+ python -m lidar_slam --no-model /working/bb43672a-fa49-4450-9b16-01380da72ae4 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/bb43672a-fa49-4450-9b16-01380da72ae4 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 0.000371743 Adjusted end_distance from 9.223372036854776e+18 to 383.890371743 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000371743 meters Centerline goodness [0,1] 0.9073455005421034 Centerline is valid? [0, False] SLAMing on 0.030371743 meters Centerline goodness [0,1] 0.9241021007454258 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99999988e-01 1.05659649e-05 -1.56424914e-04 2.53609703e-04] [-1.05940984e-05 9.99999984e-01 -1.79853406e-04 5.85847352e-04] [ 1.56423011e-04 1.79855061e-04 9.99999972e-01 1.20677604e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.060371743 meters Centerline goodness [0,1] 0.9292979521721441 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999488e-01 8.34938308e-04 -5.71642825e-04 1.76127379e-03] [-8.35001867e-04 9.99999645e-01 -1.10957251e-04 1.89082402e-03] [ 5.71549980e-04 1.11434517e-04 9.99999830e-01 -3.98033418e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09037174299999999 meters Centerline goodness [0,1] 0.9329679786222203 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999198e-01 1.07339945e-03 -6.72442902e-04 2.12383818e-03] [-1.07368355e-03 9.99999334e-01 -4.22261383e-04 3.21296165e-03] [ 6.71989199e-04 4.22983035e-04 9.99999685e-01 -3.69666258e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12037174299999999 meters Centerline goodness [0,1] 0.9333318272185072 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99998128e-01 1.63715241e-03 -1.03138866e-03 3.21621900e-03] [-1.63768905e-03 9.99998524e-01 -5.19677090e-04 4.44778257e-03] [ 1.03053634e-03 5.21365211e-04 9.99999333e-01 -5.47847871e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.150371743 meters Centerline goodness [0,1] 0.9629310540277054 Centerline is valid? [False, True] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99997177e-01 2.02177362e-03 -1.24834233e-03 3.75019950e-03] [-2.02302218e-03 9.99997454e-01 -9.99723192e-04 6.41371225e-03] [ 1.24631794e-03 1.00224579e-03 9.99998721e-01 -2.56461279e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180371743 meters Centerline goodness [0,1] 0.9692154013803124 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:0.00 [[ 9.99955183e-01 9.46559133e-03 1.83335943e-04 3.49529280e-02] [-9.46558939e-03 9.99955200e-01 -1.14251377e-05 9.81662430e-03] [-1.83435875e-04 9.68924287e-06 9.99999983e-01 1.03138541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.210371743 meters Centerline goodness [0,1] 0.9587018641992108 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:-0.00 [[ 9.99907324e-01 1.36140708e-02 -3.68002323e-05 6.30514930e-02] [-1.36140707e-02 9.99907324e-01 1.61416545e-06 1.58770740e-03] [ 3.68187971e-05 -1.11301489e-06 9.99999999e-01 -1.06249915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.240371743 meters Centerline goodness [0,1] 0.9762088711143428 Centerline is valid? [True, True] Translation: X:0.09, Y:0.01, Z:0.00 [[ 9.99848456e-01 1.73935405e-02 7.27704498e-04 9.34208647e-02] [-1.73935113e-02 9.99848720e-01 -4.64225780e-05 1.22833924e-02] [-7.28401865e-04 3.37582066e-05 9.99999734e-01 1.98025701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.270371743 meters Centerline goodness [0,1] 0.9796993505608792 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:0.00 [[ 9.99697715e-01 2.45740267e-02 7.71309088e-04 1.22647098e-01] [-2.45739962e-02 9.99698013e-01 -4.89615606e-05 1.37555471e-02] [-7.72279345e-04 2.99926136e-05 9.99999701e-01 2.15422357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30037174299999997 meters Centerline goodness [0,1] 0.9806914724455954 Centerline is valid? [True, True] Translation: X:0.15, Y:0.01, Z:0.00 [[ 9.99627405e-01 2.72701147e-02 1.17966228e-03 1.51616099e-01] [-2.72700447e-02 9.99628100e-01 -7.53105859e-05 1.34993584e-02] [-1.18127729e-03 4.31130825e-05 9.99999301e-01 1.83968214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33037174299999994 meters Centerline goodness [0,1] 0.9813429452303228 Centerline is valid? [True, True] Translation: X:0.18, Y:0.01, Z:0.00 [[ 9.99571602e-01 2.92185174e-02 1.70039584e-03 1.80550416e-01] [-2.92183759e-02 9.99573046e-01 -1.08015624e-04 1.27806021e-02] [-1.70282591e-03 5.82865452e-05 9.99998548e-01 2.13011253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36037174299999997 meters Centerline goodness [0,1] 0.9840641978676488 Centerline is valid? [True, True] Translation: X:0.21, Y:0.01, Z:0.00 [[ 9.99515562e-01 3.10059897e-02 2.69629811e-03 2.09337925e-01] [-3.10056423e-02 9.99519195e-01 -1.70567907e-04 1.34418495e-02] [-2.70029034e-03 8.68848229e-05 9.99996350e-01 2.63811902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.390371743 meters Centerline goodness [0,1] 0.9858532272325375 Centerline is valid? [True, True] Translation: X:0.24, Y:0.01, Z:0.00 [[ 9.99456114e-01 3.27859468e-02 3.54365222e-03 2.38463255e-01] [-3.27853604e-02 9.99462391e-01 -2.23438988e-04 1.06090967e-02] [-3.54907278e-03 1.07137547e-04 9.99993696e-01 2.95681721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42037174299999996 meters Centerline goodness [0,1] 0.9855771407870307 Centerline is valid? [True, True] Translation: X:0.27, Y:0.01, Z:0.00 [[ 9.99472182e-01 3.22223502e-02 4.13255482e-03 2.66835065e-01] [-3.22215487e-02 9.99480717e-01 -2.60400590e-04 7.94536798e-03] [-4.13879957e-03 1.27105829e-04 9.99991427e-01 2.60153102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45037174299999994 meters Centerline goodness [0,1] 0.9854276375522063 Centerline is valid? [True, True] Translation: X:0.30, Y:0.00, Z:0.00 [[ 9.99509867e-01 3.09871113e-02 4.45250794e-03 2.95927466e-01] [-3.09861704e-02 9.99519774e-01 -2.80172251e-04 4.93320655e-03] [-4.45905146e-03 1.42068759e-04 9.99990048e-01 2.11797259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48037174299999996 meters Centerline goodness [0,1] 0.9845660181230651 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.00, Z:0.00 [[ 9.99615092e-01 2.74460626e-02 4.04738905e-03 3.24286945e-01] [-2.74452576e-02 9.99623276e-01 -2.54303606e-04 -2.59301848e-03] [-4.05284394e-03 1.43124087e-04 9.99991777e-01 1.35018510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.510371743 meters Centerline goodness [0,1] 0.9848871044143189 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.01, Z:0.00 [[ 9.99664596e-01 2.55784604e-02 4.05426641e-03 3.52946316e-01] [-2.55776376e-02 9.99672806e-01 -2.54680001e-04 -6.69538263e-03] [-4.05945420e-03 1.50896024e-04 9.99991749e-01 1.25999927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.540371743 meters Centerline goodness [0,1] 0.9839194164012919 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.01, Z:0.00 [[ 9.99712914e-01 2.35093907e-02 4.62584970e-03 3.80799231e-01] [-2.35082979e-02 9.99723600e-01 -2.90487619e-04 -1.18303545e-02] [-4.63140030e-03 1.81658371e-04 9.99989259e-01 1.16213776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5703717429999999 meters Centerline goodness [0,1] 0.9822707048806378 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.02, Z:0.00 [[ 9.99820646e-01 1.85036604e-02 4.03624940e-03 4.10709913e-01] [-1.85027923e-02 9.99828777e-01 -2.52308870e-04 -1.91850830e-02] [-4.04022694e-03 1.77581733e-04 9.99991822e-01 1.34252624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.600371743 meters Centerline goodness [0,1] 0.9822140171555935 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.02, Z:0.00 [[ 9.99858087e-01 1.65168777e-02 3.31648512e-03 4.39487884e-01] [-1.65162796e-02 9.99863575e-01 -2.07648842e-04 -2.41663252e-02] [-3.31946238e-03 1.52843379e-04 9.99994479e-01 1.19060013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.630371743 meters Centerline goodness [0,1] 0.9833438230534076 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.03, Z:0.00 [[ 9.99885987e-01 1.46701994e-02 3.57757776e-03 4.67915738e-01] [-1.46694907e-02 9.99892372e-01 -2.24260007e-04 -2.50265862e-02] [-3.58048265e-03 1.71753195e-04 9.99993575e-01 1.47095071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6603717429999999 meters Centerline goodness [0,1] 0.9818793451446512 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.03, Z:0.00 [[ 9.99924026e-01 1.15456547e-02 4.31743891e-03 4.95635495e-01] [-1.15445990e-02 9.99933323e-01 -2.69355605e-04 -3.35991683e-02] [-4.32026092e-03 2.19492040e-04 9.99990644e-01 8.52589320e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6903717429999999 meters Centerline goodness [0,1] 0.9822393649227458 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.03, Z:0.00 [[ 9.99934747e-01 1.03452564e-02 4.84528866e-03 5.24716988e-01] [-1.03439130e-02 9.99946455e-01 -3.02248645e-04 -3.47495990e-02] [-4.84815605e-03 2.52109678e-04 9.99988216e-01 9.41614470e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.720371743 meters Centerline goodness [0,1] 0.9826954626154573 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.04, Z:0.00 [[ 9.99940029e-01 9.41146078e-03 5.60022066e-03 5.53719590e-01] [-9.40965456e-03 9.99955667e-01 -3.48789062e-04 -3.74168144e-02] [-5.60325501e-03 2.96072003e-04 9.99984258e-01 1.10606644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.750371743 meters Centerline goodness [0,1] 0.9810756748252534 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.04, Z:0.00 [[ 9.99954034e-01 7.47036293e-03 6.01032477e-03 5.81872493e-01] [-7.46825135e-03 9.99972042e-01 -3.73693997e-04 -4.27388355e-02] [-6.01294836e-03 3.28790204e-04 9.99981868e-01 1.18975012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.780371743 meters Centerline goodness [0,1] 0.9806408395668192 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.05, Z:0.00 [[ 9.99962469e-01 6.18762366e-03 6.06410376e-03 6.12447271e-01] [-6.18545497e-03 9.99980799e-01 -3.76317777e-04 -4.56823995e-02] [-6.06631584e-03 3.38794413e-04 9.99981542e-01 9.11789696e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8103717429999999 meters Centerline goodness [0,1] 0.9825305939148984 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.05, Z:0.00 [[ 9.99969726e-01 5.14096843e-03 5.84094360e-03 6.43098591e-01] [-5.13893862e-03 9.99986730e-01 -3.62469212e-04 -4.72781781e-02] [-5.84272953e-03 3.32441988e-04 9.99982876e-01 1.62854715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.840371743 meters Centerline goodness [0,1] 0.9796999709360817 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.06, Z:0.00 [[ 9.99979987e-01 2.86055798e-03 5.64286523e-03 6.73010651e-01] [-2.85862810e-03 9.99995853e-01 -3.50040029e-04 -5.51776667e-02] [-5.64384313e-03 3.33902171e-04 9.99984018e-01 5.28221818e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.870371743 meters Centerline goodness [0,1] 0.9788271440021373 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.06, Z:-0.00 [[ 9.99985731e-01 1.72088890e-03 5.05731300e-03 7.03826321e-01] [-1.71933259e-03 9.99998473e-01 -3.12066025e-04 -5.93228371e-02] [-5.05784231e-03 3.03366369e-04 9.99987163e-01 -5.58998592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9003717429999999 meters Centerline goodness [0,1] 0.9824663156955474 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.06, Z:-0.00 [[ 9.99989908e-01 1.28865722e-03 4.30388275e-03 7.35593300e-01] [-1.28751651e-03 9.99999135e-01 -2.67802325e-04 -5.79379988e-02] [-4.30422414e-03 2.62258303e-04 9.99990702e-01 -4.69300130e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9303717429999999 meters Centerline goodness [0,1] 0.9826201418946053 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.06, Z:-0.00 [[ 9.99993831e-01 2.03736158e-04 3.50658560e-03 7.66659764e-01] [-2.02972171e-04 9.99999956e-01 -2.18226595e-04 -5.93604812e-02] [-3.50662991e-03 2.17513509e-04 9.99993828e-01 -1.24533012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9603717429999999 meters Centerline goodness [0,1] 0.983757869032417 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.06, Z:-0.00 [[ 9.99998032e-01 -4.36711007e-04 1.93537517e-03 7.97981769e-01] [ 4.36944654e-04 9.99999897e-01 -1.20303087e-04 -6.16873849e-02] [-1.93532243e-03 1.21148502e-04 9.99998120e-01 -2.09244888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.990371743 meters Centerline goodness [0,1] 0.9833806786409287 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.06, Z:-0.00 [[ 9.99999076e-01 -4.04897368e-04 1.29755477e-03 8.29252314e-01] [ 4.05002223e-04 9.99999915e-01 -8.05480483e-05 -6.35599665e-02] [-1.29752205e-03 8.10734865e-05 9.99999155e-01 -2.52991908e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.020371743 meters Centerline goodness [0,1] 0.9834519612906123 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.06, Z:-0.00 [[ 9.99999618e-01 -5.79613759e-04 6.53946249e-04 8.60525419e-01] [ 5.79640292e-04 9.99999831e-01 -4.03852225e-05 -6.43475944e-02] [-6.53922731e-04 4.07642607e-05 9.99999785e-01 -2.77643774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0503717430000001 meters Centerline goodness [0,1] 0.984271022383545 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.06, Z:-0.00 [[ 9.99999626e-01 1.84576599e-05 8.65016035e-04 8.90631972e-01] [-1.84109194e-05 9.99999998e-01 -5.40422475e-05 -6.39284258e-02] [-8.65017031e-04 5.40263015e-05 9.99999624e-01 -2.16313032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0803717430000002 meters Centerline goodness [0,1] 0.9835870492613049 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.06, Z:-0.00 [[ 9.99999165e-01 2.32124893e-04 1.27148671e-03 9.21165201e-01] [-2.32024077e-04 9.99999970e-01 -7.94366771e-05 -6.34775881e-02] [-1.27150511e-03 7.91415952e-05 9.99999189e-01 -1.87628406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.110371743 meters Centerline goodness [0,1] 0.983300038158515 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.07, Z:-0.00 [[ 9.99998932e-01 5.55201929e-04 1.35196933e-03 9.51565381e-01] [-5.55088521e-04 9.99999842e-01 -8.42577305e-05 -6.61204213e-02] [-1.35201590e-03 8.35071778e-05 9.99999083e-01 -2.29717696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.140371743 meters Centerline goodness [0,1] 0.98268175198835 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.07, Z:-0.00 [[ 9.99997909e-01 1.06279987e-03 1.74702805e-03 9.82002986e-01] [-1.06261075e-03 9.99999429e-01 -1.09176422e-04 -6.61546814e-02] [-1.74714309e-03 1.07319783e-04 9.99998468e-01 -1.89764535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.170371743 meters Centerline goodness [0,1] 0.9830906004288777 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.07, Z:-0.00 [[ 9.99995751e-01 1.34220127e-03 2.58786120e-03 1.01227152e+00] [-1.34178770e-03 9.99999087e-01 -1.61540218e-04 -6.50269649e-02] [-2.58807565e-03 1.58067171e-04 9.99996638e-01 -1.19198159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.200371743 meters Centerline goodness [0,1] 0.9478135532144901 Centerline is valid? [True, False] Translation: X:1.06, Y:-0.06, Z:0.00 [[ 9.99996983e-01 -8.20980528e-04 2.31529228e-03 1.06355085e+00] [ 8.29906111e-04 9.99992218e-01 -3.85673447e-03 -6.25897162e-02] [-2.31210796e-03 3.85864431e-03 9.99989882e-01 3.22425789e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.230371743 meters Centerline goodness [0,1] 0.9832102988836874 Centerline is valid? [False, True] Translation: X:0.98, Y:-0.06, Z:0.00 [[ 9.99998914e-01 1.53041026e-04 1.46561050e-03 9.82571244e-01] [-1.48829396e-04 9.99995861e-01 -2.87331299e-03 -5.67921598e-02] [-1.46604417e-03 2.87309175e-03 9.99994798e-01 2.09212142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.260371743 meters Centerline goodness [0,1] 0.9833941688071741 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.06, Z:0.00 [[ 9.99998035e-01 -6.86828783e-04 1.85946111e-03 1.01333241e+00] [ 6.87042645e-04 9.99999757e-01 -1.14376661e-04 -5.79594949e-02] [-1.85938210e-03 1.15653966e-04 9.99998265e-01 1.42191156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2903717430000001 meters Centerline goodness [0,1] 0.9833941688071741 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.06, Z:0.00 [[ 9.99998058e-01 -6.53482568e-04 1.85947044e-03 1.04417927e+00] [ 6.53696093e-04 9.99999780e-01 -1.14225404e-04 -5.98940828e-02] [-1.85939538e-03 1.15440711e-04 9.99998265e-01 1.02643860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.320371743 meters Centerline goodness [0,1] 0.9815279000971028 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.06, Z:0.00 [[ 9.99994667e-01 -2.95379115e-03 1.39332186e-03 1.07453383e+00] [ 2.95391344e-03 9.99995634e-01 -8.57216040e-05 -6.14931481e-02] [-1.39306257e-03 8.98368990e-05 9.99999026e-01 3.29806176e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.350371743 meters Centerline goodness [0,1] 0.980626200972081 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.07, Z:-0.00 [[ 9.99991393e-01 -4.09927339e-03 6.39544807e-04 1.10570720e+00] [ 4.09929780e-03 9.99991597e-01 -3.68587294e-05 -6.51169407e-02] [-6.39388339e-04 3.94800968e-05 9.99999795e-01 -7.98966978e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.380371743 meters Centerline goodness [0,1] 0.9800707386750102 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.07, Z:-0.00 [[ 9.99975180e-01 -6.98450111e-03 -9.25341054e-04 1.13636917e+00] [ 6.98455724e-03 9.99975606e-01 5.74505223e-05 -6.56777110e-02] [ 9.24917218e-04 -6.39121939e-05 9.99999570e-01 -2.44863931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.410371743 meters Centerline goodness [0,1] 0.9850641083931981 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.05, Z:-0.00 [[ 9.99966926e-01 -7.87780806e-03 -2.02179308e-03 1.16948475e+00] [ 7.87807927e-03 9.99968959e-01 1.26215253e-04 -5.31568537e-02] [ 2.02073603e-03 -1.42138925e-04 9.99997948e-01 -6.40757244e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.440371743 meters Centerline goodness [0,1] 0.985310194042088 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.05, Z:-0.00 [[ 9.99964377e-01 -7.98648401e-03 -2.73138256e-03 1.20167492e+00] [ 7.98697905e-03 9.99968089e-01 1.70381403e-04 -5.40766934e-02] [ 2.72993465e-03 -1.92190828e-04 9.99996255e-01 -1.99747867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.470371743 meters Centerline goodness [0,1] 0.9850889411549791 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.05, Z:-0.00 [[ 9.99965700e-01 -7.35123607e-03 -3.81541000e-03 1.23336372e+00] [ 7.35219706e-03 9.99972944e-01 2.37905610e-04 -5.47696261e-02] [ 3.81355787e-03 -2.65949097e-04 9.99992693e-01 -4.03048696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.500371743 meters Centerline goodness [0,1] 0.9764861959331184 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.06, Z:-0.01 [[ 9.99975164e-01 -6.10308660e-03 -3.52465146e-03 1.26345836e+00] [ 6.10389804e-03 9.99981347e-01 2.19505871e-04 -6.44610925e-02] [ 3.52324605e-03 -2.41014533e-04 9.99993764e-01 -7.27747388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5303717430000001 meters Centerline goodness [0,1] 0.9874003777583268 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.04, Z:-0.00 [[ 9.99991480e-01 -8.34328093e-05 -4.12700984e-03 1.29603491e+00] [ 8.44932028e-05 9.99999963e-01 2.56766220e-04 -4.20743097e-02] [ 4.12698827e-03 -2.57112737e-04 9.99991451e-01 -3.66253320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5603717430000001 meters Centerline goodness [0,1] 0.9872215546723357 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.04, Z:-0.00 [[ 9.99986470e-01 4.15550240e-03 -3.12905264e-03 1.32693528e+00] [-4.15491415e-03 9.99991349e-01 1.94471930e-04 -3.87386394e-02] [ 3.12983370e-03 -1.81468354e-04 9.99995086e-01 -3.29287350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.590371743 meters Centerline goodness [0,1] 0.9876551788030388 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.04, Z:-0.00 [[ 9.99963713e-01 8.21840752e-03 -2.24278137e-03 1.35803398e+00] [-8.21811558e-03 9.99966221e-01 1.39353001e-04 -3.50143718e-02] [ 2.24385087e-03 -1.20916508e-04 9.99997475e-01 -2.47854457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.620371743 meters Centerline goodness [0,1] 0.9882040901793816 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.03, Z:-0.00 [[ 9.99867809e-01 1.62301299e-02 -9.73490360e-04 1.38842411e+00] [-1.62300788e-02 9.99868282e-01 6.03553292e-05 -2.78585591e-02] [ 9.74341709e-04 -4.45475256e-05 9.99999524e-01 -1.02349252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.650371743 meters Centerline goodness [0,1] 0.988532592194689 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.03, Z:-0.00 [[ 9.99831500e-01 1.83159272e-02 -1.22374116e-03 1.41748985e+00] [-1.83158490e-02 9.99832248e-01 7.50964329e-05 -2.56937415e-02] [ 1.22491134e-03 -5.26699208e-05 9.99999248e-01 -1.00722554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.680371743 meters Centerline goodness [0,1] 0.9887714507662249 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.02, Z:-0.00 [[ 9.99785657e-01 2.06829974e-02 -9.23739866e-04 1.44650364e+00] [-2.06829541e-02 9.99786083e-01 5.64121240e-05 -2.35922928e-02] [ 9.24709034e-04 -3.72943632e-05 9.99999572e-01 -7.68253659e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.710371743 meters Centerline goodness [0,1] 0.9895401432340747 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.02, Z:-0.00 [[ 9.99746450e-01 2.24610722e-02 -1.59252503e-03 1.47569423e+00] [-2.24609449e-02 9.99747716e-01 9.77773167e-05 -2.25823044e-02] [ 1.59431945e-03 -6.19829083e-05 9.99998727e-01 -1.58760500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.740371743 meters Centerline goodness [0,1] 0.9912916243834518 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.02, Z:-0.00 [[ 9.99718990e-01 2.35805701e-02 -2.42835455e-03 1.50452861e+00] [-2.35802768e-02 9.99721935e-01 1.49323130e-04 -1.78850140e-02] [ 2.43120043e-03 -9.20198960e-05 9.99997040e-01 -7.87305579e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.770371743 meters Centerline goodness [0,1] 0.9907420561632808 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.02, Z:-0.00 [[ 9.99695270e-01 2.44948552e-02 -3.06094257e-03 1.53370157e+00] [-2.44943935e-02 9.99699950e-01 1.88241121e-04 -1.75829767e-02] [ 3.06463508e-03 -1.13207827e-04 9.99995298e-01 -1.27418704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.800371743 meters Centerline goodness [0,1] 0.9901130611665642 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.02, Z:-0.00 [[ 9.99697666e-01 2.44570683e-02 -2.53558704e-03 1.56087064e+00] [-2.44567529e-02 9.99700877e-01 1.55328566e-04 -2.47906733e-02] [ 2.53862747e-03 -9.32693791e-05 9.99996773e-01 -3.54007222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.830371743 meters Centerline goodness [0,1] 0.9905177497346385 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.02, Z:-0.00 [[ 9.99725979e-01 2.32499807e-02 -2.72116978e-03 1.59009679e+00] [-2.32496193e-02 9.99729678e-01 1.64365103e-04 -2.37030194e-02] [ 2.72425567e-03 -1.01053902e-04 9.99996284e-01 -1.73347919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.860371743 meters Centerline goodness [0,1] 0.9898733582387632 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.03, Z:0.00 [[ 9.99781657e-01 2.08519899e-02 -1.35359684e-03 1.61836785e+00] [-2.08518977e-02 9.99782572e-01 8.21994144e-05 -2.79326473e-02] [ 1.35501655e-03 -5.39564038e-05 9.99999081e-01 3.05078470e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.890371743 meters Centerline goodness [0,1] 0.9897769297811697 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.03, Z:-0.00 [[ 9.99814873e-01 1.92334075e-02 -5.44037800e-04 1.64604325e+00] [-1.92333928e-02 9.99815021e-01 3.22228949e-05 -3.34858068e-02] [ 5.44556921e-04 -2.17532368e-05 9.99999851e-01 -3.16442215e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.920371743 meters Centerline goodness [0,1] 0.9897468384129889 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.04, Z:0.00 [[ 9.99843094e-01 1.77082153e-02 -4.55245707e-04 1.67474752e+00] [-1.77082048e-02 9.99843197e-01 2.69633801e-05 -3.70510011e-02] [ 4.55651797e-04 -1.88975652e-05 9.99999896e-01 7.55091019e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.950371743 meters Centerline goodness [0,1] 0.9883897493400612 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.04, Z:0.00 [[ 9.99885876e-01 1.51042584e-02 -3.11637539e-04 1.70305836e+00] [-1.51042534e-02 9.99885924e-01 1.83851676e-05 -4.32853082e-02] [ 3.11879683e-04 -1.36760171e-05 9.99999951e-01 8.11906096e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.980371743 meters Centerline goodness [0,1] 0.98964117400028 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.05, Z:0.00 [[ 9.99893521e-01 1.45700048e-02 -8.14012755e-04 1.73142234e+00] [-1.45699699e-02 9.99893851e-01 4.88437915e-05 -4.53421480e-02] [ 8.14638003e-04 -3.69784493e-05 9.99999667e-01 2.17532736e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.010371743 meters Centerline goodness [0,1] 0.9891456582633054 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.05, Z:-0.00 [[ 9.99908714e-01 1.34147889e-02 -1.61484450e-03 1.75892393e+00] [-1.34146490e-02 9.99910015e-01 9.74327306e-05 -4.90274358e-02] [ 1.61600622e-03 -7.57612642e-05 9.99998691e-01 -6.51858775e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.040371743 meters Centerline goodness [0,1] 0.989965075669383 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.05, Z:-0.00 [[ 9.99932900e-01 1.13090867e-02 -2.51009393e-03 1.78774196e+00] [-1.13087405e-02 9.99936043e-01 1.52080630e-04 -5.30398801e-02] [ 2.51165328e-03 -1.23684425e-04 9.99996838e-01 -1.34253902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.070371743 meters Centerline goodness [0,1] 0.9896945588201084 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.06, Z:-0.00 [[ 9.99942344e-01 1.02899354e-02 -3.07002111e-03 1.81478170e+00] [-1.02894144e-02 9.99947045e-01 1.85459939e-04 -5.86353324e-02] [ 3.07176691e-03 -1.53860527e-04 9.99995270e-01 -2.66602005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.100371743 meters Centerline goodness [0,1] 0.9893510660559418 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.06, Z:-0.00 [[ 9.99952599e-01 9.04484530e-03 -3.60436539e-03 1.84366678e+00] [-9.04411745e-03 9.99959077e-01 2.18186625e-04 -6.19492570e-02] [ 3.60619136e-03 -1.85577978e-04 9.99993480e-01 -2.80422890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.130371743 meters Centerline goodness [0,1] 0.9892386208807704 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.07, Z:-0.00 [[ 9.99965683e-01 7.57938797e-03 -3.34443956e-03 1.87217446e+00] [-7.57875415e-03 9.99971260e-01 2.02148097e-04 -6.55546823e-02] [ 3.34587560e-03 -1.76794475e-04 9.99994387e-01 -2.22892325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1603717430000002 meters Centerline goodness [0,1] 0.9890833236759764 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.07, Z:-0.00 [[ 9.99971710e-01 6.94652014e-03 -2.88529371e-03 1.90036544e+00] [-6.94604752e-03 9.99975861e-01 1.73791774e-04 -6.79790268e-02] [ 2.88643131e-03 -1.53745470e-04 9.99995822e-01 -1.57835585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.190371743 meters Centerline goodness [0,1] 0.9890461082420509 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.07, Z:-0.00 [[ 9.99975022e-01 6.68795036e-03 -2.28625961e-03 1.92763336e+00] [-6.68765392e-03 9.99977628e-01 1.37285529e-04 -7.24988852e-02] [ 2.28712662e-03 -1.21992387e-04 9.99997377e-01 -1.67814993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.220371743 meters Centerline goodness [0,1] 0.9890196259737858 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.07, Z:-0.00 [[ 9.99977517e-01 6.51965660e-03 -1.56861277e-03 1.95633691e+00] [-6.51951720e-03 9.99978743e-01 9.39614021e-05 -7.25735776e-02] [ 1.56919203e-03 -8.37326916e-05 9.99998765e-01 -1.07827444e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.250371743 meters Centerline goodness [0,1] 0.9889289511394629 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.07, Z:0.00 [[ 9.99972668e-01 7.39311020e-03 -6.96384496e-05 1.98550153e+00] [-7.39310999e-03 9.99972671e-01 3.30306793e-06 -7.31575656e-02] [ 6.96609664e-05 -2.78813294e-06 9.99999998e-01 1.79991686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.280371743 meters Centerline goodness [0,1] 0.9892616831044336 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.07, Z:0.00 [[ 9.99967750e-01 8.00140809e-03 6.90526729e-04 2.01404917e+00] [-8.00138059e-03 9.99967988e-01 -4.25740570e-05 -7.31954914e-02] [-6.90845276e-04 3.70475168e-05 9.99999761e-01 2.64816687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.310371743 meters Centerline goodness [0,1] 0.9885735433580829 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.07, Z:0.00 [[ 9.99962710e-01 8.59542727e-03 8.34483812e-04 2.04309695e+00] [-8.59538753e-03 9.99963058e-01 -5.11954651e-05 -7.49784727e-02] [-8.34893031e-04 4.40208443e-05 9.99999651e-01 3.25613699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.340371743 meters Centerline goodness [0,1] 0.9888310787374263 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.08, Z:0.00 [[ 9.99939395e-01 1.07970105e-02 2.15182633e-03 2.07321338e+00] [-1.07967560e-02 9.99941705e-01 -1.29843503e-04 -7.69756906e-02] [-2.15310281e-03 1.06602890e-04 9.99997676e-01 4.01438458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.370371743 meters Centerline goodness [0,1] 0.9889235749797665 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.08, Z:0.00 [[ 9.99924417e-01 1.20992182e-02 2.18402000e-03 2.10172565e+00] [-1.20989581e-02 9.99926796e-01 -1.32307133e-04 -7.84718975e-02] [-2.18546094e-03 1.05872766e-04 9.99997606e-01 3.92578465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.400371743 meters Centerline goodness [0,1] 0.9895037947818865 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.08, Z:0.00 [[ 9.99903772e-01 1.36171798e-02 2.64925195e-03 2.13073849e+00] [-1.36168033e-02 9.99907274e-01 -1.60110965e-04 -7.96053929e-02] [-2.65118656e-03 1.24021215e-04 9.99996478e-01 3.69307293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.430371743 meters Centerline goodness [0,1] 0.9883589329021827 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.08, Z:0.00 [[ 9.99848191e-01 1.72281529e-02 2.60509884e-03 2.15987819e+00] [-1.72278024e-02 9.99851578e-01 -1.56908510e-04 -8.18483929e-02] [-2.60741543e-03 1.12004562e-04 9.99996594e-01 2.82346772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.460371743 meters Centerline goodness [0,1] 0.9892106362244187 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.08, Z:0.00 [[ 9.99810542e-01 1.92415370e-02 2.93985317e-03 2.18950079e+00] [-1.92410993e-02 9.99814857e-01 -1.77091657e-04 -7.98265428e-02] [-2.94271639e-03 1.20492099e-04 9.99995663e-01 3.33953506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.490371743 meters Centerline goodness [0,1] 0.9891419858614795 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.08, Z:0.00 [[ 9.99776656e-01 2.09480969e-02 2.79555599e-03 2.21733621e+00] [-2.09477064e-02 9.99780558e-01 -1.68884219e-04 -8.14166853e-02] [-2.79848033e-03 1.10286014e-04 9.99996078e-01 2.56764736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.520371743 meters Centerline goodness [0,1] 0.9886295075880633 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.09, Z:0.00 [[ 9.99731700e-01 2.29708657e-02 2.97773772e-03 2.24531396e+00] [-2.29704342e-02 9.99736129e-01 -1.79027250e-04 -8.52478231e-02] [-2.98106439e-03 1.10579288e-04 9.99995551e-01 1.78168001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.550371743 meters Centerline goodness [0,1] 0.989711028201979 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.08, Z:0.00 [[ 9.99659291e-01 2.59035612e-02 3.21036384e-03 2.27431724e+00] [-2.59030757e-02 9.99664440e-01 -1.92723954e-04 -8.27600865e-02] [-3.21427881e-03 1.09499993e-04 9.99994828e-01 2.78459421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.580371743 meters Centerline goodness [0,1] 0.9894954565525576 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.08, Z:0.00 [[ 9.99631798e-01 2.69607968e-02 3.06321142e-03 2.30333532e+00] [-2.69603603e-02 9.99636487e-01 -1.83721669e-04 -8.31691956e-02] [-3.06705119e-03 1.01068739e-04 9.99995291e-01 2.62640734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.610371743 meters Centerline goodness [0,1] 0.9902243068778155 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.08, Z:0.00 [[ 9.99600101e-01 2.81543666e-02 2.64017207e-03 2.33255813e+00] [-2.81540471e-02 9.99603584e-01 -1.58105433e-04 -8.45632441e-02] [-2.64357682e-03 8.37106778e-05 9.99996502e-01 2.00230045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6403717429999998 meters Centerline goodness [0,1] 0.9900174114915844 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.09, Z:0.00 [[ 9.99550649e-01 2.99082786e-02 1.99870899e-03 2.36062544e+00] [-2.99080985e-02 9.99552646e-01 -1.19940818e-04 -8.80276218e-02] [-2.00140209e-03 6.01093367e-05 9.99997995e-01 4.30397638e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.670371743 meters Centerline goodness [0,1] 0.9903248259860788 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.09, Z:-0.00 [[ 9.99528480e-01 3.06371755e-02 2.04468354e-03 2.38981659e+00] [-3.06369893e-02 9.99530570e-01 -1.22326605e-04 -9.06322289e-02] [-2.04747144e-03 5.96259783e-05 9.99997902e-01 -8.47662502e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.700371743 meters Centerline goodness [0,1] 0.990611313018358 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.09, Z:-0.00 [[ 9.99522943e-01 3.08246035e-02 1.93151817e-03 2.41847045e+00] [-3.08244374e-02 9.99524807e-01 -1.15704246e-04 -9.13026502e-02] [-1.93416686e-03 5.61110880e-05 9.99998128e-01 -7.15114239e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.730371743 meters Centerline goodness [0,1] 0.990043862702778 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.10, Z:-0.00 [[ 9.99503630e-01 3.14163954e-02 2.34612057e-03 2.44572894e+00] [-3.14161525e-02 9.99506381e-01 -1.40352641e-04 -9.52716386e-02] [-2.34937185e-03 6.65768930e-05 9.99997238e-01 -1.07909913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.760371743 meters Centerline goodness [0,1] 0.9909278637555395 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.10, Z:0.00 [[ 9.99486526e-01 3.18700060e-02 3.31460270e-03 2.47474033e+00] [-3.18695267e-02 9.99492018e-01 -1.97336511e-04 -9.72478187e-02] [-3.31920806e-03 9.16003644e-05 9.99994487e-01 2.08776859e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.790371743 meters Centerline goodness [0,1] 0.9904726667283322 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.10, Z:0.00 [[ 9.99492392e-01 3.16374376e-02 3.74583375e-03 2.50194858e+00] [-3.16368235e-02 9.99499406e-01 -2.23098926e-04 -1.00066725e-01] [-3.75101689e-03 1.04479398e-04 9.99992959e-01 5.66599130e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.820371743 meters Centerline goodness [0,1] 0.9910349130063079 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.10, Z:0.00 [[ 9.99494610e-01 3.15241489e-02 4.09302505e-03 2.52968700e+00] [-3.15234180e-02 9.99502984e-01 -2.42971357e-04 -1.02878629e-01] [-4.09865022e-03 1.13822422e-04 9.99991594e-01 7.30969047e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.850371743 meters Centerline goodness [0,1] 0.9902257550199876 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.11, Z:0.00 [[ 9.99506317e-01 3.11479180e-02 4.11452969e-03 2.55777836e+00] [-3.11471787e-02 9.99514779e-01 -2.43648229e-04 -1.06355974e-01] [-4.12012236e-03 1.15371953e-04 9.99991506e-01 2.42874617e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.880371743 meters Centerline goodness [0,1] 0.9902431148221618 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.11, Z:0.00 [[ 9.99520078e-01 3.07467742e-02 3.77484708e-03 2.58676369e+00] [-3.07461506e-02 9.99527200e-01 -2.23135914e-04 -1.10800592e-01] [-3.77992305e-03 1.06966809e-04 9.99992850e-01 7.20952609e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.910371743 meters Centerline goodness [0,1] 0.9901398761751892 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.11, Z:-0.00 [[ 9.99527462e-01 3.04952686e-02 3.85898561e-03 2.61548507e+00] [-3.04946161e-02 9.99534905e-01 -2.27824516e-04 -1.13363458e-01] [-3.86413838e-03 1.10038575e-04 9.99992528e-01 -4.88465309e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.940371743 meters Centerline goodness [0,1] 0.9901983341769822 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.12, Z:-0.00 [[ 9.99531684e-01 3.03753954e-02 3.70782751e-03 2.64259248e+00] [-3.03747913e-02 9.99538556e-01 -2.19143973e-04 -1.17821377e-01] [-3.71277314e-03 1.06416857e-04 9.99993102e-01 -1.32242651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.970371743 meters Centerline goodness [0,1] 0.9902396554094304 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.12, Z:-0.00 [[ 9.99542393e-01 2.99912763e-02 3.94057817e-03 2.67102053e+00] [-2.99905950e-02 9.99550154e-01 -2.31872310e-04 -1.21527844e-01] [-3.94575966e-03 1.13585920e-04 9.99992209e-01 -1.68861447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.000371743 meters Centerline goodness [0,1] 0.9900928934242438 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.13, Z:-0.00 [[ 9.99549659e-01 2.96543966e-02 4.59302069e-03 2.69844999e+00] [-2.96534684e-02 9.99560203e-01 -2.70083571e-04 -1.25132996e-01] [-4.59900986e-03 1.33762947e-04 9.99989416e-01 -1.94576336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.030371743 meters Centerline goodness [0,1] 0.9911353949396935 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.13, Z:-0.00 [[ 9.99560177e-01 2.89792307e-02 6.29738217e-03 2.72723444e+00] [-2.89774812e-02 9.99579997e-01 -3.68909422e-04 -1.30552784e-01] [-6.30542796e-03 1.86264894e-04 9.99980103e-01 -1.25249766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.060371743 meters Centerline goodness [0,1] 0.990673339399454 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.14, Z:-0.00 [[ 9.99566980e-01 2.86348640e-02 6.77473111e-03 2.75427276e+00] [-2.86328343e-02 9.99589918e-01 -3.96420261e-04 -1.37166800e-01] [-6.78330435e-03 2.02268850e-04 9.99976973e-01 -2.04615184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.090371743 meters Centerline goodness [0,1] 0.9903409090909091 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.14, Z:-0.00 [[ 9.99565442e-01 2.87243911e-02 6.62090837e-03 2.78328963e+00] [-2.87224589e-02 9.99587350e-01 -3.86750970e-04 -1.38020354e-01] [-6.62928544e-03 1.96414135e-04 9.99978007e-01 -1.84793133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.120371743 meters Centerline goodness [0,1] 0.9904694910254374 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.14, Z:-0.00 [[ 9.99509758e-01 3.06714783e-02 6.28515665e-03 2.81251534e+00] [-3.06697788e-02 9.99529504e-01 -3.66632486e-04 -1.40687651e-01] [-6.29344467e-03 1.73688383e-04 9.99980181e-01 -2.45285470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.150371743 meters Centerline goodness [0,1] 0.9904694910254374 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.14, Z:-0.00 [[ 9.99513003e-01 3.05655473e-02 6.28515609e-03 2.83993367e+00] [-3.05638456e-02 9.99532749e-01 -3.66642821e-04 -1.42194190e-01] [-6.29342598e-03 1.74365728e-04 9.99980181e-01 -2.80456316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.180371743 meters Centerline goodness [0,1] 0.9904380293233768 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.14, Z:-0.00 [[ 9.99460947e-01 3.22956945e-02 5.89948700e-03 2.86870436e+00] [-3.22942300e-02 9.99478346e-01 -3.43354917e-04 -1.44707016e-01] [-5.90749840e-03 1.52650440e-04 9.99982539e-01 -3.51477317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.210371743 meters Centerline goodness [0,1] 0.9907382246376811 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.15, Z:-0.00 [[ 9.99392891e-01 3.43599696e-02 5.76566592e-03 2.89638613e+00] [-3.43586052e-02 9.99409512e-01 -3.35557083e-04 -1.48258984e-01] [-5.77379110e-03 1.37253123e-04 9.99983322e-01 -4.60530688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.240371743 meters Centerline goodness [0,1] 0.9914127110003399 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.15, Z:-0.00 [[ 9.99214704e-01 3.91302543e-02 6.22885924e-03 2.92516424e+00] [-3.91287623e-02 9.99234111e-01 -3.61265927e-04 -1.49016894e-01] [-6.23822506e-03 1.17254674e-04 9.99980535e-01 -4.73271488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.270371743 meters Centerline goodness [0,1] 0.9921186728569811 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.15, Z:-0.01 [[ 9.99108121e-01 4.16361611e-02 7.02793128e-03 2.95359072e+00] [-4.16343280e-02 9.99132833e-01 -4.06993866e-04 -1.50974215e-01] [-7.03878255e-03 1.14027680e-04 9.99975221e-01 -5.27513042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.300371743 meters Centerline goodness [0,1] 0.992103357769934 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.15, Z:-0.01 [[ 9.99028277e-01 4.35453262e-02 6.80490143e-03 2.98081096e+00] [-4.35436543e-02 9.99051448e-01 -3.93721819e-04 -1.53840268e-01] [-6.81559137e-03 9.70289550e-05 9.99976769e-01 -5.96656178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.330371743 meters Centerline goodness [0,1] 0.9928130951301352 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.16, Z:-0.01 [[ 9.98905605e-01 4.62774406e-02 6.78161707e-03 3.00978017e+00] [-4.62758415e-02 9.98928622e-01 -3.92601250e-04 -1.57843698e-01] [-6.79251997e-03 7.83465525e-05 9.99976928e-01 -7.26683540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.360371743 meters Centerline goodness [0,1] 0.9927753821145553 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.16, Z:-0.01 [[ 9.98853848e-01 4.73892721e-02 6.72659606e-03 3.03804616e+00] [-4.73877407e-02 9.98876495e-01 -3.86958777e-04 -1.61003294e-01] [-6.73737639e-03 6.77570738e-05 9.99977301e-01 -8.43786282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3903717429999998 meters Centerline goodness [0,1] 0.9929912334077029 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.16, Z:-0.01 [[ 9.98833316e-01 4.78654641e-02 6.39559476e-03 3.06604231e+00] [-4.78640906e-02 9.98853790e-01 -3.67735654e-04 -1.64715050e-01] [-6.40586590e-03 6.11872961e-05 9.99979480e-01 -9.61292836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.420371743 meters Centerline goodness [0,1] 0.9930610136758663 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.17, Z:-0.01 [[ 9.98801453e-01 4.86190441e-02 5.64321188e-03 3.09394141e+00] [-4.86179891e-02 9.98817394e-01 -3.24061899e-04 -1.70843343e-01] [-5.65229376e-03 4.93118823e-05 9.99984024e-01 -1.14014752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.450371743 meters Centerline goodness [0,1] 0.992804946599213 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.18, Z:-0.01 [[ 9.98816587e-01 4.83512080e-02 5.25232731e-03 3.12118740e+00] [-4.83502936e-02 9.98830395e-01 -3.01004883e-04 -1.75194397e-01] [-5.26073811e-03 4.66971025e-05 9.99986161e-01 -1.22597570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.480371743 meters Centerline goodness [0,1] 0.9932480933153881 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.18, Z:-0.01 [[ 9.98834530e-01 4.79463219e-02 5.54359480e-03 3.14886149e+00] [-4.79452995e-02 9.98849912e-01 -3.17269079e-04 -1.79330828e-01] [-5.55243106e-03 5.11099987e-05 9.99984584e-01 -1.24303825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.510371743 meters Centerline goodness [0,1] 0.9918236598642504 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.19, Z:-0.01 [[ 9.98905950e-01 4.64633995e-02 5.29676089e-03 3.17646178e+00] [-4.64624486e-02 9.98919991e-01 -3.02498603e-04 -1.87647134e-01] [-5.30509546e-03 5.60671737e-05 9.99985926e-01 -1.29279836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.540371743 meters Centerline goodness [0,1] 0.9926600577349117 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.19, Z:-0.01 [[ 9.98949483e-01 4.54922173e-02 5.51262255e-03 3.20491157e+00] [-4.54911762e-02 9.98964691e-01 -3.14176295e-04 -1.91977393e-01] [-5.52120786e-03 6.30705633e-05 9.99984756e-01 -1.28745901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.570371743 meters Centerline goodness [0,1] 0.9915940224159402 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.20, Z:-0.01 [[ 9.98986082e-01 4.46404816e-02 5.83389942e-03 3.23263881e+00] [-4.46393031e-02 9.99003114e-01 -3.32134388e-04 -1.97564080e-01] [-5.84291033e-03 7.13764266e-05 9.99982928e-01 -1.33472154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6003717429999997 meters Centerline goodness [0,1] 0.9913397747005654 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.21, Z:-0.01 [[ 9.99077298e-01 4.24094492e-02 6.78163265e-03 3.26068856e+00] [-4.24078114e-02 9.99100310e-01 -3.85190115e-04 -2.06083189e-01] [-6.79186698e-03 9.72405012e-05 9.99976930e-01 -1.34453554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.630371743 meters Centerline goodness [0,1] 0.9910561327786059 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.21, Z:-0.01 [[ 9.99120956e-01 4.12573578e-02 7.42601941e-03 3.28882033e+00] [-4.12553666e-02 9.99148546e-01 -4.21186028e-04 -2.10549941e-01] [-7.43707352e-03 1.14452634e-04 9.99972338e-01 -1.34491509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.660371743 meters Centerline goodness [0,1] 0.9912743057093503 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.22, Z:-0.01 [[ 9.99169469e-01 4.00281445e-02 7.62360546e-03 3.31601418e+00] [-4.00260121e-02 9.99198545e-01 -4.32129088e-04 -2.15359256e-01] [-7.63479281e-03 1.26627667e-04 9.99970847e-01 -1.36279166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.690371743 meters Centerline goodness [0,1] 0.991311864181387 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.22, Z:-0.01 [[ 9.99233799e-01 3.84094230e-02 7.51868714e-03 3.34445794e+00] [-3.84073126e-02 9.99262077e-01 -4.24927384e-04 -2.19539896e-01] [-7.52946014e-03 1.35829236e-04 9.99971644e-01 -1.44469113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.720371743 meters Centerline goodness [0,1] 0.9911375339801534 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.23, Z:-0.02 [[ 9.99387070e-01 3.44994489e-02 5.93897748e-03 3.37223161e+00] [-3.44980645e-02 9.99404708e-01 -3.35412974e-04 -2.29359165e-01] [-5.94701361e-03 1.30324162e-04 9.99982308e-01 -1.63876902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.750371743 meters Centerline goodness [0,1] 0.9909454296504052 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.24, Z:-0.02 [[ 9.99472512e-01 3.20378620e-02 5.31727405e-03 3.40088927e+00] [-3.20367191e-02 9.99486648e-01 -3.00008536e-04 -2.35135845e-01] [-5.32415605e-03 1.29502270e-04 9.99985818e-01 -1.77271597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.780371743 meters Centerline goodness [0,1] 0.9909462294357955 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.24, Z:-0.02 [[ 9.99563326e-01 2.91251270e-02 4.98848627e-03 3.42979937e+00] [-2.91240862e-02 9.99575764e-01 -2.81174042e-04 -2.40648330e-01] [-4.99455920e-03 1.35766156e-04 9.99987518e-01 -1.85747718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.810371743 meters Centerline goodness [0,1] 0.9898453676373409 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.25, Z:-0.02 [[ 9.99694640e-01 2.40469708e-02 5.68945666e-03 3.45738024e+00] [-2.40455378e-02 9.99710813e-01 -3.20161452e-04 -2.52601149e-01] [-5.69551026e-03 1.83257643e-04 9.99983764e-01 -1.86724026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.840371743 meters Centerline goodness [0,1] 0.9906465953607113 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.25, Z:-0.02 [[ 9.99740696e-01 2.17865008e-02 6.62486324e-03 3.48601670e+00] [-2.17845120e-02 9.99762620e-01 -3.72221108e-04 -2.51736498e-01] [-6.63140002e-03 2.27805177e-04 9.99977986e-01 -1.68126447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8703717429999998 meters Centerline goodness [0,1] 0.9899601034679293 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.26, Z:-0.02 [[ 9.99773353e-01 1.98930019e-02 7.58358761e-03 3.51317643e+00] [-1.98903460e-02 9.99802077e-01 -4.25490559e-04 -2.58244248e-01] [-7.59055092e-03 2.74553941e-04 9.99971154e-01 -1.68948266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.900371743 meters Centerline goodness [0,1] 0.9897894344749009 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.26, Z:-0.02 [[ 9.99806502e-01 1.79272501e-02 8.09763764e-03 3.54166395e+00] [-1.79241647e-02 9.99839246e-01 -4.53438808e-04 -2.60796133e-01] [-8.10446483e-03 3.08207678e-04 9.99967111e-01 -1.62107109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.930371743 meters Centerline goodness [0,1] 0.9888266934884331 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.27, Z:-0.02 [[ 9.99853160e-01 1.49885250e-02 8.30674417e-03 3.56938559e+00] [-1.49851828e-02 9.99887608e-01 -4.64444034e-04 -2.73366050e-01] [-8.31277189e-03 3.39897756e-04 9.99965391e-01 -1.71643544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.960371743 meters Centerline goodness [0,1] 0.9891447368421052 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.27, Z:-0.02 [[ 9.99879390e-01 1.33121641e-02 7.99944027e-03 3.59944266e+00] [-1.33090150e-02 9.99911331e-01 -4.46772571e-04 -2.71511938e-01] [-8.00467848e-03 3.40254016e-04 9.99967904e-01 -1.72770932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.990371743 meters Centerline goodness [0,1] 0.9898722547904454 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.28, Z:-0.02 [[ 9.99889573e-01 1.24688233e-02 8.08517974e-03 3.62914458e+00] [-1.24655812e-02 9.99922200e-01 -4.51266963e-04 -2.75469499e-01] [-8.09017747e-03 3.50430666e-04 9.99967213e-01 -1.80040607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.020371742999999 meters Centerline goodness [0,1] 0.9893055131171156 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.28, Z:-0.02 [[ 9.99912585e-01 1.06650866e-02 7.81527770e-03 3.65796405e+00] [-1.06620051e-02 9.99943064e-01 -4.35850384e-04 -2.82422248e-01] [-7.81948111e-03 3.52485753e-04 9.99969365e-01 -1.96417909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0503717429999995 meters Centerline goodness [0,1] 0.9895682981236058 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.29, Z:-0.02 [[ 9.99919265e-01 9.96920894e-03 7.87894020e-03 3.68785788e+00] [-9.96605660e-03 9.99950241e-01 -4.39258339e-04 -2.85512804e-01] [-7.88292721e-03 3.60700911e-04 9.99968864e-01 -1.99398617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.080371743 meters Centerline goodness [0,1] 0.9901374186337037 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.29, Z:-0.02 [[ 9.99920407e-01 9.63999756e-03 8.13937530e-03 3.71842890e+00] [-9.63662436e-03 9.99953464e-01 -4.53547488e-04 -2.88220191e-01] [-8.14336872e-03 3.75075287e-04 9.99966772e-01 -2.00468720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.110371742999999 meters Centerline goodness [0,1] 0.9894520757354065 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.29, Z:-0.02 [[ 9.99921870e-01 9.10870110e-03 8.56063843e-03 3.74861548e+00] [-9.10495026e-03 9.99958435e-01 -4.77021383e-04 -2.89739539e-01] [-8.56462766e-03 3.99039926e-04 9.99963243e-01 -1.98460800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.140371742999999 meters Centerline goodness [0,1] 0.9896920696493561 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.29, Z:-0.02 [[ 9.99922763e-01 8.92199878e-03 8.65248839e-03 3.77999460e+00] [-8.91816130e-03 9.99960116e-01 -4.81994179e-04 -2.92386727e-01] [-8.65644365e-03 4.04792664e-04 9.99962450e-01 -2.02754997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.170371743 meters Centerline goodness [0,1] 0.9903498453361217 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.29, Z:-0.02 [[ 9.99922537e-01 8.80073964e-03 8.80151060e-03 3.81106809e+00] [-8.79676136e-03 9.99961187e-01 -4.90611933e-04 -2.93850005e-01] [-8.80548674e-03 4.13149141e-04 9.99961146e-01 -2.07028129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.200371743 meters Centerline goodness [0,1] 0.9901984378760365 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.30, Z:-0.02 [[ 9.99944053e-01 7.73020452e-03 7.22040328e-03 3.84260391e+00] [-7.72749811e-03 9.99970061e-01 -4.02651264e-04 -2.95790105e-01] [-7.22329969e-03 3.46833084e-04 9.99973851e-01 -2.27207115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.230371742999999 meters Centerline goodness [0,1] 0.990104620749782 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.30, Z:-0.02 [[ 9.99947436e-01 7.33595593e-03 7.16309023e-03 3.87396879e+00] [-7.33328042e-03 9.99973031e-01 -3.99705970e-04 -2.96454843e-01] [-7.16582928e-03 3.47156011e-04 9.99974265e-01 -2.39626078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.260371742999999 meters Centerline goodness [0,1] 0.9903915132279733 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.30, Z:-0.03 [[ 9.99953149e-01 6.83877124e-03 6.85059270e-03 3.90554068e+00] [-6.83631086e-03 9.99976559e-01 -3.82500881e-04 -2.99313815e-01] [-6.85304795e-03 3.35650179e-04 9.99976461e-01 -2.51178180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.290371743 meters Centerline goodness [0,1] 0.9900323511410335 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.30, Z:-0.03 [[ 9.99970665e-01 5.22751501e-03 5.59846635e-03 3.93642566e+00] [-5.22584713e-03 9.99986296e-01 -3.12505355e-04 -3.00962962e-01] [-5.60002325e-03 2.83239458e-04 9.99984280e-01 -2.66026455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.320371743 meters Centerline goodness [0,1] 0.9899349373389809 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.30, Z:-0.03 [[ 9.99977491e-01 3.98153351e-03 5.40039485e-03 3.96720686e+00] [-3.97995987e-03 9.99992034e-01 -3.02109589e-04 -3.01817768e-01] [-5.40155469e-03 2.80609434e-04 9.99985372e-01 -2.70704392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.350371742999999 meters Centerline goodness [0,1] 0.9894764420767652 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.31, Z:-0.03 [[ 9.99980981e-01 2.87226787e-03 5.45784365e-03 3.99702993e+00] [-2.87064353e-03 9.99995833e-01 -3.05427200e-04 -3.12796423e-01] [-5.45869818e-03 2.89753867e-04 9.99985059e-01 -2.89249035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3803717429999995 meters Centerline goodness [0,1] 0.990486211583147 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.31, Z:-0.03 [[ 9.99985275e-01 1.50241000e-03 5.21469550e-03 4.02913731e+00] [-1.50090886e-03 9.99998831e-01 -2.91767797e-04 -3.06545859e-01] [-5.21512776e-03 2.83936718e-04 9.99986361e-01 -2.79836447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.410371743 meters Centerline goodness [0,1] 0.989576276742204 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.31, Z:-0.03 [[ 9.99981047e-01 -2.19485518e-03 5.75217174e-03 4.05863839e+00] [ 2.19674288e-03 9.99997535e-01 -3.21874444e-04 -3.10546883e-01] [-5.75145109e-03 3.34504385e-04 9.99983404e-01 -2.80137511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.440371742999999 meters Centerline goodness [0,1] 0.9895107957780406 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.31, Z:-0.03 [[ 9.99970990e-01 -3.96315372e-03 6.50479998e-03 4.09068565e+00] [ 3.96560850e-03 9.99992071e-01 -3.64524327e-04 -3.13341963e-01] [-6.50330373e-03 3.90309242e-04 9.99978777e-01 -2.80996482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.470371742999999 meters Centerline goodness [0,1] 0.9897321623629134 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.31, Z:-0.03 [[ 9.99965174e-01 -5.26840916e-03 6.47253488e-03 4.12235147e+00] [ 5.27086324e-03 9.99986043e-01 -3.62153556e-04 -3.14547560e-01] [-6.47053657e-03 3.96256790e-04 9.99978987e-01 -2.79598295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.500371743 meters Centerline goodness [0,1] 0.9895379631858872 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.31, Z:-0.03 [[ 9.99959844e-01 -6.52854839e-03 6.13913003e-03 4.15449957e+00] [ 6.53079425e-03 9.99978614e-01 -3.45850999e-04 -3.13633381e-01] [-6.13674084e-03 3.85930506e-04 9.99981096e-01 -2.76127701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.530371743 meters Centerline goodness [0,1] 0.9889980095802621 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.31, Z:-0.03 [[ 9.99959662e-01 -6.39947204e-03 6.30251821e-03 4.18742471e+00] [ 6.40183799e-03 9.99979445e-01 -3.55296134e-04 -3.13003459e-01] [-6.30011495e-03 3.95629502e-04 9.99980076e-01 -2.79193374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.560371742999999 meters Centerline goodness [0,1] 0.9879467905590498 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.32, Z:-0.03 [[ 9.99965418e-01 -5.65588602e-03 6.09703364e-03 4.21846087e+00] [ 5.65809255e-03 9.99983933e-01 -3.44713760e-04 -3.20031731e-01] [-6.09498602e-03 3.79199419e-04 9.99981354e-01 -2.89276485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5903717429999995 meters Centerline goodness [0,1] 0.9886264025245441 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.31, Z:-0.03 [[ 9.99969123e-01 -4.74132034e-03 6.26675635e-03 4.25095222e+00] [ 4.74363509e-03 9.99988686e-01 -3.54557242e-04 -3.13184745e-01] [-6.26500438e-03 3.84273500e-04 9.99980301e-01 -2.86416683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.620371743 meters Centerline goodness [0,1] 0.9894182217343579 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.31, Z:-0.03 [[ 9.99975457e-01 -3.66802420e-03 5.96922760e-03 4.28282741e+00] [ 3.67010764e-03 9.99993208e-01 -3.38114673e-04 -3.13465900e-01] [-5.96794685e-03 3.60014082e-04 9.99982127e-01 -2.96694329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.650371742999999 meters Centerline goodness [0,1] 0.988921680909171 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.31, Z:-0.03 [[ 9.99989884e-01 -1.18573176e-03 4.33898415e-03 4.31421639e+00] [ 1.18681088e-03 9.99999265e-01 -2.46135404e-04 -3.09793015e-01] [-4.33868912e-03 2.51282468e-04 9.99990556e-01 -3.13463184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.680371742999999 meters Centerline goodness [0,1] 0.9892720810846387 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.31, Z:-0.03 [[ 9.99991191e-01 4.32878252e-04 4.17509952e-03 4.34448675e+00] [-4.31891964e-04 9.99999879e-01 -2.37129771e-04 -3.10131396e-01] [-4.17520167e-03 2.35324490e-04 9.99991256e-01 -3.23586184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.710371743 meters Centerline goodness [0,1] 0.9899955830388693 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.31, Z:-0.03 [[ 9.99991508e-01 1.86736444e-03 3.67392117e-03 4.37607820e+00] [-1.86661087e-03 9.99998236e-01 -2.08531265e-04 -3.05017871e-01] [-3.67430409e-03 2.01671713e-04 9.99993229e-01 -3.21311073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.740371743 meters Centerline goodness [0,1] 0.9888058050528737 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.30, Z:-0.03 [[ 9.99981883e-01 4.81603633e-03 3.61114898e-03 4.40626490e+00] [-4.81532635e-03 9.99988385e-01 -2.05279042e-04 -3.03923424e-01] [-3.61209567e-03 1.87886462e-04 9.99993459e-01 -3.28940081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.770371742999999 meters Centerline goodness [0,1] 0.9892234688899729 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.30, Z:-0.03 [[ 9.99968275e-01 6.68080317e-03 4.33768750e-03 4.43698867e+00] [-6.67979517e-03 9.99977659e-01 -2.46829311e-04 -2.99701271e-01] [-4.33923961e-03 2.17846616e-04 9.99990562e-01 -3.22430804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8003717429999995 meters Centerline goodness [0,1] 0.9896792808789258 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.30, Z:-0.03 [[ 9.99959026e-01 7.71621560e-03 4.73347496e-03 4.46732024e+00] [-7.71502614e-03 9.99970202e-01 -2.69494678e-04 -2.97850805e-01] [-4.73541339e-03 2.32964753e-04 9.99988761e-01 -3.17890059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.830371743 meters Centerline goodness [0,1] 0.9884586416197776 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.30, Z:-0.03 [[ 9.99921129e-01 1.06215231e-02 6.70214235e-03 4.49691341e+00] [-1.06192074e-02 9.99943542e-01 -3.81011916e-04 -2.96281930e-01] [-6.70581089e-03 3.09810426e-04 9.99977468e-01 -3.07530315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.860371742999999 meters Centerline goodness [0,1] 0.9895870180403255 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.29, Z:-0.03 [[ 9.99902917e-01 1.16723101e-02 7.61008690e-03 4.52650202e+00] [-1.16693482e-02 9.99931817e-01 -4.33486839e-04 -2.92000563e-01] [-7.61462782e-03 3.44640001e-04 9.99970949e-01 -3.00920453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.890371742999999 meters Centerline goodness [0,1] 0.9891142888814988 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.29, Z:-0.03 [[ 9.99877927e-01 1.32552749e-02 8.27215203e-03 4.55629671e+00] [-1.32518342e-02 9.99912080e-01 -4.70616153e-04 -2.87909208e-01] [-8.27766289e-03 3.60937516e-04 9.99965674e-01 -3.04668759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.920371743 meters Centerline goodness [0,1] 0.9888392360879521 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.29, Z:-0.03 [[ 9.99875911e-01 1.37432573e-02 7.69968940e-03 4.58482831e+00] [-1.37402920e-02 9.99905502e-01 -4.37889615e-04 -2.88436416e-01] [-7.70497982e-03 3.32039297e-04 9.99970261e-01 -3.13043708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.950371743 meters Centerline goodness [0,1] 0.9889838429696889 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.29, Z:-0.03 [[ 9.99883266e-01 1.37188781e-02 6.72656703e-03 4.61334298e+00] [-1.37166156e-02 9.99905850e-01 -3.82377188e-04 -2.88612540e-01] [-6.73117951e-03 2.90066817e-04 9.99977303e-01 -3.28267377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.980371742999999 meters Centerline goodness [0,1] 0.9895814702199964 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.29, Z:-0.03 [[ 9.99893836e-01 1.35679783e-02 5.31294271e-03 4.64175285e+00] [-1.35665657e-02 9.99907924e-01 -3.01829196e-04 -2.89366508e-01] [-5.31654873e-03 2.29718766e-04 9.99985841e-01 -3.45912701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.010371742999999 meters Centerline goodness [0,1] 0.9898391193903472 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.29, Z:-0.04 [[ 9.99918938e-01 1.23974141e-02 2.90206851e-03 4.67026721e+00] [-1.23969871e-02 9.99923141e-01 -1.65074819e-04 -2.89291758e-01] [-2.90389196e-03 1.29084532e-04 9.99995775e-01 -3.69096731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.040371743 meters Centerline goodness [0,1] 0.9895493725157429 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.29, Z:-0.04 [[ 9.99930642e-01 1.16212484e-02 1.91243849e-03 4.69773658e+00] [-1.16210608e-02 9.99932467e-01 -1.09144968e-04 -2.91118746e-01] [-1.91357774e-03 8.69128334e-05 9.99998165e-01 -3.83165225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.070371742999999 meters Centerline goodness [0,1] 0.9895493725157429 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.29, Z:-0.04 [[ 9.99931458e-01 1.15508783e-02 1.91245928e-03 4.72602633e+00] [-1.15506914e-02 9.99933283e-01 -1.08777455e-04 -2.92655599e-01] [-1.91358816e-03 8.66797722e-05 9.99998165e-01 -3.86795256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.100371742999999 meters Centerline goodness [0,1] 0.9889394344839889 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.29, Z:-0.04 [[ 9.99942977e-01 1.05137113e-02 1.87187935e-03 4.75456257e+00] [-1.05135306e-02 9.99944726e-01 -1.06370013e-04 -2.91118764e-01] [-1.87289422e-03 8.66838870e-05 9.99998242e-01 -3.84776032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1303717429999995 meters Centerline goodness [0,1] 0.9892230800124949 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.29, Z:-0.04 [[ 9.99948169e-01 9.91201461e-03 2.32637591e-03 4.78372847e+00] [-9.91173471e-03 9.99950869e-01 -1.31814767e-04 -2.90797006e-01] [-2.32756816e-03 1.08749514e-04 9.99997285e-01 -3.83810588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.160371743 meters Centerline goodness [0,1] 0.9886642567054938 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.29, Z:-0.04 [[ 9.99944572e-01 1.01750882e-02 2.70575101e-03 4.81099866e+00] [-1.01747110e-02 9.99948225e-01 -1.53137296e-04 -2.92503260e-01] [-2.70716911e-03 1.25598573e-04 9.99996328e-01 -3.86275165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.190371742999999 meters Centerline goodness [0,1] 0.9889901713878179 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.29, Z:-0.04 [[ 9.99936448e-01 1.06584445e-02 3.67390268e-03 4.84037301e+00] [-1.06577563e-02 9.99943183e-01 -2.06853290e-04 -2.92170042e-01] [-3.67589868e-03 1.67684585e-04 9.99993230e-01 -3.88842918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.220371742999999 meters Centerline goodness [0,1] 0.9881754865294605 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.29, Z:-0.04 [[ 9.99935769e-01 1.06929095e-02 3.75768580e-03 4.86918608e+00] [-1.06921900e-02 9.99942815e-01 -2.11519972e-04 -2.92280706e-01] [-3.75973268e-03 1.71328496e-04 9.99992918e-01 -3.94657514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.250371743 meters Centerline goodness [0,1] 0.9882155259325641 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.29, Z:-0.04 [[ 9.99938718e-01 1.04304584e-02 3.71022663e-03 4.89767450e+00] [-1.04297561e-02 9.99945587e-01 -2.08593163e-04 -2.92373601e-01] [-3.71220047e-03 1.69883621e-04 9.99993095e-01 -4.03565998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.280371742999999 meters Centerline goodness [0,1] 0.9887927556372439 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.29, Z:-0.04 [[ 9.99948704e-01 9.67028970e-03 3.01242577e-03 4.92696855e+00] [-9.66982335e-03 9.99953232e-01 -1.69337396e-04 -2.90578841e-01] [-3.01392242e-03 1.40199085e-04 9.99995448e-01 -4.02531578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.310371742999999 meters Centerline goodness [0,1] 0.9881301650578934 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.29, Z:-0.04 [[ 9.99957291e-01 8.70133969e-03 3.11483028e-03 4.95451369e+00] [-8.70083667e-03 9.99962132e-01 -1.75004297e-04 -2.94002113e-01] [-3.11623510e-03 1.47895194e-04 9.99995134e-01 -4.10889688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3403717429999995 meters Centerline goodness [0,1] 0.989128237381792 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.29, Z:-0.04 [[ 9.99976298e-01 6.58928326e-03 1.99607547e-03 4.98401816e+00] [-6.58907279e-03 9.99978286e-01 -1.12001491e-04 -2.90423332e-01] [-1.99677014e-03 9.88465498e-05 9.99998002e-01 -4.05719301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.370371743 meters Centerline goodness [0,1] 0.9886588214157385 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.29, Z:-0.04 [[ 9.99981058e-01 5.84789576e-03 1.92008134e-03 5.01280541e+00] [-5.84769981e-03 9.99982896e-01 -1.07653184e-04 -2.92801258e-01] [-1.92067805e-03 9.64230851e-05 9.99998151e-01 -4.13457896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.400371742999999 meters Centerline goodness [0,1] 0.988352221622594 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.30, Z:-0.04 [[ 9.99984823e-01 5.26405596e-03 1.62587540e-03 5.04120783e+00] [-5.26391481e-03 9.99986141e-01 -9.10867707e-05 -2.95339573e-01] [-1.62633235e-03 8.25269187e-05 9.99998674e-01 -4.23465271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.430371742999999 meters Centerline goodness [0,1] 0.9884592931878396 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.29, Z:-0.04 [[ 9.99981508e-01 5.35327813e-03 2.88564643e-03 5.07104529e+00] [-5.35283586e-03 9.99985661e-01 -1.60967227e-04 -2.94227709e-01] [-2.88646676e-03 1.45517858e-04 9.99995824e-01 -4.18546754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.460371743 meters Centerline goodness [0,1] 0.9876167961274345 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.30, Z:-0.04 [[ 9.99974136e-01 6.17239087e-03 3.69160726e-03 5.10035242e+00] [-6.17167574e-03 9.99980934e-01 -2.05077782e-04 -2.96722456e-01] [-3.69280270e-03 1.82289075e-04 9.99993165e-01 -4.21733137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.490371743 meters Centerline goodness [0,1] 0.98842774644406 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.29, Z:-0.04 [[ 9.99965499e-01 7.14765591e-03 4.23214304e-03 5.13080294e+00] [-7.14672111e-03 9.99974434e-01 -2.35962652e-04 -2.93051707e-01] [-4.23372142e-03 2.05708565e-04 9.99991017e-01 -4.16933433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.520371742999999 meters Centerline goodness [0,1] 0.9876473510681542 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.29, Z:-0.04 [[ 9.99956070e-01 8.15904319e-03 4.61379827e-03 5.16066965e+00] [-8.15794481e-03 9.99966690e-01 -2.56834664e-04 -2.92058033e-01] [-4.61574011e-03 2.19184270e-04 9.99989323e-01 -4.20697333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5503717429999995 meters Centerline goodness [0,1] 0.9879706048615037 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.29, Z:-0.04 [[ 9.99937494e-01 1.00281253e-02 4.94425695e-03 5.18954347e+00] [-1.00268871e-02 9.99949692e-01 -2.75155943e-04 -2.91776723e-01] [-4.94676751e-03 2.25563237e-04 9.99987739e-01 -4.32495531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.580371743 meters Centerline goodness [0,1] 0.988194318798625 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.29, Z:-0.04 [[ 9.99934816e-01 1.05632931e-02 4.33363554e-03 5.21817883e+00] [-1.05623469e-02 9.99944188e-01 -2.41170403e-04 -2.91622344e-01] [-4.33594122e-03 1.95381320e-04 9.99990581e-01 -4.38232746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.610371742999999 meters Centerline goodness [0,1] 0.9886124380249485 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.29, Z:-0.04 [[ 9.99929439e-01 1.10092656e-02 4.46250270e-03 5.24582720e+00] [-1.10082676e-02 9.99939376e-01 -2.48139939e-04 -2.92465502e-01] [-4.46496400e-03 1.98998006e-04 9.99990012e-01 -4.42161309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.640371742999999 meters Centerline goodness [0,1] 0.9885242555507677 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.29, Z:-0.04 [[ 9.99914026e-01 1.23270522e-02 4.47043442e-03 5.27533791e+00] [-1.23260669e-02 9.99924000e-01 -2.47902093e-04 -2.87671785e-01] [-4.47315057e-03 1.92777906e-04 9.99989977e-01 -4.35883088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.670371743 meters Centerline goodness [0,1] 0.9886833613598146 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.29, Z:-0.04 [[ 9.99911058e-01 1.27091736e-02 4.04377206e-03 5.30460988e+00] [-1.27083704e-02 9.99919220e-01 -2.24246819e-04 -2.87104034e-01] [-4.04629540e-03 1.72837121e-04 9.99991799e-01 -4.37684439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700371743 meters Centerline goodness [0,1] 0.9884593583493935 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.29, Z:-0.04 [[ 9.99903098e-01 1.33450034e-02 3.96295544e-03 5.33376516e+00] [-1.33442381e-02 9.99910938e-01 -2.19498623e-04 -2.86898947e-01] [-3.96553170e-03 1.66594733e-04 9.99992123e-01 -4.41807555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.730371742999999 meters Centerline goodness [0,1] 0.9889071487263763 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.28, Z:-0.05 [[ 9.99893330e-01 1.42775964e-02 3.07869794e-03 5.36284165e+00] [-1.42771389e-02 9.99898062e-01 -1.70518801e-04 -2.83860540e-01] [-3.08081870e-03 1.26545613e-04 9.99995246e-01 -4.52398330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760371742999999 meters Centerline goodness [0,1] 0.9891797079660128 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.29, Z:-0.05 [[ 9.99889374e-01 1.46459313e-02 2.59536702e-03 5.39073043e+00] [-1.46456070e-02 9.99892737e-01 -1.43942751e-04 -2.86665574e-01] [-2.59719681e-03 1.05916102e-04 9.99996622e-01 -4.71547430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.790371743 meters Centerline goodness [0,1] 0.9889753714820478 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.28, Z:-0.05 [[ 9.99878343e-01 1.54255798e-02 2.31328257e-03 5.41950058e+00] [-1.54253250e-02 9.99881014e-01 -1.27966837e-04 -2.84245798e-01] [-2.31498128e-03 9.22681335e-05 9.99997316e-01 -4.73092052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820371742999999 meters Centerline goodness [0,1] 0.9894106076893169 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.28, Z:-0.05 [[ 9.99840935e-01 1.75663005e-02 3.08695594e-03 5.44901126e+00] [-1.75658591e-02 9.99845694e-01 -1.70055196e-04 -2.81403856e-01] [-3.08946685e-03 1.15803113e-04 9.99995221e-01 -4.74053469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.850371742999999 meters Centerline goodness [0,1] 0.9889211893698354 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.28, Z:-0.05 [[ 9.99812102e-01 1.89312676e-02 4.16753888e-03 5.47727698e+00] [-1.89304762e-02 9.99820776e-01 -2.29255717e-04 -2.84086593e-01] [-4.17113206e-03 1.50319144e-04 9.99991289e-01 -4.78165575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8803717429999995 meters Centerline goodness [0,1] 0.989536108439804 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.28, Z:-0.05 [[ 9.99746094e-01 2.16862325e-02 6.12010502e-03 5.50682228e+00] [-2.16845811e-02 9.99764805e-01 -3.36067641e-04 -2.79753231e-01] [-6.12595365e-03 2.03270398e-04 9.99981216e-01 -4.61392302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.910371743 meters Centerline goodness [0,1] 0.9895213364891882 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.28, Z:-0.05 [[ 9.99705611e-01 2.32932745e-02 6.79074012e-03 5.53508075e+00] [-2.32912864e-02 9.99728652e-01 -3.71713740e-04 -2.79605020e-01] [-6.79755590e-03 2.13439238e-04 9.99976874e-01 -4.54870396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940371742999999 meters Centerline goodness [0,1] 0.9896935676819729 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.28, Z:-0.05 [[ 9.99664581e-01 2.49211548e-02 7.04706525e-03 5.56437168e+00] [-2.49190579e-02 9.99689398e-01 -3.85215242e-04 -2.78263116e-01] [-7.05447643e-03 2.09479806e-04 9.99975095e-01 -4.51886345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.970371742999999 meters Centerline goodness [0,1] 0.9897542402215299 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.28, Z:-0.04 [[ 9.99561248e-01 2.86521555e-02 7.50763806e-03 5.59375473e+00] [-2.86498859e-02 9.99589424e-01 -4.09703871e-04 -2.75769184e-01] [-7.51629450e-03 1.94431139e-04 9.99971733e-01 -4.48558990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000371743 meters Centerline goodness [0,1] 0.9897206600903475 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.28, Z:-0.05 [[ 9.99512026e-01 3.04349552e-02 7.03018508e-03 5.62194299e+00] [-3.04330108e-02 9.99536735e-01 -3.83416354e-04 -2.76715656e-01] [-7.03859750e-03 1.69279558e-04 9.99975214e-01 -4.56701568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.030371742999999 meters Centerline goodness [0,1] 0.9904911373707533 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.28, Z:-0.05 [[ 9.99463079e-01 3.21326788e-02 6.40666664e-03 5.65097834e+00] [-3.21311013e-02 9.99483602e-01 -3.49037849e-04 -2.76403884e-01] [-6.41457378e-03 1.42997189e-04 9.99979416e-01 -4.65759647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060371742999999 meters Centerline goodness [0,1] 0.9904353867531265 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.28, Z:-0.05 [[ 9.99403479e-01 3.41205895e-02 5.33593874e-03 5.67938413e+00] [-3.41195247e-02 9.99417717e-01 -2.90486990e-04 -2.76824865e-01] [-5.34274330e-03 1.08254014e-04 9.99985722e-01 -4.87865733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0903717429999995 meters Centerline goodness [0,1] 0.9911684468488463 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.28, Z:-0.05 [[ 9.99408401e-01 3.40532089e-02 4.81939314e-03 5.70845522e+00] [-3.40523407e-02 9.99420017e-01 -2.62113623e-04 -2.78749617e-01] [-4.82552379e-03 9.78469399e-05 9.99988352e-01 -4.99557581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.120371743 meters Centerline goodness [0,1] 0.9911217978359382 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.28, Z:-0.05 [[ 9.99418452e-01 3.37626877e-02 4.77894933e-03 5.73690166e+00] [-3.37618322e-02 9.99429873e-01 -2.59593649e-04 -2.80030148e-01] [-4.78498930e-03 9.80965975e-05 9.99988547e-01 -5.06408807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.150371742999999 meters Centerline goodness [0,1] 0.9904381365914497 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.28, Z:-0.05 [[ 9.99499310e-01 3.13212077e-02 4.48464832e-03 5.76505922e+00] [-3.13204303e-02 9.99509365e-01 -2.43498980e-04 -2.83422636e-01] [-4.49007468e-03 1.02915947e-04 9.99989914e-01 -5.09893636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.180371742999999 meters Centerline goodness [0,1] 0.9908180685645734 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.29, Z:-0.05 [[ 9.99559004e-01 2.93741006e-02 4.35417603e-03 5.79370100e+00] [-2.93733515e-02 9.99568482e-01 -2.35895078e-04 -2.87105616e-01] [-4.35922633e-03 1.07894306e-04 9.99990493e-01 -5.14721718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.210371743 meters Centerline goodness [0,1] 0.990231765193752 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.29, Z:-0.05 [[ 9.99623454e-01 2.70804835e-02 4.42694693e-03 5.82211134e+00] [-2.70796882e-02 9.99633249e-01 -2.39499242e-04 -2.90903854e-01] [-4.43180910e-03 1.19528717e-04 9.99990172e-01 -5.19141772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240371743 meters Centerline goodness [0,1] 0.9892178950756356 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.30, Z:-0.05 [[ 9.99756280e-01 2.16555807e-02 4.29150691e-03 5.85039018e+00] [-2.16547853e-02 9.99765481e-01 -2.31733073e-04 -2.97554905e-01] [-4.29551878e-03 1.38744935e-04 9.99990765e-01 -5.23330673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.270371742999999 meters Centerline goodness [0,1] 0.9892912013575179 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.30, Z:-0.05 [[ 9.99814845e-01 1.88247704e-02 3.98782816e-03 5.88014384e+00] [-1.88240623e-02 9.99822789e-01 -2.15016009e-04 -3.01740121e-01] [-3.99116910e-03 1.39909072e-04 9.99992025e-01 -5.28434014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3003717429999995 meters Centerline goodness [0,1] 0.9895573316234227 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.31, Z:-0.05 [[ 9.99868119e-01 1.56758823e-02 4.24405995e-03 5.90988485e+00] [-1.56750528e-02 9.99877113e-01 -2.28649931e-04 -3.06275117e-01] [-4.24712270e-03 1.62093913e-04 9.99990968e-01 -5.33849624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.330371743 meters Centerline goodness [0,1] 0.9898585229614029 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.31, Z:-0.05 [[ 9.99910775e-01 1.27176525e-02 4.08708256e-03 5.93925100e+00] [-1.27168590e-02 9.99919113e-01 -2.20073702e-04 -3.08470109e-01] [-4.08955079e-03 1.68079213e-04 9.99991624e-01 -5.28414706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360371742999999 meters Centerline goodness [0,1] 0.9891053605280589 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.31, Z:-0.05 [[ 9.99965989e-01 7.14082376e-03 4.12673676e-03 5.96883175e+00] [-7.13996870e-03 9.99974485e-01 -2.21896682e-04 -3.13677310e-01] [-4.12821599e-03 1.92424364e-04 9.99991460e-01 -5.29540444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.390371742999999 meters Centerline goodness [0,1] 0.9892637337588329 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.32, Z:-0.05 [[ 9.99982565e-01 4.48904522e-03 3.83648335e-03 5.99706233e+00] [-4.48828569e-03 9.99989906e-01 -2.06562327e-04 -3.19000358e-01] [-3.83737189e-03 1.89339492e-04 9.99992619e-01 -5.36123203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420371743 meters Centerline goodness [0,1] 0.9897363379253717 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.32, Z:-0.05 [[ 9.99990239e-01 2.24898773e-03 3.80323896e-03 6.02723135e+00] [-2.24822775e-03 9.99997452e-01 -2.04087137e-04 -3.21832945e-01] [-3.80368826e-03 1.95534597e-04 9.99992747e-01 -5.39659256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.450371743 meters Centerline goodness [0,1] 0.9899464415395788 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.33, Z:-0.05 [[ 9.99989309e-01 -1.20174580e-03 4.46525426e-03 6.05681023e+00] [ 1.20282768e-03 9.99999248e-01 -2.39611806e-04 -3.28395437e-01] [-4.46496295e-03 2.44980175e-04 9.99990002e-01 -5.42935087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480371742999999 meters Centerline goodness [0,1] 0.9898622539437196 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.33, Z:-0.05 [[ 9.99987164e-01 -2.02205283e-03 4.64567603e-03 6.08947373e+00] [ 2.02322323e-03 9.99997923e-01 -2.47246263e-04 -3.28811423e-01] [-4.64516644e-03 2.56642329e-04 9.99989178e-01 -5.40761188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.510371742999999 meters Centerline goodness [0,1] 0.989903583772967 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.33, Z:-0.05 [[ 9.99982281e-01 -2.33443830e-03 5.47614543e-03 6.12115655e+00] [ 2.33608712e-03 9.99997228e-01 -2.94713029e-04 -3.31315518e-01] [-5.47544226e-03 3.07500560e-04 9.99984962e-01 -5.32724429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.540371743 meters Centerline goodness [0,1] 0.9905960385244412 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.33, Z:-0.05 [[ 9.99983401e-01 -1.53932893e-03 5.55224274e-03 6.15366999e+00] [ 1.54101393e-03 9.99998768e-01 -2.99215517e-04 -3.31891341e-01] [-5.55177531e-03 3.07766634e-04 9.99984541e-01 -5.29128981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.570371742999999 meters Centerline goodness [0,1] 0.9896550152668276 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.33, Z:-0.05 [[ 9.99985398e-01 5.59182219e-04 5.37501202e-03 6.18571067e+00] [-5.57630673e-04 9.99999802e-01 -2.90153402e-04 -3.29386202e-01] [-5.37517321e-03 2.87151894e-04 9.99985512e-01 -5.23947317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.600371742999999 meters Centerline goodness [0,1] 0.9901375728862973 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.33, Z:-0.05 [[ 9.99985671e-01 1.76265371e-03 5.05486296e-03 6.21759666e+00] [-1.76129633e-03 9.99998412e-01 -2.72969213e-04 -3.29736370e-01] [-5.05533608e-03 2.64062190e-04 9.99987187e-01 -5.32701461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6303717429999995 meters Centerline goodness [0,1] 0.9890570855371147 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.33, Z:-0.05 [[ 9.99986490e-01 3.12822716e-03 4.15134832e-03 6.24923741e+00] [-3.12732153e-03 9.99995085e-01 -2.24626242e-04 -3.30502017e-01] [-4.15203060e-03 2.11640607e-04 9.99991358e-01 -5.46504512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660371743 meters Centerline goodness [0,1] 0.9899352654573735 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.33, Z:-0.06 [[ 9.99984070e-01 4.15832653e-03 3.81690757e-03 6.27971966e+00] [-4.15756683e-03 9.99991336e-01 -2.06949019e-04 -3.30865438e-01] [-3.81773506e-03 1.91076674e-04 9.99992694e-01 -5.59217275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.690371742999999 meters Centerline goodness [0,1] 0.9894662279499131 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.33, Z:-0.06 [[ 9.99981872e-01 5.08935049e-03 3.21773943e-03 6.31041609e+00] [-5.08881539e-03 9.99987037e-01 -1.74462705e-04 -3.31680548e-01] [-3.21858562e-03 1.58085061e-04 9.99994808e-01 -5.72131402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720371742999999 meters Centerline goodness [0,1] 0.9903230984429819 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.33, Z:-0.06 [[ 9.99975198e-01 6.72388108e-03 2.09614073e-03 6.33992866e+00] [-6.72365679e-03 9.99977389e-01 -1.14029123e-04 -3.29511685e-01] [-2.09686005e-03 9.99325642e-05 9.99997797e-01 -5.89890522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.750371743 meters Centerline goodness [0,1] 0.98958357232993 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.33, Z:-0.06 [[ 9.99969701e-01 7.55583379e-03 1.87261521e-03 6.36881475e+00] [-7.55565555e-03 9.99971450e-01 -1.02235398e-04 -3.29224208e-01] [-1.87333422e-03 8.80834648e-05 9.99998241e-01 -5.95552347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780371742999999 meters Centerline goodness [0,1] 0.9898555391976445 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.33, Z:-0.06 [[ 9.99962298e-01 8.57836528e-03 1.34723516e-03 6.39762125e+00] [-8.57827372e-03 9.99963203e-01 -7.37247206e-05 -3.25950033e-01] [-1.34781803e-03 6.21649890e-05 9.99999090e-01 -5.90619078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.810371742999999 meters Centerline goodness [0,1] 0.9913656144228776 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.33, Z:-0.06 [[ 9.99956299e-01 9.03502448e-03 2.40191694e-03 6.42605522e+00] [-9.03473692e-03 9.99959177e-01 -1.30547367e-04 -3.26165368e-01] [-2.40299839e-03 1.08840974e-04 9.99997107e-01 -5.88328472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8403717429999995 meters Centerline goodness [0,1] 0.9903551780493981 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.33, Z:-0.06 [[ 9.99949689e-01 9.60067288e-03 2.90644408e-03 6.45391925e+00] [-9.60025488e-03 9.99953904e-01 -1.57734184e-04 -3.29841635e-01] [-2.90782446e-03 1.29823644e-04 9.99995764e-01 -5.92167815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.870371743 meters Centerline goodness [0,1] 0.9908078895099081 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.33, Z:-0.06 [[ 9.99937752e-01 1.03557491e-02 4.15340943e-03 6.48308810e+00] [-1.03549061e-02 9.99946361e-01 -2.24397086e-04 -3.27013312e-01] [-4.15551045e-03 1.81374953e-04 9.99991349e-01 -5.86742791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900371742999999 meters Centerline goodness [0,1] 0.9905690906569276 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.33, Z:-0.06 [[ 9.99938140e-01 1.05123639e-02 3.63409485e-03 6.51189869e+00] [-1.05117201e-02 9.99944731e-01 -1.96200771e-04 -3.27144876e-01] [-3.63595653e-03 1.57988046e-04 9.99993377e-01 -5.93223890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.930371742999999 meters Centerline goodness [0,1] 0.9905780199986144 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.33, Z:-0.06 [[ 9.99935585e-01 1.08267513e-02 3.40692165e-03 6.54063050e+00] [-1.08261880e-02 9.99941378e-01 -1.83747480e-04 -3.28079067e-01] [-3.40871131e-03 1.46851669e-04 9.99994180e-01 -5.99153684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960371743 meters Centerline goodness [0,1] 0.9905780199986144 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.33, Z:-0.06 [[ 9.99936347e-01 1.07561352e-02 3.40693459e-03 6.56891728e+00] [-1.07555723e-02 9.99942140e-01 -1.83506790e-04 -3.29535776e-01] [-3.40871129e-03 1.46851578e-04 9.99994180e-01 -6.02782503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.990371742999999 meters Centerline goodness [0,1] 0.9896513404639533 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.33, Z:-0.06 [[ 9.99932897e-01 1.11857179e-02 3.01339392e-03 6.59799237e+00] [-1.11852798e-02 9.99937430e-01 -1.62198296e-04 -3.29293532e-01] [-3.01501967e-03 1.28481758e-04 9.99995447e-01 -6.02895311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020371742999999 meters Centerline goodness [0,1] 0.9906383964778125 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.33, Z:-0.06 [[ 9.99928601e-01 1.14329725e-02 3.47550833e-03 6.62648201e+00] [-1.14323925e-02 9.99934631e-01 -1.86702757e-04 -3.28381453e-01] [-3.47741571e-03 1.46956051e-04 9.99993943e-01 -5.97593325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0503717429999995 meters Centerline goodness [0,1] 0.9901499524880061 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.33, Z:-0.06 [[ 9.99927668e-01 1.14128856e-02 3.79535322e-03 6.65444450e+00] [-1.14121946e-02 9.99934858e-01 -2.03680135e-04 -3.29915010e-01] [-3.79743056e-03 1.60352093e-04 9.99992777e-01 -6.03114142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.080371743 meters Centerline goodness [0,1] 0.9904914306918065 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.33, Z:-0.06 [[ 9.99931959e-01 1.11739674e-02 3.34964053e-03 6.68327482e+00] [-1.11734290e-02 9.99937559e-01 -1.79426700e-04 -3.30656565e-01] [-3.35143628e-03 1.41987522e-04 9.99994374e-01 -6.10395198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.110371742999999 meters Centerline goodness [0,1] 0.9903038437507231 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.33, Z:-0.06 [[ 9.99933781e-01 1.11190553e-02 2.96657334e-03 6.71192891e+00] [-1.11186330e-02 9.99938173e-01 -1.58802521e-04 -3.31630743e-01] [-2.96815566e-03 1.25807765e-04 9.99995587e-01 -6.20026785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.140371742999999 meters Centerline goodness [0,1] 0.9894511826757749 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.33, Z:-0.06 [[ 9.99946135e-01 1.02374032e-02 1.70956056e-03 6.73941385e+00] [-1.02372607e-02 9.99947594e-01 -9.21126790e-05 -3.33773433e-01] [-1.71041396e-03 7.46065003e-05 9.99998534e-01 -6.40962767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.170371743 meters Centerline goodness [0,1] 0.9899839650484534 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.34, Z:-0.06 [[ 9.99947693e-01 1.01303145e-02 1.40961858e-03 6.76804756e+00] [-1.01302179e-02 9.99948685e-01 -7.56818080e-05 -3.35284442e-01] [-1.41031293e-03 6.13981061e-05 9.99999004e-01 -6.49869972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200371742999999 meters Centerline goodness [0,1] 0.9903014233882221 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.34, Z:-0.07 [[ 9.99950971e-01 9.86740212e-03 8.30377320e-04 6.79642560e+00] [-9.86736823e-03 9.99951315e-01 -4.49018012e-05 -3.35529318e-01] [-8.30779958e-04 3.67059609e-05 9.99999654e-01 -6.52508832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.230371742999999 meters Centerline goodness [0,1] 0.9907450578142484 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.33, Z:-0.07 [[ 9.99947272e-01 1.02654165e-02 -2.73532572e-04 6.82498335e+00] [-1.02654132e-02 9.99947309e-01 1.35519200e-05 -3.34631883e-01] [ 2.73657276e-04 -1.07432806e-05 9.99999962e-01 -6.56097299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260371742999999 meters Centerline goodness [0,1] 0.9909309211293218 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.34, Z:-0.07 [[ 9.99943478e-01 1.06302607e-02 -1.94135027e-04 6.85277491e+00] [-1.06302592e-02 9.99943497e-01 9.10645020e-06 -3.36258117e-01] [ 1.94220862e-04 -7.04222984e-06 9.99999981e-01 -6.63712733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.290371743 meters Centerline goodness [0,1] 0.9906722943823892 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.34, Z:-0.07 [[ 9.99941861e-01 1.07829870e-02 4.07705573e-05 6.88064021e+00] [-1.07829869e-02 9.99941862e-01 -3.36426692e-06 -3.38872944e-01] [-4.08044638e-05 2.92444294e-06 9.99999999e-01 -6.72509286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320371742999999 meters Centerline goodness [0,1] 0.9906215819971609 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.34, Z:-0.07 [[ 9.99937703e-01 1.11456547e-02 6.04243656e-04 6.90923389e+00] [-1.11456370e-02 9.99937885e-01 -3.27209744e-05 -3.37096766e-01] [-6.04570820e-04 2.59842555e-05 9.99999817e-01 -6.64057032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.350371742999999 meters Centerline goodness [0,1] 0.9898576803533453 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.34, Z:-0.07 [[ 9.99926584e-01 1.18825194e-02 2.37342395e-03 6.93819484e+00] [-1.18822544e-02 9.99929396e-01 -1.25716169e-04 -3.35680843e-01] [-2.37475020e-03 9.75053124e-05 9.99997176e-01 -6.53441557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3803717429999995 meters Centerline goodness [0,1] 0.9903994393833216 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.34, Z:-0.07 [[ 9.99913219e-01 1.27454013e-02 3.33292012e-03 6.96646394e+00] [-1.27448857e-02 9.99918765e-01 -1.75920667e-04 -3.36993973e-01] [-3.33489155e-03 1.33427715e-04 9.99994430e-01 -6.54912638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.410371743 meters Centerline goodness [0,1] 0.9902346936397325 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.34, Z:-0.07 [[ 9.99904546e-01 1.32603440e-02 3.88100964e-03 6.99500340e+00] [-1.32596503e-02 9.99912066e-01 -2.04418099e-04 -3.37296693e-01] [-3.88337902e-03 1.52937756e-04 9.99992448e-01 -6.55975602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440371742999999 meters Centerline goodness [0,1] 0.9891807262700378 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.34, Z:-0.07 [[ 9.99892155e-01 1.38638726e-02 4.84479811e-03 7.02253796e+00] [-1.38628008e-02 9.99903874e-01 -2.54740231e-04 -3.38875568e-01] [-4.84786408e-03 1.87550287e-04 9.99988231e-01 -6.66640150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.470371742999999 meters Centerline goodness [0,1] 0.9892216130090444 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.34, Z:-0.07 [[ 9.99899348e-01 1.34429969e-02 4.53649162e-03 7.05167290e+00] [-1.34420549e-02 9.99909623e-01 -2.38067134e-04 -3.38201935e-01] [-4.53928196e-03 1.77063403e-04 9.99989682e-01 -6.69335967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500371743 meters Centerline goodness [0,1] 0.9886957949295246 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.34, Z:-0.07 [[ 9.99923793e-01 1.20983590e-02 2.45732253e-03 7.07928229e+00] [-1.20980775e-02 9.99926807e-01 -1.29384874e-04 -3.40848277e-01] [-2.45870802e-03 9.96461356e-05 9.99996972e-01 -6.93210942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.530371742999999 meters Centerline goodness [0,1] 0.9896532307259162 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.34, Z:-0.07 [[ 9.99935911e-01 1.12389063e-02 1.36402061e-03 7.10795497e+00] [-1.12388185e-02 9.99936840e-01 -7.19791954e-05 -3.43460338e-01] [-1.36474342e-03 5.66446023e-05 9.99999067e-01 -7.02643405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560371742999999 meters Centerline goodness [0,1] 0.988777762126121 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.34, Z:-0.07 [[ 9.99948252e-01 1.01236508e-02 1.00224832e-03 7.13644776e+00] [-1.01236027e-02 9.99948754e-01 -5.30749934e-05 -3.43712570e-01] [-1.00273427e-03 4.29258830e-05 9.99999496e-01 -7.07568564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5903717429999995 meters Centerline goodness [0,1] 0.9884911687335588 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.35, Z:-0.07 [[ 9.99966125e-01 8.22338037e-03 3.54690578e-04 7.16612642e+00] [-8.22337418e-03 9.99966187e-01 -1.89018688e-05 -3.46151468e-01] [-3.54834022e-04 1.59844752e-05 9.99999937e-01 -7.08345882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.620371743 meters Centerline goodness [0,1] 0.9887487374627111 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.35, Z:-0.07 [[ 9.99971048e-01 7.58474206e-03 6.12562934e-04 7.19390806e+00] [-7.58472330e-03 9.99971235e-01 -3.29330117e-05 -3.48912348e-01] [-6.12795102e-04 2.82859379e-05 9.99999812e-01 -7.15324946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.650371742999999 meters Centerline goodness [0,1] 0.9877619092361176 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.35, Z:-0.07 [[ 9.99974725e-01 7.08228163e-03 6.24513456e-04 7.22173268e+00] [-7.08226210e-03 9.99974920e-01 -3.34800408e-05 -3.52646345e-01] [-6.24734908e-04 2.90562266e-05 9.99999804e-01 -7.23203595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.680371742999999 meters Centerline goodness [0,1] 0.9881522147147147 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.35, Z:-0.07 [[ 9.99975139e-01 6.92083607e-03 1.35054122e-03 7.25027040e+00] [-6.92074675e-03 9.99976049e-01 -7.07985345e-05 -3.51135144e-01] [-1.35099886e-03 6.14500206e-05 9.99999086e-01 -7.16573762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.710371743 meters Centerline goodness [0,1] 0.9880963561232157 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.35, Z:-0.07 [[ 9.99971595e-01 7.17820798e-03 2.29838100e-03 7.27937890e+00] [-7.17795173e-03 9.99974231e-01 -1.19718103e-04 -3.48875978e-01] [-2.29918113e-03 1.03217035e-04 9.99997352e-01 -7.03097418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740371742999999 meters Centerline goodness [0,1] 0.987363100252738 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.35, Z:-0.07 [[ 9.99969671e-01 7.27546503e-03 2.77928233e-03 7.30732203e+00] [-7.27509119e-03 9.99973526e-01 -1.44595326e-04 -3.53024751e-01] [-2.78026075e-03 1.24371408e-04 9.99996127e-01 -7.13615495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.770371742999999 meters Centerline goodness [0,1] 0.9879651436646255 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.35, Z:-0.07 [[ 9.99970651e-01 7.07608397e-03 2.93710844e-03 7.33639396e+00] [-7.07566731e-03 9.99974956e-01 -1.52227365e-04 -3.52636067e-01] [-2.93811205e-03 1.31440895e-04 9.99995675e-01 -7.16825033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8003717429999995 meters Centerline goodness [0,1] 0.9877876273104489 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.35, Z:-0.07 [[ 9.99973889e-01 6.83794147e-03 2.33731090e-03 7.36555273e+00] [-6.83767733e-03 9.99976615e-01 -1.20983972e-04 -3.53106285e-01] [-2.33808353e-03 1.04999035e-04 9.99997261e-01 -7.28447863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.830371743 meters Centerline goodness [0,1] 0.9880331029294211 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.36, Z:-0.07 [[ 9.99975516e-01 6.58480012e-03 2.36817672e-03 7.39287237e+00] [-6.58452760e-03 9.99978314e-01 -1.22854638e-04 -3.56194379e-01] [-2.36893434e-03 1.07258305e-04 9.99997188e-01 -7.39769242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860371742999999 meters Centerline goodness [0,1] 0.9884160812049155 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.36, Z:-0.07 [[ 9.99980010e-01 5.75713137e-03 2.61446128e-03 7.42186184e+00] [-5.75679795e-03 9.99983420e-01 -1.35037321e-04 -3.58205720e-01] [-2.61519536e-03 1.19983696e-04 9.99996573e-01 -7.49711498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.890371742999999 meters Centerline goodness [0,1] 0.9885602875196731 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.36, Z:-0.08 [[ 9.99984174e-01 5.04886563e-03 2.48225880e-03 7.45093613e+00] [-5.04856368e-03 9.99987248e-01 -1.27891860e-04 -3.60649482e-01] [-2.48287286e-03 1.15357994e-04 9.99996911e-01 -7.54431990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920371743 meters Centerline goodness [0,1] 0.9883948117982156 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.36, Z:-0.08 [[ 9.99987930e-01 4.30658449e-03 2.36506394e-03 7.48019139e+00] [-4.30630896e-03 9.99990720e-01 -1.21579004e-04 -3.62676253e-01] [-2.36556559e-03 1.11392840e-04 9.99997196e-01 -7.57568877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.950371742999999 meters Centerline goodness [0,1] 0.9892366753809557 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.37, Z:-0.08 [[ 9.99990286e-01 3.81423344e-03 2.20916206e-03 7.50994951e+00] [-3.81399193e-03 9.99992720e-01 -1.13521858e-04 -3.65292560e-01] [-2.20957897e-03 1.05095029e-04 9.99997553e-01 -7.67260247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980371742999999 meters Centerline goodness [0,1] 0.9889159675680742 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.37, Z:-0.08 [[ 9.99993314e-01 3.24175163e-03 1.69216909e-03 7.53988503e+00] [-3.24160937e-03 9.99994742e-01 -8.68038563e-05 -3.67755953e-01] [-1.69244159e-03 8.13179248e-05 9.99998565e-01 -7.77860399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.010371743 meters Centerline goodness [0,1] 0.9885297429161194 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.37, Z:-0.08 [[ 9.99997051e-01 2.27351420e-03 8.54076262e-04 7.56987974e+00] [-2.27347734e-03 9.99997415e-01 -4.41223001e-05 -3.69761019e-01] [-8.54174366e-04 4.21804469e-05 9.99999634e-01 -7.83509348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040371743 meters Centerline goodness [0,1] 0.9894951579243557 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.37, Z:-0.08 [[ 9.99999635e-01 8.01449197e-04 2.94967162e-04 7.59872169e+00] [-8.01444654e-04 9.99999679e-01 -1.55208299e-05 -3.74136506e-01] [-2.94979506e-04 1.52844244e-05 9.99999956e-01 -7.96555469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.070371743 meters Centerline goodness [0,1] 0.9894067301171574 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.37, Z:-0.08 [[ 9.99999750e-01 6.71947381e-04 2.22150115e-04 7.62892757e+00] [-6.71944876e-04 9.99999774e-01 -1.13500496e-05 -3.73830403e-01] [-2.22157692e-04 1.12007741e-05 9.99999975e-01 -7.95743648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.100371743 meters Centerline goodness [0,1] 0.9901797642205921 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.38, Z:-0.08 [[ 9.99998842e-01 1.43584769e-03 5.04868279e-04 7.65868746e+00] [-1.43583474e-03 9.99998969e-01 -2.60126130e-05 -3.76193250e-01] [-5.04905108e-04 2.52876754e-05 9.99999872e-01 -7.99016143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.130371743 meters Centerline goodness [0,1] 0.9899964858849714 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.38, Z:-0.08 [[ 9.99995907e-01 2.66836275e-03 1.03237651e-03 7.68886034e+00] [-2.66830974e-03 9.99996439e-01 -5.27276418e-05 -3.78065256e-01] [-1.03251353e-03 4.99727257e-05 9.99999466e-01 -7.98608217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.160371743 meters Centerline goodness [0,1] 0.9900732797977196 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.38, Z:-0.08 [[ 9.99990726e-01 3.93596795e-03 1.74807604e-03 7.71857195e+00] [-3.93581719e-03 9.99992251e-01 -8.96746880e-05 -3.77749216e-01] [-1.74841545e-03 8.27937486e-05 9.99998468e-01 -7.93631417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.190371743 meters Centerline goodness [0,1] 0.989788252969623 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.38, Z:-0.08 [[ 9.99970292e-01 6.74584568e-03 3.72942010e-03 7.74827270e+00] [-6.74518138e-03 9.99977233e-01 -1.90672877e-04 -3.75026897e-01] [-3.73062144e-03 1.65511597e-04 9.99993028e-01 -7.75665528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.220371743 meters Centerline goodness [0,1] 0.989890460441442 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.38, Z:-0.08 [[ 9.99952261e-01 8.38012153e-03 5.02489972e-03 7.77728335e+00] [-8.37893790e-03 9.99964863e-01 -2.56558737e-04 -3.76877809e-01] [-5.02687315e-03 2.14443166e-04 9.99987342e-01 -7.76518990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.250371743 meters Centerline goodness [0,1] 0.9898440248622025 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.38, Z:-0.08 [[ 9.99933137e-01 1.02104119e-02 5.42857846e-03 7.80672780e+00] [-1.02090561e-02 9.99947848e-01 -2.77415284e-04 -3.75597354e-01] [-5.43112787e-03 2.21976073e-04 9.99985227e-01 -7.74629835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280371743 meters Centerline goodness [0,1] 0.9893948992280801 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.38, Z:-0.08 [[ 9.99911392e-01 1.20040483e-02 5.75425224e-03 7.83548051e+00] [-1.20025595e-02 9.99927924e-01 -2.93192802e-04 -3.76300868e-01] [-5.75735700e-03 2.24101068e-04 9.99983401e-01 -7.75326060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.310371743000001 meters Centerline goodness [0,1] 0.9902054746487763 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.38, Z:-0.08 [[ 9.99885129e-01 1.40818108e-02 5.60645571e-03 7.86380229e+00] [-1.40804323e-02 9.99900825e-01 -2.85281690e-04 -3.77128426e-01] [-5.60991698e-03 2.06307600e-04 9.99984243e-01 -7.79787032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340371743 meters Centerline goodness [0,1] 0.9910973622688738 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.37, Z:-0.08 [[ 9.99827426e-01 1.79963875e-02 4.60968018e-03 7.89390381e+00] [-1.79954999e-02 9.99838041e-01 -2.33963205e-04 -3.73926026e-01] [-4.61314409e-03 1.50969329e-04 9.99989348e-01 -7.83373658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.370371743 meters Centerline goodness [0,1] 0.9907272299364557 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.37, Z:-0.08 [[ 9.99789337e-01 2.01328137e-02 3.99384560e-03 7.92131282e+00] [-2.01321621e-02 9.99797307e-01 -2.03295874e-04 -3.74651121e-01] [-3.99712899e-03 1.22848301e-04 9.99992004e-01 -7.91516459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400371743000001 meters Centerline goodness [0,1] 0.9911569117577701 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.37, Z:-0.08 [[ 9.99672070e-01 2.53439611e-02 3.66548668e-03 7.95139362e+00] [-2.53434505e-02 9.99678786e-01 -1.85689776e-04 -3.74113874e-01] [-3.66901539e-03 9.27328023e-05 9.99993265e-01 -8.01518502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.430371743 meters Centerline goodness [0,1] 0.9916208369721717 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.37, Z:-0.08 [[ 9.99603752e-01 2.78861452e-02 3.83417768e-03 7.98018613e+00] [-2.78856036e-02 9.99611102e-01 -1.94636850e-04 -3.74599230e-01] [-3.83811425e-03 8.76413668e-05 9.99992631e-01 -8.01866877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460371743 meters Centerline goodness [0,1] 0.9916015670818965 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.38, Z:-0.08 [[ 9.99527158e-01 3.04423199e-02 4.32730466e-03 8.00803701e+00] [-3.04416553e-02 9.99536521e-01 -2.19385948e-04 -3.75479124e-01] [-4.33197767e-03 8.75518962e-05 9.99990613e-01 -8.02519051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.490371743 meters Centerline goodness [0,1] 0.9919922749004922 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.38, Z:-0.08 [[ 9.99360338e-01 3.52064116e-02 6.27879769e-03 8.03727615e+00] [-3.52051119e-02 9.99380057e-01 -3.17441813e-04 -3.75128902e-01] [-6.28608118e-03 9.61929826e-05 9.99980238e-01 -7.90565699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520371743 meters Centerline goodness [0,1] 0.9921926287161211 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.38, Z:-0.08 [[ 9.99282777e-01 3.72356660e-02 6.88744483e-03 8.06479052e+00] [-3.72341580e-02 9.99306508e-01 -3.47090890e-04 -3.76235305e-01] [-6.89559261e-03 9.03937393e-05 9.99976221e-01 -7.87459984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.550371743 meters Centerline goodness [0,1] 0.9923363566054981 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.38, Z:-0.08 [[ 9.99187690e-01 3.96082403e-02 7.42618325e-03 8.09348970e+00] [-3.96065589e-02 9.99215283e-01 -3.73405250e-04 -3.78185049e-01] [-7.43514572e-03 7.89763644e-05 9.99972356e-01 -7.88946410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580371743 meters Centerline goodness [0,1] 0.9921631927386717 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.38, Z:-0.08 [[ 9.99177737e-01 3.99020279e-02 7.18871113e-03 8.12146323e+00] [-3.99004619e-02 9.99203594e-01 -3.61186648e-04 -3.80533732e-01] [-7.19739808e-03 7.40567624e-05 9.99974096e-01 -7.96891457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.610371743 meters Centerline goodness [0,1] 0.9921717526836357 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.38, Z:-0.08 [[ 9.99190664e-01 3.96955613e-02 6.50222643e-03 8.14869880e+00] [-3.96942758e-02 9.99211818e-01 -3.26675536e-04 -3.83780593e-01] [-6.51006906e-03 6.83099763e-05 9.99978807e-01 -8.08183049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.640371743000001 meters Centerline goodness [0,1] 0.9920608899297424 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.39, Z:-0.08 [[ 9.99233091e-01 3.87132724e-02 5.87469548e-03 8.17769728e+00] [-3.87122163e-02 9.99250358e-01 -2.93418963e-04 -3.87177018e-01] [-5.88165077e-03 6.57714552e-05 9.99982701e-01 -8.18956533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.670371743 meters Centerline goodness [0,1] 0.9909073953184743 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.39, Z:-0.08 [[ 9.99343723e-01 3.59365463e-02 4.54844408e-03 8.20605531e+00] [-3.59358849e-02 9.99354072e-01 -2.27071663e-04 -3.93324751e-01] [-4.55366628e-03 6.34702784e-05 9.99989630e-01 -8.32087929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700371743 meters Centerline goodness [0,1] 0.9918128110899195 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.40, Z:-0.08 [[ 9.99410107e-01 3.40917575e-02 4.14601919e-03 8.23466345e+00] [-3.40911930e-02 9.99418705e-01 -2.06767259e-04 -3.97594139e-01] [-4.15065819e-03 6.53025478e-05 9.99991384e-01 -8.36588471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.730371743000001 meters Centerline goodness [0,1] 0.9911485921382771 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.40, Z:-0.08 [[ 9.99486037e-01 3.18526581e-02 3.61524872e-03 8.26222216e+00] [-3.18522127e-02 9.99492573e-01 -1.80713267e-04 -4.02559733e-01] [-3.61917044e-03 6.54667157e-05 9.99993449e-01 -8.44804691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760371743 meters Centerline goodness [0,1] 0.9910838673725272 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.41, Z:-0.08 [[ 9.99549102e-01 2.98538667e-02 3.21563301e-03 8.29042791e+00] [-2.98535061e-02 9.99554272e-01 -1.60103776e-04 -4.06218275e-01] [-3.21897943e-03 6.40336658e-05 9.99994817e-01 -8.45523738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.790371743 meters Centerline goodness [0,1] 0.9903436196446268 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.42, Z:-0.09 [[ 9.99644916e-01 2.64444764e-02 3.27582628e-03 8.31786288e+00] [-2.64440850e-02 9.99650281e-01 -1.62771331e-04 -4.15099731e-01] [-3.27898506e-03 7.60873047e-05 9.99994621e-01 -8.58297139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820371743 meters Centerline goodness [0,1] 0.9903903627753 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.42, Z:-0.09 [[ 9.99682951e-01 2.49321141e-02 3.51941172e-03 8.34649421e+00] [-2.49316549e-02 9.99689143e-01 -1.74287730e-04 -4.18607462e-01] [-3.52266305e-03 8.64877140e-05 9.99993792e-01 -8.54490708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.850371743 meters Centerline goodness [0,1] 0.9896717925177875 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.42, Z:-0.09 [[ 9.99715095e-01 2.35365371e-02 3.96997993e-03 8.37408663e+00] [-2.35359428e-02 9.99722972e-01 -1.96347918e-04 -4.23861074e-01] [-3.97350149e-03 1.02854757e-04 9.99992100e-01 -8.56842941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880371743 meters Centerline goodness [0,1] 0.9896717925177875 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.43, Z:-0.09 [[ 9.99717605e-01 2.34296698e-02 3.96999002e-03 8.40151495e+00] [-2.34290755e-02 9.99725482e-01 -1.96143885e-04 -4.25121019e-01] [-3.97349577e-03 1.03075299e-04 9.99992100e-01 -8.60361780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.910371743 meters Centerline goodness [0,1] 0.9890953981208422 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.43, Z:-0.09 [[ 9.99773523e-01 2.07162461e-02 4.87231259e-03 8.42947858e+00] [-2.07153235e-02 9.99785386e-01 -2.39751566e-04 -4.32820790e-01] [-4.87623368e-03 1.38765736e-04 9.99988101e-01 -8.53413748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.940371743 meters Centerline goodness [0,1] 0.988714347598094 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.44, Z:-0.09 [[ 9.99797720e-01 1.93472835e-02 5.49566327e-03 8.45852674e+00] [-1.93460933e-02 9.99812810e-01 -2.69657093e-04 -4.37282139e-01] [-5.49985167e-03 1.63282933e-04 9.99984862e-01 -8.51186202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.970371743 meters Centerline goodness [0,1] 0.9886562549728342 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.45, Z:-0.08 [[ 9.99812934e-01 1.78330289e-02 7.48866947e-03 8.48557225e+00] [-1.78307823e-02 9.99840952e-01 -3.66670121e-04 -4.45284705e-01] [-7.49401725e-03 2.33072695e-04 9.99971892e-01 -8.48744893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000371743 meters Centerline goodness [0,1] 0.9880553796036557 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.45, Z:-0.08 [[ 9.99809483e-01 1.75548617e-02 8.53377495e-03 8.51314991e+00] [-1.75519418e-02 9.99845866e-01 -4.16928959e-04 -4.50555573e-01] [-8.53977873e-03 2.67065206e-04 9.99963500e-01 -8.47120612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.030371743 meters Centerline goodness [0,1] 0.9885779940524466 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.45, Z:-0.08 [[ 9.99803404e-01 1.75977614e-02 9.13633185e-03 8.54191114e+00] [-1.75944254e-02 9.99845107e-01 -4.45390808e-04 -4.53999138e-01] [-9.14275458e-03 2.84554737e-04 9.99958164e-01 -8.47451401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060371743000001 meters Centerline goodness [0,1] 0.9874140069922184 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.46, Z:-0.09 [[ 9.99813499e-01 1.74445311e-02 8.28592410e-03 8.56958406e+00] [-1.74417855e-02 9.99847799e-01 -4.03509424e-04 -4.62411241e-01] [-8.29170201e-03 2.58912858e-04 9.99965590e-01 -8.66459793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.090371743 meters Centerline goodness [0,1] 0.988558969632943 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.47, Z:-0.09 [[ 9.99830229e-01 1.69628573e-02 7.19539360e-03 8.59831161e+00] [-1.69607786e-02 9.99856094e-01 -3.49815339e-04 -4.67039449e-01] [-7.20029201e-03 2.27716473e-04 9.99974052e-01 -8.82874311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120371743 meters Centerline goodness [0,1] 0.9881667454050528 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.47, Z:-0.09 [[ 9.99849203e-01 1.64764275e-02 5.48619104e-03 8.62720910e+00] [-1.64752127e-02 9.99864239e-01 -2.66550679e-04 -4.71881527e-01] [-5.48983804e-03 1.76124320e-04 9.99984915e-01 -9.00818862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.150371743000001 meters Centerline goodness [0,1] 0.9889194815660466 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.48, Z:-0.09 [[ 9.99877367e-01 1.50627643e-02 4.28526856e-03 8.65604751e+00] [-1.50620104e-02 9.99886540e-01 -2.08138316e-04 -4.75774407e-01] [-4.28791749e-03 1.43568031e-04 9.99990797e-01 -9.08790508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.180371743 meters Centerline goodness [0,1] 0.9893211459146137 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.48, Z:-0.09 [[ 9.99886345e-01 1.45189827e-02 4.06144173e-03 8.68434713e+00] [-1.45183020e-02 9.99894584e-01 -1.97025094e-04 -4.79958241e-01] [-4.06387419e-03 1.38037464e-04 9.99991733e-01 -9.13810067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.210371743 meters Centerline goodness [0,1] 0.9890779951755562 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.49, Z:-0.09 [[ 9.99894543e-01 1.40672550e-02 3.60757174e-03 8.71235046e+00] [-1.40667150e-02 9.99901044e-01 -1.75012171e-04 -4.86565708e-01] [-3.60967669e-03 1.24247031e-04 9.99993477e-01 -9.17216088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240371743 meters Centerline goodness [0,1] 0.9895896029782206 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.49, Z:-0.09 [[ 9.99890816e-01 1.43323448e-02 3.59726105e-03 8.74070556e+00] [-1.43318114e-02 9.99897279e-01 -1.74021994e-04 -4.90400408e-01] [-3.59938568e-03 1.22447726e-04 9.99993515e-01 -9.22900031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.270371743 meters Centerline goodness [0,1] 0.9896777949441347 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.49, Z:-0.09 [[ 9.99895163e-01 1.40969048e-02 3.30751946e-03 8.76980236e+00] [-1.40964530e-02 9.99900627e-01 -1.59865553e-04 -4.91797106e-01] [-3.30944439e-03 1.13224501e-04 9.99994517e-01 -9.23807382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300371743 meters Centerline goodness [0,1] 0.989709926372749 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.50, Z:-0.09 [[ 9.99889919e-01 1.43467359e-02 3.78421889e-03 8.79723551e+00] [-1.43461473e-02 9.99897072e-01 -1.82651543e-04 -4.98610352e-01] [-3.78644984e-03 1.28342475e-04 9.99992823e-01 -9.34580554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.330371743 meters Centerline goodness [0,1] 0.9900928517481896 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.50, Z:-0.09 [[ 9.99882128e-01 1.46872353e-02 4.47385266e-03 8.82553619e+00] [-1.46864195e-02 9.99892126e-01 -2.15152211e-04 -5.01924721e-01] [-4.47653003e-03 1.49421974e-04 9.99989969e-01 -9.31440339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360371743 meters Centerline goodness [0,1] 0.9901535862728101 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.50, Z:-0.09 [[ 9.99882687e-01 1.44147192e-02 5.17954966e-03 8.85378524e+00] [-1.44136247e-02 9.99896087e-01 -2.48581315e-04 -5.04634875e-01] [-5.18259467e-03 1.73896068e-04 9.99986555e-01 -9.25578267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.390371743 meters Centerline goodness [0,1] 0.9897780826161029 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.51, Z:-0.09 [[ 9.99874692e-01 1.45542815e-02 6.22679715e-03 8.88126958e+00] [-1.45527056e-02 9.99894059e-01 -2.98322156e-04 -5.08577619e-01] [-6.23047934e-03 2.07668028e-04 9.99980569e-01 -9.24594104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.420371743 meters Centerline goodness [0,1] 0.9899898126411835 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.51, Z:-0.09 [[ 9.99874354e-01 1.39176227e-02 7.58785765e-03 8.90940997e+00] [-1.39152720e-02 9.99903112e-01 -3.62506772e-04 -5.14679100e-01] [-7.59216772e-03 2.56874122e-04 9.99971146e-01 -9.22230035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.450371743 meters Centerline goodness [0,1] 0.9897329232403248 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.52, Z:-0.09 [[ 9.99879837e-01 1.31424232e-02 8.22119898e-03 8.93814417e+00] [-1.31396429e-02 9.99913594e-01 -3.92110120e-04 -5.18025814e-01] [-8.22564190e-03 2.84039384e-04 9.99966128e-01 -9.21248749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.480371743000001 meters Centerline goodness [0,1] 0.9894569676650933 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.52, Z:-0.09 [[ 9.99890580e-01 1.20187511e-02 8.62427797e-03 8.96733792e+00] [-1.20156567e-02 9.99927725e-01 -4.10528180e-04 -5.21695926e-01] [-8.62858868e-03 3.06856897e-04 9.99962726e-01 -9.24081045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.510371743 meters Centerline goodness [0,1] 0.9901826383053995 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.53, Z:-0.09 [[ 9.99916247e-01 9.70704300e-03 8.55994029e-03 8.99718214e+00] [-9.70391404e-03 9.99952833e-01 -4.06993205e-04 -5.27102378e-01] [-8.56348724e-03 3.23894194e-04 9.99963280e-01 -9.22734283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540371743 meters Centerline goodness [0,1] 0.9904818560380726 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.53, Z:-0.09 [[ 9.99928671e-01 8.46362122e-03 8.42734033e-03 9.02712774e+00] [-8.46054655e-03 9.99964129e-01 -4.00428968e-04 -5.32425213e-01] [-8.43042711e-03 3.29100501e-04 9.99964409e-01 -9.27119786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.570371743 meters Centerline goodness [0,1] 0.9907665314179186 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.54, Z:-0.09 [[ 9.99941990e-01 6.53771389e-03 8.56009128e-03 9.05812651e+00] [-6.53446423e-03 9.99978567e-01 -4.07543113e-04 -5.38085626e-01] [-8.56257222e-03 3.51583861e-04 9.99963279e-01 -9.34410206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.600371743 meters Centerline goodness [0,1] 0.9917901085114345 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.54, Z:-0.09 [[ 9.99944998e-01 5.99919338e-03 8.60299917e-03 9.08951010e+00] [-5.99589560e-03 9.99981941e-01 -4.09069130e-04 -5.43096385e-01] [-8.60529789e-03 3.57463945e-04 9.99962910e-01 -9.38417792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.630371743 meters Centerline goodness [0,1] 0.9908293111013603 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.55, Z:-0.09 [[ 9.99944386e-01 5.99129661e-03 8.67923482e-03 9.12174677e+00] [-5.98792236e-03 9.99981986e-01 -4.14706290e-04 -5.46419249e-01] [-8.68156310e-03 3.62712642e-04 9.99962249e-01 -9.43894681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660371743 meters Centerline goodness [0,1] 0.9908317248640113 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.55, Z:-0.09 [[ 9.99941306e-01 6.14364193e-03 8.92415621e-03 9.15372776e+00] [-6.14005989e-03 9.99981058e-01 -4.28729495e-04 -5.48798496e-01] [-8.92662113e-03 3.73909477e-04 9.99960087e-01 -9.45844352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.690371743 meters Centerline goodness [0,1] 0.9913205479452055 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.55, Z:-0.10 [[ 9.99941102e-01 6.49850768e-03 8.69262085e-03 9.18565928e+00] [-6.49510405e-03 9.99978819e-01 -4.19726978e-04 -5.53032687e-01] [-8.69516433e-03 3.63242780e-04 9.99962130e-01 -9.53607672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720371743 meters Centerline goodness [0,1] 0.9912234739324076 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.56, Z:-0.10 [[ 9.99936570e-01 7.06461985e-03 8.77196061e-03 9.21666260e+00] [-7.06115526e-03 9.99974979e-01 -4.25869741e-04 -5.56907869e-01] [-8.77474974e-03 3.63902552e-04 9.99961435e-01 -9.62069897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.750371743 meters Centerline goodness [0,1] 0.991161478045899 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.56, Z:-0.10 [[ 9.99935044e-01 7.69457631e-03 8.40841521e-03 9.24840425e+00] [-7.69139327e-03 9.99970336e-01 -4.10826579e-04 -5.58946779e-01] [-8.41132692e-03 3.46127465e-04 9.99964564e-01 -9.68670540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780371743 meters Centerline goodness [0,1] 0.9916163722155162 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.56, Z:-0.10 [[ 9.99930041e-01 7.83486002e-03 8.86155149e-03 9.27971687e+00] [-7.83132507e-03 9.99969241e-01 -4.33538910e-04 -5.58670153e-01] [-8.86467563e-03 3.64110890e-04 9.99960642e-01 -9.71527549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.810371743000001 meters Centerline goodness [0,1] 0.9916821713910474 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.56, Z:-0.10 [[ 9.99920481e-01 8.59554494e-03 9.22756322e-03 9.31140672e+00] [-8.59174100e-03 9.99962988e-01 -4.51799669e-04 -5.61031078e-01] [-9.23110516e-03 3.72482909e-04 9.99957323e-01 -9.71961196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840371743 meters Centerline goodness [0,1] 0.9918022006926482 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.56, Z:-0.10 [[ 9.99914512e-01 8.80327707e-03 9.66802340e-03 9.34177705e+00] [-8.79910685e-03 9.99961175e-01 -4.73793640e-04 -5.64012848e-01] [-9.67181897e-03 3.88683165e-04 9.99953151e-01 -9.69970583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.870371743 meters Centerline goodness [0,1] 0.9921864740643467 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.57, Z:-0.10 [[ 9.99913588e-01 8.47593182e-03 1.00485891e-02 9.37314126e+00] [-8.47140889e-03 9.99963996e-01 -4.92585106e-04 -5.67507922e-01] [-1.00524025e-02 4.07416834e-04 9.99949390e-01 -9.78493656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.900371743000001 meters Centerline goodness [0,1] 0.9921285739343975 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.57, Z:-0.10 [[ 9.99927857e-01 7.77225748e-03 9.15820681e-03 9.40456580e+00] [-7.76846853e-03 9.99969724e-01 -4.49223213e-04 -5.70214403e-01] [-9.16142101e-03 3.78045564e-04 9.99957962e-01 -9.89004971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.930371743 meters Centerline goodness [0,1] 0.9911066327871725 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.58, Z:-0.10 [[ 9.99947173e-01 6.12530540e-03 8.25424934e-03 9.43534085e+00] [-6.12217289e-03 9.99981177e-01 -4.04717693e-04 -5.76657294e-01] [-8.25657299e-03 3.54162372e-04 9.99965851e-01 -1.01128750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.960371743 meters Centerline goodness [0,1] 0.9920079042705017 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.58, Z:-0.10 [[ 9.99951584e-01 5.20535550e-03 8.35065813e-03 9.46684978e+00] [-5.20210497e-03 9.99986385e-01 -4.10927824e-04 -5.77669929e-01] [-8.35268345e-03 3.67466928e-04 9.99965048e-01 -1.01701020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.990371743 meters Centerline goodness [0,1] 0.9913947887015546 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.58, Z:-0.10 [[ 9.99957229e-01 4.17724467e-03 8.25166888e-03 9.49893281e+00] [-4.17404150e-03 9.99991206e-01 -4.05368178e-04 -5.79453085e-01] [-8.25328964e-03 3.70908031e-04 9.99965872e-01 -1.01754637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020371743 meters Centerline goodness [0,1] 0.9916402232191706 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.58, Z:-0.10 [[ 9.99955411e-01 2.33782549e-03 9.14929798e-03 9.53083358e+00] [-2.33378056e-03 9.99997174e-01 -4.52754480e-04 -5.80994443e-01] [-9.15033058e-03 4.31381838e-04 9.99958042e-01 -1.01726325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.050371743 meters Centerline goodness [0,1] 0.9908122735803763 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.59, Z:-0.10 [[ 9.99954602e-01 1.70815176e-03 9.37424732e-03 9.56187731e+00] [-1.70387639e-03 9.99998441e-01 -4.64043494e-04 -5.85871827e-01] [-9.37502536e-03 4.48049868e-04 9.99955953e-01 -1.02395245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080371743 meters Centerline goodness [0,1] 0.9915679274622747 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.59, Z:-0.10 [[ 9.99954597e-01 9.13935199e-04 9.48520738e-03 9.59307222e+00] [-9.09500421e-04 9.99999475e-01 -4.71849701e-04 -5.89345996e-01] [-9.48563364e-03 4.63201477e-04 9.99954903e-01 -1.02549180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.110371743 meters Centerline goodness [0,1] 0.9911417107023045 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.59, Z:-0.10 [[ 9.99956561e-01 -1.75918417e-03 9.15317325e-03 9.62404521e+00] [ 1.76345093e-03 9.99998340e-01 -4.58101555e-04 -5.90660319e-01] [-9.15235217e-03 4.74222828e-04 9.99958004e-01 -1.03606978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140371743 meters Centerline goodness [0,1] 0.9903930322128851 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.60, Z:-0.10 [[ 9.99952710e-01 -3.25797042e-03 9.16311600e-03 9.65444962e+00] [ 3.26230715e-03 9.99994574e-01 -4.58375167e-04 -5.96163329e-01] [-9.16157291e-03 4.88246389e-04 9.99957913e-01 -1.04697502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.170371743 meters Centerline goodness [0,1] 0.9904052573932092 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.60, Z:-0.10 [[ 9.99943570e-01 -5.10778641e-03 9.31492827e-03 9.68634376e+00] [ 5.11235580e-03 9.99986823e-01 -4.66799855e-04 -5.98133362e-01] [-9.31242122e-03 5.14394741e-04 9.99956506e-01 -1.04902975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200371743 meters Centerline goodness [0,1] 0.990160787137029 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.60, Z:-0.11 [[ 9.99916818e-01 -9.26754563e-03 8.97047799e-03 9.71566555e+00] [ 9.27197482e-03 9.99956912e-01 -4.52289315e-04 -6.04379695e-01] [-8.96589986e-03 5.35425739e-04 9.99959662e-01 -1.06057807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.230371743000001 meters Centerline goodness [0,1] 0.9897403364469626 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.61, Z:-0.11 [[ 9.99899602e-01 -1.10855101e-02 8.82595541e-03 9.74788343e+00] [ 1.10898690e-02 9.99938406e-01 -4.45078547e-04 -6.06000949e-01] [-8.82047786e-03 5.42912551e-04 9.99960951e-01 -1.06896201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260371743 meters Centerline goodness [0,1] 0.9902356606837232 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.61, Z:-0.11 [[ 9.99859224e-01 -1.48872743e-02 7.73953880e-03 9.77803667e+00] [ 1.48907454e-02 9.99889050e-01 -3.91057668e-04 -6.09564821e-01] [-7.73285832e-03 5.06250118e-04 9.99969973e-01 -1.08576880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.290371743 meters Centerline goodness [0,1] 0.989804848166623 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.61, Z:-0.11 [[ 9.99844271e-01 -1.60853762e-02 7.25907342e-03 9.80912805e+00] [ 1.60884567e-02 9.99870505e-01 -3.66177634e-04 -6.12322565e-01] [-7.25224331e-03 4.82907898e-04 9.99973586e-01 -1.09384973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320371743 meters Centerline goodness [0,1] 0.9897990522990523 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.61, Z:-0.11 [[ 9.99823958e-01 -1.72313290e-02 7.42523155e-03 9.84145868e+00] [ 1.72345923e-02 9.99851403e-01 -3.75716221e-04 -6.08929751e-01] [-7.41765409e-03 5.03620918e-04 9.99972362e-01 -1.09606512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.350371743 meters Centerline goodness [0,1] 0.9894079364039398 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.62, Z:-0.11 [[ 9.99814394e-01 -1.77221208e-02 7.55666436e-03 9.87218984e+00] [ 1.77255196e-02 9.99842817e-01 -3.83030160e-04 -6.16887062e-01] [-7.54868847e-03 5.16904869e-04 9.99971375e-01 -1.10106552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380371743 meters Centerline goodness [0,1] 0.9899473222124671 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.61, Z:-0.11 [[ 9.99802938e-01 -1.81264762e-02 8.09413757e-03 9.90462456e+00] [ 1.81303922e-02 9.99835547e-01 -4.10677264e-04 -6.10263566e-01] [-8.08536233e-03 5.57346224e-04 9.99967158e-01 -1.09883411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.410371743 meters Centerline goodness [0,1] 0.9902571754586149 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.61, Z:-0.11 [[ 9.99804524e-01 -1.79999795e-02 8.18017822e-03 9.93584870e+00] [ 1.80039806e-02 9.99837829e-01 -4.15729979e-04 -6.12300159e-01] [-8.17136850e-03 5.62924484e-04 9.99966455e-01 -1.10316816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440371743 meters Centerline goodness [0,1] 0.989535802035802 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.61, Z:-0.11 [[ 9.99811606e-01 -1.75056781e-02 8.38474878e-03 9.96750787e+00] [ 1.75098684e-02 9.99846599e-01 -4.26599387e-04 -6.11572625e-01] [-8.37599464e-03 5.73334866e-04 9.99964756e-01 -1.10283712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.470371743 meters Centerline goodness [0,1] 0.9886570569779942 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.62, Z:-0.11 [[ 9.99814651e-01 -1.73725131e-02 8.29814294e-03 9.99946075e+00] [ 1.73766151e-02 9.99848926e-01 -4.22470891e-04 -6.18652214e-01] [-8.28954992e-03 5.66586222e-04 9.99965481e-01 -1.11175500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500371743 meters Centerline goodness [0,1] 0.9907773386034255 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.61, Z:-0.11 [[ 9.99818302e-01 -1.69788838e-02 8.66493417e-03 1.00321776e+01] [ 1.69833493e-02 9.99855675e-01 -4.42022886e-04 -6.08194535e-01] [-8.65617855e-03 5.89102175e-04 9.99962361e-01 -1.10628845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.530371743 meters Centerline goodness [0,1] 0.9897829143962033 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.61, Z:-0.11 [[ 9.99801456e-01 -1.76167502e-02 9.31118892e-03 1.00634243e+01] [ 1.76219417e-02 9.99844608e-01 -4.75798997e-04 -6.11879336e-01] [-9.30136001e-03 6.39785758e-04 9.99956537e-01 -1.10892552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560371743 meters Centerline goodness [0,1] 0.989675061641423 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.61, Z:-0.11 [[ 9.99788615e-01 -1.81476423e-02 9.66378619e-03 1.00955566e+01] [ 1.81532639e-02 9.99835094e-01 -4.94310327e-04 -6.09359019e-01] [-9.65322200e-03 6.69635098e-04 9.99953182e-01 -1.10937987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.590371743 meters Centerline goodness [0,1] 0.9897145117689721 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.61, Z:-0.11 [[ 9.99753712e-01 -1.99478123e-02 9.72621613e-03 1.01260621e+01] [ 1.99535990e-02 9.99800783e-01 -4.98267727e-04 -6.11352105e-01] [-9.71433915e-03 6.92218026e-04 9.99952575e-01 -1.11727552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.620371743 meters Centerline goodness [0,1] 0.988646365076571 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.61, Z:-0.11 [[ 9.99737303e-01 -2.07928842e-02 9.64267441e-03 1.01580899e+01] [ 2.07986151e-02 9.99783563e-01 -4.94423327e-04 -6.13417874e-01] [-9.63030689e-03 6.94847718e-04 9.99953386e-01 -1.12352364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.650371743000001 meters Centerline goodness [0,1] 0.989082344654531 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.61, Z:-0.11 [[ 9.99718555e-01 -2.19172615e-02 9.07992481e-03 1.01904030e+01] [ 2.19223944e-02 9.99759567e-01 -4.66153117e-04 -6.13331143e-01] [-9.06752489e-03 6.65075614e-04 9.99958668e-01 -1.13188459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680371743 meters Centerline goodness [0,1] 0.9886208866042793 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.61, Z:-0.11 [[ 9.99681042e-01 -2.39801782e-02 7.92247087e-03 1.02219297e+01] [ 2.39841552e-02 9.99712256e-01 -4.07351953e-04 -6.14830844e-01] [-7.91042286e-03 5.97235796e-04 9.99968534e-01 -1.14786512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.710371743 meters Centerline goodness [0,1] 0.9889834421795632 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.62, Z:-0.12 [[ 9.99656015e-01 -2.53035608e-02 6.89790548e-03 1.02532131e+01] [ 2.53066051e-02 9.99679674e-01 -3.54397481e-04 -6.17630544e-01] [-6.88672838e-03 5.28838143e-04 9.99976146e-01 -1.16055450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740371743 meters Centerline goodness [0,1] 0.9885666357656823 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.61, Z:-0.12 [[ 9.99628908e-01 -2.65173288e-02 6.23522046e-03 1.02852963e+01] [ 2.65198430e-02 9.99648236e-01 -3.20879835e-04 -6.14975944e-01] [-6.22451826e-03 4.86117826e-04 9.99980509e-01 -1.16867107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.770371743 meters Centerline goodness [0,1] 0.9885666357656823 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.62, Z:-0.12 [[ 9.99631781e-01 -2.64088140e-02 6.23517888e-03 1.03178878e+01] [ 2.64113311e-02 9.99651108e-01 -3.21684774e-04 -6.16753679e-01] [-6.22450816e-03 4.86245698e-04 9.99980509e-01 -1.17284336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800371743 meters Centerline goodness [0,1] 0.9892610924518296 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.62, Z:-0.12 [[ 9.99580744e-01 -2.85119151e-02 5.04059061e-03 1.03487566e+01] [ 2.85135917e-02 9.99593371e-01 -2.61039305e-04 -6.17182209e-01] [-5.03109823e-03 4.04655205e-04 9.99987262e-01 -1.17948724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.830371743 meters Centerline goodness [0,1] 0.9889417569829941 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.62, Z:-0.12 [[ 9.99576951e-01 -2.86887334e-02 4.78275868e-03 1.03810961e+01] [ 2.86902431e-02 9.99588320e-01 -2.47329751e-04 -6.17716925e-01] [-4.77369414e-03 3.84443628e-04 9.99988532e-01 -1.18682988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860371743 meters Centerline goodness [0,1] 0.9890762236836298 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.62, Z:-0.12 [[ 9.99581899e-01 -2.85504559e-02 4.57156865e-03 1.04145521e+01] [ 2.85518337e-02 9.99592285e-01 -2.36389139e-04 -6.16213230e-01] [-4.56295574e-03 3.66816972e-04 9.99989522e-01 -1.18852402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.890371743 meters Centerline goodness [0,1] 0.9890934029467723 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.62, Z:-0.12 [[ 9.99605497e-01 -2.75485780e-02 5.47056700e-03 1.04466529e+01] [ 2.75505423e-02 9.99620371e-01 -2.84022337e-04 -6.16016309e-01] [-5.46066581e-03 4.34627377e-04 9.99984996e-01 -1.19098468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920371743 meters Centerline goodness [0,1] 0.9894929695605148 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.61, Z:-0.12 [[ 9.99630024e-01 -2.65371389e-02 5.96626156e-03 1.04793696e+01] [ 2.65394604e-02 9.99647718e-01 -3.10248850e-04 -6.10893869e-01] [-5.95592664e-03 4.68475428e-04 9.99982154e-01 -1.18724814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.950371743 meters Centerline goodness [0,1] 0.9894145843504505 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.61, Z:-0.12 [[ 9.99656063e-01 -2.53477334e-02 6.72662044e-03 1.05113381e+01] [ 2.53506625e-02 9.99678559e-01 -3.50526922e-04 -6.10482122e-01] [-6.71557317e-03 5.20930648e-04 9.99977315e-01 -1.18772348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980371743000001 meters Centerline goodness [0,1] 0.989681113108315 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.61, Z:-0.12 [[ 9.99711445e-01 -2.27921810e-02 7.58577191e-03 1.05412714e+01] [ 2.27958391e-02 9.99740063e-01 -3.96100570e-04 -6.08105446e-01] [-7.57477209e-03 5.68910308e-04 9.99971149e-01 -1.18352447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.010371743 meters Centerline goodness [0,1] 0.9883335925868314 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.61, Z:-0.12 [[ 9.99745969e-01 -2.12554688e-02 7.49677422e-03 1.05733437e+01] [ 2.12589955e-02 9.99773926e-01 -3.91042092e-04 -6.07236936e-01] [-7.48676760e-03 5.50316645e-04 9.99971822e-01 -1.18233280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040371743 meters Centerline goodness [0,1] 0.9894055064657571 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.60, Z:-0.12 [[ 9.99793896e-01 -1.85540813e-02 8.24080580e-03 1.06044238e+01] [ 1.85582597e-02 9.99827688e-01 -4.30863480e-04 -6.04081205e-01] [-8.23139154e-03 5.83709693e-04 9.99965951e-01 -1.17642063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.070371743 meters Centerline goodness [0,1] 0.9888580006671855 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.61, Z:-0.12 [[ 9.99806127e-01 -1.77307570e-02 8.56326106e-03 1.06356056e+01] [ 1.77352390e-02 9.99842618e-01 -4.47734557e-04 -6.05324260e-01] [-8.55397468e-03 5.99519234e-04 9.99963234e-01 -1.17824207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100371743 meters Centerline goodness [0,1] 0.9894558882413134 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.61, Z:-0.12 [[ 9.99806297e-01 -1.74350233e-02 9.13171017e-03 1.06666193e+01] [ 1.74401098e-02 9.99847796e-01 -4.77680482e-04 -6.06425892e-01] [-9.12199192e-03 6.36845982e-04 9.99958191e-01 -1.18430460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.130371743 meters Centerline goodness [0,1] 0.9885262337083658 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.61, Z:-0.12 [[ 9.99809096e-01 -1.74955795e-02 8.69917119e-03 1.06986448e+01] [ 1.75002103e-02 9.99846755e-01 -4.56480387e-04 -6.06342491e-01] [-8.68985170e-03 6.08630568e-04 9.99962057e-01 -1.19246836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160371743 meters Centerline goodness [0,1] 0.9891163745037691 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.61, Z:-0.12 [[ 9.99811673e-01 -1.76127132e-02 8.14930392e-03 1.07304182e+01] [ 1.76167852e-02 9.99844721e-01 -4.28151938e-04 -6.06663593e-01] [-8.14049758e-03 5.71635841e-04 9.99966702e-01 -1.20227809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.190371743 meters Centerline goodness [0,1] 0.9893032603841 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.61, Z:-0.12 [[ 9.99803136e-01 -1.83760216e-02 7.48405804e-03 1.07610716e+01] [ 1.83794786e-02 9.99831006e-01 -3.93385242e-04 -6.08489299e-01] [-7.47556442e-03 5.30860883e-04 9.99971917e-01 -1.22167873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220371743 meters Centerline goodness [0,1] 0.9886722748920639 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.61, Z:-0.12 [[ 9.99804743e-01 -1.86624403e-02 6.49531041e-03 1.07932278e+01] [ 1.86650563e-02 9.99825734e-01 -3.42357527e-04 -6.09103961e-01] [-6.48778927e-03 4.63526014e-04 9.99978847e-01 -1.23346377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.250371743 meters Centerline goodness [0,1] 0.9887398983680687 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.61, Z:-0.13 [[ 9.99797829e-01 -1.92476189e-02 5.81642467e-03 1.08251538e+01] [ 1.92497283e-02 9.99814660e-01 -3.06893646e-04 -6.09443405e-01] [-5.80943968e-03 4.18796195e-04 9.99983037e-01 -1.25098094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280371743 meters Centerline goodness [0,1] 0.9884499573052896 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.61, Z:-0.13 [[ 9.99793693e-01 -1.96129550e-02 5.28242670e-03 1.08572148e+01] [ 1.96147015e-02 9.99807574e-01 -2.79010914e-04 -6.10800054e-01] [-5.27593799e-03 3.82566574e-04 9.99986009e-01 -1.25917535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.310371743 meters Centerline goodness [0,1] 0.9883426368058825 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.61, Z:-0.13 [[ 9.99790657e-01 -1.97418526e-02 5.37594360e-03 1.08880629e+01] [ 1.97436661e-02 9.99805034e-01 -2.84475185e-04 -6.12955280e-01] [-5.36927941e-03 3.90556468e-04 9.99985509e-01 -1.26631433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340371743 meters Centerline goodness [0,1] 0.9872479906605002 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.61, Z:-0.13 [[ 9.99792545e-01 -1.96811047e-02 5.24598265e-03 1.09204383e+01] [ 1.96828308e-02 9.99806236e-01 -2.77598624e-04 -6.14048264e-01] [-5.23950272e-03 3.80796823e-04 9.99986201e-01 -1.27064762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370371743 meters Centerline goodness [0,1] 0.9863524130190797 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.61, Z:-0.13 [[ 9.99801438e-01 -1.93140314e-02 4.90427041e-03 1.09526368e+01] [ 1.93155379e-02 9.99813404e-01 -2.60006535e-04 -6.13160067e-01] [-4.89833352e-03 3.54683529e-04 9.99987940e-01 -1.27694972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400371743000001 meters Centerline goodness [0,1] 0.9856467941507312 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.62, Z:-0.13 [[ 9.99814329e-01 -1.85953893e-02 5.05172329e-03 1.09838563e+01] [ 1.85969813e-02 9.99827025e-01 -2.68333163e-04 -6.16660515e-01] [-5.04585971e-03 3.62230144e-04 9.99987204e-01 -1.28887337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.430371743 meters Centerline goodness [0,1] 0.9871094455481307 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.61, Z:-0.13 [[ 9.99820464e-01 -1.81703958e-02 5.37374127e-03 1.10167472e+01] [ 1.81721919e-02 9.99834831e-01 -2.85599658e-04 -6.06171672e-01] [-5.36766423e-03 3.83201040e-04 9.99985521e-01 -1.27887281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460371743 meters Centerline goodness [0,1] 0.9870753072726861 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.61, Z:-0.13 [[ 9.99826531e-01 -1.76798833e-02 5.85921970e-03 1.10488714e+01] [ 1.76820133e-02 9.99843612e-01 -3.11915330e-04 -6.07273466e-01] [-5.85278876e-03 4.15464022e-04 9.99982786e-01 -1.28231739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.490371743 meters Centerline goodness [0,1] 0.9866684773997872 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.61, Z:-0.13 [[ 9.99828101e-01 -1.72005460e-02 6.92168196e-03 1.10815788e+01] [ 1.72035109e-02 9.99851941e-01 -3.69032174e-04 -6.07478359e-01] [-6.91430958e-03 4.88045968e-04 9.99975977e-01 -1.27878652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520371743 meters Centerline goodness [0,1] 0.9866929187317537 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.61, Z:-0.13 [[ 9.99823719e-01 -1.73850734e-02 7.09157088e-03 1.11140627e+01] [ 1.73881955e-02 9.99848742e-01 -3.78842723e-04 -6.06887553e-01] [-7.08391202e-03 5.02085562e-04 9.99974783e-01 -1.28169686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.550371743 meters Centerline goodness [0,1] 0.9863293205468272 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.61, Z:-0.13 [[ 9.99820687e-01 -1.74952644e-02 7.24632082e-03 1.11458347e+01] [ 1.74985311e-02 9.99846814e-01 -3.87652525e-04 -6.08199487e-01] [-7.23842870e-03 5.14382984e-04 9.99973670e-01 -1.28753133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580371743 meters Centerline goodness [0,1] 0.9866997089850855 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.61, Z:-0.13 [[ 9.99819172e-01 -1.79338961e-02 6.32448218e-03 1.11778138e+01] [ 1.79363954e-02 9.99839073e-01 -3.38673351e-04 -6.07468823e-01] [-6.31739066e-03 4.52050522e-04 9.99979943e-01 -1.29958447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.610371743 meters Centerline goodness [0,1] 0.9863526953994277 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.61, Z:-0.13 [[ 9.99816150e-01 -1.81033016e-02 6.31949843e-03 1.12098967e+01] [ 1.81058032e-02 9.99836019e-01 -3.38865210e-04 -6.08863624e-01] [-6.31232757e-03 4.53222505e-04 9.99979974e-01 -1.30958242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640371743 meters Centerline goodness [0,1] 0.9867303971776488 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.61, Z:-0.13 [[ 9.99816288e-01 -1.82459309e-02 5.87164370e-03 1.12415548e+01] [ 1.82480957e-02 9.99833440e-01 -3.15329183e-04 -6.10275641e-01] [-5.86491224e-03 4.22417569e-04 9.99982712e-01 -1.31799768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.670371743 meters Centerline goodness [0,1] 0.9868181404243693 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.61, Z:-0.13 [[ 9.99846603e-01 -1.68566652e-02 4.75648905e-03 1.12717589e+01] [ 1.68580721e-02 9.99857860e-01 -2.55854313e-04 -6.11483502e-01] [-4.75150011e-03 3.36000301e-04 9.99988655e-01 -1.34011656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700371743 meters Centerline goodness [0,1] 0.9870390196123096 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.61, Z:-0.14 [[ 9.99874607e-01 -1.53435862e-02 3.91733320e-03 1.13029145e+01] [ 1.53445285e-02 9.99882244e-01 -2.10589483e-04 -6.11451533e-01] [-3.91364071e-03 2.70672707e-04 9.99992305e-01 -1.35242166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.730371743000001 meters Centerline goodness [0,1] 0.9859801347185752 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.61, Z:-0.14 [[ 9.99897217e-01 -1.38591788e-02 3.67133993e-03 1.13343851e+01] [ 1.38599968e-02 9.99903926e-01 -1.97468711e-04 -6.11475650e-01] [-3.66825045e-03 2.48333174e-04 9.99993241e-01 -1.36096300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760371743 meters Centerline goodness [0,1] 0.9865631191783005 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.61, Z:-0.14 [[ 9.99941265e-01 -1.01713419e-02 3.74297390e-03 1.13643519e+01] [ 1.01721685e-02 9.99948242e-01 -2.01866806e-04 -6.08617730e-01] [-3.74072692e-03 2.39929110e-04 9.99992975e-01 -1.36564877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.790371743 meters Centerline goodness [0,1] 0.9869185381695101 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.60, Z:-0.14 [[ 9.99958872e-01 -8.19483987e-03 3.88583328e-03 1.13957481e+01] [ 8.19571417e-03 9.99966393e-01 -2.09125677e-04 -6.04678902e-01] [-3.88398894e-03 2.40964255e-04 9.99992428e-01 -1.36507674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820371743 meters Centerline goodness [0,1] 0.9872733931514375 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.60, Z:-0.14 [[ 9.99982555e-01 -3.98155397e-03 4.36320678e-03 1.14258696e+01] [ 3.98261899e-03 9.99992042e-01 -2.35430288e-04 -6.02100178e-01] [-4.36223468e-03 2.52803171e-04 9.99990453e-01 -1.37185158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.850371743 meters Centerline goodness [0,1] 0.9876937205831707 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.60, Z:-0.14 [[ 9.99989032e-01 -1.66261904e-03 4.37861507e-03 1.14582164e+01] [ 1.66366672e-03 9.99998588e-01 -2.35639120e-04 -5.95904804e-01] [-4.37821711e-03 2.42921092e-04 9.99990386e-01 -1.36811488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880371743 meters Centerline goodness [0,1] 0.9877782627673505 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.59, Z:-0.14 [[ 9.99989341e-01 7.16604891e-04 4.56122488e-03 1.14902705e+01] [-7.15491406e-04 9.99999714e-01 -2.45746842e-04 -5.94783774e-01] [-4.56139968e-03 2.42480705e-04 9.99989567e-01 -1.36839082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.910371743 meters Centerline goodness [0,1] 0.9875235513073848 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.59, Z:-0.14 [[ 9.99966322e-01 5.81853460e-03 5.78792148e-03 1.15214007e+01] [-5.81682193e-03 9.99983033e-01 -3.12693173e-04 -5.91148044e-01] [-5.78964269e-03 2.79015333e-04 9.99983201e-01 -1.36433745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940371743 meters Centerline goodness [0,1] 0.9874902446862232 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.59, Z:-0.14 [[ 9.99950229e-01 7.88777478e-03 6.10926799e-03 1.15523028e+01] [-7.88590485e-03 9.99968851e-01 -3.30109473e-04 -5.89585338e-01] [-6.11168153e-03 2.81915937e-04 9.99981284e-01 -1.36322489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.970371743 meters Centerline goodness [0,1] 0.9872437252919003 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.59, Z:-0.14 [[ 9.99935049e-01 9.51909158e-03 6.26775884e-03 1.15816156e+01] [-9.51715681e-03 9.99954654e-01 -3.38439137e-04 -5.91464064e-01] [-6.27069625e-03 2.78765911e-04 9.99980300e-01 -1.37022316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000371743 meters Centerline goodness [0,1] 0.9885033493266578 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.59, Z:-0.14 [[ 9.99914405e-01 1.18640811e-02 5.51596049e-03 1.16112473e+01] [-1.18626146e-02 9.99929592e-01 -2.98503236e-04 -5.89934055e-01] [-5.51911359e-03 2.33043972e-04 9.99984742e-01 -1.38438598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.030371743 meters Centerline goodness [0,1] 0.9887577942096846 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.59, Z:-0.14 [[ 9.99905920e-01 1.26417547e-02 5.32319830e-03 1.16404647e+01] [-1.26403994e-02 9.99920065e-01 -2.88169689e-04 -5.89129174e-01] [-5.32641576e-03 2.20855226e-04 9.99985790e-01 -1.39310363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060371743 meters Centerline goodness [0,1] 0.9907433184855234 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.59, Z:-0.14 [[ 9.99889118e-01 1.42580416e-02 4.29650468e-03 1.16698638e+01] [-1.42571748e-02 9.99898334e-01 -2.32315322e-04 -5.87783834e-01] [-4.29938023e-03 1.71033544e-04 9.99990743e-01 -1.40561037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.090371743 meters Centerline goodness [0,1] 0.9884309808112252 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.59, Z:-0.14 [[ 9.99874495e-01 1.53307475e-02 3.99534377e-03 1.16986347e+01] [-1.53300065e-02 9.99882465e-01 -2.16017200e-04 -5.88835635e-01] [-3.99818588e-03 1.54741443e-04 9.99991995e-01 -1.41154051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120371743 meters Centerline goodness [0,1] 0.9883637208222041 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.59, Z:-0.14 [[ 9.99853107e-01 1.67273823e-02 3.73630458e-03 1.17273486e+01] [-1.67267448e-02 9.99860078e-01 -2.01809712e-04 -5.87928686e-01] [-3.73915753e-03 1.39283854e-04 9.99993000e-01 -1.41100893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.150371743000001 meters Centerline goodness [0,1] 0.9891852751564982 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.59, Z:-0.14 [[ 9.99796117e-01 1.98892244e-02 3.48477573e-03 1.17551477e+01] [-1.98886891e-02 9.99802183e-01 -1.88189390e-04 -5.86366314e-01] [-3.48782932e-03 1.18843400e-04 9.99993910e-01 -1.40741724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180371743 meters Centerline goodness [0,1] 0.9887932853492134 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.59, Z:-0.14 [[ 9.99758800e-01 2.16307686e-02 3.80155524e-03 1.17825868e+01] [-2.16301459e-02 9.99766020e-01 -2.04847342e-04 -5.86983005e-01] [-3.80509676e-03 1.22569738e-04 9.99992753e-01 -1.41042614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.210371743 meters Centerline goodness [0,1] 0.9885956490176334 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.59, Z:-0.14 [[ 9.99726834e-01 2.30655280e-02 3.77355142e-03 1.18117833e+01] [-2.30649265e-02 9.99733949e-01 -2.02851697e-04 -5.87495041e-01] [-3.77722634e-03 1.15759599e-04 9.99992860e-01 -1.41248249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240371743 meters Centerline goodness [0,1] 0.9888356884269531 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.59, Z:-0.14 [[ 9.99701713e-01 2.40913452e-02 4.01156842e-03 1.18405940e+01] [-2.40906750e-02 9.99709754e-01 -2.15309345e-04 -5.88325434e-01] [-4.01559117e-03 1.18603730e-04 9.99991930e-01 -1.41669584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.270371743 meters Centerline goodness [0,1] 0.9892273751408186 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.59, Z:-0.14 [[ 9.99666883e-01 2.55503759e-02 3.64709964e-03 1.18700270e+01] [-2.55498328e-02 9.99673531e-01 -1.95432605e-04 -5.87007323e-01] [-3.65090235e-03 1.02184717e-04 9.99993330e-01 -1.42137155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300371743 meters Centerline goodness [0,1] 0.9887217165453822 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.59, Z:-0.14 [[ 9.99655651e-01 2.59854310e-02 3.65185368e-03 1.18972025e+01] [-2.59848889e-02 9.99662317e-01 -1.95809287e-04 -5.90662274e-01] [-3.65570870e-03 1.00848848e-04 9.99993313e-01 -1.43904134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.330371743 meters Centerline goodness [0,1] 0.9889081699652941 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.59, Z:-0.14 [[ 9.99650103e-01 2.62740585e-02 3.05691579e-03 1.19257061e+01] [-2.62736809e-02 9.99654774e-01 -1.63638168e-04 -5.89896397e-01] [-3.06015990e-03 8.32644813e-05 9.99995314e-01 -1.44323260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360371743 meters Centerline goodness [0,1] 0.9896694214876033 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.59, Z:-0.14 [[ 9.99645534e-01 2.64608252e-02 2.93798626e-03 1.19549445e+01] [-2.64604777e-02 9.99649848e-01 -1.57109654e-04 -5.90804070e-01] [-2.94111477e-03 7.93134441e-05 9.99995672e-01 -1.44485122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.390371743 meters Centerline goodness [0,1] 0.9891640866873065 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.59, Z:-0.14 [[ 9.99653231e-01 2.61805982e-02 2.82732928e-03 1.19840889e+01] [-2.61802756e-02 9.99657226e-01 -1.51034673e-04 -5.91832285e-01] [-2.83031432e-03 7.69620391e-05 9.99995992e-01 -1.44945994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420371743 meters Centerline goodness [0,1] 0.9888380818384336 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.59, Z:-0.14 [[ 9.99678312e-01 2.52327355e-02 2.56529647e-03 1.20132176e+01] [-2.52324671e-02 9.99681601e-01 -1.36936554e-04 -5.93982122e-01] [-2.56793496e-03 7.21637450e-05 9.99996700e-01 -1.44971699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.450371743 meters Centerline goodness [0,1] 0.9876722262509064 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.60, Z:-0.15 [[ 9.99704517e-01 2.42154688e-02 2.11889424e-03 1.20408178e+01] [-2.42152821e-02 9.99706761e-01 -1.13731539e-04 -5.96704454e-01] [-2.12102696e-03 6.23883120e-05 9.99997749e-01 -1.45755170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480371743000001 meters Centerline goodness [0,1] 0.9893323351892575 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.60, Z:-0.15 [[ 9.99731951e-01 2.30464025e-02 2.21100626e-03 1.20697317e+01] [-2.30461985e-02 9.99734394e-01 -1.17708006e-04 -5.99129105e-01] [-2.21313175e-03 6.67211656e-05 9.99997549e-01 -1.45932671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.510371743 meters Centerline goodness [0,1] 0.9887266979684812 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.60, Z:-0.15 [[ 9.99797959e-01 1.99822729e-02 2.17930536e-03 1.20987366e+01] [-1.99820681e-02 9.99800332e-01 -1.15682884e-04 -6.04812240e-01] [-2.18118183e-03 7.21124830e-05 9.99997619e-01 -1.46529819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540371743 meters Centerline goodness [0,1] 0.9884889414931886 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.61, Z:-0.15 [[ 9.99815208e-01 1.89817721e-02 3.04016238e-03 1.21278128e+01] [-1.89813699e-02 9.99819825e-01 -1.61117756e-04 -6.08417615e-01] [-3.04267292e-03 1.03381536e-04 9.99995366e-01 -1.46178261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.570371743 meters Centerline goodness [0,1] 0.9873497052133141 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.61, Z:-0.15 [[ 9.99835629e-01 1.77720792e-02 3.58728487e-03 1.21568100e+01] [-1.77715128e-02 9.99842056e-01 -1.89692656e-04 -6.11587745e-01] [-3.59008951e-03 1.25909997e-04 9.99993548e-01 -1.46138867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600371743 meters Centerline goodness [0,1] 0.9891959276958238 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.61, Z:-0.14 [[ 9.99846343e-01 1.69057016e-02 4.63547066e-03 1.21854595e+01] [-1.69047493e-02 9.99857075e-01 -2.44532665e-04 -6.14836274e-01] [-4.63894213e-03 1.66133621e-04 9.99989226e-01 -1.44969186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.630371743 meters Centerline goodness [0,1] 0.9890267617371978 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.62, Z:-0.14 [[ 9.99854875e-01 1.63779830e-02 4.68949263e-03 1.22138932e+01] [-1.63770042e-02 9.99865857e-01 -2.47037950e-04 -6.17155653e-01] [-4.69290955e-03 1.70202259e-04 9.99988974e-01 -1.44886546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660371743 meters Centerline goodness [0,1] 0.9875838150289017 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.62, Z:-0.15 [[ 9.99859471e-01 1.62145036e-02 4.25779253e-03 1.22427741e+01] [-1.62136962e-02 9.99868524e-01 -2.24074981e-04 -6.20846209e-01] [-4.26086600e-03 1.55008937e-04 9.99990910e-01 -1.45567743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.690371743 meters Centerline goodness [0,1] 0.9875838150289017 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.62, Z:-0.15 [[ 9.99860614e-01 1.61438633e-02 4.25780826e-03 1.22710553e+01] [-1.61430565e-02 9.99869667e-01 -2.23775384e-04 -6.22267260e-01] [-4.26086593e-03 1.55010153e-04 9.99990910e-01 -1.45930527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720371743 meters Centerline goodness [0,1] 0.9872276657060519 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.62, Z:-0.15 [[ 9.99859839e-01 1.62553957e-02 4.00806142e-03 1.23002836e+01] [-1.62546826e-02 9.99867862e-01 -2.10426363e-04 -6.23412951e-01] [-4.01095237e-03 1.45247104e-04 9.99991946e-01 -1.46216775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.750371743 meters Centerline goodness [0,1] 0.9868651085756349 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.63, Z:-0.15 [[ 9.99856219e-01 1.63968026e-02 4.32272577e-03 1.23280294e+01] [-1.63959755e-02 9.99865551e-01 -2.26707702e-04 -6.27531832e-01] [-4.32586187e-03 1.55799800e-04 9.99990631e-01 -1.47079060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780371743 meters Centerline goodness [0,1] 0.9862799981645483 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.63, Z:-0.15 [[ 9.99829138e-01 1.79401626e-02 4.45483426e-03 1.23571639e+01] [-1.79393021e-02 9.99839051e-01 -2.33050436e-04 -6.28835071e-01] [-4.45829822e-03 1.53094000e-04 9.99990050e-01 -1.46685679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.810371743 meters Centerline goodness [0,1] 0.9873067797000622 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.63, Z:-0.15 [[ 9.99812093e-01 1.88001922e-02 4.72563077e-03 1.23862677e+01] [-1.87992353e-02 9.99823248e-01 -2.46840567e-04 -6.29771000e-01] [-4.72943616e-03 1.57955940e-04 9.99988804e-01 -1.46877487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840371743 meters Centerline goodness [0,1] 0.9872152219483541 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.63, Z:-0.15 [[ 9.99792062e-01 1.98805438e-02 4.53831987e-03 1.24154206e+01] [-1.98796716e-02 9.99802352e-01 -2.37224733e-04 -6.31651251e-01] [-4.54213903e-03 1.46955096e-04 9.99989674e-01 -1.47316221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.870371743 meters Centerline goodness [0,1] 0.9865665472581978 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.63, Z:-0.15 [[ 9.99743473e-01 2.24125801e-02 3.26565211e-03 1.24434499e+01] [-2.24121430e-02 9.99748802e-01 -1.70375278e-04 -6.34031335e-01] [-3.26865033e-03 9.71413101e-05 9.99994653e-01 -1.48909841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900371743000001 meters Centerline goodness [0,1] 0.9876114737519537 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.64, Z:-0.15 [[ 9.99729513e-01 2.30432790e-02 3.14774282e-03 1.24709794e+01] [-2.30428768e-02 9.99734464e-01 -1.63981768e-04 -6.37001235e-01] [-3.15068566e-03 9.14043631e-05 9.99995032e-01 -1.50353185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.930371743 meters Centerline goodness [0,1] 0.9883761077224077 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.64, Z:-0.15 [[ 9.99716466e-01 2.37062953e-02 2.23608641e-03 1.25002961e+01] [-2.37060925e-02 9.99718964e-01 -1.17144672e-04 -6.36795591e-01] [-2.23823506e-03 6.41025857e-05 9.99997493e-01 -1.50359507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960371743 meters Centerline goodness [0,1] 0.9896379009282235 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.64, Z:-0.15 [[ 9.99667322e-01 2.57094038e-02 2.06698025e-03 1.25288529e+01] [-2.57092366e-02 9.99669457e-01 -1.07443180e-04 -6.38074824e-01] [-2.06905933e-03 5.42669512e-05 9.99997858e-01 -1.51253992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990371743 meters Centerline goodness [0,1] 0.9892075593010172 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.64, Z:-0.15 [[ 9.99621914e-01 2.74029903e-02 2.25940367e-03 1.25567007e+01] [-2.74027949e-02 9.99624466e-01 -1.17377515e-04 -6.40302951e-01] [-2.26177168e-03 5.54191603e-05 9.99997441e-01 -1.52014633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020371743 meters Centerline goodness [0,1] 0.9894446360814074 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.64, Z:-0.15 [[ 9.99563837e-01 2.93822258e-02 2.96977614e-03 1.25846899e+01] [-2.93818989e-02 9.99568247e-01 -1.53637614e-04 -6.41962691e-01] [-2.97300815e-03 6.63129405e-05 9.99995578e-01 -1.52256040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050371743 meters Centerline goodness [0,1] 0.9903361729412843 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.64, Z:-0.15 [[ 9.99401960e-01 3.42588819e-02 4.69593234e-03 1.26132087e+01] [-3.42581241e-02 9.99412989e-01 -2.41739162e-04 -6.41903037e-01] [-4.70145749e-03 8.07207590e-05 9.99988945e-01 -1.51911240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080371743 meters Centerline goodness [0,1] 0.9909800321322011 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.64, Z:-0.15 [[ 9.99335632e-01 3.60849373e-02 5.11578939e-03 1.26407644e+01] [-3.60840635e-02 9.99348724e-01 -2.63035824e-04 -6.43824130e-01] [-5.12194922e-03 7.82626025e-05 9.99986880e-01 -1.51764768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110371743 meters Centerline goodness [0,1] 0.9906501263496439 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.65, Z:-0.15 [[ 9.99290585e-01 3.72684722e-02 5.42107659e-03 1.26695584e+01] [-3.72675121e-02 9.99305286e-01 -2.78052506e-04 -6.45311163e-01] [-5.42767309e-03 7.58252137e-05 9.99985267e-01 -1.52286868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140371743 meters Centerline goodness [0,1] 0.9914718019257222 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.65, Z:-0.15 [[ 9.99232005e-01 3.88753386e-02 4.91003771e-03 1.26977404e+01] [-3.88745717e-02 9.99244066e-01 -2.51575568e-04 -6.49572704e-01] [-4.91610613e-03 6.05067465e-05 9.99987914e-01 -1.53047944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170371743 meters Centerline goodness [0,1] 0.9916714334744309 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.65, Z:-0.15 [[ 9.99241850e-01 3.85648375e-02 5.33644474e-03 1.27247429e+01] [-3.85639249e-02 9.99256098e-01 -2.73836707e-04 -6.53451417e-01] [-5.34303541e-03 6.78348437e-05 9.99985724e-01 -1.53877685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200371743 meters Centerline goodness [0,1] 0.9916268486916952 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.66, Z:-0.16 [[ 9.99283594e-01 3.74585976e-02 5.39919236e-03 1.27521793e+01] [-3.74576553e-02 9.99298178e-01 -2.75578570e-04 -6.60943100e-01] [-5.40572587e-03 7.31400573e-05 9.99985386e-01 -1.55257886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230371743 meters Centerline goodness [0,1] 0.9911687720496187 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.67, Z:-0.16 [[ 9.99324364e-01 3.63039558e-02 5.73055523e-03 1.27810023e+01] [-3.63028824e-02 9.99340791e-01 -2.91246583e-04 -6.65941241e-01] [-5.73735099e-03 8.30141342e-05 9.99983538e-01 -1.55647171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260371743 meters Centerline goodness [0,1] 0.9918398803182447 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.67, Z:-0.16 [[ 9.99367395e-01 3.50962977e-02 5.74974757e-03 1.28097382e+01] [-3.50951993e-02 9.99383931e-01 -2.91851166e-04 -6.69255057e-01] [-5.75644822e-03 8.98780024e-05 9.99983427e-01 -1.55224902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290371743 meters Centerline goodness [0,1] 0.9913757979084612 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.67, Z:-0.16 [[ 9.99410490e-01 3.37369847e-02 6.36301674e-03 1.28384082e+01] [-3.37356155e-02 9.99430740e-01 -3.22427964e-04 -6.73778332e-01] [-6.37027228e-03 1.07577603e-04 9.99979704e-01 -1.55512366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320371743 meters Centerline goodness [0,1] 0.9911903252106169 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.68, Z:-0.16 [[ 9.99505101e-01 3.07528537e-02 6.61931707e-03 1.28666607e+01] [-3.07513098e-02 9.99527011e-01 -3.34903772e-04 -6.81365773e-01] [-6.62648545e-03 1.31185358e-04 9.99978036e-01 -1.55465959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.350371743 meters Centerline goodness [0,1] 0.9913695720934436 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.69, Z:-0.16 [[ 9.99557625e-01 2.90062676e-02 6.57195715e-03 1.28949604e+01] [-2.90047111e-02 9.99579220e-01 -3.32048822e-04 -6.86159975e-01] [-6.57882329e-03 1.41284214e-04 9.99978349e-01 -1.55623784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380371743 meters Centerline goodness [0,1] 0.9905152409489265 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.70, Z:-0.16 [[ 9.99666437e-01 2.50858392e-02 6.14135579e-03 1.29235511e+01] [-2.50844091e-02 9.99685289e-01 -3.09799213e-04 -6.95648899e-01] [-6.14719461e-03 1.55643594e-04 9.99981094e-01 -1.57181569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.410371743 meters Centerline goodness [0,1] 0.9901826124158429 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.70, Z:-0.16 [[ 9.99723521e-01 2.26881634e-02 6.17484972e-03 1.29521007e+01] [-2.26866732e-02 9.99742576e-01 -3.11272671e-04 -7.01641164e-01] [-6.18032237e-03 1.71099813e-04 9.99980887e-01 -1.58028974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440371743 meters Centerline goodness [0,1] 0.9898708194819392 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.71, Z:-0.16 [[ 9.99779322e-01 1.99430857e-02 6.60150061e-03 1.29809753e+01] [-1.99413262e-02 9.99801097e-01 -3.32249414e-04 -7.07764482e-01] [-6.60681363e-03 2.00533416e-04 9.99978155e-01 -1.58579671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.470371743 meters Centerline goodness [0,1] 0.98999197574893 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.72, Z:-0.16 [[ 9.99855218e-01 1.50445735e-02 7.95005472e-03 1.30096301e+01] [-1.50418736e-02 9.99886785e-01 -3.99297908e-04 -7.17477227e-01] [-7.95516193e-03 2.79656379e-04 9.99968318e-01 -1.58050716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500371743 meters Centerline goodness [0,1] 0.9896750547534975 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.72, Z:-0.16 [[ 9.99884046e-01 1.28021676e-02 8.24612013e-03 1.30385821e+01] [-1.27991905e-02 9.99918001e-01 -4.13712524e-04 -7.21579360e-01] [-8.25074038e-03 3.08120890e-04 9.99965915e-01 -1.57684440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.530371743 meters Centerline goodness [0,1] 0.9895935248599128 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.73, Z:-0.16 [[ 9.99909150e-01 9.68642021e-03 9.37360782e-03 1.30675873e+01] [-9.68244319e-03 9.99953014e-01 -4.69567211e-04 -7.33294114e-01] [-9.37771582e-03 3.78765126e-04 9.99955957e-01 -1.58054354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560371743 meters Centerline goodness [0,1] 0.989067753211765 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.74, Z:-0.16 [[ 9.99918304e-01 8.33987388e-03 9.68664997e-03 1.30989169e+01] [-8.33556695e-03 9.99965141e-01 -4.84913447e-04 -7.38461374e-01] [-9.69035642e-03 4.04130112e-04 9.99952966e-01 -1.58531169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.590371743 meters Centerline goodness [0,1] 0.9903422493212871 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.74, Z:-0.16 [[ 9.99925641e-01 7.53038879e-03 9.59191974e-03 1.31303148e+01] [-7.52612555e-03 9.99971563e-01 -4.80479893e-04 -7.36712151e-01] [-9.59526517e-03 4.08254173e-04 9.99953881e-01 -1.58827106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620371743 meters Centerline goodness [0,1] 0.9906558650538231 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.74, Z:-0.16 [[ 9.99934344e-01 6.70851615e-03 9.29000916e-03 1.31616418e+01] [-6.70447870e-03 9.99977416e-01 -4.65675845e-04 -7.41719574e-01] [-9.29292335e-03 4.03360602e-04 9.99956739e-01 -1.59721891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.650371743000001 meters Centerline goodness [0,1] 0.9893617021276596 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.75, Z:-0.16 [[ 9.99943752e-01 6.60004808e-03 8.30257359e-03 1.31921640e+01] [-6.59682483e-03 9.99978154e-01 -4.15549244e-04 -7.51410610e-01] [-8.30513486e-03 3.60755246e-04 9.99965447e-01 -1.61199635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680371743 meters Centerline goodness [0,1] 0.9907493471429204 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.75, Z:-0.16 [[ 9.99948194e-01 6.81078215e-03 7.56453363e-03 1.32233185e+01] [-6.80809344e-03 9.99976752e-01 -3.81130555e-04 -7.47169795e-01] [-7.56695357e-03 3.29610758e-04 9.99971316e-01 -1.61193207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.710371743 meters Centerline goodness [0,1] 0.9907473151681903 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.75, Z:-0.16 [[ 9.99934239e-01 8.46533803e-03 7.73669541e-03 1.32546997e+01] [-8.46257274e-03 9.99964116e-01 -3.90092112e-04 -7.49460603e-01] [-7.73972005e-03 3.24594111e-04 9.99969995e-01 -1.62072224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740371743 meters Centerline goodness [0,1] 0.9916210404983042 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.75, Z:-0.16 [[ 9.99922007e-01 9.94305910e-03 7.55752446e-03 1.32847067e+01] [-9.94046309e-03 9.99950520e-01 -3.80986527e-04 -7.51392134e-01] [-7.56093868e-03 3.05831520e-04 9.99971369e-01 -1.62367770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.770371743 meters Centerline goodness [0,1] 0.9915179360311009 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.75, Z:-0.16 [[ 9.99903042e-01 1.18202160e-02 7.36130412e-03 1.33149592e+01] [-1.18177947e-02 9.99930098e-01 -3.72333766e-04 -7.52743055e-01] [-7.36519062e-03 2.85303284e-04 9.99972836e-01 -1.62931747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800371743 meters Centerline goodness [0,1] 0.9919170892663375 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.75, Z:-0.16 [[ 9.99858356e-01 1.56275555e-02 6.24873636e-03 1.33450890e+01] [-1.56258830e-02 9.99877858e-01 -3.16394832e-04 -7.51932760e-01] [-6.25291761e-03 2.18707993e-04 9.99980426e-01 -1.64117837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830371743 meters Centerline goodness [0,1] 0.9919478272442936 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.75, Z:-0.16 [[ 9.99827786e-01 1.72095641e-02 6.94472916e-03 1.33737264e+01] [-1.72075386e-02 9.99851878e-01 -3.51318282e-04 -7.52269738e-01] [-6.94974652e-03 2.31756085e-04 9.99975823e-01 -1.64921544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860371743 meters Centerline goodness [0,1] 0.9915731582915688 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.75, Z:-0.17 [[ 9.99797623e-01 1.89187017e-02 6.84080862e-03 1.34025136e+01] [-1.89167795e-02 9.99821002e-01 -3.45591884e-04 -7.52623106e-01] [-6.84612228e-03 2.16115875e-04 9.99976542e-01 -1.65044571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.890371743 meters Centerline goodness [0,1] 0.9919982267538513 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.75, Z:-0.16 [[ 9.99762204e-01 2.06526322e-02 7.00035156e-03 1.34310807e+01] [-2.06506653e-02 9.99786690e-01 -3.53145834e-04 -7.51950878e-01] [-7.00615171e-03 2.08499941e-04 9.99975435e-01 -1.64828117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920371743 meters Centerline goodness [0,1] 0.9920302760463046 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.75, Z:-0.16 [[ 9.99671559e-01 2.41860451e-02 8.47406903e-03 1.34605383e+01] [-2.41832970e-02 9.99707450e-01 -4.26624836e-04 -7.50698411e-01] [-8.48190831e-03 2.21553787e-04 9.99964003e-01 -1.64501291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950371743 meters Centerline goodness [0,1] 0.9923716598292494 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.75, Z:-0.16 [[ 9.99628704e-01 2.55422206e-02 9.48946373e-03 1.34887904e+01] [-2.55388406e-02 9.99673717e-01 -4.77202654e-04 -7.52089956e-01] [-9.49855630e-03 2.34675569e-04 9.99954860e-01 -1.64835087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980371743 meters Centerline goodness [0,1] 0.9925651382662346 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.75, Z:-0.16 [[ 9.99595777e-01 2.66095357e-02 1.00108036e-02 1.35173681e+01] [-2.66058354e-02 9.99645876e-01 -5.02646673e-04 -7.53905926e-01] [-1.00206337e-02 2.36097699e-04 9.99949764e-01 -1.64935819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010371743 meters Centerline goodness [0,1] 0.9927941469021463 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.76, Z:-0.16 [[ 9.99578582e-01 2.72206278e-02 1.00844113e-02 1.35459635e+01] [-2.72169113e-02 9.99629423e-01 -5.05617836e-04 -7.55419164e-01] [-1.00944375e-02 2.30938232e-04 9.99949023e-01 -1.64878966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040371743 meters Centerline goodness [0,1] 0.9918674033149171 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.76, Z:-0.17 [[ 9.99582182e-01 2.71526154e-02 9.90944862e-03 1.35742023e+01] [-2.71490303e-02 9.99631274e-01 -4.96150810e-04 -7.58120907e-01] [-9.91926654e-03 2.26911588e-04 9.99950777e-01 -1.65708766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070371743 meters Centerline goodness [0,1] 0.9922962831780046 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.76, Z:-0.17 [[ 9.99612314e-01 2.62729035e-02 9.21717555e-03 1.36019405e+01] [-2.62697690e-02 9.99654784e-01 -4.60993612e-04 -7.64009902e-01] [-9.22610527e-03 2.18681819e-04 9.99957415e-01 -1.67413953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100371743 meters Centerline goodness [0,1] 0.9923070101538598 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.76, Z:-0.17 [[ 9.99630519e-01 2.57401204e-02 8.73333760e-03 1.36312467e+01] [-2.57372939e-02 9.99668646e-01 -4.35904419e-04 -7.64199276e-01] [-8.74166401e-03 2.10970884e-04 9.99961769e-01 -1.67778079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130371743 meters Centerline goodness [0,1] 0.9918875306704392 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.77, Z:-0.17 [[ 9.99647828e-01 2.51390762e-02 8.49984247e-03 1.36588984e+01] [-2.51363815e-02 9.99683941e-01 -4.23727969e-04 -7.68665044e-01] [-8.50780815e-03 2.09923460e-04 9.99963786e-01 -1.68848834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160371743 meters Centerline goodness [0,1] 0.9931494740563953 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.77, Z:-0.17 [[ 9.99676750e-01 2.41146759e-02 8.05466034e-03 1.36877150e+01] [-2.41122290e-02 9.99709178e-01 -4.00776727e-04 -7.71625290e-01] [-8.06198246e-03 2.06431361e-04 9.99967480e-01 -1.68665907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.190371743 meters Centerline goodness [0,1] 0.992171605484299 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.77, Z:-0.17 [[ 9.99679579e-01 2.40661616e-02 7.84591026e-03 1.37152872e+01] [-2.40638420e-02 9.99710348e-01 -3.89930728e-04 -7.74403167e-01] [-7.85302181e-03 2.01003042e-04 9.99969144e-01 -1.69234964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220371743 meters Centerline goodness [0,1] 0.9928468925930014 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.78, Z:-0.17 [[ 9.99670807e-01 2.44313549e-02 7.83496062e-03 1.37441637e+01] [-2.44290592e-02 9.99701490e-01 -3.88594132e-04 -7.75511330e-01] [-7.84211569e-03 1.97065493e-04 9.99969231e-01 -1.69364683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.250371743 meters Centerline goodness [0,1] 0.9924230709757229 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.78, Z:-0.17 [[ 9.99649744e-01 2.51467705e-02 8.24796089e-03 1.37725115e+01] [-2.51442560e-02 9.99683750e-01 -4.08428920e-04 -7.77638819e-01] [-8.25562314e-03 2.00897026e-04 9.99965902e-01 -1.69723350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280371743 meters Centerline goodness [0,1] 0.9923199152542372 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.78, Z:-0.17 [[ 9.99600510e-01 2.68764433e-02 8.74507840e-03 1.38001030e+01] [-2.68736881e-02 9.99638744e-01 -4.32430977e-04 -7.80593896e-01] [-8.75354139e-03 1.97245716e-04 9.99961668e-01 -1.69917115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.310371743 meters Centerline goodness [0,1] 0.992148449595258 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.78, Z:-0.17 [[ 9.99592801e-01 2.71447090e-02 8.79760567e-03 1.38290631e+01] [-2.71419386e-02 9.99631495e-01 -4.34163768e-04 -7.82221532e-01] [-8.80614896e-03 1.95202904e-04 9.99961206e-01 -1.70073005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340371743 meters Centerline goodness [0,1] 0.9923834334157542 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.78, Z:-0.17 [[ 9.99574019e-01 2.76384935e-02 9.37515150e-03 1.38575568e+01] [-2.76353759e-02 9.99617963e-01 -4.61949726e-04 -7.83486056e-01] [-9.38433744e-03 2.02667109e-04 9.99955946e-01 -1.69370971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.370371743 meters Centerline goodness [0,1] 0.9923834334157542 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.78, Z:-0.17 [[ 9.99575998e-01 2.75668371e-02 9.37518456e-03 1.38858348e+01] [-2.75637226e-02 9.99619942e-01 -4.61277677e-04 -7.84818538e-01] [-9.38433741e-03 2.02667108e-04 9.99955946e-01 -1.69733591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400371743 meters Centerline goodness [0,1] 0.9917888045205722 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.79, Z:-0.17 [[ 9.99592966e-01 2.68269691e-02 9.70649413e-03 1.39138115e+01] [-2.68236023e-02 9.99640069e-01 -4.76901960e-04 -7.88694296e-01] [-9.71579429e-03 2.16344706e-04 9.99952777e-01 -1.69477875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.430371743 meters Centerline goodness [0,1] 0.9924473300649265 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.79, Z:-0.17 [[ 9.99613559e-01 2.59845333e-02 9.87611247e-03 1.39429150e+01] [-2.59810161e-02 9.99662319e-01 -4.84283627e-04 -7.91298052e-01] [-9.88536138e-03 2.27505042e-04 9.99951113e-01 -1.70330072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460371743 meters Centerline goodness [0,1] 0.9918971287651929 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.80, Z:-0.17 [[ 9.99678900e-01 2.32824567e-02 1.00011916e-02 1.39699955e+01] [-2.32787215e-02 9.99728894e-01 -4.89739474e-04 -7.97719537e-01] [-1.00098825e-02 2.56767267e-04 9.99949867e-01 -1.71297192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490371743 meters Centerline goodness [0,1] 0.9915269157973502 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.80, Z:-0.17 [[ 9.99713821e-01 2.17335908e-02 9.99639362e-03 1.39981804e+01] [-2.17297907e-02 9.99763761e-01 -4.88621940e-04 -8.00717494e-01] [-1.00046516e-02 2.71262566e-04 9.99949915e-01 -1.71765467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520371743 meters Centerline goodness [0,1] 0.9906453808823207 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.81, Z:-0.17 [[ 9.99767320e-01 1.93186440e-02 9.59667349e-03 1.40266586e+01] [-1.93150392e-02 9.99813338e-01 -4.68177054e-04 -8.06448289e-01] [-9.60392670e-03 2.82707994e-04 9.99953841e-01 -1.72729344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.550371743 meters Centerline goodness [0,1] 0.9909647779479326 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.81, Z:-0.17 [[ 9.99787405e-01 1.85868952e-02 8.92591818e-03 1.40564623e+01] [-1.85837519e-02 9.99827213e-01 -4.34967549e-04 -8.09689479e-01] [-8.93246059e-03 2.68998028e-04 9.99960069e-01 -1.74012666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580371743 meters Centerline goodness [0,1] 0.9904277792447848 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.81, Z:-0.18 [[ 9.99814181e-01 1.75740649e-02 7.92184762e-03 1.40858259e+01] [-1.75715590e-02 9.99845534e-01 -3.85815443e-04 -8.13450472e-01] [-7.92740431e-03 2.46544538e-04 9.99968547e-01 -1.75502199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.610371743 meters Centerline goodness [0,1] 0.9904277792447848 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.81, Z:-0.18 [[ 9.99815379e-01 1.75057918e-02 7.92185268e-03 1.41141145e+01] [-1.75032846e-02 9.99846731e-01 -3.85711654e-04 -8.14762892e-01] [-7.92739070e-03 2.46982001e-04 9.99968547e-01 -1.75864769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640371743 meters Centerline goodness [0,1] 0.9921816664470505 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.81, Z:-0.18 [[ 9.99833282e-01 1.68357832e-02 7.06861266e-03 1.41431175e+01] [-1.68337729e-02 9.99858243e-01 -3.43802167e-04 -8.14437440e-01] [-7.07339881e-03 2.24753428e-04 9.99974958e-01 -1.76880694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.670371743 meters Centerline goodness [0,1] 0.990787857518863 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.82, Z:-0.18 [[ 9.99844123e-01 1.64092478e-02 6.51662125e-03 1.41705557e+01] [-1.64075318e-02 9.99865337e-01 -3.16702059e-04 -8.23154851e-01] [-6.52094055e-03 2.09731022e-04 9.99978716e-01 -1.78731122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700371743 meters Centerline goodness [0,1] 0.9913704360777099 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.82, Z:-0.18 [[ 9.99840861e-01 1.65383948e-02 6.68832347e-03 1.41989939e+01] [-1.65365956e-02 9.99863209e-01 -3.24215053e-04 -8.21735988e-01] [-6.69277056e-03 2.13561357e-04 9.99977580e-01 -1.78130307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.730371743 meters Centerline goodness [0,1] 0.9901372024722745 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.82, Z:-0.18 [[ 9.99830956e-01 1.69640629e-02 7.09083713e-03 1.42281122e+01] [-1.69620553e-02 9.99856075e-01 -3.43168503e-04 -8.23401436e-01] [-7.09563812e-03 2.22835321e-04 9.99974801e-01 -1.78408013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760371743 meters Centerline goodness [0,1] 0.9908501882497155 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.82, Z:-0.18 [[ 9.99801937e-01 1.85070748e-02 7.31944389e-03 1.42572619e+01] [-1.85049810e-02 9.99828706e-01 -3.53687037e-04 -8.24629691e-01] [-7.32473583e-03 2.18170814e-04 9.99973150e-01 -1.78471463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790371743 meters Centerline goodness [0,1] 0.991200227655802 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.83, Z:-0.18 [[ 9.99785225e-01 1.94585071e-02 7.13236614e-03 1.42865102e+01] [-1.94565473e-02 9.99810644e-01 -3.44061044e-04 -8.25652162e-01] [-7.13771050e-03 2.05215929e-04 9.99974505e-01 -1.78985096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820371743 meters Centerline goodness [0,1] 0.9915099927604589 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.83, Z:-0.18 [[ 9.99769467e-01 2.03310495e-02 6.90365760e-03 1.43138249e+01] [-2.03292350e-02 9.99793284e-01 -3.32904588e-04 -8.27593002e-01] [-6.90899880e-03 1.92481765e-04 9.99976114e-01 -1.79657660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850371743 meters Centerline goodness [0,1] 0.9910190735694823 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.83, Z:-0.18 [[ 9.99734331e-01 2.19858408e-02 6.92024702e-03 1.43414467e+01] [-2.19840618e-02 9.99758266e-01 -3.33037984e-04 -8.30547371e-01] [-6.92589628e-03 1.80814368e-04 9.99975999e-01 -1.81116658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880371743 meters Centerline goodness [0,1] 0.9916091576295323 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.83, Z:-0.18 [[ 9.99731409e-01 2.20808117e-02 7.03900864e-03 1.43700142e+01] [-2.20789787e-02 9.99756172e-01 -3.38023581e-04 -8.29596330e-01] [-7.04475617e-03 1.82518669e-04 9.99975169e-01 -1.81406307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.910371743 meters Centerline goodness [0,1] 0.991720693884703 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.83, Z:-0.18 [[ 9.99765633e-01 2.07142770e-02 6.29272814e-03 1.43991564e+01] [-2.07127872e-02 9.99785422e-01 -3.01834643e-04 -8.32080010e-01] [-6.29763015e-03 1.71423964e-04 9.99980155e-01 -1.82802217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940371743 meters Centerline goodness [0,1] 0.9912240386930165 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.84, Z:-0.18 [[ 9.99798966e-01 1.91093918e-02 6.07117595e-03 1.44268460e+01] [-1.91079773e-02 9.99817384e-01 -2.90913230e-04 -8.35926334e-01] [-6.07562643e-03 1.74846854e-04 9.99981528e-01 -1.83875053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.970371743 meters Centerline goodness [0,1] 0.9906995022268797 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.84, Z:-0.18 [[ 9.99844584e-01 1.67468796e-02 5.50901202e-03 1.44552413e+01] [-1.67456820e-02 9.99859747e-01 -2.63442596e-04 -8.38804315e-01] [-5.51265121e-03 1.71149490e-04 9.99984791e-01 -1.84354238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000371743 meters Centerline goodness [0,1] 0.9904595568169414 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.84, Z:-0.18 [[ 9.99884505e-01 1.39722219e-02 5.97939012e-03 1.44836102e+01] [-1.39707653e-02 9.99902363e-01 -2.85300668e-04 -8.43451168e-01] [-5.98279259e-03 2.01731061e-04 9.99982083e-01 -1.84979028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.030371743 meters Centerline goodness [0,1] 0.9897242342263722 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.85, Z:-0.19 [[ 9.99950795e-01 7.76614605e-03 6.17204861e-03 1.45133292e+01] [-7.76447969e-03 9.99969813e-01 -2.93902146e-04 -8.49858975e-01] [-6.17414478e-03 2.45964939e-04 9.99980910e-01 -1.85377461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060371743 meters Centerline goodness [0,1] 0.9895251396648045 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.85, Z:-0.19 [[ 9.99970305e-01 4.40613867e-03 6.32264539e-03 1.45438260e+01] [-4.40432514e-03 9.99990256e-01 -3.00725624e-04 -8.54637369e-01] [-6.32390882e-03 2.72869707e-04 9.99979967e-01 -1.85639247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.090371743 meters Centerline goodness [0,1] 0.9894764363683901 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.86, Z:-0.19 [[ 9.99974723e-01 1.90369032e-03 6.85056759e-03 1.45750064e+01] [-1.90150244e-03 9.99998139e-01 -3.25871213e-04 -8.58577304e-01] [-6.85117520e-03 3.12836605e-04 9.99976481e-01 -1.85814584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120371743 meters Centerline goodness [0,1] 0.988619828428711 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.86, Z:-0.19 [[ 9.99970899e-01 -4.54265757e-04 7.61541992e-03 1.46059353e+01] [ 4.57032550e-04 9.99999830e-01 -3.61578139e-04 -8.63211063e-01] [-7.61525437e-03 3.65048111e-04 9.99970937e-01 -1.85383850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.150371743 meters Centerline goodness [0,1] 0.988929164119137 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.86, Z:-0.19 [[ 9.99962328e-01 6.56218304e-04 8.65513412e-03 1.46369088e+01] [-6.52659118e-04 9.99999701e-01 -4.14040502e-04 -8.64845257e-01] [-8.65540323e-03 4.08376052e-04 9.99962458e-01 -1.85271237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180371743 meters Centerline goodness [0,1] 0.9891230752429835 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.87, Z:-0.19 [[ 9.99960407e-01 2.22697909e-03 8.61536504e-03 1.46689037e+01] [-2.22350745e-03 9.99997443e-01 -4.12516528e-04 -8.65406248e-01] [-8.61626167e-03 3.93343867e-04 9.99962802e-01 -1.85602046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.210371743 meters Centerline goodness [0,1] 0.9893763525477081 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.86, Z:-0.19 [[ 9.99954947e-01 4.12839856e-03 8.54750881e-03 1.47004084e+01] [-4.12504455e-03 9.99991408e-01 -4.09988790e-04 -8.64691451e-01] [-8.54912796e-03 3.74711464e-04 9.99963385e-01 -1.86005365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240371743 meters Centerline goodness [0,1] 0.9898271044359064 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.86, Z:-0.19 [[ 9.99942372e-01 6.46971474e-03 8.56713219e-03 1.47324278e+01] [-6.46642920e-03 9.99979008e-01 -4.11150232e-04 -8.62519972e-01] [-8.56961237e-03 3.55727784e-04 9.99963217e-01 -1.86827190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.270371743 meters Centerline goodness [0,1] 0.9901435845881504 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.86, Z:-0.19 [[ 9.99902766e-01 1.08834522e-02 8.71826260e-03 1.47626516e+01] [-1.08802113e-02 9.99940721e-01 -4.19077084e-04 -8.61308525e-01] [-8.72230679e-03 3.24179796e-04 9.99961907e-01 -1.88107101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300371743 meters Centerline goodness [0,1] 0.9902865893677533 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.86, Z:-0.19 [[ 9.99872919e-01 1.30365512e-02 9.17572463e-03 1.47940172e+01] [-1.30330523e-02 9.99914969e-01 -4.41015321e-04 -8.56162841e-01] [-9.18069373e-03 3.21371577e-04 9.99957805e-01 -1.88057456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.330371743 meters Centerline goodness [0,1] 0.9904995403003372 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.86, Z:-0.19 [[ 9.99841699e-01 1.47357024e-02 9.97179389e-03 1.48231994e+01] [-1.47316519e-02 9.99891368e-01 -4.79524670e-04 -8.59454786e-01] [-9.97777677e-03 3.32547764e-04 9.99950165e-01 -1.88317212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360371743 meters Centerline goodness [0,1] 0.9910481163744871 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.85, Z:-0.19 [[ 9.99813817e-01 1.62186335e-02 1.04540971e-02 1.48540118e+01] [-1.62142652e-02 9.99868414e-01 -5.02481751e-04 -8.54363788e-01] [-1.04608711e-02 3.32882694e-04 9.99945228e-01 -1.88159425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.390371743 meters Centerline goodness [0,1] 0.9925415823286104 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.85, Z:-0.19 [[ 9.99769161e-01 1.90495772e-02 9.93674966e-03 1.48835036e+01] [-1.90457692e-02 9.99818499e-01 -4.77720412e-04 -8.50740245e-01] [-9.94404650e-03 2.88357095e-04 9.99950515e-01 -1.89157199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420371743 meters Centerline goodness [0,1] 0.9922027718596939 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.85, Z:-0.19 [[ 9.99754320e-01 2.05380086e-02 8.33602984e-03 1.49123319e+01] [-2.05353825e-02 9.99789047e-01 -4.00512332e-04 -8.51187713e-01] [-8.34249705e-03 2.29230373e-04 9.99965174e-01 -1.90272315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450371743 meters Centerline goodness [0,1] 0.9922686639284851 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.85, Z:-0.19 [[ 9.99732058e-01 2.17777683e-02 7.84480434e-03 1.49408674e+01] [-2.17754810e-02 9.99762815e-01 -3.76877686e-04 -8.50828382e-01] [-7.85115123e-03 2.05952317e-04 9.99969158e-01 -1.91622766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480371743 meters Centerline goodness [0,1] 0.9932136168337556 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.85, Z:-0.19 [[ 9.99657138e-01 2.53998955e-02 6.36010436e-03 1.49689330e+01] [-2.53984667e-02 9.99677360e-01 -3.05338121e-04 -8.49759485e-01] [-6.36580790e-03 1.43696534e-04 9.99979728e-01 -1.93468046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.510371743 meters Centerline goodness [0,1] 0.9937189792243158 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.85, Z:-0.19 [[ 9.99596759e-01 2.77343437e-02 6.09312315e-03 1.49976697e+01] [-2.77330790e-02 9.99615322e-01 -2.91968247e-04 -8.49492793e-01] [-6.09887680e-03 1.22869448e-04 9.99981394e-01 -1.94546712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540371743 meters Centerline goodness [0,1] 0.9934884128828572 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.85, Z:-0.19 [[ 9.99526440e-01 3.01672941e-02 6.06877464e-03 1.50264705e+01] [-3.01660870e-02 9.99544858e-01 -2.90367041e-04 -8.49057029e-01] [-6.07477207e-03 1.07158352e-04 9.99981543e-01 -1.94937173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.570371743 meters Centerline goodness [0,1] 0.9943796698331533 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.85, Z:-0.20 [[ 9.99441478e-01 3.28114752e-02 6.33559786e-03 1.50551831e+01] [-3.28102157e-02 9.99461554e-01 -3.02648879e-04 -8.47940451e-01] [-6.34211684e-03 9.46075102e-05 9.99979884e-01 -1.95095101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600371743 meters Centerline goodness [0,1] 0.994609521705512 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.85, Z:-0.19 [[ 9.99261933e-01 3.76674410e-02 7.53350722e-03 1.50833871e+01] [-3.76658030e-02 9.99290327e-01 -3.59245836e-04 -8.46246082e-01] [-7.54169276e-03 7.52250895e-05 9.99971558e-01 -1.94980387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.630371743 meters Centerline goodness [0,1] 0.9946515791102173 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.85, Z:-0.19 [[ 9.99173900e-01 3.97931001e-02 8.24785139e-03 1.51122152e+01] [-3.97912167e-02 9.99207939e-01 -3.92381448e-04 -8.46095376e-01] [-8.25693267e-03 6.38652593e-05 9.99965909e-01 -1.94702557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660371743 meters Centerline goodness [0,1] 0.9951838105337575 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.85, Z:-0.19 [[ 9.98979419e-01 4.38465026e-02 1.08445397e-02 1.51412384e+01] [-4.38434970e-02 9.99038279e-01 -5.14855334e-04 -8.45908211e-01] [-1.08566849e-02 3.88673385e-05 9.99941064e-01 -1.93372392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.690371743 meters Centerline goodness [0,1] 0.9945109450433173 Centerline is valid? [True, True] Translation: X:15.17, Y:-0.85, Z:-0.19 [[ 9.98921990e-01 4.48805575e-02 1.18572481e-02 1.51697021e+01] [-4.48770483e-02 9.98992360e-01 -5.61986982e-04 -8.47343687e-01] [-1.18705225e-02 2.92628598e-05 9.99929542e-01 -1.93284164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720371743 meters Centerline goodness [0,1] 0.9953276177462368 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.85, Z:-0.19 [[ 9.98904825e-01 4.51383706e-02 1.23157554e-02 1.51972429e+01] [-4.51346155e-02 9.98980744e-01 -5.82813476e-04 -8.49456382e-01] [-1.23295097e-02 2.63083102e-05 9.99923988e-01 -1.93592255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.750371743 meters Centerline goodness [0,1] 0.9950955596120433 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.85, Z:-0.19 [[ 9.98932123e-01 4.45627790e-02 1.21972429e-02 1.52247248e+01] [-4.45590688e-02 9.99006585e-01 -5.75903783e-04 -8.52298301e-01] [-1.22107899e-02 3.17910018e-05 9.99925445e-01 -1.94088696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780371743 meters Centerline goodness [0,1] 0.9947652040030793 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.86, Z:-0.20 [[ 9.99089637e-01 4.10678279e-02 1.15469188e-02 1.52528765e+01] [-4.10642835e-02 9.99156358e-01 -5.43982711e-04 -8.58408290e-01] [-1.15595175e-02 6.93215431e-05 9.99933184e-01 -1.95226828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.810371743 meters Centerline goodness [0,1] 0.9946673103932584 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.86, Z:-0.20 [[ 9.99202743e-01 3.83151971e-02 1.12171042e-02 1.52810228e+01] [-3.83116873e-02 9.99265698e-01 -5.27693896e-04 -8.62839702e-01] [-1.12290862e-02 9.75270005e-05 9.99936947e-01 -1.95921339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840371743 meters Centerline goodness [0,1] 0.994259320356318 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.87, Z:-0.20 [[ 9.99435146e-01 3.19809977e-02 1.03249429e-02 1.53090764e+01] [-3.19776940e-02 9.99488465e-01 -4.84942265e-04 -8.70334123e-01] [-1.03351703e-02 1.54500479e-04 9.99946579e-01 -1.96658347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.870371743 meters Centerline goodness [0,1] 0.9932315510481239 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.88, Z:-0.20 [[ 9.99540256e-01 2.86967052e-02 9.78655634e-03 1.53364977e+01] [-2.86935897e-02 9.99588149e-01 -4.58625789e-04 -8.75931440e-01] [-9.79568678e-03 1.77603506e-04 9.99952005e-01 -1.97442313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900371743 meters Centerline goodness [0,1] 0.9932916703085395 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.88, Z:-0.20 [[ 9.99632980e-01 2.53102439e-02 9.65904641e-03 1.53643764e+01] [-2.53070608e-02 9.99679623e-01 -4.51644307e-04 -8.81391112e-01] [-9.66738310e-03 2.07036469e-04 9.99953248e-01 -1.98423838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930371743 meters Centerline goodness [0,1] 0.9932312545179733 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.89, Z:-0.20 [[ 9.99714069e-01 2.20396411e-02 9.27547225e-03 1.53933455e+01] [-2.20365752e-02 9.99757072e-01 -4.32621508e-04 -8.85230176e-01] [-9.28275380e-03 2.28098166e-04 9.99956888e-01 -1.98816281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960371743 meters Centerline goodness [0,1] 0.9923674081805728 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.89, Z:-0.20 [[ 9.99825412e-01 1.60389085e-02 9.58636229e-03 1.54230723e+01] [-1.60353636e-02 9.99871326e-01 -4.46535538e-04 -8.93527303e-01] [-9.59229071e-03 2.92736773e-04 9.99953950e-01 -1.99391842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990371743 meters Centerline goodness [0,1] 0.9920769666100736 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.90, Z:-0.20 [[ 9.99858415e-01 1.33482825e-02 1.02456227e-02 1.54527895e+01] [-1.33440937e-02 9.99910850e-01 -4.77089015e-04 -8.97672703e-01] [-1.02510776e-02 3.40302917e-04 9.99947398e-01 -1.99129967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020371743 meters Centerline goodness [0,1] 0.991364270760642 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.90, Z:-0.20 [[ 9.99884625e-01 1.10057583e-02 1.04694795e-02 1.54825069e+01] [-1.10012612e-02 9.99939366e-01 -4.87036336e-04 -9.03298828e-01] [-1.04742048e-02 3.71802666e-04 9.99945075e-01 -1.99104302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.050371743 meters Centerline goodness [0,1] 0.9913375740865374 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.91, Z:-0.20 [[ 9.99915192e-01 7.50685628e-03 1.06421594e-02 1.55119670e+01] [-7.50201374e-03 9.99971737e-01 -4.94881481e-04 -9.10666259e-01] [-1.06455736e-02 4.15001885e-04 9.99943248e-01 -1.99503328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080371742999997 meters Centerline goodness [0,1] 0.9902223383637115 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.91, Z:-0.20 [[ 9.99920681e-01 6.39120437e-03 1.08528569e-02 1.55436493e+01] [-6.38609491e-03 9.99979481e-01 -5.05383347e-04 -9.14702181e-01] [-1.08558642e-02 4.36035886e-04 9.99940978e-01 -1.99640948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110371742999998 meters Centerline goodness [0,1] 0.9903539784383047 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.92, Z:-0.20 [[ 9.99919154e-01 5.83030678e-03 1.13001256e-02 1.55761835e+01] [-5.82470154e-03 9.99982896e-01 -5.28881121e-04 -9.18115859e-01] [-1.13030158e-02 4.63018504e-04 9.99936012e-01 -1.99406143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140371743 meters Centerline goodness [0,1] 0.9897831346120615 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.92, Z:-0.20 [[ 9.99910182e-01 5.21450169e-03 1.23465321e-02 1.56078883e+01] [-5.20772240e-03 9.99986271e-01 -5.81170561e-04 -9.22196201e-01] [-1.23493931e-02 5.16821049e-04 9.99923610e-01 -1.99640780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170371742999997 meters Centerline goodness [0,1] 0.9900651501049761 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.92, Z:-0.20 [[ 9.99912576e-01 5.05277842e-03 1.22192643e-02 1.56398846e+01] [-5.04609018e-03 9.99987101e-01 -5.78121210e-04 -9.23977876e-01] [-1.22220278e-02 5.16411158e-04 9.99925175e-01 -2.00273723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200371742999998 meters Centerline goodness [0,1] 0.9900458585990307 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.93, Z:-0.20 [[ 9.99914368e-01 5.08924077e-03 1.20563588e-02 1.56733919e+01] [-5.08269759e-03 9.99986919e-01 -5.73294360e-04 -9.25323102e-01] [-1.20591187e-02 5.11966442e-04 9.99927155e-01 -2.01393317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230371743 meters Centerline goodness [0,1] 0.9898587625949381 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.93, Z:-0.20 [[ 9.99921075e-01 4.68969147e-03 1.16555184e-02 1.57046664e+01] [-4.68351115e-03 9.99988877e-01 -5.57487310e-04 -9.29088093e-01] [-1.16580032e-02 5.02854560e-04 9.99931917e-01 -2.02606235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260371742999997 meters Centerline goodness [0,1] 0.9901807777344258 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.93, Z:-0.20 [[ 9.99941723e-01 3.83690321e-03 1.00910363e-02 1.57372254e+01] [-3.83220851e-03 9.99992540e-01 -4.84528958e-04 -9.31097488e-01] [-1.00928201e-02 4.45829766e-04 9.99948967e-01 -2.04840280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.290371742999998 meters Centerline goodness [0,1] 0.9896997016615492 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.94, Z:-0.21 [[ 9.99948870e-01 3.32077223e-03 9.55145133e-03 1.57685950e+01] [-3.31652134e-03 9.99994394e-01 -4.60856790e-04 -9.35689427e-01] [-9.55292819e-03 4.29155634e-04 9.99954278e-01 -2.06275982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320371743 meters Centerline goodness [0,1] 0.9900004357108623 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.94, Z:-0.21 [[ 9.99959736e-01 3.50133392e-03 8.26240777e-03 1.58007463e+01] [-3.49814798e-03 9.99993801e-01 -4.00014267e-04 -9.38231378e-01] [-8.26375714e-03 3.71095035e-04 9.99965786e-01 -2.07769426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350371742999997 meters Centerline goodness [0,1] 0.9902095163501077 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.93, Z:-0.21 [[ 9.99960618e-01 4.35142669e-03 7.73485649e-03 1.58330598e+01] [-4.34864651e-03 9.99990474e-01 -3.76217870e-04 -9.31743845e-01] [-7.73641989e-03 3.42566897e-04 9.99970015e-01 -2.07423743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380371742999998 meters Centerline goodness [0,1] 0.9904080920823161 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.93, Z:-0.21 [[ 9.99954607e-01 5.97782281e-03 7.41955333e-03 1.58644505e+01] [-5.97529136e-03 9.99982082e-01 -3.63307127e-04 -9.32371972e-01] [-7.42159217e-03 3.18956642e-04 9.99972409e-01 -2.07748229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.410371743 meters Centerline goodness [0,1] 0.9910685110554406 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.93, Z:-0.21 [[ 9.99928366e-01 1.00269903e-02 6.53616947e-03 1.58953779e+01] [-1.00251032e-02 9.99949696e-01 -3.21421856e-04 -9.28331980e-01] [-6.53906357e-03 2.55873058e-04 9.99978587e-01 -2.07594088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440371742999996 meters Centerline goodness [0,1] 0.9909506199695454 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.93, Z:-0.21 [[ 9.99865180e-01 1.56262034e-02 5.04407473e-03 1.59254614e+01] [-1.56251498e-02 9.99877889e-01 -2.48225780e-04 -9.25715494e-01] [-5.04733762e-03 1.69377891e-04 9.99987248e-01 -2.08666740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470371742999998 meters Centerline goodness [0,1] 0.9913505740865814 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.92, Z:-0.21 [[ 9.99823562e-01 1.81778844e-02 4.73390688e-03 1.59549062e+01] [-1.81769830e-02 9.99834758e-01 -2.33387516e-04 -9.24465828e-01] [-4.73736713e-03 1.47298192e-04 9.99988768e-01 -2.08986460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500371743 meters Centerline goodness [0,1] 0.9913505740865814 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.93, Z:-0.21 [[ 9.99824837e-01 1.81075924e-02 4.73391223e-03 1.59831955e+01] [-1.81066907e-02 9.99836033e-01 -2.33279080e-04 -9.25796022e-01] [-4.73736015e-03 1.47522734e-04 9.99988768e-01 -2.09349110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530371743 meters Centerline goodness [0,1] 0.9922061569189353 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.93, Z:-0.21 [[ 9.99771300e-01 2.06730718e-02 5.47460294e-03 1.60110339e+01] [-2.06719064e-02 9.99786277e-01 -2.69376188e-04 -9.25445301e-01] [-5.47900172e-03 1.56144102e-04 9.99984978e-01 -2.09778303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560371742999997 meters Centerline goodness [0,1] 0.9917148152185763 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.92, Z:-0.21 [[ 9.99714983e-01 2.31249103e-02 5.93224096e-03 1.60398286e+01] [-2.31235893e-02 9.99732572e-01 -2.91180595e-04 -9.22734234e-01] [-5.93738804e-03 1.53922900e-04 9.99982362e-01 -2.08797022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590371743 meters Centerline goodness [0,1] 0.9923989981487531 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.92, Z:-0.21 [[ 9.99591523e-01 2.77415036e-02 6.86989575e-03 1.60692005e+01] [-2.77398439e-02 9.99615120e-01 -3.36770878e-04 -9.20685257e-01] [-6.87659419e-03 1.46063479e-04 9.99976345e-01 -2.07568952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620371743 meters Centerline goodness [0,1] 0.9924556277528237 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.92, Z:-0.21 [[ 9.99545751e-01 2.89719196e-02 8.30172202e-03 1.60981574e+01] [-2.89695496e-02 9.99580212e-01 -4.05612594e-04 -9.20666716e-01] [-8.30998844e-03 1.64931198e-04 9.99965458e-01 -2.07059238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.650371742999997 meters Centerline goodness [0,1] 0.9926856346735746 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.92, Z:-0.21 [[ 9.99510810e-01 2.98659699e-02 9.28251059e-03 1.61264468e+01] [-2.98630528e-02 9.99553897e-01 -4.52744118e-04 -9.22526594e-01] [-9.29189127e-03 1.75318536e-04 9.99956814e-01 -2.06446030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680371743 meters Centerline goodness [0,1] 0.9934090315844427 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.92, Z:-0.21 [[ 9.99490016e-01 3.01904079e-02 1.04042346e-02 1.61554383e+01] [-3.01867695e-02 9.99544147e-01 -5.06594477e-04 -9.23526593e-01] [-1.04147861e-02 1.92265890e-04 9.99945746e-01 -2.06127502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.710371743 meters Centerline goodness [0,1] 0.9923629242819844 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.93, Z:-0.21 [[ 9.99519839e-01 2.91053936e-02 1.06286316e-02 1.61827146e+01] [-2.91015434e-02 9.99576327e-01 -5.16761651e-04 -9.26908955e-01] [-1.06391691e-02 2.07203939e-04 9.99943381e-01 -2.06544837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740371742999997 meters Centerline goodness [0,1] 0.9923456629047339 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.93, Z:-0.21 [[ 9.99562197e-01 2.78680003e-02 9.93928754e-03 1.62111059e+01] [-2.78645809e-02 9.99611591e-01 -4.82370074e-04 -9.29679447e-01] [-9.94886972e-03 2.05204809e-04 9.99950488e-01 -2.08021776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.770371743 meters Centerline goodness [0,1] 0.9920387677397023 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.93, Z:-0.21 [[ 9.99615303e-01 2.61957887e-02 9.11185959e-03 1.62385666e+01] [-2.61928499e-02 9.99656811e-01 -4.41736233e-04 -9.33698261e-01] [-9.12030413e-03 2.02900729e-04 9.99958389e-01 -2.09711655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800371743 meters Centerline goodness [0,1] 0.9916930551338221 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.94, Z:-0.21 [[ 9.99741564e-01 2.12394307e-02 8.10506471e-03 1.62672665e+01] [-2.12369500e-02 9.99774394e-01 -3.92019636e-04 -9.39583688e-01] [-8.11156243e-03 2.19791470e-04 9.99967077e-01 -2.11220896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830371742999997 meters Centerline goodness [0,1] 0.9907090570450903 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.95, Z:-0.21 [[ 9.99800184e-01 1.83785249e-02 7.86263209e-03 1.62957529e+01] [-1.83761052e-02 9.99831073e-01 -3.79887560e-04 -9.45661618e-01] [-7.86828566e-03 2.35327098e-04 9.99969017e-01 -2.12296344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860371742999998 meters Centerline goodness [0,1] 0.9911703601108033 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.95, Z:-0.21 [[ 9.99848154e-01 1.55962383e-02 7.77347211e-03 1.63249432e+01] [-1.55937923e-02 9.99878339e-01 -3.75170658e-04 -9.47684726e-01] [-7.77837764e-03 2.53895781e-04 9.99969716e-01 -2.12415355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890371743 meters Centerline goodness [0,1] 0.9898636235924702 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.96, Z:-0.21 [[ 9.99921696e-01 1.03440540e-02 7.04283092e-03 1.63542876e+01] [-1.03419197e-02 9.99946463e-01 -3.39386969e-04 -9.55287976e-01] [-7.04596451e-03 2.66524002e-04 9.99975141e-01 -2.13874270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920371742999997 meters Centerline goodness [0,1] 0.9905952716319587 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.96, Z:-0.21 [[ 9.99944587e-01 8.10073859e-03 6.72319682e-03 1.63850637e+01] [-8.09874524e-03 9.99967152e-01 -3.23660988e-04 -9.59264657e-01] [-6.72559788e-03 2.69193595e-04 9.99977347e-01 -2.14708492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.950371742999998 meters Centerline goodness [0,1] 0.9901069402952765 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.96, Z:-0.22 [[ 9.99969701e-01 4.54662671e-03 6.31865651e-03 1.64160487e+01] [-4.54479459e-03 9.99989626e-01 -3.04282237e-04 -9.62923308e-01] [-6.31997442e-03 2.75556022e-04 9.99979991e-01 -2.15730240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980371743 meters Centerline goodness [0,1] 0.9898652314503353 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.97, Z:-0.22 [[ 9.99977425e-01 3.15990115e-03 5.92993616e-03 1.64473932e+01] [-3.15827117e-03 9.99994972e-01 -2.84216375e-04 -9.66131452e-01] [-5.93080444e-03 2.65481613e-04 9.99982377e-01 -2.16472810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.010371742999997 meters Centerline goodness [0,1] 0.9900240723471623 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.97, Z:-0.22 [[ 9.99982986e-01 1.92590257e-03 5.50614393e-03 1.64791909e+01] [-1.92447290e-03 9.99998113e-01 -2.64935919e-04 -9.67570165e-01] [-5.50664379e-03 2.54334986e-04 9.99984806e-01 -2.17154845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040371742999998 meters Centerline goodness [0,1] 0.9898219931569145 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.97, Z:-0.22 [[ 9.99988716e-01 6.09238855e-04 4.71138001e-03 1.65109936e+01] [-6.08174720e-04 9.99999789e-01 -2.27294314e-04 -9.66993224e-01] [-4.71151749e-03 2.24426407e-04 9.99988876e-01 -2.17554349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070371743 meters Centerline goodness [0,1] 0.9905670629659414 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.97, Z:-0.22 [[ 9.99991236e-01 -2.61885497e-03 3.26632376e-03 1.65417436e+01] [ 2.61938989e-03 9.99996557e-01 -1.59500208e-04 -9.70351388e-01] [-3.26589481e-03 1.68054586e-04 9.99994653e-01 -2.19002946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100371742999997 meters Centerline goodness [0,1] 0.9897777584859797 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.97, Z:-0.22 [[ 9.99986934e-01 -4.19246510e-03 2.92481646e-03 1.65728901e+01] [ 4.19289459e-03 9.99991200e-01 -1.40726733e-04 -9.73406800e-01] [-2.92420072e-03 1.52988341e-04 9.99995713e-01 -2.19815560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130371742999998 meters Centerline goodness [0,1] 0.9895864971579815 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.98, Z:-0.22 [[ 9.99975633e-01 -6.29955336e-03 3.00818696e-03 1.66035433e+01] [ 6.30002279e-03 9.99980144e-01 -1.46599135e-04 -9.77390099e-01] [-3.00720372e-03 1.65547209e-04 9.99995465e-01 -2.20385059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160371743 meters Centerline goodness [0,1] 0.9895989403513343 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.98, Z:-0.22 [[ 9.99938035e-01 -1.06292010e-02 3.30850366e-03 1.66341823e+01] [ 1.06297979e-02 9.99943489e-01 -1.62878095e-04 -9.77753184e-01] [-3.30658542e-03 1.98036728e-04 9.99994514e-01 -2.19522744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190371742999996 meters Centerline goodness [0,1] 0.989688035950763 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.98, Z:-0.22 [[ 9.99914336e-01 -1.27238847e-02 3.06972105e-03 1.66653997e+01] [ 1.27244077e-02 9.99919030e-01 -1.50900033e-04 -9.79470170e-01] [-3.06755246e-03 1.89947489e-04 9.99995277e-01 -2.19683847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220371742999998 meters Centerline goodness [0,1] 0.9892445081806923 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.98, Z:-0.22 [[ 9.99894097e-01 -1.43075550e-02 2.66227038e-03 1.66973210e+01] [ 1.43079531e-02 9.99897627e-01 -1.30544802e-04 -9.81697204e-01] [-2.66013006e-03 1.68622617e-04 9.99996448e-01 -2.20039750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250371743 meters Centerline goodness [0,1] 0.9893034176884946 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.98, Z:-0.22 [[ 9.99882289e-01 -1.50611223e-02 2.92766010e-03 1.67296366e+01] [ 1.50616078e-02 9.99886557e-01 -1.43855030e-04 -9.82330874e-01] [-2.92516136e-03 1.87933365e-04 9.99995704e-01 -2.20142782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280371743 meters Centerline goodness [0,1] 0.9895309609315486 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.98, Z:-0.22 [[ 9.99896399e-01 -1.40673955e-02 3.04938196e-03 1.67611986e+01] [ 1.40679189e-02 9.99901031e-01 -1.50270065e-04 -9.80513135e-01] [-3.04696626e-03 1.93152955e-04 9.99995339e-01 -2.20207137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310371742999997 meters Centerline goodness [0,1] 0.990187099306555 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.98, Z:-0.22 [[ 9.99926083e-01 -1.18667583e-02 2.64741918e-03 1.67929443e+01] [ 1.18671453e-02 9.99929574e-01 -1.30520092e-04 -9.79041551e-01] [-2.64568389e-03 1.61927752e-04 9.99996487e-01 -2.20362475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340371743 meters Centerline goodness [0,1] 0.9910796274432638 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.97, Z:-0.22 [[ 9.99986873e-01 -4.36679787e-03 2.68046350e-03 1.68243566e+01] [ 4.36716923e-03 9.99990455e-01 -1.32702871e-04 -9.65678061e-01] [-2.67985843e-03 1.44407167e-04 9.99996399e-01 -2.18721691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370371743 meters Centerline goodness [0,1] 0.9905081327546144 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.97, Z:-0.22 [[ 9.99996276e-01 2.22037811e-04 2.71999247e-03 1.68544089e+01] [-2.21671899e-04 9.99999966e-01 -1.34827529e-04 -9.65227172e-01] [-2.72002231e-03 1.34224081e-04 9.99996292e-01 -2.19612709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400371742999997 meters Centerline goodness [0,1] 0.9912486052464612 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.96, Z:-0.22 [[ 9.99982840e-01 4.61140503e-03 3.61313671e-03 1.68855300e+01] [-4.61078852e-03 9.99989354e-01 -1.78941313e-04 -9.61476287e-01] [-3.61392342e-03 1.62278833e-04 9.99993457e-01 -2.19320202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430371743 meters Centerline goodness [0,1] 0.9912795793163891 Centerline is valid? [True, True] Translation: X:16.92, Y:-0.96, Z:-0.22 [[ 9.99947626e-01 8.99997868e-03 4.87296254e-03 1.69156586e+01] [-8.99890784e-03 9.99959480e-01 -2.41632558e-04 -9.58827527e-01] [-4.87493977e-03 1.97768562e-04 9.99988098e-01 -2.19101651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460371743 meters Centerline goodness [0,1] 0.9921492949716015 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.95, Z:-0.22 [[ 9.99829056e-01 1.68158100e-02 7.68682508e-03 1.69454631e+01] [-1.68133752e-02 9.99858573e-01 -3.81264012e-04 -9.50323822e-01] [-7.69214921e-03 2.51957362e-04 9.99970383e-01 -2.17177544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.490371742999997 meters Centerline goodness [0,1] 0.9923885784680364 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.94, Z:-0.22 [[ 9.99762329e-01 2.02764946e-02 8.00934641e-03 1.69746222e+01] [-2.02739615e-02 9.99794383e-01 -3.97335167e-04 -9.42015597e-01] [-8.01575612e-03 2.34859551e-04 9.99967846e-01 -2.16372309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520371743 meters Centerline goodness [0,1] 0.9926301853486319 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.94, Z:-0.22 [[ 9.99649850e-01 2.54116988e-02 7.37723042e-03 1.70031090e+01] [-2.54096943e-02 9.99677055e-01 -3.65327480e-04 -9.40542378e-01] [-7.38413157e-03 1.77746391e-04 9.99972721e-01 -2.17959345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550371743 meters Centerline goodness [0,1] 0.9923854506930343 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.94, Z:-0.22 [[ 9.99604455e-01 2.73172885e-02 6.68574229e-03 1.70319683e+01] [-2.73156847e-02 9.99626802e-01 -3.31103032e-04 -9.35600156e-01] [-6.69229203e-03 1.48346437e-04 9.99977595e-01 -2.17831119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580371742999997 meters Centerline goodness [0,1] 0.9928076659216146 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.94, Z:-0.22 [[ 9.99577741e-01 2.83860010e-02 6.21091471e-03 1.70602088e+01] [-2.83846390e-02 9.99597028e-01 -3.07349706e-04 -9.35200242e-01] [-6.21713632e-03 1.30925353e-04 9.99980665e-01 -2.18826784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.610371742999998 meters Centerline goodness [0,1] 0.9927081491956867 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.93, Z:-0.22 [[ 9.99543795e-01 2.96927701e-02 5.52636620e-03 1.70887623e+01] [-2.96917146e-02 9.99559067e-01 -2.72950530e-04 -9.33105590e-01] [-5.53203410e-03 1.08738721e-04 9.99984692e-01 -2.20006607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640371743 meters Centerline goodness [0,1] 0.993584638527564 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.93, Z:-0.22 [[ 9.99554575e-01 2.94371896e-02 4.90955251e-03 1.71179152e+01] [-2.94363547e-02 9.99566627e-01 -2.42236379e-04 -9.34450437e-01] [-4.91455560e-03 9.76091519e-05 9.99987919e-01 -2.21016148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670371742999997 meters Centerline goodness [0,1] 0.9927817018355733 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.94, Z:-0.22 [[ 9.99586720e-01 2.84119837e-02 4.37578018e-03 1.71453002e+01] [-2.84113101e-02 9.99596294e-01 -2.16022162e-04 -9.36875149e-01] [-4.38015127e-03 9.16112363e-05 9.99990403e-01 -2.22569994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700371742999998 meters Centerline goodness [0,1] 0.9932008947356765 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.94, Z:-0.22 [[ 9.99652411e-01 2.61176339e-02 3.59538595e-03 1.71743188e+01] [-2.61171662e-02 9.99658873e-01 -1.76983359e-04 -9.38389194e-01] [-3.59878185e-03 8.30205495e-05 9.99993521e-01 -2.23610784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.730371743 meters Centerline goodness [0,1] 0.9933151220378884 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.94, Z:-0.22 [[ 9.99686204e-01 2.48103287e-02 3.45571625e-03 1.72027954e+01] [-2.48098896e-02 9.99692173e-01 -1.69889976e-04 -9.40749335e-01] [-3.45886752e-03 8.41007260e-05 9.99994015e-01 -2.24516263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760371742999997 meters Centerline goodness [0,1] 0.993069548081394 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.94, Z:-0.23 [[ 9.99720278e-01 2.33663817e-02 3.65758067e-03 1.72305032e+01] [-2.33658807e-02 9.99726964e-01 -1.79654503e-04 -9.43829211e-01] [-3.66077989e-03 9.41416559e-05 9.99993295e-01 -2.25505506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790371742999998 meters Centerline goodness [0,1] 0.9935010389495557 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.95, Z:-0.22 [[ 9.99757874e-01 2.15389262e-02 4.50189418e-03 1.72595777e+01] [-2.15381524e-02 9.99768003e-01 -2.20301913e-04 -9.46146421e-01] [-4.50559482e-03 1.23286089e-04 9.99989842e-01 -2.24696860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820371743 meters Centerline goodness [0,1] 0.9932501217191165 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.95, Z:-0.22 [[ 9.99785013e-01 2.01124622e-02 5.04149292e-03 1.72883087e+01] [-2.01114760e-02 9.99797713e-01 -2.46244738e-04 -9.47428766e-01] [-5.04542568e-03 1.44799935e-04 9.99987261e-01 -2.24204570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850371742999997 meters Centerline goodness [0,1] 0.9927958985238221 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.95, Z:-0.22 [[ 9.99812034e-01 1.85382174e-02 5.67726251e-03 1.73164039e+01] [-1.85369437e-02 9.99828138e-01 -2.76895270e-04 -9.50825297e-01] [-5.68141994e-03 1.71604128e-04 9.99983846e-01 -2.24292917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880371742999998 meters Centerline goodness [0,1] 0.9932201143967668 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.95, Z:-0.22 [[ 9.99873203e-01 1.39471123e-02 7.68482925e-03 1.73457284e+01] [-1.39446527e-02 9.99902699e-01 -3.73552977e-04 -9.54012333e-01] [-7.68929149e-03 2.66343336e-04 9.99970401e-01 -2.22842596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.910371743 meters Centerline goodness [0,1] 0.9917892425905598 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.96, Z:-0.22 [[ 9.99896330e-01 1.17043509e-02 8.38669112e-03 1.73742909e+01] [-1.17013475e-02 9.99931454e-01 -4.07099176e-04 -9.57970067e-01] [-8.39088108e-03 3.08921385e-04 9.99964748e-01 -2.22857455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940371742999996 meters Centerline goodness [0,1] 0.9921752738654147 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.96, Z:-0.22 [[ 9.99920874e-01 9.07853317e-03 8.70783437e-03 1.74045043e+01] [-9.07520213e-03 9.99958730e-01 -4.21971255e-04 -9.61244927e-01] [-8.71130588e-03 3.42912509e-04 9.99961997e-01 -2.22958379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.970371742999998 meters Centerline goodness [0,1] 0.9916778582593955 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.97, Z:-0.22 [[ 9.99954432e-01 5.17017909e-03 8.02512382e-03 1.74341343e+01] [-5.16722426e-03 9.99986574e-01 -3.88887918e-04 -9.65358609e-01] [-8.02702670e-03 3.47402582e-04 9.99967723e-01 -2.23776796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000371743 meters Centerline goodness [0,1] 0.9915809373076585 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.97, Z:-0.23 [[ 9.99963935e-01 4.42713571e-03 7.24775691e-03 1.74661748e+01] [-4.42471606e-03 9.99990150e-01 -3.49848419e-04 -9.67801364e-01] [-7.24923434e-03 3.17766535e-04 9.99973673e-01 -2.25186635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030371742999996 meters Centerline goodness [0,1] 0.9919533912278773 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.97, Z:-0.23 [[ 9.99980496e-01 2.68150943e-03 5.64070261e-03 1.74985769e+01] [-2.68000513e-03 9.99996371e-01 -2.74228514e-04 -9.69109457e-01] [-5.64141749e-03 2.59106053e-04 9.99984054e-01 -2.26993686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060371742999997 meters Centerline goodness [0,1] 0.9911392964468799 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.97, Z:-0.23 [[ 9.99986831e-01 2.16063271e-03 4.65509524e-03 1.75309805e+01] [-2.15960851e-03 9.99997643e-01 -2.25031253e-04 -9.70036908e-01] [-4.65557048e-03 2.14975107e-04 9.99989140e-01 -2.28306476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090371743 meters Centerline goodness [0,1] 0.9924699127746495 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.97, Z:-0.23 [[ 9.99991997e-01 1.51512306e-03 3.70262871e-03 1.75619227e+01] [-1.51446902e-03 9.99998837e-01 -1.79439375e-04 -9.73001252e-01] [-3.70289628e-03 1.73830423e-04 9.99993129e-01 -2.29802362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120371743 meters Centerline goodness [0,1] 0.9922057849414881 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.97, Z:-0.23 [[ 9.99996872e-01 7.05585458e-04 2.39973046e-03 1.75930596e+01] [-7.05304713e-04 9.99999744e-01 -1.17834566e-04 -9.72270652e-01] [-2.39981298e-03 1.16141656e-04 9.99997114e-01 -2.31067360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.150371742999997 meters Centerline goodness [0,1] 0.9925538026426267 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.97, Z:-0.23 [[ 9.99997602e-01 7.02574956e-04 2.07420781e-03 1.76247511e+01] [-7.02365178e-04 9.99999748e-01 -1.01863248e-04 -9.72952894e-01] [-2.07427885e-03 1.00406152e-04 9.99997844e-01 -2.31981348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180371743 meters Centerline goodness [0,1] 0.9920139425092105 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.98, Z:-0.23 [[ 9.99997134e-01 1.33564518e-03 1.98708936e-03 1.76555052e+01] [-1.33545379e-03 9.99999104e-01 -9.76396488e-05 -9.75918102e-01] [-1.98721799e-03 9.49857029e-05 9.99998021e-01 -2.33045611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210371743 meters Centerline goodness [0,1] 0.9926535866477273 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.97, Z:-0.23 [[ 9.99992464e-01 3.20165700e-03 2.19563995e-03 1.76864977e+01] [-3.20142712e-03 9.99994870e-01 -1.08205052e-04 -9.73219603e-01] [-2.19597512e-03 1.01175055e-04 9.99997584e-01 -2.33461565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240371742999997 meters Centerline goodness [0,1] 0.9921899199079606 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.97, Z:-0.23 [[ 9.99987112e-01 4.32392763e-03 2.66055855e-03 1.77172228e+01] [-4.32359335e-03 9.99990645e-01 -1.31384077e-04 -9.70521592e-01] [-2.66110175e-03 1.19879210e-04 9.99996452e-01 -2.33066574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.270371743 meters Centerline goodness [0,1] 0.9925861992652592 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.97, Z:-0.23 [[ 9.99979120e-01 5.60029799e-03 3.22432253e-03 1.77463839e+01] [-5.59981311e-03 9.99984308e-01 -1.59391507e-04 -9.70729958e-01] [-3.22516457e-03 1.41332575e-04 9.99994789e-01 -2.33366421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300371743 meters Centerline goodness [0,1] 0.9918098282061526 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.97, Z:-0.23 [[ 9.99963175e-01 7.16687610e-03 4.72064896e-03 1.77763037e+01] [-7.16585571e-03 9.99974298e-01 -2.33032983e-04 -9.69873378e-01] [-4.72219774e-03 1.99196912e-04 9.99988831e-01 -2.32959269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330371742999997 meters Centerline goodness [0,1] 0.9920540061974324 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.97, Z:-0.23 [[ 9.99956652e-01 7.82944480e-03 5.03922065e-03 1.78068788e+01] [-7.82829044e-03 9.99969328e-01 -2.48759149e-04 -9.69584246e-01] [-5.04101373e-03 2.09299883e-04 9.99987272e-01 -2.32884739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360371742999998 meters Centerline goodness [0,1] 0.9916705537415873 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.97, Z:-0.23 [[ 9.99956815e-01 7.62053882e-03 5.31929540e-03 1.78364983e+01] [-7.61924895e-03 9.99970939e-01 -2.62711757e-04 -9.67875898e-01] [-5.32114282e-03 2.22171376e-04 9.99985818e-01 -2.32621819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390371743 meters Centerline goodness [0,1] 0.9916705537415873 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.97, Z:-0.23 [[ 9.99956815e-01 7.62053605e-03 5.31930610e-03 1.78664863e+01] [-7.61924733e-03 9.99970939e-01 -2.62495045e-04 -9.69355828e-01] [-5.32115187e-03 2.21954601e-04 9.99985818e-01 -2.33006149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420371742999997 meters Centerline goodness [0,1] 0.9917617799884532 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.97, Z:-0.23 [[ 9.99960998e-01 6.70510495e-03 5.74840346e-03 1.78959148e+01] [-6.70358415e-03 9.99977490e-01 -2.83788074e-04 -9.70350708e-01] [-5.75017690e-03 2.45242100e-04 9.99983438e-01 -2.32884732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.450371742999998 meters Centerline goodness [0,1] 0.9912027369262896 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.97, Z:-0.23 [[ 9.99967096e-01 5.33890953e-03 6.10765710e-03 1.79266558e+01] [-5.33716865e-03 9.99985712e-01 -3.01295719e-04 -9.70166460e-01] [-6.10917842e-03 2.68688209e-04 9.99981303e-01 -2.32656312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480371743 meters Centerline goodness [0,1] 0.9909655310532055 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.97, Z:-0.23 [[ 9.99973596e-01 3.78338205e-03 6.20428016e-03 1.79570733e+01] [-3.78155646e-03 9.99992803e-01 -3.05951547e-04 -9.73710797e-01] [-6.20539304e-03 2.82481633e-04 9.99980706e-01 -2.33495409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.510371742999997 meters Centerline goodness [0,1] 0.9913360287910428 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.98, Z:-0.23 [[ 9.99973745e-01 3.10379486e-04 7.23967885e-03 1.79880658e+01] [-3.07801749e-04 9.99999889e-01 -3.57168371e-04 -9.75133609e-01] [-7.23978890e-03 3.54930608e-04 9.99973729e-01 -2.33502905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540371742999998 meters Centerline goodness [0,1] 0.9908763184832435 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.98, Z:-0.23 [[ 9.99974088e-01 -1.09157343e-03 7.11562677e-03 1.80201909e+01] [ 1.09409779e-03 9.99999340e-01 -3.50879601e-04 -9.77353805e-01] [-7.11523906e-03 3.58655700e-04 9.99974622e-01 -2.34244812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.570371743 meters Centerline goodness [0,1] 0.9915078105794802 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.97, Z:-0.24 [[ 9.99985110e-01 -2.86389918e-03 4.64519806e-03 1.80528157e+01] [ 2.86499393e-03 9.99995870e-01 -2.29037160e-04 -9.71215431e-01] [-4.64452293e-03 2.42342214e-04 9.99989185e-01 -2.36396722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600371742999997 meters Centerline goodness [0,1] 0.9918078528538583 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.97, Z:-0.24 [[ 9.99991381e-01 -2.95423258e-03 2.91742015e-03 1.80851716e+01] [ 2.95466438e-03 9.99995625e-01 -1.43706475e-04 -9.70227913e-01] [-2.91698284e-03 1.52325233e-04 9.99995734e-01 -2.37981301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.630371742999998 meters Centerline goodness [0,1] 0.9910668423521004 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.97, Z:-0.24 [[ 9.99997508e-01 -2.09288305e-03 7.77698273e-04 1.81167614e+01] [ 2.09291259e-03 9.99997809e-01 -3.71673629e-05 -9.71042158e-01] [-7.77618782e-04 3.87949247e-05 9.99999697e-01 -2.40431346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660371743 meters Centerline goodness [0,1] 0.9913442182956833 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.97, Z:-0.24 [[ 9.99998950e-01 -9.57358877e-04 1.08754701e-03 1.81483130e+01] [ 9.57417754e-04 9.99999540e-01 -5.36173147e-05 -9.68513621e-01] [-1.08749518e-03 5.46584952e-05 9.99999407e-01 -2.40167022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.690371742999996 meters Centerline goodness [0,1] 0.9914455268167058 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.97, Z:-0.24 [[ 9.99997836e-01 6.34920536e-04 1.98121530e-03 1.81794800e+01] [-6.34726975e-04 9.99999794e-01 -9.83256513e-05 -9.68037643e-01] [-1.98127732e-03 9.70679077e-05 9.99998033e-01 -2.39559788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720371742999998 meters Centerline goodness [0,1] 0.991437473382198 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.97, Z:-0.24 [[ 9.99989431e-01 3.04771658e-03 3.44214393e-03 1.82104973e+01] [-3.04714530e-03 9.99995343e-01 -1.71196168e-04 -9.65407640e-01] [-3.44264966e-03 1.60705646e-04 9.99994061e-01 -2.38212264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750371743 meters Centerline goodness [0,1] 0.9910511523327712 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.97, Z:-0.24 [[ 9.99968354e-01 5.83319549e-03 5.40964254e-03 1.82409358e+01] [-5.83182552e-03 9.99982959e-01 -2.68985020e-04 -9.66862200e-01] [-5.41111939e-03 2.37428416e-04 9.99985332e-01 -2.37849596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780371742999996 meters Centerline goodness [0,1] 0.9914053008144715 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.96, Z:-0.24 [[ 9.99891834e-01 1.24280085e-02 7.86544234e-03 1.82722851e+01] [-1.24253132e-02 9.99922726e-01 -3.91446587e-04 -9.59213357e-01] [-7.86969945e-03 2.93673661e-04 9.99968990e-01 -2.35730804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.810371742999997 meters Centerline goodness [0,1] 0.991633403242902 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.95, Z:-0.24 [[ 9.99797604e-01 1.83248036e-02 8.30376725e-03 1.83023538e+01] [-1.83220023e-02 9.99832053e-01 -4.13309360e-04 -9.53837033e-01] [-8.30994647e-03 2.61084065e-04 9.99965438e-01 -2.36555794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840371743 meters Centerline goodness [0,1] 0.9913088510120911 Centerline is valid? [True, True] Translation: X:18.33, Y:-0.95, Z:-0.24 [[ 9.99756550e-01 2.06859214e-02 7.67683368e-03 1.83307687e+01] [-2.06835955e-02 9.99785998e-01 -3.82254548e-04 -9.53521417e-01] [-7.68309811e-03 2.23376966e-04 9.99970460e-01 -2.37785607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870371743 meters Centerline goodness [0,1] 0.9916504502873693 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.95, Z:-0.24 [[ 9.99736565e-01 2.18863045e-02 6.91302634e-03 1.83595751e+01] [-2.18844499e-02 9.99760448e-01 -3.43823545e-04 -9.52938642e-01] [-6.91889533e-03 1.92445191e-04 9.99976046e-01 -2.39256252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900371742999997 meters Centerline goodness [0,1] 0.9912770332873834 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.95, Z:-0.24 [[ 9.99724339e-01 2.28038187e-02 5.58846451e-03 1.83887504e+01] [-2.28026222e-02 9.99739948e-01 -2.77719895e-04 -9.52820749e-01] [-5.59334429e-03 1.50211694e-04 9.99984346e-01 -2.41441297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.930371743 meters Centerline goodness [0,1] 0.9918467183041174 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.95, Z:-0.24 [[ 9.99737638e-01 2.24020929e-02 4.77513320e-03 1.84168474e+01] [-2.24012151e-02 9.99749033e-01 -2.37232828e-04 -9.54691673e-01] [-4.77924931e-03 1.30201801e-04 9.99988571e-01 -2.42613690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960371743 meters Centerline goodness [0,1] 0.9916090594869928 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.96, Z:-0.24 [[ 9.99750615e-01 2.19821534e-02 3.93607454e-03 1.84453618e+01] [-2.19815550e-02 9.99758357e-01 -1.95231988e-04 -9.56406721e-01] [-3.93941504e-03 1.08662261e-04 9.99992235e-01 -2.43721481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990371742999997 meters Centerline goodness [0,1] 0.99210669569951 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.96, Z:-0.25 [[ 9.99774832e-01 2.09657720e-02 3.27430439e-03 1.84727350e+01] [-2.09653522e-02 9.99780190e-01 -1.62487495e-04 -9.58973913e-01] [-3.27699134e-03 9.38039629e-05 9.99994626e-01 -2.45098461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020371743 meters Centerline goodness [0,1] 0.9914956344256718 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.96, Z:-0.24 [[ 9.99783856e-01 2.05090734e-02 3.40860647e-03 1.85014879e+01] [-2.05086154e-02 9.99789662e-01 -1.69261483e-04 -9.58450818e-01] [-3.41136090e-03 9.93190996e-05 9.99994176e-01 -2.44884015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050371743 meters Centerline goodness [0,1] 0.991820921222557 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.96, Z:-0.24 [[ 9.99786124e-01 2.04030978e-02 3.37946726e-03 1.85290715e+01] [-2.04026494e-02 9.99791830e-01 -1.67125813e-04 -9.58994060e-01] [-3.38217364e-03 9.81399837e-05 9.99994276e-01 -2.44830833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080371742999997 meters Centerline goodness [0,1] 0.9922580938110157 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.96, Z:-0.24 [[ 9.99784419e-01 2.04002171e-02 3.86597700e-03 1.85574772e+01] [-2.03996338e-02 9.99791888e-01 -1.90247515e-04 -9.60236917e-01] [-3.86905353e-03 1.11341986e-04 9.99992509e-01 -2.44589741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110371742999998 meters Centerline goodness [0,1] 0.9914636638136536 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.96, Z:-0.24 [[ 9.99783469e-01 2.01921823e-02 5.02909005e-03 1.85858684e+01] [-2.01911958e-02 9.99796107e-01 -2.46865815e-04 -9.61399547e-01] [-5.03304941e-03 1.45269019e-04 9.99987324e-01 -2.44210767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140371743 meters Centerline goodness [0,1] 0.9906635242929659 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.97, Z:-0.24 [[ 9.99791638e-01 1.92681663e-02 6.73931450e-03 1.86132432e+01] [-1.92663784e-02 9.99814332e-01 -3.30120782e-04 -9.66241055e-01] [-6.74442405e-03 2.00209814e-04 9.99977236e-01 -2.43377639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170371742999997 meters Centerline goodness [0,1] 0.9910839239763441 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.97, Z:-0.24 [[ 9.99811229e-01 1.78874942e-02 7.58573756e-03 1.86416544e+01] [-1.78851962e-02 9.99839978e-01 -3.70666092e-04 -9.66829063e-01] [-7.59115397e-03 2.34923716e-04 9.99971159e-01 -2.43424343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200371742999998 meters Centerline goodness [0,1] 0.9907490974729242 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.97, Z:-0.24 [[ 9.99839049e-01 1.63516205e-02 7.38248987e-03 1.86695122e+01] [-1.63494053e-02 9.99866275e-01 -3.60320346e-04 -9.71568748e-01] [-7.38739446e-03 2.39563033e-04 9.99972684e-01 -2.44108479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.230371743 meters Centerline goodness [0,1] 0.9907906050595103 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.97, Z:-0.24 [[ 9.99872098e-01 1.40742291e-02 7.59625681e-03 1.86992199e+01] [-1.40718257e-02 9.99900919e-01 -3.69759932e-04 -9.74579627e-01] [-7.60070825e-03 2.62819438e-04 9.99971080e-01 -2.44337803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260371742999997 meters Centerline goodness [0,1] 0.9900889510994717 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.98, Z:-0.25 [[ 9.99940704e-01 8.56099553e-03 6.73033209e-03 1.87290464e+01] [-8.55898603e-03 9.99963318e-01 -3.27319681e-04 -9.78505933e-01] [-6.73288739e-03 2.69695454e-04 9.99977297e-01 -2.45559258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.290371742999998 meters Centerline goodness [0,1] 0.9899599297645311 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.98, Z:-0.25 [[ 9.99966815e-01 5.49560700e-03 6.01398464e-03 1.87582077e+01] [-5.49394769e-03 9.99984865e-01 -2.92395615e-04 -9.84473139e-01] [-6.01550051e-03 2.59345395e-04 9.99981873e-01 -2.47376464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320371743 meters Centerline goodness [0,1] 0.9894437677628908 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.99, Z:-0.25 [[ 9.99994399e-01 -1.26799611e-03 3.09746045e-03 1.87882724e+01] [ 1.26846819e-03 9.99999184e-01 -1.50447478e-04 -9.89397622e-01] [-3.09726715e-03 1.54375665e-04 9.99995192e-01 -2.49742436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.350371742999997 meters Centerline goodness [0,1] 0.9885982108654995 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.00, Z:-0.25 [[ 9.99988762e-01 -4.31449894e-03 1.96469219e-03 1.88179248e+01] [ 4.31469478e-03 9.99990687e-01 -9.54522417e-05 -9.96219552e-01] [-1.96426207e-03 1.03928216e-04 9.99998065e-01 -2.52287310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380371742999998 meters Centerline goodness [0,1] 0.9884149790700305 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.00, Z:-0.25 [[ 9.99978994e-01 -6.45294541e-03 6.09773718e-04 1.88491015e+01] [ 6.45296428e-03 9.99979179e-01 -2.89746739e-05 -9.95205208e-01] [-6.09574050e-04 3.29089133e-05 9.99999814e-01 -2.53106210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410371743 meters Centerline goodness [0,1] 0.9883120106500598 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.00, Z:-0.26 [[ 9.99942077e-01 -1.06782255e-02 -1.34826241e-03 1.88786676e+01] [ 1.06783233e-02 9.99942983e-01 6.53682685e-05 -1.00042294e+00] [ 1.34748752e-03 -7.97616641e-05 9.99999089e-01 -2.55691868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440371742999996 meters Centerline goodness [0,1] 0.9877419938483807 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.00, Z:-0.26 [[ 9.99928432e-01 -1.18924688e-02 -1.30393979e-03 1.89102541e+01] [ 1.18925625e-02 9.99929279e-01 6.41552941e-05 -1.00364356e+00] [ 1.30308461e-03 -7.96578881e-05 9.99999148e-01 -2.56258652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470371742999998 meters Centerline goodness [0,1] 0.9886058527560299 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.01, Z:-0.26 [[ 9.99918664e-01 -1.27340158e-02 -7.13806130e-04 1.89409658e+01] [ 1.27340444e-02 9.99918918e-01 3.54668284e-05 -1.00724433e+00] [ 7.13296618e-04 -4.45535826e-05 9.99999745e-01 -2.57057750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500371743 meters Centerline goodness [0,1] 0.9880702230054904 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.01, Z:-0.26 [[ 9.99932861e-01 -1.14960016e-02 1.45414081e-03 1.89726993e+01] [ 1.14961162e-02 9.99933915e-01 -7.04659338e-05 -1.00527310e+00] [-1.45323464e-03 8.71781746e-05 9.99998940e-01 -2.55024476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530371742999996 meters Centerline goodness [0,1] 0.9874290623798865 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.00, Z:-0.25 [[ 9.99945822e-01 -1.01620176e-02 2.25530744e-03 1.90045668e+01] [ 1.01622902e-02 9.99948357e-01 -1.09435879e-04 -1.00450237e+00] [-2.25407888e-03 1.32349038e-04 9.99997451e-01 -2.53931835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560371742999997 meters Centerline goodness [0,1] 0.9874680480466894 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.00, Z:-0.25 [[ 9.99955913e-01 -8.53341452e-03 3.91820474e-03 1.90366419e+01] [ 8.53422743e-03 9.99963565e-01 -1.90797662e-04 -9.99854434e-01] [-3.91643382e-03 2.24228101e-04 9.99992306e-01 -2.52305289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590371743 meters Centerline goodness [0,1] 0.9877506823975276 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.00, Z:-0.25 [[ 9.99969569e-01 -5.14718525e-03 5.86245760e-03 1.90661131e+01] [ 5.14895377e-03 9.99986703e-01 -2.86616431e-04 -1.00021001e+00] [-5.86090438e-03 3.16793232e-04 9.99982775e-01 -2.51515271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620371743 meters Centerline goodness [0,1] 0.988530807839931 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.99, Z:-0.25 [[ 9.99973572e-01 -3.54568335e-03 6.34699369e-03 1.90982591e+01] [ 3.54772040e-03 9.99993659e-01 -3.09718261e-04 -9.94849649e-01] [-6.34585528e-03 3.32227434e-04 9.99979810e-01 -2.51769027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.650371742999997 meters Centerline goodness [0,1] 0.9896265560165975 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.99, Z:-0.25 [[ 9.99987741e-01 -7.29378203e-04 4.89745294e-03 1.91300169e+01] [ 7.30557869e-04 9.99999705e-01 -2.39088734e-04 -9.92613285e-01] [-4.89727710e-03 2.42663676e-04 9.99987979e-01 -2.54100140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680371743 meters Centerline goodness [0,1] 0.9884148834673572 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.00, Z:-0.26 [[ 9.99992613e-01 4.25718372e-04 3.82003245e-03 1.91614428e+01] [-4.25009446e-04 9.99999892e-01 -1.86390995e-04 -9.98377222e-01] [-3.82011139e-03 1.84766068e-04 9.99992686e-01 -2.56781728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710371743 meters Centerline goodness [0,1] 0.9888212077658385 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.99, Z:-0.26 [[ 9.99996750e-01 1.00235936e-03 2.34436833e-03 1.91942786e+01] [-1.00209435e-03 9.99999491e-01 -1.14212654e-04 -9.93516376e-01] [-2.34448162e-03 1.11863005e-04 9.99997245e-01 -2.57717342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740371742999997 meters Centerline goodness [0,1] 0.9892910149560452 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.99, Z:-0.26 [[ 9.99998061e-01 1.62590286e-03 1.11112546e-03 1.92260316e+01] [-1.62584369e-03 9.99998677e-01 -5.41501704e-05 -9.94056742e-01] [-1.11121204e-03 5.23435491e-05 9.99999381e-01 -2.59304151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770371743 meters Centerline goodness [0,1] 0.9872765967184604 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.99, Z:-0.26 [[ 9.99998047e-01 1.28209459e-03 -1.50432073e-03 1.92559050e+01] [-1.28198522e-03 9.99999176e-01 7.36663415e-05 -9.94167031e-01] [ 1.50441393e-03 -7.17376806e-05 9.99998866e-01 -2.63063498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800371743 meters Centerline goodness [0,1] 0.9878202339797156 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.99, Z:-0.26 [[ 9.99996918e-01 1.14999438e-03 -2.20031287e-03 1.92852857e+01] [-1.14976050e-03 9.99999333e-01 1.07557978e-04 -9.94957007e-01] [ 2.20043509e-03 -1.05027814e-04 9.99997574e-01 -2.64004961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830371742999997 meters Centerline goodness [0,1] 0.9877694051899865 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.99, Z:-0.26 [[ 9.99995680e-01 1.20219287e-03 -2.68211459e-03 1.93147366e+01] [-1.20184557e-03 9.99999269e-01 1.31095833e-04 -9.91880824e-01] [ 2.68227023e-03 -1.27871779e-04 9.99996395e-01 -2.63953788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860371742999998 meters Centerline goodness [0,1] 0.988066385061053 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.99, Z:-0.27 [[ 9.99990062e-01 3.63118984e-03 -2.58662016e-03 1.93439175e+01] [-3.63087521e-03 9.99993400e-01 1.26324265e-04 -9.93370950e-01] [ 2.58706179e-03 -1.16931315e-04 9.99996647e-01 -2.65157010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890371743 meters Centerline goodness [0,1] 0.9884375721209324 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.99, Z:-0.26 [[ 9.99983707e-01 5.49605627e-03 -1.54265321e-03 1.93733676e+01] [-5.49594874e-03 9.99984894e-01 7.39396270e-05 -9.92385887e-01] [ 1.54303628e-03 -6.54600793e-05 9.99998807e-01 -2.64719860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920371742999997 meters Centerline goodness [0,1] 0.98703798172796 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.99, Z:-0.26 [[ 9.99973917e-01 7.19725774e-03 -6.04167882e-04 1.94023759e+01] [-7.19724177e-03 9.99974099e-01 2.85969273e-05 -9.85987263e-01] [ 6.04358053e-04 -2.42478390e-05 9.99999817e-01 -2.62408140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950371742999998 meters Centerline goodness [0,1] 0.9878732863161325 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.98, Z:-0.26 [[ 9.99933744e-01 1.12551846e-02 2.41430462e-03 1.94312245e+01] [-1.12549315e-02 9.99936654e-01 -1.18420389e-04 -9.81038043e-01] [-2.41548453e-03 9.12397095e-05 9.99997079e-01 -2.59732860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980371743 meters Centerline goodness [0,1] 0.9869342043863742 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.98, Z:-0.26 [[ 9.99909111e-01 1.28527748e-02 4.07129530e-03 1.94600125e+01] [-1.28520702e-02 9.99917389e-01 -1.99172336e-04 -9.79671513e-01] [-4.07351889e-03 1.46829660e-04 9.99991692e-01 -2.58729339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010371742999997 meters Centerline goodness [0,1] 0.9882226228663747 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.98, Z:-0.26 [[ 9.99891587e-01 1.37850899e-02 5.17541730e-03 1.94893691e+01] [-1.37839668e-02 9.99904965e-01 -2.52601408e-04 -9.76862280e-01] [-5.17840758e-03 1.81236242e-04 9.99986576e-01 -2.57931352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040371742999998 meters Centerline goodness [0,1] 0.988397932212112 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.98, Z:-0.26 [[ 9.99869774e-01 1.48229998e-02 6.38066881e-03 1.95179723e+01] [-1.48213181e-02 9.99890110e-01 -3.10757960e-04 -9.76217355e-01] [-6.38457400e-03 2.16147569e-04 9.99979595e-01 -2.57816221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070371743 meters Centerline goodness [0,1] 0.9897846558485781 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.98, Z:-0.26 [[ 9.99851729e-01 1.53658656e-02 7.77241039e-03 1.95453280e+01] [-1.53633920e-02 9.99881905e-01 -3.77858851e-04 -9.77820162e-01] [-7.77729863e-03 2.58392238e-04 9.99969723e-01 -2.58292108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100371742999997 meters Centerline goodness [0,1] 0.9889086901467898 Centerline is valid? [True, True] Translation: X:19.57, Y:-0.98, Z:-0.26 [[ 9.99844442e-01 1.56031903e-02 8.22393680e-03 1.95743876e+01] [-1.56004363e-02 9.99878226e-01 -3.98915545e-04 -9.79463617e-01] [-8.22915969e-03 2.70556488e-04 9.99966103e-01 -2.58658104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.130371742999998 meters Centerline goodness [0,1] 0.9890413525031612 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.98, Z:-0.26 [[ 9.99848416e-01 1.53454944e-02 8.22567751e-03 1.96022557e+01] [-1.53427347e-02 9.99882214e-01 -3.98498401e-04 -9.81638105e-01] [-8.23082380e-03 2.72233607e-04 9.99966089e-01 -2.59871536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160371743 meters Centerline goodness [0,1] 0.988374536031935 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.98, Z:-0.26 [[ 9.99876168e-01 1.44477876e-02 6.23784745e-03 1.96314036e+01] [-1.44461863e-02 9.99895603e-01 -3.01702137e-04 -9.81399576e-01] [-6.24155516e-03 2.11551670e-04 9.99980499e-01 -2.61580764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190371742999996 meters Centerline goodness [0,1] 0.9882616508366199 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.98, Z:-0.26 [[ 9.99898487e-01 1.33093896e-02 5.08686364e-03 1.96588824e+01] [-1.33083093e-02 9.99911410e-01 -2.46153301e-04 -9.84210586e-01] [-5.08968915e-03 1.78430758e-04 9.99987032e-01 -2.63213887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220371742999998 meters Centerline goodness [0,1] 0.9879495606367853 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.99, Z:-0.26 [[ 9.99921838e-01 1.19969252e-02 3.52022371e-03 1.96879867e+01] [-1.19964002e-02 9.99928026e-01 -1.70228403e-04 -9.85100755e-01] [-3.52201256e-03 1.27985086e-04 9.99993790e-01 -2.64771464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250371743 meters Centerline goodness [0,1] 0.9871860346348484 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.99, Z:-0.27 [[ 9.99950936e-01 9.88196588e-03 6.87841982e-04 1.97162800e+01] [-9.88194502e-03 9.99951172e-01 -3.37278518e-05 -9.90763662e-01] [-6.88141693e-04 2.69289803e-05 9.99999763e-01 -2.69198961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280371742999996 meters Centerline goodness [0,1] 0.9876408662987525 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.99, Z:-0.27 [[ 9.99955852e-01 9.38488328e-03 -4.67625723e-04 1.97451817e+01] [-9.38487425e-03 9.99955961e-01 2.15146064e-05 -9.91317385e-01] [ 4.67807041e-04 -1.71250480e-05 9.99999890e-01 -2.70150705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310371742999997 meters Centerline goodness [0,1] 0.9876408662987525 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.99, Z:-0.27 [[ 9.99956521e-01 9.31326325e-03 -4.67627258e-04 1.97734727e+01] [-9.31325422e-03 9.99956630e-01 2.14818888e-05 -9.92615338e-01] [ 4.67807044e-04 -1.71258233e-05 9.99999890e-01 -2.70513538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340371743 meters Centerline goodness [0,1] 0.9893211997399944 Centerline is valid? [True, True] Translation: X:19.80, Y:-0.99, Z:-0.27 [[ 9.99960708e-01 8.76153659e-03 -1.34796613e-03 1.98024579e+01] [-8.76145887e-03 9.99961616e-01 6.35512589e-05 -9.94554740e-01] [ 1.34847119e-03 -5.17386121e-05 9.99999089e-01 -2.71005006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370371743 meters Centerline goodness [0,1] 0.9893510892513282 Centerline is valid? [True, True] Translation: X:19.83, Y:-1.00, Z:-0.27 [[ 9.99964679e-01 8.33806843e-03 -1.05677291e-03 1.98298362e+01] [-8.33802114e-03 9.99965237e-01 4.91551216e-05 -9.97855609e-01] [ 1.05714603e-03 -4.03419906e-05 9.99999440e-01 -2.71393201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400371742999997 meters Centerline goodness [0,1] 0.9902930615081663 Centerline is valid? [True, True] Translation: X:19.86, Y:-1.00, Z:-0.27 [[ 9.99968042e-01 7.98841780e-03 3.15490021e-04 1.98582544e+01] [-7.98841317e-03 9.99968092e-01 -1.59333846e-05 -9.98645150e-01] [-3.15607237e-04 1.34126107e-05 9.99999950e-01 -2.70236330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.430371743 meters Centerline goodness [0,1] 0.9887825341275176 Centerline is valid? [True, True] Translation: X:19.89, Y:-1.00, Z:-0.27 [[ 9.99957734e-01 8.70479952e-03 2.95907427e-03 1.98873364e+01] [-8.70441821e-03 9.99962106e-01 -1.41715851e-04 -1.00003112e+00] [-2.96019575e-03 1.15952841e-04 9.99995612e-01 -2.67864201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460371743 meters Centerline goodness [0,1] 0.9882211371577997 Centerline is valid? [True, True] Translation: X:19.92, Y:-1.00, Z:-0.27 [[ 9.99947415e-01 9.02315130e-03 4.87337382e-03 1.99163316e+01] [-9.02212535e-03 9.99959273e-01 -2.32464997e-04 -1.00215058e+00] [-4.87527291e-03 1.88484583e-04 9.99988098e-01 -2.66803490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490371742999997 meters Centerline goodness [0,1] 0.9879515280706226 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.00, Z:-0.27 [[ 9.99940840e-01 8.89031217e-03 6.26726289e-03 1.99451716e+01] [-8.88861712e-03 9.99960451e-01 -2.98264525e-04 -1.00358804e+00] [-6.26966669e-03 2.42539580e-04 9.99980316e-01 -2.66042031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520371743 meters Centerline goodness [0,1] 0.9883822985957132 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.01, Z:-0.27 [[ 9.99947516e-01 7.62552364e-03 6.84225268e-03 1.99745516e+01] [-7.62347981e-03 9.99970888e-01 -3.24739188e-04 -1.00980675e+00] [-6.84452980e-03 2.72560369e-04 9.99976539e-01 -2.66291210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550371743 meters Centerline goodness [0,1] 0.9883427778420262 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.01, Z:-0.27 [[ 9.99956278e-01 7.05246020e-03 6.14039064e-03 2.00050960e+01] [-7.05080463e-03 9.99975100e-01 -2.91225581e-04 -1.01241071e+00] [-6.14229160e-03 2.47918153e-04 9.99981105e-01 -2.67243146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580371742999997 meters Centerline goodness [0,1] 0.9894605463874636 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.01, Z:-0.27 [[ 9.99967368e-01 6.05601786e-03 5.34677230e-03 2.00354798e+01] [-6.05474837e-03 9.99981638e-01 -2.53585962e-04 -1.01374508e+00] [-5.34820984e-03 2.21204327e-04 9.99985674e-01 -2.67696990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610371742999998 meters Centerline goodness [0,1] 0.9893895549124982 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.02, Z:-0.27 [[ 9.99989261e-01 3.48403142e-03 3.05618530e-03 2.00658122e+01] [-3.48360466e-03 9.99993922e-01 -1.44948325e-04 -1.01803009e+00] [-3.05667173e-03 1.34300227e-04 9.99995319e-01 -2.69348674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640371743 meters Centerline goodness [0,1] 0.9893225331369662 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.02, Z:-0.27 [[ 9.99996551e-01 1.57626537e-03 2.10079926e-03 2.00958396e+01] [-1.57605912e-03 9.99998753e-01 -9.98280837e-05 -1.02041601e+00] [-2.10095399e-03 9.65167555e-05 9.99997788e-01 -2.70522517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670371742999997 meters Centerline goodness [0,1] 0.9884556241536802 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.03, Z:-0.27 [[ 9.99998978e-01 2.45944752e-04 1.40860611e-03 2.01255547e+01] [-2.45851211e-04 9.99999968e-01 -6.65789276e-05 -1.02908907e+00] [-1.40862244e-03 6.62325520e-05 9.99999006e-01 -2.72398038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700371742999998 meters Centerline goodness [0,1] 0.9889439133939882 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.03, Z:-0.27 [[ 9.99999205e-01 -8.30772181e-04 9.48271192e-04 2.01571997e+01] [ 8.30814802e-04 9.99999654e-01 -4.45523488e-05 -1.02730830e+00] [-9.48233851e-04 4.53401512e-05 9.99999549e-01 -2.71944213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.730371743 meters Centerline goodness [0,1] 0.988673361764571 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.04, Z:-0.27 [[ 9.99995769e-01 -2.37310825e-03 1.68240013e-03 2.01872537e+01] [ 2.37324528e-03 9.99997181e-01 -7.94573091e-05 -1.03894970e+00] [-1.68220683e-03 8.34497211e-05 9.99998582e-01 -2.73577292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760371742999997 meters Centerline goodness [0,1] 0.9889387624238538 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.04, Z:-0.27 [[ 9.99994008e-01 -2.76430428e-03 2.08371667e-03 2.02194082e+01] [ 2.76451493e-03 9.99996174e-01 -9.82235254e-05 -1.03599971e+00] [-2.08343718e-03 1.03983403e-04 9.99997824e-01 -2.72173848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.790371742999998 meters Centerline goodness [0,1] 0.9891762013729977 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.04, Z:-0.27 [[ 9.99989518e-01 -3.26474725e-03 3.21016277e-03 2.02512635e+01] [ 3.26525202e-03 9.99994657e-01 -1.52014558e-04 -1.03686431e+00] [-3.20964933e-03 1.62494955e-04 9.99994836e-01 -2.71495314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820371743 meters Centerline goodness [0,1] 0.9873177642703715 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.04, Z:-0.27 [[ 9.99988662e-01 -3.33803379e-03 3.39600489e-03 2.02816704e+01] [ 3.33860072e-03 9.99994414e-01 -1.61284569e-04 -1.04422530e+00] [-3.39544755e-03 1.72620645e-04 9.99994221e-01 -2.72797489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850371742999997 meters Centerline goodness [0,1] 0.9870758551399735 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.05, Z:-0.27 [[ 9.99988310e-01 -3.39309070e-03 3.44489827e-03 2.03125229e+01] [ 3.39367514e-03 9.99994228e-01 -1.63823264e-04 -1.04750986e+00] [-3.44432252e-03 1.75512215e-04 9.99994053e-01 -2.74028320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880371742999998 meters Centerline goodness [0,1] 0.9878332194121667 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.04, Z:-0.27 [[ 9.99987240e-01 -3.46961473e-03 3.67185149e-03 2.03446260e+01] [ 3.47027938e-03 9.99993963e-01 -1.74655567e-04 -1.04303482e+00] [-3.67122334e-03 1.87395689e-04 9.99993243e-01 -2.73560194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910371743 meters Centerline goodness [0,1] 0.9870976566061822 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.05, Z:-0.28 [[ 9.99987608e-01 -3.66826703e-03 3.36570312e-03 2.03751298e+01] [ 3.66882776e-03 9.99993257e-01 -1.60441897e-04 -1.05185606e+00] [-3.36509188e-03 1.72788094e-04 9.99994323e-01 -2.75433305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940371742999996 meters Centerline goodness [0,1] 0.9875031356183439 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.05, Z:-0.28 [[ 9.99983111e-01 -4.60333902e-03 3.54773245e-03 2.04078074e+01] [ 4.60396814e-03 9.99989387e-01 -1.69184176e-04 -1.04902388e+00] [-3.54691598e-03 1.85514966e-04 9.99993692e-01 -2.75291580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970371742999998 meters Centerline goodness [0,1] 0.9871583950278768 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.05, Z:-0.28 [[ 9.99981711e-01 -5.14949488e-03 3.17178442e-03 2.04400195e+01] [ 5.15000087e-03 9.99986727e-01 -1.51382969e-04 -1.05044413e+00] [-3.17096277e-03 1.67714893e-04 9.99994958e-01 -2.75704458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000371743 meters Centerline goodness [0,1] 0.9867545139522159 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.06, Z:-0.28 [[ 9.99975559e-01 -6.78430574e-03 1.68960543e-03 2.04706304e+01] [ 6.78445180e-03 9.99976982e-01 -8.07337782e-05 -1.05624143e+00] [-1.68901882e-03 9.21948516e-05 9.99998569e-01 -2.77511326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030371742999996 meters Centerline goodness [0,1] 0.9865591397849462 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.07, Z:-0.28 [[ 9.99967877e-01 -7.93564651e-03 1.12708092e-03 2.05008058e+01] [ 7.93571099e-03 9.99968510e-01 -5.27515822e-05 -1.06602249e+00] [-1.12662681e-03 6.16940761e-05 9.99999363e-01 -2.80262161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060371742999997 meters Centerline goodness [0,1] 0.9868627406414073 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.06, Z:-0.28 [[ 9.99960143e-01 -8.91899839e-03 4.04657217e-04 2.05330721e+01] [ 8.91900666e-03 9.99960225e-01 -1.86426009e-05 -1.06327669e+00] [-4.04474848e-04 2.22509983e-05 9.99999918e-01 -2.80489345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090371743 meters Centerline goodness [0,1] 0.9885151577175866 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.07, Z:-0.28 [[ 9.99941322e-01 -1.07397702e-02 -1.41789999e-03 2.05633769e+01] [ 1.07398788e-02 9.99942323e-01 6.90614575e-05 -1.06923649e+00] [ 1.41707650e-03 -8.42854791e-05 9.99998992e-01 -2.83630939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120371742999996 meters Centerline goodness [0,1] 0.9877717701275295 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.07, Z:-0.28 [[ 9.99930445e-01 -1.15195570e-02 -2.53092973e-03 2.05957834e+01] [ 1.15199059e-02 9.99933636e-01 1.23320315e-04 -1.06573337e+00] [ 2.52934117e-03 -1.52467809e-04 9.99996790e-01 -2.83219656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150371742999997 meters Centerline goodness [0,1] 0.9882007243570762 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.07, Z:-0.28 [[ 9.99918696e-01 -1.22673892e-02 -3.48034537e-03 2.06269068e+01] [ 1.22680521e-02 9.99924730e-01 1.69187307e-04 -1.06926734e+00] [ 3.47800792e-03 -2.11870610e-04 9.99993929e-01 -2.84348724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180371743 meters Centerline goodness [0,1] 0.9882687927107061 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.07, Z:-0.28 [[ 9.99911563e-01 -1.28065871e-02 -3.58586718e-03 2.06591101e+01] [ 1.28072959e-02 9.99917968e-01 1.74767807e-04 -1.07086873e+00] [ 3.58333484e-03 -2.20677613e-04 9.99993555e-01 -2.84223716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210371743 meters Centerline goodness [0,1] 0.9885949735931524 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.07, Z:-0.28 [[ 9.99911107e-01 -1.30441781e-02 -2.76164176e-03 2.06913915e+01] [ 1.30446005e-02 9.99914906e-01 1.34998778e-04 -1.07339722e+00] [ 2.75964582e-03 -1.71011291e-04 9.99996178e-01 -2.84193521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240371742999997 meters Centerline goodness [0,1] 0.9878007224153207 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.07, Z:-0.28 [[ 9.99928264e-01 -1.19393214e-02 -9.58917848e-04 2.07217591e+01] [ 1.19393727e-02 9.99928722e-01 4.78886409e-05 -1.07492240e+00] [ 9.58277740e-04 -5.93340832e-05 9.99999539e-01 -2.82829636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270371743 meters Centerline goodness [0,1] 0.9883871260405089 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.07, Z:-0.28 [[ 9.99934268e-01 -1.14301136e-02 9.00826770e-04 2.07537019e+01] [ 1.14301569e-02 9.99934673e-01 -4.29710897e-05 -1.07322729e+00] [-9.00276757e-04 5.32648565e-05 9.99999593e-01 -2.81371921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300371743 meters Centerline goodness [0,1] 0.9885309072667989 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.07, Z:-0.28 [[ 9.99943986e-01 -1.01730314e-02 2.92120978e-03 2.07855276e+01] [ 1.01734889e-02 9.99948239e-01 -1.41797081e-04 -1.07376458e+00] [-2.91961606e-03 1.71508034e-04 9.99995723e-01 -2.80601065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.330371742999997 meters Centerline goodness [0,1] 0.9888382687927108 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.08, Z:-0.28 [[ 9.99944504e-01 -9.93157253e-03 3.51476904e-03 2.08177475e+01] [ 9.93223395e-03 9.99950660e-01 -1.70777543e-04 -1.07537694e+00] [-3.51289953e-03 2.05677574e-04 9.99993809e-01 -2.80737092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360371742999998 meters Centerline goodness [0,1] 0.9888770344811931 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.08, Z:-0.28 [[ 9.99948512e-01 -9.66724241e-03 3.08499234e-03 2.08485746e+01] [ 9.66775160e-03 9.99953255e-01 -1.50183584e-04 -1.07952784e+00] [-3.08339627e-03 1.80000791e-04 9.99995230e-01 -2.81605644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390371743 meters Centerline goodness [0,1] 0.9882731871073105 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.08, Z:-0.28 [[ 9.99947734e-01 -9.91638261e-03 2.48909116e-03 2.08791539e+01] [ 9.91671488e-03 9.99950821e-01 -1.21185701e-04 -1.08487383e+00] [-2.48776702e-03 1.45862974e-04 9.99996895e-01 -2.82918403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420371742999997 meters Centerline goodness [0,1] 0.9900428678355145 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.08, Z:-0.28 [[ 9.99937444e-01 -1.11661207e-02 6.52974284e-04 2.09108994e+01] [ 1.11661435e-02 9.99937656e-01 -3.13181782e-05 -1.08361511e+00] [-6.52583872e-04 3.86074236e-05 9.99999786e-01 -2.84303725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.450371742999998 meters Centerline goodness [0,1] 0.9902552309829011 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.08, Z:-0.29 [[ 9.99927328e-01 -1.20485749e-02 -4.14125614e-04 2.09429018e+01] [ 1.20485848e-02 9.99927413e-01 2.12557702e-05 -1.08494642e+00] [ 4.13839452e-04 -2.62438531e-05 9.99999914e-01 -2.85351781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480371743 meters Centerline goodness [0,1] 0.9907847732599149 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.09, Z:-0.29 [[ 9.99915204e-01 -1.29561960e-02 -1.31203991e-03 2.09744662e+01] [ 1.29562927e-02 9.99916062e-01 6.51657984e-05 -1.08876071e+00] [ 1.31108548e-03 -8.21594456e-05 9.99999137e-01 -2.86729592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510371742999997 meters Centerline goodness [0,1] 0.9901218904345462 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.09, Z:-0.29 [[ 9.99903330e-01 -1.37860326e-02 -1.81010219e-03 2.10051489e+01] [ 1.37862176e-02 9.99904962e-01 8.97312388e-05 -1.09324624e+00] [ 1.80869312e-03 -1.14677027e-04 9.99998358e-01 -2.87843331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540371742999998 meters Centerline goodness [0,1] 0.9902723294256366 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.09, Z:-0.29 [[ 9.99890587e-01 -1.45529112e-02 -2.65063249e-03 2.10371888e+01] [ 1.45533108e-02 9.99894086e-01 1.31510624e-04 -1.09407026e+00] [ 2.64843789e-03 -1.70071714e-04 9.99996478e-01 -2.88105928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570371743 meters Centerline goodness [0,1] 0.9908231873523533 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.10, Z:-0.29 [[ 9.99894499e-01 -1.42108798e-02 -3.00707291e-03 2.10696321e+01] [ 1.42113927e-02 9.99899002e-01 1.49282710e-04 -1.09613012e+00] [ 3.00464776e-03 -1.92001655e-04 9.99995468e-01 -2.89089074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600371742999997 meters Centerline goodness [0,1] 0.9905285393054262 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.10, Z:-0.29 [[ 9.99912558e-01 -1.29819683e-02 -2.51878168e-03 2.11006363e+01] [ 1.29823237e-02 9.99915718e-01 1.24820446e-04 -1.09786587e+00] [ 2.51694898e-03 -1.57509170e-04 9.99996820e-01 -2.89484857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.630371742999998 meters Centerline goodness [0,1] 0.9909881207045651 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.10, Z:-0.29 [[ 9.99923293e-01 -1.22140519e-02 -2.05554164e-03 2.11327334e+01] [ 1.22142884e-02 9.99925398e-01 1.02552129e-04 -1.09906849e+00] [ 2.05413571e-03 -1.27651240e-04 9.99997882e-01 -2.89536243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660371743 meters Centerline goodness [0,1] 0.9896982073973224 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.10, Z:-0.29 [[ 9.99934136e-01 -1.13955869e-02 -1.36506767e-03 2.11636466e+01] [ 1.13956907e-02 9.99935065e-01 6.82527800e-05 -1.10300249e+00] [ 1.36420125e-03 -8.38041735e-05 9.99999066e-01 -2.89984927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690371742999996 meters Centerline goodness [0,1] 0.9902773676199995 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.11, Z:-0.29 [[ 9.99945616e-01 -1.04259250e-02 2.55528944e-04 2.11953475e+01] [ 1.04259284e-02 9.99945648e-01 -1.19952625e-05 -1.10530086e+00] [-2.55389994e-04 1.46587366e-05 9.99999967e-01 -2.89019567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720371742999998 meters Centerline goodness [0,1] 0.988868022716474 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.11, Z:-0.29 [[ 9.99946847e-01 -1.02750861e-02 8.51491513e-04 2.12267333e+01] [ 1.02751252e-02 9.99947209e-01 -4.15724016e-05 -1.10829742e+00] [-8.51019402e-04 5.03193738e-05 9.99999637e-01 -2.88596005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750371743 meters Centerline goodness [0,1] 0.9904514085303767 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.10, Z:-0.29 [[ 9.99944130e-01 -1.03950427e-02 1.91851829e-03 2.12593996e+01] [ 1.03952428e-02 9.99945964e-01 -9.43736010e-05 -1.10475535e+00] [-1.91743361e-03 1.14311792e-04 9.99998155e-01 -2.87240389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780371742999996 meters Centerline goodness [0,1] 0.9894501423214205 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.11, Z:-0.29 [[ 9.99926038e-01 -1.20145987e-02 1.88869853e-03 2.12912283e+01] [ 1.20147957e-02 9.99927815e-01 -9.30291351e-05 -1.10956680e+00] [-1.88744449e-03 1.15714582e-04 9.99998212e-01 -2.87851688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.810371742999997 meters Centerline goodness [0,1] 0.9904152632411782 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.11, Z:-0.29 [[ 9.99911184e-01 -1.32793205e-02 1.13319585e-03 2.13221875e+01] [ 1.32793914e-02 9.99911823e-01 -5.50252077e-05 -1.11431362e+00] [-1.13236523e-03 7.00684717e-05 9.99999356e-01 -2.89195274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840371743 meters Centerline goodness [0,1] 0.9901309846431797 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.12, Z:-0.29 [[ 9.99892726e-01 -1.46350121e-02 5.94472250e-04 2.13535795e+01] [ 1.46350319e-02 9.99892902e-01 -2.89861342e-05 -1.11871525e+00] [-5.93984370e-04 3.76831450e-05 9.99999823e-01 -2.90482735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870371742999996 meters Centerline goodness [0,1] 0.9900596421471173 Centerline is valid? [True, True] Translation: X:21.39, Y:-1.12, Z:-0.29 [[ 9.99871065e-01 -1.60528647e-02 -3.97979075e-04 2.13856078e+01] [ 1.60528742e-02 9.99871144e-01 2.08059508e-05 -1.12339700e+00] [ 3.97593798e-04 -2.71919763e-05 9.99999921e-01 -2.91557081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900371742999997 meters Centerline goodness [0,1] 0.9902800956204051 Centerline is valid? [True, True] Translation: X:21.42, Y:-1.13, Z:-0.29 [[ 9.99823551e-01 -1.85944262e-02 -2.66715558e-03 2.14163037e+01] [ 1.85948493e-02 9.99827092e-01 1.33908551e-04 -1.12697543e+00] [ 2.66420445e-03 -1.83480279e-04 9.99996434e-01 -2.93144880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.930371743 meters Centerline goodness [0,1] 0.9896601330695918 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.14, Z:-0.30 [[ 9.99791054e-01 -2.00106514e-02 -4.17405402e-03 2.14459402e+01] [ 2.00116979e-02 9.99799724e-01 2.09116178e-04 -1.13884864e+00] [ 4.16903350e-03 -2.92602392e-04 9.99991267e-01 -2.95959178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960371743 meters Centerline goodness [0,1] 0.9901771264161122 Centerline is valid? [True, True] Translation: X:21.48, Y:-1.14, Z:-0.30 [[ 9.99768434e-01 -2.08167622e-02 -5.45350249e-03 2.14777539e+01] [ 2.08185642e-02 9.99783233e-01 2.73870460e-04 -1.13941103e+00] [ 5.44661926e-03 -3.87341132e-04 9.99985092e-01 -2.96494227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990371742999997 meters Centerline goodness [0,1] 0.9905303882315893 Centerline is valid? [True, True] Translation: X:21.51, Y:-1.14, Z:-0.30 [[ 9.99743556e-01 -2.17418140e-02 -6.33362394e-03 2.15087247e+01] [ 2.17442645e-02 9.99763515e-01 3.18289518e-04 -1.14476157e+00] [ 6.32520595e-03 -4.55927889e-04 9.99979892e-01 -2.98468615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020371743 meters Centerline goodness [0,1] 0.9904271814116536 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.14, Z:-0.30 [[ 9.99715909e-01 -2.26036412e-02 -7.56156087e-03 2.15412347e+01] [ 2.26071635e-02 9.99744353e-01 3.80663289e-04 -1.14451610e+00] [ 7.55102341e-03 -5.51500589e-04 9.99971339e-01 -2.98523091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050371743 meters Centerline goodness [0,1] 0.9902912621359223 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.15, Z:-0.30 [[ 9.99719489e-01 -2.25588522e-02 -7.21401480e-03 2.15732404e+01] [ 2.25620610e-02 9.99745378e-01 3.63719054e-04 -1.14742202e+00] [ 7.20397287e-03 -5.26380068e-04 9.99973913e-01 -2.98363194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080371742999997 meters Centerline goodness [0,1] 0.9906749955060219 Centerline is valid? [True, True] Translation: X:21.61, Y:-1.15, Z:-0.30 [[ 9.99740183e-01 -2.18332389e-02 -6.54803742e-03 2.16056972e+01] [ 2.18358707e-02 9.99761514e-01 3.30683280e-04 -1.15039882e+00] [ 6.53925592e-03 -4.73579461e-04 9.99978507e-01 -2.97732021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.110371742999998 meters Centerline goodness [0,1] 0.9895971123018631 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.15, Z:-0.30 [[ 9.99799606e-01 -1.94599771e-02 -4.69655672e-03 2.16365107e+01] [ 1.94613033e-02 9.99810583e-01 2.36839306e-04 -1.15141139e+00] [ 4.69105822e-03 -3.28192959e-04 9.99988943e-01 -2.95701436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140371743 meters Centerline goodness [0,1] 0.990542031661675 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.15, Z:-0.29 [[ 9.99832925e-01 -1.79647893e-02 -3.37469619e-03 2.16686284e+01] [ 1.79654685e-02 9.99838593e-01 1.71053770e-04 -1.14890788e+00] [ 3.37107854e-03 -2.31653189e-04 9.99994291e-01 -2.94128487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170371742999997 meters Centerline goodness [0,1] 0.9907721322885561 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.15, Z:-0.29 [[ 9.99867098e-01 -1.61430701e-02 -2.27762338e-03 2.16986106e+01] [ 1.61433773e-02 9.99869680e-01 1.16520143e-04 -1.15200033e+00] [ 2.27544557e-03 -1.53273190e-04 9.99997399e-01 -2.94016943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200371742999998 meters Centerline goodness [0,1] 0.9907721322885561 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.15, Z:-0.29 [[ 9.99868250e-01 -1.60715320e-02 -2.27763850e-03 2.17303349e+01] [ 1.60718383e-02 9.99870833e-01 1.16220308e-04 -1.15366501e+00] [ 2.27547646e-03 -1.52810834e-04 9.99997399e-01 -2.94423021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.230371743 meters Centerline goodness [0,1] 0.9898078043098427 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.15, Z:-0.29 [[ 9.99913273e-01 -1.31571991e-02 -5.78277289e-04 2.17607322e+01] [ 1.31572182e-02 9.99913440e-01 2.92748499e-05 -1.15412168e+00] [ 5.77842058e-04 -3.68808314e-05 9.99999832e-01 -2.93560962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260371742999997 meters Centerline goodness [0,1] 0.989916870196509 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.16, Z:-0.29 [[ 9.99929100e-01 -1.19077809e-02 1.63673484e-06 2.17908850e+01] [ 1.19077809e-02 9.99929100e-01 1.45344786e-07 -1.15726016e+00] [-1.63834954e-06 -1.25844602e-07 1.00000000e+00 -2.94108475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.290371742999998 meters Centerline goodness [0,1] 0.9900546546008422 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.16, Z:-0.29 [[ 9.99938531e-01 -1.10875620e-02 2.49958757e-05 2.18226791e+01] [ 1.10875621e-02 9.99938531e-01 -3.47640709e-07 -1.15811032e+00] [-2.49904847e-05 6.24762661e-07 1.00000000e+00 -2.94071169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320371743 meters Centerline goodness [0,1] 0.9906577565205731 Centerline is valid? [True, True] Translation: X:21.85, Y:-1.16, Z:-0.29 [[ 9.99949576e-01 -1.00420973e-02 4.62559573e-05 2.18540722e+01] [ 1.00420974e-02 9.99949577e-01 -1.43749003e-06 -1.16257918e+00] [-4.62391895e-05 1.90192437e-06 9.99999999e-01 -2.94798902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.350371742999997 meters Centerline goodness [0,1] 0.9902538480496493 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.17, Z:-0.30 [[ 9.99955693e-01 -9.38096101e-03 -7.80410507e-04 2.18860131e+01] [ 9.38099553e-03 9.99955997e-01 4.05869309e-05 -1.16634497e+00] [ 7.79995422e-04 -4.79061601e-05 9.99999695e-01 -2.96273930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380371742999998 meters Centerline goodness [0,1] 0.9912257140299042 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.17, Z:-0.30 [[ 9.99956457e-01 -9.24156017e-03 -1.29553243e-03 2.19177822e+01] [ 9.24165456e-03 9.99957293e-01 6.68961802e-05 -1.16706583e+00] [ 1.29485887e-03 -7.88661305e-05 9.99999159e-01 -2.96930137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410371743 meters Centerline goodness [0,1] 0.9916503384396153 Centerline is valid? [True, True] Translation: X:21.95, Y:-1.17, Z:-0.30 [[ 9.99957532e-01 -8.86548360e-03 -2.51728399e-03 2.19485882e+01] [ 8.86583638e-03 9.99960689e-01 1.29017513e-04 -1.17126709e+00] [ 2.51604123e-03 -1.51329862e-04 9.99996823e-01 -2.98615620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440371742999996 meters Centerline goodness [0,1] 0.9921085576321201 Centerline is valid? [True, True] Translation: X:21.98, Y:-1.18, Z:-0.30 [[ 9.99958374e-01 -8.58134936e-03 -3.09998643e-03 2.19796922e+01] [ 8.58188299e-03 9.99963162e-01 1.58878857e-04 -1.17537802e+00] [ 3.09850884e-03 -1.85475964e-04 9.99995182e-01 -2.99974633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470371742999998 meters Centerline goodness [0,1] 0.9915608980816153 Centerline is valid? [True, True] Translation: X:22.01, Y:-1.18, Z:-0.30 [[ 9.99955427e-01 -8.19473391e-03 -4.68932770e-03 2.20122468e+01] [ 8.19595175e-03 9.99966384e-01 2.40546692e-04 -1.17792736e+00] [ 4.68719885e-03 -2.78969473e-04 9.99988976e-01 -3.00990797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500371743 meters Centerline goodness [0,1] 0.9921004341404467 Centerline is valid? [True, True] Translation: X:22.04, Y:-1.18, Z:-0.30 [[ 9.99957890e-01 -7.63884236e-03 -5.08590743e-03 2.20433197e+01] [ 7.64026601e-03 9.99970779e-01 2.60550789e-04 -1.17791226e+00] [ 5.08376850e-03 -2.99397502e-04 9.99987033e-01 -3.00619140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.530371742999996 meters Centerline goodness [0,1] 0.991747518679603 Centerline is valid? [True, True] Translation: X:22.07, Y:-1.18, Z:-0.30 [[ 9.99961821e-01 -6.87561400e-03 -5.39274145e-03 2.20739244e+01] [ 6.87720269e-03 9.99976314e-01 2.76108052e-04 -1.18091162e+00] [ 5.39071530e-03 -3.13184486e-04 9.99985421e-01 -3.01164704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560371742999997 meters Centerline goodness [0,1] 0.991699207854513 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.19, Z:-0.30 [[ 9.99975927e-01 -4.76129305e-03 -5.04730427e-03 2.21034119e+01] [ 4.76265523e-03 9.99988625e-01 2.57896427e-04 -1.18579871e+00] [ 5.04601893e-03 -2.81928788e-04 9.99987229e-01 -3.01887918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590371743 meters Centerline goodness [0,1] 0.9923063199678872 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.18, Z:-0.30 [[ 9.99983621e-01 -3.62940909e-03 -4.42540687e-03 2.21330553e+01] [ 3.63044335e-03 9.99993384e-01 2.25698833e-04 -1.18234774e+00] [ 4.42455844e-03 -2.41761325e-04 9.99990182e-01 -3.00118558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620371742999996 meters Centerline goodness [0,1] 0.9913936887050504 Centerline is valid? [True, True] Translation: X:22.16, Y:-1.19, Z:-0.30 [[ 9.99989734e-01 -2.52527626e-03 -3.76228602e-03 2.21625346e+01] [ 2.52601635e-03 9.99996791e-01 1.91974899e-04 -1.18583131e+00] [ 3.76178915e-03 -2.01476524e-04 9.99992904e-01 -3.00783415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650371742999997 meters Centerline goodness [0,1] 0.9919371004744192 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.19, Z:-0.30 [[ 9.99992860e-01 -1.33743307e-03 -3.53415437e-03 2.21928567e+01] [ 1.33807846e-03 9.99999089e-01 1.80257301e-04 -1.18543317e+00] [ 3.53391007e-03 -1.84984990e-04 9.99993739e-01 -3.00011713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680371743 meters Centerline goodness [0,1] 0.9919753224400385 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.19, Z:-0.30 [[ 9.99993404e-01 6.72186140e-06 -3.63199196e-03 2.22218973e+01] [-6.06196146e-06 9.99999983e-01 1.81701892e-04 -1.18776299e+00] [ 3.63199312e-03 -1.81678676e-04 9.99993388e-01 -3.00460028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.710371743 meters Centerline goodness [0,1] 0.9927416841074053 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.19, Z:-0.30 [[ 9.99994476e-01 1.60938409e-04 -3.32000100e-03 2.22510094e+01] [-1.60391191e-04 9.99999974e-01 1.65090337e-04 -1.18989176e+00] [ 3.32002748e-03 -1.64556926e-04 9.99994475e-01 -3.01020884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740371742999997 meters Centerline goodness [0,1] 0.9924991096866097 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.19, Z:-0.30 [[ 9.99994552e-01 3.28448820e-04 -3.28457836e-03 2.22796247e+01] [-3.27908280e-04 9.99999933e-01 1.65106193e-04 -1.19270302e+00] [ 3.28463236e-03 -1.64028253e-04 9.99994592e-01 -3.01145511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.770371743 meters Centerline goodness [0,1] 0.992228383102857 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.20, Z:-0.30 [[ 9.99996805e-01 -1.23147018e-04 -2.52484534e-03 2.23086026e+01] [ 1.23467575e-04 9.99999984e-01 1.26805869e-04 -1.19612495e+00] [ 2.52482969e-03 -1.27117200e-04 9.99996805e-01 -3.01265712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800371743 meters Centerline goodness [0,1] 0.9920599716110717 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.20, Z:-0.30 [[ 9.99995754e-01 -2.12156753e-03 -1.99787245e-03 2.23383494e+01] [ 2.12177316e-03 9.99997744e-01 1.00810183e-04 -1.20172591e+00] [ 1.99765407e-03 -1.05048788e-04 9.99997999e-01 -3.00572489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830371742999997 meters Centerline goodness [0,1] 0.9911396880109594 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.21, Z:-0.30 [[ 9.99991897e-01 -3.59229589e-03 -1.81675539e-03 2.23674062e+01] [ 3.59246797e-03 9.99993543e-01 9.14637074e-05 -1.20621845e+00] [ 1.81641509e-03 -9.79896018e-05 9.99998346e-01 -3.00676457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860371742999998 meters Centerline goodness [0,1] 0.9912335074825113 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.21, Z:-0.30 [[ 9.99973190e-01 -6.78349116e-03 -2.75733960e-03 2.23973162e+01] [ 6.78390129e-03 9.99976979e-01 1.39416573e-04 -1.21450396e+00] [ 2.75633039e-03 -1.58118355e-04 9.99996189e-01 -3.01658679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.890371743 meters Centerline goodness [0,1] 0.9908366533864542 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.22, Z:-0.30 [[ 9.99960397e-01 -8.29645917e-03 -3.22085350e-03 2.24275182e+01] [ 8.29702665e-03 9.99965566e-01 1.62867067e-04 -1.22011456e+00] [ 3.21939137e-03 -1.89584124e-04 9.99994800e-01 -3.02892124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920371742999997 meters Centerline goodness [0,1] 0.9915511697527442 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.22, Z:-0.30 [[ 9.99945386e-01 -9.70569092e-03 -3.87620103e-03 2.24594787e+01] [ 9.70652821e-03 9.99952871e-01 1.97253249e-04 -1.21654960e+00] [ 3.87410387e-03 -2.34866931e-04 9.99992468e-01 -3.01605240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.950371742999998 meters Centerline goodness [0,1] 0.9915327688512567 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.22, Z:-0.30 [[ 9.99934234e-01 -1.08168839e-02 -3.81085687e-03 2.24905459e+01] [ 1.08176991e-02 9.99941468e-01 1.93387090e-04 -1.22018209e+00] [ 3.80854197e-03 -2.34599074e-04 9.99992720e-01 -3.02112084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980371743 meters Centerline goodness [0,1] 0.9905317308971573 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.24, Z:-0.31 [[ 9.99918736e-01 -1.23185830e-02 -3.28249582e-03 2.25202773e+01] [ 1.23192012e-02 9.99924102e-01 1.68181803e-04 -1.23727342e+00] [ 3.28017492e-03 -2.08605862e-04 9.99994598e-01 -3.05277094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.010371742999997 meters Centerline goodness [0,1] 0.9914493941474869 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.23, Z:-0.30 [[ 9.99916634e-01 -1.25528394e-02 -3.02503716e-03 2.25528449e+01] [ 1.25533644e-02 9.99921191e-01 1.54645610e-04 -1.23019232e+00] [ 3.02285752e-03 -1.92607111e-04 9.99995413e-01 -3.02956925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040371742999998 meters Centerline goodness [0,1] 0.9918333112612016 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.23, Z:-0.30 [[ 9.99923293e-01 -1.21352429e-02 -2.47882621e-03 2.25834415e+01] [ 1.21355943e-02 9.99926353e-01 1.26785832e-04 -1.23392843e+00] [ 2.47710508e-03 -1.56858136e-04 9.99996920e-01 -3.02972403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070371743 meters Centerline goodness [0,1] 0.9904213290957646 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.24, Z:-0.30 [[ 9.99934924e-01 -1.11739726e-02 -2.29998475e-03 2.26144127e+01] [ 1.11742724e-02 9.99937559e-01 1.17536379e-04 -1.23554851e+00] [ 2.29852779e-03 -1.43229386e-04 9.99997348e-01 -3.02742031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100371742999997 meters Centerline goodness [0,1] 0.9901215469613259 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.24, Z:-0.30 [[ 9.99958556e-01 -8.97420210e-03 -1.53268453e-03 2.26444431e+01] [ 8.97433258e-03 9.99959727e-01 7.82789168e-05 -1.23841598e+00] [ 1.53192031e-03 -9.20304933e-05 9.99998822e-01 -3.02329386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.130371742999998 meters Centerline goodness [0,1] 0.9907163855794523 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.24, Z:-0.30 [[ 9.99967654e-01 -8.00374285e-03 -7.94607253e-04 2.26754179e+01] [ 8.00377789e-03 9.99967968e-01 4.09287162e-05 -1.24036716e+00] [ 7.94254217e-04 -4.72872522e-05 9.99999683e-01 -3.02465720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160371743 meters Centerline goodness [0,1] 0.990657920890479 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.24, Z:-0.30 [[ 9.99976103e-01 -6.89752549e-03 -4.65464575e-04 2.27070867e+01] [ 6.89753759e-03 9.99976211e-01 2.43957062e-05 -1.24217300e+00] [ 4.65285233e-04 -2.76056826e-05 9.99999891e-01 -3.02579227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190371742999996 meters Centerline goodness [0,1] 0.9906467661691543 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.24, Z:-0.30 [[ 9.99985216e-01 -5.39097890e-03 -7.10298943e-04 2.27382850e+01] [ 5.39100632e-03 9.99985468e-01 3.66923317e-05 -1.24328103e+00] [ 7.10090813e-04 -4.05210154e-05 9.99999747e-01 -3.02991142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220371742999998 meters Centerline goodness [0,1] 0.990556462645073 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.25, Z:-0.30 [[ 9.99987281e-01 -4.92226170e-03 -1.09996790e-03 2.27691849e+01] [ 4.92232720e-03 9.99987884e-01 5.68491001e-05 -1.24611432e+00] [ 1.09967475e-03 -6.22627789e-05 9.99999393e-01 -3.03863965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.250371743 meters Centerline goodness [0,1] 0.9908905987441408 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.25, Z:-0.31 [[ 9.99986053e-01 -5.04972547e-03 -1.54753393e-03 2.28000626e+01] [ 5.04985460e-03 9.99987246e-01 7.95486765e-05 -1.24803010e+00] [ 1.54711249e-03 -8.73623884e-05 9.99998799e-01 -3.05048542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280371742999996 meters Centerline goodness [0,1] 0.9914062326961838 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.24, Z:-0.30 [[ 9.99981946e-01 -5.41163245e-03 -2.61206935e-03 2.28318422e+01] [ 5.41200116e-03 9.99985346e-01 1.34108580e-04 -1.24080166e+00] [ 2.61130532e-03 -1.48242681e-04 9.99996580e-01 -3.03765214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.310371742999997 meters Centerline goodness [0,1] 0.9917258726446317 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.24, Z:-0.31 [[ 9.99967238e-01 -7.13273590e-03 -3.82711048e-03 2.28629577e+01] [ 7.13353967e-03 9.99974537e-01 1.96409931e-04 -1.24395958e+00] [ 3.82561209e-03 -2.23704340e-04 9.99992657e-01 -3.05668314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340371743 meters Centerline goodness [0,1] 0.9916620467901097 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.24, Z:-0.31 [[ 9.99952990e-01 -8.59078448e-03 -4.49621170e-03 2.28943629e+01] [ 8.59190896e-03 9.99963062e-01 2.30839733e-04 -1.24457647e+00] [ 4.49406253e-03 -2.69459923e-04 9.99989865e-01 -3.05977760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370371742999996 meters Centerline goodness [0,1] 0.9912766240092105 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.25, Z:-0.31 [[ 9.99936558e-01 -1.01184892e-02 -4.94928680e-03 2.29241802e+01] [ 1.01198695e-02 9.99948761e-01 2.53909342e-04 -1.25138155e+00] [ 4.94646402e-03 -3.03979370e-04 9.99987720e-01 -3.08288527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400371742999997 meters Centerline goodness [0,1] 0.9914516733129173 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.26, Z:-0.31 [[ 9.99915950e-01 -1.17237677e-02 -5.53595897e-03 2.29545866e+01] [ 1.17255194e-02 9.99931213e-01 2.84068394e-04 -1.25516566e+00] [ 5.53224782e-03 -3.48956512e-04 9.99984636e-01 -3.09346800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.430371743 meters Centerline goodness [0,1] 0.9914204846983903 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.25, Z:-0.31 [[ 9.99862242e-01 -1.54408567e-02 -6.08906306e-03 2.29857884e+01] [ 1.54430455e-02 9.99880700e-01 3.12622052e-04 -1.25421536e+00] [ 6.08350948e-03 -4.06612664e-04 9.99981413e-01 -3.08972036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460371743 meters Centerline goodness [0,1] 0.9912265154200638 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.25, Z:-0.31 [[ 9.99842171e-01 -1.68678405e-02 -5.57757944e-03 2.30170828e+01] [ 1.68697015e-02 9.99857655e-01 2.86774738e-04 -1.25340740e+00] [ 5.57194823e-03 -3.80821577e-04 9.99984404e-01 -3.08087666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490371742999997 meters Centerline goodness [0,1] 0.9911082673256404 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.26, Z:-0.31 [[ 9.99801133e-01 -1.94517922e-02 -4.39577778e-03 2.30471941e+01] [ 1.94529727e-02 9.99810747e-01 2.25955164e-04 -1.25756740e+00] [ 4.39055064e-03 -3.11421174e-04 9.99990313e-01 -3.07789490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520371743 meters Centerline goodness [0,1] 0.9909195351508993 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.26, Z:-0.31 [[ 9.99782821e-01 -2.04908683e-02 -3.79943356e-03 2.30797156e+01] [ 2.04917614e-02 9.99790003e-01 1.96290426e-04 -1.25853169e+00] [ 3.79461353e-03 -2.74104882e-04 9.99992763e-01 -3.07239221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.550371743 meters Centerline goodness [0,1] 0.9902843864114197 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.26, Z:-0.31 [[ 9.99770494e-01 -2.11976819e-02 -3.10130454e-03 2.31119940e+01] [ 2.11982815e-02 9.99775278e-01 1.60610884e-04 -1.26014210e+00] [ 3.09720303e-03 -2.26316350e-04 9.99995178e-01 -3.06998731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580371742999997 meters Centerline goodness [0,1] 0.989295488655425 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.26, Z:-0.31 [[ 9.99763842e-01 -2.16307634e-02 -2.09054239e-03 2.31438081e+01] [ 2.16310377e-02 9.99766016e-01 1.08707710e-04 -1.26216277e+00] [ 2.08770180e-03 -1.53902639e-04 9.99997809e-01 -3.06751584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610371742999998 meters Centerline goodness [0,1] 0.9888729122884636 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.26, Z:-0.31 [[ 9.99742641e-01 -2.26798137e-02 -5.27722008e-04 2.31750468e+01] [ 2.26798315e-02 9.99742779e-01 2.79192506e-05 -1.26387527e+00] [ 5.26953063e-04 -3.98807115e-05 9.99999860e-01 -3.05765027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640371743 meters Centerline goodness [0,1] 0.9886132033673017 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.27, Z:-0.31 [[ 9.99733079e-01 -2.31033903e-02 -7.11994788e-05 2.32059503e+01] [ 2.31033908e-02 9.99733081e-01 5.22109992e-06 -1.26601328e+00] [ 7.10598492e-05 -6.86465568e-06 9.99999997e-01 -3.06034430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.670371742999997 meters Centerline goodness [0,1] 0.9888896251629006 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.27, Z:-0.31 [[ 9.99722892e-01 -2.35401449e-02 7.86053834e-06 2.32382590e+01] [ 2.35401449e-02 9.99722892e-01 4.77896392e-07 -1.26758048e+00] [-7.86960988e-06 -2.92725753e-07 1.00000000e+00 -3.06409553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700371742999998 meters Centerline goodness [0,1] 0.9877616961005621 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.27, Z:-0.31 [[ 9.99710177e-01 -2.40708058e-02 -3.97217109e-04 2.32705415e+01] [ 2.40708162e-02 9.99710256e-01 2.14866683e-05 -1.26901320e+00] [ 3.96584816e-04 -3.10417810e-05 9.99999921e-01 -3.07129791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.730371743 meters Centerline goodness [0,1] 0.9874880759589147 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.27, Z:-0.31 [[ 9.99687208e-01 -2.49603025e-02 -1.57156868e-03 2.33010991e+01] [ 2.49604640e-02 9.99688436e-01 8.32417247e-05 -1.27057217e+00] [ 1.56900130e-03 -1.22442771e-04 9.99998762e-01 -3.08523147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760371742999997 meters Centerline goodness [0,1] 0.9874128668472228 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.27, Z:-0.31 [[ 9.99677901e-01 -2.53018535e-02 -1.97758682e-03 2.33327301e+01] [ 2.53021076e-02 9.99679845e-01 1.03579312e-04 -1.27173913e+00] [ 1.97433293e-03 -1.53583063e-04 9.99998039e-01 -3.09475037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.790371742999998 meters Centerline goodness [0,1] 0.9893491650545883 Centerline is valid? [True, True] Translation: X:23.37, Y:-1.27, Z:-0.31 [[ 9.99665018e-01 -2.57690767e-02 -2.40974679e-03 2.33653668e+01] [ 2.57694561e-02 9.99667904e-01 1.26504456e-04 -1.26507128e+00] [ 2.40568662e-03 -1.88559943e-04 9.99997089e-01 -3.08600550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820371743 meters Centerline goodness [0,1] 0.9883889049536223 Centerline is valid? [True, True] Translation: X:23.40, Y:-1.27, Z:-0.31 [[ 9.99626591e-01 -2.71403133e-02 -3.17514666e-03 2.33957612e+01] [ 2.71409759e-02 9.99631602e-01 1.65764278e-04 -1.26838362e+00] [ 3.16947805e-03 -2.51878959e-04 9.99994945e-01 -3.10461070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.850371742999997 meters Centerline goodness [0,1] 0.9875552790062001 Centerline is valid? [True, True] Translation: X:23.43, Y:-1.27, Z:-0.31 [[ 9.99610760e-01 -2.76949333e-02 -3.36435609e-03 2.34266213e+01] [ 2.76956824e-02 9.99616385e-01 1.76244700e-04 -1.27218538e+00] [ 3.35818439e-03 -2.69354236e-04 9.99994325e-01 -3.11691180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880371742999998 meters Centerline goodness [0,1] 0.9876905954368391 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.27, Z:-0.31 [[ 9.99577021e-01 -2.87908849e-02 -4.10656152e-03 2.34590236e+01] [ 2.87920115e-02 9.99585401e-01 2.15487683e-04 -1.27214937e+00] [ 4.09865487e-03 -3.33632703e-04 9.99991545e-01 -3.12174538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.910371743 meters Centerline goodness [0,1] 0.9872570386514256 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.28, Z:-0.31 [[ 9.99563845e-01 -2.92611627e-02 -3.98787948e-03 2.34898882e+01] [ 2.92622289e-02 9.99571747e-01 2.09263867e-04 -1.27617998e+00] [ 3.98004835e-03 -3.25866838e-04 9.99992026e-01 -3.12838325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940371742999996 meters Centerline goodness [0,1] 0.9889645352200418 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.27, Z:-0.31 [[ 9.99516821e-01 -3.08256068e-02 -3.98841522e-03 2.35216649e+01] [ 3.08266854e-02 9.99524723e-01 2.09234952e-04 -1.26830847e+00] [ 3.98006982e-03 -3.32083475e-04 9.99992024e-01 -3.11007975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.970371742999998 meters Centerline goodness [0,1] 0.9886651553540472 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.27, Z:-0.31 [[ 9.99495468e-01 -3.15059289e-02 -4.02319618e-03 2.35541989e+01] [ 3.15070349e-02 9.99503508e-01 2.11804925e-04 -1.26985428e+00] [ 4.01452559e-03 -3.38457045e-04 9.99991884e-01 -3.11082666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000371743 meters Centerline goodness [0,1] 0.9896375361352012 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.27, Z:-0.31 [[ 9.99477519e-01 -3.20808714e-02 -3.93774449e-03 2.35867466e+01] [ 3.20819366e-02 9.99485221e-01 2.07624877e-04 -1.26945589e+00] [ 3.92905663e-03 -3.33846866e-04 9.99992225e-01 -3.11213435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.030371742999996 meters Centerline goodness [0,1] 0.988281336861533 Centerline is valid? [True, True] Translation: X:23.62, Y:-1.27, Z:-0.31 [[ 9.99471288e-01 -3.22768767e-02 -3.91751592e-03 2.36181348e+01] [ 3.22779324e-02 9.99478910e-01 2.06541437e-04 -1.27349661e+00] [ 3.90880803e-03 -3.32881550e-04 9.99992305e-01 -3.11783271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060371742999997 meters Centerline goodness [0,1] 0.9880629529186858 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.27, Z:-0.31 [[ 9.99476231e-01 -3.21777234e-02 -3.44336869e-03 2.36504895e+01] [ 3.21785403e-02 9.99482120e-01 1.82087696e-04 -1.27459478e+00] [ 3.43572627e-03 -2.92794902e-04 9.99994055e-01 -3.12194956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.090371743 meters Centerline goodness [0,1] 0.9881105826925641 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.27, Z:-0.31 [[ 9.99483976e-01 -3.19540036e-02 -3.27480315e-03 2.36829396e+01] [ 3.19547422e-02 9.99489302e-01 1.73450935e-04 -1.27470092e+00] [ 3.26758826e-03 -2.78006920e-04 9.99994623e-01 -3.12170561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120371742999996 meters Centerline goodness [0,1] 0.9881105826925641 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.28, Z:-0.31 [[ 9.99487385e-01 -3.18471827e-02 -3.27476050e-03 2.37155503e+01] [ 3.18479233e-02 9.99492711e-01 1.74258710e-04 -1.27651321e+00] [ 3.26754960e-03 -2.78463704e-04 9.99994623e-01 -3.12588251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.150371742999997 meters Centerline goodness [0,1] 0.9880610951777496 Centerline is valid? [True, True] Translation: X:23.75, Y:-1.28, Z:-0.31 [[ 9.99508149e-01 -3.12115539e-02 -3.04940579e-03 2.37479764e+01] [ 3.12121927e-02 9.99512768e-01 1.62114328e-04 -1.27760897e+00] [ 3.04286018e-03 -2.57213233e-04 9.99995337e-01 -3.12705604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180371743 meters Centerline goodness [0,1] 0.9887245635494273 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.27, Z:-0.31 [[ 9.99542632e-01 -3.01361837e-02 -2.51741578e-03 2.37798367e+01] [ 3.01366152e-02 9.99545780e-01 1.33633282e-04 -1.27477417e+00] [ 2.51224512e-03 -2.09438553e-04 9.99996822e-01 -3.11240051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.210371743 meters Centerline goodness [0,1] 0.9885272561206532 Centerline is valid? [True, True] Translation: X:23.81, Y:-1.27, Z:-0.31 [[ 9.99564825e-01 -2.94120363e-02 -2.25666454e-03 2.38126735e+01] [ 2.94123833e-02 9.99567355e-01 1.20747939e-04 -1.27257080e+00] [ 2.25213677e-03 -1.87069275e-04 9.99997446e-01 -3.10627681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240371742999997 meters Centerline goodness [0,1] 0.988242380973629 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.28, Z:-0.31 [[ 9.99583172e-01 -2.88031978e-02 -1.96430007e-03 2.38439730e+01] [ 2.88034592e-02 9.99585089e-01 1.04894296e-04 -1.27636055e+00] [ 1.96046377e-03 -1.61429210e-04 9.99998065e-01 -3.11834982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.270371743 meters Centerline goodness [0,1] 0.9886927374301676 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.28, Z:-0.31 [[ 9.99591523e-01 -2.85121747e-02 -1.96044607e-03 2.38759584e+01] [ 2.85124352e-02 9.99593432e-01 1.05051846e-04 -1.27679976e+00] [ 1.95665376e-03 -1.60906027e-04 9.99998073e-01 -3.12272214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300371743 meters Centerline goodness [0,1] 0.9887776088706072 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.28, Z:-0.31 [[ 9.99603033e-01 -2.80850227e-02 -2.23781702e-03 2.39080615e+01] [ 2.80853611e-02 9.99605521e-01 1.19953652e-04 -1.27654143e+00] [ 2.23356535e-03 -1.82755934e-04 9.99997489e-01 -3.13515731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.330371742999997 meters Centerline goodness [0,1] 0.9893152341912506 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.28, Z:-0.31 [[ 9.99601481e-01 -2.80995244e-02 -2.70116512e-03 2.39400080e+01] [ 2.81000176e-02 9.99605106e-01 1.44794499e-04 -1.27801896e+00] [ 2.69602979e-03 -2.20639583e-04 9.99996341e-01 -3.14072348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360371742999998 meters Centerline goodness [0,1] 0.9885268266499676 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.28, Z:-0.32 [[ 9.99614655e-01 -2.76080091e-02 -2.88780465e-03 2.39712456e+01] [ 2.76085703e-02 9.99618799e-01 1.54658175e-04 -1.28029369e+00] [ 2.88243401e-03 -2.34326736e-04 9.99995818e-01 -3.15202428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.390371743 meters Centerline goodness [0,1] 0.9881593110871906 Centerline is valid? [True, True] Translation: X:24.00, Y:-1.28, Z:-0.32 [[ 9.99646174e-01 -2.63576411e-02 -3.57805425e-03 2.40013532e+01] [ 2.63584928e-02 9.99652536e-01 1.91060623e-04 -1.28051932e+00] [ 3.57177510e-03 -2.85305138e-04 9.99993580e-01 -3.15631164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420371742999997 meters Centerline goodness [0,1] 0.9882769596306009 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.28, Z:-0.32 [[ 9.99677097e-01 -2.51744216e-02 -3.45696527e-03 2.40325930e+01] [ 2.51752107e-02 9.99683037e-01 1.84945799e-04 -1.28076855e+00] [ 3.45121363e-03 -2.71915908e-04 9.99994008e-01 -3.15619173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.450371742999998 meters Centerline goodness [0,1] 0.9886912925200656 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.28, Z:-0.32 [[ 9.99708190e-01 -2.39456577e-02 -3.18430332e-03 2.40639274e+01] [ 2.39463216e-02 9.99713231e-01 1.70515868e-04 -1.27821817e+00] [ 3.17930704e-03 -2.46718462e-04 9.99994916e-01 -3.15201769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480371743 meters Centerline goodness [0,1] 0.9889594506653502 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.28, Z:-0.32 [[ 9.99781488e-01 -2.07370319e-02 -2.63644689e-03 2.40946742e+01] [ 2.07374753e-02 9.99784945e-01 1.40962081e-04 -1.27672130e+00] [ 2.63295678e-03 -1.95604532e-04 9.99996515e-01 -3.15230091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.510371742999997 meters Centerline goodness [0,1] 0.9892463421782357 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.28, Z:-0.32 [[ 9.99806130e-01 -1.94860636e-02 -2.82784459e-03 2.41266773e+01] [ 1.94865707e-02 9.99810107e-01 1.51889700e-04 -1.27540074e+00] [ 2.82434787e-03 -2.06965246e-04 9.99995990e-01 -3.15202273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540371742999998 meters Centerline goodness [0,1] 0.9892596595514725 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.28, Z:-0.32 [[ 9.99836086e-01 -1.79234564e-02 -2.55950401e-03 2.41578787e+01] [ 1.79238666e-02 9.99839345e-01 1.37404511e-04 -1.27594816e+00] [ 2.55663005e-03 -1.83258197e-04 9.99996715e-01 -3.15967739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.570371743 meters Centerline goodness [0,1] 0.9892650143208317 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.27, Z:-0.32 [[ 9.99878413e-01 -1.53274905e-02 -2.86847704e-03 2.41890741e+01] [ 1.53279944e-02 9.99882508e-01 1.53761279e-04 -1.27211550e+00] [ 2.86578325e-03 -1.97710583e-04 9.99995874e-01 -3.16103264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600371742999997 meters Centerline goodness [0,1] 0.988751127141569 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.28, Z:-0.32 [[ 9.99891145e-01 -1.44174376e-02 -3.13623542e-03 2.42200829e+01] [ 1.44180374e-02 9.99896040e-01 1.68719108e-04 -1.27996782e+00] [ 3.13347688e-03 -2.13919102e-04 9.99995068e-01 -3.18505770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.630371742999998 meters Centerline goodness [0,1] 0.9892674770662931 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.27, Z:-0.32 [[ 9.99902517e-01 -1.36297564e-02 -3.03095111e-03 2.42525070e+01] [ 1.36303145e-02 9.99907090e-01 1.63525232e-04 -1.27382543e+00] [ 3.02844069e-03 -2.04822108e-04 9.99995393e-01 -3.17368337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660371743 meters Centerline goodness [0,1] 0.9883439878922045 Centerline is valid? [True, True] Translation: X:24.28, Y:-1.28, Z:-0.32 [[ 9.99913616e-01 -1.29087037e-02 -2.47524020e-03 2.42834622e+01] [ 1.29090738e-02 9.99916666e-01 1.33608401e-04 -1.28287835e+00] [ 2.47330921e-03 -1.65549918e-04 9.99996928e-01 -3.19599214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.690371742999996 meters Centerline goodness [0,1] 0.9893765788523998 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.28, Z:-0.32 [[ 9.99916940e-01 -1.27300009e-02 -2.01480789e-03 2.43155795e+01] [ 1.27302468e-02 9.99918961e-01 1.09242471e-04 -1.27759763e+00] [ 2.01325395e-03 -1.34882399e-04 9.99997964e-01 -3.17996242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720371742999998 meters Centerline goodness [0,1] 0.98938596689325 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.28, Z:-0.32 [[ 9.99915827e-01 -1.28660377e-02 -1.67446492e-03 2.43479294e+01] [ 1.28662082e-02 9.99917223e-01 9.10772082e-05 -1.27697320e+00] [ 1.67315451e-03 -1.12613556e-04 9.99998594e-01 -3.17764871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750371743 meters Centerline goodness [0,1] 0.9890489523121387 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.28, Z:-0.32 [[ 9.99910040e-01 -1.33030264e-02 -1.71510239e-03 2.43791150e+01] [ 1.33032056e-02 9.99911504e-01 9.31236736e-05 -1.28033022e+00] [ 1.71371178e-03 -1.15931656e-04 9.99998525e-01 -3.17980546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780371742999996 meters Centerline goodness [0,1] 0.989096502737185 Centerline is valid? [True, True] Translation: X:24.41, Y:-1.28, Z:-0.32 [[ 9.99907050e-01 -1.35168493e-02 -1.78518459e-03 2.44103938e+01] [ 1.35170454e-02 9.99908636e-01 9.78165154e-05 -1.28303683e+00] [ 1.78369932e-03 -1.21937845e-04 9.99998402e-01 -3.19192069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.810371742999997 meters Centerline goodness [0,1] 0.9894247897359579 Centerline is valid? [True, True] Translation: X:24.44, Y:-1.28, Z:-0.32 [[ 9.99901262e-01 -1.38593548e-02 -2.32041678e-03 2.44422340e+01] [ 1.38596852e-02 9.99903942e-01 1.26378395e-04 -1.28450929e+00] [ 2.31844237e-03 -1.58526163e-04 9.99997300e-01 -3.19947846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840371743 meters Centerline goodness [0,1] 0.989178665217785 Centerline is valid? [True, True] Translation: X:24.47, Y:-1.29, Z:-0.32 [[ 9.99891574e-01 -1.43677231e-02 -3.22612162e-03 2.44743891e+01] [ 1.43683641e-02 9.99896754e-01 1.75577526e-04 -1.28731791e+00] [ 3.22326589e-03 -2.21912579e-04 9.99994781e-01 -3.21020138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.870371742999996 meters Centerline goodness [0,1] 0.9892652941309408 Centerline is valid? [True, True] Translation: X:24.50, Y:-1.29, Z:-0.32 [[ 9.99864573e-01 -1.57714996e-02 -4.70057843e-03 2.45038479e+01] [ 1.57728766e-02 9.99875568e-01 2.56021879e-04 -1.29148625e+00] [ 4.69595568e-03 -3.30128850e-04 9.99988919e-01 -3.23424465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900371742999997 meters Centerline goodness [0,1] 0.9893310983758806 Centerline is valid? [True, True] Translation: X:24.54, Y:-1.29, Z:-0.32 [[ 9.99850907e-01 -1.64122420e-02 -5.36677522e-03 2.45356697e+01] [ 1.64140462e-02 9.99865238e-01 2.92298491e-04 -1.29434390e+00] [ 5.36125471e-03 -3.80345408e-04 9.99985556e-01 -3.24882188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930371743 meters Centerline goodness [0,1] 0.9894584772352768 Centerline is valid? [True, True] Translation: X:24.57, Y:-1.29, Z:-0.32 [[ 9.99845936e-01 -1.66910045e-02 -5.43271487e-03 2.45680901e+01] [ 1.66928596e-02 9.99860621e-01 2.96299398e-04 -1.29113751e+00] [ 5.42701213e-03 -3.86941296e-04 9.99985199e-01 -3.24323262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960371743 meters Centerline goodness [0,1] 0.9891937201241476 Centerline is valid? [True, True] Translation: X:24.60, Y:-1.29, Z:-0.32 [[ 9.99837878e-01 -1.71544962e-02 -5.47177568e-03 2.46004829e+01] [ 1.71563871e-02 9.99852774e-01 2.98822168e-04 -1.29276958e+00] [ 5.46584395e-03 -3.92649624e-04 9.99984985e-01 -3.24578141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.990371742999997 meters Centerline goodness [0,1] 0.9879163649529327 Centerline is valid? [True, True] Translation: X:24.63, Y:-1.30, Z:-0.33 [[ 9.99832667e-01 -1.77556009e-02 -4.40185258e-03 2.46309499e+01] [ 1.77568312e-02 9.99842306e-01 2.40575798e-04 -1.30271475e+00] [ 4.39688687e-03 -3.18698495e-04 9.99990283e-01 -3.26285816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020371743 meters Centerline goodness [0,1] 0.9872200859534042 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.31, Z:-0.33 [[ 9.99837233e-01 -1.77587030e-02 -3.18365653e-03 2.46632127e+01] [ 1.77593484e-02 9.99842275e-01 1.74566240e-04 -1.30576793e+00] [ 3.18005432e-03 -2.31077492e-04 9.99994917e-01 -3.25915115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050371743 meters Centerline goodness [0,1] 0.9881869310866668 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.30, Z:-0.32 [[ 9.99846579e-01 -1.74910520e-02 -9.39235247e-04 2.46953868e+01] [ 1.74911087e-02 9.99847017e-01 5.22022580e-05 -1.30143404e+00] [ 9.38178488e-04 -6.86225148e-05 9.99999558e-01 -3.22986818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080371742999997 meters Centerline goodness [0,1] 0.9881937048199597 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.30, Z:-0.32 [[ 9.99849921e-01 -1.73182456e-02 -4.62219084e-04 2.47273705e+01] [ 1.73182595e-02 9.99850027e-01 2.61972050e-05 -1.29948464e+00] [ 4.61696074e-04 -3.41981034e-05 9.99999893e-01 -3.21798012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110371742999998 meters Centerline goodness [0,1] 0.9873449187588981 Centerline is valid? [True, True] Translation: X:24.76, Y:-1.30, Z:-0.32 [[ 9.99853547e-01 -1.71087767e-02 4.17879578e-04 2.47599764e+01] [ 1.71087873e-02 9.99853634e-01 -2.17657753e-05 -1.30186768e+00] [-4.17446029e-04 2.89120005e-05 9.99999912e-01 -3.21454801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140371743 meters Centerline goodness [0,1] 0.9876987902677722 Centerline is valid? [True, True] Translation: X:24.79, Y:-1.30, Z:-0.32 [[ 9.99851331e-01 -1.71995836e-02 1.22110509e-03 2.47930049e+01] [ 1.71996765e-02 9.99852072e-01 -6.56752108e-05 -1.30404288e+00] [-1.21979487e-03 8.66680595e-05 9.99999252e-01 -3.21145354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170371742999997 meters Centerline goodness [0,1] 0.9832771378787536 Centerline is valid? [True, True] Translation: X:24.82, Y:-1.32, Z:-0.32 [[ 9.99847790e-01 -1.73981843e-02 1.30400792e-03 2.48232827e+01] [ 1.73982916e-02 9.99848636e-01 -7.09834810e-05 -1.32157700e+00] [-1.30257555e-03 9.36601866e-05 9.99999147e-01 -3.23866289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200371742999998 meters Centerline goodness [0,1] 0.9858465011286681 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.32, Z:-0.32 [[ 9.99843320e-01 -1.76946883e-02 4.82588917e-04 2.48558063e+01] [ 1.76947027e-02 9.99843436e-01 -2.56861136e-05 -1.31598785e+00] [-4.82058853e-04 3.42213565e-05 9.99999883e-01 -3.23522086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.230371743 meters Centerline goodness [0,1] 0.9880070467070196 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.31, Z:-0.33 [[ 9.99836112e-01 -1.80660302e-02 -1.16909136e-03 2.48882780e+01] [ 1.80661189e-02 9.99836792e-01 6.53083751e-05 -1.31442754e+00] [ 1.16772069e-03 -8.64186154e-05 9.99999314e-01 -3.25070502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260371742999997 meters Centerline goodness [0,1] 0.9882593733834146 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.31, Z:-0.33 [[ 9.99827120e-01 -1.85203268e-02 -1.65138165e-03 2.49204799e+01] [ 1.85205039e-02 9.99828477e-01 9.20113569e-05 -1.31491268e+00] [ 1.64939432e-03 -1.22579870e-04 9.99998632e-01 -3.26090334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290371742999998 meters Centerline goodness [0,1] 0.9887599954949882 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.32, Z:-0.33 [[ 9.99824233e-01 -1.86645439e-02 -1.77139322e-03 2.49527784e+01] [ 1.86647481e-02 9.99825794e-01 9.87776633e-05 -1.31526083e+00] [ 1.76924099e-03 -1.31822910e-04 9.99998426e-01 -3.26366596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320371743 meters Centerline goodness [0,1] 0.9879952251176828 Centerline is valid? [True, True] Translation: X:24.98, Y:-1.32, Z:-0.33 [[ 9.99830833e-01 -1.82890240e-02 -1.95360527e-03 2.49832408e+01] [ 1.82892711e-02 9.99832731e-01 1.08711921e-04 -1.32237536e+00] [ 1.95129026e-03 -1.44423547e-04 9.99998086e-01 -3.27680128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.350371742999997 meters Centerline goodness [0,1] 0.9879855465221319 Centerline is valid? [True, True] Translation: X:25.02, Y:-1.32, Z:-0.33 [[ 9.99831086e-01 -1.82448079e-02 -2.21960982e-03 2.50151997e+01] [ 1.82451274e-02 9.99833536e-01 1.23790174e-04 -1.32254050e+00] [ 2.21698181e-03 -1.64266328e-04 9.99997529e-01 -3.27448802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380371742999998 meters Centerline goodness [0,1] 0.9878037803780378 Centerline is valid? [True, True] Translation: X:25.05, Y:-1.32, Z:-0.33 [[ 9.99840591e-01 -1.77659274e-02 -1.77889385e-03 2.50478706e+01] [ 1.77661329e-02 9.99842165e-01 9.97857590e-05 -1.32296625e+00] [ 1.77684029e-03 -1.31373917e-04 9.99998413e-01 -3.27132491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.410371743 meters Centerline goodness [0,1] 0.9878156095579774 Centerline is valid? [True, True] Translation: X:25.08, Y:-1.32, Z:-0.33 [[ 9.99849797e-01 -1.71488145e-02 -2.51016132e-03 2.50799626e+01] [ 1.71492205e-02 9.99852931e-01 1.40292729e-04 -1.32378987e+00] [ 2.50738630e-03 -1.83318967e-04 9.99996840e-01 -3.26952455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440371742999996 meters Centerline goodness [0,1] 0.9876395893371758 Centerline is valid? [True, True] Translation: X:25.11, Y:-1.33, Z:-0.33 [[ 9.99863518e-01 -1.64480658e-02 -1.55119588e-03 2.51105940e+01] [ 1.64482203e-02 9.99864715e-01 8.68965296e-05 -1.33338125e+00] [ 1.54955674e-03 -1.12399081e-04 9.99998793e-01 -3.28377140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.470371742999998 meters Centerline goodness [0,1] 0.9880404368625327 Centerline is valid? [True, True] Translation: X:25.14, Y:-1.33, Z:-0.33 [[ 9.99867136e-01 -1.62369906e-02 -1.43892310e-03 2.51427704e+01] [ 1.62371239e-02 9.99868166e-01 8.09867973e-05 -1.32931183e+00] [ 1.43741842e-03 -1.04340010e-04 9.99998961e-01 -3.27579515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500371743 meters Centerline goodness [0,1] 0.9877743441680013 Centerline is valid? [True, True] Translation: X:25.17, Y:-1.33, Z:-0.33 [[ 9.99879244e-01 -1.54724036e-02 -1.44968650e-03 2.51739414e+01] [ 1.54725378e-02 9.99880290e-01 8.14335674e-05 -1.33432905e+00] [ 1.44825298e-03 -1.03854063e-04 9.99998946e-01 -3.28306525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.530371742999996 meters Centerline goodness [0,1] 0.9882419191350378 Centerline is valid? [True, True] Translation: X:25.21, Y:-1.33, Z:-0.33 [[ 9.99893694e-01 -1.44859118e-02 -1.66079325e-03 2.52061332e+01] [ 1.44860871e-02 9.99895067e-01 9.35262189e-05 -1.33298911e+00] [ 1.65926416e-03 -1.17574672e-04 9.99998617e-01 -3.28308428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560371742999997 meters Centerline goodness [0,1] 0.9875898105813194 Centerline is valid? [True, True] Translation: X:25.24, Y:-1.33, Z:-0.33 [[ 9.99896701e-01 -1.42317882e-02 -2.01071107e-03 2.52381591e+01] [ 1.42320444e-02 9.99898713e-01 1.13179426e-04 -1.33469526e+00] [ 2.00889667e-03 -1.41784264e-04 9.99997972e-01 -3.28965793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.590371743 meters Centerline goodness [0,1] 0.9886675978912269 Centerline is valid? [True, True] Translation: X:25.27, Y:-1.34, Z:-0.33 [[ 9.99902199e-01 -1.38242903e-02 -2.11688861e-03 2.52702399e+01] [ 1.38245736e-02 9.99904429e-01 1.19259387e-04 -1.33563043e+00] [ 2.11503762e-03 -1.48512806e-04 9.99997752e-01 -3.29212083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620371742999996 meters Centerline goodness [0,1] 0.988459891360696 Centerline is valid? [True, True] Translation: X:25.30, Y:-1.34, Z:-0.33 [[ 9.99898839e-01 -1.39693728e-02 -2.67728447e-03 2.53014178e+01] [ 1.39698256e-02 9.99902406e-01 1.50503292e-04 -1.33881847e+00] [ 2.67492074e-03 -1.87889264e-04 9.99996405e-01 -3.29559618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.650371742999997 meters Centerline goodness [0,1] 0.9884787951209614 Centerline is valid? [True, True] Translation: X:25.33, Y:-1.34, Z:-0.33 [[ 9.99867844e-01 -1.59858614e-02 -2.95747602e-03 2.53326196e+01] [ 1.59864222e-02 9.99872195e-01 1.66063587e-04 -1.34177404e+00] [ 2.95444337e-03 -2.13321101e-04 9.99995613e-01 -3.29646346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680371743 meters Centerline goodness [0,1] 0.9887465958452432 Centerline is valid? [True, True] Translation: X:25.36, Y:-1.34, Z:-0.33 [[ 9.99841802e-01 -1.75534113e-02 -2.87193734e-03 2.53642492e+01] [ 1.75539477e-02 9.99845905e-01 1.61655409e-04 -1.34275595e+00] [ 2.86865718e-03 -2.12043674e-04 9.99995863e-01 -3.29409777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.710371742999996 meters Centerline goodness [0,1] 0.9886317590383144 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.35, Z:-0.33 [[ 9.99814307e-01 -1.90025080e-02 -3.20265196e-03 2.53959970e+01] [ 1.90031827e-02 9.99819407e-01 1.80371223e-04 -1.34540626e+00] [ 3.19864608e-03 -2.41198310e-04 9.99994855e-01 -3.29312437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740371742999997 meters Centerline goodness [0,1] 0.9887384851010158 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.35, Z:-0.33 [[ 9.99780719e-01 -2.06347970e-02 -3.56651270e-03 2.54273915e+01] [ 2.06356434e-02 9.99787042e-01 2.00685820e-04 -1.34952676e+00] [ 3.56161207e-03 -2.74239097e-04 9.99993620e-01 -3.30095444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770371743 meters Centerline goodness [0,1] 0.9885395173589306 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.35, Z:-0.33 [[ 9.99721335e-01 -2.32145837e-02 -4.28207656e-03 2.54567207e+01] [ 2.32158295e-02 9.99730447e-01 2.41449003e-04 -1.35489236e+00] [ 4.27531717e-03 -3.40793679e-04 9.99990803e-01 -3.31308919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800371743 meters Centerline goodness [0,1] 0.9887655627349888 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.36, Z:-0.33 [[ 9.99690158e-01 -2.43762336e-02 -5.03861318e-03 2.54890899e+01] [ 2.43779749e-02 9.99702773e-01 2.84445430e-04 -1.35805355e+00] [ 5.03018186e-03 -4.07188482e-04 9.99987266e-01 -3.31896408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.830371742999997 meters Centerline goodness [0,1] 0.9877551939136111 Centerline is valid? [True, True] Translation: X:25.52, Y:-1.36, Z:-0.33 [[ 9.99663142e-01 -2.54107926e-02 -5.28144530e-03 2.55207062e+01] [ 2.54127201e-02 9.99677000e-01 2.98163576e-04 -1.36238679e+00] [ 5.27216282e-03 -4.32279029e-04 9.99986009e-01 -3.32878494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860371742999998 meters Centerline goodness [0,1] 0.9870392416720951 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.37, Z:-0.33 [[ 9.99643360e-01 -2.60853271e-02 -5.71911781e-03 2.55516040e+01] [ 2.60875997e-02 9.99659608e-01 3.23115715e-04 -1.36784008e+00] [ 5.70874249e-03 -4.72198535e-04 9.99983594e-01 -3.33443340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.890371743 meters Centerline goodness [0,1] 0.9890323880296349 Centerline is valid? [True, True] Translation: X:25.58, Y:-1.36, Z:-0.33 [[ 9.99653314e-01 -2.57691035e-02 -5.40424336e-03 2.55838604e+01] [ 2.57711317e-02 9.99667822e-01 3.05988990e-04 -1.36401443e+00] [ 5.39456313e-03 -4.45156375e-04 9.99985350e-01 -3.32037094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920371742999997 meters Centerline goodness [0,1] 0.9887332178919198 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.36, Z:-0.33 [[ 9.99667721e-01 -2.52140369e-02 -5.35725483e-03 2.56165027e+01] [ 2.52160243e-02 9.99681979e-01 3.03727165e-04 -1.36458948e+00] [ 5.34789292e-03 -4.38714910e-04 9.99985604e-01 -3.31788998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.950371742999998 meters Centerline goodness [0,1] 0.9888816513555401 Centerline is valid? [True, True] Translation: X:25.65, Y:-1.36, Z:-0.33 [[ 9.99721278e-01 -2.30260861e-02 -5.21200794e-03 2.56475040e+01] [ 2.30279346e-02 9.99734778e-01 2.94919831e-04 -1.36444621e+00] [ 5.20383476e-03 -4.14859408e-04 9.99986374e-01 -3.30734709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980371743 meters Centerline goodness [0,1] 0.9891982932854255 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.36, Z:-0.33 [[ 9.99752891e-01 -2.16996433e-02 -4.82527261e-03 2.56793583e+01] [ 2.17012159e-02 9.99764463e-01 2.73778470e-04 -1.36389321e+00] [ 4.81819519e-03 -3.78425100e-04 9.99988321e-01 -3.30255594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.010371742999997 meters Centerline goodness [0,1] 0.9891982932854255 Centerline is valid? [True, True] Translation: X:25.71, Y:-1.37, Z:-0.33 [[ 9.99754444e-01 -2.16279557e-02 -4.82524017e-03 2.57111005e+01] [ 2.16295302e-02 9.99766017e-01 2.74350845e-04 -1.36575107e+00] [ 4.81817750e-03 -3.78651154e-04 9.99988321e-01 -3.30662277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040371742999998 meters Centerline goodness [0,1] 0.9894359089379836 Centerline is valid? [True, True] Translation: X:25.74, Y:-1.37, Z:-0.33 [[ 9.99787170e-01 -2.00895070e-02 -4.69331972e-03 2.57412641e+01] [ 2.00909771e-02 9.99798120e-01 2.66271480e-04 -1.36836333e+00] [ 4.68702298e-03 -3.60508188e-04 9.99988951e-01 -3.31302686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070371743 meters Centerline goodness [0,1] 0.9882599014911274 Centerline is valid? [True, True] Translation: X:25.77, Y:-1.38, Z:-0.33 [[ 9.99850884e-01 -1.66031179e-02 -4.74827287e-03 2.57704559e+01] [ 1.66045829e-02 9.99862098e-01 2.69281474e-04 -1.37600387e+00] [ 4.74314716e-03 -3.48084411e-04 9.99988691e-01 -3.33680451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100371742999997 meters Centerline goodness [0,1] 0.9900716547990746 Centerline is valid? [True, True] Translation: X:25.80, Y:-1.37, Z:-0.33 [[ 9.99883853e-01 -1.44444888e-02 -4.86172021e-03 2.58028913e+01] [ 1.44460034e-02 9.99895613e-01 2.76571574e-04 -1.36939267e+00] [ 4.85721778e-03 -3.46771878e-04 9.99988144e-01 -3.32286678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130371742999998 meters Centerline goodness [0,1] 0.9894188214678857 Centerline is valid? [True, True] Translation: X:25.83, Y:-1.37, Z:-0.33 [[ 9.99914936e-01 -1.21990845e-02 -4.61543343e-03 2.58332395e+01] [ 1.22004241e-02 9.99925538e-01 2.62208590e-04 -1.37126877e+00] [ 4.61189105e-03 -3.18496530e-04 9.99989314e-01 -3.33148815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160371743 meters Centerline goodness [0,1] 0.9898282962396201 Centerline is valid? [True, True] Translation: X:25.86, Y:-1.36, Z:-0.33 [[ 9.99956936e-01 -7.20491429e-03 -5.84942443e-03 2.58640428e+01] [ 7.20697942e-03 9.99973974e-01 3.32046292e-04 -1.36449311e+00] [ 5.84687983e-03 -3.74188674e-04 9.99982837e-01 -3.32707352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.190371742999996 meters Centerline goodness [0,1] 0.9903603603603603 Centerline is valid? [True, True] Translation: X:25.90, Y:-1.36, Z:-0.33 [[ 9.99972724e-01 -4.72722021e-03 -5.67496532e-03 2.58952521e+01] [ 4.72912505e-03 9.99988766e-01 3.22284275e-04 -1.36444427e+00] [ 5.67337806e-03 -3.49113105e-04 9.99983845e-01 -3.33070731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220371742999998 meters Centerline goodness [0,1] 0.9901252896056864 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.37, Z:-0.33 [[ 9.99979878e-01 -2.01592489e-03 -6.01490956e-03 2.59249401e+01] [ 2.01801121e-03 9.99997906e-01 3.40809037e-04 -1.36585488e+00] [ 6.01420992e-03 -3.52940334e-04 9.99981852e-01 -3.33701859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.250371743 meters Centerline goodness [0,1] 0.99142444484564 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.36, Z:-0.33 [[ 9.99973141e-01 3.66667778e-03 -6.34601432e-03 2.59542831e+01] [-3.66446903e-03 9.99993221e-01 3.59644971e-04 -1.36476040e+00] [ 6.34729001e-03 -3.36380538e-04 9.99979799e-01 -3.33808240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280371742999996 meters Centerline goodness [0,1] 0.9911317187359323 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.36, Z:-0.33 [[ 9.99957934e-01 6.27322349e-03 -6.69162354e-03 2.59841511e+01] [-6.27082857e-03 9.99980266e-01 3.78819348e-04 -1.36188438e+00] [ 6.69386791e-03 -3.36841389e-04 9.99977539e-01 -3.33058438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310371742999997 meters Centerline goodness [0,1] 0.9913668086649143 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.36, Z:-0.33 [[ 9.99941419e-01 8.74082240e-03 -6.38404205e-03 2.60144651e+01] [-8.73869215e-03 9.99961752e-01 3.61501871e-04 -1.36169205e+00] [ 6.38695770e-03 -3.05692516e-04 9.99979556e-01 -3.32828143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340371743 meters Centerline goodness [0,1] 0.9913094248950169 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.36, Z:-0.33 [[ 9.99921683e-01 1.11046681e-02 -5.77176494e-03 2.60437127e+01] [-1.11029688e-02 9.99938307e-01 3.26382162e-04 -1.36264631e+00] [ 5.77503323e-03 -2.62272875e-04 9.99983290e-01 -3.32911986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370371742999996 meters Centerline goodness [0,1] 0.9913002214489086 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.36, Z:-0.33 [[ 9.99885528e-01 1.41187634e-02 -5.43978749e-03 2.60735345e+01] [-1.41172997e-02 9.99900299e-01 3.07375107e-04 -1.35944094e+00] [ 5.44358489e-03 -2.30544811e-04 9.99985157e-01 -3.31317743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400371742999997 meters Centerline goodness [0,1] 0.9911402418352356 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.36, Z:-0.33 [[ 9.99869462e-01 1.53867279e-02 -4.93036612e-03 2.61014250e+01] [-1.53855467e-02 9.99881597e-01 2.77420811e-04 -1.36357416e+00] [ 4.93405095e-03 -2.01528219e-04 9.99987807e-01 -3.32432953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430371743 meters Centerline goodness [0,1] 0.9912470673163689 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.36, Z:-0.33 [[ 9.99857078e-01 1.63536881e-02 -4.28713992e-03 2.61302913e+01] [-1.63528047e-02 9.99866255e-01 2.41034094e-04 -1.36423178e+00] [ 4.29050833e-03 -1.70892883e-04 9.99990781e-01 -3.31891248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460371742999996 meters Centerline goodness [0,1] 0.9912260916636594 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.36, Z:-0.33 [[ 9.99817450e-01 1.87536557e-02 -3.65622576e-03 2.61596176e+01] [-1.87530297e-02 9.99824125e-01 2.05434115e-04 -1.36177279e+00] [ 3.65943536e-03 -1.36831303e-04 9.99993295e-01 -3.29860914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490371742999997 meters Centerline goodness [0,1] 0.9913721061547148 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.36, Z:-0.33 [[ 9.99801112e-01 1.95677086e-02 -3.85233904e-03 2.61871124e+01] [-1.95670226e-02 9.99808524e-01 2.15695822e-04 -1.36389333e+00] [ 3.85582209e-03 -1.40274118e-04 9.99992556e-01 -3.30240890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520371743 meters Centerline goodness [0,1] 0.9914458726335457 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.37, Z:-0.33 [[ 9.99781642e-01 2.05161291e-02 -3.96954089e-03 2.62152104e+01] [-2.05154082e-02 9.99789512e-01 2.22253491e-04 -1.36821872e+00] [ 3.97326514e-03 -1.40768209e-04 9.99992097e-01 -3.31958579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550371743 meters Centerline goodness [0,1] 0.99152198421646 Centerline is valid? [True, True] Translation: X:26.24, Y:-1.36, Z:-0.33 [[ 9.99748088e-01 2.19113216e-02 -4.86352506e-03 2.62444100e+01] [-2.19102567e-02 9.99759904e-01 2.72137147e-04 -1.36475211e+00] [ 4.86832023e-03 -1.65507510e-04 9.99988136e-01 -3.30458713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580371742999997 meters Centerline goodness [0,1] 0.9919156889679555 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.37, Z:-0.33 [[ 9.99724353e-01 2.29392629e-02 -5.00085613e-03 2.62719221e+01] [-2.29381531e-02 9.99736847e-01 2.79178652e-04 -1.36766047e+00] [ 5.00594429e-03 -1.64391294e-04 9.99987457e-01 -3.31768063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610371742999998 meters Centerline goodness [0,1] 0.9911356715912936 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.37, Z:-0.33 [[ 9.99696609e-01 2.40258198e-02 -5.42679384e-03 2.63010831e+01] [-2.40245290e-02 9.99711323e-01 3.02915697e-04 -1.36922006e+00] [ 5.43250505e-03 -1.72447629e-04 9.99985229e-01 -3.32139610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640371743 meters Centerline goodness [0,1] 0.9917862622980413 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.37, Z:-0.33 [[ 9.99633222e-01 2.65237794e-02 -5.46909820e-03 2.63302023e+01] [-2.65225079e-02 9.99648170e-01 3.04894605e-04 -1.37002898e+00] [ 5.47526096e-03 -1.59728576e-04 9.99984998e-01 -3.31474172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670371742999997 meters Centerline goodness [0,1] 0.9917236091378572 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.37, Z:-0.33 [[ 9.99606468e-01 2.76949816e-02 -4.46058046e-03 2.63593436e+01] [-2.76941496e-02 9.99616413e-01 2.48197575e-04 -1.37162629e+00] [ 4.46574327e-03 -1.24567919e-04 9.99990021e-01 -3.31197407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700371742999998 meters Centerline goodness [0,1] 0.9923097740291371 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.37, Z:-0.33 [[ 9.99567991e-01 2.90901318e-02 -4.19475570e-03 2.63886303e+01] [-2.90894099e-02 9.99576786e-01 2.33010314e-04 -1.37104376e+00] [ 4.19975872e-03 -1.10886683e-04 9.99991175e-01 -3.29455030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730371743 meters Centerline goodness [0,1] 0.9922893087432926 Centerline is valid? [True, True] Translation: X:26.42, Y:-1.37, Z:-0.33 [[ 9.99492850e-01 3.16736358e-02 -3.28990043e-03 2.64160713e+01] [-3.16732081e-02 9.99498262e-01 1.82025834e-04 -1.37408049e+00] [ 3.29401518e-03 -7.77318186e-05 9.99994572e-01 -3.29750251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760371742999997 meters Centerline goodness [0,1] 0.991955473432782 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.38, Z:-0.33 [[ 9.99459508e-01 3.26855762e-02 -3.51348636e-03 2.64446230e+01] [-3.26850945e-02 9.99465681e-01 1.94469666e-04 -1.37660658e+00] [ 3.51796539e-03 -7.95259234e-05 9.99993809e-01 -3.30442626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790371742999998 meters Centerline goodness [0,1] 0.9921088129496403 Centerline is valid? [True, True] Translation: X:26.47, Y:-1.38, Z:-0.33 [[ 9.99425471e-01 3.36916318e-02 -3.68802869e-03 2.64720737e+01] [-3.36911096e-02 9.99432273e-01 2.03631152e-04 -1.37996958e+00] [ 3.69279557e-03 -7.92603813e-05 9.99993178e-01 -3.32206812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820371743 meters Centerline goodness [0,1] 0.9916760152568993 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.38, Z:-0.33 [[ 9.99375374e-01 3.49488020e-02 -5.23866575e-03 2.65003321e+01] [-3.49477675e-02 9.99389098e-01 2.88904003e-04 -1.38132043e+00] [ 5.24556229e-03 -1.05643873e-04 9.99986236e-01 -3.31662831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850371742999997 meters Centerline goodness [0,1] 0.992599091195393 Centerline is valid? [True, True] Translation: X:26.53, Y:-1.38, Z:-0.33 [[ 9.99358186e-01 3.53945674e-02 -5.51722684e-03 2.65284859e+01] [-3.53934260e-02 9.99373410e-01 3.04415053e-04 -1.38441150e+00] [ 5.52454444e-03 -1.08946116e-04 9.99984734e-01 -3.32839194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880371742999998 meters Centerline goodness [0,1] 0.9924855880307755 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.39, Z:-0.33 [[ 9.99357413e-01 3.53291274e-02 -6.05088154e-03 2.65567705e+01] [-3.53277554e-02 9.99375724e-01 3.33510149e-04 -1.38851115e+00] [ 6.05888674e-03 -1.19531777e-04 9.99981638e-01 -3.33473738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910371743 meters Centerline goodness [0,1] 0.9930581906653869 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.39, Z:-0.33 [[ 9.99376579e-01 3.47978003e-02 -5.96371653e-03 2.65841502e+01] [-3.47964678e-02 9.99394366e-01 3.27078928e-04 -1.39259768e+00] [ 5.97148633e-03 -1.19358750e-04 9.99982163e-01 -3.34377801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940371742999996 meters Centerline goodness [0,1] 0.9930444928089031 Centerline is valid? [True, True] Translation: X:26.61, Y:-1.40, Z:-0.33 [[ 9.99427316e-01 3.33042947e-02 -5.98867687e-03 2.66123027e+01] [-3.33029239e-02 9.99445250e-01 3.28501720e-04 -1.39632554e+00] [ 5.99629517e-03 -1.28873142e-04 9.99982014e-01 -3.34455081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.970371742999998 meters Centerline goodness [0,1] 0.993003710492199 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.40, Z:-0.33 [[ 9.99529757e-01 3.02501574e-02 -5.01920212e-03 2.66410780e+01] [-3.02491577e-02 9.99542352e-01 2.74975440e-04 -1.40253152e+00] [ 5.02522314e-03 -1.23019499e-04 9.99987366e-01 -3.33201776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000371743 meters Centerline goodness [0,1] 0.9924944713740032 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.41, Z:-0.33 [[ 9.99590644e-01 2.82641880e-02 -4.43626673e-03 2.66688705e+01] [-2.82633908e-02 9.99600481e-01 2.42303075e-04 -1.40739828e+00] [ 4.44134286e-03 -1.16819947e-04 9.99990130e-01 -3.33772429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030371742999996 meters Centerline goodness [0,1] 0.9929315227328472 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.41, Z:-0.33 [[ 9.99646162e-01 2.62871854e-02 -4.06617840e-03 2.66964524e+01] [-2.62865011e-02 9.99654426e-01 2.21650014e-04 -1.41191479e+00] [ 4.07059979e-03 -1.14685984e-04 9.99991708e-01 -3.33911933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060371742999997 meters Centerline goodness [0,1] 0.9926919477741634 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.42, Z:-0.33 [[ 9.99742445e-01 2.24487793e-02 -3.33116453e-03 2.67253572e+01] [-2.24482985e-02 9.99747989e-01 1.81656385e-04 -1.41903695e+00] [ 3.33440300e-03 -1.06830623e-04 9.99994435e-01 -3.33256122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.090371743 meters Centerline goodness [0,1] 0.9926439540413805 Centerline is valid? [True, True] Translation: X:26.75, Y:-1.42, Z:-0.33 [[ 9.99783306e-01 2.06186025e-02 -2.86614534e-03 2.67530542e+01] [-2.06182414e-02 9.99787409e-01 1.55500909e-04 -1.42419264e+00] [ 2.86874223e-03 -9.63723363e-05 9.99995881e-01 -3.33536950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120371742999996 meters Centerline goodness [0,1] 0.9934540451781831 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.43, Z:-0.33 [[ 9.99819720e-01 1.87917815e-02 -2.71950221e-03 2.67813967e+01] [-1.87914497e-02 9.99823414e-01 1.47525124e-04 -1.42847627e+00] [ 2.72179424e-03 -9.63951391e-05 9.99996291e-01 -3.33626724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.150371742999997 meters Centerline goodness [0,1] 0.9929705517119035 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.43, Z:-0.33 [[ 9.99879125e-01 1.53126857e-02 -2.69375836e-03 2.68103362e+01] [-1.53123474e-02 9.99882748e-01 1.46191256e-04 -1.43395692e+00] [ 2.69568109e-03 -1.04925822e-04 9.99996361e-01 -3.32960275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180371743 meters Centerline goodness [0,1] 0.9926721275182643 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.44, Z:-0.33 [[ 9.99902925e-01 1.37000326e-02 -2.53952489e-03 2.68390421e+01] [-1.36997278e-02 9.99906145e-01 1.37374048e-04 -1.43826190e+00] [ 2.54116857e-03 -1.02569912e-04 9.99996766e-01 -3.33249129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.210371742999996 meters Centerline goodness [0,1] 0.9928440082415756 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.44, Z:-0.33 [[ 9.99925203e-01 1.19727552e-02 -2.49813640e-03 2.68677300e+01] [-1.19724554e-02 9.99928318e-01 1.34942560e-04 -1.44222911e+00] [ 2.49957297e-03 -1.05023640e-04 9.99996871e-01 -3.33504032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240371742999997 meters Centerline goodness [0,1] 0.9926675206502054 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.45, Z:-0.33 [[ 9.99944843e-01 1.03247373e-02 -1.92613729e-03 2.68961414e+01] [-1.03245567e-02 9.99946695e-01 1.03700901e-04 -1.44630109e+00] [ 1.92710530e-03 -8.38086672e-05 9.99998140e-01 -3.33639419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.270371743 meters Centerline goodness [0,1] 0.9926805537127946 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.45, Z:-0.33 [[ 9.99973690e-01 7.11851238e-03 -1.39525160e-03 2.69252613e+01] [-7.11841488e-03 9.99974661e-01 7.48369937e-05 -1.45147368e+00] [ 1.39574898e-03 -6.49030449e-05 9.99999024e-01 -3.33165201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300371743 meters Centerline goodness [0,1] 0.9926442976740076 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.46, Z:-0.33 [[ 9.99983492e-01 5.59949586e-03 -1.28912391e-03 2.69539777e+01] [-5.59941133e-03 9.99984321e-01 6.91753275e-05 -1.45683402e+00] [ 1.28949105e-03 -6.19558505e-05 9.99999167e-01 -3.34134917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330371742999997 meters Centerline goodness [0,1] 0.9929815268489705 Centerline is valid? [True, True] Translation: X:26.98, Y:-1.46, Z:-0.33 [[ 9.99989316e-01 4.44505322e-03 -1.26863514e-03 2.69825487e+01] [-4.44497082e-03 9.99990119e-01 6.77693632e-05 -1.46071151e+00] [ 1.26892384e-03 -6.21295930e-05 9.99999193e-01 -3.34624814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360371742999998 meters Centerline goodness [0,1] 0.9916871921182266 Centerline is valid? [True, True] Translation: X:27.01, Y:-1.46, Z:-0.34 [[ 9.99992686e-01 3.48028723e-03 -1.58619964e-03 2.70112265e+01] [-3.48015661e-03 9.99993941e-01 8.51010933e-05 -1.46401822e+00] [ 1.58648620e-03 -7.95802477e-05 9.99998738e-01 -3.35115940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390371743 meters Centerline goodness [0,1] 0.9917224024899013 Centerline is valid? [True, True] Translation: X:27.04, Y:-1.46, Z:-0.33 [[ 9.99997163e-01 2.07706081e-03 -1.16616449e-03 2.70403104e+01] [-2.07698950e-03 9.99997841e-01 6.23565477e-05 -1.46487129e+00] [ 1.16629149e-03 -5.99342594e-05 9.99999318e-01 -3.34618186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420371742999997 meters Centerline goodness [0,1] 0.992121987818872 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.47, Z:-0.33 [[ 9.99997802e-01 1.43523312e-03 -1.52867236e-03 2.70698189e+01] [-1.43510934e-03 9.99998967e-01 8.20690683e-05 -1.46598873e+00] [ 1.52878857e-03 -7.98750759e-05 9.99998828e-01 -3.34561950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.450371742999998 meters Centerline goodness [0,1] 0.9918702779127823 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.47, Z:-0.33 [[ 9.99999339e-01 2.64267551e-04 -1.11900058e-03 2.70980548e+01] [-2.64200836e-04 9.99999963e-01 5.97673257e-05 -1.46924935e+00] [ 1.11901633e-03 -5.94716453e-05 9.99999372e-01 -3.34966287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480371743 meters Centerline goodness [0,1] 0.9913143159472686 Centerline is valid? [True, True] Translation: X:27.13, Y:-1.47, Z:-0.34 [[ 9.99999216e-01 -6.92391677e-04 -1.04332819e-03 2.71273434e+01] [ 6.92450261e-04 9.99999759e-01 5.57905817e-05 -1.47155483e+00] [ 1.04328931e-03 -5.65129908e-05 9.99999454e-01 -3.35249853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510371742999997 meters Centerline goodness [0,1] 0.9913591160220995 Centerline is valid? [True, True] Translation: X:27.16, Y:-1.47, Z:-0.34 [[ 9.99997549e-01 -1.82516138e-03 -1.25327640e-03 2.71570191e+01] [ 1.82524900e-03 9.99998332e-01 6.87742725e-05 -1.47461302e+00] [ 1.25314878e-03 -7.10616454e-05 9.99999212e-01 -3.35845894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540371742999998 meters Centerline goodness [0,1] 0.9922290659425569 Centerline is valid? [True, True] Translation: X:27.19, Y:-1.48, Z:-0.34 [[ 9.99991643e-01 -3.97736916e-03 -9.46236180e-04 2.71874565e+01] [ 3.97741950e-03 9.99992089e-01 5.13232841e-05 -1.47854779e+00] [ 9.46024562e-04 -5.50864334e-05 9.99999551e-01 -3.36206065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570371743 meters Centerline goodness [0,1] 0.9914151753285346 Centerline is valid? [True, True] Translation: X:27.22, Y:-1.48, Z:-0.34 [[ 9.99985366e-01 -5.37421930e-03 -6.20188557e-04 2.72185129e+01] [ 5.37424138e-03 9.99985558e-01 3.39524286e-05 -1.48084210e+00] [ 6.19997133e-04 -3.72849748e-05 9.99999807e-01 -3.36528571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600371742999997 meters Centerline goodness [0,1] 0.9909615257121389 Centerline is valid? [True, True] Translation: X:27.25, Y:-1.48, Z:-0.34 [[ 9.99980122e-01 -6.30161812e-03 -2.10718852e-04 2.72493865e+01] [ 6.30162080e-03 9.99980145e-01 1.20510004e-05 -1.48423583e+00] [ 2.10638727e-04 -1.33786311e-05 9.99999978e-01 -3.36938647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.630371742999998 meters Centerline goodness [0,1] 0.9911039491401956 Centerline is valid? [True, True] Translation: X:27.28, Y:-1.48, Z:-0.34 [[ 9.99965629e-01 -8.28869068e-03 -1.96542628e-04 2.72808102e+01] [ 8.28869298e-03 9.99965648e-01 1.08670366e-05 -1.47873877e+00] [ 1.96445803e-04 -1.24957446e-05 9.99999981e-01 -3.36127648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660371743 meters Centerline goodness [0,1] 0.9899598393574297 Centerline is valid? [True, True] Translation: X:27.31, Y:-1.49, Z:-0.34 [[ 9.99962192e-01 -8.68636486e-03 -4.02949867e-04 2.73114483e+01] [ 8.68637464e-03 9.99962272e-01 2.25195108e-05 -1.48977491e+00] [ 4.02739052e-04 -2.60188329e-05 9.99999919e-01 -3.38139043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.690371742999996 meters Centerline goodness [0,1] 0.990780047758026 Centerline is valid? [True, True] Translation: X:27.34, Y:-1.49, Z:-0.34 [[ 9.99958379e-01 -9.12135517e-03 -2.01471868e-04 2.73439554e+01] [ 9.12135772e-03 9.99958399e-01 1.17806555e-05 -1.49168973e+00] [ 2.01356031e-04 -1.36178622e-05 9.99999980e-01 -3.38817964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720371742999998 meters Centerline goodness [0,1] 0.9912957030818513 Centerline is valid? [True, True] Translation: X:27.38, Y:-1.48, Z:-0.34 [[ 9.99956107e-01 -9.35993551e-03 -4.19450630e-04 2.73767580e+01] [ 9.35994627e-03 9.99956194e-01 2.36925083e-05 -1.48442166e+00] [ 4.19210496e-04 -2.76175038e-05 9.99999912e-01 -3.37328023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750371743 meters Centerline goodness [0,1] 0.9913938053097345 Centerline is valid? [True, True] Translation: X:27.41, Y:-1.48, Z:-0.34 [[ 9.99963139e-01 -8.56245901e-03 -6.35638953e-04 2.74088972e+01] [ 8.56248329e-03 9.99963341e-01 3.54888343e-05 -1.48159484e+00] [ 6.35311779e-04 -4.09301741e-05 9.99999797e-01 -3.36797405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780371742999996 meters Centerline goodness [0,1] 0.9912960876576755 Centerline is valid? [True, True] Translation: X:27.44, Y:-1.48, Z:-0.34 [[ 9.99969064e-01 -7.85456429e-03 -4.19888712e-04 2.74404503e+01] [ 7.85457487e-03 9.99969152e-01 2.35444510e-05 -1.48280590e+00] [ 4.19690827e-04 -2.68417700e-05 9.99999912e-01 -3.36853270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.810371742999997 meters Centerline goodness [0,1] 0.9915727238633104 Centerline is valid? [True, True] Translation: X:27.47, Y:-1.48, Z:-0.34 [[ 9.99976732e-01 -6.81639929e-03 2.69874750e-04 2.74725200e+01] [ 6.81640326e-03 9.99976768e-01 -1.38029867e-05 -1.48295719e+00] [-2.69774393e-04 1.56422407e-05 9.99999963e-01 -3.36680115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840371743 meters Centerline goodness [0,1] 0.9915092242720605 Centerline is valid? [True, True] Translation: X:27.50, Y:-1.48, Z:-0.34 [[ 9.99991867e-01 -3.98930571e-03 5.92776693e-04 2.75030387e+01] [ 3.98932556e-03 9.99992042e-01 -3.23065556e-05 -1.47996198e+00] [-5.92643095e-04 3.46710721e-05 9.99999824e-01 -3.36261438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870371742999996 meters Centerline goodness [0,1] 0.9913693389091556 Centerline is valid? [True, True] Translation: X:27.53, Y:-1.48, Z:-0.34 [[ 9.99996596e-01 -2.50930981e-03 7.15084040e-04 2.75337213e+01] [ 2.50933802e-03 9.99996851e-01 -3.85475474e-05 -1.48092965e+00] [-7.14985061e-04 4.03418037e-05 9.99999744e-01 -3.37053196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900371742999997 meters Centerline goodness [0,1] 0.9919600222098834 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.47, Z:-0.34 [[ 9.99998962e-01 1.35180232e-03 4.97987295e-04 2.75648746e+01] [-1.35178906e-03 9.99999086e-01 -2.69714394e-05 -1.47315622e+00] [-4.98023300e-04 2.62982376e-05 9.99999876e-01 -3.36961796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.930371743 meters Centerline goodness [0,1] 0.9919600222098834 Centerline is valid? [True, True] Translation: X:27.59, Y:-1.47, Z:-0.34 [[ 9.99998962e-01 1.35180480e-03 4.97976735e-04 2.75948722e+01] [-1.35179144e-03 9.99999086e-01 -2.71650272e-05 -1.47479254e+00] [-4.98013002e-04 2.64918383e-05 9.99999876e-01 -3.37346209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960371742999996 meters Centerline goodness [0,1] 0.9914313057799737 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.48, Z:-0.34 [[ 9.99994797e-01 3.17494553e-03 5.70526334e-04 2.76243956e+01] [-3.17492816e-03 9.99994959e-01 -3.13412949e-05 -1.47905872e+00] [-5.70622965e-04 2.95297517e-05 9.99999837e-01 -3.38993313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990371742999997 meters Centerline goodness [0,1] 0.9919930606525655 Centerline is valid? [True, True] Translation: X:27.65, Y:-1.47, Z:-0.34 [[ 9.99985902e-01 5.23384912e-03 8.95471637e-04 2.76545651e+01] [-5.23380710e-03 9.99986302e-01 -4.92599822e-05 -1.47237653e+00] [-8.95717190e-04 4.45725619e-05 9.99999598e-01 -3.37970402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020371743 meters Centerline goodness [0,1] 0.9919771795328935 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.47, Z:-0.34 [[ 9.99970983e-01 7.56215406e-03 9.19932094e-04 2.76837938e+01] [-7.56210975e-03 9.99971406e-01 -5.16376395e-05 -1.47009663e+00] [-9.20296280e-04 4.46795137e-05 9.99999576e-01 -3.37820259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.050371743 meters Centerline goodness [0,1] 0.9913000912266648 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.47, Z:-0.34 [[ 9.99925956e-01 1.21324757e-02 9.40762858e-04 2.77126188e+01] [-1.21324327e-02 9.99926398e-01 -5.14140591e-05 -1.46851189e+00] [-9.41317396e-04 3.99965102e-05 9.99999556e-01 -3.39255880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080371742999997 meters Centerline goodness [0,1] 0.9916898122430841 Centerline is valid? [True, True] Translation: X:27.74, Y:-1.47, Z:-0.34 [[ 9.99897886e-01 1.42733117e-02 7.00050720e-04 2.77413536e+01] [-1.42732879e-02 9.99898131e-01 -3.89035056e-05 -1.46822672e+00] [-7.00534688e-04 2.89075076e-05 9.99999754e-01 -3.39622108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110371742999998 meters Centerline goodness [0,1] 0.9921237067526978 Centerline is valid? [True, True] Translation: X:27.77, Y:-1.47, Z:-0.34 [[ 9.99871159e-01 1.60509354e-02 1.80565110e-04 2.77700288e+01] [-1.60509338e-02 9.99871175e-01 -1.06879709e-05 -1.46764544e+00] [-1.80713400e-04 7.78835520e-06 9.99999984e-01 -3.39864214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140371743 meters Centerline goodness [0,1] 0.9912020186231383 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.46, Z:-0.34 [[ 9.99810888e-01 1.94351525e-02 6.80115900e-04 2.78000448e+01] [-1.94351316e-02 9.99811119e-01 -3.73011892e-05 -1.46385471e+00] [-6.80712394e-04 2.40759930e-05 9.99999768e-01 -3.39123563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170371742999997 meters Centerline goodness [0,1] 0.991123006579681 Centerline is valid? [True, True] Translation: X:27.83, Y:-1.46, Z:-0.34 [[ 9.99770789e-01 2.13702759e-02 1.29667657e-03 2.78290175e+01] [-2.13702017e-02 9.99771629e-01 -7.10706188e-05 -1.46368374e+00] [-1.29789925e-03 4.33440887e-05 9.99999157e-01 -3.39216633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200371742999998 meters Centerline goodness [0,1] 0.9911435153087469 Centerline is valid? [True, True] Translation: X:27.86, Y:-1.46, Z:-0.34 [[ 9.99737679e-01 2.28565750e-02 1.46645892e-03 2.78583043e+01] [-2.28564823e-02 9.99738753e-01 -7.99452763e-05 -1.46399945e+00] [-1.46790309e-03 4.64062126e-05 9.99998922e-01 -3.39318940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.230371743 meters Centerline goodness [0,1] 0.9913571124694924 Centerline is valid? [True, True] Translation: X:27.89, Y:-1.46, Z:-0.34 [[ 9.99627091e-01 2.72331481e-02 2.00877567e-03 2.78874987e+01] [-2.72329841e-02 9.99629108e-01 -1.08948157e-04 -1.46360525e+00] [-2.01099763e-03 5.42025731e-05 9.99997976e-01 -3.39553683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260371742999997 meters Centerline goodness [0,1] 0.9918444165621079 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.46, Z:-0.34 [[ 9.99553009e-01 2.98174860e-02 2.16800790e-03 2.79150787e+01] [-2.98173001e-02 9.99555358e-01 -1.18032249e-04 -1.46419271e+00] [-2.17056334e-03 5.33353478e-05 9.99997643e-01 -3.39967783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290371742999998 meters Centerline goodness [0,1] 0.9921836616195453 Centerline is valid? [True, True] Translation: X:27.94, Y:-1.46, Z:-0.34 [[ 9.99468066e-01 3.25315765e-02 2.29830717e-03 2.79443857e+01] [-3.25313744e-02 9.99470707e-01 -1.25268175e-04 -1.46372518e+00] [-2.30116586e-03 5.04344491e-05 9.99997351e-01 -3.40012268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320371743 meters Centerline goodness [0,1] 0.9932340091856167 Centerline is valid? [True, True] Translation: X:27.97, Y:-1.46, Z:-0.34 [[ 9.99263976e-01 3.82542400e-02 2.84955389e-03 2.79726579e+01] [-3.82539563e-02 9.99268038e-01 -1.53988973e-04 -1.46297797e+00] [-2.85335885e-03 4.48689238e-05 9.99995928e-01 -3.39810031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.350371742999997 meters Centerline goodness [0,1] 0.993407628315806 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.46, Z:-0.34 [[ 9.99167768e-01 4.06603591e-02 3.24125363e-03 2.80013403e+01] [-4.06600059e-02 9.99173025e-01 -1.74796714e-04 -1.46343892e+00] [-3.24568049e-03 4.28618508e-05 9.99994732e-01 -3.39703006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380371742999998 meters Centerline goodness [0,1] 0.9937345609701325 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.47, Z:-0.34 [[ 9.99071040e-01 4.29055533e-02 4.02115860e-03 2.80296849e+01] [-4.29050301e-02 9.99079132e-01 -2.16346974e-04 -1.46516414e+00] [-4.02673813e-03 4.36180656e-05 9.99991892e-01 -3.40138060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.410371743 meters Centerline goodness [0,1] 0.9932675747612337 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.47, Z:-0.34 [[ 9.98970491e-01 4.50403939e-02 5.41485315e-03 2.80571501e+01] [-4.50394795e-02 9.98985165e-01 -2.90760570e-04 -1.46881130e+00] [-5.42245394e-03 4.65790620e-05 9.99985297e-01 -3.40769497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440371742999996 meters Centerline goodness [0,1] 0.9940155997848306 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.47, Z:-0.34 [[ 9.98959760e-01 4.52301462e-02 5.79931994e-03 2.80860983e+01] [-4.52291046e-02 9.98976592e-01 -3.10693202e-04 -1.47239040e+00] [-5.80743757e-03 4.80719585e-05 9.99983136e-01 -3.41348070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.470371742999998 meters Centerline goodness [0,1] 0.9938427216954824 Centerline is valid? [True, True] Translation: X:28.11, Y:-1.48, Z:-0.34 [[ 9.98975881e-01 4.48913488e-02 5.65292601e-03 2.81137279e+01] [-4.48903551e-02 9.98991874e-01 -3.02598745e-04 -1.47622869e+00] [-5.66081122e-03 4.85269918e-05 9.99983976e-01 -3.41875652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500371743 meters Centerline goodness [0,1] 0.9938182061639402 Centerline is valid? [True, True] Translation: X:28.14, Y:-1.48, Z:-0.34 [[ 9.99077677e-01 4.26160184e-02 5.26031192e-03 2.81412654e+01] [-4.26151285e-02 9.99091523e-01 -2.81197858e-04 -1.48389981e+00] [-5.26751658e-03 5.67696339e-05 9.99986125e-01 -3.42899625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.530371742999996 meters Centerline goodness [0,1] 0.9940734799367243 Centerline is valid? [True, True] Translation: X:28.17, Y:-1.49, Z:-0.34 [[ 9.99145648e-01 4.10471816e-02 4.80662947e-03 2.81695780e+01] [-4.10464225e-02 9.99157208e-01 -2.56519662e-04 -1.48743733e+00] [-4.81310788e-03 5.90055598e-05 9.99988415e-01 -3.42657072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560371742999997 meters Centerline goodness [0,1] 0.9937231508892203 Centerline is valid? [True, True] Translation: X:28.20, Y:-1.49, Z:-0.34 [[ 9.99225012e-01 3.91348930e-02 4.22316818e-03 2.81974231e+01] [-3.91342901e-02 9.99233935e-01 -2.25335970e-04 -1.49454566e+00] [-4.22875146e-03 5.98906490e-05 9.99991057e-01 -3.44934814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590371743 meters Centerline goodness [0,1] 0.9934439300981196 Centerline is valid? [True, True] Translation: X:28.23, Y:-1.50, Z:-0.35 [[ 9.99373009e-01 3.52634667e-02 3.17449451e-03 2.82260473e+01] [-3.52631071e-02 9.99378049e-01 -1.69199254e-04 -1.50247840e+00] [-3.17848669e-03 5.71506275e-05 9.99994947e-01 -3.45596069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620371742999996 meters Centerline goodness [0,1] 0.9938007837580535 Centerline is valid? [True, True] Translation: X:28.26, Y:-1.51, Z:-0.35 [[ 9.99439581e-01 3.33460816e-02 2.92637366e-03 2.82550094e+01] [-3.33457682e-02 9.99443863e-01 -1.55840146e-04 -1.50817260e+00] [-2.92994285e-03 5.81706322e-05 9.99995706e-01 -3.46452485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650371742999997 meters Centerline goodness [0,1] 0.9933139985388209 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.52, Z:-0.35 [[ 9.99500192e-01 3.14595108e-02 3.10894929e-03 2.82822236e+01] [-3.14591483e-02 9.99505025e-01 -1.65453527e-04 -1.51614578e+00] [-3.11261552e-03 6.75659356e-05 9.99995154e-01 -3.48031164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680371743 meters Centerline goodness [0,1] 0.9930590749840249 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.52, Z:-0.35 [[ 9.99587076e-01 2.84504592e-02 4.03090240e-03 2.83106125e+01] [-2.84498287e-02 9.99595199e-01 -2.13689960e-04 -1.52176000e+00] [-4.03535026e-03 9.89232396e-05 9.99991853e-01 -3.46825263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.710371742999996 meters Centerline goodness [0,1] 0.9932280407641064 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.53, Z:-0.35 [[ 9.99620636e-01 2.71161082e-02 4.82707493e-03 2.83392782e+01] [-2.71151909e-02 9.99632283e-01 -2.55374635e-04 -1.52659245e+00] [-4.83222470e-03 1.24390696e-04 9.99988317e-01 -3.46972502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740371742999997 meters Centerline goodness [0,1] 0.9931174000043979 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.53, Z:-0.35 [[ 9.99654166e-01 2.58020157e-02 5.07980151e-03 2.83670778e+01] [-2.58009836e-02 9.99667063e-01 -2.68626890e-04 -1.53139036e+00] [-5.08504138e-03 1.37470114e-04 9.99987062e-01 -3.46890338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.770371743 meters Centerline goodness [0,1] 0.9921671018276762 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.54, Z:-0.35 [[ 9.99722504e-01 2.30201081e-02 4.99897753e-03 2.83952370e+01] [-2.30190778e-02 9.99734991e-01 -2.63538694e-04 -1.53905079e+00] [-5.00371945e-03 1.48393710e-04 9.99987470e-01 -3.46984171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800371742999996 meters Centerline goodness [0,1] 0.9922091032787604 Centerline is valid? [True, True] Translation: X:28.42, Y:-1.54, Z:-0.35 [[ 9.99762057e-01 2.11369179e-02 5.39069687e-03 2.84222828e+01] [-2.11356943e-02 9.99776576e-01 -2.83849783e-04 -1.54456046e+00] [-5.39549217e-03 1.69846122e-04 9.99985430e-01 -3.47799295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.830371742999997 meters Centerline goodness [0,1] 0.9917539753712898 Centerline is valid? [True, True] Translation: X:28.45, Y:-1.55, Z:-0.35 [[ 9.99801721e-01 1.90854815e-02 5.68000579e-03 2.84508391e+01] [-1.90840935e-02 9.99817838e-01 -2.98457400e-04 -1.54908753e+00] [-5.68466731e-03 1.90000460e-04 9.99983824e-01 -3.48271840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860371742999998 meters Centerline goodness [0,1] 0.9912276863843192 Centerline is valid? [True, True] Translation: X:28.48, Y:-1.56, Z:-0.35 [[ 9.99884617e-01 1.41301842e-02 5.57582307e-03 2.84794488e+01] [-1.41287732e-02 9.99900141e-01 -2.92359709e-04 -1.56049296e+00] [-5.57939737e-03 2.13546436e-04 9.99984412e-01 -3.49207626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890371743 meters Centerline goodness [0,1] 0.9916953349256086 Centerline is valid? [True, True] Translation: X:28.51, Y:-1.56, Z:-0.35 [[ 9.99919752e-01 1.16197595e-02 5.04693843e-03 2.85089281e+01] [-1.16185722e-02 9.99932467e-01 -2.64508312e-04 -1.56037914e+00] [-5.04967112e-03 2.05848867e-04 9.99987229e-01 -3.48888007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920371742999997 meters Centerline goodness [0,1] 0.9907815019831757 Centerline is valid? [True, True] Translation: X:28.54, Y:-1.57, Z:-0.35 [[ 9.99949758e-01 9.14831749e-03 4.09758547e-03 2.85375390e+01] [-9.14751690e-03 9.99958138e-01 -2.14079710e-04 -1.56701318e+00] [-4.09937240e-03 1.76586222e-04 9.99991582e-01 -3.50392655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950371742999998 meters Centerline goodness [0,1] 0.9911000588966691 Centerline is valid? [True, True] Translation: X:28.57, Y:-1.57, Z:-0.35 [[ 9.99987954e-01 4.05434545e-03 2.76649316e-03 2.85672859e+01] [-4.05395986e-03 9.99991772e-01 -1.44971606e-04 -1.57346627e+00] [-2.76705817e-03 1.33754608e-04 9.99996163e-01 -3.51596941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980371743 meters Centerline goodness [0,1] 0.9906152469499553 Centerline is valid? [True, True] Translation: X:28.60, Y:-1.58, Z:-0.35 [[ 9.99994518e-01 1.48445319e-03 2.95990962e-03 2.85975410e+01] [-1.48400113e-03 9.99998887e-01 -1.54918462e-04 -1.57667927e+00] [-2.96013630e-03 1.50525104e-04 9.99995607e-01 -3.52203135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.010371742999997 meters Centerline goodness [0,1] 0.9903515267674348 Centerline is valid? [True, True] Translation: X:28.63, Y:-1.58, Z:-0.35 [[ 9.99995988e-01 -7.06138046e-04 2.74338052e-03 2.86275509e+01] [ 7.06534111e-04 9.99999740e-01 -1.43404755e-04 -1.58304513e+00] [-2.74327854e-03 1.45342472e-04 9.99996227e-01 -3.52601595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040371742999998 meters Centerline goodness [0,1] 0.9903208929194279 Centerline is valid? [True, True] Translation: X:28.66, Y:-1.59, Z:-0.35 [[ 9.99991245e-01 -2.60656877e-03 3.27360170e-03 2.86592402e+01] [ 2.60713660e-03 9.99996587e-01 -1.69202082e-04 -1.58645356e+00] [-3.27314949e-03 1.77735327e-04 9.99994627e-01 -3.52417054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.070371743 meters Centerline goodness [0,1] 0.9896059841697834 Centerline is valid? [True, True] Translation: X:28.69, Y:-1.59, Z:-0.35 [[ 9.99973232e-01 -5.85765569e-03 4.38447033e-03 2.86906926e+01] [ 5.85872143e-03 9.99982811e-01 -2.30266843e-04 -1.58892850e+00] [-4.38304614e-03 2.55948069e-04 9.99990362e-01 -3.50981231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100371742999997 meters Centerline goodness [0,1] 0.989868839600854 Centerline is valid? [True, True] Translation: X:28.72, Y:-1.59, Z:-0.35 [[ 9.99965662e-01 -6.54395500e-03 5.08440215e-03 2.87227026e+01] [ 6.54539687e-03 9.99978543e-01 -2.66999320e-04 -1.59048415e+00] [-5.08254582e-03 3.00269582e-04 9.99987039e-01 -3.50368840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.130371742999998 meters Centerline goodness [0,1] 0.9900426124010784 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.59, Z:-0.35 [[ 9.99961748e-01 -6.55664440e-03 5.78900131e-03 2.87545552e+01] [ 6.55851628e-03 9.99978446e-01 -3.04426116e-04 -1.59333899e+00] [-5.78688052e-03 3.42381730e-04 9.99983197e-01 -3.50178953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160371743 meters Centerline goodness [0,1] 0.9896394529631165 Centerline is valid? [True, True] Translation: X:28.79, Y:-1.59, Z:-0.35 [[ 9.99959802e-01 -5.26802081e-03 7.25552864e-03 2.87866785e+01] [ 5.27093515e-03 9.99986035e-01 -3.82608248e-04 -1.59446112e+00] [-7.25341173e-03 4.20836288e-04 9.99973605e-01 -3.49646038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190371742999996 meters Centerline goodness [0,1] 0.9891602455269688 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.60, Z:-0.35 [[ 9.99963997e-01 -3.99021296e-03 7.48887273e-03 2.88193066e+01] [ 3.99328555e-03 9.99991949e-01 -3.95379484e-04 -1.59510924e+00] [-7.48723479e-03 4.25270456e-04 9.99971880e-01 -3.49769987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220371742999998 meters Centerline goodness [0,1] 0.98947619667578 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.60, Z:-0.35 [[ 9.99968203e-01 -2.74092174e-03 7.48870281e-03 2.88514121e+01] [ 2.74396499e-03 9.99996157e-01 -3.96134153e-04 -1.59621699e+00] [-7.48758826e-03 4.16670296e-04 9.99971881e-01 -3.50459660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250371743 meters Centerline goodness [0,1] 0.9900296064089168 Centerline is valid? [True, True] Translation: X:28.88, Y:-1.60, Z:-0.35 [[ 9.99973140e-01 -9.35443706e-04 7.26933964e-03 2.88814599e+01] [ 9.38265943e-04 9.99999486e-01 -3.84837857e-04 -1.59664172e+00] [-7.26897591e-03 3.91648095e-04 9.99973504e-01 -3.50929594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280371742999996 meters Centerline goodness [0,1] 0.9897340889276374 Centerline is valid? [True, True] Translation: X:28.91, Y:-1.60, Z:-0.35 [[ 9.99976570e-01 -1.57448194e-04 6.84356512e-03 2.89138006e+01] [ 1.59937039e-04 9.99999921e-01 -3.63130926e-04 -1.59724936e+00] [-6.84350741e-03 3.64216958e-04 9.99976517e-01 -3.51706668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310371742999997 meters Centerline goodness [0,1] 0.9896265109919921 Centerline is valid? [True, True] Translation: X:28.95, Y:-1.60, Z:-0.35 [[ 9.99979402e-01 4.60012507e-04 6.40192325e-03 2.89458447e+01] [-4.57844683e-04 9.99999837e-01 -3.40082193e-04 -1.59641690e+00] [-6.40207865e-03 3.37144101e-04 9.99979450e-01 -3.52358182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340371743 meters Centerline goodness [0,1] 0.9896203580540351 Centerline is valid? [True, True] Translation: X:28.98, Y:-1.60, Z:-0.36 [[ 9.99988157e-01 9.05140665e-04 4.78200054e-03 2.89771241e+01] [-9.03934964e-04 9.99999559e-01 -2.54288404e-04 -1.60288510e+00] [-4.78222860e-03 2.49962775e-04 9.99988534e-01 -3.55103841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.370371742999996 meters Centerline goodness [0,1] 0.989690272237843 Centerline is valid? [True, True] Translation: X:29.01, Y:-1.60, Z:-0.36 [[ 9.99991890e-01 1.45242745e-03 3.75627792e-03 2.90096881e+01] [-1.45168776e-03 9.99998926e-01 -1.99642427e-04 -1.60084601e+00] [-3.75656386e-03 1.94187865e-04 9.99992925e-01 -3.55634325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400371742999997 meters Centerline goodness [0,1] 0.9898223820420616 Centerline is valid? [True, True] Translation: X:29.04, Y:-1.60, Z:-0.36 [[ 9.99993330e-01 2.01845195e-03 3.04395217e-03 2.90409374e+01] [-2.01796766e-03 9.99997951e-01 -1.62162487e-04 -1.59847537e+00] [-3.04427325e-03 1.56018808e-04 9.99995354e-01 -3.56303071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.430371743 meters Centerline goodness [0,1] 0.9894110726191254 Centerline is valid? [True, True] Translation: X:29.07, Y:-1.61, Z:-0.36 [[ 9.99990082e-01 4.36538537e-03 8.82842905e-04 2.90707654e+01] [-4.36534628e-03 9.99990471e-01 -4.62067888e-05 -1.60649455e+00] [-8.83036202e-04 4.23524155e-05 9.99999609e-01 -3.60127050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460371742999996 meters Centerline goodness [0,1] 0.9894789579158316 Centerline is valid? [True, True] Translation: X:29.10, Y:-1.60, Z:-0.36 [[ 9.99982114e-01 5.97674941e-03 2.22808119e-04 2.91011234e+01] [-5.97674671e-03 9.99982139e-01 -1.27829593e-05 -1.60099193e+00] [-2.22880540e-04 1.14510630e-05 9.99999975e-01 -3.59927930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490371742999997 meters Centerline goodness [0,1] 0.9896507396997625 Centerline is valid? [True, True] Translation: X:29.13, Y:-1.61, Z:-0.36 [[ 9.99969452e-01 7.80052445e-03 -4.96761832e-04 2.91291155e+01] [-7.80051268e-03 9.99969575e-01 2.56161334e-05 -1.60642418e+00] [ 4.96946537e-04 -2.17403539e-05 9.99999876e-01 -3.62458527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520371743 meters Centerline goodness [0,1] 0.9903644467750393 Centerline is valid? [True, True] Translation: X:29.16, Y:-1.60, Z:-0.36 [[ 9.99917027e-01 1.28817496e-02 -2.46945203e-06 2.91593146e+01] [-1.28817496e-02 9.99917027e-01 -3.24147398e-07 -1.59635103e+00] [ 2.46507153e-06 3.55931364e-07 1.00000000e+00 -3.60010157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550371742999996 meters Centerline goodness [0,1] 0.9908010313333042 Centerline is valid? [True, True] Translation: X:29.19, Y:-1.60, Z:-0.36 [[ 9.99879689e-01 1.54722337e-02 1.10364598e-03 2.91873342e+01] [-1.54721770e-02 9.99880297e-01 -5.98951003e-05 -1.59741784e+00] [-1.10444058e-03 4.28120883e-05 9.99999389e-01 -3.60456313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580371742999997 meters Centerline goodness [0,1] 0.9910189454362694 Centerline is valid? [True, True] Translation: X:29.22, Y:-1.60, Z:-0.36 [[ 9.99836256e-01 1.79297080e-02 2.44686920e-03 2.92159521e+01] [-1.79294410e-02 9.99839246e-01 -1.31017566e-04 -1.59665591e+00] [-2.44882497e-03 8.71251155e-05 9.99996998e-01 -3.59634386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610371742999998 meters Centerline goodness [0,1] 0.9913079560593155 Centerline is valid? [True, True] Translation: X:29.25, Y:-1.60, Z:-0.36 [[ 9.99798267e-01 1.97017141e-02 3.90731777e-03 2.92451094e+01] [-1.97010499e-02 9.99805894e-01 -2.08399124e-04 -1.59658518e+00] [-3.91066515e-03 1.31378821e-04 9.99992345e-01 -3.58655413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640371743 meters Centerline goodness [0,1] 0.9914389918976173 Centerline is valid? [True, True] Translation: X:29.27, Y:-1.60, Z:-0.36 [[ 9.99750566e-01 2.14941776e-02 6.06683822e-03 2.92738997e+01] [-2.14926150e-02 9.99768955e-01 -3.22641708e-04 -1.59653767e+00] [-6.07237143e-03 1.92169012e-04 9.99981545e-01 -3.56595770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.670371742999997 meters Centerline goodness [0,1] 0.9910979228486647 Centerline is valid? [True, True] Translation: X:29.30, Y:-1.60, Z:-0.36 [[ 9.99761152e-01 2.09503957e-02 6.22244921e-03 2.93014114e+01] [-2.09487436e-02 9.99780496e-01 -3.30565737e-04 -1.59906136e+00] [-6.22800884e-03 2.00134289e-04 9.99980586e-01 -3.56251922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700371742999998 meters Centerline goodness [0,1] 0.9915224611081979 Centerline is valid? [True, True] Translation: X:29.33, Y:-1.60, Z:-0.36 [[ 9.99784724e-01 1.95509578e-02 6.94742346e-03 2.93300507e+01] [-1.95488703e-02 9.99808835e-01 -3.68252579e-04 -1.59933383e+00] [-6.95329504e-03 2.32359023e-04 9.99975799e-01 -3.55854319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.730371743 meters Centerline goodness [0,1] 0.9911006412773197 Centerline is valid? [True, True] Translation: X:29.36, Y:-1.61, Z:-0.36 [[ 9.99865717e-01 1.46944215e-02 7.25408224e-03 2.93587214e+01] [-1.46920236e-02 9.99891993e-01 -3.83738062e-04 -1.60697096e+00] [-7.25893756e-03 2.77109385e-04 9.99973615e-01 -3.56462777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760371742999997 meters Centerline goodness [0,1] 0.9909591965666732 Centerline is valid? [True, True] Translation: X:29.39, Y:-1.61, Z:-0.36 [[ 9.99907378e-01 1.16774480e-02 6.99089091e-03 2.93884190e+01] [-1.16751503e-02 9.99931775e-01 -3.69391814e-04 -1.61078345e+00] [-6.99472751e-03 2.87737898e-04 9.99975495e-01 -3.57351908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.790371742999998 meters Centerline goodness [0,1] 0.9908410929629065 Centerline is valid? [True, True] Translation: X:29.42, Y:-1.62, Z:-0.36 [[ 9.99943436e-01 8.26165151e-03 6.69844003e-03 2.94182164e+01] [-8.25946509e-03 9.99965827e-01 -3.54005644e-04 -1.61558672e+00] [-6.70113580e-03 2.98660089e-04 9.99977503e-01 -3.58570478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820371743 meters Centerline goodness [0,1] 0.9908410929629065 Centerline is valid? [True, True] Translation: X:29.45, Y:-1.62, Z:-0.36 [[ 9.99943436e-01 8.26164861e-03 6.69845203e-03 2.94482025e+01] [-8.25946370e-03 9.99965827e-01 -3.53778489e-04 -1.61717052e+00] [-6.70114592e-03 2.98432857e-04 9.99977503e-01 -3.58954845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850371742999997 meters Centerline goodness [0,1] 0.9911062670299727 Centerline is valid? [True, True] Translation: X:29.48, Y:-1.62, Z:-0.36 [[ 9.99978822e-01 1.78264243e-03 6.25916926e-03 2.94785266e+01] [-1.78060819e-03 9.99998360e-01 -3.30559013e-04 -1.62416348e+00] [-6.25974827e-03 3.19406884e-04 9.99980357e-01 -3.60456233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880371742999998 meters Centerline goodness [0,1] 0.981106393352701 Centerline is valid? [True, True] Translation: X:29.51, Y:-1.66, Z:-0.36 [[ 9.99976549e-01 1.90211941e-03 6.57894370e-03 2.95083398e+01] [-1.89988530e-03 9.99998135e-01 -3.45818609e-04 -1.65882395e+00] [-6.57958922e-03 3.33311261e-04 9.99978299e-01 -3.64909083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.910371743 meters Centerline goodness [0,1] 0.9905110922060074 Centerline is valid? [True, True] Translation: X:29.54, Y:-1.63, Z:-0.36 [[ 9.99975917e-01 -2.64399227e-03 6.41681474e-03 2.95412039e+01] [ 2.64623143e-03 9.99996441e-01 -3.40486770e-04 -1.62938635e+00] [-6.41589165e-03 3.57458946e-04 9.99979354e-01 -3.61250471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940371742999996 meters Centerline goodness [0,1] 0.9898556718984697 Centerline is valid? [True, True] Translation: X:29.57, Y:-1.64, Z:-0.36 [[ 9.99961960e-01 -4.48965308e-03 7.47812901e-03 2.95722966e+01] [ 4.49273904e-03 9.99989829e-01 -3.95917149e-04 -1.63552940e+00] [-7.47627543e-03 4.29499371e-04 9.99971960e-01 -3.61379697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970371742999998 meters Centerline goodness [0,1] 0.9900966393870799 Centerline is valid? [True, True] Translation: X:29.60, Y:-1.64, Z:-0.36 [[ 9.99955479e-01 -5.11245647e-03 7.93110570e-03 2.96044781e+01] [ 5.11596995e-03 9.99986824e-01 -4.22775296e-04 -1.63860888e+00] [-7.92883978e-03 4.63331772e-04 9.99968459e-01 -3.61569054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000371743 meters Centerline goodness [0,1] 0.9898987700010885 Centerline is valid? [True, True] Translation: X:29.64, Y:-1.64, Z:-0.36 [[ 9.99950560e-01 -5.41829071e-03 8.33780364e-03 2.96363925e+01] [ 5.42218977e-03 9.99985201e-01 -4.45101869e-04 -1.64120232e+00] [-8.33526856e-03 4.90289017e-04 9.99965141e-01 -3.61861972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.030371742999996 meters Centerline goodness [0,1] 0.9896813550522422 Centerline is valid? [True, True] Translation: X:29.67, Y:-1.65, Z:-0.36 [[ 9.99952069e-01 -5.26942640e-03 8.25177984e-03 2.96678375e+01] [ 5.27324585e-03 9.99985999e-01 -4.41175243e-04 -1.64553838e+00] [-8.24933957e-03 4.84667761e-04 9.99965856e-01 -3.62291988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060371742999997 meters Centerline goodness [0,1] 0.9893499098002565 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.65, Z:-0.36 [[ 9.99950411e-01 -5.22183705e-03 8.47982344e-03 2.97009828e+01] [ 5.22587090e-03 9.99986242e-01 -4.53611552e-04 -1.64604151e+00] [-8.47733809e-03 4.97903521e-04 9.99963943e-01 -3.62385967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090371743 meters Centerline goodness [0,1] 0.9902823974434227 Centerline is valid? [True, True] Translation: X:29.73, Y:-1.65, Z:-0.36 [[ 9.99953366e-01 -5.15733387e-03 8.16505097e-03 2.97339664e+01] [ 5.16107835e-03 9.99986586e-01 -4.37594139e-04 -1.64756133e+00] [-8.16268462e-03 4.79714200e-04 9.99966570e-01 -3.62506667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120371742999996 meters Centerline goodness [0,1] 0.9900254253862703 Centerline is valid? [True, True] Translation: X:29.76, Y:-1.65, Z:-0.36 [[ 9.99961801e-01 -4.36489177e-03 7.57254022e-03 2.97648317e+01] [ 4.36809739e-03 9.99990377e-01 -4.06833883e-04 -1.65017854e+00] [-7.57069156e-03 4.39895936e-04 9.99971245e-01 -3.63150774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150371742999997 meters Centerline goodness [0,1] 0.9903547455086569 Centerline is valid? [True, True] Translation: X:29.80, Y:-1.65, Z:-0.36 [[ 9.99965168e-01 -3.64960121e-03 7.50615474e-03 2.97966790e+01] [ 3.65273303e-03 9.99993247e-01 -4.03566229e-04 -1.65094251e+00] [-7.50463120e-03 4.30970151e-04 9.99971747e-01 -3.63808558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180371743 meters Centerline goodness [0,1] 0.9893866898651588 Centerline is valid? [True, True] Translation: X:29.83, Y:-1.65, Z:-0.37 [[ 9.99975141e-01 -3.06476921e-03 6.35018264e-03 2.98276340e+01] [ 3.06700162e-03 9.99995238e-01 -3.41842558e-04 -1.65377367e+00] [-6.34910474e-03 3.61310081e-04 9.99979779e-01 -3.65059679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210371742999996 meters Centerline goodness [0,1] 0.9902974010116867 Centerline is valid? [True, True] Translation: X:29.86, Y:-1.65, Z:-0.37 [[ 9.99988417e-01 -1.16979596e-03 4.66882211e-03 2.98578164e+01] [ 1.17098377e-03 9.99999283e-01 -2.51687327e-04 -1.65499915e+00] [-4.66852434e-03 2.57151527e-04 9.99989069e-01 -3.67419240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240371742999997 meters Centerline goodness [0,1] 0.9905453756912068 Centerline is valid? [True, True] Translation: X:29.89, Y:-1.65, Z:-0.37 [[ 9.99991204e-01 2.04510389e-04 4.18939600e-03 2.98901212e+01] [-2.03567788e-04 9.99999954e-01 -2.25422123e-04 -1.65166063e+00] [-4.18944191e-03 2.24567314e-04 9.99991199e-01 -3.67653044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270371743 meters Centerline goodness [0,1] 0.9912274973334204 Centerline is valid? [True, True] Translation: X:29.92, Y:-1.65, Z:-0.37 [[ 9.99985794e-01 3.53861513e-03 3.98615152e-03 2.99207848e+01] [-3.53778470e-03 9.99993719e-01 -2.15360716e-04 -1.65010552e+00] [-3.98688856e-03 2.01255510e-04 9.99992032e-01 -3.67918460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300371742999996 meters Centerline goodness [0,1] 0.9911737784945299 Centerline is valid? [True, True] Translation: X:29.95, Y:-1.65, Z:-0.37 [[ 9.99972726e-01 6.05028252e-03 4.23582793e-03 2.99517820e+01] [-6.04936792e-03 9.99981676e-01 -2.28697900e-04 -1.65082563e+00] [-4.23713400e-03 2.03067581e-04 9.99991003e-01 -3.68431624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.330371742999997 meters Centerline goodness [0,1] 0.991499311640917 Centerline is valid? [True, True] Translation: X:29.98, Y:-1.65, Z:-0.37 [[ 9.99952956e-01 8.48171801e-03 4.70596879e-03 2.99824837e+01] [-8.48061480e-03 9.99964007e-01 -2.54334264e-04 -1.64973867e+00] [-4.70795660e-03 2.14412790e-04 9.99988895e-01 -3.67906151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360371742999998 meters Centerline goodness [0,1] 0.9916992507481597 Centerline is valid? [True, True] Translation: X:30.01, Y:-1.65, Z:-0.37 [[ 9.99924495e-01 1.10371555e-02 5.40234919e-03 3.00122708e+01] [-1.10357373e-02 9.99939062e-01 -2.92239829e-04 -1.64832981e+00] [-5.40524548e-03 2.32598857e-04 9.99985365e-01 -3.67499331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.390371743 meters Centerline goodness [0,1] 0.9914049443274803 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.65, Z:-0.37 [[ 9.99836871e-01 1.70036158e-02 6.09171137e-03 3.00410861e+01] [-1.70019247e-02 9.99855403e-01 -3.29290342e-04 -1.64966888e+00] [-6.09642965e-03 2.25665807e-04 9.99981391e-01 -3.67219640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420371742999997 meters Centerline goodness [0,1] 0.9912416730370208 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.65, Z:-0.37 [[ 9.99780069e-01 2.00683113e-02 6.08910587e-03 3.00707947e+01] [-2.00666804e-02 9.99798590e-01 -3.28834201e-04 -1.64792452e+00] [-6.09447861e-03 2.06573739e-04 9.99981407e-01 -3.66769715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450371742999998 meters Centerline goodness [0,1] 0.9924057262569832 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.64, Z:-0.37 [[ 9.99639835e-01 2.61493365e-02 6.03420478e-03 3.01014048e+01] [-2.61478474e-02 9.99658034e-01 -3.25555061e-04 -1.64202572e+00] [-6.04065433e-03 1.67656342e-04 9.99981741e-01 -3.65512032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480371743 meters Centerline goodness [0,1] 0.99307209825819 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.64, Z:-0.37 [[ 9.99557497e-01 2.91485176e-02 5.93082944e-03 3.01298743e+01] [-2.91471301e-02 9.99575081e-01 -3.20252761e-04 -1.64196078e+00] [-5.93764421e-03 1.47244391e-04 9.99982361e-01 -3.65953381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.510371742999997 meters Centerline goodness [0,1] 0.9923326323168594 Centerline is valid? [True, True] Translation: X:30.16, Y:-1.64, Z:-0.37 [[ 9.99478155e-01 3.17861890e-02 5.74950544e-03 3.01575835e+01] [-3.17849303e-02 9.99494683e-01 -3.10190022e-04 -1.64403266e+00] [-5.75645988e-03 1.27280521e-04 9.99983423e-01 -3.66937505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540371742999998 meters Centerline goodness [0,1] 0.9935925568331432 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.64, Z:-0.37 [[ 9.99300249e-01 3.69614059e-02 5.73303235e-03 3.01863677e+01] [-3.69602432e-02 9.99316689e-01 -3.08652868e-04 -1.64254740e+00] [-5.74052315e-03 9.65426181e-05 9.99983518e-01 -3.67495451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570371743 meters Centerline goodness [0,1] 0.993773158806376 Centerline is valid? [True, True] Translation: X:30.21, Y:-1.64, Z:-0.37 [[ 9.99218133e-01 3.91625577e-02 5.42380215e-03 3.02147067e+01] [-3.91615514e-02 9.99232850e-01 -2.91652570e-04 -1.64370384e+00] [-5.43106314e-03 7.90200303e-05 9.99985249e-01 -3.67777935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600371742999997 meters Centerline goodness [0,1] 0.9934234962529223 Centerline is valid? [True, True] Translation: X:30.24, Y:-1.65, Z:-0.37 [[ 9.99094862e-01 4.22149803e-02 5.22997446e-03 3.02422514e+01] [-4.22140860e-02 9.99108549e-01 -2.81312394e-04 -1.64556779e+00] [-5.23718779e-03 6.02791752e-05 9.99986284e-01 -3.68702881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630371742999998 meters Centerline goodness [0,1] 0.9941424606036763 Centerline is valid? [True, True] Translation: X:30.27, Y:-1.65, Z:-0.37 [[ 9.99050946e-01 4.32426310e-02 5.22314647e-03 3.02710103e+01] [-4.32417590e-02 9.99064599e-01 -2.79822107e-04 -1.64721059e+00] [-5.23036097e-03 5.36985005e-05 9.99986320e-01 -3.69166406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660371743 meters Centerline goodness [0,1] 0.9940391711609424 Centerline is valid? [True, True] Translation: X:30.30, Y:-1.65, Z:-0.37 [[ 9.99021598e-01 4.38956675e-02 5.38669829e-03 3.02999507e+01] [-4.38947518e-02 9.99036119e-01 -2.88169008e-04 -1.64950835e+00] [-5.39415553e-03 5.14392784e-05 9.99985450e-01 -3.69781734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690371742999996 meters Centerline goodness [0,1] 0.9939462566961369 Centerline is valid? [True, True] Translation: X:30.33, Y:-1.65, Z:-0.37 [[ 9.99018138e-01 4.39544769e-02 5.54653564e-03 3.03281971e+01] [-4.39535077e-02 9.99033534e-01 -2.96567491e-04 -1.65365627e+00] [-5.55421057e-03 5.24866055e-05 9.99984574e-01 -3.70394178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720371742999998 meters Centerline goodness [0,1] 0.9943433991819685 Centerline is valid? [True, True] Translation: X:30.35, Y:-1.66, Z:-0.37 [[ 9.99049979e-01 4.31826863e-02 5.86466903e-03 3.03544580e+01] [-4.31815910e-02 9.99067191e-01 -3.13306547e-04 -1.65754935e+00] [-5.87272783e-03 5.97631594e-05 9.99982754e-01 -3.70935878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750371743 meters Centerline goodness [0,1] 0.9940123671834176 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.66, Z:-0.37 [[ 9.99122968e-01 4.12957455e-02 6.92506752e-03 3.03830381e+01] [-4.12941885e-02 9.99146964e-01 -3.67737206e-04 -1.66437615e+00] [-6.93434616e-03 8.14496457e-05 9.99975954e-01 -3.71145882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780371742999996 meters Centerline goodness [0,1] 0.9935646577963301 Centerline is valid? [True, True] Translation: X:30.41, Y:-1.67, Z:-0.37 [[ 9.99162380e-01 4.03518039e-02 6.80229718e-03 3.04115236e+01] [-4.03502828e-02 9.99185531e-01 -3.60764097e-04 -1.66746861e+00] [-6.81131440e-03 8.59872983e-05 9.99976799e-01 -3.70799828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810371742999997 meters Centerline goodness [0,1] 0.9926186444357605 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.67, Z:-0.37 [[ 9.99194508e-01 3.94966768e-02 7.09563036e-03 3.04392652e+01] [-3.94950034e-02 9.99219697e-01 -3.75860173e-04 -1.67232917e+00] [-7.10493885e-03 9.53154756e-05 9.99974755e-01 -3.71481277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840371743 meters Centerline goodness [0,1] 0.9930900688813323 Centerline is valid? [True, True] Translation: X:30.47, Y:-1.68, Z:-0.37 [[ 9.99227008e-01 3.87021155e-02 6.89445665e-03 3.04673578e+01] [-3.87005210e-02 9.99250788e-01 -3.64585924e-04 -1.67656095e+00] [-6.90340148e-03 9.74850372e-05 9.99976166e-01 -3.72185719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870371742999996 meters Centerline goodness [0,1] 0.9930551048224833 Centerline is valid? [True, True] Translation: X:30.50, Y:-1.68, Z:-0.37 [[ 9.99226801e-01 3.88793861e-02 5.84746703e-03 3.04959804e+01] [-3.88782448e-02 9.99243908e-01 -3.08762362e-04 -1.68279812e+00] [-5.85505029e-03 8.11843726e-05 9.99982856e-01 -3.73116858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900371742999997 meters Centerline goodness [0,1] 0.9926559792027729 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.69, Z:-0.37 [[ 9.99224948e-01 3.90178491e-02 5.20684110e-03 3.05234798e+01] [-3.90169460e-02 9.99238511e-01 -2.74948414e-04 -1.68654459e+00] [-5.21360405e-03 7.15802767e-05 9.99986407e-01 -3.74104304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930371743 meters Centerline goodness [0,1] 0.9933170404654281 Centerline is valid? [True, True] Translation: X:30.55, Y:-1.69, Z:-0.37 [[ 9.99165740e-01 4.04362485e-02 5.72134852e-03 3.05522201e+01] [-4.04351871e-02 9.99182118e-01 -3.01111130e-04 -1.69292547e+00] [-5.72884493e-03 6.95161272e-05 9.99983588e-01 -3.74867520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960371742999996 meters Centerline goodness [0,1] 0.992854675762024 Centerline is valid? [True, True] Translation: X:30.58, Y:-1.70, Z:-0.38 [[ 9.99107351e-01 4.18455198e-02 5.78388543e-03 3.05809437e+01] [-4.18444613e-02 9.99124091e-01 -3.03968159e-04 -1.69655932e+00] [-5.79153897e-03 6.16732527e-05 9.99983227e-01 -3.75156542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990371742999997 meters Centerline goodness [0,1] 0.9928056004308023 Centerline is valid? [True, True] Translation: X:30.61, Y:-1.70, Z:-0.38 [[ 9.99015605e-01 4.39786135e-02 5.80546253e-03 3.06098549e+01] [-4.39775855e-02 9.99032472e-01 -3.04681647e-04 -1.69941640e+00] [-5.81324506e-03 4.90714944e-05 9.99983102e-01 -3.75447506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020371743 meters Centerline goodness [0,1] 0.9935593658452525 Centerline is valid? [True, True] Translation: X:30.64, Y:-1.70, Z:-0.38 [[ 9.98801993e-01 4.87227182e-02 4.54710260e-03 3.06386164e+01] [-4.87221372e-02 9.98812343e-01 -2.38512591e-04 -1.70290516e+00] [-4.55332318e-03 1.66822948e-05 9.99989633e-01 -3.76401226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.050371742999996 meters Centerline goodness [0,1] 0.9931748697412048 Centerline is valid? [True, True] Translation: X:30.67, Y:-1.71, Z:-0.38 [[ 9.98664972e-01 5.14901853e-02 4.12728455e-03 3.06666151e+01] [-5.14897299e-02 9.98673501e-01 -2.16588783e-04 -1.70546851e+00] [-4.13296191e-03 3.78686437e-06 9.99991459e-01 -3.77329197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080371742999997 meters Centerline goodness [0,1] 0.9941214331688479 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.71, Z:-0.38 [[ 9.98297412e-01 5.82024008e-02 3.84155825e-03 3.06937891e+01] [-5.82020579e-02 9.98304803e-01 -2.01100804e-04 -1.70956624e+00] [-3.84675061e-03 -2.28281834e-05 9.99992601e-01 -3.78075373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110371742999998 meters Centerline goodness [0,1] 0.9942279632649558 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.71, Z:-0.38 [[ 9.98129201e-01 6.09963892e-02 4.18786386e-03 3.07225080e+01] [-6.09960089e-02 9.98137986e-01 -2.18586904e-04 -1.71269834e+00] [-4.19339901e-03 -3.72650094e-05 9.99991207e-01 -3.78186210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140371743 meters Centerline goodness [0,1] 0.9941319562990781 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.72, Z:-0.38 [[ 9.97947872e-01 6.38415577e-02 4.92943344e-03 3.07512279e+01] [-6.38410681e-02 9.97960045e-01 -2.56772086e-04 -1.71639546e+00] [-4.93577035e-03 -5.84551389e-05 9.99987817e-01 -3.77844941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170371742999997 meters Centerline goodness [0,1] 0.994478803312718 Centerline is valid? [True, True] Translation: X:30.78, Y:-1.72, Z:-0.38 [[ 9.97661540e-01 6.79901646e-02 6.98496008e-03 3.07798647e+01] [-6.79892893e-02 9.97685985e-01 -3.62964149e-04 -1.72393286e+00] [-6.99347477e-03 -1.12787100e-04 9.99975539e-01 -3.76679756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200371742999998 meters Centerline goodness [0,1] 0.9946988567413936 Centerline is valid? [True, True] Translation: X:30.81, Y:-1.73, Z:-0.38 [[ 9.97549781e-01 6.95218471e-02 7.81968908e-03 3.08075744e+01] [-6.95208017e-02 9.97580420e-01 -4.05754331e-04 -1.72788266e+00] [-7.82897751e-03 -1.38870911e-04 9.99969343e-01 -3.76588700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230371743 meters Centerline goodness [0,1] 0.993816499285699 Centerline is valid? [True, True] Translation: X:30.84, Y:-1.73, Z:-0.38 [[ 9.97471091e-01 7.05635308e-02 8.49773016e-03 3.08359871e+01] [-7.05623420e-02 9.97507274e-01 -4.40011883e-04 -1.73397469e+00] [-8.50759644e-03 -1.60720609e-04 9.99963797e-01 -3.76325980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260371742999997 meters Centerline goodness [0,1] 0.9930121914956884 Centerline is valid? [True, True] Translation: X:30.86, Y:-1.75, Z:-0.38 [[ 9.97418159e-01 7.12954893e-02 8.60055125e-03 3.08647156e+01] [-7.12943041e-02 9.97455224e-01 -4.44708028e-04 -1.74533362e+00] [-8.61037046e-03 -1.69610454e-04 9.99962916e-01 -3.77090952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290371742999998 meters Centerline goodness [0,1] 0.9930817208421142 Centerline is valid? [True, True] Translation: X:30.89, Y:-1.75, Z:-0.38 [[ 9.97456189e-01 7.07778570e-02 8.46441773e-03 3.08925556e+01] [-7.07766949e-02 9.97492089e-01 -4.37142551e-04 -1.75203643e+00] [-8.47412974e-03 -1.63052967e-04 9.99964081e-01 -3.78038794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320371743 meters Centerline goodness [0,1] 0.9928920008487163 Centerline is valid? [True, True] Translation: X:30.92, Y:-1.76, Z:-0.38 [[ 9.97491305e-01 7.02695172e-02 8.56108815e-03 3.09202973e+01] [-7.02683164e-02 9.97528029e-01 -4.41341019e-04 -1.75972010e+00] [-8.57093821e-03 -1.61339423e-04 9.99963256e-01 -3.79456533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350371742999997 meters Centerline goodness [0,1] 0.9919029196000084 Centerline is valid? [True, True] Translation: X:30.95, Y:-1.78, Z:-0.38 [[ 9.97678269e-01 6.76150926e-02 8.14073072e-03 3.09481126e+01] [-6.76139246e-02 9.97711472e-01 -4.18928859e-04 -1.77640209e+00] [-8.15042634e-03 -1.32470533e-04 9.99966776e-01 -3.80514227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380371742999998 meters Centerline goodness [0,1] 0.991265913801125 Centerline is valid? [True, True] Translation: X:30.98, Y:-1.79, Z:-0.38 [[ 9.97807693e-01 6.56373247e-02 8.45869996e-03 3.09761334e+01] [-6.56359979e-02 9.97843538e-01 -4.34654068e-04 -1.78523152e+00] [-8.46898863e-03 -1.21494040e-04 9.99964130e-01 -3.81151620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410371743 meters Centerline goodness [0,1] 0.9895699174461077 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.80, Z:-0.38 [[ 9.98075508e-01 6.15376941e-02 7.64150574e-03 3.10038103e+01] [-6.15364947e-02 9.98104757e-01 -3.92205042e-04 -1.80108947e+00] [-7.65115862e-03 -7.87812304e-05 9.99970726e-01 -3.81673711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440371742999996 meters Centerline goodness [0,1] 0.9887586148932593 Centerline is valid? [True, True] Translation: X:31.03, Y:-1.81, Z:-0.38 [[ 9.98188809e-01 5.96919216e-02 7.48177868e-03 3.10325082e+01] [-5.96907237e-02 9.98216845e-01 -3.83504398e-04 -1.81013146e+00] [-7.49132962e-03 -6.37829860e-05 9.99971938e-01 -3.81962131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470371742999998 meters Centerline goodness [0,1] 0.9878094838438942 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.82, Z:-0.38 [[ 9.98312861e-01 5.76508227e-02 6.91480342e-03 3.10600670e+01] [-5.76497518e-02 9.98336807e-01 -3.54250696e-04 -1.81893305e+00] [-6.92372561e-03 -4.49836745e-05 9.99976030e-01 -3.82258888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500371743 meters Centerline goodness [0,1] 0.9874813271897157 Centerline is valid? [True, True] Translation: X:31.09, Y:-1.83, Z:-0.38 [[ 9.98431117e-01 5.55523000e-02 7.01763744e-03 3.10887816e+01] [-5.55511525e-02 9.98455778e-01 -3.58486545e-04 -1.82814716e+00] [-7.02671540e-03 -3.19137259e-05 9.99975312e-01 -3.82401718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530371742999996 meters Centerline goodness [0,1] 0.9869780254178927 Centerline is valid? [True, True] Translation: X:31.12, Y:-1.84, Z:-0.38 [[ 9.98646230e-01 5.15587914e-02 6.88461614e-03 3.11167098e+01] [-5.15575953e-02 9.98669961e-01 -3.51209756e-04 -1.84450539e+00] [-6.89356728e-03 -4.21995423e-06 9.99976239e-01 -3.81956269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560371742999997 meters Centerline goodness [0,1] 0.987519631452204 Centerline is valid? [True, True] Translation: X:31.14, Y:-1.85, Z:-0.38 [[ 9.98763886e-01 4.91391099e-02 7.48652577e-03 3.11438884e+01] [-4.91376316e-02 9.98791944e-01 -3.81380220e-04 -1.85298072e+00] [-7.49622231e-03 1.30386455e-05 9.99971903e-01 -3.82167446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.590371743 meters Centerline goodness [0,1] 0.9869320676605264 Centerline is valid? [True, True] Translation: X:31.17, Y:-1.87, Z:-0.38 [[ 9.98991905e-01 4.42527077e-02 7.54136159e-03 3.11716476e+01] [-4.42510744e-02 9.99020368e-01 -3.83374146e-04 -1.86791039e+00] [-7.55093917e-03 4.92743158e-05 9.99971490e-01 -3.81774992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620371742999996 meters Centerline goodness [0,1] 0.9869395956297877 Centerline is valid? [True, True] Translation: X:31.20, Y:-1.88, Z:-0.38 [[ 9.99094772e-01 4.18785485e-02 7.47146460e-03 3.12001197e+01] [-4.18768828e-02 9.99122707e-01 -3.79312933e-04 -1.87561503e+00] [-7.48079501e-03 6.60879207e-05 9.99972016e-01 -3.81528935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650371742999997 meters Centerline goodness [0,1] 0.9875626586128065 Centerline is valid? [True, True] Translation: X:31.23, Y:-1.88, Z:-0.38 [[ 9.99206946e-01 3.91151745e-02 7.44868152e-03 3.12281945e+01] [-3.91134460e-02 9.99234705e-01 -3.77638141e-04 -1.88275534e+00] [-7.45775246e-03 8.59950515e-05 9.99972187e-01 -3.81567048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680371743 meters Centerline goodness [0,1] 0.9882024476772256 Centerline is valid? [True, True] Translation: X:31.26, Y:-1.90, Z:-0.38 [[ 9.99410506e-01 3.36309142e-02 6.89949679e-03 3.12575339e+01] [-3.36293050e-02 9.99434314e-01 -3.49148886e-04 -1.89650484e+00] [-6.90733603e-03 1.16917783e-04 9.99976137e-01 -3.81519878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710371742999996 meters Centerline goodness [0,1] 0.9881448454037837 Centerline is valid? [True, True] Translation: X:31.29, Y:-1.90, Z:-0.38 [[ 9.99509912e-01 3.05480734e-02 6.83752955e-03 3.12861797e+01] [-3.05464261e-02 9.99533289e-01 -3.45246315e-04 -1.90420374e+00] [-6.84488502e-03 1.36215023e-04 9.99976564e-01 -3.81732698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740371742999997 meters Centerline goodness [0,1] 0.9881448454037837 Centerline is valid? [True, True] Translation: X:31.32, Y:-1.91, Z:-0.38 [[ 9.99511004e-01 3.05123282e-02 6.83748530e-03 3.13153083e+01] [-3.05106741e-02 9.99534381e-01 -3.46121059e-04 -1.90564754e+00] [-6.84486260e-03 1.37335521e-04 9.99976564e-01 -3.82105867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770371743 meters Centerline goodness [0,1] 0.988718657122525 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.91, Z:-0.38 [[ 9.99612362e-01 2.71194296e-02 6.29782009e-03 3.13455272e+01] [-2.71179616e-02 9.99632190e-01 -3.18380386e-04 -1.91323956e+00] [-6.30413798e-03 1.47472926e-04 9.99980118e-01 -3.81611956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800371742999996 meters Centerline goodness [0,1] 0.9894466807099506 Centerline is valid? [True, True] Translation: X:31.37, Y:-1.93, Z:-0.38 [[ 9.99789474e-01 1.94089573e-02 6.65579618e-03 3.13745123e+01] [-1.94071470e-02 9.99811607e-01 -3.36477532e-04 -1.92730012e+00] [-6.66107296e-03 2.07236680e-04 9.99977793e-01 -3.80717623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830371742999997 meters Centerline goodness [0,1] 0.9889205378461023 Centerline is valid? [True, True] Translation: X:31.41, Y:-1.93, Z:-0.38 [[ 9.99860543e-01 1.53874641e-02 6.49000209e-03 3.14055195e+01] [-1.53856597e-02 9.99881580e-01 -3.27871251e-04 -1.93402299e+00] [-6.49427865e-03 2.27972564e-04 9.99978886e-01 -3.80025072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860371742999998 meters Centerline goodness [0,1] 0.989294710327456 Centerline is valid? [True, True] Translation: X:31.44, Y:-1.94, Z:-0.38 [[ 9.99946076e-01 7.09262230e-03 7.58553446e-03 3.14351300e+01] [-7.08991427e-03 9.99974793e-01 -3.83829666e-04 -1.94384698e+00] [-7.58806560e-03 3.30028180e-04 9.99971156e-01 -3.78853305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890371743 meters Centerline goodness [0,1] 0.9892764750062588 Centerline is valid? [True, True] Translation: X:31.46, Y:-1.95, Z:-0.38 [[ 9.99966221e-01 3.33332874e-03 7.51310408e-03 3.14649841e+01] [-3.33057086e-03 9.99994382e-01 -3.79557649e-04 -1.95024758e+00] [-7.51432706e-03 3.54521902e-04 9.99971704e-01 -3.78961609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920371742999997 meters Centerline goodness [0,1] 0.9893521514917427 Centerline is valid? [True, True] Translation: X:31.50, Y:-1.96, Z:-0.38 [[ 9.99970919e-01 -1.06461861e-04 7.62558012e-03 3.14962888e+01] [ 1.09409074e-04 9.99999919e-01 -3.86074316e-04 -1.95555566e+00] [-7.62553840e-03 3.86897396e-04 9.99970850e-01 -3.79229608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.950371742999998 meters Centerline goodness [0,1] 0.9900627832522556 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.96, Z:-0.38 [[ 9.99957369e-01 -5.13501943e-03 7.67409126e-03 3.15264169e+01] [ 5.13815535e-03 9.99986724e-01 -3.88977044e-04 -1.96156248e+00] [-7.67199197e-03 4.28391135e-04 9.99970478e-01 -3.79823876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980371743 meters Centerline goodness [0,1] 0.9900734605539716 Centerline is valid? [True, True] Translation: X:31.56, Y:-1.96, Z:-0.38 [[ 9.99953367e-01 -6.59994643e-03 7.05014482e-03 3.15579812e+01] [ 6.60262748e-03 9.99978139e-01 -3.57074615e-04 -1.96360728e+00] [-7.04763402e-03 4.03607443e-04 9.99975084e-01 -3.80279632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.010371743 meters Centerline goodness [0,1] 0.9897688597498591 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.97, Z:-0.38 [[ 9.99946914e-01 -7.65236647e-03 6.89996197e-03 3.15896669e+01] [ 7.65496201e-03 9.99970639e-01 -3.49835044e-04 -1.96615436e+00] [-6.89708231e-03 4.02635419e-04 9.99976134e-01 -3.81121150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040371743 meters Centerline goodness [0,1] 0.9887016347913905 Centerline is valid? [True, True] Translation: X:31.62, Y:-1.97, Z:-0.38 [[ 9.99939846e-01 -8.46858521e-03 6.97043198e-03 3.16220650e+01] [ 8.47125578e-03 9.99964056e-01 -3.53692405e-04 -1.96681098e+00] [-6.96718616e-03 4.12719441e-04 9.99975644e-01 -3.82045132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070371743 meters Centerline goodness [0,1] 0.9882972742227683 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.97, Z:-0.38 [[ 9.99938062e-01 -8.66250845e-03 6.98813866e-03 3.16536253e+01] [ 8.66520162e-03 9.99962393e-01 -3.55205446e-04 -1.96791487e+00] [-6.98479889e-03 4.15737076e-04 9.99975520e-01 -3.83008317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100371743000004 meters Centerline goodness [0,1] 0.9883357459038749 Centerline is valid? [True, True] Translation: X:31.68, Y:-1.97, Z:-0.38 [[ 9.99927718e-01 -9.58055691e-03 7.26445738e-03 3.16847706e+01] [ 9.58349448e-03 9.99954009e-01 -3.69672993e-04 -1.96698571e+00] [-7.26058160e-03 4.39265159e-04 9.99973545e-01 -3.83537003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.130371743 meters Centerline goodness [0,1] 0.9870138004467921 Centerline is valid? [True, True] Translation: X:31.72, Y:-1.97, Z:-0.38 [[ 9.99921816e-01 -1.01884417e-02 7.24965521e-03 3.17167993e+01] [ 1.01913853e-02 9.99947998e-01 -3.69208909e-04 -1.96731176e+00] [-7.24551656e-03 4.43064073e-04 9.99973653e-01 -3.83715886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160371743 meters Centerline goodness [0,1] 0.9876561290457561 Centerline is valid? [True, True] Translation: X:31.75, Y:-1.97, Z:-0.38 [[ 9.99908330e-01 -1.10451584e-02 7.83178766e-03 3.17494640e+01] [ 1.10486248e-02 9.99938882e-01 -3.99477493e-04 -1.96645044e+00] [-7.82689671e-03 4.85971356e-04 9.99969251e-01 -3.83313070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190371743 meters Centerline goodness [0,1] 0.9868547745635702 Centerline is valid? [True, True] Translation: X:31.78, Y:-1.97, Z:-0.38 [[ 9.99876417e-01 -1.32576828e-02 8.44897557e-03 3.17808207e+01] [ 1.32618028e-02 9.99911965e-01 -4.31793555e-04 -1.96513948e+00] [-8.44250719e-03 5.43788841e-04 9.99964214e-01 -3.82636759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220371743 meters Centerline goodness [0,1] 0.9868335806390938 Centerline is valid? [True, True] Translation: X:31.81, Y:-1.96, Z:-0.38 [[ 9.99868169e-01 -1.39078828e-02 8.37944921e-03 3.18130310e+01] [ 1.39119591e-02 9.99903132e-01 -4.28365892e-04 -1.96022935e+00] [-8.37267985e-03 5.44883975e-04 9.99964800e-01 -3.82864781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.250371743 meters Centerline goodness [0,1] 0.9846720060224587 Centerline is valid? [True, True] Translation: X:31.84, Y:-1.96, Z:-0.39 [[ 9.99864558e-01 -1.47815307e-02 7.23689809e-03 3.18440737e+01] [ 1.47845976e-02 9.99890633e-01 -3.70469141e-04 -1.95812127e+00] [-7.23063051e-03 4.77413590e-04 9.99973745e-01 -3.85111051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280371743 meters Centerline goodness [0,1] 0.9848155274826403 Centerline is valid? [True, True] Translation: X:31.88, Y:-1.96, Z:-0.39 [[ 9.99873887e-01 -1.44888088e-02 6.50267750e-03 3.18761496e+01] [ 1.44912800e-02 9.99894940e-01 -3.33064612e-04 -1.95784775e+00] [-6.49716862e-03 4.27254728e-04 9.99978802e-01 -3.86646117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310371743000005 meters Centerline goodness [0,1] 0.9853571428571428 Centerline is valid? [True, True] Translation: X:31.91, Y:-1.95, Z:-0.39 [[ 9.99881684e-01 -1.43026181e-02 5.66155792e-03 3.19083385e+01] [ 1.43044899e-02 9.99897643e-01 -2.90251602e-04 -1.95146966e+00] [-5.65682707e-03 3.71202958e-04 9.99983931e-01 -3.87705554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340371743 meters Centerline goodness [0,1] 0.9845660914726084 Centerline is valid? [True, True] Translation: X:31.94, Y:-1.95, Z:-0.39 [[ 9.99928652e-01 -1.11562985e-02 4.26930471e-03 3.19387733e+01] [ 1.11573374e-02 9.99937731e-01 -2.19597392e-04 -1.94758386e+00] [-4.26658897e-03 2.67215797e-04 9.99990862e-01 -3.90132900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370371743 meters Centerline goodness [0,1] 0.984506363083632 Centerline is valid? [True, True] Translation: X:31.97, Y:-1.94, Z:-0.39 [[ 9.99953599e-01 -8.76625853e-03 3.99415126e-03 3.19704389e+01] [ 8.76714752e-03 9.99961547e-01 -2.05120102e-04 -1.94306025e+00] [-3.99219954e-03 2.40127897e-04 9.99992002e-01 -3.90621004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400371743 meters Centerline goodness [0,1] 0.983515446404228 Centerline is valid? [True, True] Translation: X:32.00, Y:-1.93, Z:-0.39 [[ 9.99988353e-01 -2.14148936e-03 4.32535792e-03 3.20009678e+01] [ 2.14247206e-03 9.99997680e-01 -2.22574196e-04 -1.93290792e+00] [-4.32487124e-03 2.31838562e-04 9.99990621e-01 -3.90873174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430371743 meters Centerline goodness [0,1] 0.9836844539758631 Centerline is valid? [True, True] Translation: X:32.03, Y:-1.93, Z:-0.39 [[ 9.99985111e-01 1.37870576e-03 5.27985439e-03 3.20325349e+01] [-1.37729055e-03 9.99999015e-01 -2.71666371e-04 -1.92687483e+00] [-5.28022373e-03 2.64390432e-04 9.99986025e-01 -3.90362374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460371743 meters Centerline goodness [0,1] 0.9826585963516032 Centerline is valid? [True, True] Translation: X:32.06, Y:-1.92, Z:-0.39 [[ 9.99967881e-01 5.29475673e-03 6.01677597e-03 3.20625148e+01] [-5.29298791e-03 9.99985944e-01 -3.09867420e-04 -1.92367453e+00] [-6.01833207e-03 2.78010745e-04 9.99981851e-01 -3.90108392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.490371743000004 meters Centerline goodness [0,1] 0.982227612018316 Centerline is valid? [True, True] Translation: X:32.09, Y:-1.91, Z:-0.39 [[ 9.99891478e-01 1.22511264e-02 8.18183086e-03 3.20933059e+01] [-1.22480880e-02 9.99924901e-01 -4.21366844e-04 -1.91386255e+00] [-8.18637863e-03 3.21109332e-04 9.99966439e-01 -3.89228636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520371743 meters Centerline goodness [0,1] 0.9827231505584012 Centerline is valid? [True, True] Translation: X:32.12, Y:-1.91, Z:-0.39 [[ 9.99851457e-01 1.44650679e-02 9.37154112e-03 3.21246998e+01] [-1.44611797e-02 9.99895315e-01 -4.82521945e-04 -1.91133370e+00] [-9.37753978e-03 3.46926729e-04 9.99955970e-01 -3.88526813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550371743 meters Centerline goodness [0,1] 0.9820673781125758 Centerline is valid? [True, True] Translation: X:32.16, Y:-1.90, Z:-0.39 [[ 9.99792500e-01 1.75509195e-02 1.03403115e-02 3.21570974e+01] [-1.75463469e-02 9.99845909e-01 -5.32774336e-04 -1.90325476e+00] [-1.03480689e-02 3.51229092e-04 9.99946396e-01 -3.88013777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580371743 meters Centerline goodness [0,1] 0.9819433401682219 Centerline is valid? [True, True] Translation: X:32.19, Y:-1.90, Z:-0.39 [[ 9.99783137e-01 1.83524454e-02 9.84204916e-03 3.21886320e+01] [-1.83483418e-02 9.99831526e-01 -5.07080342e-04 -1.90413011e+00] [-9.84969720e-03 3.26385093e-04 9.99951437e-01 -3.88660636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610371743 meters Centerline goodness [0,1] 0.9822204496316044 Centerline is valid? [True, True] Translation: X:32.22, Y:-1.90, Z:-0.39 [[ 9.99779498e-01 1.86459565e-02 9.65833057e-03 3.22198665e+01] [-1.86419912e-02 9.99826098e-01 -5.00428089e-04 -1.89960037e+00] [-9.66598193e-03 3.20267230e-04 9.99953232e-01 -3.89739172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640371743 meters Centerline goodness [0,1] 0.9828231435539484 Centerline is valid? [True, True] Translation: X:32.25, Y:-1.90, Z:-0.39 [[ 9.99794901e-01 1.87276606e-02 7.70915622e-03 3.22515974e+01] [-1.87251354e-02 9.99824589e-01 -3.99621210e-04 -1.89710487e+00] [-7.71528792e-03 2.55184254e-04 9.99970204e-01 -3.91931349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670371743000004 meters Centerline goodness [0,1] 0.9825202739610908 Centerline is valid? [True, True] Translation: X:32.28, Y:-1.90, Z:-0.39 [[ 9.99804972e-01 1.84945751e-02 6.92590363e-03 3.22811641e+01] [-1.84925278e-02 9.99828934e-01 -3.59535350e-04 -1.89767051e+00] [-6.93136830e-03 2.31387766e-04 9.99975951e-01 -3.93306857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700371743 meters Centerline goodness [0,1] 0.9829949131878757 Centerline is valid? [True, True] Translation: X:32.31, Y:-1.90, Z:-0.39 [[ 9.99800476e-01 1.87613090e-02 6.85727068e-03 3.23120468e+01] [-1.87593098e-02 9.99823965e-01 -3.55747189e-04 -1.89791180e+00] [-6.86273784e-03 2.27038544e-04 9.99976425e-01 -3.94265335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730371743 meters Centerline goodness [0,1] 0.9832743511964948 Centerline is valid? [True, True] Translation: X:32.34, Y:-1.89, Z:-0.39 [[ 9.99779087e-01 1.95364415e-02 7.75270669e-03 3.23423245e+01] [-1.95339080e-02 9.99809114e-01 -4.02383529e-04 -1.89406557e+00] [-7.75908795e-03 2.50853977e-04 9.99969866e-01 -3.93617973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760371743 meters Centerline goodness [0,1] 0.9838213608594902 Centerline is valid? [True, True] Translation: X:32.37, Y:-1.89, Z:-0.39 [[ 9.99755982e-01 2.04832370e-02 8.27119693e-03 3.23727393e+01] [-2.04803897e-02 9.99790163e-01 -4.28800299e-04 -1.89372019e+00] [-8.27824455e-03 2.59298327e-04 9.99965701e-01 -3.92938508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790371743 meters Centerline goodness [0,1] 0.9831271564419759 Centerline is valid? [True, True] Translation: X:32.40, Y:-1.89, Z:-0.39 [[ 9.99721269e-01 2.18196272e-02 9.01599417e-03 3.24025859e+01] [-2.18162977e-02 9.99761887e-01 -4.67480460e-04 -1.89428362e+00] [-9.02404759e-03 2.70654546e-04 9.99959246e-01 -3.92566677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820371743 meters Centerline goodness [0,1] 0.9834998838019986 Centerline is valid? [True, True] Translation: X:32.43, Y:-1.89, Z:-0.39 [[ 9.99716819e-01 2.19952506e-02 9.08243510e-03 3.24321602e+01] [-2.19918800e-02 9.99758038e-01 -4.70825001e-04 -1.89307883e+00] [-9.09059341e-03 2.70951849e-04 9.99958643e-01 -3.92639126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850371743000004 meters Centerline goodness [0,1] 0.9836931266106206 Centerline is valid? [True, True] Translation: X:32.46, Y:-1.90, Z:-0.39 [[ 9.99710856e-01 2.24362531e-02 8.64977115e-03 3.24619745e+01] [-2.24332157e-02 9.99748243e-01 -4.48034840e-04 -1.89501567e+00] [-8.65764573e-03 2.53863111e-04 9.99962490e-01 -3.93378108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.880371743 meters Centerline goodness [0,1] 0.9836254371086961 Centerline is valid? [True, True] Translation: X:32.49, Y:-1.89, Z:-0.39 [[ 9.99674121e-01 2.43215718e-02 7.75320269e-03 3.24922334e+01] [-2.43191890e-02 9.99704164e-01 -4.01480692e-04 -1.89287984e+00] [-7.76067366e-03 2.12798256e-04 9.99969863e-01 -3.94144118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.910371743 meters Centerline goodness [0,1] 0.9843855360755226 Centerline is valid? [True, True] Translation: X:32.52, Y:-1.89, Z:-0.40 [[ 9.99652639e-01 2.53376887e-02 7.25284003e-03 3.25204597e+01] [-2.53356296e-02 9.99678931e-01 -3.75649772e-04 -1.89371059e+00] [-7.26002946e-03 1.91764017e-04 9.99973627e-01 -3.95047606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940371743 meters Centerline goodness [0,1] 0.9860029798753489 Centerline is valid? [True, True] Translation: X:32.55, Y:-1.89, Z:-0.40 [[ 9.99565079e-01 2.89332564e-02 5.70250246e-03 3.25501811e+01] [-2.89320436e-02 9.99581337e-01 -2.95076724e-04 -1.89122821e+00] [-5.70865257e-03 1.29963339e-04 9.99983697e-01 -3.96412620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970371743 meters Centerline goodness [0,1] 0.9849497270293628 Centerline is valid? [True, True] Translation: X:32.58, Y:-1.89, Z:-0.40 [[ 9.99516620e-01 3.05897335e-02 5.54932492e-03 3.25783930e+01] [-3.05886101e-02 9.99532018e-01 -2.87217308e-04 -1.89256935e+00] [-5.55551383e-03 1.17332337e-04 9.99984561e-01 -3.97877558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000371743 meters Centerline goodness [0,1] 0.9859395061988255 Centerline is valid? [True, True] Translation: X:32.61, Y:-1.89, Z:-0.40 [[ 9.99466669e-01 3.20747273e-02 6.13106943e-03 3.26075315e+01] [-3.20733870e-02 9.99485466e-01 -3.16817141e-04 -1.89066664e+00] [-6.13807661e-03 1.20004010e-04 9.99981155e-01 -3.97749383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030371743 meters Centerline goodness [0,1] 0.9857275372095965 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.90, Z:-0.40 [[ 9.99421750e-01 3.32653953e-02 7.04126838e-03 3.26356835e+01] [-3.32636617e-02 9.99446545e-01 -3.63198433e-04 -1.89509270e+00] [-7.04945330e-03 1.28770044e-04 9.99975144e-01 -3.98346193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060371743000005 meters Centerline goodness [0,1] 0.9858360517731243 Centerline is valid? [True, True] Translation: X:32.66, Y:-1.90, Z:-0.40 [[ 9.99420078e-01 3.31021276e-02 7.98480614e-03 3.26644438e+01] [-3.30998987e-02 9.99451964e-01 -4.11166047e-04 -1.89527430e+00] [-7.99404064e-03 1.46631329e-04 9.99968036e-01 -3.97118468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090371743 meters Centerline goodness [0,1] 0.9854892902141957 Centerline is valid? [True, True] Translation: X:32.69, Y:-1.90, Z:-0.40 [[ 9.99441840e-01 3.18525163e-02 1.00710468e-02 3.26933935e+01] [-3.18489167e-02 9.99492561e-01 -5.17641118e-04 -1.89890186e+00] [-1.00824245e-02 1.96600261e-04 9.99949152e-01 -3.96185339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120371743 meters Centerline goodness [0,1] 0.985138406483528 Centerline is valid? [True, True] Translation: X:32.72, Y:-1.90, Z:-0.40 [[ 9.99473323e-01 3.08000235e-02 1.02193059e-02 3.27227083e+01] [-3.07962707e-02 9.99525545e-01 -5.24423114e-04 -1.90179607e+00] [-1.02306096e-02 2.09430402e-04 9.99947644e-01 -3.96038501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150371743 meters Centerline goodness [0,1] 0.9840287313826978 Centerline is valid? [True, True] Translation: X:32.75, Y:-1.91, Z:-0.40 [[ 9.99498687e-01 2.97373528e-02 1.08657405e-02 3.27510080e+01] [-2.97330516e-02 9.99557720e-01 -5.57213905e-04 -1.90536653e+00] [-1.08775048e-02 2.33862945e-04 9.99940811e-01 -3.96490756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180371743 meters Centerline goodness [0,1] 0.9843582240373887 Centerline is valid? [True, True] Translation: X:32.78, Y:-1.91, Z:-0.40 [[ 9.99561804e-01 2.74729657e-02 1.10198512e-02 3.27803313e+01] [-2.74684109e-02 9.99622513e-01 -5.64494368e-04 -1.90902839e+00] [-1.10311997e-02 2.61549208e-04 9.99939120e-01 -3.96928870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210371743 meters Centerline goodness [0,1] 0.9834882840435826 Centerline is valid? [True, True] Translation: X:32.81, Y:-1.91, Z:-0.40 [[ 9.99605841e-01 2.59853229e-02 1.06266385e-02 3.28095028e+01] [-2.59810073e-02 9.99662289e-01 -5.43981030e-04 -1.91319874e+00] [-1.06371852e-02 2.67675843e-04 9.99943388e-01 -3.97357984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240371743000004 meters Centerline goodness [0,1] 0.983131669607596 Centerline is valid? [True, True] Translation: X:32.84, Y:-1.92, Z:-0.40 [[ 9.99714442e-01 2.14380804e-02 1.05566604e-02 3.28390894e+01] [-2.14335729e-02 9.99770129e-01 -5.39943887e-04 -1.92030820e+00] [-1.05658091e-02 3.13522750e-04 9.99944131e-01 -3.98797265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270371743 meters Centerline goodness [0,1] 0.9828945161831293 Centerline is valid? [True, True] Translation: X:32.87, Y:-1.93, Z:-0.40 [[ 9.99771348e-01 1.88044893e-02 1.01805584e-02 3.28688742e+01] [-1.88001637e-02 9.99823126e-01 -5.20434295e-04 -1.92536310e+00] [-1.01885442e-02 3.28919133e-04 9.99948041e-01 -3.99365922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300371743 meters Centerline goodness [0,1] 0.9821189839572193 Centerline is valid? [True, True] Translation: X:32.90, Y:-1.93, Z:-0.40 [[ 9.99823649e-01 1.60530576e-02 9.74527647e-03 3.28989535e+01] [-1.60489531e-02 9.99871083e-01 -4.99236323e-04 -1.93101948e+00] [-9.75203441e-03 3.42746798e-04 9.99952389e-01 -4.00022877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330371743 meters Centerline goodness [0,1] 0.9824830396336981 Centerline is valid? [True, True] Translation: X:32.93, Y:-1.93, Z:-0.40 [[ 9.99905670e-01 9.20104001e-03 1.01976162e-02 3.29299118e+01] [-9.19618798e-03 9.99957578e-01 -5.22589770e-04 -1.93415754e+00] [-1.02019919e-02 4.28761279e-04 9.99947866e-01 -4.00568531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360371743 meters Centerline goodness [0,1] 0.9811300886633111 Centerline is valid? [True, True] Translation: X:32.96, Y:-1.94, Z:-0.40 [[ 9.99933667e-01 5.86557444e-03 9.91244717e-03 3.29595095e+01] [-5.86082362e-03 9.99982696e-01 -5.08258581e-04 -1.94170045e+00] [-9.91525688e-03 4.50129762e-04 9.99950741e-01 -4.01379005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.390371743 meters Centerline goodness [0,1] 0.9815017007516903 Centerline is valid? [True, True] Translation: X:32.99, Y:-1.94, Z:-0.40 [[ 9.99945428e-01 2.46384289e-03 1.01523198e-02 3.29901054e+01] [-2.45868490e-03 9.99996842e-01 -5.20509799e-04 -1.94369893e+00] [-1.01535702e-02 4.95520038e-04 9.99948328e-01 -4.01665030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420371743000004 meters Centerline goodness [0,1] 0.9807252668889868 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.95, Z:-0.40 [[ 9.99933778e-01 -3.87527237e-03 1.08361513e-02 3.30206143e+01] [ 3.88152250e-03 9.99992312e-01 -5.55813577e-04 -1.95074520e+00] [-1.08339141e-02 5.97837535e-04 9.99941133e-01 -4.02603264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.450371743 meters Centerline goodness [0,1] 0.9809052185408229 Centerline is valid? [True, True] Translation: X:33.05, Y:-1.96, Z:-0.40 [[ 9.99898305e-01 -9.28634584e-03 1.08232872e-02 3.30509045e+01] [ 9.29289744e-03 9.99956666e-01 -5.55190133e-04 -1.95592900e+00] [-1.08176625e-02 6.55713371e-04 9.99941272e-01 -4.03779288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480371743 meters Centerline goodness [0,1] 0.9808148443567515 Centerline is valid? [True, True] Translation: X:33.08, Y:-1.95, Z:-0.40 [[ 9.99872075e-01 -1.18065150e-02 1.07907721e-02 3.30818971e+01] [ 1.18131735e-02 9.99930069e-01 -5.53525391e-04 -1.95421887e+00] [-1.07834823e-02 6.80927844e-04 9.99941625e-01 -4.04057443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510371743 meters Centerline goodness [0,1] 0.9798007284296898 Centerline is valid? [True, True] Translation: X:33.11, Y:-1.96, Z:-0.40 [[ 9.99844195e-01 -1.38259629e-02 1.09740255e-02 3.31117869e+01] [ 1.38329723e-02 9.99904161e-01 -5.63076304e-04 -1.96352725e+00] [-1.09651887e-02 7.14791964e-04 9.99939625e-01 -4.04142274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540371743 meters Centerline goodness [0,1] 0.97932854420173 Centerline is valid? [True, True] Translation: X:33.14, Y:-1.96, Z:-0.40 [[ 9.99814725e-01 -1.57465179e-02 1.10708482e-02 3.31432038e+01] [ 1.57537755e-02 9.99875740e-01 -5.68658411e-04 -1.95976147e+00] [-1.10605181e-02 7.42960709e-04 9.99938555e-01 -4.03988900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570371743 meters Centerline goodness [0,1] 0.9797471539090509 Centerline is valid? [True, True] Translation: X:33.17, Y:-1.96, Z:-0.40 [[ 9.99766775e-01 -1.81193121e-02 1.17510128e-02 3.31747037e+01] [ 1.81276576e-02 9.99835498e-01 -6.04059409e-04 -1.96024253e+00] [-1.17381346e-02 8.16936863e-04 9.99930772e-01 -4.03453816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600371743000004 meters Centerline goodness [0,1] 0.9792255068097659 Centerline is valid? [True, True] Translation: X:33.21, Y:-1.96, Z:-0.40 [[ 9.99766719e-01 -1.80789430e-02 1.18177542e-02 3.32078179e+01] [ 1.80873851e-02 9.99836225e-01 -6.07855673e-04 -1.95727252e+00] [-1.18048293e-02 8.21466142e-04 9.99929983e-01 -4.02928215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.630371743 meters Centerline goodness [0,1] 0.9792255068097659 Centerline is valid? [True, True] Translation: X:33.24, Y:-1.96, Z:-0.40 [[ 9.99768737e-01 -1.79670414e-02 1.18176860e-02 3.32403717e+01] [ 1.79754912e-02 9.99838242e-01 -6.09178134e-04 -1.95903860e+00] [-1.18048293e-02 8.21465965e-04 9.99929983e-01 -4.03345217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660371743 meters Centerline goodness [0,1] 0.979455357330035 Centerline is valid? [True, True] Translation: X:33.27, Y:-1.96, Z:-0.40 [[ 9.99785786e-01 -1.69568947e-02 1.18678242e-02 3.32718076e+01] [ 1.69653621e-02 9.99855890e-01 -6.13152221e-04 -1.95953793e+00] [-1.18557167e-02 8.14362809e-04 9.99929387e-01 -4.03301008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690371743 meters Centerline goodness [0,1] 0.9792967604040066 Centerline is valid? [True, True] Translation: X:33.30, Y:-1.96, Z:-0.40 [[ 9.99810550e-01 -1.56729957e-02 1.15421871e-02 3.33026325e+01] [ 1.56809270e-02 9.99876868e-01 -5.96973419e-04 -1.95922596e+00] [-1.15314096e-02 7.77852516e-04 9.99933209e-01 -4.03713588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720371743 meters Centerline goodness [0,1] 0.9801597309794031 Centerline is valid? [True, True] Translation: X:33.33, Y:-1.95, Z:-0.40 [[ 9.99839439e-01 -1.38580738e-02 1.13599805e-02 3.33345602e+01] [ 1.38656443e-02 9.99903694e-01 -5.87930200e-04 -1.95385666e+00] [-1.13507389e-02 7.45349251e-04 9.99935300e-01 -4.04127740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750371743 meters Centerline goodness [0,1] 0.9804561632584293 Centerline is valid? [True, True] Translation: X:33.36, Y:-1.95, Z:-0.41 [[ 9.99907058e-01 -9.11208021e-03 1.01413129e-02 3.33649245e+01] [ 9.11787672e-03 9.99958293e-01 -5.25484835e-04 -1.94828029e+00] [-1.01361017e-02 6.17903235e-04 9.99948437e-01 -4.05489682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780371743 meters Centerline goodness [0,1] 0.9819034993582055 Centerline is valid? [True, True] Translation: X:33.40, Y:-1.94, Z:-0.41 [[ 9.99939784e-01 -4.74415010e-03 9.89557103e-03 3.33960021e+01] [ 4.74945585e-03 9.99988590e-01 -5.12743656e-04 -1.94216040e+00] [-9.89302558e-03 5.59711358e-04 9.99950906e-01 -4.06746573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810371743000005 meters Centerline goodness [0,1] 0.9827691658757777 Centerline is valid? [True, True] Translation: X:33.43, Y:-1.94, Z:-0.41 [[ 9.99944807e-01 -3.21687018e-03 1.00017544e-02 3.34290589e+01] [ 3.22221276e-03 9.99994674e-01 -5.18096297e-04 -1.93777527e+00] [-1.00000345e-02 5.50295482e-04 9.99949847e-01 -4.06716814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840371743 meters Centerline goodness [0,1] 0.9814970917980275 Centerline is valid? [True, True] Translation: X:33.46, Y:-1.94, Z:-0.41 [[ 9.99942469e-01 -2.30506073e-03 1.04759068e-02 3.34599322e+01] [ 2.31088366e-03 9.99997182e-01 -5.43769593e-04 -1.93754756e+00] [-1.04746238e-02 5.67946911e-04 9.99944978e-01 -4.06533274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870371743 meters Centerline goodness [0,1] 0.9819499894935911 Centerline is valid? [True, True] Translation: X:33.49, Y:-1.93, Z:-0.41 [[ 9.99943477e-01 -1.85680236e-03 1.04687450e-02 3.34926876e+01] [ 1.86259844e-03 9.99998117e-01 -5.43932762e-04 -1.93499307e+00] [-1.04677153e-02 5.63401085e-04 9.99945053e-01 -4.05640191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900371743 meters Centerline goodness [0,1] 0.9825731043503946 Centerline is valid? [True, True] Translation: X:33.52, Y:-1.93, Z:-0.41 [[ 9.99943301e-01 -2.51805309e-03 1.03466569e-02 3.35239463e+01] [ 2.52375826e-03 9.99996670e-01 -5.38383268e-04 -1.93276024e+00] [-1.03452668e-02 5.64465203e-04 9.99946327e-01 -4.05523502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930371743 meters Centerline goodness [0,1] 0.9830106844388025 Centerline is valid? [True, True] Translation: X:33.56, Y:-1.93, Z:-0.41 [[ 9.99944425e-01 -2.99209597e-03 1.01091565e-02 3.35564059e+01] [ 2.99757130e-03 9.99995369e-01 -5.26512336e-04 -1.93035686e+00] [-1.01075343e-02 5.56785992e-04 9.99948763e-01 -4.05626431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960371743 meters Centerline goodness [0,1] 0.9838757396449704 Centerline is valid? [True, True] Translation: X:33.59, Y:-1.93, Z:-0.41 [[ 9.99947788e-01 -2.48889511e-03 9.91098031e-03 3.35880491e+01] [ 2.49414071e-03 9.99996756e-01 -5.16946158e-04 -1.92822678e+00] [-9.90966153e-03 5.41638546e-04 9.99950751e-01 -4.06225971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990371743000004 meters Centerline goodness [0,1] 0.9836606142594433 Centerline is valid? [True, True] Translation: X:33.62, Y:-1.93, Z:-0.41 [[ 9.99956090e-01 -1.53127867e-03 9.24522484e-03 3.36190340e+01] [ 1.53580659e-03 9.99998704e-01 -4.82678557e-04 -1.92941105e+00] [-9.24447374e-03 4.96856240e-04 9.99957146e-01 -4.06584704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020371743 meters Centerline goodness [0,1] 0.9844846537583496 Centerline is valid? [True, True] Translation: X:33.65, Y:-1.92, Z:-0.41 [[ 9.99960568e-01 1.01759713e-04 8.87985854e-03 3.36516354e+01] [-9.76434773e-05 9.99999888e-01 -4.63979751e-04 -1.92287459e+00] [-8.87990476e-03 4.63094396e-04 9.99960466e-01 -4.06284119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.050371743 meters Centerline goodness [0,1] 0.9864222818168381 Centerline is valid? [True, True] Translation: X:33.68, Y:-1.91, Z:-0.41 [[ 9.99949168e-01 3.91122413e-03 9.29324759e-03 3.36827940e+01] [-3.90687159e-03 9.99992250e-01 -4.86462920e-04 -1.91339958e+00] [-9.29507823e-03 4.50130667e-04 9.99956699e-01 -4.05682307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080371743 meters Centerline goodness [0,1] 0.9866677989130435 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.91, Z:-0.41 [[ 9.99936724e-01 6.34572342e-03 9.28868789e-03 3.37140933e+01] [-6.34147868e-03 9.99979774e-01 -4.86361375e-04 -1.91071825e+00] [-9.29158633e-03 4.27426584e-04 9.99956741e-01 -4.05806181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110371743 meters Centerline goodness [0,1] 0.9873248691154963 Centerline is valid? [True, True] Translation: X:33.74, Y:-1.91, Z:-0.41 [[ 9.99905950e-01 1.07644322e-02 8.49809195e-03 3.37440188e+01] [-1.07610349e-02 9.99941999e-01 -4.45396257e-04 -1.90602440e+00] [-8.50239349e-03 3.53906104e-04 9.99963791e-01 -4.06482775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140371743 meters Centerline goodness [0,1] 0.9877257546427279 Centerline is valid? [True, True] Translation: X:33.78, Y:-1.90, Z:-0.41 [[ 9.99879978e-01 1.26364089e-02 8.96386469e-03 3.37758138e+01] [-1.26327053e-02 9.99920094e-01 -4.69670486e-04 -1.90434780e+00] [-8.96908337e-03 3.56376254e-04 9.99959713e-01 -4.06701186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170371743000004 meters Centerline goodness [0,1] 0.9881296800544588 Centerline is valid? [True, True] Translation: X:33.81, Y:-1.90, Z:-0.41 [[ 9.99850494e-01 1.42249835e-02 9.83052258e-03 3.38058931e+01] [-1.42206013e-02 9.99898749e-01 -5.15532736e-04 -1.90398928e+00] [-9.83686068e-03 3.75659718e-04 9.99951546e-01 -4.06528848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200371743 meters Centerline goodness [0,1] 0.9884721926273172 Centerline is valid? [True, True] Translation: X:33.84, Y:-1.90, Z:-0.41 [[ 9.99798356e-01 1.67639599e-02 1.10552059e-02 3.38369071e+01] [-1.67585699e-02 9.99859397e-01 -5.80012720e-04 -1.89702070e+00] [-1.10633749e-02 3.94626322e-04 9.99938721e-01 -4.05217052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.230371743 meters Centerline goodness [0,1] 0.9884831099884402 Centerline is valid? [True, True] Translation: X:33.87, Y:-1.90, Z:-0.41 [[ 9.99778409e-01 1.76859477e-02 1.14166897e-02 3.38671939e+01] [-1.76802610e-02 9.99843513e-01 -5.98844393e-04 -1.89701584e+00] [-1.14254943e-02 3.96861639e-04 9.99934648e-01 -4.05149248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260371743 meters Centerline goodness [0,1] 0.989424106187112 Centerline is valid? [True, True] Translation: X:33.90, Y:-1.90, Z:-0.41 [[ 9.99791417e-01 1.77348960e-02 1.01290049e-02 3.38968354e+01] [-1.77304107e-02 9.99842662e-01 -5.32460206e-04 -1.89623029e+00] [-1.01368544e-02 3.52757727e-04 9.99948559e-01 -4.06160356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290371743 meters Centerline goodness [0,1] 0.9893298550228798 Centerline is valid? [True, True] Translation: X:33.93, Y:-1.90, Z:-0.41 [[ 9.99812845e-01 1.69535827e-02 9.31941292e-03 3.39257526e+01] [-1.69497526e-02 9.99856223e-01 -4.89813544e-04 -1.89789749e+00] [-9.32637709e-03 3.31760130e-04 9.99956453e-01 -4.07349864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320371743 meters Centerline goodness [0,1] 0.9889999357972906 Centerline is valid? [True, True] Translation: X:33.96, Y:-1.90, Z:-0.41 [[ 9.99867065e-01 1.41224746e-02 8.14905847e-03 3.39555179e+01] [-1.41194541e-02 9.99900224e-01 -4.28074104e-04 -1.89666844e+00] [-8.15429085e-03 3.12956941e-04 9.99966704e-01 -4.08595247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350371743000004 meters Centerline goodness [0,1] 0.9887489611967014 Centerline is valid? [True, True] Translation: X:33.98, Y:-1.90, Z:-0.41 [[ 9.99888796e-01 1.26134444e-02 7.95591937e-03 3.39848898e+01] [-1.26105206e-02 9.99920397e-01 -4.17560286e-04 -1.90154427e+00] [-7.96055293e-03 3.17185566e-04 9.99968264e-01 -4.09752838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.380371743 meters Centerline goodness [0,1] 0.9891103965702036 Centerline is valid? [True, True] Translation: X:34.02, Y:-1.90, Z:-0.41 [[ 9.99919061e-01 1.02596851e-02 7.52399058e-03 3.40150442e+01] [-1.02570046e-02 9.99947318e-01 -3.94764494e-04 -1.90214977e+00] [-7.52764436e-03 3.17558936e-04 9.99971616e-01 -4.10428254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410371743 meters Centerline goodness [0,1] 0.9896847398620334 Centerline is valid? [True, True] Translation: X:34.04, Y:-1.91, Z:-0.41 [[ 9.99945558e-01 7.78457305e-03 6.94847978e-03 3.40449247e+01] [-7.78222873e-03 9.99969652e-01 -3.64359974e-04 -1.90522037e+00] [-6.95110529e-03 3.10265479e-04 9.99975793e-01 -4.11650594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440371743 meters Centerline goodness [0,1] 0.9889454139566832 Centerline is valid? [True, True] Translation: X:34.08, Y:-1.91, Z:-0.41 [[ 9.99972540e-01 3.23832285e-03 6.66581793e-03 3.40763300e+01] [-3.23606605e-03 9.99994703e-01 -3.49320659e-04 -1.90519433e+00] [-6.66691383e-03 3.27740040e-04 9.99977722e-01 -4.12698304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470371743 meters Centerline goodness [0,1] 0.9889178896923537 Centerline is valid? [True, True] Translation: X:34.11, Y:-1.91, Z:-0.41 [[ 9.99979866e-01 1.17822788e-03 6.23529258e-03 3.41073688e+01] [-1.17621995e-03 9.99999255e-01 -3.25682944e-04 -1.90804443e+00] [-6.23567167e-03 3.18342312e-04 9.99980507e-01 -4.13548904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500371743 meters Centerline goodness [0,1] 0.9886925491207704 Centerline is valid? [True, True] Translation: X:34.14, Y:-1.91, Z:-0.41 [[ 9.99978828e-01 -3.11453684e-03 5.71346902e-03 3.41381772e+01] [ 3.11630741e-03 9.99995099e-01 -3.01017619e-04 -1.91034879e+00] [-5.71250348e-03 3.18816172e-04 9.99983633e-01 -4.14465971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530371743 meters Centerline goodness [0,1] 0.9883748263703387 Centerline is valid? [True, True] Translation: X:34.17, Y:-1.91, Z:-0.41 [[ 9.99974253e-01 -4.58980301e-03 5.51604684e-03 3.41704682e+01] [ 4.59147379e-03 9.99989417e-01 -2.90269521e-04 -1.91155887e+00] [-5.51465619e-03 3.15588832e-04 9.99984744e-01 -4.14831387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560371743000005 meters Centerline goodness [0,1] 0.988534428980145 Centerline is valid? [True, True] Translation: X:34.20, Y:-1.91, Z:-0.42 [[ 9.99965704e-01 -6.26620305e-03 5.41528414e-03 3.42025587e+01] [ 6.26783985e-03 9.99980316e-01 -2.85335895e-04 -1.91339767e+00] [-5.41338958e-03 3.19268243e-04 9.99985297e-01 -4.15295516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590371743 meters Centerline goodness [0,1] 0.9875672187567219 Centerline is valid? [True, True] Translation: X:34.23, Y:-1.91, Z:-0.42 [[ 9.99945617e-01 -8.97450781e-03 5.31229787e-03 3.42337731e+01] [ 8.97612500e-03 9.99959674e-01 -2.80659434e-04 -1.91389061e+00] [-5.30956487e-03 3.28328021e-04 9.99985850e-01 -4.15609789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620371743 meters Centerline goodness [0,1] 0.9889811905479275 Centerline is valid? [True, True] Translation: X:34.27, Y:-1.91, Z:-0.42 [[ 9.99934749e-01 -9.97843400e-03 5.56131881e-03 3.42660285e+01] [ 9.98022024e-03 9.99950153e-01 -2.93530664e-04 -1.91202491e+00] [-5.55811262e-03 3.49014698e-04 9.99984493e-01 -4.15237298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.650371743 meters Centerline goodness [0,1] 0.9872404844290658 Centerline is valid? [True, True] Translation: X:34.30, Y:-1.92, Z:-0.42 [[ 9.99916933e-01 -1.15159445e-02 5.78884462e-03 3.42968622e+01] [ 1.15179089e-02 9.99933620e-01 -3.06122244e-04 -1.91508528e+00] [-5.78493506e-03 3.72772201e-04 9.99983198e-01 -4.15023513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680371743 meters Centerline goodness [0,1] 0.9879807172658294 Centerline is valid? [True, True] Translation: X:34.33, Y:-1.91, Z:-0.42 [[ 9.99915498e-01 -1.16451108e-02 5.77830739e-03 3.43293225e+01] [ 1.16470713e-02 9.99932124e-01 -3.05753456e-04 -1.91265169e+00] [-5.77435464e-03 3.73027977e-04 9.99983259e-01 -4.15016602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710371743 meters Centerline goodness [0,1] 0.9878938819707634 Centerline is valid? [True, True] Translation: X:34.36, Y:-1.91, Z:-0.42 [[ 9.99915473e-01 -1.18849104e-02 5.27211704e-03 3.43602065e+01] [ 1.18865480e-02 9.99929313e-01 -2.79398963e-04 -1.91329612e+00] [-5.26842374e-03 3.42042619e-04 9.99986063e-01 -4.15622019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740371743000004 meters Centerline goodness [0,1] 0.9882455187398154 Centerline is valid? [True, True] Translation: X:34.39, Y:-1.91, Z:-0.42 [[ 9.99929114e-01 -1.11439393e-02 4.19272509e-03 3.43917308e+01] [ 1.11449689e-02 9.99937868e-01 -2.22284731e-04 -1.91293908e+00] [-4.18998746e-03 2.68996765e-04 9.99991186e-01 -4.17432921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770371743 meters Centerline goodness [0,1] 0.9881548974943053 Centerline is valid? [True, True] Translation: X:34.42, Y:-1.91, Z:-0.42 [[ 9.99936578e-01 -1.06924615e-02 3.53715372e-03 3.44237271e+01] [ 1.06931913e-02 9.99942809e-01 -1.87461732e-04 -1.91250614e+00] [-3.53494699e-03 2.25273304e-04 9.99993727e-01 -4.18637636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800371743 meters Centerline goodness [0,1] 0.9877849985872329 Centerline is valid? [True, True] Translation: X:34.46, Y:-1.91, Z:-0.42 [[ 9.99938454e-01 -1.05811034e-02 3.33581727e-03 3.44552340e+01] [ 1.05817530e-02 9.99943996e-01 -1.77132419e-04 -1.91055495e+00] [-3.33375619e-03 2.12420312e-04 9.99994420e-01 -4.19447595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830371743 meters Centerline goodness [0,1] 0.9872028457400659 Centerline is valid? [True, True] Translation: X:34.49, Y:-1.91, Z:-0.42 [[ 9.99934800e-01 -1.07733532e-02 3.78552266e-03 3.44867821e+01] [ 1.07741922e-02 9.99941936e-01 -2.01295552e-04 -1.91150569e+00] [-3.78313424e-03 2.42068376e-04 9.99992815e-01 -4.19493771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860371743 meters Centerline goodness [0,1] 0.9890274965710927 Centerline is valid? [True, True] Translation: X:34.52, Y:-1.90, Z:-0.42 [[ 9.99919877e-01 -1.17144029e-02 4.79712256e-03 3.45191869e+01] [ 1.17157628e-02 9.99931335e-01 -2.55475139e-04 -1.89911340e+00] [-4.79380043e-03 3.11656620e-04 9.99988461e-01 -4.16931396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890371743 meters Centerline goodness [0,1] 0.9892571329157968 Centerline is valid? [True, True] Translation: X:34.55, Y:-1.90, Z:-0.42 [[ 9.99913098e-01 -1.20429101e-02 5.36326656e-03 3.45518351e+01] [ 1.20446158e-02 9.99927420e-01 -2.85856270e-04 -1.89743946e+00] [-5.35943476e-03 3.50429914e-04 9.99985577e-01 -4.16949990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920371743000004 meters Centerline goodness [0,1] 0.9890184411436571 Centerline is valid? [True, True] Translation: X:34.58, Y:-1.89, Z:-0.42 [[ 9.99903256e-01 -1.27024732e-02 5.66788632e-03 3.45840199e+01] [ 1.27043913e-02 9.99919250e-01 -3.02543216e-04 -1.89272184e+00] [-5.66358559e-03 3.74520993e-04 9.99983892e-01 -4.16873047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.950371743 meters Centerline goodness [0,1] 0.9888352378247285 Centerline is valid? [True, True] Translation: X:34.62, Y:-1.89, Z:-0.42 [[ 9.99901539e-01 -1.25951360e-02 6.18660685e-03 3.46167103e+01] [ 1.25974225e-02 9.99920595e-01 -3.30768070e-04 -1.89320728e+00] [-6.18194953e-03 4.08670802e-04 9.99980808e-01 -4.17163381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980371743 meters Centerline goodness [0,1] 0.9889778903027261 Centerline is valid? [True, True] Translation: X:34.65, Y:-1.89, Z:-0.42 [[ 9.99902565e-01 -1.21620345e-02 6.85169740e-03 3.46477577e+01] [ 1.21648302e-02 9.99925939e-01 -3.66499740e-04 -1.89368590e+00] [-6.84673257e-03 4.49813765e-04 9.99976460e-01 -4.17171654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.010371743 meters Centerline goodness [0,1] 0.9887743513584345 Centerline is valid? [True, True] Translation: X:34.68, Y:-1.89, Z:-0.42 [[ 9.99906747e-01 -1.15981441e-02 7.20968144e-03 3.46805378e+01] [ 1.16012352e-02 9.99932628e-01 -3.87068732e-04 -1.89204028e+00] [-7.20470643e-03 4.70673847e-04 9.99973935e-01 -4.17009122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040371743 meters Centerline goodness [0,1] 0.9895872152925445 Centerline is valid? [True, True] Translation: X:34.71, Y:-1.89, Z:-0.42 [[ 9.99934404e-01 -9.27472300e-03 6.72058945e-03 3.47122080e+01] [ 9.27736235e-03 9.99956899e-01 -3.61656253e-04 -1.88652679e+00] [-6.71694552e-03 4.23981873e-04 9.99977351e-01 -4.16750169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.070371743 meters Centerline goodness [0,1] 0.9891378288824033 Centerline is valid? [True, True] Translation: X:34.74, Y:-1.89, Z:-0.42 [[ 9.99956148e-01 -7.10291320e-03 6.10327890e-03 3.47429017e+01] [ 7.10505074e-03 9.99974705e-01 -3.28616550e-04 -1.88593236e+00] [-6.10079038e-03 3.71966246e-04 9.99981321e-01 -4.17399337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100371743000004 meters Centerline goodness [0,1] 0.9910845972659431 Centerline is valid? [True, True] Translation: X:34.77, Y:-1.87, Z:-0.42 [[ 9.99987931e-01 -9.63587616e-04 4.81757330e-03 3.47740222e+01] [ 9.64850162e-04 9.99999501e-01 -2.59753729e-04 -1.87465424e+00] [-4.81732060e-03 2.64398831e-04 9.99988362e-01 -4.17850071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.130371743 meters Centerline goodness [0,1] 0.9914911485844365 Centerline is valid? [True, True] Translation: X:34.80, Y:-1.87, Z:-0.42 [[ 9.99987418e-01 2.57346476e-03 4.30599056e-03 3.48036884e+01] [-2.57248818e-03 9.99996664e-01 -2.32319159e-04 -1.87373995e+00] [-4.30657406e-03 2.21239126e-04 9.99990702e-01 -4.18879217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160371743 meters Centerline goodness [0,1] 0.9923632109828503 Centerline is valid? [True, True] Translation: X:34.83, Y:-1.87, Z:-0.42 [[ 9.99968177e-01 6.89598856e-03 4.01115639e-03 3.48347763e+01] [-6.89517733e-03 9.99976205e-01 -2.16038131e-04 -1.86863607e+00] [-4.01255073e-03 1.88373621e-04 9.99991932e-01 -4.18906614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.190371743 meters Centerline goodness [0,1] 0.9914787189305239 Centerline is valid? [True, True] Translation: X:34.86, Y:-1.86, Z:-0.42 [[ 9.99858229e-01 1.63763132e-02 3.91639748e-03 3.48644050e+01] [-1.63756108e-02 9.99865888e-01 -2.11348424e-04 -1.86125959e+00] [-3.91933335e-03 1.47185060e-04 9.99992309e-01 -4.19248707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220371743 meters Centerline goodness [0,1] 0.9913108515365494 Centerline is valid? [True, True] Translation: X:34.90, Y:-1.86, Z:-0.42 [[ 9.99752454e-01 2.18504589e-02 4.19371700e-03 3.48950852e+01] [-2.18497022e-02 9.99761241e-01 -2.26175352e-04 -1.85772306e+00] [-4.19765775e-03 1.34487895e-04 9.99991181e-01 -4.19821869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.250371743 meters Centerline goodness [0,1] 0.9922105590199951 Centerline is valid? [True, True] Translation: X:34.93, Y:-1.85, Z:-0.42 [[ 9.99442751e-01 3.30700413e-02 4.53423677e-03 3.49264646e+01] [-3.30692731e-02 9.99453032e-01 -2.44318922e-04 -1.84853623e+00] [-4.53983633e-03 9.42388613e-05 9.99989690e-01 -4.19392163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280371743 meters Centerline goodness [0,1] 0.9921810790999356 Centerline is valid? [True, True] Translation: X:34.96, Y:-1.85, Z:-0.42 [[ 9.99236766e-01 3.87565461e-02 4.88017662e-03 3.49552848e+01] [-3.87557214e-02 9.99248680e-01 -2.63484017e-04 -1.84516189e+00] [-4.88672178e-03 7.41481512e-05 9.99988057e-01 -4.19289642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.310371743 meters Centerline goodness [0,1] 0.9934866498628181 Centerline is valid? [True, True] Translation: X:34.98, Y:-1.84, Z:-0.42 [[ 9.98770314e-01 4.91550840e-02 6.45277660e-03 3.49842021e+01] [-4.91538638e-02 9.98791158e-01 -3.47648744e-04 -1.83942252e+00] [-6.46206492e-03 3.00423428e-05 9.99979120e-01 -4.18184417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340371743 meters Centerline goodness [0,1] 0.9937353695240219 Centerline is valid? [True, True] Translation: X:35.01, Y:-1.84, Z:-0.42 [[ 9.98535753e-01 5.35953765e-02 7.34069188e-03 3.50119645e+01] [-5.35939215e-02 9.98562735e-01 -3.94917411e-04 -1.83893553e+00] [-7.35130711e-03 9.22690198e-07 9.99972979e-01 -4.18299819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370371743 meters Centerline goodness [0,1] 0.9937363470197494 Centerline is valid? [True, True] Translation: X:35.04, Y:-1.84, Z:-0.42 [[ 9.98344131e-01 5.70134085e-02 7.64634204e-03 3.50400221e+01] [-5.70119277e-02 9.98373412e-01 -4.11670110e-04 -1.83925492e+00] [-7.65737532e-03 -2.49442616e-05 9.99970682e-01 -4.18022644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400371743 meters Centerline goodness [0,1] 0.9944952083797638 Centerline is valid? [True, True] Translation: X:35.07, Y:-1.84, Z:-0.42 [[ 9.98011112e-01 6.25288220e-02 7.99795007e-03 3.50675769e+01] [-6.25274069e-02 9.98043156e-01 -4.27105022e-04 -1.84113198e+00] [-8.00900571e-03 -7.38355203e-05 9.99967925e-01 -4.19080049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430371743 meters Centerline goodness [0,1] 0.993945173882186 Centerline is valid? [True, True] Translation: X:35.10, Y:-1.84, Z:-0.42 [[ 9.97915359e-01 6.40855401e-02 7.61442437e-03 3.50962911e+01] [-6.40843012e-02 9.97944406e-01 -4.06836474e-04 -1.84453936e+00] [-7.62484454e-03 -8.19766987e-05 9.99970927e-01 -4.19966859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460371743 meters Centerline goodness [0,1] 0.9949469317504799 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.85, Z:-0.42 [[ 9.97794685e-01 6.60923826e-02 6.12898208e-03 3.51239511e+01] [-6.60916284e-02 9.97813505e-01 -3.25742891e-04 -1.85074610e+00] [-6.13711021e-03 -8.00498806e-05 9.99981165e-01 -4.22123084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490371743000004 meters Centerline goodness [0,1] 0.9951828959813475 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.86, Z:-0.42 [[ 9.97785881e-01 6.62749272e-02 5.56508000e-03 3.51512083e+01] [-6.62743134e-02 9.97801397e-01 -2.94847204e-04 -1.85509423e+00] [-5.57238558e-03 -7.46274788e-05 9.99984471e-01 -4.23426879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520371743 meters Centerline goodness [0,1] 0.995687748783724 Centerline is valid? [True, True] Translation: X:35.18, Y:-1.87, Z:-0.42 [[ 9.97910928e-01 6.44476999e-02 4.50263756e-03 3.51793209e+01] [-6.44472740e-02 9.97921085e-01 -2.39753557e-04 -1.86706860e+00] [-4.50872852e-03 -5.09300219e-05 9.99989834e-01 -4.23992094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.550371743 meters Centerline goodness [0,1] 0.995687748783724 Centerline is valid? [True, True] Translation: X:35.21, Y:-1.87, Z:-0.42 [[ 9.97929651e-01 6.41571366e-02 4.50268205e-03 3.52066658e+01] [-6.41567116e-02 9.97939807e-01 -2.38913161e-04 -1.86845028e+00] [-4.50873364e-03 -5.04587464e-05 9.99989834e-01 -4.24343668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580371743 meters Centerline goodness [0,1] 0.9954835866931042 Centerline is valid? [True, True] Translation: X:35.23, Y:-1.87, Z:-0.42 [[ 9.97997742e-01 6.30587193e-02 4.90960838e-03 3.52346753e+01] [-6.30582109e-02 9.98009817e-01 -2.58431922e-04 -1.87492458e+00] [-4.91613375e-03 -5.16766457e-05 9.99987914e-01 -4.24901176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610371743 meters Centerline goodness [0,1] 0.9961239456471469 Centerline is valid? [True, True] Translation: X:35.26, Y:-1.88, Z:-0.43 [[ 9.98047940e-01 6.22467230e-02 5.06512045e-03 3.52619817e+01] [-6.22461849e-02 9.98060791e-01 -2.63966698e-04 -1.88171672e+00] [-5.07172918e-03 -5.18330043e-05 9.99987137e-01 -4.25285137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640371743 meters Centerline goodness [0,1] 0.9953725935303619 Centerline is valid? [True, True] Translation: X:35.29, Y:-1.89, Z:-0.43 [[ 9.98149786e-01 6.05222895e-02 5.83577511e-03 3.52886825e+01] [-6.05215480e-02 9.98166845e-01 -3.03723908e-04 -1.89447708e+00] [-5.84345929e-03 -5.00281896e-05 9.99982926e-01 -4.25686007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670371743000004 meters Centerline goodness [0,1] 0.995582961602379 Centerline is valid? [True, True] Translation: X:35.32, Y:-1.90, Z:-0.43 [[ 9.98213712e-01 5.94252771e-02 6.16610187e-03 3.53164224e+01] [-5.94244359e-02 9.98232756e-01 -3.19712216e-04 -1.90155627e+00] [-6.17420385e-03 -4.72760066e-05 9.99980938e-01 -4.26066328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700371743 meters Centerline goodness [0,1] 0.9946994547389916 Centerline is valid? [True, True] Translation: X:35.34, Y:-1.92, Z:-0.43 [[ 9.98318831e-01 5.75288084e-02 7.06736265e-03 3.53449987e+01] [-5.75276618e-02 9.98343846e-01 -3.65576613e-04 -1.91519245e+00] [-7.07668919e-03 -4.16068313e-05 9.99974959e-01 -4.25672204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730371743 meters Centerline goodness [0,1] 0.9942940206543435 Centerline is valid? [True, True] Translation: X:35.37, Y:-1.92, Z:-0.43 [[ 9.98389654e-01 5.62977736e-02 6.97558119e-03 3.53719191e+01] [-5.62966250e-02 9.98414022e-01 -3.61058895e-04 -1.92239646e+00] [-6.98484488e-03 -3.22242131e-05 9.99975605e-01 -4.25993246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760371743 meters Centerline goodness [0,1] 0.9940896050389353 Centerline is valid? [True, True] Translation: X:35.40, Y:-1.94, Z:-0.43 [[ 9.98548719e-01 5.33816310e-02 7.13147425e-03 3.54003268e+01] [-5.33803716e-02 9.98574184e-01 -3.66967387e-04 -1.93654599e+00] [-7.14089540e-03 -1.42459310e-05 9.99974503e-01 -4.27284552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790371743 meters Centerline goodness [0,1] 0.9939107046799355 Centerline is valid? [True, True] Translation: X:35.43, Y:-1.94, Z:-0.43 [[ 9.98656899e-01 5.13686569e-02 6.75720394e-03 3.54277604e+01] [-5.13674814e-02 9.98679759e-01 -3.47509281e-04 -1.94453794e+00] [-6.76613389e-03 -5.80075425e-08 9.99977109e-01 -4.27861394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820371743 meters Centerline goodness [0,1] 0.9923109873634611 Centerline is valid? [True, True] Translation: X:35.45, Y:-1.96, Z:-0.43 [[ 9.98876114e-01 4.69766846e-02 6.30073257e-03 3.54548655e+01] [-4.69755797e-02 9.98895986e-01 -3.23315624e-04 -1.95911446e+00] [-6.30896477e-03 2.69716887e-05 9.99980098e-01 -4.28933454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850371743000004 meters Centerline goodness [0,1] 0.9919792958891218 Centerline is valid? [True, True] Translation: X:35.48, Y:-1.97, Z:-0.43 [[ 9.98988291e-01 4.44623232e-02 6.74508522e-03 3.54835970e+01] [-4.44610051e-02 9.99011061e-01 -3.45311817e-04 -1.96711044e+00] [-6.75376811e-03 4.50691932e-05 9.99977192e-01 -4.29250604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.880371743 meters Centerline goodness [0,1] 0.9905513821795663 Centerline is valid? [True, True] Translation: X:35.51, Y:-1.98, Z:-0.43 [[ 9.99217753e-01 3.88007673e-02 7.64083986e-03 3.55118151e+01] [-3.87989154e-02 9.99246962e-01 -3.90505243e-04 -1.98124444e+00] [-7.65023792e-03 9.37434724e-05 9.99970732e-01 -4.29418543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910371743 meters Centerline goodness [0,1] 0.9903401129463717 Centerline is valid? [True, True] Translation: X:35.54, Y:-1.99, Z:-0.43 [[ 9.99316422e-01 3.60850337e-02 8.03488854e-03 3.55396338e+01] [-3.60829019e-02 9.99348716e-01 -4.10175460e-04 -1.98951120e+00] [-8.04445674e-03 1.19972978e-04 9.99967636e-01 -4.29856369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940371743 meters Centerline goodness [0,1] 0.9892612873670977 Centerline is valid? [True, True] Translation: X:35.57, Y:-2.00, Z:-0.43 [[ 9.99381324e-01 3.42410855e-02 8.03226334e-03 3.55667486e+01] [-3.42389032e-02 9.99413593e-01 -4.09080190e-04 -1.99710404e+00] [-8.04156051e-03 1.33811215e-04 9.99967657e-01 -4.30237561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970371743 meters Centerline goodness [0,1] 0.9888481353488668 Centerline is valid? [True, True] Translation: X:35.60, Y:-2.01, Z:-0.43 [[ 9.99516476e-01 2.95035373e-02 9.81611632e-03 3.55961411e+01] [-2.95000622e-02 9.99564654e-01 -4.98650105e-04 -2.00752801e+00] [-9.82655485e-03 2.08832953e-04 9.99951696e-01 -4.30317105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000371743 meters Centerline goodness [0,1] 0.9878020322874902 Centerline is valid? [True, True] Translation: X:35.62, Y:-2.01, Z:-0.43 [[ 9.99562375e-01 2.76980475e-02 1.03863975e-02 3.56245466e+01] [-2.76940628e-02 9.99616307e-01 -5.27303596e-04 -2.01359395e+00] [-1.03970176e-02 2.39431291e-04 9.99945921e-01 -4.30566828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030371743 meters Centerline goodness [0,1] 0.9865851336196865 Centerline is valid? [True, True] Translation: X:35.65, Y:-2.02, Z:-0.43 [[ 9.99623318e-01 2.51073070e-02 1.10835360e-02 3.56521839e+01] [-2.51026209e-02 9.99684722e-01 -5.61734431e-04 -2.02351590e+00] [-1.10941453e-02 2.83297033e-04 9.99938418e-01 -4.30338127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.060371743 meters Centerline goodness [0,1] 0.986040904380195 Centerline is valid? [True, True] Translation: X:35.68, Y:-2.03, Z:-0.43 [[ 9.99639821e-01 2.39959777e-02 1.20175393e-02 3.56810788e+01] [-2.39903893e-02 9.99712004e-01 -6.08980979e-04 -2.02915314e+00] [-1.20286914e-02 3.20456191e-04 9.99927601e-01 -4.30362701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090371743 meters Centerline goodness [0,1] 0.9843410820038357 Centerline is valid? [True, True] Translation: X:35.71, Y:-2.04, Z:-0.43 [[ 9.99668507e-01 2.17167913e-02 1.38295699e-02 3.57106252e+01] [-2.17091821e-02 9.99764083e-01 -7.00117382e-04 -2.03867185e+00] [-1.38415115e-02 3.99656648e-04 9.99904122e-01 -4.29625403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120371743 meters Centerline goodness [0,1] 0.9839300758213985 Centerline is valid? [True, True] Translation: X:35.74, Y:-2.04, Z:-0.43 [[ 9.99687223e-01 2.02622448e-02 1.46594016e-02 3.57419496e+01] [-2.02535202e-02 9.99794600e-01 -7.43380925e-04 -2.04200962e+00] [-1.46714531e-02 4.46243926e-04 9.99892269e-01 -4.29157244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.150371743 meters Centerline goodness [0,1] 0.9830479991597522 Centerline is valid? [True, True] Translation: X:35.77, Y:-2.05, Z:-0.43 [[ 9.99688553e-01 1.92258342e-02 1.59111658e-02 3.57732327e+01] [-1.92154053e-02 9.99815040e-01 -8.08077828e-04 -2.04834996e+00] [-1.59237588e-02 5.02086654e-04 9.99873083e-01 -4.28813360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180371743 meters Centerline goodness [0,1] 0.9829943384357308 Centerline is valid? [True, True] Translation: X:35.80, Y:-2.05, Z:-0.43 [[ 9.99713161e-01 1.71039960e-02 1.67645270e-02 3.58041632e+01] [-1.70920532e-02 9.99853554e-01 -8.55421707e-04 -2.05457297e+00] [-1.67767030e-02 5.68636153e-04 9.99859100e-01 -4.27988528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.210371743 meters Centerline goodness [0,1] 0.9826804210703964 Centerline is valid? [True, True] Translation: X:35.84, Y:-2.05, Z:-0.43 [[ 9.99717251e-01 1.64808411e-02 1.71406073e-02 3.58368589e+01] [-1.64681958e-02 9.99864004e-01 -8.78638110e-04 -2.05425254e+00] [-1.71527570e-02 5.96114799e-04 9.99852703e-01 -4.28844996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240371743000004 meters Centerline goodness [0,1] 0.9810987903225806 Centerline is valid? [True, True] Translation: X:35.87, Y:-2.06, Z:-0.43 [[ 9.99716114e-01 1.57924335e-02 1.78406802e-02 3.58677665e+01] [-1.57785439e-02 9.99875089e-01 -9.19039511e-04 -2.06239595e+00] [-1.78529656e-02 6.37278654e-04 9.99840420e-01 -4.29089055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.270371743 meters Centerline goodness [0,1] 0.9824 Centerline is valid? [True, True] Translation: X:35.90, Y:-2.06, Z:-0.43 [[ 9.99712247e-01 1.53776507e-02 1.84106089e-02 3.59005425e+01] [-1.53627066e-02 9.99881533e-01 -9.52875461e-04 -2.06003815e+00] [-1.84230808e-02 6.69764486e-04 9.99830056e-01 -4.29948107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300371743 meters Centerline goodness [0,1] 0.98330431864421 Centerline is valid? [True, True] Translation: X:35.93, Y:-2.06, Z:-0.43 [[ 9.99712961e-01 1.42337338e-02 1.92716442e-02 3.59331113e+01] [-1.42170496e-02 9.99898430e-01 -1.00247426e-03 -2.06209884e+00] [-1.92839557e-02 7.28200591e-04 9.99813782e-01 -4.30756299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.330371743 meters Centerline goodness [0,1] 0.9814256498914212 Centerline is valid? [True, True] Translation: X:35.96, Y:-2.07, Z:-0.43 [[ 9.99716095e-01 1.35450171e-02 1.96025856e-02 3.59635280e+01] [-1.35275407e-02 9.99907974e-01 -1.02386811e-03 -2.06894916e+00] [-1.96146499e-02 7.58402656e-04 9.99807327e-01 -4.30127805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360371743 meters Centerline goodness [0,1] 0.9828951803168183 Centerline is valid? [True, True] Translation: X:36.00, Y:-2.06, Z:-0.43 [[ 9.99718392e-01 1.33516645e-02 1.96181083e-02 3.59963080e+01] [-1.33340563e-02 9.99910569e-01 -1.02808658e-03 -2.06343346e+00] [-1.96300805e-02 7.66208104e-04 9.99807018e-01 -4.31694366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.390371743 meters Centerline goodness [0,1] 0.9825719511425989 Centerline is valid? [True, True] Translation: X:36.03, Y:-2.07, Z:-0.43 [[ 9.99738782e-01 1.25790817e-02 1.90822845e-02 3.60274663e+01] [-1.25622030e-02 9.99920588e-01 -1.00413908e-03 -2.06591016e+00] [-1.90934003e-02 7.64161254e-04 9.99817412e-01 -4.32214878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420371743000004 meters Centerline goodness [0,1] 0.9814234980141635 Centerline is valid? [True, True] Translation: X:36.06, Y:-2.07, Z:-0.43 [[ 9.99759131e-01 1.19390712e-02 1.84157052e-02 3.60586022e+01] [-1.19231967e-02 9.99928444e-01 -9.71569185e-04 -2.07475782e+00] [-1.84259870e-02 7.51761090e-04 9.99829944e-01 -4.31760941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.450371743 meters Centerline goodness [0,1] 0.9826271900269542 Centerline is valid? [True, True] Translation: X:36.09, Y:-2.07, Z:-0.44 [[ 9.99802211e-01 9.84743112e-03 1.72791149e-02 3.60909324e+01] [-9.83309694e-03 9.99951236e-01 -9.14332662e-04 -2.06691641e+00] [-1.72872761e-02 7.44244605e-04 9.99850287e-01 -4.35231274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480371743 meters Centerline goodness [0,1] 0.9815491143997129 Centerline is valid? [True, True] Translation: X:36.12, Y:-2.07, Z:-0.44 [[ 9.99824421e-01 8.54831233e-03 1.66749351e-02 3.61221375e+01] [-8.53471805e-03 9.99963186e-01 -8.86246580e-04 -2.06979787e+00] [-1.66818971e-02 7.43775105e-04 9.99860571e-01 -4.36055543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510371743 meters Centerline goodness [0,1] 0.9832250967782878 Centerline is valid? [True, True] Translation: X:36.15, Y:-2.07, Z:-0.44 [[ 9.99838869e-01 4.89816057e-03 1.72697716e-02 3.61536934e+01] [-4.88297847e-03 9.99987654e-01 -9.21172014e-04 -2.07002113e+00] [-1.72740704e-02 8.36695662e-04 9.99850442e-01 -4.36475362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540371743 meters Centerline goodness [0,1] 0.9827405198840969 Centerline is valid? [True, True] Translation: X:36.18, Y:-2.07, Z:-0.44 [[ 9.99843033e-01 3.29169680e-03 1.74090340e-02 3.61846347e+01] [-3.27599895e-03 9.99994201e-01 -9.30148640e-04 -2.07234477e+00] [-1.74119948e-02 8.72970660e-04 9.99848019e-01 -4.36178845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570371743 meters Centerline goodness [0,1] 0.9827981892830824 Centerline is valid? [True, True] Translation: X:36.21, Y:-2.07, Z:-0.44 [[ 9.99840765e-01 -4.65435383e-05 1.78449748e-02 3.62144401e+01] [ 6.36223970e-05 9.99999541e-01 -9.56501726e-04 -2.07292354e+00] [-1.78449220e-02 9.57484757e-04 9.99840308e-01 -4.36550702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600371743000004 meters Centerline goodness [0,1] 0.9820730186246115 Centerline is valid? [True, True] Translation: X:36.25, Y:-2.07, Z:-0.44 [[ 9.99837064e-01 -1.38804278e-03 1.79977336e-02 3.62466272e+01] [ 1.40563867e-03 9.99998546e-01 -9.65059075e-04 -2.07320420e+00] [-1.79963679e-02 9.90200143e-04 9.99837562e-01 -4.36849365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.630371743 meters Centerline goodness [0,1] 0.9823667463052624 Centerline is valid? [True, True] Translation: X:36.28, Y:-2.07, Z:-0.44 [[ 9.99836129e-01 -1.98424888e-03 1.79938352e-02 3.62791343e+01] [ 2.00197276e-03 9.99997528e-01 -9.67038088e-04 -2.07375790e+00] [-1.79918719e-02 1.00290279e-03 9.99837630e-01 -4.37030803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660371743 meters Centerline goodness [0,1] 0.9835397929747157 Centerline is valid? [True, True] Translation: X:36.31, Y:-2.07, Z:-0.44 [[ 9.99826267e-01 -3.61172010e-03 1.82863779e-02 3.63111392e+01] [ 3.63037880e-03 9.99992923e-01 -9.87267322e-04 -2.06826216e+00] [-1.82826828e-02 1.05348228e-03 9.99832303e-01 -4.37997566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690371743 meters Centerline goodness [0,1] 0.9820193055876848 Centerline is valid? [True, True] Translation: X:36.34, Y:-2.07, Z:-0.44 [[ 9.99832110e-01 -4.07861109e-03 1.78638230e-02 3.63421562e+01] [ 4.09656607e-03 9.99991140e-01 -9.68625162e-04 -2.07425131e+00] [-1.78597141e-02 1.04164287e-03 9.99839960e-01 -4.38919555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720371743 meters Centerline goodness [0,1] 0.9839874277947672 Centerline is valid? [True, True] Translation: X:36.37, Y:-2.07, Z:-0.44 [[ 9.99855783e-01 -5.75925829e-03 1.59763803e-02 3.63746902e+01] [ 5.77387960e-03 9.99982953e-01 -8.69207939e-04 -2.07228328e+00] [-1.59711020e-02 9.61328280e-04 9.99871992e-01 -4.40416125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750371743 meters Centerline goodness [0,1] 0.9847092850155247 Centerline is valid? [True, True] Translation: X:36.41, Y:-2.07, Z:-0.44 [[ 9.99862143e-01 -6.24399656e-03 1.53852999e-02 3.64070308e+01] [ 6.25762932e-03 9.99980070e-01 -8.38107712e-04 -2.06792527e+00] [-1.53797601e-02 9.34267677e-04 9.99881288e-01 -4.41808598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780371743 meters Centerline goodness [0,1] 0.985537761330526 Centerline is valid? [True, True] Translation: X:36.44, Y:-2.07, Z:-0.44 [[ 9.99886468e-01 -5.87833223e-03 1.38742866e-02 3.64398579e+01] [ 5.88939652e-03 9.99982371e-01 -7.56744594e-04 -2.06619342e+00] [-1.38695937e-02 8.38369855e-04 9.99903461e-01 -4.43825243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.810371743 meters Centerline goodness [0,1] 0.9842457911030067 Centerline is valid? [True, True] Translation: X:36.47, Y:-2.07, Z:-0.45 [[ 9.99908142e-01 -4.63342905e-03 1.27373406e-02 3.64708401e+01] [ 4.64266714e-03 9.99988981e-01 -6.95803116e-04 -2.07341554e+00] [-1.27339763e-02 7.54874433e-04 9.99918635e-01 -4.45455146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840371743 meters Centerline goodness [0,1] 0.9862534153005464 Centerline is valid? [True, True] Translation: X:36.50, Y:-2.06, Z:-0.45 [[ 9.99934398e-01 -9.52368279e-04 1.14146038e-02 3.65020920e+01] [ 9.59554990e-04 9.99999345e-01 -6.24146593e-04 -2.06338323e+00] [-1.14140019e-02 6.35058587e-04 9.99934656e-01 -4.46878706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.870371743 meters Centerline goodness [0,1] 0.9878317401253182 Centerline is valid? [True, True] Translation: X:36.53, Y:-2.06, Z:-0.45 [[ 9.99937569e-01 1.75171118e-03 1.10358763e-02 3.65339326e+01] [-1.74515599e-03 9.99998295e-01 -6.03591041e-04 -2.05620535e+00] [-1.10369148e-02 5.84294032e-04 9.99938921e-01 -4.47186079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900371743 meters Centerline goodness [0,1] 0.9891090380006847 Centerline is valid? [True, True] Translation: X:36.56, Y:-2.05, Z:-0.45 [[ 9.99914339e-01 8.08405436e-03 1.02938683e-02 3.65641309e+01] [-8.07868072e-03 9.99967208e-01 -5.63498515e-04 -2.05029308e+00] [-1.02980861e-02 4.80289370e-04 9.99946858e-01 -4.47439933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.930371743 meters Centerline goodness [0,1] 0.9890065059154446 Centerline is valid? [True, True] Translation: X:36.60, Y:-2.05, Z:-0.45 [[ 9.99887977e-01 1.15758777e-02 9.48856616e-03 3.65961284e+01] [-1.15714725e-02 9.99932914e-01 -5.19025519e-04 -2.04843466e+00] [-9.49393779e-03 4.09170694e-04 9.99954848e-01 -4.47890271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960371743 meters Centerline goodness [0,1] 0.9883715940785239 Centerline is valid? [True, True] Translation: X:36.63, Y:-2.05, Z:-0.45 [[ 9.99847483e-01 1.49570239e-02 9.01655715e-03 3.66272297e+01] [-1.49531786e-02 9.99888073e-01 -4.93734825e-04 -2.04715504e+00] [-9.02293276e-03 3.58833332e-04 9.99959228e-01 -4.48826090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990371743000004 meters Centerline goodness [0,1] 0.9896891714819668 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.04, Z:-0.45 [[ 9.99723912e-01 2.17005998e-02 9.01022616e-03 3.66572610e+01] [-2.16970288e-02 9.99764470e-01 -4.93905427e-04 -2.04268095e+00] [-9.01882203e-03 2.98273929e-04 9.99959285e-01 -4.48964341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020371743 meters Centerline goodness [0,1] 0.9896302975653742 Centerline is valid? [True, True] Translation: X:36.69, Y:-2.04, Z:-0.45 [[ 9.99642191e-01 2.50530426e-02 9.37200890e-03 3.66864293e+01] [-2.50493268e-02 9.99686084e-01 -5.13667522e-04 -2.04207725e+00] [-9.38193581e-03 2.78721214e-04 9.99955950e-01 -4.49082078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.050371743 meters Centerline goodness [0,1] 0.9909315921990356 Centerline is valid? [True, True] Translation: X:36.72, Y:-2.04, Z:-0.45 [[ 9.99484061e-01 3.05994083e-02 9.76156856e-03 3.67169048e+01] [-3.05956447e-02 9.99531701e-01 -5.34688452e-04 -2.03838324e+00] [-9.77335837e-03 2.35751101e-04 9.99952212e-01 -4.49099614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080371743 meters Centerline goodness [0,1] 0.9896213722852201 Centerline is valid? [True, True] Translation: X:36.74, Y:-2.04, Z:-0.45 [[ 9.99413244e-01 3.28509765e-02 9.69437736e-03 3.67444262e+01] [-3.28473734e-02 9.99460239e-01 -5.30699344e-04 -2.04076041e+00] [-9.70657870e-03 2.11953120e-04 9.99952868e-01 -4.49755701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.110371743 meters Centerline goodness [0,1] 0.9908632909230638 Centerline is valid? [True, True] Translation: X:36.77, Y:-2.04, Z:-0.45 [[ 9.99359203e-01 3.44810104e-02 9.60436656e-03 3.67729807e+01] [-3.44775579e-02 9.99405334e-01 -5.24861395e-04 -2.04217736e+00] [-9.61675293e-03 1.93389961e-04 9.99953739e-01 -4.50318782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140371743 meters Centerline goodness [0,1] 0.9919792403868837 Centerline is valid? [True, True] Translation: X:36.80, Y:-2.04, Z:-0.45 [[ 9.99262297e-01 3.74301513e-02 8.59340123e-03 3.68013649e+01] [-3.74275005e-02 9.99299236e-01 -4.69140706e-04 -2.04265000e+00] [-8.60493928e-03 1.47165090e-04 9.99962966e-01 -4.51947354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170371743000004 meters Centerline goodness [0,1] 0.9917088010969235 Centerline is valid? [True, True] Translation: X:36.83, Y:-2.05, Z:-0.45 [[ 9.99229621e-01 3.85633006e-02 7.28255307e-03 3.68292487e+01] [-3.85614290e-02 9.99256153e-01 -3.97277618e-04 -2.04658549e+00] [-7.29245630e-03 1.16145910e-04 9.99973403e-01 -4.53983387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200371743 meters Centerline goodness [0,1] 0.992100599927411 Centerline is valid? [True, True] Translation: X:36.86, Y:-2.05, Z:-0.46 [[ 9.99132046e-01 4.12869840e-02 5.52634504e-03 3.68573619e+01] [-4.12859501e-02 9.99147326e-01 -3.01099884e-04 -2.05182147e+00] [-5.53406438e-03 7.26781378e-05 9.99984684e-01 -4.56598570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230371743 meters Centerline goodness [0,1] 0.9924313491386663 Centerline is valid? [True, True] Translation: X:36.89, Y:-2.06, Z:-0.46 [[ 9.99068061e-01 4.28284188e-02 5.36056772e-03 3.68861580e+01] [-4.28274700e-02 9.99082440e-01 -2.91704654e-04 -2.05595937e+00] [-5.36814233e-03 6.18532493e-05 9.99985590e-01 -4.57835569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260371743 meters Centerline goodness [0,1] 0.9913002786463319 Centerline is valid? [True, True] Translation: X:36.91, Y:-2.06, Z:-0.46 [[ 9.98936612e-01 4.58311854e-02 5.01477820e-03 3.69147484e+01] [-4.58303944e-02 9.98949198e-01 -2.72594648e-04 -2.06314083e+00] [-5.02200199e-03 4.24755116e-05 9.99987389e-01 -4.59026889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290371743 meters Centerline goodness [0,1] 0.9912489379779099 Centerline is valid? [True, True] Translation: X:36.94, Y:-2.07, Z:-0.46 [[ 9.98845793e-01 4.77731113e-02 4.98117684e-03 3.69419652e+01] [-4.77723561e-02 9.98858213e-01 -2.70547987e-04 -2.06764491e+00] [-4.98841432e-03 3.22731645e-05 9.99987557e-01 -4.59778703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320371743 meters Centerline goodness [0,1] 0.9917339566510838 Centerline is valid? [True, True] Translation: X:36.97, Y:-2.08, Z:-0.46 [[ 9.98583831e-01 5.30023302e-02 4.59190742e-03 3.69702690e+01] [-5.30017459e-02 9.98594389e-01 -2.48932243e-04 -2.07529213e+00] [-4.59864697e-03 5.20060284e-06 9.99989426e-01 -4.61227796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350371743000004 meters Centerline goodness [0,1] 0.9914348260398291 Centerline is valid? [True, True] Translation: X:37.00, Y:-2.08, Z:-0.46 [[ 9.98447744e-01 5.55417175e-02 4.14964395e-03 3.69985315e+01] [-5.55412631e-02 9.98456367e-01 -2.24748050e-04 -2.08003065e+00] [-4.15572132e-03 -6.07728267e-06 9.99991365e-01 -4.62058013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.380371743 meters Centerline goodness [0,1] 0.991787059299134 Centerline is valid? [True, True] Translation: X:37.03, Y:-2.09, Z:-0.46 [[ 9.98151272e-01 6.06354148e-02 4.16941926e-03 3.70261114e+01] [-6.06349996e-02 9.98159980e-01 -2.26038460e-04 -2.08874172e+00] [-4.17545338e-03 -2.71921585e-05 9.99991282e-01 -4.63109050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410371743 meters Centerline goodness [0,1] 0.9907701426817392 Centerline is valid? [True, True] Translation: X:37.05, Y:-2.09, Z:-0.46 [[ 9.98019035e-01 6.27375707e-02 4.69082201e-03 3.70542439e+01] [-6.27370746e-02 9.98030057e-01 -2.52978187e-04 -2.09478594e+00] [-4.69745259e-03 -4.18114039e-05 9.99988966e-01 -4.63696293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440371743 meters Centerline goodness [0,1] 0.9907701426817392 Centerline is valid? [True, True] Translation: X:37.08, Y:-2.10, Z:-0.46 [[ 9.98025821e-01 6.26295182e-02 4.69082457e-03 3.70816784e+01] [-6.26290211e-02 9.98036844e-01 -2.52931417e-04 -2.09617605e+00] [-4.69745672e-03 -4.13496661e-05 9.99988966e-01 -4.64048061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470371743 meters Centerline goodness [0,1] 0.9910173918583168 Centerline is valid? [True, True] Translation: X:37.11, Y:-2.10, Z:-0.46 [[ 9.97948119e-01 6.38530616e-02 4.72624088e-03 3.71102222e+01] [-6.38525746e-02 9.97959310e-01 -2.54024353e-04 -2.10248657e+00] [-4.73281632e-03 -4.82795224e-05 9.99988799e-01 -4.64479170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500371743 meters Centerline goodness [0,1] 0.9904603811645059 Centerline is valid? [True, True] Translation: X:37.14, Y:-2.11, Z:-0.47 [[ 9.97910401e-01 6.44082978e-02 5.13838096e-03 3.71373766e+01] [-6.44077311e-02 9.97923628e-01 -2.75857135e-04 -2.11475244e+00] [-5.14547926e-03 -5.56707554e-05 9.99986760e-01 -4.66061938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530371743 meters Centerline goodness [0,1] 0.9896530607935469 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.12, Z:-0.47 [[ 9.97993223e-01 6.31225065e-02 5.00765205e-03 3.71652851e+01] [-6.31219550e-02 9.98005785e-01 -2.68274401e-04 -2.12397381e+00] [-5.01459987e-03 -4.83567534e-05 9.99987426e-01 -4.66124857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.560371743 meters Centerline goodness [0,1] 0.9890332805071316 Centerline is valid? [True, True] Translation: X:37.19, Y:-2.13, Z:-0.47 [[ 9.98136974e-01 6.07672071e-02 5.47052979e-03 3.71940651e+01] [-6.07665160e-02 9.98151965e-01 -2.92607240e-04 -2.13318051e+00] [-5.47820098e-03 -4.03629304e-05 9.99984994e-01 -4.66671560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590371743 meters Centerline goodness [0,1] 0.9880518173814614 Centerline is valid? [True, True] Translation: X:37.22, Y:-2.15, Z:-0.47 [[ 9.98484604e-01 5.47874007e-02 5.18031232e-03 3.72206337e+01] [-5.47867015e-02 9.98498042e-01 -2.76893757e-04 -2.15101326e+00] [-5.18770200e-03 -7.33807159e-06 9.99986544e-01 -4.67510234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620371743 meters Centerline goodness [0,1] 0.9874411302982732 Centerline is valid? [True, True] Translation: X:37.25, Y:-2.16, Z:-0.47 [[ 9.98694622e-01 5.07312112e-02 5.94939090e-03 3.72487125e+01] [-5.07302218e-02 9.98712343e-01 -3.17184068e-04 -2.16097461e+00] [-5.95782126e-03 1.49561025e-05 9.99982252e-01 -4.67064793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650371743 meters Centerline goodness [0,1] 0.986207766541219 Centerline is valid? [True, True] Translation: X:37.28, Y:-2.18, Z:-0.47 [[ 9.99091028e-01 4.20492369e-02 6.99847145e-03 3.72767196e+01] [-4.20476595e-02 9.99115537e-01 -3.72448407e-04 -2.17919769e+00] [-7.00794273e-03 7.78405174e-05 9.99975441e-01 -4.66314643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680371743 meters Centerline goodness [0,1] 0.9865792955705375 Centerline is valid? [True, True] Translation: X:37.30, Y:-2.19, Z:-0.47 [[ 9.99284215e-01 3.71270698e-02 7.25526896e-03 3.73049421e+01] [-3.71252495e-02 9.99310546e-01 -3.85459812e-04 -2.18979693e+00] [-7.26457778e-03 1.15830235e-04 9.99973606e-01 -4.66590184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710371743 meters Centerline goodness [0,1] 0.9865137671959874 Centerline is valid? [True, True] Translation: X:37.33, Y:-2.20, Z:-0.47 [[ 9.99446053e-01 3.25093032e-02 7.12263296e-03 3.73334999e+01] [-3.25074343e-02 9.99471422e-01 -3.78040550e-04 -2.20050260e+00] [-7.13115793e-03 1.46292613e-04 9.99974562e-01 -4.66520529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740371743000004 meters Centerline goodness [0,1] 0.9861888295085403 Centerline is valid? [True, True] Translation: X:37.36, Y:-2.22, Z:-0.47 [[ 9.99707619e-01 2.29235820e-02 7.69319578e-03 3.73624626e+01] [-2.29211233e-02 9.99737193e-01 -4.07621617e-04 -2.21918640e+00] [-7.70051810e-03 2.31165748e-04 9.99970324e-01 -4.65099104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770371743 meters Centerline goodness [0,1] 0.9865147834827037 Centerline is valid? [True, True] Translation: X:37.39, Y:-2.23, Z:-0.46 [[ 9.99782961e-01 1.90758055e-02 8.37526481e-03 3.73934026e+01] [-1.90727585e-02 9.99818000e-01 -4.43538856e-04 -2.22739482e+00] [-8.38220137e-03 2.83703188e-04 9.99964828e-01 -4.64122151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800371743 meters Centerline goodness [0,1] 0.9862833795418066 Centerline is valid? [True, True] Translation: X:37.42, Y:-2.24, Z:-0.46 [[ 9.99893014e-01 1.17066608e-02 8.77014601e-03 3.74237540e+01] [-1.17030326e-02 9.99931409e-01 -4.64908426e-04 -2.24122419e+00] [-8.77498699e-03 3.62221382e-04 9.99961433e-01 -4.62818367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830371743 meters Centerline goodness [0,1] 0.9872876022655759 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.25, Z:-0.46 [[ 9.99954755e-01 4.24392568e-03 8.51339493e-03 3.74523951e+01] [-4.24023600e-03 9.99990908e-01 -4.51400800e-04 -2.25471365e+00] [-8.51523324e-03 4.15281573e-04 9.99963659e-01 -4.62632539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860371743 meters Centerline goodness [0,1] 0.9879784614100263 Centerline is valid? [True, True] Translation: X:37.48, Y:-2.26, Z:-0.46 [[ 9.99965051e-01 1.20047862e-03 8.27380647e-03 3.74830352e+01] [-1.19689193e-03 9.99999188e-01 -4.38436953e-04 -2.25895243e+00] [-8.27432608e-03 4.28518778e-04 9.99965675e-01 -4.62701938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890371743 meters Centerline goodness [0,1] 0.9874764791971566 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.26, Z:-0.46 [[ 9.99961598e-01 -2.15827033e-03 8.49374501e-03 3.75137908e+01] [ 2.16217235e-03 9.99997561e-01 -4.50243354e-04 -2.26002082e+00] [-8.49275255e-03 4.68591005e-04 9.99963826e-01 -4.62567177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920371743000004 meters Centerline goodness [0,1] 0.9885729861198473 Centerline is valid? [True, True] Translation: X:37.54, Y:-2.26, Z:-0.46 [[ 9.99931743e-01 -7.23535976e-03 9.17384512e-03 3.75443942e+01] [ 7.24012684e-03 9.99973672e-01 -4.86533687e-04 -2.26354241e+00] [-9.17008334e-03 5.52920280e-04 9.99957801e-01 -4.62292498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950371743 meters Centerline goodness [0,1] 0.9862848593159054 Centerline is valid? [True, True] Translation: X:37.58, Y:-2.28, Z:-0.46 [[ 9.99913979e-01 -8.74268198e-03 9.77752693e-03 3.75752555e+01] [ 8.74816773e-03 9.99961600e-01 -5.18427697e-04 -2.27701515e+00] [-9.77261902e-03 6.03918547e-04 9.99952064e-01 -4.62816709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980371743 meters Centerline goodness [0,1] 0.987334629130353 Centerline is valid? [True, True] Translation: X:37.61, Y:-2.27, Z:-0.46 [[ 9.99869814e-01 -1.15540535e-02 1.12631782e-02 3.76062872e+01] [ 1.15615197e-02 9.99932985e-01 -5.97991610e-04 -2.26981691e+00] [-1.12555141e-02 7.28133216e-04 9.99936390e-01 -4.61708213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010371743 meters Centerline goodness [0,1] 0.9868214949562457 Centerline is valid? [True, True] Translation: X:37.64, Y:-2.27, Z:-0.46 [[ 9.99851454e-01 -1.26885919e-02 1.16648539e-02 3.76386931e+01] [ 1.26966788e-02 9.99919202e-01 -6.19478703e-04 -2.27166751e+00] [-1.16560511e-02 7.67491585e-04 9.99931771e-01 -4.61958705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040371743 meters Centerline goodness [0,1] 0.9864226067762021 Centerline is valid? [True, True] Translation: X:37.67, Y:-2.28, Z:-0.46 [[ 9.99836981e-01 -1.41121411e-02 1.12631935e-02 3.76690317e+01] [ 1.41197786e-02 9.99900132e-01 -5.98855135e-04 -2.27945744e+00] [-1.12536176e-02 7.57791309e-04 9.99936389e-01 -4.62375063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070371743 meters Centerline goodness [0,1] 0.9864926644777856 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.27, Z:-0.46 [[ 9.99782364e-01 -1.77909315e-02 1.08952551e-02 3.76994357e+01] [ 1.77983124e-02 9.99841429e-01 -5.80848095e-04 -2.27454136e+00] [-1.08831936e-02 7.74638836e-04 9.99940476e-01 -4.62891938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100371743000004 meters Centerline goodness [0,1] 0.9865964075863078 Centerline is valid? [True, True] Translation: X:37.73, Y:-2.27, Z:-0.46 [[ 9.99743838e-01 -1.98380248e-02 1.08954810e-02 3.77304805e+01] [ 1.98455271e-02 9.99802889e-01 -5.80869819e-04 -2.27372056e+00] [-1.08818101e-02 7.96947585e-04 9.99940474e-01 -4.63285511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.130371743 meters Centerline goodness [0,1] 0.9855024023396699 Centerline is valid? [True, True] Translation: X:37.76, Y:-2.27, Z:-0.46 [[ 9.99674563e-01 -2.30808726e-02 1.08647049e-02 3.77608973e+01] [ 2.30885252e-02 9.99733257e-01 -5.79436266e-04 -2.27182191e+00] [-1.08484329e-02 8.30097707e-04 9.99940809e-01 -4.63637725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160371743 meters Centerline goodness [0,1] 0.985498438777007 Centerline is valid? [True, True] Translation: X:37.79, Y:-2.27, Z:-0.46 [[ 9.99638762e-01 -2.44772680e-02 1.10999669e-02 3.77933393e+01] [ 2.44853415e-02 9.99700014e-01 -5.92007030e-04 -2.26926254e+00] [-1.10821464e-02 8.63579655e-04 9.99938218e-01 -4.63588316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.190371743 meters Centerline goodness [0,1] 0.9842232503855612 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.27, Z:-0.46 [[ 9.99612849e-01 -2.54217774e-02 1.13086528e-02 3.78239195e+01] [ 2.54302275e-02 9.99676417e-01 -6.04034117e-04 -2.26999031e+00] [-1.12896379e-02 8.91381877e-04 9.99935873e-01 -4.63686053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220371743 meters Centerline goodness [0,1] 0.9843658679135009 Centerline is valid? [True, True] Translation: X:37.85, Y:-2.27, Z:-0.46 [[ 9.99568090e-01 -2.71226673e-02 1.13135000e-02 3.78545581e+01] [ 2.71312379e-02 9.99631697e-01 -6.04732287e-04 -2.26744159e+00] [-1.12929312e-02 9.11420355e-04 9.99935817e-01 -4.64442673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250371743 meters Centerline goodness [0,1] 0.9830079839485014 Centerline is valid? [True, True] Translation: X:37.89, Y:-2.27, Z:-0.47 [[ 9.99565681e-01 -2.74915651e-02 1.06142965e-02 3.78853082e+01] [ 2.74991306e-02 9.99621666e-01 -5.67457188e-04 -2.26916028e+00] [-1.05946805e-02 8.59094658e-04 9.99943506e-01 -4.65945468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280371743 meters Centerline goodness [0,1] 0.9842947306619698 Centerline is valid? [True, True] Translation: X:37.92, Y:-2.26, Z:-0.47 [[ 9.99587327e-01 -2.74114523e-02 8.59003556e-03 3.79180310e+01] [ 2.74164065e-02 9.99623994e-01 -4.59482876e-04 -2.25527500e+00] [-8.57421057e-03 6.94801166e-04 9.99962999e-01 -4.68999587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.310371743 meters Centerline goodness [0,1] 0.9835227034505891 Centerline is valid? [True, True] Translation: X:37.95, Y:-2.25, Z:-0.47 [[ 9.99613878e-01 -2.66396325e-02 7.90097779e-03 3.79504374e+01] [ 2.66438037e-02 9.99644901e-01 -4.23130543e-04 -2.25244422e+00] [-7.88690012e-03 6.33479264e-04 9.99968697e-01 -4.70222034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340371743 meters Centerline goodness [0,1] 0.9837101412767386 Centerline is valid? [True, True] Translation: X:37.98, Y:-2.25, Z:-0.47 [[ 9.99647172e-01 -2.54165168e-02 7.71565227e-03 3.79806150e+01] [ 2.54204647e-02 9.99676762e-01 -4.14031833e-04 -2.25124373e+00] [-7.70263503e-03 6.10021217e-04 9.99970148e-01 -4.70859441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370371743 meters Centerline goodness [0,1] 0.9835145118733509 Centerline is valid? [True, True] Translation: X:38.01, Y:-2.24, Z:-0.47 [[ 9.99690603e-01 -2.32547323e-02 8.82694935e-03 3.80122621e+01] [ 2.32598174e-02 9.99729342e-01 -4.73857333e-04 -2.23840659e+00] [-8.81354083e-03 6.79023953e-04 9.99960929e-01 -4.70631959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400371743 meters Centerline goodness [0,1] 0.983575648384799 Centerline is valid? [True, True] Translation: X:38.04, Y:-2.24, Z:-0.47 [[ 9.99724413e-01 -2.16153735e-02 9.15828809e-03 3.80428565e+01] [ 2.16207802e-02 9.99766123e-01 -4.91757343e-04 -2.23931909e+00] [-9.14551666e-03 6.89631155e-04 9.99957941e-01 -4.70424823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430371743 meters Centerline goodness [0,1] 0.983524912265955 Centerline is valid? [True, True] Translation: X:38.07, Y:-2.23, Z:-0.47 [[ 9.99742149e-01 -2.00568207e-02 1.06470148e-02 3.80749831e+01] [ 2.00640454e-02 9.99798533e-01 -5.72171388e-04 -2.22957439e+00] [-1.06333938e-02 7.85646041e-04 9.99943155e-01 -4.69121453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460371743 meters Centerline goodness [0,1] 0.9839342188488298 Centerline is valid? [True, True] Translation: X:38.11, Y:-2.23, Z:-0.47 [[ 9.99748747e-01 -1.92070756e-02 1.15555916e-02 3.81074173e+01] [ 1.92155345e-02 9.99815171e-01 -6.21418240e-04 -2.22669735e+00] [-1.15415201e-02 8.43308974e-04 9.99933039e-01 -4.68918891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490371743000004 meters Centerline goodness [0,1] 0.9838634633279756 Centerline is valid? [True, True] Translation: X:38.14, Y:-2.22, Z:-0.47 [[ 9.99766814e-01 -1.81874370e-02 1.16419622e-02 3.81402346e+01] [ 1.81959637e-02 9.99834243e-01 -6.26898879e-04 -2.22307456e+00] [-1.16286308e-02 8.38589415e-04 9.99932034e-01 -4.69273299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520371743 meters Centerline goodness [0,1] 0.982761167260988 Centerline is valid? [True, True] Translation: X:38.17, Y:-2.22, Z:-0.47 [[ 9.99800044e-01 -1.68842571e-02 1.07142177e-02 3.81708203e+01] [ 1.68914155e-02 9.99857163e-01 -5.77980827e-04 -2.21726099e+00] [-1.07029286e-02 7.58843559e-04 9.99942434e-01 -4.70541285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550371743 meters Centerline goodness [0,1] 0.9840332041589903 Centerline is valid? [True, True] Translation: X:38.20, Y:-2.21, Z:-0.47 [[ 9.99803297e-01 -1.68885332e-02 1.03992918e-02 3.82027561e+01] [ 1.68952778e-02 9.99857107e-01 -5.61045153e-04 -2.21461910e+00] [-1.03883305e-02 7.36633716e-04 9.99945769e-01 -4.71028988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580371743 meters Centerline goodness [0,1] 0.9842271293375394 Centerline is valid? [True, True] Translation: X:38.23, Y:-2.21, Z:-0.47 [[ 9.99805112e-01 -1.67014212e-02 1.05262239e-02 3.82338861e+01] [ 1.67083297e-02 9.99860244e-01 -5.68706406e-04 -2.21482599e+00] [-1.05152546e-02 7.44471191e-04 9.99944436e-01 -4.71536714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.610371743 meters Centerline goodness [0,1] 0.9842036443394635 Centerline is valid? [True, True] Translation: X:38.27, Y:-2.20, Z:-0.47 [[ 9.99781657e-01 -1.79837725e-02 1.06406164e-02 3.82668377e+01] [ 1.79909099e-02 9.99837985e-01 -5.75422227e-04 -2.20339890e+00] [-1.06285442e-02 7.66730958e-04 9.99943221e-01 -4.71430304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640371743 meters Centerline goodness [0,1] 0.9831769790239275 Centerline is valid? [True, True] Translation: X:38.30, Y:-2.20, Z:-0.47 [[ 9.99765693e-01 -1.89061397e-02 1.05412221e-02 3.82987842e+01] [ 1.89132036e-02 9.99820966e-01 -5.70827207e-04 -2.20337125e+00] [-1.05285427e-02 7.70061737e-04 9.99944277e-01 -4.72196882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670371743000004 meters Centerline goodness [0,1] 0.9829258992500953 Centerline is valid? [True, True] Translation: X:38.33, Y:-2.20, Z:-0.47 [[ 9.99716058e-01 -2.15942021e-02 1.00743962e-02 3.83305114e+01] [ 2.16007979e-02 9.99766526e-01 -5.46351865e-04 -2.20007180e+00] [-1.00602461e-02 7.63811730e-04 9.99949103e-01 -4.73442186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700371743 meters Centerline goodness [0,1] 0.9828663065496286 Centerline is valid? [True, True] Translation: X:38.36, Y:-2.20, Z:-0.47 [[ 9.99693046e-01 -2.28977893e-02 9.46069110e-03 3.83614589e+01] [ 2.29036644e-02 9.99737545e-01 -5.13113336e-04 -2.20133214e+00] [-9.44645894e-03 7.29640328e-04 9.99955115e-01 -4.74061124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.730371743 meters Centerline goodness [0,1] 0.9818450808411708 Centerline is valid? [True, True] Translation: X:38.39, Y:-2.20, Z:-0.47 [[ 9.99658850e-01 -2.44202383e-02 9.26477655e-03 3.83920600e+01] [ 2.44259510e-02 9.99701515e-01 -5.03935004e-04 -2.20060424e+00] [-9.24970494e-03 7.30064064e-04 9.99956954e-01 -4.74005473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760371743 meters Centerline goodness [0,1] 0.9839482612383376 Centerline is valid? [True, True] Translation: X:38.43, Y:-2.20, Z:-0.47 [[ 9.99649289e-01 -2.46674693e-02 9.63400939e-03 3.84250321e+01] [ 2.46736579e-02 9.99695422e-01 -5.24027931e-04 -2.19535121e+00] [-9.61814864e-03 7.61550401e-04 9.99953455e-01 -4.73432015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.790371743 meters Centerline goodness [0,1] 0.983869598437898 Centerline is valid? [True, True] Translation: X:38.46, Y:-2.19, Z:-0.47 [[ 9.99666665e-01 -2.40883144e-02 9.29042422e-03 3.84568760e+01] [ 2.40940512e-02 9.99709568e-01 -5.06056418e-04 -2.19198037e+00] [-9.27553594e-03 7.29731689e-04 9.99956715e-01 -4.72363723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820371743 meters Centerline goodness [0,1] 0.9851204434022597 Centerline is valid? [True, True] Translation: X:38.49, Y:-2.19, Z:-0.47 [[ 9.99678264e-01 -2.34587629e-02 9.64646540e-03 3.84895164e+01] [ 2.34649236e-02 9.99724522e-01 -5.25952382e-04 -2.18862947e+00] [-9.63146983e-03 7.52136738e-04 9.99953333e-01 -4.71874269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850371743000004 meters Centerline goodness [0,1] 0.9851013491911248 Centerline is valid? [True, True] Translation: X:38.52, Y:-2.18, Z:-0.47 [[ 9.99697730e-01 -2.22547783e-02 1.04485917e-02 3.85209047e+01] [ 2.22619504e-02 9.99752009e-01 -5.70606355e-04 -2.18327141e+00] [-1.04333019e-02 8.03039910e-04 9.99945249e-01 -4.71484676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.880371743 meters Centerline goodness [0,1] 0.9854490610927011 Centerline is valid? [True, True] Translation: X:38.55, Y:-2.18, Z:-0.47 [[ 9.99702654e-01 -2.19126625e-02 1.06976516e-02 3.85519042e+01] [ 2.19201651e-02 9.99759553e-01 -5.84569428e-04 -2.18285803e+00] [-1.06822699e-02 8.18889898e-04 9.99942608e-01 -4.71266507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910371743 meters Centerline goodness [0,1] 0.985257723160949 Centerline is valid? [True, True] Translation: X:38.58, Y:-2.18, Z:-0.47 [[ 9.99688808e-01 -2.23579989e-02 1.10637952e-02 3.85840715e+01] [ 2.23660575e-02 9.99749665e-01 -6.05166057e-04 -2.18288125e+00] [-1.10474952e-02 8.52431212e-04 9.99938611e-01 -4.72165193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940371743 meters Centerline goodness [0,1] 0.9861167911491853 Centerline is valid? [True, True] Translation: X:38.62, Y:-2.18, Z:-0.47 [[ 9.99659180e-01 -2.35769069e-02 1.12094958e-02 3.86151944e+01] [ 2.35852636e-02 9.99721641e-01 -6.13867727e-04 -2.18081493e+00] [-1.11919024e-02 8.78037421e-04 9.99936983e-01 -4.72453904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970371743 meters Centerline goodness [0,1] 0.9863001914101985 Centerline is valid? [True, True] Translation: X:38.65, Y:-2.17, Z:-0.47 [[ 9.99629433e-01 -2.53706148e-02 9.86555656e-03 3.86470034e+01] [ 2.53771863e-02 9.99677801e-01 -5.41470909e-04 -2.17270444e+00] [-9.84864043e-03 7.91630324e-04 9.99951188e-01 -4.73809037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000371743 meters Centerline goodness [0,1] 0.9867968346808876 Centerline is valid? [True, True] Translation: X:38.68, Y:-2.17, Z:-0.47 [[ 9.99608511e-01 -2.64062158e-02 9.24859449e-03 3.86777461e+01] [ 2.64120379e-02 9.99651012e-01 -5.07913402e-04 -2.17406046e+00] [-9.23195477e-03 7.51988787e-04 9.99957102e-01 -4.74481258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030371743 meters Centerline goodness [0,1] 0.9867387139135864 Centerline is valid? [True, True] Translation: X:38.71, Y:-2.17, Z:-0.48 [[ 9.99590509e-01 -2.73907165e-02 8.28025119e-03 3.87099809e+01] [ 2.73954175e-02 9.99624572e-01 -4.54825211e-04 -2.17285266e+00] [-8.26468456e-03 6.81479903e-04 9.99965615e-01 -4.75233538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.060371743 meters Centerline goodness [0,1] 0.9865793498632085 Centerline is valid? [True, True] Translation: X:38.74, Y:-2.17, Z:-0.48 [[ 9.99535981e-01 -2.94221227e-02 7.88423631e-03 3.87396681e+01] [ 2.94264544e-02 9.99566854e-01 -4.33939659e-04 -2.17243523e+00] [-7.86805386e-03 6.65743423e-04 9.99968825e-01 -4.75929107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.090371743 meters Centerline goodness [0,1] 0.9869703321160785 Centerline is valid? [True, True] Translation: X:38.77, Y:-2.17, Z:-0.48 [[ 9.99515695e-01 -3.00884240e-02 7.94119141e-03 3.87717941e+01] [ 3.00928365e-02 9.99547013e-01 -4.36726409e-04 -2.16920475e+00] [-7.92445375e-03 6.75487875e-04 9.99968373e-01 -4.76296047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120371743 meters Centerline goodness [0,1] 0.985856401384083 Centerline is valid? [True, True] Translation: X:38.80, Y:-2.17, Z:-0.48 [[ 9.99515761e-01 -2.99045348e-02 8.60011847e-03 3.88025014e+01] [ 2.99097099e-02 9.99552492e-01 -4.73736042e-04 -2.17065471e+00] [-8.58210299e-03 7.30733689e-04 9.99962906e-01 -4.76206991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150371743 meters Centerline goodness [0,1] 0.9872600424665251 Centerline is valid? [True, True] Translation: X:38.84, Y:-2.16, Z:-0.48 [[ 9.99529673e-01 -2.94482277e-02 8.55772095e-03 3.88357011e+01] [ 2.94533379e-02 9.99566045e-01 -4.71700503e-04 -2.16163196e+00] [-8.54011655e-03 7.23532096e-04 9.99963271e-01 -4.76509777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180371743 meters Centerline goodness [0,1] 0.9885550786838341 Centerline is valid? [True, True] Translation: X:38.87, Y:-2.15, Z:-0.48 [[ 9.99597080e-01 -2.73733050e-02 7.50866114e-03 3.88670642e+01] [ 2.73771878e-02 9.99625088e-01 -4.14793911e-04 -2.15371772e+00] [-7.49449178e-03 6.20192808e-04 9.99971724e-01 -4.77276676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.210371743 meters Centerline goodness [0,1] 0.988829497109196 Centerline is valid? [True, True] Translation: X:38.90, Y:-2.15, Z:-0.48 [[ 9.99633044e-01 -2.62124314e-02 6.83265287e-03 3.88971781e+01] [ 2.62156203e-02 9.99656240e-01 -3.77553864e-04 -2.15242315e+00] [-6.82040748e-03 5.56537552e-04 9.99976586e-01 -4.78217095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240371743000004 meters Centerline goodness [0,1] 0.9899696910228735 Centerline is valid? [True, True] Translation: X:38.93, Y:-2.14, Z:-0.48 [[ 9.99702382e-01 -2.37085711e-02 5.74897032e-03 3.89280964e+01] [ 2.37107886e-02 9.99718809e-01 -3.17865467e-04 -2.14458708e+00] [-5.73981762e-03 4.54083485e-04 9.99983424e-01 -4.79134121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.270371743 meters Centerline goodness [0,1] 0.9891752689814713 Centerline is valid? [True, True] Translation: X:38.96, Y:-2.14, Z:-0.48 [[ 9.99719400e-01 -2.30727328e-02 5.36376176e-03 3.89589137e+01] [ 2.30746518e-02 9.99733701e-01 -2.96167395e-04 -2.14447609e+00] [-5.35550000e-03 4.19851225e-04 9.99985571e-01 -4.80133970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300371743 meters Centerline goodness [0,1] 0.9899958588522482 Centerline is valid? [True, True] Translation: X:38.99, Y:-2.14, Z:-0.48 [[ 9.99728340e-01 -2.26951234e-02 5.30827686e-03 3.89910121e+01] [ 2.26969984e-02 9.99742347e-01 -2.93244859e-04 -2.14195220e+00] [-5.30025394e-03 4.13647148e-04 9.99985868e-01 -4.80352062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.330371743 meters Centerline goodness [0,1] 0.990735682915638 Centerline is valid? [True, True] Translation: X:39.02, Y:-2.14, Z:-0.48 [[ 9.99702589e-01 -2.37158499e-02 5.68255313e-03 3.90231466e+01] [ 2.37180178e-02 9.99718639e-01 -3.14395464e-04 -2.13849215e+00] [-5.67349812e-03 4.49080855e-04 9.99983805e-01 -4.79524484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360371743 meters Centerline goodness [0,1] 0.9904551325554413 Centerline is valid? [True, True] Translation: X:39.05, Y:-2.14, Z:-0.48 [[ 9.99678529e-01 -2.46466079e-02 5.94831582e-03 3.90549988e+01] [ 2.46490032e-02 9.99696113e-01 -3.29695131e-04 -2.13666981e+00] [-5.93838234e-03 4.76209200e-04 9.99982254e-01 -4.79543633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.390371743 meters Centerline goodness [0,1] 0.9904551325554413 Centerline is valid? [True, True] Translation: X:39.09, Y:-2.14, Z:-0.48 [[ 9.99681226e-01 -2.45369789e-02 5.94831858e-03 3.90875858e+01] [ 2.45393719e-02 9.99698810e-01 -3.29646182e-04 -2.13857048e+00] [-5.93843848e-03 4.75509101e-04 9.99982254e-01 -4.79961180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420371743000004 meters Centerline goodness [0,1] 0.9896547179757512 Centerline is valid? [True, True] Translation: X:39.12, Y:-2.14, Z:-0.48 [[ 9.99615222e-01 -2.71994652e-02 5.44029141e-03 3.91173982e+01] [ 2.72015131e-02 9.99629925e-01 -3.02778199e-04 -2.13799217e+00] [-5.43004268e-03 4.50645854e-04 9.99985156e-01 -4.80631310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.450371743 meters Centerline goodness [0,1] 0.9890090642378596 Centerline is valid? [True, True] Translation: X:39.15, Y:-2.14, Z:-0.48 [[ 9.99589926e-01 -2.81760729e-02 5.10770270e-03 3.91482054e+01] [ 2.81778886e-02 9.99602884e-01 -2.83852714e-04 -2.14255018e+00] [-5.09767650e-03 4.27660591e-04 9.99986915e-01 -4.81227872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480371743 meters Centerline goodness [0,1] 0.9902412280701754 Centerline is valid? [True, True] Translation: X:39.18, Y:-2.14, Z:-0.48 [[ 9.99562253e-01 -2.91979948e-02 4.77281794e-03 3.91807930e+01] [ 2.91995921e-02 9.99573566e-01 -2.65311570e-04 -2.13999859e+00] [-4.76303608e-03 4.04559767e-04 9.99988575e-01 -4.81634558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.510371743 meters Centerline goodness [0,1] 0.9894568058514728 Centerline is valid? [True, True] Translation: X:39.21, Y:-2.14, Z:-0.48 [[ 9.99517752e-01 -3.07806848e-02 4.10044569e-03 3.92117981e+01] [ 3.07818795e-02 9.99526100e-01 -2.28566286e-04 -2.13561993e+00] [-4.09146706e-03 3.54675486e-04 9.99991567e-01 -4.82701434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540371743 meters Centerline goodness [0,1] 0.9890949701097073 Centerline is valid? [True, True] Translation: X:39.24, Y:-2.14, Z:-0.48 [[ 9.99506949e-01 -3.11425946e-02 3.99982166e-03 3.92428399e+01] [ 3.11437333e-02 9.99514891e-01 -2.22704998e-04 -2.13892797e+00] [-3.99094570e-03 3.47164572e-04 9.99991976e-01 -4.83331116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.570371743 meters Centerline goodness [0,1] 0.9889191803711195 Centerline is valid? [True, True] Translation: X:39.28, Y:-2.13, Z:-0.48 [[ 9.99506082e-01 -3.11054569e-02 4.47690317e-03 3.92760001e+01] [ 3.11068826e-02 9.99516033e-01 -2.49140514e-04 -2.13494082e+00] [-4.46698687e-03 3.88279960e-04 9.99989948e-01 -4.83621562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600371743000004 meters Centerline goodness [0,1] 0.9892402138755033 Centerline is valid? [True, True] Translation: X:39.31, Y:-2.13, Z:-0.48 [[ 9.99523806e-01 -3.05062914e-02 4.63982873e-03 3.93080352e+01] [ 3.05078203e-02 9.99534495e-01 -2.59067236e-04 -2.13435255e+00] [-4.62976568e-03 4.00494931e-04 9.99989202e-01 -4.83880450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.630371743 meters Centerline goodness [0,1] 0.9875346260387812 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.13, Z:-0.48 [[ 9.99548825e-01 -2.96195243e-02 4.98291815e-03 3.93394168e+01] [ 2.96212795e-02 9.99561155e-01 -2.78801670e-04 -2.13411982e+00] [-4.97247345e-03 4.26276293e-04 9.99987546e-01 -4.84397913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660371743 meters Centerline goodness [0,1] 0.9878312720848057 Centerline is valid? [True, True] Translation: X:39.37, Y:-2.13, Z:-0.48 [[ 9.99567773e-01 -2.89444553e-02 5.14634786e-03 3.93720611e+01] [ 2.89463196e-02 9.99580926e-01 -2.88114457e-04 -2.13381639e+00] [-5.13585184e-03 4.36957755e-04 9.99986716e-01 -4.84809720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690371743 meters Centerline goodness [0,1] 0.9892787524366472 Centerline is valid? [True, True] Translation: X:39.40, Y:-2.13, Z:-0.49 [[ 9.99592005e-01 -2.82215100e-02 4.40110565e-03 3.94046518e+01] [ 2.82228672e-02 9.99601625e-01 -2.46565230e-04 -2.12861741e+00] [-4.39239391e-03 3.70676453e-04 9.99990285e-01 -4.85457020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720371743 meters Centerline goodness [0,1] 0.9886079589444112 Centerline is valid? [True, True] Translation: X:39.44, Y:-2.13, Z:-0.49 [[ 9.99602325e-01 -2.78784523e-02 4.24070419e-03 3.94372156e+01] [ 2.78797104e-02 9.99611257e-01 -2.37848919e-04 -2.12688086e+00] [-4.23242479e-03 3.55983937e-04 9.99990980e-01 -4.86395691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.750371743 meters Centerline goodness [0,1] 0.9881036461552044 Centerline is valid? [True, True] Translation: X:39.47, Y:-2.13, Z:-0.49 [[ 9.99608757e-01 -2.76847561e-02 3.98578324e-03 3.94677811e+01] [ 2.76858676e-02 9.99616648e-01 -2.23953844e-04 -2.13402609e+00] [-3.97805518e-03 3.34216091e-04 9.99992032e-01 -4.87564440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780371743 meters Centerline goodness [0,1] 0.9881872378008391 Centerline is valid? [True, True] Translation: X:39.50, Y:-2.13, Z:-0.49 [[ 9.99615543e-01 -2.75106006e-02 3.45453246e-03 3.94999731e+01] [ 2.75114343e-02 9.99621470e-01 -1.94041510e-04 -2.12851366e+00] [-3.44788662e-03 2.89006052e-04 9.99994014e-01 -4.87554968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.810371743 meters Centerline goodness [0,1] 0.9888120873764898 Centerline is valid? [True, True] Translation: X:39.53, Y:-2.13, Z:-0.49 [[ 9.99611135e-01 -2.76978503e-02 3.22597683e-03 3.95307231e+01] [ 2.76985795e-02 9.99616304e-01 -1.81551429e-04 -2.12987920e+00] [-3.21971045e-03 2.70835805e-04 9.99994780e-01 -4.88072649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840371743 meters Centerline goodness [0,1] 0.9889478239641359 Centerline is valid? [True, True] Translation: X:39.56, Y:-2.13, Z:-0.49 [[ 9.99605551e-01 -2.79257834e-02 2.98225275e-03 3.95627117e+01] [ 2.79264074e-02 9.99609968e-01 -1.67769749e-04 -2.12843778e+00] [-2.97640448e-03 2.50987177e-04 9.99995539e-01 -4.88391813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.870371743 meters Centerline goodness [0,1] 0.9896073391242688 Centerline is valid? [True, True] Translation: X:39.60, Y:-2.12, Z:-0.49 [[ 9.99608299e-01 -2.78213014e-02 3.03707105e-03 3.95964564e+01] [ 2.78219475e-02 9.99612880e-01 -1.70709387e-04 -2.12491190e+00] [-3.03114598e-03 2.55139752e-04 9.99995374e-01 -4.88179441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900371743 meters Centerline goodness [0,1] 0.9888212506917543 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.13, Z:-0.49 [[ 9.99606275e-01 -2.78906097e-02 3.06729833e-03 3.96284486e+01] [ 2.78912713e-02 9.99610948e-01 -1.73122318e-04 -2.12684648e+00] [-3.06127650e-03 2.58605005e-04 9.99995281e-01 -4.88929566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.930371743 meters Centerline goodness [0,1] 0.988745375191085 Centerline is valid? [True, True] Translation: X:39.66, Y:-2.13, Z:-0.49 [[ 9.99605282e-01 -2.78685838e-02 3.55283107e-03 3.96610844e+01] [ 2.78694716e-02 9.99611551e-01 -2.00596561e-04 -2.12701762e+00] [-3.54586064e-03 2.99532906e-04 9.99993669e-01 -4.89092675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960371743 meters Centerline goodness [0,1] 0.9890141467727674 Centerline is valid? [True, True] Translation: X:39.69, Y:-2.13, Z:-0.49 [[ 9.99600144e-01 -2.80308721e-02 3.71770705e-03 3.96933666e+01] [ 2.80318483e-02 9.99607008e-01 -2.10710290e-04 -2.12885205e+00] [-3.71033963e-03 3.14840236e-04 9.99993067e-01 -4.89598882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.990371743000004 meters Centerline goodness [0,1] 0.9874229236693899 Centerline is valid? [True, True] Translation: X:39.72, Y:-2.13, Z:-0.49 [[ 9.99567409e-01 -2.92963594e-02 2.59199116e-03 3.97236108e+01] [ 2.92968393e-02 9.99570745e-01 -1.47364013e-04 -2.13439983e+00] [-2.58656130e-03 2.23237413e-04 9.99996630e-01 -4.91269387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020371743 meters Centerline goodness [0,1] 0.9870031770011775 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.13, Z:-0.49 [[ 9.99552524e-01 -2.98313209e-02 2.20109201e-03 3.97552647e+01] [ 2.98316675e-02 9.99554929e-01 -1.24775878e-04 -2.13442941e+00] [-2.19639014e-03 1.90382289e-04 9.99997570e-01 -4.91937412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.050371743 meters Centerline goodness [0,1] 0.9884325044404974 Centerline is valid? [True, True] Translation: X:39.79, Y:-2.13, Z:-0.49 [[ 9.99543303e-01 -3.01705331e-02 1.70994269e-03 3.97871542e+01] [ 3.01707426e-02 9.99544755e-01 -9.68600627e-05 -2.13218035e+00] [-1.70624192e-03 1.48406068e-04 9.99998533e-01 -4.92523212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080371743 meters Centerline goodness [0,1] 0.9881696279659321 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.13, Z:-0.49 [[ 9.99538234e-01 -3.03616266e-02 1.22091386e-03 3.98193169e+01] [ 3.03617331e-02 9.99538974e-01 -6.88111365e-05 -2.13023371e+00] [-1.21826177e-03 1.05848423e-04 9.99999252e-01 -4.93489439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.110371743 meters Centerline goodness [0,1] 0.989083603080701 Centerline is valid? [True, True] Translation: X:39.85, Y:-2.13, Z:-0.50 [[ 9.99563345e-01 -2.95485800e-02 3.05838241e-05 3.98513330e+01] [ 2.95485801e-02 9.99563345e-01 -8.20807495e-07 -2.12998316e+00] [-3.05462159e-05 1.72415766e-06 1.00000000e+00 -4.95003943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140371743 meters Centerline goodness [0,1] 0.9887429643527205 Centerline is valid? [True, True] Translation: X:39.88, Y:-2.13, Z:-0.50 [[ 9.99582263e-01 -2.89008927e-02 -1.95269228e-04 3.98838362e+01] [ 2.89008956e-02 9.99582282e-01 1.21056418e-05 -2.13115646e+00] [ 1.94837797e-04 -1.77440404e-05 9.99999981e-01 -4.95995787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.170371743000004 meters Centerline goodness [0,1] 0.9888280639034744 Centerline is valid? [True, True] Translation: X:39.91, Y:-2.13, Z:-0.50 [[ 9.99629867e-01 -2.71953051e-02 -7.38012926e-04 3.99141582e+01] [ 2.71953438e-02 9.99630137e-01 4.25067724e-05 -2.13058356e+00] [ 7.36583978e-04 -6.25615545e-05 9.99999727e-01 -4.96280747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200371743 meters Centerline goodness [0,1] 0.9881670065664149 Centerline is valid? [True, True] Translation: X:39.95, Y:-2.13, Z:-0.50 [[ 9.99655506e-01 -2.62347991e-02 -7.77341512e-04 3.99470557e+01] [ 2.62348425e-02 9.99655806e-01 4.57379862e-05 -2.12998242e+00] [ 7.75874029e-04 -6.61156619e-05 9.99999697e-01 -4.96028966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.230371743 meters Centerline goodness [0,1] 0.9877016129032258 Centerline is valid? [True, True] Translation: X:39.98, Y:-2.13, Z:-0.49 [[ 9.99718762e-01 -2.36900452e-02 1.08610249e-03 3.99779148e+01] [ 2.36901266e-02 9.99719348e-01 -6.21017354e-05 -2.12752760e+00] [-1.08432648e-03 8.78141755e-05 9.99999408e-01 -4.94783294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260371743 meters Centerline goodness [0,1] 0.9884156042035448 Centerline is valid? [True, True] Translation: X:40.01, Y:-2.13, Z:-0.49 [[ 9.99742506e-01 -2.25917490e-02 2.12967520e-03 4.00098525e+01] [ 2.25920591e-02 9.99744759e-01 -1.21645590e-04 -2.12837467e+00] [-2.12638344e-03 1.69728015e-04 9.99997725e-01 -4.94401697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.290371743 meters Centerline goodness [0,1] 0.9879864370242292 Centerline is valid? [True, True] Translation: X:40.04, Y:-2.13, Z:-0.49 [[ 9.99790143e-01 -2.00378752e-02 4.26058699e-03 4.00409565e+01] [ 2.00390982e-02 9.99799167e-01 -2.44540716e-04 -2.12877777e+00] [-4.25483125e-03 3.29867719e-04 9.99990894e-01 -4.93840444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320371743 meters Centerline goodness [0,1] 0.9879179042812158 Centerline is valid? [True, True] Translation: X:40.07, Y:-2.13, Z:-0.49 [[ 9.99817985e-01 -1.84890177e-02 4.70672777e-03 4.00717005e+01] [ 1.84904934e-02 9.99829000e-01 -2.70199997e-04 -2.13171949e+00] [-4.70092719e-03 3.57180535e-04 9.99988887e-01 -4.94032387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.350371743000004 meters Centerline goodness [0,1] 0.9887231557192919 Centerline is valid? [True, True] Translation: X:40.10, Y:-2.12, Z:-0.49 [[ 9.99879774e-01 -1.48001345e-02 4.62533150e-03 4.01027239e+01] [ 1.48015221e-02 9.99890416e-01 -2.65916436e-04 -2.12326605e+00] [-4.62088904e-03 3.34346413e-04 9.99989268e-01 -4.94057616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.380371743 meters Centerline goodness [0,1] 0.9890680882650651 Centerline is valid? [True, True] Translation: X:40.13, Y:-2.12, Z:-0.49 [[ 9.99911337e-01 -1.26038025e-02 4.29682281e-03 4.01339142e+01] [ 1.26049789e-02 9.99920524e-01 -2.46800736e-04 -2.12259683e+00] [-4.29337068e-03 3.00940215e-04 9.99990738e-01 -4.94385490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410371743 meters Centerline goodness [0,1] 0.9883734004992466 Centerline is valid? [True, True] Translation: X:40.16, Y:-2.13, Z:-0.50 [[ 9.99938443e-01 -1.02510422e-02 4.24580756e-03 4.01642892e+01] [ 1.02521703e-02 9.99947415e-01 -2.44025246e-04 -2.13052511e+00] [-4.24308278e-03 2.87538967e-04 9.99990957e-01 -4.96165631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440371743 meters Centerline goodness [0,1] 0.9883969328326325 Centerline is valid? [True, True] Translation: X:40.19, Y:-2.13, Z:-0.50 [[ 9.99974941e-01 -6.33387022e-03 3.16226480e-03 4.01942570e+01] [ 6.33447798e-03 9.99979920e-01 -1.82210135e-04 -2.13090321e+00] [-3.16104721e-03 2.02236866e-04 9.99994983e-01 -4.97916888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470371743 meters Centerline goodness [0,1] 0.9890030484362651 Centerline is valid? [True, True] Translation: X:40.23, Y:-2.12, Z:-0.50 [[ 9.99995483e-01 -2.52237914e-03 1.63434920e-03 4.02259697e+01] [ 2.52253595e-03 9.99996814e-01 -9.38943814e-05 -2.12436060e+00] [-1.63410715e-03 9.80166619e-05 9.99998660e-01 -4.98730692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500371743 meters Centerline goodness [0,1] 0.9884385262494939 Centerline is valid? [True, True] Translation: X:40.26, Y:-2.13, Z:-0.50 [[ 9.99999724e-01 -3.09428104e-04 6.75422831e-04 4.02563795e+01] [ 3.09454301e-04 9.99999951e-01 -3.86812513e-05 -2.12797655e+00] [-6.75410829e-04 3.88902532e-05 9.99999771e-01 -5.00205542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530371743 meters Centerline goodness [0,1] 0.9884383979885057 Centerline is valid? [True, True] Translation: X:40.29, Y:-2.12, Z:-0.50 [[ 9.99998115e-01 1.94020744e-03 -7.65927767e-05 4.02875191e+01] [-1.94020710e-03 9.99998118e-01 4.64204390e-06 -2.12357562e+00] [ 7.66016391e-05 -4.49342930e-06 9.99999997e-01 -5.00036297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.560371743 meters Centerline goodness [0,1] 0.9892492506028984 Centerline is valid? [True, True] Translation: X:40.32, Y:-2.12, Z:-0.50 [[ 9.99970477e-01 7.68396674e-03 -4.32839743e-05 4.03185233e+01] [-7.68396663e-03 9.99970478e-01 2.68647378e-06 -2.12245617e+00] [ 4.33033393e-05 -2.35380185e-06 9.99999999e-01 -5.01164465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590371743 meters Centerline goodness [0,1] 0.9890640149721527 Centerline is valid? [True, True] Translation: X:40.35, Y:-2.12, Z:-0.50 [[ 9.99939538e-01 1.09939009e-02 2.32594898e-04 4.03489597e+01] [-1.09938980e-02 9.99939565e-01 -1.36276760e-05 -2.12265559e+00] [-2.32730662e-04 1.10697275e-05 9.99999973e-01 -5.01644907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620371743 meters Centerline goodness [0,1] 0.9903053038349415 Centerline is valid? [True, True] Translation: X:40.38, Y:-2.12, Z:-0.50 [[ 9.99842630e-01 1.77061890e-02 1.09862040e-03 4.03797049e+01] [-1.77061301e-02 9.99843232e-01 -6.33411383e-05 -2.12012900e+00] [-1.09956971e-03 4.38788545e-05 9.99999395e-01 -5.01001299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650371743 meters Centerline goodness [0,1] 0.9894646603650146 Centerline is valid? [True, True] Translation: X:40.41, Y:-2.12, Z:-0.50 [[ 9.99779972e-01 2.09134574e-02 1.62341692e-03 4.04093166e+01] [-2.09133324e-02 9.99781288e-01 -9.39386202e-05 -2.11891367e+00] [-1.62502644e-03 5.99668935e-05 9.99998678e-01 -5.00156042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680371743 meters Centerline goodness [0,1] 0.9903627479678458 Centerline is valid? [True, True] Translation: X:40.44, Y:-2.12, Z:-0.50 [[ 9.99709702e-01 2.39282242e-02 2.81994420e-03 4.04394207e+01] [-2.39278607e-02 9.99713675e-01 -1.62559981e-04 -2.11912651e+00] [-2.82302655e-03 9.50375575e-05 9.99996011e-01 -4.99869886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710371743 meters Centerline goodness [0,1] 0.990711097082563 Centerline is valid? [True, True] Translation: X:40.47, Y:-2.12, Z:-0.50 [[ 9.99576503e-01 2.87742750e-02 4.34235584e-03 4.04696890e+01] [-2.87734597e-02 9.99585927e-01 -2.50123732e-04 -2.11892025e+00] [-4.34775492e-03 1.25073204e-04 9.99990541e-01 -4.99632562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740371743000004 meters Centerline goodness [0,1] 0.9911572298669072 Centerline is valid? [True, True] Translation: X:40.50, Y:-2.12, Z:-0.50 [[ 9.99534420e-01 3.01302673e-02 4.80733111e-03 4.04986016e+01] [-3.01292822e-02 9.99545972e-01 -2.77218610e-04 -2.12137929e+00] [-4.81350112e-03 1.32248106e-04 9.99988406e-01 -4.99789909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.770371743 meters Centerline goodness [0,1] 0.9912663755458515 Centerline is valid? [True, True] Translation: X:40.53, Y:-2.12, Z:-0.50 [[ 9.99528841e-01 3.02357862e-02 5.28148362e-03 4.05275687e+01] [-3.02346010e-02 9.99542784e-01 -3.04114734e-04 -2.12415178e+00] [-5.28826399e-03 1.44287898e-04 9.99986007e-01 -5.00149160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800371743 meters Centerline goodness [0,1] 0.9914991229253812 Centerline is valid? [True, True] Translation: X:40.56, Y:-2.13, Z:-0.50 [[ 9.99566101e-01 2.90096667e-02 5.10389289e-03 4.05554383e+01] [-2.90085450e-02 9.99579120e-01 -2.93682770e-04 -2.12877774e+00] [-5.11026440e-03 1.45498835e-04 9.99986932e-01 -5.01225528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.830371743 meters Centerline goodness [0,1] 0.9898341599156213 Centerline is valid? [True, True] Translation: X:40.58, Y:-2.14, Z:-0.50 [[ 9.99701196e-01 2.42426264e-02 3.13269701e-03 4.05848356e+01] [-2.42421816e-02 9.99706099e-01 -1.79894393e-04 -2.13537544e+00] [-3.13613742e-03 1.03897230e-04 9.99995077e-01 -5.02667598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860371743 meters Centerline goodness [0,1] 0.9904072967447712 Centerline is valid? [True, True] Translation: X:40.61, Y:-2.14, Z:-0.51 [[ 9.99782917e-01 2.07117739e-02 2.26741376e-03 4.06123330e+01] [-2.07115308e-02 9.99785485e-01 -1.30631081e-04 -2.14370943e+00] [-2.26963296e-03 8.36411131e-05 9.99997421e-01 -5.05008382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890371743 meters Centerline goodness [0,1] 0.9896082954469105 Centerline is valid? [True, True] Translation: X:40.64, Y:-2.15, Z:-0.51 [[ 9.99920681e-01 1.25787005e-02 -6.38512555e-04 4.06422073e+01] [-1.25786798e-02 9.99920885e-01 3.64279307e-05 -2.15347522e+00] [ 6.38920255e-04 -2.83933964e-05 9.99999795e-01 -5.07793836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920371743000004 meters Centerline goodness [0,1] 0.9892681838464971 Centerline is valid? [True, True] Translation: X:40.67, Y:-2.16, Z:-0.51 [[ 9.99964292e-01 8.37798911e-03 -1.10596868e-03 4.06706773e+01] [-8.37792447e-03 9.99964903e-01 6.30636428e-05 -2.16065413e+00] [ 1.10645821e-03 -5.37956688e-05 9.99999386e-01 -5.09401911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950371743 meters Centerline goodness [0,1] 0.9894364631054574 Centerline is valid? [True, True] Translation: X:40.70, Y:-2.17, Z:-0.51 [[ 9.99999166e-01 1.00534062e-03 -8.11089261e-04 4.06992928e+01] [-1.00530344e-03 9.99999494e-01 4.62455079e-05 -2.17497258e+00] [ 8.11135342e-04 -4.54300785e-05 9.99999670e-01 -5.10448832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980371743 meters Centerline goodness [0,1] 0.9895199232947577 Centerline is valid? [True, True] Translation: X:40.73, Y:-2.17, Z:-0.51 [[ 9.99998599e-01 -1.59806182e-03 4.97952757e-04 4.07293600e+01] [ 1.59807641e-03 9.99998723e-01 -2.89126651e-05 -2.17015082e+00] [-4.97905917e-04 2.97083911e-05 9.99999876e-01 -5.07156690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010371743 meters Centerline goodness [0,1] 0.9890366482832236 Centerline is valid? [True, True] Translation: X:40.76, Y:-2.17, Z:-0.51 [[ 9.99990282e-01 -3.85695957e-03 2.13525541e-03 4.07599847e+01] [ 3.85722844e-03 9.99992553e-01 -1.21815581e-04 -2.17399742e+00] [-2.13476967e-03 1.30050565e-04 9.99997713e-01 -5.05790202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040371743 meters Centerline goodness [0,1] 0.9878906597809634 Centerline is valid? [True, True] Translation: X:40.79, Y:-2.18, Z:-0.50 [[ 9.99965967e-01 -7.10848334e-03 4.18736137e-03 4.07897424e+01] [ 7.10954504e-03 9.99974698e-01 -2.38717189e-04 -2.18065126e+00] [-4.18555850e-03 2.68479299e-04 9.99991204e-01 -5.04036807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070371743 meters Centerline goodness [0,1] 0.9879164815637494 Centerline is valid? [True, True] Translation: X:40.82, Y:-2.18, Z:-0.50 [[ 9.99953870e-01 -8.31296307e-03 4.81175178e-03 4.08216682e+01] [ 8.31438126e-03 9.99965397e-01 -2.74805425e-04 -2.18321776e+00] [-4.80930084e-03 3.14799487e-04 9.99988386e-01 -5.04047412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100371743000004 meters Centerline goodness [0,1] 0.9883648636646238 Centerline is valid? [True, True] Translation: X:40.85, Y:-2.18, Z:-0.50 [[ 9.99924710e-01 -1.09384472e-02 5.56100458e-03 4.08528188e+01] [ 1.09403869e-02 9.99940101e-01 -3.18514208e-04 -2.18432540e+00] [-5.55718743e-03 3.79329769e-04 9.99984487e-01 -5.03696594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.130371743 meters Centerline goodness [0,1] 0.9859642928078035 Centerline is valid? [True, True] Translation: X:40.88, Y:-2.20, Z:-0.51 [[ 9.99907393e-01 -1.22823610e-02 5.86080600e-03 4.08832521e+01] [ 1.22845377e-02 9.99924486e-01 -3.35554067e-04 -2.19911014e+00] [-5.85624203e-03 4.07520285e-04 9.99982769e-01 -5.05535009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160371743 meters Centerline goodness [0,1] 0.9876332905623645 Centerline is valid? [True, True] Translation: X:40.91, Y:-2.20, Z:-0.51 [[ 9.99868113e-01 -1.53248053e-02 5.37655458e-03 4.09146124e+01] [ 1.53266837e-02 9.99882492e-01 -3.08338749e-04 -2.19590934e+00] [-5.37119756e-03 3.90702835e-04 9.99985499e-01 -5.06352820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190371743 meters Centerline goodness [0,1] 0.9874139844617092 Centerline is valid? [True, True] Translation: X:40.94, Y:-2.20, Z:-0.51 [[ 9.99849242e-01 -1.68270860e-02 4.28288203e-03 4.09445949e+01] [ 1.68282918e-02 9.99858364e-01 -2.45644765e-04 -2.20068973e+00] [-4.27814193e-03 3.17681321e-04 9.99990798e-01 -5.08006252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220371743 meters Centerline goodness [0,1] 0.986697166207693 Centerline is valid? [True, True] Translation: X:40.98, Y:-2.20, Z:-0.51 [[ 9.99801240e-01 -1.97757467e-02 2.52994641e-03 4.09750838e+01] [ 1.97761771e-02 9.99804422e-01 -1.45186265e-04 -2.20334569e+00] [-2.52658044e-03 1.95190076e-04 9.99996789e-01 -5.10537477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250371743 meters Centerline goodness [0,1] 0.988069317929349 Centerline is valid? [True, True] Translation: X:41.01, Y:-2.21, Z:-0.51 [[ 9.99781519e-01 -2.08548635e-02 1.41016783e-03 4.10062189e+01] [ 2.08549974e-02 9.99782508e-01 -8.03565039e-05 -2.20740174e+00] [-1.40818530e-03 1.09747994e-04 9.99999002e-01 -5.11797463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280371743 meters Centerline goodness [0,1] 0.988069317929349 Centerline is valid? [True, True] Translation: X:41.04, Y:-2.21, Z:-0.51 [[ 9.99783708e-01 -2.07496759e-02 1.41019766e-03 4.10388015e+01] [ 2.07498090e-02 9.99784696e-01 -7.98384453e-05 -2.20937085e+00] [-1.40823742e-03 1.09082509e-04 9.99999002e-01 -5.12214984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.310371743 meters Centerline goodness [0,1] 0.9872285510857957 Centerline is valid? [True, True] Translation: X:41.07, Y:-2.21, Z:-0.51 [[ 9.99749043e-01 -2.24014816e-02 -1.56488725e-04 4.10698521e+01] [ 2.24014834e-02 9.99749055e-01 9.58760019e-06 -2.21219112e+00] [ 1.56234679e-04 -1.30907737e-05 9.99999988e-01 -5.14350885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340371743 meters Centerline goodness [0,1] 0.9884624807893623 Centerline is valid? [True, True] Translation: X:41.10, Y:-2.21, Z:-0.52 [[ 9.99736556e-01 -2.29288195e-02 -1.04320354e-03 4.11016521e+01] [ 2.29288956e-02 9.99737096e-01 6.10664733e-05 -2.21366112e+00] [ 1.04152909e-03 -8.49698907e-05 9.99999454e-01 -5.15035395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370371743 meters Centerline goodness [0,1] 0.9877190255168891 Centerline is valid? [True, True] Translation: X:41.13, Y:-2.22, Z:-0.52 [[ 9.99739870e-01 -2.27378937e-02 -1.78363526e-03 4.11342467e+01] [ 2.27381159e-02 9.99741450e-01 1.04400809e-04 -2.21528719e+00] [ 1.78080025e-03 -1.44930157e-04 9.99998404e-01 -5.16041216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400371743 meters Centerline goodness [0,1] 0.9873155290026305 Centerline is valid? [True, True] Translation: X:41.17, Y:-2.21, Z:-0.52 [[ 9.99753981e-01 -2.21082858e-02 -1.78901746e-03 4.11664810e+01] [ 2.21085078e-02 9.99755572e-01 1.04397998e-04 -2.21364418e+00] [ 1.78627211e-03 -1.43924821e-04 9.99998394e-01 -5.16094934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.430371743 meters Centerline goodness [0,1] 0.9881053525913339 Centerline is valid? [True, True] Translation: X:41.20, Y:-2.21, Z:-0.52 [[ 9.99766353e-01 -2.15559272e-02 -1.60651775e-03 4.11985699e+01] [ 2.15561059e-02 9.99767636e-01 9.39812709e-05 -2.21007782e+00] [ 1.60411860e-03 -1.28589579e-04 9.99998705e-01 -5.15020557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460371743 meters Centerline goodness [0,1] 0.9880598349842363 Centerline is valid? [True, True] Translation: X:41.23, Y:-2.21, Z:-0.51 [[ 9.99784601e-01 -2.07374526e-02 -8.42066744e-04 4.12306992e+01] [ 2.07375019e-02 9.99784954e-01 4.97622929e-05 -2.20940310e+00] [ 8.40853718e-04 -6.72139348e-05 9.99999644e-01 -5.14341748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.490371743000004 meters Centerline goodness [0,1] 0.9873567583264459 Centerline is valid? [True, True] Translation: X:41.26, Y:-2.21, Z:-0.51 [[ 9.99828072e-01 -1.85141072e-02 1.02681844e-03 4.12615630e+01] [ 1.85141780e-02 9.99828596e-01 -5.95581134e-05 -2.20509881e+00] [-1.02553978e-03 7.85585732e-05 9.99999471e-01 -5.12728628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520371743 meters Centerline goodness [0,1] 0.9877075743691751 Centerline is valid? [True, True] Translation: X:41.29, Y:-2.20, Z:-0.51 [[ 9.99854294e-01 -1.69687356e-02 1.85803850e-03 4.12933047e+01] [ 1.69689635e-02 9.99856011e-01 -1.06970514e-04 -2.20461756e+00] [-1.85595581e-03 1.38483915e-04 9.99998268e-01 -5.12781768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550371743 meters Centerline goodness [0,1] 0.9878540695589817 Centerline is valid? [True, True] Translation: X:41.32, Y:-2.20, Z:-0.51 [[ 9.99893563e-01 -1.43503927e-02 2.63220343e-03 4.13241600e+01] [ 1.43508446e-02 9.99897010e-01 -1.52867591e-04 -2.19737710e+00] [-2.62973863e-03 1.90625663e-04 9.99996524e-01 -5.12304060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580371743 meters Centerline goodness [0,1] 0.987217791755588 Centerline is valid? [True, True] Translation: X:41.36, Y:-2.20, Z:-0.51 [[ 9.99908660e-01 -1.32166505e-02 2.82706603e-03 4.13556954e+01] [ 1.32171652e-02 9.99912636e-01 -1.63457110e-04 -2.20198112e+00] [-2.82465869e-03 2.00807978e-04 9.99995990e-01 -5.13132310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.610371743 meters Centerline goodness [0,1] 0.9874724978671815 Centerline is valid? [True, True] Translation: X:41.39, Y:-2.20, Z:-0.51 [[ 9.99925789e-01 -1.17156948e-02 3.34046790e-03 4.13870971e+01] [ 1.17164076e-02 9.99931342e-01 -1.93905515e-04 -2.19964877e+00] [-3.33796681e-03 2.33029408e-04 9.99994402e-01 -5.13641393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640371743 meters Centerline goodness [0,1] 0.9882529985175869 Centerline is valid? [True, True] Translation: X:41.42, Y:-2.20, Z:-0.51 [[ 9.99926350e-01 -1.16536568e-02 3.38914030e-03 4.14206441e+01] [ 1.16543883e-02 9.99932066e-01 -1.96179894e-04 -2.19988664e+00] [-3.38662385e-03 2.35663802e-04 9.99994238e-01 -5.13443888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670371743000004 meters Centerline goodness [0,1] 0.9867695700110254 Centerline is valid? [True, True] Translation: X:41.45, Y:-2.20, Z:-0.51 [[ 9.99927240e-01 -1.15477687e-02 3.48758936e-03 4.14535824e+01] [ 1.15485441e-02 9.99933293e-01 -2.02288851e-04 -2.20011093e+00] [-3.48502073e-03 2.42550712e-04 9.99993898e-01 -5.13797233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700371743 meters Centerline goodness [0,1] 0.9871716967119033 Centerline is valid? [True, True] Translation: X:41.48, Y:-2.20, Z:-0.51 [[ 9.99925428e-01 -1.18835741e-02 2.81419837e-03 4.14841501e+01] [ 1.18840820e-02 9.99929368e-01 -1.63818010e-04 -2.20445641e+00] [-2.81205286e-03 1.97249958e-04 9.99996027e-01 -5.14763974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730371743 meters Centerline goodness [0,1] 0.9857632778304228 Centerline is valid? [True, True] Translation: X:41.52, Y:-2.21, Z:-0.52 [[ 9.99926491e-01 -1.19304465e-02 2.16259309e-03 4.15150424e+01] [ 1.19307448e-02 9.99928818e-01 -1.25103398e-04 -2.20918006e+00] [-2.16094662e-03 1.50895548e-04 9.99997654e-01 -5.15975774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760371743 meters Centerline goodness [0,1] 0.9867854324050062 Centerline is valid? [True, True] Translation: X:41.55, Y:-2.21, Z:-0.52 [[ 9.99928023e-01 -1.18622635e-02 1.79894859e-03 4.15478719e+01] [ 1.18624708e-02 9.99929633e-01 -1.04615837e-04 -2.20677730e+00] [-1.79758102e-03 1.25948282e-04 9.99998376e-01 -5.16394971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790371743 meters Centerline goodness [0,1] 0.9879137015700893 Centerline is valid? [True, True] Translation: X:41.58, Y:-2.21, Z:-0.52 [[ 9.99933816e-01 -1.14522285e-02 1.10033225e-03 4.15803181e+01] [ 1.14523055e-02 9.99934418e-01 -6.37225148e-05 -2.20834779e+00] [-1.09953032e-03 7.63196385e-05 9.99999393e-01 -5.17824147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820371743 meters Centerline goodness [0,1] 0.9878930781962046 Centerline is valid? [True, True] Translation: X:41.61, Y:-2.21, Z:-0.52 [[ 9.99944085e-01 -1.05743523e-02 1.03411980e-04 4.16130321e+01] [ 1.05743529e-02 9.99944090e-01 -5.17511960e-06 -2.20610863e+00] [-1.03351474e-04 6.26834499e-06 9.99999995e-01 -5.19641566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850371743000004 meters Centerline goodness [0,1] 0.9875059522459808 Centerline is valid? [True, True] Translation: X:41.65, Y:-2.20, Z:-0.52 [[ 9.99956431e-01 -9.33071350e-03 -2.71788301e-04 4.16457798e+01] [ 9.33071844e-03 9.99956468e-01 1.69186684e-05 -2.20232469e+00] [ 2.71618606e-04 -1.94539114e-05 9.99999963e-01 -5.19954805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.880371743 meters Centerline goodness [0,1] 0.9868104972125278 Centerline is valid? [True, True] Translation: X:41.68, Y:-2.21, Z:-0.52 [[ 9.99966063e-01 -8.23340585e-03 2.88036211e-04 4.16766271e+01] [ 8.23341088e-03 9.99966105e-01 -1.62845350e-05 -2.21010651e+00] [-2.87892371e-04 1.86555028e-05 