meters Centerline goodness [0,1] 0.984606434868215 Centerline is valid? [True, True] Translation: X:68.09, Y:-7.05, Z:-0.46 [[ 9.99693273e-01 2.46051210e-02 -2.81920685e-03 6.80880718e+01] [-2.46044695e-02 9.99697229e-01 2.65558612e-04 -7.05042892e+00] [ 2.82488738e-03 -1.96112069e-04 9.99995991e-01 -4.55886087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.207552018 meters Centerline goodness [0,1] 0.9851187808157776 Centerline is valid? [True, True] Translation: X:68.12, Y:-7.05, Z:-0.46 [[ 9.99643888e-01 2.64360145e-02 -3.63801426e-03 6.81176007e+01] [-2.64349416e-02 9.99650477e-01 3.42710984e-04 -7.05027427e+00] [ 3.64580261e-03 -2.46418245e-04 9.99993324e-01 -4.56856860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.237552018 meters Centerline goodness [0,1] 0.9841930861543973 Centerline is valid? [True, True] Translation: X:68.15, Y:-7.05, Z:-0.46 [[ 9.99619950e-01 2.72491905e-02 -4.17584622e-03 6.81462894e+01] [-2.72477856e-02 9.99628633e-01 3.92988771e-04 -7.05242106e+00] [ 4.18500407e-03 -2.79056853e-04 9.99991204e-01 -4.58662661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26755201799999 meters Centerline goodness [0,1] 0.9846298619824341 Centerline is valid? [True, True] Translation: X:68.18, Y:-7.05, Z:-0.46 [[ 9.99605383e-01 2.75938145e-02 -5.25927143e-03 6.81754032e+01] [-2.75915922e-02 9.99619157e-01 4.94639122e-04 -7.05376805e+00] [ 5.27091745e-03 -3.49332256e-04 9.99986048e-01 -4.60079369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29755201799999 meters Centerline goodness [0,1] 0.9857923987092148 Centerline is valid? [True, True] Translation: X:68.20, Y:-7.06, Z:-0.46 [[ 9.99600408e-01 2.76279248e-02 -5.97684502e-03 6.82028822e+01] [-2.76250605e-02 9.99618198e-01 5.61261931e-04 -7.05687916e+00] [ 5.99006955e-03 -3.95926949e-04 9.99981981e-01 -4.61408031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32755201799999 meters Centerline goodness [0,1] 0.9847232488856036 Centerline is valid? [True, True] Translation: X:68.23, Y:-7.06, Z:-0.46 [[ 9.99607252e-01 2.70397960e-02 -7.36144787e-03 6.82299443e+01] [-2.70354403e-02 9.99634237e-01 6.90574727e-04 -7.06037186e+00] [ 7.37742833e-03 -4.91283521e-04 9.99972666e-01 -4.62178711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35755201799999 meters Centerline goodness [0,1] 0.9853798546954884 Centerline is valid? [True, True] Translation: X:68.26, Y:-7.06, Z:-0.46 [[ 9.99618847e-01 2.65334845e-02 -7.62466536e-03 6.82584255e+01] [-2.65288020e-02 9.99647794e-01 7.14630648e-04 -7.05942074e+00] [ 7.64094155e-03 -5.12085027e-04 9.99970676e-01 -4.61310840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.387552018 meters Centerline goodness [0,1] 0.9845483537708305 Centerline is valid? [True, True] Translation: X:68.29, Y:-7.07, Z:-0.46 [[ 9.99634478e-01 2.60308074e-02 -7.30120384e-03 6.82852749e+01] [-2.60265058e-02 9.99661019e-01 6.83574992e-04 -7.06743096e+00] [ 7.31652289e-03 -4.93300306e-04 9.99973112e-01 -4.62070452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.417552018 meters Centerline goodness [0,1] 0.9831269071979896 Centerline is valid? [True, True] Translation: X:68.31, Y:-7.07, Z:-0.46 [[ 9.99674367e-01 2.49072208e-02 -5.54888649e-03 6.83137081e+01] [-2.49047214e-02 9.99689695e-01 5.19082381e-04 -7.06876171e+00] [ 5.56009354e-03 -3.80719878e-04 9.99984470e-01 -4.60223496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.447552018 meters Centerline goodness [0,1] 0.9827350695299729 Centerline is valid? [True, True] Translation: X:68.34, Y:-7.07, Z:-0.46 [[ 9.99694513e-01 2.43372252e-02 -4.31045052e-03 6.83423058e+01] [-2.43357135e-02 9.99703762e-01 4.02811666e-04 -7.07257960e+00] [ 4.31897692e-03 -2.97790723e-04 9.99990629e-01 -4.59345685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.477552018 meters Centerline goodness [0,1] 0.9831027469211685 Centerline is valid? [True, True] Translation: X:68.37, Y:-7.08, Z:-0.46 [[ 9.99716497e-01 2.35263188e-02 -3.66585762e-03 6.83709799e+01] [-2.35252212e-02 9.99723185e-01 3.42234251e-04 -7.07535191e+00] [ 3.67289437e-03 -2.55897115e-04 9.99993222e-01 -4.58589397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.507552018 meters Centerline goodness [0,1] 0.9827358427192727 Centerline is valid? [True, True] Translation: X:68.40, Y:-7.07, Z:-0.46 [[ 9.99745295e-01 2.23451909e-02 -3.16812031e-03 6.83995405e+01] [-2.23443668e-02 9.99750290e-01 2.95281146e-04 -7.07465827e+00] [ 3.17392732e-03 -2.24416294e-04 9.99994938e-01 -4.57927408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.537552018 meters Centerline goodness [0,1] 0.9833729216152018 Centerline is valid? [True, True] Translation: X:68.43, Y:-7.08, Z:-0.46 [[ 9.99753184e-01 2.20600133e-02 -2.63188737e-03 6.84286654e+01] [-2.20594441e-02 9.99756631e-01 2.45101937e-04 -7.07510989e+00] [ 2.63665380e-03 -1.86983470e-04 9.99996507e-01 -4.57947641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.567552018 meters Centerline goodness [0,1] 0.9826425391996779 Centerline is valid? [True, True] Translation: X:68.46, Y:-7.08, Z:-0.46 [[ 9.99751125e-01 2.21363145e-02 -2.76970385e-03 6.84577953e+01] [-2.21356850e-02 9.99754942e-01 2.57744812e-04 -7.07795282e+00] [ 2.77473064e-03 -1.96371374e-04 9.99996131e-01 -4.57829886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.597552018 meters Centerline goodness [0,1] 0.981461900155234 Centerline is valid? [True, True] Translation: X:68.49, Y:-7.08, Z:-0.46 [[ 9.99737452e-01 2.27359097e-02 -2.84711593e-03 6.84870715e+01] [-2.27352475e-02 9.99741486e-01 2.64739574e-04 -7.07691813e+00] [ 2.85239901e-03 -1.99940182e-04 9.99995912e-01 -4.56996661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62755201799999 meters Centerline goodness [0,1] 0.9823855849378778 Centerline is valid? [True, True] Translation: X:68.51, Y:-7.08, Z:-0.46 [[ 9.99722624e-01 2.33426624e-02 -3.12970581e-03 6.85147241e+01] [-2.33418672e-02 9.99727499e-01 2.90365723e-04 -7.07849577e+00] [ 3.13563087e-03 -2.17232005e-04 9.99995060e-01 -4.57192477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65755201799999 meters Centerline goodness [0,1] 0.9815971674071401 Centerline is valid? [True, True] Translation: X:68.54, Y:-7.08, Z:-0.46 [[ 9.99715619e-01 2.34252690e-02 -4.46517391e-03 6.85420527e+01] [-2.34236527e-02 9.99725543e-01 4.13947747e-04 -7.08043097e+00] [ 4.47364525e-03 -3.09239345e-04 9.99989945e-01 -4.59904899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68755201799999 meters Centerline goodness [0,1] 0.9818304779080252 Centerline is valid? [True, True] Translation: X:68.57, Y:-7.08, Z:-0.46 [[ 9.99724214e-01 2.29158353e-02 -5.13426141e-03 6.85707030e+01] [-2.29136914e-02 9.99737334e-01 4.76015717e-04 -7.08418481e+00] [ 5.14382111e-03 -3.58239557e-04 9.99986706e-01 -4.61236840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71755201799999 meters Centerline goodness [0,1] 0.9805471124620061 Centerline is valid? [True, True] Translation: X:68.60, Y:-7.09, Z:-0.46 [[ 9.99741314e-01 2.21653959e-02 -5.09904621e-03 6.85996804e+01] [-2.21632735e-02 9.99754253e-01 4.72362864e-04 -7.08744585e+00] [ 5.10826324e-03 -3.59229114e-04 9.99986888e-01 -4.61974927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.747552018 meters Centerline goodness [0,1] 0.9814635027432209 Centerline is valid? [True, True] Translation: X:68.63, Y:-7.09, Z:-0.46 [[ 9.99733976e-01 2.23505404e-02 -5.69471585e-03 6.86279645e+01] [-2.23478984e-02 9.99750116e-01 5.27162599e-04 -7.08942190e+00] [ 5.70507520e-03 -3.99757430e-04 9.99983646e-01 -4.61717538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.777552018 meters Centerline goodness [0,1] 0.9807696658446642 Centerline is valid? [True, True] Translation: X:68.66, Y:-7.09, Z:-0.46 [[ 9.99725560e-01 2.29389070e-02 -4.75522024e-03 6.86554700e+01] [-2.29370744e-02 9.99736814e-01 4.39578594e-04 -7.08947852e+00] [ 4.76405218e-03 -3.30387115e-04 9.99988597e-01 -4.61183874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.807552018 meters Centerline goodness [0,1] 0.9823810494372354 Centerline is valid? [True, True] Translation: X:68.69, Y:-7.08, Z:-0.46 [[ 9.99699618e-01 2.40394554e-02 -4.77270219e-03 6.86850908e+01] [-2.40376232e-02 9.99710957e-01 4.40900682e-04 -7.08255957e+00] [ 4.78192169e-03 -3.26043827e-04 9.99988513e-01 -4.60125466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.837552018 meters Centerline goodness [0,1] 0.9811406395388421 Centerline is valid? [True, True] Translation: X:68.71, Y:-7.09, Z:-0.46 [[ 9.99673158e-01 2.51789800e-02 -4.42665158e-03 6.87128935e+01] [-2.51774175e-02 9.99682915e-01 4.08362847e-04 -7.08534452e+00] [ 4.43553012e-03 -2.96777722e-04 9.99990119e-01 -4.60553645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.867552018 meters Centerline goodness [0,1] 0.9803363167887171 Centerline is valid? [True, True] Translation: X:68.74, Y:-7.09, Z:-0.46 [[ 9.99634006e-01 2.68104737e-02 -3.61277843e-03 6.87403015e+01] [-2.68094451e-02 9.99640507e-01 3.32854741e-04 -7.09099310e+00] [ 3.62040365e-03 -2.35876333e-04 9.99993418e-01 -4.61059335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.897552018 meters Centerline goodness [0,1] 0.9813431988923943 Centerline is valid? [True, True] Translation: X:68.77, Y:-7.08, Z:-0.46 [[ 9.99597632e-01 2.83009055e-02 -1.90598639e-03 6.87703593e+01] [-2.83006225e-02 9.99599442e-01 1.75297874e-04 -7.08157973e+00] [ 1.91018402e-03 -1.21286738e-04 9.99998168e-01 -4.58163896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.927552018 meters Centerline goodness [0,1] 0.9808237830477703 Centerline is valid? [True, True] Translation: X:68.80, Y:-7.08, Z:-0.46 [[ 9.99608823e-01 2.79159919e-02 -1.70253744e-03 6.87993844e+01] [-2.79157659e-02 9.99610267e-01 1.56405747e-04 -7.08360858e+00] [ 1.70624013e-03 -1.08816928e-04 9.99998538e-01 -4.57706569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.957552018 meters Centerline goodness [0,1] 0.9800199573638136 Centerline is valid? [True, True] Translation: X:68.83, Y:-7.09, Z:-0.46 [[ 9.99640061e-01 2.67925101e-02 -1.38202236e-03 6.88266463e+01] [-2.67923605e-02 9.99641012e-01 1.26641124e-04 -7.08921977e+00] [ 1.38491926e-03 -8.95678992e-05 9.99999037e-01 -4.58291092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.987552018 meters Centerline goodness [0,1] 0.9799083858678398 Centerline is valid? [True, True] Translation: X:68.86, Y:-7.09, Z:-0.46 [[ 9.99724964e-01 2.33541519e-02 -2.14010371e-03 6.88561423e+01] [-2.33537839e-02 9.99727244e-01 1.96790666e-04 -7.09358158e+00] [ 2.14411586e-03 -1.46757022e-04 9.99997691e-01 -4.58947117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01755201799999 meters Centerline goodness [0,1] 0.9799292420737515 Centerline is valid? [True, True] Translation: X:68.89, Y:-7.10, Z:-0.46 [[ 9.99771388e-01 2.12600081e-02 -2.27675349e-03 6.88853716e+01] [-2.12595866e-02 9.99773968e-01 2.09170831e-04 -7.09911936e+00] [ 2.28068584e-03 -1.60720175e-04 9.99997386e-01 -4.59356901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04755201799999 meters Centerline goodness [0,1] 0.9786505903950321 Centerline is valid? [True, True] Translation: X:68.91, Y:-7.11, Z:-0.46 [[ 9.99849978e-01 1.69885872e-02 -3.37782668e-03 6.89138676e+01] [-1.69876348e-02 9.99855652e-01 3.10461505e-04 -7.10841444e+00] [ 3.38261339e-03 -2.53033643e-04 9.99994247e-01 -4.61412426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07755201799999 meters Centerline goodness [0,1] 0.979614412136536 Centerline is valid? [True, True] Translation: X:68.94, Y:-7.11, Z:-0.46 [[ 9.99873741e-01 1.52508457e-02 -4.46247690e-03 6.89437267e+01] [-1.52491672e-02 9.99883641e-01 4.09914759e-04 -7.10814775e+00] [ 4.46820919e-03 -3.41813948e-04 9.99989959e-01 -4.62468970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10755201799999 meters Centerline goodness [0,1] 0.9795415498688851 Centerline is valid? [True, True] Translation: X:68.97, Y:-7.11, Z:-0.46 [[ 9.99888502e-01 1.39850370e-02 -5.23469739e-03 6.89729947e+01] [-1.39827110e-02 9.99902122e-01 4.80683118e-04 -7.11225279e+00] [ 5.24090740e-03 -4.07434262e-04 9.99986183e-01 -4.64197705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.137552018 meters Centerline goodness [0,1] 0.979897908479017 Centerline is valid? [True, True] Translation: X:69.00, Y:-7.12, Z:-0.47 [[ 9.99885941e-01 1.39198730e-02 -5.86023873e-03 6.90016163e+01] [-1.39169605e-02 9.99903010e-01 5.37486575e-04 -7.11669900e+00] [ 5.86715209e-03 -4.55868559e-04 9.99982684e-01 -4.65311893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.167552018 meters Centerline goodness [0,1] 0.979897908479017 Centerline is valid? [True, True] Translation: X:69.03, Y:-7.12, Z:-0.47 [[ 9.99887531e-01 1.38051354e-02 -5.86031967e-03 6.90290493e+01] [-1.38022261e-02 9.99904601e-01 5.36603919e-04 -7.11910275e+00] [ 5.86716849e-03 -4.55658111e-04 9.99982684e-01 -4.65464144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.197552018 meters Centerline goodness [0,1] 0.9806860636250424 Centerline is valid? [True, True] Translation: X:69.06, Y:-7.12, Z:-0.46 [[ 9.99874778e-01 1.47865107e-02 -5.63798723e-03 6.90584612e+01] [-1.47838349e-02 9.99890580e-01 5.15978445e-04 -7.11716967e+00] [ 5.64499984e-03 -4.32562761e-04 9.99983973e-01 -4.64352831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.227552018 meters Centerline goodness [0,1] 0.9798215418063231 Centerline is valid? [True, True] Translation: X:69.09, Y:-7.12, Z:-0.46 [[ 9.99849102e-01 1.65623842e-02 -5.24034669e-03 6.90868777e+01] [-1.65600973e-02 9.99862757e-01 4.79495658e-04 -7.12076107e+00] [ 5.24756909e-03 -3.92642652e-04 9.99986154e-01 -4.63785531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.257552018 meters Centerline goodness [0,1] 0.975805721528155 Centerline is valid? [True, True] Translation: X:69.12, Y:-7.13, Z:-0.46 [[ 9.99763826e-01 2.13644150e-02 -3.98179040e-03 6.91157935e+01] [-2.13631327e-02 9.99771716e-01 3.64316366e-04 -7.12566585e+00] [ 3.98866482e-03 -2.79166807e-04 9.99992006e-01 -4.63120021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.287552018 meters Centerline goodness [0,1] 0.9796624050229765 Centerline is valid? [True, True] Translation: X:69.15, Y:-7.12, Z:-0.46 [[ 9.99705959e-01 2.39317534e-02 -3.90728577e-03 6.91469560e+01] [-2.39305394e-02 9.99713560e-01 3.57167121e-04 -7.11630041e+00] [ 3.91471420e-03 -2.63558643e-04 9.99992303e-01 -4.61892698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.317552018 meters Centerline goodness [0,1] 0.9804549896593259 Centerline is valid? [True, True] Translation: X:69.18, Y:-7.11, Z:-0.46 [[ 9.99649945e-01 2.62398056e-02 -3.38535824e-03 6.91766665e+01] [-2.62389079e-02 9.99655653e-01 3.09336231e-04 -7.11425663e+00] [ 3.39230943e-03 -2.20399843e-04 9.99994222e-01 -4.61493109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.347552018 meters Centerline goodness [0,1] 0.9803263064739386 Centerline is valid? [True, True] Translation: X:69.21, Y:-7.11, Z:-0.46 [[ 9.99548725e-01 2.99324511e-02 -2.52878185e-03 6.92072114e+01] [-2.99319620e-02 9.99551912e-01 2.31073917e-04 -7.11323456e+00] [ 2.53456534e-03 -1.55278237e-04 9.99996776e-01 -4.60755300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37755201799999 meters Centerline goodness [0,1] 0.9787713823656697 Centerline is valid? [True, True] Translation: X:69.23, Y:-7.12, Z:-0.46 [[ 9.99503049e-01 3.14484775e-02 -2.15601928e-03 6.92349639e+01] [-3.14481265e-02 9.99505366e-01 1.96508122e-04 -7.11875358e+00] [ 2.16113272e-03 -1.28607699e-04 9.99997656e-01 -4.61054477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40755201799999 meters Centerline goodness [0,1] 0.9801116300261988 Centerline is valid? [True, True] Translation: X:69.26, Y:-7.12, Z:-0.46 [[ 9.99465999e-01 3.26694179e-02 -6.53280483e-04 6.92643104e+01] [-3.26693862e-02 9.99466211e-01 5.91895355e-05 -7.11503509e+00] [ 6.54865457e-04 -3.78156558e-05 9.99999785e-01 -4.60893981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43755201799999 meters Centerline goodness [0,1] 0.9800391924531742 Centerline is valid? [True, True] Translation: X:69.29, Y:-7.12, Z:-0.46 [[ 9.99462045e-01 3.27952272e-02 3.06320060e-04 6.92922411e+01] [-3.27952199e-02 9.99462092e-01 -2.86986487e-05 -7.11894105e+00] [-3.07096466e-04 1.86373764e-05 9.99999953e-01 -4.61200969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46755201799999 meters Centerline goodness [0,1] 0.9805909287650637 Centerline is valid? [True, True] Translation: X:69.32, Y:-7.12, Z:-0.46 [[ 9.99464987e-01 3.27068357e-02 5.95377991e-05 6.93198920e+01] [-3.27068354e-02 9.99464988e-01 -6.06519891e-06 -7.11958394e+00] [-5.97043191e-05 4.11466095e-06 9.99999998e-01 -4.61558031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.497552018 meters Centerline goodness [0,1] 0.9811458404577891 Centerline is valid? [True, True] Translation: X:69.35, Y:-7.12, Z:-0.46 [[ 9.99496416e-01 3.17292284e-02 -4.13423802e-04 6.93483015e+01] [-3.17292157e-02 9.99496501e-01 3.71594119e-05 -7.12131561e+00] [ 4.14394683e-04 -2.40230860e-05 9.99999914e-01 -4.62457983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.527552018 meters Centerline goodness [0,1] 0.9815688150730185 Centerline is valid? [True, True] Translation: X:69.38, Y:-7.12, Z:-0.46 [[ 9.99555428e-01 2.97741020e-02 -1.56494239e-03 6.93773463e+01] [-2.97739162e-02 9.99556649e-01 1.41878352e-04 -7.12494654e+00] [ 1.56847287e-03 -9.52208135e-05 9.99998765e-01 -4.64979231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.557552018 meters Centerline goodness [0,1] 0.9813923790846693 Centerline is valid? [True, True] Translation: X:69.41, Y:-7.13, Z:-0.47 [[ 9.99591722e-01 2.85031978e-02 -1.98937595e-03 6.94059227e+01] [-2.85028954e-02 9.99593694e-01 1.80187409e-04 -7.12983894e+00] [ 1.99370357e-03 -1.23410868e-04 9.99998005e-01 -4.66249908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.587552018 meters Centerline goodness [0,1] 0.9818786897950811 Centerline is valid? [True, True] Translation: X:69.43, Y:-7.13, Z:-0.47 [[ 9.99641898e-01 2.66396043e-02 -2.53129760e-03 6.94346679e+01] [-2.66391086e-02 9.99645090e-01 2.29347486e-04 -7.13384157e+00] [ 2.53650895e-03 -1.61833845e-04 9.99996770e-01 -4.67330059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.617552018 meters Centerline goodness [0,1] 0.9818985956593106 Centerline is valid? [True, True] Translation: X:69.46, Y:-7.14, Z:-0.47 [[ 9.99719467e-01 2.34509113e-02 -3.32309588e-03 6.94641824e+01] [-2.34500386e-02 9.99724965e-01 3.01335244e-04 -7.13882091e+00] [ 3.32924850e-03 -2.23323983e-04 9.99994433e-01 -4.68690026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.647552018 meters Centerline goodness [0,1] 0.9815034709535988 Centerline is valid? [True, True] Translation: X:69.49, Y:-7.14, Z:-0.47 [[ 9.99757449e-01 2.17630674e-02 -3.37813400e-03 6.94918932e+01] [-2.17621579e-02 9.99763129e-01 3.05748690e-04 -7.14450292e+00] [ 3.38398785e-03 -2.32159044e-04 9.99994247e-01 -4.69294440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.677552018 meters Centerline goodness [0,1] 0.9818588412477466 Centerline is valid? [True, True] Translation: X:69.52, Y:-7.15, Z:-0.47 [[ 9.99789137e-01 2.02626494e-02 -3.33258017e-03 6.95219320e+01] [-2.02617558e-02 9.99794664e-01 3.01695754e-04 -7.14510833e+00] [ 3.33800903e-03 -2.34108212e-04 9.99994401e-01 -4.69565931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.707552018 meters Centerline goodness [0,1] 0.9799936270939549 Centerline is valid? [True, True] Translation: X:69.55, Y:-7.15, Z:-0.47 [[ 9.99832640e-01 1.81111835e-02 -2.58386669e-03 6.95496657e+01] [-1.81106403e-02 9.99835962e-01 2.33450236e-04 -7.15128324e+00] [ 2.58767090e-03 -1.86615685e-04 9.99996635e-01 -4.68904699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.737552018 meters Centerline goodness [0,1] 0.9813224608796666 Centerline is valid? [True, True] Translation: X:69.58, Y:-7.15, Z:-0.47 [[ 9.99845248e-01 1.74430273e-02 -2.28471994e-03 6.95783765e+01] [-1.74426014e-02 9.99847845e-01 2.06197767e-04 -7.15327304e+00] [ 2.28796902e-03 -1.66314399e-04 9.99997369e-01 -4.67896489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76755201799999 meters Centerline goodness [0,1] 0.9816434362758495 Centerline is valid? [True, True] Translation: X:69.61, Y:-7.15, Z:-0.47 [[ 9.99838605e-01 1.78567398e-02 -1.97525354e-03 6.96073869e+01] [-1.78564227e-02 9.99840546e-01 1.78041793e-04 -7.15235157e+00] [ 1.97811782e-03 -1.42742096e-04 9.99998033e-01 -4.67693819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79755201799999 meters Centerline goodness [0,1] 0.9801445277771446 Centerline is valid? [True, True] Translation: X:69.64, Y:-7.16, Z:-0.47 [[ 9.99800656e-01 1.99416538e-02 -9.89155891e-04 6.96359345e+01] [-1.99415753e-02 9.99801143e-01 8.91222019e-05 -7.16057055e+00] [ 9.90736435e-04 -6.93791092e-05 9.99999507e-01 -4.68674947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82755201799999 meters Centerline goodness [0,1] 0.9808482468955442 Centerline is valid? [True, True] Translation: X:69.67, Y:-7.16, Z:-0.47 [[ 9.99782049e-01 2.08474353e-02 -1.11320435e-03 6.96655196e+01] [-2.08473366e-02 9.99782666e-01 1.00159784e-04 -7.15919154e+00] [ 1.11505049e-03 -7.69306079e-05 9.99999375e-01 -4.68937473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85755201799999 meters Centerline goodness [0,1] 0.9819478950607435 Centerline is valid? [True, True] Translation: X:69.69, Y:-7.16, Z:-0.47 [[ 9.99762238e-01 2.17926041e-02 -7.41011817e-04 6.96945737e+01] [-2.17925609e-02 9.99762512e-01 6.63904966e-05 -7.15874604e+00] [ 7.42282658e-04 -5.02261663e-05 9.99999723e-01 -4.68908147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.887552018 meters Centerline goodness [0,1] 0.978744292237443 Centerline is valid? [True, True] Translation: X:69.72, Y:-7.17, Z:-0.47 [[ 9.99748384e-01 2.24183033e-02 -7.67510542e-04 6.97216841e+01] [-2.24182573e-02 9.99748677e-01 6.83873449e-05 -7.16915139e+00] [ 7.68850777e-04 -5.11638887e-05 9.99999703e-01 -4.69328542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.917552018 meters Centerline goodness [0,1] 0.9818910730962849 Centerline is valid? [True, True] Translation: X:69.75, Y:-7.16, Z:-0.47 [[ 9.99759675e-01 2.19123779e-02 -6.62898812e-04 6.97512790e+01] [-2.19123434e-02 9.99759894e-01 5.92063851e-05 -7.16216136e+00] [ 6.64036999e-04 -4.46664899e-05 9.99999779e-01 -4.68607958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.947552018 meters Centerline goodness [0,1] 0.9800077330725316 Centerline is valid? [True, True] Translation: X:69.78, Y:-7.17, Z:-0.47 [[ 9.99772582e-01 2.12811450e-02 -1.37732982e-03 6.97790408e+01] [-2.12809953e-02 9.99773526e-01 1.23244958e-04 -7.16681057e+00] [ 1.37964068e-03 -9.39059808e-05 9.99999044e-01 -4.69593566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.977552018 meters Centerline goodness [0,1] 0.9768715488367883 Centerline is valid? [True, True] Translation: X:69.81, Y:-7.18, Z:-0.47 [[ 9.99789210e-01 2.04624432e-02 -1.68020447e-03 6.98054859e+01] [-2.04622193e-02 9.99790616e-01 1.50307244e-04 -7.17903489e+00] [ 1.68292831e-03 -1.15894848e-04 9.99998577e-01 -4.71646980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.007552018 meters Centerline goodness [0,1] 0.9785712664290741 Centerline is valid? [True, True] Translation: X:69.83, Y:-7.18, Z:-0.47 [[ 9.99824401e-01 1.86311320e-02 -2.01192661e-03 6.98348630e+01] [-1.86308070e-02 9.99826415e-01 1.80182448e-04 -7.17809233e+00] [ 2.01493437e-03 -1.42666992e-04 9.99997960e-01 -4.71918288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.037552018 meters Centerline goodness [0,1] 0.9784569138276553 Centerline is valid? [True, True] Translation: X:69.86, Y:-7.18, Z:-0.47 [[ 9.99832400e-01 1.82009632e-02 -1.97405795e-03 6.98639106e+01] [-1.82006500e-02 9.99834339e-01 1.76523385e-04 -7.18171851e+00] [ 1.97694382e-03 -1.40564662e-04 9.99998036e-01 -4.71572597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.067552018 meters Centerline goodness [0,1] 0.9770044353462982 Centerline is valid? [True, True] Translation: X:69.89, Y:-7.18, Z:-0.47 [[ 9.99842134e-01 1.76773309e-02 -1.79424952e-03 6.98923248e+01] [-1.76770716e-02 9.99843736e-01 1.60267225e-04 -7.18476654e+00] [ 1.79680224e-03 -1.28524847e-04 9.99998377e-01 -4.71548969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.097552018 meters Centerline goodness [0,1] 0.9763392958610815 Centerline is valid? [True, True] Translation: X:69.92, Y:-7.19, Z:-0.47 [[ 9.99821039e-01 1.88215705e-02 -1.90736080e-03 6.99196699e+01] [-1.88212801e-02 9.99822850e-01 1.70112060e-04 -7.18879320e+00] [ 1.91022469e-03 -1.34182645e-04 9.99998167e-01 -4.71717025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12755201799999 meters Centerline goodness [0,1] 0.9767125462007664 Centerline is valid? [True, True] Translation: X:69.95, Y:-7.19, Z:-0.47 [[ 9.99795439e-01 2.00817725e-02 -2.40877961e-03 6.99483217e+01] [-2.00813128e-02 9.99798327e-01 2.14896894e-04 -7.19053455e+00] [ 2.41260934e-03 -1.66481478e-04 9.99997076e-01 -4.71865153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15755201799999 meters Centerline goodness [0,1] 0.9778090717059986 Centerline is valid? [True, True] Translation: X:69.98, Y:-7.19, Z:-0.47 [[ 9.99768508e-01 2.13410361e-02 -2.73681546e-03 6.99771004e+01] [-2.13404478e-02 9.99772237e-01 2.44006764e-04 -7.19128368e+00] [ 2.74139947e-03 -1.85545411e-04 9.99996225e-01 -4.72192465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18755201799999 meters Centerline goodness [0,1] 0.9788585427819617 Centerline is valid? [True, True] Translation: X:70.01, Y:-7.19, Z:-0.47 [[ 9.99740328e-01 2.25030516e-02 -3.59010933e-03 7.00064810e+01] [-2.25020472e-02 9.99746746e-01 3.19920087e-04 -7.18996949e+00] [ 3.59639930e-03 -2.39052203e-04 9.99993504e-01 -4.72682734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21755201799999 meters Centerline goodness [0,1] 0.9805104934770278 Centerline is valid? [True, True] Translation: X:70.03, Y:-7.20, Z:-0.47 [[ 9.99737141e-01 2.26205439e-02 -3.73640209e-03 7.00340819e+01] [-2.26194585e-02 9.99744092e-01 3.32504933e-04 -7.19561680e+00] [ 3.74296736e-03 -2.47902139e-04 9.99992964e-01 -4.73475863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.247552018 meters Centerline goodness [0,1] 0.9798158881691101 Centerline is valid? [True, True] Translation: X:70.06, Y:-7.20, Z:-0.47 [[ 9.99729979e-01 2.28774862e-02 -4.07315584e-03 7.00624390e+01] [-2.28761991e-02 9.99738240e-01 3.62313909e-04 -7.19816468e+00] [ 4.08037848e-03 -2.69037753e-04 9.99991639e-01 -4.73884577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.277552018 meters Centerline goodness [0,1] 0.9809623335908038 Centerline is valid? [True, True] Translation: X:70.09, Y:-7.20, Z:-0.47 [[ 9.99712316e-01 2.36990090e-02 -3.69345854e-03 7.00909793e+01] [-2.36979575e-02 9.99719110e-01 3.28212524e-04 -7.20076783e+00] [ 3.70019940e-03 -2.40590679e-04 9.99993125e-01 -4.72956397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.307552018 meters Centerline goodness [0,1] 0.9808660167762412 Centerline is valid? [True, True] Translation: X:70.12, Y:-7.20, Z:-0.47 [[ 9.99698370e-01 2.43554984e-02 -3.15900887e-03 7.01197714e+01] [-2.43547334e-02 9.99703340e-01 2.80415899e-04 -7.20328768e+00] [ 3.16490139e-03 -2.03394498e-04 9.99994971e-01 -4.72767983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.337552018 meters Centerline goodness [0,1] 0.9803836984901805 Centerline is valid? [True, True] Translation: X:70.15, Y:-7.20, Z:-0.47 [[ 9.99685040e-01 2.48493875e-02 -3.51133779e-03 7.01487518e+01] [-2.48484462e-02 9.99691181e-01 3.11453546e-04 -7.20440057e+00] [ 3.51799286e-03 -2.24104162e-04 9.99993787e-01 -4.72595863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.367552018 meters Centerline goodness [0,1] 0.9806713909330426 Centerline is valid? [True, True] Translation: X:70.18, Y:-7.21, Z:-0.47 [[ 9.99679996e-01 2.50619766e-02 -3.43561736e-03 7.01772476e+01] [-2.50610776e-02 9.99685876e-01 3.04462167e-04 -7.20834292e+00] [ 3.44216857e-03 -2.18264464e-04 9.99994052e-01 -4.73257377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.397552018 meters Centerline goodness [0,1] 0.982203659145594 Centerline is valid? [True, True] Translation: X:70.21, Y:-7.21, Z:-0.47 [[ 9.99672094e-01 2.53349577e-02 -3.72080105e-03 7.02055625e+01] [-2.53339062e-02 9.99678991e-01 3.29474569e-04 -7.21028420e+00] [ 3.72795386e-03 -2.35104108e-04 9.99993024e-01 -4.73394777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.427552018 meters Centerline goodness [0,1] 0.9805867029108619 Centerline is valid? [True, True] Translation: X:70.23, Y:-7.21, Z:-0.47 [[ 9.99669858e-01 2.52980375e-02 -4.49260602e-03 7.02322806e+01] [-2.52965080e-02 9.99679913e-01 3.96973477e-04 -7.21412126e+00] [ 4.50121065e-03 -2.83195176e-04 9.99989829e-01 -4.73731646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.457552018 meters Centerline goodness [0,1] 0.9810396443799329 Centerline is valid? [True, True] Translation: X:70.26, Y:-7.22, Z:-0.47 [[ 9.99655854e-01 2.56427735e-02 -5.53364045e-03 7.02610752e+01] [-2.56404578e-02 9.99671110e-01 4.89034284e-04 -7.21660751e+00] [ 5.54436069e-03 -3.46980911e-04 9.99984570e-01 -4.73929184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.487552018 meters Centerline goodness [0,1] 0.9818919408938446 Centerline is valid? [True, True] Translation: X:70.29, Y:-7.22, Z:-0.47 [[ 9.99660364e-01 2.54477966e-02 -5.61834307e-03 7.02898324e+01] [-2.54454088e-02 9.99676090e-01 4.96092158e-04 -7.22014995e+00] [ 5.62914769e-03 -3.52962631e-04 9.99984094e-01 -4.74714364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51755201799999 meters Centerline goodness [0,1] 0.9810476857394566 Centerline is valid? [True, True] Translation: X:70.32, Y:-7.23, Z:-0.48 [[ 9.99691471e-01 2.42447935e-02 -5.39927738e-03 7.03179330e+01] [-2.42425731e-02 9.99705992e-01 4.76312331e-04 -7.22690519e+00] [ 5.40923805e-03 -3.45272998e-04 9.99985310e-01 -4.76965369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54755201799999 meters Centerline goodness [0,1] 0.9808197641774284 Centerline is valid? [True, True] Translation: X:70.35, Y:-7.23, Z:-0.48 [[ 9.99703354e-01 2.38458676e-02 -4.95760078e-03 7.03462424e+01] [-2.38439929e-02 9.99715596e-01 4.36922835e-04 -7.23090446e+00] [ 4.96660963e-03 -3.18584226e-04 9.99987616e-01 -4.77291874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57755201799999 meters Centerline goodness [0,1] 0.9807627176048229 Centerline is valid? [True, True] Translation: X:70.37, Y:-7.23, Z:-0.48 [[ 9.99718148e-01 2.31971070e-02 -5.05152210e-03 7.03747065e+01] [-2.31951543e-02 9.99730857e-01 4.44802464e-04 -7.23353034e+00] [ 5.06048065e-03 -3.27506261e-04 9.99987142e-01 -4.76942214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60755201799999 meters Centerline goodness [0,1] 0.9809173234570132 Centerline is valid? [True, True] Translation: X:70.40, Y:-7.24, Z:-0.47 [[ 9.99726000e-01 2.29095324e-02 -4.80390040e-03 7.04037849e+01] [-2.29077651e-02 9.99737493e-01 4.22598744e-04 -7.23568964e+00] [ 4.81232089e-03 -3.12436330e-04 9.99988372e-01 -4.74223696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.637552018 meters Centerline goodness [0,1] 0.9817854733528222 Centerline is valid? [True, True] Translation: X:70.43, Y:-7.24, Z:-0.47 [[ 9.99721791e-01 2.31746756e-02 -4.39028594e-03 7.04312328e+01] [-2.31732046e-02 9.99731391e-01 3.85641998e-04 -7.23854998e+00] [ 4.39804379e-03 -2.83797715e-04 9.99990288e-01 -4.73352667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.667552018 meters Centerline goodness [0,1] 0.9812526822216701 Centerline is valid? [True, True] Translation: X:70.46, Y:-7.24, Z:-0.47 [[ 9.99723330e-01 2.31639660e-02 -4.08589390e-03 7.04597243e+01] [-2.31626928e-02 9.99731645e-01 3.58649863e-04 -7.24080267e+00] [ 4.09310518e-03 -2.63910330e-04 9.99991588e-01 -4.73929478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.697552018 meters Centerline goodness [0,1] 0.9815098418990136 Centerline is valid? [True, True] Translation: X:70.49, Y:-7.25, Z:-0.48 [[ 9.99694148e-01 2.44914405e-02 -3.43208726e-03 7.04880982e+01] [-2.44905512e-02 9.99700016e-01 3.00924923e-04 -7.24786611e+00] [ 3.43842778e-03 -2.16779176e-04 9.99994065e-01 -4.75593192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.727552018 meters Centerline goodness [0,1] 0.980742438542088 Centerline is valid? [True, True] Translation: X:70.52, Y:-7.25, Z:-0.48 [[ 9.99686167e-01 2.47786121e-02 -3.68617817e-03 7.05164183e+01] [-2.47775891e-02 9.99692936e-01 3.22947556e-04 -7.25171865e+00] [ 3.69304847e-03 -2.31511596e-04 9.99993154e-01 -4.76722041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.757552018 meters Centerline goodness [0,1] 0.9820423719313979 Centerline is valid? [True, True] Translation: X:70.54, Y:-7.26, Z:-0.48 [[ 9.99682866e-01 2.48409111e-02 -4.13491795e-03 7.05441068e+01] [-2.48396262e-02 9.99691383e-01 3.61811482e-04 -7.25611727e+00] [ 4.14262957e-03 -2.58986923e-04 9.99991386e-01 -4.77662197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.787552018 meters Centerline goodness [0,1] 0.9820426487093153 Centerline is valid? [True, True] Translation: X:70.57, Y:-7.26, Z:-0.48 [[ 9.99661460e-01 2.54295872e-02 -5.50472481e-03 7.05729895e+01] [-2.54273197e-02 9.99676557e-01 4.81522799e-04 -7.25650625e+00] [ 5.51518927e-03 -3.41389387e-04 9.99984733e-01 -4.77561376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.817552018 meters Centerline goodness [0,1] 0.9823802371718712 Centerline is valid? [True, True] Translation: X:70.60, Y:-7.26, Z:-0.48 [[ 9.99646964e-01 2.60126835e-02 -5.41176877e-03 7.06021489e+01] [-2.60105017e-02 9.99661558e-01 4.73177636e-04 -7.25926535e+00] [ 5.42224582e-03 -3.32247767e-04 9.99985244e-01 -4.77179473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.847552018 meters Centerline goodness [0,1] 0.9826810767268578 Centerline is valid? [True, True] Translation: X:70.63, Y:-7.27, Z:-0.48 [[ 9.99626751e-01 2.68322173e-02 -5.13716907e-03 7.06291799e+01] [-2.68302657e-02 9.99639903e-01 4.48447001e-04 -7.26541342e+00] [ 5.14735202e-03 -3.10448007e-04 9.99986704e-01 -4.78749686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87755201799999 meters Centerline goodness [0,1] 0.9825917462024466 Centerline is valid? [True, True] Translation: X:70.66, Y:-7.27, Z:-0.48 [[ 9.99620947e-01 2.69750252e-02 -5.50546088e-03 7.06579584e+01] [-2.69727876e-02 9.99636053e-01 4.80298384e-04 -7.26758839e+00] [ 5.51641325e-03 -3.31618698e-04 9.99984729e-01 -4.79704341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90755201799999 meters Centerline goodness [0,1] 0.9827663384064458 Centerline is valid? [True, True] Translation: X:70.68, Y:-7.27, Z:-0.48 [[ 9.99627543e-01 2.67198135e-02 -5.55216072e-03 7.06849805e+01] [-2.67175401e-02 9.99642906e-01 4.83239544e-04 -7.27398909e+00] [ 5.56309015e-03 -3.34719482e-04 9.99984470e-01 -4.80848955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93755201799999 meters Centerline goodness [0,1] 0.982790260495927 Centerline is valid? [True, True] Translation: X:70.71, Y:-7.27, Z:-0.48 [[ 9.99632530e-01 2.65166269e-02 -5.62788033e-03 7.07140425e+01] [-2.65142884e-02 9.99648314e-01 4.89750422e-04 -7.27499151e+00] [ 5.63888762e-03 -3.40351212e-04 9.99984043e-01 -4.80485336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96755201799999 meters Centerline goodness [0,1] 0.9819650488912757 Centerline is valid? [True, True] Translation: X:70.74, Y:-7.28, Z:-0.48 [[ 9.99643350e-01 2.59587080e-02 -6.27048099e-03 7.07429847e+01] [-2.59557967e-02 9.99662943e-01 5.45233761e-04 -7.27737247e+00] [ 6.28252105e-03 -3.82283973e-04 9.99980192e-01 -4.79255249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.997552018 meters Centerline goodness [0,1] 0.9827670878164204 Centerline is valid? [True, True] Translation: X:70.77, Y:-7.28, Z:-0.48 [[ 9.99641702e-01 2.60059670e-02 -6.33694257e-03 7.07722328e+01] [-2.60029978e-02 9.99661713e-01 5.50514305e-04 -7.27860067e+00] [ 6.34911553e-03 -3.85537553e-04 9.99979770e-01 -4.78748996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.027552018 meters Centerline goodness [0,1] 0.9819880368304321 Centerline is valid? [True, True] Translation: X:70.80, Y:-7.28, Z:-0.48 [[ 9.99649623e-01 2.56572291e-02 -6.50668413e-03 7.08005978e+01] [-2.56540945e-02 9.99670720e-01 5.64765684e-04 -7.28310634e+00] [ 6.51903193e-03 -3.97644713e-04 9.99978672e-01 -4.79361822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.057552018 meters Centerline goodness [0,1] 0.9819880368304321 Centerline is valid? [True, True] Translation: X:70.83, Y:-7.29, Z:-0.48 [[ 9.99652606e-01 2.55407511e-02 -6.50676849e-03 7.08280107e+01] [-2.55376204e-02 9.99673703e-01 5.63793582e-04 -7.28537652e+00] [ 6.51904506e-03 -3.97430339e-04 9.99978672e-01 -4.79513898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.087552018 meters Centerline goodness [0,1] 0.9821891481183517 Centerline is valid? [True, True] Translation: X:70.86, Y:-7.29, Z:-0.48 [[ 9.99664768e-01 2.52665347e-02 -5.65273949e-03 7.08554742e+01] [-2.52641717e-02 9.99680690e-01 4.89055000e-04 -7.29318049e+00] [ 5.66329124e-03 -3.46079272e-04 9.99983904e-01 -4.80884333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.117552018 meters Centerline goodness [0,1] 0.9826587018544936 Centerline is valid? [True, True] Translation: X:70.88, Y:-7.30, Z:-0.48 [[ 9.99666256e-01 2.52403252e-02 -5.50468978e-03 7.08834998e+01] [-2.52380852e-02 9.99681355e-01 4.76018785e-04 -7.29795044e+00] [ 5.51495061e-03 -3.36932088e-04 9.99984736e-01 -4.81677452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.147552018 meters Centerline goodness [0,1] 0.9816548526592662 Centerline is valid? [True, True] Translation: X:70.91, Y:-7.30, Z:-0.48 [[ 9.99676827e-01 2.46965252e-02 -6.02694016e-03 7.09107740e+01] [-2.46938341e-02 9.99694925e-01 5.20539808e-04 -7.30290541e+00] [ 6.03795701e-03 -3.71543324e-04 9.99981702e-01 -4.82160202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.177552018 meters Centerline goodness [0,1] 0.9822311289245157 Centerline is valid? [True, True] Translation: X:70.94, Y:-7.30, Z:-0.48 [[ 9.99692276e-01 2.41587806e-02 -5.63080925e-03 7.09395656e+01] [-2.41564252e-02 9.99708073e-01 4.85951496e-04 -7.30279937e+00] [ 5.64090546e-03 -3.49781735e-04 9.99984029e-01 -4.80515129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.207552018 meters Centerline goodness [0,1] 0.9820323284499265 Centerline is valid? [True, True] Translation: X:70.97, Y:-7.31, Z:-0.48 [[ 9.99699078e-01 2.39139724e-02 -5.46583886e-03 7.09668083e+01] [-2.39117529e-02 9.99713962e-01 4.71071082e-04 -7.30919759e+00] [ 5.47554061e-03 -3.40231538e-04 9.99984951e-01 -4.81282695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.237552018 meters Centerline goodness [0,1] 0.982248652501225 Centerline is valid? [True, True] Translation: X:70.99, Y:-7.32, Z:-0.48 [[ 9.99700672e-01 2.39583769e-02 -4.95607317e-03 7.09944354e+01] [-2.39565551e-02 9.99712910e-01 4.26634224e-04 -7.31635654e+00] [ 4.96487179e-03 -3.07776080e-04 9.99987628e-01 -4.82350732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26755201799999 meters Centerline goodness [0,1] 0.982234803735818 Centerline is valid? [True, True] Translation: X:71.02, Y:-7.32, Z:-0.48 [[ 9.99694879e-01 2.42778569e-02 -4.55358812e-03 7.10227090e+01] [-2.42763235e-02 9.99705210e-01 3.91708006e-04 -7.32018191e+00] [ 4.56175560e-03 -2.81044109e-04 9.99989556e-01 -4.82569545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29755201799999 meters Centerline goodness [0,1] 0.9835562181526891 Centerline is valid? [True, True] Translation: X:71.05, Y:-7.32, Z:-0.48 [[ 9.99693407e-01 2.44631884e-02 -3.82673507e-03 7.10512825e+01] [-2.44621083e-02 9.99700704e-01 3.28804733e-04 -7.32035414e+00] [ 3.83363336e-03 -2.35093916e-04 9.99992624e-01 -4.81560490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32755201799999 meters Centerline goodness [0,1] 0.9831936519258202 Centerline is valid? [True, True] Translation: X:71.08, Y:-7.32, Z:-0.48 [[ 9.99698576e-01 2.43203073e-02 -3.35845279e-03 7.10788496e+01] [-2.43194768e-02 9.99704196e-01 2.87908558e-04 -7.32304330e+00] [ 3.36446137e-03 -2.06145961e-04 9.99994319e-01 -4.81093719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35755201799999 meters Centerline goodness [0,1] 0.9829575833184816 Centerline is valid? [True, True] Translation: X:71.11, Y:-7.33, Z:-0.48 [[ 9.99704614e-01 2.42125494e-02 -2.10640994e-03 7.11073165e+01] [-2.42122229e-02 9.99706825e-01 1.80388431e-04 -7.32541866e+00] [ 2.11016006e-03 -1.29334279e-04 9.99997765e-01 -4.78891212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.387552018 meters Centerline goodness [0,1] 0.9834135901551632 Centerline is valid? [True, True] Translation: X:71.14, Y:-7.33, Z:-0.48 [[ 9.99704644e-01 2.42219748e-02 -1.97995207e-03 7.11358585e+01] [-2.42216866e-02 9.99706598e-01 1.69379630e-04 -7.32773572e+00] [ 1.98347386e-03 -1.21371824e-04 9.99998026e-01 -4.78632014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.417552018 meters Centerline goodness [0,1] 0.9833778966131907 Centerline is valid? [True, True] Translation: X:71.16, Y:-7.33, Z:-0.48 [[ 9.99707773e-01 2.41171453e-02 -1.65295093e-03 7.11640649e+01] [-2.41169451e-02 9.99709134e-01 1.40930201e-04 -7.33132240e+00] [ 1.65586898e-03 -1.01024891e-04 9.99998624e-01 -4.79140491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.447552018 meters Centerline goodness [0,1] 0.9840433806698224 Centerline is valid? [True, True] Translation: X:71.19, Y:-7.34, Z:-0.48 [[ 9.99717189e-01 2.37106456e-02 -1.82929266e-03 7.11911891e+01] [-2.37103998e-02 9.99718857e-01 1.55967866e-04 -7.33932304e+00] [ 1.83247646e-03 -1.12550496e-04 9.99998315e-01 -4.81343119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.477552018 meters Centerline goodness [0,1] 0.9830955334987593 Centerline is valid? [True, True] Translation: X:71.22, Y:-7.35, Z:-0.48 [[ 9.99736240e-01 2.28126624e-02 -2.65207392e-03 7.12177939e+01] [-2.28121429e-02 9.99739744e-01 2.25962502e-04 -7.34829807e+00] [ 2.65653851e-03 -1.65403413e-04 9.99996458e-01 -4.82564014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.507552018 meters Centerline goodness [0,1] 0.9827532421230892 Centerline is valid? [True, True] Translation: X:71.25, Y:-7.35, Z:-0.48 [[ 9.99757149e-01 2.18303172e-02 -3.01319810e-03 7.12467279e+01] [-2.18296419e-02 9.99761672e-01 2.56827482e-04 -7.35226738e+00] [ 3.01808660e-03 -1.90988075e-04 9.99995427e-01 -4.83080590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.537552018 meters Centerline goodness [0,1] 0.984356572242373 Centerline is valid? [True, True] Translation: X:71.28, Y:-7.35, Z:-0.48 [[ 9.99800608e-01 1.95251892e-02 -4.18455108e-03 7.12766031e+01] [-1.95238677e-02 9.99809328e-01 3.56428446e-04 -7.34815077e+00] [ 4.19071254e-03 -2.74658756e-04 9.99991181e-01 -4.82914974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.567552018 meters Centerline goodness [0,1] 0.9842854913848829 Centerline is valid? [True, True] Translation: X:71.31, Y:-7.35, Z:-0.48 [[ 9.99823139e-01 1.83185880e-02 -4.25672494e-03 7.13050244e+01] [-1.83172117e-02 9.99832160e-01 3.62069422e-04 -7.34930508e+00] [ 4.26264309e-03 -2.84034054e-04 9.99990875e-01 -4.82769134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.597552018 meters Centerline goodness [0,1] 0.9837921847246892 Centerline is valid? [True, True] Translation: X:71.33, Y:-7.35, Z:-0.48 [[ 9.99838919e-01 1.75331125e-02 -3.83747744e-03 7.13323019e+01] [-1.75319898e-02 9.99846250e-01 3.25986088e-04 -7.35450210e+00] [ 3.84260298e-03 -2.58654962e-04 9.99992584e-01 -4.83153746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62755201799999 meters Centerline goodness [0,1] 0.9831770300902263 Centerline is valid? [True, True] Translation: X:71.36, Y:-7.36, Z:-0.48 [[ 9.99877376e-01 1.52697819e-02 -3.47373381e-03 7.13602576e+01] [-1.52688492e-02 9.99883381e-01 2.94883601e-04 -7.36031145e+00] [ 3.47783151e-03 -2.41807524e-04 9.99993923e-01 -4.82333323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65755201799999 meters Centerline goodness [0,1] 0.9835468614694585 Centerline is valid? [True, True] Translation: X:71.39, Y:-7.36, Z:-0.48 [[ 9.99890844e-01 1.45169564e-02 -2.74912645e-03 7.13874674e+01] [-1.45163706e-02 9.99894605e-01 2.32926119e-04 -7.36433536e+00] [ 2.75221808e-03 -1.92993355e-04 9.99996194e-01 -4.81800290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68755201799999 meters Centerline goodness [0,1] 0.9822123033409934 Centerline is valid? [True, True] Translation: X:71.42, Y:-7.36, Z:-0.48 [[ 9.99912530e-01 1.30490368e-02 -2.15769762e-03 7.14171020e+01] [-1.30486723e-02 9.99914846e-01 1.82923973e-04 -7.36425871e+00] [ 2.15990086e-03 -1.54752883e-04 9.99997655e-01 -4.81499799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71755201799999 meters Centerline goodness [0,1] 0.979638912300936 Centerline is valid? [True, True] Translation: X:71.44, Y:-7.37, Z:-0.48 [[ 9.99925832e-01 1.20390449e-02 -1.84146189e-03 7.14439599e+01] [-1.20387787e-02 9.99927519e-01 1.55583377e-04 -7.37413029e+00] [ 1.84320150e-03 -1.33402886e-04 9.99998292e-01 -4.82242833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.747552018 meters Centerline goodness [0,1] 0.9802621365682731 Centerline is valid? [True, True] Translation: X:71.47, Y:-7.38, Z:-0.48 [[ 9.99935286e-01 1.12983599e-02 -1.33069953e-03 7.14719768e+01] [-1.12982206e-02 9.99936167e-01 1.12183182e-04 -7.37808146e+00] [ 1.33188207e-03 -9.71413851e-05 9.99999108e-01 -4.82034086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.777552018 meters Centerline goodness [0,1] 0.9822922445356707 Centerline is valid? [True, True] Translation: X:71.50, Y:-7.37, Z:-0.48 [[ 9.99945594e-01 1.03820003e-02 -1.01179170e-03 7.15015119e+01] [-1.03819194e-02 9.99946103e-01 8.51762486e-05 -7.37414846e+00] [ 1.01262147e-03 -7.46672746e-05 9.99999485e-01 -4.80573252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.807552018 meters Centerline goodness [0,1] 0.9818738490892552 Centerline is valid? [True, True] Translation: X:71.53, Y:-7.38, Z:-0.48 [[ 9.99952937e-01 9.70035491e-03 -1.63888687e-04 7.15295000e+01] [-9.70035285e-03 9.99952950e-01 1.33158155e-05 -7.37657706e+00] [ 1.64010144e-04 -1.17254107e-05 9.99999986e-01 -4.79403803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.837552018 meters Centerline goodness [0,1] 0.9808655935435235 Centerline is valid? [True, True] Translation: X:71.56, Y:-7.38, Z:-0.48 [[ 9.99955678e-01 9.41047619e-03 2.91481575e-04 7.15568121e+01] [-9.41046926e-03 9.99955720e-01 -2.51344588e-05 -7.38034490e+00] [-2.91705195e-04 2.23903664e-05 9.99999957e-01 -4.79401979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.867552018 meters Centerline goodness [0,1] 0.9798556691902421 Centerline is valid? [True, True] Translation: X:71.58, Y:-7.39, Z:-0.48 [[ 9.99957328e-01 9.20430882e-03 7.88725737e-04 7.15837367e+01] [-9.20425877e-03 9.99957638e-01 -6.70692300e-05 -7.38658040e+00] [-7.89309650e-04 5.98067323e-05 9.99999687e-01 -4.79664587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.897552018 meters Centerline goodness [0,1] 0.9815540645275582 Centerline is valid? [True, True] Translation: X:71.61, Y:-7.39, Z:-0.48 [[ 9.99966017e-01 8.23064404e-03 4.69762520e-04 7.16129292e+01] [-8.23062615e-03 9.99966127e-01 -4.00008909e-05 -7.38552542e+00] [-4.70075841e-04 3.61330918e-05 9.99999889e-01 -4.80982315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.927552018 meters Centerline goodness [0,1] 0.9818737812444602 Centerline is valid? [True, True] Translation: X:71.64, Y:-7.39, Z:-0.48 [[ 9.99973935e-01 7.20656532e-03 -4.40391838e-04 7.16424547e+01] [-7.20654978e-03 9.99974032e-01 3.68631674e-05 -7.38885499e+00] [ 4.40646059e-04 -3.36885008e-05 9.99999902e-01 -4.81817151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.957552018 meters Centerline goodness [0,1] 0.9814306582267275 Centerline is valid? [True, True] Translation: X:71.67, Y:-7.39, Z:-0.48 [[ 9.99983960e-01 5.42826105e-03 -1.61686884e-03 7.16711041e+01] [-5.42804866e-03 9.99985259e-01 1.35716922e-04 -7.39270878e+00] [ 1.61758171e-03 -1.26938303e-04 9.99998684e-01 -4.82772965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.987552018 meters Centerline goodness [0,1] 0.97869371663972 Centerline is valid? [True, True] Translation: X:71.70, Y:-7.40, Z:-0.48 [[ 9.99984593e-01 5.03048917e-03 -2.34688360e-03 7.16990152e+01] [-5.03004129e-03 9.99987330e-01 1.96703299e-04 -7.39734806e+00] [ 2.34784338e-03 -1.84895347e-04 9.99997227e-01 -4.83788240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01755201799999 meters Centerline goodness [0,1] 0.9803960659223817 Centerline is valid? [True, True] Translation: X:71.73, Y:-7.40, Z:-0.48 [[ 9.99983437e-01 5.22870451e-03 -2.40556936e-03 7.17277745e+01] [-5.22823468e-03 9.99986312e-01 2.01555516e-04 -7.39799807e+00] [ 2.40659030e-03 -1.88975296e-04 9.99997086e-01 -4.84667584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04755201799999 meters Centerline goodness [0,1] 0.9803643455520589 Centerline is valid? [True, True] Translation: X:71.76, Y:-7.40, Z:-0.49 [[ 9.99975096e-01 6.74951180e-03 -2.06207927e-03 7.17562790e+01] [-6.74916992e-03 9.99977209e-01 1.72705401e-04 -7.40152543e+00] [ 2.06319795e-03 -1.58783777e-04 9.99997859e-01 -4.85318400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07755201799999 meters Centerline goodness [0,1] 0.9803216860787576 Centerline is valid? [True, True] Translation: X:71.78, Y:-7.40, Z:-0.49 [[ 9.99965146e-01 8.12214533e-03 -1.93305039e-03 7.17849342e+01] [-8.12184796e-03 9.99967004e-01 1.61634377e-04 -7.40349500e+00] [ 1.93429943e-03 -1.45928802e-04 9.99998119e-01 -4.85582921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10755201799999 meters Centerline goodness [0,1] 0.9828341449314033 Centerline is valid? [True, True] Translation: X:71.82, Y:-7.40, Z:-0.48 [[ 9.99947429e-01 1.00063857e-02 -2.23858612e-03 7.18151927e+01] [-1.00059912e-02 9.99949921e-01 1.87356188e-04 -7.39710711e+00] [ 2.24034877e-03 -1.64947066e-04 9.99997477e-01 -4.84935009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.137552018 meters Centerline goodness [0,1] 0.982090943387852 Centerline is valid? [True, True] Translation: X:71.84, Y:-7.40, Z:-0.49 [[ 9.99916295e-01 1.27585832e-02 -2.14958203e-03 7.18442425e+01] [-1.27582260e-02 9.99918594e-01 1.79816353e-04 -7.40247166e+00] [ 2.15170124e-03 -1.52376448e-04 9.99997673e-01 -4.85292678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.167552018 meters Centerline goodness [0,1] 0.9828216211398779 Centerline is valid? [True, True] Translation: X:71.88, Y:-7.39, Z:-0.48 [[ 9.99814174e-01 1.92375698e-02 -1.23864613e-03 7.18752837e+01] [-1.92374561e-02 9.99814938e-01 1.03651534e-04 -7.39326774e+00] [ 1.24041091e-03 -7.98038725e-05 9.99999228e-01 -4.83223421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.197552018 meters Centerline goodness [0,1] 0.9837030431390035 Centerline is valid? [True, True] Translation: X:71.90, Y:-7.39, Z:-0.48 [[ 9.99744686e-01 2.25933803e-02 -3.18453527e-04 7.19039467e+01] [-2.25933730e-02 9.99744737e-01 2.63328449e-05 -7.39416551e+00] [ 3.18967186e-04 -1.91311824e-05 9.99999949e-01 -4.82912413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.227552018 meters Centerline goodness [0,1] 0.9848437569651852 Centerline is valid? [True, True] Translation: X:71.93, Y:-7.39, Z:-0.48 [[ 9.99588266e-01 2.86888176e-02 4.99287122e-04 7.19348846e+01] [-2.86888003e-02 9.99588391e-01 -4.17964701e-05 -7.39069165e+00] [-5.00280703e-04 2.74553125e-05 9.99999874e-01 -4.82822844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.257552018 meters Centerline goodness [0,1] 0.984443006048702 Centerline is valid? [True, True] Translation: X:71.96, Y:-7.39, Z:-0.48 [[ 9.99523077e-01 3.08778584e-02 4.18963860e-04 7.19636146e+01] [-3.08778463e-02 9.99523165e-01 -3.54402748e-05 -7.39029764e+00] [-4.19858403e-04 2.24866709e-05 9.99999912e-01 -4.83014475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.287552018 meters Centerline goodness [0,1] 0.9840238529660451 Centerline is valid? [True, True] Translation: X:71.99, Y:-7.39, Z:-0.48 [[ 9.99472117e-01 3.24838611e-02 5.34690744e-04 7.19915807e+01] [-3.24838415e-02 9.99472260e-01 -4.53087673e-05 -7.39138525e+00] [-5.35880369e-04 2.79160402e-05 9.99999856e-01 -4.83349496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.317552018 meters Centerline goodness [0,1] 0.984606421833337 Centerline is valid? [True, True] Translation: X:72.02, Y:-7.39, Z:-0.48 [[ 9.99355382e-01 3.58984453e-02 3.50315412e-04 7.20204846e+01] [-3.58984371e-02 9.99355443e-01 -2.95288511e-05 -7.39010535e+00] [-3.51149654e-04 1.69340404e-05 9.99999938e-01 -4.82903100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.347552018 meters Centerline goodness [0,1] 0.9845971298721652 Centerline is valid? [True, True] Translation: X:72.05, Y:-7.39, Z:-0.48 [[ 9.99332569e-01 3.65244941e-02 6.14373789e-04 7.20495568e+01] [-3.65244693e-02 9.99332758e-01 -5.16122403e-05 -7.39172024e+00] [-6.15848964e-04 2.91381161e-05 9.99999810e-01 -4.83538238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37755201799999 meters Centerline goodness [0,1] 0.9858949634479975 Centerline is valid? [True, True] Translation: X:72.08, Y:-7.39, Z:-0.48 [[ 9.99308262e-01 3.71792354e-02 8.37757214e-04 7.20788530e+01] [-3.71791896e-02 9.99308612e-01 -7.02004955e-05 -7.38730004e+00] [-8.39788000e-04 3.90048009e-05 9.99999647e-01 -4.83593103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40755201799999 meters Centerline goodness [0,1] 0.9846446558477896 Centerline is valid? [True, True] Translation: X:72.11, Y:-7.40, Z:-0.49 [[ 9.99279054e-01 3.79534620e-02 9.52581234e-04 7.21056040e+01] [-3.79534032e-02 9.99279507e-01 -7.97728125e-05 -7.39822219e+00] [-9.54922560e-04 4.35616009e-05 9.99999543e-01 -4.85376610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43755201799999 meters Centerline goodness [0,1] 0.9857510345598927 Centerline is valid? [True, True] Translation: X:72.13, Y:-7.40, Z:-0.49 [[ 9.99280666e-01 3.79186922e-02 5.68076652e-04 7.21340699e+01] [-3.79186711e-02 9.99280827e-01 -4.78136570e-05 -7.39595777e+00] [-5.69481138e-04 2.62385513e-05 9.99999838e-01 -4.85329610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46755201799999 meters Centerline goodness [0,1] 0.985019145934568 Centerline is valid? [True, True] Translation: X:72.16, Y:-7.40, Z:-0.49 [[ 9.99291273e-01 3.76424216e-02 -2.54836369e-05 7.21616675e+01] [-3.76424216e-02 9.99291273e-01 1.34778341e-06 -7.40158228e+00] [ 2.55163098e-05 -3.87562401e-07 1.00000000e+00 -4.85902774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.497552018 meters Centerline goodness [0,1] 0.9852704514975413 Centerline is valid? [True, True] Translation: X:72.19, Y:-7.40, Z:-0.49 [[ 9.99298912e-01 3.74376363e-02 3.26966629e-04 7.21902036e+01] [-3.74376293e-02 9.99298966e-01 -2.75101481e-05 -7.40042586e+00] [-3.27767329e-04 1.52500056e-05 9.99999946e-01 -4.85996014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.527552018 meters Centerline goodness [0,1] 0.9859907051568505 Centerline is valid? [True, True] Translation: X:72.22, Y:-7.40, Z:-0.49 [[ 9.99306879e-01 3.72189109e-02 7.17666865e-04 7.22179794e+01] [-3.72188774e-02 9.99307136e-01 -6.00229825e-05 -7.40198376e+00] [-7.19403609e-04 3.32706242e-05 9.99999741e-01 -4.86476589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.557552018 meters Centerline goodness [0,1] 0.9860010682809579 Centerline is valid? [True, True] Translation: X:72.25, Y:-7.41, Z:-0.49 [[ 9.99352497e-01 3.59640722e-02 1.08258378e-03 7.22463188e+01] [-3.59639958e-02 9.99353082e-01 -8.99079497e-05 -7.40796619e+00] [-1.08511689e-03 5.09156956e-05 9.99999410e-01 -4.87464038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.587552018 meters Centerline goodness [0,1] 0.9857158774373259 Centerline is valid? [True, True] Translation: X:72.27, Y:-7.41, Z:-0.49 [[ 9.99391500e-01 3.48659732e-02 9.96522169e-04 7.22740321e+01] [-3.48659077e-02 9.99391996e-01 -8.30107862e-05 -7.41454574e+00] [-9.98810531e-04 4.82156242e-05 9.99999500e-01 -4.88146693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.617552018 meters Centerline goodness [0,1] 0.9837899390448122 Centerline is valid? [True, True] Translation: X:72.30, Y:-7.42, Z:-0.49 [[ 9.99439467e-01 3.34648253e-02 9.26413490e-04 7.23021910e+01] [-3.34647683e-02 9.99439895e-01 -7.68674361e-05 -7.41849802e+00] [-9.28466956e-04 4.58221365e-05 9.99999568e-01 -4.88310805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.647552018 meters Centerline goodness [0,1] 0.9844317245372948 Centerline is valid? [True, True] Translation: X:72.33, Y:-7.42, Z:-0.49 [[ 9.99504103e-01 3.14880087e-02 2.30462094e-04 7.23320844e+01] [-3.14880051e-02 9.99504130e-01 -1.91990964e-05 -7.41946095e+00] [-2.30952356e-04 1.19327840e-05 9.99999973e-01 -4.87907751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.677552018 meters Centerline goodness [0,1] 0.98408245953828 Centerline is valid? [True, True] Translation: X:72.36, Y:-7.42, Z:-0.49 [[ 9.99549675e-01 3.00074561e-02 -1.17412984e-05 7.23593363e+01] [-3.00074560e-02 9.99549675e-01 4.29757931e-07 -7.42423332e+00] [ 1.17489069e-05 -7.72379064e-08 1.00000000e+00 -4.88693295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.707552018 meters Centerline goodness [0,1] 0.9842101756645717 Centerline is valid? [True, True] Translation: X:72.39, Y:-7.43, Z:-0.49 [[ 9.99589857e-01 2.86308898e-02 -6.24944615e-04 7.23883823e+01] [-2.86308635e-02 9.99590052e-01 5.09291064e-05 -7.42643710e+00] [ 6.26146566e-04 -3.30155142e-05 9.99999803e-01 -4.89068438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.737552018 meters Centerline goodness [0,1] 0.9837937303241254 Centerline is valid? [True, True] Translation: X:72.42, Y:-7.43, Z:-0.49 [[ 9.99632800e-01 2.70856459e-02 -7.95527897e-04 7.24170013e+01] [-2.70856028e-02 9.99633116e-01 6.48884316e-05 -7.43179520e+00] [ 7.96993576e-04 -4.33172519e-05 9.99999681e-01 -4.89980299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76755201799999 meters Centerline goodness [0,1] 0.983635637944033 Centerline is valid? [True, True] Translation: X:72.44, Y:-7.44, Z:-0.49 [[ 9.99700804e-01 2.44587382e-02 -2.69418133e-04 7.24449316e+01] [-2.44587332e-02 9.99700840e-01 2.17836700e-05 -7.43956191e+00] [ 2.69870335e-04 -1.51875261e-05 9.99999963e-01 -4.90356256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79755201799999 meters Centerline goodness [0,1] 0.9828136780946467 Centerline is valid? [True, True] Translation: X:72.47, Y:-7.45, Z:-0.49 [[ 9.99741760e-01 2.26833473e-02 1.37103913e-03 7.24727719e+01] [-2.26832139e-02 9.99742696e-01 -1.12773459e-04 -7.44569750e+00] [-1.37324443e-03 8.16447622e-05 9.99999054e-01 -4.88746435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82755201799999 meters Centerline goodness [0,1] 0.9828259518949144 Centerline is valid? [True, True] Translation: X:72.50, Y:-7.44, Z:-0.49 [[ 9.99745666e-01 2.24644849e-02 1.98766455e-03 7.25014595e+01] [-2.24642046e-02 9.99747635e-01 -1.63245944e-04 -7.44441763e+00] [-1.99083016e-03 1.18553122e-04 9.99998011e-01 -4.88096045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85755201799999 meters Centerline goodness [0,1] 0.9822075123836602 Centerline is valid? [True, True] Translation: X:72.53, Y:-7.45, Z:-0.49 [[ 9.99747025e-01 2.23852076e-02 2.18828458e-03 7.25294940e+01] [-2.23848680e-02 9.99749411e-01 -1.79567138e-04 -7.44822661e+00] [-2.19175587e-03 1.30537250e-04 9.99997590e-01 -4.88348398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.887552018 meters Centerline goodness [0,1] 0.9820341994226072 Centerline is valid? [True, True] Translation: X:72.56, Y:-7.45, Z:-0.49 [[ 9.99751528e-01 2.22436628e-02 1.44994089e-03 7.25572928e+01] [-2.22435135e-02 9.99752575e-01 -1.19015916e-04 -7.45294851e+00] [-1.45222949e-03 8.67345637e-05 9.99998942e-01 -4.90058803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.917552018 meters Centerline goodness [0,1] 0.9824097723486952 Centerline is valid? [True, True] Translation: X:72.58, Y:-7.46, Z:-0.49 [[ 9.99760084e-01 2.18972617e-02 5.33587038e-04 7.25845958e+01] [-2.18972412e-02 9.99760226e-01 -4.40769660e-05 -7.45778289e+00] [-5.34424262e-04 3.23823071e-05 9.99999857e-01 -4.91939992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.947552018 meters Centerline goodness [0,1] 0.9815147682133901 Centerline is valid? [True, True] Translation: X:72.61, Y:-7.46, Z:-0.49 [[ 9.99779274e-01 2.10060622e-02 3.86148542e-04 7.26132216e+01] [-2.10060515e-02 9.99779348e-01 -3.19220754e-05 -7.45692564e+00] [-3.86733895e-04 2.38035732e-05 9.99999925e-01 -4.92104529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.977552018 meters Centerline goodness [0,1] 0.9815147682133901 Centerline is valid? [True, True] Translation: X:72.64, Y:-7.46, Z:-0.49 [[ 9.99781755e-01 2.08876521e-02 3.86134536e-04 7.26406460e+01] [-2.08876413e-02 9.99781829e-01 -3.20942923e-05 -7.45905219e+00] [-3.86720667e-04 2.40218481e-05 9.99999925e-01 -4.92256597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.007552018 meters Centerline goodness [0,1] 0.9824250349061413 Centerline is valid? [True, True] Translation: X:72.67, Y:-7.46, Z:-0.49 [[ 9.99788019e-01 2.05782379e-02 6.73173072e-04 7.26678299e+01] [-2.05782053e-02 9.99788245e-01 -5.53018934e-05 -7.46347924e+00] [-6.74168540e-04 4.14374768e-05 9.99999772e-01 -4.92331495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.037552018 meters Centerline goodness [0,1] 0.9814781992201347 Centerline is valid? [True, True] Translation: X:72.70, Y:-7.47, Z:-0.49 [[ 9.99836591e-01 1.80480078e-02 1.03019034e-03 7.26976233e+01] [-1.80479308e-02 9.99837119e-01 -8.39469715e-05 -7.46603819e+00] [-1.03153762e-03 6.53404497e-05 9.99999466e-01 -4.91209544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.067552018 meters Centerline goodness [0,1] 0.981557831271889 Centerline is valid? [True, True] Translation: X:72.73, Y:-7.47, Z:-0.49 [[ 9.99864937e-01 1.63901804e-02 1.21254361e-03 7.27257811e+01] [-1.63900725e-02 9.99865669e-01 -9.88678230e-05 -7.47124581e+00] [-1.21400119e-03 7.89807920e-05 9.99999260e-01 -4.91414509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.097552018 meters Centerline goodness [0,1] 0.9811902490961116 Centerline is valid? [True, True] Translation: X:72.76, Y:-7.47, Z:-0.49 [[ 9.99897522e-01 1.42865793e-02 9.15602840e-04 7.27552022e+01] [-1.42865170e-02 9.99897940e-01 -7.45298625e-05 -7.47290045e+00] [-9.16574170e-04 6.14414493e-05 9.99999578e-01 -4.91653307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12755201799999 meters Centerline goodness [0,1] 0.9806444469051047 Centerline is valid? [True, True] Translation: X:72.78, Y:-7.48, Z:-0.49 [[ 9.99944667e-01 1.05182889e-02 1.66496345e-04 7.27834626e+01] [-1.05182868e-02 9.99944681e-01 -1.36173494e-05 -7.48210625e+00] [-1.66630366e-04 1.18653397e-05 9.99999986e-01 -4.93719828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15755201799999 meters Centerline goodness [0,1] 0.9807713608471235 Centerline is valid? [True, True] Translation: X:72.81, Y:-7.49, Z:-0.50 [[ 9.99961686e-01 8.72884071e-03 -6.58502424e-04 7.28118680e+01] [-8.72880764e-03 9.99961902e-01 5.30777546e-05 -7.48722164e+00] [ 6.58940644e-04 -4.73277800e-05 9.99999782e-01 -4.95091808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18755201799999 meters Centerline goodness [0,1] 0.9806331388512989 Centerline is valid? [True, True] Translation: X:72.84, Y:-7.49, Z:-0.50 [[ 9.99977980e-01 6.50968098e-03 -1.28951696e-03 7.28408193e+01] [-6.50955205e-03 9.99978807e-01 1.04150373e-04 -7.48924672e+00] [ 1.29016762e-03 -9.57539022e-05 9.99999163e-01 -4.95419250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21755201799999 meters Centerline goodness [0,1] 0.9805627052454069 Centerline is valid? [True, True] Translation: X:72.87, Y:-7.49, Z:-0.49 [[ 9.99981588e-01 5.95994989e-03 -1.14134555e-03 7.28699057e+01] [-5.95984878e-03 9.99982236e-01 9.19686847e-05 -7.49062610e+00] [ 1.14187340e-03 -8.51647445e-05 9.99999344e-01 -4.94831431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.247552018 meters Centerline goodness [0,1] 0.9795452024403771 Centerline is valid? [True, True] Translation: X:72.90, Y:-7.49, Z:-0.49 [[ 9.99982916e-01 5.83559483e-03 -3.37019078e-04 7.28982364e+01] [-5.83558612e-03 9.99982972e-01 2.68380352e-05 -7.49258021e+00] [ 3.37169955e-04 -2.48708728e-05 9.99999943e-01 -4.94426875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.277552018 meters Centerline goodness [0,1] 0.9789289044806607 Centerline is valid? [True, True] Translation: X:72.93, Y:-7.50, Z:-0.49 [[ 9.99982153e-01 5.97162863e-03 1.85172097e-04 7.29269906e+01] [-5.97162591e-03 9.99982170e-01 -1.52758911e-05 -7.49507692e+00] [-1.85260017e-04 1.41698400e-05 9.99999983e-01 -4.93868100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.307552018 meters Centerline goodness [0,1] 0.9799057526451498 Centerline is valid? [True, True] Translation: X:72.96, Y:-7.49, Z:-0.49 [[ 9.99982846e-01 5.56986291e-03 1.81226698e-03 7.29561133e+01] [-5.56960605e-03 9.99984479e-01 -1.46748112e-04 -7.49061051e+00] [-1.81305622e-03 1.36651981e-04 9.99998347e-01 -4.92377953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.337552018 meters Centerline goodness [0,1] 0.9804082903397972 Centerline is valid? [True, True] Translation: X:72.99, Y:-7.49, Z:-0.49 [[ 9.99986922e-01 4.62274143e-03 2.18755594e-03 7.29862486e+01] [-4.62236592e-03 9.99989301e-01 -1.76684699e-04 -7.48897867e+00] [-2.18834931e-03 1.66570705e-04 9.99997592e-01 -4.92623945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.367552018 