9.99999958e-01 -5.21562906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910371743 meters Centerline goodness [0,1] 0.9867136659436009 Centerline is valid? [True, True] Translation: X:41.71, Y:-2.21, Z:-0.52 [[ 9.99972623e-01 -7.32025561e-03 1.08047782e-03 4.17087255e+01] [ 7.32032780e-03 9.99973204e-01 -6.28706868e-05 -2.21051705e+00] [-1.07998864e-03 7.07784174e-05 9.99999414e-01 -5.21142727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940371743 meters Centerline goodness [0,1] 0.9882590725348595 Centerline is valid? [True, True] Translation: X:41.74, Y:-2.20, Z:-0.52 [[ 9.99978480e-01 -5.70939775e-03 3.23145674e-03 4.17405772e+01] [ 5.71004227e-03 9.99983679e-01 -1.90261864e-04 -2.20124366e+00] [-3.23031773e-03 2.08709525e-04 9.99994761e-01 -5.18518026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970371743 meters Centerline goodness [0,1] 0.9878505734075167 Centerline is valid? [True, True] Translation: X:41.77, Y:-2.20, Z:-0.52 [[ 9.99977378e-01 -5.28171973e-03 4.16500215e-03 4.17730979e+01] [ 5.28278665e-03 9.99986016e-01 -2.45203579e-04 -2.20220510e+00] [-4.16364881e-03 2.67200850e-04 9.99991296e-01 -5.18040009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000371743 meters Centerline goodness [0,1] 0.9881122854869872 Centerline is valid? [True, True] Translation: X:41.80, Y:-2.20, Z:-0.52 [[ 9.99975064e-01 -5.35964987e-03 4.59832852e-03 4.18044161e+01] [ 5.36095380e-03 9.99985593e-01 -2.71286658e-04 -2.20431372e+00] [-4.59680827e-03 2.95931320e-04 9.99989391e-01 -5.18122995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030371743 meters Centerline goodness [0,1] 0.9884984316043097 Centerline is valid? [True, True] Translation: X:41.84, Y:-2.20, Z:-0.52 [[ 9.99967850e-01 -6.14413265e-03 5.15261120e-03 4.18369938e+01] [ 6.14578131e-03 9.99981068e-01 -3.04192011e-04 -2.20254620e+00] [-5.15064465e-03 3.35849053e-04 9.99986679e-01 -5.18525345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.060371743 meters Centerline goodness [0,1] 0.9882508310943121 Centerline is valid? [True, True] Translation: X:41.87, Y:-2.20, Z:-0.52 [[ 9.99958486e-01 -8.05828740e-03 4.25327806e-03 4.18677830e+01] [ 8.05943061e-03 9.99967491e-01 -2.51711437e-04 -2.20474929e+00] [-4.25111142e-03 2.85979986e-04 9.99990923e-01 -5.19708072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.090371743 meters Centerline goodness [0,1] 0.9875096341297547 Centerline is valid? [True, True] Translation: X:41.90, Y:-2.21, Z:-0.52 [[ 9.99950739e-01 -9.16436001e-03 3.81229269e-03 4.18984362e+01] [ 9.16528539e-03 9.99957973e-01 -2.25335082e-04 -2.21418429e+00] [-3.81006742e-03 2.60264732e-04 9.99992708e-01 -5.21682974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120371743 meters Centerline goodness [0,1] 0.9886487716105551 Centerline is valid? [True, True] Translation: X:41.93, Y:-2.21, Z:-0.52 [[ 9.99944262e-01 -1.01497748e-02 2.90781160e-03 4.19312442e+01] [ 1.01503168e-02 9.99948469e-01 -1.71686749e-04 -2.20967757e+00] [-2.90591918e-03 2.01192388e-04 9.99995758e-01 -5.22292757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150371743 meters Centerline goodness [0,1] 0.9875147821340853 Centerline is valid? [True, True] Translation: X:41.96, Y:-2.22, Z:-0.53 [[ 9.99941298e-01 -1.07682403e-02 1.20219876e-03 4.19619571e+01] [ 1.07683331e-02 9.99942017e-01 -7.07388048e-05 -2.21963651e+00] [-1.20136732e-03 8.36803290e-05 9.99999275e-01 -5.25531995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180371743 meters Centerline goodness [0,1] 0.987931505601603 Centerline is valid? [True, True] Translation: X:41.99, Y:-2.21, Z:-0.53 [[ 9.99944334e-01 -1.05104749e-02 9.26668852e-04 4.19948654e+01] [ 1.05105296e-02 9.99944761e-01 -5.42045963e-05 -2.21393991e+00] [-9.26047948e-04 6.39413594e-05 9.99999569e-01 -5.25560132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210371743 meters Centerline goodness [0,1] 0.9883432370284361 Centerline is valid? [True, True] Translation: X:42.03, Y:-2.21, Z:-0.53 [[ 9.99960200e-01 -8.85204602e-03 1.11326844e-03 4.20267622e+01] [ 8.85212451e-03 9.99960817e-01 -6.55918719e-05 -2.21297234e+00] [-1.11264419e-03 7.54440522e-05 9.99999378e-01 -5.25785399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.240371743 meters Centerline goodness [0,1] 0.9880843681519357 Centerline is valid? [True, True] Translation: X:42.06, Y:-2.21, Z:-0.53 [[ 9.99968387e-01 -7.77531698e-03 1.66403538e-03 4.20586581e+01] [ 7.77549124e-03 9.99969766e-01 -9.82742536e-05 -2.21461791e+00] [-1.66322095e-03 1.11209839e-04 9.99998611e-01 -5.26035546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270371743 meters Centerline goodness [0,1] 0.9878963324291673 Centerline is valid? [True, True] Translation: X:42.09, Y:-2.22, Z:-0.53 [[ 9.99976293e-01 -6.56132984e-03 2.08883946e-03 4.20908085e+01] [ 6.56160259e-03 9.99978465e-01 -1.23751414e-04 -2.21587366e+00] [-2.08798250e-03 1.37454615e-04 9.99997811e-01 -5.26364377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300371743 meters Centerline goodness [0,1] 0.9879534565366187 Centerline is valid? [True, True] Translation: X:42.12, Y:-2.22, Z:-0.53 [[ 9.99982568e-01 -5.15490745e-03 2.87936983e-03 4.21215278e+01] [ 5.15542257e-03 9.99986696e-01 -1.71508401e-04 -2.21934094e+00] [-2.87844741e-03 1.86349780e-04 9.99995840e-01 -5.26624924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330371743 meters Centerline goodness [0,1] 0.9880201334639124 Centerline is valid? [True, True] Translation: X:42.15, Y:-2.22, Z:-0.53 [[ 9.99984575e-01 -4.68866018e-03 2.97753976e-03 4.21536929e+01] [ 4.68920779e-03 9.99988990e-01 -1.76959748e-04 -2.22134863e+00] [-2.97667727e-03 1.90919321e-04 9.99995551e-01 -5.27077452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360371743 meters Centerline goodness [0,1] 0.9872232850505602 Centerline is valid? [True, True] Translation: X:42.19, Y:-2.22, Z:-0.53 [[ 9.99985210e-01 -4.61929205e-03 2.87102088e-03 4.21850394e+01] [ 4.61980252e-03 9.99989314e-01 -1.71195152e-04 -2.22309608e+00] [-2.87019940e-03 1.84456169e-04 9.99995864e-01 -5.27568426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.390371743 meters Centerline goodness [0,1] 0.8275179931815312 Centerline is valid? [True, False] Translation: X:42.24, Y:-2.22, Z:-0.53 [[ 9.99967388e-01 -7.63026593e-03 2.64599334e-03 4.22376460e+01] [ 7.64081506e-03 9.99962809e-01 -3.99990894e-03 -2.22333503e+00] [-2.61537457e-03 4.01999604e-03 9.99988500e-01 -5.26971810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420371743000004 meters Centerline goodness [0,1] 0.9882382439424677 Centerline is valid? [False, True] Translation: X:42.16, Y:-2.22, Z:-0.53 [[ 9.99986098e-01 -4.64740825e-03 2.49101447e-03 4.21619769e+01] [ 4.65164124e-03 9.99987742e-01 -1.69621313e-03 -2.22232995e+00] [-2.48310095e-03 1.70777686e-03 9.99995459e-01 -5.27690042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450371743 meters Centerline goodness [0,1] 0.9888178913738019 Centerline is valid? [True, True] Translation: X:42.19, Y:-2.22, Z:-0.53 [[ 9.99985953e-01 -4.85221228e-03 2.13298897e-03 4.21937215e+01] [ 4.85249870e-03 9.99988218e-01 -1.29126866e-04 -2.22258687e+00] [-2.13233729e-03 1.39475378e-04 9.99997717e-01 -5.28643236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480371743 meters Centerline goodness [0,1] 0.9887865803628407 Centerline is valid? [True, True] Translation: X:42.23, Y:-2.22, Z:-0.53 [[ 9.99990395e-01 -4.17736022e-03 1.32626296e-03 4.22258643e+01] [ 4.17747041e-03 9.99991271e-01 -8.03264115e-05 -2.22464255e+00] [-1.32591583e-03 8.58660643e-05 9.99999117e-01 -5.30144928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510371743 meters Centerline goodness [0,1] 0.989458585674605 Centerline is valid? [True, True] Translation: X:42.26, Y:-2.22, Z:-0.53 [[ 9.99992321e-01 -3.79032461e-03 9.95519897e-04 4.22576786e+01] [ 3.79038633e-03 9.99992815e-01 -6.01126912e-05 -2.22462913e+00] [-9.95284897e-04 6.38856346e-05 9.99999503e-01 -5.30797088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540371743 meters Centerline goodness [0,1] 0.9894469951346536 Centerline is valid? [True, True] Translation: X:42.29, Y:-2.23, Z:-0.53 [[ 9.99994818e-01 -3.11721481e-03 8.04864466e-04 4.22898062e+01] [ 3.11725484e-03 9.99995140e-01 -4.84783915e-05 -2.22697748e+00] [-8.04709437e-04 5.09871079e-05 9.99999675e-01 -5.31345300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570371743 meters Centerline goodness [0,1] 0.989068300348448 Centerline is valid? [True, True] Translation: X:42.32, Y:-2.23, Z:-0.53 [[ 9.99997582e-01 -2.01057950e-03 8.90264932e-04 4.23208399e+01] [ 2.01062746e-03 9.99997977e-01 -5.29823452e-05 -2.22969544e+00] [-8.90156606e-04 5.47722083e-05 9.99999602e-01 -5.32093884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600371743000004 meters Centerline goodness [0,1] 0.9893796435571357 Centerline is valid? [True, True] Translation: X:42.35, Y:-2.23, Z:-0.53 [[ 9.99998884e-01 3.95362615e-04 1.44083360e-03 4.23513795e+01] [-3.95235201e-04 9.99999918e-01 -8.87145778e-05 -2.22835095e+00] [-1.44086855e-03 8.81450107e-05 9.99998958e-01 -5.31720919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.630371743 meters Centerline goodness [0,1] 0.9889081614022275 Centerline is valid? [True, True] Translation: X:42.38, Y:-2.23, Z:-0.53 [[ 9.99995230e-01 2.19911867e-03 2.16877253e-03 4.23812285e+01] [-2.19883422e-03 9.99997574e-01 -1.33535018e-04 -2.23020272e+00] [-2.16906093e-03 1.28765610e-04 9.99997639e-01 -5.31572365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660371743 meters Centerline goodness [0,1] 0.9892011094439139 Centerline is valid? [True, True] Translation: X:42.41, Y:-2.23, Z:-0.53 [[ 9.99972524e-01 6.08115875e-03 4.23913911e-03 4.24118084e+01] [-6.08010623e-03 9.99981482e-01 -2.61129226e-04 -2.22795578e+00] [-4.24064857e-03 2.35347635e-04 9.99990981e-01 -5.29485159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690371743 meters Centerline goodness [0,1] 0.9887419340075969 Centerline is valid? [True, True] Translation: X:42.44, Y:-2.23, Z:-0.53 [[ 9.99958304e-01 7.56137399e-03 5.12015404e-03 4.24415516e+01] [-7.55985818e-03 9.99971374e-01 -3.15337841e-04 -2.22925587e+00] [-5.12239186e-03 2.76617054e-04 9.99986842e-01 -5.28899367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720371743 meters Centerline goodness [0,1] 0.9889260055827576 Centerline is valid? [True, True] Translation: X:42.47, Y:-2.23, Z:-0.53 [[ 9.99940888e-01 9.08879323e-03 5.96775737e-03 4.24714557e+01] [-9.08676121e-03 9.99958647e-01 -3.67526130e-04 -2.23038635e+00] [-5.97085095e-03 3.13276819e-04 9.99982125e-01 -5.28258366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750371743 meters Centerline goodness [0,1] 0.9890866660565572 Centerline is valid? [True, True] Translation: X:42.50, Y:-2.23, Z:-0.53 [[ 9.99912278e-01 1.14439969e-02 6.66860174e-03 4.25013261e+01] [-1.14415136e-02 9.99934460e-01 -4.10409138e-04 -2.22728314e+00] [-6.67286140e-03 3.34074239e-04 9.99977680e-01 -5.27735195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780371743 meters Centerline goodness [0,1] 0.9892608536361971 Centerline is valid? [True, True] Translation: X:42.53, Y:-2.23, Z:-0.53 [[ 9.99898600e-01 1.24551740e-02 6.90346877e-03 4.25293478e+01] [-1.24525379e-02 9.99922374e-01 -4.24716597e-04 -2.23263502e+00] [-6.90822280e-03 3.38707824e-04 9.99976081e-01 -5.28735972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.810371743 meters Centerline goodness [0,1] 0.9897196902199986 Centerline is valid? [True, True] Translation: X:42.56, Y:-2.23, Z:-0.53 [[ 9.99887012e-01 1.37686588e-02 6.03218418e-03 4.25588221e+01] [-1.37666712e-02 9.99905166e-01 -3.70887398e-04 -2.22982741e+00] [-6.03671875e-03 2.87802396e-04 9.99981737e-01 -5.29620846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840371743 meters Centerline goodness [0,1] 0.9892327781723214 Centerline is valid? [True, True] Translation: X:42.59, Y:-2.23, Z:-0.53 [[ 9.99883283e-01 1.42509887e-02 5.50724340e-03 4.25879196e+01] [-1.42493406e-02 9.99898416e-01 -3.38385437e-04 -2.23113315e+00] [-5.51150628e-03 2.59871355e-04 9.99984778e-01 -5.30667646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870371743 meters Centerline goodness [0,1] 0.9884789466465506 Centerline is valid? [True, True] Translation: X:42.62, Y:-2.24, Z:-0.53 [[ 9.99877891e-01 1.50345457e-02 4.26220724e-03 4.26156768e+01] [-1.50335645e-02 9.99886955e-01 -2.62154129e-04 -2.23899259e+00] [-4.26566679e-03 1.98045949e-04 9.99990882e-01 -5.33431838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900371743 meters Centerline goodness [0,1] 0.9888439293144046 Centerline is valid? [True, True] Translation: X:42.64, Y:-2.24, Z:-0.53 [[ 9.99883737e-01 1.46900125e-02 4.08860453e-03 4.26449645e+01] [-1.46891088e-02 9.99892078e-01 -2.50981184e-04 -2.23542989e+00] [-4.09185020e-03 1.90894048e-04 9.99991610e-01 -5.33200238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930371743 meters Centerline goodness [0,1] 0.9887237782190874 Centerline is valid? [True, True] Translation: X:42.67, Y:-2.24, Z:-0.53 [[ 9.99896155e-01 1.37979333e-02 4.15888890e-03 4.26720649e+01] [-1.37969912e-02 9.99904784e-01 -2.55144286e-04 -2.24128771e+00] [-4.16201337e-03 1.97737637e-04 9.99991319e-01 -5.33716542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960371743 meters Centerline goodness [0,1] 0.9885031251425703 Centerline is valid? [True, True] Translation: X:42.70, Y:-2.25, Z:-0.53 [[ 9.99904134e-01 1.30685895e-02 4.57543778e-03 4.27002929e+01] [-1.30674448e-02 9.99914578e-01 -2.79992059e-04 -2.24512893e+00] [-4.57870604e-03 2.20175937e-04 9.99989493e-01 -5.34160169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.990371743 meters Centerline goodness [0,1] 0.9880743358796032 Centerline is valid? [True, True] Translation: X:42.73, Y:-2.25, Z:-0.53 [[ 9.99930509e-01 1.06816577e-02 4.98786517e-03 4.27289581e+01] [-1.06802705e-02 9.99942918e-01 -3.04664136e-04 -2.25081343e+00] [-4.99083477e-03 2.51371215e-04 9.99987514e-01 -5.34779476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020371743 meters Centerline goodness [0,1] 0.9884968451743696 Centerline is valid? [True, True] Translation: X:42.76, Y:-2.25, Z:-0.53 [[ 9.99947185e-01 9.05886518e-03 4.85430639e-03 4.27585684e+01] [-9.05753401e-03 9.99958936e-01 -2.96139604e-04 -2.25152826e+00] [-4.85678974e-03 2.52155918e-04 9.99988174e-01 -5.34433649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050371743 meters Centerline goodness [0,1] 0.9881800997517594 Centerline is valid? [True, True] Translation: X:42.79, Y:-2.26, Z:-0.53 [[ 9.99964704e-01 6.72073080e-03 5.04206663e-03 4.27868989e+01] [-6.71926526e-03 9.99977378e-01 -3.07545779e-04 -2.25723969e+00] [-5.04401951e-03 2.73655940e-04 9.99987241e-01 -5.34274633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080371743 meters Centerline goodness [0,1] 0.9876080036380173 Centerline is valid? [True, True] Translation: X:42.82, Y:-2.25, Z:-0.53 [[ 9.99973020e-01 5.26823235e-03 5.11901477e-03 4.28170734e+01] [-5.26670562e-03 9.99986082e-01 -3.11682835e-04 -2.25465419e+00] [-5.12058554e-03 2.84714082e-04 9.99986849e-01 -5.33395289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110371743 meters Centerline goodness [0,1] 0.9878727318147753 Centerline is valid? [True, True] Translation: X:42.85, Y:-2.26, Z:-0.53 [[ 9.99976661e-01 4.42861252e-03 5.20245965e-03 4.28474519e+01] [-4.42702556e-03 9.99990151e-01 -3.16516216e-04 -2.25740039e+00] [-5.20381014e-03 2.93477407e-04 9.99986417e-01 -5.33551620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140371743 meters Centerline goodness [0,1] 0.9881103648575059 Centerline is valid? [True, True] Translation: X:42.88, Y:-2.26, Z:-0.53 [[ 9.99978269e-01 4.03087789e-03 5.21674943e-03 4.28777265e+01] [-4.02927681e-03 9.99991832e-01 -3.17385603e-04 -2.25922481e+00] [-5.21798616e-03 2.96358978e-04 9.99986342e-01 -5.33614188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170371743000004 meters Centerline goodness [0,1] 0.9873918080828733 Centerline is valid? [True, True] Translation: X:42.91, Y:-2.27, Z:-0.53 [[ 9.99981157e-01 2.67157808e-03 5.52712334e-03 4.29081099e+01] [-2.66976171e-03 9.99996380e-01 -3.35980008e-04 -2.26688829e+00] [-5.52800093e-03 3.21217575e-04 9.99984669e-01 -5.34501198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200371743 meters Centerline goodness [0,1] 0.9873918080828733 Centerline is valid? [True, True] Translation: X:42.94, Y:-2.27, Z:-0.53 [[ 9.99981063e-01 2.70637656e-03 5.52711068e-03 4.29389504e+01] [-2.70455958e-03 9.99996286e-01 -3.36188072e-04 -2.26879742e+00] [-5.52800001e-03 3.21233305e-04 9.99984669e-01 -5.34919727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230371743 meters Centerline goodness [0,1] 0.9879136887148905 Centerline is valid? [True, True] Translation: X:42.97, Y:-2.27, Z:-0.53 [[ 9.99983150e-01 1.96437819e-03 5.46273821e-03 4.29701703e+01] [-1.96259128e-03 9.99998019e-01 -3.32450328e-04 -2.26861652e+00] [-5.46338044e-03 3.21723604e-04 9.99985024e-01 -5.34594845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260371743 meters Centerline goodness [0,1] 0.988548577660638 Centerline is valid? [True, True] Translation: X:43.00, Y:-2.27, Z:-0.53 [[ 9.99980852e-01 1.38969776e-03 6.03036406e-03 4.30018565e+01] [-1.38750820e-03 9.99998970e-01 -3.67258287e-04 -2.26990705e+00] [-6.03086822e-03 3.58884075e-04 9.99981750e-01 -5.34499784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290371743 meters Centerline goodness [0,1] 0.9880609210795106 Centerline is valid? [True, True] Translation: X:43.03, Y:-2.28, Z:-0.54 [[ 9.99982743e-01 9.46536209e-05 5.87413995e-03 4.30322232e+01] [-9.25566341e-05 9.99999932e-01 -3.57257010e-04 -2.27567194e+00] [-5.87417337e-03 3.56707155e-04 9.99982683e-01 -5.35444093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320371743 meters Centerline goodness [0,1] 0.9878380831366854 Centerline is valid? [True, True] Translation: X:43.06, Y:-2.28, Z:-0.54 [[ 9.99985571e-01 -1.58749156e-04 5.36951002e-03 4.30645893e+01] [ 1.60502160e-04 9.99999934e-01 -3.26044562e-04 -2.27582239e+00] [-5.36945791e-03 3.26901676e-04 9.99985531e-01 -5.35892778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350371743000004 meters Centerline goodness [0,1] 0.9884491444651206 Centerline is valid? [True, True] Translation: X:43.10, Y:-2.28, Z:-0.54 [[ 9.99988259e-01 -3.31939748e-04 4.83443191e-03 4.30957596e+01] [ 3.33367917e-04 9.99999901e-01 -2.94613271e-04 -2.28075535e+00] [-4.83433364e-03 2.96221457e-04 9.99988271e-01 -5.37682677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.380371743 meters Centerline goodness [0,1] 0.9878343848223775 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.28, Z:-0.54 [[ 9.99991258e-01 -1.16067218e-04 4.17970694e-03 4.31274948e+01] [ 1.17140846e-04 9.99999960e-01 -2.56623040e-04 -2.28474667e+00] [-4.17967699e-03 2.57110411e-04 9.99991232e-01 -5.38397545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410371743 meters Centerline goodness [0,1] 0.9879998188651904 Centerline is valid? [True, True] Translation: X:43.16, Y:-2.29, Z:-0.54 [[ 9.99993690e-01 5.70145243e-04 3.50652073e-03 4.31594079e+01] [-5.69392738e-04 9.99999815e-01 -2.15596090e-04 -2.28515728e+00] [-3.50664301e-03 2.13598142e-04 9.99993829e-01 -5.38949389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440371743 meters Centerline goodness [0,1] 0.9878417380633139 Centerline is valid? [True, True] Translation: X:43.19, Y:-2.29, Z:-0.54 [[ 9.99993331e-01 1.44547899e-03 3.35395242e-03 4.31907084e+01] [-1.44479416e-03 9.99998935e-01 -2.06600049e-04 -2.28815939e+00] [-3.35424748e-03 2.01752900e-04 9.99994354e-01 -5.39765512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.470371743 meters Centerline goodness [0,1] 0.9889365955610078 Centerline is valid? [True, True] Translation: X:43.22, Y:-2.29, Z:-0.54 [[ 9.99990550e-01 2.52425018e-03 3.53940557e-03 4.32219744e+01] [-2.52349279e-03 9.99996792e-01 -2.18438258e-04 -2.28879449e+00] [-3.53994561e-03 2.09504529e-04 9.99993712e-01 -5.39926652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500371743 meters Centerline goodness [0,1] 0.9885834903197984 Centerline is valid? [True, True] Translation: X:43.25, Y:-2.29, Z:-0.54 [[ 9.99978510e-01 5.40303346e-03 3.71307156e-03 4.32532570e+01] [-5.40221847e-03 9.99985382e-01 -2.29486157e-04 -2.28649620e+00] [-3.71425720e-03 2.09422401e-04 9.99993080e-01 -5.39644951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530371743 meters Centerline goodness [0,1] 0.9882581842039773 Centerline is valid? [True, True] Translation: X:43.28, Y:-2.29, Z:-0.54 [[ 9.99970382e-01 6.74388699e-03 3.70886753e-03 4.32819836e+01] [-6.74308084e-03 9.99977239e-01 -2.29819836e-04 -2.29436320e+00] [-3.71033299e-03 2.04803836e-04 9.99993096e-01 -5.41542967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.560371743 meters Centerline goodness [0,1] 0.9890396659707724 Centerline is valid? [True, True] Translation: X:43.31, Y:-2.29, Z:-0.54 [[ 9.99952564e-01 9.07948687e-03 3.52589988e-03 4.33122663e+01] [-9.07877312e-03 9.99958763e-01 -2.18382757e-04 -2.28789931e+00] [-3.52773728e-03 1.86361553e-04 9.99993760e-01 -5.40839274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590371743 meters Centerline goodness [0,1] 0.9883371981994271 Centerline is valid? [True, True] Translation: X:43.34, Y:-2.29, Z:-0.54 [[ 9.99948820e-01 9.57643073e-03 3.26327564e-03 4.33412483e+01] [-9.57582106e-03 9.99954130e-01 -2.02399639e-04 -2.28904448e+00] [-3.26506422e-03 1.71140737e-04 9.99994655e-01 -5.41341052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620371743 meters Centerline goodness [0,1] 0.9895887914341042 Centerline is valid? [True, True] Translation: X:43.37, Y:-2.29, Z:-0.54 [[ 9.99947633e-01 9.66068984e-03 3.37670641e-03 4.33702530e+01] [-9.66003841e-03 9.99953319e-01 -2.09175906e-04 -2.28819082e+00] [-3.37856956e-03 1.76545838e-04 9.99994277e-01 -5.41315831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650371743 meters Centerline goodness [0,1] 0.9890673199056432 Centerline is valid? [True, True] Translation: X:43.40, Y:-2.29, Z:-0.54 [[ 9.99955171e-01 8.97645467e-03 3.01315049e-03 4.33981379e+01] [-8.97593322e-03 9.99959698e-01 -1.86534959e-04 -2.29333055e+00] [-3.01470348e-03 1.59480760e-04 9.99995443e-01 -5.42576757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680371743 meters Centerline goodness [0,1] 0.9888375059799075 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.30, Z:-0.54 [[ 9.99958743e-01 8.48226440e-03 3.25003551e-03 4.34253411e+01] [-8.48165566e-03 9.99964010e-01 -2.01041595e-04 -2.29673816e+00] [-3.25162383e-03 1.73467618e-04 9.99994698e-01 -5.43660637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710371743 meters Centerline goodness [0,1] 0.9891237570820725 Centerline is valid? [True, True] Translation: X:43.45, Y:-2.30, Z:-0.54 [[ 9.99970032e-01 7.10070669e-03 3.08452040e-03 4.34545524e+01] [-7.10015354e-03 9.99974775e-01 -1.90244232e-04 -2.29761808e+00] [-3.08579346e-03 1.68337963e-04 9.99995225e-01 -5.44262189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.740371743 meters Centerline goodness [0,1] 0.9888554148639772 Centerline is valid? [True, True] Translation: X:43.48, Y:-2.30, Z:-0.55 [[ 9.99973110e-01 6.61360283e-03 3.16855326e-03 4.34825066e+01] [-6.61301730e-03 9.99978115e-01 -1.95236818e-04 -2.30331263e+00] [-3.16977514e-03 1.74277870e-04 9.99994961e-01 -5.45198992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770371743 meters Centerline goodness [0,1] 0.9881112351105746 Centerline is valid? [True, True] Translation: X:43.51, Y:-2.30, Z:-0.55 [[ 9.99978812e-01 5.90090671e-03 2.74865815e-03 4.35127214e+01] [-5.90046407e-03 9.99982578e-01 -1.69120438e-04 -2.30093225e+00] [-2.74960823e-03 1.52898496e-04 9.99996208e-01 -5.45051809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800371743 meters Centerline goodness [0,1] 0.9885900384886925 Centerline is valid? [True, True] Translation: X:43.54, Y:-2.30, Z:-0.55 [[ 9.99986539e-01 4.34118708e-03 2.84185999e-03 4.35420120e+01] [-4.34070797e-03 9.99990564e-01 -1.74736323e-04 -2.30286366e+00] [-2.84259174e-03 1.62398286e-04 9.99995947e-01 -5.45347243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830371743 meters Centerline goodness [0,1] 0.9879704377487208 Centerline is valid? [True, True] Translation: X:43.57, Y:-2.31, Z:-0.55 [[ 9.99990707e-01 3.49372450e-03 2.52585294e-03 4.35717299e+01] [-3.49334392e-03 9.99993886e-01 -1.55071005e-04 -2.30624018e+00] [-2.52637928e-03 1.46245891e-04 9.99996798e-01 -5.46233109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860371743 meters Centerline goodness [0,1] 0.9882962525282367 Centerline is valid? [True, True] Translation: X:43.60, Y:-2.31, Z:-0.55 [[ 9.99997532e-01 1.40890847e-03 1.71805330e-03 4.36017901e+01] [-1.40872925e-03 9.99999002e-01 -1.05523645e-04 -2.30910683e+00] [-1.71820025e-03 1.03103113e-04 9.99998519e-01 -5.47683010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890371743 meters Centerline goodness [0,1] 0.9885889989750598 Centerline is valid? [True, True] Translation: X:43.63, Y:-2.31, Z:-0.55 [[ 9.99997963e-01 -9.26156397e-04 1.79325829e-03 4.36322860e+01] [ 9.26354946e-04 9.99999565e-01 -1.09892040e-04 -2.31126340e+00] [-1.79315573e-03 1.11553010e-04 9.99998386e-01 -5.48425786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920371743000004 meters Centerline goodness [0,1] 0.9883248154457694 Centerline is valid? [True, True] Translation: X:43.66, Y:-2.31, Z:-0.55 [[ 9.99996621e-01 -1.55968940e-03 2.07953939e-03 4.36640651e+01] [ 1.55995219e-03 9.99998775e-01 -1.24755492e-04 -2.31274435e+00] [-2.07934227e-03 1.27999053e-04 9.99997830e-01 -5.48524977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950371743 meters Centerline goodness [0,1] 0.9882671891374676 Centerline is valid? [True, True] Translation: X:43.70, Y:-2.31, Z:-0.55 [[ 9.99995311e-01 -2.32141951e-03 1.99720210e-03 4.36955957e+01] [ 2.32166866e-03 9.99997297e-01 -1.22438860e-04 -2.31380020e+00] [-1.99691247e-03 1.27075127e-04 9.99997998e-01 -5.48552349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980371743 meters Centerline goodness [0,1] 0.9874573184611882 Centerline is valid? [True, True] Translation: X:43.73, Y:-2.32, Z:-0.55 [[ 9.99993203e-01 -2.79948374e-03 2.39915376e-03 4.37263585e+01] [ 2.79984461e-03 9.99996070e-01 -1.47067396e-04 -2.32084255e+00] [-2.39873262e-03 1.53783655e-04 9.99997111e-01 -5.49577093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010371743 meters Centerline goodness [0,1] 0.9876149713140879 Centerline is valid? [True, True] Translation: X:43.76, Y:-2.32, Z:-0.55 [[ 9.99989615e-01 -3.70677544e-03 2.65151019e-03 4.37589640e+01] [ 3.70721945e-03 9.99993115e-01 -1.62560895e-04 -2.31752904e+00] [-2.65088935e-03 1.72388937e-04 9.99996472e-01 -5.48464656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040371743 meters Centerline goodness [0,1] 0.985992677990768 Centerline is valid? [True, True] Translation: X:43.79, Y:-2.33, Z:-0.55 [[ 9.99987928e-01 -3.84268322e-03 3.06234343e-03 4.37901542e+01] [ 3.84327785e-03 9.99992597e-01 -1.88312383e-04 -2.32585488e+00] [-3.06159713e-03 2.00079546e-04 9.99995293e-01 -5.49714299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070371743 meters Centerline goodness [0,1] 0.9872962389582005 Centerline is valid? [True, True] Translation: X:43.82, Y:-2.32, Z:-0.55 [[ 9.99982786e-01 -4.80691631e-03 3.36466964e-03 4.38230498e+01] [ 4.80763980e-03 9.99988422e-01 -2.06971079e-04 -2.32128652e+00] [-3.36363579e-03 2.23143636e-04 9.99994318e-01 -5.48590106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100371743000004 meters Centerline goodness [0,1] 0.9868168962685886 Centerline is valid? [True, True] Translation: X:43.86, Y:-2.32, Z:-0.55 [[ 9.99978246e-01 -5.34416413e-03 3.86620173e-03 4.38550485e+01] [ 5.34512506e-03 9.99985686e-01 -2.38256972e-04 -2.32455706e+00] [-3.86487310e-03 2.58917121e-04 9.99992498e-01 -5.48930294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.130371743 meters Centerline goodness [0,1] 0.9867810338551146 Centerline is valid? [True, True] Translation: X:43.89, Y:-2.33, Z:-0.55 [[ 9.99974776e-01 -6.02446286e-03 3.76209222e-03 4.38861376e+01] [ 6.02537721e-03 9.99981820e-01 -2.31757157e-04 -2.32732574e+00] [-3.76062761e-03 2.54419336e-04 9.99992896e-01 -5.49600719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160371743 meters Centerline goodness [0,1] 0.9870842824601367 Centerline is valid? [True, True] Translation: X:43.92, Y:-2.33, Z:-0.55 [[ 9.99977040e-01 -6.09871689e-03 2.95379659e-03 4.39184804e+01] [ 6.09928188e-03 9.99981383e-01 -1.82308529e-04 -2.32538903e+00] [-2.95262975e-03 2.00320381e-04 9.99995621e-01 -5.50217329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.190371743 meters Centerline goodness [0,1] 0.9868859949737263 Centerline is valid? [True, True] Translation: X:43.95, Y:-2.33, Z:-0.55 [[ 9.99984219e-01 -5.51898976e-03 1.04992308e-03 4.39497541e+01] [ 5.51906048e-03 9.99984768e-01 -6.44749775e-05 -2.33136137e+00] [-1.04955125e-03 7.02685491e-05 9.99999447e-01 -5.53530018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220371743 meters Centerline goodness [0,1] 0.9868757418058979 Centerline is valid? [True, True] Translation: X:43.98, Y:-2.33, Z:-0.55 [[ 9.99985441e-01 -5.37339549e-03 4.93606392e-04 4.39805689e+01] [ 5.37341093e-03 9.99985563e-01 -2.99765721e-05 -2.33444242e+00] [-4.93438190e-04 3.26284856e-05 9.99999878e-01 -5.54921186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250371743 meters Centerline goodness [0,1] 0.9863796334384569 Centerline is valid? [True, True] Translation: X:44.01, Y:-2.34, Z:-0.56 [[ 9.99984954e-01 -5.47306800e-03 3.69516180e-04 4.40111305e+01] [ 5.47307628e-03 9.99985022e-01 -2.13918800e-05 -2.33797617e+00] [-3.69393566e-04 2.34139484e-05 9.99999932e-01 -5.55942473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280371743 meters Centerline goodness [0,1] 0.9869732151019289 Centerline is valid? [True, True] Translation: X:44.04, Y:-2.33, Z:-0.55 [[ 9.99983821e-01 -5.68292187e-03 2.49277919e-04 4.40435074e+01] [ 5.68292568e-03 9.99983852e-01 -1.45808442e-05 -2.33445398e+00] [-2.49191032e-04 1.59972362e-05 9.99999969e-01 -5.54956171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.310371743 meters Centerline goodness [0,1] 0.9869218282003795 Centerline is valid? [True, True] Translation: X:44.08, Y:-2.33, Z:-0.55 [[ 9.99985768e-01 -5.23046654e-03 1.05185483e-03 4.40759114e+01] [ 5.23053746e-03 9.99986319e-01 -6.46841360e-05 -2.33461905e+00] [-1.05150211e-03 7.01849815e-05 9.99999445e-01 -5.54941409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340371743 meters Centerline goodness [0,1] 0.9866715438604513 Centerline is valid? [True, True] Translation: X:44.11, Y:-2.34, Z:-0.56 [[ 9.99990431e-01 -4.08617291e-03 1.56259477e-03 4.41071411e+01] [ 4.08632768e-03 9.99991646e-01 -9.58675380e-05 -2.33889429e+00] [-1.56218999e-03 1.02251895e-04 9.99998775e-01 -5.55755794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370371743 meters Centerline goodness [0,1] 0.9863101506341285 Centerline is valid? [True, True] Translation: X:44.14, Y:-2.34, Z:-0.56 [[ 9.99991388e-01 -3.82433055e-03 1.61203083e-03 4.41394661e+01] [ 3.82449671e-03 9.99992682e-01 -1.00002620e-04 -2.33852943e+00] [-1.61163659e-03 1.06166966e-04 9.99998696e-01 -5.55369767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400371743 meters Centerline goodness [0,1] 0.9839380369219521 Centerline is valid? [True, True] Translation: X:44.17, Y:-2.35, Z:-0.56 [[ 9.99990840e-01 -3.65154093e-03 2.23300558e-03 4.41703816e+01] [ 3.65186097e-03 9.99993322e-01 -1.39262081e-04 -2.35027844e+00] [-2.23248214e-03 1.47415431e-04 9.99997497e-01 -5.57127722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430371743 meters Centerline goodness [0,1] 0.9858758355461954 Centerline is valid? [True, True] Translation: X:44.20, Y:-2.34, Z:-0.56 [[ 9.99986227e-01 -4.09092536e-03 3.28798361e-03 4.42029391e+01] [ 4.09162270e-03 9.99991608e-01 -2.05389311e-04 -2.34299207e+00] [-3.28711578e-03 2.18839671e-04 9.99994573e-01 -5.55046744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460371743 meters Centerline goodness [0,1] 0.9858354343341738 Centerline is valid? [True, True] Translation: X:44.23, Y:-2.35, Z:-0.56 [[ 9.99982149e-01 -4.54666933e-03 3.87683835e-03 4.42346807e+01] [ 4.54764397e-03 9.99989630e-01 -2.42623103e-04 -2.34634748e+00] [-3.87569502e-03 2.60249252e-04 9.99992456e-01 -5.55983696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.490371743 meters Centerline goodness [0,1] 0.9852786540483701 Centerline is valid? [True, True] Translation: X:44.27, Y:-2.35, Z:-0.56 [[ 9.99978934e-01 -5.27928489e-03 3.77626717e-03 4.42670807e+01] [ 5.28021569e-03 9.99986032e-01 -2.36560172e-04 -2.34857737e+00] [-3.77496555e-03 2.56494694e-04 9.99992842e-01 -5.57268157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520371743 meters Centerline goodness [0,1] 0.9845069137041939 Centerline is valid? [True, True] Translation: X:44.30, Y:-2.35, Z:-0.56 [[ 9.99978148e-01 -5.34876130e-03 3.88515949e-03 4.42980050e+01] [ 5.34974898e-03 9.99985660e-01 -2.43870404e-04 -2.35311314e+00] [-3.88379937e-03 2.64649703e-04 9.99992423e-01 -5.58199019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550371743 meters Centerline goodness [0,1] 0.9847124151641873 Centerline is valid? [True, True] Translation: X:44.33, Y:-2.36, Z:-0.56 [[ 9.99976893e-01 -5.68907336e-03 3.72121589e-03 4.43288680e+01] [ 5.68998058e-03 9.99983785e-01 -2.33255267e-04 -2.35893170e+00] [-3.71982854e-03 2.54423523e-04 9.99993049e-01 -5.58989016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580371743 meters Centerline goodness [0,1] 0.985670794515531 Centerline is valid? [True, True] Translation: X:44.36, Y:-2.36, Z:-0.56 [[ 9.99970763e-01 -6.85257402e-03 3.39347699e-03 4.43605638e+01] [ 6.85333765e-03 9.99976493e-01 -2.13449752e-04 -2.35795404e+00] [-3.39193454e-03 2.36700155e-04 9.99994219e-01 -5.59227302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610371743 meters Centerline goodness [0,1] 0.9851694431114463 Centerline is valid? [True, True] Translation: X:44.39, Y:-2.37, Z:-0.56 [[ 9.99964477e-01 -7.61740819e-03 3.60831633e-03 4.43912896e+01] [ 7.61827741e-03 9.99970955e-01 -2.27210049e-04 -2.36718177e+00] [-3.60648078e-03 2.54691133e-04 9.99993464e-01 -5.60540492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640371743 meters Centerline goodness [0,1] 0.9851324850640762 Centerline is valid? [True, True] Translation: X:44.42, Y:-2.37, Z:-0.56 [[ 9.99953543e-01 -9.13288019e-03 3.08254580e-03 4.44228758e+01] [ 9.13352191e-03 9.99958270e-01 -1.94166680e-04 -2.36714493e+00] [-3.08064386e-03 2.22312159e-04 9.99995230e-01 -5.60829177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.670371743000004 meters Centerline goodness [0,1] 0.9860822268437051 Centerline is valid? [True, True] Translation: X:44.45, Y:-2.37, Z:-0.56 [[ 9.99946383e-01 -9.95686487e-03 2.84474667e-03 4.44536789e+01] [ 9.95741497e-03 9.99950408e-01 -1.79276997e-04 -2.37128663e+00] [-2.84282056e-03 2.07593708e-04 9.99995938e-01 -5.62051648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700371743 meters Centerline goodness [0,1] 0.9849495662469546 Centerline is valid? [True, True] Translation: X:44.49, Y:-2.37, Z:-0.56 [[ 9.99947752e-01 -9.85114947e-03 2.72920163e-03 4.44857982e+01] [ 9.85165518e-03 9.99951456e-01 -1.71914007e-04 -2.37261106e+00] [-2.72737559e-03 1.98792178e-04 9.99996261e-01 -5.62797352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730371743 meters Centerline goodness [0,1] 0.9843507972665148 Centerline is valid? [True, True] Translation: X:44.52, Y:-2.38, Z:-0.56 [[ 9.99957718e-01 -8.74541351e-03 2.84254059e-03 4.45170219e+01] [ 8.74595836e-03 9.99961737e-01 -1.79304630e-04 -2.37849979e+00] [-2.84086373e-03 2.04157790e-04 9.99995944e-01 -5.63529616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760371743 meters Centerline goodness [0,1] 0.9844375682562796 Centerline is valid? [True, True] Translation: X:44.55, Y:-2.38, Z:-0.56 [[ 9.99963874e-01 -7.87710953e-03 3.19399218e-03 4.45489928e+01] [ 7.87779421e-03 9.99968949e-01 -2.01839148e-04 -2.38068261e+00] [-3.19230309e-03 2.26993470e-04 9.99994879e-01 -5.63633678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.790371743 meters Centerline goodness [0,1] 0.9862346704284317 Centerline is valid? [True, True] Translation: X:44.58, Y:-2.38, Z:-0.56 [[ 9.99978329e-01 -5.15765915e-03 4.09146283e-03 4.45805973e+01] [ 5.15876432e-03 9.99986660e-01 -2.59608332e-04 -2.37620562e+00] [-4.09006928e-03 2.80709599e-04 9.99991596e-01 -5.62621961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820371743 meters Centerline goodness [0,1] 0.9850702042304887 Centerline is valid? [True, True] Translation: X:44.61, Y:-2.38, Z:-0.56 [[ 9.99982813e-01 -3.66418468e-03 4.57692460e-03 4.46126590e+01] [ 3.66555109e-03 9.99993240e-01 -2.90190577e-04 -2.37575658e+00] [-4.57583034e-03 3.06962541e-04 9.99989484e-01 -5.62568573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850371743000004 meters Centerline goodness [0,1] 0.9867771228293771 Centerline is valid? [True, True] Translation: X:44.64, Y:-2.38, Z:-0.56 [[ 9.99987435e-01 3.15298807e-04 5.00295588e-03 4.46431410e+01] [-3.13712000e-04 9.99999900e-01 -3.17955441e-04 -2.37540420e+00] [-5.00305563e-03 3.16381959e-04 9.99987435e-01 -5.63280210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.880371743 meters Centerline goodness [0,1] 0.9865902995590708 Centerline is valid? [True, True] Translation: X:44.67, Y:-2.38, Z:-0.56 [[ 9.99985126e-01 2.33463682e-03 4.92930289e-03 4.46735782e+01] [-2.33312109e-03 9.99997229e-01 -3.13220917e-04 -2.37717303e+00] [-4.93002049e-03 3.01715597e-04 9.99987802e-01 -5.64383635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.910371743 meters Centerline goodness [0,1] 0.9861534264017098 Centerline is valid? [True, True] Translation: X:44.70, Y:-2.38, Z:-0.57 [[ 9.99980391e-01 4.34654972e-03 4.50841995e-03 4.47038198e+01] [-4.34530186e-03 9.99990518e-01 -2.86541964e-04 -2.37943298e+00] [-4.50962267e-03 2.66945900e-04 9.99989796e-01 -5.65609361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940371743 meters Centerline goodness [0,1] 0.9872069688953754 Centerline is valid? [True, True] Translation: X:44.74, Y:-2.38, Z:-0.57 [[ 9.99961516e-01 7.77110304e-03 4.07135875e-03 4.47351388e+01] [-7.77011348e-03 9.99969779e-01 -2.58814692e-04 -2.37770697e+00] [-4.07324698e-03 2.27169813e-04 9.99991678e-01 -5.66968463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970371743 meters Centerline goodness [0,1] 0.9870287058393661 Centerline is valid? [True, True] Translation: X:44.77, Y:-2.38, Z:-0.57 [[ 9.99950296e-01 9.18120549e-03 3.88731760e-03 4.47650806e+01] [-9.18031173e-03 9.99957829e-01 -2.47697112e-04 -2.37757909e+00] [-3.88942783e-03 2.11998013e-04 9.99992414e-01 -5.67805277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000371743 meters Centerline goodness [0,1] 0.9873764466866026 Centerline is valid? [True, True] Translation: X:44.79, Y:-2.38, Z:-0.57 [[ 9.99939624e-01 1.03209531e-02 3.77182506e-03 4.47933056e+01] [-1.03201189e-02 9.99946717e-01 -2.40561998e-04 -2.38059033e+00] [-3.77410691e-03 2.01621791e-04 9.99992858e-01 -5.68907509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030371743 meters Centerline goodness [0,1] 0.9875965096623875 Centerline is valid? [True, True] Translation: X:44.82, Y:-2.38, Z:-0.57 [[ 9.99914153e-01 1.24963809e-02 3.94053306e-03 4.48228336e+01] [-1.24954899e-02 9.99921897e-01 -2.50647385e-04 -2.38124148e+00] [-3.94335747e-03 2.01386977e-04 9.99992205e-01 -5.70032665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.060371743 meters Centerline goodness [0,1] 0.9875965096623875 Centerline is valid? [True, True] Translation: X:44.85, Y:-2.38, Z:-0.57 [[ 9.99915032e-01 1.24258378e-02 3.94052045e-03 4.48511174e+01] [-1.24249455e-02 9.99922776e-01 -2.50846355e-04 -2.38297556e+00] [-3.94333312e-03 2.01864289e-04 9.99992205e-01 -5.70416851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090371743 meters Centerline goodness [0,1] 0.9874435762894394 Centerline is valid? [True, True] Translation: X:44.88, Y:-2.38, Z:-0.57 [[ 9.99907172e-01 1.31648313e-02 3.51206609e-03 4.48796039e+01] [-1.31641275e-02 9.99913324e-01 -2.23438129e-04 -2.38271454e+00] [-3.51470320e-03 1.77184102e-04 9.99993808e-01 -5.70649455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120371743 meters Centerline goodness [0,1] 0.9881090685437026 Centerline is valid? [True, True] Translation: X:44.91, Y:-2.38, Z:-0.57 [[ 9.99876395e-01 1.52605147e-02 3.78313389e-03 4.49073855e+01] [-1.52597137e-02 9.99883535e-01 -2.40505072e-04 -2.38359693e+00] [-3.78636352e-03 1.82745804e-04 9.99992815e-01 -5.71198498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150371743 meters Centerline goodness [0,1] 0.9878408337713985 Centerline is valid? [True, True] Translation: X:44.94, Y:-2.38, Z:-0.57 [[ 9.99851901e-01 1.66956334e-02 4.17509364e-03 4.49366177e+01] [-1.66946738e-02 9.99860599e-01 -2.64589443e-04 -2.38430557e+00] [-4.17892912e-03 1.94848432e-04 9.99991249e-01 -5.72169490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180371743 meters Centerline goodness [0,1] 0.9882489846210012 Centerline is valid? [True, True] Translation: X:44.96, Y:-2.39, Z:-0.57 [[ 9.99810496e-01 1.89295528e-02 4.54366015e-03 4.49642017e+01] [-1.89284392e-02 9.99820800e-01 -2.87953700e-04 -2.38551232e+00] [-4.54829676e-03 2.01894737e-04 9.99989636e-01 -5.73575023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210371743 meters Centerline goodness [0,1] 0.9885528514846952 Centerline is valid? [True, True] Translation: X:44.99, Y:-2.39, Z:-0.57 [[ 9.99789846e-01 2.00305704e-02 4.36351765e-03 4.49933207e+01] [-2.00295560e-02 9.99799350e-01 -2.76049117e-04 -2.38523786e+00] [-4.36817153e-03 1.88591783e-04 9.99990442e-01 -5.73978168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.240371743 meters Centerline goodness [0,1] 0.9884517562953967 Centerline is valid? [True, True] Translation: X:45.02, Y:-2.39, Z:-0.57 [[ 9.99757744e-01 2.14924435e-02 4.74641913e-03 4.50214983e+01] [-2.14912617e-02 9.99768991e-01 -2.99841657e-04 -2.38741255e+00] [-4.75176699e-03 1.97762483e-04 9.99988691e-01 -5.74921074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270371743 meters Centerline goodness [0,1] 0.9887374988531058 Centerline is valid? [True, True] Translation: X:45.05, Y:-2.39, Z:-0.57 [[ 9.99681986e-01 2.46005713e-02 5.54420237e-03 4.50515173e+01] [-2.45990113e-02 9.99697337e-01 -3.49403697e-04 -2.38584178e+00] [-5.55111988e-03 2.12910685e-04 9.99984570e-01 -5.74633893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300371743 meters Centerline goodness [0,1] 0.9889337863899348 Centerline is valid? [True, True] Translation: X:45.08, Y:-2.39, Z:-0.57 [[ 9.99610704e-01 2.73342084e-02 5.59297898e-03 4.50809233e+01] [-2.73326639e-02 9.99626331e-01 -3.52412845e-04 -2.38578025e+00] [-5.60052198e-03 1.99404637e-04 9.99984297e-01 -5.74876138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330371743 meters Centerline goodness [0,1] 0.9894375071600412 Centerline is valid? [True, True] Translation: X:45.11, Y:-2.39, Z:-0.58 [[ 9.99563563e-01 2.90162350e-02 5.54443176e-03 4.51100458e+01] [-2.90147439e-02 9.99578923e-01 -3.49200330e-04 -2.38700964e+00] [-5.55222960e-03 1.88177659e-04 9.99984569e-01 -5.75506077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360371743 meters Centerline goodness [0,1] 0.989644767521602 Centerline is valid? [True, True] Translation: X:45.14, Y:-2.39, Z:-0.58 [[ 9.99484674e-01 3.16994173e-02 5.05310167e-03 4.51373836e+01] [-3.16982136e-02 9.99497435e-01 -3.18125743e-04 -2.38927333e+00] [-5.06064655e-03 1.57787508e-04 9.99987182e-01 -5.77065706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390371743 meters Centerline goodness [0,1] 0.9900781375312206 Centerline is valid? [True, True] Translation: X:45.17, Y:-2.39, Z:-0.58 [[ 9.99452822e-01 3.27478470e-02 4.65127798e-03 4.51655833e+01] [-3.27468407e-02 9.99463636e-01 -2.92349790e-04 -2.39076609e+00] [-4.65835703e-03 1.39875164e-04 9.99989140e-01 -5.77822124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420371743000004 meters Centerline goodness [0,1] 0.9905087232627984 Centerline is valid? [True, True] Translation: X:45.19, Y:-2.39, Z:-0.58 [[ 9.99421944e-01 3.37160823e-02 4.35939051e-03 4.51939609e+01] [-3.37152087e-02 9.99431443e-01 -2.73747331e-04 -2.39241025e+00] [-4.36614163e-03 1.26611329e-04 9.99990460e-01 -5.78679485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450371743 meters Centerline goodness [0,1] 0.99007183053484 Centerline is valid? [True, True] Translation: X:45.22, Y:-2.39, Z:-0.58 [[ 9.99393723e-01 3.46642977e-02 3.25155207e-03 4.52213783e+01] [-3.46638161e-02 9.99399008e-01 -2.04366802e-04 -2.39495393e+00] [-3.25668215e-03 9.15316954e-05 9.99994693e-01 -5.80262339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480371743 meters Centerline goodness [0,1] 0.9900901725637388 Centerline is valid? [True, True] Translation: X:45.25, Y:-2.40, Z:-0.58 [[ 9.99401655e-01 3.44850376e-02 2.66717618e-03 4.52500938e+01] [-3.44847134e-02 9.99405211e-01 -1.67440403e-04 -2.39664270e+00] [-2.67136397e-03 7.53634099e-05 9.99996429e-01 -5.81022581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510371743 meters Centerline goodness [0,1] 0.9907170294494239 Centerline is valid? [True, True] Translation: X:45.28, Y:-2.40, Z:-0.58 [[ 9.99422912e-01 3.38998613e-02 2.15457917e-03 4.52788272e+01] [-3.38996483e-02 9.99425233e-01 -1.35308836e-04 -2.39847122e+00] [-2.15792774e-03 6.21912747e-05 9.99997670e-01 -5.81931914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540371743 meters Centerline goodness [0,1] 0.989745346579879 Centerline is valid? [True, True] Translation: X:45.31, Y:-2.41, Z:-0.58 [[ 9.99499834e-01 3.15745892e-02 1.76821579e-03 4.53062717e+01] [-3.15744408e-02 9.99501397e-01 -1.11807261e-04 -2.40592138e+00] [-1.77086442e-03 5.59209142e-05 9.99998430e-01 -5.83704419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570371743 meters Centerline goodness [0,1] 0.9903007896298325 Centerline is valid? [True, True] Translation: X:45.34, Y:-2.41, Z:-0.58 [[ 9.99546414e-01 3.00661824e-02 1.72945906e-03 4.53351416e+01] [-3.00660398e-02 9.99547909e-01 -1.08446921e-04 -2.40798071e+00] [-1.73193777e-03 5.63997464e-05 9.99998499e-01 -5.83120853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600371743000004 meters Centerline goodness [0,1] 0.990517005562141 Centerline is valid? [True, True] Translation: X:45.36, Y:-2.41, Z:-0.58 [[ 9.99657245e-01 2.61612709e-02 9.89882917e-04 4.53641411e+01] [-2.61612218e-02 9.99657735e-01 -6.24822374e-05 -2.41406420e+00] [-9.91178729e-04 3.65642748e-05 9.99999508e-01 -5.83185759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.630371743 meters Centerline goodness [0,1] 0.9904670898459719 Centerline is valid? [True, True] Translation: X:45.39, Y:-2.42, Z:-0.58 [[ 9.99709533e-01 2.40705950e-02 1.20656092e-03 4.53914662e+01] [-2.40705208e-02 9.99710260e-01 -7.59870485e-05 -2.41865182e+00] [-1.20804039e-03 4.69224270e-05 9.99999269e-01 -5.83603757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660371743 meters Centerline goodness [0,1] 0.9901541679930874 Centerline is valid? [True, True] Translation: X:45.42, Y:-2.43, Z:-0.58 [[ 9.99814181e-01 1.92167032e-02 1.52356375e-03 4.54209675e+01] [-1.92165812e-02 9.99815340e-01 -9.46408621e-05 -2.42518708e+00] [-1.52510110e-03 6.53455894e-05 9.99998835e-01 -5.82454410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690371743 meters Centerline goodness [0,1] 0.9890062562335661 Centerline is valid? [True, True] Translation: X:45.45, Y:-2.43, Z:-0.58 [[ 9.99865340e-01 1.63088434e-02 1.82279622e-03 4.54485580e+01] [-1.63086630e-02 9.99866998e-01 -1.13775189e-04 -2.43334390e+00] [-1.82440933e-03 8.40324991e-05 9.99998332e-01 -5.83263815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720371743 meters Centerline goodness [0,1] 0.9897049819723803 Centerline is valid? [True, True] Translation: X:45.48, Y:-2.44, Z:-0.58 [[ 9.99902542e-01 1.37530572e-02 2.39983906e-03 4.54779126e+01] [-1.37527394e-02 9.99905416e-01 -1.48909284e-04 -2.43754211e+00] [-2.40166003e-03 1.15890410e-04 9.99997109e-01 -5.83250103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750371743 meters Centerline goodness [0,1] 0.9894724951993674 Centerline is valid? [True, True] Translation: X:45.51, Y:-2.44, Z:-0.58 [[ 9.99958139e-01 8.80715464e-03 2.48096131e-03 4.55082267e+01] [-8.80680054e-03 9.99961208e-01 -1.53615189e-04 -2.44214949e+00] [-2.48221798e-03 1.31759427e-04 9.99996911e-01 -5.82843200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780371743 meters Centerline goodness [0,1] 0.9896676968890292 Centerline is valid? [True, True] Translation: X:45.54, Y:-2.45, Z:-0.58 [[ 9.99975417e-01 6.72840597e-03 1.97306926e-03 4.55363330e+01] [-6.72817706e-03 9.99977358e-01 -1.22632644e-04 -2.44887686e+00] [-1.97384971e-03 1.09354470e-04 9.99998046e-01 -5.84021568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.810371743 meters Centerline goodness [0,1] 0.9901333573616868 Centerline is valid? [True, True] Translation: X:45.57, Y:-2.45, Z:-0.59 [[ 9.99995540e-01 2.65244685e-03 1.37285027e-03 4.55665783e+01] [-2.65233291e-03 9.99996479e-01 -8.48101543e-05 -2.45498185e+00] [-1.37307039e-03 8.11685200e-05 9.99999054e-01 -5.85114133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840371743 meters Centerline goodness [0,1] 0.989472737088357 Centerline is valid? [True, True] Translation: X:45.60, Y:-2.46, Z:-0.59 [[ 9.99999010e-01 9.72103395e-04 1.01691135e-03 4.55969613e+01] [-9.72040005e-04 9.99999526e-01 -6.28281802e-05 -2.45849000e+00] [-1.01697194e-03 6.18396395e-05 9.99999481e-01 -5.85720306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.870371743 meters Centerline goodness [0,1] 0.9894066843596779 Centerline is valid? [True, True] Translation: X:45.63, Y:-2.47, Z:-0.59 [[ 9.99995768e-01 -2.90523354e-03 -1.56042375e-04 4.56261057e+01] [ 2.90523512e-03 9.99995780e-01 9.92581727e-06 -2.46608625e+00] [ 1.56012880e-04 -1.03791150e-05 9.99999988e-01 -5.86745437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900371743 meters Centerline goodness [0,1] 0.9892492465476137 Centerline is valid? [True, True] Translation: X:45.66, Y:-2.47, Z:-0.59 [[ 9.99989317e-01 -4.54673926e-03 -8.32225628e-04 4.56555491e+01] [ 4.54678467e-03 9.99989662e-01 5.26853044e-05 -2.47408514e+00] [ 8.31977478e-04 -5.64686923e-05 9.99999652e-01 -5.88345339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930371743 meters Centerline goodness [0,1] 0.9901542058175605 Centerline is valid? [True, True] Translation: X:45.69, Y:-2.47, Z:-0.59 [[ 9.99981006e-01 -6.11661544e-03 -7.58092614e-04 4.56878373e+01] [ 6.11665415e-03 9.99981292e-01 4.87490204e-05 -2.46894536e+00] [ 7.57780252e-04 -5.33850848e-05 9.99999711e-01 -5.86882688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960371743 meters Centerline goodness [0,1] 0.988906284947439 Centerline is valid? [True, True] Translation: X:45.72, Y:-2.48, Z:-0.59 [[ 9.99949236e-01 -1.00373856e-02 -8.80792721e-04 4.57169308e+01] [ 1.00374378e-02 9.99949622e-01 5.48771487e-05 -2.48178424e+00] [ 8.80197525e-04 -6.37152650e-05 9.99999611e-01 -5.88694377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.990371743 meters Centerline goodness [0,1] 0.9878648370804094 Centerline is valid? [True, True] Translation: X:45.75, Y:-2.49, Z:-0.59 [[ 9.99929247e-01 -1.18146944e-02 -1.38328435e-03 4.57470838e+01] [ 1.18148247e-02 9.99930199e-01 8.60717646e-05 -2.48961495e+00] [ 1.38217089e-03 -1.02408937e-04 9.99999040e-01 -5.89864145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020371743 meters Centerline goodness [0,1] 0.9851634703605076 Centerline is valid? [True, True] Translation: X:45.78, Y:-2.50, Z:-0.59 [[ 9.99899058e-01 -1.40802854e-02 -1.90242003e-03 4.57763120e+01] [ 1.40805353e-02 9.99900857e-01 1.18052915e-04 -2.49626577e+00] [ 1.90056920e-03 -1.44828091e-04 9.99998183e-01 -5.90866580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.050371743 meters Centerline goodness [0,1] 0.9890312016329826 Centerline is valid? [True, True] Translation: X:45.81, Y:-2.49, Z:-0.59 [[ 9.99889779e-01 -1.47239364e-02 -1.90685783e-03 4.58084624e+01] [ 1.47241902e-02 9.99891586e-01 1.19156373e-04 -2.48925909e+00] [ 1.90489665e-03 -1.47220177e-04 9.99998175e-01 -5.89074004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080371743 meters Centerline goodness [0,1] 0.9882450220126489 Centerline is valid? [True, True] Translation: X:45.84, Y:-2.49, Z:-0.59 [[ 9.99891753e-01 -1.46354331e-02 -1.51183585e-03 4.58405569e+01] [ 1.46355933e-02 9.99892889e-01 9.49646503e-05 -2.49219802e+00] [ 1.51028407e-03 -1.17080985e-04 9.99998853e-01 -5.89270029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.110371743 meters Centerline goodness [0,1] 0.9881122631390776 Centerline is valid? [True, True] Translation: X:45.87, Y:-2.50, Z:-0.59 [[ 9.99897536e-01 -1.42499997e-02 -1.36229391e-03 4.58715447e+01] [ 1.42501293e-02 9.99898458e-01 8.54931696e-05 -2.49620962e+00] [ 1.36093730e-03 -1.04897274e-04 9.99999068e-01 -5.89525584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140371743 meters Centerline goodness [0,1] 0.9879896029398584 Centerline is valid? [True, True] Translation: X:45.90, Y:-2.50, Z:-0.59 [[ 9.99917615e-01 -1.28205133e-02 -6.29923913e-04 4.59027396e+01] [ 1.28205409e-02 9.99917813e-01 3.96978946e-05 -2.49592856e+00] [ 6.29363194e-04 -4.77705894e-05 9.99999801e-01 -5.88669893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170371743000004 meters Centerline goodness [0,1] 0.9879025044722719 Centerline is valid? [True, True] Translation: X:45.93, Y:-2.50, Z:-0.59 [[ 9.99948652e-01 -1.01333732e-02 -9.09266231e-05 4.59334377e+01] [ 1.01333738e-02 9.99948656e-01 5.97008573e-06 -2.49646582e+00] [ 9.08614575e-05 -6.89117264e-06 9.99999996e-01 -5.87943924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200371743 meters Centerline goodness [0,1] 0.9882005239236057 Centerline is valid? [True, True] Translation: X:45.97, Y:-2.50, Z:-0.59 [[ 9.99959490e-01 -8.99949139e-03 -1.63742117e-04 4.59652216e+01] [ 8.99949330e-03 9.99959504e-01 1.09101841e-05 -2.49769052e+00] [ 1.63637300e-04 -1.23833382e-05 9.99999987e-01 -5.88187411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230371743 meters Centerline goodness [0,1] 0.9887180175945202 Centerline is valid? [True, True] Translation: X:46.00, Y:-2.50, Z:-0.59 [[ 9.99969860e-01 -7.75798606e-03 -3.05428145e-04 4.59970398e+01] [ 7.75799245e-03 9.99969906e-01 1.97570602e-05 -2.49922675e+00] [ 3.05265679e-04 -2.21259740e-05 9.99999953e-01 -5.88665916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260371743 meters Centerline goodness [0,1] 0.9886259113853056 Centerline is valid? [True, True] Translation: X:46.03, Y:-2.50, Z:-0.59 [[ 9.99977568e-01 -6.65408060e-03 -7.65672673e-04 4.60290673e+01] [ 6.65411989e-03 9.99977860e-01 4.87805789e-05 -2.49734834e+00] [ 7.65331131e-04 -5.38743624e-05 9.99999706e-01 -5.88623697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.290371743 meters Centerline goodness [0,1] 0.9894096793735556 Centerline is valid? [True, True] Translation: X:46.06, Y:-2.49, Z:-0.59 [[ 9.99992411e-01 -3.34921856e-03 -1.99032255e-03 4.60599169e+01] [ 3.34947261e-03 9.99994383e-01 1.24322908e-04 -2.49360802e+00] [ 1.98989498e-03 -1.30988495e-04 9.99998012e-01 -5.88769212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320371743 meters Centerline goodness [0,1] 0.9884743638520243 Centerline is valid? [True, True] Translation: X:46.09, Y:-2.50, Z:-0.59 [[ 9.99995518e-01 -1.24503334e-03 -2.72290221e-03 4.60899572e+01] [ 1.24550186e-03 9.99999210e-01 1.70376182e-04 -2.50112706e+00] [ 2.72268793e-03 -1.73766798e-04 9.99996278e-01 -5.91205292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.350371743000004 meters Centerline goodness [0,1] 0.9894751076153343 Centerline is valid? [True, True] Translation: X:46.12, Y:-2.50, Z:-0.59 [[ 9.99994715e-01 1.10431058e-03 -3.05795787e-03 4.61203091e+01] [-1.10373400e-03 9.99999373e-01 1.90231977e-04 -2.49541871e+00] [ 3.05816602e-03 -1.86855800e-04 9.99995306e-01 -5.90164729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.380371743 meters Centerline goodness [0,1] 0.9899208063354932 Centerline is valid? [True, True] Translation: X:46.15, Y:-2.49, Z:-0.59 [[ 9.99967287e-01 7.43080946e-03 -3.19503286e-03 4.61503850e+01] [-7.43021141e-03 9.99972376e-01 1.99009702e-04 -2.49072242e+00] [ 3.19642340e-03 -1.75263423e-04 9.99994876e-01 -5.89650103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.410371743 meters Centerline goodness [0,1] 0.9891745602165088 Centerline is valid? [True, True] Translation: X:46.18, Y:-2.49, Z:-0.59 [[ 9.99938496e-01 1.06170713e-02 -3.20665308e-03 4.61791598e+01] [-1.06164859e-02 9.99943624e-01 1.99512748e-04 -2.49483374e+00] [ 3.20859054e-03 -1.65457090e-04 9.99994839e-01 -5.91396197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440371743 meters Centerline goodness [0,1] 0.990310425264669 Centerline is valid? [True, True] Translation: X:46.21, Y:-2.49, Z:-0.59 [[ 9.99835153e-01 1.79524080e-02 -2.71604631e-03 4.62095491e+01] [-1.79520151e-02 9.99838835e-01 1.68955479e-04 -2.48626046e+00] [ 2.71864174e-03 -1.20169123e-04 9.99996297e-01 -5.89593539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470371743 meters Centerline goodness [0,1] 0.9907302990662638 Centerline is valid? [True, True] Translation: X:46.24, Y:-2.48, Z:-0.59 [[ 9.99766990e-01 2.14547945e-02 -2.37874618e-03 4.62394075e+01] [-2.14545037e-02 9.99769815e-01 1.47724440e-04 -2.48441992e+00] [ 2.38136802e-03 -9.66552000e-05 9.99997160e-01 -5.89247118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500371743 meters Centerline goodness [0,1] 0.9906645569620253 Centerline is valid? [True, True] Translation: X:46.27, Y:-2.48, Z:-0.59 [[ 9.99682933e-01 2.50874519e-02 -2.15709212e-03 4.62684069e+01] [-2.50872214e-02 9.99685257e-01 1.33841717e-04 -2.48416154e+00] [ 2.15977094e-03 -7.96838329e-05 9.99997665e-01 -5.89471397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530371743 meters Centerline goodness [0,1] 0.9913658304439459 Centerline is valid? [True, True] Translation: X:46.30, Y:-2.48, Z:-0.59 [[ 9.99463643e-01 3.27138343e-02 -1.49387713e-03 4.62975214e+01] [-3.27137323e-02 9.99464758e-01 9.27007088e-05 -2.48238887e+00] [ 1.49611014e-03 -4.37806917e-05 9.99998880e-01 -5.90082304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.560371743 meters Centerline goodness [0,1] 0.9917258217660623 Centerline is valid? [True, True] Translation: X:46.33, Y:-2.48, Z:-0.59 [[ 9.99346668e-01 3.61223940e-02 -1.18721399e-03 4.63269832e+01] [-3.61223358e-02 9.99347373e-01 7.04535468e-05 -2.47891785e+00] [ 1.18898414e-03 -2.75225747e-05 9.99999293e-01 -5.88507008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590371743 meters Centerline goodness [0,1] 0.9925119128658951 Centerline is valid? [True, True] Translation: X:46.35, Y:-2.48, Z:-0.59 [[ 9.99243728e-01 3.88667860e-02 -1.15990244e-03 4.63546399e+01] [-3.88667302e-02 9.99244401e-01 7.06183421e-05 -2.47945854e+00] [ 1.16177073e-03 -2.54833202e-05 9.99999325e-01 -5.88886064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620371743 meters Centerline goodness [0,1] 0.992917300401807 Centerline is valid? [True, True] Translation: X:46.38, Y:-2.48, Z:-0.59 [[ 9.99062145e-01 4.32993053e-02 7.43450323e-06 4.63836255e+01] [-4.32993053e-02 9.99062145e-01 -1.42148576e-06 -2.47871993e+00] [-7.48908010e-06 1.09824379e-06 1.00000000e+00 -5.88215561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.650371743 meters Centerline goodness [0,1] 0.9924065552961443 Centerline is valid? [True, True] Translation: X:46.41, Y:-2.48, Z:-0.59 [[ 9.99000034e-01 4.47077295e-02 3.88594314e-04 4.64120521e+01] [-4.47077232e-02 9.99000110e-01 -2.49645043e-05 -2.48033814e+00] [-3.89321868e-04 7.56637359e-06 9.99999924e-01 -5.88194180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680371743 meters Centerline goodness [0,1] 0.992900562511341 Centerline is valid? [True, True] Translation: X:46.44, Y:-2.48, Z:-0.59 [[ 9.98954196e-01 4.57212806e-02 2.79784137e-04 4.64407512e+01] [-4.57212773e-02 9.98954235e-01 -1.82175882e-05 -2.48216629e+00] [-2.80324480e-04 5.40644808e-06 9.99999961e-01 -5.88288612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710371743 meters Centerline goodness [0,1] 0.9925753220001358 Centerline is valid? [True, True] Translation: X:46.47, Y:-2.49, Z:-0.59 [[ 9.98938699e-01 4.60585297e-02 -2.97321780e-04 4.64679275e+01] [-4.60585268e-02 9.98938743e-01 1.66581577e-05 -2.48620133e+00] [ 2.97773495e-04 -2.94627523e-06 9.99999956e-01 -5.90109709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.740371743 meters Centerline goodness [0,1] 0.9919749727965179 Centerline is valid? [True, True] Translation: X:46.50, Y:-2.49, Z:-0.59 [[ 9.98990310e-01 4.49243138e-02 -4.07250797e-04 4.64962324e+01] [-4.49243087e-02 9.98990393e-01 2.17308953e-05 -2.48940888e+00] [ 4.07815879e-04 -3.41349337e-06 9.99999917e-01 -5.90990171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.770371743 meters Centerline goodness [0,1] 0.9921704501991135 Centerline is valid? [True, True] Translation: X:46.53, Y:-2.50, Z:-0.59 [[ 9.99117502e-01 4.20005584e-02 -4.12909511e-04 4.65250770e+01] [-4.20005519e-02 9.99117587e-01 2.43496345e-05 -2.49536098e+00] [ 4.13567853e-04 -6.98571861e-06 9.99999914e-01 -5.91437506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800371743 meters Centerline goodness [0,1] 0.9916127432191735 Centerline is valid? [True, True] Translation: X:46.55, Y:-2.50, Z:-0.59 [[ 9.99222506e-01 3.94118458e-02 -1.04406061e-03 4.65535799e+01] [-3.94118015e-02 9.99223051e-01 6.29601743e-05 -2.50040453e+00] [ 1.04573080e-03 -2.17629137e-05 9.99999453e-01 -5.92262002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830371743 meters Centerline goodness [0,1] 0.9911987723415779 Centerline is valid? [True, True] Translation: X:46.58, Y:-2.51, Z:-0.59 [[ 9.99311848e-01 3.70907667e-02 -3.24992041e-04 4.65821048e+01] [-3.70907625e-02 9.99311901e-01 1.89107393e-05 -2.50504384e+00] [ 3.25469828e-04 -6.84352322e-06 9.99999947e-01 -5.92449164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860371743 meters Centerline goodness [0,1] 0.9907159716758458 Centerline is valid? [True, True] Translation: X:46.61, Y:-2.51, Z:-0.59 [[ 9.99411912e-01 3.42895670e-02 -2.37076982e-04 4.66091093e+01] [-3.42895650e-02 9.99411940e-01 1.24429648e-05 -2.51040511e+00] [ 2.37364231e-04 -4.30638060e-06 9.99999972e-01 -5.93144479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.890371743 meters Centerline goodness [0,1] 0.9907467714766984 Centerline is valid? [True, True] Translation: X:46.64, Y:-2.52, Z:-0.59 [[ 9.99597963e-01 2.83521841e-02 2.57064946e-04 4.66390078e+01] [-2.83521810e-02 9.99597996e-01 -1.59166070e-05 -2.51850564e+00] [-2.57412876e-04 8.62185606e-06 9.99999967e-01 -5.92625839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920371743000004 meters Centerline goodness [0,1] 0.9908981125324269 Centerline is valid? [True, True] Translation: X:46.67, Y:-2.52, Z:-0.59 [[ 9.99679344e-01 2.53114569e-02 7.34375670e-04 4.66677427e+01] [-2.53114303e-02 9.99679613e-01 -4.54671382e-05 -2.52379745e+00] [-7.35291225e-04 2.68644602e-05 9.99999729e-01 -5.92597233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950371743 meters Centerline goodness [0,1] 0.9906896782692178 Centerline is valid? [True, True] Translation: X:46.70, Y:-2.53, Z:-0.59 [[ 9.99750299e-01 2.23231494e-02 1.00815531e-03 4.66955002e+01] [-2.23230979e-02 9.99750807e-01 -6.23083260e-05 -2.53074597e+00] [-1.00929500e-03 3.97876178e-05 9.99999490e-01 -5.92973171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980371743 meters Centerline goodness [0,1] 0.9906896782692178 Centerline is valid? [True, True] Translation: X:46.72, Y:-2.53, Z:-0.59 [[ 9.99752650e-01 2.22176188e-02 1.00813358e-03 4.67229308e+01] [-2.22175669e-02 9.99753157e-01 -6.26665781e-05 -2.53232354e+00] [-1.00927703e-03 4.02528022e-05 9.99999490e-01 -5.93345850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010371743 meters Centerline goodness [0,1] 0.9912151616499443 Centerline is valid? [True, True] Translation: X:46.75, Y:-2.54, Z:-0.59 [[ 9.99860321e-01 1.66360917e-02 1.60571618e-03 4.67526023e+01] [-1.66359561e-02 9.99861608e-01 -9.77427200e-05 -2.54071107e+00] [-1.60712002e-03 7.10164435e-05 9.99998706e-01 -5.93084857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040371743 meters Centerline goodness [0,1] 0.990577987155841 Centerline is valid? [True, True] Translation: X:46.78, Y:-2.55, Z:-0.59 [[ 9.99902174e-01 1.38904227e-02 1.64255609e-03 4.67818286e+01] [-1.38902768e-02 9.99903520e-01 -1.00160534e-04 -2.54589915e+00] [-1.64378889e-03 7.73351765e-05 9.99998646e-01 -5.93477365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.070371743 meters Centerline goodness [0,1] 0.9913296079474898 Centerline is valid? [True, True] Translation: X:46.81, Y:-2.56, Z:-0.59 [[ 9.99960052e-01 8.82898534e-03 1.39393458e-03 4.68118142e+01] [-8.82887585e-03 9.99961021e-01 -8.46795445e-05 -2.55523702e+00] [-1.39462788e-03 7.23692864e-05 9.99999025e-01 -5.94184605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100371743000004 meters Centerline goodness [0,1] 0.9907134466632682 Centerline is valid? [True, True] Translation: X:46.84, Y:-2.56, Z:-0.59 [[ 9.99978416e-01 6.47239772e-03 1.12986260e-03 4.68409025e+01] [-6.47232364e-03 9.99979052e-01 -6.92151901e-05 -2.56016971e+00] [-1.13028692e-03 6.19008598e-05 9.99999359e-01 -5.94870325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.130371743 meters Centerline goodness [0,1] 0.9912717928269201 Centerline is valid? [True, True] Translation: X:46.87, Y:-2.57, Z:-0.60 [[ 9.99990544e-01 4.30193962e-03 6.37241653e-04 4.68706133e+01] [-4.30191558e-03 9.99990746e-01 -3.90874773e-05 -2.56500395e+00] [-6.37403908e-04 3.63457478e-05 9.99999796e-01 -5.95666808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160371743 meters Centerline goodness [0,1] 0.9907739280499137 Centerline is valid? [True, True] Translation: X:46.90, Y:-2.57, Z:-0.60 [[ 9.99997052e-01 2.42407424e-03 1.40365693e-04 4.69000639e+01] [-2.42407300e-03 9.99997062e-01 -8.97816924e-06 -2.56897339e+00] [-1.40387044e-04 8.63788609e-06 9.99999990e-01 -5.96597684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.190371743 meters Centerline goodness [0,1] 0.9910928476232785 Centerline is valid? [True, True] Translation: X:46.93, Y:-2.58, Z:-0.60 [[ 9.99998269e-01 -1.10402149e-04 -1.85733634e-03 4.69285040e+01] [ 1.10610236e-04 9.99999988e-01 1.11932589e-04 -2.57830267e+00] [ 1.85732396e-03 -1.12137835e-04 9.99998269e-01 -5.99539202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220371743 meters Centerline goodness [0,1] 0.9901587863240302 Centerline is valid? [True, True] Translation: X:46.96, Y:-2.58, Z:-0.60 [[ 9.99995703e-01 -1.75166808e-03 -2.35085592e-03 4.69581606e+01] [ 1.75200609e-03 9.99998455e-01 1.41729914e-04 -2.58223064e+00] [ 2.35060402e-03 -1.45848019e-04 9.99997227e-01 -6.00397642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.250371743 meters Centerline goodness [0,1] 0.9903730979104742 Centerline is valid? [True, True] Translation: X:46.99, Y:-2.58, Z:-0.60 [[ 9.99989311e-01 -3.02062834e-03 -3.50066022e-03 4.69886117e+01] [ 3.02138802e-03 9.99995413e-01 2.11741948e-04 -2.58325091e+00] [ 3.50000457e-03 -2.22316538e-04 9.99993850e-01 -6.01170772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280371743 meters Centerline goodness [0,1] 0.9898045126113746 Centerline is valid? [True, True] Translation: X:47.02, Y:-2.59, Z:-0.60 [[ 9.99986872e-01 -3.03996220e-03 -4.12474378e-03 4.70179594e+01] [ 3.04101578e-03 9.99995345e-01 2.49180101e-04 -2.59038673e+00] [ 4.12396708e-03 -2.61720241e-04 9.99991462e-01 -6.03129459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.310371743 meters Centerline goodness [0,1] 0.989981381328132 Centerline is valid? [True, True] Translation: X:47.05, Y:-2.59, Z:-0.60 [[ 9.99988682e-01 -2.44572622e-03 -4.08097714e-03 4.70481083e+01] [ 2.44675108e-03 9.99996976e-01 2.46157424e-04 -2.58874430e+00] [ 4.08036276e-03 -2.56139774e-04 9.99991642e-01 -6.02323636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340371743 meters Centerline goodness [0,1] 0.9901163434903048 Centerline is valid? [True, True] Translation: X:47.08, Y:-2.59, Z:-0.60 [[ 9.99993224e-01 -5.60702092e-04 -3.63821084e-03 4.70784052e+01] [ 5.61504640e-04 9.99999818e-01 2.19571020e-04 -2.58846184e+00] [ 3.63808707e-03 -2.21612404e-04 9.99993358e-01 -6.01343304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.370371743 meters Centerline goodness [0,1] 0.9904983904983905 Centerline is valid? [True, True] Translation: X:47.11, Y:-2.59, Z:-0.60 [[ 9.99995692e-01 5.42701604e-04 -2.88476161e-03 4.71077044e+01] [-5.42211818e-04 9.99999838e-01 1.70563373e-04 -2.58968616e+00] [ 2.88485371e-03 -1.68998486e-04 9.99995825e-01 -6.01061752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400371743 meters Centerline goodness [0,1] 0.9888153086310381 Centerline is valid? [True, True] Translation: X:47.14, Y:-2.60, Z:-0.60 [[ 9.99990984e-01 4.20800432e-03 -5.69196822e-04 4.71365903e+01] [-4.20798567e-03 9.99991146e-01 3.39560737e-05 -2.59544271e+00] [ 5.69334670e-04 -3.15605955e-05 9.99999837e-01 -6.00554171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.430371743 meters Centerline goodness [0,1] 0.9901152119590456 Centerline is valid? [True, True] Translation: X:47.17, Y:-2.59, Z:-0.60 [[ 9.99982924e-01 5.83275700e-03 3.62615912e-04 4.71659027e+01] [-5.83274841e-03 9.99982989e-01 -2.47228508e-05 -2.59162101e+00] [-3.62753946e-04 2.26073812e-05 9.99999934e-01 -5.98803468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460371743 meters Centerline goodness [0,1] 0.9894904882266862 Centerline is valid? [True, True] Translation: X:47.19, Y:-2.59, Z:-0.60 [[ 9.99966863e-01 7.99626646e-03 1.52744946e-03 4.71946301e+01] [-7.99613497e-03 9.99968026e-01 -9.21734531e-05 -2.59248960e+00] [-1.52813766e-03 7.99567067e-05 9.99998829e-01 -5.98125880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.490371743 meters Centerline goodness [0,1] 0.9898652386537142 Centerline is valid? [True, True] Translation: X:47.22, Y:-2.59, Z:-0.60 [[ 9.99942655e-01 1.04753517e-02 2.22556479e-03 4.72239662e+01] [-1.04750800e-02 9.99945126e-01 -1.33681326e-04 -2.59371481e+00] [-2.22684302e-03 1.10360690e-04 9.99997514e-01 -5.97873381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520371743 meters Centerline goodness [0,1] 0.9912729527986356 Centerline is valid? [True, True] Translation: X:47.25, Y:-2.59, Z:-0.60 [[ 9.99872766e-01 1.57007216e-02 2.81763896e-03 4.72547545e+01] [-1.57003084e-02 9.99876728e-01 -1.68714350e-04 -2.58667805e+00] [-2.81994056e-03 1.24455083e-04 9.99996016e-01 -5.96002355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550371743 meters Centerline goodness [0,1] 0.9910842047330765 Centerline is valid? [True, True] Translation: X:47.28, Y:-2.59, Z:-0.60 [[ 9.99823226e-01 1.86522475e-02 2.36878225e-03 4.72833635e+01] [-1.86519624e-02 9.99826027e-01 -1.42379653e-04 -2.58794874e+00] [-2.37102585e-03 9.81720464e-05 9.99997184e-01 -5.96213905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580371743 meters Centerline goodness [0,1] 0.9918136439267887 Centerline is valid? [True, True] Translation: X:47.31, Y:-2.59, Z:-0.60 [[ 9.99724055e-01 2.34824908e-02 6.21061378e-04 4.73120354e+01] [-2.34824719e-02 9.99724248e-01 -3.75932150e-05 -2.59178856e+00] [-6.21772901e-04 2.29987850e-05 9.99999806e-01 -5.99491208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.610371743 meters Centerline goodness [0,1] 0.9917516198226488 Centerline is valid? [True, True] Translation: X:47.34, Y:-2.59, Z:-0.60 [[ 9.99673751e-01 2.55371695e-02 -4.93563734e-04 4.73409750e+01] [-2.55371585e-02 9.99673873e-01 2.85031758e-05 -2.58583607e+00] [ 4.94130660e-04 -1.58896613e-05 9.99999878e-01 -5.98731375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640371743 meters Centerline goodness [0,1] 0.9922525234637861 Centerline is valid? [True, True] Translation: X:47.37, Y:-2.59, Z:-0.60 [[ 9.99631459e-01 2.71000931e-02 -1.59083800e-03 4.73690204e+01] [-2.70999784e-02 9.99632724e-01 9.36385288e-05 -2.58819133e+00] [ 1.59279134e-03 -5.04923437e-05 9.99998730e-01 -6.00505942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.670371743000004 meters Centerline goodness [0,1] 0.9929305055355475 Centerline is valid? [True, True] Translation: X:47.40, Y:-2.59, Z:-0.60 [[ 9.99555581e-01 2.97135518e-02 -2.39712875e-03 4.73976693e+01] [-2.97132972e-02 9.99558452e-01 1.41741915e-04 -2.58708402e+00] [ 2.40028196e-03 -7.04523233e-05 9.99997117e-01 -6.00905237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700371743 meters Centerline goodness [0,1] 0.9930882745132901 Centerline is valid? [True, True] Translation: X:47.43, Y:-2.59, Z:-0.60 [[ 9.99533064e-01 3.04640358e-02 -2.36585659e-03 4.74254464e+01] [-3.04637910e-02 9.99535861e-01 1.39430755e-04 -2.59021783e+00] [ 2.36900613e-03 -6.72926892e-05 9.99997192e-01 -6.01979159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.730371743 meters Centerline goodness [0,1] 0.9921504279568939 Centerline is valid? [True, True] Translation: X:47.45, Y:-2.59, Z:-0.60 [[ 9.99520579e-01 3.09044878e-02 -1.87752781e-03 4.74537924e+01] [-3.09043347e-02 9.99522341e-01 1.10515249e-04 -2.59147997e+00] [ 1.88004641e-03 -5.24385179e-05 9.99998231e-01 -6.01554984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760371743 meters Centerline goodness [0,1] 0.9927347863760582 Centerline is valid? [True, True] Translation: X:47.48, Y:-2.59, Z:-0.60 [[ 9.99510987e-01 3.12378236e-02 -1.40931721e-03 4.74818681e+01] [-3.12377385e-02 9.99511979e-01 8.23550734e-05 -2.59439044e+00] [ 1.41120203e-03 -3.82909180e-05 9.99999004e-01 -6.01337641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790371743 meters Centerline goodness [0,1] 0.9930941366564112 Centerline is valid? [True, True] Translation: X:47.51, Y:-2.60, Z:-0.60 [[ 9.99499472e-01 3.16181882e-02 1.04674687e-03 4.75101794e+01] [-3.16181396e-02 9.99500020e-01 -6.29415020e-05 -2.59702157e+00] [-1.04821362e-03 2.98138093e-05 9.99999450e-01 -5.99544155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820371743 meters Centerline goodness [0,1] 0.9927427205947429 Centerline is valid? [True, True] Translation: X:47.54, Y:-2.60, Z:-0.60 [[ 9.99500600e-01 3.15431338e-02 1.89260541e-03 4.75385151e+01] [-3.15429765e-02 9.99502390e-01 -1.12915176e-04 -2.59907179e+00] [-1.89522532e-03 5.31603784e-05 9.99998203e-01 -5.98709726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850371743000004 meters Centerline goodness [0,1] 0.9931798051372897 Centerline is valid? [True, True] Translation: X:47.57, Y:-2.60, Z:-0.60 [[ 9.99561629e-01 2.94511524e-02 3.02978424e-03 4.75668829e+01] [-2.94507420e-02 9.99566217e-01 -1.79974740e-04 -2.60348665e+00] [-3.03377044e-03 9.06664502e-05 9.99995394e-01 -5.97437981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.880371743 meters Centerline goodness [0,1] 0.99295635139002 Centerline is valid? [True, True] Translation: X:47.60, Y:-2.61, Z:-0.60 [[ 9.99610692e-01 2.77797192e-02 2.59823795e-03 4.75950189e+01] [-2.77794114e-02 9.99614066e-01 -1.54487383e-04 -2.60739107e+00] [-2.60152682e-03 8.22497186e-05 9.99996613e-01 -5.98168040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.910371743 meters Centerline goodness [0,1] 0.9928144768454231 Centerline is valid? [True, True] Translation: X:47.62, Y:-2.61, Z:-0.60 [[ 9.99674895e-01 2.53991615e-02 2.23316817e-03 4.76227627e+01] [-2.53989283e-02 9.99677386e-01 -1.32741733e-04 -2.61242160e+00] [-2.23581925e-03 7.59784992e-05 9.99997498e-01 -5.99290980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940371743 meters Centerline goodness [0,1] 0.9920434314350397 Centerline is valid? [True, True] Translation: X:47.65, Y:-2.62, Z:-0.60 [[ 9.99804650e-01 1.97334444e-02 1.11936013e-03 4.76515260e+01] [-1.97333825e-02 9.99805276e-01 -6.63655641e-05 -2.62254083e+00] [-1.12045179e-03 4.42638380e-05 9.99999371e-01 -6.02487317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.970371743 meters Centerline goodness [0,1] 0.9921152621290988 Centerline is valid? [True, True] Translation: X:47.68, Y:-2.63, Z:-0.60 [[ 9.99864775e-01 1.64441468e-02 1.47896582e-04 4.76804329e+01] [-1.64441455e-02 9.99864786e-01 -9.70126616e-06 -2.62616142e+00] [-1.48036114e-04 7.26792139e-06 9.99999989e-01 -6.03611114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000371743 meters Centerline goodness [0,1] 0.9915453884938021 Centerline is valid? [True, True] Translation: X:47.71, Y:-2.63, Z:-0.61 [[ 9.99913399e-01 1.31523959e-02 -4.58010073e-04 4.77085571e+01] [-1.31523853e-02 9.99913503e-01 2.61679202e-05 -2.63409804e+00] [ 4.58314628e-04 -2.01417290e-05 9.99999895e-01 -6.05934531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030371743 meters Centerline goodness [0,1] 0.9912745675457539 Centerline is valid? [True, True] Translation: X:47.74, Y:-2.64, Z:-0.61 [[ 9.99971889e-01 7.48610686e-03 -4.22875106e-04 4.77373789e+01] [-7.48609702e-03 9.99971978e-01 2.48613726e-05 -2.64376608e+00] [ 4.23049371e-04 -2.16949897e-05 9.99999910e-01 -6.07461022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.060371743 meters Centerline goodness [0,1] 0.9915618321619776 Centerline is valid? [True, True] Translation: X:47.77, Y:-2.64, Z:-0.61 [[ 9.99987299e-01 5.03875052e-03 -1.16680465e-04 4.77675184e+01] [-5.03874982e-03 9.99987305e-01 6.34579407e-06 -2.64136122e+00] [ 1.16710959e-04 -5.75778980e-06 9.99999993e-01 -6.05623579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090371743 meters Centerline goodness [0,1] 0.9914531792415521 Centerline is valid? [True, True] Translation: X:47.80, Y:-2.65, Z:-0.61 [[ 9.99996263e-01 2.70059542e-03 4.25505968e-04 4.77960474e+01] [-2.70058472e-03 9.99996353e-01 -2.56970526e-05 -2.64598375e+00] [-4.25573813e-04 2.45478417e-05 9.99999909e-01 -6.05466471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120371743 meters Centerline goodness [0,1] 0.9906607774628079 Centerline is valid? [True, True] Translation: X:47.83, Y:-2.65, Z:-0.60 [[ 9.99996463e-01 2.27492986e-05 2.65973737e-03 4.78250840e+01] [-2.23340543e-05 9.99999988e-01 -1.56151870e-04 -2.65452532e+00] [-2.65974089e-03 1.56091915e-04 9.99996451e-01 -6.04427471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150371743 meters Centerline goodness [0,1] 0.9898816970654727 Centerline is valid? [True, True] Translation: X:47.86, Y:-2.66, Z:-0.60 [[ 9.99992020e-01 -6.22651812e-04 3.94625260e-03 4.78566511e+01] [ 6.23568137e-04 9.99999779e-01 -2.30975090e-04 -2.65611845e+00] [-3.94610791e-03 2.33434004e-04 9.99992187e-01 -6.03776232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180371743 meters Centerline goodness [0,1] 0.990657068463777 Centerline is valid? [True, True] Translation: X:47.89, Y:-2.66, Z:-0.60 [[ 9.99986536e-01 -1.23991221e-03 5.03893069e-03 4.78887998e+01] [ 1.24140632e-03 9.99999186e-01 -2.93396425e-04 -2.65870455e+00] [-5.03856280e-03 2.99647835e-04 9.99987261e-01 -6.03111495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210371743 meters Centerline goodness [0,1] 0.9904177173555532 Centerline is valid? [True, True] Translation: X:47.92, Y:-2.66, Z:-0.60 [[ 9.99987639e-01 -1.46696516e-03 4.75069503e-03 4.79212233e+01] [ 1.46830810e-03 9.99998883e-01 -2.79207141e-04 -2.66101424e+00] [-4.75028014e-03 2.86179174e-04 9.99988676e-01 -6.03668854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.240371743 meters Centerline goodness [0,1] 0.990280422932948 Centerline is valid? [True, True] Translation: X:47.95, Y:-2.67, Z:-0.60 [[ 9.99989780e-01 -9.89432329e-04 4.41140467e-03 4.79520362e+01] [ 9.90584623e-04 9.99999476e-01 -2.59030688e-04 -2.66511774e+00] [-4.41114606e-03 2.63397911e-04 9.99990236e-01 -6.04835245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270371743 meters Centerline goodness [0,1] 0.9904615721960311 Centerline is valid? [True, True] Translation: X:47.98, Y:-2.67, Z:-0.61 [[ 9.99995448e-01 -8.86746107e-04 2.88404915e-03 4.79839243e+01] [ 8.87239205e-04 9.99999592e-01 -1.69699205e-04 -2.66510167e+00] [-2.88389749e-03 1.72257274e-04 9.99995827e-01 -6.05793247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300371743 meters Centerline goodness [0,1] 0.9903905221588416 Centerline is valid? [True, True] Translation: X:48.02, Y:-2.67, Z:-0.61 [[ 9.99996940e-01 -3.74115546e-04 2.44525540e-03 4.80151361e+01] [ 3.74467109e-04 9.99999920e-01 -1.43317498e-04 -2.66775833e+00] [-2.44520159e-03 1.44232728e-04 9.99997000e-01 -6.06733944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.330371743 meters Centerline goodness [0,1] 0.9908737906675734 Centerline is valid? [True, True] Translation: X:48.05, Y:-2.67, Z:-0.61 [[ 9.99997915e-01 -2.69267643e-04 2.02421008e-03 4.80467262e+01] [ 2.69510347e-04 9.99999957e-01 -1.19628758e-04 -2.66886071e+00] [-2.02417778e-03 1.20174055e-04 9.99997944e-01 -6.07559796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360371743 meters Centerline goodness [0,1] 0.9912334531428071 Centerline is valid? [True, True] Translation: X:48.08, Y:-2.67, Z:-0.61 [[ 9.99998487e-01 5.43040091e-05 1.73873415e-03 4.80779165e+01] [-5.41254509e-05 9.99999993e-01 -1.02741223e-04 -2.66809936e+00] [-1.73873972e-03 1.02646958e-04 9.99998483e-01 -6.07744267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390371743 meters Centerline goodness [0,1] 0.9908897794713444 Centerline is valid? [True, True] Translation: X:48.11, Y:-2.67, Z:-0.61 [[ 9.99999442e-01 3.09811229e-04 1.00958832e-03 4.81089065e+01] [-3.09751329e-04 9.99999950e-01 -5.94866783e-05 -2.66965264e+00] [-1.00960670e-03 5.91739238e-05 9.99999489e-01 -6.08773386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420371743000004 meters Centerline goodness [0,1] 0.9914679885070077 Centerline is valid? [True, True] Translation: X:48.14, Y:-2.67, Z:-0.61 [[ 9.99998253e-01 1.77184826e-03 5.94715276e-04 4.81399405e+01] [-1.77182770e-03 9.99998430e-01 -3.50940296e-05 -2.66795084e+00] [-5.94776523e-04 3.40402353e-05 9.99999823e-01 -6.08522216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.450371743 meters Centerline goodness [0,1] 0.9917489576475752 Centerline is valid? [True, True] Translation: X:48.17, Y:-2.67, Z:-0.61 [[ 9.99995169e-01 2.93347651e-03 1.02763754e-03 4.81695974e+01] [-2.93341506e-03 9.99995696e-01 -6.12999526e-05 -2.66953691e+00] [-1.02781294e-03 5.82851690e-05 9.99999470e-01 -6.08871696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480371743 meters Centerline goodness [0,1] 0.9916101117919659 Centerline is valid? [True, True] Translation: X:48.20, Y:-2.67, Z:-0.61 [[ 9.99990855e-01 4.11624046e-03 1.16042552e-03 4.81989289e+01] [-4.11616296e-03 9.99991526e-01 -6.91654799e-05 -2.67202578e+00] [-1.16070038e-03 6.43883469e-05 9.99999324e-01 -6.09825786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510371743 meters Centerline goodness [0,1] 0.9919873205952277 Centerline is valid? [True, True] Translation: X:48.23, Y:-2.67, Z:-0.61 [[ 9.99980789e-01 6.13249227e-03 9.02513047e-04 4.82286525e+01] [-6.13244667e-03 9.99981195e-01 -5.32801082e-05 -2.67293656e+00] [-9.02822815e-04 4.77444715e-05 9.99999591e-01 -6.10018460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540371743 meters Centerline goodness [0,1] 0.992140332389295 Centerline is valid? [True, True] Translation: X:48.26, Y:-2.67, Z:-0.61 [[ 9.99944342e-01 1.04857608e-02 1.16671242e-03 4.82577813e+01] [-1.04856866e-02 9.99945021e-01 -6.96773415e-05 -2.67094557e+00] [-1.16737890e-03 5.74396827e-05 9.99999317e-01 -6.10129262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.570371743 meters Centerline goodness [0,1] 0.9922997608757651 Centerline is valid? [True, True] Translation: X:48.29, Y:-2.67, Z:-0.61 [[ 9.99919600e-01 1.26251708e-02 1.18226977e-03 4.82870770e+01] [-1.26250956e-02 9.99920298e-01 -7.11197715e-05 -2.66578213e+00] [-1.18307344e-03 5.61877847e-05 9.99999299e-01 -6.08725209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600371743000004 meters Centerline goodness [0,1] 0.9921954007826584 Centerline is valid? [True, True] Translation: X:48.32, Y:-2.66, Z:-0.61 [[ 9.99862013e-01 1.64332731e-02 2.42933287e-03 4.83157277e+01] [-1.64329707e-02 9.99864959e-01 -1.44388767e-04 -2.66498629e+00] [-2.43137759e-03 1.04447687e-04 9.99997039e-01 -6.08535043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.630371743 meters Centerline goodness [0,1] 0.9921924827904727 Centerline is valid? [True, True] Translation: X:48.34, Y:-2.67, Z:-0.61 [[ 9.99837826e-01 1.78032378e-02 2.71410014e-03 4.83434257e+01] [-1.78028638e-02 9.99841503e-01 -1.61879954e-04 -2.66575131e+00] [-2.71655195e-03 1.13534946e-04 9.99996304e-01 -6.08960987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660371743 meters Centerline goodness [0,1] 0.9924438782234327 Centerline is valid? [True, True] Translation: X:48.37, Y:-2.66, Z:-0.61 [[ 9.99811258e-01 1.92325986e-02 2.74886836e-03 4.83719918e+01] [-1.92322216e-02 9.99815030e-01 -1.63501304e-04 -2.66476439e+00] [-2.75150446e-03 1.10603599e-04 9.99996208e-01 -6.09170728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.690371743 meters Centerline goodness [0,1] 0.9917625494136614 Centerline is valid? [True, True] Translation: X:48.40, Y:-2.66, Z:-0.61 [[ 9.99811521e-01 1.92590015e-02 2.45204945e-03 4.84008881e+01] [-1.92587018e-02 9.99814523e-01 -1.45790232e-04 -2.66470082e+00] [-2.45440243e-03 9.85394642e-05 9.99996983e-01 -6.09526801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720371743 meters Centerline goodness [0,1] 0.9922463544649543 Centerline is valid? [True, True] Translation: X:48.43, Y:-2.67, Z:-0.61 [[ 9.99820393e-01 1.88111988e-02 2.30672480e-03 4.84283156e+01] [-1.88109322e-02 9.99823049e-01 -1.37235424e-04 -2.66735266e+00] [-2.30889819e-03 9.38191316e-05 9.99997330e-01 -6.10402702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750371743 meters Centerline goodness [0,1] 0.9929519895715958 Centerline is valid? [True, True] Translation: X:48.46, Y:-2.67, Z:-0.61 [[ 9.99841731e-01 1.76483718e-02 2.24679034e-03 4.84568916e+01] [-1.76481167e-02 9.99844251e-01 -1.33322820e-04 -2.66620320e+00] [-2.24879333e-03 9.36501011e-05 9.99997467e-01 -6.09994702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780371743 meters Centerline goodness [0,1] 0.9926716549295774 Centerline is valid? [True, True] Translation: X:48.48, Y:-2.67, Z:-0.61 [[ 9.99865122e-01 1.62423033e-02 2.43437671e-03 4.84846540e+01] [-1.62419994e-02 9.99868080e-01 -1.44525676e-04 -2.67017465e+00] [-2.43640299e-03 1.04967038e-04 9.99997026e-01 -6.10655749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.810371743 meters Centerline goodness [0,1] 0.992626931567329 Centerline is valid? [True, True] Translation: X:48.51, Y:-2.67, Z:-0.61 [[ 9.99916872e-01 1.26977234e-02 2.23976759e-03 4.85143717e+01] [-1.26974593e-02 9.99919375e-01 -1.32086829e-04 -2.67312495e+00] [-2.24126421e-03 1.03636491e-04 9.99997483e-01 -6.11428424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840371743 meters Centerline goodness [0,1] 0.9914494034467521 Centerline is valid? [True, True] Translation: X:48.54, Y:-2.68, Z:-0.61 [[ 9.99935487e-01 1.12998784e-02 1.15560294e-03 4.85433478e+01] [-1.12998067e-02 9.99936153e-01 -6.85694276e-05 -2.67648296e+00] [-1.15630398e-03 5.55069142e-05 9.99999330e-01 -6.12378890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870371743 meters Centerline goodness [0,1] 0.9914494034467521 Centerline is valid? [True, True] Translation: X:48.57, Y:-2.68, Z:-0.61 [[ 9.99936300e-01 1.12276390e-02 1.15559357e-03 4.85716396e+01] [-1.12275670e-02 9.99936967e-01 -6.87295757e-05 -2.67808457e+00] [-1.15629240e-03 5.57506934e-05 9.99999330e-01 -6.12763129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900371743 meters Centerline goodness [0,1] 0.9907027979731219 Centerline is valid? [True, True] Translation: X:48.60, Y:-2.68, Z:-0.61 [[ 9.99975442e-01 6.86576955e-03 1.40590175e-03 4.86006446e+01] [-6.86565983e-03 9.99976428e-01 -8.28599507e-05 -2.68325806e+00] [-1.40643751e-03 7.32054727e-05 9.99999008e-01 -6.13687709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.930371743 meters Centerline goodness [0,1] 0.9916481191740673 Centerline is valid? [True, True] Translation: X:48.63, Y:-2.68, Z:-0.61 [[ 9.99985469e-01 5.20540709e-03 1.40211128e-03 4.86306387e+01] [-5.20529638e-03 9.99986449e-01 -8.25992697e-05 -2.68196524e+00] [-1.40252225e-03 7.52996647e-05 9.99999014e-01 -6.13182934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960371743 meters Centerline goodness [0,1] 0.9918500407497962 Centerline is valid? [True, True] Translation: X:48.66, Y:-2.69, Z:-0.61 [[ 9.99990226e-01 4.07171959e-03 1.72328502e-03 4.86594358e+01] [-4.07155280e-03 9.99991706e-01 -1.00283327e-04 -2.68543307e+00] [-1.72367906e-03 9.32659005e-05 9.99998510e-01 -6.13541718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.990371743 meters Centerline goodness [0,1] 0.9911241300325963 Centerline is valid? [True, True] Translation: X:48.69, Y:-2.69, Z:-0.61 [[ 9.99993023e-01 2.50300195e-03 2.77299832e-03 4.86884540e+01] [-2.50256034e-03 9.99996855e-01 -1.62711365e-04 -2.69002826e+00] [-2.77339687e-03 1.55770634e-04 9.99996142e-01 -6.13454169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020371743 meters Centerline goodness [0,1] 0.9917569060773481 Centerline is valid? [True, True] Translation: X:48.72, Y:-2.69, Z:-0.61 [[ 9.99993247e-01 2.06760434e-03 3.03834546e-03 4.87192242e+01] [-2.06707299e-03 9.99997848e-01 -1.78012684e-04 -2.69026769e+00] [-3.03870698e-03 1.71731000e-04 9.99995368e-01 -6.13479206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050371743 meters Centerline goodness [0,1] 0.9907280976082457 Centerline is valid? [True, True] Translation: X:48.75, Y:-2.69, Z:-0.61 [[ 9.99991955e-01 2.44188320e-03 3.18244705e-03 4.87502264e+01] [-2.44130332e-03 9.99997003e-01 -1.86084878e-04 -2.69132831e+00] [-3.18289190e-03 1.78314063e-04 9.99994919e-01 -6.13923503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080371743 meters Centerline goodness [0,1] 0.9911793964850226 Centerline is valid? [True, True] Translation: X:48.78, Y:-2.69, Z:-0.61 [[ 9.99988360e-01 3.52204627e-03 3.29773351e-03 4.87808934e+01] [-3.52142901e-03 9.99993781e-01 -1.92964141e-04 -2.69459896e+00] [-3.29839263e-03 1.81349160e-04 9.99994544e-01 -6.14800167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110371743 meters Centerline goodness [0,1] 0.9911820466469733 Centerline is valid? [True, True] Translation: X:48.81, Y:-2.69, Z:-0.61 [[ 9.99987295e-01 3.49251466e-03 3.63482460e-03 4.88112375e+01] [-3.49176264e-03 9.99993881e-01 -2.13219140e-04 -2.69394266e+00] [-3.63554703e-03 2.00524487e-04 9.99993371e-01 -6.14904877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140371743 meters Centerline goodness [0,1] 0.9912278768376276 Centerline is valid? [True, True] Translation: X:48.84, Y:-2.69, Z:-0.62 [[ 9.99980832e-01 5.07328736e-03 3.54929441e-03 4.88418832e+01] [-5.07258087e-03 9.99987113e-01 -2.08023693e-04 -2.69456834e+00] [-3.55030404e-03 1.90015622e-04 9.99993680e-01 -6.15368122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170371743000004 meters Centerline goodness [0,1] 0.9902799206524134 Centerline is valid? [True, True] Translation: X:48.87, Y:-2.69, Z:-0.62 [[ 9.99979647e-01 5.75954976e-03 2.74452127e-03 4.88722613e+01] [-5.75912940e-03 9.99983403e-01 -1.61042899e-04 -2.69229601e+00] [-2.74540325e-03 1.45233568e-04 9.99996221e-01 -6.15205937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200371743 meters Centerline goodness [0,1] 0.9916187527642636 Centerline is valid? [True, True] Translation: X:48.90, Y:-2.69, Z:-0.62 [[ 9.99963663e-01 8.15350051e-03 2.48850473e-03 4.89014045e+01] [-8.15316132e-03 9.99966752e-01 -1.46419331e-04 -2.69299360e+00] [-2.48961582e-03 1.26124830e-04 9.99996893e-01 -6.15855277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230371743 meters Centerline goodness [0,1] 0.9908404696742297 Centerline is valid? [True, True] Translation: X:48.93, Y:-2.69, Z:-0.62 [[ 9.99954950e-01 9.22883557e-03 2.21943670e-03 4.89305688e+01] [-9.22856757e-03 9.99957407e-01 -1.30963173e-04 -2.69310739e+00] [-2.22055080e-03 1.10475052e-04 9.99997528e-01 -6.16556377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260371743 meters Centerline goodness [0,1] 0.9915099124528635 Centerline is valid? [True, True] Translation: X:48.96, Y:-2.69, Z:-0.62 [[ 9.99945153e-01 1.02549241e-02 2.12770607e-03 4.89591320e+01] [-1.02546803e-02 9.99947412e-01 -1.25446930e-04 -2.69284605e+00] [-2.12888063e-03 1.03621104e-04 9.99997729e-01 -6.16765318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290371743 meters Centerline goodness [0,1] 0.9911703181768138 Centerline is valid? [True, True] Translation: X:48.99, Y:-2.70, Z:-0.62 [[ 9.99931337e-01 1.14221380e-02 2.61823807e-03 4.89868725e+01] [-1.14217735e-02 9.99934758e-01 -1.54113048e-04 -2.69645312e+00] [-2.61982755e-03 1.24197544e-04 9.99996561e-01 -6.17463578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320371743 meters Centerline goodness [0,1] 0.9911627598700926 Centerline is valid? [True, True] Translation: X:49.02, Y:-2.70, Z:-0.62 [[ 9.99897577e-01 1.38034194e-02 3.78163080e-03 4.90153892e+01] [-1.38026816e-02 9.99904714e-01 -2.21145182e-04 -2.69769073e+00] [-3.78432302e-03 1.68925886e-04 9.99992825e-01 -6.17273966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.350371743000004 meters Centerline goodness [0,1] 0.9918444718744489 Centerline is valid? [True, True] Translation: X:49.04, Y:-2.70, Z:-0.62 [[ 9.99873073e-01 1.54318545e-02 3.96186590e-03 4.90441718e+01] [-1.54310563e-02 9.99880907e-01 -2.31971338e-04 -2.69747808e+00] [-3.96497382e-03 1.70806119e-04 9.99992125e-01 -6.16712649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.380371743 meters Centerline goodness [0,1] 0.9911862160371107 Centerline is valid? [True, True] Translation: X:49.07, Y:-2.69, Z:-0.62 [[ 9.99818244e-01 1.85540840e-02 4.38451461e-03 4.90740776e+01] [-1.85531395e-02 9.99827843e-01 -2.56002453e-04 -2.69449946e+00] [-4.38850968e-03 1.74609412e-04 9.99990355e-01 -6.15706230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410371743 meters Centerline goodness [0,1] 0.9919315726819805 Centerline is valid? [True, True] Translation: X:49.10, Y:-2.70, Z:-0.62 [[ 9.99798756e-01 1.95264381e-02 4.60061348e-03 4.91023838e+01] [-1.95254079e-02 9.99809325e-01 -2.68744148e-04 -2.69583976e+00] [-4.60498387e-03 1.78861210e-04 9.99989381e-01 -6.15912913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440371743 meters Centerline goodness [0,1] 0.9922924028268552 Centerline is valid? [True, True] Translation: X:49.13, Y:-2.70, Z:-0.62 [[ 9.99790938e-01 1.99726721e-02 4.37870178e-03 4.91297493e+01] [-1.99717436e-02 9.99800512e-01 -2.55672510e-04 -2.69907511e+00] [-4.38293474e-03 1.68168749e-04 9.99990381e-01 -6.17297808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470371743 meters Centerline goodness [0,1] 0.9917369979232027 Centerline is valid? [True, True] Translation: X:49.16, Y:-2.70, Z:-0.62 [[ 9.99784195e-01 2.03705678e-02 4.07474815e-03 4.91586847e+01] [-2.03697688e-02 9.99792487e-01 -2.37487984e-04 -2.69907991e+00] [-4.07874035e-03 1.54435055e-04 9.99991670e-01 -6.17781846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500371743 meters Centerline goodness [0,1] 0.9927203741286509 Centerline is valid? [True, True] Translation: X:49.19, Y:-2.70, Z:-0.62 [[ 9.99788196e-01 2.01883494e-02 3.99918910e-03 4.91871477e+01] [-2.01875793e-02 9.99796183e-01 -2.32849828e-04 -2.69814352e+00] [-4.00307485e-03 1.52066562e-04 9.99991976e-01 -6.17411496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.530371743 meters Centerline goodness [0,1] 0.9925778661365142 Centerline is valid? [True, True] Translation: X:49.22, Y:-2.70, Z:-0.62 [[ 9.99799853e-01 1.95199824e-02 4.38460583e-03 4.92162164e+01] [-1.95190521e-02 9.99809453e-01 -2.54876521e-04 -2.70086951e+00] [-4.38874554e-03 1.69242158e-04 9.99990355e-01 -6.18008726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.560371743 meters Centerline goodness [0,1] 0.9919523757027892 Centerline is valid? [True, True] Translation: X:49.24, Y:-2.70, Z:-0.62 [[ 9.99826453e-01 1.81088627e-02 4.37416925e-03 4.92435821e+01] [-1.81079240e-02 9.99836006e-01 -2.54116651e-04 -2.70492495e+00] [-4.37805368e-03 1.74865426e-04 9.99990401e-01 -6.17948348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.590371743 meters Centerline goodness [0,1] 0.9919827320382362 Centerline is valid? [True, True] Translation: X:49.27, Y:-2.71, Z:-0.62 [[ 9.99840633e-01 1.71366678e-02 5.00437125e-03 4.92725382e+01] [-1.71354309e-02 9.99853136e-01 -2.89949795e-04 -2.70782200e+00] [-5.00860506e-03 2.04151529e-04 9.99987436e-01 -6.17850580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620371743 meters Centerline goodness [0,1] 0.9926636319441375 Centerline is valid? [True, True] Translation: X:49.30, Y:-2.71, Z:-0.62 [[ 9.99855047e-01 1.61316415e-02 5.44573491e-03 4.93017558e+01] [-1.61301643e-02 9.99869851e-01 -3.15064990e-04 -2.70913293e+00] [-5.45010866e-03 2.27178721e-04 9.99985122e-01 -6.17492035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650371743 meters Centerline goodness [0,1] 0.9918126595651026 Centerline is valid? [True, True] Translation: X:49.33, Y:-2.72, Z:-0.62 [[ 9.99887464e-01 1.36820602e-02 6.15306883e-03 4.93295860e+01] [-1.36801339e-02 9.99906360e-01 -3.55039006e-04 -2.71758063e+00] [-6.15735032e-03 2.70824246e-04 9.99981007e-01 -6.17777029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680371743 meters Centerline goodness [0,1] 0.9911553222462394 Centerline is valid? [True, True] Translation: X:49.36, Y:-2.72, Z:-0.62 [[ 9.99904354e-01 1.23463901e-02 6.23293212e-03 4.93588087e+01] [-1.23443869e-02 9.99923740e-01 -3.59750258e-04 -2.71803082e+00] [-6.23689842e-03 2.82774124e-04 9.99980510e-01 -6.17717512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710371743 meters Centerline goodness [0,1] 0.9911599308549047 Centerline is valid? [True, True] Translation: X:49.39, Y:-2.73, Z:-0.62 [[ 9.99945194e-01 8.68949737e-03 5.83967302e-03 4.93871318e+01] [-8.68768132e-03 9.99962205e-01 -3.36278822e-04 -2.72875252e+00] [-5.84237440e-03 2.85527174e-04 9.99982892e-01 -6.19341269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.740371743 meters Centerline goodness [0,1] 0.991106806374923 Centerline is valid? [True, True] Translation: X:49.42, Y:-2.73, Z:-0.62 [[ 9.99965347e-01 6.44521617e-03 5.26908460e-03 4.94171003e+01] [-6.44370508e-03 9.99979193e-01 -3.03710404e-04 -2.72896995e+00] [-5.27093245e-03 2.69747452e-04 9.99986072e-01 -6.19770956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770371743 meters Centerline goodness [0,1] 0.990294680780827 Centerline is valid? [True, True] Translation: X:49.45, Y:-2.74, Z:-0.62 [[ 9.99978112e-01 4.37118632e-03 4.96663605e-03 4.94465305e+01] [-4.36981934e-03 9.99990411e-01 -2.86050343e-04 -2.73569290e+00] [-4.96783881e-03 2.64340780e-04 9.99987625e-01 -6.20889438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800371743 meters Centerline goodness [0,1] 0.9907297570405518 Centerline is valid? [True, True] Translation: X:49.48, Y:-2.74, Z:-0.62 [[ 9.99990618e-01 1.88635708e-04 4.32756821e-03 4.94778064e+01] [-1.87559918e-04 9.99999951e-01 -2.48994524e-04 -2.73638670e+00] [-4.32761497e-03 2.48180509e-04 9.99990605e-01 -6.21093684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.830371743 meters Centerline goodness [0,1] 0.9900575040604012 Centerline is valid? [True, True] Translation: X:49.51, Y:-2.75, Z:-0.62 [[ 9.99990774e-01 -1.47985179e-03 4.03268977e-03 4.95083265e+01] [ 1.48079188e-03 9.99998877e-01 -2.30140947e-04 -2.74996734e+00] [-4.03234466e-03 2.36110398e-04 9.99991842e-01 -6.23466697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860371743 meters Centerline goodness [0,1] 0.9902328247640886 Centerline is valid? [True, True] Translation: X:49.54, Y:-2.75, Z:-0.62 [[ 9.99988340e-01 -3.14658486e-03 3.66309741e-03 4.95409942e+01] [ 3.14737966e-03 9.99995025e-01 -2.11231920e-04 -2.74663253e+00] [-3.66241453e-03 2.22758615e-04 9.99993269e-01 -6.23089779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.890371743 meters Centerline goodness [0,1] 0.9898776979996926 Centerline is valid? [True, True] Translation: X:49.57, Y:-2.75, Z:-0.62 [[ 9.99984402e-01 -4.15907348e-03 3.72806829e-03 4.95716009e+01] [ 4.15990545e-03 9.99991324e-01 -2.15437991e-04 -2.75220853e+00] [-3.72713992e-03 2.30943042e-04 9.99993028e-01 -6.24161938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920371743000004 meters Centerline goodness [0,1] 0.9892671769156329 Centerline is valid? [True, True] Translation: X:49.60, Y:-2.76, Z:-0.62 [[ 9.99978596e-01 -5.60430892e-03 3.37637031e-03 4.96037443e+01] [ 5.60499932e-03 9.99984273e-01 -1.95052538e-04 -2.75546616e+00] [-3.37522408e-03 2.13972917e-04 9.99994281e-01 -6.24654741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.950371743 meters Centerline goodness [0,1] 0.9894285276543588 Centerline is valid? [True, True] Translation: X:49.64, Y:-2.76, Z:-0.63 [[ 9.99979610e-01 -5.42743319e-03 3.36491892e-03 4.96356280e+01] [ 5.42811871e-03 9.99985249e-01 -1.94626017e-04 -2.75776649e+00] [-3.36381296e-03 2.12887228e-04 9.99994320e-01 -6.25173758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980371743 meters Centerline goodness [0,1] 0.9898288701917796 Centerline is valid? [True, True] Translation: X:49.67, Y:-2.76, Z:-0.63 [[ 9.99980877e-01 -5.14010060e-03 3.43886071e-03 4.96682621e+01] [ 5.14081576e-03 9.99986766e-01 -1.99155586e-04 -2.75791319e+00] [-3.43779152e-03 2.16830327e-04 9.99994067e-01 -6.25461703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010371743 meters Centerline goodness [0,1] 0.9906360852226408 Centerline is valid? [True, True] Translation: X:49.70, Y:-2.76, Z:-0.62 [[ 9.99984553e-01 -3.01918154e-03 4.66675334e-03 4.96999849e+01] [ 3.02048012e-03 9.99995402e-01 -2.71240163e-04 -2.75507803e+00] [-4.66591296e-03 2.85331809e-04 9.99989074e-01 -6.24730619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040371743 meters Centerline goodness [0,1] 0.9897633461750137 Centerline is valid? [True, True] Translation: X:49.73, Y:-2.76, Z:-0.63 [[ 9.99986120e-01 -1.46395695e-03 5.06125838e-03 4.97298151e+01] [ 1.46546644e-03 9.99998883e-01 -2.94548279e-04 -2.76295089e+00] [-5.06082152e-03 3.01961295e-04 9.99987148e-01 -6.25752444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070371743 meters Centerline goodness [0,1] 0.9908295122967903 Centerline is valid? [True, True] Translation: X:49.76, Y:-2.75, Z:-0.63 [[ 9.99983085e-01 2.83563464e-03 5.07821566e-03 4.97607790e+01] [-2.83416947e-03 9.99995940e-01 -2.95692826e-04 -2.75355761e+00] [-5.07903352e-03 2.81295300e-04 9.99987062e-01 -6.25215192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100371743000004 meters Centerline goodness [0,1] 0.9907320172651782 Centerline is valid? [True, True] Translation: X:49.79, Y:-2.75, Z:-0.63 [[ 9.99973234e-01 5.38339602e-03 4.95474006e-03 4.97923438e+01] [-5.38203328e-03 9.99985475e-01 -2.88331260e-04 -2.75329537e+00] [-4.95622029e-03 2.61656967e-04 9.99987684e-01 -6.26041299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.130371743 meters Centerline goodness [0,1] 0.9913916470355122 Centerline is valid? [True, True] Translation: X:49.82, Y:-2.75, Z:-0.63 [[ 9.99960137e-01 7.61573571e-03 4.66097546e-03 4.98236134e+01] [-7.61455260e-03 9.99970972e-01 -2.71526987e-04 -2.75118371e+00] [-4.66290804e-03 2.36024920e-04 9.99989101e-01 -6.26519771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160371743 meters Centerline goodness [0,1] 0.9917017942662929 Centerline is valid? [True, True] Translation: X:49.85, Y:-2.75, Z:-0.63 [[ 9.99930722e-01 1.05361096e-02 5.24792836e-03 4.98542499e+01] [-1.05346477e-02 9.99944462e-01 -3.06140593e-04 -2.74682869e+00] [-5.25086243e-03 2.50834308e-04 9.99986183e-01 -6.26211237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190371743 meters Centerline goodness [0,1] 0.9911077850901328 Centerline is valid? [True, True] Translation: X:49.88, Y:-2.75, Z:-0.63 [[ 9.99916147e-01 1.16728549e-02 5.60744126e-03 4.98828663e+01] [-1.16712027e-02 9.99931836e-01 -3.27278367e-04 -2.75219322e+00] [-5.61087931e-03 2.61805340e-04 9.99984225e-01 -6.26995083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220371743 meters Centerline goodness [0,1] 0.9916201117318436 Centerline is valid? [True, True] Translation: X:49.91, Y:-2.75, Z:-0.63 [[ 9.99906909e-01 1.22601925e-02 5.98832488e-03 4.99116450e+01] [-1.22583211e-02 9.99924803e-01 -3.49112165e-04 -2.75314108e+00] [-5.99215476e-03 2.75672857e-04 9.99982009e-01 -6.27474880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250371743 meters Centerline goodness [0,1] 0.9917231663291363 Centerline is valid? [True, True] Translation: X:49.94, Y:-2.75, Z:-0.63 [[ 9.99900094e-01 1.28239776e-02 5.94533474e-03 4.99407304e+01] [-1.28221438e-02 9.99917733e-01 -3.46449141e-04 -2.75157575e+00] [-5.94928849e-03 2.70182591e-04 9.99982266e-01 -6.27591732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280371743 meters Centerline goodness [0,1] 0.9914409247330804 Centerline is valid? [True, True] Translation: X:49.97, Y:-2.75, Z:-0.63 [[ 9.99901664e-01 1.32664914e-02 4.54565756e-03 4.99698213e+01] [-1.32654252e-02 9.99911975e-01 -2.64632001e-04 -2.75231711e+00] [-4.54876817e-03 2.04305898e-04 9.99989633e-01 -6.29345799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.310371743 meters Centerline goodness [0,1] 0.9917010616461033 Centerline is valid? [True, True] Translation: X:50.00, Y:-2.75, Z:-0.63 [[ 9.99905079e-01 1.31851287e-02 3.99814719e-03 4.99985264e+01] [-1.31843030e-02 9.99913056e-01 -2.32802900e-04 -2.75256956e+00] [-4.00086911e-03 1.80068018e-04 9.99991980e-01 -6.30056929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340371743 meters Centerline goodness [0,1] 0.9920859988128998 Centerline is valid? [True, True] Translation: X:50.03, Y:-2.75, Z:-0.63 [[ 9.99913054e-01 1.28110811e-02 3.12433119e-03 5.00278959e+01] [-1.28105751e-02 9.99917925e-01 -1.81934269e-04 -2.75066157e+00] [-3.12640554e-03 1.41893971e-04 9.99995103e-01 -6.30034866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370371743 meters Centerline goodness [0,1] 0.9924534147744877 Centerline is valid? [True, True] Translation: X:50.06, Y:-2.75, Z:-0.63 [[ 9.99925950e-01 1.17337714e-02 3.22685311e-03 5.00568794e+01] [-1.17332268e-02 9.99931146e-01 -1.87656935e-04 -2.74958399e+00] [-3.22883285e-03 1.49781640e-04 9.99994776e-01 -6.30036218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400371743 meters Centerline goodness [0,1] 0.9915183292210081 Centerline is valid? [True, True] Translation: X:50.08, Y:-2.76, Z:-0.63 [[ 9.99935120e-01 1.08233773e-02 3.55119900e-03 5.00841732e+01] [-1.08227127e-02 9.99941411e-01 -2.06334403e-04 -2.75715281e+00] [-3.55322417e-03 1.67887409e-04 9.99993673e-01 -6.31558308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.430371743 meters Centerline goodness [0,1] 0.9917122200670075 Centerline is valid? [True, True] Translation: X:50.11, Y:-2.76, Z:-0.63 [[ 9.99946413e-01 9.60959588e-03 3.85062196e-03 5.01132248e+01] [-9.60880900e-03 9.99953810e-01 -2.22801582e-04 -2.75981542e+00] [-3.85258513e-03 1.85789752e-04 9.99992562e-01 -6.31810648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460371743 meters Centerline goodness [0,1] 0.9917493564498031 Centerline is valid? [True, True] Translation: X:50.14, Y:-2.76, Z:-0.63 [[ 9.99961101e-01 7.95318552e-03 3.81368277e-03 5.01433037e+01] [-7.95240244e-03 9.99968355e-01 -2.20455101e-04 -2.75774623e+00] [-3.81531541e-03 1.90118586e-04 9.99992704e-01 -6.31423653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.490371743 meters Centerline goodness [0,1] 0.991942960575692 Centerline is valid? [True, True] Translation: X:50.17, Y:-2.76, Z:-0.63 [[ 9.99978314e-01 5.30415709e-03 3.90363926e-03 5.01738557e+01] [-5.30331841e-03 9.99985912e-01 -2.25163326e-04 -2.75953561e+00] [-3.90477857e-03 2.04456201e-04 9.99992355e-01 -6.31597936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520371743 meters Centerline goodness [0,1] 0.9915483657972929 Centerline is valid? [True, True] Translation: X:50.20, Y:-2.77, Z:-0.63 [[ 9.99979645e-01 4.64103361e-03 4.37843484e-03 5.02029570e+01] [-4.63997254e-03 9.99989203e-01 -2.52466556e-04 -2.76759353e+00] [-4.37955928e-03 2.32145599e-04 9.99990383e-01 -6.32944013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550371743 meters Centerline goodness [0,1] 0.9913214815470788 Centerline is valid? [True, True] Translation: X:50.23, Y:-2.76, Z:-0.63 [[ 9.99982055e-01 2.96851570e-03 5.20352442e-03 5.02342759e+01] [-2.96699447e-03 9.99995553e-01 -3.00042366e-04 -2.76260102e+00] [-5.20439196e-03 2.84598154e-04 9.99986417e-01 -6.31164053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580371743 meters Centerline goodness [0,1] 0.9909634551495017 Centerline is valid? [True, True] Translation: X:50.27, Y:-2.76, Z:-0.63 [[ 9.99981261e-01 2.15314755e-03 5.73077606e-03 5.02651880e+01] [-2.15128912e-03 9.99997631e-01 -3.30434471e-04 -2.76474724e+00] [-5.73147396e-03 3.18099723e-04 9.99983524e-01 -6.31238875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.610371743 meters Centerline goodness [0,1] 0.9914422183892796 Centerline is valid? [True, True] Translation: X:50.30, Y:-2.77, Z:-0.63 [[ 9.99982624e-01 1.44340446e-03 5.71558913e-03 5.02964176e+01] [-1.44155165e-03 9.99998907e-01 -3.28274193e-04 -2.76750418e+00] [-5.71605672e-03 3.20029172e-04 9.99983612e-01 -6.31517589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640371743 meters Centerline goodness [0,1] 0.9914584762452701 Centerline is valid? [True, True] Translation: X:50.33, Y:-2.77, Z:-0.63 [[ 9.99986820e-01 -9.23043748e-04 5.05055926e-03 5.03274353e+01] [ 9.24533354e-04 9.99999530e-01 -2.92611925e-04 -2.76682104e+00] [-5.05028679e-03 2.97277479e-04 9.99987203e-01 -6.32481809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.670371743 meters Centerline goodness [0,1] 0.9911884520014169 Centerline is valid? [True, True] Translation: X:50.36, Y:-2.77, Z:-0.63 [[ 9.99988543e-01 -2.04912741e-03 4.32619220e-03 5.03598129e+01] [ 2.05022894e-03 9.99997867e-01 -2.50199060e-04 -2.77002072e+00] [-4.32567028e-03 2.59065877e-04 9.99990611e-01 -6.33970999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700371743 meters Centerline goodness [0,1] 0.9910575944043561 Centerline is valid? [True, True] Translation: X:50.39, Y:-2.77, Z:-0.63 [[ 9.99987211e-01 -3.23109749e-03 3.89064268e-03 5.03920084e+01] [ 3.23199800e-03 9.99994752e-01 -2.25187919e-04 -2.77210875e+00] [-3.88989466e-03 2.37759589e-04 9.99992406e-01 -6.34755858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.730371743 meters Centerline goodness [0,1] 0.9905242649663478 Centerline is valid? [True, True] Translation: X:50.42, Y:-2.77, Z:-0.64 [[ 9.99984939e-01 -4.36785134e-03 3.32327386e-03 5.04232391e+01] [ 4.36851554e-03 9.99990439e-01 -1.92628854e-04 -2.77461770e+00] [-3.32240072e-03 2.07143726e-04 9.99994459e-01 -6.35814911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760371743 meters Centerline goodness [0,1] 0.990432741285379 Centerline is valid? [True, True] Translation: X:50.45, Y:-2.78, Z:-0.64 [[ 9.99983237e-01 -5.30774774e-03 2.31381515e-03 5.04543436e+01] [ 5.30807085e-03 9.99985903e-01 -1.33527684e-04 -2.77712679e+00] [-2.31307380e-03 1.45807341e-04 9.99997314e-01 -6.36815240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.790371743 meters Centerline goodness [0,1] 0.9906935519610015 Centerline is valid? [True, True] Translation: X:50.49, Y:-2.78, Z:-0.64 [[ 9.99981750e-01 -5.61052061e-03 2.24109967e-03 5.04865640e+01] [ 5.61082556e-03 9.99984251e-01 -1.29809418e-04 -2.77643026e+00] [-2.24033607e-03 1.42381468e-04 9.99997480e-01 -6.37003840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820371743 meters Centerline goodness [0,1] 0.9906935519610015 Centerline is valid? [True, True] Translation: X:50.52, Y:-2.78, Z:-0.64 [[ 9.99982141e-01 -5.54032980e-03 2.24109066e-03 5.05182650e+01] [ 5.54063492e-03 9.99984642e-01 -1.29964184e-04 -2.77834358e+00] [-2.24033620e-03 1.42378928e-04 9.99997480e-01 -6.37433879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850371743000004 meters Centerline goodness [0,1] 0.9904573799960054 Centerline is valid? [True, True] Translation: X:50.55, Y:-2.78, Z:-0.64 [[ 9.99982395e-01 -5.49189615e-03 2.24698134e-03 5.05493990e+01] [ 5.49220195e-03 9.99984909e-01 -1.29945218e-04 -2.78220536e+00] [-2.24623378e-03 1.42283805e-04 9.99997467e-01 -6.37788240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.880371743 meters Centerline goodness [0,1] 0.9911911911911911 Centerline is valid? [True, True] Translation: X:50.58, Y:-2.77, Z:-0.64 [[ 9.99985905e-01 -4.68147064e-03 2.50454008e-03 5.05825020e+01] [ 4.68185043e-03 9.99989029e-01 -1.45799975e-04 -2.77369830e+00] [-2.50383005e-03 1.57523803e-04 9.99996853e-01 -6.35717395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.910371743 meters Centerline goodness [0,1] 0.9907508282010805 Centerline is valid? [True, True] Translation: X:50.61, Y:-2.77, Z:-0.64 [[ 9.99989056e-01 -3.86138512e-03 2.64150153e-03 5.06147923e+01] [ 3.86180538e-03 9.99992531e-01 -1.54015633e-04 -2.77339772e+00] [-2.64088709e-03 1.64214913e-04 9.99996499e-01 -6.35910445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940371743 meters Centerline goodness [0,1] 0.9900917349483435 Centerline is valid? [True, True] Translation: X:50.65, Y:-2.78, Z:-0.64 [[ 9.99990996e-01 -2.92361394e-03 3.07570783e-03 5.06456590e+01] [ 2.92418108e-03 9.99995708e-01 -1.79911412e-04 -2.78264282e+00] [-3.07516864e-03 1.88903719e-04 9.99995254e-01 -6.37584819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970371743 meters Centerline goodness [0,1] 0.9908457622577476 Centerline is valid? [True, True] Translation: X:50.68, Y:-2.77, Z:-0.64 [[ 9.99995224e-01 -1.03538605e-03 2.91194175e-03 5.06775298e+01] [ 1.03588734e-03 9.99999449e-01 -1.70647330e-04 -2.77382471e+00] [-2.91176346e-03 1.73662958e-04 9.99995746e-01 -6.36798432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000371743 meters Centerline goodness [0,1] 0.9902334604321359 Centerline is valid? [True, True] Translation: X:50.71, Y:-2.77, Z:-0.64 [[ 9.99996020e-01 6.56035873e-04 2.74399317e-03 5.07089322e+01] [-6.55596885e-04 9.99999772e-01 -1.60877797e-04 -2.77415315e+00] [-2.74409808e-03 1.59078203e-04 9.99996222e-01 -6.37511636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030371743 meters Centerline goodness [0,1] 0.9905498089855008 Centerline is valid? [True, True] Translation: X:50.74, Y:-2.77, Z:-0.64 [[ 9.99989492e-01 4.05520563e-03 2.13791802e-03 5.07400809e+01] [-4.05494653e-03 9.99991771e-01 -1.25512421e-04 -2.76800644e+00] [-2.13840940e-03 1.16841959e-04 9.99997707e-01 -6.37235383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.060371743 meters Centerline goodness [0,1] 0.9906939286832804 Centerline is valid? [True, True] Translation: X:50.77, Y:-2.77, Z:-0.64 [[ 9.99982428e-01 5.68920729e-03 1.66636706e-03 5.07699360e+01] [-5.68905111e-03 9.99983812e-01 -9.84510330e-05 -2.76557761e+00] [-1.66690019e-03 8.89692556e-05 9.99998607e-01 -6.37513139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090371743 meters Centerline goodness [0,1] 0.9915701444479227 Centerline is valid? [True, True] Translation: X:50.80, Y:-2.77, Z:-0.64 [[ 9.99970976e-01 7.44331016e-03 1.62604247e-03 5.07986876e+01] [-7.44316357e-03 9.99972295e-01 -9.61825502e-05 -2.76593340e+00] [-1.62671334e-03 8.40768585e-05 9.99998673e-01 -6.38332357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120371743 meters Centerline goodness [0,1] 0.9909702510002012 Centerline is valid? [True, True] Translation: X:50.83, Y:-2.77, Z:-0.64 [[ 9.99957880e-01 9.12830472e-03 9.54632545e-04 5.08268136e+01] [-9.12825448e-03 9.99958335e-01 -5.69690170e-05 -2.76684046e+00] [-9.55112800e-04 4.82524886e-05 9.99999543e-01 -6.39547311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150371743 meters Centerline goodness [0,1] 0.9915191492225887 Centerline is valid? [True, True] Translation: X:50.86, Y:-2.77, Z:-0.64 [[ 9.99925115e-01 1.22164779e-02 7.22607605e-04 5.08558204e+01] [-1.22164501e-02 9.99925375e-01 -4.28374383e-05 -2.76709385e+00] [-7.23077004e-04 3.40065307e-05 9.99999738e-01 -6.40901141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180371743 meters Centerline goodness [0,1] 0.990120130234647 Centerline is valid? [True, True] Translation: X:50.88, Y:-2.77, Z:-0.64 [[ 9.99903352e-01 1.38282024e-02 1.43774687e-03 5.08844468e+01] [-1.38280943e-02 9.99904384e-01 -8.51010416e-05 -2.76678370e+00] [-1.43878619e-03 6.52115174e-05 9.99998963e-01 -6.41184753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210371743 meters Centerline goodness [0,1] 0.9914000765438213 Centerline is valid? [True, True] Translation: X:50.92, Y:-2.76, Z:-0.64 [[ 9.99846309e-01 1.73623677e-02 2.43040962e-03 5.09151802e+01] [-1.73620717e-02 9.99849258e-01 -1.42818859e-04 -2.75885428e+00] [-2.43252293e-03 1.00599963e-04 9.99997036e-01 -6.38864151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.240371743 meters Centerline goodness [0,1] 0.9906542056074766 Centerline is valid? [True, True] Translation: X:50.94, Y:-2.76, Z:-0.64 [[ 9.99817085e-01 1.88145692e-02 3.43624862e-03 5.09446190e+01] [-1.88139853e-02 9.99822981e-01 -2.02179612e-04 -2.75870805e+00] [-3.43944426e-03 1.37493099e-04 9.99994076e-01 -6.39174601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270371743 meters Centerline goodness [0,1] 0.9906459901726548 Centerline is valid? [True, True] Translation: X:50.97, Y:-2.76, Z:-0.64 [[ 9.99766443e-01 2.12426763e-02 3.97605258e-03 5.09738995e+01] [-2.12419185e-02 9.99774338e-01 -2.32745643e-04 -2.75671192e+00] [-3.98009947e-03 1.48232299e-04 9.99992068e-01 -6.39378522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300371743 meters Centerline goodness [0,1] 0.9908631502955376 Centerline is valid? [True, True] Translation: X:51.00, Y:-2.76, Z:-0.64 [[ 9.99745579e-01 2.22364525e-02 3.78390818e-03 5.10030488e+01] [-2.22357731e-02 9.99752730e-01 -2.21514525e-04 -2.75603088e+00] [-3.78789824e-03 1.37320043e-04 9.99992816e-01 -6.39400216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330371743 meters Centerline goodness [0,1] 0.9904533526377703 Centerline is valid? [True, True] Translation: X:51.03, Y:-2.76, Z:-0.64 [[ 9.99732459e-01 2.28437530e-02 3.62963618e-03 5.10310343e+01] [-2.28431321e-02 9.99739039e-01 -2.12432647e-04 -2.75756441e+00] [-3.63354175e-03 1.29463554e-04 9.99993390e-01 -6.40163139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360371743 meters Centerline goodness [0,1] 0.9906091600289645 Centerline is valid? [True, True] Translation: X:51.06, Y:-2.76, Z:-0.64 [[ 9.99708092e-01 2.38626448e-02 3.78227460e-03 5.10604311e+01] [-2.38619807e-02 9.99715238e-01 -2.20634269e-04 -2.75615107e+00] [-3.78646247e-03 1.30317301e-04 9.99992823e-01 -6.40030360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390371743 meters Centerline goodness [0,1] 0.9907503731512054 Centerline is valid? [True, True] Translation: X:51.09, Y:-2.76, Z:-0.64 [[ 9.99705323e-01 2.39550921e-02 3.92684733e-03 5.10895872e+01] [-2.39543772e-02 9.99713027e-01 -2.29003391e-04 -2.75702739e+00] [-3.93120623e-03 1.34870727e-04 9.99992264e-01 -6.40419174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.420371743 meters Centerline goodness [0,1] 0.990744512333107 Centerline is valid? [True, True] Translation: X:51.12, Y:-2.76, Z:-0.64 [[ 9.99710643e-01 2.37775434e-02 3.64122918e-03 5.11175779e+01] [-2.37769276e-02 9.99717266e-01 -2.12327388e-04 -2.75933312e+00] [-3.64524830e-03 1.25688707e-04 9.99993348e-01 -6.41637065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.450371743 meters Centerline goodness [0,1] 0.9906774675295289 Centerline is valid? [True, True] Translation: X:51.15, Y:-2.76, Z:-0.64 [[ 9.99723235e-01 2.33290135e-02 3.03473695e-03 5.11464268e+01] [-2.33285845e-02 9.99727836e-01 -1.76701920e-04 -2.76089027e+00] [-3.03803329e-03 1.05856898e-04 9.99995380e-01 -6.42593844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480371743 meters Centerline goodness [0,1] 0.9901611842850989 Centerline is valid? [True, True] Translation: X:51.18, Y:-2.76, Z:-0.64 [[ 9.99763485e-01 2.16148812e-02 2.40214464e-03 5.11751316e+01] [-2.16146073e-02 9.99766367e-01 -1.39894807e-04 -2.76432223e+00] [-2.40460723e-03 8.79403066e-05 9.99997105e-01 -6.44128539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510371743 meters Centerline goodness [0,1] 0.9894858228191562 Centerline is valid? [True, True] Translation: X:51.20, Y:-2.77, Z:-0.64 [[ 9.99792093e-01 2.02511131e-02 2.37973847e-03 5.12030395e+01] [-2.02508404e-02 9.99794921e-01 -1.38620419e-04 -2.76764738e+00] [-2.38205766e-03 9.03998949e-05 9.99997159e-01 -6.44906349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540371743 meters Centerline goodness [0,1] 0.9904093514464954 Centerline is valid? [True, True] Translation: X:51.23, Y:-2.77, Z:-0.64 [[ 9.99834076e-01 1.80016738e-02 2.78569146e-03 5.12321449e+01] [-1.80012932e-02 9.99837951e-01 -1.61649171e-04 -2.76905511e+00] [-2.78814999e-03 1.11476301e-04 9.99996107e-01 -6.44705978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570371743 meters Centerline goodness [0,1] 0.9898928232261566 Centerline is valid? [True, True] Translation: X:51.26, Y:-2.77, Z:-0.65 [[ 9.99856934e-01 1.66925951e-02 2.73277570e-03 5.12593202e+01] [-1.66922239e-02 9.99860663e-01 -1.58587648e-04 -2.77415931e+00] [-2.73504216e-03 1.12948856e-04 9.99996253e-01 -6.45612459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600371743000004 meters Centerline goodness [0,1] 0.9900730980958398 Centerline is valid? [True, True] Translation: X:51.29, Y:-2.78, Z:-0.65 [[ 9.99873838e-01 1.56018176e-02 2.98193002e-03 5.12876699e+01] [-1.56013725e-02 9.99878276e-01 -1.72454762e-04 -2.77747588e+00] [-2.98425766e-03 1.25910803e-04 9.99995539e-01 -6.45673270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.630371743 meters Centerline goodness [0,1] 0.9898457728244963 Centerline is valid? [True, True] Translation: X:51.32, Y:-2.78, Z:-0.65 [[ 9.99917338e-01 1.25052146e-02 2.98933627e-03 5.13166786e+01] [-1.25047547e-02 9.99921798e-01 -1.72489518e-04 -2.78196644e+00] [-2.99125952e-03 1.35094343e-04 9.99995517e-01 -6.45466889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660371743 meters Centerline goodness [0,1] 0.9898477157360406 Centerline is valid? [True, True] Translation: X:51.34, Y:-2.79, Z:-0.65 [[ 9.99940799e-01 1.04640759e-02 2.98349142e-03 5.13447649e+01] [-1.04636102e-02 9.99945240e-01 -1.71657706e-04 -2.78649573e+00] [-2.98512429e-03 1.40429452e-04 9.99995535e-01 -6.45360019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690371743 meters Centerline goodness [0,1] 0.9910872639920976 Centerline is valid? [True, True] Translation: X:51.37, Y:-2.79, Z:-0.64 [[ 9.99958164e-01 8.54184715e-03 3.27219951e-03 5.13747287e+01] [-8.54127649e-03 9.99963505e-01 -1.88330662e-04 -2.78838648e+00] [-3.27368879e-03 1.60374022e-04 9.99994629e-01 -6.44970314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720371743 meters Centerline goodness [0,1] 0.9890967132772807 Centerline is valid? [True, True] Translation: X:51.40, Y:-2.80, Z:-0.65 [[ 9.99972826e-01 6.44377426e-03 3.58132577e-03 5.14023940e+01] [-6.44307664e-03 9.99979222e-01 -2.06296913e-04 -2.79581861e+00] [-3.58258069e-03 1.83216551e-04 9.99993566e-01 -6.45849978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750371743 meters Centerline goodness [0,1] 0.9900797205302759 Centerline is valid? [True, True] Translation: X:51.43, Y:-2.80, Z:-0.64 [[ 9.99986374e-01 3.65801058e-03 3.72421532e-03 5.14323740e+01] [-3.65724034e-03 9.99993289e-01 -2.13608614e-04 -2.79841526e+00] [-3.72497171e-03 1.99985353e-04 9.99993042e-01 -6.44979615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780371743 meters Centerline goodness [0,1] 0.9895735445473666 Centerline is valid? [True, True] Translation: X:51.46, Y:-2.80, Z:-0.65 [[ 9.99989150e-01 2.61415387e-03 3.85573618e-03 5.14631175e+01] [-2.61332088e-03 9.99996561e-01 -2.21059139e-04 -2.80100015e+00] [-3.85630081e-03 2.10980464e-04 9.99992542e-01 -6.45247171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.810371743 meters Centerline goodness [0,1] 0.9898052512994401 Centerline is valid? [True, True] Translation: X:51.49, Y:-2.80, Z:-0.64 [[ 9.99987351e-01 2.36159330e-03 4.44079535e-03 5.14939730e+01] [-2.36048732e-03 9.99997182e-01 -2.54276312e-04 -2.80304890e+00] [-4.44138333e-03 2.43790654e-04 9.99990107e-01 -6.44805921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840371743 meters Centerline goodness [0,1] 0.9892108782880071 Centerline is valid? [True, True] Translation: X:51.52, Y:-2.81, Z:-0.65 [[ 9.99987427e-01 2.85371304e-03 4.12325017e-03 5.15241061e+01] [-2.85276545e-03 9.99995903e-01 -2.35679872e-04 -2.80822891e+00] [-4.12390584e-03 2.23914243e-04 9.99991472e-01 -6.46056920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.870371743 meters Centerline goodness [0,1] 0.9900100569896078 Centerline is valid? [True, True] Translation: X:51.56, Y:-2.81, Z:-0.65 [[ 9.99985637e-01 3.65773679e-03 3.91741729e-03 5.15557147e+01] [-3.65688431e-03 9.99993288e-01 -2.24752265e-04 -2.80735080e+00] [-3.91821309e-03 2.10423495e-04 9.99992302e-01 -6.46551891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900371743 meters Centerline goodness [0,1] 0.989976731698586 Centerline is valid? [True, True] Translation: X:51.59, Y:-2.81, Z:-0.65 [[ 9.99984378e-01 4.44553911e-03 3.38826556e-03 5.15860173e+01] [-4.44490508e-03 9.99990102e-01 -1.94632397e-04 -2.80967567e+00] [-3.38909727e-03 1.79568838e-04 9.99994241e-01 -6.47580801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.930371743 meters Centerline goodness [0,1] 0.989856881715636 Centerline is valid? [True, True] Translation: X:51.62, Y:-2.81, Z:-0.65 [[ 9.99974162e-01 6.48061441e-03 3.11086399e-03 5.16163176e+01] [-6.48008851e-03 9.99978988e-01 -1.79101187e-04 -2.80990634e+00] [-3.11195931e-03 1.58937885e-04 9.99995145e-01 -6.48500779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960371743 meters Centerline goodness [0,1] 0.9898116495743683 Centerline is valid? [True, True] Translation: X:51.64, Y:-2.81, Z:-0.65 [[ 9.99967312e-01 7.61013247e-03 2.73141924e-03 5.16445371e+01] [-7.60973027e-03 9.99971033e-01 -1.57613147e-04 -2.81145351e+00] [-2.73253957e-03 1.36822631e-04 9.99996257e-01 -6.49169821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.990371743 meters Centerline goodness [0,1] 0.9902628581637895 Centerline is valid? [True, True] Translation: X:51.67, Y:-2.81, Z:-0.65 [[ 9.99934137e-01 1.13615178e-02 1.62393948e-03 5.16743007e+01] [-1.13613805e-02 9.99935453e-01 -9.37094922e-05 -2.80797250e+00] [-1.62489934e-03 7.52531259e-05 9.99998677e-01 -6.49228524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020371743 meters Centerline goodness [0,1] 0.9907810327037818 Centerline is valid? [True, True] Translation: X:51.70, Y:-2.81, Z:-0.65 [[ 9.99910475e-01 1.33235965e-02 1.23413770e-03 5.17018126e+01] [-1.33235179e-02 9.99911235e-01 -7.18535407e-05 -2.81101845e+00] [-1.23498550e-03 5.54040522e-05 9.99999236e-01 -6.50801377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050371743 meters Centerline goodness [0,1] 0.9912967210902712 Centerline is valid? [True, True] Translation: X:51.73, Y:-2.81, Z:-0.65 [[ 9.99874613e-01 1.57967017e-02 1.10524108e-03 5.17310510e+01] [-1.57966403e-02 9.99875223e-01 -6.42593155e-05 -2.80579385e+00] [-1.10611826e-03 4.67921626e-05 9.99999387e-01 -6.50205847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080371743 meters Centerline goodness [0,1] 0.9908493507076054 Centerline is valid? [True, True] Translation: X:51.76, Y:-2.81, Z:-0.65 [[ 9.99827175e-01 1.85694764e-02 8.91177054e-04 5.17586864e+01] [-1.85694372e-02 9.99827572e-01 -5.22818364e-05 -2.81112848e+00] [-8.91994236e-04 3.57241444e-05 9.99999602e-01 -6.52656986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110371743 meters Centerline goodness [0,1] 0.9919089474870408 Centerline is valid? [True, True] Translation: X:51.79, Y:-2.80, Z:-0.65 [[ 9.99719583e-01 2.36444966e-02 1.30158372e-03 5.17895373e+01] [-2.36444195e-02 9.99720429e-01 -7.46077780e-05 -2.80457957e+00] [-1.30298390e-03 4.38116652e-05 9.99999150e-01 -6.51241528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140371743 meters Centerline goodness [0,1] 0.9919708355698694 Centerline is valid? [True, True] Translation: X:51.82, Y:-2.80, Z:-0.65 [[ 9.99654559e-01 2.62132245e-02 1.90506786e-03 5.18180188e+01] [-2.62130630e-02 9.99656373e-01 -1.09668962e-04 -2.80490218e+00] [-1.90728801e-03 5.96934138e-05 9.99998179e-01 -6.51659977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.170371743 meters Centerline goodness [0,1] 0.9909512447665781 Centerline is valid? [True, True] Translation: X:51.85, Y:-2.81, Z:-0.65 [[ 9.99604070e-01 2.80447278e-02 2.27966168e-03 5.18473821e+01] [-2.80445026e-02 9.99606667e-01 -1.30683264e-04 -2.80546816e+00] [-2.28242999e-03 6.66995449e-05 9.99997393e-01 -6.51726555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200371743 meters Centerline goodness [0,1] 0.991766669674276 Centerline is valid? [True, True] Translation: X:51.88, Y:-2.80, Z:-0.65 [[ 9.99533798e-01 3.03863757e-02 2.97578862e-03 5.18769184e+01] [-3.03860035e-02 9.99538224e-01 -1.70230281e-04 -2.80448267e+00] [-2.97958716e-03 7.97285956e-05 9.99995558e-01 -6.50600195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230371743 meters Centerline goodness [0,1] 0.9921224296323048 Centerline is valid? [True, True] Translation: X:51.91, Y:-2.81, Z:-0.65 [[ 9.99525064e-01 3.06122529e-02 3.54055112e-03 5.19059224e+01] [-3.06117278e-02 9.99531331e-01 -2.02400020e-04 -2.80529965e+00] [-3.54508769e-03 9.39215057e-05 9.99993712e-01 -6.50202519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260371743 meters Centerline goodness [0,1] 0.9929391594667147 Centerline is valid? [True, True] Translation: X:51.93, Y:-2.81, Z:-0.65 [[ 9.99520998e-01 3.06787865e-02 4.07265306e-03 5.19340055e+01] [-3.06780935e-02 9.99529289e-01 -2.32536391e-04 -2.80843333e+00] [-4.07786996e-03 1.07483775e-04 9.99991680e-01 -6.50722255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.290371743 meters Centerline goodness [0,1] 0.9926356327275184 Centerline is valid? [True, True] Translation: X:51.96, Y:-2.81, Z:-0.65 [[ 9.99539924e-01 3.00126746e-02 4.37946526e-03 5.19612647e+01] [-3.00118691e-02 9.99549511e-01 -2.49552108e-04 -2.81161542e+00] [-4.38498209e-03 1.18001357e-04 9.99990379e-01 -6.51569974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320371743 meters Centerline goodness [0,1] 0.9918657169179605 Centerline is valid? [True, True] Translation: X:51.99, Y:-2.82, Z:-0.65 [[ 9.99612730e-01 2.75099461e-02 4.19429893e-03 5.19893201e+01] [-2.75091865e-02 9.99621522e-01 -2.38688326e-04 -2.81609969e+00] [-4.19927778e-03 1.23214137e-04 9.99991175e-01 -6.52255203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350371743000004 meters Centerline goodness [0,1] 0.9917602155365963 Centerline is valid? [True, True] Translation: X:52.02, Y:-2.82, Z:-0.65 [[ 9.99669635e-01 2.53688848e-02 4.12813602e-03 5.20164610e+01] [-2.53681318e-02 9.99678150e-01 -2.34659736e-04 -2.82117042e+00] [-4.13276043e-03 1.29859114e-04 9.99991452e-01 -6.53517905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.380371743 meters Centerline goodness [0,1] 0.9918737513188318 Centerline is valid? [True, True] Translation: X:52.05, Y:-2.83, Z:-0.65 [[ 9.99772567e-01 2.09959753e-02 3.73940816e-03 5.20455485e+01] [-2.09953296e-02 9.99779551e-01 -2.11843752e-04 -2.82749258e+00] [-3.74303168e-03 1.33285465e-04 9.99992986e-01 -6.54553811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.410371743 meters Centerline goodness [0,1] 0.9915383237822349 Centerline is valid? [True, True] Translation: X:52.07, Y:-2.83, Z:-0.66 [[ 9.99820861e-01 1.86257685e-02 3.36558668e-03 5.20747110e+01] [-1.86252331e-02 9.99826517e-01 -1.90377682e-04 -2.83173765e+00] [-3.36854874e-03 1.27658742e-04 9.99994318e-01 -6.55125777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440371743 meters Centerline goodness [0,1] 0.9913520260330763 Centerline is valid? [True, True] Translation: X:52.10, Y:-2.84, Z:-0.66 [[ 9.99860295e-01 1.63393598e-02 3.52369394e-03 5.21045438e+01] [-1.63387591e-02 9.99866494e-01 -1.99178297e-04 -2.83504364e+00] [-3.52647795e-03 1.41577684e-04 9.99993772e-01 -6.55259550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470371743 meters Centerline goodness [0,1] 0.9910658447243813 Centerline is valid? [True, True] Translation: X:52.13, Y:-2.84, Z:-0.66 [[ 9.99916851e-01 1.22608891e-02 3.99522875e-03 5.21333714e+01] [-1.22600842e-02 9.99924817e-01 -2.25900162e-04 -2.84080278e+00] [-3.99769812e-03 1.76899538e-04 9.99991994e-01 -6.55122123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500371743 meters Centerline goodness [0,1] 0.9910185660984383 Centerline is valid? [True, True] Translation: X:52.16, Y:-2.85, Z:-0.66 [[ 9.99933625e-01 1.07150649e-02 4.23462240e-03 5.21618782e+01] [-1.07141486e-02 9.99942573e-01 -2.39008676e-04 -2.84527336e+00] [-4.23694021e-03 1.93622438e-04 9.99991005e-01 -6.55565772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530371743 meters Centerline goodness [0,1] 0.9914225566603959 Centerline is valid? [True, True] Translation: X:52.19, Y:-2.85, Z:-0.66 [[ 9.99947418e-01 9.33637071e-03 4.24196837e-03 5.21913461e+01] [-9.33544051e-03 9.99956395e-01 -2.39031711e-04 -2.84693761e+00] [-4.24401508e-03 1.99418499e-04 9.99990974e-01 -6.55209098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.560371743 meters Centerline goodness [0,1] 0.9908066495592993 Centerline is valid? [True, True] Translation: X:52.22, Y:-2.85, Z:-0.66 [[ 9.99956859e-01 7.98613301e-03 4.74369915e-03 5.22198944e+01] [-7.98495495e-03 9.99968084e-01 -2.67230018e-04 -2.85187773e+00] [-4.74568188e-03 2.29340266e-04 9.99988713e-01 -6.55041228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.590371743 meters Centerline goodness [0,1] 0.9909915921526758 Centerline is valid? [True, True] Translation: X:52.25, Y:-2.85, Z:-0.66 [[ 9.99955657e-01 7.94824773e-03 5.05073062e-03 5.22498479e+01] [-7.94691415e-03 9.99968382e-01 -2.84049996e-04 -2.85414429e+00] [-5.05282863e-03 2.43899678e-04 9.99987205e-01 -6.55355505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620371743 meters Centerline goodness [0,1] 0.9907314796292592 Centerline is valid? [True, True] Translation: X:52.28, Y:-2.86, Z:-0.66 [[ 9.99948969e-01 8.41346751e-03 5.59213674e-03 5.22797479e+01] [-8.41184136e-03 9.99964570e-01 -3.14248855e-04 -2.85634755e+00] [-5.59458253e-03 2.67192651e-04 9.99984315e-01 -6.55812808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650371743 meters Centerline goodness [0,1] 0.9911328951765623 Centerline is valid? [True, True] Translation: X:52.31, Y:-2.86, Z:-0.66 [[ 9.99932285e-01 1.01978544e-02 5.60624354e-03 5.23092367e+01] [-1.01962491e-02 9.99947967e-01 -3.14845905e-04 -2.85648283e+00] [-5.60916258e-03 2.57661930e-04 9.99984235e-01 -6.55488096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680371743 meters Centerline goodness [0,1] 0.990870318539251 Centerline is valid? [True, True] Translation: X:52.34, Y:-2.86, Z:-0.66 [[ 9.99915219e-01 1.16875095e-02 5.74073152e-03 5.23380230e+01] [-1.16858512e-02 9.99931666e-01 -3.22317307e-04 -2.85862893e+00] [-5.74410632e-03 2.55204647e-04 9.99983470e-01 -6.55991306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710371743 meters Centerline goodness [0,1] 0.990870318539251 Centerline is valid? [True, True] Translation: X:52.37, Y:-2.86, Z:-0.66 [[ 9.99916047e-01 1.16165136e-02 5.74074096e-03 5.23663118e+01] [-1.16148552e-02 9.99932493e-01 -3.22149123e-04 -2.86015264e+00] [-5.74409568e-03 2.55444203e-04 9.99983470e-01 -6.56375467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.740371743 meters Centerline goodness [0,1] 0.990940178531776 Centerline is valid? [True, True] Translation: X:52.40, Y:-2.86, Z:-0.66 [[ 9.99870154e-01 1.50201566e-02 5.83698623e-03 5.23956488e+01] [-1.50185041e-02 9.99887162e-01 -3.26842018e-04 -2.86037271e+00] [-5.84123682e-03 2.39136777e-04 9.99982911e-01 -6.57039819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770371743 meters Centerline goodness [0,1] 0.9901064941417106 Centerline is valid? [True, True] Translation: X:52.42, Y:-2.86, Z:-0.66 [[ 9.99844087e-01 1.67975628e-02 5.44460466e-03 5.24245780e+01] [-1.67961507e-02 9.99858888e-01 -3.04989380e-04 -2.86113061e+00] [-5.44895944e-03 2.13493428e-04 9.99985132e-01 -6.57699851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800371743 meters Centerline goodness [0,1] 0.9904651834729847 Centerline is valid? [True, True] Translation: X:52.45, Y:-2.86, Z:-0.66 [[ 9.99814877e-01 1.86870213e-02 4.58326428e-03 5.24531955e+01] [-1.86860411e-02 9.99825368e-01 -2.56593441e-04 -2.85891274e+00] [-4.58725886e-03 1.70902875e-04 9.99989464e-01 -6.57944564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830371743 meters Centerline goodness [0,1] 0.9905397885364496 Centerline is valid? [True, True] Translation: X:52.48, Y:-2.86, Z:-0.66 [[ 9.99752790e-01 2.19744231e-02 3.38865326e-03 5.24810729e+01] [-2.19739052e-02 9.99758527e-01 -1.89995282e-04 -2.86136622e+00] [-3.39201003e-03 1.15486368e-04 9.99994240e-01 -6.60478917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860371743 meters Centerline goodness [0,1] 0.9911151687895252 Centerline is valid? [True, True] Translation: X:52.51, Y:-2.86, Z:-0.66 [[ 9.99711764e-01 2.38354039e-02 2.87449999e-03 5.25103954e+01] [-2.38350406e-02 9.99715892e-01 -1.60584829e-04 -2.86244522e+00] [-2.87751092e-03 9.20247190e-05 9.99995856e-01 -6.61727843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890371743 meters Centerline goodness [0,1] 0.9918018178577793 Centerline is valid? [True, True] Translation: X:52.54, Y:-2.86, Z:-0.66 [[ 9.99683320e-01 2.50560950e-02 2.33492515e-03 5.25394619e+01] [-2.50558581e-02 9.99686044e-01 -1.30655393e-04 -2.86249588e+00] [-2.33746580e-03 7.21104639e-05 9.99997266e-01 -6.62002578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.920371743 meters Centerline goodness [0,1] 0.9913041539387724 Centerline is valid? [True, True] Translation: X:52.57, Y:-2.86, Z:-0.66 [[ 9.99636285e-01 2.68864942e-02 2.10097349e-03 5.25682958e+01] [-2.68863066e-02 9.99638491e-01 -1.17509365e-04 -2.86333904e+00] [-2.10337338e-03 6.09792081e-05 9.99997786e-01 -6.62466998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950371743 meters Centerline goodness [0,1] 0.9920666755805143 Centerline is valid? [True, True] Translation: X:52.60, Y:-2.86, Z:-0.66 [[ 9.99516802e-01 3.09765827e-02 2.57190650e-03 5.25976531e+01] [-3.09763165e-02 9.99520108e-01 -1.43253248e-04 -2.86253213e+00] [-2.57510976e-03 6.35158383e-05 9.99996682e-01 -6.62247895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980371743 meters Centerline goodness [0,1] 0.9921895920735517 Centerline is valid? [True, True] Translation: X:52.63, Y:-2.86, Z:-0.66 [[ 9.99446882e-01 3.31131205e-02 3.07437743e-03 5.26264626e+01] [-3.31127507e-02 9.99451608e-01 -1.71129775e-04 -2.86331977e+00] [-3.07835811e-03 6.92340265e-05 9.99995259e-01 -6.62460030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.010371743 meters Centerline goodness [0,1] 0.9925686230752064 Centerline is valid? [True, True] Translation: X:52.66, Y:-2.86, Z:-0.66 [[ 9.99367177e-01 3.53506370e-02 3.94678842e-03 5.26553370e+01] [-3.53500471e-02 9.99374968e-01 -2.19149250e-04 -2.86377085e+00] [-3.95206862e-03 7.94914109e-05 9.99992187e-01 -6.62092401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040371743 meters Centerline goodness [0,1] 0.9921720811619914 Centerline is valid? [True, True] Translation: X:52.68, Y:-2.86, Z:-0.66 [[ 9.99225421e-01 3.89517434e-02 5.59642639e-03 5.26842630e+01] [-3.89506181e-02 9.99241089e-01 -3.09959801e-04 -2.86453307e+00] [-5.60425267e-03 9.17354453e-05 9.99984292e-01 -6.61317304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.070371743 meters Centerline goodness [0,1] 0.9921203598294605 Centerline is valid? [True, True] Translation: X:52.71, Y:-2.87, Z:-0.66 [[ 9.99183069e-01 3.99563339e-02 6.05686935e-03 5.27132463e+01] [-3.99550372e-02 9.99201423e-01 -3.34982379e-04 -2.86560707e+00] [-6.06541714e-03 9.27062812e-05 9.99981601e-01 -6.60991471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100371743000004 meters Centerline goodness [0,1] 0.9925221545123775 Centerline is valid? [True, True] Translation: X:52.74, Y:-2.87, Z:-0.66 [[ 9.99166593e-01 4.02505238e-02 6.78342661e-03 5.27406673e+01] [-4.02489075e-02 9.99189614e-01 -3.74678765e-04 -2.86873511e+00] [-6.79301043e-03 1.01340995e-04 9.99976922e-01 -6.61599562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.130371743 meters Centerline goodness [0,1] 0.9931174269422666 Centerline is valid? [True, True] Translation: X:52.77, Y:-2.87, Z:-0.66 [[ 9.99197817e-01 3.94335977e-02 6.97959913e-03 5.27696436e+01] [-3.94318719e-02 9.99222187e-01 -3.84754209e-04 -2.87199024e+00] [-6.98934255e-03 1.09226908e-04 9.99975568e-01 -6.61712846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160371743 meters Centerline goodness [0,1] 0.9931821220088232 Centerline is valid? [True, True] Translation: X:52.80, Y:-2.88, Z:-0.66 [[ 9.99229828e-01 3.86592321e-02 6.72421017e-03 5.27987045e+01] [-3.86576158e-02 9.99252446e-01 -3.70216736e-04 -2.87570895e+00] [-6.73349576e-03 1.09989672e-04 9.99977324e-01 -6.62516554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190371743 meters Centerline goodness [0,1] 0.9925766230302492 Centerline is valid? [True, True] Translation: X:52.83, Y:-2.88, Z:-0.66 [[ 9.99333679e-01 3.60634567e-02 5.62356767e-03 5.28263296e+01] [-3.60622858e-02 9.99349496e-01 -3.09508534e-04 -2.88252730e+00] [-5.63107147e-03 1.06503598e-04 9.99984140e-01 -6.64210744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220371743 meters Centerline goodness [0,1] 0.9922107318805202 Centerline is valid? [True, True] Translation: X:52.85, Y:-2.89, Z:-0.67 [[ 9.99412255e-01 3.38810826e-02 5.21703475e-03 5.28533300e+01] [-3.38800452e-02 9.99425865e-01 -2.87116710e-04 -2.88706806e+00] [-5.22376729e-03 1.10194585e-04 9.99986350e-01 -6.65104940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250371743 meters Centerline goodness [0,1] 0.9919033713830634 Centerline is valid? [True, True] Translation: X:52.88, Y:-2.89, Z:-0.67 [[ 9.99490302e-01 3.14900135e-02 5.24552124e-03 5.28816027e+01] [-3.14889383e-02 9.99504059e-01 -2.87458799e-04 -2.89123612e+00] [-5.25197185e-03 1.22136388e-04 9.99986201e-01 -6.65214059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280371743 meters Centerline goodness [0,1] 0.9923341087847568 Centerline is valid? [True, True] Translation: X:52.91, Y:-2.90, Z:-0.67 [[ 9.99557223e-01 2.92452290e-02 5.48397039e-03 5.29098955e+01] [-2.92440225e-02 9.99572257e-01 -3.00087483e-04 -2.89660398e+00] [-5.49040078e-03 1.39581258e-04 9.99984918e-01 -6.65657817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.310371743 meters Centerline goodness [0,1] 0.991356823909103 Centerline is valid? [True, True] Translation: X:52.94, Y:-2.91, Z:-0.67 [[ 9.99692279e-01 2.40767850e-02 5.97123018e-03 5.29376338e+01] [-2.40752655e-02 9.99710096e-01 -3.26233720e-04 -2.90644998e+00] [-5.97735375e-03 1.82374379e-04 9.99982119e-01 -6.66015758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340371743 meters Centerline goodness [0,1] 0.9922391745303819 Centerline is valid? [True, True] Translation: X:52.97, Y:-2.91, Z:-0.67 [[ 9.99743508e-01 2.17269516e-02 6.39194705e-03 5.29655454e+01] [-2.17251650e-02 9.99763920e-01 -3.48811012e-04 -2.91210316e+00] [-6.39801664e-03 2.09855440e-04 9.99979510e-01 -6.66351164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370371743 meters Centerline goodness [0,1] 0.9920008814455707 Centerline is valid? [True, True] Translation: X:52.99, Y:-2.92, Z:-0.67 [[ 9.99794842e-01 1.92487331e-02 6.30554216e-03 5.29941214e+01] [-1.92469494e-02 9.99814701e-01 -3.43436416e-04 -2.91589435e+00] [-6.31098446e-03 2.22003507e-04 9.99980061e-01 -6.66174950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400371743 meters Centerline goodness [0,1] 0.9917471775347169 Centerline is valid? [True, True] Translation: X:53.02, Y:-2.92, Z:-0.67 [[ 9.99869288e-01 1.44996263e-02 7.15323171e-03 5.30243561e+01] [-1.44972172e-02 9.99894834e-01 -3.88535515e-04 -2.92208350e+00] [-7.15811306e-03 2.84782775e-04 9.99974340e-01 -6.66204006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430371743 meters Centerline goodness [0,1] 0.9911310631774882 Centerline is valid? [True, True] Translation: X:53.05, Y:-2.93, Z:-0.67 [[ 9.99895812e-01 1.23594993e-02 7.45701801e-03 5.30529955e+01] [-1.23568192e-02 9.99923569e-01 -4.05365433e-04 -2.92732350e+00] [-7.46145818e-03 3.13178175e-04 9.99972114e-01 -6.66854142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460371743 meters Centerline goodness [0,1] 0.9898604448320977 Centerline is valid? [True, True] Translation: X:53.08, Y:-2.94, Z:-0.67 [[ 9.99940633e-01 7.81906405e-03 7.58897567e-03 5.30814129e+01] [-7.81616187e-03 9.99969368e-01 -4.12003743e-04 -2.93780747e+00] [-7.59196470e-03 3.52662621e-04 9.99971118e-01 -6.67336047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.490371743 meters Centerline goodness [0,1] 0.990394947479222 Centerline is valid? [True, True] Translation: X:53.11, Y:-2.94, Z:-0.67 [[ 9.99956502e-01 5.05590173e-03 7.83787749e-03 5.31129073e+01] [-5.05272690e-03 9.99987145e-01 -4.24811331e-04 -2.93927086e+00] [-7.83992454e-03 3.85190198e-04 9.99969193e-01 -6.67058264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520371743 meters Centerline goodness [0,1] 0.9903076551981229 Centerline is valid? [True, True] Translation: X:53.14, Y:-2.95, Z:-0.67 [[ 9.99963601e-01 2.84233698e-03 8.04479089e-03 5.31434602e+01] [-2.83891840e-03 9.99995875e-01 -4.36331167e-04 -2.94567361e+00] [-8.04599790e-03 4.13476779e-04 9.99967545e-01 -6.67494260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550371743 meters Centerline goodness [0,1] 0.9903450389701375 Centerline is valid? [True, True] Translation: X:53.17, Y:-2.95, Z:-0.67 [[ 9.99969788e-01 -1.50220281e-03 7.62664036e-03 5.31741145e+01] [ 1.50540378e-03 9.99998781e-01 -4.13986621e-04 -2.95011161e+00] [-7.62600917e-03 4.25455287e-04 9.99970831e-01 -6.68072716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580371743 meters Centerline goodness [0,1] 0.9891335242801234 Centerline is valid? [True, True] Translation: X:53.20, Y:-2.96, Z:-0.67 [[ 9.99968775e-01 -2.63962393e-03 7.44852934e-03 5.32044690e+01] [ 2.64270014e-03 9.99996427e-01 -4.03183840e-04 -2.96135046e+00] [-7.44743848e-03 4.22855480e-04 9.99972178e-01 -6.70035300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.610371743 meters Centerline goodness [0,1] 0.9894468944031243 Centerline is valid? [True, True] Translation: X:53.24, Y:-2.96, Z:-0.67 [[ 9.99969407e-01 -4.00371870e-03 6.71970264e-03 5.32363534e+01] [ 4.00626148e-03 9.99991908e-01 -3.64988847e-04 -2.95756079e+00] [-6.71818696e-03 3.91898567e-04 9.99977356e-01 -6.70625124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640371743 meters Centerline goodness [0,1] 0.9897378670517701 Centerline is valid? [True, True] Translation: X:53.27, Y:-2.96, Z:-0.67 [[ 9.99966859e-01 -6.04989344e-03 5.44781540e-03 5.32666766e+01] [ 6.05160827e-03 9.99981644e-01 -2.98343622e-04 -2.96313605e+00] [-5.44591046e-03 3.31301779e-04 9.99985116e-01 -6.73155357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.670371743 meters Centerline goodness [0,1] 0.9898066322512906 Centerline is valid? [True, True] Translation: X:53.30, Y:-2.96, Z:-0.67 [[ 9.99969513e-01 -5.93000117e-03 5.08009830e-03 5.32985711e+01] [ 5.93148884e-03 9.99982370e-01 -2.77826126e-04 -2.96427883e+00] [-5.07836123e-03 3.07950202e-04 9.99987058e-01 -6.74082982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700371743 meters Centerline goodness [0,1] 0.9892659203925607 Centerline is valid? [True, True] Translation: X:53.33, Y:-2.97, Z:-0.67 [[ 9.99969236e-01 -5.90859669e-03 5.15906229e-03 5.33299632e+01] [ 5.91013346e-03 9.99982495e-01 -2.82683005e-04 -2.96688986e+00] [-5.15730172e-03 3.13165056e-04 9.99986652e-01 -6.74770562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730371743 meters Centerline goodness [0,1] 0.9896526883363531 Centerline is valid? [True, True] Translation: X:53.36, Y:-2.97, Z:-0.68 [[ 9.99970208e-01 -5.42836891e-03 5.48778203e-03 5.33617667e+01] [ 5.43010163e-03 9.99985212e-01 -3.00892366e-04 -2.96723692e+00] [-5.48606752e-03 3.30682616e-04 9.99984897e-01 -6.75380061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760371743 meters Centerline goodness [0,1] 0.9898715306704082 Centerline is valid? [True, True] Translation: X:53.39, Y:-2.97, Z:-0.68 [[ 9.99975112e-01 -4.71543903e-03 5.24788992e-03 5.33941358e+01] [ 4.71701555e-03 9.99988833e-01 -2.88072316e-04 -2.96674891e+00] [-5.24647293e-03 3.12819525e-04 9.99986188e-01 -6.75759840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790371743 meters Centerline goodness [0,1] 0.9900857625408523 Centerline is valid? [True, True] Translation: X:53.43, Y:-2.97, Z:-0.68 [[ 9.99975942e-01 -4.34044300e-03 5.41072978e-03 5.34265207e+01] [ 4.34211561e-03 9.99990529e-01 -2.97419617e-04 -2.96633149e+00] [-5.40938760e-03 3.20906476e-04 9.99985318e-01 -6.75923723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820371743 meters Centerline goodness [0,1] 0.9894526357423806 Centerline is valid? [True, True] Translation: X:53.46, Y:-2.96, Z:-0.68 [[ 9.99975263e-01 -3.16040567e-03 6.28373829e-03 5.34585030e+01] [ 3.16264217e-03 9.99994939e-01 -3.46014282e-04 -2.96470890e+00] [-6.28261294e-03 3.65878938e-04 9.99980197e-01 -6.75473893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.850371743000004 meters Centerline goodness [0,1] 0.9893311718185204 Centerline is valid? [True, True] Translation: X:53.49, Y:-2.97, Z:-0.68 [[ 9.99976223e-01 -2.36576985e-03 6.47743697e-03 5.34896791e+01] [ 2.36813375e-03 9.99997132e-01 -3.57297937e-04 -2.96747871e+00] [-6.47657310e-03 3.72628879e-04 9.99978957e-01 -6.75687365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.880371743 meters Centerline goodness [0,1] 0.9898160747991748 Centerline is valid? [True, True] Translation: X:53.52, Y:-2.96, Z:-0.68 [[ 9.99977078e-01 -1.66410142e-03 6.56307663e-03 5.35217800e+01] [ 1.66651466e-03 9.99998546e-01 -3.62248165e-04 -2.96315186e+00] [-6.56246427e-03 3.73177325e-04 9.99978397e-01 -6.75475867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.910371743 meters Centerline goodness [0,1] 0.9893507007854958 Centerline is valid? [True, True] Translation: X:53.55, Y:-2.96, Z:-0.68 [[ 9.99982081e-01 -1.92503828e-04 5.98340379e-03 5.35537927e+01] [ 1.94485403e-04 9.99999926e-01 -3.30598578e-04 -2.96070414e+00] [-5.98333971e-03 3.31756339e-04 9.99982045e-01 -6.76272090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940371743 meters Centerline goodness [0,1] 0.9891576863866286 Centerline is valid? [True, True] Translation: X:53.59, Y:-2.96, Z:-0.68 [[ 9.99980547e-01 4.62835492e-04 6.22024120e-03 5.35858751e+01] [-4.60703588e-04 9.99999835e-01 -3.44164957e-04 -2.95999301e+00] [-6.22039946e-03 3.41292575e-04 9.99980595e-01 -6.77119581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.970371743 meters Centerline goodness [0,1] 0.989273127753304 Centerline is valid? [True, True] Translation: X:53.62, Y:-2.96, Z:-0.68 [[ 9.99981930e-01 1.29936275e-03 5.86959076e-03 5.36186219e+01] [-1.29747749e-03 9.99999105e-01 -3.24987951e-04 -2.95900348e+00] [-5.87000779e-03 3.17366416e-04 9.99982721e-01 -6.77637689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000371743 meters Centerline goodness [0,1] 0.9889765171095942 Centerline is valid? [True, True] Translation: X:53.65, Y:-2.96, Z:-0.68 [[ 9.99979835e-01 2.14549086e-03 5.97724127e-03 5.36507527e+01] [-2.14354677e-03 9.99997648e-01 -3.31635861e-04 -2.95580005e+00] [-5.97793873e-03 3.18816677e-04 9.99982081e-01 -6.78755971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030371743 meters Centerline goodness [0,1] 0.9888579387186629 Centerline is valid? [True, True] Translation: X:53.68, Y:-2.96, Z:-0.68 [[ 9.99979475e-01 3.08919451e-03 5.61301191e-03 5.36815459e+01] [-3.08749526e-03 9.99995185e-01 -3.11374417e-04 -2.95719823e+00] [-5.61394678e-03 2.94037879e-04 9.99984198e-01 -6.79666511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.060371743 meters Centerline goodness [0,1] 0.9887110697921508 Centerline is valid? [True, True] Translation: X:53.71, Y:-2.96, Z:-0.68 [[ 9.99979100e-01 3.62984005e-03 5.35017627e-03 5.37132777e+01] [-3.62829703e-03 9.99993373e-01 -2.98081869e-04 -2.95674097e+00] [-5.35122280e-03 2.78663611e-04 9.99985643e-01 -6.80545855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090371743 meters Centerline goodness [0,1] 0.9893140602137188 Centerline is valid? [True, True] Translation: X:53.74, Y:-2.95, Z:-0.68 [[ 9.99979165e-01 3.96722287e-03 5.09230904e-03 5.37447307e+01] [-3.96582863e-03 9.99992096e-01 -2.83860971e-04 -2.95335277e+00] [-5.09339493e-03 2.63659832e-04 9.99986994e-01 -6.80751577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120371743 meters Centerline goodness [0,1] 0.9898015741048665 Centerline is valid? [True, True] Translation: X:53.78, Y:-2.95, Z:-0.68 [[ 9.99976042e-01 4.66249641e-03 5.11627438e-03 5.37756725e+01] [-4.66109713e-03 9.99989096e-01 -2.85386917e-04 -2.95286464e+00] [-5.11754921e-03 2.61532628e-04 9.99986871e-01 -6.81211388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150371743 meters Centerline goodness [0,1] 0.9891258702619073 Centerline is valid? [True, True] Translation: X:53.81, Y:-2.95, Z:-0.68 [[ 9.99971189e-01 5.30395174e-03 5.43036298e-03 5.38066675e+01] [-5.30238226e-03 9.99985896e-01 -3.03374854e-04 -2.95281817e+00] [-5.43189548e-03 2.74572253e-04 9.99985209e-01 -6.81362592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180371743 meters Centerline goodness [0,1] 0.9880242176931094 Centerline is valid? [True, True] Translation: X:53.84, Y:-2.95, Z:-0.68 [[ 9.99966907e-01 6.22779142e-03 5.23451346e-03 5.38375795e+01] [-6.22634534e-03 9.99980573e-01 -2.92510110e-04 -2.95047972e+00] [-5.23623346e-03 2.59908541e-04 9.99986257e-01 -6.81241576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210371743 meters Centerline goodness [0,1] 0.988511621705702 Centerline is valid? [True, True] Translation: X:53.87, Y:-2.95, Z:-0.68 [[ 9.99959337e-01 6.96880457e-03 5.72372572e-03 5.38679600e+01] [-6.96708532e-03 9.99975678e-01 -3.20256591e-04 -2.94832772e+00] [-5.72581832e-03 2.80365883e-04 9.99983568e-01 -6.81175339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.240371743 meters Centerline goodness [0,1] 0.9885664809182337 Centerline is valid? [True, True] Translation: X:53.90, Y:-2.95, Z:-0.68 [[ 9.99952857e-01 7.87683671e-03 5.67802099e-03 5.38976933e+01] [-7.87516260e-03 9.99968940e-01 -3.17138028e-04 -2.94971474e+00] [-5.68034267e-03 2.72407738e-04 9.99983830e-01 -6.81736606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270371743 meters Centerline goodness [0,1] 0.9883102135334327 Centerline is valid? [True, True] Translation: X:53.93, Y:-2.95, Z:-0.68 [[ 9.99934176e-01 9.60140503e-03 6.28151530e-03 5.39279974e+01] [-9.59939178e-03 9.99953863e-01 -3.50575316e-04 -2.94734750e+00] [-6.28459151e-03 2.90253513e-04 9.99980210e-01 -6.82719115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300371743 meters Centerline goodness [0,1] 0.9886090057958092 Centerline is valid? [True, True] Translation: X:53.96, Y:-2.95, Z:-0.68 [[ 9.99925142e-01 1.04203288e-02 6.41302263e-03 5.39581706e+01] [-1.04182463e-02 9.99945664e-01 -3.58040694e-04 -2.94780281e+00] [-6.41640508e-03 2.91201443e-04 9.99979372e-01 -6.83123524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330371743 meters Centerline goodness [0,1] 0.9878758271528179 Centerline is valid? [True, True] Translation: X:53.99, Y:-2.95, Z:-0.68 [[ 9.99909796e-01 1.14789951e-02 6.97366249e-03 5.39876007e+01] [-1.14765585e-02 9.99934066e-01 -3.89314447e-04 -2.94730870e+00] [-6.97767163e-03 3.09245683e-04 9.99975608e-01 -6.83480663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360371743 meters Centerline goodness [0,1] 0.9889637028449122 Centerline is valid? [True, True] Translation: X:54.02, Y:-2.94, Z:-0.68 [[ 9.99887007e-01 1.32148683e-02 7.16525501e-03 5.40175777e+01] [-1.32123424e-02 9.99912633e-01 -3.99745511e-04 -2.94427618e+00] [-7.16991159e-03 3.05030540e-04 9.99974249e-01 -6.84015323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.390371743 meters Centerline goodness [0,1] 0.9880843263061412 Centerline is valid? [True, True] Translation: X:54.05, Y:-2.95, Z:-0.69 [[ 9.99873758e-01 1.41500304e-02 7.22805220e-03 5.40457482e+01] [-1.41474855e-02 9.99899838e-01 -4.03094529e-04 -2.94714151e+00] [-7.23303202e-03 3.00784877e-04 9.99973796e-01 -6.85252579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.420371743 meters Centerline goodness [0,1] 0.9880867072733788 Centerline is valid? [True, True] Translation: X:54.07, Y:-2.95, Z:-0.69 [[ 9.99868614e-01 1.46707135e-02 6.89384945e-03 5.40732708e+01] [-1.46684117e-02 9.99892339e-01 -3.84337650e-04 -2.95037761e+00] [-6.89874576e-03 2.83165331e-04 9.99976163e-01 -6.86096121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450371743 meters Centerline goodness [0,1] 0.989775371397888 Centerline is valid? [True, True] Translation: X:54.10, Y:-2.95, Z:-0.69 [[ 9.99864986e-01 1.49139066e-02 6.89813856e-03 5.41026198e+01] [-1.49116126e-02 9.99888742e-01 -3.83871060e-04 -2.94683472e+00] [-6.90309610e-03 2.80956863e-04 9.99976134e-01 -6.86085167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480371743 meters Centerline goodness [0,1] 0.9882308191439375 Centerline is valid? [True, True] Translation: X:54.13, Y:-2.95, Z:-0.69 [[ 9.99875758e-01 1.46107366e-02 5.91565205e-03 5.41308059e+01] [-1.46090451e-02 9.99893228e-01 -3.29045917e-04 -2.94841378e+00] [-5.91982802e-03 2.42583008e-04 9.99982448e-01 -6.87715618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510371743 meters Centerline goodness [0,1] 0.9887537450252649 Centerline is valid? [True, True] Translation: X:54.16, Y:-2.95, Z:-0.69 [[ 9.99887962e-01 1.39608090e-02 5.40002277e-03 5.41599022e+01] [-1.39593929e-02 9.99902518e-01 -2.99855939e-04 -2.94936303e+00] [-5.40368259e-03 2.24441304e-04 9.99985375e-01 -6.88233181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540371743 meters Centerline goodness [0,1] 0.9888042991491267 Centerline is valid? [True, True] Translation: X:54.19, Y:-2.95, Z:-0.69 [[ 9.99899190e-01 1.31622951e-02 5.32571521e-03 5.41874311e+01] [-1.31609076e-02 9.99913348e-01 -2.95508258e-04 -2.95302996e+00] [-5.32914330e-03 2.25387223e-04 9.99985775e-01 -6.89634212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.570371743 meters Centerline goodness [0,1] 0.9883762678395117 Centerline is valid? [True, True] Translation: X:54.22, Y:-2.95, Z:-0.69 [[ 9.99915367e-01 1.18904830e-02 5.27961612e-03 5.42159470e+01] [-1.18891048e-02 9.99929279e-01 -2.92363921e-04 -2.95256721e+00] [-5.28271909e-03 2.29569268e-04 9.99986020e-01 -6.89801344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600371743000004 meters Centerline goodness [0,1] 0.9880781962959649 Centerline is valid? [True, True] Translation: X:54.24, Y:-2.96, Z:-0.69 [[ 9.99939928e-01 9.63640699e-03 5.22295320e-03 5.42444862e+01] [-9.63503012e-03 9.99953540e-01 -2.88717082e-04 -2.95602190e+00] [-5.22549274e-03 2.38376427e-04 9.99986319e-01 -6.90316972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.630371743 meters Centerline goodness [0,1] 0.9880781962959649 Centerline is valid? [True, True] Translation: X:54.27, Y:-2.96, Z:-0.69 [[ 9.99940261e-01 9.60183884e-03 5.22297638e-03 5.42736239e+01] [-9.60046370e-03 9.99953873e-01 -2.88296769e-04 -2.95759739e+00] [-5.22550364e-03 2.38136551e-04 9.99986319e-01 -6.90712658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660371743 meters Centerline goodness [0,1] 0.9882075471698113 Centerline is valid? [True, True] Translation: X:54.30, Y:-2.96, Z:-0.69 [[ 9.99953436e-01 8.13614708e-03 5.18928042e-03 5.43031832e+01] [-8.13477079e-03 9.99966871e-01 -2.86269519e-04 -2.95649297e+00] [-5.19143763e-03 2.44042582e-04 9.99986495e-01 -6.90773678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690371743 meters Centerline goodness [0,1] 0.988623384766981 Centerline is valid? [True, True] Translation: X:54.33, Y:-2.96, Z:-0.69 [[ 9.99959793e-01 7.30619834e-03 5.19923172e-03 5.43329731e+01] [-7.30480733e-03 9.99973279e-01 -2.86481055e-04 -2.95933986e+00] [-5.20118587e-03 2.48490150e-04 9.99986443e-01 -6.91612066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720371743 meters Centerline goodness [0,1] 0.987958818263205 Centerline is valid? [True, True] Translation: X:54.36, Y:-2.96, Z:-0.69 [[ 9.99980405e-01 4.55575976e-03 4.29346006e-03 5.43629909e+01] [-4.55478607e-03 9.99989599e-01 -2.36536534e-04 -2.96221930e+00] [-4.29449300e-03 2.16976108e-04 9.99990755e-01 -6.92362777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.750371743 meters Centerline goodness [0,1] 0.9883588170767199 Centerline is valid? [True, True] Translation: X:54.39, Y:-2.96, Z:-0.69 [[ 9.99985167e-01 3.15074402e-03 4.44271874e-03 5.43931062e+01] [-3.14968871e-03 9.99995010e-01 -2.44512848e-04 -2.96367844e+00] [-4.44346697e-03 2.30516040e-04 9.99990101e-01 -6.93075062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780371743 meters Centerline goodness [0,1] 0.9887083015310016 Centerline is valid? [True, True] Translation: X:54.42, Y:-2.97, Z:-0.69 [[ 9.99990798e-01 1.23515540e-03 4.10839533e-03 5.44230413e+01] [-1.23423751e-03 9.99999213e-01 -2.25947003e-04 -2.96821155e+00] [-4.10867118e-03 2.20874188e-04 9.99991535e-01 -6.94110224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.810371743 meters Centerline goodness [0,1] 0.9887222259590592 Centerline is valid? [True, True] Translation: X:54.45, Y:-2.97, Z:-0.69 [[ 9.99991425e-01 -8.18816091e-04 4.05949021e-03 5.44542570e+01] [ 8.19728755e-04 9.99999639e-01 -2.23163425e-04 -2.97153370e+00] [-4.05930602e-03 2.26489192e-04 9.99991735e-01 -6.94747831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840371743 meters Centerline goodness [0,1] 0.9880039463653079 Centerline is valid? [True, True] Translation: X:54.48, Y:-2.98, Z:-0.70 [[ 9.99980011e-01 -4.91542065e-03 3.97707532e-03 5.44832741e+01] [ 4.91633126e-03 9.99987891e-01 -2.19222315e-04 -2.97717664e+00] [-3.97594959e-03 2.38770553e-04 9.99992067e-01 -6.95146616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.870371743 meters Centerline goodness [0,1] 0.9884170747523535 Centerline is valid? [True, True] Translation: X:54.51, Y:-2.98, Z:-0.69 [[ 9.99966893e-01 -7.19802490e-03 3.79499137e-03 5.45140095e+01] [ 7.19886911e-03 9.99974066e-01 -2.08840935e-04 -2.97764943e+00] [-3.79338971e-03 2.36153667e-04 9.99992777e-01 -6.94612728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900371743 meters Centerline goodness [0,1] 0.9883658372562206 Centerline is valid? [True, True] Translation: X:54.54, Y:-2.98, Z:-0.70 [[ 9.99951342e-01 -9.19808700e-03 3.56500957e-03 5.45447751e+01] [ 9.19884361e-03 9.99957671e-01 -1.95893985e-04 -2.97815832e+00] [-3.56305682e-03 2.28678419e-04 9.99993626e-01 -6.95023390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930371743 meters Centerline goodness [0,1] 0.986969588230017 Centerline is valid? [True, True] Translation: X:54.57, Y:-2.99, Z:-0.70 [[ 9.99918529e-01 -1.24349469e-02 2.88225157e-03 5.45739920e+01] [ 1.24354565e-02 9.99922664e-01 -1.58944475e-04 -2.98898253e+00] [-2.88005220e-03 1.94773640e-04 9.99995834e-01 -6.97788538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960371743 meters Centerline goodness [0,1] 0.9884613657791945 Centerline is valid? [True, True] Translation: X:54.61, Y:-2.98, Z:-0.70 [[ 9.99910401e-01 -1.31156318e-02 2.67761638e-03 5.46065992e+01] [ 1.31160719e-02 9.99913970e-01 -1.46869745e-04 -2.98173313e+00] [-2.67545973e-03 1.81976395e-04 9.99996404e-01 -6.97509035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.990371743 meters Centerline goodness [0,1] 0.988919356288771 Centerline is valid? [True, True] Translation: X:54.64, Y:-2.98, Z:-0.70 [[ 9.99904582e-01 -1.36349932e-02 2.21689226e-03 5.46384307e+01] [ 1.36352961e-02 9.99907028e-01 -1.21584975e-04 -2.98219318e+00] [-2.21502834e-03 1.51801356e-04 9.99997535e-01 -6.98437174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020371743 meters Centerline goodness [0,1] 0.9883320968503406 Centerline is valid? [True, True] Translation: X:54.67, Y:-2.99, Z:-0.70 [[ 9.99905491e-01 -1.36507535e-02 1.63275151e-03 5.46692693e+01] [ 1.36509180e-02 9.99906818e-01 -8.96292134e-05 -2.98561806e+00] [-1.63137586e-03 1.11909300e-04 9.99998663e-01 -7.00322303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050371743 meters Centerline goodness [0,1] 0.9889375070122294 Centerline is valid? [True, True] Translation: X:54.70, Y:-2.98, Z:-0.70 [[ 9.99910970e-01 -1.32694965e-02 1.40480215e-03 5.47020142e+01] [ 1.32696175e-02 9.99911952e-01 -7.68718565e-05 -2.98383900e+00] [-1.40365840e-03 9.55061997e-05 9.99999010e-01 -7.00485409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080371743 meters Centerline goodness [0,1] 0.9886695086380973 Centerline is valid? [True, True] Translation: X:54.73, Y:-2.99, Z:-0.70 [[ 9.99914408e-01 -1.29962358e-02 1.50837904e-03 5.47327144e+01] [ 1.29963756e-02 9.99915540e-01 -8.29408736e-05 -2.98528496e+00] [-1.50717372e-03 1.02537235e-04 9.99998859e-01 -7.01112973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110371743 meters Centerline goodness [0,1] 0.9890864086408641 Centerline is valid? [True, True] Translation: X:54.77, Y:-2.98, Z:-0.70 [[ 9.99916765e-01 -1.28566911e-02 1.08128180e-03 5.47652715e+01] [ 1.28567624e-02 9.99917347e-01 -5.90774643e-05 -2.98449206e+00] [-1.08043289e-03 7.29743302e-05 9.99999414e-01 -7.00869360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140371743 meters Centerline goodness [0,1] 0.9880877461116605 Centerline is valid? [True, True] Translation: X:54.80, Y:-2.99, Z:-0.70 [[ 9.99917286e-01 -1.27988915e-02 1.26865583e-03 5.47968378e+01] [ 1.27989898e-02 9.99918087e-01 -6.93562074e-05 -2.98616216e+00] [-1.26766423e-03 8.55879836e-05 9.99999193e-01 -7.01458769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.170371743 meters Centerline goodness [0,1] 0.9878935169558271 Centerline is valid? [True, True] Translation: X:54.83, Y:-2.99, Z:-0.70 [[ 9.99915637e-01 -1.29300317e-02 1.23787505e-03 5.48293391e+01] [ 1.29301258e-02 9.99916400e-01 -6.79861911e-05 -2.98752285e+00] [-1.23689250e-03 8.39863357e-05 9.99999232e-01 -7.01656001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200371743 meters Centerline goodness [0,1] 0.9887440223766129 Centerline is valid? [True, True] Translation: X:54.86, Y:-2.99, Z:-0.70 [[ 9.99914511e-01 -1.30418328e-02 9.38840174e-04 5.48599494e+01] [ 1.30418872e-02 9.99914950e-01 -5.18468333e-05 -2.98995910e+00] [-9.38084148e-04 6.40866486e-05 9.99999558e-01 -7.02391420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.230371743 meters Centerline goodness [0,1] 0.9890251337985231 Centerline is valid? [True, True] Translation: X:54.89, Y:-2.99, Z:-0.70 [[ 9.99912835e-01 -1.31740916e-02 8.75054956e-04 5.48925620e+01] [ 1.31741385e-02 9.99913216e-01 -4.78792662e-05 -2.99002529e+00] [-8.74348250e-04 5.94031879e-05 9.99999616e-01 -7.02401849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260371743 meters Centerline goodness [0,1] 0.9881926952141058 Centerline is valid? [True, True] Translation: X:54.92, Y:-2.99, Z:-0.70 [[ 9.99913550e-01 -1.31214789e-02 8.48116339e-04 5.49243424e+01] [ 1.31215230e-02 9.99913908e-01 -4.64375636e-05 -2.99123371e+00] [-8.47433994e-04 5.75621270e-05 9.99999639e-01 -7.02709724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.290371743 meters Centerline goodness [0,1] 0.987860189092222 Centerline is valid? [True, True] Translation: X:54.96, Y:-2.99, Z:-0.70 [[ 9.99923683e-01 -1.23256665e-02 8.40405461e-04 5.49564416e+01] [ 1.23257095e-02 9.99924034e-01 -4.60701784e-05 -2.99293162e+00] [-8.39773774e-04 5.64252560e-05 9.99999646e-01 -7.03161792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320371743 meters Centerline goodness [0,1] 0.9886207130116728 Centerline is valid? [True, True] Translation: X:54.99, Y:-2.99, Z:-0.70 [[ 9.99935919e-01 -1.12778683e-02 9.83291764e-04 5.49883453e+01] [ 1.12779270e-02 9.99936401e-01 -5.41334142e-05 -2.99319788e+00] [-9.82618718e-04 6.52194380e-05 9.99999515e-01 -7.03389760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.350371743000004 meters Centerline goodness [0,1] 0.9883642114776322 Centerline is valid? [True, True] Translation: X:55.02, Y:-2.99, Z:-0.70 [[ 9.99970603e-01 -7.53459409e-03 1.42204474e-03 5.50193588e+01] [ 7.53471484e-03 9.99971610e-01 -7.95720300e-05 -2.98970635e+00] [-1.42140483e-03 9.02843924e-05 9.99998986e-01 -7.03301490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.380371743 meters Centerline goodness [0,1] 0.9882483470700117 Centerline is valid? [True, True] Translation: X:55.05, Y:-2.99, Z:-0.70 [[ 9.99987713e-01 -4.79305653e-03 1.26526837e-03 5.50493221e+01] [ 4.79315005e-03 9.99988510e-01 -7.08938622e-05 -2.99007667e+00] [-1.26491404e-03 7.69576123e-05 9.99999197e-01 -7.03889092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.410371743 meters Centerline goodness [0,1] 0.9893770906789621 Centerline is valid? [True, True] Translation: X:55.08, Y:-2.99, Z:-0.70 [[ 9.99998411e-01 -1.45504774e-03 1.03012381e-03 5.50795096e+01] [ 1.45510797e-03 9.99998940e-01 -5.77185496e-05 -2.98935214e+00] [-1.03003873e-03 5.92173992e-05 9.99999468e-01 -7.04537534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440371743 meters Centerline goodness [0,1] 0.9889148854008132 Centerline is valid? [True, True] Translation: X:55.11, Y:-2.98, Z:-0.70 [[ 9.99984616e-01 5.25684985e-03 1.76997611e-03 5.51110838e+01] [-5.25668285e-03 9.99986179e-01 -9.89949168e-05 -2.98245920e+00] [-1.77047205e-03 8.96891908e-05 9.99998429e-01 -7.03585049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470371743 meters Centerline goodness [0,1] 0.9891777838279335 Centerline is valid? [True, True] Translation: X:55.14, Y:-2.98, Z:-0.70 [[ 9.99961727e-01 8.48277426e-03 2.14161437e-03 5.51400093e+01] [-8.48253578e-03 9.99964015e-01 -1.20415214e-04 -2.98279071e+00] [-2.14255876e-03 1.02244285e-04 9.99997699e-01 -7.03951190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500371743 meters Centerline goodness [0,1] 0.9891378603634376 Centerline is valid? [True, True] Translation: X:55.17, Y:-2.98, Z:-0.70 [[ 9.99930498e-01 1.15720493e-02 2.25525340e-03 5.51703488e+01] [-1.15717934e-02 9.99933037e-01 -1.26507106e-04 -2.98193686e+00] [-2.25656632e-03 1.00400987e-04 9.99997449e-01 -7.03777482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530371743 meters Centerline goodness [0,1] 0.989343495424777 Centerline is valid? [True, True] Translation: X:55.20, Y:-2.98, Z:-0.70 [[ 9.99855398e-01 1.68558375e-02 2.25026708e-03 5.52014389e+01] [-1.68555964e-02 9.99857926e-01 -1.26078596e-04 -2.97638508e+00] [-2.25207254e-03 8.81307708e-05 9.99997460e-01 -7.03847760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.560371743 meters Centerline goodness [0,1] 0.9891237290071976 Centerline is valid? [True, True] Translation: X:55.23, Y:-2.98, Z:-0.70 [[ 9.99812207e-01 1.92625586e-02 2.12253048e-03 5.52298311e+01] [-1.92623481e-02 9.99814457e-01 -1.19596480e-04 -2.97734526e+00] [-2.12444039e-03 7.86890994e-05 9.99997740e-01 -7.04891980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590371743 meters Centerline goodness [0,1] 0.9890672887791043 Centerline is valid? [True, True] Translation: X:55.26, Y:-2.98, Z:-0.71 [[ 9.99768255e-01 2.14546878e-02 1.76967789e-03 5.52591856e+01] [-2.14545440e-02 9.99769820e-01 -1.00227212e-04 -2.97576168e+00] [-1.77142089e-03 6.22363523e-05 9.99998429e-01 -7.05311599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620371743 meters Centerline goodness [0,1] 0.9898246820213131 Centerline is valid? [True, True] Translation: X:55.29, Y:-2.97, Z:-0.71 [[ 9.99678055e-01 2.53667035e-02 5.62300272e-04 5.52897015e+01] [-2.53666897e-02 9.99678213e-01 -3.15970986e-05 -2.97141283e+00] [-5.62920845e-04 1.73232296e-05 9.99999841e-01 -7.06053525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650371743 meters Centerline goodness [0,1] 0.9903426074959761 Centerline is valid? [True, True] Translation: X:55.32, Y:-2.97, Z:-0.70 [[ 9.99635174e-01 2.70012595e-02 6.71118918e-04 5.53185436e+01] [-2.70012398e-02 9.99635399e-01 -3.83562201e-05 -2.96668329e+00] [-6.71909894e-04 2.02211839e-05 9.99999774e-01 -7.04886255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680371743 meters Centerline goodness [0,1] 0.9898799825596072 Centerline is valid? [True, True] Translation: X:55.35, Y:-2.97, Z:-0.71 [[ 9.99594224e-01 2.84741489e-02 7.81544092e-04 5.53463930e+01] [-2.84741227e-02 9.99594529e-01 -4.46724169e-05 -2.97186003e+00] [-7.82499207e-04 2.24005076e-05 9.99999694e-01 -7.07826746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710371743 meters Centerline goodness [0,1] 0.9895909926470589 Centerline is valid? [True, True] Translation: X:55.37, Y:-2.97, Z:-0.71 [[ 9.99558422e-01 2.97029270e-02 8.34825861e-04 5.53737822e+01] [-2.97028977e-02 9.99558770e-01 -4.74630891e-05 -2.97274352e+00] [-8.35867304e-04 2.26453833e-05 9.99999650e-01 -7.08810711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.740371743 meters Centerline goodness [0,1] 0.9907113624867798 Centerline is valid? [True, True] Translation: X:55.40, Y:-2.97, Z:-0.71 [[ 9.99558302e-01 2.97144205e-02 5.04912452e-04 5.54017470e+01] [-2.97144094e-02 9.99558429e-01 -2.94444000e-05 -2.96785713e+00] [-5.05564421e-04 1.44282192e-05 9.99999872e-01 -7.07022709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770371743 meters Centerline goodness [0,1] 0.9905322180347459 Centerline is valid? [True, True] Translation: X:55.43, Y:-2.97, Z:-0.71 [[ 9.99579123e-01 2.90042710e-02 5.73921284e-04 5.54304058e+01] [-2.90042570e-02 9.99579288e-01 -3.27586089e-05 -2.96916091e+00] [-5.74629968e-04 1.60986612e-05 9.99999835e-01 -7.07149578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800371743 meters Centerline goodness [0,1] 0.9908117792989387 Centerline is valid? [True, True] Translation: X:55.46, Y:-2.97, Z:-0.71 [[ 9.99609876e-01 2.79122910e-02 1.00015744e-03 5.54587019e+01] [-2.79122487e-02 9.99610376e-01 -5.62844128e-05 -2.97167854e+00] [-1.00133878e-03 2.83458117e-05 9.99999498e-01 -7.07153451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830371743 meters Centerline goodness [0,1] 0.9898390227194885 Centerline is valid? [True, True] Translation: X:55.49, Y:-2.98, Z:-0.71 [[ 9.99705247e-01 2.42130871e-02 1.77344826e-03 5.54871309e+01] [-2.42129501e-02 9.99706819e-01 -9.87139597e-05 -2.97999303e+00] [-1.77531849e-03 5.57444493e-05 9.99998423e-01 -7.07612687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860371743 meters Centerline goodness [0,1] 0.9897837639728788 Centerline is valid? [True, True] Translation: X:55.52, Y:-2.98, Z:-0.71 [[ 9.99764805e-01 2.15896470e-02 2.05481423e-03 5.55160518e+01] [-2.15894575e-02 9.99766914e-01 -1.14364561e-04 -2.97951242e+00] [-2.05680437e-03 6.99753388e-05 9.99997882e-01 -7.05624142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890371743 meters Centerline goodness [0,1] 0.9892671588733934 Centerline is valid? [True, True] Translation: X:55.54, Y:-2.98, Z:-0.71 [[ 9.99819123e-01 1.88669459e-02 2.39971844e-03 5.55439809e+01] [-1.88666805e-02 9.99821999e-01 -1.33222754e-04 -2.98423247e+00] [-2.40180480e-03 8.79239360e-05 9.99997112e-01 -7.05623965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.920371743 meters Centerline goodness [0,1] 0.9894837694185278 Centerline is valid? [True, True] Translation: X:55.57, Y:-2.99, Z:-0.71 [[ 9.99912509e-01 1.31264372e-02 1.63439746e-03 5.55735972e+01] [-1.31263071e-02 9.99913842e-01 -9.02858004e-05 -2.99147225e+00] [-1.63544178e-03 6.88242982e-05 9.99998660e-01 -7.06331452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.950371743 meters Centerline goodness [0,1] 0.9887530451016552 Centerline is valid? [True, True] Translation: X:55.60, Y:-3.00, Z:-0.71 [[ 9.99945853e-01 1.03387466e-02 1.18383400e-03 5.56026861e+01] [-1.03386758e-02 9.99946552e-01 -6.58853407e-05 -2.99558699e+00] [-1.18445190e-03 5.36424972e-05 9.99999297e-01 -7.06709579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980371743 meters Centerline goodness [0,1] 0.9892772403723307 Centerline is valid? [True, True] Translation: X:55.63, Y:-3.00, Z:-0.71 [[ 9.99972880e-01 7.32340224e-03 7.79569532e-04 5.56308789e+01] [-7.32337058e-03 9.99973183e-01 -4.34559836e-05 -2.99985161e+00] [-7.79866872e-04 3.77457285e-05 9.99999695e-01 -7.07857781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010371743 meters Centerline goodness [0,1] 0.9892688706112871 Centerline is valid? [True, True] Translation: X:55.66, Y:-3.00, Z:-0.71 [[ 9.99987978e-01 4.90346357e-03 2.58097382e-05 5.56607504e+01] [-4.90346353e-03 9.99987978e-01 -1.90714228e-06 -3.00168842e+00] [-2.58187795e-05 1.78056225e-06 1.00000000e+00 -7.08010813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040371743 meters Centerline goodness [0,1] 0.9882921516574774 Centerline is valid? [True, True] Translation: X:55.69, Y:-3.01, Z:-0.71 [[ 9.99999680e-01 7.49530452e-04 -2.78855396e-04 5.56892843e+01] [-7.49526345e-04 9.99999719e-01 1.48321862e-05 -3.00968717e+00] [ 2.78866435e-04 -1.46231720e-05 9.99999961e-01 -7.09698548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070371743 meters Centerline goodness [0,1] 0.9887946286803067 Centerline is valid? [True, True] Translation: X:55.72, Y:-3.01, Z:-0.71 [[ 9.99999669e-01 -7.77194154e-04 -2.41099505e-04 5.57192873e+01] [ 7.77197311e-04 9.99999698e-01 1.29988786e-05 -3.01251423e+00] [ 2.41089329e-04 -1.31862562e-05 9.99999971e-01 -7.09818246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100371743000004 meters Centerline goodness [0,1] 0.9884981701634351 Centerline is valid? [True, True] Translation: X:55.75, Y:-3.01, Z:-0.71 [[ 9.99997194e-01 -2.36699825e-03 1.01261495e-04 5.57500982e+01] [ 2.36699883e-03 9.99997199e-01 -5.56031153e-06 -3.01376664e+00] [-1.01248050e-04 5.79998176e-06 9.99999995e-01 -7.09569164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.130371743 meters Centerline goodness [0,1] 0.9888878809869376 Centerline is valid? [True, True] Translation: X:55.78, Y:-3.02, Z:-0.71 [[ 9.99993644e-01 -3.55851882e-03 2.21100209e-04 5.57800936e+01] [ 3.55852140e-03 9.99993668e-01 -1.12860276e-05 -3.01855717e+00] [-2.21058647e-04 1.20727456e-05 9.99999975e-01 -7.09991769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160371743 meters Centerline goodness [0,1] 0.9887418571396146 Centerline is valid? [True, True] Translation: X:55.81, Y:-3.02, Z:-0.71 [[ 9.99986116e-01 -5.18401503e-03 9.45688119e-04 5.58117769e+01] [ 5.18406369e-03 9.99986561e-01 -4.90088390e-05 -3.02066951e+00] [-9.45421348e-04 5.39106660e-05 9.99999552e-01 -7.09672295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190371743 meters Centerline goodness [0,1] 0.988223548365138 Centerline is valid? [True, True] Translation: X:55.84, Y:-3.02, Z:-0.71 [[ 9.99983189e-01 -5.76985843e-03 5.74407020e-04 5.58425788e+01] [ 5.76987719e-03 9.99983354e-01 -3.10099110e-05 -3.02378234e+00] [-5.74218535e-04 3.43236476e-05 9.99999835e-01 -7.10481538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220371743 meters Centerline goodness [0,1] 0.9876803702695345 Centerline is valid? [True, True] Translation: X:55.87, Y:-3.03, Z:-0.71 [[ 9.99983072e-01 -5.81629281e-03 1.60166126e-04 5.58742298e+01] [ 5.81629415e-03 9.99983085e-01 -7.88756344e-06 -3.02598655e+00] [-1.60117541e-04 8.81900323e-06 9.99999987e-01 -7.11085244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250371743 meters Centerline goodness [0,1] 0.9887602257019193 Centerline is valid? [True, True] Translation: X:55.91, Y:-3.03, Z:-0.71 [[ 9.99989043e-01 -4.63771197e-03 -6.36492295e-04 5.59056808e+01] [ 4.63773565e-03 9.99989245e-01 3.57289180e-05 -3.02763631e+00] [ 6.36319749e-04 -3.86804095e-05 9.99999797e-01 -7.12772847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280371743 meters Centerline goodness [0,1] 0.989103101424979 Centerline is valid? [True, True] Translation: X:55.94, Y:-3.03, Z:-0.71 [[ 9.99992805e-01 -3.54994499e-03 -1.33711268e-03 5.59368205e+01] [ 3.55004788e-03 9.99993696e-01 7.45800608e-05 -3.02764329e+00] [ 1.33683950e-03 -7.93263382e-05 9.99999103e-01 -7.13448969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.310371743 meters Centerline goodness [0,1] 0.9881578947368421 Centerline is valid? [True, True] Translation: X:55.97, Y:-3.03, Z:-0.72 [[ 9.99996118e-01 -2.26473839e-03 -1.62306635e-03 5.59666462e+01] [ 2.26488916e-03 9.99997431e-01 9.10618816e-05 -3.03477865e+00] [ 1.62285594e-03 -9.47375935e-05 9.99998679e-01 -7.16038208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340371743 meters Centerline goodness [0,1] 0.9890239477503628 Centerline is valid? [True, True] Translation: X:56.00, Y:-3.03, Z:-0.71 [[ 9.99997492e-01 7.55653912e-04 -2.10830141e-03 5.59981790e+01] [-7.55408620e-04 9.99999708e-01 1.17139903e-04 -3.02633738e+00] [ 2.10838932e-03 -1.15546980e-04 9.99997771e-01 -7.14570591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370371743 meters Centerline goodness [0,1] 0.9893662947899389 Centerline is valid? [True, True] Translation: X:56.03, Y:-3.03, Z:-0.72 [[ 9.99994821e-01 2.33198685e-03 -2.21798952e-03 5.60265036e+01] [-2.33172131e-03 9.99997274e-01 1.22298888e-04 -3.02688350e+00] [ 2.21826867e-03 -1.17126521e-04 9.99997533e-01 -7.15049832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400371743 meters Centerline goodness [0,1] 0.9892480466525433 Centerline is valid? [True, True] Translation: X:56.06, Y:-3.03, Z:-0.72 [[ 9.99989360e-01 3.95488296e-03 -2.37457380e-03 5.60555567e+01] [-3.95458413e-03 9.99992172e-01 1.30526514e-04 -3.02655273e+00] [ 2.37507143e-03 -1.21134674e-04 9.99997172e-01 -7.15845053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430371743 meters Centerline goodness [0,1] 0.9895503699487763 Centerline is valid? [True, True] Translation: X:56.09, Y:-3.03, Z:-0.72 [[ 9.99971773e-01 7.27683454e-03 -1.87097575e-03 5.60856538e+01] [-7.27665392e-03 9.99973519e-01 1.03329351e-04 -3.02510546e+00] [ 1.87167812e-03 -8.97119912e-05 9.99998244e-01 -7.16722760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460371743 meters Centerline goodness [0,1] 0.9896396704776249 Centerline is valid? [True, True] Translation: X:56.11, Y:-3.02, Z:-0.72 [[ 9.99961104e-01 8.65703323e-03 -1.68725177e-03 5.61143950e+01] [-8.65688976e-03 9.99962524e-01 9.23180426e-05 -3.02489182e+00] [ 1.68798774e-03 -7.77080992e-05 9.99998572e-01 -7.17075555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.490371743 meters Centerline goodness [0,1] 0.9896396704776249 Centerline is valid? [True, True] Translation: X:56.14, Y:-3.03, Z:-0.72 [[ 9.99961714e-01 8.58625350e-03 -1.68725828e-03 5.61426873e+01] [-8.58611013e-03 9.99963134e-01 9.21995122e-05 -3.02639530e+00] [ 1.68798773e-03 -7.77089968e-05 9.99998572e-01 -7.17459876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520371743 meters Centerline goodness [0,1] 0.9896735661530045 Centerline is valid? [True, True] Translation: X:56.17, Y:-3.03, Z:-0.72 [[ 9.99948883e-01 1.00446750e-02 -1.15611740e-03 5.61714156e+01] [-1.00446091e-02 9.99949550e-01 6.27887284e-05 -3.02602560e+00] [ 1.15668976e-03 -5.11727715e-05 9.99999330e-01 -7.17245617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550371743 meters Centerline goodness [0,1] 0.9886355809628762 Centerline is valid? [True, True] Translation: X:56.20, Y:-3.03, Z:-0.72 [[ 9.99917353e-01 1.28380052e-02 -6.87615402e-04 5.62000755e+01] [-1.28379827e-02 9.99917589e-01 3.71623818e-05 -3.02599954e+00] [ 6.88035826e-04 -2.83317159e-05 9.99999763e-01 -7.16969133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580371743 meters Centerline goodness [0,1] 0.9893638968481375 Centerline is valid? [True, True] Translation: X:56.23, Y:-3.03, Z:-0.72 [[ 9.99895794e-01 1.44360344e-02 3.85418555e-05 5.62284418e+01] [-1.44360343e-02 9.99895795e-01 -3.04318510e-06 -3.02561934e+00] [-3.85817708e-05 2.48647644e-06 9.99999999e-01 -7.17007621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610371743 meters Centerline goodness [0,1] 0.989341419153286 Centerline is valid? [True, True] Translation: X:56.26, Y:-3.02, Z:-0.72 [[ 9.99867840e-01 1.62415239e-02 7.17587174e-04 5.62577697e+01] [-1.62414992e-02 9.99868097e-01 -4.01367197e-05 -3.02491793e+00] [-7.18144404e-04 2.84767238e-05 9.99999742e-01 -7.16631391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640371743 meters Centerline goodness [0,1] 0.9889915831479485 Centerline is valid? [True, True] Translation: X:56.29, Y:-3.02, Z:-0.72 [[ 9.99833185e-01 1.82324040e-02 1.08695342e-03 5.62871254e+01] [-1.82323491e-02 9.99833775e-01 -6.03892254e-05 -3.02372540e+00] [-1.08787378e-03 4.05614375e-05 9.99999407e-01 -7.16372805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.670371743 meters Centerline goodness [0,1] 0.9903525131818286 Centerline is valid? [True, True] Translation: X:56.32, Y:-3.02, Z:-0.72 [[ 9.99759900e-01 2.18396352e-02 1.78110256e-03 5.63169013e+01] [-2.18394948e-02 9.99761485e-01 -9.82405415e-05 -3.01859736e+00] [-1.78282328e-03 5.93185739e-05 9.99998409e-01 -7.15394199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700371743 meters Centerline goodness [0,1] 0.9894821634062141 Centerline is valid? [True, True] Translation: X:56.34, Y:-3.02, Z:-0.72 [[ 9.99725995e-01 2.33294789e-02 1.91556301e-03 5.63441988e+01] [-2.33293183e-02 9.99727829e-01 -1.06172024e-04 -3.02251486e+00] [-1.91751859e-03 6.14541537e-05 9.99998160e-01 -7.16805384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730371743 meters Centerline goodness [0,1] 0.9896339637419087 Centerline is valid? [True, True] Translation: X:56.37, Y:-3.02, Z:-0.72 [[ 9.99658775e-01 2.60524822e-02 1.89770265e-03 5.63731173e+01] [-2.60523302e-02 9.99660575e-01 -1.04797737e-04 -3.01844752e+00] [-1.89978877e-03 5.53224015e-05 9.99998194e-01 -7.15593986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760371743 meters Centerline goodness [0,1] 0.9897493780521515 Centerline is valid? [True, True] Translation: X:56.40, Y:-3.02, Z:-0.72 [[ 9.99623591e-01 2.73541404e-02 2.10425531e-03 5.64022758e+01] [-2.73539569e-02 9.99625804e-01 -1.15957934e-04 -3.01835078e+00] [-2.10663984e-03 5.83545770e-05 9.99997779e-01 -7.15572478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790371743 meters Centerline goodness [0,1] 0.9896359901207211 Centerline is valid? [True, True] Translation: X:56.43, Y:-3.02, Z:-0.72 [[ 9.99591643e-01 2.85009245e-02 2.06036413e-03 5.64312884e+01] [-2.85007513e-02 9.99593765e-01 -1.13422915e-04 -3.01858994e+00] [-2.06275979e-03 5.46546728e-05 9.99997871e-01 -7.15629793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820371743 meters Centerline goodness [0,1] 0.9899748795833238 Centerline is valid? [True, True] Translation: X:56.46, Y:-3.02, Z:-0.72 [[ 9.99563203e-01 2.95031812e-02 1.72205953e-03 5.64604532e+01] [-2.95030616e-02 9.99564685e-01 -9.48395325e-05 -3.01942784e+00] [-1.72410796e-03 4.39920787e-05 9.99998513e-01 -7.16267430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850371743000004 meters Centerline goodness [0,1] 0.9891750911692748 Centerline is valid? [True, True] Translation: X:56.49, Y:-3.02, Z:-0.72 [[ 9.99493806e-01 3.17444968e-02 2.10229274e-03 5.64882487e+01] [-3.17443238e-02 9.99496015e-01 -1.15610582e-04 -3.02092776e+00] [-2.10490322e-03 4.88161996e-05 9.99997783e-01 -7.17190844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.880371743 meters Centerline goodness [0,1] 0.9893462469733656 Centerline is valid? [True, True] Translation: X:56.52, Y:-3.02, Z:-0.72 [[ 9.99460978e-01 3.27727479e-02 1.92366789e-03 5.65158923e+01] [-3.27726051e-02 9.99462828e-01 -1.05703096e-04 -3.02235819e+00] [-1.92609873e-03 4.26025116e-05 9.99998144e-01 -7.17450160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910371743 meters Centerline goodness [0,1] 0.990104961390854 Centerline is valid? [True, True] Translation: X:56.55, Y:-3.02, Z:-0.72 [[ 9.99374498e-01 3.52826379e-02 2.39743313e-03 5.65451458e+01] [-3.52824249e-02 9.99377373e-01 -1.31063971e-04 -3.02171291e+00] [-2.40056470e-03 4.63947356e-05 9.99997118e-01 -7.16347254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940371743 meters Centerline goodness [0,1] 0.9895441431044432 Centerline is valid? [True, True] Translation: X:56.57, Y:-3.02, Z:-0.72 [[ 9.99330253e-01 3.64951440e-02 2.67402578e-03 5.65730888e+01] [-3.64948825e-02 9.99333829e-01 -1.46539198e-04 -3.02432166e+00] [-2.67759239e-03 4.88527978e-05 9.99996414e-01 -7.17500304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970371743 meters Centerline goodness [0,1] 0.9900635470826112 Centerline is valid? [True, True] Translation: X:56.60, Y:-3.03, Z:-0.72 [[ 9.99292959e-01 3.75165494e-02 2.46780524e-03 5.66018488e+01] [-3.75163320e-02 9.99296006e-01 -1.34349724e-04 -3.02600425e+00] [-2.47110826e-03 4.16717324e-05 9.99996946e-01 -7.17675208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000371743 meters Centerline goodness [0,1] 0.9906447067519808 Centerline is valid? [True, True] Translation: X:56.63, Y:-3.03, Z:-0.72 [[ 9.99241691e-01 3.87890028e-02 3.38481919e-03 5.66304812e+01] [-3.87886031e-02 9.99247422e-01 -1.83689924e-04 -3.02884718e+00] [-3.38939700e-03 5.22582220e-05 9.99994255e-01 -7.18073978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030371743 meters Centerline goodness [0,1] 0.9904434339004178 Centerline is valid? [True, True] Translation: X:56.66, Y:-3.03, Z:-0.72 [[ 9.99229043e-01 3.90575417e-02 3.97848651e-03 5.66581743e+01] [-3.90569927e-02 9.99236961e-01 -2.15622774e-04 -3.03165452e+00] [-3.98387246e-03 6.00688194e-05 9.99992063e-01 -7.18192001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.060371743 meters Centerline goodness [0,1] 0.9909394043923192 Centerline is valid? [True, True] Translation: X:56.68, Y:-3.03, Z:-0.72 [[ 9.99233045e-01 3.88877083e-02 4.59008978e-03 5.66848274e+01] [-3.88869741e-02 9.99243585e-01 -2.49108782e-04 -3.03483678e+00] [-4.59630504e-03 7.04230244e-05 9.99989434e-01 -7.18400139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090371743 meters Centerline goodness [0,1] 0.9903288201160542 Centerline is valid? [True, True] Translation: X:56.71, Y:-3.04, Z:-0.72 [[ 9.99275163e-01 3.77703724e-02 4.74845514e-03 5.67135045e+01] [-3.77695840e-02 9.99286442e-01 -2.55642162e-04 -3.03770882e+00] [-4.75472254e-03 7.61096879e-05 9.99988693e-01 -7.18702863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120371743 meters Centerline goodness [0,1] 0.9908435836240133 Centerline is valid? [True, True] Translation: X:56.74, Y:-3.04, Z:-0.72 [[ 9.99373427e-01 3.50005782e-02 5.26426549e-03 5.67404532e+01] [-3.49995718e-02 9.99387287e-01 -2.83220120e-04 -3.04454867e+00] [-5.27095288e-03 9.87956241e-05 9.99986104e-01 -7.18898415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150371743 meters Centerline goodness [0,1] 0.9900219699743683 Centerline is valid? [True, True] Translation: X:56.77, Y:-3.05, Z:-0.72 [[ 9.99448350e-01 3.27550798e-02 5.48639904e-03 5.67690813e+01] [-3.27539578e-02 9.99463402e-01 -2.94259818e-04 -3.04986449e+00] [-5.49309355e-03 1.14396207e-04 9.99984906e-01 -7.19850708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180371743 meters Centerline goodness [0,1] 0.9905254485536433 Centerline is valid? [True, True] Translation: X:56.80, Y:-3.05, Z:-0.72 [[ 9.99542426e-01 2.98648091e-02 4.79918511e-03 5.67976767e+01] [-2.98639181e-02 9.99553941e-01 -2.57218010e-04 -3.05311615e+00] [-4.80472616e-03 1.13777842e-04 9.99988451e-01 -7.20364825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.210371743 meters Centerline goodness [0,1] 0.9899772209567198 Centerline is valid? [True, True] Translation: X:56.83, Y:-3.06, Z:-0.72 [[ 9.99711184e-01 2.36614337e-02 4.20534100e-03 5.68278017e+01] [-2.36606983e-02 9.99720021e-01 -2.24540172e-04 -3.06305017e+00] [-4.20947654e-03 1.24974016e-04 9.99991132e-01 -7.22423950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.240371743 meters Centerline goodness [0,1] 0.9902817606627521 Centerline is valid? [True, True] Translation: X:56.86, Y:-3.07, Z:-0.72 [[ 9.99784330e-01 2.03535029e-02 4.12658685e-03 5.68570731e+01] [-2.03527652e-02 9.99792837e-01 -2.20675336e-04 -3.06792480e+00] [-4.13022349e-03 1.36640290e-04 9.99991461e-01 -7.22740404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270371743 meters Centerline goodness [0,1] 0.9902178847026781 Centerline is valid? [True, True] Translation: X:56.89, Y:-3.07, Z:-0.72 [[ 9.99848125e-01 1.70247142e-02 3.72643850e-03 5.68851506e+01] [-1.70240892e-02 9.99855060e-01 -1.99384863e-04 -3.07419774e+00] [-3.72929286e-03 1.35915360e-04 9.99993037e-01 -7.23517123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300371743 meters Centerline goodness [0,1] 0.9899567961274853 Centerline is valid? [True, True] Translation: X:56.91, Y:-3.09, Z:-0.73 [[ 9.99932295e-01 1.12192797e-02 3.08751243e-03 5.69136798e+01] [-1.12188238e-02 9.99937053e-01 -1.64940802e-04 -3.08947863e+00] [-3.08916860e-03 1.30291377e-04 9.99995220e-01 -7.25814658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.330371743 meters Centerline goodness [0,1] 0.990210043184336 Centerline is valid? [True, True] Translation: X:56.94, Y:-3.09, Z:-0.72 [[ 9.99959782e-01 8.38690724e-03 3.17724230e-03 5.69434343e+01] [-8.38641059e-03 9.99964819e-01 -1.69607824e-04 -3.08819656e+00] [-3.17855301e-03 1.42955344e-04 9.99994938e-01 -7.24909612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360371743 meters Centerline goodness [0,1] 0.988784157339013 Centerline is valid? [True, True] Translation: X:56.97, Y:-3.09, Z:-0.72 [[ 9.99979995e-01 5.41929619e-03 3.26191310e-03 5.69722672e+01] [-5.41875679e-03 9.99985303e-01 -1.74180262e-04 -3.09364070e+00] [-3.26280909e-03 1.56501264e-04 9.99994665e-01 -7.24998465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390371743 meters Centerline goodness [0,1] 0.9899615645489487 Centerline is valid? [True, True] Translation: X:57.00, Y:-3.10, Z:-0.73 [[ 9.99985716e-01 3.25254477e-03 4.24142835e-03 5.70015468e+01] [-3.25161590e-03 9.99994688e-01 -2.25877054e-04 -3.09906618e+00] [-4.24214050e-03 2.12082331e-04 9.99990980e-01 -7.25101470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.420371743 meters Centerline goodness [0,1] 0.9893922601949653 Centerline is valid? [True, True] Translation: X:57.03, Y:-3.11, Z:-0.72 [[ 9.99978204e-01 -9.58178667e-04 6.53255229e-03 5.70315800e+01] [ 9.60466099e-04 9.99999479e-01 -3.47030771e-04 -3.10879712e+00] [-6.53221636e-03 3.53297502e-04 9.99978602e-01 -7.23854148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450371743 meters Centerline goodness [0,1] 0.9896549392593929 Centerline is valid? [True, True] Translation: X:57.06, Y:-3.11, Z:-0.72 [[ 9.99968366e-01 -1.97942884e-03 7.70376155e-03 5.70638801e+01] [ 1.98263146e-03 9.99997951e-01 -4.08107329e-04 -3.11304060e+00] [-7.70293795e-03 4.23368139e-04 9.99970242e-01 -7.23201349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480371743 meters Centerline goodness [0,1] 0.9895502556133594 Centerline is valid? [True, True] Translation: X:57.10, Y:-3.12, Z:-0.72 [[ 9.99963510e-01 -2.81062049e-03 8.06716368e-03 5.70955271e+01] [ 2.81417738e-03 9.99995948e-01 -4.29591969e-04 -3.11755844e+00] [-8.06592357e-03 4.52278723e-04 9.99967368e-01 -7.22767925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510371743 meters Centerline goodness [0,1] 0.9890764647467726 Centerline is valid? [True, True] Translation: X:57.13, Y:-3.12, Z:-0.72 [[ 9.99962298e-01 -3.37834843e-03 7.99930723e-03 5.71265641e+01] [ 3.38188230e-03 9.99994190e-01 -4.28287100e-04 -3.12201417e+00] [-7.99781385e-03 4.55323668e-04 9.99967913e-01 -7.23195926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540371743 meters Centerline goodness [0,1] 0.9883389129799807 Centerline is valid? [True, True] Translation: X:57.16, Y:-3.13, Z:-0.72 [[ 9.99963368e-01 -3.98021156e-03 7.57763818e-03 5.71573371e+01] [ 3.98340985e-03 9.99991983e-01 -4.07023687e-04 -3.12864170e+00] [-7.57595739e-03 4.37193616e-04 9.99971206e-01 -7.23775080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570371743 meters Centerline goodness [0,1] 0.9898392716646061 Centerline is valid? [True, True] Translation: X:57.19, Y:-3.13, Z:-0.72 [[ 9.99966445e-01 -4.25247093e-03 7.00174032e-03 5.71897580e+01] [ 4.25520958e-03 9.99990876e-01 -3.76288105e-04 -3.13231484e+00] [-7.00007629e-03 4.06069351e-04 9.99975417e-01 -7.24601830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.600371743 meters Centerline goodness [0,1] 0.9887322679116538 Centerline is valid? [True, True] Translation: X:57.22, Y:-3.14, Z:-0.73 [[ 9.99969721e-01 -4.28858667e-03 6.49345910e-03 5.72207764e+01] [ 4.29094610e-03 9.99990733e-01 -3.49465762e-04 -3.13730300e+00] [-6.49190021e-03 3.77318264e-04 9.99978856e-01 -7.25398214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.630371743 meters Centerline goodness [0,1] 0.9898034811903424 Centerline is valid? [True, True] Translation: X:57.25, Y:-3.14, Z:-0.73 [[ 9.99981678e-01 -3.69955915e-03 4.79136436e-03 5.72516681e+01] [ 3.70083734e-03 9.99993119e-01 -2.57930177e-04 -3.14101610e+00] [-4.79037716e-03 2.75657511e-04 9.99988488e-01 -7.27594514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660371743 meters Centerline goodness [0,1] 0.9882316160871798 Centerline is valid? [True, True] Translation: X:57.28, Y:-3.14, Z:-0.73 [[ 9.99988633e-01 -2.25452621e-03 4.20139252e-03 5.72834735e+01] [ 2.25549684e-03 9.99997431e-01 -2.26301585e-04 -3.14271988e+00] [-4.20087153e-03 2.35775240e-04 9.99991149e-01 -7.29054044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.690371743 meters Centerline goodness [0,1] 0.9896229368877757 Centerline is valid? [True, True] Translation: X:57.31, Y:-3.14, Z:-0.73 [[ 9.99993538e-01 -8.10170228e-04 3.50238397e-03 5.73143351e+01] [ 8.10836713e-04 9.99999653e-01 -1.88878832e-04 -3.14421182e+00] [-3.50222973e-03 1.91717473e-04 9.99993849e-01 -7.30505891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720371743 meters Centerline goodness [0,1] 0.9889771510174937 Centerline is valid? [True, True] Translation: X:57.34, Y:-3.14, Z:-0.73 [[ 9.99991413e-01 3.40740925e-03 2.35853479e-03 5.73438172e+01] [-3.40711759e-03 9.99994188e-01 -1.27672062e-04 -3.14365814e+00] [-2.35895611e-03 1.19635161e-04 9.99997211e-01 -7.32156769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.750371743 meters Centerline goodness [0,1] 0.9889023135096433 Centerline is valid? [True, True] Translation: X:57.37, Y:-3.13, Z:-0.73 [[ 9.99980764e-01 5.79701071e-03 2.20583277e-03 5.73745550e+01] [-5.79676139e-03 9.99983192e-01 -1.19403258e-04 -3.13281023e+00] [-2.20648787e-03 1.06614275e-04 9.99997560e-01 -7.30410538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780371743 meters Centerline goodness [0,1] 0.9911548021586761 Centerline is valid? [True, True] Translation: X:57.40, Y:-3.13, Z:-0.73 [[ 9.99958361e-01 8.80375607e-03 2.40201363e-03 5.74045697e+01] [-8.80346924e-03 9.99961240e-01 -1.29960123e-04 -3.13120620e+00] [-2.40306466e-03 1.08808658e-04 9.99997107e-01 -7.29834277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.810371743 meters Centerline goodness [0,1] 0.9912139142908374 Centerline is valid? [True, True] Translation: X:57.43, Y:-3.13, Z:-0.73 [[ 9.99925852e-01 1.19160187e-02 2.50965354e-03 5.74335678e+01] [-1.19157150e-02 9.99928996e-01 -1.35923878e-04 -3.13158237e+00] [-2.51109501e-03 1.06009483e-04 9.99996842e-01 -7.29738246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840371743 meters Centerline goodness [0,1] 0.9905404496648809 Centerline is valid? [True, True] Translation: X:57.46, Y:-3.14, Z:-0.73 [[ 9.99875608e-01 1.53703116e-02 3.53878074e-03 5.74617119e+01] [-1.53697299e-02 9.99881860e-01 -1.91510644e-04 -3.13886380e+00] [-3.54130624e-03 1.37096717e-04 9.99993720e-01 -7.31208722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.870371743 meters Centerline goodness [0,1] 0.9909697418963542 Centerline is valid? [True, True] Translation: X:57.49, Y:-3.13, Z:-0.73 [[ 9.99745504e-01 2.21811837e-02 4.11378072e-03 5.74932490e+01] [-2.21804583e-02 9.99753959e-01 -2.21888331e-04 -3.12531613e+00] [-4.11769030e-03 1.30586320e-04 9.99991514e-01 -7.27755894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900371743 meters Centerline goodness [0,1] 0.9914132218400881 Centerline is valid? [True, True] Translation: X:57.52, Y:-3.12, Z:-0.73 [[ 9.99671563e-01 2.52878128e-02 4.15837252e-03 5.75222488e+01] [-2.52870962e-02 9.99680205e-01 -2.24823137e-04 -3.12366431e+00] [-4.16272798e-03 1.19596131e-04 9.99991329e-01 -7.27120984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930371743 meters Centerline goodness [0,1] 0.9921263385224511 Centerline is valid? [True, True] Translation: X:57.55, Y:-3.12, Z:-0.73 [[ 9.99520642e-01 3.06478707e-02 4.38112001e-03 5.75514719e+01] [-3.06471298e-02 9.99530238e-01 -2.36165564e-04 -3.12202871e+00] [-4.38629990e-03 1.01783603e-04 9.99990375e-01 -7.27358135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960371743 meters Centerline goodness [0,1] 0.9922395177253914 Centerline is valid? [True, True] Translation: X:57.58, Y:-3.12, Z:-0.73 [[ 9.99462606e-01 3.24542506e-02 4.60669692e-03 5.75805016e+01] [-3.24534500e-02 9.99473217e-01 -2.48457298e-04 -3.12141659e+00] [-4.61233369e-03 9.88205706e-05 9.99989358e-01 -7.27389745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.990371743 meters Centerline goodness [0,1] 0.9921203115853933 Centerline is valid? [True, True] Translation: X:57.61, Y:-3.12, Z:-0.73 [[ 9.99429438e-01 3.34694363e-02 4.53820902e-03 5.76090685e+01] [-3.34686712e-02 9.99439737e-01 -2.44449390e-04 -3.12231129e+00] [-4.54384801e-03 9.24220913e-05 9.99989672e-01 -7.28418559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020371743 meters Centerline goodness [0,1] 0.9926500246493076 Centerline is valid? [True, True] Translation: X:57.64, Y:-3.12, Z:-0.73 [[ 9.99427559e-01 3.36434895e-02 3.55947369e-03 5.76366781e+01] [-3.36430195e-02 9.99433895e-01 -1.91857951e-04 -3.12408142e+00] [-3.56391342e-03 7.19966808e-05 9.99993647e-01 -7.29907452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.050371743 meters Centerline goodness [0,1] 0.9920568844085417 Centerline is valid? [True, True] Translation: X:57.67, Y:-3.13, Z:-0.73 [[ 9.99457935e-01 3.27408331e-02 3.44594799e-03 5.76658861e+01] [-3.27403887e-02 9.99463873e-01 -1.85299869e-04 -3.12598533e+00] [-3.45016740e-03 7.23777480e-05 9.99994046e-01 -7.30522560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080371743 meters Centerline goodness [0,1] 0.9924245830148811 Centerline is valid? [True, True] Translation: X:57.69, Y:-3.13, Z:-0.73 [[ 9.99513643e-01 3.09987522e-02 3.39912737e-03 5.76939981e+01] [-3.09983085e-02 9.99519420e-01 -1.83130060e-04 -3.12895385e+00] [-3.40317062e-03 7.76737946e-05 9.99994206e-01 -7.31373603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.110371743 meters Centerline goodness [0,1] 0.9927062995130053 Centerline is valid? [True, True] Translation: X:57.72, Y:-3.13, Z:-0.73 [[ 9.99644784e-01 2.63573871e-02 3.94881133e-03 5.77237034e+01] [-2.63567588e-02 9.99652578e-01 -2.11072044e-04 -3.13424045e+00] [-3.95300274e-03 1.06919200e-04 9.99992181e-01 -7.31059239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140371743 meters Centerline goodness [0,1] 0.9918142481152696 Centerline is valid? [True, True] Translation: X:57.75, Y:-3.14, Z:-0.73 [[ 9.99712960e-01 2.35785809e-02 4.24819362e-03 5.77512712e+01] [-2.35778274e-02 9.99721979e-01 -2.27383982e-04 -3.14068925e+00] [-4.25237393e-03 1.27155538e-04 9.99990951e-01 -7.32278190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.170371743 meters Centerline goodness [0,1] 0.991190806242454 Centerline is valid? [True, True] Translation: X:57.78, Y:-3.14, Z:-0.73 [[ 9.99783996e-01 2.03180192e-02 4.37488543e-03 5.77804484e+01] [-2.03171922e-02 9.99793557e-01 -2.33398503e-04 -3.14382141e+00] [-4.37872446e-03 1.44462700e-04 9.99990403e-01 -7.32060367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200371743 meters Centerline goodness [0,1] 0.9903719717399541 Centerline is valid? [True, True] Translation: X:57.81, Y:-3.15, Z:-0.73 [[ 9.99903074e-01 1.34749038e-02 3.50266223e-03 5.78088562e+01] [-1.34743338e-02 9.99909200e-01 -1.86295073e-04 -3.15322763e+00] [-3.50485450e-03 1.39080976e-04 9.99993848e-01 -7.33243164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230371743 meters Centerline goodness [0,1] 0.9889760629431245 Centerline is valid? [True, True] Translation: X:57.84, Y:-3.16, Z:-0.73 [[ 9.99941890e-01 1.02030470e-02 3.48065461e-03 5.78382684e+01] [-1.02024632e-02 9.99947936e-01 -1.85463300e-04 -3.15689828e+00] [-3.48236568e-03 1.49941272e-04 9.99993925e-01 -7.33713852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260371743 meters Centerline goodness [0,1] 0.9896062362582451 Centerline is valid? [True, True] Translation: X:57.87, Y:-3.16, Z:-0.73 [[ 9.99969358e-01 7.16802983e-03 3.14675182e-03 5.78677467e+01] [-7.16753782e-03 9.99974299e-01 -1.67604108e-04 -3.16175046e+00] [-3.14787234e-03 1.45044509e-04 9.99995035e-01 -7.34425887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.290371743 meters Centerline goodness [0,1] 0.9898259049824124 Centerline is valid? [True, True] Translation: X:57.90, Y:-3.17, Z:-0.73 [[ 9.99994640e-01 1.95225233e-03 2.62834000e-03 5.78980507e+01] [-1.95189195e-03 9.99998085e-01 -1.39669433e-04 -3.16803179e+00] [-2.62860764e-03 1.34538449e-04 9.99996536e-01 -7.34520181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320371743 meters Centerline goodness [0,1] 0.9896710277882672 Centerline is valid? [True, True] Translation: X:57.93, Y:-3.17, Z:-0.74 [[ 9.99996832e-01 -7.82884447e-05 2.51603304e-03 5.79283907e+01] [ 7.86243458e-05 9.99999988e-01 -1.33405639e-04 -3.17263466e+00] [-2.51602256e-03 1.33603038e-04 9.99996826e-01 -7.35391215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.350371743 meters Centerline goodness [0,1] 0.9905032395491258 Centerline is valid? [True, True] Translation: X:57.96, Y:-3.18, Z:-0.74 [[ 9.99991057e-01 -2.74394571e-03 3.21824860e-03 5.79591974e+01] [ 2.74450944e-03 9.99996219e-01 -1.70762964e-04 -3.17539731e+00] [-3.21776787e-03 1.79593950e-04 9.99994807e-01 -7.35311623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.380371743 meters Centerline goodness [0,1] 0.9900400177856825 Centerline is valid? [True, True] Translation: X:57.99, Y:-3.18, Z:-0.74 [[ 9.99988037e-01 -3.35803630e-03 3.55661328e-03 5.79906005e+01] [ 3.35872771e-03 9.99994342e-01 -1.88447830e-04 -3.17875581e+00] [-3.55596034e-03 2.00391271e-04 9.99993657e-01 -7.35530453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.410371743 meters Centerline goodness [0,1] 0.9900400177856825 Centerline is valid? [True, True] Translation: X:58.02, Y:-3.18, Z:-0.74 [[ 9.99988275e-01 -3.28649774e-03 3.55661244e-03 5.80222980e+01] [ 3.28718876e-03 9.99994579e-01 -1.88463940e-04 -3.18050225e+00] [-3.55597378e-03 2.00152986e-04 9.99993657e-01 -7.35960381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440371743 meters Centerline goodness [0,1] 0.9905643621508814 Centerline is valid? [True, True] Translation: X:58.05, Y:-3.18, Z:-0.74 [[ 9.99984701e-01 -3.47611290e-03 4.30286010e-03 5.80549161e+01] [ 3.47712825e-03 9.99993929e-01 -2.28511819e-04 -3.18103085e+00] [-4.30203964e-03 2.43469919e-04 9.99990717e-01 -7.35447526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.470371743 meters Centerline goodness [0,1] 0.9900785264609704 Centerline is valid? [True, True] Translation: X:58.09, Y:-3.18, Z:-0.74 [[ 9.99983015e-01 -3.15199338e-03 4.90253191e-03 5.80855962e+01] [ 3.15330769e-03 9.99994994e-01 -2.60381142e-04 -3.18359622e+00] [-4.90168665e-03 2.75835911e-04 9.99987949e-01 -7.35488827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500371743 meters Centerline goodness [0,1] 0.9908059250705101 Centerline is valid? [True, True] Translation: X:58.12, Y:-3.18, Z:-0.74 [[ 9.99979246e-01 -2.13247054e-03 6.07950803e-03 5.81182263e+01] [ 2.13448177e-03 9.99997669e-01 -3.24352319e-04 -3.18467212e+00] [-6.07880219e-03 3.37322186e-04 9.99981467e-01 -7.35680902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.530371743 meters Centerline goodness [0,1] 0.99061742668475 Centerline is valid? [True, True] Translation: X:58.15, Y:-3.19, Z:-0.74 [[ 9.99979157e-01 -1.49328614e-03 6.28141054e-03 5.81492839e+01] [ 1.49542609e-03 9.99998825e-01 -3.35995944e-04 -3.18770482e+00] [-6.28090142e-03 3.45382326e-04 9.99980215e-01 -7.36622938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.560371743 meters Centerline goodness [0,1] 0.9904840251684194 Centerline is valid? [True, True] Translation: X:58.18, Y:-3.19, Z:-0.74 [[ 9.99981500e-01 -8.21997253e-04 6.02699771e-03 5.81810098e+01] [ 8.23956179e-04 9.99999609e-01 -3.22549395e-04 -3.18945832e+00] [-6.02673021e-03 3.27509409e-04 9.99981785e-01 -7.37583491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.590371743 meters Centerline goodness [0,1] 0.991033884352682 Centerline is valid? [True, True] Translation: X:58.21, Y:-3.19, Z:-0.74 [[ 9.99987711e-01 6.17725829e-04 4.91899852e-03 5.82128853e+01] [-6.16437486e-04 9.99999775e-01 -2.63423345e-04 -3.18908008e+00] [-4.91916014e-03 2.60387852e-04 9.99987867e-01 -7.39007749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620371743 meters Centerline goodness [0,1] 0.9911135857461024 Centerline is valid? [True, True] Translation: X:58.24, Y:-3.19, Z:-0.74 [[ 9.99990432e-01 1.29758096e-03 4.17750423e-03 5.82440535e+01] [-1.29665630e-03 9.99999134e-01 -2.24041588e-04 -3.19042829e+00] [-4.17779132e-03 2.18622658e-04 9.99991249e-01 -7.40638582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650371743 meters Centerline goodness [0,1] 0.9902625553011272 Centerline is valid? [True, True] Translation: X:58.28, Y:-3.19, Z:-0.74 [[ 9.99991956e-01 3.00358436e-03 2.65830124e-03 5.82753580e+01] [-3.00321576e-03 9.99995480e-01 -1.42643294e-04 -3.19122328e+00] [-2.65871767e-03 1.34658695e-04 9.99996457e-01 -7.42683165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680371743 meters Centerline goodness [0,1] 0.9907355855956173 Centerline is valid? [True, True] Translation: X:58.31, Y:-3.19, Z:-0.74 [[ 9.99989832e-01 3.82500026e-03 2.38855473e-03 5.83062670e+01] [-3.82470445e-03 9.99992678e-01 -1.28401673e-04 -3.19283682e+00] [-2.38902837e-03 1.19264851e-04 9.99997139e-01 -7.44097597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710371743 meters Centerline goodness [0,1] 0.9908722561111358 Centerline is valid? [True, True] Translation: X:58.34, Y:-3.19, Z:-0.74 [[ 9.99984728e-01 4.98077299e-03 2.39476114e-03 5.83365386e+01] [-4.98047838e-03 9.99987589e-01 -1.28972497e-04 -3.19184646e+00] [-2.39537380e-03 1.17043471e-04 9.99997124e-01 -7.44145197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.740371743 meters Centerline goodness [0,1] 0.9906111642601286 Centerline is valid? [True, True] Translation: X:58.37, Y:-3.19, Z:-0.74 [[ 9.99969155e-01 7.49186605e-03 2.35832367e-03 5.83666233e+01] [-7.49158683e-03 9.99971930e-01 -1.27209571e-04 -3.19148281e+00] [-2.35921050e-03 1.09538061e-04 9.99997211e-01 -7.44007141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770371743 meters Centerline goodness [0,1] 0.9902218460441911 Centerline is valid? [True, True] Translation: X:58.40, Y:-3.19, Z:-0.74 [[ 9.99957545e-01 8.78444630e-03 2.78246048e-03 5.83959250e+01] [-8.78406179e-03 9.99961408e-01 -1.50380113e-04 -3.19157856e+00] [-2.78367410e-03 1.25932424e-04 9.99996118e-01 -7.43949322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800371743 meters Centerline goodness [0,1] 0.9908269136572115 Centerline is valid? [True, True] Translation: X:58.43, Y:-3.19, Z:-0.74 [[ 9.99940669e-01 1.04616205e-02 3.03523530e-03 5.84250313e+01] [-1.04611708e-02 9.99945267e-01 -1.64015823e-04 -3.18999338e+00] [-3.03678504e-03 1.32253977e-04 9.99995380e-01 -7.43718575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830371743 meters Centerline goodness [0,1] 0.9900763188928198 Centerline is valid? [True, True] Translation: X:58.45, Y:-3.19, Z:-0.74 [[ 9.99919333e-01 1.22407191e-02 3.39008273e-03 5.84527243e+01] [-1.22401688e-02 9.99925070e-01 -1.83004582e-04 -3.19212203e+00] [-3.39206882e-03 1.41494634e-04 9.99994237e-01 -7.44384230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860371743 meters Centerline goodness [0,1] 0.9905790645879733 Centerline is valid? [True, True] Translation: X:58.48, Y:-3.19, Z:-0.74 [[ 9.99867182e-01 1.59878048e-02 3.16353478e-03 5.84826511e+01] [-1.59873469e-02 9.99872180e-01 -1.70005914e-04 -3.19035317e+00] [-3.16584844e-03 1.19406806e-04 9.99994982e-01 -7.44465554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890371743 meters Centerline goodness [0,1] 0.9904980194935245 Centerline is valid? [True, True] Translation: X:58.51, Y:-3.19, Z:-0.75 [[ 9.99826654e-01 1.82730062e-02 3.57193520e-03 5.85105984e+01] [-1.82724357e-02 9.99833027e-01 -1.92292867e-04 -3.19139962e+00] [-3.57485255e-03 1.26991578e-04 9.99993602e-01 -7.45090204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.920371743 meters Centerline goodness [0,1] 0.9904606949428311 Centerline is valid? [True, True] Translation: X:58.54, Y:-3.19, Z:-0.75 [[ 9.99790567e-01 2.01551568e-02 3.54840351e-03 5.85394163e+01] [-2.01546073e-02 9.99796857e-01 -1.90535517e-04 -3.19151301e+00] [-3.55152295e-03 1.18978933e-04 9.99993686e-01 -7.45282474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950371743 meters Centerline goodness [0,1] 0.9905976272314003 Centerline is valid? [True, True] Translation: X:58.57, Y:-3.19, Z:-0.75 [[ 9.99713906e-01 2.36311417e-02 3.69806059e-03 5.85671686e+01] [-2.36305692e-02 9.99720739e-01 -1.98431849e-04 -3.19143135e+00] [-3.70171704e-03 1.10987803e-04 9.99993142e-01 -7.45358811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980371743 meters Centerline goodness [0,1] 0.9897345684510555 Centerline is valid? [True, True] Translation: X:58.60, Y:-3.19, Z:-0.75 [[ 9.99697526e-01 2.43568466e-02 3.40593794e-03 5.85961113e+01] [-2.43563665e-02 9.99703323e-01 -1.82369858e-04 -3.19251604e+00] [-3.40936944e-03 9.93584231e-05 9.99994183e-01 -7.45811101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010371743 meters Centerline goodness [0,1] 0.9902536715620828 Centerline is valid? [True, True] Translation: X:58.62, Y:-3.19, Z:-0.75 [[ 9.99676708e-01 2.51619831e-02 3.65435801e-03 5.86240354e+01] [-2.51614364e-02 9.99683382e-01 -1.95510979e-04 -3.19490310e+00] [-3.65812041e-03 1.03498875e-04 9.99993304e-01 -7.46549609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040371743 meters Centerline goodness [0,1] 0.9900222717149221 Centerline is valid? [True, True] Translation: X:58.65, Y:-3.20, Z:-0.75 [[ 9.99671632e-01 2.52610567e-02 4.30209986e-03 5.86530653e+01] [-2.52603031e-02 9.99680881e-01 -2.29437348e-04 -3.19537629e+00] [-4.30652281e-03 1.20689662e-04 9.99990720e-01 -7.46417895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.070371743 meters Centerline goodness [0,1] 0.9902728932021546 Centerline is valid? [True, True] Translation: X:58.68, Y:-3.20, Z:-0.75 [[ 9.99676937e-01 2.49921079e-02 4.62767423e-03 5.86814622e+01] [-2.49912333e-02 9.99687640e-01 -2.46735195e-04 -3.19638288e+00] [-4.63239516e-03 1.31004198e-04 9.99989262e-01 -7.46163194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.100371743 meters Centerline goodness [0,1] 0.9902301152801887 Centerline is valid? [True, True] Translation: X:58.71, Y:-3.20, Z:-0.75 [[ 9.99699634e-01 2.40013511e-02 4.95759863e-03 5.87087637e+01] [-2.40003381e-02 9.99711916e-01 -2.63731946e-04 -3.19973294e+00] [-4.96250035e-03 1.44668686e-04 9.99987676e-01 -7.46424056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.130371743 meters Centerline goodness [0,1] 0.9900193820036982 Centerline is valid? [True, True] Translation: X:58.74, Y:-3.20, Z:-0.75 [[ 9.99777012e-01 2.06084432e-02 4.60629933e-03 5.87377001e+01] [-2.06075372e-02 9.99787612e-01 -2.44065323e-04 -3.20440876e+00] [-4.61035081e-03 1.49086415e-04 9.99989361e-01 -7.47121764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160371743 meters Centerline goodness [0,1] 0.9896018485602559 Centerline is valid? [True, True] Translation: X:58.77, Y:-3.21, Z:-0.75 [[ 9.99826459e-01 1.81881614e-02 4.03027243e-03 5.87661410e+01] [-1.81874481e-02 9.99834572e-01 -2.13561204e-04 -3.20870842e+00] [-4.03348999e-03 1.40223772e-04 9.99991856e-01 -7.48291459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.190371743 meters Centerline goodness [0,1] 0.9903666459019311 Centerline is valid? [True, True] Translation: X:58.80, Y:-3.21, Z:-0.75 [[ 9.99876853e-01 1.52825103e-02 3.56713449e-03 5.87956648e+01] [-1.52819348e-02 9.99883207e-01 -1.88545893e-04 -3.21301229e+00] [-3.56959933e-03 1.34009958e-04 9.99993620e-01 -7.49821038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220371743 meters Centerline goodness [0,1] 0.9894982238010657 Centerline is valid? [True, True] Translation: X:58.82, Y:-3.22, Z:-0.75 [[ 9.99952483e-01 9.03912541e-03 3.65058460e-03 5.88240943e+01] [-9.03848285e-03 9.99959134e-01 -1.92475372e-04 -3.22392800e+00] [-3.65217522e-03 1.59470479e-04 9.99993318e-01 -7.52113593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250371743 meters Centerline goodness [0,1] 0.98909381095939 Centerline is valid? [True, True] Translation: X:58.85, Y:-3.23, Z:-0.75 [[ 9.99976786e-01 5.74781164e-03 3.65925074e-03 5.88529452e+01] [-5.74714285e-03 9.99983466e-01 -1.93255430e-04 -3.23205885e+00] [-3.66030104e-03 1.72220707e-04 9.99993286e-01 -7.53479896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280371743 meters Centerline goodness [0,1] 0.9902839396628217 Centerline is valid? [True, True] Translation: X:58.88, Y:-3.23, Z:-0.75 [[ 9.99988948e-01 2.35284916e-03 4.07031603e-03 5.88836434e+01] [-2.35199570e-03 9.99997211e-01 -2.14452291e-04 -3.23096976e+00] [-4.07080925e-03 2.04876555e-04 9.99991693e-01 -7.52410387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.310371743 meters Centerline goodness [0,1] 0.9900196950585319 Centerline is valid? [True, True] Translation: X:58.91, Y:-3.24, Z:-0.75 [[ 9.99982504e-01 -4.02343603e-03 4.33633101e-03 5.89138684e+01] [ 4.02446435e-03 9.99991876e-01 -2.28440139e-04 -3.23653285e+00] [-4.33537667e-03 2.45887552e-04 9.99990572e-01 -7.51886475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340371743 meters Centerline goodness [0,1] 0.9894802117245809 Centerline is valid? [True, True] Translation: X:58.94, Y:-3.24, Z:-0.75 [[ 9.99966388e-01 -6.59524843e-03 4.87085601e-03 5.89445160e+01] [ 6.59657576e-03 9.99978209e-01 -2.56488726e-04 -3.24043485e+00] [-4.86905826e-03 2.88611076e-04 9.99988104e-01 -7.52111642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.370371743 meters Centerline goodness [0,1] 0.9891431730237701 Centerline is valid? [True, True] Translation: X:58.98, Y:-3.24, Z:-0.75 [[ 9.99947599e-01 -9.12530073e-03 4.63983707e-03 5.89751667e+01] [ 9.12653261e-03 9.99958322e-01 -2.44396617e-04 -3.24467666e+00] [-4.63741350e-03 2.86729435e-04 9.99989206e-01 -7.52612908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400371743 meters Centerline goodness [0,1] 0.9886497151344521 Centerline is valid? [True, True] Translation: X:59.01, Y:-3.25, Z:-0.75 [[ 9.99915011e-01 -1.21739669e-02 4.66524000e-03 5.90056239e+01] [ 1.21752458e-02 9.99925849e-01 -2.45820175e-04 -3.24898970e+00] [-4.66190146e-03 3.02599727e-04 9.99989087e-01 -7.53253720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.430371743 meters Centerline goodness [0,1] 0.9883110845453942 Centerline is valid? [True, True] Translation: X:59.04, Y:-3.25, Z:-0.75 [[ 9.99904798e-01 -1.30162639e-02 4.57959783e-03 5.90368079e+01] [ 1.30175014e-02 9.99915240e-01 -2.40504233e-04 -3.25277257e+00] [-4.57607920e-03 3.00096257e-04 9.99989485e-01 -7.54239121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460371743 meters Centerline goodness [0,1] 0.9881502442906728 Centerline is valid? [True, True] Translation: X:59.07, Y:-3.26, Z:-0.76 [[ 9.99894076e-01 -1.39425808e-02 4.17630951e-03 5.90676561e+01] [ 1.39436219e-02 9.99902759e-01 -2.20265841e-04 -3.26226694e+00] [-4.17283232e-03 2.78475390e-04 9.99991255e-01 -7.56227787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.490371743 meters Centerline goodness [0,1] 0.9890255774847332 Centerline is valid? [True, True] Translation: X:59.10, Y:-3.26, Z:-0.76 [[ 9.99892867e-01 -1.41187055e-02 3.86212225e-03 5.91002331e+01] [ 1.41195970e-02 9.99900293e-01 -2.03680269e-04 -3.25860124e+00] [-3.85886147e-03 2.58190058e-04 9.99992521e-01 -7.56516302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520371743 meters Centerline goodness [0,1] 0.9896538709176084 Centerline is valid? [True, True] Translation: X:59.13, Y:-3.26, Z:-0.76 [[ 9.99900567e-01 -1.36900954e-02 3.38184218e-03 5.91324367e+01] [ 1.36907769e-02 9.99906261e-01 -1.78442947e-04 -3.25539932e+00] [-3.37908227e-03 2.24725251e-04 9.99994266e-01 -7.56366867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.550371743 meters Centerline goodness [0,1] 0.9888812750060788 Centerline is valid? [True, True] Translation: X:59.16, Y:-3.26, Z:-0.76 [[ 9.99932666e-01 -1.15012408e-02 1.54445928e-03 5.91623169e+01] [ 1.15013790e-02 9.99933854e-01 -8.06468646e-05 -3.26142604e+00] [-1.54342958e-03 9.84048459e-05 9.99998804e-01 -7.58712937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580371743 meters Centerline goodness [0,1] 0.9899372741981958 Centerline is valid? [True, True] Translation: X:59.19, Y:-3.26, Z:-0.76 [[ 9.99952261e-01 -9.70405774e-03 1.14345998e-03 5.91939081e+01] [ 9.70413306e-03 9.99952912e-01 -6.03426039e-05 -3.25524251e+00] [-1.14282057e-03 7.14360111e-05 9.99999344e-01 -7.58431920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610371743 meters Centerline goodness [0,1] 0.9889186259980978 Centerline is valid? [True, True] Translation: X:59.22, Y:-3.26, Z:-0.76 [[ 9.99973321e-01 -7.29176297e-03 4.33618844e-04 5.92240748e+01] [ 7.29177355e-03 9.99973414e-01 -2.28318800e-05 -3.25512097e+00] [-4.33440831e-04 2.59931213e-05 9.99999906e-01 -7.59359285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640371743 meters Centerline goodness [0,1] 0.9895761562909786 Centerline is valid? [True, True] Translation: X:59.25, Y:-3.25, Z:-0.76 [[ 9.99990423e-01 -4.37334184e-03 1.66792955e-04 5.92549654e+01] [ 4.37334335e-03 9.99990437e-01 -8.63942639e-06 -3.25425398e+00] [-1.66753577e-04 9.36878651e-06 9.99999986e-01 -7.59346152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.670371743 meters Centerline goodness [0,1] 0.9896231446093681 Centerline is valid? [True, True] Translation: X:59.29, Y:-3.25, Z:-0.76 [[ 9.99999592e-01 -8.99950805e-04 7.81359177e-05 5.92858833e+01] [ 8.99951114e-04 9.99999595e-01 -3.92004290e-06 -3.25191246e+00] [-7.81323583e-05 3.99035981e-06 9.99999997e-01 -7.58843984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700371743 meters Centerline goodness [0,1] 0.9900102117835102 Centerline is valid? [True, True] Translation: X:59.32, Y:-3.24, Z:-0.76 [[ 9.99972878e-01 7.33851861e-03 6.24748422e-04 5.93174230e+01] [-7.33849938e-03 9.99973072e-01 -3.30757005e-05 -3.24477871e+00] [-6.24974326e-04 2.84900875e-05 9.99999804e-01 -7.57353375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730371743 meters Centerline goodness [0,1] 0.9902296804059467 Centerline is valid? [True, True] Translation: X:59.35, Y:-3.24, Z:-0.76 [[ 9.99930660e-01 1.17122963e-02 1.22363187e-03 5.93471779e+01] [-1.17122248e-02 9.99931407e-01 -6.56187372e-05 -3.24227926e+00] [-1.22431648e-03 5.12827357e-05 9.99999249e-01 -7.57335087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760371743 meters Centerline goodness [0,1] 0.9904878865691638 Centerline is valid? [True, True] Translation: X:59.38, Y:-3.24, Z:-0.76 [[ 9.99789050e-01 2.04174045e-02 2.23265566e-03 5.93783052e+01] [-2.04171898e-02 9.99791540e-01 -1.18882101e-04 -3.23558682e+00] [-2.23461750e-03 7.32724680e-05 9.99997501e-01 -7.56951335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790371743 meters Centerline goodness [0,1] 0.9900551992312334 Centerline is valid? [True, True] Translation: X:59.41, Y:-3.23, Z:-0.76 [[ 9.99683567e-01 2.50203604e-02 2.59771029e-03 5.94082486e+01] [-2.50200845e-02 9.99686939e-01 -1.38664629e-04 -3.23415540e+00] [-2.60036648e-03 7.36258201e-05 9.99996616e-01 -7.57785451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820371743 meters Centerline goodness [0,1] 0.9917329520064349 Centerline is valid? [True, True] Translation: X:59.44, Y:-3.23, Z:-0.76 [[ 9.99461949e-01 3.26822828e-02 2.77143297e-03 5.94381283e+01] [-3.26819985e-02 9.99465790e-01 -1.47819625e-04 -3.22871656e+00] [-2.77478352e-03 5.71641221e-05 9.99996149e-01 -7.58317332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.850371743 meters Centerline goodness [0,1] 0.992013639626705 Centerline is valid? [True, True] Translation: X:59.47, Y:-3.23, Z:-0.76 [[ 9.99370930e-01 3.54024560e-02 2.10030131e-03 5.94666648e+01] [-3.54022978e-02 9.99373136e-01 -1.12482887e-04 -3.22789985e+00] [-2.10296687e-03 3.80566351e-05 9.99997788e-01 -7.59356100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.880371743 meters Centerline goodness [0,1] 0.9919100015686978 Centerline is valid? [True, True] Translation: X:59.50, Y:-3.23, Z:-0.76 [[ 9.99289148e-01 3.76571400e-02 1.77133982e-03 5.94960100e+01] [-3.76570314e-02 9.99290718e-01 -9.46716248e-05 -3.22776944e+00] [-1.77364850e-03 2.79009283e-05 9.99998427e-01 -7.60189076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910371743 meters Centerline goodness [0,1] 0.9924678876459907 Centerline is valid? [True, True] Translation: X:59.52, Y:-3.23, Z:-0.76 [[ 9.99232458e-01 3.91446951e-02 1.47926906e-03 5.95239254e+01] [-3.91446202e-02 9.99233552e-01 -7.95315544e-05 -3.22910735e+00] [-1.48124851e-03 2.15650851e-05 9.99998903e-01 -7.61776265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940371743 meters Centerline goodness [0,1] 0.992688779743883 Centerline is valid? [True, True] Translation: X:59.55, Y:-3.23, Z:-0.76 [[ 9.99253359e-01 3.85895876e-02 1.88924491e-03 5.95518160e+01] [-3.85894651e-02 9.99255144e-01 -1.01263813e-04 -3.23167764e+00] [-1.89174543e-03 2.82832542e-05 9.99998210e-01 -7.62495531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.970371743 meters Centerline goodness [0,1] 0.9925505418807637 Centerline is valid? [True, True] Translation: X:59.58, Y:-3.23, Z:-0.76 [[ 9.99296096e-01 3.74596173e-02 2.02209531e-03 5.95805837e+01] [-3.74594762e-02 9.99298142e-01 -1.07648597e-04 -3.23495767e+00] [-2.02470856e-03 3.18261919e-05 9.99997950e-01 -7.63306156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000371743 meters Centerline goodness [0,1] 0.9922470198081922 Centerline is valid? [True, True] Translation: X:59.61, Y:-3.24, Z:-0.76 [[ 9.99354914e-01 3.58525210e-02 2.08637079e-03 5.96095197e+01] [-3.58523676e-02 9.99357091e-01 -1.10894617e-04 -3.23832714e+00] [-2.08900529e-03 3.60217485e-05 9.99997817e-01 -7.63697492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030371743 meters Centerline goodness [0,1] 0.9919892593421347 Centerline is valid? [True, True] Translation: X:59.64, Y:-3.24, Z:-0.76 [[ 9.99464708e-01 3.25840910e-02 2.92813519e-03 5.96377946e+01] [-3.25837766e-02 9.99468996e-01 -1.55049957e-04 -3.24272970e+00] [-2.93163250e-03 5.95572572e-05 9.99995701e-01 -7.62908218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.060371743 meters Centerline goodness [0,1] 0.9912092815707274 Centerline is valid? [True, True] Translation: X:59.67, Y:-3.25, Z:-0.76 [[ 9.99511858e-01 3.10612490e-02 3.35330570e-03 5.96660239e+01] [-3.10608293e-02 9.99517480e-01 -1.77176128e-04 -3.24599573e+00] [-3.35719098e-03 7.29331852e-05 9.99994362e-01 -7.63107164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.090371743 meters Centerline goodness [0,1] 0.9911218184657253 Centerline is valid? [True, True] Translation: X:59.69, Y:-3.25, Z:-0.76 [[ 9.99581689e-01 2.85351933e-02 4.71054824e-03 5.96942713e+01] [-2.85343405e-02 9.99592782e-01 -2.48164949e-04 -3.25057256e+00] [-4.71571146e-03 1.13648752e-04 9.99988875e-01 -7.62579426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120371743 meters Centerline goodness [0,1] 0.9910605083501968 Centerline is valid? [True, True] Translation: X:59.72, Y:-3.25, Z:-0.76 [[ 9.99611733e-01 2.73841910e-02 5.14668781e-03 5.97226033e+01] [-2.73831601e-02 9.99624974e-01 -2.70674667e-04 -3.25424309e+00] [-5.15216988e-03 1.29636997e-04 9.99986719e-01 -7.63041079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.150371743 meters Centerline goodness [0,1] 0.9911139672479891 Centerline is valid? [True, True] Translation: X:59.75, Y:-3.26, Z:-0.76 [[ 9.99643594e-01 2.60943645e-02 5.63639354e-03 5.97501274e+01] [-2.60931087e-02 9.99659473e-01 -2.96248676e-04 -3.25904421e+00] [-5.64220462e-03 1.49072062e-04 9.99984072e-01 -7.64045494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180371743 meters Centerline goodness [0,1] 0.9917221841039375 Centerline is valid? [True, True] Translation: X:59.78, Y:-3.26, Z:-0.76 [[ 9.99725617e-01 2.27570363e-02 5.55053095e-03 5.97796159e+01] [-2.27557737e-02 9.99741012e-01 -2.90525832e-04 -3.26354206e+00] [-5.55570493e-03 1.64139490e-04 9.99984553e-01 -7.63826251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210371743 meters Centerline goodness [0,1] 0.9921647189760713 Centerline is valid? [True, True] Translation: X:59.81, Y:-3.27, Z:-0.76 [[ 9.99773144e-01 2.05454253e-02 5.61663926e-03 5.98086904e+01] [-2.05440972e-02 9.99788905e-01 -2.94069266e-04 -3.26669712e+00] [-5.62149539e-03 1.78613772e-04 9.99984183e-01 -7.64393608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.240371743 meters Centerline goodness [0,1] 0.9914637931799033 Centerline is valid? [True, True] Translation: X:59.84, Y:-3.27, Z:-0.76 [[ 9.99814950e-01 1.84666944e-02 5.38950150e-03 5.98368468e+01] [-1.84654416e-02 9.99829459e-01 -2.82119602e-04 -3.27099087e+00] [-5.39379219e-03 1.82547870e-04 9.99985437e-01 -7.64816970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270371743 meters Centerline goodness [0,1] 0.9916524210199144 Centerline is valid? [True, True] Translation: X:59.87, Y:-3.28, Z:-0.77 [[ 9.99896743e-01 1.34530238e-02 5.05171600e-03 5.98654345e+01] [-1.34518660e-02 9.99909485e-01 -2.63101927e-04 -3.27892943e+00] [-5.05479826e-03 1.95119753e-04 9.99987205e-01 -7.65540312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300371743 meters Centerline goodness [0,1] 0.9916524210199144 Centerline is valid? [True, True] Translation: X:59.89, Y:-3.28, Z:-0.77 [[ 9.99897700e-01 1.33817109e-02 5.05168959e-03 5.98937232e+01] [-1.33805496e-02 9.99910442e-01 -2.63609675e-04 -3.28034228e+00] [-5.05476472e-03 1.95988324e-04 9.99987205e-01 -7.65924165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330371743 meters Centerline goodness [0,1] 0.9909479228913529 Centerline is valid? [True, True] Translation: X:59.92, Y:-3.28, Z:-0.77 [[ 9.99930664e-01 1.07129584e-02 4.88877231e-03 5.99230196e+01] [-1.07118420e-02 9.99942594e-01 -2.54486994e-04 -3.28284024e+00] [-4.89121798e-03 2.02101593e-04 9.99988017e-01 -7.66088559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360371743 meters Centerline goodness [0,1] 0.9912001415052623 Centerline is valid? [True, True] Translation: X:59.95, Y:-3.29, Z:-0.77 [[ 9.99968910e-01 6.04389969e-03 5.06457024e-03 5.99522823e+01] [-6.04264361e-03 9.99981708e-01 -2.63279960e-04 -3.29019393e+00] [-5.06606883e-03 2.32668382e-04 9.99987140e-01 -7.66694620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390371743 meters Centerline goodness [0,1] 0.9912173970754153 Centerline is valid? [True, True] Translation: X:59.98, Y:-3.29, Z:-0.77 [[ 9.99977735e-01 3.99568135e-03 5.34462361e-03 5.99828316e+01] [-3.99425549e-03 9.99991984e-01 -2.77432093e-04 -3.29385793e+00] [-5.34568930e-03 2.56078124e-04 9.99985679e-01 -7.67027652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.420371743 meters Centerline goodness [0,1] 0.9907491223809418 Centerline is valid? [True, True] Translation: X:60.01, Y:-3.30, Z:-0.77 [[ 9.99985241e-01 3.72292171e-04 5.42029364e-03 6.00126935e+01] [-3.70771204e-04 9.99999892e-01 -2.81608065e-04 -3.30056340e+00] [-5.42039789e-03 2.79594220e-04 9.99985270e-01 -7.67877919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450371743 meters Centerline goodness [0,1] 0.9907737239197292 Centerline is valid? [True, True] Translation: X:60.04, Y:-3.30, Z:-0.77 [[ 9.99982445e-01 -5.88005967e-04 5.89608041e-03 6.00446356e+01] [ 5.89811081e-04 9.99999780e-01 -3.04420835e-04 -3.30414863e+00] [-5.89590011e-03 3.07893064e-04 9.99982572e-01 -7.68292762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480371743 meters Centerline goodness [0,1] 0.9899239879794944 Centerline is valid? [True, True] Translation: X:60.08, Y:-3.31, Z:-0.77 [[ 9.99981205e-01 -1.15371080e-03 6.02144511e-03 6.00770242e+01] [ 1.15561330e-03 9.99999283e-01 -3.12484482e-04 -3.30800785e+00] [-6.02108028e-03 3.19437071e-04 9.99981822e-01 -7.68912711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510371743 meters Centerline goodness [0,1] 0.9897947889225865 Centerline is valid? [True, True] Translation: X:60.11, Y:-3.32, Z:-0.77 [[ 9.99982374e-01 -1.27549315e-03 5.79874254e-03 6.01077163e+01] [ 1.27727284e-03 9.99999138e-01 -3.03217550e-04 -3.32016857e+00] [-5.79835079e-03 3.10618782e-04 9.99983141e-01 -7.70372281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540371743 meters Centerline goodness [0,1] 0.9906698722897412 Centerline is valid? [True, True] Translation: X:60.14, Y:-3.31, Z:-0.77 [[ 9.99985820e-01 -1.27994653e-03 5.16935252e-03 6.01406899e+01] [ 1.28136545e-03 9.99999142e-01 -2.71183586e-04 -3.31457129e+00] [-5.16900099e-03 2.77803570e-04 9.99986602e-01 -7.69352824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570371743 meters Centerline goodness [0,1] 0.991804549582475 Centerline is valid? [True, True] Translation: X:60.17, Y:-3.31, Z:-0.77 [[ 9.99986680e-01 -1.20554908e-03 5.01855670e-03 6.01732446e+01] [ 1.20688706e-03 9.99999237e-01 -2.63586173e-04 -3.31465403e+00] [-5.01823510e-03 2.69639493e-04 9.99987372e-01 -7.69617814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.600371743 meters Centerline goodness [0,1] 0.9901046958519238 Centerline is valid? [True, True] Translation: X:60.20, Y:-3.32, Z:-0.77 [[ 9.99988971e-01 -3.97184800e-04 4.67967495e-03 6.02040876e+01] [ 3.98338299e-04 9.99999891e-01 -2.45561841e-04 -3.31744467e+00] [-4.67957690e-03 2.47423227e-04 9.99989020e-01 -7.70351672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.630371743 meters Centerline goodness [0,1] 0.9910299003322259 Centerline is valid? [True, True] Translation: X:60.23, Y:-3.32, Z:-0.77 [[ 9.99987945e-01 3.49703717e-04 4.89777766e-03 6.02349962e+01] [-3.48442546e-04 9.99999906e-01 -2.58349613e-04 -3.32183053e+00] [-4.89786755e-03 2.56639904e-04 9.99987972e-01 -7.71563478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660371743 meters Centerline goodness [0,1] 0.9899092271084868 Centerline is valid? [True, True] Translation: X:60.27, Y:-3.32, Z:-0.77 [[ 9.99988360e-01 1.17035594e-03 4.68084775e-03 6.02665590e+01] [-1.16921263e-03 9.99999286e-01 -2.46981012e-04 -3.32446035e+00] [-4.68113346e-03 2.41505231e-04 9.99989014e-01 -7.72848871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690371743 meters Centerline goodness [0,1] 0.9909445157862109 Centerline is valid? [True, True] Translation: X:60.30, Y:-3.33, Z:-0.77 [[ 9.99986315e-01 3.08517702e-03 4.22510767e-03 6.02977133e+01] [-3.08426040e-03 9.99995219e-01 -2.23444183e-04 -3.32522922e+00] [-4.22577683e-03 2.10409793e-04 9.99991049e-01 -7.73972868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720371743 meters Centerline goodness [0,1] 0.9903187303832722 Centerline is valid? [True, True] Translation: X:60.33, Y:-3.33, Z:-0.77 [[ 9.99980289e-01 4.21549653e-03 4.65307560e-03 6.03288697e+01] [-4.21439605e-03 9.99991089e-01 -2.46285968e-04 -3.32625599e+00] [-4.65407235e-03 2.26671210e-04 9.99989144e-01 -7.74501997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.750371743 meters Centerline goodness [0,1] 0.990604620316127 Centerline is valid? [True, True] Translation: X:60.36, Y:-3.33, Z:-0.78 [[ 9.99972612e-01 5.73105454e-03 4.68293643e-03 6.03591545e+01] [-5.72995501e-03 9.99983553e-01 -2.48179568e-04 -3.32912625e+00] [-4.68428174e-03 2.21339756e-04 9.99989004e-01 -7.75247739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780371743 meters Centerline goodness [0,1] 0.9903262141926364 Centerline is valid? [True, True] Translation: X:60.39, Y:-3.33, Z:-0.78 [[ 9.99960519e-01 7.64453552e-03 4.52996917e-03 6.03901188e+01] [-7.64352591e-03 9.99970759e-01 -2.40143908e-04 -3.32974877e+00] [-4.53167250e-03 2.05509490e-04 9.99989711e-01 -7.75687874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.810371743 meters Centerline goodness [0,1] 0.990350993670606 Centerline is valid? [True, True] Translation: X:60.42, Y:-3.33, Z:-0.78 [[ 9.99922174e-01 1.16117481e-02 4.56218754e-03 6.04197639e+01] [-1.16107629e-02 9.99932563e-01 -2.42372540e-04 -3.32918472e+00] [-4.56469426e-03 1.89383199e-04 9.99989564e-01 -7.76715568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840371743 meters Centerline goodness [0,1] 0.9913561914049513 Centerline is valid? [True, True] Translation: X:60.45, Y:-3.32, Z:-0.78 [[ 9.99896386e-01 1.37255168e-02 4.33914252e-03 6.04495390e+01] [-1.37246452e-02 9.99905786e-01 -2.30585778e-04 -3.32374311e+00] [-4.34189862e-03 1.71008694e-04 9.99990559e-01 -7.75676010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.870371743 meters Centerline goodness [0,1] 0.9919268985095813 Centerline is valid? [True, True] Translation: X:60.48, Y:-3.32, Z:-0.78 [[ 9.99840721e-01 1.73756609e-02 4.07660295e-03 6.04795076e+01] [-1.73749233e-02 9.99849021e-01 -2.16301325e-04 -3.32032612e+00] [-4.07974584e-03 1.45436210e-04 9.99991667e-01 -7.75189511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900371743 meters Centerline goodness [0,1] 0.9918896819959779 Centerline is valid? [True, True] Translation: X:60.51, Y:-3.32, Z:-0.78 [[ 9.99803713e-01 1.93409965e-02 4.29661049e-03 6.05073415e+01] [-1.93401939e-02 9.99812935e-01 -2.28284881e-04 -3.32087927e+00] [-4.30022200e-03 1.45142792e-04 9.99990743e-01 -7.75728548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930371743 meters Centerline goodness [0,1] 0.991616528048133 Centerline is valid? [True, True] Translation: X:60.54, Y:-3.32, Z:-0.78 [[ 9.99773211e-01 2.09651503e-02 3.74013650e-03 6.05366079e+01] [-2.09645547e-02 9.99780200e-01 -1.98373017e-04 -3.31982059e+00] [-3.74347334e-03 1.19917732e-04 9.99992986e-01 -7.75725268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960371743 meters Centerline goodness [0,1] 0.9924312840260258 Centerline is valid? [True, True] Translation: X:60.57, Y:-3.32, Z:-0.78 [[ 9.99701060e-01 2.41637808e-02 3.72860713e-03 6.05656121e+01] [-2.41632121e-02 9.99708007e-01 -1.97494782e-04 -3.31895746e+00] [-3.73229062e-03 1.07340618e-04 9.99993029e-01 -7.76023177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.990371743 meters Centerline goodness [0,1] 0.9934867852632978 Centerline is valid? [True, True] Translation: X:60.59, Y:-3.32, Z:-0.78 [[ 9.99675920e-01 2.51958250e-02 3.63674400e-03 6.05943857e+01] [-2.51952916e-02 9.99682530e-01 -1.92392711e-04 -3.31926935e+00] [-3.64043693e-03 1.00701534e-04 9.99993369e-01 -7.75886348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020371743 meters Centerline goodness [0,1] 0.9941511398630835 Centerline is valid? [True, True] Translation: X:60.62, Y:-3.32, Z:-0.78 [[ 9.99655440e-01 2.59753157e-02 3.77957281e-03 6.06229804e+01] [-2.59747464e-02 9.99662579e-01 -1.99652722e-04 -3.31912978e+00] [-3.78348355e-03 1.01410484e-04 9.99992837e-01 -7.75847552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.050371743 meters Centerline goodness [0,1] 0.9931974291582923 Centerline is valid? [True, True] Translation: X:60.65, Y:-3.32, Z:-0.78 [[ 9.99645536e-01 2.62409288e-02 4.49626777e-03 6.06511806e+01] [-2.62401281e-02 9.99655640e-01 -2.36990682e-04 -3.32142170e+00] [-4.50093829e-03 1.18924035e-04 9.99989864e-01 -7.76024851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080371743 meters Centerline goodness [0,1] 0.9923357261181668 Centerline is valid? [True, True] Translation: X:60.68, Y:-3.32, Z:-0.78 [[ 9.99658132e-01 2.56240358e-02 5.19891965e-03 6.06802822e+01] [-2.56229597e-02 9.99671641e-01 -2.73497211e-04 -3.32178749e+00] [-5.20422064e-03 1.40192003e-04 9.99986448e-01 -7.75394788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110371743 meters Centerline goodness [0,1] 0.9932707042441202 Centerline is valid? [True, True] Translation: X:60.71, Y:-3.32, Z:-0.78 [[ 9.99666762e-01 2.50126313e-02 6.38218555e-03 6.07094147e+01] [-2.50110016e-02 9.99687120e-01 -3.35054750e-04 -3.32400805e+00] [-6.38856929e-03 1.75318245e-04 9.99979578e-01 -7.75093161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140371743 meters Centerline goodness [0,1] 0.9934469780827984 Centerline is valid? [True, True] Translation: X:60.74, Y:-3.33, Z:-0.77 [[ 9.99695383e-01 2.36094326e-02 7.19275933e-03 6.07375671e+01] [-2.36073301e-02 9.99721237e-01 -3.77080077e-04 -3.32756978e+00] [-7.19965690e-03 2.07163368e-04 9.99974061e-01 -7.74972842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.170371743 meters Centerline goodness [0,1] 0.9931428065829057 Centerline is valid? [True, True] Translation: X:60.77, Y:-3.33, Z:-0.77 [[ 9.99718600e-01 2.25989166e-02 7.21181193e-03 6.07663060e+01] [-2.25967820e-02 9.99744589e-01 -3.77336852e-04 -3.32810741e+00] [-7.21849736e-03 2.14266927e-04 9.99973923e-01 -7.74862946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200371743 meters Centerline goodness [0,1] 0.9921572102709528 Centerline is valid? [True, True] Translation: X:60.79, Y:-3.33, Z:-0.78 [[ 9.99774741e-01 2.00574494e-02 6.94010508e-03 6.07938610e+01] [-2.00554140e-02 9.99798804e-01 -3.62760952e-04 -3.33378876e+00] [-6.94598482e-03 2.23492557e-04 9.99975851e-01 -7.76024246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230371743 meters Centerline goodness [0,1] 0.9923733309753294 Centerline is valid? [True, True] Translation: X:60.82, Y:-3.34, Z:-0.78 [[ 9.99799961e-01 1.88619104e-02 6.65328260e-03 6.08225000e+01] [-1.88600179e-02 9.99822074e-01 -3.47069589e-04 -3.33550479e+00] [-6.65864520e-03 2.21519133e-04 9.99977806e-01 -7.76190636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260371743 meters Centerline goodness [0,1] 0.9926540336634974 Centerline is valid? [True, True] Translation: X:60.85, Y:-3.34, Z:-0.78 [[ 9.99838621e-01 1.68835462e-02 6.13830272e-03 6.08510011e+01] [-1.68819003e-02 9.99857439e-01 -3.19846248e-04 -3.33784179e+00] [-6.14282777e-03 2.16168417e-04 9.99981109e-01 -7.76583340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290371743 meters Centerline goodness [0,1] 0.991598496573071 Centerline is valid? [True, True] Translation: X:60.88, Y:-3.34, Z:-0.78 [[ 9.99900367e-01 1.26932109e-02 6.17571113e-03 6.08802798e+01] [-1.26914695e-02 9.99919409e-01 -3.21080881e-04 -3.34308451e+00] [-6.17928896e-03 2.42670041e-04 9.99980879e-01 -7.77007413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320371743 meters Centerline goodness [0,1] 0.991118573669443 Centerline is valid? [True, True] Translation: X:60.91, Y:-3.35, Z:-0.78 [[ 9.99925483e-01 1.04930913e-02 6.23884503e-03 6.09099530e+01] [-1.04912727e-02 9.99944913e-01 -3.24142608e-04 -3.34512299e+00] [-6.24190260e-03 2.58665029e-04 9.99980486e-01 -7.77308042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.350371743 meters Centerline goodness [0,1] 0.9917340759404146 Centerline is valid? [True, True] Translation: X:60.94, Y:-3.35, Z:-0.78 [[ 9.99943514e-01 8.68283314e-03 6.13006328e-03 6.09392692e+01] [-8.68104565e-03 9.99962268e-01 -3.18141405e-04 -3.34970472e+00] [-6.13259435e-03 2.64908075e-04 9.99981160e-01 -7.77777004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.380371743 meters Centerline goodness [0,1] 0.9912290367366727 Centerline is valid? [True, True] Translation: X:60.97, Y:-3.35, Z:-0.78 [[ 9.99969559e-01 5.26390313e-03 5.75961095e-03 6.09692505e+01] [-5.26226961e-03 9.99986110e-01 -2.98734432e-04 -3.35393166e+00] [-5.76110346e-03 2.68416713e-04 9.99983369e-01 -7.78691153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.410371743 meters Centerline goodness [0,1] 0.9917759894168229 Centerline is valid? [True, True] Translation: X:61.00, Y:-3.36, Z:-0.78 [[ 9.99977073e-01 4.43729182e-03 5.11511111e-03 6.10003513e+01] [-4.43599456e-03 9.99990126e-01 -2.64930867e-04 -3.35632967e+00] [-5.11623617e-03 2.42234188e-04 9.99986883e-01 -7.79319955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440371743 meters Centerline goodness [0,1] 0.9917967716327071 Centerline is valid? [True, True] Translation: X:61.03, Y:-3.36, Z:-0.78 [[ 9.99982352e-01 3.95509378e-03 4.43309548e-03 6.10320841e+01] [-3.95411426e-03 9.99992156e-01 -2.29699269e-04 -3.35794073e+00] [-4.43396919e-03 2.12166250e-04 9.99990147e-01 -7.80338516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470371743 meters Centerline goodness [0,1] 0.9912247822731782 Centerline is valid? [True, True] Translation: X:61.06, Y:-3.36, Z:-0.78 [[ 9.99978912e-01 4.58301109e-03 4.60136225e-03 6.10619566e+01] [-4.58196084e-03 9.99989474e-01 -2.38763026e-04 -3.36072782e+00] [-4.60240807e-03 2.17674729e-04 9.99989385e-01 -7.81432503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500371743 meters Centerline goodness [0,1] 0.9910223888827616 Centerline is valid? [True, True] Translation: X:61.09, Y:-3.36, Z:-0.78 [[ 9.99977226e-01 5.15268136e-03 4.35866995e-03 6.10928607e+01] [-5.15174339e-03 9.99986704e-01 -2.26397416e-04 -3.36204656e+00] [-4.35977856e-03 2.03937510e-04 9.99990475e-01 -7.81732064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.530371743 meters Centerline goodness [0,1] 0.9905073721681426 Centerline is valid? [True, True] Translation: X:61.12, Y:-3.36, Z:-0.78 [[ 9.99973150e-01 5.69411504e-03 4.61264293e-03 6.11234851e+01] [-5.69307032e-03 9.99983766e-01 -2.39589244e-04 -3.36144896e+00] [-4.61393229e-03 2.13322710e-04 9.99989333e-01 -7.82049832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.560371743 meters Centerline goodness [0,1] 0.9895621855415306 Centerline is valid? [True, True] Translation: X:61.15, Y:-3.36, Z:-0.78 [[ 9.99973397e-01 5.75555743e-03 4.48090858e-03 6.11540226e+01] [-5.75457548e-03 9.99983415e-01 -2.32003601e-04 -3.36490208e+00] [-4.48216958e-03 2.06211702e-04 9.99989934e-01 -7.83089568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590371743 meters Centerline goodness [0,1] 0.9912116473205436 Centerline is valid? [True, True] Translation: X:61.18, Y:-3.37, Z:-0.78 [[ 9.99977399e-01 4.82716732e-03 4.67981495e-03 6.11847352e+01] [-4.82608067e-03 9.99988325e-01 -2.43462549e-04 -3.36598516e+00] [-4.68093555e-03 2.20871882e-04 9.99989020e-01 -7.83047118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620371743 meters Centerline goodness [0,1] 0.9906027861528642 Centerline is valid? [True, True] Translation: X:61.22, Y:-3.37, Z:-0.78 [[ 9.99984202e-01 3.77111177e-03 4.16815324e-03 6.12154400e+01] [-3.77024060e-03 9.99992869e-01 -2.16843876e-04 -3.36579317e+00] [-4.16894126e-03 2.01125510e-04 9.99991290e-01 -7.82983784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650371743 meters Centerline goodness [0,1] 0.9902739575310815 Centerline is valid? [True, True] Translation: X:61.25, Y:-3.37, Z:-0.78 [[ 9.99989117e-01 2.81947294e-03 3.71711067e-03 6.12459760e+01] [-2.81877356e-03 9.99996009e-01 -1.93378851e-04 -3.36789550e+00] [-3.71764106e-03 1.82899053e-04 9.99993073e-01 -7.83751762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680371743 meters Centerline goodness [0,1] 0.9911010524928039 Centerline is valid? [True, True] Translation: X:61.28, Y:-3.37, Z:-0.79 [[ 9.99995308e-01 1.01454589e-03 2.89034015e-03 6.12760636e+01] [-1.01411726e-03 9.99999475e-01 -1.49757074e-04 -3.37188973e+00] [-2.89049057e-03 1.46825227e-04 9.99995812e-01 -7.85439459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710371743 meters Centerline goodness [0,1] 0.9908880818752064 Centerline is valid? [True, True] Translation: X:61.31, Y:-3.37, Z:-0.79 [[ 9.99996398e-01 2.23611255e-04 2.67483771e-03 6.13076415e+01] [-2.23240461e-04 9.99999965e-01 -1.38920590e-04 -3.37200975e+00] [-2.67486868e-03 1.38322958e-04 9.99996413e-01 -7.85619334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.740371743 meters Centerline goodness [0,1] 0.9900277374190992 Centerline is valid? [True, True] Translation: X:61.34, Y:-3.37, Z:-0.79 [[ 9.99997082e-01 -7.86075753e-05 2.41469676e-03 6.13385891e+01] [ 7.89054923e-05 9.99999989e-01 -1.23281583e-04 -3.37491173e+00] [-2.41468704e-03 1.23471756e-04 9.99997077e-01 -7.86527876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770371743 meters Centerline goodness [0,1] 0.9901022837492285 Centerline is valid? [True, True] Translation: X:61.37, Y:-3.37, Z:-0.79 [[ 9.99996203e-01 -8.44630763e-04 2.62294314e-03 6.13699220e+01] [ 8.44992785e-04 9.99999634e-01 -1.36916222e-04 -3.37488145e+00] [-2.62282654e-03 1.39132070e-04 9.99996551e-01 -7.86726736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800371743 meters Centerline goodness [0,1] 0.9903916080833902 Centerline is valid? [True, True] Translation: X:61.40, Y:-3.38, Z:-0.79 [[ 9.99994944e-01 -1.16094109e-03 2.96045870e-03 6.14014567e+01] [ 1.16139807e-03 9.99999314e-01 -1.52647447e-04 -3.37733284e+00] [-2.96027946e-03 1.56084947e-04 9.99995606e-01 -7.86674688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830371743 meters Centerline goodness [0,1] 0.9901001014243507 Centerline is valid? [True, True] Translation: X:61.43, Y:-3.38, Z:-0.79 [[ 9.99993957e-01 -1.06431939e-03 3.30967340e-03 6.14334524e+01] [ 1.06489915e-03 9.99999418e-01 -1.73415600e-04 -3.37805365e+00] [-3.30948690e-03 1.76939020e-04 9.99994508e-01 -7.86323243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860371743 meters Centerline goodness [0,1] 0.9896725218465884 Centerline is valid? [True, True] Translation: X:61.46, Y:-3.38, Z:-0.79 [[ 9.99994786e-01 2.44185243e-04 3.22012131e-03 6.14646393e+01] [-2.43644754e-04 9.99999956e-01 -1.68238594e-04 -3.37784946e+00] [-3.22016225e-03 1.67453151e-04 9.99994801e-01 -7.86164957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.890371743 meters Centerline goodness [0,1] 0.9904629137900514 Centerline is valid? [True, True] Translation: X:61.50, Y:-3.38, Z:-0.79 [[ 9.99993116e-01 1.41206624e-03 3.43125734e-03 6.14956557e+01] [-1.41145383e-03 9.99998988e-01 -1.80894366e-04 -3.37788020e+00] [-3.43150930e-03 1.76050060e-04 9.99994097e-01 -7.86365421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.920371743 meters Centerline goodness [0,1] 0.9905303449343983 Centerline is valid? [True, True] Translation: X:61.53, Y:-3.38, Z:-0.79 [[ 9.99989807e-01 3.05454352e-03 3.32495860e-03 6.15268113e+01] [-3.05397660e-03 9.99995321e-01 -1.75566544e-04 -3.37774880e+00] [-3.32547932e-03 1.65410409e-04 9.99994457e-01 -7.86706092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.950371743 meters Centerline goodness [0,1] 0.9896040698960407 Centerline is valid? [True, True] Translation: X:61.56, Y:-3.38, Z:-0.79 [[ 9.99982790e-01 4.82148308e-03 3.34245902e-03 6.15579399e+01] [-4.82091984e-03 9.99988364e-01 -1.76549697e-04 -3.37719950e+00] [-3.34327136e-03 1.60432932e-04 9.99994398e-01 -7.87211845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980371743 meters Centerline goodness [0,1] 0.9909949873574946 Centerline is valid? [True, True] Translation: X:61.59, Y:-3.37, Z:-0.79 [[ 9.99957858e-01 8.77632012e-03 2.69411101e-03 6.15880988e+01] [-8.77596801e-03 9.99961480e-01 -1.42488692e-04 -3.37405042e+00] [-2.69525776e-03 1.18839255e-04 9.99996361e-01 -7.88620371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010371743 meters Centerline goodness [0,1] 0.990613349902361 Centerline is valid? [True, True] Translation: X:61.62, Y:-3.37, Z:-0.79 [[ 9.99939598e-01 1.06665512e-02 2.65051538e-03 6.16167730e+01] [-1.06662151e-02 9.99943104e-01 -1.40909419e-04 -3.37314594e+00] [-2.65186760e-03 1.12629940e-04 9.99996477e-01 -7.89475310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040371743 meters Centerline goodness [0,1] 0.991636798088411 Centerline is valid? [True, True] Translation: X:61.65, Y:-3.36, Z:-0.79 [[ 9.99899203e-01 1.37676526e-02 3.46913140e-03 6.16475153e+01] [-1.37670989e-02 9.99905212e-01 -1.83426680e-04 -3.36478926e+00] [-3.47132793e-03 1.35648316e-04 9.99993966e-01 -7.88342254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070371743 meters Centerline goodness [0,1] 0.9910046312789454 Centerline is valid? [True, True] Translation: X:61.67, Y:-3.37, Z:-0.79 [[ 9.99883629e-01 1.48404741e-02 3.53397371e-03 6.16746550e+01] [-1.48399040e-02 9.99889865e-01 -1.87494410e-04 -3.37050220e+00] [-3.53636701e-03 1.35028761e-04 9.99993738e-01 -7.90205346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.100371743 meters Centerline goodness [0,1] 0.9909064568613903 Centerline is valid? [True, True] Translation: X:61.70, Y:-3.36, Z:-0.79 [[ 9.99848413e-01 1.68419846e-02 4.41562912e-03 6.17043393e+01] [-1.68411185e-02 9.99858151e-01 -2.33259243e-04 -3.36305661e+00] [-4.41893132e-03 1.58859751e-04 9.99990224e-01 -7.89284288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.130371743 meters Centerline goodness [0,1] 0.9914531821833438 Centerline is valid? [True, True] Translation: X:61.73, Y:-3.36, Z:-0.79 [[ 9.99848482e-01 1.69699129e-02 3.87755101e-03 6.17325422e+01] [-1.69692451e-02 9.99855991e-01 -2.05053165e-04 -3.36402560e+00] [-3.88047234e-03 1.39222982e-04 9.99992461e-01 -7.90670803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160371743 meters Centerline goodness [0,1] 0.9909459881361223 Centerline is valid? [True, True] Translation: X:61.76, Y:-3.37, Z:-0.79 [[ 9.99845145e-01 1.73023900e-02 3.21146803e-03 6.17601275e+01] [-1.73019340e-02 9.99850296e-01 -1.69740816e-04 -3.37073371e+00] [-3.21392418e-03 1.14149923e-04 9.99994829e-01 -7.93383071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190371743 meters Centerline goodness [0,1] 0.9918933404796999 Centerline is valid? [True, True] Translation: X:61.79, Y:-3.36, Z:-0.79 [[ 9.99857469e-01 1.66750284e-02 2.64275338e-03 6.17894461e+01] [-1.66747179e-02 9.99860957e-01 -1.39478190e-04 -3.36469258e+00] [-2.64471173e-03 9.53911425e-05 9.99996498e-01 -7.93056863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220371743 meters Centerline goodness [0,1] 0.9917056048648528 Centerline is valid? [True, True] Translation: X:61.82, Y:-3.37, Z:-0.79 [[ 9.99868928e-01 1.60077268e-02 2.42486222e-03 6.18176119e+01] [-1.60074632e-02 9.99871864e-01 -1.28073764e-04 -3.36649244e+00] [-2.42660168e-03 8.92410844e-05 9.99997052e-01 -7.93727789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250371743 meters Centerline goodness [0,1] 0.9917056048648528 Centerline is valid? [True, True] Translation: X:61.85, Y:-3.37, Z:-0.79 [[ 9.99870042e-01 1.59379873e-02 2.42488347e-03 6.18458982e+01] [-1.59377244e-02 9.99872978e-01 -1.27668144e-04 -3.36791127e+00] [-2.42661023e-03 8.90044276e-05 9.99997052e-01 -7.94112010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280371743 meters Centerline goodness [0,1] 0.9921981230913265 Centerline is valid? [True, True] Translation: X:61.87, Y:-3.37, Z:-0.79 [[ 9.99880772e-01 1.52615664e-02 2.35092162e-03 6.18746957e+01] [-1.52613178e-02 9.99883532e-01 -1.23641047e-04 -3.36917549e+00] [-2.35253477e-03 8.77481432e-05 9.99997229e-01 -7.94980708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.310371743 meters Centerline goodness [0,1] 0.990823429351597 Centerline is valid? [True, True] Translation: X:61.90, Y:-3.37, Z:-0.80 [[ 9.99903506e-01 1.37368143e-02 2.06852448e-03 6.19037548e+01] [-1.37366187e-02 9.99905642e-01 -1.08753268e-04 -3.37102236e+00] [-2.06982322e-03 8.03282424e-05 9.99997855e-01 -7.95728882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340371743 meters Centerline goodness [0,1] 0.9913421845364275 Centerline is valid? [True, True] Translation: X:61.93, Y:-3.37, Z:-0.80 [[ 9.99911723e-01 1.30689163e-02 2.39797770e-03 6.19322404e+01] [-1.30686522e-02 9.99914594e-01 -1.25776158e-04 -3.37041648e+00] [-2.39941665e-03 9.44267182e-05 9.99997117e-01 -7.95530308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370371743 meters Centerline goodness [0,1] 0.9906774947157637 Centerline is valid? [True, True] Translation: X:61.96, Y:-3.38, Z:-0.80 [[ 9.99926715e-01 1.18167803e-02 2.63212310e-03 6.19601850e+01] [-1.18164577e-02 9.99930174e-01 -1.38080396e-04 -3.37500117e+00] [-2.63357097e-03 1.06967905e-04 9.99996526e-01 -7.96755390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400371743 meters Centerline goodness [0,1] 0.9907136638614193 Centerline is valid? [True, True] Translation: X:61.99, Y:-3.37, Z:-0.80 [[ 9.99932607e-01 1.12017272e-02 3.05005213e-03 6.19891466e+01] [-1.12012936e-02 9.99937251e-01 -1.59201739e-04 -3.37152492e+00] [-3.05164408e-03 1.25026481e-04 9.99995336e-01 -7.95583227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430371743 meters Centerline goodness [0,1] 0.9911401467692859 Centerline is valid? [True, True] Translation: X:62.02, Y:-3.37, Z:-0.80 [[ 9.99935644e-01 1.06672103e-02 3.86242065e-03 6.20171487e+01] [-1.06665122e-02 9.99943091e-01 -2.01310945e-04 -3.37347882e+00] [-3.86434827e-03 1.60099433e-04 9.99992521e-01 -7.95627865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460371743 meters Centerline goodness [0,1] 0.9903061906672015 Centerline is valid? [True, True] Translation: X:62.05, Y:-3.37, Z:-0.80 [[ 9.99936121e-01 1.05252713e-02 4.11986779e-03 6.20462031e+01] [-1.05244788e-02 9.99944593e-01 -2.13989530e-04 -3.37406889e+00] [-4.12189182e-03 1.70616400e-04 9.99991490e-01 -7.95721202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.490371743 meters Centerline goodness [0,1] 0.9907500727899841 Centerline is valid? [True, True] Translation: X:62.07, Y:-3.37, Z:-0.80 [[ 9.99940933e-01 1.01020573e-02 4.00989901e-03 6.20748431e+01] [-1.01013042e-02 9.99948959e-01 -2.08017439e-04 -3.37410440e+00] [-4.01179574e-03 1.67499942e-04 9.99991939e-01 -7.96515583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520371743 meters Centerline goodness [0,1] 0.9905641347468453 Centerline is valid? [True, True] Translation: X:62.10, Y:-3.38, Z:-0.80 [[ 9.99940800e-01 1.04576029e-02 3.00594261e-03 6.21024290e+01] [-1.04571807e-02 9.99945310e-01 -1.56142248e-04 -3.37538864e+00] [-3.00741109e-03 1.24699319e-04 9.99995470e-01 -7.97616245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550371743 meters Centerline goodness [0,1] 0.9914648625641256 Centerline is valid? [True, True] Translation: X:62.13, Y:-3.37, Z:-0.80 [[ 9.99937092e-01 1.10892111e-02 1.68540031e-03 6.21312792e+01] [-1.10890789e-02 9.99938510e-01 -8.77137143e-05 -3.37379772e+00] [-1.68626935e-03 6.90186594e-05 9.99998576e-01 -7.98831568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580371743 meters Centerline goodness [0,1] 0.9908040820903892 Centerline is valid? [True, True] Translation: X:62.16, Y:-3.38, Z:-0.80 [[ 9.99931615e-01 1.16198119e-02 1.32101971e-03 6.21589011e+01] [-1.16197308e-02 9.99932486e-01 -6.90674849e-05 -3.37535600e+00] [-1.32173308e-03 5.37128683e-05 9.99999125e-01 -7.99847407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610371743 meters Centerline goodness [0,1] 0.99152447615001 Centerline is valid? [True, True] Translation: X:62.19, Y:-3.37, Z:-0.80 [[ 9.99925120e-01 1.21450350e-02 1.50064903e-03 6.21877011e+01] [-1.21449317e-02 9.99926245e-01 -7.79618668e-05 -3.37410209e+00] [-1.50148520e-03 5.97307491e-05 9.99998871e-01 -7.99467936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640371743 meters Centerline goodness [0,1] 0.9916603147558625 Centerline is valid? [True, True] Translation: X:62.22, Y:-3.37, Z:-0.80 [[ 9.99906966e-01 1.34783215e-02 2.09608664e-03 6.22169097e+01] [-1.34781239e-02 9.99909160e-01 -1.08375972e-04 -3.37283278e+00] [-2.09735696e-03 8.01145744e-05 9.99997797e-01 -7.98936171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.670371743 meters Centerline goodness [0,1] 0.9915595755160524 Centerline is valid? [True, True] Translation: X:62.25, Y:-3.37, Z:-0.80 [[ 9.99892856e-01 1.44194210e-02 2.52130605e-03 6.22455741e+01] [-1.44191390e-02 9.99896030e-01 -1.30013252e-04 -3.37095618e+00] [-2.52291863e-03 9.36442596e-05 9.99996813e-01 -7.98430125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700371743 meters Centerline goodness [0,1] 0.9915360501567398 Centerline is valid? [True, True] Translation: X:62.27, Y:-3.37, Z:-0.80 [[ 9.99874900e-01 1.55990704e-02 2.61795929e-03 6.22733315e+01] [-1.55987704e-02 9.99878323e-01 -1.34959803e-04 -3.37196823e+00] [-2.61974599e-03 9.41059733e-05 9.99996564e-01 -7.98615584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730371743 meters Centerline goodness [0,1] 0.9915987150976031 Centerline is valid? [True, True] Translation: X:62.30, Y:-3.37, Z:-0.80 [[ 9.99835539e-01 1.79169553e-02 2.80685512e-03 6.23019854e+01] [-1.79166211e-02 9.99839474e-01 -1.44155621e-04 -3.37052647e+00] [-2.80898738e-03 9.38425532e-05 9.99996050e-01 -7.98542251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760371743 meters Centerline goodness [0,1] 0.9909137818858951 Centerline is valid? [True, True] Translation: X:62.33, Y:-3.37, Z:-0.80 [[ 9.99777985e-01 2.08693044e-02 2.90746495e-03 6.23311018e+01] [-2.08689590e-02 9.99782208e-01 -1.49082684e-04 -3.36871002e+00] [-2.90994298e-03 8.83738189e-05 9.99995762e-01 -7.98727181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790371743 meters Centerline goodness [0,1] 0.9913938008471728 Centerline is valid? [True, True] Translation: X:62.36, Y:-3.37, Z:-0.80 [[ 9.99753120e-01 2.20762622e-02 2.51750446e-03 6.23587337e+01] [-2.20760067e-02 9.99756287e-01 -1.29225593e-04 -3.36940660e+00] [-2.51974373e-03 7.36172439e-05 9.99996823e-01 -7.99334203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820371743 meters Centerline goodness [0,1] 0.9926017818878989 Centerline is valid? [True, True] Translation: X:62.39, Y:-3.37, Z:-0.80 [[ 9.99726062e-01 2.32479167e-02 2.70855949e-03 6.23874168e+01] [-2.32476267e-02 9.99729728e-01 -1.38499274e-04 -3.36976233e+00] [-2.71104726e-03 7.54937534e-05 9.99996322e-01 -7.99980661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.850371743 meters Centerline goodness [0,1] 0.9924105936402126 Centerline is valid? [True, True] Translation: X:62.42, Y:-3.37, Z:-0.80 [[ 9.99697073e-01 2.45044542e-02 2.30083687e-03 6.24167278e+01] [-2.45042482e-02 9.99699719e-01 -1.17657233e-04 -3.36874489e+00] [-2.30302909e-03 6.12413140e-05 9.99997346e-01 -8.00128477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.880371743 meters Centerline goodness [0,1] 0.9922723381246339 Centerline is valid? [True, True] Translation: X:62.44, Y:-3.37, Z:-0.80 [[ 9.99660778e-01 2.59263162e-02 2.48090944e-03 6.24441107e+01] [-2.59260814e-02 9.99663855e-01 -1.26797547e-04 -3.37035032e+00] [-2.48336288e-03 6.24342748e-05 9.99996915e-01 -8.01299109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910371743 meters Centerline goodness [0,1] 0.9921336158319434 Centerline is valid? [True, True] Translation: X:62.47, Y:-3.37, Z:-0.80 [[ 9.99649464e-01 2.63272242e-02 2.79742527e-03 6.24725262e+01] [-2.63269288e-02 9.99653376e-01 -1.42379312e-04 -3.37173754e+00] [-2.80020407e-03 6.86817870e-05 9.99996077e-01 -8.01776651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940371743 meters Centerline goodness [0,1] 0.9922508560100919 Centerline is valid? [True, True] Translation: X:62.50, Y:-3.37, Z:-0.80 [[ 9.99653759e-01 2.60996205e-02 3.34233875e-03 6.25007684e+01] [-2.60991977e-02 9.99659343e-01 -1.70048406e-04 -3.37337669e+00] [-3.34563836e-03 8.27571686e-05 9.99994400e-01 -8.02124840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970371743 meters Centerline goodness [0,1] 0.9918472140894554 Centerline is valid? [True, True] Translation: X:62.53, Y:-3.38, Z:-0.80 [[ 9.99673676e-01 2.53392643e-02 3.23478105e-03 6.25285732e+01] [-2.53388652e-02 9.99678906e-01 -1.64321914e-04 -3.37584005e+00] [-3.23790618e-03 8.23026108e-05 9.99994755e-01 -8.02416174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000371743 meters Centerline goodness [0,1] 0.9921871481965147 Centerline is valid? [True, True] Translation: X:62.56, Y:-3.38, Z:-0.80 [[ 9.99717422e-01 2.35705589e-02 3.08311454e-03 6.25573648e+01] [-2.35701901e-02 9.99722172e-01 -1.55916442e-04 -3.37955648e+00] [-3.08593300e-03 8.32027875e-05 9.99995235e-01 -8.02477726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.030371743 meters Centerline goodness [0,1] 0.9916799712171978 Centerline is valid? [True, True] Translation: X:62.59, Y:-3.38, Z:-0.80 [[ 9.99777592e-01 2.08392913e-02 3.23890821e-03 6.25852786e+01] [-2.08388703e-02 9.99782834e-01 -1.63692992e-04 -3.38496555e+00] [-3.24161607e-03 9.61613970e-05 9.99994741e-01 -8.03324619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.060371743 meters Centerline goodness [0,1] 0.9918715662433577 Centerline is valid? [True, True] Translation: X:62.61, Y:-3.39, Z:-0.80 [[ 9.99808104e-01 1.93345243e-02 3.15134669e-03 6.26141694e+01] [-1.93341196e-02 9.99813066e-01 -1.58836725e-04 -3.38867831e+00] [-3.15382863e-03 9.78777312e-05 9.99995022e-01 -8.03979395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090371743 meters Centerline goodness [0,1] 0.9915132465199821 Centerline is valid? [True, True] Translation: X:62.64, Y:-3.39, Z:-0.80 [[ 9.99896552e-01 1.41415529e-02 2.62719037e-03 6.26445759e+01] [-1.41412558e-02 9.99899999e-01 -1.31637614e-04 -3.39339875e+00] [-2.62878920e-03 9.44722250e-05 9.99996540e-01 -8.04304972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120371743 meters Centerline goodness [0,1] 0.9915132465199821 Centerline is valid? [True, True] Translation: X:62.67, Y:-3.39, Z:-0.80 [[ 9.99897560e-01 1.40701146e-02 2.62715135e-03 6.26728633e+01] [-1.40698152e-02 9.99901006e-01 -1.32416858e-04 -3.39475655e+00] [-2.62875440e-03 9.54397597e-05 9.99996540e-01 -8.04688736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150371743 meters Centerline goodness [0,1] 0.9907043581741024 Centerline is valid? [True, True] Translation: X:62.70, Y:-3.40, Z:-0.80 [[ 9.99919672e-01 1.23650411e-02 2.78475541e-03 6.27016301e+01] [-1.23646988e-02 9.99923544e-01 -1.40109646e-04 -3.39735867e+00] [-2.78627497e-03 1.05665730e-04 9.99996113e-01 -8.04922745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180371743 meters Centerline goodness [0,1] 0.9909564202683901 Centerline is valid? [True, True] Translation: X:62.73, Y:-3.40, Z:-0.81 [[ 9.99940400e-01 1.04419167e-02 3.18803721e-03 6.27301588e+01] [-1.04414595e-02 9.99945474e-01 -1.60021983e-04 -3.40133772e+00] [-3.18953432e-03 1.26724684e-04 9.99994905e-01 -8.05370735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.210371743 meters Centerline goodness [0,1] 0.9908053691275168 Centerline is valid? [True, True] Translation: X:62.76, Y:-3.41, Z:-0.81 [[ 9.99958941e-01 8.43228244e-03 3.31861959e-03 6.27581177e+01] [-8.43177747e-03 9.99964438e-01 -1.66123120e-04 -3.40960875e+00] [-3.31990237e-03 1.38134437e-04 9.99994480e-01 -8.06481048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.240371743 meters Centerline goodness [0,1] 0.9914020867851865 Centerline is valid? [True, True] Translation: X:62.79, Y:-3.41, Z:-0.81 [[ 9.99975432e-01 6.07908992e-03 3.48991096e-03 6.27876037e+01] [-6.07851863e-03 9.99981510e-01 -1.74280491e-04 -3.40913361e+00] [-3.49090590e-03 1.53062720e-04 9.99993895e-01 -8.05521824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.270371743 meters Centerline goodness [0,1] 0.9910278784624335 Centerline is valid? [True, True] Translation: X:62.82, Y:-3.41, Z:-0.81 [[ 9.99986407e-01 3.75288277e-03 3.61955199e-03 6.28169622e+01] [-3.75225358e-03 9.99992944e-01 -1.80606495e-04 -3.41332752e+00] [-3.62020424e-03 1.67022563e-04 9.99993433e-01 -8.06012858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300371743 meters Centerline goodness [0,1] 0.9909399268053201 Centerline is valid? [True, True] Translation: X:62.85, Y:-3.42, Z:-0.81 [[ 9.99994447e-01 -1.44422613e-03 3.00338930e-03 6.28459075e+01] [ 1.44468198e-03 9.99998945e-01 -1.49616997e-04 -3.42156127e+00] [-3.00317005e-03 1.53955109e-04 9.99995479e-01 -8.07645576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330371743 meters Centerline goodness [0,1] 0.9918377387181896 Centerline is valid? [True, True] Translation: X:62.88, Y:-3.43, Z:-0.81 [[ 9.99988678e-01 -3.97550306e-03 2.61534426e-03 6.28757068e+01] [ 3.97585450e-03 9.99992088e-01 -1.29191608e-04 -3.42656696e+00] [-2.61480996e-03 1.39588373e-04 9.99996572e-01 -8.08626678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360371743 meters Centerline goodness [0,1] 0.9912151616499443 Centerline is valid? [True, True] Translation: X:62.91, Y:-3.43, Z:-0.81 [[ 9.99969176e-01 -7.66300768e-03 1.71057568e-03 6.29071322e+01] [ 7.66316394e-03 9.99970634e-01 -8.48132750e-05 -3.42793935e+00] [-1.70987552e-03 9.79190825e-05 9.99998533e-01 -8.08937097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390371743 meters Centerline goodness [0,1] 0.9908864031373947 Centerline is valid? [True, True] Translation: X:62.94, Y:-3.43, Z:-0.81 [[ 9.99958876e-01 -8.94991950e-03 1.46442028e-03 6.29376894e+01] [ 8.95003537e-03 9.99959945e-01 -7.25903725e-05 -3.43277628e+00] [-1.46371195e-03 8.56940007e-05 9.99998925e-01 -8.09948375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.420371743 meters Centerline goodness [0,1] 0.9911374037280947 Centerline is valid? [True, True] Translation: X:62.97, Y:-3.44, Z:-0.81 [[ 9.99954814e-01 -9.47757381e-03 7.39205341e-04 6.29700041e+01] [ 9.47760298e-03 9.99955086e-01 -3.59626482e-05 -3.43536862e+00] [-7.38831302e-04 4.29669179e-05 9.99999726e-01 -8.10498989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.450371743 meters Centerline goodness [0,1] 0.9906589862776061 Centerline is valid? [True, True] Translation: X:63.00, Y:-3.44, Z:-0.81 [[ 9.99969042e-01 -7.84989471e-03 5.42954514e-04 6.30011600e+01] [ 7.84991035e-03 9.99969189e-01 -2.66658065e-05 -3.43681346e+00] [-5.42728461e-04 3.09271252e-05 9.99999852e-01 -8.10716258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480371743 meters Centerline goodness [0,1] 0.9910148934272719 Centerline is valid? [True, True] Translation: X:63.03, Y:-3.44, Z:-0.81 [[ 9.99983231e-01 -5.75081382e-03 6.81963430e-04 6.30325362e+01] [ 5.75083810e-03 9.99983463e-01 -3.36452649e-05 -3.43731392e+00] [-6.81758665e-04 3.75665619e-05 9.99999767e-01 -8.10594303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510371743 meters Centerline goodness [0,1] 0.9909176113541016 Centerline is valid? [True, True] Translation: X:63.06, Y:-3.43, Z:-0.81 [[ 9.99998659e-01 3.80890399e-04 1.59308284e-03 6.30632644e+01] [-3.80763845e-04 9.99999924e-01 -7.97424128e-05 -3.43320139e+00] [-1.59311309e-03 7.91357175e-05 9.99998728e-01 -8.09858769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540371743 meters Centerline goodness [0,1] 0.9915940154741466 Centerline is valid? [True, True] Translation: X:63.09, Y:-3.43, Z:-0.81 [[ 9.99985893e-01 4.73293633e-03 2.41092574e-03 6.30929535e+01] [-4.73265912e-03 9.99988794e-01 -1.20672310e-04 -3.43364303e+00] [-2.41146986e-03 1.09260518e-04 9.99997086e-01 -8.10251199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.570371743 meters Centerline goodness [0,1] 0.9912709575156833 Centerline is valid? [True, True] Translation: X:63.12, Y:-3.43, Z:-0.81 [[ 9.99954154e-01 9.25233935e-03 2.46655901e-03 6.31233033e+01] [-9.25206171e-03 9.99957191e-01 -1.23951329e-04 -3.43153075e+00] [-2.46760025e-03 1.01124890e-04 9.99996950e-01 -8.10405922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.600371743 meters Centerline goodness [0,1] 0.9915074783228941 Centerline is valid? [True, True] Translation: X:63.15, Y:-3.43, Z:-0.81 [[ 9.99897312e-01 1.40490317e-02 2.82655752e-03 6.31522192e+01] [-1.40486872e-02 9.99901302e-01 -1.41732404e-04 -3.43080108e+00] [-2.82826974e-03 1.02008427e-04 9.99995995e-01 -8.10574593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.630371743 meters Centerline goodness [0,1] 0.9923032174341074 Centerline is valid? [True, True] Translation: X:63.18, Y:-3.43, Z:-0.81 [[ 9.99711575e-01 2.37811910e-02 3.34977498e-03 6.31834299e+01] [-2.37807640e-02 9.99717184e-01 -1.67241798e-04 -3.42608152e+00] [-3.35280481e-03 8.75333529e-05 9.99994376e-01 -8.10490741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660371743 meters Centerline goodness [0,1] 0.9925270228192696 Centerline is valid? [True, True] Translation: X:63.21, Y:-3.42, Z:-0.81 [[ 9.99580534e-01 2.87181856e-02 3.74459293e-03 6.32123241e+01] [-2.87176843e-02 9.99587545e-01 -1.87570897e-04 -3.42455079e+00] [-3.74843515e-03 7.99561791e-05 9.99992971e-01 -8.11131143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.690371743 meters Centerline goodness [0,1] 0.9929826921352345 Centerline is valid? [True, True] Translation: X:63.24, Y:-3.42, Z:-0.81 [[ 9.99456364e-01 3.28249661e-02 3.08180640e-03 6.32410019e+01] [-3.28246452e-02 9.99461114e-01 -1.54675812e-04 -3.42216457e+00] [-3.08522288e-03 5.34325231e-05 9.99995239e-01 -8.11368485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720371743 meters Centerline goodness [0,1] 0.993036585911961 Centerline is valid? [True, True] Translation: X:63.27, Y:-3.42, Z:-0.81 [[ 9.99204259e-01 3.98004049e-02 2.60306715e-03 6.32705221e+01] [-3.98001951e-02 9.99207650e-01 -1.32383147e-04 -3.41938834e+00] [-2.60627351e-03 2.86752246e-05 9.99996603e-01 -8.12462188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.750371743 meters Centerline goodness [0,1] 0.9936875210603168 Centerline is valid? [True, True] Translation: X:63.30, Y:-3.42, Z:-0.81 [[ 9.99086024e-01 4.26733863e-02 2.46946498e-03 6.32980397e+01] [-4.26732112e-02 9.99089076e-01 -1.23572086e-04 -3.42003791e+00] [-2.47248873e-03 1.80791435e-05 9.99996943e-01 -8.13252553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780371743 meters Centerline goodness [0,1] 0.9940777962223518 Centerline is valid? [True, True] Translation: X:63.33, Y:-3.42, Z:-0.81 [[ 9.98945598e-01 4.58833630e-02 1.55242041e-03 6.33265261e+01] [-4.58832975e-02 9.98946804e-01 -7.77938282e-05 -3.42078694e+00] [-1.55435484e-03 6.48163491e-06 9.99998792e-01 -8.14546998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.810371743 meters Centerline goodness [0,1] 0.9943277736511581 Centerline is valid? [True, True] Translation: X:63.36, Y:-3.42, Z:-0.82 [[ 9.98920071e-01 4.64486863e-02 1.10099034e-03 6.33555286e+01] [-4.64486535e-02 9.98920677e-01 -5.53852265e-05 -3.42266483e+00] [-1.10237458e-03 4.18589580e-06 9.99999392e-01 -8.15465263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840371743 meters Centerline goodness [0,1] 0.9941865664967355 Centerline is valid? [True, True] Translation: X:63.38, Y:-3.42, Z:-0.82 [[ 9.98930035e-01 4.62348621e-02 1.05948976e-03 6.33827881e+01] [-4.62348309e-02 9.98930597e-01 -5.39306749e-05 -3.42475117e+00] [-1.06085022e-03 4.88764098e-06 9.99999437e-01 -8.16547989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870371743 meters Centerline goodness [0,1] 0.9945486360373295 Centerline is valid? [True, True] Translation: X:63.41, Y:-3.43, Z:-0.82 [[ 9.98974841e-01 4.52497028e-02 1.31562458e-03 6.34100525e+01] [-4.52496547e-02 9.98975708e-01 -6.63200596e-05 -3.42707330e+00] [-1.31727796e-03 6.72051294e-06 9.99999132e-01 -8.16954348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900371743 meters Centerline goodness [0,1] 0.9936955936462353 Centerline is valid? [True, True] Translation: X:63.44, Y:-3.43, Z:-0.82 [[ 9.99099912e-01 4.23437490e-02 2.52427590e-03 6.34378618e+01] [-4.23435676e-02 9.99103101e-01 -1.25282236e-04 -3.43182606e+00] [-2.52731680e-03 1.82826238e-05 9.99996806e-01 -8.15315666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930371743 meters Centerline goodness [0,1] 0.9940633540929253 Centerline is valid? [True, True] Translation: X:63.47, Y:-3.44, Z:-0.82 [[ 9.99187862e-01 4.01353001e-02 3.57407270e-03 6.34669061e+01] [-4.01349272e-02 9.99194254e-01 -1.76026605e-04 -3.43592907e+00] [-3.57825779e-03 3.24384996e-05 9.99993597e-01 -8.15680495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960371743 meters Centerline goodness [0,1] 0.993417235685277 Centerline is valid? [True, True] Translation: X:63.49, Y:-3.44, Z:-0.82 [[ 9.99282362e-01 3.76716919e-02 3.95019111e-03 6.34942489e+01] [-3.76712180e-02 9.99290169e-01 -1.94328789e-04 -3.44066520e+00] [-3.95470783e-03 4.53808209e-05 9.99992179e-01 -8.15955158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.990371743 meters Centerline goodness [0,1] 0.993226286450352 Centerline is valid? [True, True] Translation: X:63.52, Y:-3.45, Z:-0.82 [[ 9.99491806e-01 3.15001885e-02 4.88539649e-03 6.35229355e+01] [-3.14993942e-02 9.99503742e-01 -2.39464708e-04 -3.44846426e+00] [-4.89051526e-03 8.54559836e-05 9.99988038e-01 -8.15214077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020371743 meters Centerline goodness [0,1] 0.9930438261178771 Centerline is valid? [True, True] Translation: X:63.55, Y:-3.45, Z:-0.82 [[ 9.99597971e-01 2.78258108e-02 5.44251419e-03 6.35506237e+01] [-2.78247725e-02 9.99612781e-01 -2.66407285e-04 -3.45387424e+00] [-5.44781974e-03 1.14863462e-04 9.99985154e-01 -8.15717845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.050371743 meters Centerline goodness [0,1] 0.9932934926958832 Centerline is valid? [True, True] Translation: X:63.58, Y:-3.46, Z:-0.82 [[ 9.99761075e-01 2.06839586e-02 7.06867547e-03 6.35795217e+01] [-2.06820375e-02 9.99786044e-01 -3.44778532e-04 -3.46163335e+00] [-7.07429447e-03 1.98501545e-04 9.99974957e-01 -8.15136583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080371743 meters Centerline goodness [0,1] 0.9925870195392889 Centerline is valid? [True, True] Translation: X:63.61, Y:-3.47, Z:-0.82 [[ 9.99823186e-01 1.70416147e-02 7.94853920e-03 6.36075660e+01] [-1.70390739e-02 9.99854749e-01 -3.87270967e-04 -3.46775855e+00] [-7.95398439e-03 2.51766745e-04 9.99968335e-01 -8.15427750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.110371743 meters Centerline goodness [0,1] 0.9925870195392889 Centerline is valid? [True, True] Translation: X:63.64, Y:-3.47, Z:-0.82 [[ 9.99824394e-01 1.69705911e-02 7.94856735e-03 6.36358521e+01] [-1.69680527e-02 9.99855957e-01 -3.86692119e-04 -3.46907374e+00] [-7.95398481e-03 2.51752504e-04 9.99968335e-01 -8.15811813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140371743 meters Centerline goodness [0,1] 0.9924359711593754 Centerline is valid? [True, True] Translation: X:63.67, Y:-3.47, Z:-0.82 [[ 9.99875243e-01 1.32839884e-02 8.54605275e-03 6.36653859e+01] [-1.32809268e-02 9.99911719e-01 -4.14904229e-04 -3.47285077e+00] [-8.55080988e-03 3.01352965e-04 9.99963396e-01 -8.16117847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170371743 meters Centerline goodness [0,1] 0.9917073599929611 Centerline is valid? [True, True] Translation: X:63.69, Y:-3.48, Z:-0.82 [[ 9.99914718e-01 9.76712076e-03 8.66947236e-03 6.36941799e+01] [-9.76384085e-03 9.99952244e-01 -4.20573405e-04 -3.47902014e+00] [-8.67316613e-03 3.35890189e-04 9.99962331e-01 -8.16452655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.200371743 meters Centerline goodness [0,1] 0.991707284797424 Centerline is valid? [True, True] Translation: X:63.72, Y:-3.48, Z:-0.82 [[ 9.99946702e-01 5.88823505e-03 8.48062075e-03 6.37243571e+01] [-5.88496126e-03 9.99982599e-01 -4.10934883e-04 -3.48419531e+00] [-8.48289286e-03 3.61004857e-04 9.99963954e-01 -8.17077413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.230371743 meters Centerline goodness [0,1] 0.9906373626373627 Centerline is valid? [True, True] Translation: X:63.75, Y:-3.50, Z:-0.82 [[ 9.99962233e-01 -1.29348598e-03 8.59409739e-03 6.37531972e+01] [ 1.29711326e-03 9.99999072e-01 -4.16505691e-04 -3.49500012e+00] [-8.59355067e-03 4.27637479e-04 9.99962983e-01 -8.18065672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260371743 meters Centerline goodness [0,1] 0.9896384479717814 Centerline is valid? [True, True] Translation: X:63.78, Y:-3.50, Z:-0.82 [[ 9.99940765e-01 -7.92664287e-03 7.45881769e-03 6.37839755e+01] [ 7.92955659e-03 9.99968495e-01 -3.61148922e-04 -3.50189059e+00] [-7.45572001e-03 4.20272647e-04 9.99972117e-01 -8.19249936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.290371743 meters Centerline goodness [0,1] 0.9897986105003957 Centerline is valid? [True, True] Translation: X:63.81, Y:-3.51, Z:-0.82 [[ 9.99920527e-01 -1.05124438e-02 6.95910140e-03 6.38141761e+01] [ 1.05150442e-02 9.99944659e-01 -3.37180146e-04 -3.50648893e+00] [-6.95517169e-03 4.10328607e-04 9.99975728e-01 -8.20224040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320371743 meters Centerline goodness [0,1] 0.9896520530415021 Centerline is valid? [True, True] Translation: X:63.85, Y:-3.51, Z:-0.82 [[ 9.99897864e-01 -1.27423521e-02 6.47248726e-03 6.38455555e+01] [ 1.27446479e-02 9.99918735e-01 -3.13577991e-04 -3.51059476e+00] [-6.46796554e-03 3.96035535e-04 9.99979004e-01 -8.21113148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.350371743 meters Centerline goodness [0,1] 0.9894217207334274 Centerline is valid? [True, True] Translation: X:63.88, Y:-3.51, Z:-0.82 [[ 9.99880193e-01 -1.42668282e-02 6.00470751e-03 6.38768141e+01] [ 1.42688318e-02 9.99898153e-01 -2.90960234e-04 -3.51417398e+00] [-5.99994487e-03 3.76605537e-04 9.99981929e-01 -8.21833499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380371743 meters Centerline goodness [0,1] 0.9886183165696135 Centerline is valid? [True, True] Translation: X:63.91, Y:-3.52, Z:-0.82 [[ 9.99854057e-01 -1.63171422e-02 5.06128106e-03 6.39067808e+01] [ 1.63185914e-02 9.99866813e-01 -2.45150203e-04 -3.51812436e+00] [-5.05660681e-03 3.27707402e-04 9.99987162e-01 -8.23802478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.410371743 meters Centerline goodness [0,1] 0.9883105425672695 Centerline is valid? [True, True] Translation: X:63.94, Y:-3.52, Z:-0.82 [[ 9.99848463e-01 -1.68256678e-02 4.46624596e-03 6.39388845e+01] [ 1.68268029e-02 9.99858396e-01 -2.16678838e-04 -3.51968636e+00] [-4.46196775e-03 2.91798644e-04 9.99990003e-01 -8.24838488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440371743 meters Centerline goodness [0,1] 0.9892570569641239 Centerline is valid? [True, True] Translation: X:63.97, Y:-3.52, Z:-0.83 [[ 9.99850837e-01 -1.68024578e-02 3.99776325e-03 6.39713201e+01] [ 1.68033677e-02 9.99858795e-01 -1.94104567e-04 -3.51626674e+00] [-3.99393731e-03 2.61251500e-04 9.99991990e-01 -8.25586275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470371743 meters Centerline goodness [0,1] 0.9888303990091126 Centerline is valid? [True, True] Translation: X:64.00, Y:-3.52, Z:-0.83 [[ 9.99863344e-01 -1.60251502e-02 4.06055975e-03 6.40024360e+01] [ 1.60260843e-02 9.99871555e-01 -1.97628056e-04 -3.52021038e+00] [-4.05687117e-03 2.62675922e-04 9.99991736e-01 -8.26596282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500371743 meters Centerline goodness [0,1] 0.9886051862996725 Centerline is valid? [True, True] Translation: X:64.03, Y:-3.52, Z:-0.83 [[ 9.99874377e-01 -1.53568239e-02 3.92415310e-03 6.40334287e+01] [ 1.53576921e-02 9.99882045e-01 -1.91186981e-04 -3.52258753e+00] [-3.92075420e-03 2.51428899e-04 9.99992282e-01 -8.27380522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.530371743 meters Centerline goodness [0,1] 0.9891256201275691 Centerline is valid? [True, True] Translation: X:64.06, Y:-3.52, Z:-0.83 [[ 9.99911235e-01 -1.25441217e-02 4.49083717e-03 6.40641639e+01] [ 1.25452340e-02 9.99921281e-01 -2.19591176e-04 -3.51859597e+00] [-4.48772907e-03 2.75910287e-04 9.99989892e-01 -8.26846796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.560371743 meters Centerline goodness [0,1] 0.9891652139373744 Centerline is valid? [True, True] Translation: X:64.10, Y:-3.51, Z:-0.83 [[ 9.99929920e-01 -1.07885280e-02 4.87463655e-03 6.40957487e+01] [ 1.07898162e-02 9.99941760e-01 -2.38053689e-04 -3.51478078e+00] [-4.87178440e-03 2.90633439e-04 9.99988091e-01 -8.26370250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.590371743 meters Centerline goodness [0,1] 0.9893431591024424 Centerline is valid? [True, True] Translation: X:64.13, Y:-3.51, Z:-0.83 [[ 9.99947103e-01 -9.03224934e-03 4.92027491e-03 6.41278275e+01] [ 9.03354075e-03 9.99959168e-01 -2.40306536e-04 -3.51349770e+00] [-4.91790350e-03 2.84741329e-04 9.99987867e-01 -8.26766059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.620371743 meters Centerline goodness [0,1] 0.9894839380991388 Centerline is valid? [True, True] Translation: X:64.16, Y:-3.51, Z:-0.83 [[ 9.99975440e-01 -5.44707739e-03 4.40997359e-03 6.41577249e+01] [ 5.44808289e-03 9.99985136e-01 -2.16025676e-04 -3.51285116e+00] [-4.40873133e-03 2.40046272e-04 9.99990253e-01 -8.27409612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.650371743 meters Centerline goodness [0,1] 0.9900510711680043 Centerline is valid? [True, True] Translation: X:64.19, Y:-3.50, Z:-0.83 [[ 9.99986500e-01 -3.85510265e-03 3.48407600e-03 6.41901806e+01] [ 3.85571801e-03 9.99992552e-01 -1.69923067e-04 -3.50415318e+00] [-3.48339498e-03 1.83354388e-04 9.99993916e-01 -8.26594146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680371743 meters Centerline goodness [0,1] 0.9896065987041419 Centerline is valid? [True, True] Translation: X:64.22, Y:-3.51, Z:-0.83 [[ 9.99993825e-01 -2.35099918e-03 2.61192637e-03 6.42213055e+01] [ 2.35134029e-03 9.99997227e-01 -1.27537256e-04 -3.51175061e+00] [-2.61161929e-03 1.33677996e-04 9.99996581e-01 -8.28865432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.710371743 meters Centerline goodness [0,1] 0.989878453038674 Centerline is valid? [True, True] Translation: X:64.25, Y:-3.51, Z:-0.83 [[ 9.99997323e-01 -8.33880831e-04 2.15854087e-03 6.42527746e+01] [ 8.34110727e-04 9.99999647e-01 -1.05607361e-04 -3.50645432e+00] [-2.15845204e-03 1.07407540e-04 9.99997665e-01 -8.28620129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740371743 meters Centerline goodness [0,1] 0.9907317073170732 Centerline is valid? [True, True] Translation: X:64.28, Y:-3.50, Z:-0.83 [[ 9.99996102e-01 2.08634777e-03 1.85557336e-03 6.42840312e+01] [-2.08618291e-03 9.99997820e-01 -9.07774889e-05 -3.50376501e+00] [-1.85575870e-03 8.69060696e-05 9.99998274e-01 -8.29014237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.770371743 meters Centerline goodness [0,1] 0.9914334539159768 Centerline is valid? [True, True] Translation: X:64.32, Y:-3.50, Z:-0.83 [[ 9.99990671e-01 3.95968463e-03 1.72565974e-03 6.43150160e+01] [-3.95954441e-03 9.99992157e-01 -8.46660397e-05 -3.50278121e+00] [-1.72598146e-03 7.78324235e-05 9.99998507e-01 -8.29358301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800371743 meters Centerline goodness [0,1] 0.9911608329641116 Centerline is valid? [True, True] Translation: X:64.34, Y:-3.50, Z:-0.83 [[ 9.99972135e-01 7.21403519e-03 1.92025066e-03 6.43439124e+01] [-7.21386621e-03 9.99973975e-01 -9.49080759e-05 -3.50250978e+00] [-1.92088536e-03 8.10529998e-05 9.99998152e-01 -8.30406481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.830371743 meters Centerline goodness [0,1] 0.9908901498359783 Centerline is valid? [True, True] Translation: X:64.37, Y:-3.51, Z:-0.83 [[ 9.99960671e-01 8.62430860e-03 2.06824549e-03 6.43719676e+01] [-8.62411542e-03 9.99962806e-01 -1.02302158e-04 -3.50891664e+00] [-2.06905085e-03 8.44613470e-05 9.99997856e-01 -8.32517182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860371743 meters Centerline goodness [0,1] 0.9916117435590174 Centerline is valid? [True, True] Translation: X:64.40, Y:-3.50, Z:-0.83 [[ 9.99950958e-01 9.71828110e-03 1.90672779e-03 6.44011172e+01] [-9.71811857e-03 9.99952774e-01 -9.44868577e-05 -3.50024197e+00] [-1.90755599e-03 7.59524172e-05 9.99998178e-01 -8.30151932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890371743 meters Centerline goodness [0,1] 0.9915905016929648 Centerline is valid? [True, True] Translation: X:64.43, Y:-3.50, Z:-0.83 [[ 9.99935840e-01 1.11306303e-02 2.10369549e-03 6.44298238e+01] [-1.11304361e-02 9.99938049e-01 -1.03995199e-04 -3.49976173e+00] [-2.10472270e-03 8.05734783e-05 9.99997782e-01 -8.30026646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920371743 meters Centerline goodness [0,1] 0.9916154152471129 Centerline is valid? [True, True] Translation: X:64.46, Y:-3.50, Z:-0.83 [[ 9.99913099e-01 1.27646340e-02 3.29535200e-03 6.44578682e+01] [-1.27641684e-02 9.99918522e-01 -1.62295760e-04 -3.49927583e+00] [-3.29715514e-03 1.20219229e-04 9.99994557e-01 -8.29614371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.950371743 meters Centerline goodness [0,1] 0.9916614782531353 Centerline is valid? [True, True] Translation: X:64.49, Y:-3.50, Z:-0.83 [[ 9.99902630e-01 1.33606516e-02 4.02786991e-03 6.44869617e+01] [-1.33599639e-02 9.99910732e-01 -1.97595654e-04 -3.49727583e+00] [-4.03015035e-03 1.43764218e-04 9.99991869e-01 -8.28597274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.980371743 meters Centerline goodness [0,1] 0.9910869082018227 Centerline is valid? [True, True] Translation: X:64.51, Y:-3.50, Z:-0.83 [[ 9.99894023e-01 1.37648478e-02 4.74047859e-03 6.45144052e+01] [-1.37639015e-02 9.99905246e-01 -2.32185079e-04 -3.49961879e+00] [-4.74322540e-03 1.66912993e-04 9.99988737e-01 -8.28075168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.010371743 meters Centerline goodness [0,1] 0.9908537938995693 Centerline is valid? [True, True] Translation: X:64.54, Y:-3.50, Z:-0.83 [[ 9.99899733e-01 1.32419106e-02 5.01754770e-03 6.45430982e+01] [-1.32408473e-02 9.99912306e-01 -2.45075008e-04 -3.49768674e+00] [-5.02035296e-03 1.78613853e-04 9.99987382e-01 -8.27513443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040371743 meters Centerline goodness [0,1] 0.9907179179712655 Centerline is valid? [True, True] Translation: X:64.57, Y:-3.50, Z:-0.83 [[ 9.99915223e-01 1.21986843e-02 4.55399514e-03 6.45722363e+01] [-1.21977987e-02 9.99925579e-01 -2.22197118e-04 -3.49834197e+00] [-4.55636675e-03 1.66629565e-04 9.99989606e-01 -8.27444718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.070371743 meters Centerline goodness [0,1] 0.991211871760073 Centerline is valid? [True, True] Translation: X:64.60, Y:-3.50, Z:-0.83 [[ 9.99937837e-01 1.04933844e-02 3.76984310e-03 6.46002023e+01] [-1.04927679e-02 9.99944933e-01 -1.83271340e-04 -3.50057104e+00] [-3.77155864e-03 1.43703858e-04 9.99992877e-01 -8.28409704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100371743 meters Centerline goodness [0,1] 0.9910254982741343 Centerline is valid? [True, True] Translation: X:64.63, Y:-3.50, Z:-0.83 [[ 9.99982853e-01 5.35363547e-03 2.37310749e-03 6.46302938e+01] [-5.35337645e-03 9.99985664e-01 -1.15488654e-04 -3.50373666e+00] [-2.37369175e-03 1.02782536e-04 9.99997178e-01 -8.30132019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.130371743 meters Centerline goodness [0,1] 0.9903367691487471 Centerline is valid? [True, True] Translation: X:64.66, Y:-3.51, Z:-0.83 [[ 9.99996137e-01 2.23903226e-03 1.64714780e-03 6.46597150e+01] [-2.23890324e-03 9.99997490e-01 -8.01691301e-05 -3.50887294e+00] [-1.64732317e-03 7.64810158e-05 9.99998640e-01 -8.31623501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160371743 meters Centerline goodness [0,1] 0.9907510586137731 Centerline is valid? [True, True] Translation: X:64.69, Y:-3.51, Z:-0.83 [[ 9.99998725e-01 -1.12478831e-03 1.13332367e-03 6.46901547e+01] [ 1.12485135e-03 9.99999366e-01 -5.49929758e-05 -3.51095912e+00] [-1.13326110e-03 5.62677263e-05 9.99999356e-01 -8.32324885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.190371743 meters Centerline goodness [0,1] 0.9899340815962944 Centerline is valid? [True, True] Translation: X:64.72, Y:-3.52, Z:-0.83 [[ 9.99972836e-01 -7.34219021e-03 6.47394819e-04 6.47189835e+01] [ 7.34221163e-03 9.99973045e-01 -3.07185128e-05 -3.51771695e+00] [-6.47151827e-04 3.54709881e-05 9.99999790e-01 -8.33388968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220371743 meters Centerline goodness [0,1] 0.9888703394546466 Centerline is valid? [True, True] Translation: X:64.75, Y:-3.52, Z:-0.83 [[ 9.99948111e-01 -1.01526314e-02 8.36563142e-04 6.47503069e+01] [ 1.01526686e-02 9.99948460e-01 -4.01889941e-05 -3.52033641e+00] [-8.36112002e-04 4.86802570e-05 9.99999649e-01 -8.33734989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250371743 meters Centerline goodness [0,1] 0.9887138699429029 Centerline is valid? [True, True] Translation: X:64.78, Y:-3.52, Z:-0.83 [[ 9.99891590e-01 -1.47127057e-02 5.86509502e-04 6.47810103e+01] [ 1.47127249e-02 9.99891762e-01 -2.84538904e-05 -3.52163692e+00] [-5.86027385e-04 3.70799586e-05 9.99999828e-01 -8.33704868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280371743 meters Centerline goodness [0,1] 0.9893222634137678 Centerline is valid? [True, True] Translation: X:64.81, Y:-3.52, Z:-0.83 [[ 9.99869732e-01 -1.61254651e-02 6.98330194e-04 6.48133890e+01] [ 1.61254921e-02 9.99869975e-01 -3.30230662e-05 -3.52314556e+00] [-6.97706882e-04 4.42796824e-05 9.99999756e-01 -8.34019930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.310371743 meters Centerline goodness [0,1] 0.9891062694530902 Centerline is valid? [True, True] Translation: X:64.84, Y:-3.53, Z:-0.84 [[ 9.99849794e-01 -1.73283706e-02 3.42192673e-04 6.48445764e+01] [ 1.73283770e-02 9.99849852e-01 -1.59505307e-05 -3.52819501e+00] [-3.41864897e-04 2.18777785e-05 9.99999941e-01 -8.35202424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.340371743 meters Centerline goodness [0,1] 0.9887171286425018 Centerline is valid? [True, True] Translation: X:64.88, Y:-3.53, Z:-0.84 [[ 9.99820212e-01 -1.89611675e-02 -1.36978738e-04 6.48757871e+01] [ 1.89611687e-02 9.99820221e-01 7.16117682e-06 -3.52858141e+00] [ 1.36818328e-04 -9.75716628e-06 9.99999991e-01 -8.35607989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.370371743 meters Centerline goodness [0,1] 0.9892791209768901 Centerline is valid? [True, True] Translation: X:64.91, Y:-3.53, Z:-0.84 [[ 9.99804256e-01 -1.97843498e-02 -1.73113519e-04 6.49082238e+01] [ 1.97843517e-02 9.99804271e-01 9.41342902e-06 -3.53039043e+00] [ 1.72893397e-04 -1.28365251e-05 9.99999985e-01 -8.36075821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400371743 meters Centerline goodness [0,1] 0.9889742733043769 Centerline is valid? [True, True] Translation: X:64.94, Y:-3.53, Z:-0.84 [[ 9.99806948e-01 -1.96472951e-02 -2.26019737e-04 6.49401623e+01] [ 1.96472984e-02 9.99806973e-01 1.20147807e-05 -3.53055721e+00] [ 2.25740052e-04 -1.64531384e-05 9.99999974e-01 -8.36078622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.430371743 meters Centerline goodness [0,1] 0.9888517279821628 Centerline is valid? [True, True] Translation: X:64.97, Y:-3.53, Z:-0.84 [[ 9.99811126e-01 -1.94331167e-02 -2.58426463e-04 6.49720600e+01] [ 1.94331209e-02 9.99811159e-01 1.36281424e-05 -3.52943208e+00] [ 2.58112824e-04 -1.86476011e-05 9.99999967e-01 -8.36036448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460371743 meters Centerline goodness [0,1] 0.9884821428571429 Centerline is valid? [True, True] Translation: X:65.00, Y:-3.53, Z:-0.84 [[ 9.99847598e-01 -1.74561454e-02 -2.51452841e-04 6.50031079e+01] [ 1.74561491e-02 9.99847630e-01 1.28098831e-05 -3.52902372e+00] [ 2.51190916e-04 -1.71973292e-05 9.99999968e-01 -8.36339945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.490371743 meters Centerline goodness [0,1] 0.9892439385111819 Centerline is valid? [True, True] Translation: X:65.03, Y:-3.53, Z:-0.84 [[ 9.99872021e-01 -1.59806012e-02 -7.49890755e-04 6.50335782e+01] [ 1.59806335e-02 9.99872301e-01 3.70138821e-05 -3.53152142e+00] [ 7.49203490e-04 -4.89928744e-05 9.99999718e-01 -8.37513002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520371743 meters Centerline goodness [0,1] 0.9893752088205814 Centerline is valid? [True, True] Translation: X:65.07, Y:-3.53, Z:-0.84 [[ 9.99905002e-01 -1.37692977e-02 -6.27454144e-04 6.50654257e+01] [ 1.37693202e-02 9.99905198e-01 3.14969637e-05 -3.53131217e+00] [ 6.26960969e-04 -4.01335886e-05 9.99999803e-01 -8.38430599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.550371743 meters Centerline goodness [0,1] 0.9905490953172001 Centerline is valid? [True, True] Translation: X:65.10, Y:-3.52, Z:-0.84 [[ 9.99967944e-01 -7.91779095e-03 -1.19134386e-03 6.50967083e+01] [ 7.91786623e-03 9.99968651e-01 5.84874586e-05 -3.51776821e+00] [ 1.19084342e-03 -6.79184851e-05 9.99999289e-01 -8.36412553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580371743 meters Centerline goodness [0,1] 0.9898452068028127 Centerline is valid? [True, True] Translation: X:65.13, Y:-3.52, Z:-0.84 [[ 9.99989675e-01 -4.35612930e-03 -1.29358540e-03 6.51275915e+01] [ 4.35621544e-03 9.99990510e-01 6.37803275e-05 -3.51585632e+00] [ 1.29329529e-03 -6.94148057e-05 9.99999161e-01 -8.36277676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.610371743 meters Centerline goodness [0,1] 0.990166363575133 Centerline is valid? [True, True] Translation: X:65.16, Y:-3.51, Z:-0.84 [[ 9.99989931e-01 4.17656189e-03 -1.64111711e-03 6.51579834e+01] [-4.17643526e-03 9.99991275e-01 8.05793409e-05 -3.51043920e+00] [ 1.64143933e-03 -7.37245103e-05 9.99998650e-01 -8.36917300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640371743 meters Centerline goodness [0,1] 0.9905103236858714 Centerline is valid? [True, True] Translation: X:65.19, Y:-3.51, Z:-0.84 [[ 9.99961643e-01 8.57322770e-03 -1.79250025e-03 6.51873753e+01] [-8.57308462e-03 9.99963247e-01 8.74883797e-05 -3.50812747e+00] [ 1.79318443e-03 -7.21177675e-05 9.99998390e-01 -8.37128002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670371743 meters Centerline goodness [0,1] 0.9904916042888934 Centerline is valid? [True, True] Translation: X:65.22, Y:-3.51, Z:-0.84 [[ 9.99911085e-01 1.32439568e-02 -1.55548372e-03 6.52168746e+01] [-1.32438549e-02 9.99912293e-01 7.58071440e-05 -3.50629359e+00] [ 1.55635128e-03 -5.51998029e-05 9.99998787e-01 -8.37880908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.700371743 meters Centerline goodness [0,1] 0.9908988256549233 Centerline is valid? [True, True] Translation: X:65.25, Y:-3.50, Z:-0.84 [[ 9.99765741e-01 2.15798746e-02 -1.66487648e-03 6.52476131e+01] [-2.15797686e-02 9.99767126e-01 8.15989299e-05 -3.50034801e+00] [ 1.66624967e-03 -4.56521655e-05 9.99998611e-01 -8.37515995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.730371743 meters Centerline goodness [0,1] 0.9907213003725025 Centerline is valid? [True, True] Translation: X:65.28, Y:-3.50, Z:-0.84 [[ 9.99684258e-01 2.50848127e-02 -1.46156681e-03 6.52764516e+01] [-2.50847362e-02 9.99685326e-01 7.06282094e-05 -3.49875091e+00] [ 1.46287859e-03 -3.39428913e-05 9.99998929e-01 -8.37311713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760371743 meters Centerline goodness [0,1] 0.9918371961560204 Centerline is valid? [True, True] Translation: X:65.31, Y:-3.50, Z:-0.84 [[ 9.99616060e-01 2.76890414e-02 -1.02489676e-03 6.53050899e+01] [-2.76890055e-02 9.99616585e-01 4.91823774e-05 -3.49777805e+00] [ 1.02586562e-03 -2.07851222e-05 9.99999474e-01 -8.37359854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.790371743 meters Centerline goodness [0,1] 0.9918380302446324 Centerline is valid? [True, True] Translation: X:65.33, Y:-3.49, Z:-0.84 [[ 9.99501235e-01 3.15602884e-02 -1.10848840e-03 6.53342934e+01] [-3.15602489e-02 9.99501850e-01 5.31598805e-05 -3.49483420e+00] [ 1.10961395e-03 -1.81491964e-05 9.99999384e-01 -8.37019035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820371743 meters Centerline goodness [0,1] 0.9916742286751361 Centerline is valid? [True, True] Translation: X:65.36, Y:-3.50, Z:-0.84 [[ 9.99485797e-01 3.20326056e-02 -1.43302075e-03 6.53615826e+01] [-3.20325401e-02 9.99486824e-01 6.86465797e-05 -3.49617595e+00] [ 1.43448428e-03 -2.27079870e-05 9.99998971e-01 -8.37996055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.850371743 meters Centerline goodness [0,1] 0.991413683733575 Centerline is valid? [True, True] Translation: X:65.39, Y:-3.50, Z:-0.84 [[ 9.99506448e-01 3.13751292e-02 -1.56898558e-03 6.53892842e+01] [-3.13750499e-02 9.99507679e-01 7.51565123e-05 -3.50020111e+00] [ 1.57057118e-03 -2.58924179e-05 9.99998766e-01 -8.39896146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880371743 meters Centerline goodness [0,1] 0.991429931756864 Centerline is valid? [True, True] Translation: X:65.42, Y:-3.50, Z:-0.84 [[ 9.99546989e-01 3.00560441e-02 -1.56582537e-03 6.54183393e+01] [-3.00559633e-02 9.99548215e-01 7.51219187e-05 -3.50159770e+00] [ 1.56737582e-03 -2.80254979e-05 9.99998771e-01 -8.39199127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.910371743 meters Centerline goodness [0,1] 0.9910704167894295 Centerline is valid? [True, True] Translation: X:65.45, Y:-3.50, Z:-0.84 [[ 9.99603692e-01 2.80578032e-02 -2.28442296e-03 6.54471189e+01] [-2.80576254e-02 9.99606301e-01 1.09852759e-04 -3.50401002e+00] [ 2.28660581e-03 -4.57137401e-05 9.99997385e-01 -8.38873862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940371743 meters Centerline goodness [0,1] 0.9910468008139272 Centerline is valid? [True, True] Translation: X:65.48, Y:-3.51, Z:-0.84 [[ 9.99736055e-01 2.28720951e-02 -2.16511383e-03 6.54759297e+01] [-2.28719230e-02 9.99738398e-01 1.04195884e-04 -3.51053316e+00] [ 2.16693061e-03 -5.46480647e-05 9.99997651e-01 -8.39452702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.970371743 meters Centerline goodness [0,1] 0.9899359974670375 Centerline is valid? [True, True] Translation: X:65.51, Y:-3.51, Z:-0.84 [[ 9.99808579e-01 1.94012718e-02 -2.52894181e-03 6.55051358e+01] [-1.94010253e-02 9.99811775e-01 1.21979061e-04 -3.51496931e+00] [ 2.53083235e-03 -7.28916476e-05 9.99996795e-01 -8.40451541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000371743 meters Centerline goodness [0,1] 0.9904347237575293 Centerline is valid? [True, True] Translation: X:65.53, Y:-3.52, Z:-0.84 [[ 9.99868281e-01 1.60606122e-02 -2.34026929e-03 6.55344448e+01] [-1.60603922e-02 9.99871017e-01 1.12759804e-04 -3.51975787e+00] [ 2.34177843e-03 -7.51593082e-05 9.99997255e-01 -8.40862907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030371743 meters Centerline goodness [0,1] 0.9888801350590883 Centerline is valid? [True, True] Translation: X:65.56, Y:-3.53, Z:-0.84 [[ 9.99956780e-01 9.08487536e-03 -1.97554482e-03 6.55647283e+01] [-9.08470408e-03 9.99958729e-01 9.56571068e-05 -3.52830631e+00] [ 1.97633232e-03 -7.77057325e-05 9.99998044e-01 -8.41094023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.060371743 meters Centerline goodness [0,1] 0.9888801350590883 Centerline is valid? [True, True] Translation: X:65.59, Y:-3.53, Z:-0.84 [[ 9.99957425e-01 9.01365804e-03 -1.97560103e-03 6.55930228e+01] [-9.01348891e-03 9.99959373e-01 9.44946814e-05 -3.52961452e+00] [ 1.97637251e-03 -7.66836002e-05 9.99998044e-01 -8.41477829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.090371743 meters Centerline goodness [0,1] 0.9885005940238955 Centerline is valid? [True, True] Translation: X:65.62, Y:-3.54, Z:-0.84 [[ 9.99981993e-01 5.86837733e-03 -1.25504707e-03 6.56212268e+01] [-5.86830682e-03 9.99982780e-01 5.98579567e-05 -3.53706563e+00] [ 1.25537672e-03 -5.24918776e-05 9.99999211e-01 -8.42451232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.120371743 meters Centerline goodness [0,1] 0.9895091542176795 Centerline is valid? [True, True] Translation: X:65.65, Y:-3.54, Z:-0.84 [[ 9.99994023e-01 3.33535791e-03 -9.10280752e-04 6.56507184e+01] [-3.33531977e-03 9.99994437e-01 4.34193828e-05 -3.53701270e+00] [ 9.10420507e-04 -4.03830460e-05 9.99999585e-01 -8.40889065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.150371743 meters Centerline goodness [0,1] 0.9889696051341474 Centerline is valid? [True, True] Translation: X:65.68, Y:-3.54, Z:-0.84 [[ 9.99999829e-01 4.64811968e-05 -5.83050394e-04 6.56797711e+01] [-4.64649054e-05 9.99999999e-01 2.79552003e-05 -3.54355894e+00] [ 5.83051692e-04 -2.79281042e-05 9.99999830e-01 -8.41103431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180371743 meters Centerline goodness [0,1] 0.9886607142857143 Centerline is valid? [True, True] Translation: X:65.71, Y:-3.55, Z:-0.84 [[ 9.99999194e-01 -9.73995817e-04 -8.14465568e-04 6.57102669e+01] [ 9.74028126e-04 9.99999525e-01 3.92729121e-05 -3.54687564e+00] [ 8.14426930e-04 -4.00661928e-05 9.99999668e-01 -8.41706669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.210371743 meters Centerline goodness [0,1] 0.9890951431962203 Centerline is valid? [True, True] Translation: X:65.74, Y:-3.55, Z:-0.84 [[ 9.99998733e-01 -1.30401307e-03 -9.12949563e-04 6.57405592e+01] [ 1.30405380e-03 9.99999149e-01 4.40217356e-05 -3.54838546e+00] [ 9.12891380e-04 -4.52122152e-05 9.99999582e-01 -8.42011746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240371743 meters Centerline goodness [0,1] 0.9893693049848133 Centerline is valid? [True, True] Translation: X:65.77, Y:-3.55, Z:-0.84 [[ 9.99998072e-01 -1.72142385e-03 -9.44777234e-04 6.57713532e+01] [ 1.72146766e-03 9.99998517e-01 4.55564418e-05 -3.55144026e+00] [ 9.44697411e-04 -4.71827574e-05 9.99999553e-01 -8.42429064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.270371743 meters Centerline goodness [0,1] 0.9890978955363925 Centerline is valid? [True, True] Translation: X:65.80, Y:-3.55, Z:-0.84 [[ 9.99998689e-01 -1.34197401e-03 -9.05653957e-04 6.58014339e+01] [ 1.34201411e-03 9.99999099e-01 4.36699470e-05 -3.55172686e+00] [ 9.05594537e-04 -4.48852902e-05 9.99999589e-01 -8.42233670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300371743 meters Centerline goodness [0,1] 0.9892723567221339 Centerline is valid? [True, True] Translation: X:65.83, Y:-3.55, Z:-0.84 [[ 9.99999134e-01 -6.26990244e-04 -1.15721211e-03 6.58317473e+01] [ 6.27055236e-04 9.99999802e-01 5.57998902e-05 -3.55187302e+00] [ 1.15717689e-03 -5.65254778e-05 9.99999329e-01 -8.42228419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.330371743 meters Centerline goodness [0,1] 0.9894396070551462 Centerline is valid? [True, True] Translation: X:65.86, Y:-3.56, Z:-0.84 [[ 9.99997508e-01 1.57716017e-03 -1.58018147e-03 6.58610356e+01] [-1.57704216e-03 9.99998754e-01 7.59222947e-05 -3.55570398e+00] [ 1.58029924e-03 -7.34300927e-05 9.99998749e-01 -8.43787531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360371743 meters Centerline goodness [0,1] 0.9899132539842647 Centerline is valid? [True, True] Translation: X:65.89, Y:-3.55, Z:-0.84 [[ 9.99993726e-01 2.73643157e-03 -2.24929098e-03 6.58909479e+01] [-2.73619589e-03 9.99996251e-01 1.07849758e-04 -3.55457295e+00] [ 2.24957767e-03 -1.01694580e-04 9.99997465e-01 -8.43682155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.390371743 meters Centerline goodness [0,1] 0.9897488696897802 Centerline is valid? [True, True] Translation: X:65.92, Y:-3.55, Z:-0.85 [[ 9.99975596e-01 6.30562595e-03 -3.00759337e-03 6.59201142e+01] [-6.30522051e-03 9.99980111e-01 1.44269997e-04 -3.55463710e+00] [ 3.00844326e-03 -1.25302937e-04 9.99995467e-01 -8.45406663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420371743 meters Centerline goodness [0,1] 0.9895749260156039 Centerline is valid? [True, True] Translation: X:65.95, Y:-3.55, Z:-0.85 [[ 9.99959332e-01 8.36766620e-03 -3.36407174e-03 6.59494591e+01] [-8.36718193e-03 9.99964982e-01 1.58000991e-04 -3.55451358e+00] [ 3.36527604e-03 -1.29846765e-04 9.99994329e-01 -8.46089450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.450371743 meters Centerline goodness [0,1] 0.9900105270230922 Centerline is valid? [True, True] Translation: X:65.98, Y:-3.55, Z:-0.85 [[ 9.99935157e-01 1.06990796e-02 -3.90020356e-03 6.59788768e+01] [-1.06984358e-02 9.99942753e-01 1.85882902e-04 -3.55401605e+00] [ 3.90196906e-03 -1.44144771e-04 9.99992377e-01 -8.46515025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.480371743 meters Centerline goodness [0,1] 0.9907365871164543 Centerline is valid? [True, True] Translation: X:66.01, Y:-3.55, Z:-0.85 [[ 9.99859523e-01 1.62264124e-02 -4.19971759e-03 6.60094824e+01] [-1.62257144e-02 9.99868334e-01 2.00204894e-04 -3.54998603e+00] [ 4.20241324e-03 -1.32033352e-04 9.99991161e-01 -8.46069288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.510371743 meters Centerline goodness [0,1] 0.9912569776044119 Centerline is valid? [True, True] Translation: X:66.04, Y:-3.55, Z:-0.85 [[ 9.99755826e-01 2.18179307e-02 -3.50233867e-03 6.60385567e+01] [-2.18174801e-02 9.99761957e-01 1.66813996e-04 -3.54901316e+00] [ 3.50514449e-03 -9.03610604e-05 9.99993853e-01 -8.46819433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540371743 meters Centerline goodness [0,1] 0.9913568020167463 Centerline is valid? [True, True] Translation: X:66.07, Y:-3.55, Z:-0.85 [[ 9.99710037e-01 2.38826839e-02 -3.07564401e-03 6.60672605e+01] [-2.38823485e-02 9.99714765e-01 1.45721698e-04 -3.54751031e+00] [ 3.07824695e-03 -7.22258424e-05 9.99995260e-01 -8.46117774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.570371743 meters Centerline goodness [0,1] 0.991735351078683 Centerline is valid? [True, True] Translation: X:66.10, Y:-3.55, Z:-0.85 [[ 9.99659553e-01 2.59741234e-02 -2.47441293e-03 6.60957389e+01] [-2.59739136e-02 9.99662614e-01 1.16867957e-04 -3.54797124e+00] [ 2.47661365e-03 -5.25579818e-05 9.99996932e-01 -8.45744781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600371743 meters Centerline goodness [0,1] 0.9915932476965499 Centerline is valid? [True, True] Translation: X:66.12, Y:-3.55, Z:-0.85 [[ 9.99593521e-01 2.84761006e-02 -1.37967483e-03 6.61238805e+01] [-2.84760385e-02 9.99594473e-01 6.46437812e-05 -3.54911581e+00] [ 1.38095614e-03 -2.53298315e-05 9.99999046e-01 -8.46398781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.630371743 meters Centerline goodness [0,1] 0.9916692863879283 Centerline is valid? [True, True] Translation: X:66.15, Y:-3.55, Z:-0.85 [[ 9.99573887e-01 2.91734619e-02 -9.76615503e-04 6.61526271e+01] [-2.91734314e-02 9.99574364e-01 4.54150794e-05 -3.55071725e+00] [ 9.77524736e-04 -1.69045020e-05 9.99999522e-01 -8.46438116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660371743 meters Centerline goodness [0,1] 0.9917078295076105 Centerline is valid? [True, True] Translation: X:66.18, Y:-3.55, Z:-0.85 [[ 9.99570122e-01 2.93141839e-02 -5.00024805e-04 6.61816184e+01] [-2.93141762e-02 9.99570247e-01 2.27586063e-05 -3.55301989e+00] [ 5.00477068e-04 -8.09100760e-06 9.99999875e-01 -8.46970042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.690371743 meters Centerline goodness [0,1] 0.9911621542809718 Centerline is valid? [True, True] Translation: X:66.21, Y:-3.56, Z:-0.85 [[ 9.99588296e-01 2.86921446e-02 1.23354458e-06 6.62103860e+01] [-2.86921446e-02 9.99588296e-01 -9.99868293e-07 -3.55590857e+00] [-1.26172511e-06 9.64063605e-07 1.00000000e+00 -8.47146912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720371743 meters Centerline goodness [0,1] 0.9917895629280917 Centerline is valid? [True, True] Translation: X:66.24, Y:-3.56, Z:-0.85 [[ 9.99610490e-01 2.79046105e-02 4.49025993e-04 6.62391593e+01] [-2.79046033e-02 9.99610590e-01 -2.21665167e-05 -3.55867169e+00] [-4.49469686e-04 9.62799039e-06 9.99999899e-01 -8.47319172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.750371743 meters Centerline goodness [0,1] 0.9905998209489705 Centerline is valid? [True, True] Translation: X:66.27, Y:-3.56, Z:-0.85 [[ 9.99670143e-01 2.56565560e-02 1.16028688e-03 6.62667142e+01] [-2.56565083e-02 9.99670816e-01 -5.59153116e-05 -3.56467188e+00] [-1.16133953e-03 2.61279576e-05 9.99999325e-01 -8.47698422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780371743 meters Centerline goodness [0,1] 0.9904930207587688 Centerline is valid? [True, True] Translation: X:66.30, Y:-3.57, Z:-0.85 [[ 9.99705909e-01 2.42228094e-02 1.16208068e-03 6.62950356e+01] [-2.42227611e-02 9.99706584e-01 -5.56750613e-05 -3.56872459e+00] [-1.16308831e-03 2.75098851e-05 9.99999323e-01 -8.48309886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.810371743 meters Centerline goodness [0,1] 0.9898179711694851 Centerline is valid? [True, True] Translation: X:66.32, Y:-3.58, Z:-0.85 [[ 9.99781868e-01 2.08616404e-02 1.00404422e-03 6.63243911e+01] [-2.08616029e-02 9.99782372e-01 -4.77363503e-05 -3.57544807e+00] [-1.00482157e-03 2.67799656e-05 9.99999495e-01 -8.49306366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.840371743 meters Centerline goodness [0,1] 0.9899215126650018 Centerline is valid? [True, True] Translation: X:66.35, Y:-3.58, Z:-0.85 [[ 9.99820059e-01 1.89438752e-02 9.89704074e-04 6.63532421e+01] [-1.89438375e-02 9.99820548e-01 -4.74493086e-05 -3.57976795e+00] [-9.90425344e-04 2.86919774e-05 9.99999509e-01 -8.49824229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.870371743 meters Centerline goodness [0,1] 0.9897859272775824 Centerline is valid? [True, True] Translation: X:66.38, Y:-3.58, Z:-0.85 [[ 9.99843941e-01 1.76173230e-02 1.31272187e-03 6.63813756e+01] [-1.76172558e-02 9.99844802e-01 -6.27521670e-05 -3.58357957e+00] [-1.31362366e-03 3.96158171e-05 9.99999136e-01 -8.49782626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900371743 meters Centerline goodness [0,1] 0.9898020529491661 Centerline is valid? [True, True] Translation: X:66.41, Y:-3.59, Z:-0.85 [[ 9.99880838e-01 1.52030339e-02 2.67893172e-03 6.64087938e+01] [-1.52027491e-02 9.99884424e-01 -1.26638150e-04 -3.59065820e+00] [-2.68054738e-03 8.58959332e-05 9.99996404e-01 -8.49795582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.930371743 meters Centerline goodness [0,1] 0.9899383389355119 Centerline is valid? [True, True] Translation: X:66.44, Y:-3.59, Z:-0.85 [[ 9.99890718e-01 1.43710513e-02 3.46772900e-03 6.64377779e+01] [-1.43705719e-02 9.99896725e-01 -1.63129133e-04 -3.59492701e+00] [-3.46971520e-03 1.13278057e-04 9.99993974e-01 -8.49936480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960371743 meters Centerline goodness [0,1] 0.9898635909947876 Centerline is valid? [True, True] Translation: X:66.47, Y:-3.60, Z:-0.85 [[ 9.99908336e-01 1.30966496e-02 3.43474969e-03 6.64656442e+01] [-1.30961720e-02 9.99914228e-01 -1.61519171e-04 -3.59932684e+00] [-3.43657045e-03 1.16522293e-04 9.99994088e-01 -8.50168397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.990371743 meters Centerline goodness [0,1] 0.9899559039686429 Centerline is valid? [True, True] Translation: X:66.49, Y:-3.61, Z:-0.85 [[ 9.99937846e-01 1.05108823e-02 3.71831746e-03 6.64936854e+01] [-1.05103075e-02 9.99944750e-01 -1.74112589e-04 -3.60679911e+00] [-3.71994210e-03 1.35021108e-04 9.99993072e-01 -8.50778894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020371743 meters Centerline goodness [0,1] 0.9901354436833588 Centerline is valid? [True, True] Translation: X:66.52, Y:-3.61, Z:-0.85 [[ 9.99950297e-01 9.26349716e-03 3.68661556e-03 6.65232743e+01] [-9.26292475e-03 9.99957083e-01 -1.72310453e-04 -3.61101647e+00] [-3.68805354e-03 1.38153046e-04 9.99993190e-01 -8.51445200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.050371743 meters Centerline goodness [0,1] 0.9896788227199077 Centerline is valid? [True, True] Translation: X:66.55, Y:-3.62, Z:-0.85 [[ 9.99976030e-01 5.89149158e-03 3.63734365e-03 6.65532572e+01] [-5.89091309e-03 9.99982634e-01 -1.69736215e-04 -3.61728295e+00] [-3.63828049e-03 1.48304871e-04 9.99993370e-01 -8.52060104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080371743 meters Centerline goodness [0,1] 0.9899625534554962 Centerline is valid? [True, True] Translation: X:66.58, Y:-3.62, Z:-0.85 [[ 9.99984156e-01 4.42667669e-03 3.47732189e-03 6.65833369e+01] [-4.42613988e-03 9.99990191e-01 -1.62055043e-04 -3.62200791e+00] [-3.47800515e-03 1.46661362e-04 9.99993941e-01 -8.52829405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.110371743 meters Centerline goodness [0,1] 0.989513970311705 Centerline is valid? [True, True] Translation: X:66.61, Y:-3.62, Z:-0.85 [[ 9.99988964e-01 2.95608962e-03 3.65162629e-03 6.66139448e+01] [-2.95548785e-03 9.99995618e-01 -1.70178221e-04 -3.62026734e+00] [-3.65211335e-03 1.59384006e-04 9.99993318e-01 -8.52556212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140371743 meters Centerline goodness [0,1] 0.9886029817780232 Centerline is valid? [True, True] Translation: X:66.64, Y:-3.64, Z:-0.86 [[ 9.99992858e-01 9.33141978e-04 3.66253643e-03 6.66428986e+01] [-9.32523073e-04 9.99999551e-01 -1.70686671e-04 -3.63661335e+00] [-3.66269406e-03 1.67270052e-04 9.99993278e-01 -8.55497449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.170371743 meters Centerline goodness [0,1] 0.9894238428179485 Centerline is valid? [True, True] Translation: X:66.67, Y:-3.64, Z:-0.86 [[ 9.99992128e-01 9.79398174e-04 3.84506427e-03 6.66739558e+01] [-9.78720963e-04 9.99999505e-01 -1.78002631e-04 -3.64155262e+00] [-3.84523670e-03 1.74237985e-04 9.99992592e-01 -8.55605815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.200371743 meters Centerline goodness [0,1] 0.9895826421604406 Centerline is valid? [True, True] Translation: X:66.71, Y:-3.64, Z:-0.86 [[ 9.99990485e-01 1.76847366e-03 3.98789779e-03 6.67056897e+01] [-1.76774636e-03 9.99998420e-01 -1.85893645e-04 -3.64369505e+00] [-3.98822024e-03 1.78842285e-04 9.99992031e-01 -8.55912056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.230371743 meters Centerline goodness [0,1] 0.9900766402339077 Centerline is valid? [True, True] Translation: X:66.74, Y:-3.65, Z:-0.86 [[ 9.99987435e-01 2.91776808e-03 4.07638207e-03 6.67366336e+01] [-2.91701624e-03 9.99995727e-01 -1.90371695e-04 -3.64552897e+00] [-4.07692012e-03 1.78478430e-04 9.99991673e-01 -8.56230554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260371743 meters Centerline goodness [0,1] 0.9894683275438635 Centerline is valid? [True, True] Translation: X:66.77, Y:-3.65, Z:-0.86 [[ 9.99982554e-01 4.39109264e-03 3.95084947e-03 6.67675385e+01] [-4.39039685e-03 9.99990345e-01 -1.84767885e-04 -3.64699600e+00] [-3.95162266e-03 1.67418865e-04 9.99992178e-01 -8.57118220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.290371743 meters Centerline goodness [0,1] 0.9909179084736796 Centerline is valid? [True, True] Translation: X:66.80, Y:-3.64, Z:-0.86 [[ 9.99967437e-01 7.05396117e-03 3.91999263e-03 6.67984286e+01] [-7.05329582e-03 9.99975108e-01 -1.83531412e-04 -3.63985264e+00] [-3.92118968e-03 1.55876568e-04 9.99992300e-01 -8.56298352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320371743 meters Centerline goodness [0,1] 0.9912406504423803 Centerline is valid? [True, True] Translation: X:66.83, Y:-3.64, Z:-0.86 [[ 9.99959440e-01 7.95081363e-03 4.23122910e-03 6.68279495e+01] [-7.95004502e-03 9.99968378e-01 -1.98439901e-04 -3.63720220e+00] [-4.23267306e-03 1.64793391e-04 9.99991029e-01 -8.55906161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.350371743 meters Centerline goodness [0,1] 0.991512532792487 Centerline is valid? [True, True] Translation: X:66.86, Y:-3.64, Z:-0.86 [[ 9.99950673e-01 8.72607686e-03 4.74411531e-03 6.68569509e+01] [-8.72512119e-03 9.99961911e-01 -2.22102297e-04 -3.63933214e+00] [-4.74587269e-03 1.80698360e-04 9.99988722e-01 -8.56086898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380371743 meters Centerline goodness [0,1] 0.9902758483826156 Centerline is valid? [True, True] Translation: X:66.89, Y:-3.64, Z:-0.86 [[ 9.99946946e-01 8.94536291e-03 5.10743241e-03 6.68868937e+01] [-8.94425791e-03 9.99959971e-01 -2.39150895e-04 -3.64150241e+00] [-5.10936725e-03 1.93456014e-04 9.99986928e-01 -8.56263308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.410371743 meters Centerline goodness [0,1] 0.9897073440088349 Centerline is valid? [True, True] Translation: X:66.92, Y:-3.65, Z:-0.86 [[ 9.99948122e-01 8.75923490e-03 5.19887502e-03 6.69163363e+01] [-8.75808926e-03 9.99961618e-01 -2.43088294e-04 -3.64839386e+00] [-5.20080475e-03 1.97543471e-04 9.99986456e-01 -8.57677676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440371743 meters Centerline goodness [0,1] 0.9899781943129006 Centerline is valid? [True, True] Translation: X:66.95, Y:-3.65, Z:-0.86 [[ 9.99954874e-01 8.33927194e-03 4.55052208e-03 6.69454829e+01] [-8.33839017e-03 9.99965212e-01 -2.12712230e-04 -3.65134831e+00] [-4.55213765e-03 1.74758602e-04 9.99989624e-01 -8.58971720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.470371743 meters Centerline goodness [0,1] 0.9898301345687183 Centerline is valid? [True, True] Translation: X:66.98, Y:-3.66, Z:-0.86 [[ 9.99965618e-01 7.32310982e-03 3.89025606e-03 6.69753409e+01] [-7.32245782e-03 9.99973174e-01 -1.81815821e-04 -3.65540033e+00] [-3.89148315e-03 1.53323334e-04 9.99992416e-01 -8.60762765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500371743 meters Centerline goodness [0,1] 0.9896778160894296 Centerline is valid? [True, True] Translation: X:67.01, Y:-3.66, Z:-0.86 [[ 9.99972884e-01 6.48831105e-03 3.48323834e-03 6.70050821e+01] [-6.48778341e-03 9.99978941e-01 -1.62757563e-04 -3.65888326e+00] [-3.48422101e-03 1.40154654e-04 9.99993920e-01 -8.61613294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.530371743 meters Centerline goodness [0,1] 0.99097615597418 Centerline is valid? [True, True] Translation: X:67.04, Y:-3.65, Z:-0.86 [[ 9.99980371e-01 4.98027228e-03 3.80188851e-03 6.70353438e+01] [-4.97963239e-03 9.99987586e-01 -1.77755361e-04 -3.65339667e+00] [-3.80272659e-03 1.58819865e-04 9.99992757e-01 -8.59103773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.560371743 meters Centerline goodness [0,1] 0.9908462791004709 Centerline is valid? [True, True] Translation: X:67.07, Y:-3.65, Z:-0.86 [[ 9.99983502e-01 4.14146168e-03 3.98033790e-03 6.70653885e+01] [-4.14075605e-03 9.99991410e-01 -1.85504393e-04 -3.65457141e+00] [-3.98107197e-03 1.69019725e-04 9.99992061e-01 -8.59081922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.590371743 meters Centerline goodness [0,1] 0.991257742828274 Centerline is valid? [True, True] Translation: X:67.10, Y:-3.66, Z:-0.86 [[ 9.99986799e-01 3.24208003e-03 3.98619655e-03 6.70955947e+01] [-3.24136539e-03 9.99994730e-01 -1.85725251e-04 -3.65797600e+00] [-3.98677768e-03 1.72802079e-04 9.99992038e-01 -8.59493359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.620371743 meters Centerline goodness [0,1] 0.9910287343715727 Centerline is valid? [True, True] Translation: X:67.13, Y:-3.66, Z:-0.86 [[ 9.99993846e-01 8.46662668e-04 3.40458617e-03 6.71270054e+01] [-8.46128022e-04 9.99999629e-01 -1.58474354e-04 -3.66179756e+00] [-3.40471908e-03 1.55592663e-04 9.99994192e-01 -8.59776344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.650371743 meters Centerline goodness [0,1] 0.9919430967486993 Centerline is valid? [True, True] Translation: X:67.16, Y:-3.66, Z:-0.86 [[ 9.99995014e-01 -1.47827997e-04 3.15441663e-03 6.71587095e+01] [ 1.48285662e-04 9.99999979e-01 -1.44853369e-04 -3.66356237e+00] [-3.15439515e-03 1.45320402e-04 9.99995014e-01 -8.60075544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680371743 meters Centerline goodness [0,1] 0.9911181462428 Centerline is valid? [True, True] Translation: X:67.19, Y:-3.67, Z:-0.86 [[ 9.99992455e-01 -2.11362992e-03 3.25914977e-03 6.71902995e+01] [ 2.11413833e-03 9.99997754e-01 -1.52559459e-04 -3.66636474e+00] [-3.25881999e-03 1.59448602e-04 9.99994677e-01 -8.60099367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.710371743 meters Centerline goodness [0,1] 0.9913026289780589 Centerline is valid? [True, True] Translation: X:67.22, Y:-3.67, Z:-0.86 [[ 9.99990338e-01 -2.80846603e-03 3.38169922e-03 6.72221022e+01] [ 2.80901104e-03 9.99996042e-01 -1.56427561e-04 -3.66793949e+00] [-3.38124652e-03 1.65925280e-04 9.99994270e-01 -8.60002541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740371743 meters Centerline goodness [0,1] 0.9908382152138484 Centerline is valid? [True, True] Translation: X:67.25, Y:-3.67, Z:-0.86 [[ 9.99987815e-01 -3.58595626e-03 3.39265140e-03 6.72527851e+01] [ 3.58651818e-03 9.99993556e-01 -1.59559429e-04 -3.67088510e+00] [-3.39205737e-03 1.71725291e-04 9.99994232e-01 -8.60315594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.770371743 meters Centerline goodness [0,1] 0.9897185790549001 Centerline is valid? [True, True] Translation: X:67.28, Y:-3.67, Z:-0.86 [[ 9.99981696e-01 -4.77732644e-03 3.71269216e-03 6.72846019e+01] [ 4.77800215e-03 9.99988570e-01 -1.73150733e-04 -3.67323617e+00] [-3.71182253e-03 1.90886815e-04 9.99993093e-01 -8.60304293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800371743 meters Centerline goodness [0,1] 0.9887519260400617 Centerline is valid? [True, True] Translation: X:67.32, Y:-3.68, Z:-0.86 [[ 9.99977895e-01 -5.50835671e-03 3.72400227e-03 6.73166115e+01] [ 5.50905063e-03 9.99984810e-01 -1.76104230e-04 -3.67551534e+00] [-3.72297565e-03 1.96616054e-04 9.99993050e-01 -8.61009843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.830371743 meters Centerline goodness [0,1] 0.9885962411456392 Centerline is valid? [True, True] Translation: X:67.35, Y:-3.68, Z:-0.86 [[ 9.99974704e-01 -6.05567975e-03 3.73107758e-03 6.73479919e+01] [ 6.05638176e-03 9.99981644e-01 -1.76880215e-04 -3.67949449e+00] [-3.72993797e-03 1.99472571e-04 9.99993024e-01 -8.62114229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860371743 meters Centerline goodness [0,1] 0.9891674540221046 Centerline is valid? [True, True] Translation: X:67.38, Y:-3.68, Z:-0.86 [[ 9.99971817e-01 -6.65961509e-03 3.46636050e-03 6.73798632e+01] [ 6.66022449e-03 9.99977807e-01 -1.64289842e-04 -3.68110818e+00] [-3.46518947e-03 1.87371950e-04 9.99993979e-01 -8.62958844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.890371743 meters Centerline goodness [0,1] 0.9900206620653274 Centerline is valid? [True, True] Translation: X:67.41, Y:-3.68, Z:-0.86 [[ 9.99963448e-01 -8.04726326e-03 2.88874606e-03 6.74124449e+01] [ 8.04769234e-03 9.99967607e-01 -1.36941496e-04 -3.68040335e+00] [-2.88755049e-03 1.60184230e-04 9.99995818e-01 -8.63227233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920371743 meters Centerline goodness [0,1] 0.98978717796666 Centerline is valid? [True, True] Translation: X:67.44, Y:-3.68, Z:-0.86 [[ 9.99962878e-01 -8.16660125e-03 2.74749582e-03 6.74436104e+01] [ 8.16699079e-03 9.99966641e-01 -1.30589996e-04 -3.68453485e+00] [-2.74633769e-03 1.53023921e-04 9.99996217e-01 -8.64318839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.950371743 meters Centerline goodness [0,1] 0.98978717796666 Centerline is valid? [True, True] Translation: X:67.48, Y:-3.69, Z:-0.86 [[ 9.99963437e-01 -8.09790892e-03 2.74749702e-03 6.74753126e+01] [ 8.09829814e-03 9.99967200e-01 -1.30565370e-04 -3.68611406e+00] [-2.74634960e-03 1.52810646e-04 9.99996217e-01 -8.64748741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.980371743 meters Centerline goodness [0,1] 0.9896211271631814 Centerline is valid? [True, True] Translation: X:67.51, Y:-3.68, Z:-0.87 [[ 9.99957242e-01 -8.82983189e-03 2.74743789e-03 6.75071778e+01] [ 8.83022484e-03 9.99961004e-01 -1.30927968e-04 -3.68492598e+00] [-2.74617468e-03 1.55182864e-04 9.99996217e-01 -8.65468014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.010371743 meters Centerline goodness [0,1] 0.9900252663956938 Centerline is valid? [True, True] Translation: X:67.54, Y:-3.69, Z:-0.87 [[ 9.99957927e-01 -8.75310102e-03 2.74347205e-03 6.75381418e+01] [ 8.75349296e-03 9.99961679e-01 -1.30886065e-04 -3.68802756e+00] [-2.74222125e-03 1.54895521e-04 9.99996228e-01 -8.66229500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040371743 meters Centerline goodness [0,1] 0.9887760906664332 Centerline is valid? [True, True] Translation: X:67.57, Y:-3.69, Z:-0.87 [[ 9.99959179e-01 -8.52166078e-03 3.00352526e-03 6.75700542e+01] [ 8.52212964e-03 9.99963676e-01 -1.43339981e-04 -3.68831143e+00] [-3.00219466e-03 1.68930561e-04 9.99995479e-01 -8.66755064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.070371743 meters Centerline goodness [0,1] 0.98847718526663 Centerline is valid? [True, True] Translation: X:67.60, Y:-3.69, Z:-0.87 [[ 9.99969334e-01 -7.47223159e-03 2.34440698e-03 6.76012664e+01] [ 7.47251473e-03 9.99972074e-01 -1.12038281e-04 -3.69012226e+00] [-2.34350433e-03 1.29553461e-04 9.99997246e-01 -8.67827541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100371743 meters Centerline goodness [0,1] 0.9875963206076706 Centerline is valid? [True, True] Translation: X:67.63, Y:-3.69, Z:-0.87 [[ 9.99973425e-01 -6.85584415e-03 2.47906157e-03 6.76335080e+01] [ 6.85615884e-03 9.99976489e-01 -1.18463085e-04 -3.68943269e+00] [-2.47819112e-03 1.35456777e-04 9.99996920e-01 -8.68348082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.130371743 meters Centerline goodness [0,1] 0.9879961235187877 Centerline is valid? [True, True] Translation: X:67.67, Y:-3.69, Z:-0.87 [[ 9.99980988e-01 -5.89111853e-03 1.82175845e-03 6.76656466e+01] [ 5.89128666e-03 9.99982642e-01 -8.69383997e-05 -3.68954663e+00] [-1.82121466e-03 9.76692481e-05 9.99998337e-01 -8.69211475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160371743 meters Centerline goodness [0,1] 0.9872659176029962 Centerline is valid? [True, True] Translation: X:67.70, Y:-3.69, Z:-0.87 [[ 9.99994309e-01 -3.02571220e-03 1.49236479e-03 6.76964877e+01] [ 3.02582235e-03 9.99995420e-01 -7.15596296e-05 -3.68747026e+00] [-1.49214143e-03 7.60748531e-05 9.99998884e-01 -8.70254511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.190371743 meters Centerline goodness [0,1] 0.9884673681435758 Centerline is valid? [True, True] Translation: X:67.73, Y:-3.68, Z:-0.87 [[ 9.99997035e-01 -1.46187651e-03 1.94738620e-03 6.77289336e+01] [ 1.46206104e-03 9.99998927e-01 -9.33380957e-05 -3.67804805e+00] [-1.94724766e-03 9.61850165e-05 9.99998099e-01 -8.68391277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220371743 meters Centerline goodness [0,1] 0.9880505367318991 Centerline is valid? [True, True] Translation: X:67.76, Y:-3.68, Z:-0.87 [[ 9.99996303e-01 1.12647183e-04 2.71695349e-03 6.77591159e+01] [-1.12291526e-04 9.99999985e-01 -1.31054798e-04 -3.67977448e+00] [-2.71696821e-03 1.30749223e-04 9.99996300e-01 -8.68967457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.250371743 meters Centerline goodness [0,1] 0.9884268991613374 Centerline is valid? [True, True] Translation: X:67.79, Y:-3.68, Z:-0.87 [[ 9.99990243e-01 2.72052781e-03 3.48025843e-03 6.77908920e+01] [-2.71996018e-03 9.99996287e-01 -1.67820387e-04 -3.67520695e+00] [-3.48070207e-03 1.58352585e-04 9.99993930e-01 -8.68081268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280371743 meters Centerline goodness [0,1] 0.9876949586886404 Centerline is valid? [True, True] Translation: X:67.82, Y:-3.68, Z:-0.87 [[ 9.99985732e-01 3.71690722e-03 3.83682945e-03 6.78212310e+01] [-3.71622323e-03 9.99993078e-01 -1.85382566e-04 -3.67543408e+00] [-3.83749193e-03 1.71121407e-04 9.99992622e-01 -8.68520768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.310371743 meters Centerline goodness [0,1] 0.9885677641907878 Centerline is valid? [True, True] Translation: X:67.85, Y:-3.68, Z:-0.87 [[ 9.99984296e-01 4.33892900e-03 3.54691464e-03 6.78515309e+01] [-4.33834759e-03 9.99990575e-01 -1.71598462e-04 -3.67534253e+00] [-3.54762576e-03 1.56208018e-04 9.99993695e-01 -8.68811008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.340371743 meters Centerline goodness [0,1] 0.9887769529869211 Centerline is valid? [True, True] Translation: X:67.88, Y:-3.68, Z:-0.87 [[ 9.99983098e-01 4.39128650e-03 3.81063785e-03 6.78809618e+01] [-4.39061514e-03 9.99990344e-01 -1.84529756e-04 -3.67633414e+00] [-3.81141138e-03 1.67795592e-04 9.99992722e-01 -8.70277954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.370371743 meters Centerline goodness [0,1] 0.9886247952905767 Centerline is valid? [True, True] Translation: X:67.91, Y:-3.68, Z:-0.87 [[ 9.99985219e-01 4.48342498e-03 3.07585586e-03 6.79110136e+01] [-4.48298916e-03 9.99989940e-01 -1.48570867e-04 -3.67845941e+00] [-3.07649102e-03 1.34779642e-04 9.99995259e-01 -8.71429454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400371743 meters Centerline goodness [0,1] 0.9887178125829572 Centerline is valid? [True, True] Translation: X:67.94, Y:-3.68, Z:-0.87 [[ 9.99985809e-01 4.39069253e-03 3.01721725e-03 6.79414531e+01] [-4.39027205e-03 9.99990352e-01 -1.45971283e-04 -3.67601025e+00] [-3.01782906e-03 1.32722807e-04 9.99995438e-01 -8.71258384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.430371743 meters Centerline goodness [0,1] 0.9898320070733864 Centerline is valid? [True, True] Translation: X:67.97, Y:-3.68, Z:-0.87 [[ 9.99986971e-01 4.14581416e-03 2.97819975e-03 6.79720951e+01] [-4.14540339e-03 9.99991397e-01 -1.44083638e-04 -3.67578377e+00] [-2.97877147e-03 1.31735921e-04 9.99995555e-01 -8.71181547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460371743 meters Centerline goodness [0,1] 0.9897376918653514 Centerline is valid? [True, True] Translation: X:68.00, Y:-3.68, Z:-0.87 [[ 9.99988032e-01 3.95516437e-03 2.87952286e-03 6.80029573e+01] [-3.95477959e-03 9.99992170e-01 -1.39309705e-04 -3.67654198e+00] [-2.88005131e-03 1.27920160e-04 9.99995844e-01 -8.71341162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.490371743 meters Centerline goodness [0,1] 0.9894029751479815 Centerline is valid? [True, True] Translation: X:68.03, Y:-3.68, Z:-0.87 [[ 9.99990464e-01 3.43551046e-03 2.69620630e-03 6.80330432e+01] [-3.43517123e-03 9.99994091e-01 -1.30440953e-04 -3.67678386e+00] [-2.69663850e-03 1.21177778e-04 9.99996357e-01 -8.71837937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520371743 meters Centerline goodness [0,1] 0.9896472987652132 Centerline is valid? [True, True] Translation: X:68.06, Y:-3.68, Z:-0.87 [[ 9.99994054e-01 2.47188630e-03 2.40468226e-03 6.80627644e+01] [-2.47161391e-03 9.99996939e-01 -1.16239056e-04 -3.67906378e+00] [-2.40496223e-03 1.10294919e-04 9.99997102e-01 -8.73286836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.550371743 meters Centerline goodness [0,1] 0.9893696793260112 Centerline is valid? [True, True] Translation: X:68.09, Y:-3.68, Z:-0.87 [[ 9.99993899e-01 2.26124247e-03 2.66262082e-03 6.80936136e+01] [-2.26090793e-03 9.99997436e-01 -1.28646536e-04 -3.67986714e+00] [-2.66290489e-03 1.22625811e-04 9.99996447e-01 -8.73955043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580371743 meters Centerline goodness [0,1] 0.9887580655890374 Centerline is valid? [True, True] Translation: X:68.12, Y:-3.68, Z:-0.87 [[ 9.99994624e-01 1.50630469e-03 2.91249144e-03 6.81242470e+01] [-1.50590045e-03 9.99998856e-01 -1.40982110e-04 -3.68151644e+00] [-2.91270047e-03 1.36595430e-04 9.99995749e-01 -8.74540501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.610371743 meters Centerline goodness [0,1] 0.9890134231161122 Centerline is valid? [True, True] Translation: X:68.15, Y:-3.68, Z:-0.87 [[ 9.99988994e-01 1.09556073e-03 4.56197857e-03 6.81541794e+01] [-1.09456797e-03 9.99999377e-01 -2.20106865e-04 -3.68239532e+00] [-4.56221687e-03 2.15111047e-04 9.99989570e-01 -8.74145170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640371743 meters Centerline goodness [0,1] 0.9888916042745107 Centerline is valid? [True, True] Translation: X:68.19, Y:-3.68, Z:-0.87 [[ 9.99987935e-01 7.05738926e-04 4.86125816e-03 6.81858920e+01] [-7.04602930e-04 9.99999724e-01 -2.35392182e-04 -3.68083352e+00] [-4.86142295e-03 2.31964085e-04 9.99988156e-01 -8.73807948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.670371743 meters Centerline goodness [0,1] 0.9884245938648134 Centerline is valid? [True, True] Translation: X:68.22, Y:-3.68, Z:-0.87 [[ 9.99982148e-01 -4.43008295e-04 5.95879905e-03 6.82173904e+01] [ 4.44733109e-04 9.99999860e-01 -2.88134692e-04 -3.68247382e+00] [-5.95867057e-03 2.90779624e-04 9.99982205e-01 -8.73214916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.700371743 meters Centerline goodness [0,1] 0.9880503702389926 Centerline is valid? [True, True] Translation: X:68.25, Y:-3.69, Z:-0.87 [[ 9.99980644e-01 -1.23582398e-03 6.09786794e-03 6.82487132e+01] [ 1.23764568e-03 9.99999191e-01 -2.94979704e-04 -3.68793046e+00] [-6.09749846e-03 3.02520994e-04 9.99981364e-01 -8.74116541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.730371743 meters Centerline goodness [0,1] 0.987703917434247 Centerline is valid? [True, True] Translation: X:68.28, Y:-3.69, Z:-0.87 [[ 9.99978856e-01 -1.71449184e-03 6.27281128e-03 6.82798223e+01] [ 1.71643900e-03 9.99998480e-01 -3.05040894e-04 -3.69092943e+00] [-6.27227876e-03 3.15801342e-04 9.99980279e-01 -8.74673491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760371743 meters Centerline goodness [0,1] 0.989189069194397 Centerline is valid? [True, True] Translation: X:68.31, Y:-3.69, Z:-0.87 [[ 9.99975413e-01 -3.76292817e-03 5.91732421e-03 6.83125933e+01] [ 3.76471003e-03 9.99992871e-01 -2.90016504e-04 -3.68656471e+00] [-5.91619072e-03 3.12286383e-04 9.99982450e-01 -8.74821777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.790371743 meters Centerline goodness [0,1] 0.9883909347184302 Centerline is valid? [True, True] Translation: X:68.34, Y:-3.70, Z:-0.88 [[ 9.99973813e-01 -4.52686971e-03 5.64630464e-03 6.83428007e+01] [ 4.52850392e-03 9.99989708e-01 -2.76677922e-04 -3.69623870e+00] [-5.64499404e-03 3.02239989e-04 9.99984021e-01 -8.76737779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820371743 meters Centerline goodness [0,1] 0.9886453831907576 Centerline is valid? [True, True] Translation: X:68.37, Y:-3.70, Z:-0.88 [[ 9.99974807e-01 -4.62153441e-03 5.38767474e-03 6.83745588e+01] [ 4.62302951e-03 9.99989279e-01 -2.65083998e-04 -3.69863853e+00] [-5.38639188e-03 2.89984699e-04 9.99985451e-01 -8.78031474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.850371743 meters Centerline goodness [0,1] 0.9886658533880448 Centerline is valid? [True, True] Translation: X:68.41, Y:-3.70, Z:-0.88 [[ 9.99981457e-01 -4.56685269e-03 4.02861669e-03 6.84060649e+01] [ 4.56768899e-03 9.99989548e-01 -1.98415477e-04 -3.69934534e+00] [-4.02766845e-03 2.16813266e-04 9.99991865e-01 -8.79706299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880371743 meters Centerline goodness [0,1] 0.98787932603725 Centerline is valid? [True, True] Translation: X:68.44, Y:-3.70, Z:-0.88 [[ 9.99986670e-01 -3.61325042e-03 3.68845375e-03 6.84387541e+01] [ 3.61394372e-03 9.99993453e-01 -1.81317445e-04 -3.69918718e+00] [-3.68777446e-03 1.94644893e-04 9.99993181e-01 -8.80745511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.910371743 meters Centerline goodness [0,1] 0.9892169505091378 Centerline is valid? [True, True] Translation: X:68.47, Y:-3.69, Z:-0.88 [[ 9.99992798e-01 -2.00858678e-03 3.22029923e-03 6.84702371e+01] [ 2.00910948e-03 9.99997969e-01 -1.59087509e-04 -3.69125051e+00] [-3.21997315e-03 1.65556296e-04 9.99994802e-01 -8.79977199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940371743 meters Centerline goodness [0,1] 0.9891151292997474 Centerline is valid? [True, True] Translation: X:68.50, Y:-3.69, Z:-0.88 [[ 9.99994021e-01 1.84767412e-03 2.92316248e-03 6.85008390e+01] [-1.84725860e-03 9.99998283e-01 -1.44842663e-04 -3.68600685e+00] [-2.92342509e-03 1.39441960e-04 9.99995717e-01 -8.80844262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.970371743 meters Centerline goodness [0,1] 0.9895907791279486 Centerline is valid? [True, True] Translation: X:68.53, Y:-3.68, Z:-0.88 [[ 9.99988024e-01 3.81930930e-03 3.06004006e-03 6.85312611e+01] [-3.81886316e-03 9.99992697e-01 -1.51624945e-04 -3.68478127e+00] [-3.06059682e-03 1.39937255e-04 9.99995307e-01 -8.81569485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000371743 meters Centerline goodness [0,1] 0.9897140552169237 Centerline is valid? [True, True] Translation: X:68.56, Y:-3.69, Z:-0.88 [[ 9.99976490e-01 6.08423535e-03 3.16244206e-03 6.85608144e+01] [-6.08376958e-03 9.99981481e-01 -1.56881032e-04 -3.68669949e+00] [-3.16333800e-03 1.37637775e-04 9.99994987e-01 -8.82571536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.030371743 meters Centerline goodness [0,1] 0.9898688781799843 Centerline is valid? [True, True] Translation: X:68.59, Y:-3.68, Z:-0.88 [[ 9.99942756e-01 9.85729624e-03 4.16144484e-03 6.85905524e+01] [-9.85652552e-03 9.99951402e-01 -2.05673476e-04 -3.68292994e+00] [-4.16326998e-03 1.64644315e-04 9.99991320e-01 -8.81746586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.060371743 meters Centerline goodness [0,1] 0.9901286202554416 Centerline is valid? [True, True] Translation: X:68.62, Y:-3.68, Z:-0.88 [[ 9.99923896e-01 1.12252314e-02 5.11822150e-03 6.86196156e+01] [-1.12240762e-02 9.99936976e-01 -2.54364597e-04 -3.67743332e+00] [-5.12075423e-03 1.96897931e-04 9.99986869e-01 -8.80188657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.090371743 meters Centerline goodness [0,1] 0.9906303236797275 Centerline is valid? [True, True] Translation: X:68.65, Y:-3.68, Z:-0.88 [[ 9.99894926e-01 1.30230458e-02 6.36695096e-03 6.86484893e+01] [-1.30212990e-02 9.99915169e-01 -3.15736609e-04 -3.67627080e+00] [-6.37052270e-03 2.32797461e-04 9.99979681e-01 -8.79418166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.120371743 meters Centerline goodness [0,1] 0.9899764547595021 Centerline is valid? [True, True] Translation: X:68.68, Y:-3.68, Z:-0.88 [[ 9.99852804e-01 1.55022764e-02 7.35186769e-03 6.86766942e+01] [-1.55000192e-02 9.99879801e-01 -3.63901288e-04 -3.67667705e+00] [-7.35662530e-03 2.49893632e-04 9.99972908e-01 -8.79747285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.150371743 meters Centerline goodness [0,1] 0.9898663898167374 Centerline is valid? [True, True] Translation: X:68.71, Y:-3.67, Z:-0.88 [[ 9.99838359e-01 1.63512215e-02 7.47621314e-03 6.87061975e+01] [-1.63489159e-02 9.99866279e-01 -3.69403974e-04 -3.67313754e+00] [-7.48125363e-03 2.47116283e-04 9.99971984e-01 -8.79798261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180371743 meters Centerline goodness [0,1] 0.9901631963984243 Centerline is valid? [True, True] Translation: X:68.73, Y:-3.67, Z:-0.88 [[ 9.99834989e-01 1.68179555e-02 6.86667471e-03 6.87336392e+01] [-1.68160221e-02 9.99858543e-01 -3.39211794e-04 -3.67388817e+00] [-6.87140822e-03 2.23685667e-04 9.99976367e-01 -8.80619927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.210371743 meters Centerline goodness [0,1] 0.9906063193851409 Centerline is valid? [True, True] Translation: X:68.76, Y:-3.67, Z:-0.88 [[ 9.99819008e-01 1.78349846e-02 6.62300092e-03 6.87623014e+01] [-1.78332126e-02 9.99840922e-01 -3.26514779e-04 -3.67115430e+00] [-6.62777073e-03 2.08346300e-04 9.99978014e-01 -8.81135017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240371743 meters Centerline goodness [0,1] 0.9903314295993164 Centerline is valid? [True, True] Translation: X:68.79, Y:-3.67, Z:-0.88 [[ 9.99814149e-01 1.80443345e-02 6.78750134e-03 6.87903227e+01] [-1.80424809e-02 9.99837165e-01 -3.34228144e-04 -3.67485267e+00] [-6.79242703e-03 2.11702664e-04 9.99976909e-01 -8.82581633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.270371743 meters Centerline goodness [0,1] 0.9907956775779999 Centerline is valid? [True, True] Translation: X:68.82, Y:-3.67, Z:-0.88 [[ 9.99796751e-01 1.87715593e-02 7.35430316e-03 6.88193308e+01] [-1.87694093e-02 9.99823774e-01 -3.61274008e-04 -3.67163675e+00] [-7.35978881e-03 2.23164653e-04 9.99972891e-01 -8.82316353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300371743 meters Centerline goodness [0,1] 0.9917995752948087 Centerline is valid? [True, True] Translation: X:68.85, Y:-3.67, Z:-0.88 [[ 9.99798435e-01 1.85889731e-02 7.58542566e-03 6.88465874e+01] [-1.85866855e-02 9.99827183e-01 -3.71969124e-04 -3.67325407e+00] [-7.59102930e-03 2.30906228e-04 9.99971161e-01 -8.82699142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.330371743 meters Centerline goodness [0,1] 0.9906331113869766 Centerline is valid? [True, True] Translation: X:68.88, Y:-3.67, Z:-0.88 [[ 9.99795271e-01 1.86605986e-02 7.82287951e-03 6.88758705e+01] [-1.86581709e-02 9.99825848e-01 -3.83209702e-04 -3.67334648e+00] [-7.82866806e-03 2.37170626e-04 9.99969327e-01 -8.83115917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360371743 meters Centerline goodness [0,1] 0.9914454477561274 Centerline is valid? [True, True] Translation: X:68.90, Y:-3.67, Z:-0.88 [[ 9.99798661e-01 1.83500623e-02 8.11863674e-03 6.89043674e+01] [-1.83474424e-02 9.99831593e-01 -3.97078256e-04 -3.67443538e+00] [-8.12455591e-03 2.48042089e-04 9.99966964e-01 -8.83455026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.390371743 meters Centerline goodness [0,1] 0.9908416625209172 Centerline is valid? [True, True] Translation: X:68.93, Y:-3.68, Z:-0.88 [[ 9.99804970e-01 1.78400691e-02 8.47073484e-03 6.89325766e+01] [-1.78372035e-02 9.99840819e-01 -4.13733864e-04 -3.67621406e+00] [-8.47676750e-03 2.62558953e-04 9.99964037e-01 -8.84490001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420371743 meters Centerline goodness [0,1] 0.9902129198499163 Centerline is valid? [True, True] Translation: X:68.96, Y:-3.68, Z:-0.89 [[ 9.99810982e-01 1.77143481e-02 8.01260520e-03 6.89599466e+01] [-1.77117853e-02 9.99843058e-01 -3.90705837e-04 -3.67891299e+00] [-8.01826879e-03 2.48714444e-04 9.99967822e-01 -8.85886260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.450371743 meters Centerline goodness [0,1] 0.9912129721895099 Centerline is valid? [True, True] Translation: X:68.99, Y:-3.68, Z:-0.89 [[ 9.99808814e-01 1.79280238e-02 7.80523666e-03 6.89887179e+01] [-1.79256043e-02 9.99839251e-01 -3.79832700e-04 -3.67861358e+00] [-7.81079162e-03 2.39846498e-04 9.99969467e-01 -8.86337867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.480371743 meters Centerline goodness [0,1] 0.9915526768729052 Centerline is valid? [True, True] Translation: X:69.02, Y:-3.68, Z:-0.89 [[ 9.99807709e-01 1.79447402e-02 7.90771873e-03 6.90160631e+01] [-1.79422610e-02 9.99838951e-01 -3.84349048e-04 -3.68100203e+00] [-7.91334225e-03 2.42392787e-04 9.99968660e-01 -8.87116339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.510371743 meters Centerline goodness [0,1] 0.990885180482496 Centerline is valid? [True, True] Translation: X:69.05, Y:-3.68, Z:-0.89 [[ 9.99808824e-01 1.79504635e-02 7.75212470e-03 6.90452735e+01] [-1.79480870e-02 9.99838849e-01 -3.76036643e-04 -3.68004750e+00] [-7.75762547e-03 2.36828946e-04 9.99969881e-01 -8.87120060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540371743 meters Centerline goodness [0,1] 0.9900996828273675 Centerline is valid? [True, True] Translation: X:69.07, Y:-3.68, Z:-0.89 [[ 9.99812377e-01 1.75610320e-02 8.17442070e-03 6.90743981e+01] [-1.75583815e-02 9.99845761e-01 -3.95907114e-04 -3.68051758e+00] [-8.18011243e-03 2.52303236e-04 9.99966510e-01 -8.86982081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.570371743 meters Centerline goodness [0,1] 0.9897815841943085 Centerline is valid? [True, True] Translation: X:69.10, Y:-3.68, Z:-0.89 [[ 9.99837609e-01 1.63358325e-02 7.60892369e-03 6.91016337e+01] [-1.63335028e-02 9.99866532e-01 -3.68235333e-04 -3.68435594e+00] [-7.61392357e-03 2.43895158e-04 9.99970984e-01 -8.87980899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600371743 meters Centerline goodness [0,1] 0.988774216911099 Centerline is valid? [True, True] Translation: X:69.13, Y:-3.69, Z:-0.89 [[ 9.99847483e-01 1.57758559e-02 7.49217586e-03 6.91295840e+01] [-1.57735878e-02 9.99875524e-01 -3.61727706e-04 -3.68692207e+00] [-7.49694982e-03 2.43494042e-04 9.99971868e-01 -8.88723633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.630371743 meters Centerline goodness [0,1] 0.9887798354375864 Centerline is valid? [True, True] Translation: X:69.16, Y:-3.69, Z:-0.89 [[ 9.99855065e-01 1.53041053e-02 7.45874602e-03 6.91584212e+01] [-1.53018498e-02 9.99882855e-01 -3.59383836e-04 -3.68913142e+00] [-7.46337231e-03 2.45199138e-04 9.99972119e-01 -8.89463025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660371743 meters Centerline goodness [0,1] 0.9883309117326553 Centerline is valid? [True, True] Translation: X:69.19, Y:-3.69, Z:-0.89 [[ 9.99884759e-01 1.36643146e-02 6.61480112e-03 6.91880691e+01] [-1.36625085e-02 9.99906613e-01 -3.18159713e-04 -3.68828486e+00] [-6.61853081e-03 2.27748271e-04 9.99978071e-01 -8.89299158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.690371743 meters Centerline goodness [0,1] 0.9888730255852426 Centerline is valid? [True, True] Translation: X:69.22, Y:-3.69, Z:-0.89 [[ 9.99898280e-01 1.28442599e-02 6.20123678e-03 6.92169579e+01] [-1.28426563e-02 9.99917485e-01 -2.98350837e-04 -3.68838516e+00] [-6.20455718e-03 2.18680137e-04 9.99980728e-01 -8.89909601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720371743 meters Centerline goodness [0,1] 0.9888269417420942 Centerline is valid? [True, True] Translation: X:69.25, Y:-3.69, Z:-0.89 [[ 9.99914744e-01 1.17468998e-02 5.70221862e-03 6.92454372e+01] [-1.17455288e-02 9.99930981e-01 -2.73864653e-04 -3.69165597e+00] [-5.70504212e-03 2.06865732e-04 9.99983705e-01 -8.90852655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.750371743 meters Centerline goodness [0,1] 0.9879052312700638 Centerline is valid? [True, True] Translation: X:69.27, Y:-3.69, Z:-0.89 [[ 9.99923212e-01 1.09817808e-02 5.74200745e-03 6.92743913e+01] [-1.09803790e-02 9.99939676e-01 -2.75595573e-04 -3.69382662e+00] [-5.74468760e-03 2.12524992e-04 9.99983477e-01 -8.91607992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780371743 meters Centerline goodness [0,1] 0.9884389140271493 Centerline is valid? [True, True] Translation: X:69.30, Y:-3.70, Z:-0.89 [[ 9.99937217e-01 9.81596104e-03 5.40446619e-03 6.93036507e+01] [-9.81470557e-03 9.99951801e-01 -2.58776369e-04 -3.69595182e+00] [-5.40674584e-03 2.05716878e-04 9.99985362e-01 -8.91848073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.810371743 meters Centerline goodness [0,1] 0.9887303626569297 Centerline is valid? [True, True] Translation: X:69.33, Y:-3.70, Z:-0.89 [[ 9.99939787e-01 9.28910683e-03 5.84249901e-03 6.93327603e+01] [-9.28763125e-03 9.99956830e-01 -2.79641043e-04 -3.69773198e+00] [-5.84484440e-03 2.25361228e-04 9.99982893e-01 -8.91743519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.840371743 meters Centerline goodness [0,1] 0.9880917410462094 Centerline is valid? [True, True] Translation: X:69.36, Y:-3.70, Z:-0.89 [[ 9.99945357e-01 7.86426660e-03 6.88740046e-03 6.93616611e+01] [-7.86218651e-03 9.99969038e-01 -3.29037380e-04 -3.70160284e+00] [-6.88977485e-03 2.74869373e-04 9.99976227e-01 -8.91921637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87037174299999 meters Centerline goodness [0,1] 0.9880917410462094 Centerline is valid? [True, True] Translation: X:69.39, Y:-3.70, Z:-0.89 [[ 9.99945357e-01 7.86426015e-03 6.88742317e-03 6.93916487e+01] [-7.86218333e-03 9.99969039e-01 -3.28561193e-04 -3.70303358e+00] [-6.88979382e-03 2.74393056e-04 9.99976227e-01 -8.92328650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900371743 meters Centerline goodness [0,1] 0.9877935758041547 Centerline is valid? [True, True] Translation: X:69.42, Y:-3.71, Z:-0.89 [[ 9.99946210e-01 7.54779204e-03 7.11389043e-03 6.94220825e+01] [-7.54556840e-03 9.99971474e-01 -3.39364704e-04 -3.70524122e+00] [-7.11624896e-03 2.85668103e-04 9.99974638e-01 -8.92151265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.930371743 meters Centerline goodness [0,1] 0.9883487253595863 Centerline is valid? [True, True] Translation: X:69.45, Y:-3.70, Z:-0.89 [[ 9.99948258e-01 7.46463385e-03 6.91090555e-03 6.94526376e+01] [-7.46253332e-03 9.99972101e-01 -3.29681408e-04 -3.70479020e+00] [-6.91317369e-03 2.78091487e-04 9.99976065e-01 -8.91972969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960371743 meters Centerline goodness [0,1] 0.9879929450072359 Centerline is valid? [True, True] Translation: X:69.48, Y:-3.71, Z:-0.89 [[ 9.99953254e-01 7.62575418e-03 5.94458958e-03 6.94822415e+01] [-7.62420205e-03 9.99970895e-01 -2.83717480e-04 -3.70721322e+00] [-5.94658012e-03 2.38381465e-04 9.99982291e-01 -8.93210198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.990371743 meters Centerline goodness [0,1] 0.9884088752315966 Centerline is valid? [True, True] Translation: X:69.51, Y:-3.71, Z:-0.89 [[ 9.99955757e-01 7.93406268e-03 5.05319671e-03 6.95119985e+01] [-7.93294453e-03 9.99968505e-01 -2.41281912e-04 -3.70506319e+00] [-5.05495190e-03 2.01184508e-04 9.99987203e-01 -8.93665515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020371743 meters Centerline goodness [0,1] 0.9880624633298731 Centerline is valid? [True, True] Translation: X:69.54, Y:-3.71, Z:-0.89 [[ 9.99949364e-01 9.35961969e-03 3.69679879e-03 6.95407850e+01] [-9.35903035e-03 9.99956188e-01 -1.76687210e-04 -3.70569027e+00] [-3.69829055e-03 1.42079812e-04 9.99993151e-01 -8.94581397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.050371743 meters Centerline goodness [0,1] 0.9885296242774566 Centerline is valid? [True, True] Translation: X:69.57, Y:-3.71, Z:-0.89 [[ 9.99939052e-01 1.04754468e-02 3.48667154e-03 6.95692856e+01] [-1.04749292e-02 9.99945123e-01 -1.66673817e-04 -3.70622310e+00] [-3.48822619e-03 1.30141021e-04 9.99993908e-01 -8.94751015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080371743 meters Centerline goodness [0,1] 0.9884924680031714 Centerline is valid? [True, True] Translation: X:69.60, Y:-3.71, Z:-0.90 [[ 9.99932291e-01 1.10853293e-02 3.53951802e-03 6.95982386e+01] [-1.10848006e-02 9.99938547e-01 -1.68939855e-04 -3.70594051e+00] [-3.54117327e-03 1.29693565e-04 9.99993722e-01 -8.95279878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.110371743 meters Centerline goodness [0,1] 0.9882144961697112 Centerline is valid? [True, True] Translation: X:69.63, Y:-3.71, Z:-0.90 [[ 9.99924566e-01 1.17888885e-02 3.44741408e-03 6.96253896e+01] [-1.17883913e-02 9.99930501e-01 -1.64497511e-04 -3.71230159e+00] [-3.44911373e-03 1.23845636e-04 9.99994044e-01 -8.97145342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140371743 meters Centerline goodness [0,1] 0.9884911644766652 Centerline is valid? [True, True] Translation: X:69.65, Y:-3.71, Z:-0.90 [[ 9.99905481e-01 1.33708183e-02 3.20146875e-03 6.96541785e+01] [-1.33703989e-02 9.99910601e-01 -1.52363940e-04 -3.70712529e+00] [-3.20321977e-03 1.09544625e-04 9.99994864e-01 -8.96848293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.170371743 meters Centerline goodness [0,1] 0.989134379820343 Centerline is valid? [True, True] Translation: X:69.68, Y:-3.71, Z:-0.90 [[ 9.99899372e-01 1.38524294e-02 3.05886244e-03 6.96833079e+01] [-1.38520494e-02 9.99904045e-01 -1.45396057e-04 -3.70828717e+00] [-3.06058302e-03 1.03009913e-04 9.99995311e-01 -8.97349224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.200371743 meters Centerline goodness [0,1] 0.9894662601810984 Centerline is valid? [True, True] Translation: X:69.71, Y:-3.71, Z:-0.90 [[ 9.99897688e-01 1.40763997e-02 2.54344291e-03 6.97124345e+01] [-1.40761377e-02 9.99900919e-01 -1.20885622e-04 -3.70819080e+00] [-2.54489254e-03 8.50714010e-05 9.99996758e-01 -8.97693012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.230371743 meters Centerline goodness [0,1] 0.98967007963595 Centerline is valid? [True, True] Translation: X:69.74, Y:-3.71, Z:-0.90 [[ 9.99890593e-01 1.44861793e-02 2.99202940e-03 6.97410692e+01] [-1.44858198e-02 9.99895065e-01 -1.41819678e-04 -3.70855892e+00] [-2.99376985e-03 9.84621631e-05 9.99995514e-01 -8.97860460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260371743 meters Centerline goodness [0,1] 0.9896935300794552 Centerline is valid? [True, True] Translation: X:69.77, Y:-3.71, Z:-0.90 [[ 9.99894766e-01 1.41585572e-02 3.16112859e-03 6.97689311e+01] [-1.41581545e-02 9.99899757e-01 -1.49732195e-04 -3.71024894e+00] [-3.16293170e-03 1.04960691e-04 9.99994992e-01 -8.98008334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.290371743 meters Centerline goodness [0,1] 0.9900916185951816 Centerline is valid? [True, True] Translation: X:69.80, Y:-3.71, Z:-0.90 [[ 9.99898081e-01 1.38746139e-02 3.36505585e-03 6.97975629e+01] [-1.38741579e-02 9.99903737e-01 -1.58837146e-04 -3.71111339e+00] [-3.36693572e-03 1.12133641e-04 9.99994326e-01 -8.97965809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320371743 meters Centerline goodness [0,1] 0.9897709231118167 Centerline is valid? [True, True] Translation: X:69.83, Y:-3.71, Z:-0.90 [[ 9.99923132e-01 1.21337396e-02 2.55009234e-03 6.98252517e+01] [-1.21334714e-02 9.99926379e-01 -1.20610114e-04 -3.71490334e+00] [-2.55136805e-03 8.96593702e-05 9.99996741e-01 -8.98728291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.350371743 meters Centerline goodness [0,1] 0.9898772589338285 Centerline is valid? [True, True] Translation: X:69.85, Y:-3.72, Z:-0.90 [[ 9.99938076e-01 1.08333414e-02 2.54604301e-03 6.98537190e+01] [-1.08330709e-02 9.99941313e-01 -1.20010837e-04 -3.71528029e+00] [-2.54719371e-03 9.24219414e-05 9.99996752e-01 -8.98440279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380371743 meters Centerline goodness [0,1] 0.990140078879369 Centerline is valid? [True, True] Translation: X:69.88, Y:-3.72, Z:-0.90 [[ 9.99952390e-01 9.60165619e-03 1.73972090e-03 6.98826026e+01] [-9.60152772e-03 9.99953901e-01 -8.21829456e-05 -3.71779877e+00] [-1.74042979e-03 6.54750544e-05 9.99998483e-01 -8.99119186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.410371743 meters Centerline goodness [0,1] 0.9897576817386959 Centerline is valid? [True, True] Translation: X:69.91, Y:-3.72, Z:-0.90 [[ 9.99967096e-01 7.99982713e-03 1.34525400e-03 6.99109168e+01] [-7.99974840e-03 9.99967999e-01 -6.38947049e-05 -3.71973083e+00] [-1.34572210e-03 5.31309090e-05 9.99999093e-01 -8.99875280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440371743 meters Centerline goodness [0,1] 0.9893989738025813 Centerline is valid? [True, True] Translation: X:69.94, Y:-3.72, Z:-0.90 [[ 9.99975875e-01 6.69805426e-03 1.83991648e-03 6.99400082e+01] [-6.69790630e-03 9.99977565e-01 -8.65663363e-05 -3.72186099e+00] [-1.84045503e-03 7.42406597e-05 9.99998304e-01 -8.99931001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.470371743 meters Centerline goodness [0,1] 0.9893686805854012 Centerline is valid? [True, True] Translation: X:69.97, Y:-3.72, Z:-0.90 [[ 9.99973511e-01 6.99004388e-03 2.02917994e-03 6.99683863e+01] [-6.98986545e-03 9.99975566e-01 -9.50110588e-05 -3.72341061e+00] [-2.02979449e-03 8.08248472e-05 9.99997937e-01 -8.99845461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500371743 meters Centerline goodness [0,1] 0.9893436503088305 Centerline is valid? [True, True] Translation: X:70.00, Y:-3.72, Z:-0.90 [[ 9.99966983e-01 7.71887499e-03 2.54002066e-03 6.99968969e+01] [-7.71859808e-03 9.99970204e-01 -1.18805579e-04 -3.72394943e+00] [-2.54086202e-03 9.91962578e-05 9.99996767e-01 -8.99544948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.530371743 meters Centerline goodness [0,1] 0.9894992288850585 Centerline is valid? [True, True] Translation: X:70.03, Y:-3.72, Z:-0.90 [[ 9.99944216e-01 1.00128346e-02 3.36284574e-03 7.00262439e+01] [-1.00123623e-02 9.99949863e-01 -1.57263036e-04 -3.72213553e+00] [-3.36425179e-03 1.23584234e-04 9.99994333e-01 -8.98360035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.560371743 meters Centerline goodness [0,1] 0.9899947936709147 Centerline is valid? [True, True] Translation: X:70.05, Y:-3.72, Z:-0.90 [[ 9.99929863e-01 1.12381159e-02 3.73824081e-03 7.00538722e+01] [-1.12375444e-02 9.99936842e-01 -1.73851102e-04 -3.72322080e+00] [-3.73995846e-03 1.31830261e-04 9.99992998e-01 -8.98710066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.590371743 meters Centerline goodness [0,1] 0.9902789422401487 Centerline is valid? [True, True] Translation: X:70.08, Y:-3.72, Z:-0.90 [[ 9.99918507e-01 1.22523106e-02 3.58613734e-03 7.00823175e+01] [-1.22517927e-02 9.99924930e-01 -1.66336671e-04 -3.72205258e+00] [-3.58790614e-03 1.22386505e-04 9.99993556e-01 -8.99063765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62037174299999 meters Centerline goodness [0,1] 0.9906024424569846 Centerline is valid? [True, True] Translation: X:70.11, Y:-3.72, Z:-0.90 [[ 9.99910878e-01 1.29389613e-02 3.28939661e-03 7.01101773e+01] [-1.29385291e-02 9.99916282e-01 -1.52645444e-04 -3.72384047e+00] [-3.29109630e-03 1.10071886e-04 9.99994578e-01 -9.00322682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.650371743 meters Centerline goodness [0,1] 0.9909549565928821 Centerline is valid? [True, True] Translation: X:70.14, Y:-3.72, Z:-0.90 [[ 9.99896170e-01 1.42352366e-02 2.23790806e-03 7.01394708e+01] [-1.42350403e-02 9.99898671e-01 -1.03584865e-04 -3.72473720e+00] [-2.23915585e-03 7.17173987e-05 9.99997491e-01 -9.02442193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680371743 meters Centerline goodness [0,1] 0.9907681113283915 Centerline is valid? [True, True] Translation: X:70.17, Y:-3.73, Z:-0.90 [[ 9.99889803e-01 1.47244231e-02 1.89017929e-03 7.01681690e+01] [-1.47242836e-02 9.99891588e-01 -8.77049290e-05 -3.72597223e+00] [-1.89126578e-03 5.98637282e-05 9.99998210e-01 -9.03960384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.710371743 meters Centerline goodness [0,1] 0.9905295269316577 Centerline is valid? [True, True] Translation: X:70.20, Y:-3.73, Z:-0.91 [[ 9.99877270e-01 1.56331185e-02 1.02485312e-03 7.01974398e+01] [-1.56330776e-02 9.99877795e-01 -4.79270412e-05 -3.72575048e+00] [-1.02547713e-03 3.18995507e-05 9.99999474e-01 -9.05113962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740371743 meters Centerline goodness [0,1] 0.9913589230489358 Centerline is valid? [True, True] Translation: X:70.23, Y:-3.73, Z:-0.91 [[ 9.99863338e-01 1.65082768e-02 8.84724139e-04 7.02267400e+01] [-1.65082467e-02 9.99863729e-01 -4.12130613e-05 -3.72693199e+00] [-8.85283933e-04 2.66021847e-05 9.99999608e-01 -9.06174374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.770371743 meters Centerline goodness [0,1] 0.9909926303339096 Centerline is valid? [True, True] Translation: X:70.26, Y:-3.73, Z:-0.91 [[ 9.99849179e-01 1.73612144e-02 4.54525964e-04 7.02557367e+01] [-1.73612063e-02 9.99849283e-01 -2.17265796e-05 -3.72774672e+00] [-4.54834658e-04 1.38321837e-05 9.99999896e-01 -9.06797811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800371743 meters Centerline goodness [0,1] 0.9908672679238407 Centerline is valid? [True, True] Translation: X:70.29, Y:-3.73, Z:-0.91 [[ 9.99807671e-01 1.95917166e-02 8.86919623e-04 7.02850441e+01] [-1.95916877e-02 9.99808064e-01 -4.12093475e-05 -3.72643225e+00] [-8.87556752e-04 2.38251694e-05 9.99999606e-01 -9.06252941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.830371743 meters Centerline goodness [0,1] 0.9912412754892569 Centerline is valid? [True, True] Translation: X:70.31, Y:-3.73, Z:-0.91 [[ 9.99784862e-01 2.06891457e-02 1.47919847e-03 7.03139498e+01] [-2.06890672e-02 9.99785956e-01 -6.83874654e-05 -3.72627502e+00] [-1.48029673e-03 3.77695163e-05 9.99998904e-01 -9.05656445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860371743 meters Centerline goodness [0,1] 0.9912962245665201 Centerline is valid? [True, True] Translation: X:70.34, Y:-3.73, Z:-0.91 [[ 9.99760818e-01 2.17106009e-02 2.63750233e-03 7.03420422e+01] [-2.17103567e-02 9.99764295e-01 -1.21177194e-04 -3.72777786e+00] [-2.63951149e-03 6.38870938e-05 9.99996514e-01 -9.05816374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.890371743 meters Centerline goodness [0,1] 0.9913588691290469 Centerline is valid? [True, True] Translation: X:70.37, Y:-3.73, Z:-0.91 [[ 9.99740145e-01 2.25636117e-02 3.24451716e-03 7.03694427e+01] [-2.25632485e-02 9.99745406e-01 -1.48480907e-04 -3.72932915e+00] [-3.24704139e-03 7.52354764e-05 9.99994726e-01 -9.05695084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920371743 meters Centerline goodness [0,1] 0.9914578587699316 Centerline is valid? [True, True] Translation: X:70.40, Y:-3.73, Z:-0.90 [[ 9.99714399e-01 2.36081866e-02 3.71132706e-03 7.03984437e+01] [-2.36077212e-02 9.99721285e-01 -1.69173473e-04 -3.72928846e+00] [-3.71428654e-03 8.15091822e-05 9.99993099e-01 -9.04967561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.950371743 meters Centerline goodness [0,1] 0.9915487824324016 Centerline is valid? [True, True] Translation: X:70.43, Y:-3.73, Z:-0.91 [[ 9.99714083e-01 2.35472516e-02 4.15689893e-03 7.04272276e+01] [-2.35466689e-02 9.99722721e-01 -1.89075089e-04 -3.73125217e+00] [-4.16019851e-03 9.11399062e-05 9.99991342e-01 -9.05593224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.980371743 meters Centerline goodness [0,1] 0.9917131474103585 Centerline is valid? [True, True] Translation: X:70.46, Y:-3.73, Z:-0.91 [[ 9.99725734e-01 2.30649037e-02 4.05795803e-03 7.04564237e+01] [-2.30643454e-02 9.99733966e-01 -1.84322911e-04 -3.73286283e+00] [-4.06112986e-03 9.06782119e-05 9.99991749e-01 -9.05802037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.010371743 meters Centerline goodness [0,1] 0.991261207955942 Centerline is valid? [True, True] Translation: X:70.48, Y:-3.74, Z:-0.91 [[ 9.99749418e-01 2.19903782e-02 4.18610729e-03 7.04838743e+01] [-2.19897754e-02 9.99758178e-01 -1.89974910e-04 -3.73715739e+00] [-4.18927261e-03 9.78757468e-05 9.99991220e-01 -9.07021345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040371743 meters Centerline goodness [0,1] 0.9915845975390634 Centerline is valid? [True, True] Translation: X:70.51, Y:-3.74, Z:-0.91 [[ 9.99810022e-01 1.89144978e-02 4.70761283e-03 7.05119445e+01] [-1.89137040e-02 9.99821097e-01 -2.13079021e-04 -3.74045597e+00] [-4.71080091e-03 1.24000145e-04 9.99988896e-01 -9.07285148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.070371743 meters Centerline goodness [0,1] 0.9918392398445136 Centerline is valid? [True, True] Translation: X:70.54, Y:-3.74, Z:-0.91 [[ 9.99847318e-01 1.69285482e-02 4.33190694e-03 7.05401024e+01] [-1.69278587e-02 9.99856694e-01 -1.95777313e-04 -3.74394202e+00] [-4.33460038e-03 1.22417513e-04 9.99990598e-01 -9.07803074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100371743 meters Centerline goodness [0,1] 0.9916730952488996 Centerline is valid? [True, True] Translation: X:70.57, Y:-3.75, Z:-0.91 [[ 9.99905782e-01 1.30797811e-02 4.16499300e-03 7.05692296e+01] [-1.30791131e-02 9.99914447e-01 -1.87598722e-04 -3.74726328e+00] [-4.16709043e-03 1.33106633e-04 9.99991309e-01 -9.08066351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.130371743 meters Centerline goodness [0,1] 0.9914857869403324 Centerline is valid? [True, True] Translation: X:70.60, Y:-3.75, Z:-0.91 [[ 9.99931450e-01 1.10130098e-02 3.97595660e-03 7.05977566e+01] [-1.10123847e-02 9.99939346e-01 -1.79072342e-04 -3.75029307e+00] [-3.97768757e-03 1.35275303e-04 9.99992080e-01 -9.09004886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160371743 meters Centerline goodness [0,1] 0.9910384100551308 Centerline is valid? [True, True] Translation: X:70.63, Y:-3.76, Z:-0.91 [[ 9.99950883e-01 9.19159963e-03 3.70757702e-03 7.06263719e+01] [-9.19104503e-03 9.99957748e-01 -1.66597750e-04 -3.75605188e+00] [-3.70895166e-03 1.32513060e-04 9.99993113e-01 -9.10638743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.190371743 meters Centerline goodness [0,1] 0.9912175467982526 Centerline is valid? [True, True] Translation: X:70.66, Y:-3.76, Z:-0.91 [[ 9.99967474e-01 7.29561623e-03 3.43884864e-03 7.06554626e+01] [-7.29512828e-03 9.99973378e-01 -1.54414392e-04 -3.75563582e+00] [-3.43988364e-03 1.29322528e-04 9.99994075e-01 -9.10514276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220371743 meters Centerline goodness [0,1] 0.9900151354281971 Centerline is valid? [True, True] Translation: X:70.68, Y:-3.76, Z:-0.91 [[ 9.99983689e-01 3.89173243e-03 4.18054909e-03 7.06837183e+01] [-3.89098321e-03 9.99992413e-01 -1.87334379e-04 -3.76421580e+00] [-4.18124642e-03 1.71064877e-04 9.99991244e-01 -9.12230877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.250371743 meters Centerline goodness [0,1] 0.989628290588634 Centerline is valid? [True, True] Translation: X:70.71, Y:-3.77, Z:-0.91 [[ 9.99989789e-01 2.49123117e-03 3.77036469e-03 7.07142112e+01] [-2.49061487e-03 9.99996884e-01 -1.68145033e-04 -3.76769676e+00] [-3.77077183e-03 1.58752790e-04 9.99992878e-01 -9.12574868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280371743 meters Centerline goodness [0,1] 0.9897332912135024 Centerline is valid? [True, True] Translation: X:70.74, Y:-3.77, Z:-0.91 [[ 9.99990048e-01 1.53965342e-03 4.18738953e-03 7.07449895e+01] [-1.53888658e-03 9.99998799e-01 -1.86347031e-04 -3.77037726e+00] [-4.18767140e-03 1.79901259e-04 9.99991215e-01 -9.12852037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.310371743 meters Centerline goodness [0,1] 0.9889960603178916 Centerline is valid? [True, True] Translation: X:70.78, Y:-3.77, Z:-0.91 [[ 9.99986151e-01 4.99384636e-04 5.23915005e-03 7.07763363e+01] [-4.98169132e-04 9.99999849e-01 -2.33306463e-04 -3.77304456e+00] [-5.23926577e-03 2.30693249e-04 9.99986248e-01 -9.12774169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.340371743 meters Centerline goodness [0,1] 0.988659770479187 Centerline is valid? [True, True] Translation: X:70.81, Y:-3.77, Z:-0.91 [[ 9.99983969e-01 6.69023147e-04 5.62267674e-03 7.08082952e+01] [-6.67618747e-04 9.99999745e-01 -2.51647456e-04 -3.77476932e+00] [-5.62284367e-03 2.47889618e-04 9.99984161e-01 -9.13001447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37037174299999 meters Centerline goodness [0,1] 0.9891476373502148 Centerline is valid? [True, True] Translation: X:70.84, Y:-3.78, Z:-0.91 [[ 9.99978807e-01 8.93515495e-04 6.44883892e-03 7.08402691e+01] [-8.91669167e-04 9.99999561e-01 -2.89173356e-04 -3.77553873e+00] [-6.44909446e-03 2.83416996e-04 9.99979164e-01 -9.13056796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400371743 meters Centerline goodness [0,1] 0.9890558085786146 Centerline is valid? [True, True] Translation: X:70.87, Y:-3.78, Z:-0.91 [[ 9.99971701e-01 1.45551593e-03 7.38096179e-03 7.08724964e+01] [-1.45310805e-03 9.99998889e-01 -3.31581017e-04 -3.77585303e+00] [-7.38143622e-03 3.20846298e-04 9.99972705e-01 -9.12557132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.430371743 meters Centerline goodness [0,1] 0.9879939518404008 Centerline is valid? [True, True] Translation: X:70.90, Y:-3.78, Z:-0.91 [[ 9.99969072e-01 2.02048246e-03 7.60082068e-03 7.09032361e+01] [-2.01794052e-03 9.99997905e-01 -3.42082966e-04 -3.77876761e+00] [-7.60149593e-03 3.26734382e-04 9.99971055e-01 -9.13499217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460371743 meters Centerline goodness [0,1] 0.9887958963282938 Centerline is valid? [True, True] Translation: X:70.93, Y:-3.78, Z:-0.91 [[ 9.99968920e-01 2.65894891e-03 7.42215255e-03 7.09349909e+01] [-2.65654075e-03 9.99996416e-01 -3.34295739e-04 -3.77935627e+00] [-7.42301482e-03 3.14568099e-04 9.99972400e-01 -9.13895954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.490371743 meters Centerline goodness [0,1] 0.989283930436362 Centerline is valid? [True, True] Translation: X:70.97, Y:-3.77, Z:-0.91 [[ 9.99973433e-01 3.32388179e-03 6.48730083e-03 7.09671412e+01] [-3.32205433e-03 9.99994439e-01 -2.92453725e-04 -3.77104357e+00] [-6.48823684e-03 2.70894790e-04 9.99978914e-01 -9.14115041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520371743 meters Centerline goodness [0,1] 0.988758175872093 Centerline is valid? [True, True] Translation: X:71.00, Y:-3.77, Z:-0.92 [[ 9.99976391e-01 3.53226273e-03 5.89406702e-03 7.09985337e+01] [-3.53075429e-03 9.99993731e-01 -2.66310208e-04 -3.77224936e+00] [-5.89497075e-03 2.45493419e-04 9.99982594e-01 -9.15430408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.550371743 meters Centerline goodness [0,1] 0.9890648396025228 Centerline is valid? [True, True] Translation: X:71.03, Y:-3.77, Z:-0.92 [[ 9.99979450e-01 3.86993047e-03 5.11103721e-03 7.10301183e+01] [-3.86880004e-03 9.99992489e-01 -2.31043626e-04 -3.77243586e+00] [-5.11189295e-03 2.11265297e-04 9.99986912e-01 -9.16557637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580371743 meters Centerline goodness [0,1] 0.9889892394840413 Centerline is valid? [True, True] Translation: X:71.06, Y:-3.77, Z:-0.92 [[ 9.99980253e-01 4.12473045e-03 4.74139831e-03 7.10604123e+01] [-4.12375911e-03 9.99991474e-01 -2.14621464e-04 -3.77425700e+00] [-4.74224314e-03 1.95064841e-04 9.99988736e-01 -9.18126744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.610371743 meters Centerline goodness [0,1] 0.9881924695711524 Centerline is valid? [True, True] Translation: X:71.09, Y:-3.77, Z:-0.92 [[ 9.99974061e-01 5.35310729e-03 4.81890428e-03 7.10909541e+01] [-5.35211774e-03 9.99985654e-01 -2.18219347e-04 -3.77448424e+00] [-4.82000330e-03 1.92422344e-04 9.99988365e-01 -9.19998187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640371743 meters Centerline goodness [0,1] 0.9886954143495305 Centerline is valid? [True, True] Translation: X:71.12, Y:-3.78, Z:-0.92 [[ 9.99970259e-01 6.09340271e-03 4.72782340e-03 7.11210685e+01] [-6.09245669e-03 9.99981418e-01 -2.14472558e-04 -3.77507410e+00] [-4.72904242e-03 1.85662120e-04 9.99988801e-01 -9.20382375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.670371743 meters Centerline goodness [0,1] 0.9886617185009791 Centerline is valid? [True, True] Translation: X:71.15, Y:-3.77, Z:-0.92 [[ 9.99963507e-01 7.04991185e-03 4.82519960e-03 7.11513772e+01] [-7.04893871e-03 9.99975132e-01 -2.18654987e-04 -3.77353480e+00] [-4.82662111e-03 1.84634472e-04 9.99988335e-01 -9.20415751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.700371743 meters Centerline goodness [0,1] 0.9881860975275353 Centerline is valid? [True, True] Translation: X:71.18, Y:-3.77, Z:-0.92 [[ 9.99944522e-01 8.96080171e-03 5.53682621e-03 7.11805290e+01] [-8.95954809e-03 9.99959831e-01 -2.51177963e-04 -3.77401508e+00] [-5.53885456e-03 2.01556568e-04 9.99984640e-01 -9.20529107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.730371743 meters Centerline goodness [0,1] 0.9882608199154962 Centerline is valid? [True, True] Translation: X:71.21, Y:-3.77, Z:-0.92 [[ 9.99930052e-01 9.92496216e-03 6.43321857e-03 7.12105409e+01] [-9.92329163e-03 9.99950720e-01 -2.91540003e-04 -3.77330729e+00] [-6.43579507e-03 2.27680906e-04 9.99979264e-01 -9.20654729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760371743 meters Centerline goodness [0,1] 0.9882608199154962 Centerline is valid? [True, True] Translation: X:71.24, Y:-3.77, Z:-0.92 [[ 9.99930384e-01 9.89149176e-03 6.43322837e-03 7.12396799e+01] [-9.88982193e-03 9.99951052e-01 -2.91323508e-04 -3.77459324e+00] [-6.43579511e-03 2.27679744e-04 9.99979264e-01 -9.21050162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.790371743 meters Centerline goodness [0,1] 0.9874646731698423 Centerline is valid? [True, True] Translation: X:71.27, Y:-3.78, Z:-0.92 [[ 9.99916502e-01 1.09113584e-02 6.92329533e-03 7.12684088e+01] [-1.09094510e-02 9.99940441e-01 -3.13214365e-04 -3.77527767e+00] [-6.92630058e-03 2.37658861e-04 9.99975985e-01 -9.20867340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820371743 meters Centerline goodness [0,1] 0.9876756953778163 Centerline is valid? [True, True] Translation: X:71.30, Y:-3.78, Z:-0.92 [[ 9.99902136e-01 1.16086048e-02 7.80765178e-03 7.12971313e+01] [-1.16062006e-02 9.99932583e-01 -3.53169532e-04 -3.77571252e+00] [-7.81122522e-03 2.62517797e-04 9.99969457e-01 -9.20820468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.850371743 meters Centerline goodness [0,1] 0.9886220841234664 Centerline is valid? [True, True] Translation: X:71.33, Y:-3.77, Z:-0.92 [[ 9.99890262e-01 1.16510820e-02 9.14966969e-03 7.13262127e+01] [-1.16477887e-02 9.99932077e-01 -4.13139733e-04 -3.77092245e+00] [-9.15386174e-03 3.06520977e-04 9.99958056e-01 -9.19564827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880371743 meters Centerline goodness [0,1] 0.9885695997073818 Centerline is valid? [True, True] Translation: X:71.36, Y:-3.77, Z:-0.92 [[ 9.99888536e-01 1.12877300e-02 9.77256107e-03 7.13561231e+01] [-1.12839645e-02 9.99936237e-01 -4.40367161e-04 -3.77229884e+00] [-9.77690868e-03 3.30044843e-04 9.99952150e-01 -9.20250876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.910371743 meters Centerline goodness [0,1] 0.9888185123362221 Centerline is valid? [True, True] Translation: X:71.39, Y:-3.77, Z:-0.92 [[ 9.99902607e-01 1.01798299e-02 9.54715865e-03 7.13857267e+01] [-1.01761889e-02 9.99948129e-01 -4.29879298e-04 -3.77441919e+00] [-9.55103953e-03 3.32683741e-04 9.99954332e-01 -9.20969878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940371743 meters Centerline goodness [0,1] 0.9881796149801089 Centerline is valid? [True, True] Translation: X:71.42, Y:-3.78, Z:-0.92 [[ 9.99937304e-01 7.47011653e-03 8.34182214e-03 7.14163928e+01] [-7.46724618e-03 9.99972049e-01 -3.75185225e-04 -3.77787483e+00] [-8.34439166e-03 3.12871263e-04 9.99965136e-01 -9.22761186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.970371743 meters Centerline goodness [0,1] 0.9888176361852165 Centerline is valid? [True, True] Translation: X:71.45, Y:-3.78, Z:-0.92 [[ 9.99953615e-01 5.76196046e-03 7.71795220e-03 7.14466075e+01] [-5.75945260e-03 9.99983354e-01 -3.47125793e-04 -3.77940770e+00] [-7.71982385e-03 3.02658512e-04 9.99970156e-01 -9.23681591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000371743 meters Centerline goodness [0,1] 0.988072704052544 Centerline is valid? [True, True] Translation: X:71.48, Y:-3.78, Z:-0.92 [[ 9.99961007e-01 4.44626635e-03 7.62991038e-03 7.14770817e+01] [-4.44377876e-03 9.99990068e-01 -3.42952675e-04 -3.78280433e+00] [-7.63135945e-03 3.09033668e-04 9.99970833e-01 -9.24783281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.030371743 meters Centerline goodness [0,1] 0.9878573869461215 Centerline is valid? [True, True] Translation: X:71.51, Y:-3.79, Z:-0.93 [[ 9.99974714e-01 1.73294784e-03 6.89701917e-03 7.15082946e+01] [-1.73084934e-03 9.99998454e-01 -3.10218112e-04 -3.78691526e+00] [-6.89754610e-03 2.98272566e-04 9.99976167e-01 -9.26107764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.060371743 meters Centerline goodness [0,1] 0.9876396807297605 Centerline is valid? [True, True] Translation: X:71.54, Y:-3.79, Z:-0.93 [[ 9.99976211e-01 1.37618410e-03 6.75899561e-03 7.15403267e+01] [-1.37416883e-03 9.99999010e-01 -3.02796051e-04 -3.78873704e+00] [-6.75940562e-03 2.93500847e-04 9.99977112e-01 -9.26697320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.090371743 meters Centerline goodness [0,1] 0.9885052228253433 Centerline is valid? [True, True] Translation: X:71.57, Y:-3.79, Z:-0.93 [[ 9.99977078e-01 1.14940335e-03 6.67244801e-03 7.15721143e+01] [-1.14742287e-03 9.99999297e-01 -3.00635622e-04 -3.78919177e+00] [-6.67278886e-03 2.92972611e-04 9.99977694e-01 -9.27006869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12037174299999 meters Centerline goodness [0,1] 0.9885487476618459 Centerline is valid? [True, True] Translation: X:71.60, Y:-3.79, Z:-0.93 [[ 9.99976959e-01 1.66383411e-03 6.58120248e-03 7.16040723e+01] [-1.66190136e-03 9.99998574e-01 -2.99134540e-04 -3.78951897e+00] [-6.58169081e-03 2.88190338e-04 9.99978299e-01 -9.27547929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.150371743 meters Centerline goodness [0,1] 0.9883617646388958 Centerline is valid? [True, True] Translation: X:71.64, Y:-3.79, Z:-0.93 [[ 9.99972569e-01 2.62616895e-03 6.92560080e-03 7.16360660e+01] [-2.62404783e-03 9.99996507e-01 -3.15339963e-04 -3.79046900e+00] [-6.92640475e-03 2.97158206e-04 9.99975968e-01 -9.27886465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180371743 meters Centerline goodness [0,1] 0.9884690761587894 Centerline is valid? [True, True] Translation: X:71.67, Y:-3.79, Z:-0.93 [[ 9.99962751e-01 3.85006491e-03 7.72482312e-03 7.16678969e+01] [-3.84745646e-03 9.99992536e-01 -3.52502693e-04 -3.79074980e+00] [-7.72612262e-03 3.22768642e-04 9.99970101e-01 -9.28078559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.210371743 meters Centerline goodness [0,1] 0.9880333698030634 Centerline is valid? [True, True] Translation: X:71.70, Y:-3.79, Z:-0.93 [[ 9.99949523e-01 5.60024105e-03 8.34195097e-03 7.16994699e+01] [-5.59725648e-03 9.99984263e-01 -3.81081977e-04 -3.79305822e+00] [-8.34395384e-03 3.34370702e-04 9.99965133e-01 -9.28374474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240371743 meters Centerline goodness [0,1] 0.9882417406790109 Centerline is valid? [True, True] Translation: X:71.73, Y:-3.79, Z:-0.93 [[ 9.99927483e-01 7.53302822e-03 9.39583891e-03 7.17305654e+01] [-7.52931825e-03 9.99971562e-01 -4.30163082e-04 -3.79145700e+00] [-9.39881214e-03 3.59387627e-04 9.99955766e-01 -9.28300069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.270371743 meters Centerline goodness [0,1] 0.9885788835229223 Centerline is valid? [True, True] Translation: X:71.76, Y:-3.79, Z:-0.93 [[ 9.99872711e-01 1.17248975e-02 1.08207313e-02 7.17618847e+01] [-1.17202163e-02 9.99931193e-01 -4.95928611e-04 -3.78997747e+00] [-1.08258014e-02 3.69044173e-04 9.99941331e-01 -9.28023753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300371743 meters Centerline goodness [0,1] 0.9885895911460715 Centerline is valid? [True, True] Translation: X:71.79, Y:-3.79, Z:-0.93 [[ 9.99841025e-01 1.36427845e-02 1.14804009e-02 7.17911095e+01] [-1.36376395e-02 9.99906865e-01 -5.26325490e-04 -3.79035938e+00] [-1.14865123e-02 3.69676247e-04 9.99933960e-01 -9.28319170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.330371743 meters Centerline goodness [0,1] 0.9894981964293867 Centerline is valid? [True, True] Translation: X:71.82, Y:-3.79, Z:-0.93 [[ 9.99803363e-01 1.55391547e-02 1.23194884e-02 7.18207158e+01] [-1.55333765e-02 9.99879190e-01 -5.64583124e-04 -3.78901566e+00] [-1.23267733e-02 3.73108854e-04 9.99923953e-01 -9.28302306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360371743 meters Centerline goodness [0,1] 0.9903982767312892 Centerline is valid? [True, True] Translation: X:71.85, Y:-3.79, Z:-0.93 [[ 9.99776315e-01 1.75777330e-02 1.17619767e-02 7.18502878e+01] [-1.75726116e-02 9.99845445e-01 -5.38636022e-04 -3.78784074e+00] [-1.17696269e-02 3.31826888e-04 9.99930680e-01 -9.29311415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.390371743 meters Centerline goodness [0,1] 0.9896112831097351 Centerline is valid? [True, True] Translation: X:71.88, Y:-3.79, Z:-0.93 [[ 9.99775163e-01 1.79243503e-02 1.13288161e-02 7.18777240e+01] [-1.79196250e-02 9.99839296e-01 -5.18485069e-04 -3.79043313e+00] [-1.13362890e-02 3.15360359e-04 9.99935692e-01 -9.30476568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420371743 meters Centerline goodness [0,1] 0.9900749535837898 Centerline is valid? [True, True] Translation: X:71.91, Y:-3.79, Z:-0.93 [[ 9.99780882e-01 1.79209370e-02 1.08179943e-02 7.19060750e+01] [-1.79166360e-02 9.99839362e-01 -4.94374539e-04 -3.79035022e+00] [-1.08251162e-02 3.00444147e-04 9.99941362e-01 -9.31691538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.450371743 meters Centerline goodness [0,1] 0.9903491277537079 Centerline is valid? [True, True] Translation: X:71.93, Y:-3.79, Z:-0.93 [[ 9.99796016e-01 1.76655962e-02 9.79046943e-03 7.19336314e+01] [-1.76620666e-02 9.99843914e-01 -4.46856764e-04 -3.79301434e+00] [-9.79683527e-03 2.73845688e-04 9.99951972e-01 -9.33058989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.480371743 meters Centerline goodness [0,1] 0.9906572017403251 Centerline is valid? [True, True] Translation: X:71.96, Y:-3.80, Z:-0.94 [[ 9.99829586e-01 1.62509631e-02 8.75810162e-03 7.19626445e+01] [-1.62480910e-02 9.99867911e-01 -3.98988228e-04 -3.79630404e+00] [-8.76342872e-03 2.56617803e-04 9.99961567e-01 -9.35222368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.510371743 meters Centerline goodness [0,1] 0.9901812688821753 Centerline is valid? [True, True] Translation: X:71.99, Y:-3.80, Z:-0.94 [[ 9.99847734e-01 1.52182483e-02 8.53890845e-03 7.19915448e+01] [-1.52154856e-02 9.99884162e-01 -3.88413673e-04 -3.79870518e+00] [-8.54383030e-03 2.58430892e-04 9.99963467e-01 -9.36183565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540371743 meters Centerline goodness [0,1] 0.9900196409811355 Centerline is valid? [True, True] Translation: X:72.02, Y:-3.80, Z:-0.94 [[ 9.99867271e-01 1.40462091e-02 8.25498707e-03 7.20188573e+01] [-1.40435911e-02 9.99901314e-01 -3.75029001e-04 -3.80227970e+00] [-8.25944015e-03 2.59049561e-04 9.99965857e-01 -9.37042332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.570371743 meters Centerline goodness [0,1] 0.9905936741886758 Centerline is valid? [True, True] Translation: X:72.05, Y:-3.80, Z:-0.94 [[ 9.99893290e-01 1.12183658e-02 9.35714076e-03 7.20485947e+01] [-1.12148896e-02 9.99937021e-01 -4.23886139e-04 -3.80458522e+00] [-9.36130677e-03 3.18901605e-04 9.99956131e-01 -9.37057683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600371743 meters Centerline goodness [0,1] 0.9893556271271614 Centerline is valid? [True, True] Translation: X:72.08, Y:-3.81, Z:-0.94 [[ 9.99901576e-01 9.95306919e-03 9.88806681e-03 7.20775422e+01] [-9.94913009e-03 9.99950406e-01 -4.47480186e-04 -3.80819591e+00] [-9.89203023e-03 3.49058480e-04 9.99951012e-01 -9.37076591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.630371743 meters Centerline goodness [0,1] 0.9901929480454318 Centerline is valid? [True, True] Translation: X:72.11, Y:-3.81, Z:-0.94 [[ 9.99901960e-01 8.98615088e-03 1.07387122e-02 7.21077577e+01] [-8.98145256e-03 9.99959548e-01 -4.85660119e-04 -3.81182913e+00] [-1.07426420e-02 3.89163270e-04 9.99942220e-01 -9.36874481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660371743 meters Centerline goodness [0,1] 0.9902684716714527 Centerline is valid? [True, True] Translation: X:72.14, Y:-3.82, Z:-0.94 [[ 9.99893346e-01 7.01851684e-03 1.28076799e-02 7.21388102e+01] [-7.01166899e-03 9.99975250e-01 -5.79492692e-04 -3.81639221e+00] [-1.28114301e-02 4.89627675e-04 9.99917810e-01 -9.36366890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.690371743 meters Centerline goodness [0,1] 0.9893832729592418 Centerline is valid? [True, True] Translation: X:72.17, Y:-3.82, Z:-0.94 [[ 9.99896063e-01 5.95394396e-03 1.31306511e-02 7.21714053e+01] [-5.94664961e-03 9.99982142e-01 -5.94494734e-04 -3.81802578e+00] [-1.31339562e-02 5.16349563e-04 9.99913613e-01 -9.36601544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720371743 meters Centerline goodness [0,1] 0.9895073925189072 Centerline is valid? [True, True] Translation: X:72.20, Y:-3.82, Z:-0.94 [[ 9.99897699e-01 4.89594774e-03 1.34395330e-02 7.22026368e+01] [-4.88816370e-03 9.99987866e-01 -6.11977719e-04 -3.82251797e+00] [-1.34423662e-02 5.46220476e-04 9.99909498e-01 -9.36842830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.750371743 meters Centerline goodness [0,1] 0.9892166190929274 Centerline is valid? [True, True] Translation: X:72.23, Y:-3.83, Z:-0.94 [[ 9.99909949e-01 1.26464988e-03 1.33601875e-02 7.22333123e+01] [-1.25660982e-03 9.99999024e-01 -6.10169886e-04 -3.82679509e+00] [-1.33609461e-02 5.93326397e-04 9.99910563e-01 -9.36908585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780371743 meters Centerline goodness [0,1] 0.9883174920037202 Centerline is valid? [True, True] Translation: X:72.27, Y:-3.83, Z:-0.94 [[ 9.99916219e-01 -5.60134980e-04 1.29321413e-02 7.22657701e+01] [ 5.67822798e-04 9.99999664e-01 -5.90809633e-04 -3.82938023e+00] [-1.29318061e-02 5.98103299e-04 9.99916202e-01 -9.37678109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.810371743 meters Centerline goodness [0,1] 0.9886428037086573 Centerline is valid? [True, True] Translation: X:72.30, Y:-3.83, Z:-0.94 [[ 9.99917456e-01 -2.05394414e-03 1.26831901e-02 7.22975281e+01] [ 2.06146827e-03 9.99997707e-01 -5.80191812e-04 -3.83310234e+00] [-1.26819693e-02 6.06289914e-04 9.99919397e-01 -9.38873563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.840371743 meters Centerline goodness [0,1] 0.9898719229721137 Centerline is valid? [True, True] Translation: X:72.33, Y:-3.84, Z:-0.94 [[ 9.99916187e-01 -5.00226765e-03 1.19413419e-02 7.23283766e+01] [ 5.00918204e-03 9.99987303e-01 -5.49190284e-04 -3.83767914e+00] [-1.19384431e-02 6.08960610e-04 9.99928549e-01 -9.41211858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87037174299999 meters Centerline goodness [0,1] 0.9891419910873843 Centerline is valid? [True, True] Translation: X:72.36, Y:-3.84, Z:-0.94 [[ 9.99917874e-01 -5.88526697e-03 1.13846288e-02 7.23595716e+01] [ 5.89160814e-03 9.99982507e-01 -5.23536294e-04 -3.84154732e+00] [-1.13813485e-02 5.90567070e-04 9.99935056e-01 -9.42770325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900371743 meters Centerline goodness [0,1] 0.9889222978319354 Centerline is valid? [True, True] Translation: X:72.39, Y:-3.84, Z:-0.94 [[ 9.99920626e-01 -6.07098230e-03 1.10401741e-02 7.23919954e+01] [ 6.07697403e-03 9.99981405e-01 -5.09254413e-04 -3.84288827e+00] [-1.10368771e-02 5.76304843e-04 9.99938926e-01 -9.44192230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.930371743 meters Centerline goodness [0,1] 0.9892253600998072 Centerline is valid? [True, True] Translation: X:72.42, Y:-3.84, Z:-0.95 [[ 9.99935003e-01 -5.45214521e-03 1.00131553e-02 7.24246260e+01] [ 5.45704939e-03 9.99985003e-01 -4.62516814e-04 -3.84360935e+00] [-1.00104835e-02 5.17129035e-04 9.99949760e-01 -9.45354153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960371743 meters Centerline goodness [0,1] 0.9893045704833338 Centerline is valid? [True, True] Translation: X:72.46, Y:-3.84, Z:-0.95 [[ 9.99941120e-01 -4.66537036e-03 9.79753293e-03 7.24565050e+01] [ 4.67003466e-03 9.99988993e-01 -4.53244575e-04 -3.84431539e+00] [-9.79531053e-03 4.98972706e-04 9.99951900e-01 -9.46244820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.990371743 meters Centerline goodness [0,1] 0.9885224334255773 Centerline is valid? [True, True] Translation: X:72.49, Y:-3.85, Z:-0.95 [[ 9.99943214e-01 -3.28887583e-03 1.01366495e-02 7.24874342e+01] [ 3.29380641e-03 9.99994465e-01 -4.69755481e-04 -3.84998485e+00] [-1.01350485e-02 5.03116967e-04 9.99948513e-01 -9.47115243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020371743 meters Centerline goodness [0,1] 0.9895270116770412 Centerline is valid? [True, True] Translation: X:72.52, Y:-3.84, Z:-0.95 [[ 9.99945675e-01 -1.53203531e-03 1.03101384e-02 7.25202517e+01] [ 1.53704817e-03 9.99998704e-01 -4.78299857e-04 -3.84387795e+00] [-1.03093923e-02 4.94121053e-04 9.99946735e-01 -9.47072767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.050371743 meters Centerline goodness [0,1] 0.9898643274322205 Centerline is valid? [True, True] Translation: X:72.55, Y:-3.84, Z:-0.95 [[ 9.99931797e-01 2.63289658e-03 1.13784704e-02 7.25501269e+01] [-2.62704790e-03 9.99996409e-01 -5.28928302e-04 -3.84218258e+00] [-1.13798222e-02 4.99000441e-04 9.99935123e-01 -9.47104974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080371743 meters Centerline goodness [0,1] 0.9894335857784228 Centerline is valid? [True, True] Translation: X:72.58, Y:-3.84, Z:-0.95 [[ 9.99922371e-01 4.47761911e-03 1.16276387e-02 7.25827869e+01] [-4.47163825e-03 9.99989856e-01 -5.40312629e-04 -3.84151924e+00] [-1.16299401e-02 4.88276091e-04 9.99932251e-01 -9.47600112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.110371743 meters Centerline goodness [0,1] 0.9898100761969749 Centerline is valid? [True, True] Translation: X:72.61, Y:-3.84, Z:-0.95 [[ 9.99912136e-01 6.28960001e-03 1.16688007e-02 7.26142913e+01] [-6.28368458e-03 9.99980110e-01 -5.43538088e-04 -3.84170050e+00] [-1.16719872e-02 4.70167268e-04 9.99931770e-01 -9.47710020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140371743 meters Centerline goodness [0,1] 0.9909731245298502 Centerline is valid? [True, True] Translation: X:72.65, Y:-3.84, Z:-0.95 [[ 9.99888968e-01 9.42195775e-03 1.15445878e-02 7.26462377e+01] [-9.41636910e-03 9.99955520e-01 -5.38354183e-04 -3.83716461e+00] [-1.15491466e-02 4.29586309e-04 9.99933214e-01 -9.48223076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.170371743 meters Centerline goodness [0,1] 0.991064491064491 Centerline is valid? [True, True] Translation: X:72.68, Y:-3.84, Z:-0.95 [[ 9.99881936e-01 1.05389017e-02 1.11823537e-02 7.26772269e+01] [-1.05337210e-02 9.99944383e-01 -5.22093396e-04 -3.83722078e+00] [-1.11872340e-02 4.04239962e-04 9.99937339e-01 -9.49644029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.200371743 meters Centerline goodness [0,1] 0.9911072601240423 Centerline is valid? [True, True] Translation: X:72.71, Y:-3.84, Z:-0.95 [[ 9.99873995e-01 1.19150402e-02 1.04892833e-02 7.27080568e+01] [-1.19105526e-02 9.99928947e-01 -4.90193418e-04 -3.83693467e+00] [-1.04943787e-02 3.65198491e-04 9.99944866e-01 -9.50650849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.230371743 meters Centerline goodness [0,1] 0.9915436795306628 Centerline is valid? [True, True] Translation: X:72.74, Y:-3.84, Z:-0.95 [[ 9.99865020e-01 1.33441996e-02 9.58510152e-03 7.27384106e+01] [-1.33405180e-02 9.99910911e-01 -4.47938484e-04 -3.83656453e+00] [-9.59022498e-03 3.20007803e-04 9.99953962e-01 -9.51772302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260371743 meters Centerline goodness [0,1] 0.9909543816148955 Centerline is valid? [True, True] Translation: X:72.77, Y:-3.84, Z:-0.95 [[ 9.99824911e-01 1.63486139e-02 9.10327113e-03 7.27676373e+01] [-1.63454161e-02 9.99866314e-01 -4.25581553e-04 -3.83583757e+00] [-9.10901182e-03 2.76710284e-04 9.99958474e-01 -9.53329602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.290371743 meters Centerline goodness [0,1] 0.9914490515592228 Centerline is valid? [True, True] Translation: X:72.80, Y:-3.83, Z:-0.95 [[ 9.99795904e-01 1.81333166e-02 8.90689134e-03 7.27966900e+01] [-1.81303273e-02 9.99835545e-01 -4.16255133e-04 -3.83425756e+00] [-8.91297465e-03 2.54685322e-04 9.99960246e-01 -9.53603410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320371743 meters Centerline goodness [0,1] 0.9917564704798747 Centerline is valid? [True, True] Translation: X:72.82, Y:-3.83, Z:-0.95 [[ 9.99765292e-01 1.98212479e-02 8.74528404e-03 7.28246343e+01] [-1.98184352e-02 9.99803512e-01 -4.08171551e-04 -3.83419661e+00] [-8.75165617e-03 2.34757904e-04 9.99961676e-01 -9.54417345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.350371743 meters Centerline goodness [0,1] 0.992176501811636 Centerline is valid? [True, True] Translation: X:72.85, Y:-3.83, Z:-0.95 [[ 9.99728262e-01 2.15630331e-02 8.85648183e-03 7.28533668e+01] [-2.15602247e-02 9.99767466e-01 -4.12470757e-04 -3.83399124e+00] [-8.86331652e-03 2.21410935e-04 9.99960696e-01 -9.54847714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380371743 meters Centerline goodness [0,1] 0.9922118740033741 Centerline is valid? [True, True] Translation: X:72.88, Y:-3.83, Z:-0.96 [[ 9.99660848e-01 2.46601886e-02 8.37047688e-03 7.28826871e+01] [-2.46577937e-02 9.99695875e-01 -3.89208797e-04 -3.83235843e+00] [-8.37752916e-03 1.82679304e-04 9.99964891e-01 -9.55988718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.410371743 meters Centerline goodness [0,1] 0.9915892803650022 Centerline is valid? [True, True] Translation: X:72.91, Y:-3.83, Z:-0.96 [[ 9.99637235e-01 2.56709907e-02 8.14856231e-03 7.29111050e+01] [-2.56687573e-02 9.99670431e-01 -3.78567247e-04 -3.83286118e+00] [-8.15559500e-03 1.69266448e-04 9.99966728e-01 -9.56468349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440371743 meters Centerline goodness [0,1] 0.9914555573516847 Centerline is valid? [True, True] Translation: X:72.94, Y:-3.83, Z:-0.96 [[ 9.99585629e-01 2.75373480e-02 8.38244418e-03 7.29386350e+01] [-2.75350547e-02 9.99620763e-01 -3.88895771e-04 -3.83302290e+00] [-8.38997440e-03 1.57923564e-04 9.99964791e-01 -9.57335583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.470371743 meters Centerline goodness [0,1] 0.9916349986096951 Centerline is valid? [True, True] Translation: X:72.97, Y:-3.83, Z:-0.96 [[ 9.99577527e-01 2.77966038e-02 8.49208846e-03 7.29674581e+01] [-2.77942666e-02 9.99613587e-01 -3.93134395e-04 -3.83300031e+00] [-8.49973481e-03 1.56936936e-04 9.99963864e-01 -9.57814196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500371743 meters Centerline goodness [0,1] 0.9920653333952021 Centerline is valid? [True, True] Translation: X:72.99, Y:-3.83, Z:-0.96 [[ 9.99575273e-01 2.78537661e-02 8.56975045e-03 7.29946619e+01] [-2.78513911e-02 9.99611996e-01 -3.96371490e-04 -3.83450839e+00] [-8.57746580e-03 1.57523669e-04 9.99963200e-01 -9.58505628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.530371743 meters Centerline goodness [0,1] 0.9921179525222552 Centerline is valid? [True, True] Translation: X:73.02, Y:-3.84, Z:-0.96 [[ 9.99580633e-01 2.75918027e-02 8.78920977e-03 7.30228397e+01] [-2.75893051e-02 9.99619261e-01 -4.05308768e-04 -3.83540016e+00] [-8.79704657e-03 1.62650605e-04 9.99961292e-01 -9.59053946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.560371743 meters Centerline goodness [0,1] 0.9918288928497025 Centerline is valid? [True, True] Translation: X:73.05, Y:-3.84, Z:-0.96 [[ 9.99636795e-01 2.55491549e-02 8.57434459e-03 7.30512573e+01] [-2.55467118e-02 9.99673552e-01 -3.94348804e-04 -3.83747007e+00] [-8.58162079e-03 1.75159264e-04 9.99963162e-01 -9.59596298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.590371743 meters Centerline goodness [0,1] 0.9908821623623068 Centerline is valid? [True, True] Translation: X:73.08, Y:-3.84, Z:-0.96 [[ 9.99684176e-01 2.36816297e-02 8.40999092e-03 7.30788933e+01] [-2.36792175e-02 9.99719533e-01 -3.86302018e-04 -3.84173820e+00] [-8.41678046e-03 1.87038011e-04 9.99964561e-01 -9.60570863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62037174299999 meters Centerline goodness [0,1] 0.9916462257601704 Centerline is valid? [True, True] Translation: X:73.11, Y:-3.84, Z:-0.96 [[ 9.99717490e-01 2.21361156e-02 8.65640876e-03 7.31073777e+01] [-2.21335096e-02 9.99754945e-01 -3.96746246e-04 -3.84201624e+00] [-8.66306989e-03 2.05037455e-04 9.99962454e-01 -9.60595485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.650371743 meters Centerline goodness [0,1] 0.9916462257601704 Centerline is valid? [True, True] Translation: X:73.14, Y:-3.84, Z:-0.96 [[ 9.99719055e-01 2.20652843e-02 8.65643695e-03 7.31356558e+01] [-2.20626809e-02 9.99756511e-01 -3.96129944e-04 -3.84325008e+00] [-8.66306992e-03 2.05034447e-04 9.99962454e-01 -9.60979455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680371743 meters Centerline goodness [0,1] 0.9909111933395005 Centerline is valid? [True, True] Translation: X:73.16, Y:-3.85, Z:-0.96 [[ 9.99763809e-01 1.97370880e-02 9.09801096e-03 7.31641131e+01] [-1.97341222e-02 9.99805177e-01 -4.15640021e-04 -3.84640864e+00] [-9.10444199e-03 2.36000590e-04 9.99958526e-01 -9.61697368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.710371743 meters Centerline goodness [0,1] 0.9910394679106718 Centerline is valid? [True, True] Translation: X:73.19, Y:-3.85, Z:-0.96 [[ 9.99850317e-01 1.44616014e-02 9.49763743e-03 7.31933900e+01] [-1.44581390e-02 9.99895382e-01 -4.33117247e-04 -3.85075682e+00] [-9.50290737e-03 2.95734254e-04 9.99954803e-01 -9.62183398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740371743 meters Centerline goodness [0,1] 0.9903573976480335 Centerline is valid? [True, True] Translation: X:73.22, Y:-3.85, Z:-0.96 [[ 9.99893012e-01 1.14260323e-02 9.13287150e-03 7.32221705e+01] [-1.14227085e-02 9.99934672e-01 -4.16017524e-04 -3.85469942e+00] [-9.13702829e-03 3.11650886e-04 9.99958208e-01 -9.62985170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.770371743 meters Centerline goodness [0,1] 0.9905325716391781 Centerline is valid? [True, True] Translation: X:73.25, Y:-3.86, Z:-0.96 [[ 9.99930486e-01 8.07402282e-03 8.59260787e-03 7.32520442e+01] [-8.07096213e-03 9.99967353e-01 -3.90817554e-04 -3.85716965e+00] [-8.59548282e-03 3.21439774e-04 9.99963006e-01 -9.63696362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800371743 meters Centerline goodness [0,1] 0.9901129292463702 Centerline is valid? [True, True] Translation: X:73.28, Y:-3.86, Z:-0.97 [[ 9.99969690e-01 1.37242834e-03 7.66387991e-03 7.32823822e+01] [-1.36979969e-03 9.99999001e-01 -3.48230711e-04 -3.86365649e+00] [-7.66435017e-03 3.37722176e-04 9.99970571e-01 -9.65457716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.830371743 meters Centerline goodness [0,1] 0.9898179149658304 Centerline is valid? [True, True] Translation: X:73.31, Y:-3.87, Z:-0.97 [[ 9.99971879e-01 -1.30404966e-03 7.38514313e-03 7.33139230e+01] [ 1.30656387e-03 9.99999090e-01 -3.35626304e-04 -3.86700958e+00] [-7.38469874e-03 3.45266027e-04 9.99972673e-01 -9.65784292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860371743 meters Centerline goodness [0,1] 0.9882108815615451 Centerline is valid? [True, True] Translation: X:73.34, Y:-3.88, Z:-0.97 [[ 9.99961367e-01 -3.83587449e-03 7.90884707e-03 7.33432650e+01] [ 3.83883711e-03 9.99992567e-01 -3.59449743e-04 -3.87601923e+00] [-7.90740948e-03 3.89796632e-04 9.99968660e-01 -9.66696537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.890371743 meters Centerline goodness [0,1] 0.9891000045894718 Centerline is valid? [True, True] Translation: X:73.38, Y:-3.87, Z:-0.97 [[ 9.99950209e-01 -5.82977726e-03 8.09896866e-03 7.33753774e+01] [ 5.83295399e-03 9.99982920e-01 -3.68672987e-04 -3.87238317e+00] [-8.09668105e-03 4.15895542e-04 9.99967135e-01 -9.65583600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920371743 meters Centerline goodness [0,1] 0.9881745120551091 Centerline is valid? [True, True] Translation: X:73.41, Y:-3.88, Z:-0.97 [[ 9.99922520e-01 -8.57081734e-03 9.02749753e-03 7.34054923e+01] [ 8.57489126e-03 9.99963150e-01 -4.12669377e-04 -3.87550071e+00] [-9.02362795e-03 4.90047213e-04 9.99959166e-01 -9.65013428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.950371743 meters Centerline goodness [0,1] 0.988254186740078 Centerline is valid? [True, True] Translation: X:73.44, Y:-3.88, Z:-0.97 [[ 9.99909435e-01 -9.72678143e-03 9.30120299e-03 7.34376206e+01] [ 9.73115549e-03 9.99952561e-01 -4.25126651e-04 -3.87634463e+00] [-9.29662664e-03 5.15599602e-04 9.99956653e-01 -9.65198508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.980371743 meters Centerline goodness [0,1] 0.9886533293520454 Centerline is valid? [True, True] Translation: X:73.47, Y:-3.88, Z:-0.97 [[ 9.99908769e-01 -1.04182821e-02 8.59729810e-03 7.34692405e+01] [ 1.04220500e-02 9.99945612e-01 -3.93587300e-04 -3.87831230e+00] [-8.59273000e-03 4.83152863e-04 9.99962965e-01 -9.66264206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.010371743 meters Centerline goodness [0,1] 0.987539084053706 Centerline is valid? [True, True] Translation: X:73.50, Y:-3.88, Z:-0.97 [[ 9.99906141e-01 -1.17849410e-02 6.98738321e-03 7.34997277e+01] [ 1.17874657e-02 9.99930474e-01 -3.20242253e-04 -3.88156902e+00] [-6.98312337e-03 4.02575735e-04 9.99975537e-01 -9.69659339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040371743 meters Centerline goodness [0,1] 0.9889946460440214 Centerline is valid? [True, True] Translation: X:73.53, Y:-3.88, Z:-0.97 [[ 9.99900864e-01 -1.23501034e-02 6.76291751e-03 7.35320244e+01] [ 1.23524812e-02 9.99923657e-01 -3.09935779e-04 -3.88127402e+00] [-6.75857347e-03 3.93443865e-04 9.99977083e-01 -9.70986296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.070371743 meters Centerline goodness [0,1] 0.9874824223702713 Centerline is valid? [True, True] Translation: X:73.56, Y:-3.88, Z:-0.97 [[ 9.99897087e-01 -1.30921931e-02 5.86591181e-03 7.35629560e+01] [ 1.30939972e-02 9.99914234e-01 -2.69258162e-04 -3.88496589e+00] [-5.86188354e-03 3.46038685e-04 9.99982759e-01 -9.72429539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100371743 meters Centerline goodness [0,1] 0.9872511793809688 Centerline is valid? [True, True] Translation: X:73.60, Y:-3.88, Z:-0.97 [[ 9.99901653e-01 -1.28515042e-02 5.61455764e-03 7.35955723e+01] [ 1.28531539e-02 9.99917362e-01 -2.57851403e-04 -3.88336973e+00] [-5.61077988e-03 3.29990818e-04 9.99984205e-01 -9.72338981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.130371743 meters Centerline goodness [0,1] 0.987140119594579 Centerline is valid? [True, True] Translation: X:73.63, Y:-3.88, Z:-0.97 [[ 9.99906556e-01 -1.26669884e-02 5.14060774e-03 7.36285725e+01] [ 1.26683689e-02 9.99919725e-01 -2.36067702e-04 -3.88348729e+00] [-5.13720481e-03 3.01168758e-04 9.99986759e-01 -9.73297886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160371743 meters Centerline goodness [0,1] 0.986841801518964 Centerline is valid? [True, True] Translation: X:73.66, Y:-3.88, Z:-0.98 [[ 9.99937052e-01 -1.04479224e-02 4.09067758e-03 7.36585945e+01] [ 1.04487820e-02 9.99945392e-01 -1.88829848e-04 -3.88457224e+00] [-4.08848132e-03 2.31560560e-04 9.99991615e-01 -9.75749115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.190371743 meters Centerline goodness [0,1] 0.9869670710571924 Centerline is valid? [True, True] Translation: X:73.69, Y:-3.89, Z:-0.98 [[ 9.99948106e-01 -9.18494659e-03 4.40712315e-03 7.36898278e+01] [ 9.18593120e-03 9.99957788e-01 -2.03223688e-04 -3.88562580e+00] [-4.40507052e-03 2.43696672e-04 9.99990268e-01 -9.75336416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220371743 meters Centerline goodness [0,1] 0.9870759289176091 Centerline is valid? [True, True] Translation: X:73.72, Y:-3.88, Z:-0.97 [[ 9.99957518e-01 -7.88942394e-03 4.76644847e-03 7.37223433e+01] [ 7.89056175e-03 9.99968845e-01 -2.19955204e-04 -3.88483401e+00] [-4.76456465e-03 2.57555816e-04 9.99988616e-01 -9.74656654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.250371743 meters Centerline goodness [0,1] 0.9879727474972191 Centerline is valid? [True, True] Translation: X:73.75, Y:-3.88, Z:-0.97 [[ 9.99964680e-01 -6.78320000e-03 4.96250861e-03 7.37546649e+01] [ 6.78442143e-03 9.99976959e-01 -2.29337812e-04 -3.87770717e+00] [-4.96083862e-03 2.62997462e-04 9.99987660e-01 -9.73101674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280371743 meters Centerline goodness [0,1] 0.9866981831664813 Centerline is valid? [True, True] Translation: X:73.79, Y:-3.88, Z:-0.97 [[ 9.99973404e-01 -4.32341040e-03 5.87365168e-03 7.37852328e+01] [ 4.32508434e-03 9.99990610e-01 -2.72320041e-04 -3.88206102e+00] [-5.87241917e-03 2.97716837e-04 9.99982713e-01 -9.72945246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.310371743 meters Centerline goodness [0,1] 0.9880742049469965 Centerline is valid? [True, True] Translation: X:73.82, Y:-3.87, Z:-0.97 [[ 9.99981939e-01 -2.59639157e-03 5.42041549e-03 7.38174858e+01] [ 2.59779107e-03 9.99996594e-01 -2.51166122e-04 -3.87415761e+00] [-5.41974491e-03 2.65242692e-04 9.99985278e-01 -9.72287248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.340371743 meters Centerline goodness [0,1] 0.9877513073794305 Centerline is valid? [True, True] Translation: X:73.85, Y:-3.87, Z:-0.97 [[ 9.99986160e-01 -6.30037243e-04 5.22334133e-03 7.38489673e+01] [ 6.31313394e-04 9.99999771e-01 -2.42671705e-04 -3.87326763e+00] [-5.22318724e-03 2.45965912e-04 9.99986329e-01 -9.73381160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37037174299999 meters Centerline goodness [0,1] 0.9885081585081585 Centerline is valid? [True, True] Translation: X:73.88, Y:-3.87, Z:-0.97 [[ 9.99979593e-01 4.06817618e-03 4.92580944e-03 7.38801110e+01] [-4.06709663e-03 9.99991703e-01 -2.29158532e-04 -3.87141868e+00] [-4.92670083e-03 2.09120112e-04 9.99987842e-01 -9.73673049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400371743 meters Centerline goodness [0,1] 0.9871827796325263 Centerline is valid? [True, True] Translation: X:73.91, Y:-3.88, Z:-0.98 [[ 9.99966091e-01 6.59478046e-03 4.93205705e-03 7.39103227e+01] [-6.59373136e-03 9.99978235e-01 -2.28940811e-04 -3.87854823e+00] [-4.93345952e-03 1.96412389e-04 9.99987811e-01 -9.75511980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.430371743 meters Centerline goodness [0,1] 0.9888540985138798 Centerline is valid? [True, True] Translation: X:73.94, Y:-3.87, Z:-0.97 [[ 9.99944051e-01 9.26621688e-03 5.10215032e-03 7.39403153e+01] [-9.26512110e-03 9.99957049e-01 -2.38361725e-04 -3.86928631e+00] [-5.10413989e-03 1.91076349e-04 9.99986956e-01 -9.73600234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460371743 meters Centerline goodness [0,1] 0.9887917086782189 Centerline is valid? [True, True] Translation: X:73.97, Y:-3.87, Z:-0.97 [[ 9.99920297e-01 1.13799054e-02 5.46790084e-03 7.39694222e+01] [-1.13786781e-02 9.99935228e-01 -2.55506146e-04 -3.86809904e+00] [-5.47045431e-03 1.93268297e-04 9.99985018e-01 -9.73363102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.490371743 meters Centerline goodness [0,1] 0.9896034247541986 Centerline is valid? [True, True] Translation: X:74.00, Y:-3.86, Z:-0.97 [[ 9.99830058e-01 1.72196323e-02 6.58326689e-03 7.39992025e+01] [-1.72179858e-02 9.99851712e-01 -3.06706780e-04 -3.86452923e+00] [-6.58757205e-03 1.93304062e-04 9.99978283e-01 -9.71669483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520371743 meters Centerline goodness [0,1] 0.9904451122171096 Centerline is valid? [True, True] Translation: X:74.03, Y:-3.86, Z:-0.97 [[ 9.99763575e-01 2.03469540e-02 7.66783089e-03 7.40282901e+01] [-2.03448132e-02 9.99792959e-01 -3.57089858e-04 -3.86364886e+00] [-7.67350902e-03 2.01004846e-04 9.99970538e-01 -9.71553061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.550371743 meters Centerline goodness [0,1] 0.990045078888054 Centerline is valid? [True, True] Translation: X:74.06, Y:-3.86, Z:-0.97 [[ 9.99706601e-01 2.30484660e-02 7.44850688e-03 7.40568573e+01] [-2.30465246e-02 9.99734334e-01 -3.46373694e-04 -3.86294619e+00] [-7.45451145e-03 1.74609870e-04 9.99972199e-01 -9.71573504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580371743 meters Centerline goodness [0,1] 0.991725629392821 Centerline is valid? [True, True] Translation: X:74.09, Y:-3.86, Z:-0.97 [[ 9.99534182e-01 2.97338984e-02 6.87859270e-03 7.40872361e+01] [-2.97324062e-02 9.99557843e-01 -3.19105118e-04 -3.85966049e+00] [-6.88503953e-03 1.14439360e-04 9.99976291e-01 -9.72004533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.610371743 meters Centerline goodness [0,1] 0.9918050158954433 Centerline is valid? [True, True] Translation: X:74.12, Y:-3.86, Z:-0.97 [[ 9.99454139e-01 3.25146666e-02 5.84980871e-03 7.41151169e+01] [-3.25136322e-02 9.99471255e-01 -2.71850836e-04 -3.85923776e+00] [-5.85555479e-03 8.15039141e-05 9.99982853e-01 -9.72900920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640371743 meters Centerline goodness [0,1] 0.992480139553523 Centerline is valid? [True, True] Translation: X:74.14, Y:-3.86, Z:-0.97 [[ 9.99347887e-01 3.58883559e-02 3.97821185e-03 7.41443938e+01] [-3.58878988e-02 9.99355805e-01 -1.86261188e-04 -3.85824599e+00] [-3.98233371e-03 4.33700605e-05 9.99992070e-01 -9.74007386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.670371743 meters Centerline goodness [0,1] 0.9924622523732127 Centerline is valid? [True, True] Translation: X:74.17, Y:-3.86, Z:-0.97 [[ 9.99313669e-01 3.68684337e-02 3.59286450e-03 7.41729808e+01] [-3.68680748e-02 9.99320128e-01 -1.66109462e-04 -3.85982535e+00] [-3.59654601e-03 3.35334589e-05 9.99993532e-01 -9.74932166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.700371743 meters Centerline goodness [0,1] 0.9920474805292296 Centerline is valid? [True, True] Translation: X:74.20, Y:-3.86, Z:-0.98 [[ 9.99305725e-01 3.70891957e-02 3.52983176e-03 7.41996328e+01] [-3.70888496e-02 9.99311959e-01 -1.63481879e-04 -3.86196940e+00] [-3.53346651e-03 3.24509781e-05 9.99993757e-01 -9.75876894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.730371743 meters Centerline goodness [0,1] 0.9932380441625668 Centerline is valid? [True, True] Translation: X:74.23, Y:-3.86, Z:-0.98 [[ 9.99320660e-01 3.66590451e-02 3.78585158e-03 7.42276184e+01] [-3.66586467e-02 9.99327831e-01 -1.74580014e-04 -3.86459915e+00] [-3.78970678e-03 3.56772193e-05 9.99992818e-01 -9.76352472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760371743 meters Centerline goodness [0,1] 0.9919487348011831 Centerline is valid? [True, True] Translation: X:74.26, Y:-3.87, Z:-0.98 [[ 9.99414132e-01 3.40576372e-02 3.38679877e-03 7.42558435e+01] [-3.40573054e-02 9.99419870e-01 -1.55626624e-04 -3.86998380e+00] [-3.39013426e-03 4.01902078e-05 9.99994253e-01 -9.76828058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.790371743 meters Centerline goodness [0,1] 0.993018134108055 Centerline is valid? [True, True] Translation: X:74.28, Y:-3.87, Z:-0.98 [[ 9.99472372e-01 3.22375371e-02 3.96482048e-03 7.42843408e+01] [-3.22370697e-02 9.99480234e-01 -1.81754402e-04 -3.87377486e+00] [-3.96861902e-03 5.38443087e-05 9.99992124e-01 -9.76794379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820371743 meters Centerline goodness [0,1] 0.9916084571750036 Centerline is valid? [True, True] Translation: X:74.31, Y:-3.88, Z:-0.98 [[ 9.99552401e-01 2.96212030e-02 4.19318841e-03 7.43132484e+01] [-2.96206586e-02 9.99561194e-01 -1.91865904e-04 -3.87815556e+00] [-4.19703171e-03 6.75750228e-05 9.99991190e-01 -9.77612520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.850371743 meters Centerline goodness [0,1] 0.9910997204100652 Centerline is valid? [True, True] Translation: X:74.34, Y:-3.89, Z:-0.98 [[ 9.99721418e-01 2.31311509e-02 4.69437794e-03 7.43426631e+01] [-2.31304006e-02 9.99732434e-01 -2.14053890e-04 -3.88551878e+00] [-4.69807319e-03 1.05411415e-04 9.99988958e-01 -9.76843309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880371743 meters Centerline goodness [0,1] 0.9904207450016236 Centerline is valid? [True, True] Translation: X:74.37, Y:-3.89, Z:-0.98 [[ 9.99790424e-01 1.96908736e-02 5.60155833e-03 7.43699041e+01] [-1.96897507e-02 9.99806105e-01 -2.55547927e-04 -3.89186813e+00] [-5.60550418e-03 1.45201083e-04 9.99984278e-01 -9.77301218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.910371743 meters Centerline goodness [0,1] 0.9905968455427658 Centerline is valid? [True, True] Translation: X:74.40, Y:-3.90, Z:-0.98 [[ 9.99855413e-01 1.59214391e-02 5.97164986e-03 7.43988522e+01] [-1.59201011e-02 9.99873230e-01 -2.71536070e-04 -3.89781319e+00] [-5.97521608e-03 1.76427540e-04 9.99982133e-01 -9.77051385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940371743 meters Centerline goodness [0,1] 0.990650546919977 Centerline is valid? [True, True] Translation: X:74.43, Y:-3.90, Z:-0.98 [[ 9.99903193e-01 1.24954740e-02 6.12114275e-03 7.44268290e+01] [-1.24940053e-02 9.99921908e-01 -2.78115335e-04 -3.90409726e+00] [-6.12413992e-03 2.01610821e-04 9.99981227e-01 -9.77295288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.970371743 meters Centerline goodness [0,1] 0.9906306553959636 Centerline is valid? [True, True] Translation: X:74.46, Y:-3.91, Z:-0.98 [[ 9.99970301e-01 6.21968754e-03 4.55102513e-03 7.44566368e+01] [-6.21881333e-03 9.99980642e-01 -2.06216930e-04 -3.91335940e+00] [-4.55221964e-03 1.77908830e-04 9.99989623e-01 -9.79053847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000371743 meters Centerline goodness [0,1] 0.9902841597512745 Centerline is valid? [True, True] Translation: X:74.49, Y:-3.92, Z:-0.98 [[ 9.99986955e-01 3.49682464e-03 3.72320866e-03 7.44863395e+01] [-3.49622077e-03 9.99993874e-01 -1.68688647e-04 -3.91782856e+00] [-3.72377573e-03 1.55669287e-04 9.99993055e-01 -9.80031868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.030371743 meters Centerline goodness [0,1] 0.9897942984147143 Centerline is valid? [True, True] Translation: X:74.52, Y:-3.93, Z:-0.98 [[ 9.99993945e-01 1.67130522e-03 3.05228100e-03 7.45159823e+01] [-1.67089208e-03 9.99998595e-01 -1.37901293e-04 -3.92999923e+00] [-3.05250718e-03 1.32800426e-04 9.99995332e-01 -9.82594907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.060371743 meters Centerline goodness [0,1] 0.9904619157923423 Centerline is valid? [True, True] Translation: X:74.55, Y:-3.93, Z:-0.98 [[ 9.99996550e-01 -8.10032967e-04 2.49870023e-03 7.45474600e+01] [ 8.10317085e-04 9.99999665e-01 -1.12695729e-04 -3.93078462e+00] [-2.49860811e-03 1.14720080e-04 9.99996872e-01 -9.82467852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.090371743 meters Centerline goodness [0,1] 0.9903303603931561 Centerline is valid? [True, True] Translation: X:74.58, Y:-3.93, Z:-0.98 [[ 9.99996729e-01 -1.29538136e-03 2.20532971e-03 7.45790599e+01] [ 1.29560138e-03 9.99999156e-01 -9.83430067e-05 -3.93351177e+00] [-2.20520046e-03 1.01199913e-04 9.99997563e-01 -9.82772848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12037174299999 meters Centerline goodness [0,1] 0.9902234320063513 Centerline is valid? [True, True] Translation: X:74.61, Y:-3.94, Z:-0.98 [[ 9.99996601e-01 -1.37472444e-03 2.21524411e-03 7.46101980e+01] [ 1.37494940e-03 9.99999050e-01 -1.00034598e-04 -3.93838080e+00] [-2.21510448e-03 1.03080107e-04 9.99997541e-01 -9.83602414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.150371743 meters Centerline goodness [0,1] 0.9910329171396141 Centerline is valid? [True, True] Translation: X:74.64, Y:-3.94, Z:-0.98 [[ 9.99998348e-01 -6.99466404e-04 1.67790816e-03 7.46414517e+01] [ 6.99594740e-04 9.99999752e-01 -7.58998753e-05 -3.94182392e+00] [-1.67785465e-03 7.70736056e-05 9.99998589e-01 -9.83826221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180371743 meters Centerline goodness [0,1] 0.9907932332532088 Centerline is valid? [True, True] Translation: X:74.67, Y:-3.94, Z:-0.98 [[ 9.99998854e-01 -3.91475983e-04 1.46256173e-03 7.46730990e+01] [ 3.91573148e-04 9.99999921e-01 -6.61495597e-05 -3.94350030e+00] [-1.46253572e-03 6.67221838e-05 9.99998928e-01 -9.83986046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.210371743 meters Centerline goodness [0,1] 0.9909092970007481 Centerline is valid? [True, True] Translation: X:74.70, Y:-3.95, Z:-0.98 [[ 9.99998420e-01 -2.48423696e-04 1.76005747e-03 7.47041149e+01] [ 2.48564476e-04 9.99999966e-01 -7.97677301e-05 -3.94620642e+00] [-1.76003760e-03 8.02050918e-05 9.99998448e-01 -9.84347171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240371743 meters Centerline goodness [0,1] 0.9911979001674436 Centerline is valid? [True, True] Translation: X:74.74, Y:-3.95, Z:-0.98 [[ 9.99998654e-01 -2.07200410e-04 1.62743109e-03 7.47354881e+01] [ 2.07320744e-04 9.99999976e-01 -7.37724548e-05 -3.94722901e+00] [-1.62741577e-03 7.41097558e-05 9.99998673e-01 -9.84195800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.270371743 meters Centerline goodness [0,1] 0.9907591955064323 Centerline is valid? [True, True] Translation: X:74.77, Y:-3.96, Z:-0.99 [[ 9.99998142e-01 -5.30830558e-04 1.85322874e-03 7.47651996e+01] [ 5.30986475e-04 9.99999856e-01 -8.36416725e-05 -3.95514773e+00] [-1.85318407e-03 8.46255565e-05 9.99998279e-01 -9.85947428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300371743 meters Centerline goodness [0,1] 0.9906406836370213 Centerline is valid? [True, True] Translation: X:74.80, Y:-3.96, Z:-0.99 [[ 9.99998332e-01 -1.01395824e-03 1.51914970e-03 7.47967593e+01] [ 1.01406427e-03 9.99999483e-01 -6.90247833e-05 -3.95778400e+00] [-1.51907893e-03 7.05651836e-05 9.99998844e-01 -9.86186075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.330371743 meters Centerline goodness [0,1] 0.991118443354652 Centerline is valid? [True, True] Translation: X:74.83, Y:-3.95, Z:-0.99 [[ 9.99997876e-01 -1.45293017e-03 1.46160537e-03 7.48282233e+01] [ 1.45302879e-03 9.99998942e-01 -6.64154206e-05 -3.95483689e+00] [-1.46150733e-03 6.85390342e-05 9.99998930e-01 -9.85031456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360371743 meters Centerline goodness [0,1] 0.9912974683544303 Centerline is valid? [True, True] Translation: X:74.86, Y:-3.96, Z:-0.99 [[ 9.99997221e-01 -1.95588895e-03 1.31636646e-03 7.48593223e+01] [ 1.95596619e-03 9.99998085e-01 -5.73945801e-05 -3.95967397e+00] [-1.31625168e-03 5.99691889e-05 9.99999132e-01 -9.85193545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.390371743 meters Centerline goodness [0,1] 0.9909222619640512 Centerline is valid? [True, True] Translation: X:74.89, Y:-3.96, Z:-0.98 [[ 9.99996150e-01 -2.21833859e-03 1.66682248e-03 7.48908352e+01] [ 2.21846877e-03 9.99997536e-01 -7.62582542e-05 -3.95968109e+00] [-1.66664921e-03 7.99557543e-05 9.99998608e-01 -9.84924044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420371743 meters Centerline goodness [0,1] 0.9903173992715426 Centerline is valid? [True, True] Translation: X:74.92, Y:-3.97, Z:-0.99 [[ 9.99996101e-01 -1.94055102e-03 2.00787873e-03 7.49219093e+01] [ 1.94073930e-03 9.99998113e-01 -9.18268255e-05 -3.97092703e+00] [-2.00769674e-03 9.57232366e-05 9.99997980e-01 -9.87116255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.450371743 meters Centerline goodness [0,1] 0.9902488687782806 Centerline is valid? [True, True] Translation: X:74.95, Y:-3.97, Z:-0.99 [[ 9.99997094e-01 -1.57476664e-03 1.82536659e-03 7.49539372e+01] [ 1.57492146e-03 9.99998756e-01 -8.33829248e-05 -3.97358486e+00] [-1.82523301e-03 8.62574915e-05 9.99998331e-01 -9.87572832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.480371743 meters Centerline goodness [0,1] 0.9907413680193302 Centerline is valid? [True, True] Translation: X:74.99, Y:-3.97, Z:-0.99 [[ 9.99999194e-01 -8.50422732e-04 9.42238256e-04 7.49850810e+01] [ 8.50463680e-04 9.99999637e-01 -4.30584077e-05 -3.96934260e+00] [-9.42201296e-04 4.38597125e-05 9.99999555e-01 -9.87109882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.510371743 meters Centerline goodness [0,1] 0.9905958947463605 Centerline is valid? [True, True] Translation: X:75.02, Y:-3.97, Z:-0.99 [[ 9.99999822e-01 -1.78664104e-04 5.68790666e-04 7.50162515e+01] [ 1.78678819e-04 9.99999984e-01 -2.58189886e-05 -3.97003421e+00] [-5.68786044e-04 2.59206148e-05 9.99999838e-01 -9.87289455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540371743 meters Centerline goodness [0,1] 0.9905958947463605 Centerline is valid? [True, True] Translation: X:75.05, Y:-3.97, Z:-0.99 [[ 9.99999822e-01 -1.78657601e-04 5.68768498e-04 7.50462515e+01] [ 1.78672587e-04 9.99999984e-01 -2.62984380e-05 -3.97142113e+00] [-5.68763790e-04 2.64000567e-05 9.99999838e-01 -9.87696237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.570371743 meters Centerline goodness [0,1] 0.990024769196127 Centerline is valid? [True, True] Translation: X:75.08, Y:-3.97, Z:-0.99 [[ 9.99999672e-01 8.04628040e-04 9.73966147e-05 7.50762436e+01] [-8.04627605e-04 9.99999676e-01 -4.50337674e-06 -3.97367364e+00] [-9.74002067e-05 4.42500726e-06 9.99999995e-01 -9.88227927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600371743 meters Centerline goodness [0,1] 0.9906691249213059 Centerline is valid? [True, True] Translation: X:75.11, Y:-3.98, Z:-0.99 [[ 9.99999397e-01 1.08154921e-03 1.90623555e-04 7.51057338e+01] [-1.08154751e-03 9.99999415e-01 -9.04869077e-06 -3.97646163e+00] [-1.90633230e-04 8.84251689e-06 9.99999982e-01 -9.88329248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.630371743 meters Centerline goodness [0,1] 0.9905107514763558 Centerline is valid? [True, True] Translation: X:75.14, Y:-3.98, Z:-0.99 [[ 9.99998833e-01 1.48645337e-03 3.52440011e-04 7.51366470e+01] [-1.48644772e-03 9.99998895e-01 -1.62897479e-05 -3.97503880e+00] [-3.52463836e-04 1.57658452e-05 9.99999938e-01 -9.87846932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660371743 meters Centerline goodness [0,1] 0.9903787656880196 Centerline is valid? [True, True] Translation: X:75.17, Y:-3.98, Z:-0.99 [[ 9.99994980e-01 3.14311655e-03 4.02119195e-04 7.51660218e+01] [-3.14310943e-03 9.99995060e-01 -1.83271981e-05 -3.97886480e+00] [-4.02174813e-04 1.70632014e-05 9.99999919e-01 -9.88563106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.690371743 meters Centerline goodness [0,1] 0.9901878961495951 Centerline is valid? [True, True] Translation: X:75.20, Y:-3.98, Z:-0.99 [[ 9.99990738e-01 4.30343131e-03 6.47863073e-05 7.51958583e+01] [-4.30343109e-03 9.99990740e-01 -3.47709073e-06 -3.97946823e+00] [-6.48006708e-05 3.19825511e-06 9.99999998e-01 -9.88208415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720371743 meters Centerline goodness [0,1] 0.9898769486873776 Centerline is valid? [True, True] Translation: X:75.22, Y:-3.98, Z:-0.99 [[ 9.99985034e-01 5.41842266e-03 7.56900583e-04 7.52242421e+01] [-5.41839705e-03 9.99985320e-01 -3.58837726e-05 -3.98056423e+00] [-7.57083905e-04 3.17820477e-05 9.99999713e-01 -9.88187085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.750371743 meters Centerline goodness [0,1] 0.9901722664507714 Centerline is valid? [True, True] Translation: X:75.25, Y:-3.98, Z:-0.99 [[ 9.99976109e-01 6.77142443e-03 1.38888275e-03 7.52530835e+01] [-6.77134074e-03 9.99977072e-01 -6.49516027e-05 -3.98081947e+00] [-1.38929072e-03 5.55454526e-05 9.99999033e-01 -9.87620841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780371743 meters Centerline goodness [0,1] 0.990748452447946 Centerline is valid? [True, True] Translation: X:75.28, Y:-3.99, Z:-0.99 [[ 9.99957077e-01 9.01912587e-03 2.12112614e-03 7.52810447e+01] [-9.01893716e-03 9.99959324e-01 -9.85170022e-05 -3.98505819e+00] [-2.12192840e-03 7.93824702e-05 9.99997746e-01 -9.88427709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.810371743 meters Centerline goodness [0,1] 0.9907553196275136 Centerline is valid? [True, True] Translation: X:75.31, Y:-3.98, Z:-0.99 [[ 9.99947883e-01 9.97419171e-03 2.17868230e-03 7.53100263e+01] [-9.97399526e-03 9.99950253e-01 -1.01014643e-04 -3.98486944e+00] [-2.17958145e-03 7.92792117e-05 9.99997622e-01 -9.88482846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.840371743 meters Centerline goodness [0,1] 0.9903067650233897 Centerline is valid? [True, True] Translation: X:75.34, Y:-3.99, Z:-0.99 [[ 9.99937476e-01 1.09960153e-02 2.03250904e-03 7.53390339e+01] [-1.09958467e-02 9.99939539e-01 -9.41469513e-05 -3.98698352e+00] [-2.03342139e-03 7.17919072e-05 9.99997930e-01 -9.89212166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87037174299999 meters Centerline goodness [0,1] 0.990326562675345 Centerline is valid? [True, True] Translation: X:75.37, Y:-3.99, Z:-0.99 [[ 9.99919570e-01 1.25338434e-02 1.93835582e-03 7.53664484e+01] [-1.25336926e-02 9.99921446e-01 -8.98904060e-05 -3.99001094e+00] [-1.93933023e-03 6.55884200e-05 9.99998117e-01 -9.90361376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900371743 meters Centerline goodness [0,1] 0.9905944150130197 Centerline is valid? [True, True] Translation: X:75.40, Y:-3.99, Z:-0.99 [[ 9.99915308e-01 1.29336009e-02 1.44897501e-03 7.53955169e+01] [-1.29335171e-02 9.99916356e-01 -6.71481731e-05 -3.99221507e+00] [-1.44972228e-03 4.84021430e-05 9.99998948e-01 -9.91102900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.930371743 meters Centerline goodness [0,1] 0.99134557327191 Centerline is valid? [True, True] Translation: X:75.42, Y:-3.99, Z:-0.99 [[ 9.99905899e-01 1.36461048e-02 1.40617471e-03 7.54239475e+01] [-1.36460267e-02 9.99906887e-01 -6.50959166e-05 -3.99364601e+00] [-1.40693208e-03 4.59010933e-05 9.99999009e-01 -9.91275945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960371743 meters Centerline goodness [0,1] 0.9911323175260516 Centerline is valid? [True, True] Translation: X:75.45, Y:-3.99, Z:-0.99 [[ 9.99891854e-01 1.45018795e-02 2.44450190e-03 7.54526554e+01] [-1.45016482e-02 9.99894839e-01 -1.12314235e-04 -3.99466450e+00] [-2.44587360e-03 7.68527821e-05 9.99997006e-01 -9.90905747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.990371743 meters Centerline goodness [0,1] 0.9907131828048426 Centerline is valid? [True, True] Translation: X:75.48, Y:-4.00, Z:-0.99 [[ 9.99888343e-01 1.46233926e-02 3.07524611e-03 7.54801124e+01] [-1.46230281e-02 9.99893068e-01 -1.40998548e-04 -3.99884987e+00] [-3.07697915e-03 9.60133947e-05 9.99995261e-01 -9.91554334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020371743 meters Centerline goodness [0,1] 0.9906923542736672 Centerline is valid? [True, True] Translation: X:75.51, Y:-4.00, Z:-0.99 [[ 9.99890168e-01 1.43783445e-02 3.59371768e-03 7.55085386e+01] [-1.43778477e-02 9.99896620e-01 -1.64060409e-04 -4.00062459e+00] [-3.59570508e-03 1.12372465e-04 9.99993529e-01 -9.91476169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.050371743 meters Centerline goodness [0,1] 0.9913370492243637 Centerline is valid? [True, True] Translation: X:75.54, Y:-4.01, Z:-0.99 [[ 9.99892846e-01 1.40951618e-02 3.95254358e-03 7.55361007e+01] [-1.40945594e-02 9.99900651e-01 -1.80225157e-04 -4.00569555e+00] [-3.95469120e-03 1.24496485e-04 9.99992172e-01 -9.92444137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080371743 meters Centerline goodness [0,1] 0.9903361251194099 Centerline is valid? [True, True] Translation: X:75.56, Y:-4.01, Z:-0.99 [[ 9.99903707e-01 1.33783108e-02 3.68735277e-03 7.55641139e+01] [-1.33777823e-02 9.99910499e-01 -1.67970652e-04 -4.00902479e+00] [-3.68926991e-03 1.18625875e-04 9.99993188e-01 -9.93313020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.110371743 meters Centerline goodness [0,1] 0.9908062392609287 Centerline is valid? [True, True] Translation: X:75.59, Y:-4.01, Z:-0.99 [[ 9.99917896e-01 1.23895071e-02 3.27117570e-03 7.55923182e+01] [-1.23890868e-02 9.99923241e-01 -1.48737745e-04 -4.01228979e+00] [-3.27276740e-03 1.08198653e-04 9.99994639e-01 -9.94142003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140371743 meters Centerline goodness [0,1] 0.99054304813432 Centerline is valid? [True, True] Translation: X:75.62, Y:-4.02, Z:-1.00 [[ 9.99950302e-01 9.51857897e-03 2.96486042e-03 7.56210015e+01] [-9.51822260e-03 9.99954692e-01 -1.34284907e-04 -4.01887201e+00] [-2.96600429e-03 1.06058031e-04 9.99995596e-01 -9.95585786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.170371743 meters Centerline goodness [0,1] 0.9917985290840206 Centerline is valid? [True, True] Translation: X:75.65, Y:-4.02, Z:-1.00 [[ 9.99964794e-01 7.71007015e-03 3.31141338e-03 7.56506093e+01] [-7.70961710e-03 9.99970269e-01 -1.49558407e-04 -4.02031253e+00] [-3.31246803e-03 1.24023412e-04 9.99994506e-01 -9.95353359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.200371743 meters Centerline goodness [0,1] 0.9914071369737985 Centerline is valid? [True, True] Translation: X:75.68, Y:-4.03, Z:-1.00 [[ 9.99978357e-01 5.70347129e-03 3.27951367e-03 7.56788180e+01] [-5.70301593e-03 9.99983727e-01 -1.48185113e-04 -4.02532351e+00] [-3.28030547e-03 1.29478788e-04 9.99994611e-01 -9.96126128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.230371743 meters Centerline goodness [0,1] 0.9912694877505568 Centerline is valid? [True, True] Translation: X:75.71, Y:-4.03, Z:-1.00 [[ 9.99990141e-01 1.76433418e-03 4.07500318e-03 7.57086768e+01] [-1.76360145e-03 9.99998428e-01 -1.83398420e-04 -4.03039090e+00] [-4.07532035e-03 1.76209930e-04 9.99991680e-01 -9.96076455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260371743 meters Centerline goodness [0,1] 0.9912864174537714 Centerline is valid? [True, True] Translation: X:75.74, Y:-4.04, Z:-1.00 [[ 9.99990450e-01 4.82774645e-05 4.37017962e-03 7.57397870e+01] [-4.74288177e-05 9.99999980e-01 -1.94293794e-04 -4.03542211e+00] [-4.37018891e-03 1.94084666e-04 9.99990432e-01 -9.96065373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.290371743 meters Centerline goodness [0,1] 0.991920405982906 Centerline is valid? [True, True] Translation: X:75.77, Y:-4.04, Z:-1.00 [[ 9.99984460e-01 -1.90850243e-03 5.23810666e-03 7.57717378e+01] [ 1.90976505e-03 9.99998149e-01 -2.36053675e-04 -4.03739647e+00] [-5.23764645e-03 2.46053560e-04 9.99986253e-01 -9.95601904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320371743 meters Centerline goodness [0,1] 0.9912514432898126 Centerline is valid? [True, True] Translation: X:75.80, Y:-4.04, Z:-1.00 [[ 9.99977943e-01 -3.66561508e-03 5.53868582e-03 7.58034244e+01] [ 3.66704911e-03 9.99993245e-01 -2.48778238e-04 -4.04124340e+00] [-5.53773648e-03 2.69083384e-04 9.99984630e-01 -9.95786578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.350371743 meters Centerline goodness [0,1] 0.9917672643351677 Centerline is valid? [True, True] Translation: X:75.83, Y:-4.05, Z:-1.00 [[ 9.99957610e-01 -6.94111184e-03 6.04979127e-03 7.58340695e+01] [ 6.94290238e-03 9.99975860e-01 -2.75015636e-04 -4.04677346e+00] [-6.04773632e-03 3.17007088e-04 9.99981662e-01 -9.96393975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380371743 meters Centerline goodness [0,1] 0.9916167664670659 Centerline is valid? [True, True] Translation: X:75.87, Y:-4.05, Z:-1.00 [[ 9.99951348e-01 -7.89776075e-03 5.90996000e-03 7.58660030e+01] [ 7.89948429e-03 9.99968763e-01 -2.68347340e-04 -4.04876770e+00] [-5.90765605e-03 3.15019921e-04 9.99982500e-01 -9.96806255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.410371743 meters Centerline goodness [0,1] 0.991632263506015 Centerline is valid? [True, True] Translation: X:75.90, Y:-4.05, Z:-1.00 [[ 9.99946577e-01 -8.46933754e-03 5.92566169e-03 7.58982647e+01] [ 8.47108281e-03 9.99964083e-01 -2.69490009e-04 -4.05176573e+00] [-5.92316646e-03 3.19672383e-04 9.99982407e-01 -9.97671154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440371743 meters Centerline goodness [0,1] 0.9919932761213837 Centerline is valid? [True, True] Translation: X:75.93, Y:-4.05, Z:-1.00 [[ 9.99942232e-01 -8.99198716e-03 5.88866386e-03 7.59293035e+01] [ 8.99372298e-03 9.99959520e-01 -2.68359091e-04 -4.05410230e+00] [-5.88601240e-03 3.21304600e-04 9.99982626e-01 -9.98185314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.470371743 meters Centerline goodness [0,1] 0.9921361293762218 Centerline is valid? [True, True] Translation: X:75.96, Y:-4.05, Z:-1.00 [[ 9.99947387e-01 -8.43388493e-03 5.83897585e-03 7.59613095e+01] [ 8.43558302e-03 9.99964384e-01 -2.66252688e-04 -4.05251676e+00] [-5.83652235e-03 3.15493845e-04 9.99982918e-01 -9.98143545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500371743 meters Centerline goodness [0,1] 0.992455509696889 Centerline is valid? [True, True] Translation: X:75.99, Y:-4.05, Z:-1.00 [[ 9.99955344e-01 -7.56881712e-03 5.65889581e-03 7.59936065e+01] [ 7.57040034e-03 9.99971311e-01 -2.58407731e-04 -4.05084153e+00] [-5.65677762e-03 3.01236299e-04 9.99983955e-01 -9.98368102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.530371743 meters Centerline goodness [0,1] 0.9921577364375627 Centerline is valid? [True, True] Translation: X:76.02, Y:-4.05, Z:-1.00 [[ 9.99970725e-01 -5.75319346e-03 5.04481185e-03 7.60238891e+01] [ 5.75443236e-03 9.99983416e-01 -2.31098992e-04 -4.05009775e+00] [-5.04339863e-03 2.60122255e-04 9.99987248e-01 -9.99532662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.560371743 meters Centerline goodness [0,1] 0.9919193268331775 Centerline is valid? [True, True] Translation: X:76.06, Y:-4.05, Z:-1.00 [[ 9.99977488e-01 -4.45731880e-03 5.01550376e-03 7.60566819e+01] [ 4.45852437e-03 9.99990034e-01 -2.29212569e-04 -4.04784094e+00] [-5.01443210e-03 2.51569154e-04 9.99987396e-01 -1.00014922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.590371743 meters Centerline goodness [0,1] 0.9922599586308134 Centerline is valid? [True, True] Translation: X:76.09, Y:-4.05, Z:-1.00 [[ 9.99981376e-01 -2.80640010e-03 5.41959514e-03 7.60879117e+01] [ 2.80778849e-03 9.99996027e-01 -2.48586635e-04 -4.05059099e+00] [-5.41887597e-03 2.63799082e-04 9.99985283e-01 -1.00098388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62037174299999 meters Centerline goodness [0,1] 0.9926999151672099 Centerline is valid? [True, True] Translation: X:76.12, Y:-4.05, Z:-1.00 [[ 9.99982955e-01 -1.60198375e-03 5.61453429e-03 7.61200660e+01] [ 1.60345599e-03 9.99998681e-01 -2.57728291e-04 -4.04958783e+00] [-5.61411401e-03 2.66726556e-04 9.99984205e-01 -1.00132517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.650371743 meters Centerline goodness [0,1] 0.9922601655030893 Centerline is valid? [True, True] Translation: X:76.15, Y:-4.05, Z:-1.00 [[ 9.99983935e-01 -5.15319843e-04 5.64476586e-03 7.61526315e+01] [ 5.16793009e-04 9.99999833e-01 -2.59523567e-04 -4.04831835e+00] [-5.64463118e-03 2.62436573e-04 9.99984035e-01 -1.00129058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680371743 meters Centerline goodness [0,1] 0.9920041096196368 Centerline is valid? [True, True] Translation: X:76.18, Y:-4.05, Z:-1.00 [[ 9.99987302e-01 5.34652885e-04 5.01105604e-03 7.61840221e+01] [-5.33503029e-04 9.99999831e-01 -2.30797562e-04 -4.04902112e+00] [-5.01117859e-03 2.28121217e-04 9.99987418e-01 -1.00209135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.710371743 meters Centerline goodness [0,1] 0.9922577478301613 Centerline is valid? [True, True] Translation: X:76.22, Y:-4.05, Z:-1.00 [[ 9.99987720e-01 7.46631324e-04 4.89919065e-03 7.62166828e+01] [-7.45534316e-04 9.99999697e-01 -2.25738524e-04 -4.04744092e+00] [-4.89935770e-03 2.22083237e-04 9.99987973e-01 -1.00231917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740371743 meters Centerline goodness [0,1] 0.9922936025732666 Centerline is valid? [True, True] Translation: X:76.25, Y:-4.05, Z:-1.00 [[ 9.99988112e-01 8.91992079e-04 4.79383488e-03 7.62493027e+01] [-8.90949366e-04 9.99999579e-01 -2.19642509e-04 -4.04684698e+00] [-4.79402878e-03 2.15368833e-04 9.99988485e-01 -1.00286637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.770371743 meters Centerline goodness [0,1] 0.9921252816382984 Centerline is valid? [True, True] Translation: X:76.28, Y:-4.05, Z:-1.00 [[ 9.99988343e-01 9.38912807e-04 4.73633181e-03 7.62804397e+01] [-9.37889243e-04 9.99999536e-01 -2.18325398e-04 -4.04808719e+00] [-4.73653461e-03 2.13880698e-04 9.99988760e-01 -1.00352792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800371743 meters Centerline goodness [0,1] 0.9917589780239414 Centerline is valid? [True, True] Translation: X:76.31, Y:-4.05, Z:-1.00 [[ 9.99988901e-01 9.00129564e-04 4.62464405e-03 7.63122937e+01] [-8.99148767e-04 9.99999573e-01 -2.14155241e-04 -4.04747801e+00] [-4.62483484e-03 2.09994621e-04 9.99989283e-01 -1.00371420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.830371743 meters Centerline goodness [0,1] 0.9919479299469905 Centerline is valid? [True, True] Translation: X:76.34, Y:-4.05, Z:-1.00 [[ 9.99988792e-01 6.50780590e-04 4.68957920e-03 7.63430722e+01] [-6.49763899e-04 9.99999765e-01 -2.18318411e-04 -4.04922507e+00] [-4.68972017e-03 2.15268845e-04 9.99988980e-01 -1.00415453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860371743 meters Centerline goodness [0,1] 0.9918773980748087 Centerline is valid? [True, True] Translation: X:76.38, Y:-4.04, Z:-1.00 [[ 9.99994009e-01 1.51349067e-04 3.45815493e-03 7.63753577e+01] [-1.50794131e-04 9.99999976e-01 -1.60731852e-04 -4.04488388e+00] [-3.45817917e-03 1.60209420e-04 9.99994008e-01 -1.00445395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.890371743 meters Centerline goodness [0,1] 0.9912679399055147 Centerline is valid? [True, True] Translation: X:76.41, Y:-4.05, Z:-1.01 [[ 9.99995167e-01 4.00533898e-04 3.08305020e-03 7.64068723e+01] [-4.00086295e-04 9.99999909e-01 -1.45797187e-04 -4.04698160e+00] [-3.08310832e-03 1.44562997e-04 9.99995237e-01 -1.00562726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920371743 meters Centerline goodness [0,1] 0.9909437345886573 Centerline is valid? [True, True] Translation: X:76.44, Y:-4.05, Z:-1.01 [[ 9.99996245e-01 6.19153135e-04 2.66948010e-03 7.64383203e+01] [-6.18817681e-04 9.99999801e-01 -1.26486921e-04 -4.04642746e+00] [-2.66955788e-03 1.24834525e-04 9.99996429e-01 -1.00600249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.950371743 meters Centerline goodness [0,1] 0.9915075263985621 Centerline is valid? [True, True] Translation: X:76.47, Y:-4.04, Z:-1.01 [[ 9.99995321e-01 9.75195775e-04 2.89962372e-03 7.64695427e+01] [-9.74801090e-04 9.99999515e-01 -1.37526217e-04 -4.04435466e+00] [-2.89975643e-03 1.34699018e-04 9.99995787e-01 -1.00576633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.980371743 meters Centerline goodness [0,1] 0.9907573985787532 Centerline is valid? [True, True] Translation: X:76.50, Y:-4.04, Z:-1.01 [[ 9.99994021e-01 1.39676766e-03 3.16335499e-03 7.65002163e+01] [-1.39629891e-03 9.99999014e-01 -1.50387641e-04 -4.04458099e+00] [-3.16356193e-03 1.45969753e-04 9.99994985e-01 -1.00591366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.010371743 meters Centerline goodness [0,1] 0.9903876386830167 Centerline is valid? [True, True] Translation: X:76.53, Y:-4.04, Z:-1.01 [[ 9.99991323e-01 1.96538198e-03 3.67310575e-03 7.65320712e+01] [-1.96475406e-03 9.99998055e-01 -1.74551820e-04 -4.04344847e+00] [-3.67344166e-03 1.67333556e-04 9.99993239e-01 -1.00555163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040371743 meters Centerline goodness [0,1] 0.9901949735151584 Centerline is valid? [True, True] Translation: X:76.56, Y:-4.04, Z:-1.00 [[ 9.99984541e-01 3.50720464e-03 4.31476956e-03 7.65632765e+01] [-3.50635145e-03 9.99993832e-01 -2.05286752e-04 -4.04114532e+00] [-4.31546292e-03 1.90154480e-04 9.99990670e-01 -1.00498454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.070371743 meters Centerline goodness [0,1] 0.9895018433594102 Centerline is valid? [True, True] Translation: X:76.59, Y:-4.04, Z:-1.01 [[ 9.99978691e-01 4.30338834e-03 4.90893951e-03 7.65940215e+01] [-4.30229085e-03 9.99990718e-01 -2.34109132e-04 -4.04150149e+00] [-4.90990141e-03 2.12984458e-04 9.99987924e-01 -1.00548181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100371743 meters Centerline goodness [0,1] 0.9906472550256918 Centerline is valid? [True, True] Translation: X:76.62, Y:-4.04, Z:-1.01 [[ 9.99976009e-01 4.80112736e-03 4.99307075e-03 7.66246992e+01] [-4.79999812e-03 9.99988452e-01 -2.38121382e-04 -4.04185076e+00] [-4.99415634e-03 2.14148939e-04 9.99987506e-01 -1.00602547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.130371743 meters Centerline goodness [0,1] 0.9900349453274715 Centerline is valid? [True, True] Translation: X:76.66, Y:-4.04, Z:-1.01 [[ 9.99973015e-01 5.73590615e-03 4.59007021e-03 7.66555101e+01] [-5.73496167e-03 9.99983531e-01 -2.18902138e-04 -4.03988702e+00] [-4.59125022e-03 1.92572354e-04 9.99989442e-01 -1.00637925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160371743 meters Centerline goodness [0,1] 0.9898156474820143 Centerline is valid? [True, True] Translation: X:76.69, Y:-4.04, Z:-1.01 [[ 9.99971345e-01 6.14157434e-03 4.42602270e-03 7.66852021e+01] [-6.14069941e-03 9.99981123e-01 -2.11240564e-04 -4.04124777e+00] [-4.42723650e-03 1.84055636e-04 9.99990183e-01 -1.00744859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.190371743 meters Centerline goodness [0,1] 0.9899790100886993 Centerline is valid? [True, True] Translation: X:76.72, Y:-4.04, Z:-1.01 [[ 9.99969897e-01 6.50784881e-03 4.22536540e-03 7.67157360e+01] [-6.50705565e-03 9.99978809e-01 -2.01434116e-04 -4.03963754e+00] [-4.22658676e-03 1.73933364e-04 9.99991053e-01 -1.00744741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220371743 meters Centerline goodness [0,1] 0.9900570755571662 Centerline is valid? [True, True] Translation: X:76.75, Y:-4.04, Z:-1.01 [[ 9.99968268e-01 7.24777474e-03 3.30646013e-03 7.67454917e+01] [-7.24729249e-03 9.99973726e-01 -1.57809827e-04 -4.04165547e+00] [-3.30751703e-03 1.33841936e-04 9.99994521e-01 -1.00913353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.250371743 meters Centerline goodness [0,1] 0.9902602550454144 Centerline is valid? [True, True] Translation: X:76.78, Y:-4.04, Z:-1.01 [[ 9.99968780e-01 7.39386244e-03 2.78742547e-03 7.67755877e+01] [-7.39351977e-03 9.99972659e-01 -1.33220171e-04 -4.03928007e+00] [-2.78833427e-03 1.12607127e-04 9.99996106e-01 -1.00924786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280371743 meters Centerline goodness [0,1] 0.9898301245753114 Centerline is valid? [True, True] Translation: X:76.80, Y:-4.04, Z:-1.01 [[ 9.99968564e-01 7.47562550e-03 2.64321398e-03 7.68042086e+01] [-7.47531682e-03 9.99972051e-01 -1.26645368e-04 -4.04065446e+00] [-2.64408686e-03 1.06882525e-04 9.99996499e-01 -1.01028217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.310371743 meters Centerline goodness [0,1] 0.9898983020067194 Centerline is valid? [True, True] Translation: X:76.83, Y:-4.04, Z:-1.01 [[ 9.99967092e-01 7.61203626e-03 2.80585307e-03 7.68329963e+01] [-7.61168968e-03 9.99971022e-01 -1.34176463e-04 -4.04194873e+00] [-2.80679312e-03 1.12814764e-04 9.99996055e-01 -1.01128754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.340371743 meters Centerline goodness [0,1] 0.9904314899213206 Centerline is valid? [True, True] Translation: X:76.86, Y:-4.04, Z:-1.01 [[ 9.99959730e-01 8.34946778e-03 3.29015177e-03 7.68621988e+01] [-8.34899655e-03 9.99965134e-01 -1.56933461e-04 -4.04102881e+00] [-3.29134736e-03 1.29457675e-04 9.99994575e-01 -1.01137844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37037174299999 meters Centerline goodness [0,1] 0.9902844301182666 Centerline is valid? [True, True] Translation: X:76.89, Y:-4.04, Z:-1.01 [[ 9.99958284e-01 8.42639830e-03 3.52501139e-03 7.68909478e+01] [-8.42585902e-03 9.99964488e-01 -1.67811163e-04 -4.04140513e+00] [-3.52630025e-03 1.38102913e-04 9.99993773e-01 -1.01142462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400371743 meters Centerline goodness [0,1] 0.9900447757801668 Centerline is valid? [True, True] Translation: X:76.92, Y:-4.04, Z:-1.01 [[ 9.99956304e-01 8.33111421e-03 4.24062548e-03 7.69196967e+01] [-8.33033498e-03 9.99965282e-01 -2.01383507e-04 -4.04213332e+00] [-4.24215601e-03 1.66048876e-04 9.99990988e-01 -1.01145001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.430371743 meters Centerline goodness [0,1] 0.9893219070937904 Centerline is valid? [True, True] Translation: X:76.95, Y:-4.04, Z:-1.01 [[ 9.99951364e-01 8.26050741e-03 5.38833783e-03 7.69484872e+01] [-8.25925253e-03 9.99965859e-01 -2.55099132e-04 -4.04469723e+00] [-5.39026112e-03 2.10583082e-04 9.99985450e-01 -1.01179228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460371743 meters Centerline goodness [0,1] 0.9893219070937904 Centerline is valid? [True, True] Translation: X:76.98, Y:-4.05, Z:-1.01 [[ 9.99951645e-01 8.22638911e-03 5.38835838e-03 7.69776276e+01] [-8.22513608e-03 9.99966141e-01 -2.54664003e-04 -4.04604139e+00] [-5.39027090e-03 2.10331708e-04 9.99985450e-01 -1.01218787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.490371743 meters Centerline goodness [0,1] 0.989963069533498 Centerline is valid? [True, True] Translation: X:77.01, Y:-4.05, Z:-1.01 [[ 9.99950999e-01 8.11798774e-03 5.66556928e-03 7.70069804e+01] [-8.11660192e-03 9.99967024e-01 -2.67553719e-04 -4.04558322e+00] [-5.66755445e-03 2.21555438e-04 9.99983915e-01 -1.01190034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520371743 meters Centerline goodness [0,1] 0.9895759837949791 Centerline is valid? [True, True] Translation: X:77.04, Y:-4.05, Z:-1.01 [[ 9.99958415e-01 7.19535934e-03 5.60315955e-03 7.70368984e+01] [-7.19399046e-03 9.99974088e-01 -2.64420606e-04 -4.04586405e+00] [-5.60491696e-03 2.24100534e-04 9.99984267e-01 -1.01231185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.550371743 meters Centerline goodness [0,1] 0.9899139047272892 Centerline is valid? [True, True] Translation: X:77.07, Y:-4.05, Z:-1.01 [[ 9.99968561e-01 5.88289055e-03 5.31680552e-03 7.70663933e+01] [-5.88164215e-03 9.99982672e-01 -2.50407862e-04 -4.05011991e+00] [-5.31818651e-03 2.19128441e-04 9.99985834e-01 -1.01354452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580371743 meters Centerline goodness [0,1] 0.9894751199108909 Centerline is valid? [True, True] Translation: X:77.10, Y:-4.05, Z:-1.01 [[ 9.99977329e-01 5.22076061e-03 4.25267361e-03 7.70968063e+01] [-5.21995571e-03 9.99986356e-01 -2.00347136e-04 -4.05193887e+00] [-4.25366155e-03 1.78143826e-04 9.99990937e-01 -1.01412833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.610371743 meters Centerline goodness [0,1] 0.9888003642157979 Centerline is valid? [True, True] Translation: X:77.13, Y:-4.05, Z:-1.02 [[ 9.99981369e-01 4.81098070e-03 3.75708137e-03 7.71265960e+01] [-4.81034995e-03 9.99988415e-01 -1.76900164e-04 -4.05494533e+00] [-3.75788890e-03 1.58823992e-04 9.99992926e-01 -1.01568685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640371743 meters Centerline goodness [0,1] 0.9897229058426762 Centerline is valid? [True, True] Translation: X:77.16, Y:-4.06, Z:-1.02 [[ 9.99985683e-01 4.38322138e-03 3.06941318e-03 7.71571779e+01] [-4.38279804e-03 9.99990385e-01 -1.44633853e-04 -4.05570290e+00] [-3.07001763e-03 1.31179164e-04 9.99995279e-01 -1.01667765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.670371743 meters Centerline goodness [0,1] 0.9886201022146508 Centerline is valid? [True, True] Translation: X:77.19, Y:-4.06, Z:-1.02 [[ 9.99982769e-01 5.23397629e-03 2.65851212e-03 7.71867942e+01] [-5.23366122e-03 9.99986296e-01 -1.25453442e-04 -4.05938134e+00] [-2.65913231e-03 1.11537529e-04 9.99996458e-01 -1.01873749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.700371743 meters Centerline goodness [0,1] 0.9892213934873567 Centerline is valid? [True, True] Translation: X:77.22, Y:-4.05, Z:-1.02 [[ 9.99978870e-01 6.00115579e-03 2.49930619e-03 7.72168966e+01] [-6.00087928e-03 9.99981988e-01 -1.18118410e-04 -4.05312447e+00] [-2.49997002e-03 1.03117880e-04 9.99996870e-01 -1.01736709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.730371743 meters Centerline goodness [0,1] 0.9893147819760832 Centerline is valid? [True, True] Translation: X:77.25, Y:-4.05, Z:-1.02 [[ 9.99969631e-01 7.33474769e-03 2.63420001e-03 7.72466995e+01] [-7.33444547e-03 9.99973095e-01 -1.24374182e-04 -4.05264156e+00] [-2.63504139e-03 1.05050008e-04 9.99996523e-01 -1.01759001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760371743 meters Centerline goodness [0,1] 0.9893338195409895 Centerline is valid? [True, True] Translation: X:77.28, Y:-4.05, Z:-1.02 [[ 9.99932842e-01 1.11424946e-02 3.18693902e-03 7.72769155e+01] [-1.11420728e-02 9.99937914e-01 -1.50078148e-04 -4.04940886e+00] [-3.18841340e-03 1.14558962e-04 9.99994910e-01 -1.01678761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.790371743 meters Centerline goodness [0,1] 0.9902797965116279 Centerline is valid? [True, True] Translation: X:77.31, Y:-4.05, Z:-1.02 [[ 9.99896775e-01 1.38508517e-02 3.82002612e-03 7.73061352e+01] [-1.38502645e-02 9.99904064e-01 -1.80127291e-04 -4.04781886e+00] [-3.82215456e-03 1.27200325e-04 9.99992687e-01 -1.01641095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820371743 meters Centerline goodness [0,1] 0.989139630061504 Centerline is valid? [True, True] Translation: X:77.33, Y:-4.05, Z:-1.02 [[ 9.99852892e-01 1.66227857e-02 4.22821339e-03 7.73345570e+01] [-1.66220917e-02 9.99861824e-01 -1.99229452e-04 -4.04838678e+00] [-4.23094090e-03 1.28918393e-04 9.99991041e-01 -1.01671737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.850371743 meters Centerline goodness [0,1] 0.99106529209622 Centerline is valid? [True, True] Translation: X:77.36, Y:-4.04, Z:-1.02 [[ 9.99721991e-01 2.31408167e-02 4.52140687e-03 7.73646613e+01] [-2.31400926e-02 9.99732210e-01 -2.12404248e-04 -4.04272086e+00] [-4.52511129e-03 1.07719424e-04 9.99989756e-01 -1.01611351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880371743 meters Centerline goodness [0,1] 0.9903799793364712 Centerline is valid? [True, True] Translation: X:77.39, Y:-4.04, Z:-1.02 [[ 9.99628338e-01 2.68325353e-02 4.81677527e-03 7.73930210e+01] [-2.68317564e-02 9.99639938e-01 -2.26271089e-04 -4.04186878e+00] [-4.82111236e-03 9.69444514e-05 9.99988374e-01 -1.01698673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.910371743 meters Centerline goodness [0,1] 0.9915333960489181 Centerline is valid? [True, True] Translation: X:77.42, Y:-4.04, Z:-1.02 [[ 9.99514962e-01 3.07262195e-02 5.07346488e-03 7.74216664e+01] [-3.07254076e-02 9.99527835e-01 -2.37918031e-04 -4.03978552e+00] [-5.07837969e-03 8.19183548e-05 9.99987102e-01 -1.01697987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940371743 meters Centerline goodness [0,1] 0.9925157261582258 Centerline is valid? [True, True] Translation: X:77.45, Y:-4.04, Z:-1.02 [[ 9.99289322e-01 3.73750470e-02 4.89464054e-03 7.74494659e+01] [-3.73743718e-02 9.99301308e-01 -2.29363670e-04 -4.03617540e+00] [-4.89979317e-03 4.62665510e-05 9.99987995e-01 -1.01791861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.970371743 meters Centerline goodness [0,1] 0.9923418347400134 Centerline is valid? [True, True] Translation: X:77.48, Y:-4.04, Z:-1.02 [[ 9.99181870e-01 4.01601376e-02 4.77014333e-03 7.74769040e+01] [-4.01595301e-02 9.99193256e-01 -2.23123631e-04 -4.03537265e+00] [-4.77525572e-03 3.13743723e-05 9.99988598e-01 -1.01900161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000371743 meters Centerline goodness [0,1] 0.992698390899311 Centerline is valid? [True, True] Translation: X:77.51, Y:-4.03, Z:-1.02 [[ 9.99066703e-01 4.29093718e-02 4.95059005e-03 7.75056646e+01] [-4.29087542e-02 9.99078969e-01 -2.30932719e-04 -4.03489738e+00] [-4.95593958e-03 1.82935381e-05 9.99987719e-01 -1.01966063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.030371743 meters Centerline goodness [0,1] 0.9930864425137695 Centerline is valid? [True, True] Translation: X:77.53, Y:-4.03, Z:-1.02 [[ 9.98906564e-01 4.64786340e-02 5.04120978e-03 7.75339372e+01] [-4.64780320e-02 9.98919284e-01 -2.36577855e-04 -4.03384511e+00] [-5.04675749e-03 2.01366234e-06 9.99987265e-01 -1.02026666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.060371743 meters Centerline goodness [0,1] 0.9930034522439586 Centerline is valid? [True, True] Translation: X:77.56, Y:-4.03, Z:-1.02 [[ 9.98855101e-01 4.75241302e-02 5.47211357e-03 7.75609273e+01] [-4.75234538e-02 9.98870090e-01 -2.53650235e-04 -4.03464207e+00] [-5.47798508e-03 -6.69390565e-06 9.99984996e-01 -1.02120209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.090371743 meters Centerline goodness [0,1] 0.9938389828552968 Centerline is valid? [True, True] Translation: X:77.59, Y:-4.04, Z:-1.02 [[ 9.98840001e-01 4.78320337e-02 5.54518770e-03 7.75891979e+01] [-4.78313485e-02 9.98855393e-01 -2.56200684e-04 -4.03616118e+00] [-5.55109524e-03 -9.33031377e-06 9.99984593e-01 -1.02184103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12037174299999 meters Centerline goodness [0,1] 0.9932808688849004 Centerline is valid? [True, True] Translation: X:77.62, Y:-4.04, Z:-1.02 [[ 9.98895403e-01 4.66101976e-02 5.95518339e-03 7.76179561e+01] [-4.66093914e-02 9.98913154e-01 -2.74164519e-04 -4.04042630e+00] [-5.96148988e-03 -3.70579618e-06 9.99982230e-01 -1.02211708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.150371743 meters Centerline goodness [0,1] 0.9931532028306221 Centerline is valid? [True, True] Translation: X:77.65, Y:-4.04, Z:-1.02 [[ 9.98967465e-01 4.49832276e-02 6.36496297e-03 7.76459679e+01] [-4.49822753e-02 9.98987742e-01 -2.92765391e-04 -4.04388386e+00] [-6.37168952e-03 6.15258325e-06 9.99979701e-01 -1.02260014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180371743 meters Centerline goodness [0,1] 0.9924686000321462 Centerline is valid? [True, True] Translation: X:77.67, Y:-4.05, Z:-1.02 [[ 9.99073754e-01 4.25438408e-02 6.45418598e-03 7.76744643e+01] [-4.25428169e-02 9.99094601e-01 -2.95913932e-04 -4.04795309e+00] [-6.46093168e-03 2.10605904e-05 9.99979128e-01 -1.02305894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.210371743 meters Centerline goodness [0,1] 0.9923972712864919 Centerline is valid? [True, True] Translation: X:77.70, Y:-4.05, Z:-1.02 [[ 9.99171742e-01 4.01608204e-02 6.55277104e-03 7.77035308e+01] [-4.01597168e-02 9.99193228e-01 -2.99964009e-04 -4.05233654e+00] [-6.55953125e-03 3.65581323e-05 9.99978485e-01 -1.02354188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240371743 meters Centerline goodness [0,1] 0.9916594503441046 Centerline is valid? [True, True] Translation: X:77.73, Y:-4.06, Z:-1.02 [[ 9.99403717e-01 3.39289785e-02 6.40582242e-03 7.77306893e+01] [-3.39277978e-02 9.99424244e-01 -2.92925776e-04 -4.06049846e+00] [-6.41207290e-03 7.54156622e-05 9.99979440e-01 -1.02385993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.270371743 meters Centerline goodness [0,1] 0.9919992705887716 Centerline is valid? [True, True] Translation: X:77.76, Y:-4.07, Z:-1.02 [[ 9.99514382e-01 3.05183298e-02 6.29534853e-03 7.77591151e+01] [-3.05171260e-02 9.99534203e-01 -2.87212036e-04 -4.06541065e+00] [-6.30118140e-03 9.49566169e-05 9.99980143e-01 -1.02435201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300371743 meters Centerline goodness [0,1] 0.9908632210555025 Centerline is valid? [True, True] Translation: X:77.79, Y:-4.07, Z:-1.02 [[ 9.99607399e-01 2.73660454e-02 6.01230442e-03 7.77867782e+01] [-2.73648919e-02 9.99625474e-01 -2.74048077e-04 -4.07076811e+00] [-6.01755227e-03 1.09414425e-04 9.99981888e-01 -1.02482726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.330371743 meters Centerline goodness [0,1] 0.9910016360661698 Centerline is valid? [True, True] Translation: X:77.82, Y:-4.07, Z:-1.02 [[ 9.99692768e-01 2.39014837e-02 6.56419914e-03 7.78152533e+01] [-2.39000393e-02 9.99714309e-01 -2.98416366e-04 -4.07446767e+00] [-6.56945640e-03 1.41440065e-04 9.99978411e-01 -1.02455044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360371743 meters Centerline goodness [0,1] 0.9910811546840959 Centerline is valid? [True, True] Translation: X:77.84, Y:-4.08, Z:-1.03 [[ 9.99805250e-01 1.84606463e-02 6.97615220e-03 7.78445669e+01] [-1.84588880e-02 9.99829570e-01 -3.16355788e-04 -4.08240395e+00] [-6.98080339e-03 1.87522166e-04 9.99975616e-01 -1.02513194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.390371743 meters Centerline goodness [0,1] 0.9907530917229997 Centerline is valid? [True, True] Translation: X:77.87, Y:-4.09, Z:-1.03 [[ 9.99845520e-01 1.60066290e-02 7.26116001e-03 7.78730230e+01] [-1.60046598e-02 9.99871863e-01 -3.29225459e-04 -4.08659934e+00] [-7.26549938e-03 2.12962204e-04 9.99973583e-01 -1.02558497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420371743 meters Centerline goodness [0,1] 0.9905841877730246 Centerline is valid? [True, True] Translation: X:77.90, Y:-4.09, Z:-1.03 [[ 9.99875532e-01 1.39498199e-02 7.37043466e-03 7.79014017e+01] [-1.39477392e-02 9.99902670e-01 -3.33640988e-04 -4.09018191e+00] [-7.37437153e-03 2.30798560e-04 9.99972782e-01 -1.02604696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.450371743 meters Centerline goodness [0,1] 0.9901166193885362 Centerline is valid? [True, True] Translation: X:77.93, Y:-4.10, Z:-1.03 [[ 9.99912708e-01 1.06772576e-02 7.78281121e-03 7.79296585e+01] [-1.06748441e-02 9.99942960e-01 -3.51583720e-04 -4.09772769e+00] [-7.78612123e-03 2.68472734e-04 9.99969652e-01 -1.02638199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.480371743 meters Centerline goodness [0,1] 0.9900967763766383 Centerline is valid? [True, True] Translation: X:77.96, Y:-4.10, Z:-1.03 [[ 9.99932331e-01 8.89197054e-03 7.50108416e-03 7.79591456e+01] [-8.88968403e-03 9.99960429e-01 -3.38110934e-04 -4.10204623e+00] [-7.50379381e-03 2.71405786e-04 9.99971809e-01 -1.02691298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.510371743 meters Centerline goodness [0,1] 0.9900159654606373 Centerline is valid? [True, True] Translation: X:77.99, Y:-4.10, Z:-1.03 [[ 9.99945083e-01 7.20023562e-03 7.61491759e-03 7.79893254e+01] [-7.19782944e-03 9.99974036e-01 -3.43341454e-04 -4.10456681e+00] [-7.61719202e-03 2.88511720e-04 9.99970947e-01 -1.02718812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540371743 meters Centerline goodness [0,1] 0.9896993005420237 Centerline is valid? [True, True] Translation: X:78.02, Y:-4.11, Z:-1.03 [[ 9.99964876e-01 3.86861798e-03 7.43505710e-03 7.80206570e+01] [-3.86623379e-03 9.99992470e-01 -3.35014938e-04 -4.11056130e+00] [-7.43629716e-03 3.06257502e-04 9.99972303e-01 -1.02777508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.570371743 meters Centerline goodness [0,1] 0.9893240030502849 Centerline is valid? [True, True] Translation: X:78.05, Y:-4.12, Z:-1.03 [[ 9.99972861e-01 2.75449500e-03 6.83303688e-03 7.80517173e+01] [-2.75246282e-03 9.99996165e-01 -3.06792117e-04 -4.11785649e+00] [-6.83385573e-03 2.87976111e-04 9.99976607e-01 -1.02929705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600371743 meters Centerline goodness [0,1] 0.9899524535749529 Centerline is valid? [True, True] Translation: X:78.08, Y:-4.12, Z:-1.03 [[ 9.99983385e-01 3.65627273e-04 5.75293334e-03 7.80836221e+01] [-3.64142729e-04 9.99999900e-01 -2.59095161e-04 -4.11830715e+00] [-5.75302750e-03 2.56995968e-04 9.99983418e-01 -1.03022079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.630371743 meters Centerline goodness [0,1] 0.9894996081943356 Centerline is valid? [True, True] Translation: X:78.11, Y:-4.12, Z:-1.03 [[ 9.99986545e-01 -8.81526522e-05 5.18675912e-03 7.81145862e+01] [ 8.93701726e-05 9.99999969e-01 -2.34504938e-04 -4.12389580e+00] [-5.18673828e-03 2.34965324e-04 9.99986521e-01 -1.03146439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660371743 meters Centerline goodness [0,1] 0.9894663552241487 Centerline is valid? [True, True] Translation: X:78.15, Y:-4.13, Z:-1.03 [[ 9.99988142e-01 -9.58474871e-04 4.77462995e-03 7.81465006e+01] [ 9.59519941e-04 9.99999516e-01 -2.16593791e-04 -4.12534699e+00] [-4.77442004e-03 2.21172576e-04 9.99988578e-01 -1.03204537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.690371743 meters Centerline goodness [0,1] 0.989349989889231 Centerline is valid? [True, True] Translation: X:78.18, Y:-4.13, Z:-1.03 [[ 9.99987903e-01 -1.97650704e-03 4.50418869e-03 7.81770220e+01] [ 1.97746022e-03 9.99998023e-01 -2.07178941e-04 -4.13044465e+00] [-4.50377029e-03 2.16083289e-04 9.99989835e-01 -1.03322061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720371743 meters Centerline goodness [0,1] 0.9890498690015003 Centerline is valid? [True, True] Translation: X:78.21, Y:-4.13, Z:-1.03 [[ 9.99984717e-01 -3.54730771e-03 4.24054076e-03 7.82087851e+01] [ 3.54816586e-03 9.99993686e-01 -1.94861920e-04 -4.13479137e+00] [-4.23982275e-03 2.09905083e-04 9.99990990e-01 -1.03446325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.750371743 meters Centerline goodness [0,1] 0.9893180135095712 Centerline is valid? [True, True] Translation: X:78.24, Y:-4.13, Z:-1.03 [[ 9.99981864e-01 -4.48393817e-03 4.02067840e-03 7.82413353e+01] [ 4.48471802e-03 9.99989926e-01 -1.84963989e-04 -4.13390099e+00] [-4.01980853e-03 2.02992244e-04 9.99991900e-01 -1.03433116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780371743 meters Centerline goodness [0,1] 0.988680761760175 Centerline is valid? [True, True] Translation: X:78.27, Y:-4.14, Z:-1.04 [[ 9.99979455e-01 -5.04686017e-03 3.95193435e-03 7.82722842e+01] [ 5.04761744e-03 9.99987244e-01 -1.81670035e-04 -4.14094867e+00] [-3.95096708e-03 2.01614156e-04 9.99992175e-01 -1.03539972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.810371743 meters Centerline goodness [0,1] 0.988722309241441 Centerline is valid? [True, True] Translation: X:78.30, Y:-4.14, Z:-1.04 [[ 9.99975025e-01 -5.89038552e-03 3.90540424e-03 7.83043475e+01] [ 5.89113472e-03 9.99982631e-01 -1.80363028e-04 -4.13989729e+00] [-3.90427399e-03 2.03365786e-04 9.99992358e-01 -1.03516593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.840371743 meters Centerline goodness [0,1] 0.9891331082440802 Centerline is valid? [True, True] Translation: X:78.34, Y:-4.14, Z:-1.04 [[ 9.99966120e-01 -7.46333292e-03 3.47251169e-03 7.83364648e+01] [ 7.46393519e-03 9.99972132e-01 -1.60513742e-04 -4.14365967e+00] [-3.47121695e-03 1.86426906e-04 9.99993958e-01 -1.03532490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87037174299999 meters Centerline goodness [0,1] 0.9885024046527234 Centerline is valid? [True, True] Translation: X:78.37, Y:-4.14, Z:-1.04 [[ 9.99958887e-01 -8.39429926e-03 3.42917394e-03 7.83690042e+01] [ 8.39489281e-03 9.99964750e-01 -1.58731716e-04 -4.14497506e+00] [-3.42772062e-03 1.87512737e-04 9.99994108e-01 -1.03550778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900371743 meters Centerline goodness [0,1] 0.9874664879356568 Centerline is valid? [True, True] Translation: X:78.40, Y:-4.16, Z:-1.04 [[ 9.99943245e-01 -1.00411238e-02 3.56135519e-03 7.83991829e+01] [ 1.00417767e-02 9.99949566e-01 -1.65499616e-04 -4.15537098e+00] [-3.55951377e-03 2.01252556e-04 9.99993645e-01 -1.03746810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.930371743 meters Centerline goodness [0,1] 0.9884422784583743 Centerline is valid? [True, True] Translation: X:78.43, Y:-4.15, Z:-1.04 [[ 9.99931375e-01 -1.10396133e-02 3.92067182e-03 7.84319028e+01] [ 1.10404116e-02 9.99939036e-01 -1.82040498e-04 -4.15154188e+00] [-3.91842314e-03 2.25313837e-04 9.99992298e-01 -1.03690597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960371743 meters Centerline goodness [0,1] 0.9880094850342267 Centerline is valid? [True, True] Translation: X:78.46, Y:-4.16, Z:-1.04 [[ 9.99924278e-01 -1.17788285e-02 3.56324715e-03 7.84626978e+01] [ 1.17794938e-02 9.99930606e-01 -1.65794145e-04 -4.15501253e+00] [-3.56104702e-03 2.07754839e-04 9.99993638e-01 -1.03743290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.990371743 meters Centerline goodness [0,1] 0.988321722043587 Centerline is valid? [True, True] Translation: X:78.49, Y:-4.16, Z:-1.04 [[ 9.99920139e-01 -1.20581989e-02 3.78360933e-03 7.84944543e+01] [ 1.20589514e-02 9.99927273e-01 -1.76129375e-04 -4.15837363e+00] [-3.78121035e-03 2.21741670e-04 9.99992827e-01 -1.03799711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020371743 meters Centerline goodness [0,1] 0.9891515869997987 Centerline is valid? [True, True] Translation: X:78.53, Y:-4.16, Z:-1.04 [[ 9.99918691e-01 -1.24589528e-02 2.71775938e-03 7.85265478e+01] [ 1.24593423e-02 9.99922371e-01 -1.26409035e-04 -4.15694261e+00] [-2.71597348e-03 1.60260251e-04 9.99996299e-01 -1.03862993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.050371743 meters Centerline goodness [0,1] 0.9878653794582998 Centerline is valid? [True, True] Translation: X:78.56, Y:-4.16, Z:-1.04 [[ 9.99924766e-01 -1.20771866e-02 2.14575086e-03 7.85574554e+01] [ 1.20774288e-02 9.99927060e-01 -9.99634039e-05 -4.16395821e+00] [-2.14438708e-03 1.25871037e-04 9.99997693e-01 -1.04041179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080371743 meters Centerline goodness [0,1] 0.9888563835726568 Centerline is valid? [True, True] Translation: X:78.59, Y:-4.16, Z:-1.04 [[ 9.99933332e-01 -1.14400329e-02 1.56746866e-03 7.85897277e+01] [ 1.14401609e-02 9.99934557e-01 -7.26970110e-05 -4.16104733e+00] [-1.56653443e-03 9.06242582e-05 9.99998769e-01 -1.04028034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.110371743 meters Centerline goodness [0,1] 0.9897211615309475 Centerline is valid? [True, True] Translation: X:78.62, Y:-4.16, Z:-1.04 [[ 9.99958947e-01 -8.88650455e-03 1.77035932e-03 7.86205470e+01] [ 8.88666500e-03 9.99960509e-01 -8.27868173e-05 -4.16295344e+00] [-1.76955372e-03 9.85160089e-05 9.99998429e-01 -1.04097716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140371743 meters Centerline goodness [0,1] 0.9891347998750614 Centerline is valid? [True, True] Translation: X:78.65, Y:-4.16, Z:-1.04 [[ 9.99970383e-01 -7.48226225e-03 1.80258216e-03 7.86524593e+01] [ 7.48242571e-03 9.99972003e-01 -8.39578084e-05 -4.16348295e+00] [-1.80190350e-03 9.74430089e-05 9.99998372e-01 -1.04151433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.170371743 meters Centerline goodness [0,1] 0.9896382313532828 Centerline is valid? [True, True] Translation: X:78.68, Y:-4.16, Z:-1.04 [[ 9.99981319e-01 -5.59960015e-03 2.45081845e-03 7.86837450e+01] [ 5.59989889e-03 9.99984314e-01 -1.15050332e-04 -4.16205964e+00] [-2.45013577e-03 1.28772518e-04 9.99996990e-01 -1.04141538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.200371743 meters Centerline goodness [0,1] 0.9903856903297932 Centerline is valid? [True, True] Translation: X:78.71, Y:-4.16, Z:-1.04 [[ 9.99996664e-01 -9.14198181e-04 2.41574470e-03 7.87147016e+01] [ 9.14475310e-04 9.99999575e-01 -1.13615851e-04 -4.16045451e+00] [-2.41563980e-03 1.15824611e-04 9.99997076e-01 -1.04153155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.230371743 meters Centerline goodness [0,1] 0.9898784520511217 Centerline is valid? [True, True] Translation: X:78.75, Y:-4.16, Z:-1.04 [[ 9.99996732e-01 1.51047561e-03 2.06248157e-03 7.87458195e+01] [-1.51027902e-03 9.99998855e-01 -9.68709895e-05 -4.15962945e+00] [-2.06262553e-03 9.37557503e-05 9.99997868e-01 -1.04198392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260371743 meters Centerline goodness [0,1] 0.9903657010014306 Centerline is valid? [True, True] Translation: X:78.78, Y:-4.16, Z:-1.04 [[ 9.99990999e-01 3.68817854e-03 2.09745939e-03 7.87763206e+01] [-3.68797897e-03 9.99993194e-01 -9.90049906e-05 -4.15861269e+00] [-2.09781026e-03 9.12687134e-05 9.99997795e-01 -1.04240622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.290371743 meters Centerline goodness [0,1] 0.9901787115725273 Centerline is valid? [True, True] Translation: X:78.81, Y:-4.16, Z:-1.04 [[ 9.99972179e-01 7.11756638e-03 2.23201608e-03 7.88065031e+01] [-7.11734847e-03 9.99974666e-01 -1.05556488e-04 -4.15776582e+00] [-2.23271084e-03 8.96675146e-05 9.99997503e-01 -1.04275543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320371743 meters Centerline goodness [0,1] 0.989769820971867 Centerline is valid? [True, True] Translation: X:78.84, Y:-4.16, Z:-1.04 [[ 9.99963847e-01 8.17241070e-03 2.34889067e-03 7.88353796e+01] [-8.17217100e-03 9.99966601e-01 -1.11629735e-04 -4.15777603e+00] [-2.34972450e-03 9.24301632e-05 9.99997235e-01 -1.04277589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.350371743 meters Centerline goodness [0,1] 0.989769820971867 Centerline is valid? [True, True] Translation: X:78.86, Y:-4.16, Z:-1.04 [[ 9.99964427e-01 8.10111910e-03 2.34889853e-03 7.88636747e+01] [-8.10087959e-03 9.99967181e-01 -1.11463487e-04 -4.15904917e+00] [-2.34972442e-03 9.24313774e-05 9.99997235e-01 -1.04316006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380371743 meters Centerline goodness [0,1] 0.9909205039680761 Centerline is valid? [True, True] Translation: X:78.89, Y:-4.16, Z:-1.04 [[ 9.99958952e-01 8.66424612e-03 2.65043370e-03 7.88919576e+01] [-8.66394450e-03 9.99962459e-01 -1.25260001e-04 -4.16082550e+00] [-2.65141948e-03 1.02291649e-04 9.99996480e-01 -1.04368791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.410371743 meters Centerline goodness [0,1] 0.9900854624167246 Centerline is valid? [True, True] Translation: X:78.92, Y:-4.16, Z:-1.04 [[ 9.99960870e-01 8.61142901e-03 2.02510477e-03 7.89210705e+01] [-8.61125228e-03 9.99962918e-01 -9.59773517e-05 -4.16125980e+00] [-2.02585618e-03 7.85349081e-05 9.99997945e-01 -1.04382039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440371743 meters Centerline goodness [0,1] 0.9907633673355005 Centerline is valid? [True, True] Translation: X:78.95, Y:-4.16, Z:-1.04 [[ 9.99964801e-01 8.20756331e-03 1.74158471e-03 7.89501828e+01] [-8.20743196e-03 9.99966315e-01 -8.25570172e-05 -4.16234983e+00] [-1.74220363e-03 6.82601733e-05 9.99998480e-01 -1.04438893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.470371743 meters Centerline goodness [0,1] 0.9903404379300298 Centerline is valid? [True, True] Translation: X:78.98, Y:-4.17, Z:-1.05 [[ 9.99972727e-01 7.29212098e-03 1.17044603e-03 7.89778705e+01] [-7.29206050e-03 9.99973411e-01 -5.59265870e-05 -4.16686858e+00] [-1.17082273e-03 4.73900985e-05 9.99999313e-01 -1.04607226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500371743 meters Centerline goodness [0,1] 0.990789296759446 Centerline is valid? [True, True] Translation: X:79.01, Y:-4.16, Z:-1.05 [[ 9.99979546e-01 6.29336804e-03 1.14063879e-03 7.90069749e+01] [-6.29331027e-03 9.99980195e-01 -5.42308306e-05 -4.16478685e+00] [-1.14095750e-03 4.70513276e-05 9.99999348e-01 -1.04530385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.530371743 meters Centerline goodness [0,1] 0.990789296759446 Centerline is valid? [True, True] Translation: X:79.04, Y:-4.17, Z:-1.05 [[ 9.99985796e-01 5.27310323e-03 7.76187630e-04 7.90355275e+01] [-5.27307616e-03 9.99986097e-01 -3.69226467e-05 -4.16839255e+00] [-7.76371536e-04 3.28292258e-05 9.99999698e-01 -1.04632561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.560371743 meters Centerline goodness [0,1] 0.9903757711721817 Centerline is valid? [True, True] Translation: X:79.06, Y:-4.17, Z:-1.05 [[ 9.99989528e-01 4.56782268e-03 2.81017560e-04 7.90639739e+01] [-4.56781898e-03 9.99989567e-01 -1.38028052e-05 -4.17462869e+00] [-2.81077677e-04 1.25190234e-05 9.99999960e-01 -1.04806327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.590371743 meters Centerline goodness [0,1] 0.9908613562730422 Centerline is valid? [True, True] Translation: X:79.09, Y:-4.17, Z:-1.05 [[ 9.99991283e-01 4.17177111e-03 -1.72204090e-04 7.90931841e+01] [-4.17176995e-03 9.99991298e-01 7.06495723e-06 -4.17208291e+00] [ 1.72232065e-04 -6.34649979e-06 9.99999985e-01 -1.04758577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62037174299999 meters Centerline goodness [0,1] 0.9908199223396853 Centerline is valid? [True, True] Translation: X:79.12, Y:-4.17, Z:-1.05 [[ 9.99992139e-01 3.86766992e-03 -8.73861025e-04 7.91219603e+01] [-3.86763678e-03 9.99992520e-01 3.96146066e-05 -4.17116698e+00] [ 8.74007704e-04 -3.62345181e-05 9.99999617e-01 -1.04742408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.650371743 meters Centerline goodness [0,1] 0.9908966568757147 Centerline is valid? [True, True] Translation: X:79.15, Y:-4.17, Z:-1.05 [[ 9.99987428e-01 4.50044894e-03 -2.21115070e-03 7.91508194e+01] [-4.50023473e-03 9.99989869e-01 1.01843089e-04 -4.17053091e+00] [ 2.21158664e-03 -9.18911116e-05 9.99997550e-01 -1.04870473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680371743 meters Centerline goodness [0,1] 0.9911099137931034 Centerline is valid? [True, True] Translation: X:79.18, Y:-4.17, Z:-1.05 [[ 9.99984765e-01 4.98386554e-03 -2.37276357e-03 7.91794926e+01] [-4.98362108e-03 9.99987576e-01 1.08928914e-04 -4.16954977e+00] [ 2.37327698e-03 -9.71023000e-05 9.99997179e-01 -1.04887987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.710371743 meters Centerline goodness [0,1] 0.9909853202346964 Centerline is valid? [True, True] Translation: X:79.21, Y:-4.17, Z:-1.05 [[ 9.99981296e-01 5.76253508e-03 -2.04940008e-03 7.92068086e+01] [-5.76235546e-03 9.99983393e-01 9.35427477e-05 -4.17109017e+00] [ 2.04990509e-03 -8.17316264e-05 9.99997896e-01 -1.04977510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740371743 meters Centerline goodness [0,1] 0.9912861388813834 Centerline is valid? [True, True] Translation: X:79.24, Y:-4.17, Z:-1.05 [[ 9.99973119e-01 7.24831126e-03 -1.10559117e-03 7.92361642e+01] [-7.24826035e-03 9.99973730e-01 5.00522181e-05 -4.16655176e+00] [ 1.10592492e-03 -4.20372600e-05 9.99999388e-01 -1.04857935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.770371743 meters Centerline goodness [0,1] 0.9914943408114129 Centerline is valid? [True, True] Translation: X:79.27, Y:-4.17, Z:-1.05 [[ 9.99970911e-01 7.61969285e-03 -3.42155074e-04 7.92653595e+01] [-7.61968824e-03 9.99970970e-01 1.47946127e-05 -4.16661201e+00] [ 3.42257871e-04 -1.21870674e-05 9.99999941e-01 -1.04878212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800371743 meters Centerline goodness [0,1] 0.9913849337562138 Centerline is valid? [True, True] Translation: X:79.29, Y:-4.17, Z:-1.05 [[ 9.99968995e-01 7.87330928e-03 1.44740847e-04 7.92933773e+01] [-7.87330823e-03 9.99969005e-01 -7.86403668e-06 -4.16714559e+00] [-1.44798277e-04 6.72420355e-06 9.99999989e-01 -1.04889192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.830371743 meters Centerline goodness [0,1] 0.9914989317440683 Centerline is valid? [True, True] Translation: X:79.32, Y:-4.17, Z:-1.05 [[ 9.99973332e-01 7.26211136e-03 7.72836418e-04 7.93213226e+01] [-7.26208518e-03 9.99973630e-01 -3.66711798e-05 -4.16659988e+00] [-7.73082348e-04 3.10577979e-05 9.99999701e-01 -1.04882394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860371743 meters Centerline goodness [0,1] 0.9913849484675582 Centerline is valid? [True, True] Translation: X:79.35, Y:-4.17, Z:-1.05 [[ 9.99978642e-01 6.47930099e-03 8.56748431e-04 7.93498838e+01] [-6.47926890e-03 9.99979009e-01 -4.02289868e-05 -4.16670896e+00] [-8.56991102e-04 3.46770242e-05 9.99999632e-01 -1.04914130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.890371743 meters Centerline goodness [0,1] 0.9917110180047559 Centerline is valid? [True, True] Translation: X:79.38, Y:-4.17, Z:-1.05 [[ 9.99991262e-01 4.17564244e-03 2.01271189e-04 7.93792109e+01] [-4.17564057e-03 9.99991282e-01 -9.69612253e-06 -4.16810564e+00] [-2.01309922e-04 8.85560166e-06 9.99999980e-01 -1.04994159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920371743 meters Centerline goodness [0,1] 0.9909283747799792 Centerline is valid? [True, True] Translation: X:79.41, Y:-4.17, Z:-1.05 [[ 9.99997261e-01 2.30841622e-03 -3.86463122e-04 7.94083323e+01] [-2.30840984e-03 9.99997335e-01 1.69566738e-05 -4.16920823e+00] [ 3.86501236e-04 -1.60645121e-05 9.99999925e-01 -1.05084742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.950371743 meters Centerline goodness [0,1] 0.9906451248446503 Centerline is valid? [True, True] Translation: X:79.44, Y:-4.17, Z:-1.05 [[ 9.99999249e-01 4.90492424e-04 -1.12323462e-03 7.94378462e+01] [-4.90434965e-04 9.99999878e-01 5.14294419e-05 -4.17481640e+00] [ 1.12325971e-03 -5.08785298e-05 9.99999368e-01 -1.05321162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.980371743 meters Centerline goodness [0,1] 0.9905035385624166 Centerline is valid? [True, True] Translation: X:79.47, Y:-4.17, Z:-1.05 [[ 9.99991454e-01 -3.46369927e-03 -2.25711652e-03 7.94684862e+01] [ 3.46394113e-03 9.99993995e-01 1.03256473e-04 -4.17457495e+00] [ 2.25674531e-03 -1.11074110e-04 9.99997447e-01 -1.05331798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.010371743 meters Centerline goodness [0,1] 0.9906074597139236 Centerline is valid? [True, True] Translation: X:79.50, Y:-4.17, Z:-1.05 [[ 9.99983430e-01 -5.26069938e-03 -2.33776439e-03 7.94991669e+01] [ 5.26096374e-03 9.99986155e-01 1.06945877e-04 -4.17397853e+00] [ 2.33716941e-03 -1.19242999e-04 9.99997262e-01 -1.05290697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040371743 meters Centerline goodness [0,1] 0.9910766861439507 Centerline is valid? [True, True] Translation: X:79.53, Y:-4.17, Z:-1.05 [[ 9.99974340e-01 -6.69912899e-03 -2.53793210e-03 7.95306005e+01] [ 6.69944666e-03 9.99977552e-01 1.16688556e-04 -4.17494328e+00] [ 2.53709342e-03 -1.33688303e-04 9.99996773e-01 -1.05326262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.070371743 meters Centerline goodness [0,1] 0.9908076165462902 Centerline is valid? [True, True] Translation: X:79.56, Y:-4.18, Z:-1.05 [[ 9.99969339e-01 -7.49053833e-03 -2.28299329e-03 7.95617529e+01] [ 7.49079773e-03 9.99971938e-01 1.05096019e-04 -4.17603997e+00] [ 2.28214200e-03 -1.22194237e-04 9.99997388e-01 -1.05331867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100371743 meters Centerline goodness [0,1] 0.9900011336583154 Centerline is valid? [True, True] Translation: X:79.59, Y:-4.18, Z:-1.05 [[ 9.99963103e-01 -8.33866854e-03 -2.06397631e-03 7.95929046e+01] [ 8.33888318e-03 9.99965226e-01 9.54106746e-05 -4.17715760e+00] [ 2.06310894e-03 -1.12618412e-04 9.99997865e-01 -1.05313823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.130371743 meters Centerline goodness [0,1] 0.990028328611898 Centerline is valid? [True, True] Translation: X:79.62, Y:-4.18, Z:-1.05 [[ 9.99965258e-01 -8.16008707e-03 -1.70188728e-03 7.96242958e+01] [ 8.16023313e-03 9.99966702e-01 7.88965423e-05 -4.17952032e+00] [ 1.70118681e-03 -9.27815982e-05 9.99998549e-01 -1.05340717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160371743 meters Centerline goodness [0,1] 0.9894829891883316 Centerline is valid? [True, True] Translation: X:79.66, Y:-4.18, Z:-1.05 [[ 9.99970765e-01 -7.64226344e-03 -2.56289063e-04 7.96564813e+01] [ 7.64226696e-03 9.99970797e-01 1.27513101e-05 -4.17828846e+00] [ 2.56184130e-04 -1.47095667e-05 9.99999967e-01 -1.05167897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.190371743 meters Centerline goodness [0,1] 0.9890107395045751 Centerline is valid? [True, True] Translation: X:79.69, Y:-4.18, Z:-1.05 [[ 9.99972597e-01 -7.37354747e-03 6.60941077e-04 7.96891198e+01] [ 7.37356856e-03 9.99972814e-01 -2.94862960e-05 -4.17833601e+00] [-6.60705690e-04 3.43589824e-05 9.99999781e-01 -1.05144928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220371743 meters Centerline goodness [0,1] 0.9898597185276129 Centerline is valid? [True, True] Translation: X:79.72, Y:-4.18, Z:-1.05 [[ 9.99972166e-01 -7.40436859e-03 9.17964998e-04 7.97214635e+01] [ 7.40440971e-03 9.99972586e-01 -4.13979211e-05 -4.17947655e+00] [-9.17633307e-04 4.81937578e-05 9.99999578e-01 -1.05127047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.250371743 meters Centerline goodness [0,1] 0.9901204215893828 Centerline is valid? [True, True] Translation: X:79.75, Y:-4.18, Z:-1.05 [[ 9.99976697e-01 -6.73285489e-03 1.12857727e-03 7.97537867e+01] [ 6.73291694e-03 9.99977332e-01 -5.11932007e-05 -4.17784206e+00] [-1.12820701e-03 5.87906248e-05 9.99999362e-01 -1.05139799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280371743 meters Centerline goodness [0,1] 0.9897777980147527 Centerline is valid? [True, True] Translation: X:79.79, Y:-4.18, Z:-1.05 [[ 9.99980353e-01 -6.22205760e-03 7.61285007e-04 7.97858796e+01] [ 6.22208549e-03 9.99980642e-01 -3.42731734e-05 -4.17778035e+00] [-7.61057020e-04 3.90092804e-05 9.99999710e-01 -1.05197130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.310371743 meters Centerline goodness [0,1] 0.9904967602591792 Centerline is valid? [True, True] Translation: X:79.82, Y:-4.18, Z:-1.05 [[ 9.99985710e-01 -5.31762550e-03 5.50761293e-04 7.98179779e+01] [ 5.31763984e-03 9.99985861e-01 -2.45745008e-05 -4.17815147e+00] [-5.50622828e-04 2.75028998e-05 9.99999848e-01 -1.05305770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.340371743 meters Centerline goodness [0,1] 0.9904590171418137 Centerline is valid? [True, True] Translation: X:79.85, Y:-4.18, Z:-1.05 [[ 9.99989699e-01 -4.52813457e-03 3.12816362e-04 7.98498430e+01] [ 4.52813903e-03 9.99989748e-01 -1.35679209e-05 -4.17810890e+00] [-3.12751718e-04 1.49842572e-05 9.99999951e-01 -1.05369413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37037174299999 meters Centerline goodness [0,1] 0.9902892656399945 Centerline is valid? [True, True] Translation: X:79.88, Y:-4.18, Z:-1.05 [[ 9.99995478e-01 -2.98907511e-03 3.32108210e-04 7.98814131e+01] [ 2.98908024e-03 9.99995533e-01 -1.49439933e-05 -4.17546367e+00] [-3.32062058e-04 1.59366238e-05 9.99999945e-01 -1.05453652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400371743 meters Centerline goodness [0,1] 0.9916407108831073 Centerline is valid? [True, True] Translation: X:79.91, Y:-4.18, Z:-1.06 [[ 9.99996655e-01 -2.53400029e-03 5.18859244e-04 7.99127549e+01] [ 2.53401289e-03 9.99996789e-01 -2.36429447e-05 -4.17627632e+00] [-5.18797666e-04 2.49576617e-05 9.99999865e-01 -1.05517461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.430371743 meters Centerline goodness [0,1] 0.9906366181667967 Centerline is valid? [True, True] Translation: X:79.94, Y:-4.18, Z:-1.06 [[ 9.99997329e-01 -2.30188871e-03 -2.06079308e-04 7.99443106e+01] [ 2.30189107e-03 9.99997351e-01 1.12068144e-05 -4.17528937e+00] [ 2.06052965e-04 -1.16811566e-05 9.99999979e-01 -1.05649811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460371743 meters Centerline goodness [0,1] 0.9909538532005039 Centerline is valid? [True, True] Translation: X:79.98, Y:-4.18, Z:-1.06 [[ 9.99996953e-01 -2.40964612e-03 -5.36273371e-04 7.99754091e+01] [ 2.40966013e-03 9.99997096e-01 2.54957470e-05 -4.17524084e+00] [ 5.36210379e-04 -2.67879058e-05 9.99999856e-01 -1.05686321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.490371743 meters Centerline goodness [0,1] 0.9906157015335317 Centerline is valid? [True, True] Translation: X:80.01, Y:-4.18, Z:-1.06 [[ 9.99996194e-01 -2.74411325e-03 -2.87122075e-04 8.00061330e+01] [ 2.74411728e-03 9.99996235e-01 1.36369045e-05 -4.17707518e+00] [ 2.87083572e-04 -1.44247492e-05 9.99999959e-01 -1.05762591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520371743 meters Centerline goodness [0,1] 0.9910266439648429 Centerline is valid? [True, True] Translation: X:80.04, Y:-4.18, Z:-1.06 [[ 9.99994069e-01 -3.41423128e-03 -4.53691280e-04 8.00374949e+01] [ 3.41424146e-03 9.99994171e-01 2.16636978e-05 -4.17773303e+00] [ 4.53614671e-04 -2.32125809e-05 9.99999897e-01 -1.05808354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.550371743 meters Centerline goodness [0,1] 0.9905495516210623 Centerline is valid? [True, True] Translation: X:80.07, Y:-4.18, Z:-1.06 [[ 9.99991034e-01 -4.22445742e-03 -2.94615698e-04 8.00693019e+01] [ 4.22446188e-03 9.99991077e-01 1.44959503e-05 -4.17742888e+00] [ 2.94551832e-04 -1.57404132e-05 9.99999956e-01 -1.05841512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580371743 meters Centerline goodness [0,1] 0.9898882874582517 Centerline is valid? [True, True] Translation: X:80.10, Y:-4.18, Z:-1.06 [[ 9.99988943e-01 -4.68497582e-03 -4.07023420e-04 8.01010474e+01] [ 4.68498436e-03 9.99989025e-01 2.00119264e-05 -4.17955644e+00] [ 4.06925197e-04 -2.19186035e-05 9.99999917e-01 -1.05887210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.610371743 meters Centerline goodness [0,1] 0.9901672486675244 Centerline is valid? [True, True] Translation: X:80.13, Y:-4.18, Z:-1.06 [[ 9.99985034e-01 -5.46746798e-03 -1.94943704e-04 8.01336297e+01] [ 5.46747005e-03 9.99985053e-01 1.00915773e-05 -4.18015135e+00] [ 1.94885615e-04 -1.11572752e-05 9.99999981e-01 -1.05943888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640371743 meters Centerline goodness [0,1] 0.9901493705263642 Centerline is valid? [True, True] Translation: X:80.16, Y:-4.18, Z:-1.06 [[ 9.99983466e-01 -5.74976124e-03 -9.02317852e-05 8.01646870e+01] [ 5.74976171e-03 9.99983470e-01 4.94116263e-06 -4.18224210e+00] [ 9.02018831e-05 -5.45989219e-06 9.99999996e-01 -1.05978903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.670371743 meters Centerline goodness [0,1] 0.9901531224056821 Centerline is valid? [True, True] Translation: X:80.20, Y:-4.19, Z:-1.06 [[ 9.99986444e-01 -5.18443111e-03 -4.84061210e-04 8.01962600e+01] [ 5.18444318e-03 9.99986560e-01 2.36850845e-05 -4.18603969e+00] [ 4.83931910e-04 -2.61943513e-05 9.99999883e-01 -1.06118024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.700371743 meters Centerline goodness [0,1] 0.9907375326265216 Centerline is valid? [True, True] Translation: X:80.23, Y:-4.18, Z:-1.06 [[ 9.99992733e-01 -3.74858975e-03 -6.94425999e-04 8.02280033e+01] [ 3.74861368e-03 9.99992973e-01 3.31560966e-05 -4.17877490e+00] [ 6.94296831e-04 -3.57589905e-05 9.99999758e-01 -1.06029131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.730371743 meters Centerline goodness [0,1] 0.9896764359454029 Centerline is valid? [True, True] Translation: X:80.26, Y:-4.18, Z:-1.06 [[ 9.99995870e-01 -2.71791031e-03 -9.34688625e-04 8.02587705e+01] [ 2.71795308e-03 9.99996305e-01 4.44866206e-05 -4.18243285e+00] [ 9.34564261e-04 -4.70268767e-05 9.99999562e-01 -1.06165802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760371743 meters Centerline goodness [0,1] 0.9902348721508736 Centerline is valid? [True, True] Translation: X:80.29, Y:-4.18, Z:-1.06 [[ 9.99998370e-01 -1.63340783e-03 -7.68940615e-04 8.02887770e+01] [ 1.63343634e-03 9.99998665e-01 3.64517242e-05 -4.18335859e+00] [ 7.68880048e-04 -3.77076804e-05 9.99999704e-01 -1.06193486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.790371743 meters Centerline goodness [0,1] 0.9905044235490296 Centerline is valid? [True, True] Translation: X:80.32, Y:-4.18, Z:-1.06 [[ 9.99999377e-01 -9.68837425e-04 -5.54128094e-04 8.03195083e+01] [ 9.68852037e-04 9.99999530e-01 2.61015925e-05 -4.17948025e+00] [ 5.54102546e-04 -2.66384444e-05 9.99999846e-01 -1.06075143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820371743 meters Centerline goodness [0,1] 0.9896685121267577 Centerline is valid? [True, True] Translation: X:80.35, Y:-4.19, Z:-1.06 [[ 9.99999782e-01 -6.39180518e-04 -1.65766592e-04 8.03494774e+01] [ 6.39181861e-04 9.99999796e-01 8.04909758e-06 -4.18501398e+00] [ 1.65761414e-04 -8.15505082e-06 9.99999986e-01 -1.06237297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.850371743 meters Centerline goodness [0,1] 0.9896210643633324 Centerline is valid? [True, True] Translation: X:80.38, Y:-4.19, Z:-1.06 [[ 9.99999689e-01 -7.70287660e-04 -1.71393811e-04 8.03797676e+01] [ 7.70289056e-04 9.99999703e-01 8.07632965e-06 -4.18709738e+00] [ 1.71387539e-04 -8.20834991e-06 9.99999985e-01 -1.06323195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880371743 meters Centerline goodness [0,1] 0.9881093108963215 Centerline is valid? [True, True] Translation: X:80.41, Y:-4.19, Z:-1.07 [[ 9.99999411e-01 -6.17183226e-04 -8.92458582e-04 8.04094566e+01] [ 6.17222063e-04 9.99999809e-01 4.32421048e-05 -4.19113321e+00] [ 8.92431723e-04 -4.37929244e-05 9.99999601e-01 -1.06512148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.910371743 meters Centerline goodness [0,1] 0.9895751285734142 Centerline is valid? [True, True] Translation: X:80.44, Y:-4.18, Z:-1.06 [[ 9.99998757e-01 -9.37092422e-04 -1.26767463e-03 8.04399062e+01] [ 9.37168691e-04 9.99999559e-01 5.95716531e-05 -4.18349411e+00] [ 1.26761824e-03 -6.07596041e-05 9.99999195e-01 -1.06287673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940371743 meters Centerline goodness [0,1] 0.9898190568744505 Centerline is valid? [True, True] Translation: X:80.47, Y:-4.19, Z:-1.06 [[ 9.99998769e-01 -1.02687325e-03 -1.18681080e-03 8.04693795e+01] [ 1.02694012e-03 9.99999471e-01 5.57372631e-05 -4.18573397e+00] [ 1.18675294e-03 -5.69559781e-05 9.99999294e-01 -1.06350675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.970371743 meters Centerline goodness [0,1] 0.9897112205498139 Centerline is valid? [True, True] Translation: X:80.50, Y:-4.19, Z:-1.06 [[ 9.99998751e-01 -1.04880528e-03 -1.18225947e-03 8.04998565e+01] [ 1.04887193e-03 9.99999448e-01 5.57646739e-05 -4.18604886e+00] [ 1.18220033e-03 -5.70046431e-05 9.99999300e-01 -1.06262745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000371743 meters Centerline goodness [0,1] 0.9899071550648991 Centerline is valid? [True, True] Translation: X:80.53, Y:-4.19, Z:-1.06 [[ 9.99999074e-01 -1.21246226e-03 -6.17718534e-04 8.05290933e+01] [ 1.21248033e-03 9.99999265e-01 2.88848134e-05 -4.18868300e+00] [ 6.17683058e-04 -2.96337582e-05 9.99999809e-01 -1.06285863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.030371743 meters Centerline goodness [0,1] 0.9890681334935749 Centerline is valid? [True, True] Translation: X:80.56, Y:-4.19, Z:-1.06 [[ 9.99999184e-01 -1.11887308e-03 -6.17248840e-04 8.05590737e+01] [ 1.11889126e-03 9.99999374e-01 2.91033427e-05 -4.19015389e+00] [ 6.17215891e-04 -2.97939533e-05 9.99999809e-01 -1.06280207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.060371743 meters Centerline goodness [0,1] 0.9896103295075898 Centerline is valid? [True, True] Translation: X:80.59, Y:-4.19, Z:-1.06 [[ 9.99998995e-01 -1.41704505e-03 3.48529877e-05 8.05891511e+01] [ 1.41704511e-03 9.99998996e-01 -1.64332174e-06 -4.19217425e+00] [-3.48506241e-05 1.69270835e-06 9.99999999e-01 -1.06324727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.090371743 meters Centerline goodness [0,1] 0.9897409829247441 Centerline is valid? [True, True] Translation: X:80.62, Y:-4.19, Z:-1.06 [[ 9.99998914e-01 -1.46357785e-03 1.71272090e-04 8.06209332e+01] [ 1.46357918e-03 9.99998929e-01 -7.59609443e-06 -4.19203270e+00] [-1.71260789e-04 7.84675645e-06 9.99999985e-01 -1.06281937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12037174299999 meters Centerline goodness [0,1] 0.9893936593030779 Centerline is valid? [True, True] Translation: X:80.65, Y:-4.20, Z:-1.06 [[ 9.99998038e-01 -1.97924235e-03 8.14336696e-05 8.06510107e+01] [ 1.97924265e-03 9.99998041e-01 -3.60248781e-06 -4.19502352e+00] [-8.14263799e-05 3.76365774e-06 9.99999997e-01 -1.06368932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.150371743 meters Centerline goodness [0,1] 0.9901517597675169 Centerline is valid? [True, True] Translation: X:80.68, Y:-4.20, Z:-1.06 [[ 9.99996712e-01 -2.55135313e-03 2.58269200e-04 8.06812430e+01] [ 2.55135618e-03 9.99996745e-01 -1.14911796e-05 -4.19900230e+00] [-2.58239041e-04 1.21500785e-05 9.99999967e-01 -1.06465268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180371743 meters Centerline goodness [0,1] 0.990354439726786 Centerline is valid? [True, True] Translation: X:80.71, Y:-4.20, Z:-1.07 [[ 9.99989847e-01 -4.47054768e-03 -5.65853634e-04 8.07120043e+01] [ 4.47056366e-03 9.99990007e-01 2.69891744e-05 -4.20134024e+00] [ 5.65727323e-04 -2.95185850e-05 9.99999840e-01 -1.06550799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.210371743 meters Centerline goodness [0,1] 0.9904218088045681 Centerline is valid? [True, True] Translation: X:80.74, Y:-4.20, Z:-1.07 [[ 9.99984197e-01 -5.52162394e-03 -1.05689294e-03 8.07445012e+01] [ 5.52168092e-03 9.99984754e-01 5.10051048e-05 -4.20349363e+00] [ 1.05659519e-03 -5.68401243e-05 9.99999440e-01 -1.06618412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240371743 meters Centerline goodness [0,1] 0.9900666067436447 Centerline is valid? [True, True] Translation: X:80.78, Y:-4.21, Z:-1.07 [[ 9.99978824e-01 -6.35290131e-03 -1.41115037e-03 8.07765036e+01] [ 6.35300340e-03 9.99979817e-01 6.78712532e-05 -4.20807725e+00] [ 1.41069071e-03 -7.68348590e-05 9.99999002e-01 -1.06742558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.270371743 meters Centerline goodness [0,1] 0.9900666067436447 Centerline is valid? [True, True] Translation: X:80.81, Y:-4.21, Z:-1.07 [[ 9.99979275e-01 -6.28162292e-03 -1.41114521e-03 8.08082118e+01] [ 6.28172509e-03 9.99980267e-01 6.79791574e-05 -4.20964337e+00] [ 1.41069035e-03 -7.68421748e-05 9.99999002e-01 -1.06785539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300371743 meters Centerline goodness [0,1] 0.9896686608375518 Centerline is valid? [True, True] Translation: X:80.84, Y:-4.22, Z:-1.07 [[ 9.99969727e-01 -7.48295929e-03 -2.13318702e-03 8.08385188e+01] [ 7.48319355e-03 9.99971995e-01 1.01858364e-04 -4.22007227e+00] [ 2.13236508e-03 -1.17818332e-04 9.99997720e-01 -1.07121345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.330371743 meters Centerline goodness [0,1] 0.9905131621261543 Centerline is valid? [True, True] Translation: X:80.87, Y:-4.22, Z:-1.07 [[ 9.99962898e-01 -8.27056393e-03 -2.40852789e-03 8.08709231e+01] [ 8.27086612e-03 9.99965789e-01 1.15533902e-04 -4.22219324e+00] [ 2.40748996e-03 -1.35450227e-04 9.99997093e-01 -1.07152750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360371743 meters Centerline goodness [0,1] 0.9904928121985946 Centerline is valid? [True, True] Translation: X:80.90, Y:-4.22, Z:-1.07 [[ 9.99958869e-01 -8.82720875e-03 -2.08334670e-03 8.09029275e+01] [ 8.82743614e-03 9.99961032e-01 9.99769858e-05 -4.21796513e+00] [ 2.08238300e-03 -1.18363484e-04 9.99997825e-01 -1.06936211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.390371743 meters Centerline goodness [0,1] 0.9905263399940215 Centerline is valid? [True, True] Translation: X:80.94, Y:-4.22, Z:-1.07 [[ 9.99960658e-01 -8.66607568e-03 -1.89264104e-03 8.09355330e+01] [ 8.66626393e-03 9.99962443e-01 9.12842903e-05 -4.21780344e+00] [ 1.89177888e-03 -1.07682826e-04 9.99998205e-01 -1.06842676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420371743 meters Centerline goodness [0,1] 0.9902104972883538 Centerline is valid? [True, True] Translation: X:80.97, Y:-4.22, Z:-1.07 [[ 9.99967633e-01 -7.92756559e-03 -1.37389081e-03 8.09668872e+01] [ 7.92766459e-03 9.99968573e-01 6.66238988e-05 -4.22375655e+00] [ 1.37331947e-03 -7.75134879e-05 9.99999054e-01 -1.06933630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.450371743 meters Centerline goodness [0,1] 0.9911911497504542 Centerline is valid? [True, True] Translation: X:81.00, Y:-4.22, Z:-1.07 [[ 9.99974569e-01 -7.13156537e-03 3.97429640e-05 8.09990325e+01] [ 7.13156542e-03 9.99974570e-01 -1.17504960e-06 -4.21969639e+00] [-3.97335734e-05 1.45844927e-06 9.99999999e-01 -1.06688988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.480371743 meters Centerline goodness [0,1] 0.9907218152171416 Centerline is valid? [True, True] Translation: X:81.03, Y:-4.22, Z:-1.07 [[ 9.99977604e-01 -6.65566869e-03 7.02120563e-04 8.10317679e+01] [ 6.65569310e-03 9.99977850e-01 -3.24381738e-05 -4.22033693e+00] [-7.01889113e-04 3.71105463e-05 9.99999753e-01 -1.06659186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.510371743 meters Centerline goodness [0,1] 0.9899363554902005 Centerline is valid? [True, True] Translation: X:81.06, Y:-4.23, Z:-1.07 [[ 9.99980433e-01 -6.14231757e-03 1.18557155e-03 8.10622888e+01] [ 6.14238846e-03 9.99981134e-01 -5.61669085e-05 -4.22742382e+00] [-1.18520419e-03 6.34480505e-05 9.99999296e-01 -1.06830688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540371743 meters Centerline goodness [0,1] 0.9893936959067012 Centerline is valid? [True, True] Translation: X:81.09, Y:-4.23, Z:-1.07 [[ 9.99983250e-01 -5.62701373e-03 1.35525025e-03 8.10935207e+01] [ 5.62710619e-03 9.99984166e-01 -6.44197881e-05 -4.23116108e+00] [-1.35486630e-03 7.20448462e-05 9.99999080e-01 -1.06929205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.570371743 meters Centerline goodness [0,1] 0.9904361220314044 Centerline is valid? [True, True] Translation: X:81.13, Y:-4.23, Z:-1.07 [[ 9.99985927e-01 -5.03926948e-03 1.65869570e-03 8.11255854e+01] [ 5.03940720e-03 9.99987299e-01 -7.88588875e-05 -4.22677047e+00] [-1.65827724e-03 8.72166208e-05 9.99998621e-01 -1.06844955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600371743 meters Centerline goodness [0,1] 0.9902863339563001 Centerline is valid? [True, True] Translation: X:81.16, Y:-4.23, Z:-1.07 [[ 9.99992078e-01 -3.75782700e-03 1.31235052e-03 8.11568271e+01] [ 3.75791225e-03 9.99992937e-01 -6.25018510e-05 -4.23010016e+00] [-1.31210638e-03 6.74330540e-05 9.99999137e-01 -1.06994039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.630371743 meters Centerline goodness [0,1] 0.9901459685960308 Centerline is valid? [True, True] Translation: X:81.19, Y:-4.22, Z:-1.07 [[ 9.99999911e-01 -1.78981241e-04 3.81379285e-04 8.11882941e+01] [ 1.78988170e-04 9.99999984e-01 -1.81346680e-05 -4.22473765e+00] [-3.81376033e-04 1.82029287e-05 9.99999927e-01 -1.07032431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660371743 meters Centerline goodness [0,1] 0.9906230608351911 Centerline is valid? [True, True] Translation: X:81.22, Y:-4.22, Z:-1.07 [[ 9.99998832e-01 1.31663306e-03 7.75705175e-04 8.12192149e+01] [-1.31660464e-03 9.99999133e-01 -3.71428189e-05 -4.22486634e+00] [-7.75753406e-04 3.61214785e-05 9.99999698e-01 -1.06998170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.690371743 meters Centerline goodness [0,1] 0.9900875979714154 Centerline is valid? [True, True] Translation: X:81.25, Y:-4.22, Z:-1.07 [[ 9.99996033e-01 2.25979305e-03 1.68146379e-03 8.12500179e+01] [-2.25965999e-03 9.99997444e-01 -8.10290238e-05 -4.22429960e+00] [-1.68164260e-03 7.72291659e-05 9.99998583e-01 -1.06901133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720371743 meters Centerline goodness [0,1] 0.9899511385636581 Centerline is valid? [True, True] Translation: X:81.28, Y:-4.23, Z:-1.07 [[ 9.99993922e-01 2.31567021e-03 2.60657490e-03 8.12791312e+01] [-2.31535015e-03 9.99997312e-01 -1.25802165e-04 -4.22570549e+00] [-2.60685921e-03 1.19766267e-04 9.99996595e-01 -1.06835911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.750371743 meters Centerline goodness [0,1] 0.9896638442193665 Centerline is valid? [True, True] Translation: X:81.31, Y:-4.23, Z:-1.07 [[ 9.99995930e-01 2.14547763e-03 1.88087222e-03 8.13093609e+01] [-2.14531138e-03 9.99997695e-01 -9.04013328e-05 -4.22960700e+00] [-1.88106184e-03 8.63659083e-05 9.99998227e-01 -1.06985833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780371743 meters Centerline goodness [0,1] 0.9903002309468822 Centerline is valid? [True, True] Translation: X:81.34, Y:-4.23, Z:-1.07 [[ 9.99997992e-01 1.93724007e-03 5.12984818e-04 8.13393606e+01] [-1.93722753e-03 9.99998123e-01 -2.49491243e-05 -4.23066364e+00] [-5.13032188e-04 2.39553059e-05 9.99999868e-01 -1.07154692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.810371743 meters Centerline goodness [0,1] 0.9902319902319903 Centerline is valid? [True, True] Translation: X:81.37, Y:-4.23, Z:-1.08 [[ 9.99994841e-01 1.78311982e-03 -2.67167668e-03 8.13685999e+01] [-1.78278308e-03 9.99998403e-01 1.28416668e-04 -4.23328313e+00] [ 2.67190139e-03 -1.23652985e-04 9.99996423e-01 -1.07503183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.840371743 meters Centerline goodness [0,1] 0.9905884524001753 Centerline is valid? [True, True] Translation: X:81.40, Y:-4.24, Z:-1.08 [[ 9.99995026e-01 1.16655044e-03 -2.93040284e-03 8.13966233e+01] [-1.16614522e-03 9.99999310e-01 1.39986997e-04 -4.23594557e+00] [ 2.93056412e-03 -1.36569025e-04 9.99995697e-01 -1.07680156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87037174299999 meters Centerline goodness [0,1] 0.9905115892510851 Centerline is valid? [True, True] Translation: X:81.43, Y:-4.23, Z:-1.07 [[ 9.99994913e-01 -2.63449136e-04 -3.17887863e-03 8.14254442e+01] [ 2.63932616e-04 9.99999954e-01 1.51672754e-04 -4.23275274e+00] [ 3.17883853e-03 -1.52510992e-04 9.99994936e-01 -1.07454836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900371743 meters Centerline goodness [0,1] 0.9905898129523016 Centerline is valid? [True, True] Translation: X:81.45, Y:-4.23, Z:-1.07 [[ 9.99995945e-01 -1.16679629e-03 -2.59765330e-03 8.14544430e+01] [ 1.16712270e-03 9.99999311e-01 1.24142451e-04 -4.23455473e+00] [ 2.59750666e-03 -1.27173728e-04 9.99996618e-01 -1.07421576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.930371743 meters Centerline goodness [0,1] 0.9900576701268743 Centerline is valid? [True, True] Translation: X:81.48, Y:-4.24, Z:-1.07 [[ 9.99995822e-01 -2.13454419e-03 -1.94936642e-03 8.14836634e+01] [ 2.13472947e-03 9.99997717e-01 9.29734997e-05 -4.23581488e+00] [ 1.94916352e-03 -9.71344812e-05 9.99998096e-01 -1.07361768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960371743 meters Centerline goodness [0,1] 0.9896930987571768 Centerline is valid? [True, True] Translation: X:81.51, Y:-4.24, Z:-1.07 [[ 9.99993417e-01 -3.61201366e-03 3.44624401e-04 8.15141756e+01] [ 3.61201956e-03 9.99993477e-01 -1.65223338e-05 -4.23942268e+00] [-3.44562474e-04 1.77670152e-05 9.99999940e-01 -1.07244018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.990371743 meters Centerline goodness [0,1] 0.9893859507747566 Centerline is valid? [True, True] Translation: X:81.55, Y:-4.24, Z:-1.07 [[ 9.99990157e-01 -4.28092178e-03 1.16640107e-03 8.15467322e+01] [ 4.28098889e-03 9.99990835e-01 -5.50396528e-05 -4.24222623e+00] [-1.16615476e-03 6.00324611e-05 9.99999318e-01 -1.07221346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020371743 meters Centerline goodness [0,1] 0.9895859674935056 Centerline is valid? [True, True] Translation: X:81.58, Y:-4.25, Z:-1.07 [[ 9.99989274e-01 -4.27993323e-03 1.77011721e-03 8.15790475e+01] [ 4.28008890e-03 9.99990837e-01 -8.41595249e-05 -4.24536328e+00] [-1.76974080e-03 9.17348812e-05 9.99998430e-01 -1.07229715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.050371743 meters Centerline goodness [0,1] 0.9891089563898718 Centerline is valid? [True, True] Translation: X:81.61, Y:-4.25, Z:-1.07 [[ 9.99983638e-01 -4.57792413e-03 3.43031952e-03 8.16105273e+01] [ 4.57851500e-03 9.99989505e-01 -1.64414294e-04 -4.25033526e+00] [-3.42953084e-03 1.80117373e-04 9.99994103e-01 -1.07268062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080371743 meters Centerline goodness [0,1] 0.9880011033468187 Centerline is valid? [True, True] Translation: X:81.64, Y:-4.25, Z:-1.07 [[ 9.99981316e-01 -5.07806576e-03 3.40315290e-03 8.16429838e+01] [ 5.07865019e-03 9.99987090e-01 -1.63113593e-04 -4.25355546e+00] [-3.40228066e-03 1.80393968e-04 9.99994196e-01 -1.07311523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.110371743 meters Centerline goodness [0,1] 0.9879835806177907 Centerline is valid? [True, True] Translation: X:81.68, Y:-4.26, Z:-1.07 [[ 9.99978263e-01 -5.53416329e-03 3.58418070e-03 8.16752720e+01] [ 5.53481554e-03 9.99984668e-01 -1.72088532e-04 -4.25571676e+00] [-3.58317338e-03 1.91922571e-04 9.99993562e-01 -1.07349876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140371743 meters Centerline goodness [0,1] 0.9883843475073314 Centerline is valid? [True, True] Translation: X:81.71, Y:-4.26, Z:-1.07 [[ 9.99974099e-01 -6.44190507e-03 3.20973966e-03 8.17061764e+01] [ 6.44243383e-03 9.99979235e-01 -1.54423750e-04 -4.26018001e+00] [-3.20867823e-03 1.75098286e-04 9.99994837e-01 -1.07420813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.170371743 meters Centerline goodness [0,1] 0.9880514495899111 Centerline is valid? [True, True] Translation: X:81.74, Y:-4.26, Z:-1.08 [[ 9.99966268e-01 -8.00970542e-03 1.81867153e-03 8.17377385e+01] [ 8.00987737e-03 9.99967917e-01 -8.72860509e-05 -4.26494317e+00] [-1.81791405e-03 1.01850442e-04 9.99998342e-01 -1.07627317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.200371743 meters Centerline goodness [0,1] 0.9883880405961415 Centerline is valid? [True, True] Translation: X:81.77, Y:-4.27, Z:-1.08 [[ 9.99958027e-01 -9.07679764e-03 1.24778840e-03 8.17696951e+01] [ 9.07687897e-03 9.99958803e-01 -5.95261178e-05 -4.26920588e+00] [-1.24719669e-03 7.08496436e-05 9.99999220e-01 -1.07735172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.230371743 meters Centerline goodness [0,1] 0.9892698963517648 Centerline is valid? [True, True] Translation: X:81.80, Y:-4.27, Z:-1.08 [[ 9.99939641e-01 -1.09734388e-02 5.45183875e-04 8.18010189e+01] [ 1.09734545e-02 9.99939789e-01 -2.59560415e-05 -4.27158655e+00] [-5.44866222e-04 3.19370253e-05 9.99999851e-01 -1.07836119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260371743 meters Centerline goodness [0,1] 0.988692098092643 Centerline is valid? [True, True] Translation: X:81.83, Y:-4.28, Z:-1.08 [[ 9.99935157e-01 -1.13760614e-02 5.17295789e-04 8.18312598e+01] [ 1.13760757e-02 9.99935290e-01 -2.46203999e-05 -4.28053881e+00] [-5.16982232e-04 3.05035995e-05 9.99999866e-01 -1.08024347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.290371743 meters Centerline goodness [0,1] 0.9885020905289947 Centerline is valid? [True, True] Translation: X:81.86, Y:-4.28, Z:-1.08 [[ 9.99930709e-01 -1.17637512e-02 4.37244346e-04 8.18624429e+01] [ 1.17637613e-02 9.99930804e-01 -2.05625685e-05 -4.28464114e+00] [-4.36972198e-04 2.57047819e-05 9.99999904e-01 -1.08072929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320371743 meters Centerline goodness [0,1] 0.9885657016604787 Centerline is valid? [True, True] Translation: X:81.89, Y:-4.28, Z:-1.08 [[ 9.99925597e-01 -1.21798118e-02 6.72558050e-04 8.18947588e+01] [ 1.21798359e-02 9.99925823e-01 -3.17576427e-05 -4.28030104e+00] [-6.72121360e-04 3.99469265e-05 9.99999773e-01 -1.07917393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.350371743 meters Centerline goodness [0,1] 0.9888433515482696 Centerline is valid? [True, True] Translation: X:81.93, Y:-4.28, Z:-1.08 [[ 9.99927793e-01 -1.19835011e-02 8.96419437e-04 8.19266218e+01] [ 1.19835442e-02 9.99928194e-01 -4.26908342e-05 -4.28064256e+00] [-8.95843483e-04 5.34300336e-05 9.99999597e-01 -1.07872478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380371743 meters Centerline goodness [0,1] 0.988704409363092 Centerline is valid? [True, True] Translation: X:81.96, Y:-4.28, Z:-1.08 [[ 9.99928311e-01 -1.19230556e-02 1.10196482e-03 8.19587830e+01] [ 1.19231208e-02 9.99928916e-01 -5.25660701e-05 -4.28466073e+00] [-1.10125974e-03 6.57011613e-05 9.99999391e-01 -1.07935699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.410371743 meters Centerline goodness [0,1] 0.9888372093023255 Centerline is valid? [True, True] Translation: X:81.99, Y:-4.29, Z:-1.08 [[ 9.99926219e-01 -1.20697715e-02 1.36984435e-03 8.19911034e+01] [ 1.20698732e-02 9.99927154e-01 -6.59880528e-05 -4.28744195e+00] [-1.36894811e-03 8.25170318e-05 9.99999060e-01 -1.07964272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440371743 meters Centerline goodness [0,1] 0.98898553357709 Centerline is valid? [True, True] Translation: X:82.02, Y:-4.29, Z:-1.08 [[ 9.99922804e-01 -1.23296805e-02 1.53755979e-03 8.20235689e+01] [ 1.23298092e-02 9.99923982e-01 -7.42966666e-05 -4.29014363e+00] [-1.53652686e-03 9.32487502e-05 9.99998815e-01 -1.07952400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.470371743 meters Centerline goodness [0,1] 0.9894569053854037 Centerline is valid? [True, True] Translation: X:82.06, Y:-4.29, Z:-1.08 [[ 9.99920292e-01 -1.25200795e-02 1.63038426e-03 8.20562850e+01] [ 1.25202248e-02 9.99921616e-01 -7.89286718e-05 -4.28897039e+00] [-1.62926827e-03 9.93351579e-05 9.99998668e-01 -1.07904620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500371743 meters Centerline goodness [0,1] 0.9893020192154814 Centerline is valid? [True, True] Translation: X:82.09, Y:-4.29, Z:-1.08 [[ 9.99917941e-01 -1.26031155e-02 2.29614277e-03 8.20881997e+01] [ 1.26034048e-02 9.99920568e-01 -1.11528089e-04 -4.29258057e+00] [-2.29455478e-03 1.40458153e-04 9.99997358e-01 -1.07927991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.530371743 meters Centerline goodness [0,1] 0.9894328669584345 Centerline is valid? [True, True] Translation: X:82.12, Y:-4.30, Z:-1.08 [[ 9.99917859e-01 -1.25229214e-02 2.72974873e-03 8.21205049e+01] [ 1.25233317e-02 9.99921571e-01 -1.33275157e-04 -4.29594114e+00] [-2.72786565e-03 1.67449758e-04 9.99996265e-01 -1.07933543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.560371743 meters Centerline goodness [0,1] 0.9887907608695652 Centerline is valid? [True, True] Translation: X:82.15, Y:-4.30, Z:-1.08 [[ 9.99920416e-01 -1.22998594e-02 2.80615484e-03 8.21518977e+01] [ 1.23002928e-02 9.99924339e-01 -1.37242432e-04 -4.30279162e+00] [-2.80425446e-03 1.71748036e-04 9.99996053e-01 -1.08068409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.590371743 meters Centerline goodness [0,1] 0.9891632093223606 Centerline is valid? [True, True] Translation: X:82.18, Y:-4.30, Z:-1.08 [[ 9.99920488e-01 -1.23719809e-02 2.43981116e-03 8.21836822e+01] [ 1.23723093e-02 9.99923453e-01 -1.19573369e-04 -4.30236577e+00] [-2.43814504e-03 1.49749960e-04 9.99997017e-01 -1.08011151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62037174299999 meters Centerline goodness [0,1] 0.9889405498126664 Centerline is valid? [True, True] Translation: X:82.22, Y:-4.31, Z:-1.08 [[ 9.99920051e-01 -1.23317889e-02 2.79631636e-03 8.22156539e+01] [ 1.23322198e-02 9.99923946e-01 -1.36922888e-04 -4.31043358e+00] [-2.79441519e-03 1.71396729e-04 9.99996081e-01 -1.08134017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.650371743 meters Centerline goodness [0,1] 0.9897233021849351 Centerline is valid? [True, True] Translation: X:82.25, Y:-4.30, Z:-1.08 [[ 9.99914103e-01 -1.28764369e-02 2.44637852e-03 8.22481346e+01] [ 1.28767690e-02 9.99917084e-01 -1.20034143e-04 -4.30487497e+00] [-2.44463006e-03 1.51525284e-04 9.99997000e-01 -1.08003336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680371743 meters Centerline goodness [0,1] 0.9897582308023475 Centerline is valid? [True, True] Translation: X:82.28, Y:-4.31, Z:-1.08 [[ 9.99901166e-01 -1.39010023e-02 2.10253280e-03 8.22785851e+01] [ 1.39012503e-02 9.99903368e-01 -1.03386908e-04 -4.31368850e+00] [-2.10089244e-03 1.32604525e-04 9.99997784e-01 -1.08172907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.710371743 meters Centerline goodness [0,1] 0.989089676982155 Centerline is valid? [True, True] Translation: X:82.31, Y:-4.32, Z:-1.08 [[ 9.99893328e-01 -1.44855902e-02 1.87099564e-03 8.23106832e+01] [ 1.44857874e-02 9.99895071e-01 -9.18431756e-05 -4.31796760e+00] [-1.86946892e-03 1.18936224e-04 9.99998245e-01 -1.08318116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740371743 meters Centerline goodness [0,1] 0.9892280884382991 Centerline is valid? [True, True] Translation: X:82.34, Y:-4.32, Z:-1.08 [[ 9.99883028e-01 -1.52208039e-02 1.50236155e-03 8.23421501e+01] [ 1.52209320e-02 9.99884152e-01 -7.38756966e-05 -4.32167606e+00] [-1.50106306e-03 9.67343983e-05 9.99998869e-01 -1.08451013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.770371743 meters Centerline goodness [0,1] 0.9895138873194874 Centerline is valid? [True, True] Translation: X:82.37, Y:-4.33, Z:-1.09 [[ 9.99866148e-01 -1.63380060e-02 8.69263100e-04 8.23733886e+01] [ 1.63380491e-02 9.99866524e-01 -4.25007009e-05 -4.32787150e+00] [-8.68452698e-04 5.66970753e-05 9.99999621e-01 -1.08628654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800371743 meters Centerline goodness [0,1] 0.9896644935601845 Centerline is valid? [True, True] Translation: X:82.41, Y:-4.33, Z:-1.09 [[ 9.99865930e-01 -1.63215945e-02 1.31435656e-03 8.24067328e+01] [ 1.63216928e-02 9.99866790e-01 -6.40683614e-05 -4.33033586e+00] [-1.31313578e-03 8.55122958e-05 9.99999134e-01 -1.08633496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.830371743 meters Centerline goodness [0,1] 0.9887992427657081 Centerline is valid? [True, True] Translation: X:82.44, Y:-4.33, Z:-1.09 [[ 9.99866495e-01 -1.61619943e-02 2.40462811e-03 8.24383155e+01] [ 1.61623270e-02 9.99869374e-01 -1.18985008e-04 -4.33401336e+00] [-2.40239097e-03 1.57833509e-04 9.99997102e-01 -1.08573149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860371743 meters Centerline goodness [0,1] 0.9901529246267641 Centerline is valid? [True, True] Translation: X:82.47, Y:-4.33, Z:-1.08 [[ 9.99870462e-01 -1.57866180e-02 3.13716121e-03 8.24714049e+01] [ 1.57871838e-02 9.99875363e-01 -1.55661663e-04 -4.32563728e+00] [-3.13431284e-03 2.05168440e-04 9.99995067e-01 -1.08362905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.890371743 meters Centerline goodness [0,1] 0.9899514585129066 Centerline is valid? [True, True] Translation: X:82.50, Y:-4.33, Z:-1.08 [[ 9.99884177e-01 -1.47480117e-02 3.75885501e-03 8.25038315e+01] [ 1.47488184e-02 9.99891213e-01 -1.86971631e-04 -4.32677320e+00] [-3.75568863e-03 2.42388645e-04 9.99992918e-01 -1.08329753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920371743 meters Centerline goodness [0,1] 0.988627077090711 Centerline is valid? [True, True] Translation: X:82.53, Y:-4.34, Z:-1.09 [[ 9.99886986e-01 -1.44844694e-02 4.02673589e-03 8.25340496e+01] [ 1.44853952e-02 9.99895061e-01 -2.00842667e-04 -4.34239749e+00] [-4.02340423e-03 2.59148830e-04 9.99991872e-01 -1.08587438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.950371743 meters Centerline goodness [0,1] 0.9905904226374025 Centerline is valid? [True, True] Translation: X:82.57, Y:-4.33, Z:-1.09 [[ 9.99890489e-01 -1.42379548e-02 4.03622957e-03 8.25665483e+01] [ 1.42388832e-02 9.99898602e-01 -2.01379637e-04 -4.33391575e+00] [-4.03295307e-03 2.58828985e-04 9.99991834e-01 -1.08515578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.980371743 meters Centerline goodness [0,1] 0.9909251380465285 Centerline is valid? [True, True] Translation: X:82.60, Y:-4.33, Z:-1.09 [[ 9.99890451e-01 -1.43801271e-02 3.50670210e-03 8.25989262e+01] [ 1.43808292e-02 9.99896575e-01 -1.75065573e-04 -4.33408299e+00] [-3.50382196e-03 2.25475679e-04 9.99993836e-01 -1.08577860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.010371743 meters Centerline goodness [0,1] 0.9904949419512526 Centerline is valid? [True, True] Translation: X:82.63, Y:-4.34, Z:-1.09 [[ 9.99888117e-01 -1.46260747e-02 3.13537584e-03 8.26296512e+01] [ 1.46266381e-02 9.99893013e-01 -1.56844575e-04 -4.33761323e+00] [-3.13274638e-03 2.02687035e-04 9.99995072e-01 -1.08699108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040371743 meters Centerline goodness [0,1] 0.9904559915164369 Centerline is valid? [True, True] Translation: X:82.66, Y:-4.34, Z:-1.09 [[ 9.99866914e-01 -1.60909197e-02 2.68995551e-03 8.26617644e+01] [ 1.60913393e-02 9.99870517e-01 -1.34416139e-04 -4.34172660e+00] [-2.68744433e-03 1.77683237e-04 9.99996373e-01 -1.08857802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.070371743 meters Centerline goodness [0,1] 0.9903941777416146 Centerline is valid? [True, True] Translation: X:82.69, Y:-4.34, Z:-1.09 [[ 9.99860855e-01 -1.64944180e-02 2.49075380e-03 8.26937533e+01] [ 1.64947793e-02 9.99863944e-01 -1.24564824e-04 -4.34398091e+00] [-2.48836029e-03 1.65631925e-04 9.99996890e-01 -1.08924496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100371743 meters Centerline goodness [0,1] 0.9890295930114444 Centerline is valid? [True, True] Translation: X:82.72, Y:-4.35, Z:-1.09 [[ 9.99845243e-01 -1.74842530e-02 1.94678064e-03 8.27243873e+01] [ 1.74844758e-02 9.99847130e-01 -9.75032478e-05 -4.35063466e+00] [-1.94477827e-03 1.31526598e-04 9.99998100e-01 -1.09055532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.130371743 meters Centerline goodness [0,1] 0.9908192884948583 Centerline is valid? [True, True] Translation: X:82.76, Y:-4.35, Z:-1.09 [[ 9.99845630e-01 -1.74163391e-02 2.32104002e-03 8.27570586e+01] [ 1.74166549e-02 9.99848312e-01 -1.15910544e-04 -4.35163796e+00] [-2.31866921e-03 1.56317404e-04 9.99997300e-01 -1.09072238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160371743 meters Centerline goodness [0,1] 0.9908192884948583 Centerline is valid? [True, True] Translation: X:82.79, Y:-4.35, Z:-1.09 [[ 9.99847490e-01 -1.73092259e-02 2.32102747e-03 8.27896329e+01] [ 1.73095420e-02 9.99850172e-01 -1.16159961e-04 -4.35337710e+00] [-2.31866908e-03 1.56318168e-04 9.99997300e-01 -1.09116389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.190371743 meters Centerline goodness [0,1] 0.9901528776978418 Centerline is valid? [True, True] Translation: X:82.82, Y:-4.36, Z:-1.09 [[ 9.99844089e-01 -1.75035858e-02 2.32864025e-03 8.28209764e+01] [ 1.75039065e-02 9.99846788e-01 -1.17403202e-04 -4.35826471e+00] [-2.32622850e-03 1.58145198e-04 9.99997282e-01 -1.09203437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220371743 meters Centerline goodness [0,1] 0.9903148790486058 Centerline is valid? [True, True] Translation: X:82.85, Y:-4.36, Z:-1.09 [[ 9.99855575e-01 -1.68217976e-02 2.42017236e-03 8.28530045e+01] [ 1.68221418e-02 9.99858490e-01 -1.21961754e-04 -4.35746534e+00] [-2.41777827e-03 1.62656622e-04 9.99997064e-01 -1.09190234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.250371743 meters Centerline goodness [0,1] 0.9908078686451205 Centerline is valid? [True, True] Translation: X:82.89, Y:-4.36, Z:-1.09 [[ 9.99864896e-01 -1.62565873e-02 2.43181903e-03 8.28856077e+01] [ 1.62569332e-02 9.99867840e-01 -1.22540881e-04 -4.36075075e+00] [-2.42950554e-03 1.62058245e-04 9.99997036e-01 -1.09288454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280371743 meters Centerline goodness [0,1] 0.9901544271360173 Centerline is valid? [True, True] Translation: X:82.92, Y:-4.36, Z:-1.09 [[ 9.99878912e-01 -1.53999245e-02 2.23698442e-03 8.29174280e+01] [ 1.54002157e-02 9.99881403e-01 -1.13024177e-04 -4.36223358e+00] [-2.23497856e-03 1.47460533e-04 9.99997492e-01 -1.09321442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.310371743 meters Centerline goodness [0,1] 0.9908747995392225 Centerline is valid? [True, True] Translation: X:82.95, Y:-4.36, Z:-1.09 [[ 9.99908293e-01 -1.34141848e-02 1.86168108e-03 8.29486270e+01] [ 1.34143837e-02 9.99910019e-01 -9.44430865e-05 -4.36059280e+00] [-1.86024669e-03 1.19407730e-04 9.99998263e-01 -1.09365480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.340371743 meters Centerline goodness [0,1] 0.9907568140316072 Centerline is valid? [True, True] Translation: X:82.98, Y:-4.36, Z:-1.09 [[ 9.99923380e-01 -1.22822657e-02 1.54260137e-03 8.29799704e+01] [ 1.22824006e-02 9.99924565e-01 -7.80170758e-05 -4.36260075e+00] [-1.54152678e-03 9.69579462e-05 9.99998807e-01 -1.09446765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37037174299999 meters Centerline goodness [0,1] 0.9907221834395478 Centerline is valid? [True, True] Translation: X:83.01, Y:-4.37, Z:-1.09 [[ 9.99946738e-01 -1.01228138e-02 2.01221708e-03 8.30107304e+01] [ 1.01230401e-02 9.99948755e-01 -1.02310750e-04 -4.36544104e+00] [-2.01107829e-03 1.22675055e-04 9.99997970e-01 -1.09493870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400371743 meters Centerline goodness [0,1] 0.9906971505800203 Centerline is valid? [True, True] Translation: X:83.04, Y:-4.36, Z:-1.09 [[ 9.99951382e-01 -9.43117315e-03 2.87864557e-03 8.30430630e+01] [ 9.43163321e-03 9.99955510e-01 -1.46283142e-04 -4.36422253e+00] [-2.87713788e-03 1.73426359e-04 9.99995846e-01 -1.09454083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.430371743 meters Centerline goodness [0,1] 0.990933776171989 Centerline is valid? [True, True] Translation: X:83.07, Y:-4.37, Z:-1.09 [[ 9.99954976e-01 -8.77342418e-03 3.61578283e-03 8.30742086e+01] [ 8.77414827e-03 9.99961489e-01 -1.84442140e-04 -4.36696439e+00] [-3.61402540e-03 2.16159251e-04 9.99993446e-01 -1.09450845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460371743 meters Centerline goodness [0,1] 0.9908180488353775 Centerline is valid? [True, True] Translation: X:83.11, Y:-4.37, Z:-1.09 [[ 9.99959950e-01 -7.73477165e-03 4.50248483e-03 8.31062205e+01] [ 7.73588512e-03 9.99970051e-01 -2.29938381e-04 -4.36927959e+00] [-4.50057146e-03 2.64759877e-04 9.99989837e-01 -1.09438795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.490371743 meters Centerline goodness [0,1] 0.9894021555700561 Centerline is valid? [True, True] Translation: X:83.14, Y:-4.38, Z:-1.10 [[ 9.99965057e-01 -7.13140897e-03 4.36218176e-03 8.31373438e+01] [ 7.13245039e-03 9.99974539e-01 -2.23226052e-04 -4.37893401e+00] [-4.36047878e-03 2.54331297e-04 9.99990461e-01 -1.09578910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520371743 meters Centerline goodness [0,1] 0.9912270835676527 Centerline is valid? [True, True] Translation: X:83.17, Y:-4.37, Z:-1.09 [[ 9.99966043e-01 -6.79289005e-03 4.66576071e-03 8.31696464e+01] [ 6.79407836e-03 