meters Centerline goodness [0,1] 0.9812957320463492 Centerline is valid? [True, True] Translation: X:73.02, Y:-7.49, Z:-0.49 [[ 9.99989623e-01 3.99221085e-03 2.19458579e-03 7.30163200e+01] [-3.99183135e-03 9.99992017e-01 -1.77276774e-04 -7.48983087e+00] [-2.19527599e-03 1.68514518e-04 9.99997576e-01 -4.92918196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.397552018 meters Centerline goodness [0,1] 0.9793046725647979 Centerline is valid? [True, True] Translation: X:73.05, Y:-7.50, Z:-0.49 [[ 9.99996014e-01 2.29401057e-03 1.64581415e-03 7.30451522e+01] [-2.29379500e-03 9.99997360e-01 -1.32856458e-04 -7.49645801e+00] [-1.64611458e-03 1.29080769e-04 9.99998637e-01 -4.93819284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.427552018 meters Centerline goodness [0,1] 0.9786798870634268 Centerline is valid? [True, True] Translation: X:73.07, Y:-7.50, Z:-0.49 [[ 9.99997951e-01 1.67305575e-03 1.14007858e-03 7.30747817e+01] [-1.67295189e-03 9.99998596e-01 -9.20393858e-05 -7.49983133e+00] [-1.14023097e-03 9.01319006e-05 9.99999346e-01 -4.94045011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.457552018 meters Centerline goodness [0,1] 0.978925114053633 Centerline is valid? [True, True] Translation: X:73.11, Y:-7.50, Z:-0.49 [[ 9.99998713e-01 1.48661761e-03 6.03165528e-04 7.31053258e+01] [-1.48658854e-03 9.99998894e-01 -4.86368999e-05 -7.50010956e+00] [-6.03237165e-04 4.77401783e-05 9.99999817e-01 -4.94631635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.487552018 meters Centerline goodness [0,1] 0.9782565241532482 Centerline is valid? [True, True] Translation: X:73.14, Y:-7.50, Z:-0.50 [[ 9.99998103e-01 1.93839119e-03 1.90568118e-04 7.31350222e+01] [-1.93838828e-03 9.99998121e-01 -1.54694768e-05 -7.50249525e+00] [-1.90597746e-04 1.51000525e-05 9.99999982e-01 -4.95492421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51755201799999 meters Centerline goodness [0,1] 0.979266987693954 Centerline is valid? [True, True] Translation: X:73.17, Y:-7.50, Z:-0.50 [[ 9.99996052e-01 2.78814670e-03 -3.49973448e-04 7.31653072e+01] [-2.78813704e-03 9.99996113e-01 2.80988558e-05 -7.50073785e+00] [ 3.50050431e-04 -2.71229710e-05 9.99999938e-01 -4.96473154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54755201799999 meters Centerline goodness [0,1] 0.9804503559552769 Centerline is valid? [True, True] Translation: X:73.19, Y:-7.50, Z:-0.50 [[ 9.99981196e-01 5.90293386e-03 -1.66209381e-03 7.31948382e+01] [-5.90271977e-03 9.99982570e-01 1.33681335e-04 -7.49863112e+00] [ 1.66285395e-03 -1.23867947e-04 9.99998610e-01 -4.97580989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57755201799999 meters Centerline goodness [0,1] 0.980639824730053 Centerline is valid? [True, True] Translation: X:73.22, Y:-7.50, Z:-0.50 [[ 9.99961827e-01 8.53923934e-03 -1.85082900e-03 7.32247603e+01] [-8.53897845e-03 9.99963531e-01 1.48815366e-04 -7.49698381e+00] [ 1.85203227e-03 -1.33005496e-04 9.99998276e-01 -4.97747667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60755201799999 meters Centerline goodness [0,1] 0.9816696508504924 Centerline is valid? [True, True] Translation: X:73.25, Y:-7.50, Z:-0.50 [[ 9.99930002e-01 1.17125759e-02 -1.67555061e-03 7.32537839e+01] [-1.17123666e-02 9.99931399e-01 1.34639743e-04 -7.49543055e+00] [ 1.67701265e-03 -1.15005656e-04 9.99998587e-01 -4.97597110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.637552018 meters Centerline goodness [0,1] 0.9818802344118374 Centerline is valid? [True, True] Translation: X:73.29, Y:-7.49, Z:-0.50 [[ 9.99802079e-01 1.98418932e-02 -1.44978477e-03 7.32855213e+01] [-1.98417448e-02 9.99803126e-01 1.16671236e-04 -7.48606176e+00] [ 1.45181432e-03 -8.78818846e-05 9.99998942e-01 -4.96795267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.667552018 meters Centerline goodness [0,1] 0.9830195893214583 Centerline is valid? [True, True] Translation: X:73.32, Y:-7.48, Z:-0.50 [[ 9.99711468e-01 2.39962275e-02 -1.07776956e-03 7.33160861e+01] [-2.39961482e-02 9.99712047e-01 8.64854912e-05 -7.47786174e+00] [ 1.07953454e-03 -6.05982194e-05 9.99999415e-01 -4.96272011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.697552018 meters Centerline goodness [0,1] 0.9832743502468273 Centerline is valid? [True, True] Translation: X:73.35, Y:-7.47, Z:-0.50 [[ 9.99514379e-01 3.11594568e-02 -3.06963618e-04 7.33453442e+01] [-3.11594507e-02 9.99514426e-01 2.44128515e-05 -7.47297320e+00] [ 3.07575255e-04 -1.48361784e-05 9.99999953e-01 -4.97123319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.727552018 meters Centerline goodness [0,1] 0.9821210614348357 Centerline is valid? [True, True] Translation: X:73.37, Y:-7.48, Z:-0.50 [[ 9.99422670e-01 3.39717816e-02 4.94101341e-04 7.33735434e+01] [-3.39717660e-02 9.99422792e-01 -4.00126885e-05 -7.47654712e+00] [-4.95175444e-04 2.32040928e-05 9.99999877e-01 -4.97132286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.757552018 meters Centerline goodness [0,1] 0.9825927932809537 Centerline is valid? [True, True] Translation: X:73.40, Y:-7.47, Z:-0.50 [[ 9.99325377e-01 3.66766498e-02 1.90088721e-03 7.34036028e+01] [-3.66764252e-02 9.99327182e-01 -1.52845298e-04 -7.47221921e+00] [-1.90521411e-03 8.30244377e-05 9.99998182e-01 -4.96062941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.787552018 meters Centerline goodness [0,1] 0.9842516121733228 Centerline is valid? [True, True] Translation: X:73.43, Y:-7.47, Z:-0.49 [[ 9.99215983e-01 3.95001505e-02 2.67516912e-03 7.34328420e+01] [-3.94997162e-02 9.99219559e-01 -2.15025300e-04 -7.46891812e+00] [-2.68157484e-03 1.09188295e-04 9.99996399e-01 -4.94337266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.817552018 meters Centerline goodness [0,1] 0.9839053361744571 Centerline is valid? [True, True] Translation: X:73.46, Y:-7.46, Z:-0.49 [[ 9.98985553e-01 4.48369533e-02 4.18487176e-03 7.34629342e+01] [-4.48359396e-02 9.98994307e-01 -3.35766273e-04 -7.46370517e+00] [-4.19571780e-03 1.47792998e-04 9.99991187e-01 -4.93268603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.847552018 meters Centerline goodness [0,1] 0.9843941665530871 Centerline is valid? [True, True] Translation: X:73.49, Y:-7.46, Z:-0.49 [[ 9.98891863e-01 4.68564164e-02 4.41834408e-03 7.34923084e+01] [-4.68553060e-02 9.98901624e-01 -3.54549458e-04 -7.46356376e+00] [-4.43010400e-03 1.47133704e-04 9.99990176e-01 -4.93965917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87755201799999 meters Centerline goodness [0,1] 0.985474301561683 Centerline is valid? [True, True] Translation: X:73.52, Y:-7.46, Z:-0.50 [[ 9.98791477e-01 4.90441037e-02 3.20343333e-03 7.35208249e+01] [-4.90435339e-02 9.98796609e-01 -2.56234082e-04 -7.46391514e+00] [-3.21214512e-03 9.88167256e-05 9.99994836e-01 -4.96977548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90755201799999 meters Centerline goodness [0,1] 0.9843475883438518 Centerline is valid? [True, True] Translation: X:73.55, Y:-7.47, Z:-0.50 [[ 9.98808400e-01 4.87543980e-02 2.18815815e-03 7.35487885e+01] [-4.87541314e-02 9.98810795e-01 -1.75052471e-04 -7.46741701e+00] [-2.19409056e-03 6.81621281e-05 9.99997591e-01 -4.98729881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93755201799999 meters Centerline goodness [0,1] 0.984192330437156 Centerline is valid? [True, True] Translation: X:73.58, Y:-7.47, Z:-0.50 [[ 9.98872638e-01 4.74456006e-02 1.53901303e-03 7.35770706e+01] [-4.74454673e-02 9.98873822e-01 -1.23052148e-04 -7.47077734e+00] [-1.54311811e-03 4.98942313e-05 9.99998808e-01 -5.00114828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96755201799999 meters Centerline goodness [0,1] 0.9840243265935961 Centerline is valid? [True, True] Translation: X:73.60, Y:-7.48, Z:-0.50 [[ 9.98976384e-01 4.52175153e-02 1.24902892e-03 7.36036257e+01] [-4.52174256e-02 9.98977164e-01 -1.00011457e-04 -7.48005228e+00] [-1.25227364e-03 4.34312112e-05 9.99999215e-01 -5.01899328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.997552018 meters Centerline goodness [0,1] 0.9853410970387657 Centerline is valid? [True, True] Translation: X:73.63, Y:-7.48, Z:-0.50 [[ 9.99004593e-01 4.45882345e-02 1.30875426e-03 7.36328407e+01] [-4.45881358e-02 9.99005449e-01 -1.04451915e-04 -7.48014327e+00] [-1.31210996e-03 4.59930302e-05 9.99999138e-01 -5.01908562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.027552018 meters Centerline goodness [0,1] 0.9851957650366139 Centerline is valid? [True, True] Translation: X:73.66, Y:-7.48, Z:-0.50 [[ 9.99024030e-01 4.41225232e-02 2.04716257e-03 7.36610792e+01] [-4.41222817e-02 9.99026125e-01 -1.62989504e-04 -7.48302616e+00] [-2.05236039e-03 7.25049474e-05 9.99997891e-01 -5.01828300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.057552018 meters Centerline goodness [0,1] 0.9839436555925448 Centerline is valid? [True, True] Translation: X:73.69, Y:-7.49, Z:-0.50 [[ 9.99091462e-01 4.25330319e-02 2.68162150e-03 7.36882762e+01] [-4.25326126e-02 9.99095056e-01 -2.13214339e-04 -7.48861886e+00] [-2.68826343e-03 9.89642572e-05 9.99996382e-01 -5.02070543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.087552018 meters Centerline goodness [0,1] 0.9841568023900595 Centerline is valid? [True, True] Translation: X:73.72, Y:-7.49, Z:-0.50 [[ 9.99135653e-01 4.14615111e-02 2.98162837e-03 7.37166399e+01] [-4.14609892e-02 9.99140095e-01 -2.36670963e-04 -7.49200618e+00] [-2.98887719e-03 1.12845135e-04 9.99995527e-01 -5.01832124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.117552018 meters Centerline goodness [0,1] 0.9834109888131092 Centerline is valid? [True, True] Translation: X:73.75, Y:-7.50, Z:-0.50 [[ 9.99238301e-01 3.87719606e-02 4.42181003e-03 7.37455289e+01] [-3.87707889e-02 9.99248069e-01 -3.50422932e-04 -7.49511724e+00] [-4.43207171e-03 1.78718952e-04 9.99990162e-01 -5.00279119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.147552018 meters Centerline goodness [0,1] 0.9823030794896073 Centerline is valid? [True, True] Translation: X:73.77, Y:-7.50, Z:-0.50 [[ 9.99292967e-01 3.72165573e-02 5.33798296e-03 7.37728221e+01] [-3.72148297e-02 9.99307199e-01 -4.22651771e-04 -7.50160218e+00] [-5.35001445e-03 2.23700816e-04 9.99985664e-01 -4.99831958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.177552018 meters Centerline goodness [0,1] 0.9823424481224738 Centerline is valid? [True, True] Translation: X:73.80, Y:-7.51, Z:-0.50 [[ 9.99354795e-01 3.55097824e-02 5.38962683e-03 7.37999813e+01] [-3.55079993e-02 9.99369301e-01 -4.26207866e-04 -7.50738563e+00] [-5.40136214e-03 2.34558009e-04 9.99985385e-01 -4.99884966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.207552018 meters Centerline goodness [0,1] 0.9828609986504724 Centerline is valid? [True, True] Translation: X:73.83, Y:-7.51, Z:-0.50 [[ 9.99518612e-01 3.07735951e-02 3.94070746e-03 7.38293775e+01] [-3.07726065e-02 9.99526363e-01 -3.11279528e-04 -7.51228924e+00] [-3.94842018e-03 1.89863842e-04 9.99992187e-01 -5.02609623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.237552018 meters Centerline goodness [0,1] 0.9825763552349825 Centerline is valid? [True, True] Translation: X:73.86, Y:-7.52, Z:-0.50 [[ 9.99616633e-01 2.75347174e-02 2.90282698e-03 7.38586560e+01] [-2.75341672e-02 9.99620837e-01 -2.29319346e-04 -7.51706897e+00] [-2.90804058e-03 1.49304509e-04 9.99995760e-01 -5.03963469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26755201799999 meters Centerline goodness [0,1] 0.9827931352482062 Centerline is valid? [True, True] Translation: X:73.89, Y:-7.52, Z:-0.51 [[ 9.99705585e-01 2.42050844e-02 1.69009613e-03 7.38873582e+01] [-2.42048930e-02 9.99707010e-01 -1.33610146e-04 -7.52232013e+00] [-1.69283500e-03 9.26622132e-05 9.99998563e-01 -5.05401376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29755201799999 meters Centerline goodness [0,1] 0.9823562507032745 Centerline is valid? [True, True] Translation: X:73.92, Y:-7.53, Z:-0.51 [[ 9.99839268e-01 1.79284584e-02 9.73550794e-05 7.39167509e+01] [-1.79284578e-02 9.99839272e-01 -7.77943741e-06 -7.53126965e+00] [-9.74789050e-05 6.03276057e-06 9.99999995e-01 -5.07563118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32755201799999 meters Centerline goodness [0,1] 0.9818651105375379 Centerline is valid? [True, True] Translation: X:73.94, Y:-7.54, Z:-0.51 [[ 9.99880500e-01 1.54364418e-02 -8.37277402e-04 7.39443300e+01] [-1.54363924e-02 9.99880850e-01 6.55283022e-05 -7.53744798e+00] [ 8.38189164e-04 -5.25959291e-05 9.99999647e-01 -5.08700581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35755201799999 meters Centerline goodness [0,1] 0.9816309553252243 Centerline is valid? [True, True] Translation: X:73.97, Y:-7.54, Z:-0.51 [[ 9.99906509e-01 1.35413593e-02 -1.89881731e-03 7.39736736e+01] [-1.35411002e-02 9.99908304e-01 1.49283439e-04 -7.54006169e+00] [ 1.90066470e-03 -1.23557407e-04 9.99998186e-01 -5.09310080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.387552018 meters Centerline goodness [0,1] 0.9820020723521197 Centerline is valid? [True, True] Translation: X:74.00, Y:-7.54, Z:-0.51 [[ 9.99939399e-01 1.04715973e-02 -3.39751071e-03 7.40041706e+01] [-1.04707486e-02 9.99945144e-01 2.67493082e-04 -7.54320764e+00] [ 3.40012541e-03 -2.31902391e-04 9.99994193e-01 -5.09950318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.417552018 meters Centerline goodness [0,1] 0.9809866277109788 Centerline is valid? [True, True] Translation: X:74.03, Y:-7.55, Z:-0.51 [[ 9.99948191e-01 9.38222604e-03 -3.94839930e-03 7.40320511e+01] [-9.38107496e-03 9.99955949e-01 3.09948880e-04 -7.54673301e+00] [ 3.95113338e-03 -2.72892592e-04 9.99992157e-01 -5.10867775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.447552018 meters Centerline goodness [0,1] 0.9822295111430626 Centerline is valid? [True, True] Translation: X:74.06, Y:-7.55, Z:-0.51 [[ 9.99960048e-01 8.39413048e-03 -3.07253310e-03 7.40611982e+01] [-8.39342962e-03 9.99964746e-01 2.40928107e-04 -7.54623637e+00] [ 3.07444716e-03 -2.15129391e-04 9.99995251e-01 -5.09984402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.477552018 meters Centerline goodness [0,1] 0.9793673244875508 Centerline is valid? [True, True] Translation: X:74.09, Y:-7.56, Z:-0.51 [[ 9.99961754e-01 8.34318019e-03 -2.62342979e-03 7.40886904e+01] [-8.34267019e-03 9.99965178e-01 2.05285738e-04 -7.55611052e+00] [ 2.62505117e-03 -1.83391477e-04 9.99996538e-01 -5.10539092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.507552018 meters Centerline goodness [0,1] 0.9830325153788955 Centerline is valid? [True, True] Translation: X:74.12, Y:-7.55, Z:-0.51 [[ 9.99963456e-01 8.28561401e-03 -2.10614509e-03 7.41180902e+01] [-8.28528553e-03 9.99965663e-01 1.64638440e-04 -7.54778515e+00] [ 2.10743690e-03 -1.47182410e-04 9.99997769e-01 -5.08940022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.537552018 meters Centerline goodness [0,1] 0.9825418994413407 Centerline is valid? [True, True] Translation: X:74.15, Y:-7.55, Z:-0.51 [[ 9.99963306e-01 8.25854617e-03 -2.27660253e-03 7.41474630e+01] [-8.25816264e-03 9.99965885e-01 1.77815358e-04 -7.54740643e+00] [ 2.27799336e-03 -1.59008279e-04 9.99997393e-01 -5.08902140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.567552018 meters Centerline goodness [0,1] 0.9802408986331033 Centerline is valid? [True, True] Translation: X:74.18, Y:-7.55, Z:-0.51 [[ 9.99964343e-01 8.29171477e-03 -1.60023021e-03 7.41752223e+01] [-8.29152595e-03 9.99965617e-01 1.24594170e-04 -7.54894676e+00] [ 1.60120829e-03 -1.11321377e-04 9.99998712e-01 -5.09691878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.597552018 meters Centerline goodness [0,1] 0.9811990950226245 Centerline is valid? [True, True] Translation: X:74.20, Y:-7.55, Z:-0.51 [[ 9.99972846e-01 7.29776719e-03 -1.02451775e-03 7.42046129e+01] [-7.29768945e-03 9.99973368e-01 7.95973583e-05 -7.54661625e+00] [ 1.02507135e-03 -7.21185846e-05 9.99999472e-01 -5.09630719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62755201799999 meters Centerline goodness [0,1] 0.9799723600444051 Centerline is valid? [True, True] Translation: X:74.23, Y:-7.55, Z:-0.51 [[ 9.99977668e-01 6.59943991e-03 -1.05386810e-03 7.42335714e+01] [-6.59935733e-03 9.99978221e-01 8.18110013e-05 -7.54842573e+00] [ 1.05438505e-03 -7.48543221e-05 9.99999441e-01 -5.09897740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65755201799999 meters Centerline goodness [0,1] 0.9794559333167229 Centerline is valid? [True, True] Translation: X:74.26, Y:-7.55, Z:-0.51 [[ 9.99972403e-01 7.00668650e-03 -2.46963915e-03 7.42615769e+01] [-7.00623369e-03 9.99975438e-01 1.91954160e-04 -7.55065587e+00] [ 2.47092345e-03 -1.74645993e-04 9.99996932e-01 -5.10029215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68755201799999 meters Centerline goodness [0,1] 0.9795432921027593 Centerline is valid? [True, True] Translation: X:74.29, Y:-7.55, Z:-0.51 [[ 9.99961007e-01 8.33509760e-03 -2.91719836e-03 7.42900407e+01] [-8.33447146e-03 9.99965242e-01 2.26728310e-04 -7.54764148e+00] [ 2.91898676e-03 -2.02406163e-04 9.99995719e-01 -5.11407671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71755201799999 meters Centerline goodness [0,1] 0.9811789368150021 Centerline is valid? [True, True] Translation: X:74.32, Y:-7.54, Z:-0.51 [[ 9.99945342e-01 9.73183972e-03 -3.82162393e-03 7.43197275e+01] [-9.73077532e-03 9.99952611e-01 2.97015846e-04 -7.54167873e+00] [ 3.82433334e-03 -2.59812248e-04 9.99992653e-01 -5.11238518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.747552018 meters Centerline goodness [0,1] 0.9808335799321664 Centerline is valid? [True, True] Translation: X:74.35, Y:-7.54, Z:-0.51 [[ 9.99941070e-01 1.04450898e-02 -2.95913517e-03 7.43477156e+01] [-1.04444565e-02 9.99945429e-01 2.29399003e-04 -7.54297336e+00] [ 2.96136978e-03 -1.98478927e-04 9.99995595e-01 -5.12167593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.777552018 meters Centerline goodness [0,1] 0.9800642500740471 Centerline is valid? [True, True] Translation: X:74.38, Y:-7.54, Z:-0.51 [[ 9.99911467e-01 1.30204791e-02 -2.74332831e-03 7.43765296e+01] [-1.30199444e-02 9.99915214e-01 2.12694019e-04 -7.54222596e+00] [ 2.74586509e-03 -1.76957207e-04 9.99996214e-01 -5.12745839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.807552018 meters Centerline goodness [0,1] 0.981128626913411 Centerline is valid? [True, True] Translation: X:74.41, Y:-7.54, Z:-0.51 [[ 9.99895977e-01 1.41893191e-02 -2.58825375e-03 7.44056009e+01] [-1.41888479e-02 9.99899313e-01 2.00334398e-04 -7.53990815e+00] [ 2.59083575e-03 -1.63589220e-04 9.99996630e-01 -5.12578559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.837552018 meters Centerline goodness [0,1] 0.9801053113553113 Centerline is valid? [True, True] Translation: X:74.43, Y:-7.54, Z:-0.51 [[ 9.99863141e-01 1.62040122e-02 -3.33591342e-03 7.44341075e+01] [-1.62032410e-02 9.99868686e-01 2.58075732e-04 -7.53959815e+00] [ 3.33965723e-03 -2.03987803e-04 9.99994403e-01 -5.14873463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.867552018 meters Centerline goodness [0,1] 0.9801053113553113 Centerline is valid? [True, True] Translation: X:74.46, Y:-7.54, Z:-0.52 [[ 9.99865002e-01 1.60887609e-02 -3.33595926e-03 7.44615362e+01] [-1.60879910e-02 9.99870547e-01 2.57483449e-04 -7.54161210e+00] [ 3.33967000e-03 -2.03779807e-04 9.99994403e-01 -5.15025530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.897552018 meters Centerline goodness [0,1] 0.9809899898980623 Centerline is valid? [True, True] Translation: X:74.49, Y:-7.54, Z:-0.52 [[ 9.99841187e-01 1.73421431e-02 -4.10488103e-03 7.44903898e+01] [-1.73409878e-02 9.99849584e-01 3.16866070e-04 -7.54080277e+00] [ 4.10975873e-03 -2.45633055e-04 9.99991525e-01 -5.15907295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.927552018 meters Centerline goodness [0,1] 0.9810386334976499 Centerline is valid? [True, True] Translation: X:74.52, Y:-7.54, Z:-0.52 [[ 9.99821434e-01 1.86215971e-02 -3.21487347e-03 7.45188189e+01] [-1.86208961e-02 9.99826585e-01 2.47825671e-04 -7.54172073e+00] [ 3.21893087e-03 -1.87917593e-04 9.99994802e-01 -5.16468672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.957552018 meters Centerline goodness [0,1] 0.9800018389113645 Centerline is valid? [True, True] Translation: X:74.55, Y:-7.54, Z:-0.52 [[ 9.99790430e-01 2.03391574e-02 -2.32700625e-03 7.45480785e+01] [-2.03387951e-02 9.99793129e-01 1.79236994e-04 -7.54071606e+00] [ 2.33017039e-03 -1.31870928e-04 9.99997276e-01 -5.15468238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.987552018 meters Centerline goodness [0,1] 0.9810506006385373 Centerline is valid? [True, True] Translation: X:74.58, Y:-7.54, Z:-0.51 [[ 9.99736687e-01 2.29380122e-02 -6.35755087e-04 7.45788201e+01] [-2.29379857e-02 9.99736889e-01 4.89357967e-05 -7.53555302e+00] [ 6.36710302e-04 -3.43399701e-05 9.99999797e-01 -5.13982818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01755201799999 meters Centerline goodness [0,1] 0.9820288920120729 Centerline is valid? [True, True] Translation: X:74.61, Y:-7.54, Z:-0.51 [[ 9.99722641e-01 2.35503332e-02 -1.52963311e-04 7.46069371e+01] [-2.35503318e-02 9.99722652e-01 1.13599316e-05 -7.53807731e+00] [ 1.53188417e-04 -7.75444408e-06 9.99999988e-01 -5.14564932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04755201799999 meters Centerline goodness [0,1] 0.9813019390581718 Centerline is valid? [True, True] Translation: X:74.64, Y:-7.54, Z:-0.52 [[ 9.99730916e-01 2.31715588e-02 -1.08364078e-03 7.46355780e+01] [-2.31714824e-02 9.99731502e-01 8.30007678e-05 -7.53826430e+00] [ 1.08527308e-03 -5.78688703e-05 9.99999409e-01 -5.15896280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07755201799999 meters Centerline goodness [0,1] 0.9815608721707463 Centerline is valid? [True, True] Translation: X:74.66, Y:-7.54, Z:-0.52 [[ 9.99749085e-01 2.23227438e-02 -1.86088279e-03 7.46636502e+01] [-2.23225175e-02 9.99750811e-01 1.42280055e-04 -7.54123929e+00] [ 1.86359516e-03 -1.00704767e-04 9.99998258e-01 -5.17041159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10755201799999 meters Centerline goodness [0,1] 0.9808100378263678 Centerline is valid? [True, True] Translation: X:74.69, Y:-7.54, Z:-0.52 [[ 9.99762609e-01 2.17022378e-02 -1.93339816e-03 7.46925103e+01] [-2.17019920e-02 9.99764473e-01 1.48020191e-04 -7.54432848e+00] [ 1.93615516e-03 -1.06026461e-04 9.99998120e-01 -5.17782934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.137552018 meters Centerline goodness [0,1] 0.9830610172620696 Centerline is valid? [True, True] Translation: X:74.72, Y:-7.54, Z:-0.52 [[ 9.99780990e-01 2.08251411e-02 -2.07029509e-03 7.47211016e+01] [-2.08248577e-02 9.99783127e-01 1.58357564e-04 -7.54393952e+00] [ 2.07314391e-03 -1.15209282e-04 9.99997844e-01 -5.18353288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.167552018 meters Centerline goodness [0,1] 0.9832493877362414 Centerline is valid? [True, True] Translation: X:74.75, Y:-7.55, Z:-0.52 [[ 9.99785369e-01 2.05871915e-02 -2.32033092e-03 7.47495050e+01] [-2.05868351e-02 9.99788053e-01 1.77358831e-04 -7.54709576e+00] [ 2.32349045e-03 -1.29552494e-04 9.99997292e-01 -5.19326475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.197552018 meters Centerline goodness [0,1] 0.9821172442511451 Centerline is valid? [True, True] Translation: X:74.78, Y:-7.55, Z:-0.52 [[ 9.99791472e-01 2.03186884e-02 -2.04030058e-03 7.47769403e+01] [-2.03184130e-02 9.99793548e-01 1.55604003e-04 -7.55069103e+00] [ 2.04304103e-03 -1.14115885e-04 9.99997906e-01 -5.20413057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.227552018 meters Centerline goodness [0,1] 0.9828223979285153 Centerline is valid? [True, True] Translation: X:74.81, Y:-7.55, Z:-0.52 [[ 9.99804525e-01 1.97060747e-02 -1.60685008e-03 7.48053504e+01] [-1.97059033e-02 9.99805812e-01 1.22416547e-04 -7.55272514e+00] [ 1.60895040e-03 -9.07281851e-05 9.99998702e-01 -5.20584748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.257552018 meters Centerline goodness [0,1] 0.9817315696975303 Centerline is valid? [True, True] Translation: X:74.83, Y:-7.56, Z:-0.52 [[ 9.99814482e-01 1.91865014e-02 -1.69684854e-03 7.48331334e+01] [-1.91863099e-02 9.99815917e-01 1.29033089e-04 -7.55557874e+00] [ 1.69901188e-03 -9.64528889e-05 9.99998552e-01 -5.20519384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.287552018 meters Centerline goodness [0,1] 0.9812672811059908 Centerline is valid? [True, True] Translation: X:74.86, Y:-7.56, Z:-0.52 [[ 9.99811306e-01 1.93293552e-02 -1.93085582e-03 7.48607845e+01] [-1.93291083e-02 9.99813165e-01 1.46450775e-04 -7.55885984e+00] [ 1.93332587e-03 -1.09101419e-04 9.99998125e-01 -5.20606297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.317552018 meters Centerline goodness [0,1] 0.9810705111887627 Centerline is valid? [True, True] Translation: X:74.89, Y:-7.56, Z:-0.52 [[ 9.99807218e-01 1.95251460e-02 -2.07244916e-03 7.48890082e+01] [-1.95248616e-02 9.99809359e-01 1.57399851e-04 -7.56213668e+00] [ 2.07512733e-03 -1.16905224e-04 9.99997840e-01 -5.20799855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.347552018 meters Centerline goodness [0,1] 0.9808460987500289 Centerline is valid? [True, True] Translation: X:74.92, Y:-7.56, Z:-0.52 [[ 9.99806839e-01 1.96377567e-02 -8.01960051e-04 7.49180340e+01] [-1.96377144e-02 9.99807160e-01 6.05937318e-05 -7.56375586e+00] [ 8.02995325e-04 -4.48333650e-05 9.99999677e-01 -5.20625740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37755201799999 meters Centerline goodness [0,1] 0.9805948452894622 Centerline is valid? [True, True] Translation: X:74.95, Y:-7.57, Z:-0.52 [[ 9.99809266e-01 1.95164880e-02 -7.33675558e-04 7.49459202e+01] [-1.95164528e-02 9.99809534e-01 5.51142605e-05 -7.56616208e+00] [ 7.34611455e-04 -4.07850039e-05 9.99999729e-01 -5.20069439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40755201799999 meters Centerline goodness [0,1] 0.9802401721465096 Centerline is valid? [True, True] Translation: X:74.97, Y:-7.57, Z:-0.52 [[ 9.99805734e-01 1.96892132e-02 -9.10301150e-04 7.49744978e+01] [-1.96891588e-02 9.99806147e-01 6.86702126e-05 -7.56819738e+00] [ 9.11476748e-04 -5.07338085e-05 9.99999583e-01 -5.20830250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43755201799999 meters Centerline goodness [0,1] 0.982127561060308 Centerline is valid? [True, True] Translation: X:75.00, Y:-7.56, Z:-0.52 [[ 9.99806526e-01 1.96253556e-02 -1.32494039e-03 7.50031863e+01] [-1.96252406e-02 9.99807401e-01 9.97377116e-05 -7.56481047e+00] [ 1.32664260e-03 -7.37161411e-05 9.99999117e-01 -5.21227682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46755201799999 meters Centerline goodness [0,1] 0.9796953144806287 Centerline is valid? [True, True] Translation: X:75.03, Y:-7.57, Z:-0.52 [[ 9.99822813e-01 1.87566945e-02 -1.59047226e-03 7.50305139e+01] [-1.87565276e-02 9.99824074e-01 1.19814168e-04 -7.57356842e+00] [ 1.59243977e-03 -8.99612013e-05 9.99998728e-01 -5.22391395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.497552018 meters Centerline goodness [0,1] 0.9797886363110793 Centerline is valid? [True, True] Translation: X:75.06, Y:-7.57, Z:-0.52 [[ 9.99824676e-01 1.85951381e-02 -2.19945069e-03 7.50598699e+01] [-1.85948182e-02 9.99827088e-01 1.65844064e-04 -7.57166947e+00] [ 2.20215427e-03 -1.24916602e-04 9.99997567e-01 -5.22335185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.527552018 meters Centerline goodness [0,1] 0.9795946600262848 Centerline is valid? [True, True] Translation: X:75.09, Y:-7.57, Z:-0.52 [[ 9.99827689e-01 1.83926570e-02 -2.51058848e-03 7.50889809e+01] [-1.83922398e-02 9.99830831e-01 1.89174970e-04 -7.57421944e+00] [ 2.51364319e-03 -1.42967028e-04 9.99996831e-01 -5.22852424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.557552018 meters Centerline goodness [0,1] 0.9790988995778255 Centerline is valid? [True, True] Translation: X:75.12, Y:-7.58, Z:-0.52 [[ 9.99838902e-01 1.78349456e-02 -2.02103245e-03 7.51176279e+01] [-1.78346746e-02 9.99840938e-01 1.52054321e-04 -7.57772332e+00] [ 2.02342286e-03 -1.15985369e-04 9.99997946e-01 -5.23630520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.587552018 meters Centerline goodness [0,1] 0.9800765576719088 Centerline is valid? [True, True] Translation: X:75.15, Y:-7.58, Z:-0.52 [[ 9.99851584e-01 1.70564755e-02 -2.42633765e-03 7.51461257e+01] [-1.70560828e-02 9.99854518e-01 1.82445258e-04 -7.58026716e+00] [ 2.42909654e-03 -1.41034364e-04 9.99997040e-01 -5.24422984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.617552018 meters Centerline goodness [0,1] 0.9806280915679282 Centerline is valid? [True, True] Translation: X:75.18, Y:-7.58, Z:-0.53 [[ 9.99870769e-01 1.55342781e-02 -4.13910012e-03 7.51758147e+01] [-1.55331209e-02 9.99879305e-01 3.11575833e-04 -7.58278776e+00] [ 4.14344066e-03 -2.47242425e-04 9.99991385e-01 -5.26411117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.647552018 meters Centerline goodness [0,1] 0.980503899220156 Centerline is valid? [True, True] Translation: X:75.20, Y:-7.59, Z:-0.53 [[ 9.99867033e-01 1.53738110e-02 -5.43714766e-03 7.52033439e+01] [-1.53718160e-02 9.99881763e-01 4.08520038e-04 -7.58761835e+00] [ 5.44278530e-03 -3.24886885e-04 9.99985135e-01 -5.27455773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.677552018 meters Centerline goodness [0,1] 0.9808540612947181 Centerline is valid? [True, True] Translation: X:75.23, Y:-7.59, Z:-0.53 [[ 9.99862802e-01 1.56776343e-02 -5.34688821e-03 7.52318527e+01] [-1.56757110e-02 9.99877048e-01 4.01424679e-04 -7.58644044e+00] [ 5.35252419e-03 -3.17553330e-04 9.99985625e-01 -5.26999036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.707552018 meters Centerline goodness [0,1] 0.9817412808838144 Centerline is valid? [True, True] Translation: X:75.26, Y:-7.59, Z:-0.53 [[ 9.99836798e-01 1.75346375e-02 -4.34907640e-03 7.52606187e+01] [-1.75333843e-02 9.99846225e-01 3.26104883e-04 -7.58586425e+00] [ 4.35412575e-03 -2.49797634e-04 9.99990490e-01 -5.25844241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.737552018 meters Centerline goodness [0,1] 0.9789267618608936 Centerline is valid? [True, True] Translation: X:75.29, Y:-7.59, Z:-0.53 [[ 9.99817223e-01 1.87600758e-02 -3.68499243e-03 7.52886536e+01] [-1.87591857e-02 9.99823993e-01 2.75966455e-04 -7.59108226e+00] [ 3.68952100e-03 -2.06788558e-04 9.99993172e-01 -5.26110900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76755201799999 meters Centerline goodness [0,1] 0.982131712165692 Centerline is valid? [True, True] Translation: X:75.32, Y:-7.58, Z:-0.52 [[ 9.99771473e-01 2.12574477e-02 -2.26342316e-03 7.53190661e+01] [-2.12571184e-02 9.99774028e-01 1.69457415e-04 -7.58334741e+00] [ 2.26651392e-03 -1.21304835e-04 9.99997424e-01 -5.24881404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79755201799999 meters Centerline goodness [0,1] 0.9809982265011401 Centerline is valid? [True, True] Translation: X:75.35, Y:-7.59, Z:-0.53 [[ 9.99752422e-01 2.21566286e-02 -2.04430888e-03 7.53462044e+01] [-2.21563629e-02 9.99754506e-01 1.52511330e-04 -7.58780603e+00] [ 2.04718615e-03 -1.07179122e-04 9.99997899e-01 -5.25494136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82755201799999 meters Centerline goodness [0,1] 0.9801054871842324 Centerline is valid? [True, True] Translation: X:75.37, Y:-7.59, Z:-0.53 [[ 9.99735000e-01 2.29402261e-02 -1.91703407e-03 7.53736814e+01] [-2.29399943e-02 9.99736834e-01 1.42823212e-04 -7.59178992e+00] [ 1.91980597e-03 -9.88086130e-05 9.99998152e-01 -5.26124611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85755201799999 meters Centerline goodness [0,1] 0.9812964980184022 Centerline is valid? [True, True] Translation: X:75.40, Y:-7.58, Z:-0.53 [[ 9.99685208e-01 2.50350807e-02 -1.65198742e-03 7.54034933e+01] [-2.50349114e-02 9.99686570e-01 1.23107577e-04 -7.58453876e+00] [ 1.65455164e-03 -8.17114649e-05 9.99998628e-01 -5.25100390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.887552018 meters Centerline goodness [0,1] 0.9815889673105498 Centerline is valid? [True, True] Translation: X:75.43, Y:-7.59, Z:-0.53 [[ 9.99675308e-01 2.54183898e-02 -1.78422231e-03 7.54326880e+01] [-2.54181933e-02 9.99676897e-01 1.32744729e-04 -7.58587370e+00] [ 1.78701997e-03 -8.73499209e-05 9.99998399e-01 -5.25340439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.917552018 meters Centerline goodness [0,1] 0.9814440181374259 Centerline is valid? [True, True] Translation: X:75.46, Y:-7.59, Z:-0.53 [[ 9.99665403e-01 2.58022801e-02 -1.82330269e-03 7.54603275e+01] [-2.58020760e-02 9.99667062e-01 1.35385678e-04 -7.58863384e+00] [ 1.82618890e-03 -8.82953836e-05 9.99998329e-01 -5.26585226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.947552018 meters Centerline goodness [0,1] 0.9821631790417353 Centerline is valid? [True, True] Translation: X:75.49, Y:-7.59, Z:-0.53 [[ 9.99676403e-01 2.53713588e-02 -1.83934300e-03 7.54885220e+01] [-2.53711507e-02 9.99678091e-01 1.36409717e-04 -7.59083707e+00] [ 1.84221180e-03 -8.96993270e-05 9.99998299e-01 -5.27278891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.977552018 meters Centerline goodness [0,1] 0.9822744334769915 Centerline is valid? [True, True] Translation: X:75.52, Y:-7.59, Z:-0.53 [[ 9.99681680e-01 2.51488680e-02 -2.01843572e-03 7.55174580e+01] [-2.51486169e-02 9.99683712e-01 1.49689973e-04 -7.59240471e+00] [ 2.02156185e-03 -9.88814571e-05 9.99997952e-01 -5.27729412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.007552018 meters Centerline goodness [0,1] 0.9822452247777752 Centerline is valid? [True, True] Translation: X:75.55, Y:-7.60, Z:-0.53 [[ 9.99690977e-01 2.47236248e-02 -2.58688256e-03 7.55457704e+01] [-2.47232112e-02 9.99694316e-01 1.91771208e-04 -7.59514799e+00] [ 2.59083307e-03 -1.27755902e-04 9.99996636e-01 -5.28427609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.037552018 meters Centerline goodness [0,1] 0.9830051379815404 Centerline is valid? [True, True] Translation: X:75.57, Y:-7.59, Z:-0.53 [[ 9.99712898e-01 2.37234103e-02 -3.36467702e-03 7.55748603e+01] [-2.37227054e-02 9.99718546e-01 2.49278437e-04 -7.59498633e+00] [ 3.36964375e-03 -1.69387628e-04 9.99994308e-01 -5.28278678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.067552018 meters Centerline goodness [0,1] 0.9823410813190888 Centerline is valid? [True, True] Translation: X:75.60, Y:-7.60, Z:-0.53 [[ 9.99736587e-01 2.26515000e-02 -3.69691208e-03 7.56015842e+01] [-2.26506438e-02 9.99743404e-01 2.73292312e-04 -7.60438038e+00] [ 3.70215395e-03 -1.89482885e-04 9.99993129e-01 -5.30446985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.097552018 meters Centerline goodness [0,1] 0.9832323091572029 Centerline is valid? [True, True] Translation: X:75.63, Y:-7.60, Z:-0.53 [[ 9.99747831e-01 2.21084212e-02 -3.93606094e-03 7.56303483e+01] [-2.21074467e-02 9.99755558e-01 2.90925901e-04 -7.60293684e+00] [ 3.94153071e-03 -2.03836281e-04 9.99992211e-01 -5.29995865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12755201799999 meters Centerline goodness [0,1] 0.9837128252788104 Centerline is valid? [True, True] Translation: X:75.66, Y:-7.61, Z:-0.53 [[ 9.99756813e-01 2.17506285e-02 -3.63672806e-03 7.56592177e+01] [-2.17497954e-02 9.99763409e-01 2.68490702e-04 -7.60581366e+00] [ 3.64170748e-03 -1.89327317e-04 9.99993351e-01 -5.30021323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15755201799999 meters Centerline goodness [0,1] 0.9832171083217108 Centerline is valid? [True, True] Translation: X:75.69, Y:-7.61, Z:-0.53 [[ 9.99751080e-01 2.19537980e-02 -3.97612838e-03 7.56878777e+01] [-2.19528047e-02 9.99758965e-01 2.93283911e-04 -7.60716006e+00] [ 3.98160869e-03 -2.05923737e-04 9.99992052e-01 -5.29489972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18755201799999 meters Centerline goodness [0,1] 0.9837162303421683 Centerline is valid? [True, True] Translation: X:75.72, Y:-7.61, Z:-0.53 [[ 9.99744704e-01 2.23269756e-02 -3.46884094e-03 7.57169521e+01] [-2.23262230e-02 9.99750706e-01 2.55545080e-04 -7.60863938e+00] [ 3.47368173e-03 -1.78033724e-04 9.99993951e-01 -5.29059672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21755201799999 meters Centerline goodness [0,1] 0.9838589636245232 Centerline is valid? [True, True] Translation: X:75.75, Y:-7.61, Z:-0.53 [[ 9.99749590e-01 2.22158091e-02 -2.68611644e-03 7.57450829e+01] [-2.22153596e-02 9.99753189e-01 1.97070736e-04 -7.61117208e+00] [ 2.68983156e-03 -1.37348345e-04 9.99996373e-01 -5.28325911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.247552018 meters Centerline goodness [0,1] 0.9829006432504975 Centerline is valid? [True, True] Translation: X:75.77, Y:-7.61, Z:-0.53 [[ 9.99742126e-01 2.27009424e-02 -5.90797397e-04 7.57725696e+01] [-2.27009209e-02 9.99742300e-01 4.29382799e-05 -7.61406832e+00] [ 5.91619888e-04 -2.95155622e-05 9.99999825e-01 -5.27222685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.277552018 meters Centerline goodness [0,1] 0.9842594745408044 Centerline is valid? [True, True] Translation: X:75.80, Y:-7.61, Z:-0.53 [[ 9.99740227e-01 2.27906159e-02 -2.55898265e-04 7.58011873e+01] [-2.27906120e-02 9.99740260e-01 1.83813687e-05 -7.61499976e+00] [ 2.56250720e-04 -1.25445157e-05 9.99999967e-01 -5.27103236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.307552018 meters Centerline goodness [0,1] 0.9840183707552421 Centerline is valid? [True, True] Translation: X:75.83, Y:-7.62, Z:-0.53 [[ 9.99730951e-01 2.31784983e-02 8.84856853e-04 7.58302659e+01] [-2.31784496e-02 9.99731342e-01 -6.52844831e-05 -7.61865957e+00] [-8.86132325e-04 4.47573085e-05 9.99999606e-01 -5.27188915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.337552018 meters Centerline goodness [0,1] 0.9838930218545041 Centerline is valid? [True, True] Translation: X:75.86, Y:-7.62, Z:-0.53 [[ 9.99720080e-01 2.36341170e-02 1.09081674e-03 7.58588526e+01] [-2.36340433e-02 9.99720674e-01 -8.04324592e-05 -7.61921160e+00] [-1.09241299e-03 5.46295346e-05 9.99999402e-01 -5.26605180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.367552018 meters Centerline goodness [0,1] 0.9832355600899668 Centerline is valid? [True, True] Translation: X:75.89, Y:-7.62, Z:-0.53 [[ 9.99710220e-01 2.40429308e-02 1.18897610e-03 7.58860882e+01] [-2.40428436e-02 9.99710925e-01 -8.76196428e-05 -7.62468022e+00] [-1.19073903e-03 5.90078861e-05 9.99999289e-01 -5.26622085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.397552018 meters Centerline goodness [0,1] 0.9830614514783576 Centerline is valid? [True, True] Translation: X:75.91, Y:-7.63, Z:-0.53 [[ 9.99669776e-01 2.56833273e-02 8.40599475e-04 7.59135480e+01] [-2.56832842e-02 9.99670128e-01 -6.19987354e-05 -7.62687203e+00] [-8.41914519e-04 4.03889067e-05 9.99999645e-01 -5.27759662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.427552018 meters Centerline goodness [0,1] 0.9844298296576887 Centerline is valid? [True, True] Translation: X:75.94, Y:-7.63, Z:-0.53 [[ 9.99649215e-01 2.64825845e-02 3.47247769e-04 7.59416871e+01] [-2.64825771e-02 9.99649275e-01 -2.57726436e-05 -7.62969316e+00] [-3.47808506e-04 1.65675872e-05 9.99999939e-01 -5.29023953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.457552018 meters Centerline goodness [0,1] 0.9842402547593035 Centerline is valid? [True, True] Translation: X:75.97, Y:-7.63, Z:-0.53 [[ 9.99626547e-01 2.73172341e-02 -7.31426045e-04 7.59707879e+01] [-2.73172029e-02 9.99626814e-01 5.26351993e-05 -7.63246962e+00] [ 7.32590936e-04 -3.26350289e-05 9.99999731e-01 -5.31017433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.487552018 meters Centerline goodness [0,1] 0.9844466693054553 Centerline is valid? [True, True] Translation: X:76.00, Y:-7.63, Z:-0.53 [[ 9.99623234e-01 2.74224920e-02 -1.18200407e-03 7.60000694e+01] [-2.74224098e-02 9.99623931e-01 8.57340411e-05 -7.62970756e+00] [ 1.18391059e-03 -5.32883396e-05 9.99999298e-01 -5.30866210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51755201799999 meters Centerline goodness [0,1] 0.9851616199145458 Centerline is valid? [True, True] Translation: X:76.03, Y:-7.63, Z:-0.53 [[ 9.99595854e-01 2.83279498e-02 -2.37811814e-03 7.60288341e+01] [-2.83276189e-02 9.99598678e-01 1.72703571e-04 -7.62789198e+00] [ 2.38205609e-03 -1.05267349e-04 9.99997157e-01 -5.31824023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54755201799999 meters Centerline goodness [0,1] 0.9853081561852429 Centerline is valid? [True, True] Translation: X:76.06, Y:-7.63, Z:-0.53 [[ 9.99602029e-01 2.80910563e-02 -2.58392389e-03 7.60561742e+01] [-2.80906657e-02 9.99605362e-01 1.87332699e-04 -7.63133659e+00] [ 2.58816655e-03 -1.14674003e-04 9.99996644e-01 -5.32677021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57755201799999 meters Centerline goodness [0,1] 0.9841649446237433 Centerline is valid? [True, True] Translation: X:76.08, Y:-7.63, Z:-0.53 [[ 9.99605279e-01 2.80197276e-02 -2.04495883e-03 7.60847859e+01] [-2.80194831e-02 9.99607366e-01 1.48099561e-04 -7.63407206e+00] [ 2.04830562e-03 -9.07424137e-05 9.99997898e-01 -5.32555795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60755201799999 meters Centerline goodness [0,1] 0.9847044329249867 Centerline is valid? [True, True] Translation: X:76.11, Y:-7.64, Z:-0.53 [[ 9.99617200e-01 2.76110908e-02 -1.75533426e-03 7.61135885e+01] [-2.76109104e-02 9.99618738e-01 1.26929150e-04 -7.63587681e+00] [ 1.75816967e-03 -7.84141845e-05 9.99998451e-01 -5.30993165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.637552018 meters Centerline goodness [0,1] 0.9844856817706761 Centerline is valid? [True, True] Translation: X:76.14, Y:-7.64, Z:-0.53 [[ 9.99629109e-01 2.72005553e-02 -1.33184036e-03 7.61424167e+01] [-2.72004514e-02 9.99629995e-01 9.61047381e-05 -7.63878628e+00] [ 1.33396167e-03 -5.98424349e-05 9.99999108e-01 -5.31113982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.667552018 meters Centerline goodness [0,1] 0.9851165598588278 Centerline is valid? [True, True] Translation: X:76.17, Y:-7.64, Z:-0.53 [[ 9.99657814e-01 2.61543514e-02 -4.52084095e-04 7.61706679e+01] [-2.61543396e-02 9.99657916e-01 3.21789500e-05 -7.64065267e+00] [ 4.52771064e-04 -2.03439779e-05 9.99999897e-01 -5.30832643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.697552018 meters Centerline goodness [0,1] 0.9842930722472275 Centerline is valid? [True, True] Translation: X:76.20, Y:-7.64, Z:-0.53 [[ 9.99674918e-01 2.54962507e-02 -1.55930832e-05 7.61984531e+01] [-2.54962507e-02 9.99674918e-01 3.49979180e-07 -7.64483028e+00] [ 1.55969373e-05 4.76997488e-08 1.00000000e+00 -5.30837812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.727552018 meters Centerline goodness [0,1] 0.9846637829335431 Centerline is valid? [True, True] Translation: X:76.23, Y:-7.65, Z:-0.53 [[ 9.99716648e-01 2.38033770e-02 -1.54234719e-04 7.62269463e+01] [-2.38033756e-02 9.99716659e-01 1.07024632e-05 -7.64921177e+00] [ 1.54445773e-04 -7.02812365e-06 9.99999988e-01 -5.30778538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.757552018 meters Centerline goodness [0,1] 0.9838799076212471 Centerline is valid? [True, True] Translation: X:76.25, Y:-7.65, Z:-0.53 [[ 9.99736359e-01 2.29592096e-02 2.94293257e-04 7.62544324e+01] [-2.29592042e-02 9.99736402e-01 -2.17374178e-05 -7.65390379e+00] [-2.94714756e-04 1.49749479e-05 9.99999956e-01 -5.30794257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.787552018 meters Centerline goodness [0,1] 0.9838799076212471 Centerline is valid? [True, True] Translation: X:76.28, Y:-7.66, Z:-0.53 [[ 9.99738958e-01 2.28457532e-02 2.94288630e-04 7.62818514e+01] [-2.28457478e-02 9.99739002e-01 -2.18021013e-05 -7.65576723e+00] [-2.94709906e-04 1.50731663e-05 9.99999956e-01 -5.30946259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.817552018 meters Centerline goodness [0,1] 0.9835565114826892 Centerline is valid? [True, True] Translation: X:76.31, Y:-7.66, Z:-0.53 [[ 9.99752974e-01 2.22256106e-02 1.16361195e-04 7.63103246e+01] [-2.22256097e-02 9.99752981e-01 -8.78252138e-06 -7.65887029e+00] [-1.16527649e-04 6.19415334e-06 9.99999993e-01 -5.31043185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.847552018 meters Centerline goodness [0,1] 0.9838765483357553 Centerline is valid? [True, True] Translation: X:76.34, Y:-7.66, Z:-0.53 [[ 9.99774231e-01 2.12445714e-02 -3.93661576e-04 7.63385781e+01] [-2.12445621e-02 9.99774308e-01 2.78431117e-05 -7.66289740e+00] [ 3.94164245e-04 -1.94736578e-05 9.99999922e-01 -5.31595315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87755201799999 meters Centerline goodness [0,1] 0.9840826778011027 Centerline is valid? [True, True] Translation: X:76.37, Y:-7.67, Z:-0.53 [[ 9.99770242e-01 2.14345334e-02 -1.53630341e-04 7.63674605e+01] [-2.14345321e-02 9.99770254e-01 1.05994846e-05 -7.66546417e+00] [ 1.53822240e-04 -7.30405482e-06 9.99999988e-01 -5.31623477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90755201799999 meters Centerline goodness [0,1] 0.9846851826263184 Centerline is valid? [True, True] Translation: X:76.40, Y:-7.66, Z:-0.53 [[ 9.99743342e-01 2.26516455e-02 -3.91613044e-04 7.63969380e+01] [-2.26516364e-02 9.99743418e-01 2.77423351e-05 -7.66499358e+00] [ 3.92140973e-04 -1.88645386e-05 9.99999923e-01 -5.31997834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93755201799999 meters Centerline goodness [0,1] 0.9844226680225571 Centerline is valid? [True, True] Translation: X:76.42, Y:-7.67, Z:-0.53 [[ 9.99725040e-01 2.34442621e-02 -4.60108239e-04 7.64242144e+01] [-2.34442496e-02 9.99725145e-01 3.23973260e-05 -7.66902388e+00] [ 4.60741307e-04 -2.16015256e-05 9.99999894e-01 -5.33150551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96755201799999 meters Centerline goodness [0,1] 0.9843923162172147 Centerline is valid? [True, True] Translation: X:76.45, Y:-7.67, Z:-0.53 [[ 9.99695016e-01 2.46929954e-02 -3.61580890e-04 7.64530896e+01] [-2.46929878e-02 9.99695081e-01 2.54286434e-05 -7.66955479e+00] [ 3.62098547e-04 -1.64923756e-05 9.99999934e-01 -5.33500020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.997552018 meters Centerline goodness [0,1] 0.9846381297789276 Centerline is valid? [True, True] Translation: X:76.48, Y:-7.67, Z:-0.53 [[ 9.99612126e-01 2.78495344e-02 -1.89044055e-05 7.64821231e+01] [-2.78495344e-02 9.99612126e-01 1.14259720e-06 -7.67033989e+00] [ 1.89288938e-05 -6.15675129e-07 1.00000000e+00 -5.33136380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.027552018 meters Centerline goodness [0,1] 0.9846214147376188 Centerline is valid? [True, True] Translation: X:76.51, Y:-7.67, Z:-0.53 [[ 9.99582151e-01 2.89034271e-02 -3.38481582e-04 7.65099489e+01] [-2.89034208e-02 9.99582209e-01 2.34251850e-05 -7.67175473e+00] [ 3.39017235e-04 -1.36321212e-05 9.99999942e-01 -5.33225912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.057552018 meters Centerline goodness [0,1] 0.9854731056144483 Centerline is valid? [True, True] Translation: X:76.54, Y:-7.67, Z:-0.53 [[ 9.99480821e-01 3.22108773e-02 -7.39785138e-04 7.65398961e+01] [-3.22108472e-02 9.99481095e-01 5.25297459e-05 -7.66965363e+00] [ 7.41093289e-04 -2.86733676e-05 9.99999725e-01 -5.33929193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.087552018 meters Centerline goodness [0,1] 0.9865757855822551 Centerline is valid? [True, True] Translation: X:76.57, Y:-7.67, Z:-0.53 [[ 9.99430254e-01 3.37493463e-02 -3.86538314e-04 7.65692710e+01] [-3.37493383e-02 9.99430328e-01 2.70987687e-05 -7.66767690e+00] [ 3.87232680e-04 -1.40379169e-05 9.99999925e-01 -5.34104524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.117552018 meters Centerline goodness [0,1] 0.9872052009129262 Centerline is valid? [True, True] Translation: X:76.60, Y:-7.67, Z:-0.53 [[ 9.99374110e-01 3.53740290e-02 2.56276091e-04 7.65972521e+01] [-3.53740252e-02 9.99374143e-01 -1.89866636e-05 -7.66907695e+00] [-2.56787334e-04 9.90926311e-06 9.99999967e-01 -5.33929874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.147552018 meters Centerline goodness [0,1] 0.9871087410155345 Centerline is valid? [True, True] Translation: X:76.63, Y:-7.67, Z:-0.53 [[ 9.99277415e-01 3.80080591e-02 1.87658070e-04 7.66263227e+01] [-3.80080572e-02 9.99277433e-01 -1.37580948e-05 -7.66670721e+00] [-1.88045393e-04 6.61563473e-06 9.99999982e-01 -5.33520862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.177552018 meters Centerline goodness [0,1] 0.9864889918887602 Centerline is valid? [True, True] Translation: X:76.65, Y:-7.67, Z:-0.53 [[ 9.99277053e-01 3.80180493e-02 2.81383369e-06 7.66532221e+01] [-3.80180493e-02 9.99277053e-01 -9.56155484e-07 -7.66939638e+00] [-2.84815060e-06 8.48487765e-07 1.00000000e+00 -5.34055869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.207552018 meters Centerline goodness [0,1] 0.9864520020414791 Centerline is valid? [True, True] Translation: X:76.68, Y:-7.67, Z:-0.53 [[ 9.99274029e-01 3.80968676e-02 2.09938904e-04 7.66823975e+01] [-3.80968651e-02 9.99274051e-01 -1.62069622e-05 -7.67100436e+00] [-2.10403934e-04 8.19718227e-06 9.99999978e-01 -5.34361963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.237552018 meters Centerline goodness [0,1] 0.9859742668366756 Centerline is valid? [True, True] Translation: X:76.71, Y:-7.67, Z:-0.53 [[ 9.99279114e-01 3.79600944e-02 5.33299145e-04 7.67097805e+01] [-3.79600794e-02 9.99279256e-01 -3.82266899e-05 -7.67326643e+00] [-5.34365862e-04 1.79550549e-05 9.99999857e-01 -5.34399327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26755201799999 meters Centerline goodness [0,1] 0.9868030429538919 Centerline is valid? [True, True] Translation: X:76.74, Y:-7.68, Z:-0.53 [[ 9.99298298e-01 3.74488586e-02 7.03516444e-04 7.67384773e+01] [-3.74488327e-02 9.99298545e-01 -4.99600207e-05 -7.67561961e+00] [-7.04893905e-04 2.35790940e-05 9.99999751e-01 -5.34712973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29755201799999 meters Centerline goodness [0,1] 0.9873737373737373 Centerline is valid? [True, True] Translation: X:76.77, Y:-7.68, Z:-0.54 [[ 9.99339559e-01 3.63275450e-02 8.68572062e-04 7.67674170e+01] [-3.63275053e-02 9.99339936e-01 -6.15126533e-05 -7.68000239e+00] [-8.70233353e-04 2.99189717e-05 9.99999621e-01 -5.35738817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32755201799999 meters Centerline goodness [0,1] 0.9859460958809116 Centerline is valid? [True, True] Translation: X:76.80, Y:-7.68, Z:-0.54 [[ 9.99366013e-01 3.55912753e-02 9.12781552e-04 7.67951251e+01] [-3.55912311e-02 9.99366429e-01 -6.46368645e-05 -7.68401472e+00] [-9.14503749e-04 3.21088664e-05 9.99999581e-01 -5.35870043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35755201799999 meters Centerline goodness [0,1] 0.9860668237903785 Centerline is valid? [True, True] Translation: X:76.82, Y:-7.69, Z:-0.54 [[ 9.99438340e-01 3.34888738e-02 1.22475938e-03 7.68240640e+01] [-3.34887931e-02 9.99439089e-01 -8.63534082e-05 -7.68600446e+00] [-1.22696427e-03 4.52891937e-05 9.99999246e-01 -5.35218240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.387552018 meters Centerline goodness [0,1] 0.9860371880832239 Centerline is valid? [True, True] Translation: X:76.85, Y:-7.69, Z:-0.54 [[ 9.99479674e-01 3.22349108e-02 1.13625657e-03 7.68517804e+01] [-3.22348402e-02 9.99480319e-01 -8.03442196e-05 -7.69086987e+00] [-1.13825596e-03 4.36753656e-05 9.99999351e-01 -5.35976700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.417552018 meters Centerline goodness [0,1] 0.9859083582776882 Centerline is valid? [True, True] Translation: X:76.88, Y:-7.69, Z:-0.54 [[ 9.99515557e-01 3.11063245e-02 1.02382806e-03 7.68804781e+01] [-3.11062671e-02 9.99516080e-01 -7.20201569e-05 -7.69456867e+00] [-1.02557289e-03 4.01377982e-05 9.99999473e-01 -5.36624052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.447552018 meters Centerline goodness [0,1] 0.9864435647210459 Centerline is valid? [True, True] Translation: X:76.91, Y:-7.70, Z:-0.54 [[ 9.99573729e-01 2.91941295e-02 2.49982170e-04 7.69085664e+01] [-2.91941258e-02 9.99573761e-01 -1.82485775e-05 -7.69845902e+00] [-2.50408370e-04 1.09427877e-05 9.99999969e-01 -5.38123676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.477552018 meters Centerline goodness [0,1] 0.9864948809386863 Centerline is valid? [True, True] Translation: X:76.94, Y:-7.70, Z:-0.54 [[ 9.99597371e-01 2.83730592e-02 -2.57313509e-04 7.69358320e+01] [-2.83730556e-02 9.99597404e-01 1.73967559e-05 -7.70210653e+00] [ 2.57703515e-04 -1.00889810e-05 9.99999967e-01 -5.38922201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.507552018 meters Centerline goodness [0,1] 0.9866199280592023 Centerline is valid? [True, True] Translation: X:76.96, Y:-7.70, Z:-0.54 [[ 9.99601006e-01 2.82457999e-02 -5.52195267e-05 7.69635376e+01] [-2.82457998e-02 9.99601008e-01 3.20068809e-06 -7.70406174e+00] [ 5.52879005e-05 -1.63969134e-06 9.99999998e-01 -5.38644921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.537552018 meters Centerline goodness [0,1] 0.9874320574272413 Centerline is valid? [True, True] Translation: X:76.99, Y:-7.71, Z:-0.54 [[ 9.99606082e-01 2.80654783e-02 -9.74238864e-05 7.69912359e+01] [-2.80654778e-02 9.99606087e-01 6.23920607e-06 -7.70667702e+00] [ 9.75606161e-05 -3.50250041e-06 9.99999995e-01 -5.38999030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.567552018 meters Centerline goodness [0,1] 0.9869762954796031 Centerline is valid? [True, True] Translation: X:77.02, Y:-7.71, Z:-0.54 [[ 9.99604085e-01 2.81358819e-02 -2.13090300e-04 7.70197707e+01] [-2.81358795e-02 9.99604108e-01 1.43700030e-05 -7.71001088e+00] [ 2.13410252e-04 -8.36883067e-06 9.99999977e-01 -5.39962572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.597552018 meters Centerline goodness [0,1] 0.9874931280923585 Centerline is valid? [True, True] Translation: X:77.05, Y:-7.71, Z:-0.54 [[ 9.99616098e-01 2.77058698e-02 -2.02328613e-04 7.70482375e+01] [-2.77058676e-02 9.99616119e-01 1.36048648e-05 -7.71443431e+00] [ 2.02627877e-04 -7.99395216e-06 9.99999979e-01 -5.41271968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62755201799999 meters Centerline goodness [0,1] 0.9879855092401523 Centerline is valid? [True, True] Translation: X:77.08, Y:-7.72, Z:-0.54 [[ 9.99626186e-01 2.73396379e-02 -1.79324743e-04 7.70773057e+01] [-2.73396362e-02 9.99626202e-01 1.19986306e-05 -7.71751232e+00] [ 1.79585750e-04 -7.09147209e-06 9.99999984e-01 -5.40821192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65755201799999 meters Centerline goodness [0,1] 0.9872715180148155 Centerline is valid? [True, True] Translation: X:77.10, Y:-7.72, Z:-0.54 [[ 9.99618363e-01 2.76217049e-02 -4.12556432e-04 7.71046410e+01] [-2.76216958e-02 9.99618448e-01 2.77682004e-05 -7.72104834e+00] [ 4.13166026e-04 -1.63620947e-05 9.99999915e-01 -5.40650241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68755201799999 meters Centerline goodness [0,1] 0.9860974324912393 Centerline is valid? [True, True] Translation: X:77.13, Y:-7.72, Z:-0.54 [[ 9.99601049e-01 2.82442212e-02 7.96818307e-05 7.71336185e+01] [-2.82442208e-02 9.99601052e-01 -5.91162754e-06 -7.72246360e+00] [-7.98170112e-05 3.65871787e-06 9.99999997e-01 -5.40596782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71755201799999 meters Centerline goodness [0,1] 0.9864121717611475 Centerline is valid? [True, True] Translation: X:77.16, Y:-7.72, Z:-0.54 [[ 9.99577021e-01 2.90755750e-02 6.23854147e-04 7.71620775e+01] [-2.90755535e-02 9.99577216e-01 -4.34374952e-05 -7.72390251e+00] [-6.24853361e-04 2.52802175e-05 9.99999804e-01 -5.40587773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.747552018 meters Centerline goodness [0,1] 0.9874006368405379 Centerline is valid? [True, True] Translation: X:77.19, Y:-7.72, Z:-0.54 [[ 9.99519064e-01 3.10042036e-02 6.16303345e-04 7.71912672e+01] [-3.10041831e-02 9.99519254e-01 -4.28815083e-05 -7.72409774e+00] [-6.17336567e-04 2.37529033e-05 9.99999809e-01 -5.40800605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.777552018 meters Centerline goodness [0,1] 0.9874061183366917 Centerline is valid? [True, True] Translation: X:77.22, Y:-7.73, Z:-0.54 [[ 9.99474568e-01 3.24121465e-02 2.00352836e-04 7.72195131e+01] [-3.24121443e-02 9.99474588e-01 -1.42099273e-05 -7.72641763e+00] [-2.00708142e-04 7.70859589e-06 9.99999980e-01 -5.41297118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.807552018 meters Centerline goodness [0,1] 0.986363844708255 Centerline is valid? [True, True] Translation: X:77.25, Y:-7.73, Z:-0.54 [[ 9.99394928e-01 3.47776591e-02 5.40551751e-04 7.72480264e+01] [-3.47776438e-02 9.99395074e-01 -3.75728887e-05 -7.72671751e+00] [-5.41531455e-04 1.87510382e-05 9.99999853e-01 -5.40686911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.837552018 meters Centerline goodness [0,1] 0.9877696190913263 Centerline is valid? [True, True] Translation: X:77.28, Y:-7.73, Z:-0.54 [[ 9.99333633e-01 3.64873257e-02 9.82688664e-04 7.72766837e+01] [-3.64872766e-02 9.99334115e-01 -6.78847610e-05 -7.72804975e+00] [-9.84511240e-04 3.19838917e-05 9.99999515e-01 -5.40481187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.867552018 meters Centerline goodness [0,1] 0.9867664903725073 Centerline is valid? [True, True] Translation: X:77.31, Y:-7.73, Z:-0.54 [[ 9.99269103e-01 3.82218922e-02 5.88607429e-04 7.73057479e+01] [-3.82218748e-02 9.99269276e-01 -4.07911244e-05 -7.72881495e+00] [-5.89736433e-04 1.82636309e-05 9.99999826e-01 -5.40620375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.897552018 meters Centerline goodness [0,1] 0.9868919844713405 Centerline is valid? [True, True] Translation: X:77.33, Y:-7.73, Z:-0.54 [[ 9.99129800e-01 4.17090026e-02 3.61936682e-05 7.73335422e+01] [-4.17090025e-02 9.99129801e-01 -3.00743843e-06 -7.73117872e+00] [-3.62876097e-05 1.49521956e-06 9.99999999e-01 -5.42452661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.927552018 meters Centerline goodness [0,1] 0.9874545828477411 Centerline is valid? [True, True] Translation: X:77.36, Y:-7.73, Z:-0.54 [[ 9.99050506e-01 4.35664584e-02 2.22210593e-04 7.73608303e+01] [-4.35664560e-02 9.99050531e-01 -1.57166024e-05 -7.73342620e+00] [-2.22684328e-04 6.02075155e-06 9.99999975e-01 -5.42860837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.957552018 meters Centerline goodness [0,1] 0.9887676434927825 Centerline is valid? [True, True] Translation: X:77.39, Y:-7.73, Z:-0.54 [[ 9.98866999e-01 4.75881386e-02 -2.94266177e-04 7.73899388e+01] [-4.75881348e-02 9.98867043e-01 1.96783156e-05 -7.73439709e+00] [ 2.94869240e-04 -5.65244158e-06 9.99999957e-01 -5.42928432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.987552018 meters Centerline goodness [0,1] 0.989052842839875 Centerline is valid? [True, True] Translation: X:77.42, Y:-7.74, Z:-0.54 [[ 9.98761334e-01 4.97568465e-02 2.30816375e-04 7.74174217e+01] [-4.97568441e-02 9.98761361e-01 -1.62681980e-05 -7.73774114e+00] [-2.31339931e-04 4.76335274e-06 9.99999973e-01 -5.43377331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01755201799999 meters Centerline goodness [0,1] 0.9898966862043013 Centerline is valid? [True, True] Translation: X:77.45, Y:-7.74, Z:-0.54 [[ 9.98623971e-01 5.24380904e-02 6.41317744e-04 7.74464045e+01] [-5.24380723e-02 9.98624177e-01 -4.50279233e-05 -7.73853153e+00] [-6.42796582e-04 1.13364974e-05 9.99999793e-01 -5.42716900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04755201799999 meters Centerline goodness [0,1] 0.9904109589041096 Centerline is valid? [True, True] Translation: X:77.48, Y:-7.74, Z:-0.54 [[ 9.98326866e-01 5.77847595e-02 2.09522850e-03 7.74752401e+01] [-5.77845859e-02 9.98329065e-01 -1.43331680e-04 -7.73940083e+00] [-2.10000990e-03 2.20199553e-05 9.99997795e-01 -5.41300802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07755201799999 meters Centerline goodness [0,1] 0.9916657178640556 Centerline is valid? [True, True] Translation: X:77.50, Y:-7.74, Z:-0.54 [[ 9.98175513e-01 6.03254870e-02 2.54565537e-03 7.75033459e+01] [-6.03252431e-02 9.98178759e-01 -1.72555197e-04 -7.74216197e+00] [-2.55142860e-03 1.86730926e-05 9.99996745e-01 -5.41869257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10755201799999 meters Centerline goodness [0,1] 0.9913649723177872 Centerline is valid? [True, True] Translation: X:77.53, Y:-7.75, Z:-0.54 [[ 9.97916458e-01 6.44642706e-02 2.66485085e-03 7.75310865e+01] [-6.44640189e-02 9.97920016e-01 -1.80338302e-04 -7.74719905e+00] [-2.67093338e-03 8.17556404e-06 9.99996433e-01 -5.42675145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.137552018 meters Centerline goodness [0,1] 0.9916357933495465 Centerline is valid? [True, True] Translation: X:77.56, Y:-7.75, Z:-0.54 [[ 9.97855407e-01 6.54069465e-02 2.55307524e-03 7.75591132e+01] [-6.54067175e-02 9.97858673e-01 -1.73187896e-04 -7.75096777e+00] [-2.55893596e-03 5.82820751e-06 9.99996726e-01 -5.43086145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.167552018 meters Centerline goodness [0,1] 0.9920634920634921 Centerline is valid? [True, True] Translation: X:77.59, Y:-7.76, Z:-0.54 [[ 9.97801441e-01 6.62075798e-02 2.97331288e-03 7.75868644e+01] [-6.62072763e-02 9.97805871e-01 -2.00477841e-04 -7.75563107e+00] [-2.98006220e-03 3.18213078e-06 9.99995560e-01 -5.43848671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.197552018 meters Centerline goodness [0,1] 0.9921837937967335 Centerline is valid? [True, True] Translation: X:77.61, Y:-7.77, Z:-0.54 [[ 9.97823254e-01 6.59010929e-02 2.40818034e-03 7.76136425e+01] [-6.59008953e-02 9.97826160e-01 -1.61392644e-04 -7.76521356e+00] [-2.41358130e-03 2.34009228e-06 9.99997087e-01 -5.44776098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.227552018 meters Centerline goodness [0,1] 0.9917234224888367 Centerline is valid? [True, True] Translation: X:77.64, Y:-7.77, Z:-0.55 [[ 9.97897085e-01 6.47628977e-02 2.67843541e-03 7.76409466e+01] [-6.47626491e-02 9.97900680e-01 -1.79542487e-04 -7.77156026e+00] [-2.68444021e-03 5.70235153e-06 9.99996397e-01 -5.45324408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.257552018 meters Centerline goodness [0,1] 0.9920263086764574 Centerline is valid? [True, True] Translation: X:77.67, Y:-7.78, Z:-0.55 [[ 9.97986592e-01 6.33678106e-02 2.69853426e-03 7.76680943e+01] [-6.33675554e-02 9.97990241e-01 -1.80045239e-04 -7.77868073e+00] [-2.70451992e-03 8.68321502e-06 9.99996343e-01 -5.45822851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.287552018 meters Centerline goodness [0,1] 0.9913943794540809 Centerline is valid? [True, True] Translation: X:77.70, Y:-7.79, Z:-0.55 [[ 9.98200313e-01 5.98901315e-02 3.05077883e-03 7.76959175e+01] [-5.98897929e-02 9.98204975e-01 -2.02290740e-04 -7.79064309e+00] [-3.05741783e-03 1.92161679e-05 9.99995326e-01 -5.46080746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.317552018 meters Centerline goodness [0,1] 0.9900852711443343 Centerline is valid? [True, True] Translation: X:77.72, Y:-7.80, Z:-0.55 [[ 9.98426748e-01 5.60051740e-02 2.72927805e-03 7.77236900e+01] [-5.60048900e-02 9.98430478e-01 -1.80422629e-04 -7.80257975e+00] [-2.73509899e-03 2.72858621e-05 9.99996259e-01 -5.45793306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.347552018 meters Centerline goodness [0,1] 0.9899246578395969 Centerline is valid? [True, True] Translation: X:77.75, Y:-7.81, Z:-0.55 [[ 9.98612272e-01 5.25757564e-02 3.05290706e-03 7.77521728e+01] [-5.25753896e-02 9.98616938e-01 -2.00322830e-04 -7.81049344e+00] [-3.05921683e-03 3.95370579e-05 9.99995320e-01 -5.46437815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37755201799999 meters Centerline goodness [0,1] 0.9901842948717948 Centerline is valid? [True, True] Translation: X:77.78, Y:-7.82, Z:-0.55 [[ 9.98750399e-01 4.98924392e-02 2.89582948e-03 7.77805014e+01] [-4.98920985e-02 9.98754596e-01 -1.89806795e-04 -7.81903491e+00] [-2.90169292e-03 4.50906021e-05 9.99995789e-01 -5.47293152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40755201799999 meters Centerline goodness [0,1] 0.9886006463322856 Centerline is valid? [True, True] Translation: X:77.81, Y:-7.83, Z:-0.55 [[ 9.98881532e-01 4.71845193e-02 3.05055313e-03 7.78079732e+01] [-4.71841293e-02 9.98886189e-01 -1.99729944e-04 -7.82728249e+00] [-3.05657955e-03 5.55688596e-05 9.99995327e-01 -5.47726658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43755201799999 meters Centerline goodness [0,1] 0.9884394346195664 Centerline is valid? [True, True] Translation: X:77.83, Y:-7.84, Z:-0.55 [[ 9.99086915e-01 4.25550423e-02 3.79528655e-03 7.78345661e+01] [-4.25544067e-02 9.99094120e-01 -2.48093618e-04 -7.84127185e+00] [-3.80240611e-03 8.63609202e-05 9.99992767e-01 -5.47115434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46755201799999 meters Centerline goodness [0,1] 0.9882553304432452 Centerline is valid? [True, True] Translation: X:77.86, Y:-7.85, Z:-0.55 [[ 9.99154878e-01 4.09035089e-02 4.05372536e-03 7.78634611e+01] [-4.09027736e-02 9.99163096e-01 -2.64149700e-04 -7.84650427e+00] [-4.06113744e-03 9.81178508e-05 9.99991749e-01 -5.47141071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.497552018 meters Centerline goodness [0,1] 0.9885143791138402 Centerline is valid? [True, True] Translation: X:77.89, Y:-7.86, Z:-0.55 [[ 9.99244562e-01 3.85657665e-02 4.79443822e-03 7.78903029e+01] [-3.85647131e-02 9.99256056e-01 -3.12010669e-04 -7.85684081e+00] [-4.80290436e-03 1.26878830e-04 9.99988458e-01 -5.47283294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.527552018 meters Centerline goodness [0,1] 0.988702559576346 Centerline is valid? [True, True] Translation: X:77.92, Y:-7.86, Z:-0.55 [[ 9.99271453e-01 3.77989540e-02 5.27278067e-03 7.79190791e+01] [-3.77976735e-02 9.99285354e-01 -3.42330869e-04 -7.86124067e+00] [-5.28195225e-03 1.42782622e-04 9.99986040e-01 -5.47437920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.557552018 meters Centerline goodness [0,1] 0.9885097952894563 Centerline is valid? [True, True] Translation: X:77.95, Y:-7.87, Z:-0.55 [[ 9.99311486e-01 3.66813919e-02 5.57035875e-03 7.79475610e+01] [-3.66799480e-02 9.99326999e-01 -3.61187113e-04 -7.86719629e+00] [-5.57985874e-03 1.56617962e-04 9.99984420e-01 -5.48020979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.587552018 meters Centerline goodness [0,1] 0.9882404659852732 Centerline is valid? [True, True] Translation: X:77.98, Y:-7.88, Z:-0.55 [[ 9.99387870e-01 3.45543805e-02 5.46621724e-03 7.79757607e+01] [-3.45529606e-02 9.99402805e-01 -3.54013703e-04 -7.87742447e+00] [-5.47518557e-03 1.64923012e-04 9.99984997e-01 -5.49397379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.617552018 meters Centerline goodness [0,1] 0.9877351855108142 Centerline is valid? [True, True] Translation: X:78.00, Y:-7.88, Z:-0.55 [[ 9.99435669e-01 3.31504561e-02 5.42130442e-03 7.80027669e+01] [-3.31490410e-02 9.99450358e-01 -3.50684883e-04 -7.88418820e+00] [-5.42995001e-03 1.70775938e-04 9.99985243e-01 -5.49955071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.647552018 meters Centerline goodness [0,1] 0.9887906121376653 Centerline is valid? [True, True] Translation: X:78.03, Y:-7.89, Z:-0.55 [[ 9.99499686e-01 3.12302063e-02 5.00512964e-03 7.80312919e+01] [-3.12289784e-02 9.99512204e-01 -3.23308532e-04 -7.88932250e+00] [-5.01278515e-03 1.66841691e-04 9.99987422e-01 -5.50071859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.677552018 meters Centerline goodness [0,1] 0.9887906121376653 Centerline is valid? [True, True] Translation: X:78.06, Y:-7.89, Z:-0.55 [[ 9.99503290e-01 3.11146694e-02 5.00515327e-03 7.80587187e+01] [-3.11134419e-02 9.99515807e-01 -3.22942165e-04 -7.89098255e+00] [-5.01277805e-03 1.67054211e-04 9.99987422e-01 -5.50223741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.707552018 meters Centerline goodness [0,1] 0.9881269952333056 Centerline is valid? [True, True] Translation: X:78.09, Y:-7.90, Z:-0.55 [[ 9.99633588e-01 2.67035654e-02 4.42815223e-03 7.80879758e+01] [-2.67025637e-02 9.99643382e-01 -2.85189329e-04 -7.90162165e+00] [-4.43418864e-03 1.66841815e-04 9.99990155e-01 -5.51758667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.737552018 meters Centerline goodness [0,1] 0.9881842558479214 Centerline is valid? [True, True] Translation: X:78.12, Y:-7.91, Z:-0.55 [[ 9.99697588e-01 2.42696560e-02 3.96450045e-03 7.81161074e+01] [-2.42688344e-02 9.99705436e-01 -2.55225504e-04 -7.91055122e+00] [-3.96952689e-03 1.58934516e-04 9.99992109e-01 -5.52766279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76755201799999 meters Centerline goodness [0,1] 0.9876179245283019 Centerline is valid? [True, True] Translation: X:78.14, Y:-7.92, Z:-0.55 [[ 9.99783145e-01 2.05664627e-02 3.26861988e-03 7.81443469e+01] [-2.05658849e-02 9.99788478e-01 -2.10289811e-04 -7.92222796e+00] [-3.27225341e-03 1.43022148e-04 9.99994636e-01 -5.53455849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79755201799999 meters Centerline goodness [0,1] 0.9881190704151798 Centerline is valid? [True, True] Translation: X:78.17, Y:-7.92, Z:-0.55 [[ 9.99810297e-01 1.90346202e-02 4.12959295e-03 7.81733851e+01] [-1.90336861e-02 9.99818808e-01 -2.65393274e-04 -7.92401243e+00] [-4.13389636e-03 1.86741552e-04 9.99991438e-01 -5.53165447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82755201799999 meters Centerline goodness [0,1] 0.9880965334145757 Centerline is valid? [True, True] Translation: X:78.20, Y:-7.93, Z:-0.55 [[ 9.99826379e-01 1.81037199e-02 4.41225790e-03 7.82006905e+01] [-1.81026460e-02 9.99836094e-01 -2.83198237e-04 -7.92980035e+00] [-4.41666165e-03 2.03275525e-04 9.99990226e-01 -5.52891263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85755201799999 meters Centerline goodness [0,1] 0.9871489251040222 Centerline is valid? [True, True] Translation: X:78.23, Y:-7.94, Z:-0.55 [[ 9.99813173e-01 1.85620535e-02 5.39154180e-03 7.82292290e+01] [-1.85604602e-02 9.99827680e-01 -3.45396606e-04 -7.93566919e+00] [-5.39702400e-03 2.45262580e-04 9.99985406e-01 -5.52799805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.887552018 meters Centerline goodness [0,1] 0.9875290772809512 Centerline is valid? [True, True] Translation: X:78.26, Y:-7.94, Z:-0.55 [[ 9.99790654e-01 1.97262934e-02 5.43343713e-03 7.82575012e+01] [-1.97246948e-02 9.99805389e-01 -3.47645931e-04 -7.93995742e+00] [-5.43923748e-03 2.40400263e-04 9.99985178e-01 -5.52897957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.917552018 meters Centerline goodness [0,1] 0.9877988101676582 Centerline is valid? [True, True] Translation: X:78.29, Y:-7.94, Z:-0.55 [[ 9.99731615e-01 2.23943601e-02 5.93215007e-03 7.82866495e+01] [-2.23925028e-02 9.99749185e-01 -3.79321752e-04 -7.94394064e+00] [-5.93915686e-03 2.46384260e-04 9.99982333e-01 -5.53456927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.947552018 meters Centerline goodness [0,1] 0.988025241756585 Centerline is valid? [True, True] Translation: X:78.32, Y:-7.95, Z:-0.55 [[ 9.99698989e-01 2.38258940e-02 5.85300741e-03 7.83151936e+01] [-2.38241125e-02 9.99716096e-01 -3.73915248e-04 -7.94642857e+00] [-5.86025458e-03 2.34359988e-04 9.99982801e-01 -5.53457192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.977552018 meters Centerline goodness [0,1] 0.9881201354002717 Centerline is valid? [True, True] Translation: X:78.34, Y:-7.95, Z:-0.55 [[ 9.99653671e-01 2.53436017e-02 7.08796657e-03 7.83441005e+01] [-2.53410318e-02 9.99678762e-01 -4.52157130e-04 -7.94753416e+00] [-7.09714894e-03 2.72384148e-04 9.99974778e-01 -5.53217995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.007552018 meters Centerline goodness [0,1] 0.9876766242983418 Centerline is valid? [True, True] Translation: X:78.37, Y:-7.95, Z:-0.55 [[ 9.99608502e-01 2.69468024e-02 7.53080829e-03 7.83715665e+01] [-2.69439518e-02 9.99636831e-01 -4.79734383e-04 -7.95231785e+00] [-7.54100064e-03 2.76636832e-04 9.99971528e-01 -5.52583878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.037552018 meters Centerline goodness [0,1] 0.9877967701117378 Centerline is valid? [True, True] Translation: X:78.40, Y:-7.96, Z:-0.55 [[ 9.99550478e-01 2.87801545e-02 8.39905953e-03 7.84004641e+01] [-2.87766804e-02 9.99585723e-01 -5.34207097e-04 -7.95637599e+00] [-8.41095455e-03 2.92269907e-04 9.99964585e-01 -5.52520788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.067552018 meters Centerline goodness [0,1] 0.9887195384482907 Centerline is valid? [True, True] Translation: X:78.43, Y:-7.96, Z:-0.55 [[ 9.99523713e-01 2.98894767e-02 7.67891200e-03 7.84286617e+01] [-2.98866100e-02 9.99553176e-01 -4.87838548e-04 -7.96118383e+00] [-7.69006212e-03 2.58109549e-04 9.99970398e-01 -5.54412609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.097552018 meters Centerline goodness [0,1] 0.9872301154655105 Centerline is valid? [True, True] Translation: X:78.46, Y:-7.97, Z:-0.55 [[ 9.99547773e-01 2.91352273e-02 7.44231588e-03 7.84557152e+01] [-2.91325185e-02 9.99575447e-01 -4.72149588e-04 -7.96607701e+00] [-7.45291240e-03 2.55122665e-04 9.99972194e-01 -5.54696430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12755201799999 meters Centerline goodness [0,1] 0.9881493228184468 Centerline is valid? [True, True] Translation: X:78.48, Y:-7.97, Z:-0.56 [[ 9.99558300e-01 2.87538559e-02 7.51143521e-03 7.84840198e+01] [-2.87510919e-02 9.99586489e-01 -4.75712460e-04 -7.96958957e+00] [-7.52200771e-03 2.59540374e-04 9.99971676e-01 -5.55002427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15755201799999 meters Centerline goodness [0,1] 0.9874600758826177 Centerline is valid? [True, True] Translation: X:78.51, Y:-7.98, Z:-0.56 [[ 9.99577920e-01 2.79969657e-02 7.75571025e-03 7.85115185e+01] [-2.79940015e-02 9.99607971e-01 -4.90508325e-04 -7.98061502e+00] [-7.76640253e-03 2.73187928e-04 9.99969804e-01 -5.55236512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18755201799999 meters Centerline goodness [0,1] 0.9868215227034093 Centerline is valid? [True, True] Translation: X:78.54, Y:-7.98, Z:-0.56 [[ 9.99569603e-01 2.81341323e-02 8.31141138e-03 7.85398103e+01] [-2.81307396e-02 9.99604115e-01 -5.24846203e-04 -7.98333472e+00] [-8.32288711e-03 2.90814162e-04 9.99965322e-01 -5.55320513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21755201799999 meters Centerline goodness [0,1] 0.9872080088987765 Centerline is valid? [True, True] Translation: X:78.57, Y:-7.99, Z:-0.55 [[ 9.99508478e-01 2.98530167e-02 9.57074528e-03 7.85679492e+01] [-2.98486038e-02 9.99554249e-01 -6.03619987e-04 -7.99043247e+00] [-9.58449899e-03 3.17649910e-04 9.99954017e-01 -5.54342015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.247552018 meters Centerline goodness [0,1] 0.98793637237109 Centerline is valid? [True, True] Translation: X:78.60, Y:-7.99, Z:-0.55 [[ 9.99459660e-01 3.15235697e-02 9.30873849e-03 7.85969894e+01] [-3.15194726e-02 9.99502966e-01 -5.86552026e-04 -7.99423116e+00] [-9.32260195e-03 2.92828561e-04 9.99956501e-01 -5.54238195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.277552018 meters Centerline goodness [0,1] 0.9884081527899566 Centerline is valid? [True, True] Translation: X:78.63, Y:-8.00, Z:-0.55 [[ 9.99402240e-01 3.32062383e-02 9.61816939e-03 7.86261893e+01] [-3.32019477e-02 9.99448480e-01 -6.05470119e-04 -7.99757555e+00] [-9.63297016e-03 2.85766236e-04 9.99953561e-01 -5.54395905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.307552018 meters Centerline goodness [0,1] 0.9872604714261489 Centerline is valid? [True, True] Translation: X:78.65, Y:-8.00, Z:-0.55 [[ 9.99261592e-01 3.70786038e-02 1.00721772e-02 7.86545783e+01] [-3.70741012e-02 9.99312318e-01 -6.33440654e-04 -8.00413055e+00] [-1.00887378e-02 2.59555999e-04 9.99949074e-01 -5.52942533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.337552018 meters Centerline goodness [0,1] 0.9868665117369891 Centerline is valid? [True, True] Translation: X:78.68, Y:-8.01, Z:-0.55 [[ 9.99218092e-01 3.80291153e-02 1.08162048e-02 7.86833384e+01] [-3.80239869e-02 9.99276596e-01 -6.79469162e-04 -8.00607221e+00] [-1.08342199e-02 2.67662652e-04 9.99941272e-01 -5.52955440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.367552018 meters Centerline goodness [0,1] 0.9864262044353811 Centerline is valid? [True, True] Translation: X:78.71, Y:-8.01, Z:-0.55 [[ 9.99182909e-01 3.90378787e-02 1.04670274e-02 7.87106333e+01] [-3.90331408e-02 9.99237701e-01 -6.56633521e-04 -8.01048470e+00] [-1.04846820e-02 2.47536036e-04 9.99945004e-01 -5.53300379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.397552018 meters Centerline goodness [0,1] 0.9877805168310099 Centerline is valid? [True, True] Translation: X:78.74, Y:-8.02, Z:-0.55 [[ 9.99221340e-01 3.82932069e-02 9.50491832e-03 7.87375923e+01] [-3.82892746e-02 9.99266519e-01 -5.95406026e-04 -8.01968626e+00] [-9.52074665e-03 2.31005979e-04 9.99954650e-01 -5.53692160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.427552018 meters Centerline goodness [0,1] 0.9867638310529446 Centerline is valid? [True, True] Translation: X:78.77, Y:-8.02, Z:-0.55 [[ 9.99277159e-01 3.67229124e-02 9.82789384e-03 7.87658836e+01] [-3.67186412e-02 9.99325454e-01 -6.14746093e-04 -8.02416239e+00] [-9.84383975e-03 2.53434821e-04 9.99951516e-01 -5.54252905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.457552018 meters Centerline goodness [0,1] 0.9863948470483196 Centerline is valid? [True, True] Translation: X:78.80, Y:-8.04, Z:-0.55 [[ 9.99449238e-01 3.15786993e-02 1.01983615e-02 7.87951939e+01] [-3.15738380e-02 9.99501219e-01 -6.37370544e-04 -8.03612117e+00] [-1.02134021e-02 3.15018090e-04 9.99947792e-01 -5.53288665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.487552018 meters Centerline goodness [0,1] 0.9853972829196956 Centerline is valid? [True, True] Translation: X:78.82, Y:-8.04, Z:-0.55 [[ 9.99546607e-01 2.84648428e-02 9.81491615e-03 7.88246542e+01] [-2.84601911e-02 9.99594739e-01 -6.13319066e-04 -8.04373066e+00] [-9.82839657e-03 3.33706602e-04 9.99951644e-01 -5.52934883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51755201799999 meters Centerline goodness [0,1] 0.9845915486979222 Centerline is valid? [True, True] Translation: X:78.85, Y:-8.06, Z:-0.55 [[ 9.99714098e-01 2.26808884e-02 7.56971013e-03 7.88539960e+01] [-2.26779544e-02 9.99742710e-01 -4.73213936e-04 -8.05647742e+00] [-7.57849543e-03 3.01413102e-04 9.99971237e-01 -5.54036157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54755201799999 meters Centerline goodness [0,1] 0.9844246662428481 Centerline is valid? [True, True] Translation: X:78.88, Y:-8.06, Z:-0.56 [[ 9.99775141e-01 2.02995984e-02 6.13141711e-03 7.88838260e+01] [-2.02976264e-02 9.99793908e-01 -3.83682158e-04 -8.06341337e+00] [-6.13794207e-03 2.59142670e-04 9.99981129e-01 -5.55125563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57755201799999 meters Centerline goodness [0,1] 0.9847874909953812 Centerline is valid? [True, True] Translation: X:78.91, Y:-8.07, Z:-0.56 [[ 9.99823533e-01 1.81926425e-02 4.68298408e-03 7.89135633e+01] [-1.81914691e-02 9.99834479e-01 -2.93060592e-04 -8.07001281e+00] [-4.68754049e-03 2.07818517e-04 9.99988992e-01 -5.55721629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60755201799999 meters Centerline goodness [0,1] 0.9844053757078861 Centerline is valid? [True, True] Translation: X:78.94, Y:-8.07, Z:-0.56 [[ 9.99850225e-01 1.68563629e-02 3.92309221e-03 7.89430699e+01] [-1.68555292e-02 9.99857905e-01 -2.45479476e-04 -8.07460606e+00] [-3.92667265e-03 1.79316914e-04 9.99992275e-01 -5.56153718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.637552018 meters Centerline goodness [0,1] 0.9856882367907727 Centerline is valid? [True, True] Translation: X:78.97, Y:-8.08, Z:-0.56 [[ 9.99887796e-01 1.48142958e-02 2.22082870e-03 7.89727903e+01] [-1.48140237e-02 9.99890257e-01 -1.38906270e-04 -8.08183078e+00] [-2.22264278e-03 1.05991275e-04 9.99997524e-01 -5.55900034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.667552018 meters Centerline goodness [0,1] 0.9853858680709768 Centerline is valid? [True, True] Translation: X:79.00, Y:-8.09, Z:-0.56 [[ 9.99896574e-01 1.43025593e-02 1.50923725e-03 7.90025755e+01] [-1.43024330e-02 9.99897711e-01 -9.44830957e-05 -8.08683810e+00] [-1.51043422e-03 7.28875592e-05 9.99998857e-01 -5.55906004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.697552018 meters Centerline goodness [0,1] 0.9852381355215295 Centerline is valid? [True, True] Translation: X:79.03, Y:-8.09, Z:-0.56 [[ 9.99908167e-01 1.34968477e-02 1.22142852e-03 7.90315370e+01] [-1.34967642e-02 9.99908912e-01 -7.65474743e-05 -8.09052045e+00] [-1.22235041e-03 6.00551119e-05 9.99999251e-01 -5.55464019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.727552018 meters Centerline goodness [0,1] 0.9856327910416226 Centerline is valid? [True, True] Translation: X:79.06, Y:-8.10, Z:-0.55 [[ 9.99910385e-01 1.33124363e-02 1.41451054e-03 7.90596308e+01] [-1.33123244e-02 9.99911383e-01 -8.85071171e-05 -8.10065322e+00] [-1.41556344e-03 6.96687623e-05 9.99998996e-01 -5.54030710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.757552018 meters Centerline goodness [0,1] 0.985759627592044 Centerline is valid? [True, True] Translation: X:79.09, Y:-8.10, Z:-0.55 [[ 9.99905951e-01 1.35374640e-02 2.19681547e-03 7.90889227e+01] [-1.35371954e-02 9.99908359e-01 -1.37073366e-04 -8.10252927e+00] [-2.19846978e-03 1.07321754e-04 9.99997578e-01 -5.52571597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.787552018 meters Centerline goodness [0,1] 0.9854285112655295 Centerline is valid? [True, True] Translation: X:79.12, Y:-8.11, Z:-0.55 [[ 9.99880589e-01 1.51750983e-02 2.91962881e-03 7.91182162e+01] [-1.51746321e-02 9.99884842e-01 -1.81770211e-04 -8.10674560e+00] [-2.92205098e-03 1.37444212e-04 9.99995721e-01 -5.49976847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.817552018 meters Centerline goodness [0,1] 0.9853198994571531 Centerline is valid? [True, True] Translation: X:79.15, Y:-8.11, Z:-0.55 [[ 9.99873472e-01 1.57468101e-02 2.25358979e-03 7.91475746e+01] [-1.57465331e-02 9.99876006e-01 -1.40614865e-04 -8.11022289e+00] [-2.25552460e-03 1.05110847e-04 9.99997451e-01 -5.49578226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.847552018 meters Centerline goodness [0,1] 0.9856668710229796 Centerline is valid? [True, True] Translation: X:79.18, Y:-8.11, Z:-0.55 [[ 9.99866427e-01 1.62237852e-02 1.97930325e-03 7.91773118e+01] [-1.62235725e-02 9.99868382e-01 -1.23453437e-04 -8.11238861e+00] [-1.98104562e-03 9.13255768e-05 9.99998034e-01 -5.49775589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87755201799999 meters Centerline goodness [0,1] 0.9866393684832623 Centerline is valid? [True, True] Translation: X:79.21, Y:-8.12, Z:-0.55 [[ 9.99873849e-01 1.58834060e-02 -5.57399006e-05 7.92051550e+01] [-1.58834059e-02 9.99873851e-01 3.14038114e-06 -8.12088391e+00] [ 5.57827490e-05 -2.25464552e-06 9.99999998e-01 -5.50743894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90755201799999 meters Centerline goodness [0,1] 0.9868254637436762 Centerline is valid? [True, True] Translation: X:79.23, Y:-8.12, Z:-0.55 [[ 9.99886776e-01 1.50177843e-02 -9.49208503e-04 7.92347366e+01] [-1.50177353e-02 9.99887226e-01 5.87802874e-05 -8.12245828e+00] [ 9.49984206e-04 -4.45186700e-05 9.99999548e-01 -5.50811464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93755201799999 meters Centerline goodness [0,1] 0.9868721461187214 Centerline is valid? [True, True] Translation: X:79.26, Y:-8.13, Z:-0.55 [[ 9.99933914e-01 1.11156943e-02 -2.93410857e-03 7.92632497e+01] [-1.11152065e-02 9.99938208e-01 1.82492729e-04 -8.13051675e+00] [ 2.93595580e-03 -1.49867446e-04 9.99995679e-01 -5.51307960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96755201799999 meters Centerline goodness [0,1] 0.9874499050833158 Centerline is valid? [True, True] Translation: X:79.29, Y:-8.14, Z:-0.55 [[ 9.99952551e-01 8.97012896e-03 -3.79891912e-03 7.92914288e+01] [-8.96929842e-03 9.99959747e-01 2.35605503e-04 -8.13727621e+00] [ 3.80087961e-03 -2.01520684e-04 9.99992756e-01 -5.51662877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.997552018 meters Centerline goodness [0,1] 0.9862058767612328 Centerline is valid? [True, True] Translation: X:79.32, Y:-8.15, Z:-0.55 [[ 9.99982072e-01 4.11221152e-03 -4.35266119e-03 7.93199674e+01] [-4.11107491e-03 9.99991513e-01 2.70044585e-04 -8.14680415e+00] [ 4.35373473e-03 -2.52145627e-04 9.99990491e-01 -5.50886607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.027552018 meters Centerline goodness [0,1] 0.9864288729421697 Centerline is valid? [True, True] Translation: X:79.35, Y:-8.15, Z:-0.55 [[ 9.99989476e-01 2.08916456e-03 -4.08455475e-03 7.93495547e+01] [-2.08814777e-03 9.99997788e-01 2.53182376e-04 -8.14910272e+00] [ 4.08507465e-03 -2.44650557e-04 9.99991626e-01 -5.48996569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.057552018 meters Centerline goodness [0,1] 0.9874180587862127 Centerline is valid? [True, True] Translation: X:79.38, Y:-8.15, Z:-0.55 [[ 9.99994180e-01 4.08617383e-04 -3.38723815e-03 7.93784761e+01] [-4.07909768e-04 9.99999895e-01 2.09594387e-04 -8.15233997e+00] [ 3.38732343e-03 -2.08211480e-04 9.99994241e-01 -5.47480823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.087552018 meters Centerline goodness [0,1] 0.9865666913084803 Centerline is valid? [True, True] Translation: X:79.41, Y:-8.16, Z:-0.55 [[ 9.99995783e-01 -6.20000842e-04 -2.83712488e-03 7.94070043e+01] [ 6.20503515e-04 9.99999792e-01 1.76300071e-04 -8.16132785e+00] [ 2.83701499e-03 -1.78059774e-04 9.99995960e-01 -5.46068028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.117552018 meters Centerline goodness [0,1] 0.9863965695697176 Centerline is valid? [True, True] Translation: X:79.44, Y:-8.16, Z:-0.55 [[ 9.99995516e-01 -7.38387380e-05 -2.99385970e-03 7.94365257e+01] [ 7.43940768e-05 9.99999980e-01 1.85381646e-04 -8.16394225e+00] [ 2.99384595e-03 -1.85603540e-04 9.99995501e-01 -5.45961289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.147552018 meters Centerline goodness [0,1] 0.9868632594347605 Centerline is valid? [True, True] Translation: X:79.47, Y:-8.16, Z:-0.55 [[ 9.99993964e-01 9.29013807e-04 -3.34804910e-03 7.94663635e+01] [-9.28325275e-04 9.99999548e-01 2.07199932e-04 -8.16325196e+00] [ 3.34824008e-03 -2.04090603e-04 9.99994374e-01 -5.45509367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.177552018 meters Centerline goodness [0,1] 0.9868643709281665 Centerline is valid? [True, True] Translation: X:79.50, Y:-8.16, Z:-0.55 [[ 9.99992592e-01 2.09939858e-03 -3.22616999e-03 7.94958135e+01] [-2.09877212e-03 9.99997778e-01 1.97553680e-04 -8.16351291e+00] [ 3.22657757e-03 -1.90781221e-04 9.99994776e-01 -5.45051991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.207552018 meters Centerline goodness [0,1] 0.9872692015850265 Centerline is valid? [True, True] Translation: X:79.52, Y:-8.17, Z:-0.54 [[ 9.99986784e-01 4.27991553e-03 -2.84845476e-03 7.95242283e+01] [-4.27943376e-03 9.99990828e-01 1.75208135e-04 -8.16720502e+00] [ 2.84917851e-03 -1.63016046e-04 9.99995928e-01 -5.44312366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.237552018 meters Centerline goodness [0,1] 0.9876838429795789 Centerline is valid? [True, True] Translation: X:79.55, Y:-8.17, Z:-0.54 [[ 9.99987579e-01 4.20597202e-03 -2.67424462e-03 7.95531067e+01] [-4.20554721e-03 9.99991143e-01 1.64457005e-04 -8.17175869e+00] [ 2.67491264e-03 -1.53208301e-04 9.99996411e-01 -5.43877547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26755201799999 meters Centerline goodness [0,1] 0.9872219293621508 Centerline is valid? [True, True] Translation: X:79.58, Y:-8.18, Z:-0.54 [[ 9.99988852e-01 3.53754424e-03 -3.12757887e-03 7.95813744e+01] [-3.53696124e-03 9.99993727e-01 1.91917203e-04 -8.17511505e+00] [ 3.12823817e-03 -1.80852939e-04 9.99995091e-01 -5.43411522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29755201799999 meters Centerline goodness [0,1] 0.9878278142896388 Centerline is valid? [True, True] Translation: X:79.61, Y:-8.18, Z:-0.54 [[ 9.99988622e-01 2.39439880e-03 -4.12589870e-03 7.96104681e+01] [-2.39337369e-03 9.99997104e-01 2.53377035e-04 -8.17964006e+00] [ 4.12649344e-03 -2.43499335e-04 9.99991456e-01 -5.43656944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32755201799999 meters Centerline goodness [0,1] 0.988425779520587 Centerline is valid? [True, True] Translation: X:79.64, Y:-8.18, Z:-0.54 [[ 9.99988542e-01 1.48759138e-03 -4.54995256e-03 7.96383853e+01] [-1.48633462e-03 9.99998856e-01 2.79582602e-04 -8.18418664e+00] [ 4.55036326e-03 -2.72816646e-04 9.99989610e-01 -5.44299521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35755201799999 meters Centerline goodness [0,1] 0.9879393811829089 Centerline is valid? [True, True] Translation: X:79.67, Y:-8.19, Z:-0.54 [[ 9.99986339e-01 -4.38913045e-04 -5.20852755e-03 7.96674857e+01] [ 4.40582961e-04 9.99999852e-01 3.19468968e-04 -8.18981718e+00] [ 5.20838656e-03 -3.21759393e-04 9.99986384e-01 -5.44193550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.387552018 meters Centerline goodness [0,1] 0.9885661245068877 Centerline is valid? [True, True] Translation: X:79.70, Y:-8.19, Z:-0.54 [[ 9.99986667e-01 -1.50797278e-03 -4.93876379e-03 7.96961881e+01] [ 1.50948459e-03 9.99998815e-01 3.02396812e-04 -8.19131983e+00] [ 4.93830193e-03 -3.09847768e-04 9.99987759e-01 -5.43252334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.417552018 meters Centerline goodness [0,1] 0.9895001478852411 Centerline is valid? [True, True] Translation: X:79.72, Y:-8.19, Z:-0.54 [[ 9.99987382e-01 -2.11562206e-03 -4.55622546e-03 7.97245464e+01] [ 2.11691320e-03 9.99997721e-01 2.78574044e-04 -8.19386197e+00] [ 4.55562572e-03 -2.88215663e-04 9.99989582e-01 -5.42426757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.447552018 meters Centerline goodness [0,1] 0.9868198715782359 Centerline is valid? [True, True] Translation: X:79.75, Y:-8.21, Z:-0.55 [[ 9.99983338e-01 -2.16187620e-03 -5.35250082e-03 7.97513913e+01] [ 2.16364390e-03 9.99997607e-01 3.24488259e-04 -8.20765382e+00] [ 5.35178651e-03 -3.36063758e-04 9.99985623e-01 -5.45701736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.477552018 meters Centerline goodness [0,1] 0.988821523304282 Centerline is valid? [True, True] Translation: X:79.78, Y:-8.20, Z:-0.54 [[ 9.99983367e-01 -1.29059813e-03 -5.62139770e-03 7.97796895e+01] [ 1.29253737e-03 9.99999106e-01 3.41355231e-04 -8.20073670e+00] [ 5.62095212e-03 -3.48615419e-04 9.99984142e-01 -5.44803479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.507552018 meters Centerline goodness [0,1] 0.9871633261901761 Centerline is valid? [True, True] Translation: X:79.81, Y:-8.21, Z:-0.55 [[ 9.99980159e-01 -1.02260778e-03 -6.21585664e-03 7.98079072e+01] [ 1.02495785e-03 9.99999404e-01 3.74902498e-04 -8.21110721e+00] [ 6.21546956e-03 -3.81266050e-04 9.99980611e-01 -5.47286055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.537552018 meters Centerline goodness [0,1] 0.9891882760368275 Centerline is valid? [True, True] Translation: X:79.84, Y:-8.20, Z:-0.55 [[ 9.99980692e-01 -1.79593474e-03 -5.94891336e-03 7.98376198e+01] [ 1.79810363e-03 9.99998319e-01 3.59257405e-04 -8.20410117e+00] [ 5.94825815e-03 -3.69947231e-04 9.99982241e-01 -5.45032016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.567552018 meters Centerline goodness [0,1] 0.9856791886273439 Centerline is valid? [True, True] Translation: X:79.86, Y:-8.22, Z:-0.55 [[ 9.99980473e-01 -2.74226413e-03 -5.61551802e-03 7.98649692e+01] [ 2.74420883e-03 9.99996177e-01 3.38632430e-04 -8.21915497e+00] [ 5.61456794e-03 -3.54035972e-04 9.99984176e-01 -5.46921844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.597552018 meters Centerline goodness [0,1] 0.9856791886273439 Centerline is valid? [True, True] Translation: X:79.89, Y:-8.22, Z:-0.55 [[ 9.99979635e-01 -3.03203679e-03 -5.61568433e-03 7.98932851e+01] [ 3.03397059e-03 9.99995341e-01 3.35870673e-04 -8.22070213e+00] [ 5.61463979e-03 -3.52901655e-04 9.99984176e-01 -5.47078501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62755201799999 meters Centerline goodness [0,1] 0.9842259334919866 Centerline is valid? [True, True] Translation: X:79.92, Y:-8.23, Z:-0.55 [[ 9.99977117e-01 -5.03079036e-03 -4.52296756e-03 7.99223887e+01] [ 5.03206820e-03 9.99987302e-01 2.71187068e-04 -8.22559861e+00] [ 4.52154584e-03 -2.93940743e-04 9.99989735e-01 -5.45918297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65755201799999 meters Centerline goodness [0,1] 0.9873006497341996 Centerline is valid? [True, True] Translation: X:79.95, Y:-8.23, Z:-0.54 [[ 9.99945345e-01 -1.00489945e-02 -2.88526726e-03 7.99519701e+01] [ 1.00495360e-02 9.99949487e-01 1.73232226e-04 -8.22576931e+00] [ 2.88338070e-03 -2.02218355e-04 9.99995823e-01 -5.42403951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68755201799999 meters Centerline goodness [0,1] 0.9622677244891518 Centerline is valid? [True, True] Translation: X:79.98, Y:-8.24, Z:-0.54 [[ 9.99916325e-01 -1.26477651e-02 -2.71622353e-03 7.99810434e+01] [ 1.26482545e-02 9.99919994e-01 1.63070007e-04 -8.24153564e+00] [ 2.71394374e-03 -1.97411848e-04 9.99996298e-01 -5.43396635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71755201799999 meters Centerline goodness [0,1] 0.9757722720084344 Centerline is valid? [True, True] Translation: X:80.01, Y:-8.24, Z:-0.54 [[ 9.99823977e-01 -1.86484546e-02 -2.06143918e-03 8.00107229e+01] [ 1.86487488e-02 9.99826089e-01 1.23606844e-04 -8.24246238e+00] [ 2.05877560e-03 -1.62028347e-04 9.99997868e-01 -5.41570084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.747552018 meters Centerline goodness [0,1] 0.9878199878199878 Centerline is valid? [True, True] Translation: X:80.04, Y:-8.23, Z:-0.54 [[ 9.99780415e-01 -2.08756430e-02 -1.82473703e-03 8.00414325e+01] [ 2.08758771e-02 9.99782069e-01 1.09362160e-04 -8.23229056e+00] [ 1.82205636e-03 -1.47431132e-04 9.99998329e-01 -5.39790480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.777552018 meters Centerline goodness [0,1] 0.9859000569055999 Centerline is valid? [True, True] Translation: X:80.07, Y:-8.24, Z:-0.54 [[ 9.99717840e-01 -2.37210941e-02 -1.24526208e-03 8.00704804e+01] [ 2.37212053e-02 9.99718610e-01 7.45725496e-05 -8.23973954e+00] [ 1.24314273e-03 -1.04090626e-04 9.99999222e-01 -5.39918731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.807552018 meters Centerline goodness [0,1] 0.9459516254439237 Centerline is valid? [True, False] Translation: X:80.07, Y:-8.24, Z:-0.54 [[ 9.99716913e-01 -2.37590079e-02 -1.26623130e-03 8.00707750e+01] [ 2.37599728e-02 9.99717409e-01 7.52504466e-04 -8.24190807e+00] [ 1.24799471e-03 -7.82377063e-04 9.99998915e-01 -5.40254217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.837552018 meters Centerline goodness [0,1] 0.9877130233536714 Centerline is valid? [False, True] Translation: X:80.07, Y:-8.24, Z:-0.54 [[ 9.99705590e-01 -2.42343662e-02 -1.19507646e-03 8.00709757e+01] [ 2.42359255e-02 9.99705411e-01 1.30802965e-03 -8.24440510e+00] [ 1.16302513e-03 -1.33660834e-03 9.99998430e-01 -5.40734098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.867552018 meters Centerline goodness [0,1] 0.9877130233536714 Centerline is valid? [True, True] Translation: X:80.10, Y:-8.25, Z:-0.54 [[ 9.99706655e-01 -2.41862825e-02 -1.27552664e-03 8.01019044e+01] [ 2.41864094e-02 9.99707462e-01 8.41436150e-05 -8.24594599e+00] [ 1.27311838e-03 -1.14969342e-04 9.99999183e-01 -5.40851297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.897552018 meters Centerline goodness [0,1] 0.9841056261037759 Centerline is valid? [True, True] Translation: X:80.13, Y:-8.25, Z:-0.54 [[ 9.99653453e-01 -2.62661535e-02 -1.75031732e-03 8.01318482e+01] [ 2.62663953e-02 9.99654972e-01 1.15287893e-04 -8.25290343e+00] [ 1.74668525e-03 -1.61222467e-04 9.99998462e-01 -5.41691968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.927552018 meters Centerline goodness [0,1] 0.9843318361063664 Centerline is valid? [True, True] Translation: X:80.16, Y:-8.26, Z:-0.54 [[ 9.99627298e-01 -2.72810559e-02 -1.00442100e-03 8.01620127e+01] [ 2.72811360e-02 9.99627798e-01 6.60891972e-05 -8.25700453e+00] [ 1.00224417e-03 -9.34663116e-05 9.99999493e-01 -5.41495767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.957552018 meters Centerline goodness [0,1] 0.9852074741183402 Centerline is valid? [True, True] Translation: X:80.19, Y:-8.26, Z:-0.54 [[ 9.99617754e-01 -2.76376209e-02 -7.12574709e-04 8.01935921e+01] [ 2.76376615e-02 9.99618006e-01 4.71521836e-05 -8.25874833e+00] [ 7.10999336e-04 -6.68280585e-05 9.99999745e-01 -5.40883103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.987552018 meters Centerline goodness [0,1] 0.9823557864187924 Centerline is valid? [True, True] Translation: X:80.22, Y:-8.26, Z:-0.54 [[ 9.99616380e-01 -2.76947138e-02 -3.10582440e-04 8.02235919e+01] [ 2.76947216e-02 9.99616427e-01 2.08501813e-05 -8.26317426e+00] [ 3.09885869e-04 -2.94436769e-05 9.99999952e-01 -5.41033755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01755201799999 meters Centerline goodness [0,1] 0.9814923742699887 Centerline is valid? [True, True] Translation: X:80.26, Y:-8.26, Z:-0.54 [[ 9.99615678e-01 -2.77216677e-02 -7.49035009e-05 8.02553566e+01] [ 2.77216682e-02 9.99615681e-01 5.17285212e-06 -8.26321089e+00] [ 7.47313140e-05 -7.24731407e-06 9.99999997e-01 -5.41147403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04755201799999 meters Centerline goodness [0,1] 0.9768992867812586 Centerline is valid? [True, True] Translation: X:80.29, Y:-8.27, Z:-0.54 [[ 9.99618127e-01 -2.76329860e-02 1.37055800e-04 8.02858453e+01] [ 2.76329875e-02 9.99618136e-01 -8.92479850e-06 -8.26854990e+00] [-1.36756845e-04 1.27086516e-05 9.99999991e-01 -5.41678933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07755201799999 meters Centerline goodness [0,1] 0.9824305467461626 Centerline is valid? [True, True] Translation: X:80.32, Y:-8.27, Z:-0.54 [[ 9.99597255e-01 -2.83781420e-02 9.44044873e-05 8.03170267e+01] [ 2.83781427e-02 9.99597259e-01 -5.99754433e-06 -8.26708579e+00] [-9.41962676e-05 8.67415285e-06 9.99999996e-01 -5.41708312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10755201799999 meters Centerline goodness [0,1] 0.9806239875454947 Centerline is valid? [True, True] Translation: X:80.35, Y:-8.27, Z:-0.54 [[ 9.99598083e-01 -2.83482630e-02 -2.21597109e-04 8.03478557e+01] [ 2.83482670e-02 9.99598107e-01 1.48656653e-05 -8.27062122e+00] [ 2.21086635e-04 -2.11415845e-05 9.99999975e-01 -5.42220718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.137552018 meters Centerline goodness [0,1] 0.9742031788747793 Centerline is valid? [True, True] Translation: X:80.38, Y:-8.28, Z:-0.54 [[ 9.99579872e-01 -2.89807477e-02 4.43542607e-04 8.03778986e+01] [ 2.89807635e-02 9.99579969e-01 -2.91857145e-05 -8.27615072e+00] [-4.42510482e-04 4.20276561e-05 9.99999901e-01 -5.42446429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.167552018 meters Centerline goodness [0,1] 0.9827571722602596 Centerline is valid? [True, True] Translation: X:80.41, Y:-8.27, Z:-0.54 [[ 9.99546287e-01 -3.00865867e-02 1.42067561e-03 8.04094492e+01] [ 3.00867500e-02 9.99547287e-01 -9.36718980e-05 -8.27248984e+00] [-1.41721418e-03 1.36372910e-04 9.99998986e-01 -5.41212089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.197552018 meters Centerline goodness [0,1] 0.9846787827557059 Centerline is valid? [True, True] Translation: X:80.44, Y:-8.27, Z:-0.54 [[ 9.99510066e-01 -3.12199018e-02 2.22411276e-03 8.04404591e+01] [ 3.12203051e-02 9.99512517e-01 -1.46831618e-04 -8.27003603e+00] [-2.21844448e-03 2.16197160e-04 9.99997516e-01 -5.40636686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.227552018 meters Centerline goodness [0,1] 0.9823704109358216 Centerline is valid? [True, True] Translation: X:80.47, Y:-8.28, Z:-0.54 [[ 9.99492092e-01 -3.17566053e-02 2.66002419e-03 8.04716115e+01] [ 3.17571845e-02 9.99495598e-01 -1.75760840e-04 -8.27654776e+00] [-2.65310090e-03 2.60146449e-04 9.99996447e-01 -5.40905212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.257552018 meters Centerline goodness [0,1] 0.9806847558796948 Centerline is valid? [True, True] Translation: X:80.50, Y:-8.28, Z:-0.54 [[ 9.99474562e-01 -3.22914289e-02 2.80413606e-03 8.05031269e+01] [ 3.22920753e-02 9.99478458e-01 -1.85539031e-04 -8.27936800e+00] [-2.79668226e-03 2.75992914e-04 9.99996051e-01 -5.41142453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.287552018 meters Centerline goodness [0,1] 0.9831362010960412 Centerline is valid? [True, True] Translation: X:80.53, Y:-8.28, Z:-0.54 [[ 9.99429967e-01 -3.35064515e-02 4.13016878e-03 8.05342834e+01] [ 3.35078652e-02 9.99438416e-01 -2.73551268e-04 -8.28029118e+00] [-4.11868361e-03 4.11788474e-04 9.99991433e-01 -5.40375868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.317552018 meters Centerline goodness [0,1] 0.9821627647714605 Centerline is valid? [True, True] Translation: X:80.57, Y:-8.28, Z:-0.54 [[ 9.99429109e-01 -3.35810670e-02 3.71040282e-03 8.05665013e+01] [ 3.35822086e-02 9.99435928e-01 -2.45783788e-04 -8.28083429e+00] [-3.70005620e-03 3.70246994e-04 9.99993086e-01 -5.40684834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.347552018 meters Centerline goodness [0,1] 0.9818825313895677 Centerline is valid? [True, True] Translation: X:80.60, Y:-8.28, Z:-0.54 [[ 9.99429890e-01 -3.35256431e-02 3.99067802e-03 8.05984564e+01] [ 3.35269647e-02 9.99437778e-01 -2.64709259e-04 -8.28334706e+00] [-3.97955982e-03 3.98353667e-04 9.99992002e-01 -5.40622786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37755201799999 meters Centerline goodness [0,1] 0.9853404026108448 Centerline is valid? [True, True] Translation: X:80.63, Y:-8.28, Z:-0.54 [[ 9.99461266e-01 -3.25819718e-02 3.94876126e-03 8.06303305e+01] [ 3.25832600e-02 9.99468990e-01 -2.62316455e-04 -8.27842982e+00] [-3.93811764e-03 3.90838651e-04 9.99992169e-01 -5.40702937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40755201799999 meters Centerline goodness [0,1] 0.8246866404921371 Centerline is valid? [True, False] Translation: X:80.63, Y:-8.28, Z:-0.54 [[ 9.99569575e-01 -2.90598008e-02 4.02411434e-03 8.06301118e+01] [ 2.90438811e-02 9.99570295e-01 3.95958855e-03 -8.27976364e+00] [-4.13745001e-03 -3.84100835e-03 9.99984064e-01 -5.40901039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43755201799999 meters Centerline goodness [0,1] 0.983467606579389 Centerline is valid? [False, True] Translation: X:80.63, Y:-8.28, Z:-0.54 [[ 9.99574578e-01 -2.89007442e-02 3.92550786e-03 8.06302448e+01] [ 2.88863182e-02 9.99575917e-01 3.68324948e-03 -8.27808945e+00] [-4.03029177e-03 -3.56828908e-03 9.99985512e-01 -5.40792850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46755201799999 meters Centerline goodness [0,1] 0.9837736326806212 Centerline is valid? [True, True] Translation: X:80.66, Y:-8.27, Z:-0.54 [[ 9.99645642e-01 -2.61668358e-02 4.88752288e-03 8.06612447e+01] [ 2.61687719e-02 9.99657484e-01 -3.32580293e-04 -8.27299725e+00] [-4.87714625e-03 4.60362912e-04 9.99988001e-01 -5.40777719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.497552018 meters Centerline goodness [0,1] 0.9821835595240584 Centerline is valid? [True, True] Translation: X:80.69, Y:-8.28, Z:-0.54 [[ 9.99689236e-01 -2.44536062e-02 4.84281326e-03 8.06913932e+01] [ 2.44554875e-02 9.99700865e-01 -3.29634543e-04 -8.27586087e+00] [-4.83330385e-03 4.47965464e-04 9.99988219e-01 -5.41410470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.527552018 meters Centerline goodness [0,1] 0.983424021513057 Centerline is valid? [True, True] Translation: X:80.72, Y:-8.27, Z:-0.54 [[ 9.99716210e-01 -2.32671964e-02 5.11239477e-03 8.07231009e+01] [ 2.32692782e-02 9.99729173e-01 -3.48094633e-04 -8.27321640e+00] [-5.10291101e-03 4.66957584e-04 9.99986871e-01 -5.41762038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.557552018 meters Centerline goodness [0,1] 0.9825885816423089 Centerline is valid? [True, True] Translation: X:80.75, Y:-8.27, Z:-0.54 [[ 9.99743647e-01 -2.20470799e-02 5.15420217e-03 8.07549277e+01] [ 2.20491809e-02 9.99756826e-01 -3.51152264e-04 -8.27239929e+00] [-5.14520692e-03 4.64708181e-04 9.99986655e-01 -5.42335260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.587552018 meters Centerline goodness [0,1] 0.9807227395993189 Centerline is valid? [True, True] Translation: X:80.79, Y:-8.27, Z:-0.54 [[ 9.99784758e-01 -2.01683137e-02 4.86589437e-03 8.07851352e+01] [ 2.01701656e-02 9.99796506e-01 -3.31794120e-04 -8.27376091e+00] [-4.85821246e-03 4.29868599e-04 9.99988106e-01 -5.42824630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.617552018 meters Centerline goodness [0,1] 0.9806051202482544 Centerline is valid? [True, True] Translation: X:80.82, Y:-8.27, Z:-0.54 [[ 9.99809278e-01 -1.88050115e-02 5.27068043e-03 8.08165863e+01] [ 1.88071661e-02 9.99823065e-01 -3.59514041e-04 -8.27303966e+00] [-5.26298719e-03 4.58572036e-04 9.99986045e-01 -5.42435435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.647552018 meters Centerline goodness [0,1] 0.980408714744131 Centerline is valid? [True, True] Translation: X:80.85, Y:-8.27, Z:-0.54 [[ 9.99818407e-01 -1.79317621e-02 6.45026479e-03 8.08484963e+01] [ 1.79349730e-02 9.99839058e-01 -4.40297351e-04 -8.27272639e+00] [-6.44133137e-03 5.55902721e-04 9.99979100e-01 -5.41519123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.677552018 meters Centerline goodness [0,1] 0.9804012086620782 Centerline is valid? [True, True] Translation: X:80.88, Y:-8.27, Z:-0.54 [[ 9.99833059e-01 -1.69160735e-02 6.90656896e-03 8.08807939e+01] [ 1.69197339e-02 9.99856740e-01 -4.71905432e-04 -8.27462883e+00] [-6.89759674e-03 5.88683961e-04 9.99976038e-01 -5.40938536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.707552018 meters Centerline goodness [0,1] 0.9798062577486394 Centerline is valid? [True, True] Translation: X:80.91, Y:-8.27, Z:-0.54 [[ 9.99855672e-01 -1.53305304e-02 7.32186679e-03 8.09123610e+01] [ 1.53346057e-02 9.99882293e-01 -5.00784833e-04 -8.27391807e+00] [-7.31332766e-03 6.12990496e-04 9.99973069e-01 -5.41075610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.737552018 meters Centerline goodness [0,1] 0.9807627688172043 Centerline is valid? [True, True] Translation: X:80.94, Y:-8.27, Z:-0.54 [[ 9.99872974e-01 -1.43266082e-02 6.98450949e-03 8.09445960e+01] [ 1.43302947e-02 9.99897202e-01 -4.78047926e-04 -8.27324872e+00] [-6.97694269e-03 5.78077281e-04 9.99975494e-01 -5.41739850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76755201799999 meters Centerline goodness [0,1] 0.9794290777897335 Centerline is valid? [True, True] Translation: X:80.98, Y:-8.28, Z:-0.54 [[ 9.99878998e-01 -1.38212844e-02 7.13871630e-03 8.09754223e+01] [ 1.38251276e-02 9.99904309e-01 -4.89290534e-04 -8.27612949e+00] [-7.13127056e-03 5.87924992e-04 9.99974399e-01 -5.41886682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79755201799999 meters Centerline goodness [0,1] 0.9787965856420796 Centerline is valid? [True, True] Translation: X:81.01, Y:-8.28, Z:-0.54 [[ 9.99899135e-01 -1.23936244e-02 6.93677056e-03 8.10062751e+01] [ 1.23972243e-02 9.99923038e-01 -4.76196518e-04 -8.27818141e+00] [-6.93033489e-03 5.62145186e-04 9.99975827e-01 -5.42181471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82755201799999 meters Centerline goodness [0,1] 0.9790932680745132 Centerline is valid? [True, True] Translation: X:81.04, Y:-8.28, Z:-0.54 [[ 9.99901727e-01 -1.19030366e-02 7.40629302e-03 8.10384511e+01] [ 1.19071298e-02 9.99928978e-01 -5.08812786e-04 -8.27916276e+00] [-7.39971059e-03 5.96950476e-04 9.99972444e-01 -5.42051854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85755201799999 meters Centerline goodness [0,1] 0.9790943697814793 Centerline is valid? [True, True] Translation: X:81.07, Y:-8.28, Z:-0.54 [[ 9.99914711e-01 -1.10698505e-02 6.93032671e-03 8.10710702e+01] [ 1.10734183e-02 9.99938574e-01 -4.76648019e-04 -8.28206700e+00] [-6.92462458e-03 5.53349773e-04 9.99975871e-01 -5.42774516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.887552018 meters Centerline goodness [0,1] 0.9790053853921239 Centerline is valid? [True, True] Translation: X:81.10, Y:-8.29, Z:-0.54 [[ 9.99922919e-01 -1.00110568e-02 7.34403274e-03 8.11024560e+01] [ 1.00150398e-02 9.99949720e-01 -5.05773928e-04 -8.28531227e+00] [-7.33860015e-03 5.79285723e-04 9.99972904e-01 -5.43140843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.917552018 meters Centerline goodness [0,1] 0.9783110775174267 Centerline is valid? [True, True] Translation: X:81.13, Y:-8.29, Z:-0.54 [[ 9.99939198e-01 -8.45403156e-03 7.08024072e-03 8.11331713e+01] [ 8.45769790e-03 9.99964114e-01 -4.88044919e-04 -8.28743564e+00] [-7.07586069e-03 5.47897782e-04 9.99974816e-01 -5.43851714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.947552018 meters Centerline goodness [0,1] 0.9782553515525848 Centerline is valid? [True, True] Translation: X:81.17, Y:-8.29, Z:-0.54 [[ 9.99944482e-01 -7.77344149e-03 7.11389360e-03 8.11657290e+01] [ 7.77712831e-03 9.99969637e-01 -4.90739717e-04 -8.28944461e+00] [-7.10986286e-03 5.46038135e-04 9.99974576e-01 -5.43850277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.977552018 meters Centerline goodness [0,1] 0.9790436153441934 Centerline is valid? [True, True] Translation: X:81.20, Y:-8.29, Z:-0.54 [[ 9.99950097e-01 -7.13679824e-03 6.99068005e-03 8.11974611e+01] [ 7.14034712e-03 9.99974391e-01 -4.82832334e-04 -8.29163066e+00] [-6.98705514e-03 5.32724121e-04 9.99975448e-01 -5.44174922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.007552018 meters Centerline goodness [0,1] 0.9775607904338106 Centerline is valid? [True, True] Translation: X:81.23, Y:-8.29, Z:-0.54 [[ 9.99950336e-01 -6.28948058e-03 7.73102514e-03 8.12291402e+01] [ 6.29380042e-03 9.99980051e-01 -5.34563912e-04 -8.29429382e+00] [-7.72750878e-03 5.83194892e-04 9.99969972e-01 -5.43746755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.037552018 meters Centerline goodness [0,1] 0.9776388099298844 Centerline is valid? [True, True] Translation: X:81.26, Y:-8.30, Z:-0.54 [[ 9.99955634e-01 -5.80030982e-03 7.42201043e-03 8.12607432e+01] [ 5.80428166e-03 9.99983023e-01 -5.13715347e-04 -8.29768188e+00] [-7.41890472e-03 5.56771995e-04 9.99972325e-01 -5.44068984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.067552018 meters Centerline goodness [0,1] 0.977133213796013 Centerline is valid? [True, True] Translation: X:81.29, Y:-8.30, Z:-0.54 [[ 9.99958874e-01 -5.39574342e-03 7.28944989e-03 8.12912802e+01] [ 5.39956741e-03 9.99985295e-01 -5.05013778e-04 -8.30183579e+00] [-7.28661777e-03 5.44352884e-04 9.99973304e-01 -5.44158822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.097552018 meters Centerline goodness [0,1] 0.982051770482782 Centerline is valid? [True, True] Translation: X:81.32, Y:-8.29, Z:-0.55 [[ 9.99957188e-01 -5.26241159e-03 7.61111203e-03 8.13244188e+01] [ 5.26658041e-03 9.99985992e-01 -5.27789297e-04 -8.28504050e+00] [-7.60822797e-03 5.67851235e-04 9.99970896e-01 -5.45094241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12755201799999 meters Centerline goodness [0,1] 0.9825083343883192 Centerline is valid? [True, True] Translation: X:81.36, Y:-8.29, Z:-0.55 [[ 9.99961547e-01 -4.50293920e-03 7.52515162e-03 8.13554013e+01] [ 4.50699722e-03 9.99989707e-01 -5.22389892e-04 -8.28899682e+00] [-7.52272187e-03 5.56285642e-04 9.99971549e-01 -5.45053767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15755201799999 meters Centerline goodness [0,1] 0.9803260021508551 Centerline is valid? [True, True] Translation: X:81.39, Y:-8.30, Z:-0.54 [[ 9.99957276e-01 -4.17176627e-03 8.24882643e-03 8.13863027e+01] [ 4.17663606e-03 9.99991114e-01 -5.73222351e-04 -8.30157990e+00] [-8.24636178e-03 6.07650207e-04 9.99965814e-01 -5.43916466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18755201799999 meters Centerline goodness [0,1] 0.9818458482152292 Centerline is valid? [True, True] Translation: X:81.42, Y:-8.30, Z:-0.54 [[ 9.99952021e-01 -4.21294227e-03 8.84346277e-03 8.14185185e+01] [ 4.21854759e-03 9.99990913e-01 -6.15279595e-04 -8.29907632e+00] [-8.84079027e-03 6.52556643e-04 9.99960707e-01 -5.43896629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21755201799999 meters Centerline goodness [0,1] 0.9816191178018738 Centerline is valid? [True, True] Translation: X:81.45, Y:-8.30, Z:-0.54 [[ 9.99951227e-01 -4.11043344e-03 8.98044078e-03 8.14503377e+01] [ 4.11621609e-03 9.99991333e-01 -6.25527372e-04 -8.30186160e+00] [-8.97779175e-03 6.62462298e-04 9.99959479e-01 -5.44093695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.247552018 meters Centerline goodness [0,1] 0.981969457609268 Centerline is valid? [True, True] Translation: X:81.48, Y:-8.31, Z:-0.54 [[ 9.99947811e-01 -3.97266992e-03 9.41242002e-03 8.14824058e+01] [ 3.97902426e-03 9.99991868e-01 -6.56471629e-04 -8.30940637e+00] [-9.40973554e-03 6.93889616e-04 9.99955487e-01 -5.43829081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.277552018 meters Centerline goodness [0,1] 0.982718385367392 Centerline is valid? [True, True] Translation: X:81.51, Y:-8.31, Z:-0.54 [[ 9.99954043e-01 -3.47286491e-03 8.93592702e-03 8.15145983e+01] [ 3.47857932e-03 9.99993755e-01 -6.24023302e-04 -8.31075866e+00] [-8.93370407e-03 6.55078955e-04 9.99959879e-01 -5.44483996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.307552018 meters Centerline goodness [0,1] 0.9826731106092903 Centerline is valid? [True, True] Translation: X:81.54, Y:-8.32, Z:-0.55 [[ 9.99967013e-01 -1.71833068e-03 7.93856457e-03 8.15447435e+01] [ 1.72278892e-03 9.99998362e-01 -5.54788033e-04 -8.31547359e+00] [-7.93759826e-03 5.68446203e-04 9.99968335e-01 -5.45558716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.337552018 meters Centerline goodness [0,1] 0.9841373499052033 Centerline is valid? [True, True] Translation: X:81.58, Y:-8.31, Z:-0.55 [[ 9.99968888e-01 -1.51473655e-04 7.88669110e-03 8.15763930e+01] [ 1.55827021e-04 9.99999836e-01 -5.51377327e-04 -8.31410065e+00] [-7.88660628e-03 5.52589132e-04 9.99968748e-01 -5.45995349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.367552018 meters Centerline goodness [0,1] 0.9833329830387356 Centerline is valid? [True, True] Translation: X:81.61, Y:-8.32, Z:-0.55 [[ 9.99963795e-01 1.85020478e-03 8.30570975e-03 8.16069024e+01] [-1.84544236e-03 9.99998128e-01 -5.81018255e-04 -8.31934471e+00] [-8.30676920e-03 5.65669511e-04 9.99965338e-01 -5.45903031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.397552018 meters Centerline goodness [0,1] 0.9849867530173683 Centerline is valid? [True, True] Translation: X:81.64, Y:-8.32, Z:-0.55 [[ 9.99952847e-01 4.17999212e-03 8.76539897e-03 8.16387354e+01] [-4.17477263e-03 9.99991097e-01 -6.13678192e-04 -8.32015816e+00] [-8.76788610e-03 5.77055707e-04 9.99961395e-01 -5.45385998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.427552018 meters Centerline goodness [0,1] 0.985886119946915 Centerline is valid? [True, True] Translation: X:81.67, Y:-8.32, Z:-0.55 [[ 9.99936875e-01 7.90472164e-03 7.98504639e-03 8.16694571e+01] [-7.90050509e-03 9.99968634e-01 -5.59461638e-04 -8.31990628e+00] [-7.98921832e-03 4.96340422e-04 9.99967963e-01 -5.45851094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.457552018 meters Centerline goodness [0,1] 0.9838010687087138 Centerline is valid? [True, True] Translation: X:81.70, Y:-8.34, Z:-0.55 [[ 9.99925511e-01 9.83978387e-03 7.22151574e-03 8.16984488e+01] [-9.83638410e-03 9.99951494e-01 -5.06149951e-04 -8.33870266e+00] [-7.22614585e-03 4.35078646e-04 9.99973796e-01 -5.45889598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48755201799999 meters Centerline goodness [0,1] 0.9838010687087138 Centerline is valid? [True, True] Translation: X:81.73, Y:-8.34, Z:-0.55 [[ 9.99922737e-01 1.01178608e-02 7.22145832e-03 8.17301185e+01] [-1.01144624e-02 9.99948719e-01 -5.06967583e-04 -8.34109129e+00] [-7.22621743e-03 4.33887245e-04 9.99973796e-01 -5.46050689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51755201799999 meters Centerline goodness [0,1] 0.985735263268303 Centerline is valid? [True, True] Translation: X:81.76, Y:-8.34, Z:-0.55 [[ 9.99905756e-01 1.16572221e-02 7.25182963e-03 8.17630781e+01] [-1.16538234e-02 9.99931961e-01 -5.10755176e-04 -8.33764687e+00] [-7.25729021e-03 4.26195499e-04 9.99973575e-01 -5.46608107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54755201799999 meters Centerline goodness [0,1] 0.9859538784067086 Centerline is valid? [True, True] Translation: X:81.80, Y:-8.34, Z:-0.55 [[ 9.99884499e-01 1.31028637e-02 7.70090379e-03 8.17950046e+01] [-1.30990631e-02 9.99914056e-01 -5.43762889e-04 -8.34030686e+00] [-7.70736680e-03 4.42825459e-04 9.99970200e-01 -5.46406628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57755201799999 meters Centerline goodness [0,1] 0.9857522438646777 Centerline is valid? [True, True] Translation: X:81.83, Y:-8.35, Z:-0.54 [[ 9.99853776e-01 1.47132938e-02 8.71462134e-03 8.18256734e+01] [-1.47084636e-02 9.99891634e-01 -6.18101530e-04 -8.34577901e+00] [-8.72277128e-03 4.89832459e-04 9.99961836e-01 -5.44520073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60755201799999 meters Centerline goodness [0,1] 0.9865649430948837 Centerline is valid? [True, True] Translation: X:81.86, Y:-8.35, Z:-0.54 [[ 9.99844013e-01 1.49785466e-02 9.35907292e-03 8.18579940e+01] [-1.49729606e-02 9.99887677e-01 -6.66644615e-04 -8.34613382e+00] [-9.36800705e-03 5.26407597e-04 9.99955981e-01 -5.44134352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.637552018 meters Centerline goodness [0,1] 0.9863500491231004 Centerline is valid? [True, True] Translation: X:81.89, Y:-8.35, Z:-0.54 [[ 9.99845726e-01 1.48562925e-02 9.37090447e-03 8.18888502e+01] [-1.48506610e-02 9.99889498e-01 -6.70254318e-04 -8.35136731e+00] [-9.37982646e-03 5.30986790e-04 9.99955867e-01 -5.44016521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.667552018 meters Centerline goodness [0,1] 0.9880850531060242 Centerline is valid? [True, True] Translation: X:81.92, Y:-8.36, Z:-0.54 [[ 9.99877672e-01 1.29869379e-02 8.71666435e-03 8.19194551e+01] [-1.29819740e-02 9.99915535e-01 -6.25805259e-04 -8.36317486e+00] [-8.72405539e-03 5.12569195e-04 9.99961813e-01 -5.43713978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.697552018 meters Centerline goodness [0,1] 0.9875991439002896 Centerline is valid? [True, True] Translation: X:81.95, Y:-8.37, Z:-0.54 [[ 9.99896855e-01 1.14175200e-02 8.71322521e-03 8.19513148e+01] [-1.14124857e-02 9.99934679e-01 -6.27281557e-04 -8.36752190e+00] [-8.71981805e-03 5.27777298e-04 9.99961842e-01 -5.43893024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.727552018 meters Centerline goodness [0,1] 0.9885001993578578 Centerline is valid? [True, True] Translation: X:81.98, Y:-8.37, Z:-0.54 [[ 9.99908987e-01 1.02460301e-02 8.77709025e-03 8.19829776e+01] [-1.02408631e-02 9.99947360e-01 -6.33431005e-04 -8.37183925e+00] [-8.78311838e-03 5.43488375e-04 9.99961280e-01 -5.43759559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.757552018 meters Centerline goodness [0,1] 0.9881922850659719 Centerline is valid? [True, True] Translation: X:82.01, Y:-8.38, Z:-0.54 [[ 9.99943482e-01 6.89903528e-03 8.08930828e-03 8.20132393e+01] [-6.89452548e-03 9.99976061e-01 -5.85254886e-04 -8.37897719e+00] [-8.09315232e-03 5.29449866e-04 9.99967110e-01 -5.44239368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.787552018 meters Centerline goodness [0,1] 0.9892034952108889 Centerline is valid? [True, True] Translation: X:82.04, Y:-8.38, Z:-0.54 [[ 9.99954504e-01 5.48170971e-03 7.80651505e-03 8.20448824e+01] [-5.47746401e-03 9.99984839e-01 -5.65142154e-04 -8.38355536e+00] [-7.80949464e-03 5.22356537e-04 9.99969369e-01 -5.44366100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.817552018 meters Centerline goodness [0,1] 0.9894519174534213 Centerline is valid? [True, True] Translation: X:82.08, Y:-8.39, Z:-0.54 [[ 9.99961904e-01 4.32211924e-03 7.58348179e-03 8.20750660e+01] [-4.31807538e-03 9.99990526e-01 -5.49538846e-04 -8.39151238e+00] [-7.58578512e-03 5.16771865e-04 9.99971094e-01 -5.44486551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.847552018 meters Centerline goodness [0,1] 0.98972001671542 Centerline is valid? [True, True] Translation: X:82.11, Y:-8.40, Z:-0.54 [[ 9.99963707e-01 3.06950862e-03 7.94756561e-03 8.21069876e+01] [-3.06502393e-03 9.99995137e-01 -5.76403641e-04 -8.39790033e+00] [-7.94929623e-03 5.52023242e-04 9.99968251e-01 -5.44306481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87755201799999 meters Centerline goodness [0,1] 0.9908337703198742 Centerline is valid? [True, True] Translation: X:82.14, Y:-8.40, Z:-0.54 [[ 9.99963337e-01 1.00638432e-03 8.50368128e-03 8.21374794e+01] [-1.00116998e-03 9.99999308e-01 -6.17420291e-04 -8.40387784e+00] [-8.50429676e-03 6.08884024e-04 9.99963652e-01 -5.43025595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90755201799999 meters Centerline goodness [0,1] 0.9905305405744387 Centerline is valid? [True, True] Translation: X:82.17, Y:-8.41, Z:-0.54 [[ 9.99961054e-01 5.50817420e-04 8.80831356e-03 8.21680356e+01] [-5.45193017e-04 9.99999646e-01 -6.40921930e-04 -8.40960245e+00] [-8.80866347e-03 6.36094738e-04 9.99961001e-01 -5.42706741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93755201799999 meters Centerline goodness [0,1] 0.989778178085922 Centerline is valid? [True, True] Translation: X:82.20, Y:-8.42, Z:-0.54 [[ 9.99959186e-01 1.30206491e-04 9.03374583e-03 8.21989171e+01] [-1.24250253e-04 9.99999775e-01 -6.59890230e-04 -8.41540322e+00] [-9.03382972e-03 6.58740853e-04 9.99958977e-01 -5.42399321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96755201799999 meters Centerline goodness [0,1] 0.9902044737776479 Centerline is valid? [True, True] Translation: X:82.23, Y:-8.43, Z:-0.54 [[ 9.99969869e-01 -4.23152469e-04 7.75132361e-03 8.22287361e+01] [ 4.27568374e-04 9.99999747e-01 -5.68048660e-04 -8.42793190e+00] [-7.75108128e-03 5.71345765e-04 9.99969797e-01 -5.43652091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.997552018 meters Centerline goodness [0,1] 0.9916989022477783 Centerline is valid? [True, True] Translation: X:82.26, Y:-8.43, Z:-0.54 [[ 9.99975865e-01 -6.35268740e-04 6.91849476e-03 8.22605902e+01] [ 6.38800106e-04 9.99999667e-01 -5.08226225e-04 -8.42912657e+00] [-6.91816959e-03 5.12633494e-04 9.99975938e-01 -5.44553621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.027552018 meters Centerline goodness [0,1] 0.9916985550885558 Centerline is valid? [True, True] Translation: X:82.29, Y:-8.43, Z:-0.55 [[ 9.99980396e-01 -1.19579456e-03 6.14628788e-03 8.22922561e+01] [ 1.19859507e-03 9.99999180e-01 -4.51979411e-04 -8.43217622e+00] [-6.14574236e-03 4.59337461e-04 9.99981009e-01 -5.45371791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.057552018 meters Centerline goodness [0,1] 0.9914180117349816 Centerline is valid? [True, True] Translation: X:82.32, Y:-8.44, Z:-0.55 [[ 9.99981817e-01 -1.61831227e-03 5.80911340e-03 8.23229199e+01] [ 1.62082371e-03 9.99998595e-01 -4.27645506e-04 -8.43779886e+00] [-5.80841317e-03 4.37053279e-04 9.99983036e-01 -5.45678841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.087552018 meters Centerline goodness [0,1] 0.9930729024538718 Centerline is valid? [True, True] Translation: X:82.36, Y:-8.43, Z:-0.55 [[ 9.99985931e-01 -1.52700889e-03 5.07991422e-03 8.23553405e+01] [ 1.52892967e-03 9.99998761e-01 -3.74250652e-04 -8.43446239e+00] [-5.07933645e-03 3.82012218e-04 9.99987027e-01 -5.46223048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.117552018 meters Centerline goodness [0,1] 0.9923211242715587 Centerline is valid? [True, True] Translation: X:82.39, Y:-8.44, Z:-0.55 [[ 9.99987629e-01 -1.02873538e-03 4.86658470e-03 8.23855325e+01] [ 1.03049441e-03 9.99999405e-01 -3.58957154e-04 -8.44420683e+00] [-4.86621253e-03 3.63967702e-04 9.99988094e-01 -5.46374646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.147552018 meters Centerline goodness [0,1] 0.9927406233051024 Centerline is valid? [True, True] Translation: X:82.42, Y:-8.45, Z:-0.55 [[ 9.99989304e-01 1.87283273e-04 4.62138877e-03 8.24168231e+01] [-1.85708540e-04 9.99999925e-01 -3.41175567e-04 -8.44918616e+00] [-4.62145232e-03 3.40313687e-04 9.99989263e-01 -5.46133690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.177552018 meters Centerline goodness [0,1] 0.9938558307125154 Centerline is valid? [True, True] Translation: X:82.45, Y:-8.45, Z:-0.55 [[ 9.99986492e-01 1.63776015e-03 4.93291922e-03 8.24480775e+01] [-1.63598239e-03 9.99998595e-01 -3.64399195e-04 -8.45149912e+00] [-4.93350909e-03 3.56324104e-04 9.99987767e-01 -5.45379928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.207552018 meters Centerline goodness [0,1] 0.994281420879075 Centerline is valid? [True, True] Translation: X:82.48, Y:-8.45, Z:-0.54 [[ 9.99965090e-01 6.41175564e-03 5.35793160e-03 8.24785526e+01] [-6.40972526e-03 9.99979379e-01 -3.96033578e-04 -8.45099797e+00] [-5.36036039e-03 3.61676883e-04 9.99985568e-01 -5.44318066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23755201799999 meters Centerline goodness [0,1] 0.994198588392988 Centerline is valid? [True, True] Translation: X:82.51, Y:-8.45, Z:-0.54 [[ 9.99939590e-01 9.50475903e-03 5.52057759e-03 8.25096348e+01] [-9.50265030e-03 9.99954766e-01 -4.08081633e-04 -8.45091228e+00] [-5.52420659e-03 3.55596863e-04 9.99984678e-01 -5.44363476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26755201799999 meters Centerline goodness [0,1] 0.9943806089071543 Centerline is valid? [True, True] Translation: X:82.54, Y:-8.45, Z:-0.54 [[ 9.99903938e-01 1.27626600e-02 5.40638496e-03 8.25407526e+01] [-1.27606845e-02 9.99918499e-01 -3.99754478e-04 -8.45091968e+00] [-5.41104627e-03 3.30726904e-04 9.99985305e-01 -5.44609905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29755201799999 meters Centerline goodness [0,1] 0.9957920427528456 Centerline is valid? [True, True] Translation: X:82.57, Y:-8.45, Z:-0.54 [[ 9.99801297e-01 1.93238278e-02 4.89450533e-03 8.25703083e+01] [-1.93222864e-02 9.99813242e-01 -3.62008746e-04 -8.45327643e+00] [-4.90058664e-03 2.67363780e-04 9.99987956e-01 -5.44618325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32755201799999 meters Centerline goodness [0,1] 0.9962625456683324 Centerline is valid? [True, True] Translation: X:82.60, Y:-8.46, Z:-0.55 [[ 9.99747614e-01 2.20106023e-02 4.49910929e-03 8.26010860e+01] [-2.20093276e-02 9.99757710e-01 -3.32638592e-04 -8.45606203e+00] [-4.50534078e-03 2.33532269e-04 9.99989824e-01 -5.45056639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35755201799999 meters Centerline goodness [0,1] 0.9964960422163588 Centerline is valid? [True, True] Translation: X:82.63, Y:-8.46, Z:-0.54 [[ 9.99686354e-01 2.45728199e-02 4.83432776e-03 8.26329572e+01] [-2.45713770e-02 9.99698014e-01 -3.57643228e-04 -8.45805117e+00] [-4.84165617e-03 2.38744964e-04 9.99988251e-01 -5.44429343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.387552018 meters Centerline goodness [0,1] 0.9965232416031017 Centerline is valid? [True, True] Translation: X:82.66, Y:-8.46, Z:-0.54 [[ 9.99625515e-01 2.69180116e-02 4.92454200e-03 8.26639297e+01] [-2.69165412e-02 9.99637618e-01 -3.64644239e-04 -8.46098223e+00] [-4.93257293e-03 2.31956047e-04 9.99987808e-01 -5.43886272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.417552018 meters Centerline goodness [0,1] 0.9971187616984585 Centerline is valid? [True, True] Translation: X:82.70, Y:-8.46, Z:-0.54 [[ 9.99502016e-01 3.10460873e-02 5.64446276e-03 8.26952605e+01] [-3.10442196e-02 9.99517925e-01 -4.18227149e-04 -8.46222405e+00] [-5.65472602e-03 2.42790937e-04 9.99983982e-01 -5.42642771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.447552018 meters Centerline goodness [0,1] 0.9971678519730631 Centerline is valid? [True, True] Translation: X:82.73, Y:-8.47, Z:-0.54 [[ 9.99441426e-01 3.29685770e-02 5.46897256e-03 8.27264708e+01] [-3.29668510e-02 9.99456363e-01 -4.05462108e-04 -8.46576736e+00] [-5.47936693e-03 2.24940824e-04 9.99984963e-01 -5.42310707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.477552018 meters Centerline goodness [0,1] 0.9972540141701254 Centerline is valid? [True, True] Translation: X:82.76, Y:-8.47, Z:-0.54 [[ 9.99380531e-01 3.47402890e-02 5.62725435e-03 8.27569150e+01] [-3.47384883e-02 9.99396349e-01 -4.17454546e-04 -8.47129130e+00] [-5.63835994e-03 2.21713637e-04 9.99984080e-01 -5.42075796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.507552018 meters Centerline goodness [0,1] 0.9972506715916722 Centerline is valid? [True, True] Translation: X:82.79, Y:-8.47, Z:-0.54 [[ 9.99317322e-01 3.64880597e-02 5.78886299e-03 8.27883877e+01] [-3.64861818e-02 9.99334065e-01 -4.29706146e-04 -8.47462700e+00] [-5.80068713e-03 2.18199287e-04 9.99983152e-01 -5.41689460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.537552018 meters Centerline goodness [0,1] 0.9977070492458506 Centerline is valid? [True, True] Translation: X:82.82, Y:-8.48, Z:-0.54 [[ 9.99166971e-01 4.03866071e-02 5.85537269e-03 8.28194987e+01] [-4.03847512e-02 9.99184109e-01 -4.34906345e-04 -8.48003640e+00] [-5.86815974e-03 1.98076287e-04 9.99982763e-01 -5.41187078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.567552018 meters Centerline goodness [0,1] 0.9980439172135285 Centerline is valid? [True, True] Translation: X:82.85, Y:-8.49, Z:-0.54 [[ 9.99079933e-01 4.25249159e-02 5.56053879e-03 8.28504557e+01] [-4.25232732e-02 9.99095391e-01 -4.13369013e-04 -8.48538214e+00] [-5.57308716e-03 1.76536375e-04 9.99984455e-01 -5.41309267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.597552018 meters Centerline goodness [0,1] 0.9981933911728252 Centerline is valid? [True, True] Translation: X:82.88, Y:-8.49, Z:-0.54 [[ 9.99036204e-01 4.36249540e-02 4.85046470e-03 8.28816306e+01] [-4.36237108e-02 9.99047967e-01 -3.61845406e-04 -8.48990506e+00] [-4.86163238e-03 1.49901391e-04 9.99988171e-01 -5.42087220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62755201799999 meters Centerline goodness [0,1] 0.9986966849551198 Centerline is valid? [True, True] Translation: X:82.91, Y:-8.50, Z:-0.54 [[ 9.99004655e-01 4.44704171e-02 3.47588982e-03 8.29117863e+01] [-4.44697835e-02 9.99010696e-01 -2.59391936e-04 -8.50140474e+00] [-3.48398638e-03 1.04561683e-04 9.99993925e-01 -5.42925754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65755201799999 meters Centerline goodness [0,1] 0.9989921048210986 Centerline is valid? [True, True] Translation: X:82.94, Y:-8.51, Z:-0.54 [[ 9.98994338e-01 4.46934827e-02 3.57831952e-03 8.29413097e+01] [-4.46928120e-02 9.99000741e-01 -2.67237997e-04 -8.50961249e+00] [-3.58668765e-03 1.07044084e-04 9.99993562e-01 -5.42322780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68755201799999 meters Centerline goodness [0,1] 0.9989914695129638 Centerline is valid? [True, True] Translation: X:82.97, Y:-8.52, Z:-0.54 [[ 9.98994137e-01 4.46093505e-02 4.55199783e-03 8.29721566e+01] [-4.46082636e-02 9.99004498e-01 -3.40076412e-04 -8.51685272e+00] [-4.56263689e-03 1.36677622e-04 9.99989582e-01 -5.40879920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71755201799999 meters Centerline goodness [0,1] 0.9994340215910282 Centerline is valid? [True, True] Translation: X:83.00, Y:-8.53, Z:-0.54 [[ 9.99027146e-01 4.37167736e-02 5.79701887e-03 8.30028251e+01] [-4.37149928e-02 9.99043949e-01 -4.33599470e-04 -8.53108054e+00] [-5.81043219e-03 1.79761002e-04 9.99983103e-01 -5.39117740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.747552018 meters Centerline goodness [0,1] 0.9994308960225955 Centerline is valid? [True, True] Translation: X:83.03, Y:-8.54, Z:-0.54 [[ 9.99061697e-01 4.28975666e-02 5.96021738e-03 8.30327841e+01] [-4.28956602e-02 9.99079457e-01 -4.47380821e-04 -8.54224081e+00] [-5.97392230e-03 1.91293583e-04 9.99982138e-01 -5.39084409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.777552018 meters Centerline goodness [0,1] 0.9998317383531391 Centerline is valid? [True, True] Translation: X:83.06, Y:-8.55, Z:-0.54 [[ 9.99091543e-01 4.22551844e-02 5.53071587e-03 8.30639019e+01] [-4.22535311e-02 9.99106834e-01 -4.15491714e-04 -8.55039567e+00] [-5.54333270e-03 1.81421983e-04 9.99984619e-01 -5.39669913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.807552018 meters Centerline goodness [0,1] 0.9998741188318228 Centerline is valid? [True, True] Translation: X:83.09, Y:-8.57, Z:-0.54 [[ 9.99155392e-01 4.09123085e-02 3.83218860e-03 8.30943433e+01] [-4.09115018e-02 9.99162732e-01 -2.88710195e-04 -8.56953109e+00] [-3.84079183e-03 1.31685758e-04 9.99992615e-01 -5.41862543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.837552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.13, Y:-8.58, Z:-0.54 [[ 9.99165450e-01 4.06661454e-02 3.82978357e-03 8.31259722e+01] [-4.06653362e-02 9.99172781e-01 -2.88964055e-04 -8.58094513e+00] [-3.83836656e-03 1.32983464e-04 9.99992625e-01 -5.41883826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.867552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:-8.59, Z:-0.54 [[ 9.99164337e-01 4.05825891e-02 4.86622828e-03 8.31579738e+01] [-4.05812721e-02 9.99176173e-01 -3.69129108e-04 -8.59273256e+00] [-4.87719956e-03 1.71342906e-04 9.99988092e-01 -5.41151497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.897552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.19, Y:-8.61, Z:-0.54 [[ 9.99143590e-01 4.08905561e-02 6.32843030e-03 8.31902332e+01] [-4.08883167e-02 9.99163606e-01 -4.82891609e-04 -8.60850785e+00] [-6.34288295e-03 2.23719193e-04 9.99979859e-01 -5.38960452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.927552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.22, Y:-8.62, Z:-0.54 [[ 9.99102523e-01 4.18140742e-02 6.76254496e-03 8.32204770e+01] [-4.18115209e-02 9.99125381e-01 -5.18564341e-04 -8.61825055e+00] [-6.77831360e-03 2.35346651e-04 9.99976999e-01 -5.38978011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.957552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.25, Y:-8.63, Z:-0.54 [[ 9.99064797e-01 4.27314239e-02 6.59968616e-03 8.32507902e+01] [-4.27290003e-02 9.99086570e-01 -5.07855353e-04 -8.63031405e+00] [-6.61535919e-03 2.25382413e-04 9.99978093e-01 -5.38755510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98755201799999 meters Centerline goodness [0,1] 0.9999790136411333 Centerline is valid? [True, True] Translation: X:83.28, Y:-8.65, Z:-0.54 [[ 9.98941815e-01 4.53916788e-02 7.40577005e-03 8.32815337e+01] [-4.53886865e-02 9.98969239e-01 -5.71701808e-04 -8.64713172e+00] [-7.42408698e-03 2.34958667e-04 9.99972413e-01 -5.37736853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.31, Y:-8.66, Z:-0.54 [[ 9.98873153e-01 4.68700557e-02 7.45796446e-03 8.33122132e+01] [-4.68670440e-02 9.98900969e-01 -5.78177727e-04 -8.66008617e+00] [-7.47686715e-03 2.27993460e-04 9.99972022e-01 -5.37480160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.34, Y:-8.67, Z:-0.54 [[ 9.98807353e-01 4.82543528e-02 7.44234658e-03 8.33442016e+01] [-4.82513778e-02 9.98835056e-01 -5.78880884e-04 -8.67029021e+00] [-7.46161019e-03 2.19087007e-04 9.99972138e-01 -5.37794760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:-8.68, Z:-0.54 [[ 9.98755340e-01 4.93827790e-02 7.00798619e-03 8.33742556e+01] [-4.93801625e-02 9.98779906e-01 -5.45992700e-04 -8.68131916e+00] [-7.02639843e-03 1.99257628e-04 9.99975295e-01 -5.38110487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.40, Y:-8.70, Z:-0.54 [[ 9.98691183e-01 5.07786423e-02 6.11971732e-03 8.34046970e+01] [-5.07766663e-02 9.98709919e-01 -4.77930329e-04 -8.69899657e+00] [-6.13609104e-03 1.66565962e-04 9.99981160e-01 -5.39904840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.137552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.44, Y:-8.71, Z:-0.54 [[ 9.98672067e-01 5.12276965e-02 5.46137674e-03 8.34369528e+01] [-5.12261207e-02 9.98686989e-01 -4.28118678e-04 -8.71109881e+00] [-5.47613742e-03 1.47785021e-04 9.99984995e-01 -5.40995684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.167552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:-8.72, Z:-0.54 [[ 9.98664458e-01 5.13885693e-02 5.33998584e-03 8.34692731e+01] [-5.13870548e-02 9.98678724e-01 -4.20512553e-04 -8.72447881e+00] [-5.35453979e-03 1.45544795e-04 9.99985654e-01 -5.41312737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.197552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:-8.75, Z:-0.54 [[ 9.98682808e-01 5.09582586e-02 5.99199303e-03 8.34987215e+01] [-5.09563301e-02 9.98700770e-01 -4.74177311e-04 -8.75057390e+00] [-6.00837130e-03 1.68222754e-04 9.99981935e-01 -5.40165284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.227552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:-8.76, Z:-0.54 [[ 9.98697325e-01 5.06986299e-02 5.77085293e-03 8.35300385e+01] [-5.06968273e-02 9.98713984e-01 -4.58315575e-04 -8.76267520e+00] [-5.78666749e-03 1.65154605e-04 9.99983243e-01 -5.40113317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.257552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.56, Y:-8.78, Z:-0.54 [[ 9.98727161e-01 5.01391299e-02 5.48858789e-03 8.35605389e+01] [-5.01374818e-02 9.98742230e-01 -4.37549233e-04 -8.77686549e+00] [-5.50362285e-03 1.61808327e-04 9.99984842e-01 -5.40429727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.287552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:-8.79, Z:-0.54 [[ 9.98756263e-01 4.96190689e-02 4.88631092e-03 8.35915602e+01] [-4.96177503e-02 9.98768204e-01 -3.90790726e-04 -8.78978176e+00] [-4.89968265e-03 1.47856930e-04 9.99987986e-01 -5.41254455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.317552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.62, Y:-8.82, Z:-0.54 [[ 9.98872935e-01 4.73776532e-02 2.86674822e-03 8.36207399e+01] [-4.73771892e-02 9.98877044e-01 -2.29571670e-04 -8.81690401e+00] [-2.87440555e-03 9.34944551e-05 9.99995865e-01 -5.43248402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.347552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.65, Y:-8.83, Z:-0.54 [[ 9.98937394e-01 4.60488750e-02 1.89331712e-03 8.36518572e+01] [-4.60486702e-02 9.98939186e-01 -1.51613921e-04 -8.83197647e+00] [-1.89829031e-03 6.42680799e-05 9.99998196e-01 -5.44272230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.68, Y:-8.85, Z:-0.55 [[ 9.98995422e-01 4.48087039e-02 5.72345922e-04 8.36814339e+01] [-4.48086854e-02 9.98995585e-01 -4.50381352e-05 -8.84781027e+00] [-5.73789150e-04 1.93468225e-05 9.99999835e-01 -5.45123627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.71, Y:-8.85, Z:-0.55 [[ 9.98980011e-01 4.51509669e-02 5.72356096e-04 8.37137511e+01] [-4.51509486e-02 9.98980175e-01 -4.49160606e-05 -8.85067461e+00] [-5.73800397e-04 1.90278261e-05 9.99999835e-01 -5.45288601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.74, Y:-8.87, Z:-0.54 [[ 9.99050257e-01 4.35724875e-02 1.46582883e-04 8.37449101e+01] [-4.35724865e-02 9.99050268e-01 -1.04645994e-05 -8.86584273e+00] [-1.46899637e-04 4.06768006e-06 9.99999989e-01 -5.44987787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.78, Y:-8.89, Z:-0.54 [[ 9.99133615e-01 4.16168372e-02 2.43129394e-04 8.37751325e+01] [-4.16168339e-02 9.99133644e-01 -1.83954197e-05 -8.88954749e+00] [-2.43684316e-04 8.26120660e-06 9.99999970e-01 -5.43682518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.497552018 meters Centerline goodness [0,1] 0.9998117391122453 Centerline is valid? [True, True] Translation: X:83.81, Y:-8.89, Z:-0.54 [[ 9.99155421e-01 4.10894545e-02 -3.17586277e-04 8.38066842e+01] [-4.10894477e-02 9.99155472e-01 2.77747199e-05 -8.89213054e+00] [ 3.18459314e-04 -1.47018173e-05 9.99999949e-01 -5.42375477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.527552018 meters Centerline goodness [0,1] 0.9997268218878709 Centerline is valid? [True, True] Translation: X:83.84, Y:-8.92, Z:-0.54 [[ 9.99182490e-01 4.03760355e-02 -2.03136737e-03 8.38370540e+01] [-4.03757744e-02 9.99184552e-01 1.69394964e-04 -8.91655078e+00] [ 2.03655039e-03 -8.72384517e-05 9.99997922e-01 -5.42414668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.557552018 meters Centerline goodness [0,1] 0.9996403714751116 Centerline is valid? [True, True] Translation: X:83.87, Y:-8.93, Z:-0.54 [[ 9.99199654e-01 3.99017184e-02 -2.81147086e-03 8.38669500e+01] [-3.99012185e-02 9.99203602e-01 2.33702709e-04 -8.93046759e+00] [ 2.81855695e-03 -1.21334553e-04 9.99996020e-01 -5.42928927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.587552018 meters Centerline goodness [0,1] 0.9996606646730716 Centerline is valid? [True, True] Translation: X:83.90, Y:-8.94, Z:-0.54 [[ 9.99209056e-01 3.96365515e-02 -3.19457814e-03 8.38965928e+01] [-3.96359038e-02 9.99214153e-01 2.65802968e-04 -8.94361911e+00] [ 3.20260320e-03 -1.38972741e-04 9.99994862e-01 -5.43685055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.617552018 meters Centerline goodness [0,1] 0.9996812647415058 Centerline is valid? [True, True] Translation: X:83.93, Y:-8.96, Z:-0.54 [[ 9.99200156e-01 3.98359478e-02 -3.48503141e-03 8.39280015e+01] [-3.98351724e-02 9.99206222e-01 2.91630396e-04 -8.95652152e+00] [ 3.49388244e-03 -1.52570310e-04 9.99993885e-01 -5.44043207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.647552018 meters Centerline goodness [0,1] 0.9993312479775645 Centerline is valid? [True, True] Translation: X:83.96, Y:-8.98, Z:-0.54 [[ 9.99232098e-01 3.91008726e-02 -2.51697923e-03 8.39578521e+01] [-3.91004639e-02 9.99235262e-01 2.11421445e-04 -8.97874837e+00] [ 2.52332116e-03 -1.12844039e-04 9.99996810e-01 -5.43208752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.677552018 meters Centerline goodness [0,1] 0.9994583468746615 Centerline is valid? [True, True] Translation: X:83.99, Y:-8.99, Z:-0.54 [[ 9.99242593e-01 3.87632113e-02 -3.41362499e-03 8.39888255e+01] [-3.87624558e-02 9.99248412e-01 2.87242529e-04 -8.98746746e+00] [ 3.42219379e-03 -1.54704482e-04 9.99994132e-01 -5.42095059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.707552018 meters Centerline goodness [0,1] 0.999322951929587 Centerline is valid? [True, True] Translation: X:84.02, Y:-9.00, Z:-0.54 [[ 9.99288484e-01 3.75752448e-02 -3.26000421e-03 8.40187366e+01] [-3.75745466e-02 9.99293789e-01 2.75183786e-04 -9.00258888e+00] [ 3.26804206e-03 -1.52494808e-04 9.99994648e-01 -5.42829510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73755201799999 meters Centerline goodness [0,1] 0.9994521508557404 Centerline is valid? [True, True] Translation: X:84.05, Y:-9.01, Z:-0.54 [[ 9.99300716e-01 3.72163593e-02 -3.60862366e-03 8.40495219e+01] [-3.72154981e-02 9.99307217e-01 3.05527435e-04 -9.01420040e+00] [ 3.61749429e-03 -1.71017057e-04 9.99993442e-01 -5.42947077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76755201799999 meters Centerline goodness [0,1] 0.9993330962119865 Centerline is valid? [True, True] Translation: X:84.08, Y:-9.04, Z:-0.54 [[ 9.99352600e-01 3.58050307e-02 -3.51866416e-03 8.40790153e+01] [-3.58042004e-02 9.99358779e-01 2.98709110e-04 -9.03651484e+00] [ 3.52710320e-03 -1.72532769e-04 9.99993765e-01 -5.43588279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79755201799999 meters Centerline goodness [0,1] 0.9992836515860402 Centerline is valid? [True, True] Translation: X:84.11, Y:-9.05, Z:-0.54 [[ 9.99364370e-01 3.54610037e-02 -3.65684039e-03 8.41098471e+01] [-3.54601009e-02 9.99371044e-01 3.11444391e-04 -9.04783771e+00] [ 3.66558453e-03 -1.81574499e-04 9.99993265e-01 -5.44425035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82755201799999 meters Centerline goodness [0,1] 0.9989791983304221 Centerline is valid? [True, True] Translation: X:84.14, Y:-9.07, Z:-0.55 [[ 9.99358746e-01 3.55727631e-02 -4.08345933e-03 8.41396297e+01] [-3.55716338e-02 9.99367068e-01 3.48854353e-04 -9.07000580e+00] [ 4.09328449e-03 -2.03375329e-04 9.99991602e-01 -5.45239905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85755201799999 meters Centerline goodness [0,1] 0.9990371389270977 Centerline is valid? [True, True] Translation: X:84.17, Y:-9.08, Z:-0.55 [[ 9.99352275e-01 3.57859144e-02 -3.79449162e-03 8.41716803e+01] [-3.57849360e-02 9.99359461e-01 3.25453115e-04 -9.08237094e+00] [ 3.80370774e-03 -1.89456671e-04 9.99992748e-01 -5.45078489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.887552018 meters Centerline goodness [0,1] 0.9990784896445274 Centerline is valid? [True, True] Translation: X:84.20, Y:-9.09, Z:-0.54 [[ 9.99317394e-01 3.68166223e-02 -3.04665432e-03 8.42029182e+01] [-3.68159935e-02 9.99322027e-01 2.62221797e-04 -9.09227262e+00] [ 3.05424289e-03 -1.49877197e-04 9.99995325e-01 -5.44992422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.917552018 meters Centerline goodness [0,1] 0.9993507848547382 Centerline is valid? [True, True] Translation: X:84.24, Y:-9.10, Z:-0.54 [[ 9.99286730e-01 3.76691102e-02 -2.65881536e-03 8.42350001e+01] [-3.76686355e-02 9.99290259e-01 2.28428586e-04 -9.10051253e+00] [ 2.66553299e-03 -1.28111708e-04 9.99996439e-01 -5.44865704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.947552018 meters Centerline goodness [0,1] 0.999743971697235 Centerline is valid? [True, True] Translation: X:84.27, Y:-9.11, Z:-0.54 [[ 9.99202652e-01 3.98585183e-02 -2.31502503e-03 8.42668542e+01] [-3.98581607e-02 9.99205328e-01 2.00434799e-04 -9.10768470e+00] [ 2.32117437e-03 -1.08002343e-04 9.99997300e-01 -5.44047424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.977552018 meters Centerline goodness [0,1] 0.9999303313903533 Centerline is valid? [True, True] Translation: X:84.30, Y:-9.11, Z:-0.54 [[ 9.98407395e-01 5.63592220e-02 2.51229370e-03 8.42963900e+01] [-5.63588564e-02 9.98410553e-01 -2.16105540e-04 -9.10522873e+00] [-2.52048008e-03 7.41713691e-05 9.99996821e-01 -5.42339509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.007552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.33, Y:-9.10, Z:-0.54 [[ 9.97945871e-01 6.40280263e-02 2.10948108e-03 8.43278454e+01] [-6.40277860e-02 9.97948100e-01 -1.81315358e-04 -9.10274891e+00] [-2.11676190e-03 4.58775098e-05 9.99997759e-01 -5.41554298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.037552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.36, Y:-9.10, Z:-0.54 [[ 9.97507830e-01 7.05400367e-02 1.49386284e-03 8.43591249e+01] [-7.05399236e-02 9.97508949e-01 -1.28330734e-04 -9.10139583e+00] [-1.49919401e-03 2.26339407e-05 9.99998876e-01 -5.42364429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.067552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.39, Y:-9.10, Z:-0.55 [[ 9.96591493e-01 8.24779613e-02 -1.66805251e-03 8.43906244e+01] [-8.24778338e-02 9.96592889e-01 1.45176933e-04 -9.09789548e+00] [ 1.67434317e-03 -7.10473822e-06 9.99998598e-01 -5.45630424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.097552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:-9.10, Z:-0.55 [[ 9.96297142e-01 8.59224440e-02 -3.05588164e-03 8.44236368e+01] [-8.59220319e-02 9.96301829e-01 2.66146537e-04 -9.09828790e+00] [ 3.06744842e-03 -2.59347459e-06 9.99995295e-01 -5.47404621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:-9.10, Z:-0.55 [[ 9.96149285e-01 8.76106530e-02 -3.31302252e-03 8.44551976e+01] [-8.76101755e-02 9.96154794e-01 2.89245358e-04 -9.09959567e+00] [ 3.32562424e-03 2.12292859e-06 9.99994470e-01 -5.49872867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:-9.10, Z:-0.55 [[ 9.96261484e-01 8.62106827e-02 -5.54732692e-03 8.44861690e+01] [-8.62093214e-02 9.96276928e-01 4.84482757e-04 -9.10252772e+00] [ 5.56844142e-03 -4.44022038e-06 9.99984496e-01 -5.52810790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.52, Y:-9.11, Z:-0.55 [[ 9.96580559e-01 8.24495077e-02 -5.40997203e-03 8.45173032e+01] [-8.24481483e-02 9.96595243e-01 4.74194368e-04 -9.10842141e+00] [ 5.43064948e-03 -2.65307126e-05 9.99985254e-01 -5.53103086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.55, Y:-9.11, Z:-0.55 [[ 9.96940986e-01 7.80795755e-02 -3.49992612e-03 8.45475372e+01] [-7.80789785e-02 9.96947129e-01 3.07077550e-04 -9.11454632e+00] [ 3.51321778e-03 -3.28675395e-05 9.99993828e-01 -5.52344320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.247552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.58, Y:-9.12, Z:-0.55 [[ 9.97749680e-01 6.70475272e-02 4.52709374e-04 8.45777740e+01] [-6.70475163e-02 9.97749783e-01 -3.93794362e-05 -9.12432309e+00] [-4.54330974e-04 8.93778075e-06 9.99999897e-01 -5.48092951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.277552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.61, Y:-9.13, Z:-0.55 [[ 9.98075440e-01 6.19798594e-02 1.97804354e-03 8.46089465e+01] [-6.19796392e-02 9.98077399e-01 -1.72503496e-04 -9.13036435e+00] [-1.98493230e-03 4.95730778e-05 9.99998029e-01 -5.46373200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.307552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.64, Y:-9.14, Z:-0.55 [[ 9.98360894e-01 5.71601249e-02 2.87156954e-03 8.46396442e+01] [-5.71596361e-02 9.98365020e-01 -2.52099392e-04 -9.13561099e+00] [-2.88128462e-03 8.75483045e-05 9.99995845e-01 -5.45006845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.337552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.67, Y:-9.14, Z:-0.55 [[ 9.98818656e-01 4.85265730e-02 2.54245667e-03 8.46695373e+01] [-4.85261613e-02 9.98821887e-01 -2.23426298e-04 -9.14391470e+00] [-2.55030348e-03 9.97866920e-05 9.99996743e-01 -5.45742259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.367552018 meters Centerline goodness [0,1] 0.9999303685823043 Centerline is valid? [True, True] Translation: X:84.70, Y:-9.15, Z:-0.55 [[ 9.99076195e-01 4.29291452e-02 1.96096492e-03 8.46998539e+01] [-4.29288896e-02 9.99078115e-01 -1.72295407e-04 -9.14867762e+00] [-1.96655363e-03 8.79541927e-05 9.99998062e-01 -5.47283027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.397552018 meters Centerline goodness [0,1] 0.9997442693076672 Centerline is valid? [True, True] Translation: X:84.73, Y:-9.15, Z:-0.55 [[ 9.99292082e-01 3.75927218e-02 1.45642717e-03 8.47307809e+01] [-3.75925752e-02 9.99293141e-01 -1.27936344e-04 -9.15239864e+00] [-1.46020716e-03 7.30949275e-05 9.99998931e-01 -5.48998517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.427552018 meters Centerline goodness [0,1] 0.9981193842724804 Centerline is valid? [True, True] Translation: X:84.76, Y:-9.16, Z:-0.55 [[ 9.99632945e-01 2.70792136e-02 8.31784154e-04 8.47597485e+01] [-2.70791622e-02 9.99633290e-01 -7.30692531e-05 -9.16045935e+00] [-8.33457788e-04 5.05184147e-05 9.99999651e-01 -5.51105615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.457552018 meters Centerline goodness [0,1] 0.9957706876118327 Centerline is valid? [True, True] Translation: X:84.79, Y:-9.17, Z:-0.55 [[ 9.99775807e-01 2.11673187e-02 5.29319294e-04 8.47890818e+01] [-2.11672970e-02 9.99775947e-01 -4.65959330e-05 -9.16747396e+00] [-5.30187009e-04 3.53812278e-05 9.99999859e-01 -5.51372991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48755201799999 meters Centerline goodness [0,1] 0.9947869604504066 Centerline is valid? [True, True] Translation: X:84.82, Y:-9.17, Z:-0.55 [[ 9.99867087e-01 1.62183956e-02 1.66522314e-03 8.48191660e+01] [-1.62181741e-02 9.99868466e-01 -1.46440318e-04 -9.17015071e+00] [-1.66737913e-03 1.19413975e-04 9.99998603e-01 -5.50945157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51755201799999 meters Centerline goodness [0,1] 0.9872391671877533 Centerline is valid? [True, True] Translation: X:84.85, Y:-9.18, Z:-0.55 [[ 9.99941927e-01 1.06840153e-02 1.41258793e-03 8.48480654e+01] [-1.06838508e-02 9.99942918e-01 -1.23941312e-04 -9.17972189e+00] [-1.41383149e-03 1.08842235e-04 9.99998995e-01 -5.50651487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54755201799999 meters Centerline goodness [0,1] 0.9775721309954541 Centerline is valid? [True, True] Translation: X:84.88, Y:-9.19, Z:-0.55 [[ 9.99999216e-01 1.23907976e-03 1.80186756e-04 8.48785892e+01] [-1.23907693e-03 9.99999232e-01 -1.58157970e-05 -9.18610064e+00] [-1.80206215e-04 1.55925193e-05 9.99999984e-01 -5.50927790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57755201799999 meters Centerline goodness [0,1] 0.9813274643808642 Centerline is valid? [True, True] Translation: X:84.91, Y:-9.19, Z:-0.55 [[ 9.99997958e-01 -2.01624642e-03 -1.33250387e-04 8.49095815e+01] [ 2.01624800e-03 9.99997967e-01 1.17495332e-05 -9.18694242e+00] [ 1.33226426e-04 -1.20181750e-05 9.99999991e-01 -5.51759662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60755201799999 meters Centerline goodness [0,1] 0.9681983716452878 Centerline is valid? [True, True] Translation: X:84.94, Y:-9.19, Z:-0.55 [[ 9.99984541e-01 -5.49488597e-03 -8.50700054e-04 8.49387909e+01] [ 5.49495167e-03 9.99984900e-01 7.49186570e-05 -9.19207633e+00] [ 8.50275538e-04 -7.95920545e-05 9.99999635e-01 -5.52875095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.637552018 meters Centerline goodness [0,1] 0.9514141859439894 Centerline is valid? [True, True] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99959671e-01 -8.93846281e-03 -8.71384757e-04 8.49690755e+01] [ 8.93853300e-03 9.99960048e-01 7.66910629e-05 -9.19671196e+00] [ 8.70664443e-04 -8.44768714e-05 9.99999617e-01 -5.54374463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.667552018 meters Centerline goodness [0,1] 0.9499813884235995 Centerline is valid? [True, False] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99949284e-01 -1.00423519e-02 -7.61402676e-04 8.49697540e+01] [ 1.00421740e-02 9.99949548e-01 -2.37020262e-04 -9.19748288e+00] [ 7.63744503e-04 2.29362103e-04 9.99999682e-01 -5.54897281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.697552018 meters Centerline goodness [0,1] 0.9618664745660307 Centerline is valid? [False, True] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99946619e-01 -1.02893232e-02 -9.43251999e-04 8.49701909e+01] [ 1.02893479e-02 9.99947063e-01 2.12608534e-05 -9.19867559e+00] [ 9.42983307e-04 -3.09651664e-05 9.99999555e-01 -5.54698248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.727552018 meters Centerline goodness [0,1] 0.9272828585359059 Centerline is valid? [True, False] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99945589e-01 -1.03715119e-02 -1.11799700e-03 8.49706071e+01] [ 1.03718938e-02 9.99946154e-01 3.36260343e-04 -9.19962074e+00] [ 1.11444928e-03 -3.47837793e-04 9.99999319e-01 -5.54589328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.757552018 meters Centerline goodness [0,1] 0.9283409549896702 Centerline is valid? [False, False] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99943953e-01 -1.05104767e-02 -1.27337350e-03 8.49712642e+01] [ 1.05110540e-02 9.99944657e-01 4.47481511e-04 -9.19982411e+00] [ 1.26859978e-03 -4.60840928e-04 9.99999089e-01 -5.54927998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.787552018 meters Centerline goodness [0,1] 0.8990166063642268 Centerline is valid? [False, False] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99972447e-01 -7.29815355e-03 -1.35701779e-03 8.49716179e+01] [ 7.30405283e-03 9.99963670e-01 4.39432631e-03 -9.20136890e+00] [ 1.32489802e-03 -4.40411697e-03 9.99989424e-01 -5.54540897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.817552018 meters Centerline goodness [0,1] 0.940985807885537 Centerline is valid? [False, False] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99979740e-01 -6.28519321e-03 -1.00811300e-03 8.49698178e+01] [ 6.28976731e-03 9.99969638e-01 4.60017567e-03 -9.19841217e+00] [ 9.79169402e-04 -4.60642327e-03 9.99988911e-01 -5.53243974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.847552018 meters Centerline goodness [0,1] 0.9502997754577652 Centerline is valid? [False, True] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99979504e-01 -6.29653705e-03 -1.15982232e-03 8.49702114e+01] [ 6.30145498e-03 9.99970958e-01 4.28654942e-03 -9.19751432e+00] [ 1.13279822e-03 -4.29377013e-03 9.99990140e-01 -5.53550403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87755201799999 meters Centerline goodness [0,1] 0.9340997409326425 Centerline is valid? [True, False] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99980321e-01 -6.14943464e-03 -1.24141634e-03 8.49704062e+01] [ 6.15477851e-03 9.99971608e-01 4.34773747e-03 -9.19749373e+00] [ 1.21464497e-03 -4.35529256e-03 9.99989778e-01 -5.53660061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90755201799999 meters Centerline goodness [0,1] 0.9366921473245309 Centerline is valid? [False, False] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99980947e-01 -6.05898960e-03 -1.18082627e-03 8.49704906e+01] [ 6.06413602e-03 9.99971913e-01 4.40459293e-03 -9.19781478e+00] [ 1.15410572e-03 -4.41166970e-03 9.99989603e-01 -5.53951274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93755201799999 meters Centerline goodness [0,1] 0.9659724804760134 Centerline is valid? [False, True] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99982307e-01 -5.83891341e-03 -1.13663531e-03 8.49703578e+01] [ 5.84405825e-03 9.99972449e-01 4.57694123e-03 -9.19865141e+00] [ 1.10987963e-03 -4.58350281e-03 9.99988880e-01 -5.53890274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96755201799999 meters Centerline goodness [0,1] 0.9452175731245499 Centerline is valid? [True, False] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99982647e-01 -5.73709048e-03 -1.33830514e-03 8.49705843e+01] [ 5.74329046e-03 9.99972575e-01 4.67580415e-03 -9.19926105e+00] [ 1.31144292e-03 -4.68340928e-03 9.99988173e-01 -5.53707858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.997552018 meters Centerline goodness [0,1] 0.9531151887253192 Centerline is valid? [False, True] Translation: X:84.97, Y:-9.20, Z:-0.55 [[ 9.99983275e-01 -5.60338967e-03 -1.43236167e-03 8.49707261e+01] [ 5.61026924e-03 9.99972525e-01 4.84492743e-03 -9.20001173e+00] [ 1.40517430e-03 -4.85288233e-03 9.99987237e-01 -5.53641651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.027552018 meters Centerline goodness [0,1] 0.9663755966934451 Centerline is valid? [True, True] Translation: X:85.00, Y:-9.20, Z:-0.55 [[ 9.99995271e-01 -2.91012431e-03 -9.94193603e-04 8.50012203e+01] [ 2.91021755e-03 9.99995761e-01 9.23480777e-05 -9.20259444e+00] [ 9.93920644e-04 -9.52409607e-05 9.99999502e-01 -5.54680310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.057552018 meters Centerline goodness [0,1] 0.9363124068554396 Centerline is valid? [True, False] Translation: X:85.00, Y:-9.20, Z:-0.55 [[ 9.99996778e-01 -2.38319312e-03 -8.73772389e-04 8.50007330e+01] [ 2.38326388e-03 9.99997157e-01 7.99469932e-05 -9.20139485e+00] [ 8.73579375e-04 -8.20291658e-05 9.99999615e-01 -5.54540822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.087552018 meters Centerline goodness [0,1] 0.984027195678495 Centerline is valid? [False, True] Translation: X:85.00, Y:-9.20, Z:-0.55 [[ 9.99997875e-01 -1.87504711e-03 -8.56276917e-04 8.50003971e+01] [ 1.87537258e-03 9.99998169e-01 3.79452683e-04 -9.20147090e+00] [ 8.55563858e-04 -3.81057715e-04 9.99999561e-01 -5.54269643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.117552018 meters Centerline goodness [0,1] 0.9932978054967303 Centerline is valid? [True, True] Translation: X:85.03, Y:-9.20, Z:-0.55 [[ 9.99999096e-01 1.33799041e-03 -1.31229213e-04 8.50313513e+01] [-1.33798890e-03 9.99999105e-01 1.15682531e-05 -9.20066848e+00] [ 1.31244574e-04 -1.13926594e-05 9.99999991e-01 -5.53422717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.147552018 meters Centerline goodness [0,1] 0.9974017538161741 Centerline is valid? [True, True] Translation: X:85.06, Y:-9.20, Z:-0.55 [[ 9.99975371e-01 6.91376324e-03 -1.20683418e-03 8.50616676e+01] [-6.91363985e-03 9.99976095e-01 1.06379798e-04 -9.20154925e+00] [ 1.20754082e-03 -9.80335610e-05 9.99999266e-01 -5.53520472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.177552018 meters Centerline goodness [0,1] 0.9977518715090273 Centerline is valid? [True, True] Translation: X:85.09, Y:-9.20, Z:-0.55 [[ 9.99956209e-01 9.22696045e-03 -1.56312166e-03 8.50923679e+01] [-9.22675622e-03 9.99957423e-01 1.37817834e-04 -9.20327488e+00] [ 1.56432674e-03 -1.23389256e-04 9.99998769e-01 -5.53627471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.207552018 meters Centerline goodness [0,1] 0.9974998842539007 Centerline is valid? [True, True] Translation: X:85.12, Y:-9.21, Z:-0.56 [[ 9.99929547e-01 1.13033330e-02 -3.62434280e-03 8.51230167e+01] [-1.13022481e-02 9.99936076e-01 3.19687935e-04 -9.20596689e+00] [ 3.62772466e-03 -2.78702190e-04 9.99993381e-01 -5.55783124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23755201799999 meters Centerline goodness [0,1] 0.9977818341458906 Centerline is valid? [True, True] Translation: X:85.16, Y:-9.21, Z:-0.56 [[ 9.99921330e-01 1.18033903e-02 -4.24419469e-03 8.51553055e+01] [-1.18019025e-02 9.99930285e-01 3.75429183e-04 -9.20876540e+00] [ 4.24833014e-03 -3.25310076e-04 9.99990923e-01 -5.56532127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26755201799999 meters Centerline goodness [0,1] 0.9971571867705179 Centerline is valid? [True, True] Translation: X:85.19, Y:-9.21, Z:-0.56 [[ 9.99928328e-01 1.12813115e-02 -4.00888792e-03 8.51872079e+01] [-1.12799758e-02 9.99936316e-01 3.55633323e-04 -9.21180310e+00] [ 4.01264462e-03 -3.10387675e-04 9.99991901e-01 -5.56923694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29755201799999 meters Centerline goodness [0,1] 0.9971571867705179 Centerline is valid? [True, True] Translation: X:85.22, Y:-9.21, Z:-0.56 [[ 9.99925031e-01 1.15699023e-02 -4.00878534e-03 8.52195388e+01] [-1.15685644e-02 9.99933018e-01 3.56787747e-04 -9.21479701e+00] [ 4.01264482e-03 -3.10385108e-04 9.99991901e-01 -5.56921378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32755201799999 meters Centerline goodness [0,1] 0.9942219243303211 Centerline is valid? [True, True] Translation: X:85.25, Y:-9.22, Z:-0.56 [[ 9.99939152e-01 1.03896111e-02 -3.70784346e-03 8.52499816e+01] [-1.03884578e-02 9.99945984e-01 3.30154521e-04 -9.21976601e+00] [ 3.71107336e-03 -2.91615657e-04 9.99993071e-01 -5.56445148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35755201799999 meters Centerline goodness [0,1] 0.9884316985314492 Centerline is valid? [True, True] Translation: X:85.28, Y:-9.23, Z:-0.55 [[ 9.99967198e-01 7.60976594e-03 -2.77380078e-03 8.52806529e+01] [-7.60910977e-03 9.99971020e-01 2.47035213e-04 -9.22517894e+00] [ 2.77560027e-03 -2.25920956e-04 9.99996122e-01 -5.54082669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.387552018 meters Centerline goodness [0,1] 0.9734709427166309 Centerline is valid? [True, True] Translation: X:85.31, Y:-9.23, Z:-0.55 [[ 9.99977510e-01 5.99094947e-03 -3.01478840e-03 8.53099887e+01] [-5.99016703e-03 9.99982023e-01 2.68498981e-04 -9.23080434e+00] [ 3.01634277e-03 -2.50433857e-04 9.99995419e-01 -5.53888257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.417552018 meters Centerline goodness [0,1] 0.9860970444710432 Centerline is valid? [True, True] Translation: X:85.34, Y:-9.23, Z:-0.55 [[ 9.99985955e-01 4.18200851e-03 -3.25575498e-03 8.53415757e+01] [-4.18108609e-03 9.99991217e-01 2.90075001e-04 -9.23063261e+00] [ 3.25693948e-03 -2.76458335e-04 9.99994658e-01 -5.53879591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.447552018 meters Centerline goodness [0,1] 0.971621060403304 Centerline is valid? [True, True] Translation: X:85.37, Y:-9.24, Z:-0.55 [[ 9.99990317e-01 2.01049074e-03 -3.91457638e-03 8.53708310e+01] [-2.00913959e-03 9.99997921e-01 3.49061949e-04 -9.23561110e+00] [ 3.91527003e-03 -3.41193638e-04 9.99992277e-01 -5.54780754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.477552018 meters Centerline goodness [0,1] 0.9095283040585649 Centerline is valid? [True, False] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99991145e-01 1.09755292e-03 -4.06262335e-03 8.53721191e+01] [-1.09865087e-03 9.99999361e-01 -2.68033322e-04 -9.23544578e+00] [ 4.06232657e-03 2.72494353e-04 9.99991712e-01 -5.55914763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.507552018 meters Centerline goodness [0,1] 0.9610653373029611 Centerline is valid? [False, True] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99990891e-01 9.77268851e-04 -4.15483128e-03 8.53723290e+01] [-9.77982611e-04 9.99999507e-01 -1.69762165e-04 -9.23596644e+00] [ 4.15466333e-03 1.73823971e-04 9.99991354e-01 -5.55875985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.537552018 meters Centerline goodness [0,1] 0.851350727314708 Centerline is valid? [True, False] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99990568e-01 7.07607355e-04 -4.28517773e-03 8.53726647e+01] [-7.07950447e-04 9.99999746e-01 -7.85486450e-05 -9.23705001e+00] [ 4.28512106e-03 8.15815976e-05 9.99990815e-01 -5.55837356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.567552018 meters Centerline goodness [0,1] 0.8558219967719622 Centerline is valid? [False, False] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99989997e-01 3.77758521e-04 -4.45689580e-03 8.53733196e+01] [-3.78087920e-04 9.99999926e-01 -7.30653025e-05 -9.23810143e+00] [ 4.45686787e-03 7.47496700e-05 9.99990065e-01 -5.56126225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.597552018 meters Centerline goodness [0,1] 0.9245684176469229 Centerline is valid? [False, False] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99990986e-01 1.37270496e-04 -4.24381906e-03 8.53729530e+01] [-1.36539931e-04 9.99999976e-01 1.72437115e-04 -9.23893824e+00] [ 4.24384263e-03 -1.71856110e-04 9.99990980e-01 -5.55814725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62755201799999 meters Centerline goodness [0,1] 0.8799278178789561 Centerline is valid? [False, False] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99990492e-01 -2.04647616e-04 -4.35600472e-03 8.53734648e+01] [ 2.05318179e-04 9.99999967e-01 1.53493454e-04 -9.23984051e+00] [ 4.35597317e-03 -1.54386361e-04 9.99990501e-01 -5.56042756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65755201799999 meters Centerline goodness [0,1] 0.9618204102398076 Centerline is valid? [False, True] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99990924e-01 -2.94225779e-04 -4.25040469e-03 8.53732713e+01] [ 2.96166334e-04 9.99999852e-01 4.55935589e-04 -9.24106102e+00] [ 4.25026992e-03 -4.57190278e-04 9.99990863e-01 -5.55790297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68755201799999 meters Centerline goodness [0,1] 0.9103920204128972 Centerline is valid? [True, False] Translation: X:85.37, Y:-9.24, Z:-0.55 [[ 9.99991858e-01 -3.34052933e-04 -4.02143806e-03 8.53724946e+01] [ 3.37862798e-04 9.99999495e-01 9.46746633e-04 -9.24260357e+00] [ 4.02111977e-03 -9.48097619e-04 9.99991466e-01 -5.54885445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71755201799999 meters Centerline goodness [0,1] 0.9775053973117905 Centerline is valid? [False, True] Translation: X:85.37, Y:-9.24, Z:-0.55 [[ 9.99992074e-01 -3.45655893e-04 -3.96652020e-03 8.53722554e+01] [ 3.49631850e-04 9.99999437e-01 1.00172956e-03 -9.24287452e+00] [ 3.96617172e-03 -1.00310844e-03 9.99991632e-01 -5.54585207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.747552018 meters Centerline goodness [0,1] 0.8409455035177746 Centerline is valid? [True, False] Translation: X:85.37, Y:-9.24, Z:-0.55 [[ 9.99992471e-01 -1.96405732e-04 -3.87555682e-03 8.53718955e+01] [ 2.01032628e-04 9.99999268e-01 1.19351251e-03 -9.24312813e+00] [ 3.87531957e-03 -1.19428264e-03 9.99991778e-01 -5.54254772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.777552018 meters Centerline goodness [0,1] 0.9372909698996655 Centerline is valid? [False, False] Translation: X:85.37, Y:-9.24, Z:-0.55 [[ 9.99991897e-01 -3.57772094e-04 -4.00960906e-03 8.53722246e+01] [ 3.61713063e-04 9.99999452e-01 9.82199053e-04 -9.24314177e+00] [ 4.00925546e-03 -9.83641422e-04 9.99991479e-01 -5.54350304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.807552018 meters Centerline goodness [0,1] 0.9592434922185777 Centerline is valid? [False, True] Translation: X:85.37, Y:-9.24, Z:-0.55 [[ 9.99992805e-01 -2.47707632e-04 -3.78533873e-03 8.53715851e+01] [ 2.51780590e-04 9.99999390e-01 1.07554387e-03 -9.24335561e+00] [ 3.78507000e-03 -1.07648920e-03 9.99992257e-01 -5.53900911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.837552018 meters Centerline goodness [0,1] 0.9159907973321559 Centerline is valid? [True, False] Translation: X:85.37, Y:-9.24, Z:-0.55 [[ 9.99992569e-01 -5.87531550e-04 -3.80996166e-03 8.53720951e+01] [ 5.89440300e-04 9.99999701e-01 4.99885590e-04 -9.24249061e+00] [ 3.80966682e-03 -5.02127620e-04 9.99992617e-01 -5.54561140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.867552018 meters Centerline goodness [0,1] 0.9773396729676447 Centerline is valid? [False, True] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99991965e-01 -9.67696732e-04 -3.89008447e-03 8.53728588e+01] [ 9.67711874e-04 9.99999532e-01 2.00999065e-06 -9.24176181e+00] [ 3.89008071e-03 -5.77445543e-06 9.99992434e-01 -5.55407930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.897552018 meters Centerline goodness [0,1] 0.9267004745510375 Centerline is valid? [True, False] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99990499e-01 -1.86055745e-03 -3.94206467e-03 8.53739370e+01] [ 1.85921392e-03 9.99998212e-01 -3.44455812e-04 -9.24228347e+00] [ 3.94269851e-03 3.37123398e-04 9.99992171e-01 -5.56504981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.927552018 meters Centerline goodness [0,1] 0.9241231543155247 Centerline is valid? [False, False] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99990177e-01 -2.14431116e-03 -3.87903817e-03 8.53740390e+01] [ 2.14339329e-03 9.99997674e-01 -2.40765819e-04 -9.24285366e+00] [ 3.87954542e-03 2.32449149e-04 9.99992448e-01 -5.56627118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.957552018 meters Centerline goodness [0,1] 0.870723936652636 Centerline is valid? [False, False] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99989762e-01 -2.38537665e-03 -3.84525042e-03 8.53741164e+01] [ 2.38497916e-03 9.99997150e-01 -1.07952191e-04 -9.24355914e+00] [ 3.84549696e-03 9.87802440e-05 9.99992601e-01 -5.56615741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98755201799999 meters Centerline goodness [0,1] 0.8481410734252702 Centerline is valid? [False, False] Translation: X:85.37, Y:-9.24, Z:-0.56 [[ 9.99987830e-01 -2.87399884e-03 -4.01000661e-03 8.53745739e+01] [ 2.87406110e-03 9.99995870e-01 9.76300840e-06 -9.24476120e+00] [ 4.00996199e-03 -2.12878936e-05 9.99991960e-01 -5.56515652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01755201799999 meters Centerline goodness [0,1] 0.8260434367652878 Centerline is valid? [False, False] Translation: X:85.37, Y:-9.25, Z:-0.56 [[ 9.99986324e-01 -3.31396369e-03 -4.04582181e-03 8.53749458e+01] [ 3.31570237e-03 9.99994414e-01 4.23114870e-04 -9.24676191e+00] [ 4.04439702e-03 -4.36523824e-04 9.99991726e-01 -5.56508626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04755201799999 meters Centerline goodness [0,1] 0.7879684188462166 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99977006e-01 -5.42033948e-03 -4.07514358e-03 8.53767443e+01] [ 5.41799175e-03 9.99985150e-01 -5.86926832e-04 -9.24819590e+00] [ 4.07826441e-03 5.64834242e-04 9.99991524e-01 -5.57975430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07755201799999 meters Centerline goodness [0,1] 0.7706143424433544 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99974779e-01 -5.72129393e-03 -4.20804188e-03 8.53771759e+01] [ 5.72035550e-03 9.99983611e-01 -2.35011006e-04 -9.24964206e+00] [ 4.20931748e-03 2.10933584e-04 9.99991119e-01 -5.57920600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10755201799999 meters Centerline goodness [0,1] 0.75299911310274 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99973794e-01 -5.89086832e-03 -4.20810281e-03 8.53773686e+01] [ 5.89023161e-03 9.99982639e-01 -1.63682453e-04 -9.24983331e+00] [ 4.20899398e-03 1.38891463e-04 9.99991133e-01 -5.58050356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.137552018 meters Centerline goodness [0,1] 0.742967675778974 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99972803e-01 -6.06922504e-03 -4.19029337e-03 8.53775981e+01] [ 6.06838606e-03 9.99981565e-01 -2.12906714e-04 -9.24976938e+00] [ 4.19150830e-03 1.87472605e-04 9.99991198e-01 -5.58311922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.167552018 meters Centerline goodness [0,1] 0.7215039208364451 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99970129e-01 -6.60449419e-03 -4.01529420e-03 8.53774795e+01] [ 6.60302359e-03 9.99978128e-01 -3.79396648e-04 -9.24962381e+00] [ 4.01771210e-03 3.52872232e-04 9.99991867e-01 -5.58254364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.197552018 meters Centerline goodness [0,1] 0.7144454278660269 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99970541e-01 -6.64969813e-03 -3.83390413e-03 8.53769225e+01] [ 6.64885611e-03 9.99977869e-01 -2.32329501e-04 -9.24982529e+00] [ 3.83536421e-03 2.06831579e-04 9.99992624e-01 -5.57777553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.227552018 meters Centerline goodness [0,1] 0.7061150409530901 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99970610e-01 -6.69923056e-03 -3.72818662e-03 8.53764834e+01] [ 6.69851554e-03 9.99977544e-01 -2.04240068e-04 -9.24955633e+00] [ 3.72947115e-03 1.79260749e-04 9.99993029e-01 -5.57289995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.257552018 meters Centerline goodness [0,1] 0.7838370260498748 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99987642e-01 -3.71579221e-03 -3.30285001e-03 8.53757943e+01] [ 3.72699581e-03 9.99987300e-01 3.39244397e-03 -9.24983661e+00] [ 3.29020245e-03 -3.40471175e-03 9.99988791e-01 -5.56708618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.287552018 meters Centerline goodness [0,1] 0.8115499410009024 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99987334e-01 -3.72565740e-03 -3.38383631e-03 8.53760982e+01] [ 3.73591710e-03 9.99988429e-01 3.03072856e-03 -9.24877783e+00] [ 3.37250570e-03 -3.04333191e-03 9.99989682e-01 -5.57031962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.317552018 meters Centerline goodness [0,1] 0.80891100567064 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99987654e-01 -3.59119558e-03 -3.43452506e-03 8.53761195e+01] [ 3.60097932e-03 9.99989465e-01 2.84671686e-03 -9.24803934e+00] [ 3.42426576e-03 -2.85904937e-03 9.99990050e-01 -5.57041397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.347552018 meters Centerline goodness [0,1] 0.8431105362834311 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99987927e-01 -3.48808101e-03 -3.46105748e-03 8.53761029e+01] [ 3.49728262e-03 9.99990357e-01 2.65613295e-03 -9.24742168e+00] [ 3.45175930e-03 -2.66820518e-03 9.99990483e-01 -5.57004839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37755201799999 meters Centerline goodness [0,1] 0.8398939236711633 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99990580e-01 -2.78062858e-03 -3.33286277e-03 8.53755247e+01] [ 2.78851879e-03 9.99993315e-01 2.36509208e-03 -9.24522778e+00] [ 3.32626405e-03 -2.37436355e-03 9.99991649e-01 -5.56939449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40755201799999 meters Centerline goodness [0,1] 0.8124855704852935 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.24, Z:-0.56 [[ 9.99991888e-01 -2.42641768e-03 -3.21501809e-03 8.53754536e+01] [ 2.43330993e-03 9.99994746e-01 2.14159266e-03 -9.24366770e+00] [ 3.20980480e-03 -2.14939842e-03 9.99992539e-01 -5.57385071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43755201799999 meters Centerline goodness [0,1] 0.8430843706777317 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.24, Z:-0.56 [[ 9.99990819e-01 -2.37855573e-03 -3.56429228e-03 8.53765841e+01] [ 2.38408998e-03 9.99995958e-01 1.54924800e-03 -9.24210110e+00] [ 3.56059290e-03 -1.55773137e-03 9.99992448e-01 -5.58420480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46755201799999 meters Centerline goodness [0,1] 0.8129390359059399 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.24, Z:-0.56 [[ 9.99990567e-01 -2.18283002e-03 -3.75520338e-03 8.53771614e+01] [ 2.18797322e-03 9.99996673e-01 1.36605818e-03 -9.24132524e+00] [ 3.75220901e-03 -1.37426157e-03 9.99992016e-01 -5.58965433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.497552018 meters Centerline goodness [0,1] 0.8262035175298713 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.24, Z:-0.56 [[ 9.99990508e-01 -1.54058980e-03 -4.07564582e-03 8.53774280e+01] [ 1.54800280e-03 9.99997152e-01 1.81632272e-03 -9.24223772e+00] [ 4.07283600e-03 -1.82261459e-03 9.99990045e-01 -5.58781806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.527552018 meters Centerline goodness [0,1] 0.9464211257817929 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.24, Z:-0.56 [[ 9.99990654e-01 -1.26136350e-03 -4.13538189e-03 8.53774885e+01] [ 1.27037672e-03 9.99996822e-01 2.17763488e-03 -9.24333709e+00] [ 4.13262196e-03 -2.18286802e-03 9.99989078e-01 -5.58750972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.557552018 meters Centerline goodness [0,1] 0.8465996013165824 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.24, Z:-0.56 [[ 9.99990153e-01 -1.15724150e-03 -4.28426424e-03 8.53777070e+01] [ 1.16748166e-03 9.99996466e-01 2.38845043e-03 -9.24425265e+00] [ 4.28148508e-03 -2.39342871e-03 9.99987970e-01 -5.58642183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.587552018 meters Centerline goodness [0,1] 0.8916178249139455 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99989493e-01 -6.67704925e-04 -4.53517672e-03 8.53778590e+01] [ 6.82009392e-04 9.99994796e-01 3.15330073e-03 -9.24649730e+00] [ 4.53304764e-03 -3.15636063e-03 9.99984744e-01 -5.58241364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.617552018 meters Centerline goodness [0,1] 0.941225762901236 Centerline is valid? [False, False] Translation: X:85.38, Y:-9.25, Z:-0.56 [[ 9.99989677e-01 -3.94809686e-04 -4.52657158e-03 8.53779195e+01] [ 4.08325467e-04 9.99995460e-01 2.98534062e-03 -9.24557734e+00] [ 4.52537239e-03 -2.98715812e-03 9.99985299e-01 -5.58538128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.647552018 meters Centerline goodness [0,1] 0.9513526065250203 Centerline is valid? [False, True] Translation: X:85.38, Y:-9.24, Z:-0.56 [[ 9.99988893e-01 -1.92041921e-04 -4.70930918e-03 8.53784921e+01] [ 2.03129370e-04 9.99997209e-01 2.35400300e-03 -9.24352162e+00] [ 4.70884396e-03 -2.35493345e-03 9.99986140e-01 -5.59276189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.677552018 meters Centerline goodness [0,1] 0.9559073053947889 Centerline is valid? [True, True] Translation: X:85.41, Y:-9.25, Z:-0.56 [[ 9.99981374e-01 3.74221431e-03 -4.82151203e-03 8.54084992e+01] [-3.73964707e-03 9.99992861e-01 5.41359736e-04 -9.24608065e+00] [ 4.82350349e-03 -5.23318899e-04 9.99988230e-01 -5.60893157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.707552018 meters Centerline goodness [0,1] 0.9857189375261665 Centerline is valid? [True, True] Translation: X:85.44, Y:-9.25, Z:-0.56 [[ 9.99962050e-01 6.83103754e-03 -5.40691902e-03 8.54387386e+01] [-6.82785396e-03 9.99976506e-01 6.07038350e-04 -9.24624252e+00] [ 5.41093869e-03 -5.70097660e-04 9.99985198e-01 -5.60735616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73755201799999 meters Centerline goodness [0,1] 0.9937468036635827 Centerline is valid? [True, True] Translation: X:85.47, Y:-9.25, Z:-0.56 [[ 9.99887236e-01 1.41583201e-02 -5.00567291e-03 8.54689426e+01] [-1.41556824e-02 9.99899645e-01 5.61976560e-04 -9.24856563e+00] [ 5.01312721e-03 -4.91054473e-04 9.99987314e-01 -5.59562970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76755201799999 meters Centerline goodness [0,1] 0.9868503735424861 Centerline is valid? [True, True] Translation: X:85.50, Y:-9.25, Z:-0.56 [[ 9.99835327e-01 1.75895448e-02 -4.46392333e-03 8.54976139e+01] [-1.75874812e-02 9.99845203e-01 5.01119256e-04 -9.25408859e+00] [ 4.47204679e-03 -4.22527568e-04 9.99989911e-01 -5.58836041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79755201799999 meters Centerline goodness [0,1] 0.9921742563221327 Centerline is valid? [True, True] Translation: X:85.53, Y:-9.26, Z:-0.56 [[ 9.99723427e-01 2.32700608e-02 -3.40200742e-03 8.55285483e+01] [-2.32688950e-02 9.99729170e-01 3.81872104e-04 -9.25602026e+00] [ 3.40997224e-03 -3.02605535e-04 9.99994140e-01 -5.57887509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82755201799999 meters Centerline goodness [0,1] 0.9983254645672954 Centerline is valid? [True, True] Translation: X:85.56, Y:-9.26, Z:-0.56 [[ 9.99676735e-01 2.52761528e-02 -2.74628523e-03 8.55607507e+01] [-2.52754006e-02 9.99680478e-01 3.08285385e-04 -9.25610045e+00] [ 2.75320000e-03 -2.38772268e-04 9.99996181e-01 -5.57934202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85755201799999 meters Centerline goodness [0,1] 0.9978417767051124 Centerline is valid? [True, True] Translation: X:85.59, Y:-9.26, Z:-0.56 [[ 9.99620394e-01 2.74746258e-02 -2.05240961e-03 8.55915085e+01] [-2.74742099e-02 9.99622486e-01 2.30562744e-04 -9.25934880e+00] [ 2.05796942e-03 -1.74086888e-04 9.99997867e-01 -5.57163159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.887552018 meters Centerline goodness [0,1] 0.9929584011155008 Centerline is valid? [True, True] Translation: X:85.62, Y:-9.27, Z:-0.56 [[ 9.99552340e-01 2.98879404e-02 -1.35327307e-03 8.56204753e+01] [-2.98877619e-02 9.99553250e-01 1.51940091e-04 -9.26568217e+00] [ 1.35720967e-03 -1.11425770e-04 9.99999073e-01 -5.56281756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.917552018 meters Centerline goodness [0,1] 0.9994900324524802 Centerline is valid? [True, True] Translation: X:85.65, Y:-9.26, Z:-0.56 [[ 9.99349029e-01 3.60523591e-02 -1.32087722e-03 8.56516483e+01] [-3.60521942e-02 9.99349897e-01 1.48490001e-04 -9.26234100e+00] [ 1.32537193e-03 -1.00772816e-04 9.99999117e-01 -5.55666758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.947552018 meters Centerline goodness [0,1] 0.9999306887230552 Centerline is valid? [True, True] Translation: X:85.68, Y:-9.26, Z:-0.56 [[ 9.99234769e-01 3.90415744e-02 -2.37307473e-03 8.56828908e+01] [-3.90410502e-02 9.99237572e-01 2.66862526e-04 -9.25905235e+00] [ 2.38168416e-03 -1.74010985e-04 9.99997149e-01 -5.56670082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.977552018 meters Centerline goodness [0,1] 0.9982431807674527 Centerline is valid? [True, True] Translation: X:85.71, Y:-9.27, Z:-0.56 [[ 9.99158873e-01 4.08212162e-02 -3.89539086e-03 8.57120102e+01] [-4.08198166e-02 9.99166428e-01 4.38166296e-04 -9.27122625e+00] [ 3.91003025e-03 -2.78788602e-04 9.99992317e-01 -5.58542915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.007552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.74, Y:-9.27, Z:-0.56 [[ 9.99123614e-01 4.15209260e-02 -5.29310519e-03 8.57445878e+01] [-4.15183477e-02 9.99137564e-01 5.96098443e-04 -9.26679743e+00] [ 5.31329079e-03 -3.75815049e-04 9.99985814e-01 -5.59586334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.037552018 meters Centerline goodness [0,1] 0.9999768019115225 Centerline is valid? [True, True] Translation: X:85.78, Y:-9.27, Z:-0.56 [[ 9.99102394e-01 4.19297726e-02 -6.02504600e-03 8.57758804e+01] [-4.19264286e-02 9.99120469e-01 6.80319370e-04 -9.27203284e+00] [ 6.04827243e-03 -4.27100050e-04 9.99981618e-01 -5.60030748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.067552018 meters Centerline goodness [0,1] 0.9999536768963521 Centerline is valid? [True, True] Translation: X:85.81, Y:-9.27, Z:-0.56 [[ 9.99110223e-01 4.17053478e-02 -6.27908651e-03 8.58080975e+01] [-4.17017002e-02 9.99129853e-01 7.10785593e-04 -9.27438810e+00] [ 6.30326634e-03 -4.48304569e-04 9.99980034e-01 -5.59954067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.097552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.84, Y:-9.28, Z:-0.56 [[ 9.99115961e-01 4.15416973e-02 -6.44860242e-03 8.58392259e+01] [-4.15378357e-02 9.99136664e-01 7.31659405e-04 -9.27954560e+00] [ 6.47342948e-03 -4.63151601e-04 9.99978940e-01 -5.60537646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12755201799999 meters Centerline goodness [0,1] 0.9999072721793356 Centerline is valid? [True, True] Translation: X:85.87, Y:-9.28, Z:-0.56 [[ 9.99126613e-01 4.13191964e-02 -6.22368536e-03 8.58707294e+01] [-4.13155854e-02 9.99145896e-01 7.07712121e-04 -9.28452176e+00] [ 6.24761179e-03 -4.49958811e-04 9.99980382e-01 -5.59795661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.90, Y:-9.29, Z:-0.56 [[ 9.99110177e-01 4.17640332e-02 -5.88392883e-03 8.59029932e+01] [-4.17608043e-02 9.99127412e-01 6.70603747e-04 -9.28574906e+00] [ 5.90680170e-03 -4.24289428e-04 9.99982465e-01 -5.59008138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18755201799999 meters Centerline goodness [0,1] 0.9999535628874596 Centerline is valid? [True, True] Translation: X:85.94, Y:-9.29, Z:-0.56 [[ 9.99097248e-01 4.20992857e-02 -5.68681626e-03 8.59353695e+01] [-4.20962658e-02 9.99113348e-01 6.49745879e-04 -9.29066389e+00] [ 5.70912787e-03 -4.09765591e-04 9.99983619e-01 -5.58431411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21755201799999 meters Centerline goodness [0,1] 0.9999535628874596 Centerline is valid? [True, True] Translation: X:85.97, Y:-9.29, Z:-0.56 [[ 9.99084443e-01 4.24020914e-02 -5.68661894e-03 8.59675981e+01] [-4.23990666e-02 9.99100543e-01 6.51469374e-04 -9.29446305e+00] [ 5.70912773e-03 -4.09765581e-04 9.99983619e-01 -5.58334768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.247552018 meters Centerline goodness [0,1] 0.9999767582392042 Centerline is valid? [True, True] Translation: X:86.00, Y:-9.30, Z:-0.56 [[ 9.99045576e-01 4.32650768e-02 -6.00587330e-03 8.59994808e+01] [-4.32617076e-02 9.99063536e-01 6.89836871e-04 -9.29531426e+00] [ 6.03009486e-03 -4.29354139e-04 9.99981727e-01 -5.57793664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.277552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.03, Y:-9.30, Z:-0.56 [[ 9.98990631e-01 4.44535711e-02 -6.44973075e-03 8.60304976e+01] [-4.44496983e-02 9.99011348e-01 7.42635696e-04 -9.30089783e+00] [ 6.47636701e-03 -4.55197517e-04 9.99978925e-01 -5.57482718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.307552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.06, Y:-9.31, Z:-0.56 [[ 9.98956752e-01 4.51629498e-02 -6.76126192e-03 8.60610804e+01] [-4.51586979e-02 9.98979521e-01 7.80288887e-04 -9.30659803e+00] [ 6.78960234e-03 -4.74145068e-04 9.99976838e-01 -5.57415256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.337552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.09, Y:-9.31, Z:-0.56 [[ 9.98924797e-01 4.58925929e-02 -6.56655671e-03 8.60929561e+01] [-4.58885869e-02 9.98946275e-01 7.59515817e-04 -9.30732746e+00] [ 6.59449351e-03 -4.57369176e-04 9.99978151e-01 -5.56532133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.367552018 meters Centerline goodness [0,1] 0.9999767051807678 Centerline is valid? [True, True] Translation: X:86.12, Y:-9.31, Z:-0.56 [[ 9.98870338e-01 4.71601799e-02 -5.82791631e-03 8.61237416e+01] [-4.71570375e-02 9.98887260e-01 6.75519665e-04 -9.31311413e+00] [ 5.85328898e-03 -3.99929289e-04 9.99982789e-01 -5.56081649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.397552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:-9.32, Z:-0.56 [[ 9.98845760e-01 4.77012664e-02 -5.63350176e-03 8.61559243e+01] [-4.76983306e-02 9.98861572e-01 6.54421011e-04 -9.31552105e+00] [ 5.65830514e-03 -3.84957023e-04 9.99983918e-01 -5.55916683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.427552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.19, Y:-9.32, Z:-0.56 [[ 9.98799592e-01 4.86873862e-02 -5.37713135e-03 8.61878640e+01] [-4.86847182e-02 9.98814000e-01 6.26042191e-04 -9.31932039e+00] [ 5.40123443e-03 -3.63506560e-04 9.99985347e-01 -5.55692316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.457552018 meters Centerline goodness [0,1] 0.99995340819084 Centerline is valid? [True, True] Translation: X:86.22, Y:-9.33, Z:-0.56 [[ 9.98738480e-01 4.99967240e-02 -4.66645997e-03 8.62180791e+01] [-4.99947236e-02 9.98749334e-01 5.44406423e-04 -9.32673663e+00] [ 4.68784232e-03 -3.10421267e-04 9.99988964e-01 -5.55223130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.25, Y:-9.33, Z:-0.55 [[ 9.98654502e-01 5.16981210e-02 -4.06087665e-03 8.62494134e+01] [-5.16966174e-02 9.98662723e-01 4.74430125e-04 -9.32570248e+00] [ 4.07997328e-03 -2.63858193e-04 9.99991642e-01 -5.52881335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.28, Y:-9.33, Z:-0.55 [[ 9.98596229e-01 5.28507120e-02 -3.51772235e-03 8.62812233e+01] [-5.28495900e-02 9.98602399e-01 4.11227495e-04 -9.32886273e+00] [ 3.53453964e-03 -2.24740042e-04 9.99993728e-01 -5.52355435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.31, Y:-9.33, Z:-0.55 [[ 9.98548587e-01 5.37200090e-02 -3.85741993e-03 8.63121138e+01] [-5.37186620e-02 9.98556008e-01 4.52039208e-04 -9.33315380e+00] [ 3.87613340e-03 -2.44167675e-04 9.99992458e-01 -5.52576020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.34, Y:-9.34, Z:-0.55 [[ 9.98488297e-01 5.48325364e-02 -3.80970854e-03 8.63439194e+01] [-5.48312269e-02 9.98495536e-01 4.47404719e-04 -9.33569942e+00] [ 3.82850931e-03 -2.37837383e-04 9.99992643e-01 -5.53080310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:-9.34, Z:-0.55 [[ 9.98400693e-01 5.63396522e-02 -4.67969362e-03 8.63754790e+01] [-5.63376878e-02 9.98411619e-01 5.50644471e-04 -9.33900724e+00] [ 4.70328360e-03 -2.86120703e-04 9.99988899e-01 -5.53923011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.637552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.41, Y:-9.34, Z:-0.55 [[ 9.98374970e-01 5.67859476e-02 -4.77234383e-03 8.64070234e+01] [-5.67839066e-02 9.98386334e-01 5.62208114e-04 -9.34248063e+00] [ 4.79656838e-03 -2.90302183e-04 9.99988454e-01 -5.53529613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.667552018 meters Centerline goodness [0,1] 0.9999766311460087 Centerline is valid? [True, True] Translation: X:86.44, Y:-9.35, Z:-0.55 [[ 9.98402820e-01 5.62900485e-02 -4.82080431e-03 8.64388839e+01] [-5.62879537e-02 9.98414414e-01 5.69217976e-04 -9.34716164e+00] [ 4.84520182e-03 -2.96955622e-04 9.99988218e-01 -5.52983924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.697552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:-9.35, Z:-0.55 [[ 9.98449137e-01 5.55442303e-02 -3.76300339e-03 8.64696672e+01] [-5.55429456e-02 9.98456200e-01 4.45138024e-04 -9.35481938e+00] [ 3.78191892e-03 -2.35439383e-04 9.99992821e-01 -5.51639066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.727552018 meters Centerline goodness [0,1] 0.9999766546048792 Centerline is valid? [True, True] Translation: X:86.50, Y:-9.35, Z:-0.55 [[ 9.98438962e-01 5.57541771e-02 -3.33344648e-03 8.65026096e+01] [-5.57531675e-02 9.98444504e-01 3.95090265e-04 -9.35448660e+00] [ 3.35028925e-03 -2.08623314e-04 9.99994366e-01 -5.51323606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.757552018 meters Centerline goodness [0,1] 0.9999534255507428 Centerline is valid? [True, True] Translation: X:86.53, Y:-9.36, Z:-0.55 [[ 9.98453062e-01 5.55272730e-02 -2.86439935e-03 8.65339255e+01] [-5.55265245e-02 9.98457154e-01 3.40258883e-04 -9.35913671e+00] [ 2.87887367e-03 -1.80682383e-04 9.99995840e-01 -5.51466066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.787552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:-9.36, Z:-0.55 [[ 9.98453711e-01 5.54724972e-02 -3.60414888e-03 8.65653381e+01] [-5.54713074e-02 9.98460189e-01 4.29305788e-04 -9.36256066e+00] [ 3.62241383e-03 -2.28715107e-04 9.99993413e-01 -5.52135993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.817552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:-9.37, Z:-0.55 [[ 9.98425844e-01 5.59278793e-02 -4.23157291e-03 8.65967631e+01] [-5.59262379e-02 9.98434775e-01 5.05319121e-04 -9.36707797e+00] [ 4.25321097e-03 -2.67867717e-04 9.99990919e-01 -5.52242401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.847552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:-9.37, Z:-0.55 [[ 9.98389977e-01 5.65184687e-02 -4.80791016e-03 8.66272881e+01] [-5.65163501e-02 9.98401508e-01 5.75499633e-04 -9.37217722e+00] [ 4.83275111e-03 -3.02847532e-04 9.99988276e-01 -5.52377697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:-9.38, Z:-0.55 [[ 9.98366566e-01 5.69317449e-02 -4.79332583e-03 8.66597725e+01] [-5.69296376e-02 9.98378027e-01 5.75038691e-04 -9.37609715e+00] [ 4.81828914e-03 -3.01217101e-04 9.99988347e-01 -5.52870498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.69, Y:-9.38, Z:-0.55 [[ 9.98322649e-01 5.76671211e-02 -5.13727731e-03 8.66916833e+01] [-5.76647022e-02 9.98335815e-01 6.17846445e-04 -9.37777772e+00] [ 5.16435736e-03 -3.20570534e-04 9.99986613e-01 -5.53311458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.72, Y:-9.38, Z:-0.55 [[ 9.98297732e-01 5.81279827e-02 -4.77235845e-03 8.67235935e+01] [-5.81258946e-02 9.98309095e-01 5.75190438e-04 -9.38042917e+00] [ 4.79772350e-03 -2.96813706e-04 9.99988447e-01 -5.53038194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:-9.38, Z:-0.55 [[ 9.98239021e-01 5.91660411e-02 -4.27045765e-03 8.67556651e+01] [-5.91643740e-02 9.98248121e-01 5.15776870e-04 -9.38326035e+00] [ 4.29349280e-03 -2.62209644e-04 9.99990749e-01 -5.52689696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.997552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-9.39, Z:-0.55 [[ 9.98074037e-01 6.18891632e-02 -4.23654626e-03 8.67858930e+01] [-6.18875429e-02 9.98082997e-01 5.12628161e-04 -9.38665169e+00] [ 4.26015092e-03 -2.49451420e-04 9.99990894e-01 -5.52586002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.027552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:-9.39, Z:-0.55 [[ 9.97939937e-01 6.39991555e-02 -4.47113369e-03 8.68165006e+01] [-6.39973700e-02 9.97949920e-01 5.41432666e-04 -9.39144780e+00] [ 4.49661874e-03 -2.54176484e-04 9.99989858e-01 -5.52607833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.057552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.85, Y:-9.39, Z:-0.55 [[ 9.97769582e-01 6.65991419e-02 -4.51833450e-03 8.68484013e+01] [-6.65973439e-02 9.97779782e-01 5.47395712e-04 -9.39107702e+00] [ 4.54475890e-03 -2.45265714e-04 9.99989642e-01 -5.52351664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.087552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.88, Y:-9.39, Z:-0.55 [[ 9.97569894e-01 6.95036628e-02 -4.85258311e-03 8.68795199e+01] [-6.95016216e-02 9.97581665e-01 5.88230747e-04 -9.39390071e+00] [ 4.88173213e-03 -2.49538889e-04 9.99988053e-01 -5.52681725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.117552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.91, Y:-9.40, Z:-0.55 [[ 9.97339207e-01 7.27080371e-02 -5.29600501e-03 8.69111742e+01] [-7.27056494e-02 9.97353235e-01 6.42244834e-04 -9.39623129e+00] [ 5.32868409e-03 -2.55486471e-04 9.99985770e-01 -5.52508476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.147552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.94, Y:-9.40, Z:-0.55 [[ 9.96696809e-01 8.09512583e-02 -6.50882848e-03 8.69407793e+01] [-8.09478261e-02 9.96718027e-01 7.89468870e-04 -9.39789836e+00] [ 6.55137518e-03 -2.59985588e-04 9.99978506e-01 -5.53061875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.177552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.97, Y:-9.40, Z:-0.55 [[ 9.96370091e-01 8.48272979e-02 -7.13943695e-03 8.69730820e+01] [-8.48232656e-02 9.96395636e-01 8.66244988e-04 -9.39729272e+00] [ 7.18718504e-03 -2.57510240e-04 9.99974139e-01 -5.53786850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.207552018 meters Centerline goodness [0,1] 0.9999767760514643 Centerline is valid? [True, True] Translation: X:87.01, Y:-9.40, Z:-0.55 [[ 9.96069662e-01 8.82906914e-02 -7.06976389e-03 8.70051464e+01] [-8.82868204e-02 9.96094725e-01 8.58382791e-04 -9.39661684e+00] [ 7.11794173e-03 -2.30842081e-04 9.99974640e-01 -5.54195769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23755201799999 meters Centerline goodness [0,1] 0.9999768486363847 Centerline is valid? [True, True] Translation: X:87.04, Y:-9.40, Z:-0.55 [[ 9.95486668e-01 9.46531323e-02 -6.86132688e-03 8.70351078e+01] [-9.46496354e-02 9.95510297e-01 8.33317264e-04 -9.39837887e+00] [ 6.90939766e-03 -1.80134139e-04 9.99976114e-01 -5.54337361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.07, Y:-9.40, Z:-0.55 [[ 9.95175887e-01 9.78911078e-02 -6.50273148e-03 8.70675185e+01] [-9.78880296e-02 9.95197120e-01 7.90742381e-04 -9.39811446e+00] [ 6.54890629e-03 -1.50388179e-04 9.99978544e-01 -5.53058816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29755201799999 meters Centerline goodness [0,1] 0.99997692609428 Centerline is valid? [True, True] Translation: X:87.10, Y:-9.40, Z:-0.55 [[ 9.94903511e-01 1.00639970e-01 -6.21296140e-03 8.70989173e+01] [-1.00637204e-01 9.94922902e-01 7.57103840e-04 -9.40017150e+00] [ 6.25761249e-03 -1.27990204e-04 9.99980413e-01 -5.52768315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.13, Y:-9.40, Z:-0.55 [[ 9.94609271e-01 1.03415156e-01 -7.59624598e-03 8.71307889e+01] [-1.03411084e-01 9.94638269e-01 9.27836411e-04 -9.40304784e+00] [ 7.65146930e-03 -1.37298663e-04 9.99970718e-01 -5.53197852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35755201799999 meters Centerline goodness [0,1] 0.9999537721893491 Centerline is valid? [True, True] Translation: X:87.16, Y:-9.41, Z:-0.55 [[ 9.94515917e-01 1.04248075e-01 -8.39226758e-03 8.71639364e+01] [-1.04243113e-01 9.94551315e-01 1.02763126e-03 -9.40680526e+00] [ 8.45366933e-03 -1.47159548e-04 9.99964256e-01 -5.53421592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.387552018 meters Centerline goodness [0,1] 0.9999768828887142 Centerline is valid? [True, True] Translation: X:87.20, Y:-9.41, Z:-0.55 [[ 9.94445172e-01 1.04859387e-01 -9.12738146e-03 8.71957402e+01] [-1.04853519e-01 9.94487046e-01 1.12041663e-03 -9.41150104e+00] [ 9.19454882e-03 -1.57154845e-04 9.99957717e-01 -5.53867789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.417552018 meters Centerline goodness [0,1] 0.9999536285648041 Centerline is valid? [True, True] Translation: X:87.23, Y:-9.41, Z:-0.55 [[ 9.94431315e-01 1.04899787e-01 -1.01190460e-02 8.72289031e+01] [-1.04892544e-01 9.94482782e-01 1.24532744e-03 -9.41403661e+00] [ 1.01938516e-02 -1.76980121e-04 9.99948026e-01 -5.54014243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.447552018 meters Centerline goodness [0,1] 0.9998844411574374 Centerline is valid? [True, True] Translation: X:87.26, Y:-9.42, Z:-0.56 [[ 9.94700769e-01 1.02206363e-01 -1.11463169e-02 8.72592803e+01] [-1.02197391e-01 9.94763192e-01 1.37308305e-03 -9.41786491e+00] [ 1.12282836e-02 -2.26682269e-04 9.99936935e-01 -5.55181855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.477552018 meters Centerline goodness [0,1] 0.9997924880680639 Centerline is valid? [True, True] Translation: X:87.29, Y:-9.42, Z:-0.55 [[ 9.94863171e-01 1.00659852e-01 -1.07174853e-02 8.72913018e+01] [-1.00651443e-01 9.94920870e-01 1.32245722e-03 -9.42085288e+00] [ 1.07961681e-02 -2.36933621e-04 9.99941692e-01 -5.54709100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.507552018 meters Centerline goodness [0,1] 0.9997469402779056 Centerline is valid? [True, True] Translation: X:87.32, Y:-9.43, Z:-0.55 [[ 9.95000687e-01 9.93605063e-02 -1.00559766e-02 8.73217915e+01] [-9.93530120e-02 9.95051473e-01 1.24333355e-03 -9.42501321e+00] [ 1.01297526e-02 -2.38026172e-04 9.99948664e-01 -5.54494600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.537552018 meters Centerline goodness [0,1] 0.9997011288134814 Centerline is valid? [True, True] Translation: X:87.35, Y:-9.43, Z:-0.55 [[ 9.95298159e-01 9.63603393e-02 -9.81122538e-03 8.73534031e+01] [-9.63530358e-02 9.95346480e-01 1.21547579e-03 -9.42793905e+00] [ 9.88269231e-03 -2.64419467e-04 9.99951130e-01 -5.53827717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.567552018 meters Centerline goodness [0,1] 0.9996312004425595 Centerline is valid? [True, True] Translation: X:87.39, Y:-9.43, Z:-0.55 [[ 9.95534120e-01 9.37803045e-02 -1.08198731e-02 8.73854983e+01] [-9.37712545e-02 9.95592864e-01 1.34184649e-03 -9.43141271e+00] [ 1.08980272e-02 -3.21260890e-04 9.99940563e-01 -5.53685451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.597552018 meters Centerline goodness [0,1] 0.999286946520989 Centerline is valid? [True, True] Translation: X:87.42, Y:-9.44, Z:-0.56 [[ 9.95704271e-01 9.18557947e-02 -1.16412109e-02 8.74159707e+01] [-9.18451587e-02 9.95772251e-01 1.44612711e-03 -9.43776990e+00] [ 1.17248299e-02 -3.70726077e-04 9.99931193e-01 -5.55157887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62755201799999 meters Centerline goodness [0,1] 0.9994244670564943 Centerline is valid? [True, True] Translation: X:87.45, Y:-9.44, Z:-0.56 [[ 9.96035144e-01 8.80392758e-02 -1.27701795e-02 8.74463913e+01] [-8.80261504e-02 9.96116899e-01 1.58736742e-03 -9.44280441e+00] [ 1.28603423e-02 -4.56963994e-04 9.99917198e-01 -5.55958205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65755201799999 meters Centerline goodness [0,1] 0.9990795075365321 Centerline is valid? [True, True] Translation: X:87.48, Y:-9.45, Z:-0.56 [[ 9.96647292e-01 8.07553509e-02 -1.31433739e-02 8.74768052e+01] [-8.07408125e-02 9.96733792e-01 1.63390205e-03 -9.44973623e+00] [ 1.32323912e-02 -5.67217366e-04 9.99912287e-01 -5.56517289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68755201799999 meters Centerline goodness [0,1] 0.9990333494441759 Centerline is valid? [True, True] Translation: X:87.51, Y:-9.46, Z:-0.56 [[ 9.96955807e-01 7.68912036e-02 -1.29174669e-02 8.75075851e+01] [-7.68768316e-02 9.97039304e-01 1.60623046e-03 -9.45515898e+00] [ 1.30027271e-02 -6.08286860e-04 9.99915276e-01 -5.56278338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71755201799999 meters Centerline goodness [0,1] 0.9993315199852474 Centerline is valid? [True, True] Translation: X:87.54, Y:-9.46, Z:-0.56 [[ 9.97147061e-01 7.45358556e-02 -1.19224952e-02 8.75396808e+01] [-7.45234348e-02 9.97218159e-01 1.48331428e-03 -9.45982141e+00] [ 1.19998888e-02 -5.90577186e-04 9.99927824e-01 -5.55693441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.747552018 meters Centerline goodness [0,1] 0.9993786389892527 Centerline is valid? [True, True] Translation: X:87.57, Y:-9.47, Z:-0.55 [[ 9.97411210e-01 7.11640386e-02 -1.03226541e-02 8.75692714e+01] [-7.11545440e-02 9.97464476e-01 1.28461341e-03 -9.46652309e+00] [ 1.03878991e-02 -5.46784066e-04 9.99945895e-01 -5.54731083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.777552018 meters Centerline goodness [0,1] 0.9993087239043273 Centerline is valid? [True, True] Translation: X:87.60, Y:-9.47, Z:-0.55 [[ 9.97501619e-01 6.98404446e-02 -1.06222654e-02 8.76000962e+01] [-6.98302951e-02 9.97558007e-01 1.32385395e-03 -9.47336021e+00] [ 1.06887844e-02 -5.78790532e-04 9.99942706e-01 -5.54515444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.807552018 meters Centerline goodness [0,1] 0.9990098325926267 Centerline is valid? [True, True] Translation: X:87.63, Y:-9.48, Z:-0.56 [[ 9.97627087e-01 6.80264103e-02 -1.06114623e-02 8.76307177e+01] [-6.80161513e-02 9.97683340e-01 1.32511145e-03 -9.48099065e+00] [ 1.06770217e-02 -6.00216256e-04 9.99942819e-01 -5.55270394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.837552018 meters Centerline goodness [0,1] 0.9992843621589178 Centerline is valid? [True, True] Translation: X:87.66, Y:-9.48, Z:-0.56 [[ 9.97770723e-01 6.59308373e-02 -1.03300506e-02 8.76627322e+01] [-6.59209901e-02 9.97824010e-01 1.29123248e-03 -9.48448010e+00] [ 1.03927046e-02 -6.07386794e-04 9.99945810e-01 -5.55228986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.867552018 meters Centerline goodness [0,1] 0.9990771928205602 Centerline is valid? [True, True] Translation: X:87.69, Y:-9.49, Z:-0.56 [[ 9.98039234e-01 6.17170450e-02 -1.04255890e-02 8.76920915e+01] [-6.17067806e-02 9.98093469e-01 1.30366734e-03 -9.49177054e+00] [ 1.04861708e-02 -6.57781622e-04 9.99944802e-01 -5.57002882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.897552018 meters Centerline goodness [0,1] 0.9983166535995942 Centerline is valid? [True, True] Translation: X:87.72, Y:-9.50, Z:-0.56 [[ 9.98198097e-01 5.90508688e-02 -1.06561510e-02 8.77214423e+01] [-5.90399929e-02 9.98254729e-01 1.33260532e-03 -9.49864551e+00] [ 1.07162446e-02 -7.01065019e-04 9.99942334e-01 -5.58336757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.927552018 meters Centerline goodness [0,1] 0.997204445163228 Centerline is valid? [True, True] Translation: X:87.75, Y:-9.51, Z:-0.56 [[ 9.98368153e-01 5.59851071e-02 -1.12560958e-02 8.77510771e+01] [-5.59727762e-02 9.98431303e-01 1.40778578e-03 -9.50716092e+00] [ 1.13172535e-02 -7.75453553e-04 9.99935657e-01 -5.59142837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.957552018 meters Centerline goodness [0,1] 0.9951879699248121 Centerline is valid? [True, True] Translation: X:87.78, Y:-9.51, Z:-0.56 [[ 9.98524273e-01 5.33087095e-02 -1.03661584e-02 8.77811502e+01] [-5.32981060e-02 9.98577804e-01 1.29666899e-03 -9.51452280e+00] [ 1.04205394e-02 -7.42258848e-04 9.99945429e-01 -5.58479017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98755201799999 meters Centerline goodness [0,1] 0.9891556214663083 Centerline is valid? [True, True] Translation: X:87.81, Y:-9.52, Z:-0.55 [[ 9.98675936e-01 5.08064058e-02 -8.06749920e-03 8.78097451e+01] [-5.07998986e-02 9.98708341e-01 1.00959981e-03 -9.52416479e+00] [ 8.10837288e-03 -5.98434894e-04 9.99966948e-01 -5.54906725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01755201799999 meters Centerline goodness [0,1] 0.9847195894401035 Centerline is valid? [True, True] Translation: X:87.84, Y:-9.53, Z:-0.55 [[ 9.98724959e-01 5.00017630e-02 -6.94833992e-03 8.78399673e+01] [-4.99969087e-02 9.98748993e-01 8.70683084e-04 -9.53066596e+00] [ 6.98318318e-03 -5.22177411e-04 9.99975481e-01 -5.53381758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04755201799999 meters Centerline goodness [0,1] 0.9918197573656846 Centerline is valid? [True, True] Translation: X:87.87, Y:-9.53, Z:-0.55 [[ 9.98835284e-01 4.80026890e-02 -4.88030786e-03 8.78715424e+01] [-4.80002679e-02 9.98847135e-01 6.12094368e-04 -9.53035486e+00] [ 4.90406370e-03 -3.77125367e-04 9.99987904e-01 -5.52140129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07755201799999 meters Centerline goodness [0,1] 0.97119066291461 Centerline is valid? [True, True] Translation: X:87.90, Y:-9.54, Z:-0.55 [[ 9.98848819e-01 4.78150352e-02 -3.84168207e-03 8.79017120e+01] [-4.78135324e-02 9.98856163e-01 4.82130664e-04 -9.54273828e+00] [ 3.86034091e-03 -2.97891254e-04 9.99992504e-01 -5.51665099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10755201799999 meters Centerline goodness [0,1] 0.97119066291461 Centerline is valid? [True, True] Translation: X:87.93, Y:-9.55, Z:-0.55 [[ 9.98835515e-01 4.80921683e-02 -3.84156336e-03 8.79339157e+01] [-4.80906639e-02 9.98842858e-01 4.83074897e-04 -9.54692441e+00] [ 3.86035025e-03 -2.97769031e-04 9.99992504e-01 -5.51568480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.137552018 meters Centerline goodness [0,1] 0.9922636367835204 Centerline is valid? [True, True] Translation: X:87.97, Y:-9.54, Z:-0.55 [[ 9.98816494e-01 4.85276903e-02 -3.26728855e-03 8.79670284e+01] [-4.85266018e-02 9.98821806e-01 4.11650530e-04 -9.54280282e+00] [ 3.28341550e-03 -2.52612929e-04 9.99994578e-01 -5.51060130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.167552018 meters Centerline goodness [0,1] 0.9970444942159828 Centerline is valid? [True, True] Translation: X:88.00, Y:-9.54, Z:-0.55 [[ 9.98738909e-01 5.01582181e-02 -2.17841866e-03 8.79991685e+01] [-5.01577370e-02 9.98741271e-01 2.74931098e-04 -9.54047087e+00] [ 2.18946667e-03 -1.65319835e-04 9.99997589e-01 -5.51931530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.197552018 meters Centerline goodness [0,1] 0.9970444942159828 Centerline is valid? [True, True] Translation: X:88.03, Y:-9.54, Z:-0.55 [[ 9.98723564e-01 5.04628333e-02 -2.17842675e-03 8.80313597e+01] [-5.04623531e-02 9.98725926e-01 2.74867250e-04 -9.54464361e+00] [ 2.18952186e-03 -1.64587859e-04 9.99997589e-01 -5.51835225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.227552018 meters Centerline goodness [0,1] 0.9945736255108873 Centerline is valid? [True, True] Translation: X:88.06, Y:-9.55, Z:-0.55 [[ 9.98563786e-01 5.34298300e-02 -3.95197482e-03 8.80602330e+01] [-5.34282663e-02 9.98571565e-01 5.00282019e-04 -9.55114074e+00] [ 3.97305966e-03 -2.88416344e-04 9.99992066e-01 -5.53845265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.257552018 meters Centerline goodness [0,1] 0.9967197209452748 Centerline is valid? [True, True] Translation: X:88.09, Y:-9.55, Z:-0.55 [[ 9.98467764e-01 5.50977414e-02 -5.13441943e-03 8.80916082e+01] [-5.50951238e-02 9.98480899e-01 6.49978864e-04 -9.55285037e+00] [ 5.16243210e-03 -3.66101469e-04 9.99986608e-01 -5.54374484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.287552018 meters Centerline goodness [0,1] 0.9957960871272492 Centerline is valid? [True, True] Translation: X:88.12, Y:-9.56, Z:-0.55 [[ 9.98380867e-01 5.65653850e-02 -6.00013222e-03 8.81219950e+01] [-5.65618351e-02 9.98398809e-01 7.59819390e-04 -9.55879698e+00] [ 6.03350434e-03 -4.19210652e-04 9.99981710e-01 -5.54519078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.317552018 meters Centerline goodness [0,1] 0.9972413473352343 Centerline is valid? [True, True] Translation: X:88.15, Y:-9.56, Z:-0.56 [[ 9.98256194e-01 5.85006445e-02 -7.88961503e-03 8.81539137e+01] [-5.84945635e-02 9.98287227e-01 9.99521720e-04 -9.56091899e+00] [ 7.93457457e-03 -5.36279160e-04 9.99968377e-01 -5.55744731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.347552018 meters Centerline goodness [0,1] 0.9948959560266981 Centerline is valid? [True, True] Translation: X:88.18, Y:-9.57, Z:-0.56 [[ 9.98162634e-01 6.00240006e-02 -8.27500562e-03 8.81836173e+01] [-6.00173567e-02 9.98196782e-01 1.04911456e-03 -9.56753688e+00] [ 8.32305603e-03 -5.50542986e-04 9.99965211e-01 -5.56596972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37755201799999 meters Centerline goodness [0,1] 0.9935960931561125 Centerline is valid? [True, True] Translation: X:88.21, Y:-9.57, Z:-0.56 [[ 9.98122114e-01 6.05973739e-02 -8.95567829e-03 8.82145043e+01] [-6.05896039e-02 9.98162115e-01 1.13664038e-03 -9.57239417e+00] [ 9.00809620e-03 -5.91884898e-04 9.99959251e-01 -5.57296991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40755201799999 meters Centerline goodness [0,1] 0.9941180541139022 Centerline is valid? [True, True] Translation: X:88.25, Y:-9.58, Z:-0.56 [[ 9.98194218e-01 5.93557954e-02 -9.22999402e-03 8.82466017e+01] [-5.93474808e-02 9.98236696e-01 1.17236090e-03 -9.57551795e+00] [ 9.28330515e-03 -6.22466974e-04 9.99956715e-01 -5.57785302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43755201799999 meters Centerline goodness [0,1] 0.9956183843368771 Centerline is valid? [True, True] Translation: X:88.28, Y:-9.58, Z:-0.56 [[ 9.98292579e-01 5.76534052e-02 -9.38146265e-03 8.82785414e+01] [-5.76447341e-02 9.98336448e-01 1.19230140e-03 -9.57774984e+00] [ 9.43459633e-03 -6.49473717e-04 9.99955282e-01 -5.57616645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46755201799999 meters Centerline goodness [0,1] 0.9948315643747115 Centerline is valid? [True, True] Translation: X:88.31, Y:-9.58, Z:-0.56 [[ 9.98358193e-01 5.67016389e-02 -8.11439212e-03 8.83106600e+01] [-5.66951079e-02 9.98391005e-01 1.03281593e-03 -9.58231089e+00] [ 8.15989845e-03 -5.71073903e-04 9.99966544e-01 -5.56443904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.497552018 meters Centerline goodness [0,1] 0.9897728843230295 Centerline is valid? [True, True] Translation: X:88.34, Y:-9.59, Z:-0.55 [[ 9.98611422e-01 5.23037128e-02 -6.28887442e-03 8.83394143e+01] [-5.22996997e-02 9.98631113e-01 8.01014754e-04 -9.59123955e+00] [ 6.32216171e-03 -4.70996239e-04 9.99979904e-01 -5.54800059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.527552018 meters Centerline goodness [0,1] 0.988109229173868 Centerline is valid? [True, True] Translation: X:88.37, Y:-9.60, Z:-0.55 [[ 9.98755561e-01 4.95564218e-02 -5.61161983e-03 8.83696030e+01] [-4.95531833e-02 9.98771231e-01 7.14767761e-04 -9.59730557e+00] [ 5.64014578e-03 -4.35804650e-04 9.99983999e-01 -5.53633175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.557552018 meters Centerline goodness [0,1] 0.9615135983746594 Centerline is valid? [True, True] Translation: X:88.40, Y:-9.61, Z:-0.55 [[ 9.98940504e-01 4.57352841e-02 -5.11395898e-03 8.83975301e+01] [-4.57325446e-02 9.98953507e-01 6.51399525e-04 -9.61043434e+00] [ 5.13839920e-03 -4.16835013e-04 9.99986711e-01 -5.53473584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.587552018 meters Centerline goodness [0,1] 0.9795527451478157 Centerline is valid? [True, True] Translation: X:88.43, Y:-9.61, Z:-0.55 [[ 9.99223896e-01 3.91949326e-02 -3.91950979e-03 8.84285455e+01] [-3.91932735e-02 9.99231524e-01 4.99228820e-04 -9.60855757e+00] [ 3.93606498e-03 -3.45222947e-04 9.99992194e-01 -5.52105234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.617552018 meters Centerline goodness [0,1] 0.9708222811671088 Centerline is valid? [True, True] Translation: X:88.46, Y:-9.62, Z:-0.55 [[ 9.99351046e-01 3.58915047e-02 -3.04746931e-03 8.84584810e+01] [-3.58904865e-02 9.99355654e-01 3.88168307e-04 -9.61556960e+00] [ 3.05943763e-03 -2.78541248e-04 9.99995281e-01 -5.51270583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.647552018 meters Centerline goodness [0,1] 0.9414178674351585 Centerline is valid? [True, False] Translation: X:88.46, Y:-9.61, Z:-0.55 [[ 9.99508191e-01 3.11816544e-02 -3.32882080e-03 8.84595797e+01] [-3.11974528e-02 9.99501694e-01 -4.80446144e-03 -9.61369817e+00] [ 3.17735098e-03 4.90594929e-03 9.99982918e-01 -5.52629460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.677552018 meters Centerline goodness [0,1] 0.8862591008898648 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.55 [[ 9.99633318e-01 2.68477950e-02 -3.52511328e-03 8.84601928e+01] [-2.68795431e-02 9.99595502e-01 -9.29094983e-03 -9.61247134e+00] [ 3.27424586e-03 9.38229644e-03 9.99950625e-01 -5.53267467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.707552018 meters Centerline goodness [0,1] 0.947311256441661 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.55 [[ 9.99637777e-01 2.66615366e-02 -3.67121179e-03 8.84608324e+01] [-2.66945526e-02 9.99600758e-01 -9.25880244e-03 -9.61281990e+00] [ 3.42289219e-03 9.35345005e-03 9.99950397e-01 -5.53666045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73755201799999 meters Centerline goodness [0,1] 0.8641315661647353 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.55 [[ 9.99643900e-01 2.63934215e-02 -3.93198792e-03 8.84618629e+01] [-2.64297797e-02 9.99605520e-01 -9.50108179e-03 -9.61261836e+00] [ 3.67967077e-03 9.60162003e-03 9.99947133e-01 -5.54433107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76755201799999 meters Centerline goodness [0,1] 0.836859546265613 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.55 [[ 9.99645479e-01 2.63143485e-02 -4.05853632e-03 8.84624592e+01] [-2.63516947e-02 9.99608155e-01 -9.44063750e-03 -9.61295398e+00] [ 3.80852178e-03 9.54423990e-03 9.99947200e-01 -5.54893276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79755201799999 meters Centerline goodness [0,1] 0.8089890242208123 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.56 [[ 9.99656658e-01 2.57933820e-02 -4.61159485e-03 8.84642295e+01] [-2.58371292e-02 9.99619174e-01 -9.69273824e-03 -9.61340855e+00] [ 4.35983014e-03 9.80856069e-03 9.99942390e-01 -5.55904873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82755201799999 meters Centerline goodness [0,1] 0.9486096281509679 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.56 [[ 9.99652138e-01 2.59728888e-02 -4.58393624e-03 8.84639859e+01] [-2.60156830e-02 9.99616042e-01 -9.53696790e-03 -9.61316086e+00] [ 4.33447359e-03 9.65290458e-03 9.99944015e-01 -5.55586785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85755201799999 meters Centerline goodness [0,1] 0.9282698464250916 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.56 [[ 9.99649513e-01 2.60285667e-02 -4.83368170e-03 8.84643518e+01] [-2.60722975e-02 9.99617578e-01 -9.21590044e-03 -9.61388329e+00] [ 4.59195651e-03 9.33869558e-03 9.99945850e-01 -5.55338022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.887552018 meters Centerline goodness [0,1] 0.9309729591954955 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.56 [[ 9.99648818e-01 2.60178431e-02 -5.03114869e-03 8.84646960e+01] [-2.60623023e-02 9.99619960e-01 -8.98292110e-03 -9.61440470e+00] [ 4.79552042e-03 9.11088978e-03 9.99946996e-01 -5.55154575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.917552018 meters Centerline goodness [0,1] 0.9266057180077698 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.55 [[ 9.99644087e-01 2.62152913e-02 -4.94538656e-03 8.84642390e+01] [-2.62572465e-02 9.99618065e-01 -8.61862399e-03 -9.61486326e+00] [ 4.71755800e-03 8.74540875e-03 9.99950630e-01 -5.54569723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.947552018 meters Centerline goodness [0,1] 0.9113262747283366 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.62, Z:-0.55 [[ 9.99634997e-01 2.65292604e-02 -5.10597912e-03 8.84639944e+01] [-2.65703628e-02 9.99613658e-01 -8.15779212e-03 -9.61574341e+00] [ 4.88758627e-03 8.29048222e-03 9.99953689e-01 -5.53697330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.977552018 meters Centerline goodness [0,1] 0.8936165268514861 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.62, Z:-0.55 [[ 9.99625795e-01 2.68513640e-02 -5.22238960e-03 8.84637884e+01] [-2.68922646e-02 9.99606916e-01 -7.92593555e-03 -9.61550741e+00] [ 5.00751458e-03 8.06341151e-03 9.99954952e-01 -5.53044490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.007552018 meters Centerline goodness [0,1] 0.9264750237813508 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.62, Z:-0.55 [[ 9.99622737e-01 2.68995706e-02 -5.54953706e-03 8.84642229e+01] [-2.69432966e-02 9.99605263e-01 -7.96093290e-03 -9.61553778e+00] [ 5.33320077e-03 8.10745235e-03 9.99952912e-01 -5.52868972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.037552018 meters Centerline goodness [0,1] 0.9476760432190761 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.62, Z:-0.55 [[ 9.99608027e-01 2.74703796e-02 -5.40102252e-03 8.84636081e+01] [-2.75110898e-02 9.99592504e-01 -7.61350789e-03 -9.61505482e+00] [ 5.18967567e-03 7.75911161e-03 9.99956431e-01 -5.52431349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.067552018 meters Centerline goodness [0,1] 0.8919000651344562 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.55 [[ 9.99599925e-01 2.77116394e-02 -5.66177614e-03 8.84643111e+01] [-2.77556655e-02 9.99583903e-01 -7.85131741e-03 -9.61403178e+00] [ 5.44184741e-03 8.00532266e-03 9.99953149e-01 -5.53032518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.097552018 meters Centerline goodness [0,1] 0.9019548662704309 Centerline is valid? [False, False] Translation: X:88.46, Y:-9.61, Z:-0.55 [[ 9.99597927e-01 2.77587755e-02 -5.78234089e-03 8.84646672e+01] [-2.78051400e-02 9.99580557e-01 -8.09845506e-03 -9.61301457e+00] [ 5.55511233e-03 8.25597768e-03 9.99950489e-01 -5.53298547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12755201799999 meters Centerline goodness [0,1] 0.9700693204738831 Centerline is valid? [False, True] Translation: X:88.47, Y:-9.61, Z:-0.55 [[ 9.99595855e-01 2.78077867e-02 -5.90367067e-03 8.84650238e+01] [-2.78550512e-02 9.99579311e-01 -8.08064792e-03 -9.61284725e+00] [ 5.67648213e-03 8.24182922e-03 9.99949924e-01 -5.53446838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15755201799999 meters Centerline goodness [0,1] 0.9670406243467354 Centerline is valid? [True, True] Translation: X:88.50, Y:-9.62, Z:-0.55 [[ 9.99579536e-01 2.87472940e-02 -3.78747398e-03 8.84964812e+01] [-2.87457581e-02 9.99586650e-01 4.59349861e-04 -9.62110511e+00] [ 3.79911349e-03 -3.50282910e-04 9.99992722e-01 -5.47793581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18755201799999 meters Centerline goodness [0,1] 0.9846089560554356 Centerline is valid? [True, True] Translation: X:88.53, Y:-9.62, Z:-0.55 [[ 9.99572174e-01 2.90858896e-02 -3.07886788e-03 8.85291280e+01] [-2.90848748e-02 9.99576876e-01 3.73899154e-04 -9.62123596e+00] [ 3.08844033e-03 -2.84190704e-04 9.99995190e-01 -5.47070090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21755201799999 meters Centerline goodness [0,1] 0.9742363754526042 Centerline is valid? [True, True] Translation: X:88.56, Y:-9.63, Z:-0.55 [[ 9.99566137e-01 2.93334388e-02 -2.66211799e-03 8.85607204e+01] [-2.93326791e-02 9.99569652e-01 3.23947617e-04 -9.62807827e+00] [ 2.67047485e-03 -2.45720015e-04 9.99996404e-01 -5.46950254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.247552018 meters Centerline goodness [0,1] 0.9678606988214046 Centerline is valid? [True, True] Translation: X:88.59, Y:-9.63, Z:-0.55 [[ 9.99557370e-01 2.96245968e-02 -2.72893615e-03 8.85928374e+01] [-2.96237963e-02 9.99561063e-01 3.33284467e-04 -9.63406212e+00] [ 2.73761174e-03 -2.52295497e-04 9.99996221e-01 -5.46082506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.277552018 meters Centerline goodness [0,1] 0.9855778148766463 Centerline is valid? [True, True] Translation: X:88.62, Y:-9.63, Z:-0.55 [[ 9.99497170e-01 3.15466617e-02 -3.19603885e-03 8.86234472e+01] [-3.15455718e-02 9.99502238e-01 3.90853874e-04 -9.63427705e+00] [ 3.20677812e-03 -2.89836468e-04 9.99994816e-01 -5.46121955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.307552018 meters Centerline goodness [0,1] 0.9901013051440759 Centerline is valid? [True, True] Translation: X:88.65, Y:-9.64, Z:-0.55 [[ 9.99455729e-01 3.27147620e-02 -4.24156244e-03 8.86543000e+01] [-3.27128530e-02 9.99464657e-01 5.18693359e-04 -9.63737060e+00] [ 4.25626067e-03 -3.79657441e-04 9.99990870e-01 -5.46718427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.337552018 meters Centerline goodness [0,1] 0.9520528943961531 Centerline is valid? [True, True] Translation: X:88.68, Y:-9.65, Z:-0.55 [[ 9.99404046e-01 3.41463795e-02 -5.05745724e-03 8.86839721e+01] [-3.41436824e-02 9.99416743e-01 6.18695086e-04 -9.64764753e+00] [ 5.07563364e-03 -4.45646159e-04 9.99987020e-01 -5.47862405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.367552018 meters Centerline goodness [0,1] 0.9945413332099736 Centerline is valid? [True, True] Translation: X:88.72, Y:-9.64, Z:-0.55 [[ 9.99366903e-01 3.49166333e-02 -6.82800012e-03 8.87169954e+01] [-3.49117297e-02 9.99390050e-01 8.36073814e-04 -9.64405755e+00] [ 6.85302826e-03 -5.97167204e-04 9.99976339e-01 -5.49210271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.397552018 meters Centerline goodness [0,1] 0.9964425142645937 Centerline is valid? [True, True] Translation: X:88.75, Y:-9.65, Z:-0.55 [[ 9.99294023e-01 3.66326239e-02 -8.33709516e-03 8.87480783e+01] [-3.66253584e-02 9.99328543e-01 1.02254237e-03 -9.64591016e+00] [ 8.36895558e-03 -7.16471383e-04 9.99964723e-01 -5.51379295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.427552018 meters Centerline goodness [0,1] 0.9963713684794416 Centerline is valid? [True, True] Translation: X:88.78, Y:-9.65, Z:-0.55 [[ 9.99288221e-01 3.66018912e-02 -9.12973986e-03 8.87793972e+01] [-3.65931655e-02 9.99329617e-01 1.12102722e-03 -9.65017144e+00] [ 9.16465115e-03 -7.86143220e-04 9.99957695e-01 -5.51475063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.457552018 meters Centerline goodness [0,1] 0.9962474809478585 Centerline is valid? [True, True] Translation: X:88.81, Y:-9.65, Z:-0.55 [[ 9.99320174e-01 3.56964050e-02 -9.21714608e-03 8.88115367e+01] [-3.56874590e-02 9.99362357e-01 1.13328854e-03 -9.65475028e+00] [ 9.25172316e-03 -8.03581581e-04 9.99956879e-01 -5.51358175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48755201799999 meters Centerline goodness [0,1] 0.9909945365311603 Centerline is valid? [True, True] Translation: X:88.84, Y:-9.66, Z:-0.55 [[ 9.99341956e-01 3.51428987e-02 -8.97946721e-03 8.88415737e+01] [-3.51343735e-02 9.99381986e-01 1.10544782e-03 -9.66300636e+00] [ 9.01276641e-03 -7.89232432e-04 9.99959073e-01 -5.49678033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51755201799999 meters Centerline goodness [0,1] 0.9895228623632537 Centerline is valid? [True, True] Translation: X:88.87, Y:-9.67, Z:-0.55 [[ 9.99324664e-01 3.58025839e-02 -8.26983510e-03 8.88737632e+01] [-3.57953637e-02 9.99358621e-01 1.01949251e-03 -9.66799101e+00] [ 8.30103146e-03 -7.22782256e-04 9.99965285e-01 -5.48060925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54755201799999 meters Centerline goodness [0,1] 0.9891266628108734 Centerline is valid? [True, True] Translation: X:88.91, Y:-9.67, Z:-0.55 [[ 9.99299423e-01 3.65449558e-02 -8.07029189e-03 8.89055858e+01] [-3.65380934e-02 9.99331764e-01 9.96183213e-04 -9.67226852e+00] [ 8.10130450e-03 -7.00612231e-04 9.99966938e-01 -5.47380965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57755201799999 meters Centerline goodness [0,1] 0.9894362127551374 Centerline is valid? [True, True] Translation: X:88.94, Y:-9.68, Z:-0.55 [[ 9.99255620e-01 3.78127826e-02 -7.64195097e-03 8.89371570e+01] [-3.78066514e-02 9.99284626e-01 9.45232259e-04 -9.67528002e+00] [ 7.67222598e-03 -6.55612070e-04 9.99970353e-01 -5.46975709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60755201799999 meters Centerline goodness [0,1] 0.9919833660621462 Centerline is valid? [True, True] Translation: X:88.97, Y:-9.68, Z:-0.55 [[ 9.99214609e-01 3.89265797e-02 -7.40857288e-03 8.89689494e+01] [-3.89208336e-02 9.99241875e-01 9.18258756e-04 -9.67859217e+00] [ 7.43870093e-03 -6.29189731e-04 9.99972135e-01 -5.46245721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.637552018 meters Centerline goodness [0,1] 0.9925500507426884 Centerline is valid? [True, True] Translation: X:89.00, Y:-9.68, Z:-0.54 [[ 9.99174007e-01 4.01478936e-02 -6.28097289e-03 8.90011459e+01] [-4.01437784e-02 9.99193609e-01 7.79951265e-04 -9.68204652e+00] [ 6.30722137e-03 -5.27165047e-04 9.99979970e-01 -5.44785649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.667552018 meters Centerline goodness [0,1] 0.9858628721662324 Centerline is valid? [True, True] Translation: X:89.03, Y:-9.69, Z:-0.54 [[ 9.99130742e-01 4.13552413e-02 -5.24445262e-03 8.90314147e+01] [-4.13523831e-02 9.99144411e-01 6.52303772e-04 -9.68762069e+00] [ 5.26694171e-03 -4.34866138e-04 9.99986035e-01 -5.44313578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.697552018 meters Centerline goodness [0,1] 0.9978563525723769 Centerline is valid? [True, True] Translation: X:89.06, Y:-9.69, Z:-0.54 [[ 9.99064376e-01 4.30574213e-02 -4.05358923e-03 8.90630710e+01] [-4.30557273e-02 9.99072545e-01 5.04294331e-04 -9.68562457e+00] [ 4.07154332e-03 -3.29292269e-04 9.99991657e-01 -5.42574439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.727552018 meters Centerline goodness [0,1] 0.9892838171782258 Centerline is valid? [True, True] Translation: X:89.09, Y:-9.70, Z:-0.54 [[ 9.99020570e-01 4.40988390e-02 -3.63212469e-03 8.90929329e+01] [-4.40974862e-02 9.99027131e-01 4.51740759e-04 -9.69510959e+00] [ 3.64851235e-03 -2.91130742e-04 9.99993302e-01 -5.42131184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.757552018 meters Centerline goodness [0,1] 0.998384975659276 Centerline is valid? [True, True] Translation: X:89.12, Y:-9.69, Z:-0.54 [[ 9.98940959e-01 4.58768580e-02 -3.50360368e-03 8.91247308e+01] [-4.58756062e-02 9.98947065e-01 4.36846409e-04 -9.69223564e+00] [ 3.51995575e-03 -2.75653828e-04 9.99993767e-01 -5.42049962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.787552018 meters Centerline goodness [0,1] 0.9984303587092008 Centerline is valid? [True, True] Translation: X:89.15, Y:-9.70, Z:-0.54 [[ 9.98749341e-01 4.97265168e-02 -5.19884702e-03 8.91539974e+01] [-4.97238111e-02 9.98762796e-01 6.48485767e-04 -9.69596671e+00] [ 5.22466192e-03 -3.89168244e-04 9.99986276e-01 -5.43025984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.817552018 meters Centerline goodness [0,1] 0.9999769362055445 Centerline is valid? [True, True] Translation: X:89.19, Y:-9.69, Z:-0.54 [[ 9.98648482e-01 5.16162174e-02 -6.08070402e-03 8.91858223e+01] [-5.16125510e-02 9.98666896e-01 7.58447330e-04 -9.69467556e+00] [ 6.11174599e-03 -4.43581628e-04 9.99981225e-01 -5.43835681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.847552018 meters Centerline goodness [0,1] 0.9999077065066913 Centerline is valid? [True, True] Translation: X:89.22, Y:-9.70, Z:-0.54 [[ 9.98482009e-01 5.46451390e-02 -6.89831188e-03 8.92151537e+01] [-5.46404908e-02 9.98505722e-01 8.60641409e-04 -9.69930814e+00] [ 6.93503375e-03 -4.82407817e-04 9.99975836e-01 -5.44334001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87755201799999 meters Centerline goodness [0,1] 0.9999769122434373 Centerline is valid? [True, True] Translation: X:89.25, Y:-9.70, Z:-0.55 [[ 9.98380741e-01 5.63975998e-02 -7.43016268e-03 8.92463473e+01] [-5.63922547e-02 9.98408260e-01 9.27098418e-04 -9.70121864e+00] [ 7.47062192e-03 -5.06593580e-04 9.99971966e-01 -5.45252498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90755201799999 meters Centerline goodness [0,1] 0.9999769431186738 Centerline is valid? [True, True] Translation: X:89.28, Y:-9.70, Z:-0.55 [[ 9.98151351e-01 6.01990948e-02 -8.36359570e-03 8.92761160e+01] [-6.01924533e-02 9.98186245e-01 1.04377687e-03 -9.70492064e+00] [ 8.41126060e-03 -5.38421953e-04 9.99964480e-01 -5.46372444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.31, Y:-9.71, Z:-0.55 [[ 9.98053519e-01 6.18348504e-02 -8.10083904e-03 8.93081047e+01] [-6.18286661e-02 9.98086265e-01 1.01187833e-03 -9.70617944e+00] [ 8.14790553e-03 -5.09044655e-04 9.99966676e-01 -5.46201569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.34, Y:-9.71, Z:-0.55 [[ 9.97966658e-01 6.32219484e-02 -8.09540272e-03 8.93403659e+01] [-6.32158048e-02 9.97999367e-01 1.01281008e-03 -9.71124206e+00] [ 8.14323862e-03 -4.98993289e-04 9.99966719e-01 -5.45792508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.997552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:-9.72, Z:-0.55 [[ 9.97857754e-01 6.49763182e-02 -7.61452892e-03 8.93718281e+01] [-6.49709291e-02 9.97886702e-01 9.53242947e-04 -9.71512785e+00] [ 7.66037537e-03 -4.56477847e-04 9.99970555e-01 -5.45370310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.027552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:-9.72, Z:-0.55 [[ 9.97838214e-01 6.52757148e-02 -7.61438886e-03 8.94039895e+01] [-6.52703258e-02 9.97867162e-01 9.54360404e-04 -9.71927175e+00] [ 7.66044516e-03 -4.55303640e-04 9.99970555e-01 -5.45213607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.057552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.44, Y:-9.72, Z:-0.54 [[ 9.97678397e-01 6.77664049e-02 -6.74767115e-03 8.94356465e+01] [-6.77622202e-02 9.97701140e-01 8.47135001e-04 -9.72266489e+00] [ 6.78956648e-03 -3.87931112e-04 9.99976875e-01 -5.43861152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.087552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.47, Y:-9.73, Z:-0.54 [[ 9.97629823e-01 6.84991104e-02 -6.52741756e-03 8.94673926e+01] [-6.84952053e-02 9.97651108e-01 8.20210824e-04 -9.72719783e+00] [ 6.56826908e-03 -3.71169973e-04 9.99978360e-01 -5.43307037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.117552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.50, Y:-9.73, Z:-0.54 [[ 9.97591204e-01 6.91025823e-02 -6.05161376e-03 8.94987624e+01] [-6.90992276e-02 9.97609501e-01 7.61941291e-04 -9.73122781e+00] [ 6.08979950e-03 -3.41944093e-04 9.99981399e-01 -5.42618475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.147552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:-9.74, Z:-0.54 [[ 9.97620285e-01 6.87867148e-02 -4.70684357e-03 8.95296012e+01] [-6.87846773e-02 9.97631353e-01 5.93598659e-04 -9.73718440e+00] [ 4.73652641e-03 -2.68427348e-04 9.99988747e-01 -5.41545419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.177552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:-9.74, Z:-0.54 [[ 9.97602888e-01 6.90876470e-02 -3.92117806e-03 8.95620373e+01] [-6.90862324e-02 9.97610569e-01 4.95234309e-04 -9.74177385e+00] [ 3.94602324e-03 -2.23147759e-04 9.99992190e-01 -5.40804701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.207552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.59, Y:-9.75, Z:-0.54 [[ 9.97588082e-01 6.93117826e-02 -3.72767258e-03 8.95933977e+01] [-6.93105017e-02 9.97595024e-01 4.71869962e-04 -9.75006133e+00] [ 3.75141377e-03 -2.12364993e-04 9.99992941e-01 -5.40085390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.63, Y:-9.75, Z:-0.54 [[ 9.97541323e-01 6.99779315e-02 -3.79459595e-03 8.96254779e+01] [-6.99766048e-02 9.97548517e-01 4.81450384e-04 -9.75153479e+00] [ 3.81898446e-03 -2.14733712e-04 9.99992685e-01 -5.40320659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26755201799999 meters Centerline goodness [0,1] 0.9999767398585784 Centerline is valid? [True, True] Translation: X:89.66, Y:-9.75, Z:-0.54 [[ 9.97460786e-01 7.10627048e-02 -4.69821820e-03 8.96573125e+01] [-7.10606757e-02 9.97471816e-01 5.97617456e-04 -9.75465301e+00] [ 4.72880855e-03 -2.62241417e-04 9.99988785e-01 -5.41592309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:-9.76, Z:-0.54 [[ 9.97425554e-01 7.14715010e-02 -5.83848150e-03 8.96895815e+01] [-7.14683636e-02 9.97442589e-01 7.44506347e-04 -9.75914430e+00] [ 5.87676109e-03 -3.25322937e-04 9.99982679e-01 -5.42380835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32755201799999 meters Centerline goodness [0,1] 0.9999767803654771 Centerline is valid? [True, True] Translation: X:89.72, Y:-9.76, Z:-0.54 [[ 9.97436401e-01 7.12245516e-02 -6.90570526e-03 8.97199996e+01] [-7.12201414e-02 9.97460231e-01 8.82763494e-04 -9.76437328e+00] [ 6.95104079e-03 -3.88675138e-04 9.99975766e-01 -5.43460493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35755201799999 meters Centerline goodness [0,1] 0.9999768330823584 Centerline is valid? [True, True] Translation: X:89.75, Y:-9.77, Z:-0.54 [[ 9.97494837e-01 7.03410392e-02 -7.49593673e-03 8.97512252e+01] [-7.03358040e-02 9.97522908e-01 9.60079317e-04 -9.76927206e+00] [ 7.54490158e-03 -4.30441425e-04 9.99971444e-01 -5.43397135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.387552018 meters Centerline goodness [0,1] 0.9999767889886962 Centerline is valid? [True, True] Translation: X:89.78, Y:-9.78, Z:-0.54 [[ 9.97725548e-01 6.69242998e-02 -8.05417680e-03 8.97818643e+01] [-6.69181346e-02 9.97757935e-01 1.03284397e-03 -9.77550888e+00] [ 8.10524117e-03 -4.91524328e-04 9.99967031e-01 -5.43482662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.417552018 meters Centerline goodness [0,1] 0.9996752192270217 Centerline is valid? [True, True] Translation: X:89.81, Y:-9.78, Z:-0.54 [[ 9.97882747e-01 6.44989146e-02 -8.36145817e-03 8.98108858e+01] [-6.44921819e-02 9.97917636e-01 1.07263482e-03 -9.78222081e+00] [ 8.41323035e-03 -5.31115098e-04 9.99964467e-01 -5.43966236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.447552018 meters Centerline goodness [0,1] 0.9990018106690189 Centerline is valid? [True, True] Translation: X:89.84, Y:-9.79, Z:-0.54 [[ 9.98068600e-01 6.15463622e-02 -8.43295977e-03 8.98403668e+01] [-6.15394034e-02 9.98104068e-01 1.08245148e-03 -9.78897023e+00] [ 8.48359241e-03 -5.61401519e-04 9.99963856e-01 -5.44103204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.477552018 meters Centerline goodness [0,1] 0.9999302455357143 Centerline is valid? [True, True] Translation: X:89.87, Y:-9.78, Z:-0.54 [[ 9.98440968e-01 5.52756651e-02 -7.76107699e-03 8.98721348e+01] [-5.52695792e-02 9.98470971e-01 9.96621073e-04 -9.78377031e+00] [ 7.80429897e-03 -5.66115849e-04 9.99969386e-01 -5.41973936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.507552018 meters Centerline goodness [0,1] 0.9788247873181163 Centerline is valid? [True, True] Translation: X:89.90, Y:-9.80, Z:-0.54 [[ 9.98586906e-01 5.26612450e-02 -7.14027684e-03 8.99002893e+01] [-5.26560258e-02 9.98612288e-01 9.17122975e-04 -9.80417230e+00] [ 7.17866503e-03 -5.39848393e-04 9.99974087e-01 -5.41398458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.537552018 meters Centerline goodness [0,1] 0.9996280540251529 Centerline is valid? [True, True] Translation: X:89.93, Y:-9.80, Z:-0.54 [[ 9.98690711e-01 5.06319157e-02 -7.29877397e-03 8.99327418e+01] [-5.06264068e-02 9.98717221e-01 9.37671189e-04 -9.79599922e+00] [ 7.33688734e-03 -5.66932807e-04 9.99972924e-01 -5.39881558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.567552018 meters Centerline goodness [0,1] 0.999674107870295 Centerline is valid? [True, True] Translation: X:89.96, Y:-9.80, Z:-0.54 [[ 9.98827005e-01 4.78830599e-02 -7.19903284e-03 8.99640440e+01] [-4.78776276e-02 9.98852780e-01 9.25132381e-04 -9.79937821e+00] [ 7.23507214e-03 -5.79374592e-04 9.99973659e-01 -5.39184041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.597552018 meters Centerline goodness [0,1] 0.9997665732959851 Centerline is valid? [True, True] Translation: X:90.00, Y:-9.80, Z:-0.54 [[ 9.98877631e-01 4.67116981e-02 -7.84194430e-03 8.99952428e+01] [-4.67052116e-02 9.98908207e-01 1.00835326e-03 -9.80425169e+00] [ 7.88048441e-03 -6.40961849e-04 9.99968743e-01 -5.38924596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62755201799999 meters Centerline goodness [0,1] 0.9988571428571429 Centerline is valid? [True, True] Translation: X:90.03, Y:-9.81, Z:-0.54 [[ 9.98877147e-01 4.66300756e-02 -8.37146694e-03 9.00257650e+01] [-4.66226676e-02 9.98911991e-01 1.07800748e-03 -9.81195687e+00] [ 8.41262628e-03 -6.86496921e-04 9.99964378e-01 -5.39122469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65755201799999 meters Centerline goodness [0,1] 0.9995567065630759 Centerline is valid? [True, True] Translation: X:90.06, Y:-9.81, Z:-0.54 [[ 9.98855654e-01 4.70135326e-02 -8.78124524e-03 9.00592761e+01] [-4.70053742e-02 9.98893994e-01 1.13327174e-03 -9.81297941e+00] [ 8.82481224e-03 -7.19209170e-04 9.99960802e-01 -5.39350686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68755201799999 meters Centerline goodness [0,1] 0.9999301789745618 Centerline is valid? [True, True] Translation: X:90.09, Y:-9.82, Z:-0.54 [[ 9.98726873e-01 4.96481661e-02 -8.92709554e-03 9.00899132e+01] [-4.96398245e-02 9.98766518e-01 1.15370367e-03 -9.81592141e+00] [ 8.97336340e-03 -7.09095405e-04 9.99959487e-01 -5.39572117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71755201799999 meters Centerline goodness [0,1] 0.9996511790149295 Centerline is valid? [True, True] Translation: X:90.12, Y:-9.82, Z:-0.54 [[ 9.98554479e-01 5.29270933e-02 -9.36347681e-03 9.01191275e+01] [-5.29180583e-02 9.98598125e-01 1.21022020e-03 -9.82200310e+00] [ 9.41440382e-03 -7.12973792e-04 9.99955429e-01 -5.39380564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.747552018 meters Centerline goodness [0,1] 0.9998837263383098 Centerline is valid? [True, True] Translation: X:90.15, Y:-9.82, Z:-0.54 [[ 9.98356649e-01 5.64608391e-02 -9.80693166e-03 9.01505595e+01] [-5.64510969e-02 9.98404561e-01 1.26759958e-03 -9.82236970e+00] [ 9.86285503e-03 -7.11904414e-04 9.99951107e-01 -5.39818302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.777552018 meters Centerline goodness [0,1] 0.9999535045914216 Centerline is valid? [True, True] Translation: X:90.18, Y:-9.82, Z:-0.54 [[ 9.98115243e-01 6.04312099e-02 -1.06785041e-02 9.01814225e+01] [-6.04198839e-02 9.98172095e-01 1.38037056e-03 -9.82481914e+00] [ 1.07424023e-02 -7.32574923e-04 9.99942030e-01 -5.40112404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.807552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.21, Y:-9.82, Z:-0.54 [[ 9.97550875e-01 6.88063777e-02 -1.25672064e-02 9.02130382e+01] [-6.87913499e-02 9.97629746e-01 1.62469745e-03 -9.82278629e+00] [ 1.26492085e-02 -7.56203266e-04 9.99919710e-01 -5.40708277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.837552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.24, Y:-9.83, Z:-0.54 [[ 9.97214300e-01 7.35169148e-02 -1.26056847e-02 9.02441108e+01] [-7.35021674e-02 9.97293726e-01 1.62985199e-03 -9.82574334e+00] [ 1.26913919e-02 -6.98766564e-04 9.99919217e-01 -5.40814896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.867552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.27, Y:-9.83, Z:-0.54 [[ 9.96841439e-01 7.84764727e-02 -1.21896572e-02 9.02737687e+01] [-7.84630522e-02 9.96915776e-01 1.57607606e-03 -9.82968180e+00] [ 1.22757464e-02 -6.14660224e-04 9.99924461e-01 -5.40438256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.897552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:-9.83, Z:-0.54 [[ 9.95978522e-01 8.90012076e-02 -1.02746392e-02 9.03029425e+01] [-8.89922326e-02 9.96031434e-01 1.32833288e-03 -9.83287670e+00] [ 1.03520868e-02 -4.08627935e-04 9.99946332e-01 -5.39446154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.927552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.33, Y:-9.83, Z:-0.54 [[ 9.95441822e-01 9.49108441e-02 -9.35468893e-03 9.03343397e+01] [-9.49036649e-02 9.95485727e-01 1.20939607e-03 -9.83071042e+00] [ 9.42724411e-03 -3.16089168e-04 9.99955513e-01 -5.37925836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.957552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:-9.83, Z:-0.54 [[ 9.94869149e-01 1.00796892e-01 -8.68123419e-03 9.03642160e+01] [-1.00790932e-01 9.94906995e-01 1.12241658e-03 -9.83361893e+00] [ 8.75015672e-03 -2.41667948e-04 9.99961687e-01 -5.37125748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.40, Y:-9.83, Z:-0.54 [[ 9.94250694e-01 1.06795741e-01 -7.76057874e-03 9.03963239e+01] [-1.06791159e-01 9.94280967e-01 1.00355383e-03 -9.83493619e+00] [ 7.82337101e-03 -1.69022890e-04 9.99969383e-01 -5.35822860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.43, Y:-9.83, Z:-0.53 [[ 9.93048277e-01 1.17522150e-01 -6.60789188e-03 9.04275669e+01] [-1.17519064e-01 9.93070259e-01 8.54764653e-04 -9.83370089e+00] [ 6.66255468e-03 -7.22692949e-05 9.99977802e-01 -5.34250174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:-9.84, Z:-0.53 [[ 9.92473896e-01 1.22293326e-01 -6.31721857e-03 9.04602145e+01] [-1.22290601e-01 9.92494000e-01 8.17402294e-04 -9.83563284e+00] [ 6.36976438e-03 -3.87139855e-05 9.99979712e-01 -5.34026178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:-9.84, Z:-0.53 [[ 9.91971198e-01 1.26309582e-01 -6.24759173e-03 9.04919231e+01] [-1.26306991e-01 9.91990872e-01 8.09253277e-04 -9.83777651e+00] [ 6.29977041e-03 -1.36414324e-05 9.99980156e-01 -5.34094591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.52, Y:-9.84, Z:-0.53 [[ 9.91540636e-01 1.29638099e-01 -6.41335507e-03 9.05240109e+01] [-1.29635426e-01 9.91561376e-01 8.32542260e-04 -9.84078261e+00] [ 6.46716438e-03 5.89853384e-06 9.99979088e-01 -5.33897624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.137552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:-9.84, Z:-0.54 [[ 9.91237028e-01 1.31842117e-01 -8.17376051e-03 9.05571463e+01] [-1.31837826e-01 9.91270728e-01 1.06389054e-03 -9.84259397e+00] [ 8.24267511e-03 2.30431194e-05 9.99966028e-01 -5.36607768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.167552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:-9.85, Z:-0.54 [[ 9.91271356e-01 1.31506611e-01 -9.33328092e-03 9.05888714e+01] [-1.31500974e-01 9.91315293e-01 1.21780571e-03 -9.84662194e+00] [ 9.41237361e-03 2.01596099e-05 9.99955702e-01 -5.37943584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.197552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:-9.85, Z:-0.54 [[ 9.91407418e-01 1.30423328e-01 -1.00541657e-02 9.06214038e+01] [-1.30416698e-01 9.91458398e-01 1.31507204e-03 -9.85154709e+00] [ 1.01398031e-02 7.45891108e-06 9.99948591e-01 -5.38336750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.227552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:-9.86, Z:-0.54 [[ 9.91919080e-01 1.26364244e-01 -1.13409161e-02 9.06521137e+01] [-1.26355503e-01 9.91983909e-01 1.48687000e-03 -9.85812177e+00] [ 1.14378935e-02 -4.18675569e-05 9.99934584e-01 -5.39609980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.257552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.68, Y:-9.86, Z:-0.54 [[ 9.92150361e-01 1.24554489e-01 -1.11283907e-02 9.06846621e+01] [-1.24545922e-01 9.92212767e-01 1.46226677e-03 -9.86329418e+00] [ 1.12238632e-02 -6.47928260e-05 9.99937008e-01 -5.38786112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.287552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.72, Y:-9.87, Z:-0.54 [[ 9.92472247e-01 1.21921205e-01 -1.15783870e-02 9.07160742e+01] [-1.21911711e-01 9.92539777e-01 1.52487909e-03 -9.86934298e+00] [ 1.16779248e-02 -1.01859200e-04 9.99931806e-01 -5.38313264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.317552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.75, Y:-9.88, Z:-0.54 [[ 9.93179306e-01 1.16085235e-01 -1.09126207e-02 9.07459694e+01] [-1.16076433e-01 9.93239242e-01 1.43869888e-03 -9.87758460e+00] [ 1.10058548e-02 -1.62187864e-04 9.99939421e-01 -5.38595597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.347552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.78, Y:-9.88, Z:-0.54 [[ 9.93597167e-01 1.12501754e-01 -1.03934967e-02 9.07776323e+01] [-1.12493556e-01 9.93651507e-01 1.37187018e-03 -9.88398072e+00] [ 1.04818515e-02 -1.93884921e-04 9.99945045e-01 -5.38163798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.81, Y:-9.89, Z:-0.54 [[ 9.94046000e-01 1.08511826e-01 -9.88607679e-03 9.08095833e+01] [-1.08504196e-01 9.94095133e-01 1.30645262e-03 -9.88800738e+00] [ 9.96946638e-03 -2.25993187e-04 9.99950278e-01 -5.36327338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.84, Y:-9.89, Z:-0.53 [[ 9.94529587e-01 1.04046017e-01 -9.23723362e-03 9.08411409e+01] [-1.04039157e-01 9.94572452e-01 1.22140651e-03 -9.89395943e+00] [ 9.31418057e-03 -2.53690920e-04 9.99956590e-01 -5.34904098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.87, Y:-9.90, Z:-0.53 [[ 9.94971453e-01 9.97890995e-02 -8.59904727e-03 9.08719536e+01] [-9.97829842e-02 9.95008573e-01 1.13834384e-03 -9.90024641e+00] [ 8.66972006e-03 -2.74581025e-04 9.99962380e-01 -5.34005689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:-9.91, Z:-0.53 [[ 9.95931989e-01 8.97673325e-02 -7.82939830e-03 9.09013231e+01] [-8.97619445e-02 9.95962709e-01 1.03758695e-03 -9.90932168e+00] [ 7.89093015e-03 -3.30584022e-04 9.99968811e-01 -5.33011058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.497552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.93, Y:-9.92, Z:-0.53 [[ 9.96371309e-01 8.47908714e-02 -7.39753484e-03 9.09322185e+01] [-8.47859235e-02 9.96398708e-01 9.80484746e-04 -9.91532364e+00] [ 7.45403032e-03 -3.49720047e-04 9.99972157e-01 -5.32674156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.527552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:-9.92, Z:-0.53 [[ 9.97098752e-01 7.57899773e-02 -7.06808632e-03 9.09620789e+01] [-7.57852332e-02 9.97123724e-01 9.37021549e-04 -9.92356406e+00] [ 7.11877339e-03 -3.98646447e-04 9.99974582e-01 -5.32207575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.557552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.99, Y:-9.93, Z:-0.53 [[ 9.97343520e-01 7.24636403e-02 -7.41113490e-03 9.09928741e+01] [-7.24583321e-02 9.97370956e-01 9.82604931e-04 -9.92746697e+00] [ 7.46285383e-03 -4.42996186e-04 9.99972054e-01 -5.32389480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.587552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:-9.93, Z:-0.53 [[ 9.97585298e-01 6.90089619e-02 -7.83181043e-03 9.10238245e+01] [-6.90029262e-02 9.97615917e-01 1.03859798e-03 -9.93306951e+00] [ 7.88481131e-03 -4.95672240e-04 9.99968792e-01 -5.33099862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.617552018 meters Centerline goodness [0,1] 0.9999298508160689 Centerline is valid? [True, True] Translation: X:91.05, Y:-9.94, Z:-0.53 [[ 9.97789721e-01 6.59041090e-02 -8.50416927e-03 9.10529172e+01] [-6.58968784e-02 9.97825801e-01 1.12796385e-03 -9.93924943e+00] [ 8.56001697e-03 -5.65072530e-04 9.99963203e-01 -5.33790638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.647552018 meters Centerline goodness [0,1] 0.9999532830347341 Centerline is valid? [True, True] Translation: X:91.08, Y:-9.95, Z:-0.53 [[ 9.98048761e-01 6.19261624e-02 -7.98884491e-03 9.10828532e+01] [-6.19196546e-02 9.98080575e-01 1.05964089e-03 -9.94545944e+00] [ 8.03913041e-03 -5.62906757e-04 9.99967527e-01 -5.33082258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.677552018 meters Centerline goodness [0,1] 0.9994383731542368 Centerline is valid? [True, True] Translation: X:91.11, Y:-9.96, Z:-0.53 [[ 9.98088131e-01 6.13657221e-02 -7.37100605e-03 9.11129049e+01] [-6.13601617e-02 9.98115210e-01 9.78369236e-04 -9.95682347e+00] [ 7.41715159e-03 -5.24212599e-04 9.99972355e-01 -5.32202021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.707552018 meters Centerline goodness [0,1] 0.9999766213120119 Centerline is valid? [True, True] Translation: X:91.15, Y:-9.96, Z:-0.53 [[ 9.98107669e-01 6.10614760e-02 -7.25095120e-03 9.11454497e+01] [-6.10560740e-02 9.98133872e-01 9.64252288e-04 -9.95753549e+00] [ 7.29629866e-03 -5.19712991e-04 9.99973247e-01 -5.30923696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73755201799999 meters Centerline goodness [0,1] 0.9985948806819512 Centerline is valid? [True, True] Translation: X:91.18, Y:-9.97, Z:-0.53 [[ 9.98057017e-01 6.19799559e-02 -6.37780969e-03 9.11754114e+01] [-6.19757856e-02 9.98077292e-01 8.49641281e-04 -9.96728603e+00] [ 6.41820775e-03 -4.52720676e-04 9.99979301e-01 -5.30798511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.21, Y:-9.96, Z:-0.53 [[ 9.97865253e-01 6.51368077e-02 -4.70462249e-03 9.12076601e+01] [-6.51345693e-02 9.97876292e-01 6.27600760e-04 -9.96115249e+00] [ 4.73551116e-03 -3.19827431e-04 9.99988736e-01 -5.30748938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.24, Y:-9.97, Z:-0.53 [[ 9.97687247e-01 6.78757100e-02 -3.61172434e-03 9.12367045e+01] [-6.78744083e-02 9.97693757e-01 4.81900215e-04 -9.96665918e+00] [ 3.63610414e-03 -2.35642046e-04 9.99993362e-01 -5.29747922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:-9.97, Z:-0.53 [[ 9.97423020e-01 7.16911197e-02 -2.77522945e-03 9.12682378e+01] [-7.16903662e-02 9.97426867e-01 3.70180107e-04 -9.96565355e+00] [ 2.79462704e-03 -1.70268945e-04 9.99996081e-01 -5.28649319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:-9.97, Z:-0.53 [[ 9.96855995e-01 7.92285541e-02 -9.80977364e-04 9.12983649e+01] [-7.92284635e-02 9.96856476e-01 1.30844229e-04 -9.96789452e+00] [ 9.88260237e-04 -5.27115245e-05 9.99999510e-01 -5.26796474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.887552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:-9.98, Z:-0.53 [[ 9.96561519e-01 8.28555940e-02 -2.97485605e-04 9.13277855e+01] [-8.28555859e-02 9.96561564e-01 3.96938038e-05 -9.97514691e+00] [ 2.99751574e-04 -1.49089733e-05 9.99999955e-01 -5.25810854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.917552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:-9.98, Z:-0.53 [[ 9.96537478e-01 8.31442522e-02 -2.97659267e-04 9.13598980e+01] [-8.31442445e-02 9.96537522e-01 3.83937333e-05 -9.97956041e+00] [ 2.99820846e-04 -1.35121394e-05 9.99999955e-01 -5.25654350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.947552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:-9.98, Z:-0.53 [[ 9.96188615e-01 8.72230084e-02 6.25124758e-04 9.13913705e+01] [-8.72229730e-02 9.96188810e-01 -8.37010774e-05 -9.97627805e+00] [-6.30042949e-04 2.88568204e-05 9.99999801e-01 -5.25723633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.977552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:-9.98, Z:-0.53 [[ 9.95849990e-01 9.10072767e-02 6.88237845e-04 9.14224512e+01] [-9.10072346e-02 9.95850227e-01 -9.22638986e-05 -9.97842424e+00] [-6.93778501e-04 2.92463794e-05 9.99999759e-01 -5.25701901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.007552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:-9.98, Z:-0.53 [[ 9.95058628e-01 9.92874320e-02 5.76469796e-04 9.14534931e+01] [-9.92874040e-02 9.95058795e-01 -7.71692382e-05 -9.97685835e+00] [-5.81283276e-04 1.95517268e-05 9.99999831e-01 -5.27344573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.037552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:-9.98, Z:-0.53 [[ 9.94704478e-01 1.02776232e-01 2.17081649e-04 9.14849890e+01] [-1.02776228e-01 9.94704502e-01 -2.93427956e-05 -9.97985759e+00] [-2.18947835e-04 6.87657709e-06 9.99999976e-01 -5.27676398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.067552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.52, Y:-9.99, Z:-0.53 [[ 9.94335353e-01 1.06288263e-01 -1.07695081e-04 9.15152978e+01] [-1.06288262e-01 9.94335358e-01 1.32226704e-05 -9.98515412e+00] [ 1.08490441e-04 -1.70104564e-06 9.99999994e-01 -5.27512113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.097552018 meters Centerline goodness [0,1] 0.999976627868929 Centerline is valid? [True, True] Translation: X:91.55, Y:-9.99, Z:-0.53 [[ 9.93954192e-01 1.09794445e-01 -4.94174062e-04 9.15473670e+01] [-1.09794427e-01 9.93954315e-01 6.51118732e-05 -9.98639822e+00] [ 4.98335364e-04 -1.04606615e-05 9.99999876e-01 -5.27608193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:-9.99, Z:-0.53 [[ 9.93401656e-01 1.14678526e-01 -1.40924573e-03 9.15779842e+01] [-1.14678373e-01 9.93402655e-01 1.89242053e-04 -9.98851170e+00] [ 1.42165045e-03 -2.63833620e-05 9.99998989e-01 -5.29198469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:-9.99, Z:-0.53 [[ 9.93237036e-01 1.16081754e-01 -2.28390682e-03 9.16099004e+01] [-1.16081356e-01 9.93239661e-01 3.06308939e-04 -9.98925560e+00] [ 2.30402371e-03 -3.91183819e-05 9.99997345e-01 -5.30793761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:-9.99, Z:-0.53 [[ 9.92829842e-01 1.19529811e-01 -1.23663669e-03 9.16408673e+01] [-1.19529697e-01 9.92830612e-01 1.65666753e-04 -9.98975881e+00] [ 1.24757288e-03 -1.66640872e-05 9.99999222e-01 -5.31521010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21755201799999 meters Centerline goodness [0,1] 0.9999071667285555 Centerline is valid? [True, True] Translation: X:91.67, Y:-9.99, Z:-0.53 [[ 9.92731989e-01 1.20339908e-01 -1.22626162e-03 9.16725576e+01] [-1.20339797e-01 9.92732747e-01 1.64485072e-04 -9.99289635e+00] [ 1.23714418e-03 -1.57215192e-05 9.99999235e-01 -5.31700619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.247552018 meters Centerline goodness [0,1] 0.9998606498362635 Centerline is valid? [True, True] Translation: X:91.71, Y:-10.00, Z:-0.53 [[ 9.92703120e-01 1.20576333e-01 -1.36525215e-03 9.17053276e+01] [-1.20576194e-01 9.92704058e-01 1.83549580e-04 -9.99585094e+00] [ 1.37742309e-03 -1.75933319e-05 9.99999051e-01 -5.32167545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.277552018 meters Centerline goodness [0,1] 0.9999535704336522 Centerline is valid? [True, True] Translation: X:91.74, Y:-10.00, Z:-0.53 [[ 9.92870581e-01 1.19180392e-01 -2.01065826e-03 9.17371015e+01] [-1.19180086e-01 9.92872617e-01 2.71764791e-04 -1.00025143e+01] [ 2.02871656e-03 -3.01968423e-05 9.99997942e-01 -5.31940989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.307552018 meters Centerline goodness [0,1] 0.9994418474848252 Centerline is valid? [True, True] Translation: X:91.77, Y:-10.01, Z:-0.53 [[ 9.93529327e-01 1.13535697e-01 -3.02036808e-03 9.17682606e+01] [-1.13534974e-01 9.93533916e-01 4.10049804e-04 -1.00107960e+01] [ 3.04739341e-03 -6.44790939e-05 9.99995355e-01 -5.31592315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.337552018 meters Centerline goodness [0,1] 0.9990928755843974 Centerline is valid? [True, True] Translation: X:91.80, Y:-10.02, Z:-0.53 [[ 9.93864630e-01 1.10559336e-01 -3.11952311e-03 9.17995919e+01] [-1.10558551e-01 9.93869522e-01 4.23447258e-04 -1.00169609e+01] [ 3.14721499e-03 -7.59592968e-05 9.99995045e-01 -5.31558379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.367552018 meters Centerline goodness [0,1] 0.9991869918699187 Centerline is valid? [True, True] Translation: X:91.83, Y:-10.02, Z:-0.53 [[ 9.94222221e-01 1.07281521e-01 -3.58466334e-03 9.18317897e+01] [-1.07280458e-01 9.94228679e-01 4.87959295e-04 -1.00209583e+01] [ 3.61632411e-03 -1.00575648e-04 9.99993456e-01 -5.31928386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.397552018 meters Centerline goodness [0,1] 0.9990936555891239 Centerline is valid? [True, True] Translation: X:91.86, Y:-10.03, Z:-0.53 [[ 9.94625262e-01 1.03465210e-01 -3.94178140e-03 9.18630045e+01] [-1.03463894e-01 9.94633065e-01 5.36877696e-04 -1.00256659e+01] [ 3.97617428e-03 -1.26160066e-04 9.99992087e-01 -5.32633279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.427552018 meters Centerline goodness [0,1] 0.9988376147855399 Centerline is valid? [True, True] Translation: X:91.89, Y:-10.03, Z:-0.53 [[ 9.95272195e-01 9.70048833e-02 -4.82808403e-03 9.18928226e+01] [-9.70028292e-02 9.95283888e-01 6.58363245e-04 -1.00323749e+01] [ 4.86917869e-03 -1.86912822e-04 9.99988128e-01 -5.33596617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.457552018 meters Centerline goodness [0,1] 0.9987491023651232 Centerline is valid? [True, True] Translation: X:91.92, Y:-10.04, Z:-0.53 [[ 9.95495644e-01 9.46647527e-02 -5.19688609e-03 9.19238101e+01] [-9.46623399e-02 9.95509186e-01 7.08858513e-04 -1.00379562e+01] [ 5.24065176e-03 -2.13716164e-04 9.99986245e-01 -5.32979603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48755201799999 meters Centerline goodness [0,1] 0.9985172142162086 Centerline is valid? [True, True] Translation: X:91.96, Y:-10.04, Z:-0.53 [[ 9.95676157e-01 9.27320438e-02 -5.45510786e-03 9.19552316e+01] [-9.27293491e-02 9.95691073e-01 7.45394742e-04 -1.00430461e+01] [ 5.50072418e-03 -2.36323170e-04 9.99984843e-01 -5.33271576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51755201799999 meters Centerline goodness [0,1] 0.9987067870586334 Centerline is valid? [True, True] Translation: X:91.99, Y:-10.05, Z:-0.53 [[ 9.95864120e-01 9.06140442e-02 -6.61428722e-03 9.19860090e+01] [-9.06100314e-02 9.95886040e-01 9.04469667e-04 -1.00469325e+01] [ 6.66903396e-03 -3.01408116e-04 9.99977716e-01 -5.32963109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54755201799999 meters Centerline goodness [0,1] 0.9986615281656013 Centerline is valid? [True, True] Translation: X:92.02, Y:-10.05, Z:-0.53 [[ 9.95812309e-01 9.11580645e-02 -6.93204676e-03 9.20180312e+01] [-9.11536615e-02 9.95836387e-01 9.49137121e-04 -1.00487748e+01] [ 6.98970590e-03 -3.13280983e-04 9.99975523e-01 -5.33044739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57755201799999 meters Centerline goodness [0,1] 0.9986628242074927 Centerline is valid? [True, True] Translation: X:92.05, Y:-10.05, Z:-0.53 [[ 9.95723266e-01 9.20940752e-02 -7.33885440e-03 9.20500217e+01] [-9.20891506e-02 9.95750257e-01 1.00686832e-03 -1.00499320e+01] [ 7.40039276e-03 -3.26733343e-04 9.99972563e-01 -5.32692688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60755201799999 meters Centerline goodness [0,1] 0.9987133239896147 Centerline is valid? [True, True] Translation: X:92.08, Y:-10.05, Z:-0.53 [[ 9.95638911e-01 9.29023563e-02 -8.50357523e-03 9.20819768e+01] [-9.28957525e-02 9.95675154e-01 1.16916265e-03 -1.00519582e+01] [ 8.57541654e-03 -3.74117805e-04 9.99963160e-01 -5.32411448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.637552018 meters Centerline goodness [0,1] 0.9986682586333578 Centerline is valid? [True, True] Translation: X:92.11, Y:-10.06, Z:-0.53 [[ 9.95694131e-01 9.21279792e-02 -1.02777522e-02 9.21122500e+01] [-9.21182666e-02 9.95747067e-01 1.41544968e-03 -1.00603912e+01] [ 1.03644441e-02 -4.62586221e-04 9.99946181e-01 -5.34369761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.667552018 meters Centerline goodness [0,1] 0.9988271008693252 Centerline is valid? [True, True] Translation: X:92.14, Y:-10.06, Z:-0.53 [[ 9.95775837e-01 9.12041374e-02 -1.05965679e-02 9.21448588e+01] [-9.11937361e-02 9.95832097e-01 1.46165549e-03 -1.00612974e+01] [ 1.06857114e-02 -4.89140602e-04 9.99942787e-01 -5.33848964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.697552018 meters Centerline goodness [0,1] 0.9986665440500276 Centerline is valid? [True, True] Translation: X:92.17, Y:-10.07, Z:-0.53 [[ 9.95846380e-01 9.04889772e-02 -1.00862125e-02 9.21747808e+01] [-9.04794928e-02 9.95897344e-01 1.39364705e-03 -1.00686013e+01] [ 1.01709419e-02 -4.75262978e-04 9.99948162e-01 -5.34377590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.727552018 meters Centerline goodness [0,1] 0.9986907386990077 Centerline is valid? [True, True] Translation: X:92.21, Y:-10.07, Z:-0.53 [[ 9.95825274e-01 9.08130907e-02 -9.21993468e-03 9.22069381e+01] [-9.08051582e-02 9.95867860e-01 1.27622668e-03 -1.00730646e+01] [ 9.29773471e-03 -4.33681151e-04 9.99956681e-01 -5.34236315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.757552018 meters Centerline goodness [0,1] 0.9986201186697944 Centerline is valid? [True, True] Translation: X:92.24, Y:-10.08, Z:-0.53 [[ 9.95863042e-01 9.04675741e-02 -8.50991825e-03 9.22374636e+01] [-9.04607847e-02 9.95899319e-01 1.18017953e-03 -1.00799883e+01] [ 8.58178977e-03 -4.05483299e-04 9.99963094e-01 -5.34424948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.787552018 meters Centerline goodness [0,1] 0.9982937514410883 Centerline is valid? [True, True] Translation: X:92.27, Y:-10.09, Z:-0.53 [[ 9.96134468e-01 8.73771628e-02 -9.01957337e-03 9.22673388e+01] [-8.73693974e-02 9.96175196e-01 1.25216777e-03 -1.00890929e+01] [ 9.09448613e-03 -4.59292790e-04 9.99958539e-01 -5.34956432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.817552018 meters Centerline goodness [0,1] 0.9984791575454525 Centerline is valid? [True, True] Translation: X:92.30, Y:-10.09, Z:-0.53 [[ 9.96259133e-01 8.59875006e-02 -8.59592152e-03 9.22986098e+01] [-8.59803871e-02 9.96296114e-01 1.19438494e-03 -1.00938471e+01] [ 8.66678538e-03 -4.50836250e-04 9.99962341e-01 -5.34045122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.847552018 meters Centerline goodness [0,1] 0.9983330632278379 Centerline is valid? [True, True] Translation: X:92.33, Y:-10.10, Z:-0.53 [[ 9.96632248e-01 8.16859864e-02 -7.18062772e-03 9.23293309e+01] [-8.16809033e-02 9.96658032e-01 9.98817880e-04 -1.01010191e+01] [ 7.23821972e-03 -4.08933951e-04 9.99973720e-01 -5.34081265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87755201799999 meters Centerline goodness [0,1] 0.9982174688057041 Centerline is valid? [True, True] Translation: X:92.36, Y:-10.11, Z:-0.53 [[ 9.96839020e-01 7.91186812e-02 -7.22519190e-03 9.23584261e+01] [-7.91134646e-02 9.96865111e-01 1.00543034e-03 -1.01097497e+01] [ 7.28209004e-03 -4.30642235e-04 9.99973393e-01 -5.33793113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90755201799999 meters Centerline goodness [0,1] 0.9977926996445085 Centerline is valid? [True, True] Translation: X:92.39, Y:-10.12, Z:-0.53 [[ 9.97045008e-01 7.65990001e-02 -5.81765933e-03 9.23880985e+01] [-7.65955731e-02 9.97061915e-01 8.09940764e-04 -1.01182468e+01] [ 5.86260720e-03 -3.61940445e-04 9.99982749e-01 -5.33449979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93755201799999 meters Centerline goodness [0,1] 0.9902709731348829 Centerline is valid? [True, True] Translation: X:92.42, Y:-10.13, Z:-0.53 [[ 9.97275619e-01 7.36050413e-02 -4.86191130e-03 9.24163734e+01] [-7.36026120e-02 9.97287420e-01 6.76956478e-04 -1.01321388e+01] [ 4.89855039e-03 -3.17262819e-04 9.99987952e-01 -5.33171407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96755201799999 meters Centerline goodness [0,1] 0.9946740470265367 Centerline is valid? [True, True] Translation: X:92.45, Y:-10.13, Z:-0.53 [[ 9.97641584e-01 6.85794034e-02 -2.85238980e-03 9.24476594e+01] [-6.85785470e-02 9.97645641e-01 3.97112786e-04 -1.01342129e+01] [ 2.87290801e-03 -2.00563481e-04 9.99995853e-01 -5.31935815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.997552018 meters Centerline goodness [0,1] 0.9966068606488798 Centerline is valid? [True, True] Translation: X:92.48, Y:-10.14, Z:-0.53 [[ 9.97742216e-01 6.71095220e-02 -2.60447655e-03 9.24798551e+01] [-6.71088031e-02 9.97745597e-01 3.62531204e-04 -1.01371969e+01] [ 2.62293431e-03 -1.86929382e-04 9.99996543e-01 -5.31529823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.027552018 meters Centerline goodness [0,1] 0.9881148587478819 Centerline is valid? [True, True] Translation: X:92.51, Y:-10.15, Z:-0.53 [[ 9.97798630e-01 6.62669425e-02 -2.56628893e-03 9.25095177e+01] [-6.62662422e-02 9.97801913e-01 3.57030301e-04 -1.01473169e+01] [ 2.58430731e-03 -1.86186022e-04 9.99996643e-01 -5.31608328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.057552018 meters Centerline goodness [0,1] 0.9936317575419514 Centerline is valid? [True, True] Translation: X:92.54, Y:-10.15, Z:-0.53 [[ 9.97930746e-01 6.42032708e-02 -3.48810121e-03 9.25409410e+01] [-6.42019591e-02 9.97936807e-01 4.86834520e-04 -1.01497598e+01] [ 3.51216096e-03 -2.61884204e-04 9.99993798e-01 -5.32004243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.087552018 meters Centerline goodness [0,1] 0.9909112040911204 Centerline is valid? [True, True] Translation: X:92.57, Y:-10.16, Z:-0.53 [[ 9.98007030e-01 6.29803441e-02 -3.93004027e-03 9.25726651e+01] [-6.29786690e-02 9.98014722e-01 5.48655924e-04 -1.01558275e+01] [ 3.95679259e-03 -3.00053764e-04 9.99992127e-01 -5.32354269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.117552018 meters Centerline goodness [0,1] 0.9916134278081078 Centerline is valid? [True, True] Translation: X:92.60, Y:-10.16, Z:-0.53 [[ 9.98083840e-01 6.17463496e-02 -4.00447697e-03 9.26043970e+01] [-6.17445993e-02 9.98091825e-01 5.59357820e-04 -1.01601814e+01] [ 4.03137403e-03 -3.11031175e-04 9.99991826e-01 -5.32612862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.147552018 meters Centerline goodness [0,1] 0.9880206156846357 Centerline is valid? [True, True] Translation: X:92.63, Y:-10.17, Z:-0.53 [[ 9.98154894e-01 6.05732832e-02 -4.20537514e-03 9.26349816e+01] [-6.05713416e-02 9.98163698e-01 5.87661738e-04 -1.01664362e+01] [ 4.23324940e-03 -3.31852226e-04 9.99990985e-01 -5.32623686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.177552018 meters Centerline goodness [0,1] 0.9904120719674986 Centerline is valid? [True, True] Translation: X:92.67, Y:-10.17, Z:-0.53 [[ 9.98317113e-01 5.78534782e-02 -3.98948858e-03 9.26653685e+01] [-5.78517048e-02 9.98325031e-01 5.58592046e-04 -1.01695806e+01] [ 4.01512281e-03 -3.26853283e-04 9.99991886e-01 -5.32775901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.207552018 meters Centerline goodness [0,1] 0.9849285846781674 Centerline is valid? [True, True] Translation: X:92.70, Y:-10.18, Z:-0.53 [[ 9.98325041e-01 5.77665496e-02 -3.18393156e-03 9.26959942e+01] [-5.77654207e-02 9.98330085e-01 4.45479254e-04 -1.01766957e+01] [ 3.20434846e-03 -2.60811949e-04 9.99994832e-01 -5.31615964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23755201799999 meters Centerline goodness [0,1] 0.9847872538089929 Centerline is valid? [True, True] Translation: X:92.73, Y:-10.18, Z:-0.53 [[ 9.98380493e-01 5.68561108e-02 -1.94276972e-03 9.27274792e+01] [-5.68556877e-02 9.98382370e-01 2.72327976e-04 -1.01821967e+01] [ 1.95511055e-03 -1.61429431e-04 9.99998076e-01 -5.30499860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26755201799999 meters Centerline goodness [0,1] 0.9819803083782278 Centerline is valid? [True, True] Translation: X:92.76, Y:-10.19, Z:-0.53 [[ 9.98362081e-01 5.71904150e-02 -1.55266995e-03 9.27595341e+01] [-5.71901463e-02 9.98363281e-01 2.16960287e-04 -1.01880505e+01] [ 1.56253672e-03 -1.27807502e-04 9.99998771e-01 -5.29190778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29755201799999 meters Centerline goodness [0,1] 0.9801066543009506 Centerline is valid? [True, True] Translation: X:92.79, Y:-10.19, Z:-0.53 [[ 9.98315629e-01 5.80142041e-02 -5.06378496e-04 9.27909031e+01] [-5.80141760e-02 9.98315757e-01 7.01024152e-05 -1.01931378e+01] [ 5.09592567e-04 -4.06072056e-05 9.99999869e-01 -5.27351921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32755201799999 meters Centerline goodness [0,1] 0.9651606634742175 Centerline is valid? [True, True] Translation: X:92.82, Y:-10.20, Z:-0.53 [[ 9.98266734e-01 5.88470269e-02 -7.45354562e-04 9.28214290e+01] [-5.88469655e-02 9.98267010e-01 1.04058855e-04 -1.02011059e+01] [ 7.50186425e-04 -6.00166389e-05 9.99999717e-01 -5.27066077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35755201799999 meters Centerline goodness [0,1] 0.974827314449956 Centerline is valid? [True, True] Translation: X:92.85, Y:-10.20, Z:-0.53 [[ 9.98212038e-01 5.97653814e-02 -9.09468725e-04 9.28539700e+01] [-5.97652900e-02 9.98212449e-01 1.27386025e-04 -1.02025497e+01] [ 9.15456278e-04 -7.28036013e-05 9.99999578e-01 -5.27099919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.387552018 meters Centerline goodness [0,1] 0.9666334776668905 Centerline is valid? [True, True] Translation: X:92.88, Y:-10.21, Z:-0.53 [[ 9.98173135e-01 6.03938505e-02 -1.72512949e-03 9.28847899e+01] [-6.03935197e-02 9.98174616e-01 2.43256766e-04 -1.02093688e+01] [ 1.73667167e-03 -1.38625727e-04 9.99998482e-01 -5.28338540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.417552018 meters Centerline goodness [0,1] 0.9486364163862133 Centerline is valid? [True, False] Translation: X:92.89, Y:-10.21, Z:-0.53 [[ 9.98442181e-01 5.57492748e-02 -2.28663439e-03 9.28869424e+01] [-5.57597292e-02 9.98432697e-01 -4.79610294e-03 -1.02090077e+01] [ 2.01567128e-03 4.91613359e-03 9.99985884e-01 -5.30891446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.447552018 meters Centerline goodness [0,1] 0.9721977461392199 Centerline is valid? [False, True] Translation: X:92.89, Y:-10.21, Z:-0.53 [[ 9.98452535e-01 5.55659347e-02 -2.22777418e-03 9.28870342e+01] [-5.55768540e-02 9.98440962e-01 -5.18249058e-03 -1.02080908e+01] [ 1.93633106e-03 5.29828353e-03 9.99984089e-01 -5.31186320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.477552018 meters Centerline goodness [0,1] 0.9603159894361303 Centerline is valid? [True, True] Translation: X:92.92, Y:-10.22, Z:-0.53 [[ 9.98464702e-01 5.53684276e-02 -1.60493093e-03 9.29172029e+01] [-5.53681404e-02 9.98465983e-01 2.22901491e-04 -1.02167746e+01] [ 1.61481065e-03 -1.33697230e-04 9.99998687e-01 -5.28389836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.507552018 meters Centerline goodness [0,1] 0.9523104676442019 Centerline is valid? [True, True] Translation: X:92.95, Y:-10.22, Z:-0.53 [[ 9.98522959e-01 5.43071663e-02 -1.62239181e-03 9.29487230e+01] [-5.43068702e-02 9.98524267e-01 2.26035319e-04 -1.02226432e+01] [ 1.63227293e-03 -1.37594434e-04 9.99998658e-01 -5.29372577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.537552018 meters Centerline goodness [0,1] 0.9726271873913548 Centerline is valid? [True, True] Translation: X:92.98, Y:-10.22, Z:-0.53 [[ 9.98641500e-01 5.20882718e-02 -1.40257996e-03 9.29802921e+01] [-5.20880481e-02 9.98642477e-01 1.95590277e-04 -1.02212205e+01] [ 1.41086389e-03 -1.22266915e-04 9.99998997e-01 -5.29409527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.567552018 meters Centerline goodness [0,1] 0.9833174783637672 Centerline is valid? [True, True] Translation: X:93.01, Y:-10.22, Z:-0.53 [[ 9.98654425e-01 5.18497657e-02 -9.69860945e-04 9.30125514e+01] [-5.18496593e-02 9.98654893e-01 1.34607812e-04 -1.02221042e+01] [ 9.75535761e-04 -8.41397281e-05 9.99999521e-01 -5.29058991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.597552018 meters Centerline goodness [0,1] 0.9782648994346094 Centerline is valid? [True, True] Translation: X:93.04, Y:-10.23, Z:-0.53 [[ 9.98629221e-01 5.23409336e-02 -3.26332288e-04 9.30426119e+01] [-5.23409218e-02 9.98629274e-01 4.48200036e-05 -1.02290153e+01] [ 3.28230896e-04 -2.76780325e-05 9.99999946e-01 -5.27499402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62755201799999 meters Centerline goodness [0,1] 0.9778962001853568 Centerline is valid? [True, True] Translation: X:93.07, Y:-10.23, Z:-0.53 [[ 9.98626217e-01 5.23973266e-02 4.46153088e-04 9.30746901e+01] [-5.23973034e-02 9.98626316e-01 -6.35228956e-05 -1.02335424e+01] [-4.48868644e-04 4.00584102e-05 9.99999898e-01 -5.26999613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65755201799999 meters Centerline goodness [0,1] 0.9691585963445505 Centerline is valid? [True, True] Translation: X:93.10, Y:-10.24, Z:-0.53 [[ 9.98660804e-01 5.17355188e-02 -1.84571265e-04 9.31047463e+01] [-5.17355149e-02 9.98660821e-01 2.57659788e-05 -1.02395131e+01] [ 1.85657107e-04 -1.61825837e-05 9.99999983e-01 -5.27905465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68755201799999 meters Centerline goodness [0,1] 0.9616518489287124 Centerline is valid? [True, True] Translation: X:93.14, Y:-10.25, Z:-0.53 [[ 9.98648549e-01 5.19707391e-02 -3.42508689e-04 9.31357942e+01] [-5.19707259e-02 9.98648608e-01 4.71760696e-05 -1.02451488e+01] [ 3.44497601e-04 -2.93118882e-05 9.99999940e-01 -5.28315607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71755201799999 meters Centerline goodness [0,1] 0.9295552200673557 Centerline is valid? [True, False] Translation: X:93.14, Y:-10.24, Z:-0.53 [[ 9.98853999e-01 4.78565466e-02 -6.62364950e-04 9.31368151e+01] [-4.78592765e-02 9.98841460e-01 -5.02271883e-03 -1.02424543e+01] [ 4.21227596e-04 5.04866310e-03 9.99987167e-01 -5.29920964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.747552018 meters Centerline goodness [0,1] 0.951862344417611 Centerline is valid? [False, True] Translation: X:93.14, Y:-10.24, Z:-0.53 [[ 9.98877488e-01 4.73634936e-02 -6.80100193e-04 9.31369901e+01] [-4.73663406e-02 9.98864712e-01 -5.07116984e-03 -1.02432847e+01] [ 4.39139763e-04 5.09769126e-03 9.99986910e-01 -5.29871722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.777552018 meters Centerline goodness [0,1] 0.9531829992576095 Centerline is valid? [True, True] Translation: X:93.17, Y:-10.25, Z:-0.53 [[ 9.98967559e-01 4.54235234e-02 7.21253872e-04 9.31674916e+01] [-4.54234622e-02 9.98967817e-01 -1.00996600e-04 -1.02491380e+01] [-7.25097027e-04 6.81304792e-05 9.99999735e-01 -5.26979523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.807552018 meters Centerline goodness [0,1] 0.9305806990669823 Centerline is valid? [True, False] Translation: X:93.17, Y:-10.25, Z:-0.53 [[ 9.99148238e-01 4.12598824e-02 6.48769659e-04 9.31678488e+01] [-4.12561514e-02 9.99136192e-01 -4.97988701e-03 -1.02467055e+01] [-8.53678799e-04 4.94887959e-03 9.99987390e-01 -5.27980585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.837552018 meters Centerline goodness [0,1] 0.9305806990669823 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.25, Z:-0.53 [[ 9.99148238e-01 4.12598824e-02 6.48769659e-04 9.31678488e+01] [-4.12561514e-02 9.99136192e-01 -4.97988701e-03 -1.02467055e+01] [-8.53678799e-04 4.94887959e-03 9.99987390e-01 -5.27980585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.867552018 meters Centerline goodness [0,1] 0.9079249483962242 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.25, Z:-0.53 [[ 9.99168826e-01 4.07595906e-02 5.59398275e-04 9.31684454e+01] [-4.07559057e-02 9.99153991e-01 -5.50084712e-03 -1.02461968e+01] [-7.83137296e-04 5.47347618e-03 9.99984714e-01 -5.28528016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.897552018 meters Centerline goodness [0,1] 0.9328295939180419 Centerline is valid? [False, False] Translation: X:93.16, Y:-10.25, Z:-0.53 [[ 9.99421504e-01 3.38469967e-02 3.32231236e-03 9.31624119e+01] [-3.38495502e-02 9.99426684e-01 7.15361872e-04 -1.02450206e+01] [-3.29619477e-03 -8.27406817e-04 9.99994225e-01 -5.31392960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.927552018 meters Centerline goodness [0,1] 0.9147778575232097 Centerline is valid? [False, False] Translation: X:93.16, Y:-10.24, Z:-0.53 [[ 9.99562191e-01 2.94585305e-02 2.76084940e-03 9.31642396e+01] [-2.94456192e-02 9.99555771e-01 -4.60603210e-03 -1.02423788e+01] [-2.89530989e-03 4.52272061e-03 9.99985581e-01 -5.33424221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.957552018 meters Centerline goodness [0,1] 0.9528063881495197 Centerline is valid? [False, True] Translation: X:93.16, Y:-10.24, Z:-0.53 [[ 9.99571498e-01 2.91706226e-02 2.42804948e-03 9.31649535e+01] [-2.91587080e-02 9.99563242e-01 -4.80575874e-03 -1.02426468e+01] [-2.56717598e-03 4.73290067e-03 9.99985505e-01 -5.33538782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98755201799999 meters Centerline goodness [0,1] 0.9415253451950699 Centerline is valid? [True, False] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99671291e-01 2.55554108e-02 2.05670296e-03 9.31652933e+01] [-2.55364607e-02 9.99635461e-01 -8.76555613e-03 -1.02420754e+01] [-2.27996059e-03 8.71015390e-03 9.99959467e-01 -5.33595505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01755201799999 meters Centerline goodness [0,1] 0.9063596440272323 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99671483e-01 2.55590330e-02 1.91350894e-03 9.31654618e+01] [-2.55422333e-02 9.99638938e-01 -8.34193208e-03 -1.02434221e+01] [-2.12602976e-03 8.29031632e-03 9.99963375e-01 -5.33334946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04755201799999 meters Centerline goodness [0,1] 0.8780278023153099 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99672578e-01 2.55126718e-02 1.95965614e-03 9.31657483e+01] [-2.54956689e-02 9.99640807e-01 -8.26001004e-03 -1.02434879e+01] [-2.16968717e-03 8.20734279e-03 9.99963965e-01 -5.33753871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07755201799999 meters Centerline goodness [0,1] 0.8837500870655429 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99680563e-01 2.52111169e-02 1.78112626e-03 9.31665789e+01] [-2.51950994e-02 9.99646365e-01 -8.50596857e-03 -1.02435146e+01] [-1.99494136e-03 8.45837579e-03 9.99962237e-01 -5.34396764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10755201799999 meters Centerline goodness [0,1] 0.8817994775412072 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99676679e-01 2.53645982e-02 1.78158883e-03 9.31665845e+01] [-2.53477526e-02 9.99638941e-01 -8.91505049e-03 -1.02414378e+01] [-2.00707225e-03 8.86700880e-03 9.99958673e-01 -5.34535523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.137552018 meters Centerline goodness [0,1] 0.8776365446505059 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99648972e-01 2.64118717e-02 2.08478266e-03 9.31652228e+01] [-2.63943047e-02 9.99619225e-01 -8.04646240e-03 -1.02414735e+01] [-2.29651096e-03 7.98861148e-03 9.99965453e-01 -5.33457062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.167552018 meters Centerline goodness [0,1] 0.9324991310392771 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99640599e-01 2.67368095e-02 1.95358923e-03 9.31652669e+01] [-2.67204010e-02 9.99611005e-01 -7.99114492e-03 -1.02409495e+01] [-2.16648701e-03 7.93607221e-03 9.99966162e-01 -5.33262960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.197552018 meters Centerline goodness [0,1] 0.87937184416547 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99627750e-01 2.72232026e-02 1.80541537e-03 9.31652512e+01] [-2.72082115e-02 9.99598850e-01 -7.86456762e-03 -1.02402685e+01] [-2.01878984e-03 7.81251791e-03 9.99967444e-01 -5.33005336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.227552018 meters Centerline goodness [0,1] 0.9491258902969198 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99615150e-01 2.76960467e-02 1.57533377e-03 9.31657152e+01] [-2.76824385e-02 9.99584046e-01 -8.08812616e-03 -1.02385490e+01] [-1.79868762e-03 8.04140436e-03 9.99966050e-01 -5.33366919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.257552018 meters Centerline goodness [0,1] 0.9054003983141123 Centerline is valid? [False, False] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99569557e-01 2.93050345e-02 1.38400382e-03 9.31654338e+01] [-2.92941695e-02 9.99544116e-01 -7.30830690e-03 -1.02374530e+01] [-1.59754306e-03 7.26461785e-03 9.99972336e-01 -5.33033638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.287552018 meters Centerline goodness [0,1] 0.9623296387995465 Centerline is valid? [False, True] Translation: X:93.17, Y:-10.24, Z:-0.53 [[ 9.99564336e-01 2.94876728e-02 1.27126144e-03 9.31655236e+01] [-2.94776643e-02 9.99538927e-01 -7.28010690e-03 -1.02371565e+01] [-1.48534870e-03 7.23946139e-03 9.99972692e-01 -5.32930455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.317552018 meters Centerline goodness [0,1] 0.9807110351359468 Centerline is valid? [True, True] Translation: X:93.20, Y:-10.24, Z:-0.53 [[ 9.99506926e-01 3.12367987e-02 3.18860247e-03 9.31968707e+01] [-3.12357806e-02 9.99511976e-01 -3.68605127e-04 -1.02399779e+01] [-3.19856040e-03 2.68824891e-04 9.99994848e-01 -5.28272283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.347552018 meters Centerline goodness [0,1] 0.9833279378439624 Centerline is valid? [True, True] Translation: X:93.23, Y:-10.24, Z:-0.53 [[ 9.99482654e-01 3.18602992e-02 4.39831386e-03 9.32284381e+01] [-3.18583633e-02 9.99492264e-01 -5.09535854e-04 -1.02441374e+01] [-4.41231464e-03 3.69149167e-04 9.99990198e-01 -5.27455761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37755201799999 meters Centerline goodness [0,1] 0.9859857317664442 Centerline is valid? [True, True] Translation: X:93.26, Y:-10.25, Z:-0.52 [[ 9.99468295e-01 3.18297268e-02 7.07079200e-03 9.32602699e+01] [-3.18247091e-02 9.99493128e-01 -8.21050259e-04 -1.02470227e+01] [-7.09334182e-03 5.95587804e-04 9.99974665e-01 -5.24882196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40755201799999 meters Centerline goodness [0,1] 0.9756936429527723 Centerline is valid? [True, True] Translation: X:93.29, Y:-10.25, Z:-0.52 [[ 9.99448643e-01 3.22576825e-02 7.86465853e-03 9.32910969e+01] [-3.22514727e-02 9.99479367e-01 -9.15160068e-04 -1.02515728e+01] [-7.89008487e-03 6.61008667e-04 9.99968654e-01 -5.24820174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43755201799999 meters Centerline goodness [0,1] 0.9677954770741604 Centerline is valid? [True, True] Translation: X:93.32, Y:-10.26, Z:-0.52 [[ 9.99471995e-01 3.16371525e-02 7.40410805e-03 9.33228741e+01] [-3.16316177e-02 9.99499222e-01 -8.63476062e-04 -1.02566318e+01] [-7.42771816e-03 6.28816227e-04 9.99972216e-01 -5.24887612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46755201799999 meters Centerline goodness [0,1] 0.9685189876332819 Centerline is valid? [True, True] Translation: X:93.35, Y:-10.26, Z:-0.53 [[ 9.99527320e-01 3.00597568e-02 6.44578217e-03 9.33541979e+01] [-3.00555276e-02 9.99547948e-01 -7.52011301e-04 -1.02594484e+01] [-6.46547362e-03 5.57924456e-04 9.99978943e-01 -5.25648003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.497552018 meters Centerline goodness [0,1] 0.9317454838338511 Centerline is valid? [True, False] Translation: X:93.36, Y:-10.26, Z:-0.53 [[ 9.99572777e-01 2.86065079e-02 5.99417974e-03 9.33564293e+01] [-2.85945934e-02 9.99588960e-01 -2.06404355e-03 -1.02588405e+01] [-6.05076097e-03 1.89176061e-03 9.99979905e-01 -5.27491457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.527552018 meters Centerline goodness [0,1] 0.9195375829034635 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.53 [[ 9.99599928e-01 2.76993221e-02 5.72109770e-03 9.33576689e+01] [-2.76836817e-02 9.99612825e-01 -2.79515840e-03 -1.02588708e+01] [-5.79630663e-03 2.63565908e-03 9.99979728e-01 -5.28419245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.557552018 meters Centerline goodness [0,1] 0.9462444941540022 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.53 [[ 9.99621604e-01 2.69540335e-02 5.48890153e-03 9.33585435e+01] [-2.69365527e-02 9.99631913e-01 -3.23416827e-03 -1.02590816e+01] [-5.57405502e-03 3.08509239e-03 9.99979706e-01 -5.28928207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.587552018 meters Centerline goodness [0,1] 0.9228231276821559 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.53 [[ 9.99647531e-01 2.60256437e-02 5.24203247e-03 9.33597743e+01] [-2.60062078e-02 9.99654776e-01 -3.74236949e-03 -1.02596037e+01] [-5.33762037e-03 3.60472504e-03 9.99979258e-01 -5.29841156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.617552018 meters Centerline goodness [0,1] 0.9351212869573245 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.53 [[ 9.99834152e-01 1.72159898e-02 5.93952195e-03 9.33551417e+01] [-1.72269786e-02 9.99849977e-01 1.80393939e-03 -1.02586357e+01] [-5.90757428e-03 -1.90596023e-03 9.99980734e-01 -5.32742228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.647552018 meters Centerline goodness [0,1] 0.8901641994411215 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.53 [[ 9.99903254e-01 1.27267261e-02 5.61358628e-03 9.33568353e+01] [-1.27082091e-02 9.99913729e-01 -3.32204219e-03 -1.02565680e+01] [-5.65538071e-03 3.25038217e-03 9.99978726e-01 -5.34775657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.677552018 meters Centerline goodness [0,1] 0.931253463883244 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.54 [[ 9.99910777e-01 1.21987937e-02 5.44308008e-03 9.33577083e+01] [-1.21786974e-02 9.99918954e-01 -3.71008523e-03 -1.02568141e+01] [-5.48789751e-03 3.64346458e-03 9.99978304e-01 -5.35492137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.707552018 meters Centerline goodness [0,1] 0.9103849886768036 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.54 [[ 9.99912875e-01 1.20418854e-02 5.40705871e-03 9.33577720e+01] [-1.20229906e-02 9.99921549e-01 -3.51347774e-03 -1.02577104e+01] [-5.44894341e-03 3.44816261e-03 9.99979209e-01 -5.35307818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73755201799999 meters Centerline goodness [0,1] 0.8886015148716054 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.54 [[ 9.99914448e-01 1.19857641e-02 5.23814050e-03 9.33581017e+01] [-1.19659353e-02 9.99921183e-01 -3.80056071e-03 -1.02570067e+01] [-5.28328027e-03 3.73755632e-03 9.99979059e-01 -5.35387398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76755201799999 meters Centerline goodness [0,1] 0.9062188997153239 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.54 [[ 9.99915026e-01 1.20230459e-02 5.03849028e-03 9.33584947e+01] [-1.20038432e-02 9.99920638e-01 -3.82426773e-03 -1.02572713e+01] [-5.08406976e-03 3.76346152e-03 9.99979994e-01 -5.35423571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79755201799999 meters Centerline goodness [0,1] 0.9085841178783743 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.54 [[ 9.99912386e-01 1.23153444e-02 4.85310531e-03 9.33585298e+01] [-1.22965541e-02 9.99916856e-01 -3.88281776e-03 -1.02566955e+01] [-4.90052004e-03 3.82280110e-03 9.99980685e-01 -5.35148352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82755201799999 meters Centerline goodness [0,1] 0.9064695009242144 Centerline is valid? [False, False] Translation: X:93.36, Y:-10.26, Z:-0.53 [[ 9.99904849e-01 1.29670984e-02 4.70612749e-03 9.33583946e+01] [-1.29483424e-02 9.99908189e-01 -3.99426053e-03 -1.02551961e+01] [-4.75748938e-03 3.93294392e-03 9.99980949e-01 -5.34874374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85755201799999 meters Centerline goodness [0,1] 0.9674110949779898 Centerline is valid? [False, True] Translation: X:93.36, Y:-10.26, Z:-0.53 [[ 9.99818733e-01 1.84635074e-02 4.64752439e-03 9.33571092e+01] [-1.84696340e-02 9.99828604e-01 1.27879093e-03 -1.02563151e+01] [-4.62311685e-03 -1.36439720e-03 9.99988383e-01 -5.32956637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.887552018 meters Centerline goodness [0,1] 0.9812147055433905 Centerline is valid? [True, True] Translation: X:93.39, Y:-10.26, Z:-0.53 [[ 9.99695551e-01 2.42345579e-02 4.63592558e-03 9.33878824e+01] [-2.42324018e-02 9.99706217e-01 -5.20692594e-04 -1.02566921e+01] [-4.64718238e-03 4.08194458e-04 9.99989118e-01 -5.33832379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.917552018 meters Centerline goodness [0,1] 0.9867230072965734 Centerline is valid? [True, True] Translation: X:93.42, Y:-10.26, Z:-0.53 [[ 9.99519461e-01 3.05539925e-02 5.22508433e-03 9.34178510e+01] [-3.05513390e-02 9.99533027e-01 -5.86918299e-04 -1.02590867e+01] [-5.24057705e-03 4.27002938e-04 9.99986177e-01 -5.33868476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.947552018 meters Centerline goodness [0,1] 0.9971855030336586 Centerline is valid? [True, True] Translation: X:93.45, Y:-10.26, Z:-0.53 [[ 9.99310979e-01 3.67179618e-02 5.41835045e-03 9.34483613e+01] [-3.67151981e-02 9.99325584e-01 -6.08678325e-04 -1.02590570e+01] [-5.43704566e-03 4.09323123e-04 9.99985135e-01 -5.33740245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.977552018 meters Centerline goodness [0,1] 0.9989155014075407 Centerline is valid? [True, True] Translation: X:93.48, Y:-10.26, Z:-0.53 [[ 9.98755798e-01 4.93898870e-02 6.89171714e-03 9.34781010e+01] [-4.93857157e-02 9.98779481e-01 -7.74240096e-04 -1.02622070e+01] [-6.92154530e-03 4.32924401e-04 9.99975952e-01 -5.32849293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.007552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.51, Y:-10.26, Z:-0.53 [[ 9.98419203e-01 5.57602335e-02 7.06338853e-03 9.35097166e+01] [-5.57560103e-02 9.98444108e-01 -7.93557187e-04 -1.02553661e+01] [-7.09664760e-03 3.98476371e-04 9.99974739e-01 -5.33520573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.037552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.54, Y:-10.26, Z:-0.53 [[ 9.98072820e-01 6.17085265e-02 6.53474323e-03 9.35398947e+01] [-6.17050387e-02 9.98094158e-01 -7.34196629e-04 -1.02562701e+01] [-6.56759524e-03 3.29555117e-04 9.99978379e-01 -5.33665938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.067552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.57, Y:-10.26, Z:-0.53 [[ 9.97703040e-01 6.74157764e-02 6.61489577e-03 9.35704122e+01] [-6.74123273e-02 9.97724925e-01 -7.43258179e-04 -1.02560645e+01] [-6.64995372e-03 2.95625426e-04 9.99977845e-01 -5.34556532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.097552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:-10.26, Z:-0.53 [[ 9.97013165e-01 7.69742068e-02 6.30241551e-03 9.35994848e+01] [-7.69712666e-02 9.97033060e-01 -7.08112971e-04 -1.02586455e+01] [-6.33822306e-03 2.20893050e-04 9.99979889e-01 -5.34832881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.63, Y:-10.26, Z:-0.54 [[ 9.96729192e-01 8.05685006e-02 6.29559509e-03 9.36315378e+01] [-8.05656375e-02 9.96749054e-01 -7.07489719e-04 -1.02573763e+01] [-6.33212984e-03 1.97967023e-04 9.99979932e-01 -5.35591122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.66, Y:-10.26, Z:-0.54 [[ 9.96539952e-01 8.28670657e-02 6.41658139e-03 9.36628017e+01] [-8.28641320e-02 9.96560592e-01 -7.22188256e-04 -1.02622193e+01] [-6.45435777e-03 1.87985004e-04 9.99979153e-01 -5.35626540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.70, Y:-10.26, Z:-0.54 [[ 9.96384657e-01 8.47086176e-02 6.48579642e-03 9.36956743e+01] [-8.47056520e-02 9.96405750e-01 -7.31074363e-04 -1.02619056e+01] [-6.52441314e-03 1.79047664e-04 9.99978700e-01 -5.35858647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:-10.27, Z:-0.54 [[ 9.96432210e-01 8.41013867e-02 7.05738938e-03 9.37271679e+01] [-8.40978499e-02 9.96457182e-01 -7.96945112e-04 -1.02666213e+01] [-7.09941053e-03 2.00590507e-04 9.99974779e-01 -5.35719748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.247552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-10.27, Z:-0.54 [[ 9.96480865e-01 8.34686132e-02 7.67302587e-03 9.37589213e+01] [-8.34643971e-02 9.96510381e-01 -8.68617756e-04 -1.02700390e+01] [-7.71875225e-03 2.25136496e-04 9.99970185e-01 -5.35904320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.277552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:-10.27, Z:-0.54 [[ 9.96576542e-01 8.23156952e-02 7.70207605e-03 9.37908029e+01] [-8.23113964e-02 9.96606276e-01 -8.74007147e-04 -1.02747049e+01] [-7.74788184e-03 2.37046386e-04 9.99969957e-01 -5.35310242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.307552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:-10.28, Z:-0.53 [[ 9.96974678e-01 7.72766003e-02 8.35576482e-03 9.38197884e+01] [-7.72713529e-02 9.97009647e-01 -9.49505136e-04 -1.02847001e+01] [-8.40415267e-03 3.00971325e-04 9.99964639e-01 -5.34352102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.337552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:-10.29, Z:-0.53 [[ 9.97233967e-01 7.38145361e-02 8.70804460e-03 9.38511593e+01] [-7.38087008e-02 9.97271927e-01 -9.90023073e-04 -1.02861115e+01] [-8.75736651e-03 3.44555178e-04 9.99961594e-01 -5.34972185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.367552018 meters Centerline goodness [0,1] 0.9998154257896316 Centerline is valid? [True, True] Translation: X:93.88, Y:-10.29, Z:-0.54 [[ 9.97528994e-01 6.97665634e-02 8.27839865e-03 9.38820951e+01] [-6.97611479e-02 9.97563279e-01 -9.41490370e-04 -1.02909912e+01] [-8.32391105e-03 3.61653349e-04 9.99965290e-01 -5.37987490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.397552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:-10.30, Z:-0.54 [[ 9.97992251e-01 6.28510046e-02 7.82426156e-03 9.39111622e+01] [-6.28459544e-02 9.98022842e-01 -8.89901253e-04 -1.02986419e+01] [-7.86472295e-03 3.96391370e-04 9.99968994e-01 -5.35756397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.427552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:-10.30, Z:-0.54 [[ 9.98140993e-01 6.04658003e-02 7.64496275e-03 9.39422883e+01] [-6.04609079e-02 9.98170187e-01 -8.69669150e-04 -1.03019641e+01] [-7.68355914e-03 4.05831040e-04 9.99970399e-01 -5.36133091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.457552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.97, Y:-10.31, Z:-0.54 [[ 9.98402895e-01 5.61587873e-02 6.15218330e-03 9.39719849e+01] [-5.61555369e-02 9.98421788e-01 -6.99940009e-04 -1.03089798e+01] [-6.18178163e-03 3.53342975e-04 9.99980830e-01 -5.37290101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.00, Y:-10.31, Z:-0.54 [[ 9.98792302e-01 4.90076320e-02 3.49132310e-03 9.40030212e+01] [-4.90065416e-02 9.98798379e-01 -3.97232591e-04 -1.03133886e+01] [-3.50659528e-03 2.25655183e-04 9.99993826e-01 -5.39308187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51755201799999 meters Centerline goodness [0,1] 0.99997695002766 Centerline is valid? [True, True] Translation: X:94.03, Y:-10.32, Z:-0.54 [[ 9.98988837e-01 4.49207519e-02 1.85199538e-03 9.40334980e+01] [-4.49204380e-02 9.98990545e-01 -2.10753983e-04 -1.03152270e+01] [-1.85959310e-03 1.27348433e-04 9.99998263e-01 -5.40416017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54755201799999 meters Centerline goodness [0,1] 0.9994929473587167 Centerline is valid? [True, True] Translation: X:94.06, Y:-10.32, Z:-0.54 [[ 9.99148551e-01 4.12402598e-02 1.18882272e-03 9.40622677e+01] [-4.12401278e-02 9.99149255e-01 -1.35317093e-04 -1.03242615e+01] [-1.19339185e-03 8.61746769e-05 9.99999284e-01 -5.41257852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57755201799999 meters Centerline goodness [0,1] 0.9970047463250541 Centerline is valid? [True, True] Translation: X:94.09, Y:-10.33, Z:-0.54 [[ 9.99313230e-01 3.70438557e-02 9.05886305e-04 9.40914988e+01] [-3.70437774e-02 9.99313638e-01 -1.03117421e-04 -1.03320601e+01] [-9.09084406e-04 6.94891520e-05 9.99999584e-01 -5.40881029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60755201799999 meters Centerline goodness [0,1] 0.9984497558943983 Centerline is valid? [True, True] Translation: X:94.12, Y:-10.33, Z:-0.54 [[ 9.99575363e-01 2.89400267e-02 3.40134042e-03 9.41223128e+01] [-2.89388760e-02 9.99581108e-01 -3.87030566e-04 -1.03326604e+01] [-3.41111630e-03 2.88435250e-04 9.99994141e-01 -5.39129658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.637552018 meters Centerline goodness [0,1] 0.993364161849711 Centerline is valid? [True, True] Translation: X:94.15, Y:-10.34, Z:-0.54 [[ 9.99654119e-01 2.58792237e-02 4.68063526e-03 9.41517086e+01] [-2.58770110e-02 9.99664992e-01 -5.32676011e-04 -1.03390804e+01] [-4.69285245e-03 4.11370919e-04 9.99988904e-01 -5.37781595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.667552018 meters Centerline goodness [0,1] 0.9799226547483963 Centerline is valid? [True, True] Translation: X:94.18, Y:-10.35, Z:-0.54 [[ 9.99721829e-01 2.28037207e-02 6.02116506e-03 9.41805644e+01] [-2.28000028e-02 9.99739811e-01 -6.85402373e-04 -1.03453579e+01] [-6.03522814e-03 5.47929134e-04 9.99981638e-01 -5.37839816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.697552018 meters Centerline goodness [0,1] 0.9640889094697846 Centerline is valid? [True, True] Translation: X:94.21, Y:-10.35, Z:-0.54 [[ 9.99787154e-01 1.90865695e-02 7.83263799e-03 9.42107514e+01] [-1.90801641e-02 9.99817559e-01 -8.91705852e-04 -1.03509022e+01] [-7.84822861e-03 7.42068037e-04 9.99968927e-01 -5.36736816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.727552018 meters Centerline goodness [0,1] 0.9640889094697846 Centerline is valid? [True, True] Translation: X:94.24, Y:-10.35, Z:-0.54 [[ 9.99781416e-01 1.93848392e-02 7.83246549e-03 9.42430414e+01] [-1.93784311e-02 9.99811822e-01 -8.93219064e-04 -1.03546917e+01] [-7.84830650e-03 7.41242928e-04 9.99968927e-01 -5.36828668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.757552018 meters Centerline goodness [0,1] 0.9854804402108573 Centerline is valid? [True, True] Translation: X:94.28, Y:-10.35, Z:-0.54 [[ 9.99766242e-01 1.98728326e-02 8.51658107e-03 9.42752055e+01] [-1.98652527e-02 9.99802192e-01 -9.73705518e-04 -1.03541584e+01] [-8.53424671e-03 8.04293872e-04 9.99963259e-01 -5.36276878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.787552018 meters Centerline goodness [0,1] 0.9649393047636564 Centerline is valid? [True, True] Translation: X:94.31, Y:-10.36, Z:-0.54 [[ 9.99760729e-01 2.02204604e-02 8.34377834e-03 9.43063138e+01] [-2.02131773e-02 9.99795236e-01 -9.56296432e-04 -1.03625056e+01] [-8.36140658e-03 7.87413347e-04 9.99964733e-01 -5.36592852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.817552018 meters Centerline goodness [0,1] 0.9448697611329517 Centerline is valid? [True, False] Translation: X:94.31, Y:-10.36, Z:-0.54 [[ 9.99766416e-01 2.00474050e-02 8.07556586e-03 9.43071791e+01] [-2.00369627e-02 9.99798299e-01 -1.37191778e-03 -1.03618566e+01] [-8.10144040e-03 1.20978751e-03 9.99966451e-01 -5.37226881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.847552018 meters Centerline goodness [0,1] 0.98535036276396 Centerline is valid? [False, True] Translation: X:94.31, Y:-10.36, Z:-0.54 [[ 9.99755745e-01 2.05505377e-02 8.13181259e-03 9.43072454e+01] [-2.05415310e-02 9.99788293e-01 -1.18958245e-03 -1.03612348e+01] [-8.15453759e-03 1.02225201e-03 9.99966229e-01 -5.37717585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87755201799999 meters Centerline goodness [0,1] 0.989967637540453 Centerline is valid? [True, True] Translation: X:94.34, Y:-10.36, Z:-0.54 [[ 9.99710061e-01 2.26278542e-02 8.23244603e-03 9.43380864e+01] [-2.26210123e-02 9.99743686e-01 -9.23268726e-04 -1.03627492e+01] [-8.25122753e-03 7.36774772e-04 9.99965687e-01 -5.37620150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90755201799999 meters Centerline goodness [0,1] 0.997571468220927 Centerline is valid? [True, True] Translation: X:94.37, Y:-10.36, Z:-0.54 [[ 9.99659131e-01 2.48091754e-02 8.13186058e-03 9.43687952e+01] [-2.48025707e-02 9.99691953e-01 -9.12060243e-04 -1.03628055e+01] [-8.15198305e-03 7.10058303e-04 9.99966520e-01 -5.38122369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93755201799999 meters Centerline goodness [0,1] 0.9787608162509833 Centerline is valid? [True, True] Translation: X:94.40, Y:-10.37, Z:-0.54 [[ 9.99591161e-01 2.75486110e-02 7.65407715e-03 9.43974392e+01] [-2.75428393e-02 9.99620255e-01 -8.58472596e-04 -1.03727194e+01] [-7.67482029e-03 6.47306602e-04 9.99970339e-01 -5.38160144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96755201799999 meters Centerline goodness [0,1] 0.9998158718468054 Centerline is valid? [True, True] Translation: X:94.43, Y:-10.36, Z:-0.54 [[ 9.99393206e-01 3.39637846e-02 7.72541239e-03 9.44293730e+01] [-3.39580947e-02 9.99422882e-01 -8.66540492e-04 -1.03639087e+01] [-7.75038491e-03 6.03674395e-04 9.99969783e-01 -5.39027521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.997552018 meters Centerline goodness [0,1] 0.9998849622676238 Centerline is valid? [True, True] Translation: X:94.46, Y:-10.37, Z:-0.54 [[ 9.99321230e-01 3.60945885e-02 7.36607870e-03 9.44600249e+01] [-3.60894716e-02 9.99348221e-01 -8.26434894e-04 -1.03678051e+01] [-7.39110747e-03 5.60036047e-04 9.99972529e-01 -5.39740617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.027552018 meters Centerline goodness [0,1] 0.9999310313117844 Centerline is valid? [True, True] Translation: X:94.49, Y:-10.37, Z:-0.54 [[ 9.99126339e-01 4.10544823e-02 7.81585795e-03 9.44902285e+01] [-4.10488712e-02 9.99156755e-01 -8.77052567e-04 -1.03691174e+01] [-7.84527420e-03 5.55454174e-04 9.99969071e-01 -5.39536447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.057552018 meters Centerline goodness [0,1] 0.9999769728509913 Centerline is valid? [True, True] Translation: X:94.52, Y:-10.37, Z:-0.54 [[ 9.99058598e-01 4.26438280e-02 7.96373263e-03 9.45218805e+01] [-4.26380503e-02 9.99090185e-01 -8.93965642e-04 -1.03708378e+01] [-7.99460922e-03 5.53566030e-04 9.99967889e-01 -5.39183412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.087552018 meters Centerline goodness [0,1] 0.9999082084585905 Centerline is valid? [True, True] Translation: X:94.55, Y:-10.37, Z:-0.54 [[ 9.98975765e-01 4.44193927e-02 8.62200623e-03 9.45530821e+01] [-4.44126816e-02 9.99012801e-01 -9.68370193e-04 -1.03724149e+01] [-8.65650901e-03 5.84451936e-04 9.99962361e-01 -5.39035382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.117552018 meters Centerline goodness [0,1] 0.9999770257541296 Centerline is valid? [True, True] Translation: X:94.58, Y:-10.38, Z:-0.54 [[ 9.98951090e-01 4.49351225e-02 8.80653970e-03 9.45849573e+01] [-4.49281278e-02 9.98989731e-01 -9.90591406e-04 -1.03773841e+01] [-8.84215507e-03 5.93891023e-04 9.99960731e-01 -5.38690457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.147552018 meters Centerline goodness [0,1] 0.9999540166459742 Centerline is valid? [True, True] Translation: X:94.62, Y:-10.38, Z:-0.54 [[ 9.98926546e-01 4.53367751e-02 9.50434565e-03 9.46180458e+01] [-4.53286185e-02 9.98971555e-01 -1.07197391e-03 -1.03792672e+01] [-9.54317079e-03 6.40004336e-04 9.99954258e-01 -5.38874160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.177552018 meters Centerline goodness [0,1] 0.9999079465169264 Centerline is valid? [True, True] Translation: X:94.65, Y:-10.39, Z:-0.54 [[ 9.98859471e-01 4.65292781e-02 1.07136926e-02 9.46487227e+01] [-4.65189487e-02 9.98916673e-01 -1.21145749e-03 -1.03863937e+01] [-1.07584544e-02 7.11686070e-04 9.99941873e-01 -5.38526172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.207552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.68, Y:-10.38, Z:-0.54 [[ 9.98774906e-01 4.82020472e-02 1.11914632e-02 9.46808764e+01] [-4.81908465e-02 9.98837341e-01 -1.26850431e-03 -1.03845571e+01] [-1.12395959e-02 7.27624182e-04 9.99936569e-01 -5.38892447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23755201799999 meters Centerline goodness [0,1] 0.9999769786822598 Centerline is valid? [True, True] Translation: X:94.71, Y:-10.39, Z:-0.54 [[ 9.98712557e-01 4.94637133e-02 1.12502953e-02 9.47120406e+01] [-4.94524493e-02 9.98775662e-01 -1.27738414e-03 -1.03887040e+01] [-1.12997053e-02 7.19384922e-04 9.99935898e-01 -5.39003963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26755201799999 meters Centerline goodness [0,1] 0.9999770246984492 Centerline is valid? [True, True] Translation: X:94.74, Y:-10.39, Z:-0.54 [[ 9.98534813e-01 5.30835213e-02 1.05055875e-02 9.47434072e+01] [-5.30738915e-02 9.98589875e-01 -1.19351387e-03 -1.03898978e+01] [-1.05541292e-02 6.34192736e-04 9.99944103e-01 -5.40807249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:-10.39, Z:-0.54 [[ 9.98450581e-01 5.48869117e-02 9.15773726e-03 9.47747380e+01] [-5.48796676e-02 9.98492433e-01 -1.04065671e-03 -1.03923113e+01] [-9.20104979e-03 5.36470725e-04 9.99957526e-01 -5.42680520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:-10.39, Z:-0.54 [[ 9.98324036e-01 5.74402186e-02 7.05273170e-03 9.48067191e+01] [-5.74359834e-02 9.98348869e-01 -8.01752451e-04 -1.03923952e+01] [-7.08713956e-03 3.95328162e-04 9.99974808e-01 -5.44504664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.84, Y:-10.40, Z:-0.55 [[ 9.98173084e-01 6.02885359e-02 3.97334559e-03 9.48369482e+01] [-6.02872137e-02 9.98180969e-01 -4.51820575e-04 -1.03989451e+01] [-3.99335756e-03 2.11453202e-04 9.99992004e-01 -5.46285245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.387552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:-10.40, Z:-0.55 [[ 9.98175886e-01 6.02517073e-02 3.82525829e-03 9.48695904e+01] [-6.02504810e-02 9.98183195e-01 -4.35123459e-04 -1.03995804e+01] [-3.84452547e-03 2.03856092e-04 9.99992589e-01 -5.46271624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.417552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.90, Y:-10.40, Z:-0.55 [[ 9.98145731e-01 6.06582032e-02 5.06771059e-03 9.49013405e+01] [-6.06560472e-02 9.98158559e-01 -5.78206248e-04 -1.04044596e+01] [-5.09345166e-03 2.69746806e-04 9.99986992e-01 -5.45492027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.447552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-10.41, Z:-0.54 [[ 9.98290580e-01 5.81430196e-02 5.94191441e-03 9.49320784e+01] [-5.81400031e-02 9.98308208e-01 -6.79301690e-04 -1.04077480e+01] [-5.97135858e-03 3.32677557e-04 9.99982116e-01 -5.44899922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.477552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:-10.41, Z:-0.54 [[ 9.98358868e-01 5.67380092e-02 7.76976887e-03 9.49624690e+01] [-5.67328068e-02 9.98389002e-01 -8.88521137e-04 -1.04130606e+01] [-7.80766470e-03 4.46262160e-04 9.99969420e-01 -5.44058349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.507552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:-10.42, Z:-0.54 [[ 9.98613918e-01 5.17986504e-02 9.33497875e-03 9.49929940e+01] [-5.17909236e-02 9.98657379e-01 -1.06773316e-03 -1.04192790e+01] [-9.37775255e-03 5.82786026e-04 9.99955858e-01 -5.42784930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.537552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.02, Y:-10.42, Z:-0.54 [[ 9.98635457e-01 5.11659404e-02 1.04533017e-02 9.50249507e+01] [-5.11561975e-02 9.98689947e-01 -1.19747917e-03 -1.04235053e+01] [-1.05008775e-02 6.61093992e-04 9.99944646e-01 -5.41687372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.567552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.06, Y:-10.43, Z:-0.54 [[ 9.98635865e-01 5.10587736e-02 1.09275107e-02 9.50557327e+01] [-5.10480888e-02 9.98695408e-01 -1.25466818e-03 -1.04286331e+01] [-1.09773166e-02 6.95128107e-04 9.99939506e-01 -5.40380515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59755201799999 meters Centerline goodness [0,1] 0.9999769202363368 Centerline is valid? [True, True] Translation: X:95.09, Y:-10.43, Z:-0.54 [[ 9.98579267e-01 5.18179559e-02 1.24236054e-02 9.50872390e+01] [-5.18041610e-02 9.98656239e-01 -1.42984758e-03 -1.04318795e+01] [-1.24810028e-02 7.84221697e-04 9.99921802e-01 -5.39547416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.12, Y:-10.44, Z:-0.54 [[ 9.98568539e-01 5.21494398e-02 1.18873260e-02 9.51198517e+01] [-5.21367920e-02 9.98639011e-01 -1.37160475e-03 -1.04354975e+01] [-1.19426759e-02 7.49874309e-04 9.99928403e-01 -5.40066106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.15, Y:-10.44, Z:-0.54 [[ 9.98503184e-01 5.35489661e-02 1.11310498e-02 9.51516372e+01] [-5.35379287e-02 9.98564987e-01 -1.28742100e-03 -1.04387592e+01] [-1.11840166e-02 6.89560617e-04 9.99937219e-01 -5.40420862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:-10.44, Z:-0.54 [[ 9.98337099e-01 5.65731935e-02 1.10684455e-02 9.51827390e+01] [-5.65624522e-02 9.98398241e-01 -1.28134605e-03 -1.04380028e+01] [-1.11232064e-02 6.53156880e-04 9.99937922e-01 -5.41926243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.21, Y:-10.44, Z:-0.54 [[ 9.98083963e-01 6.13910856e-02 7.71603733e-03 9.52115389e+01] [-6.13860092e-02 9.98113701e-01 -8.93255720e-04 -1.04434037e+01] [-7.75632051e-03 4.17887471e-04 9.99969832e-01 -5.44694895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.747552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.24, Y:-10.45, Z:-0.55 [[ 9.97887526e-01 6.45734033e-02 7.12464328e-03 9.52430147e+01] [-6.45691550e-02 9.97912894e-01 -8.24932314e-04 -1.04458169e+01] [-7.16304208e-03 3.63157470e-04 9.99974279e-01 -5.46073075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.777552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.27, Y:-10.45, Z:-0.55 [[ 9.97595682e-01 6.89704351e-02 6.77750454e-03 9.52736227e+01] [-6.89666906e-02 9.97618654e-01 -7.84941246e-04 -1.04461512e+01] [-6.81550270e-03 3.15631938e-04 9.99976724e-01 -5.46147137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.807552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:-10.44, Z:-0.55 [[ 9.96808832e-01 7.95841794e-02 6.20567461e-03 9.53042590e+01] [-7.95812453e-02 9.96828124e-01 -7.18710057e-04 -1.04442650e+01] [-6.24318893e-03 2.22561219e-04 9.99980486e-01 -5.46358028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.837552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:-10.44, Z:-0.55 [[ 9.96429230e-01 8.42708724e-02 5.21637015e-03 9.53357460e+01] [-8.42688631e-02 9.96442870e-01 -6.04181830e-04 -1.04446523e+01] [-5.24872978e-03 1.62446853e-04 9.99986212e-01 -5.47724958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.867552018 meters Centerline goodness [0,1] 0.9999078617004123 Centerline is valid? [True, True] Translation: X:95.37, Y:-10.44, Z:-0.55 [[ 9.95766907e-01 9.17786068e-02 4.99547813e-03 9.53663940e+01] [-9.17768577e-02 9.95779430e-01 -5.78739286e-04 -1.04436007e+01] [-5.02751025e-03 1.17820143e-04 9.99987355e-01 -5.50610740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.897552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:-10.45, Z:-0.55 [[ 9.95221550e-01 9.75317399e-02 4.65036427e-03 9.53971313e+01] [-9.75302867e-02 9.95232411e-01 -5.38788478e-04 -1.04460498e+01] [-4.68074223e-03 8.26625433e-05 9.99989042e-01 -5.49684964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.927552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.43, Y:-10.44, Z:-0.55 [[ 9.93959804e-01 1.09564072e-01 6.29462151e-03 9.54289192e+01] [-1.09561649e-01 9.93979735e-01 -7.29583789e-04 -1.04429124e+01] [-6.33666239e-03 3.55278492e-05 9.99979923e-01 -5.48333777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.957552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:-10.44, Z:-0.55 [[ 9.93401069e-01 1.14481150e-01 6.95573106e-03 9.54617017e+01] [-1.14478308e-01 9.93425421e-01 -8.06668367e-04 -1.04435870e+01] [-7.00234837e-03 5.06489446e-06 9.99975483e-01 -5.47445620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:-10.45, Z:-0.55 [[ 9.93388825e-01 1.14640244e-01 6.02129195e-03 9.54932940e+01] [-1.14638113e-01 9.93407074e-01 -6.99026841e-04 -1.04465034e+01] [-6.06173063e-03 4.13590753e-06 9.99981628e-01 -5.49806113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.53, Y:-10.45, Z:-0.55 [[ 9.93639545e-01 1.12296384e-01 8.36519843e-03 9.55250476e+01] [-1.12292169e-01 9.93674756e-01 -9.73372771e-04 -1.04523939e+01] [-8.42159275e-03 2.78354038e-05 9.99964537e-01 -5.48328561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.56, Y:-10.46, Z:-0.55 [[ 9.93828935e-01 1.10465356e-01 1.00723667e-02 9.55557957e+01] [-1.10459122e-01 9.93879974e-01 -1.17483769e-03 -1.04587460e+01] [-1.01405024e-02 5.50029001e-05 9.99948582e-01 -5.46400095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:-10.46, Z:-0.55 [[ 9.94017852e-01 1.08588734e-01 1.17045741e-02 9.55876797e+01] [-1.08580147e-01 9.94086756e-01 -1.36847128e-03 -1.04641840e+01] [-1.17839627e-02 8.94004972e-05 9.99930563e-01 -5.45159779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:-10.47, Z:-0.54 [[ 9.94182545e-01 1.06872581e-01 1.33910277e-02 9.56191163e+01] [-1.06861135e-01 9.94272716e-01 -1.56942956e-03 -1.04697514e+01] [-1.34820625e-02 1.29319051e-04 9.99909105e-01 -5.43077116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.137552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:-10.47, Z:-0.54 [[ 9.94367241e-01 1.05090371e-01 1.37769079e-02 9.56500542e+01] [-1.05078036e-01 9.94462663e-01 -1.61820539e-03 -1.04746258e+01] [-1.38706783e-02 1.61440009e-04 9.99903784e-01 -5.42551542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.167552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:-10.48, Z:-0.55 [[ 9.94320776e-01 1.05642667e-01 1.28771958e-02 9.56820335e+01] [-1.05631893e-01 9.94404146e-01 -1.51591914e-03 -1.04764217e+01] [-1.29652827e-02 1.47067326e-04 9.99915936e-01 -5.45065600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.197552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.71, Y:-10.48, Z:-0.55 [[ 9.94236549e-01 1.06586253e-01 1.15349801e-02 9.57128408e+01] [-1.06577637e-01 9.94303452e-01 -1.36081837e-03 -1.04787309e+01] [-1.16143151e-02 1.23604427e-04 9.99932544e-01 -5.46988288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.227552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:-10.48, Z:-0.55 [[ 9.93862655e-01 1.10308289e-01 8.31295037e-03 9.57452398e+01] [-1.10303929e-01 9.93897418e-01 -9.82619120e-04 -1.04780874e+01] [-8.37061095e-03 5.96373629e-05 9.99964964e-01 -5.51599211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.257552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.78, Y:-10.48, Z:-0.55 [[ 9.93688465e-01 1.12009011e-01 6.10042313e-03 9.57773152e+01] [-1.12006686e-01 9.93707190e-01 -7.22464427e-04 -1.04798054e+01] [-6.14295685e-03 3.46163891e-05 9.99981131e-01 -5.54254359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.287552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:-10.48, Z:-0.56 [[ 9.93588842e-01 1.12959358e-01 4.62567789e-03 9.58092454e+01] [-1.12958027e-01 9.93599609e-01 -5.48826763e-04 -1.04830858e+01] [-4.65806686e-03 2.28007011e-05 9.99989151e-01 -5.55588587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.317552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:-10.49, Z:-0.56 [[ 9.93482620e-01 1.13896356e-01 4.46134046e-03 9.58421996e+01] [-1.13895121e-01 9.93492637e-01 -5.30586026e-04 -1.04866167e+01] [-4.49274071e-03 1.90030824e-05 9.99989907e-01 -5.55895106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34755201799999 meters Centerline goodness [0,1] 0.9999770463205252 Centerline is valid? [True, True] Translation: X:95.87, Y:-10.49, Z:-0.56 [[ 9.93675744e-01 1.12231444e-01 3.55218719e-03 9.58736799e+01] [-1.12230648e-01 9.93682093e-01 -4.23317550e-04 -1.04918479e+01] [-3.57725435e-03 2.19761109e-05 9.99993601e-01 -5.55872453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:-10.50, Z:-0.55 [[ 9.93644463e-01 1.12475856e-01 4.45677585e-03 9.59062168e+01] [-1.12474598e-01 9.93654458e-01 -5.32683676e-04 -1.04952046e+01] [-4.48840925e-03 2.80241148e-05 9.99989927e-01 -5.54866247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:-10.50, Z:-0.55 [[ 9.93715242e-01 1.11842029e-01 4.62359859e-03 9.59380949e+01] [-1.11840661e-01 9.93725998e-01 -5.54076531e-04 -1.04998384e+01] [-4.65655916e-03 3.34879721e-05 9.99989158e-01 -5.53898250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43755201799999 meters Centerline goodness [0,1] 0.9999542648067689 Centerline is valid? [True, True] Translation: X:95.97, Y:-10.50, Z:-0.55 [[ 9.93918215e-01 1.09969397e-01 5.77184020e-03 9.59697373e+01] [-1.09967224e-01 9.93934972e-01 -6.93565783e-04 -1.05031395e+01] [-5.81310484e-03 5.46344233e-05 9.99983102e-01 -5.53886741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46755201799999 meters Centerline goodness [0,1] 0.999977071056795 Centerline is valid? [True, True] Translation: X:96.00, Y:-10.51, Z:-0.55 [[ 9.94275325e-01 1.06726002e-01 5.11261126e-03 9.60015316e+01] [-1.06724247e-01 9.94288467e-01 -6.15594307e-04 -1.05093599e+01] [-5.14911033e-03 6.64306413e-05 9.99986741e-01 -5.54667786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.497552018 meters Centerline goodness [0,1] 0.9998388730319492 Centerline is valid? [True, True] Translation: X:96.03, Y:-10.51, Z:-0.56 [[ 9.94478679e-01 1.04807206e-01 5.25422977e-03 9.60328852e+01] [-1.04805318e-01 9.94492556e-01 -6.34085015e-04 -1.05145443e+01] [-5.29174907e-03 7.99128063e-05 9.99985995e-01 -5.56563400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.527552018 meters Centerline goodness [0,1] 0.9999310535024821 Centerline is valid? [True, True] Translation: X:96.07, Y:-10.52, Z:-0.55 [[ 9.94736357e-01 1.02300476e-01 5.84749206e-03 9.60650141e+01] [-1.02298084e-01 9.94753538e-01 -7.07378245e-04 -1.05189699e+01] [-5.88917855e-03 1.05467622e-04 9.99982653e-01 -5.54727657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.557552018 meters Centerline goodness [0,1] 0.9994959677419355 Centerline is valid? [True, True] Translation: X:96.10, Y:-10.52, Z:-0.55 [[ 9.95191941e-01 9.77569189e-02 6.04858265e-03 9.60958715e+01] [-9.77542663e-02 9.95210312e-01 -7.33349466e-04 -1.05243126e+01] [-6.09130181e-03 1.38548719e-04 9.99981438e-01 -5.54673181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.587552018 meters Centerline goodness [0,1] 0.9997250859106529 Centerline is valid? [True, True] Translation: X:96.13, Y:-10.53, Z:-0.55 [[ 9.95366038e-01 9.59586780e-02 6.19532410e-03 9.61280783e+01] [-9.59558502e-02 9.95385306e-01 -7.52765867e-04 -1.05284717e+01] [-6.23896900e-03 1.54799987e-04 9.99980525e-01 -5.54617417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.617552018 meters Centerline goodness [0,1] 0.9994737203395648 Centerline is valid? [True, True] Translation: X:96.16, Y:-10.53, Z:-0.55 [[ 9.95415369e-01 9.54434357e-02 6.22841960e-03 9.61600430e+01] [-9.54405570e-02 9.95434842e-01 -7.58466878e-04 -1.05300477e+01] [-6.27237657e-03 1.60545751e-04 9.99980316e-01 -5.54142398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.647552018 meters Centerline goodness [0,1] 0.9994737203395648 Centerline is valid? [True, True] Translation: X:96.19, Y:-10.53, Z:-0.55 [[ 9.95386367e-01 9.57454446e-02 6.22820699e-03 9.61921804e+01] [-9.57425610e-02 9.95405839e-01 -7.60209534e-04 -1.05340841e+01] [-6.27238020e-03 1.60397719e-04 9.99980316e-01 -5.54267639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.677552018 meters Centerline goodness [0,1] 0.9995431599625391 Centerline is valid? [True, True] Translation: X:96.22, Y:-10.54, Z:-0.55 [[ 9.95457564e-01 9.50260544e-02 5.85548335e-03 9.62242451e+01] [-9.50234834e-02 9.95474773e-01 -7.16365582e-04 -1.05371032e+01] [-5.89705936e-03 1.56703112e-04 9.99982600e-01 -5.54456886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.707552018 meters Centerline goodness [0,1] 0.9993153186050757 Centerline is valid? [True, True] Translation: X:96.26, Y:-10.54, Z:-0.56 [[ 9.95821857e-01 9.12456380e-02 3.61425284e-03 9.62560751e+01] [-9.12446313e-02 9.95828410e-01 -4.42786258e-04 -1.05402829e+01] [-3.63957797e-03 1.11155066e-04 9.99993371e-01 -5.56786865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73755201799999 meters Centerline goodness [0,1] 0.9990641833287683 Centerline is valid? [True, True] Translation: X:96.29, Y:-10.55, Z:-0.56 [[ 9.96149172e-01 8.76581331e-02 1.69698180e-03 9.62861133e+01] [-8.76579058e-02 9.96150615e-01 -2.07958047e-04 -1.05465990e+01] [-1.70867868e-03 5.84033653e-05 9.99998539e-01 -5.58249643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76755201799999 meters Centerline goodness [0,1] 0.9990423421574663 Centerline is valid? [True, True] Translation: X:96.32, Y:-10.55, Z:-0.56 [[ 9.96754415e-01 8.05002227e-02 5.91560744e-04 9.63164161e+01] [-8.05001938e-02 9.96754590e-01 -7.24856848e-05 -1.05542475e+01] [-5.95476001e-04 2.46296717e-05 9.99999822e-01 -5.59250986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79755201799999 meters Centerline goodness [0,1] 0.9989533560864619 Centerline is valid? [True, True] Translation: X:96.35, Y:-10.56, Z:-0.56 [[ 9.96985810e-01 7.75807351e-02 7.24444760e-04 9.63472534e+01] [-7.75806911e-02 9.96986072e-01 -8.87344339e-05 -1.05586143e+01] [-7.29145419e-04 3.22640463e-05 9.99999734e-01 -5.59069760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82755201799999 meters Centerline goodness [0,1] 0.9988378452283292 Centerline is valid? [True, True] Translation: X:96.38, Y:-10.56, Z:-0.56 [[ 9.97243463e-01 7.41896152e-02 1.17285216e-03 9.63779740e+01] [-7.41894972e-02 9.97244152e-01 -1.43793142e-04 -1.05646637e+01] [-1.18028791e-03 5.63834592e-05 9.99999302e-01 -5.59617412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85755201799999 meters Centerline goodness [0,1] 0.9987658271243772 Centerline is valid? [True, True] Translation: X:96.41, Y:-10.58, Z:-0.56 [[ 9.97564445e-01 6.97423038e-02 1.09054174e-03 9.64072639e+01] [-6.97421992e-02 9.97565039e-01 -1.33734060e-04 -1.05756408e+01] [-1.09721324e-03 5.73515645e-05 9.99999396e-01 -5.60524309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.887552018 meters Centerline goodness [0,1] 0.9990176592876887 Centerline is valid? [True, True] Translation: X:96.44, Y:-10.58, Z:-0.56 [[ 9.97696680e-01 6.78161727e-02 1.51702047e-03 9.64388119e+01] [-6.78159686e-02 9.97697830e-01 -1.85673910e-04 -1.05796585e+01] [-1.52611972e-03 8.23680308e-05 9.99998832e-01 -5.59791028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.917552018 meters Centerline goodness [0,1] 0.9993156778211182 Centerline is valid? [True, True] Translation: X:96.47, Y:-10.58, Z:-0.56 [[ 9.97856957e-01 6.53393937e-02 3.50106030e-03 9.64700693e+01] [-6.53382837e-02 9.97863078e-01 -4.30629122e-04 -1.05819023e+01] [-3.52171585e-03 2.00952994e-04 9.99993779e-01 -5.58580906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.947552018 meters Centerline goodness [0,1] 0.9992910396560399 Centerline is valid? [True, True] Translation: X:96.50, Y:-10.59, Z:-0.56 [[ 9.97902054e-01 6.46140779e-02 4.06339872e-03 9.65018258e+01] [-6.46125756e-02 9.97910299e-01 -5.00032900e-04 -1.05883948e+01] [-4.08721660e-03 2.36437201e-04 9.99991619e-01 -5.58381155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.977552018 meters Centerline goodness [0,1] 0.9993149746540622 Centerline is valid? [True, True] Translation: X:96.53, Y:-10.59, Z:-0.56 [[ 9.97901278e-01 6.46338251e-02 3.93797437e-03 9.65336422e+01] [-6.46324103e-02 9.97909022e-01 -4.85625690e-04 -1.05932730e+01] [-3.96112799e-03 2.30085722e-04 9.99992128e-01 -5.59103275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.007552018 meters Centerline goodness [0,1] 0.9992896588070851 Centerline is valid? [True, True] Translation: X:96.56, Y:-10.60, Z:-0.56 [[ 9.97887863e-01 6.48630693e-02 3.54891084e-03 9.65647233e+01] [-6.48619186e-02 9.97894152e-01 -4.38493787e-04 -1.05988704e+01] [-3.56987942e-03 2.07378462e-04 9.99993606e-01 -5.60117933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.037552018 meters Centerline goodness [0,1] 0.9978257884377718 Centerline is valid? [True, True] Translation: X:96.59, Y:-10.61, Z:-0.56 [[ 9.97742665e-01 6.70608787e-02 3.52319849e-03 9.65943545e+01] [-6.70597545e-02 9.97748866e-01 -4.36390479e-04 -1.06089474e+01] [-3.54453202e-03 1.99140574e-04 9.99993698e-01 -5.60576110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.067552018 meters Centerline goodness [0,1] 0.9994507506407909 Centerline is valid? [True, True] Translation: X:96.63, Y:-10.61, Z:-0.56 [[ 9.97666225e-01 6.82095158e-02 3.09293741e-03 9.66271514e+01] [-6.82086549e-02 9.97671004e-01 -3.83120653e-04 -1.06089826e+01] [-3.11186644e-03 1.71261435e-04 9.99995143e-01 -5.60922716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09755201799999 meters Centerline goodness [0,1] 0.9995424178640065 Centerline is valid? [True, True] Translation: X:96.66, Y:-10.61, Z:-0.56 [[ 9.97585993e-01 6.93726392e-02 3.10227703e-03 9.66585411e+01] [-6.93717775e-02 9.97590802e-01 -3.84634355e-04 -1.06135168e+01] [-3.12148613e-03 1.68495373e-04 9.99995114e-01 -5.60885904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12755201799999 meters Centerline goodness [0,1] 0.9997249535859176 Centerline is valid? [True, True] Translation: X:96.69, Y:-10.62, Z:-0.56 [[ 9.97540463e-01 7.00136210e-02 3.33432512e-03 9.66901090e+01] [-7.00126260e-02 9.97546019e-01 -4.14350772e-04 -1.06172315e+01] [-3.35515294e-03 1.79886804e-04 9.99994355e-01 -5.61327392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15755201799999 meters Centerline goodness [0,1] 0.9989474165942062 Centerline is valid? [True, True] Translation: X:96.72, Y:-10.62, Z:-0.56 [[ 9.97384373e-01 7.22322093e-02 2.63068411e-03 9.67195742e+01] [-7.22315959e-02 9.97387833e-01 -3.27567178e-04 -1.06235761e+01] [-2.64747322e-03 1.36691873e-04 9.99996486e-01 -5.61584897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18755201799999 meters Centerline goodness [0,1] 0.999840131548897 Centerline is valid? [True, True] Translation: X:96.75, Y:-10.62, Z:-0.56 [[ 9.97260463e-01 7.39338275e-02 2.31465265e-03 9.67519842e+01] [-7.39333572e-02 9.97263143e-01 -2.88186500e-04 -1.06213612e+01] [-2.32962450e-03 1.16266961e-04 9.99997280e-01 -5.62789615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21755201799999 meters Centerline goodness [0,1] 0.9999313830882185 Centerline is valid? [True, True] Translation: X:96.78, Y:-10.62, Z:-0.56 [[ 9.97172488e-01 7.51392695e-02 1.05815726e-03 9.67838639e+01] [-7.51391722e-02 9.97173048e-01 -1.31474724e-04 -1.06242964e+01] [-1.06504482e-03 5.15939169e-05 9.99999432e-01 -5.63682477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.247552018 meters Centerline goodness [0,1] 0.9997940739045875 Centerline is valid? [True, True] Translation: X:96.82, Y:-10.63, Z:-0.57 [[ 9.97194554e-01 7.48527463e-02 -2.95170857e-04 9.68161316e+01] [-7.48527383e-02 9.97194598e-01 3.80552722e-05 -1.06281081e+01] [ 2.97191326e-04 -1.58541632e-05 9.99999956e-01 -5.66744678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.277552018 meters Centerline goodness [0,1] 0.9996114196895929 Centerline is valid? [True, True] Translation: X:96.85, Y:-10.63, Z:-0.57 [[ 9.97116756e-01 7.58706105e-02 -1.35082219e-03 9.68468803e+01] [-7.58704493e-02 9.97117669e-01 1.70286627e-04 -1.06335752e+01] [ 1.35984842e-03 -6.73081634e-05 9.99999073e-01 -5.67472478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.307552018 meters Centerline goodness [0,1] 0.99945180447693 Centerline is valid? [True, True] Translation: X:96.88, Y:-10.64, Z:-0.57 [[ 9.97091845e-01 7.62055131e-02 -7.57018493e-04 9.68799421e+01] [-7.62054617e-02 9.97092131e-01 9.64758544e-05 -1.06369811e+01] [ 7.62169175e-04 -3.85063438e-05 9.99999709e-01 -5.67710303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.337552018 meters Centerline goodness [0,1] 0.9986301057101761 Centerline is valid? [True, True] Translation: X:96.91, Y:-10.65, Z:-0.57 [[ 9.97191866e-01 7.48745394e-02 -1.47813787e-03 9.69097817e+01] [-7.48743445e-02 9.97192959e-01 1.86832484e-04 -1.06450508e+01] [ 1.48797767e-03 -7.56332290e-05 9.99998890e-01 -5.68201479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.367552018 meters Centerline goodness [0,1] 0.9991077148348129 Centerline is valid? [True, True] Translation: X:96.94, Y:-10.65, Z:-0.57 [[ 9.97586111e-01 6.94378022e-02 -5.84892099e-04 9.69404373e+01] [-6.94377708e-02 9.97586282e-01 7.37956227e-05 -1.06468431e+01] [ 5.88604541e-04 -3.30038848e-05 9.99999826e-01 -5.65931202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.397552018 meters Centerline goodness [0,1] 0.9954107493492853 Centerline is valid? [True, True] Translation: X:96.97, Y:-10.66, Z:-0.57 [[ 9.97828756e-01 6.58617742e-02 -5.81001732e-06 9.69685673e+01] [-6.58617742e-02 9.97828756e-01 7.32503148e-07 -1.06601682e+01] [ 5.84564632e-06 -3.48254657e-07 1.00000000e+00 -5.65921931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.427552018 meters Centerline goodness [0,1] 0.9971777339268505 Centerline is valid? [True, True] Translation: X:97.00, Y:-10.66, Z:-0.56 [[ 9.98079238e-01 6.19486231e-02 4.50551942e-04 9.70000989e+01] [-6.19486038e-02 9.98079339e-01 -5.66778729e-05 -1.06611306e+01] [-4.53197701e-04 2.86579444e-05 9.99999897e-01 -5.64979860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.457552018 meters Centerline goodness [0,1] 0.9957397100254243 Centerline is valid? [True, True] Translation: X:97.03, Y:-10.67, Z:-0.56 [[ 9.98500021e-01 5.47453431e-02 8.09638807e-04 9.70303414e+01] [-5.47452783e-02 9.98500348e-01 -1.02080178e-04 -1.06683129e+01] [-8.14013044e-04 5.76031583e-05 9.99999667e-01 -5.63221021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48755201799999 meters Centerline goodness [0,1] 0.9932867453316531 Centerline is valid? [True, True] Translation: X:97.06, Y:-10.68, Z:-0.56 [[ 9.98756328e-01 4.98511103e-02 8.14693226e-04 9.70594748e+01] [-4.98510430e-02 9.98756659e-01 -1.02655057e-04 -1.06761031e+01] [-8.18797752e-04 6.19140807e-05 9.99999663e-01 -5.63272943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51755201799999 meters Centerline goodness [0,1] 0.993326324450336 Centerline is valid? [True, True] Translation: X:97.09, Y:-10.68, Z:-0.56 [[ 9.98876777e-01 4.73754149e-02 8.68301899e-04 9.70909397e+01] [-4.73753375e-02 9.98877152e-01 -1.09425888e-04 -1.06786849e+01] [-8.72511025e-04 6.81668828e-05 9.99999617e-01 -5.63012845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54755201799999 meters Centerline goodness [0,1] 0.9788862737929301 Centerline is valid? [True, True] Translation: X:97.12, Y:-10.69, Z:-0.56 [[ 9.99219020e-01 3.95052758e-02 -8.26946231e-04 9.71187197e+01] [-3.95052026e-02 9.99219359e-01 1.04671700e-04 -1.06912618e+01] [ 8.30435768e-04 -7.19212749e-05 9.99999653e-01 -5.64417494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57755201799999 meters Centerline goodness [0,1] 0.9807547256062719 Centerline is valid? [True, True] Translation: X:97.15, Y:-10.69, Z:-0.56 [[ 9.99352704e-01 3.59590212e-02 -1.05954882e-03 9.71490162e+01] [-3.59588994e-02 9.99353261e-01 1.33799333e-04 -1.06938234e+01] [ 1.06367486e-03 -9.56125161e-05 9.99999430e-01 -5.64297191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60755201799999 meters Centerline goodness [0,1] 0.979118117432031 Centerline is valid? [True, True] Translation: X:97.18, Y:-10.70, Z:-0.56 [[ 9.99475388e-01 3.23697835e-02 -1.07062097e-03 9.71790052e+01] [-3.23696571e-02 9.99475956e-01 1.35202669e-04 -1.06980834e+01] [ 1.07443640e-03 -1.00476106e-04 9.99999418e-01 -5.64463388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.637552018 meters Centerline goodness [0,1] 0.966300635015245 Centerline is valid? [True, True] Translation: X:97.21, Y:-10.70, Z:-0.56 [[ 9.99661855e-01 2.59821340e-02 -1.05090793e-03 9.72088493e+01] [-2.59820087e-02 9.99662402e-01 1.32719992e-04 -1.07046268e+01] [ 1.05400149e-03 -1.05370414e-04 9.99999439e-01 -5.64270695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.667552018 meters Centerline goodness [0,1] 0.9648877691250572 Centerline is valid? [True, True] Translation: X:97.24, Y:-10.71, Z:-0.56 [[ 9.99697316e-01 2.45685452e-02 -1.28987788e-03 9.72401679e+01] [-2.45683551e-02 9.99698139e-01 1.63070832e-04 -1.07088233e+01] [ 1.29349493e-03 -1.31331295e-04 9.99999155e-01 -5.63518562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.697552018 meters Centerline goodness [0,1] 0.9456541628545289 Centerline is valid? [True, False] Translation: X:97.24, Y:-10.71, Z:-0.56 [[ 9.99793061e-01 2.02637689e-02 -1.79306705e-03 9.72415372e+01] [-2.02723746e-02 9.99782393e-01 -4.91903040e-03 -1.07065394e+01] [ 1.69299877e-03 4.95436219e-03 9.99986294e-01 -5.64842999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.727552018 meters Centerline goodness [0,1] 0.9419734971800633 Centerline is valid? [False, False] Translation: X:97.24, Y:-10.71, Z:-0.56 [[ 9.99797473e-01 2.00232968e-02 -2.02002926e-03 9.72420041e+01] [-2.00332202e-02 9.99786722e-01 -5.01805646e-03 -1.07071356e+01] [ 1.91912040e-03 5.05750785e-03 9.99985369e-01 -5.64852866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.757552018 meters Centerline goodness [0,1] 0.9564360067868116 Centerline is valid? [False, True] Translation: X:97.24, Y:-10.71, Z:-0.56 [[ 9.99793485e-01 2.02034654e-02 -2.19253185e-03 9.72419080e+01] [-2.02144937e-02 9.99782505e-01 -5.13006132e-03 -1.07064234e+01] [ 2.08840996e-03 5.17332281e-03 9.99984438e-01 -5.64312297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.787552018 meters Centerline goodness [0,1] 0.9559604468046146 Centerline is valid? [True, True] Translation: X:97.27, Y:-10.71, Z:-0.56 [[ 9.99748214e-01 2.24088553e-02 -1.16273264e-03 9.72719415e+01] [-2.24087058e-02 9.99748883e-01 1.41494653e-04 -1.07129187e+01] [ 1.16561139e-03 -1.15403693e-04 9.99999314e-01 -5.61212801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.817552018 meters Centerline goodness [0,1] 0.9645103530600064 Centerline is valid? [True, True] Translation: X:97.30, Y:-10.72, Z:-0.56 [[ 9.99702861e-01 2.43754188e-02 -1.68821779e-04 9.73031208e+01] [-2.43754157e-02 9.99702875e-01 2.05900935e-05 -1.07156348e+01] [ 1.69273510e-04 -1.64688743e-05 9.99999986e-01 -5.60535947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84755201799999 meters Centerline goodness [0,1] 0.9778134679362166 Centerline is valid? [True, True] Translation: X:97.33, Y:-10.72, Z:-0.56 [[ 9.99465164e-01 3.27007342e-02 -2.19624343e-04 9.73327291e+01] [-3.27007291e-02 9.99465188e-01 2.67569052e-05 -1.07179903e+01] [ 2.20381856e-04 -1.95607185e-05 9.99999976e-01 -5.61520359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87755201799999 meters Centerline goodness [0,1] 0.9889983955993582 Centerline is valid? [True, True] Translation: X:97.36, Y:-10.72, Z:-0.56 [[ 9.99258054e-01 3.85126894e-02 -3.38561851e-04 9.73634466e+01] [-3.85126776e-02 9.99258111e-01 4.12585198e-05 -1.07191116e+01] [ 3.39899652e-04 -2.81889848e-05 9.99999942e-01 -5.61801121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90755201799999 meters Centerline goodness [0,1] 0.9939688582108377 Centerline is valid? [True, True] Translation: X:97.39, Y:-10.72, Z:-0.56 [[ 9.99006734e-01 4.45581740e-02 -3.37112652e-04 9.73941539e+01] [-4.45581627e-02 9.99006791e-01 4.10206188e-05 -1.07186750e+01] [ 3.38605633e-04 -2.59587540e-05 9.99999942e-01 -5.62149152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93755201799999 meters Centerline goodness [0,1] 0.9950406392065023 Centerline is valid? [True, True] Translation: X:97.42, Y:-10.72, Z:-0.56 [[ 9.98730816e-01 5.03647699e-02 -3.83566729e-04 9.74233406e+01] [-5.03647557e-02 9.98730889e-01 4.66170147e-05 -1.07224497e+01] [ 3.85427795e-04 -2.72396045e-05 9.99999925e-01 -5.62607069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96755201799999 meters Centerline goodness [0,1] 0.9974702757399444 Centerline is valid? [True, True] Translation: X:97.45, Y:-10.72, Z:-0.56 [[ 9.98143435e-01 6.09071258e-02 -7.14017240e-05 9.74530639e+01] [-6.09071253e-02 9.98143438e-01 8.68857091e-06 -1.07233574e+01] [ 7.17983581e-05 -4.32356626e-06 9.99999997e-01 -5.63787126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.997552018 meters Centerline goodness [0,1] 0.9987612121768255 Centerline is valid? [True, True] Translation: X:97.48, Y:-10.72, Z:-0.56 [[ 9.97810107e-01 6.61399838e-02 7.02778927e-04 9.74837126e+01] [-6.61399399e-02 9.97810353e-01 -8.55085524e-05 -1.07235826e+01] [-7.06895624e-04 3.88395417e-05 9.99999749e-01 -5.63504415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.027552018 meters Centerline goodness [0,1] 0.9995415682948633 Centerline is valid? [True, True] Translation: X:97.51, Y:-10.72, Z:-0.56 [[ 9.97501450e-01 7.06311485e-02 1.44830563e-03 9.75146645e+01] [-7.06309669e-02 9.97502499e-01 -1.76207917e-04 -1.07234154e+01] [-1.45713426e-03 7.34724257e-05 9.99998936e-01 -5.62861366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.057552018 meters Centerline goodness [0,1] 0.9995399760787561 Centerline is valid? [True, True] Translation: X:97.54, Y:-10.73, Z:-0.56 [[ 9.97238666e-01 7.42355216e-02 2.03218019e-03 9.75443465e+01] [-7.42351714e-02 9.97240732e-01 -2.47313202e-04 -1.07279973e+01] [-2.04493228e-03 9.57710436e-05 9.99997905e-01 -5.63132857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.087552018 meters Centerline goodness [0,1] 0.9998386501936197 Centerline is valid? [True, True] Translation: X:97.58, Y:-10.73, Z:-0.56 [[ 9.96723487e-01 8.08309855e-02 2.93966058e-03 9.75754168e+01] [-8.08302814e-02 9.96727815e-01 -3.57753626e-04 -1.07272553e+01] [-2.95895905e-03 1.18967850e-04 9.99995615e-01 -5.62850245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.117552018 meters Centerline goodness [0,1] 0.9999770120227122 Centerline is valid? [True, True] Translation: X:97.61, Y:-10.73, Z:-0.56 [[ 9.96505200e-01 8.34768465e-02 3.00033435e-03 9.76066178e+01] [-8.34761249e-02 9.96509711e-01 -3.65164599e-04 -1.07289620e+01] [-3.02034510e-03 1.13432137e-04 9.99995432e-01 -5.62398619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.147552018 meters Centerline goodness [0,1] 0.9999769749717944 Centerline is valid? [True, True] Translation: X:97.64, Y:-10.73, Z:-0.56 [[ 9.96275161e-01 8.61613840e-02 3.46687358e-03 9.76373808e+01] [-8.61604362e-02 9.96281186e-01 -4.22088058e-04 -1.07325027e+01] [-3.49034861e-03 1.21808508e-04 9.99993901e-01 -5.62234051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.177552018 meters Centerline goodness [0,1] 0.9999769701994381 Centerline is valid? [True, True] Translation: X:97.67, Y:-10.73, Z:-0.56 [[ 9.95972186e-01 8.95712875e-02 4.04834791e-03 9.76677967e+01] [-8.95700227e-02 9.95980405e-01 -4.93019960e-04 -1.07344924e+01] [-4.07623563e-03 1.28423553e-04 9.99991684e-01 -5.61855575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.207552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.70, Y:-10.73, Z:-0.56 [[ 9.95871400e-01 9.06589185e-02 4.59518408e-03 9.77003280e+01] [-9.06572980e-02 9.95881991e-01 -5.60168530e-04 -1.07349336e+01] [-4.62704535e-03 1.41268845e-04 9.99989285e-01 -5.61707490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.73, Y:-10.74, Z:-0.56 [[ 9.95832615e-01 9.10566556e-02 5.10758616e-03 9.77325992e+01] [-9.10546510e-02 9.95845701e-01 -6.24130282e-04 -1.07393703e+01] [-5.14319894e-03 1.56459815e-04 9.99986761e-01 -5.61325142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.76, Y:-10.74, Z:-0.56 [[ 9.95862482e-01 9.06864066e-02 5.82181965e-03 9.77642227e+01] [-9.06837856e-02 9.95879482e-01 -7.13154328e-04 -1.07418660e+01] [-5.86250414e-03 1.82258994e-04 9.99982799e-01 -5.61509691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29755201799999 meters Centerline goodness [0,1] 0.9999539859657195 Centerline is valid? [True, True] Translation: X:97.79, Y:-10.75, Z:-0.56 [[ 9.96008955e-01 8.90697707e-02 5.72159839e-03 9.77939722e+01] [-8.90672060e-02 9.96025371e-01 -7.02001844e-04 -1.07520357e+01] [-5.76138430e-03 1.89593341e-04 9.99983385e-01 -5.62514296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:-10.75, Z:-0.56 [[ 9.96165376e-01 8.73534483e-02 4.89060449e-03 9.78264359e+01] [-8.73515495e-02 9.96177367e-01 -6.00938403e-04 -1.07513006e+01] [-4.92440354e-03 1.71432151e-04 9.99987860e-01 -5.63799592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.86, Y:-10.75, Z:-0.57 [[ 9.96293733e-01 8.59301041e-02 3.84887966e-03 9.78578449e+01] [-8.59289142e-02 9.96301158e-01 -4.73772282e-04 -1.07544987e+01] [-3.87535456e-03 1.41286306e-04 9.99992481e-01 -5.65562360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.387552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.89, Y:-10.76, Z:-0.57 [[ 9.96460803e-01 8.40266235e-02 2.32247999e-03 9.78882850e+01] [-8.40261843e-02 9.96463506e-01 -2.86192591e-04 -1.07615832e+01] [-2.33831435e-03 9.00305675e-05 9.99997262e-01 -5.66738159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.417552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.92, Y:-10.77, Z:-0.57 [[ 9.96994482e-01 7.74701393e-02 6.17459190e-04 9.79184576e+01] [-7.74701069e-02 9.96994672e-01 -7.62418540e-05 -1.07694991e+01] [-6.21509990e-04 2.81780783e-05 9.99999806e-01 -5.68324124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.447552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.95, Y:-10.77, Z:-0.57 [[ 9.97379233e-01 7.23509518e-02 -7.40172521e-05 9.79494790e+01] [-7.23509514e-02 9.97379236e-01 9.17900957e-06 -1.07725335e+01] [ 7.44873804e-05 -3.79973492e-06 9.99999997e-01 -5.67612077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.477552018 meters Centerline goodness [0,1] 0.9997932887755805 Centerline is valid? [True, True] Translation: X:97.98, Y:-10.78, Z:-0.57 [[ 9.98140038e-01 6.09574215e-02 -8.10334270e-04 9.79780902e+01] [-6.09573602e-02 9.98140366e-01 1.00086481e-04 -1.07834993e+01] [ 8.14928358e-04 -5.05044861e-05 9.99999667e-01 -5.67654482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.507552018 meters Centerline goodness [0,1] 0.9983547369864266 Centerline is valid? [True, True] Translation: X:98.01, Y:-10.80, Z:-0.57 [[ 9.98518844e-01 5.43980706e-02 -9.83926299e-04 9.80062599e+01] [-5.43979768e-02 9.98519326e-01 1.21824424e-04 -1.07969099e+01] [ 9.89096438e-04 -6.81203828e-05 9.99999509e-01 -5.68408698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.537552018 meters Centerline goodness [0,1] 0.9983547369864266 Centerline is valid? [True, True] Translation: X:98.04, Y:-10.80, Z:-0.57 [[ 9.98503550e-01 5.46780762e-02 -9.83824437e-04 9.80384536e+01] [-5.46779818e-02 9.98504033e-01 1.22647340e-04 -1.08010273e+01] [ 9.89058788e-04 -6.86702701e-05 9.99999509e-01 -5.68496401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.567552018 meters Centerline goodness [0,1] 0.9987617802847906 Centerline is valid? [True, True] Translation: X:98.07, Y:-10.80, Z:-0.57 [[ 9.98869068e-01 4.75284625e-02 -1.27643498e-03 9.80697048e+01] [-4.75282989e-02 9.98869879e-01 1.58233317e-04 -1.08014357e+01] [ 1.28251304e-03 -9.73875829e-05 9.99999173e-01 -5.68720042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59755201799999 meters Centerline goodness [0,1] 0.9949610627576729 Centerline is valid? [True, True] Translation: X:98.10, Y:-10.81, Z:-0.57 [[ 9.99209120e-01 3.97428863e-02 -1.27964072e-03 9.80997890e+01] [-3.97427155e-02 9.99209934e-01 1.58589063e-04 -1.08099832e+01] [ 1.28493251e-03 -1.07607240e-04 9.99999169e-01 -5.68863777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62755201799999 meters Centerline goodness [0,1] 0.9525621919064542 Centerline is valid? [True, True] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99687713e-01 2.49893037e-02 -1.01951194e-04 9.81291018e+01] [-2.49893025e-02 9.99687719e-01 1.26604598e-05 -1.08224892e+01] [ 1.02235733e-04 -1.01088169e-05 9.99999995e-01 -5.67155241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65755201799999 meters Centerline goodness [0,1] 0.9273480662983425 Centerline is valid? [True, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99798008e-01 2.00980975e-02 9.47737605e-05 9.81292071e+01] [-2.00974699e-02 9.99787951e-01 -4.48826671e-03 -1.08229873e+01] [-1.84959286e-04 4.48545540e-03 9.99989923e-01 -5.67810053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68755201799999 meters Centerline goodness [0,1] 0.8902987471892065 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99824875e-01 1.87042633e-02 6.08582594e-04 9.81285703e+01] [-1.87007267e-02 9.99810683e-01 -5.37402135e-03 -1.08227099e+01] [-7.08984490e-04 5.36169929e-03 9.99985375e-01 -5.67582405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71755201799999 meters Centerline goodness [0,1] 0.8911699119519989 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99898643e-01 1.42209779e-02 6.84007577e-04 9.81287833e+01] [-1.42133837e-02 9.99848408e-01 -1.00569129e-02 -1.08212103e+01] [-8.26923022e-04 1.00461715e-02 9.99949194e-01 -5.68221745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.747552018 meters Centerline goodness [0,1] 0.7605585204269415 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.56 [[ 9.99989067e-01 4.55499299e-03 1.05768768e-03 9.81252996e+01] [-4.55502420e-03 9.99989625e-01 2.71006159e-05 -1.08238196e+01] [-1.05755327e-03 -3.19181126e-05 9.99999440e-01 -5.64427714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.777552018 meters Centerline goodness [0,1] 0.7674044450573445 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99993842e-01 3.43044694e-03 7.39758896e-04 9.81266600e+01] [-3.42991936e-03 9.99993863e-01 -7.13275682e-04 -1.08241720e+01] [-7.42201211e-04 7.10733977e-04 9.99999472e-01 -5.65233359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.807552018 meters Centerline goodness [0,1] 0.8097201428077854 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99995521e-01 2.89952302e-03 7.41807098e-04 9.81270414e+01] [-2.89882950e-03 9.99995362e-01 -9.34287112e-04 -1.08246233e+01] [-7.44512645e-04 9.32132556e-04 9.99999288e-01 -5.65542527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.837552018 meters Centerline goodness [0,1] 0.7260157364376754 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99996675e-01 2.53175523e-03 4.90989290e-04 9.81274984e+01] [-2.53113559e-03 9.99996005e-01 -1.25856305e-03 -1.08244634e+01] [-4.94173702e-04 1.25731611e-03 9.99999087e-01 -5.65472533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.867552018 meters Centerline goodness [0,1] 0.7816528545119705 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99996803e-01 2.52169920e-03 1.86135944e-04 9.81282171e+01] [-2.52139949e-03 9.99995552e-01 -1.59322680e-03 -1.08233726e+01] [-1.90152755e-04 1.59275239e-03 9.99998713e-01 -5.65874580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.897552018 meters Centerline goodness [0,1] 0.7908871246116672 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99996912e-01 2.47849265e-03 -1.82067702e-04 9.81294627e+01] [-2.47884769e-03 9.99994974e-01 -1.97645400e-03 -1.08224543e+01] [ 1.77168161e-04 1.97689921e-03 9.99998030e-01 -5.66865223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.927552018 meters Centerline goodness [0,1] 0.7910482055052617 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99996911e-01 2.39783112e-03 -6.54976235e-04 9.81310233e+01] [-2.39935267e-03 9.99994402e-01 -2.33225011e-03 -1.08217757e+01] [ 6.49380226e-04 2.33381442e-03 9.99997066e-01 -5.68048320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.957552018 meters Centerline goodness [0,1] 0.8825044262031225 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99993438e-01 3.42242182e-03 -1.18811578e-03 9.81319388e+01] [-3.42539986e-03 9.99990974e-01 -2.51360206e-03 -1.08193025e+01] [ 1.17950245e-03 2.51765534e-03 9.99996135e-01 -5.68779512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98755201799999 meters Centerline goodness [0,1] 0.8755356895995576 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99992394e-01 3.59641145e-03 -1.50896422e-03 9.81324362e+01] [-3.60021570e-03 9.99990329e-01 -2.52600725e-03 -1.08192843e+01] [ 1.49986506e-03 2.53142064e-03 9.99995671e-01 -5.68811466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01755201799999 meters Centerline goodness [0,1] 0.8089314562658666 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99991313e-01 3.85332661e-03 -1.58950059e-03 9.81325736e+01] [-3.85712444e-03 9.99989697e-01 -2.39322012e-03 -1.08192136e+01] [ 1.58026235e-03 2.39933023e-03 9.99995873e-01 -5.68830598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04755201799999 meters Centerline goodness [0,1] 0.8423910542542912 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99990247e-01 4.05786969e-03 -1.74355309e-03 9.81328003e+01] [-4.06245700e-03 9.99988275e-01 -2.63557617e-03 -1.08182285e+01] [ 1.73283783e-03 2.64263357e-03 9.99995007e-01 -5.68885983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07755201799999 meters Centerline goodness [0,1] 0.8464375446603508 Centerline is valid? [False, False] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99985582e-01 5.00003570e-03 -1.95836239e-03 9.81322430e+01] [-5.00379267e-03 9.99985641e-01 -1.91824288e-03 -1.08190865e+01] [ 1.94874298e-03 1.92801447e-03 9.99996243e-01 -5.67692007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10755201799999 meters Centerline goodness [0,1] 0.9546283682375488 Centerline is valid? [False, True] Translation: X:98.13, Y:-10.82, Z:-0.57 [[ 9.99982766e-01 5.53829491e-03 -1.94812852e-03 9.81316244e+01] [-5.54210938e-03 9.99982725e-01 -1.95809513e-03 -1.08179436e+01] [ 1.93725036e-03 1.96885812e-03 9.99996185e-01 -5.67010344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.137552018 meters Centerline goodness [0,1] 0.9836462610139779 Centerline is valid? [True, True] Translation: X:98.16, Y:-10.82, Z:-0.56 [[ 9.99958670e-01 9.06277158e-03 -7.24553360e-04 9.81617276e+01] [-9.06271447e-03 9.99958929e-01 8.20650290e-05 -1.08195246e+01] [ 7.25267339e-04 -7.54952171e-05 9.99999734e-01 -5.64593668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.167552018 meters Centerline goodness [0,1] 0.9840231213872832 Centerline is valid? [True, True] Translation: X:98.19, Y:-10.82, Z:-0.56 [[ 9.99866218e-01 1.63461736e-02 5.89911452e-04 9.81915895e+01] [-1.63461370e-02 9.99866391e-01 -6.68439882e-05 -1.08236080e+01] [-5.90925278e-04 5.71922723e-05 9.99999824e-01 -5.64225680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.197552018 meters Centerline goodness [0,1] 0.9897733044000184 Centerline is valid? [True, True] Translation: X:98.22, Y:-10.83, Z:-0.56 [[ 9.99808703e-01 1.95533292e-02 4.73635275e-04 9.82216736e+01] [-1.95533060e-02 9.99808814e-01 -5.36643469e-05 -1.08264620e+01] [-4.74594040e-04 4.43929457e-05 9.99999886e-01 -5.64612910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.227552018 meters Centerline goodness [0,1] 0.9930437186161146 Centerline is valid? [True, True] Translation: X:98.25, Y:-10.83, Z:-0.57 [[ 9.99733426e-01 2.30828613e-02 5.07690036e-04 9.82521503e+01] [-2.30828350e-02 9.99733554e-01 -5.75094446e-05 -1.08292124e+01] [-5.08882247e-04 4.57751887e-05 9.99999869e-01 -5.65362424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.257552018 meters Centerline goodness [0,1] 0.9442695286466114 Centerline is valid? [True, False] Translation: X:98.25, Y:-10.83, Z:-0.57 [[ 9.99705977e-01 2.42467491e-02 2.33941912e-04 9.82526550e+01] [-2.42466812e-02 9.99705964e-01 -2.88792208e-04 -1.08264702e+01] [-2.40875397e-04 2.83034982e-04 9.99999931e-01 -5.66144611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.287552018 meters Centerline goodness [0,1] 0.9996320824135394 Centerline is valid? [False, True] Translation: X:98.25, Y:-10.82, Z:-0.57 [[ 9.99693772e-01 2.47458816e-02 5.36550484e-05 9.82527102e+01] [-2.47458397e-02 9.99693546e-01 -6.76148869e-04 -1.08244305e+01] [-7.03705055e-05 6.74614074e-04 9.99999770e-01 -5.66104037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.317552018 meters Centerline goodness [0,1] 0.9996086105675147 Centerline is valid? [True, True] Translation: X:98.28, Y:-10.83, Z:-0.57 [[ 9.99616188e-01 2.76975488e-02 -5.67090418e-04 9.82825618e+01] [-2.76975198e-02 9.99616348e-01 5.89264310e-05 -1.08289984e+01] [ 5.68504970e-04 -4.31968163e-05 9.99999837e-01 -5.65999409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34755201799999 meters Centerline goodness [0,1] 0.999770500080325 Centerline is valid? [True, True] Translation: X:98.31, Y:-10.83, Z:-0.57 [[ 9.99498795e-01 3.16364000e-02 -1.13878768e-03 9.83127010e+01] [-3.16362856e-02 9.99499440e-01 1.18319297e-04 -1.08302546e+01] [ 1.14196085e-03 -8.22329824e-05 9.99999345e-01 -5.66155629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37755201799999 meters Centerline goodness [0,1] 0.999977026809713 Centerline is valid? [True, True] Translation: X:98.34, Y:-10.83, Z:-0.57 [[ 9.99336583e-01 3.61762691e-02 -4.20376445e-03 9.83424742e+01] [-3.61747502e-02 9.99345384e-01 4.36821910e-04 -1.08323741e+01] [ 4.21681518e-03 -2.84461986e-04 9.99991069e-01 -5.68419092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40755201799999 meters Centerline goodness [0,1] 0.9999541452677916 Centerline is valid? [True, True] Translation: X:98.37, Y:-10.83, Z:-0.57 [[ 9.99262793e-01 3.80672611e-02 -4.97536251e-03 9.83741296e+01] [-3.80651568e-02 9.99275126e-01 5.16986542e-04 -1.08321738e+01] [ 4.99143626e-03 -3.27217462e-04 9.99987489e-01 -5.70200380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.41, Y:-10.84, Z:-0.57 [[ 9.99229957e-01 3.87504561e-02 -6.15588170e-03 9.84064061e+01] [-3.87472423e-02 9.99248838e-01 6.40527593e-04 -1.08352059e+01] [ 6.17607837e-03 -4.01510919e-04 9.99980847e-01 -5.70918636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46755201799999 meters Centerline goodness [0,1] 0.9999770484278173 Centerline is valid? [True, True] Translation: X:98.44, Y:-10.84, Z:-0.57 [[ 9.99196035e-01 3.96239395e-02 -6.10145797e-03 9.84388923e+01] [-3.96207908e-02 9.99214586e-01 6.36119006e-04 -1.08381184e+01] [ 6.12187133e-03 -3.93862998e-04 9.99981184e-01 -5.71912323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.497552018 meters Centerline goodness [0,1] 0.9999770621157904 Centerline is valid? [True, True] Translation: X:98.47, Y:-10.84, Z:-0.57 [[ 9.99244924e-01 3.84185046e-02 -5.79665827e-03 9.84690565e+01] [-3.84156393e-02 9.99261664e-01 6.04882081e-04 -1.08435122e+01] [ 5.81561705e-03 -3.81743015e-04 9.99983016e-01 -5.71624327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.527552018 meters Centerline goodness [0,1] 0.9997933314962799 Centerline is valid? [True, True] Translation: X:98.50, Y:-10.85, Z:-0.57 [[ 9.99280950e-01 3.74363040e-02 -6.00882810e-03 9.84999407e+01] [-3.74332046e-02 9.99298935e-01 6.27486569e-04 -1.08495980e+01] [ 6.02810630e-03 -4.02105683e-04 9.99981750e-01 -5.71244303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.557552018 meters Centerline goodness [0,1] 0.9993571051362707 Centerline is valid? [True, True] Translation: X:98.53, Y:-10.86, Z:-0.57 [[ 9.99309459e-01 3.66647108e-02 -6.02525552e-03 9.85313855e+01] [-3.66615739e-02 9.99327540e-01 6.30295170e-04 -1.08550030e+01] [ 6.04431337e-03 -4.08964575e-04 9.99981649e-01 -5.70690120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.587552018 meters Centerline goodness [0,1] 0.9973875979650763 Centerline is valid? [True, True] Translation: X:98.56, Y:-10.86, Z:-0.57 [[ 9.99426370e-01 3.34479059e-02 -5.30734381e-03 9.85604410e+01] [-3.34454228e-02 9.99440391e-01 5.55941678e-04 -1.08612174e+01] [ 5.32296886e-03 -3.78116416e-04 9.99985761e-01 -5.69352757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.617552018 meters Centerline goodness [0,1] 0.9942193879891729 Centerline is valid? [True, True] Translation: X:98.59, Y:-10.87, Z:-0.57 [[ 9.99514640e-01 3.07771546e-02 -4.82197049e-03 9.85912364e+01] [-3.07750740e-02 9.99526208e-01 5.05122540e-04 -1.08671715e+01] [ 4.83523211e-03 -3.56480876e-04 9.99988247e-01 -5.69126185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.647552018 meters Centerline goodness [0,1] 0.9875197871022505 Centerline is valid? [True, True] Translation: X:98.62, Y:-10.87, Z:-0.57 [[ 9.99579664e-01 2.87170750e-02 -3.97797994e-03 9.86212749e+01] [-2.87156425e-02 9.99587534e-01 4.16770229e-04 -1.08731348e+01] [ 3.98830758e-03 -3.02364796e-04 9.99992001e-01 -5.67955067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.677552018 meters Centerline goodness [0,1] 0.9992871596762325 Centerline is valid? [True, True] Translation: X:98.65, Y:-10.87, Z:-0.57 [[ 9.99723852e-01 2.33413624e-02 -2.72043225e-03 9.86525855e+01] [-2.33406726e-02 9.99727529e-01 2.85031599e-04 -1.08674700e+01] [ 2.72634404e-03 -2.21456170e-04 9.99996259e-01 -5.66139870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.707552018 meters Centerline goodness [0,1] 0.9995622220686159 Centerline is valid? [True, True] Translation: X:98.68, Y:-10.87, Z:-0.57 [[ 9.99768256e-01 2.13851365e-02 -2.47198462e-03 9.86836777e+01] [-2.13845607e-02 9.99771291e-01 2.59104531e-04 -1.08695379e+01] [ 2.47696024e-03 -2.06182180e-04 9.99996911e-01 -5.65184727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73755201799999 meters Centerline goodness [0,1] 0.9997003089123518 Centerline is valid? [True, True] Translation: X:98.72, Y:-10.87, Z:-0.56 [[ 9.99791265e-01 2.03154255e-02 -2.17005349e-03 9.87159762e+01] [-2.03149794e-02 9.99793604e-01 2.27419637e-04 -1.08729585e+01] [ 2.17422573e-03 -1.83287575e-04 9.99997620e-01 -5.64824742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76755201799999 meters Centerline goodness [0,1] 0.9994469663801645 Centerline is valid? [True, True] Translation: X:98.75, Y:-10.88, Z:-0.56 [[ 9.99804903e-01 1.96443202e-02 -2.06328575e-03 9.87475977e+01] [-1.96439157e-02 9.99807016e-01 2.16130498e-04 -1.08780961e+01] [ 2.06713331e-03 -1.75557320e-04 9.99997848e-01 -5.64308653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79755201799999 meters Centerline goodness [0,1] 0.9996079335793358 Centerline is valid? [True, True] Translation: X:98.78, Y:-10.88, Z:-0.56 [[ 9.99808802e-01 1.93052128e-02 -3.10945498e-03 9.87797999e+01] [-1.93042885e-02 9.99813601e-01 3.26985501e-04 -1.08803665e+01] [ 3.11518791e-03 -2.66897166e-04 9.99995112e-01 -5.64540962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82755201799999 meters Centerline goodness [0,1] 0.9986199599788393 Centerline is valid? [True, True] Translation: X:98.81, Y:-10.89, Z:-0.57 [[ 9.99814133e-01 1.87136260e-02 -4.63667770e-03 9.88099162e+01] [-1.87115579e-02 9.99824804e-01 4.89004871e-04 -1.08869962e+01] [ 4.64501642e-03 -4.02154518e-04 9.99989131e-01 -5.65683222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85755201799999 meters Centerline goodness [0,1] 0.9978821362799264 Centerline is valid? [True, True] Translation: X:98.84, Y:-10.89, Z:-0.57 [[ 9.99812387e-01 1.85508753e-02 -5.57279593e-03 9.88416960e+01] [-1.85478812e-02 9.99827800e-01 5.88465294e-04 -1.08911845e+01] [ 5.58275284e-03 -4.84991334e-04 9.99984299e-01 -5.66444907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.887552018 meters Centerline goodness [0,1] 0.9997234194574411 Centerline is valid? [True, True] Translation: X:98.87, Y:-10.89, Z:-0.57 [[ 9.99786535e-01 1.98005956e-02 -5.90090117e-03 9.88736124e+01] [-1.97972540e-02 9.99803820e-01 6.24161040e-04 -1.08894465e+01] [ 5.91210229e-03 -5.07206164e-04 9.99982395e-01 -5.67046196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.917552018 meters Centerline goodness [0,1] 0.999745940827309 Centerline is valid? [True, True] Translation: X:98.91, Y:-10.89, Z:-0.57 [[ 9.99766317e-01 2.06181998e-02 -6.49628786e-03 9.89052864e+01] [-2.06141606e-02 9.99787269e-01 6.88125093e-04 -1.08934975e+01] [ 6.50909380e-03 -5.54048768e-04 9.99978662e-01 -5.67308245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.947552018 meters Centerline goodness [0,1] 0.9994924794684876 Centerline is valid? [True, True] Translation: X:98.94, Y:-10.90, Z:-0.57 [[ 9.99741001e-01 2.18085010e-02 -6.50537551e-03 9.89354236e+01] [-2.18044691e-02 9.99762016e-01 6.90070247e-04 -1.08995933e+01] [ 6.51887673e-03 -5.48045261e-04 9.99978602e-01 -5.67278528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.977552018 meters Centerline goodness [0,1] 0.9997921670053574 Centerline is valid? [True, True] Translation: X:98.97, Y:-10.90, Z:-0.57 [[ 9.99716525e-01 2.30183896e-02 -6.08465594e-03 9.89674198e+01] [-2.30148832e-02 9.99734914e-01 6.45659195e-04 -1.08999574e+01] [ 6.09790501e-03 -5.05438521e-04 9.99981280e-01 -5.66617769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.007552018 meters Centerline goodness [0,1] 0.9999077788536912 Centerline is valid? [True, True] Translation: X:99.00, Y:-10.90, Z:-0.57 [[ 9.99654842e-01 2.56784490e-02 -5.55109839e-03 9.89980873e+01] [-2.56755702e-02 9.99670155e-01 5.89263944e-04 -1.09031791e+01] [ 5.56439877e-03 -4.46532939e-04 9.99984419e-01 -5.65708251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.037552018 meters Centerline goodness [0,1] 0.9997002052441021 Centerline is valid? [True, True] Translation: X:99.03, Y:-10.91, Z:-0.57 [[ 9.99619313e-01 2.69936629e-02 -5.70716247e-03 9.90282768e+01] [-2.69906403e-02 9.99635503e-01 6.05986936e-04 -1.09098484e+01] [ 5.72144003e-03 -4.51716275e-04 9.99983530e-01 -5.65457844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.067552018 meters Centerline goodness [0,1] 0.9999308293560213 Centerline is valid? [True, True] Translation: X:99.06, Y:-10.91, Z:-0.56 [[ 9.99568933e-01 2.88192387e-02 -5.60349244e-03 9.90603585e+01] [-2.88163520e-02 9.99584545e-01 5.95236250e-04 -1.09092278e+01] [ 5.61831870e-03 -4.33507453e-04 9.99984123e-01 -5.64764804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09755201799999 meters Centerline goodness [0,1] 0.9999079189686925 Centerline is valid? [True, True] Translation: X:99.09, Y:-10.91, Z:-0.56 [[ 9.99500953e-01 3.11565516e-02 -5.20713687e-03 9.90905840e+01] [-3.11540894e-02 9.99514440e-01 5.53316639e-04 -1.09112891e+01] [ 5.22184794e-03 -3.90816901e-04 9.99986290e-01 -5.63849177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12755201799999 meters Centerline goodness [0,1] 0.9999770114942529 Centerline is valid? [True, True] Translation: X:99.12, Y:-10.91, Z:-0.56 [[ 9.99454859e-01 3.26543235e-02 -4.86622729e-03 9.91217831e+01] [-3.26521905e-02 9.99466641e-01 5.17148704e-04 -1.09143404e+01] [ 4.88051898e-03 -3.57973805e-04 9.99988026e-01 -5.63591199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15755201799999 meters Centerline goodness [0,1] 0.9999770003909934 Centerline is valid? [True, True] Translation: X:99.15, Y:-10.92, Z:-0.56 [[ 9.99361272e-01 3.55041911e-02 -4.06196054e-03 9.91514407e+01] [-3.55027279e-02 9.99369486e-01 4.31787782e-04 -1.09185414e+01] [ 4.07472969e-03 -2.87301308e-04 9.99991657e-01 -5.63210440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18755201799999 meters Centerline goodness [0,1] 0.9999769521526689 Centerline is valid? [True, True] Translation: X:99.18, Y:-10.92, Z:-0.56 [[ 9.99338897e-01 3.61786681e-02 -3.58783041e-03 9.91837407e+01] [-3.61775308e-02 9.99345306e-01 3.81415099e-04 -1.09227633e+01] [ 3.59928057e-03 -2.51364100e-04 9.99993491e-01 -5.63303921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21755201799999 meters Centerline goodness [0,1] 0.9999769569325069 Centerline is valid? [True, True] Translation: X:99.22, Y:-10.93, Z:-0.56 [[ 9.99300597e-01 3.71930357e-02 -3.87243834e-03 9.92153900e+01] [-3.71917158e-02 9.99308064e-01 4.12323889e-04 -1.09263437e+01] [ 3.88509443e-03 -2.68012882e-04 9.99992417e-01 -5.63111923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.247552018 meters Centerline goodness [0,1] 0.9999308835387628 Centerline is valid? [True, True] Translation: X:99.25, Y:-10.93, Z:-0.56 [[ 9.99274923e-01 3.78647821e-02 -3.98569472e-03 9.92463197e+01] [-3.78633849e-02 9.99282834e-01 4.25455927e-04 -1.09305327e+01] [ 3.99894612e-03 -2.74235545e-04 9.99991967e-01 -5.62911278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.277552018 meters Centerline goodness [0,1] 0.9998850944523602 Centerline is valid? [True, True] Translation: X:99.28, Y:-10.93, Z:-0.56 [[ 9.99265114e-01 3.81144365e-02 -4.06462411e-03 9.92788442e+01] [-3.81129812e-02 9.99273342e-01 4.34930156e-04 -1.09336636e+01] [ 4.07824763e-03 -2.79695590e-04 9.99991645e-01 -5.63407799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.307552018 meters Centerline goodness [0,1] 0.9999770019778299 Centerline is valid? [True, True] Translation: X:99.31, Y:-10.94, Z:-0.56 [[ 9.99244650e-01 3.86393291e-02 -4.13895288e-03 9.93108049e+01] [-3.86378194e-02 9.99253182e-01 4.44123334e-04 -1.09354345e+01] [ 4.15302247e-03 -2.83867751e-04 9.99991336e-01 -5.63317748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.337552018 meters Centerline goodness [0,1] 0.9999539414595952 Centerline is valid? [True, True] Translation: X:99.34, Y:-10.94, Z:-0.56 [[ 9.99234484e-01 3.89119531e-02 -4.03814158e-03 9.93425047e+01] [-3.89105139e-02 9.99242605e-01 4.34369679e-04 -1.09402677e+01] [ 4.05198528e-03 -2.76910997e-04 9.99991752e-01 -5.63042163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.367552018 meters Centerline goodness [0,1] 0.9999309964118134 Centerline is valid? [True, True] Translation: X:99.38, Y:-10.94, Z:-0.56 [[ 9.99234458e-01 3.89136522e-02 -4.02822065e-03 9.93751423e+01] [-3.89122155e-02 9.99242539e-01 4.34432951e-04 -1.09402222e+01] [ 4.04207480e-03 -2.77353384e-04 9.99991792e-01 -5.63299370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.397552018 meters Centerline goodness [0,1] 0.9995161959176151 Centerline is valid? [True, True] Translation: X:99.41, Y:-10.95, Z:-0.56 [[ 9.99222114e-01 3.92592334e-02 -3.72552488e-03 9.94061656e+01] [-3.92580035e-02 9.99229026e-01 4.02726470e-04 -1.09512500e+01] [ 3.73846333e-03 -2.56156526e-04 9.99992979e-01 -5.63555323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.427552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.44, Y:-10.95, Z:-0.56 [[ 9.99231253e-01 3.90052712e-02 -3.93586939e-03 9.94388360e+01] [-3.90038918e-02 9.99238968e-01 4.26637748e-04 -1.09450759e+01] [ 3.94951518e-03 -2.72795548e-04 9.99992163e-01 -5.63972517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.457552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.47, Y:-10.95, Z:-0.56 [[ 9.99219244e-01 3.93117445e-02 -3.93575241e-03 9.94710812e+01] [-3.93103632e-02 9.99226957e-01 4.27714324e-04 -1.09486869e+01] [ 3.94952410e-03 -2.72664526e-04 9.99992163e-01 -5.63861254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.50, Y:-10.95, Z:-0.56 [[ 9.99199829e-01 3.97374469e-02 -4.54283978e-03 9.95035738e+01] [-3.97356039e-02 9.99210106e-01 4.95261928e-04 -1.09499586e+01] [ 4.55893187e-03 -3.14353151e-04 9.99989559e-01 -5.64473081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51755201799999 meters Centerline goodness [0,1] 0.9999769638332181 Centerline is valid? [True, True] Translation: X:99.54, Y:-10.95, Z:-0.57 [[ 9.99241091e-01 3.85259210e-02 -5.74414749e-03 9.95351618e+01] [-3.85229458e-02 9.99257519e-01 6.27745677e-04 -1.09547790e+01] [ 5.76406705e-03 -4.05987793e-04 9.99983305e-01 -5.65127088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:-10.96, Z:-0.56 [[ 9.99249230e-01 3.82979305e-02 -5.85195909e-03 9.95667800e+01] [-3.82948332e-02 9.99266279e-01 6.40456955e-04 -1.09595275e+01] [ 5.87219356e-03 -4.15876321e-04 9.99982672e-01 -5.64942144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57755201799999 meters Centerline goodness [0,1] 0.999930807020781 Centerline is valid? [True, True] Translation: X:99.60, Y:-10.96, Z:-0.56 [[ 9.99282164e-01 3.73552785e-02 -6.30389336e-03 9.95980170e+01] [-3.73516549e-02 9.99301944e-01 6.91621842e-04 -1.09648159e+01] [ 6.32532862e-03 -4.55664522e-04 9.99979891e-01 -5.64899089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60755201799999 meters Centerline goodness [0,1] 0.999976932481373 Centerline is valid? [True, True] Translation: X:99.63, Y:-10.97, Z:-0.56 [[ 9.99299595e-01 3.71034117e-02 -4.86370520e-03 9.96301212e+01] [-3.71012466e-02 9.99311369e-01 5.34656430e-04 -1.09678219e+01] [ 4.88019348e-03 -3.53832428e-04 9.99988029e-01 -5.63637202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.637552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.66, Y:-10.97, Z:-0.56 [[ 9.99282781e-01 3.76511672e-02 -4.03891684e-03 9.96616690e+01] [-3.76496748e-02 9.99290901e-01 4.44918238e-04 -1.09705510e+01] [ 4.05280454e-03 -2.92535228e-04 9.99991745e-01 -5.63047088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.667552018 meters Centerline goodness [0,1] 0.9998153192668174 Centerline is valid? [True, True] Translation: X:99.69, Y:-10.98, Z:-0.56 [[ 9.99268942e-01 3.80421317e-02 -3.79186116e-03 9.96922348e+01] [-3.80408155e-02 9.99276099e-01 4.18658244e-04 -1.09774211e+01] [ 3.80504288e-03 -2.74106689e-04 9.99992723e-01 -5.62948561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.697552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:-10.98, Z:-0.56 [[ 9.99216480e-01 3.94252843e-02 -3.47462343e-03 9.97243659e+01] [-3.94241848e-02 9.99222491e-01 3.84406902e-04 -1.09759053e+01] [ 3.48707723e-03 -2.47121516e-04 9.99993890e-01 -5.62470171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.727552018 meters Centerline goodness [0,1] 0.9999768978422585 Centerline is valid? [True, True] Translation: X:99.76, Y:-10.98, Z:-0.56 [[ 9.99141831e-01 4.12997923e-02 -3.15090670e-03 9.97556639e+01] [-4.12988968e-02 9.99146776e-01 3.48763286e-04 -1.09795207e+01] [ 3.16262212e-03 -2.18335017e-04 9.99994975e-01 -5.61871615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.757552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.78, Y:-10.98, Z:-0.56 [[ 9.98950964e-01 4.56718926e-02 -3.32410215e-03 9.97848586e+01] [-4.56709196e-02 9.98956471e-01 3.68073468e-04 -1.09825770e+01] [ 3.33744396e-03 -2.15872544e-04 9.99994407e-01 -5.62040809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.787552018 meters Centerline goodness [0,1] 0.9999769170398412 Centerline is valid? [True, True] Translation: X:99.81, Y:-10.99, Z:-0.56 [[ 9.98820714e-01 4.83992212e-02 -3.83363955e-03 9.98145653e+01] [-4.83979473e-02 9.98828043e-01 4.24431619e-04 -1.09881448e+01] [ 3.84968884e-03 -2.38390808e-04 9.99992562e-01 -5.61992625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.817552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:-10.99, Z:-0.56 [[ 9.98625460e-01 5.22340031e-02 -4.33585311e-03 9.98456913e+01] [-5.22324094e-02 9.98634841e-01 4.80050617e-04 -1.09865734e+01] [ 4.35500894e-03 -2.52918714e-04 9.99990485e-01 -5.62418660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:-10.99, Z:-0.56 [[ 9.98288247e-01 5.82161693e-02 -5.60841131e-03 9.98747851e+01] [-5.82135968e-02 9.98303957e-01 6.20985687e-04 -1.09886175e+01] [ 5.63505062e-03 -2.93436918e-04 9.99984080e-01 -5.62272089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.91, Y:-10.99, Z:-0.56 [[ 9.98083317e-01 6.15991542e-02 -5.93597436e-03 9.99065122e+01] [-6.15963319e-02 9.98100927e-01 6.57287049e-04 -1.09875944e+01] [ 5.96518983e-03 -2.90392992e-04 9.99982166e-01 -5.62458925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.94, Y:-10.99, Z:-0.56 [[ 9.97866738e-01 6.49799077e-02 -6.29160942e-03 9.99369898e+01] [-6.49768025e-02 9.97886531e-01 6.96917076e-04 -1.09909893e+01] [ 6.32359791e-03 -2.86621707e-04 9.99979965e-01 -5.62912517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:-10.99, Z:-0.56 [[ 9.97647501e-01 6.82597601e-02 -6.33007838e-03 9.99683342e+01] [-6.82566811e-02 9.97667547e-01 7.01421308e-04 -1.09921234e+01] [ 6.36319261e-03 -2.67701073e-04 9.99979719e-01 -5.62852264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:-11.00, Z:-0.56 [[ 9.97337851e-01 7.27114716e-02 -5.50020918e-03 9.99981395e+01] [-7.27092140e-02 9.97352996e-01 6.09577633e-04 -1.09964626e+01] [ 5.52997339e-03 -2.08038960e-04 9.99984688e-01 -5.62707780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.997552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:-11.00, Z:-0.56 [[ 9.97146131e-01 7.53363115e-02 -4.90248203e-03 1.00030795e+02] [-7.53345476e-02 9.97158167e-01 5.43735113e-04 -1.09956056e+01] [ 4.92951300e-03 -1.72857098e-04 9.99987835e-01 -5.62120643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.027552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.06, Y:-11.00, Z:-0.56 [[ 9.96924422e-01 7.82505640e-02 -4.30649791e-03 1.00061769e+02] [-7.82492256e-02 9.96933714e-01 4.78653957e-04 -1.09984021e+01] [ 4.33074790e-03 -1.40201692e-04 9.99990612e-01 -5.61015613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.057552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:-11.00, Z:-0.56 [[ 9.96795077e-01 7.98891890e-02 -4.15825351e-03 1.00092073e+02] [-7.98879513e-02 9.96803742e-01 4.63165432e-04 -1.10045917e+01] [ 4.18196457e-03 -1.29486668e-04 9.99991247e-01 -5.61052846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.087552018 meters Centerline goodness [0,1] 0.9999770657982249 Centerline is valid? [True, True] Translation: X:100.12, Y:-11.00, Z:-0.56 [[ 9.96443118e-01 8.41574967e-02 -4.31613515e-03 1.00124304e+02] [-8.41561993e-02 9.96452459e-01 4.81651532e-04 -1.10031787e+01] [ 4.34135807e-03 -1.16708824e-04 9.99990569e-01 -5.60866942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.117552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:-11.00, Z:-0.56 [[ 9.96279842e-01 8.60830908e-02 -4.02220343e-03 1.00156463e+02] [-8.60819784e-02 9.96287956e-01 4.49187766e-04 -1.10043093e+01] [ 4.04594031e-03 -1.01277487e-04 9.99991810e-01 -5.60864608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.147552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:-11.01, Z:-0.56 [[ 9.96281113e-01 8.60409776e-02 -4.57097085e-03 1.00189424e+02] [-8.60395342e-02 9.96291592e-01 5.11846189e-04 -1.10060890e+01] [ 4.59805957e-03 -1.16658488e-04 9.99989422e-01 -5.61456440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.177552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.22, Y:-11.02, Z:-0.56 [[ 9.96238632e-01 8.65316668e-02 -4.56721703e-03 1.00220226e+02] [-8.65302245e-02 9.96249094e-01 5.12845363e-04 -1.10162555e+01] [ 4.59446319e-03 -1.15714048e-04 9.99989439e-01 -5.61373092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.207552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.25, Y:-11.01, Z:-0.56 [[ 9.96329473e-01 8.54632690e-02 -4.85911336e-03 1.00252422e+02] [-8.54616165e-02 9.96341313e-01 5.47089581e-04 -1.10137482e+01] [ 4.88809146e-03 -1.29813791e-04 9.99988045e-01 -5.61745375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23755201799999 meters Centerline goodness [0,1] 0.9999770278651995 Centerline is valid? [True, True] Translation: X:100.28, Y:-11.02, Z:-0.56 [[ 9.96331277e-01 8.54344818e-02 -4.99356668e-03 1.00284207e+02] [-8.54327290e-02 9.96343782e-01 5.63659067e-04 -1.10178517e+01] [ 5.02346503e-03 -1.34977129e-04 9.99987373e-01 -5.61677761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26755201799999 meters Centerline goodness [0,1] 0.9999540515082592 Centerline is valid? [True, True] Translation: X:100.32, Y:-11.02, Z:-0.56 [[ 9.96586946e-01 8.23581749e-02 -5.62041837e-03 1.00315834e+02] [-8.23558982e-02 9.96602780e-01 6.35708541e-04 -1.10221901e+01] [ 5.65368037e-03 -1.70664230e-04 9.99984003e-01 -5.62582355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29755201799999 meters Centerline goodness [0,1] 0.9998389508800184 Centerline is valid? [True, True] Translation: X:100.35, Y:-11.02, Z:-0.56 [[ 9.96672846e-01 8.13116300e-02 -5.62652273e-03 1.00348181e+02] [-8.13093268e-02 9.96688711e-01 6.37273486e-04 -1.10244230e+01] [ 5.65970943e-03 -1.77664403e-04 9.99983968e-01 -5.62701174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32755201799999 meters Centerline goodness [0,1] 0.9998856855437939 Centerline is valid? [True, True] Translation: X:100.38, Y:-11.03, Z:-0.56 [[ 9.96763467e-01 8.01871493e-02 -5.71061409e-03 1.00379056e+02] [-8.01847495e-02 9.96779808e-01 6.48329218e-04 -1.10283504e+01] [ 5.74421249e-03 -1.88326720e-04 9.99983484e-01 -5.62430395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35755201799999 meters Centerline goodness [0,1] 0.9999311926605504 Centerline is valid? [True, True] Translation: X:100.41, Y:-11.03, Z:-0.56 [[ 9.96844223e-01 7.91635987e-02 -5.89226617e-03 1.00411280e+02] [-7.91610167e-02 9.96861617e-01 6.70509137e-04 -1.10321376e+01] [ 5.92685390e-03 -2.01955379e-04 9.99982416e-01 -5.62260748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.387552018 meters Centerline goodness [0,1] 0.9995871464941857 Centerline is valid? [True, True] Translation: X:100.44, Y:-11.04, Z:-0.56 [[ 9.96876418e-01 7.87535246e-02 -5.94054832e-03 1.00443032e+02] [-7.87508832e-02 9.96894096e-01 6.77612350e-04 -1.10352671e+01] [ 5.97546191e-03 -2.07672345e-04 9.99982125e-01 -5.61939868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.417552018 meters Centerline goodness [0,1] 0.9995632384717944 Centerline is valid? [True, True] Translation: X:100.47, Y:-11.04, Z:-0.56 [[ 9.97181212e-01 7.46383886e-02 -7.66430167e-03 1.00472158e+02] [-7.46338583e-02 9.97210620e-01 8.75804404e-04 -1.10430679e+01] [ 7.70829164e-03 -3.01319292e-04 9.99970245e-01 -5.61905922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.447552018 meters Centerline goodness [0,1] 0.99921808522871 Centerline is valid? [True, True] Translation: X:100.50, Y:-11.05, Z:-0.56 [[ 9.97268228e-01 7.33797662e-02 -8.45529363e-03 1.00504391e+02] [-7.33741929e-02 9.97304011e-01 9.67895753e-04 -1.10462129e+01] [ 8.50352222e-03 -3.44851337e-04 9.99963785e-01 -5.62614976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.477552018 meters Centerline goodness [0,1] 0.9993342668901081 Centerline is valid? [True, True] Translation: X:100.54, Y:-11.05, Z:-0.56 [[ 9.97309622e-01 7.27528794e-02 -8.97417288e-03 1.00536313e+02] [-7.27465535e-02 9.97349928e-01 1.02975867e-03 -1.10500566e+01] [ 9.02530859e-03 -3.74148085e-04 9.99959201e-01 -5.63346591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.507552018 meters Centerline goodness [0,1] 0.9993333793071743 Centerline is valid? [True, True] Translation: X:100.57, Y:-11.05, Z:-0.56 [[ 9.97324531e-01 7.25389379e-02 -9.04892360e-03 1.00567181e+02] [-7.25324763e-02 9.97365508e-01 1.04064817e-03 -1.10537027e+01] [ 9.10057179e-03 -3.81523112e-04 9.99958516e-01 -5.64642142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.537552018 meters Centerline goodness [0,1] 0.9990369402215038 Centerline is valid? [True, True] Translation: X:100.60, Y:-11.06, Z:-0.57 [[ 9.97228165e-01 7.37611666e-02 -9.76097388e-03 1.00599114e+02] [-7.37536812e-02 9.97275854e-01 1.12512132e-03 -1.10556098e+01] [ 9.81737382e-03 -4.02094910e-04 9.99951728e-01 -5.65144934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.567552018 meters Centerline goodness [0,1] 0.9988539732746567 Centerline is valid? [True, True] Translation: X:100.63, Y:-11.06, Z:-0.56 [[ 9.97077302e-01 7.57487817e-02 -9.94864590e-03 1.00629770e+02] [-7.57410792e-02 9.97126857e-01 1.14926318e-03 -1.10591452e+01] [ 1.00071173e-02 -3.92383053e-04 9.99949851e-01 -5.64557265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59755201799999 meters Centerline goodness [0,1] 0.9988998395599358 Centerline is valid? [True, True] Translation: X:100.66, Y:-11.06, Z:-0.56 [[ 9.96877167e-01 7.83177054e-02 -1.01119588e-02 1.00661563e+02] [-7.83098676e-02 9.96928381e-01 1.16934455e-03 -1.10618069e+01] [ 1.01724791e-02 -3.73826727e-04 9.99948189e-01 -5.63784843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62755201799999 meters Centerline goodness [0,1] 0.9991982590768526 Centerline is valid? [True, True] Translation: X:100.69, Y:-11.06, Z:-0.56 [[ 9.96605175e-01 8.16737291e-02 -1.03695145e-02 1.00692865e+02] [-8.16656635e-02 9.96659059e-01 1.19958348e-03 -1.10638784e+01] [ 1.04328450e-02 -3.48677819e-04 9.99945516e-01 -5.62845236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65755201799999 meters Centerline goodness [0,1] 0.999770600110112 Centerline is valid? [True, True] Translation: X:100.72, Y:-11.06, Z:-0.56 [[ 9.95916218e-01 8.94312247e-02 -1.23669886e-02 1.00724421e+02] [-8.94203455e-02 9.95992949e-01 1.43097629e-03 -1.10614179e+01] [ 1.24454074e-02 -3.19272102e-04 9.99922502e-01 -5.63558550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68755201799999 meters Centerline goodness [0,1] 0.9996347198758048 Centerline is valid? [True, True] Translation: X:100.76, Y:-11.06, Z:-0.56 [[ 9.95334010e-01 9.57438518e-02 -1.19717356e-02 1.00755342e+02] [-9.57341104e-02 9.95405978e-01 1.38546330e-03 -1.10594041e+01] [ 1.20493868e-02 -2.32895285e-04 9.99927376e-01 -5.63812747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71755201799999 meters Centerline goodness [0,1] 0.9998406954780273 Centerline is valid? [True, True] Translation: X:100.79, Y:-11.06, Z:-0.56 [[ 9.94767882e-01 1.01384564e-01 -1.25710147e-02 1.00787941e+02] [-1.01374243e-01 9.94847295e-01 1.45719070e-03 -1.10579755e+01] [ 1.26539766e-02 -1.75189414e-04 9.99919920e-01 -5.64132657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.747552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.82, Y:-11.06, Z:-0.56 [[ 9.94261180e-01 1.06160175e-01 -1.32182625e-02 1.00820279e+02] [-1.06149139e-01 9.94349034e-01 1.53575099e-03 -1.10571214e+01] [ 1.33066021e-02 -1.23830417e-04 9.99911456e-01 -5.62960615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.777552018 meters Centerline goodness [0,1] 0.9999542888487647 Centerline is valid? [True, True] Translation: X:100.85, Y:-11.06, Z:-0.56 [[ 9.93665345e-01 1.11510289e-01 -1.39512328e-02 1.00851888e+02] [-1.11498468e-01 9.93763278e-01 1.62468713e-03 -1.10593087e+01] [ 1.40453922e-02 -5.88542148e-05 9.99901357e-01 -5.62865298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.807552018 meters Centerline goodness [0,1] 0.9999311247331083 Centerline is valid? [True, True] Translation: X:100.88, Y:-11.06, Z:-0.56 [[ 9.93444465e-01 1.13467506e-01 -1.39003766e-02 1.00884841e+02] [-1.13455905e-01 9.93541707e-01 1.62293465e-03 -1.10626394e+01] [ 1.39947543e-02 -3.52156372e-05 9.99902068e-01 -5.62219426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.837552018 meters Centerline goodness [0,1] 0.9999771062271062 Centerline is valid? [True, True] Translation: X:100.92, Y:-11.06, Z:-0.56 [[ 9.93061432e-01 1.16886530e-01 -1.29046989e-02 1.00915890e+02] [-1.16876787e-01 9.93145276e-01 1.50911761e-03 -1.10644178e+01] [ 1.29926363e-02 9.61325835e-06 9.99915592e-01 -5.61366292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.867552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.95, Y:-11.07, Z:-0.56 [[ 9.92767663e-01 1.19419793e-01 -1.22996366e-02 1.00948822e+02] [-1.19411098e-01 9.92843851e-01 1.44157071e-03 -1.10669767e+01] [ 1.23837706e-02 3.75683293e-05 9.99923317e-01 -5.60905281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.897552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.98, Y:-11.07, Z:-0.56 [[ 9.92300397e-01 1.23274211e-01 -1.19745677e-02 1.00980903e+02] [-1.23266210e-01 9.92372643e-01 1.40677785e-03 -1.10695021e+01] [ 1.20566529e-02 8.01133522e-05 9.99927313e-01 -5.60199260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.927552018 meters Centerline goodness [0,1] 0.9999771245567883 Centerline is valid? [True, True] Translation: X:101.01, Y:-11.08, Z:-0.56 [[ 9.92319640e-01 1.23089472e-01 -1.22765808e-02 1.01013651e+02] [-1.23081003e-01 9.92395574e-01 1.44592885e-03 -1.10765267e+01] [ 1.23612031e-02 7.61902911e-05 9.99923595e-01 -5.60493622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.957552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.04, Y:-11.08, Z:-0.56 [[ 9.92341753e-01 1.22870315e-01 -1.26779771e-02 1.01044904e+02] [-1.22861218e-01 9.92422733e-01 1.49694410e-03 -1.10830032e+01] [ 1.27658427e-02 7.21515732e-05 9.99918511e-01 -5.60291219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.08, Y:-11.09, Z:-0.56 [[ 9.92188107e-01 1.24150146e-01 -1.22270978e-02 1.01077220e+02] [-1.24141736e-01 9.92263440e-01 1.44732535e-03 -1.10868372e+01] [ 1.23121878e-02 8.18741509e-05 9.99924199e-01 -5.60958209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.11, Y:-11.09, Z:-0.56 [[ 9.92214577e-01 1.23894563e-01 -1.26637298e-02 1.01110132e+02] [-1.23885472e-01 9.92295385e-01 1.50288637e-03 -1.10920227e+01] [ 1.27523601e-02 7.76663764e-05 9.99918682e-01 -5.61579048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.14, Y:-11.10, Z:-0.56 [[ 9.92201720e-01 1.23935881e-01 -1.32530840e-02 1.01143157e+02] [-1.23925873e-01 9.92290225e-01 1.57687218e-03 -1.10965379e+01] [ 1.33463368e-02 7.78247261e-05 9.99910931e-01 -5.62525334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.18, Y:-11.10, Z:-0.56 [[ 9.92203313e-01 1.23920237e-01 -1.32800589e-02 1.01176122e+02] [-1.23910134e-01 9.92292180e-01 1.58406676e-03 -1.11016478e+01] [ 1.33739965e-02 7.38175927e-05 9.99910561e-01 -5.63034357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10755201799999 meters Centerline goodness [0,1] 0.9999539965497413 Centerline is valid? [True, True] Translation: X:101.21, Y:-11.11, Z:-0.56 [[ 9.92263875e-01 1.23381523e-01 -1.37623246e-02 1.01208465e+02] [-1.23370564e-01 9.92359308e-01 1.64574948e-03 -1.11070717e+01] [ 1.38602260e-02 6.48479911e-05 9.99903940e-01 -5.62650306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.137552018 meters Centerline goodness [0,1] 0.9999076638965836 Centerline is valid? [True, True] Translation: X:101.24, Y:-11.12, Z:-0.56 [[ 9.92482429e-01 1.21583534e-01 -1.40025930e-02 1.01240533e+02] [-1.21571948e-01 9.92581202e-01 1.67877376e-03 -1.11154533e+01] [ 1.41028218e-02 3.61690538e-05 9.99900550e-01 -5.62429470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.167552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.27, Y:-11.12, Z:-0.56 [[ 9.92535718e-01 1.21096023e-01 -1.44430264e-02 1.01271997e+02] [-1.21083585e-01 9.92640797e-01 1.73580919e-03 -1.11193757e+01] [ 1.45469369e-02 2.59607966e-05 9.99894187e-01 -5.62380691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.197552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.30, Y:-11.12, Z:-0.56 [[ 9.92741629e-01 1.19392973e-01 -1.44698555e-02 1.01304018e+02] [-1.19380244e-01 9.92847077e-01 1.74332671e-03 -1.11247357e+01] [ 1.45744947e-02 -3.25811081e-06 9.99893786e-01 -5.62447037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.227552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.34, Y:-11.13, Z:-0.56 [[ 9.93068128e-01 1.16626009e-01 -1.46310336e-02 1.01335681e+02] [-1.16612634e-01 9.93175902e-01 1.76690965e-03 -1.11308373e+01] [ 1.47372576e-02 -4.84982852e-05 9.99891400e-01 -5.64316485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.257552018 meters Centerline goodness [0,1] 0.9999769770922068 Centerline is valid? [True, True] Translation: X:101.37, Y:-11.14, Z:-0.56 [[ 9.93685171e-01 1.11371995e-01 -1.36403698e-02 1.01367423e+02] [-1.11359825e-01 9.93778780e-01 1.65087141e-03 -1.11380837e+01] [ 1.37393709e-02 -1.21457248e-04 9.99905603e-01 -5.62548839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.287552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.40, Y:-11.15, Z:-0.56 [[ 9.94125270e-01 1.07414024e-01 -1.33106826e-02 1.01398537e+02] [-1.07402033e-01 9.94214362e-01 1.61448350e-03 -1.11459068e+01] [ 1.34070900e-02 -1.75404473e-04 9.99910106e-01 -5.61557193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.317552018 meters Centerline goodness [0,1] 0.9999768903679054 Centerline is valid? [True, True] Translation: X:101.43, Y:-11.15, Z:-0.56 [[ 9.94544085e-01 1.03591095e-01 -1.22860821e-02 1.01429490e+02] [-1.03580550e-01 9.94619947e-01 1.49325651e-03 -1.11530293e+01] [ 1.23746705e-02 -2.12510289e-04 9.99923408e-01 -5.59116121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34755201799999 meters Centerline goodness [0,1] 0.9999768903679054 Centerline is valid? [True, True] Translation: X:101.46, Y:-11.16, Z:-0.56 [[ 9.94512704e-01 1.03891984e-01 -1.22856532e-02 1.01461622e+02] [-1.03881418e-01 9.94588563e-01 1.49678041e-03 -1.11570586e+01] [ 1.23746737e-02 -2.12316060e-04 9.99923408e-01 -5.59005131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.49, Y:-11.16, Z:-0.56 [[ 9.94938689e-01 9.98252359e-02 -1.14859681e-02 1.01492365e+02] [-9.98157060e-02 9.95004955e-01 1.40142235e-03 -1.11646397e+01] [ 1.15684925e-02 -2.47849304e-04 9.99933052e-01 -5.57431892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40755201799999 meters Centerline goodness [0,1] 0.9999770426318327 Centerline is valid? [True, True] Translation: X:101.52, Y:-11.17, Z:-0.56 [[ 9.95930372e-01 8.95335168e-02 -1.03171602e-02 1.01522082e+02] [-8.95252703e-02 9.95983755e-01 1.25930794e-03 -1.11726782e+01] [ 1.03884742e-02 -3.30536467e-04 9.99945984e-01 -5.56945498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.55, Y:-11.18, Z:-0.56 [[ 9.96515533e-01 8.27852161e-02 -1.01686256e-02 1.01551602e+02] [-8.27768527e-02 9.96567334e-01 1.24134144e-03 -1.11815916e+01] [ 1.02364849e-02 -3.95289203e-04 9.99947528e-01 -5.57485204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46755201799999 meters Centerline goodness [0,1] 0.9998849993099959 Centerline is valid? [True, True] Translation: X:101.58, Y:-11.19, Z:-0.56 [[ 9.97040718e-01 7.63068942e-02 -9.33086676e-03 1.01579971e+02] [-7.62995688e-02 9.97084288e-01 1.13907001e-03 -1.11912120e+01] [ 9.39057954e-03 -4.23758073e-04 9.99955818e-01 -5.57518272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.497552018 meters Centerline goodness [0,1] 0.9964574898785425 Centerline is valid? [True, True] Translation: X:101.61, Y:-11.20, Z:-0.56 [[ 9.97928306e-01 6.38352154e-02 -8.01003692e-03 1.01609097e+02] [-6.38294155e-02 9.97960345e-01 9.77912923e-04 -1.12029501e+01] [ 8.05612449e-03 -4.64611012e-04 9.99967441e-01 -5.55603135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.527552018 meters Centerline goodness [0,1] 0.9975350165868043 Centerline is valid? [True, True] Translation: X:101.64, Y:-11.20, Z:-0.55 [[ 9.98369884e-01 5.65246389e-02 -7.90819381e-03 1.01640657e+02] [-5.65187551e-02 9.98401071e-01 9.65709000e-04 -1.12038020e+01] [ 7.95013552e-03 -5.17173513e-04 9.99968263e-01 -5.54171879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.557552018 meters Centerline goodness [0,1] 0.9960824077061345 Centerline is valid? [True, True] Translation: X:101.67, Y:-11.21, Z:-0.55 [[ 9.98683256e-01 5.07142327e-02 -7.73434777e-03 1.01671387e+02] [-5.07084294e-02 9.98713053e-01 9.44719709e-04 -1.12077153e+01] [ 7.77230482e-03 -5.51279127e-04 9.99969643e-01 -5.53864433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.587552018 meters Centerline goodness [0,1] 0.9874782130079809 Centerline is valid? [True, True] Translation: X:101.70, Y:-11.22, Z:-0.56 [[ 9.98981245e-01 4.44708969e-02 -7.66881463e-03 1.01699618e+02] [-4.44650081e-02 9.99010503e-01 9.36761838e-04 -1.12186453e+01] [ 7.70288500e-03 -5.94813603e-04 9.99970155e-01 -5.55060410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.617552018 meters Centerline goodness [0,1] 0.9718027344200308 Centerline is valid? [True, True] Translation: X:101.73, Y:-11.23, Z:-0.55 [[ 9.99536251e-01 2.92743186e-02 -8.38431004e-03 1.01729283e+02] [-2.92667486e-02 9.99571112e-01 1.02417269e-03 -1.12285046e+01] [ 8.41069607e-03 -7.78316240e-04 9.99964327e-01 -5.54704755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.647552018 meters Centerline goodness [0,1] 0.9571945847459582 Centerline is valid? [True, True] Translation: X:101.76, Y:-11.23, Z:-0.55 [[ 9.99708326e-01 2.31974446e-02 -6.71877887e-03 1.01759156e+02] [-2.31924471e-02 9.99730682e-01 8.20771842e-04 -1.12343359e+01] [ 6.73600920e-03 -6.64707520e-04 9.99977092e-01 -5.54619792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.677552018 meters Centerline goodness [0,1] 0.952758270190353 Centerline is valid? [True, True] Translation: X:101.79, Y:-11.24, Z:-0.55 [[ 9.99837362e-01 1.70847647e-02 -5.77589874e-03 1.01789687e+02] [-1.70809705e-02 9.99853861e-01 7.05611041e-04 -1.12398156e+01] [ 5.78710986e-03 -6.06838326e-04 9.99983070e-01 -5.53003943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.707552018 meters Centerline goodness [0,1] 0.9079934445906331 Centerline is valid? [True, False] Translation: X:101.79, Y:-11.24, Z:-0.55 [[ 9.99907565e-01 1.23460249e-02 -5.69528490e-03 1.01789621e+02] [-1.23690194e-02 9.99915420e-01 -4.02006232e-03 -1.12383430e+01] [ 5.64517140e-03 4.09013581e-03 9.99975701e-01 -5.52974291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73755201799999 meters Centerline goodness [0,1] 0.9091852500980098 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.55 [[ 9.99912878e-01 1.18711233e-02 -5.77181006e-03 1.01790025e+02] [-1.18971693e-02 9.99919103e-01 -4.49942648e-03 -1.12377277e+01] [ 5.71792989e-03 4.56770268e-03 9.99973220e-01 -5.53243869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76755201799999 meters Centerline goodness [0,1] 0.9301622469939301 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.55 [[ 9.99918940e-01 1.11834128e-02 -6.08638136e-03 1.01791292e+02] [-1.12137176e-02 9.99924783e-01 -4.96796745e-03 -1.12381851e+01] [ 6.03036473e-03 5.03581571e-03 9.99969137e-01 -5.54117343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79755201799999 meters Centerline goodness [0,1] 0.8867615887936595 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.55 [[ 9.99920382e-01 1.09236861e-02 -6.31681883e-03 1.01792175e+02] [-1.09571874e-02 9.99925957e-01 -5.29344261e-03 -1.12376186e+01] [ 6.25852721e-03 5.36223572e-03 9.99966038e-01 -5.54728212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82755201799999 meters Centerline goodness [0,1] 0.8488851997878767 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.56 [[ 9.99925028e-01 1.03207844e-02 -6.58929550e-03 1.01793648e+02] [-1.03603418e-02 9.99928343e-01 -5.99763046e-03 -1.12366871e+01] [ 6.52692308e-03 6.06544816e-03 9.99960304e-01 -5.56023983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85755201799999 meters Centerline goodness [0,1] 0.8723669623059866 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.56 [[ 9.99925340e-01 1.02874133e-02 -6.59416719e-03 1.01793857e+02] [-1.03263846e-02 9.99929255e-01 -5.90341343e-03 -1.12370489e+01] [ 6.53296983e-03 5.97106658e-03 9.99960833e-01 -5.56233313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.887552018 meters Centerline goodness [0,1] 0.8596305339291472 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.56 [[ 9.99925475e-01 1.00448357e-02 -6.93865761e-03 1.01794781e+02] [-1.00862089e-02 9.99931409e-01 -5.95366268e-03 -1.12373860e+01] [ 6.87837812e-03 6.02320373e-03 9.99958204e-01 -5.56479027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.917552018 meters Centerline goodness [0,1] 0.8441753171856978 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.56 [[ 9.99923364e-01 1.01799942e-02 -7.04513782e-03 1.01794744e+02] [-1.02195352e-02 9.99932101e-01 -5.59946192e-03 -1.12380442e+01] [ 6.98765697e-03 5.67103083e-03 9.99959505e-01 -5.56039378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.947552018 meters Centerline goodness [0,1] 0.9070201729106628 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.56 [[ 9.99921515e-01 1.03205524e-02 -7.10288408e-03 1.01794728e+02] [-1.03615918e-02 9.99929696e-01 -5.76551925e-03 -1.12367921e+01] [ 7.04288137e-03 5.83866393e-03 9.99958153e-01 -5.55854417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.977552018 meters Centerline goodness [0,1] 0.8967896789678967 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99918738e-01 1.03221064e-02 -7.48145184e-03 1.01795538e+02] [-1.03640300e-02 9.99930685e-01 -5.58673261e-03 -1.12377926e+01] [ 7.42326641e-03 5.66381661e-03 9.99956407e-01 -5.55974736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.007552018 meters Centerline goodness [0,1] 0.8909904507081238 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99915074e-01 1.07027018e-02 -7.43618911e-03 1.01795296e+02] [-1.07448004e-02 9.99926341e-01 -5.64460743e-03 -1.12365999e+01] [ 7.37522882e-03 5.72402842e-03 9.99956420e-01 -5.55863647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.037552018 meters Centerline goodness [0,1] 0.89507984562409 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99907464e-01 1.12310360e-02 -7.67645047e-03 1.01795460e+02] [-1.12731357e-02 9.99921532e-01 -5.46317650e-03 -1.12363182e+01] [ 7.61449098e-03 5.54920863e-03 9.99955612e-01 -5.55738482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.067552018 meters Centerline goodness [0,1] 0.8999514327343371 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99904391e-01 1.13998479e-02 -7.82642929e-03 1.01795799e+02] [-1.14392475e-02 9.99922029e-01 -5.00800207e-03 -1.12377096e+01] [ 7.76872859e-03 5.09705172e-03 9.99956833e-01 -5.55732490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09755201799999 meters Centerline goodness [0,1] 0.8947477635340773 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99902202e-01 1.15473883e-02 -7.88949769e-03 1.01795803e+02] [-1.15893293e-02 9.99918842e-01 -5.29117771e-03 -1.12362458e+01] [ 7.82775811e-03 5.38209423e-03 9.99954879e-01 -5.55676535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12755201799999 meters Centerline goodness [0,1] 0.8969674573296071 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99899697e-01 1.18064617e-02 -7.82329275e-03 1.01795317e+02] [-1.18463875e-02 9.99916941e-01 -5.07692138e-03 -1.12361736e+01] [ 7.76270248e-03 5.16908991e-03 9.99956510e-01 -5.55130467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15755201799999 meters Centerline goodness [0,1] 0.8718844738608225 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.55 [[ 9.99899111e-01 1.17173643e-02 -8.02939019e-03 1.01795460e+02] [-1.17544536e-02 9.99920390e-01 -4.58767794e-03 -1.12381435e+01] [ 7.97499547e-03 4.68159618e-03 9.99957240e-01 -5.54497666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18755201799999 meters Centerline goodness [0,1] 0.8595666867274663 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.55 [[ 9.99899331e-01 1.17588817e-02 -7.94077763e-03 1.01795138e+02] [-1.17945349e-02 9.99920504e-01 -4.45808988e-03 -1.12385592e+01] [ 7.88772422e-03 4.55129887e-03 9.99958534e-01 -5.54096773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21755201799999 meters Centerline goodness [0,1] 0.8972870458172398 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.55 [[ 9.99897418e-01 1.20025625e-02 -7.81610412e-03 1.01794421e+02] [-1.20357314e-02 9.99918703e-01 -4.21053717e-03 -1.12386206e+01] [ 7.76493146e-03 4.30417778e-03 9.99960589e-01 -5.53277780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.247552018 meters Centerline goodness [0,1] 0.9276715748595733 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.55 [[ 9.99895905e-01 1.20852845e-02 -7.88191376e-03 1.01794441e+02] [-1.21199339e-02 9.99917031e-01 -4.36320872e-03 -1.12377740e+01] [ 7.82852919e-03 4.45828280e-03 9.99959418e-01 -5.53123141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.277552018 meters Centerline goodness [0,1] 0.8199403730153227 Centerline is valid? [False, False] Translation: X:101.79, Y:-11.24, Z:-0.55 [[ 9.99893110e-01 1.22014725e-02 -8.05560702e-03 1.01794749e+02] [-1.22368905e-02 9.99915612e-01 -4.36214049e-03 -1.12375929e+01] [ 8.00170268e-03 4.46024980e-03 9.99958039e-01 -5.53146023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.307552018 meters Centerline goodness [0,1] 0.949586433159281 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.55 [[ 9.99893367e-01 1.20946874e-02 -8.18367721e-03 1.01795519e+02] [-1.21339974e-02 9.99914998e-01 -4.77099279e-03 -1.12368271e+01] [ 8.12527791e-03 4.86978477e-03 9.99955132e-01 -5.54007672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.337552018 meters Centerline goodness [0,1] 0.9220195124201398 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.23, Z:-0.56 [[ 9.99890665e-01 1.20144814e-02 -8.62037491e-03 1.01797219e+02] [-1.20620472e-02 9.99912195e-01 -5.48722408e-03 -1.12347498e+01] [ 8.55369184e-03 5.59060351e-03 9.99947788e-01 -5.55605763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.367552018 meters Centerline goodness [0,1] 0.9432625744578091 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.23, Z:-0.56 [[ 9.99889508e-01 1.19141310e-02 -8.88956592e-03 1.01798110e+02] [-1.19662358e-02 9.99911398e-01 -5.83136357e-03 -1.12338488e+01] [ 8.81930266e-03 5.93709390e-03 9.99943484e-01 -5.56242493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.397552018 meters Centerline goodness [0,1] 0.9290493160133348 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.23, Z:-0.56 [[ 9.99888998e-01 1.18476811e-02 -9.03462871e-03 1.01798484e+02] [-1.19003074e-02 9.99912405e-01 -5.79360604e-03 -1.12338715e+01] [ 8.96519652e-03 5.90047779e-03 9.99942403e-01 -5.56307795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.427552018 meters Centerline goodness [0,1] 0.8730027358208612 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.23, Z:-0.56 [[ 9.99890700e-01 1.16157564e-02 -9.14673039e-03 1.01798678e+02] [-1.16663465e-02 9.99916835e-01 -5.49716111e-03 -1.12349673e+01] [ 9.08211603e-03 5.60326920e-03 9.99943058e-01 -5.55965565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.457552018 meters Centerline goodness [0,1] 0.912269007998529 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99890856e-01 1.14691840e-02 -9.31305806e-03 1.01799019e+02] [-1.15199372e-02 9.99918984e-01 -5.41444716e-03 -1.12351891e+01] [ 9.25020426e-03 5.52114206e-03 9.99941974e-01 -5.55822155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48755201799999 meters Centerline goodness [0,1] 0.9272213024282561 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99892333e-01 1.13521727e-02 -9.29788843e-03 1.01799070e+02] [-1.14015139e-02 9.99921108e-01 -5.27099982e-03 -1.12358740e+01] [ 9.23731760e-03 5.37644231e-03 9.99942881e-01 -5.55773234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51755201799999 meters Centerline goodness [0,1] 0.8956167785852267 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99893957e-01 1.12111016e-02 -9.29436097e-03 1.01798935e+02] [-1.12604422e-02 9.99922694e-01 -5.27344232e-03 -1.12358883e+01] [ 9.23452136e-03 5.37754173e-03 9.99942901e-01 -5.55489127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54755201799999 meters Centerline goodness [0,1] 0.9573212886574181 Centerline is valid? [False, True] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99905102e-01 1.03589153e-02 -9.08179822e-03 1.01799210e+02] [-1.04090213e-02 9.99930768e-01 -5.48738116e-03 -1.12370734e+01] [ 9.02432615e-03 5.58139305e-03 9.99943703e-01 -5.55955388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57755201799999 meters Centerline goodness [0,1] 0.9373675969420651 Centerline is valid? [True, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99904538e-01 1.01408632e-02 -9.38496438e-03 1.01799870e+02] [-1.01913275e-02 9.99933781e-01 -5.34504173e-03 -1.12378360e+01] [ 9.33013958e-03 5.44017673e-03 9.99941675e-01 -5.55925452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60755201799999 meters Centerline goodness [0,1] 0.9219142416073363 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99904737e-01 1.02199663e-02 -9.27732338e-03 1.01799410e+02] [-1.02688887e-02 9.99933538e-01 -5.24110557e-03 -1.12377513e+01] [ 9.22314287e-03 5.33587409e-03 9.99943229e-01 -5.55503681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.637552018 meters Centerline goodness [0,1] 0.9218011118543978 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99903634e-01 1.00854352e-02 -9.53977761e-03 1.01799847e+02] [-1.01318328e-02 9.99937017e-01 -4.82783761e-03 -1.12395586e+01] [ 9.49048592e-03 4.92402780e-03 9.99942841e-01 -5.55223527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.667552018 meters Centerline goodness [0,1] 0.8909912193772902 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99900826e-01 1.00830106e-02 -9.83219003e-03 1.01800340e+02] [-1.01300544e-02 9.99937424e-01 -4.74666065e-03 -1.12397140e+01] [ 9.78371413e-03 4.84579052e-03 9.99940397e-01 -5.55086700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.697552018 meters Centerline goodness [0,1] 0.895184331797235 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99899992e-01 1.01668230e-02 -9.83066498e-03 1.01800381e+02] [-1.02149087e-02 9.99936047e-01 -4.85362185e-03 -1.12389163e+01] [ 9.78069036e-03 4.95355579e-03 9.99939898e-01 -5.55190713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.727552018 meters Centerline goodness [0,1] 0.8360678403539497 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99897714e-01 1.02806152e-02 -9.94339474e-03 1.01800599e+02] [-1.03258476e-02 9.99936524e-01 -4.50839172e-03 -1.12399773e+01] [ 9.89641453e-03 4.61060455e-03 9.99940400e-01 -5.55175808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.757552018 meters Centerline goodness [0,1] 0.864511375149673 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99896658e-01 1.01673308e-02 -1.01635569e-02 1.01801288e+02] [-1.02147481e-02 9.99937135e-01 -4.62445073e-03 -1.12398526e+01] [ 1.01158997e-02 4.72779100e-03 9.99937656e-01 -5.55499361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.787552018 meters Centerline goodness [0,1] 0.8683009999539192 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.56 [[ 9.99896041e-01 1.03077516e-02 -1.00825307e-02 1.01801241e+02] [-1.03533172e-02 9.99936378e-01 -4.47756088e-03 -1.12400810e+01] [ 1.00357357e-02 4.58148303e-03 9.99939145e-01 -5.55614139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.817552018 meters Centerline goodness [0,1] 0.857974765448075 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.55 [[ 9.99892408e-01 1.06920661e-02 -1.00424680e-02 1.01800672e+02] [-1.07339210e-02 9.99933889e-01 -4.12317874e-03 -1.12408893e+01] [ 9.99771876e-03 4.23053018e-03 9.99941072e-01 -5.54936335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84755201799999 meters Centerline goodness [0,1] 0.8402227408211835 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.55 [[ 9.99889210e-01 1.12590493e-02 -9.73656701e-03 1.01799738e+02] [-1.12975451e-02 9.99928545e-01 -3.90781291e-03 -1.12403532e+01] [ 9.69187302e-03 4.01737927e-03 9.99944963e-01 -5.54440675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87755201799999 meters Centerline goodness [0,1] 0.8780009233610342 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.55 [[ 9.99885510e-01 1.14913708e-02 -9.84454258e-03 1.01799850e+02] [-1.15330404e-02 9.99924728e-01 -4.18649935e-03 -1.12391183e+01] [ 9.79569295e-03 4.29955755e-03 9.99942777e-01 -5.54477278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90755201799999 meters Centerline goodness [0,1] 0.9198384304673975 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.55 [[ 9.99880381e-01 1.18920383e-02 -9.88950597e-03 1.01799709e+02] [-1.19335344e-02 9.99920191e-01 -4.14760197e-03 -1.12385633e+01] [ 9.83939326e-03 4.26512260e-03 9.99942496e-01 -5.54307189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93755201799999 meters Centerline goodness [0,1] 0.9050240722397549 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.55 [[ 9.99858634e-01 1.35738396e-02 -9.92288664e-03 1.01798563e+02] [-1.36103183e-02 9.99900830e-01 -3.61797686e-03 -1.12364006e+01] [ 9.87279274e-03 3.75251905e-03 9.99944222e-01 -5.53310848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96755201799999 meters Centerline goodness [0,1] 0.9012126521578754 Centerline is valid? [False, False] Translation: X:101.80, Y:-11.24, Z:-0.55 [[ 9.99855702e-01 1.38115541e-02 -9.89016494e-03 1.01798343e+02] [-1.38492599e-02 9.99897047e-01 -3.75417474e-03 -1.12355391e+01] [ 9.83729573e-03 3.89060449e-03 9.99944044e-01 -5.53178006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.997552018 meters Centerline goodness [0,1] 0.9743406492069348 Centerline is valid? [False, True] Translation: X:101.80, Y:-11.24, Z:-0.55 [[ 9.99854107e-01 1.37357693e-02 -1.01534874e-02 1.01798973e+02] [-1.37728931e-02 9.99898685e-01 -3.59542070e-03 -1.12368149e+01] [ 1.01030728e-02 3.73473905e-03 9.99941988e-01 -5.53334832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.027552018 meters Centerline goodness [0,1] 0.9770588370648197 Centerline is valid? [True, True] Translation: X:101.83, Y:-11.24, Z:-0.55 [[ 9.99833700e-01 1.59870175e-02 -8.77421720e-03 1.01829407e+02] [-1.59794558e-02 9.99871887e-01 9.31234574e-04 -1.12400180e+01] [ 8.78798077e-03 -7.90872494e-04 9.99961072e-01 -5.50067893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.057552018 meters Centerline goodness [0,1] 0.9659559755675925 Centerline is valid? [True, True] Translation: X:101.86, Y:-11.25, Z:-0.55 [[ 9.99844172e-01 1.58070801e-02 -7.85926505e-03 1.01859984e+02] [-1.58010109e-02 9.99874809e-01 8.33730391e-04 -1.12452084e+01] [ 7.87145998e-03 -7.09416140e-04 9.99968768e-01 -5.50077232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.087552018 meters Centerline goodness [0,1] 0.9229988231765005 Centerline is valid? [True, False] Translation: X:101.86, Y:-11.24, Z:-0.55 [[ 9.99899122e-01 1.18791269e-02 -7.78665546e-03 1.01860521e+02] [-1.19092126e-02 9.99921752e-01 -3.82884364e-03 -1.12431443e+01] [ 7.74056285e-03 3.92119033e-03 9.99962353e-01 -5.51513022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.117552018 meters Centerline goodness [0,1] 0.9132806924652962 Centerline is valid? [False, False] Translation: X:101.86, Y:-11.24, Z:-0.55 [[ 9.99901987e-01 1.14110674e-02 -8.11199164e-03 1.01861628e+02] [-1.14471599e-02 9.99924724e-01 -4.41685024e-03 -1.12423906e+01] [ 8.06098003e-03 4.50927660e-03 9.99957343e-01 -5.52222475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.147552018 meters Centerline goodness [0,1] 0.8911254063775333 Centerline is valid? [False, False] Translation: X:101.86, Y:-11.24, Z:-0.55 [[ 9.99905457e-01 1.10344007e-02 -8.20480355e-03 1.01862392e+02] [-1.10734622e-02 9.99927497e-01 -4.73071413e-03 -1.12424492e+01] [ 8.15200808e-03 4.82112246e-03 9.99955150e-01 -5.52975102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.177552018 meters Centerline goodness [0,1] 0.8866509782207457 Centerline is valid? [False, False] Translation: X:101.86, Y:-11.24, Z:-0.55 [[ 9.99906862e-01 1.08120801e-02 -8.32864856e-03 1.01862894e+02] [-1.08519783e-02 9.99929785e-01 -4.76027446e-03 -1.12428678e+01] [ 8.27659529e-03 4.85021341e-03 9.99953986e-01 -5.53290536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.207552018 meters Centerline goodness [0,1] 0.8513541642574647 Centerline is valid? [False, False] Translation: X:101.86, Y:-11.24, Z:-0.55 [[ 9.99910000e-01 1.04651673e-02 -8.39482834e-03 1.01863414e+02] [-1.05074547e-02 9.99932249e-01 -5.00911858e-03 -1.12428676e+01] [ 8.34183832e-03 5.09687604e-03 9.99952217e-01 -5.53813369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23755201799999 meters Centerline goodness [0,1] 0.8370440659137197 Centerline is valid? [False, False] Translation: X:101.86, Y:-11.24, Z:-0.55 [[ 9.99911774e-01 1.02632691e-02 -8.43266741e-03 1.01863797e+02] [-1.03056990e-02 9.99934376e-01 -5.00366566e-03 -1.12434250e+01] [ 8.38076006e-03 5.09012874e-03 9.99951926e-01 -5.54171849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26755201799999 meters Centerline goodness [0,1] 0.8370440659137197 Centerline is valid? [False, False] Translation: X:101.86, Y:-11.24, Z:-0.55 [[ 9.99911774e-01 1.02632691e-02 -8.43266741e-03 1.01863797e+02] [-1.03056990e-02 9.99934376e-01 -5.00366566e-03 -1.12434250e+01] [ 8.38076006e-03 5.09012874e-03 9.99951926e-01 -5.54171849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29755201799999 meters Centerline goodness [0,1] 0.8317674827602166 Centerline is valid? [False, False] Translation: X:101.86, Y:-11.24, Z:-0.55 [[ 9.99914290e-01 9.97300445e-03 -8.48248773e-03 1.01864325e+02] [-1.00165938e-02 9.99936766e-01 -5.11188380e-03 -1.12435320e+01] [ 8.43097051e-03 5.19641129e-03 9.99950957e-01 -5.54588515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32755201799999 meters Centerline goodness [0,1] 0.9597212898446723 Centerline is valid? [False, True] Translation: X:101.87, Y:-11.24, Z:-0.56 [[ 9.99917763e-01 9.35988302e-03 -8.76698024e-03 1.01865502e+02] [-9.40473944e-03 9.99942823e-01 -5.08934311e-03 -1.12449739e+01] [ 8.71884332e-03 5.17137574e-03 9.99948618e-01 -5.55262885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35755201799999 meters Centerline goodness [0,1] 0.9645718519890706 Centerline is valid? [True, True] Translation: X:101.90, Y:-11.25, Z:-0.55 [[ 9.99928881e-01 9.30028744e-03 -7.46576296e-03 1.01896790e+02] [-9.29434800e-03 9.99956462e-01 8.29858025e-04 -1.12496970e+01] [ 7.47315583e-03 -7.60409608e-04 9.99971786e-01 -5.52369024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.387552018 meters Centerline goodness [0,1] 0.962000416560598 Centerline is valid? [True, True] Translation: X:101.93, Y:-11.25, Z:-0.55 [[ 9.99918249e-01 1.00512721e-02 -7.90359037e-03 1.01928217e+02] [-1.00446364e-02 9.99949165e-01 8.78834739e-04 -1.12531664e+01] [ 7.91202200e-03 -7.99374202e-04 9.99968380e-01 -5.52118402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.417552018 meters Centerline goodness [0,1] 0.9904114041604755 Centerline is valid? [True, True] Translation: X:101.96, Y:-11.25, Z:-0.55 [[ 9.99911195e-01 1.07851962e-02 -7.82827890e-03 1.01960539e+02] [-1.07787015e-02 9.99941528e-01 8.71354063e-04 -1.12516097e+01] [ 7.83721890e-03 -7.86898000e-04 9.99968979e-01 -5.52037681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.447552018 meters Centerline goodness [0,1] 0.9675967805534293 Centerline is valid? [True, True] Translation: X:101.99, Y:-11.26, Z:-0.55 [[ 9.99876987e-01 1.37000255e-02 -7.63677770e-03 1.01989332e+02] [-1.36939186e-02 9.99905871e-01 8.51395160e-04 -1.12601090e+01] [ 7.64772299e-03 -7.46713015e-04 9.99970477e-01 -5.51302460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.477552018 meters Centerline goodness [0,1] 0.9819127446655367 Centerline is valid? [True, True] Translation: X:102.02, Y:-11.26, Z:-0.55 [[ 9.99847094e-01 1.58626482e-02 -7.35975177e-03 1.02019822e+02] [-1.58570350e-02 9.99873933e-01 8.20428874e-04 -1.12615251e+01] [ 7.37183812e-03 -7.03599584e-04 9.99972580e-01 -5.50811955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.507552018 meters Centerline goodness [0,1] 0.9844412030284087 Centerline is valid? [True, True] Translation: X:102.05, Y:-11.26, Z:-0.55 [[ 9.99802229e-01 1.85096940e-02 -7.27285511e-03 1.02051022e+02] [-1.85042816e-02 9.99828452e-01 8.10779170e-04 -1.12645722e+01] [ 7.28661474e-03 -6.76039862e-04 9.99973224e-01 -5.49920812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.537552018 meters Centerline goodness [0,1] 0.9949239755238272 Centerline is valid? [True, True] Translation: X:102.08, Y:-11.27, Z:-0.55 [[ 9.99760301e-01 2.06717167e-02 -7.21252758e-03 1.02081990e+02] [-2.06664486e-02 9.99786103e-01 8.04187476e-04 -1.12650501e+01] [ 7.22760878e-03 -6.54937383e-04 9.99973666e-01 -5.49409929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.567552018 meters Centerline goodness [0,1] 0.9412892791127542 Centerline is valid? [True, False] Translation: X:102.08, Y:-11.26, Z:-0.55 [[ 9.99739112e-01 2.16584936e-02 -7.25384658e-03 1.02081558e+02] [-2.16523760e-02 9.99765136e-01 9.20839601e-04 -1.12636117e+01] [ 7.27208691e-03 -7.63536351e-04 9.99973267e-01 -5.49152569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59755201799999 meters Centerline goodness [0,1] 0.9994908703802272 Centerline is valid? [False, True] Translation: X:102.08, Y:-11.26, Z:-0.55 [[ 9.99735960e-01 2.17326709e-02 -7.46334617e-03 1.02081932e+02] [-2.17278384e-02 9.99763658e-01 7.27980708e-04 -1.12631620e+01] [ 7.47740323e-03 -5.65626113e-04 9.99971884e-01 -5.49243947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62755201799999 meters Centerline goodness [0,1] 0.9990521765263426 Centerline is valid? [True, True] Translation: X:102.11, Y:-11.27, Z:-0.55 [[ 9.99665844e-01 2.49582551e-02 -6.72944877e-03 1.02111356e+02] [-2.49540608e-02 9.99688349e-01 7.06542714e-04 -1.12668349e+01] [ 6.74498560e-03 -5.38379546e-04 9.99977107e-01 -5.48116485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65755201799999 meters Centerline goodness [0,1] 0.9995150451469875 Centerline is valid? [True, True] Translation: X:102.14, Y:-11.27, Z:-0.55 [[ 9.99632186e-01 2.63713177e-02 -6.32819898e-03 1.02142223e+02] [-2.63676370e-02 9.99652093e-01 6.64378107e-04 -1.12697554e+01] [ 6.34351788e-03 -4.97274086e-04 9.99979756e-01 -5.47303508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68755201799999 meters Centerline goodness [0,1] 0.9996301860626372 Centerline is valid? [True, True] Translation: X:102.17, Y:-11.27, Z:-0.55 [[ 9.99572910e-01 2.88856755e-02 -4.42893711e-03 1.02171546e+02] [-2.88838963e-02 9.99582665e-01 4.65181297e-04 -1.12735164e+01] [ 4.44052583e-03 -3.37057663e-04 9.99990084e-01 -5.45857689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71755201799999 meters Centerline goodness [0,1] 0.9998612973322853 Centerline is valid? [True, True] Translation: X:102.20, Y:-11.27, Z:-0.55 [[ 9.99564742e-01 2.92534060e-02 -3.81645972e-03 1.02204295e+02] [-2.92520907e-02 9.99571986e-01 4.00015933e-04 -1.12749513e+01] [ 3.82652805e-03 -2.88202397e-04 9.99992637e-01 -5.45284784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.747552018 meters Centerline goodness [0,1] 0.9994443029475097 Centerline is valid? [True, True] Translation: X:102.23, Y:-11.28, Z:-0.54 [[ 9.99549967e-01 2.98754116e-02 -2.70600634e-03 1.02234834e+02] [-2.98747513e-02 9.99553610e-01 2.84117108e-04 -1.12795528e+01] [ 2.71328652e-03 -2.03147980e-04 9.99996298e-01 -5.43999103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.777552018 meters Centerline goodness [0,1] 0.9988436365318347 Centerline is valid? [True, True] Translation: X:102.27, Y:-11.29, Z:-0.54 [[ 9.99579228e-01 2.88312278e-02 -3.18234680e-03 1.02266450e+02] [-2.88303042e-02 9.99584264e-01 3.35715214e-04 -1.12854419e+01] [ 3.19070287e-03 -2.43825928e-04 9.99994880e-01 -5.43339205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.807552018 meters Centerline goodness [0,1] 0.9998843984093221 Centerline is valid? [True, True] Translation: X:102.30, Y:-11.28, Z:-0.54 [[ 9.99566021e-01 2.93329102e-02 -2.71111293e-03 1.02298861e+02] [-2.93322433e-02 9.99569676e-01 2.85445724e-04 -1.12830325e+01] [ 2.71831923e-03 -2.05798822e-04 9.99996284e-01 -5.43039198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.837552018 meters Centerline goodness [0,1] 0.9975741053069335 Centerline is valid? [True, True] Translation: X:102.33, Y:-11.29, Z:-0.54 [[ 9.99646226e-01 2.62814152e-02 -4.08768786e-03 1.02328334e+02] [-2.62798633e-02 9.99654531e-01 4.32913628e-04 -1.12933354e+01] [ 4.09765327e-03 -3.25336596e-04 9.99991552e-01 -5.43928057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.867552018 meters Centerline goodness [0,1] 0.9967994804953848 Centerline is valid? [True, True] Translation: X:102.36, Y:-11.30, Z:-0.54 [[ 9.99691617e-01 2.43937955e-02 -4.64901191e-03 1.02359369e+02] [-2.43917675e-02 9.99702355e-01 4.92441186e-04 -1.12975763e+01] [ 4.65964067e-03 -3.78891708e-04 9.99989072e-01 -5.44634584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.897552018 meters Centerline goodness [0,1] 0.9987944824388547 Centerline is valid? [True, True] Translation: X:102.39, Y:-11.30, Z:-0.55 [[ 9.99738294e-01 2.24113287e-02 -4.59091959e-03 1.02390117e+02] [-2.24093296e-02 9.99748761e-01 4.86437703e-04 -1.12977098e+01] [ 4.60066789e-03 -3.83430969e-04 9.99989343e-01 -5.45449827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.927552018 meters Centerline goodness [0,1] 0.9980759869259834 Centerline is valid? [True, True] Translation: X:102.42, Y:-11.30, Z:-0.55 [[ 9.99834252e-01 1.75397877e-02 -4.88110020e-03 1.02420346e+02] [-1.75374687e-02 9.99846073e-01 5.17497176e-04 -1.13021971e+01] [ 4.88942565e-03 -4.31809260e-04 9.99987953e-01 -5.45444871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.957552018 meters Centerline goodness [0,1] 0.9938599133436826 Centerline is valid? [True, True] Translation: X:102.45, Y:-11.31, Z:-0.55 [[ 9.99873138e-01 1.50251939e-02 -5.28690846e-03 1.02449619e+02] [-1.50224382e-02 9.99887000e-01 5.60541169e-04 -1.13087330e+01] [ 5.29473328e-03 -4.81047801e-04 9.99985867e-01 -5.45681674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98755201799999 meters Centerline goodness [0,1] 0.9908787850726919 Centerline is valid? [True, True] Translation: X:102.48, Y:-11.31, Z:-0.55 [[ 9.99878329e-01 1.47357662e-02 -5.11709747e-03 1.02481132e+02] [-1.47331804e-02 9.99891314e-01 5.42659402e-04 -1.13129658e+01] [ 5.12453782e-03 -4.67202256e-04 9.99986760e-01 -5.45543391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01755201799999 meters Centerline goodness [0,1] 0.9839332362392214 Centerline is valid? [True, True] Translation: X:102.51, Y:-11.32, Z:-0.55 [[ 9.99879349e-01 1.46987244e-02 -5.02352206e-03 1.02511404e+02] [-1.46962245e-02 9.99891862e-01 5.34194612e-04 -1.13179414e+01] [ 5.03083081e-03 -4.60303353e-04 9.99987239e-01 -5.45291886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04755201799999 meters Centerline goodness [0,1] 0.9928875915114447 Centerline is valid? [True, True] Translation: X:102.54, Y:-11.32, Z:-0.54 [[ 9.99850472e-01 1.61970279e-02 -6.05714888e-03 1.02542638e+02] [-1.61934147e-02 9.99868670e-01 6.45087371e-04 -1.13197340e+01] [ 6.06680189e-03 -5.46904989e-04 9.99981447e-01 -5.44693222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07755201799999 meters Centerline goodness [0,1] 0.9938007448358817 Centerline is valid? [True, True] Translation: X:102.57, Y:-11.32, Z:-0.54 [[ 9.99806806e-01 1.88147451e-02 -5.68818554e-03 1.02573349e+02] [-1.88115995e-02 9.99822863e-01 6.06004577e-04 -1.13221075e+01] [ 5.69857977e-03 -4.98883632e-04 9.99983639e-01 -5.44004650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10755201799999 meters Centerline goodness [0,1] 0.9997918305037702 Centerline is valid? [True, True] Translation: X:102.60, Y:-11.32, Z:-0.54 [[ 9.99763243e-01 2.09115543e-02 -6.01373748e-03 1.02604874e+02] [-2.09080753e-02 9.99781197e-01 6.40807509e-04 -1.13178846e+01] [ 6.02582194e-03 -5.14920117e-04 9.99981712e-01 -5.44106411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.137552018 meters Centerline goodness [0,1] 0.9996997759866978 Centerline is valid? [True, True] Translation: X:102.64, Y:-11.32, Z:-0.54 [[ 9.99717130e-01 2.28590137e-02 -6.56703908e-03 1.02635072e+02] [-2.28549058e-02 9.99738548e-01 6.99905952e-04 -1.13219198e+01] [ 6.58132127e-03 -5.49618910e-04 9.99978192e-01 -5.44536611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.167552018 meters Centerline goodness [0,1] 0.9998843984093221 Centerline is valid? [True, True] Translation: X:102.67, Y:-11.32, Z:-0.55 [[ 9.99666595e-01 2.49693515e-02 -6.57495352e-03 1.02666514e+02] [-2.49652782e-02 9.99688073e-01 7.00887201e-04 -1.13229682e+01] [ 6.59040332e-03 -5.36507978e-04 9.99978139e-01 -5.45273642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.197552018 meters Centerline goodness [0,1] 0.9998615948882379 Centerline is valid? [True, True] Translation: X:102.70, Y:-11.33, Z:-0.54 [[ 9.99512555e-01 3.08227266e-02 -4.96094216e-03 1.02695732e+02] [-3.08204782e-02 9.99524796e-01 5.29042565e-04 -1.13266940e+01] [ 4.97489124e-03 -3.75886076e-04 9.99987555e-01 -5.44826982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.227552018 meters Centerline goodness [0,1] 0.9999769255618626 Centerline is valid? [True, True] Translation: X:102.73, Y:-11.33, Z:-0.54 [[ 9.99432440e-01 3.33365035e-02 -4.84523009e-03 1.02726768e+02] [-3.33343890e-02 9.99444121e-01 5.16547848e-04 -1.13271238e+01] [ 4.85975663e-03 -3.54741892e-04 9.99988128e-01 -5.44420009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.257552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.76, Y:-11.33, Z:-0.54 [[ 9.99321688e-01 3.65734350e-02 -4.30672733e-03 1.02756327e+02] [-3.65717938e-02 9.99330923e-01 4.59252383e-04 -1.13310084e+01] [ 4.32064223e-03 -3.01436123e-04 9.99990621e-01 -5.43442808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.287552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.79, Y:-11.33, Z:-0.54 [[ 9.99173088e-01 4.04822926e-02 -3.78465071e-03 1.02786655e+02] [-4.04810533e-02 9.99180225e-01 4.03541053e-04 -1.13326658e+01] [ 3.79788442e-03 -2.50000713e-04 9.99992757e-01 -5.42683125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.317552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.82, Y:-11.34, Z:-0.54 [[ 9.99075475e-01 4.28479975e-02 -3.49932379e-03 1.02817714e+02] [-4.28469525e-02 9.99081578e-01 3.73108634e-04 -1.13369855e+01] [ 3.51209690e-03 -2.22828326e-04 9.99993808e-01 -5.41937554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34755201799999 meters Centerline goodness [0,1] 0.9998150716597318 Centerline is valid? [True, True] Translation: X:102.85, Y:-11.34, Z:-0.54 [[ 9.98821659e-01 4.84233448e-02 -3.23626273e-03 1.02848834e+02] [-4.84224796e-02 9.98826884e-01 3.45221542e-04 -1.13371569e+01] [ 3.24918300e-03 -1.88106887e-04 9.99994704e-01 -5.43367337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:-11.34, Z:-0.54 [[ 9.98672927e-01 5.14496815e-02 -2.30551774e-03 1.02879853e+02] [-5.14492506e-02 9.98675580e-01 2.45872514e-04 -1.13395859e+01] [ 2.31511433e-03 -1.26929063e-04 9.99997312e-01 -5.40529181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.91, Y:-11.34, Z:-0.54 [[ 9.98558706e-01 5.36256577e-02 -2.19063275e-03 1.02911323e+02] [-5.36252739e-02 9.98561102e-01 2.33618461e-04 -1.13424858e+01] [ 2.20000860e-03 -1.15808467e-04 9.99997573e-01 -5.39934256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.94, Y:-11.34, Z:-0.54 [[ 9.98415530e-01 5.62634218e-02 -9.25466780e-04 1.02941551e+02] [-5.62633544e-02 9.98415958e-01 9.87445801e-05 -1.13448275e+01] [ 9.29556509e-04 -4.65182569e-05 9.99999567e-01 -5.39114885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:-11.35, Z:-0.54 [[ 9.98380320e-01 5.68920428e-02 -1.76987502e-04 1.02972602e+02] [-5.68920406e-02 9.98380336e-01 1.74532477e-05 -1.13498290e+01] [ 1.77693793e-04 -7.35579885e-06 9.99999984e-01 -5.38325519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.497552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.00, Y:-11.35, Z:-0.54 [[ 9.98385299e-01 5.68048765e-02 3.24037891e-05 1.03003850e+02] [-5.68048764e-02 9.98385299e-01 -5.07059990e-06 -1.13548716e+01] [-3.26395015e-05 3.22171916e-06 9.99999999e-01 -5.38466622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.527552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:-11.36, Z:-0.54 [[ 9.98333008e-01 5.77164178e-02 1.45771652e-04 1.03035918e+02] [-5.77164158e-02 9.98333018e-01 -1.72733878e-05 -1.13570727e+01] [-1.46525611e-04 8.83117590e-06 9.99999989e-01 -5.38335194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.557552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.07, Y:-11.36, Z:-0.54 [[ 9.98341136e-01 5.75758245e-02 -1.59926863e-05 1.03066840e+02] [-5.75758245e-02 9.98341136e-01 2.54889995e-07 -1.13622641e+01] [ 1.59808321e-05 6.66324935e-07 1.00000000e+00 -5.39103228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.587552018 meters Centerline goodness [0,1] 0.9999768892997458 Centerline is valid? [True, True] Translation: X:103.10, Y:-11.37, Z:-0.54 [[ 9.98282992e-01 5.85743790e-02 -3.31493710e-04 1.03099117e+02] [-5.85743709e-02 9.98283047e-01 3.42734105e-05 -1.13657729e+01] [ 3.32932095e-04 -1.47975272e-05 9.99999944e-01 -5.38658066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.617552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.13, Y:-11.36, Z:-0.54 [[ 9.98255491e-01 5.90406088e-02 -4.25381520e-04 1.03132027e+02] [-5.90405953e-02 9.98255582e-01 4.42012639e-05 -1.13633763e+01] [ 4.27249146e-04 -1.90093762e-05 9.99999909e-01 -5.38751561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.647552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.16, Y:-11.37, Z:-0.54 [[ 9.98180236e-01 6.02985240e-02 -5.51330152e-04 1.03163851e+02] [-6.02985010e-02 9.98180388e-01 5.82336247e-05 -1.13659729e+01] [ 5.53838347e-04 -2.48832715e-05 9.99999846e-01 -5.38339238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.677552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.20, Y:-11.37, Z:-0.54 [[ 9.98140852e-01 6.09242679e-02 -1.75287778e-03 1.03196029e+02] [-6.09240292e-02 9.98142388e-01 1.89251118e-04 -1.13692393e+01] [ 1.76115160e-03 -8.21068944e-05 9.99998446e-01 -5.38891399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.707552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:-11.37, Z:-0.54 [[ 9.98105276e-01 6.14930245e-02 -2.11320964e-03 1.03228667e+02] [-6.14926755e-02 9.98107508e-01 2.29764503e-04 -1.13707466e+01] [ 2.12333932e-03 -9.93822484e-05 9.99997741e-01 -5.39153591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.26, Y:-11.37, Z:-0.54 [[ 9.98129008e-01 6.10815715e-02 -2.74324618e-03 1.03260055e+02] [-6.10809824e-02 9.98132769e-01 2.98111137e-04 -1.13746827e+01] [ 2.75633300e-03 -1.29993201e-04 9.99996193e-01 -5.39729275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.29, Y:-11.38, Z:-0.54 [[ 9.98105692e-01 6.14494277e-02 -2.99933292e-03 1.03292313e+02] [-6.14487225e-02 9.98110188e-01 3.26786583e-04 -1.13778365e+01] [ 3.01374559e-03 -1.41862372e-04 9.99995449e-01 -5.39431068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.32, Y:-11.38, Z:-0.54 [[ 9.98109790e-01 6.13957784e-02 -2.72142608e-03 1.03322593e+02] [-6.13951952e-02 9.98113491e-01 2.97395201e-04 -1.13835170e+01] [ 2.73455090e-03 -1.29750575e-04 9.99996253e-01 -5.38636874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.35, Y:-11.39, Z:-0.54 [[ 9.98119187e-01 6.12684506e-02 -2.06512920e-03 1.03353881e+02] [-6.12681142e-02 9.98121319e-01 2.25819692e-04 -1.13874994e+01] [ 2.07508511e-03 -9.88683959e-05 9.99997842e-01 -5.37118093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.39, Y:-11.39, Z:-0.54 [[ 9.98106001e-01 6.14946933e-02 -1.67706938e-03 1.03385113e+02] [-6.14944718e-02 9.98107407e-01 1.83349256e-04 -1.13917335e+01] [ 1.68517037e-03 -7.98714977e-05 9.99998577e-01 -5.36773633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.887552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.42, Y:-11.40, Z:-0.54 [[ 9.98075747e-01 6.19858622e-02 -1.59876903e-03 1.03416678e+02] [-6.19856608e-02 9.98077025e-01 1.75273061e-04 -1.13951046e+01] [ 1.60655909e-03 -7.58350366e-05 9.99998707e-01 -5.36757599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.917552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.45, Y:-11.40, Z:-0.54 [[ 9.97999932e-01 6.32008307e-02 -1.33830583e-03 1.03448956e+02] [-6.32006905e-02 9.98000827e-01 1.46802327e-04 -1.13971103e+01] [ 1.34490836e-03 -6.19268594e-05 9.99999094e-01 -5.37860256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.947552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.48, Y:-11.40, Z:-0.54 [[ 9.97934880e-01 6.42221833e-02 -1.21957940e-03 1.03480507e+02] [-6.42220675e-02 9.97935623e-01 1.33962237e-04 -1.14002310e+01] [ 1.22566508e-03 -5.53616784e-05 9.99999247e-01 -5.37404039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.977552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.51, Y:-11.40, Z:-0.54 [[ 9.97859022e-01 6.53980490e-02 -6.83194664e-04 1.03510928e+02] [-6.53980133e-02 9.97859256e-01 7.46149082e-05 -1.14039095e+01] [ 6.86611788e-04 -2.97755857e-05 9.99999764e-01 -5.36968821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.007552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.54, Y:-11.41, Z:-0.54 [[ 9.97843548e-01 6.56334433e-02 -7.10270113e-04 1.03543135e+02] [-6.56334047e-02 9.97843800e-01 7.75032438e-05 -1.14088120e+01] [ 7.13825433e-04 -3.07186660e-05 9.99999745e-01 -5.36541780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.037552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.57, Y:-11.41, Z:-0.53 [[ 9.97862939e-01 6.53418005e-02 5.66410543e-05 1.03573719e+02] [-6.53418002e-02 9.97862941e-01 -7.84847963e-06 -1.14140976e+01] [-5.70328428e-05 4.13067851e-06 9.99999998e-01 -5.34277408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.067552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.61, Y:-11.42, Z:-0.53 [[ 9.97852590e-01 6.54952125e-02 7.65264699e-04 1.03607049e+02] [-6.54951644e-02 9.97852883e-01 -8.78513961e-05 -1.14153541e+01] [-7.69375432e-04 3.75416059e-05 9.99999703e-01 -5.34259289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.64, Y:-11.42, Z:-0.53 [[ 9.97908415e-01 6.46388315e-02 7.85219639e-04 1.03637528e+02] [-6.46387807e-02 9.97908723e-01 -8.99144662e-05 -1.14227993e+01] [-7.89389494e-04 3.89707624e-05 9.99999688e-01 -5.33688813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.67, Y:-11.42, Z:-0.53 [[ 9.97934242e-01 6.42340350e-02 1.11259445e-03 1.03669422e+02] [-6.42339330e-02 9.97934860e-01 -1.27186358e-04 -1.14225454e+01] [-1.11846648e-03 5.54573048e-05 9.99999373e-01 -5.34660141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.70, Y:-11.43, Z:-0.53 [[ 9.97914637e-01 6.45378852e-02 1.11252891e-03 1.03701614e+02] [-6.45377828e-02 9.97915256e-01 -1.27764247e-04 -1.14262911e+01] [-1.11845521e-03 5.56976633e-05 9.99999373e-01 -5.34457767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.73, Y:-11.43, Z:-0.53 [[ 9.97990040e-01 6.33335216e-02 2.17818620e-03 1.03733937e+02] [-6.33331292e-02 9.97992411e-01 -2.48723072e-04 -1.14277111e+01] [-2.18956581e-03 1.10271800e-04 9.99997597e-01 -5.34824914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.76, Y:-11.43, Z:-0.53 [[ 9.98019428e-01 6.28528894e-02 2.59512966e-03 1.03764838e+02] [-6.28523303e-02 9.98022794e-01 -2.96529185e-04 -1.14325960e+01] [-2.60863627e-03 1.32831941e-04 9.99996589e-01 -5.34616920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.247552018 meters Centerline goodness [0,1] 0.9999768866289148 Centerline is valid? [True, True] Translation: X:103.80, Y:-11.44, Z:-0.53 [[ 9.98048312e-01 6.23671135e-02 3.14806214e-03 1.03796613e+02] [-6.23662863e-02 9.98053263e-01 -3.60335857e-04 -1.14365783e+01] [-3.16440680e-03 1.63299649e-04 9.99994980e-01 -5.34340595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.277552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.83, Y:-11.44, Z:-0.53 [[ 9.98029264e-01 6.26979832e-02 2.55958677e-03 1.03829342e+02] [-6.26974340e-02 9.98032537e-01 -2.94324985e-04 -1.14399847e+01] [-2.57300446e-03 1.33265426e-04 9.99996681e-01 -5.34057370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.307552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.86, Y:-11.44, Z:-0.53 [[ 9.97996310e-01 6.32265624e-02 2.40158475e-03 1.03861103e+02] [-6.32260792e-02 9.97999192e-01 -2.76667084e-04 -1.14433438e+01] [-2.41427234e-03 1.24269941e-04 9.99997078e-01 -5.34765233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.337552018 meters Centerline goodness [0,1] 0.9999769244969541 Centerline is valid? [True, True] Translation: X:103.89, Y:-11.45, Z:-0.54 [[ 9.97859704e-01 6.53901811e-02 3.67256775e-04 1.03891648e+02] [-6.53901699e-02 9.97859772e-01 -4.23054008e-05 -1.14459345e+01] [-3.69237120e-04 1.81998717e-05 9.99999932e-01 -5.35343712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.367552018 meters Centerline goodness [0,1] 0.9999769234319472 Centerline is valid? [True, True] Translation: X:103.92, Y:-11.45, Z:-0.54 [[ 9.97769544e-01 6.67422927e-02 -1.18504830e-03 1.03924581e+02] [-6.67421793e-02 9.97770246e-01 1.35001534e-04 -1.14450246e+01] [ 1.19141625e-03 -5.56077127e-05 9.99999289e-01 -5.36600144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.397552018 meters Centerline goodness [0,1] 0.9999769585253456 Centerline is valid? [True, True] Translation: X:103.96, Y:-11.45, Z:-0.54 [[ 9.97673931e-01 6.81228040e-02 -2.45162811e-03 1.03956179e+02] [-6.81223207e-02 9.97676937e-01 2.80180650e-04 -1.14476116e+01] [ 2.46501951e-03 -1.12518335e-04 9.99996956e-01 -5.38027866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.427552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.99, Y:-11.45, Z:-0.54 [[ 9.97502430e-01 7.04698872e-02 -4.78499752e-03 1.03987997e+02] [-7.04680579e-02 9.97513885e-01 5.50040844e-04 -1.14481006e+01] [ 4.81186278e-03 -2.11477597e-04 9.99988401e-01 -5.39669835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.457552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.02, Y:-11.45, Z:-0.54 [[ 9.97277926e-01 7.35591643e-02 -5.07814426e-03 1.04018662e+02] [-7.35571422e-02 9.97290833e-01 5.84079982e-04 -1.14491244e+01] [ 5.10735116e-03 -2.08956293e-04 9.99986936e-01 -5.39606541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.05, Y:-11.45, Z:-0.54 [[ 9.97115170e-01 7.56683454e-02 -5.96982494e-03 1.04051257e+02] [-7.56655869e-02 9.97133014e-01 6.86901912e-04 -1.14508647e+01] [ 6.00468627e-03 -2.33210008e-04 9.99981945e-01 -5.40148813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.08, Y:-11.45, Z:-0.54 [[ 9.96924076e-01 7.80935836e-02 -6.61656482e-03 1.04082568e+02] [-7.80902433e-02 9.96946003e-01 7.62081324e-04 -1.14531170e+01] [ 6.65587151e-03 -2.43048063e-04 9.99977820e-01 -5.40527690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.11, Y:-11.45, Z:-0.54 [[ 9.96710907e-01 8.06936869e-02 -7.47635082e-03 1.04114411e+02] [-8.06894816e-02 9.96738914e-01 8.62907145e-04 -1.14538228e+01] [ 7.52160095e-03 -2.56806092e-04 9.99971679e-01 -5.41240147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:-11.46, Z:-0.54 [[ 9.96657071e-01 8.13321151e-02 -7.73110674e-03 1.04146064e+02] [-8.13276315e-02 9.96687021e-01 8.93093057e-04 -1.14570947e+01] [ 7.77813089e-03 -2.61354911e-04 9.99969716e-01 -5.41963751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.18, Y:-11.46, Z:-0.54 [[ 9.96654753e-01 8.14387949e-02 -6.85756928e-03 1.04178561e+02] [-8.14352582e-02 9.96678317e-01 7.93855596e-04 -1.14602109e+01] [ 6.89944125e-03 -2.32752027e-04 9.99976171e-01 -5.41587259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.637552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.21, Y:-11.47, Z:-0.54 [[ 9.96690225e-01 8.09843017e-02 -7.08085565e-03 1.04209680e+02] [-8.09805039e-02 9.96715347e-01 8.21890427e-04 -1.14652381e+01] [ 7.12415772e-03 -2.45758896e-04 9.99974593e-01 -5.41367344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.667552018 meters Centerline goodness [0,1] 0.9999771046546237 Centerline is valid? [True, True] Translation: X:104.24, Y:-11.47, Z:-0.54 [[ 9.96585726e-01 8.23759453e-02 -5.57621770e-03 1.04241306e+02] [-8.23736060e-02 9.96601309e-01 6.48289598e-04 -1.14673597e+01] [ 5.61066932e-03 -1.86743001e-04 9.99984243e-01 -5.40604015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.697552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.27, Y:-11.47, Z:-0.54 [[ 9.96588656e-01 8.23411557e-02 -5.56633747e-03 1.04272623e+02] [-8.23388160e-02 9.96604184e-01 6.48601403e-04 -1.14718374e+01] [ 5.60084180e-03 -1.88063165e-04 9.99984297e-01 -5.40020544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.727552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.30, Y:-11.47, Z:-0.54 [[ 9.96446471e-01 8.40784904e-02 -5.02373390e-03 1.04304044e+02] [-8.40766001e-02 9.96459122e-01 5.86650619e-04 -1.14745578e+01] [ 5.05527016e-03 -1.62187473e-04 9.99987209e-01 -5.39579275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.757552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.34, Y:-11.48, Z:-0.54 [[ 9.96373633e-01 8.49327659e-02 -5.09979175e-03 1.04335920e+02] [-8.49308222e-02 9.96386672e-01 5.96877632e-04 -1.14757652e+01] [ 5.13205900e-03 -1.61583629e-04 9.99986818e-01 -5.39170056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.787552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.37, Y:-11.48, Z:-0.54 [[ 9.96437379e-01 8.41315608e-02 -5.86780383e-03 1.04366175e+02] [-8.41289634e-02 9.96454637e-01 6.88522313e-04 -1.14800514e+01] [ 5.90492679e-03 -1.92417115e-04 9.99982547e-01 -5.40306424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.817552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.40, Y:-11.48, Z:-0.54 [[ 9.96560219e-01 8.25671209e-02 -7.09939696e-03 1.04398751e+02] [-8.25632666e-02 9.96585476e-01 8.34787335e-04 -1.14807453e+01] [ 7.14408188e-03 -2.45766446e-04 9.99974451e-01 -5.41394434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84755201799999 meters Centerline goodness [0,1] 0.999977079990832 Centerline is valid? [True, True] Translation: X:104.43, Y:-11.49, Z:-0.54 [[ 9.96894253e-01 7.82941937e-02 -8.47748332e-03 1.04427957e+02] [-7.82885251e-02 9.96930243e-01 9.98973021e-04 -1.14922287e+01] [ 8.52967329e-03 -3.32180798e-04 9.99963567e-01 -5.44015762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:-11.49, Z:-0.54 [[ 9.97080840e-01 7.58346958e-02 -8.88238145e-03 1.04460671e+02] [-7.58283705e-02 9.97120335e-01 1.04722558e-03 -1.14898717e+01] [ 8.93621920e-03 -3.70632045e-04 9.99960003e-01 -5.44265172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.49, Y:-11.49, Z:-0.54 [[ 9.97194112e-01 7.42785368e-02 -9.30599509e-03 1.04492599e+02] [-7.42715135e-02 9.97237452e-01 1.09851820e-03 -1.14934499e+01] [ 9.36188316e-03 -4.04265543e-04 9.99956095e-01 -5.44938809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.52, Y:-11.50, Z:-0.55 [[ 9.97323066e-01 7.22540130e-02 -1.12276622e-02 1.04524309e+02] [-7.22436245e-02 9.97386131e-01 1.32863520e-03 -1.14958989e+01] [ 1.12943138e-02 -5.13951512e-04 9.99936085e-01 -5.46379974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96755201799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.55, Y:-11.50, Z:-0.55 [[ 9.97442965e-01 7.03572275e-02 -1.25456255e-02 1.04554536e+02] [-7.03440821e-02 9.97521679e-01 1.48656757e-03 -1.15008965e+01] [ 1.26191242e-02 -6.00255853e-04 9.99920196e-01 -5.46803890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.997552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.58, Y:-11.51, Z:-0.55 [[ 9.97524782e-01 6.91666234e-02 -1.26604734e-02 1.04584757e+02] [-6.91531266e-02 9.97604927e-01 1.50127296e-03 -1.15059240e+01] [ 1.27339886e-02 -6.22045665e-04 9.99918726e-01 -5.46307793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.027552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.62, Y:-11.51, Z:-0.55 [[ 9.97651330e-01 6.73322778e-02 -1.25773134e-02 1.04616368e+02] [-6.73187960e-02 9.97730400e-01 1.49269951e-03 -1.15102609e+01] [ 1.26492748e-02 -6.42504055e-04 9.99919788e-01 -5.45663861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.057552018 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.65, Y:-11.52, Z:-0.55 [[ 9.98379409e-01 5.51406454e-02 -1.40735335e-02 1.04646356e+02] [-5.51225473e-02 9.98478198e-01 1.67093900e-03 -1.15210236e+01] [ 1.41442530e-02 -8.92462081e-04 9.99899567e-01 -5.48139130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.087552018 meters Centerline goodness [0,1] 0.9999084291012317 Centerline is valid? [True, True] Translation: X:104.68, Y:-11.53, Z:-0.55 [[ 9.98762546e-01 4.76066474e-02 -1.43869553e-02 1.04676697e+02] [-4.75869535e-02 9.98865638e-01 1.70831441e-03 -1.15264326e+01] [ 1.44519624e-02 -1.02156908e-03 9.99895043e-01 -5.48579762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.117552018 meters Centerline goodness [0,1] 0.9971417465072142 Centerline is valid? [True, True] Translation: X:104.71, Y:-11.54, Z:-0.55 [[ 9.99127847e-01 3.95398737e-02 -1.34217704e-02 1.04705302e+02] [-3.95220080e-02 9.99217429e-01 1.59384022e-03 -1.15373815e+01] [ 1.34742871e-02 -1.06199483e-03 9.99908654e-01 -5.48911582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.147552018 meters Centerline goodness [0,1] 0.9950981514991868 Centerline is valid? [True, True] Translation: X:104.74, Y:-11.54, Z:-0.55 [[ 9.99406540e-01 3.23756556e-02 -1.17636878e-02 1.04735596e+02] [-3.23614375e-02 9.99475255e-01 1.39704054e-03 -1.15411009e+01] [ 1.18027449e-02 -1.01552161e-03 9.99929830e-01 -5.47671174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.177552018 meters Centerline goodness [0,1] 0.9793546905500058 Centerline is valid? [True, True] Translation: X:104.77, Y:-11.55, Z:-0.54 [[ 9.99763033e-01 1.97378554e-02 -9.18121698e-03 1.04765174e+02] [-1.97286661e-02 9.99804776e-01 1.09038685e-03 -1.15507227e+01] [ 9.20094649e-03 -9.08995301e-04 9.99957257e-01 -5.44004053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.207552018 meters Centerline goodness [0,1] 0.9617462470401619 Centerline is valid? [True, True] Translation: X:104.80, Y:-11.56, Z:-0.54 [[ 9.99844789e-01 1.54682088e-02 -8.43397611e-03 1.04795759e+02] [-1.54603032e-02 9.99879981e-01 1.00174942e-03 -1.15578403e+01] [ 8.44845914e-03 -8.71202105e-04 9.99963932e-01 -5.42278634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23755201799999 meters Centerline goodness [0,1] 0.9452149155033064 Centerline is valid? [True, False] Translation: X:104.80, Y:-11.55, Z:-0.54 [[ 9.99897665e-01 1.16327481e-02 -8.32701163e-03 1.04795695e+02] [-1.16640190e-02 9.99925066e-01 -3.71669673e-03 -1.15541502e+01] [ 8.28315225e-03 3.81344280e-03 9.99958423e-01 -5.42883176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26755201799999 meters Centerline goodness [0,1] 0.9356266483201467 Centerline is valid? [False, False] Translation: X:104.80, Y:-11.55, Z:-0.54 [[ 9.99900826e-01 1.13065036e-02 -8.39653833e-03 1.04796132e+02] [-1.13413427e-02 9.99927225e-01 -4.11326233e-03 -1.15532053e+01] [ 8.34942066e-03 4.20808242e-03 9.99956289e-01 -5.43218365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29755201799999 meters Centerline goodness [0,1] 0.9281265741631176 Centerline is valid? [False, False] Translation: X:104.80, Y:-11.55, Z:-0.54 [[ 9.99905452e-01 1.06636405e-02 -8.68186545e-03 1.04797512e+02] [-1.07061343e-02 9.99930863e-01 -4.86287518e-03 -1.15525058e+01] [ 8.62940926e-03 4.95536462e-03 9.99950488e-01 -5.44334752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32755201799999 meters Centerline goodness [0,1] 0.928877778032614 Centerline is valid? [False, False] Translation: X:104.80, Y:-11.55, Z:-0.55 [[ 9.99906475e-01 1.04119727e-02 -8.86751648e-03 1.04798447e+02] [-1.04565114e-02 9.99932872e-01 -4.99121921e-03 -1.15528678e+01] [ 8.81495279e-03 5.08347569e-03 9.99948226e-01 -5.45154259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35755201799999 meters Centerline goodness [0,1] 0.9215834420862239 Centerline is valid? [False, False] Translation: X:104.80, Y:-11.55, Z:-0.55 [[ 9.99910080e-01 1.00226448e-02 -8.90949818e-03 1.04799686e+02] [-1.00738399e-02 9.99932898e-01 -5.71993764e-03 -1.15510077e+01] [ 8.85157143e-03 5.80917616e-03 9.99943950e-01 -5.46838102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.387552018 meters Centerline goodness [0,1] 0.9492989855237661 Centerline is valid? [False, False] Translation: X:104.80, Y:-11.55, Z:-0.55 [[ 9.99892577e-01 1.18326018e-02 -8.65009022e-03 1.04798550e+02] [-1.18746666e-02 9.99917839e-01 -4.82784930e-03 -1.15464681e+01] [ 8.59225349e-03 4.93004762e-03 9.99950933e-01 -5.46039520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.417552018 meters Centerline goodness [0,1] 0.9495271732938362 Centerline is valid? [False, False] Translation: X:104.80, Y:-11.54, Z:-0.55 [[ 9.99889145e-01 1.19540062e-02 -8.87690454e-03 1.04798905e+02] [-1.20019573e-02 9.99913563e-01 -5.36829495e-03 -1.15441440e+01] [ 8.81196462e-03 5.47424008e-03 9.99946190e-01 -5.46144666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.447552018 meters Centerline goodness [0,1] 0.9691812117335283 Centerline is valid? [False, True] Translation: X:104.80, Y:-11.55, Z:-0.55 [[ 9.99886577e-01 1.19400419e-02 -9.17983126e-03 1.04799465e+02] [-1.19874897e-02 9.99914982e-01 -5.13116579e-03 -1.15454214e+01] [ 9.11778447e-03 5.24062693e-03 9.99944699e-01 -5.46122277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.477552018 meters Centerline goodness [0,1] 0.9647582116788321 Centerline is valid? [True, True] Translation: X:104.83, Y:-11.55, Z:-0.54 [[ 9.99881190e-01 1.30588927e-02 -8.18975639e-03 1.04830198e+02] [-1.30515549e-02 9.99914375e-01 9.48775199e-04 -1.15534614e+01] [ 8.20144509e-03 -8.41773419e-04 9.99966013e-01 -5.40577998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.507552018 meters Centerline goodness [0,1] 0.9697759487882944 Centerline is valid? [True, True] Translation: X:104.86, Y:-11.56, Z:-0.54 [[ 9.99904237e-01 1.21413200e-02 -6.64121004e-03 1.04861490e+02] [-1.21364697e-02 9.99926054e-01 7.70147954e-04 -1.15569848e+01] [ 6.65006956e-03 -6.89473358e-04 9.99977650e-01 -5.39058741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.537552018 meters Centerline goodness [0,1] 0.957652711050103 Centerline is valid? [True, True] Translation: X:104.89, Y:-11.56, Z:-0.54 [[ 9.99929783e-01 1.12576100e-02 -3.70059430e-03 1.04893142e+02] [-1.12560961e-02 9.99936556e-01 4.29673568e-04 -1.15630564e+01] [ 3.70519662e-03 -3.87989153e-04 9.99993060e-01 -5.35995985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.567552018 meters Centerline goodness [0,1] 0.9434829328516884 Centerline is valid? [True, False] Translation: X:104.89, Y:-11.56, Z:-0.54 [[ 9.99937000e-01 1.05190144e-02 -3.91740765e-03 1.04894441e+02] [-1.05209870e-02 9.99944536e-01 -4.83271145e-04 -1.15619229e+01] [ 3.91210684e-03 5.24455693e-04 9.99992210e-01 -5.37218810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59755201799999 meters Centerline goodness [0,1] 0.8035522681094902 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99944971e-01 9.66304078e-03 -4.08421274e-03 1.04895841e+02] [-9.66990883e-03 9.99951859e-01 -1.66521888e-03 -1.15602904e+01] [ 4.06792505e-03 1.70462121e-03 9.99990273e-01 -5.38768385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62755201799999 meters Centerline goodness [0,1] 0.9351111111111111 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99951630e-01 8.79194633e-03 -4.40899550e-03 1.04897533e+02] [-8.80393432e-03 9.99957581e-01 -2.70698664e-03 -1.15593245e+01] [ 4.38500879e-03 2.74567221e-03 9.99986616e-01 -5.40257819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65755201799999 meters Centerline goodness [0,1] 0.9103677862142874 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99948236e-01 9.28643388e-03 -4.15771908e-03 1.04896162e+02] [-9.29727008e-03 9.99953413e-01 -2.59458684e-03 -1.15578417e+01] [ 4.13343093e-03 2.63310797e-03 9.99987991e-01 -5.39047774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68755201799999 meters Centerline goodness [0,1] 0.9573442473851751 Centerline is valid? [False, True] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99951379e-01 8.82093660e-03 -4.40802230e-03 1.04897102e+02] [-8.83483798e-03 9.99956029e-01 -3.14419758e-03 -1.15574032e+01] [ 4.38009371e-03 3.18298887e-03 9.99985342e-01 -5.39678576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71755201799999 meters Centerline goodness [0,1] 0.8844577984157334 Centerline is valid? [True, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99954561e-01 8.51904377e-03 -4.27809083e-03 1.04896924e+02] [-8.53403713e-03 9.99957464e-01 -3.49874441e-03 -1.15568162e+01] [ 4.24810290e-03 3.53509481e-03 9.99984728e-01 -5.39648961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.747552018 meters Centerline goodness [0,1] 0.9537960559274946 Centerline is valid? [False, True] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99959950e-01 7.49409934e-03 -4.89262632e-03 1.04898823e+02] [-7.51471970e-03 9.99962902e-01 -4.20988811e-03 -1.15570541e+01] [ 4.86089550e-03 4.24648622e-03 9.99979169e-01 -5.40506209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.777552018 meters Centerline goodness [0,1] 0.9306750005702945 Centerline is valid? [True, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99964525e-01 6.84851479e-03 -4.90365607e-03 1.04899255e+02] [-6.86806329e-03 9.99968491e-01 -3.98083562e-03 -1.15592940e+01] [ 4.87623875e-03 4.01437302e-03 9.99980053e-01 -5.40631883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.807552018 meters Centerline goodness [0,1] 0.8527892089620485 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99984892e-01 1.19300661e-03 -5.36590980e-03 1.04902262e+02] [-1.23989921e-03 9.99961000e-01 -8.74416311e-03 -1.15614207e+01] [ 5.35526869e-03 8.75068419e-03 9.99947372e-01 -5.43337174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.837552018 meters Centerline goodness [0,1] 0.8532659855355298 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99985448e-01 6.34682719e-04 -5.35734149e-03 1.04902747e+02] [-6.79031513e-04 9.99965487e-01 -8.28037888e-03 -1.15639796e+01] [ 5.35190117e-03 8.28389619e-03 9.99951366e-01 -5.43558958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.867552018 meters Centerline goodness [0,1] 0.8167046490428441 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99985389e-01 3.22021329e-04 -5.39610465e-03 1.04903092e+02] [-3.66391629e-04 9.99966118e-01 -8.22368374e-03 -1.15644781e+01] [ 5.39327362e-03 8.22554067e-03 9.99951625e-01 -5.43609825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.897552018 meters Centerline goodness [0,1] 0.8397296865368371 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99985831e-01 5.46520501e-04 -5.29519416e-03 1.04902305e+02] [-5.88859025e-04 9.99967847e-01 -7.99739375e-03 -1.15640960e+01] [ 5.29065317e-03 8.00039856e-03 9.99954000e-01 -5.42646739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.927552018 meters Centerline goodness [0,1] 0.8215890685950225 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.57, Z:-0.54 [[ 9.99984667e-01 7.19093117e-04 -5.49082546e-03 1.04902349e+02] [-7.59283428e-04 9.99972913e-01 -7.32096603e-03 -1.15659245e+01] [ 5.48541227e-03 7.32502287e-03 9.99958126e-01 -5.41967010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.957552018 meters Centerline goodness [0,1] 0.8014538328320117 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.57, Z:-0.54 [[ 9.99973571e-01 4.63487188e-03 -5.60134548e-03 1.04902256e+02] [-4.65189154e-03 9.99984592e-01 -3.02929424e-03 -1.15668474e+01] [ 5.58721878e-03 3.05527103e-03 9.99979724e-01 -5.41038873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98755201799999 meters Centerline goodness [0,1] 0.8149087916609519 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.57, Z:-0.54 [[ 9.99971946e-01 4.87460906e-03 -5.68724595e-03 1.04902436e+02] [-4.89059180e-03 9.99984122e-01 -2.79976242e-03 -1.15673044e+01] [ 5.67350790e-03 2.82749788e-03 9.99979908e-01 -5.41122098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01755201799999 meters Centerline goodness [0,1] 0.8648784270790566 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99969695e-01 5.00011435e-03 -5.96716937e-03 1.04903449e+02] [-5.02024447e-03 9.99981743e-01 -3.36328231e-03 -1.15649847e+01] [ 5.95024362e-03 3.39313703e-03 9.99976540e-01 -5.42091752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04755201799999 meters Centerline goodness [0,1] 0.8467820824897059 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99969730e-01 4.96288627e-03 -5.99241560e-03 1.04903898e+02] [-4.98628592e-03 9.99979978e-01 -3.89627132e-03 -1.15628852e+01] [ 5.97295887e-03 3.92603328e-03 9.99974455e-01 -5.42801877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07755201799999 meters Centerline goodness [0,1] 0.8467820824897059 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99969730e-01 4.96288627e-03 -5.99241560e-03 1.04903898e+02] [-4.98628592e-03 9.99979978e-01 -3.89627132e-03 -1.15628852e+01] [ 5.97295887e-03 3.92603328e-03 9.99974455e-01 -5.42801877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10755201799999 meters Centerline goodness [0,1] 0.8720274632837721 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99969829e-01 4.74167347e-03 -6.15283525e-03 1.04904596e+02] [-4.76734509e-03 9.99979965e-01 -4.16438676e-03 -1.15619032e+01] [ 6.13296582e-03 4.19359381e-03 9.99972400e-01 -5.43328279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.137552018 meters Centerline goodness [0,1] 0.8371759890859481 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99970159e-01 4.65128054e-03 -6.16827767e-03 1.04904714e+02] [-4.67696378e-03 9.99980427e-01 -4.15589549e-03 -1.15616067e+01] [ 6.14882670e-03 4.18462029e-03 9.99972340e-01 -5.43313684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.167552018 meters Centerline goodness [0,1] 0.8338866654538839 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99970456e-01 4.51477529e-03 -6.22128238e-03 1.04904884e+02] [-4.54033929e-03 9.99981283e-01 -4.10114223e-03 -1.15617752e+01] [ 6.20265020e-03 4.12926780e-03 9.99972238e-01 -5.43132638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.197552018 meters Centerline goodness [0,1] 0.8157445937649226 Centerline is valid? [False, False] Translation: X:104.90, Y:-11.56, Z:-0.54 [[ 9.99971598e-01 4.44261632e-03 -6.08814566e-03 1.04904475e+02] [-4.46715003e-03 9.99981933e-01 -4.02209471e-03 -1.15617623e+01] [ 6.07016705e-03 4.04917714e-03 9.99973378e-01 -5.42545862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.227552018 meters Centerline goodness [0,1] 0.8598406609619357 Centerline is valid? [False, False] Translation: X:104.91, Y:-11.56, Z:-0.54 [[ 9.99970325e-01 4.27787910e-03 -6.40688687e-03 1.04905410e+02] [-4.30490580e-03 9.99981869e-01 -4.21054946e-03 -1.15614478e+01] [ 6.38875849e-03 4.23800556e-03 9.99970611e-01 -5.42942147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.257552018 meters Centerline goodness [0,1] 0.8749687592302274 Centerline is valid? [False, False] Translation: X:104.91, Y:-11.56, Z:-0.54 [[ 9.99970566e-01 4.15619589e-03 -6.44933115e-03 1.04905988e+02] [-4.18231187e-03 9.99983088e-01 -4.04122086e-03 -1.15623667e+01] [ 6.43242597e-03 4.06807503e-03 9.99971037e-01 -5.43411618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.287552018 meters Centerline goodness [0,1] 0.7839186859061621 Centerline is valid? [False, False] Translation: X:104.91, Y:-11.56, Z:-0.54 [[ 9.99970637e-01 4.24285754e-03 -6.38144505e-03 1.04906224e+02] [-4.27011347e-03 9.99981794e-01 -4.26357912e-03 -1.15610499e+01] [ 6.36323911e-03 4.29070342e-03 9.99970549e-01 -5.43897591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.317552018 meters Centerline goodness [0,1] 0.8740922294843864 Centerline is valid? [False, False] Translation: X:104.91, Y:-11.56, Z:-0.54 [[ 9.99970890e-01 4.33064889e-03 -6.28206178e-03 1.04906545e+02] [-4.35979409e-03 9.99979763e-01 -4.63318057e-03 -1.15592667e+01] [ 6.26186997e-03 4.66043419e-03 9.99969534e-01 -5.44673795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34755201799999 meters Centerline goodness [0,1] 0.8206771600045295 Centerline is valid? [False, False] Translation: X:104.91, Y:-11.56, Z:-0.55 [[ 9.99970993e-01 3.66180902e-03 -6.67867989e-03 1.04908860e+02] [-3.69743152e-03 9.99978964e-01 -5.32923813e-03 -1.15583787e+01] [ 6.65902474e-03 5.35377751e-03 9.99963497e-01 -5.46784820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37755201799999 meters Centerline goodness [0,1] 0.8112038843762763 Centerline is valid? [False, False] Translation: X:104.91, Y:-11.56, Z:-0.55 [[ 9.99971993e-01 3.60700998e-03 -6.55757771e-03 1.04909096e+02] [-3.64234784e-03 9.99978868e-01 -5.38492713e-03 -1.15578941e+01] [ 6.53801564e-03 5.40866130e-03 9.99964000e-01 -5.47158969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40755201799999 meters Centerline goodness [0,1] 0.7989567978228824 Centerline is valid? [False, False] Translation: X:104.91, Y:-11.56, Z:-0.55 [[ 9.99973307e-01 3.56416214e-03 -6.37825808e-03 1.04908916e+02] [-3.59777690e-03 9.99979660e-01 -5.26652044e-03 -1.15578498e+01] [ 6.35935762e-03 5.28932741e-03 9.99965790e-01 -5.46998806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43755201799999 meters Centerline goodness [0,1] 0.8428879066077298 Centerline is valid? [False, False] Translation: X:104.91, Y:-11.56, Z:-0.55 [[ 9.99974631e-01 3.41274255e-03 -6.25217485e-03 1.04908952e+02] [-3.44519803e-03 9.99980609e-01 -5.18767654e-03 -1.15578479e+01] [ 6.23434941e-03 5.20908492e-03 9.99966999e-01 -5.46907608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1755.93 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%| | 0/3782 [00:00