9.99976891e-01 -2.38885111e-04 -4.37053963e+00] [-4.66403017e-03 2.70576544e-04 9.99989087e-01 -1.09444599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.550371743 meters Centerline goodness [0,1] 0.9907882882882882 Centerline is valid? [True, True] Translation: X:83.20, Y:-4.37, Z:-1.10 [[ 9.99976021e-01 -5.63338962e-03 4.02768503e-03 8.32004755e+01] [ 5.63426713e-03 9.99984106e-01 -2.06554698e-04 -4.37279559e+00] [-4.02645741e-03 2.29242799e-04 9.99991868e-01 -1.09517916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580371743 meters Centerline goodness [0,1] 0.9901012272686553 Centerline is valid? [True, True] Translation: X:83.23, Y:-4.38, Z:-1.10 [[ 9.99981951e-01 -4.84227482e-03 3.55672325e-03 8.32313847e+01] [ 4.84295452e-03 9.99988256e-01 -1.82516060e-04 -4.37703541e+00] [-3.55579769e-03 1.99737815e-04 9.99993658e-01 -1.09670373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.610371743 meters Centerline goodness [0,1] 0.9907847533632287 Centerline is valid? [True, True] Translation: X:83.26, Y:-4.38, Z:-1.10 [[ 9.99985715e-01 -3.98431093e-03 3.56293089e-03 8.32632200e+01] [ 3.98498765e-03 9.99992043e-01 -1.82854652e-04 -4.37863128e+00] [-3.56217399e-03 1.97050276e-04 9.99993636e-01 -1.09725340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640371743 meters Centerline goodness [0,1] 0.9904546371193619 Centerline is valid? [True, True] Translation: X:83.29, Y:-4.39, Z:-1.10 [[ 9.99988954e-01 -3.44085944e-03 3.20197281e-03 8.32944509e+01] [ 3.44140366e-03 9.99994065e-01 -1.64467992e-04 -4.38765462e+00] [-3.20138790e-03 1.75485456e-04 9.99994860e-01 -1.09905457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.670371743 meters Centerline goodness [0,1] 0.9911002510760402 Centerline is valid? [True, True] Translation: X:83.33, Y:-4.38, Z:-1.10 [[ 9.99991602e-01 -2.27930027e-03 3.40596589e-03 8.33266764e+01] [ 2.27991029e-03 9.99997386e-01 -1.75231644e-04 -4.38189080e+00] [-3.40555758e-03 1.82995469e-04 9.99994184e-01 -1.09813779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.700371743 meters Centerline goodness [0,1] 0.990990990990991 Centerline is valid? [True, True] Translation: X:83.36, Y:-4.38, Z:-1.10 [[ 9.99992104e-01 -1.18533012e-03 3.79311540e-03 8.33581725e+01] [ 1.18608036e-03 9.99999277e-01 -1.95546903e-04 -4.38460773e+00] [-3.79288088e-03 2.00044299e-04 9.99992787e-01 -1.09835446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.730371743 meters Centerline goodness [0,1] 0.9919118141285596 Centerline is valid? [True, True] Translation: X:83.39, Y:-4.39, Z:-1.10 [[ 9.99990546e-01 1.08889329e-03 4.20989109e-03 8.33896541e+01] [-1.08798605e-03 9.99999384e-01 -2.17785090e-04 -4.38685991e+00] [-4.21012564e-03 2.13202728e-04 9.99991115e-01 -1.09876894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760371743 meters Centerline goodness [0,1] 0.991190806242454 Centerline is valid? [True, True] Translation: X:83.42, Y:-4.39, Z:-1.10 [[ 9.99988363e-01 2.38880413e-03 4.19137106e-03 8.34210353e+01] [-2.38791562e-03 9.99997125e-01 -2.16978469e-04 -4.38892257e+00] [-4.19187733e-03 2.06967303e-04 9.99991193e-01 -1.09966173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.790371743 meters Centerline goodness [0,1] 0.9912122225939556 Centerline is valid? [True, True] Translation: X:83.45, Y:-4.39, Z:-1.10 [[ 9.99983376e-01 4.03977705e-03 4.11438470e-03 8.34525916e+01] [-4.03893425e-03 9.99991821e-01 -2.13129806e-04 -4.39022608e+00] [-4.11521204e-03 1.96508534e-04 9.99991513e-01 -1.10034884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820371743 meters Centerline goodness [0,1] 0.990832645595878 Centerline is valid? [True, True] Translation: X:83.48, Y:-4.39, Z:-1.10 [[ 9.99970081e-01 6.71503127e-03 3.83986829e-03 8.34827795e+01] [-6.71431579e-03 9.99977439e-01 -1.99191398e-04 -4.39216487e+00] [-3.84111923e-03 1.73403350e-04 9.99992608e-01 -1.10115024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.850371743 meters Centerline goodness [0,1] 0.9902903933061882 Centerline is valid? [True, True] Translation: X:83.51, Y:-4.39, Z:-1.10 [[ 9.99964204e-01 7.69346105e-03 3.52142383e-03 8.35125594e+01] [-7.69286333e-03 9.99970393e-01 -1.83251374e-04 -4.39234130e+00] [-3.52272941e-03 1.56154982e-04 9.99993783e-01 -1.10066583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880371743 meters Centerline goodness [0,1] 0.9912891595942406 Centerline is valid? [True, True] Translation: X:83.54, Y:-4.39, Z:-1.10 [[ 9.99957817e-01 8.58225425e-03 3.27251160e-03 8.35418239e+01] [-8.58174246e-03 9.99963162e-01 -1.70400186e-04 -4.39275330e+00] [-3.27385346e-03 1.42309146e-04 9.99994631e-01 -1.10063000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.910371743 meters Centerline goodness [0,1] 0.9910971283218422 Centerline is valid? [True, True] Translation: X:83.57, Y:-4.40, Z:-1.10 [[ 9.99949772e-01 9.11528925e-03 4.16712128e-03 8.35710803e+01] [-9.11446577e-03 9.99958439e-01 -2.16562306e-04 -4.39517570e+00] [-4.16892212e-03 1.78570345e-04 9.99991294e-01 -1.10041300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940371743 meters Centerline goodness [0,1] 0.9903140134354007 Centerline is valid? [True, True] Translation: X:83.60, Y:-4.40, Z:-1.10 [[ 9.99950597e-01 8.86342415e-03 4.49933288e-03 8.35997313e+01] [-8.86246295e-03 9.99960700e-01 -2.33523528e-04 -4.39934970e+00] [-4.50122587e-03 1.93636821e-04 9.99989851e-01 -1.10128550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.970371743 meters Centerline goodness [0,1] 0.9900765396938412 Centerline is valid? [True, True] Translation: X:83.63, Y:-4.40, Z:-1.10 [[ 9.99951883e-01 8.50656162e-03 4.88564470e-03 8.36295027e+01] [-8.50542636e-03 9.99963796e-01 -2.53097431e-04 -4.40115274e+00] [-4.88762081e-03 2.11530761e-04 9.99988033e-01 -1.10091947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000371743 meters Centerline goodness [0,1] 0.9918233669013456 Centerline is valid? [True, True] Translation: X:83.66, Y:-4.40, Z:-1.10 [[ 9.99969644e-01 6.46902010e-03 4.34313975e-03 8.36593670e+01] [-6.46810564e-03 9.99979056e-01 -2.24564716e-04 -4.40424483e+00] [-4.34450150e-03 1.96466012e-04 9.99990543e-01 -1.10068147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.030371743 meters Centerline goodness [0,1] 0.9912684129840699 Centerline is valid? [True, True] Translation: X:83.69, Y:-4.41, Z:-1.10 [[ 9.99976818e-01 5.37980168e-03 4.17398751e-03 8.36889693e+01] [-5.37895108e-03 9.99985510e-01 -2.14985850e-04 -4.40893185e+00] [-4.17508361e-03 1.92529191e-04 9.99991266e-01 -1.10125111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.060371743 meters Centerline goodness [0,1] 0.9909970138610331 Centerline is valid? [True, True] Translation: X:83.72, Y:-4.42, Z:-1.10 [[ 9.99991611e-01 2.36785988e-03 3.34237368e-03 8.37183646e+01] [-2.36729385e-03 9.99997183e-01 -1.73295618e-04 -4.41536185e+00] [-3.34277460e-03 1.65381783e-04 9.99994399e-01 -1.10215226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.090371743 meters Centerline goodness [0,1] 0.9911728738187883 Centerline is valid? [True, True] Translation: X:83.75, Y:-4.42, Z:-1.10 [[ 9.99994896e-01 7.45203998e-04 3.10696339e-03 8.37494509e+01] [-7.44708869e-04 9.99999710e-01 -1.60514935e-04 -4.41895561e+00] [-3.10708211e-03 1.58200333e-04 9.99995160e-01 -1.10282515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12037174299999 meters Centerline goodness [0,1] 0.9917555018727422 Centerline is valid? [True, True] Translation: X:83.78, Y:-4.42, Z:-1.10 [[ 9.99995004e-01 -1.00822443e-03 2.99589053e-03 8.37804820e+01] [ 1.00869289e-03 9.99999479e-01 -1.54861179e-04 -4.42196180e+00] [-2.99573283e-03 1.57882338e-04 9.99995500e-01 -1.10336647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.150371743 meters Centerline goodness [0,1] 0.9912590912123841 Centerline is valid? [True, True] Translation: X:83.81, Y:-4.43, Z:-1.10 [[ 9.99993977e-01 -2.51810120e-03 2.38860489e-03 8.38113358e+01] [ 2.51839826e-03 9.99996821e-01 -1.21368327e-04 -4.42705510e+00] [-2.38829168e-03 1.27383055e-04 9.99997140e-01 -1.10414090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180371743 meters Centerline goodness [0,1] 0.9908753857425127 Centerline is valid? [True, True] Translation: X:83.84, Y:-4.43, Z:-1.10 [[ 9.99979421e-01 -6.11848730e-03 1.92933720e-03 8.38419322e+01] [ 6.11869209e-03 9.99981276e-01 -1.00261526e-04 -4.43107573e+00] [-1.92868763e-03 1.12064483e-04 9.99998134e-01 -1.10441521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.210371743 meters Centerline goodness [0,1] 0.9904377343420673 Centerline is valid? [True, True] Translation: X:83.87, Y:-4.44, Z:-1.11 [[ 9.99965335e-01 -8.06183607e-03 2.08208408e-03 8.38716171e+01] [ 8.06207928e-03 9.99967495e-01 -1.08444822e-04 -4.43630232e+00] [-2.08114214e-03 1.25226990e-04 9.99997827e-01 -1.10504046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240371743 meters Centerline goodness [0,1] 0.991102334250466 Centerline is valid? [True, True] Translation: X:83.90, Y:-4.43, Z:-1.10 [[ 9.99949199e-01 -9.82783545e-03 2.23913609e-03 8.39040079e+01] [ 9.82811975e-03 9.99951696e-01 -1.16001164e-04 -4.42800949e+00] [-2.23788789e-03 1.38001769e-04 9.99997486e-01 -1.10285090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.270371743 meters Centerline goodness [0,1] 0.9914852937907116 Centerline is valid? [True, True] Translation: X:83.94, Y:-4.43, Z:-1.10 [[ 9.99909087e-01 -1.31709741e-02 2.88839273e-03 8.39351802e+01] [ 1.31714627e-02 9.99913241e-01 -1.50214679e-04 -4.43212082e+00] [-2.88616366e-03 1.88245380e-04 9.99995817e-01 -1.10244206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300371743 meters Centerline goodness [0,1] 0.9908195700980283 Centerline is valid? [True, True] Translation: X:83.97, Y:-4.44, Z:-1.10 [[ 9.99888400e-01 -1.45751105e-02 3.27941312e-03 8.39667883e+01] [ 1.45757479e-02 9.99893754e-01 -1.70549820e-04 -4.43533246e+00] [-3.27657891e-03 2.18330686e-04 9.99994608e-01 -1.10252553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.330371743 meters Centerline goodness [0,1] 0.9911776500467852 Centerline is valid? [True, True] Translation: X:84.00, Y:-4.44, Z:-1.10 [[ 9.99848023e-01 -1.70571521e-02 3.60330727e-03 8.39976909e+01] [ 1.70579390e-02 9.99854485e-01 -1.87739648e-04 -4.43582657e+00] [-3.59958063e-03 2.49176111e-04 9.99993490e-01 -1.10213496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360371743 meters Centerline goodness [0,1] 0.99116560594597 Centerline is valid? [True, True] Translation: X:84.03, Y:-4.44, Z:-1.10 [[ 9.99832214e-01 -1.79713548e-02 3.54611455e-03 8.40294814e+01] [ 1.79721222e-02 9.99838471e-01 -1.84647206e-04 -4.43876506e+00] [-3.54222339e-03 2.48347429e-04 9.99993695e-01 -1.10272964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.390371743 meters Centerline goodness [0,1] 0.9906265307031216 Centerline is valid? [True, True] Translation: X:84.06, Y:-4.44, Z:-1.10 [[ 9.99796422e-01 -2.00444138e-02 2.31018400e-03 8.40607115e+01] [ 2.00447456e-02 9.99799077e-01 -1.20532396e-04 -4.44240354e+00] [-2.30730383e-03 1.66814909e-04 9.99997324e-01 -1.10426682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420371743 meters Centerline goodness [0,1] 0.9909405808686385 Centerline is valid? [True, True] Translation: X:84.09, Y:-4.45, Z:-1.11 [[ 9.99770913e-01 -2.13373439e-02 1.68528468e-03 8.40919190e+01] [ 2.13375218e-02 9.99772325e-01 -8.76420995e-05 -4.44736835e+00] [-1.68303093e-03 1.23581820e-04 9.99998576e-01 -1.10609360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.450371743 meters Centerline goodness [0,1] 0.9897042181640668 Centerline is valid? [True, True] Translation: X:84.12, Y:-4.45, Z:-1.11 [[ 9.99748689e-01 -2.24045729e-02 7.71030967e-04 8.41239331e+01] [ 2.24046100e-02 9.99748984e-01 -3.95263939e-05 -4.45073959e+00] [-7.69951854e-04 5.67911086e-05 9.99999702e-01 -1.10780029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48037174299999 meters Centerline goodness [0,1] 0.9902899648122578 Centerline is valid? [True, True] Translation: X:84.16, Y:-4.45, Z:-1.11 [[ 9.99686820e-01 -2.50215685e-02 -4.26894296e-04 8.41552256e+01] [ 2.50215805e-02 9.99686911e-01 2.29157074e-05 -4.45257557e+00] [ 4.26187253e-04 -3.35901006e-05 9.99999909e-01 -1.10945592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.510371743 meters Centerline goodness [0,1] 0.990221686424218 Centerline is valid? [True, True] Translation: X:84.19, Y:-4.45, Z:-1.11 [[ 9.99660782e-01 -2.60088924e-02 -1.36360991e-03 8.41871171e+01] [ 2.60090156e-02 9.99661706e-01 7.27149257e-05 -4.45492711e+00] [ 1.36125737e-03 -1.08156411e-04 9.99999068e-01 -1.11056819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540371743 meters Centerline goodness [0,1] 0.9896465548018565 Centerline is valid? [True, True] Translation: X:84.22, Y:-4.46, Z:-1.11 [[ 9.99625144e-01 -2.72329409e-02 -2.81735624e-03 8.42167754e+01] [ 2.72334662e-02 9.99629089e-01 1.48248364e-04 -4.45687711e+00] [ 2.81227402e-03 -2.24919168e-04 9.99996020e-01 -1.11158200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.570371743 meters Centerline goodness [0,1] 0.9890144171847495 Centerline is valid? [True, True] Translation: X:84.25, Y:-4.46, Z:-1.11 [[ 9.99611299e-01 -2.76931724e-02 -3.21554046e-03 8.42492987e+01] [ 2.76938628e-02 9.99616437e-01 1.70371565e-04 -4.45869601e+00] [ 3.20958897e-03 -2.59356078e-04 9.99994816e-01 -1.11228322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600371743 meters Centerline goodness [0,1] 0.988786703601108 Centerline is valid? [True, True] Translation: X:84.28, Y:-4.46, Z:-1.11 [[ 9.99603854e-01 -2.79134427e-02 -3.60211534e-03 8.42815695e+01] [ 2.79143110e-02 9.99610301e-01 1.90985446e-04 -4.46067827e+00] [ 3.59538054e-03 -2.91460356e-04 9.99993494e-01 -1.11281155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.630371743 meters Centerline goodness [0,1] 0.9874468606022836 Centerline is valid? [True, True] Translation: X:84.31, Y:-4.46, Z:-1.11 [[ 9.99589287e-01 -2.84019580e-02 -3.81906132e-03 8.43133171e+01] [ 2.84029384e-02 9.99596535e-01 2.02693879e-04 -4.46285966e+00] [ 3.81176355e-03 -3.11083193e-04 9.99992687e-01 -1.11320155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660371743 meters Centerline goodness [0,1] 0.9861594009093341 Centerline is valid? [True, True] Translation: X:84.34, Y:-4.46, Z:-1.11 [[ 9.99578237e-01 -2.87553555e-02 -4.05935960e-03 8.43445068e+01] [ 2.87564656e-02 9.99586424e-01 2.15362609e-04 -4.46446966e+00] [ 4.05148792e-03 -3.32004612e-04 9.99991738e-01 -1.11376895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.690371743 meters Centerline goodness [0,1] 0.9862427255903141 Centerline is valid? [True, True] Translation: X:84.38, Y:-4.47, Z:-1.11 [[ 9.99590828e-01 -2.82473102e-02 -4.50174331e-03 8.43770922e+01] [ 2.82486724e-02 9.99600898e-01 2.39282006e-04 -4.46539412e+00] [ 4.49318759e-03 -3.66352371e-04 9.99989838e-01 -1.11414958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720371743 meters Centerline goodness [0,1] 0.981684572602801 Centerline is valid? [True, True] Translation: X:84.41, Y:-4.47, Z:-1.11 [[ 9.99648288e-01 -2.62233712e-02 -3.95411896e-03 8.44069995e+01] [ 2.62244032e-02 9.99656059e-01 2.09364726e-04 -4.46611967e+00] [ 3.94726873e-03 -3.12985500e-04 9.99992161e-01 -1.11452012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.750371743 meters Centerline goodness [0,1] 0.9852766776308429 Centerline is valid? [True, True] Translation: X:84.44, Y:-4.46, Z:-1.11 [[ 9.99689806e-01 -2.47214258e-02 -3.02376293e-03 8.44383141e+01] [ 2.47220241e-02 9.99694351e-01 1.60661923e-04 -4.46423587e+00] [ 3.01886693e-03 -2.35365627e-04 9.99995416e-01 -1.11389593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780371743 meters Centerline goodness [0,1] 0.9855004152357866 Centerline is valid? [True, True] Translation: X:84.47, Y:-4.46, Z:-1.11 [[ 9.99723086e-01 -2.33912006e-02 -2.56975431e-03 8.44688542e+01] [ 2.33916281e-02 9.99726369e-01 1.36421814e-04 -4.46480921e+00] [ 2.56586008e-03 -1.96494775e-04 9.99996689e-01 -1.11380123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.810371743 meters Centerline goodness [0,1] 0.986543972774494 Centerline is valid? [True, True] Translation: X:84.50, Y:-4.46, Z:-1.11 [[ 9.99785395e-01 -2.06673209e-02 -1.42357075e-03 8.44989348e+01] [ 2.06674491e-02 9.99786403e-01 7.54165136e-05 -4.46242991e+00] [ 1.42170802e-03 -1.04821905e-04 9.99998984e-01 -1.11294014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.840371743 meters Centerline goodness [0,1] 0.9864440958996191 Centerline is valid? [True, True] Translation: X:84.53, Y:-4.46, Z:-1.11 [[ 9.99808058e-01 -1.95612893e-02 -1.09701783e-03 8.45307109e+01] [ 1.95613656e-02 9.99808656e-01 5.88554723e-05 -4.46303427e+00] [ 1.09565663e-03 -8.03033423e-05 9.99999397e-01 -1.11306879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87037174299999 meters Centerline goodness [0,1] 0.9857996674605671 Centerline is valid? [True, True] Translation: X:84.56, Y:-4.46, Z:-1.11 [[ 9.99814745e-01 -1.92231182e-02 -9.73717947e-04 8.45630818e+01] [ 1.92231785e-02 9.99815216e-01 5.25928946e-05 -4.46414481e+00] [ 9.72527021e-04 -7.13011054e-05 9.99999525e-01 -1.11353107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900371743 meters Centerline goodness [0,1] 0.989069814321231 Centerline is valid? [True, True] Translation: X:84.60, Y:-4.45, Z:-1.11 [[ 9.99822332e-01 -1.88296173e-02 -8.66326016e-04 8.45962872e+01] [ 1.88296651e-02 9.99822705e-01 4.70356002e-05 -4.45222495e+00] [ 8.65286758e-04 -6.33398722e-05 9.99999624e-01 -1.11131012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.930371743 meters Centerline goodness [0,1] 0.9896426489709904 Centerline is valid? [True, True] Translation: X:84.63, Y:-4.45, Z:-1.11 [[ 9.99812475e-01 -1.93408657e-02 -9.72907382e-04 8.46284183e+01] [ 1.93409262e-02 9.99812945e-01 5.27652478e-05 -4.45474389e+00] [ 9.71704869e-04 -7.15722828e-05 9.99999525e-01 -1.11193565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960371743 meters Centerline goodness [0,1] 0.9898485155423504 Centerline is valid? [True, True] Translation: X:84.66, Y:-4.45, Z:-1.11 [[ 9.99806129e-01 -1.96250570e-02 -1.60035410e-03 8.46605346e+01] [ 1.96252202e-02 9.99807403e-01 8.63306158e-05 -4.45215472e+00] [ 1.59835163e-03 -1.17721180e-04 9.99998716e-01 -1.11182555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.990371743 meters Centerline goodness [0,1] 0.9899543789468953 Centerline is valid? [True, True] Translation: X:84.69, Y:-4.45, Z:-1.11 [[ 9.99795705e-01 -2.00892127e-02 -2.22984007e-03 8.46910408e+01] [ 2.00895289e-02 9.99798178e-01 1.19484037e-04 -4.45498296e+00] [ 2.22698970e-03 -1.64256063e-04 9.99997507e-01 -1.11268331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020371743 meters Centerline goodness [0,1] 0.9896939693969397 Centerline is valid? [True, True] Translation: X:84.72, Y:-4.45, Z:-1.11 [[ 9.99790826e-01 -2.02294171e-02 -3.01259806e-03 8.47233017e+01] [ 2.02299965e-02 9.99795340e-01 1.61962584e-04 -4.45483570e+00] [ 3.00870510e-03 -2.22873554e-04 9.99995449e-01 -1.11330641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.050371743 meters Centerline goodness [0,1] 0.9898656240168981 Centerline is valid? [True, True] Translation: X:84.75, Y:-4.46, Z:-1.11 [[ 9.99814463e-01 -1.91043980e-02 -2.46204450e-03 8.47543062e+01] [ 1.91047825e-02 9.99817478e-01 1.32736395e-04 -4.45682177e+00] [ 2.45905927e-03 -1.79748592e-04 9.99996960e-01 -1.11427675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080371743 meters Centerline goodness [0,1] 0.9898656240168981 Centerline is valid? [True, True] Translation: X:84.79, Y:-4.46, Z:-1.11 [[ 9.99816551e-01 -1.89948120e-02 -2.46200373e-03 8.47868888e+01] [ 1.89951980e-02 9.99819566e-01 1.33496431e-04 -4.45865936e+00] [ 2.45902376e-03 -1.80238189e-04 9.99996960e-01 -1.11471861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.110371743 meters Centerline goodness [0,1] 0.9894248942489425 Centerline is valid? [True, True] Translation: X:84.82, Y:-4.46, Z:-1.11 [[ 9.99827375e-01 -1.84579766e-02 -2.12670303e-03 8.48189965e+01] [ 1.84582631e-02 9.99829625e-01 1.15178628e-04 -4.45746633e+00] [ 2.12421473e-03 -1.54413989e-04 9.99997732e-01 -1.11431151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140371743 meters Centerline goodness [0,1] 0.9897319522771699 Centerline is valid? [True, True] Translation: X:84.85, Y:-4.46, Z:-1.11 [[ 9.99847668e-01 -1.74102563e-02 -1.23427508e-03 8.48499631e+01] [ 1.74103539e-02 9.99848426e-01 6.83950919e-05 -4.46358638e+00] [ 1.23289722e-03 -8.98738391e-05 9.99999236e-01 -1.11497280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.170371743 meters Centerline goodness [0,1] 0.9890635217714839 Centerline is valid? [True, True] Translation: X:84.88, Y:-4.46, Z:-1.11 [[ 9.99864135e-01 -1.64824439e-02 -2.00768699e-04 8.48825900e+01] [ 1.64824466e-02 9.99864155e-01 1.17908633e-05 -4.46119743e+00] [ 2.00547083e-04 -1.50984207e-05 9.99999980e-01 -1.11438904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.200371743 meters Centerline goodness [0,1] 0.9896002526619744 Centerline is valid? [True, True] Translation: X:84.91, Y:-4.46, Z:-1.11 [[ 9.99891467e-01 -1.47225988e-02 5.46187584e-04 8.49127502e+01] [ 1.47226170e-02 9.99891616e-01 -2.92121577e-05 -4.46157481e+00] [-5.45698307e-04 3.72502978e-05 9.99999850e-01 -1.11409789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23037174299999 meters Centerline goodness [0,1] 0.9892048149235529 Centerline is valid? [True, True] Translation: X:84.94, Y:-4.46, Z:-1.11 [[ 9.99901452e-01 -1.40315886e-02 4.48162344e-04 8.49446721e+01] [ 1.40316004e-02 9.99901552e-01 -2.32326284e-05 -4.46065207e+00] [-4.47792233e-04 2.95187738e-05 9.99999899e-01 -1.11458157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260371743 meters Centerline goodness [0,1] 0.9902002845078691 Centerline is valid? [True, True] Translation: X:84.98, Y:-4.46, Z:-1.11 [[ 9.99903763e-01 -1.38649352e-02 4.77178520e-04 8.49770589e+01] [ 1.38649486e-02 9.99903877e-01 -2.48209292e-05 -4.45948626e+00] [-4.76788512e-04 3.14345962e-05 9.99999886e-01 -1.11494924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.290371743 meters Centerline goodness [0,1] 0.9896979260595131 Centerline is valid? [True, True] Translation: X:85.01, Y:-4.46, Z:-1.12 [[ 9.99902627e-01 -1.39504458e-02 3.49342824e-04 8.50084590e+01] [ 1.39504530e-02 9.99902688e-01 -1.81794338e-05 -4.46475486e+00] [-3.49055218e-04 2.30511543e-05 9.99999939e-01 -1.11611542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320371743 meters Centerline goodness [0,1] 0.9898793216654969 Centerline is valid? [True, True] Translation: X:85.04, Y:-4.46, Z:-1.12 [[ 9.99894832e-01 -1.45023787e-02 7.81517311e-05 8.50410719e+01] [ 1.45023790e-02 9.99894835e-01 -3.26347407e-06 -4.46255899e+00] [-7.80961841e-05 4.39651689e-06 9.99999997e-01 -1.11609290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.350371743 meters Centerline goodness [0,1] 0.9887116841986201 Centerline is valid? [True, True] Translation: X:85.07, Y:-4.47, Z:-1.12 [[ 9.99887717e-01 -1.49850272e-02 5.59374843e-05 8.50715850e+01] [ 1.49850273e-02 9.99887718e-01 -2.31241095e-06 -4.47243298e+00] [-5.58965520e-05 3.15037604e-06 9.99999998e-01 -1.11811549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380371743 meters Centerline goodness [0,1] 0.989262900376025 Centerline is valid? [True, True] Translation: X:85.10, Y:-4.47, Z:-1.12 [[ 9.99873141e-01 -1.59176770e-02 5.74622614e-04 8.51043296e+01] [ 1.59176970e-02 9.99873305e-01 -3.02540799e-05 -4.46747925e+00] [-5.74068237e-04 3.93969106e-05 9.99999834e-01 -1.11655613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.410371743 meters Centerline goodness [0,1] 0.989594828945294 Centerline is valid? [True, True] Translation: X:85.14, Y:-4.47, Z:-1.12 [[ 9.99864744e-01 -1.63987242e-02 1.25492503e-03 8.51368135e+01] [ 1.63988215e-02 9.99865528e-01 -6.72775204e-05 -4.46740201e+00] [-1.25365301e-03 8.78477122e-05 9.99999210e-01 -1.11656504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440371743 meters Centerline goodness [0,1] 0.9894352626448117 Centerline is valid? [True, True] Translation: X:85.17, Y:-4.47, Z:-1.12 [[ 9.99855994e-01 -1.68767164e-02 1.77983785e-03 8.51692495e+01] [ 1.68769138e-02 9.99857570e-01 -9.59558542e-05 -4.47002941e+00] [-1.77796493e-03 1.25980206e-04 9.99998411e-01 -1.11741297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.470371743 meters Centerline goodness [0,1] 0.9891060630081762 Centerline is valid? [True, True] Translation: X:85.20, Y:-4.48, Z:-1.12 [[ 9.99850694e-01 -1.70794701e-02 2.62337187e-03 8.51997477e+01] [ 1.70799019e-02 9.99854118e-01 -1.42289720e-04 -4.47755056e+00] [-2.62055893e-03 1.87075410e-04 9.99996549e-01 -1.11821777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500371743 meters Centerline goodness [0,1] 0.9891500904159132 Centerline is valid? [True, True] Translation: X:85.23, Y:-4.47, Z:-1.12 [[ 9.99854029e-01 -1.68165046e-02 3.02095027e-03 8.52322121e+01] [ 1.68170762e-02 9.99858570e-01 -1.63928363e-04 -4.47377059e+00] [-3.01776631e-03 2.14707985e-04 9.99995423e-01 -1.11754418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.530371743 meters Centerline goodness [0,1] 0.9893626631735851 Centerline is valid? [True, True] Translation: X:85.26, Y:-4.48, Z:-1.12 [[ 9.99859569e-01 -1.64295694e-02 3.30329452e-03 8.52629801e+01] [ 1.64302525e-02 9.99864998e-01 -1.79776069e-04 -4.47676684e+00] [-3.29989492e-03 2.34024786e-04 9.99994528e-01 -1.11824789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.560371743 meters Centerline goodness [0,1] 0.989976468458684 Centerline is valid? [True, True] Translation: X:85.29, Y:-4.48, Z:-1.12 [[ 9.99865386e-01 -1.60981825e-02 3.17142887e-03 8.52947892e+01] [ 1.60988104e-02 9.99870391e-01 -1.72563831e-04 -4.47752547e+00] [-3.16823986e-03 2.23596833e-04 9.99994956e-01 -1.11929393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.590371743 meters Centerline goodness [0,1] 0.9900540247293113 Centerline is valid? [True, True] Translation: X:85.33, Y:-4.48, Z:-1.12 [[ 9.99865202e-01 -1.62349583e-02 2.45030622e-03 8.53264498e+01] [ 1.62353339e-02 9.99868189e-01 -1.33477245e-04 -4.47903965e+00] [-2.44781625e-03 1.73240792e-04 9.99996989e-01 -1.12013827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62037174299999 meters Centerline goodness [0,1] 0.9892709703760831 Centerline is valid? [True, True] Translation: X:85.36, Y:-4.48, Z:-1.12 [[ 9.99862545e-01 -1.63879659e-02 2.51491984e-03 8.53588384e+01] [ 1.63883619e-02 9.99865692e-01 -1.36955161e-04 -4.48133038e+00] [-2.51233765e-03 1.78151753e-04 9.99996828e-01 -1.12070241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.650371743 meters Centerline goodness [0,1] 0.9899033346161682 Centerline is valid? [True, True] Translation: X:85.39, Y:-4.48, Z:-1.12 [[ 9.99860262e-01 -1.65205948e-02 2.55470192e-03 8.53910224e+01] [ 1.65210044e-02 9.99863509e-01 -1.39314972e-04 -4.48278002e+00] [-2.55205166e-03 1.81501746e-04 9.99996727e-01 -1.12135586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680371743 meters Centerline goodness [0,1] 0.9892460971917855 Centerline is valid? [True, True] Translation: X:85.42, Y:-4.49, Z:-1.12 [[ 9.99862620e-01 -1.63971594e-02 2.42367732e-03 8.54220311e+01] [ 1.63975285e-02 9.99865543e-01 -1.32498315e-04 -4.48626100e+00] [-2.42117885e-03 1.72222430e-04 9.99997054e-01 -1.12246744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.710371743 meters Centerline goodness [0,1] 0.9888667632150615 Centerline is valid? [True, True] Translation: X:85.45, Y:-4.49, Z:-1.12 [[ 9.99870479e-01 -1.59176205e-02 2.37803892e-03 8.54532947e+01] [ 1.59179724e-02 9.99873293e-01 -1.29141086e-04 -4.48883276e+00] [-2.37568199e-03 1.66977918e-04 9.99997164e-01 -1.12318185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740371743 meters Centerline goodness [0,1] 0.9897110929408558 Centerline is valid? [True, True] Translation: X:85.48, Y:-4.49, Z:-1.12 [[ 9.99889925e-01 -1.47337716e-02 1.74727981e-03 8.54847666e+01] [ 1.47339608e-02 9.99891445e-01 -9.54648546e-05 -4.49093809e+00] [-1.74568357e-03 1.21198699e-04 9.99998469e-01 -1.12393214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.770371743 meters Centerline goodness [0,1] 0.9904522157209598 Centerline is valid? [True, True] Translation: X:85.52, Y:-4.49, Z:-1.12 [[ 9.99905471e-01 -1.36711006e-02 1.46627087e-03 8.55174031e+01] [ 1.36712325e-02 9.99906541e-01 -8.00225371e-05 -4.48550396e+00] [-1.46503984e-03 1.00060703e-04 9.99998922e-01 -1.12326273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800371743 meters Centerline goodness [0,1] 0.9897642609660545 Centerline is valid? [True, True] Translation: X:85.55, Y:-4.49, Z:-1.13 [[ 9.99919450e-01 -1.26154952e-02 1.39361002e-03 8.55487353e+01] [ 1.26156135e-02 9.99920417e-01 -7.61202283e-05 -4.49380504e+00] [-1.39253882e-03 9.36953422e-05 9.99999026e-01 -1.12529509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.830371743 meters Centerline goodness [0,1] 0.9884196185286104 Centerline is valid? [True, True] Translation: X:85.58, Y:-4.50, Z:-1.13 [[ 9.99933972e-01 -1.14265532e-02 1.21894378e-03 8.55811127e+01] [ 1.14266429e-02 9.99934712e-01 -6.65911428e-05 -4.49514598e+00] [-1.21810329e-03 8.05151812e-05 9.99999255e-01 -1.12628892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860371743 meters Centerline goodness [0,1] 0.9905628352230293 Centerline is valid? [True, True] Translation: X:85.61, Y:-4.49, Z:-1.13 [[ 9.99952914e-01 -9.41498659e-03 2.35091934e-03 8.56132243e+01] [ 9.41531722e-03 9.99955667e-01 -1.29612412e-04 -4.48868035e+00] [-2.34959482e-03 1.51740961e-04 9.99997228e-01 -1.12566904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.890371743 meters Centerline goodness [0,1] 0.9892927330637692 Centerline is valid? [True, True] Translation: X:85.64, Y:-4.49, Z:-1.13 [[ 9.99959780e-01 -8.59338744e-03 2.56767547e-03 8.56444976e+01] [ 8.59377970e-03 9.99963063e-01 -1.41776620e-04 -4.49455979e+00] [-2.56636228e-03 1.63836955e-04 9.99996693e-01 -1.12641907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920371743 meters Centerline goodness [0,1] 0.9890196966266697 Centerline is valid? [True, True] Translation: X:85.68, Y:-4.50, Z:-1.13 [[ 9.99962176e-01 -7.61768547e-03 4.19731155e-03 8.56757700e+01] [ 7.61872744e-03 9.99970950e-01 -2.32314546e-04 -4.50031786e+00] [-4.19541992e-03 2.64283932e-04 9.99991164e-01 -1.12630110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.950371743 meters Centerline goodness [0,1] 0.9897508993416141 Centerline is valid? [True, True] Translation: X:85.71, Y:-4.49, Z:-1.12 [[ 9.99959180e-01 -7.64630171e-03 4.81368741e-03 8.57094307e+01] [ 7.64767313e-03 9.99970721e-01 -2.66557082e-04 -4.49237932e+00] [-4.81150829e-03 3.03359709e-04 9.99988379e-01 -1.12457363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98037174299999 meters Centerline goodness [0,1] 0.9895615866388309 Centerline is valid? [True, True] Translation: X:85.74, Y:-4.49, Z:-1.12 [[ 9.99955279e-01 -7.64211805e-03 5.57110982e-03 8.57422974e+01] [ 7.64395957e-03 9.99970737e-01 -3.09331256e-04 -4.49408363e+00] [-5.56858285e-03 3.51902761e-04 9.99984433e-01 -1.12494809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.010371743 meters Centerline goodness [0,1] 0.9901394083645019 Centerline is valid? [True, True] Translation: X:85.77, Y:-4.50, Z:-1.13 [[ 9.99945171e-01 -8.67219904e-03 5.86929232e-03 8.57745993e+01] [ 8.67426647e-03 9.99962324e-01 -3.26880188e-04 -4.49681836e+00] [-5.86623642e-03 3.77774071e-04 9.99982722e-01 -1.12504537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040371743 meters Centerline goodness [0,1] 0.9888058010423748 Centerline is valid? [True, True] Translation: X:85.81, Y:-4.50, Z:-1.13 [[ 9.99935088e-01 -9.97098107e-03 5.51350249e-03 8.58056402e+01] [ 9.97282781e-03 9.99950223e-01 -3.07555836e-04 -4.50180815e+00] [-5.51016141e-03 3.62521083e-04 9.99984753e-01 -1.12607733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.070371743 meters Centerline goodness [0,1] 0.9889600253376468 Centerline is valid? [True, True] Translation: X:85.84, Y:-4.50, Z:-1.13 [[ 9.99922325e-01 -1.12832606e-02 5.29443267e-03 8.58376524e+01] [ 1.12849824e-02 9.99936279e-01 -2.95443191e-04 -4.50483145e+00] [-5.29076174e-03 3.55167822e-04 9.99985941e-01 -1.12718011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100371743 meters Centerline goodness [0,1] 0.9892563105039356 Centerline is valid? [True, True] Translation: X:85.87, Y:-4.51, Z:-1.13 [[ 9.99881933e-01 -1.48489932e-02 3.95321182e-03 8.58678286e+01] [ 1.48499836e-02 9.99889708e-01 -2.21295424e-04 -4.50926585e+00] [-3.94948980e-03 2.79974427e-04 9.99992162e-01 -1.12804821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.130371743 meters Centerline goodness [0,1] 0.9893846258534262 Centerline is valid? [True, True] Translation: X:85.90, Y:-4.51, Z:-1.13 [[ 9.99851765e-01 -1.69480177e-02 3.03531242e-03 8.58974014e+01] [ 1.69486113e-02 9.99856348e-01 -1.69950348e-04 -4.51469924e+00] [-3.03199607e-03 2.21369486e-04 9.99995379e-01 -1.12934737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160371743 meters Centerline goodness [0,1] 0.9883791910650901 Centerline is valid? [True, True] Translation: X:85.93, Y:-4.52, Z:-1.13 [[ 9.99799853e-01 -1.99679983e-02 1.23779524e-03 8.59263470e+01] [ 1.99680995e-02 9.99800615e-01 -6.94732700e-05 -4.52294770e+00] [-1.23616121e-03 9.41757838e-05 9.99999232e-01 -1.13290906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.190371743 meters Centerline goodness [0,1] 0.9893379114052723 Centerline is valid? [True, True] Translation: X:85.96, Y:-4.53, Z:-1.13 [[ 9.99782559e-01 -2.08307529e-02 9.56278958e-04 8.59579131e+01] [ 2.08308129e-02 9.99783014e-01 -5.28600777e-05 -4.52605514e+00] [-9.54970344e-04 7.27686519e-05 9.99999541e-01 -1.13442045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220371743 meters Centerline goodness [0,1] 0.9894165597063658 Centerline is valid? [True, True] Translation: X:85.99, Y:-4.53, Z:-1.14 [[ 9.99770412e-01 -2.14030679e-02 1.01572945e-03 8.59899785e+01] [ 2.14031358e-02 9.99770925e-01 -5.60214885e-05 -4.52834699e+00] [-1.01429774e-03 7.77484219e-05 9.99999483e-01 -1.13500405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.250371743 meters Centerline goodness [0,1] 0.988809421744918 Centerline is valid? [True, True] Translation: X:86.02, Y:-4.53, Z:-1.14 [[ 9.99772236e-01 -2.13009689e-02 1.32066813e-03 8.60219789e+01] [ 2.13010841e-02 9.99773103e-01 -7.32300269e-05 -4.53183011e+00] [-1.31880861e-03 1.01345011e-04 9.99999125e-01 -1.13556465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280371743 meters Centerline goodness [0,1] 0.9883151744828675 Centerline is valid? [True, True] Translation: X:86.05, Y:-4.53, Z:-1.13 [[ 9.99795528e-01 -2.00176488e-02 2.86272978e-03 8.60534228e+01] [ 2.00181897e-02 9.99799603e-01 -1.60428924e-04 -4.53300683e+00] [-2.85894469e-03 2.17702789e-04 9.99995890e-01 -1.13475770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.310371743 meters Centerline goodness [0,1] 0.988371042767466 Centerline is valid? [True, True] Translation: X:86.08, Y:-4.54, Z:-1.13 [[ 9.99816970e-01 -1.87188298e-02 3.95382847e-03 8.60835201e+01] [ 1.87198502e-02 9.99824744e-01 -2.21233108e-04 -4.53553761e+00] [-3.94899431e-03 2.95207692e-04 9.99992159e-01 -1.13488418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.340371743 meters Centerline goodness [0,1] 0.9885254788579689 Centerline is valid? [True, True] Translation: X:86.12, Y:-4.54, Z:-1.13 [[ 9.99830717e-01 -1.77094219e-02 4.99129683e-03 8.61161218e+01] [ 1.77110408e-02 9.99843108e-01 -2.80330174e-04 -4.53678774e+00] [-4.98554925e-03 3.68683780e-04 9.99987504e-01 -1.13415778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37037174299999 meters Centerline goodness [0,1] 0.9881248024563146 Centerline is valid? [True, True] Translation: X:86.15, Y:-4.54, Z:-1.13 [[ 9.99857031e-01 -1.54731386e-02 6.81908829e-03 8.61460942e+01] [ 1.54761195e-02 9.99880164e-01 -3.84594803e-04 -4.53899483e+00] [-6.81232023e-03 4.90072843e-04 9.99976676e-01 -1.13337526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400371743 meters Centerline goodness [0,1] 0.9872049914097115 Centerline is valid? [True, True] Translation: X:86.18, Y:-4.54, Z:-1.13 [[ 9.99865582e-01 -1.46540347e-02 7.35378095e-03 8.61776478e+01] [ 1.46574764e-02 9.99892488e-01 -4.14331167e-04 -4.54174768e+00] [-7.34691871e-03 5.22063344e-04 9.99972875e-01 -1.13389712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.430371743 meters Centerline goodness [0,1] 0.9878420826647986 Centerline is valid? [True, True] Translation: X:86.21, Y:-4.55, Z:-1.14 [[ 9.99875162e-01 -1.42243130e-02 6.87956841e-03 8.62097403e+01] [ 1.42273170e-02 9.99898711e-01 -3.87909290e-04 -4.54517625e+00] [-6.87335385e-03 4.85738665e-04 9.99976260e-01 -1.13504819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460371743 meters Centerline goodness [0,1] 0.9879171073059875 Centerline is valid? [True, True] Translation: X:86.24, Y:-4.55, Z:-1.14 [[ 9.99882007e-01 -1.42119234e-02 5.83044651e-03 8.62406686e+01] [ 1.42140842e-02 9.99898921e-01 -3.29334331e-04 -4.54941492e+00] [-5.82517670e-03 4.12169929e-04 9.99982949e-01 -1.13734185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.490371743 meters Centerline goodness [0,1] 0.989945320620001 Centerline is valid? [True, True] Translation: X:86.27, Y:-4.54, Z:-1.14 [[ 9.99885436e-01 -1.43617758e-02 4.78065114e-03 8.62734397e+01] [ 1.43632298e-02 9.99896807e-01 -2.69955120e-04 -4.53976129e+00] [-4.77628077e-03 3.38589784e-04 9.99988536e-01 -1.13729814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520371743 meters Centerline goodness [0,1] 0.9886899790053503 Centerline is valid? [True, True] Translation: X:86.30, Y:-4.56, Z:-1.14 [[ 9.99893101e-01 -1.43686515e-02 2.70700360e-03 8.63036446e+01] [ 1.43691177e-02 9.99896747e-01 -1.52829670e-04 -4.55601259e+00] [-2.70452814e-03 1.91710585e-04 9.99996324e-01 -1.14173562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.550371743 meters Centerline goodness [0,1] 0.9878791982665223 Centerline is valid? [True, True] Translation: X:86.33, Y:-4.56, Z:-1.14 [[ 9.99895704e-01 -1.42698056e-02 2.22550334e-03 8.63346204e+01] [ 1.42701187e-02 9.99898169e-01 -1.24871050e-04 -4.55953653e+00] [-2.22349483e-03 1.56616224e-04 9.99997516e-01 -1.14305343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580371743 meters Centerline goodness [0,1] 0.9894200184980487 Centerline is valid? [True, True] Translation: X:86.37, Y:-4.55, Z:-1.14 [[ 9.99898132e-01 -1.40066424e-02 2.74579791e-03 8.63671190e+01] [ 1.40071215e-02 9.99901883e-01 -1.55338312e-04 -4.54923711e+00] [-2.74335274e-03 1.93783213e-04 9.99996218e-01 -1.14115643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.610371743 meters Centerline goodness [0,1] 0.9892016446030814 Centerline is valid? [True, True] Translation: X:86.40, Y:-4.55, Z:-1.14 [[ 9.99908353e-01 -1.30402801e-02 3.63834932e-03 8.63987103e+01] [ 1.30411171e-02 9.99914940e-01 -2.06417494e-04 -4.55349431e+00] [-3.63534810e-03 2.53846716e-04 9.99993360e-01 -1.14054450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640371743 meters Centerline goodness [0,1] 0.9886361079232205 Centerline is valid? [True, True] Translation: X:86.43, Y:-4.56, Z:-1.14 [[ 9.99913965e-01 -1.24098226e-02 4.24965912e-03 8.64305714e+01] [ 1.24109608e-02 9.99922952e-01 -2.41572539e-04 -4.55590084e+00] [-4.24633382e-03 2.94294108e-04 9.99990941e-01 -1.14021830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.670371743 meters Centerline goodness [0,1] 0.9889540126239855 Centerline is valid? [True, True] Translation: X:86.46, Y:-4.56, Z:-1.14 [[ 9.99917896e-01 -1.16916910e-02 5.24465323e-03 8.64619401e+01] [ 1.16934187e-02 9.99931585e-01 -2.98874052e-04 -4.55846652e+00] [-5.24080008e-03 3.60177439e-04 9.99986202e-01 -1.13981633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.700371743 meters Centerline goodness [0,1] 0.9886862052677748 Centerline is valid? [True, True] Translation: X:86.49, Y:-4.56, Z:-1.14 [[ 9.99918739e-01 -1.11175054e-02 6.23827107e-03 8.64944706e+01] [ 1.11199408e-02 9.99938108e-01 -3.55838104e-04 -4.56046099e+00] [-6.23392894e-03 4.25178393e-04 9.99980478e-01 -1.13918700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73037174299999 meters Centerline goodness [0,1] 0.989200036075036 Centerline is valid? [True, True] Translation: X:86.53, Y:-4.56, Z:-1.14 [[ 9.99920720e-01 -1.00414977e-02 7.59749651e-03 8.65267660e+01] [ 1.00450846e-02 9.99949453e-01 -4.34097139e-04 -4.55787929e+00] [-7.59275349e-03 5.10380219e-04 9.99971044e-01 -1.13829329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760371743 meters Centerline goodness [0,1] 0.9893145569477876 Centerline is valid? [True, True] Translation: X:86.56, Y:-4.56, Z:-1.14 [[ 9.99918703e-01 -1.00304592e-02 7.87250372e-03 8.65599274e+01] [ 1.00343133e-02 9.99949554e-01 -4.50217189e-04 -4.56036621e+00] [-7.86759070e-03 5.29175757e-04 9.99968910e-01 -1.13880991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.790371743 meters Centerline goodness [0,1] 0.9885698917501513 Centerline is valid? [True, True] Translation: X:86.59, Y:-4.57, Z:-1.14 [[ 9.99917235e-01 -9.90782661e-03 8.20719307e-03 8.65919797e+01] [ 9.91201603e-03 9.99950764e-01 -4.69937946e-04 -4.56867565e+00] [-8.20213292e-03 5.51248881e-04 9.99966210e-01 -1.13967214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820371743 meters Centerline goodness [0,1] 0.9894088282251354 Centerline is valid? [True, True] Translation: X:86.62, Y:-4.57, Z:-1.14 [[ 9.99914620e-01 -1.04555888e-02 7.83797589e-03 8.66240620e+01] [ 1.04594416e-02 9.99945197e-01 -4.50724619e-04 -4.56925069e+00] [-7.83283376e-03 5.32666987e-04 9.99969181e-01 -1.14007935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.850371743 meters Centerline goodness [0,1] 0.9905637117561358 Centerline is valid? [True, True] Translation: X:86.66, Y:-4.57, Z:-1.14 [[ 9.99910227e-01 -1.15240961e-02 6.83618546e-03 8.66557896e+01] [ 1.15270550e-02 9.99933484e-01 -3.93590783e-04 -4.57084122e+00] [-6.83119497e-03 4.72356535e-04 9.99976556e-01 -1.14136424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880371743 meters Centerline goodness [0,1] 0.9897293297154262 Centerline is valid? [True, True] Translation: X:86.69, Y:-4.57, Z:-1.14 [[ 9.99907243e-01 -1.19134137e-02 6.60118853e-03 8.66877660e+01] [ 1.19161825e-02 9.99928927e-01 -3.80271843e-04 -4.57432941e+00] [-6.59618903e-03 4.58897537e-04 9.99978140e-01 -1.14245346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.910371743 meters Centerline goodness [0,1] 0.9894741566981619 Centerline is valid? [True, True] Translation: X:86.72, Y:-4.58, Z:-1.14 [[ 9.99898135e-01 -1.28366097e-02 6.24035624e-03 8.67202422e+01] [ 1.28391045e-02 9.99917511e-01 -3.59877508e-04 -4.57676173e+00] [-6.23522187e-03 4.39961435e-04 9.99980464e-01 -1.14305296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940371743 meters Centerline goodness [0,1] 0.9894048339045315 Centerline is valid? [True, True] Translation: X:86.75, Y:-4.58, Z:-1.14 [[ 9.99880266e-01 -1.46425198e-02 5.00508538e-03 8.67508750e+01] [ 1.46441489e-02 9.99892727e-01 -2.89004695e-04 -4.58060671e+00] [-5.00031671e-03 3.62265307e-04 9.99987433e-01 -1.14396305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.970371743 meters Centerline goodness [0,1] 0.9894048339045315 Centerline is valid? [True, True] Translation: X:86.78, Y:-4.58, Z:-1.14 [[ 9.99881843e-01 -1.45344255e-02 5.00510027e-03 8.67834450e+01] [ 1.45360520e-02 9.99894304e-01 -2.88748292e-04 -4.58258324e+00] [-5.00037446e-03 3.61468572e-04 9.99987433e-01 -1.14440498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000371743 meters Centerline goodness [0,1] 0.989964077233947 Centerline is valid? [True, True] Translation: X:86.82, Y:-4.58, Z:-1.15 [[ 9.99869350e-01 -1.55522004e-02 4.40582747e-03 8.68157899e+01] [ 1.55534733e-02 9.99879005e-01 -2.54797152e-04 -4.58306872e+00] [-4.40133173e-03 3.23289783e-04 9.99990262e-01 -1.14512311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.030371743 meters Centerline goodness [0,1] 0.9896141767608794 Centerline is valid? [True, True] Translation: X:86.85, Y:-4.59, Z:-1.15 [[ 9.99829512e-01 -1.81870978e-02 3.18993552e-03 8.68465675e+01] [ 1.81877800e-02 9.99834572e-01 -1.85010393e-04 -4.58774888e+00] [-3.18604301e-03 2.42996697e-04 9.99994895e-01 -1.14706929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.060371743 meters Centerline goodness [0,1] 0.988491850259717 Centerline is valid? [True, True] Translation: X:86.88, Y:-4.60, Z:-1.15 [[ 9.99804231e-01 -1.95333273e-02 3.15413063e-03 8.68772772e+01] [ 1.95340000e-02 9.99809177e-01 -1.82610895e-04 -4.60133595e+00] [-3.14996175e-03 2.44187933e-04 9.99995009e-01 -1.14909841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.090371743 meters Centerline goodness [0,1] 0.9900442972839948 Centerline is valid? [True, True] Translation: X:86.91, Y:-4.60, Z:-1.15 [[ 9.99780472e-01 -2.07688791e-02 2.76777383e-03 8.69092997e+01] [ 2.07694020e-02 9.99784280e-01 -1.60304017e-04 -4.59611817e+00] [-2.76384743e-03 2.17753833e-04 9.99996157e-01 -1.14849559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12037174299999 meters Centerline goodness [0,1] 0.9891723457675753 Centerline is valid? [True, True] Translation: X:86.94, Y:-4.60, Z:-1.15 [[ 9.99738648e-01 -2.26769265e-02 2.89708870e-03 8.69405425e+01] [ 2.26775085e-02 9.99742818e-01 -1.68184097e-04 -4.60088078e+00] [-2.89252973e-03 2.33838895e-04 9.99995789e-01 -1.14885807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.150371743 meters Centerline goodness [0,1] 0.9883359079409855 Centerline is valid? [True, True] Translation: X:86.97, Y:-4.60, Z:-1.15 [[ 9.99738611e-01 -2.26010927e-02 3.44959427e-03 8.69731445e+01] [ 2.26019155e-02 9.99744524e-01 -1.99738064e-04 -4.60213900e+00] [-3.44419868e-03 2.77653293e-04 9.99994030e-01 -1.14868452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180371743 meters Centerline goodness [0,1] 0.9876719671252456 Centerline is valid? [True, True] Translation: X:87.00, Y:-4.61, Z:-1.15 [[ 9.99743041e-01 -2.23271324e-02 3.91811495e-03 8.70043756e+01] [ 2.23281964e-02 9.99750669e-01 -2.28028395e-04 -4.60632964e+00] [-3.91204682e-03 3.15454241e-04 9.99992298e-01 -1.14878283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.210371743 meters Centerline goodness [0,1] 0.9885514959080542 Centerline is valid? [True, True] Translation: X:87.04, Y:-4.60, Z:-1.15 [[ 9.99755288e-01 -2.16246886e-02 4.66228876e-03 8.70370774e+01] [ 2.16261886e-02 9.99766090e-01 -2.71561832e-04 -4.60433199e+00] [-4.65532576e-03 3.72322914e-04 9.99989095e-01 -1.14791508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240371743 meters Centerline goodness [0,1] 0.9880017012513151 Centerline is valid? [True, True] Translation: X:87.07, Y:-4.60, Z:-1.15 [[ 9.99800652e-01 -1.89493798e-02 6.29112324e-03 8.70684242e+01] [ 1.89520659e-02 9.99820326e-01 -3.67630347e-04 -4.60486593e+00] [-6.28302652e-03 4.86786843e-04 9.99980143e-01 -1.14679428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.270371743 meters Centerline goodness [0,1] 0.9878190774742499 Centerline is valid? [True, True] Translation: X:87.10, Y:-4.61, Z:-1.15 [[ 9.99825636e-01 -1.73635764e-02 6.87044610e-03 8.71000189e+01] [ 1.73667422e-02 9.99849106e-01 -4.01390473e-04 -4.60611422e+00] [-6.86243982e-03 5.20637751e-04 9.99976318e-01 -1.14698468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300371743 meters Centerline goodness [0,1] 0.9883575138814258 Centerline is valid? [True, True] Translation: X:87.13, Y:-4.60, Z:-1.15 [[ 9.99855785e-01 -1.56019238e-02 6.70738641e-03 8.71320619e+01] [ 1.56049039e-02 9.99878159e-01 -3.92202659e-04 -4.60427160e+00] [-6.70045006e-03 4.96814218e-04 9.99977428e-01 -1.14717052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.330371743 meters Centerline goodness [0,1] 0.9882440042178 Centerline is valid? [True, True] Translation: X:87.16, Y:-4.60, Z:-1.15 [[ 9.99901610e-01 -1.26174553e-02 6.12951153e-03 8.71629136e+01] [ 1.26198913e-02 9.99920302e-01 -3.58915820e-04 -4.60400176e+00] [-6.12449441e-03 4.36234275e-04 9.99981150e-01 -1.14833521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360371743 meters Centerline goodness [0,1] 0.9880800340570456 Centerline is valid? [True, True] Translation: X:87.19, Y:-4.61, Z:-1.15 [[ 9.99924243e-01 -1.11100656e-02 5.29856931e-03 8.71929251e+01] [ 1.11118656e-02 9.99938213e-01 -3.10385264e-04 -4.60795324e+00] [-5.29479353e-03 3.69238740e-04 9.99985914e-01 -1.14991223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.390371743 meters Centerline goodness [0,1] 0.9889967057347108 Centerline is valid? [True, True] Translation: X:87.22, Y:-4.61, Z:-1.15 [[ 9.99958547e-01 -8.07614734e-03 4.20483290e-03 8.72239606e+01] [ 8.07725430e-03 9.99967348e-01 -2.46343244e-04 -4.60524046e+00] [-4.20270610e-03 2.80296537e-04 9.99991129e-01 -1.15155817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420371743 meters Centerline goodness [0,1] 0.9892805884463581 Centerline is valid? [True, True] Translation: X:87.25, Y:-4.61, Z:-1.15 [[ 9.99973695e-01 -6.23354531e-03 3.70845836e-03 8.72541283e+01] [ 6.23439386e-03 9.99980542e-01 -2.17298814e-04 -4.60806602e+00] [-3.70703166e-03 2.40413088e-04 9.99993100e-01 -1.15300642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.450371743 meters Centerline goodness [0,1] 0.9893103370836983 Centerline is valid? [True, True] Translation: X:87.29, Y:-4.60, Z:-1.15 [[ 9.99986045e-01 -4.23763639e-03 3.15470728e-03 8.72861824e+01] [ 4.23823941e-03 9.99991002e-01 -1.84488395e-04 -4.60372260e+00] [-3.15389709e-03 1.97856225e-04 9.99995007e-01 -1.15294323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48037174299999 meters Centerline goodness [0,1] 0.9896574159244386 Centerline is valid? [True, True] Translation: X:87.32, Y:-4.61, Z:-1.15 [[ 9.99993494e-01 -2.01435268e-03 2.99239803e-03 8.73166660e+01] [ 2.01488630e-03 9.99997955e-01 -1.75320083e-04 -4.60746384e+00] [-2.99203875e-03 1.81348284e-04 9.99995507e-01 -1.15373425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.510371743 meters Centerline goodness [0,1] 0.9895043731778426 Centerline is valid? [True, True] Translation: X:87.35, Y:-4.60, Z:-1.15 [[ 9.99993931e-01 1.63646142e-03 3.07576810e-03 8.73474890e+01] [-1.63591388e-03 9.99998646e-01 -1.80524636e-04 -4.60369952e+00] [-3.07605935e-03 1.75491848e-04 9.99995254e-01 -1.15341560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540371743 meters Centerline goodness [0,1] 0.9895751421060909 Centerline is valid? [True, True] Translation: X:87.38, Y:-4.60, Z:-1.15 [[ 9.99990501e-01 3.10061884e-03 3.06341544e-03 8.73790039e+01] [-3.10008297e-03 9.99995179e-01 -1.79660026e-04 -4.60225302e+00] [-3.06395773e-03 1.70161478e-04 9.99995292e-01 -1.15332117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.570371743 meters Centerline goodness [0,1] 0.9895338630173985 Centerline is valid? [True, True] Translation: X:87.41, Y:-4.60, Z:-1.15 [[ 9.99981747e-01 5.26708474e-03 2.96033060e-03 8.74095553e+01] [-5.26659531e-03 9.99986116e-01 -1.73100664e-04 -4.60294698e+00] [-2.96120124e-03 1.57506641e-04 9.99995603e-01 -1.15398882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600371743 meters Centerline goodness [0,1] 0.9896072344445944 Centerline is valid? [True, True] Translation: X:87.44, Y:-4.60, Z:-1.15 [[ 9.99978031e-01 5.80786891e-03 3.19455995e-03 8.74398284e+01] [-5.80729677e-03 9.99983120e-01 -1.88343446e-04 -4.60180840e+00] [-3.19559990e-03 1.69787551e-04 9.99994880e-01 -1.15425786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.630371743 meters Centerline goodness [0,1] 0.989355956613709 Centerline is valid? [True, True] Translation: X:87.47, Y:-4.60, Z:-1.16 [[ 9.99974166e-01 6.23808875e-03 3.57113069e-03 8.74693155e+01] [-6.23737621e-03 9.99980525e-01 -2.10631201e-04 -4.60330040e+00] [-3.57237508e-03 1.88351274e-04 9.99993601e-01 -1.15519170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660371743 meters Centerline goodness [0,1] 0.9894444820353204 Centerline is valid? [True, True] Translation: X:87.50, Y:-4.60, Z:-1.16 [[ 9.99973504e-01 6.35748513e-03 3.54582945e-03 8.74992102e+01] [-6.35678384e-03 9.99979774e-01 -2.09014745e-04 -4.60424317e+00] [-3.54708654e-03 1.86469135e-04 9.99993692e-01 -1.15571044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.690371743 meters Centerline goodness [0,1] 0.9896939765013644 Centerline is valid? [True, True] Translation: X:87.53, Y:-4.60, Z:-1.16 [[ 9.99970806e-01 6.33493802e-03 4.27273238e-03 8.75288059e+01] [-6.33392060e-03 9.99979909e-01 -2.51608057e-04 -4.60466095e+00] [-4.27424045e-03 2.24537564e-04 9.99990840e-01 -1.15599327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720371743 meters Centerline goodness [0,1] 0.9885197740112994 Centerline is valid? [True, True] Translation: X:87.56, Y:-4.61, Z:-1.16 [[ 9.99969271e-01 6.51270257e-03 4.36357540e-03 8.75582187e+01] [-6.51164609e-03 9.99978766e-01 -2.56276249e-04 -4.60890932e+00] [-4.36515180e-03 2.27854315e-04 9.99990447e-01 -1.15685459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.750371743 meters Centerline goodness [0,1] 0.9889749903983011 Centerline is valid? [True, True] Translation: X:87.59, Y:-4.61, Z:-1.16 [[ 9.99965934e-01 6.93767606e-03 4.47203624e-03 8.75878405e+01] [-6.93656796e-03 9.99975907e-01 -2.63246568e-04 -4.60731473e+00] [-4.47375482e-03 2.32217017e-04 9.99989966e-01 -1.15648192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780371743 meters Centerline goodness [0,1] 0.9895684836965131 Centerline is valid? [True, True] Translation: X:87.62, Y:-4.61, Z:-1.16 [[ 9.99959294e-01 7.79373582e-03 4.54627380e-03 8.76178154e+01] [-7.79260023e-03 9.99969601e-01 -2.67444851e-04 -4.60640538e+00] [-4.54821999e-03 2.32006670e-04 9.99989630e-01 -1.15654975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.810371743 meters Centerline goodness [0,1] 0.9884925201380897 Centerline is valid? [True, True] Translation: X:87.65, Y:-4.61, Z:-1.16 [[ 9.99955330e-01 8.35296160e-03 4.42345478e-03 8.76466707e+01] [-8.35189286e-03 9.99965089e-01 -2.60026682e-04 -4.61102843e+00] [-4.42547234e-03 2.23070846e-04 9.99990183e-01 -1.15752888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.840371743 meters Centerline goodness [0,1] 0.9898726720739499 Centerline is valid? [True, True] Translation: X:87.68, Y:-4.61, Z:-1.16 [[ 9.99946406e-01 9.40327284e-03 4.33168451e-03 8.76762761e+01] [-9.40225743e-03 9.99955765e-01 -2.54719716e-04 -4.60726440e+00] [-4.33388809e-03 2.13978451e-04 9.99990586e-01 -1.15749385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87037174299999 meters Centerline goodness [0,1] 0.9893802110400615 Centerline is valid? [True, True] Translation: X:87.71, Y:-4.61, Z:-1.16 [[ 9.99938268e-01 1.00408621e-02 4.75824428e-03 8.77051891e+01] [-1.00396449e-02 9.99949562e-01 -2.79630083e-04 -4.60926695e+00] [-4.76081201e-03 2.31841738e-04 9.99988640e-01 -1.15818679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900371743 meters Centerline goodness [0,1] 0.9891473919826358 Centerline is valid? [True, True] Translation: X:87.73, Y:-4.61, Z:-1.16 [[ 9.99936260e-01 1.03306450e-02 4.55570629e-03 8.77340164e+01] [-1.03295334e-02 9.99946613e-01 -2.67448823e-04 -4.60973060e+00] [-4.55822599e-03 2.20373455e-04 9.99989587e-01 -1.15805238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.930371743 meters Centerline goodness [0,1] 0.9894736842105263 Centerline is valid? [True, True] Translation: X:87.76, Y:-4.61, Z:-1.16 [[ 9.99928309e-01 1.10850411e-02 4.52746694e-03 8.77615698e+01] [-1.10839517e-02 9.99938536e-01 -2.65625026e-04 -4.61193139e+00] [-4.53013313e-03 2.15423758e-04 9.99989716e-01 -1.15831706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960371743 meters Centerline goodness [0,1] 0.9898596650067905 Centerline is valid? [True, True] Translation: X:87.79, Y:-4.61, Z:-1.16 [[ 9.99912099e-01 1.26410750e-02 3.99959173e-03 8.77910755e+01] [-1.26402395e-02 9.99920082e-01 -2.34102187e-04 -4.61065099e+00] [-4.00223139e-03 1.83525812e-04 9.99991974e-01 -1.15790398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.990371743 meters Centerline goodness [0,1] 0.9895066065317408 Centerline is valid? [True, True] Translation: X:87.82, Y:-4.61, Z:-1.16 [[ 9.99899067e-01 1.36646710e-02 3.89011321e-03 8.78201258e+01] [-1.36638884e-02 9.99906619e-01 -2.27672517e-04 -4.61183331e+00] [-3.89286102e-03 1.74495465e-04 9.99992408e-01 -1.15838579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020371743 meters Centerline goodness [0,1] 0.9891676297958166 Centerline is valid? [True, True] Translation: X:87.85, Y:-4.61, Z:-1.16 [[ 9.99881956e-01 1.46970566e-02 4.47993959e-03 8.78486393e+01] [-1.46960312e-02 9.99891973e-01 -2.61731235e-04 -4.61261453e+00] [-4.48330231e-03 1.95863008e-04 9.99989931e-01 -1.15906531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.050371743 meters Centerline goodness [0,1] 0.9891348727487184 Centerline is valid? [True, True] Translation: X:87.88, Y:-4.61, Z:-1.16 [[ 9.99845047e-01 1.68305191e-02 5.15912842e-03 8.78779391e+01] [-1.68291886e-02 9.99858334e-01 -3.01208690e-04 -4.61071881e+00] [-5.16346705e-03 2.14338072e-04 9.99986646e-01 -1.15916397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080371743 meters Centerline goodness [0,1] 0.9887612444202751 Centerline is valid? [True, True] Translation: X:87.91, Y:-4.61, Z:-1.16 [[ 9.99828125e-01 1.76104313e-02 5.79592164e-03 8.79061312e+01] [-1.76087713e-02 9.99844897e-01 -3.37323441e-04 -4.61424818e+00] [-5.80096308e-03 2.35206405e-04 9.99983147e-01 -1.15999705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.110371743 meters Centerline goodness [0,1] 0.9895173916002995 Centerline is valid? [True, True] Translation: X:87.94, Y:-4.61, Z:-1.16 [[ 9.99816755e-01 1.80932592e-02 6.25219746e-03 8.79352936e+01] [-1.80913402e-02 9.99836272e-01 -3.63347588e-04 -4.61449467e+00] [-6.25774795e-03 2.50170375e-04 9.99980389e-01 -1.15991979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140371743 meters Centerline goodness [0,1] 0.9894314290250154 Centerline is valid? [True, True] Translation: X:87.96, Y:-4.62, Z:-1.16 [[ 9.99830563e-01 1.71072940e-02 6.79595236e-03 8.79636197e+01] [-1.71050078e-02 9.99853621e-01 -3.94389620e-04 -4.61631307e+00] [-6.80170452e-03 2.78077978e-04 9.99976829e-01 -1.16032532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.170371743 meters Centerline goodness [0,1] 0.9890062659759766 Centerline is valid? [True, True] Translation: X:87.99, Y:-4.62, Z:-1.16 [[ 9.99848230e-01 1.61484982e-02 6.53775342e-03 8.79926252e+01] [-1.61463647e-02 9.99869567e-01 -3.78978059e-04 -4.61817672e+00] [-6.54302061e-03 2.73359591e-04 9.99978557e-01 -1.16089706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.200371743 meters Centerline goodness [0,1] 0.9895115984052193 Centerline is valid? [True, True] Translation: X:88.02, Y:-4.62, Z:-1.16 [[ 9.99876345e-01 1.45419559e-02 5.98553127e-03 8.80212345e+01] [-1.45401419e-02 9.99894227e-01 -3.46468769e-04 -4.62213897e+00] [-5.98993649e-03 2.59395453e-04 9.99982027e-01 -1.16158135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23037174299999 meters Centerline goodness [0,1] 0.9890662139219015 Centerline is valid? [True, True] Translation: X:88.05, Y:-4.63, Z:-1.16 [[ 9.99906213e-01 1.26190678e-02 5.32203689e-03 8.80508194e+01] [-1.26176083e-02 9.99920347e-01 -3.07723704e-04 -4.62552024e+00] [-5.32549616e-03 2.40543467e-04 9.99985791e-01 -1.16215605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260371743 meters Centerline goodness [0,1] 0.9894257766506657 Centerline is valid? [True, True] Translation: X:88.08, Y:-4.63, Z:-1.16 [[ 9.99935979e-01 1.02729903e-02 4.74386106e-03 8.80790321e+01] [-1.02718042e-02 9.99947206e-01 -2.74331034e-04 -4.63033409e+00] [-4.74642882e-03 2.25585459e-04 9.99988710e-01 -1.16300052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.290371743 meters Centerline goodness [0,1] 0.9888332430969139 Centerline is valid? [True, True] Translation: X:88.11, Y:-4.64, Z:-1.16 [[ 9.99975820e-01 6.04190300e-03 3.44307555e-03 8.81089176e+01] [-6.04125435e-03 9.99981732e-01 -1.98762448e-04 -4.63573806e+00] [-3.44421355e-03 1.77957147e-04 9.99994053e-01 -1.16433320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320371743 meters Centerline goodness [0,1] 0.9885938415761237 Centerline is valid? [True, True] Translation: X:88.14, Y:-4.64, Z:-1.17 [[ 9.99988799e-01 3.86216293e-03 2.73589953e-03 8.81381863e+01] [-3.86174470e-03 9.99992531e-01 -1.58130895e-04 -4.63931158e+00] [-2.73648982e-03 1.47563778e-04 9.99996245e-01 -1.16520786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.350371743 meters Centerline goodness [0,1] 0.9887842889959911 Centerline is valid? [True, True] Translation: X:88.17, Y:-4.64, Z:-1.17 [[ 9.99995689e-01 1.37272584e-03 2.59571565e-03 8.81681148e+01] [-1.37234170e-03 9.99999047e-01 -1.49768149e-04 -4.64292217e+00] [-2.59591876e-03 1.46205295e-04 9.99996620e-01 -1.16587195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380371743 meters Centerline goodness [0,1] 0.9879385224690025 Centerline is valid? [True, True] Translation: X:88.20, Y:-4.65, Z:-1.17 [[ 9.99996291e-01 8.09856705e-04 2.60044294e-03 8.81983337e+01] [-8.09470407e-04 9.99999661e-01 -1.49599779e-04 -4.64817986e+00] [-2.60056321e-03 1.47494242e-04 9.99996608e-01 -1.16678333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.410371743 meters Centerline goodness [0,1] 0.9892555814426927 Centerline is valid? [True, True] Translation: X:88.23, Y:-4.65, Z:-1.17 [[ 9.99997046e-01 -3.82509706e-05 2.43038076e-03 8.82293951e+01] [ 3.85894418e-05 9.99999990e-01 -1.39219986e-04 -4.64615242e+00] [-2.43037541e-03 1.39313362e-04 9.99997037e-01 -1.16621090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440371743 meters Centerline goodness [0,1] 0.9893502533518677 Centerline is valid? [True, True] Translation: X:88.26, Y:-4.65, Z:-1.17 [[ 9.99997443e-01 -4.22622085e-04 2.22175185e-03 8.82606160e+01] [ 4.22902024e-04 9.99999903e-01 -1.25530725e-04 -4.65099861e+00] [-2.22169858e-03 1.26469987e-04 9.99997524e-01 -1.16683920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.470371743 meters Centerline goodness [0,1] 0.9896030245746692 Centerline is valid? [True, True] Translation: X:88.29, Y:-4.65, Z:-1.17 [[ 9.99996945e-01 -7.55247221e-04 2.35346271e-03 8.82916543e+01] [ 7.55569223e-04 9.99999705e-01 -1.35934741e-04 -4.65103167e+00] [-2.35335935e-03 1.37712530e-04 9.99997221e-01 -1.16680700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500371743 meters Centerline goodness [0,1] 0.9892771057196279 Centerline is valid? [True, True] Translation: X:88.32, Y:-4.66, Z:-1.17 [[ 9.99994703e-01 -1.67594487e-03 2.79033163e-03 8.83219580e+01] [ 1.67639891e-03 9.99998582e-01 -1.60390323e-04 -4.65775169e+00] [-2.79005887e-03 1.65067182e-04 9.99996094e-01 -1.16864649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.530371743 meters Centerline goodness [0,1] 0.9891576313594662 Centerline is valid? [True, True] Translation: X:88.35, Y:-4.66, Z:-1.17 [[ 9.99994551e-01 -2.31366776e-03 2.35480949e-03 8.83543314e+01] [ 2.31399438e-03 9.99997313e-01 -1.35988923e-04 -4.65558969e+00] [-2.35448853e-03 1.41437198e-04 9.99997218e-01 -1.16860913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.560371743 meters Centerline goodness [0,1] 0.9892952921821828 Centerline is valid? [True, True] Translation: X:88.39, Y:-4.66, Z:-1.17 [[ 9.99993214e-01 -2.81888628e-03 2.37169283e-03 8.83855016e+01] [ 2.81921993e-03 9.99996017e-01 -1.37350344e-04 -4.65999607e+00] [-2.37129621e-03 1.44035736e-04 9.99997178e-01 -1.16990714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.590371743 meters Centerline goodness [0,1] 0.9892616238409998 Centerline is valid? [True, True] Translation: X:88.42, Y:-4.66, Z:-1.17 [[ 9.99991902e-01 -3.72906995e-03 1.51340076e-03 8.84179571e+01] [ 3.72920624e-03 9.99993043e-01 -8.72455961e-05 -4.66125106e+00] [-1.51306488e-03 9.28886732e-05 9.99998851e-01 -1.17044580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62037174299999 meters Centerline goodness [0,1] 0.9890688259109311 Centerline is valid? [True, True] Translation: X:88.45, Y:-4.66, Z:-1.17 [[ 9.99982576e-01 -5.79182701e-03 1.14133907e-03 8.84485777e+01] [ 5.79190645e-03 9.99983225e-01 -6.63097466e-05 -4.66411556e+00] [-1.14093587e-03 7.29191203e-05 9.99999346e-01 -1.17067799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.650371743 meters Centerline goodness [0,1] 0.9887939392572884 Centerline is valid? [True, True] Translation: X:88.48, Y:-4.67, Z:-1.17 [[ 9.99975317e-01 -6.87738111e-03 1.43747593e-03 8.84791838e+01] [ 6.87750805e-03 9.99976346e-01 -8.33851121e-05 -4.66748464e+00] [-1.43686845e-03 9.32693062e-05 9.99998963e-01 -1.17096698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680371743 meters Centerline goodness [0,1] 0.988467949006712 Centerline is valid? [True, True] Translation: X:88.51, Y:-4.67, Z:-1.17 [[ 9.99968372e-01 -7.85177644e-03 1.26673585e-03 8.85113575e+01] [ 7.85187523e-03 9.99969171e-01 -7.30391372e-05 -4.66980109e+00] [-1.26612331e-03 8.29830790e-05 9.99999195e-01 -1.17076140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.710371743 meters Centerline goodness [0,1] 0.9879262963463531 Centerline is valid? [True, True] Translation: X:88.54, Y:-4.68, Z:-1.17 [[ 9.99948105e-01 -1.01119259e-02 1.23972053e-03 8.85414170e+01] [ 1.01120232e-02 9.99948870e-01 -7.22066018e-05 -4.67620871e+00] [-1.23892700e-03 8.47389374e-05 9.99999229e-01 -1.17112394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740371743 meters Centerline goodness [0,1] 0.9888673547572903 Centerline is valid? [True, True] Translation: X:88.57, Y:-4.67, Z:-1.17 [[ 9.99939176e-01 -1.09555974e-02 1.27220177e-03 8.85736046e+01] [ 1.09556997e-02 9.99939982e-01 -7.34618618e-05 -4.67362557e+00] [-1.27132059e-03 8.73952541e-05 9.99999188e-01 -1.17080728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.770371743 meters Centerline goodness [0,1] 0.9891778314995142 Centerline is valid? [True, True] Translation: X:88.60, Y:-4.67, Z:-1.17 [[ 9.99917069e-01 -1.28672623e-02 5.37605661e-04 8.86044904e+01] [ 1.28672810e-02 9.99917213e-01 -3.12150063e-05 -4.67336230e+00] [-5.37159502e-04 3.81299407e-05 9.99999855e-01 -1.17119239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800371743 meters Centerline goodness [0,1] 0.9878442073927065 Centerline is valid? [True, True] Translation: X:88.63, Y:-4.69, Z:-1.17 [[ 9.99902128e-01 -1.39886897e-02 2.23599688e-04 8.86346631e+01] [ 1.39886928e-02 9.99902153e-01 -1.23563790e-05 -4.68622548e+00] [-2.23404960e-04 1.54830370e-05 9.99999975e-01 -1.17392268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.830371743 meters Centerline goodness [0,1] 0.987138698977865 Centerline is valid? [True, True] Translation: X:88.67, Y:-4.69, Z:-1.17 [[ 9.99887931e-01 -1.49563418e-02 -6.58935113e-04 8.86663076e+01] [ 1.49563709e-02 9.99888146e-01 3.93226590e-05 -4.68993824e+00] [ 6.58273286e-04 -4.91735301e-05 9.99999782e-01 -1.17496972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860371743 meters Centerline goodness [0,1] 0.9869983041266253 Centerline is valid? [True, True] Translation: X:88.70, Y:-4.69, Z:-1.18 [[ 9.99870324e-01 -1.60582667e-02 -1.21111234e-03 8.86969903e+01] [ 1.60583654e-02 9.99871054e-01 7.17540503e-05 -4.69497847e+00] [ 1.20980392e-03 -9.11932300e-05 9.99999264e-01 -1.17602668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.890371743 meters Centerline goodness [0,1] 0.9869983041266253 Centerline is valid? [True, True] Translation: X:88.73, Y:-4.70, Z:-1.18 [[ 9.99871392e-01 -1.59916258e-02 -1.21109468e-03 8.87287159e+01] [ 1.59917247e-02 9.99872122e-01 7.20543575e-05 -4.69690857e+00] [ 1.20978754e-03 -9.14125836e-05 9.99999264e-01 -1.17645714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920371743 meters Centerline goodness [0,1] 0.9879743272154037 Centerline is valid? [True, True] Translation: X:88.76, Y:-4.69, Z:-1.17 [[ 9.99869232e-01 -1.61080356e-02 -1.43147297e-03 8.87617888e+01] [ 1.61081740e-02 9.99870251e-01 8.51807059e-05 -4.68699235e+00] [ 1.42991514e-03 -1.08227983e-04 9.99998972e-01 -1.17437707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.950371743 meters Centerline goodness [0,1] 0.9862539064269215 Centerline is valid? [True, True] Translation: X:88.79, Y:-4.70, Z:-1.18 [[ 9.99867334e-01 -1.61851003e-02 -1.83240085e-03 8.87918630e+01] [ 1.61853281e-02 9.99869003e-01 1.09574673e-04 -4.70051527e+00] [ 1.83038733e-03 -1.39218145e-04 9.99998315e-01 -1.17706259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98037174299999 meters Centerline goodness [0,1] 0.9886332882273342 Centerline is valid? [True, True] Translation: X:88.83, Y:-4.69, Z:-1.17 [[ 9.99874389e-01 -1.57166525e-02 -2.04776723e-03 8.88253399e+01] [ 1.57169358e-02 9.99876474e-01 1.22292841e-04 -4.68872297e+00] [ 2.04559224e-03 -1.54462106e-04 9.99997896e-01 -1.17459247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.010371743 meters Centerline goodness [0,1] 0.9879507197978248 Centerline is valid? [True, True] Translation: X:88.86, Y:-4.69, Z:-1.17 [[ 9.99890718e-01 -1.43529383e-02 -3.54188995e-03 8.88579883e+01] [ 1.43537730e-02 9.99896957e-01 2.10364109e-04 -4.68747151e+00] [ 3.53850564e-03 -2.61180604e-04 9.99993705e-01 -1.17482663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040371743 meters Centerline goodness [0,1] 0.9885348590036408 Centerline is valid? [True, True] Translation: X:88.89, Y:-4.69, Z:-1.18 [[ 9.99909939e-01 -1.28594693e-02 -3.84025541e-03 8.88890894e+01] [ 1.28604380e-02 9.99917275e-01 2.27653634e-04 -4.68696625e+00] [ 3.83701022e-03 -2.77020497e-04 9.99992600e-01 -1.17540841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.070371743 meters Centerline goodness [0,1] 0.9883471466317382 Centerline is valid? [True, True] Translation: X:88.92, Y:-4.69, Z:-1.18 [[ 9.99937951e-01 -1.03661717e-02 -4.07882448e-03 8.89187533e+01] [ 1.03672417e-02 9.99946230e-01 2.41264834e-04 -4.69075758e+00] [ 4.07610416e-03 -2.83536023e-04 9.99991652e-01 -1.17685412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100371743 meters Centerline goodness [0,1] 0.988473731884058 Centerline is valid? [True, True] Translation: X:88.95, Y:-4.69, Z:-1.18 [[ 9.99979018e-01 -4.58355844e-03 -4.57758799e-03 8.89497423e+01] [ 4.58484565e-03 9.99989453e-01 2.70745296e-04 -4.68583495e+00] [ 4.57629873e-03 -2.91727150e-04 9.99989486e-01 -1.17691545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.130371743 meters Centerline goodness [0,1] 0.9885501355013551 Centerline is valid? [True, True] Translation: X:88.98, Y:-4.69, Z:-1.18 [[ 9.99991689e-01 -1.14184384e-03 -3.91387989e-03 8.89801669e+01] [ 1.14275766e-03 9.99999320e-01 2.31253168e-04 -4.68605773e+00] [ 3.91361317e-03 -2.35723862e-04 9.99992314e-01 -1.17712648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160371743 meters Centerline goodness [0,1] 0.9888252929953666 Centerline is valid? [True, True] Translation: X:89.01, Y:-4.68, Z:-1.18 [[ 9.99980471e-01 5.30074892e-03 -3.31055927e-03 8.90106262e+01] [-5.30013134e-03 9.99985935e-01 1.95294951e-04 -4.67936408e+00] [ 3.31154792e-03 -1.77744738e-04 9.99994501e-01 -1.17532339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.190371743 meters Centerline goodness [0,1] 0.989203225365587 Centerline is valid? [True, True] Translation: X:89.04, Y:-4.68, Z:-1.17 [[ 9.99960412e-01 8.48031784e-03 -2.69436060e-03 8.90407057e+01] [-8.47992024e-03 9.99964032e-01 1.58959825e-04 -4.67651338e+00] [ 2.69561172e-03 -1.36105569e-04 9.99996358e-01 -1.17420064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220371743 meters Centerline goodness [0,1] 0.9896750130768006 Centerline is valid? [True, True] Translation: X:89.07, Y:-4.68, Z:-1.17 [[ 9.99934570e-01 1.12858717e-02 -1.86681925e-03 8.90702820e+01] [-1.12856865e-02 9.99936309e-01 1.09746974e-04 -4.67598602e+00] [ 1.86793894e-03 -8.86714560e-05 9.99998251e-01 -1.17415778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.250371743 meters Centerline goodness [0,1] 0.9894923178176701 Centerline is valid? [True, True] Translation: X:89.10, Y:-4.68, Z:-1.17 [[ 9.99868763e-01 1.61454824e-02 -1.33441329e-03 8.90989199e+01] [-1.61453917e-02 9.99869652e-01 7.87347306e-05 -4.67743202e+00] [ 1.33551056e-03 -5.71797724e-05 9.99999107e-01 -1.17467205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280371743 meters Centerline goodness [0,1] 0.9906503787620282 Centerline is valid? [True, True] Translation: X:89.13, Y:-4.68, Z:-1.17 [[ 9.99848716e-01 1.73666383e-02 -9.72217295e-04 8.91278391e+01] [-1.73665917e-02 9.99849188e-01 5.63566988e-05 -4.67645157e+00] [ 9.73049399e-04 -3.94640722e-05 9.99999526e-01 -1.17434357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.310371743 meters Centerline goodness [0,1] 0.9902420161950687 Centerline is valid? [True, True] Translation: X:89.16, Y:-4.68, Z:-1.17 [[ 9.99838114e-01 1.79661246e-02 -9.82154822e-04 8.91564054e+01] [-1.79660774e-02 9.99838595e-01 5.68730456e-05 -4.67721037e+00] [ 9.83018086e-04 -3.92183690e-05 9.99999516e-01 -1.17466168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.340371743 meters Centerline goodness [0,1] 0.9901715429767484 Centerline is valid? [True, True] Translation: X:89.18, Y:-4.68, Z:-1.18 [[ 9.99834749e-01 1.81557609e-02 -9.18625634e-04 8.91836638e+01] [-1.81557204e-02 9.99835170e-01 5.24167277e-05 -4.68052037e+00] [ 9.19425883e-04 -3.57297556e-05 9.99999577e-01 -1.17519354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37037174299999 meters Centerline goodness [0,1] 0.989909090909091 Centerline is valid? [True, True] Translation: X:89.21, Y:-4.68, Z:-1.18 [[ 9.99848332e-01 1.73462005e-02 -1.55624774e-03 8.92118430e+01] [-1.73460811e-02 9.99849541e-01 9.01550865e-05 -4.68345521e+00] [ 1.55757744e-03 -6.31466133e-05 9.99998785e-01 -1.17576840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400371743 meters Centerline goodness [0,1] 0.9903326827939908 Centerline is valid? [True, True] Translation: X:89.24, Y:-4.68, Z:-1.18 [[ 9.99861383e-01 1.65315936e-02 -1.98030097e-03 8.92405614e+01] [-1.65313980e-02 9.99863340e-01 1.15121942e-04 -4.68485801e+00] [ 1.98193349e-03 -8.23688411e-05 9.99998033e-01 -1.17572822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.430371743 meters Centerline goodness [0,1] 0.9894782097117256 Centerline is valid? [True, True] Translation: X:89.27, Y:-4.70, Z:-1.18 [[ 9.99875942e-01 1.55121721e-02 -2.73361122e-03 8.92675307e+01] [-1.55117958e-02 9.99879672e-01 1.58804724e-04 -4.69590348e+00] [ 2.73574569e-03 -1.16381804e-04 9.99996251e-01 -1.17980189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460371743 meters Centerline goodness [0,1] 0.9900412866929813 Centerline is valid? [True, True] Translation: X:89.30, Y:-4.69, Z:-1.18 [[ 9.99907214e-01 1.30260053e-02 -3.98588147e-03 8.92974458e+01] [-1.30251810e-02 9.99915142e-01 2.32693081e-04 -4.69318442e+00] [ 3.98857430e-03 -1.80754663e-04 9.99992029e-01 -1.17825815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.490371743 meters Centerline goodness [0,1] 0.9903328050713154 Centerline is valid? [True, True] Translation: X:89.33, Y:-4.70, Z:-1.18 [[ 9.99917964e-01 1.20612006e-02 -4.31202505e-03 8.93261614e+01] [-1.20602303e-02 9.99927241e-01 2.50970296e-04 -4.69561667e+00] [ 4.31473832e-03 -1.98945692e-04 9.99990672e-01 -1.17897400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520371743 meters Centerline goodness [0,1] 0.9898619597193935 Centerline is valid? [True, True] Translation: X:89.35, Y:-4.70, Z:-1.18 [[ 9.99949836e-01 9.32942534e-03 -3.64512532e-03 8.93547092e+01] [-9.32871541e-03 9.99956464e-01 2.11716664e-04 -4.70207787e+00] [ 3.64694182e-03 -1.77701707e-04 9.99993334e-01 -1.17933560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.550371743 meters Centerline goodness [0,1] 0.9896132696702948 Centerline is valid? [True, True] Translation: X:89.38, Y:-4.70, Z:-1.18 [[ 9.99966093e-01 7.85854695e-03 -2.46074539e-03 8.93833024e+01] [-7.85822014e-03 9.99969114e-01 1.42452829e-04 -4.70392427e+00] [ 2.46178886e-03 -1.23110920e-04 9.99996962e-01 -1.17823215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580371743 meters Centerline goodness [0,1] 0.9891040337774953 Centerline is valid? [True, True] Translation: X:89.41, Y:-4.71, Z:-1.18 [[ 9.99979881e-01 6.10884343e-03 -1.70888531e-03 8.94104110e+01] [-6.10868443e-03 9.99981337e-01 9.82456509e-05 -4.71105386e+00] [ 1.70945359e-03 -8.78046332e-05 9.99998535e-01 -1.17942158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.610371743 meters Centerline goodness [0,1] 0.9886659276519694 Centerline is valid? [True, True] Translation: X:89.44, Y:-4.71, Z:-1.18 [[ 9.99986040e-01 5.17067856e-03 -1.08848099e-03 8.94393896e+01] [-5.17061375e-03 9.99986630e-01 6.23490606e-05 -4.71420569e+00] [ 1.08878883e-03 -5.67200754e-05 9.99999406e-01 -1.17897482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640371743 meters Centerline goodness [0,1] 0.989291131789264 Centerline is valid? [True, True] Translation: X:89.47, Y:-4.71, Z:-1.18 [[ 9.99991754e-01 4.03321756e-03 -4.74256783e-04 8.94683095e+01] [-4.03320543e-03 9.99991866e-01 2.65482867e-05 -4.71006407e+00] [ 4.74360000e-04 -2.46352927e-05 9.99999887e-01 -1.17635602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.670371743 meters Centerline goodness [0,1] 0.9890621468926554 Centerline is valid? [True, True] Translation: X:89.50, Y:-4.71, Z:-1.18 [[ 9.99990999e-01 4.22531594e-03 -3.84995158e-04 8.94967791e+01] [-4.22530794e-03 9.99991073e-01 2.15944369e-05 -4.71302908e+00] [ 3.85082965e-04 -1.99675195e-05 9.99999926e-01 -1.17645889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.700371743 meters Centerline goodness [0,1] 0.9884971582546476 Centerline is valid? [True, True] Translation: X:89.53, Y:-4.72, Z:-1.18 [[ 9.99990708e-01 4.30589883e-03 -2.05680675e-04 8.95252405e+01] [-4.30589662e-03 9.99990730e-01 1.11969031e-05 -4.71605535e+00] [ 2.05726981e-04 -1.03111594e-05 9.99999979e-01 -1.17663361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73037174299999 meters Centerline goodness [0,1] 0.9883434055363165 Centerline is valid? [True, True] Translation: X:89.55, Y:-4.72, Z:-1.18 [[ 9.99991848e-01 4.03382841e-03 -1.79839248e-04 8.95537995e+01] [-4.03382678e-03 9.99991864e-01 9.43921179e-06 -4.71548089e+00] [ 1.79875861e-04 -8.71369446e-06 9.99999984e-01 -1.17680730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760371743 meters Centerline goodness [0,1] 0.9881529470393694 Centerline is valid? [True, True] Translation: X:89.58, Y:-4.72, Z:-1.18 [[ 9.99992668e-01 3.82742592e-03 -1.24926084e-04 8.95820094e+01] [-3.82742513e-03 9.99992675e-01 6.50325473e-06 -4.72049112e+00] [ 1.24950059e-04 -6.02506181e-06 9.99999992e-01 -1.17838075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.790371743 meters Centerline goodness [0,1] 0.9891841639834928 Centerline is valid? [True, True] Translation: X:89.61, Y:-4.72, Z:-1.18 [[ 9.99995413e-01 2.80679039e-03 -1.13831128e-03 8.96115387e+01] [-2.80671789e-03 9.99996059e-01 6.52851663e-05 -4.71786402e+00] [ 1.13849003e-03 -6.20899482e-05 9.99999350e-01 -1.17875260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820371743 meters Centerline goodness [0,1] 0.9892095300705007 Centerline is valid? [True, True] Translation: X:89.64, Y:-4.72, Z:-1.18 [[ 9.99996332e-01 2.27289231e-03 -1.47322198e-03 8.96401255e+01] [-2.27277097e-03 9.99997414e-01 8.40344456e-05 -4.71904446e+00] [ 1.47340917e-03 -8.06858412e-05 9.99998911e-01 -1.17951474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.850371743 meters Centerline goodness [0,1] 0.9884076346593611 Centerline is valid? [True, True] Translation: X:89.67, Y:-4.73, Z:-1.18 [[ 9.99995257e-01 2.13129053e-03 -2.22358774e-03 8.96685638e+01] [-2.13101182e-03 9.99997721e-01 1.27706786e-04 -4.72674250e+00] [ 2.22385485e-03 -1.22967688e-04 9.99997520e-01 -1.18209550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880371743 meters Centerline goodness [0,1] 0.9894515245489734 Centerline is valid? [True, True] Translation: X:89.70, Y:-4.72, Z:-1.18 [[ 9.99996025e-01 2.32914201e-03 -1.58927033e-03 8.96979735e+01] [-2.32900101e-03 9.99997284e-01 9.05621779e-05 -4.72282423e+00] [ 1.58947695e-03 -8.68604056e-05 9.99998733e-01 -1.18056777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.910371743 meters Centerline goodness [0,1] 0.9893775708538625 Centerline is valid? [True, True] Translation: X:89.73, Y:-4.73, Z:-1.18 [[ 9.99995391e-01 2.55262843e-03 -1.64366032e-03 8.97257920e+01] [-2.55247759e-03 9.99996738e-01 9.38600366e-05 -4.72968311e+00] [ 1.64389454e-03 -8.96641979e-05 9.99998645e-01 -1.18193904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940371743 meters Centerline goodness [0,1] 0.989936308619869 Centerline is valid? [True, True] Translation: X:89.75, Y:-4.73, Z:-1.18 [[ 9.99995904e-01 2.54904137e-03 -1.30203145e-03 8.97545639e+01] [-2.54894735e-03 9.99996749e-01 7.38643024e-05 -4.72523210e+00] [ 1.30221550e-03 -7.05451902e-05 9.99999150e-01 -1.18002094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.970371743 meters Centerline goodness [0,1] 0.9898809254312492 Centerline is valid? [True, True] Translation: X:89.78, Y:-4.73, Z:-1.18 [[ 9.99997268e-01 2.28504985e-03 -4.93162462e-04 8.97829666e+01] [-2.28503652e-03 9.99997389e-01 2.75965384e-05 -4.72870323e+00] [ 4.93224234e-04 -2.64695688e-05 9.99999878e-01 -1.18003184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000371743 meters Centerline goodness [0,1] 0.9898347294543808 Centerline is valid? [True, True] Translation: X:89.81, Y:-4.73, Z:-1.18 [[ 9.99998164e-01 1.88598836e-03 -3.38586251e-04 8.98122859e+01] [-1.88598205e-03 9.99998221e-01 1.89486579e-05 -4.73052483e+00] [ 3.38621386e-04 -1.83100555e-05 9.99999943e-01 -1.18010510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.030371743 meters Centerline goodness [0,1] 0.9891819865395908 Centerline is valid? [True, True] Translation: X:89.84, Y:-4.73, Z:-1.18 [[ 9.99999191e-01 1.27080156e-03 5.02514564e-05 8.98421528e+01] [-1.27080140e-03 9.99999193e-01 -3.36239182e-06 -4.73265930e+00] [-5.02556888e-05 3.29852948e-06 9.99999999e-01 -1.18046719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.060371743 meters Centerline goodness [0,1] 0.9891686913871796 Centerline is valid? [True, True] Translation: X:89.87, Y:-4.73, Z:-1.18 [[ 9.99999810e-01 -5.54083261e-04 -2.70656027e-04 8.98719974e+01] [ 5.54087415e-04 9.99999846e-01 1.52719026e-05 -4.73352258e+00] [ 2.70647523e-04 -1.54218668e-05 9.99999963e-01 -1.18137855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.090371743 meters Centerline goodness [0,1] 0.989301418921982 Centerline is valid? [True, True] Translation: X:89.90, Y:-4.74, Z:-1.18 [[ 9.99998468e-01 -1.51218756e-03 -8.82028624e-04 8.99021073e+01] [ 1.51223275e-03 9.99998855e-01 5.05684129e-05 -4.73770691e+00] [ 8.81951145e-04 -5.19021679e-05 9.99999610e-01 -1.18238632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12037174299999 meters Centerline goodness [0,1] 0.9889039855072463 Centerline is valid? [True, True] Translation: X:89.93, Y:-4.74, Z:-1.18 [[ 9.99997107e-01 -2.35228868e-03 -5.03710441e-04 8.99327677e+01] [ 2.35230352e-03 9.99997233e-01 2.88786972e-05 -4.73896726e+00] [ 5.03641116e-04 -3.00634935e-05 9.99999873e-01 -1.18256599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.150371743 meters Centerline goodness [0,1] 0.9882595589401872 Centerline is valid? [True, True] Translation: X:89.96, Y:-4.75, Z:-1.18 [[ 9.99995610e-01 -2.96011082e-03 1.35060206e-04 8.99626192e+01] [ 2.96011186e-03 9.99995619e-01 -7.50307611e-06 -4.74737111e+00] [-1.35037404e-04 7.90283649e-06 9.99999991e-01 -1.18373196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180371743 meters Centerline goodness [0,1] 0.9888773106197898 Centerline is valid? [True, True] Translation: X:89.99, Y:-4.74, Z:-1.18 [[ 9.99995707e-01 -2.93003431e-03 -1.76454492e-05 8.99943910e+01] [ 2.93003434e-03 9.99995707e-01 1.49687007e-06 -4.74423289e+00] [ 1.76409876e-05 -1.54856541e-06 1.00000000e+00 -1.18323901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.210371743 meters Centerline goodness [0,1] 0.9875277287337589 Centerline is valid? [True, True] Translation: X:90.03, Y:-4.75, Z:-1.18 [[ 9.99997045e-01 -2.40112393e-03 -3.79191133e-04 9.00251096e+01] [ 2.40113264e-03 9.99997117e-01 2.25029925e-05 -4.75018524e+00] [ 3.79136008e-04 -2.34134142e-05 9.99999928e-01 -1.18447660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240371743 meters Centerline goodness [0,1] 0.989142261311089 Centerline is valid? [True, True] Translation: X:90.06, Y:-4.75, Z:-1.18 [[ 9.99998718e-01 -1.59549195e-03 -1.32327165e-04 9.00562439e+01] [ 1.59549296e-03 9.99998727e-01 7.51076024e-06 -4.74899405e+00] [ 1.32315013e-04 -7.72187768e-06 9.99999991e-01 -1.18409232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.270371743 meters Centerline goodness [0,1] 0.9886951999819124 Centerline is valid? [True, True] Translation: X:90.09, Y:-4.75, Z:-1.18 [[ 9.99999874e-01 -5.00068501e-04 -3.40288346e-05 9.00876870e+01] [ 5.00068584e-04 9.99999875e-01 2.43115869e-06 -4.75047088e+00] [ 3.40276146e-05 -2.44817513e-06 9.99999999e-01 -1.18405597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300371743 meters Centerline goodness [0,1] 0.9883058131644424 Centerline is valid? [True, True] Translation: X:90.12, Y:-4.75, Z:-1.18 [[ 9.99999933e-01 3.38920761e-04 1.41093756e-04 9.01186605e+01] [-3.38919654e-04 9.99999943e-01 -7.87322425e-06 -4.75150296e+00] [-1.41096416e-04 7.82540427e-06 9.99999990e-01 -1.18412950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.330371743 meters Centerline goodness [0,1] 0.9881706514088504 Centerline is valid? [True, True] Translation: X:90.15, Y:-4.75, Z:-1.18 [[ 9.99993058e-01 3.65822464e-03 7.07471816e-04 9.01484078e+01] [-3.65819678e-03 9.99993308e-01 -4.06691860e-05 -4.75248777e+00] [-7.07615859e-04 3.80808326e-05 9.99999749e-01 -1.18424871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360371743 meters Centerline goodness [0,1] 0.9887483054676909 Centerline is valid? [True, True] Translation: X:90.18, Y:-4.75, Z:-1.18 [[ 9.99982595e-01 5.84066236e-03 8.34712441e-04 9.01786463e+01] [-5.84062415e-03 9.99982942e-01 -4.82022002e-05 -4.75377850e+00] [-8.34979736e-04 4.33261196e-05 9.99999650e-01 -1.18434303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.390371743 meters Centerline goodness [0,1] 0.98935013142391 Centerline is valid? [True, True] Translation: X:90.21, Y:-4.75, Z:-1.18 [[ 9.99969679e-01 7.58792880e-03 1.75033770e-03 9.02082798e+01] [-7.58776323e-03 9.99971207e-01 -1.01216427e-04 -4.75141149e+00] [-1.75105532e-03 8.79322101e-05 9.99998463e-01 -1.18339446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420371743 meters Centerline goodness [0,1] 0.9892699490662139 Centerline is valid? [True, True] Translation: X:90.24, Y:-4.75, Z:-1.18 [[ 9.99934401e-01 1.08858339e-02 3.56254005e-03 9.02386439e+01] [-1.08851735e-02 9.99940734e-01 -2.04717799e-04 -4.75249702e+00] [-3.56455744e-03 1.65925503e-04 9.99993633e-01 -1.18307384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.450371743 meters Centerline goodness [0,1] 0.9894307099115446 Centerline is valid? [True, True] Translation: X:90.27, Y:-4.75, Z:-1.18 [[ 9.99918394e-01 1.20308368e-02 4.29708441e-03 9.02679844e+01] [-1.20298856e-02 9.99927608e-01 -2.47135777e-04 -4.75234461e+00] [-4.29974658e-03 1.95422175e-04 9.99990737e-01 -1.18257700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48037174299999 meters Centerline goodness [0,1] 0.989092801701704 Centerline is valid? [True, True] Translation: X:90.30, Y:-4.76, Z:-1.18 [[ 9.99897048e-01 1.31891864e-02 5.65151316e-03 9.02958312e+01] [-1.31875611e-02 9.99912988e-01 -3.24773026e-04 -4.75531541e+00] [-5.65530490e-03 2.50209915e-04 9.99983977e-01 -1.18299994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.510371743 meters Centerline goodness [0,1] 0.9897644927536232 Centerline is valid? [True, True] Translation: X:90.32, Y:-4.76, Z:-1.18 [[ 9.99893030e-01 1.31794432e-02 6.34276063e-03 9.03248438e+01] [-1.31774010e-02 9.99913108e-01 -3.63664268e-04 -4.75750444e+00] [-6.34700239e-03 2.80044267e-04 9.99979818e-01 -1.18328548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540371743 meters Centerline goodness [0,1] 0.9896897872244 Centerline is valid? [True, True] Translation: X:90.35, Y:-4.76, Z:-1.18 [[ 9.99894939e-01 1.28191711e-02 6.76608243e-03 9.03535540e+01] [-1.28168426e-02 9.99917786e-01 -3.87388272e-04 -4.76089045e+00] [-6.77049215e-03 3.00627758e-04 9.99977035e-01 -1.18394911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.570371743 meters Centerline goodness [0,1] 0.9892801411221929 Centerline is valid? [True, True] Translation: X:90.38, Y:-4.76, Z:-1.19 [[ 9.99926731e-01 1.09620446e-02 5.13472258e-03 9.03828207e+01] [-1.09606805e-02 9.99939887e-01 -2.93716751e-04 -4.76264464e+00] [-5.13763365e-03 2.37415177e-04 9.99986774e-01 -1.18529263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600371743 meters Centerline goodness [0,1] 0.989268491475922 Centerline is valid? [True, True] Translation: X:90.41, Y:-4.77, Z:-1.19 [[ 9.99944374e-01 9.83236283e-03 3.81761654e-03 9.04109586e+01] [-9.83160069e-03 9.99951645e-01 -2.18354082e-04 -4.76817080e+00] [-3.81957888e-03 1.80808654e-04 9.99992689e-01 -1.18742673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.630371743 meters Centerline goodness [0,1] 0.9895227535018443 Centerline is valid? [True, True] Translation: X:90.44, Y:-4.77, Z:-1.19 [[ 9.99959724e-01 8.74195931e-03 2.03177530e-03 9.04397119e+01] [-8.74174091e-03 9.99961783e-01 -1.16349497e-04 -4.77148726e+00] [-2.03271477e-03 9.85835579e-05 9.99997929e-01 -1.18939915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660371743 meters Centerline goodness [0,1] 0.9898245296671491 Centerline is valid? [True, True] Translation: X:90.47, Y:-4.77, Z:-1.19 [[ 9.99978775e-01 6.51534888e-03 -2.42243730e-05 9.04691498e+01] [-6.51534886e-03 9.99978775e-01 8.98889774e-07 -4.77340482e+00] [ 2.42297154e-05 -7.41040452e-07 1.00000000e+00 -1.19132426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.690371743 meters Centerline goodness [0,1] 0.9896399954858368 Centerline is valid? [True, True] Translation: X:90.50, Y:-4.78, Z:-1.19 [[ 9.99985706e-01 5.33035574e-03 -4.18001247e-04 9.04976945e+01] [-5.33034667e-03 9.99985793e-01 2.27967447e-05 -4.77603046e+00] [ 4.18116823e-04 -2.05683273e-05 9.99999912e-01 -1.19176675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720371743 meters Centerline goodness [0,1] 0.9890045513947096 Centerline is valid? [True, True] Translation: X:90.52, Y:-4.78, Z:-1.19 [[ 9.99990916e-01 4.25886158e-03 -1.71943081e-04 9.05249976e+01] [-4.25886017e-03 9.99990931e-01 8.55552163e-06 -4.77940468e+00] [ 1.71977958e-04 -7.82316237e-06 9.99999985e-01 -1.19215509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.750371743 meters Centerline goodness [0,1] 0.989655249960645 Centerline is valid? [True, True] Translation: X:90.55, Y:-4.78, Z:-1.19 [[ 9.99993237e-01 3.48561495e-03 1.17337426e-03 9.05533298e+01] [-3.48553816e-03 9.99993923e-01 -6.74845820e-05 -4.78157240e+00] [-1.17360235e-03 6.33942848e-05 9.99999309e-01 -1.19115967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780371743 meters Centerline goodness [0,1] 0.9887592262375009 Centerline is valid? [True, True] Translation: X:90.58, Y:-4.79, Z:-1.19 [[ 9.99993124e-01 3.36665218e-03 1.55475097e-03 9.05825080e+01] [-3.36651887e-03 9.99994329e-01 -8.83533379e-05 -4.78505458e+00] [-1.55503961e-03 8.31186320e-05 9.99998787e-01 -1.19102384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.810371743 meters Centerline goodness [0,1] 0.9887592262375009 Centerline is valid? [True, True] Translation: X:90.61, Y:-4.79, Z:-1.19 [[ 9.99993241e-01 3.33167338e-03 1.55474073e-03 9.06116551e+01] [-3.33153975e-03 9.99994446e-01 -8.85340632e-05 -4.78667521e+00] [-1.55502706e-03 8.33537843e-05 9.99998787e-01 -1.19141952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.840371743 meters Centerline goodness [0,1] 0.988699547531684 Centerline is valid? [True, True] Translation: X:90.64, Y:-4.79, Z:-1.19 [[ 9.99987584e-01 3.57268110e-03 3.47395225e-03 9.06413092e+01] [-3.57201844e-03 9.99993601e-01 -1.96937117e-04 -4.79110536e+00] [-3.47463362e-03 1.84525650e-04 9.99993946e-01 -1.19093568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87037174299999 meters Centerline goodness [0,1] 0.9892717888615925 Centerline is valid? [True, True] Translation: X:90.67, Y:-4.79, Z:-1.19 [[ 9.99983534e-01 3.72633864e-03 4.36424850e-03 9.06720682e+01] [-3.72529556e-03 9.99993031e-01 -2.47111719e-04 -4.79019273e+00] [-4.36513891e-03 2.30849535e-04 9.99990446e-01 -1.19020656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900371743 meters Centerline goodness [0,1] 0.9883718309859155 Centerline is valid? [True, True] Translation: X:90.70, Y:-4.79, Z:-1.19 [[ 9.99976741e-01 3.81310571e-03 5.65491866e-03 9.07021310e+01] [-3.81135581e-03 9.99992685e-01 -3.20191820e-04 -4.79298416e+00] [-5.65609822e-03 2.98631466e-04 9.99983960e-01 -1.19049079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.930371743 meters Centerline goodness [0,1] 0.9895363521558723 Centerline is valid? [True, True] Translation: X:90.73, Y:-4.80, Z:-1.19 [[ 9.99970147e-01 3.90873145e-03 6.66535495e-03 9.07329078e+01] [-3.90630402e-03 9.99992299e-01 -3.77165000e-04 -4.79608911e+00] [-6.66677786e-03 3.51116838e-04 9.99977715e-01 -1.19032625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960371743 meters Centerline goodness [0,1] 0.9880861566075836 Centerline is valid? [True, True] Translation: X:90.76, Y:-4.80, Z:-1.19 [[ 9.99967691e-01 3.84123725e-03 7.06125409e-03 9.07638523e+01] [-3.83851799e-03 9.99992553e-01 -3.98608680e-04 -4.80045213e+00] [-7.06273266e-03 3.71491050e-04 9.99974990e-01 -1.19021634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.990371743 meters Centerline goodness [0,1] 0.9885484161267099 Centerline is valid? [True, True] Translation: X:90.80, Y:-4.80, Z:-1.19 [[ 9.99968290e-01 3.71200340e-03 7.04558980e-03 9.07959560e+01] [-3.70928254e-03 9.99993041e-01 -3.99207942e-04 -4.80265287e+00] [-7.04702263e-03 3.73061199e-04 9.99975100e-01 -1.19013067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020371743 meters Centerline goodness [0,1] 0.9879290579270349 Centerline is valid? [True, True] Translation: X:90.83, Y:-4.81, Z:-1.19 [[ 9.99971163e-01 3.32743786e-03 6.82647878e-03 9.08278825e+01] [-3.32486407e-03 9.99994397e-01 -3.88343721e-04 -4.80654634e+00] [-6.82773272e-03 3.65635409e-04 9.99976624e-01 -1.19173891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.050371743 meters Centerline goodness [0,1] 0.9887098222302029 Centerline is valid? [True, True] Translation: X:90.86, Y:-4.81, Z:-1.19 [[ 9.99977615e-01 3.18470359e-03 5.88444845e-03 9.08599729e+01] [-3.18278335e-03 9.99994879e-01 -3.35659290e-04 -4.80651703e+00] [-5.88548729e-03 3.16922851e-04 9.99982630e-01 -1.19322087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080371743 meters Centerline goodness [0,1] 0.9883350531652385 Centerline is valid? [True, True] Translation: X:90.89, Y:-4.81, Z:-1.20 [[ 9.99980707e-01 3.68255240e-03 5.00253383e-03 9.08908116e+01] [-3.68116631e-03 9.99993184e-01 -2.86256203e-04 -4.81144479e+00] [-5.00355389e-03 2.67835521e-04 9.99987446e-01 -1.19543446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.110371743 meters Centerline goodness [0,1] 0.9890450321016477 Centerline is valid? [True, True] Translation: X:90.92, Y:-4.81, Z:-1.20 [[ 9.99982960e-01 4.04544234e-03 4.20874942e-03 9.09224536e+01] [-4.04445488e-03 9.99991792e-01 -2.43106607e-04 -4.81475385e+00] [-4.20969834e-03 2.26080367e-04 9.99991114e-01 -1.19716077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140371743 meters Centerline goodness [0,1] 0.9903512503078198 Centerline is valid? [True, True] Translation: X:90.95, Y:-4.82, Z:-1.20 [[ 9.99974736e-01 6.75531608e-03 2.21187037e-03 9.09524549e+01] [-6.75505164e-03 9.99977176e-01 -1.27001141e-04 -4.81904315e+00] [-2.21267782e-03 1.12056634e-04 9.99997546e-01 -1.20014747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.170371743 meters Centerline goodness [0,1] 0.9895228052857111 Centerline is valid? [True, True] Translation: X:90.98, Y:-4.82, Z:-1.20 [[ 9.99965110e-01 8.25582812e-03 1.27320285e-03 9.09821465e+01] [-8.25574031e-03 9.99965918e-01 -7.42125672e-05 -4.81657113e+00] [-1.27377214e-03 6.36987458e-05 9.99999187e-01 -1.20063989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.200371743 meters Centerline goodness [0,1] 0.9911860595840359 Centerline is valid? [True, True] Translation: X:91.01, Y:-4.81, Z:-1.20 [[ 9.99922180e-01 1.24291225e-02 1.07301054e-03 9.10126121e+01] [-1.24290627e-02 9.99922754e-01 -6.23726675e-05 -4.81273948e+00] [-1.07370290e-03 4.90312983e-05 9.99999422e-01 -1.20031235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23037174299999 meters Centerline goodness [0,1] 0.9913277915075264 Centerline is valid? [True, True] Translation: X:91.04, Y:-4.81, Z:-1.20 [[ 9.99892318e-01 1.45889772e-02 1.58546452e-03 9.10409725e+01] [-1.45888487e-02 9.99893573e-01 -9.26340309e-05 -4.81338410e+00] [-1.58664722e-03 6.94939539e-05 9.99998739e-01 -1.20038160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260371743 meters Centerline goodness [0,1] 0.991131119864941 Centerline is valid? [True, True] Translation: X:91.07, Y:-4.81, Z:-1.20 [[ 9.99820647e-01 1.85871295e-02 3.63203617e-03 9.10708534e+01] [-1.85864875e-02 9.99827234e-01 -2.10438230e-04 -4.80909645e+00] [-3.63532012e-03 1.42893693e-04 9.99993382e-01 -1.19750593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.290371743 meters Centerline goodness [0,1] 0.9910863008148382 Centerline is valid? [True, True] Translation: X:91.10, Y:-4.81, Z:-1.20 [[ 9.99792695e-01 1.96694645e-02 5.26118106e-03 9.10999401e+01] [-1.96681329e-02 9.99806517e-01 -3.04728087e-04 -4.80892391e+00] [-5.26615695e-03 2.01187308e-04 9.99986113e-01 -1.19688033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320371743 meters Centerline goodness [0,1] 0.9912387387387387 Centerline is valid? [True, True] Translation: X:91.13, Y:-4.81, Z:-1.20 [[ 9.99771346e-01 2.03198442e-02 6.66025771e-03 9.11275151e+01] [-2.03177286e-02 9.99793499e-01 -3.85165744e-04 -4.81173023e+00] [-6.66670887e-03 2.49756366e-04 9.99977746e-01 -1.19649199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.350371743 meters Centerline goodness [0,1] 0.9902042283583096 Centerline is valid? [True, True] Translation: X:91.15, Y:-4.82, Z:-1.20 [[ 9.99760857e-01 2.02001739e-02 8.37739841e-03 9.11548425e+01] [-2.01968321e-02 9.99795906e-01 -4.83328079e-04 -4.82408098e+00] [-8.38545194e-03 3.14015586e-04 9.99964792e-01 -1.19704166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380371743 meters Centerline goodness [0,1] 0.9912573231185219 Centerline is valid? [True, True] Translation: X:91.18, Y:-4.82, Z:-1.20 [[ 9.99784297e-01 1.90200859e-02 8.34239220e-03 9.11840744e+01] [-1.90167377e-02 9.99819050e-01 -4.80492981e-04 -4.81676498e+00] [-8.35002166e-03 3.21744253e-04 9.99965086e-01 -1.19610848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.410371743 meters Centerline goodness [0,1] 0.9904776876951064 Centerline is valid? [True, True] Translation: X:91.21, Y:-4.82, Z:-1.20 [[ 9.99813737e-01 1.74461715e-02 8.25367561e-03 9.12128124e+01] [-1.74428454e-02 9.99847749e-01 -4.74798740e-04 -4.82100024e+00] [-8.26070241e-03 3.30742714e-04 9.99965825e-01 -1.19718518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440371743 meters Centerline goodness [0,1] 0.9909487018237355 Centerline is valid? [True, True] Translation: X:91.24, Y:-4.83, Z:-1.20 [[ 9.99894092e-01 1.29506071e-02 6.63975762e-03 9.12431236e+01] [-1.29483608e-02 9.99916094e-01 -3.81179265e-04 -4.82719314e+00] [-6.64413701e-03 2.95164918e-04 9.99977884e-01 -1.19935469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.470371743 meters Centerline goodness [0,1] 0.9908668626438975 Centerline is valid? [True, True] Translation: X:91.27, Y:-4.83, Z:-1.20 [[ 9.99931480e-01 1.03644836e-02 5.44169802e-03 9.12728663e+01] [-1.03629351e-02 9.99946254e-01 -3.12691219e-04 -4.83116796e+00] [-5.44464644e-03 2.56277830e-04 9.99985145e-01 -1.20084828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500371743 meters Centerline goodness [0,1] 0.9908846584546472 Centerline is valid? [True, True] Translation: X:91.30, Y:-4.84, Z:-1.20 [[ 9.99984578e-01 4.70596636e-03 2.94922820e-03 9.13022465e+01] [-4.70548715e-03 9.99988915e-01 -1.69400992e-04 -4.83944871e+00] [-2.94999271e-03 1.55520824e-04 9.99995637e-01 -1.20400941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.530371743 meters Centerline goodness [0,1] 0.9913212695998389 Centerline is valid? [True, True] Translation: X:91.33, Y:-4.84, Z:-1.21 [[ 9.99997142e-01 1.82989585e-03 1.53842346e-03 9.13322009e+01] [-1.82976207e-03 9.99998322e-01 -8.83655260e-05 -4.84378793e+00] [-1.53858258e-03 8.55503246e-05 9.99998813e-01 -1.20529819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.560371743 meters Centerline goodness [0,1] 0.9910506533023089 Centerline is valid? [True, True] Translation: X:91.36, Y:-4.85, Z:-1.21 [[ 9.99999443e-01 -6.13588071e-04 8.59104202e-04 9.13626058e+01] [ 6.13630570e-04 9.99999811e-01 -4.92060127e-05 -4.84804902e+00] [-8.59073847e-04 4.97331579e-05 9.99999630e-01 -1.20637356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.590371743 meters Centerline goodness [0,1] 0.9907467423615923 Centerline is valid? [True, True] Translation: X:91.39, Y:-4.85, Z:-1.21 [[ 9.99996440e-01 -2.61430442e-03 5.33841354e-04 9.13935252e+01] [ 2.61432101e-03 9.99996582e-01 -3.03872587e-05 -4.85160261e+00] [-5.33760088e-04 3.17827832e-05 9.99999857e-01 -1.20702249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62037174299999 meters Centerline goodness [0,1] 0.9902595951923506 Centerline is valid? [True, True] Translation: X:91.43, Y:-4.85, Z:-1.21 [[ 9.99984267e-01 -5.41370195e-03 1.46917339e-03 9.14250982e+01] [ 5.41383095e-03 9.99985342e-01 -8.38435412e-05 -4.85136596e+00] [-1.46869795e-03 9.17960784e-05 9.99998917e-01 -1.20579720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.650371743 meters Centerline goodness [0,1] 0.989162495530926 Centerline is valid? [True, True] Translation: X:91.46, Y:-4.86, Z:-1.21 [[ 9.99978289e-01 -6.17690847e-03 2.29499963e-03 9.14561113e+01] [ 6.17722562e-03 9.99980912e-01 -1.31129079e-04 -4.85935373e+00] [-2.29414585e-03 1.45302962e-04 9.99997358e-01 -1.20664890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680371743 meters Centerline goodness [0,1] 0.9886422071679298 Centerline is valid? [True, True] Translation: X:91.49, Y:-4.86, Z:-1.21 [[ 9.99966683e-01 -7.15842652e-03 3.92308709e-03 9.14883525e+01] [ 7.15936299e-03 9.99974346e-01 -2.24716704e-04 -4.85732885e+00] [-3.92137783e-03 2.52796021e-04 9.99992279e-01 -1.20567749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.710371743 meters Centerline goodness [0,1] 0.989390098921065 Centerline is valid? [True, True] Translation: X:91.52, Y:-4.86, Z:-1.21 [[ 9.99961657e-01 -7.40346394e-03 4.67689267e-03 9.15208968e+01] [ 7.40479989e-03 9.99972548e-01 -2.68398201e-04 -4.85534040e+00] [-4.67477720e-03 3.03019364e-04 9.99989027e-01 -1.20506617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740371743 meters Centerline goodness [0,1] 0.9891326222579996 Centerline is valid? [True, True] Translation: X:91.55, Y:-4.86, Z:-1.21 [[ 9.99956656e-01 -7.63587497e-03 5.32722647e-03 9.15519360e+01] [ 7.63761521e-03 9.99970786e-01 -3.06401767e-04 -4.86136673e+00] [-5.32473119e-03 3.47075792e-04 9.99985763e-01 -1.20570776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.770371743 meters Centerline goodness [0,1] 0.9884990471920189 Centerline is valid? [True, True] Translation: X:91.58, Y:-4.86, Z:-1.20 [[ 9.99938827e-01 -8.63115532e-03 6.91706310e-03 9.15842803e+01] [ 8.63411636e-03 9.99962646e-01 -3.98328823e-04 -4.86068457e+00] [-6.91336668e-03 4.58027183e-04 9.99975997e-01 -1.20485266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800371743 meters Centerline goodness [0,1] 0.9886844876649712 Centerline is valid? [True, True] Translation: X:91.62, Y:-4.86, Z:-1.20 [[ 9.99926677e-01 -9.48125495e-03 7.53298663e-03 9.16163468e+01] [ 9.48479555e-03 9.99954924e-01 -4.34425719e-04 -4.86319538e+00] [-7.52852817e-03 5.05842703e-04 9.99971532e-01 -1.20465727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.830371743 meters Centerline goodness [0,1] 0.9887361160874238 Centerline is valid? [True, True] Translation: X:91.65, Y:-4.87, Z:-1.20 [[ 9.99914799e-01 -1.06404948e-02 7.56138822e-03 9.16482065e+01] [ 1.06440993e-02 9.99943255e-01 -4.36608816e-04 -4.86576744e+00] [-7.55631341e-03 5.17055783e-04 9.99971317e-01 -1.20453867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860371743 meters Centerline goodness [0,1] 0.9874762383987477 Centerline is valid? [True, True] Translation: X:91.68, Y:-4.87, Z:-1.21 [[ 9.99881636e-01 -1.32646308e-02 7.79515984e-03 9.16786792e+01] [ 1.32685469e-02 9.99911867e-01 -4.50875749e-04 -4.86968529e+00] [-7.78849213e-03 5.54252825e-04 9.99969516e-01 -1.20527098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.890371743 meters Centerline goodness [0,1] 0.9874057669507639 Centerline is valid? [True, True] Translation: X:91.71, Y:-4.87, Z:-1.21 [[ 9.99863102e-01 -1.48836596e-02 7.22873979e-03 9.17091716e+01] [ 1.48870721e-02 9.99889094e-01 -4.18491424e-04 -4.87350932e+00] [-7.22170940e-03 5.26048904e-04 9.99973785e-01 -1.20646082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920371743 meters Centerline goodness [0,1] 0.9881250559083997 Centerline is valid? [True, True] Translation: X:91.74, Y:-4.88, Z:-1.21 [[ 9.99826058e-01 -1.78696814e-02 5.34124041e-03 9.17384512e+01] [ 1.78715866e-02 9.99840243e-01 -3.09168038e-04 -4.87974898e+00] [-5.33486237e-03 4.04570701e-04 9.99985688e-01 -1.20979194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.950371743 meters Centerline goodness [0,1] 0.9884574087329993 Centerline is valid? [True, True] Translation: X:91.77, Y:-4.88, Z:-1.21 [[ 9.99811395e-01 -1.90218568e-02 3.91699518e-03 9.17702084e+01] [ 1.90228870e-02 9.99819023e-01 -2.25922140e-04 -4.88343631e+00] [-3.91198884e-03 3.00392087e-04 9.99992303e-01 -1.21170868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98037174299999 meters Centerline goodness [0,1] 0.98789476035199 Centerline is valid? [True, True] Translation: X:91.80, Y:-4.89, Z:-1.21 [[ 9.99787982e-01 -2.04530575e-02 2.37970595e-03 9.18011892e+01] [ 2.04534430e-02 9.99790797e-01 -1.37796278e-04 -4.88730375e+00] [-2.37638975e-03 1.86440243e-04 9.99997159e-01 -1.21372964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.010371743 meters Centerline goodness [0,1] 0.9876213376079793 Centerline is valid? [True, True] Translation: X:91.83, Y:-4.89, Z:-1.22 [[ 9.99757091e-01 -2.20380898e-02 -2.86733686e-04 9.18311478e+01] [ 2.20380958e-02 9.99757132e-01 1.77145242e-05 -4.89058213e+00] [ 2.86273654e-04 -2.40292856e-05 9.99999959e-01 -1.21583420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040371743 meters Centerline goodness [0,1] 0.9869638257363647 Centerline is valid? [True, True] Translation: X:91.86, Y:-4.89, Z:-1.22 [[ 9.99747021e-01 -2.24728355e-02 -9.30394902e-04 9.18633072e+01] [ 2.24728964e-02 9.99747451e-01 5.51061312e-05 -4.89294368e+00] [ 9.28921541e-04 -7.60008587e-05 9.99999566e-01 -1.21669311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.070371743 meters Centerline goodness [0,1] 0.9883449883449883 Centerline is valid? [True, True] Translation: X:91.90, Y:-4.89, Z:-1.22 [[ 9.99750006e-01 -2.23345251e-02 -1.04655409e-03 9.18960138e+01] [ 2.23346021e-02 9.99750550e-01 6.19981324e-05 -4.88613856e+00] [ 1.04490833e-03 -8.53570025e-05 9.99999450e-01 -1.21578548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100371743 meters Centerline goodness [0,1] 0.9873304382862516 Centerline is valid? [True, True] Translation: X:91.93, Y:-4.90, Z:-1.22 [[ 9.99766930e-01 -2.15792296e-02 -6.49442645e-04 9.19271432e+01] [ 2.15792594e-02 9.99767140e-01 3.88809296e-05 -4.89526536e+00] [ 6.48452396e-04 -5.28863590e-05 9.99999788e-01 -1.21745995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.130371743 meters Centerline goodness [0,1] 0.9885351461712772 Centerline is valid? [True, True] Translation: X:91.96, Y:-4.89, Z:-1.22 [[ 9.99825627e-01 -1.86688531e-02 4.36299387e-04 9.19579015e+01] [ 1.86688660e-02 9.99825721e-01 -2.53993270e-05 -4.89205362e+00] [-4.35749173e-04 3.35401129e-05 9.99999904e-01 -1.21685968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160371743 meters Centerline goodness [0,1] 0.9881881791796971 Centerline is valid? [True, True] Translation: X:91.99, Y:-4.89, Z:-1.21 [[ 9.99885833e-01 -1.49599802e-02 2.12619279e-03 9.19883967e+01] [ 1.49602779e-02 9.99888081e-01 -1.24152358e-04 -4.88664062e+00] [-2.12409751e-03 1.55946619e-04 9.99997732e-01 -1.21481649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.190371743 meters Centerline goodness [0,1] 0.9894940932455587 Centerline is valid? [True, True] Translation: X:92.02, Y:-4.88, Z:-1.21 [[ 9.99908131e-01 -1.30966664e-02 3.49379955e-03 9.20208935e+01] [ 1.30974569e-02 9.99914204e-01 -2.03460576e-04 -4.87645390e+00] [-3.49083514e-03 2.49201773e-04 9.99993876e-01 -1.21280017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220371743 meters Centerline goodness [0,1] 0.9885246270503791 Centerline is valid? [True, True] Translation: X:92.05, Y:-4.88, Z:-1.21 [[ 9.99922362e-01 -1.16276188e-02 4.47984179e-03 9.20509822e+01] [ 1.16289036e-02 9.99932348e-01 -2.60852961e-04 -4.88253402e+00] [-4.47650562e-03 3.12928357e-04 9.99989931e-01 -1.21293991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.250371743 meters Centerline goodness [0,1] 0.9872357668670223 Centerline is valid? [True, True] Translation: X:92.08, Y:-4.89, Z:-1.21 [[ 9.99929513e-01 -1.06538206e-02 5.24079774e-03 9.20819387e+01] [ 1.06555723e-02 9.99943181e-01 -3.06448653e-04 -4.88827525e+00] [-5.23723511e-03 3.62270751e-04 9.99986220e-01 -1.21357196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280371743 meters Centerline goodness [0,1] 0.9879354751253897 Centerline is valid? [True, True] Translation: X:92.11, Y:-4.89, Z:-1.21 [[ 9.99943513e-01 -9.55494715e-03 4.65553768e-03 9.21134730e+01] [ 9.55631784e-03 9.99954300e-01 -2.72264212e-04 -4.89024535e+00] [-4.65272345e-03 3.16738630e-04 9.99989126e-01 -1.21427707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.310371743 meters Centerline goodness [0,1] 0.9891510285095634 Centerline is valid? [True, True] Translation: X:92.15, Y:-4.88, Z:-1.21 [[ 9.99935022e-01 -1.02051234e-02 5.07999260e-03 9.21464040e+01] [ 1.02067656e-02 9.99947865e-01 -2.97453100e-04 -4.88048559e+00] [-5.07669221e-03 3.49284066e-04 9.99987053e-01 -1.21334210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.340371743 meters Centerline goodness [0,1] 0.9858063353309602 Centerline is valid? [True, True] Translation: X:92.18, Y:-4.90, Z:-1.22 [[ 9.99919437e-01 -1.21012388e-02 3.83144051e-03 9.21750064e+01] [ 1.21021897e-02 9.99926740e-01 -2.25084695e-04 -4.89922444e+00] [-3.82843602e-03 2.71435381e-04 9.99992635e-01 -1.21707588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37037174299999 meters Centerline goodness [0,1] 0.98858082389243 Centerline is valid? [True, True] Translation: X:92.21, Y:-4.89, Z:-1.22 [[ 9.99902159e-01 -1.35794002e-02 3.35740258e-03 9.22078192e+01] [ 1.35801362e-02 9.99907766e-01 -1.96509693e-04 -4.88807926e+00] [-3.35442443e-03 2.42084451e-04 9.99994345e-01 -1.21605303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400371743 meters Centerline goodness [0,1] 0.9874618011864102 Centerline is valid? [True, True] Translation: X:92.24, Y:-4.90, Z:-1.22 [[ 9.99889287e-01 -1.46560601e-02 2.57156714e-03 9.22380176e+01] [ 1.46564963e-02 9.99892576e-01 -1.50862072e-04 -4.89989158e+00] [-2.56907985e-03 1.88535534e-04 9.99996682e-01 -1.21816969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.430371743 meters Centerline goodness [0,1] 0.9884820045353511 Centerline is valid? [True, True] Translation: X:92.27, Y:-4.90, Z:-1.22 [[ 9.99880017e-01 -1.54863480e-02 3.51987772e-04 9.22705875e+01] [ 1.54863559e-02 9.99880079e-01 -1.97843202e-05 -4.89647557e+00] [-3.51639175e-04 2.52329544e-05 9.99999938e-01 -1.21906820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460371743 meters Centerline goodness [0,1] 0.9884029904521707 Centerline is valid? [True, True] Translation: X:92.30, Y:-4.90, Z:-1.22 [[ 9.99881370e-01 -1.53897395e-02 -6.33171661e-04 9.23029857e+01] [ 1.53897669e-02 9.99881570e-01 3.83157990e-05 -4.89855972e+00] [ 6.32507005e-04 -4.80556178e-05 9.99999799e-01 -1.22025909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.490371743 meters Centerline goodness [0,1] 0.988917421273145 Centerline is valid? [True, True] Translation: X:92.34, Y:-4.90, Z:-1.22 [[ 9.99885763e-01 -1.50808925e-02 -1.01351966e-03 9.23350594e+01] [ 1.50809618e-02 9.99886274e-01 6.08283157e-05 -4.90040839e+00] [ 1.01248705e-03 -7.61062183e-05 9.99999485e-01 -1.22089720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520371743 meters Centerline goodness [0,1] 0.9897051204072898 Centerline is valid? [True, True] Translation: X:92.37, Y:-4.90, Z:-1.22 [[ 9.99910238e-01 -1.33439030e-02 -1.20660750e-03 9.23670683e+01] [ 1.33439996e-02 9.99910962e-01 7.20677719e-05 -4.89878821e+00] [ 1.20553840e-03 -8.81622730e-05 9.99999269e-01 -1.22036474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.550371743 meters Centerline goodness [0,1] 0.989208308926238 Centerline is valid? [True, True] Translation: X:92.40, Y:-4.90, Z:-1.22 [[ 9.99925810e-01 -1.21618762e-02 -6.80792405e-04 9.23975320e+01] [ 1.21619066e-02 9.99926040e-01 4.05027112e-05 -4.89897115e+00] [ 6.80249465e-04 -4.87794400e-05 9.99999767e-01 -1.22032283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580371743 meters Centerline goodness [0,1] 0.9895245405698289 Centerline is valid? [True, True] Translation: X:92.43, Y:-4.89, Z:-1.22 [[ 9.99965288e-01 -8.29048212e-03 8.31072250e-04 9.24287307e+01] [ 8.29052580e-03 9.99965632e-01 -4.91258439e-05 -4.89398340e+00] [-8.30636411e-04 5.60141646e-05 9.99999653e-01 -1.21873068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.610371743 meters Centerline goodness [0,1] 0.9896228974498101 Centerline is valid? [True, True] Translation: X:92.46, Y:-4.90, Z:-1.22 [[ 9.99979104e-01 -6.20170172e-03 1.82493390e-03 9.24591497e+01] [ 6.20190858e-03 9.99980762e-01 -1.07715116e-04 -4.89561264e+00] [-1.82423078e-03 1.19030938e-04 9.99998329e-01 -1.21920666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640371743 meters Centerline goodness [0,1] 0.9905941937234332 Centerline is valid? [True, True] Translation: X:92.49, Y:-4.89, Z:-1.22 [[ 9.99987460e-01 -4.13549006e-03 2.82430269e-03 9.24911523e+01] [ 4.13597673e-03 9.99991433e-01 -1.66497952e-04 -4.89283276e+00] [-2.82358995e-03 1.78177115e-04 9.99995998e-01 -1.21857328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.670371743 meters Centerline goodness [0,1] 0.9898358800226372 Centerline is valid? [True, True] Translation: X:92.52, Y:-4.89, Z:-1.22 [[ 9.99990091e-01 -6.97083760e-04 4.39686881e-03 9.25210687e+01] [ 6.98235232e-04 9.99999722e-01 -2.60354906e-04 -4.89393738e+00] [-4.39668610e-03 2.63422375e-04 9.99990300e-01 -1.21841226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.700371743 meters Centerline goodness [0,1] 0.990468212280384 Centerline is valid? [True, True] Translation: X:92.55, Y:-4.89, Z:-1.22 [[ 9.99991231e-01 6.83984328e-04 4.13158296e-03 9.25523670e+01] [-6.82980785e-04 9.99999737e-01 -2.44301412e-04 -4.89084975e+00] [-4.13174898e-03 2.41477478e-04 9.99991435e-01 -1.21846807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73037174299999 meters Centerline goodness [0,1] 0.990468212280384 Centerline is valid? [True, True] Translation: X:92.58, Y:-4.89, Z:-1.22 [[ 9.99991178e-01 7.57150086e-04 4.13159439e-03 9.25840599e+01] [-7.56147959e-04 9.99999684e-01 -2.44108946e-04 -4.89278922e+00] [-4.13177792e-03 2.40982696e-04 9.99991435e-01 -1.21889815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760371743 meters Centerline goodness [0,1] 0.9897933781428927 Centerline is valid? [True, True] Translation: X:92.62, Y:-4.90, Z:-1.22 [[ 9.99990715e-01 1.89707871e-03 3.86919301e-03 9.26150645e+01] [-1.89620678e-03 9.99998176e-01 -2.29007089e-04 -4.89669177e+00] [-3.86962039e-03 2.21668172e-04 9.99992488e-01 -1.22051202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.790371743 meters Centerline goodness [0,1] 0.9902956647923091 Centerline is valid? [True, True] Translation: X:92.64, Y:-4.90, Z:-1.22 [[ 9.99989990e-01 2.01653153e-03 3.99407713e-03 9.26447989e+01] [-2.01560096e-03 9.99997941e-01 -2.36998906e-04 -4.89978316e+00] [-3.99454682e-03 2.28946068e-04 9.99991996e-01 -1.22125740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820371743 meters Centerline goodness [0,1] 0.9912483039348711 Centerline is valid? [True, True] Translation: X:92.68, Y:-4.90, Z:-1.22 [[ 9.99993758e-01 1.41321131e-03 3.23839448e-03 9.26766068e+01] [-1.41259698e-03 9.99998984e-01 -1.91981666e-04 -4.89765525e+00] [-3.23866250e-03 1.87405922e-04 9.99994738e-01 -1.22119266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.850371743 meters Centerline goodness [0,1] 0.990609263711836 Centerline is valid? [True, True] Translation: X:92.71, Y:-4.90, Z:-1.22 [[ 9.99995698e-01 9.78306239e-04 2.76537308e-03 9.27081248e+01] [-9.77856533e-04 9.99999508e-01 -1.63967909e-04 -4.89985494e+00] [-2.76553213e-03 1.61263065e-04 9.99996163e-01 -1.22210862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880371743 meters Centerline goodness [0,1] 0.990657384521191 Centerline is valid? [True, True] Translation: X:92.74, Y:-4.90, Z:-1.22 [[ 9.99996644e-01 7.19350608e-04 2.48893697e-03 9.27398209e+01] [-7.18985424e-04 9.99999731e-01 -1.47614457e-04 -4.90146399e+00] [-2.48904249e-03 1.45824452e-04 9.99996892e-01 -1.22235461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.910371743 meters Centerline goodness [0,1] 0.9905444839052638 Centerline is valid? [True, True] Translation: X:92.77, Y:-4.91, Z:-1.22 [[ 9.99998380e-01 5.65158208e-04 1.70904668e-03 9.27699884e+01] [-5.64985591e-04 9.99999835e-01 -1.01482783e-04 -4.90519741e+00] [-1.70910376e-03 1.00517032e-04 9.99998534e-01 -1.22405082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940371743 meters Centerline goodness [0,1] 0.9902633426171229 Centerline is valid? [True, True] Translation: X:92.80, Y:-4.91, Z:-1.23 [[ 9.99998861e-01 8.76552089e-04 1.22898450e-03 9.28008679e+01] [-8.76463382e-04 9.99999613e-01 -7.27156408e-05 -4.90761073e+00] [-1.22904776e-03 7.16383980e-05 9.99999242e-01 -1.22546950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.970371743 meters Centerline goodness [0,1] 0.9903649965994106 Centerline is valid? [True, True] Translation: X:92.83, Y:-4.91, Z:-1.23 [[ 9.99998119e-01 1.83491947e-03 6.28478812e-04 9.28313709e+01] [-1.83489645e-03 9.99998316e-01 -3.72032272e-05 -4.91001191e+00] [-6.28546018e-04 3.60499637e-05 9.99999802e-01 -1.22637196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000371743 meters Centerline goodness [0,1] 0.9909427280775429 Centerline is valid? [True, True] Translation: X:92.86, Y:-4.91, Z:-1.23 [[ 9.99995911e-01 2.83359356e-03 3.86901882e-04 9.28618137e+01] [-2.83358476e-03 9.99995985e-01 -2.32868751e-05 -4.90701630e+00] [-3.86966314e-04 2.21904606e-05 9.99999925e-01 -1.22584932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.030371743 meters Centerline goodness [0,1] 0.9914208751160106 Centerline is valid? [True, True] Translation: X:92.89, Y:-4.91, Z:-1.23 [[ 9.99993459e-01 3.59544929e-03 3.92465906e-04 9.28918732e+01] [-3.59544031e-03 9.99993536e-01 -2.36082160e-05 -4.90856538e+00] [-3.92548251e-04 2.21969738e-05 9.99999923e-01 -1.22603694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.060371743 meters Centerline goodness [0,1] 0.9914318743341569 Centerline is valid? [True, True] Translation: X:92.92, Y:-4.91, Z:-1.23 [[ 9.99988486e-01 4.61822003e-03 1.30398165e-03 9.29207935e+01] [-4.61812214e-03 9.99989333e-01 -7.80693972e-05 -4.91090277e+00] [-1.30432828e-03 7.20465517e-05 9.99999147e-01 -1.22638343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.090371743 meters Centerline goodness [0,1] 0.9915104591143711 Centerline is valid? [True, True] Translation: X:92.95, Y:-4.91, Z:-1.23 [[ 9.99986349e-01 4.96626663e-03 1.62418274e-03 9.29501456e+01] [-4.96611516e-03 9.99987664e-01 -9.72780773e-05 -4.91176980e+00] [-1.62464582e-03 8.92108708e-05 9.99998676e-01 -1.22628902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12037174299999 meters Centerline goodness [0,1] 0.9909901731611557 Centerline is valid? [True, True] Translation: X:92.98, Y:-4.92, Z:-1.23 [[ 9.99985072e-01 4.95595599e-03 2.30080873e-03 9.29784372e+01] [-4.95565299e-03 9.99987711e-01 -1.37373783e-04 -4.91971239e+00] [-2.30146127e-03 1.25969723e-04 9.99997344e-01 -1.22762436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.150371743 meters Centerline goodness [0,1] 0.9913053348467651 Centerline is valid? [True, True] Translation: X:93.01, Y:-4.92, Z:-1.23 [[ 9.99983743e-01 5.07542164e-03 2.59893472e-03 9.30080341e+01] [-5.07503707e-03 9.99987110e-01 -1.54545657e-04 -4.92324693e+00] [-2.59968560e-03 1.41353454e-04 9.99996611e-01 -1.22792429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180371743 meters Centerline goodness [0,1] 0.9908028271112722 Centerline is valid? [True, True] Translation: X:93.04, Y:-4.93, Z:-1.23 [[ 9.99986438e-01 4.75144243e-03 2.13248581e-03 9.30373521e+01] [-4.75118238e-03 9.99988705e-01 -1.26997753e-04 -4.92568050e+00] [-2.13306514e-03 1.16864202e-04 9.99997718e-01 -1.22867720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.210371743 meters Centerline goodness [0,1] 0.9917334782805635 Centerline is valid? [True, True] Translation: X:93.07, Y:-4.92, Z:-1.23 [[ 9.99989821e-01 4.30377760e-03 1.35510845e-03 9.30672564e+01] [-4.30367196e-03 9.99990736e-01 -8.08630874e-05 -4.91731354e+00] [-1.35544392e-03 7.50303220e-05 9.99999079e-01 -1.22725197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240371743 meters Centerline goodness [0,1] 0.9911298169393343 Centerline is valid? [True, True] Translation: X:93.10, Y:-4.92, Z:-1.23 [[ 9.99994872e-01 3.18874815e-03 2.96791057e-04 9.30960634e+01] [-3.18874292e-03 9.99994916e-01 -1.80821230e-05 -4.92279340e+00] [-2.96847207e-04 1.71356399e-05 9.99999956e-01 -1.22950180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.270371743 meters Centerline goodness [0,1] 0.9914560824555851 Centerline is valid? [True, True] Translation: X:93.13, Y:-4.92, Z:-1.23 [[ 9.99996072e-01 2.79689710e-03 -1.83362075e-04 9.31261481e+01] [-2.79689525e-03 9.99996089e-01 1.03775570e-05 -4.92316117e+00] [ 1.83390383e-04 -9.86467171e-06 9.99999983e-01 -1.22995502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300371743 meters Centerline goodness [0,1] 0.9916080743932865 Centerline is valid? [True, True] Translation: X:93.16, Y:-4.92, Z:-1.23 [[ 9.99997688e-01 2.04230549e-03 -6.73376278e-04 9.31560591e+01] [-2.04227944e-03 9.99997914e-01 3.93719251e-05 -4.92358036e+00] [ 6.73455283e-04 -3.79966115e-05 9.99999773e-01 -1.22950659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.330371743 meters Centerline goodness [0,1] 0.991299619358347 Centerline is valid? [True, True] Translation: X:93.18, Y:-4.93, Z:-1.23 [[ 9.99997970e-01 2.01036766e-03 -1.32276622e-04 9.31843613e+01] [-2.01036674e-03 9.99997979e-01 7.08922582e-06 -4.92609165e+00] [ 1.32290606e-04 -6.82328691e-06 9.99999991e-01 -1.22990639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360371743 meters Centerline goodness [0,1] 0.9908833201043202 Centerline is valid? [True, True] Translation: X:93.21, Y:-4.93, Z:-1.23 [[ 9.99997399e-01 2.26412305e-03 -2.74275642e-04 9.32135510e+01] [-2.26411860e-03 9.99997437e-01 1.65149486e-05 -4.93014810e+00] [ 2.74312331e-04 -1.58939130e-05 9.99999962e-01 -1.22999711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.390371743 meters Centerline goodness [0,1] 0.990399202952698 Centerline is valid? [True, True] Translation: X:93.24, Y:-4.93, Z:-1.23 [[ 9.99995767e-01 2.86340896e-03 5.15966280e-04 9.32438949e+01] [-2.86339347e-03 9.99995900e-01 -3.07615287e-05 -4.92740934e+00] [-5.16052247e-04 2.92839840e-05 9.99999866e-01 -1.22788446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420371743 meters Centerline goodness [0,1] 0.9900535750616 Centerline is valid? [True, True] Translation: X:93.27, Y:-4.93, Z:-1.23 [[ 9.99995020e-01 2.99367930e-03 9.99047164e-04 9.32733879e+01] [-2.99362131e-03 9.99995517e-01 -5.95393595e-05 -4.92930533e+00] [-9.99220927e-04 5.65482942e-05 9.99999499e-01 -1.22795364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.450371743 meters Centerline goodness [0,1] 0.9899005946166765 Centerline is valid? [True, True] Translation: X:93.30, Y:-4.93, Z:-1.23 [[ 9.99994050e-01 3.30487025e-03 9.88414419e-04 9.33025442e+01] [-3.30481435e-03 9.99994537e-01 -5.81866689e-05 -4.93126728e+00] [-9.88601319e-04 5.49197965e-05 9.99999510e-01 -1.22837169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48037174299999 meters Centerline goodness [0,1] 0.9896192985644194 Centerline is valid? [True, True] Translation: X:93.33, Y:-4.93, Z:-1.23 [[ 9.99994636e-01 3.12867958e-03 9.69708062e-04 9.33315237e+01] [-3.12862523e-03 9.99995104e-01 -5.75618275e-05 -4.93461521e+00] [-9.69883407e-04 5.45276656e-05 9.99999528e-01 -1.22905179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.510371743 meters Centerline goodness [0,1] 0.9900949704209071 Centerline is valid? [True, True] Translation: X:93.36, Y:-4.93, Z:-1.23 [[ 9.99995839e-01 2.65110883e-03 1.13733264e-03 9.33609654e+01] [-2.65103358e-03 9.99996484e-01 -6.76719768e-05 -4.93449067e+00] [-1.13750804e-03 6.46565883e-05 9.99999351e-01 -1.22895017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540371743 meters Centerline goodness [0,1] 0.9900761283306144 Centerline is valid? [True, True] Translation: X:93.39, Y:-4.94, Z:-1.23 [[ 9.99995885e-01 2.54436232e-03 1.32503169e-03 9.33907820e+01] [-2.54426025e-03 9.99996760e-01 -7.87144727e-05 -4.93628065e+00] [-1.32522767e-03 7.53429233e-05 9.99999119e-01 -1.22962554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.570371743 meters Centerline goodness [0,1] 0.9889887844526177 Centerline is valid? [True, True] Translation: X:93.42, Y:-4.94, Z:-1.23 [[ 9.99994849e-01 3.19791461e-03 2.75804131e-04 9.34203579e+01] [-3.19791017e-03 9.99994887e-01 -1.65213292e-05 -4.93626224e+00] [-2.75855555e-04 1.56392473e-05 9.99999962e-01 -1.23014012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600371743 meters Centerline goodness [0,1] 0.9880257208425166 Centerline is valid? [True, True] Translation: X:93.45, Y:-4.94, Z:-1.23 [[ 9.99993253e-01 3.64453495e-03 -4.60700690e-04 9.34499802e+01] [-3.64452304e-03 9.99993358e-01 2.66915359e-05 -4.93644643e+00] [ 4.60794908e-04 -2.50123216e-05 9.99999894e-01 -1.23064311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.630371743 meters Centerline goodness [0,1] 0.9883448824264456 Centerline is valid? [True, True] Translation: X:93.48, Y:-4.94, Z:-1.23 [[ 9.99990667e-01 4.18613902e-03 -1.06852660e-03 9.34790215e+01] [-4.18607517e-03 9.99991236e-01 6.19852770e-05 -4.93579453e+00] [ 1.06877671e-03 -5.75117659e-05 9.99999427e-01 -1.23142688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660371743 meters Centerline goodness [0,1] 0.9888656607889474 Centerline is valid? [True, True] Translation: X:93.51, Y:-4.94, Z:-1.23 [[ 9.99991262e-01 4.07128432e-03 -9.49016768e-04 9.35079551e+01] [-4.07123406e-03 9.99991711e-01 5.48804412e-05 -4.93719159e+00] [ 9.49232335e-04 -5.10162923e-05 9.99999548e-01 -1.23239817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.690371743 meters Centerline goodness [0,1] 0.9894142554693013 Centerline is valid? [True, True] Translation: X:93.54, Y:-4.94, Z:-1.23 [[ 9.99989575e-01 4.22808331e-03 -1.72427794e-03 9.35354584e+01] [-4.22791695e-03 9.99991057e-01 1.00116121e-04 -4.93919374e+00] [ 1.72468582e-03 -9.28249730e-05 9.99998508e-01 -1.23314505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720371743 meters Centerline goodness [0,1] 0.9893631590960967 Centerline is valid? [True, True] Translation: X:93.56, Y:-4.94, Z:-1.23 [[ 9.99989070e-01 4.02509944e-03 -2.37883027e-03 9.35628805e+01] [-4.02478197e-03 9.99991891e-01 1.38229934e-04 -4.94111898e+00] [ 2.37936737e-03 -1.28654150e-04 9.99997161e-01 -1.23428623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.750371743 meters Centerline goodness [0,1] 0.9894143681701002 Centerline is valid? [True, True] Translation: X:93.59, Y:-4.94, Z:-1.24 [[ 9.99988951e-01 2.97418793e-03 -3.64046013e-03 9.35920126e+01] [-2.97343344e-03 9.99995557e-01 2.12647125e-04 -4.94215244e+00] [ 3.64107641e-03 -2.01820110e-04 9.99993351e-01 -1.23593755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780371743 meters Centerline goodness [0,1] 0.9892985898781546 Centerline is valid? [True, True] Translation: X:93.62, Y:-4.94, Z:-1.24 [[ 9.99988597e-01 2.62172829e-03 -3.99166228e-03 9.36206752e+01] [-2.62082021e-03 9.99996539e-01 2.32707537e-04 -4.94272570e+00] [ 3.99225856e-03 -2.22243454e-04 9.99992006e-01 -1.23661152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.810371743 meters Centerline goodness [0,1] 0.9894496460379082 Centerline is valid? [True, True] Translation: X:93.65, Y:-4.95, Z:-1.24 [[ 9.99988480e-01 2.37101056e-03 -4.17346568e-03 9.36480331e+01] [-2.37001796e-03 9.99997162e-01 2.42765121e-04 -4.94681110e+00] [ 4.17402943e-03 -2.32871136e-04 9.99991262e-01 -1.23836934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.840371743 meters Centerline goodness [0,1] 0.989619772732469 Centerline is valid? [True, True] Translation: X:93.68, Y:-4.94, Z:-1.24 [[ 9.99986068e-01 2.92303322e-03 -4.39533911e-03 9.36767097e+01] [-2.92193756e-03 9.99995698e-01 2.55679612e-04 -4.94426427e+00] [ 4.39606756e-03 -2.42833143e-04 9.99990308e-01 -1.23806846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87037174299999 meters Centerline goodness [0,1] 0.9893252262960592 Centerline is valid? [True, True] Translation: X:93.71, Y:-4.94, Z:-1.24 [[ 9.99983732e-01 4.22601265e-03 -3.83087909e-03 9.37052064e+01] [-4.22519127e-03 9.99991049e-01 2.22477287e-04 -4.94493200e+00] [ 3.83178499e-03 -2.06287471e-04 9.99992637e-01 -1.23821120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900371743 meters Centerline goodness [0,1] 0.989665625574132 Centerline is valid? [True, True] Translation: X:93.73, Y:-4.94, Z:-1.24 [[ 9.99969054e-01 7.66543385e-03 -1.76974056e-03 9.37348442e+01] [-7.66526407e-03 9.99970616e-01 1.02696000e-04 -4.94320166e+00] [ 1.77047576e-03 -8.91272931e-05 9.99998429e-01 -1.23687197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.930371743 meters Centerline goodness [0,1] 0.9892295326673556 Centerline is valid? [True, True] Translation: X:93.76, Y:-4.94, Z:-1.24 [[ 9.99952200e-01 9.74777731e-03 -7.60386930e-04 9.37649010e+01] [-9.74774660e-03 9.99952489e-01 4.40787029e-05 -4.94279401e+00] [ 7.60780473e-04 -3.66645368e-05 9.99999710e-01 -1.23649540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960371743 meters Centerline goodness [0,1] 0.9896399300119716 Centerline is valid? [True, True] Translation: X:93.79, Y:-4.93, Z:-1.23 [[ 9.99931871e-01 1.16676457e-02 -3.44792425e-04 9.37940433e+01] [-1.16676399e-02 9.99931931e-01 1.90828698e-05 -4.93402443e+00] [ 3.44991607e-04 -1.50586559e-05 9.99999940e-01 -1.23384308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.990371743 meters Centerline goodness [0,1] 0.9900608799926206 Centerline is valid? [True, True] Translation: X:93.82, Y:-4.94, Z:-1.23 [[ 9.99906265e-01 1.36910969e-02 1.18897054e-04 9.38218396e+01] [-1.36910960e-02 9.99906273e-01 -8.32018929e-06 -4.93556089e+00] [-1.18999823e-04 6.69157843e-06 9.99999993e-01 -1.23393537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020371743 meters Centerline goodness [0,1] 0.9903528814419904 Centerline is valid? [True, True] Translation: X:93.85, Y:-4.94, Z:-1.23 [[ 9.99905368e-01 1.37546061e-02 2.55306543e-04 9.38507631e+01] [-1.37546025e-02 9.99905401e-01 -1.57838284e-05 -4.93511893e+00] [-2.55499492e-04 1.22706947e-05 9.99999967e-01 -1.23357143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.050371743 meters Centerline goodness [0,1] 0.9906319393042191 Centerline is valid? [True, True] Translation: X:93.88, Y:-4.94, Z:-1.23 [[ 9.99915478e-01 1.30012883e-02 5.39845939e-05 9.38788126e+01] [-1.30012881e-02 9.99915480e-01 -4.49771782e-06 -4.93787196e+00] [-5.40385073e-05 3.79546841e-06 9.99999999e-01 -1.23412216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080371743 meters Centerline goodness [0,1] 0.9899492853849701 Centerline is valid? [True, True] Translation: X:93.91, Y:-4.94, Z:-1.23 [[ 9.99918324e-01 1.27732662e-02 -4.33638048e-04 9.39073066e+01] [-1.27732569e-02 9.99918418e-01 2.41264800e-05 -4.93964314e+00] [ 4.33910845e-04 -1.85855392e-05 9.99999906e-01 -1.23496871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.110371743 meters Centerline goodness [0,1] 0.9902589908129819 Centerline is valid? [True, True] Translation: X:93.94, Y:-4.94, Z:-1.24 [[ 9.99923359e-01 1.23175405e-02 -1.24683240e-03 9.39359549e+01] [-1.23174615e-02 9.99924135e-01 7.10678982e-05 -4.94071119e+00] [ 1.24761319e-03 -5.57046415e-05 9.99999220e-01 -1.23571445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140371743 meters Centerline goodness [0,1] 0.9908246279005269 Centerline is valid? [True, True] Translation: X:93.96, Y:-4.94, Z:-1.24 [[ 9.99920873e-01 1.22091522e-02 -3.03042094e-03 9.39631970e+01] [-1.22086820e-02 9.99925456e-01 1.73613868e-04 -4.94388798e+00] [ 3.03231472e-03 -1.36602685e-04 9.99995393e-01 -1.23893868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.170371743 meters Centerline goodness [0,1] 0.989928224125955 Centerline is valid? [True, True] Translation: X:93.99, Y:-4.94, Z:-1.24 [[ 9.99917982e-01 1.22520587e-02 -3.73036877e-03 9.39919369e+01] [-1.22513456e-02 9.99924927e-01 2.13953640e-04 -4.94424249e+00] [ 3.73271009e-03 -1.68234055e-04 9.99993019e-01 -1.23963038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.200371743 meters Centerline goodness [0,1] 0.9905893777890818 Centerline is valid? [True, True] Translation: X:94.02, Y:-4.95, Z:-1.24 [[ 9.99917066e-01 1.23223184e-02 -3.74464898e-03 9.40211634e+01] [-1.23216056e-02 9.99924063e-01 2.13370312e-04 -4.94581243e+00] [ 3.74699384e-03 -1.67212528e-04 9.99992966e-01 -1.24018350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23037174299999 meters Centerline goodness [0,1] 0.9916143528921216 Centerline is valid? [True, True] Translation: X:94.05, Y:-4.95, Z:-1.24 [[ 9.99913370e-01 1.27275824e-02 -3.35584619e-03 9.40502346e+01] [-1.27270107e-02 9.99918990e-01 1.91654066e-04 -4.94517984e+00] [ 3.35801363e-03 -1.48927572e-04 9.99994351e-01 -1.23915370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260371743 meters Centerline goodness [0,1] 0.9910664819944598 Centerline is valid? [True, True] Translation: X:94.08, Y:-4.95, Z:-1.24 [[ 9.99912677e-01 1.28805208e-02 -2.95483839e-03 9.40779449e+01] [-1.28800810e-02 9.99917034e-01 1.67803549e-04 -4.94747554e+00] [ 2.95675463e-03 -1.29730338e-04 9.99995620e-01 -1.23962499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.290371743 meters Centerline goodness [0,1] 0.990499688703392 Centerline is valid? [True, True] Translation: X:94.11, Y:-4.95, Z:-1.24 [[ 9.99915124e-01 1.28487361e-02 -2.15727930e-03 9.41054178e+01] [-1.28485023e-02 9.99917447e-01 1.22207983e-04 -4.95045713e+00] [ 2.15867143e-03 -9.44798028e-05 9.99997666e-01 -1.23947909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320371743 meters Centerline goodness [0,1] 0.9907738438473072 Centerline is valid? [True, True] Translation: X:94.13, Y:-4.95, Z:-1.24 [[ 9.99918329e-01 1.26906778e-02 -1.51062125e-03 9.41337852e+01] [-1.26905633e-02 9.99919468e-01 8.53440155e-05 -4.95118554e+00] [ 1.51158267e-03 -6.61664107e-05 9.99998855e-01 -1.23938464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.350371743 meters Centerline goodness [0,1] 0.9903302485518451 Centerline is valid? [True, True] Translation: X:94.16, Y:-4.95, Z:-1.24 [[ 9.99923443e-01 1.22990470e-02 -1.35729322e-03 9.41627281e+01] [-1.22989545e-02 9.99924362e-01 7.64892571e-05 -4.95363608e+00] [ 1.35813130e-03 -5.97901137e-05 9.99999076e-01 -1.23962976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380371743 meters Centerline goodness [0,1] 0.9911246004920559 Centerline is valid? [True, True] Translation: X:94.19, Y:-4.96, Z:-1.24 [[ 9.99931369e-01 1.16726332e-02 -1.00357612e-03 9.41916460e+01] [-1.16725826e-02 9.99931872e-01 5.62386666e-05 -4.95691523e+00] [ 1.00416420e-03 -4.45204817e-05 9.99999495e-01 -1.23964441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.410371743 meters Centerline goodness [0,1] 0.9910432640279985 Centerline is valid? [True, True] Translation: X:94.22, Y:-4.96, Z:-1.24 [[ 9.99938479e-01 1.10290477e-02 -1.18259241e-03 9.42199324e+01] [-1.10289769e-02 9.99939177e-01 6.63610972e-05 -4.95943590e+00] [ 1.18325238e-03 -5.33142302e-05 9.99999299e-01 -1.23976558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440371743 meters Centerline goodness [0,1] 0.9908535184078687 Centerline is valid? [True, True] Translation: X:94.25, Y:-4.96, Z:-1.24 [[ 9.99943925e-01 1.05218207e-02 -1.19915729e-03 9.42481618e+01] [-1.05217482e-02 9.99944643e-01 6.67479189e-05 -4.96113167e+00] [ 1.19979322e-03 -5.41269449e-05 9.99999279e-01 -1.23958976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.470371743 meters Centerline goodness [0,1] 0.9910348949473587 Centerline is valid? [True, True] Translation: X:94.28, Y:-4.96, Z:-1.24 [[ 9.99952595e-01 9.67219735e-03 -1.12067031e-03 9.42766020e+01] [-9.67213322e-03 9.99953222e-01 6.26266846e-05 -4.96321291e+00] [ 1.12122362e-03 -5.17844433e-05 9.99999370e-01 -1.23877696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500371743 meters Centerline goodness [0,1] 0.9905766364782759 Centerline is valid? [True, True] Translation: X:94.30, Y:-4.97, Z:-1.24 [[ 9.99956734e-01 9.22849249e-03 -1.16810637e-03 9.43048336e+01] [-9.22842255e-03 9.99957415e-01 6.52444508e-05 -4.96587220e+00] [ 1.16865873e-03 -5.44618488e-05 9.99999316e-01 -1.23936141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.530371743 meters Centerline goodness [0,1] 0.9907279904525842 Centerline is valid? [True, True] Translation: X:94.33, Y:-4.97, Z:-1.24 [[ 9.99960272e-01 8.84485608e-03 -1.10598630e-03 9.43336626e+01] [-8.84479329e-03 9.99960882e-01 6.16527890e-05 -4.96861749e+00] [ 1.10648834e-03 -5.18681195e-05 9.99999386e-01 -1.23964316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.560371743 meters Centerline goodness [0,1] 0.9908604496291363 Centerline is valid? [True, True] Translation: X:94.36, Y:-4.97, Z:-1.24 [[ 9.99963563e-01 8.46162682e-03 -1.12809017e-03 9.43627392e+01] [-8.46156134e-03 9.99964198e-01 6.28104576e-05 -4.97124064e+00] [ 1.12858126e-03 -5.32627649e-05 9.99999362e-01 -1.24049155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.590371743 meters Centerline goodness [0,1] 0.9903707270101108 Centerline is valid? [True, True] Translation: X:94.39, Y:-4.97, Z:-1.24 [[ 9.99961351e-01 8.72411045e-03 -1.08890425e-03 9.43899890e+01] [-8.72404999e-03 9.99961943e-01 6.02637241e-05 -4.97492913e+00] [ 1.08938855e-03 -5.07617399e-05 9.99999405e-01 -1.24177205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62037174299999 meters Centerline goodness [0,1] 0.9903707270101108 Centerline is valid? [True, True] Translation: X:94.42, Y:-4.98, Z:-1.24 [[ 9.99961960e-01 8.65401987e-03 -1.08889451e-03 9.44182807e+01] [-8.65395918e-03 9.99962552e-01 6.04356093e-05 -4.97646489e+00] [ 1.08937674e-03 -5.10100617e-05 9.99999405e-01 -1.24215649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.650371743 meters Centerline goodness [0,1] 0.9902223443475076 Centerline is valid? [True, True] Translation: X:94.45, Y:-4.98, Z:-1.24 [[ 9.99945447e-01 1.02092781e-02 -2.20784163e-03 9.44474674e+01] [-1.02090300e-02 9.99947879e-01 1.23631303e-04 -4.97722455e+00] [ 2.20898874e-03 -1.01084637e-04 9.99997555e-01 -1.24362701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680371743 meters Centerline goodness [0,1] 0.9901582931865107 Centerline is valid? [True, True] Translation: X:94.48, Y:-4.98, Z:-1.25 [[ 9.99928299e-01 1.17180361e-02 -2.46680686e-03 9.44755134e+01] [-1.17177317e-02 9.99931336e-01 1.37811242e-04 -4.98123576e+00] [ 2.46825235e-03 -1.08895980e-04 9.99996948e-01 -1.24553093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.710371743 meters Centerline goodness [0,1] 0.9904181985294118 Centerline is valid? [True, True] Translation: X:94.50, Y:-4.98, Z:-1.24 [[ 9.99910357e-01 1.32087004e-02 -2.19280039e-03 9.45047807e+01] [-1.32084640e-02 9.99912757e-01 1.22237756e-04 -4.97807944e+00] [ 2.19422368e-03 -9.32632738e-05 9.99997588e-01 -1.24446636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740371743 meters Centerline goodness [0,1] 0.990602238000046 Centerline is valid? [True, True] Translation: X:94.53, Y:-4.98, Z:-1.24 [[ 9.99888346e-01 1.47681763e-02 -2.27953875e-03 9.45338550e+01] [-1.47679251e-02 9.99890940e-01 1.26949791e-04 -4.97857540e+00] [ 2.28116496e-03 -9.32715594e-05 9.99997394e-01 -1.24477764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.770371743 meters Centerline goodness [0,1] 0.9907162718018245 Centerline is valid? [True, True] Translation: X:94.56, Y:-4.98, Z:-1.25 [[ 9.99833618e-01 1.81853210e-02 -1.42511367e-03 9.45634066e+01] [-1.81852262e-02 9.99834632e-01 7.94397854e-05 -4.97972511e+00] [ 1.42632264e-03 -5.35105537e-05 9.99998981e-01 -1.24520281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800371743 meters Centerline goodness [0,1] 0.9909810671256455 Centerline is valid? [True, True] Translation: X:94.59, Y:-4.98, Z:-1.25 [[ 9.99805701e-01 1.96604780e-02 -1.42312346e-03 9.45922863e+01] [-1.96603858e-02 9.99806713e-01 7.87468147e-05 -4.98032880e+00] [ 1.42439659e-03 -5.07523580e-05 9.99998984e-01 -1.24526124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.830371743 meters Centerline goodness [0,1] 0.9910052545834194 Centerline is valid? [True, True] Translation: X:94.62, Y:-4.98, Z:-1.25 [[ 9.99743883e-01 2.25496067e-02 -1.91950640e-03 9.46210935e+01] [-2.25494439e-02 9.99745723e-01 1.06406840e-04 -4.98125089e+00] [ 1.92141775e-03 -6.30957858e-05 9.99998152e-01 -1.24583188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860371743 meters Centerline goodness [0,1] 0.991180726212076 Centerline is valid? [True, True] Translation: X:94.65, Y:-4.98, Z:-1.25 [[ 9.99704168e-01 2.42531021e-02 -1.83399335e-03 9.46502416e+01] [-2.42529561e-02 9.99705849e-01 1.01768588e-04 -4.98270695e+00] [ 1.83592208e-03 -5.72587217e-05 9.99998313e-01 -1.24636780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.890371743 meters Centerline goodness [0,1] 0.9911528764611506 Centerline is valid? [True, True] Translation: X:94.68, Y:-4.99, Z:-1.25 [[ 9.99662028e-01 2.59369524e-02 -1.76187169e-03 9.46780239e+01] [-2.59368215e-02 9.99663579e-01 9.71160894e-05 -4.98705162e+00] [ 1.76379786e-03 -5.13859153e-05 9.99998443e-01 -1.24833079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920371743 meters Centerline goodness [0,1] 0.9917541401566483 Centerline is valid? [True, True] Translation: X:94.71, Y:-4.99, Z:-1.25 [[ 9.99571030e-01 2.92596836e-02 -1.27560327e-03 9.47070424e+01] [-2.92596179e-02 9.99571843e-01 7.01378337e-05 -4.98618980e+00] [ 1.27710933e-03 -3.27840823e-05 9.99999184e-01 -1.24772790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.950371743 meters Centerline goodness [0,1] 0.9920919540229886 Centerline is valid? [True, True] Translation: X:94.74, Y:-4.99, Z:-1.25 [[ 9.99509571e-01 3.13105866e-02 -5.13968059e-04 9.47360316e+01] [-3.13105765e-02 9.99509703e-01 2.76555846e-05 -4.98740732e+00] [ 5.14581975e-04 -1.15493853e-05 9.99999868e-01 -1.24781909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98037174299999 meters Centerline goodness [0,1] 0.9919615994120484 Centerline is valid? [True, True] Translation: X:94.77, Y:-4.99, Z:-1.25 [[ 9.99443839e-01 3.33468179e-02 4.74506279e-05 9.47651618e+01] [-3.33468178e-02 9.99443840e-01 -3.62271209e-06 -4.98737447e+00] [-4.75450437e-05 2.03836984e-06 9.99999999e-01 -1.24686662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.010371743 meters Centerline goodness [0,1] 0.9923558983541079 Centerline is valid? [True, True] Translation: X:94.79, Y:-4.99, Z:-1.25 [[ 9.99328543e-01 3.66155639e-02 1.32800004e-03 9.47933551e+01] [-3.66154969e-02 9.99329425e-01 -7.46900210e-05 -4.99095899e+00] [-1.32984433e-03 2.60144885e-05 9.99999115e-01 -1.24725509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040371743 meters Centerline goodness [0,1] 0.9922195956025797 Centerline is valid? [True, True] Translation: X:94.82, Y:-4.99, Z:-1.25 [[ 9.99296063e-01 3.74649514e-02 1.93810122e-03 9.48223479e+01] [-3.74648116e-02 9.99297942e-01 -1.08410587e-04 -4.99283856e+00] [-1.94080215e-03 3.57236752e-05 9.99998116e-01 -1.24678682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.070371743 meters Centerline goodness [0,1] 0.9920221911464662 Centerline is valid? [True, True] Translation: X:94.85, Y:-5.00, Z:-1.25 [[ 9.99303100e-01 3.72652091e-02 2.14888535e-03 9.48501105e+01] [-3.72650364e-02 9.99305410e-01 -1.20350894e-04 -4.99601456e+00] [-2.15187765e-03 4.01887312e-05 9.99997684e-01 -1.24682673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100371743 meters Centerline goodness [0,1] 0.9923092722335061 Centerline is valid? [True, True] Translation: X:94.88, Y:-5.00, Z:-1.25 [[ 9.99368076e-01 3.54722128e-02 2.27410100e-03 9.48783075e+01] [-3.54720165e-02 9.99370662e-01 -1.26635825e-04 -5.00311656e+00] [-2.27716188e-03 4.58888520e-05 9.99997406e-01 -1.24764200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.130371743 meters Centerline goodness [0,1] 0.9920209734412402 Centerline is valid? [True, True] Translation: X:94.91, Y:-5.01, Z:-1.25 [[ 9.99440919e-01 3.33225921e-02 2.73016464e-03 9.49062024e+01] [-3.33223017e-02 9.99444646e-01 -1.51822698e-04 -5.00949576e+00] [-2.73370756e-03 6.07624471e-05 9.99996262e-01 -1.24847603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160371743 meters Centerline goodness [0,1] 0.9910329171396141 Centerline is valid? [True, True] Translation: X:94.94, Y:-5.02, Z:-1.25 [[ 9.99593172e-01 2.83176883e-02 3.40562212e-03 9.49354466e+01] [-2.83172112e-02 9.99598970e-01 -1.88244513e-04 -5.01956899e+00] [-3.40958701e-03 9.17302093e-05 9.99994183e-01 -1.24833746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.190371743 meters Centerline goodness [0,1] 0.9915896090976917 Centerline is valid? [True, True] Translation: X:94.96, Y:-5.03, Z:-1.25 [[ 9.99671013e-01 2.54169507e-02 3.44150758e-03 9.49632866e+01] [-2.54164449e-02 9.99676932e-01 -1.90635654e-04 -5.02562721e+00] [-3.44524112e-03 1.03102050e-04 9.99994060e-01 -1.24843464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220371743 meters Centerline goodness [0,1] 0.9918256746076549 Centerline is valid? [True, True] Translation: X:94.99, Y:-5.03, Z:-1.25 [[ 9.99728215e-01 2.30413246e-02 3.54867057e-03 9.49915881e+01] [-2.30407737e-02 9.99734507e-01 -1.96041603e-04 -5.03141936e+00] [-3.55224549e-03 1.14224206e-04 9.99993684e-01 -1.24875011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.250371743 meters Centerline goodness [0,1] 0.9912535785938099 Centerline is valid? [True, True] Translation: X:95.02, Y:-5.04, Z:-1.25 [[ 9.99834263e-01 1.79287999e-02 3.16293078e-03 9.50204737e+01] [-1.79283388e-02 9.99839259e-01 -1.74058986e-04 -5.04248434e+00] [-3.16554303e-03 1.17324044e-04 9.99994983e-01 -1.25022563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280371743 meters Centerline goodness [0,1] 0.9921187146749533 Centerline is valid? [True, True] Translation: X:95.05, Y:-5.05, Z:-1.25 [[ 9.99874845e-01 1.55216674e-02 3.06141495e-03 9.50491978e+01] [-1.55212228e-02 9.99879524e-01 -1.68940680e-04 -5.04859775e+00] [-3.06366837e-03 1.21402633e-04 9.99995300e-01 -1.25140654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.310371743 meters Centerline goodness [0,1] 0.9925008954154728 Centerline is valid? [True, True] Translation: X:95.08, Y:-5.06, Z:-1.25 [[ 9.99933480e-01 1.10987110e-02 3.13901550e-03 9.50792538e+01] [-1.10982247e-02 9.99938398e-01 -1.72297085e-04 -5.05853283e+00] [-3.14073441e-03 1.37448124e-04 9.99995058e-01 -1.25253500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.340371743 meters Centerline goodness [0,1] 0.9915278864423829 Centerline is valid? [True, True] Translation: X:95.11, Y:-5.07, Z:-1.25 [[ 9.99959759e-01 8.46953050e-03 2.95760709e-03 9.51076354e+01] [-8.46908549e-03 9.99964123e-01 -1.62954747e-04 -5.06871456e+00] [-2.95888113e-03 1.37899963e-04 9.99995613e-01 -1.25417459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37037174299999 meters Centerline goodness [0,1] 0.9919144670898764 Centerline is valid? [True, True] Translation: X:95.14, Y:-5.07, Z:-1.25 [[ 9.99974870e-01 6.36768524e-03 3.11650838e-03 9.51371658e+01] [-6.36718240e-03 9.99979715e-01 -1.71241386e-04 -5.07384840e+00] [-3.11753557e-03 1.51393705e-04 9.99995129e-01 -1.25424599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400371743 meters Centerline goodness [0,1] 0.9920203923307104 Centerline is valid? [True, True] Translation: X:95.17, Y:-5.08, Z:-1.25 [[ 9.99987080e-01 2.47790106e-03 4.43846562e-03 9.51667111e+01] [-2.47684550e-03 9.99996903e-01 -2.43303008e-04 -5.08157450e+00] [-4.43905476e-03 2.32306471e-04 9.99990120e-01 -1.25328062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.430371743 meters Centerline goodness [0,1] 0.9919944850897284 Centerline is valid? [True, True] Translation: X:95.20, Y:-5.08, Z:-1.25 [[ 9.99988215e-01 4.54016880e-04 4.83355121e-03 9.51973336e+01] [-4.52742944e-04 9.99999862e-01 -2.64651949e-04 -5.08458237e+00] [-4.83367070e-03 2.62460474e-04 9.99988283e-01 -1.25311019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460371743 meters Centerline goodness [0,1] 0.9914478785864629 Centerline is valid? [True, True] Translation: X:95.23, Y:-5.10, Z:-1.25 [[ 9.99983034e-01 -2.69180406e-03 5.16574844e-03 9.52265438e+01] [ 2.69330233e-03 9.99996333e-01 -2.83103995e-04 -5.10089508e+00] [-5.16496743e-03 2.97012114e-04 9.99986617e-01 -1.25447590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.490371743 meters Centerline goodness [0,1] 0.9911348299739778 Centerline is valid? [True, True] Translation: X:95.26, Y:-5.10, Z:-1.25 [[ 9.99982131e-01 -3.89761590e-03 4.53282321e-03 9.52586510e+01] [ 3.89877895e-03 9.99992369e-01 -2.47775431e-04 -5.10025303e+00] [-4.53182289e-03 2.65443479e-04 9.99989696e-01 -1.25472455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520371743 meters Centerline goodness [0,1] 0.9913085786319304 Centerline is valid? [True, True] Translation: X:95.29, Y:-5.10, Z:-1.26 [[ 9.99975724e-01 -5.25403709e-03 4.57664408e-03 9.52900425e+01] [ 5.25523915e-03 9.99986160e-01 -2.50663305e-04 -5.10483760e+00] [-4.57526374e-03 2.74708579e-04 9.99989496e-01 -1.25524539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.550371743 meters Centerline goodness [0,1] 0.9903975629677049 Centerline is valid? [True, True] Translation: X:95.32, Y:-5.11, Z:-1.26 [[ 9.99964693e-01 -7.29452799e-03 4.17163407e-03 9.53192908e+01] [ 7.29554716e-03 9.99973361e-01 -2.29144579e-04 -5.11317155e+00] [-4.16985143e-03 2.59570841e-04 9.99991272e-01 -1.25623019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580371743 meters Centerline goodness [0,1] 0.9913028122378703 Centerline is valid? [True, True] Translation: X:95.35, Y:-5.12, Z:-1.26 [[ 9.99957921e-01 -8.14599531e-03 4.21879175e-03 9.53516976e+01] [ 8.14704238e-03 9.99966786e-01 -2.31065294e-04 -5.11557177e+00] [-4.21676936e-03 2.65426247e-04 9.99991074e-01 -1.25675576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.610371743 meters Centerline goodness [0,1] 0.9902940336854125 Centerline is valid? [True, True] Translation: X:95.38, Y:-5.12, Z:-1.26 [[ 9.99949076e-01 -9.19107990e-03 4.16755544e-03 9.53820417e+01] [ 9.19211333e-03 9.99957725e-01 -2.28884478e-04 -5.12439217e+00] [-4.16527556e-03 2.67181464e-04 9.99991290e-01 -1.25758594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640371743 meters Centerline goodness [0,1] 0.9901009701049297 Centerline is valid? [True, True] Translation: X:95.41, Y:-5.13, Z:-1.26 [[ 9.99946895e-01 -9.32719554e-03 4.38308555e-03 9.54134950e+01] [ 9.32834008e-03 9.99956461e-01 -2.40754925e-04 -5.12839406e+00] [-4.38064915e-03 2.81629052e-04 9.99990365e-01 -1.25748142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.670371743 meters Centerline goodness [0,1] 0.9895574559764329 Centerline is valid? [True, True] Translation: X:95.45, Y:-5.13, Z:-1.26 [[ 9.99947029e-01 -9.33828839e-03 4.32851135e-03 9.54452961e+01] [ 9.33940497e-03 9.99956359e-01 -2.37817701e-04 -5.13076665e+00] [-4.32610164e-03 2.78230824e-04 9.99990604e-01 -1.25722634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.700371743 meters Centerline goodness [0,1] 0.989810803642472 Centerline is valid? [True, True] Translation: X:95.48, Y:-5.13, Z:-1.26 [[ 9.99952803e-01 -8.69412524e-03 4.33642080e-03 9.54759571e+01] [ 8.69524188e-03 9.99962167e-01 -2.38716166e-04 -5.13427156e+00] [-4.33418131e-03 2.76411127e-04 9.99990569e-01 -1.25765406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73037174299999 meters Centerline goodness [0,1] 0.9902560267464368 Centerline is valid? [True, True] Translation: X:95.51, Y:-5.13, Z:-1.26 [[ 9.99959831e-01 -8.00454679e-03 4.03271354e-03 9.55081524e+01] [ 8.00550679e-03 9.99967931e-01 -2.21965419e-04 -5.13065687e+00] [-4.03080749e-03 2.54240418e-04 9.99991844e-01 -1.25724606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760371743 meters Centerline goodness [0,1] 0.9906577062906247 Centerline is valid? [True, True] Translation: X:95.54, Y:-5.13, Z:-1.26 [[ 9.99963411e-01 -7.35832459e-03 4.36245645e-03 9.55400435e+01] [ 7.35944358e-03 9.99972890e-01 -2.40507173e-04 -5.13292221e+00] [-4.36056845e-03 2.72603625e-04 9.99990456e-01 -1.25742351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.790371743 meters Centerline goodness [0,1] 0.9895241868039967 Centerline is valid? [True, True] Translation: X:95.57, Y:-5.14, Z:-1.26 [[ 9.99971726e-01 -5.43761318e-03 5.19426852e-03 9.55700454e+01] [ 5.43917898e-03 9.99985166e-01 -2.87368997e-04 -5.14172465e+00] [-5.19262887e-03 3.15613428e-04 9.99986468e-01 -1.25789707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820371743 meters Centerline goodness [0,1] 0.9909255098894322 Centerline is valid? [True, True] Translation: X:95.60, Y:-5.14, Z:-1.26 [[ 9.99980007e-01 -3.87072513e-03 5.00024835e-03 9.56021553e+01] [ 3.87215495e-03 9.99992465e-01 -2.76299976e-04 -5.13614464e+00] [-4.99914119e-03 2.95656188e-04 9.99987461e-01 -1.25736935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.850371743 meters Centerline goodness [0,1] 0.9905517013544763 Centerline is valid? [True, True] Translation: X:95.63, Y:-5.14, Z:-1.26 [[ 9.99985480e-01 -1.43148345e-03 5.19531763e-03 9.56327323e+01] [ 1.43299754e-03 9.99998932e-01 -2.87724675e-04 -5.14376542e+00] [-5.19490021e-03 2.95165375e-04 9.99986463e-01 -1.25920369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880371743 meters Centerline goodness [0,1] 0.991305496247056 Centerline is valid? [True, True] Translation: X:95.66, Y:-5.14, Z:-1.26 [[ 9.99984931e-01 -1.97230878e-04 5.48619248e-03 9.56648966e+01] [ 1.98900456e-04 9.99999934e-01 -3.03779619e-04 -5.13948389e+00] [-5.48613220e-03 3.04866247e-04 9.99984905e-01 -1.25857080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.910371743 meters Centerline goodness [0,1] 0.9912772174982972 Centerline is valid? [True, True] Translation: X:95.70, Y:-5.14, Z:-1.26 [[ 9.99982463e-01 7.48201956e-04 5.87477294e-03 9.56969768e+01] [-7.46301070e-04 9.99999668e-01 -3.25753111e-04 -5.13835988e+00] [-5.87501472e-03 3.21363049e-04 9.99982690e-01 -1.25827738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940371743 meters Centerline goodness [0,1] 0.9904378791875494 Centerline is valid? [True, True] Translation: X:95.73, Y:-5.14, Z:-1.26 [[ 9.99978303e-01 1.39474129e-03 6.43803544e-03 9.57283884e+01] [-1.39246822e-03 9.99998967e-01 -3.57536614e-04 -5.14475432e+00] [-6.43852746e-03 3.48564097e-04 9.99979212e-01 -1.25922005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.970371743 meters Centerline goodness [0,1] 0.9903431588209415 Centerline is valid? [True, True] Translation: X:95.76, Y:-5.15, Z:-1.26 [[ 9.99975009e-01 1.71412746e-03 6.85886384e-03 9.57607176e+01] [-1.71155118e-03 9.99998463e-01 -3.81465918e-04 -5.14756564e+00] [-6.85950717e-03 3.69717088e-04 9.99976405e-01 -1.25977576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000371743 meters Centerline goodness [0,1] 0.99023811094255 Centerline is valid? [True, True] Translation: X:95.79, Y:-5.15, Z:-1.26 [[ 9.99975127e-01 2.23475744e-03 6.68962838e-03 9.57921590e+01] [-2.23232233e-03 9.99997439e-01 -3.71456251e-04 -5.15198736e+00] [-6.69044136e-03 3.56513604e-04 9.99977555e-01 -1.26035159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.030371743 meters Centerline goodness [0,1] 0.9916796900794611 Centerline is valid? [True, True] Translation: X:95.83, Y:-5.15, Z:-1.26 [[ 9.99977846e-01 2.52927329e-03 6.15714955e-03 9.58252125e+01] [-2.52721053e-03 9.99996748e-01 -3.42775790e-04 -5.14717374e+00] [-6.15799650e-03 3.27207782e-04 9.99980986e-01 -1.26005996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.060371743 meters Centerline goodness [0,1] 0.9914236706689536 Centerline is valid? [True, True] Translation: X:95.86, Y:-5.15, Z:-1.26 [[ 9.99980540e-01 2.67642374e-03 5.63532576e-03 9.58578261e+01] [-2.67469212e-03 9.99996373e-01 -3.14794154e-04 -5.14681300e+00] [-5.63614785e-03 2.99715267e-04 9.99984072e-01 -1.26041415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.090371743 meters Centerline goodness [0,1] 0.9915546856099761 Centerline is valid? [True, True] Translation: X:95.89, Y:-5.15, Z:-1.26 [[ 9.99985008e-01 3.33869249e-03 4.34020609e-03 9.58887994e+01] [-3.33766580e-03 9.99994400e-01 -2.43776010e-04 -5.15252497e+00] [-4.34099568e-03 2.29286198e-04 9.99990552e-01 -1.26245707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12037174299999 meters Centerline goodness [0,1] 0.9916454696956407 Centerline is valid? [True, True] Translation: X:95.92, Y:-5.16, Z:-1.26 [[ 9.99981430e-01 4.03589173e-03 4.56642444e-03 9.59197119e+01] [-4.03475385e-03 9.99991827e-01 -2.58368828e-04 -5.15551591e+00] [-4.56742987e-03 2.39939631e-04 9.99989540e-01 -1.26377136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.150371743 meters Centerline goodness [0,1] 0.9913732394366197 Centerline is valid? [True, True] Translation: X:95.95, Y:-5.15, Z:-1.26 [[ 9.99977826e-01 4.85589767e-03 4.55714290e-03 9.59514663e+01] [-4.85477333e-03 9.99988182e-01 -2.57748613e-04 -5.15215154e+00] [-4.55834064e-03 2.35619002e-04 9.99989583e-01 -1.26358785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180371743 meters Centerline goodness [0,1] 0.9926038433599683 Centerline is valid? [True, True] Translation: X:95.98, Y:-5.15, Z:-1.26 [[ 9.99945984e-01 8.69270051e-03 5.69791775e-03 9.59822800e+01] [-8.69100220e-03 9.99962180e-01 -3.22750009e-04 -5.15273297e+00] [-5.70050783e-03 2.73211959e-04 9.99983715e-01 -1.26361818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.210371743 meters Centerline goodness [0,1] 0.9922810577156341 Centerline is valid? [True, True] Translation: X:96.01, Y:-5.15, Z:-1.26 [[ 9.99920390e-01 1.09787679e-02 6.21939227e-03 9.60129092e+01] [-1.09767870e-02 9.99939691e-01 -3.52557312e-04 -5.15270253e+00] [-6.22288783e-03 2.84260301e-04 9.99980597e-01 -1.26397307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240371743 meters Centerline goodness [0,1] 0.992778988618101 Centerline is valid? [True, True] Translation: X:96.04, Y:-5.15, Z:-1.26 [[ 9.99836999e-01 1.68335365e-02 6.52746317e-03 9.60432820e+01] [-1.68314788e-02 9.99858272e-01 -3.70050360e-04 -5.14943695e+00] [-6.53276731e-03 2.60123183e-04 9.99978627e-01 -1.26417305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.270371743 meters Centerline goodness [0,1] 0.9928831111600749 Centerline is valid? [True, True] Translation: X:96.07, Y:-5.15, Z:-1.26 [[ 9.99790852e-01 1.93447150e-02 6.63582142e-03 9.60710644e+01] [-1.93426398e-02 9.99812843e-01 -3.76759823e-04 -5.14981022e+00] [-6.64186779e-03 2.48326721e-04 9.99977912e-01 -1.26490803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300371743 meters Centerline goodness [0,1] 0.9930639390680217 Centerline is valid? [True, True] Translation: X:96.10, Y:-5.15, Z:-1.27 [[ 9.99753936e-01 2.11290565e-02 6.75507569e-03 9.60993639e+01] [-2.11269520e-02 9.99776728e-01 -3.82764989e-04 -5.15049281e+00] [-6.76165493e-03 2.39956644e-04 9.99977111e-01 -1.26570929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.330371743 meters Centerline goodness [0,1] 0.9933728019793231 Centerline is valid? [True, True] Translation: X:96.13, Y:-5.15, Z:-1.27 [[ 9.99724617e-01 2.24636120e-02 6.78797132e-03 9.61282952e+01] [-2.24615209e-02 9.99747634e-01 -3.84146882e-04 -5.14988533e+00] [-6.79488760e-03 2.31572935e-04 9.99976888e-01 -1.26615154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360371743 meters Centerline goodness [0,1] 0.9920820467578297 Centerline is valid? [True, True] Translation: X:96.16, Y:-5.15, Z:-1.27 [[ 9.99701871e-01 2.35038466e-02 6.61353311e-03 9.61559327e+01] [-2.35018865e-02 9.99723723e-01 -3.73944839e-04 -5.15151052e+00] [-6.62049509e-03 2.18402850e-04 9.99978060e-01 -1.26734035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.390371743 meters Centerline goodness [0,1] 0.9926360349237147 Centerline is valid? [True, True] Translation: X:96.18, Y:-5.15, Z:-1.27 [[ 9.99708097e-01 2.31428736e-02 6.93738312e-03 9.61845465e+01] [-2.31407138e-02 9.99732141e-01 -3.91448601e-04 -5.15345720e+00] [-6.94458413e-03 2.30798339e-04 9.99975859e-01 -1.26821599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420371743 meters Centerline goodness [0,1] 0.9928098682908595 Centerline is valid? [True, True] Translation: X:96.21, Y:-5.16, Z:-1.27 [[ 9.99733576e-01 2.18820298e-02 7.34533270e-03 9.62136842e+01] [-2.18795787e-02 9.99760528e-01 -4.13896044e-04 -5.15532809e+00] [-7.35263058e-03 2.53072987e-04 9.99972937e-01 -1.26799923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.450371743 meters Centerline goodness [0,1] 0.9927979913663995 Centerline is valid? [True, True] Translation: X:96.24, Y:-5.16, Z:-1.27 [[ 9.99765731e-01 2.02827639e-02 7.55592219e-03 9.62427477e+01] [-2.02801288e-02 9.99794247e-01 -4.25209055e-04 -5.15661041e+00] [-7.56299195e-03 2.71874367e-04 9.99971363e-01 -1.26796445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48037174299999 meters Centerline goodness [0,1] 0.9920414462081129 Centerline is valid? [True, True] Translation: X:96.27, Y:-5.16, Z:-1.27 [[ 9.99834289e-01 1.65887267e-02 7.49729405e-03 9.62718582e+01] [-1.65860332e-02 9.99862354e-01 -4.21302040e-04 -5.15919626e+00] [-7.50325094e-03 2.96881857e-04 9.99971806e-01 -1.26794013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.510371743 meters Centerline goodness [0,1] 0.9920414462081129 Centerline is valid? [True, True] Translation: X:96.30, Y:-5.16, Z:-1.27 [[ 9.99835480e-01 1.65167287e-02 7.49731330e-03 9.63001429e+01] [-1.65140357e-02 9.99863545e-01 -4.20959087e-04 -5.16072367e+00] [-7.50324312e-03 2.97078931e-04 9.99971806e-01 -1.26832423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540371743 meters Centerline goodness [0,1] 0.9921611802267973 Centerline is valid? [True, True] Translation: X:96.33, Y:-5.16, Z:-1.27 [[ 9.99862766e-01 1.47749942e-02 7.49327671e-03 9.63297844e+01] [-1.47722609e-02 9.99890796e-01 -4.19976850e-04 -5.16229810e+00] [-7.49866357e-03 3.09226576e-04 9.99971837e-01 -1.26896336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.570371743 meters Centerline goodness [0,1] 0.9919186595515734 Centerline is valid? [True, True] Translation: X:96.36, Y:-5.17, Z:-1.27 [[ 9.99890282e-01 1.29978086e-02 7.10496781e-03 9.63580605e+01] [-1.29953074e-02 9.99915478e-01 -3.98093375e-04 -5.16710609e+00] [-7.10954163e-03 3.05718457e-04 9.99974680e-01 -1.27017016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600371743 meters Centerline goodness [0,1] 0.991867051640916 Centerline is valid? [True, True] Translation: X:96.39, Y:-5.17, Z:-1.27 [[ 9.99929453e-01 9.91496347e-03 6.54086366e-03 9.63875199e+01] [-9.91278147e-03 9.99950800e-01 -3.65930913e-04 -5.17083653e+00] [-6.54417004e-03 3.01066946e-04 9.99978541e-01 -1.27085940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.630371743 meters Centerline goodness [0,1] 0.9914889863956078 Centerline is valid? [True, True] Translation: X:96.42, Y:-5.17, Z:-1.27 [[ 9.99945319e-01 8.14061990e-03 6.56429530e-03 9.64171814e+01] [-8.13838487e-03 9.99966815e-01 -3.67123330e-04 -5.17359998e+00] [-6.56706607e-03 3.13680493e-04 9.99978387e-01 -1.27141794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660371743 meters Centerline goodness [0,1] 0.9912955331761387 Centerline is valid? [True, True] Translation: X:96.45, Y:-5.17, Z:-1.27 [[ 9.99962142e-01 4.77282497e-03 7.27557066e-03 9.64475528e+01] [-4.76999230e-03 9.99988541e-01 -4.06642267e-04 -5.17499909e+00] [-7.27742813e-03 3.71922457e-04 9.99973450e-01 -1.27105303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.690371743 meters Centerline goodness [0,1] 0.9915746403273351 Centerline is valid? [True, True] Translation: X:96.48, Y:-5.18, Z:-1.27 [[ 9.99969653e-01 3.20466292e-03 7.10093687e-03 9.64786847e+01] [-3.20192683e-03 9.99994795e-01 -3.96649457e-04 -5.17602842e+00] [-7.10217104e-03 3.73900739e-04 9.99974709e-01 -1.27077921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720371743 meters Centerline goodness [0,1] 0.9919854200518203 Centerline is valid? [True, True] Translation: X:96.51, Y:-5.18, Z:-1.27 [[ 9.99968174e-01 2.07104878e-03 7.70465606e-03 9.65104318e+01] [-2.06780054e-03 9.99997770e-01 -4.29536459e-04 -5.17859176e+00] [-7.70552847e-03 4.13591097e-04 9.99970226e-01 -1.27071642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.750371743 meters Centerline goodness [0,1] 0.9911766003441126 Centerline is valid? [True, True] Translation: X:96.54, Y:-5.18, Z:-1.27 [[ 9.99969995e-01 -9.72887216e-04 7.68523395e-03 9.65402128e+01] [ 9.76233054e-04 9.99999430e-01 -4.31619888e-04 -5.18265212e+00] [-7.68480966e-03 4.39109516e-04 9.99970375e-01 -1.27071585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780371743 meters Centerline goodness [0,1] 0.9908581474563235 Centerline is valid? [True, True] Translation: X:96.57, Y:-5.18, Z:-1.27 [[ 9.99973009e-01 -2.17371189e-03 7.01833260e-03 9.65721092e+01] [ 2.17652845e-03 9.99997554e-01 -3.93702448e-04 -5.18468176e+00] [-7.01745964e-03 4.08967422e-04 9.99975294e-01 -1.27101000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.810371743 meters Centerline goodness [0,1] 0.9907859436161323 Centerline is valid? [True, True] Translation: X:96.60, Y:-5.19, Z:-1.27 [[ 9.99965394e-01 -5.00166294e-03 6.64792240e-03 9.66030042e+01] [ 5.00425756e-03 9.99987409e-01 -3.73713020e-04 -5.18771994e+00] [-6.64596951e-03 4.06968003e-04 9.99977832e-01 -1.27226595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.840371743 meters Centerline goodness [0,1] 0.9904202719406675 Centerline is valid? [True, True] Translation: X:96.64, Y:-5.19, Z:-1.27 [[ 9.99961093e-01 -6.30319863e-03 6.17113962e-03 9.66354148e+01] [ 6.30545716e-03 9.99980060e-01 -3.46596112e-04 -5.18692989e+00] [-6.16883190e-03 3.85494483e-04 9.99980898e-01 -1.27282346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87037174299999 meters Centerline goodness [0,1] 0.9912351997891176 Centerline is valid? [True, True] Translation: X:96.67, Y:-5.19, Z:-1.27 [[ 9.99961372e-01 -6.80257071e-03 5.56589133e-03 9.66664701e+01] [ 6.80441820e-03 9.99976801e-01 -3.13060946e-04 -5.19142488e+00] [-5.56363259e-03 3.50921506e-04 9.99984461e-01 -1.27341965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900371743 meters Centerline goodness [0,1] 0.9909490275723526 Centerline is valid? [True, True] Translation: X:96.70, Y:-5.19, Z:-1.27 [[ 9.99961928e-01 -7.11380942e-03 5.05331366e-03 9.66981887e+01] [ 7.11533735e-03 9.99974645e-01 -2.84448356e-04 -5.19271030e+00] [-5.05116203e-03 3.20393558e-04 9.99987191e-01 -1.27390252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.930371743 meters Centerline goodness [0,1] 0.9909340961601937 Centerline is valid? [True, True] Translation: X:96.73, Y:-5.19, Z:-1.27 [[ 9.99973076e-01 -5.68550948e-03 4.63930460e-03 9.67294168e+01] [ 5.68678358e-03 9.99983796e-01 -2.61486214e-04 -5.19023234e+00] [-4.63774274e-03 2.87861895e-04 9.99989204e-01 -1.27325329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960371743 meters Centerline goodness [0,1] 0.9903884221176263 Centerline is valid? [True, True] Translation: X:96.76, Y:-5.19, Z:-1.27 [[ 9.99979840e-01 -4.67825927e-03 4.29346127e-03 9.67620933e+01] [ 4.67934032e-03 9.99989023e-01 -2.41781230e-04 -5.18946312e+00] [-4.29228303e-03 2.61866922e-04 9.99990754e-01 -1.27340176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.990371743 meters Centerline goodness [0,1] 0.9908678813484728 Centerline is valid? [True, True] Translation: X:96.79, Y:-5.19, Z:-1.27 [[ 9.99987410e-01 -2.25963443e-03 4.48039345e-03 9.67940469e+01] [ 2.26078982e-03 9.99997412e-01 -2.52829985e-04 -5.18775362e+00] [-4.47981055e-03 2.62956030e-04 9.99989931e-01 -1.27331807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020371743 meters Centerline goodness [0,1] 0.9907653745520107 Centerline is valid? [True, True] Translation: X:96.83, Y:-5.18, Z:-1.27 [[ 9.99989398e-01 -7.94304186e-04 4.53573686e-03 9.68258366e+01] [ 7.95475097e-04 9.99999651e-01 -2.56354049e-04 -5.18484533e+00] [-4.53553165e-03 2.59959397e-04 9.99989681e-01 -1.27280323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.050371743 meters Centerline goodness [0,1] 0.9910383189122374 Centerline is valid? [True, True] Translation: X:96.86, Y:-5.19, Z:-1.27 [[ 9.99988219e-01 5.45172312e-04 4.82330967e-03 9.68566354e+01] [-5.43862737e-04 9.99999815e-01 -2.72817118e-04 -5.18641615e+00] [-4.82345751e-03 2.70190686e-04 9.99988331e-01 -1.27311948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080371743 meters Centerline goodness [0,1] 0.9905741595108276 Centerline is valid? [True, True] Translation: X:96.89, Y:-5.18, Z:-1.27 [[ 9.99982508e-01 3.48488932e-03 4.77905966e-03 9.68877288e+01] [-3.48363558e-03 9.99993896e-01 -2.70639482e-04 -5.18158365e+00] [-4.77997364e-03 2.53986246e-04 9.99988544e-01 -1.27293187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.110371743 meters Centerline goodness [0,1] 0.9902127942251058 Centerline is valid? [True, True] Translation: X:96.92, Y:-5.18, Z:-1.27 [[ 9.99978884e-01 4.53961937e-03 4.65016109e-03 9.69184870e+01] [-4.53844409e-03 9.99989667e-01 -2.63260343e-04 -5.18422177e+00] [-4.65130814e-03 2.42150287e-04 9.99989153e-01 -1.27391628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140371743 meters Centerline goodness [0,1] 0.9908757511488159 Centerline is valid? [True, True] Translation: X:96.95, Y:-5.18, Z:-1.27 [[ 9.99966761e-01 6.98597946e-03 4.20399645e-03 9.69492687e+01] [-6.98503862e-03 9.99975576e-01 -2.38438542e-04 -5.18043712e+00] [-4.20555949e-03 2.09065539e-04 9.99991135e-01 -1.27451007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.170371743 meters Centerline goodness [0,1] 0.9901209409471492 Centerline is valid? [True, True] Translation: X:96.98, Y:-5.18, Z:-1.28 [[ 9.99962464e-01 7.93283809e-03 3.48433168e-03 9.69782185e+01] [-7.93219691e-03 9.99968520e-01 -1.97799050e-04 -5.18385132e+00] [-3.48579110e-03 1.70153220e-04 9.99993910e-01 -1.27595602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.200371743 meters Centerline goodness [0,1] 0.9911221590909091 Centerline is valid? [True, True] Translation: X:97.01, Y:-5.18, Z:-1.28 [[ 9.99957804e-01 8.67788171e-03 3.01397940e-03 9.70079145e+01] [-8.67740483e-03 9.99962336e-01 -1.71263445e-04 -5.18092043e+00] [-3.01535209e-03 1.45102699e-04 9.99995443e-01 -1.27579625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23037174299999 meters Centerline goodness [0,1] 0.9900539484492596 Centerline is valid? [True, True] Translation: X:97.04, Y:-5.18, Z:-1.28 [[ 9.99940026e-01 1.05098156e-02 3.08032093e-03 9.70362471e+01] [-1.05093254e-02 9.99944760e-01 -1.75277405e-04 -5.18282894e+00] [-3.08199291e-03 1.42894797e-04 9.99995240e-01 -1.27720239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260371743 meters Centerline goodness [0,1] 0.9906355847778442 Centerline is valid? [True, True] Translation: X:97.06, Y:-5.18, Z:-1.28 [[ 9.99931991e-01 1.12168800e-02 3.19288507e-03 9.70648555e+01] [-1.12163578e-02 9.99937078e-01 -1.81423804e-04 -5.18199029e+00] [-3.19471918e-03 1.45598924e-04 9.99994886e-01 -1.27728608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.290371743 meters Centerline goodness [0,1] 0.9900389587391535 Centerline is valid? [True, True] Translation: X:97.09, Y:-5.18, Z:-1.28 [[ 9.99922418e-01 1.19481070e-02 3.52137455e-03 9.70930881e+01] [-1.19474775e-02 9.99928606e-01 -1.99736937e-04 -5.18424037e+00] [-3.52350962e-03 1.57649898e-04 9.99993780e-01 -1.27828754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320371743 meters Centerline goodness [0,1] 0.9907804412058738 Centerline is valid? [True, True] Translation: X:97.12, Y:-5.19, Z:-1.28 [[ 9.99923412e-01 1.18596797e-02 3.53800864e-03 9.71222362e+01] [-1.18590446e-02 9.99929659e-01 -2.00421349e-04 -5.18570428e+00] [-3.54013671e-03 1.58448597e-04 9.99993721e-01 -1.27868528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.350371743 meters Centerline goodness [0,1] 0.9902436861127741 Centerline is valid? [True, True] Translation: X:97.15, Y:-5.19, Z:-1.28 [[ 9.99930789e-01 1.12897041e-02 3.31056679e-03 9.71499492e+01] [-1.12891449e-02 9.99936258e-01 -1.87538292e-04 -5.18739660e+00] [-3.31247302e-03 1.50151844e-04 9.99994502e-01 -1.27929211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380371743 meters Centerline goodness [0,1] 0.9899991110320917 Centerline is valid? [True, True] Translation: X:97.18, Y:-5.19, Z:-1.28 [[ 9.99938491e-01 1.06022381e-02 3.25670773e-03 9.71788963e+01] [-1.06016948e-02 9.99943784e-01 -1.84043813e-04 -5.18996332e+00] [-3.25847592e-03 1.49505872e-04 9.99994680e-01 -1.27959455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.410371743 meters Centerline goodness [0,1] 0.9908485117725455 Centerline is valid? [True, True] Translation: X:97.21, Y:-5.19, Z:-1.28 [[ 9.99950839e-01 9.36749696e-03 3.25102150e-03 9.72083977e+01] [-9.36695085e-03 9.99956112e-01 -1.83166710e-04 -5.19013195e+00] [-3.25259464e-03 1.52705547e-04 9.99994699e-01 -1.27946383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440371743 meters Centerline goodness [0,1] 0.9903127840216355 Centerline is valid? [True, True] Translation: X:97.24, Y:-5.20, Z:-1.28 [[ 9.99967321e-01 7.30872871e-03 3.45541944e-03 9.72367479e+01] [-7.30809934e-03 9.99973277e-01 -1.94731851e-04 -5.19710020e+00] [-3.45675034e-03 1.69472939e-04 9.99994011e-01 -1.28056131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.470371743 meters Centerline goodness [0,1] 0.9902951431299829 Centerline is valid? [True, True] Translation: X:97.27, Y:-5.20, Z:-1.28 [[ 9.99977160e-01 5.82591763e-03 3.42601746e-03 9.72664905e+01] [-5.82529158e-03 9.99983014e-01 -1.92687162e-04 -5.19831442e+00] [-3.42708185e-03 1.72725210e-04 9.99994113e-01 -1.28042636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500371743 meters Centerline goodness [0,1] 0.9898122253296044 Centerline is valid? [True, True] Translation: X:97.30, Y:-5.20, Z:-1.28 [[ 9.99988003e-01 3.83728445e-03 3.04458803e-03 9.72951060e+01] [-3.83678100e-03 9.99992625e-01 -1.71180642e-04 -5.20247680e+00] [-3.04522245e-03 1.59497171e-04 9.99995351e-01 -1.28147672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.530371743 meters Centerline goodness [0,1] 0.9897591967300515 Centerline is valid? [True, True] Translation: X:97.33, Y:-5.20, Z:-1.28 [[ 9.99991919e-01 3.00529377e-03 2.67035651e-03 9.73259441e+01] [-3.00490458e-03 9.99995474e-01 -1.49743898e-04 -5.19602524e+00] [-2.67079445e-03 1.41718521e-04 9.99996423e-01 -1.28063632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.560371743 meters Centerline goodness [0,1] 0.9898293014043131 Centerline is valid? [True, True] Translation: X:97.36, Y:-5.20, Z:-1.28 [[ 9.99996369e-01 2.17312490e-03 1.59382249e-03 9.73562534e+01] [-2.17298520e-03 9.99997635e-01 -8.93757788e-05 -5.19804052e+00] [-1.59401295e-03 8.59121016e-05 9.99998726e-01 -1.28163569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.590371743 meters Centerline goodness [0,1] 0.9893626491009435 Centerline is valid? [True, True] Translation: X:97.39, Y:-5.20, Z:-1.28 [[ 9.99998842e-01 1.51019897e-03 1.86367765e-04 9.73869186e+01] [-1.51019705e-03 9.99998860e-01 -1.04508276e-05 -5.19941411e+00] [-1.86383335e-04 1.01693635e-05 9.99999983e-01 -1.28343115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62037174299999 meters Centerline goodness [0,1] 0.9894840250954475 Centerline is valid? [True, True] Translation: X:97.42, Y:-5.20, Z:-1.28 [[ 9.99997516e-01 2.07097126e-03 -8.24586090e-04 9.74175669e+01] [-2.07093383e-03 9.99997855e-01 4.62397942e-05 -5.19951464e+00] [ 8.24680083e-04 -4.45320161e-05 9.99999659e-01 -1.28430158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.650371743 meters Centerline goodness [0,1] 0.9896112002853575 Centerline is valid? [True, True] Translation: X:97.45, Y:-5.20, Z:-1.28 [[ 9.99995226e-01 3.07771837e-03 -2.74890425e-04 9.74469929e+01] [-3.07771439e-03 9.99995264e-01 1.49215355e-05 -5.19884428e+00] [ 2.74935048e-04 -1.40754300e-05 9.99999962e-01 -1.28415656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680371743 meters Centerline goodness [0,1] 0.989349376114082 Centerline is valid? [True, True] Translation: X:97.48, Y:-5.20, Z:-1.28 [[ 9.99988895e-01 4.70770217e-03 -2.18730548e-04 9.74757767e+01] [-4.70769976e-03 9.99988919e-01 1.15270389e-05 -5.19975883e+00] [ 2.18782390e-04 -1.04971932e-05 9.99999976e-01 -1.28440436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.710371743 meters Centerline goodness [0,1] 0.9889847171328984 Centerline is valid? [True, True] Translation: X:97.51, Y:-5.20, Z:-1.28 [[ 9.99979760e-01 6.35918221e-03 -2.02468562e-04 9.75051553e+01] [-6.35918068e-03 9.99979780e-01 8.17123701e-06 -5.19881714e+00] [ 2.02516431e-04 -6.88353745e-06 9.99999979e-01 -1.28445150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740371743 meters Centerline goodness [0,1] 0.9889512647894254 Centerline is valid? [True, True] Translation: X:97.54, Y:-5.19, Z:-1.28 [[ 9.99926796e-01 1.20962230e-02 2.89657466e-04 9.75356915e+01] [-1.20962188e-02 9.99926838e-01 -1.61931174e-05 -5.19248240e+00] [-2.89832149e-04 1.26881719e-05 9.99999958e-01 -1.28341607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.770371743 meters Centerline goodness [0,1] 0.9886170117415076 Centerline is valid? [True, True] Translation: X:97.56, Y:-5.19, Z:-1.28 [[ 9.99878579e-01 1.55696672e-02 6.42920399e-04 9.75645523e+01] [-1.55696470e-02 9.99878785e-01 -3.63070003e-05 -5.19276672e+00] [-6.43407756e-04 2.62925482e-05 9.99999793e-01 -1.28400344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800371743 meters Centerline goodness [0,1] 0.9893375833352039 Centerline is valid? [True, True] Translation: X:97.60, Y:-5.19, Z:-1.28 [[ 9.99715069e-01 2.38055862e-02 1.75357724e-03 9.75950211e+01] [-2.38054514e-02 9.99716605e-01 -9.77408904e-05 -5.18546161e+00] [-1.75540706e-03 5.59683433e-05 9.99998458e-01 -1.28357791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.830371743 meters Centerline goodness [0,1] 0.9902990926403047 Centerline is valid? [True, True] Translation: X:97.63, Y:-5.18, Z:-1.28 [[ 9.99612522e-01 2.77635876e-02 1.99741945e-03 9.76254301e+01] [-2.77634202e-02 9.99614516e-01 -1.11490225e-04 -5.18410787e+00] [-1.99974485e-03 5.59918290e-05 9.99997999e-01 -1.28407009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860371743 meters Centerline goodness [0,1] 0.9912371365658563 Centerline is valid? [True, True] Translation: X:97.65, Y:-5.18, Z:-1.28 [[ 9.99514011e-01 3.10985325e-02 2.15004956e-03 9.76548418e+01] [-3.10983438e-02 9.99516322e-01 -1.21128829e-04 -5.18170467e+00] [-2.15277655e-03 5.42069811e-05 9.99997681e-01 -1.28404518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.890371743 meters Centerline goodness [0,1] 0.9909274193548387 Centerline is valid? [True, True] Translation: X:97.68, Y:-5.18, Z:-1.28 [[ 9.99418299e-01 3.40566574e-02 1.79090486e-03 9.76831234e+01] [-3.40565322e-02 9.99419903e-01 -1.00372541e-04 -5.18179905e+00] [-1.79328431e-03 3.93221452e-05 9.99998391e-01 -1.28495645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920371743 meters Centerline goodness [0,1] 0.9916526043424457 Centerline is valid? [True, True] Translation: X:97.71, Y:-5.18, Z:-1.29 [[ 9.99317424e-01 3.69000035e-02 1.75366524e-03 9.77124404e+01] [-3.68998883e-02 9.99318962e-01 -9.79661287e-05 -5.18028132e+00] [-1.75608588e-03 3.31892079e-05 9.99998458e-01 -1.28523731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.950371743 meters Centerline goodness [0,1] 0.9915700026975991 Centerline is valid? [True, True] Translation: X:97.74, Y:-5.18, Z:-1.29 [[ 9.99317708e-01 3.69048259e-02 1.46729232e-03 9.77392501e+01] [-3.69047441e-02 9.99318784e-01 -8.28541943e-05 -5.18251066e+00] [-1.46935049e-03 2.86476161e-05 9.99998920e-01 -1.28593244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98037174299999 meters Centerline goodness [0,1] 0.9920631351740264 Centerline is valid? [True, True] Translation: X:97.77, Y:-5.18, Z:-1.28 [[ 9.99362690e-01 3.56597594e-02 1.61104691e-03 9.77678997e+01] [-3.56596606e-02 9.99363988e-01 -8.99963109e-05 -5.18434462e+00] [-1.61323151e-03 3.24895692e-05 9.99998698e-01 -1.28490135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.010371743 meters Centerline goodness [0,1] 0.991152628387937 Centerline is valid? [True, True] Translation: X:97.80, Y:-5.19, Z:-1.29 [[ 9.99395890e-01 3.47246462e-02 1.43349206e-03 9.77956492e+01] [-3.47245668e-02 9.99396917e-01 -8.02925613e-05 -5.18890509e+00] [-1.43541567e-03 3.04666651e-05 9.99998969e-01 -1.28602529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040371743 meters Centerline goodness [0,1] 0.9911643344097596 Centerline is valid? [True, True] Translation: X:97.82, Y:-5.19, Z:-1.29 [[ 9.99448945e-01 3.31720360e-02 1.19289716e-03 9.78241262e+01] [-3.31719800e-02 9.99449656e-01 -6.67038715e-05 -5.18947588e+00] [-1.19445336e-03 2.70963533e-05 9.99999286e-01 -1.28527605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.070371743 meters Centerline goodness [0,1] 0.9903822441430333 Centerline is valid? [True, True] Translation: X:97.85, Y:-5.19, Z:-1.29 [[ 9.99546787e-01 3.00956054e-02 6.89501438e-04 9.78523356e+01] [-3.00955855e-02 9.99547025e-01 -3.91570313e-05 -5.19387618e+00] [-6.90367565e-04 1.83883354e-05 9.99999762e-01 -1.28599335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100371743 meters Centerline goodness [0,1] 0.9914120857002281 Centerline is valid? [True, True] Translation: X:97.88, Y:-5.20, Z:-1.29 [[ 9.99596043e-01 2.84108222e-02 7.59245573e-04 9.78797749e+01] [-2.84107974e-02 9.99596331e-01 -4.34393390e-05 -5.19766695e+00] [-7.60173236e-04 2.18510193e-05 9.99999711e-01 -1.28666119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.130371743 meters Centerline goodness [0,1] 0.9906939286832804 Centerline is valid? [True, True] Translation: X:97.91, Y:-5.20, Z:-1.29 [[ 9.99685567e-01 2.50184174e-02 1.68717738e-03 9.79078795e+01] [-2.50182950e-02 9.99686989e-01 -9.36394708e-05 -5.20353663e+00] [-1.68899199e-03 5.13997260e-05 9.99998572e-01 -1.28713640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160371743 meters Centerline goodness [0,1] 0.9902745867814682 Centerline is valid? [True, True] Translation: X:97.94, Y:-5.21, Z:-1.29 [[ 9.99725965e-01 2.33127825e-02 2.12343679e-03 9.79351179e+01] [-2.33125858e-02 9.99728218e-01 -1.17340904e-04 -5.20782677e+00] [-2.12559522e-03 6.78059464e-05 9.99997739e-01 -1.28717161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.190371743 meters Centerline goodness [0,1] 0.9907200856607478 Centerline is valid? [True, True] Translation: X:97.96, Y:-5.21, Z:-1.29 [[ 9.99770077e-01 2.12542643e-02 2.83713793e-03 9.79630639e+01] [-2.12539068e-02 9.99774098e-01 -1.56108009e-04 -5.21210723e+00] [-2.83981498e-03 9.57718507e-05 9.99995963e-01 -1.28695087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220371743 meters Centerline goodness [0,1] 0.9902802491103203 Centerline is valid? [True, True] Translation: X:97.99, Y:-5.22, Z:-1.29 [[ 9.99855179e-01 1.66387529e-02 3.57397093e-03 9.79919418e+01] [-1.66381588e-02 9.99861557e-01 -1.95884748e-04 -5.21691602e+00] [-3.57673542e-03 1.36392083e-04 9.99993594e-01 -1.28571503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.250371743 meters Centerline goodness [0,1] 0.9906679109452073 Centerline is valid? [True, True] Translation: X:98.02, Y:-5.22, Z:-1.29 [[ 9.99899074e-01 1.37382671e-02 3.61956932e-03 9.80203862e+01] [-1.37376406e-02 9.99905615e-01 -1.97900093e-04 -5.22212159e+00] [-3.62194649e-03 1.48155778e-04 9.99993430e-01 -1.28626668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280371743 meters Centerline goodness [0,1] 0.9904339141049828 Centerline is valid? [True, True] Translation: X:98.05, Y:-5.23, Z:-1.29 [[ 9.99967856e-01 7.03462753e-03 3.84715993e-03 9.80505818e+01] [-7.03387313e-03 9.99975240e-01 -2.09589481e-04 -5.23046761e+00] [-3.84853906e-03 1.82522309e-04 9.99992578e-01 -1.28663943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.310371743 meters Centerline goodness [0,1] 0.9905844299703133 Centerline is valid? [True, True] Translation: X:98.08, Y:-5.24, Z:-1.29 [[ 9.99984849e-01 3.63668889e-03 4.13235304e-03 9.80790856e+01] [-3.63579018e-03 9.99993365e-01 -2.24972155e-04 -5.23795895e+00] [-4.13314377e-03 2.09944378e-04 9.99991436e-01 -1.28788258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.340371743 meters Centerline goodness [0,1] 0.9908872688477952 Centerline is valid? [True, True] Translation: X:98.11, Y:-5.24, Z:-1.29 [[ 9.99990020e-01 7.16711923e-04 4.40987057e-03 9.81088950e+01] [-7.15662527e-04 9.99999715e-01 -2.39538666e-04 -5.24476342e+00] [-4.41004100e-03 2.36380296e-04 9.99990248e-01 -1.28851274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37037174299999 meters Centerline goodness [0,1] 0.9901588702559576 Centerline is valid? [True, True] Translation: X:98.14, Y:-5.25, Z:-1.29 [[ 9.99983197e-01 -3.93188764e-03 4.25980153e-03 9.81378056e+01] [ 3.93291399e-03 9.99992239e-01 -2.32587668e-04 -5.25202521e+00] [-4.25885396e-03 2.49337192e-04 9.99990900e-01 -1.28922706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400371743 meters Centerline goodness [0,1] 0.9901588702559576 Centerline is valid? [True, True] Translation: X:98.17, Y:-5.25, Z:-1.29 [[ 9.99983465e-01 -3.86312275e-03 4.25984673e-03 9.81695018e+01] [ 3.86414496e-03 9.99992507e-01 -2.31759444e-04 -5.25381937e+00] [-4.25891950e-03 2.48216277e-04 9.99990900e-01 -1.28965732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.430371743 meters Centerline goodness [0,1] 0.990179125653986 Centerline is valid? [True, True] Translation: X:98.20, Y:-5.25, Z:-1.29 [[ 9.99976259e-01 -5.44936952e-03 4.21721590e-03 9.82018768e+01] [ 5.45038649e-03 9.99985120e-01 -2.29692850e-04 -5.25220988e+00] [-4.21590147e-03 2.52672854e-04 9.99991081e-01 -1.28946146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460371743 meters Centerline goodness [0,1] 0.9908664636991933 Centerline is valid? [True, True] Translation: X:98.23, Y:-5.26, Z:-1.29 [[ 9.99970982e-01 -6.42238319e-03 4.09745582e-03 9.82331133e+01] [ 6.42335317e-03 9.99979345e-01 -2.23610901e-04 -5.25711468e+00] [-4.09593507e-03 2.49923817e-04 9.99991580e-01 -1.29070613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.490371743 meters Centerline goodness [0,1] 0.990661254186908 Centerline is valid? [True, True] Translation: X:98.27, Y:-5.26, Z:-1.29 [[ 9.99973292e-01 -6.07224318e-03 4.06726737e-03 9.82653384e+01] [ 6.07319624e-03 9.99981533e-01 -2.22013589e-04 -5.25959727e+00] [-4.06584414e-03 2.46708972e-04 9.99991704e-01 -1.29159412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520371743 meters Centerline goodness [0,1] 0.9901793811240627 Centerline is valid? [True, True] Translation: X:98.30, Y:-5.26, Z:-1.29 [[ 9.99974866e-01 -5.37254702e-03 4.62637916e-03 9.82967910e+01] [ 5.37377239e-03 9.99985529e-01 -2.52476372e-04 -5.26221672e+00] [-4.62495577e-03 2.77331135e-04 9.99989266e-01 -1.29225261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.550371743 meters Centerline goodness [0,1] 0.9907628920786815 Centerline is valid? [True, True] Translation: X:98.33, Y:-5.26, Z:-1.29 [[ 9.99979501e-01 -3.66400932e-03 5.25101852e-03 9.83271583e+01] [ 3.66557409e-03 9.99993240e-01 -2.88400046e-04 -5.26346666e+00] [-5.24992632e-03 3.07642132e-04 9.99986172e-01 -1.29201685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580371743 meters Centerline goodness [0,1] 0.9898026751423652 Centerline is valid? [True, True] Translation: X:98.36, Y:-5.26, Z:-1.29 [[ 9.99976623e-01 -2.46453924e-03 6.37797095e-03 9.83597546e+01] [ 2.46682133e-03 9.99996896e-01 -3.49964933e-04 -5.26480311e+00] [-6.37708865e-03 3.65690066e-04 9.99979599e-01 -1.29229177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.610371743 meters Centerline goodness [0,1] 0.9901891148006747 Centerline is valid? [True, True] Translation: X:98.39, Y:-5.27, Z:-1.29 [[ 9.99975520e-01 -1.53838722e-04 6.99543558e-03 9.83906536e+01] [ 1.56535121e-04 9.99999914e-01 -3.84905349e-04 -5.26576940e+00] [-6.99537577e-03 3.85990958e-04 9.99975458e-01 -1.29247940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640371743 meters Centerline goodness [0,1] 0.9899372741981958 Centerline is valid? [True, True] Translation: X:98.42, Y:-5.27, Z:-1.29 [[ 9.99976338e-01 1.17765878e-03 6.77759230e-03 9.84222715e+01] [-1.17515825e-03 9.99999240e-01 -3.72911792e-04 -5.26773868e+00] [-6.77802631e-03 3.64938225e-04 9.99976962e-01 -1.29311715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.670371743 meters Centerline goodness [0,1] 0.9896615710877441 Centerline is valid? [True, True] Translation: X:98.45, Y:-5.27, Z:-1.29 [[ 9.99976221e-01 2.37898010e-03 6.47281767e-03 9.84544631e+01] [-2.37672189e-03 9.99997112e-01 -3.56545301e-04 -5.26856819e+00] [-6.47364720e-03 3.41152735e-04 9.99978988e-01 -1.29390240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.700371743 meters Centerline goodness [0,1] 0.9910531469776551 Centerline is valid? [True, True] Translation: X:98.49, Y:-5.26, Z:-1.29 [[ 9.99972179e-01 5.11297170e-03 5.43125308e-03 9.84870116e+01] [-5.11142028e-03 9.99986892e-01 -2.99488083e-04 -5.26053659e+00] [-5.43271316e-03 2.71718334e-04 9.99985206e-01 -1.29372054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73037174299999 meters Centerline goodness [0,1] 0.9908222222222223 Centerline is valid? [True, True] Translation: X:98.52, Y:-5.26, Z:-1.29 [[ 9.99962917e-01 6.95372172e-03 5.08044087e-03 9.85176176e+01] [-6.95238436e-03 9.99975792e-01 -2.80850996e-04 -5.26108343e+00] [-5.08227084e-03 2.45519404e-04 9.99987055e-01 -1.29461769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760371743 meters Centerline goodness [0,1] 0.9905039363074323 Centerline is valid? [True, True] Translation: X:98.55, Y:-5.26, Z:-1.30 [[ 9.99922620e-01 1.13770869e-02 5.03142560e-03 9.85480628e+01] [-1.13758304e-02 9.99935254e-01 -2.78295368e-04 -5.25937384e+00] [-5.03426603e-03 2.21037190e-04 9.99987304e-01 -1.29530312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.790371743 meters Centerline goodness [0,1] 0.9899342280686161 Centerline is valid? [True, True] Translation: X:98.58, Y:-5.26, Z:-1.30 [[ 9.99891614e-01 1.38364599e-02 5.03118879e-03 9.85764546e+01] [-1.38352335e-02 9.99904250e-01 -2.78495008e-04 -5.26018018e+00] [-5.03456044e-03 2.08857151e-04 9.99987305e-01 -1.29616212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820371743 meters Centerline goodness [0,1] 0.990307449480915 Centerline is valid? [True, True] Translation: X:98.61, Y:-5.26, Z:-1.30 [[ 9.99850009e-01 1.65678899e-02 5.04625772e-03 9.86058526e+01] [-1.65666922e-02 9.99862724e-01 -2.79049582e-04 -5.26021583e+00] [-5.05018825e-03 1.95407929e-04 9.99987229e-01 -1.29708565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.850371743 meters Centerline goodness [0,1] 0.9906654487936374 Centerline is valid? [True, True] Translation: X:98.64, Y:-5.26, Z:-1.30 [[ 9.99744036e-01 2.22372382e-02 4.16756941e-03 9.86361617e+01] [-2.22364723e-02 9.99752713e-01 -2.30030677e-04 -5.25828404e+00] [-4.17165407e-03 1.37299755e-04 9.99991289e-01 -1.29833065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880371743 meters Centerline goodness [0,1] 0.9904120585087406 Centerline is valid? [True, True] Translation: X:98.67, Y:-5.26, Z:-1.30 [[ 9.99683443e-01 2.48253074e-02 4.08870055e-03 9.86651309e+01] [-2.48245900e-02 9.99691797e-01 -2.26117594e-04 -5.25699526e+00] [-4.09305384e-03 1.24545700e-04 9.99991616e-01 -1.29867978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.910371743 meters Centerline goodness [0,1] 0.9912059460303998 Centerline is valid? [True, True] Translation: X:98.69, Y:-5.26, Z:-1.30 [[ 9.99623571e-01 2.70722100e-02 4.45096685e-03 9.86939568e+01] [-2.70713839e-02 9.99633473e-01 -2.45742811e-04 -5.25715754e+00] [-4.45598825e-03 1.25156474e-04 9.99990064e-01 -1.29895399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940371743 meters Centerline goodness [0,1] 0.9908416726233024 Centerline is valid? [True, True] Translation: X:98.72, Y:-5.26, Z:-1.30 [[ 9.99534739e-01 2.99307577e-02 5.86984195e-03 9.87218492e+01] [-2.99293738e-02 9.99551964e-01 -3.23488365e-04 -5.25849146e+00] [-5.87689430e-03 1.47657165e-04 9.99982720e-01 -1.29898589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.970371743 meters Centerline goodness [0,1] 0.9915019851005933 Centerline is valid? [True, True] Translation: X:98.75, Y:-5.26, Z:-1.30 [[ 9.99507868e-01 3.06445653e-02 6.70309880e-03 9.87502710e+01] [-3.06427826e-02 9.99530332e-01 -3.68524262e-04 -5.25874481e+00] [-6.71124383e-03 1.62941300e-04 9.99977466e-01 -1.29834789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000371743 meters Centerline goodness [0,1] 0.9913983286908078 Centerline is valid? [True, True] Translation: X:98.78, Y:-5.26, Z:-1.30 [[ 9.99493745e-01 3.08832408e-02 7.64711245e-03 9.87783564e+01] [-3.08809319e-02 9.99522982e-01 -4.19857507e-04 -5.26125189e+00] [-7.65643120e-03 1.83494994e-04 9.99970672e-01 -1.29791524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.030371743 meters Centerline goodness [0,1] 0.991877357016937 Centerline is valid? [True, True] Translation: X:98.81, Y:-5.26, Z:-1.30 [[ 9.99522195e-01 2.99116739e-02 7.78934956e-03 9.88075534e+01] [-2.99092549e-02 9.99552527e-01 -4.26884895e-04 -5.26186948e+00] [-7.79863288e-03 1.93707286e-04 9.99969571e-01 -1.29804856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.060371743 meters Centerline goodness [0,1] 0.992334167709637 Centerline is valid? [True, True] Translation: X:98.84, Y:-5.26, Z:-1.30 [[ 9.99564318e-01 2.86463766e-02 7.11049609e-03 9.88366974e+01] [-2.86443319e-02 9.99589591e-01 -3.89259108e-04 -5.26439089e+00] [-7.11872875e-03 1.85414105e-04 9.99974644e-01 -1.29859940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.090371743 meters Centerline goodness [0,1] 0.9916030024277791 Centerline is valid? [True, True] Translation: X:98.87, Y:-5.27, Z:-1.30 [[ 9.99655188e-01 2.54638450e-02 6.41071971e-03 9.88659804e+01] [-2.54621215e-02 9.99675726e-01 -3.50335470e-04 -5.26814424e+00] [-6.41756177e-03 1.86984146e-04 9.99979390e-01 -1.29954999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12037174299999 meters Centerline goodness [0,1] 0.9916466185511895 Centerline is valid? [True, True] Translation: X:98.90, Y:-5.27, Z:-1.30 [[ 9.99705760e-01 2.34173174e-02 6.32635454e-03 9.88950513e+01] [-2.34155977e-02 9.99725758e-01 -3.45768802e-04 -5.27052144e+00] [-6.33271656e-03 1.97531691e-04 9.99979929e-01 -1.30036991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.150371743 meters Centerline goodness [0,1] 0.991972247548311 Centerline is valid? [True, True] Translation: X:98.92, Y:-5.28, Z:-1.30 [[ 9.99806307e-01 1.89775976e-02 5.21535903e-03 9.89227360e+01] [-1.89763697e-02 9.99819892e-01 -2.84834809e-04 -5.27613291e+00] [-5.21982519e-03 1.85811057e-04 9.99986359e-01 -1.30173715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180371743 meters Centerline goodness [0,1] 0.9917480371004693 Centerline is valid? [True, True] Translation: X:98.95, Y:-5.28, Z:-1.30 [[ 9.99854416e-01 1.63425536e-02 4.90585687e-03 9.89512166e+01] [-1.63414377e-02 9.99866434e-01 -2.67473415e-04 -5.28079403e+00] [-4.90957281e-03 1.87265721e-04 9.99987930e-01 -1.30274857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.210371743 meters Centerline goodness [0,1] 0.9912391879572188 Centerline is valid? [True, True] Translation: X:98.98, Y:-5.29, Z:-1.30 [[ 9.99896943e-01 1.35302914e-02 4.79946996e-03 9.89796492e+01] [-1.35291922e-02 9.99908442e-01 -2.61422261e-04 -5.28914125e+00] [-4.80256765e-03 1.96462367e-04 9.99988448e-01 -1.30418001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240371743 meters Centerline goodness [0,1] 0.9906305506216696 Centerline is valid? [True, True] Translation: X:99.01, Y:-5.29, Z:-1.30 [[ 9.99957577e-01 7.57137297e-03 5.24586788e-03 9.90099498e+01] [-7.56998171e-03 9.99971307e-01 -2.85015725e-04 -5.28969007e+00] [-5.24787531e-03 2.45292510e-04 9.99986200e-01 -1.30293984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.270371743 meters Centerline goodness [0,1] 0.9915468583599574 Centerline is valid? [True, True] Translation: X:99.04, Y:-5.29, Z:-1.30 [[ 9.99974326e-01 4.42651592e-03 5.63507143e-03 9.90400762e+01] [-4.42486101e-03 9.99990163e-01 -3.06113610e-04 -5.29211634e+00] [-5.63637101e-03 2.81171343e-04 9.99984076e-01 -1.30243615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300371743 meters Centerline goodness [0,1] 0.9917344354086122 Centerline is valid? [True, True] Translation: X:99.07, Y:-5.30, Z:-1.30 [[ 9.99983458e-01 1.28565002e-03 5.60637189e-03 9.90700583e+01] [-1.28396393e-03 9.99999129e-01 -3.04333763e-04 -5.29789127e+00] [-5.60675827e-03 2.97130349e-04 9.99984238e-01 -1.30310350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.330371743 meters Centerline goodness [0,1] 0.9911651756975738 Centerline is valid? [True, True] Translation: X:99.10, Y:-5.30, Z:-1.30 [[ 9.99971107e-01 -4.07628133e-03 6.41629738e-03 9.91002516e+01] [ 4.07860142e-03 9.99991622e-01 -3.48550832e-04 -5.30158588e+00] [-6.41482283e-03 3.74710281e-04 9.99979355e-01 -1.30271693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360371743 meters Centerline goodness [0,1] 0.9912068391251249 Centerline is valid? [True, True] Translation: X:99.13, Y:-5.30, Z:-1.30 [[ 9.99959462e-01 -6.26250683e-03 6.46963995e-03 9.91316759e+01] [ 6.26490991e-03 9.99980314e-01 -3.51239268e-04 -5.30424892e+00] [-6.46731295e-03 3.91756740e-04 9.99979010e-01 -1.30274553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.390371743 meters Centerline goodness [0,1] 0.990468168114914 Centerline is valid? [True, True] Translation: X:99.16, Y:-5.31, Z:-1.30 [[ 9.99938699e-01 -9.34731332e-03 5.93514917e-03 9.91621782e+01] [ 9.34939171e-03 9.99956241e-01 -3.22532425e-04 -5.30596520e+00] [-5.93187465e-03 3.78002687e-04 9.99982335e-01 -1.30273308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420371743 meters Centerline goodness [0,1] 0.989689583609308 Centerline is valid? [True, True] Translation: X:99.19, Y:-5.31, Z:-1.30 [[ 9.99934861e-01 -9.96162765e-03 5.57132091e-03 9.91925914e+01] [ 9.96346739e-03 9.99950318e-01 -3.02558684e-04 -5.31341776e+00] [-5.56803014e-03 3.58048650e-04 9.99984434e-01 -1.30405257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.450371743 meters Centerline goodness [0,1] 0.990654620524318 Centerline is valid? [True, True] Translation: X:99.22, Y:-5.31, Z:-1.30 [[ 9.99932712e-01 -1.05504724e-02 4.82280154e-03 9.92249775e+01] [ 1.05518578e-02 9.99944293e-01 -2.61905377e-04 -5.30875019e+00] [-4.81976965e-03 3.12777270e-04 9.99988336e-01 -1.30423956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48037174299999 meters Centerline goodness [0,1] 0.9912925953826384 Centerline is valid? [True, True] Translation: X:99.26, Y:-5.31, Z:-1.31 [[ 9.99932257e-01 -1.10320979e-02 3.71124176e-03 9.92572677e+01] [ 1.10329218e-02 9.99939115e-01 -2.01588930e-04 -5.31115442e+00] [-3.70879185e-03 2.42521114e-04 9.99993093e-01 -1.30557616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.510371743 meters Centerline goodness [0,1] 0.9901272827891533 Centerline is valid? [True, True] Translation: X:99.29, Y:-5.32, Z:-1.31 [[ 9.99934601e-01 -1.08898027e-02 3.49374665e-03 9.92890099e+01] [ 1.08905320e-02 9.99940678e-01 -1.89789619e-04 -5.31570780e+00] [-3.49147263e-03 2.27825967e-04 9.99993879e-01 -1.30658246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540371743 meters Centerline goodness [0,1] 0.9902678551679901 Centerline is valid? [True, True] Translation: X:99.32, Y:-5.31, Z:-1.31 [[ 9.99942469e-01 -1.00829171e-02 3.65967386e-03 9.93213467e+01] [ 1.00837141e-02 9.99949138e-01 -1.99388289e-04 -5.31492817e+00] [-3.65747730e-03 2.36279923e-04 9.99993283e-01 -1.30616344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.570371743 meters Centerline goodness [0,1] 0.9907403305126047 Centerline is valid? [True, True] Translation: X:99.35, Y:-5.32, Z:-1.31 [[ 9.99952464e-01 -9.19454262e-03 3.24502335e-03 9.93527304e+01] [ 9.19516559e-03 9.99957708e-01 -1.77109890e-04 -5.31595057e+00] [-3.24325766e-03 2.06939998e-04 9.99994719e-01 -1.30641618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600371743 meters Centerline goodness [0,1] 0.9905643660848764 Centerline is valid? [True, True] Translation: X:99.38, Y:-5.31, Z:-1.31 [[ 9.99967030e-01 -7.59256195e-03 2.87941771e-03 9.93839073e+01] [ 7.59304659e-03 9.99971160e-01 -1.57417734e-04 -5.31386832e+00] [-2.87813947e-03 1.79276097e-04 9.99995842e-01 -1.30648868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.630371743 meters Centerline goodness [0,1] 0.9909038470071438 Centerline is valid? [True, True] Translation: X:99.42, Y:-5.31, Z:-1.31 [[ 9.99980851e-01 -5.88699619e-03 1.90796727e-03 9.94157001e+01] [ 5.88720569e-03 9.99982665e-01 -1.04204901e-04 -5.31170822e+00] [-1.90732074e-03 1.15435502e-04 9.99998174e-01 -1.30669142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660371743 meters Centerline goodness [0,1] 0.9900847981627064 Centerline is valid? [True, True] Translation: X:99.45, Y:-5.31, Z:-1.31 [[ 9.99998968e-01 -3.26069090e-04 1.39892847e-03 9.94454302e+01] [ 3.26177115e-04 9.99999944e-01 -7.69917166e-05 -5.31118700e+00] [-1.39890329e-03 7.74479357e-05 9.99999019e-01 -1.30762065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.690371743 meters Centerline goodness [0,1] 0.9908385403926975 Centerline is valid? [True, True] Translation: X:99.48, Y:-5.30, Z:-1.31 [[ 9.99978359e-01 6.54908079e-03 6.24976670e-04 9.94763530e+01] [-6.54906063e-03 9.99978554e-01 -3.42940826e-05 -5.30362578e+00] [-6.25187862e-04 3.02003303e-05 9.99999804e-01 -1.30726092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720371743 meters Centerline goodness [0,1] 0.9910290942279011 Centerline is valid? [True, True] Translation: X:99.51, Y:-5.30, Z:-1.31 [[ 9.99944438e-01 1.05030040e-02 8.98619244e-04 9.95057338e+01] [-1.05029635e-02 9.99944841e-01 -4.97553072e-05 -5.30260871e+00] [-8.99092258e-04 4.03143775e-05 9.99999595e-01 -1.30792356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.750371743 meters Centerline goodness [0,1] 0.9903493362389095 Centerline is valid? [True, True] Translation: X:99.54, Y:-5.30, Z:-1.31 [[ 9.99892274e-01 1.46558040e-02 8.05229686e-04 9.95356001e+01] [-1.46557728e-02 9.99892597e-01 -4.46044631e-05 -5.30090783e+00] [-8.05796917e-04 3.27983947e-05 9.99999675e-01 -1.30842429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780371743 meters Centerline goodness [0,1] 0.9909603508457889 Centerline is valid? [True, True] Translation: X:99.56, Y:-5.30, Z:-1.31 [[ 9.99757011e-01 2.20225696e-02 9.62404091e-04 9.95649509e+01] [-2.20225288e-02 9.99757473e-01 -5.29980290e-05 -5.29669568e+00] [-9.63337835e-04 3.17905793e-05 9.99999535e-01 -1.30897176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.810371743 meters Centerline goodness [0,1] 0.9909682323221033 Centerline is valid? [True, True] Translation: X:99.59, Y:-5.30, Z:-1.31 [[ 9.99677371e-01 2.53760060e-02 1.10129574e-03 9.95941844e+01] [-2.53759542e-02 9.99677977e-01 -6.09750521e-05 -5.29536169e+00] [-1.10248840e-03 3.30089496e-05 9.99999392e-01 -1.30926285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.840371743 meters Centerline goodness [0,1] 0.9911401206737994 Centerline is valid? [True, True] Translation: X:99.62, Y:-5.29, Z:-1.31 [[ 9.99539227e-01 3.02586535e-02 2.39720600e-03 9.96228152e+01] [-3.02584245e-02 9.99542100e-01 -1.31747164e-04 -5.29334972e+00] [-2.40009481e-03 5.91507816e-05 9.99997118e-01 -1.30949190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87037174299999 meters Centerline goodness [0,1] 0.9917005002130953 Centerline is valid? [True, True] Translation: X:99.65, Y:-5.29, Z:-1.31 [[ 9.99495195e-01 3.16773693e-02 2.42894098e-03 9.96520957e+01] [-3.16771366e-02 9.99498145e-01 -1.34224962e-04 -5.29340316e+00] [-2.43197389e-03 5.72153095e-05 9.99997041e-01 -1.30979560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900371743 meters Centerline goodness [0,1] 0.9917723075547209 Centerline is valid? [True, True] Translation: X:99.68, Y:-5.29, Z:-1.31 [[ 9.99458105e-01 3.27846505e-02 2.94327877e-03 9.96800851e+01] [-3.27843172e-02 9.99462437e-01 -1.61417646e-04 -5.29488796e+00] [-2.94698860e-03 6.48367897e-05 9.99995656e-01 -1.31044771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.930371743 meters Centerline goodness [0,1] 0.9914376653068544 Centerline is valid? [True, True] Translation: X:99.71, Y:-5.30, Z:-1.31 [[ 9.99434422e-01 3.34906240e-02 3.03556449e-03 9.97079596e+01] [-3.34902738e-02 9.99439030e-01 -1.66165591e-04 -5.29667545e+00] [-3.03942662e-03 6.44097259e-05 9.99995379e-01 -1.31091325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960371743 meters Centerline goodness [0,1] 0.9920979584527221 Centerline is valid? [True, True] Translation: X:99.74, Y:-5.30, Z:-1.31 [[ 9.99434867e-01 3.34809730e-02 2.99501104e-03 9.97352270e+01] [-3.34806316e-02 9.99439353e-01 -1.64049954e-04 -5.29908652e+00] [-2.99882445e-03 6.36823828e-05 9.99995501e-01 -1.31156307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.990371743 meters Centerline goodness [0,1] 0.9926671137938744 Centerline is valid? [True, True] Translation: X:99.76, Y:-5.30, Z:-1.31 [[ 9.99480205e-01 3.20266869e-02 3.68945415e-03 9.97639129e+01] [-3.20261637e-02 9.99487011e-01 -2.00807672e-04 -5.30118365e+00] [-3.69399270e-03 8.25442299e-05 9.99993174e-01 -1.31065925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020371743 meters Centerline goodness [0,1] 0.9919259242691955 Centerline is valid? [True, True] Translation: X:99.79, Y:-5.30, Z:-1.31 [[ 9.99526603e-01 3.04999016e-02 4.04043250e-03 9.97926922e+01] [-3.04992632e-02 9.99534765e-01 -2.19539964e-04 -5.30430690e+00] [-4.04524869e-03 9.62058203e-05 9.99991813e-01 -1.31087728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.050371743 meters Centerline goodness [0,1] 0.9912629603146228 Centerline is valid? [True, True] Translation: X:99.82, Y:-5.31, Z:-1.31 [[ 9.99571304e-01 2.89974895e-02 4.04398452e-03 9.98198953e+01] [-2.89968382e-02 9.99579479e-01 -2.19606212e-04 -5.31108148e+00] [-4.04865197e-03 1.02249303e-04 9.99991799e-01 -1.31242939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080371743 meters Centerline goodness [0,1] 0.9913698905068795 Centerline is valid? [True, True] Translation: X:99.85, Y:-5.31, Z:-1.31 [[ 9.99659942e-01 2.58181840e-02 3.66367931e-03 9.98493957e+01] [-2.58176307e-02 9.99666650e-01 -1.98223284e-04 -5.31401181e+00] [-3.66757578e-03 1.03568357e-04 9.99993269e-01 -1.31217354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.110371743 meters Centerline goodness [0,1] 0.9910951413841588 Centerline is valid? [True, True] Translation: X:99.88, Y:-5.32, Z:-1.31 [[ 9.99698297e-01 2.43154594e-02 3.47474382e-03 9.98781578e+01] [-2.43149518e-02 9.99704330e-01 -1.88257853e-04 -5.31762841e+00] [-3.47829402e-03 1.03712826e-04 9.99993945e-01 -1.31327868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140371743 meters Centerline goodness [0,1] 0.9912867139100593 Centerline is valid? [True, True] Translation: X:99.91, Y:-5.32, Z:-1.31 [[ 9.99724653e-01 2.31989602e-02 3.52500527e-03 9.99066647e+01] [-2.31984318e-02 9.99730862e-01 -1.90720608e-04 -5.32113059e+00] [-3.52848108e-03 1.08893500e-04 9.99993769e-01 -1.31411763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.170371743 meters Centerline goodness [0,1] 0.9905263860164121 Centerline is valid? [True, True] Translation: X:99.93, Y:-5.33, Z:-1.31 [[ 9.99778451e-01 2.06893400e-02 3.87309829e-03 9.99349606e+01] [-2.06886847e-02 9.99785944e-01 -2.09179607e-04 -5.32772308e+00] [-3.87659702e-03 1.29003954e-04 9.99992478e-01 -1.31489965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.200371743 meters Centerline goodness [0,1] 0.9906691548920288 Centerline is valid? [True, True] Translation: X:99.96, Y:-5.33, Z:-1.31 [[ 9.99823608e-01 1.80617662e-02 5.15021156e-03 9.99634367e+01] [-1.80605761e-02 9.99836856e-01 -2.77494050e-04 -5.33192545e+00] [-5.15438337e-03 1.84429315e-04 9.99986699e-01 -1.31446244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23037174299999 meters Centerline goodness [0,1] 0.9915190434012401 Centerline is valid? [True, True] Translation: X:99.99, Y:-5.34, Z:-1.31 [[ 9.99848832e-01 1.64734702e-02 5.56225871e-03 9.99912941e+01] [-1.64720594e-02 9.99864282e-01 -2.99352945e-04 -5.33826820e+00] [-5.56643519e-03 2.07685837e-04 9.99984486e-01 -1.31481448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260371743 meters Centerline goodness [0,1] 0.9910457023804247 Centerline is valid? [True, True] Translation: X:100.02, Y:-5.34, Z:-1.31 [[ 9.99878156e-01 1.44570912e-02 5.88777699e-03 1.00020391e+02] [-1.44554807e-02 9.99895464e-01 -3.15998790e-04 -5.34030317e+00] [-5.89172993e-03 2.30849640e-04 9.99982617e-01 -1.31474877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.290371743 meters Centerline goodness [0,1] 0.9905624930931595 Centerline is valid? [True, True] Translation: X:100.05, Y:-5.35, Z:-1.32 [[ 9.99937178e-01 9.52146693e-03 5.91450321e-03 1.00048807e+02] [-9.51976012e-03 9.99954636e-01 -3.16666393e-04 -5.35075183e+00] [-5.91725004e-03 2.60341848e-04 9.99982459e-01 -1.31590303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320371743 meters Centerline goodness [0,1] 0.9905624930931595 Centerline is valid? [True, True] Translation: X:100.08, Y:-5.35, Z:-1.32 [[ 9.99937508e-01 9.48677176e-03 5.91448569e-03 1.00077946e+02] [-9.48506242e-03 9.99954966e-01 -3.16993704e-04 -5.35228100e+00] [-5.91722658e-03 2.60874628e-04 9.99982459e-01 -1.31629842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.350371743 meters Centerline goodness [0,1] 0.9904589024417241 Centerline is valid? [True, True] Translation: X:100.11, Y:-5.36, Z:-1.32 [[ 9.99959264e-01 6.50267781e-03 6.25980799e-03 1.00106702e+02] [-6.50070622e-03 9.99978814e-01 -3.35254525e-04 -5.35922890e+00] [-6.26185542e-03 2.94547695e-04 9.99980351e-01 -1.31747272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380371743 meters Centerline goodness [0,1] 0.9910876199743465 Centerline is valid? [True, True] Translation: X:100.14, Y:-5.36, Z:-1.32 [[ 9.99978271e-01 1.97379268e-03 6.28986178e-03 1.00137504e+02] [-1.97171745e-03 9.99998000e-01 -3.36116569e-04 -5.36252231e+00] [-6.29051262e-03 3.23707435e-04 9.99980162e-01 -1.31763831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.410371743 meters Centerline goodness [0,1] 0.9899869874947619 Centerline is valid? [True, True] Translation: X:100.17, Y:-5.37, Z:-1.32 [[ 9.99981098e-01 5.63539989e-04 6.12250644e-03 1.00168369e+02] [-5.61554795e-04 9.99999789e-01 -3.25959545e-04 -5.37135513e+00] [-6.12268884e-03 3.22515261e-04 9.99981204e-01 -1.31879328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440371743 meters Centerline goodness [0,1] 0.9899456401644053 Centerline is valid? [True, True] Translation: X:100.20, Y:-5.38, Z:-1.32 [[ 9.99981065e-01 -5.72737976e-04 6.12710272e-03 1.00198944e+02] [ 5.74765140e-04 9.99999781e-01 -3.29096240e-04 -5.37597747e+00] [-6.12691289e-03 3.32611653e-04 9.99981175e-01 -1.31944059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.470371743 meters Centerline goodness [0,1] 0.9911691981631933 Centerline is valid? [True, True] Translation: X:100.23, Y:-5.37, Z:-1.32 [[ 9.99982438e-01 -9.61981721e-04 5.84795383e-03 1.00231548e+02] [ 9.63826526e-04 9.99999487e-01 -3.12651586e-04 -5.37338853e+00] [-5.84765006e-03 3.18282508e-04 9.99982852e-01 -1.31902442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500371743 meters Centerline goodness [0,1] 0.989468582004054 Centerline is valid? [True, True] Translation: X:100.26, Y:-5.38, Z:-1.32 [[ 9.99986049e-01 -1.72894539e-03 4.99133836e-03 1.00262534e+02] [ 1.73030334e-03 9.99998467e-01 -2.67757130e-04 -5.38147699e+00] [-4.99086777e-03 2.76389924e-04 9.99987507e-01 -1.32079878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.530371743 meters Centerline goodness [0,1] 0.9903100775193798 Centerline is valid? [True, True] Translation: X:100.29, Y:-5.38, Z:-1.32 [[ 9.99985187e-01 -1.77177192e-03 5.14643747e-03 1.00294629e+02] [ 1.77322943e-03 9.99998389e-01 -2.78657052e-04 -5.37799331e+00] [-5.14593546e-03 2.87778739e-04 9.99986718e-01 -1.32057730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.560371743 meters Centerline goodness [0,1] 0.991070639200778 Centerline is valid? [True, True] Translation: X:100.33, Y:-5.38, Z:-1.32 [[ 9.99979505e-01 -2.30576791e-03 5.97276849e-03 1.00326532e+02] [ 2.30774458e-03 9.99997285e-01 -3.24076334e-04 -5.37529233e+00] [-5.97200503e-03 3.37853317e-04 9.99982110e-01 -1.32073506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59037174299999 meters Centerline goodness [0,1] 0.9904574237258115 Centerline is valid? [True, True] Translation: X:100.36, Y:-5.38, Z:-1.32 [[ 9.99976098e-01 -2.68790402e-03 6.37010514e-03 1.00357600e+02] [ 2.69015923e-03 9.99996322e-01 -3.45489057e-04 -5.37839952e+00] [-6.36915307e-03 3.62617397e-04 9.99979651e-01 -1.32116744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62037174299999 meters Centerline goodness [0,1] 0.989372257623531 Centerline is valid? [True, True] Translation: X:100.39, Y:-5.38, Z:-1.32 [[ 9.99975034e-01 -3.09946321e-03 6.35009715e-03 1.00390089e+02] [ 3.10172044e-03 9.99995130e-01 -3.45646371e-04 -5.38008038e+00] [-6.34899491e-03 3.65333968e-04 9.99979778e-01 -1.32166096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.650371743 meters Centerline goodness [0,1] 0.9900199159105997 Centerline is valid? [True, True] Translation: X:100.42, Y:-5.38, Z:-1.32 [[ 9.99965770e-01 -4.42994151e-03 6.98815463e-03 1.00422116e+02] [ 4.43271170e-03 9.99990103e-01 -3.80973371e-04 -5.38054568e+00] [-6.98639778e-03 4.11936805e-04 9.99975510e-01 -1.32215596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680371743 meters Centerline goodness [0,1] 0.9890900239001504 Centerline is valid? [True, True] Translation: X:100.45, Y:-5.38, Z:-1.32 [[ 9.99967575e-01 -4.90238372e-03 6.38867749e-03 1.00453687e+02] [ 4.90471182e-03 9.99987911e-01 -3.48793766e-04 -5.38260743e+00] [-6.38689034e-03 3.80117079e-04 9.99979531e-01 -1.32286466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.710371743 meters Centerline goodness [0,1] 0.9887747420626135 Centerline is valid? [True, True] Translation: X:100.48, Y:-5.39, Z:-1.32 [[ 9.99954626e-01 -6.31921704e-03 7.12832707e-03 1.00484323e+02] [ 6.32215543e-03 9.99979939e-01 -3.89754989e-04 -5.38511442e+00] [-7.12572112e-03 4.34803696e-04 9.99974517e-01 -1.32324925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740371743 meters Centerline goodness [0,1] 0.9894370104076515 Centerline is valid? [True, True] Translation: X:100.52, Y:-5.39, Z:-1.32 [[ 9.99946911e-01 -7.06533743e-03 7.50039111e-03 1.00515882e+02] [ 7.06861290e-03 9.99974933e-01 -4.10287091e-04 -5.38739253e+00] [-7.49730428e-03 4.63282671e-04 9.99971788e-01 -1.32350691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.770371743 meters Centerline goodness [0,1] 0.9879595547474389 Centerline is valid? [True, True] Translation: X:100.55, Y:-5.39, Z:-1.32 [[ 9.99942276e-01 -7.40091375e-03 7.78917987e-03 1.00547695e+02] [ 7.40445909e-03 9.99972496e-01 -4.26422962e-04 -5.38923137e+00] [-7.78580971e-03 4.84073011e-04 9.99969573e-01 -1.32344577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800371743 meters Centerline goodness [0,1] 0.9886114373075133 Centerline is valid? [True, True] Translation: X:100.58, Y:-5.39, Z:-1.32 [[ 9.99936158e-01 -8.03641363e-03 7.94324920e-03 1.00578812e+02] [ 8.04012592e-03 9.99967583e-01 -4.35528654e-04 -5.39228195e+00] [-7.93949161e-03 4.99365573e-04 9.99968357e-01 -1.32369025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.830371743 meters Centerline goodness [0,1] 0.9886137078552124 Centerline is valid? [True, True] Translation: X:100.61, Y:-5.39, Z:-1.32 [[ 9.99936798e-01 -8.19569382e-03 7.69617224e-03 1.00611691e+02] [ 8.19918548e-03 9.99966297e-01 -4.22244457e-04 -5.38774606e+00] [-7.69245227e-03 4.85320114e-04 9.99970295e-01 -1.32355169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860371743 meters Centerline goodness [0,1] 0.9886756493218686 Centerline is valid? [True, True] Translation: X:100.64, Y:-5.39, Z:-1.32 [[ 9.99939541e-01 -8.05357739e-03 7.48693713e-03 1.00644429e+02] [ 8.05687996e-03 9.99967458e-01 -4.11054428e-04 -5.38859515e+00] [-7.48338304e-03 4.71350930e-04 9.99971888e-01 -1.32436132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.890371743 meters Centerline goodness [0,1] 0.9886966756234594 Centerline is valid? [True, True] Translation: X:100.68, Y:-5.39, Z:-1.33 [[ 9.99955014e-01 -6.60189468e-03 6.81058514e-03 1.00675826e+02] [ 6.60459647e-03 9.99978119e-01 -3.74290259e-04 -5.38860624e+00] [-6.80796509e-03 4.19254587e-04 9.99976738e-01 -1.32518233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920371743 meters Centerline goodness [0,1] 0.9890517432822563 Centerline is valid? [True, True] Translation: X:100.71, Y:-5.39, Z:-1.33 [[ 9.99966857e-01 -5.15327581e-03 6.30300423e-03 1.00708432e+02] [ 5.15556788e-03 9.99986650e-01 -3.47452176e-04 -5.38949657e+00] [-6.30112956e-03 3.79936227e-04 9.99980076e-01 -1.32592764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.950371743 meters Centerline goodness [0,1] 0.9884975479268836 Centerline is valid? [True, True] Translation: X:100.74, Y:-5.39, Z:-1.33 [[ 9.99981701e-01 -1.16512138e-03 5.93638653e-03 1.00738270e+02] [ 1.16709218e-03 9.99999265e-01 -3.28531827e-04 -5.38648879e+00] [-5.93599938e-03 3.35454126e-04 9.99982326e-01 -1.32623770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98037174299999 meters Centerline goodness [0,1] 0.9880920524484881 Centerline is valid? [True, True] Translation: X:100.77, Y:-5.39, Z:-1.33 [[ 9.99980850e-01 1.38609743e-03 6.03142566e-03 1.00770060e+02] [-1.38411167e-03 9.99998987e-01 -3.33397511e-04 -5.38574136e+00] [-6.03188167e-03 3.25042959e-04 9.99981755e-01 -1.32638944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.010371743 meters Centerline goodness [0,1] 0.9892824583639073 Centerline is valid? [True, True] Translation: X:100.80, Y:-5.38, Z:-1.33 [[ 9.99973124e-01 4.10378721e-03 6.07539410e-03 1.00801791e+02] [-4.10181975e-03 9.99991531e-01 -3.36265713e-04 -5.37974484e+00] [-6.07672261e-03 3.11336504e-04 9.99981488e-01 -1.32586627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040371743 meters Centerline goodness [0,1] 0.9887392900856793 Centerline is valid? [True, True] Translation: X:100.83, Y:-5.38, Z:-1.33 [[ 9.99930384e-01 9.70731558e-03 6.70782355e-03 1.00831133e+02] [-9.70503859e-03 9.99952836e-01 -3.71920451e-04 -5.37739230e+00] [-6.71111753e-03 3.06794873e-04 9.99977433e-01 -1.32669750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.070371743 meters Centerline goodness [0,1] 0.9894016635363563 Centerline is valid? [True, True] Translation: X:100.86, Y:-5.38, Z:-1.33 [[ 9.99905842e-01 1.20819458e-02 6.50642711e-03 1.00861069e+02] [-1.20798533e-02 9.99926971e-01 -3.60806553e-04 -5.37607594e+00] [-6.51031120e-03 2.82175895e-04 9.99978768e-01 -1.32735245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100371743 meters Centerline goodness [0,1] 0.9896540936717912 Centerline is valid? [True, True] Translation: X:100.89, Y:-5.37, Z:-1.33 [[ 9.99828991e-01 1.73176707e-02 6.48739825e-03 1.00891054e+02] [-1.73157028e-02 9.99850007e-01 -3.59393589e-04 -5.37221748e+00] [-6.49264905e-03 2.46998270e-04 9.99978892e-01 -1.32813744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.130371743 meters Centerline goodness [0,1] 0.9889674618448732 Centerline is valid? [True, True] Translation: X:100.92, Y:-5.37, Z:-1.33 [[ 9.99791673e-01 1.94770806e-02 6.10361516e-03 1.00919051e+02] [-1.94753761e-02 9.99810280e-01 -3.38568124e-04 -5.37239768e+00] [-6.10905150e-03 2.19627390e-04 9.99981315e-01 -1.32894075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160371743 meters Centerline goodness [0,1] 0.9894753342141209 Centerline is valid? [True, True] Translation: X:100.95, Y:-5.37, Z:-1.33 [[ 9.99765148e-01 2.09244460e-02 5.64068710e-03 1.00947751e+02] [-2.09230164e-02 9.99781041e-01 -3.12338422e-04 -5.37113467e+00] [-5.64598753e-03 1.94244880e-04 9.99984042e-01 -1.32938558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.190371743 meters Centerline goodness [0,1] 0.9897902066587556 Centerline is valid? [True, True] Translation: X:100.98, Y:-5.37, Z:-1.33 [[ 9.99721222e-01 2.30704705e-02 5.02316541e-03 1.00976497e+02] [-2.30693651e-02 9.99733828e-01 -2.77887235e-04 -5.37065384e+00] [-5.02823937e-03 1.61928529e-04 9.99987345e-01 -1.33032250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220371743 meters Centerline goodness [0,1] 0.98932073613039 Centerline is valid? [True, True] Translation: X:101.00, Y:-5.37, Z:-1.33 [[ 9.99716608e-01 2.32371077e-02 5.17115098e-03 1.01004760e+02] [-2.32359406e-02 9.99729968e-01 -2.85668673e-04 -5.37236079e+00] [-5.17639272e-03 1.65431160e-04 9.99986589e-01 -1.33061862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.250371743 meters Centerline goodness [0,1] 0.9894071110912463 Centerline is valid? [True, True] Translation: X:101.03, Y:-5.38, Z:-1.33 [[ 9.99736209e-01 2.23128573e-02 5.44512797e-03 1.01032748e+02] [-2.23115512e-02 9.99751021e-01 -3.00502130e-04 -5.37583269e+00] [-5.45047731e-03 1.78933608e-04 9.99985130e-01 -1.33174494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280371743 meters Centerline goodness [0,1] 0.9889060368158537 Centerline is valid? [True, True] Translation: X:101.06, Y:-5.38, Z:-1.33 [[ 9.99761506e-01 2.10889064e-02 5.67352838e-03 1.01061337e+02] [-2.10874727e-02 9.99777586e-01 -3.12403449e-04 -5.37863327e+00] [-5.67885475e-03 1.92688567e-04 9.99983857e-01 -1.33208905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.310371743 meters Centerline goodness [0,1] 0.9895595797004247 Centerline is valid? [True, True] Translation: X:101.09, Y:-5.38, Z:-1.33 [[ 9.99789032e-01 1.96308133e-02 6.04346671e-03 1.01089661e+02] [-1.96291629e-02 9.99807274e-01 -3.32287264e-04 -5.38106452e+00] [-6.04882505e-03 2.13588969e-04 9.99981683e-01 -1.33198156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34037174299999 meters Centerline goodness [0,1] 0.9891709647888897 Centerline is valid? [True, True] Translation: X:101.12, Y:-5.39, Z:-1.33 [[ 9.99833805e-01 1.67523908e-02 7.19157861e-03 1.01117640e+02] [-1.67499857e-02 9.99859631e-01 -3.94541362e-04 -5.38559372e+00] [-7.19717864e-03 2.74016953e-04 9.99974062e-01 -1.33167362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37037174299999 meters Centerline goodness [0,1] 0.9889067452345878 Centerline is valid? [True, True] Translation: X:101.15, Y:-5.39, Z:-1.33 [[ 9.99853524e-01 1.53790403e-02 7.51108252e-03 1.01146671e+02] [-1.53763791e-02 9.99881692e-01 -4.11922537e-04 -5.38670699e+00] [-7.51652887e-03 2.96368947e-04 9.99971707e-01 -1.33154434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400371743 meters Centerline goodness [0,1] 0.9898573339277753 Centerline is valid? [True, True] Translation: X:101.18, Y:-5.39, Z:-1.33 [[ 9.99892082e-01 1.25014155e-02 7.71621162e-03 1.01176430e+02] [-1.24985275e-02 9.99921801e-01 -4.22397144e-04 -5.38870553e+00] [-7.72088878e-03 3.25910277e-04 9.99970140e-01 -1.33201426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.430371743 meters Centerline goodness [0,1] 0.9890521527793262 Centerline is valid? [True, True] Translation: X:101.20, Y:-5.40, Z:-1.33 [[ 9.99914692e-01 1.07091361e-02 7.47815921e-03 1.01204744e+02] [-1.07063745e-02 9.99942601e-01 -4.09214207e-04 -5.39675716e+00] [-7.48211231e-03 3.29115324e-04 9.99971954e-01 -1.33341476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460371743 meters Centerline goodness [0,1] 0.9890811655688289 Centerline is valid? [True, True] Translation: X:101.23, Y:-5.40, Z:-1.33 [[ 9.99939394e-01 8.60104694e-03 6.87238902e-03 1.01234599e+02] [-8.59866801e-03 9.99962960e-01 -3.75630438e-04 -5.39705064e+00] [-6.87536529e-03 3.16514281e-04 9.99976314e-01 -1.33368244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.490371743 meters Centerline goodness [0,1] 0.9894115024520731 Centerline is valid? [True, True] Translation: X:101.26, Y:-5.40, Z:-1.33 [[ 9.99972087e-01 3.96951273e-03 6.32997554e-03 1.01264958e+02] [-3.96740497e-03 9.99992070e-01 -3.45501981e-04 -5.40269311e+00] [-6.33129681e-03 3.20378761e-04 9.99979906e-01 -1.33473362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520371743 meters Centerline goodness [0,1] 0.9900824976095706 Centerline is valid? [True, True] Translation: X:101.30, Y:-5.41, Z:-1.33 [[ 9.99979643e-01 1.09469634e-03 6.28606426e-03 1.01295530e+02] [-1.09256148e-03 9.99999344e-01 -3.43041551e-04 -5.40579106e+00] [-6.28643566e-03 3.36166657e-04 9.99980184e-01 -1.33497621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.550371743 meters Centerline goodness [0,1] 0.9891507752628765 Centerline is valid? [True, True] Translation: X:101.32, Y:-5.41, Z:-1.34 [[ 9.99976377e-01 -3.35270271e-03 6.00046631e-03 1.01324470e+02] [ 3.35472982e-03 9.99994319e-01 -3.27792541e-04 -5.41370093e+00] [-5.99933323e-03 3.47914741e-04 9.99981943e-01 -1.33583615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580371743 meters Centerline goodness [0,1] 0.9890061077179345 Centerline is valid? [True, True] Translation: X:101.36, Y:-5.42, Z:-1.34 [[ 9.99971084e-01 -5.12274029e-03 5.62045842e-03 1.01356775e+02] [ 5.12454247e-03 9.99986823e-01 -3.06290562e-04 -5.41618321e+00] [-5.61881531e-03 3.35083983e-04 9.99984158e-01 -1.33662082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.610371743 meters Centerline goodness [0,1] 0.9892800747281097 Centerline is valid? [True, True] Translation: X:101.39, Y:-5.42, Z:-1.34 [[ 9.99962075e-01 -6.77266884e-03 5.47531801e-03 1.01387792e+02] [ 6.77440660e-03 9.99977009e-01 -2.98896066e-04 -5.42176908e+00] [-5.47316780e-03 3.35976761e-04 9.99984966e-01 -1.33804629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640371743 meters Centerline goodness [0,1] 0.9888122775800712 Centerline is valid? [True, True] Translation: X:101.42, Y:-5.43, Z:-1.34 [[ 9.99962575e-01 -6.89429296e-03 5.22660409e-03 1.01418457e+02] [ 6.89587941e-03 9.99976182e-01 -2.85573188e-04 -5.42630943e+00] [-5.22451078e-03 3.21604532e-04 9.99986300e-01 -1.33859038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.670371743 meters Centerline goodness [0,1] 0.9900144556877571 Centerline is valid? [True, True] Translation: X:101.45, Y:-5.42, Z:-1.34 [[ 9.99967206e-01 -6.07967534e-03 5.35014204e-03 1.01450553e+02] [ 6.08132677e-03 9.99981466e-01 -2.92456736e-04 -5.42162243e+00] [-5.34826484e-03 3.24983107e-04 9.99985645e-01 -1.33823633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.700371743 meters Centerline goodness [0,1] 0.989247311827957 Centerline is valid? [True, True] Translation: X:101.48, Y:-5.43, Z:-1.34 [[ 9.99979762e-01 -3.81293925e-03 5.09292922e-03 1.01480469e+02] [ 3.81441040e-03 9.99992686e-01 -2.79178596e-04 -5.42820505e+00] [-5.09182748e-03 2.98599468e-04 9.99986992e-01 -1.33915683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73037174299999 meters Centerline goodness [0,1] 0.9907652595740893 Centerline is valid? [True, True] Translation: X:101.51, Y:-5.43, Z:-1.34 [[ 9.99982761e-01 -2.13339590e-03 5.47053012e-03 1.01512158e+02] [ 2.13506816e-03 9.99997676e-01 -2.99864393e-04 -5.42701538e+00] [-5.46987767e-03 3.11539178e-04 9.99984992e-01 -1.33936342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760371743 meters Centerline goodness [0,1] 0.9903421510460811 Centerline is valid? [True, True] Translation: X:101.54, Y:-5.43, Z:-1.34 [[ 9.99987908e-01 1.44323507e-03 4.70124377e-03 1.01542303e+02] [-1.44203758e-03 9.99998927e-01 -2.58096906e-04 -5.42784324e+00] [-4.70161122e-03 2.51314415e-04 9.99988916e-01 -1.34112536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.790371743 meters Centerline goodness [0,1] 0.9906337808304715 Centerline is valid? [True, True] Translation: X:101.57, Y:-5.42, Z:-1.34 [[ 9.99984785e-01 3.38966804e-03 4.35195615e-03 1.01574634e+02] [-3.38866241e-03 9.99994230e-01 -2.38427372e-04 -5.41974058e+00] [-4.35273923e-03 2.23676434e-04 9.99990502e-01 -1.34077377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820371743 meters Centerline goodness [0,1] 0.990385687835999 Centerline is valid? [True, True] Translation: X:101.61, Y:-5.42, Z:-1.34 [[ 9.99963793e-01 7.68643589e-03 3.65123079e-03 1.01605455e+02] [-7.68575502e-03 9.99970444e-01 -2.00472392e-04 -5.41657085e+00] [-3.65266379e-03 1.72402668e-04 9.99993314e-01 -1.34202723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.850371743 meters Centerline goodness [0,1] 0.9913198705790472 Centerline is valid? [True, True] Translation: X:101.63, Y:-5.41, Z:-1.34 [[ 9.99947819e-01 9.70422375e-03 3.19175197e-03 1.01634990e+02] [-9.70371186e-03 9.99952902e-01 -1.75826656e-04 -5.41426763e+00] [-3.19330791e-03 1.44845640e-04 9.99994891e-01 -1.34237077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880371743 meters Centerline goodness [0,1] 0.9915144187712699 Centerline is valid? [True, True] Translation: X:101.66, Y:-5.41, Z:-1.34 [[ 9.99926960e-01 1.17829423e-02 2.69026316e-03 1.01664163e+02] [-1.17825852e-02 9.99930572e-01 -1.48573987e-04 -5.41258159e+00] [-2.69182702e-03 1.16864881e-04 9.99996370e-01 -1.34285341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.910371743 meters Centerline goodness [0,1] 0.9920757851258222 Centerline is valid? [True, True] Translation: X:101.69, Y:-5.41, Z:-1.34 [[ 9.99876966e-01 1.56069790e-02 1.57334250e-03 1.01693200e+02] [-1.56068615e-02 9.99878202e-01 -8.69598269e-05 -5.40932774e+00] [-1.57450805e-03 6.23941894e-05 9.99998759e-01 -1.34313972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940371743 meters Centerline goodness [0,1] 0.9908096083410107 Centerline is valid? [True, True] Translation: X:101.72, Y:-5.41, Z:-1.34 [[ 9.99813572e-01 1.92091960e-02 1.95642502e-03 1.01723357e+02] [-1.92090225e-02 9.99815484e-01 -1.07436362e-04 -5.40682590e+00] [-1.95812780e-03 6.98353201e-05 9.99998080e-01 -1.34329486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.970371743 meters Centerline goodness [0,1] 0.991165201712869 Centerline is valid? [True, True] Translation: X:101.75, Y:-5.40, Z:-1.34 [[ 9.99786545e-01 2.04874118e-02 2.67017650e-03 1.01752431e+02] [-2.04870919e-02 9.99790107e-01 -1.47095066e-04 -5.40472533e+00] [-2.67262965e-03 9.23595163e-05 9.99996424e-01 -1.34250920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000371743 meters Centerline goodness [0,1] 0.9915720867513204 Centerline is valid? [True, True] Translation: X:101.78, Y:-5.41, Z:-1.34 [[ 9.99751261e-01 2.19958852e-02 3.68752715e-03 1.01779961e+02] [-2.19952871e-02 9.99758054e-01 -2.02663319e-04 -5.40627637e+00] [-3.69109272e-03 1.21504690e-04 9.99993181e-01 -1.34292953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.030371743 meters Centerline goodness [0,1] 0.9914418269447323 Centerline is valid? [True, True] Translation: X:101.81, Y:-5.41, Z:-1.34 [[ 9.99724549e-01 2.31869445e-02 3.63197398e-03 1.01809237e+02] [-2.31863740e-02 9.99731140e-01 -1.99109578e-04 -5.40525733e+00] [-3.63561423e-03 1.14842426e-04 9.99993385e-01 -1.34253702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.060371743 meters Centerline goodness [0,1] 0.9907860055419135 Centerline is valid? [True, True] Translation: X:101.84, Y:-5.40, Z:-1.34 [[ 9.99683420e-01 2.49019252e-02 3.59925072e-03 1.01837878e+02] [-2.49013769e-02 9.99689893e-01 -1.97070223e-04 -5.40354512e+00] [-3.60304200e-03 1.07381536e-04 9.99993503e-01 -1.34280712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09037174299999 meters Centerline goodness [0,1] 0.9910282485875707 Centerline is valid? [True, True] Translation: X:101.87, Y:-5.40, Z:-1.34 [[ 9.99668715e-01 2.53695826e-02 4.34092804e-03 1.01867125e+02] [-2.53687917e-02 9.99678132e-01 -2.37188514e-04 -5.40339009e+00] [-4.34554821e-03 1.26985838e-04 9.99990550e-01 -1.34290983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12037174299999 meters Centerline goodness [0,1] 0.9905111792282726 Centerline is valid? [True, True] Translation: X:101.90, Y:-5.41, Z:-1.34 [[ 9.99663672e-01 2.55084020e-02 4.67602754e-03 1.01895136e+02] [-2.55074870e-02 9.99674599e-01 -2.55237745e-04 -5.40542338e+00] [-4.68101666e-03 1.35878190e-04 9.99989035e-01 -1.34369722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.150371743 meters Centerline goodness [0,1] 0.9908945434875701 Centerline is valid? [True, True] Translation: X:101.92, Y:-5.41, Z:-1.34 [[ 9.99673498e-01 2.50308933e-02 5.13345472e-03 1.01923618e+02] [-2.50297880e-02 9.99686667e-01 -2.79469846e-04 -5.40630279e+00] [-5.13884162e-03 1.50889315e-04 9.99986785e-01 -1.34353140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180371743 meters Centerline goodness [0,1] 0.9909714698447093 Centerline is valid? [True, True] Translation: X:101.95, Y:-5.41, Z:-1.34 [[ 9.99692427e-01 2.43127924e-02 4.89290397e-03 1.01951726e+02] [-2.43117804e-02 9.99704390e-01 -2.66220047e-04 -5.40806481e+00] [-4.89793013e-03 1.47182958e-04 9.99987994e-01 -1.34391540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.210371743 meters Centerline goodness [0,1] 0.9909714698447093 Centerline is valid? [True, True] Translation: X:101.98, Y:-5.41, Z:-1.34 [[ 9.99694979e-01 2.42075900e-02 4.89291917e-03 1.01979154e+02] [-2.42065781e-02 9.99706942e-01 -2.65940304e-04 -5.40945900e+00] [-4.89792304e-03 1.47418357e-04 9.99987994e-01 -1.34428802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240371743 meters Centerline goodness [0,1] 0.990323235513049 Centerline is valid? [True, True] Translation: X:102.01, Y:-5.41, Z:-1.34 [[ 9.99739265e-01 2.23558117e-02 4.64961398e-03 1.02008178e+02] [-2.23548813e-02 9.99750067e-01 -2.51986514e-04 -5.41188469e+00] [-4.65408525e-03 1.47979244e-04 9.99989159e-01 -1.34393078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.270371743 meters Centerline goodness [0,1] 0.9905641164890368 Centerline is valid? [True, True] Translation: X:102.04, Y:-5.41, Z:-1.34 [[ 9.99769659e-01 2.09953512e-02 4.45239998e-03 1.02036305e+02] [-2.09944851e-02 9.99779562e-01 -2.41179081e-04 -5.41484875e+00] [-4.45648215e-03 1.47647682e-04 9.99990059e-01 -1.34442043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300371743 meters Centerline goodness [0,1] 0.9901538877498142 Centerline is valid? [True, True] Translation: X:102.07, Y:-5.42, Z:-1.35 [[ 9.99812194e-01 1.89498071e-02 4.05964462e-03 1.02065162e+02] [-1.89490719e-02 9.99820426e-01 -2.19484461e-04 -5.41904142e+00] [-4.06307480e-03 1.42516743e-04 9.99991736e-01 -1.34554631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.330371743 meters Centerline goodness [0,1] 0.9908105667193498 Centerline is valid? [True, True] Translation: X:102.09, Y:-5.42, Z:-1.35 [[ 9.99833079e-01 1.78940636e-02 3.69011855e-03 1.02093622e+02] [-1.78934495e-02 9.99839880e-01 -1.99344656e-04 -5.42053000e+00] [-3.69309478e-03 1.33282431e-04 9.99993172e-01 -1.34599692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360371743 meters Centerline goodness [0,1] 0.9899817645602107 Centerline is valid? [True, True] Translation: X:102.12, Y:-5.43, Z:-1.35 [[ 9.99865998e-01 1.60536946e-02 3.20402528e-03 1.02121223e+02] [-1.60532214e-02 9.99871124e-01 -1.73360053e-04 -5.42617782e+00] [-3.20639543e-03 1.21901895e-04 9.99994852e-01 -1.34797909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.390371743 meters Centerline goodness [0,1] 0.9903308690948431 Centerline is valid? [True, True] Translation: X:102.15, Y:-5.43, Z:-1.35 [[ 9.99882758e-01 1.50475580e-02 2.83558746e-03 1.02150078e+02] [-1.50471849e-02 9.99886773e-01 -1.52871904e-04 -5.42901871e+00] [-2.83756674e-03 1.10186373e-04 9.99995968e-01 -1.34893946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420371743 meters Centerline goodness [0,1] 0.9898318077287279 Centerline is valid? [True, True] Translation: X:102.18, Y:-5.43, Z:-1.35 [[ 9.99908567e-01 1.31693822e-02 3.07016596e-03 1.02178501e+02] [-1.31689361e-02 9.99913272e-01 -1.65447282e-04 -5.42971043e+00] [-3.07207853e-03 1.25001335e-04 9.99995273e-01 -1.34866577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.450371743 meters Centerline goodness [0,1] 0.9897739020991594 Centerline is valid? [True, True] Translation: X:102.21, Y:-5.43, Z:-1.35 [[ 9.99918057e-01 1.24261622e-02 3.07740557e-03 1.02206929e+02] [-1.24257120e-02 9.99922784e-01 -1.65375579e-04 -5.43231600e+00] [-3.07922293e-03 1.27123072e-04 9.99995251e-01 -1.34859169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48037174299999 meters Centerline goodness [0,1] 0.9901661427929951 Centerline is valid? [True, True] Translation: X:102.24, Y:-5.43, Z:-1.35 [[ 9.99930771e-01 1.11815461e-02 3.66424993e-03 1.02235943e+02] [-1.11809010e-02 9.99937472e-01 -1.96469321e-04 -5.43453746e+00] [-3.66621765e-03 1.55486104e-04 9.99993267e-01 -1.34846867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.510371743 meters Centerline goodness [0,1] 0.9895551953898793 Centerline is valid? [True, True] Translation: X:102.26, Y:-5.44, Z:-1.35 [[ 9.99950049e-01 9.21657350e-03 3.86711818e-03 1.02264550e+02] [-9.21584238e-03 9.99957512e-01 -2.06838573e-04 -5.43973296e+00] [-3.86886021e-03 1.71189489e-04 9.99992501e-01 -1.34893545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540371743 meters Centerline goodness [0,1] 0.9899216628134049 Centerline is valid? [True, True] Translation: X:102.29, Y:-5.44, Z:-1.35 [[ 9.99966720e-01 7.26577440e-03 3.71050736e-03 1.02294088e+02] [-7.26508916e-03 9.99973589e-01 -1.98119576e-04 -5.44343954e+00] [-3.71184885e-03 1.71155816e-04 9.99993096e-01 -1.34909083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.570371743 meters Centerline goodness [0,1] 0.990505476746274 Centerline is valid? [True, True] Translation: X:102.32, Y:-5.45, Z:-1.35 [[ 9.99972080e-01 6.41760582e-03 3.82790449e-03 1.02323254e+02] [-6.41687092e-03 9.99979391e-01 -2.04234516e-04 -5.44698081e+00] [-3.82913630e-03 1.79665645e-04 9.99992653e-01 -1.34981185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600371743 meters Centerline goodness [0,1] 0.9903712035995501 Centerline is valid? [True, True] Translation: X:102.35, Y:-5.45, Z:-1.35 [[ 9.99979664e-01 5.51652741e-03 3.19988151e-03 1.02352632e+02] [-5.51600937e-03 9.99984772e-01 -1.70699210e-04 -5.44809380e+00] [-3.20077445e-03 1.53045163e-04 9.99994866e-01 -1.35049097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.630371743 meters Centerline goodness [0,1] 0.9899541335719879 Centerline is valid? [True, True] Translation: X:102.38, Y:-5.45, Z:-1.35 [[ 9.99983208e-01 5.08017923e-03 2.78846994e-03 1.02382282e+02] [-5.07978479e-03 9.99987087e-01 -1.48518316e-04 -5.45268219e+00] [-2.78918843e-03 1.34350995e-04 9.99996101e-01 -1.35287939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660371743 meters Centerline goodness [0,1] 0.9905048373700869 Centerline is valid? [True, True] Translation: X:102.41, Y:-5.45, Z:-1.35 [[ 9.99984868e-01 5.02397307e-03 2.24153095e-03 1.02412137e+02] [-5.02371758e-03 9.99987374e-01 -1.19594188e-04 -5.45457252e+00] [-2.24210348e-03 1.08331559e-04 9.99997481e-01 -1.35389836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.690371743 meters Centerline goodness [0,1] 0.9906481273828213 Centerline is valid? [True, True] Translation: X:102.44, Y:-5.46, Z:-1.35 [[ 9.99978363e-01 6.10416865e-03 2.45194979e-03 1.02442246e+02] [-6.10386700e-03 9.99981363e-01 -1.30489622e-04 -5.45603790e+00] [-2.45270062e-03 1.15520423e-04 9.99996985e-01 -1.35478168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720371743 meters Centerline goodness [0,1] 0.9897304811874972 Centerline is valid? [True, True] Translation: X:102.47, Y:-5.46, Z:-1.36 [[ 9.99973141e-01 6.95560467e-03 2.31034629e-03 1.02471929e+02] [-6.95533873e-03 9.99975804e-01 -1.23124123e-04 -5.45708482e+00] [-2.31114679e-03 1.07051575e-04 9.99997324e-01 -1.35532493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.750371743 meters Centerline goodness [0,1] 0.9892340473253336 Centerline is valid? [True, True] Translation: X:102.50, Y:-5.46, Z:-1.36 [[ 9.99952220e-01 9.22791314e-03 3.22557215e-03 1.02500375e+02] [-9.22740696e-03 9.99957412e-01 -1.71773624e-04 -5.45773586e+00] [-3.22701989e-03 1.42001749e-04 9.99994783e-01 -1.35510781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780371743 meters Centerline goodness [0,1] 0.989085274103353 Centerline is valid? [True, True] Translation: X:102.53, Y:-5.46, Z:-1.36 [[ 9.99939612e-01 1.03584070e-02 3.67098156e-03 1.02529093e+02] [-1.03577594e-02 9.99946338e-01 -1.95375565e-04 -5.45784673e+00] [-3.67280835e-03 1.57340622e-04 9.99993243e-01 -1.35549244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.810371743 meters Centerline goodness [0,1] 0.9892222022633376 Centerline is valid? [True, True] Translation: X:102.56, Y:-5.46, Z:-1.36 [[ 9.99925840e-01 1.15503005e-02 3.86079306e-03 1.02557814e+02] [-1.15495943e-02 9.99933280e-01 -2.05158470e-04 -5.45779477e+00] [-3.86290511e-03 1.60552662e-04 9.99992526e-01 -1.35554443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84037174299999 meters Centerline goodness [0,1] 0.9894285586030435 Centerline is valid? [True, True] Translation: X:102.59, Y:-5.46, Z:-1.36 [[ 9.99881673e-01 1.48936521e-02 3.84960437e-03 1.02587895e+02] [-1.48929778e-02 9.99889073e-01 -2.03788427e-04 -5.45639467e+00] [-3.85221249e-03 1.46432241e-04 9.99992569e-01 -1.35618264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87037174299999 meters Centerline goodness [0,1] 0.9887984164829727 Centerline is valid? [True, True] Translation: X:102.62, Y:-5.46, Z:-1.36 [[ 9.99858773e-01 1.63999205e-02 3.67108731e-03 1.02615680e+02] [-1.63993150e-02 9.99865503e-01 -1.94973670e-04 -5.45952960e+00] [-3.67379111e-03 1.34742817e-04 9.99993243e-01 -1.35781435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900371743 meters Centerline goodness [0,1] 0.9890707924799856 Centerline is valid? [True, True] Translation: X:102.65, Y:-5.46, Z:-1.36 [[ 9.99818547e-01 1.86010515e-02 4.10769610e-03 1.02645187e+02] [-1.86003153e-02 9.99826976e-01 -2.17337129e-04 -5.45603475e+00] [-4.11102806e-03 1.40893250e-04 9.99991540e-01 -1.35738310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.930371743 meters Centerline goodness [0,1] 0.989551735760027 Centerline is valid? [True, True] Translation: X:102.67, Y:-5.46, Z:-1.36 [[ 9.99805279e-01 1.92743899e-02 4.23100273e-03 1.02674099e+02] [-1.92736153e-02 9.99814222e-01 -2.23790612e-04 -5.45566460e+00] [-4.23453013e-03 1.42200317e-04 9.99991024e-01 -1.35754313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960371743 meters Centerline goodness [0,1] 0.9894194187433871 Centerline is valid? [True, True] Translation: X:102.70, Y:-5.46, Z:-1.36 [[ 9.99797473e-01 1.97092395e-02 4.06927371e-03 1.02703234e+02] [-1.97085275e-02 9.99805745e-01 -2.14991062e-04 -5.45500988e+00] [-4.07272054e-03 1.34748127e-04 9.99991697e-01 -1.35762670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.990371743 meters Centerline goodness [0,1] 0.988926899531869 Centerline is valid? [True, True] Translation: X:102.73, Y:-5.46, Z:-1.36 [[ 9.99809436e-01 1.90926723e-02 4.06969046e-03 1.02731013e+02] [-1.90919556e-02 9.99817709e-01 -2.14881367e-04 -5.46009656e+00] [-4.07305125e-03 1.37142068e-04 9.99991696e-01 -1.35878644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020371743 meters Centerline goodness [0,1] 0.988733724617149 Centerline is valid? [True, True] Translation: X:102.76, Y:-5.46, Z:-1.36 [[ 9.99826448e-01 1.81369099e-02 4.25743507e-03 1.02759744e+02] [-1.81361196e-02 9.99835502e-01 -2.24152183e-04 -5.46221764e+00] [-4.26080016e-03 1.46899929e-04 9.99990912e-01 -1.35942927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.050371743 meters Centerline goodness [0,1] 0.9889090949911318 Centerline is valid? [True, True] Translation: X:102.79, Y:-5.46, Z:-1.36 [[ 9.99882599e-01 1.46933145e-02 4.34688655e-03 1.02789229e+02] [-1.46924610e-02 9.99892034e-01 -2.28238305e-04 -5.46494646e+00] [-4.34977081e-03 1.64345049e-04 9.99990526e-01 -1.35994794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080371743 meters Centerline goodness [0,1] 0.9886159511406503 Centerline is valid? [True, True] Translation: X:102.82, Y:-5.47, Z:-1.36 [[ 9.99916455e-01 1.22573308e-02 4.10388213e-03 1.02818826e+02] [-1.22565500e-02 9.99924862e-01 -2.15363769e-04 -5.46794012e+00] [-4.10621356e-03 1.65046340e-04 9.99991556e-01 -1.35996650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.110371743 meters Centerline goodness [0,1] 0.9886254010275278 Centerline is valid? [True, True] Translation: X:102.85, Y:-5.47, Z:-1.36 [[ 9.99966136e-01 6.99027024e-03 4.34313214e-03 1.02848574e+02] [-6.98934760e-03 9.99975548e-01 -2.27578193e-04 -5.47156961e+00] [-4.34461677e-03 1.97214826e-04 9.99990543e-01 -1.35907216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140371743 meters Centerline goodness [0,1] 0.9884255624593437 Centerline is valid? [True, True] Translation: X:102.88, Y:-5.48, Z:-1.36 [[ 9.99982128e-01 3.69699355e-03 4.69840141e-03 1.02879041e+02] [-3.69587876e-03 9.99993140e-01 -2.45930622e-04 -5.47544671e+00] [-4.69927838e-03 2.28561505e-04 9.99988932e-01 -1.35929649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.170371743 meters Centerline goodness [0,1] 0.987941275355822 Centerline is valid? [True, True] Translation: X:102.91, Y:-5.48, Z:-1.36 [[ 9.99986884e-01 -2.37509145e-03 4.53779992e-03 1.02909343e+02] [ 2.37619355e-03 9.99997149e-01 -2.37496151e-04 -5.48177971e+00] [-4.53722291e-03 2.48275727e-04 9.99989676e-01 -1.35926865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.200371743 meters Centerline goodness [0,1] 0.9881886234255234 Centerline is valid? [True, True] Translation: X:102.94, Y:-5.49, Z:-1.36 [[ 9.99976668e-01 -5.27407398e-03 4.34141843e-03 1.02940057e+02] [ 5.27510945e-03 9.99986061e-01 -2.27093021e-04 -5.48544992e+00] [-4.34016021e-03 2.49989180e-04 9.99990550e-01 -1.35964829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23037174299999 meters Centerline goodness [0,1] 0.9881833266065743 Centerline is valid? [True, True] Translation: X:102.97, Y:-5.49, Z:-1.36 [[ 9.99939999e-01 -1.00659696e-02 4.32134790e-03 1.02970376e+02] [ 1.00670410e-02 9.99949300e-01 -2.26256284e-04 -5.49003300e+00] [-4.31885132e-03 2.69745895e-04 9.99990637e-01 -1.36055916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260371743 meters Centerline goodness [0,1] 0.9878272544193332 Centerline is valid? [True, True] Translation: X:103.00, Y:-5.50, Z:-1.36 [[ 9.99924484e-01 -1.15915404e-02 4.08196716e-03 1.03001210e+02] [ 1.15925071e-02 9.99932782e-01 -2.13248108e-04 -5.49858760e+00] [-4.07922090e-03 2.60552238e-04 9.99991646e-01 -1.36203816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.290371743 meters Centerline goodness [0,1] 0.9870772676371781 Centerline is valid? [True, True] Translation: X:103.03, Y:-5.50, Z:-1.36 [[ 9.99915822e-01 -1.24741056e-02 3.57008212e-03 1.03033578e+02] [ 1.24748504e-02 9.99922169e-01 -1.86427904e-04 -5.49679231e+00] [-3.56747873e-03 2.30948451e-04 9.99993610e-01 -1.36177130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320371743 meters Centerline goodness [0,1] 0.9879019634151796 Centerline is valid? [True, True] Translation: X:103.06, Y:-5.50, Z:-1.36 [[ 9.99923070e-01 -1.19831637e-02 3.20290976e-03 1.03064361e+02] [ 1.19837617e-02 9.99928178e-01 -1.67580833e-04 -5.49860078e+00] [-3.20067157e-03 2.05950848e-04 9.99994857e-01 -1.36205784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.350371743 meters Centerline goodness [0,1] 0.9882524380674812 Centerline is valid? [True, True] Translation: X:103.10, Y:-5.50, Z:-1.36 [[ 9.99934702e-01 -1.09401147e-02 3.30236024e-03 1.03097151e+02] [ 1.09407442e-02 9.99940133e-01 -1.72604921e-04 -5.49758627e+00] [-3.30027423e-03 2.08723929e-04 9.99994532e-01 -1.36188380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380371743 meters Centerline goodness [0,1] 0.9880012559433031 Centerline is valid? [True, True] Translation: X:103.13, Y:-5.50, Z:-1.36 [[ 9.99966027e-01 -7.46992117e-03 3.48506355e-03 1.03126460e+02] [ 7.47060638e-03 9.99972078e-01 -1.83634297e-04 -5.49924869e+00] [-3.48359450e-03 2.09663597e-04 9.99993910e-01 -1.36249273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.410371743 meters Centerline goodness [0,1] 0.9888881421242467 Centerline is valid? [True, True] Translation: X:103.16, Y:-5.50, Z:-1.36 [[ 9.99979375e-01 -5.28910228e-03 3.64349306e-03 1.03158390e+02] [ 5.28983391e-03 9.99985990e-01 -1.91196099e-04 -5.49792735e+00] [-3.64243076e-03 2.10465629e-04 9.99993344e-01 -1.36263890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440371743 meters Centerline goodness [0,1] 0.9888225524083135 Centerline is valid? [True, True] Translation: X:103.19, Y:-5.49, Z:-1.36 [[ 9.99995068e-01 -9.81215323e-04 2.98334002e-03 1.03189033e+02] [ 9.81688507e-04 9.99999506e-01 -1.57148753e-04 -5.49424156e+00] [-2.98318435e-03 1.60076689e-04 9.99995537e-01 -1.36329599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.470371743 meters Centerline goodness [0,1] 0.989134817868184 Centerline is valid? [True, True] Translation: X:103.22, Y:-5.49, Z:-1.36 [[ 9.99995233e-01 1.46724967e-03 2.71681430e-03 1.03220547e+02] [-1.46686734e-03 9.99998914e-01 -1.42715423e-04 -5.49444073e+00] [-2.71702075e-03 1.38729537e-04 9.99996299e-01 -1.36417373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500371743 meters Centerline goodness [0,1] 0.9891597091300834 Centerline is valid? [True, True] Translation: X:103.25, Y:-5.49, Z:-1.37 [[ 9.99981039e-01 5.99694916e-03 1.39909872e-03 1.03250343e+02] [-5.99685183e-03 9.99982016e-01 -7.37491171e-05 -5.49247320e+00] [-1.39951583e-03 6.53575311e-05 9.99999019e-01 -1.36540027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.530371743 meters Centerline goodness [0,1] 0.9890819864031336 Centerline is valid? [True, True] Translation: X:103.28, Y:-5.49, Z:-1.37 [[ 9.99968398e-01 7.94040497e-03 3.90379549e-04 1.03278942e+02] [-7.94039717e-03 9.99968474e-01 -2.15145420e-05 -5.49154467e+00] [-3.90538076e-04 1.84140934e-05 9.99999924e-01 -1.36637927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.560371743 meters Centerline goodness [0,1] 0.9893792139265339 Centerline is valid? [True, True] Translation: X:103.31, Y:-5.49, Z:-1.37 [[ 9.99928881e-01 1.18759180e-02 -1.09321135e-03 1.03309213e+02] [-1.18758625e-02 9.99929478e-01 5.72866822e-05 -5.48956395e+00] [ 1.09381459e-03 -4.42997803e-05 9.99999401e-01 -1.36857002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59037174299999 meters Centerline goodness [0,1] 0.9892589097119231 Centerline is valid? [True, True] Translation: X:103.34, Y:-5.49, Z:-1.37 [[ 9.99902975e-01 1.38336206e-02 -1.63426310e-03 1.03338614e+02] [-1.38334998e-02 9.99904309e-01 8.51904532e-05 -5.48955172e+00] [ 1.63528521e-03 -6.25746093e-05 9.99998661e-01 -1.36946451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62037174299999 meters Centerline goodness [0,1] 0.9896188305386924 Centerline is valid? [True, True] Translation: X:103.37, Y:-5.49, Z:-1.37 [[ 9.99865036e-01 1.62965526e-02 -2.08159004e-03 1.03366379e+02] [-1.62963629e-02 9.99867200e-01 1.08052803e-04 -5.48889977e+00] [ 2.08307450e-03 -7.41158728e-05 9.99997828e-01 -1.37091952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.650371743 meters Centerline goodness [0,1] 0.9891833423472147 Centerline is valid? [True, True] Translation: X:103.40, Y:-5.49, Z:-1.37 [[ 9.99852304e-01 1.70592450e-02 -2.08641336e-03 1.03395226e+02] [-1.70590559e-02 9.99854478e-01 1.08402666e-04 -5.48853271e+00] [ 2.08795901e-03 -7.27944131e-05 9.99997818e-01 -1.37102269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680371743 meters Centerline goodness [0,1] 0.9895313945355685 Centerline is valid? [True, True] Translation: X:103.42, Y:-5.49, Z:-1.37 [[ 9.99842385e-01 1.76110508e-02 -2.24852667e-03 1.03424499e+02] [-1.76108350e-02 9.99844911e-01 1.15732586e-04 -5.48847657e+00] [ 2.25021612e-03 -7.61159129e-05 9.99997465e-01 -1.37106499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.710371743 meters Centerline goodness [0,1] 0.9905080455613813 Centerline is valid? [True, True] Translation: X:103.45, Y:-5.49, Z:-1.37 [[ 9.99837519e-01 1.79352118e-02 -1.80674250e-03 1.03453775e+02] [-1.79350723e-02 9.99839149e-01 9.33661676e-05 -5.48780642e+00] [ 1.80812642e-03 -6.09469401e-05 9.99998363e-01 -1.37054258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740371743 meters Centerline goodness [0,1] 0.9906814737746816 Centerline is valid? [True, True] Translation: X:103.48, Y:-5.49, Z:-1.37 [[ 9.99852985e-01 1.70958791e-02 -1.31917108e-03 1.03482632e+02] [-1.70958045e-02 9.99853854e-01 6.78146721e-05 -5.48918774e+00] [ 1.32013764e-03 -4.52524114e-05 9.99999128e-01 -1.37039390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.770371743 meters Centerline goodness [0,1] 0.9895626242544732 Centerline is valid? [True, True] Translation: X:103.51, Y:-5.49, Z:-1.37 [[ 9.99898793e-01 1.42155654e-02 -5.66483584e-04 1.03512258e+02] [-1.42155512e-02 9.99898954e-01 2.90352009e-05 -5.49298029e+00] [ 5.66839095e-04 -2.09793860e-05 9.99999839e-01 -1.37074280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800371743 meters Centerline goodness [0,1] 0.9887508735544084 Centerline is valid? [True, True] Translation: X:103.54, Y:-5.50, Z:-1.37 [[ 9.99926370e-01 1.21348092e-02 2.13220076e-05 1.03540421e+02] [-1.21348092e-02 9.99926370e-01 -2.30299446e-06 -5.49635553e+00] [-2.13483841e-05 2.04408640e-06 1.00000000e+00 -1.37095408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.830371743 meters Centerline goodness [0,1] 0.9889391993872632 Centerline is valid? [True, True] Translation: X:103.57, Y:-5.50, Z:-1.37 [[ 9.99969774e-01 7.68099386e-03 1.20547349e-03 1.03570934e+02] [-7.68092385e-03 9.99970499e-01 -6.26987653e-05 -5.49855991e+00] [-1.20591951e-03 5.34377202e-05 9.99999271e-01 -1.36966919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860371743 meters Centerline goodness [0,1] 0.9886987843313823 Centerline is valid? [True, True] Translation: X:103.60, Y:-5.51, Z:-1.37 [[ 9.99984220e-01 5.36443471e-03 1.66832926e-03 1.03598974e+02] [-5.36429637e-03 9.99985608e-01 -8.73798034e-05 -5.50916528e+00] [-1.66877399e-03 7.84290119e-05 9.99998605e-01 -1.37133613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.890371743 meters Centerline goodness [0,1] 0.9885755408626816 Centerline is valid? [True, True] Translation: X:103.63, Y:-5.51, Z:-1.37 [[ 9.99997407e-01 1.08451456e-03 2.00241552e-03 1.03628874e+02] [-1.08430797e-03 9.99999407e-01 -1.04253892e-04 -5.50660100e+00] [-2.00252740e-03 1.02082386e-04 9.99997990e-01 -1.36885967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920371743 meters Centerline goodness [0,1] 0.9886651852849415 Centerline is valid? [True, True] Translation: X:103.66, Y:-5.51, Z:-1.37 [[ 9.99997740e-01 -7.27373146e-04 1.99764799e-03 1.03659397e+02] [ 7.27581876e-04 9.99999730e-01 -1.03762977e-04 -5.50995597e+00] [-1.99757198e-03 1.05216195e-04 9.99997999e-01 -1.36910364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.950371743 meters Centerline goodness [0,1] 0.9879194029181702 Centerline is valid? [True, True] Translation: X:103.69, Y:-5.51, Z:-1.37 [[ 9.99996010e-01 -2.47510839e-03 1.36146942e-03 1.03689812e+02] [ 2.47520489e-03 9.99996934e-01 -6.92008877e-05 -5.51478015e+00] [-1.36129397e-03 7.25705273e-05 9.99999071e-01 -1.37035784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98037174299999 meters Centerline goodness [0,1] 0.989005564530605 Centerline is valid? [True, True] Translation: X:103.72, Y:-5.52, Z:-1.37 [[ 9.99982216e-01 -5.94298241e-03 4.98860230e-04 1.03720604e+02] [ 5.94299599e-03 9.99982340e-01 -2.57440261e-05 -5.52004723e+00] [-4.98698423e-04 2.87082926e-05 9.99999875e-01 -1.37220049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.010371743 meters Centerline goodness [0,1] 0.9885029134917077 Centerline is valid? [True, True] Translation: X:103.75, Y:-5.53, Z:-1.38 [[ 9.99960134e-01 -8.87873254e-03 -9.47390821e-04 1.03750885e+02] [ 8.87878351e-03 9.99960582e-01 4.95993312e-05 -5.52646978e+00] [ 9.46913098e-04 -5.80090319e-05 9.99999550e-01 -1.37507909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040371743 meters Centerline goodness [0,1] 0.9882429637622516 Centerline is valid? [True, True] Translation: X:103.78, Y:-5.53, Z:-1.38 [[ 9.99956407e-01 -9.22642652e-03 -1.43440007e-03 1.03781808e+02] [ 9.22654555e-03 9.99957432e-01 7.63864547e-05 -5.53012782e+00] [ 1.43363424e-03 -8.96176824e-05 9.99998968e-01 -1.37669503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.070371743 meters Centerline goodness [0,1] 0.9886832197920401 Centerline is valid? [True, True] Translation: X:103.81, Y:-5.53, Z:-1.38 [[ 9.99960967e-01 -8.59860239e-03 -2.03199060e-03 1.03814086e+02] [ 8.59883788e-03 9.99963024e-01 1.07185066e-04 -5.53192427e+00] [ 2.03099382e-03 -1.24653640e-04 9.99997930e-01 -1.37732624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100371743 meters Centerline goodness [0,1] 0.98857258317992 Centerline is valid? [True, True] Translation: X:103.84, Y:-5.53, Z:-1.38 [[ 9.99976388e-01 -6.55515519e-03 -2.06252830e-03 1.03844685e+02] [ 6.55539263e-03 9.99978507e-01 1.08378161e-04 -5.53283766e+00] [ 2.06177353e-03 -1.21896285e-04 9.99997867e-01 -1.37797078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.130371743 meters Centerline goodness [0,1] 0.98857258317992 Centerline is valid? [True, True] Translation: X:103.88, Y:-5.53, Z:-1.38 [[ 9.99976612e-01 -6.52085890e-03 -2.06252491e-03 1.03875543e+02] [ 6.52109639e-03 9.99978732e-01 1.08442692e-04 -5.53448419e+00] [ 2.06177390e-03 -1.21890080e-04 9.99997867e-01 -1.37838936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160371743 meters Centerline goodness [0,1] 0.9891587358592207 Centerline is valid? [True, True] Translation: X:103.91, Y:-5.53, Z:-1.38 [[ 9.99990725e-01 -3.80592140e-03 -2.01619900e-03 1.03906805e+02] [ 3.80614249e-03 9.99992751e-01 1.05827225e-04 -5.53072484e+00] [ 2.01578161e-03 -1.13500184e-04 9.99997962e-01 -1.37765522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.190371743 meters Centerline goodness [0,1] 0.9896170442286947 Centerline is valid? [True, True] Translation: X:103.94, Y:-5.53, Z:-1.38 [[ 9.99993175e-01 3.33106299e-03 -1.59791841e-03 1.03937036e+02] [-3.33093356e-03 9.99994449e-01 8.36527034e-05 -5.52710661e+00] [ 1.59818819e-03 -7.83295724e-05 9.99998720e-01 -1.37717845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220371743 meters Centerline goodness [0,1] 0.9901543314182719 Centerline is valid? [True, True] Translation: X:103.97, Y:-5.52, Z:-1.38 [[ 9.99933559e-01 1.15055618e-02 -7.06910595e-04 1.03967535e+02] [-1.15055389e-02 9.99933808e-01 3.65577368e-05 -5.52010702e+00] [ 7.07284421e-04 -2.84219205e-05 9.99999749e-01 -1.37555591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.250371743 meters Centerline goodness [0,1] 0.99046180211058 Centerline is valid? [True, True] Translation: X:104.00, Y:-5.52, Z:-1.38 [[ 9.99882420e-01 1.53225789e-02 -6.04682091e-04 1.03996084e+02] [-1.53225629e-02 9.99882602e-01 3.11315222e-05 -5.51967601e+00] [ 6.05088118e-04 -2.18625824e-05 9.99999817e-01 -1.37604592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280371743 meters Centerline goodness [0,1] 0.9904600811907984 Centerline is valid? [True, True] Translation: X:104.02, Y:-5.52, Z:-1.38 [[ 9.99820480e-01 1.89351995e-02 -6.81917630e-04 1.04024657e+02] [-1.89351801e-02 9.99820713e-01 3.49214372e-05 -5.52026809e+00] [ 6.82456615e-04 -2.20029349e-05 9.99999767e-01 -1.37731632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.310371743 meters Centerline goodness [0,1] 0.99129982825635 Centerline is valid? [True, True] Translation: X:104.05, Y:-5.52, Z:-1.38 [[ 9.99689634e-01 2.48871804e-02 -1.12453872e-03 1.04054495e+02] [-2.48871306e-02 9.99690266e-01 5.82389816e-05 -5.51562559e+00] [ 1.12563982e-03 -3.02343642e-05 9.99999366e-01 -1.37697517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34037174299999 meters Centerline goodness [0,1] 0.9917174452719476 Centerline is valid? [True, True] Translation: X:104.08, Y:-5.52, Z:-1.38 [[ 9.99634279e-01 2.70052207e-02 -1.42382013e-03 1.04082272e+02] [-2.70051440e-02 9.99635292e-01 7.30395327e-05 -5.51677182e+00] [ 1.42527330e-03 -3.45623528e-05 9.99998984e-01 -1.37802068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37037174299999 meters Centerline goodness [0,1] 0.9910530715528343 Centerline is valid? [True, True] Translation: X:104.11, Y:-5.52, Z:-1.38 [[ 9.99558392e-01 2.96510464e-02 -1.95871671e-03 1.04110615e+02] [-2.96509053e-02 9.99560310e-01 1.01046942e-04 -5.51751007e+00] [ 1.96085163e-03 -4.29245958e-05 9.99998077e-01 -1.37962517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400371743 meters Centerline goodness [0,1] 0.9916186603411273 Centerline is valid? [True, True] Translation: X:104.14, Y:-5.52, Z:-1.38 [[ 9.99539918e-01 3.02601867e-02 -2.06717857e-03 1.04139716e+02] [-3.02600310e-02 9.99542055e-01 1.06559616e-04 -5.51814927e+00] [ 2.06945643e-03 -4.39577020e-05 9.99997858e-01 -1.37938563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.430371743 meters Centerline goodness [0,1] 0.9916457811194653 Centerline is valid? [True, True] Translation: X:104.17, Y:-5.52, Z:-1.38 [[ 9.99528701e-01 3.06439152e-02 -1.82390972e-03 1.04167528e+02] [-3.06437955e-02 9.99530364e-01 9.35415321e-05 -5.52140818e+00] [ 1.82591962e-03 -3.76059296e-05 9.99998332e-01 -1.38108004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460371743 meters Centerline goodness [0,1] 0.9920254823114806 Centerline is valid? [True, True] Translation: X:104.20, Y:-5.52, Z:-1.38 [[ 9.99535355e-01 3.04350983e-02 -1.66674383e-03 1.04195334e+02] [-3.04349988e-02 9.99536745e-01 8.50277604e-05 -5.52363106e+00] [ 1.66855953e-03 -3.42609063e-05 9.99998607e-01 -1.38191095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.490371743 meters Centerline goodness [0,1] 0.9920706433591638 Centerline is valid? [True, True] Translation: X:104.22, Y:-5.52, Z:-1.38 [[ 9.99548253e-01 2.99998289e-02 -1.81675433e-03 1.04224658e+02] [-2.99997093e-02 9.99549903e-01 9.30357879e-05 -5.52260897e+00] [ 1.81872767e-03 -3.84916574e-05 9.99998345e-01 -1.37999341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520371743 meters Centerline goodness [0,1] 0.9911416657274879 Centerline is valid? [True, True] Translation: X:104.25, Y:-5.53, Z:-1.38 [[ 9.99612877e-01 2.77647618e-02 -1.79283486e-03 1.04251900e+02] [-2.77646425e-02 9.99614484e-01 9.14109427e-05 -5.53092461e+00] [ 1.79468170e-03 -4.15981364e-05 9.99998389e-01 -1.38315323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.550371743 meters Centerline goodness [0,1] 0.9915975851504776 Centerline is valid? [True, True] Translation: X:104.28, Y:-5.53, Z:-1.38 [[ 9.99666946e-01 2.57663112e-02 -1.44702832e-03 1.04281036e+02] [-2.57662316e-02 9.99667993e-01 7.36824521e-05 -5.52937828e+00] [ 1.44844642e-03 -3.63734450e-05 9.99998950e-01 -1.38048773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580371743 meters Centerline goodness [0,1] 0.9909897733928008 Centerline is valid? [True, True] Translation: X:104.31, Y:-5.53, Z:-1.38 [[ 9.99768208e-01 2.15152561e-02 -7.89354695e-04 1.04310606e+02] [-2.15152311e-02 9.99768520e-01 4.01993053e-05 -5.53396181e+00] [ 7.90036874e-04 -2.32068387e-05 9.99999688e-01 -1.37977320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.610371743 meters Centerline goodness [0,1] 0.9907319926215864 Centerline is valid? [True, True] Translation: X:104.34, Y:-5.54, Z:-1.38 [[ 9.99823559e-01 1.87825205e-02 -2.59571922e-04 1.04338983e+02] [-1.87825180e-02 9.99823593e-01 1.23946088e-05 -5.53822959e+00] [ 2.59758934e-04 -7.51700761e-06 9.99999966e-01 -1.37990228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640371743 meters Centerline goodness [0,1] 0.9905668812589413 Centerline is valid? [True, True] Translation: X:104.37, Y:-5.54, Z:-1.38 [[ 9.99873450e-01 1.58995808e-02 5.36376764e-04 1.04368004e+02] [-1.58995679e-02 9.99873593e-01 -2.83011012e-05 -5.54312815e+00] [-5.36758938e-04 1.97693609e-05 9.99999856e-01 -1.38030760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.670371743 meters Centerline goodness [0,1] 0.9894527051236116 Centerline is valid? [True, True] Translation: X:104.40, Y:-5.56, Z:-1.38 [[ 9.99953465e-01 9.44287748e-03 1.97504116e-03 1.04396600e+02] [-9.44269448e-03 9.99955412e-01 -1.01961506e-04 -5.55633281e+00] [-1.97591591e-03 8.33070509e-05 9.99998044e-01 -1.38176380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.700371743 meters Centerline goodness [0,1] 0.9893809662202947 Centerline is valid? [True, True] Translation: X:104.43, Y:-5.56, Z:-1.38 [[ 9.99994355e-01 2.13247081e-03 2.59666970e-03 1.04427085e+02] [-2.13213153e-03 9.99997718e-01 -1.33421049e-04 -5.56002368e+00] [-2.59694829e-03 1.27883854e-04 9.99996620e-01 -1.38094959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73037174299999 meters Centerline goodness [0,1] 0.9888506568951649 Centerline is valid? [True, True] Translation: X:104.46, Y:-5.58, Z:-1.38 [[ 9.99985689e-01 -4.71422368e-03 2.52925032e-03 1.04455883e+02] [ 4.71456766e-03 9.99988878e-01 -1.30055381e-04 -5.57626352e+00] [-2.52860908e-03 1.41977842e-04 9.99996793e-01 -1.38297002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760371743 meters Centerline goodness [0,1] 0.9900549769811827 Centerline is valid? [True, True] Translation: X:104.49, Y:-5.57, Z:-1.38 [[ 9.99968507e-01 -7.40158020e-03 2.86372678e-03 1.04487617e+02] [ 7.40203067e-03 9.99972594e-01 -1.46736738e-04 -5.56995210e+00] [-2.86256221e-03 1.67929511e-04 9.99995889e-01 -1.38144509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.790371743 meters Centerline goodness [0,1] 0.9893552922273549 Centerline is valid? [True, True] Translation: X:104.52, Y:-5.58, Z:-1.38 [[ 9.99932730e-01 -1.12792021e-02 2.70456029e-03 1.04517011e+02] [ 1.12796183e-02 9.99936373e-01 -1.38681363e-04 -5.57776013e+00] [-2.70282399e-03 1.69178442e-04 9.99996333e-01 -1.38230582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820371743 meters Centerline goodness [0,1] 0.989580776867986 Centerline is valid? [True, True] Translation: X:104.55, Y:-5.58, Z:-1.38 [[ 9.99919643e-01 -1.24521768e-02 2.37711926e-03 1.04549313e+02] [ 1.24525007e-02 9.99922457e-01 -1.21493698e-04 -5.58078863e+00] [-2.37542207e-03 1.51085014e-04 9.99997167e-01 -1.38309797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.850371743 meters Centerline goodness [0,1] 0.9892699065587696 Centerline is valid? [True, True] Translation: X:104.58, Y:-5.58, Z:-1.38 [[ 9.99901525e-01 -1.39384168e-02 1.63131633e-03 1.04580998e+02] [ 1.39385701e-02 9.99902850e-01 -8.26839989e-05 -5.58216966e+00] [-1.63000537e-03 1.05414074e-04 9.99998666e-01 -1.38419068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880371743 meters Centerline goodness [0,1] 0.989542834160075 Centerline is valid? [True, True] Translation: X:104.61, Y:-5.58, Z:-1.38 [[ 9.99901972e-01 -1.38924528e-02 1.74528681e-03 1.04613922e+02] [ 1.38926289e-02 9.99903489e-01 -8.88370309e-05 -5.58432021e+00] [-1.74388421e-03 1.13074944e-04 9.99998473e-01 -1.38487561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.910371743 meters Centerline goodness [0,1] 0.9890217779364513 Centerline is valid? [True, True] Translation: X:104.65, Y:-5.59, Z:-1.39 [[ 9.99908757e-01 -1.34099814e-02 1.62770503e-03 1.04645188e+02] [ 1.34101351e-02 9.99910077e-01 -8.35775383e-05 -5.58881969e+00] [-1.62643789e-03 1.05397657e-04 9.99998672e-01 -1.38606993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940371743 meters Centerline goodness [0,1] 0.988698041142704 Centerline is valid? [True, True] Translation: X:104.68, Y:-5.58, Z:-1.39 [[ 9.99920021e-01 -1.25486135e-02 1.57579554e-03 1.04677928e+02] [ 1.25487563e-02 9.99921258e-01 -8.07418710e-05 -5.58487482e+00] [-1.57465826e-03 1.00509688e-04 9.99998755e-01 -1.38564400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.970371743 meters Centerline goodness [0,1] 0.9891379657153074 Centerline is valid? [True, True] Translation: X:104.71, Y:-5.59, Z:-1.39 [[ 9.99943883e-01 -1.02599132e-02 2.63907359e-03 1.04709857e+02] [ 1.02603084e-02 9.99947352e-01 -1.36284370e-04 -5.58526055e+00] [-2.63753639e-03 1.63354432e-04 9.99996508e-01 -1.38618751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000371743 meters Centerline goodness [0,1] 0.9888538239441348 Centerline is valid? [True, True] Translation: X:104.74, Y:-5.58, Z:-1.39 [[ 9.99960622e-01 -8.48059192e-03 2.61430664e-03 1.04741719e+02] [ 8.48097410e-03 9.99964027e-01 -1.35135642e-04 -5.58435884e+00] [-2.61306657e-03 1.57302188e-04 9.99996574e-01 -1.38622397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.030371743 meters Centerline goodness [0,1] 0.9893061315995965 Centerline is valid? [True, True] Translation: X:104.77, Y:-5.58, Z:-1.39 [[ 9.99972303e-01 -6.84473392e-03 2.92269977e-03 1.04773078e+02] [ 6.84520588e-03 9.99976560e-01 -1.51506169e-04 -5.58165954e+00] [-2.92159425e-03 1.71508455e-04 9.99995717e-01 -1.38595245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.060371743 meters Centerline goodness [0,1] 0.9889553509420436 Centerline is valid? [True, True] Translation: X:104.80, Y:-5.59, Z:-1.39 [[ 9.99991294e-01 -2.97058660e-03 2.93046408e-03 1.04803184e+02] [ 2.97104596e-03 9.99995575e-01 -1.52411485e-04 -5.58503046e+00] [-2.92999836e-03 1.61116702e-04 9.99995695e-01 -1.38714010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09037174299999 meters Centerline goodness [0,1] 0.9892140374481444 Centerline is valid? [True, True] Translation: X:104.84, Y:-5.58, Z:-1.39 [[ 9.99994381e-01 -8.57048334e-04 3.24097559e-03 1.04835301e+02] [ 8.57597354e-04 9.99999618e-01 -1.68013796e-04 -5.58278762e+00] [-3.24083035e-03 1.70792304e-04 9.99994734e-01 -1.38721203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12037174299999 meters Centerline goodness [0,1] 0.9891382244916241 Centerline is valid? [True, True] Translation: X:104.87, Y:-5.58, Z:-1.39 [[ 9.99990387e-01 2.91079140e-03 3.27912172e-03 1.04866369e+02] [-2.91024778e-03 9.99995751e-01 -1.70539594e-04 -5.58160187e+00] [-3.27960420e-03 1.60994898e-04 9.99994609e-01 -1.38789399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.150371743 meters Centerline goodness [0,1] 0.9893920025118302 Centerline is valid? [True, True] Translation: X:104.90, Y:-5.58, Z:-1.39 [[ 9.99982877e-01 4.99074928e-03 3.05579312e-03 1.04896920e+02] [-4.99028621e-03 9.99987536e-01 -1.59145835e-04 -5.57911610e+00] [-3.05654928e-03 1.43893828e-04 9.99995318e-01 -1.38777898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180371743 meters Centerline goodness [0,1] 0.9891028377558586 Centerline is valid? [True, True] Translation: X:104.93, Y:-5.58, Z:-1.39 [[ 9.99958107e-01 8.78879876e-03 2.55751024e-03 1.04927052e+02] [-8.78848629e-03 9.99961372e-01 -1.33392364e-04 -5.57664843e+00] [-2.55858381e-03 1.10910132e-04 9.99996721e-01 -1.38849405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.210371743 meters Centerline goodness [0,1] 0.9896191439164139 Centerline is valid? [True, True] Translation: X:104.96, Y:-5.58, Z:-1.39 [[ 9.99937788e-01 1.09364042e-02 2.19441776e-03 1.04956135e+02] [-1.09361780e-02 9.99940192e-01 -1.15064564e-04 -5.57554113e+00] [-2.19554490e-03 9.10588627e-05 9.99997586e-01 -1.38898500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240371743 meters Centerline goodness [0,1] 0.9901500090366889 Centerline is valid? [True, True] Translation: X:104.98, Y:-5.57, Z:-1.39 [[ 9.99918383e-01 1.26014337e-02 2.10516969e-03 1.04984743e+02] [-1.26012294e-02 9.99920595e-01 -1.10274034e-04 -5.57483185e+00] [-2.10639214e-03 8.37373069e-05 9.99997778e-01 -1.38966036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.270371743 meters Centerline goodness [0,1] 0.9903229436255204 Centerline is valid? [True, True] Translation: X:105.01, Y:-5.57, Z:-1.39 [[ 9.99871664e-01 1.59470999e-02 1.53120320e-03 1.05013593e+02] [-1.59469959e-02 9.99872835e-01 -8.01426213e-05 -5.57388900e+00] [-1.53228653e-03 5.57142451e-05 9.99998824e-01 -1.39090886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300371743 meters Centerline goodness [0,1] 0.9902053712480253 Centerline is valid? [True, True] Translation: X:105.04, Y:-5.57, Z:-1.39 [[ 9.99841638e-01 1.77211405e-02 1.63115399e-03 1.05043071e+02] [-1.77210250e-02 9.99842967e-01 -8.52311962e-05 -5.57309314e+00] [-1.63240824e-03 5.63119781e-05 9.99998666e-01 -1.39079625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.330371743 meters Centerline goodness [0,1] 0.9903584059831948 Centerline is valid? [True, True] Translation: X:105.07, Y:-5.57, Z:-1.39 [[ 9.99830423e-01 1.82926814e-02 2.12186592e-03 1.05070884e+02] [-1.82924868e-02 9.99832672e-01 -1.11068959e-04 -5.57345253e+00] [-2.12354262e-03 7.22359200e-05 9.99997743e-01 -1.39052960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360371743 meters Centerline goodness [0,1] 0.9902379499694935 Centerline is valid? [True, True] Translation: X:105.10, Y:-5.57, Z:-1.39 [[ 9.99836827e-01 1.78611892e-02 2.70141907e-03 1.05099965e+02] [-1.78608748e-02 9.99840472e-01 -1.40461262e-04 -5.57276022e+00] [-2.70349692e-03 9.21886352e-05 9.99996341e-01 -1.39016401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.390371743 meters Centerline goodness [0,1] 0.9897234804948956 Centerline is valid? [True, True] Translation: X:105.13, Y:-5.57, Z:-1.39 [[ 9.99847941e-01 1.71021388e-02 3.40768115e-03 1.05128486e+02] [-1.71016358e-02 9.99853741e-01 -1.76692008e-04 -5.57427553e+00] [-3.41020455e-03 1.18388218e-04 9.99994178e-01 -1.39015041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420371743 meters Centerline goodness [0,1] 0.9899562136053808 Centerline is valid? [True, True] Translation: X:105.16, Y:-5.58, Z:-1.39 [[ 9.99880005e-01 1.45948561e-02 5.19281393e-03 1.05157273e+02] [-1.45936588e-02 9.99893471e-01 -2.68377208e-04 -5.57658996e+00] [-5.19617767e-03 1.92562850e-04 9.99986481e-01 -1.38994446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.450371743 meters Centerline goodness [0,1] 0.9892723248565879 Centerline is valid? [True, True] Translation: X:105.19, Y:-5.58, Z:-1.39 [[ 9.99904954e-01 1.27672153e-02 5.20392140e-03 1.05186280e+02] [-1.27659902e-02 9.99918475e-01 -2.68576489e-04 -5.57933242e+00] [-5.20692613e-03 2.02117752e-04 9.99986423e-01 -1.39050046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48037174299999 meters Centerline goodness [0,1] 0.9897042221720479 Centerline is valid? [True, True] Translation: X:105.22, Y:-5.58, Z:-1.39 [[ 9.99932781e-01 1.04923269e-02 4.93392118e-03 1.05215527e+02] [-1.04912001e-02 9.99944934e-01 -2.54206613e-04 -5.57989337e+00] [-4.93631671e-03 2.02426771e-04 9.99987796e-01 -1.39097200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.510371743 meters Centerline goodness [0,1] 0.9888750987250366 Centerline is valid? [True, True] Translation: X:105.25, Y:-5.58, Z:-1.39 [[ 9.99983651e-01 4.34354112e-03 3.71904694e-03 1.05245737e+02] [-4.34286042e-03 9.99990551e-01 -1.91087187e-04 -5.58433064e+00] [-3.71984179e-03 1.74932761e-04 9.99993066e-01 -1.39218624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540371743 meters Centerline goodness [0,1] 0.9898736466173911 Centerline is valid? [True, True] Translation: X:105.28, Y:-5.59, Z:-1.39 [[ 9.99991185e-01 -2.30721563e-03 3.50807453e-03 1.05275964e+02] [ 2.30786191e-03 9.99997321e-01 -1.80188147e-04 -5.58745294e+00] [-3.50764940e-03 1.88282711e-04 9.99993830e-01 -1.39258304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.570371743 meters Centerline goodness [0,1] 0.9895642745815545 Centerline is valid? [True, True] Translation: X:105.31, Y:-5.59, Z:-1.39 [[ 9.99982130e-01 -4.90861571e-03 3.41248010e-03 1.05305871e+02] [ 4.90923951e-03 9.99987934e-01 -1.74445487e-04 -5.59186780e+00] [-3.41158265e-03 1.91195052e-04 9.99994162e-01 -1.39359888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600371743 meters Centerline goodness [0,1] 0.9891257755217147 Centerline is valid? [True, True] Translation: X:105.34, Y:-5.60, Z:-1.39 [[ 9.99964289e-01 -7.68700760e-03 3.51154400e-03 1.05336492e+02] [ 7.68768879e-03 9.99970433e-01 -1.80528799e-04 -5.59596114e+00] [-3.51005245e-03 2.07518009e-04 9.99993818e-01 -1.39389869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.630371743 meters Centerline goodness [0,1] 0.988218831813668 Centerline is valid? [True, True] Translation: X:105.37, Y:-5.61, Z:-1.39 [[ 9.99933922e-01 -1.09850634e-02 3.38819787e-03 1.05365579e+02] [ 1.09857150e-02 9.99939640e-01 -1.73760547e-04 -5.60593745e+00] [-3.38608458e-03 2.10970841e-04 9.99994245e-01 -1.39479250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660371743 meters Centerline goodness [0,1] 0.9884557281684743 Centerline is valid? [True, True] Translation: X:105.40, Y:-5.61, Z:-1.40 [[ 9.99925162e-01 -1.18444759e-02 3.06256483e-03 1.05397934e+02] [ 1.18450126e-02 9.99929833e-01 -1.57152899e-04 -5.60787062e+00] [-3.06048855e-03 1.93417257e-04 9.99995298e-01 -1.39500640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.690371743 meters Centerline goodness [0,1] 0.9882315808458834 Centerline is valid? [True, True] Translation: X:105.43, Y:-5.61, Z:-1.40 [[ 9.99916679e-01 -1.25182984e-02 3.15081472e-03 1.05428688e+02] [ 1.25188689e-02 9.99921623e-01 -1.61409482e-04 -5.60988508e+00] [-3.14854720e-03 2.00840670e-04 9.99995023e-01 -1.39577659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720371743 meters Centerline goodness [0,1] 0.9879403794037941 Centerline is valid? [True, True] Translation: X:105.46, Y:-5.61, Z:-1.40 [[ 9.99923948e-01 -1.20073350e-02 2.81460513e-03 1.05460934e+02] [ 1.20077902e-02 9.99927893e-01 -1.44887892e-04 -5.61119861e+00] [-2.81266246e-03 1.78674061e-04 9.99996028e-01 -1.39669270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.750371743 meters Centerline goodness [0,1] 0.9880501443001443 Centerline is valid? [True, True] Translation: X:105.49, Y:-5.61, Z:-1.40 [[ 9.99930033e-01 -1.14887514e-02 2.81753223e-03 1.05493668e+02] [ 1.14892056e-02 9.99933986e-01 -1.45051012e-04 -5.61205983e+00] [-2.81567978e-03 1.77412070e-04 9.99996020e-01 -1.39777683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780371743 meters Centerline goodness [0,1] 0.9890060172827217 Centerline is valid? [True, True] Translation: X:105.53, Y:-5.60, Z:-1.40 [[ 9.99945869e-01 -1.00958656e-02 2.51643325e-03 1.05526541e+02] [ 1.00962240e-02 9.99949023e-01 -1.29771159e-04 -5.60268366e+00] [-2.51499482e-03 1.55170609e-04 9.99996825e-01 -1.39686617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.810371743 meters Centerline goodness [0,1] 0.988706830217716 Centerline is valid? [True, True] Translation: X:105.56, Y:-5.60, Z:-1.40 [[ 9.99955075e-01 -9.23419480e-03 2.13962706e-03 1.05559064e+02] [ 9.23445194e-03 9.99957355e-01 -1.10330635e-04 -5.60031274e+00] [-2.13851700e-03 1.30083961e-04 9.99997705e-01 -1.39664983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84037174299999 meters Centerline goodness [0,1] 0.9871667419792137 Centerline is valid? [True, True] Translation: X:105.59, Y:-5.61, Z:-1.40 [[ 9.99963320e-01 -8.23911958e-03 2.33986079e-03 1.05590075e+02] [ 8.23942500e-03 9.99966048e-01 -1.20922015e-04 -5.61301198e+00] [-2.33878505e-03 1.40196687e-04 9.99997255e-01 -1.39930083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87037174299999 meters Centerline goodness [0,1] 0.9886800996151234 Centerline is valid? [True, True] Translation: X:105.62, Y:-5.60, Z:-1.40 [[ 9.99976337e-01 -6.60368423e-03 1.92811216e-03 1.05622672e+02] [ 6.60388893e-03 9.99978189e-01 -9.98204644e-05 -5.59872761e+00] [-1.92741093e-03 1.12551141e-04 9.99998136e-01 -1.39735550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900371743 meters Centerline goodness [0,1] 0.989055221383022 Centerline is valid? [True, True] Translation: X:105.65, Y:-5.60, Z:-1.40 [[ 9.99984485e-01 -5.32086022e-03 1.64871419e-03 1.05654039e+02] [ 5.32100815e-03 9.99985840e-01 -8.53468389e-05 -5.59969506e+00] [-1.64823673e-03 9.41183364e-05 9.99998637e-01 -1.39796285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.930371743 meters Centerline goodness [0,1] 0.9887867897921121 Centerline is valid? [True, True] Translation: X:105.69, Y:-5.60, Z:-1.40 [[ 9.99990862e-01 -4.11999213e-03 1.14077329e-03 1.05686655e+02] [ 4.12006174e-03 9.99991511e-01 -5.86822336e-05 -5.59753986e+00] [-1.14052183e-03 6.33817537e-05 9.99999348e-01 -1.39916026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960371743 meters Centerline goodness [0,1] 0.9884926771581916 Centerline is valid? [True, True] Translation: X:105.72, Y:-5.60, Z:-1.40 [[ 9.99992697e-01 -3.66684707e-03 1.07689980e-03 1.05718217e+02] [ 3.66690911e-03 9.99993275e-01 -5.56389222e-05 -5.59781506e+00] [-1.07668854e-03 5.95874095e-05 9.99999419e-01 -1.39990663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.990371743 meters Centerline goodness [0,1] 0.9886177753544165 Centerline is valid? [True, True] Translation: X:105.75, Y:-5.60, Z:-1.40 [[ 9.99995749e-01 -2.68814025e-03 1.12995409e-03 1.05749413e+02] [ 2.68820805e-03 9.99996385e-01 -5.84807950e-05 -5.59713507e+00] [-1.12979280e-03 6.15180981e-05 9.99999360e-01 -1.40069018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020371743 meters Centerline goodness [0,1] 0.9886177753544165 Centerline is valid? [True, True] Translation: X:105.78, Y:-5.60, Z:-1.40 [[ 9.99995929e-01 -2.62033571e-03 1.12996200e-03 1.05781112e+02] [ 2.62040329e-03 9.99996565e-01 -5.83301611e-05 -5.59886025e+00] [-1.12980528e-03 6.12908798e-05 9.99999360e-01 -1.40112009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.050371743 meters Centerline goodness [0,1] 0.9888620626822158 Centerline is valid? [True, True] Translation: X:105.81, Y:-5.60, Z:-1.40 [[ 9.99997237e-01 -2.16024098e-03 9.27279275e-04 1.05813325e+02] [ 2.16028620e-03 9.99997665e-01 -4.77706145e-05 -5.59963701e+00] [-9.27173914e-04 4.97736711e-05 9.99999569e-01 -1.40162024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080371743 meters Centerline goodness [0,1] 0.9883712944946778 Centerline is valid? [True, True] Translation: X:105.84, Y:-5.59, Z:-1.40 [[ 9.99998455e-01 -1.13774798e-03 1.34008208e-03 1.05844700e+02] [ 1.13784272e-03 9.99999350e-01 -6.99342178e-05 -5.59416493e+00] [-1.34000164e-03 7.14589124e-05 9.99999100e-01 -1.40118939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.110371743 meters Centerline goodness [0,1] 0.9886832218455054 Centerline is valid? [True, True] Translation: X:105.88, Y:-5.60, Z:-1.40 [[ 9.99998895e-01 3.85689700e-04 1.43587208e-03 1.05875169e+02] [-3.85582077e-04 9.99999923e-01 -7.52293994e-05 -5.59772312e+00] [-1.43590099e-03 7.46756697e-05 9.99998966e-01 -1.40280661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140371743 meters Centerline goodness [0,1] 0.988392939229567 Centerline is valid? [True, True] Translation: X:105.91, Y:-5.60, Z:-1.40 [[ 9.99995805e-01 2.25351082e-03 1.81981435e-03 1.05905281e+02] [-2.25334215e-03 9.99997457e-01 -9.47303447e-05 -5.59791918e+00] [-1.82002320e-03 9.06292829e-05 9.99998340e-01 -1.40312821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.170371743 meters Centerline goodness [0,1] 0.9889711820216424 Centerline is valid? [True, True] Translation: X:105.94, Y:-5.59, Z:-1.40 [[ 9.99975624e-01 5.94444323e-03 3.66256398e-03 1.05936361e+02] [-5.94377632e-03 9.99982317e-01 -1.92947953e-04 -5.58782586e+00] [-3.66364618e-03 1.71173788e-04 9.99993274e-01 -1.40002661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.200371743 meters Centerline goodness [0,1] 0.9886421349092755 Centerline is valid? [True, True] Translation: X:105.97, Y:-5.59, Z:-1.40 [[ 9.99962507e-01 7.29328752e-03 4.66822010e-03 1.05966301e+02] [-7.29221871e-03 9.99973381e-01 -2.45934543e-04 -5.58773671e+00] [-4.66988951e-03 2.11883640e-04 9.99989074e-01 -1.39983989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23037174299999 meters Centerline goodness [0,1] 0.9890312896894123 Centerline is valid? [True, True] Translation: X:106.00, Y:-5.59, Z:-1.40 [[ 9.99942852e-01 9.19443835e-03 5.45478389e-03 1.05996281e+02] [-9.19300876e-03 9.99957702e-01 -2.87095759e-04 -5.58651709e+00] [-5.45719284e-03 2.36933476e-04 9.99985081e-01 -1.39887961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260371743 meters Centerline goodness [0,1] 0.98949608995419 Centerline is valid? [True, True] Translation: X:106.03, Y:-5.59, Z:-1.40 [[ 9.99941557e-01 9.57002577e-03 5.02969977e-03 1.06025454e+02] [-9.56881427e-03 9.99954183e-01 -2.64879566e-04 -5.58735983e+00] [-5.03200423e-03 2.16735822e-04 9.99987316e-01 -1.39985808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.290371743 meters Centerline goodness [0,1] 0.9889300602130616 Centerline is valid? [True, True] Translation: X:106.05, Y:-5.59, Z:-1.40 [[ 9.99950874e-01 9.38655363e-03 3.18453930e-03 1.06053952e+02] [-9.38606724e-03 9.99955936e-01 -1.67646695e-04 -5.58914743e+00] [-3.18597260e-03 1.37748159e-04 9.99994915e-01 -1.40215865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320371743 meters Centerline goodness [0,1] 0.9890867052023121 Centerline is valid? [True, True] Translation: X:106.08, Y:-5.59, Z:-1.40 [[ 9.99954308e-01 9.27001484e-03 2.33436353e-03 1.06081750e+02] [-9.26975211e-03 9.99957027e-01 -1.23344645e-04 -5.59184502e+00] [-2.33540662e-03 1.01700038e-04 9.99997268e-01 -1.40372393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.350371743 meters Centerline goodness [0,1] 0.9889235029421946 Centerline is valid? [True, True] Translation: X:106.11, Y:-5.60, Z:-1.41 [[ 9.99960129e-01 8.68307127e-03 2.08453557e-03 1.06109701e+02] [-8.68286040e-03 9.99962297e-01 -1.10187901e-04 -5.59500032e+00] [-2.08541375e-03 9.20837764e-05 9.99997821e-01 -1.40581393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380371743 meters Centerline goodness [0,1] 0.9891603300436822 Centerline is valid? [True, True] Translation: X:106.14, Y:-5.59, Z:-1.40 [[ 9.99955931e-01 9.00707376e-03 2.64732734e-03 1.06138566e+02] [-9.00673710e-03 9.99959429e-01 -1.39064413e-04 -5.59388155e+00] [-2.64847250e-03 1.15214503e-04 9.99996486e-01 -1.40477923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.410371743 meters Centerline goodness [0,1] 0.989104536306646 Centerline is valid? [True, True] Translation: X:106.17, Y:-5.59, Z:-1.40 [[ 9.99948089e-01 9.72976726e-03 3.02519849e-03 1.06167615e+02] [-9.72933198e-03 9.99952656e-01 -1.58570067e-04 -5.59387069e+00] [-3.02659812e-03 1.29128675e-04 9.99995412e-01 -1.40408740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440371743 meters Centerline goodness [0,1] 0.9892460684551342 Centerline is valid? [True, True] Translation: X:106.20, Y:-5.59, Z:-1.40 [[ 9.99903004e-01 1.31689780e-02 4.53447374e-03 1.06197936e+02] [-1.31680401e-02 9.99913270e-01 -2.36640015e-04 -5.59308371e+00] [-4.53719677e-03 1.76906930e-04 9.99989691e-01 -1.40264413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.470371743 meters Centerline goodness [0,1] 0.9897779426081312 Centerline is valid? [True, True] Translation: X:106.23, Y:-5.59, Z:-1.40 [[ 9.99870324e-01 1.52716069e-02 5.11017709e-03 1.06226831e+02] [-1.52704437e-02 9.99883364e-01 -2.66580317e-04 -5.59237151e+00] [-5.11365217e-03 1.88511076e-04 9.99986907e-01 -1.40218520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500371743 meters Centerline goodness [0,1] 0.9889799509191092 Centerline is valid? [True, True] Translation: X:106.25, Y:-5.59, Z:-1.40 [[ 9.99826735e-01 1.77259051e-02 5.68262415e-03 1.06254872e+02] [-1.77245092e-02 9.99842865e-01 -2.95913287e-04 -5.59466463e+00] [-5.68697654e-03 1.95140292e-04 9.99983810e-01 -1.40240835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.530371743 meters Centerline goodness [0,1] 0.9901752277035462 Centerline is valid? [True, True] Translation: X:106.29, Y:-5.59, Z:-1.40 [[ 9.99724179e-01 2.26369355e-02 6.25580466e-03 1.06285010e+02] [-2.26353445e-02 9.99743735e-01 -3.25018840e-04 -5.59353743e+00] [-6.26155895e-03 1.83326899e-04 9.99980379e-01 -1.40233005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.560371743 meters Centerline goodness [0,1] 0.9906626715908299 Centerline is valid? [True, True] Translation: X:106.32, Y:-5.59, Z:-1.40 [[ 9.99595024e-01 2.79893890e-02 5.13636437e-03 1.06315099e+02] [-2.79883874e-02 9.99608213e-01 -2.66782804e-04 -5.59326322e+00] [-5.14181910e-03 1.22916207e-04 9.99986773e-01 -1.40406152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59037174299999 meters Centerline goodness [0,1] 0.9908956122874485 Centerline is valid? [True, True] Translation: X:106.34, Y:-5.59, Z:-1.41 [[ 9.99503738e-01 3.12318620e-02 4.10470069e-03 1.06342528e+02] [-3.12312485e-02 9.99512163e-01 -2.13485119e-04 -5.59383965e+00] [-4.10936580e-03 8.51842474e-05 9.99991553e-01 -1.40540108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62037174299999 meters Centerline goodness [0,1] 0.9921100874852065 Centerline is valid? [True, True] Translation: X:106.37, Y:-5.59, Z:-1.41 [[ 9.99403377e-01 3.43893767e-02 3.20315259e-03 1.06371745e+02] [-3.43890180e-02 9.99408509e-01 -1.67006859e-04 -5.59375278e+00] [-3.20700122e-03 5.67539468e-05 9.99994856e-01 -1.40614753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.650371743 meters Centerline goodness [0,1] 0.9921654072597469 Centerline is valid? [True, True] Translation: X:106.40, Y:-5.59, Z:-1.41 [[ 9.99280445e-01 3.78422736e-02 2.56022954e-03 1.06399122e+02] [-3.78420569e-02 9.99283724e-01 -1.33043770e-04 -5.59454864e+00] [-2.56343038e-03 3.60636857e-05 9.99996714e-01 -1.40753358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680371743 meters Centerline goodness [0,1] 0.9934274473501504 Centerline is valid? [True, True] Translation: X:106.43, Y:-5.59, Z:-1.41 [[ 9.99000775e-01 4.45794905e-02 3.18137733e-03 1.06428310e+02] [-4.45791907e-02 9.99005840e-01 -1.65097652e-04 -5.59381563e+00] [-3.18557450e-03 2.31094552e-05 9.99994926e-01 -1.40827307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.710371743 meters Centerline goodness [0,1] 0.9939251149146513 Centerline is valid? [True, True] Translation: X:106.46, Y:-5.59, Z:-1.41 [[ 9.98751463e-01 4.97736160e-02 4.25469747e-03 1.06457400e+02] [-4.97731268e-02 9.98760525e-01 -2.20845424e-04 -5.59461584e+00] [-4.26041616e-03 8.80009287e-06 9.99990924e-01 -1.40786124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740371743 meters Centerline goodness [0,1] 0.9942152393733947 Centerline is valid? [True, True] Translation: X:106.49, Y:-5.60, Z:-1.41 [[ 9.98693087e-01 5.08882557e-02 4.74374969e-03 1.06485416e+02] [-5.08876657e-02 9.98704353e-01 -2.45072407e-04 -5.59665566e+00] [-4.75007478e-03 3.35377046e-06 9.99988718e-01 -1.40707123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.770371743 meters Centerline goodness [0,1] 0.9942376397372363 Centerline is valid? [True, True] Translation: X:106.51, Y:-5.60, Z:-1.41 [[ 9.98665629e-01 5.13356254e-02 5.62269593e-03 1.06513051e+02] [-5.13348165e-02 9.98681458e-01 -2.88177823e-04 -5.59950371e+00] [-5.63007595e-03 -8.46777056e-07 9.99984151e-01 -1.40666934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800371743 meters Centerline goodness [0,1] 0.9943663262034534 Centerline is valid? [True, True] Translation: X:106.54, Y:-5.61, Z:-1.41 [[ 9.98739974e-01 4.97681225e-02 6.44965503e-03 1.06539586e+02] [-4.97670454e-02 9.98760799e-01 -3.27498677e-04 -5.60580577e+00] [-6.45796161e-03 6.10574567e-06 9.99979147e-01 -1.40660514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.830371743 meters Centerline goodness [0,1] 0.9943933823529412 Centerline is valid? [True, True] Translation: X:106.57, Y:-5.61, Z:-1.41 [[ 9.98839447e-01 4.77104604e-02 6.59329310e-03 1.06567509e+02] [-4.77093027e-02 9.98861207e-01 -3.32845312e-04 -5.61082108e+00] [-6.60166491e-03 1.78976107e-05 9.99978209e-01 -1.40692924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860371743 meters Centerline goodness [0,1] 0.9938103830253752 Centerline is valid? [True, True] Translation: X:106.60, Y:-5.62, Z:-1.41 [[ 9.99082709e-01 4.22975227e-02 6.68286592e-03 1.06595898e+02] [-4.22962188e-02 9.99105058e-01 -3.36394990e-04 -5.62129835e+00] [-6.69111382e-03 5.34264590e-05 9.99977613e-01 -1.40785495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.890371743 meters Centerline goodness [0,1] 0.9934096506430722 Centerline is valid? [True, True] Translation: X:106.62, Y:-5.63, Z:-1.41 [[ 9.99231208e-01 3.86452738e-02 6.59815613e-03 1.06624278e+02] [-3.86439260e-02 9.99252989e-01 -3.31681934e-04 -5.62728534e+00] [-6.60604518e-03 7.64482823e-05 9.99978177e-01 -1.40828549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920371743 meters Centerline goodness [0,1] 0.9931142980916118 Centerline is valid? [True, True] Translation: X:106.65, Y:-5.63, Z:-1.41 [[ 9.99388014e-01 3.43898368e-02 6.39824739e-03 1.06651372e+02] [-3.43884843e-02 9.99408490e-01 -3.21324044e-04 -5.63460501e+00] [-6.40551305e-03 1.01101369e-04 9.99979479e-01 -1.40925416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.950371743 meters Centerline goodness [0,1] 0.9926265399187785 Centerline is valid? [True, True] Translation: X:106.68, Y:-5.65, Z:-1.41 [[ 9.99666857e-01 2.52176873e-02 5.49942416e-03 1.06681429e+02] [-2.52165550e-02 9.99681974e-01 -2.75145332e-04 -5.64665441e+00] [-5.50461373e-03 1.36377137e-04 9.99984840e-01 -1.41012429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98037174299999 meters Centerline goodness [0,1] 0.9919905878094032 Centerline is valid? [True, True] Translation: X:106.71, Y:-5.66, Z:-1.41 [[ 9.99782233e-01 2.02504590e-02 5.04047025e-03 1.06709202e+02] [-2.02494417e-02 9.99794927e-01 -2.52792578e-04 -5.65520115e+00] [-5.04455575e-03 1.50670820e-04 9.99987265e-01 -1.41112504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.010371743 meters Centerline goodness [0,1] 0.9915078614227147 Centerline is valid? [True, True] Translation: X:106.74, Y:-5.67, Z:-1.41 [[ 9.99932101e-01 1.07985380e-02 4.38007916e-03 1.06737532e+02] [-1.07976844e-02 9.99941679e-01 -2.18484498e-04 -5.67018210e+00] [-4.38218303e-03 1.71174950e-04 9.99990384e-01 -1.41264716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040371743 meters Centerline goodness [0,1] 0.9912038595310221 Centerline is valid? [True, True] Translation: X:106.77, Y:-5.68, Z:-1.41 [[ 9.99970338e-01 6.39645317e-03 4.29062681e-03 1.06766157e+02] [-6.39559009e-03 9.99979525e-01 -2.14844375e-04 -5.68053116e+00] [-4.29191320e-03 1.87396912e-04 9.99990772e-01 -1.41391187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.070371743 meters Centerline goodness [0,1] 0.9918045634698494 Centerline is valid? [True, True] Translation: X:106.80, Y:-5.68, Z:-1.41 [[ 9.99987400e-01 2.37380742e-03 4.42329674e-03 1.06796850e+02] [-2.37285304e-03 9.99997160e-01 -2.20998515e-04 -5.68174512e+00] [-4.42380879e-03 2.10499897e-04 9.99990193e-01 -1.41320996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100371743 meters Centerline goodness [0,1] 0.9917604501607717 Centerline is valid? [True, True] Translation: X:106.83, Y:-5.70, Z:-1.41 [[ 9.99976860e-01 -4.15971273e-03 5.38287255e-03 1.06825593e+02] [ 4.16122120e-03 9.99991306e-01 -2.69066423e-04 -5.69506987e+00] [-5.38170651e-03 2.91459521e-04 9.99985476e-01 -1.41291719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.130371743 meters Centerline goodness [0,1] 0.9918771757564938 Centerline is valid? [True, True] Translation: X:106.86, Y:-5.70, Z:-1.41 [[ 9.99964592e-01 -6.47988290e-03 5.36899844e-03 1.06856273e+02] [ 6.48141347e-03 9.99978960e-01 -2.67725108e-04 -5.69795288e+00] [-5.36715064e-03 3.02514327e-04 9.99985551e-01 -1.41222759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160371743 meters Centerline goodness [0,1] 0.9918345492269593 Centerline is valid? [True, True] Translation: X:106.89, Y:-5.71, Z:-1.41 [[ 9.99937428e-01 -9.39795497e-03 6.06785913e-03 1.06887117e+02] [ 9.39996685e-03 9.99955773e-01 -3.03129378e-04 -5.70631322e+00] [-6.06474198e-03 3.60148085e-04 9.99981544e-01 -1.41189950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.190371743 meters Centerline goodness [0,1] 0.9914142990945988 Centerline is valid? [True, True] Translation: X:106.92, Y:-5.71, Z:-1.41 [[ 9.99933132e-01 -1.02786324e-02 5.29917546e-03 1.06918947e+02] [ 1.02801783e-02 9.99947123e-01 -2.64561091e-04 -5.71166006e+00] [-5.29617593e-03 3.19019869e-04 9.99985924e-01 -1.41282058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220371743 meters Centerline goodness [0,1] 0.9914096574933027 Centerline is valid? [True, True] Translation: X:106.95, Y:-5.72, Z:-1.42 [[ 9.99928409e-01 -1.09523993e-02 4.81896338e-03 1.06949175e+02] [ 1.09536883e-02 9.99939977e-01 -2.41161132e-04 -5.72023464e+00] [-4.81603284e-03 2.93929289e-04 9.99988360e-01 -1.41527567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.250371743 meters Centerline goodness [0,1] 0.9909511316643692 Centerline is valid? [True, True] Translation: X:106.98, Y:-5.72, Z:-1.42 [[ 9.99930314e-01 -1.10515497e-02 4.15085428e-03 1.06981223e+02] [ 1.10525058e-02 9.99938898e-01 -2.07478422e-04 -5.72437743e+00] [-4.14830769e-03 2.53341304e-04 9.99991364e-01 -1.41663304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280371743 meters Centerline goodness [0,1] 0.991525046712341 Centerline is valid? [True, True] Translation: X:107.01, Y:-5.73, Z:-1.42 [[ 9.99933653e-01 -1.08643219e-02 3.82821019e-03 1.07013372e+02] [ 1.08651345e-02 9.99940954e-01 -1.91548798e-04 -5.72782883e+00] [-3.82590311e-03 2.33130109e-04 9.99992654e-01 -1.41777347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.310371743 meters Centerline goodness [0,1] 0.9912414909421495 Centerline is valid? [True, True] Translation: X:107.05, Y:-5.73, Z:-1.42 [[ 9.99944444e-01 -1.01911040e-02 2.69282129e-03 1.07045270e+02] [ 1.01915034e-02 9.99948056e-01 -1.34628416e-04 -5.72766539e+00] [-2.69130940e-03 1.62064834e-04 9.99996365e-01 -1.41799203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34037174299999 meters Centerline goodness [0,1] 0.9909769757311762 Centerline is valid? [True, True] Translation: X:107.08, Y:-5.73, Z:-1.42 [[ 9.99954756e-01 -9.16781506e-03 2.53707489e-03 1.07076732e+02] [ 9.16816663e-03 9.99957963e-01 -1.26974696e-04 -5.73218633e+00] [-2.53580416e-03 1.50229276e-04 9.99996774e-01 -1.41904049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37037174299999 meters Centerline goodness [0,1] 0.9910961483089327 Centerline is valid? [True, True] Translation: X:107.11, Y:-5.74, Z:-1.42 [[ 9.99964719e-01 -8.12639783e-03 2.12651076e-03 1.07108393e+02] [ 8.12664251e-03 9.99966973e-01 -1.06446807e-04 -5.73500241e+00] [-2.12557550e-03 1.23724445e-04 9.99997733e-01 -1.41980975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400371743 meters Centerline goodness [0,1] 0.9905231151652352 Centerline is valid? [True, True] Translation: X:107.14, Y:-5.74, Z:-1.42 [[ 9.99979891e-01 -6.23025049e-03 1.18381781e-03 1.07139644e+02] [ 6.23032510e-03 9.99980590e-01 -5.93493758e-05 -5.73616203e+00] [-1.18342507e-03 6.67237521e-05 9.99999298e-01 -1.42073381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.430371743 meters Centerline goodness [0,1] 0.9909458079978696 Centerline is valid? [True, True] Translation: X:107.17, Y:-5.74, Z:-1.42 [[ 9.99984167e-01 -5.47001135e-03 1.32113470e-03 1.07172024e+02] [ 5.47010319e-03 9.99985037e-01 -6.59091750e-05 -5.73823571e+00] [-1.32075441e-03 7.31348745e-05 9.99999125e-01 -1.42164352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460371743 meters Centerline goodness [0,1] 0.9908641373040336 Centerline is valid? [True, True] Translation: X:107.20, Y:-5.74, Z:-1.42 [[ 9.99992081e-01 -3.64294929e-03 1.60221789e-03 1.07203096e+02] [ 3.64308319e-03 9.99993361e-01 -8.06607538e-05 -5.73876479e+00] [-1.60191341e-03 8.64971281e-05 9.99998713e-01 -1.42111779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.490371743 meters Centerline goodness [0,1] 0.9908132996856599 Centerline is valid? [True, True] Translation: X:107.23, Y:-5.74, Z:-1.42 [[ 9.99994652e-01 -3.01152932e-03 1.27537096e-03 1.07234594e+02] [ 3.01161332e-03 9.99995463e-01 -6.39424245e-05 -5.74171596e+00] [-1.27517261e-03 6.77830068e-05 9.99999185e-01 -1.42182559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520371743 meters Centerline goodness [0,1] 0.9905354424515189 Centerline is valid? [True, True] Translation: X:107.27, Y:-5.74, Z:-1.42 [[ 9.99996939e-01 -2.35608836e-03 7.54979294e-04 1.07266796e+02] [ 2.35611724e-03 9.99997224e-01 -3.73733730e-05 -5.74255430e+00] [-7.54889143e-04 3.91520783e-05 9.99999714e-01 -1.42180995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.550371743 meters Centerline goodness [0,1] 0.9905239441597455 Centerline is valid? [True, True] Translation: X:107.30, Y:-5.75, Z:-1.42 [[ 9.99997403e-01 -2.05730823e-03 9.80282205e-04 1.07297693e+02] [ 2.05735652e-03 9.99997882e-01 -4.82577048e-05 -5.74721181e+00] [-9.80180849e-04 5.02743695e-05 9.99999518e-01 -1.42274505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580371743 meters Centerline goodness [0,1] 0.990272545978285 Centerline is valid? [True, True] Translation: X:107.33, Y:-5.74, Z:-1.42 [[ 9.99997575e-01 -1.93465947e-03 1.05205457e-03 1.07329405e+02] [ 1.93471638e-03 9.99998127e-01 -5.30798948e-05 -5.74279807e+00] [-1.05194990e-03 5.51151933e-05 9.99999445e-01 -1.42136932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.610371743 meters Centerline goodness [0,1] 0.9905029664393872 Centerline is valid? [True, True] Translation: X:107.36, Y:-5.75, Z:-1.42 [[ 9.99995158e-01 -1.58320722e-03 2.67923089e-03 1.07359964e+02] [ 1.58357684e-03 9.99998737e-01 -1.35842892e-04 -5.74922405e+00] [-2.67901244e-03 1.40085003e-04 9.99996402e-01 -1.42113662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640371743 meters Centerline goodness [0,1] 0.9904721995544871 Centerline is valid? [True, True] Translation: X:107.39, Y:-5.75, Z:-1.42 [[ 9.99991973e-01 -1.18325208e-03 3.82815474e-03 1.07391975e+02] [ 1.18400518e-03 9.99999280e-01 -1.94468105e-04 -5.75149109e+00] [-3.82792188e-03 1.98999099e-04 9.99992654e-01 -1.42037076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.670371743 meters Centerline goodness [0,1] 0.9907047602225558 Centerline is valid? [True, True] Translation: X:107.42, Y:-5.75, Z:-1.42 [[ 9.99986361e-01 -1.11099666e-03 5.10321511e-03 1.07424615e+02] [ 1.11233748e-03 9.99999348e-01 -2.59909355e-04 -5.75277354e+00] [-5.10292303e-03 2.65582308e-04 9.99986945e-01 -1.41881872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.700371743 meters Centerline goodness [0,1] 0.9900011012003084 Centerline is valid? [True, True] Translation: X:107.46, Y:-5.76, Z:-1.42 [[ 9.99985229e-01 -1.31917957e-03 5.27263126e-03 1.07455636e+02] [ 1.32061673e-03 9.99999092e-01 -2.69096729e-04 -5.76166046e+00] [-5.27227149e-03 2.76055879e-04 9.99986063e-01 -1.42031697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73037174299999 meters Centerline goodness [0,1] 0.9901930535966149 Centerline is valid? [True, True] Translation: X:107.49, Y:-5.76, Z:-1.42 [[ 9.99984125e-01 -1.55283539e-03 5.41651782e-03 1.07488035e+02] [ 1.55435629e-03 9.99998754e-01 -2.76590596e-04 -5.75713851e+00] [-5.41608157e-03 2.85005404e-04 9.99985292e-01 -1.41972984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760371743 meters Centerline goodness [0,1] 0.9900490940712855 Centerline is valid? [True, True] Translation: X:107.52, Y:-5.76, Z:-1.42 [[ 9.99982336e-01 -3.44844251e-03 4.84109081e-03 1.07519361e+02] [ 3.44967400e-03 9.99994020e-01 -2.46055946e-04 -5.76351312e+00] [-4.84021335e-03 2.62751784e-04 9.99988252e-01 -1.42134153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.790371743 meters Centerline goodness [0,1] 0.990169282313525 Centerline is valid? [True, True] Translation: X:107.55, Y:-5.77, Z:-1.42 [[ 9.99980907e-01 -4.64456629e-03 4.07595486e-03 1.07551044e+02] [ 4.64545088e-03 9.99989188e-01 -2.07587231e-04 -5.76545777e+00] [-4.07494664e-03 2.26517915e-04 9.99991672e-01 -1.42183394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820371743 meters Centerline goodness [0,1] 0.9892208192177394 Centerline is valid? [True, True] Translation: X:107.58, Y:-5.77, Z:-1.42 [[ 9.99976007e-01 -6.06238983e-03 3.35154635e-03 1.07583092e+02] [ 6.06300217e-03 9.99981605e-01 -1.72574711e-04 -5.76754494e+00] [-3.35043848e-03 1.92891003e-04 9.99994369e-01 -1.42247755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.850371743 meters Centerline goodness [0,1] 0.9896415218825599 Centerline is valid? [True, True] Translation: X:107.61, Y:-5.78, Z:-1.42 [[ 9.99957625e-01 -8.79142063e-03 2.73129357e-03 1.07612923e+02] [ 8.79183912e-03 9.99961341e-01 -1.41252585e-04 -5.77521209e+00] [-2.72994617e-03 1.65259693e-04 9.99996260e-01 -1.42394687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880371743 meters Centerline goodness [0,1] 0.9891063231644374 Centerline is valid? [True, True] Translation: X:107.64, Y:-5.78, Z:-1.42 [[ 9.99941665e-01 -1.04278736e-02 2.81527776e-03 1.07644742e+02] [ 1.04283233e-02 9.99945613e-01 -1.45078163e-04 -5.77899195e+00] [-2.81361179e-03 1.74428327e-04 9.99996027e-01 -1.42407148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.910371743 meters Centerline goodness [0,1] 0.9896637417254953 Centerline is valid? [True, True] Translation: X:107.68, Y:-5.78, Z:-1.42 [[ 9.99937798e-01 -1.07487737e-02 2.97712938e-03 1.07676871e+02] [ 1.07492788e-02 9.99942213e-01 -1.53688924e-04 -5.78159993e+00] [-2.97530538e-03 1.85681358e-04 9.99995557e-01 -1.42444527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940371743 meters Centerline goodness [0,1] 0.9896637417254953 Centerline is valid? [True, True] Translation: X:107.71, Y:-5.78, Z:-1.42 [[ 9.99938569e-01 -1.06768729e-02 2.97711832e-03 1.07708580e+02] [ 1.06773782e-02 9.99942983e-01 -1.53902476e-04 -5.78330762e+00] [-2.97530537e-03 1.85680840e-04 9.99995557e-01 -1.42487527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.970371743 meters Centerline goodness [0,1] 0.9891796789091709 Centerline is valid? [True, True] Translation: X:107.74, Y:-5.79, Z:-1.43 [[ 9.99938461e-01 -1.06816326e-02 2.99623488e-03 1.07740528e+02] [ 1.06821452e-02 9.99942932e-01 -1.55112036e-04 -5.78570868e+00] [-2.99440705e-03 1.87108707e-04 9.99995499e-01 -1.42531088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000371743 meters Centerline goodness [0,1] 0.988326505440289 Centerline is valid? [True, True] Translation: X:107.77, Y:-5.79, Z:-1.43 [[ 9.99939522e-01 -1.05759729e-02 3.01669393e-03 1.07771660e+02] [ 1.05764932e-02 9.99944055e-01 -1.56589702e-04 -5.78992128e+00] [-3.01486908e-03 1.88486274e-04 9.99995438e-01 -1.42599744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.030371743 meters Centerline goodness [0,1] 0.9894284770399736 Centerline is valid? [True, True] Translation: X:107.80, Y:-5.79, Z:-1.43 [[ 9.99943942e-01 -1.01210553e-02 3.11075448e-03 1.07802382e+02] [ 1.01216048e-02 9.99948762e-01 -1.60936410e-04 -5.79224090e+00] [-3.10896624e-03 1.92413216e-04 9.99995149e-01 -1.42658305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.060371743 meters Centerline goodness [0,1] 0.9893462788858624 Centerline is valid? [True, True] Translation: X:107.83, Y:-5.79, Z:-1.43 [[ 9.99952666e-01 -9.31253540e-03 2.81834207e-03 1.07833110e+02] [ 9.31298588e-03 9.99956622e-01 -1.46757329e-04 -5.79429947e+00] [-2.81685313e-03 1.72997563e-04 9.99996018e-01 -1.42721929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09037174299999 meters Centerline goodness [0,1] 0.9890288679286766 Centerline is valid? [True, True] Translation: X:107.87, Y:-5.80, Z:-1.43 [[ 9.99951793e-01 -9.31233370e-03 3.11330407e-03 1.07865267e+02] [ 9.31288361e-03 9.99956621e-01 -1.62180080e-04 -5.79675495e+00] [-3.11165874e-03 1.91166100e-04 9.99995141e-01 -1.42782284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12037174299999 meters Centerline goodness [0,1] 0.9881899305938086 Centerline is valid? [True, True] Translation: X:107.90, Y:-5.80, Z:-1.43 [[ 9.99946721e-01 -9.76670346e-03 3.34170689e-03 1.07895850e+02] [ 9.76734114e-03 9.99952283e-01 -1.74558238e-04 -5.80167296e+00] [-3.33984258e-03 2.07188529e-04 9.99994401e-01 -1.42921308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.150371743 meters Centerline goodness [0,1] 0.9886771670888864 Centerline is valid? [True, True] Translation: X:107.93, Y:-5.80, Z:-1.43 [[ 9.99941875e-01 -1.02750517e-02 3.26658431e-03 1.07928260e+02] [ 1.02756637e-02 9.99947189e-01 -1.70621061e-04 -5.80466856e+00] [-3.26465866e-03 2.04177465e-04 9.99994650e-01 -1.43003267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180371743 meters Centerline goodness [0,1] 0.9877482788201395 Centerline is valid? [True, True] Translation: X:107.96, Y:-5.81, Z:-1.43 [[ 9.99935590e-01 -1.07911949e-02 3.51639777e-03 1.07960605e+02] [ 1.07919084e-02 9.99941749e-01 -1.83980433e-04 -5.80725751e+00] [-3.51420757e-03 2.21917226e-04 9.99993801e-01 -1.43091969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.210371743 meters Centerline goodness [0,1] 0.9893558652474487 Centerline is valid? [True, True] Translation: X:107.99, Y:-5.80, Z:-1.43 [[ 9.99916102e-01 -1.26536721e-02 2.77001750e-03 1.07991993e+02] [ 1.26541234e-02 9.99919923e-01 -1.45457187e-04 -5.80072518e+00] [-2.76795512e-03 1.80497126e-04 9.99996153e-01 -1.43065775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240371743 meters Centerline goodness [0,1] 0.9898605551401047 Centerline is valid? [True, True] Translation: X:108.02, Y:-5.80, Z:-1.43 [[ 9.99904135e-01 -1.36572504e-02 2.28024930e-03 1.08024376e+02] [ 1.36575574e-02 9.99906724e-01 -1.19109335e-04 -5.80030346e+00] [-2.27840990e-03 1.50240553e-04 9.99997393e-01 -1.43134590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.270371743 meters Centerline goodness [0,1] 0.9888659522136332 Centerline is valid? [True, True] Translation: X:108.05, Y:-5.80, Z:-1.43 [[ 9.99870758e-01 -1.60480227e-02 9.63685928e-04 1.08053918e+02] [ 1.60480790e-02 9.99871220e-01 -5.07606932e-05 -5.80496218e+00] [-9.62747216e-04 6.62194407e-05 9.99999534e-01 -1.43326940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300371743 meters Centerline goodness [0,1] 0.9887727192518088 Centerline is valid? [True, True] Translation: X:108.08, Y:-5.81, Z:-1.44 [[ 9.99845545e-01 -1.75662564e-02 5.58775835e-04 1.08084139e+02] [ 1.75662753e-02 9.99845701e-01 -2.89672571e-05 -5.81118630e+00] [-5.58180770e-04 3.87783932e-05 9.99999843e-01 -1.43528069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.330371743 meters Centerline goodness [0,1] 0.9892291493002238 Centerline is valid? [True, True] Translation: X:108.12, Y:-5.81, Z:-1.44 [[ 9.99794248e-01 -2.02844144e-02 6.94032180e-05 1.08115834e+02] [ 2.02844147e-02 9.99794250e-01 -3.17214843e-06 -5.80802741e+00] [-6.93245931e-05 4.57929941e-06 9.99999998e-01 -1.43555713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360371743 meters Centerline goodness [0,1] 0.9889040854142769 Centerline is valid? [True, True] Translation: X:108.15, Y:-5.81, Z:-1.44 [[ 9.99760375e-01 -2.18898009e-02 -1.72643622e-04 1.08145566e+02] [ 2.18898028e-02 9.99760390e-01 9.10616941e-06 -5.81091284e+00] [ 1.72402923e-04 -1.28831222e-05 9.99999985e-01 -1.43623504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.390371743 meters Centerline goodness [0,1] 0.987883344020165 Centerline is valid? [True, True] Translation: X:108.18, Y:-5.81, Z:-1.44 [[ 9.99729280e-01 -2.32621784e-02 -4.88577265e-04 1.08177451e+02] [ 2.32621942e-02 9.99729398e-01 2.65215036e-05 -5.81161729e+00] [ 4.87828107e-04 -3.78797029e-05 9.99999880e-01 -1.43644834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420371743 meters Centerline goodness [0,1] 0.9881786243012131 Centerline is valid? [True, True] Translation: X:108.21, Y:-5.81, Z:-1.44 [[ 9.99722185e-01 -2.35691471e-02 -2.19448027e-04 1.08209511e+02] [ 2.35691504e-02 9.99722209e-01 1.25680828e-05 -5.81190510e+00] [ 2.19090848e-04 -1.77367947e-05 9.99999976e-01 -1.43682788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.450371743 meters Centerline goodness [0,1] 0.9880500088354833 Centerline is valid? [True, True] Translation: X:108.24, Y:-5.81, Z:-1.44 [[ 9.99719480e-01 -2.36817878e-02 3.66679771e-04 1.08241791e+02] [ 2.36817961e-02 9.99719547e-01 -1.84365875e-05 -5.81035537e+00] [-3.66140323e-04 2.71150513e-05 9.99999933e-01 -1.43679389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48037174299999 meters Centerline goodness [0,1] 0.9879179482640349 Centerline is valid? [True, True] Translation: X:108.27, Y:-5.81, Z:-1.44 [[ 9.99735226e-01 -2.30100442e-02 1.24390127e-04 1.08273523e+02] [ 2.30100451e-02 9.99735234e-01 -5.62823885e-06 -5.81043077e+00] [-1.24227687e-04 8.48897107e-06 9.99999992e-01 -1.43760473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.510371743 meters Centerline goodness [0,1] 0.9876759392663194 Centerline is valid? [True, True] Translation: X:108.31, Y:-5.81, Z:-1.44 [[ 9.99736643e-01 -2.29448082e-02 4.24534574e-04 1.08306352e+02] [ 2.29448192e-02 9.99736733e-01 -2.11029711e-05 -5.81004329e+00] [-4.23938604e-04 3.08382825e-05 9.99999910e-01 -1.43819606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540371743 meters Centerline goodness [0,1] 0.9873272144199934 Centerline is valid? [True, True] Translation: X:108.34, Y:-5.81, Z:-1.44 [[ 9.99739522e-01 -2.28113277e-02 7.28807737e-04 1.08337730e+02] [ 2.28113614e-02 9.99739786e-01 -3.80358785e-05 -5.81166830e+00] [-7.27750442e-04 5.46510678e-05 9.99999734e-01 -1.43894688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.570371743 meters Centerline goodness [0,1] 0.9868220647639229 Centerline is valid? [True, True] Translation: X:108.37, Y:-5.81, Z:-1.44 [[ 9.99743194e-01 -2.26555415e-02 5.21430641e-04 1.08369723e+02] [ 2.26555584e-02 9.99743330e-01 -2.65850818e-05 -5.81340114e+00] [-5.20694506e-04 3.83915570e-05 9.99999864e-01 -1.44005742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600371743 meters Centerline goodness [0,1] 0.9868570033079502 Centerline is valid? [True, True] Translation: X:108.40, Y:-5.81, Z:-1.44 [[ 9.99727134e-01 -2.33589767e-02 -1.26285185e-04 1.08400884e+02] [ 2.33589778e-02 9.99727142e-01 7.43734229e-06 -5.81321552e+00] [ 1.26076999e-04 -1.03852057e-05 9.99999992e-01 -1.44079143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.630371743 meters Centerline goodness [0,1] 0.9864267466400088 Centerline is valid? [True, True] Translation: X:108.43, Y:-5.81, Z:-1.44 [[ 9.99727537e-01 -2.33392528e-02 -3.61080803e-04 1.08432957e+02] [ 2.33392616e-02 9.99727602e-01 2.02075089e-05 -5.81160816e+00] [ 3.60510817e-04 -2.86293624e-05 9.99999935e-01 -1.44124963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660371743 meters Centerline goodness [0,1] 0.9863655541491795 Centerline is valid? [True, True] Translation: X:108.47, Y:-5.81, Z:-1.44 [[ 9.99741235e-01 -2.27466141e-02 2.34610124e-04 1.08465207e+02] [ 2.27466174e-02 9.99741262e-01 -1.16151328e-05 -5.81210726e+00] [-2.34285217e-04 1.69487140e-05 9.99999972e-01 -1.44158722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.690371743 meters Centerline goodness [0,1] 0.9883022728283593 Centerline is valid? [True, True] Translation: X:108.50, Y:-5.80, Z:-1.44 [[ 9.99760816e-01 -2.18657546e-02 4.47715093e-04 1.08497974e+02] [ 2.18657670e-02 9.99760915e-01 -2.29736643e-05 -5.80160715e+00] [-4.47105715e-04 3.27578032e-05 9.99999900e-01 -1.44025883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720371743 meters Centerline goodness [0,1] 0.9887870428050192 Centerline is valid? [True, True] Translation: X:108.53, Y:-5.80, Z:-1.44 [[ 9.99815281e-01 -1.92099172e-02 6.18528795e-04 1.08528292e+02] [ 1.92099413e-02 9.99815472e-01 -3.31064083e-05 -5.80050307e+00] [-6.17778687e-04 4.49821947e-05 9.99999808e-01 -1.44074074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.750371743 meters Centerline goodness [0,1] 0.98786229054642 Centerline is valid? [True, True] Translation: X:108.56, Y:-5.80, Z:-1.44 [[ 9.99846490e-01 -1.75198135e-02 2.27598721e-04 1.08559901e+02] [ 1.75198166e-02 9.99846516e-01 -1.17018328e-05 -5.79764763e+00] [-2.27358775e-04 1.56875243e-05 9.99999974e-01 -1.44143439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780371743 meters Centerline goodness [0,1] 0.9890578593599965 Centerline is valid? [True, True] Translation: X:108.59, Y:-5.79, Z:-1.44 [[ 9.99885791e-01 -1.51110417e-02 2.48711559e-04 1.08591057e+02] [ 1.51110454e-02 9.99885822e-01 -1.30800234e-05 -5.79368115e+00] [-2.48485509e-04 1.68368212e-05 9.99999969e-01 -1.44141398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.810371743 meters Centerline goodness [0,1] 0.9867242768872571 Centerline is valid? [True, True] Translation: X:108.62, Y:-5.80, Z:-1.45 [[ 9.99943861e-01 -1.05802388e-02 -5.77619456e-04 1.08620284e+02] [ 1.05802583e-02 9.99944027e-01 3.07150350e-05 -5.79919360e+00] [ 5.77262152e-04 -3.68246737e-05 9.99999833e-01 -1.44524282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84037174299999 meters Centerline goodness [0,1] 0.9887539964674581 Centerline is valid? [True, True] Translation: X:108.65, Y:-5.79, Z:-1.44 [[ 9.99964400e-01 -8.42135207e-03 -5.28124573e-04 1.08653087e+02] [ 8.42136858e-03 9.99964539e-01 2.90465094e-05 -5.78644694e+00] [ 5.27861234e-04 -3.34930071e-05 9.99999860e-01 -1.44375782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87037174299999 meters Centerline goodness [0,1] 0.9884255089173122 Centerline is valid? [True, True] Translation: X:108.68, Y:-5.78, Z:-1.44 [[ 9.99988041e-01 -4.79991065e-03 -9.37251585e-04 1.08683608e+02] [ 4.79995985e-03 9.99988479e-01 5.02518444e-05 -5.78305482e+00] [ 9.36999582e-04 -5.47500135e-05 9.99999560e-01 -1.44458556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900371743 meters Centerline goodness [0,1] 0.9885863803487245 Centerline is valid? [True, True] Translation: X:108.72, Y:-5.78, Z:-1.44 [[ 9.99993926e-01 -3.36590482e-03 -9.05241748e-04 1.08715037e+02] [ 3.36595059e-03 9.99994334e-01 4.90411921e-05 -5.78223286e+00] [ 9.05071551e-04 -5.20878932e-05 9.99999589e-01 -1.44487859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.930371743 meters Centerline goodness [0,1] 0.9890845943934508 Centerline is valid? [True, True] Translation: X:108.75, Y:-5.78, Z:-1.44 [[ 9.99998259e-01 -1.81805361e-03 -4.19260355e-04 1.08746557e+02] [ 1.81806341e-03 9.99998347e-01 2.29879260e-05 -5.77938883e+00] [ 4.19217869e-04 -2.37501278e-05 9.99999912e-01 -1.44488068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960371743 meters Centerline goodness [0,1] 0.9889856383580233 Centerline is valid? [True, True] Translation: X:108.78, Y:-5.77, Z:-1.44 [[ 9.99999579e-01 9.11958873e-04 9.92615293e-05 1.08777573e+02] [-9.11958349e-04 9.99999584e-01 -5.32901661e-06 -5.77334589e+00] [-9.92663479e-05 5.23849199e-06 9.99999995e-01 -1.44393633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.990371743 meters Centerline goodness [0,1] 0.9886453597520979 Centerline is valid? [True, True] Translation: X:108.81, Y:-5.77, Z:-1.44 [[ 9.99996120e-01 2.73296645e-03 5.39719007e-04 1.08806890e+02] [-2.73295138e-03 9.99996265e-01 -2.86610345e-05 -5.77476481e+00] [-5.39795321e-04 2.71858975e-05 9.99999854e-01 -1.44466077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020371743 meters Centerline goodness [0,1] 0.989587822970306 Centerline is valid? [True, True] Translation: X:108.84, Y:-5.76, Z:-1.44 [[ 9.99972618e-01 7.14814543e-03 1.91494153e-03 1.08837275e+02] [-7.14796116e-03 9.99974448e-01 -1.03055470e-04 -5.76373075e+00] [-1.91562925e-03 8.93647206e-05 9.99998161e-01 -1.44237471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.050371743 meters Centerline goodness [0,1] 0.9887169200610882 Centerline is valid? [True, True] Translation: X:108.87, Y:-5.77, Z:-1.44 [[ 9.99949428e-01 9.74434281e-03 2.48766586e-03 1.08865458e+02] [-9.74403913e-03 9.99952517e-01 -1.34168070e-04 -5.76747859e+00] [-2.48885511e-03 1.09921372e-04 9.99996897e-01 -1.44412642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080371743 meters Centerline goodness [0,1] 0.9893282970783653 Centerline is valid? [True, True] Translation: X:108.90, Y:-5.76, Z:-1.44 [[ 9.99917330e-01 1.25600169e-02 2.75288614e-03 1.08895711e+02] [-1.25596569e-02 9.99921113e-01 -1.48052641e-04 -5.75956939e+00] [-2.75452852e-03 1.13465096e-04 9.99996200e-01 -1.44312036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.110371743 meters Centerline goodness [0,1] 0.9895928636779506 Centerline is valid? [True, True] Translation: X:108.92, Y:-5.76, Z:-1.44 [[ 9.99846346e-01 1.71410195e-02 3.67001789e-03 1.08924939e+02] [-1.71404114e-02 9.99853073e-01 -1.97078453e-04 -5.75592823e+00] [-3.67285679e-03 1.34142554e-04 9.99993246e-01 -1.44374146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140371743 meters Centerline goodness [0,1] 0.9889611579333089 Centerline is valid? [True, True] Translation: X:108.95, Y:-5.76, Z:-1.45 [[ 9.99823706e-01 1.83039319e-02 4.18599046e-03 1.08953079e+02] [-1.83031506e-02 9.99832458e-01 -2.24890451e-04 -5.76003177e+00] [-4.18940551e-03 1.48233990e-04 9.99991213e-01 -1.44575244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.170371743 meters Centerline goodness [0,1] 0.9895635020758309 Centerline is valid? [True, True] Translation: X:108.98, Y:-5.75, Z:-1.45 [[ 9.99815734e-01 1.87372253e-02 4.17311150e-03 1.08982469e+02] [-1.87364538e-02 9.99824432e-01 -2.23912618e-04 -5.75361301e+00] [-4.17657433e-03 1.45682048e-04 9.99991267e-01 -1.44511996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.200371743 meters Centerline goodness [0,1] 0.98976054365544 Centerline is valid? [True, True] Translation: X:109.01, Y:-5.75, Z:-1.45 [[ 9.99829585e-01 1.79506734e-02 4.30976125e-03 1.09011521e+02] [-1.79498447e-02 9.99838862e-01 -2.30905738e-04 -5.75461465e+00] [-4.31321170e-03 1.53506843e-04 9.99990686e-01 -1.44575414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23037174299999 meters Centerline goodness [0,1] 0.9894775536460966 Centerline is valid? [True, True] Translation: X:109.04, Y:-5.75, Z:-1.45 [[ 9.99851894e-01 1.66357224e-02 4.40932386e-03 1.09040031e+02] [-1.66348436e-02 9.99861604e-01 -2.35913862e-04 -5.75492053e+00] [-4.41263823e-03 1.62530509e-04 9.99990251e-01 -1.44575598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260371743 meters Centerline goodness [0,1] 0.9888891439590459 Centerline is valid? [True, True] Translation: X:109.07, Y:-5.76, Z:-1.45 [[ 9.99906647e-01 1.28192898e-02 4.72900579e-03 1.09069255e+02] [-1.28182390e-02 9.99917811e-01 -2.52449714e-04 -5.75765115e+00] [-4.73185335e-03 1.91808621e-04 9.99988786e-01 -1.44638545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.290371743 meters Centerline goodness [0,1] 0.987844669117647 Centerline is valid? [True, True] Translation: X:109.10, Y:-5.76, Z:-1.45 [[ 9.99929142e-01 1.08823336e-02 4.82560542e-03 1.09097428e+02] [-1.08812182e-02 9.99940765e-01 -2.57330267e-04 -5.76287371e+00] [-4.82811993e-03 2.04803568e-04 9.99988324e-01 -1.44754012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320371743 meters Centerline goodness [0,1] 0.9878026370193412 Centerline is valid? [True, True] Translation: X:109.13, Y:-5.77, Z:-1.45 [[ 9.99965554e-01 6.65728381e-03 4.95702212e-03 1.09127248e+02] [-6.65605799e-03 9.99977813e-01 -2.63747908e-04 -5.76709810e+00] [-4.95866799e-03 2.30744596e-04 9.99987679e-01 -1.44791936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.350371743 meters Centerline goodness [0,1] 0.9873658626066221 Centerline is valid? [True, True] Translation: X:109.16, Y:-5.77, Z:-1.45 [[ 9.99977842e-01 4.70386645e-03 4.71047205e-03 1.09156492e+02] [-4.70273823e-03 9.99988911e-01 -2.50559521e-04 -5.77119657e+00] [-4.71159841e-03 2.28401852e-04 9.99988874e-01 -1.44873850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380371743 meters Centerline goodness [0,1] 0.9873316411698795 Centerline is valid? [True, True] Translation: X:109.19, Y:-5.77, Z:-1.45 [[ 9.99985571e-01 2.70832861e-03 4.63927535e-03 1.09187343e+02] [-2.70721635e-03 9.99996305e-01 -2.46011779e-04 -5.77055134e+00] [-4.63992449e-03 2.33448707e-04 9.99989208e-01 -1.44839037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.410371743 meters Centerline goodness [0,1] 0.9871815487813282 Centerline is valid? [True, True] Translation: X:109.22, Y:-5.77, Z:-1.45 [[ 9.99987741e-01 -1.01443496e-03 4.84654973e-03 1.09218334e+02] [ 1.01569448e-03 9.99999451e-01 -2.57426031e-04 -5.77125401e+00] [-4.84628593e-03 2.62345489e-04 9.99988222e-01 -1.44788372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440371743 meters Centerline goodness [0,1] 0.9873217115689382 Centerline is valid? [True, True] Translation: X:109.25, Y:-5.77, Z:-1.45 [[ 9.99984219e-01 -2.05054592e-03 5.23031737e-03 1.09249199e+02] [ 2.05202054e-03 9.99997856e-01 -2.76586262e-04 -5.77454753e+00] [-5.22973900e-03 2.87314616e-04 9.99986284e-01 -1.44781931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.470371743 meters Centerline goodness [0,1] 0.9862916188289322 Centerline is valid? [True, True] Translation: X:109.28, Y:-5.78, Z:-1.45 [[ 9.99980966e-01 -2.32257127e-03 5.71611387e-03 1.09281603e+02] [ 2.32435342e-03 9.99997252e-01 -3.05152375e-04 -5.77731033e+00] [-5.71538942e-03 3.18432835e-04 9.99983616e-01 -1.44869879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500371743 meters Centerline goodness [0,1] 0.9857715660442204 Centerline is valid? [True, True] Translation: X:109.31, Y:-5.78, Z:-1.45 [[ 9.99980039e-01 -2.06589429e-03 5.97099424e-03 1.09312795e+02] [ 2.06783514e-03 9.99997811e-01 -3.18890523e-04 -5.78395597e+00] [-5.97032238e-03 3.31231190e-04 9.99982123e-01 -1.44994506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.530371743 meters Centerline goodness [0,1] 0.9855919003115264 Centerline is valid? [True, True] Translation: X:109.34, Y:-5.79, Z:-1.45 [[ 9.99979475e-01 -2.13663955e-03 6.04022770e-03 1.09344075e+02] [ 2.13863429e-03 9.99997661e-01 -3.23803921e-04 -5.78707007e+00] [-6.03952172e-03 3.36715113e-04 9.99981705e-01 -1.45083021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.560371743 meters Centerline goodness [0,1] 0.9875984658842982 Centerline is valid? [True, True] Translation: X:109.38, Y:-5.78, Z:-1.45 [[ 9.99983037e-01 -3.72964919e-03 4.47394510e-03 1.09376762e+02] [ 3.73075878e-03 9.99993012e-01 -2.39691990e-04 -5.78184107e+00] [-4.47301987e-03 2.56379134e-04 9.99989963e-01 -1.45095266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59037174299999 meters Centerline goodness [0,1] 0.9875415854078238 Centerline is valid? [True, True] Translation: X:109.41, Y:-5.78, Z:-1.45 [[ 9.99985033e-01 -4.36171910e-03 3.30294917e-03 1.09408321e+02] [ 4.36232786e-03 9.99990469e-01 -1.77126445e-04 -5.78455714e+00] [-3.30214512e-03 1.91532341e-04 9.99994530e-01 -1.45266859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62037174299999 meters Centerline goodness [0,1] 0.9880124009645195 Centerline is valid? [True, True] Translation: X:109.44, Y:-5.79, Z:-1.46 [[ 9.99989541e-01 -4.45857502e-03 1.01894069e-03 1.09440462e+02] [ 4.45863231e-03 9.99990059e-01 -5.39564478e-05 -5.78567999e+00] [-1.01868999e-03 5.84989654e-05 9.99999479e-01 -1.45500956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.650371743 meters Centerline goodness [0,1] 0.9879816513761468 Centerline is valid? [True, True] Translation: X:109.47, Y:-5.79, Z:-1.46 [[ 9.99991434e-01 -4.13839948e-03 7.05931188e-05 1.09471486e+02] [ 4.13839971e-03 9.99991437e-01 -3.07660906e-06 -5.78888965e+00] [-7.05797821e-05 3.36872525e-06 9.99999998e-01 -1.45676221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680371743 meters Centerline goodness [0,1] 0.9873545544259059 Centerline is valid? [True, True] Translation: X:109.50, Y:-5.79, Z:-1.46 [[ 9.99993150e-01 -3.67809759e-03 -4.13657812e-04 1.09502537e+02] [ 3.67810745e-03 9.99993235e-01 2.30717203e-05 -5.79289622e+00] [ 4.13570154e-04 -2.45930401e-05 9.99999914e-01 -1.45829758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.710371743 meters Centerline goodness [0,1] 0.9875237506581508 Centerline is valid? [True, True] Translation: X:109.53, Y:-5.79, Z:-1.46 [[ 9.99997603e-01 -2.17281773e-03 -2.68196090e-04 1.09533730e+02] [ 2.17282183e-03 9.99997639e-01 1.49867304e-05 -5.79089844e+00] [ 2.68162893e-04 -1.55694368e-05 9.99999964e-01 -1.45799357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740371743 meters Centerline goodness [0,1] 0.9878138508231399 Centerline is valid? [True, True] Translation: X:109.56, Y:-5.79, Z:-1.46 [[ 9.99999491e-01 -9.32176829e-04 3.87025634e-04 1.09564836e+02] [ 9.32184906e-04 9.99999565e-01 -2.06912374e-05 -5.79165013e+00] [-3.87006178e-04 2.10520063e-05 9.99999925e-01 -1.45789368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.770371743 meters Centerline goodness [0,1] 0.9875756390493063 Centerline is valid? [True, True] Translation: X:109.60, Y:-5.79, Z:-1.46 [[ 9.99996259e-01 1.93383127e-03 1.93465296e-03 1.09595719e+02] [-1.93363245e-03 9.99998125e-01 -1.04631529e-04 -5.78694087e+00] [-1.93485168e-03 1.00890230e-04 9.99998123e-01 -1.45558820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800371743 meters Centerline goodness [0,1] 0.9876887608069165 Centerline is valid? [True, True] Translation: X:109.63, Y:-5.79, Z:-1.46 [[ 9.99990318e-01 3.21990138e-03 2.99942498e-03 1.09625342e+02] [-3.21942870e-03 9.99994804e-01 -1.62406353e-04 -5.78970946e+00] [-2.99993232e-03 1.52748345e-04 9.99995489e-01 -1.45521424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.830371743 meters Centerline goodness [0,1] 0.9876887608069165 Centerline is valid? [True, True] Translation: X:109.66, Y:-5.79, Z:-1.46 [[ 9.99990318e-01 3.21989810e-03 2.99943806e-03 1.09655336e+02] [-3.21942614e-03 9.99994804e-01 -1.62164316e-04 -5.79133118e+00] [-2.99994463e-03 1.52506277e-04 9.99995489e-01 -1.45562138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860371743 meters Centerline goodness [0,1] 0.9883854645814167 Centerline is valid? [True, True] Translation: X:109.69, Y:-5.79, Z:-1.46 [[ 9.99981552e-01 4.67030857e-03 3.88383000e-03 1.09686104e+02] [-4.66952817e-03 9.99989076e-01 -2.09978877e-04 -5.78956255e+00] [-3.88476824e-03 1.91839350e-04 9.99992436e-01 -1.45504265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.890371743 meters Centerline goodness [0,1] 0.9875388690544743 Centerline is valid? [True, True] Translation: X:109.72, Y:-5.79, Z:-1.45 [[ 9.99963124e-01 6.98874378e-03 4.99070843e-03 1.09715523e+02] [-6.98748322e-03 9.99975551e-01 -2.69973349e-04 -5.79166470e+00] [-4.99247318e-03 2.35090903e-04 9.99987510e-01 -1.45441946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920371743 meters Centerline goodness [0,1] 0.988673924600698 Centerline is valid? [True, True] Translation: X:109.75, Y:-5.79, Z:-1.45 [[ 9.99959671e-01 7.74425258e-03 4.54788328e-03 1.09745089e+02] [-7.74321310e-03 9.99969991e-01 -2.46127365e-04 -5.78676356e+00] [-4.54965288e-03 2.10902209e-04 9.99989628e-01 -1.45369295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.950371743 meters Centerline goodness [0,1] 0.9890930892153019 Centerline is valid? [True, True] Translation: X:109.77, Y:-5.79, Z:-1.45 [[ 9.99955379e-01 8.33992110e-03 4.43690471e-03 1.09773891e+02] [-8.33893753e-03 9.99965202e-01 -2.40133460e-04 -5.78871127e+00] [-4.43875301e-03 2.03123674e-04 9.99990128e-01 -1.45437583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98037174299999 meters Centerline goodness [0,1] 0.9881914376345828 Centerline is valid? [True, True] Translation: X:109.80, Y:-5.79, Z:-1.46 [[ 9.99956247e-01 8.96375473e-03 2.67480935e-03 1.09802396e+02] [-8.96339863e-03 9.99959817e-01 -1.45090997e-04 -5.78872118e+00] [-2.67600243e-03 1.21109266e-04 9.99996412e-01 -1.45614054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.010371743 meters Centerline goodness [0,1] 0.9886466113256411 Centerline is valid? [True, True] Translation: X:109.83, Y:-5.79, Z:-1.46 [[ 9.99956831e-01 9.05583639e-03 2.08023958e-03 1.09831156e+02] [-9.05562108e-03 9.99958991e-01 -1.12900993e-04 -5.79043992e+00] [-2.08117668e-03 9.40582579e-05 9.99997830e-01 -1.45742261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040371743 meters Centerline goodness [0,1] 0.989160831079988 Centerline is valid? [True, True] Translation: X:109.86, Y:-5.79, Z:-1.46 [[ 9.99957679e-01 9.08126597e-03 1.47355977e-03 1.09860298e+02] [-9.08115766e-03 9.99958762e-01 -8.01743669e-05 -5.78971199e+00] [-1.47422709e-03 6.67893451e-05 9.99998911e-01 -1.45800527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.070371743 meters Centerline goodness [0,1] 0.9887705353635713 Centerline is valid? [True, True] Translation: X:109.89, Y:-5.79, Z:-1.46 [[ 9.99958942e-01 9.04290801e-03 5.82608664e-04 1.09887619e+02] [-9.04289062e-03 9.99959112e-01 -3.24768750e-05 -5.79337265e+00] [-5.82878527e-04 2.72070752e-05 9.99999830e-01 -1.45959097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100371743 meters Centerline goodness [0,1] 0.9887643047046584 Centerline is valid? [True, True] Translation: X:109.92, Y:-5.79, Z:-1.46 [[ 9.99958822e-01 9.07283612e-03 1.97329064e-04 1.09916079e+02] [-9.07283402e-03 9.99958841e-01 -1.15540710e-05 -5.79284065e+00] [-1.97425770e-04 9.76326138e-06 9.99999980e-01 -1.45955728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.130371743 meters Centerline goodness [0,1] 0.9879167340526304 Centerline is valid? [True, True] Translation: X:109.94, Y:-5.80, Z:-1.46 [[ 9.99958844e-01 9.06587341e-03 3.46039113e-04 1.09943811e+02] [-9.06586712e-03 9.99958904e-01 -1.97224627e-05 -5.79561883e+00] [-3.46203693e-04 1.65845064e-05 9.99999940e-01 -1.45990100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160371743 meters Centerline goodness [0,1] 0.9881904321700947 Centerline is valid? [True, True] Translation: X:109.97, Y:-5.80, Z:-1.46 [[ 9.99950598e-01 9.67873137e-03 2.26367773e-03 1.09972931e+02] [-9.67848021e-03 9.99953155e-01 -1.21879979e-04 -5.79713956e+00] [-2.26475133e-03 9.99649981e-05 9.99997430e-01 -1.45879566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.190371743 meters Centerline goodness [0,1] 0.9879815455594002 Centerline is valid? [True, True] Translation: X:110.00, Y:-5.80, Z:-1.46 [[ 9.99946732e-01 9.89461830e-03 2.93751063e-03 1.10000632e+02] [-9.89419721e-03 9.99951039e-01 -1.57847470e-04 -5.79991474e+00] [-2.93892865e-03 1.28774753e-04 9.99995673e-01 -1.45842061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220371743 meters Centerline goodness [0,1] 0.9875869374971212 Centerline is valid? [True, True] Translation: X:110.03, Y:-5.80, Z:-1.46 [[ 9.99941925e-01 9.95993913e-03 4.11650692e-03 1.10029307e+02] [-9.95911680e-03 9.99950383e-01 -2.20216071e-04 -5.80101980e+00] [-4.11849601e-03 1.79206509e-04 9.99991503e-01 -1.45695119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.250371743 meters Centerline goodness [0,1] 0.9878635746033209 Centerline is valid? [True, True] Translation: X:110.06, Y:-5.80, Z:-1.46 [[ 9.99941494e-01 9.94991927e-03 4.24344265e-03 1.10057706e+02] [-9.94904671e-03 9.99950481e-01 -2.26683963e-04 -5.80213576e+00] [-4.24548800e-03 1.84452492e-04 9.99990971e-01 -1.45646761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280371743 meters Centerline goodness [0,1] 0.987905543675703 Centerline is valid? [True, True] Translation: X:110.09, Y:-5.80, Z:-1.46 [[ 9.99945196e-01 9.55363414e-03 4.28174365e-03 1.10086603e+02] [-9.55274350e-03 9.99954345e-01 -2.28411608e-04 -5.80423176e+00] [-4.28373033e-03 1.87496691e-04 9.99990807e-01 -1.45667615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.310371743 meters Centerline goodness [0,1] 0.9881520940484938 Centerline is valid? [True, True] Translation: X:110.11, Y:-5.81, Z:-1.46 [[ 9.99946206e-01 9.64161947e-03 3.82418371e-03 1.10114162e+02] [-9.64090969e-03 9.99953505e-01 -2.03996163e-04 -5.80796422e+00] [-3.82597275e-03 1.67116580e-04 9.99992667e-01 -1.45762379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34037174299999 meters Centerline goodness [0,1] 0.9891544117647059 Centerline is valid? [True, True] Translation: X:110.14, Y:-5.81, Z:-1.46 [[ 9.99937412e-01 1.08287847e-02 2.81236399e-03 1.10142938e+02] [-1.08284058e-02 9.99941360e-01 -1.49902365e-04 -5.80917433e+00] [-2.81382234e-03 1.19439564e-04 9.99996034e-01 -1.45898306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37037174299999 meters Centerline goodness [0,1] 0.9898927107795736 Centerline is valid? [True, True] Translation: X:110.17, Y:-5.81, Z:-1.46 [[ 9.99926115e-01 1.18975666e-02 2.49263511e-03 1.10172041e+02] [-1.18972725e-02 9.99929216e-01 -1.32794063e-04 -5.81067054e+00] [-2.49403859e-03 1.03128693e-04 9.99996885e-01 -1.45984149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400371743 meters Centerline goodness [0,1] 0.9888157591936301 Centerline is valid? [True, True] Translation: X:110.20, Y:-5.81, Z:-1.46 [[ 9.99915759e-01 1.28116326e-02 2.08247435e-03 1.10199728e+02] [-1.28114289e-02 9.99917924e-01 -1.11152818e-04 -5.81297174e+00] [-2.08372748e-03 8.44639828e-05 9.99997825e-01 -1.46062502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.430371743 meters Centerline goodness [0,1] 0.9893257263797188 Centerline is valid? [True, True] Translation: X:110.23, Y:-5.82, Z:-1.46 [[ 9.99882089e-01 1.51370049e-02 2.58448335e-03 1.10227354e+02] [-1.51367003e-02 9.99885424e-01 -1.37410237e-04 -5.81536471e+00] [-2.58626721e-03 9.82734847e-05 9.99996651e-01 -1.46056911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460371743 meters Centerline goodness [0,1] 0.9897452405040007 Centerline is valid? [True, True] Translation: X:110.26, Y:-5.82, Z:-1.46 [[ 9.99867773e-01 1.60139389e-02 2.82678646e-03 1.10256329e+02] [-1.60135794e-02 9.99871763e-01 -1.49744056e-04 -5.81663082e+00] [-2.82882195e-03 1.04457287e-04 9.99995993e-01 -1.46052625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.490371743 meters Centerline goodness [0,1] 0.9899045521292217 Centerline is valid? [True, True] Translation: X:110.29, Y:-5.82, Z:-1.46 [[ 9.99853091e-01 1.69199112e-02 2.74093002e-03 1.10285337e+02] [-1.69195771e-02 9.99856843e-01 -1.45038427e-04 -5.81764681e+00] [-2.74299168e-03 9.86417425e-05 9.99996233e-01 -1.46055525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520371743 meters Centerline goodness [0,1] 0.9907799135473191 Centerline is valid? [True, True] Translation: X:110.31, Y:-5.82, Z:-1.46 [[ 9.99842775e-01 1.76537552e-02 1.66445131e-03 1.10313963e+02] [-1.76536325e-02 9.99844159e-01 -8.83578938e-05 -5.81797238e+00] [-1.66575177e-03 5.89603900e-05 9.99998611e-01 -1.46015960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.550371743 meters Centerline goodness [0,1] 0.9900050433267618 Centerline is valid? [True, True] Translation: X:110.34, Y:-5.82, Z:-1.46 [[ 9.99839747e-01 1.78478098e-02 1.39157057e-03 1.10341504e+02] [-1.78477239e-02 9.99840714e-01 -7.41430585e-05 -5.82198262e+00] [-1.39267220e-03 4.92948096e-05 9.99999029e-01 -1.46172858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580371743 meters Centerline goodness [0,1] 0.9907492214691336 Centerline is valid? [True, True] Translation: X:110.37, Y:-5.83, Z:-1.46 [[ 9.99851468e-01 1.71864271e-02 1.29145607e-03 1.10370476e+02] [-1.71863529e-02 9.99852301e-01 -6.85569800e-05 -5.82554066e+00] [-1.29244358e-03 4.63513773e-05 9.99999164e-01 -1.46198982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.610371743 meters Centerline goodness [0,1] 0.9907604345340194 Centerline is valid? [True, True] Translation: X:110.40, Y:-5.83, Z:-1.46 [[ 9.99858153e-01 1.67532666e-02 1.73250089e-03 1.10398171e+02] [-1.67531328e-02 9.99859652e-01 -9.17188812e-05 -5.83030873e+00] [-1.73379433e-03 6.26810535e-05 9.99998495e-01 -1.46260841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640371743 meters Centerline goodness [0,1] 0.9908152334936299 Centerline is valid? [True, True] Translation: X:110.43, Y:-5.83, Z:-1.46 [[ 9.99874638e-01 1.55546178e-02 2.96006754e-03 1.10427061e+02] [-1.55542259e-02 9.99879014e-01 -1.55380650e-04 -5.83467574e+00] [-2.96212630e-03 1.09319611e-04 9.99995607e-01 -1.46197887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.670371743 meters Centerline goodness [0,1] 0.9905890395351487 Centerline is valid? [True, True] Translation: X:110.45, Y:-5.84, Z:-1.46 [[ 9.99885666e-01 1.47342542e-02 3.39951301e-03 1.10454378e+02] [-1.47337333e-02 9.99891437e-01 -1.78241741e-04 -5.83850421e+00] [-3.40177021e-03 1.28133844e-04 9.99994206e-01 -1.46192813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.700371743 meters Centerline goodness [0,1] 0.9907428519312326 Centerline is valid? [True, True] Translation: X:110.48, Y:-5.84, Z:-1.46 [[ 9.99899736e-01 1.36299433e-02 3.83972618e-03 1.10482820e+02] [-1.36292729e-02 9.99907097e-01 -2.00704378e-04 -5.83841352e+00] [-3.84210505e-03 1.48351579e-04 9.99992608e-01 -1.46090080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73037174299999 meters Centerline goodness [0,1] 0.991016052535571 Centerline is valid? [True, True] Translation: X:110.51, Y:-5.84, Z:-1.46 [[ 9.99931874e-01 1.06744382e-02 4.72267140e-03 1.10512083e+02] [-1.06733953e-02 9.99943007e-01 -2.45985618e-04 -5.84378899e+00] [-4.72502800e-03 1.95561922e-04 9.99988818e-01 -1.46102542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760371743 meters Centerline goodness [0,1] 0.9891499262285779 Centerline is valid? [True, True] Translation: X:110.54, Y:-5.85, Z:-1.46 [[ 9.99952954e-01 8.62439191e-03 4.43960150e-03 1.10540198e+02] [-8.62344987e-03 9.99962791e-01 -2.31288937e-04 -5.85446368e+00] [-4.44143103e-03 1.92993375e-04 9.99990118e-01 -1.46300337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.790371743 meters Centerline goodness [0,1] 0.989973459156591 Centerline is valid? [True, True] Translation: X:110.57, Y:-5.86, Z:-1.46 [[ 9.99988938e-01 3.56477123e-03 3.06856599e-03 1.10570397e+02] [-3.56429856e-03 9.99993635e-01 -1.59489622e-04 -5.85542499e+00] [-3.06911500e-03 1.48550572e-04 9.99995279e-01 -1.46318435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820371743 meters Centerline goodness [0,1] 0.9899376770538244 Centerline is valid? [True, True] Translation: X:110.60, Y:-5.86, Z:-1.46 [[ 9.99997446e-01 7.90074286e-04 2.11767354e-03 1.10599568e+02] [-7.89842813e-04 9.99999682e-01 -1.10139615e-04 -5.86104293e+00] [-2.11775989e-03 1.08466705e-04 9.99997752e-01 -1.46453959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.850371743 meters Centerline goodness [0,1] 0.9901194280145943 Centerline is valid? [True, True] Translation: X:110.63, Y:-5.87, Z:-1.47 [[ 9.99998784e-01 -1.08381315e-03 1.12095199e-03 1.10629994e+02] [ 1.08387880e-03 9.99999411e-01 -5.79543961e-05 -5.86621860e+00] [-1.12088851e-03 5.91693017e-05 9.99999370e-01 -1.46608041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880371743 meters Centerline goodness [0,1] 0.9902956545343498 Centerline is valid? [True, True] Translation: X:110.66, Y:-5.87, Z:-1.47 [[ 9.99992288e-01 -3.87895963e-03 -6.14685536e-04 1.10660376e+02] [ 3.87898013e-03 9.99992476e-01 3.21626708e-05 -5.87060205e+00] [ 6.14556154e-04 -3.45467757e-05 9.99999811e-01 -1.46737719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.910371743 meters Centerline goodness [0,1] 0.9901830245311548 Centerline is valid? [True, True] Translation: X:110.69, Y:-5.88, Z:-1.47 [[ 9.99989863e-01 -4.44605998e-03 -7.11769966e-04 1.10691329e+02] [ 4.44608795e-03 9.99990115e-01 3.77190979e-05 -5.87532473e+00] [ 7.11595229e-04 -4.08833074e-05 9.99999746e-01 -1.46858890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940371743 meters Centerline goodness [0,1] 0.9897411616161617 Centerline is valid? [True, True] Translation: X:110.72, Y:-5.87, Z:-1.47 [[ 9.99994498e-01 -3.31690927e-03 4.06637946e-05 1.10722925e+02] [ 3.31690933e-03 9.99994499e-01 -1.62796372e-06 -5.87477948e+00] [-4.06581712e-05 1.76283289e-06 9.99999999e-01 -1.46753632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.970371743 meters Centerline goodness [0,1] 0.9890077645359335 Centerline is valid? [True, True] Translation: X:110.75, Y:-5.88, Z:-1.47 [[ 9.99997359e-01 -2.03040940e-03 1.07632595e-03 1.10753228e+02] [ 2.03047060e-03 9.99997937e-01 -5.57676106e-05 -5.87791575e+00] [-1.07621050e-03 5.79529115e-05 9.99999419e-01 -1.46781869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000371743 meters Centerline goodness [0,1] 0.9895371960589352 Centerline is valid? [True, True] Translation: X:110.78, Y:-5.88, Z:-1.47 [[ 9.99998265e-01 -4.83407993e-05 1.86211455e-03 1.10783953e+02] [ 4.85205656e-05 9.99999994e-01 -9.64937430e-05 -5.87982642e+00] [-1.86210987e-03 9.65839264e-05 9.99998262e-01 -1.46756930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.030371743 meters Centerline goodness [0,1] 0.989733848902155 Centerline is valid? [True, True] Translation: X:110.82, Y:-5.88, Z:-1.47 [[ 9.99993737e-01 2.25795162e-03 2.72554677e-03 1.10815571e+02] [-2.25757422e-03 9.99997442e-01 -1.41536596e-04 -5.87534978e+00] [-2.72585938e-03 1.35382586e-04 9.99996276e-01 -1.46587128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.060371743 meters Centerline goodness [0,1] 0.9909781576448243 Centerline is valid? [True, True] Translation: X:110.85, Y:-5.87, Z:-1.47 [[ 9.99967802e-01 7.01764716e-03 3.89204134e-03 1.10846764e+02] [-7.01691108e-03 9.99975361e-01 -2.02748072e-04 -5.87297288e+00] [-3.89336826e-03 1.75431436e-04 9.99992405e-01 -1.46502492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09037174299999 meters Centerline goodness [0,1] 0.9902532790592492 Centerline is valid? [True, True] Translation: X:110.88, Y:-5.88, Z:-1.47 [[ 9.99948501e-01 9.23177575e-03 4.21541757e-03 1.10875063e+02] [-9.23092933e-03 9.99957370e-01 -2.20202412e-04 -5.87578031e+00] [-4.21727072e-03 1.81278850e-04 9.99991091e-01 -1.46557678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12037174299999 meters Centerline goodness [0,1] 0.9910910118711136 Centerline is valid? [True, True] Translation: X:110.91, Y:-5.87, Z:-1.47 [[ 9.99904535e-01 1.29471626e-02 4.82613982e-03 1.10905554e+02] [-1.29460997e-02 9.99916164e-01 -2.51421142e-04 -5.87455713e+00] [-4.82899041e-03 1.88917453e-04 9.99988323e-01 -1.46565636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.150371743 meters Centerline goodness [0,1] 0.9905537018667148 Centerline is valid? [True, True] Translation: X:110.93, Y:-5.88, Z:-1.47 [[ 9.99877608e-01 1.47030117e-02 5.34704073e-03 1.10932874e+02] [-1.47017295e-02 9.99891885e-01 -2.79020957e-04 -5.87673319e+00] [-5.35056508e-03 2.00376061e-04 9.99985666e-01 -1.46669910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180371743 meters Centerline goodness [0,1] 0.99095799990958 Centerline is valid? [True, True] Translation: X:110.96, Y:-5.88, Z:-1.47 [[ 9.99855058e-01 1.63048388e-02 4.90047330e-03 1.10959974e+02] [-1.63037827e-02 9.99867052e-01 -2.55369556e-04 -5.88386393e+00] [-4.90398555e-03 1.75436290e-04 9.99987960e-01 -1.46899216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.210371743 meters Centerline goodness [0,1] 0.9921533258173619 Centerline is valid? [True, True] Translation: X:110.99, Y:-5.88, Z:-1.47 [[ 9.99806238e-01 1.91638567e-02 4.49821725e-03 1.10989538e+02] [-1.91629966e-02 9.99816345e-01 -2.34241512e-04 -5.88117964e+00] [-4.50188010e-03 1.47996803e-04 9.99989856e-01 -1.46937606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240371743 meters Centerline goodness [0,1] 0.9923406172561388 Centerline is valid? [True, True] Translation: X:111.02, Y:-5.88, Z:-1.47 [[ 9.99789330e-01 2.00966719e-02 4.17359396e-03 1.11018447e+02] [-2.00959422e-02 9.99798033e-01 -2.16707344e-04 -5.88121612e+00] [-4.17710613e-03 1.32789388e-04 9.99991267e-01 -1.46952200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.270371743 meters Centerline goodness [0,1] 0.9923009189225802 Centerline is valid? [True, True] Translation: X:111.05, Y:-5.88, Z:-1.47 [[ 9.99774466e-01 2.09353206e-02 3.56776104e-03 1.11047265e+02] [-2.09347930e-02 9.99780826e-01 -1.85149803e-04 -5.88226236e+00] [-3.57085525e-03 1.10417706e-04 9.99993618e-01 -1.46969654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300371743 meters Centerline goodness [0,1] 0.9927164152095727 Centerline is valid? [True, True] Translation: X:111.08, Y:-5.89, Z:-1.47 [[ 9.99741802e-01 2.25193636e-02 3.03430786e-03 1.11075080e+02] [-2.25189889e-02 9.99746403e-01 -1.57583054e-04 -5.88678323e+00] [-3.03708704e-03 8.92128217e-05 9.99995384e-01 -1.47063970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.330371743 meters Centerline goodness [0,1] 0.9927384254561036 Centerline is valid? [True, True] Translation: X:111.10, Y:-5.89, Z:-1.47 [[ 9.99720776e-01 2.34201182e-02 3.14144838e-03 1.11104193e+02] [-2.34197228e-02 9.99725707e-01 -1.62602841e-04 -5.88969013e+00] [-3.14439489e-03 8.89855881e-05 9.99995052e-01 -1.47148230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360371743 meters Centerline goodness [0,1] 0.9927549316119713 Centerline is valid? [True, True] Translation: X:111.13, Y:-5.89, Z:-1.47 [[ 9.99691268e-01 2.47312044e-02 2.39490444e-03 1.11132898e+02] [-2.47309782e-02 9.99694135e-01 -1.24014413e-04 -5.89413083e+00] [-2.39723894e-03 6.47477966e-05 9.99997125e-01 -1.47263929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.390371743 meters Centerline goodness [0,1] 0.9923621251263619 Centerline is valid? [True, True] Translation: X:111.16, Y:-5.90, Z:-1.47 [[ 9.99673812e-01 2.54227211e-02 2.44039630e-03 1.11161278e+02] [-2.54224888e-02 9.99676788e-01 -1.26180314e-04 -5.89636981e+00] [-2.44281538e-03 6.40982080e-05 9.99997014e-01 -1.47270280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420371743 meters Centerline goodness [0,1] 0.9928115915902382 Centerline is valid? [True, True] Translation: X:111.19, Y:-5.90, Z:-1.47 [[ 9.99667532e-01 2.56672799e-02 2.45286285e-03 1.11190593e+02] [-2.56670463e-02 9.99670539e-01 -1.26677451e-04 -5.89661083e+00] [-2.45530619e-03 6.36775904e-05 9.99996984e-01 -1.47218417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.450371743 meters Centerline goodness [0,1] 0.9923775689166704 Centerline is valid? [True, True] Translation: X:111.22, Y:-5.90, Z:-1.47 [[ 9.99628640e-01 2.70567522e-02 3.24242708e-03 1.11219423e+02] [-2.70563530e-02 9.99633896e-01 -1.66909269e-04 -5.89983898e+00] [-3.24575604e-03 7.91190343e-05 9.99994729e-01 -1.47168587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48037174299999 meters Centerline goodness [0,1] 0.9927575227588681 Centerline is valid? [True, True] Translation: X:111.25, Y:-5.90, Z:-1.47 [[ 9.99611373e-01 2.76343939e-02 3.66661469e-03 1.11247187e+02] [-2.76338882e-02 9.99618093e-01 -1.88518707e-04 -5.90338885e+00] [-3.67042398e-03 8.71226230e-05 9.99993260e-01 -1.47203307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.510371743 meters Centerline goodness [0,1] 0.9932123160738607 Centerline is valid? [True, True] Translation: X:111.27, Y:-5.91, Z:-1.47 [[ 9.99574218e-01 2.87896997e-02 4.74711071e-03 1.11274952e+02] [-2.87888689e-02 9.99585485e-01 -2.43259801e-04 -5.90880190e+00] [-4.75214634e-03 1.06492277e-04 9.99988703e-01 -1.47297299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540371743 meters Centerline goodness [0,1] 0.9929793867617702 Centerline is valid? [True, True] Translation: X:111.30, Y:-5.91, Z:-1.47 [[ 9.99569467e-01 2.88738434e-02 5.21360837e-03 1.11303559e+02] [-2.88728462e-02 9.99583057e-01 -2.66437500e-04 -5.91050743e+00] [-5.21912767e-03 1.15791077e-04 9.99986374e-01 -1.47281906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.570371743 meters Centerline goodness [0,1] 0.9929065358019183 Centerline is valid? [True, True] Translation: X:111.33, Y:-5.91, Z:-1.47 [[ 9.99562328e-01 2.90284342e-02 5.70111949e-03 1.11331541e+02] [-2.90272449e-02 9.99578578e-01 -2.91260680e-04 -5.91325943e+00] [-5.70717176e-03 1.25645412e-04 9.99983706e-01 -1.47328713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600371743 meters Centerline goodness [0,1] 0.992922415337753 Centerline is valid? [True, True] Translation: X:111.36, Y:-5.92, Z:-1.47 [[ 9.99571085e-01 2.87702756e-02 5.46970007e-03 1.11359921e+02] [-2.87691828e-02 9.99586043e-01 -2.78383932e-04 -5.91608089e+00] [-5.47544503e-03 1.20905728e-04 9.99985002e-01 -1.47362401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.630371743 meters Centerline goodness [0,1] 0.9932168596737845 Centerline is valid? [True, True] Translation: X:111.39, Y:-5.92, Z:-1.47 [[ 9.99580341e-01 2.84706887e-02 5.34434214e-03 1.11388389e+02] [-2.84696430e-02 9.99594621e-01 -2.71646003e-04 -5.92082896e+00] [-5.34990960e-03 1.19380492e-04 9.99985682e-01 -1.47373301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660371743 meters Centerline goodness [0,1] 0.9927718906860011 Centerline is valid? [True, True] Translation: X:111.42, Y:-5.92, Z:-1.47 [[ 9.99594941e-01 2.80248739e-02 4.95593621e-03 1.11417075e+02] [-2.80239706e-02 9.99607220e-01 -2.51623005e-04 -5.92421972e+00] [-4.96104132e-03 1.12636072e-04 9.99987688e-01 -1.47435169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.690371743 meters Centerline goodness [0,1] 0.9925409690060563 Centerline is valid? [True, True] Translation: X:111.44, Y:-5.93, Z:-1.48 [[ 9.99611494e-01 2.74521409e-02 4.82092942e-03 1.11444522e+02] [-2.74512789e-02 9.99623113e-01 -2.44897142e-04 -5.92896040e+00] [-4.82583542e-03 1.12461320e-04 9.99988349e-01 -1.47516739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720371743 meters Centerline goodness [0,1] 0.9925230317326094 Centerline is valid? [True, True] Translation: X:111.47, Y:-5.94, Z:-1.48 [[ 9.99629845e-01 2.67630987e-02 4.88981068e-03 1.11472825e+02] [-2.67622090e-02 9.99641797e-01 -2.47300594e-04 -5.93550014e+00] [-4.89467767e-03 1.16346919e-04 9.99988014e-01 -1.47566935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.750371743 meters Centerline goodness [0,1] 0.9925230317326094 Centerline is valid? [True, True] Translation: X:111.50, Y:-5.94, Z:-1.48 [[ 9.99632675e-01 2.66571631e-02 4.88981282e-03 1.11500258e+02] [-2.66562723e-02 9.99644628e-01 -2.47259161e-04 -5.93679268e+00] [-4.89466634e-03 1.16824155e-04 9.99988014e-01 -1.47604184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780371743 meters Centerline goodness [0,1] 0.9933325949717576 Centerline is valid? [True, True] Translation: X:111.53, Y:-5.94, Z:-1.48 [[ 9.99623300e-01 2.69787617e-02 5.04037684e-03 1.11528897e+02] [-2.69778238e-02 9.99636000e-01 -2.53991538e-04 -5.93989642e+00] [-5.04539452e-03 1.17917461e-04 9.99987265e-01 -1.47625060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.810371743 meters Centerline goodness [0,1] 0.993580345639522 Centerline is valid? [True, True] Translation: X:111.56, Y:-5.94, Z:-1.48 [[ 9.99603682e-01 2.75084261e-02 5.98046283e-03 1.11557210e+02] [-2.75071187e-02 9.99621562e-01 -3.00773938e-04 -5.94376602e+00] [-5.98647341e-03 1.36149435e-04 9.99982072e-01 -1.47616491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84037174299999 meters Centerline goodness [0,1] 0.9939594483555042 Centerline is valid? [True, True] Translation: X:111.59, Y:-5.95, Z:-1.48 [[ 9.99583933e-01 2.81781482e-02 6.16054700e-03 1.11585676e+02] [-2.81767765e-02 9.99602908e-01 -3.09360053e-04 -5.94689812e+00] [-6.16681789e-03 1.35646983e-04 9.99980976e-01 -1.47657813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87037174299999 meters Centerline goodness [0,1] 0.9934637626570358 Centerline is valid? [True, True] Translation: X:111.61, Y:-5.95, Z:-1.48 [[ 9.99587071e-01 2.81028369e-02 5.99322845e-03 1.11612810e+02] [-2.81015361e-02 9.99605028e-01 -3.01159925e-04 -5.95141496e+00] [-5.99932475e-03 1.32616641e-04 9.99981995e-01 -1.47767003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900371743 meters Centerline goodness [0,1] 0.9941714868249009 Centerline is valid? [True, True] Translation: X:111.64, Y:-5.96, Z:-1.48 [[ 9.99591752e-01 2.78561265e-02 6.35337455e-03 1.11640269e+02] [-2.78546689e-02 9.99611933e-01 -3.17811423e-04 -5.95767649e+00] [-6.35976201e-03 1.40710532e-04 9.99979767e-01 -1.47814688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.930371743 meters Centerline goodness [0,1] 0.9938215559049538 Centerline is valid? [True, True] Translation: X:111.67, Y:-5.96, Z:-1.48 [[ 9.99609874e-01 2.71286676e-02 6.64337028e-03 1.11669121e+02] [-2.71270646e-02 9.99631939e-01 -3.31303267e-04 -5.96084586e+00] [-6.64991293e-03 1.50958882e-04 9.99977878e-01 -1.47796302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960371743 meters Centerline goodness [0,1] 0.9932127195398752 Centerline is valid? [True, True] Translation: X:111.70, Y:-5.97, Z:-1.48 [[ 9.99660333e-01 2.50528905e-02 7.18136667e-03 1.11697437e+02] [-2.50509680e-02 9.99686111e-01 -3.57535406e-04 -5.96746032e+00] [-7.18806981e-03 1.77513776e-04 9.99974150e-01 -1.47787154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.990371743 meters Centerline goodness [0,1] 0.9926768839483435 Centerline is valid? [True, True] Translation: X:111.73, Y:-5.97, Z:-1.48 [[ 9.99701370e-01 2.33017552e-02 7.36202819e-03 1.11725868e+02] [-2.32996915e-02 9.99728458e-01 -3.65978151e-04 -5.97238934e+00] [-7.36855702e-03 1.94335874e-04 9.99972833e-01 -1.47886921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020371743 meters Centerline goodness [0,1] 0.9922518266704929 Centerline is valid? [True, True] Translation: X:111.75, Y:-5.98, Z:-1.48 [[ 9.99757528e-01 2.09584281e-02 6.75495455e-03 1.11752831e+02] [-2.09566384e-02 9.99780329e-01 -3.35632677e-04 -5.97901598e+00] [-6.76050502e-03 1.93990155e-04 9.99977129e-01 -1.48061835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.050371743 meters Centerline goodness [0,1] 0.9924250765199393 Centerline is valid? [True, True] Translation: X:111.78, Y:-5.99, Z:-1.48 [[ 9.99878141e-01 1.40878538e-02 6.72576735e-03 1.11782213e+02] [-1.40859330e-02 9.99900733e-01 -3.32864155e-04 -5.98912089e+00] [-6.72978904e-03 2.38084884e-04 9.99977326e-01 -1.48219282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080371743 meters Centerline goodness [0,1] 0.9912159646009945 Centerline is valid? [True, True] Translation: X:111.81, Y:-6.00, Z:-1.48 [[ 9.99917159e-01 1.08497866e-02 6.92509645e-03 1.11811479e+02] [-1.08476728e-02 9.99941104e-01 -3.42715212e-04 -5.99509108e+00] [-6.92840697e-03 2.67565641e-04 9.99975963e-01 -1.48259311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.110371743 meters Centerline goodness [0,1] 0.9910796475693684 Centerline is valid? [True, True] Translation: X:111.84, Y:-6.00, Z:-1.48 [[ 9.99947393e-01 7.23041772e-03 7.27538989e-03 1.11841136e+02] [-7.22799193e-03 9.99973813e-01 -3.59662253e-04 -6.00043970e+00] [-7.27779988e-03 3.07056873e-04 9.99973469e-01 -1.48284510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140371743 meters Centerline goodness [0,1] 0.9897706612927957 Centerline is valid? [True, True] Translation: X:111.87, Y:-6.01, Z:-1.48 [[ 9.99961006e-01 5.91844092e-04 8.81117025e-03 1.11869793e+02] [-5.88030051e-04 9.99999732e-01 -4.35448687e-04 -6.01054952e+00] [-8.81142561e-03 4.30250474e-04 9.99961086e-01 -1.48236871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.170371743 meters Centerline goodness [0,1] 0.9892694463910301 Centerline is valid? [True, True] Translation: X:111.90, Y:-6.02, Z:-1.48 [[ 9.99947573e-01 -2.87362823e-03 9.82820558e-03 1.11900725e+02] [ 2.87853434e-03 9.99995739e-01 -4.85077423e-04 -6.01571535e+00] [-9.82676978e-03 5.13342819e-04 9.99951584e-01 -1.48238821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.200371743 meters Centerline goodness [0,1] 0.9873345728972984 Centerline is valid? [True, True] Translation: X:111.93, Y:-6.03, Z:-1.48 [[ 9.99899372e-01 -9.46681190e-03 1.05652486e-02 1.11930273e+02] [ 9.47285427e-03 9.99954995e-01 -5.22012249e-04 -6.02772011e+00] [-1.05598313e-02 6.22042780e-04 9.99944050e-01 -1.48286322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23037174299999 meters Centerline goodness [0,1] 0.9876462084373768 Centerline is valid? [True, True] Translation: X:111.96, Y:-6.03, Z:-1.48 [[ 9.99863673e-01 -1.25701283e-02 1.07064329e-02 1.11961137e+02] [ 1.25765114e-02 9.99920773e-01 -5.29076930e-04 -6.03182359e+00] [-1.06989341e-02 6.63654379e-04 9.99942545e-01 -1.48351689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260371743 meters Centerline goodness [0,1] 0.9866278560798389 Centerline is valid? [True, True] Translation: X:111.99, Y:-6.04, Z:-1.48 [[ 9.99818777e-01 -1.56096991e-02 1.08972427e-02 1.11990536e+02] [ 1.56164942e-02 9.99877910e-01 -5.38741739e-04 -6.03765162e+00] [-1.08875027e-02 7.08820834e-04 9.99940478e-01 -1.48395431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.290371743 meters Centerline goodness [0,1] 0.9872823022966152 Centerline is valid? [True, True] Translation: X:112.02, Y:-6.04, Z:-1.48 [[ 9.99740776e-01 -2.02213857e-02 1.04630687e-02 1.12021525e+02] [ 2.02279013e-02 9.99795261e-01 -5.17266865e-04 -6.03628461e+00] [-1.04504666e-02 7.28778698e-04 9.99945127e-01 -1.48310676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320371743 meters Centerline goodness [0,1] 0.9851990918616835 Centerline is valid? [True, True] Translation: X:112.05, Y:-6.05, Z:-1.48 [[ 9.99704012e-01 -2.20593716e-02 1.02602320e-02 1.12051318e+02] [ 2.20657321e-02 9.99756393e-01 -5.07119865e-04 -6.04680947e+00] [-1.02465458e-02 7.33369295e-04 9.99947234e-01 -1.48402668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.350371743 meters Centerline goodness [0,1] 0.9870794840508976 Centerline is valid? [True, True] Translation: X:112.08, Y:-6.04, Z:-1.49 [[ 9.99642429e-01 -2.53273322e-02 8.57558813e-03 1.12082005e+02] [ 2.53318994e-02 9.99679006e-01 -4.24362462e-04 -6.04087941e+00] [-8.56208745e-03 6.41446658e-04 9.99963139e-01 -1.48535378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380371743 meters Centerline goodness [0,1] 0.9865840623023058 Centerline is valid? [True, True] Translation: X:112.11, Y:-6.04, Z:-1.49 [[ 9.99618608e-01 -2.65475263e-02 7.60704006e-03 1.12114171e+02] [ 2.65511530e-02 9.99647385e-01 -3.76141903e-04 -6.04332777e+00] [-7.59437207e-03 5.77974130e-04 9.99970995e-01 -1.48686193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.410371743 meters Centerline goodness [0,1] 0.9864089993872013 Centerline is valid? [True, True] Translation: X:112.14, Y:-6.05, Z:-1.49 [[ 9.99570409e-01 -2.84188972e-02 7.16679545e-03 1.12143901e+02] [ 2.84221705e-02 9.99595945e-01 -3.55285980e-04 -6.04531361e+00] [-7.15380284e-03 5.58829235e-04 9.99974255e-01 -1.48889669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440371743 meters Centerline goodness [0,1] 0.9866033316551015 Centerline is valid? [True, True] Translation: X:112.18, Y:-6.05, Z:-1.49 [[ 9.99566727e-01 -2.86595210e-02 6.70746098e-03 1.12176154e+02] [ 2.86623904e-02 9.99589094e-01 -3.32035506e-04 -6.04625019e+00] [-6.69518887e-03 5.24143509e-04 9.99977450e-01 -1.48938388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.470371743 meters Centerline goodness [0,1] 0.9864218821628937 Centerline is valid? [True, True] Translation: X:112.21, Y:-6.05, Z:-1.49 [[ 9.99573536e-01 -2.82826506e-02 7.26901729e-03 1.12206938e+02] [ 2.82860158e-02 9.99599806e-01 -3.60535903e-04 -6.04673360e+00] [-7.25591136e-03 5.65993685e-04 9.99973515e-01 -1.48934620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500371743 meters Centerline goodness [0,1] 0.9868060578166437 Centerline is valid? [True, True] Translation: X:112.24, Y:-6.04, Z:-1.49 [[ 9.99587485e-01 -2.75662044e-02 8.06003730e-03 1.12239439e+02] [ 2.75703219e-02 9.99619786e-01 -4.00171074e-04 -6.04472196e+00] [-8.04594156e-03 6.22223820e-04 9.99967437e-01 -1.48898459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.530371743 meters Centerline goodness [0,1] 0.9875624069370237 Centerline is valid? [True, True] Translation: X:112.27, Y:-6.04, Z:-1.49 [[ 9.99603448e-01 -2.67240317e-02 8.87539046e-03 1.12272273e+02] [ 2.67289971e-02 9.99642619e-01 -4.41287050e-04 -6.04056293e+00] [-8.86042559e-03 6.78342342e-04 9.99960516e-01 -1.48839814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.560371743 meters Centerline goodness [0,1] 0.988091068301226 Centerline is valid? [True, True] Translation: X:112.30, Y:-6.04, Z:-1.49 [[ 9.99608427e-01 -2.64473452e-02 9.13946591e-03 1.12304979e+02] [ 2.64526073e-02 9.99649965e-01 -4.55336137e-04 -6.03564516e+00] [-9.12422435e-03 6.96920543e-04 9.99958131e-01 -1.48877141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59037174299999 meters Centerline goodness [0,1] 0.9876949397907482 Centerline is valid? [True, True] Translation: X:112.34, Y:-6.04, Z:-1.49 [[ 9.99607989e-01 -2.66941976e-02 8.44324069e-03 1.12336690e+02] [ 2.66987026e-02 9.99643437e-01 -4.21278110e-04 -6.03539635e+00] [-8.42898447e-03 6.46536536e-04 9.99964266e-01 -1.48962340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62037174299999 meters Centerline goodness [0,1] 0.9872344165403292 Centerline is valid? [True, True] Translation: X:112.37, Y:-6.04, Z:-1.49 [[ 9.99593962e-01 -2.74074619e-02 7.79366776e-03 1.12367608e+02] [ 2.74113248e-02 9.99624163e-01 -3.89237774e-04 -6.04028502e+00] [-7.78007060e-03 6.02714486e-04 9.99969553e-01 -1.49080115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.650371743 meters Centerline goodness [0,1] 0.987289989499475 Centerline is valid? [True, True] Translation: X:112.40, Y:-6.04, Z:-1.49 [[ 9.99591763e-01 -2.76574074e-02 7.16758227e-03 1.12400418e+02] [ 2.76606825e-02 9.99617306e-01 -3.58187506e-04 -6.03729182e+00] [-7.15493274e-03 5.56301498e-04 9.99974248e-01 -1.49093110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680371743 meters Centerline goodness [0,1] 0.9851913880870006 Centerline is valid? [True, True] Translation: X:112.43, Y:-6.05, Z:-1.49 [[ 9.99593202e-01 -2.78688310e-02 6.06296257e-03 1.12431508e+02] [ 2.78711808e-02 9.99611477e-01 -3.03405228e-04 -6.04551398e+00] [-6.05215142e-03 4.72263730e-04 9.99981574e-01 -1.49286327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.710371743 meters Centerline goodness [0,1] 0.9878512104612123 Centerline is valid? [True, True] Translation: X:112.46, Y:-6.03, Z:-1.49 [[ 9.99559634e-01 -2.89872122e-02 6.34663281e-03 1.12464557e+02] [ 2.89898110e-02 9.99579657e-01 -3.17836950e-04 -6.03331741e+00] [-6.33475184e-03 5.01684670e-04 9.99979809e-01 -1.49245035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740371743 meters Centerline goodness [0,1] 0.986084156669019 Centerline is valid? [True, True] Translation: X:112.50, Y:-6.04, Z:-1.49 [[ 9.99555586e-01 -2.91519763e-02 6.22843220e-03 1.12495787e+02] [ 2.91544858e-02 9.99574869e-01 -3.12481080e-04 -6.04172119e+00] [-6.21667486e-03 4.93928947e-04 9.99980554e-01 -1.49359596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.770371743 meters Centerline goodness [0,1] 0.9850186439556076 Centerline is valid? [True, True] Translation: X:112.53, Y:-6.04, Z:-1.49 [[ 9.99557542e-01 -2.92725074e-02 5.27644707e-03 1.12526553e+02] [ 2.92743118e-02 9.99571380e-01 -2.65056466e-04 -6.04132434e+00] [-5.26642662e-03 4.19403547e-04 9.99986044e-01 -1.49462096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800371743 meters Centerline goodness [0,1] 0.9879568843151171 Centerline is valid? [True, True] Translation: X:112.56, Y:-6.03, Z:-1.49 [[ 9.99561880e-01 -2.91708031e-02 5.01124747e-03 1.12559984e+02] [ 2.91724271e-02 9.99574363e-01 -2.51254755e-04 -6.03132275e+00] [-5.00178519e-03 3.97334927e-04 9.99987412e-01 -1.49391837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.830371743 meters Centerline goodness [0,1] 0.9873521645549959 Centerline is valid? [True, True] Translation: X:112.59, Y:-6.03, Z:-1.49 [[ 9.99580805e-01 -2.85261396e-02 4.94712940e-03 1.12592935e+02] [ 2.85277160e-02 9.99592971e-01 -2.48358473e-04 -6.02824501e+00] [-4.93803107e-03 3.89384665e-04 9.99987732e-01 -1.49418285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860371743 meters Centerline goodness [0,1] 0.9874020280742151 Centerline is valid? [True, True] Translation: X:112.62, Y:-6.03, Z:-1.49 [[ 9.99610866e-01 -2.74370263e-02 5.03246811e-03 1.12624745e+02] [ 2.74386513e-02 9.99623457e-01 -2.54126870e-04 -6.02603106e+00] [-5.02360068e-03 3.92112118e-04 9.99987305e-01 -1.49422874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.890371743 meters Centerline goodness [0,1] 0.9884794164090475 Centerline is valid? [True, True] Translation: X:112.66, Y:-6.02, Z:-1.49 [[ 9.99637606e-01 -2.63946603e-02 5.28955814e-03 1.12657031e+02] [ 2.63964406e-02 9.99651518e-01 -2.67022750e-04 -6.02343784e+00] [-5.28066685e-03 4.06551490e-04 9.99985975e-01 -1.49410002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920371743 meters Centerline goodness [0,1] 0.9873305178928651 Centerline is valid? [True, True] Translation: X:112.69, Y:-6.02, Z:-1.49 [[ 9.99720784e-01 -2.29315856e-02 5.70058585e-03 1.12686833e+02] [ 2.29336039e-02 9.99736949e-01 -2.88934138e-04 -6.02008811e+00] [-5.69246058e-03 4.19588441e-04 9.99983710e-01 -1.49457363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.950371743 meters Centerline goodness [0,1] 0.9880710829672903 Centerline is valid? [True, True] Translation: X:112.72, Y:-6.02, Z:-1.50 [[ 9.99763959e-01 -2.11033488e-02 5.16486930e-03 1.12718577e+02] [ 2.11049772e-02 9.99777231e-01 -2.60972906e-04 -6.01939255e+00] [-5.15821133e-03 3.69915755e-04 9.99986628e-01 -1.49507895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98037174299999 meters Centerline goodness [0,1] 0.9883469137180488 Centerline is valid? [True, True] Translation: X:112.75, Y:-6.01, Z:-1.50 [[ 9.99845235e-01 -1.70146728e-02 4.47294783e-03 1.12748784e+02] [ 1.70158580e-02 9.99855194e-01 -2.27046086e-04 -6.01453889e+00] [-4.46843700e-03 3.03121992e-04 9.99989971e-01 -1.49572426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.010371743 meters Centerline goodness [0,1] 0.9889602569249297 Centerline is valid? [True, True] Translation: X:112.78, Y:-6.01, Z:-1.50 [[ 9.99880312e-01 -1.48245852e-02 4.42632789e-03 1.12780175e+02] [ 1.48257221e-02 9.99890068e-01 -2.24139455e-04 -6.00957043e+00] [-4.42251852e-03 2.89736135e-04 9.99990179e-01 -1.49567964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040371743 meters Centerline goodness [0,1] 0.9887354163872871 Centerline is valid? [True, True] Translation: X:112.81, Y:-6.01, Z:-1.50 [[ 9.99911731e-01 -1.25555749e-02 4.34594168e-03 1.12810901e+02] [ 1.25566502e-02 9.99921138e-01 -2.20219539e-04 -6.00985839e+00] [-4.34283397e-03 2.74770570e-04 9.99990532e-01 -1.49664747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.070371743 meters Centerline goodness [0,1] 0.9893402606709365 Centerline is valid? [True, True] Translation: X:112.84, Y:-6.00, Z:-1.50 [[ 9.99962802e-01 -7.65380806e-03 3.97673121e-03 1.12841659e+02] [ 7.65467133e-03 9.99970682e-01 -2.01903860e-04 -6.00005155e+00] [-3.97506929e-03 2.32336920e-04 9.99992072e-01 -1.49633264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100371743 meters Centerline goodness [0,1] 0.9883942374476284 Centerline is valid? [True, True] Translation: X:112.87, Y:-6.00, Z:-1.50 [[ 9.99980211e-01 -4.97395529e-03 3.85181640e-03 1.12871805e+02] [ 4.97474155e-03 9.99987607e-01 -1.94574036e-04 -6.00068477e+00] [-3.85080086e-03 2.13731977e-04 9.99992563e-01 -1.49697737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.130371743 meters Centerline goodness [0,1] 0.9889418322395037 Centerline is valid? [True, True] Translation: X:112.90, Y:-6.00, Z:-1.50 [[ 9.99988490e-01 -2.36313295e-03 4.17569070e-03 1.12903326e+02] [ 2.36403957e-03 9.99997183e-01 -2.12194633e-04 -5.99580151e+00] [-4.17517750e-03 2.22063689e-04 9.99991259e-01 -1.49650477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160371743 meters Centerline goodness [0,1] 0.9894488188976378 Centerline is valid? [True, True] Translation: X:112.93, Y:-5.99, Z:-1.50 [[ 9.99987898e-01 2.39938324e-03 4.29507141e-03 1.12933500e+02] [-2.39846565e-03 9.99997100e-01 -2.18776935e-04 -5.99106399e+00] [-4.29558389e-03 2.08472706e-04 9.99990752e-01 -1.49689564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.190371743 meters Centerline goodness [0,1] 0.9896369562773969 Centerline is valid? [True, True] Translation: X:112.96, Y:-5.99, Z:-1.50 [[ 9.99980486e-01 4.83868418e-03 3.95163790e-03 1.12964719e+02] [-4.83792787e-03 9.99988277e-01 -2.00927924e-04 -5.98945478e+00] [-3.95256380e-03 1.81806263e-04 9.99992172e-01 -1.49743886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220371743 meters Centerline goodness [0,1] 0.9898699830412663 Centerline is valid? [True, True] Translation: X:113.00, Y:-5.99, Z:-1.50 [[ 9.99969535e-01 7.31435953e-03 2.72576388e-03 1.12995404e+02] [-7.31400794e-03 9.99973243e-01 -1.38934062e-04 -5.98676856e+00] [-2.72670716e-03 1.18993571e-04 9.99996275e-01 -1.49884886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.250371743 meters Centerline goodness [0,1] 0.990006345177665 Centerline is valid? [True, True] Translation: X:113.02, Y:-5.99, Z:-1.50 [[ 9.99964646e-01 7.95788063e-03 2.71623482e-03 1.13024161e+02] [-7.95753174e-03 9.99968329e-01 -1.39230672e-04 -5.98521211e+00] [-2.71725677e-03 1.17611225e-04 9.99996301e-01 -1.49958365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280371743 meters Centerline goodness [0,1] 0.9900344265265446 Centerline is valid? [True, True] Translation: X:113.05, Y:-5.98, Z:-1.50 [[ 9.99965898e-01 8.04804631e-03 1.85250741e-03 1.13053126e+02] [-8.04788386e-03 9.99967611e-01 -9.51343560e-05 -5.98475318e+00] [-1.85321305e-03 8.02223472e-05 9.99998280e-01 -1.50000855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.310371743 meters Centerline goodness [0,1] 0.9897748187870663 Centerline is valid? [True, True] Translation: X:113.08, Y:-5.98, Z:-1.50 [[ 9.99971264e-01 7.38060821e-03 1.73128897e-03 1.13080764e+02] [-7.38046507e-03 9.99972760e-01 -8.90532342e-05 -5.98422848e+00] [-1.73189908e-03 7.62729574e-05 9.99998497e-01 -1.50036811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34037174299999 meters Centerline goodness [0,1] 0.9901288917128075 Centerline is valid? [True, True] Translation: X:113.11, Y:-5.98, Z:-1.50 [[ 9.99977292e-01 6.49481697e-03 1.79813205e-03 1.13109942e+02] [-6.49466187e-03 9.99978905e-01 -9.20812523e-05 -5.98359498e+00] [-1.79869217e-03 8.04009017e-05 9.99998379e-01 -1.50039024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37037174299999 meters Centerline goodness [0,1] 0.9893401822851559 Centerline is valid? [True, True] Translation: X:113.14, Y:-5.99, Z:-1.50 [[ 9.99987167e-01 4.45335586e-03 2.41541984e-03 1.13138532e+02] [-4.45307179e-03 9.99990077e-01 -1.22974613e-04 -5.98751790e+00] [-2.41594353e-03 1.12216997e-04 9.99997075e-01 -1.50125698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400371743 meters Centerline goodness [0,1] 0.9897954555762166 Centerline is valid? [True, True] Translation: X:113.17, Y:-5.99, Z:-1.50 [[ 9.99991005e-01 3.02900091e-03 2.96895339e-03 1.13168580e+02] [-3.02856700e-03 9.99995403e-01 -1.50635247e-04 -5.98830343e+00] [-2.96939602e-03 1.41642218e-04 9.99995581e-01 -1.50121064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.430371743 meters Centerline goodness [0,1] 0.9881284125150094 Centerline is valid? [True, True] Translation: X:113.20, Y:-5.99, Z:-1.50 [[ 9.99993165e-01 1.70347856e-03 3.28152985e-03 1.13199443e+02] [-1.70294371e-03 9.99998536e-01 -1.65775827e-04 -5.98946491e+00] [-3.28180744e-03 1.60186434e-04 9.99994602e-01 -1.50157514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460371743 meters Centerline goodness [0,1] 0.9883544073914327 Centerline is valid? [True, True] Translation: X:113.23, Y:-5.99, Z:-1.50 [[ 9.99993812e-01 1.90205485e-04 3.51268412e-03 1.13229397e+02] [-1.89583024e-04 9.99999966e-01 -1.77535857e-04 -5.99218265e+00] [-3.51271777e-03 1.76868814e-04 9.99993815e-01 -1.50207340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.490371743 meters Centerline goodness [0,1] 0.9882593391620302 Centerline is valid? [True, True] Translation: X:113.26, Y:-5.99, Z:-1.50 [[ 9.99988733e-01 -3.50218029e-03 3.20450979e-03 1.13260762e+02] [ 3.50271719e-03 9.99993852e-01 -1.61950130e-04 -5.99317757e+00] [-3.20392292e-03 1.73172797e-04 9.99994852e-01 -1.50223745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520371743 meters Centerline goodness [0,1] 0.988129414445204 Centerline is valid? [True, True] Translation: X:113.29, Y:-5.99, Z:-1.50 [[ 9.99981704e-01 -5.36379842e-03 2.79652666e-03 1.13292768e+02] [ 5.36421312e-03 9.99985603e-01 -1.40811375e-04 -5.99496947e+00] [-2.79573111e-03 1.55809964e-04 9.99996080e-01 -1.50304102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.550371743 meters Centerline goodness [0,1] 0.9879996370400617 Centerline is valid? [True, True] Translation: X:113.32, Y:-6.00, Z:-1.51 [[ 9.99965677e-01 -7.96817813e-03 2.27017609e-03 1.13322319e+02] [ 7.96845992e-03 9.99968245e-01 -1.15109383e-04 -6.00273188e+00] [-2.26918678e-03 1.33195239e-04 9.99997417e-01 -1.50525283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580371743 meters Centerline goodness [0,1] 0.9878295224904067 Centerline is valid? [True, True] Translation: X:113.35, Y:-6.00, Z:-1.51 [[ 9.99960090e-01 -8.71538520e-03 1.96458810e-03 1.13354923e+02] [ 8.71559608e-03 9.99962014e-01 -9.88019624e-05 -6.00295530e+00] [-1.96365238e-03 1.15920576e-04 9.99998065e-01 -1.50567269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.610371743 meters Centerline goodness [0,1] 0.9880749186409048 Centerline is valid? [True, True] Translation: X:113.39, Y:-6.00, Z:-1.51 [[ 9.99954874e-01 -9.42857429e-03 1.16284377e-03 1.13387281e+02] [ 9.42864826e-03 9.99955548e-01 -5.81417988e-05 -6.00051895e+00] [-1.16224388e-03 6.91032200e-05 9.99999322e-01 -1.50565067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640371743 meters Centerline goodness [0,1] 0.9880749186409048 Centerline is valid? [True, True] Translation: X:113.42, Y:-6.00, Z:-1.51 [[ 9.99955556e-01 -9.35591272e-03 1.16283946e-03 1.13418994e+02] [ 9.35598673e-03 9.99956230e-01 -5.82272412e-05 -6.00219094e+00] [-1.16224379e-03 6.91041639e-05 9.99999322e-01 -1.50608062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.670371743 meters Centerline goodness [0,1] 0.9877066842069451 Centerline is valid? [True, True] Translation: X:113.45, Y:-6.01, Z:-1.51 [[ 9.99954448e-01 -9.53967558e-03 3.09345191e-04 1.13449833e+02] [ 9.53968069e-03 9.99954496e-01 -1.50343782e-05 -6.00762881e+00] [-3.09187691e-04 1.79847477e-05 9.99999952e-01 -1.50813752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.700371743 meters Centerline goodness [0,1] 0.9877542643437015 Centerline is valid? [True, True] Translation: X:113.48, Y:-6.01, Z:-1.51 [[ 9.99957456e-01 -9.22390068e-03 7.23978371e-05 1.13482523e+02] [ 9.22390091e-03 9.99957459e-01 -2.75589475e-06 -6.00802833e+00] [-7.23693372e-05 3.42356798e-06 9.99999997e-01 -1.50859496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73037174299999 meters Centerline goodness [0,1] 0.9882095372756505 Centerline is valid? [True, True] Translation: X:113.52, Y:-6.00, Z:-1.51 [[ 9.99964729e-01 -8.38346206e-03 -5.08384965e-04 1.13515085e+02] [ 8.38347685e-03 9.99964858e-01 2.69578479e-05 -6.00431290e+00] [ 5.08141099e-04 -3.12189307e-05 9.99999870e-01 -1.50806701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760371743 meters Centerline goodness [0,1] 0.9888291081524713 Centerline is valid? [True, True] Translation: X:113.55, Y:-6.00, Z:-1.51 [[ 9.99982189e-01 -5.94994130e-03 -4.67939873e-04 1.13546149e+02] [ 5.94995337e-03 9.99982299e-01 2.44196995e-05 -6.00343763e+00] [ 4.67786293e-04 -2.72034850e-05 9.99999890e-01 -1.50876612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.790371743 meters Centerline goodness [0,1] 0.9891118653333637 Centerline is valid? [True, True] Translation: X:113.58, Y:-6.00, Z:-1.51 [[ 9.99990309e-01 -4.37048875e-03 -5.30594329e-04 1.13576369e+02] [ 4.37050390e-03 9.99990449e-01 2.73885540e-05 -6.00436842e+00] [ 5.30469560e-04 -2.97072532e-05 9.99999859e-01 -1.50960656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820371743 meters Centerline goodness [0,1] 0.9887668725692061 Centerline is valid? [True, True] Translation: X:113.61, Y:-6.00, Z:-1.51 [[ 9.99999606e-01 -6.43326758e-04 -6.11554995e-04 1.13607799e+02] [ 6.43346137e-04 9.99999793e-01 3.14916809e-05 -5.99943439e+00] [ 6.11534609e-04 -3.18851100e-05 9.99999813e-01 -1.50968168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.850371743 meters Centerline goodness [0,1] 0.9893707190800174 Centerline is valid? [True, True] Translation: X:113.64, Y:-6.00, Z:-1.51 [[ 9.99998560e-01 1.69388605e-03 -9.94779523e-05 1.13638664e+02] [-1.69388552e-03 9.99998565e-01 5.33602403e-06 -5.99845570e+00] [ 9.94868482e-05 -5.16751208e-06 9.99999995e-01 -1.50968618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880371743 meters Centerline goodness [0,1] 0.9889360725352921 Centerline is valid? [True, True] Translation: X:113.67, Y:-5.99, Z:-1.51 [[ 9.99979370e-01 6.41838162e-03 -2.54145935e-04 1.13669317e+02] [-6.41837858e-03 9.99979402e-01 1.27687680e-05 -5.99431212e+00] [ 2.54222655e-04 -1.11372998e-05 9.99999968e-01 -1.50932229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.910371743 meters Centerline goodness [0,1] 0.9891676824360065 Centerline is valid? [True, True] Translation: X:113.70, Y:-5.99, Z:-1.51 [[ 9.99962797e-01 8.62172696e-03 2.65980204e-04 1.13698196e+02] [-8.62172339e-03 9.99962832e-01 -1.45548599e-05 -5.99342457e+00] [-2.66095806e-04 1.22611106e-05 9.99999965e-01 -1.50951457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940371743 meters Centerline goodness [0,1] 0.9898008518475884 Centerline is valid? [True, True] Translation: X:113.73, Y:-5.99, Z:-1.51 [[ 9.99940699e-01 1.08778710e-02 5.20008473e-04 1.13727413e+02] [-1.08778582e-02 9.99940834e-01 -2.75174844e-05 -5.99130680e+00] [-5.20277038e-04 2.18592742e-05 9.99999864e-01 -1.50913904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.970371743 meters Centerline goodness [0,1] 0.9904581475406049 Centerline is valid? [True, True] Translation: X:113.76, Y:-5.99, Z:-1.51 [[ 9.99911696e-01 1.32419991e-02 1.11769893e-03 1.13756032e+02] [-1.32419426e-02 9.99912320e-01 -5.79506451e-05 -5.99021532e+00] [-1.11836831e-03 4.31450228e-05 9.99999374e-01 -1.50893003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000371743 meters Centerline goodness [0,1] 0.9897124585833778 Centerline is valid? [True, True] Translation: X:113.78, Y:-5.99, Z:-1.51 [[ 9.99844395e-01 1.75877137e-02 1.36328098e-03 1.13784953e+02] [-1.75876346e-02 9.99845323e-01 -6.99258785e-05 -5.98842360e+00] [-1.36429995e-03 4.59381098e-05 9.99999068e-01 -1.50919674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.030371743 meters Centerline goodness [0,1] 0.9907047724750278 Centerline is valid? [True, True] Translation: X:113.81, Y:-5.99, Z:-1.51 [[ 9.99771402e-01 2.13256221e-02 1.53645668e-03 1.13814788e+02] [-2.13255264e-02 9.99772582e-01 -7.86896928e-05 -5.98645419e+00] [-1.53778537e-03 4.59059571e-05 9.99998817e-01 -1.50973142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.060371743 meters Centerline goodness [0,1] 0.9904254086009041 Centerline is valid? [True, True] Translation: X:113.84, Y:-5.99, Z:-1.51 [[ 9.99738710e-01 2.28140363e-02 1.42563510e-03 1.13842328e+02] [-2.28139544e-02 9.99739725e-01 -7.36461808e-05 -5.98713818e+00] [-1.42694421e-03 4.11025636e-05 9.99998981e-01 -1.51057056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09037174299999 meters Centerline goodness [0,1] 0.9906057661159702 Centerline is valid? [True, True] Translation: X:113.87, Y:-5.99, Z:-1.51 [[ 9.99708363e-01 2.41321102e-02 9.11456659e-04 1.13870690e+02] [-2.41320772e-02 9.99708778e-01 -4.72051898e-05 -5.98791525e+00] [-9.12330384e-04 2.51960806e-05 9.99999584e-01 -1.51159106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12037174299999 meters Centerline goodness [0,1] 0.9906583217431618 Centerline is valid? [True, True] Translation: X:113.90, Y:-5.99, Z:-1.51 [[ 9.99681632e-01 2.52226660e-02 6.71467784e-04 1.13899388e+02] [-2.52226482e-02 9.99681858e-01 -3.49798791e-05 -5.98853909e+00] [-6.72136447e-04 1.80325470e-05 9.99999774e-01 -1.51219330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.150371743 meters Centerline goodness [0,1] 0.990700802374658 Centerline is valid? [True, True] Translation: X:113.93, Y:-5.99, Z:-1.51 [[ 9.99625091e-01 2.73802236e-02 4.07716604e-05 1.13928006e+02] [-2.73802235e-02 9.99625091e-01 -3.01449613e-06 -5.98873892e+00] [-4.08389124e-05 1.89702880e-06 9.99999999e-01 -1.51303123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180371743 meters Centerline goodness [0,1] 0.9904996399619056 Centerline is valid? [True, True] Translation: X:113.96, Y:-5.99, Z:-1.51 [[ 9.99607665e-01 2.80086809e-02 -1.74931150e-04 1.13957217e+02] [-2.80086804e-02 9.99607680e-01 5.69877817e-06 -5.98930957e+00] [ 1.75022136e-04 -7.96951669e-07 9.99999985e-01 -1.51336069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.210371743 meters Centerline goodness [0,1] 0.9910318068818104 Centerline is valid? [True, True] Translation: X:113.99, Y:-5.99, Z:-1.51 [[ 9.99554764e-01 2.98184244e-02 1.06581439e-03 1.13985821e+02] [-2.98183832e-02 9.99555332e-01 -5.45546772e-05 -5.99030532e+00] [-1.06696719e-03 2.27495256e-05 9.99999431e-01 -1.51345912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240371743 meters Centerline goodness [0,1] 0.991501219087426 Centerline is valid? [True, True] Translation: X:114.01, Y:-5.99, Z:-1.51 [[ 9.99548112e-01 3.00303779e-02 1.32183168e-03 1.14014658e+02] [-3.00303151e-02 9.99548986e-01 -6.73388954e-05 -5.99166719e+00] [-1.32325773e-03 2.76134439e-05 9.99999124e-01 -1.51308824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.270371743 meters Centerline goodness [0,1] 0.9910430444367095 Centerline is valid? [True, True] Translation: X:114.04, Y:-5.99, Z:-1.51 [[ 9.99551904e-01 2.98527397e-02 2.19198376e-03 1.14042409e+02] [-2.98525667e-02 9.99554307e-01 -1.11572314e-04 -5.99388114e+00] [-2.19433755e-03 4.60859776e-05 9.99997591e-01 -1.51322406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300371743 meters Centerline goodness [0,1] 0.9909453937592868 Centerline is valid? [True, True] Translation: X:114.07, Y:-6.00, Z:-1.51 [[ 9.99603294e-01 2.80495770e-02 2.54493542e-03 1.14069708e+02] [-2.80493409e-02 9.99606532e-01 -1.28431019e-04 -5.99759451e+00] [-2.54753651e-03 5.69963079e-05 9.99996753e-01 -1.51267511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.330371743 meters Centerline goodness [0,1] 0.9908110360151838 Centerline is valid? [True, True] Translation: X:114.10, Y:-6.00, Z:-1.51 [[ 9.99640994e-01 2.66248294e-02 3.00023440e-03 1.14098595e+02] [-2.66244968e-02 9.99645494e-01 -1.50747052e-04 -6.00069237e+00] [-3.00318442e-03 7.08132015e-05 9.99995488e-01 -1.51292272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360371743 meters Centerline goodness [0,1] 0.9911477765161171 Centerline is valid? [True, True] Translation: X:114.13, Y:-6.00, Z:-1.51 [[ 9.99688107e-01 2.47839379e-02 3.07314739e-03 1.14127066e+02] [-2.47835810e-02 9.99692828e-01 -1.54177012e-04 -6.00455056e+00] [-3.07602452e-03 7.79653279e-05 9.99995266e-01 -1.51326871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.390371743 meters Centerline goodness [0,1] 0.9907754196143709 Centerline is valid? [True, True] Translation: X:114.16, Y:-6.01, Z:-1.51 [[ 9.99780922e-01 2.06952668e-02 3.13257276e-03 1.14156001e+02] [-2.06948771e-02 9.99785826e-01 -1.56752774e-04 -6.01135942e+00] [-3.13514589e-03 9.18902246e-05 9.99995081e-01 -1.51453534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420371743 meters Centerline goodness [0,1] 0.9909787273314568 Centerline is valid? [True, True] Translation: X:114.18, Y:-6.02, Z:-1.52 [[ 9.99826278e-01 1.83376112e-02 3.33843138e-03 1.14183380e+02] [-1.83371551e-02 9.99831846e-01 -1.67178423e-04 -6.01591440e+00] [-3.34093566e-03 1.05932047e-04 9.99994413e-01 -1.51534789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.450371743 meters Centerline goodness [0,1] 0.9905818960554493 Centerline is valid? [True, True] Translation: X:114.21, Y:-6.03, Z:-1.52 [[ 9.99897592e-01 1.38152407e-02 3.73422454e-03 1.14211175e+02] [-1.38146415e-02 9.99904556e-01 -1.86211792e-04 -6.02552704e+00] [-3.73644069e-03 1.34605749e-04 9.99993010e-01 -1.51642834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48037174299999 meters Centerline goodness [0,1] 0.9898671936032352 Centerline is valid? [True, True] Translation: X:114.24, Y:-6.03, Z:-1.52 [[ 9.99924915e-01 1.16961469e-02 3.65588131e-03 1.14240463e+02] [-1.16955597e-02 9.99931588e-01 -1.81967713e-04 -6.02782180e+00] [-3.65775952e-03 1.39196472e-04 9.99993301e-01 -1.51616998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.510371743 meters Centerline goodness [0,1] 0.9897949802335203 Centerline is valid? [True, True] Translation: X:114.27, Y:-6.03, Z:-1.52 [[ 9.99945417e-01 9.63112642e-03 4.05025290e-03 1.14269545e+02] [-9.63038889e-03 9.99953606e-01 -2.01557477e-04 -6.03188212e+00] [-4.05200622e-03 1.62540965e-04 9.99991777e-01 -1.51621074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540371743 meters Centerline goodness [0,1] 0.9901015053960543 Centerline is valid? [True, True] Translation: X:114.30, Y:-6.04, Z:-1.52 [[ 9.99970900e-01 6.31576971e-03 4.27894313e-03 1.14298511e+02] [-6.31492018e-03 9.99980038e-01 -2.12017479e-04 -6.03837547e+00] [-4.28019676e-03 1.84990125e-04 9.99990823e-01 -1.51605075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.570371743 meters Centerline goodness [0,1] 0.9894712801187622 Centerline is valid? [True, True] Translation: X:114.33, Y:-6.04, Z:-1.52 [[ 9.99978669e-01 4.91382314e-03 4.30308952e-03 1.14328136e+02] [-4.91294836e-03 9.99987909e-01 -2.13837632e-04 -6.04239445e+00] [-4.30408825e-03 1.92692214e-04 9.99990719e-01 -1.51660570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600371743 meters Centerline goodness [0,1] 0.9894494576611066 Centerline is valid? [True, True] Translation: X:114.36, Y:-6.04, Z:-1.52 [[ 9.99986283e-01 2.80960986e-03 4.42036462e-03 1.14358646e+02] [-2.80866825e-03 9.99996032e-01 -2.19209674e-04 -6.04159992e+00] [-4.42096297e-03 2.06791329e-04 9.99990206e-01 -1.51669738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.630371743 meters Centerline goodness [0,1] 0.989703196347032 Centerline is valid? [True, True] Translation: X:114.39, Y:-6.05, Z:-1.52 [[ 9.99990608e-01 2.12894146e-03 3.77522650e-03 1.14388812e+02] [-2.12825043e-03 9.99997718e-01 -1.87049180e-04 -6.05036797e+00] [-3.77561610e-03 1.79012796e-04 9.99992856e-01 -1.51898079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660371743 meters Centerline goodness [0,1] 0.9877948811367155 Centerline is valid? [True, True] Translation: X:114.42, Y:-6.05, Z:-1.52 [[ 9.99993816e-01 1.58174311e-03 3.14112908e-03 1.14419338e+02] [-1.58126511e-03 9.99998738e-01 -1.54653854e-04 -6.05459211e+00] [-3.14136974e-03 1.49685940e-04 9.99995055e-01 -1.52073244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.690371743 meters Centerline goodness [0,1] 0.988264725949511 Centerline is valid? [True, True] Translation: X:114.45, Y:-6.06, Z:-1.52 [[ 9.99994869e-01 1.84803718e-03 2.61663042e-03 1.14450774e+02] [-1.84770397e-03 9.99998285e-01 -1.29753476e-04 -6.05720280e+00] [-2.61686572e-03 1.24918052e-04 9.99996568e-01 -1.52180263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720371743 meters Centerline goodness [0,1] 0.9883620296984604 Centerline is valid? [True, True] Translation: X:114.48, Y:-6.06, Z:-1.52 [[ 9.99994759e-01 2.34403539e-03 2.23331314e-03 1.14481192e+02] [-2.34379307e-03 9.99997247e-01 -1.11113086e-04 -6.05927986e+00] [-2.23356744e-03 1.05878080e-04 9.99997500e-01 -1.52279048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.750371743 meters Centerline goodness [0,1] 0.9895764582716948 Centerline is valid? [True, True] Translation: X:114.51, Y:-6.05, Z:-1.52 [[ 9.99991831e-01 3.54668115e-03 1.93872340e-03 1.14512117e+02] [-3.54650080e-03 9.99993706e-01 -9.64564872e-05 -6.04832820e+00] [-1.93905330e-03 8.95800152e-05 9.99998116e-01 -1.52084694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780371743 meters Centerline goodness [0,1] 0.9888511433847837 Centerline is valid? [True, True] Translation: X:114.54, Y:-6.06, Z:-1.53 [[ 9.99978593e-01 6.37558690e-03 1.47171673e-03 1.14540791e+02] [-6.37548539e-03 9.99979674e-01 -7.36546104e-05 -6.06066326e+00] [-1.47215641e-03 6.42701251e-05 9.99998914e-01 -1.52512475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.810371743 meters Centerline goodness [0,1] 0.9901815613823268 Centerline is valid? [True, True] Translation: X:114.57, Y:-6.05, Z:-1.52 [[ 9.99963767e-01 8.40260318e-03 1.36431695e-03 1.14570809e+02] [-8.40251457e-03 9.99964696e-01 -7.06729472e-05 -6.04794315e+00] [-1.36486262e-03 5.92066935e-05 9.99999067e-01 -1.52213440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84037174299999 meters Centerline goodness [0,1] 0.9906567613144341 Centerline is valid? [True, True] Translation: X:114.60, Y:-6.04, Z:-1.52 [[ 9.99891747e-01 1.46206993e-02 1.65182327e-03 1.14601057e+02] [-1.46205841e-02 9.99893110e-01 -8.18026357e-05 -6.04466242e+00] [-1.65284272e-03 5.76431594e-05 9.99998632e-01 -1.52190019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87037174299999 meters Centerline goodness [0,1] 0.9907994415581444 Centerline is valid? [True, True] Translation: X:114.63, Y:-6.04, Z:-1.52 [[ 9.99840708e-01 1.77298989e-02 2.05151444e-03 1.14630402e+02] [-1.77297251e-02 9.99842811e-01 -1.02846497e-04 -6.04220115e+00] [-2.05301542e-03 6.64573273e-05 9.99997890e-01 -1.52150659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900371743 meters Centerline goodness [0,1] 0.9912034181003953 Centerline is valid? [True, True] Translation: X:114.66, Y:-6.04, Z:-1.52 [[ 9.99776919e-01 2.09760279e-02 2.47365180e-03 1.14658314e+02] [-2.09757875e-02 9.99779976e-01 -1.23094546e-04 -6.04212278e+00] [-2.47568957e-03 7.11802917e-05 9.99996933e-01 -1.52166967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.930371743 meters Centerline goodness [0,1] 0.9915184112536202 Centerline is valid? [True, True] Translation: X:114.69, Y:-6.04, Z:-1.52 [[ 9.99635072e-01 2.68849952e-02 2.63061809e-03 1.14688118e+02] [-2.68847461e-02 9.99638531e-01 -1.30005533e-04 -6.03817011e+00] [-2.63316240e-03 5.92345910e-05 9.99996531e-01 -1.52149367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960371743 meters Centerline goodness [0,1] 0.9910861594867094 Centerline is valid? [True, True] Translation: X:114.72, Y:-6.04, Z:-1.52 [[ 9.99574367e-01 2.90355122e-02 2.83273215e-03 1.14715990e+02] [-2.90352308e-02 9.99578379e-01 -1.40425965e-04 -6.03967612e+00] [-2.83561515e-03 5.81171630e-05 9.99995978e-01 -1.52262494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.990371743 meters Centerline goodness [0,1] 0.991719657806853 Centerline is valid? [True, True] Translation: X:114.75, Y:-6.04, Z:-1.52 [[ 9.99502517e-01 3.13304814e-02 3.62219667e-03 1.14745254e+02] [-3.13300394e-02 9.99509078e-01 -1.78716934e-04 -6.03891381e+00] [-3.62601774e-03 6.51444608e-05 9.99993424e-01 -1.52146954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020371743 meters Centerline goodness [0,1] 0.9916147360703812 Centerline is valid? [True, True] Translation: X:114.77, Y:-6.04, Z:-1.52 [[ 9.99490311e-01 3.16176993e-02 4.40891605e-03 1.14773668e+02] [-3.16170495e-02 9.99500033e-01 -2.17010179e-04 -6.04061260e+00] [-4.41357310e-03 7.75026539e-05 9.99990257e-01 -1.52152016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.050371743 meters Centerline goodness [0,1] 0.9920651254258992 Centerline is valid? [True, True] Translation: X:114.80, Y:-6.04, Z:-1.52 [[ 9.99496179e-01 3.14092802e-02 4.56560482e-03 1.14800817e+02] [-3.14085807e-02 9.99506604e-01 -2.24834661e-04 -6.04313832e+00] [-4.57041406e-03 8.13222170e-05 9.99989552e-01 -1.52230103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080371743 meters Centerline goodness [0,1] 0.9926170495712386 Centerline is valid? [True, True] Translation: X:114.83, Y:-6.05, Z:-1.52 [[ 9.99508965e-01 3.10014574e-02 4.55397436e-03 1.14829109e+02] [-3.10007620e-02 9.99519336e-01 -2.23228461e-04 -6.04507433e+00] [-4.55870583e-03 8.19421723e-05 9.99989606e-01 -1.52237118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.110371743 meters Centerline goodness [0,1] 0.9917408314077192 Centerline is valid? [True, True] Translation: X:114.86, Y:-6.05, Z:-1.52 [[ 9.99562664e-01 2.92277632e-02 4.49643987e-03 1.14857553e+02] [-2.92270686e-02 9.99572774e-01 -2.20105958e-04 -6.04883051e+00] [-4.50095208e-03 8.85919410e-05 9.99989867e-01 -1.52306208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140371743 meters Centerline goodness [0,1] 0.9919393620188234 Centerline is valid? [True, True] Translation: X:114.89, Y:-6.05, Z:-1.52 [[ 9.99602115e-01 2.78699853e-02 4.34458676e-03 1.14885876e+02] [-2.78693253e-02 9.99611552e-01 -2.12399940e-04 -6.05189393e+00] [-4.34881869e-03 9.12347280e-05 9.99990540e-01 -1.52347754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.170371743 meters Centerline goodness [0,1] 0.992481374834316 Centerline is valid? [True, True] Translation: X:114.91, Y:-6.06, Z:-1.52 [[ 9.99684104e-01 2.47199924e-02 4.54029146e-03 1.14914109e+02] [-2.47192407e-02 9.99694408e-01 -2.21599974e-04 -6.05719536e+00] [-4.54438194e-03 1.09297413e-04 9.99989668e-01 -1.52431843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20037174299999 meters Centerline goodness [0,1] 0.9918841901288042 Centerline is valid? [True, True] Translation: X:114.94, Y:-6.06, Z:-1.52 [[ 9.99732391e-01 2.26674367e-02 4.61881413e-03 1.14942946e+02] [-2.26666385e-02 9.99743053e-01 -2.25096493e-04 -6.06022177e+00] [-4.62272970e-03 1.20343265e-04 9.99989308e-01 -1.52467976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23037174299999 meters Centerline goodness [0,1] 0.9914857677646146 Centerline is valid? [True, True] Translation: X:114.97, Y:-6.06, Z:-1.53 [[ 9.99783393e-01 2.03696799e-02 4.27111186e-03 1.14971425e+02] [-2.03689774e-02 9.99792509e-01 -2.07919728e-04 -6.06389642e+00] [-4.27446091e-03 1.20876510e-04 9.99990857e-01 -1.52538199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260371743 meters Centerline goodness [0,1] 0.9913112522686025 Centerline is valid? [True, True] Translation: X:115.00, Y:-6.07, Z:-1.53 [[ 9.99868804e-01 1.53419057e-02 5.19616634e-03 1.15000001e+02] [-1.53408010e-02 9.99882291e-01 -2.52389221e-04 -6.07141397e+00] [-5.19942684e-03 1.72642755e-04 9.99986468e-01 -1.52572941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.290371743 meters Centerline goodness [0,1] 0.9913533579302384 Centerline is valid? [True, True] Translation: X:115.03, Y:-6.07, Z:-1.53 [[ 9.99904247e-01 1.27013488e-02 5.49288577e-03 1.15029654e+02] [-1.27000786e-02 9.99919315e-01 -2.66064846e-04 -6.07465868e+00] [-5.49582196e-03 1.96279289e-04 9.99984879e-01 -1.52577189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320371743 meters Centerline goodness [0,1] 0.9901452164654176 Centerline is valid? [True, True] Translation: X:115.06, Y:-6.08, Z:-1.53 [[ 9.99935109e-01 9.77713364e-03 5.84682215e-03 1.15057615e+02] [-9.77564438e-03 9.99952177e-01 -2.83237409e-04 -6.08147718e+00] [-5.84931178e-03 2.26062576e-04 9.99982867e-01 -1.52630450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.350371743 meters Centerline goodness [0,1] 0.9891025929088213 Centerline is valid? [True, True] Translation: X:115.09, Y:-6.09, Z:-1.53 [[ 9.99966949e-01 4.44959873e-03 6.80453705e-03 1.15086436e+02] [-4.44746445e-03 9.99990056e-01 -3.28754990e-04 -6.09062976e+00] [-6.80593222e-03 2.98481187e-04 9.99976795e-01 -1.52602426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380371743 meters Centerline goodness [0,1] 0.9888605768146661 Centerline is valid? [True, True] Translation: X:115.12, Y:-6.09, Z:-1.53 [[ 9.99973282e-01 1.77436812e-03 7.09127940e-03 1.15116979e+02] [-1.77198721e-03 9.99998372e-01 -3.42020892e-04 -6.09462328e+00] [-7.09187472e-03 3.29446098e-04 9.99974798e-01 -1.52603006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.410371743 meters Centerline goodness [0,1] 0.9891823672586316 Centerline is valid? [True, True] Translation: X:115.15, Y:-6.10, Z:-1.53 [[ 9.99971908e-01 -4.58184056e-04 7.48155034e-03 1.15147585e+02] [ 4.60896885e-04 9.99999829e-01 -3.60882328e-04 -6.09997697e+00] [-7.48138371e-03 3.64320414e-04 9.99971948e-01 -1.52650162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440371743 meters Centerline goodness [0,1] 0.9878144919701781 Centerline is valid? [True, True] Translation: X:115.18, Y:-6.11, Z:-1.53 [[ 9.99967603e-01 -3.36075221e-03 7.31429070e-03 1.15177710e+02] [ 3.36342503e-03 9.99994281e-01 -3.53154157e-04 -6.10627884e+00] [-7.31306201e-03 3.77743784e-04 9.99973188e-01 -1.52754634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.470371743 meters Centerline goodness [0,1] 0.988943682586863 Centerline is valid? [True, True] Translation: X:115.21, Y:-6.11, Z:-1.53 [[ 9.99964898e-01 -4.20601467e-03 7.24647331e-03 1.15209843e+02] [ 4.20865887e-03 9.99991082e-01 -3.49683902e-04 -6.10939575e+00] [-7.24493791e-03 3.80169561e-04 9.99973683e-01 -1.52815815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500371743 meters Centerline goodness [0,1] 0.9882209860138285 Centerline is valid? [True, True] Translation: X:115.24, Y:-6.11, Z:-1.53 [[ 9.99961029e-01 -4.90398581e-03 7.34102079e-03 1.15241595e+02] [ 4.90672189e-03 9.99987899e-01 -3.54747453e-04 -6.11262811e+00] [-7.33919228e-03 3.90753975e-04 9.99972991e-01 -1.52888616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.530371743 meters Centerline goodness [0,1] 0.9894070184137573 Centerline is valid? [True, True] Translation: X:115.27, Y:-6.11, Z:-1.53 [[ 9.99960124e-01 -5.26112081e-03 7.21604412e-03 1.15273851e+02] [ 5.26377687e-03 9.99986085e-01 -3.49135501e-04 -6.10776595e+00] [-7.21410687e-03 3.87105225e-04 9.99973903e-01 -1.52882527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.560371743 meters Centerline goodness [0,1] 0.9899144529491221 Centerline is valid? [True, True] Translation: X:115.31, Y:-6.11, Z:-1.53 [[ 9.99958934e-01 -5.03683226e-03 7.53393288e-03 1.15305942e+02] [ 5.03972558e-03 9.99987234e-01 -3.65102970e-04 -6.11095054e+00] [-7.53199774e-03 4.03056931e-04 9.99971553e-01 -1.52943499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59037174299999 meters Centerline goodness [0,1] 0.9899144529491221 Centerline is valid? [True, True] Translation: X:115.34, Y:-6.11, Z:-1.53 [[ 9.99959470e-01 -4.92931571e-03 7.53391745e-03 1.15338491e+02] [ 4.93220838e-03 9.99987770e-01 -3.65421220e-04 -6.11262454e+00] [-7.53202403e-03 4.02565260e-04 9.99971553e-01 -1.52987628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62037174299999 meters Centerline goodness [0,1] 0.9906722707963408 Centerline is valid? [True, True] Translation: X:115.37, Y:-6.11, Z:-1.53 [[ 9.99967726e-01 -3.71017135e-03 7.12605356e-03 1.15370951e+02] [ 3.71273494e-03 9.99993048e-01 -3.46553057e-04 -6.11276066e+00] [-7.12471824e-03 3.72999020e-04 9.99974549e-01 -1.53067311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.650371743 meters Centerline goodness [0,1] 0.9908269287114877 Centerline is valid? [True, True] Translation: X:115.40, Y:-6.11, Z:-1.53 [[ 9.99973222e-01 -2.56635553e-03 6.85336238e-03 1.15403345e+02] [ 2.56870301e-03 9.99996645e-01 -3.33748003e-04 -6.11301247e+00] [-6.85248287e-03 3.51343319e-04 9.99976460e-01 -1.53158332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680371743 meters Centerline goodness [0,1] 0.9903727197066828 Centerline is valid? [True, True] Translation: X:115.43, Y:-6.12, Z:-1.53 [[ 9.99976591e-01 -6.74193443e-04 6.80896471e-03 1.15433510e+02] [ 6.76468668e-04 9.99999716e-01 -3.31853925e-04 -6.11716544e+00] [-6.80873904e-03 3.36452208e-04 9.99976764e-01 -1.53274998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.710371743 meters Centerline goodness [0,1] 0.9913839647259965 Centerline is valid? [True, True] Translation: X:115.46, Y:-6.11, Z:-1.53 [[ 9.99974049e-01 4.68405285e-03 5.47375235e-03 1.15464894e+02] [-4.68265702e-03 9.99989000e-01 -2.67793892e-04 -6.11278370e+00] [-5.47494650e-03 2.42155238e-04 9.99984983e-01 -1.53382666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740371743 meters Centerline goodness [0,1] 0.9909999323303182 Centerline is valid? [True, True] Translation: X:115.50, Y:-6.11, Z:-1.53 [[ 9.99952433e-01 8.26272615e-03 5.18266097e-03 1.15495363e+02] [-8.26152164e-03 9.99965841e-01 -2.53776729e-04 -6.11191747e+00] [-5.18458082e-03 2.10947992e-04 9.99986538e-01 -1.53485436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.770371743 meters Centerline goodness [0,1] 0.9911236589497459 Centerline is valid? [True, True] Translation: X:115.53, Y:-6.11, Z:-1.54 [[ 9.99916865e-01 1.20457162e-02 4.60043937e-03 1.15525042e+02] [-1.20448057e-02 9.99927433e-01 -2.25585249e-04 -6.11087822e+00] [-4.60282287e-03 1.70155097e-04 9.99989392e-01 -1.53548224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800371743 meters Centerline goodness [0,1] 0.9918953183011863 Centerline is valid? [True, True] Translation: X:115.56, Y:-6.11, Z:-1.54 [[ 9.99792648e-01 1.96908324e-02 5.18960233e-03 1.15555627e+02] [-1.96897792e-02 9.99806105e-01 -2.53962870e-04 -6.10643016e+00] [-5.19359684e-03 1.51728086e-04 9.99986502e-01 -1.53526782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.830371743 meters Centerline goodness [0,1] 0.9918623628615468 Centerline is valid? [True, True] Translation: X:115.58, Y:-6.11, Z:-1.54 [[ 9.99715034e-01 2.31290641e-02 5.90746190e-03 1.15583930e+02] [-2.31277565e-02 9.99732476e-01 -2.89569141e-04 -6.10542128e+00] [-5.91257898e-03 1.52860283e-04 9.99982509e-01 -1.53510514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860371743 meters Centerline goodness [0,1] 0.9937981326245485 Centerline is valid? [True, True] Translation: X:115.61, Y:-6.10, Z:-1.53 [[ 9.99537182e-01 2.95169606e-02 7.36007591e-03 1.15614355e+02] [-2.95151106e-02 9.99564269e-01 -3.59872271e-04 -6.10140877e+00] [-7.36749123e-03 1.42472261e-04 9.99972850e-01 -1.53461665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.890371743 meters Centerline goodness [0,1] 0.9930970276345966 Centerline is valid? [True, True] Translation: X:115.64, Y:-6.10, Z:-1.53 [[ 9.99460735e-01 3.19101968e-02 7.74459429e-03 1.15643312e+02] [-3.19082220e-02 9.99490731e-01 -3.78449151e-04 -6.10051142e+00] [-7.75272660e-03 1.31128832e-04 9.99969939e-01 -1.53480331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920371743 meters Centerline goodness [0,1] 0.9932417108903706 Centerline is valid? [True, True] Translation: X:115.67, Y:-6.10, Z:-1.54 [[ 9.99392465e-01 3.38496534e-02 8.30067717e-03 1.15671024e+02] [-3.38474565e-02 9.99426929e-01 -4.05043304e-04 -6.10102195e+00] [-8.30963086e-03 1.23840416e-04 9.99965467e-01 -1.53516757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95037174299999 meters Centerline goodness [0,1] 0.9930081042428095 Centerline is valid? [True, True] Translation: X:115.70, Y:-6.10, Z:-1.53 [[ 9.99342966e-01 3.50223887e-02 9.33100758e-03 1.15698779e+02] [-3.50196731e-02 9.99386520e-01 -4.54314175e-04 -6.10245473e+00] [-9.34119436e-03 1.27246840e-04 9.99956362e-01 -1.53491897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98037174299999 meters Centerline goodness [0,1] 0.9932850888137746 Centerline is valid? [True, True] Translation: X:115.73, Y:-6.10, Z:-1.53 [[ 9.99351613e-01 3.44196463e-02 1.05660167e-02 1.15727255e+02] [-3.44161425e-02 9.99407457e-01 -5.13305291e-04 -6.10426544e+00] [-1.05774237e-02 1.49330935e-04 9.99944046e-01 -1.53414299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.010371743 meters Centerline goodness [0,1] 0.9932737973504215 Centerline is valid? [True, True] Translation: X:115.76, Y:-6.11, Z:-1.53 [[ 9.99402530e-01 3.27505487e-02 1.10446631e-02 1.15755538e+02] [-3.27466275e-02 9.99463542e-01 -5.35734249e-04 -6.10648601e+00] [-1.10562837e-02 1.73738695e-04 9.99938862e-01 -1.53430580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040371743 meters Centerline goodness [0,1] 0.993212055389628 Centerline is valid? [True, True] Translation: X:115.78, Y:-6.11, Z:-1.54 [[ 9.99560105e-01 2.75945150e-02 1.08691447e-02 1.15784012e+02] [-2.75904217e-02 9.99619173e-01 -5.26395951e-04 -6.11374518e+00] [-1.08795311e-02 2.26280107e-04 9.99940791e-01 -1.53561329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.070371743 meters Centerline goodness [0,1] 0.9937145311899432 Centerline is valid? [True, True] Translation: X:115.81, Y:-6.12, Z:-1.54 [[ 9.99660435e-01 2.41060784e-02 9.89498638e-03 1.15812355e+02] [-2.41025192e-02 9.99709377e-01 -4.78815039e-04 -6.11778195e+00] [-9.90365303e-03 2.40158352e-04 9.99950929e-01 -1.53651592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100371743 meters Centerline goodness [0,1] 0.9930894308943089 Centerline is valid? [True, True] Translation: X:115.84, Y:-6.12, Z:-1.54 [[ 9.99740642e-01 2.06169904e-02 9.67406747e-03 1.15841625e+02] [-2.06134329e-02 9.99787411e-01 -4.67306494e-04 -6.12266035e+00] [-9.68164533e-03 2.67769553e-04 9.99953096e-01 -1.53759751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.130371743 meters Centerline goodness [0,1] 0.991825981220023 Centerline is valid? [True, True] Translation: X:115.87, Y:-6.13, Z:-1.54 [[ 9.99870862e-01 1.27234945e-02 9.81694127e-03 1.15870886e+02] [-1.27194555e-02 9.99918992e-01 -4.73755023e-04 -6.13218599e+00] [-9.82217384e-03 3.48827696e-04 9.99951700e-01 -1.53814648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160371743 meters Centerline goodness [0,1] 0.9921536005755525 Centerline is valid? [True, True] Translation: X:115.90, Y:-6.14, Z:-1.54 [[ 9.99910460e-01 9.18186037e-03 9.73473225e-03 1.15900833e+02] [-9.17772200e-03 9.99957774e-01 -4.69701834e-04 -6.13513495e+00] [-9.73863393e-03 3.80317110e-04 9.99952506e-01 -1.53792299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.190371743 meters Centerline goodness [0,1] 0.991387602621748 Centerline is valid? [True, True] Translation: X:115.93, Y:-6.14, Z:-1.54 [[ 9.99951398e-01 2.49906382e-03 9.53711394e-03 1.15929882e+02] [-2.49479012e-03 9.99996782e-01 -4.59983026e-04 -6.14439827e+00] [-9.53823278e-03 4.36167572e-04 9.99954415e-01 -1.53823827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220371743 meters Centerline goodness [0,1] 0.9911478707946798 Centerline is valid? [True, True] Translation: X:115.96, Y:-6.15, Z:-1.54 [[ 9.99958523e-01 -3.70068588e-04 9.10025836e-03 1.15959933e+02] [ 3.74075794e-04 9.99999834e-01 -4.38641584e-04 -6.14980473e+00] [-9.10009452e-03 4.42027577e-04 9.99958496e-01 -1.53859436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.250371743 meters Centerline goodness [0,1] 0.9911993908993192 Centerline is valid? [True, True] Translation: X:115.99, Y:-6.15, Z:-1.54 [[ 9.99954153e-01 -2.64783112e-03 9.20226023e-03 1.15991786e+02] [ 2.65201781e-03 9.99996385e-01 -4.42790099e-04 -6.15228261e+00] [-9.20105454e-03 4.67174357e-04 9.99957560e-01 -1.53902186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280371743 meters Centerline goodness [0,1] 0.991053410466837 Centerline is valid? [True, True] Translation: X:116.02, Y:-6.16, Z:-1.54 [[ 9.99936266e-01 -6.47634633e-03 9.24775970e-03 1.16022296e+02] [ 6.48076645e-03 9.99978899e-01 -4.48079003e-04 -6.15733418e+00] [-9.24466265e-03 5.07983015e-04 9.99957138e-01 -1.53938759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.310371743 meters Centerline goodness [0,1] 0.990750901395203 Centerline is valid? [True, True] Translation: X:116.05, Y:-6.16, Z:-1.54 [[ 9.99925058e-01 -7.51895225e-03 9.66149921e-03 1.16053908e+02] [ 7.52382571e-03 9.99971586e-01 -4.68171759e-04 -6.16077691e+00] [-9.65770453e-03 5.40828109e-04 9.99953217e-01 -1.53977024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34037174299999 meters Centerline goodness [0,1] 0.9903658727847109 Centerline is valid? [True, True] Translation: X:116.09, Y:-6.16, Z:-1.54 [[ 9.99915152e-01 -8.27346198e-03 1.00617590e-02 1.16085757e+02] [ 8.27879080e-03 9.99965611e-01 -4.88075506e-04 -6.16190974e+00] [-1.00573749e-02 5.71333292e-04 9.99949260e-01 -1.54027484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37037174299999 meters Centerline goodness [0,1] 0.9904334026241087 Centerline is valid? [True, True] Translation: X:116.12, Y:-6.16, Z:-1.54 [[ 9.99909204e-01 -8.93800405e-03 1.00844339e-02 1.16118240e+02] [ 8.94339802e-03 9.99959887e-01 -4.89911120e-04 -6.16473750e+00] [-1.00796506e-02 5.80055745e-04 9.99949031e-01 -1.54125479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400371743 meters Centerline goodness [0,1] 0.9902435757183363 Centerline is valid? [True, True] Translation: X:116.15, Y:-6.17, Z:-1.54 [[ 9.99909217e-01 -9.25570423e-03 9.79237566e-03 1.16150597e+02] [ 9.26081215e-03 9.99957004e-01 -4.76405987e-04 -6.16709733e+00] [-9.78754516e-03 5.67048089e-04 9.99951940e-01 -1.54180005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.430371743 meters Centerline goodness [0,1] 0.9907378406192671 Centerline is valid? [True, True] Translation: X:116.18, Y:-6.17, Z:-1.54 [[ 9.99892707e-01 -1.04965766e-02 1.02174992e-02 1.16182045e+02] [ 1.05022108e-02 9.99944726e-01 -4.97927512e-04 -6.17015215e+00] [-1.02117079e-02 6.05180418e-04 9.99947676e-01 -1.54213940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460371743 meters Centerline goodness [0,1] 0.9892776397376492 Centerline is valid? [True, True] Translation: X:116.21, Y:-6.17, Z:-1.54 [[ 9.99885623e-01 -1.11232549e-02 1.02476046e-02 1.16213348e+02] [ 1.11289608e-02 9.99937946e-01 -4.99947125e-04 -6.17425624e+00] [-1.02414076e-02 6.13935133e-04 9.99947367e-01 -1.54292497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.490371743 meters Centerline goodness [0,1] 0.9892355205442664 Centerline is valid? [True, True] Translation: X:116.24, Y:-6.18, Z:-1.54 [[ 9.99882162e-01 -1.18094194e-02 9.80815315e-03 1.16244887e+02] [ 1.18146841e-02 9.99930089e-01 -4.79003743e-04 -6.17709319e+00] [-9.80181070e-03 5.94827530e-04 9.99951784e-01 -1.54429299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520371743 meters Centerline goodness [0,1] 0.9891435734431661 Centerline is valid? [True, True] Translation: X:116.28, Y:-6.18, Z:-1.55 [[ 9.99877086e-01 -1.29258364e-02 8.87326230e-03 1.16275553e+02] [ 1.29301934e-02 9.99916307e-01 -4.33826795e-04 -6.17995117e+00] [-8.86691210e-03 5.48506470e-04 9.99960538e-01 -1.54616028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.550371743 meters Centerline goodness [0,1] 0.9902372548143514 Centerline is valid? [True, True] Translation: X:116.31, Y:-6.18, Z:-1.55 [[ 9.99876811e-01 -1.30200060e-02 8.76593734e-03 1.16307908e+02] [ 1.30242630e-02 9.99915089e-01 -4.28715770e-04 -6.17991251e+00] [-8.75961113e-03 5.42832830e-04 9.99961487e-01 -1.54699112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580371743 meters Centerline goodness [0,1] 0.989800721795073 Centerline is valid? [True, True] Translation: X:116.34, Y:-6.18, Z:-1.55 [[ 9.99886547e-01 -1.28892197e-02 7.79488532e-03 1.16340495e+02] [ 1.28925837e-02 9.99916814e-01 -3.81463415e-04 -6.17989725e+00] [-7.78932013e-03 4.81916349e-04 9.99969547e-01 -1.54822264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.610371743 meters Centerline goodness [0,1] 0.9886498732643951 Centerline is valid? [True, True] Translation: X:116.37, Y:-6.18, Z:-1.55 [[ 9.99904501e-01 -1.16964388e-02 7.36086825e-03 1.16373122e+02] [ 1.16994122e-02 9.99931494e-01 -3.61024288e-04 -6.18012329e+00] [-7.35614129e-03 4.47107643e-04 9.99972843e-01 -1.54912251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640371743 meters Centerline goodness [0,1] 0.9889628197635211 Centerline is valid? [True, True] Translation: X:116.41, Y:-6.18, Z:-1.55 [[ 9.99921168e-01 -1.03474856e-02 7.11254374e-03 1.16405062e+02] [ 1.03502327e-02 9.99946374e-01 -3.49531167e-04 -6.17920211e+00] [-7.10854555e-03 4.23120095e-04 9.99974644e-01 -1.55008502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.670371743 meters Centerline goodness [0,1] 0.9894079733171073 Centerline is valid? [True, True] Translation: X:116.44, Y:-6.17, Z:-1.55 [[ 9.99952654e-01 -6.42217017e-03 7.31063277e-03 1.16436445e+02] [ 6.42497412e-03 9.99979295e-01 -3.60122331e-04 -6.17241464e+00] [-7.30816864e-03 4.07075907e-04 9.99973212e-01 -1.55056169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70037174299999 meters Centerline goodness [0,1] 0.9894251626898047 Centerline is valid? [True, True] Translation: X:116.47, Y:-6.17, Z:-1.55 [[ 9.99965081e-01 -4.07416396e-03 7.29646713e-03 1.16468234e+02] [ 4.07689321e-03 9.99991625e-01 -3.59216219e-04 -6.17107376e+00] [-7.29494251e-03 3.88950593e-04 9.99973316e-01 -1.55092490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73037174299999 meters Centerline goodness [0,1] 0.9891127574990964 Centerline is valid? [True, True] Translation: X:116.50, Y:-6.17, Z:-1.55 [[ 9.99970626e-01 -1.58241509e-03 7.49950680e-03 1.16500370e+02] [ 1.58523355e-03 9.99998675e-01 -3.69890081e-04 -6.16874413e+00] [-7.49891154e-03 3.81767686e-04 9.99971810e-01 -1.55065531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760371743 meters Centerline goodness [0,1] 0.9892118059482076 Centerline is valid? [True, True] Translation: X:116.53, Y:-6.16, Z:-1.55 [[ 9.99960701e-01 3.29363864e-03 8.23100089e-03 1.16531137e+02] [-3.29040171e-03 9.99994504e-01 -4.06771349e-04 -6.16350921e+00] [-8.23229541e-03 3.79672064e-04 9.99966042e-01 -1.54981634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.790371743 meters Centerline goodness [0,1] 0.9890493572448817 Centerline is valid? [True, True] Translation: X:116.56, Y:-6.16, Z:-1.55 [[ 9.99944301e-01 5.80668029e-03 8.81342074e-03 1.16562443e+02] [-5.80306807e-03 9.99983067e-01 -4.35372131e-04 -6.16042451e+00] [-8.81579958e-03 3.84203001e-04 9.99961066e-01 -1.54916963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820371743 meters Centerline goodness [0,1] 0.9895669605230187 Centerline is valid? [True, True] Translation: X:116.59, Y:-6.16, Z:-1.55 [[ 9.99912020e-01 9.80373391e-03 8.93524791e-03 1.16592966e+02] [-9.80017598e-03 9.99951879e-01 -4.41888625e-04 -6.15592313e+00] [-8.93915010e-03 3.54282746e-04 9.99959982e-01 -1.54911727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.850371743 meters Centerline goodness [0,1] 0.9894949862434343 Centerline is valid? [True, True] Translation: X:116.62, Y:-6.16, Z:-1.55 [[ 9.99897960e-01 1.11156190e-02 8.97290560e-03 1.16622068e+02] [-1.11120830e-02 9.99938160e-01 -4.43832749e-04 -6.15589149e+00] [-8.97728419e-03 3.44079788e-04 9.99959644e-01 -1.54992995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880371743 meters Centerline goodness [0,1] 0.9890127352387006 Centerline is valid? [True, True] Translation: X:116.65, Y:-6.16, Z:-1.55 [[ 9.99892016e-01 1.18015297e-02 8.75668913e-03 1.16651853e+02] [-1.17981897e-02 9.99930305e-01 -4.32985774e-04 -6.15761440e+00] [-8.76118873e-03 3.29625939e-04 9.99961566e-01 -1.55119709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.910371743 meters Centerline goodness [0,1] 0.9902928107553833 Centerline is valid? [True, True] Translation: X:116.68, Y:-6.15, Z:-1.55 [[ 9.99893599e-01 1.22705956e-02 7.88820194e-03 1.16681427e+02] [-1.22678999e-02 9.99924670e-01 -3.90030532e-04 -6.15473885e+00] [-7.89239363e-03 2.93217360e-04 9.99968812e-01 -1.55245104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940371743 meters Centerline goodness [0,1] 0.9895228333902745 Centerline is valid? [True, True] Translation: X:116.71, Y:-6.16, Z:-1.55 [[ 9.99894898e-01 1.21576742e-02 7.89830798e-03 1.16710256e+02] [-1.21549702e-02 9.99926049e-01 -3.90257908e-04 -6.15664738e+00] [-7.90246852e-03 2.94213193e-04 9.99968732e-01 -1.55339776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.970371743 meters Centerline goodness [0,1] 0.9899146272054639 Centerline is valid? [True, True] Translation: X:116.74, Y:-6.16, Z:-1.55 [[ 9.99904953e-01 1.09995380e-02 8.31238793e-03 1.16740345e+02] [-1.09965062e-02 9.99939452e-01 -4.10351867e-04 -6.15707375e+00] [-8.31639832e-03 3.18905639e-04 9.99965367e-01 -1.55359073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000371743 meters Centerline goodness [0,1] 0.9892475567806456 Centerline is valid? [True, True] Translation: X:116.77, Y:-6.16, Z:-1.55 [[ 9.99915107e-01 9.98996105e-03 8.36539431e-03 1.16769538e+02] [-9.98685771e-03 9.99950045e-01 -4.12665301e-04 -6.15928093e+00] [-8.36909892e-03 3.29086266e-04 9.99964924e-01 -1.55388517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.030371743 meters Centerline goodness [0,1] 0.989612756264237 Centerline is valid? [True, True] Translation: X:116.80, Y:-6.16, Z:-1.55 [[ 9.99927010e-01 8.45070702e-03 8.63479076e-03 1.16798997e+02] [-8.44734681e-03 9.99964230e-01 -4.25545223e-04 -6.16196256e+00] [-8.63807805e-03 3.52573090e-04 9.99962629e-01 -1.55393737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.060371743 meters Centerline goodness [0,1] 0.9903686331656003 Centerline is valid? [True, True] Translation: X:116.83, Y:-6.16, Z:-1.55 [[ 9.99949598e-01 5.22419142e-03 8.57380675e-03 1.16829584e+02] [-5.22076215e-03 9.99986283e-01 -4.22302899e-04 -6.16389572e+00] [-8.57589533e-03 3.77519808e-04 9.99963155e-01 -1.55393129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09037174299999 meters Centerline goodness [0,1] 0.9913346069868996 Centerline is valid? [True, True] Translation: X:116.86, Y:-6.17, Z:-1.55 [[ 9.99956887e-01 3.67576033e-03 8.52713695e-03 1.16861386e+02] [-3.67232200e-03 9.99993169e-01 -4.18844517e-04 -6.16685171e+00] [-8.52861828e-03 3.87512067e-04 9.99963556e-01 -1.55451636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12037174299999 meters Centerline goodness [0,1] 0.9905546851940149 Centerline is valid? [True, True] Translation: X:116.89, Y:-6.17, Z:-1.56 [[ 9.99958204e-01 2.07332641e-03 8.90460616e-03 1.16891811e+02] [-2.06948949e-03 9.99997762e-01 -4.40083926e-04 -6.17431332e+00] [-8.90549866e-03 4.21637543e-04 9.99960256e-01 -1.55566555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.150371743 meters Centerline goodness [0,1] 0.9895303415697675 Centerline is valid? [True, True] Translation: X:116.92, Y:-6.17, Z:-1.56 [[ 9.99960701e-01 -9.99459097e-04 8.80898024e-03 1.16922936e+02] [ 1.00334691e-03 9.99999401e-01 -4.36938802e-04 -6.17387387e+00] [-8.80853826e-03 4.45760094e-04 9.99961105e-01 -1.55568904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180371743 meters Centerline goodness [0,1] 0.9897782634430633 Centerline is valid? [True, True] Translation: X:116.95, Y:-6.17, Z:-1.56 [[ 9.99954900e-01 -2.59301762e-03 9.13641648e-03 1.16954910e+02] [ 2.59726555e-03 9.99996524e-01 -4.53111275e-04 -6.17458740e+00] [-9.13520980e-03 4.76820539e-04 9.99958159e-01 -1.55572811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.210371743 meters Centerline goodness [0,1] 0.988812490071936 Centerline is valid? [True, True] Translation: X:116.98, Y:-6.18, Z:-1.56 [[ 9.99945098e-01 -5.45982776e-03 8.94373960e-03 1.16984707e+02] [ 5.46402126e-03 9.99984973e-01 -4.44506955e-04 -6.17839596e+00] [-8.94117828e-03 4.93351335e-04 9.99959905e-01 -1.55639176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240371743 meters Centerline goodness [0,1] 0.9894229238223051 Centerline is valid? [True, True] Translation: X:117.02, Y:-6.18, Z:-1.56 [[ 9.99937835e-01 -6.54477090e-03 9.02731720e-03 1.17016797e+02] [ 6.54908424e-03 9.99978454e-01 -4.48331529e-04 -6.17781935e+00] [-9.02418847e-03 5.07424320e-04 9.99959152e-01 -1.55623579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.270371743 meters Centerline goodness [0,1] 0.988512531783509 Centerline is valid? [True, True] Translation: X:117.05, Y:-6.18, Z:-1.56 [[ 9.99922789e-01 -7.81443504e-03 9.66183897e-03 1.17049214e+02] [ 7.81944267e-03 9.99969312e-01 -4.80621847e-04 -6.18107557e+00] [-9.65778668e-03 5.56134934e-04 9.99953208e-01 -1.55694417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300371743 meters Centerline goodness [0,1] 0.988075807036634 Centerline is valid? [True, True] Translation: X:117.08, Y:-6.19, Z:-1.56 [[ 9.99908835e-01 -1.01769418e-02 8.87423202e-03 1.17080087e+02] [ 1.01812663e-02 9.99948072e-01 -4.42261194e-04 -6.18583570e+00] [-8.86927033e-03 5.32571794e-04 9.99960525e-01 -1.55835529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.330371743 meters Centerline goodness [0,1] 0.9889228678219504 Centerline is valid? [True, True] Translation: X:117.11, Y:-6.19, Z:-1.56 [[ 9.99903790e-01 -1.11699812e-02 8.22449787e-03 1.17112464e+02] [ 1.11737278e-02 9.99937488e-01 -4.09726189e-04 -6.18918742e+00] [-8.21940711e-03 5.01585069e-04 9.99966094e-01 -1.55956953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360371743 meters Centerline goodness [0,1] 0.989086536279893 Centerline is valid? [True, True] Translation: X:117.14, Y:-6.19, Z:-1.56 [[ 9.99897415e-01 -1.24344471e-02 7.10941743e-03 1.17143422e+02] [ 1.24372819e-02 9.99922591e-01 -3.54670477e-04 -6.19345656e+00] [-7.10445696e-03 4.43055921e-04 9.99974665e-01 -1.56051117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.390371743 meters Centerline goodness [0,1] 0.9889488971589362 Centerline is valid? [True, True] Translation: X:117.18, Y:-6.20, Z:-1.56 [[ 9.99894641e-01 -1.28572201e-02 6.73784416e-03 1.17175410e+02] [ 1.28597773e-02 9.99917253e-01 -3.36333749e-04 -6.19518024e+00] [-6.73296230e-03 4.22945488e-04 9.99977244e-01 -1.56126314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420371743 meters Centerline goodness [0,1] 0.9889150836469148 Centerline is valid? [True, True] Translation: X:117.21, Y:-6.19, Z:-1.56 [[ 9.99894812e-01 -1.31908030e-02 6.03052040e-03 1.17207560e+02] [ 1.31928594e-02 9.99912925e-01 -3.01340087e-04 -6.19486937e+00] [-6.02602037e-03 3.80868198e-04 9.99981771e-01 -1.56194545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45037174299999 meters Centerline goodness [0,1] 0.9889150836469148 Centerline is valid? [True, True] Translation: X:117.24, Y:-6.20, Z:-1.56 [[ 9.99896255e-01 -1.30809936e-02 6.03051220e-03 1.17240127e+02] [ 1.30830490e-02 9.99914368e-01 -3.01504472e-04 -6.19659364e+00] [-6.02605182e-03 3.80370679e-04 9.99981771e-01 -1.56238700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48037174299999 meters Centerline goodness [0,1] 0.9894417255754939 Centerline is valid? [True, True] Translation: X:117.27, Y:-6.20, Z:-1.56 [[ 9.99893034e-01 -1.35364235e-02 5.53938652e-03 1.17271220e+02] [ 1.35381699e-02 9.99908316e-01 -2.77882804e-04 -6.19887362e+00] [-5.53511711e-03 3.52846236e-04 9.99984619e-01 -1.56370463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.510371743 meters Centerline goodness [0,1] 0.988758199502375 Centerline is valid? [True, True] Translation: X:117.30, Y:-6.20, Z:-1.56 [[ 9.99891314e-01 -1.37404835e-02 5.34411724e-03 1.17303171e+02] [ 1.37421125e-02 9.99905537e-01 -2.68214723e-04 -6.20185940e+00] [-5.33992702e-03 3.41625032e-04 9.99985684e-01 -1.56467001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540371743 meters Centerline goodness [0,1] 0.9888429376477004 Centerline is valid? [True, True] Translation: X:117.34, Y:-6.20, Z:-1.57 [[ 9.99891275e-01 -1.39022816e-02 4.91585469e-03 1.17335166e+02] [ 1.39036632e-02 9.99903309e-01 -2.46986450e-04 -6.20189543e+00] [-4.91194569e-03 3.15307984e-04 9.99987887e-01 -1.56545875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.570371743 meters Centerline goodness [0,1] 0.9885419261339191 Centerline is valid? [True, True] Translation: X:117.37, Y:-6.20, Z:-1.57 [[ 9.99898649e-01 -1.34226643e-02 4.74586103e-03 1.17366025e+02] [ 1.34239451e-02 9.99909866e-01 -2.38132887e-04 -6.20403803e+00] [-4.74223689e-03 3.01816930e-04 9.99988710e-01 -1.56609727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600371743 meters Centerline goodness [0,1] 0.988161243410289 Centerline is valid? [True, True] Translation: X:117.40, Y:-6.21, Z:-1.57 [[ 9.99904423e-01 -1.30376924e-02 4.60045528e-03 1.17396680e+02] [ 1.30388983e-02 9.99914963e-01 -2.32237513e-04 -6.20604779e+00] [-4.59703623e-03 2.92200184e-04 9.99989391e-01 -1.56713745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.630371743 meters Centerline goodness [0,1] 0.9879132840491632 Centerline is valid? [True, True] Translation: X:117.43, Y:-6.21, Z:-1.57 [[ 9.99911450e-01 -1.24343321e-02 4.74126612e-03 1.17429253e+02] [ 1.24356067e-02 9.99922646e-01 -2.39458387e-04 -6.20568463e+00] [-4.73792186e-03 2.98397703e-04 9.99988731e-01 -1.56765654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660371743 meters Centerline goodness [0,1] 0.9870572207084468 Centerline is valid? [True, True] Translation: X:117.46, Y:-6.21, Z:-1.57 [[ 9.99917275e-01 -1.19949008e-02 4.64381754e-03 1.17461737e+02] [ 1.19961203e-02 9.99928016e-01 -2.34848948e-04 -6.20662641e+00] [-4.64066627e-03 2.90537314e-04 9.99989190e-01 -1.56831781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.690371743 meters Centerline goodness [0,1] 0.9870648572595652 Centerline is valid? [True, True] Translation: X:117.49, Y:-6.21, Z:-1.57 [[ 9.99927169e-01 -1.10162138e-02 4.92954773e-03 1.17494195e+02] [ 1.10175782e-02 9.99939273e-01 -2.49711728e-04 -6.20718092e+00] [-4.92649749e-03 3.04005219e-04 9.99987819e-01 -1.56826093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720371743 meters Centerline goodness [0,1] 0.9871949142922012 Centerline is valid? [True, True] Translation: X:117.53, Y:-6.21, Z:-1.57 [[ 9.99932480e-01 -1.06176008e-02 4.72251242e-03 1.17526752e+02] [ 1.06188500e-02 9.99943590e-01 -2.39510656e-04 -6.20604286e+00] [-4.71970299e-03 2.89642135e-04 9.99988820e-01 -1.56773873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.750371743 meters Centerline goodness [0,1] 0.987681076765142 Centerline is valid? [True, True] Translation: X:117.56, Y:-6.21, Z:-1.57 [[ 9.99935673e-01 -9.87255560e-03 5.58405877e-03 1.17558366e+02] [ 9.87429383e-03 9.99951208e-01 -2.83798614e-04 -6.20745424e+00] [-5.58098449e-03 3.38918995e-04 9.99984369e-01 -1.56696745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780371743 meters Centerline goodness [0,1] 0.9880514495899111 Centerline is valid? [True, True] Translation: X:117.59, Y:-6.21, Z:-1.57 [[ 9.99937130e-01 -9.72339362e-03 5.58490279e-03 1.17590216e+02] [ 9.72513228e-03 9.99952669e-01 -2.84241621e-04 -6.20806263e+00] [-5.58187466e-03 3.38537669e-04 9.99984364e-01 -1.56711634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.810371743 meters Centerline goodness [0,1] 0.988972350966917 Centerline is valid? [True, True] Translation: X:117.62, Y:-6.21, Z:-1.57 [[ 9.99938538e-01 -9.59115492e-03 5.56148246e-03 1.17623010e+02] [ 9.59287757e-03 9.99953947e-01 -2.83151665e-04 -6.20833440e+00] [-5.55851059e-03 3.36484883e-04 9.99984495e-01 -1.56784193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84037174299999 meters Centerline goodness [0,1] 0.9889319061717149 Centerline is valid? [True, True] Translation: X:117.65, Y:-6.21, Z:-1.57 [[ 9.99944373e-01 -9.30264434e-03 4.97107779e-03 1.17654067e+02] [ 9.30402130e-03 9.99956684e-01 -2.53939015e-04 -6.21354000e+00] [-4.96850016e-03 3.00175903e-04 9.99987612e-01 -1.57047813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87037174299999 meters Centerline goodness [0,1] 0.9883558985364963 Centerline is valid? [True, True] Translation: X:117.69, Y:-6.21, Z:-1.57 [[ 9.99952974e-01 -8.71383744e-03 4.25652879e-03 1.17686570e+02] [ 8.71484157e-03 9.99962001e-01 -2.17413004e-04 -6.21487274e+00] [-4.25447254e-03 2.54497754e-04 9.99990917e-01 -1.57151631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900371743 meters Centerline goodness [0,1] 0.9879330834628394 Centerline is valid? [True, True] Translation: X:117.72, Y:-6.22, Z:-1.57 [[ 9.99964554e-01 -7.38462386e-03 4.04448129e-03 1.17718246e+02] [ 7.38552057e-03 9.99972705e-01 -2.06820341e-04 -6.21534957e+00] [-4.04284360e-03 2.36683610e-04 9.99991800e-01 -1.57243223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.930371743 meters Centerline goodness [0,1] 0.9882932416953035 Centerline is valid? [True, True] Translation: X:117.75, Y:-6.21, Z:-1.57 [[ 9.99973791e-01 -5.95805904e-03 4.11314834e-03 1.17750224e+02] [ 5.95897633e-03 9.99982223e-01 -2.10795184e-04 -6.21488681e+00] [-4.11181929e-03 2.35299813e-04 9.99991519e-01 -1.57259378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960371743 meters Centerline goodness [0,1] 0.988191323488948 Centerline is valid? [True, True] Translation: X:117.78, Y:-6.21, Z:-1.57 [[ 9.99974422e-01 -5.08877598e-03 5.02583297e-03 1.17782280e+02] [ 5.09013584e-03 9.99987012e-01 -2.57821311e-04 -6.21193551e+00] [-5.02445570e-03 2.83396889e-04 9.99987337e-01 -1.57175625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.990371743 meters Centerline goodness [0,1] 0.9886930342656217 Centerline is valid? [True, True] Translation: X:117.81, Y:-6.21, Z:-1.57 [[ 9.99978999e-01 -2.83541398e-03 5.82769379e-03 1.17814396e+02] [ 2.83720825e-03 9.99995930e-01 -2.99641283e-04 -6.20797879e+00] [-5.82682047e-03 3.16169371e-04 9.99982974e-01 -1.57129714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020371743 meters Centerline goodness [0,1] 0.9887816091954023 Centerline is valid? [True, True] Translation: X:117.85, Y:-6.21, Z:-1.57 [[ 9.99980201e-01 -1.68843773e-03 6.06183780e-03 1.17846863e+02] [ 1.69035939e-03 9.99998523e-01 -3.11900503e-04 -6.20746278e+00] [-6.06130222e-03 3.22141012e-04 9.99981578e-01 -1.57132311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.050371743 meters Centerline goodness [0,1] 0.9880163768515963 Centerline is valid? [True, True] Translation: X:117.88, Y:-6.21, Z:-1.57 [[ 9.99977718e-01 -5.99156398e-04 6.64864641e-03 1.17878994e+02] [ 6.01447925e-04 9.99999760e-01 -3.42666538e-04 -6.20669125e+00] [-6.64843950e-03 3.46657717e-04 9.99977839e-01 -1.57167780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080371743 meters Centerline goodness [0,1] 0.9884837736370546 Centerline is valid? [True, True] Translation: X:117.91, Y:-6.21, Z:-1.57 [[ 9.99977459e-01 -3.45618881e-04 6.70541371e-03 1.17911022e+02] [ 3.47947337e-04 9.99999880e-01 -3.46086715e-04 -6.20773561e+00] [-6.70529329e-03 3.48412044e-04 9.99977459e-01 -1.57169487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.110371743 meters Centerline goodness [0,1] 0.9891871909800841 Centerline is valid? [True, True] Translation: X:117.94, Y:-6.21, Z:-1.57 [[ 9.99975962e-01 -4.01675119e-04 6.92206192e-03 1.17942838e+02] [ 4.04161516e-04 9.99999854e-01 -3.57803761e-04 -6.20821067e+00] [-6.92191719e-03 3.60592791e-04 9.99975978e-01 -1.57181728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140371743 meters Centerline goodness [0,1] 0.9893570255200018 Centerline is valid? [True, True] Translation: X:117.97, Y:-6.21, Z:-1.57 [[ 9.99978623e-01 -1.60417961e-05 6.53862167e-03 1.17974596e+02] [ 1.82548933e-05 9.99999943e-01 -3.38405870e-04 -6.21023550e+00] [-6.53861586e-03 3.38517998e-04 9.99978566e-01 -1.57275450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.170371743 meters Centerline goodness [0,1] 0.9893734984291258 Centerline is valid? [True, True] Translation: X:118.01, Y:-6.21, Z:-1.57 [[ 9.99981264e-01 3.73179850e-04 6.11002920e-03 1.18006870e+02] [-3.71252339e-04 9.99999881e-01 -3.16597821e-04 -6.21137760e+00] [-6.11014662e-03 3.14323527e-04 9.99981283e-01 -1.57399487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20037174299999 meters Centerline goodness [0,1] 0.9896564462504618 Centerline is valid? [True, True] Translation: X:118.04, Y:-6.21, Z:-1.58 [[ 9.99980534e-01 7.73580596e-04 6.19141607e-03 1.18038021e+02] [-7.71605384e-04 9.99999651e-01 -3.21406541e-04 -6.21464781e+00] [-6.19166254e-03 3.16622954e-04 9.99980781e-01 -1.57530545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23037174299999 meters Centerline goodness [0,1] 0.9899603028064993 Centerline is valid? [True, True] Translation: X:118.07, Y:-6.21, Z:-1.58 [[ 9.99978430e-01 2.10685531e-03 6.22105657e-03 1.18070856e+02] [-2.10488683e-03 9.99997733e-01 -3.22952788e-04 -6.21411475e+00] [-6.22172288e-03 3.09851201e-04 9.99980597e-01 -1.57615226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260371743 meters Centerline goodness [0,1] 0.989691436496013 Centerline is valid? [True, True] Translation: X:118.10, Y:-6.21, Z:-1.58 [[ 9.99978327e-01 2.83658267e-03 5.94136307e-03 1.18102757e+02] [-2.83479495e-03 9.99995934e-01 -3.09294173e-04 -6.21392096e+00] [-5.94221625e-03 2.92444923e-04 9.99982302e-01 -1.57630211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.290371743 meters Centerline goodness [0,1] 0.9890238581827366 Centerline is valid? [True, True] Translation: X:118.13, Y:-6.22, Z:-1.58 [[ 9.99975293e-01 3.99465527e-03 5.78409963e-03 1.18133546e+02] [-3.99297777e-03 9.99991983e-01 -3.01538777e-04 -6.21524340e+00] [-5.78525780e-03 2.78435546e-04 9.99983226e-01 -1.57703044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320371743 meters Centerline goodness [0,1] 0.9899464893789525 Centerline is valid? [True, True] Translation: X:118.16, Y:-6.21, Z:-1.58 [[ 9.99962854e-01 6.57717040e-03 5.57059885e-03 1.18164876e+02] [-6.57565346e-03 9.99978338e-01 -2.90584143e-04 -6.21235683e+00] [-5.57238940e-03 2.53943021e-04 9.99984442e-01 -1.57750991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.350371743 meters Centerline goodness [0,1] 0.9885948271873409 Centerline is valid? [True, True] Translation: X:118.19, Y:-6.21, Z:-1.58 [[ 9.99952587e-01 8.38351139e-03 4.95383500e-03 1.18194824e+02] [-8.38233172e-03 9.99964834e-01 -2.58847711e-04 -6.21355705e+00] [-4.95583085e-03 2.17310750e-04 9.99987696e-01 -1.57846541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380371743 meters Centerline goodness [0,1] 0.9894702662584656 Centerline is valid? [True, True] Translation: X:118.22, Y:-6.21, Z:-1.58 [[ 9.99935795e-01 1.00797829e-02 5.17719656e-03 1.18223736e+02] [-1.00785149e-02 9.99949174e-01 -2.70959504e-04 -6.21417126e+00] [-5.17966463e-03 2.18763655e-04 9.99986562e-01 -1.57895857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.410371743 meters Centerline goodness [0,1] 0.9884308633960864 Centerline is valid? [True, True] Translation: X:118.25, Y:-6.21, Z:-1.58 [[ 9.99917405e-01 1.19008940e-02 4.85297980e-03 1.18252595e+02] [-1.18998015e-02 9.99929163e-01 -2.53932753e-04 -6.21359099e+00] [-4.85565806e-03 1.96162283e-04 9.99988192e-01 -1.57919674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440371743 meters Centerline goodness [0,1] 0.9895248005549775 Centerline is valid? [True, True] Translation: X:118.28, Y:-6.21, Z:-1.58 [[ 9.99852244e-01 1.60759941e-02 6.08711134e-03 1.18283084e+02] [-1.60743591e-02 9.99870749e-01 -3.17444011e-04 -6.21268322e+00] [-6.09142780e-03 2.19550693e-04 9.99981423e-01 -1.57948878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.470371743 meters Centerline goodness [0,1] 0.9897077273360904 Centerline is valid? [True, True] Translation: X:118.31, Y:-6.21, Z:-1.58 [[ 9.99818718e-01 1.80428280e-02 6.08168638e-03 1.18311931e+02] [-1.80412304e-02 9.99837193e-01 -3.17456045e-04 -6.21164063e+00] [-6.08642405e-03 2.07677391e-04 9.99981456e-01 -1.57948088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500371743 meters Centerline goodness [0,1] 0.9892355621686971 Centerline is valid? [True, True] Translation: X:118.34, Y:-6.21, Z:-1.58 [[ 9.99788903e-01 1.97163521e-02 5.78053834e-03 1.18341188e+02] [-1.97149396e-02 9.99805596e-01 -3.01239227e-04 -6.21181088e+00] [-5.78535392e-03 1.87212672e-04 9.99983247e-01 -1.58018524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.530371743 meters Centerline goodness [0,1] 0.9900683816346467 Centerline is valid? [True, True] Translation: X:118.37, Y:-6.21, Z:-1.58 [[ 9.99744469e-01 2.19033007e-02 5.58948770e-03 1.18369000e+02] [-2.19020142e-02 9.99760080e-01 -2.91287457e-04 -6.21485865e+00] [-5.59452683e-03 1.68791986e-04 9.99984336e-01 -1.58151886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.560371743 meters Centerline goodness [0,1] 0.989809183341845 Centerline is valid? [True, True] Translation: X:118.40, Y:-6.22, Z:-1.58 [[ 9.99731850e-01 2.24300873e-02 5.75491453e-03 1.18397945e+02] [-2.24287363e-02 9.99748399e-01 -2.99203343e-04 -6.21696168e+00] [-5.76017775e-03 1.70047651e-04 9.99983396e-01 -1.58235063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59037174299999 meters Centerline goodness [0,1] 0.9908120649651972 Centerline is valid? [True, True] Translation: X:118.43, Y:-6.22, Z:-1.58 [[ 9.99740701e-01 2.20410850e-02 5.72022100e-03 1.18427056e+02] [-2.20397460e-02 9.99757051e-01 -2.97007642e-04 -6.21999478e+00] [-5.72537765e-03 1.70858410e-04 9.99983595e-01 -1.58251278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62037174299999 meters Centerline goodness [0,1] 0.9900113297417281 Centerline is valid? [True, True] Translation: X:118.46, Y:-6.22, Z:-1.58 [[ 9.99756738e-01 2.12941238e-02 5.74668084e-03 1.18455286e+02] [-2.12927625e-02 9.99773239e-01 -2.97971251e-04 -6.22302408e+00] [-5.75172276e-03 1.75536056e-04 9.99983443e-01 -1.58276301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.650371743 meters Centerline goodness [0,1] 0.9905509991914058 Centerline is valid? [True, True] Translation: X:118.48, Y:-6.23, Z:-1.58 [[ 9.99783729e-01 2.00730798e-02 5.43746433e-03 1.18482934e+02] [-2.00718441e-02 9.99798501e-01 -2.81743364e-04 -6.22746758e+00] [-5.44202414e-03 1.72542495e-04 9.99985177e-01 -1.58360782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680371743 meters Centerline goodness [0,1] 0.9910699901033395 Centerline is valid? [True, True] Translation: X:118.51, Y:-6.23, Z:-1.58 [[ 9.99852017e-01 1.66301446e-02 4.40248005e-03 1.18512611e+02] [-1.66293039e-02 9.99861698e-01 -2.27485751e-04 -6.23126681e+00] [-4.40565430e-03 1.54241908e-04 9.99990283e-01 -1.58405496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.710371743 meters Centerline goodness [0,1] 0.9909969913414942 Centerline is valid? [True, True] Translation: X:118.54, Y:-6.24, Z:-1.58 [[ 9.99888751e-01 1.43164220e-02 4.18639642e-03 1.18540594e+02] [-1.43156408e-02 9.99897503e-01 -2.16524725e-04 -6.23645818e+00] [-4.18906718e-03 1.56569690e-04 9.99991214e-01 -1.58487090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740371743 meters Centerline goodness [0,1] 0.9896987633927548 Centerline is valid? [True, True] Translation: X:118.57, Y:-6.25, Z:-1.59 [[ 9.99923087e-01 1.17623340e-02 3.93298617e-03 1.18568851e+02] [-1.17616263e-02 9.99930809e-01 -2.03016610e-04 -6.24619726e+00] [-3.93510200e-03 1.56742682e-04 9.99992245e-01 -1.58693044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.770371743 meters Centerline goodness [0,1] 0.9897589809384164 Centerline is valid? [True, True] Translation: X:118.60, Y:-6.26, Z:-1.59 [[ 9.99970244e-01 6.65706661e-03 3.89804928e-03 1.18597016e+02] [-6.65633425e-03 9.99977826e-01 -2.00822080e-04 -6.25616543e+00] [-3.89929973e-03 1.74869385e-04 9.99992382e-01 -1.58862161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800371743 meters Centerline goodness [0,1] 0.9904368466700142 Centerline is valid? [True, True] Translation: X:118.63, Y:-6.25, Z:-1.59 [[ 9.99983985e-01 4.08758358e-03 3.91420703e-03 1.18627058e+02] [-4.08682591e-03 9.99991629e-01 -2.01546683e-04 -6.25419069e+00] [-3.91499810e-03 1.85546773e-04 9.99992319e-01 -1.58784781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.830371743 meters Centerline goodness [0,1] 0.9907711238720263 Centerline is valid? [True, True] Translation: X:118.66, Y:-6.26, Z:-1.59 [[ 9.99992003e-01 -1.21384217e-04 3.99730477e-03 1.18657347e+02] [ 1.22205287e-04 9.99999971e-01 -2.05162381e-04 -6.26189701e+00] [-3.99727975e-03 2.05649232e-04 9.99991990e-01 -1.58816014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860371743 meters Centerline goodness [0,1] 0.9904917883626768 Centerline is valid? [True, True] Translation: X:118.69, Y:-6.27, Z:-1.59 [[ 9.99988730e-01 -2.19463383e-03 4.20985314e-03 1.18688388e+02] [ 2.19555901e-03 9.99997567e-01 -2.15156623e-04 -6.26678852e+00] [-4.20937070e-03 2.24397180e-04 9.99991115e-01 -1.58812926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.890371743 meters Centerline goodness [0,1] 0.9900677303513796 Centerline is valid? [True, True] Translation: X:118.72, Y:-6.27, Z:-1.59 [[ 9.99982690e-01 -3.69674712e-03 4.57742637e-03 1.18718885e+02] [ 3.69786354e-03 9.99993135e-01 -2.35455797e-04 -6.27209421e+00] [-4.57652452e-03 2.52378419e-04 9.99989496e-01 -1.58826328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920371743 meters Centerline goodness [0,1] 0.9892155749801339 Centerline is valid? [True, True] Translation: X:118.75, Y:-6.28, Z:-1.59 [[ 9.99962395e-01 -6.83094892e-03 5.34296140e-03 1.18748594e+02] [ 6.83251758e-03 9.99976620e-01 -2.75396814e-04 -6.28013954e+00] [-5.34095526e-03 3.11892335e-04 9.99985688e-01 -1.58773462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95037174299999 meters Centerline goodness [0,1] 0.9899207736487253 Centerline is valid? [True, True] Translation: X:118.78, Y:-6.28, Z:-1.59 [[ 9.99950235e-01 -7.99884478e-03 5.96202447e-03 1.18780228e+02] [ 8.00081628e-03 9.99967946e-01 -3.06898668e-04 -6.28195013e+00] [-5.95937853e-03 3.54584458e-04 9.99982180e-01 -1.58779841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98037174299999 meters Centerline goodness [0,1] 0.9903505585323767 Centerline is valid? [True, True] Translation: X:118.81, Y:-6.29, Z:-1.59 [[ 9.99935586e-01 -9.23688016e-03 6.59581337e-03 1.18811627e+02] [ 9.23932281e-03 9.99957259e-01 -3.39958736e-04 -6.28677075e+00] [-6.59239130e-03 4.00877686e-04 9.99978190e-01 -1.58835896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.010371743 meters Centerline goodness [0,1] 0.990020366598778 Centerline is valid? [True, True] Translation: X:118.84, Y:-6.29, Z:-1.59 [[ 9.99917979e-01 -1.11766225e-02 6.25449879e-03 1.18842201e+02] [ 1.11788602e-02 9.99937462e-01 -3.22921906e-04 -6.29217542e+00] [-6.25049847e-03 3.92813587e-04 9.99980388e-01 -1.58923279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040371743 meters Centerline goodness [0,1] 0.9902251385903382 Centerline is valid? [True, True] Translation: X:118.87, Y:-6.30, Z:-1.59 [[ 9.99915348e-01 -1.16426048e-02 5.80925263e-03 1.18874531e+02] [ 1.16445411e-02 9.99932155e-01 -2.99608744e-04 -6.29532128e+00] [-5.80537028e-03 3.67229463e-04 9.99983081e-01 -1.59020324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.070371743 meters Centerline goodness [0,1] 0.9903724175425879 Centerline is valid? [True, True] Translation: X:118.91, Y:-6.30, Z:-1.59 [[ 9.99918014e-01 -1.16704981e-02 5.26915979e-03 1.18905427e+02] [ 1.16720938e-02 9.99931842e-01 -2.72187929e-04 -6.30045695e+00] [-5.26562408e-03 3.33667741e-04 9.99986081e-01 -1.59112800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100371743 meters Centerline goodness [0,1] 0.9899282529479664 Centerline is valid? [True, True] Translation: X:118.94, Y:-6.30, Z:-1.59 [[ 9.99932046e-01 -1.09038570e-02 4.12414110e-03 1.18937385e+02] [ 1.09048276e-02 9.99940518e-01 -2.12943752e-04 -6.30161267e+00] [-4.12157388e-03 2.57902329e-04 9.99991473e-01 -1.59203638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.130371743 meters Centerline goodness [0,1] 0.9898848181756467 Centerline is valid? [True, True] Translation: X:118.97, Y:-6.30, Z:-1.59 [[ 9.99944722e-01 -1.00329734e-02 3.14531008e-03 1.18969203e+02] [ 1.00335337e-02 9.99949650e-01 -1.62396413e-04 -6.30281477e+00] [-3.14352239e-03 1.93946010e-04 9.99995040e-01 -1.59301088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160371743 meters Centerline goodness [0,1] 0.9910352477757907 Centerline is valid? [True, True] Translation: X:119.00, Y:-6.30, Z:-1.60 [[ 9.99971093e-01 -7.44416081e-03 1.54860685e-03 1.18999667e+02] [ 7.44429392e-03 9.99972288e-01 -8.02108276e-05 -6.30446419e+00] [-1.54796683e-03 9.17367934e-05 9.99998798e-01 -1.59520944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.190371743 meters Centerline goodness [0,1] 0.9918203181489516 Centerline is valid? [True, True] Translation: X:119.03, Y:-6.31, Z:-1.60 [[ 9.99985197e-01 -5.37288733e-03 8.58957194e-04 1.19029871e+02] [ 5.37292745e-03 9.99985565e-01 -4.44016802e-05 -6.30801633e+00] [-8.58706230e-04 4.90161376e-05 9.99999630e-01 -1.59686325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220371743 meters Centerline goodness [0,1] 0.9914483507533596 Centerline is valid? [True, True] Translation: X:119.06, Y:-6.30, Z:-1.60 [[ 9.99995818e-01 -2.78500957e-03 7.80086512e-04 1.19061597e+02] [ 2.78504170e-03 9.99996121e-01 -4.01013660e-05 -6.30465611e+00] [-7.79971803e-04 4.22737717e-05 9.99999695e-01 -1.59643184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.250371743 meters Centerline goodness [0,1] 0.9915503805726713 Centerline is valid? [True, True] Translation: X:119.09, Y:-6.30, Z:-1.60 [[ 9.99999687e-01 4.46166995e-05 7.89692676e-04 1.19092903e+02] [-4.45843972e-05 9.99999998e-01 -4.09224807e-05 -6.30361901e+00] [-7.89694501e-04 4.08872599e-05 9.99999687e-01 -1.59632756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280371743 meters Centerline goodness [0,1] 0.9918750707253593 Centerline is valid? [True, True] Translation: X:119.12, Y:-6.30, Z:-1.60 [[ 9.99992323e-01 3.48297713e-03 1.79534771e-03 1.19123128e+02] [-3.48281508e-03 9.99993931e-01 -9.33795733e-05 -6.30380330e+00] [-1.79566205e-03 8.71259923e-05 9.99998384e-01 -1.59612053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.310371743 meters Centerline goodness [0,1] 0.9919685111030214 Centerline is valid? [True, True] Translation: X:119.15, Y:-6.29, Z:-1.59 [[ 9.99926692e-01 1.16306178e-02 3.36745478e-03 1.19153802e+02] [-1.16300929e-02 9.99932353e-01 -1.75437481e-04 -6.29112328e+00] [-3.36926742e-03 1.36260808e-04 9.99994315e-01 -1.59252796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34037174299999 meters Centerline goodness [0,1] 0.9925522707602605 Centerline is valid? [True, True] Translation: X:119.18, Y:-6.29, Z:-1.59 [[ 9.99877810e-01 1.49382320e-02 4.60589581e-03 1.19182617e+02] [-1.49372851e-02 9.99888404e-01 -2.39912328e-04 -6.29028893e+00] [-4.60896568e-03 1.71083435e-04 9.99989364e-01 -1.59201281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37037174299999 meters Centerline goodness [0,1] 0.9925522707602605 Centerline is valid? [True, True] Translation: X:119.21, Y:-6.29, Z:-1.59 [[ 9.99878880e-01 1.48664302e-02 4.60590038e-03 1.19210901e+02] [-1.48654830e-02 9.99889474e-01 -2.39824765e-04 -6.29169838e+00] [-4.60895665e-03 1.71326784e-04 9.99989364e-01 -1.59239685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400371743 meters Centerline goodness [0,1] 0.9924080069308285 Centerline is valid? [True, True] Translation: X:119.24, Y:-6.29, Z:-1.59 [[ 9.99724170e-01 2.25065125e-02 6.71131306e-03 1.19240593e+02] [-2.25046818e-02 9.99746677e-01 -3.48180503e-04 -6.28932170e+00] [-6.71744926e-03 1.97048499e-04 9.99977418e-01 -1.59175378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.430371743 meters Centerline goodness [0,1] 0.9916562179414111 Centerline is valid? [True, True] Translation: X:119.27, Y:-6.29, Z:-1.59 [[ 9.99651909e-01 2.54000973e-02 7.13412366e-03 1.19268106e+02] [-2.53981005e-02 9.99677348e-01 -3.70368332e-04 -6.28933902e+00] [-7.14122921e-03 1.89046220e-04 9.99974483e-01 -1.59174608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460371743 meters Centerline goodness [0,1] 0.9923062915414732 Centerline is valid? [True, True] Translation: X:119.30, Y:-6.29, Z:-1.59 [[ 9.99502434e-01 3.06284306e-02 7.53553747e-03 1.19298105e+02] [-3.06263584e-02 9.99530827e-01 -3.90254558e-04 -6.28803454e+00] [-7.54395488e-03 1.59274309e-04 9.99971531e-01 -1.59188625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.490371743 meters Centerline goodness [0,1] 0.9926032463529895 Centerline is valid? [True, True] Translation: X:119.33, Y:-6.29, Z:-1.59 [[ 9.99435983e-01 3.28133850e-02 7.14125177e-03 1.19326547e+02] [-3.28115813e-02 9.99461487e-01 -3.69626165e-04 -6.28820539e+00] [-7.14953480e-03 1.35101926e-04 9.99974433e-01 -1.59215027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520371743 meters Centerline goodness [0,1] 0.9926551094890511 Centerline is valid? [True, True] Translation: X:119.35, Y:-6.29, Z:-1.59 [[ 9.99382810e-01 3.44788972e-02 6.72339233e-03 1.19354883e+02] [-3.44773389e-02 9.99405419e-01 -3.47574094e-04 -6.28911446e+00] [-6.73137871e-03 1.15554899e-04 9.99977337e-01 -1.59250958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.550371743 meters Centerline goodness [0,1] 0.9934093500570126 Centerline is valid? [True, True] Translation: X:119.38, Y:-6.29, Z:-1.59 [[ 9.99333134e-01 3.60615971e-02 5.73139775e-03 1.19382867e+02] [-3.60604915e-02 9.99349565e-01 -2.96156376e-04 -6.29226618e+00] [-5.73834972e-03 8.92818597e-05 9.99983532e-01 -1.59397570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580371743 meters Centerline goodness [0,1] 0.9929298899699918 Centerline is valid? [True, True] Translation: X:119.41, Y:-6.29, Z:-1.59 [[ 9.99316176e-01 3.65655407e-02 5.49012000e-03 1.19411318e+02] [-3.65645370e-02 9.99331254e-01 -2.83114303e-04 -6.29499326e+00] [-5.49680073e-03 8.21770067e-05 9.99984889e-01 -1.59482782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.610371743 meters Centerline goodness [0,1] 0.9937138318393283 Centerline is valid? [True, True] Translation: X:119.44, Y:-6.30, Z:-1.60 [[ 9.99324046e-01 3.64768558e-02 4.57056881e-03 1.19439944e+02] [-3.64761600e-02 9.99334496e-01 -2.35528246e-04 -6.29812195e+00] [-4.57611841e-03 6.86522400e-05 9.99989527e-01 -1.59588860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640371743 meters Centerline goodness [0,1] 0.9932464589235127 Centerline is valid? [True, True] Translation: X:119.47, Y:-6.30, Z:-1.60 [[ 9.99353728e-01 3.56546849e-02 4.56825528e-03 1.19468818e+02] [-3.56539827e-02 9.99364167e-01 -2.35084175e-04 -6.30168238e+00] [-4.57373248e-03 7.20557526e-05 9.99989538e-01 -1.59661771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.670371743 meters Centerline goodness [0,1] 0.9929674603713 Centerline is valid? [True, True] Translation: X:119.50, Y:-6.31, Z:-1.60 [[ 9.99446517e-01 3.29939870e-02 4.24929790e-03 1.19496371e+02] [-3.29933558e-02 9.99455547e-01 -2.18593809e-04 -6.30903768e+00] [-4.25419664e-03 7.82742232e-05 9.99990948e-01 -1.59699096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70037174299999 meters Centerline goodness [0,1] 0.991910701373825 Centerline is valid? [True, True] Translation: X:119.52, Y:-6.31, Z:-1.60 [[ 9.99489482e-01 3.15329354e-02 5.14282205e-03 1.19524896e+02] [-3.15319959e-02 9.99502708e-01 -2.63700337e-04 -6.31370840e+00] [-5.14857981e-03 1.01402269e-04 9.99986741e-01 -1.59670122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73037174299999 meters Centerline goodness [0,1] 0.9916681678976761 Centerline is valid? [True, True] Translation: X:119.55, Y:-6.32, Z:-1.60 [[ 9.99546251e-01 2.95497393e-02 5.83990425e-03 1.19552341e+02] [-2.95484963e-02 9.99563303e-01 -2.99039126e-04 -6.31874261e+00] [-5.84619051e-03 1.26343048e-04 9.99982903e-01 -1.59656661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760371743 meters Centerline goodness [0,1] 0.9924532552376661 Centerline is valid? [True, True] Translation: X:119.58, Y:-6.32, Z:-1.60 [[ 9.99603392e-01 2.73394731e-02 6.75359572e-03 1.19580502e+02] [-2.73377646e-02 9.99626194e-01 -3.45185645e-04 -6.32367135e+00] [-6.76050838e-03 1.60420532e-04 9.99977135e-01 -1.59602512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.790371743 meters Centerline goodness [0,1] 0.9915804126720402 Centerline is valid? [True, True] Translation: X:119.61, Y:-6.33, Z:-1.60 [[ 9.99721394e-01 2.23572399e-02 7.56892396e-03 1.19608139e+02] [-2.23549603e-02 9.99750022e-01 -3.85653871e-04 -6.33288328e+00] [-7.57565406e-03 2.16343431e-04 9.99971281e-01 -1.59537760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820371743 meters Centerline goodness [0,1] 0.9919148936170212 Centerline is valid? [True, True] Translation: X:119.64, Y:-6.34, Z:-1.60 [[ 9.99781665e-01 1.94885575e-02 7.53782379e-03 1.19636229e+02] [-1.94862191e-02 9.99810052e-01 -3.83537516e-04 -6.33895706e+00] [-7.54386659e-03 2.36570090e-04 9.99971517e-01 -1.59582632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.850371743 meters Centerline goodness [0,1] 0.9915915647292975 Centerline is valid? [True, True] Translation: X:119.67, Y:-6.35, Z:-1.60 [[ 9.99842126e-01 1.61530780e-02 7.40279952e-03 1.19665194e+02] [-1.61507341e-02 9.99869498e-01 -3.76298932e-04 -6.34513227e+00] [-7.40791183e-03 2.56678878e-04 9.99972528e-01 -1.59631724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880371743 meters Centerline goodness [0,1] 0.9912847717546363 Centerline is valid? [True, True] Translation: X:119.70, Y:-6.35, Z:-1.60 [[ 9.99933410e-01 8.94118642e-03 7.29592614e-03 1.19695403e+02] [-8.93872280e-03 9.99959980e-01 -3.70210992e-04 -6.35233788e+00] [-7.29894428e-03 3.04970078e-04 9.99973316e-01 -1.59672904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.910371743 meters Centerline goodness [0,1] 0.9909323258139793 Centerline is valid? [True, True] Translation: X:119.72, Y:-6.36, Z:-1.60 [[ 9.99961206e-01 5.09151579e-03 7.18766987e-03 1.19724632e+02] [-5.08902574e-03 9.99986984e-01 -3.64681018e-04 -6.36232994e+00] [-7.18943309e-03 3.28088633e-04 9.99974102e-01 -1.59791990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940371743 meters Centerline goodness [0,1] 0.9903308790916349 Centerline is valid? [True, True] Translation: X:119.75, Y:-6.37, Z:-1.60 [[ 9.99974009e-01 1.24673617e-03 7.10123224e-03 1.19754395e+02] [-1.24421094e-03 9.99999161e-01 -3.60010694e-04 -6.37307932e+00] [-7.10167512e-03 3.51165906e-04 9.99974721e-01 -1.59922475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.970371743 meters Centerline goodness [0,1] 0.9909939885983008 Centerline is valid? [True, True] Translation: X:119.79, Y:-6.38, Z:-1.60 [[ 9.99959709e-01 -6.39168318e-03 6.30284579e-03 1.19785173e+02] [ 6.39382659e-03 9.99979508e-01 -3.19979322e-04 -6.37673357e+00] [-6.30067143e-03 3.60265733e-04 9.99980086e-01 -1.59986840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000371743 meters Centerline goodness [0,1] 0.9910043648771409 Centerline is valid? [True, True] Translation: X:119.81, Y:-6.38, Z:-1.60 [[ 9.99939750e-01 -9.39784039e-03 5.67252223e-03 1.19814479e+02] [ 9.39962556e-03 9.99955781e-01 -2.88126684e-04 -6.38315631e+00] [-5.66956362e-03 3.41428909e-04 9.99983870e-01 -1.60088863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.030371743 meters Centerline goodness [0,1] 0.9906220901875582 Centerline is valid? [True, True] Translation: X:119.84, Y:-6.39, Z:-1.60 [[ 9.99883172e-01 -1.45771954e-02 4.59865944e-03 1.19843493e+02] [ 1.45784231e-02 9.99893702e-01 -2.33548926e-04 -6.39271653e+00] [-4.59476612e-03 3.00562844e-04 9.99989399e-01 -1.60300136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.060371743 meters Centerline goodness [0,1] 0.9908224340500997 Centerline is valid? [True, True] Translation: X:119.87, Y:-6.40, Z:-1.60 [[ 9.99856908e-01 -1.63732418e-02 4.25216845e-03 1.19874659e+02] [ 1.63743063e-02 9.99865909e-01 -2.15665512e-04 -6.39511091e+00] [-4.24806713e-03 2.85260961e-04 9.99990936e-01 -1.60365010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09037174299999 meters Centerline goodness [0,1] 0.9902138375894671 Centerline is valid? [True, True] Translation: X:119.91, Y:-6.40, Z:-1.61 [[ 9.99835354e-01 -1.77176239e-02 3.91793062e-03 1.19905216e+02] [ 1.77185384e-02 9.99842995e-01 -1.98815426e-04 -6.40112622e+00] [-3.91379295e-03 2.68202696e-04 9.99992305e-01 -1.60515188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12037174299999 meters Centerline goodness [0,1] 0.9898412137541132 Centerline is valid? [True, True] Translation: X:119.94, Y:-6.41, Z:-1.61 [[ 9.99803661e-01 -1.95897691e-02 2.97987623e-03 1.19936110e+02] [ 1.95903069e-02 9.99808080e-01 -1.51396136e-04 -6.40508730e+00] [-2.97633851e-03 2.09743101e-04 9.99995549e-01 -1.60637633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.150371743 meters Centerline goodness [0,1] 0.9896312345242306 Centerline is valid? [True, True] Translation: X:119.97, Y:-6.41, Z:-1.61 [[ 9.99802541e-01 -1.97001826e-02 2.60425425e-03 1.19968405e+02] [ 1.97005923e-02 9.99805916e-01 -1.31745880e-04 -6.40664924e+00] [-2.60115339e-03 1.83025216e-04 9.99996600e-01 -1.60723528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180371743 meters Centerline goodness [0,1] 0.990755280327325 Centerline is valid? [True, True] Translation: X:120.00, Y:-6.41, Z:-1.61 [[ 9.99810919e-01 -1.93392515e-02 2.02979140e-03 1.20000855e+02] [ 1.93394995e-02 9.99812969e-01 -1.02622290e-04 -6.40854928e+00] [-2.02742713e-03 1.41858035e-04 9.99997935e-01 -1.60803249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.210371743 meters Centerline goodness [0,1] 0.9907194626126923 Centerline is valid? [True, True] Translation: X:120.03, Y:-6.41, Z:-1.61 [[ 9.99821330e-01 -1.88160300e-02 1.80669210e-03 1.20033049e+02] [ 1.88162256e-02 9.99822955e-01 -9.13718351e-05 -6.41017870e+00] [-1.80465298e-03 1.25350636e-04 9.99998364e-01 -1.60881871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240371743 meters Centerline goodness [0,1] 0.991254677087254 Centerline is valid? [True, True] Translation: X:120.06, Y:-6.41, Z:-1.61 [[ 9.99856779e-01 -1.68640220e-02 1.42334242e-03 1.20063472e+02] [ 1.68641422e-02 9.99857788e-01 -7.25169792e-05 -6.40950047e+00] [-1.42191708e-03 9.65100423e-05 9.99998984e-01 -1.60999568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.270371743 meters Centerline goodness [0,1] 0.9903972258652499 Centerline is valid? [True, True] Translation: X:120.09, Y:-6.41, Z:-1.61 [[ 9.99879415e-01 -1.55054295e-02 8.58422472e-04 1.20094642e+02] [ 1.55054724e-02 9.99879782e-01 -4.34390360e-05 -6.40944923e+00] [-8.57645734e-04 5.67440439e-05 9.99999631e-01 -1.61073849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300371743 meters Centerline goodness [0,1] 0.9908872688477952 Centerline is valid? [True, True] Translation: X:120.13, Y:-6.41, Z:-1.61 [[ 9.99914419e-01 -1.30654632e-02 6.70335740e-04 1.20126645e+02] [ 1.30654887e-02 9.99914642e-01 -3.36194955e-05 -6.40616964e+00] [-6.69839267e-04 4.23748823e-05 9.99999775e-01 -1.61108097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.330371743 meters Centerline goodness [0,1] 0.9907628920786815 Centerline is valid? [True, True] Translation: X:120.16, Y:-6.41, Z:-1.61 [[ 9.99932893e-01 -1.15534891e-02 8.52544204e-04 1.20157099e+02] [ 1.15535303e-02 9.99933255e-01 -4.34336445e-05 -6.40902451e+00] [-8.51985490e-04 5.32806250e-05 9.99999636e-01 -1.61189484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360371743 meters Centerline goodness [0,1] 0.9915312631976705 Centerline is valid? [True, True] Translation: X:120.19, Y:-6.40, Z:-1.61 [[ 9.99942732e-01 -1.06407532e-02 1.14361687e-03 1.20189572e+02] [ 1.06408261e-02 9.99943383e-01 -5.76878631e-05 -6.40215890e+00] [-1.14293828e-03 6.98535877e-05 9.99999344e-01 -1.61038874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.390371743 meters Centerline goodness [0,1] 0.992104030513238 Centerline is valid? [True, True] Translation: X:120.22, Y:-6.40, Z:-1.61 [[ 9.99959313e-01 -8.87157747e-03 1.63312403e-03 1.20221776e+02] [ 8.87172473e-03 9.99960642e-01 -8.29484107e-05 -6.39849576e+00] [-1.63232387e-03 9.74336626e-05 9.99998663e-01 -1.60988990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420371743 meters Centerline goodness [0,1] 0.9917773420090917 Centerline is valid? [True, True] Translation: X:120.25, Y:-6.40, Z:-1.61 [[ 9.99961760e-01 -8.53512244e-03 1.90548339e-03 1.20253977e+02] [ 8.53532273e-03 9.99963569e-01 -9.70055534e-05 -6.39848139e+00] [-1.90458601e-03 1.13265760e-04 9.99998180e-01 -1.61023600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45037174299999 meters Centerline goodness [0,1] 0.9922547906790412 Centerline is valid? [True, True] Translation: X:120.29, Y:-6.40, Z:-1.61 [[ 9.99965727e-01 -8.05674463e-03 1.90638311e-03 1.20285268e+02] [ 8.05694492e-03 9.99967538e-01 -9.74093488e-05 -6.39989904e+00] [-1.90553643e-03 1.12765634e-04 9.99998178e-01 -1.61071209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48037174299999 meters Centerline goodness [0,1] 0.992270165512018 Centerline is valid? [True, True] Translation: X:120.32, Y:-6.40, Z:-1.61 [[ 9.99970573e-01 -7.42003607e-03 1.94839285e-03 1.20317645e+02] [ 7.42024394e-03 9.99972465e-01 -9.94801940e-05 -6.40093025e+00] [-1.94760105e-03 1.13934817e-04 9.99998097e-01 -1.61126549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.510371743 meters Centerline goodness [0,1] 0.9923224568138196 Centerline is valid? [True, True] Translation: X:120.35, Y:-6.40, Z:-1.61 [[ 9.99984960e-01 -5.22337783e-03 1.67198732e-03 1.20349533e+02] [ 5.22352804e-03 9.99986354e-01 -8.54881981e-05 -6.39740350e+00] [-1.67151797e-03 9.42205851e-05 9.99998599e-01 -1.61085991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540371743 meters Centerline goodness [0,1] 0.9921935987509758 Centerline is valid? [True, True] Translation: X:120.38, Y:-6.40, Z:-1.61 [[ 9.99991905e-01 -3.75343799e-03 1.44994328e-03 1.20381095e+02] [ 3.75354981e-03 9.99992953e-01 -7.44074173e-05 -6.39747146e+00] [-1.44965378e-03 7.98492493e-05 9.99998946e-01 -1.61123377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.570371743 meters Centerline goodness [0,1] 0.9928779684404977 Centerline is valid? [True, True] Translation: X:120.41, Y:-6.40, Z:-1.61 [[ 9.99995949e-01 -2.12981959e-03 1.88820439e-03 1.20412205e+02] [ 2.13000675e-03 9.99997727e-01 -9.71172470e-05 -6.39710201e+00] [-1.88799326e-03 1.01138742e-04 9.99998213e-01 -1.61116554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600371743 meters Centerline goodness [0,1] 0.9912855004133801 Centerline is valid? [True, True] Translation: X:120.44, Y:-6.40, Z:-1.61 [[ 9.99994178e-01 2.34125705e-03 2.48228089e-03 1.20441894e+02] [-2.34094571e-03 9.99997252e-01 -1.28322623e-04 -6.39593104e+00] [-2.48257450e-03 1.22510991e-04 9.99996911e-01 -1.61091518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.630371743 meters Centerline goodness [0,1] 0.9917713876839139 Centerline is valid? [True, True] Translation: X:120.47, Y:-6.39, Z:-1.61 [[ 9.99988303e-01 3.89376854e-03 2.86919432e-03 1.20473153e+02] [-3.89335953e-03 9.99992410e-01 -1.48124758e-04 -6.39291274e+00] [-2.86974930e-03 1.36952220e-04 9.99995873e-01 -1.60985709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660371743 meters Centerline goodness [0,1] 0.9918784444097369 Centerline is valid? [True, True] Translation: X:120.50, Y:-6.39, Z:-1.61 [[ 9.99976353e-01 5.98578599e-03 3.38584495e-03 1.20503442e+02] [-5.98522678e-03 9.99982073e-01 -1.75270355e-04 -6.39249799e+00] [-3.38683338e-03 1.55001160e-04 9.99994253e-01 -1.60990099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.690371743 meters Centerline goodness [0,1] 0.9920408941102616 Centerline is valid? [True, True] Translation: X:120.53, Y:-6.39, Z:-1.61 [[ 9.99941612e-01 1.00950571e-02 3.85529209e-03 1.20532609e+02] [-1.00943623e-02 9.99949031e-01 -1.99641749e-04 -6.39025634e+00] [-3.85711098e-03 1.60713377e-04 9.99992548e-01 -1.60989584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720371743 meters Centerline goodness [0,1] 0.9915534089632708 Centerline is valid? [True, True] Translation: X:120.56, Y:-6.39, Z:-1.61 [[ 9.99922668e-01 1.17680254e-02 4.02148558e-03 1.20562014e+02] [-1.17672828e-02 9.99930741e-01 -2.08257219e-04 -6.38780457e+00] [-4.02365783e-03 1.60919156e-04 9.99991892e-01 -1.60965092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.750371743 meters Centerline goodness [0,1] 0.9917438808247145 Centerline is valid? [True, True] Translation: X:120.59, Y:-6.39, Z:-1.61 [[ 9.99873236e-01 1.51808695e-02 4.80136760e-03 1.20590750e+02] [-1.51798522e-02 9.99884749e-01 -2.48236308e-04 -6.38850203e+00] [-4.80458268e-03 1.75320790e-04 9.99988443e-01 -1.61071660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780371743 meters Centerline goodness [0,1] 0.9919823927055494 Centerline is valid? [True, True] Translation: X:120.62, Y:-6.39, Z:-1.61 [[ 9.99839898e-01 1.70780782e-02 5.34027119e-03 1.20619943e+02] [-1.70768480e-02 9.99854142e-01 -2.75869483e-04 -6.38772805e+00] [-5.34420359e-03 1.84630316e-04 9.99985703e-01 -1.61076409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.810371743 meters Centerline goodness [0,1] 0.9919266219640734 Centerline is valid? [True, True] Translation: X:120.65, Y:-6.39, Z:-1.61 [[ 9.99802341e-01 1.89422043e-02 6.03918415e-03 1.20649139e+02] [-1.89406684e-02 9.99820561e-01 -3.11418376e-04 -6.38721333e+00] [-6.04399943e-03 1.96970637e-04 9.99981715e-01 -1.61075541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84037174299999 meters Centerline goodness [0,1] 0.9920622428099211 Centerline is valid? [True, True] Translation: X:120.68, Y:-6.39, Z:-1.61 [[ 9.99709858e-01 2.31314905e-02 6.71817925e-03 1.20679561e+02] [-2.31296906e-02 9.99732413e-01 -3.45482620e-04 -6.38510643e+00] [-6.72437308e-03 1.89992974e-04 9.99977373e-01 -1.61074377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87037174299999 meters Centerline goodness [0,1] 0.9922810333963453 Centerline is valid? [True, True] Translation: X:120.71, Y:-6.38, Z:-1.61 [[ 9.99667214e-01 2.49574467e-02 6.52591764e-03 1.20708452e+02] [-2.49557855e-02 9.99688499e-01 -3.35867346e-04 -6.38451718e+00] [-6.53226720e-03 1.72896173e-04 9.99978650e-01 -1.61100236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900371743 meters Centerline goodness [0,1] 0.9921648091860857 Centerline is valid? [True, True] Translation: X:120.74, Y:-6.39, Z:-1.61 [[ 9.99624155e-01 2.66348705e-02 6.49101258e-03 1.20736501e+02] [-2.66332646e-02 9.99645216e-01 -3.33727992e-04 -6.38549004e+00] [-6.49759848e-03 1.60725707e-04 9.99978877e-01 -1.61142514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.930371743 meters Centerline goodness [0,1] 0.9929150025948239 Centerline is valid? [True, True] Translation: X:120.77, Y:-6.39, Z:-1.61 [[ 9.99540965e-01 2.94999281e-02 6.90021658e-03 1.20765798e+02] [-2.94981880e-02 9.99564771e-01 -3.53833164e-04 -6.38523432e+00] [-6.90765146e-03 1.50126856e-04 9.99976131e-01 -1.61166423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960371743 meters Centerline goodness [0,1] 0.9923057886566627 Centerline is valid? [True, True] Translation: X:120.79, Y:-6.39, Z:-1.61 [[ 9.99527149e-01 3.00479055e-02 6.52699199e-03 1.20793961e+02] [-3.00463607e-02 9.99548450e-01 -3.34629291e-04 -6.38696303e+00] [-6.53409964e-03 1.38358705e-04 9.99978643e-01 -1.61240696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.990371743 meters Centerline goodness [0,1] 0.9929885472089458 Centerline is valid? [True, True] Translation: X:120.82, Y:-6.39, Z:-1.61 [[ 9.99513248e-01 3.04450247e-02 6.80937983e-03 1.20823092e+02] [-3.04433578e-02 9.99536433e-01 -3.48327009e-04 -6.38872338e+00] [-6.81682805e-03 1.40857073e-04 9.99976755e-01 -1.61300894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020371743 meters Centerline goodness [0,1] 0.9922217476339276 Centerline is valid? [True, True] Translation: X:120.85, Y:-6.39, Z:-1.61 [[ 9.99543734e-01 2.94766638e-02 6.59160130e-03 1.20851719e+02] [-2.94750838e-02 9.99565459e-01 -3.36743172e-04 -6.39222990e+00] [-6.59866304e-03 1.42301527e-04 9.99978218e-01 -1.61404068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.050371743 meters Centerline goodness [0,1] 0.9926015603981706 Centerline is valid? [True, True] Translation: X:120.88, Y:-6.40, Z:-1.61 [[ 9.99580027e-01 2.82252308e-02 6.56545389e-03 1.20880209e+02] [-2.82236393e-02 9.99601578e-01 -3.34946229e-04 -6.39531578e+00] [-6.57229200e-03 1.49504558e-04 9.99978391e-01 -1.61496173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080371743 meters Centerline goodness [0,1] 0.9922318762488493 Centerline is valid? [True, True] Translation: X:120.91, Y:-6.40, Z:-1.62 [[ 9.99629892e-01 2.64527580e-02 6.35065961e-03 1.20908422e+02] [-2.64512350e-02 9.99650052e-01 -3.23698492e-04 -6.39885075e+00] [-6.35699993e-03 1.55595899e-04 9.99979782e-01 -1.61575307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.110371743 meters Centerline goodness [0,1] 0.9921100999686198 Centerline is valid? [True, True] Translation: X:120.94, Y:-6.41, Z:-1.62 [[ 9.99733940e-01 2.20496412e-02 6.77221448e-03 1.20937129e+02] [-2.20478138e-02 9.99756858e-01 -3.44385297e-04 -6.40579047e+00] [-6.77816144e-03 1.94981146e-04 9.99977009e-01 -1.61696837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140371743 meters Centerline goodness [0,1] 0.9922239153818573 Centerline is valid? [True, True] Translation: X:120.97, Y:-6.41, Z:-1.62 [[ 9.99792284e-01 1.91484584e-02 6.98030795e-03 1.20965699e+02] [-1.91464500e-02 9.99816627e-01 -3.54449805e-04 -6.40964119e+00] [-6.98581512e-03 2.20728063e-04 9.99975575e-01 -1.61706714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.170371743 meters Centerline goodness [0,1] 0.9917849808018573 Centerline is valid? [True, True] Translation: X:120.99, Y:-6.42, Z:-1.62 [[ 9.99847183e-01 1.58831963e-02 7.30311200e-03 1.20993702e+02] [-1.58809150e-02 9.99873822e-01 -3.70270681e-04 -6.41661193e+00] [-7.30807159e-03 2.54233996e-04 9.99973263e-01 -1.61779283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20037174299999 meters Centerline goodness [0,1] 0.9922225947033189 Centerline is valid? [True, True] Translation: X:121.02, Y:-6.42, Z:-1.62 [[ 9.99927525e-01 9.31121922e-03 7.63194015e-03 1.21023310e+02] [-9.30854377e-03 9.99956600e-01 -3.86006262e-04 -6.42251526e+00] [-7.63520312e-03 3.14936038e-04 9.99970802e-01 -1.61761913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23037174299999 meters Centerline goodness [0,1] 0.9919112908602031 Centerline is valid? [True, True] Translation: X:121.05, Y:-6.43, Z:-1.62 [[ 9.99958402e-01 5.45631851e-03 7.30915721e-03 1.21053496e+02] [-5.45376321e-03 9.99985060e-01 -3.69488941e-04 -6.42823636e+00] [-7.31106406e-03 3.29611158e-04 9.99973219e-01 -1.61859284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260371743 meters Centerline goodness [0,1] 0.9919112908602031 Centerline is valid? [True, True] Translation: X:121.08, Y:-6.43, Z:-1.62 [[ 9.99958205e-01 5.49225277e-03 7.30916852e-03 1.21084332e+02] [-5.48970006e-03 9.99984863e-01 -3.69265277e-04 -6.42982499e+00] [-7.31108598e-03 3.29124700e-04 9.99973219e-01 -1.61901126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.290371743 meters Centerline goodness [0,1] 0.9919491148474335 Centerline is valid? [True, True] Translation: X:121.12, Y:-6.44, Z:-1.62 [[ 9.99973955e-01 1.76084784e-03 6.99924358e-03 1.21115082e+02] [-1.75841337e-03 9.99998391e-01 -3.53957553e-04 -6.43649922e+00] [-6.99985558e-03 3.41640771e-04 9.99975442e-01 -1.61993657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320371743 meters Centerline goodness [0,1] 0.9918155259695368 Centerline is valid? [True, True] Translation: X:121.15, Y:-6.44, Z:-1.62 [[ 9.99964866e-01 -5.28040650e-03 6.51024326e-03 1.21145292e+02] [ 5.28266253e-03 9.99985992e-01 -3.29387019e-04 -6.44336578e+00] [-6.50841277e-03 3.63766864e-04 9.99978754e-01 -1.62063930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.350371743 meters Centerline goodness [0,1] 0.992004797121727 Centerline is valid? [True, True] Translation: X:121.18, Y:-6.45, Z:-1.62 [[ 9.99951743e-01 -7.63706135e-03 6.17960316e-03 1.21176001e+02] [ 7.63913881e-03 9.99970772e-01 -3.12646657e-04 -6.44822449e+00] [-6.17703484e-03 3.59838416e-04 9.99980857e-01 -1.62133463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380371743 meters Centerline goodness [0,1] 0.992480366637745 Centerline is valid? [True, True] Translation: X:121.21, Y:-6.45, Z:-1.62 [[ 9.99935554e-01 -9.98964534e-03 5.39394720e-03 1.21207362e+02] [ 9.99126181e-03 9.99950049e-01 -2.72818626e-04 -6.45378868e+00] [-5.39095241e-03 3.26693382e-04 9.99985415e-01 -1.62206583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.410371743 meters Centerline goodness [0,1] 0.9915917786279919 Centerline is valid? [True, True] Translation: X:121.24, Y:-6.46, Z:-1.62 [[ 9.99935700e-01 -1.01587607e-02 5.03941880e-03 1.21239372e+02] [ 1.01601731e-02 9.99948352e-01 -2.54730933e-04 -6.45684921e+00] [-5.03657077e-03 3.05915920e-04 9.99987270e-01 -1.62300707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440371743 meters Centerline goodness [0,1] 0.9914558366622281 Centerline is valid? [True, True] Translation: X:121.27, Y:-6.46, Z:-1.62 [[ 9.99941608e-01 -9.91840607e-03 4.29022049e-03 1.21270421e+02] [ 9.91942889e-03 9.99950778e-01 -2.17194698e-04 -6.46207556e+00] [-4.28785509e-03 2.59738552e-04 9.99990773e-01 -1.62448715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.470371743 meters Centerline goodness [0,1] 0.9921111111111112 Centerline is valid? [True, True] Translation: X:121.30, Y:-6.46, Z:-1.63 [[ 9.99954416e-01 -8.90360609e-03 3.44835648e-03 1.21303167e+02] [ 8.90425981e-03 9.99960341e-01 -1.74267809e-04 -6.46248809e+00] [-3.44666811e-03 2.04964928e-04 9.99994039e-01 -1.62534289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500371743 meters Centerline goodness [0,1] 0.9919399604769412 Centerline is valid? [True, True] Translation: X:121.34, Y:-6.46, Z:-1.63 [[ 9.99973777e-01 -6.15865615e-03 3.81010095e-03 1.21335250e+02] [ 6.15943739e-03 9.99981012e-01 -1.93345098e-04 -6.46049848e+00] [-3.80883786e-03 2.16808106e-04 9.99992723e-01 -1.62547375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.530371743 meters Centerline goodness [0,1] 0.9915934699671723 Centerline is valid? [True, True] Translation: X:121.37, Y:-6.46, Z:-1.63 [[ 9.99982649e-01 -4.26802040e-03 4.06033813e-03 1.21365561e+02] [ 4.26889457e-03 9.99990867e-01 -2.06652564e-04 -6.46291731e+00] [-4.05941905e-03 2.23982133e-04 9.99991735e-01 -1.62618370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.560371743 meters Centerline goodness [0,1] 0.9926962064538976 Centerline is valid? [True, True] Translation: X:121.40, Y:-6.46, Z:-1.63 [[ 9.99990512e-01 7.62360831e-04 4.28901317e-03 1.21396088e+02] [-7.61430709e-04 9.99999686e-01 -2.18490256e-04 -6.45905368e+00] [-4.28917839e-03 2.15222396e-04 9.99990778e-01 -1.62602147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59037174299999 meters Centerline goodness [0,1] 0.9925067816960911 Centerline is valid? [True, True] Translation: X:121.43, Y:-6.46, Z:-1.63 [[ 9.99984699e-01 3.42331809e-03 4.34532723e-03 1.21428044e+02] [-3.42239020e-03 9.99994119e-01 -2.20954452e-04 -6.45747704e+00] [-4.34605807e-03 2.06079666e-04 9.99990535e-01 -1.62607992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62037174299999 meters Centerline goodness [0,1] 0.9925378106469451 Centerline is valid? [True, True] Translation: X:121.46, Y:-6.45, Z:-1.63 [[ 9.99943016e-01 9.63312527e-03 4.60082657e-03 1.21457966e+02] [-9.63214646e-03 9.99953582e-01 -2.34856277e-04 -6.45447607e+00] [-4.60287541e-03 1.90527058e-04 9.99989389e-01 -1.62613497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.650371743 meters Centerline goodness [0,1] 0.992843215456882 Centerline is valid? [True, True] Translation: X:121.49, Y:-6.45, Z:-1.63 [[ 9.99910763e-01 1.25384595e-02 4.61014780e-03 1.21487664e+02] [-1.25375070e-02 9.99921375e-01 -2.35437555e-04 -6.45363466e+00] [-4.61273735e-03 1.77616785e-04 9.99989345e-01 -1.62628770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680371743 meters Centerline goodness [0,1] 0.9927261437473666 Centerline is valid? [True, True] Translation: X:121.52, Y:-6.45, Z:-1.63 [[ 9.99879831e-01 1.48769029e-02 4.35912030e-03 1.21515363e+02] [-1.48760720e-02 9.99889320e-01 -2.22967809e-04 -6.45299478e+00] [-4.36195490e-03 1.58094427e-04 9.99990474e-01 -1.62655334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.710371743 meters Centerline goodness [0,1] 0.9929106474050294 Centerline is valid? [True, True] Translation: X:121.55, Y:-6.45, Z:-1.63 [[ 9.99813015e-01 1.89452303e-02 3.87479538e-03 1.21545022e+02] [-1.89446070e-02 9.99820515e-01 -1.97493588e-04 -6.44830720e+00] [-3.87784147e-03 1.24050184e-04 9.99992473e-01 -1.62681194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740371743 meters Centerline goodness [0,1] 0.9933680509191258 Centerline is valid? [True, True] Translation: X:121.57, Y:-6.45, Z:-1.63 [[ 9.99782914e-01 2.05722109e-02 3.30279913e-03 1.21573904e+02] [-2.05717658e-02 9.99788365e-01 -1.68666704e-04 -6.44781733e+00] [-3.30556999e-03 1.00685678e-04 9.99994532e-01 -1.62750951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.770371743 meters Centerline goodness [0,1] 0.9933980149436824 Centerline is valid? [True, True] Translation: X:121.60, Y:-6.45, Z:-1.63 [[ 9.99754526e-01 2.19600512e-02 2.94020213e-03 1.21602401e+02] [-2.19597048e-02 9.99758845e-01 -1.50041184e-04 -6.44814718e+00] [-2.94278800e-03 8.54383821e-05 9.99995666e-01 -1.62818877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800371743 meters Centerline goodness [0,1] 0.9934160603490604 Centerline is valid? [True, True] Translation: X:121.63, Y:-6.45, Z:-1.63 [[ 9.99720820e-01 2.34356484e-02 3.00880638e-03 1.21631710e+02] [-2.34352914e-02 9.99725344e-01 -1.53879013e-04 -6.44854827e+00] [-3.01158624e-03 8.33237993e-05 9.99995462e-01 -1.62869895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.830371743 meters Centerline goodness [0,1] 0.9937744058908847 Centerline is valid? [True, True] Translation: X:121.66, Y:-6.45, Z:-1.63 [[ 9.99649938e-01 2.61878584e-02 3.76800157e-03 1.21659558e+02] [-2.61873218e-02 9.99657035e-01 -1.91676082e-04 -6.44876809e+00] [-3.77172887e-03 9.29351141e-05 9.99992883e-01 -1.62889636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860371743 meters Centerline goodness [0,1] 0.9927165486270918 Centerline is valid? [True, True] Translation: X:121.69, Y:-6.45, Z:-1.63 [[ 9.99617668e-01 2.73357908e-02 4.15607958e-03 1.21688654e+02] [-2.73351523e-02 9.99626303e-01 -2.10362768e-04 -6.44888760e+00] [-4.16027690e-03 9.66752713e-05 9.99991341e-01 -1.62931257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.890371743 meters Centerline goodness [0,1] 0.9930144843439641 Centerline is valid? [True, True] Translation: X:121.72, Y:-6.45, Z:-1.63 [[ 9.99555774e-01 2.94978620e-02 4.25814313e-03 1.21716614e+02] [-2.94972121e-02 9.99564839e-01 -2.15360362e-04 -6.44924743e+00] [-4.26264283e-03 8.96613421e-05 9.99990911e-01 -1.62921128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920371743 meters Centerline goodness [0,1] 0.9930975942100208 Centerline is valid? [True, True] Translation: X:121.75, Y:-6.45, Z:-1.63 [[ 9.99543611e-01 2.98591012e-02 4.58302532e-03 1.21745278e+02] [-2.98583551e-02 9.99554113e-01 -2.31147987e-04 -6.44870310e+00] [-4.58788369e-03 9.42008965e-05 9.99989471e-01 -1.62885862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95037174299999 meters Centerline goodness [0,1] 0.9927356445159704 Centerline is valid? [True, True] Translation: X:121.77, Y:-6.45, Z:-1.63 [[ 9.99536438e-01 3.00972828e-02 4.58941388e-03 1.21773009e+02] [-3.00965365e-02 9.99546970e-01 -2.31602287e-04 -6.45029120e+00] [-4.59430534e-03 9.33694622e-05 9.99989442e-01 -1.62940699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98037174299999 meters Centerline goodness [0,1] 0.993337344296633 Centerline is valid? [True, True] Translation: X:121.80, Y:-6.45, Z:-1.63 [[ 9.99580748e-01 2.85182099e-02 5.00393908e-03 1.21800515e+02] [-2.85173084e-02 9.99593267e-01 -2.51446202e-04 -6.45297924e+00] [-5.00907461e-03 1.08641909e-04 9.99987449e-01 -1.62930502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.010371743 meters Centerline goodness [0,1] 0.9925919314530525 Centerline is valid? [True, True] Translation: X:121.83, Y:-6.46, Z:-1.63 [[ 9.99614730e-01 2.72499490e-02 5.27552403e-03 1.21828344e+02] [-2.72489321e-02 9.99628644e-01 -2.64556563e-04 -6.45659227e+00] [-5.28077409e-03 1.20702241e-04 9.99986049e-01 -1.62981032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040371743 meters Centerline goodness [0,1] 0.9928741621573474 Centerline is valid? [True, True] Translation: X:121.86, Y:-6.46, Z:-1.63 [[ 9.99667383e-01 2.52038062e-02 5.46731543e-03 1.21856602e+02] [-2.52026855e-02 9.99682324e-01 -2.73786698e-04 -6.45985134e+00] [-5.47247906e-03 1.35904601e-04 9.99985017e-01 -1.62982971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.070371743 meters Centerline goodness [0,1] 0.9930080830123138 Centerline is valid? [True, True] Translation: X:121.89, Y:-6.46, Z:-1.63 [[ 9.99714217e-01 2.31610729e-02 5.92021195e-03 1.21885210e+02] [-2.31597288e-02 9.99731734e-01 -2.95511356e-04 -6.46016124e+00] [-5.92546812e-03 1.58316401e-04 9.99982432e-01 -1.62960289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100371743 meters Centerline goodness [0,1] 0.9928818475956711 Centerline is valid? [True, True] Translation: X:121.91, Y:-6.47, Z:-1.63 [[ 9.99799828e-01 1.87811056e-02 6.89735717e-03 1.21914780e+02] [-1.87791831e-02 9.99823597e-01 -3.43389862e-04 -6.46588500e+00] [-6.90258969e-03 2.13794392e-04 9.99976154e-01 -1.62945383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.130371743 meters Centerline goodness [0,1] 0.9926691102965678 Centerline is valid? [True, True] Translation: X:121.94, Y:-6.47, Z:-1.63 [[ 9.99832063e-01 1.66699580e-02 7.61309626e-03 1.21943573e+02] [-1.66675555e-02 9.99861015e-01 -3.78916143e-04 -6.46862857e+00] [-7.61835467e-03 2.51960804e-04 9.99970948e-01 -1.62909654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160371743 meters Centerline goodness [0,1] 0.9922004830382664 Centerline is valid? [True, True] Translation: X:121.97, Y:-6.48, Z:-1.63 [[ 9.99873600e-01 1.33699220e-02 8.60403087e-03 1.21971382e+02] [-1.33667378e-02 9.99910570e-01 -4.27482671e-04 -6.47521388e+00] [-8.60897682e-03 3.12420812e-04 9.99962893e-01 -1.62956547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.190371743 meters Centerline goodness [0,1] 0.9922143601801122 Centerline is valid? [True, True] Translation: X:122.00, Y:-6.48, Z:-1.63 [[ 9.99894945e-01 1.17099254e-02 8.54259872e-03 1.22000857e+02] [-1.17067335e-02 9.99931384e-01 -4.23551135e-04 -6.47961085e+00] [-8.54697232e-03 3.23500713e-04 9.99963422e-01 -1.63024500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220371743 meters Centerline goodness [0,1] 0.9920805220661432 Centerline is valid? [True, True] Translation: X:122.03, Y:-6.48, Z:-1.63 [[ 9.99934396e-01 8.41913039e-03 7.76673995e-03 1.22031038e+02] [-8.41639457e-03 9.99964507e-01 -3.84866227e-04 -6.48402111e+00] [-7.76970453e-03 3.19473030e-04 9.99969764e-01 -1.63100395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.250371743 meters Centerline goodness [0,1] 0.9921335081442635 Centerline is valid? [True, True] Translation: X:122.06, Y:-6.49, Z:-1.63 [[ 9.99952898e-01 6.45949266e-03 7.24412959e-03 1.22062302e+02] [-6.45706293e-03 9.99979089e-01 -3.58745319e-04 -6.48796092e+00] [-7.24629542e-03 3.11952620e-04 9.99973697e-01 -1.63209021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280371743 meters Centerline goodness [0,1] 0.9924633697603795 Centerline is valid? [True, True] Translation: X:122.09, Y:-6.49, Z:-1.63 [[ 9.99967943e-01 4.84665421e-03 6.37354841e-03 1.22093465e+02] [-4.84473962e-03 9.99988214e-01 -3.15800670e-04 -6.49146723e+00] [-6.37500387e-03 2.84912364e-04 9.99979639e-01 -1.63316310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.310371743 meters Centerline goodness [0,1] 0.9920541820676834 Centerline is valid? [True, True] Translation: X:122.12, Y:-6.50, Z:-1.63 [[ 9.99976418e-01 3.14347639e-03 6.10596960e-03 1.22123934e+02] [-3.14169031e-03 9.99995019e-01 -3.02084611e-04 -6.49762850e+00] [-6.10688879e-03 2.82894422e-04 9.99981313e-01 -1.63446833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34037174299999 meters Centerline goodness [0,1] 0.9920213941563896 Centerline is valid? [True, True] Translation: X:122.15, Y:-6.50, Z:-1.64 [[ 9.99988125e-01 2.77975233e-04 4.86543228e-03 1.22153474e+02] [-2.76800836e-04 9.99999932e-01 -2.42047379e-04 -6.50461660e+00] [-4.86549923e-03 2.40697749e-04 9.99988134e-01 -1.63612980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37037174299999 meters Centerline goodness [0,1] 0.9923297333039454 Centerline is valid? [True, True] Translation: X:122.19, Y:-6.50, Z:-1.64 [[ 9.99990062e-01 2.16443392e-05 4.45817861e-03 1.22185985e+02] [-2.06659384e-05 9.99999976e-01 -2.19507949e-04 -6.50309616e+00] [-4.45818326e-03 2.19413635e-04 9.99990038e-01 -1.63595477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400371743 meters Centerline goodness [0,1] 0.991392472285531 Centerline is valid? [True, True] Translation: X:122.22, Y:-6.51, Z:-1.64 [[ 9.99992030e-01 -1.42863251e-04 3.98988407e-03 1.22216656e+02] [ 1.43655143e-04 9.99999970e-01 -1.98188931e-04 -6.50723613e+00] [-3.98985564e-03 1.98760519e-04 9.99992021e-01 -1.63694494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.430371743 meters Centerline goodness [0,1] 0.9922369177688327 Centerline is valid? [True, True] Translation: X:122.25, Y:-6.51, Z:-1.64 [[ 9.99992108e-01 6.29551083e-04 3.92281401e-03 1.22249075e+02] [-6.28787069e-04 9.99999783e-01 -1.95991863e-04 -6.50737169e+00] [-3.92293655e-03 1.93523702e-04 9.99992287e-01 -1.63671924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460371743 meters Centerline goodness [0,1] 0.9929475948637201 Centerline is valid? [True, True] Translation: X:122.28, Y:-6.51, Z:-1.64 [[ 9.99985625e-01 3.95745378e-03 3.61783479e-03 1.22280366e+02] [-3.95682364e-03 9.99992155e-01 -1.81316291e-04 -6.50503415e+00] [-3.61852396e-03 1.66998551e-04 9.99993439e-01 -1.63621053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.490371743 meters Centerline goodness [0,1] 0.9925875116165863 Centerline is valid? [True, True] Translation: X:122.31, Y:-6.51, Z:-1.64 [[ 9.99971491e-01 6.61631609e-03 3.63875843e-03 1.22310708e+02] [-6.61569459e-03 9.99978099e-01 -1.82811323e-04 -6.50503799e+00] [-3.63988827e-03 1.58733197e-04 9.99993363e-01 -1.63643869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520371743 meters Centerline goodness [0,1] 0.9931709688826026 Centerline is valid? [True, True] Translation: X:122.34, Y:-6.50, Z:-1.64 [[ 9.99911671e-01 1.30062953e-02 2.73625843e-03 1.22340285e+02] [-1.30059671e-02 9.99915409e-01 -1.37707730e-04 -6.50260538e+00] [-2.73781804e-03 1.02107879e-04 9.99996247e-01 -1.63652247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.550371743 meters Centerline goodness [0,1] 0.9931233362910381 Centerline is valid? [True, True] Translation: X:122.37, Y:-6.50, Z:-1.64 [[ 9.99864621e-01 1.63130449e-02 2.15027562e-03 1.22369610e+02] [-1.63128490e-02 9.99866931e-01 -1.08594973e-04 -6.50043282e+00] [-2.15176100e-03 7.35031499e-05 9.99997682e-01 -1.63659837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580371743 meters Centerline goodness [0,1] 0.9931329331236294 Centerline is valid? [True, True] Translation: X:122.40, Y:-6.50, Z:-1.64 [[ 9.99808769e-01 1.94597500e-02 1.93464608e-03 1.22397881e+02] [-1.94595970e-02 9.99810639e-01 -9.78776641e-05 -6.49999842e+00] [-1.93618441e-03 6.02115139e-05 9.99998124e-01 -1.63696199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.610371743 meters Centerline goodness [0,1] 0.9936027010817655 Centerline is valid? [True, True] Translation: X:122.43, Y:-6.50, Z:-1.64 [[ 9.99680490e-01 2.52225821e-02 1.65528687e-03 1.22427791e+02] [-2.52224786e-02 9.99681859e-01 -8.33377694e-05 -6.49757317e+00] [-1.65686225e-03 4.15607045e-05 9.99998627e-01 -1.63784164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640371743 meters Centerline goodness [0,1] 0.9938824994994773 Centerline is valid? [True, True] Translation: X:122.46, Y:-6.50, Z:-1.64 [[ 9.99608553e-01 2.79477159e-02 1.29077283e-03 1.22455414e+02] [-2.79476538e-02 9.99609386e-01 -6.60620155e-05 -6.49761130e+00] [-1.29211492e-03 2.99620835e-05 9.99999165e-01 -1.63828869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.670371743 meters Centerline goodness [0,1] 0.9941373720325998 Centerline is valid? [True, True] Translation: X:122.48, Y:-6.50, Z:-1.64 [[ 9.99537152e-01 3.04054533e-02 9.95309968e-04 1.22483943e+02] [-3.04054180e-02 9.99537647e-01 -5.05790417e-05 -6.49751185e+00] [-9.96387663e-04 2.02928156e-05 9.99999503e-01 -1.63937519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70037174299999 meters Centerline goodness [0,1] 0.9949822380106572 Centerline is valid? [True, True] Translation: X:122.51, Y:-6.50, Z:-1.64 [[ 9.99418001e-01 3.41076134e-02 5.74952374e-04 1.22511779e+02] [-3.41076019e-02 9.99418166e-01 -2.97954186e-05 -6.49645653e+00] [-5.75634097e-04 1.01678310e-05 9.99999834e-01 -1.64004160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73037174299999 meters Centerline goodness [0,1] 0.99457111834962 Centerline is valid? [True, True] Translation: X:122.54, Y:-6.50, Z:-1.64 [[ 9.99389746e-01 3.49179482e-02 9.33798999e-04 1.22540821e+02] [-3.49179192e-02 9.99390182e-01 -4.73631499e-05 -6.49678418e+00] [-9.34883376e-04 1.47279283e-05 9.99999563e-01 -1.64014088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760371743 meters Centerline goodness [0,1] 0.9945801865837406 Centerline is valid? [True, True] Translation: X:122.57, Y:-6.50, Z:-1.64 [[ 9.99388629e-01 3.49455489e-02 1.08505120e-03 1.22567459e+02] [-3.49455093e-02 9.99389218e-01 -5.54446237e-05 -6.49864764e+00] [-1.08632602e-03 1.74930595e-05 9.99999410e-01 -1.64089846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.790371743 meters Centerline goodness [0,1] 0.9941815274600813 Centerline is valid? [True, True] Translation: X:122.60, Y:-6.50, Z:-1.64 [[ 9.99402430e-01 3.45463010e-02 1.15595781e-03 1.22595785e+02] [-3.45462569e-02 9.99403098e-01 -5.81665350e-05 -6.50046807e+00] [-1.15727725e-03 1.81977611e-05 9.99999330e-01 -1.64102808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820371743 meters Centerline goodness [0,1] 0.994939406046078 Centerline is valid? [True, True] Translation: X:122.62, Y:-6.50, Z:-1.64 [[ 9.99464024e-01 3.26974302e-02 1.59466532e-03 1.22624811e+02] [-3.26973445e-02 9.99465296e-01 -7.98159266e-05 -6.50284434e+00] [-1.59642243e-03 2.76318257e-05 9.99998725e-01 -1.63995335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.850371743 meters Centerline goodness [0,1] 0.9940358734452254 Centerline is valid? [True, True] Translation: X:122.65, Y:-6.51, Z:-1.64 [[ 9.99506898e-01 3.13524148e-02 1.72811464e-03 1.22652710e+02] [-3.13523121e-02 9.99508392e-01 -8.64943025e-05 -6.50612133e+00] [-1.72997689e-03 3.22712625e-05 9.99998503e-01 -1.64064167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880371743 meters Centerline goodness [0,1] 0.9941536008503853 Centerline is valid? [True, True] Translation: X:122.68, Y:-6.51, Z:-1.64 [[ 9.99543716e-01 3.01731066e-02 1.39431805e-03 1.22681148e+02] [-3.01730387e-02 9.99544688e-01 -6.96808845e-05 -6.50924922e+00] [-1.39578569e-03 2.75782776e-05 9.99999026e-01 -1.64072463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.910371743 meters Centerline goodness [0,1] 0.9944014162425315 Centerline is valid? [True, True] Translation: X:122.71, Y:-6.51, Z:-1.64 [[ 9.99615071e-01 2.77154095e-02 1.25151736e-03 1.22709882e+02] [-2.77153529e-02 9.99615854e-01 -6.25674797e-05 -6.51298578e+00] [-1.25277068e-03 2.78571504e-05 9.99999215e-01 -1.63986724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940371743 meters Centerline goodness [0,1] 0.9945744845760347 Centerline is valid? [True, True] Translation: X:122.74, Y:-6.52, Z:-1.64 [[ 9.99637368e-01 2.69062250e-02 1.08997578e-03 1.22738668e+02] [-2.69061815e-02 9.99637962e-01 -5.45352628e-05 -6.51580148e+00] [-1.09104850e-03 2.51884005e-05 9.99999404e-01 -1.63986104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.970371743 meters Centerline goodness [0,1] 0.9942252804389672 Centerline is valid? [True, True] Translation: X:122.77, Y:-6.52, Z:-1.64 [[ 9.99649943e-01 2.64507481e-02 5.91198467e-04 1.22767398e+02] [-2.64507350e-02 9.99650118e-01 -2.99723652e-05 -6.51855433e+00] [-5.91784408e-04 1.43242392e-05 9.99999825e-01 -1.64013950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000371743 meters Centerline goodness [0,1] 0.9948600926069522 Centerline is valid? [True, True] Translation: X:122.80, Y:-6.52, Z:-1.64 [[ 9.99634156e-01 2.70471798e-02 -7.13574283e-05 1.22796241e+02] [-2.70471797e-02 9.99634158e-01 2.53208564e-06 -6.52162191e+00] [ 7.13998085e-05 -6.01142097e-07 9.99999997e-01 -1.64038344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.030371743 meters Centerline goodness [0,1] 0.9949956821150994 Centerline is valid? [True, True] Translation: X:122.83, Y:-6.52, Z:-1.64 [[ 9.99602359e-01 2.81974935e-02 1.59123868e-04 1.22825349e+02] [-2.81974925e-02 9.99602372e-01 -8.74712480e-06 -6.52363118e+00] [-1.59307243e-04 4.25675253e-06 9.99999987e-01 -1.64069175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.060371743 meters Centerline goodness [0,1] 0.9949683025224986 Centerline is valid? [True, True] Translation: X:122.85, Y:-6.52, Z:-1.64 [[ 9.99558562e-01 2.97021459e-02 6.81558204e-04 1.22854248e+02] [-2.97021295e-02 9.99558794e-01 -3.42804825e-05 -6.52460774e+00] [-6.82275700e-04 1.40216197e-05 9.99999767e-01 -1.64040630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09037174299999 meters Centerline goodness [0,1] 0.9948729281767956 Centerline is valid? [True, True] Translation: X:122.88, Y:-6.53, Z:-1.64 [[ 9.99434007e-01 3.36206926e-02 1.14673224e-03 1.22881813e+02] [-3.36206492e-02 9.99434665e-01 -5.71453045e-05 -6.52638302e+00] [-1.14800522e-03 1.85590782e-05 9.99999341e-01 -1.63979694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12037174299999 meters Centerline goodness [0,1] 0.9954568511126304 Centerline is valid? [True, True] Translation: X:122.91, Y:-6.53, Z:-1.64 [[ 9.99370534e-01 3.54314304e-02 1.77464822e-03 1.22910510e+02] [-3.54313310e-02 9.99372109e-01 -8.74068067e-05 -6.52804568e+00] [-1.77663089e-03 2.44736384e-05 9.99998421e-01 -1.64012700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.150371743 meters Centerline goodness [0,1] 0.9955242545909301 Centerline is valid? [True, True] Translation: X:122.94, Y:-6.53, Z:-1.64 [[ 9.99299526e-01 3.73729210e-02 1.92915145e-03 1.22938304e+02] [-3.73728073e-02 9.99301388e-01 -9.49944469e-05 -6.53025620e+00] [-1.93135395e-03 2.28301004e-05 9.99998135e-01 -1.64094858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180371743 meters Centerline goodness [0,1] 0.9955242545909301 Centerline is valid? [True, True] Translation: X:122.97, Y:-6.53, Z:-1.64 [[ 9.99303400e-01 3.72692035e-02 1.92915097e-03 1.22965736e+02] [-3.72690895e-02 9.99305262e-01 -9.50057139e-05 -6.53149831e+00] [-1.93135150e-03 2.30418327e-05 9.99998135e-01 -1.64132110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.210371743 meters Centerline goodness [0,1] 0.9955035376578721 Centerline is valid? [True, True] Translation: X:122.99, Y:-6.54, Z:-1.64 [[ 9.99229792e-01 3.92133322e-02 1.46221289e-03 1.22994630e+02] [-3.92132691e-02 9.99230861e-01 -7.17861430e-05 -6.53503852e+00] [-1.46390322e-03 1.43927050e-05 9.99998928e-01 -1.64268232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240371743 meters Centerline goodness [0,1] 0.9953709826742494 Centerline is valid? [True, True] Translation: X:123.02, Y:-6.54, Z:-1.64 [[ 9.99208336e-01 3.97763101e-02 7.38849226e-04 1.23022942e+02] [-3.97762939e-02 9.99208609e-01 -3.66840804e-05 -6.53830940e+00] [-7.39723665e-04 7.26635505e-06 9.99999726e-01 -1.64401303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.270371743 meters Centerline goodness [0,1] 0.9956362674659497 Centerline is valid? [True, True] Translation: X:123.05, Y:-6.54, Z:-1.64 [[ 9.99205555e-01 3.98528725e-02 -8.09147146e-05 1.23051262e+02] [-3.98528724e-02 9.99205559e-01 2.93902789e-06 -6.54123307e+00] [ 8.09675613e-05 2.87990808e-07 9.99999997e-01 -1.64406749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300371743 meters Centerline goodness [0,1] 0.996023900531611 Centerline is valid? [True, True] Translation: X:123.08, Y:-6.55, Z:-1.65 [[ 9.99241664e-01 3.89159603e-02 -1.28250146e-03 1.23078749e+02] [-3.89159145e-02 9.99242487e-01 6.06381840e-05 -6.54683273e+00] [ 1.28388974e-03 -1.06824828e-05 9.99999176e-01 -1.64558511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.330371743 meters Centerline goodness [0,1] 0.9950520088843929 Centerline is valid? [True, True] Translation: X:123.11, Y:-6.55, Z:-1.65 [[ 9.99254757e-01 3.85398899e-02 -2.14661294e-03 1.23107327e+02] [-3.85397589e-02 9.99257062e-01 1.02396694e-04 -6.55052701e+00] [ 2.14896450e-03 -1.95904388e-05 9.99997691e-01 -1.64582109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360371743 meters Centerline goodness [0,1] 0.9949722380098807 Centerline is valid? [True, True] Translation: X:123.14, Y:-6.55, Z:-1.65 [[ 9.99264767e-01 3.82759685e-02 -2.20829852e-03 1.23136038e+02] [-3.82758294e-02 9.99267206e-01 1.05205698e-04 -6.55410341e+00] [ 2.21070715e-03 -2.06038897e-05 9.99997556e-01 -1.64622464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.390371743 meters Centerline goodness [0,1] 0.9957132493569874 Centerline is valid? [True, True] Translation: X:123.16, Y:-6.56, Z:-1.65 [[ 9.99270508e-01 3.81551465e-02 -1.62375985e-03 1.23164253e+02] [-3.81550718e-02 9.99271827e-01 7.69726752e-05 -6.55890322e+00] [ 1.62551438e-03 -1.49618505e-05 9.99998679e-01 -1.64539681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420371743 meters Centerline goodness [0,1] 0.9952406018335745 Centerline is valid? [True, True] Translation: X:123.19, Y:-6.56, Z:-1.64 [[ 9.99244049e-01 3.88416818e-02 -1.62940217e-03 1.23192518e+02] [-3.88416077e-02 9.99245377e-01 7.71192280e-05 -6.56151330e+00] [ 1.63116803e-03 -1.37723297e-05 9.99998670e-01 -1.64483980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45037174299999 meters Centerline goodness [0,1] 0.9953088693059757 Centerline is valid? [True, True] Translation: X:123.22, Y:-6.56, Z:-1.65 [[ 9.99198848e-01 4.00145674e-02 -7.04227480e-04 1.23219990e+02] [-4.00145545e-02 9.99199096e-01 3.24755337e-05 -6.56462102e+00] [ 7.04962956e-04 -4.27016704e-06 9.99999752e-01 -1.64566791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48037174299999 meters Centerline goodness [0,1] 0.9952207655544351 Centerline is valid? [True, True] Translation: X:123.25, Y:-6.57, Z:-1.65 [[ 9.99162608e-01 4.09088129e-02 -7.43068885e-04 1.23249241e+02] [-4.09087984e-02 9.99162884e-01 3.47885438e-05 -6.56693348e+00] [ 7.43870008e-04 -4.36135698e-06 9.99999723e-01 -1.64514150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.510371743 meters Centerline goodness [0,1] 0.9958631558211307 Centerline is valid? [True, True] Translation: X:123.28, Y:-6.57, Z:-1.65 [[ 9.99097545e-01 4.24739435e-02 2.46239460e-04 1.23277699e+02] [-4.24739417e-02 9.99097575e-01 -1.27078872e-05 -6.57113308e+00] [-2.46557001e-04 2.23765841e-06 9.99999970e-01 -1.64503949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540371743 meters Centerline goodness [0,1] 0.9952320545907878 Centerline is valid? [True, True] Translation: X:123.31, Y:-6.57, Z:-1.64 [[ 9.99059647e-01 4.33553809e-02 3.63812875e-04 1.23306686e+02] [-4.33553771e-02 9.99059713e-01 -1.83092028e-05 -6.57376243e+00] [-3.64264589e-04 2.51874126e-06 9.99999934e-01 -1.64482767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.570371743 meters Centerline goodness [0,1] 0.9947501968676175 Centerline is valid? [True, True] Translation: X:123.33, Y:-6.58, Z:-1.64 [[ 9.99002361e-01 4.46569871e-02 -1.87795195e-04 1.23334255e+02] [-4.46569865e-02 9.99002379e-01 7.43509107e-06 -6.57669186e+00] [ 1.87939876e-04 9.58693969e-07 9.99999982e-01 -1.64495182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600371743 meters Centerline goodness [0,1] 0.9951332358525566 Centerline is valid? [True, True] Translation: X:123.36, Y:-6.58, Z:-1.65 [[ 9.98983195e-01 4.50800075e-02 -6.06953965e-04 1.23361545e+02] [-4.50799991e-02 9.98983380e-01 2.75635316e-05 -6.57944586e+00] [ 6.07579487e-04 -1.74020665e-07 9.99999815e-01 -1.64659162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.630371743 meters Centerline goodness [0,1] 0.9952376791331702 Centerline is valid? [True, True] Translation: X:123.39, Y:-6.58, Z:-1.65 [[ 9.98979850e-01 4.51405213e-02 -1.26221406e-03 1.23389974e+02] [-4.51404830e-02 9.98980647e-01 5.88347687e-05 -6.58249607e+00] [ 1.26358325e-03 -1.79779601e-06 9.99999202e-01 -1.64701369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660371743 meters Centerline goodness [0,1] 0.9950222801869362 Centerline is valid? [True, True] Translation: X:123.42, Y:-6.59, Z:-1.65 [[ 9.98985112e-01 4.50381749e-02 -5.56238710e-04 1.23418957e+02] [-4.50381678e-02 9.98985267e-01 2.53386383e-05 -6.58800108e+00] [ 5.56815482e-04 -2.60950047e-07 9.99999845e-01 -1.64761856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.690371743 meters Centerline goodness [0,1] 0.994638360684206 Centerline is valid? [True, True] Translation: X:123.45, Y:-6.59, Z:-1.65 [[ 9.98975357e-01 4.52485429e-02 -8.97902057e-04 1.23446522e+02] [-4.52485242e-02 9.98975760e-01 4.11871314e-05 -6.59135572e+00] [ 8.98846048e-04 -5.16186385e-07 9.99999596e-01 -1.64773369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720371743 meters Centerline goodness [0,1] 0.9950233619471911 Centerline is valid? [True, True] Translation: X:123.48, Y:-6.59, Z:-1.65 [[ 9.99007723e-01 4.45372861e-02 7.90892456e-06 1.23475579e+02] [-4.45372860e-02 9.99007723e-01 -1.35182325e-06 -6.59418039e+00] [-7.96128331e-06 9.98239835e-07 1.00000000e+00 -1.64784676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.750371743 meters Centerline goodness [0,1] 0.9949357734356321 Centerline is valid? [True, True] Translation: X:123.50, Y:-6.60, Z:-1.65 [[ 9.99029209e-01 4.40501569e-02 4.71922778e-04 1.23502516e+02] [-4.40501501e-02 9.99029321e-01 -2.47384436e-05 -6.59725201e+00] [-4.72554424e-04 3.92615859e-06 9.99999888e-01 -1.64846042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780371743 meters Centerline goodness [0,1] 0.9951439472771418 Centerline is valid? [True, True] Translation: X:123.53, Y:-6.60, Z:-1.65 [[ 9.99051072e-01 4.35319748e-02 1.38672350e-03 1.23529809e+02] [-4.35319249e-02 9.99052034e-01 -6.61824017e-05 -6.60240316e+00] [-1.38828999e-03 5.75285607e-06 9.99999036e-01 -1.64924389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.810371743 meters Centerline goodness [0,1] 0.9943084309082615 Centerline is valid? [True, True] Translation: X:123.56, Y:-6.61, Z:-1.65 [[ 9.99066309e-01 4.31858569e-02 1.22174187e-03 1.23558966e+02] [-4.31858181e-02 9.99067056e-01 -5.81523364e-05 -6.60584572e+00] [-1.22311341e-03 5.33611812e-06 9.99999252e-01 -1.64850888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84037174299999 meters Centerline goodness [0,1] 0.9939966432844171 Centerline is valid? [True, True] Translation: X:123.59, Y:-6.61, Z:-1.65 [[ 9.99186568e-01 4.02644946e-02 2.23012323e-03 1.23585369e+02] [-4.02643572e-02 9.99189056e-01 -1.06488165e-04 -6.61250664e+00] [-2.23260242e-03 1.66070656e-05 9.99997508e-01 -1.64971511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87037174299999 meters Centerline goodness [0,1] 0.9934543097861309 Centerline is valid? [True, True] Translation: X:123.61, Y:-6.62, Z:-1.65 [[ 9.99249325e-01 3.86564639e-02 2.54261996e-03 1.23613639e+02] [-3.86562855e-02 9.99252559e-01 -1.19280849e-04 -6.61649856e+00] [-2.54533047e-03 2.09030647e-05 9.99996760e-01 -1.64939281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900371743 meters Centerline goodness [0,1] 0.9938102529816464 Centerline is valid? [True, True] Translation: X:123.64, Y:-6.62, Z:-1.65 [[ 9.99297178e-01 3.73919237e-02 2.64464771e-03 1.23642352e+02] [-3.73917269e-02 9.99300677e-01 -1.23828911e-04 -6.62080552e+00] [-2.64742845e-03 2.48539364e-05 9.99996495e-01 -1.64949110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.930371743 meters Centerline goodness [0,1] 0.9930360915872537 Centerline is valid? [True, True] Translation: X:123.67, Y:-6.62, Z:-1.65 [[ 9.99343998e-01 3.60682901e-02 3.26369055e-03 1.23669971e+02] [-3.60679843e-02 9.99349327e-01 -1.52527223e-04 -6.62496173e+00] [-3.26706835e-03 3.47124255e-05 9.99994663e-01 -1.65023199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960371743 meters Centerline goodness [0,1] 0.9930955617407815 Centerline is valid? [True, True] Translation: X:123.70, Y:-6.63, Z:-1.65 [[ 9.99393694e-01 3.46708635e-02 3.18997360e-03 1.23697276e+02] [-3.46705651e-02 9.99398784e-01 -1.48813143e-04 -6.62900287e+00] [-3.19321522e-03 3.81247293e-05 9.99994901e-01 -1.65061004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.990371743 meters Centerline goodness [0,1] 0.9923660839085651 Centerline is valid? [True, True] Translation: X:123.73, Y:-6.63, Z:-1.65 [[ 9.99446409e-01 3.31188901e-02 3.16453925e-03 1.23725547e+02] [-3.31185901e-02 9.99451418e-01 -1.47170434e-04 -6.63453257e+00] [-3.16767736e-03 4.22838841e-05 9.99994982e-01 -1.65050793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020371743 meters Centerline goodness [0,1] 0.9932487813295371 Centerline is valid? [True, True] Translation: X:123.75, Y:-6.64, Z:-1.65 [[ 9.99475021e-01 3.22345360e-02 3.25848404e-03 1.23753864e+02] [-3.22342141e-02 9.99480331e-01 -1.51290227e-04 -6.63790297e+00] [-3.26166747e-03 4.61761312e-05 9.99994680e-01 -1.65067746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.050371743 meters Centerline goodness [0,1] 0.9920909540286703 Centerline is valid? [True, True] Translation: X:123.78, Y:-6.64, Z:-1.65 [[ 9.99496987e-01 3.15729749e-02 2.98668165e-03 1.23782893e+02] [-3.15727018e-02 9.99501448e-01 -1.38551344e-04 -6.64149070e+00] [-2.98956711e-03 4.41840413e-05 9.99995530e-01 -1.65123765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080371743 meters Centerline goodness [0,1] 0.9921690624329543 Centerline is valid? [True, True] Translation: X:123.81, Y:-6.65, Z:-1.65 [[ 9.99540592e-01 3.01452651e-02 3.14130432e-03 1.23811395e+02] [-3.01449569e-02 9.99545527e-01 -1.45443260e-04 -6.64848946e+00] [-3.14426111e-03 5.06819585e-05 9.99995056e-01 -1.65245267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.110371743 meters Centerline goodness [0,1] 0.9926350596925191 Centerline is valid? [True, True] Translation: X:123.84, Y:-6.65, Z:-1.65 [[ 9.99554562e-01 2.96655381e-02 3.26091435e-03 1.23839920e+02] [-2.96652042e-02 9.99559880e-01 -1.50709471e-04 -6.65225189e+00] [-3.26395004e-03 5.39066488e-05 9.99994672e-01 -1.65240464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140371743 meters Centerline goodness [0,1] 0.9923724807700571 Centerline is valid? [True, True] Translation: X:123.87, Y:-6.66, Z:-1.65 [[ 9.99553961e-01 2.96372069e-02 3.67619141e-03 1.23867545e+02] [-2.96367832e-02 9.99560720e-01 -1.69680650e-04 -6.65603774e+00] [-3.67960539e-03 6.06544779e-05 9.99993228e-01 -1.65288138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.170371743 meters Centerline goodness [0,1] 0.9921503024063827 Centerline is valid? [True, True] Translation: X:123.90, Y:-6.66, Z:-1.65 [[ 9.99510837e-01 3.08526997e-02 5.11829049e-03 1.23896018e+02] [-3.08518999e-02 9.99523939e-01 -2.35149243e-04 -6.66044373e+00] [-5.12310887e-03 7.71252307e-05 9.99986874e-01 -1.65220585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20037174299999 meters Centerline goodness [0,1] 0.9920997831733969 Centerline is valid? [True, True] Translation: X:123.92, Y:-6.66, Z:-1.65 [[ 9.99472051e-01 3.20480550e-02 5.34248577e-03 1.23923344e+02] [-3.20472023e-02 9.99486326e-01 -2.45157767e-04 -6.66431251e+00] [-5.34759831e-03 7.38166137e-05 9.99985699e-01 -1.65287125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23037174299999 meters Centerline goodness [0,1] 0.9920529801324504 Centerline is valid? [True, True] Translation: X:123.95, Y:-6.67, Z:-1.65 [[ 9.99433724e-01 3.31764087e-02 5.61764906e-03 1.23952641e+02] [-3.31754886e-02 9.99449509e-01 -2.56917406e-04 -6.66583416e+00] [-5.62308019e-03 7.04036674e-05 9.99984188e-01 -1.65270176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260371743 meters Centerline goodness [0,1] 0.9916133162612036 Centerline is valid? [True, True] Translation: X:123.98, Y:-6.67, Z:-1.65 [[ 9.99367704e-01 3.51558978e-02 5.31561435e-03 1.23981017e+02] [-3.51551025e-02 9.99381839e-01 -2.43000238e-04 -6.67105854e+00] [-5.32087134e-03 5.59756229e-05 9.99985842e-01 -1.65341272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.290371743 meters Centerline goodness [0,1] 0.9918106397536778 Centerline is valid? [True, True] Translation: X:124.01, Y:-6.67, Z:-1.65 [[ 9.99343898e-01 3.58290030e-02 5.29678875e-03 1.24009852e+02] [-3.58282248e-02 9.99357934e-01 -2.41759734e-04 -6.67461050e+00] [-5.30204988e-03 5.18265763e-05 9.99985943e-01 -1.65409434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320371743 meters Centerline goodness [0,1] 0.9917885552989479 Centerline is valid? [True, True] Translation: X:124.04, Y:-6.68, Z:-1.65 [[ 9.99295716e-01 3.72874314e-02 4.20950495e-03 1.24038900e+02] [-3.72869533e-02 9.99304581e-01 -1.92039250e-04 -6.67834880e+00] [-4.21373824e-03 3.49443854e-05 9.99991122e-01 -1.65375223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.350371743 meters Centerline goodness [0,1] 0.9917069946916238 Centerline is valid? [True, True] Translation: X:124.07, Y:-6.68, Z:-1.65 [[ 9.99328356e-01 3.62468970e-02 5.38505726e-03 1.24066742e+02] [-3.62461014e-02 9.99342864e-01 -2.45291716e-04 -6.68494035e+00] [-5.39040961e-03 4.99396360e-05 9.99985470e-01 -1.65460642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380371743 meters Centerline goodness [0,1] 0.9920483054811413 Centerline is valid? [True, True] Translation: X:124.09, Y:-6.69, Z:-1.65 [[ 9.99345525e-01 3.56729584e-02 5.99676920e-03 1.24094527e+02] [-3.56719664e-02 9.99363516e-01 -2.72343630e-04 -6.68891699e+00] [-6.00266766e-03 5.82488386e-05 9.99981982e-01 -1.65439592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.410371743 meters Centerline goodness [0,1] 0.990541317824503 Centerline is valid? [True, True] Translation: X:124.12, Y:-6.69, Z:-1.65 [[ 9.99373665e-01 3.48254474e-02 6.28215623e-03 1.24122284e+02] [-3.48243472e-02 9.99393408e-01 -2.84468792e-04 -6.69345477e+00] [-6.28825228e-03 6.55186299e-05 9.99980227e-01 -1.65413179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440371743 meters Centerline goodness [0,1] 0.989943258807588 Centerline is valid? [True, True] Translation: X:124.15, Y:-6.70, Z:-1.65 [[ 9.99425846e-01 3.29096585e-02 8.05808958e-03 1.24150588e+02] [-3.29077966e-02 9.99458326e-01 -3.63572562e-04 -6.70141588e+00] [-8.06568977e-03 9.81898419e-05 9.99967467e-01 -1.65368276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.470371743 meters Centerline goodness [0,1] 0.990078395546963 Centerline is valid? [True, True] Translation: X:124.18, Y:-6.71, Z:-1.65 [[ 9.99468473e-01 3.14778176e-02 8.48041795e-03 1.24178723e+02] [-3.14757087e-02 9.99504444e-01 -3.82066393e-04 -6.70637136e+00] [-8.48824205e-03 1.14936149e-04 9.99963968e-01 -1.65387936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500371743 meters Centerline goodness [0,1] 0.9892087856173677 Centerline is valid? [True, True] Translation: X:124.21, Y:-6.71, Z:-1.66 [[ 9.99504393e-01 3.01730811e-02 8.97520344e-03 1.24206523e+02] [-3.01706744e-02 9.99544680e-01 -4.03459861e-04 -6.71245134e+00] [-8.98329048e-03 1.32471963e-04 9.99959641e-01 -1.65519555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.530371743 meters Centerline goodness [0,1] 0.9892839746712129 Centerline is valid? [True, True] Translation: X:124.24, Y:-6.72, Z:-1.66 [[ 9.99537992e-01 2.91217971e-02 8.70193995e-03 1.24235384e+02] [-2.91195021e-02 9.99575861e-01 -3.90337655e-04 -6.71687638e+00] [-8.70961645e-03 1.36761158e-04 9.99962061e-01 -1.65544811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.560371743 meters Centerline goodness [0,1] 0.9881365251226527 Centerline is valid? [True, True] Translation: X:124.26, Y:-6.73, Z:-1.66 [[ 9.99605695e-01 2.69677804e-02 7.82256899e-03 1.24264925e+02] [-2.69658652e-02 9.99636294e-01 -3.50211011e-04 -6.72582918e+00] [-7.82916829e-03 1.39130580e-04 9.99969342e-01 -1.65714499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59037174299999 meters Centerline goodness [0,1] 0.9881895586402146 Centerline is valid? [True, True] Translation: X:124.29, Y:-6.73, Z:-1.66 [[ 9.99633702e-01 2.61365113e-02 7.02455769e-03 1.24293271e+02] [-2.61349471e-02 9.99658374e-01 -3.14396089e-04 -6.73084207e+00] [-7.03037514e-03 1.30694483e-04 9.99975278e-01 -1.65801475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62037174299999 meters Centerline goodness [0,1] 0.987670713201821 Centerline is valid? [True, True] Translation: X:124.32, Y:-6.74, Z:-1.66 [[ 9.99645947e-01 2.57139244e-02 6.83921860e-03 1.24321399e+02] [-2.57124333e-02 9.99669334e-01 -3.05864100e-04 -6.73803135e+00] [-6.84482207e-03 1.29902855e-04 9.99976565e-01 -1.65794695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.650371743 meters Centerline goodness [0,1] 0.9876522469550609 Centerline is valid? [True, True] Translation: X:124.35, Y:-6.74, Z:-1.66 [[ 9.99636669e-01 2.59578992e-02 7.26065024e-03 1.24350583e+02] [-2.59562293e-02 9.99663028e-01 -3.24137117e-04 -6.74146713e+00] [-7.26661752e-03 1.35560246e-04 9.99973589e-01 -1.65724360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680371743 meters Centerline goodness [0,1] 0.987322642935102 Centerline is valid? [True, True] Translation: X:124.38, Y:-6.75, Z:-1.66 [[ 9.99653005e-01 2.49046076e-02 8.58083223e-03 1.24378918e+02] [-2.49022442e-02 9.99689818e-01 -3.82184119e-04 -6.74884204e+00] [-8.58768875e-03 1.68369523e-04 9.99963111e-01 -1.65671425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.710371743 meters Centerline goodness [0,1] 0.9870761329432318 Centerline is valid? [True, True] Translation: X:124.41, Y:-6.75, Z:-1.66 [[ 9.99688812e-01 2.32411249e-02 9.06249528e-03 1.24408099e+02] [-2.32384258e-02 9.99729870e-01 -4.03031077e-04 -6.75302686e+00] [-9.06941412e-03 1.92307534e-04 9.99958854e-01 -1.65646241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740371743 meters Centerline goodness [0,1] 0.9868736589675627 Centerline is valid? [True, True] Translation: X:124.44, Y:-6.76, Z:-1.66 [[ 9.99719681e-01 2.17791731e-02 9.28582813e-03 1.24438108e+02] [-2.17762810e-02 9.99762784e-01 -4.12457477e-04 -6.75858642e+00] [-9.29260836e-03 2.10131054e-04 9.99956801e-01 -1.65653387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.770371743 meters Centerline goodness [0,1] 0.9870132603662387 Centerline is valid? [True, True] Translation: X:124.47, Y:-6.76, Z:-1.66 [[ 9.99757943e-01 1.97871452e-02 9.61900405e-03 1.24468543e+02] [-1.97839503e-02 9.99804187e-01 -4.27186042e-04 -6.76462421e+00] [-9.62557332e-03 2.36780740e-04 9.99953645e-01 -1.65686109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800371743 meters Centerline goodness [0,1] 0.9854065177221569 Centerline is valid? [True, True] Translation: X:124.50, Y:-6.78, Z:-1.66 [[ 9.99828750e-01 1.55014890e-02 1.01081367e-02 1.24498581e+02] [-1.54977407e-02 9.99879802e-01 -4.49044977e-04 -6.77581727e+00] [-1.01138826e-02 2.92314797e-04 9.99948811e-01 -1.65728363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.830371743 meters Centerline goodness [0,1] 0.9858309823571518 Centerline is valid? [True, True] Translation: X:124.53, Y:-6.78, Z:-1.66 [[ 9.99856262e-01 1.35411715e-02 1.02025624e-02 1.24530993e+02] [-1.35372547e-02 9.99908265e-01 -4.52870197e-04 -6.77925157e+00] [-1.02077589e-02 3.14690417e-04 9.99947850e-01 -1.65712493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860371743 meters Centerline goodness [0,1] 0.9847723148167463 Centerline is valid? [True, True] Translation: X:124.56, Y:-6.79, Z:-1.66 [[ 9.99874614e-01 1.19668865e-02 1.03706647e-02 1.24562259e+02] [-1.19627264e-02 9.99928337e-01 -4.63082752e-04 -6.78572240e+00] [-1.03754631e-02 3.38963263e-04 9.99946116e-01 -1.65757416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.890371743 meters Centerline goodness [0,1] 0.9850639213535294 Centerline is valid? [True, True] Translation: X:124.59, Y:-6.79, Z:-1.66 [[ 9.99897723e-01 8.12446486e-03 1.17701850e-02 1.24593530e+02] [-8.11879868e-03 9.99966902e-01 -5.29103132e-04 -6.79203541e+00] [-1.17740942e-02 4.33489254e-04 9.99930589e-01 -1.65677034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920371743 meters Centerline goodness [0,1] 0.9849729639099636 Centerline is valid? [True, True] Translation: X:124.63, Y:-6.80, Z:-1.66 [[ 9.99899941e-01 7.16609019e-03 1.21965327e-02 1.24625951e+02] [-7.15993279e-03 9.99974217e-01 -5.48438808e-04 -6.79673093e+00] [-1.22001484e-02 4.61057577e-04 9.99925469e-01 -1.65670319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95037174299999 meters Centerline goodness [0,1] 0.9837849147400356 Centerline is valid? [True, True] Translation: X:124.66, Y:-6.81, Z:-1.66 [[ 9.99918045e-01 5.26088476e-03 1.16716451e-02 1.24656604e+02] [-5.25508320e-03 9.99986053e-01 -5.27677866e-04 -6.80621361e+00] [-1.16742584e-02 4.66299154e-04 9.99931745e-01 -1.65733898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98037174299999 meters Centerline goodness [0,1] 0.9845319658694465 Centerline is valid? [True, True] Translation: X:124.69, Y:-6.81, Z:-1.66 [[ 9.99925670e-01 4.18067860e-03 1.14532323e-02 1.24688394e+02] [-4.17499157e-03 9.99991149e-01 -5.20408636e-04 -6.80600494e+00] [-1.14553066e-02 4.72552806e-04 9.99934274e-01 -1.65774550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.010371743 meters Centerline goodness [0,1] 0.9844608679173773 Centerline is valid? [True, True] Translation: X:124.72, Y:-6.81, Z:-1.66 [[ 9.99933702e-01 3.54588040e-03 1.09552559e-02 1.24720498e+02] [-3.54061288e-03 9.99993607e-01 -5.00178606e-04 -6.80936830e+00] [-1.09569594e-02 4.61357126e-04 9.99939864e-01 -1.65843052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040371743 meters Centerline goodness [0,1] 0.9841947975418807 Centerline is valid? [True, True] Translation: X:124.75, Y:-6.81, Z:-1.66 [[ 9.99940469e-01 1.76201093e-03 1.07682236e-02 1.24751452e+02] [-1.75678608e-03 9.99998335e-01 -4.94649942e-04 -6.81476247e+00] [-1.07690772e-02 4.75703030e-04 9.99941899e-01 -1.65906333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.070371743 meters Centerline goodness [0,1] 0.9841947975418807 Centerline is valid? [True, True] Translation: X:124.78, Y:-6.82, Z:-1.66 [[ 9.99939935e-01 2.04263755e-03 1.07681817e-02 1.24784001e+02] [-2.03741914e-03 9.99997802e-01 -4.95561923e-04 -6.81634482e+00] [-1.07691703e-02 4.73592858e-04 9.99941899e-01 -1.65950467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100371743 meters Centerline goodness [0,1] 0.9842907681940701 Centerline is valid? [True, True] Translation: X:124.82, Y:-6.82, Z:-1.66 [[ 9.99936383e-01 1.43400794e-03 1.11880718e-02 1.24815147e+02] [-1.42829578e-03 9.99998846e-01 -5.18531490e-04 -6.81980934e+00] [-1.11888025e-02 5.02518627e-04 9.99937277e-01 -1.65991327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.130371743 meters Centerline goodness [0,1] 0.9845674463650336 Centerline is valid? [True, True] Translation: X:124.85, Y:-6.82, Z:-1.66 [[ 9.99936743e-01 1.05794829e-03 1.11978246e-02 1.24847122e+02] [-1.05218916e-03 9.99999311e-01 -5.20186732e-04 -6.81987627e+00] [-1.11983672e-02 5.08371597e-04 9.99937167e-01 -1.65998745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160371743 meters Centerline goodness [0,1] 0.9840077436188793 Centerline is valid? [True, True] Translation: X:124.88, Y:-6.82, Z:-1.66 [[ 9.99937225e-01 8.07331720e-04 1.11756476e-02 1.24877820e+02] [-8.01545673e-04 9.99999542e-01 -5.22206385e-04 -6.82329827e+00] [-1.11760641e-02 5.13215812e-04 9.99937414e-01 -1.66078700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.190371743 meters Centerline goodness [0,1] 0.9841700302724521 Centerline is valid? [True, True] Translation: X:124.91, Y:-6.82, Z:-1.66 [[ 9.99950678e-01 3.76117701e-05 9.93181186e-03 1.24909755e+02] [-3.29969873e-05 9.99999891e-01 -4.64810077e-04 -6.82359251e+00] [-9.93182826e-03 4.64459432e-04 9.99950570e-01 -1.66239224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220371743 meters Centerline goodness [0,1] 0.9849746064527005 Centerline is valid? [True, True] Translation: X:124.94, Y:-6.82, Z:-1.66 [[ 9.99960320e-01 -1.21377858e-03 8.82526482e-03 1.24941822e+02] [ 1.21748707e-03 9.99999173e-01 -4.14853019e-04 -6.82282921e+00] [-8.82475398e-03 4.25581204e-04 9.99960971e-01 -1.66319134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.250371743 meters Centerline goodness [0,1] 0.9841065473426485 Centerline is valid? [True, True] Translation: X:124.97, Y:-6.83, Z:-1.66 [[ 9.99972399e-01 -1.44454008e-03 7.28794694e-03 1.24972428e+02] [ 1.44709352e-03 9.99998893e-01 -3.45104095e-04 -6.82790498e+00] [-7.28744036e-03 3.55640911e-04 9.99973383e-01 -1.66381677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280371743 meters Centerline goodness [0,1] 0.9833070866141732 Centerline is valid? [True, True] Translation: X:125.00, Y:-6.83, Z:-1.66 [[ 9.99958337e-01 -3.74795908e-03 8.32325767e-03 1.25004596e+02] [ 3.75137313e-03 9.99992886e-01 -3.94606772e-04 -6.82873967e+00] [-8.32171949e-03 4.25813977e-04 9.99965283e-01 -1.66498850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.310371743 meters Centerline goodness [0,1] 0.9842822067865612 Centerline is valid? [True, True] Translation: X:125.04, Y:-6.83, Z:-1.66 [[ 9.99950566e-01 -5.43908387e-03 8.32361504e-03 1.25036279e+02] [ 5.44255459e-03 9.99985111e-01 -3.94378520e-04 -6.83087874e+00] [-8.32134606e-03 4.39660754e-04 9.99965280e-01 -1.66490944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34037174299999 meters Centerline goodness [0,1] 0.9832554435526123 Centerline is valid? [True, True] Translation: X:125.07, Y:-6.84, Z:-1.67 [[ 9.99908738e-01 -9.89764175e-03 9.19519952e-03 1.25066010e+02] [ 9.90209841e-03 9.99950877e-01 -4.39271194e-04 -6.83641093e+00] [-9.19040007e-03 5.30282876e-04 9.99957627e-01 -1.66507958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37037174299999 meters Centerline goodness [0,1] 0.9824148085822465 Centerline is valid? [True, True] Translation: X:125.10, Y:-6.84, Z:-1.66 [[ 9.99880736e-01 -1.23221881e-02 9.31006212e-03 1.25096994e+02] [ 1.23268591e-02 9.99923923e-01 -4.44497470e-04 -6.83651480e+00] [-9.30387665e-03 5.59208281e-04 9.99956562e-01 -1.66478443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400371743 meters Centerline goodness [0,1] 0.9810869245786016 Centerline is valid? [True, True] Translation: X:125.13, Y:-6.85, Z:-1.67 [[ 9.99854251e-01 -1.43812216e-02 9.20090548e-03 1.25126349e+02] [ 1.43858692e-02 9.99896422e-01 -4.39138693e-04 -6.85143981e+00] [-9.19363711e-03 5.71437711e-04 9.99957574e-01 -1.66585417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.430371743 meters Centerline goodness [0,1] 0.9800819295238892 Centerline is valid? [True, True] Translation: X:125.16, Y:-6.86, Z:-1.67 [[ 9.99790635e-01 -1.82446898e-02 9.26377982e-03 1.25156296e+02] [ 1.82495771e-02 9.99833364e-01 -4.43303766e-04 -6.85510856e+00] [-9.25414821e-03 6.12271017e-04 9.99956992e-01 -1.66619516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460371743 meters Centerline goodness [0,1] 0.9793758023444241 Centerline is valid? [True, True] Translation: X:125.19, Y:-6.86, Z:-1.67 [[ 9.99748315e-01 -2.03354277e-02 9.47508257e-03 1.25187363e+02] [ 2.03406355e-02 9.99793005e-01 -4.53580883e-04 -6.85772938e+00] [-9.46389751e-03 6.46195924e-04 9.99955008e-01 -1.66649726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.490371743 meters Centerline goodness [0,1] 0.9795935383011986 Centerline is valid? [True, True] Translation: X:125.22, Y:-6.86, Z:-1.67 [[ 9.99724824e-01 -2.16308798e-02 9.07644001e-03 1.25219663e+02] [ 2.16357110e-02 9.99765826e-01 -4.34419311e-04 -6.85986716e+00] [-9.06491768e-03 6.30675002e-04 9.99958714e-01 -1.66740496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520371743 meters Centerline goodness [0,1] 0.9785690460306872 Centerline is valid? [True, True] Translation: X:125.25, Y:-6.86, Z:-1.67 [[ 9.99667977e-01 -2.45202274e-02 7.91799739e-03 1.25248890e+02] [ 2.45240008e-02 9.99699169e-01 -3.79797425e-04 -6.86201373e+00] [-7.90630270e-03 5.73852298e-04 9.99968580e-01 -1.66915405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.550371743 meters Centerline goodness [0,1] 0.978138519047419 Centerline is valid? [True, True] Translation: X:125.28, Y:-6.86, Z:-1.67 [[ 9.99642620e-01 -2.58089544e-02 6.96642426e-03 1.25281060e+02] [ 2.58119027e-02 9.99666762e-01 -3.33612617e-04 -6.86301033e+00] [-6.95549258e-03 5.13310055e-04 9.99975679e-01 -1.67030219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580371743 meters Centerline goodness [0,1] 0.976176994862116 Centerline is valid? [True, True] Translation: X:125.31, Y:-6.86, Z:-1.67 [[ 9.99634808e-01 -2.62598071e-02 6.37751802e-03 1.25313160e+02] [ 2.62622891e-02 9.99655040e-01 -3.05740325e-04 -6.86405886e+00] [-6.36728935e-03 4.73116893e-04 9.99979617e-01 -1.67136878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.610371743 meters Centerline goodness [0,1] 0.9730947341952517 Centerline is valid? [True, True] Translation: X:125.34, Y:-6.87, Z:-1.67 [[ 9.99630826e-01 -2.63747079e-02 6.52590808e-03 1.25344073e+02] [ 2.63773107e-02 9.99652009e-01 -3.13071319e-04 -6.86545227e+00] [-6.51537996e-03 4.85091646e-04 9.99978657e-01 -1.67225753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640371743 meters Centerline goodness [0,1] 0.970193740685544 Centerline is valid? [True, True] Translation: X:125.38, Y:-6.86, Z:-1.67 [[ 9.99653431e-01 -2.55621649e-02 6.29233110e-03 1.25375320e+02] [ 2.55645711e-02 9.99673127e-01 -3.02245120e-04 -6.86347030e+00] [-6.28254826e-03 4.63001116e-04 9.99980157e-01 -1.67202081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.670371743 meters Centerline goodness [0,1] 0.9705264043054154 Centerline is valid? [True, True] Translation: X:125.41, Y:-6.86, Z:-1.67 [[ 9.99677242e-01 -2.46127325e-02 6.29482280e-03 1.25407545e+02] [ 2.46151291e-02 9.99696956e-01 -3.03522632e-04 -6.86313794e+00] [-6.28544466e-03 4.58372544e-04 9.99980141e-01 -1.67224338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70037174299999 meters Centerline goodness [0,1] 0.9700224464536701 Centerline is valid? [True, True] Translation: X:125.44, Y:-6.86, Z:-1.67 [[ 9.99704862e-01 -2.33220199e-02 6.80237818e-03 1.25439399e+02] [ 2.33247929e-02 9.99727886e-01 -3.28593793e-04 -6.86208253e+00] [-6.79286368e-03 4.87160875e-04 9.99976810e-01 -1.67222309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73037174299999 meters Centerline goodness [0,1] 0.9749018949489014 Centerline is valid? [True, True] Translation: X:125.47, Y:-6.86, Z:-1.67 [[ 9.99762541e-01 -2.01725205e-02 8.24199058e-03 1.25468972e+02] [ 2.01764918e-02 9.99796354e-01 -3.98963190e-04 -6.85742850e+00] [-8.23226405e-03 5.65162908e-04 9.99965955e-01 -1.67116356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760371743 meters Centerline goodness [0,1] 0.9757509649270012 Centerline is valid? [True, True] Translation: X:125.50, Y:-6.86, Z:-1.67 [[ 9.99794756e-01 -1.84207956e-02 8.43325039e-03 1.25501129e+02] [ 1.84248879e-02 9.99830164e-01 -4.07815884e-04 -6.85549845e+00] [-8.42430583e-03 5.63113875e-04 9.99964356e-01 -1.67139545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.790371743 meters Centerline goodness [0,1] 0.9834624021490482 Centerline is valid? [True, True] Translation: X:125.53, Y:-6.83, Z:-1.67 [[ 9.99820842e-01 -1.66883389e-02 8.93211118e-03 1.25533957e+02] [ 1.66928652e-02 9.99860571e-01 -4.32427712e-04 -6.82907568e+00] [-8.92364929e-03 5.81452767e-04 9.99960014e-01 -1.66976259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820371743 meters Centerline goodness [0,1] 0.9826461460510482 Centerline is valid? [True, True] Translation: X:125.56, Y:-6.82, Z:-1.67 [[ 9.99870214e-01 -1.36885866e-02 8.49577598e-03 1.25564763e+02] [ 1.36925776e-02 9.99906167e-01 -4.11781830e-04 -6.82439872e+00] [-8.48934209e-03 5.28057459e-04 9.99963825e-01 -1.67053134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.850371743 meters Centerline goodness [0,1] 0.9829896035838053 Centerline is valid? [True, True] Translation: X:125.60, Y:-6.82, Z:-1.67 [[ 9.99889103e-01 -1.26324727e-02 7.88680937e-03 1.25597312e+02] [ 1.26358761e-02 9.99920091e-01 -3.81853786e-04 -6.82378481e+00] [-7.88135539e-03 4.81468186e-04 9.99968826e-01 -1.67121713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880371743 meters Centerline goodness [0,1] 0.9834946531975147 Centerline is valid? [True, True] Translation: X:125.63, Y:-6.82, Z:-1.67 [[ 9.99904667e-01 -1.14791585e-02 7.67374855e-03 1.25628746e+02] [ 1.14823480e-02 9.99934007e-01 -3.71701481e-04 -6.82373632e+00] [-7.66897531e-03 4.59778697e-04 9.99970487e-01 -1.67135788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.910371743 meters Centerline goodness [0,1] 0.9834408374748863 Centerline is valid? [True, True] Translation: X:125.66, Y:-6.82, Z:-1.67 [[ 9.99920175e-01 -1.02235702e-02 7.42443317e-03 1.25660047e+02] [ 1.02265283e-02 9.99947643e-01 -3.60575274e-04 -6.82155409e+00] [-7.42035808e-03 4.36472667e-04 9.99972374e-01 -1.67210951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940371743 meters Centerline goodness [0,1] 0.9771944561108777 Centerline is valid? [True, True] Translation: X:125.69, Y:-6.84, Z:-1.67 [[ 9.99929075e-01 -9.50842453e-03 7.17180593e-03 1.25690536e+02] [ 9.51117676e-03 9.99954707e-01 -3.49748511e-04 -6.84357661e+00] [-7.16815553e-03 4.17936019e-04 9.99974221e-01 -1.67497083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.970371743 meters Centerline goodness [0,1] 0.9832826105334348 Centerline is valid? [True, True] Translation: X:125.72, Y:-6.82, Z:-1.67 [[ 9.99923237e-01 -9.26718525e-03 8.22434212e-03 1.25723887e+02] [ 9.27080020e-03 9.99956945e-01 -4.01527082e-04 -6.82065441e+00] [-8.22026700e-03 4.77742493e-04 9.99966099e-01 -1.67183583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000371743 meters Centerline goodness [0,1] 0.9830615200554121 Centerline is valid? [True, True] Translation: X:125.75, Y:-6.82, Z:-1.67 [[ 9.99926636e-01 -8.35174297e-03 8.77328150e-03 1.25754779e+02] [ 8.35582822e-03 9.99964997e-01 -4.29094514e-04 -6.81931781e+00] [-8.76939072e-03 5.02371067e-04 9.99961422e-01 -1.67114081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.030371743 meters Centerline goodness [0,1] 0.9833343801687499 Centerline is valid? [True, True] Translation: X:125.79, Y:-6.82, Z:-1.67 [[ 9.99923382e-01 -8.26974818e-03 9.21091359e-03 1.25786931e+02] [ 8.27425183e-03 9.99965666e-01 -4.50946546e-04 -6.81923088e+00] [-9.20686813e-03 5.27125414e-04 9.99957477e-01 -1.67174119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.060371743 meters Centerline goodness [0,1] 0.983948432760364 Centerline is valid? [True, True] Translation: X:125.82, Y:-6.82, Z:-1.67 [[ 9.99927683e-01 -7.62484745e-03 9.30005184e-03 1.25818574e+02] [ 7.62941763e-03 9.99970792e-01 -4.56035358e-04 -6.81850077e+00] [-9.29630300e-03 5.26956358e-04 9.99956650e-01 -1.67225927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09037174299999 meters Centerline goodness [0,1] 0.9839070749736009 Centerline is valid? [True, True] Translation: X:125.85, Y:-6.82, Z:-1.67 [[ 9.99934208e-01 -7.23916462e-03 8.89798061e-03 1.25850795e+02] [ 7.24333606e-03 9.99973671e-01 -4.36670398e-04 -6.81902296e+00] [-8.89458521e-03 5.01092732e-04 9.99960317e-01 -1.67298606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12037174299999 meters Centerline goodness [0,1] 0.9853155879054611 Centerline is valid? [True, True] Translation: X:125.88, Y:-6.81, Z:-1.67 [[ 9.99943363e-01 -6.78703974e-03 8.19794502e-03 1.25883423e+02] [ 6.79056914e-03 9.99976863e-01 -4.02764720e-04 -6.80904883e+00] [-8.19502176e-03 4.58410621e-04 9.99966315e-01 -1.67311048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.150371743 meters Centerline goodness [0,1] 0.9852309515245128 Centerline is valid? [True, True] Translation: X:125.91, Y:-6.81, Z:-1.67 [[ 9.99956426e-01 -5.67488149e-03 7.41221147e-03 1.25914517e+02] [ 5.67773719e-03 9.99983815e-01 -3.64284282e-04 -6.80974984e+00] [-7.41002423e-03 4.06352998e-04 9.99972463e-01 -1.67415321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180371743 meters Centerline goodness [0,1] 0.9854571664794047 Centerline is valid? [True, True] Translation: X:125.95, Y:-6.81, Z:-1.67 [[ 9.99965239e-01 -4.93063525e-03 6.72382330e-03 1.25947329e+02] [ 4.93297480e-03 9.99987778e-01 -3.31409280e-04 -6.80796100e+00] [-6.72210706e-03 3.64566211e-04 9.99977340e-01 -1.67410671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.210371743 meters Centerline goodness [0,1] 0.9859259416265711 Centerline is valid? [True, True] Translation: X:125.98, Y:-6.81, Z:-1.67 [[ 9.99966972e-01 -4.63980686e-03 6.67281686e-03 1.25978299e+02] [ 4.64211035e-03 9.99989171e-01 -3.29758702e-04 -6.80925327e+00] [-6.67121458e-03 3.60723763e-04 9.99977682e-01 -1.67468893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240371743 meters Centerline goodness [0,1] 0.9854161374989416 Centerline is valid? [True, True] Translation: X:126.01, Y:-6.81, Z:-1.67 [[ 9.99967196e-01 -4.83244384e-03 6.50027107e-03 1.26011076e+02] [ 4.83463518e-03 9.99988261e-01 -3.21444179e-04 -6.80745562e+00] [-6.49864140e-03 3.52860074e-04 9.99978821e-01 -1.67424323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.270371743 meters Centerline goodness [0,1] 0.9860751981687932 Centerline is valid? [True, True] Translation: X:126.04, Y:-6.81, Z:-1.67 [[ 9.99965198e-01 -5.12916926e-03 6.57989148e-03 1.26041866e+02] [ 5.13142513e-03 9.99986781e-01 -3.26005621e-04 -6.80966194e+00] [-6.57813236e-03 3.59758496e-04 9.99978299e-01 -1.67430509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300371743 meters Centerline goodness [0,1] 0.986085304054054 Centerline is valid? [True, True] Translation: X:126.07, Y:-6.81, Z:-1.68 [[ 9.99959708e-01 -6.03207402e-03 6.64797289e-03 1.26072469e+02] [ 6.03440000e-03 9.99981738e-01 -3.29875395e-04 -6.81177817e+00] [-6.64586165e-03 3.69978631e-04 9.99977848e-01 -1.67505587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.330371743 meters Centerline goodness [0,1] 0.9869723373657051 Centerline is valid? [True, True] Translation: X:126.10, Y:-6.81, Z:-1.68 [[ 9.99952568e-01 -7.44177679e-03 6.28342647e-03 1.26104413e+02] [ 7.44388279e-03 9.99972245e-01 -3.11846662e-04 -6.80914841e+00] [-6.28093138e-03 3.58604961e-04 9.99980210e-01 -1.67517299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360371743 meters Centerline goodness [0,1] 0.9872268194356036 Centerline is valid? [True, True] Translation: X:126.14, Y:-6.81, Z:-1.68 [[ 9.99947475e-01 -8.05623173e-03 6.33590940e-03 1.26136623e+02] [ 8.05838671e-03 9.99967481e-01 -3.14666451e-04 -6.80769401e+00] [-6.33316834e-03 3.65707131e-04 9.99979878e-01 -1.67534388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.390371743 meters Centerline goodness [0,1] 0.9866442653282576 Centerline is valid? [True, True] Translation: X:126.17, Y:-6.81, Z:-1.68 [[ 9.99950452e-01 -7.96857046e-03 5.96623587e-03 1.26168647e+02] [ 7.97048122e-03 9.99968191e-01 -2.96553295e-04 -6.81286275e+00] [-5.96368299e-03 3.44092372e-04 9.99982158e-01 -1.67596683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420371743 meters Centerline goodness [0,1] 0.9870762711864407 Centerline is valid? [True, True] Translation: X:126.20, Y:-6.81, Z:-1.68 [[ 9.99947795e-01 -7.98333042e-03 6.37757174e-03 1.26201292e+02] [ 7.98551933e-03 9.99968065e-01 -3.17828954e-04 -6.80902810e+00] [-6.37483074e-03 3.68740584e-04 9.99979613e-01 -1.67604465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45037174299999 meters Centerline goodness [0,1] 0.9870712456886519 Centerline is valid? [True, True] Translation: X:126.23, Y:-6.81, Z:-1.68 [[ 9.99952243e-01 -7.35521537e-03 6.43529983e-03 1.26232866e+02] [ 7.35743499e-03 9.99972882e-01 -3.21308006e-04 -6.80988335e+00] [-6.43276203e-03 3.68639961e-04 9.99979242e-01 -1.67608676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48037174299999 meters Centerline goodness [0,1] 0.9869435067830075 Centerline is valid? [True, True] Translation: X:126.27, Y:-6.81, Z:-1.68 [[ 9.99954863e-01 -7.13947286e-03 6.26903556e-03 1.26265101e+02] [ 7.14157616e-03 9.99974450e-01 -3.13184190e-04 -6.80732014e+00] [-6.26663941e-03 3.57940848e-04 9.99980300e-01 -1.67649723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.510371743 meters Centerline goodness [0,1] 0.9878255705438195 Centerline is valid? [True, True] Translation: X:126.30, Y:-6.81, Z:-1.68 [[ 9.99962064e-01 -6.25255656e-03 6.06426877e-03 1.26296268e+02] [ 6.25451177e-03 9.99980394e-01 -3.03503760e-04 -6.80810539e+00] [-6.06225220e-03 3.41421287e-04 9.99981566e-01 -1.67743875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540371743 meters Centerline goodness [0,1] 0.9881991421437869 Centerline is valid? [True, True] Translation: X:126.33, Y:-6.81, Z:-1.68 [[ 9.99965739e-01 -6.07501632e-03 5.62272933e-03 1.26328763e+02] [ 6.07669499e-03 9.99981497e-01 -2.81514814e-04 -6.80615032e+00] [-5.62091509e-03 3.15672780e-04 9.99984153e-01 -1.67763650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.570371743 meters Centerline goodness [0,1] 0.9880697136306706 Centerline is valid? [True, True] Translation: X:126.36, Y:-6.81, Z:-1.68 [[ 9.99965457e-01 -6.20386893e-03 5.53149445e-03 1.26360158e+02] [ 6.20549847e-03 9.99980707e-01 -2.77478723e-04 -6.80618650e+00] [-5.52966629e-03 3.11794819e-04 9.99984663e-01 -1.67768421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600371743 meters Centerline goodness [0,1] 0.9880049429009715 Centerline is valid? [True, True] Translation: X:126.39, Y:-6.81, Z:-1.68 [[ 9.99962820e-01 -6.64406924e-03 5.49688806e-03 1.26391686e+02] [ 6.64568672e-03 9.99977879e-01 -2.76040130e-04 -6.80802021e+00] [-5.49493243e-03 3.12560463e-04 9.99984854e-01 -1.67828703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.630371743 meters Centerline goodness [0,1] 0.9872664626447236 Centerline is valid? [True, True] Translation: X:126.42, Y:-6.81, Z:-1.68 [[ 9.99971072e-01 -5.93332360e-03 4.75920830e-03 1.26422742e+02] [ 5.93452582e-03 9.99982362e-01 -2.38527723e-04 -6.81003084e+00] [-4.75770910e-03 2.66764467e-04 9.99988646e-01 -1.67903859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660371743 meters Centerline goodness [0,1] 0.9884397976964597 Centerline is valid? [True, True] Translation: X:126.45, Y:-6.81, Z:-1.68 [[ 9.99970468e-01 -6.89713719e-03 3.39014644e-03 1.26453504e+02] [ 6.89775560e-03 9.99976196e-01 -1.70755898e-04 -6.81062287e+00] [-3.38888801e-03 1.94135256e-04 9.99994239e-01 -1.68130371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.690371743 meters Centerline goodness [0,1] 0.9887623614024573 Centerline is valid? [True, True] Translation: X:126.49, Y:-6.81, Z:-1.68 [[ 9.99973124e-01 -6.57478220e-03 3.24411020e-03 1.26485844e+02] [ 6.57534586e-03 9.99978369e-01 -1.63115915e-04 -6.80671164e+00] [-3.24296757e-03 1.84442678e-04 9.99994725e-01 -1.68088635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720371743 meters Centerline goodness [0,1] 0.989198785130684 Centerline is valid? [True, True] Translation: X:126.52, Y:-6.81, Z:-1.68 [[ 9.99975566e-01 -6.15663188e-03 3.31094286e-03 1.26516791e+02] [ 6.15721819e-03 9.99981030e-01 -1.66918264e-04 -6.80993247e+00] [-3.30985240e-03 1.87300383e-04 9.99994505e-01 -1.68178582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.750371743 meters Centerline goodness [0,1] 0.9889172329524749 Centerline is valid? [True, True] Translation: X:126.55, Y:-6.81, Z:-1.68 [[ 9.99974782e-01 -5.96115890e-03 3.86011973e-03 1.26548892e+02] [ 5.96195499e-03 9.99982208e-01 -1.94759358e-04 -6.80710683e+00] [-3.85889006e-03 2.17768307e-04 9.99992531e-01 -1.68117231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780371743 meters Centerline goodness [0,1] 0.9891510945008009 Centerline is valid? [True, True] Translation: X:126.58, Y:-6.80, Z:-1.68 [[ 9.99977685e-01 -5.16662104e-03 4.23506230e-03 1.26581314e+02] [ 5.16757380e-03 9.99986625e-01 -2.14057337e-04 -6.80243051e+00] [-4.23389971e-03 2.35937558e-04 9.99991009e-01 -1.68029164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.810371743 meters Centerline goodness [0,1] 0.9894660058784407 Centerline is valid? [True, True] Translation: X:126.61, Y:-6.80, Z:-1.68 [[ 9.99982063e-01 -4.75384171e-03 3.64350326e-03 1.26613366e+02] [ 4.75454456e-03 9.99988680e-01 -1.84267474e-04 -6.79951878e+00] [-3.64258604e-03 2.01587367e-04 9.99993345e-01 -1.68029723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84037174299999 meters Centerline goodness [0,1] 0.9890954363972009 Centerline is valid? [True, True] Translation: X:126.64, Y:-6.80, Z:-1.68 [[ 9.99987725e-01 -4.11107076e-03 2.76571355e-03 1.26644646e+02] [ 4.11147375e-03 9.99991538e-01 -1.40039469e-04 -6.79785486e+00] [-2.76511443e-03 1.51408909e-04 9.99996166e-01 -1.68059857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87037174299999 meters Centerline goodness [0,1] 0.9899384291935726 Centerline is valid? [True, True] Translation: X:126.68, Y:-6.80, Z:-1.68 [[ 9.99988825e-01 -3.72261609e-03 2.91408624e-03 1.26676556e+02] [ 3.72306187e-03 9.99993058e-01 -1.47564245e-04 -6.79774282e+00] [-2.91351668e-03 1.58411919e-04 9.99995743e-01 -1.68019497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900371743 meters Centerline goodness [0,1] 0.9903302748350775 Centerline is valid? [True, True] Translation: X:126.71, Y:-6.80, Z:-1.68 [[ 9.99989063e-01 -3.40810364e-03 3.20304600e-03 1.26708942e+02] [ 3.40864165e-03 9.99994177e-01 -1.62523076e-04 -6.79666040e+00] [-3.20247345e-03 1.73439334e-04 9.99994857e-01 -1.67963367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.930371743 meters Centerline goodness [0,1] 0.9892567843406889 Centerline is valid? [True, True] Translation: X:126.74, Y:-6.79, Z:-1.68 [[ 9.99987457e-01 -1.57516117e-03 4.75452775e-03 1.26739604e+02] [ 1.57633216e-03 9.99998728e-01 -2.42551080e-04 -6.79459063e+00] [-4.75413965e-03 2.50042752e-04 9.99988668e-01 -1.67840174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960371743 meters Centerline goodness [0,1] 0.9902783154815675 Centerline is valid? [True, True] Translation: X:126.77, Y:-6.79, Z:-1.68 [[ 9.99986543e-01 -2.10297747e-04 5.18354143e-03 1.26771910e+02] [ 2.11669549e-04 9.99999943e-01 -2.64098487e-04 -6.79159304e+00] [-5.18348559e-03 2.65192131e-04 9.99986530e-01 -1.67770813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.990371743 meters Centerline goodness [0,1] 0.9902783154815675 Centerline is valid? [True, True] Translation: X:126.80, Y:-6.79, Z:-1.68 [[ 9.99986556e-01 -1.37531999e-04 5.18352214e-03 1.26803596e+02] [ 1.38904778e-04 9.99999955e-01 -2.64476089e-04 -6.79327228e+00] [-5.18348553e-03 2.65192550e-04 9.99986530e-01 -1.67813785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020371743 meters Centerline goodness [0,1] 0.9896811519115774 Centerline is valid? [True, True] Translation: X:126.83, Y:-6.79, Z:-1.68 [[ 9.99974995e-01 2.06964130e-03 6.76210449e-03 1.26834846e+02] [-2.06734835e-03 9.99997803e-01 -3.46059826e-04 -6.79071783e+00] [-6.76280585e-03 3.32071547e-04 9.99977077e-01 -1.67808470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.050371743 meters Centerline goodness [0,1] 0.9897160597632754 Centerline is valid? [True, True] Translation: X:126.87, Y:-6.79, Z:-1.68 [[ 9.99970039e-01 3.63155248e-03 6.83614975e-03 1.26866354e+02] [-3.62924452e-03 9.99993353e-01 -3.49986048e-04 -6.79073698e+00] [-6.83737531e-03 3.25165503e-04 9.99976572e-01 -1.67826714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080371743 meters Centerline goodness [0,1] 0.9900765828928918 Centerline is valid? [True, True] Translation: X:126.90, Y:-6.79, Z:-1.68 [[ 9.99960366e-01 5.49530209e-03 7.00481557e-03 1.26898485e+02] [-5.49292172e-03 9.99984849e-01 -3.59013686e-04 -6.78810378e+00] [-7.00668233e-03 3.20522554e-04 9.99975402e-01 -1.67883618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.110371743 meters Centerline goodness [0,1] 0.9905578842746641 Centerline is valid? [True, True] Translation: X:126.93, Y:-6.79, Z:-1.68 [[ 9.99938963e-01 8.70236245e-03 6.80723889e-03 1.26929853e+02] [-8.70018539e-03 9.99962092e-01 -3.49363331e-04 -6.78501024e+00] [-6.81002112e-03 2.90117767e-04 9.99976769e-01 -1.68022757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140371743 meters Centerline goodness [0,1] 0.9903790024430847 Centerline is valid? [True, True] Translation: X:126.96, Y:-6.79, Z:-1.68 [[ 9.99929131e-01 9.99038888e-03 6.47491542e-03 1.26960701e+02] [-9.98844309e-03 9.99950059e-01 -3.32780728e-04 -6.78512450e+00] [-6.47791667e-03 2.68082820e-04 9.99978982e-01 -1.68091608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.170371743 meters Centerline goodness [0,1] 0.9904955725389162 Centerline is valid? [True, True] Translation: X:126.99, Y:-6.78, Z:-1.68 [[ 9.99901289e-01 1.29502324e-02 5.45013442e-03 1.26991219e+02] [-1.29488977e-02 9.99916120e-01 -2.80111721e-04 -6.78313300e+00] [-5.45330478e-03 2.09510837e-04 9.99985109e-01 -1.68169536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20037174299999 meters Centerline goodness [0,1] 0.9907877053799801 Centerline is valid? [True, True] Translation: X:127.02, Y:-6.78, Z:-1.68 [[ 9.99887070e-01 1.41765691e-02 4.98714720e-03 1.27020302e+02] [-1.41754652e-02 9.99899490e-01 -2.56622229e-04 -6.78356857e+00] [-4.99028397e-03 1.85898118e-04 9.99987531e-01 -1.68234727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23037174299999 meters Centerline goodness [0,1] 0.9908397938412231 Centerline is valid? [True, True] Translation: X:127.05, Y:-6.78, Z:-1.68 [[ 9.99863303e-01 1.57023971e-02 5.17777670e-03 1.27048757e+02] [-1.57012272e-02 9.99876693e-01 -2.66519965e-04 -6.78364337e+00] [-5.18132324e-03 1.85186085e-04 9.99986560e-01 -1.68245307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260371743 meters Centerline goodness [0,1] 0.9910405567032728 Centerline is valid? [True, True] Translation: X:127.08, Y:-6.78, Z:-1.68 [[ 9.99827788e-01 1.77968106e-02 5.26008271e-03 1.27077439e+02] [-1.77956341e-02 9.99841609e-01 -2.70380318e-04 -6.78209699e+00] [-5.26406146e-03 1.76727247e-04 9.99986129e-01 -1.68229932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.290371743 meters Centerline goodness [0,1] 0.991565767449949 Centerline is valid? [True, True] Translation: X:127.11, Y:-6.78, Z:-1.68 [[ 9.99735114e-01 2.25019429e-02 4.83364674e-03 1.27105934e+02] [-2.25010065e-02 9.99746790e-01 -2.48029716e-04 -6.78138020e+00] [-4.83800396e-03 1.39202100e-04 9.99988287e-01 -1.68246324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320371743 meters Centerline goodness [0,1] 0.9928057553956835 Centerline is valid? [True, True] Translation: X:127.13, Y:-6.78, Z:-1.68 [[ 9.99683924e-01 2.47346635e-02 4.49984405e-03 1.27134805e+02] [-2.47338747e-02 9.99694044e-01 -2.30856780e-04 -6.78022092e+00] [-4.50417747e-03 1.19485232e-04 9.99989849e-01 -1.68306379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.350371743 meters Centerline goodness [0,1] 0.9923066892684835 Centerline is valid? [True, True] Translation: X:127.16, Y:-6.78, Z:-1.68 [[ 9.99617967e-01 2.73797753e-02 3.77725884e-03 1.27163792e+02] [-2.73792388e-02 9.99625100e-01 -1.93668405e-04 -6.77987915e+00] [-3.78114534e-03 9.01759452e-05 9.99992847e-01 -1.68364926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380371743 meters Centerline goodness [0,1] 0.9929961935834692 Centerline is valid? [True, True] Translation: X:127.19, Y:-6.78, Z:-1.68 [[ 9.99537622e-01 3.02058819e-02 3.48516846e-03 1.27193207e+02] [-3.02054411e-02 9.99543696e-01 -1.79052984e-04 -6.77781286e+00] [-3.48898662e-03 7.36991433e-05 9.99993911e-01 -1.68374847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.410371743 meters Centerline goodness [0,1] 0.9932491100112877 Centerline is valid? [True, True] Translation: X:127.22, Y:-6.78, Z:-1.68 [[ 9.99345311e-01 3.59694179e-02 3.89243276e-03 1.27221026e+02] [-3.59689156e-02 9.99352889e-01 -1.98991650e-04 -6.77642018e+00] [-3.89707154e-03 5.88547869e-05 9.99992405e-01 -1.68420341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440371743 meters Centerline goodness [0,1] 0.9934094616639478 Centerline is valid? [True, True] Translation: X:127.25, Y:-6.78, Z:-1.68 [[ 9.99240149e-01 3.86786560e-02 4.80486045e-03 1.27250286e+02] [-3.86779261e-02 9.99251699e-01 -2.44762818e-04 -6.77573160e+00] [-4.81073206e-03 5.87347970e-05 9.99988427e-01 -1.68377243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.470371743 meters Centerline goodness [0,1] 0.994194011351034 Centerline is valid? [True, True] Translation: X:127.28, Y:-6.78, Z:-1.68 [[ 9.99041894e-01 4.34001672e-02 5.63197443e-03 1.27278454e+02] [-4.33992418e-02 9.99057768e-01 -2.86466564e-04 -6.77597890e+00] [-5.63910050e-03 4.17686782e-05 9.99984099e-01 -1.68384299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500371743 meters Centerline goodness [0,1] 0.9939265967173146 Centerline is valid? [True, True] Translation: X:127.31, Y:-6.78, Z:-1.68 [[ 9.98976441e-01 4.48231398e-02 6.07917459e-03 1.27306320e+02] [-4.48220919e-02 9.98994937e-01 -3.08575775e-04 -6.77787060e+00] [-6.08689598e-03 3.57786076e-05 9.99981474e-01 -1.68464674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.530371743 meters Centerline goodness [0,1] 0.9945640356599261 Centerline is valid? [True, True] Translation: X:127.34, Y:-6.78, Z:-1.69 [[ 9.98898130e-01 4.65338315e-02 6.09332968e-03 1.27335277e+02] [-4.65328147e-02 9.98916714e-01 -3.08612391e-04 -6.77971541e+00] [-6.10108978e-03 2.47325592e-05 9.99981388e-01 -1.68506070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.560371743 meters Centerline goodness [0,1] 0.9944295754727245 Centerline is valid? [True, True] Translation: X:127.36, Y:-6.78, Z:-1.68 [[ 9.98848816e-01 4.73943634e-02 7.40384079e-03 1.27362832e+02] [-4.73928902e-02 9.98876255e-01 -3.74398076e-04 -6.78403333e+00] [-7.41326512e-03 2.30776618e-05 9.99972521e-01 -1.68490467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59037174299999 meters Centerline goodness [0,1] 0.9944128005565459 Centerline is valid? [True, True] Translation: X:127.39, Y:-6.79, Z:-1.68 [[ 9.98875906e-01 4.66607036e-02 8.34886746e-03 1.27390823e+02] [-4.66588105e-02 9.98910796e-01 -4.21490247e-04 -6.78697957e+00] [-8.35944087e-03 3.14682272e-05 9.99965059e-01 -1.68395534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62037174299999 meters Centerline goodness [0,1] 0.9938350663164521 Centerline is valid? [True, True] Translation: X:127.42, Y:-6.79, Z:-1.68 [[ 9.98902987e-01 4.59530591e-02 9.00776601e-03 1.27418326e+02] [-4.59508365e-02 9.98943599e-01 -4.53654510e-04 -6.79095619e+00] [-9.01909701e-03 3.92424617e-05 9.99959326e-01 -1.68422187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.650371743 meters Centerline goodness [0,1] 0.9930630825926728 Centerline is valid? [True, True] Translation: X:127.45, Y:-6.80, Z:-1.68 [[ 9.98985390e-01 4.39603197e-02 9.78163021e-03 1.27447253e+02] [-4.39576162e-02 9.99033276e-01 -4.91310151e-04 -6.79887112e+00] [-9.79377222e-03 6.08345168e-05 9.99952038e-01 -1.68444718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680371743 meters Centerline goodness [0,1] 0.9942537426281567 Centerline is valid? [True, True] Translation: X:127.47, Y:-6.80, Z:-1.69 [[ 9.99036659e-01 4.25877290e-02 1.05848909e-02 1.27474359e+02] [-4.25844947e-02 9.99092728e-01 -5.30857517e-04 -6.80394153e+00] [-1.05978956e-02 7.95938889e-05 9.99943838e-01 -1.68543723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.710371743 meters Centerline goodness [0,1] 0.9931452221336035 Centerline is valid? [True, True] Translation: X:127.50, Y:-6.81, Z:-1.69 [[ 9.99156315e-01 3.96263509e-02 1.07894038e-02 1.27503096e+02] [-3.96228290e-02 9.99214561e-01 -5.40067508e-04 -6.81231059e+00] [-1.08023303e-02 1.12105159e-04 9.99941647e-01 -1.68601004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740371743 meters Centerline goodness [0,1] 0.9919698600645855 Centerline is valid? [True, True] Translation: X:127.53, Y:-6.82, Z:-1.69 [[ 9.99244849e-01 3.73490048e-02 1.07137203e-02 1.27531883e+02] [-3.73454095e-02 9.99302273e-01 -5.35516561e-04 -6.81691905e+00] [-1.07262461e-02 1.35003894e-04 9.99942463e-01 -1.68685728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.770371743 meters Centerline goodness [0,1] 0.9917364241253488 Centerline is valid? [True, True] Translation: X:127.56, Y:-6.82, Z:-1.69 [[ 9.99334692e-01 3.50162038e-02 1.01999918e-02 1.27560468e+02] [-3.50128306e-02 9.99386733e-01 -5.09142254e-04 -6.82225821e+00] [-1.02115647e-02 1.51672934e-04 9.99947849e-01 -1.68785606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800371743 meters Centerline goodness [0,1] 0.9912239393809666 Centerline is valid? [True, True] Translation: X:127.59, Y:-6.83, Z:-1.69 [[ 9.99552496e-01 2.87472801e-02 8.27056269e-03 1.27588391e+02] [-2.87448521e-02 9.99586696e-01 -4.12323612e-04 -6.83402046e+00] [-8.27899761e-03 1.74402995e-04 9.99965713e-01 -1.69079749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.830371743 meters Centerline goodness [0,1] 0.9915932232394968 Centerline is valid? [True, True] Translation: X:127.62, Y:-6.84, Z:-1.69 [[ 9.99654894e-01 2.52117633e-02 7.37967927e-03 1.27617864e+02] [-2.52097370e-02 9.99682117e-01 -3.67482216e-04 -6.83984213e+00] [-7.38659827e-03 1.81315622e-04 9.99972702e-01 -1.69178178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860371743 meters Centerline goodness [0,1] 0.9897361330881409 Centerline is valid? [True, True] Translation: X:127.65, Y:-6.85, Z:-1.69 [[ 9.99743240e-01 2.15372014e-02 7.04301225e-03 1.27646326e+02] [-2.15352655e-02 9.99768028e-01 -3.50599725e-04 -6.84749240e+00] [-7.04892941e-03 1.98836566e-04 9.99975136e-01 -1.69309651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.890371743 meters Centerline goodness [0,1] 0.9886201991465149 Centerline is valid? [True, True] Translation: X:127.68, Y:-6.86, Z:-1.69 [[ 9.99863820e-01 1.48846743e-02 7.12661313e-03 1.27675688e+02] [-1.48825278e-02 9.99889186e-01 -3.54138541e-04 -6.85863700e+00] [-7.13109464e-03 2.48028296e-04 9.99974543e-01 -1.69341893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920371743 meters Centerline goodness [0,1] 0.9884113027147003 Centerline is valid? [True, True] Translation: X:127.71, Y:-6.86, Z:-1.69 [[ 9.99899583e-01 1.19670026e-02 7.59050419e-03 1.27706222e+02] [-1.19644855e-02 9.99928352e-01 -3.76937231e-04 -6.86461095e+00] [-7.59447116e-03 2.86082903e-04 9.99971121e-01 -1.69310158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95037174299999 meters Centerline goodness [0,1] 0.9880774644883334 Centerline is valid? [True, True] Translation: X:127.74, Y:-6.87, Z:-1.69 [[ 9.99940192e-01 7.60788181e-03 7.85702412e-03 1.27736570e+02] [-7.60505047e-03 9.99971005e-01 -3.90172358e-04 -6.86951600e+00] [-7.85976469e-03 3.30395957e-04 9.99969057e-01 -1.69239082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98037174299999 meters Centerline goodness [0,1] 0.9880774644883334 Centerline is valid? [True, True] Translation: X:127.77, Y:-6.87, Z:-1.69 [[ 9.99938233e-01 7.86109121e-03 7.85709568e-03 1.27768296e+02] [-7.85827895e-03 9.99969048e-01 -3.88734892e-04 -6.87113125e+00] [-7.85990837e-03 3.26967632e-04 9.99969057e-01 -1.69282130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01037174299998 meters Centerline goodness [0,1] 0.9877595256816202 Centerline is valid? [True, True] Translation: X:127.80, Y:-6.88, Z:-1.69 [[ 9.99946692e-01 5.81516571e-03 8.53213412e-03 1.27799740e+02] [-5.81175344e-03 9.99983021e-01 -4.24671434e-04 -6.87656391e+00] [-8.53445880e-03 3.75062135e-04 9.99963511e-01 -1.69236814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04037174299998 meters Centerline goodness [0,1] 0.9870552225481444 Centerline is valid? [True, True] Translation: X:127.83, Y:-6.88, Z:-1.69 [[ 9.99943115e-01 5.18652286e-03 9.32026274e-03 1.27831808e+02] [-5.18240095e-03 9.99986463e-01 -4.66350094e-04 -6.88053750e+00] [-9.32255531e-03 4.18022227e-04 9.99956457e-01 -1.69271760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07037174299998 meters Centerline goodness [0,1] 0.9878864004087542 Centerline is valid? [True, True] Translation: X:127.86, Y:-6.89, Z:-1.69 [[ 9.99930482e-01 5.67817554e-03 1.03338652e-02 1.27862429e+02] [-5.67309972e-03 9.99983772e-01 -5.20431103e-04 -6.88544146e+00] [-1.03366526e-02 4.61769876e-04 9.99946469e-01 -1.69247362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10037174299998 meters Centerline goodness [0,1] 0.9867662390161911 Centerline is valid? [True, True] Translation: X:127.89, Y:-6.89, Z:-1.69 [[ 9.99926992e-01 6.50679994e-03 1.01819888e-02 1.27894656e+02] [-6.50190430e-03 9.99978730e-01 -5.13842563e-04 -6.88550391e+00] [-1.01851157e-02 4.47602731e-04 9.99948030e-01 -1.69321699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13037174299998 meters Centerline goodness [0,1] 0.9873762060611213 Centerline is valid? [True, True] Translation: X:127.93, Y:-6.89, Z:-1.69 [[ 9.99918350e-01 8.19623595e-03 9.80382188e-03 1.27926123e+02] [-8.19175395e-03 9.99966323e-01 -4.97238226e-04 -6.88840500e+00] [-9.80756721e-03 4.16887130e-04 9.99951818e-01 -1.69382128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16037174299998 meters Centerline goodness [0,1] 0.9875595440626064 Centerline is valid? [True, True] Translation: X:127.96, Y:-6.89, Z:-1.69 [[ 9.99911411e-01 9.46080331e-03 9.36285793e-03 1.27958526e+02] [-9.45675191e-03 9.99955170e-01 -4.76888571e-04 -6.88875772e+00] [-9.36694994e-03 3.88304099e-04 9.99956054e-01 -1.69439083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.190371743 meters Centerline goodness [0,1] 0.9874183248398215 Centerline is valid? [True, True] Translation: X:127.99, Y:-6.89, Z:-1.69 [[ 9.99903125e-01 1.06954518e-02 8.90777356e-03 1.27990005e+02] [-1.06918140e-02 9.99942737e-01 -4.55911455e-04 -6.89055735e+00] [-8.91213965e-03 3.60627030e-04 9.99960221e-01 -1.69499721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220371743 meters Centerline goodness [0,1] 0.9875153673322311 Centerline is valid? [True, True] Translation: X:128.02, Y:-6.89, Z:-1.70 [[ 9.99895079e-01 1.16080002e-02 8.66513666e-03 1.28021178e+02] [-1.16045713e-02 9.99932565e-01 -4.45889303e-04 -6.89318466e+00] [-8.66972822e-03 3.45287323e-04 9.99962358e-01 -1.69584203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.250371743 meters Centerline goodness [0,1] 0.9879233729509068 Centerline is valid? [True, True] Translation: X:128.05, Y:-6.89, Z:-1.70 [[ 9.99884916e-01 1.32635998e-02 7.36415245e-03 1.28052184e+02] [-1.32611568e-02 9.99911995e-01 -3.80482766e-04 -6.89300570e+00] [-7.36855093e-03 2.82781799e-04 9.99972812e-01 -1.69621935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280371743 meters Centerline goodness [0,1] 0.9880987738130595 Centerline is valid? [True, True] Translation: X:128.08, Y:-6.90, Z:-1.70 [[ 9.99889647e-01 1.28534716e-02 7.44859401e-03 1.28082257e+02] [-1.28509598e-02 9.99917349e-01 -3.84985587e-04 -6.89638218e+00] [-7.45292677e-03 2.89221521e-04 9.99972185e-01 -1.69735191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.310371743 meters Centerline goodness [0,1] 0.9888335885655947 Centerline is valid? [True, True] Translation: X:128.11, Y:-6.90, Z:-1.70 [[ 9.99888991e-01 1.36856748e-02 5.89141461e-03 1.28113268e+02] [-1.36841168e-02 9.99906322e-01 -3.04696411e-04 -6.89500360e+00] [-5.89503269e-03 2.24043782e-04 9.99982599e-01 -1.69742668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340371743 meters Centerline goodness [0,1] 0.9879963457902229 Centerline is valid? [True, True] Translation: X:128.14, Y:-6.89, Z:-1.70 [[ 9.99880515e-01 1.43386077e-02 5.77587277e-03 1.28143035e+02] [-1.43371194e-02 9.99897174e-01 -2.99010005e-04 -6.89369377e+00] [-5.77956625e-03 2.16164901e-04 9.99983275e-01 -1.69754675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.370371743 meters Centerline goodness [0,1] 0.988457859496227 Centerline is valid? [True, True] Translation: X:128.17, Y:-6.89, Z:-1.70 [[ 9.99863344e-01 1.57831859e-02 4.91769920e-03 1.28172770e+02] [-1.57821249e-02 9.99875422e-01 -2.54474350e-04 -6.89406187e+00] [-4.92110298e-03 1.76827832e-04 9.99987876e-01 -1.69738572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400371743 meters Centerline goodness [0,1] 0.9892676499341182 Centerline is valid? [True, True] Translation: X:128.20, Y:-6.89, Z:-1.70 [[ 9.99850101e-01 1.67303128e-02 4.45776230e-03 1.28201808e+02] [-1.67294503e-02 9.99860026e-01 -2.30719986e-04 -6.89481097e+00] [-4.46099835e-03 1.56109489e-04 9.99990038e-01 -1.69823322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.430371743 meters Centerline goodness [0,1] 0.9891621861902544 Centerline is valid? [True, True] Translation: X:128.23, Y:-6.89, Z:-1.70 [[ 9.99807968e-01 1.93783757e-02 2.91633833e-03 1.28230935e+02] [-1.93780170e-02 9.99812217e-01 -1.51226093e-04 -6.89179349e+00] [-2.91872121e-03 9.46841991e-05 9.99995736e-01 -1.69873020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460371743 meters Centerline goodness [0,1] 0.9891105534050789 Centerline is valid? [True, True] Translation: X:128.26, Y:-6.89, Z:-1.70 [[ 9.99797219e-01 2.00192674e-02 2.17959950e-03 1.28259300e+02] [-2.00190684e-02 9.99799592e-01 -1.13109009e-04 -6.89177570e+00] [-2.18142705e-03 6.94525215e-05 9.99997618e-01 -1.69952072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.490371743 meters Centerline goodness [0,1] 0.990396695270745 Centerline is valid? [True, True] Translation: X:128.29, Y:-6.89, Z:-1.70 [[ 9.99795060e-01 2.01828630e-02 1.57791600e-03 1.28287067e+02] [-2.01827583e-02 9.99796304e-01 -8.22516226e-05 -6.89151490e+00] [-1.57925466e-03 5.03880687e-05 9.99998752e-01 -1.70032225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52037174299997 meters Centerline goodness [0,1] 0.989741738170079 Centerline is valid? [True, True] Translation: X:128.31, Y:-6.89, Z:-1.70 [[ 9.99813647e-01 1.92196958e-02 1.80947215e-03 1.28314549e+02] [-1.92195570e-02 9.99815283e-01 -9.41084638e-05 -6.89252634e+00] [-1.81094665e-03 5.93136733e-05 9.99998358e-01 -1.70095460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55037174299997 meters Centerline goodness [0,1] 0.9898490147573147 Centerline is valid? [True, True] Translation: X:128.34, Y:-6.89, Z:-1.70 [[ 9.99839281e-01 1.78372284e-02 1.80133684e-03 1.28343429e+02] [-1.78370895e-02 9.99840902e-01 -9.31484767e-05 -6.89415571e+00] [-1.80271176e-03 6.10028995e-05 9.99998373e-01 -1.70102633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58037174299997 meters Centerline goodness [0,1] 0.990005765904286 Centerline is valid? [True, True] Translation: X:128.37, Y:-6.90, Z:-1.70 [[ 9.99870054e-01 1.59800331e-02 2.12443802e-03 1.28372434e+02] [-1.59798369e-02 9.99872308e-01 -1.09282211e-04 -6.89660483e+00] [-2.12591309e-03 7.53198369e-05 9.99997737e-01 -1.70079441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61037174299997 meters Centerline goodness [0,1] 0.9887396033269353 Centerline is valid? [True, True] Translation: X:128.40, Y:-6.90, Z:-1.70 [[ 9.99935088e-01 1.12105232e-02 2.03590965e-03 1.28403089e+02] [-1.12103344e-02 9.99937157e-01 -1.04101408e-04 -6.89750033e+00] [-2.03694874e-03 8.12714224e-05 9.99997922e-01 -1.70014367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64037174299997 meters Centerline goodness [0,1] 0.9894283643804084 Centerline is valid? [True, True] Translation: X:128.43, Y:-6.90, Z:-1.70 [[ 9.99962081e-01 8.44265423e-03 2.13477812e-03 1.28431848e+02] [-8.44243901e-03 9.99964356e-01 -1.09808566e-04 -6.90145772e+00] [-2.13562911e-03 9.17816683e-05 9.99997715e-01 -1.70025279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67037174299998 meters Centerline goodness [0,1] 0.9876821614721838 Centerline is valid? [True, True] Translation: X:128.46, Y:-6.91, Z:-1.70 [[ 9.99994798e-01 2.26873818e-03 2.29294773e-03 1.28460926e+02] [-2.26847511e-03 9.99997420e-01 -1.17323372e-04 -6.90920798e+00] [-2.29320799e-03 1.12121266e-04 9.99997364e-01 -1.70042451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70037174299998 meters Centerline goodness [0,1] 0.9879060640317385 Centerline is valid? [True, True] Translation: X:128.49, Y:-6.91, Z:-1.70 [[ 9.99997656e-01 -7.41155280e-04 2.03424976e-03 1.28491909e+02] [ 7.41367664e-04 9.99999720e-01 -1.03651679e-04 -6.90746598e+00] [-2.03417237e-03 1.05159563e-04 9.99997926e-01 -1.69915427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73037174299998 meters Centerline goodness [0,1] 0.9875917846121103 Centerline is valid? [True, True] Translation: X:128.52, Y:-6.91, Z:-1.70 [[ 9.99990960e-01 -3.61750968e-03 2.23477609e-03 1.28522430e+02] [ 3.61777331e-03 9.99993449e-01 -1.13935260e-04 -6.91080347e+00] [-2.23434929e-03 1.22019144e-04 9.99997496e-01 -1.69958064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76037174299998 meters Centerline goodness [0,1] 0.9877564950300755 Centerline is valid? [True, True] Translation: X:128.55, Y:-6.91, Z:-1.70 [[ 9.99979821e-01 -6.02412118e-03 2.01680838e-03 1.28553215e+02] [ 6.02434079e-03 9.99981848e-01 -1.02830371e-04 -6.91101087e+00] [-2.01615231e-03 1.14978237e-04 9.99997961e-01 -1.69958024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79037174299998 meters Centerline goodness [0,1] 0.9878676549116774 Centerline is valid? [True, True] Translation: X:128.58, Y:-6.92, Z:-1.70 [[ 9.99958140e-01 -9.08102341e-03 1.11965504e-03 1.28583171e+02] [ 9.08109290e-03 9.99958764e-01 -5.69976467e-05 -6.91850220e+00] [-1.11909127e-03 6.71629522e-05 9.99999372e-01 -1.70107137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82037174299998 meters Centerline goodness [0,1] 0.9880822707759339 Centerline is valid? [True, True] Translation: X:128.62, Y:-6.92, Z:-1.70 [[ 9.99953102e-01 -9.66745279e-03 5.77756731e-04 1.28615721e+02] [ 9.66747093e-03 9.99953269e-01 -2.86144049e-05 -6.91944309e+00] [-5.77453103e-04 3.41985093e-05 9.99999833e-01 -1.70215515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85037174299998 meters Centerline goodness [0,1] 0.9877142552964974 Centerline is valid? [True, True] Translation: X:128.65, Y:-6.92, Z:-1.70 [[ 9.99953230e-01 -9.66965035e-03 1.90812799e-04 1.28647775e+02] [ 9.66965220e-03 9.99953248e-01 -8.78635585e-06 -6.91637876e+00] [-1.90718917e-04 1.06310383e-05 9.99999982e-01 -1.70250338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88037174299998 meters Centerline goodness [0,1] 0.9877142552964974 Centerline is valid? [True, True] Translation: X:128.68, Y:-6.92, Z:-1.70 [[ 9.99953937e-01 -9.59623644e-03 1.90812029e-04 1.28679478e+02] [ 9.59623829e-03 9.99953955e-01 -8.80207560e-06 -6.91806286e+00] [-1.90718776e-04 1.06327478e-05 9.99999982e-01 -1.70293335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91037174299998 meters Centerline goodness [0,1] 0.9875481577659053 Centerline is valid? [True, True] Translation: X:128.71, Y:-6.92, Z:-1.70 [[ 9.99969506e-01 -7.80895735e-03 8.73504777e-05 1.28710024e+02] [ 7.80895775e-03 9.99969510e-01 -4.24072884e-06 -6.91749112e+00] [-8.73146988e-05 4.92271572e-06 9.99999996e-01 -1.70348025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940371743 meters Centerline goodness [0,1] 0.9883195096337255 Centerline is valid? [True, True] Translation: X:128.74, Y:-6.91, Z:-1.70 [[ 9.99986613e-01 -5.15654921e-03 -4.28219371e-04 1.28742139e+02] [ 5.15655944e-03 9.99986705e-01 2.27767721e-05 -6.91320268e+00] [ 4.28096229e-04 -2.49846059e-05 9.99999908e-01 -1.70224590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.970371743 meters Centerline goodness [0,1] 0.9891668816094918 Centerline is valid? [True, True] Translation: X:128.77, Y:-6.91, Z:-1.70 [[ 9.99988152e-01 -4.80954814e-03 7.50941176e-04 1.28773690e+02] [ 4.80957814e-03 9.99988433e-01 -3.81438018e-05 -6.91129252e+00] [-7.50749036e-04 4.17550601e-05 9.99999717e-01 -1.70231416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000371743 meters Centerline goodness [0,1] 0.9891236726375631 Centerline is valid? [True, True] Translation: X:128.80, Y:-6.91, Z:-1.70 [[ 9.99997525e-01 -1.80029233e-03 1.30739234e-03 1.28803561e+02] [ 1.80038183e-03 9.99998377e-01 -6.72789730e-05 -6.90800504e+00] [-1.30726909e-03 6.96326119e-05 9.99999143e-01 -1.70183874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.030371743 meters Centerline goodness [0,1] 0.9884239410049734 Centerline is valid? [True, True] Translation: X:128.83, Y:-6.91, Z:-1.70 [[ 9.99998883e-01 -5.89204556e-04 1.37340482e-03 1.28833945e+02] [ 5.89301878e-04 9.99999824e-01 -7.04580642e-05 -6.90959702e+00] [-1.37336307e-03 7.12673355e-05 9.99999054e-01 -1.70231149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060371743 meters Centerline goodness [0,1] 0.9894680394680395 Centerline is valid? [True, True] Translation: X:128.87, Y:-6.91, Z:-1.70 [[ 9.99999060e-01 2.03275140e-04 1.35608792e-03 1.28865776e+02] [-2.03181241e-04 9.99999977e-01 -6.93798722e-05 -6.90815198e+00] [-1.35610199e-03 6.91042754e-05 9.99999078e-01 -1.70219086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.090371743 meters Centerline goodness [0,1] 0.9892184446210348 Centerline is valid? [True, True] Translation: X:128.90, Y:-6.91, Z:-1.70 [[ 9.99998980e-01 3.54397691e-04 1.38373684e-03 1.28897645e+02] [-3.54299992e-04 9.99999935e-01 -7.08502013e-05 -6.90706725e+00] [-1.38376186e-03 7.03598711e-05 9.99999040e-01 -1.70264210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120371743 meters Centerline goodness [0,1] 0.9897071490094745 Centerline is valid? [True, True] Translation: X:128.93, Y:-6.90, Z:-1.70 [[ 9.99999889e-01 4.14292510e-05 4.68923529e-04 1.28928612e+02] [-4.14179205e-05 9.99999999e-01 -2.41725902e-05 -6.90377368e+00] [-4.68924530e-04 2.41531656e-05 9.99999890e-01 -1.70346651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.150371743 meters Centerline goodness [0,1] 0.9902525285199801 Centerline is valid? [True, True] Translation: X:128.96, Y:-6.90, Z:-1.70 [[ 9.99998916e-01 -1.46764510e-03 -1.17193226e-04 1.28959444e+02] [ 1.46764582e-03 9.99998923e-01 6.04120638e-06 -6.90182756e+00] [ 1.17184233e-04 -6.21319798e-06 9.99999993e-01 -1.70463213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180371743 meters Centerline goodness [0,1] 0.9898530742384419 Centerline is valid? [True, True] Translation: X:128.99, Y:-6.91, Z:-1.71 [[ 9.99996730e-01 -2.53156478e-03 3.60858630e-04 1.28989371e+02] [ 2.53157157e-03 9.99996795e-01 -1.83633695e-05 -6.90523699e+00] [-3.60810986e-04 1.92768490e-05 9.99999935e-01 -1.70552990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.210371743 meters Centerline goodness [0,1] 0.9902055961857916 Centerline is valid? [True, True] Translation: X:129.02, Y:-6.90, Z:-1.71 [[ 9.99991284e-01 -3.91721015e-03 1.44504790e-03 1.29021205e+02] [ 3.91732127e-03 9.99992325e-01 -7.40725649e-05 -6.90302946e+00] [-1.44474665e-03 7.97326362e-05 9.99998953e-01 -1.70517252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.240371743 meters Centerline goodness [0,1] 0.989804294292997 Centerline is valid? [True, True] Translation: X:129.05, Y:-6.90, Z:-1.70 [[ 9.99978999e-01 -5.91544507e-03 2.64756565e-03 1.29053329e+02] [ 5.91582544e-03 9.99982492e-01 -1.35856046e-04 -6.90382415e+00] [-2.64671564e-03 1.51515729e-04 9.99996486e-01 -1.70499027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27037174299997 meters Centerline goodness [0,1] 0.9895298130477959 Centerline is valid? [True, True] Translation: X:129.08, Y:-6.91, Z:-1.71 [[ 9.99970809e-01 -6.98710938e-03 3.09199993e-03 1.29083957e+02] [ 6.98763495e-03 9.99975574e-01 -1.59206542e-04 -6.90970475e+00] [-3.09081201e-03 1.80807661e-04 9.99995207e-01 -1.70578659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30037174299997 meters Centerline goodness [0,1] 0.9900131860530469 Centerline is valid? [True, True] Translation: X:129.12, Y:-6.91, Z:-1.71 [[ 9.99958843e-01 -8.19322202e-03 3.89671071e-03 1.29116800e+02] [ 8.19406675e-03 9.99966408e-01 -2.00863018e-04 -6.90590651e+00] [-3.89493409e-03 2.32784659e-04 9.99992388e-01 -1.70518613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33037174299997 meters Centerline goodness [0,1] 0.98914574170765 Centerline is valid? [True, True] Translation: X:129.15, Y:-6.91, Z:-1.71 [[ 9.99945480e-01 -9.83650698e-03 3.50444074e-03 1.29147560e+02] [ 9.83720147e-03 9.99951597e-01 -1.80990700e-04 -6.91116227e+00] [-3.50249080e-03 2.15454722e-04 9.99993843e-01 -1.70603810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36037174299997 meters Centerline goodness [0,1] 0.9884838925739472 Centerline is valid? [True, True] Translation: X:129.18, Y:-6.91, Z:-1.71 [[ 9.99900661e-01 -1.36014090e-02 3.69729267e-03 1.29178255e+02] [ 1.36022101e-02 9.99907467e-01 -1.91621559e-04 -6.91242686e+00] [-3.69434422e-03 2.41893876e-04 9.99993147e-01 -1.70626222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39037174299997 meters Centerline goodness [0,1] 0.9891570176387837 Centerline is valid? [True, True] Translation: X:129.21, Y:-6.91, Z:-1.71 [[ 9.99877603e-01 -1.52073763e-02 3.67627265e-03 1.29209971e+02] [ 1.52081756e-02 9.99884331e-01 -1.89568094e-04 -6.91025301e+00] [-3.67296459e-03 2.45454291e-04 9.99993225e-01 -1.70610666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42037174299998 meters Centerline goodness [0,1] 0.9891238277179576 Centerline is valid? [True, True] Translation: X:129.24, Y:-6.91, Z:-1.71 [[ 9.99835837e-01 -1.79435626e-02 2.51535599e-03 1.29241048e+02] [ 1.79439470e-02 9.99838986e-01 -1.30338878e-04 -6.91000311e+00] [-2.51261224e-03 1.75452895e-04 9.99996828e-01 -1.70770778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45037174299998 meters Centerline goodness [0,1] 0.9890145818348264 Centerline is valid? [True, True] Translation: X:129.27, Y:-6.91, Z:-1.71 [[ 9.99837871e-01 -1.79195760e-02 1.76641119e-03 1.29273040e+02] [ 1.79197647e-02 9.99839424e-01 -9.10399340e-05 -6.91007227e+00] [-1.76449615e-03 1.22678847e-04 9.99998436e-01 -1.70836237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48037174299998 meters Centerline goodness [0,1] 0.9890904339873267 Centerline is valid? [True, True] Translation: X:129.30, Y:-6.91, Z:-1.71 [[ 9.99833546e-01 -1.81505397e-02 1.85433640e-03 1.29303873e+02] [ 1.81507475e-02 9.99835257e-01 -9.52591958e-05 -6.91040829e+00] [-1.85230191e-03 1.28900931e-04 9.99998276e-01 -1.70944574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51037174299998 meters Centerline goodness [0,1] 0.9903621813741523 Centerline is valid? [True, True] Translation: X:129.34, Y:-6.90, Z:-1.71 [[ 9.99840813e-01 -1.77337912e-02 1.96510929e-03 1.29336190e+02] [ 1.77340253e-02 9.99842735e-01 -1.01744724e-04 -6.90490042e+00] [-1.96299593e-03 1.36577826e-04 9.99998064e-01 -1.70909690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54037174299998 meters Centerline goodness [0,1] 0.9893452445800196 Centerline is valid? [True, True] Translation: X:129.37, Y:-6.91, Z:-1.71 [[ 9.99854438e-01 -1.69100597e-02 2.27010934e-03 1.29366878e+02] [ 1.69103711e-02 9.99857002e-01 -1.18068839e-04 -6.91044874e+00] [-2.26778817e-03 1.56440044e-04 9.99997416e-01 -1.71052423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57037174299998 meters Centerline goodness [0,1] 0.9898552302166105 Centerline is valid? [True, True] Translation: X:129.40, Y:-6.91, Z:-1.71 [[ 9.99872777e-01 -1.57641462e-02 2.43340580e-03 1.29398890e+02] [ 1.57645007e-02 9.99875725e-01 -1.26568539e-04 -6.90760553e+00] [-2.43110814e-03 1.64913865e-04 9.99997031e-01 -1.71086055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60037174299998 meters Centerline goodness [0,1] 0.9908959916164527 Centerline is valid? [True, True] Translation: X:129.43, Y:-6.91, Z:-1.71 [[ 9.99886030e-01 -1.48901059e-02 2.49235315e-03 1.29431147e+02] [ 1.48904756e-02 9.99889122e-01 -1.29835092e-04 -6.90617202e+00] [-2.49014355e-03 1.66932618e-04 9.99996886e-01 -1.71136352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63037174299998 meters Centerline goodness [0,1] 0.9908006293156193 Centerline is valid? [True, True] Translation: X:129.46, Y:-6.90, Z:-1.71 [[ 9.99928514e-01 -1.17698201e-02 2.10670113e-03 1.29462063e+02] [ 1.17700791e-02 9.99930724e-01 -1.10556340e-04 -6.90001339e+00] [-2.10525396e-03 1.35344476e-04 9.99997775e-01 -1.71234621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66037174299998 meters Centerline goodness [0,1] 0.991135333902423 Centerline is valid? [True, True] Translation: X:129.49, Y:-6.90, Z:-1.71 [[ 9.99950065e-01 -9.74082301e-03 2.23224644e-03 1.29494212e+02] [ 9.74110732e-03 9.99952548e-01 -1.16527513e-04 -6.89608345e+00] [-2.23100544e-03 1.38266246e-04 9.99997502e-01 -1.71193293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.690371743 meters Centerline goodness [0,1] 0.9916156361800663 Centerline is valid? [True, True] Translation: X:129.52, Y:-6.90, Z:-1.71 [[ 9.99963787e-01 -7.81782652e-03 3.36245210e-03 1.29524965e+02] [ 7.81846329e-03 9.99969420e-01 -1.76271927e-04 -6.89551221e+00] [-3.36097122e-03 2.02554752e-04 9.99994331e-01 -1.71168139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720371743 meters Centerline goodness [0,1] 0.9914319609824684 Centerline is valid? [True, True] Translation: X:129.56, Y:-6.89, Z:-1.71 [[ 9.99974361e-01 -3.30125121e-03 6.35438742e-03 1.29555942e+02] [ 3.30344029e-03 9.99994488e-01 -3.34034096e-04 -6.89016351e+00] [-6.35324966e-03 3.55016872e-04 9.99979755e-01 -1.71012818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.750371743 meters Centerline goodness [0,1] 0.9913953947801655 Centerline is valid? [True, True] Translation: X:129.59, Y:-6.89, Z:-1.71 [[ 9.99969670e-01 -1.58312997e-03 7.62576822e-03 1.29587535e+02] [ 1.58623145e-03 9.99998662e-01 -4.00678553e-04 -6.88873250e+00] [-7.62512369e-03 4.12762633e-04 9.99970843e-01 -1.70958864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780371743 meters Centerline goodness [0,1] 0.9915520844791552 Centerline is valid? [True, True] Translation: X:129.62, Y:-6.89, Z:-1.71 [[ 9.99960132e-01 2.30513976e-04 8.92648853e-03 1.29617824e+02] [-2.26331856e-04 9.99999864e-01 -4.69514021e-04 -6.89102771e+00] [-8.92659555e-03 4.67474954e-04 9.99960048e-01 -1.70943413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.810371743 meters Centerline goodness [0,1] 0.9916149000153653 Centerline is valid? [True, True] Translation: X:129.65, Y:-6.89, Z:-1.71 [[ 9.99946675e-01 3.06419274e-03 9.86191421e-03 1.29650023e+02] [-3.05922534e-03 9.99995186e-01 -5.18740897e-04 -6.88531077e+00] [-9.86345626e-03 4.88543417e-04 9.99951236e-01 -1.70991758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840371743 meters Centerline goodness [0,1] 0.9917220730042711 Centerline is valid? [True, True] Translation: X:129.68, Y:-6.89, Z:-1.71 [[ 9.99943285e-01 3.97111028e-03 9.88218156e-03 1.29681799e+02] [-3.96616033e-03 9.99991999e-01 -5.20444318e-04 -6.88569953e+00] [-9.88416924e-03 4.81220485e-04 9.99951035e-01 -1.71092153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.870371743 meters Centerline goodness [0,1] 0.9921778600387802 Centerline is valid? [True, True] Translation: X:129.71, Y:-6.89, Z:-1.71 [[ 9.99939146e-01 4.47366291e-03 1.00841516e-02 1.29713778e+02] [-4.46853276e-03 9.99989875e-01 -5.31207946e-04 -6.88623222e+00] [-1.00864260e-02 4.86114258e-04 9.99949013e-01 -1.71248893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900371743 meters Centerline goodness [0,1] 0.9921708341580348 Centerline is valid? [True, True] Translation: X:129.74, Y:-6.89, Z:-1.71 [[ 9.99947684e-01 3.99004417e-03 9.41849885e-03 1.29744955e+02] [-3.98552722e-03 9.99991934e-01 -4.98304132e-04 -6.88827517e+00] [-9.42041113e-03 4.60740380e-04 9.99955521e-01 -1.71404330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.930371743 meters Centerline goodness [0,1] 0.9926491625767546 Centerline is valid? [True, True] Translation: X:129.78, Y:-6.89, Z:-1.72 [[ 9.99968481e-01 2.11065269e-04 7.93672132e-03 1.29776622e+02] [-2.07720291e-04 9.99999889e-01 -4.22277800e-04 -6.88501060e+00] [-7.93680957e-03 4.20615872e-04 9.99968415e-01 -1.71546418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960371743 meters Centerline goodness [0,1] 0.9913762681958536 Centerline is valid? [True, True] Translation: X:129.81, Y:-6.89, Z:-1.72 [[ 9.99963561e-01 -2.67355409e-03 8.10727771e-03 1.29806576e+02] [ 2.67714216e-03 9.99996323e-01 -4.31754091e-04 -6.89322104e+00] [-8.10609358e-03 4.53442694e-04 9.99967042e-01 -1.71686077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.990371743 meters Centerline goodness [0,1] 0.9901711761457758 Centerline is valid? [True, True] Translation: X:129.84, Y:-6.90, Z:-1.72 [[ 9.99937025e-01 -8.41490096e-03 7.42533279e-03 1.29836053e+02] [ 8.41806669e-03 9.99964489e-01 -3.95190622e-04 -6.89790126e+00] [-7.42174363e-03 4.57672682e-04 9.99972354e-01 -1.71797959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02037174299997 meters Centerline goodness [0,1] 0.9907856450048497 Centerline is valid? [True, True] Translation: X:129.87, Y:-6.89, Z:-1.72 [[ 9.99921883e-01 -1.06213241e-02 6.58904698e-03 1.29867739e+02] [ 1.06238690e-02 9.99943503e-01 -3.51352774e-04 -6.89137609e+00] [-6.58494289e-03 4.21326499e-04 9.99978230e-01 -1.71817555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05037174299997 meters Centerline goodness [0,1] 0.9913838695460555 Centerline is valid? [True, True] Translation: X:129.90, Y:-6.89, Z:-1.72 [[ 9.99911800e-01 -1.18848386e-02 5.92807295e-03 1.29900007e+02] [ 1.18869200e-02 9.99929298e-01 -3.16000537e-04 -6.89374993e+00] [-5.92389821e-03 3.86439195e-04 9.99982379e-01 -1.71924396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08037174299997 meters Centerline goodness [0,1] 0.9909046649552978 Centerline is valid? [True, True] Translation: X:129.93, Y:-6.90, Z:-1.72 [[ 9.99898428e-01 -1.29541421e-02 5.94345160e-03 1.29931059e+02] [ 1.29562565e-02 9.99916014e-01 -3.17387107e-04 -6.89575549e+00] [-5.93884095e-03 3.94359752e-04 9.99982287e-01 -1.71969769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11037174299997 meters Centerline goodness [0,1] 0.9911508340338923 Centerline is valid? [True, True] Translation: X:129.96, Y:-6.90, Z:-1.72 [[ 9.99898828e-01 -1.25105472e-02 6.76899785e-03 1.29963035e+02] [ 1.25132820e-02 9.99921640e-01 -3.61816710e-04 -6.89522496e+00] [-6.76394091e-03 4.46482484e-04 9.99977025e-01 -1.71963173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14037174299997 meters Centerline goodness [0,1] 0.9897486992139931 Centerline is valid? [True, True] Translation: X:129.99, Y:-6.89, Z:-1.72 [[ 9.99902849e-01 -1.17776927e-02 7.45512780e-03 1.29994507e+02] [ 1.17809952e-02 9.99930522e-01 -3.99228169e-04 -6.89489878e+00] [-7.44990784e-03 4.87018209e-04 9.99972130e-01 -1.71943453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17037174299998 meters Centerline goodness [0,1] 0.9911339657771079 Centerline is valid? [True, True] Translation: X:130.03, Y:-6.89, Z:-1.72 [[ 9.99918635e-01 -8.97471182e-03 9.06515897e-03 1.30025547e+02] [ 8.97948810e-03 9.99959565e-01 -4.86318810e-04 -6.88519584e+00] [-9.06042785e-03 5.67679727e-04 9.99958792e-01 -1.71796847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20037174299998 meters Centerline goodness [0,1] 0.9905133433815054 Centerline is valid? [True, True] Translation: X:130.06, Y:-6.89, Z:-1.72 [[ 9.99926249e-01 -7.47900702e-03 9.56879302e-03 1.30055496e+02] [ 7.48425987e-03 9.99971861e-01 -5.13265172e-04 -6.89009941e+00] [-9.56468505e-03 5.84842652e-04 9.99954086e-01 -1.71857347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23037174299998 meters Centerline goodness [0,1] 0.9906544130705026 Centerline is valid? [True, True] Translation: X:130.09, Y:-6.89, Z:-1.72 [[ 9.99929192e-01 -5.72026339e-03 1.04350079e-02 1.30087253e+02] [ 5.72641661e-03 9.99983447e-01 -5.59887037e-04 -6.88806940e+00] [-1.04316324e-02 6.19602595e-04 9.99945397e-01 -1.71820272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26037174299998 meters Centerline goodness [0,1] 0.9911355002110596 Centerline is valid? [True, True] Translation: X:130.12, Y:-6.89, Z:-1.72 [[ 9.99931581e-01 -4.00167798e-03 1.09918296e-02 1.30119279e+02] [ 4.00840605e-03 9.99991792e-01 -5.90135306e-04 -6.88728988e+00] [-1.09893778e-02 6.34154646e-04 9.99939414e-01 -1.71817904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29037174299998 meters Centerline goodness [0,1] 0.9895311281879942 Centerline is valid? [True, True] Translation: X:130.15, Y:-6.89, Z:-1.72 [[ 9.99935161e-01 -1.77442411e-03 1.12483088e-02 1.30149616e+02] [ 1.78133495e-03 9.99998231e-01 -6.04400098e-04 -6.88954701e+00] [-1.12472164e-02 6.24397915e-04 9.99936553e-01 -1.71873233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32037174299998 meters Centerline goodness [0,1] 0.9901301131806435 Centerline is valid? [True, True] Translation: X:130.18, Y:-6.88, Z:-1.72 [[ 9.99936496e-01 -6.06564182e-04 1.12532446e-02 1.30181964e+02] [ 6.13421449e-04 9.99999628e-01 -6.05917470e-04 -6.88108912e+00] [-1.12528729e-02 6.12781974e-04 9.99936497e-01 -1.71954908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35037174299998 meters Centerline goodness [0,1] 0.9903865456248745 Centerline is valid? [True, True] Translation: X:130.21, Y:-6.88, Z:-1.72 [[ 9.99938551e-01 -6.13811812e-05 1.10856004e-02 1.30214067e+02] [ 6.80109492e-05 9.99999819e-01 -5.97676232e-04 -6.88232414e+00] [-1.10855617e-02 5.98393448e-04 9.99938374e-01 -1.72055236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38037174299998 meters Centerline goodness [0,1] 0.9904268850556758 Centerline is valid? [True, True] Translation: X:130.25, Y:-6.88, Z:-1.72 [[ 9.99943380e-01 6.15039082e-04 1.06234715e-02 1.30245973e+02] [-6.08981009e-04 9.99999650e-01 -5.73479081e-04 -6.88184004e+00] [-1.06238204e-02 5.66977119e-04 9.99943405e-01 -1.72160741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41037174299998 meters Centerline goodness [0,1] 0.9902890897699812 Centerline is valid? [True, True] Translation: X:130.28, Y:-6.88, Z:-1.72 [[ 9.99940788e-01 1.30944108e-03 1.08030883e-02 1.30277928e+02] [-1.30320829e-03 9.99998980e-01 -5.83964446e-04 -6.87978180e+00] [-1.08038419e-02 5.69851194e-04 9.99941474e-01 -1.72231933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440371743 meters Centerline goodness [0,1] 0.991214573996031 Centerline is valid? [True, True] Translation: X:130.31, Y:-6.88, Z:-1.72 [[ 9.99939020e-01 2.88102179e-03 1.06609483e-02 1.30310679e+02] [-2.87503329e-03 9.99995701e-01 -5.77005757e-04 -6.87903330e+00] [-1.06625648e-02 5.46319990e-04 9.99943004e-01 -1.72370134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.470371743 meters Centerline goodness [0,1] 0.9907967922800277 Centerline is valid? [True, True] Translation: X:130.34, Y:-6.88, Z:-1.72 [[ 9.99938578e-01 3.88826406e-03 1.03789013e-02 1.30343318e+02] [-3.88263227e-03 9.99992304e-01 -5.62713897e-04 -6.87836687e+00] [-1.03810094e-02 5.22381877e-04 9.99945979e-01 -1.72427896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500371743 meters Centerline goodness [0,1] 0.9892338619611347 Centerline is valid? [True, True] Translation: X:130.37, Y:-6.88, Z:-1.72 [[ 9.99932919e-01 4.95910813e-03 1.04673339e-02 1.30373949e+02] [-4.95343555e-03 9.99987570e-01 -5.67787429e-04 -6.88317093e+00] [-1.04700195e-02 5.15900078e-04 9.99945055e-01 -1.72460504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.530371743 meters Centerline goodness [0,1] 0.9898276286078384 Centerline is valid? [True, True] Translation: X:130.41, Y:-6.88, Z:-1.72 [[ 9.99924175e-01 6.36099243e-03 1.05442954e-02 1.30406646e+02] [-6.35528220e-03 9.99979640e-01 -5.74965350e-04 -6.87691422e+00] [-1.05477380e-02 5.07909780e-04 9.99944242e-01 -1.72452031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560371743 meters Centerline goodness [0,1] 0.9897931775449906 Centerline is valid? [True, True] Translation: X:130.44, Y:-6.88, Z:-1.73 [[ 9.99917256e-01 7.20205439e-03 1.06589109e-02 1.30438184e+02] [-7.19626087e-03 9.99973937e-01 -5.81791900e-04 -6.87801026e+00] [-1.06628232e-02 5.05039457e-04 9.99943023e-01 -1.72537945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.590371743 meters Centerline goodness [0,1] 0.990289524320938 Centerline is valid? [True, True] Translation: X:130.47, Y:-6.88, Z:-1.73 [[ 9.99915127e-01 7.56365035e-03 1.06080117e-02 1.30470733e+02] [-7.55791949e-03 9.99971270e-01 -5.80223690e-04 -6.87859492e+00] [-1.06120955e-02 4.99999947e-04 9.99943565e-01 -1.72618433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620371743 meters Centerline goodness [0,1] 0.9897240296163339 Centerline is valid? [True, True] Translation: X:130.50, Y:-6.88, Z:-1.73 [[ 9.99924228e-01 7.83012097e-03 9.49883619e-03 1.30503012e+02] [-7.82551868e-03 9.99969244e-01 -5.21582148e-04 -6.87932254e+00] [-9.50262810e-03 4.47209306e-04 9.99954749e-01 -1.72771443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.650371743 meters Centerline goodness [0,1] 0.9896673330488106 Centerline is valid? [True, True] Translation: X:130.53, Y:-6.88, Z:-1.73 [[ 9.99931919e-01 7.11679373e-03 9.24710267e-03 1.30534640e+02] [-7.11238052e-03 9.99974577e-01 -5.10051490e-04 -6.88147044e+00] [-9.25049751e-03 4.44247852e-04 9.99957115e-01 -1.72883282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680371743 meters Centerline goodness [0,1] 0.9895531441666106 Centerline is valid? [True, True] Translation: X:130.57, Y:-6.88, Z:-1.73 [[ 9.99944711e-01 6.04300199e-03 8.60565860e-03 1.30566010e+02] [-6.03911678e-03 9.99981650e-01 -4.77386433e-04 -6.88099793e+00] [-8.60838553e-03 4.25389461e-04 9.99962857e-01 -1.72927748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.710371743 meters Centerline goodness [0,1] 0.9888182859195724 Centerline is valid? [True, True] Translation: X:130.60, Y:-6.89, Z:-1.73 [[ 9.99954714e-01 3.16804816e-03 8.97404976e-03 1.30596338e+02] [-3.16370384e-03 9.99994871e-01 -4.98252231e-04 -6.88589249e+00] [-8.97558222e-03 4.69838431e-04 9.99959608e-01 -1.72959217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.740371743 meters Centerline goodness [0,1] 0.9886792452830189 Centerline is valid? [True, True] Translation: X:130.63, Y:-6.89, Z:-1.73 [[ 9.99954581e-01 1.92456760e-03 9.33443724e-03 1.30628164e+02] [-1.91982001e-03 9.99998023e-01 -5.17543655e-04 -6.88772011e+00] [-9.33541483e-03 4.99599709e-04 9.99956299e-01 -1.72947654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77037174299997 meters Centerline goodness [0,1] 0.9887536831687622 Centerline is valid? [True, True] Translation: X:130.66, Y:-6.89, Z:-1.73 [[ 9.99955981e-01 2.34142780e-04 9.37982242e-03 1.30660197e+02] [-2.29248077e-04 9.99999837e-01 -5.22905087e-04 -6.88839403e+00] [-9.37994333e-03 5.20731763e-04 9.99955872e-01 -1.72946267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80037174299997 meters Centerline goodness [0,1] 0.9887536831687622 Centerline is valid? [True, True] Translation: X:130.69, Y:-6.89, Z:-1.73 [[ 9.99955950e-01 3.43140200e-04 9.37979301e-03 1.30692736e+02] [-3.38245347e-04 9.99999806e-01 -5.23432244e-04 -6.89030049e+00] [-9.37997079e-03 5.20236515e-04 9.99955872e-01 -1.72990399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83037174299997 meters Centerline goodness [0,1] 0.9876829021599874 Centerline is valid? [True, True] Translation: X:130.72, Y:-6.90, Z:-1.73 [[ 9.99952993e-01 -2.73371288e-03 9.30259330e-03 1.30722006e+02] [ 2.73867088e-03 9.99996114e-01 -5.20273051e-04 -6.89975140e+00] [-9.30113488e-03 5.45725336e-04 9.99956595e-01 -1.73037696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86037174299997 meters Centerline goodness [0,1] 0.988939244368662 Centerline is valid? [True, True] Translation: X:130.75, Y:-6.90, Z:-1.73 [[ 9.99947920e-01 -4.11766994e-03 9.33824249e-03 1.30754468e+02] [ 4.12273286e-03 9.99991365e-01 -5.22985047e-04 -6.89575634e+00] [-9.33600837e-03 5.61456889e-04 9.99956261e-01 -1.73042475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89037174299997 meters Centerline goodness [0,1] 0.9886008498774648 Centerline is valid? [True, True] Translation: X:130.79, Y:-6.90, Z:-1.73 [[ 9.99947300e-01 -5.30208652e-03 8.79120022e-03 1.30785530e+02] [ 5.30662228e-03 9.99985798e-01 -4.92697269e-04 -6.89945926e+00] [-8.78846305e-03 5.39322883e-04 9.99961235e-01 -1.73112213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92037174299998 meters Centerline goodness [0,1] 0.9886495925494762 Centerline is valid? [True, True] Translation: X:130.82, Y:-6.90, Z:-1.73 [[ 9.99941354e-01 -7.67333033e-03 7.64256055e-03 1.30816698e+02] [ 7.67683654e-03 9.99970440e-01 -4.29544316e-04 -6.90147319e+00] [-7.63903861e-03 4.88189813e-04 9.99970703e-01 -1.73237568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95037174299998 meters Centerline goodness [0,1] 0.9882387269095235 Centerline is valid? [True, True] Translation: X:130.85, Y:-6.90, Z:-1.73 [[ 9.99942811e-01 -8.53515693e-03 6.44398849e-03 1.30849177e+02] [ 8.53766675e-03 9.99963488e-01 -3.62073296e-04 -6.90156847e+00] [-6.44066286e-03 4.17069216e-04 9.99979172e-01 -1.73366975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98037174299998 meters Centerline goodness [0,1] 0.9867673159443733 Centerline is valid? [True, True] Translation: X:130.88, Y:-6.91, Z:-1.74 [[ 9.99944452e-01 -9.01942694e-03 5.45371945e-03 1.30880280e+02] [ 9.02123393e-03 9.99959261e-01 -3.06822639e-04 -6.91056663e+00] [-5.45072991e-03 3.56004874e-04 9.99985081e-01 -1.73554181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01037174299998 meters Centerline goodness [0,1] 0.9885588162428774 Centerline is valid? [True, True] Translation: X:130.91, Y:-6.90, Z:-1.73 [[ 9.99948285e-01 -8.55276651e-03 5.50256910e-03 1.30913789e+02] [ 8.55459894e-03 9.99963361e-01 -3.09564497e-04 -6.89825653e+00] [-5.49971986e-03 3.56620759e-04 9.99984813e-01 -1.73450703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04037174299998 meters Centerline goodness [0,1] 0.9883828472175227 Centerline is valid? [True, True] Translation: X:130.94, Y:-6.90, Z:-1.73 [[ 9.99949444e-01 -8.19087261e-03 5.83263482e-03 1.30944370e+02] [ 8.19293060e-03 9.99966383e-01 -3.29034169e-04 -6.90175554e+00] [-5.82974367e-03 3.76803906e-04 9.99982936e-01 -1.73490195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07037174299998 meters Centerline goodness [0,1] 0.9879664409905756 Centerline is valid? [True, True] Translation: X:130.98, Y:-6.90, Z:-1.73 [[ 9.99949701e-01 -7.56574573e-03 6.58443385e-03 1.30976736e+02] [ 7.56835716e-03 9.99971290e-01 -3.71780250e-04 -6.90056748e+00] [-6.58143202e-03 4.21594897e-04 9.99978253e-01 -1.73498827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10037174299998 meters Centerline goodness [0,1] 0.9874563675261795 Centerline is valid? [True, True] Translation: X:131.01, Y:-6.90, Z:-1.74 [[ 9.99950729e-01 -7.12499488e-03 6.91194008e-03 1.31007917e+02] [ 7.12786674e-03 9.99974520e-01 -3.90947310e-04 -6.90319837e+00] [-6.90897846e-03 4.40195436e-04 9.99976036e-01 -1.73529894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13037174299998 meters Centerline goodness [0,1] 0.987298937442191 Centerline is valid? [True, True] Translation: X:131.04, Y:-6.90, Z:-1.74 [[ 9.99951594e-01 -6.39328239e-03 7.47897548e-03 1.31040237e+02] [ 6.39662708e-03 9.99979452e-01 -4.23376542e-04 -6.90158070e+00] [-7.47611503e-03 4.71196265e-04 9.99971942e-01 -1.73533324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16037174299998 meters Centerline goodness [0,1] 0.9870091660065633 Centerline is valid? [True, True] Translation: X:131.07, Y:-6.90, Z:-1.74 [[ 9.99963905e-01 -5.37625557e-03 6.57912093e-03 1.31072842e+02] [ 5.37882425e-03 9.99985465e-01 -3.72797498e-04 -6.90051103e+00] [-6.57702105e-03 4.08171977e-04 9.99978288e-01 -1.73630827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.190371743 meters Centerline goodness [0,1] 0.9878275455617009 Centerline is valid? [True, True] Translation: X:131.11, Y:-6.90, Z:-1.74 [[ 9.99965745e-01 -5.06551543e-03 6.54593450e-03 1.31105194e+02] [ 5.06805465e-03 9.99987088e-01 -3.71379569e-04 -6.90059838e+00] [-6.54396876e-03 4.04542001e-04 9.99978506e-01 -1.73706607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220371743 meters Centerline goodness [0,1] 0.9878250617815766 Centerline is valid? [True, True] Translation: X:131.14, Y:-6.90, Z:-1.74 [[ 9.99967721e-01 -5.13594492e-03 6.17891725e-03 1.31136006e+02] [ 5.13821195e-03 9.99986738e-01 -3.51079580e-04 -6.90222838e+00] [-6.17703217e-03 3.82816834e-04 9.99980849e-01 -1.73804980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.250371743 meters Centerline goodness [0,1] 0.9867038144423304 Centerline is valid? [True, True] Translation: X:131.17, Y:-6.90, Z:-1.74 [[ 9.99962376e-01 -6.77421091e-03 5.41825198e-03 1.31168421e+02] [ 6.77597841e-03 9.99976995e-01 -3.07922027e-04 -6.90372876e+00] [-5.41604141e-03 3.44624400e-04 9.99985274e-01 -1.73993942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280371743 meters Centerline goodness [0,1] 0.9876663789578886 Centerline is valid? [True, True] Translation: X:131.20, Y:-6.90, Z:-1.74 [[ 9.99954365e-01 -8.18441039e-03 4.92785835e-03 1.31200650e+02] [ 8.18589064e-03 9.99966456e-01 -2.80290101e-04 -6.90240524e+00] [-4.92539904e-03 3.20616219e-04 9.99987819e-01 -1.74038331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.310371743 meters Centerline goodness [0,1] 0.9867257642913968 Centerline is valid? [True, True] Translation: X:131.23, Y:-6.91, Z:-1.74 [[ 9.99925782e-01 -1.14442289e-02 4.17864012e-03 1.31230399e+02] [ 1.14453227e-02 9.99934472e-01 -2.37943013e-04 -6.90779092e+00] [-4.17564322e-03 2.85751238e-04 9.99991241e-01 -1.74165352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340371743 meters Centerline goodness [0,1] 0.9871768684324005 Centerline is valid? [True, True] Translation: X:131.26, Y:-6.91, Z:-1.74 [[ 9.99912467e-01 -1.26379567e-02 3.91670058e-03 1.31262642e+02] [ 1.26389271e-02 9.99920101e-01 -2.23114654e-04 -6.90850443e+00] [-3.91356793e-03 2.72598017e-04 9.99992305e-01 -1.74200752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.370371743 meters Centerline goodness [0,1] 0.9877552874894932 Centerline is valid? [True, True] Translation: X:131.30, Y:-6.91, Z:-1.74 [[ 9.99908017e-01 -1.31313130e-02 3.39488110e-03 1.31295007e+02] [ 1.31320453e-02 9.99913752e-01 -1.93487815e-04 -6.90694697e+00] [-3.39204755e-03 2.38051749e-04 9.99994219e-01 -1.74272389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400371743 meters Centerline goodness [0,1] 0.9871488139995899 Centerline is valid? [True, True] Translation: X:131.33, Y:-6.91, Z:-1.75 [[ 9.99926534e-01 -1.19495798e-02 2.03335447e-03 1.31325792e+02] [ 1.19498400e-02 9.99928591e-01 -1.15855825e-04 -6.91020855e+00] [-2.03182484e-03 1.40145574e-04 9.99997926e-01 -1.74538938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.430371743 meters Centerline goodness [0,1] 0.9882839108124063 Centerline is valid? [True, True] Translation: X:131.36, Y:-6.91, Z:-1.75 [[ 9.99940867e-01 -1.08284669e-02 1.00384761e-03 1.31358187e+02] [ 1.08285292e-02 9.99941368e-01 -5.66621661e-05 -6.90903702e+00] [-1.00317519e-03 6.75290086e-05 9.99999495e-01 -1.74632517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460371743 meters Centerline goodness [0,1] 0.9883358723084968 Centerline is valid? [True, True] Translation: X:131.39, Y:-6.91, Z:-1.75 [[ 9.99954585e-01 -9.51541178e-03 5.33323138e-04 1.31389519e+02] [ 9.51542848e-03 9.99954727e-01 -2.87824699e-05 -6.91067289e+00] [-5.33025116e-04 3.38559610e-05 9.99999857e-01 -1.74756325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.490371743 meters Centerline goodness [0,1] 0.9884212920837124 Centerline is valid? [True, True] Translation: X:131.42, Y:-6.91, Z:-1.75 [[ 9.99971541e-01 -7.47487351e-03 1.02123023e-03 1.31421334e+02] [ 7.47493673e-03 9.99972061e-01 -5.81089296e-05 -6.90849060e+00] [-1.02076734e-03 6.57409073e-05 9.99999477e-01 -1.74762545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52037174299997 meters Centerline goodness [0,1] 0.9874651810584958 Centerline is valid? [True, True] Translation: X:131.45, Y:-6.91, Z:-1.75 [[ 9.99977331e-01 -6.65477309e-03 1.02509694e-03 1.31452665e+02] [ 6.65483642e-03 9.99977855e-01 -5.83882382e-05 -6.90893873e+00] [-1.02468568e-03 6.52087671e-05 9.99999473e-01 -1.74764963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55037174299997 meters Centerline goodness [0,1] 0.987637707273681 Centerline is valid? [True, True] Translation: X:131.48, Y:-6.91, Z:-1.75 [[ 9.99986211e-01 -5.06109479e-03 1.40091960e-03 1.31484652e+02] [ 5.06121199e-03 9.99987189e-01 -8.01270299e-05 -6.90927870e+00] [-1.40049612e-03 8.72162761e-05 9.99999016e-01 -1.74761320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58037174299997 meters Centerline goodness [0,1] 0.9874569545485644 Centerline is valid? [True, True] Translation: X:131.52, Y:-6.91, Z:-1.75 [[ 9.99991990e-01 -3.53814014e-03 1.87113109e-03 1.31516579e+02] [ 3.53834721e-03 9.99993734e-01 -1.07369333e-04 -6.90795471e+00] [-1.87073947e-03 1.13989185e-04 9.99998244e-01 -1.74718490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61037174299997 meters Centerline goodness [0,1] 0.988194539404713 Centerline is valid? [True, True] Translation: X:131.55, Y:-6.91, Z:-1.75 [[ 9.99990120e-01 -2.05647597e-04 4.44050565e-03 1.31546552e+02] [ 2.06788598e-04 9.99999946e-01 -2.56495309e-04 -6.90722568e+00] [-4.44045266e-03 2.57411020e-04 9.99990108e-01 -1.74606359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64037174299997 meters Centerline goodness [0,1] 0.9871730267075908 Centerline is valid? [True, True] Translation: X:131.58, Y:-6.90, Z:-1.75 [[ 9.99985236e-01 1.57910490e-03 5.19953225e-03 1.31577860e+02] [-1.57756607e-03 9.99998711e-01 -3.00043169e-04 -6.90469613e+00] [-5.19999934e-03 2.91836133e-04 9.99986437e-01 -1.74565367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67037174299998 meters Centerline goodness [0,1] 0.9872012867647059 Centerline is valid? [True, True] Translation: X:131.61, Y:-6.90, Z:-1.75 [[ 9.99966214e-01 5.09149319e-03 6.45354784e-03 1.31607531e+02] [-5.08919165e-03 9.99986980e-01 -3.73002955e-04 -6.90422887e+00] [-6.45536296e-03 3.40147011e-04 9.99979106e-01 -1.74525716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70037174299998 meters Centerline goodness [0,1] 0.9880465265964783 Centerline is valid? [True, True] Translation: X:131.64, Y:-6.90, Z:-1.74 [[ 9.99954656e-01 6.24579572e-03 7.18863013e-03 1.31638780e+02] [-6.24297056e-03 9.99980426e-01 -4.15376336e-04 -6.89937396e+00] [-7.19108377e-03 3.70479095e-04 9.99974075e-01 -1.74473002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73037174299998 meters Centerline goodness [0,1] 0.9874475056532374 Centerline is valid? [True, True] Translation: X:131.67, Y:-6.90, Z:-1.75 [[ 9.99950886e-01 6.64747863e-03 7.35093760e-03 1.31668902e+02] [-6.64453347e-03 9.99977835e-01 -4.25001449e-04 -6.89994001e+00] [-7.35359985e-03 3.76137025e-04 9.99972891e-01 -1.74552238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76037174299998 meters Centerline goodness [0,1] 0.9883640393406289 Centerline is valid? [True, True] Translation: X:131.70, Y:-6.90, Z:-1.75 [[ 9.99950491e-01 7.27608418e-03 6.78784559e-03 1.31699581e+02] [-7.27358740e-03 9.99973470e-01 -3.92445749e-04 -6.89877218e+00] [-6.79052097e-03 3.43054331e-04 9.99976885e-01 -1.74691271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79037174299998 meters Centerline goodness [0,1] 0.9864239789074425 Centerline is valid? [True, True] Translation: X:131.73, Y:-6.91, Z:-1.75 [[ 9.99958607e-01 6.92546411e-03 5.90106015e-03 1.31728092e+02] [-6.92357021e-03 9.99975974e-01 -3.41311667e-04 -6.90914152e+00] [-5.90328211e-03 3.00441135e-04 9.99982530e-01 -1.74903545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82037174299998 meters Centerline goodness [0,1] 0.9877199879743762 Centerline is valid? [True, True] Translation: X:131.76, Y:-6.91, Z:-1.75 [[ 9.99965120e-01 6.45912733e-03 5.29514316e-03 1.31759066e+02] [-6.45759702e-03 9.99979103e-01 -3.06049120e-04 -6.90626969e+00] [-5.29700932e-03 2.71844544e-04 9.99985934e-01 -1.74958451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85037174299998 meters Centerline goodness [0,1] 0.9874624797968137 Centerline is valid? [True, True] Translation: X:131.79, Y:-6.91, Z:-1.75 [[ 9.99970212e-01 5.84864216e-03 5.03670183e-03 1.31788238e+02] [-5.84724913e-03 9.99982862e-01 -2.91257259e-04 -6.90972582e+00] [-5.03831897e-03 2.61797732e-04 9.99987273e-01 -1.75132779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88037174299998 meters Centerline goodness [0,1] 0.986897141404571 Centerline is valid? [True, True] Translation: X:131.82, Y:-6.91, Z:-1.75 [[ 9.99973125e-01 5.20589165e-03 5.16215380e-03 1.31818977e+02] [-5.20442104e-03 9.99986412e-01 -2.98274090e-04 -6.91319985e+00] [-5.16363644e-03 2.71400052e-04 9.99986632e-01 -1.75211807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91037174299998 meters Centerline goodness [0,1] 0.9872269529803777 Centerline is valid? [True, True] Translation: X:131.85, Y:-6.92, Z:-1.75 [[ 9.99973415e-01 4.85398174e-03 5.44135007e-03 1.31849383e+02] [-4.85234256e-03 9.99988178e-01 -3.14406312e-04 -6.91578847e+00] [-5.44281187e-03 2.87994659e-04 9.99985146e-01 -1.75296652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940371743 meters Centerline goodness [0,1] 0.98689250934601 Centerline is valid? [True, True] Translation: X:131.88, Y:-6.92, Z:-1.75 [[ 9.99972646e-01 4.60480113e-03 5.78826434e-03 1.31879285e+02] [-4.60294553e-03 9.99989351e-01 -3.33860911e-04 -6.91996646e+00] [-5.78974006e-03 3.07208713e-04 9.99983192e-01 -1.75373545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.970371743 meters Centerline goodness [0,1] 0.9879854256987363 Centerline is valid? [True, True] Translation: X:131.91, Y:-6.92, Z:-1.75 [[ 9.99970338e-01 4.65562697e-03 6.13577456e-03 1.31911042e+02] [-4.65353772e-03 9.99989109e-01 -3.54734966e-04 -6.91686902e+00] [-6.13735925e-03 3.26171386e-04 9.99981113e-01 -1.75366148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000371743 meters Centerline goodness [0,1] 0.9870313005686809 Centerline is valid? [True, True] Translation: X:131.94, Y:-6.92, Z:-1.75 [[ 9.99969831e-01 4.87757190e-03 6.04528466e-03 1.31941953e+02] [-4.87554580e-03 9.99988053e-01 -3.49846017e-04 -6.91898459e+00] [-6.04691884e-03 3.20361400e-04 9.99981666e-01 -1.75441386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.030371743 meters Centerline goodness [0,1] 0.9871957549890414 Centerline is valid? [True, True] Translation: X:131.97, Y:-6.92, Z:-1.75 [[ 9.99964138e-01 4.99873764e-03 6.83630385e-03 1.31972508e+02] [-4.99614837e-03 9.99987441e-01 -3.95777951e-04 -6.92272626e+00] [-6.83819638e-03 3.61608569e-04 9.99976554e-01 -1.75446224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060371743 meters Centerline goodness [0,1] 0.9872534983605044 Centerline is valid? [True, True] Translation: X:132.00, Y:-6.92, Z:-1.75 [[ 9.99959890e-01 5.03977443e-03 7.40394709e-03 1.32004429e+02] [-5.03673817e-03 9.99987224e-01 -4.28676337e-04 -6.92112706e+00] [-7.40601293e-03 3.91367400e-04 9.99972499e-01 -1.75427949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.090371743 meters Centerline goodness [0,1] 0.9872070199745988 Centerline is valid? [True, True] Translation: X:132.04, Y:-6.92, Z:-1.75 [[ 9.99953514e-01 5.21203118e-03 8.11202919e-03 1.32035435e+02] [-5.20838924e-03 9.99986326e-01 -4.70016389e-04 -6.92393901e+00] [-8.11436800e-03 4.27743934e-04 9.99966986e-01 -1.75448133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120371743 meters Centerline goodness [0,1] 0.9871359615695513 Centerline is valid? [True, True] Translation: X:132.07, Y:-6.93, Z:-1.75 [[ 9.99951136e-01 4.80133141e-03 8.64139394e-03 1.32066493e+02] [-4.79718037e-03 9.99988368e-01 -5.01030940e-04 -6.92644220e+00] [-8.64369903e-03 4.59552132e-04 9.99962537e-01 -1.75471446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.150371743 meters Centerline goodness [0,1] 0.9863013698630136 Centerline is valid? [True, True] Translation: X:132.10, Y:-6.94, Z:-1.76 [[ 9.99955638e-01 4.74483898e-03 8.13690426e-03 1.32097424e+02] [-4.74116303e-03 9.99988650e-01 -4.70993362e-04 -6.93501627e+00] [-8.13904669e-03 4.32394078e-04 9.99966784e-01 -1.75649092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180371743 meters Centerline goodness [0,1] 0.9862925185766372 Centerline is valid? [True, True] Translation: X:132.13, Y:-6.94, Z:-1.76 [[ 9.99967912e-01 4.04288936e-03 6.91594420e-03 1.32128906e+02] [-4.04020133e-03 9.99991757e-01 -4.02598821e-04 -6.93555559e+00] [-6.91751485e-03 3.74644096e-04 9.99976004e-01 -1.75875840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.210371743 meters Centerline goodness [0,1] 0.9872780586917873 Centerline is valid? [True, True] Translation: X:132.16, Y:-6.94, Z:-1.76 [[ 9.99968509e-01 3.81703647e-03 6.95776167e-03 1.32160564e+02] [-3.81430655e-03 9.99992643e-01 -4.05584403e-04 -6.93800540e+00] [-6.95925861e-03 3.79032595e-04 9.99975712e-01 -1.75987369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.240371743 meters Centerline goodness [0,1] 0.9865540819604424 Centerline is valid? [True, True] Translation: X:132.19, Y:-6.94, Z:-1.76 [[ 9.99968028e-01 4.07858130e-03 6.87809202e-03 1.32191084e+02] [-4.07592279e-03 9.99991613e-01 -4.00491858e-04 -6.94349734e+00] [-6.87966778e-03 3.72444481e-04 9.99976265e-01 -1.76137088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27037174299997 meters Centerline goodness [0,1] 0.9874019381633595 Centerline is valid? [True, True] Translation: X:132.22, Y:-6.95, Z:-1.76 [[ 9.99967955e-01 3.87095098e-03 7.00744343e-03 1.32221954e+02] [-3.86817475e-03 9.99992435e-01 -4.09692686e-04 -6.94509282e+00] [-7.00897632e-03 3.82573541e-04 9.99975364e-01 -1.76197389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30037174299997 meters Centerline goodness [0,1] 0.9873947646869393 Centerline is valid? [True, True] Translation: X:132.25, Y:-6.95, Z:-1.76 [[ 9.99960226e-01 4.66354362e-03 7.60246650e-03 1.32252963e+02] [-4.66029646e-03 9.99989042e-01 -4.44778610e-04 -6.94703621e+00] [-7.60445743e-03 4.09331172e-04 9.99971002e-01 -1.76235817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33037174299997 meters Centerline goodness [0,1] 0.9880055147058824 Centerline is valid? [True, True] Translation: X:132.28, Y:-6.94, Z:-1.76 [[ 9.99955924e-01 4.88702850e-03 8.01663642e-03 1.32284654e+02] [-4.88342273e-03 9.99987966e-01 -4.69298403e-04 -6.94390645e+00] [-8.01883342e-03 4.30129094e-04 9.99967756e-01 -1.76197683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36037174299997 meters Centerline goodness [0,1] 0.988278911251324 Centerline is valid? [True, True] Translation: X:132.32, Y:-6.95, Z:-1.76 [[ 9.99949251e-01 4.85357214e-03 8.82825792e-03 1.32316414e+02] [-4.84919478e-03 9.99988109e-01 -5.17173176e-04 -6.94518119e+00] [-8.83066308e-03 4.74336988e-04 9.99960896e-01 -1.76195483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39037174299997 meters Centerline goodness [0,1] 0.9876645493878302 Centerline is valid? [True, True] Translation: X:132.35, Y:-6.95, Z:-1.76 [[ 9.99945050e-01 4.70853157e-03 9.36623771e-03 1.32348272e+02] [-4.70360304e-03 9.99988788e-01 -5.48159858e-04 -6.94796591e+00] [-9.36871373e-03 5.04074672e-04 9.99955986e-01 -1.76205856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42037174299998 meters Centerline goodness [0,1] 0.9871320572623452 Centerline is valid? [True, True] Translation: X:132.38, Y:-6.95, Z:-1.76 [[ 9.99934084e-01 5.61366122e-03 1.00156796e-02 1.32380013e+02] [-5.60804314e-03 9.99984101e-01 -5.88924695e-04 -6.95234926e+00] [-1.00188264e-02 5.32717512e-04 9.99949668e-01 -1.76309928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45037174299998 meters Centerline goodness [0,1] 0.9869804822043629 Centerline is valid? [True, True] Translation: X:132.41, Y:-6.96, Z:-1.76 [[ 9.99930802e-01 6.35465398e-03 9.89994269e-03 1.32412498e+02] [-6.34917698e-03 9.99979673e-01 -5.84566019e-04 -6.95577529e+00] [-9.90345616e-03 5.21669080e-04 9.99950823e-01 -1.76337736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48037174299998 meters Centerline goodness [0,1] 0.9867689621904718 Centerline is valid? [True, True] Translation: X:132.44, Y:-6.96, Z:-1.76 [[ 9.99922283e-01 7.11455039e-03 1.02377739e-02 1.32444457e+02] [-7.10870534e-03 9.99974548e-01 -6.07206521e-04 -6.95842477e+00] [-1.02418334e-02 5.34382012e-04 9.99947408e-01 -1.76344754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51037174299998 meters Centerline goodness [0,1] 0.9873191313719645 Centerline is valid? [True, True] Translation: X:132.48, Y:-6.96, Z:-1.76 [[ 9.99910156e-01 8.42183934e-03 1.04284596e-02 1.32475779e+02] [-8.41581673e-03 9.99964393e-01 -6.21265944e-04 -6.96178513e+00] [-1.04333205e-02 5.33446122e-04 9.99945429e-01 -1.76322409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54037174299998 meters Centerline goodness [0,1] 0.9878350515463917 Centerline is valid? [True, True] Translation: X:132.51, Y:-6.96, Z:-1.76 [[ 9.99911479e-01 8.79424170e-03 9.98473752e-03 1.32507109e+02] [-8.78871051e-03 9.99961200e-01 -5.97708130e-04 -6.96283788e+00] [-9.98960650e-03 5.09902253e-04 9.99949973e-01 -1.76394700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57037174299998 meters Centerline goodness [0,1] 0.9880531176767909 Centerline is valid? [True, True] Translation: X:132.54, Y:-6.97, Z:-1.77 [[ 9.99912148e-01 8.97350810e-03 9.75561412e-03 1.32537383e+02] [-8.96823481e-03 9.99959614e-01 -5.84151773e-04 -6.96650034e+00] [-9.76046202e-03 4.96609816e-04 9.99952242e-01 -1.76509729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60037174299998 meters Centerline goodness [0,1] 0.9882363732257103 Centerline is valid? [True, True] Translation: X:132.57, Y:-6.97, Z:-1.77 [[ 9.99911128e-01 9.43788251e-03 9.41611241e-03 1.32569008e+02] [-9.43298150e-03 9.99955349e-01 -5.64769290e-04 -6.96821024e+00] [-9.42102220e-03 4.75897083e-04 9.99955508e-01 -1.76657328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63037174299998 meters Centerline goodness [0,1] 0.9875074360499703 Centerline is valid? [True, True] Translation: X:132.60, Y:-6.97, Z:-1.77 [[ 9.99907383e-01 9.52751591e-03 9.71867266e-03 1.32598973e+02] [-9.52229485e-03 9.99954492e-01 -5.83352515e-04 -6.97347713e+00] [-9.72378828e-03 4.90754420e-04 9.99952602e-01 -1.76814020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66037174299998 meters Centerline goodness [0,1] 0.9867289035328574 Centerline is valid? [True, True] Translation: X:132.63, Y:-6.98, Z:-1.77 [[ 9.99911718e-01 8.97301718e-03 9.80010352e-03 1.32629306e+02] [-8.96767994e-03 9.99959616e-01 -5.88418954e-04 -6.97781652e+00] [-9.80498765e-03 5.00482815e-04 9.99951805e-01 -1.76827747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.690371743 meters Centerline goodness [0,1] 0.9867289035328574 Centerline is valid? [True, True] Translation: X:132.66, Y:-6.98, Z:-1.77 [[ 9.99911397e-01 9.00871241e-03 9.80009713e-03 1.32660136e+02] [-9.00337584e-03 9.99959296e-01 -5.88525411e-04 -6.97970010e+00] [-9.80500008e-03 5.00239308e-04 9.99951805e-01 -1.76869592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720371743 meters Centerline goodness [0,1] 0.9879074658254469 Centerline is valid? [True, True] Translation: X:132.69, Y:-6.98, Z:-1.77 [[ 9.99907571e-01 8.44875864e-03 1.06521738e-02 1.32691633e+02] [-8.44241750e-03 9.99964157e-01 -6.40117019e-04 -6.97903176e+00] [-1.06572002e-02 5.50127754e-04 9.99943059e-01 -1.76738338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.750371743 meters Centerline goodness [0,1] 0.9875830270936523 Centerline is valid? [True, True] Translation: X:132.72, Y:-6.98, Z:-1.77 [[ 9.99910950e-01 7.80076814e-03 1.08277618e-02 1.32723108e+02] [-7.79417969e-03 9.99969413e-01 -6.50543453e-04 -6.98280424e+00] [-1.08325053e-02 5.66092002e-04 9.99941166e-01 -1.76753857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780371743 meters Centerline goodness [0,1] 0.9873279241498769 Centerline is valid? [True, True] Translation: X:132.75, Y:-6.99, Z:-1.77 [[ 9.99912528e-01 7.14062911e-03 1.11331954e-02 1.32753850e+02] [-7.13359299e-03 9.99974330e-01 -6.71578235e-04 -6.98883411e+00] [-1.11377051e-02 5.92099806e-04 9.99937799e-01 -1.76817934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.810371743 meters Centerline goodness [0,1] 0.9875997264645544 Centerline is valid? [True, True] Translation: X:132.78, Y:-6.99, Z:-1.77 [[ 9.99942663e-01 4.59139171e-03 9.67419894e-03 1.32784943e+02] [-4.58593461e-03 9.99989313e-01 -5.86195891e-04 -6.99037912e+00] [-9.67678701e-03 5.41797037e-04 9.99953032e-01 -1.76957027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840371743 meters Centerline goodness [0,1] 0.9871318924089553 Centerline is valid? [True, True] Translation: X:132.82, Y:-6.99, Z:-1.77 [[ 9.99951972e-01 3.26520520e-03 9.24082632e-03 1.32816369e+02] [-3.26017256e-03 9.99994529e-01 -5.59620671e-04 -6.99457954e+00] [-9.24260304e-03 5.29467105e-04 9.99957146e-01 -1.77035389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.870371743 meters Centerline goodness [0,1] 0.9862855066869508 Centerline is valid? [True, True] Translation: X:132.85, Y:-7.00, Z:-1.77 [[ 9.99961067e-01 1.44632982e-03 8.70473449e-03 1.32846810e+02] [-1.44178282e-03 9.99998821e-01 -5.28612508e-04 -7.00306309e+00] [-8.70548878e-03 5.16041591e-04 9.99961973e-01 -1.77139180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900371743 meters Centerline goodness [0,1] 0.9866457366457366 Centerline is valid? [True, True] Translation: X:132.88, Y:-7.01, Z:-1.77 [[ 9.99968916e-01 -2.00107363e-04 7.88212025e-03 1.32878848e+02] [ 2.03886888e-04 9.99999865e-01 -4.78705495e-04 -7.00751410e+00] [-7.88202339e-03 4.80297676e-04 9.99968821e-01 -1.77215375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.930371743 meters Centerline goodness [0,1] 0.9871357788990409 Centerline is valid? [True, True] Translation: X:132.91, Y:-7.01, Z:-1.77 [[ 9.99973776e-01 -3.05026090e-03 6.56829207e-03 1.32909724e+02] [ 3.05294986e-03 9.99995260e-01 -3.99398011e-04 -7.00555540e+00] [-6.56704267e-03 4.19440203e-04 9.99978349e-01 -1.77294696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960371743 meters Centerline goodness [0,1] 0.988001270186899 Centerline is valid? [True, True] Translation: X:132.94, Y:-7.01, Z:-1.77 [[ 9.99976667e-01 -4.05478377e-03 5.49761612e-03 1.32941539e+02] [ 4.05668201e-03 9.99991716e-01 -3.34175986e-04 -7.00960066e+00] [-5.49621557e-03 3.56470269e-04 9.99984832e-01 -1.77425359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.990371743 meters Centerline goodness [0,1] 0.98706476678069 Centerline is valid? [True, True] Translation: X:132.97, Y:-7.01, Z:-1.78 [[ 9.99976395e-01 -4.56893620e-03 5.13178086e-03 1.32973102e+02] [ 4.57059618e-03 9.99989506e-01 -3.11787973e-04 -7.01416440e+00] [-5.13030247e-03 3.35235911e-04 9.99986784e-01 -1.77545212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02037174299997 meters Centerline goodness [0,1] 0.9872656285467835 Centerline is valid? [True, True] Translation: X:133.01, Y:-7.02, Z:-1.78 [[ 9.99974883e-01 -5.78364281e-03 4.09678090e-03 1.33005210e+02] [ 5.78471369e-03 9.99983237e-01 -2.49594051e-04 -7.01913778e+00] [-4.09526867e-03 2.73286486e-04 9.99991577e-01 -1.77642282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05037174299997 meters Centerline goodness [0,1] 0.9866445966169335 Centerline is valid? [True, True] Translation: X:133.04, Y:-7.02, Z:-1.78 [[ 9.99973947e-01 -5.83145589e-03 4.25440676e-03 1.33035737e+02] [ 5.83261055e-03 9.99982957e-01 -2.59047323e-04 -7.02337869e+00] [-4.25282363e-03 2.83854871e-04 9.99990916e-01 -1.77692278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08037174299997 meters Centerline goodness [0,1] 0.9864910809401845 Centerline is valid? [True, True] Translation: X:133.07, Y:-7.02, Z:-1.78 [[ 9.99972167e-01 -5.71361128e-03 4.79787122e-03 1.33068070e+02] [ 5.71508463e-03 9.99983626e-01 -2.93428400e-04 -7.02490092e+00] [-4.79611612e-03 3.20840473e-04 9.99988447e-01 -1.77632487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11037174299997 meters Centerline goodness [0,1] 0.9878342185301194 Centerline is valid? [True, True] Translation: X:133.10, Y:-7.02, Z:-1.77 [[ 9.99971646e-01 -5.36404998e-03 5.28519905e-03 1.33100830e+02] [ 5.36583535e-03 9.99985551e-01 -3.23684552e-04 -7.02231724e+00] [-5.28338643e-03 3.52034882e-04 9.99985981e-01 -1.77478288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14037174299997 meters Centerline goodness [0,1] 0.9861114257878877 Centerline is valid? [True, True] Translation: X:133.13, Y:-7.03, Z:-1.77 [[ 9.99964249e-01 -4.69130638e-03 7.03515091e-03 1.33131405e+02] [ 4.69446002e-03 9.99988888e-01 -4.31823091e-04 -7.03035799e+00] [-7.03304692e-03 4.64833887e-04 9.99975160e-01 -1.77449148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17037174299998 meters Centerline goodness [0,1] 0.987367895858847 Centerline is valid? [True, True] Translation: X:133.16, Y:-7.03, Z:-1.77 [[ 9.99961985e-01 -4.23952627e-03 7.61944459e-03 1.33163372e+02] [ 4.24321521e-03 9.99990888e-01 -4.68047676e-04 -7.02814878e+00] [-7.61739086e-03 5.00360826e-04 9.99970862e-01 -1.77350448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20037174299998 meters Centerline goodness [0,1] 0.9853742342383073 Centerline is valid? [True, True] Translation: X:133.19, Y:-7.04, Z:-1.77 [[ 9.99957868e-01 -3.85520411e-03 8.33068714e-03 1.33194298e+02] [ 3.85960659e-03 9.99992420e-01 -5.12452871e-04 -7.04152936e+00] [-8.32864839e-03 5.44584455e-04 9.99965168e-01 -1.77415905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23037174299998 meters Centerline goodness [0,1] 0.9846737241270342 Centerline is valid? [True, True] Translation: X:133.23, Y:-7.04, Z:-1.77 [[ 9.99961861e-01 -2.93131821e-03 8.22705355e-03 1.33226463e+02] [ 2.93558586e-03 9.99995563e-01 -5.06706985e-04 -7.04386990e+00] [-8.22553173e-03 5.30838881e-04 9.99966029e-01 -1.77434128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26037174299998 meters Centerline goodness [0,1] 0.9860590175787428 Centerline is valid? [True, True] Translation: X:133.26, Y:-7.05, Z:-1.78 [[ 9.99965552e-01 -2.19234420e-03 8.00553102e-03 1.33258911e+02] [ 2.19636565e-03 9.99997466e-01 -4.93577427e-04 -7.04562015e+00] [-8.00442864e-03 5.11143497e-04 9.99967833e-01 -1.77510877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29037174299998 meters Centerline goodness [0,1] 0.9874123034582327 Centerline is valid? [True, True] Translation: X:133.29, Y:-7.04, Z:-1.78 [[ 9.99969692e-01 -1.15423223e-03 7.69948443e-03 1.33291223e+02] [ 1.15792490e-03 9.99999217e-01 -4.75159786e-04 -7.03921006e+00] [-7.69892996e-03 4.84060809e-04 9.99970246e-01 -1.77622693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32037174299998 meters Centerline goodness [0,1] 0.9872995856602415 Centerline is valid? [True, True] Translation: X:133.32, Y:-7.04, Z:-1.78 [[ 9.99975515e-01 -6.05577230e-04 6.97150007e-03 1.33322867e+02] [ 6.08594270e-04 9.99999722e-01 -4.30654368e-04 -7.04225663e+00] [-6.97123734e-03 4.34886638e-04 9.99975606e-01 -1.77719206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35037174299998 meters Centerline goodness [0,1] 0.9880346520096809 Centerline is valid? [True, True] Translation: X:133.36, Y:-7.04, Z:-1.78 [[ 9.99978006e-01 1.51407002e-04 6.63061999e-03 1.33355016e+02] [-1.48691606e-04 9.99999905e-01 -4.10014715e-04 -7.04126496e+00] [-6.63068144e-03 4.09019779e-04 9.99977933e-01 -1.77792184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38037174299998 meters Centerline goodness [0,1] 0.9878709852283507 Centerline is valid? [True, True] Translation: X:133.39, Y:-7.05, Z:-1.78 [[ 9.99984753e-01 1.39203512e-03 5.34383453e-03 1.33385586e+02] [-1.39028712e-03 9.99998979e-01 -3.30805892e-04 -7.04855869e+00] [-5.34428956e-03 3.23371384e-04 9.99985667e-01 -1.77957882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41037174299998 meters Centerline goodness [0,1] 0.9881764745625295 Centerline is valid? [True, True] Translation: X:133.42, Y:-7.05, Z:-1.78 [[ 9.99986488e-01 1.73913222e-03 4.89885745e-03 1.33418225e+02] [-1.73766707e-03 9.99998444e-01 -3.03320533e-04 -7.04986179e+00] [-4.89937734e-03 2.94803851e-04 9.99987955e-01 -1.78040950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440371743 meters Centerline goodness [0,1] 0.9877198506589897 Centerline is valid? [True, True] Translation: X:133.45, Y:-7.06, Z:-1.78 [[ 9.99988285e-01 2.22474023e-03 4.29889727e-03 1.33449502e+02] [-2.22361488e-03 9.99997492e-01 -2.66538587e-04 -7.05524227e+00] [-4.29947946e-03 2.56976373e-04 9.99990724e-01 -1.78155465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.470371743 meters Centerline goodness [0,1] 0.9882596840705771 Centerline is valid? [True, True] Translation: X:133.48, Y:-7.06, Z:-1.78 [[ 9.99991288e-01 2.47651053e-03 3.36029168e-03 1.33481096e+02] [-2.47582366e-03 9.99996913e-01 -2.08553545e-04 -7.05623829e+00] [-3.36079779e-03 2.00232238e-04 9.99994332e-01 -1.78235445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500371743 meters Centerline goodness [0,1] 0.9878874882239469 Centerline is valid? [True, True] Translation: X:133.51, Y:-7.07, Z:-1.79 [[ 9.99993153e-01 2.90098924e-03 2.29745951e-03 1.33510760e+02] [-2.90066897e-03 9.99995783e-01 -1.42723774e-04 -7.06789350e+00] [-2.29786386e-03 1.36058627e-04 9.99997351e-01 -1.78552061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.530371743 meters Centerline goodness [0,1] 0.9882992527629871 Centerline is valid? [True, True] Translation: X:133.54, Y:-7.07, Z:-1.79 [[ 9.99993335e-01 3.10148075e-03 1.92630908e-03 1.33541077e+02] [-3.10125557e-03 9.99995184e-01 -1.19872081e-04 -7.07162600e+00] [-1.92667158e-03 1.13897305e-04 9.99998137e-01 -1.78657558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560371743 meters Centerline goodness [0,1] 0.9890625701837129 Centerline is valid? [True, True] Translation: X:133.57, Y:-7.07, Z:-1.79 [[ 9.99994229e-01 3.16886099e-03 1.22510094e-03 1.33571857e+02] [-3.16876996e-03 9.99994977e-01 -7.62366747e-05 -7.06866382e+00] [-1.22533637e-03 7.23541717e-05 9.99999247e-01 -1.78588021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.590371743 meters Centerline goodness [0,1] 0.98819417997715 Centerline is valid? [True, True] Translation: X:133.60, Y:-7.08, Z:-1.79 [[ 9.99993893e-01 3.28093652e-03 1.20354041e-03 1.33601236e+02] [-3.28084904e-03 9.99994615e-01 -7.46562658e-05 -7.07599169e+00] [-1.20377887e-03 7.07071755e-05 9.99999273e-01 -1.78708753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620371743 meters Centerline goodness [0,1] 0.9884733319904205 Centerline is valid? [True, True] Translation: X:133.63, Y:-7.08, Z:-1.79 [[ 9.99992969e-01 3.36489275e-03 1.65503270e-03 1.33631026e+02] [-3.36472614e-03 9.99994334e-01 -1.03439259e-04 -7.07964837e+00] [-1.65537139e-03 9.78698000e-05 9.99998625e-01 -1.78772254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.650371743 meters Centerline goodness [0,1] 0.9887514815394592 Centerline is valid? [True, True] Translation: X:133.66, Y:-7.08, Z:-1.79 [[ 9.99991417e-01 3.92168281e-03 1.33664822e-03 1.33661816e+02] [-3.92157514e-03 9.99992307e-01 -8.31571484e-05 -7.08100596e+00] [-1.33696405e-03 7.79146682e-05 9.99999103e-01 -1.78787910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680371743 meters Centerline goodness [0,1] 0.9891872570483893 Centerline is valid? [True, True] Translation: X:133.69, Y:-7.09, Z:-1.79 [[ 9.99984817e-01 5.46440647e-03 7.11899269e-04 1.33691099e+02] [-5.46437616e-03 9.99985069e-01 -4.45155739e-05 -7.08540234e+00] [-7.12131891e-04 4.06248126e-05 9.99999746e-01 -1.78938680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.710371743 meters Centerline goodness [0,1] 0.9893655129181033 Centerline is valid? [True, True] Translation: X:133.72, Y:-7.09, Z:-1.79 [[ 9.99978967e-01 6.48424861e-03 -1.40219787e-04 1.33719376e+02] [-6.48424755e-03 9.99978977e-01 8.00196071e-06 -7.08929486e+00] [ 1.40268726e-04 -7.09257259e-06 9.99999990e-01 -1.79086459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.740371743 meters Centerline goodness [0,1] 0.989787481284498 Centerline is valid? [True, True] Translation: X:133.75, Y:-7.09, Z:-1.79 [[ 9.99975097e-01 7.03907035e-03 -5.07695666e-04 1.33748415e+02] [-7.03905574e-03 9.99975225e-01 3.05681951e-05 -7.09084680e+00] [ 5.07898260e-04 -2.69937357e-05 9.99999871e-01 -1.79189910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77037174299997 meters Centerline goodness [0,1] 0.9896084203014897 Centerline is valid? [True, True] Translation: X:133.78, Y:-7.09, Z:-1.79 [[ 9.99973659e-01 7.16374625e-03 -1.16669286e-03 1.33777642e+02] [-7.16366787e-03 9.99974338e-01 7.13434389e-05 -7.08856928e+00] [ 1.16717401e-03 -6.29837595e-05 9.99999317e-01 -1.79138616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80037174299997 meters Centerline goodness [0,1] 0.9895847242622513 Centerline is valid? [True, True] Translation: X:133.80, Y:-7.10, Z:-1.79 [[ 9.99972893e-01 7.25362367e-03 -1.26443414e-03 1.33804823e+02] [-7.25353202e-03 9.99973690e-01 7.70483091e-05 -7.09703327e+00] [ 1.26495975e-03 -6.78746070e-05 9.99999198e-01 -1.79376315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83037174299997 meters Centerline goodness [0,1] 0.9896172184840247 Centerline is valid? [True, True] Translation: X:133.83, Y:-7.10, Z:-1.79 [[ 9.99977828e-01 6.42226100e-03 -1.75996953e-03 1.33832124e+02] [-6.42208145e-03 9.99979372e-01 1.07652252e-04 -7.10235738e+00] [ 1.76062459e-03 -9.63471973e-05 9.99998445e-01 -1.79435143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86037174299997 meters Centerline goodness [0,1] 0.9901116071428572 Centerline is valid? [True, True] Translation: X:133.86, Y:-7.10, Z:-1.79 [[ 9.99981320e-01 5.95768453e-03 -1.36555935e-03 1.33861268e+02] [-5.95757624e-03 9.99982250e-01 8.33553490e-05 -7.09875876e+00] [ 1.36603171e-03 -7.52183680e-05 9.99999064e-01 -1.79270169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89037174299997 meters Centerline goodness [0,1] 0.9899073166384458 Centerline is valid? [True, True] Translation: X:133.89, Y:-7.10, Z:-1.79 [[ 9.99986043e-01 5.27983223e-03 -1.95278551e-04 1.33890258e+02] [-5.27983017e-03 9.99986062e-01 1.10756709e-05 -7.10174163e+00] [ 1.95334306e-04 -1.00444787e-05 9.99999981e-01 -1.79210958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92037174299998 meters Centerline goodness [0,1] 0.9903130485014108 Centerline is valid? [True, True] Translation: X:133.92, Y:-7.11, Z:-1.79 [[ 9.99989160e-01 4.57550463e-03 8.63193758e-04 1.33918683e+02] [-4.57545979e-03 9.99989531e-01 -5.39162915e-05 -7.10583869e+00] [-8.63431415e-04 4.99661987e-05 9.99999626e-01 -1.79177270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95037174299998 meters Centerline goodness [0,1] 0.9897719913352241 Centerline is valid? [True, True] Translation: X:133.95, Y:-7.11, Z:-1.79 [[ 9.99992256e-01 3.60651000e-03 1.57530944e-03 1.33948317e+02] [-3.60636085e-03 9.99993492e-01 -9.75114814e-05 -7.10732782e+00] [-1.57565087e-03 9.18295919e-05 9.99998754e-01 -1.79096628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98037174299998 meters Centerline goodness [0,1] 0.990392331698618 Centerline is valid? [True, True] Translation: X:133.98, Y:-7.11, Z:-1.79 [[ 9.99990721e-01 2.47407951e-03 3.52661618e-03 1.33977440e+02] [-2.47332755e-03 9.99996918e-01 -2.17567368e-04 -7.11060017e+00] [-3.52714358e-03 2.08842872e-04 9.99993758e-01 -1.78966108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01037174299998 meters Centerline goodness [0,1] 0.9902611873774292 Centerline is valid? [True, True] Translation: X:134.01, Y:-7.12, Z:-1.79 [[ 9.99990332e-01 1.99675402e-03 3.91779122e-03 1.34007436e+02] [-1.99582753e-03 9.99997979e-01 -2.40377234e-04 -7.11623142e+00] [-3.91826328e-03 2.32555674e-04 9.99992297e-01 -1.78984399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04037174299998 meters Centerline goodness [0,1] 0.9900743865882091 Centerline is valid? [True, True] Translation: X:134.04, Y:-7.12, Z:-1.79 [[ 9.99989831e-01 9.94865396e-04 4.39863438e-03 1.34038187e+02] [-9.93683171e-04 9.99999470e-01 -2.70948157e-04 -7.11739559e+00] [-4.39890161e-03 2.66574552e-04 9.99990289e-01 -1.78946753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07037174299998 meters Centerline goodness [0,1] 0.989723056389723 Centerline is valid? [True, True] Translation: X:134.07, Y:-7.12, Z:-1.79 [[ 9.99989572e-01 8.30152369e-04 4.49076869e-03 1.34069956e+02] [-8.28927488e-04 9.99999619e-01 -2.74609703e-04 -7.12117849e+00] [-4.49099495e-03 2.70884317e-04 9.99989879e-01 -1.79043437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10037174299998 meters Centerline goodness [0,1] 0.9900401069518716 Centerline is valid? [True, True] Translation: X:134.10, Y:-7.13, Z:-1.79 [[ 9.99992064e-01 1.91206079e-04 3.97938463e-03 1.34100420e+02] [-1.90232028e-04 9.99999952e-01 -2.45151479e-04 -7.12567875e+00] [-3.97943131e-03 2.44392527e-04 9.99992052e-01 -1.79160401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13037174299998 meters Centerline goodness [0,1] 0.990260606599662 Centerline is valid? [True, True] Translation: X:134.13, Y:-7.13, Z:-1.79 [[ 9.99994315e-01 2.55676420e-05 3.37191608e-03 1.34132605e+02] [-2.48712452e-05 9.99999978e-01 -2.06570274e-04 -7.12590621e+00] [-3.37192129e-03 2.06485236e-04 9.99994294e-01 -1.79256225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16037174299998 meters Centerline goodness [0,1] 0.9911490648697934 Centerline is valid? [True, True] Translation: X:134.16, Y:-7.13, Z:-1.79 [[ 9.99997418e-01 -4.09061714e-04 2.23548171e-03 1.34164208e+02] [ 4.09373063e-04 9.99999907e-01 -1.38820228e-04 -7.12928843e+00] [-2.23542471e-03 1.39735016e-04 9.99997492e-01 -1.79399474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.190371743 meters Centerline goodness [0,1] 0.9908718496749488 Centerline is valid? [True, True] Translation: X:134.20, Y:-7.13, Z:-1.79 [[ 9.99997151e-01 -8.51136050e-04 2.23029545e-03 1.34195153e+02] [ 8.51447233e-04 9.99999628e-01 -1.38579643e-04 -7.13171950e+00] [-2.23017667e-03 1.40478227e-04 9.99997503e-01 -1.79420141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220371743 meters Centerline goodness [0,1] 0.990550936013162 Centerline is valid? [True, True] Translation: X:134.23, Y:-7.14, Z:-1.80 [[ 9.99997323e-01 -1.17594562e-03 1.99280231e-03 1.34226108e+02] [ 1.17619432e-03 9.99999301e-01 -1.23635804e-04 -7.13629174e+00] [-1.99265552e-03 1.25979396e-04 9.99998007e-01 -1.79514965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.250371743 meters Centerline goodness [0,1] 0.9909651926833599 Centerline is valid? [True, True] Translation: X:134.26, Y:-7.14, Z:-1.80 [[ 9.99997946e-01 -1.15387505e-03 1.66651064e-03 1.34257044e+02] [ 1.15404924e-03 9.99999329e-01 -1.03570219e-04 -7.13638891e+00] [-1.66639002e-03 1.05493241e-04 9.99998606e-01 -1.79554920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280371743 meters Centerline goodness [0,1] 0.990396344844412 Centerline is valid? [True, True] Translation: X:134.29, Y:-7.14, Z:-1.80 [[ 9.99997844e-01 -8.53627157e-04 1.89309981e-03 1.34288005e+02] [ 8.53851267e-04 9.99999629e-01 -1.17577596e-04 -7.14499868e+00] [-1.89299874e-03 1.19193768e-04 9.99998201e-01 -1.79697325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.310371743 meters Centerline goodness [0,1] 0.9906822629425369 Centerline is valid? [True, True] Translation: X:134.32, Y:-7.14, Z:-1.80 [[ 9.99998426e-01 4.60276442e-04 1.71351601e-03 1.34319282e+02] [-4.60094349e-04 9.99999888e-01 -1.06661358e-04 -7.14175065e+00] [-1.71356491e-03 1.05872811e-04 9.99998526e-01 -1.79616651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340371743 meters Centerline goodness [0,1] 0.9909695500344758 Centerline is valid? [True, True] Translation: X:134.35, Y:-7.14, Z:-1.80 [[ 9.99997841e-01 1.41480369e-03 1.52172029e-03 1.34349310e+02] [-1.41466084e-03 9.99998995e-01 -9.49477279e-05 -7.14323330e+00] [-1.52185309e-03 9.27948049e-05 9.99998838e-01 -1.79593048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.370371743 meters Centerline goodness [0,1] 0.9904969137173054 Centerline is valid? [True, True] Translation: X:134.38, Y:-7.15, Z:-1.80 [[ 9.99993481e-01 2.99805211e-03 2.01245087e-03 1.34379628e+02] [-2.99780522e-03 9.99995499e-01 -1.25687027e-04 -7.14704798e+00] [-2.01281863e-03 1.19653272e-04 9.99997967e-01 -1.79620686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400371743 meters Centerline goodness [0,1] 0.9907261203158012 Centerline is valid? [True, True] Translation: X:134.41, Y:-7.14, Z:-1.80 [[ 9.99984497e-01 4.84354358e-03 2.74695381e-03 1.34410232e+02] [-4.84308961e-03 9.99988257e-01 -1.71892997e-04 -7.14455281e+00] [-2.74775413e-03 1.58586589e-04 9.99996212e-01 -1.79545668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.430371743 meters Centerline goodness [0,1] 0.9903976226908833 Centerline is valid? [True, True] Translation: X:134.44, Y:-7.15, Z:-1.79 [[ 9.99954567e-01 8.58546734e-03 4.14163015e-03 1.34439640e+02] [-8.58446664e-03 9.99963119e-01 -2.59335620e-04 -7.14723230e+00] [-4.14370392e-03 2.23770152e-04 9.99991390e-01 -1.79488738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460371743 meters Centerline goodness [0,1] 0.9913335259216461 Centerline is valid? [True, True] Translation: X:134.47, Y:-7.15, Z:-1.79 [[ 9.99938954e-01 9.79496475e-03 5.11345686e-03 1.34469532e+02] [-9.79345510e-03 9.99951992e-01 -3.20186932e-04 -7.14696617e+00] [-5.11634759e-03 2.70088975e-04 9.99986875e-01 -1.79420547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.490371743 meters Centerline goodness [0,1] 0.9904293440762091 Centerline is valid? [True, True] Translation: X:134.50, Y:-7.15, Z:-1.79 [[ 9.99928036e-01 1.07608623e-02 5.30339814e-03 1.34498902e+02] [-1.07592522e-02 9.99942062e-01 -3.32022180e-04 -7.14727435e+00] [-5.30666372e-03 2.74937689e-04 9.99985882e-01 -1.79407650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52037174299997 meters Centerline goodness [0,1] 0.9902229349012271 Centerline is valid? [True, True] Translation: X:134.53, Y:-7.15, Z:-1.79 [[ 9.99912794e-01 1.18475666e-02 5.83429804e-03 1.34528056e+02] [-1.18456396e-02 9.99929771e-01 -3.64732110e-04 -7.14959978e+00] [-5.83820949e-03 2.95589312e-04 9.99982914e-01 -1.79414084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55037174299997 meters Centerline goodness [0,1] 0.9909137474110861 Centerline is valid? [True, True] Translation: X:134.56, Y:-7.15, Z:-1.79 [[ 9.99918034e-01 1.10878587e-02 6.40196433e-03 1.34556467e+02] [-1.10855231e-02 9.99938474e-01 -4.00192912e-04 -7.15183325e+00] [-6.40600773e-03 3.29190986e-04 9.99979427e-01 -1.79429842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58037174299997 meters Centerline goodness [0,1] 0.9904639117967413 Centerline is valid? [True, True] Translation: X:134.59, Y:-7.15, Z:-1.79 [[ 9.99927144e-01 1.03076019e-02 6.28167227e-03 1.34586467e+02] [-1.03053422e-02 9.99946822e-01 -3.92002252e-04 -7.15077784e+00] [-6.28537883e-03 3.27238910e-04 9.99980193e-01 -1.79442110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61037174299997 meters Centerline goodness [0,1] 0.9904639117967413 Centerline is valid? [True, True] Translation: X:134.62, Y:-7.15, Z:-1.79 [[ 9.99927518e-01 1.02712502e-02 6.28168650e-03 1.34615602e+02] [-1.02689911e-02 9.99947196e-01 -3.91774049e-04 -7.15256448e+00] [-6.28537881e-03 3.27239070e-04 9.99980193e-01 -1.79481682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64037174299997 meters Centerline goodness [0,1] 0.9902973117322414 Centerline is valid? [True, True] Translation: X:134.65, Y:-7.16, Z:-1.80 [[ 9.99949977e-01 8.13845933e-03 5.81461709e-03 1.34645220e+02] [-8.13648882e-03 9.99966833e-01 -3.62466220e-04 -7.15719567e+00] [-5.81737415e-03 3.15137521e-04 9.99983029e-01 -1.79625213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67037174299998 meters Centerline goodness [0,1] 0.990653371701354 Centerline is valid? [True, True] Translation: X:134.68, Y:-7.16, Z:-1.80 [[ 9.99958211e-01 7.30520976e-03 5.49632512e-03 1.34675620e+02] [-7.30343907e-03 9.99973271e-01 -3.42162131e-04 -7.16047255e+00] [-5.49867777e-03 3.02005757e-04 9.99984837e-01 -1.79743486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70037174299998 meters Centerline goodness [0,1] 0.9903321378450023 Centerline is valid? [True, True] Translation: X:134.71, Y:-7.16, Z:-1.80 [[ 9.99968248e-01 6.21073535e-03 4.99289956e-03 1.34706384e+02] [-6.20926057e-03 9.99980674e-01 -3.10822435e-04 -7.16271796e+00] [-4.99473351e-03 2.79810351e-04 9.99987487e-01 -1.79828825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73037174299998 meters Centerline goodness [0,1] 0.990529669986853 Centerline is valid? [True, True] Translation: X:134.74, Y:-7.17, Z:-1.80 [[ 9.99975397e-01 5.55935930e-03 4.27780644e-03 1.34735991e+02] [-5.55827078e-03 9.99984517e-01 -2.66305820e-04 -7.16788758e+00] [-4.27922070e-03 2.42522062e-04 9.99990815e-01 -1.79921529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76037174299998 meters Centerline goodness [0,1] 0.9899678972712681 Centerline is valid? [True, True] Translation: X:134.77, Y:-7.17, Z:-1.80 [[ 9.99983137e-01 4.43705448e-03 3.74665912e-03 1.34765893e+02] [-4.43621484e-03 9.99990133e-01 -2.32385546e-04 -7.16970548e+00] [-3.74765326e-03 2.15760643e-04 9.99992954e-01 -1.79987221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79037174299998 meters Centerline goodness [0,1] 0.9899420160570919 Centerline is valid? [True, True] Translation: X:134.80, Y:-7.17, Z:-1.80 [[ 9.99984476e-01 3.80635507e-03 4.06934313e-03 1.34796274e+02] [-3.80535413e-03 9.99992727e-01 -2.53684193e-04 -7.17198161e+00] [-4.07027915e-03 2.38194963e-04 9.99991688e-01 -1.80068347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82037174299998 meters Centerline goodness [0,1] 0.9904433058587658 Centerline is valid? [True, True] Translation: X:134.83, Y:-7.17, Z:-1.80 [[ 9.99986475e-01 3.57166894e-03 3.78059088e-03 1.34826768e+02] [-3.57080335e-03 9.99993597e-01 -2.35683283e-04 -7.16803775e+00] [-3.78140846e-03 2.22180349e-04 9.99992826e-01 -1.80041424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85037174299998 meters Centerline goodness [0,1] 0.9821391613891304 Centerline is valid? [True, True] Translation: X:134.86, Y:-7.20, Z:-1.81 [[ 9.99973611e-01 5.70252091e-03 4.50086757e-03 1.34855280e+02] [-5.70131966e-03 9.99983708e-01 -2.79678200e-04 -7.19884844e+00] [-4.50238911e-03 2.54009935e-04 9.99989832e-01 -1.80527421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88037174299998 meters Centerline goodness [0,1] 0.989572911803286 Centerline is valid? [True, True] Translation: X:134.89, Y:-7.17, Z:-1.80 [[ 9.99984561e-01 3.03810337e-03 4.65271380e-03 1.34887617e+02] [-3.03678515e-03 9.99995347e-01 -2.90360523e-04 -7.17326910e+00] [-4.65357429e-03 2.76226748e-04 9.99989134e-01 -1.80079598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91037174299998 meters Centerline goodness [0,1] 0.9890896162478057 Centerline is valid? [True, True] Translation: X:134.92, Y:-7.18, Z:-1.80 [[ 9.99981894e-01 3.01710836e-03 5.20668869e-03 1.34917516e+02] [-3.01545662e-03 9.99995401e-01 -3.25055707e-04 -7.17621560e+00] [-5.20764547e-03 3.09349278e-04 9.99986392e-01 -1.80103252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940371743 meters Centerline goodness [0,1] 0.989297926195657 Centerline is valid? [True, True] Translation: X:134.95, Y:-7.18, Z:-1.80 [[ 9.99981104e-01 3.41245955e-03 5.11337842e-03 1.34948275e+02] [-3.41088022e-03 9.99994133e-01 -3.17549605e-04 -7.18120024e+00] [-5.11443204e-03 3.00102484e-04 9.99986876e-01 -1.80189649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.970371743 meters Centerline goodness [0,1] 0.989160193202306 Centerline is valid? [True, True] Translation: X:134.98, Y:-7.18, Z:-1.80 [[ 9.99982428e-01 2.88580737e-03 5.17845337e-03 1.34980074e+02] [-2.88416595e-03 9.99995788e-01 -3.24411835e-04 -7.17721657e+00] [-5.17936775e-03 3.09470615e-04 9.99986539e-01 -1.80189903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000371743 meters Centerline goodness [0,1] 0.9898708194819392 Centerline is valid? [True, True] Translation: X:135.01, Y:-7.18, Z:-1.80 [[ 9.99983347e-01 2.61126617e-03 5.14655987e-03 1.35011580e+02] [-2.60964888e-03 9.99996543e-01 -3.20937243e-04 -7.18041760e+00] [-5.14738013e-03 3.07501185e-04 9.99986705e-01 -1.80330810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.030371743 meters Centerline goodness [0,1] 0.9892760801308982 Centerline is valid? [True, True] Translation: X:135.04, Y:-7.18, Z:-1.80 [[ 9.99983068e-01 2.41963785e-03 5.29245403e-03 1.35042522e+02] [-2.41791782e-03 9.99997022e-01 -3.31372173e-04 -7.18326995e+00] [-5.29324007e-03 3.18569843e-04 9.99985940e-01 -1.80399521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060371743 meters Centerline goodness [0,1] 0.9893576840187518 Centerline is valid? [True, True] Translation: X:135.07, Y:-7.19, Z:-1.80 [[ 9.99985473e-01 1.85975008e-03 5.05908599e-03 1.35073846e+02] [-1.85815752e-03 9.99998223e-01 -3.19474097e-04 -7.18694337e+00] [-5.05967114e-03 3.10068878e-04 9.99987152e-01 -1.80479901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.090371743 meters Centerline goodness [0,1] 0.9886371217006515 Centerline is valid? [True, True] Translation: X:135.10, Y:-7.19, Z:-1.81 [[ 9.99986931e-01 1.54295930e-03 4.87410373e-03 1.35104919e+02] [-1.54148482e-03 9.99998765e-01 -3.06255629e-04 -7.19047033e+00] [-4.87457025e-03 2.98738270e-04 9.99988075e-01 -1.80530183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120371743 meters Centerline goodness [0,1] 0.988542060649209 Centerline is valid? [True, True] Translation: X:135.14, Y:-7.19, Z:-1.81 [[ 9.99985553e-01 1.39556833e-03 5.19096659e-03 1.35136425e+02] [-1.39388251e-03 9.99998975e-01 -3.28364758e-04 -7.19120584e+00] [-5.19141952e-03 3.21124416e-04 9.99986473e-01 -1.80520542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.150371743 meters Centerline goodness [0,1] 0.9895567159204532 Centerline is valid? [True, True] Translation: X:135.17, Y:-7.19, Z:-1.80 [[ 9.99984938e-01 1.72346920e-03 5.21092589e-03 1.35168542e+02] [-1.72176831e-03 9.99998463e-01 -3.30876563e-04 -7.18869596e+00] [-5.21148814e-03 3.21899572e-04 9.99986368e-01 -1.80496395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180371743 meters Centerline goodness [0,1] 0.9890249615204444 Centerline is valid? [True, True] Translation: X:135.20, Y:-7.19, Z:-1.81 [[ 9.99986641e-01 2.20877214e-03 4.67321928e-03 1.35199900e+02] [-2.20740832e-03 9.99997520e-01 -2.96974484e-04 -7.19494246e+00] [-4.67386363e-03 2.86654814e-04 9.99989036e-01 -1.80616296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.210371743 meters Centerline goodness [0,1] 0.9895886746182142 Centerline is valid? [True, True] Translation: X:135.23, Y:-7.19, Z:-1.81 [[ 9.99983011e-01 4.63941704e-03 3.52907098e-03 1.35232190e+02] [-4.63865373e-03 9.99989216e-01 -2.24446107e-04 -7.18754432e+00] [-3.53007422e-03 2.08072156e-04 9.99993748e-01 -1.80638594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.240371743 meters Centerline goodness [0,1] 0.9892624028158347 Centerline is valid? [True, True] Translation: X:135.26, Y:-7.19, Z:-1.81 [[ 9.99978284e-01 5.99355767e-03 2.74012787e-03 1.35262545e+02] [-5.99310100e-03 9.99982026e-01 -1.74841904e-04 -7.18707379e+00] [-2.74112655e-03 1.58416244e-04 9.99996231e-01 -1.80758652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27037174299997 meters Centerline goodness [0,1] 0.9897776584798461 Centerline is valid? [True, True] Translation: X:135.29, Y:-7.19, Z:-1.81 [[ 9.99965085e-01 8.10827156e-03 2.02113200e-03 1.35291721e+02] [-8.10802657e-03 9.99967121e-01 -1.29377937e-04 -7.18943984e+00] [-2.02211458e-03 1.12986028e-04 9.99997949e-01 -1.80914767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30037174299997 meters Centerline goodness [0,1] 0.9896510874181363 Centerline is valid? [True, True] Translation: X:135.32, Y:-7.19, Z:-1.81 [[ 9.99940166e-01 1.08066856e-02 1.69675393e-03 1.35321404e+02] [-1.08065168e-02 9.99941602e-01 -1.08623802e-04 -7.18803906e+00] [-1.69782870e-03 9.02813027e-05 9.99998555e-01 -1.81010799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33037174299997 meters Centerline goodness [0,1] 0.9892259647557439 Centerline is valid? [True, True] Translation: X:135.35, Y:-7.19, Z:-1.81 [[ 9.99921344e-01 1.24038828e-02 1.85754411e-03 1.35350358e+02] [-1.24036827e-02 9.99923064e-01 -1.19217640e-04 -7.18758243e+00] [-1.85887996e-03 9.61678751e-05 9.99998268e-01 -1.81019972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36037174299997 meters Centerline goodness [0,1] 0.9896617170927766 Centerline is valid? [True, True] Translation: X:135.38, Y:-7.19, Z:-1.81 [[ 9.99894907e-01 1.43093603e-02 2.32738764e-03 1.35378977e+02] [-1.43090522e-02 9.99897609e-01 -1.48967277e-04 -7.18666498e+00] [-2.32928096e-03 1.15648910e-04 9.99997281e-01 -1.80981010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39037174299997 meters Centerline goodness [0,1] 0.9898477157360406 Centerline is valid? [True, True] Translation: X:135.41, Y:-7.18, Z:-1.81 [[ 9.99843354e-01 1.73259220e-02 3.61655463e-03 1.35409515e+02] [-1.73252025e-02 9.99849881e-01 -2.30174388e-04 -7.18271599e+00] [-3.61999970e-03 1.67480791e-04 9.99993434e-01 -1.80864698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42037174299998 meters Centerline goodness [0,1] 0.9894477428027333 Centerline is valid? [True, True] Translation: X:135.44, Y:-7.18, Z:-1.81 [[ 9.99824683e-01 1.82136636e-02 4.34351722e-03 1.35437313e+02] [-1.82126319e-02 9.99834098e-01 -2.76966243e-04 -7.18404079e+00] [-4.34784119e-03 1.97810805e-04 9.99990529e-01 -1.80873779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45037174299998 meters Centerline goodness [0,1] 0.9894411191068666 Centerline is valid? [True, True] Translation: X:135.47, Y:-7.19, Z:-1.81 [[ 9.99815201e-01 1.87047410e-02 4.43808740e-03 1.35465130e+02] [-1.87036706e-02 9.99825031e-01 -2.82570309e-04 -7.18932861e+00] [-4.44259627e-03 1.99509565e-04 9.99990112e-01 -1.80987370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48037174299998 meters Centerline goodness [0,1] 0.9885668168673079 Centerline is valid? [True, True] Translation: X:135.49, Y:-7.19, Z:-1.81 [[ 9.99818045e-01 1.86351153e-02 4.07547169e-03 1.35492456e+02] [-1.86342134e-02 9.99826334e-01 -2.59179983e-04 -7.19171008e+00] [-4.07959377e-03 1.83189615e-04 9.99991662e-01 -1.81111147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51037174299998 meters Centerline goodness [0,1] 0.9904725609756098 Centerline is valid? [True, True] Translation: X:135.52, Y:-7.19, Z:-1.81 [[ 9.99823326e-01 1.83789625e-02 3.94089854e-03 1.35521815e+02] [-1.83781188e-02 9.99831077e-01 -2.50211132e-04 -7.18747906e+00] [-3.94483145e-03 1.77740625e-04 9.99992203e-01 -1.81070680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54037174299998 meters Centerline goodness [0,1] 0.9894703896626501 Centerline is valid? [True, True] Translation: X:135.55, Y:-7.19, Z:-1.81 [[ 9.99833988e-01 1.77754488e-02 4.00385506e-03 1.35549243e+02] [-1.77745736e-02 9.99841988e-01 -2.54069319e-04 -7.19241370e+00] [-4.00773860e-03 1.82860324e-04 9.99991952e-01 -1.81162036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57037174299998 meters Centerline goodness [0,1] 0.9887612779009112 Centerline is valid? [True, True] Translation: X:135.58, Y:-7.19, Z:-1.81 [[ 9.99858326e-01 1.65825425e-02 2.88902606e-03 1.35578315e+02] [-1.65820822e-02 9.99862491e-01 -1.83204043e-04 -7.19474872e+00] [-2.89166679e-03 1.35272020e-04 9.99995810e-01 -1.81223758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60037174299998 meters Centerline goodness [0,1] 0.9896558672726866 Centerline is valid? [True, True] Translation: X:135.61, Y:-7.20, Z:-1.81 [[ 9.99874190e-01 1.56162618e-02 2.78142547e-03 1.35605392e+02] [-1.56158314e-02 9.99878050e-01 -1.76405421e-04 -7.20067293e+00] [-2.78384106e-03 1.32948956e-04 9.99996116e-01 -1.81332100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63037174299998 meters Centerline goodness [0,1] 0.9901287073307219 Centerline is valid? [True, True] Translation: X:135.63, Y:-7.20, Z:-1.81 [[ 9.99880266e-01 1.52710506e-02 2.49982562e-03 1.35634387e+02] [-1.52707025e-02 9.99883384e-01 -1.58259431e-04 -7.19971080e+00] [-2.50195089e-03 1.20066389e-04 9.99996863e-01 -1.81287061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66037174299998 meters Centerline goodness [0,1] 0.9901475636396059 Centerline is valid? [True, True] Translation: X:135.66, Y:-7.21, Z:-1.81 [[ 9.99919754e-01 1.23972829e-02 2.60619862e-03 1.35662040e+02] [-1.23968954e-02 9.99923142e-01 -1.64760567e-04 -7.20503372e+00] [-2.60804090e-03 1.32438574e-04 9.99996590e-01 -1.81298991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.690371743 meters Centerline goodness [0,1] 0.9893911645151204 Centerline is valid? [True, True] Translation: X:135.69, Y:-7.21, Z:-1.81 [[ 9.99933277e-01 1.12167308e-02 2.76144524e-03 1.35690636e+02] [-1.12162920e-02 9.99937080e-01 -1.74337595e-04 -7.20514884e+00] [-2.76322699e-03 1.43352787e-04 9.99996172e-01 -1.81289242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720371743 meters Centerline goodness [0,1] 0.9901016646184784 Centerline is valid? [True, True] Translation: X:135.72, Y:-7.21, Z:-1.81 [[ 9.99943566e-01 1.02038305e-02 2.95758807e-03 1.35719618e+02] [-1.02033241e-02 9.99947927e-01 -1.86241662e-04 -7.20897713e+00] [-2.95933444e-03 1.56053921e-04 9.99995609e-01 -1.81345405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.750371743 meters Centerline goodness [0,1] 0.9899106884340408 Centerline is valid? [True, True] Translation: X:135.75, Y:-7.21, Z:-1.81 [[ 9.99952252e-01 9.28450502e-03 3.04807610e-03 1.35747812e+02] [-9.28396197e-03 9.99956885e-01 -1.92262917e-04 -7.21144724e+00] [-3.04972975e-03 1.63955514e-04 9.99995336e-01 -1.81421153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780371743 meters Centerline goodness [0,1] 0.9898091160467398 Centerline is valid? [True, True] Translation: X:135.78, Y:-7.22, Z:-1.82 [[ 9.99969008e-01 7.28685043e-03 2.98070384e-03 1.35777013e+02] [-7.28632517e-03 9.99973437e-01 -1.87040693e-04 -7.21563314e+00] [-2.98198760e-03 1.65316519e-04 9.99995540e-01 -1.81540557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.810371743 meters Centerline goodness [0,1] 0.9905390931810067 Centerline is valid? [True, True] Translation: X:135.81, Y:-7.22, Z:-1.82 [[ 9.99978109e-01 5.97567313e-03 2.84130837e-03 1.35806886e+02] [-5.97519079e-03 9.99982133e-01 -1.78219001e-04 -7.21738485e+00] [-2.84232258e-03 1.61237740e-04 9.99995948e-01 -1.81515828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840371743 meters Centerline goodness [0,1] 0.9902175369634163 Centerline is valid? [True, True] Translation: X:135.84, Y:-7.22, Z:-1.82 [[ 9.99985899e-01 4.42585012e-03 2.93489416e-03 1.35835744e+02] [-4.42532977e-03 9.99990191e-01 -1.83769168e-04 -7.22412013e+00] [-2.93567871e-03 1.70778702e-04 9.99995676e-01 -1.81591944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.870371743 meters Centerline goodness [0,1] 0.9907728054692911 Centerline is valid? [True, True] Translation: X:135.87, Y:-7.22, Z:-1.82 [[ 9.99989076e-01 3.09691336e-03 3.50093772e-03 1.35866617e+02] [-3.09616584e-03 9.99995183e-01 -2.18918573e-04 -7.22442051e+00] [-3.50159883e-03 2.08076698e-04 9.99993848e-01 -1.81529258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900371743 meters Centerline goodness [0,1] 0.9907701247038841 Centerline is valid? [True, True] Translation: X:135.90, Y:-7.23, Z:-1.81 [[ 9.99988596e-01 6.42493269e-04 4.73234993e-03 1.35896709e+02] [-6.41100772e-04 9.99999751e-01 -2.95761666e-04 -7.22994197e+00] [-4.73253877e-03 2.92724380e-04 9.99988759e-01 -1.81488228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.930371743 meters Centerline goodness [0,1] 0.9898470346184811 Centerline is valid? [True, True] Translation: X:135.93, Y:-7.23, Z:-1.82 [[ 9.99985393e-01 -5.33702009e-04 5.37848575e-03 1.35928170e+02] [ 5.35513477e-04 9.99999800e-01 -3.35364401e-04 -7.23390294e+00] [-5.37830570e-03 3.38239754e-04 9.99985480e-01 -1.81503442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960371743 meters Centerline goodness [0,1] 0.9897560649005736 Centerline is valid? [True, True] Translation: X:135.96, Y:-7.24, Z:-1.82 [[ 9.99978379e-01 -2.33047871e-03 6.14901116e-03 1.35959745e+02] [ 2.33288188e-03 9.99997205e-01 -3.83678329e-04 -7.23685311e+00] [-6.14809982e-03 3.98014950e-04 9.99981021e-01 -1.81521554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.990371743 meters Centerline goodness [0,1] 0.9895513077574299 Centerline is valid? [True, True] Translation: X:135.99, Y:-7.24, Z:-1.82 [[ 9.99973109e-01 -2.68864507e-03 6.82293045e-03 1.35990861e+02] [ 2.69163038e-03 9.99996286e-01 -4.28395330e-04 -7.24451596e+00] [-6.82175330e-03 4.46748617e-04 9.99976632e-01 -1.81594925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02037174299997 meters Centerline goodness [0,1] 0.9900073442681325 Centerline is valid? [True, True] Translation: X:136.02, Y:-7.25, Z:-1.82 [[ 9.99969952e-01 -3.27839152e-03 7.02478829e-03 1.36023045e+02] [ 3.28158000e-03 9.99994518e-01 -4.42412144e-04 -7.24523298e+00] [-7.02329938e-03 4.65451255e-04 9.99975228e-01 -1.81570913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05037174299997 meters Centerline goodness [0,1] 0.9900447651499966 Centerline is valid? [True, True] Translation: X:136.05, Y:-7.25, Z:-1.82 [[ 9.99971781e-01 -3.59974391e-03 6.59389556e-03 1.36054775e+02] [ 3.60256288e-03 9.99993424e-01 -4.15685281e-04 -7.24798632e+00] [-6.59235584e-03 4.39428474e-04 9.99978174e-01 -1.81625706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08037174299997 meters Centerline goodness [0,1] 0.9900109012436317 Centerline is valid? [True, True] Translation: X:136.09, Y:-7.25, Z:-1.82 [[ 9.99975482e-01 -3.70249359e-03 5.94370023e-03 1.36085815e+02] [ 3.70478859e-03 9.99993067e-01 -3.75158930e-04 -7.25075735e+00] [-5.94227000e-03 3.97169884e-04 9.99982266e-01 -1.81711015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11037174299997 meters Centerline goodness [0,1] 0.9891142558816342 Centerline is valid? [True, True] Translation: X:136.12, Y:-7.26, Z:-1.82 [[ 9.99974858e-01 -3.86084129e-03 5.94782602e-03 1.36116224e+02] [ 3.86314419e-03 9.99992467e-01 -3.75742696e-04 -7.25753625e+00] [-5.94633054e-03 3.98710559e-04 9.99982241e-01 -1.81848557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14037174299997 meters Centerline goodness [0,1] 0.9891920741877377 Centerline is valid? [True, True] Translation: X:136.15, Y:-7.26, Z:-1.82 [[ 9.99979260e-01 -4.04125434e-03 5.01481467e-03 1.36148315e+02] [ 4.04289367e-03 9.99991777e-01 -3.16803750e-04 -7.25740376e+00] [-5.01349315e-03 3.37071542e-04 9.99987376e-01 -1.81948420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17037174299998 meters Centerline goodness [0,1] 0.9896721748400853 Centerline is valid? [True, True] Translation: X:136.18, Y:-7.26, Z:-1.82 [[ 9.99981198e-01 -4.06608928e-03 4.59019432e-03 1.36179847e+02] [ 4.06746260e-03 9.99991686e-01 -2.89889993e-04 -7.26099840e+00] [-4.58897743e-03 3.08554986e-04 9.99989423e-01 -1.82013670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20037174299998 meters Centerline goodness [0,1] 0.9894599032530067 Centerline is valid? [True, True] Translation: X:136.21, Y:-7.26, Z:-1.82 [[ 9.99979613e-01 -4.13583140e-03 4.86498385e-03 1.36212254e+02] [ 4.13737941e-03 9.99991394e-01 -3.08174798e-04 -7.26355554e+00] [-4.86366742e-03 3.28296800e-04 9.99988118e-01 -1.82090733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23037174299998 meters Centerline goodness [0,1] 0.9898962982701575 Centerline is valid? [True, True] Translation: X:136.24, Y:-7.26, Z:-1.82 [[ 9.99981133e-01 -3.85213611e-03 4.78479333e-03 1.36244870e+02] [ 3.85363175e-03 9.99992529e-01 -3.03401341e-04 -7.26284510e+00] [-4.78358884e-03 3.21834448e-04 9.99988507e-01 -1.82088663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26037174299998 meters Centerline goodness [0,1] 0.9903145548249511 Centerline is valid? [True, True] Translation: X:136.28, Y:-7.26, Z:-1.82 [[ 9.99983426e-01 -3.22565600e-03 4.76890728e-03 1.36276867e+02] [ 3.22713619e-03 9.99994747e-01 -3.02721118e-04 -7.26316630e+00] [-4.76790576e-03 3.18106014e-04 9.99988583e-01 -1.82102563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29037174299998 meters Centerline goodness [0,1] 0.9900011109876681 Centerline is valid? [True, True] Translation: X:136.31, Y:-7.26, Z:-1.82 [[ 9.99985280e-01 -2.61424804e-03 4.75451779e-03 1.36309031e+02] [ 2.61571397e-03 9.99996533e-01 -3.02131465e-04 -7.26210605e+00] [-4.75371146e-03 3.14563477e-04 9.99988652e-01 -1.82066324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32037174299998 meters Centerline goodness [0,1] 0.9902968670204498 Centerline is valid? [True, True] Translation: X:136.34, Y:-7.27, Z:-1.82 [[ 9.99978823e-01 -2.31977165e-03 6.08055626e-03 1.36340392e+02] [ 2.32216920e-03 9.99997229e-01 -3.87268037e-04 -7.26725172e+00] [-6.07964104e-03 4.01379916e-04 9.99981438e-01 -1.82055842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35037174299998 meters Centerline goodness [0,1] 0.9903455622877688 Centerline is valid? [True, True] Translation: X:136.37, Y:-7.27, Z:-1.82 [[ 9.99977139e-01 -2.36523320e-03 6.33461660e-03 1.36372598e+02] [ 2.36783779e-03 9.99997115e-01 -4.03698956e-04 -7.26652471e+00] [-6.33364348e-03 4.18689071e-04 9.99979855e-01 -1.82033903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38037174299998 meters Centerline goodness [0,1] 0.9901475636396059 Centerline is valid? [True, True] Translation: X:136.40, Y:-7.27, Z:-1.82 [[ 9.99975140e-01 -2.66553026e-03 6.52800156e-03 1.36403239e+02] [ 2.66830685e-03 9.99996353e-01 -4.16663270e-04 -7.27152570e+00] [-6.52686712e-03 4.34071623e-04 9.99978606e-01 -1.82067461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41037174299998 meters Centerline goodness [0,1] 0.989042675893887 Centerline is valid? [True, True] Translation: X:136.44, Y:-7.27, Z:-1.82 [[ 9.99965784e-01 -3.91426611e-03 7.28757493e-03 1.36435243e+02] [ 3.91776219e-03 9.99992217e-01 -4.65517679e-04 -7.27353297e+00] [-7.28569605e-03 4.94052737e-04 9.99973337e-01 -1.82075560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440371743 meters Centerline goodness [0,1] 0.9898311888143076 Centerline is valid? [True, True] Translation: X:136.47, Y:-7.28, Z:-1.82 [[ 9.99961023e-01 -4.67749486e-03 7.48823598e-03 1.36467145e+02] [ 4.68121162e-03 9.99988928e-01 -4.78896504e-04 -7.27545503e+00] [-7.48591303e-03 5.13931855e-04 9.99971848e-01 -1.82113556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.470371743 meters Centerline goodness [0,1] 0.990067990934542 Centerline is valid? [True, True] Translation: X:136.50, Y:-7.28, Z:-1.82 [[ 9.99957331e-01 -5.35596874e-03 7.52658883e-03 1.36499450e+02] [ 5.35974696e-03 9.99985520e-01 -4.81901897e-04 -7.27871533e+00] [-7.52389879e-03 5.22221946e-04 9.99971559e-01 -1.82191481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500371743 meters Centerline goodness [0,1] 0.990067990934542 Centerline is valid? [True, True] Translation: X:136.53, Y:-7.28, Z:-1.82 [[ 9.99957905e-01 -5.24772392e-03 7.52656810e-03 1.36531997e+02] [ 5.25150152e-03 9.99986095e-01 -4.82225593e-04 -7.28089527e+00] [-7.52393285e-03 5.21731077e-04 9.99971559e-01 -1.82235650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.530371743 meters Centerline goodness [0,1] 0.9897353505600929 Centerline is valid? [True, True] Translation: X:136.56, Y:-7.29, Z:-1.82 [[ 9.99942154e-01 -7.80125352e-03 7.40470881e-03 1.36561352e+02] [ 7.80498687e-03 9.99969428e-01 -4.75421847e-04 -7.28648649e+00] [-7.40077355e-03 5.33188000e-04 9.99972472e-01 -1.82331510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560371743 meters Centerline goodness [0,1] 0.9895013708401132 Centerline is valid? [True, True] Translation: X:136.59, Y:-7.29, Z:-1.82 [[ 9.99930538e-01 -9.00834451e-03 7.60062076e-03 1.36593020e+02] [ 9.01231792e-03 9.99959269e-01 -4.88685347e-04 -7.28830462e+00] [-7.59590893e-03 5.57150613e-04 9.99970995e-01 -1.82444705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.590371743 meters Centerline goodness [0,1] 0.9904044018967523 Centerline is valid? [True, True] Translation: X:136.63, Y:-7.29, Z:-1.83 [[ 9.99924499e-01 -1.02852162e-02 6.72387782e-03 1.36625236e+02] [ 1.02883555e-02 9.99946980e-01 -4.32468064e-04 -7.29008961e+00] [-6.71907329e-03 5.01613057e-04 9.99977301e-01 -1.82536244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620371743 meters Centerline goodness [0,1] 0.9895942656811737 Centerline is valid? [True, True] Translation: X:136.66, Y:-7.29, Z:-1.83 [[ 9.99897432e-01 -1.27748625e-02 6.47514462e-03 1.36655490e+02] [ 1.27778310e-02 9.99918273e-01 -4.17283409e-04 -7.29488322e+00] [-6.46928469e-03 4.99978913e-04 9.99978949e-01 -1.82754244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.650371743 meters Centerline goodness [0,1] 0.9903833311072525 Centerline is valid? [True, True] Translation: X:136.69, Y:-7.30, Z:-1.83 [[ 9.99882959e-01 -1.38372975e-02 6.52669733e-03 1.36686936e+02] [ 1.38403351e-02 9.99904130e-01 -4.20471485e-04 -7.29751575e+00] [-6.52025342e-03 5.10753950e-04 9.99978612e-01 -1.82872860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680371743 meters Centerline goodness [0,1] 0.9896291361314679 Centerline is valid? [True, True] Translation: X:136.72, Y:-7.30, Z:-1.83 [[ 9.99863896e-01 -1.53019909e-02 6.16746995e-03 1.36717537e+02] [ 1.53047344e-02 9.99882797e-01 -3.97887156e-04 -7.30106388e+00] [-6.16065863e-03 4.92224491e-04 9.99980902e-01 -1.82974040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.710371743 meters Centerline goodness [0,1] 0.9896317721659806 Centerline is valid? [True, True] Translation: X:136.75, Y:-7.30, Z:-1.83 [[ 9.99860191e-01 -1.56037045e-02 6.01020422e-03 1.36749659e+02] [ 1.56063135e-02 9.99878139e-01 -3.87442098e-04 -7.30373820e+00] [-6.00342628e-03 4.81185061e-04 9.99981864e-01 -1.83020340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.740371743 meters Centerline goodness [0,1] 0.9895958383353342 Centerline is valid? [True, True] Translation: X:136.78, Y:-7.31, Z:-1.83 [[ 9.99871880e-01 -1.50090390e-02 5.56351992e-03 1.36781035e+02] [ 1.50112673e-02 9.99887260e-01 -3.58975568e-04 -7.31047205e+00] [-5.55750481e-03 4.42445061e-04 9.99984459e-01 -1.83121402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77037174299997 meters Centerline goodness [0,1] 0.9896652887051607 Centerline is valid? [True, True] Translation: X:136.81, Y:-7.31, Z:-1.83 [[ 9.99886082e-01 -1.41526805e-02 5.24633282e-03 1.36813702e+02] [ 1.41546518e-02 9.99899760e-01 -3.38818101e-04 -7.30513827e+00] [-5.24101174e-03 4.13039518e-04 9.99986181e-01 -1.83107293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80037174299997 meters Centerline goodness [0,1] 0.9900353655552837 Centerline is valid? [True, True] Translation: X:136.84, Y:-7.30, Z:-1.83 [[ 9.99923399e-01 -1.11286827e-02 5.41748163e-03 1.36844060e+02] [ 1.11307461e-02 9.99937990e-01 -3.50873161e-04 -7.30481804e+00] [-5.41324094e-03 4.11146896e-04 9.99985264e-01 -1.83172940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83037174299997 meters Centerline goodness [0,1] 0.9903101207885865 Centerline is valid? [True, True] Translation: X:136.88, Y:-7.30, Z:-1.83 [[ 9.99942319e-01 -9.28511716e-03 5.39864772e-03 1.36875914e+02] [ 9.28713711e-03 9.99956813e-01 -3.49208942e-04 -7.30164847e+00] [-5.39517212e-03 3.99326781e-04 9.99985366e-01 -1.83210813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86037174299997 meters Centerline goodness [0,1] 0.9900115678946432 Centerline is valid? [True, True] Translation: X:136.91, Y:-7.30, Z:-1.83 [[ 9.99957108e-01 -7.42709853e-03 5.53364725e-03 1.36907761e+02] [ 7.42919423e-03 9.99972339e-01 -3.58260801e-04 -7.30212473e+00] [-5.53083334e-03 3.99355975e-04 9.99984625e-01 -1.83248756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89037174299997 meters Centerline goodness [0,1] 0.9892886692457344 Centerline is valid? [True, True] Translation: X:136.94, Y:-7.30, Z:-1.83 [[ 9.99976629e-01 -4.19247940e-03 5.40049770e-03 1.36937507e+02] [ 4.19443234e-03 9.99991142e-01 -3.50346973e-04 -7.30303888e+00] [-5.39898104e-03 3.72990808e-04 9.99985356e-01 -1.83282458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92037174299998 meters Centerline goodness [0,1] 0.9907382550335571 Centerline is valid? [True, True] Translation: X:136.97, Y:-7.30, Z:-1.83 [[ 9.99979713e-01 -2.91272927e-03 5.66469597e-03 1.36969970e+02] [ 2.91485424e-03 9.99995684e-01 -3.66904822e-04 -7.29512753e+00] [-5.66360283e-03 3.83409141e-04 9.99983888e-01 -1.83188536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95037174299998 meters Centerline goodness [0,1] 0.9895324337651858 Centerline is valid? [True, True] Translation: X:137.00, Y:-7.30, Z:-1.83 [[ 9.99978126e-01 -1.71459633e-03 6.38806212e-03 1.37001095e+02] [ 1.71727815e-03 9.99998440e-01 -4.14356345e-04 -7.30316285e+00] [-6.38734170e-03 4.25317361e-04 9.99979510e-01 -1.83309821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98037174299998 meters Centerline goodness [0,1] 0.9899688068041561 Centerline is valid? [True, True] Translation: X:137.03, Y:-7.30, Z:-1.83 [[ 9.99980246e-01 -4.21315225e-04 6.27139205e-03 1.37034185e+02] [ 4.23876607e-04 9.99999827e-01 -4.07099621e-04 -7.29722308e+00] [-6.27121945e-03 4.09749876e-04 9.99980252e-01 -1.83264328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01037174299998 meters Centerline goodness [0,1] 0.9899984302468997 Centerline is valid? [True, True] Translation: X:137.07, Y:-7.30, Z:-1.83 [[ 9.99979369e-01 2.16797445e-04 6.41980631e-03 1.37065653e+02] [-2.14120738e-04 9.99999890e-01 -4.17629462e-04 -7.30006424e+00] [-6.41989614e-03 4.16246232e-04 9.99979306e-01 -1.83350003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04037174299998 meters Centerline goodness [0,1] 0.9902239960537231 Centerline is valid? [True, True] Translation: X:137.10, Y:-7.30, Z:-1.83 [[ 9.99983094e-01 4.01953164e-04 5.80081688e-03 1.37097648e+02] [-3.99770967e-04 9.99999849e-01 -3.77342540e-04 -7.30231429e+00] [-5.80096767e-03 3.75017162e-04 9.99983104e-01 -1.83432666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07037174299998 meters Centerline goodness [0,1] 0.9910644301614673 Centerline is valid? [True, True] Translation: X:137.13, Y:-7.30, Z:-1.83 [[ 9.99983540e-01 9.64314670e-04 5.65590805e-03 1.37129508e+02] [-9.62245539e-04 9.99999469e-01 -3.68545299e-04 -7.30444473e+00] [-5.65626044e-03 3.63096861e-04 9.99983937e-01 -1.83482756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10037174299998 meters Centerline goodness [0,1] 0.9910550150204008 Centerline is valid? [True, True] Translation: X:137.16, Y:-7.31, Z:-1.84 [[ 9.99987749e-01 1.83210535e-03 4.59830272e-03 1.37162222e+02] [-1.83074688e-03 9.99998279e-01 -2.99620240e-04 -7.30546396e+00] [-4.59884374e-03 2.91198242e-04 9.99989383e-01 -1.83619412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13037174299998 meters Centerline goodness [0,1] 0.9906542056074766 Centerline is valid? [True, True] Translation: X:137.19, Y:-7.31, Z:-1.84 [[ 9.99988854e-01 2.39607519e-03 4.06831579e-03 1.37194078e+02] [-2.39501409e-03 9.99997097e-01 -2.65672684e-04 -7.30567514e+00] [-4.06894055e-03 2.55926049e-04 9.99991689e-01 -1.83686885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16037174299998 meters Centerline goodness [0,1] 0.9908016063536221 Centerline is valid? [True, True] Translation: X:137.23, Y:-7.31, Z:-1.84 [[ 9.99990374e-01 2.94226794e-03 3.25484352e-03 1.37225743e+02] [-2.94159105e-03 9.99995651e-01 -2.12729166e-04 -7.30837633e+00] [-3.25545527e-03 2.03152700e-04 9.99994680e-01 -1.83780373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.190371743 meters Centerline goodness [0,1] 0.9907968574635241 Centerline is valid? [True, True] Translation: X:137.26, Y:-7.31, Z:-1.84 [[ 9.99983293e-01 5.06780942e-03 2.78042241e-03 1.37256434e+02] [-5.06732252e-03 9.99987144e-01 -1.82133916e-04 -7.30883031e+00] [-2.78130969e-03 1.68041576e-04 9.99996118e-01 -1.83835279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220371743 meters Centerline goodness [0,1] 0.990678556186968 Centerline is valid? [True, True] Translation: X:137.29, Y:-7.31, Z:-1.84 [[ 9.99976001e-01 6.39160430e-03 2.67310244e-03 1.37285792e+02] [-6.39115846e-03 9.99979561e-01 -1.75298263e-04 -7.31194782e+00] [-2.67416824e-03 1.58209834e-04 9.99996412e-01 -1.83846834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.250371743 meters Centerline goodness [0,1] 0.9910594546267323 Centerline is valid? [True, True] Translation: X:137.32, Y:-7.31, Z:-1.84 [[ 9.99964070e-01 7.93532723e-03 2.98149129e-03 1.37315271e+02] [-7.93477913e-03 9.99968500e-01 -1.95618469e-04 -7.31221115e+00] [-2.98294967e-03 1.71953965e-04 9.99995536e-01 -1.83816595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280371743 meters Centerline goodness [0,1] 0.9909484985288503 Centerline is valid? [True, True] Translation: X:137.35, Y:-7.31, Z:-1.84 [[ 9.99917000e-01 1.21867292e-02 4.18043544e-03 1.37345782e+02] [-1.21856913e-02 9.99925714e-01 -2.73657552e-04 -7.31254595e+00] [-4.18345988e-03 2.22693343e-04 9.99991224e-01 -1.83747961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.310371743 meters Centerline goodness [0,1] 0.9910247492539322 Centerline is valid? [True, True] Translation: X:137.37, Y:-7.31, Z:-1.84 [[ 9.99900003e-01 1.30228468e-02 5.51265993e-03 1.37374588e+02] [-1.30210519e-02 9.99915157e-01 -3.61369056e-04 -7.31011396e+00] [-5.51689828e-03 2.89552289e-04 9.99984740e-01 -1.83669644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340371743 meters Centerline goodness [0,1] 0.9915870238255485 Centerline is valid? [True, True] Translation: X:137.40, Y:-7.31, Z:-1.84 [[ 9.99875825e-01 1.44613846e-02 6.26127922e-03 1.37403640e+02] [-1.44591008e-02 9.99895378e-01 -4.09870425e-04 -7.31057110e+00] [-6.26655144e-03 3.19287062e-04 9.99980314e-01 -1.83638262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.370371743 meters Centerline goodness [0,1] 0.9913659707115786 Centerline is valid? [True, True] Translation: X:137.43, Y:-7.32, Z:-1.84 [[ 9.99833449e-01 1.66741974e-02 7.41932208e-03 1.37431726e+02] [-1.66710575e-02 9.99860911e-01 -4.84857207e-04 -7.31544669e+00] [-7.42637474e-03 3.61088508e-04 9.99972359e-01 -1.83622243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400371743 meters Centerline goodness [0,1] 0.9911083168672534 Centerline is valid? [True, True] Translation: X:137.46, Y:-7.32, Z:-1.84 [[ 9.99819729e-01 1.74585733e-02 7.46377495e-03 1.37459320e+02] [-1.74554190e-02 9.99847524e-01 -4.87554406e-04 -7.31876528e+00] [-7.47114891e-03 3.57183195e-04 9.99972027e-01 -1.83645608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.430371743 meters Centerline goodness [0,1] 0.9919541521519272 Centerline is valid? [True, True] Translation: X:137.49, Y:-7.31, Z:-1.84 [[ 9.99818623e-01 1.75981232e-02 7.28202584e-03 1.37488986e+02] [-1.75951292e-02 9.99845081e-01 -4.75016206e-04 -7.31300948e+00] [-7.28925710e-03 3.46801863e-04 9.99973373e-01 -1.83603683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460371743 meters Centerline goodness [0,1] 0.9902094768679287 Centerline is valid? [True, True] Translation: X:137.52, Y:-7.32, Z:-1.84 [[ 9.99823585e-01 1.73169163e-02 7.27489543e-03 1.37515923e+02] [-1.73139238e-02 9.99849990e-01 -4.74128250e-04 -7.32450647e+00] [-7.28201457e-03 3.48087621e-04 9.99973425e-01 -1.83803232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.490371743 meters Centerline goodness [0,1] 0.9906838542481178 Centerline is valid? [True, True] Translation: X:137.54, Y:-7.33, Z:-1.84 [[ 9.99843696e-01 1.65216413e-02 6.29434147e-03 1.37543922e+02] [-1.65193877e-02 9.99863462e-01 -4.09849361e-04 -7.32939890e+00] [-6.30025344e-03 3.05806633e-04 9.99980106e-01 -1.83950522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52037174299997 meters Centerline goodness [0,1] 0.9916495029999105 Centerline is valid? [True, True] Translation: X:137.57, Y:-7.33, Z:-1.84 [[ 9.99858360e-01 1.57894633e-02 5.82687564e-03 1.37573303e+02] [-1.57875235e-02 9.99875298e-01 -3.78766061e-04 -7.32613591e+00] [-5.83212953e-03 2.86720476e-04 9.99982952e-01 -1.83961161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55037174299997 meters Centerline goodness [0,1] 0.992371023312005 Centerline is valid? [True, True] Translation: X:137.60, Y:-7.33, Z:-1.84 [[ 9.99869146e-01 1.51269006e-02 5.73311317e-03 1.37601848e+02] [-1.51250141e-02 9.99885541e-01 -3.72274801e-04 -7.33041875e+00] [-5.73808833e-03 2.85512669e-04 9.99983496e-01 -1.84041364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58037174299997 meters Centerline goodness [0,1] 0.9920284825007277 Centerline is valid? [True, True] Translation: X:137.63, Y:-7.34, Z:-1.84 [[ 9.99898956e-01 1.32607673e-02 5.12152133e-03 1.37630947e+02] [-1.32592402e-02 9.99912037e-01 -3.32001972e-04 -7.33622287e+00] [-5.12547343e-03 2.64060944e-04 9.99986830e-01 -1.84142445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61037174299997 meters Centerline goodness [0,1] 0.9918512234327559 Centerline is valid? [True, True] Translation: X:137.66, Y:-7.34, Z:-1.84 [[ 9.99915296e-01 1.22274626e-02 4.45985793e-03 1.37659914e+02] [-1.22262934e-02 9.99925214e-01 -2.89336790e-04 -7.33972583e+00] [-4.46306225e-03 2.34784750e-04 9.99990013e-01 -1.84206034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64037174299997 meters Centerline goodness [0,1] 0.9916955017301038 Centerline is valid? [True, True] Translation: X:137.69, Y:-7.34, Z:-1.84 [[ 9.99928790e-01 1.13354139e-02 3.73131370e-03 1.37689557e+02] [-1.13345910e-02 9.99935732e-01 -2.41611688e-04 -7.34425876e+00] [-3.73381267e-03 1.99301568e-04 9.99993009e-01 -1.84293821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67037174299998 meters Centerline goodness [0,1] 0.9914516561021337 Centerline is valid? [True, True] Translation: X:137.72, Y:-7.35, Z:-1.84 [[ 9.99951710e-01 9.39269096e-03 2.89061268e-03 1.37718730e+02] [-9.39218954e-03 9.99955875e-01 -1.86991558e-04 -7.35160100e+00] [-2.89224148e-03 1.59833346e-04 9.99995805e-01 -1.84461240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70037174299998 meters Centerline goodness [0,1] 0.991969390252041 Centerline is valid? [True, True] Translation: X:137.75, Y:-7.35, Z:-1.84 [[ 9.99960296e-01 8.44802849e-03 2.83494100e-03 1.37747202e+02] [-8.44754087e-03 9.99964302e-01 -1.83933529e-04 -7.35298394e+00] [-2.83639368e-03 1.59977946e-04 9.99995965e-01 -1.84441672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73037174299998 meters Centerline goodness [0,1] 0.991621916709374 Centerline is valid? [True, True] Translation: X:137.78, Y:-7.36, Z:-1.85 [[ 9.99967782e-01 7.49388586e-03 2.87675523e-03 1.37775493e+02] [-7.49338104e-03 9.99971907e-01 -1.86221794e-04 -7.36118692e+00] [-2.87806994e-03 1.64659172e-04 9.99995845e-01 -1.84559795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76037174299998 meters Centerline goodness [0,1] 0.9922268252483407 Centerline is valid? [True, True] Translation: X:137.81, Y:-7.36, Z:-1.84 [[ 9.99973719e-01 6.06412268e-03 3.97336310e-03 1.37805394e+02] [-6.06315103e-03 9.99981586e-01 -2.56541241e-04 -7.36401442e+00] [-3.97484563e-03 2.32443398e-04 9.99992073e-01 -1.84488003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79037174299998 meters Centerline goodness [0,1] 0.9914438740360468 Centerline is valid? [True, True] Translation: X:137.84, Y:-7.37, Z:-1.84 [[ 9.99976234e-01 5.35784317e-03 4.33866707e-03 1.37835722e+02] [-5.35668029e-03 9.99985614e-01 -2.79602520e-04 -7.36504760e+00] [-4.34010272e-03 2.56355023e-04 9.99990549e-01 -1.84468994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82037174299998 meters Centerline goodness [0,1] 0.9916766546810494 Centerline is valid? [True, True] Translation: X:137.87, Y:-7.37, Z:-1.85 [[ 9.99978439e-01 4.58274409e-03 4.70326342e-03 1.37865753e+02] [-4.58136976e-03 9.99989460e-01 -3.02938851e-04 -7.37145536e+00] [-4.70460213e-03 2.81384930e-04 9.99988894e-01 -1.84518290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85037174299998 meters Centerline goodness [0,1] 0.9915923510359821 Centerline is valid? [True, True] Translation: X:137.90, Y:-7.38, Z:-1.85 [[ 9.99985259e-01 3.13131860e-03 4.43574908e-03 1.37896654e+02] [-3.13008236e-03 9.99995060e-01 -2.85612897e-04 -7.37637974e+00] [-4.43662151e-03 2.71724427e-04 9.99990121e-01 -1.84608035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88037174299998 meters Centerline goodness [0,1] 0.9913379530916845 Centerline is valid? [True, True] Translation: X:137.93, Y:-7.38, Z:-1.85 [[ 9.99988195e-01 3.14656739e-03 3.70251144e-03 1.37927756e+02] [-3.14570599e-03 9.99995024e-01 -2.38453572e-04 -7.38061262e+00] [-3.70324332e-03 2.26803745e-04 9.99993117e-01 -1.84690635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91037174299998 meters Centerline goodness [0,1] 0.9908108586865063 Centerline is valid? [True, True] Translation: X:137.96, Y:-7.38, Z:-1.85 [[ 9.99990729e-01 1.52272117e-03 4.02781659e-03 1.37958316e+02] [-1.52168719e-03 9.99998808e-01 -2.59761625e-04 -7.38355703e+00] [-4.02820734e-03 2.53630140e-04 9.99991855e-01 -1.84777967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940371743 meters Centerline goodness [0,1] 0.9905580921140121 Centerline is valid? [True, True] Translation: X:137.99, Y:-7.39, Z:-1.85 [[ 9.99996541e-01 1.12550638e-04 2.62769530e-03 1.37989411e+02] [-1.12106327e-04 9.99999979e-01 -1.69234405e-04 -7.38925527e+00] [-2.62771429e-03 1.68939238e-04 9.99996533e-01 -1.84885968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.970371743 meters Centerline goodness [0,1] 0.9912473132575506 Centerline is valid? [True, True] Translation: X:138.02, Y:-7.39, Z:-1.85 [[ 9.99997864e-01 -7.44715576e-04 1.92805705e-03 1.38021107e+02] [ 7.44951834e-04 9.99999715e-01 -1.21821397e-04 -7.39263128e+00] [-1.92796577e-03 1.23257446e-04 9.99998134e-01 -1.84980224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000371743 meters Centerline goodness [0,1] 0.9908954300362415 Centerline is valid? [True, True] Translation: X:138.05, Y:-7.40, Z:-1.85 [[ 9.99998417e-01 -1.25088761e-03 1.26543630e-03 1.38052397e+02] [ 1.25098881e-03 9.99999214e-01 -7.91881369e-05 -7.39803537e+00] [-1.26533625e-03 8.07710582e-05 9.99999196e-01 -1.85116925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.030371743 meters Centerline goodness [0,1] 0.9911923373334801 Centerline is valid? [True, True] Translation: X:138.08, Y:-7.40, Z:-1.85 [[ 9.99997569e-01 -2.11848220e-03 6.10870439e-04 1.38083687e+02] [ 2.11850659e-03 9.99997755e-01 -3.92811320e-05 -7.40263797e+00] [-6.10785852e-04 4.05751696e-05 9.99999813e-01 -1.85305056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060371743 meters Centerline goodness [0,1] 0.9909086906753544 Centerline is valid? [True, True] Translation: X:138.11, Y:-7.41, Z:-1.85 [[ 9.99996843e-01 -2.51190517e-03 7.26201629e-05 1.38114148e+02] [ 2.51190550e-03 9.99996845e-01 -4.49028172e-06 -7.40775287e+00] [-7.26086547e-05 4.67268254e-06 9.99999997e-01 -1.85438495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.090371743 meters Centerline goodness [0,1] 0.9901410318758566 Centerline is valid? [True, True] Translation: X:138.15, Y:-7.41, Z:-1.86 [[ 9.99995553e-01 -2.96792616e-03 -2.92062320e-04 1.38145677e+02] [ 2.96793198e-03 9.99995595e-01 1.94977356e-05 -7.41067375e+00] [ 2.92003166e-04 -2.03644700e-05 9.99999957e-01 -1.85528485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120371743 meters Centerline goodness [0,1] 0.9913252692918948 Centerline is valid? [True, True] Translation: X:138.18, Y:-7.41, Z:-1.86 [[ 9.99995329e-01 -3.02928843e-03 -4.07516042e-04 1.38176881e+02] [ 3.02929970e-03 9.99995411e-01 2.70380603e-05 -7.41206964e+00] [ 4.07432266e-04 -2.82724222e-05 9.99999917e-01 -1.85555712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.150371743 meters Centerline goodness [0,1] 0.9906562554834182 Centerline is valid? [True, True] Translation: X:138.21, Y:-7.42, Z:-1.86 [[ 9.99996268e-01 -2.70659548e-03 3.70610045e-04 1.38206776e+02] [ 2.70660453e-03 9.99996337e-01 -2.39241830e-05 -7.41615305e+00] [-3.70543934e-04 2.49271885e-05 9.99999931e-01 -1.85540214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180371743 meters Centerline goodness [0,1] 0.9906902865715105 Centerline is valid? [True, True] Translation: X:138.24, Y:-7.42, Z:-1.86 [[ 9.99996345e-01 -2.60242277e-03 7.33100304e-04 1.38236553e+02] [ 2.60245834e-03 9.99996612e-01 -4.75727460e-05 -7.42147198e+00] [-7.32974017e-04 4.94804352e-05 9.99999730e-01 -1.85586940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.210371743 meters Centerline goodness [0,1] 0.9916977632537702 Centerline is valid? [True, True] Translation: X:138.27, Y:-7.42, Z:-1.85 [[ 9.99996057e-01 -2.37372710e-03 1.50021669e-03 1.38268331e+02] [ 2.37387587e-03 9.99997178e-01 -9.73956664e-05 -7.41607620e+00] [-1.49998126e-03 1.00956611e-04 9.99998870e-01 -1.85426667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.240371743 meters Centerline goodness [0,1] 0.990822659448039 Centerline is valid? [True, True] Translation: X:138.30, Y:-7.42, Z:-1.85 [[ 9.99996382e-01 -1.78139070e-03 2.01549661e-03 1.38299311e+02] [ 1.78165809e-03 9.99998404e-01 -1.30881214e-04 -7.41956712e+00] [-2.01526024e-03 1.34471666e-04 9.99997960e-01 -1.85405974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27037174299997 meters Centerline goodness [0,1] 0.9912737663479503 Centerline is valid? [True, True] Translation: X:138.33, Y:-7.42, Z:-1.85 [[ 9.99995029e-01 -1.68618546e-03 2.66431861e-03 1.38330935e+02] [ 1.68665394e-03 9.99998563e-01 -1.73596886e-04 -7.42148202e+00] [-2.66402206e-03 1.78089806e-04 9.99996436e-01 -1.85403937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30037174299997 meters Centerline goodness [0,1] 0.9905747632680026 Centerline is valid? [True, True] Translation: X:138.36, Y:-7.43, Z:-1.85 [[ 9.99992868e-01 -2.00843518e-03 3.19837304e-03 1.38361758e+02] [ 2.00911203e-03 9.99997960e-01 -2.08423226e-04 -7.42548654e+00] [-3.19794791e-03 2.14847629e-04 9.99994863e-01 -1.85440368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33037174299997 meters Centerline goodness [0,1] 0.9902675327534955 Centerline is valid? [True, True] Translation: X:138.39, Y:-7.43, Z:-1.86 [[ 9.99988497e-01 -3.02722220e-03 3.72058503e-03 1.38392536e+02] [ 3.02813993e-03 9.99995386e-01 -2.41056208e-04 -7.43096237e+00] [-3.71983813e-03 2.52319887e-04 9.99993050e-01 -1.85518290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36037174299997 meters Centerline goodness [0,1] 0.9912325034608539 Centerline is valid? [True, True] Translation: X:138.42, Y:-7.43, Z:-1.86 [[ 9.99986607e-01 -3.89166075e-03 3.41198368e-03 1.38424723e+02] [ 3.89244477e-03 9.99992400e-01 -2.23172312e-04 -7.43191969e+00] [-3.41108923e-03 2.36450281e-04 9.99994154e-01 -1.85555699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39037174299997 meters Centerline goodness [0,1] 0.9909684224405036 Centerline is valid? [True, True] Translation: X:138.46, Y:-7.43, Z:-1.86 [[ 9.99985903e-01 -4.44314679e-03 2.90723980e-03 1.38456341e+02] [ 4.44371906e-03 9.99990109e-01 -1.90410823e-04 -7.43473998e+00] [-2.90636502e-03 2.03327096e-04 9.99995756e-01 -1.85662163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42037174299998 meters Centerline goodness [0,1] 0.9909684224405036 Centerline is valid? [True, True] Translation: X:138.49, Y:-7.44, Z:-1.86 [[ 9.99986216e-01 -4.37213118e-03 2.90724194e-03 1.38488039e+02] [ 4.37270305e-03 9.99990422e-01 -1.90378580e-04 -7.43688600e+00] [-2.90638174e-03 2.03088462e-04 9.99995756e-01 -1.85705192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45037174299998 meters Centerline goodness [0,1] 0.9905274725274725 Centerline is valid? [True, True] Translation: X:138.52, Y:-7.45, Z:-1.86 [[ 9.99974953e-01 -6.92319620e-03 1.47044876e-03 1.38517088e+02] [ 6.92334479e-03 9.99976029e-01 -9.59842496e-05 -7.44501661e+00] [-1.46974899e-03 1.06162269e-04 9.99998914e-01 -1.85964862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48037174299998 meters Centerline goodness [0,1] 0.9906387665198237 Centerline is valid? [True, True] Translation: X:138.55, Y:-7.44, Z:-1.86 [[ 9.99964515e-01 -8.33881615e-03 1.19667520e-03 1.38549547e+02] [ 8.33891540e-03 9.99965228e-01 -7.79644417e-05 -7.44416299e+00] [-1.19598346e-03 8.79406484e-05 9.99999281e-01 -1.86008389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51037174299998 meters Centerline goodness [0,1] 0.990769026431133 Centerline is valid? [True, True] Translation: X:138.58, Y:-7.45, Z:-1.86 [[ 9.99956346e-01 -9.29723736e-03 9.31082157e-04 1.38581198e+02] [ 9.29729793e-03 9.99956777e-01 -6.07377353e-05 -7.44807142e+00] [-9.30477221e-04 6.93916321e-05 9.99999565e-01 -1.86105983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54037174299998 meters Centerline goodness [0,1] 0.9901729125720469 Centerline is valid? [True, True] Translation: X:138.61, Y:-7.45, Z:-1.86 [[ 9.99941417e-01 -1.07368625e-02 1.37192404e-03 1.38611730e+02] [ 1.07369962e-02 9.99942353e-01 -9.01268226e-05 -7.45390747e+00] [-1.37087727e-03 1.04851886e-04 9.99999055e-01 -1.86192594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57037174299998 meters Centerline goodness [0,1] 0.9900588533515551 Centerline is valid? [True, True] Translation: X:138.64, Y:-7.45, Z:-1.86 [[ 9.99940658e-01 -1.07835254e-02 1.54802571e-03 1.38644371e+02] [ 1.07836952e-02 9.99941849e-01 -1.01393893e-04 -7.45484925e+00] [-1.54684230e-03 1.18081313e-04 9.99998797e-01 -1.86193578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60037174299998 meters Centerline goodness [0,1] 0.9902170320590503 Centerline is valid? [True, True] Translation: X:138.68, Y:-7.46, Z:-1.86 [[ 9.99942058e-01 -1.05295385e-02 2.23833632e-03 1.38675847e+02] [ 1.05298942e-02 9.99944548e-01 -1.47195432e-04 -7.45883981e+00] [-2.23666230e-03 1.70756348e-04 9.99997484e-01 -1.86229365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63037174299998 meters Centerline goodness [0,1] 0.9888869211015674 Centerline is valid? [True, True] Translation: X:138.71, Y:-7.46, Z:-1.86 [[ 9.99948674e-01 -9.67354326e-03 3.01203271e-03 1.38707218e+02] [ 9.67418518e-03 9.99953184e-01 -1.98619709e-04 -7.46268661e+00] [-3.00997034e-03 2.27748477e-04 9.99995444e-01 -1.86191658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66037174299998 meters Centerline goodness [0,1] 0.9891443167305236 Centerline is valid? [True, True] Translation: X:138.74, Y:-7.46, Z:-1.86 [[ 9.99955857e-01 -8.78256661e-03 3.33937797e-03 1.38739960e+02] [ 8.78335129e-03 9.99961401e-01 -2.20382783e-04 -7.46346071e+00] [-3.33731354e-03 2.49703984e-04 9.99994400e-01 -1.86167372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.690371743 meters Centerline goodness [0,1] 0.9913260351372826 Centerline is valid? [True, True] Translation: X:138.77, Y:-7.45, Z:-1.86 [[ 9.99963171e-01 -7.66793475e-03 3.85484965e-03 1.38772656e+02] [ 7.66897446e-03 9.99970560e-01 -2.55007172e-04 -7.45200318e+00] [-3.85278079e-03 2.84560524e-04 9.99992538e-01 -1.85959251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720371743 meters Centerline goodness [0,1] 0.990797274577471 Centerline is valid? [True, True] Translation: X:138.80, Y:-7.45, Z:-1.86 [[ 9.99970554e-01 -5.95974351e-03 4.83457548e-03 1.38802736e+02] [ 5.96136418e-03 9.99982179e-01 -3.20882761e-04 -7.45279798e+00] [-4.83257694e-03 3.49693977e-04 9.99988262e-01 -1.85970348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.750371743 meters Centerline goodness [0,1] 0.9911836842919327 Centerline is valid? [True, True] Translation: X:138.83, Y:-7.45, Z:-1.86 [[ 9.99970623e-01 -5.00751176e-03 5.80323113e-03 1.38834745e+02] [ 5.00982950e-03 9.99987377e-01 -3.84919522e-04 -7.45447385e+00] [-5.80123039e-03 4.13981413e-04 9.99983087e-01 -1.85982179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780371743 meters Centerline goodness [0,1] 0.9905988010706307 Centerline is valid? [True, True] Translation: X:138.87, Y:-7.46, Z:-1.86 [[ 9.99971024e-01 -4.38639983e-03 6.22175907e-03 1.38867134e+02] [ 4.38905518e-03 9.99990283e-01 -4.13195863e-04 -7.45607647e+00] [-6.21988617e-03 4.40491534e-04 9.99980559e-01 -1.85975261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.810371743 meters Centerline goodness [0,1] 0.9909425104083621 Centerline is valid? [True, True] Translation: X:138.90, Y:-7.46, Z:-1.86 [[ 9.99969903e-01 -4.07441289e-03 6.60245452e-03 1.38899710e+02] [ 4.07739990e-03 9.99991591e-01 -4.39010578e-04 -7.45786850e+00] [-6.60061029e-03 4.65918213e-04 9.99978107e-01 -1.85990326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840371743 meters Centerline goodness [0,1] 0.9900188532771432 Centerline is valid? [True, True] Translation: X:138.93, Y:-7.46, Z:-1.86 [[ 9.99970390e-01 -3.76884336e-03 6.70932555e-03 1.38931717e+02] [ 3.77192429e-03 9.99992787e-01 -4.46607254e-04 -7.45972849e+00] [-6.70759396e-03 4.71901098e-04 9.99977392e-01 -1.86015565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.870371743 meters Centerline goodness [0,1] 0.9903839747718137 Centerline is valid? [True, True] Translation: X:138.96, Y:-7.46, Z:-1.86 [[ 9.99972464e-01 -3.84536336e-03 6.34705196e-03 1.38963181e+02] [ 3.84812540e-03 9.99992506e-01 -4.23013126e-04 -7.46162212e+00] [-6.34537776e-03 4.47425730e-04 9.99979768e-01 -1.86105424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900371743 meters Centerline goodness [0,1] 0.990339988008261 Centerline is valid? [True, True] Translation: X:138.99, Y:-7.46, Z:-1.86 [[ 9.99975200e-01 -3.83451594e-03 5.90732133e-03 1.38993916e+02] [ 3.83690658e-03 9.99992562e-01 -3.93410158e-04 -7.46442856e+00] [-5.90576885e-03 4.16066241e-04 9.99982474e-01 -1.86225753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.930371743 meters Centerline goodness [0,1] 0.9901484390601079 Centerline is valid? [True, True] Translation: X:139.03, Y:-7.47, Z:-1.86 [[ 9.99980155e-01 -3.89663077e-03 4.95031529e-03 1.39025807e+02] [ 3.89831444e-03 9.99992347e-01 -3.30509795e-04 -7.46730812e+00] [-4.94898953e-03 3.49801121e-04 9.99987692e-01 -1.86380876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960371743 meters Centerline goodness [0,1] 0.9897277749428705 Centerline is valid? [True, True] Translation: X:139.06, Y:-7.47, Z:-1.87 [[ 9.99983034e-01 -3.85003268e-03 4.37141492e-03 1.39056568e+02] [ 3.85134667e-03 9.99992541e-01 -2.92209270e-04 -7.47082379e+00] [-4.37025730e-03 3.09040147e-04 9.99990403e-01 -1.86585584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99037174299997 meters Centerline goodness [0,1] 0.99002665482008 Centerline is valid? [True, True] Translation: X:139.09, Y:-7.47, Z:-1.87 [[ 9.99985233e-01 -3.86767119e-03 3.81766595e-03 1.39088658e+02] [ 3.86867327e-03 9.99992484e-01 -2.55137292e-04 -7.47233566e+00] [-3.81665047e-03 2.69902827e-04 9.99992680e-01 -1.86669716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02037174299997 meters Centerline goodness [0,1] 0.9895854195874224 Centerline is valid? [True, True] Translation: X:139.12, Y:-7.47, Z:-1.87 [[ 9.99992649e-01 -2.58867995e-03 2.82858629e-03 1.39120020e+02] [ 2.58922537e-03 9.99996630e-01 -1.89180848e-04 -7.47377849e+00] [-2.82808703e-03 1.96503305e-04 9.99995982e-01 -1.86808767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05037174299997 meters Centerline goodness [0,1] 0.9901766862984777 Centerline is valid? [True, True] Translation: X:139.15, Y:-7.47, Z:-1.87 [[ 9.99994925e-01 -1.47775809e-03 2.82255472e-03 1.39151186e+02] [ 1.47829768e-03 9.99998889e-01 -1.89096369e-04 -7.47460004e+00] [-2.82227214e-03 1.93267986e-04 9.99995999e-01 -1.86824550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08037174299997 meters Centerline goodness [0,1] 0.9901410014433218 Centerline is valid? [True, True] Translation: X:139.18, Y:-7.48, Z:-1.87 [[ 9.99995100e-01 -2.39639870e-04 3.12135669e-03 1.39183092e+02] [ 2.40293706e-04 9.99999949e-01 -2.09098552e-04 -7.47642754e+00] [-3.12130642e-03 2.09847569e-04 9.99995107e-01 -1.86875805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11037174299997 meters Centerline goodness [0,1] 0.9901605039959039 Centerline is valid? [True, True] Translation: X:139.21, Y:-7.48, Z:-1.87 [[ 9.99985232e-01 3.58818432e-03 4.08173952e-03 1.39213879e+02] [-3.58709458e-03 9.99993529e-01 -2.74268244e-04 -7.47621870e+00] [-4.08269723e-03 2.59622607e-04 9.99991632e-01 -1.86890612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14037174299997 meters Centerline goodness [0,1] 0.9917550058892816 Centerline is valid? [True, True] Translation: X:139.25, Y:-7.46, Z:-1.87 [[ 9.99975999e-01 4.91212886e-03 4.88594878e-03 1.39245919e+02] [-4.91058356e-03 9.99987889e-01 -3.28219208e-04 -7.46375317e+00] [-4.88750186e-03 3.04218470e-04 9.99988010e-01 -1.86696811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17037174299998 meters Centerline goodness [0,1] 0.9917057659380489 Centerline is valid? [True, True] Translation: X:139.28, Y:-7.47, Z:-1.87 [[ 9.99962693e-01 7.00679209e-03 5.05148885e-03 1.39276089e+02] [-7.00516974e-03 9.99975406e-01 -3.38784546e-04 -7.46575704e+00] [-5.05373840e-03 3.03385370e-04 9.99987184e-01 -1.86758709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20037174299998 meters Centerline goodness [0,1] 0.9911151687895252 Centerline is valid? [True, True] Translation: X:139.31, Y:-7.47, Z:-1.87 [[ 9.99929604e-01 1.08314084e-02 4.84438556e-03 1.39305544e+02] [-1.08299544e-02 9.99941301e-01 -3.26283290e-04 -7.46533363e+00] [-4.84763531e-03 2.73795847e-04 9.99988213e-01 -1.86804932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23037174299998 meters Centerline goodness [0,1] 0.9915902821037643 Centerline is valid? [True, True] Translation: X:139.33, Y:-7.47, Z:-1.87 [[ 9.99912848e-01 1.22676701e-02 4.87869063e-03 1.39334481e+02] [-1.22662126e-02 9.99924713e-01 -3.28551997e-04 -7.46612896e+00] [-4.88235389e-03 2.68680306e-04 9.99988045e-01 -1.86821923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26037174299998 meters Centerline goodness [0,1] 0.9923034021193531 Centerline is valid? [True, True] Translation: X:139.36, Y:-7.46, Z:-1.87 [[ 9.99895961e-01 1.35108394e-02 5.05207481e-03 1.39364183e+02] [-1.35092916e-02 9.99908687e-01 -3.40373588e-04 -7.45988592e+00] [-5.05621223e-03 2.72088224e-04 9.99987180e-01 -1.86740570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29037174299998 meters Centerline goodness [0,1] 0.9914461373964181 Centerline is valid? [True, True] Translation: X:139.39, Y:-7.46, Z:-1.87 [[ 9.99858883e-01 1.58606195e-02 5.53672841e-03 1.39392784e+02] [-1.58587985e-02 9.99874172e-01 -3.72646828e-04 -7.46259035e+00] [-5.54194215e-03 2.84788381e-04 9.99984603e-01 -1.86779885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32037174299998 meters Centerline goodness [0,1] 0.991372984991662 Centerline is valid? [True, True] Translation: X:139.42, Y:-7.46, Z:-1.87 [[ 9.99841686e-01 1.67542155e-02 5.99160796e-03 1.39422148e+02] [-1.67521013e-02 9.99859593e-01 -4.02873684e-04 -7.46247947e+00] [-5.99751652e-03 3.02437880e-04 9.99981969e-01 -1.86784160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35037174299998 meters Centerline goodness [0,1] 0.9919902102569808 Centerline is valid? [True, True] Translation: X:139.45, Y:-7.47, Z:-1.87 [[ 9.99839867e-01 1.69174544e-02 5.83439317e-03 1.39450114e+02] [-1.69154526e-02 9.99856847e-01 -3.92278515e-04 -7.46502632e+00] [-5.84019431e-03 2.93524298e-04 9.99982903e-01 -1.86778205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38037174299998 meters Centerline goodness [0,1] 0.9924164924609705 Centerline is valid? [True, True] Translation: X:139.48, Y:-7.46, Z:-1.87 [[ 9.99833617e-01 1.73606177e-02 5.59880880e-03 1.39478836e+02] [-1.73587845e-02 9.99849254e-01 -3.75852908e-04 -7.46377187e+00] [-5.60448984e-03 2.78601858e-04 9.99984256e-01 -1.86779389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41037174299998 meters Centerline goodness [0,1] 0.991814218346828 Centerline is valid? [True, True] Translation: X:139.51, Y:-7.47, Z:-1.87 [[ 9.99836548e-01 1.71173086e-02 5.82017361e-03 1.39506295e+02] [-1.71153254e-02 9.99853446e-01 -3.90386368e-04 -7.46664934e+00] [-5.82600300e-03 2.90708394e-04 9.99982986e-01 -1.86850801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440371743 meters Centerline goodness [0,1] 0.9923584191061801 Centerline is valid? [True, True] Translation: X:139.54, Y:-7.47, Z:-1.87 [[ 9.99831764e-01 1.73120753e-02 6.06100199e-03 1.39535286e+02] [-1.73099326e-02 9.99850090e-01 -4.05815874e-04 -7.46816831e+00] [-6.06711890e-03 3.00832065e-04 9.99981550e-01 -1.86872851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.470371743 meters Centerline goodness [0,1] 0.9907526786111235 Centerline is valid? [True, True] Translation: X:139.56, Y:-7.47, Z:-1.87 [[ 9.99839102e-01 1.66621210e-02 6.64410193e-03 1.39563049e+02] [-1.66595349e-02 9.99861122e-01 -4.44402523e-04 -7.47224732e+00] [-6.65058389e-03 3.33643372e-04 9.99977829e-01 -1.86963792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500371743 meters Centerline goodness [0,1] 0.9911989483300283 Centerline is valid? [True, True] Translation: X:139.59, Y:-7.47, Z:-1.87 [[ 9.99842543e-01 1.62727759e-02 7.07708577e-03 1.39591769e+02] [-1.62698378e-02 9.99867526e-01 -4.72537207e-04 -7.47438476e+00] [-7.08383773e-03 3.57319765e-04 9.99974845e-01 -1.86996836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.530371743 meters Centerline goodness [0,1] 0.9904956475395275 Centerline is valid? [True, True] Translation: X:139.62, Y:-7.48, Z:-1.87 [[ 9.99847718e-01 1.58991854e-02 7.19420660e-03 1.39619721e+02] [-1.58961426e-02 9.99873533e-01 -4.79939849e-04 -7.47820683e+00] [-7.20092742e-03 3.65506628e-04 9.99974006e-01 -1.87060476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560371743 meters Centerline goodness [0,1] 0.9910934073311551 Centerline is valid? [True, True] Translation: X:139.65, Y:-7.48, Z:-1.87 [[ 9.99873479e-01 1.41055510e-02 7.35255897e-03 1.39647979e+02] [-1.41023310e-02 9.99900437e-01 -4.89609987e-04 -7.48145903e+00] [-7.35873315e-03 3.85859821e-04 9.99972850e-01 -1.87041653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.590371743 meters Centerline goodness [0,1] 0.9912525383259322 Centerline is valid? [True, True] Translation: X:139.68, Y:-7.48, Z:-1.87 [[ 9.99891935e-01 1.28969967e-02 7.05597305e-03 1.39677440e+02] [-1.28940034e-02 9.99916759e-01 -4.69544644e-04 -7.47685630e+00] [-7.06144142e-03 3.78514162e-04 9.99974996e-01 -1.87015862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620371743 meters Centerline goodness [0,1] 0.9900737759892689 Centerline is valid? [True, True] Translation: X:139.71, Y:-7.49, Z:-1.87 [[ 9.99911126e-01 1.14776672e-02 6.78256761e-03 1.39705488e+02] [-1.14748712e-02 9.99934060e-01 -4.51006173e-04 -7.48819609e+00] [-6.78729686e-03 3.73137001e-04 9.99976896e-01 -1.87209784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.650371743 meters Centerline goodness [0,1] 0.9900411780503089 Centerline is valid? [True, True] Translation: X:139.74, Y:-7.49, Z:-1.87 [[ 9.99942364e-01 9.10893943e-03 5.68292744e-03 1.39735570e+02] [-9.10694120e-03 9.99958460e-01 -3.77397941e-04 -7.49156183e+00] [-5.68612906e-03 3.25622103e-04 9.99983781e-01 -1.87398561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680371743 meters Centerline goodness [0,1] 0.9900713343321631 Centerline is valid? [True, True] Translation: X:139.77, Y:-7.49, Z:-1.88 [[ 9.99955335e-01 7.96000977e-03 5.09576581e-03 1.39765510e+02] [-7.95838859e-03 9.99968274e-01 -3.38341461e-04 -7.49448290e+00] [-5.09829735e-03 2.97772265e-04 9.99986959e-01 -1.87506099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.710371743 meters Centerline goodness [0,1] 0.9890358744394618 Centerline is valid? [True, True] Translation: X:139.80, Y:-7.50, Z:-1.88 [[ 9.99963028e-01 7.06027322e-03 4.90859702e-03 1.39796195e+02] [-7.05875923e-03 9.99975034e-01 -3.25693558e-04 -7.49720019e+00] [-4.91077396e-03 2.91032912e-04 9.99987900e-01 -1.87569901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74037174299997 meters Centerline goodness [0,1] 0.9890112359550561 Centerline is valid? [True, True] Translation: X:139.83, Y:-7.50, Z:-1.88 [[ 9.99973200e-01 6.14919873e-03 3.97335921e-03 1.39825453e+02] [-6.14819890e-03 9.99981065e-01 -2.63799456e-04 -7.49871178e+00] [-3.97490613e-03 2.39363383e-04 9.99992071e-01 -1.87625954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77037174299997 meters Centerline goodness [0,1] 0.988826690047436 Centerline is valid? [True, True] Translation: X:139.86, Y:-7.49, Z:-1.88 [[ 9.99974305e-01 6.17273180e-03 3.64513336e-03 1.39856436e+02] [-6.17189125e-03 9.99980924e-01 -2.41799369e-04 -7.49168569e+00] [-3.64655639e-03 2.19295789e-04 9.99993327e-01 -1.87568629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80037174299997 meters Centerline goodness [0,1] 0.9895199838423734 Centerline is valid? [True, True] Translation: X:139.89, Y:-7.50, Z:-1.88 [[ 9.99968773e-01 6.97602328e-03 3.71327205e-03 1.39885509e+02] [-6.97515761e-03 9.99975643e-01 -2.46025948e-04 -7.50103476e+00] [-3.71489789e-03 2.20117607e-04 9.99993076e-01 -1.87739363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83037174299997 meters Centerline goodness [0,1] 0.9901417960837272 Centerline is valid? [True, True] Translation: X:139.92, Y:-7.49, Z:-1.88 [[ 9.99952183e-01 8.40298069e-03 5.00222338e-03 1.39916181e+02] [-8.40142406e-03 9.99964652e-01 -3.32120771e-04 -7.49296503e+00] [-5.00483737e-03 2.90079090e-04 9.99987434e-01 -1.87623159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86037174299997 meters Centerline goodness [0,1] 0.9911214007957023 Centerline is valid? [True, True] Translation: X:139.95, Y:-7.49, Z:-1.88 [[ 9.99941674e-01 9.29746311e-03 5.49599732e-03 1.39945945e+02] [-9.29559733e-03 9.99956728e-01 -3.64927597e-04 -7.49282372e+00] [-5.49915240e-03 3.13817734e-04 9.99984830e-01 -1.87604214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89037174299997 meters Centerline goodness [0,1] 0.9914607147698008 Centerline is valid? [True, True] Translation: X:139.98, Y:-7.49, Z:-1.87 [[ 9.99919448e-01 1.12643686e-02 5.84903170e-03 1.39975902e+02] [-1.12622903e-02 9.99936503e-01 -3.88137981e-04 -7.48913821e+00] [-5.85303244e-03 3.22233223e-04 9.99982819e-01 -1.87488938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92037174299998 meters Centerline goodness [0,1] 0.9908430691506157 Centerline is valid? [True, True] Translation: X:140.00, Y:-7.49, Z:-1.88 [[ 9.99920112e-01 1.11260100e-02 5.99844693e-03 1.40004425e+02] [-1.11238214e-02 9.99938049e-01 -3.98097667e-04 -7.48835389e+00] [-6.00250456e-03 3.31340212e-04 9.99981930e-01 -1.87525122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95037174299998 meters Centerline goodness [0,1] 0.9912773706218245 Centerline is valid? [True, True] Translation: X:140.03, Y:-7.49, Z:-1.88 [[ 9.99919383e-01 1.15308922e-02 5.31653276e-03 1.40033145e+02] [-1.15291809e-02 9.99933475e-01 -3.52414163e-04 -7.49024149e+00] [-5.32024273e-03 2.91090485e-04 9.99985805e-01 -1.87617894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98037174299998 meters Centerline goodness [0,1] 0.9905781584582442 Centerline is valid? [True, True] Translation: X:140.06, Y:-7.49, Z:-1.88 [[ 9.99923364e-01 1.14693072e-02 4.66062068e-03 1.40061768e+02] [-1.14679922e-02 9.99934193e-01 -3.08767661e-04 -7.49275699e+00] [-4.66385533e-03 2.55296036e-04 9.99989092e-01 -1.87738683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01037174299998 meters Centerline goodness [0,1] 0.9905530629269722 Centerline is valid? [True, True] Translation: X:140.09, Y:-7.49, Z:-1.88 [[ 9.99939889e-01 1.05352186e-02 3.03765427e-03 1.40091370e+02] [-1.05346560e-02 9.99944489e-01 -2.01158577e-04 -7.49171065e+00] [-3.03960489e-03 1.69145842e-04 9.99995366e-01 -1.87865334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04037174299998 meters Centerline goodness [0,1] 0.9910885504794135 Centerline is valid? [True, True] Translation: X:140.12, Y:-7.49, Z:-1.88 [[ 9.99949085e-01 9.71218662e-03 2.73882371e-03 1.40118961e+02] [-9.71172471e-03 9.99952824e-01 -1.81903570e-04 -7.49413624e+00] [-2.74046118e-03 1.55295606e-04 9.99996233e-01 -1.87935301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07037174299998 meters Centerline goodness [0,1] 0.9918224825411128 Centerline is valid? [True, True] Translation: X:140.15, Y:-7.50, Z:-1.88 [[ 9.99957650e-01 8.86755164e-03 2.46280709e-03 1.40146960e+02] [-8.86717635e-03 9.99960672e-01 -1.63260615e-04 -7.49688566e+00] [-2.46415796e-03 1.41415556e-04 9.99996954e-01 -1.87973105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10037174299998 meters Centerline goodness [0,1] 0.9918767064557619 Centerline is valid? [True, True] Translation: X:140.18, Y:-7.50, Z:-1.88 [[ 9.99967567e-01 7.90228527e-03 1.55515071e-03 1.40176932e+02] [-7.90213474e-03 9.99968772e-01 -1.02913174e-04 -7.49594289e+00] [-1.55591540e-03 9.06208253e-05 9.99998785e-01 -1.87997032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13037174299998 meters Centerline goodness [0,1] 0.9918326828057668 Centerline is valid? [True, True] Translation: X:140.21, Y:-7.50, Z:-1.88 [[ 9.99968986e-01 7.72245701e-03 1.54625165e-03 1.40205754e+02] [-7.72230739e-03 9.99970177e-01 -1.02707464e-04 -7.49703330e+00] [-1.54699869e-03 9.07636476e-05 9.99998799e-01 -1.88043002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16037174299998 meters Centerline goodness [0,1] 0.9910363513208399 Centerline is valid? [True, True] Translation: X:140.23, Y:-7.50, Z:-1.88 [[ 9.99969689e-01 7.55798279e-03 1.87016318e-03 1.40233526e+02] [-7.55776390e-03 9.99971432e-01 -1.24082951e-04 -7.50068785e+00] [-1.87104757e-03 1.09944938e-04 9.99998244e-01 -1.88107590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.190371743 meters Centerline goodness [0,1] 0.9910462572453145 Centerline is valid? [True, True] Translation: X:140.26, Y:-7.50, Z:-1.88 [[ 9.99961869e-01 8.21387133e-03 2.96535860e-03 1.40262512e+02] [-8.21332735e-03 9.99966251e-01 -1.95575748e-04 -7.49955464e+00] [-2.96686495e-03 1.71212830e-04 9.99995584e-01 -1.87971050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220371743 meters Centerline goodness [0,1] 0.990543096460416 Centerline is valid? [True, True] Translation: X:140.29, Y:-7.50, Z:-1.88 [[ 9.99955322e-01 8.80622724e-03 3.43584890e-03 1.40291102e+02] [-8.80550183e-03 9.99961205e-01 -2.26201805e-04 -7.50052368e+00] [-3.43770759e-03 1.95937325e-04 9.99994072e-01 -1.87952258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.250371743 meters Centerline goodness [0,1] 0.9903804900079034 Centerline is valid? [True, True] Translation: X:140.32, Y:-7.50, Z:-1.88 [[ 9.99946715e-01 9.72450452e-03 3.46438758e-03 1.40319519e+02] [-9.72377498e-03 9.99952697e-01 -2.27364947e-04 -7.50232744e+00] [-3.46643472e-03 1.93665906e-04 9.99993973e-01 -1.87967635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280371743 meters Centerline goodness [0,1] 0.9890700550995165 Centerline is valid? [True, True] Translation: X:140.35, Y:-7.50, Z:-1.88 [[ 9.99932192e-01 1.11514935e-02 3.35488493e-03 1.40348103e+02] [-1.11508167e-02 9.99937803e-01 -2.20376835e-04 -7.50212780e+00] [-3.35713380e-03 1.82952185e-04 9.99994348e-01 -1.87920947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.310371743 meters Centerline goodness [0,1] 0.9890700550995165 Centerline is valid? [True, True] Translation: X:140.38, Y:-7.50, Z:-1.88 [[ 9.99932968e-01 1.10816915e-02 3.35488490e-03 1.40376391e+02] [-1.10810143e-02 9.99938579e-01 -2.20377683e-04 -7.50391733e+00] [-3.35712100e-03 1.83187383e-04 9.99994348e-01 -1.87959382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340371743 meters Centerline goodness [0,1] 0.9905937020662275 Centerline is valid? [True, True] Translation: X:140.41, Y:-7.50, Z:-1.88 [[ 9.99931216e-01 1.11944893e-02 3.49946321e-03 1.40405825e+02] [-1.11937541e-02 9.99937322e-01 -2.29609793e-04 -7.50162135e+00] [-3.50181424e-03 1.90421869e-04 9.99993850e-01 -1.87904945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.370371743 meters Centerline goodness [0,1] 0.9908559300986657 Centerline is valid? [True, True] Translation: X:140.43, Y:-7.50, Z:-1.88 [[ 9.99930579e-01 1.14408873e-02 2.81838247e-03 1.40434939e+02] [-1.14404114e-02 9.99934539e-01 -1.84920555e-04 -7.50128543e+00] [-2.82031363e-03 1.52664263e-04 9.99996011e-01 -1.87935989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400371743 meters Centerline goodness [0,1] 0.9898030703836849 Centerline is valid? [True, True] Translation: X:140.46, Y:-7.50, Z:-1.88 [[ 9.99932124e-01 1.15483770e-02 1.54319979e-03 1.40462693e+02] [-1.15482336e-02 9.99933312e-01 -1.01799774e-04 -7.50476446e+00] [-1.54427250e-03 8.39716322e-05 9.99998804e-01 -1.88143736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.430371743 meters Centerline goodness [0,1] 0.9910413320362871 Centerline is valid? [True, True] Translation: X:140.49, Y:-7.51, Z:-1.88 [[ 9.99934282e-01 1.13786082e-02 1.39965490e-03 1.40491194e+02] [-1.13784905e-02 9.99935259e-01 -9.20850703e-05 -7.50675574e+00] [-1.40061208e-03 7.61530588e-05 9.99999016e-01 -1.88204069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460371743 meters Centerline goodness [0,1] 0.9905681664335033 Centerline is valid? [True, True] Translation: X:140.52, Y:-7.51, Z:-1.88 [[ 9.99933113e-01 1.14980996e-02 1.25013825e-03 1.40519795e+02] [-1.14980057e-02 9.99933892e-01 -8.22592566e-05 -7.50796267e+00] [-1.25100143e-03 6.78796577e-05 9.99999215e-01 -1.88247077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49037174299997 meters Centerline goodness [0,1] 0.9900033925138527 Centerline is valid? [True, True] Translation: X:140.55, Y:-7.51, Z:-1.88 [[ 9.99929462e-01 1.18099827e-02 1.26285109e-03 1.40547597e+02] [-1.18098870e-02 9.99930257e-01 -8.32069486e-05 -7.51047112e+00] [-1.26374569e-03 6.82869507e-05 9.99999199e-01 -1.88238130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52037174299997 meters Centerline goodness [0,1] 0.9898891872982916 Centerline is valid? [True, True] Translation: X:140.58, Y:-7.51, Z:-1.88 [[ 9.99923429e-01 1.21986174e-02 2.08062075e-03 1.40576257e+02] [-1.21983609e-02 9.99925588e-01 -1.35924224e-04 -7.51066979e+00] [-2.08212401e-03 1.10533654e-04 9.99997826e-01 -1.88177140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55037174299997 meters Centerline goodness [0,1] 0.9908254807583666 Centerline is valid? [True, True] Translation: X:140.61, Y:-7.51, Z:-1.88 [[ 9.99899877e-01 1.37042986e-02 3.52523734e-03 1.40605758e+02] [-1.37035754e-02 9.99906075e-01 -2.29213479e-04 -7.50885348e+00] [-3.52804745e-03 1.80882174e-04 9.99993760e-01 -1.88016326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58037174299997 meters Centerline goodness [0,1] 0.991246230703452 Centerline is valid? [True, True] Translation: X:140.63, Y:-7.51, Z:-1.88 [[ 9.99882620e-01 1.47799193e-02 4.03734697e-03 1.40634633e+02] [-1.47789801e-02 9.99890750e-01 -2.62351390e-04 -7.51055788e+00] [-4.04078342e-03 2.02652725e-04 9.99991815e-01 -1.88020376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61037174299997 meters Centerline goodness [0,1] 0.9904693075568002 Centerline is valid? [True, True] Translation: X:140.66, Y:-7.51, Z:-1.88 [[ 9.99868294e-01 1.56861793e-02 4.16394898e-03 1.40662614e+02] [-1.56851889e-02 9.99876943e-01 -2.70410193e-04 -7.51252903e+00] [-4.16767829e-03 2.05062252e-04 9.99991294e-01 -1.88063553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64037174299997 meters Centerline goodness [0,1] 0.9905948316791391 Centerline is valid? [True, True] Translation: X:140.69, Y:-7.51, Z:-1.88 [[ 9.99852249e-01 1.66328299e-02 4.33915044e-03 1.40691328e+02] [-1.66317659e-02 9.99861643e-01 -2.81179853e-04 -7.51227718e+00] [-4.34322690e-03 2.08970574e-04 9.99990546e-01 -1.88077643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67037174299998 meters Centerline goodness [0,1] 0.9899664794346802 Centerline is valid? [True, True] Translation: X:140.72, Y:-7.51, Z:-1.88 [[ 9.99807558e-01 1.90817037e-02 4.55359724e-03 1.40720784e+02] [-1.90805604e-02 9.99817906e-01 -2.94382530e-04 -7.51270425e+00] [-4.55838538e-03 2.07440692e-04 9.99989589e-01 -1.88165903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70037174299998 meters Centerline goodness [0,1] 0.9901227855557065 Centerline is valid? [True, True] Translation: X:140.75, Y:-7.51, Z:-1.88 [[ 9.99801599e-01 1.93248840e-02 4.82829298e-03 1.40749874e+02] [-1.93236009e-02 9.99813233e-01 -3.12273799e-04 -7.51053820e+00] [-4.83342587e-03 2.18911837e-04 9.99988295e-01 -1.88155614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73037174299998 meters Centerline goodness [0,1] 0.9892419541141032 Centerline is valid? [True, True] Translation: X:140.78, Y:-7.52, Z:-1.88 [[ 9.99782775e-01 2.02494663e-02 4.93582823e-03 1.40777684e+02] [-2.02481385e-02 9.99794935e-01 -3.18837948e-04 -7.51768213e+00] [-4.94127236e-03 2.18827354e-04 9.99987768e-01 -1.88352529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76037174299998 meters Centerline goodness [0,1] 0.9891353553644183 Centerline is valid? [True, True] Translation: X:140.81, Y:-7.51, Z:-1.88 [[ 9.99750509e-01 2.18631340e-02 4.57428454e-03 1.40806731e+02] [-2.18620117e-02 9.99760954e-01 -2.95211787e-04 -7.51399679e+00] [-4.57964533e-03 1.95135073e-04 9.99989494e-01 -1.88411955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79037174299998 meters Centerline goodness [0,1] 0.9901991923408503 Centerline is valid? [True, True] Translation: X:140.84, Y:-7.52, Z:-1.89 [[ 9.99744144e-01 2.22044589e-02 4.31365914e-03 1.40835442e+02] [-2.22034651e-02 9.99753434e-01 -2.78132376e-04 -7.51629737e+00] [-4.31877131e-03 1.82283034e-04 9.99990657e-01 -1.88555920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82037174299998 meters Centerline goodness [0,1] 0.9902853122091836 Centerline is valid? [True, True] Translation: X:140.86, Y:-7.52, Z:-1.89 [[ 9.99735193e-01 2.27439099e-02 3.50131681e-03 1.40864725e+02] [-2.27432593e-02 9.99741313e-01 -2.25513346e-04 -7.51732235e+00] [-3.50554013e-03 1.45822272e-04 9.99993845e-01 -1.88745893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85037174299998 meters Centerline goodness [0,1] 0.9898028552005439 Centerline is valid? [True, True] Translation: X:140.89, Y:-7.52, Z:-1.89 [[ 9.99729421e-01 2.30297246e-02 3.27365209e-03 1.40892840e+02] [-2.30291566e-02 9.99734772e-01 -2.11083523e-04 -7.52009643e+00] [-3.27764502e-03 1.35636962e-04 9.99994619e-01 -1.88870586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88037174299998 meters Centerline goodness [0,1] 0.9904143194621116 Centerline is valid? [True, True] Translation: X:140.92, Y:-7.52, Z:-1.89 [[ 9.99751212e-01 2.20265774e-02 3.51339163e-03 1.40921632e+02] [-2.20259191e-02 9.99757374e-01 -2.25965369e-04 -7.52091606e+00] [-3.51751643e-03 1.48523472e-04 9.99993802e-01 -1.88875325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91037174299998 meters Centerline goodness [0,1] 0.9894226631333378 Centerline is valid? [True, True] Translation: X:140.95, Y:-7.52, Z:-1.89 [[ 9.99781138e-01 2.07111283e-02 2.95392957e-03 1.40949125e+02] [-2.07106568e-02 9.99785493e-01 -1.90111424e-04 -7.52415728e+00] [-2.95723336e-03 1.28891994e-04 9.99995619e-01 -1.88932787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940371743 meters Centerline goodness [0,1] 0.9899920571882447 Centerline is valid? [True, True] Translation: X:140.98, Y:-7.53, Z:-1.89 [[ 9.99802803e-01 1.96653142e-02 2.76220763e-03 1.40977869e+02] [-1.96648990e-02 9.99806611e-01 -1.77396464e-04 -7.52736510e+00] [-2.76516200e-03 1.23042948e-04 9.99996169e-01 -1.88990284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.970371743 meters Centerline goodness [0,1] 0.9897492758870384 Centerline is valid? [True, True] Translation: X:141.01, Y:-7.53, Z:-1.89 [[ 9.99821404e-01 1.86819212e-02 2.85413721e-03 1.41006715e+02] [-1.86814746e-02 9.99825469e-01 -1.83067372e-04 -7.53002739e+00] [-2.85705913e-03 1.29715185e-04 9.99995910e-01 -1.89055471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000371743 meters Centerline goodness [0,1] 0.989964433772059 Centerline is valid? [True, True] Translation: X:141.04, Y:-7.53, Z:-1.89 [[ 9.99842159e-01 1.75432777e-02 2.80891122e-03 1.41035754e+02] [-1.75428411e-02 9.99846096e-01 -1.79980972e-04 -7.53362708e+00] [-2.81163638e-03 1.30676280e-04 9.99996039e-01 -1.89122883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.030371743 meters Centerline goodness [0,1] 0.989655718780416 Centerline is valid? [True, True] Translation: X:141.06, Y:-7.53, Z:-1.89 [[ 9.99885753e-01 1.49488460e-02 2.23878325e-03 1.41064955e+02] [-1.49485625e-02 9.99888254e-01 -1.43308407e-04 -7.53490321e+00] [-2.24067537e-03 1.09825444e-04 9.99997484e-01 -1.89128509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060371743 meters Centerline goodness [0,1] 0.9893977755674112 Centerline is valid? [True, True] Translation: X:141.09, Y:-7.54, Z:-1.89 [[ 9.99925097e-01 1.19001537e-02 2.86116239e-03 1.41094218e+02] [-1.18996789e-02 9.99929180e-01 -1.82905519e-04 -7.53784656e+00] [-2.86313636e-03 1.48844905e-04 9.99995890e-01 -1.89158658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.090371743 meters Centerline goodness [0,1] 0.9896582937316135 Centerline is valid? [True, True] Translation: X:141.12, Y:-7.55, Z:-1.89 [[ 9.99967902e-01 7.25635196e-03 3.39711869e-03 1.41123055e+02] [-7.25565898e-03 9.99973654e-01 -2.16271003e-04 -7.54707477e+00] [-3.39859852e-03 1.91615727e-04 9.99994206e-01 -1.89240913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120371743 meters Centerline goodness [0,1] 0.989466784204697 Centerline is valid? [True, True] Translation: X:141.15, Y:-7.55, Z:-1.89 [[ 9.99982269e-01 4.64562413e-03 3.72546645e-03 1.41152728e+02] [-4.64477324e-03 9.99989185e-01 -2.37019013e-04 -7.55020503e+00] [-3.72652726e-03 2.19710864e-04 9.99993032e-01 -1.89281415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.150371743 meters Centerline goodness [0,1] 0.989022654891243 Centerline is valid? [True, True] Translation: X:141.18, Y:-7.55, Z:-1.89 [[ 9.99989268e-01 2.56181786e-03 3.86014646e-03 1.41183146e+02] [-2.56088927e-03 9.99996691e-01 -2.45483045e-04 -7.55357918e+00] [-3.86076257e-03 2.35595003e-04 9.99992519e-01 -1.89367465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180371743 meters Centerline goodness [0,1] 0.9881071040231968 Centerline is valid? [True, True] Translation: X:141.21, Y:-7.57, Z:-1.90 [[ 9.99993944e-01 -2.82604434e-04 3.46866426e-03 1.41212654e+02] [ 2.83368681e-04 9.99999936e-01 -2.19839420e-04 -7.56591923e+00] [-3.46860191e-03 2.20821000e-04 9.99993960e-01 -1.89597367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.210371743 meters Centerline goodness [0,1] 0.9889054591467824 Centerline is valid? [True, True] Translation: X:141.24, Y:-7.56, Z:-1.90 [[ 9.99990649e-01 -1.52032954e-03 4.04861885e-03 1.41244900e+02] [ 1.52137679e-03 9.99998810e-01 -2.55601295e-04 -7.56065027e+00] [-4.04822544e-03 2.61758379e-04 9.99991772e-01 -1.89530862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24037174299997 meters Centerline goodness [0,1] 0.98906547133931 Centerline is valid? [True, True] Translation: X:141.28, Y:-7.56, Z:-1.90 [[ 9.99991124e-01 -1.69669907e-03 3.85658309e-03 1.41276699e+02] [ 1.69765934e-03 9.99998529e-01 -2.45735590e-04 -7.56121558e+00] [-3.85616048e-03 2.52280573e-04 9.99992533e-01 -1.89515251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27037174299997 meters Centerline goodness [0,1] 0.9879077998094288 Centerline is valid? [True, True] Translation: X:141.31, Y:-7.57, Z:-1.90 [[ 9.99991757e-01 -7.99870591e-04 3.98069260e-03 1.41307652e+02] [ 8.00888532e-04 9.99999647e-01 -2.54132067e-04 -7.56515296e+00] [-3.98048792e-03 2.57318063e-04 9.99992045e-01 -1.89653957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30037174299997 meters Centerline goodness [0,1] 0.9882611553017427 Centerline is valid? [True, True] Translation: X:141.34, Y:-7.57, Z:-1.90 [[ 9.99991090e-01 5.45798618e-04 4.18591432e-03 1.41338672e+02] [-5.44682940e-04 9.99999816e-01 -2.67666955e-04 -7.56566155e+00] [-4.18605964e-03 2.65384574e-04 9.99991203e-01 -1.89700025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33037174299997 meters Centerline goodness [0,1] 0.9891574992077504 Centerline is valid? [True, True] Translation: X:141.37, Y:-7.57, Z:-1.90 [[ 9.99989900e-01 1.42717557e-03 4.26184895e-03 1.41370791e+02] [-1.42602775e-03 9.99998946e-01 -2.72351788e-04 -7.56506163e+00] [-4.26223315e-03 2.66271523e-04 9.99990881e-01 -1.89683781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36037174299997 meters Centerline goodness [0,1] 0.9883108367812974 Centerline is valid? [True, True] Translation: X:141.40, Y:-7.56, Z:-1.90 [[ 9.99985000e-01 2.79892489e-03 4.70798770e-03 1.41402122e+02] [-2.79753586e-03 9.99996041e-01 -3.01596632e-04 -7.56424757e+00] [-4.70881321e-03 2.88421344e-04 9.99988872e-01 -1.89690352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39037174299997 meters Centerline goodness [0,1] 0.9882382325560274 Centerline is valid? [True, True] Translation: X:141.43, Y:-7.57, Z:-1.90 [[ 9.99970955e-01 5.17241570e-03 5.59772851e-03 1.41432395e+02] [-5.17048667e-03 9.99986568e-01 -3.59025517e-04 -7.56761273e+00] [-5.59951035e-03 3.30072109e-04 9.99984268e-01 -1.89655692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42037174299998 meters Centerline goodness [0,1] 0.9888552310335473 Centerline is valid? [True, True] Translation: X:141.46, Y:-7.56, Z:-1.90 [[ 9.99955373e-01 7.05469013e-03 6.28359217e-03 1.41463762e+02] [-7.05229556e-03 9.99975051e-01 -4.03158527e-04 -7.56402531e+00] [-6.28627956e-03 3.58826786e-04 9.99980177e-01 -1.89590352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45037174299998 meters Centerline goodness [0,1] 0.9896965708190545 Centerline is valid? [True, True] Translation: X:141.49, Y:-7.56, Z:-1.90 [[ 9.99939439e-01 8.88382567e-03 6.49580078e-03 1.41494495e+02] [-8.88130352e-03 9.99960473e-01 -4.17017683e-04 -7.56159828e+00] [-6.49924874e-03 3.59301250e-04 9.99978815e-01 -1.89539055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48037174299998 meters Centerline goodness [0,1] 0.9890327424969851 Centerline is valid? [True, True] Translation: X:141.52, Y:-7.56, Z:-1.90 [[ 9.99899668e-01 1.19928225e-02 7.53834657e-03 1.41523923e+02] [-1.19895128e-02 9.99928006e-01 -4.84087440e-04 -7.56364283e+00] [-7.54360943e-03 3.93657767e-04 9.99971469e-01 -1.89549428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51037174299998 meters Centerline goodness [0,1] 0.988574413956024 Centerline is valid? [True, True] Translation: X:141.55, Y:-7.56, Z:-1.90 [[ 9.99880712e-01 1.33251371e-02 7.81045357e-03 1.41553109e+02] [-1.33216250e-02 9.99911137e-01 -5.01525274e-04 -7.56421556e+00] [-7.81644240e-03 3.97417514e-04 9.99969372e-01 -1.89551115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54037174299998 meters Centerline goodness [0,1] 0.9890661938534279 Centerline is valid? [True, True] Translation: X:141.58, Y:-7.56, Z:-1.90 [[ 9.99858483e-01 1.53610412e-02 6.85950172e-03 1.41581766e+02] [-1.53583819e-02 9.99881956e-01 -4.40193493e-04 -7.56445024e+00] [-6.86545383e-03 3.34780351e-04 9.99976376e-01 -1.89637840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57037174299998 meters Centerline goodness [0,1] 0.9894643627528894 Centerline is valid? [True, True] Translation: X:141.61, Y:-7.56, Z:-1.90 [[ 9.99857368e-01 1.56819655e-02 6.27058817e-03 1.41611296e+02] [-1.56797511e-02 9.99876984e-01 -4.02153073e-04 -7.56195157e+00] [-6.27612334e-03 3.03774451e-04 9.99980259e-01 -1.89724500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60037174299998 meters Centerline goodness [0,1] 0.9899233995987599 Centerline is valid? [True, True] Translation: X:141.64, Y:-7.56, Z:-1.90 [[ 9.99872870e-01 1.51471807e-02 4.98070384e-03 1.41639991e+02] [-1.51457768e-02 9.99885245e-01 -3.19475260e-04 -7.56156209e+00] [-4.98497143e-03 2.43998016e-04 9.99987545e-01 -1.89919575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63037174299998 meters Centerline goodness [0,1] 0.9898538498369776 Centerline is valid? [True, True] Translation: X:141.67, Y:-7.56, Z:-1.90 [[ 9.99893189e-01 1.41651896e-02 3.59974109e-03 1.41667490e+02] [-1.41644492e-02 9.99899652e-01 -2.31076805e-04 -7.56487835e+00] [-3.60265311e-03 1.80063773e-04 9.99993494e-01 -1.90090867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66037174299998 meters Centerline goodness [0,1] 0.9908032861706983 Centerline is valid? [True, True] Translation: X:141.70, Y:-7.57, Z:-1.90 [[ 9.99930226e-01 1.16152336e-02 2.15168221e-03 1.41697254e+02] [-1.16149638e-02 9.99932535e-01 -1.37812793e-04 -7.56636548e+00] [-2.15313777e-03 1.12811466e-04 9.99997676e-01 -1.90313686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.690371743 meters Centerline goodness [0,1] 0.9915182551839236 Centerline is valid? [True, True] Translation: X:141.73, Y:-7.57, Z:-1.90 [[ 9.99943496e-01 1.04034369e-02 2.18457644e-03 1.41726409e+02] [-1.04031552e-02 9.99945876e-01 -1.40255721e-04 -7.56657360e+00] [-2.18591734e-03 1.17521308e-04 9.99997604e-01 -1.90332857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720371743 meters Centerline goodness [0,1] 0.9916798098242245 Centerline is valid? [True, True] Translation: X:141.75, Y:-7.57, Z:-1.90 [[ 9.99961730e-01 8.62300187e-03 1.47726454e-03 1.41754488e+02] [-8.62287157e-03 9.99962818e-01 -9.45534139e-05 -7.56788790e+00] [-1.47802495e-03 8.18115330e-05 9.99998904e-01 -1.90401746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.750371743 meters Centerline goodness [0,1] 0.9901062492859591 Centerline is valid? [True, True] Translation: X:141.78, Y:-7.58, Z:-1.91 [[ 9.99968014e-01 7.85604941e-03 1.50136537e-03 1.41781874e+02] [-7.85591299e-03 9.99969137e-01 -9.67455222e-05 -7.57520671e+00] [-1.50207907e-03 8.49478319e-05 9.99998868e-01 -1.90586164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780371743 meters Centerline goodness [0,1] 0.9910653078012888 Centerline is valid? [True, True] Translation: X:141.81, Y:-7.57, Z:-1.90 [[ 9.99972124e-01 7.27506113e-03 1.68075684e-03 1.41810720e+02] [-7.27489018e-03 9.99973532e-01 -1.07800346e-04 -7.57129632e+00] [-1.68149661e-03 9.55700193e-05 9.99998582e-01 -1.90494102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.810371743 meters Centerline goodness [0,1] 0.9910751064121928 Centerline is valid? [True, True] Translation: X:141.84, Y:-7.57, Z:-1.90 [[ 9.99953843e-01 9.32367246e-03 2.31965201e-03 1.41840039e+02] [-9.32335454e-03 9.99956526e-01 -1.47831580e-04 -7.57158276e+00] [-2.32092950e-03 1.26197818e-04 9.99997299e-01 -1.90488022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840371743 meters Centerline goodness [0,1] 0.9903855000460023 Centerline is valid? [True, True] Translation: X:141.87, Y:-7.57, Z:-1.90 [[ 9.99941788e-01 1.03214015e-02 3.14477696e-03 1.41868585e+02] [-1.03208219e-02 9.99946719e-01 -2.00493874e-04 -7.57201799e+00] [-3.14667878e-03 1.68025520e-04 9.99995035e-01 -1.90452085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.870371743 meters Centerline goodness [0,1] 0.989974074838828 Centerline is valid? [True, True] Translation: X:141.90, Y:-7.58, Z:-1.91 [[ 9.99924415e-01 1.16184470e-02 4.02196977e-03 1.41896632e+02] [-1.16175116e-02 9.99932482e-01 -2.55863172e-04 -7.57808410e+00] [-4.02467095e-03 2.09118552e-04 9.99991879e-01 -1.90507709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900371743 meters Centerline goodness [0,1] 0.9901446071658837 Centerline is valid? [True, True] Translation: X:141.93, Y:-7.57, Z:-1.90 [[ 9.99885195e-01 1.43266500e-02 4.93393794e-03 1.41926557e+02] [-1.43252795e-02 9.99897339e-01 -3.13015404e-04 -7.57120807e+00] [-4.93791588e-03 2.42299428e-04 9.99987779e-01 -1.90327340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.930371743 meters Centerline goodness [0,1] 0.9902399630826026 Centerline is valid? [True, True] Translation: X:141.96, Y:-7.57, Z:-1.90 [[ 9.99874488e-01 1.49577710e-02 5.22244164e-03 1.41955107e+02] [-1.49562435e-02 9.99888094e-01 -3.31413749e-04 -7.56916335e+00] [-5.22681443e-03 2.53264044e-04 9.99986308e-01 -1.90282305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960371743 meters Centerline goodness [0,1] 0.9899755726598147 Centerline is valid? [True, True] Translation: X:141.98, Y:-7.57, Z:-1.90 [[ 9.99857901e-01 1.58380892e-02 5.77353716e-03 1.41983540e+02] [-1.58362399e-02 9.99874532e-01 -3.65871019e-04 -7.56991195e+00] [-5.77860747e-03 2.74387909e-04 9.99983266e-01 -1.90246017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99037174299997 meters Centerline goodness [0,1] 0.9889124033860875 Centerline is valid? [True, True] Translation: X:142.01, Y:-7.57, Z:-1.90 [[ 9.99833594e-01 1.71636169e-02 6.18017308e-03 1.42012814e+02] [-1.71615273e-02 9.99852654e-01 -3.90996912e-04 -7.57184558e+00] [-6.18597337e-03 2.84870639e-04 9.99980826e-01 -1.90322098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02037174299997 meters Centerline goodness [0,1] 0.9892768765466043 Centerline is valid? [True, True] Translation: X:142.04, Y:-7.57, Z:-1.90 [[ 9.99834151e-01 1.70995035e-02 6.26720400e-03 1.42041543e+02] [-1.70973547e-02 9.99853751e-01 -3.96295456e-04 -7.57267814e+00] [-6.27306388e-03 2.89077122e-04 9.99980282e-01 -1.90351755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05037174299997 meters Centerline goodness [0,1] 0.989561971473997 Centerline is valid? [True, True] Translation: X:142.07, Y:-7.57, Z:-1.90 [[ 9.99836050e-01 1.69947772e-02 6.24910770e-03 1.42070226e+02] [-1.69926414e-02 9.99855537e-01 -3.94712913e-04 -7.57392201e+00] [-6.25491299e-03 2.88459354e-04 9.99980396e-01 -1.90416964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08037174299997 meters Centerline goodness [0,1] 0.9892144236960722 Centerline is valid? [True, True] Translation: X:142.10, Y:-7.58, Z:-1.91 [[ 9.99841426e-01 1.71679138e-02 4.73128074e-03 1.42098527e+02] [-1.71666919e-02 9.99852597e-01 -2.98742223e-04 -7.57535781e+00] [-4.73571212e-03 2.17474411e-04 9.99988763e-01 -1.90601783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11037174299997 meters Centerline goodness [0,1] 0.9899534540762247 Centerline is valid? [True, True] Translation: X:142.13, Y:-7.58, Z:-1.91 [[ 9.99848835e-01 1.70296350e-02 3.50696960e-03 1.42126201e+02] [-1.70289623e-02 9.99854972e-01 -2.21611337e-04 -7.57856014e+00] [-3.51023495e-03 1.61857784e-04 9.99993826e-01 -1.90807367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14037174299997 meters Centerline goodness [0,1] 0.9898871227827689 Centerline is valid? [True, True] Translation: X:142.15, Y:-7.58, Z:-1.91 [[ 9.99856811e-01 1.69091251e-02 6.62039943e-04 1.42153666e+02] [-1.69091005e-02 9.99857030e-01 -4.27360744e-05 -7.58188215e+00] [-6.62667921e-04 3.15354551e-05 9.99999780e-01 -1.91225600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17037174299998 meters Centerline goodness [0,1] 0.9903474014006635 Centerline is valid? [True, True] Translation: X:142.18, Y:-7.58, Z:-1.91 [[ 9.99853416e-01 1.70941445e-02 -9.67816227e-04 1.42182305e+02] [-1.70940947e-02 9.99853884e-01 5.97007448e-05 -7.58169561e+00] [ 9.68695347e-04 -4.31480514e-05 9.99999530e-01 -1.91329861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20037174299998 meters Centerline goodness [0,1] 0.9895636547942681 Centerline is valid? [True, True] Translation: X:142.21, Y:-7.59, Z:-1.92 [[ 9.99856718e-01 1.68542882e-02 -1.57386650e-03 1.42209425e+02] [-1.68541558e-02 9.99857954e-01 9.73321679e-05 -7.58515304e+00] [ 1.57528340e-03 -7.07920307e-05 9.99998757e-01 -1.91550581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23037174299998 meters Centerline goodness [0,1] 0.9895636547942681 Centerline is valid? [True, True] Translation: X:142.24, Y:-7.59, Z:-1.92 [[ 9.99858456e-01 1.67508388e-02 -1.57389002e-03 1.42236859e+02] [-1.67507069e-02 9.99859692e-01 9.69551139e-05 -7.58677602e+00] [ 1.57529327e-03 -7.05776201e-05 9.99998757e-01 -1.91587870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26037174299998 meters Centerline goodness [0,1] 0.989734243794408 Centerline is valid? [True, True] Translation: X:142.26, Y:-7.59, Z:-1.92 [[ 9.99850245e-01 1.71948015e-02 -1.95630762e-03 1.42264646e+02] [-1.71945985e-02 9.99852155e-01 1.20544648e-04 -7.58919386e+00] [ 1.95809113e-03 -8.68886713e-05 9.99998079e-01 -1.91724450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29037174299998 meters Centerline goodness [0,1] 0.988408802857472 Centerline is valid? [True, True] Translation: X:142.29, Y:-7.59, Z:-1.92 [[ 9.99830997e-01 1.83100716e-02 -1.64895083e-03 1.42292078e+02] [-1.83099290e-02 9.99832354e-01 1.01581209e-04 -7.59094322e+00] [ 1.65053435e-03 -7.13718690e-05 9.99998635e-01 -1.91790990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32037174299998 meters Centerline goodness [0,1] 0.9882304261873017 Centerline is valid? [True, True] Translation: X:142.32, Y:-7.59, Z:-1.92 [[ 9.99824507e-01 1.86809719e-02 -1.40594378e-03 1.42321397e+02] [-1.86808682e-02 9.99825494e-01 8.68311018e-05 -7.59197307e+00] [ 1.40732053e-03 -6.05516130e-05 9.99999008e-01 -1.91825836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35037174299998 meters Centerline goodness [0,1] 0.9879518072289156 Centerline is valid? [True, True] Translation: X:142.35, Y:-7.59, Z:-1.92 [[ 9.99824350e-01 1.87018164e-02 -1.22905356e-03 1.42350644e+02] [-1.87017377e-02 9.99825104e-01 7.54782028e-05 -7.59073673e+00] [ 1.23025019e-03 -5.24795077e-05 9.99999242e-01 -1.91756546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38037174299998 meters Centerline goodness [0,1] 0.9886449833352489 Centerline is valid? [True, True] Translation: X:142.38, Y:-7.59, Z:-1.92 [[ 9.99830133e-01 1.84149395e-02 -7.71785310e-04 1.42379479e+02] [-1.84149087e-02 9.99830430e-01 4.69858760e-05 -7.59142971e+00] [ 7.72519680e-04 -3.27655387e-05 9.99999701e-01 -1.91654680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41037174299998 meters Centerline goodness [0,1] 0.9890705342525767 Centerline is valid? [True, True] Translation: X:142.41, Y:-7.59, Z:-1.92 [[ 9.99848231e-01 1.74199474e-02 -2.45288430e-04 1.42408067e+02] [-1.74199445e-02 9.99848261e-01 1.42567240e-05 -7.59195160e+00] [ 2.45499561e-04 -9.98164948e-06 9.99999970e-01 -1.91572362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440371743 meters Centerline goodness [0,1] 0.9893504705072298 Centerline is valid? [True, True] Translation: X:142.44, Y:-7.59, Z:-1.91 [[ 9.99864249e-01 1.64621233e-02 6.94004025e-04 1.42437094e+02] [-1.64620967e-02 9.99864490e-01 -4.39685947e-05 -7.59398357e+00] [-6.94633797e-04 3.25378645e-05 9.99999758e-01 -1.91488700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.470371743 meters Centerline goodness [0,1] 0.9891111673841478 Centerline is valid? [True, True] Translation: X:142.47, Y:-7.60, Z:-1.91 [[ 9.99865271e-01 1.63716949e-02 1.18674554e-03 1.42465988e+02] [-1.63716181e-02 9.99865973e-01 -7.44217202e-05 -7.59614689e+00] [-1.18780490e-03 5.49827486e-05 9.99999293e-01 -1.91474759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500371743 meters Centerline goodness [0,1] 0.9895917286480761 Centerline is valid? [True, True] Translation: X:142.49, Y:-7.60, Z:-1.91 [[ 9.99862609e-01 1.65438737e-02 1.03152254e-03 1.42494877e+02] [-1.65438157e-02 9.99863140e-01 -6.47395292e-05 -7.59795009e+00] [-1.03245241e-03 4.76653158e-05 9.99999466e-01 -1.91499611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.530371743 meters Centerline goodness [0,1] 0.9895668160404458 Centerline is valid? [True, True] Translation: X:142.52, Y:-7.60, Z:-1.92 [[ 9.99860617e-01 1.66733342e-02 8.64556177e-04 1.42523726e+02] [-1.66732934e-02 9.99860990e-01 -5.43471208e-05 -7.59998180e+00] [-8.65342142e-04 3.99245469e-05 9.99999625e-01 -1.91516911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560371743 meters Centerline goodness [0,1] 0.9898487673503211 Centerline is valid? [True, True] Translation: X:142.55, Y:-7.60, Z:-1.92 [[ 9.99873522e-01 1.59039793e-02 5.34675788e-05 1.42552545e+02] [-1.59039791e-02 9.99873524e-01 -4.25567382e-06 -7.60284289e+00] [-5.35284986e-05 3.40478832e-06 9.99999999e-01 -1.91590433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.590371743 meters Centerline goodness [0,1] 0.9899265718219367 Centerline is valid? [True, True] Translation: X:142.58, Y:-7.61, Z:-1.92 [[ 9.99887024e-01 1.50180542e-02 -6.29781271e-04 1.42580210e+02] [-1.50180337e-02 9.99887222e-01 3.73433444e-05 -7.61008892e+00] [ 6.30271070e-04 -2.78810492e-05 9.99999801e-01 -1.91828002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620371743 meters Centerline goodness [0,1] 0.9907224544160198 Centerline is valid? [True, True] Translation: X:142.61, Y:-7.61, Z:-1.92 [[ 9.99897497e-01 1.40999888e-02 -2.48713113e-03 1.42608927e+02] [-1.40996542e-02 9.99900583e-01 1.52001046e-04 -7.60976359e+00] [ 2.48902708e-03 -1.16917777e-04 9.99996896e-01 -1.91929343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.650371743 meters Centerline goodness [0,1] 0.9909541739370007 Centerline is valid? [True, True] Translation: X:142.64, Y:-7.61, Z:-1.92 [[ 9.99905588e-01 1.32884266e-02 -3.49762155e-03 1.42636221e+02] [-1.32877605e-02 9.99911691e-01 2.13607980e-04 -7.61431897e+00] [ 3.50015119e-03 -1.67112256e-04 9.99993860e-01 -1.92095945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680371743 meters Centerline goodness [0,1] 0.9909866519884409 Centerline is valid? [True, True] Translation: X:142.67, Y:-7.62, Z:-1.92 [[ 9.99907212e-01 1.29388853e-02 -4.26067620e-03 1.42665428e+02] [-1.29378929e-02 9.99916268e-01 2.60393048e-04 -7.61565830e+00] [ 4.26368864e-03 -2.05244715e-04 9.99990889e-01 -1.92165015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.710371743 meters Centerline goodness [0,1] 0.990974481147203 Centerline is valid? [True, True] Translation: X:142.69, Y:-7.62, Z:-1.92 [[ 9.99909479e-01 1.24768080e-02 -5.03622954e-03 1.42694375e+02] [-1.24754165e-02 9.99922132e-01 3.07615722e-04 -7.61961800e+00] [ 5.03967544e-03 -2.44758815e-04 9.99987271e-01 -1.92338348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74037174299997 meters Centerline goodness [0,1] 0.9908691473293972 Centerline is valid? [True, True] Translation: X:142.72, Y:-7.62, Z:-1.92 [[ 9.99918332e-01 1.15430347e-02 -5.48517985e-03 1.42722719e+02] [-1.15413718e-02 9.99933340e-01 3.34727318e-04 -7.62317209e+00] [ 5.48867798e-03 -2.71393481e-04 9.99984900e-01 -1.92333077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77037174299997 meters Centerline goodness [0,1] 0.9904722736308177 Centerline is valid? [True, True] Translation: X:142.75, Y:-7.62, Z:-1.92 [[ 9.99926793e-01 1.08957498e-02 -5.26230846e-03 1.42751959e+02] [-1.08942126e-02 9.99940605e-01 3.20705285e-04 -7.62464149e+00] [ 5.26549023e-03 -2.63353100e-04 9.99986103e-01 -1.92241681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80037174299997 meters Centerline goodness [0,1] 0.9905733766530911 Centerline is valid? [True, True] Translation: X:142.78, Y:-7.63, Z:-1.92 [[ 9.99930908e-01 1.06554784e-02 -4.96382095e-03 1.42780925e+02] [-1.06541097e-02 9.99943198e-01 3.02101365e-04 -7.62649672e+00] [ 4.96675803e-03 -2.49195399e-04 9.99987635e-01 -1.92160316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83037174299997 meters Centerline goodness [0,1] 0.9902857142857143 Centerline is valid? [True, True] Translation: X:142.81, Y:-7.63, Z:-1.92 [[ 9.99938162e-01 1.01893531e-02 -4.45530189e-03 1.42809214e+02] [-1.01882477e-02 9.99948062e-01 2.70736028e-04 -7.62890476e+00] [ 4.45782912e-03 -2.25327567e-04 9.99990038e-01 -1.92121928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86037174299997 meters Centerline goodness [0,1] 0.9899673940305994 Centerline is valid? [True, True] Translation: X:142.84, Y:-7.63, Z:-1.92 [[ 9.99949046e-01 9.55538451e-03 -3.25568067e-03 1.42836657e+02] [-9.55479345e-03 9.99954333e-01 1.97053638e-04 -7.63318260e+00] [ 3.25741491e-03 -1.65936241e-04 9.99994681e-01 -1.92119334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89037174299997 meters Centerline goodness [0,1] 0.9899575125531093 Centerline is valid? [True, True] Translation: X:142.87, Y:-7.63, Z:-1.92 [[ 9.99952390e-01 9.51591232e-03 -2.15967235e-03 1.42865325e+02] [-9.51565285e-03 9.99954717e-01 1.30385017e-04 -7.63466925e+00] [ 2.16081528e-03 -1.09828118e-04 9.99997659e-01 -1.92063520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92037174299998 meters Centerline goodness [0,1] 0.9899595656717096 Centerline is valid? [True, True] Translation: X:142.89, Y:-7.64, Z:-1.92 [[ 9.99954972e-01 9.39666539e-03 -1.32534478e-03 1.42892886e+02] [-9.39656854e-03 9.99955848e-01 7.92800299e-05 -7.63924952e+00] [ 1.32603123e-03 -6.68227670e-05 9.99999119e-01 -1.92130565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95037174299998 meters Centerline goodness [0,1] 0.9901208212209303 Centerline is valid? [True, True] Translation: X:142.92, Y:-7.64, Z:-1.92 [[ 9.99959443e-01 9.00560075e-03 1.04296424e-04 1.42921292e+02] [-9.00560003e-03 9.99959449e-01 -7.29861632e-06 -7.64115871e+00] [-1.04357923e-04 6.35906843e-06 9.99999995e-01 -1.92035541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98037174299998 meters Centerline goodness [0,1] 0.9904415938244977 Centerline is valid? [True, True] Translation: X:142.95, Y:-7.64, Z:-1.92 [[ 9.99962840e-01 8.62023555e-03 9.99171030e-05 1.42949861e+02] [-8.62023489e-03 9.99962845e-01 -7.02435891e-06 -7.64347266e+00] [-9.99739423e-05 6.16278899e-06 9.99999995e-01 -1.92025434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01037174299998 meters Centerline goodness [0,1] 0.990165796048149 Centerline is valid? [True, True] Translation: X:142.98, Y:-7.65, Z:-1.92 [[ 9.99974633e-01 7.05694263e-03 -9.65374777e-04 1.42978124e+02] [-7.05689018e-03 9.99975098e-01 5.77186847e-05 -7.64895071e+00] [ 9.65758054e-04 -5.09046768e-05 9.99999532e-01 -1.92145767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04037174299998 meters Centerline goodness [0,1] 0.9902958740499457 Centerline is valid? [True, True] Translation: X:143.01, Y:-7.65, Z:-1.92 [[ 9.99979764e-01 6.18290283e-03 -1.49749035e-03 1.43005294e+02] [-6.18277596e-03 9.99980882e-01 8.93362078e-05 -7.65457473e+00] [ 1.49801408e-03 -8.00757527e-05 9.99998875e-01 -1.92266215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07037174299998 meters Centerline goodness [0,1] 0.9902162835465972 Centerline is valid? [True, True] Translation: X:143.03, Y:-7.65, Z:-1.92 [[ 9.99984082e-01 5.27990357e-03 -1.98952753e-03 1.43034467e+02] [-5.27967692e-03 9.99986055e-01 1.19157084e-04 -7.65393834e+00] [ 1.99012893e-03 -1.08651125e-04 9.99998014e-01 -1.92230494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10037174299998 meters Centerline goodness [0,1] 0.9903850504502059 Centerline is valid? [True, True] Translation: X:143.06, Y:-7.66, Z:-1.92 [[ 9.99988479e-01 3.95786504e-03 -2.71621697e-03 1.43063767e+02] [-3.95743573e-03 9.99992156e-01 1.63408695e-04 -7.65646666e+00] [ 2.71684242e-03 -1.52657559e-04 9.99996298e-01 -1.92252734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13037174299998 meters Centerline goodness [0,1] 0.9891557809422472 Centerline is valid? [True, True] Translation: X:143.09, Y:-7.66, Z:-1.92 [[ 9.99989934e-01 3.64025267e-03 -2.62320659e-03 1.43090618e+02] [-3.63985376e-03 9.99993363e-01 1.56827240e-04 -7.66478045e+00] [ 2.62376008e-03 -1.47277573e-04 9.99996547e-01 -1.92429835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16037174299998 meters Centerline goodness [0,1] 0.9895977024490626 Centerline is valid? [True, True] Translation: X:143.12, Y:-7.67, Z:-1.92 [[ 9.99992858e-01 3.20121748e-03 -2.00902257e-03 1.43119570e+02] [-3.20098293e-03 9.99994870e-01 1.19952564e-04 -7.66545874e+00] [ 2.00939625e-03 -1.13520860e-04 9.99997975e-01 -1.92366969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.190371743 meters Centerline goodness [0,1] 0.9903316165175747 Centerline is valid? [True, True] Translation: X:143.15, Y:-7.67, Z:-1.92 [[ 9.99994583e-01 3.23159754e-03 -6.24372413e-04 1.43148692e+02] [-3.23157535e-03 9.99994778e-01 3.65571492e-05 -7.66601640e+00] [ 6.24487290e-04 -3.45392447e-05 9.99999804e-01 -1.92155118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220371743 meters Centerline goodness [0,1] 0.9906276112830009 Centerline is valid? [True, True] Translation: X:143.18, Y:-7.67, Z:-1.92 [[ 9.99995653e-01 2.94774562e-03 6.42432125e-05 1.43177190e+02] [-2.94774533e-03 9.99995655e-01 -4.58134201e-06 -7.67174505e+00] [-6.42564381e-05 4.39194947e-06 9.99999998e-01 -1.92171595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.250371743 meters Centerline goodness [0,1] 0.9905700814402058 Centerline is valid? [True, True] Translation: X:143.21, Y:-7.67, Z:-1.92 [[ 9.99996238e-01 2.67929278e-03 5.86957201e-04 1.43206546e+02] [-2.67927228e-03 9.99996410e-01 -3.56997894e-05 -7.67459557e+00] [-5.87050744e-04 3.41270369e-05 9.99999827e-01 -1.92139878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280371743 meters Centerline goodness [0,1] 0.990591155234657 Centerline is valid? [True, True] Translation: X:143.24, Y:-7.68, Z:-1.92 [[ 9.99996682e-01 2.22888527e-03 1.29120553e-03 1.43236285e+02] [-2.22878650e-03 9.99997513e-01 -7.79300594e-05 -7.67549621e+00] [-1.29137602e-03 7.50519794e-05 9.99999163e-01 -1.92069220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.310371743 meters Centerline goodness [0,1] 0.990954819209167 Centerline is valid? [True, True] Translation: X:143.27, Y:-7.68, Z:-1.92 [[ 9.99997576e-01 1.81373029e-03 1.24849272e-03 1.43265481e+02] [-1.81363836e-03 9.99998353e-01 -7.47681557e-05 -7.68035703e+00] [-1.24862627e-03 7.25036602e-05 9.99999218e-01 -1.92069671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340371743 meters Centerline goodness [0,1] 0.9906810679720657 Centerline is valid? [True, True] Translation: X:143.30, Y:-7.68, Z:-1.92 [[ 9.99997884e-01 4.12900375e-05 2.05659050e-03 1.43295891e+02] [-4.10363705e-05 9.99999992e-01 -1.23385519e-04 -7.68148761e+00] [-2.05659557e-03 1.23300863e-04 9.99997878e-01 -1.92044098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.370371743 meters Centerline goodness [0,1] 0.9905713576793811 Centerline is valid? [True, True] Translation: X:143.33, Y:-7.69, Z:-1.92 [[ 9.99993102e-01 -2.60566382e-03 2.64706523e-03 1.43325696e+02] [ 2.60609194e-03 9.99996592e-01 -1.58298011e-04 -7.68996931e+00] [-2.64664374e-03 1.65195415e-04 9.99996484e-01 -1.92119857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400371743 meters Centerline goodness [0,1] 0.9906706327744726 Centerline is valid? [True, True] Translation: X:143.36, Y:-7.69, Z:-1.92 [[ 9.99988510e-01 -4.06507986e-03 2.54059693e-03 1.43357846e+02] [ 4.06547849e-03 9.99991724e-01 -1.51759389e-04 -7.68920770e+00] [-2.53995899e-03 1.62086388e-04 9.99996761e-01 -1.92067798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.430371743 meters Centerline goodness [0,1] 0.9902899497600649 Centerline is valid? [True, True] Translation: X:143.39, Y:-7.69, Z:-1.92 [[ 9.99981723e-01 -5.50594131e-03 2.49784668e-03 1.43389745e+02] [ 5.50633152e-03 9.99984829e-01 -1.49369940e-04 -7.69308757e+00] [-2.49698636e-03 1.63121181e-04 9.99996869e-01 -1.92115065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460371743 meters Centerline goodness [0,1] 0.9895570759812747 Centerline is valid? [True, True] Translation: X:143.42, Y:-7.70, Z:-1.92 [[ 9.99959993e-01 -8.59713313e-03 2.47027393e-03 1.43419806e+02] [ 8.59752604e-03 9.99963030e-01 -1.48478716e-04 -7.69917596e+00] [-2.46890611e-03 1.69711020e-04 9.99996938e-01 -1.92163677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49037174299997 meters Centerline goodness [0,1] 0.9885688568856885 Centerline is valid? [True, True] Translation: X:143.45, Y:-7.70, Z:-1.92 [[ 9.99947760e-01 -9.82464591e-03 2.82010944e-03 1.43451994e+02] [ 9.82516151e-03 9.99951718e-01 -1.69031541e-04 -7.70426764e+00] [-2.81831260e-03 1.96730741e-04 9.99996009e-01 -1.92216631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52037174299997 meters Centerline goodness [0,1] 0.989561069990326 Centerline is valid? [True, True] Translation: X:143.48, Y:-7.71, Z:-1.92 [[ 9.99935130e-01 -1.09275296e-02 3.21338929e-03 1.43484084e+02] [ 1.09282058e-02 9.99940267e-01 -1.92948739e-04 -7.70590216e+00] [-3.21108889e-03 2.28052802e-04 9.99994818e-01 -1.92190051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55037174299997 meters Centerline goodness [0,1] 0.9903010936585805 Centerline is valid? [True, True] Translation: X:143.52, Y:-7.71, Z:-1.92 [[ 9.99917041e-01 -1.24655027e-02 3.24377101e-03 1.43516483e+02] [ 1.24662005e-02 9.99922275e-01 -1.95008294e-04 -7.70821116e+00] [-3.24108801e-03 2.35429617e-04 9.99994720e-01 -1.92196283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58037174299997 meters Centerline goodness [0,1] 0.9900633964300166 Centerline is valid? [True, True] Translation: X:143.55, Y:-7.71, Z:-1.92 [[ 9.99916929e-01 -1.25306784e-02 3.01960209e-03 1.43548714e+02] [ 1.25312838e-02 9.99921464e-01 -1.81671082e-04 -7.71051952e+00] [-3.01708848e-03 2.19495481e-04 9.99995424e-01 -1.92278615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61037174299997 meters Centerline goodness [0,1] 0.9887273872738728 Centerline is valid? [True, True] Translation: X:143.58, Y:-7.72, Z:-1.92 [[ 9.99923503e-01 -1.20059962e-02 2.97402667e-03 1.43579444e+02] [ 1.20065824e-02 9.99927902e-01 -1.79321142e-04 -7.72056179e+00] [-2.97165932e-03 2.15015321e-04 9.99995561e-01 -1.92469097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64037174299997 meters Centerline goodness [0,1] 0.9882440042178 Centerline is valid? [True, True] Translation: X:143.61, Y:-7.72, Z:-1.93 [[ 9.99947827e-01 -9.90392568e-03 2.50100574e-03 1.43609521e+02] [ 9.90433242e-03 9.99950940e-01 -1.50298341e-04 -7.72359415e+00] [-2.49939449e-03 1.75061292e-04 9.99996861e-01 -1.92623171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67037174299998 meters Centerline goodness [0,1] 0.9891478104244061 Centerline is valid? [True, True] Translation: X:143.64, Y:-7.72, Z:-1.93 [[ 9.99964208e-01 -8.04857656e-03 2.60819977e-03 1.43641112e+02] [ 8.04901534e-03 9.99967594e-01 -1.57775823e-04 -7.71707569e+00] [-2.60684538e-03 1.78763616e-04 9.99996586e-01 -1.92581073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70037174299998 meters Centerline goodness [0,1] 0.9899516691019444 Centerline is valid? [True, True] Translation: X:143.67, Y:-7.71, Z:-1.93 [[ 9.99992248e-01 -3.48840141e-03 1.82637754e-03 1.43671853e+02] [ 3.48860951e-03 9.99993909e-01 -1.10765537e-04 -7.71354102e+00] [-1.82598002e-03 1.17136197e-04 9.99998326e-01 -1.92595152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73037174299998 meters Centerline goodness [0,1] 0.9894500056236644 Centerline is valid? [True, True] Translation: X:143.70, Y:-7.72, Z:-1.93 [[ 9.99997531e-01 -1.43435575e-03 1.69708180e-03 1.43702196e+02] [ 1.43453186e-03 9.99998966e-01 -1.02555484e-04 -7.71880229e+00] [-1.69693294e-03 1.04989749e-04 9.99998555e-01 -1.92726022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76037174299998 meters Centerline goodness [0,1] 0.990320044918585 Centerline is valid? [True, True] Translation: X:143.73, Y:-7.72, Z:-1.93 [[ 9.99998078e-01 7.75337141e-04 1.80083418e-03 1.43733482e+02] [-7.75142238e-04 9.99999694e-01 -1.08924672e-04 -7.71654572e+00] [-1.80091808e-03 1.07528560e-04 9.99998373e-01 -1.92728845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79037174299998 meters Centerline goodness [0,1] 0.9903166238796559 Centerline is valid? [True, True] Translation: X:143.76, Y:-7.71, Z:-1.93 [[ 9.99989441e-01 4.43866888e-03 1.18972724e-03 1.43764591e+02] [-4.43858628e-03 9.99990147e-01 -7.20569490e-05 -7.71379705e+00] [-1.19003535e-03 6.67754812e-05 9.99999290e-01 -1.92724387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82037174299998 meters Centerline goodness [0,1] 0.9903247631935047 Centerline is valid? [True, True] Translation: X:143.79, Y:-7.71, Z:-1.93 [[ 9.99984034e-01 5.55925958e-03 1.01304714e-03 1.43794411e+02] [-5.55919960e-03 9.99984546e-01 -6.20140013e-05 -7.71411825e+00] [-1.01337624e-03 5.63812799e-05 9.99999485e-01 -1.92822583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85037174299998 meters Centerline goodness [0,1] 0.9900731570061903 Centerline is valid? [True, True] Translation: X:143.82, Y:-7.72, Z:-1.93 [[ 9.99977742e-01 6.64697405e-03 5.76688701e-04 1.43822350e+02] [-6.64695455e-03 9.99977908e-01 -3.57217839e-05 -7.72094626e+00] [-5.76913402e-04 3.18877653e-05 9.99999833e-01 -1.93073395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88037174299998 meters Centerline goodness [0,1] 0.9908892538186399 Centerline is valid? [True, True] Translation: X:143.85, Y:-7.72, Z:-1.93 [[ 9.99973952e-01 7.21697054e-03 1.04493961e-04 1.43850958e+02] [-7.21696982e-03 9.99973957e-01 -7.28286589e-06 -7.71980275e+00] [-1.04543800e-04 6.52854642e-06 9.99999995e-01 -1.93107772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91037174299998 meters Centerline goodness [0,1] 0.990599690395531 Centerline is valid? [True, True] Translation: X:143.88, Y:-7.72, Z:-1.93 [[ 9.99964923e-01 8.29405047e-03 -1.16677879e-03 1.43879786e+02] [-8.29397479e-03 9.99965602e-01 6.96853186e-05 -7.72113429e+00] [ 1.16731663e-03 -6.00056404e-05 9.99999317e-01 -1.93241175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940371743 meters Centerline goodness [0,1] 0.9904447142407482 Centerline is valid? [True, True] Translation: X:143.91, Y:-7.72, Z:-1.93 [[ 9.99967281e-01 7.90365850e-03 -1.72311981e-03 1.43907649e+02] [-7.90349273e-03 9.99968762e-01 1.02988891e-04 -7.72430401e+00] [ 1.72387997e-03 -8.93668568e-05 9.99998510e-01 -1.93368325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.970371743 meters Centerline goodness [0,1] 0.9919801757152512 Centerline is valid? [True, True] Translation: X:143.94, Y:-7.72, Z:-1.93 [[ 9.99969226e-01 7.67444539e-03 -1.62763343e-03 1.43936684e+02] [-7.67429718e-03 9.99970547e-01 9.72848326e-05 -7.72010146e+00] [ 1.62833210e-03 -8.47908962e-05 9.99998671e-01 -1.93162601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000371743 meters Centerline goodness [0,1] 0.9904817755322988 Centerline is valid? [True, True] Translation: X:143.96, Y:-7.73, Z:-1.93 [[ 9.99972058e-01 7.42059468e-03 -9.04946507e-04 1.43963995e+02] [-7.42054945e-03 9.99972466e-01 5.33309199e-05 -7.72909159e+00] [ 9.05317337e-04 -4.66142294e-05 9.99999589e-01 -1.93332035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.030371743 meters Centerline goodness [0,1] 0.9914429832462619 Centerline is valid? [True, True] Translation: X:143.99, Y:-7.72, Z:-1.93 [[ 9.99973290e-01 7.29260837e-03 4.87554981e-04 1.43993553e+02] [-7.29259444e-03 9.99973408e-01 -3.03359141e-05 -7.72449055e+00] [-4.87763244e-04 2.67795631e-05 9.99999881e-01 -1.93055694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060371743 meters Centerline goodness [0,1] 0.990228306389877 Centerline is valid? [True, True] Translation: X:144.02, Y:-7.73, Z:-1.93 [[ 9.99971049e-01 6.97949661e-03 3.03126926e-03 1.44021653e+02] [-6.97897241e-03 9.99975630e-01 -1.83471691e-04 -7.72806090e+00] [-3.03247593e-03 1.62311234e-04 9.99995389e-01 -1.92834917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.090371743 meters Centerline goodness [0,1] 0.9909422738948223 Centerline is valid? [True, True] Translation: X:144.05, Y:-7.73, Z:-1.93 [[ 9.99968410e-01 6.61460131e-03 4.40750658e-03 1.44051094e+02] [-6.61349589e-03 9.99978095e-01 -2.65331234e-04 -7.72939231e+00] [-4.40916510e-03 2.36173826e-04 9.99990252e-01 -1.92747933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120371743 meters Centerline goodness [0,1] 0.9909422738948223 Centerline is valid? [True, True] Translation: X:144.08, Y:-7.73, Z:-1.93 [[ 9.99968646e-01 6.57887435e-03 4.40751600e-03 1.44080235e+02] [-6.57776928e-03 9.99978331e-01 -2.65174625e-04 -7.73111308e+00] [-4.40916504e-03 2.36174687e-04 9.99990252e-01 -1.92787508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.150371743 meters Centerline goodness [0,1] 0.9910939754689755 Centerline is valid? [True, True] Translation: X:144.11, Y:-7.73, Z:-1.93 [[ 9.99968609e-01 6.11326879e-03 5.04080251e-03 1.44109838e+02] [-6.11181871e-03 9.99981277e-01 -3.03023876e-04 -7.73372610e+00] [-5.04256060e-03 2.72205893e-04 9.99987249e-01 -1.92769345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180371743 meters Centerline goodness [0,1] 0.9910941762676707 Centerline is valid? [True, True] Translation: X:144.14, Y:-7.73, Z:-1.93 [[ 9.99969145e-01 5.61343157e-03 5.49525733e-03 1.44140205e+02] [-5.61170360e-03 9.99984200e-01 -3.29816992e-04 -7.73446121e+00] [-5.49702191e-03 2.98969060e-04 9.99984847e-01 -1.92795326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.210371743 meters Centerline goodness [0,1] 0.9907223923617366 Centerline is valid? [True, True] Translation: X:144.17, Y:-7.74, Z:-1.93 [[ 9.99978579e-01 3.88610142e-03 5.26679786e-03 1.44169840e+02] [-3.88449025e-03 9.99992405e-01 -3.16105202e-04 -7.74034763e+00] [-5.26798627e-03 2.95639606e-04 9.99986080e-01 -1.92978582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24037174299997 meters Centerline goodness [0,1] 0.9905751843250434 Centerline is valid? [True, True] Translation: X:144.20, Y:-7.74, Z:-1.93 [[ 9.99982367e-01 2.88753670e-03 5.18914826e-03 1.44200657e+02] [-2.88596083e-03 9.99995787e-01 -3.11146288e-04 -7.74463941e+00] [-5.19002484e-03 2.96165123e-04 9.99986488e-01 -1.93073273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27037174299997 meters Centerline goodness [0,1] 0.990269881575695 Centerline is valid? [True, True] Translation: X:144.23, Y:-7.75, Z:-1.93 [[ 9.99988147e-01 1.15091244e-03 4.73079647e-03 1.44231815e+02] [-1.14959086e-03 9.99999299e-01 -2.82066171e-04 -7.75068318e+00] [-4.73111779e-03 2.76624347e-04 9.99988770e-01 -1.93164937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30037174299997 meters Centerline goodness [0,1] 0.9911637737206583 Centerline is valid? [True, True] Translation: X:144.26, Y:-7.75, Z:-1.93 [[ 9.99990034e-01 5.87737271e-04 4.42576023e-03 1.44264002e+02] [-5.86572325e-04 9.99999793e-01 -2.64512733e-04 -7.75193918e+00] [-4.42591477e-03 2.61914068e-04 9.99990171e-01 -1.93177574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33037174299997 meters Centerline goodness [0,1] 0.9905921541266233 Centerline is valid? [True, True] Translation: X:144.30, Y:-7.76, Z:-1.93 [[ 9.99990042e-01 2.24988250e-04 4.45695137e-03 1.44295049e+02] [-2.23797309e-04 9.99999939e-01 -2.67706633e-04 -7.75784713e+00] [-4.45701133e-03 2.66706513e-04 9.99990032e-01 -1.93291065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36037174299997 meters Centerline goodness [0,1] 0.9914145727513822 Centerline is valid? [True, True] Translation: X:144.33, Y:-7.76, Z:-1.93 [[ 9.99990705e-01 1.29541632e-03 4.11247397e-03 1.44325776e+02] [-1.29440453e-03 9.99999131e-01 -2.48682040e-04 -7.76375758e+00] [-4.11279255e-03 2.43356524e-04 9.99991513e-01 -1.93490195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39037174299997 meters Centerline goodness [0,1] 0.9913775682047827 Centerline is valid? [True, True] Translation: X:144.36, Y:-7.77, Z:-1.94 [[ 9.99992911e-01 8.51475971e-04 3.66789854e-03 1.44357052e+02] [-8.50663560e-04 9.99999613e-01 -2.23046808e-04 -7.76667072e+00] [-3.66808704e-03 2.19925079e-04 9.99993248e-01 -1.93607927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42037174299998 meters Centerline goodness [0,1] 0.9915250427119864 Centerline is valid? [True, True] Translation: X:144.39, Y:-7.77, Z:-1.94 [[ 9.99995960e-01 1.56923927e-03 2.37003412e-03 1.44388644e+02] [-1.56890229e-03 9.99998759e-01 -1.44033712e-04 -7.76805838e+00] [-2.37025720e-03 1.40314778e-04 9.99997181e-01 -1.93734461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45037174299998 meters Centerline goodness [0,1] 0.9912549484466909 Centerline is valid? [True, True] Translation: X:144.42, Y:-7.77, Z:-1.94 [[ 9.99997440e-01 2.10842671e-03 8.20815743e-04 1.44418196e+02] [-2.10838695e-03 9.99997776e-01 -4.92945000e-05 -7.77447492e+00] [-8.20917852e-04 4.75637767e-05 9.99999662e-01 -1.94013035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48037174299998 meters Centerline goodness [0,1] 0.9918157764922194 Centerline is valid? [True, True] Translation: X:144.45, Y:-7.78, Z:-1.94 [[ 9.99998851e-01 1.42917552e-03 5.05591997e-04 1.44448961e+02] [-1.42916010e-03 9.99998978e-01 -3.08574498e-05 -7.77657868e+00] [-5.05635582e-04 3.01348424e-05 9.99999872e-01 -1.94066240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51037174299998 meters Centerline goodness [0,1] 0.991728126611222 Centerline is valid? [True, True] Translation: X:144.48, Y:-7.78, Z:-1.94 [[ 9.99997987e-01 1.91712641e-03 5.92740624e-04 1.44479713e+02] [-1.91710531e-03 9.99998162e-01 -3.61763322e-05 -7.77546417e+00] [-5.92808889e-04 3.50399132e-05 9.99999824e-01 -1.94006260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54037174299998 meters Centerline goodness [0,1] 0.9914074007945365 Centerline is valid? [True, True] Translation: X:144.51, Y:-7.78, Z:-1.94 [[ 9.99994492e-01 3.04591389e-03 1.31841364e-03 1.44509387e+02] [-3.04581045e-03 9.99995358e-01 -8.04658360e-05 -7.78007226e+00] [-1.31865261e-03 7.64497547e-05 9.99999128e-01 -1.94031908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57037174299998 meters Centerline goodness [0,1] 0.9927440485521689 Centerline is valid? [True, True] Translation: X:144.54, Y:-7.77, Z:-1.94 [[ 9.99992690e-01 3.17309915e-03 2.13345479e-03 1.44540016e+02] [-3.17282811e-03 9.99994958e-01 -1.30416113e-04 -7.77330061e+00] [-2.13385786e-03 1.23646075e-04 9.99997716e-01 -1.93819561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60037174299998 meters Centerline goodness [0,1] 0.9923575418994414 Centerline is valid? [True, True] Translation: X:144.57, Y:-7.78, Z:-1.94 [[ 9.99987650e-01 3.39921724e-03 3.62564241e-03 1.44570187e+02] [-3.39843745e-03 9.99994201e-01 -2.21215639e-04 -7.77620462e+00] [-3.62637334e-03 2.08891388e-04 9.99993403e-01 -1.93734495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63037174299998 meters Centerline goodness [0,1] 0.9920400679724533 Centerline is valid? [True, True] Translation: X:144.60, Y:-7.78, Z:-1.94 [[ 9.99985529e-01 3.77622891e-03 3.83167831e-03 1.44600643e+02] [-3.77536073e-03 9.99992846e-01 -2.33786753e-04 -7.77816897e+00] [-3.83253373e-03 2.19317402e-04 9.99992632e-01 -1.93715154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66037174299998 meters Centerline goodness [0,1] 0.9919057308320104 Centerline is valid? [True, True] Translation: X:144.63, Y:-7.78, Z:-1.94 [[ 9.99984347e-01 2.95818796e-03 4.74920075e-03 1.44631281e+02] [-2.95684576e-03 9.99995587e-01 -2.89612467e-04 -7.78139725e+00] [-4.75003652e-03 2.75565280e-04 9.99988681e-01 -1.93669983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.690371743 meters Centerline goodness [0,1] 0.9914808934999888 Centerline is valid? [True, True] Translation: X:144.66, Y:-7.78, Z:-1.94 [[ 9.99982156e-01 1.89924516e-03 5.66391392e-03 1.44663039e+02] [-1.89731921e-03 9.99998140e-01 -3.45393716e-04 -7.78193539e+00] [-5.66455938e-03 3.34641300e-04 9.99983900e-01 -1.93616123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720371743 meters Centerline goodness [0,1] 0.9914640686449767 Centerline is valid? [True, True] Translation: X:144.70, Y:-7.78, Z:-1.94 [[ 9.99985875e-01 6.53928756e-04 5.27460345e-03 1.44695443e+02] [-6.52241959e-04 9.99999736e-01 -3.21509670e-04 -7.78470403e+00] [-5.27481230e-03 3.18064811e-04 9.99986037e-01 -1.93689855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.750371743 meters Centerline goodness [0,1] 0.9916547661549446 Centerline is valid? [True, True] Translation: X:144.73, Y:-7.79, Z:-1.94 [[ 9.99987591e-01 -6.19828050e-04 4.94301206e-03 1.44725934e+02] [ 6.21327961e-04 9.99999761e-01 -3.01910913e-04 -7.79045887e+00] [-4.94282375e-03 3.04978399e-04 9.99987738e-01 -1.93817132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780371743 meters Centerline goodness [0,1] 0.9916808301279184 Centerline is valid? [True, True] Translation: X:144.76, Y:-7.80, Z:-1.94 [[ 9.99982253e-01 -4.43991332e-03 3.97242836e-03 1.44755454e+02] [ 4.44091415e-03 9.99990110e-01 -2.43159666e-04 -7.79736291e+00] [-3.97130946e-03 2.60796564e-04 9.99992080e-01 -1.94017082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.810371743 meters Centerline goodness [0,1] 0.9905422023476803 Centerline is valid? [True, True] Translation: X:144.78, Y:-7.80, Z:-1.94 [[ 9.99973707e-01 -6.54350734e-03 3.12538084e-03 1.44784829e+02] [ 6.54413394e-03 9.99978569e-01 -1.90302361e-04 -7.80232547e+00] [-3.12406862e-03 2.10750269e-04 9.99995098e-01 -1.94183388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840371743 meters Centerline goodness [0,1] 0.9913596784996651 Centerline is valid? [True, True] Translation: X:144.82, Y:-7.81, Z:-1.94 [[ 9.99958274e-01 -8.76044743e-03 2.58952994e-03 1.44815308e+02] [ 8.76088688e-03 9.99961610e-01 -1.58407704e-04 -7.80728210e+00] [-2.58804281e-03 1.81087673e-04 9.99996635e-01 -1.94317055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.870371743 meters Centerline goodness [0,1] 0.990590229000825 Centerline is valid? [True, True] Translation: X:144.85, Y:-7.81, Z:-1.94 [[ 9.99921372e-01 -1.23925300e-02 1.91727620e-03 1.44846057e+02] [ 1.23927778e-02 9.99923200e-01 -1.17418883e-04 -7.81292433e+00] [-1.91567384e-03 1.41170028e-04 9.99998155e-01 -1.94430070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900371743 meters Centerline goodness [0,1] 0.9908571938274908 Centerline is valid? [True, True] Translation: X:144.88, Y:-7.81, Z:-1.94 [[ 9.99904683e-01 -1.37344930e-02 1.41013968e-03 1.44877749e+02] [ 1.37346275e-02 9.99905672e-01 -8.57413522e-05 -7.81394716e+00] [-1.40882905e-03 1.05100923e-04 9.99999002e-01 -1.94472274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.930371743 meters Centerline goodness [0,1] 0.9902947120616519 Centerline is valid? [True, True] Translation: X:144.91, Y:-7.82, Z:-1.95 [[ 9.99891888e-01 -1.46756902e-02 9.14212377e-04 1.44909401e+02] [ 1.46757469e-02 9.99892304e-01 -5.53822183e-05 -7.81732666e+00] [-9.13301148e-04 6.87929803e-05 9.99999581e-01 -1.94573063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960371743 meters Centerline goodness [0,1] 0.9903702547870088 Centerline is valid? [True, True] Translation: X:144.94, Y:-7.82, Z:-1.95 [[ 9.99886463e-01 -1.50684763e-02 -3.98630717e-05 1.44940962e+02] [ 1.50684765e-02 9.99886464e-01 3.17641502e-06 -7.82008784e+00] [ 3.98106820e-05 -3.77673013e-06 9.99999999e-01 -1.94611396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99037174299997 meters Centerline goodness [0,1] 0.9905570031847843 Centerline is valid? [True, True] Translation: X:144.97, Y:-7.82, Z:-1.95 [[ 9.99882903e-01 -1.53025044e-02 1.20386540e-04 1.44973144e+02] [ 1.53025053e-02 9.99882910e-01 -6.43878825e-06 -7.82195293e+00] [-1.20273915e-04 8.28024996e-06 9.99999993e-01 -1.94602517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02037174299997 meters Centerline goodness [0,1] 0.9906321621681761 Centerline is valid? [True, True] Translation: X:145.01, Y:-7.82, Z:-1.95 [[ 9.99888286e-01 -1.49391037e-02 4.89246743e-04 1.45005378e+02] [ 1.49391197e-02 9.99888405e-01 -2.91625886e-05 -7.82406179e+00] [-4.88756483e-04 3.64682464e-05 9.99999880e-01 -1.94632359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05037174299997 meters Centerline goodness [0,1] 0.990050969307129 Centerline is valid? [True, True] Translation: X:145.04, Y:-7.82, Z:-1.95 [[ 9.99901435e-01 -1.39416815e-02 1.65796329e-03 1.45036804e+02] [ 1.39418691e-02 9.99902802e-01 -1.01643409e-04 -7.82165518e+00] [-1.65638506e-03 1.24748497e-04 9.99998620e-01 -1.94581418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08037174299997 meters Centerline goodness [0,1] 0.9905133058679434 Centerline is valid? [True, True] Translation: X:145.07, Y:-7.82, Z:-1.95 [[ 9.99913390e-01 -1.29878659e-02 2.12798069e-03 1.45068678e+02] [ 1.29881723e-02 9.99915642e-01 -1.30255155e-04 -7.82323806e+00] [-2.12610944e-03 1.57882453e-04 9.99997727e-01 -1.94594382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11037174299997 meters Centerline goodness [0,1] 0.9900228366184067 Centerline is valid? [True, True] Translation: X:145.10, Y:-7.83, Z:-1.95 [[ 9.99928815e-01 -1.13817491e-02 3.58066986e-03 1.45099275e+02] [ 1.13826113e-02 9.99935192e-01 -2.20494976e-04 -7.82832525e+00] [-3.57792819e-03 2.61236653e-04 9.99993565e-01 -1.94631802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14037174299997 meters Centerline goodness [0,1] 0.9905729595126398 Centerline is valid? [True, True] Translation: X:145.13, Y:-7.83, Z:-1.95 [[ 9.99931996e-01 -1.08789319e-02 4.20133693e-03 1.45131698e+02] [ 1.08801141e-02 9.99940776e-01 -2.58634842e-04 -7.83126819e+00] [-4.19827444e-03 3.04328279e-04 9.99991141e-01 -1.94590584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17037174299998 meters Centerline goodness [0,1] 0.9902124346568791 Centerline is valid? [True, True] Translation: X:145.16, Y:-7.83, Z:-1.95 [[ 9.99937976e-01 -1.00725123e-02 4.75275357e-03 1.45163717e+02] [ 1.00740183e-02 9.99949213e-01 -2.93032588e-04 -7.83013150e+00] [-4.74956061e-03 3.40893739e-04 9.99988663e-01 -1.94531409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20037174299998 meters Centerline goodness [0,1] 0.990002449288593 Centerline is valid? [True, True] Translation: X:145.19, Y:-7.83, Z:-1.95 [[ 9.99951740e-01 -8.55254239e-03 4.83442316e-03 1.45193928e+02] [ 8.55408699e-03 9.99963368e-01 -2.98912450e-04 -7.83277642e+00] [-4.83168961e-03 3.40252101e-04 9.99988269e-01 -1.94509876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23037174299998 meters Centerline goodness [0,1] 0.9902502003383492 Centerline is valid? [True, True] Translation: X:145.23, Y:-7.84, Z:-1.95 [[ 9.99958118e-01 -7.72885875e-03 4.90164943e-03 1.45226014e+02] [ 7.73043499e-03 9.99970074e-01 -3.02707038e-04 -7.83538079e+00] [-4.89916316e-03 3.40586243e-04 9.99987941e-01 -1.94589168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26037174299998 meters Centerline goodness [0,1] 0.9912757055105492 Centerline is valid? [True, True] Translation: X:145.26, Y:-7.84, Z:-1.95 [[ 9.99966966e-01 -6.62124435e-03 4.71441181e-03 1.45256951e+02] [ 6.62269237e-03 9.99978027e-01 -2.91602124e-04 -7.83872845e+00] [-4.71237746e-03 3.22814590e-04 9.99988845e-01 -1.94676577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29037174299998 meters Centerline goodness [0,1] 0.9904096482054249 Centerline is valid? [True, True] Translation: X:145.29, Y:-7.84, Z:-1.95 [[ 9.99975394e-01 -5.37543429e-03 4.50743548e-03 1.45289763e+02] [ 5.37674483e-03 9.99985506e-01 -2.78683671e-04 -7.83829783e+00] [-4.50587210e-03 3.02912144e-04 9.99989803e-01 -1.94737395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32037174299998 meters Centerline goodness [0,1] 0.9909295536092354 Centerline is valid? [True, True] Translation: X:145.32, Y:-7.84, Z:-1.95 [[ 9.99990926e-01 -2.31844021e-03 3.57382833e-03 1.45319802e+02] [ 2.31924804e-03 9.99997286e-01 -2.21913153e-04 -7.83935136e+00] [-3.57330414e-03 2.30199734e-04 9.99993589e-01 -1.94831375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35037174299998 meters Centerline goodness [0,1] 0.9906766649607263 Centerline is valid? [True, True] Translation: X:145.35, Y:-7.84, Z:-1.95 [[ 9.99993579e-01 -2.77476064e-04 3.57277548e-03 1.45350112e+02] [ 2.78269824e-04 9.99999937e-01 -2.21673811e-04 -7.84000541e+00] [-3.57271375e-03 2.22666583e-04 9.99993593e-01 -1.94880119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38037174299998 meters Centerline goodness [0,1] 0.991388733965421 Centerline is valid? [True, True] Translation: X:145.38, Y:-7.84, Z:-1.95 [[ 9.99990552e-01 1.77429013e-03 3.96847565e-03 1.45381472e+02] [-1.77332718e-03 9.99998397e-01 -2.46155717e-04 -7.83913403e+00] [-3.96890605e-03 2.39115985e-04 9.99992095e-01 -1.94877835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41037174299998 meters Centerline goodness [0,1] 0.991002455905336 Centerline is valid? [True, True] Translation: X:145.41, Y:-7.83, Z:-1.95 [[ 9.99964870e-01 6.76758083e-03 4.94557673e-03 1.45412657e+02] [-6.76614334e-03 9.99977062e-01 -3.07334985e-04 -7.82908574e+00] [-4.94754320e-03 2.73861708e-04 9.99987723e-01 -1.94745913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440371743 meters Centerline goodness [0,1] 0.991607734312058 Centerline is valid? [True, True] Translation: X:145.44, Y:-7.83, Z:-1.95 [[ 9.99940771e-01 9.40425405e-03 5.47853676e-03 1.45442313e+02] [-9.40253098e-03 9.99955737e-01 -3.40185236e-04 -7.83066779e+00] [-5.48149346e-03 2.88652975e-04 9.99984935e-01 -1.94772163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.470371743 meters Centerline goodness [0,1] 0.9917653113741637 Centerline is valid? [True, True] Translation: X:145.47, Y:-7.83, Z:-1.95 [[ 9.99912446e-01 1.18555364e-02 5.87761969e-03 1.45472657e+02] [-1.18535905e-02 9.99929677e-01 -3.65798716e-04 -7.82858635e+00] [-5.88154310e-03 2.96095792e-04 9.99982660e-01 -1.94767877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500371743 meters Centerline goodness [0,1] 0.9918970341354225 Centerline is valid? [True, True] Translation: X:145.50, Y:-7.83, Z:-1.95 [[ 9.99833932e-01 1.67777644e-02 7.11448900e-03 1.45502203e+02] [-1.67750411e-02 9.99859191e-01 -4.42277875e-04 -7.82604431e+00] [-7.12090766e-03 3.22858581e-04 9.99974594e-01 -1.94737118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.530371743 meters Centerline goodness [0,1] 0.9910997808488752 Centerline is valid? [True, True] Translation: X:145.53, Y:-7.83, Z:-1.95 [[ 9.99780900e-01 1.93890893e-02 7.88760547e-03 1.45531083e+02] [-1.93858236e-02 9.99811957e-01 -4.90288677e-04 -7.82619103e+00] [-7.89562851e-03 3.37273527e-04 9.99968772e-01 -1.94678840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560371743 meters Centerline goodness [0,1] 0.9917755417609753 Centerline is valid? [True, True] Translation: X:145.56, Y:-7.82, Z:-1.94 [[ 9.99650679e-01 2.44482662e-02 1.00400271e-02 1.45562053e+02] [-2.44432381e-02 9.99701025e-01 -6.23227623e-04 -7.81962747e+00] [-1.00522622e-02 3.77599145e-04 9.99949403e-01 -1.94483145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.590371743 meters Centerline goodness [0,1] 0.991224731928992 Centerline is valid? [True, True] Translation: X:145.59, Y:-7.82, Z:-1.94 [[ 9.99596255e-01 2.62493969e-02 1.08763785e-02 1.45591397e+02] [-2.62436040e-02 9.99655349e-01 -6.75020472e-04 -7.81957497e+00] [-1.08903488e-02 3.89312565e-04 9.99940623e-01 -1.94466014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620371743 meters Centerline goodness [0,1] 0.9913086441934107 Centerline is valid? [True, True] Translation: X:145.62, Y:-7.82, Z:-1.94 [[ 9.99547228e-01 2.78923859e-02 1.12851374e-02 1.45618880e+02] [-2.78862603e-02 9.99610858e-01 -6.99820770e-04 -7.82058972e+00] [-1.13002655e-02 3.84803632e-04 9.99936076e-01 -1.94479603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.650371743 meters Centerline goodness [0,1] 0.9909058166756708 Centerline is valid? [True, True] Translation: X:145.65, Y:-7.82, Z:-1.95 [[ 9.99482790e-01 3.01603832e-02 1.11581620e-02 1.45648252e+02] [-3.01545474e-02 9.99545009e-01 -6.90910640e-04 -7.81892483e+00] [-1.11739232e-02 3.54083969e-04 9.99937507e-01 -1.94564726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680371743 meters Centerline goodness [0,1] 0.9909566550899824 Centerline is valid? [True, True] Translation: X:145.68, Y:-7.82, Z:-1.95 [[ 9.99457390e-01 3.12084748e-02 1.05336419e-02 1.45675584e+02] [-3.12033367e-02 9.99512845e-01 -6.51813673e-04 -7.82183127e+00] [-1.05488525e-02 3.22775218e-04 9.99944307e-01 -1.94668600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.710371743 meters Centerline goodness [0,1] 0.9920298991354467 Centerline is valid? [True, True] Translation: X:145.70, Y:-7.82, Z:-1.95 [[ 9.99461472e-01 3.10729212e-02 1.05470089e-02 1.45703915e+02] [-3.10677720e-02 9.99517068e-01 -6.51743830e-04 -7.82072031e+00] [-1.05621670e-02 3.23720780e-04 9.99944166e-01 -1.94673352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74037174299997 meters Centerline goodness [0,1] 0.9910451119361008 Centerline is valid? [True, True] Translation: X:145.73, Y:-7.82, Z:-1.95 [[ 9.99461762e-01 3.10612809e-02 1.05537922e-02 1.45730688e+02] [-3.10561360e-02 9.99517430e-01 -6.51063074e-04 -7.82371080e+00] [-1.05689221e-02 3.22952642e-04 9.99944095e-01 -1.94768442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77037174299997 meters Centerline goodness [0,1] 0.9920695714865048 Centerline is valid? [True, True] Translation: X:145.76, Y:-7.83, Z:-1.95 [[ 9.99491623e-01 3.01830615e-02 1.02703071e-02 1.45758921e+02] [-3.01781571e-02 9.99544336e-01 -6.32200783e-04 -7.82608902e+00] [-1.02847091e-02 3.21940444e-04 9.99947059e-01 -1.94881587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80037174299997 meters Centerline goodness [0,1] 0.9920086441708125 Centerline is valid? [True, True] Translation: X:145.79, Y:-7.83, Z:-1.95 [[ 9.99521253e-01 2.93188604e-02 9.88277773e-03 1.45787737e+02] [-2.93142858e-02 9.99570059e-01 -6.07458447e-04 -7.82800785e+00] [-9.89633872e-03 3.17461057e-04 9.99950980e-01 -1.95007580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83037174299997 meters Centerline goodness [0,1] 0.9920109512802675 Centerline is valid? [True, True] Translation: X:145.82, Y:-7.83, Z:-1.95 [[ 9.99595428e-01 2.72539500e-02 8.13653732e-03 1.45815760e+02] [-2.72507835e-02 9.99628503e-01 -4.99804630e-04 -7.83167784e+00] [-8.14713628e-03 2.77875407e-04 9.99966773e-01 -1.95217141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86037174299997 meters Centerline goodness [0,1] 0.9921332404306489 Centerline is valid? [True, True] Translation: X:145.84, Y:-7.83, Z:-1.95 [[ 9.99638304e-01 2.59610128e-02 7.02049217e-03 1.45844682e+02] [-2.59586276e-02 9.99662925e-01 -4.30670433e-04 -7.83481841e+00] [-7.02930638e-03 2.48272319e-04 9.99975263e-01 -1.95340707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89037174299997 meters Centerline goodness [0,1] 0.9922697736948242 Centerline is valid? [True, True] Translation: X:145.87, Y:-7.84, Z:-1.95 [[ 9.99671513e-01 2.48923389e-02 6.10219787e-03 1.45873188e+02] [-2.48905189e-02 9.99690113e-01 -3.74032529e-04 -7.83723383e+00] [-6.10961742e-03 2.22022793e-04 9.99981311e-01 -1.95451144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92037174299998 meters Centerline goodness [0,1] 0.9927043458680478 Centerline is valid? [True, True] Translation: X:145.90, Y:-7.84, Z:-1.96 [[ 9.99747400e-01 2.18065294e-02 5.44169206e-03 1.45902222e+02] [-2.18050379e-02 9.99762186e-01 -3.33274523e-04 -7.83903510e+00] [-5.44766551e-03 2.14534036e-04 9.99985138e-01 -1.95502181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95037174299998 meters Centerline goodness [0,1] 0.9922564379614622 Centerline is valid? [True, True] Translation: X:145.93, Y:-7.84, Z:-1.96 [[ 9.99773738e-01 2.05639666e-02 5.44030998e-03 1.45929336e+02] [-2.05624591e-02 9.99788515e-01 -3.32897782e-04 -7.84393806e+00] [-5.44600514e-03 2.20956308e-04 9.99985146e-01 -1.95591396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98037174299998 meters Centerline goodness [0,1] 0.9920422614364393 Centerline is valid? [True, True] Translation: X:145.96, Y:-7.85, Z:-1.96 [[ 9.99815599e-01 1.83436531e-02 5.68146352e-03 1.45958458e+02] [-1.83419776e-02 9.99831712e-01 -3.46879456e-04 -7.84633179e+00] [-5.68687043e-03 2.42606214e-04 9.99983800e-01 -1.95589743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01037174299998 meters Centerline goodness [0,1] 0.9916890681003584 Centerline is valid? [True, True] Translation: X:145.99, Y:-7.85, Z:-1.96 [[ 9.99857246e-01 1.57481062e-02 6.12247703e-03 1.45986747e+02] [-1.57461142e-02 9.99875953e-01 -3.73421776e-04 -7.85336297e+00] [-6.12759824e-03 2.76963245e-04 9.99981188e-01 -1.95676973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04037174299998 meters Centerline goodness [0,1] 0.9916890681003584 Centerline is valid? [True, True] Translation: X:146.02, Y:-7.86, Z:-1.96 [[ 9.99858340e-01 1.56784940e-02 6.12248907e-03 1.46015029e+02] [-1.56765020e-02 9.99877046e-01 -3.73224312e-04 -7.85502244e+00] [-6.12758788e-03 2.77192229e-04 9.99981188e-01 -1.95715390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07037174299998 meters Centerline goodness [0,1] 0.9906862965124108 Centerline is valid? [True, True] Translation: X:146.04, Y:-7.86, Z:-1.96 [[ 9.99890895e-01 1.33577315e-02 6.30633406e-03 1.46044448e+02] [-1.33555765e-02 9.99910737e-01 -3.83713404e-04 -7.85755845e+00] [-6.31089668e-03 2.99446812e-04 9.99980041e-01 -1.95702117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10037174299998 meters Centerline goodness [0,1] 0.9909588549378562 Centerline is valid? [True, True] Translation: X:146.07, Y:-7.86, Z:-1.96 [[ 9.99920645e-01 1.06423539e-02 6.74124458e-03 1.46073789e+02] [-1.06398316e-02 9.99943311e-01 -4.09904902e-04 -7.86161984e+00] [-6.74522478e-03 3.38146667e-04 9.99977194e-01 -1.95772713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13037174299998 meters Centerline goodness [0,1] 0.9911371387542631 Centerline is valid? [True, True] Translation: X:146.10, Y:-7.86, Z:-1.96 [[ 9.99936218e-01 9.43321761e-03 6.21078358e-03 1.46103046e+02] [-9.43105458e-03 9.99955455e-01 -3.77465936e-04 -7.86426501e+00] [-6.21406765e-03 3.18867622e-04 9.99980642e-01 -1.95817619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16037174299998 meters Centerline goodness [0,1] 0.9912569776044119 Centerline is valid? [True, True] Translation: X:146.13, Y:-7.87, Z:-1.96 [[ 9.99947716e-01 8.64015775e-03 5.46936317e-03 1.46132196e+02] [-8.63847003e-03 9.99962633e-01 -3.32126306e-04 -7.86841681e+00] [-5.47202842e-03 2.84862011e-04 9.99984988e-01 -1.95909339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.190371743 meters Centerline goodness [0,1] 0.9919704764034891 Centerline is valid? [True, True] Translation: X:146.16, Y:-7.87, Z:-1.96 [[ 9.99960031e-01 8.13808347e-03 3.70230845e-03 1.46161850e+02] [-8.13730756e-03 9.99966866e-01 -2.24589516e-04 -7.87333228e+00] [-3.70401350e-03 1.94453717e-04 9.99993121e-01 -1.96104380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220371743 meters Centerline goodness [0,1] 0.9918546365914787 Centerline is valid? [True, True] Translation: X:146.19, Y:-7.88, Z:-1.96 [[ 9.99963668e-01 7.91032800e-03 3.17623598e-03 1.46191738e+02] [-7.90975440e-03 9.99968699e-01 -1.93112813e-04 -7.87630203e+00] [-3.17766414e-03 1.67982551e-04 9.99994937e-01 -1.96223783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.250371743 meters Centerline goodness [0,1] 0.991344709285378 Centerline is valid? [True, True] Translation: X:146.22, Y:-7.88, Z:-1.96 [[ 9.99965221e-01 7.98214717e-03 2.41698893e-03 1.46220990e+02] [-7.98181517e-03 9.99968134e-01 -1.46977350e-04 -7.87856790e+00] [-2.41808511e-03 1.27680279e-04 9.99997068e-01 -1.96326603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280371743 meters Centerline goodness [0,1] 0.9922393683832765 Centerline is valid? [True, True] Translation: X:146.25, Y:-7.87, Z:-1.96 [[ 9.99969326e-01 7.55991759e-03 2.04815462e-03 1.46250569e+02] [-7.55967781e-03 9.99971417e-01 -1.24785314e-04 -7.87328182e+00] [-2.04903945e-03 1.09298097e-04 9.99997895e-01 -1.96186608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.310371743 meters Centerline goodness [0,1] 0.9912774401865596 Centerline is valid? [True, True] Translation: X:146.28, Y:-7.88, Z:-1.96 [[ 9.99972374e-01 7.06688223e-03 2.30423849e-03 1.46278287e+02] [-7.06657795e-03 9.99975022e-01 -1.40164981e-04 -7.88405347e+00] [-2.30517146e-03 1.23878028e-04 9.99997335e-01 -1.96370972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340371743 meters Centerline goodness [0,1] 0.9916276779118444 Centerline is valid? [True, True] Translation: X:146.31, Y:-7.88, Z:-1.96 [[ 9.99979408e-01 6.02829076e-03 2.20076960e-03 1.46307926e+02] [-6.02801135e-03 9.99981822e-01 -1.33571609e-04 -7.88270117e+00] [-2.20153480e-03 1.20302594e-04 9.99997569e-01 -1.96407610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.370371743 meters Centerline goodness [0,1] 0.9923940763276811 Centerline is valid? [True, True] Translation: X:146.34, Y:-7.88, Z:-1.96 [[ 9.99984438e-01 5.13666414e-03 2.17671817e-03 1.46337352e+02] [-5.13638883e-03 9.99986800e-01 -1.32052792e-04 -7.88299780e+00] [-2.17736775e-03 1.20870266e-04 9.99997622e-01 -1.96473603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400371743 meters Centerline goodness [0,1] 0.9920842557187898 Centerline is valid? [True, True] Translation: X:146.37, Y:-7.89, Z:-1.96 [[ 9.99991363e-01 3.35169968e-03 2.45781036e-03 1.46367399e+02] [-3.35134416e-03 9.99994373e-01 -1.48754189e-04 -7.88502353e+00] [-2.45829511e-03 1.40515936e-04 9.99996969e-01 -1.96487117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.430371743 meters Centerline goodness [0,1] 0.9924020648506112 Centerline is valid? [True, True] Translation: X:146.40, Y:-7.89, Z:-1.97 [[ 9.99995620e-01 1.84494491e-03 2.31434560e-03 1.46398155e+02] [-1.84462619e-03 9.99998289e-01 -1.39841449e-04 -7.88740577e+00] [-2.31459964e-03 1.35571734e-04 9.99997312e-01 -1.96539129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460371743 meters Centerline goodness [0,1] 0.9921013179387349 Centerline is valid? [True, True] Translation: X:146.43, Y:-7.89, Z:-1.97 [[ 9.99996696e-01 -1.08595959e-03 2.33002932e-03 1.46428777e+02] [ 1.08628930e-03 9.99999400e-01 -1.40245815e-04 -7.89002729e+00] [-2.32987562e-03 1.42776438e-04 9.99997276e-01 -1.96597987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49037174299997 meters Centerline goodness [0,1] 0.9922159840740824 Centerline is valid? [True, True] Translation: X:146.46, Y:-7.90, Z:-1.97 [[ 9.99995166e-01 -2.44556490e-03 1.92003518e-03 1.46459704e+02] [ 2.44578712e-03 9.99997003e-01 -1.13396545e-04 -7.89530677e+00] [-1.91975211e-03 1.18091994e-04 9.99998150e-01 -1.96714326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52037174299997 meters Centerline goodness [0,1] 0.9923363061892171 Centerline is valid? [True, True] Translation: X:146.49, Y:-7.90, Z:-1.97 [[ 9.99984526e-01 -5.47738601e-03 9.73064882e-04 1.46490943e+02] [ 5.47744585e-03 9.99984997e-01 -5.88435120e-05 -7.89670815e+00] [-9.72727975e-04 6.41725116e-05 9.99999525e-01 -1.96813495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55037174299997 meters Centerline goodness [0,1] 0.9915518207282913 Centerline is valid? [True, True] Translation: X:146.52, Y:-7.90, Z:-1.97 [[ 9.99979488e-01 -6.40472346e-03 4.80262918e-05 1.46521729e+02] [ 6.40472357e-03 9.99979490e-01 -2.18628702e-06 -7.90186089e+00] [-4.80113043e-05 2.49383731e-06 9.99999999e-01 -1.96950638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58037174299997 meters Centerline goodness [0,1] 0.9915992741772889 Centerline is valid? [True, True] Translation: X:146.55, Y:-7.91, Z:-1.97 [[ 9.99973467e-01 -7.28165444e-03 -2.07251522e-04 1.46552220e+02] [ 7.28165755e-03 9.99973488e-01 1.42804529e-05 -7.90657224e+00] [ 2.07142042e-04 -1.57892086e-05 9.99999978e-01 -1.97083385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61037174299997 meters Centerline goodness [0,1] 0.9914441624935438 Centerline is valid? [True, True] Translation: X:146.58, Y:-7.91, Z:-1.97 [[ 9.99970280e-01 -7.61028382e-03 -1.23434654e-03 1.46583570e+02] [ 7.61038332e-03 9.99971038e-01 7.59377587e-05 -7.90731033e+00] [ 1.23373289e-03 -8.53293521e-05 9.99999235e-01 -1.97132628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64037174299997 meters Centerline goodness [0,1] 0.9921538737446198 Centerline is valid? [True, True] Translation: X:146.62, Y:-7.90, Z:-1.97 [[ 9.99975358e-01 -6.89463709e-03 -1.32180170e-03 1.46616062e+02] [ 6.89475099e-03 9.99976228e-01 8.16291559e-05 -7.90244813e+00] [ 1.32120747e-03 -9.07406379e-05 9.99999123e-01 -1.97057177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67037174299998 meters Centerline goodness [0,1] 0.9919135649947214 Centerline is valid? [True, True] Translation: X:146.65, Y:-7.91, Z:-1.97 [[ 9.99979797e-01 -6.07804393e-03 -1.86113466e-03 1.46647198e+02] [ 6.07826732e-03 9.99981521e-01 1.14395221e-04 -7.90931494e+00] [ 1.86040497e-03 -1.25705384e-04 9.99998262e-01 -1.97296086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70037174299998 meters Centerline goodness [0,1] 0.9915305777677667 Centerline is valid? [True, True] Translation: X:146.68, Y:-7.91, Z:-1.97 [[ 9.99992397e-01 -2.82181580e-03 -2.69119618e-03 1.46678629e+02] [ 2.82226907e-03 9.99996004e-01 1.64644165e-04 -7.90516074e+00] [ 2.69072083e-03 -1.72238193e-04 9.99996365e-01 -1.97447034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73037174299998 meters Centerline goodness [0,1] 0.9914763118136515 Centerline is valid? [True, True] Translation: X:146.71, Y:-7.90, Z:-1.98 [[ 9.99995068e-01 -5.82598381e-04 -3.08631835e-03 1.46709288e+02] [ 5.83183095e-04 9.99999812e-01 1.88556942e-04 -7.90371979e+00] [ 3.08620791e-03 -1.90355900e-04 9.99995220e-01 -1.97528287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76037174299998 meters Centerline goodness [0,1] 0.9919174587406588 Centerline is valid? [True, True] Translation: X:146.74, Y:-7.89, Z:-1.97 [[ 9.99996441e-01 7.82465647e-04 -2.55047140e-03 1.46739736e+02] [-7.82072237e-04 9.99999682e-01 1.55243748e-04 -7.89370392e+00] [ 2.55059207e-03 -1.53248543e-04 9.99996735e-01 -1.97273636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79037174299998 meters Centerline goodness [0,1] 0.9914553099145531 Centerline is valid? [True, True] Translation: X:146.77, Y:-7.89, Z:-1.97 [[ 9.99992596e-01 3.84332626e-03 -1.92104116e-04 1.46769367e+02] [-3.84332418e-03 9.99992614e-01 1.12434862e-05 -7.89110154e+00] [ 1.92145909e-04 -1.05050845e-05 9.99999981e-01 -1.97204325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82037174299998 meters Centerline goodness [0,1] 0.9914493179813152 Centerline is valid? [True, True] Translation: X:146.80, Y:-7.89, Z:-1.97 [[ 9.99987543e-01 4.92541086e-03 8.09095797e-04 1.46799113e+02] [-4.92537197e-03 9.99987869e-01 -5.00596176e-05 -7.88687934e+00] [-8.09332546e-04 4.60738962e-05 9.99999671e-01 -1.97073741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85037174299998 meters Centerline goodness [0,1] 0.9908394177134824 Centerline is valid? [True, True] Translation: X:146.83, Y:-7.89, Z:-1.97 [[ 9.99982623e-01 5.60633235e-03 1.82306172e-03 1.46828368e+02] [-5.60613824e-03 9.99984279e-01 -1.11567580e-04 -7.88711055e+00] [-1.82365854e-03 1.01345305e-04 9.99998332e-01 -1.97020803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88037174299998 meters Centerline goodness [0,1] 0.9913841968030835 Centerline is valid? [True, True] Translation: X:146.86, Y:-7.88, Z:-1.97 [[ 9.99984958e-01 5.10972404e-03 1.99368973e-03 1.46857893e+02] [-5.10949113e-03 9.99986939e-01 -1.21898418e-04 -7.88464036e+00] [-1.99428656e-03 1.11709845e-04 9.99998005e-01 -1.96909712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91037174299998 meters Centerline goodness [0,1] 0.9907413710940159 Centerline is valid? [True, True] Translation: X:146.89, Y:-7.89, Z:-1.97 [[ 9.99987770e-01 4.41394271e-03 2.23094966e-03 1.46887158e+02] [-4.41364966e-03 9.99990251e-01 -1.36262987e-04 -7.88624242e+00] [-2.23152937e-03 1.26414690e-04 9.99997502e-01 -1.96909220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940371743 meters Centerline goodness [0,1] 0.9903728259388765 Centerline is valid? [True, True] Translation: X:146.92, Y:-7.89, Z:-1.97 [[ 9.99993038e-01 3.38491757e-03 1.57021467e-03 1.46917041e+02] [-3.38477134e-03 9.99994267e-01 -9.57791705e-05 -7.88841896e+00] [-1.57052987e-03 9.04636862e-05 9.99998763e-01 -1.96928280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.970371743 meters Centerline goodness [0,1] 0.9906861856417694 Centerline is valid? [True, True] Translation: X:146.95, Y:-7.89, Z:-1.97 [[ 9.99998362e-01 1.74303212e-03 4.87455317e-04 1.46947515e+02] [-1.74301787e-03 9.99998481e-01 -2.96587143e-05 -7.88997438e+00] [-4.87506272e-04 2.88090224e-05 9.99999881e-01 -1.97029851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000371743 meters Centerline goodness [0,1] 0.9901097904001451 Centerline is valid? [True, True] Translation: X:146.98, Y:-7.89, Z:-1.97 [[ 9.99999400e-01 1.09505147e-03 -4.63267599e-07 1.46976645e+02] [-1.09505147e-03 9.99999400e-01 -2.10830421e-07 -7.89267775e+00] [ 4.63036383e-07 2.11337600e-07 1.00000000e+00 -1.97103027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.030371743 meters Centerline goodness [0,1] 0.9909766212459554 Centerline is valid? [True, True] Translation: X:147.01, Y:-7.89, Z:-1.97 [[ 9.99999101e-01 1.33772012e-03 -9.40920255e-05 1.47006733e+02] [-1.33771959e-03 9.99999105e-01 5.72326895e-06 -7.89402901e+00] [ 9.40995973e-05 -5.59739505e-06 9.99999996e-01 -1.97122242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060371743 meters Centerline goodness [0,1] 0.990621443205099 Centerline is valid? [True, True] Translation: X:147.04, Y:-7.89, Z:-1.97 [[ 9.99995394e-01 2.86020755e-03 -1.01565648e-03 1.47036305e+02] [-2.86014680e-03 9.99995908e-01 6.12631503e-05 -7.89499415e+00] [ 1.01582755e-03 -5.83579415e-05 9.99999482e-01 -1.97202026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.090371743 meters Centerline goodness [0,1] 0.9908885902371244 Centerline is valid? [True, True] Translation: X:147.07, Y:-7.90, Z:-1.97 [[ 9.99983761e-01 5.58855439e-03 -1.11596768e-03 1.47065380e+02] [-5.58848273e-03 9.99984382e-01 6.73266056e-05 -7.89543797e+00] [ 1.11632651e-03 -6.10889461e-05 9.99999375e-01 -1.97267600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120371743 meters Centerline goodness [0,1] 0.9911970626468106 Centerline is valid? [True, True] Translation: X:147.09, Y:-7.89, Z:-1.97 [[ 9.99979418e-01 6.40933247e-03 -2.89428892e-04 1.47094098e+02] [-6.40932793e-03 9.99979460e-01 1.66132467e-05 -7.89494375e+00] [ 2.89529427e-04 -1.47578601e-05 9.99999958e-01 -1.97215804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.150371743 meters Centerline goodness [0,1] 0.9911869192931317 Centerline is valid? [True, True] Translation: X:147.12, Y:-7.90, Z:-1.97 [[ 9.99966081e-01 8.23141232e-03 -2.83299489e-04 1.47121978e+02] [-8.23140813e-03 9.99966121e-01 1.59844262e-05 -7.89556163e+00] [ 2.83421466e-04 -1.36519303e-05 9.99999960e-01 -1.97246168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180371743 meters Centerline goodness [0,1] 0.9911894273127754 Centerline is valid? [True, True] Translation: X:147.15, Y:-7.89, Z:-1.97 [[ 9.99938647e-01 1.10618693e-02 5.80917469e-04 1.47151043e+02] [-1.10618505e-02 9.99938815e-01 -3.56502500e-05 -7.89467977e+00] [-5.81276284e-04 2.92220406e-05 9.99999831e-01 -1.97224349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.210371743 meters Centerline goodness [0,1] 0.9915498104416937 Centerline is valid? [True, True] Translation: X:147.18, Y:-7.89, Z:-1.97 [[ 9.99925365e-01 1.21867120e-02 8.65100331e-04 1.47180291e+02] [-1.21866704e-02 9.99925738e-01 -5.33223193e-05 -7.88887708e+00] [-8.65685911e-04 4.27756470e-05 9.99999624e-01 -1.97090811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24037174299997 meters Centerline goodness [0,1] 0.9914244551670516 Centerline is valid? [True, True] Translation: X:147.21, Y:-7.89, Z:-1.97 [[ 9.99913908e-01 1.30359546e-02 1.49714294e-03 1.47207691e+02] [-1.30358320e-02 9.99915026e-01 -9.16533367e-05 -7.89125846e+00] [-1.49821051e-03 7.21289422e-05 9.99998875e-01 -1.97126166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27037174299997 meters Centerline goodness [0,1] 0.9916089352264673 Centerline is valid? [True, True] Translation: X:147.24, Y:-7.89, Z:-1.97 [[ 9.99910597e-01 1.32332992e-02 1.91767022e-03 1.47236240e+02] [-1.32330997e-02 9.99912432e-01 -1.16670878e-04 -7.89071865e+00] [-1.91904623e-03 9.12837257e-05 9.99998154e-01 -1.97108369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30037174299997 meters Centerline goodness [0,1] 0.9910832685536605 Centerline is valid? [True, True] Translation: X:147.26, Y:-7.89, Z:-1.97 [[ 9.99919010e-01 1.25492972e-02 2.11874456e-03 1.47264230e+02] [-1.25490523e-02 9.99921249e-01 -1.28843445e-04 -7.89331040e+00] [-2.12019460e-03 1.02244773e-04 9.99997747e-01 -1.97171775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33037174299997 meters Centerline goodness [0,1] 0.9921130237980934 Centerline is valid? [True, True] Translation: X:147.29, Y:-7.90, Z:-1.97 [[ 9.99947533e-01 1.01069592e-02 1.66773929e-03 1.47292936e+02] [-1.01068046e-02 9.99948920e-01 -1.01093360e-04 -7.89767080e+00] [-1.66867585e-03 8.42325408e-05 9.99998604e-01 -1.97277324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36037174299997 meters Centerline goodness [0,1] 0.9916477883801286 Centerline is valid? [True, True] Translation: X:147.32, Y:-7.90, Z:-1.97 [[ 9.99963922e-01 8.45400140e-03 8.27693528e-04 1.47322408e+02] [-8.45396269e-03 9.99964263e-01 -5.02657035e-05 -7.90055141e+00] [-8.28088895e-04 4.32665998e-05 9.99999656e-01 -1.97361719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39037174299997 meters Centerline goodness [0,1] 0.9912505140037465 Centerline is valid? [True, True] Translation: X:147.35, Y:-7.90, Z:-1.97 [[ 9.99977816e-01 6.65914401e-03 1.51829497e-04 1.47351611e+02] [-6.65914259e-03 9.99977828e-01 -9.84749550e-06 -7.90382762e+00] [-1.51891706e-04 8.83622278e-06 9.99999988e-01 -1.97422566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42037174299998 meters Centerline goodness [0,1] 0.9910592099261016 Centerline is valid? [True, True] Translation: X:147.38, Y:-7.91, Z:-1.98 [[ 9.99988037e-01 4.81329295e-03 -8.70802592e-04 1.47381379e+02] [-4.81324965e-03 9.99988415e-01 5.18174819e-05 -7.90738393e+00] [ 8.71041917e-04 -4.76254718e-05 9.99999620e-01 -1.97521831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45037174299998 meters Centerline goodness [0,1] 0.9915192246148219 Centerline is valid? [True, True] Translation: X:147.41, Y:-7.91, Z:-1.98 [[ 9.99997763e-01 1.15026404e-03 -1.77490143e-03 1.47411382e+02] [-1.15007714e-03 9.99999333e-01 1.06320306e-04 -7.91096672e+00] [ 1.77502254e-03 -1.04278795e-04 9.99998419e-01 -1.97570923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48037174299998 meters Centerline goodness [0,1] 0.9910948140387638 Centerline is valid? [True, True] Translation: X:147.44, Y:-7.92, Z:-1.98 [[ 9.99997280e-01 -1.92375553e-03 -1.31873178e-03 1.47441412e+02] [ 1.92386145e-03 9.99998146e-01 7.90502793e-05 -7.91586131e+00] [ 1.31857727e-03 -8.15871215e-05 9.99999127e-01 -1.97594398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51037174299998 meters Centerline goodness [0,1] 0.990728265089406 Centerline is valid? [True, True] Translation: X:147.47, Y:-7.92, Z:-1.98 [[ 9.99994876e-01 -3.18583313e-03 -3.14028275e-04 1.47472136e+02] [ 3.18583929e-03 9.99994925e-01 1.91005337e-05 -7.91975079e+00] [ 3.13965830e-04 -2.01008794e-05 9.99999951e-01 -1.97626742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54037174299998 meters Centerline goodness [0,1] 0.9903488557804193 Centerline is valid? [True, True] Translation: X:147.50, Y:-7.93, Z:-1.98 [[ 9.99991231e-01 -4.16871835e-03 3.99928643e-04 1.47502533e+02] [ 4.16872800e-03 9.99991311e-01 -2.33106238e-05 -7.92759486e+00] [-3.99827993e-04 2.49776131e-05 9.99999920e-01 -1.97684928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57037174299998 meters Centerline goodness [0,1] 0.9906305566953905 Centerline is valid? [True, True] Translation: X:147.53, Y:-7.93, Z:-1.98 [[ 9.99988703e-01 -4.53061309e-03 1.43751900e-03 1.47534708e+02] [ 4.53074074e-03 9.99989732e-01 -8.55576808e-05 -7.92968606e+00] [-1.43711662e-03 9.20697402e-05 9.99998963e-01 -1.97594186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60037174299998 meters Centerline goodness [0,1] 0.9903846153846154 Centerline is valid? [True, True] Translation: X:147.57, Y:-7.93, Z:-1.97 [[ 9.99983150e-01 -4.90419780e-03 3.10613014e-03 1.47566900e+02] [ 4.90479959e-03 9.99987954e-01 -1.86153712e-04 -7.92865125e+00] [-3.10517979e-03 2.01385521e-04 9.99995159e-01 -1.97396332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63037174299998 meters Centerline goodness [0,1] 0.9904263786242183 Centerline is valid? [True, True] Translation: X:147.60, Y:-7.93, Z:-1.97 [[ 9.99983377e-01 -4.85861045e-03 3.10471590e-03 1.47597961e+02] [ 4.85921276e-03 9.99988177e-01 -1.86483313e-04 -7.93364477e+00] [-3.10377314e-03 2.01566689e-04 9.99995163e-01 -1.97453672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66037174299998 meters Centerline goodness [0,1] 0.9907781765320492 Centerline is valid? [True, True] Translation: X:147.63, Y:-7.94, Z:-1.98 [[ 9.99981011e-01 -5.39489196e-03 2.97888837e-03 1.47630320e+02] [ 5.39544866e-03 9.99985428e-01 -1.78876175e-04 -7.93690738e+00] [-2.97787994e-03 1.94945218e-04 9.99995547e-01 -1.97557166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.690371743 meters Centerline goodness [0,1] 0.9901729915768499 Centerline is valid? [True, True] Translation: X:147.66, Y:-7.94, Z:-1.98 [[ 9.99981842e-01 -5.71434109e-03 1.91382151e-03 1.47661220e+02] [ 5.71457041e-03 9.99983665e-01 -1.14375924e-04 -7.94251759e+00] [-1.91313667e-03 1.25310515e-04 9.99998162e-01 -1.97719173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720371743 meters Centerline goodness [0,1] 0.9901722690029279 Centerline is valid? [True, True] Translation: X:147.69, Y:-7.94, Z:-1.98 [[ 9.99979829e-01 -6.25698139e-03 1.09189915e-03 1.47693724e+02] [ 6.25705624e-03 9.99980422e-01 -6.51540000e-05 -7.94486952e+00] [-1.09147011e-03 7.19847602e-05 9.99999402e-01 -1.97867648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.750371743 meters Centerline goodness [0,1] 0.99032860003641 Centerline is valid? [True, True] Translation: X:147.72, Y:-7.95, Z:-1.98 [[ 9.99970919e-01 -7.42045580e-03 -1.76034647e-03 1.47723285e+02] [ 7.42065719e-03 9.99972461e-01 1.07897960e-04 -7.95046698e+00] [ 1.75949734e-03 -1.20957750e-04 9.99998445e-01 -1.98185858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780371743 meters Centerline goodness [0,1] 0.9906100084123411 Centerline is valid? [True, True] Translation: X:147.75, Y:-7.95, Z:-1.98 [[ 9.99959012e-01 -8.62455156e-03 -2.75520413e-03 1.47754208e+02] [ 8.62504592e-03 9.99962790e-01 1.67597829e-04 -7.95445826e+00] [ 2.75365615e-03 -1.91354722e-04 9.99996190e-01 -1.98335345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.810371743 meters Centerline goodness [0,1] 0.9907140424565785 Centerline is valid? [True, True] Translation: X:147.78, Y:-7.96, Z:-1.99 [[ 9.99942518e-01 -9.51071945e-03 -4.95050367e-03 1.47784693e+02] [ 9.51232373e-03 9.99954712e-01 3.00618300e-04 -7.95951643e+00] [ 4.94742037e-03 -3.47691813e-04 9.99987701e-01 -1.98622293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840371743 meters Centerline goodness [0,1] 0.9898265055863384 Centerline is valid? [True, True] Translation: X:147.82, Y:-7.96, Z:-1.99 [[ 9.99933216e-01 -9.93320190e-03 -5.90718696e-03 1.47815186e+02] [ 9.93550550e-03 9.99950577e-01 3.60747318e-04 -7.96475834e+00] [ 5.90331163e-03 -4.19414115e-04 9.99982487e-01 -1.98788939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.870371743 meters Centerline goodness [0,1] 0.99113197704747 Centerline is valid? [True, True] Translation: X:147.85, Y:-7.96, Z:-1.99 [[ 9.99931899e-01 -9.88187853e-03 -6.20856128e-03 1.47846767e+02] [ 9.88441604e-03 9.99951076e-01 3.78158939e-04 -7.95987663e+00] [ 6.20452061e-03 -4.39501189e-04 9.99980655e-01 -1.98667075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900371743 meters Centerline goodness [0,1] 0.9912519881845036 Centerline is valid? [True, True] Translation: X:147.88, Y:-7.96, Z:-1.99 [[ 9.99938300e-01 -8.75390562e-03 -6.83856153e-03 1.47876610e+02] [ 8.75696435e-03 9.99961570e-01 4.17461283e-04 -7.96285765e+00] [ 6.83464431e-03 -4.77320565e-04 9.99976530e-01 -1.98768129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.930371743 meters Centerline goodness [0,1] 0.9912519881845036 Centerline is valid? [True, True] Translation: X:147.91, Y:-7.96, Z:-1.99 [[ 9.99938299e-01 -8.75389251e-03 -6.83862021e-03 1.47906631e+02] [ 8.75694468e-03 9.99961570e-01 4.16497747e-04 -7.96468558e+00] [ 6.83471143e-03 -4.76357468e-04 9.99976530e-01 -1.98808849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960371743 meters Centerline goodness [0,1] 0.9910908596300326 Centerline is valid? [True, True] Translation: X:147.94, Y:-7.97, Z:-1.99 [[ 9.99944322e-01 -7.89922817e-03 -6.99684641e-03 1.47936919e+02] [ 7.90240239e-03 9.99968685e-01 4.26134319e-04 -7.96580725e+00] [ 6.99326117e-03 -4.81402488e-04 9.99975431e-01 -1.98861327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99037174299997 meters Centerline goodness [0,1] 0.9910756863546563 Centerline is valid? [True, True] Translation: X:147.97, Y:-7.97, Z:-1.99 [[ 9.99950326e-01 -6.94841590e-03 -7.14595394e-03 1.47967208e+02] [ 6.95170269e-03 9.99975742e-01 4.35215529e-04 -7.96611179e+00] [ 7.14275654e-03 -4.84870458e-04 9.99974373e-01 -1.98872469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02037174299997 meters Centerline goodness [0,1] 0.9906172281257065 Centerline is valid? [True, True] Translation: X:148.00, Y:-7.97, Z:-1.99 [[ 9.99971811e-01 -4.73531871e-03 -5.82703228e-03 1.47996702e+02] [ 4.73746280e-03 9.99988715e-01 3.54207722e-04 -7.96719952e+00] [ 5.82528924e-03 -3.81803086e-04 9.99982960e-01 -1.98848203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05037174299997 meters Centerline goodness [0,1] 0.9908254802464661 Centerline is valid? [True, True] Translation: X:148.03, Y:-7.97, Z:-1.99 [[ 9.99990107e-01 -2.60551380e-03 -3.60518057e-03 1.48026689e+02] [ 2.60632070e-03 9.99996580e-01 2.19137478e-04 -7.96672606e+00] [ 3.60459727e-03 -2.28531567e-04 9.99993477e-01 -1.98631069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08037174299997 meters Centerline goodness [0,1] 0.9909018897816001 Centerline is valid? [True, True] Translation: X:148.06, Y:-7.97, Z:-1.99 [[ 9.99995747e-01 -1.19317092e-03 -2.66134546e-03 1.48056176e+02] [ 1.19360456e-03 9.99999275e-01 1.61360406e-04 -7.96620966e+00] [ 2.66115100e-03 -1.64536314e-04 9.99996446e-01 -1.98541130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11037174299997 meters Centerline goodness [0,1] 0.9904690754324006 Centerline is valid? [True, True] Translation: X:148.09, Y:-7.97, Z:-1.99 [[ 9.99997971e-01 -9.30099303e-04 -1.78698321e-03 1.48085219e+02] [ 9.30294494e-04 9.99999561e-01 1.08400913e-04 -7.97058428e+00] [ 1.78688161e-03 -1.10063114e-04 9.99998397e-01 -1.98535527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14037174299997 meters Centerline goodness [0,1] 0.9903935473638897 Centerline is valid? [True, True] Translation: X:148.11, Y:-7.98, Z:-1.99 [[ 9.99998953e-01 -7.69181537e-04 -1.22542970e-03 1.48114414e+02] [ 7.69273095e-04 9.99999701e-01 7.42452016e-05 -7.97536008e+00] [ 1.22537223e-03 -7.51878140e-05 9.99999246e-01 -1.98576006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17037174299998 meters Centerline goodness [0,1] 0.9901903168934496 Centerline is valid? [True, True] Translation: X:148.14, Y:-7.98, Z:-1.99 [[ 9.99999069e-01 -1.21860804e-03 -6.14410289e-04 1.48144893e+02] [ 1.21863121e-03 9.99999257e-01 3.73434680e-05 -7.97898127e+00] [ 6.14364325e-04 -3.80921728e-05 9.99999811e-01 -1.98594873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20037174299998 meters Centerline goodness [0,1] 0.9908043380027113 Centerline is valid? [True, True] Translation: X:148.18, Y:-7.98, Z:-1.99 [[ 9.99997313e-01 -2.24284541e-03 -5.85588081e-04 1.48175897e+02] [ 2.24286678e-03 9.99997484e-01 3.58469531e-05 -7.97693219e+00] [ 5.85506209e-04 -3.71602528e-05 9.99999828e-01 -1.98502427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23037174299998 meters Centerline goodness [0,1] 0.9907165389815232 Centerline is valid? [True, True] Translation: X:148.21, Y:-7.99, Z:-1.99 [[ 9.99989275e-01 -4.50548450e-03 -1.07289269e-03 1.48205563e+02] [ 4.50555735e-03 9.99989848e-01 6.54910819e-05 -7.98849803e+00] [ 1.07258672e-03 -7.03243590e-05 9.99999422e-01 -1.98694319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26037174299998 meters Centerline goodness [0,1] 0.991257126118209 Centerline is valid? [True, True] Translation: X:148.24, Y:-7.99, Z:-1.99 [[ 9.99983388e-01 -5.51634229e-03 -1.67132400e-03 1.48236740e+02] [ 5.51652074e-03 9.99984779e-01 1.02184196e-04 -7.98928462e+00] [ 1.67073488e-03 -1.11402392e-04 9.99998598e-01 -1.98678121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29037174299998 meters Centerline goodness [0,1] 0.990313684163322 Centerline is valid? [True, True] Translation: X:148.27, Y:-8.00, Z:-1.99 [[ 9.99961274e-01 -8.48803572e-03 -2.32457261e-03 1.48266977e+02] [ 8.48838897e-03 9.99963963e-01 1.42137553e-04 -7.99604123e+00] [ 2.32328237e-03 -1.61863925e-04 9.99997288e-01 -1.98802316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32037174299998 meters Centerline goodness [0,1] 0.9915569064505235 Centerline is valid? [True, True] Translation: X:148.30, Y:-8.00, Z:-1.99 [[ 9.99952835e-01 -9.32995451e-03 -2.69815510e-03 1.48297990e+02] [ 9.33043397e-03 9.99956457e-01 1.65164015e-04 -8.00237000e+00] [ 2.69649664e-03 -1.90331183e-04 9.99996346e-01 -1.98906495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35037174299998 meters Centerline goodness [0,1] 0.9906562997154317 Centerline is valid? [True, True] Translation: X:148.33, Y:-8.01, Z:-1.99 [[ 9.99919231e-01 -1.24126696e-02 -2.73082570e-03 1.48328886e+02] [ 1.24131709e-02 9.99922940e-01 1.66719308e-04 -8.00547254e+00] [ 2.72854583e-03 -2.00604048e-04 9.99996257e-01 -1.98938751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38037174299998 meters Centerline goodness [0,1] 0.9912375303316258 Centerline is valid? [True, True] Translation: X:148.36, Y:-8.01, Z:-1.99 [[ 9.99902331e-01 -1.36072135e-02 -3.18925536e-03 1.48360831e+02] [ 1.36079063e-02 9.99907389e-01 1.95618768e-04 -8.00963031e+00] [ 3.18629817e-03 -2.38998751e-04 9.99994895e-01 -1.99000582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41037174299998 meters Centerline goodness [0,1] 0.9902459806713456 Centerline is valid? [True, True] Translation: X:148.39, Y:-8.01, Z:-1.99 [[ 9.99896042e-01 -1.40077539e-02 -3.41881555e-03 1.48391807e+02] [ 1.40085519e-02 9.99901853e-01 2.09569447e-04 -8.01475575e+00] [ 3.41554441e-03 -2.57440316e-04 9.99994134e-01 -1.99135698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440371743 meters Centerline goodness [0,1] 0.9910483925246225 Centerline is valid? [True, True] Translation: X:148.42, Y:-8.02, Z:-1.99 [[ 9.99885447e-01 -1.49148007e-02 -2.57715508e-03 1.48423694e+02] [ 1.49152587e-02 9.99888749e-01 1.58580680e-04 -8.01683941e+00] [ 2.57450316e-03 -1.97001449e-04 9.99996667e-01 -1.99072703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.470371743 meters Centerline goodness [0,1] 0.99008078994614 Centerline is valid? [True, True] Translation: X:148.46, Y:-8.02, Z:-1.99 [[ 9.99891533e-01 -1.46212548e-02 -1.77252997e-03 1.48456042e+02] [ 1.46214718e-02 9.99893095e-01 1.09494313e-04 -8.02012731e+00] [ 1.77073953e-03 -1.35399434e-04 9.99998423e-01 -1.99055265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500371743 meters Centerline goodness [0,1] 0.9905913978494624 Centerline is valid? [True, True] Translation: X:148.49, Y:-8.02, Z:-1.99 [[ 9.99904366e-01 -1.38074426e-02 -7.82884558e-04 1.48488548e+02] [ 1.38074854e-02 9.99904671e-01 4.93804008e-05 -8.02351194e+00] [ 7.82128109e-04 -6.01853455e-05 9.99999692e-01 -1.99017803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.530371743 meters Centerline goodness [0,1] 0.9893220871281798 Centerline is valid? [True, True] Translation: X:148.52, Y:-8.03, Z:-1.99 [[ 9.99921392e-01 -1.25376918e-02 1.27339986e-04 1.48518851e+02] [ 1.25376929e-02 9.99921400e-01 -7.57340057e-06 -8.02771891e+00] [-1.27235024e-04 9.16935488e-06 9.99999992e-01 -1.98971746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560371743 meters Centerline goodness [0,1] 0.9892128279883382 Centerline is valid? [True, True] Translation: X:148.55, Y:-8.03, Z:-1.99 [[ 9.99932869e-01 -1.15848457e-02 2.19418046e-04 1.48551058e+02] [ 1.15848488e-02 9.99932893e-01 -1.25350561e-05 -8.03045817e+00] [-2.19258104e-04 1.50761395e-05 9.99999976e-01 -1.99027716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.590371743 meters Centerline goodness [0,1] 0.9895926190051703 Centerline is valid? [True, True] Translation: X:148.58, Y:-8.04, Z:-1.99 [[ 9.99936689e-01 -1.12518805e-02 1.13982056e-04 1.48582311e+02] [ 1.12518813e-02 9.99936696e-01 -6.30568620e-06 -8.03644719e+00] [-1.13903890e-04 7.58779956e-06 9.99999993e-01 -1.99158657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620371743 meters Centerline goodness [0,1] 0.9902044293015332 Centerline is valid? [True, True] Translation: X:148.61, Y:-8.03, Z:-1.99 [[ 9.99943521e-01 -1.05964272e-02 -8.18716495e-04 1.48614867e+02] [ 1.05964728e-02 9.99943854e-01 5.13748797e-05 -8.03000905e+00] [ 8.18126137e-04 -6.00474852e-05 9.99999664e-01 -1.99080768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.650371743 meters Centerline goodness [0,1] 0.9893188230552197 Centerline is valid? [True, True] Translation: X:148.65, Y:-8.04, Z:-1.99 [[ 9.99938990e-01 -1.09996099e-02 -1.01237130e-03 1.48645458e+02] [ 1.09996794e-02 9.99939500e-01 6.30947702e-05 -8.04232601e+00] [ 1.01161603e-03 -7.42266805e-05 9.99999486e-01 -1.99362861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680371743 meters Centerline goodness [0,1] 0.9898843608653997 Centerline is valid? [True, True] Translation: X:148.68, Y:-8.04, Z:-1.99 [[ 9.99930069e-01 -1.16874723e-02 -1.80571738e-03 1.48677280e+02] [ 1.16876936e-02 9.99931690e-01 1.12053027e-04 -8.04099620e+00] [ 1.80428441e-03 -1.33149863e-04 9.99998363e-01 -1.99363959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.710371743 meters Centerline goodness [0,1] 0.9898653183587632 Centerline is valid? [True, True] Translation: X:148.71, Y:-8.05, Z:-1.99 [[ 9.99920872e-01 -1.23626727e-02 -2.32671161e-03 1.48708921e+02] [ 1.23630424e-02 9.99923564e-01 1.44575671e-04 -8.04510780e+00] [ 2.32474643e-03 -1.73329465e-04 9.99997283e-01 -1.99431599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74037174299997 meters Centerline goodness [0,1] 0.9901025492079805 Centerline is valid? [True, True] Translation: X:148.74, Y:-8.05, Z:-1.99 [[ 9.99905022e-01 -1.36472156e-02 -1.92377385e-03 1.48740853e+02] [ 1.36474713e-02 9.99906862e-01 1.19848035e-04 -8.04976179e+00] [ 1.92195908e-03 -1.46091301e-04 9.99998142e-01 -1.99442984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77037174299997 meters Centerline goodness [0,1] 0.9907262918542957 Centerline is valid? [True, True] Translation: X:148.77, Y:-8.05, Z:-1.99 [[ 9.99901437e-01 -1.39521890e-02 -1.56617064e-03 1.48772641e+02] [ 1.39523593e-02 9.99902656e-01 9.78764737e-05 -8.05117154e+00] [ 1.56465259e-03 -1.19718602e-04 9.99998769e-01 -1.99442000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80037174299997 meters Centerline goodness [0,1] 0.989529495633577 Centerline is valid? [True, True] Translation: X:148.80, Y:-8.06, Z:-1.99 [[ 9.99899696e-01 -1.40934190e-02 -1.40490142e-03 1.48803820e+02] [ 1.40935573e-02 9.99900677e-01 8.85462193e-05 -8.05519860e+00] [ 1.40351396e-03 -1.08337396e-04 9.99999009e-01 -1.99492869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83037174299997 meters Centerline goodness [0,1] 0.9900339649624598 Centerline is valid? [True, True] Translation: X:148.84, Y:-8.06, Z:-2.00 [[ 9.99896451e-01 -1.43274118e-02 -1.34665125e-03 1.48836187e+02] [ 1.43275386e-02 9.99897352e-01 8.45263050e-05 -8.05852485e+00] [ 1.34530197e-03 -1.03811750e-04 9.99999090e-01 -1.99518041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86037174299997 meters Centerline goodness [0,1] 0.9900787015361291 Centerline is valid? [True, True] Translation: X:148.87, Y:-8.06, Z:-2.00 [[ 9.99897285e-01 -1.41717376e-02 -2.14061320e-03 1.48867085e+02] [ 1.41720579e-02 9.99899562e-01 1.34528660e-04 -8.06315179e+00] [ 2.13849170e-03 -1.64851736e-04 9.99997700e-01 -1.99637772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89037174299997 meters Centerline goodness [0,1] 0.989558054102193 Centerline is valid? [True, True] Translation: X:148.90, Y:-8.07, Z:-2.00 [[ 9.99888634e-01 -1.47419004e-02 -2.32313186e-03 1.48897542e+02] [ 1.47422800e-02 9.99891316e-01 1.46353720e-04 -8.06858531e+00] [ 2.32072184e-03 -1.80585682e-04 9.99997291e-01 -1.99793976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92037174299998 meters Centerline goodness [0,1] 0.9898543938279037 Centerline is valid? [True, True] Translation: X:148.93, Y:-8.07, Z:-2.00 [[ 9.99884727e-01 -1.50064562e-02 -2.31050457e-03 1.48929200e+02] [ 1.50068311e-02 9.99887381e-01 1.45015861e-04 -8.07156090e+00] [ 2.30806818e-03 -1.79672497e-04 9.99997320e-01 -1.99864008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95037174299998 meters Centerline goodness [0,1] 0.9897267127704521 Centerline is valid? [True, True] Translation: X:148.96, Y:-8.07, Z:-2.00 [[ 9.99880029e-01 -1.53208565e-02 -2.28032165e-03 1.48961399e+02] [ 1.53212229e-02 9.99882613e-01 1.43289774e-04 -8.07486636e+00] [ 2.27785865e-03 -1.78209900e-04 9.99997390e-01 -1.99907106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98037174299998 meters Centerline goodness [0,1] 0.9893435161956353 Centerline is valid? [True, True] Translation: X:148.99, Y:-8.08, Z:-2.00 [[ 9.99873094e-01 -1.57719537e-02 -2.24544177e-03 1.48992047e+02] [ 1.57723099e-02 9.99875599e-01 1.40988016e-04 -8.07898520e+00] [ 2.24293878e-03 -1.76385927e-04 9.99997469e-01 -1.99942650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01037174299998 meters Centerline goodness [0,1] 0.9906255553580949 Centerline is valid? [True, True] Translation: X:149.02, Y:-8.08, Z:-2.00 [[ 9.99854358e-01 -1.69733825e-02 -1.77959686e-03 1.49023512e+02] [ 1.69736086e-02 9.99855932e-01 1.11986993e-04 -8.08217574e+00] [ 1.77743968e-03 -1.42176864e-04 9.99998410e-01 -1.99893514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04037174299998 meters Centerline goodness [0,1] 0.9908815941642203 Centerline is valid? [True, True] Translation: X:149.05, Y:-8.08, Z:-2.00 [[ 9.99826423e-01 -1.85635787e-02 -1.58644051e-03 1.49054848e+02] [ 1.85637602e-02 9.99827674e-01 9.97375165e-05 -8.08398485e+00] [ 1.58431564e-03 -1.29170506e-04 9.99998737e-01 -1.99803458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07037174299998 meters Centerline goodness [0,1] 0.984117464125461 Centerline is valid? [True, True] Translation: X:149.09, Y:-8.10, Z:-2.00 [[ 9.99823215e-01 -1.87539169e-02 -1.35264631e-03 1.49085178e+02] [ 1.87540507e-02 9.99824124e-01 8.62904757e-05 -8.09681533e+00] [ 1.35079013e-03 -1.11642818e-04 9.99999081e-01 -2.00018784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10037174299998 meters Centerline goodness [0,1] 0.9895423965896223 Centerline is valid? [True, True] Translation: X:149.12, Y:-8.09, Z:-2.00 [[ 9.99825840e-01 -1.86231185e-02 -1.21176876e-03 1.49118232e+02] [ 1.86232254e-02 9.99826570e-01 7.70021056e-05 -8.09014692e+00] [ 1.21012458e-03 -9.95557376e-05 9.99999263e-01 -1.99856470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13037174299998 meters Centerline goodness [0,1] 0.9899928838285003 Centerline is valid? [True, True] Translation: X:149.15, Y:-8.09, Z:-2.00 [[ 9.99839963e-01 -1.78495576e-02 -1.20070291e-03 1.49150192e+02] [ 1.78496622e-02 9.99840679e-01 7.64011150e-05 -8.09110062e+00] [ 1.19914789e-03 -9.78210293e-05 9.99999276e-01 -1.99851522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16037174299998 meters Centerline goodness [0,1] 0.9902551381998582 Centerline is valid? [True, True] Translation: X:149.18, Y:-8.09, Z:-2.00 [[ 9.99871953e-01 -1.59793083e-02 -8.59900101e-04 1.49182194e+02] [ 1.59793615e-02 9.99872320e-01 5.50625222e-05 -8.09189678e+00] [ 8.58910448e-04 -6.87961262e-05 9.99999629e-01 -1.99818126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.190371743 meters Centerline goodness [0,1] 0.9903241519794527 Centerline is valid? [True, True] Translation: X:149.21, Y:-8.10, Z:-2.00 [[ 9.99918687e-01 -1.27138048e-02 -9.89137315e-04 1.49211102e+02] [ 1.27138721e-02 9.99919174e-01 6.18024077e-05 -8.09647873e+00] [ 9.88271623e-04 -7.43731477e-05 9.99999509e-01 -1.99911854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220371743 meters Centerline goodness [0,1] 0.990806176477104 Centerline is valid? [True, True] Translation: X:149.24, Y:-8.10, Z:-2.00 [[ 9.99934521e-01 -1.14304919e-02 -5.45579740e-04 1.49242405e+02] [ 1.14305126e-02 9.99934669e-01 3.47957830e-05 -8.09585696e+00] [ 5.45146364e-04 -4.10297607e-05 9.99999851e-01 -1.99901462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.250371743 meters Centerline goodness [0,1] 0.9914138396512425 Centerline is valid? [True, True] Translation: X:149.27, Y:-8.10, Z:-2.00 [[ 9.99953615e-01 -9.62249045e-03 -4.18225806e-04 1.49274038e+02] [ 9.62250250e-03 9.99953702e-01 2.68051912e-05 -8.09523321e+00] [ 4.17948510e-04 -3.08283267e-05 9.99999912e-01 -1.99915832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280371743 meters Centerline goodness [0,1] 0.9916005599626692 Centerline is valid? [True, True] Translation: X:149.30, Y:-8.09, Z:-2.00 [[ 9.99986835e-01 -5.06562008e-03 -8.18518466e-04 1.49303489e+02] [ 5.06566373e-03 9.99987168e-01 5.12571834e-05 -8.09487591e+00] [ 8.18248314e-04 -5.54028479e-05 9.99999664e-01 -1.99966212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.310371743 meters Centerline goodness [0,1] 0.9910736148520802 Centerline is valid? [True, True] Translation: X:149.33, Y:-8.09, Z:-2.00 [[ 9.99996577e-01 -2.39452702e-03 -1.05442824e-03 1.49334127e+02] [ 2.39459829e-03 9.99997131e-01 6.63408080e-05 -8.09446198e+00] [ 1.05426636e-03 -6.88655130e-05 9.99999442e-01 -1.99984518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340371743 meters Centerline goodness [0,1] 0.9916157516835392 Centerline is valid? [True, True] Translation: X:149.37, Y:-8.09, Z:-2.00 [[ 9.99999308e-01 6.48143870e-05 -1.17433913e-03 1.49365248e+02] [-6.47273611e-05 9.99999995e-01 7.41441563e-05 -8.09220720e+00] [ 1.17434393e-03 -7.40680931e-05 9.99999308e-01 -1.99950968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.370371743 meters Centerline goodness [0,1] 0.9918530422748985 Centerline is valid? [True, True] Translation: X:149.39, Y:-8.09, Z:-2.00 [[ 9.99986142e-01 5.25904852e-03 -2.40954177e-04 1.49394764e+02] [-5.25904509e-03 9.99986171e-01 1.48840642e-05 -8.09203028e+00] [ 2.41029120e-04 -1.36166691e-05 9.99999971e-01 -2.00027252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400371743 meters Centerline goodness [0,1] 0.9920599518244269 Centerline is valid? [True, True] Translation: X:149.42, Y:-8.09, Z:-2.00 [[ 9.99970097e-01 7.72487484e-03 -3.62417270e-04 1.49423857e+02] [-7.72486725e-03 9.99970163e-01 2.23328152e-05 -8.09170565e+00] [ 3.62578974e-04 -1.95325221e-05 9.99999934e-01 -2.00092522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.430371743 meters Centerline goodness [0,1] 0.9917471505364353 Centerline is valid? [True, True] Translation: X:149.45, Y:-8.09, Z:-2.00 [[ 9.99933142e-01 1.15633168e-02 -3.55531072e-05 1.49453333e+02] [-1.15633168e-02 9.99933143e-01 1.78733730e-06 -8.08868466e+00] [ 3.55713977e-05 -1.37610596e-06 9.99999999e-01 -2.00144506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460371743 meters Centerline goodness [0,1] 0.991914950640997 Centerline is valid? [True, True] Translation: X:149.48, Y:-8.08, Z:-2.00 [[ 9.99915670e-01 1.29863046e-02 -9.65586533e-05 1.49482950e+02] [-1.29863042e-02 9.99915674e-01 5.08387707e-06 -8.08031660e+00] [ 9.66165316e-05 -3.82950830e-06 9.99999995e-01 -2.00004319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49037174299997 meters Centerline goodness [0,1] 0.9909485070623995 Centerline is valid? [True, True] Translation: X:149.51, Y:-8.08, Z:-2.00 [[ 9.99901749e-01 1.39937271e-02 -8.17311186e-04 1.49511831e+02] [-1.39936907e-02 9.99902082e-01 5.02739944e-05 -8.08047686e+00] [ 8.17934678e-04 -3.88318550e-05 9.99999665e-01 -2.00065749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52037174299997 meters Centerline goodness [0,1] 0.9920327641384866 Centerline is valid? [True, True] Translation: X:149.54, Y:-8.08, Z:-2.00 [[ 9.99900852e-01 1.40734032e-02 -4.74158739e-04 1.49540696e+02] [-1.40733912e-02 9.99900965e-01 2.87205471e-05 -8.07882805e+00] [ 4.74515976e-04 -2.20446781e-05 9.99999887e-01 -2.00058752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55037174299997 meters Centerline goodness [0,1] 0.9915661842016957 Centerline is valid? [True, True] Translation: X:149.57, Y:-8.08, Z:-2.00 [[ 9.99904566e-01 1.38147288e-02 -1.07630438e-04 1.49569635e+02] [-1.38147282e-02 9.99904572e-01 5.75686982e-06 -8.07934399e+00] [ 1.07699696e-04 -4.26943517e-06 9.99999994e-01 -2.00118318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58037174299997 meters Centerline goodness [0,1] 0.991002455905336 Centerline is valid? [True, True] Translation: X:149.60, Y:-8.09, Z:-2.00 [[ 9.99928917e-01 1.19202605e-02 2.60975537e-04 1.49597619e+02] [-1.19202565e-02 9.99928951e-01 -1.70387052e-05 -8.09023538e+00] [-2.61160101e-04 1.39265987e-05 9.99999966e-01 -2.00384504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61037174299997 meters Centerline goodness [0,1] 0.9921392098898145 Centerline is valid? [True, True] Translation: X:149.63, Y:-8.08, Z:-2.00 [[ 9.99944809e-01 1.04911357e-02 5.61590417e-04 1.49627344e+02] [-1.04911171e-02 9.99944966e-01 -3.60406233e-05 -8.08097880e+00] [-5.61937618e-04 3.01469233e-05 9.99999842e-01 -2.00135953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64037174299997 meters Centerline goodness [0,1] 0.9907579802148994 Centerline is valid? [True, True] Translation: X:149.66, Y:-8.08, Z:-2.00 [[ 9.99959271e-01 9.01862126e-03 3.47761457e-04 1.49656360e+02] [-9.01861392e-03 9.99959331e-01 -2.26634365e-05 -8.08326128e+00] [-3.47951707e-04 1.95261871e-05 9.99999939e-01 -2.00194862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67037174299998 meters Centerline goodness [0,1] 0.9912038595310221 Centerline is valid? [True, True] Translation: X:149.69, Y:-8.09, Z:-2.00 [[ 9.99987142e-01 4.95995235e-03 1.05613713e-03 1.49686478e+02] [-4.95988532e-03 9.99987698e-01 -6.60842459e-05 -8.08567299e+00] [-1.05645191e-03 6.08450771e-05 9.99999440e-01 -2.00221394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70037174299998 meters Centerline goodness [0,1] 0.9905003024667847 Centerline is valid? [True, True] Translation: X:149.72, Y:-8.09, Z:-2.00 [[ 9.99995119e-01 3.05635258e-03 6.48558757e-04 1.49715570e+02] [-3.05632655e-03 9.99995329e-01 -4.11224524e-05 -8.08801452e+00] [-6.48681413e-04 3.91400443e-05 9.99999789e-01 -2.00290050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73037174299998 meters Centerline goodness [0,1] 0.9899762299860968 Centerline is valid? [True, True] Translation: X:149.74, Y:-8.09, Z:-2.00 [[ 9.99999858e-01 -5.31093226e-04 4.17388281e-05 1.49744930e+02] [ 5.31093329e-04 9.99999859e-01 -2.44749777e-06 -8.09202293e+00] [-4.17375225e-05 2.46966464e-06 9.99999999e-01 -2.00325800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76037174299998 meters Centerline goodness [0,1] 0.9898032521786003 Centerline is valid? [True, True] Translation: X:149.78, Y:-8.09, Z:-2.00 [[ 9.99997548e-01 -2.18570934e-03 3.56886687e-04 1.49775375e+02] [ 2.18571741e-03 9.99997611e-01 -2.22338613e-05 -8.09385269e+00] [-3.56837237e-04 2.30138602e-05 9.99999936e-01 -2.00342283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79037174299998 meters Centerline goodness [0,1] 0.9900579950289975 Centerline is valid? [True, True] Translation: X:149.81, Y:-8.10, Z:-2.00 [[ 9.99992095e-01 -3.97345081e-03 1.46722760e-04 1.49806790e+02] [ 3.97345212e-03 9.99992106e-01 -8.66978985e-06 -8.09716116e+00] [-1.46687153e-04 9.25271718e-06 9.99999989e-01 -2.00390765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82037174299998 meters Centerline goodness [0,1] 0.9889730601999193 Centerline is valid? [True, True] Translation: X:149.84, Y:-8.10, Z:-2.01 [[ 9.99966552e-01 -8.17558741e-03 -2.33496995e-04 1.49836728e+02] [ 8.17559104e-03 9.99966579e-01 1.46001688e-05 -8.10173854e+00] [ 2.33369826e-04 -1.65086564e-05 9.99999973e-01 -2.00565173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85037174299998 meters Centerline goodness [0,1] 0.9889730601999193 Centerline is valid? [True, True] Translation: X:149.87, Y:-8.10, Z:-2.01 [[ 9.99967119e-01 -8.10589847e-03 -2.33439950e-04 1.49868437e+02] [ 8.10590231e-03 9.99967147e-01 1.55147211e-05 -8.10377908e+00] [ 2.33306520e-04 -1.74064524e-05 9.99999973e-01 -2.00608229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88037174299998 meters Centerline goodness [0,1] 0.9892429652585956 Centerline is valid? [True, True] Translation: X:149.90, Y:-8.11, Z:-2.01 [[ 9.99947779e-01 -1.02035138e-02 -5.71686349e-04 1.49899038e+02] [ 1.02035360e-02 9.99947942e-01 3.59220742e-05 -8.10853066e+00] [ 5.71290056e-04 -4.17534205e-05 9.99999836e-01 -2.00719919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91037174299998 meters Centerline goodness [0,1] 0.9893304642144667 Centerline is valid? [True, True] Translation: X:149.93, Y:-8.11, Z:-2.01 [[ 9.99928421e-01 -1.19423903e-02 -7.29297454e-04 1.49930437e+02] [ 1.19424270e-02 9.99928686e-01 4.60209331e-05 -8.11208539e+00] [ 7.28695844e-04 -5.47272206e-05 9.99999733e-01 -2.00873021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940371743 meters Centerline goodness [0,1] 0.9894315524374887 Centerline is valid? [True, True] Translation: X:149.96, Y:-8.12, Z:-2.01 [[ 9.99899681e-01 -1.40527617e-02 -1.77402850e-03 1.49960236e+02] [ 1.40529803e-02 9.99901246e-01 1.10805800e-04 -8.11664452e+00] [ 1.77229618e-03 -1.35725071e-04 9.99998420e-01 -2.01139140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.970371743 meters Centerline goodness [0,1] 0.9892849922501517 Centerline is valid? [True, True] Translation: X:149.99, Y:-8.12, Z:-2.01 [[ 9.99896854e-01 -1.41577353e-02 -2.41669103e-03 1.49992414e+02] [ 1.41581439e-02 9.99899757e-01 1.52045578e-04 -8.11827759e+00] [ 2.41429616e-03 -1.86245754e-04 9.99997068e-01 -2.01216342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000371743 meters Centerline goodness [0,1] 0.9886294553396529 Centerline is valid? [True, True] Translation: X:150.02, Y:-8.12, Z:-2.01 [[ 9.99902717e-01 -1.36863283e-02 -2.69084251e-03 1.50023105e+02] [ 1.36868326e-02 9.99906317e-01 1.69087550e-04 -8.12018489e+00] [ 2.68827624e-03 -2.05900211e-04 9.99996365e-01 -2.01234393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.030371743 meters Centerline goodness [0,1] 0.9886384129846709 Centerline is valid? [True, True] Translation: X:150.05, Y:-8.12, Z:-2.01 [[ 9.99917851e-01 -1.25794640e-02 -2.45932922e-03 1.50054214e+02] [ 1.25798817e-02 9.99920858e-01 1.54447257e-04 -8.12105222e+00] [ 2.45719172e-03 -1.85372639e-04 9.99996964e-01 -2.01255416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060371743 meters Centerline goodness [0,1] 0.9886102732634043 Centerline is valid? [True, True] Translation: X:150.09, Y:-8.12, Z:-2.01 [[ 9.99929760e-01 -1.16025304e-02 -2.41996367e-03 1.50085205e+02] [ 1.16029322e-02 9.99932672e-01 1.52061263e-04 -8.12224535e+00] [ 2.41803644e-03 -1.80129257e-04 9.99997060e-01 -2.01235787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.090371743 meters Centerline goodness [0,1] 0.9883506083821542 Centerline is valid? [True, True] Translation: X:150.12, Y:-8.12, Z:-2.01 [[ 9.99964308e-01 -8.36012255e-03 -1.22072545e-03 1.50115152e+02] [ 8.36022186e-03 9.99965050e-01 7.62731689e-05 -8.12208799e+00] [ 1.22004513e-03 -8.64759821e-05 9.99999252e-01 -2.01186365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120371743 meters Centerline goodness [0,1] 0.9877832024658583 Centerline is valid? [True, True] Translation: X:150.15, Y:-8.12, Z:-2.01 [[ 9.99971928e-01 -7.48122367e-03 -4.18252118e-04 1.50146829e+02] [ 7.48123547e-03 9.99972015e-01 2.66585527e-05 -8.12286320e+00] [ 4.18040975e-04 -2.97868469e-05 9.99999912e-01 -2.01146361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.150371743 meters Centerline goodness [0,1] 0.9876804576473502 Centerline is valid? [True, True] Translation: X:150.18, Y:-8.12, Z:-2.01 [[ 9.99985501e-01 -5.32226593e-03 8.19417219e-04 1.50176465e+02] [ 5.32230996e-03 9.99985835e-01 -5.15583200e-05 -8.12230348e+00] [-8.19131205e-04 5.59187649e-05 9.99999663e-01 -2.01076002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180371743 meters Centerline goodness [0,1] 0.988863841298467 Centerline is valid? [True, True] Translation: X:150.21, Y:-8.12, Z:-2.01 [[ 9.99990453e-01 -4.18305397e-03 1.26311928e-03 1.50207854e+02] [ 4.18315672e-03 9.99991247e-01 -7.87161068e-05 -8.11746002e+00] [-1.26277895e-03 8.39991812e-05 9.99999199e-01 -2.01013784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.210371743 meters Centerline goodness [0,1] 0.989482949287955 Centerline is valid? [True, True] Translation: X:150.24, Y:-8.11, Z:-2.01 [[ 9.99993760e-01 -3.45833297e-03 7.20841012e-04 1.50240591e+02] [ 3.45836577e-03 9.99994019e-01 -4.42661805e-05 -8.11123715e+00] [-7.20683614e-04 4.67588361e-05 9.99999739e-01 -2.00936461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24037174299997 meters Centerline goodness [0,1] 0.9892371217762134 Centerline is valid? [True, True] Translation: X:150.27, Y:-8.11, Z:-2.01 [[ 9.99997358e-01 -2.20604649e-03 6.45954546e-04 1.50272554e+02] [ 2.20607267e-03 9.99997566e-01 -3.98331749e-05 -8.10865473e+00] [-6.45865100e-04 4.12580924e-05 9.99999791e-01 -2.00923506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27037174299997 meters Centerline goodness [0,1] 0.9896774485001807 Centerline is valid? [True, True] Translation: X:150.30, Y:-8.11, Z:-2.01 [[ 9.99997004e-01 -1.96697635e-03 1.45705458e-03 1.50303836e+02] [ 1.96711114e-03 9.99998061e-01 -9.10831298e-05 -8.11002822e+00] [-1.45687260e-03 9.39490452e-05 9.99998934e-01 -2.00953081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30037174299997 meters Centerline goodness [0,1] 0.9887498590914214 Centerline is valid? [True, True] Translation: X:150.34, Y:-8.11, Z:-2.01 [[ 9.99997550e-01 -1.56320966e-03 1.56724272e-03 1.50335020e+02] [ 1.56336527e-03 9.99998773e-01 -9.80659919e-05 -8.11117518e+00] [-1.56708750e-03 1.00515925e-04 9.99998767e-01 -2.00968580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33037174299997 meters Centerline goodness [0,1] 0.9880790807093739 Centerline is valid? [True, True] Translation: X:150.37, Y:-8.12, Z:-2.01 [[ 9.99998133e-01 -8.46977070e-04 1.73691445e-03 1.50365610e+02] [ 8.47166949e-04 9.99999635e-01 -1.08587325e-04 -8.12068072e+00] [-1.73682185e-03 1.10058579e-04 9.99998486e-01 -2.01103022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36037174299997 meters Centerline goodness [0,1] 0.9886826618379357 Centerline is valid? [True, True] Translation: X:150.40, Y:-8.11, Z:-2.01 [[ 9.99997948e-01 8.59606295e-05 2.02383254e-03 1.50397374e+02] [-8.57038431e-05 9.99999988e-01 -1.26967623e-04 -8.11297941e+00] [-2.02384343e-03 1.26793913e-04 9.99997944e-01 -2.00942037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39037174299997 meters Centerline goodness [0,1] 0.9890174588437762 Centerline is valid? [True, True] Translation: X:150.43, Y:-8.11, Z:-2.01 [[ 9.99997211e-01 6.82264355e-05 2.36058541e-03 1.50428575e+02] [-6.78766510e-05 9.99999987e-01 -1.48256808e-04 -8.11387940e+00] [-2.36059549e-03 1.48096166e-04 9.99997203e-01 -2.00920903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42037174299998 meters Centerline goodness [0,1] 0.9885440769475069 Centerline is valid? [True, True] Translation: X:150.46, Y:-8.12, Z:-2.01 [[ 9.99995505e-01 2.60736096e-04 2.98705306e-03 1.50458418e+02] [-2.60175610e-04 9.99999948e-01 -1.88025500e-04 -8.11735226e+00] [-2.98710193e-03 1.87247497e-04 9.99995521e-01 -2.00983681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45037174299998 meters Centerline goodness [0,1] 0.9882961350027218 Centerline is valid? [True, True] Translation: X:150.49, Y:-8.12, Z:-2.01 [[ 9.99993833e-01 9.03182371e-04 3.39371722e-03 1.50489362e+02] [-9.02462843e-04 9.99999570e-01 -2.13542999e-04 -8.11919092e+00] [-3.39390863e-03 2.10478978e-04 9.99994219e-01 -2.01031782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48037174299998 meters Centerline goodness [0,1] 0.9878820886377562 Centerline is valid? [True, True] Translation: X:150.52, Y:-8.12, Z:-2.01 [[ 9.99993927e-01 1.11533777e-03 3.30168524e-03 1.50520224e+02] [-1.11465754e-03 9.99999357e-01 -2.07856168e-04 -8.12058670e+00] [-3.30191494e-03 2.04174658e-04 9.99994528e-01 -2.01114158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51037174299998 meters Centerline goodness [0,1] 0.9887917761072367 Centerline is valid? [True, True] Translation: X:150.55, Y:-8.12, Z:-2.01 [[ 9.99993985e-01 3.06789876e-03 1.61816588e-03 1.50551399e+02] [-3.06773789e-03 9.99995289e-01 -1.01889341e-04 -8.11740365e+00] [-1.61847084e-03 9.69246189e-05 9.99998686e-01 -2.01191982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54037174299998 meters Centerline goodness [0,1] 0.9886335333408808 Centerline is valid? [True, True] Translation: X:150.58, Y:-8.12, Z:-2.01 [[ 9.99990788e-01 4.05427347e-03 1.40944882e-03 1.50580812e+02] [-4.05415180e-03 9.99991778e-01 -8.91695999e-05 -8.12296943e+00] [-1.40979875e-03 8.34546590e-05 9.99999003e-01 -2.01398177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57037174299998 meters Centerline goodness [0,1] 0.9900535925152149 Centerline is valid? [True, True] Translation: X:150.61, Y:-8.12, Z:-2.01 [[ 9.99985507e-01 5.26473653e-03 1.12630791e-03 1.50611107e+02] [-5.26465932e-03 9.99986139e-01 -7.15087699e-05 -8.11826194e+00] [-1.12666877e-03 6.55781061e-05 9.99999363e-01 -2.01346989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60037174299998 meters Centerline goodness [0,1] 0.9895980013627073 Centerline is valid? [True, True] Translation: X:150.64, Y:-8.12, Z:-2.01 [[ 9.99980996e-01 6.08506048e-03 9.90129255e-04 1.50639961e+02] [-6.08500074e-03 9.99981484e-01 -6.33383263e-05 -8.11841476e+00] [-9.90496340e-04 5.73121854e-05 9.99999508e-01 -2.01366566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63037174299998 meters Centerline goodness [0,1] 0.9899550020453616 Centerline is valid? [True, True] Translation: X:150.67, Y:-8.12, Z:-2.01 [[ 9.99962445e-01 8.35796610e-03 2.29194513e-03 1.50670029e+02] [-8.35765663e-03 9.99965064e-01 -1.44571276e-04 -8.11718234e+00] [-2.29307338e-03 1.25410556e-04 9.99997363e-01 -2.01274988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66037174299998 meters Centerline goodness [0,1] 0.9904233297695685 Centerline is valid? [True, True] Translation: X:150.70, Y:-8.12, Z:-2.01 [[ 9.99950516e-01 9.56044827e-03 2.75000790e-03 1.50697485e+02] [-9.56000554e-03 9.99954287e-01 -1.74093380e-04 -8.11923879e+00] [-2.75154660e-03 1.47794675e-04 9.99996204e-01 -2.01271518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.690371743 meters Centerline goodness [0,1] 0.9896409625936298 Centerline is valid? [True, True] Translation: X:150.73, Y:-8.12, Z:-2.01 [[ 9.99910306e-01 1.30807796e-02 2.87637641e-03 1.50727315e+02] [-1.30803121e-02 9.99914433e-01 -1.81266857e-04 -8.11781666e+00] [-2.87850140e-03 1.43626697e-04 9.99995847e-01 -2.01271910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720371743 meters Centerline goodness [0,1] 0.9891457698084012 Centerline is valid? [True, True] Translation: X:150.76, Y:-8.12, Z:-2.01 [[ 9.99888190e-01 1.47244976e-02 2.60696089e-03 1.50756461e+02] [-1.47241183e-02 9.99891581e-01 -1.64644185e-04 -8.11740088e+00] [-2.60910255e-03 1.26240576e-04 9.99996588e-01 -2.01295698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.750371743 meters Centerline goodness [0,1] 0.9893401822851559 Centerline is valid? [True, True] Translation: X:150.78, Y:-8.12, Z:-2.01 [[ 9.99866179e-01 1.61249181e-02 2.75882677e-03 1.50784111e+02] [-1.61244987e-02 9.99869977e-01 -1.74179106e-04 -8.12203491e+00] [-2.76127668e-03 1.29671099e-04 9.99996179e-01 -2.01435325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780371743 meters Centerline goodness [0,1] 0.9905853458862055 Centerline is valid? [True, True] Translation: X:150.81, Y:-8.12, Z:-2.01 [[ 9.99813052e-01 1.92560168e-02 1.75099801e-03 1.50813792e+02] [-1.92558533e-02 9.99814583e-01 -1.10189363e-04 -8.11885737e+00] [-1.75279515e-03 7.64518031e-05 9.99998461e-01 -2.01408842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.810371743 meters Centerline goodness [0,1] 0.9895378457059679 Centerline is valid? [True, True] Translation: X:150.84, Y:-8.13, Z:-2.02 [[ 9.99809776e-01 1.94271853e-02 1.73106375e-03 1.50841247e+02] [-1.94270247e-02 9.99811272e-01 -1.09507115e-04 -8.12752210e+00] [-1.73286447e-03 7.58568659e-05 9.99998496e-01 -2.01671936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840371743 meters Centerline goodness [0,1] 0.9904437634774713 Centerline is valid? [True, True] Translation: X:150.87, Y:-8.12, Z:-2.02 [[ 9.99786051e-01 2.06494413e-02 1.20502412e-03 1.50870277e+02] [-2.06493644e-02 9.99786776e-01 -7.62609965e-05 -8.12486924e+00] [-1.20634193e-03 5.13616984e-05 9.99999271e-01 -2.01612061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.870371743 meters Centerline goodness [0,1] 0.9907365361910816 Centerline is valid? [True, True] Translation: X:150.90, Y:-8.13, Z:-2.02 [[ 9.99771692e-01 2.13497793e-02 8.66655986e-04 1.50899346e+02] [-2.13497396e-02 9.99772067e-01 -5.50621977e-05 -8.12617638e+00] [-8.67634012e-04 3.65467470e-05 9.99999623e-01 -2.01630324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900371743 meters Centerline goodness [0,1] 0.9907813174087782 Centerline is valid? [True, True] Translation: X:150.93, Y:-8.13, Z:-2.02 [[ 9.99759037e-01 2.19291855e-02 9.89598681e-04 1.50927959e+02] [-2.19291342e-02 9.99759526e-01 -6.26698613e-05 -8.12705356e+00] [-9.90735007e-04 4.09537179e-05 9.99999508e-01 -2.01625060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.930371743 meters Centerline goodness [0,1] 0.9907546226886557 Centerline is valid? [True, True] Translation: X:150.96, Y:-8.13, Z:-2.02 [[ 9.99742868e-01 2.25766338e-02 2.11967478e-03 1.50955803e+02] [-2.25764021e-02 9.99745112e-01 -1.33166385e-04 -8.13091750e+00] [-2.12214095e-03 8.52775139e-05 9.99997745e-01 -2.01588823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960371743 meters Centerline goodness [0,1] 0.9907724397487927 Centerline is valid? [True, True] Translation: X:150.98, Y:-8.13, Z:-2.02 [[ 9.99750425e-01 2.21977198e-02 2.51981610e-03 1.50983231e+02] [-2.21973902e-02 9.99753595e-01 -1.58718442e-04 -8.13189577e+00] [-2.52271839e-03 1.02745489e-04 9.99996813e-01 -2.01504813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99037174299997 meters Centerline goodness [0,1] 0.990513619731671 Centerline is valid? [True, True] Translation: X:151.01, Y:-8.14, Z:-2.02 [[ 9.99790283e-01 2.02362178e-02 3.14425147e-03 1.51011788e+02] [-2.02357015e-02 9.99795218e-01 -1.95947249e-04 -8.13636222e+00] [-3.14757281e-03 1.32280021e-04 9.99995038e-01 -2.01535877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02037174299997 meters Centerline goodness [0,1] 0.9903942002718622 Centerline is valid? [True, True] Translation: X:151.04, Y:-8.14, Z:-2.02 [[ 9.99827974e-01 1.82606147e-02 3.25148750e-03 1.51038906e+02] [-1.82600522e-02 9.99833251e-01 -2.02597687e-04 -8.14076441e+00] [-3.25464488e-03 1.43190503e-04 9.99994693e-01 -2.01631825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05037174299997 meters Centerline goodness [0,1] 0.9905016661755038 Centerline is valid? [True, True] Translation: X:151.07, Y:-8.14, Z:-2.02 [[ 9.99868198e-01 1.59575793e-02 2.99053115e-03 1.51068540e+02] [-1.59570956e-02 9.99872660e-01 -1.85547947e-04 -8.14274702e+00] [-2.99311123e-03 1.37803300e-04 9.99995511e-01 -2.01647937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08037174299997 meters Centerline goodness [0,1] 0.9903042384976101 Centerline is valid? [True, True] Translation: X:151.10, Y:-8.15, Z:-2.02 [[ 9.99902692e-01 1.36565969e-02 2.84671130e-03 1.51098198e+02] [-1.36561495e-02 9.99906735e-01 -1.76543690e-04 -8.14735697e+00] [-2.84885679e-03 1.37651396e-04 9.99995933e-01 -2.01734925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11037174299997 meters Centerline goodness [0,1] 0.9901354401805869 Centerline is valid? [True, True] Translation: X:151.13, Y:-8.16, Z:-2.02 [[ 9.99960179e-01 8.30547140e-03 3.26475401e-03 1.51126840e+02] [-8.30485636e-03 9.99965494e-01 -2.01898043e-04 -8.15550088e+00] [-3.26631821e-03 1.74776691e-04 9.99994650e-01 -2.01739024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14037174299997 meters Centerline goodness [0,1] 0.9900042967954952 Centerline is valid? [True, True] Translation: X:151.16, Y:-8.16, Z:-2.02 [[ 9.99978430e-01 5.51870710e-03 3.56136191e-03 1.51156473e+02] [-5.51795690e-03 9.99984752e-01 -2.20440597e-04 -8.16073111e+00] [-3.56252415e-03 2.00784401e-04 9.99993634e-01 -2.01789072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17037174299998 meters Centerline goodness [0,1] 0.9896374226757574 Centerline is valid? [True, True] Translation: X:151.19, Y:-8.16, Z:-2.02 [[ 9.99994926e-01 2.29965425e-04 3.17730808e-03 1.51186463e+02] [-2.29342949e-04 9.99999954e-01 -1.96276028e-04 -8.16329646e+00] [-3.17735308e-03 1.95546339e-04 9.99994933e-01 -2.01781140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20037174299998 meters Centerline goodness [0,1] 0.9896284271284271 Centerline is valid? [True, True] Translation: X:151.22, Y:-8.17, Z:-2.02 [[ 9.99993237e-01 -2.29342367e-03 2.87499866e-03 1.51217116e+02] [ 2.29394378e-03 9.99997353e-01 -1.77623236e-04 -8.16829142e+00] [-2.87458369e-03 1.84217120e-04 9.99995851e-01 -2.01839330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23037174299998 meters Centerline goodness [0,1] 0.9898202783658394 Centerline is valid? [True, True] Translation: X:151.25, Y:-8.17, Z:-2.02 [[ 9.99985254e-01 -4.43356693e-03 3.13627050e-03 1.51248236e+02] [ 4.43419600e-03 9.99990150e-01 -1.93652838e-04 -8.17166425e+00] [-3.13538104e-03 2.07556821e-04 9.99995063e-01 -2.01916232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26037174299998 meters Centerline goodness [0,1] 0.9897731624355192 Centerline is valid? [True, True] Translation: X:151.28, Y:-8.18, Z:-2.02 [[ 9.99958916e-01 -8.80438028e-03 2.15603767e-03 1.51276956e+02] [ 8.80468700e-03 9.99961229e-01 -1.32810342e-04 -8.17930364e+00] [-2.15478477e-03 1.51788123e-04 9.99997667e-01 -2.02038989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29037174299998 meters Centerline goodness [0,1] 0.9893546092986043 Centerline is valid? [True, True] Translation: X:151.31, Y:-8.19, Z:-2.02 [[ 9.99946141e-01 -1.02725876e-02 1.47929056e-03 1.51308029e+02] [ 1.02727335e-02 9.99947230e-01 -9.10209741e-05 -8.18616896e+00] [-1.47827748e-03 1.06212430e-04 9.99998902e-01 -2.02201032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32037174299998 meters Centerline goodness [0,1] 0.990138910777405 Centerline is valid? [True, True] Translation: X:151.34, Y:-8.19, Z:-2.02 [[ 9.99932993e-01 -1.15332517e-02 9.96570858e-04 1.51340362e+02] [ 1.15333181e-02 9.99933487e-01 -6.09032571e-05 -8.18734349e+00] [-9.95802160e-04 7.23929449e-05 9.99999502e-01 -2.02224668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35037174299998 meters Centerline goodness [0,1] 0.9907003908531381 Centerline is valid? [True, True] Translation: X:151.37, Y:-8.19, Z:-2.02 [[ 9.99923793e-01 -1.22802887e-02 1.26608087e-03 1.51372568e+02] [ 1.22803969e-02 9.99924590e-01 -7.77113590e-05 -8.18869407e+00] [-1.26503108e-03 9.32534124e-05 9.99999195e-01 -2.02273792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38037174299998 meters Centerline goodness [0,1] 0.9896807553956835 Centerline is valid? [True, True] Translation: X:151.40, Y:-8.19, Z:-2.02 [[ 9.99927495e-01 -1.19436919e-02 1.53424160e-03 1.51403327e+02] [ 1.19438499e-02 9.99928665e-01 -9.38697847e-05 -8.19305240e+00] [-1.53301100e-03 1.12187730e-04 9.99998819e-01 -2.02335635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41037174299998 meters Centerline goodness [0,1] 0.989919806460284 Centerline is valid? [True, True] Translation: X:151.43, Y:-8.20, Z:-2.02 [[ 9.99940322e-01 -1.07475345e-02 1.96022033e-03 1.51433749e+02] [ 1.07477940e-02 9.99942233e-01 -1.21883608e-04 -8.19703707e+00] [-1.95879715e-03 1.42944379e-04 9.99998071e-01 -2.02316759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440371743 meters Centerline goodness [0,1] 0.9901270662318677 Centerline is valid? [True, True] Translation: X:151.47, Y:-8.20, Z:-2.02 [[ 9.99953928e-01 -9.33214656e-03 2.24796680e-03 1.51465803e+02] [ 9.33248350e-03 9.99956442e-01 -1.39447035e-04 -8.19701358e+00] [-2.24656755e-03 1.60419724e-04 9.99997464e-01 -2.02298500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.470371743 meters Centerline goodness [0,1] 0.9899205795666749 Centerline is valid? [True, True] Translation: X:151.50, Y:-8.20, Z:-2.02 [[ 9.99963896e-01 -8.28508058e-03 1.88797488e-03 1.51497450e+02] [ 8.28531599e-03 9.99965669e-01 -1.16901427e-04 -8.19909968e+00] [-1.88694153e-03 1.32539674e-04 9.99998211e-01 -2.02320042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500371743 meters Centerline goodness [0,1] 0.9905204753240335 Centerline is valid? [True, True] Translation: X:151.53, Y:-8.20, Z:-2.02 [[ 9.99985652e-01 -4.88069641e-03 2.20791150e-03 1.51528364e+02] [ 4.88101218e-03 9.99988078e-01 -1.37649220e-04 -8.19911242e+00] [-2.20721335e-03 1.48424088e-04 9.99997553e-01 -2.02339091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.530371743 meters Centerline goodness [0,1] 0.9906649013755806 Centerline is valid? [True, True] Translation: X:151.56, Y:-8.20, Z:-2.02 [[ 9.99991621e-01 -3.31119926e-03 2.40716605e-03 1.51560352e+02] [ 3.31156918e-03 9.99994506e-01 -1.49704465e-04 -8.19676520e+00] [-2.40665712e-03 1.57674708e-04 9.99997092e-01 -2.02314681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560371743 meters Centerline goodness [0,1] 0.9903677758318739 Centerline is valid? [True, True] Translation: X:151.59, Y:-8.20, Z:-2.02 [[ 9.99995180e-01 -1.60475391e-03 2.65810650e-03 1.51591724e+02] [ 1.60520009e-03 9.99998698e-01 -1.65730291e-04 -8.19851448e+00] [-2.65783708e-03 1.69996285e-04 9.99996453e-01 -2.02328050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.590371743 meters Centerline goodness [0,1] 0.9906726900860809 Centerline is valid? [True, True] Translation: X:151.62, Y:-8.20, Z:-2.02 [[ 9.99993337e-01 2.05593455e-03 3.01656393e-03 1.51621529e+02] [-2.05537484e-03 9.99997870e-01 -1.88634409e-04 -8.20390075e+00] [-3.01694532e-03 1.82432982e-04 9.99995432e-01 -2.02463922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620371743 meters Centerline goodness [0,1] 0.989633460760063 Centerline is valid? [True, True] Translation: X:151.65, Y:-8.20, Z:-2.02 [[ 9.99988038e-01 2.91746648e-03 3.92572516e-03 1.51653338e+02] [-2.91652648e-03 9.99995717e-01 -2.45149505e-04 -8.20094136e+00] [-3.92642357e-03 2.33697091e-04 9.99992264e-01 -2.02396095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.650371743 meters Centerline goodness [0,1] 0.9905389006247471 Centerline is valid? [True, True] Translation: X:151.68, Y:-8.20, Z:-2.02 [[ 9.99974775e-01 5.26003931e-03 4.77306210e-03 1.51684186e+02] [-5.25867429e-03 9.99986129e-01 -2.98488460e-04 -8.20157448e+00] [-4.77456595e-03 2.73380951e-04 9.99988564e-01 -2.02350818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680371743 meters Centerline goodness [0,1] 0.9903039301702998 Centerline is valid? [True, True] Translation: X:151.71, Y:-8.20, Z:-2.02 [[ 9.99967349e-01 5.73084909e-03 5.69729297e-03 1.51714596e+02] [-5.72891026e-03 9.99983526e-01 -3.56567754e-04 -8.20255550e+00] [-5.69924255e-03 3.23916832e-04 9.99983707e-01 -2.02293250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.710371743 meters Centerline goodness [0,1] 0.9905717556737828 Centerline is valid? [True, True] Translation: X:151.74, Y:-8.21, Z:-2.02 [[ 9.99962246e-01 6.15459868e-03 6.13407942e-03 1.51744445e+02] [-6.15235912e-03 9.99981000e-01 -3.83904240e-04 -8.20625038e+00] [-6.13632565e-03 3.46150686e-04 9.99981113e-01 -2.02326782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74037174299997 meters Centerline goodness [0,1] 0.9905717556737828 Centerline is valid? [True, True] Translation: X:151.77, Y:-8.21, Z:-2.02 [[ 9.99962246e-01 6.15459868e-03 6.13407942e-03 1.51774432e+02] [-6.15235912e-03 9.99981000e-01 -3.83904240e-04 -8.20812713e+00] [-6.13632565e-03 3.46150686e-04 9.99981113e-01 -2.02367497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77037174299997 meters Centerline goodness [0,1] 0.9910874640804598 Centerline is valid? [True, True] Translation: X:151.81, Y:-8.21, Z:-2.02 [[ 9.99961662e-01 6.16367507e-03 6.21960988e-03 1.51805138e+02] [-6.16137279e-03 9.99980943e-01 -3.89257203e-04 -8.20541986e+00] [-6.22189060e-03 3.50920945e-04 9.99980582e-01 -2.02333749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80037174299997 meters Centerline goodness [0,1] 0.991105720638771 Centerline is valid? [True, True] Translation: X:151.84, Y:-8.21, Z:-2.03 [[ 9.99970552e-01 5.95860904e-03 4.83636377e-03 1.51835580e+02] [-5.95721456e-03 9.99982210e-01 -3.02686097e-04 -8.20800203e+00] [-4.83808132e-03 2.73865926e-04 9.99988259e-01 -2.02528778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83037174299997 meters Centerline goodness [0,1] 0.990570697319384 Centerline is valid? [True, True] Translation: X:151.86, Y:-8.21, Z:-2.03 [[ 9.99977186e-01 5.66755305e-03 3.67522380e-03 1.51864841e+02] [-5.66674517e-03 9.99983917e-01 -2.30192223e-04 -8.21176816e+00] [-3.67646932e-03 2.09360415e-04 9.99993220e-01 -2.02718928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86037174299997 meters Centerline goodness [0,1] 0.9915229465068693 Centerline is valid? [True, True] Translation: X:151.90, Y:-8.21, Z:-2.03 [[ 9.99986400e-01 4.95224089e-03 1.63565536e-03 1.51895130e+02] [-4.95208009e-03 9.99987733e-01 -1.02338922e-04 -8.21353111e+00] [-1.63614210e-03 9.42376338e-05 9.99998657e-01 -2.02944489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89037174299997 meters Centerline goodness [0,1] 0.9921890781765538 Centerline is valid? [True, True] Translation: X:151.93, Y:-8.22, Z:-2.03 [[ 9.99989459e-01 4.48142033e-03 9.99262719e-04 1.51925009e+02] [-4.48135963e-03 9.99989957e-01 -6.29730357e-05 -8.21537617e+00] [-9.99534892e-04 5.84943163e-05 9.99999499e-01 -2.03048005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92037174299998 meters Centerline goodness [0,1] 0.9921346547113419 Centerline is valid? [True, True] Translation: X:151.95, Y:-8.22, Z:-2.03 [[ 9.99990604e-01 4.33303014e-03 1.26147558e-04 1.51954275e+02] [-4.33302912e-03 9.99990612e-01 -8.37151029e-06 -8.21705465e+00] [-1.26182648e-04 7.82483059e-06 9.99999992e-01 -2.03101914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95037174299998 meters Centerline goodness [0,1] 0.9918878227455563 Centerline is valid? [True, True] Translation: X:151.98, Y:-8.22, Z:-2.03 [[ 9.99990260e-01 4.40215553e-03 -3.17198127e-04 1.51983252e+02] [-4.40214978e-03 9.99990310e-01 1.88242359e-05 -8.21833290e+00] [ 3.17277921e-04 -1.74276989e-05 9.99999950e-01 -2.03107136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98037174299998 meters Centerline goodness [0,1] 0.9917835355559057 Centerline is valid? [True, True] Translation: X:152.01, Y:-8.22, Z:-2.03 [[ 9.99989756e-01 4.52259192e-03 1.83521542e-04 1.52011956e+02] [-4.52258981e-03 9.99989773e-01 -1.19334061e-05 -8.22050523e+00] [-1.83573635e-04 1.11032912e-05 9.99999983e-01 -2.03096535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01037174299998 meters Centerline goodness [0,1] 0.9916368515205725 Centerline is valid? [True, True] Translation: X:152.04, Y:-8.22, Z:-2.03 [[ 9.99982605e-01 5.27897532e-03 2.63101762e-03 1.52040607e+02] [-5.27856014e-03 9.99986055e-01 -1.64721794e-04 -8.22264918e+00] [-2.63185049e-03 1.50830943e-04 9.99996525e-01 -2.02929306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04037174299998 meters Centerline goodness [0,1] 0.9907956178160919 Centerline is valid? [True, True] Translation: X:152.07, Y:-8.23, Z:-2.03 [[ 9.99976924e-01 5.79626224e-03 3.54329689e-03 1.52069585e+02] [-5.79551687e-03 9.99983182e-01 -2.20592941e-04 -8.22669127e+00] [-3.54451591e-03 2.00052614e-04 9.99993698e-01 -2.02877334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07037174299998 meters Centerline goodness [0,1] 0.9914135040115388 Centerline is valid? [True, True] Translation: X:152.10, Y:-8.22, Z:-2.03 [[ 9.99965174e-01 6.68378314e-03 4.99784127e-03 1.52100075e+02] [-6.68230784e-03 9.99977625e-01 -3.11827580e-04 -8.22345565e+00] [-4.99981363e-03 2.78419607e-04 9.99987462e-01 -2.02713582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10037174299998 meters Centerline goodness [0,1] 0.9907969938346609 Centerline is valid? [True, True] Translation: X:152.13, Y:-8.23, Z:-2.03 [[ 9.99939369e-01 8.36827109e-03 7.15753422e-03 1.52129074e+02] [-8.36528994e-03 9.99964911e-01 -4.46341575e-04 -8.22893485e+00] [-7.16101817e-03 3.86439664e-04 9.99974285e-01 -2.02631863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13037174299998 meters Centerline goodness [0,1] 0.9911055208660887 Centerline is valid? [True, True] Translation: X:152.16, Y:-8.23, Z:-2.03 [[ 9.99926874e-01 9.45891103e-03 7.53501219e-03 1.52159570e+02] [-9.45563993e-03 9.99955184e-01 -4.69627623e-04 -8.22694098e+00] [-7.53911667e-03 3.98344918e-04 9.99971501e-01 -2.02608020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16037174299998 meters Centerline goodness [0,1] 0.9905390931810067 Centerline is valid? [True, True] Translation: X:152.19, Y:-8.24, Z:-2.03 [[ 9.99909505e-01 1.11256709e-02 7.56318133e-03 1.52188855e+02] [-1.11224228e-02 9.99938033e-01 -4.71383294e-04 -8.23635138e+00] [-7.56795712e-03 3.87219736e-04 9.99971288e-01 -2.02725974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.190371743 meters Centerline goodness [0,1] 0.9910882643440783 Centerline is valid? [True, True] Translation: X:152.22, Y:-8.24, Z:-2.03 [[ 9.99902145e-01 1.18553297e-02 7.42636996e-03 1.52218838e+02] [-1.18522167e-02 9.99929653e-01 -4.63059368e-04 -8.23799171e+00] [-7.43133725e-03 3.74995110e-04 9.99972317e-01 -2.02756658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220371743 meters Centerline goodness [0,1] 0.9902545030916748 Centerline is valid? [True, True] Translation: X:152.25, Y:-8.24, Z:-2.03 [[ 9.99880503e-01 1.38381135e-02 6.89108640e-03 1.52249040e+02] [-1.38354822e-02 9.99904193e-01 -4.29375350e-04 -8.23996788e+00] [-6.89636793e-03 3.33982538e-04 9.99976164e-01 -2.02844452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.250371743 meters Centerline goodness [0,1] 0.9910906642728905 Centerline is valid? [True, True] Translation: X:152.28, Y:-8.24, Z:-2.03 [[ 9.99869859e-01 1.44914014e-02 7.08976513e-03 1.52278574e+02] [-1.44886318e-02 9.99894937e-01 -4.41864045e-04 -8.23619763e+00] [-7.09542349e-03 3.39085544e-04 9.99974770e-01 -2.02816302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280371743 meters Centerline goodness [0,1] 0.9918012533974259 Centerline is valid? [True, True] Translation: X:152.31, Y:-8.23, Z:-2.03 [[ 9.99811484e-01 1.85418868e-02 5.76158626e-03 1.52308549e+02] [-1.85401273e-02 9.99828053e-01 -3.58644396e-04 -8.23443377e+00] [-5.76724552e-03 2.51756242e-04 9.99983338e-01 -2.02908544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.310371743 meters Centerline goodness [0,1] 0.9917868634819198 Centerline is valid? [True, True] Translation: X:152.34, Y:-8.24, Z:-2.03 [[ 9.99759907e-01 2.12179470e-02 5.47053536e-03 1.52336040e+02] [-2.12163981e-02 9.99774849e-01 -3.41014866e-04 -8.24300507e+00] [-5.47653930e-03 2.24867935e-04 9.99984978e-01 -2.03127067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340371743 meters Centerline goodness [0,1] 0.992041842324774 Centerline is valid? [True, True] Translation: X:152.37, Y:-8.23, Z:-2.03 [[ 9.99598282e-01 2.80120019e-02 4.31300081e-03 1.52367241e+02] [-2.80111059e-02 9.99607576e-01 -2.68020420e-04 -8.23423106e+00] [-4.31881607e-03 1.47100829e-04 9.99990663e-01 -2.03093021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.370371743 meters Centerline goodness [0,1] 0.992255544581126 Centerline is valid? [True, True] Translation: X:152.40, Y:-8.24, Z:-2.03 [[ 9.99482151e-01 3.19438950e-02 3.87521781e-03 1.52395846e+02] [-3.19431997e-02 9.99489657e-01 -2.41183964e-04 -8.23837460e+00] [-3.88094447e-03 1.17272210e-04 9.99992462e-01 -2.03324233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400371743 meters Centerline goodness [0,1] 0.9922922629645489 Centerline is valid? [True, True] Translation: X:152.43, Y:-8.24, Z:-2.03 [[ 9.99337950e-01 3.62416056e-02 3.19496314e-03 1.52425316e+02] [-3.62411531e-02 9.99343054e-01 -1.99426753e-04 -8.23560032e+00] [-3.20009177e-03 8.35055746e-05 9.99994876e-01 -2.03330225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.430371743 meters Centerline goodness [0,1] 0.9933849592486398 Centerline is valid? [True, True] Translation: X:152.46, Y:-8.23, Z:-2.03 [[ 9.98902059e-01 4.67958928e-02 2.19545360e-03 1.52455680e+02] [-4.67957065e-02 9.98904472e-01 -1.36174939e-04 -8.23217681e+00] [-2.19942085e-03 3.32876243e-05 9.99997581e-01 -2.03371706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460371743 meters Centerline goodness [0,1] 0.9939802661356024 Centerline is valid? [True, True] Translation: X:152.48, Y:-8.23, Z:-2.03 [[ 9.98605006e-01 5.27649859e-02 1.97440060e-03 1.52483402e+02] [-5.27648453e-02 9.98606958e-01 -1.23265713e-04 -8.23169608e+00] [-1.97815429e-03 1.89148160e-05 9.99998043e-01 -2.03463485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49037174299997 meters Centerline goodness [0,1] 0.9938579654510556 Centerline is valid? [True, True] Translation: X:152.51, Y:-8.23, Z:-2.03 [[ 9.98305463e-01 5.81421237e-02 2.38678703e-03 1.52512381e+02] [-5.81419305e-02 9.98308316e-01 -1.50307713e-04 -8.22968810e+00] [-2.39148855e-03 1.12806055e-05 9.99997140e-01 -2.03396209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52037174299997 meters Centerline goodness [0,1] 0.9951198668645707 Centerline is valid? [True, True] Translation: X:152.54, Y:-8.23, Z:-2.03 [[ 9.97626109e-01 6.87910146e-02 3.15327300e-03 1.52541487e+02] [-6.87907362e-02 9.97631092e-01 -1.96794102e-04 -8.22813912e+00] [-3.15934086e-03 -2.05890376e-05 9.99995009e-01 -2.03292701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55037174299997 meters Centerline goodness [0,1] 0.9958359593049428 Centerline is valid? [True, True] Translation: X:152.57, Y:-8.23, Z:-2.03 [[ 9.97309900e-01 7.32049449e-02 3.74169414e-03 1.52569430e+02] [-7.32045958e-02 9.97316918e-01 -2.30349124e-04 -8.22875102e+00] [-3.74851756e-03 -4.41797452e-05 9.99992973e-01 -2.03359223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58037174299997 meters Centerline goodness [0,1] 0.9959331326113333 Centerline is valid? [True, True] Translation: X:152.60, Y:-8.23, Z:-2.03 [[ 9.96884043e-01 7.87639105e-02 4.29540529e-03 1.52597491e+02] [-7.87635044e-02 9.96893295e-01 -2.63882246e-04 -8.23303548e+00] [-4.30284513e-03 -7.52611731e-05 9.99990740e-01 -2.03320447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61037174299997 meters Centerline goodness [0,1] 0.9961146296545839 Centerline is valid? [True, True] Translation: X:152.63, Y:-8.24, Z:-2.03 [[ 9.96825665e-01 7.94914868e-02 4.43809661e-03 1.52625078e+02] [-7.94910624e-02 9.96835542e-01 -2.72206076e-04 -8.23703822e+00] [-4.44569050e-03 -8.14470123e-05 9.99990115e-01 -2.03382097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64037174299997 meters Centerline goodness [0,1] 0.996299037749815 Centerline is valid? [True, True] Translation: X:152.65, Y:-8.24, Z:-2.03 [[ 9.96914777e-01 7.83806241e-02 4.17205473e-03 1.52653389e+02] [-7.83802345e-02 9.96923504e-01 -2.57051507e-04 -8.24234297e+00] [-4.17936728e-03 -7.07481827e-05 9.99991264e-01 -2.03479022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67037174299998 meters Centerline goodness [0,1] 0.9964164088410088 Centerline is valid? [True, True] Translation: X:152.68, Y:-8.26, Z:-2.04 [[ 9.97331765e-01 7.29215207e-02 3.43551344e-03 1.52681300e+02] [-7.29212251e-02 9.97337681e-01 -2.11408492e-04 -8.25507562e+00] [-3.44178323e-03 -3.96774437e-05 9.99994076e-01 -2.03621728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70037174299998 meters Centerline goodness [0,1] 0.9959641653361717 Centerline is valid? [True, True] Translation: X:152.71, Y:-8.26, Z:-2.04 [[ 9.97658290e-01 6.83198811e-02 3.21407277e-03 1.52709583e+02] [-6.83196002e-02 9.97663467e-01 -1.97236591e-04 -8.26413804e+00] [-3.22003817e-03 -2.28094465e-05 9.99994815e-01 -2.03673878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73037174299998 meters Centerline goodness [0,1] 0.9951761698343893 Centerline is valid? [True, True] Translation: X:152.74, Y:-8.28, Z:-2.04 [[ 9.98351850e-01 5.73205059e-02 2.81846535e-03 1.52737679e+02] [-5.73202521e-02 9.98355828e-01 -1.70808871e-04 -8.28199041e+00] [-2.82362216e-03 8.97220732e-06 9.99996014e-01 -2.03676895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76037174299998 meters Centerline goodness [0,1] 0.9957692818854383 Centerline is valid? [True, True] Translation: X:152.76, Y:-8.29, Z:-2.04 [[ 9.98671918e-01 5.13672357e-02 3.97579755e-03 1.52764602e+02] [-5.13666856e-02 9.98679831e-01 -2.40430381e-04 -8.29171297e+00] [-3.98289907e-03 3.58875268e-05 9.99992068e-01 -2.03655289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79037174299998 meters Centerline goodness [0,1] 0.9950233418479697 Centerline is valid? [True, True] Translation: X:152.79, Y:-8.30, Z:-2.04 [[ 9.98932982e-01 4.58685083e-02 5.38299223e-03 1.52793164e+02] [-4.58674256e-02 9.98947483e-01 -3.24483919e-04 -8.30073465e+00] [-5.39221013e-03 7.72336931e-05 9.99985459e-01 -2.03539067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82037174299998 meters Centerline goodness [0,1] 0.994466767670114 Centerline is valid? [True, True] Translation: X:152.82, Y:-8.32, Z:-2.03 [[ 9.99336881e-01 3.55782249e-02 7.74518059e-03 1.52821179e+02] [-3.55756836e-02 9.99366877e-01 -4.65680126e-04 -8.31763106e+00] [-7.75684501e-03 1.89831231e-04 9.99969897e-01 -2.03373754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85037174299998 meters Centerline goodness [0,1] 0.9934558710499155 Centerline is valid? [True, True] Translation: X:152.85, Y:-8.33, Z:-2.03 [[ 9.99494620e-01 3.07136649e-02 8.19603925e-03 1.52850632e+02] [-3.07106583e-02 9.99528195e-01 -4.92463772e-04 -8.32628205e+00] [-8.20729769e-03 2.40509130e-04 9.99966291e-01 -2.03407458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88037174299998 meters Centerline goodness [0,1] 0.9921373661271601 Centerline is valid? [True, True] Translation: X:152.88, Y:-8.34, Z:-2.04 [[ 9.99715235e-01 2.24239595e-02 8.16182093e-03 1.52880372e+02] [-2.24207058e-02 9.99748504e-01 -4.89942307e-04 -8.34168707e+00] [-8.17075471e-03 3.06809003e-04 9.99966572e-01 -2.03527655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91037174299998 meters Centerline goodness [0,1] 0.9915760453361924 Centerline is valid? [True, True] Translation: X:152.91, Y:-8.35, Z:-2.04 [[ 9.99792466e-01 1.86878970e-02 8.11094163e-03 1.52908401e+02] [-1.86845588e-02 9.99825310e-01 -4.87160287e-04 -8.35057047e+00] [-8.11862873e-03 3.35509819e-04 9.99966987e-01 -2.03623451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940371743 meters Centerline goodness [0,1] 0.991175639548784 Centerline is valid? [True, True] Translation: X:152.94, Y:-8.36, Z:-2.04 [[ 9.99836754e-01 1.59398944e-02 8.50792135e-03 1.52937641e+02] [-1.59361273e-02 9.99872882e-01 -5.10385399e-04 -8.35940807e+00] [-8.51497532e-03 3.74718762e-04 9.99963677e-01 -2.03714669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.970371743 meters Centerline goodness [0,1] 0.9905201909037418 Centerline is valid? [True, True] Translation: X:152.97, Y:-8.37, Z:-2.04 [[ 9.99902452e-01 9.48388442e-03 1.02538799e-02 1.52966438e+02] [-9.47808015e-03 9.99954893e-01 -6.14504360e-04 -8.37237463e+00] [-1.02592453e-02 5.17257321e-04 9.99947239e-01 -2.03648039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000371743 meters Centerline goodness [0,1] 0.989629789997835 Centerline is valid? [True, True] Translation: X:153.00, Y:-8.38, Z:-2.04 [[ 9.99928994e-01 5.23202964e-03 1.07066647e-02 1.52996021e+02] [-5.22545615e-03 9.99986141e-01 -6.41845379e-04 -8.38380243e+00] [-1.07098745e-02 5.85852597e-04 9.99942476e-01 -2.03749475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.030371743 meters Centerline goodness [0,1] 0.9886100845058247 Centerline is valid? [True, True] Translation: X:153.03, Y:-8.39, Z:-2.04 [[ 9.99944226e-01 3.45844338e-03 9.97918563e-03 1.53028121e+02] [-3.45264606e-03 9.99993861e-01 -5.98110331e-04 -8.39004196e+00] [-9.98119289e-03 5.63622376e-04 9.99950028e-01 -2.03906133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060371743 meters Centerline goodness [0,1] 0.9888132506612323 Centerline is valid? [True, True] Translation: X:153.06, Y:-8.39, Z:-2.04 [[ 9.99957799e-01 1.99750939e-03 8.96714708e-03 1.53060159e+02] [-1.99276525e-03 9.99997870e-01 -5.37961733e-04 -8.39181001e+00] [-8.96820256e-03 5.20069612e-04 9.99959650e-01 -2.04051200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.090371743 meters Centerline goodness [0,1] 0.9885025177757126 Centerline is valid? [True, True] Translation: X:153.09, Y:-8.40, Z:-2.04 [[ 9.99969287e-01 5.55399973e-04 7.81770115e-03 1.53090379e+02] [-5.51745304e-04 9.99999738e-01 -4.69635372e-04 -8.40238501e+00] [-7.81795993e-03 4.65307568e-04 9.99969331e-01 -2.04283854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120371743 meters Centerline goodness [0,1] 0.9895300390734624 Centerline is valid? [True, True] Translation: X:153.12, Y:-8.41, Z:-2.05 [[ 9.99981170e-01 -7.47533719e-04 6.09106248e-03 1.53122078e+02] [ 7.49775595e-04 9.99999652e-01 -3.65784635e-04 -8.40929187e+00] [-6.09078692e-03 3.70344677e-04 9.99981382e-01 -2.04531208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.150371743 meters Centerline goodness [0,1] 0.9889518230568777 Centerline is valid? [True, True] Translation: X:153.15, Y:-8.41, Z:-2.05 [[ 9.99987238e-01 1.22251137e-04 5.05058241e-03 1.53152768e+02] [-1.20719171e-04 9.99999947e-01 -3.03628364e-04 -8.41399031e+00] [-5.05061926e-03 3.03014787e-04 9.99987200e-01 -2.04679433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180371743 meters Centerline goodness [0,1] 0.9892018880531068 Centerline is valid? [True, True] Translation: X:153.18, Y:-8.41, Z:-2.05 [[ 9.99985508e-01 -7.71417990e-04 5.32819296e-03 1.53184821e+02] [ 7.73129347e-04 9.99999650e-01 -3.19136696e-04 -8.40870439e+00] [-5.32794491e-03 3.23251453e-04 9.99985754e-01 -2.04523127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.210371743 meters Centerline goodness [0,1] 0.9895161464288026 Centerline is valid? [True, True] Translation: X:153.22, Y:-8.41, Z:-2.05 [[ 9.99986085e-01 -5.24526238e-04 5.24917339e-03 1.53216997e+02] [ 5.26196827e-04 9.99999811e-01 -3.16881511e-04 -8.40984798e+00] [-5.24900619e-03 3.19639200e-04 9.99986173e-01 -2.04543384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24037174299997 meters Centerline goodness [0,1] 0.9900468510482112 Centerline is valid? [True, True] Translation: X:153.25, Y:-8.41, Z:-2.04 [[ 9.99982936e-01 3.34860341e-04 5.83234336e-03 1.53249201e+02] [-3.32809450e-04 9.99999882e-01 -3.52607988e-04 -8.41080197e+00] [-5.83246075e-03 3.50660912e-04 9.99982930e-01 -2.04437443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27037174299997 meters Centerline goodness [0,1] 0.9893931227767597 Centerline is valid? [True, True] Translation: X:153.28, Y:-8.41, Z:-2.04 [[ 9.99979023e-01 6.98152840e-04 6.43943113e-03 1.53281785e+02] [-6.95656598e-04 9.99999682e-01 -3.89881199e-04 -8.41251073e+00] [-6.43970128e-03 3.85393387e-04 9.99979191e-01 -2.04459376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30037174299997 meters Centerline goodness [0,1] 0.9901622367966862 Centerline is valid? [True, True] Translation: X:153.31, Y:-8.42, Z:-2.05 [[ 9.99976640e-01 1.17030993e-03 6.73426745e-03 1.53312409e+02] [-1.16758606e-03 9.99999235e-01 -4.08395814e-04 -8.41643821e+00] [-6.73474025e-03 4.00523437e-04 9.99977241e-01 -2.04533262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33037174299997 meters Centerline goodness [0,1] 0.9892078566803367 Centerline is valid? [True, True] Translation: X:153.34, Y:-8.42, Z:-2.05 [[ 9.99976598e-01 1.95465950e-03 6.55612707e-03 1.53344761e+02] [-1.95209323e-03 9.99998016e-01 -3.97807617e-04 -8.41968388e+00] [-6.55689164e-03 3.85000137e-04 9.99978429e-01 -2.04608824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36037174299997 meters Centerline goodness [0,1] 0.9892194911599828 Centerline is valid? [True, True] Translation: X:153.38, Y:-8.42, Z:-2.05 [[ 9.99973285e-01 1.26885752e-03 7.19862498e-03 1.53376445e+02] [-1.26574874e-03 9.99999104e-01 -4.36396703e-04 -8.42243425e+00] [-7.19917225e-03 4.27273394e-04 9.99973994e-01 -2.04626935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39037174299997 meters Centerline goodness [0,1] 0.9887379142531062 Centerline is valid? [True, True] Translation: X:153.41, Y:-8.42, Z:-2.05 [[ 9.99974817e-01 7.86602772e-04 7.05307971e-03 1.53408574e+02] [-7.83596334e-04 9.99999601e-01 -4.29012153e-04 -8.42349442e+00] [-7.05341436e-03 4.23474582e-04 9.99975035e-01 -2.04661433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42037174299998 meters Centerline goodness [0,1] 0.9891942023984126 Centerline is valid? [True, True] Translation: X:153.44, Y:-8.43, Z:-2.05 [[ 9.99978423e-01 -1.37990269e-03 6.42254028e-03 1.53439303e+02] [ 1.38245773e-03 9.99998967e-01 -3.93402011e-04 -8.42511272e+00] [-6.42199079e-03 4.02272413e-04 9.99979298e-01 -2.04707525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45037174299998 meters Centerline goodness [0,1] 0.9908601802035393 Centerline is valid? [True, True] Translation: X:153.47, Y:-8.43, Z:-2.05 [[ 9.99982825e-01 -1.57254948e-03 5.64599493e-03 1.53470123e+02] [ 1.57452795e-03 9.99998701e-01 -3.45992703e-04 -8.43139021e+00] [-5.64544351e-03 3.54876537e-04 9.99984001e-01 -2.04773508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48037174299998 meters Centerline goodness [0,1] 0.990618327689952 Centerline is valid? [True, True] Translation: X:153.50, Y:-8.43, Z:-2.05 [[ 9.99975761e-01 -3.68558294e-03 5.90712815e-03 1.53500790e+02] [ 3.68778766e-03 9.99993134e-01 -3.62381532e-04 -8.43345948e+00] [-5.90575201e-03 3.84156982e-04 9.99982487e-01 -2.04785465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51037174299998 meters Centerline goodness [0,1] 0.9901517110593915 Centerline is valid? [True, True] Translation: X:153.53, Y:-8.44, Z:-2.05 [[ 9.99963270e-01 -5.36518903e-03 6.68378142e-03 1.53533201e+02] [ 5.36805085e-03 9.99985508e-01 -4.10307263e-04 -8.43632315e+00] [-6.68148318e-03 4.46171071e-04 9.99977579e-01 -2.04642374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54037174299998 meters Centerline goodness [0,1] 0.9892279687332691 Centerline is valid? [True, True] Translation: X:153.57, Y:-8.44, Z:-2.05 [[ 9.99956432e-01 -5.39786835e-03 7.61555371e-03 1.53565814e+02] [ 5.40158985e-03 9.99985302e-01 -4.68187086e-04 -8.43789125e+00] [-7.61291457e-03 5.09302786e-04 9.99970892e-01 -2.04621854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57037174299998 meters Centerline goodness [0,1] 0.9895553501966431 Centerline is valid? [True, True] Translation: X:153.60, Y:-8.44, Z:-2.05 [[ 9.99952353e-01 -5.50565430e-03 8.06101957e-03 1.53598527e+02] [ 5.50983244e-03 9.99984698e-01 -4.96198269e-04 -8.43550889e+00] [-8.05816432e-03 5.40589493e-04 9.99967386e-01 -2.04513806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60037174299998 meters Centerline goodness [0,1] 0.9895006346952387 Centerline is valid? [True, True] Translation: X:153.63, Y:-8.45, Z:-2.05 [[ 9.99955842e-01 -4.86177386e-03 8.04219554e-03 1.53628945e+02] [ 4.86591738e-03 9.99988038e-01 -4.95736096e-04 -8.44544092e+00] [-8.03968918e-03 5.34846864e-04 9.99967538e-01 -2.04606568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63037174299998 meters Centerline goodness [0,1] 0.9909931263332543 Centerline is valid? [True, True] Translation: X:153.66, Y:-8.44, Z:-2.05 [[ 9.99961134e-01 -4.07542800e-03 7.81805036e-03 1.53661688e+02] [ 4.07932220e-03 9.99991563e-01 -4.82222400e-04 -8.43796091e+00] [-7.81601913e-03 5.14096004e-04 9.99969322e-01 -2.04601282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66037174299998 meters Centerline goodness [0,1] 0.9909931263332543 Centerline is valid? [True, True] Translation: X:153.69, Y:-8.44, Z:-2.05 [[ 9.99961431e-01 -4.00177305e-03 7.81801472e-03 1.53693381e+02] [ 4.00566951e-03 9.99991861e-01 -4.82799211e-04 -8.43997821e+00] [-7.81601903e-03 5.14096973e-04 9.99969322e-01 -2.04644289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.690371743 meters Centerline goodness [0,1] 0.989368125943498 Centerline is valid? [True, True] Translation: X:153.73, Y:-8.44, Z:-2.05 [[ 9.99971269e-01 -1.61698321e-03 7.40583710e-03 1.53725420e+02] [ 1.62041898e-03 9.99998582e-01 -4.57951272e-04 -8.43948440e+00] [-7.40508610e-03 4.69938673e-04 9.99972472e-01 -2.04696552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720371743 meters Centerline goodness [0,1] 0.9895114664603348 Centerline is valid? [True, True] Translation: X:153.76, Y:-8.44, Z:-2.05 [[ 9.99961673e-01 -1.65336644e-03 8.59763090e-03 1.53758674e+02] [ 1.65800121e-03 9.99998484e-01 -5.31975656e-04 -8.44054830e+00] [-8.59673831e-03 5.46210149e-04 9.99962898e-01 -2.04666139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.750371743 meters Centerline goodness [0,1] 0.9893417333707307 Centerline is valid? [True, True] Translation: X:153.79, Y:-8.44, Z:-2.05 [[ 9.99955872e-01 -5.53820755e-04 9.37803213e-03 1.53790332e+02] [ 5.59299512e-04 9.99999674e-01 -5.81599273e-04 -8.44136628e+00] [-9.37770698e-03 5.86818737e-04 9.99955856e-01 -2.04582016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780371743 meters Centerline goodness [0,1] 0.9892090212582281 Centerline is valid? [True, True] Translation: X:153.82, Y:-8.44, Z:-2.05 [[ 9.99961303e-01 3.66826486e-04 8.78964982e-03 1.53822655e+02] [-3.62043967e-04 9.99999786e-01 -5.45693044e-04 -8.44348726e+00] [-8.78984811e-03 5.42489688e-04 9.99961221e-01 -2.04665679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.810371743 meters Centerline goodness [0,1] 0.9892656587473002 Centerline is valid? [True, True] Translation: X:153.85, Y:-8.45, Z:-2.05 [[ 9.99962505e-01 -5.30134191e-04 8.64334101e-03 1.53854963e+02] [ 5.34789907e-04 9.99999713e-01 -5.36345374e-04 -8.44561922e+00] [-8.64305419e-03 5.40947635e-04 9.99962502e-01 -2.04762190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840371743 meters Centerline goodness [0,1] 0.9893343696698836 Centerline is valid? [True, True] Translation: X:153.89, Y:-8.45, Z:-2.05 [[ 9.99972108e-01 -1.52657926e-03 7.31112326e-03 1.53886155e+02] [ 1.52994742e-03 9.99998726e-01 -4.55119549e-04 -8.44888278e+00] [-7.31041917e-03 4.66292489e-04 9.99973170e-01 -2.04965046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.870371743 meters Centerline goodness [0,1] 0.9886006796575902 Centerline is valid? [True, True] Translation: X:153.92, Y:-8.45, Z:-2.05 [[ 9.99974113e-01 -2.44488640e-03 6.76731471e-03 1.53917784e+02] [ 2.44780220e-03 9.99996915e-01 -4.22615811e-04 -8.45199709e+00] [-6.76626058e-03 4.39169918e-04 9.99977012e-01 -2.05054755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900371743 meters Centerline goodness [0,1] 0.9882138833521102 Centerline is valid? [True, True] Translation: X:153.95, Y:-8.46, Z:-2.05 [[ 9.99964825e-01 -4.72497398e-03 6.92990330e-03 1.53948260e+02] [ 4.72810746e-03 9.99988727e-01 -4.35855963e-04 -8.45516594e+00] [-6.92776578e-03 4.68605960e-04 9.99975893e-01 -2.05117099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.930371743 meters Centerline goodness [0,1] 0.9878974845752254 Centerline is valid? [True, True] Translation: X:153.98, Y:-8.46, Z:-2.05 [[ 9.99932146e-01 -9.84649447e-03 6.22488875e-03 1.53979000e+02] [ 9.84912143e-03 9.99951420e-01 -3.91494184e-04 -8.45833690e+00] [-6.22073150e-03 4.52777305e-04 9.99980549e-01 -2.05203041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960371743 meters Centerline goodness [0,1] 0.9881135052192518 Centerline is valid? [True, True] Translation: X:154.01, Y:-8.46, Z:-2.05 [[ 9.99903391e-01 -1.25868074e-02 5.89752297e-03 1.54009966e+02] [ 1.25892144e-02 9.99920684e-01 -3.71180424e-04 -8.45945461e+00] [-5.89238323e-03 4.45389745e-04 9.99982541e-01 -2.05294991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99037174299997 meters Centerline goodness [0,1] 0.9869582143784065 Centerline is valid? [True, True] Translation: X:154.04, Y:-8.47, Z:-2.05 [[ 9.99826694e-01 -1.78757371e-02 5.19994067e-03 1.54039331e+02] [ 1.78776773e-02 9.99840128e-01 -3.26874144e-04 -8.46673020e+00] [-5.19326623e-03 4.19780356e-04 9.99986427e-01 -2.05400927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02037174299997 meters Centerline goodness [0,1] 0.9865872156013001 Centerline is valid? [True, True] Translation: X:154.07, Y:-8.47, Z:-2.05 [[ 9.99780949e-01 -2.03021145e-02 5.08715029e-03 1.54068703e+02] [ 2.03040076e-02 9.99793801e-01 -3.20764727e-04 -8.47232001e+00] [-5.07958912e-03 4.23984002e-04 9.99987009e-01 -2.05447934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05037174299997 meters Centerline goodness [0,1] 0.9870000433331889 Centerline is valid? [True, True] Translation: X:154.10, Y:-8.47, Z:-2.05 [[ 9.99735527e-01 -2.23077034e-02 5.58954368e-03 1.54100186e+02] [ 2.23100185e-02 9.99751039e-01 -3.52160310e-04 -8.47109000e+00] [-5.58029621e-03 4.76769996e-04 9.99984316e-01 -2.05423921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08037174299997 meters Centerline goodness [0,1] 0.9860151971077868 Centerline is valid? [True, True] Translation: X:154.13, Y:-8.47, Z:-2.05 [[ 9.99677780e-01 -2.47727900e-02 5.53577588e-03 1.54131231e+02] [ 2.47750993e-02 9.99692989e-01 -3.48962358e-04 -8.47114779e+00] [-5.52543157e-03 4.85999312e-04 9.99984617e-01 -2.05450720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11037174299997 meters Centerline goodness [0,1] 0.9871677957269411 Centerline is valid? [True, True] Translation: X:154.16, Y:-8.47, Z:-2.05 [[ 9.99635719e-01 -2.63771359e-02 5.71625764e-03 1.54162468e+02] [ 2.63796255e-02 9.99651932e-01 -3.60559610e-04 -8.47154844e+00] [-5.70475746e-03 5.11221000e-04 9.99983597e-01 -2.05445587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14037174299997 meters Centerline goodness [0,1] 0.9869613403742096 Centerline is valid? [True, True] Translation: X:154.19, Y:-8.47, Z:-2.05 [[ 9.99625895e-01 -2.67989048e-02 5.46696977e-03 1.54194998e+02] [ 2.68011875e-02 9.99640724e-01 -3.44700131e-04 -8.46854036e+00] [-5.45576803e-03 4.91092459e-04 9.99984997e-01 -2.05493058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17037174299998 meters Centerline goodness [0,1] 0.9860314563781717 Centerline is valid? [True, True] Translation: X:154.23, Y:-8.48, Z:-2.06 [[ 9.99605359e-01 -2.76593458e-02 4.90786490e-03 1.54225437e+02] [ 2.76611986e-02 9.99617308e-01 -3.10033464e-04 -8.47505318e+00] [-4.89741138e-03 4.45668537e-04 9.99987908e-01 -2.05673626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20037174299998 meters Centerline goodness [0,1] 0.9875524080550909 Centerline is valid? [True, True] Translation: X:154.26, Y:-8.47, Z:-2.06 [[ 9.99613929e-01 -2.73989138e-02 4.61446727e-03 1.54257803e+02] [ 2.74005481e-02 9.99624492e-01 -2.91306784e-04 -8.46783022e+00] [-4.60475301e-03 4.17633251e-04 9.99989311e-01 -2.05599682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23037174299998 meters Centerline goodness [0,1] 0.9876858027113029 Centerline is valid? [True, True] Translation: X:154.29, Y:-8.47, Z:-2.06 [[ 9.99625312e-01 -2.68514840e-02 5.31348486e-03 1.54289598e+02] [ 2.68536462e-02 9.99639319e-01 -3.35992228e-04 -8.46834543e+00] [-5.30254650e-03 4.78552778e-04 9.99985827e-01 -2.05552716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26037174299998 meters Centerline goodness [0,1] 0.987407294634507 Centerline is valid? [True, True] Translation: X:154.32, Y:-8.47, Z:-2.05 [[ 9.99619441e-01 -2.68218059e-02 6.44704467e-03 1.54322441e+02] [ 2.68249929e-02 9.99640062e-01 -4.08359544e-04 -8.46685089e+00] [-6.43377119e-03 5.81146066e-04 9.99979134e-01 -2.05476626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29037174299998 meters Centerline goodness [0,1] 0.986547182502658 Centerline is valid? [True, True] Translation: X:154.35, Y:-8.47, Z:-2.05 [[ 9.99625737e-01 -2.64721446e-02 6.90017598e-03 1.54353467e+02] [ 2.64757920e-02 9.99649359e-01 -4.37773167e-04 -8.46899570e+00] [-6.88616770e-03 6.20296948e-04 9.99976098e-01 -2.05491106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32037174299998 meters Centerline goodness [0,1] 0.9879042803591666 Centerline is valid? [True, True] Translation: X:154.39, Y:-8.47, Z:-2.05 [[ 9.99631114e-01 -2.61338900e-02 7.39297535e-03 1.54386192e+02] [ 2.61380704e-02 9.99658232e-01 -4.69387134e-04 -8.46815782e+00] [-7.37818175e-03 6.62452094e-04 9.99972561e-01 -2.05485015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35037174299998 meters Centerline goodness [0,1] 0.9877050070598458 Centerline is valid? [True, True] Translation: X:154.42, Y:-8.47, Z:-2.06 [[ 9.99646081e-01 -2.54435375e-02 7.76778460e-03 1.54418797e+02] [ 2.54481368e-02 9.99676022e-01 -4.93812854e-04 -8.46611522e+00] [-7.75270366e-03 6.91313730e-04 9.99969708e-01 -2.05567615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38037174299998 meters Centerline goodness [0,1] 0.9877831010452962 Centerline is valid? [True, True] Translation: X:154.45, Y:-8.47, Z:-2.06 [[ 9.99652608e-01 -2.52419055e-02 7.58352993e-03 1.54451263e+02] [ 2.52462875e-02 9.99681145e-01 -4.82646309e-04 -8.46709727e+00] [-7.56892897e-03 6.73934618e-04 9.99971128e-01 -2.05642686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41037174299998 meters Centerline goodness [0,1] 0.9878262009878918 Centerline is valid? [True, True] Translation: X:154.48, Y:-8.47, Z:-2.06 [[ 9.99680651e-01 -2.44035198e-02 6.56232634e-03 1.54483271e+02] [ 2.44067855e-02 9.99702023e-01 -4.18008130e-04 -8.46667955e+00] [-6.55017004e-03 5.78039931e-04 9.99978380e-01 -2.05833697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440371743 meters Centerline goodness [0,1] 0.9889107611548557 Centerline is valid? [True, True] Translation: X:154.52, Y:-8.47, Z:-2.06 [[ 9.99701525e-01 -2.36249257e-02 6.22283848e-03 1.54515235e+02] [ 2.36278498e-02 9.99720745e-01 -3.96793261e-04 -8.46782220e+00] [-6.21172651e-03 5.43707120e-04 9.99980559e-01 -2.05940494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.470371743 meters Centerline goodness [0,1] 0.9885173115198705 Centerline is valid? [True, True] Translation: X:154.55, Y:-8.47, Z:-2.06 [[ 9.99730413e-01 -2.26759964e-02 4.99011926e-03 1.54547253e+02] [ 2.26778659e-02 9.99742773e-01 -3.18361932e-04 -8.46597109e+00] [-4.98161649e-03 4.31441361e-04 9.99987499e-01 -2.06071555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500371743 meters Centerline goodness [0,1] 0.9886841183680616 Centerline is valid? [True, True] Translation: X:154.58, Y:-8.47, Z:-2.06 [[ 9.99734091e-01 -2.25367886e-02 4.88265099e-03 1.54579376e+02] [ 2.25385777e-02 9.99745925e-01 -3.11685866e-04 -8.46776686e+00] [-4.87438603e-03 4.21650994e-04 9.99988031e-01 -2.06119519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.530371743 meters Centerline goodness [0,1] 0.9888667731140226 Centerline is valid? [True, True] Translation: X:154.61, Y:-8.47, Z:-2.06 [[ 9.99738236e-01 -2.23461800e-02 4.90992052e-03 1.54611245e+02] [ 2.23479898e-02 9.99750203e-01 -3.14043278e-04 -8.46883268e+00] [-4.90167637e-03 4.23687926e-04 9.99987897e-01 -2.06163049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560371743 meters Centerline goodness [0,1] 0.9891013552037191 Centerline is valid? [True, True] Translation: X:154.64, Y:-8.47, Z:-2.06 [[ 9.99732455e-01 -2.25253565e-02 5.25607496e-03 1.54642691e+02] [ 2.25274361e-02 9.99746168e-01 -3.36780435e-04 -8.46968892e+00] [-5.24715471e-03 4.55096224e-04 9.99986130e-01 -2.06137456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.590371743 meters Centerline goodness [0,1] 0.9884966457714726 Centerline is valid? [True, True] Translation: X:154.67, Y:-8.47, Z:-2.06 [[ 9.99726950e-01 -2.26948248e-02 5.56509214e-03 1.54674835e+02] [ 2.26971598e-02 9.99742323e-01 -3.56782933e-04 -8.47087828e+00] [-5.55556101e-03 4.82997299e-04 9.99984451e-01 -2.06154359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620371743 meters Centerline goodness [0,1] 0.9886553146669007 Centerline is valid? [True, True] Translation: X:154.71, Y:-8.47, Z:-2.06 [[ 9.99726787e-01 -2.26438719e-02 5.79708269e-03 1.54706572e+02] [ 2.26464066e-02 9.99743468e-01 -3.71971274e-04 -8.47318194e+00] [-5.78717269e-03 5.03152739e-04 9.99983128e-01 -2.06214198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.650371743 meters Centerline goodness [0,1] 0.987244225871608 Centerline is valid? [True, True] Translation: X:154.74, Y:-8.47, Z:-2.06 [[ 9.99742496e-01 -2.20195160e-02 5.48468229e-03 1.54738104e+02] [ 2.20217795e-02 9.99757429e-01 -3.52633243e-04 -8.47422103e+00] [-5.47558706e-03 4.73324903e-04 9.99984897e-01 -2.06321598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680371743 meters Centerline goodness [0,1] 0.9865426479319216 Centerline is valid? [True, True] Translation: X:154.77, Y:-8.48, Z:-2.06 [[ 9.99752639e-01 -2.15609772e-02 5.45763730e-03 1.54770478e+02] [ 2.15632124e-02 9.99767425e-01 -3.51041688e-04 -8.47619026e+00] [-5.44879919e-03 4.68639047e-04 9.99985045e-01 -2.06391794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.710371743 meters Centerline goodness [0,1] 0.9866330114135207 Centerline is valid? [True, True] Translation: X:154.80, Y:-8.48, Z:-2.06 [[ 9.99797644e-01 -1.91916213e-02 6.02929035e-03 1.54800637e+02] [ 1.91943128e-02 9.99815697e-01 -3.88839129e-04 -8.47558282e+00] [-6.02071668e-03 5.04488530e-04 9.99981748e-01 -2.06349063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74037174299997 meters Centerline goodness [0,1] 0.9871882360710591 Centerline is valid? [True, True] Translation: X:154.83, Y:-8.48, Z:-2.06 [[ 9.99823891e-01 -1.75807335e-02 6.56539756e-03 1.54832718e+02] [ 1.75838880e-02 9.99845302e-01 -4.23060748e-04 -8.47546517e+00] [-6.55694419e-03 5.38431459e-04 9.99978358e-01 -2.06283763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77037174299997 meters Centerline goodness [0,1] 0.9879560594697137 Centerline is valid? [True, True] Translation: X:154.86, Y:-8.47, Z:-2.06 [[ 9.99849646e-01 -1.57714952e-02 7.20735912e-03 1.54864771e+02] [ 1.57752522e-02 9.99875455e-01 -4.64724108e-04 -8.47487554e+00] [-7.19913208e-03 5.78352142e-04 9.99973919e-01 -2.06286341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80037174299997 meters Centerline goodness [0,1] 0.9871704279468269 Centerline is valid? [True, True] Translation: X:154.90, Y:-8.47, Z:-2.06 [[ 9.99875208e-01 -1.40800598e-02 7.16377829e-03 1.54896807e+02] [ 1.40837331e-02 9.99900712e-01 -4.62565256e-04 -8.47443730e+00] [-7.15655407e-03 5.63400273e-04 9.99974233e-01 -2.06287419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83037174299997 meters Centerline goodness [0,1] 0.9908018087570309 Centerline is valid? [True, True] Translation: X:154.93, Y:-8.46, Z:-2.06 [[ 9.99908196e-01 -1.13724863e-02 7.36654994e-03 1.54929015e+02] [ 1.13763018e-02 9.99935174e-01 -4.76246273e-04 -8.46078764e+00] [-7.36065629e-03 5.60006647e-04 9.99972753e-01 -2.06237822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86037174299997 meters Centerline goodness [0,1] 0.9914052143172779 Centerline is valid? [True, True] Translation: X:154.96, Y:-8.46, Z:-2.06 [[ 9.99913882e-01 -1.09405116e-02 7.24797096e-03 1.54961730e+02] [ 1.09441915e-02 9.99940001e-01 -4.68248312e-04 -8.46104919e+00] [-7.24241321e-03 5.47531169e-04 9.99973623e-01 -2.06310941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89037174299997 meters Centerline goodness [0,1] 0.9913058828721479 Centerline is valid? [True, True] Translation: X:154.99, Y:-8.46, Z:-2.06 [[ 9.99921463e-01 -1.07396518e-02 6.45975023e-03 1.54993767e+02] [ 1.07425736e-02 9.99942210e-01 -4.17783277e-04 -8.46373848e+00] [-6.45489007e-03 4.87144807e-04 9.99979048e-01 -2.06361263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92037174299998 meters Centerline goodness [0,1] 0.9910122780673085 Centerline is valid? [True, True] Translation: X:155.03, Y:-8.47, Z:-2.06 [[ 9.99916104e-01 -1.10959031e-02 6.68331215e-03 1.55025490e+02] [ 1.10990439e-02 9.99938310e-01 -4.33025896e-04 -8.46544385e+00] [-6.67809504e-03 5.07167941e-04 9.99977573e-01 -2.06422202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95037174299998 meters Centerline goodness [0,1] 0.9907391035275396 Centerline is valid? [True, True] Translation: X:155.06, Y:-8.47, Z:-2.06 [[ 9.99915169e-01 -1.11391208e-02 6.75090618e-03 1.55057559e+02] [ 1.11423297e-02 9.99937826e-01 -4.37904514e-04 -8.46791310e+00] [-6.74560858e-03 5.13088189e-04 9.99977116e-01 -2.06438616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98037174299998 meters Centerline goodness [0,1] 0.9904353780565925 Centerline is valid? [True, True] Translation: X:155.09, Y:-8.47, Z:-2.07 [[ 9.99917858e-01 -1.10409067e-02 6.50966904e-03 1.55090621e+02] [ 1.10438895e-02 9.99938925e-01 -4.22440134e-04 -8.47051347e+00] [-6.50460734e-03 4.94297500e-04 9.99978723e-01 -2.06510575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01037174299998 meters Centerline goodness [0,1] 0.9906744453283832 Centerline is valid? [True, True] Translation: X:155.12, Y:-8.47, Z:-2.07 [[ 9.99935638e-01 -9.52185173e-03 6.16886147e-03 1.55121350e+02] [ 9.52450848e-03 9.99954560e-01 -4.01435706e-04 -8.47182286e+00] [-6.16475875e-03 4.60165242e-04 9.99980892e-01 -2.06678179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04037174299998 meters Centerline goodness [0,1] 0.9908037845963392 Centerline is valid? [True, True] Translation: X:155.15, Y:-8.47, Z:-2.07 [[ 9.99948532e-01 -8.30565750e-03 5.82662590e-03 1.55151487e+02] [ 8.30800896e-03 9.99965416e-01 -3.79482802e-04 -8.47343615e+00] [-5.82327254e-03 4.27870931e-04 9.99982953e-01 -2.06794908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07037174299998 meters Centerline goodness [0,1] 0.9911549432810738 Centerline is valid? [True, True] Translation: X:155.18, Y:-8.47, Z:-2.07 [[ 9.99983284e-01 -3.93350340e-03 4.23784858e-03 1.55181087e+02] [ 3.93470964e-03 9.99992221e-01 -2.76335084e-04 -8.47138574e+00] [-4.23672865e-03 2.93005168e-04 9.99990982e-01 -2.06862355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10037174299998 meters Centerline goodness [0,1] 0.9914236326566793 Centerline is valid? [True, True] Translation: X:155.21, Y:-8.47, Z:-2.07 [[ 9.99989112e-01 -1.85760162e-03 4.28074860e-03 1.55213046e+02] [ 1.85881045e-03 9.99998234e-01 -2.78424868e-04 -8.47001028e+00] [-4.28022383e-03 2.86378937e-04 9.99990799e-01 -2.06839346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13037174299998 meters Centerline goodness [0,1] 0.9918936877076412 Centerline is valid? [True, True] Translation: X:155.24, Y:-8.47, Z:-2.07 [[ 9.99987889e-01 7.05605514e-04 4.87071614e-03 1.55243903e+02] [-7.04067652e-04 9.99999702e-01 -3.17443712e-04 -8.46939341e+00] [-4.87093868e-03 3.14010554e-04 9.99988088e-01 -2.06846112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16037174299998 meters Centerline goodness [0,1] 0.9915239194106683 Centerline is valid? [True, True] Translation: X:155.27, Y:-8.47, Z:-2.07 [[ 9.99964102e-01 5.60443362e-03 6.35494171e-03 1.55274624e+02] [-5.60191230e-03 9.99984223e-01 -4.14480214e-04 -8.46695506e+00] [-6.35716437e-03 3.78865509e-04 9.99979721e-01 -2.06743837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.190371743 meters Centerline goodness [0,1] 0.9915145338532435 Centerline is valid? [True, True] Translation: X:155.30, Y:-8.47, Z:-2.07 [[ 9.99941905e-01 8.04063577e-03 7.17873911e-03 1.55304856e+02] [-8.03748177e-03 9.99967589e-01 -4.68095006e-04 -8.46829559e+00] [-7.18227023e-03 4.10368827e-04 9.99974123e-01 -2.06726180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220371743 meters Centerline goodness [0,1] 0.9907569544497395 Centerline is valid? [True, True] Translation: X:155.33, Y:-8.47, Z:-2.07 [[ 9.99893533e-01 1.20978734e-02 8.15871821e-03 1.55334403e+02] [-1.20939317e-02 9.99926724e-01 -5.32295399e-04 -8.46606245e+00] [-8.16456001e-03 4.33567746e-04 9.99966575e-01 -2.06613928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.250371743 meters Centerline goodness [0,1] 0.9909961855761554 Centerline is valid? [True, True] Translation: X:155.36, Y:-8.46, Z:-2.07 [[ 9.99874283e-01 1.36364841e-02 8.09097341e-03 1.55364947e+02] [-1.36326570e-02 9.99906932e-01 -5.27972833e-04 -8.45722810e+00] [-8.09742009e-03 4.17604992e-04 9.99967128e-01 -2.06532758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280371743 meters Centerline goodness [0,1] 0.9906463151814081 Centerline is valid? [True, True] Translation: X:155.39, Y:-8.47, Z:-2.07 [[ 9.99853773e-01 1.55378311e-02 7.14199844e-03 1.55393296e+02] [-1.55348981e-02 9.99879218e-01 -4.65960403e-04 -8.46674244e+00] [-7.14837583e-03 3.54942050e-04 9.99974387e-01 -2.06750520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.310371743 meters Centerline goodness [0,1] 0.9908576980832082 Centerline is valid? [True, True] Translation: X:155.42, Y:-8.47, Z:-2.07 [[ 9.99852719e-01 1.56635917e-02 7.01366798e-03 1.55422128e+02] [-1.56607683e-02 9.99877258e-01 -4.57303712e-04 -8.46796890e+00] [-7.01997012e-03 3.47396931e-04 9.99975299e-01 -2.06843475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340371743 meters Centerline goodness [0,1] 0.9925860155382907 Centerline is valid? [True, True] Translation: X:155.45, Y:-8.46, Z:-2.07 [[ 9.99848999e-01 1.65715212e-02 5.23110787e-03 1.55451926e+02] [-1.65699618e-02 9.99862651e-01 -3.41309135e-04 -8.46000804e+00] [-5.23604539e-03 2.54578340e-04 9.99986259e-01 -2.06990816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.370371743 meters Centerline goodness [0,1] 0.9920851953133685 Centerline is valid? [True, True] Translation: X:155.48, Y:-8.46, Z:-2.07 [[ 9.99853729e-01 1.64020995e-02 4.84673980e-03 1.55480444e+02] [-1.64007623e-02 9.99865449e-01 -3.15515744e-04 -8.46219300e+00] [-4.85126278e-03 2.35979366e-04 9.99988205e-01 -2.07150252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400371743 meters Centerline goodness [0,1] 0.9919091333437062 Centerline is valid? [True, True] Translation: X:155.51, Y:-8.46, Z:-2.07 [[ 9.99863418e-01 1.61462123e-02 3.52791191e-03 1.55508178e+02] [-1.61455016e-02 9.99869626e-01 -2.29844919e-04 -8.46485062e+00] [-3.53116309e-03 1.72853619e-04 9.99993750e-01 -2.07349590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.430371743 meters Centerline goodness [0,1] 0.9909607035511522 Centerline is valid? [True, True] Translation: X:155.54, Y:-8.47, Z:-2.07 [[ 9.99865116e-01 1.62136264e-02 2.62077421e-03 1.55535898e+02] [-1.62132342e-02 9.99868542e-01 -1.70808628e-04 -8.46857030e+00] [-2.62319911e-03 1.28294362e-04 9.99996551e-01 -2.07468195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460371743 meters Centerline goodness [0,1] 0.9920569767699852 Centerline is valid? [True, True] Translation: X:155.56, Y:-8.47, Z:-2.07 [[ 9.99874841e-01 1.55649227e-02 2.83485988e-03 1.55564737e+02] [-1.55644628e-02 9.99878849e-01 -1.84239471e-04 -8.46700702e+00] [-2.83738411e-03 1.40093341e-04 9.99995965e-01 -2.07404523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49037174299997 meters Centerline goodness [0,1] 0.9914843472073995 Centerline is valid? [True, True] Translation: X:155.59, Y:-8.47, Z:-2.07 [[ 9.99884134e-01 1.49295929e-02 2.97099783e-03 1.55592137e+02] [-1.49290852e-02 9.99888536e-01 -1.93009337e-04 -8.47193311e+00] [-2.97354822e-03 1.48632694e-04 9.99995568e-01 -2.07472546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52037174299997 meters Centerline goodness [0,1] 0.991462113127001 Centerline is valid? [True, True] Translation: X:155.62, Y:-8.47, Z:-2.07 [[ 9.99891791e-01 1.43143638e-02 3.39190101e-03 1.55620805e+02] [-1.43137006e-02 9.99897530e-01 -2.19724914e-04 -8.46902176e+00] [-3.39469867e-03 1.71150482e-04 9.99994223e-01 -2.07373655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55037174299997 meters Centerline goodness [0,1] 0.991462113127001 Centerline is valid? [True, True] Translation: X:155.65, Y:-8.47, Z:-2.07 [[ 9.99892831e-01 1.42415520e-02 3.39191694e-03 1.55649088e+02] [-1.42408892e-02 9.99898569e-01 -2.19478440e-04 -8.47078745e+00] [-3.39469860e-03 1.71151005e-04 9.99994223e-01 -2.07412091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58037174299997 meters Centerline goodness [0,1] 0.9906018796240752 Centerline is valid? [True, True] Translation: X:155.68, Y:-8.48, Z:-2.08 [[ 9.99906443e-01 1.31541680e-02 3.75129798e-03 1.55676137e+02] [-1.31533505e-02 9.99913462e-01 -2.42525259e-04 -8.47987271e+00] [-3.75416357e-03 1.93160432e-04 9.99992934e-01 -2.07513458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61037174299997 meters Centerline goodness [0,1] 0.9917180577509629 Centerline is valid? [True, True] Translation: X:155.71, Y:-8.48, Z:-2.07 [[ 9.99917156e-01 1.19945854e-02 4.67013551e-03 1.55705007e+02] [-1.19933098e-02 9.99928032e-01 -3.01044306e-04 -8.47732244e+00] [-4.67341031e-03 2.45008985e-04 9.99989050e-01 -2.07358108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64037174299997 meters Centerline goodness [0,1] 0.9912824960526608 Centerline is valid? [True, True] Translation: X:155.73, Y:-8.48, Z:-2.07 [[ 9.99928785e-01 1.08112473e-02 5.05393486e-03 1.55733907e+02] [-1.08097414e-02 9.99941520e-01 -3.25181501e-04 -8.48019457e+00] [-5.05715492e-03 2.70526615e-04 9.99987176e-01 -2.07323421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67037174299998 meters Centerline goodness [0,1] 0.9910718251676809 Centerline is valid? [True, True] Translation: X:155.76, Y:-8.49, Z:-2.07 [[ 9.99932606e-01 1.04330909e-02 5.09246146e-03 1.55762083e+02] [-1.04315585e-02 9.99945536e-01 -3.27373036e-04 -8.48556702e+00] [-5.09559961e-03 2.74228664e-04 9.99986980e-01 -2.07388284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70037174299998 meters Centerline goodness [0,1] 0.9911447324507732 Centerline is valid? [True, True] Translation: X:155.79, Y:-8.48, Z:-2.07 [[ 9.99938589e-01 9.96435268e-03 4.85072579e-03 1.55791512e+02] [-9.96295869e-03 9.99950320e-01 -3.11456893e-04 -8.48412246e+00] [-4.85358828e-03 2.63110186e-04 9.99988187e-01 -2.07397653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73037174299998 meters Centerline goodness [0,1] 0.9910172317954419 Centerline is valid? [True, True] Translation: X:155.82, Y:-8.48, Z:-2.07 [[ 9.99935915e-01 1.02105786e-02 4.88979096e-03 1.55820815e+02] [-1.02091658e-02 9.99947836e-01 -3.13791723e-04 -8.48435838e+00] [-4.89273988e-03 2.63850927e-04 9.99987996e-01 -2.07437444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76037174299998 meters Centerline goodness [0,1] 0.990796113914764 Centerline is valid? [True, True] Translation: X:155.85, Y:-8.49, Z:-2.08 [[ 9.99931637e-01 1.08126331e-02 4.45065748e-03 1.55849768e+02] [-1.08114692e-02 9.99941514e-01 -2.85490518e-04 -8.48873748e+00] [-4.45348408e-03 2.37352854e-04 9.99990055e-01 -2.07526539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79037174299998 meters Centerline goodness [0,1] 0.9916809395644727 Centerline is valid? [True, True] Translation: X:155.88, Y:-8.49, Z:-2.08 [[ 9.99934243e-01 1.07486490e-02 3.99703836e-03 1.55878405e+02] [-1.07477087e-02 9.99942209e-01 -2.56647500e-04 -8.48701285e+00] [-3.99956598e-03 2.13671619e-04 9.99991979e-01 -2.07554443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82037174299998 meters Centerline goodness [0,1] 0.9919487567279036 Centerline is valid? [True, True] Translation: X:155.91, Y:-8.49, Z:-2.08 [[ 9.99927912e-01 1.14292760e-02 3.67991364e-03 1.55906061e+02] [-1.14284836e-02 9.99934665e-01 -2.36267901e-04 -8.49031130e+00] [-3.68237358e-03 1.94195036e-04 9.99993201e-01 -2.07625065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85037174299998 meters Centerline goodness [0,1] 0.9912629777016962 Centerline is valid? [True, True] Translation: X:155.94, Y:-8.49, Z:-2.08 [[ 9.99911017e-01 1.29939481e-02 3.01906693e-03 1.55935000e+02] [-1.29934227e-02 9.99915563e-01 -1.93588484e-04 -8.49079522e+00] [-3.02132749e-03 1.54343246e-04 9.99995424e-01 -2.07692188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88037174299998 meters Centerline goodness [0,1] 0.9917954419121734 Centerline is valid? [True, True] Translation: X:155.96, Y:-8.49, Z:-2.08 [[ 9.99899297e-01 1.39275733e-02 2.72387477e-03 1.55964153e+02] [-1.39271493e-02 9.99902997e-01 -1.74559100e-04 -8.49233064e+00] [-2.72604173e-03 1.36605710e-04 9.99996275e-01 -2.07710682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91037174299998 meters Centerline goodness [0,1] 0.9911516229435304 Centerline is valid? [True, True] Translation: X:155.99, Y:-8.50, Z:-2.08 [[ 9.99882463e-01 1.51677845e-02 2.23555526e-03 1.55991285e+02] [-1.51675016e-02 9.99884957e-01 -1.43472687e-04 -8.49840606e+00] [-2.23747423e-03 1.09548036e-04 9.99997491e-01 -2.07904455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940371743 meters Centerline goodness [0,1] 0.9921986130867709 Centerline is valid? [True, True] Translation: X:156.02, Y:-8.49, Z:-2.08 [[ 9.99833600e-01 1.81726176e-02 1.58994157e-03 1.56021963e+02] [-1.81724787e-02 9.99834862e-01 -1.01791195e-04 -8.49311497e+00] [-1.59152882e-03 7.28810782e-05 9.99998731e-01 -2.07809415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.970371743 meters Centerline goodness [0,1] 0.9910129812493066 Centerline is valid? [True, True] Translation: X:156.05, Y:-8.49, Z:-2.08 [[ 9.99800441e-01 1.98866295e-02 1.89720310e-03 1.56050108e+02] [-1.98864347e-02 9.99802238e-01 -1.21473815e-04 -8.49480907e+00] [-1.89924361e-03 8.37209686e-05 9.99998193e-01 -2.07888891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000371743 meters Centerline goodness [0,1] 0.9915338977401507 Centerline is valid? [True, True] Translation: X:156.08, Y:-8.49, Z:-2.08 [[ 9.99717862e-01 2.36741537e-02 1.93154823e-03 1.56080013e+02] [-2.36739600e-02 9.99719725e-01 -1.23103113e-04 -8.49306095e+00] [-1.93392122e-03 7.73409850e-05 9.99998127e-01 -2.07826287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.030371743 meters Centerline goodness [0,1] 0.9908791599928813 Centerline is valid? [True, True] Translation: X:156.11, Y:-8.49, Z:-2.08 [[ 9.99663164e-01 2.58815232e-02 1.92503912e-03 1.56109419e+02] [-2.58813346e-02 9.99665015e-01 -1.22830038e-04 -8.49328862e+00] [-1.92757329e-03 7.29660822e-05 9.99998140e-01 -2.07823392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060371743 meters Centerline goodness [0,1] 0.9920461634435433 Centerline is valid? [True, True] Translation: X:156.14, Y:-8.49, Z:-2.08 [[ 9.99607193e-01 2.79859396e-02 1.49921456e-03 1.56137233e+02] [-2.79858268e-02 9.99608315e-01 -9.61658487e-05 -8.49411956e+00] [-1.50131863e-03 5.41713150e-05 9.99998872e-01 -2.07906773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.090371743 meters Centerline goodness [0,1] 0.9918635755684352 Centerline is valid? [True, True] Translation: X:156.17, Y:-8.49, Z:-2.08 [[ 9.99530009e-01 3.06426014e-02 8.90088868e-04 1.56166029e+02] [-3.06425625e-02 9.99530405e-01 -5.72888071e-05 -8.49425063e+00] [-8.91426365e-04 2.99872781e-05 9.99999602e-01 -2.07946757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120371743 meters Centerline goodness [0,1] 0.9917866761635542 Centerline is valid? [True, True] Translation: X:156.19, Y:-8.49, Z:-2.08 [[ 9.99426612e-01 3.38539704e-02 5.97363630e-04 1.56194528e+02] [-3.38539533e-02 9.99426790e-01 -3.87195484e-05 -8.49455201e+00] [-5.98332025e-04 1.84742266e-05 9.99999821e-01 -2.08005650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.150371743 meters Centerline goodness [0,1] 0.9921606076084302 Centerline is valid? [True, True] Translation: X:156.22, Y:-8.50, Z:-2.08 [[ 9.99382901e-01 3.51136793e-02 9.19795603e-04 1.56223454e+02] [-3.51136398e-02 9.99383324e-01 -5.90312332e-05 -8.49606028e+00] [-9.21301192e-04 2.66974335e-05 9.99999575e-01 -2.08044281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180371743 meters Centerline goodness [0,1] 0.9923701479257034 Centerline is valid? [True, True] Translation: X:156.25, Y:-8.50, Z:-2.08 [[ 9.99353904e-01 3.59317942e-02 8.25448590e-04 1.56251409e+02] [-3.59317624e-02 9.99354244e-01 -5.32371196e-05 -8.49902447e+00] [-8.26828457e-04 2.35429007e-05 9.99999658e-01 -2.08065139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.210371743 meters Centerline goodness [0,1] 0.9927151582454192 Centerline is valid? [True, True] Translation: X:156.28, Y:-8.50, Z:-2.08 [[ 9.99371914e-01 3.54227052e-02 1.00436361e-03 1.56280424e+02] [-3.54226585e-02 9.99372419e-01 -6.42185176e-05 -8.50022917e+00] [-1.00600808e-03 2.86009537e-05 9.99999494e-01 -2.08034353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24037174299997 meters Centerline goodness [0,1] 0.9918187679242346 Centerline is valid? [True, True] Translation: X:156.31, Y:-8.50, Z:-2.08 [[ 9.99390564e-01 3.48921847e-02 1.01739639e-03 1.56307932e+02] [-3.48921364e-02 9.99391082e-01 -6.51848186e-05 -8.50415176e+00] [-1.01905132e-03 2.96459590e-05 9.99999480e-01 -2.08082411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27037174299997 meters Centerline goodness [0,1] 0.9924440505207179 Centerline is valid? [True, True] Translation: X:156.34, Y:-8.51, Z:-2.08 [[ 9.99455074e-01 3.29670906e-02 1.65094229e-03 1.56335888e+02] [-3.29669623e-02 9.99456436e-01 -1.04852494e-04 -8.50960006e+00] [-1.65350158e-03 5.03688046e-05 9.99998632e-01 -2.08071546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30037174299997 meters Centerline goodness [0,1] 0.9919856538776595 Centerline is valid? [True, True] Translation: X:156.36, Y:-8.51, Z:-2.08 [[ 9.99501508e-01 3.15088146e-02 1.98268218e-03 1.56364742e+02] [-3.15086280e-02 9.99503472e-01 -1.25292463e-04 -8.51348564e+00] [-1.98564554e-03 6.27584110e-05 9.99998027e-01 -2.08067589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33037174299997 meters Centerline goodness [0,1] 0.9917724598575662 Centerline is valid? [True, True] Translation: X:156.39, Y:-8.52, Z:-2.08 [[ 9.99586025e-01 2.86125045e-02 3.01724800e-03 1.56392382e+02] [-2.86120608e-02 9.99590573e-01 -1.90131279e-04 -8.51965641e+00] [-3.02145279e-03 1.03722886e-04 9.99995430e-01 -2.08025628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36037174299997 meters Centerline goodness [0,1] 0.9921155502550851 Centerline is valid? [True, True] Translation: X:156.42, Y:-8.52, Z:-2.08 [[ 9.99629698e-01 2.69901901e-02 3.46367669e-03 1.56420581e+02] [-2.69895973e-02 9.99635691e-01 -2.17780901e-04 -8.52374305e+00] [-3.46829279e-03 1.24217018e-04 9.99993978e-01 -2.08044731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39037174299997 meters Centerline goodness [0,1] 0.9921906110349099 Centerline is valid? [True, True] Translation: X:156.45, Y:-8.53, Z:-2.08 [[ 9.99675216e-01 2.52076171e-02 3.74671043e-03 1.56449118e+02] [-2.52069132e-02 9.99682228e-01 -2.34989567e-04 -8.52652890e+00] [-3.75144336e-03 1.40470241e-04 9.99992953e-01 -2.08042204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42037174299998 meters Centerline goodness [0,1] 0.9914710743801652 Centerline is valid? [True, True] Translation: X:156.48, Y:-8.54, Z:-2.08 [[ 9.99752401e-01 2.17486119e-02 4.70466901e-03 1.56476771e+02] [-2.17474665e-02 9.99763453e-01 -2.94486634e-04 -8.53528739e+00] [-4.70996081e-03 1.92099088e-04 9.99988890e-01 -2.08086149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45037174299998 meters Centerline goodness [0,1] 0.9917142290486789 Centerline is valid? [True, True] Translation: X:156.51, Y:-8.54, Z:-2.08 [[ 9.99785390e-01 2.00780377e-02 5.10361025e-03 1.56505177e+02] [-2.00766705e-02 9.99798392e-01 -3.18997928e-04 -8.53920032e+00] [-5.10898617e-03 2.16465967e-04 9.99986926e-01 -2.08129276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48037174299998 meters Centerline goodness [0,1] 0.9920424403183024 Centerline is valid? [True, True] Translation: X:156.53, Y:-8.54, Z:-2.08 [[ 9.99810847e-01 1.87730482e-02 5.08357170e-03 1.56534154e+02] [-1.87716764e-02 9.99823746e-01 -3.17422283e-04 -8.54044901e+00] [-5.08863468e-03 2.21935078e-04 9.99987028e-01 -2.08135724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51037174299998 meters Centerline goodness [0,1] 0.9912845858523455 Centerline is valid? [True, True] Translation: X:156.56, Y:-8.55, Z:-2.08 [[ 9.99877338e-01 1.45409121e-02 5.81987419e-03 1.56562683e+02] [-1.45390475e-02 9.99894237e-01 -3.62567907e-04 -8.55161610e+00] [-5.82453073e-03 2.77908006e-04 9.99982999e-01 -2.08254361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54037174299998 meters Centerline goodness [0,1] 0.9905664545775893 Centerline is valid? [True, True] Translation: X:156.59, Y:-8.56, Z:-2.08 [[ 9.99901896e-01 1.25002365e-02 6.32000096e-03 1.56591752e+02] [-1.24979980e-02 9.99921820e-01 -3.93566850e-04 -8.55584493e+00] [-6.32442654e-03 3.14540880e-04 9.99979951e-01 -2.08296491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57037174299998 meters Centerline goodness [0,1] 0.9915732815671049 Centerline is valid? [True, True] Translation: X:156.62, Y:-8.56, Z:-2.08 [[ 9.99936886e-01 9.11483766e-03 6.56832359e-03 1.56622275e+02] [-9.11235156e-03 9.99958398e-01 -4.08326146e-04 -8.55765008e+00] [-6.57177216e-03 3.48447501e-04 9.99978345e-01 -2.08262475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60037174299998 meters Centerline goodness [0,1] 0.9903025771835694 Centerline is valid? [True, True] Translation: X:156.65, Y:-8.57, Z:-2.08 [[ 9.99946233e-01 7.16936347e-03 7.49207064e-03 1.56651404e+02] [-7.16607367e-03 9.99974215e-01 -4.65855860e-04 -8.56502488e+00] [-7.49521735e-03 4.12142082e-04 9.99971826e-01 -2.08336598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63037174299998 meters Centerline goodness [0,1] 0.9898619547211486 Centerline is valid? [True, True] Translation: X:156.68, Y:-8.57, Z:-2.08 [[ 9.99950663e-01 5.70421775e-03 8.13228108e-03 1.56681602e+02] [-5.70029616e-03 9.99983626e-01 -5.05321437e-04 -8.57019887e+00] [-8.13503038e-03 4.58940095e-04 9.99966805e-01 -2.08371314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66037174299998 meters Centerline goodness [0,1] 0.9910288138589358 Centerline is valid? [True, True] Translation: X:156.71, Y:-8.56, Z:-2.08 [[ 9.99943699e-01 5.05097342e-03 9.33201633e-03 1.56713902e+02] [-5.04578770e-03 9.99987102e-01 -5.79152029e-04 -8.56291970e+00] [-9.33482125e-03 5.32032049e-04 9.99956288e-01 -2.08253736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.690371743 meters Centerline goodness [0,1] 0.9897139325445877 Centerline is valid? [True, True] Translation: X:156.74, Y:-8.57, Z:-2.08 [[ 9.99944402e-01 4.87103891e-03 9.35228544e-03 1.56744581e+02] [-4.86580227e-03 9.99987992e-01 -5.82603423e-04 -8.57035057e+00] [-9.35501102e-03 5.37064660e-04 9.99956097e-01 -2.08318250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720371743 meters Centerline goodness [0,1] 0.9900624142357576 Centerline is valid? [True, True] Translation: X:156.78, Y:-8.57, Z:-2.08 [[ 9.99950660e-01 4.50556654e-03 8.85304842e-03 1.56777127e+02] [-4.50084342e-03 9.99989718e-01 -5.53353815e-04 -8.57227299e+00] [-8.85545057e-03 5.13480328e-04 9.99960658e-01 -2.08398446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.750371743 meters Centerline goodness [0,1] 0.989633068081344 Centerline is valid? [True, True] Translation: X:156.81, Y:-8.58, Z:-2.08 [[ 9.99955853e-01 4.04007670e-03 8.48345971e-03 1.56808259e+02] [-4.03570647e-03 9.99991715e-01 -5.32202741e-04 -8.57523441e+00] [-8.48553956e-03 4.97942493e-04 9.99963873e-01 -2.08484782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780371743 meters Centerline goodness [0,1] 0.9900519509229578 Centerline is valid? [True, True] Translation: X:156.84, Y:-8.57, Z:-2.09 [[ 9.99961891e-01 3.43330418e-03 8.02671299e-03 1.56840802e+02] [-3.42936084e-03 9.99993992e-01 -5.04989025e-04 -8.57211578e+00] [-8.02839855e-03 4.77443285e-04 9.99967658e-01 -2.08521794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.810371743 meters Centerline goodness [0,1] 0.9886220254565579 Centerline is valid? [True, True] Translation: X:156.87, Y:-8.58, Z:-2.09 [[ 9.99966109e-01 1.76563627e-03 8.04138152e-03 1.56871484e+02] [-1.76160828e-03 9.99998319e-01 -5.07963987e-04 -8.58025509e+00] [-8.04226489e-03 4.93781007e-04 9.99967539e-01 -2.08631026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840371743 meters Centerline goodness [0,1] 0.9895049154193606 Centerline is valid? [True, True] Translation: X:156.90, Y:-8.58, Z:-2.09 [[ 9.99965521e-01 5.89460115e-04 8.28308441e-03 1.56903587e+02] [-5.85123470e-04 9.99999690e-01 -5.25967992e-04 -8.57830910e+00] [-8.28339189e-03 5.21103230e-04 9.99965556e-01 -2.08638963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.870371743 meters Centerline goodness [0,1] 0.9901813356921716 Centerline is valid? [True, True] Translation: X:156.94, Y:-8.58, Z:-2.09 [[ 9.99965245e-01 -3.41493887e-04 8.33019614e-03 1.56936390e+02] [ 3.45909496e-04 9.99999800e-01 -5.28637538e-04 -8.57600762e+00] [-8.33001395e-03 5.31500659e-04 9.99965164e-01 -2.08622932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900371743 meters Centerline goodness [0,1] 0.9898133179794938 Centerline is valid? [True, True] Translation: X:156.97, Y:-8.58, Z:-2.09 [[ 9.99973691e-01 -7.57387950e-04 7.21406831e-03 1.56968284e+02] [ 7.60724597e-04 9.99999605e-01 -4.59786759e-04 -8.57514532e+00] [-7.21371722e-03 4.65262582e-04 9.99973873e-01 -2.08669368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.930371743 meters Centerline goodness [0,1] 0.990037940138892 Centerline is valid? [True, True] Translation: X:157.00, Y:-8.57, Z:-2.09 [[ 9.99971361e-01 -1.31154416e-03 7.45359737e-03 1.57000624e+02] [ 1.31512385e-03 9.99999022e-01 -4.75383368e-04 -8.57438942e+00] [-7.45296660e-03 4.85172157e-04 9.99972109e-01 -2.08739576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960371743 meters Centerline goodness [0,1] 0.989893829683266 Centerline is valid? [True, True] Translation: X:157.03, Y:-8.58, Z:-2.09 [[ 9.99975679e-01 5.38968298e-05 6.97411018e-03 1.57031552e+02] [-5.07761667e-05 9.99999899e-01 -4.47640259e-04 -8.57538412e+00] [-6.97413360e-03 4.47275253e-04 9.99975580e-01 -2.08864720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99037174299997 meters Centerline goodness [0,1] 0.9899788912343073 Centerline is valid? [True, True] Translation: X:157.06, Y:-8.57, Z:-2.09 [[ 9.99974778e-01 1.33014134e-03 6.97668327e-03 1.57064267e+02] [-1.32704764e-03 9.99999019e-01 -4.48044407e-04 -8.57090864e+00] [-6.97727239e-03 4.38774715e-04 9.99975562e-01 -2.08879384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02037174299997 meters Centerline goodness [0,1] 0.9909107111031902 Centerline is valid? [True, True] Translation: X:157.10, Y:-8.57, Z:-2.09 [[ 9.99972221e-01 2.71681719e-03 6.94094084e-03 1.57095985e+02] [-2.71378328e-03 9.99996218e-01 -4.46484334e-04 -8.56884387e+00] [-6.94212760e-03 4.27635722e-04 9.99975812e-01 -2.08877763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05037174299997 meters Centerline goodness [0,1] 0.9901475636396059 Centerline is valid? [True, True] Translation: X:157.13, Y:-8.57, Z:-2.09 [[ 9.99954476e-01 6.49165251e-03 6.99313420e-03 1.57125989e+02] [-6.48866124e-03 9.99978847e-01 -4.50346948e-04 -8.56690104e+00] [-6.99590977e-03 4.04950367e-04 9.99975446e-01 -2.08850330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08037174299997 meters Centerline goodness [0,1] 0.9904396853341653 Centerline is valid? [True, True] Translation: X:157.16, Y:-8.57, Z:-2.09 [[ 9.99942080e-01 7.39191368e-03 7.82278733e-03 1.57156481e+02] [-7.38819879e-03 9.99972580e-01 -5.03672824e-04 -8.56720199e+00] [-7.82629593e-03 4.45847343e-04 9.99969275e-01 -2.08834639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11037174299997 meters Centerline goodness [0,1] 0.9892831732479545 Centerline is valid? [True, True] Translation: X:157.19, Y:-8.56, Z:-2.09 [[ 9.99912010e-01 1.06367890e-02 7.92654123e-03 1.57187362e+02] [-1.06330746e-02 9.99943337e-01 -5.10599469e-04 -8.56318182e+00] [-7.93152323e-03 4.26271038e-04 9.99968454e-01 -2.08783336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14037174299997 meters Centerline goodness [0,1] 0.9905458437388512 Centerline is valid? [True, True] Translation: X:157.22, Y:-8.56, Z:-2.09 [[ 9.99890983e-01 1.22276970e-02 8.27682508e-03 1.57217052e+02] [-1.22236998e-02 9.99925146e-01 -5.33355694e-04 -8.55973789e+00] [-8.28272723e-03 4.32124124e-04 9.99965604e-01 -2.08809753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17037174299998 meters Centerline goodness [0,1] 0.9900194687493007 Centerline is valid? [True, True] Translation: X:157.25, Y:-8.56, Z:-2.09 [[ 9.99851127e-01 1.54899412e-02 7.60162988e-03 1.57247006e+02] [-1.54866655e-02 9.99879955e-01 -4.89606502e-04 -8.55709396e+00] [-7.60830132e-03 3.71809714e-04 9.99970987e-01 -2.08891120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20037174299998 meters Centerline goodness [0,1] 0.9904019999553582 Centerline is valid? [True, True] Translation: X:157.27, Y:-8.56, Z:-2.09 [[ 9.99822123e-01 1.71514728e-02 7.84533927e-03 1.57274771e+02] [-1.71480346e-02 9.99852834e-01 -5.05307948e-04 -8.55738909e+00] [-7.85285148e-03 3.70685916e-04 9.99969097e-01 -2.08967382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23037174299998 meters Centerline goodness [0,1] 0.9910646472769512 Centerline is valid? [True, True] Translation: X:157.30, Y:-8.56, Z:-2.09 [[ 9.99799668e-01 1.86159370e-02 7.35328377e-03 1.57304241e+02] [-1.86129621e-02 9.99826652e-01 -4.72806444e-04 -8.55605191e+00] [-7.36081083e-03 3.35845334e-04 9.99972852e-01 -2.09037114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26037174299998 meters Centerline goodness [0,1] 0.9910360128185016 Centerline is valid? [True, True] Translation: X:157.33, Y:-8.55, Z:-2.09 [[ 9.99740036e-01 2.19748695e-02 6.07994123e-03 1.57334116e+02] [-2.19728998e-02 9.99758490e-01 -3.90594072e-04 -8.55326076e+00] [-6.08705612e-03 2.56898593e-04 9.99981441e-01 -2.09122140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29037174299998 meters Centerline goodness [0,1] 0.9910940052361878 Centerline is valid? [True, True] Translation: X:157.36, Y:-8.55, Z:-2.09 [[ 9.99712894e-01 2.32684149e-02 5.71931770e-03 1.57363228e+02] [-2.32666924e-02 9.99729226e-01 -3.67533830e-04 -8.55254671e+00] [-5.72632099e-03 2.34358703e-04 9.99983577e-01 -2.09184367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32037174299998 meters Centerline goodness [0,1] 0.9913016115618889 Centerline is valid? [True, True] Translation: X:157.39, Y:-8.55, Z:-2.09 [[ 9.99666611e-01 2.53122799e-02 5.09455433e-03 1.57391936e+02] [-2.53109410e-02 9.99679573e-01 -3.27123826e-04 -8.55207062e+00] [-5.10120215e-03 1.98066802e-04 9.99986969e-01 -2.09311106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35037174299998 meters Centerline goodness [0,1] 0.9915960706560922 Centerline is valid? [True, True] Translation: X:157.42, Y:-8.55, Z:-2.09 [[ 9.99651058e-01 2.59521868e-02 4.92411725e-03 1.57420993e+02] [-2.59509454e-02 9.99663168e-01 -3.15856851e-04 -8.55300904e+00] [-4.93065582e-03 1.87961137e-04 9.99987827e-01 -2.09365675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38037174299998 meters Centerline goodness [0,1] 0.9909964253798034 Centerline is valid? [True, True] Translation: X:157.45, Y:-8.56, Z:-2.09 [[ 9.99658528e-01 2.56760520e-02 4.85466444e-03 1.57449053e+02] [-2.56748430e-02 9.99670298e-01 -3.11215079e-04 -8.55529383e+00] [-4.86105463e-03 1.86466061e-04 9.99988168e-01 -2.09439819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41037174299998 meters Centerline goodness [0,1] 0.990642011967427 Centerline is valid? [True, True] Translation: X:157.48, Y:-8.56, Z:-2.10 [[ 9.99683213e-01 2.47052478e-02 4.80880253e-03 1.57477315e+02] [-2.47040524e-02 9.99694761e-01 -3.07837544e-04 -8.55736444e+00] [-4.81493990e-03 1.88943116e-04 9.99988390e-01 -2.09527311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440371743 meters Centerline goodness [0,1] 0.9911677894689408 Centerline is valid? [True, True] Translation: X:157.51, Y:-8.56, Z:-2.10 [[ 9.99701923e-01 2.39298261e-02 4.84026240e-03 1.57506204e+02] [-2.39286087e-02 9.99713622e-01 -3.09274886e-04 -8.55833362e+00] [-4.84627715e-03 1.93361953e-04 9.99988238e-01 -2.09531605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.470371743 meters Centerline goodness [0,1] 0.9911677894689408 Centerline is valid? [True, True] Translation: X:157.53, Y:-8.56, Z:-2.10 [[ 9.99704474e-01 2.38230181e-02 4.84026480e-03 1.57533629e+02] [-2.38217997e-02 9.99716173e-01 -3.09237934e-04 -8.55999029e+00] [-4.84625798e-03 1.93842728e-04 9.99988238e-01 -2.09568872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500371743 meters Centerline goodness [0,1] 0.9906666066930551 Centerline is valid? [True, True] Translation: X:157.56, Y:-8.56, Z:-2.10 [[ 9.99743961e-01 2.22350564e-02 4.19688798e-03 1.57562465e+02] [-2.22341288e-02 9.99752755e-01 -2.67540473e-04 -8.56311430e+00] [-4.20179910e-03 1.74157824e-04 9.99991157e-01 -2.09720166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.530371743 meters Centerline goodness [0,1] 0.9911261261261262 Centerline is valid? [True, True] Translation: X:157.59, Y:-8.57, Z:-2.10 [[ 9.99758878e-01 2.15982899e-02 3.96234449e-03 1.57591618e+02] [-2.15974590e-02 9.99766716e-01 -2.52361617e-04 -8.56539716e+00] [-3.96687072e-03 1.66724195e-04 9.99992118e-01 -2.09779493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560371743 meters Centerline goodness [0,1] 0.9915385827126043 Centerline is valid? [True, True] Translation: X:157.62, Y:-8.57, Z:-2.10 [[ 9.99784516e-01 2.04241315e-02 3.71175885e-03 1.57620335e+02] [-2.04233951e-02 9.99791393e-01 -2.36193352e-04 -8.56799288e+00] [-3.71580860e-03 1.60335739e-04 9.99993084e-01 -2.09852976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.590371743 meters Centerline goodness [0,1] 0.9911560044893378 Centerline is valid? [True, True] Translation: X:157.65, Y:-8.57, Z:-2.10 [[ 9.99832873e-01 1.79897468e-02 3.25498942e-03 1.57649862e+02] [-1.79891692e-02 9.99838160e-01 -2.06654790e-04 -8.57010290e+00] [-3.25818030e-03 1.48065698e-04 9.99994681e-01 -2.09886826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620371743 meters Centerline goodness [0,1] 0.9907363793374157 Centerline is valid? [True, True] Translation: X:157.68, Y:-8.57, Z:-2.10 [[ 9.99864150e-01 1.62846457e-02 2.54785385e-03 1.57677191e+02] [-1.62842847e-02 9.99867389e-01 -1.62351425e-04 -8.57454820e+00] [-2.55015982e-03 1.20839392e-04 9.99996741e-01 -2.09975369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.650371743 meters Centerline goodness [0,1] 0.9906519010043041 Centerline is valid? [True, True] Translation: X:157.71, Y:-8.58, Z:-2.10 [[ 9.99911331e-01 1.30195573e-02 2.79656245e-03 1.57705999e+02] [-1.30191118e-02 9.99915232e-01 -1.77456086e-04 -8.57976007e+00] [-2.79863579e-03 1.41031592e-04 9.99996074e-01 -2.10014965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680371743 meters Centerline goodness [0,1] 0.9900363538440824 Centerline is valid? [True, True] Translation: X:157.73, Y:-8.58, Z:-2.10 [[ 9.99928318e-01 1.15799422e-02 3.04357304e-03 1.57734971e+02] [-1.15794085e-02 9.99932938e-01 -1.92905594e-04 -8.58408819e+00] [-3.04560277e-03 1.57648990e-04 9.99995350e-01 -2.10075617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.710371743 meters Centerline goodness [0,1] 0.9905801803414405 Centerline is valid? [True, True] Translation: X:157.76, Y:-8.59, Z:-2.10 [[ 9.99936535e-01 1.07143302e-02 3.48270229e-03 1.57762590e+02] [-1.07136260e-02 9.99942583e-01 -2.20803858e-04 -8.58796057e+00] [-3.48486809e-03 1.83477475e-04 9.99993911e-01 -2.10101456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74037174299997 meters Centerline goodness [0,1] 0.9909562173200781 Centerline is valid? [True, True] Translation: X:157.79, Y:-8.59, Z:-2.10 [[ 9.99944757e-01 9.95636641e-03 3.36962271e-03 1.57790963e+02] [-9.95570371e-03 9.99950418e-01 -2.13386994e-04 -8.58852747e+00] [-3.37158020e-03 1.79828240e-04 9.99994300e-01 -2.10074444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77037174299997 meters Centerline goodness [0,1] 0.9917492489126049 Centerline is valid? [True, True] Translation: X:157.82, Y:-8.59, Z:-2.10 [[ 9.99936967e-01 1.08540867e-02 2.87229856e-03 1.57819865e+02] [-1.08536097e-02 9.99941081e-01 -1.81615919e-04 -8.59064267e+00] [-2.87410060e-03 1.50429664e-04 9.99995858e-01 -2.10103213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80037174299997 meters Centerline goodness [0,1] 0.9915349128857437 Centerline is valid? [True, True] Translation: X:157.85, Y:-8.59, Z:-2.10 [[ 9.99927817e-01 1.18154517e-02 2.18074579e-03 1.57849257e+02] [-1.18151793e-02 9.99930189e-01 -1.37773084e-04 -8.59043189e+00] [-2.18222140e-03 1.11997237e-04 9.99997613e-01 -2.10190347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83037174299997 meters Centerline goodness [0,1] 0.991655263689181 Centerline is valid? [True, True] Translation: X:157.88, Y:-8.59, Z:-2.10 [[ 9.99890332e-01 1.47197435e-02 1.62911344e-03 1.57879240e+02] [-1.47195958e-02 9.99891656e-01 -1.02588436e-04 -8.59166260e+00] [-1.63044701e-03 7.85972938e-05 9.99998668e-01 -2.10325467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86037174299997 meters Centerline goodness [0,1] 0.992421694580839 Centerline is valid? [True, True] Translation: X:157.91, Y:-8.59, Z:-2.10 [[ 9.99857097e-01 1.68202753e-02 1.69217399e-03 1.57908201e+02] [-1.68201179e-02 9.99858526e-01 -1.07167212e-04 -8.59296577e+00] [-1.69373717e-03 7.86893317e-05 9.99998563e-01 -2.10406971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89037174299997 meters Centerline goodness [0,1] 0.9918007079170214 Centerline is valid? [True, True] Translation: X:157.94, Y:-8.59, Z:-2.10 [[ 9.99815676e-01 1.91145877e-02 1.80165820e-03 1.57937425e+02] [-1.91144138e-02 9.99817296e-01 -1.13690010e-04 -8.59413099e+00] [-1.80350217e-03 7.92314143e-05 9.99998371e-01 -2.10446124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92037174299998 meters Centerline goodness [0,1] 0.9917390621141715 Centerline is valid? [True, True] Translation: X:157.97, Y:-8.59, Z:-2.10 [[ 9.99704447e-01 2.42089449e-02 2.22380960e-03 1.57966479e+02] [-2.42086936e-02 9.99706917e-01 -1.39823936e-04 -8.59384542e+00] [-2.22654283e-03 8.59470856e-05 9.99997518e-01 -2.10473194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95037174299998 meters Centerline goodness [0,1] 0.9918361884368309 Centerline is valid? [True, True] Translation: X:157.99, Y:-8.59, Z:-2.11 [[ 9.99636378e-01 2.68665423e-02 2.30250580e-03 1.57994485e+02] [-2.68662789e-02 9.99639026e-01 -1.45263770e-04 -8.59450961e+00] [-2.30557739e-03 8.33511862e-05 9.99997339e-01 -2.10536060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98037174299998 meters Centerline goodness [0,1] 0.9917112179343187 Centerline is valid? [True, True] Translation: X:158.02, Y:-8.59, Z:-2.11 [[ 9.99495539e-01 3.17407701e-02 1.09178090e-03 1.58024863e+02] [-3.17407142e-02 9.99496134e-01 -6.85305334e-05 -8.59336495e+00] [-1.09340600e-03 3.38420568e-05 9.99999402e-01 -2.10661104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01037174299998 meters Centerline goodness [0,1] 0.991966696669667 Centerline is valid? [True, True] Translation: X:158.05, Y:-8.59, Z:-2.11 [[ 9.99420602e-01 3.40303075e-02 6.30665605e-04 1.58053375e+02] [-3.40302888e-02 9.99420801e-01 -4.03583924e-05 -8.59367015e+00] [-6.31673733e-04 1.88732761e-05 9.99999800e-01 -2.10756310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04037174299998 meters Centerline goodness [0,1] 0.9921993010934506 Centerline is valid? [True, True] Translation: X:158.08, Y:-8.59, Z:-2.11 [[ 9.99302378e-01 3.73401921e-02 -6.83311365e-04 1.58081986e+02] [-3.73401723e-02 9.99302612e-01 4.16946988e-05 -8.59450919e+00] [ 6.84391719e-04 -1.61506476e-05 9.99999766e-01 -2.11009950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07037174299998 meters Centerline goodness [0,1] 0.9925320939467094 Centerline is valid? [True, True] Translation: X:158.11, Y:-8.60, Z:-2.11 [[ 9.99269194e-01 3.82164107e-02 -7.64136366e-04 1.58110095e+02] [-3.82163861e-02 9.99269486e-01 4.66929741e-05 -8.59780301e+00] [ 7.65362592e-04 -1.74563202e-05 9.99999707e-01 -2.11184657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10037174299998 meters Centerline goodness [0,1] 0.9922564379614622 Centerline is valid? [True, True] Translation: X:158.14, Y:-8.60, Z:-2.11 [[ 9.99254999e-01 3.85839157e-02 -8.53949552e-04 1.58139323e+02] [-3.85838852e-02 9.99255363e-01 5.22313684e-05 -8.59916373e+00] [ 8.55328961e-04 -1.92437645e-05 9.99999634e-01 -2.11154806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13037174299998 meters Centerline goodness [0,1] 0.9929988331388565 Centerline is valid? [True, True] Translation: X:158.17, Y:-8.60, Z:-2.11 [[ 9.99267155e-01 3.82713147e-02 -6.77283538e-04 1.58167099e+02] [-3.82712959e-02 9.99267385e-01 4.06498816e-05 -8.60065444e+00] [ 6.78343074e-04 -1.46995729e-05 9.99999770e-01 -2.11121090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16037174299998 meters Centerline goodness [0,1] 0.9932104316546763 Centerline is valid? [True, True] Translation: X:158.19, Y:-8.61, Z:-2.11 [[ 9.99341033e-01 3.62859022e-02 -9.12503014e-04 1.58194711e+02] [-3.62858667e-02 9.99341450e-01 5.54426124e-05 -8.60552083e+00] [ 9.13913870e-04 -2.22951148e-05 9.99999582e-01 -2.11167057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.190371743 meters Centerline goodness [0,1] 0.9929506319735986 Centerline is valid? [True, True] Translation: X:158.22, Y:-8.61, Z:-2.11 [[ 9.99392871e-01 3.48292511e-02 -9.01116746e-04 1.58222960e+02] [-3.48292160e-02 9.99393277e-01 5.46305622e-05 -8.60723433e+00] [ 9.02472759e-04 -2.32122046e-05 9.99999593e-01 -2.11097318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220371743 meters Centerline goodness [0,1] 0.9925751458052938 Centerline is valid? [True, True] Translation: X:158.25, Y:-8.62, Z:-2.11 [[ 9.99469427e-01 3.25699148e-02 2.54816731e-04 1.58249733e+02] [-3.25699114e-02 9.99469460e-01 -1.78414495e-05 -8.61527537e+00] [-2.55262635e-04 9.53262498e-06 9.99999967e-01 -2.11185106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.250371743 meters Centerline goodness [0,1] 0.992544664845744 Centerline is valid? [True, True] Translation: X:158.28, Y:-8.62, Z:-2.11 [[ 9.99514709e-01 3.11123544e-02 1.53854439e-03 1.58277443e+02] [-3.11122424e-02 9.99515892e-01 -9.66588513e-05 -8.62150286e+00] [-1.54080686e-03 4.87443776e-05 9.99998812e-01 -2.11276119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280371743 meters Centerline goodness [0,1] 0.9923268537876428 Centerline is valid? [True, True] Translation: X:158.31, Y:-8.62, Z:-2.11 [[ 9.99541492e-01 3.01832783e-02 2.40338840e-03 1.58306384e+02] [-3.01830071e-02 9.99544378e-01 -1.49066520e-04 -8.62353877e+00] [-2.40679268e-03 7.64566831e-05 9.99997101e-01 -2.11177648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.310371743 meters Centerline goodness [0,1] 0.9915446575586311 Centerline is valid? [True, True] Translation: X:158.33, Y:-8.63, Z:-2.11 [[ 9.99603190e-01 2.79454993e-02 3.53715658e-03 1.58333801e+02] [-2.79448983e-02 9.99609441e-01 -2.19249186e-04 -8.63293915e+00] [-3.54190214e-03 1.20316704e-04 9.99993720e-01 -2.11254292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340371743 meters Centerline goodness [0,1] 0.9920834991818142 Centerline is valid? [True, True] Translation: X:158.36, Y:-8.63, Z:-2.11 [[ 9.99637319e-01 2.66746645e-02 3.70028394e-03 1.58362587e+02] [-2.66740021e-02 9.99644159e-01 -2.28257148e-04 -8.63493744e+00] [-3.70505592e-03 1.29472982e-04 9.99993128e-01 -2.11220899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.370371743 meters Centerline goodness [0,1] 0.9921854187017138 Centerline is valid? [True, True] Translation: X:158.39, Y:-8.64, Z:-2.11 [[ 9.99729060e-01 2.29450177e-02 3.91563664e-03 1.58391309e+02] [-2.29442493e-02 9.99736717e-01 -2.41060473e-04 -8.64316034e+00] [-3.92013686e-03 1.51153817e-04 9.99992305e-01 -2.11284181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400371743 meters Centerline goodness [0,1] 0.9917592181252777 Centerline is valid? [True, True] Translation: X:158.42, Y:-8.65, Z:-2.11 [[ 9.99778363e-01 2.06571328e-02 4.06305925e-03 1.58420941e+02] [-2.06562881e-02 9.99786605e-01 -2.49748527e-04 -8.64890583e+00] [-4.06735130e-03 1.65765451e-04 9.99991715e-01 -2.11346800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.430371743 meters Centerline goodness [0,1] 0.9925495587387467 Centerline is valid? [True, True] Translation: X:158.45, Y:-8.66, Z:-2.11 [[ 9.99822241e-01 1.83327365e-02 4.40417271e-03 1.58449562e+02] [-1.83317217e-02 9.99831923e-01 -2.70680378e-04 -8.65548476e+00] [-4.40839478e-03 1.89896193e-04 9.99990265e-01 -2.11467193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460371743 meters Centerline goodness [0,1] 0.991725086520543 Centerline is valid? [True, True] Translation: X:158.48, Y:-8.66, Z:-2.12 [[ 9.99889225e-01 1.43467839e-02 3.96325260e-03 1.58478957e+02] [-1.43459327e-02 9.99897062e-01 -2.43134170e-04 -8.66427921e+00] [-3.96633282e-03 1.86250682e-04 9.99992117e-01 -2.11616925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49037174299997 meters Centerline goodness [0,1] 0.9914058519945954 Centerline is valid? [True, True] Translation: X:158.51, Y:-8.67, Z:-2.12 [[ 9.99910658e-01 1.28779909e-02 3.58250520e-03 1.58507064e+02] [-1.28772849e-02 9.99917060e-01 -2.20063070e-04 -8.67017438e+00] [-3.58504204e-03 1.73910468e-04 9.99993559e-01 -2.11759793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52037174299997 meters Centerline goodness [0,1] 0.9925526963228938 Centerline is valid? [True, True] Translation: X:158.54, Y:-8.66, Z:-2.12 [[ 9.99925214e-01 1.18980605e-02 2.82893037e-03 1.58536776e+02] [-1.18976164e-02 9.99929206e-01 -1.73732210e-04 -8.66372353e+00] [-2.83079718e-03 1.40061688e-04 9.99995983e-01 -2.11609253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55037174299997 meters Centerline goodness [0,1] 0.9924098671726755 Centerline is valid? [True, True] Translation: X:158.56, Y:-8.67, Z:-2.12 [[ 9.99930557e-01 1.14232306e-02 2.89663443e-03 1.58563524e+02] [-1.14227630e-02 9.99934742e-01 -1.77930129e-04 -8.67384950e+00] [-2.89847794e-03 1.44830204e-04 9.99995789e-01 -2.11765998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58037174299997 meters Centerline goodness [0,1] 0.992436103821642 Centerline is valid? [True, True] Translation: X:158.59, Y:-8.67, Z:-2.12 [[ 9.99925405e-01 1.17831737e-02 3.21569133e-03 1.58592246e+02] [-1.17825999e-02 9.99930563e-01 -1.97314553e-04 -8.67054079e+00] [-3.21779303e-03 1.59410630e-04 9.99994810e-01 -2.11635974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61037174299997 meters Centerline goodness [0,1] 0.9922688405476053 Centerline is valid? [True, True] Translation: X:158.62, Y:-8.67, Z:-2.12 [[ 9.99914274e-01 1.25876668e-02 3.60481321e-03 1.58620972e+02] [-1.25869523e-02 9.99920757e-01 -2.20823646e-04 -8.67267740e+00] [-3.60730721e-03 1.75431104e-04 9.99993478e-01 -2.11633164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64037174299997 meters Centerline goodness [0,1] 0.9920049609106815 Centerline is valid? [True, True] Translation: X:158.65, Y:-8.68, Z:-2.12 [[ 9.99898235e-01 1.38348991e-02 3.48073741e-03 1.58648280e+02] [-1.38342407e-02 9.99904280e-01 -2.13182260e-04 -8.67683505e+00] [-3.48335359e-03 1.65007206e-04 9.99993919e-01 -2.11741920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67037174299998 meters Centerline goodness [0,1] 0.9925569273582614 Centerline is valid? [True, True] Translation: X:158.68, Y:-8.67, Z:-2.12 [[ 9.99869323e-01 1.58126494e-02 3.36119583e-03 1.58677746e+02] [-1.58120485e-02 9.99874961e-01 -2.05255953e-04 -8.67490817e+00] [-3.36402119e-03 1.52081740e-04 9.99994330e-01 -2.11728141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70037174299998 meters Centerline goodness [0,1] 0.9922420480993018 Centerline is valid? [True, True] Translation: X:158.71, Y:-8.67, Z:-2.12 [[ 9.99789761e-01 2.02345656e-02 3.31592510e-03 1.58707980e+02] [-2.02340069e-02 9.99795251e-01 -2.01959021e-04 -8.67350893e+00] [-3.31933272e-03 1.34822111e-04 9.99994482e-01 -2.11739111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73037174299998 meters Centerline goodness [0,1] 0.9927088181193626 Centerline is valid? [True, True] Translation: X:158.74, Y:-8.67, Z:-2.12 [[ 9.99717404e-01 2.35411233e-02 3.30559099e-03 1.58738390e+02] [-2.35405863e-02 9.99722862e-01 -2.01270308e-04 -8.67335649e+00] [-3.30941301e-03 1.23397880e-04 9.99994516e-01 -2.11760169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76037174299998 meters Centerline goodness [0,1] 0.9934885994933108 Centerline is valid? [True, True] Translation: X:158.77, Y:-8.67, Z:-2.12 [[ 9.99543223e-01 3.00913913e-02 2.80250766e-03 1.58769042e+02] [-3.00910311e-02 9.99547148e-01 -1.70624972e-04 -8.67083790e+00] [-2.80637288e-03 8.62166889e-05 9.99996058e-01 -2.11784075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79037174299998 meters Centerline goodness [0,1] 0.9930862770379921 Centerline is valid? [True, True] Translation: X:158.80, Y:-8.67, Z:-2.12 [[ 9.99471347e-01 3.23654984e-02 3.08226110e-03 1.58797615e+02] [-3.23650720e-02 9.99476096e-01 -1.88150347e-04 -8.66958515e+00] [-3.08673587e-03 8.82932787e-05 9.99995232e-01 -2.11762810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82037174299998 meters Centerline goodness [0,1] 0.9937995866391093 Centerline is valid? [True, True] Translation: X:158.83, Y:-8.67, Z:-2.12 [[ 9.99408023e-01 3.42498927e-02 3.24777821e-03 1.58826347e+02] [-3.42494301e-02 9.99413297e-01 -1.97962236e-04 -8.67001385e+00] [-3.25265291e-03 8.66104936e-05 9.99994706e-01 -2.11747550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85037174299998 meters Centerline goodness [0,1] 0.9931068220225918 Centerline is valid? [True, True] Translation: X:158.85, Y:-8.67, Z:-2.12 [[ 9.99286797e-01 3.75710218e-02 3.78360422e-03 1.58854693e+02] [-3.75704194e-02 9.99293956e-01 -2.30185281e-04 -8.67004534e+00] [-3.78958113e-03 8.78695148e-05 9.99992816e-01 -2.11744450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88037174299998 meters Centerline goodness [0,1] 0.9933793833999073 Centerline is valid? [True, True] Translation: X:158.88, Y:-8.67, Z:-2.12 [[ 9.99240444e-01 3.87330501e-02 4.27621383e-03 1.58882132e+02] [-3.87322925e-02 9.99249589e-01 -2.59876482e-04 -8.67163094e+00] [-4.28307072e-03 9.40515262e-05 9.99990823e-01 -2.11753381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91037174299998 meters Centerline goodness [0,1] 0.994251470425036 Centerline is valid? [True, True] Translation: X:158.91, Y:-8.67, Z:-2.12 [[ 9.99168790e-01 4.04988286e-02 4.64477750e-03 1.58911008e+02] [-4.04979568e-02 9.99179582e-01 -2.81630164e-04 -8.67251912e+00] [-4.65237253e-03 9.32920717e-05 9.99989173e-01 -2.11679385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940371743 meters Centerline goodness [0,1] 0.9944059669685669 Centerline is valid? [True, True] Translation: X:158.94, Y:-8.67, Z:-2.12 [[ 9.99184041e-01 4.00466710e-02 5.24560646e-03 1.58939073e+02] [-4.00455540e-02 9.99197805e-01 -3.17852438e-04 -8.67463831e+00] [-5.25412739e-03 1.07529867e-04 9.99986191e-01 -2.11690041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.970371743 meters Centerline goodness [0,1] 0.9944909066772866 Centerline is valid? [True, True] Translation: X:158.97, Y:-8.68, Z:-2.12 [[ 9.99192671e-01 3.98478871e-02 5.11386603e-03 1.58965607e+02] [-3.98468247e-02 9.99205752e-01 -3.09499167e-04 -8.67744661e+00] [-5.12213724e-03 1.05477976e-04 9.99986876e-01 -2.11766478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000371743 meters Centerline goodness [0,1] 0.9945750852486603 Centerline is valid? [True, True] Translation: X:158.99, Y:-8.68, Z:-2.12 [[ 9.99265563e-01 3.81172921e-02 3.92509282e-03 1.58994160e+02] [-3.81166552e-02 9.99273268e-01 -2.36957794e-04 -8.68149751e+00] [-3.93127252e-03 8.71723540e-05 9.99992269e-01 -2.11832261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.030371743 meters Centerline goodness [0,1] 0.9938579824135036 Centerline is valid? [True, True] Translation: X:159.02, Y:-8.69, Z:-2.12 [[ 9.99314885e-01 3.68533473e-02 3.40455955e-03 1.59021345e+02] [-3.68528606e-02 9.99320681e-01 -2.05593026e-04 -8.68675430e+00] [-3.40982356e-03 7.99844127e-05 9.99994183e-01 -2.12012697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060371743 meters Centerline goodness [0,1] 0.9939605778377542 Centerline is valid? [True, True] Translation: X:159.05, Y:-8.69, Z:-2.12 [[ 9.99371704e-01 3.53409332e-02 2.68638696e-03 1.59049933e+02] [-3.53406252e-02 9.99375312e-01 -1.62045687e-04 -8.68962876e+00] [-2.69043565e-03 6.70052796e-05 9.99996379e-01 -2.12038123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.090371743 meters Centerline goodness [0,1] 0.993586070090368 Centerline is valid? [True, True] Translation: X:159.08, Y:-8.70, Z:-2.12 [[ 9.99481139e-01 3.21247686e-02 2.33513950e-03 1.59078274e+02] [-3.21245277e-02 9.99483864e-01 -1.40610944e-04 -8.69772665e+00] [-2.33845134e-03 6.55227333e-05 9.99997264e-01 -2.12155044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120371743 meters Centerline goodness [0,1] 0.9931632225481332 Centerline is valid? [True, True] Translation: X:159.11, Y:-8.70, Z:-2.12 [[ 9.99542058e-01 3.01502100e-02 2.57669889e-03 1.59107172e+02] [-3.01499101e-02 9.99545376e-01 -1.55140474e-04 -8.70211039e+00] [-2.58020498e-03 7.73821886e-05 9.99996668e-01 -2.12206158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.150371743 meters Centerline goodness [0,1] 0.9922502807071619 Centerline is valid? [True, True] Translation: X:159.14, Y:-8.71, Z:-2.12 [[ 9.99637440e-01 2.66269492e-02 3.99925686e-03 1.59135620e+02] [-2.66262021e-02 9.99645431e-01 -2.39964482e-04 -8.71019697e+00] [-4.00422837e-03 1.33392459e-04 9.99991974e-01 -2.12208968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180371743 meters Centerline goodness [0,1] 0.9925026933139854 Centerline is valid? [True, True] Translation: X:159.16, Y:-8.71, Z:-2.12 [[ 9.99682788e-01 2.48103883e-02 4.33225698e-03 1.59164577e+02] [-2.48094961e-02 9.99692163e-01 -2.59562741e-04 -8.71455318e+00] [-4.33736320e-03 1.51999292e-04 9.99990582e-01 -2.12212504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.210371743 meters Centerline goodness [0,1] 0.9924006149791347 Centerline is valid? [True, True] Translation: X:159.19, Y:-8.72, Z:-2.12 [[ 9.99728107e-01 2.28940181e-02 4.42458556e-03 1.59191536e+02] [-2.28930689e-02 9.99737884e-01 -2.65076215e-04 -8.72088433e+00] [-4.42949446e-03 1.63711801e-04 9.99990176e-01 -2.12288083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24037174299997 meters Centerline goodness [0,1] 0.9923482849604222 Centerline is valid? [True, True] Translation: X:159.22, Y:-8.72, Z:-2.12 [[ 9.99801090e-01 1.93886691e-02 4.67555301e-03 1.59221390e+02] [-1.93875764e-02 9.99812004e-01 -2.78928733e-04 -8.72306341e+00] [-4.68008208e-03 1.88225610e-04 9.99989031e-01 -2.12199913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27037174299997 meters Centerline goodness [0,1] 0.9919929801469781 Centerline is valid? [True, True] Translation: X:159.25, Y:-8.73, Z:-2.12 [[ 9.99837875e-01 1.73434824e-02 4.84021625e-03 1.59249839e+02] [-1.73422876e-02 9.99849570e-01 -2.88711908e-04 -8.73001353e+00] [-4.84449540e-03 2.04724679e-04 9.99988244e-01 -2.12290869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30037174299997 meters Centerline goodness [0,1] 0.9913745802515199 Centerline is valid? [True, True] Translation: X:159.28, Y:-8.74, Z:-2.12 [[ 9.99895412e-01 1.35209025e-02 5.13317883e-03 1.59279066e+02] [-1.35195117e-02 9.99908561e-01 -3.05548133e-04 -8.73864379e+00] [-5.13684074e-03 2.36118105e-04 9.99986778e-01 -2.12368436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33037174299997 meters Centerline goodness [0,1] 0.9908602739726028 Centerline is valid? [True, True] Translation: X:159.31, Y:-8.74, Z:-2.12 [[ 9.99915770e-01 1.14949349e-02 6.02662405e-03 1.59308803e+02] [-1.14929812e-02 9.99933889e-01 -3.58713059e-04 -8.74259487e+00] [-6.03034901e-03 2.89418967e-04 9.99981775e-01 -2.12399252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36037174299997 meters Centerline goodness [0,1] 0.9908602739726028 Centerline is valid? [True, True] Translation: X:159.34, Y:-8.74, Z:-2.12 [[ 9.99916172e-01 1.14599082e-02 6.02663664e-03 1.59337938e+02] [-1.14579551e-02 9.99934291e-01 -3.58501317e-04 -8.74429581e+00] [-6.03034903e-03 2.89418332e-04 9.99981775e-01 -2.12438816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39037174299997 meters Centerline goodness [0,1] 0.9903867209740288 Centerline is valid? [True, True] Translation: X:159.37, Y:-8.75, Z:-2.12 [[ 9.99940580e-01 7.93500281e-03 7.47483046e-03 1.59368033e+02] [-7.93190364e-03 9.99968443e-01 -4.44169550e-04 -8.74752959e+00] [-7.47811906e-03 3.84853522e-04 9.99971964e-01 -2.12285039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42037174299998 meters Centerline goodness [0,1] 0.9899708761249918 Centerline is valid? [True, True] Translation: X:159.40, Y:-8.76, Z:-2.12 [[ 9.99944542e-01 6.70656369e-03 8.12001001e-03 1.59398237e+02] [-6.70286979e-03 9.99977419e-01 -4.82041963e-04 -8.75574683e+00] [-8.12305950e-03 4.27587860e-04 9.99966916e-01 -2.12324586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45037174299998 meters Centerline goodness [0,1] 0.9904105090311986 Centerline is valid? [True, True] Translation: X:159.43, Y:-8.75, Z:-2.12 [[ 9.99947934e-01 5.30182357e-03 8.71891756e-03 1.59429755e+02] [-5.29750832e-03 9.99985834e-01 -5.17949922e-04 -8.75418533e+00] [-8.72154013e-03 4.71734416e-04 9.99961855e-01 -2.12273579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48037174299998 meters Centerline goodness [0,1] 0.9898421594167999 Centerline is valid? [True, True] Translation: X:159.46, Y:-8.76, Z:-2.12 [[ 9.99954895e-01 3.99724088e-03 8.61572876e-03 1.59460685e+02] [-3.99298465e-03 9.99991897e-01 -5.11151318e-04 -8.75822100e+00] [-8.61770215e-03 4.76725790e-04 9.99962753e-01 -2.12307131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51037174299998 meters Centerline goodness [0,1] 0.9905406881485527 Centerline is valid? [True, True] Translation: X:159.49, Y:-8.76, Z:-2.12 [[ 9.99962472e-01 9.71123089e-04 8.60876882e-03 1.59492156e+02] [-9.66736080e-04 9.99999401e-01 -5.13744329e-04 -8.76034232e+00] [-8.60926257e-03 5.05402642e-04 9.99962812e-01 -2.12352581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54037174299998 meters Centerline goodness [0,1] 0.9895514558013465 Centerline is valid? [True, True] Translation: X:159.52, Y:-8.77, Z:-2.12 [[ 9.99967304e-01 1.91721541e-04 8.08415356e-03 1.59523199e+02] [-1.87834199e-04 9.99999866e-01 -4.81616053e-04 -8.76513323e+00] [-8.08424482e-03 4.80081826e-04 9.99967207e-01 -2.12461620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57037174299998 meters Centerline goodness [0,1] 0.9894177580514681 Centerline is valid? [True, True] Translation: X:159.55, Y:-8.77, Z:-2.13 [[ 9.99967406e-01 -3.71144387e-03 7.17028239e-03 1.59553495e+02] [ 3.71462201e-03 9.99993008e-01 -4.29971467e-04 -8.76525262e+00] [-7.16863644e-03 4.56592341e-04 9.99974201e-01 -2.12506618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60037174299998 meters Centerline goodness [0,1] 0.9896317404647085 Centerline is valid? [True, True] Translation: X:159.59, Y:-8.77, Z:-2.13 [[ 9.99963041e-01 -5.01652264e-03 6.98224373e-03 1.59585651e+02] [ 5.01956506e-03 9.99987314e-01 -4.18280203e-04 -8.76612971e+00] [-6.98005684e-03 4.53312570e-04 9.99975536e-01 -2.12586932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63037174299998 meters Centerline goodness [0,1] 0.9893484121244001 Centerline is valid? [True, True] Translation: X:159.62, Y:-8.77, Z:-2.13 [[ 9.99960611e-01 -6.16003604e-03 6.38980548e-03 1.59616058e+02] [ 6.16260730e-03 9.99980938e-01 -3.82789166e-04 -8.77174882e+00] [-6.38732568e-03 4.22151951e-04 9.99979512e-01 -2.12672317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66037174299998 meters Centerline goodness [0,1] 0.9892513053546851 Centerline is valid? [True, True] Translation: X:159.65, Y:-8.77, Z:-2.13 [[ 9.99937482e-01 -9.41113300e-03 6.03850688e-03 1.59646396e+02] [ 9.41349741e-03 9.99955626e-01 -3.63253010e-04 -8.77438185e+00] [-6.03482031e-03 4.20073769e-04 9.99981702e-01 -2.12720768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.690371743 meters Centerline goodness [0,1] 0.9888226690243849 Centerline is valid? [True, True] Translation: X:159.68, Y:-8.78, Z:-2.13 [[ 9.99929739e-01 -1.02288144e-02 5.99075277e-03 1.59678704e+02] [ 1.02311544e-02 9.99947596e-01 -3.60076341e-04 -8.77674004e+00] [-5.98675567e-03 4.21343358e-04 9.99981990e-01 -2.12804318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720371743 meters Centerline goodness [0,1] 0.9893002494420375 Centerline is valid? [True, True] Translation: X:159.71, Y:-8.78, Z:-2.13 [[ 9.99898081e-01 -1.28326167e-02 6.25713293e-03 1.59709705e+02] [ 1.28352255e-02 9.99917554e-01 -3.76957896e-04 -8.77652034e+00] [-6.25177970e-03 4.57231189e-04 9.99980353e-01 -2.12788846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.750371743 meters Centerline goodness [0,1] 0.9888077646132996 Centerline is valid? [True, True] Translation: X:159.74, Y:-8.78, Z:-2.13 [[ 9.99849431e-01 -1.61523544e-02 6.34170929e-03 1.59740320e+02] [ 1.61551017e-02 9.99869425e-01 -3.82223829e-04 -8.77710871e+00] [-6.33470741e-03 4.84617237e-04 9.99979818e-01 -2.12770270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780371743 meters Centerline goodness [0,1] 0.9882672865633019 Centerline is valid? [True, True] Translation: X:159.77, Y:-8.78, Z:-2.13 [[ 9.99823703e-01 -1.77647672e-02 6.08073648e-03 1.59771465e+02] [ 1.77673219e-02 9.99842082e-01 -3.66363063e-04 -8.77915368e+00] [-6.07326787e-03 4.74336877e-04 9.99981445e-01 -2.12770168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.810371743 meters Centerline goodness [0,1] 0.988299753334352 Centerline is valid? [True, True] Translation: X:159.80, Y:-8.78, Z:-2.13 [[ 9.99788718e-01 -1.97976279e-02 5.52923222e-03 1.59801915e+02] [ 1.97997727e-02 9.99803910e-01 -3.33432517e-04 -8.77998319e+00] [-5.52154682e-03 4.42839610e-04 9.99984658e-01 -2.12840403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840371743 meters Centerline goodness [0,1] 0.9891323477648716 Centerline is valid? [True, True] Translation: X:159.83, Y:-8.78, Z:-2.13 [[ 9.99777490e-01 -2.04442233e-02 5.19646809e-03 1.59834399e+02] [ 2.04461244e-02 9.99790907e-01 -3.12979967e-04 -8.77553175e+00] [-5.18898291e-03 4.19157959e-04 9.99986449e-01 -2.12792502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.870371743 meters Centerline goodness [0,1] 0.9883718383882624 Centerline is valid? [True, True] Translation: X:159.87, Y:-8.78, Z:-2.13 [[ 9.99765865e-01 -2.09744656e-02 5.31863900e-03 1.59865642e+02] [ 2.09764676e-02 9.99779918e-01 -3.20904892e-04 -8.77682335e+00] [-5.31073766e-03 4.32396016e-04 9.99985804e-01 -2.12838965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900371743 meters Centerline goodness [0,1] 0.9888969505089814 Centerline is valid? [True, True] Translation: X:159.90, Y:-8.77, Z:-2.13 [[ 9.99744748e-01 -2.18643137e-02 5.69135324e-03 1.59898198e+02] [ 2.18666217e-02 9.99760838e-01 -3.43608550e-04 -8.77359034e+00] [-5.68247932e-03 4.67971512e-04 9.99983745e-01 -2.12784899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.930371743 meters Centerline goodness [0,1] 0.9879127423517216 Centerline is valid? [True, True] Translation: X:159.93, Y:-8.77, Z:-2.13 [[ 9.99734118e-01 -2.23312753e-02 5.74519503e-03 1.59930451e+02] [ 2.23336374e-02 9.99750513e-01 -3.47295325e-04 -8.77450252e+00] [-5.73600613e-03 4.75514088e-04 9.99983436e-01 -2.12852273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960371743 meters Centerline goodness [0,1] 0.9884358686314677 Centerline is valid? [True, True] Translation: X:159.96, Y:-8.78, Z:-2.13 [[ 9.99720308e-01 -2.30516149e-02 5.28477084e-03 1.59961066e+02] [ 2.30536228e-02 9.99734179e-01 -3.19329348e-04 -8.77634589e+00] [-5.27600498e-03 4.41073148e-04 9.99985985e-01 -2.12991526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99037174299997 meters Centerline goodness [0,1] 0.9881728749861832 Centerline is valid? [True, True] Translation: X:159.99, Y:-8.78, Z:-2.13 [[ 9.99708211e-01 -2.35660655e-02 5.30404154e-03 1.59992076e+02] [ 2.35681020e-02 9.99722182e-01 -3.21772902e-04 -8.77835386e+00] [-5.29498506e-03 4.46685204e-04 9.99985882e-01 -2.13101000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02037174299997 meters Centerline goodness [0,1] 0.9878573794016999 Centerline is valid? [True, True] Translation: X:160.02, Y:-8.78, Z:-2.13 [[ 9.99695981e-01 -2.41534227e-02 4.95560721e-03 1.60023781e+02] [ 2.41552087e-02 9.99708175e-01 -3.00849684e-04 -8.77760314e+00] [-4.94689449e-03 4.20461946e-04 9.99987676e-01 -2.13227952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05037174299997 meters Centerline goodness [0,1] 0.987237901442095 Centerline is valid? [True, True] Translation: X:160.05, Y:-8.78, Z:-2.13 [[ 9.99690744e-01 -2.43467029e-02 5.06510442e-03 1.60054531e+02] [ 2.43485726e-02 9.99703482e-01 -3.07787762e-04 -8.78059583e+00] [-5.05610891e-03 4.31020639e-04 9.99987125e-01 -2.13318704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08037174299997 meters Centerline goodness [0,1] 0.9883405880785289 Centerline is valid? [True, True] Translation: X:160.09, Y:-8.77, Z:-2.13 [[ 9.99698421e-01 -2.40941935e-02 4.74724650e-03 1.60087447e+02] [ 2.40958334e-02 9.99709612e-01 -2.88524744e-04 -8.77343619e+00] [-4.73891618e-03 4.02826592e-04 9.99988690e-01 -2.13230064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11037174299997 meters Centerline goodness [0,1] 0.9886585582386364 Centerline is valid? [True, True] Translation: X:160.12, Y:-8.77, Z:-2.13 [[ 9.99709585e-01 -2.36081643e-02 4.83738568e-03 1.60120405e+02] [ 2.36098608e-02 9.99721205e-01 -2.93885269e-04 -8.77070149e+00] [-4.82909896e-03 4.08009923e-04 9.99988257e-01 -2.13244007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14037174299997 meters Centerline goodness [0,1] 0.9887274995544466 Centerline is valid? [True, True] Translation: X:160.15, Y:-8.76, Z:-2.13 [[ 9.99733393e-01 -2.25210133e-02 5.09384260e-03 1.60152358e+02] [ 2.25228879e-02 9.99746279e-01 -3.10951446e-04 -8.76306336e+00] [-5.08554724e-03 4.25596590e-04 9.99986978e-01 -2.13215549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17037174299998 meters Centerline goodness [0,1] 0.9889201626234195 Centerline is valid? [True, True] Translation: X:160.18, Y:-8.76, Z:-2.13 [[ 9.99758941e-01 -2.13291442e-02 5.20834215e-03 1.60182387e+02] [ 2.13310899e-02 9.99772416e-01 -3.18297298e-04 -8.76347294e+00] [-5.20036780e-03 4.29320184e-04 9.99986386e-01 -2.13309101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20037174299998 meters Centerline goodness [0,1] 0.9883232864478678 Centerline is valid? [True, True] Translation: X:160.21, Y:-8.76, Z:-2.13 [[ 9.99767910e-01 -2.06819416e-02 6.03187571e-03 1.60214580e+02] [ 2.06845380e-02 9.99785984e-01 -3.68372306e-04 -8.75958929e+00] [-6.02296614e-03 4.93053373e-04 9.99981740e-01 -2.13383686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23037174299998 meters Centerline goodness [0,1] 0.9886693134674578 Centerline is valid? [True, True] Translation: X:160.25, Y:-8.76, Z:-2.13 [[ 9.99774266e-01 -2.02912941e-02 6.29919822e-03 1.60246796e+02] [ 2.02941211e-02 9.99793979e-01 -3.85190356e-04 -8.75889882e+00] [-6.29008444e-03 5.12940097e-04 9.99980086e-01 -2.13491066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26037174299998 meters Centerline goodness [0,1] 0.9888290623114905 Centerline is valid? [True, True] Translation: X:160.28, Y:-8.76, Z:-2.14 [[ 9.99781534e-01 -1.99284953e-02 6.30387990e-03 1.60278728e+02] [ 1.99313222e-02 9.99801277e-01 -3.85929202e-04 -8.75846697e+00] [-6.29493619e-03 5.11489552e-04 9.99980056e-01 -2.13549383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29037174299998 meters Centerline goodness [0,1] 0.9881216522109415 Centerline is valid? [True, True] Translation: X:160.31, Y:-8.76, Z:-2.14 [[ 9.99780119e-01 -2.01977375e-02 5.63598445e-03 1.60309583e+02] [ 2.02000047e-02 9.99795899e-01 -3.45627415e-04 -8.75701376e+00] [-5.62785325e-03 4.59398331e-04 9.99984058e-01 -2.13700847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32037174299998 meters Centerline goodness [0,1] 0.9891692694874503 Centerline is valid? [True, True] Translation: X:160.34, Y:-8.76, Z:-2.14 [[ 9.99778199e-01 -2.04323509e-02 5.10602616e-03 1.60342056e+02] [ 2.04342140e-02 9.99791151e-01 -3.12961449e-04 -8.75536048e+00] [-5.09856523e-03 4.17229665e-04 9.99986915e-01 -2.13772097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35037174299998 meters Centerline goodness [0,1] 0.9881091530300306 Centerline is valid? [True, True] Translation: X:160.37, Y:-8.75, Z:-2.14 [[ 9.99773382e-01 -2.08147385e-02 4.46446128e-03 1.60373018e+02] [ 2.08161650e-02 9.99783283e-01 -2.73298125e-04 -8.75460150e+00] [-4.45780513e-03 3.66169154e-04 9.99989997e-01 -2.13877090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38037174299998 meters Centerline goodness [0,1] 0.987941507311586 Centerline is valid? [True, True] Translation: X:160.41, Y:-8.75, Z:-2.14 [[ 9.99782028e-01 -2.05749662e-02 3.54514523e-03 1.60406426e+02] [ 2.05758654e-02 9.99788271e-01 -2.17361739e-04 -8.75435492e+00] [-3.53992240e-03 2.90258792e-04 9.99993692e-01 -2.13941853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41037174299998 meters Centerline goodness [0,1] 0.9875366899977421 Centerline is valid? [True, True] Translation: X:160.44, Y:-8.75, Z:-2.14 [[ 9.99812165e-01 -1.90987032e-02 3.29769509e-03 1.60438541e+02] [ 1.90994759e-02 9.99817568e-01 -2.02988305e-04 -8.75391334e+00] [-3.29321667e-03 2.65934425e-04 9.99994542e-01 -2.14046055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440371743 meters Centerline goodness [0,1] 0.9878442802593823 Centerline is valid? [True, True] Translation: X:160.47, Y:-8.76, Z:-2.14 [[ 9.99833588e-01 -1.79339687e-02 3.34205120e-03 1.60469281e+02] [ 1.79347572e-02 9.99839138e-01 -2.06091103e-04 -8.75630099e+00] [-3.33781756e-03 2.65995684e-04 9.99994394e-01 -2.14190122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.470371743 meters Centerline goodness [0,1] 0.9884925460523353 Centerline is valid? [True, True] Translation: X:160.50, Y:-8.75, Z:-2.14 [[ 9.99880710e-01 -1.51375034e-02 3.06939164e-03 1.60500816e+02] [ 1.51381561e-02 9.99885394e-01 -1.89532884e-04 -8.74962848e+00] [-3.06617081e-03 2.35975205e-04 9.99995271e-01 -2.14226538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500371743 meters Centerline goodness [0,1] 0.9887531115637022 Centerline is valid? [True, True] Translation: X:160.53, Y:-8.75, Z:-2.14 [[ 9.99904705e-01 -1.35142389e-02 2.81887386e-03 1.60532813e+02] [ 1.35147820e-02 9.99908656e-01 -1.73713090e-04 -8.74902798e+00] [-2.81626877e-03 2.11793002e-04 9.99996012e-01 -2.14317945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.530371743 meters Centerline goodness [0,1] 0.9892989686027185 Centerline is valid? [True, True] Translation: X:160.56, Y:-8.74, Z:-2.14 [[ 9.99945272e-01 -1.00806580e-02 2.79878299e-03 1.60563549e+02] [ 1.00811823e-02 9.99949169e-01 -1.73278354e-04 -8.74154106e+00] [-2.79689397e-03 2.01483913e-04 9.99996068e-01 -2.14330457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560371743 meters Centerline goodness [0,1] 0.9892869327874445 Centerline is valid? [True, True] Translation: X:160.60, Y:-8.74, Z:-2.14 [[ 9.99960205e-01 -8.40318174e-03 2.99573683e-03 1.60595121e+02] [ 8.40377341e-03 9.99964671e-01 -1.84968481e-04 -8.74064415e+00] [-2.99407666e-03 2.10136614e-04 9.99995496e-01 -2.14345433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.590371743 meters Centerline goodness [0,1] 0.9889032609435632 Centerline is valid? [True, True] Translation: X:160.63, Y:-8.74, Z:-2.14 [[ 9.99974065e-01 -6.57224556e-03 2.94528222e-03 1.60625294e+02] [ 6.57280760e-03 9.99978382e-01 -1.81191225e-04 -8.74285795e+00] [-2.94402771e-03 2.00545300e-04 9.99995646e-01 -2.14407373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620371743 meters Centerline goodness [0,1] 0.9892404486185831 Centerline is valid? [True, True] Translation: X:160.66, Y:-8.74, Z:-2.14 [[ 9.99985989e-01 -4.35747326e-03 3.00582196e-03 1.60657045e+02] [ 4.35805204e-03 9.99990486e-01 -1.86030319e-04 -8.73699702e+00] [-3.00498274e-03 1.99127241e-04 9.99995465e-01 -2.14401102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.650371743 meters Centerline goodness [0,1] 0.9886844210766945 Centerline is valid? [True, True] Translation: X:160.69, Y:-8.74, Z:-2.14 [[ 9.99987717e-01 -3.75806402e-03 3.23167640e-03 1.60687990e+02] [ 3.75872984e-03 9.99992916e-01 -1.99979970e-04 -8.73903801e+00] [-3.23090197e-03 2.12124512e-04 9.99994758e-01 -2.14447412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680371743 meters Centerline goodness [0,1] 0.988475055913095 Centerline is valid? [True, True] Translation: X:160.72, Y:-8.75, Z:-2.15 [[ 9.99993372e-01 -2.23123683e-03 2.87720711e-03 1.60717702e+02] [ 2.23175717e-03 9.99997494e-01 -1.77650380e-04 -8.74557735e+00] [-2.87680352e-03 1.84070430e-04 9.99995845e-01 -2.14752682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.710371743 meters Centerline goodness [0,1] 0.98937798387281 Centerline is valid? [True, True] Translation: X:160.75, Y:-8.74, Z:-2.15 [[ 9.99994854e-01 -1.62003110e-03 2.76894963e-03 1.60750627e+02] [ 1.62051204e-03 9.99998672e-01 -1.71456440e-04 -8.73973550e+00] [-2.76866819e-03 1.75942674e-04 9.99996152e-01 -2.14739600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74037174299997 meters Centerline goodness [0,1] 0.9889944287149511 Centerline is valid? [True, True] Translation: X:160.78, Y:-8.74, Z:-2.15 [[ 9.99995085e-01 -1.03989354e-03 2.95766309e-03 1.60782131e+02] [ 1.04044064e-03 9.99999442e-01 -1.83443089e-04 -8.74314097e+00] [-2.95747068e-03 1.86519460e-04 9.99995609e-01 -2.14869885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77037174299997 meters Centerline goodness [0,1] 0.9884375858595109 Centerline is valid? [True, True] Translation: X:160.81, Y:-8.74, Z:-2.15 [[ 9.99994879e-01 -2.75501155e-04 3.18832705e-03 1.60814161e+02] [ 2.76134624e-04 9.99999942e-01 -1.98245535e-04 -8.74249613e+00] [-3.18827225e-03 1.99124927e-04 9.99994898e-01 -2.14882519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80037174299997 meters Centerline goodness [0,1] 0.9881713554987213 Centerline is valid? [True, True] Translation: X:160.84, Y:-8.74, Z:-2.15 [[ 9.99994300e-01 1.77549832e-04 3.37180715e-03 1.60844907e+02] [-1.76842543e-04 9.99999962e-01 -2.10062453e-04 -8.74463834e+00] [-3.37184432e-03 2.09464977e-04 9.99994293e-01 -2.14933017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83037174299997 meters Centerline goodness [0,1] 0.9883999263487387 Centerline is valid? [True, True] Translation: X:160.88, Y:-8.74, Z:-2.15 [[ 9.99994971e-01 -2.48590027e-04 3.16163106e-03 1.60876643e+02] [ 2.49214259e-04 9.99999950e-01 -1.97047279e-04 -8.74386547e+00] [-3.16158192e-03 1.97834212e-04 9.99994983e-01 -2.14954045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86037174299997 meters Centerline goodness [0,1] 0.9881007075254985 Centerline is valid? [True, True] Translation: X:160.91, Y:-8.75, Z:-2.15 [[ 9.99995088e-01 -4.19642122e-04 3.10608312e-03 1.60908048e+02] [ 4.20245176e-04 9.99999893e-01 -1.93502514e-04 -8.74776714e+00] [-3.10600158e-03 1.94806880e-04 9.99995157e-01 -2.15013991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89037174299997 meters Centerline goodness [0,1] 0.9881633684984715 Centerline is valid? [True, True] Translation: X:160.94, Y:-8.75, Z:-2.15 [[ 9.99995423e-01 -8.65265154e-04 2.89914164e-03 1.60939208e+02] [ 8.65793282e-04 9.99999609e-01 -1.80916942e-04 -8.75021821e+00] [-2.89898397e-03 1.83426171e-04 9.99995781e-01 -2.15073554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92037174299998 meters Centerline goodness [0,1] 0.9873696780416111 Centerline is valid? [True, True] Translation: X:160.97, Y:-8.75, Z:-2.15 [[ 9.99995115e-01 -1.19249300e-03 2.88934895e-03 1.60969969e+02] [ 1.19301384e-03 9.99999272e-01 -1.78543316e-04 -8.75335292e+00] [-2.88913394e-03 1.81989477e-04 9.99995810e-01 -2.15119544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95037174299998 meters Centerline goodness [0,1] 0.9880521029216163 Centerline is valid? [True, True] Translation: X:161.00, Y:-8.75, Z:-2.15 [[ 9.99994521e-01 -9.79209566e-04 3.16205319e-03 1.61002229e+02] [ 9.79839850e-04 9.99999500e-01 -1.97784316e-04 -8.75492730e+00] [-3.16185794e-03 2.00881538e-04 9.99994981e-01 -2.15180459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98037174299998 meters Centerline goodness [0,1] 0.9875696626378919 Centerline is valid? [True, True] Translation: X:161.03, Y:-8.76, Z:-2.15 [[ 9.99991671e-01 -4.80144255e-04 4.05298108e-03 1.61033674e+02] [ 4.81178584e-04 9.99999852e-01 -2.54230766e-04 -8.75785254e+00] [-4.05285842e-03 2.56178857e-04 9.99991754e-01 -2.15254384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01037174299998 meters Centerline goodness [0,1] 0.9877708056611552 Centerline is valid? [True, True] Translation: X:161.06, Y:-8.76, Z:-2.15 [[ 9.99990376e-01 -1.06508979e-04 4.38590869e-03 1.61064694e+02] [ 1.07717920e-04 9.99999956e-01 -2.75406801e-04 -8.76172313e+00] [-4.38587917e-03 2.75876591e-04 9.99990344e-01 -2.15344987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04037174299998 meters Centerline goodness [0,1] 0.9875071502116463 Centerline is valid? [True, True] Translation: X:161.10, Y:-8.76, Z:-2.15 [[ 9.99989700e-01 3.28727740e-04 4.52681961e-03 1.61096491e+02] [-3.27443852e-04 9.99999906e-01 -2.84356307e-04 -8.76258603e+00] [-4.52691266e-03 2.82871099e-04 9.99989713e-01 -2.15365867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07037174299998 meters Centerline goodness [0,1] 0.9869945829809604 Centerline is valid? [True, True] Translation: X:161.13, Y:-8.77, Z:-2.15 [[ 9.99986502e-01 4.58143838e-04 5.17546733e-03 1.61129015e+02] [-4.56464814e-04 9.99999843e-01 -3.25596329e-04 -8.76527731e+00] [-5.17561568e-03 3.23229516e-04 9.99986554e-01 -2.15408691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10037174299998 meters Centerline goodness [0,1] 0.988220494053065 Centerline is valid? [True, True] Translation: X:161.16, Y:-8.76, Z:-2.15 [[ 9.99985042e-01 4.13661409e-04 5.45389462e-03 1.61161125e+02] [-4.11801887e-04 9.99999857e-01 -3.42071750e-04 -8.76238886e+00] [-5.45403534e-03 3.39820709e-04 9.99985069e-01 -2.15365090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13037174299998 meters Centerline goodness [0,1] 0.9876904103957795 Centerline is valid? [True, True] Translation: X:161.19, Y:-8.77, Z:-2.15 [[ 9.99985049e-01 -9.61691260e-04 5.38309018e-03 1.61193259e+02] [ 9.63537459e-04 9.99999478e-01 -3.40379719e-04 -8.76543339e+00] [-5.38276003e-03 3.45561439e-04 9.99985453e-01 -2.15467097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16037174299998 meters Centerline goodness [0,1] 0.9880816475638157 Centerline is valid? [True, True] Translation: X:161.23, Y:-8.77, Z:-2.16 [[ 9.99985384e-01 -1.50375179e-03 5.19336547e-03 1.61225359e+02] [ 1.50547147e-03 9.99998813e-01 -3.27236909e-04 -8.76934605e+00] [-5.19286722e-03 3.35050589e-04 9.99986461e-01 -2.15547874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.190371743 meters Centerline goodness [0,1] 0.9878600823045267 Centerline is valid? [True, True] Translation: X:161.26, Y:-8.77, Z:-2.16 [[ 9.99986216e-01 -2.11760895e-03 4.80457655e-03 1.61256999e+02] [ 2.11909991e-03 9.99997708e-01 -3.05251628e-04 -8.77334486e+00] [-4.80391913e-03 3.15428798e-04 9.99988411e-01 -2.15640825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220371743 meters Centerline goodness [0,1] 0.9874940094479564 Centerline is valid? [True, True] Translation: X:161.29, Y:-8.78, Z:-2.16 [[ 9.99983667e-01 -3.30396234e-03 4.66373496e-03 1.61287414e+02] [ 3.30538292e-03 9.99994493e-01 -2.96926057e-04 -8.77950015e+00] [-4.66272824e-03 3.12336637e-04 9.99989081e-01 -2.15731288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.250371743 meters Centerline goodness [0,1] 0.9873258734870975 Centerline is valid? [True, True] Translation: X:161.32, Y:-8.78, Z:-2.16 [[ 9.99983041e-01 -3.90463309e-03 4.32100280e-03 1.61319090e+02] [ 3.90585725e-03 9.99992334e-01 -2.74901639e-04 -8.78318353e+00] [-4.31989628e-03 2.91774197e-04 9.99990627e-01 -2.15819988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280371743 meters Centerline goodness [0,1] 0.9873258734870975 Centerline is valid? [True, True] Translation: X:161.35, Y:-8.79, Z:-2.16 [[ 9.99983314e-01 -3.83409249e-03 4.32098353e-03 1.61350791e+02] [ 3.83531730e-03 9.99992607e-01 -2.75203882e-04 -8.78527079e+00] [-4.31989642e-03 2.91771632e-04 9.99990627e-01 -2.15863001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.310371743 meters Centerline goodness [0,1] 0.9877970895488345 Centerline is valid? [True, True] Translation: X:161.38, Y:-8.78, Z:-2.16 [[ 9.99978981e-01 -4.79807357e-03 4.36084603e-03 1.61382768e+02] [ 4.79932936e-03 9.99988445e-01 -2.77550911e-04 -8.78481823e+00] [-4.35946393e-03 2.98474213e-04 9.99990453e-01 -2.15852333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340371743 meters Centerline goodness [0,1] 0.9876746472753881 Centerline is valid? [True, True] Translation: X:161.42, Y:-8.79, Z:-2.16 [[ 9.99977879e-01 -4.98638947e-03 4.40200438e-03 1.61415277e+02] [ 4.98767550e-03 9.99987522e-01 -2.81216228e-04 -8.78704907e+00] [-4.40054720e-03 3.03165776e-04 9.99990272e-01 -2.15904233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.370371743 meters Centerline goodness [0,1] 0.9867333424670046 Centerline is valid? [True, True] Translation: X:161.45, Y:-8.79, Z:-2.16 [[ 9.99979080e-01 -5.06337750e-03 4.02503058e-03 1.61446217e+02] [ 5.06445491e-03 9.99987142e-01 -2.57530892e-04 -8.79379770e+00] [-4.02367485e-03 2.77910090e-04 9.99991866e-01 -2.16067580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400371743 meters Centerline goodness [0,1] 0.9878118236701219 Centerline is valid? [True, True] Translation: X:161.48, Y:-8.80, Z:-2.16 [[ 9.99985514e-01 -4.11017232e-03 3.47530176e-03 1.61478303e+02] [ 4.11096949e-03 9.99991525e-01 -2.22270028e-04 -8.79542575e+00] [-3.47435874e-03 2.36553667e-04 9.99993936e-01 -2.16146331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.430371743 meters Centerline goodness [0,1] 0.9877917988270999 Centerline is valid? [True, True] Translation: X:161.51, Y:-8.80, Z:-2.16 [[ 9.99984612e-01 -3.84975686e-03 3.99435405e-03 1.61510177e+02] [ 3.85080963e-03 9.99992553e-01 -2.55906472e-04 -8.79674576e+00] [-3.99333913e-03 2.71284031e-04 9.99991990e-01 -2.16171131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460371743 meters Centerline goodness [0,1] 0.987603305785124 Centerline is valid? [True, True] Translation: X:161.54, Y:-8.80, Z:-2.16 [[ 9.99983731e-01 -1.91694230e-03 5.37251504e-03 1.61541916e+02] [ 1.91882334e-03 9.99998100e-01 -3.44989377e-04 -8.79662222e+00] [-5.37184350e-03 3.55292671e-04 9.99985508e-01 -2.16083283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49037174299997 meters Centerline goodness [0,1] 0.9869040544864469 Centerline is valid? [True, True] Translation: X:161.57, Y:-8.80, Z:-2.16 [[ 9.99982477e-01 -5.70258276e-04 5.89241564e-03 1.61572062e+02] [ 5.72502675e-04 9.99999764e-01 -3.79216544e-04 -8.80437095e+00] [-5.89219800e-03 3.82583323e-04 9.99982568e-01 -2.16145849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52037174299997 meters Centerline goodness [0,1] 0.9871487593873405 Centerline is valid? [True, True] Translation: X:161.61, Y:-8.80, Z:-2.16 [[ 9.99976300e-01 2.64471187e-04 6.87964612e-03 1.61605037e+02] [-2.61432718e-04 9.99999868e-01 -4.42556197e-04 -8.79947312e+00] [-6.87976225e-03 4.40747144e-04 9.99976237e-01 -2.16024312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55037174299997 meters Centerline goodness [0,1] 0.9872857175466229 Centerline is valid? [True, True] Translation: X:161.64, Y:-8.80, Z:-2.16 [[ 9.99970489e-01 1.38449840e-03 7.55673640e-03 1.61636559e+02] [-1.38085934e-03 9.99998928e-01 -4.86760672e-04 -8.80180764e+00] [-7.55740222e-03 4.76311517e-04 9.99971329e-01 -2.16020726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58037174299997 meters Centerline goodness [0,1] 0.9871025178624421 Centerline is valid? [True, True] Translation: X:161.67, Y:-8.80, Z:-2.16 [[ 9.99964158e-01 3.21730719e-03 7.83146429e-03 1.61668037e+02] [-3.21344843e-03 9.99994709e-01 -5.05257957e-04 -8.80377772e+00] [-7.83304843e-03 4.80073841e-04 9.99969206e-01 -2.16060310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61037174299997 meters Centerline goodness [0,1] 0.986267251622338 Centerline is valid? [True, True] Translation: X:161.70, Y:-8.81, Z:-2.16 [[ 9.99962384e-01 3.99767144e-03 7.69729865e-03 1.61699160e+02] [-3.99396948e-03 9.99991901e-01 -4.96254839e-04 -8.80700610e+00] [-7.69922017e-03 4.65493396e-04 9.99970252e-01 -2.16131216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64037174299997 meters Centerline goodness [0,1] 0.9877914951989026 Centerline is valid? [True, True] Translation: X:161.73, Y:-8.80, Z:-2.16 [[ 9.99963028e-01 5.22089863e-03 6.83256655e-03 1.61731535e+02] [-5.21800197e-03 9.99986289e-01 -4.41707054e-04 -8.80442505e+00] [-6.83477897e-03 4.06038378e-04 9.99976560e-01 -2.16179607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67037174299998 meters Centerline goodness [0,1] 0.9883439781021898 Centerline is valid? [True, True] Translation: X:161.76, Y:-8.81, Z:-2.16 [[ 9.99965820e-01 5.24441212e-03 6.39183002e-03 1.61762311e+02] [-5.24187333e-03 9.99986176e-01 -4.13881945e-04 -8.80702834e+00] [-6.39391223e-03 3.80362635e-04 9.99979486e-01 -2.16279589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70037174299998 meters Centerline goodness [0,1] 0.9867520977745349 Centerline is valid? [True, True] Translation: X:161.79, Y:-8.82, Z:-2.16 [[ 9.99965985e-01 5.72122263e-03 5.94100877e-03 1.61792543e+02] [-5.71903937e-03 9.99983572e-01 -3.84413166e-04 -8.81581443e+00] [-5.94311049e-03 3.50423228e-04 9.99982278e-01 -2.16491441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73037174299998 meters Centerline goodness [0,1] 0.9876951876540955 Centerline is valid? [True, True] Translation: X:161.82, Y:-8.81, Z:-2.17 [[ 9.99962855e-01 6.83899674e-03 5.24569283e-03 1.61823220e+02] [-6.83730389e-03 9.99976567e-01 -3.40577873e-04 -8.81220158e+00] [-5.24789912e-03 3.04698826e-04 9.99986183e-01 -2.16546837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76037174299998 meters Centerline goodness [0,1] 0.9875752325369324 Centerline is valid? [True, True] Translation: X:161.85, Y:-8.81, Z:-2.17 [[ 9.99954170e-01 8.18422510e-03 4.96753991e-03 1.61852341e+02] [-8.18272280e-03 9.99966469e-01 -3.22671059e-04 -8.81492279e+00] [-4.97001415e-03 2.82008269e-04 9.99987610e-01 -2.16594237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79037174299998 meters Centerline goodness [0,1] 0.9881283324978353 Centerline is valid? [True, True] Translation: X:161.88, Y:-8.81, Z:-2.17 [[ 9.99947888e-01 8.66520163e-03 5.39764710e-03 1.61881718e+02] [-8.66343474e-03 9.99962410e-01 -3.50640606e-04 -8.81441401e+00] [-5.40048257e-03 3.03860170e-04 9.99985371e-01 -2.16536620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82037174299998 meters Centerline goodness [0,1] 0.9880946961074437 Centerline is valid? [True, True] Translation: X:161.91, Y:-8.82, Z:-2.17 [[ 9.99943852e-01 9.05920052e-03 5.49767613e-03 1.61910930e+02] [-9.05737460e-03 9.99958917e-01 -3.56931957e-04 -8.81634594e+00] [-5.50068379e-03 3.07117404e-04 9.99984824e-01 -2.16515232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85037174299998 meters Centerline goodness [0,1] 0.9881175021666743 Centerline is valid? [True, True] Translation: X:161.94, Y:-8.82, Z:-2.17 [[ 9.99941384e-01 9.08012862e-03 5.89746293e-03 1.61939452e+02] [-9.07802927e-03 9.99958721e-01 -3.82647399e-04 -8.81989868e+00] [-5.90069398e-03 3.29087628e-04 9.99982537e-01 -2.16515948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88037174299998 meters Centerline goodness [0,1] 0.9884986790562085 Centerline is valid? [True, True] Translation: X:161.97, Y:-8.82, Z:-2.17 [[ 9.99941547e-01 8.88301698e-03 6.16394217e-03 1.61968862e+02] [-8.88072151e-03 9.99960486e-01 -3.99674590e-04 -8.82178332e+00] [-6.16724892e-03 3.44910975e-04 9.99980923e-01 -2.16535031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91037174299998 meters Centerline goodness [0,1] 0.9887382263275243 Centerline is valid? [True, True] Translation: X:162.00, Y:-8.83, Z:-2.17 [[ 9.99942380e-01 9.12977553e-03 5.64666276e-03 1.61998400e+02] [-9.12785657e-03 9.99958273e-01 -3.65518244e-04 -8.82713022e+00] [-5.64976424e-03 3.13955255e-04 9.99983991e-01 -2.16636780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940371743 meters Centerline goodness [0,1] 0.9881117135921229 Centerline is valid? [True, True] Translation: X:162.03, Y:-8.83, Z:-2.17 [[ 9.99954116e-01 7.53541103e-03 5.91473531e-03 1.62027575e+02] [-7.53327351e-03 9.99971551e-01 -3.83584475e-04 -8.82921922e+00] [-5.91745751e-03 3.39009556e-04 9.99982434e-01 -2.16663899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.970371743 meters Centerline goodness [0,1] 0.9883026324755264 Centerline is valid? [True, True] Translation: X:162.06, Y:-8.83, Z:-2.17 [[ 9.99958910e-01 6.97047940e-03 5.79579656e-03 1.62057913e+02] [-6.96842164e-03 9.99975650e-01 -3.75161516e-04 -8.83318830e+00] [-5.79827049e-03 3.34758546e-04 9.99983134e-01 -2.16719164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000371743 meters Centerline goodness [0,1] 0.988418476043697 Centerline is valid? [True, True] Translation: X:162.09, Y:-8.84, Z:-2.17 [[ 9.99975642e-01 5.09578399e-03 4.76949887e-03 1.62087916e+02] [-5.09436923e-03 9.99986976e-01 -3.08729336e-04 -8.83902916e+00] [-4.77100997e-03 2.84424228e-04 9.99988578e-01 -2.16809077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.030371743 meters Centerline goodness [0,1] 0.9882765644449474 Centerline is valid? [True, True] Translation: X:162.12, Y:-8.84, Z:-2.17 [[ 9.99981675e-01 3.54662177e-03 4.90631594e-03 1.62118051e+02] [-3.54510609e-03 9.99993666e-01 -3.17585496e-04 -8.84116814e+00] [-4.90741122e-03 3.00186266e-04 9.99987914e-01 -2.16822148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060371743 meters Centerline goodness [0,1] 0.9883407665662991 Centerline is valid? [True, True] Translation: X:162.15, Y:-8.85, Z:-2.17 [[ 9.99984455e-01 2.67628560e-03 4.89159071e-03 1.62148795e+02] [-2.67477167e-03 9.99996373e-01 -3.16012201e-04 -8.84530680e+00] [-4.89241871e-03 3.02923400e-04 9.99987986e-01 -2.16873212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.090371743 meters Centerline goodness [0,1] 0.9874064527798503 Centerline is valid? [True, True] Translation: X:162.18, Y:-8.85, Z:-2.17 [[ 9.99985166e-01 1.23056484e-03 5.30591949e-03 1.62179171e+02] [-1.22876311e-03 9.99999186e-01 -3.42815779e-04 -8.85248591e+00] [-5.30633703e-03 3.36290976e-04 9.99985865e-01 -2.16899435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120371743 meters Centerline goodness [0,1] 0.9879842505430847 Centerline is valid? [True, True] Translation: X:162.21, Y:-8.86, Z:-2.17 [[ 9.99986012e-01 6.40565944e-04 5.25024982e-03 1.62211676e+02] [-6.38795817e-04 9.99999739e-01 -3.38821067e-04 -8.85502203e+00] [-5.25046548e-03 3.35462490e-04 9.99986160e-01 -2.16905867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.150371743 meters Centerline goodness [0,1] 0.9873987398739874 Centerline is valid? [True, True] Translation: X:162.24, Y:-8.86, Z:-2.17 [[ 9.99986667e-01 -8.25336253e-04 5.09755531e-03 1.62242629e+02] [ 8.27030688e-04 9.99999603e-01 -3.30302473e-04 -8.86229932e+00] [-5.09728068e-03 3.34513904e-04 9.99986953e-01 -2.16978144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180371743 meters Centerline goodness [0,1] 0.9877784303980481 Centerline is valid? [True, True] Translation: X:162.27, Y:-8.86, Z:-2.17 [[ 9.99987012e-01 -1.41103494e-03 4.89752052e-03 1.62274859e+02] [ 1.41260987e-03 9.99998952e-01 -3.18133079e-04 -8.86249586e+00] [-4.89706649e-03 3.25047233e-04 9.99987956e-01 -2.17014515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.210371743 meters Centerline goodness [0,1] 0.9881269468647014 Centerline is valid? [True, True] Translation: X:162.31, Y:-8.87, Z:-2.17 [[ 9.99990940e-01 -2.11735287e-03 3.69290468e-03 1.62306394e+02] [ 2.11825792e-03 9.99997727e-01 -2.41183283e-04 -8.86555070e+00] [-3.69238562e-03 2.49003622e-04 9.99993152e-01 -2.17133859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24037174299997 meters Centerline goodness [0,1] 0.9871875703670344 Centerline is valid? [True, True] Translation: X:162.34, Y:-8.88, Z:-2.17 [[ 9.99992169e-01 -2.72784074e-03 2.86706148e-03 1.62336660e+02] [ 2.72839101e-03 9.99996260e-01 -1.88033667e-04 -8.87714638e+00] [-2.86653784e-03 1.95854659e-04 9.99995872e-01 -2.17290394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27037174299997 meters Centerline goodness [0,1] 0.9875039331145773 Centerline is valid? [True, True] Translation: X:162.37, Y:-8.88, Z:-2.17 [[ 9.99993466e-01 -2.29114339e-03 2.79604017e-03 1.62369251e+02] [ 2.29166493e-03 9.99997357e-01 -1.83339573e-04 -8.87779030e+00] [-2.79561273e-03 1.89745962e-04 9.99996074e-01 -2.17275371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30037174299997 meters Centerline goodness [0,1] 0.9875447645217235 Centerline is valid? [True, True] Translation: X:162.40, Y:-8.88, Z:-2.17 [[ 9.99995798e-01 -1.57374169e-03 2.43463412e-03 1.62401826e+02] [ 1.57413506e-03 9.99998748e-01 -1.59665023e-04 -8.87647405e+00] [-2.43437980e-03 1.63496795e-04 9.99997024e-01 -2.17217526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33037174299997 meters Centerline goodness [0,1] 0.9887663214768122 Centerline is valid? [True, True] Translation: X:162.43, Y:-8.88, Z:-2.17 [[ 9.99996768e-01 -7.43192490e-04 2.43144675e-03 1.62434023e+02] [ 7.43582775e-04 9.99999711e-01 -1.59615506e-04 -8.87649773e+00] [-2.43132742e-03 1.61422972e-04 9.99997031e-01 -2.17214681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36037174299997 meters Centerline goodness [0,1] 0.9882734250151928 Centerline is valid? [True, True] Translation: X:162.46, Y:-8.88, Z:-2.17 [[ 9.99998846e-01 2.17595604e-04 1.50384028e-03 1.62464668e+02] [-2.17448873e-04 9.99999972e-01 -9.77341332e-05 -8.88069498e+00] [-1.50386151e-03 9.74070120e-05 9.99998864e-01 -2.17313230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39037174299997 meters Centerline goodness [0,1] 0.9884871743082205 Centerline is valid? [True, True] Translation: X:162.49, Y:-8.89, Z:-2.17 [[ 9.99996763e-01 1.82165941e-03 1.77646695e-03 1.62494394e+02] [-1.82145377e-03 9.99998334e-01 -1.17367464e-04 -8.88709372e+00] [-1.77667779e-03 1.14131332e-04 9.99998415e-01 -2.17436033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42037174299998 meters Centerline goodness [0,1] 0.9883086865785518 Centerline is valid? [True, True] Translation: X:162.52, Y:-8.88, Z:-2.17 [[ 9.99993737e-01 2.80304465e-03 2.16090331e-03 1.62524941e+02] [-2.80274202e-03 9.99996062e-01 -1.43065293e-04 -8.88237750e+00] [-2.16129582e-03 1.37007942e-04 9.99997655e-01 -2.17310740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45037174299998 meters Centerline goodness [0,1] 0.9888619419743107 Centerline is valid? [True, True] Translation: X:162.55, Y:-8.89, Z:-2.17 [[ 9.99986005e-01 4.78747779e-03 2.25184794e-03 1.62554647e+02] [-4.78715416e-03 9.99988530e-01 -1.49086395e-04 -8.88856713e+00] [-2.25253586e-03 1.38304365e-04 9.99997453e-01 -2.17370184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48037174299998 meters Centerline goodness [0,1] 0.9895318406513521 Centerline is valid? [True, True] Translation: X:162.58, Y:-8.89, Z:-2.17 [[ 9.99982824e-01 5.36493047e-03 2.35994503e-03 1.62584689e+02] [-5.36457567e-03 9.99985598e-01 -1.56645567e-04 -8.88720202e+00] [-2.36075143e-03 1.43982773e-04 9.99997203e-01 -2.17347473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51037174299998 meters Centerline goodness [0,1] 0.9899693258401809 Centerline is valid? [True, True] Translation: X:162.61, Y:-8.89, Z:-2.17 [[ 9.99981519e-01 5.86961543e-03 1.58418858e-03 1.62613733e+02] [-5.86945636e-03 9.99982769e-01 -1.05039504e-04 -8.89052116e+00] [-1.58477783e-03 9.57392366e-05 9.99998740e-01 -2.17414597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54037174299998 meters Centerline goodness [0,1] 0.9891532853245069 Centerline is valid? [True, True] Translation: X:162.64, Y:-8.89, Z:-2.18 [[ 9.99979751e-01 6.29735133e-03 9.17280701e-04 1.62642459e+02] [-6.29729769e-03 9.99980170e-01 -6.13530720e-05 -8.89358172e+00] [-9.17648873e-04 5.55754400e-05 9.99999577e-01 -2.17519697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57037174299998 meters Centerline goodness [0,1] 0.9894068272100904 Centerline is valid? [True, True] Translation: X:162.67, Y:-8.89, Z:-2.18 [[ 9.99980987e-01 6.13933250e-03 5.78522510e-04 1.62671261e+02] [-6.13931086e-03 9.99981153e-01 -3.91693239e-05 -8.89450576e+00] [-5.78752080e-04 3.56168497e-05 9.99999832e-01 -2.17588588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60037174299998 meters Centerline goodness [0,1] 0.9898485120114736 Centerline is valid? [True, True] Translation: X:162.70, Y:-8.90, Z:-2.18 [[ 9.99987718e-01 4.90208087e-03 -7.30752717e-04 1.62699407e+02] [-4.90204745e-03 9.99987984e-01 4.75200856e-05 -8.89966158e+00] [ 7.30976883e-04 -4.39373175e-05 9.99999732e-01 -2.17752051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63037174299998 meters Centerline goodness [0,1] 0.9899433332586736 Centerline is valid? [True, True] Translation: X:162.73, Y:-8.90, Z:-2.18 [[ 9.99992788e-01 3.66852861e-03 -9.82301322e-04 1.62728640e+02] [-3.66846721e-03 9.99993269e-01 6.42996408e-05 -8.90296206e+00] [ 9.82530595e-04 -6.06956369e-05 9.99999515e-01 -2.17817048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66037174299998 meters Centerline goodness [0,1] 0.9894961283806532 Centerline is valid? [True, True] Translation: X:162.76, Y:-8.91, Z:-2.18 [[ 9.99996693e-01 2.09162205e-03 -1.49616175e-03 1.62758293e+02] [-2.09147756e-03 9.99997808e-01 9.81324645e-05 -8.90607183e+00] [ 1.49636373e-03 -9.50029513e-05 9.99998876e-01 -2.17868718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.690371743 meters Centerline goodness [0,1] 0.9888546839538908 Centerline is valid? [True, True] Translation: X:162.79, Y:-8.91, Z:-2.18 [[ 9.99996485e-01 -1.81970089e-03 -1.92830837e-03 1.62788166e+02] [ 1.81994921e-03 9.99998336e-01 1.27028983e-04 -8.91119952e+00] [ 1.92807401e-03 -1.30537959e-04 9.99998133e-01 -2.17894984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720371743 meters Centerline goodness [0,1] 0.9890989839176367 Centerline is valid? [True, True] Translation: X:162.82, Y:-8.91, Z:-2.18 [[ 9.99989414e-01 -4.23120330e-03 -1.80798621e-03 1.62818368e+02] [ 4.23142512e-03 9.99991040e-01 1.18877016e-04 -8.91322655e+00] [ 1.80746702e-03 -1.26526116e-04 9.99998359e-01 -2.17905939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.750371743 meters Centerline goodness [0,1] 0.9889751830030352 Centerline is valid? [True, True] Translation: X:162.85, Y:-8.92, Z:-2.18 [[ 9.99963000e-01 -8.43663926e-03 -1.67959213e-03 1.62847131e+02] [ 8.43683658e-03 9.99964403e-01 1.10431335e-04 -8.92303333e+00] [ 1.67860068e-03 -1.24597693e-04 9.99998583e-01 -2.17953260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780371743 meters Centerline goodness [0,1] 0.9879882571767923 Centerline is valid? [True, True] Translation: X:162.88, Y:-8.93, Z:-2.18 [[ 9.99939853e-01 -1.08320102e-02 -1.71995287e-03 1.62878292e+02] [ 1.08322219e-02 9.99941323e-01 1.13816938e-04 -8.92757478e+00] [ 1.71861908e-03 -1.32441003e-04 9.99998514e-01 -2.17980237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.810371743 meters Centerline goodness [0,1] 0.988439047341653 Centerline is valid? [True, True] Translation: X:162.91, Y:-8.93, Z:-2.18 [[ 9.99921855e-01 -1.24319283e-02 -1.31570679e-03 1.62909092e+02] [ 1.24320534e-02 9.99922715e-01 8.69675764e-05 -8.93034511e+00] [ 1.31452393e-03 -1.03317717e-04 9.99999131e-01 -2.17958196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840371743 meters Centerline goodness [0,1] 0.9876468478163394 Centerline is valid? [True, True] Translation: X:162.94, Y:-8.94, Z:-2.18 [[ 9.99875759e-01 -1.57264521e-02 -1.06988128e-03 1.62938282e+02] [ 1.57265367e-02 9.99876328e-01 7.07844921e-05 -8.93701453e+00] [ 1.06863578e-03 -8.76012250e-05 9.99999425e-01 -2.18003749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.870371743 meters Centerline goodness [0,1] 0.9871229256712875 Centerline is valid? [True, True] Translation: X:162.97, Y:-8.94, Z:-2.18 [[ 9.99860096e-01 -1.66612116e-02 -1.48100184e-03 1.62970511e+02] [ 1.66613759e-02 9.99861185e-01 9.86879704e-05 -8.94113345e+00] [ 1.47915199e-03 -1.23349692e-04 9.99998898e-01 -2.18085598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900371743 meters Centerline goodness [0,1] 0.9880189904599812 Centerline is valid? [True, True] Translation: X:163.00, Y:-8.94, Z:-2.18 [[ 9.99823673e-01 -1.86136314e-02 -2.48097445e-03 1.63001435e+02] [ 1.86140953e-02 9.99826729e-01 1.64040839e-04 -8.94388523e+00] [ 2.47749118e-03 -2.10193009e-04 9.99996909e-01 -2.18197965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.930371743 meters Centerline goodness [0,1] 0.9889090542448075 Centerline is valid? [True, True] Translation: X:163.03, Y:-8.94, Z:-2.18 [[ 9.99804164e-01 -1.95572834e-02 -3.02434741e-03 1.63033981e+02] [ 1.95579798e-02 9.99808704e-01 2.00857938e-04 -8.94432641e+00] [ 3.01984063e-03 -2.59968729e-04 9.99995406e-01 -2.18237606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960371743 meters Centerline goodness [0,1] 0.9884601595410952 Centerline is valid? [True, True] Translation: X:163.07, Y:-8.95, Z:-2.18 [[ 9.99785255e-01 -2.04212731e-02 -3.52366942e-03 1.63066344e+02] [ 2.04222241e-02 9.99791417e-01 2.34114951e-04 -8.94726568e+00] [ 3.51815352e-03 -3.06025843e-04 9.99993764e-01 -2.18282209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99037174299997 meters Centerline goodness [0,1] 0.9901905892365233 Centerline is valid? [True, True] Translation: X:163.10, Y:-8.95, Z:-2.18 [[ 9.99755462e-01 -2.17180388e-02 -4.16438504e-03 1.63097405e+02] [ 2.17193748e-02 9.99764068e-01 2.75869434e-04 -8.94604097e+00] [ 4.15741119e-03 -3.66249813e-04 9.99991291e-01 -2.18255712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02037174299997 meters Centerline goodness [0,1] 0.9891394592168742 Centerline is valid? [True, True] Translation: X:163.13, Y:-8.95, Z:-2.18 [[ 9.99743452e-01 -2.21246350e-02 -4.85075174e-03 1.63129020e+02] [ 2.21264561e-02 9.99755128e-01 3.22060341e-04 -8.94939469e+00] [ 4.84243846e-03 -4.29307663e-04 9.99988183e-01 -2.18302546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05037174299997 meters Centerline goodness [0,1] 0.9905217507935798 Centerline is valid? [True, True] Translation: X:163.16, Y:-8.96, Z:-2.18 [[ 9.99735018e-01 -2.26130528e-02 -4.30632346e-03 1.63160535e+02] [ 2.26144952e-02 9.99744219e-01 2.86551138e-04 -8.95500461e+00] [ 4.29874219e-03 -3.83860538e-04 9.99990687e-01 -2.18363308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08037174299997 meters Centerline goodness [0,1] 0.989732232736058 Centerline is valid? [True, True] Translation: X:163.19, Y:-8.96, Z:-2.18 [[ 9.99738759e-01 -2.24980439e-02 -4.03135948e-03 1.63192370e+02] [ 2.24993086e-02 9.99746822e-01 2.68611034e-04 -8.95860605e+00] [ 4.02429561e-03 -3.59243663e-04 9.99991838e-01 -2.18373783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11037174299997 meters Centerline goodness [0,1] 0.9891350517538172 Centerline is valid? [True, True] Translation: X:163.22, Y:-8.96, Z:-2.18 [[ 9.99752098e-01 -2.19962007e-02 -3.45101509e-03 1.63224867e+02] [ 2.19971258e-02 9.99758007e-01 2.30335501e-04 -8.96087954e+00] [ 3.44511347e-03 -3.06190813e-04 9.99994019e-01 -2.18402296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14037174299997 meters Centerline goodness [0,1] 0.9902114155455236 Centerline is valid? [True, True] Translation: X:163.26, Y:-8.96, Z:-2.18 [[ 9.99790408e-01 -2.02812043e-02 -2.79528110e-03 1.63257093e+02] [ 2.02818058e-02 9.99794286e-01 1.86974514e-04 -8.95987505e+00] [ 2.79091400e-03 -2.43628674e-04 9.99996076e-01 -2.18349930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17037174299998 meters Centerline goodness [0,1] 0.9902114155455236 Centerline is valid? [True, True] Translation: X:163.29, Y:-8.96, Z:-2.18 [[ 9.99792649e-01 -2.01704182e-02 -2.79522675e-03 1.63289683e+02] [ 2.01710215e-02 9.99796527e-01 1.87789919e-04 -8.96213566e+00] [ 2.79087019e-03 -2.44133560e-04 9.99996076e-01 -2.18394166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20037174299998 meters Centerline goodness [0,1] 0.9907555911966497 Centerline is valid? [True, True] Translation: X:163.32, Y:-8.96, Z:-2.18 [[ 9.99812732e-01 -1.91653983e-02 -2.68115838e-03 1.63320095e+02] [ 1.91659467e-02 9.99816300e-01 1.78979465e-04 -8.96356772e+00] [ 2.67723564e-03 -2.30332887e-04 9.99996390e-01 -2.18403432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23037174299998 meters Centerline goodness [0,1] 0.9896277129664741 Centerline is valid? [True, True] Translation: X:163.35, Y:-8.97, Z:-2.19 [[ 9.99865008e-01 -1.60852368e-02 -3.35126403e-03 1.63349842e+02] [ 1.60860749e-02 9.99870586e-01 2.23274946e-04 -8.96561606e+00] [ 3.34723890e-03 -2.77153491e-04 9.99994360e-01 -2.18567251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26037174299998 meters Centerline goodness [0,1] 0.9903638107559501 Centerline is valid? [True, True] Translation: X:163.38, Y:-8.96, Z:-2.19 [[ 9.99886355e-01 -1.45755729e-02 -3.85087842e-03 1.63381694e+02] [ 1.45766725e-02 9.99893721e-01 2.57624988e-04 -8.96440492e+00] [ 3.84671412e-03 -3.13728704e-04 9.99992552e-01 -2.18603632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29037174299998 meters Centerline goodness [0,1] 0.9895519389190275 Centerline is valid? [True, True] Translation: X:163.41, Y:-8.96, Z:-2.19 [[ 9.99915860e-01 -1.24662389e-02 -3.58699412e-03 1.63412247e+02] [ 1.24671770e-02 9.99922253e-01 2.39285494e-04 -8.96479018e+00] [ 3.58373225e-03 -2.83985051e-04 9.99993538e-01 -2.18644772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32037174299998 meters Centerline goodness [0,1] 0.9901198140200286 Centerline is valid? [True, True] Translation: X:163.44, Y:-8.96, Z:-2.19 [[ 9.99929464e-01 -1.14287885e-02 -3.23255704e-03 1.63443772e+02] [ 1.14295469e-02 9.99934657e-01 2.16263192e-04 -8.96232782e+00] [ 3.22987419e-03 -2.53194600e-04 9.99994752e-01 -2.18574772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35037174299998 meters Centerline goodness [0,1] 0.9892009122210794 Centerline is valid? [True, True] Translation: X:163.47, Y:-8.97, Z:-2.19 [[ 9.99944109e-01 -1.00015391e-02 -3.42744566e-03 1.63474235e+02] [ 1.00023837e-02 9.99949949e-01 2.29392124e-04 -8.96888118e+00] [ 3.42497983e-03 -2.63661930e-04 9.99994100e-01 -2.18721281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38037174299998 meters Centerline goodness [0,1] 0.9887637934507688 Centerline is valid? [True, True] Translation: X:163.51, Y:-8.97, Z:-2.19 [[ 9.99960995e-01 -8.32733631e-03 -2.94354155e-03 1.63505041e+02] [ 8.32795258e-03 9.99965303e-01 1.97168367e-04 -8.96828704e+00] [ 2.94179753e-03 -2.21674351e-04 9.99995648e-01 -2.18721206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41037174299998 meters Centerline goodness [0,1] 0.9898793130471776 Centerline is valid? [True, True] Translation: X:163.54, Y:-8.97, Z:-2.19 [[ 9.99966402e-01 -7.52021176e-03 -3.26210699e-03 1.63536844e+02] [ 7.52096649e-03 9.99971693e-01 2.19157237e-04 -8.96907611e+00] [ 3.26036654e-03 -2.43684071e-04 9.99994655e-01 -2.18752396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440371743 meters Centerline goodness [0,1] 0.9897650668518062 Centerline is valid? [True, True] Translation: X:163.57, Y:-8.96, Z:-2.19 [[ 9.99970235e-01 -7.00801009e-03 -3.22754926e-03 1.63568997e+02] [ 7.00874520e-03 9.99975415e-01 2.16508271e-04 -8.96360163e+00] [ 3.22595262e-03 -2.39122897e-04 9.99994768e-01 -2.18629036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.470371743 meters Centerline goodness [0,1] 0.9898278560250391 Centerline is valid? [True, True] Translation: X:163.60, Y:-8.97, Z:-2.19 [[ 9.99976427e-01 -6.37245168e-03 -2.55684199e-03 1.63599715e+02] [ 6.37291145e-03 9.99979678e-01 1.71708827e-04 -8.96578540e+00] [ 2.55569582e-03 -1.87999307e-04 9.99996717e-01 -2.18655537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500371743 meters Centerline goodness [0,1] 0.9884169884169884 Centerline is valid? [True, True] Translation: X:163.63, Y:-8.98, Z:-2.19 [[ 9.99979373e-01 -5.95879273e-03 -2.39710323e-03 1.63629824e+02] [ 5.95919663e-03 9.99982231e-01 1.61385289e-04 -8.97756415e+00] [ 2.39609898e-03 -1.75666770e-04 9.99997114e-01 -2.18909902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.530371743 meters Centerline goodness [0,1] 0.9890016160890645 Centerline is valid? [True, True] Translation: X:163.66, Y:-8.98, Z:-2.19 [[ 9.99978842e-01 -6.34676856e-03 -1.42623144e-03 1.63661304e+02] [ 6.34691202e-03 9.99979854e-01 9.60867953e-05 -8.97862161e+00] [ 1.42559287e-03 -1.05136928e-04 9.99998978e-01 -2.18809656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560371743 meters Centerline goodness [0,1] 0.987384601595411 Centerline is valid? [True, True] Translation: X:163.69, Y:-8.98, Z:-2.19 [[ 9.99976464e-01 -6.81887250e-03 -7.57389769e-04 1.63692957e+02] [ 6.81891364e-03 9.99976750e-01 5.17427332e-05 -8.98170869e+00] [ 7.57019333e-04 -5.69060908e-05 9.99999712e-01 -2.18809213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.590371743 meters Centerline goodness [0,1] 0.989492980416704 Centerline is valid? [True, True] Translation: X:163.73, Y:-8.98, Z:-2.19 [[ 9.99971674e-01 -7.50669354e-03 -5.49095712e-04 1.63725775e+02] [ 7.50671545e-03 9.99971824e-01 3.78558644e-05 -8.97591917e+00] [ 5.48796068e-04 -4.19766974e-05 9.99999849e-01 -2.18638910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620371743 meters Centerline goodness [0,1] 0.9886287325961409 Centerline is valid? [True, True] Translation: X:163.76, Y:-8.98, Z:-2.19 [[ 9.99956520e-01 -9.27682363e-03 -9.48169866e-04 1.63757310e+02] [ 9.27688868e-03 9.99956967e-01 6.42281967e-05 -8.97652893e+00] [ 9.47533229e-04 -7.30214703e-05 9.99999548e-01 -2.18702669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.650371743 meters Centerline goodness [0,1] 0.9889133264509179 Centerline is valid? [True, True] Translation: X:163.79, Y:-8.98, Z:-2.19 [[ 9.99944102e-01 -1.04838034e-02 -1.37199923e-03 1.63789551e+02] [ 1.04839413e-02 9.99945038e-01 9.33140841e-05 -8.97898329e+00] [ 1.37094554e-03 -1.07692827e-04 9.99999054e-01 -2.18790234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680371743 meters Centerline goodness [0,1] 0.9891739548616548 Centerline is valid? [True, True] Translation: X:163.82, Y:-8.99, Z:-2.19 [[ 9.99932770e-01 -1.14131427e-02 -2.04821119e-03 1.63820119e+02] [ 1.14134505e-02 9.99934855e-01 1.38684740e-04 -8.98667496e+00] [ 2.04649493e-03 -1.62052574e-04 9.99997893e-01 -2.18936170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.710371743 meters Centerline goodness [0,1] 0.989237668161435 Centerline is valid? [True, True] Translation: X:163.85, Y:-8.98, Z:-2.19 [[ 9.99926513e-01 -1.19299285e-02 -2.15544611e-03 1.63852085e+02] [ 1.19302708e-02 9.99928821e-01 1.46022219e-04 -8.98400781e+00] [ 2.15355065e-03 -1.71726544e-04 9.99997666e-01 -2.18837558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74037174299997 meters Centerline goodness [0,1] 0.9888142674243615 Centerline is valid? [True, True] Translation: X:163.88, Y:-8.99, Z:-2.19 [[ 9.99927430e-01 -1.18148204e-02 -2.35464742e-03 1.63883761e+02] [ 1.18152294e-02 9.99930185e-01 1.59854775e-04 -8.98631286e+00] [ 2.35259438e-03 -1.87663874e-04 9.99997215e-01 -2.18815710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77037174299997 meters Centerline goodness [0,1] 0.9883653156384505 Centerline is valid? [True, True] Translation: X:163.91, Y:-8.99, Z:-2.19 [[ 9.99936045e-01 -1.10954393e-02 -2.19022852e-03 1.63914942e+02] [ 1.10957913e-02 9.99938429e-01 1.48631200e-04 -8.98833177e+00] [ 2.18844454e-03 -1.72924013e-04 9.99997590e-01 -2.18807666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80037174299997 meters Centerline goodness [0,1] 0.9884773477684689 Centerline is valid? [True, True] Translation: X:163.95, Y:-8.99, Z:-2.19 [[ 9.99946975e-01 -1.00577157e-02 -2.21136461e-03 1.63946635e+02] [ 1.00580723e-02 9.99949405e-01 1.50175977e-04 -8.98940790e+00] [ 2.20974230e-03 -1.72410079e-04 9.99997544e-01 -2.18843383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83037174299997 meters Centerline goodness [0,1] 0.9897150830445155 Centerline is valid? [True, True] Translation: X:163.98, Y:-8.99, Z:-2.19 [[ 9.99977546e-01 -6.56708864e-03 -1.33420906e-03 1.63977493e+02] [ 6.56721482e-03 9.99978432e-01 9.02116020e-05 -8.98584077e+00] [ 1.33358786e-03 -9.89716139e-05 9.99999106e-01 -2.18806301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86037174299997 meters Centerline goodness [0,1] 0.9893609842776491 Centerline is valid? [True, True] Translation: X:164.01, Y:-8.99, Z:-2.19 [[ 9.99991351e-01 -4.13054867e-03 -4.86220776e-04 1.64008437e+02] [ 4.13056526e-03 9.99991469e-01 3.31186592e-05 -8.98600731e+00] [ 4.86079830e-04 -3.51267394e-05 9.99999881e-01 -2.18814336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89037174299997 meters Centerline goodness [0,1] 0.9891720318760975 Centerline is valid? [True, True] Translation: X:164.04, Y:-8.99, Z:-2.19 [[ 9.99999212e-01 -1.25213704e-03 9.46016530e-05 1.64037863e+02] [ 1.25213765e-03 9.99999216e-01 -6.39562386e-06 -8.99115890e+00] [-9.45935708e-05 6.51407311e-06 9.99999996e-01 -2.18907482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92037174299998 meters Centerline goodness [0,1] 0.9891726066949382 Centerline is valid? [True, True] Translation: X:164.07, Y:-8.99, Z:-2.19 [[ 9.99987031e-01 5.09087085e-03 1.43359227e-04 1.64067506e+02] [-5.09086948e-03 9.99987041e-01 -9.94106253e-06 -8.98747514e+00] [-1.43407978e-04 9.21111050e-06 9.99999990e-01 -2.18854517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95037174299998 meters Centerline goodness [0,1] 0.9894188250157928 Centerline is valid? [True, True] Translation: X:164.10, Y:-8.99, Z:-2.19 [[ 9.99968286e-01 7.96176351e-03 1.93953243e-04 1.64097166e+02] [-7.96176103e-03 9.99968305e-01 -1.35549194e-05 -8.98752086e+00] [-1.94055016e-04 1.20102802e-05 9.99999981e-01 -2.18945844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98037174299998 meters Centerline goodness [0,1] 0.9897544683155804 Centerline is valid? [True, True] Translation: X:164.13, Y:-8.99, Z:-2.19 [[ 9.99917171e-01 1.28683945e-02 -2.36320072e-04 1.64126675e+02] [-1.28683912e-02 9.99917199e-01 1.56904545e-05 -8.98518756e+00] [ 2.36502415e-04 -1.26480958e-05 9.99999972e-01 -2.19080892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01037174299998 meters Centerline goodness [0,1] 0.9896320390323237 Centerline is valid? [True, True] Translation: X:164.16, Y:-8.99, Z:-2.19 [[ 9.99896650e-01 1.43748966e-02 -2.27722768e-04 1.64155606e+02] [-1.43748937e-02 9.99896676e-01 1.44764298e-05 -8.98579550e+00] [ 2.27907336e-04 -1.12014430e-05 9.99999974e-01 -2.19154391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04037174299998 meters Centerline goodness [0,1] 0.9897207663112235 Centerline is valid? [True, True] Translation: X:164.18, Y:-8.98, Z:-2.19 [[ 9.99881613e-01 1.53860815e-02 -1.71491683e-04 1.64184438e+02] [-1.53860799e-02 9.99881627e-01 1.06316136e-05 -8.98157433e+00] [ 1.71634962e-04 -7.99177019e-06 9.99999985e-01 -2.19105424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07037174299998 meters Centerline goodness [0,1] 0.989678640645423 Centerline is valid? [True, True] Translation: X:164.21, Y:-8.98, Z:-2.19 [[ 9.99874665e-01 1.58307103e-02 -2.08539387e-04 1.64211841e+02] [-1.58307080e-02 9.99874686e-01 1.27444408e-05 -8.98401423e+00] [ 2.08715007e-04 -9.44151737e-06 9.99999978e-01 -2.19254504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10037174299998 meters Centerline goodness [0,1] 0.9897094156580081 Centerline is valid? [True, True] Translation: X:164.24, Y:-8.98, Z:-2.19 [[ 9.99880987e-01 1.54276047e-02 4.14811659e-05 1.64240667e+02] [-1.54276046e-02 9.99880987e-01 -3.72407500e-06 -8.98304824e+00] [-4.15336828e-05 3.08367676e-06 9.99999999e-01 -2.19245625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13037174299998 meters Centerline goodness [0,1] 0.9908706754344339 Centerline is valid? [True, True] Translation: X:164.27, Y:-8.98, Z:-2.19 [[ 9.99895855e-01 1.44194940e-02 5.97121987e-04 1.64269565e+02] [-1.44194721e-02 9.99896033e-01 -4.10911618e-05 -8.97977366e+00] [-5.97652420e-04 3.24766986e-05 9.99999821e-01 -2.19095268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16037174299998 meters Centerline goodness [0,1] 0.9899512173189758 Centerline is valid? [True, True] Translation: X:164.30, Y:-8.99, Z:-2.19 [[ 9.99907581e-01 1.35507080e-02 1.09887588e-03 1.64296883e+02] [-1.35506338e-02 9.99908183e-01 -7.49272284e-05 -8.99198327e+00] [-1.09979030e-03 6.00298390e-05 9.99999393e-01 -2.19301069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.190371743 meters Centerline goodness [0,1] 0.9897163521301842 Centerline is valid? [True, True] Translation: X:164.33, Y:-8.99, Z:-2.19 [[ 9.99920248e-01 1.25111649e-02 1.72273165e-03 1.64326177e+02] [-1.25109829e-02 9.99921728e-01 -1.16375971e-04 -8.98749867e+00] [-1.72405281e-03 9.48136236e-05 9.99998509e-01 -2.19144536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220371743 meters Centerline goodness [0,1] 0.9897319010651742 Centerline is valid? [True, True] Translation: X:164.36, Y:-8.99, Z:-2.19 [[ 9.99951206e-01 9.63830575e-03 2.16543163e-03 1.64355309e+02] [-9.63801243e-03 9.99953543e-01 -1.45851630e-04 -8.98838679e+00] [-2.16673679e-03 1.24974056e-04 9.99997645e-01 -2.19080542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.250371743 meters Centerline goodness [0,1] 0.9900768028274315 Centerline is valid? [True, True] Translation: X:164.38, Y:-8.99, Z:-2.19 [[ 9.99967684e-01 7.78891726e-03 1.99107945e-03 1.64384538e+02] [-7.78866647e-03 9.99969659e-01 -1.33682649e-04 -8.99226743e+00] [-1.99206028e-03 1.18170475e-04 9.99998009e-01 -2.19168992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280371743 meters Centerline goodness [0,1] 0.9899771488042716 Centerline is valid? [True, True] Translation: X:164.41, Y:-9.00, Z:-2.19 [[ 9.99990350e-01 4.09738459e-03 1.58466243e-03 1.64414436e+02] [-4.09722138e-03 9.99991601e-01 -1.06227246e-04 -8.99600226e+00] [-1.58508437e-03 9.97335083e-05 9.99998739e-01 -2.19261479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.310371743 meters Centerline goodness [0,1] 0.9901150981719702 Centerline is valid? [True, True] Translation: X:164.44, Y:-9.00, Z:-2.19 [[ 9.99996765e-01 2.04044556e-03 1.51885915e-03 1.64443642e+02] [-2.04029328e-03 9.99997913e-01 -1.01798225e-04 -9.00314415e+00] [-1.51906369e-03 9.86989777e-05 9.99998841e-01 -2.19397150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340371743 meters Centerline goodness [0,1] 0.9904591397362099 Centerline is valid? [True, True] Translation: X:164.47, Y:-9.00, Z:-2.19 [[ 9.99998759e-01 1.68150025e-05 1.57530835e-03 1.64473460e+02] [-1.66487647e-05 9.99999994e-01 -1.05540184e-04 -9.00449619e+00] [-1.57531012e-03 1.05513826e-04 9.99998754e-01 -2.19372578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.370371743 meters Centerline goodness [0,1] 0.9895859217927576 Centerline is valid? [True, True] Translation: X:164.50, Y:-9.01, Z:-2.19 [[ 9.99992380e-01 -3.03326405e-03 2.45768683e-03 1.64503425e+02] [ 3.03367578e-03 9.99995385e-01 -1.63816004e-04 -9.01075197e+00] [-2.45717859e-03 1.71270581e-04 9.99996966e-01 -2.19429610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400371743 meters Centerline goodness [0,1] 0.9904134617553515 Centerline is valid? [True, True] Translation: X:164.53, Y:-9.01, Z:-2.19 [[ 9.99987679e-01 -4.19389620e-03 2.65573224e-03 1.64534967e+02] [ 4.19437916e-03 9.99991188e-01 -1.76311416e-04 -9.01412917e+00] [-2.65496941e-03 1.87448392e-04 9.99996458e-01 -2.19463649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.430371743 meters Centerline goodness [0,1] 0.9901573469986681 Centerline is valid? [True, True] Translation: X:164.57, Y:-9.02, Z:-2.19 [[ 9.99984960e-01 -5.24244999e-03 1.61143184e-03 1.64566882e+02] [ 5.24262939e-03 9.99986252e-01 -1.07125267e-04 -9.01517781e+00] [-1.61084809e-03 1.15571795e-04 9.99998696e-01 -2.19485322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460371743 meters Centerline goodness [0,1] 0.9900630095530613 Centerline is valid? [True, True] Translation: X:164.60, Y:-9.02, Z:-2.19 [[ 9.99975387e-01 -6.67796098e-03 2.15186248e-03 1.64599077e+02] [ 6.67828523e-03 9.99977690e-01 -1.43532192e-04 -9.01818985e+00] [-2.15085597e-03 1.57899411e-04 9.99997674e-01 -2.19479628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49037174299997 meters Centerline goodness [0,1] 0.989309154881927 Centerline is valid? [True, True] Translation: X:164.63, Y:-9.03, Z:-2.20 [[ 9.99964970e-01 -7.82068662e-03 2.98259572e-03 1.64629326e+02] [ 7.82131747e-03 9.99969393e-01 -1.99904700e-04 -9.02631858e+00] [-2.98094104e-03 2.23225525e-04 9.99995532e-01 -2.19528844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52037174299997 meters Centerline goodness [0,1] 0.9900733220530175 Centerline is valid? [True, True] Translation: X:164.66, Y:-9.02, Z:-2.19 [[ 9.99961352e-01 -8.28892220e-03 2.93061616e-03 1.64662296e+02] [ 8.28953238e-03 9.99965622e-01 -1.96125170e-04 -9.02135194e+00] [-2.92888975e-03 2.20411028e-04 9.99995687e-01 -2.19463832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55037174299997 meters Centerline goodness [0,1] 0.9906227404193781 Centerline is valid? [True, True] Translation: X:164.69, Y:-9.02, Z:-2.20 [[ 9.99961076e-01 -8.30768923e-03 2.97148744e-03 1.64694383e+02] [ 8.30831731e-03 9.99965466e-01 -1.99089442e-04 -9.02379075e+00] [-2.96973085e-03 2.23769753e-04 9.99995565e-01 -2.19522237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58037174299997 meters Centerline goodness [0,1] 0.9904914989472731 Centerline is valid? [True, True] Translation: X:164.73, Y:-9.03, Z:-2.20 [[ 9.99959287e-01 -8.42895570e-03 3.22141134e-03 1.64725276e+02] [ 8.42969615e-03 9.99964446e-01 -2.16343979e-04 -9.02752636e+00] [-3.21947325e-03 2.43490689e-04 9.99994788e-01 -2.19644868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61037174299997 meters Centerline goodness [0,1] 0.9894457907729939 Centerline is valid? [True, True] Translation: X:164.76, Y:-9.03, Z:-2.20 [[ 9.99961332e-01 -8.16658625e-03 3.26222071e-03 1.64756538e+02] [ 8.16734272e-03 9.99966623e-01 -2.18630787e-04 -9.03103469e+00] [-3.26032636e-03 2.45266007e-04 9.99994655e-01 -2.19736524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64037174299997 meters Centerline goodness [0,1] 0.9896930518511822 Centerline is valid? [True, True] Translation: X:164.79, Y:-9.03, Z:-2.20 [[ 9.99963140e-01 -7.78603827e-03 3.61896850e-03 1.64788960e+02] [ 7.78697053e-03 9.99969651e-01 -2.43584456e-04 -9.03331329e+00] [-3.61696211e-03 2.71756278e-04 9.99993422e-01 -2.19835939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67037174299998 meters Centerline goodness [0,1] 0.990328863924624 Centerline is valid? [True, True] Translation: X:164.82, Y:-9.04, Z:-2.20 [[ 9.99967647e-01 -7.20524287e-03 3.57616655e-03 1.64821455e+02] [ 7.20615040e-03 9.99974006e-01 -2.40949398e-04 -9.03567109e+00] [-3.57433749e-03 2.66711996e-04 9.99993576e-01 -2.19921939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70037174299998 meters Centerline goodness [0,1] 0.989577905158937 Centerline is valid? [True, True] Translation: X:164.85, Y:-9.04, Z:-2.20 [[ 9.99970995e-01 -6.56721415e-03 3.85759728e-03 1.64853200e+02] [ 6.56826675e-03 9.99978395e-01 -2.60259465e-04 -9.03814492e+00] [-3.85580475e-03 2.85589644e-04 9.99992526e-01 -2.20005936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73037174299998 meters Centerline goodness [0,1] 0.9895353042220414 Centerline is valid? [True, True] Translation: X:164.89, Y:-9.04, Z:-2.20 [[ 9.99976221e-01 -5.84888164e-03 3.65345900e-03 1.64885602e+02] [ 5.84982172e-03 9.99982859e-01 -2.46678168e-04 -9.03713301e+00] [-3.65195359e-03 2.68044386e-04 9.99993296e-01 -2.20046219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76037174299998 meters Centerline goodness [0,1] 0.9886569462053976 Centerline is valid? [True, True] Translation: X:164.92, Y:-9.04, Z:-2.20 [[ 9.99978310e-01 -5.47328550e-03 3.66359675e-03 1.64916509e+02] [ 5.47422737e-03 9.99984986e-01 -2.47109090e-04 -9.04409394e+00] [-3.66218925e-03 2.67159092e-04 9.99993258e-01 -2.20166066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79037174299998 meters Centerline goodness [0,1] 0.9890936187508468 Centerline is valid? [True, True] Translation: X:164.95, Y:-9.04, Z:-2.20 [[ 9.99978728e-01 -5.46311140e-03 3.56332210e-03 1.64948891e+02] [ 5.46400566e-03 9.99985043e-01 -2.41273660e-04 -9.04131949e+00] [-3.56195070e-03 2.60738540e-04 9.99993622e-01 -2.20173402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82037174299998 meters Centerline goodness [0,1] 0.9887421568849526 Centerline is valid? [True, True] Translation: X:164.98, Y:-9.05, Z:-2.20 [[ 9.99976897e-01 -5.63984771e-03 3.79444067e-03 1.64979549e+02] [ 5.64086492e-03 9.99984057e-01 -2.57430121e-04 -9.05023939e+00] [-3.79292831e-03 2.78828101e-04 9.99992768e-01 -2.20297367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85037174299998 meters Centerline goodness [0,1] 0.989523571963083 Centerline is valid? [True, True] Translation: X:165.01, Y:-9.04, Z:-2.20 [[ 9.99974793e-01 -6.02211926e-03 3.76139682e-03 1.65012224e+02] [ 6.02312154e-03 9.99981828e-01 -2.55195576e-04 -9.04364440e+00] [-3.75979165e-03 2.77844493e-04 9.99992893e-01 -2.20245509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88037174299998 meters Centerline goodness [0,1] 0.9902877453532861 Centerline is valid? [True, True] Translation: X:165.04, Y:-9.05, Z:-2.20 [[ 9.99973460e-01 -6.31229127e-03 3.63790008e-03 1.65044771e+02] [ 6.31323156e-03 9.99980041e-01 -2.47044873e-04 -9.04629318e+00] [-3.63626805e-03 2.70005222e-04 9.99993352e-01 -2.20332393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91037174299998 meters Centerline goodness [0,1] 0.9898271291660058 Centerline is valid? [True, True] Translation: X:165.08, Y:-9.05, Z:-2.20 [[ 9.99973178e-01 -6.41457880e-03 3.53492729e-03 1.65075401e+02] [ 6.41546667e-03 9.99979392e-01 -2.39888857e-04 -9.05086649e+00] [-3.53331565e-03 2.62560631e-04 9.99993723e-01 -2.20430599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940371743 meters Centerline goodness [0,1] 0.9874465630725385 Centerline is valid? [True, True] Translation: X:165.11, Y:-9.06, Z:-2.21 [[ 9.99967805e-01 -6.83318756e-03 4.20678838e-03 1.65105715e+02] [ 6.83445417e-03 9.99976604e-01 -2.86784530e-04 -9.06449354e+00] [-4.20473031e-03 3.15526400e-04 9.99991110e-01 -2.20572548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.970371743 meters Centerline goodness [0,1] 0.9892083889504762 Centerline is valid? [True, True] Translation: X:165.14, Y:-9.05, Z:-2.20 [[ 9.99964136e-01 -7.13826396e-03 4.55765935e-03 1.65139149e+02] [ 7.13975439e-03 9.99974463e-01 -3.10830238e-04 -9.05376617e+00] [-4.55532418e-03 3.43359658e-04 9.99989566e-01 -2.20415220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000371743 meters Centerline goodness [0,1] 0.9892021324658896 Centerline is valid? [True, True] Translation: X:165.17, Y:-9.06, Z:-2.21 [[ 9.99957893e-01 -7.64676429e-03 5.07328757e-03 1.65170166e+02] [ 7.64862077e-03 9.99970689e-01 -3.46631353e-04 -9.05825616e+00] [-5.07048825e-03 3.85420410e-04 9.99987071e-01 -2.20504147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.030371743 meters Centerline goodness [0,1] 0.9890813932503159 Centerline is valid? [True, True] Translation: X:165.20, Y:-9.06, Z:-2.21 [[ 9.99959346e-01 -7.62041944e-03 4.82032222e-03 1.65202311e+02] [ 7.62209540e-03 9.99970897e-01 -3.29410346e-04 -9.05938768e+00] [-4.81767169e-03 3.66137910e-04 9.99988328e-01 -2.20552293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060371743 meters Centerline goodness [0,1] 0.9888515267089436 Centerline is valid? [True, True] Translation: X:165.23, Y:-9.06, Z:-2.21 [[ 9.99962564e-01 -7.29217729e-03 4.65774979e-03 1.65233365e+02] [ 7.29374074e-03 9.99973350e-01 -3.18768596e-04 -9.06321377e+00] [-4.65530114e-03 3.52729082e-04 9.99989102e-01 -2.20618243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.090371743 meters Centerline goodness [0,1] 0.9888515267089436 Centerline is valid? [True, True] Translation: X:165.27, Y:-9.07, Z:-2.21 [[ 9.99963342e-01 -7.18476755e-03 4.65776524e-03 1.65265921e+02] [ 7.18632880e-03 9.99974127e-01 -3.18544129e-04 -9.06554077e+00] [-4.65535606e-03 3.52004684e-04 9.99989102e-01 -2.20662445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120371743 meters Centerline goodness [0,1] 0.9899839108069524 Centerline is valid? [True, True] Translation: X:165.30, Y:-9.06, Z:-2.21 [[ 9.99970701e-01 -6.50771585e-03 4.03082101e-03 1.65297976e+02] [ 6.50888192e-03 9.99978779e-01 -2.76237724e-04 -9.06456770e+00] [-4.02893780e-03 3.02465768e-04 9.99991838e-01 -2.20717045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.150371743 meters Centerline goodness [0,1] 0.989100201261844 Centerline is valid? [True, True] Translation: X:165.33, Y:-9.07, Z:-2.21 [[ 9.99972264e-01 -6.37652407e-03 3.84855085e-03 1.65330567e+02] [ 6.37758701e-03 9.99979628e-01 -2.63982447e-04 -9.06654327e+00] [-3.84678916e-03 2.88519593e-04 9.99992559e-01 -2.20822946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180371743 meters Centerline goodness [0,1] 0.9892650888914053 Centerline is valid? [True, True] Translation: X:165.36, Y:-9.07, Z:-2.21 [[ 9.99976660e-01 -6.10943094e-03 3.05847086e-03 1.65361203e+02] [ 6.11010166e-03 9.99981311e-01 -2.10002183e-04 -9.07021111e+00] [-3.05713071e-03 2.28684849e-04 9.99995301e-01 -2.20964437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.210371743 meters Centerline goodness [0,1] 0.9888128008678555 Centerline is valid? [True, True] Translation: X:165.39, Y:-9.07, Z:-2.21 [[ 9.99977038e-01 -6.08553963e-03 2.98152525e-03 1.65391849e+02] [ 6.08617737e-03 9.99981458e-01 -2.04871633e-04 -9.07321047e+00] [-2.98022321e-03 2.23013020e-04 9.99995534e-01 -2.21043384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24037174299997 meters Centerline goodness [0,1] 0.9889042055546767 Centerline is valid? [True, True] Translation: X:165.42, Y:-9.08, Z:-2.21 [[ 9.99979334e-01 -5.85888632e-03 2.64668281e-03 1.65423867e+02] [ 5.85938774e-03 9.99982817e-01 -1.81734966e-04 -9.07570637e+00] [-2.64557257e-03 1.97239151e-04 9.99996481e-01 -2.21108206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27037174299997 meters Centerline goodness [0,1] 0.989282564949013 Centerline is valid? [True, True] Translation: X:165.45, Y:-9.08, Z:-2.21 [[ 9.99984728e-01 -4.24746027e-03 3.53598316e-03 1.65454488e+02] [ 4.24834852e-03 9.99990946e-01 -2.43729981e-04 -9.07750812e+00] [-3.53491591e-03 2.58748347e-04 9.99993719e-01 -2.21138821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30037174299997 meters Centerline goodness [0,1] 0.9888768066693852 Centerline is valid? [True, True] Translation: X:165.49, Y:-9.08, Z:-2.21 [[ 9.99985887e-01 -3.18439737e-03 4.25281147e-03 1.65485341e+02] [ 3.18567312e-03 9.99994883e-01 -2.93235626e-04 -9.08364124e+00] [-4.25185593e-03 3.06779554e-04 9.99990914e-01 -2.21179162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33037174299997 meters Centerline goodness [0,1] 0.9893720462202926 Centerline is valid? [True, True] Translation: X:165.52, Y:-9.08, Z:-2.21 [[ 9.99987246e-01 -5.33542863e-04 5.02221511e-03 1.65516350e+02] [ 5.35292870e-04 9.99999796e-01 -3.47115533e-04 -9.07848541e+00] [-5.02202889e-03 3.49799462e-04 9.99987328e-01 -2.21055249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36037174299997 meters Centerline goodness [0,1] 0.9893260209400353 Centerline is valid? [True, True] Translation: X:165.55, Y:-9.07, Z:-2.21 [[ 9.99983742e-01 6.98572289e-04 5.65937536e-03 1.65548558e+02] [-6.96372112e-04 9.99999681e-01 -3.90727903e-04 -9.07461727e+00] [-5.65964650e-03 3.86780520e-04 9.99983909e-01 -2.20994106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39037174299997 meters Centerline goodness [0,1] 0.9892854705521054 Centerline is valid? [True, True] Translation: X:165.58, Y:-9.08, Z:-2.21 [[ 9.99981316e-01 1.66768718e-03 5.88103552e-03 1.65581005e+02] [-1.66532670e-03 9.99998531e-01 -4.06244979e-04 -9.07610664e+00] [-5.88170437e-03 3.96443543e-04 9.99982624e-01 -2.21021692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42037174299998 meters Centerline goodness [0,1] 0.9893050551741327 Centerline is valid? [True, True] Translation: X:165.61, Y:-9.08, Z:-2.21 [[ 9.99972970e-01 3.32751017e-03 6.55638388e-03 1.65612608e+02] [-3.32460649e-03 9.99994371e-01 -4.53727008e-04 -9.07703426e+00] [-6.55785675e-03 4.31917347e-04 9.99978404e-01 -2.21024059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45037174299998 meters Centerline goodness [0,1] 0.9896958806268908 Centerline is valid? [True, True] Translation: X:165.64, Y:-9.08, Z:-2.21 [[ 9.99972492e-01 3.75108154e-03 6.39882630e-03 1.65644768e+02] [-3.74833268e-03 9.99992878e-01 -4.41527173e-04 -9.07962294e+00] [-6.40043693e-03 4.17530097e-04 9.99979430e-01 -2.21087796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48037174299998 meters Centerline goodness [0,1] 0.9889854808611351 Centerline is valid? [True, True] Translation: X:165.68, Y:-9.08, Z:-2.21 [[ 9.99970319e-01 4.61706252e-03 6.16790189e-03 1.65675446e+02] [-4.61451533e-03 9.99989262e-01 -4.27142384e-04 -9.08339452e+00] [-6.16980781e-03 3.98667828e-04 9.99980887e-01 -2.21255687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51037174299998 meters Centerline goodness [0,1] 0.9889223194748359 Centerline is valid? [True, True] Translation: X:165.71, Y:-9.09, Z:-2.21 [[ 9.99970785e-01 4.67270259e-03 6.04939719e-03 1.65705487e+02] [-4.67023570e-03 9.99989005e-01 -4.21852272e-04 -9.08650522e+00] [-6.05130187e-03 3.93587837e-04 9.99981613e-01 -2.21347695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54037174299998 meters Centerline goodness [0,1] 0.9887330996494742 Centerline is valid? [True, True] Translation: X:165.74, Y:-9.09, Z:-2.21 [[ 9.99969776e-01 5.09691463e-03 5.87098375e-03 1.65736222e+02] [-5.09459860e-03 9.99986939e-01 -4.09375457e-04 -9.08997739e+00] [-5.87299362e-03 3.79452779e-04 9.99982682e-01 -2.21451408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57037174299998 meters Centerline goodness [0,1] 0.9884523402801503 Centerline is valid? [True, True] Translation: X:165.77, Y:-9.09, Z:-2.21 [[ 9.99966245e-01 5.74380601e-03 5.87519719e-03 1.65767914e+02] [-5.74149666e-03 9.99983433e-01 -4.09860165e-04 -9.08757514e+00] [-5.87745401e-03 3.76113905e-04 9.99982657e-01 -2.21444311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60037174299998 meters Centerline goodness [0,1] 0.9867730900798175 Centerline is valid? [True, True] Translation: X:165.80, Y:-9.09, Z:-2.22 [[ 9.99959472e-01 6.72681967e-03 5.98373961e-03 1.65797594e+02] [-6.72443879e-03 9.99977303e-01 -4.17921126e-04 -9.09260562e+00] [-5.98641508e-03 3.77666897e-04 9.99982010e-01 -2.21537717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63037174299998 meters Centerline goodness [0,1] 0.9865491333439905 Centerline is valid? [True, True] Translation: X:165.83, Y:-9.09, Z:-2.22 [[ 9.99950598e-01 7.73740021e-03 6.23966139e-03 1.65828306e+02] [-7.73483092e-03 9.99969991e-01 -4.35795419e-04 -9.09411616e+00] [-6.24284606e-03 3.87511164e-04 9.99980438e-01 -2.21591885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66037174299998 meters Centerline goodness [0,1] 0.9864454044663878 Centerline is valid? [True, True] Translation: X:165.86, Y:-9.10, Z:-2.22 [[ 9.99943891e-01 8.28856381e-03 6.59649024e-03 1.65858465e+02] [-8.28570341e-03 9.99965567e-01 -4.60836396e-04 -9.09538802e+00] [-6.60008277e-03 4.06153977e-04 9.99978137e-01 -2.21628716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.690371743 meters Centerline goodness [0,1] 0.9866782640542026 Centerline is valid? [True, True] Translation: X:165.89, Y:-9.09, Z:-2.22 [[ 9.99917801e-01 1.09034708e-02 6.74580810e-03 1.65889369e+02] [-1.09005403e-02 9.99940476e-01 -4.71030067e-04 -9.09256510e+00] [-6.75054243e-03 3.97458396e-04 9.99977136e-01 -2.21638713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720371743 meters Centerline goodness [0,1] 0.986499164778838 Centerline is valid? [True, True] Translation: X:165.92, Y:-9.10, Z:-2.22 [[ 9.99906871e-01 1.19565464e-02 6.57954478e-03 1.65918106e+02] [-1.19537797e-02 9.99928445e-01 -4.59666097e-04 -9.09836427e+00] [-6.58457000e-03 3.80972860e-04 9.99978249e-01 -2.21734258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.750371743 meters Centerline goodness [0,1] 0.9867651443906691 Centerline is valid? [True, True] Translation: X:165.95, Y:-9.09, Z:-2.22 [[ 9.99868312e-01 1.52302775e-02 5.60338597e-03 1.65948672e+02] [-1.52283226e-02 9.99883966e-01 -3.91379576e-04 -9.09305438e+00] [-5.60869660e-03 3.05997867e-04 9.99984224e-01 -2.21718593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780371743 meters Centerline goodness [0,1] 0.986183908045977 Centerline is valid? [True, True] Translation: X:165.98, Y:-9.10, Z:-2.22 [[ 9.99844236e-01 1.68440407e-02 5.27079547e-03 1.65975753e+02] [-1.68423322e-02 9.99858090e-01 -3.68368912e-04 -9.10027287e+00] [-5.27625232e-03 2.79539045e-04 9.99986041e-01 -2.21859677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.810371743 meters Centerline goodness [0,1] 0.9872227967367574 Centerline is valid? [True, True] Translation: X:166.01, Y:-9.09, Z:-2.22 [[ 9.99785601e-01 2.00265786e-02 5.26192843e-03 1.66006261e+02] [-2.00249253e-02 9.99799414e-01 -3.66699632e-04 -9.09485475e+00] [-5.26821670e-03 2.61251288e-04 9.99986089e-01 -2.21814378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840371743 meters Centerline goodness [0,1] 0.9876679550892693 Centerline is valid? [True, True] Translation: X:166.04, Y:-9.10, Z:-2.22 [[ 9.99762691e-01 2.11194932e-02 5.34119405e-03 1.66035617e+02] [-2.11178020e-02 9.99776925e-01 -3.72842994e-04 -9.09591539e+00] [-5.34787682e-03 2.59960236e-04 9.99985666e-01 -2.21819976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.870371743 meters Centerline goodness [0,1] 0.9875054548795333 Centerline is valid? [True, True] Translation: X:166.06, Y:-9.10, Z:-2.22 [[ 9.99743889e-01 2.20280623e-02 5.18846526e-03 1.66064229e+02] [-2.20264827e-02 9.99757322e-01 -3.61395048e-04 -9.09587164e+00] [-5.19516697e-03 2.47018850e-04 9.99986475e-01 -2.21821722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900371743 meters Centerline goodness [0,1] 0.9870070244708691 Centerline is valid? [True, True] Translation: X:166.09, Y:-9.10, Z:-2.22 [[ 9.99699025e-01 2.41406209e-02 4.36927964e-03 1.66092586e+02] [-2.41395216e-02 9.99708553e-01 -3.04171679e-04 -9.09893788e+00] [-4.37534912e-03 1.98607811e-04 9.99990408e-01 -2.21885383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.930371743 meters Centerline goodness [0,1] 0.9890860732792223 Centerline is valid? [True, True] Translation: X:166.12, Y:-9.10, Z:-2.22 [[ 9.99673890e-01 2.51763649e-02 4.27364985e-03 1.66121720e+02] [-2.51753238e-02 9.99683007e-01 -2.97233938e-04 -9.10079522e+00] [-4.27977841e-03 1.89546488e-04 9.99990824e-01 -2.21877604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960371743 meters Centerline goodness [0,1] 0.9883427995602785 Centerline is valid? [True, True] Translation: X:166.15, Y:-9.10, Z:-2.22 [[ 9.99657436e-01 2.58187555e-02 4.28972773e-03 1.66150302e+02] [-2.58177138e-02 9.99666623e-01 -2.98036693e-04 -9.10342620e+00] [-4.29599257e-03 1.87183633e-04 9.99990755e-01 -2.21892376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99037174299997 meters Centerline goodness [0,1] 0.9890562754704886 Centerline is valid? [True, True] Translation: X:166.18, Y:-9.11, Z:-2.22 [[ 9.99639219e-01 2.65015737e-02 4.37012096e-03 1.66178732e+02] [-2.65005006e-02 9.99648754e-01 -3.03287894e-04 -9.10670242e+00] [-4.37662358e-03 1.87368081e-04 9.99990405e-01 -2.21941198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02037174299997 meters Centerline goodness [0,1] 0.9890381490720187 Centerline is valid? [True, True] Translation: X:166.21, Y:-9.11, Z:-2.22 [[ 9.99642655e-01 2.64051922e-02 4.16269940e-03 1.66206645e+02] [-2.64042174e-02 9.99651306e-01 -2.88973089e-04 -9.11017794e+00] [-4.16887828e-03 1.78957006e-04 9.99991294e-01 -2.21956509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05037174299997 meters Centerline goodness [0,1] 0.9896540722847637 Centerline is valid? [True, True] Translation: X:166.23, Y:-9.12, Z:-2.22 [[ 9.99652431e-01 2.59602915e-02 4.59131973e-03 1.66234996e+02] [-2.59591052e-02 9.99662955e-01 -3.17778229e-04 -9.11505720e+00] [-4.59802187e-03 1.98481227e-04 9.99989409e-01 -2.21957146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08037174299997 meters Centerline goodness [0,1] 0.9895864190497892 Centerline is valid? [True, True] Translation: X:166.26, Y:-9.13, Z:-2.22 [[ 9.99712723e-01 2.36419189e-02 3.94103903e-03 1.66263063e+02] [-2.36410274e-02 9.99720475e-01 -2.72641909e-04 -9.12647517e+00] [-3.94638318e-03 1.79393373e-04 9.99992197e-01 -2.22089482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11037174299997 meters Centerline goodness [0,1] 0.9902212721442704 Centerline is valid? [True, True] Translation: X:166.29, Y:-9.13, Z:-2.22 [[ 9.99719747e-01 2.33936711e-02 3.62829416e-03 1.66291618e+02] [-2.33929147e-02 9.99726317e-01 -2.50790721e-04 -9.12502310e+00] [-3.63316808e-03 1.65844060e-04 9.99993386e-01 -2.22009215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14037174299997 meters Centerline goodness [0,1] 0.9893882930376295 Centerline is valid? [True, True] Translation: X:166.32, Y:-9.13, Z:-2.22 [[ 9.99719421e-01 2.36802220e-02 5.71734043e-04 1.66319029e+02] [-2.36802027e-02 9.99719584e-01 -4.05121598e-05 -9.13490333e+00] [-5.72533057e-04 2.69620150e-05 9.99999836e-01 -2.22247443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17037174299998 meters Centerline goodness [0,1] 0.990704091556782 Centerline is valid? [True, True] Translation: X:166.35, Y:-9.13, Z:-2.22 [[ 9.99698886e-01 2.45379136e-02 -1.67374756e-04 1.66347892e+02] [-2.45379122e-02 9.99698900e-01 1.05629582e-05 -9.13437923e+00] [ 1.67583552e-04 -6.45275048e-06 9.99999986e-01 -2.22206498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20037174299998 meters Centerline goodness [0,1] 0.9918175448113741 Centerline is valid? [True, True] Translation: X:166.38, Y:-9.13, Z:-2.22 [[ 9.99603534e-01 2.79951667e-02 -3.00761143e-03 1.66376596e+02] [-2.79946751e-02 9.99608051e-01 2.05429754e-04 -9.13343598e+00] [ 3.01218364e-03 -1.21151204e-04 9.99995456e-01 -2.22171451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23037174299998 meters Centerline goodness [0,1] 0.9921486759400032 Centerline is valid? [True, True] Translation: X:166.40, Y:-9.14, Z:-2.22 [[ 9.99522027e-01 3.06313212e-02 -4.17612117e-03 1.66404247e+02] [-3.06303973e-02 9.99530739e-01 2.85025408e-04 -9.13522797e+00] [ 4.18289218e-03 -1.56972923e-04 9.99991239e-01 -2.22222021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26037174299998 meters Centerline goodness [0,1] 0.9929709997052355 Centerline is valid? [True, True] Translation: X:166.43, Y:-9.13, Z:-2.22 [[ 9.99445426e-01 3.29797305e-02 -4.60198150e-03 1.66433523e+02] [-3.29786471e-02 9.99456008e-01 3.11133282e-04 -9.13403143e+00] [ 4.60973915e-03 -1.59193612e-04 9.99989362e-01 -2.22149199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29037174299998 meters Centerline goodness [0,1] 0.9922356030423759 Centerline is valid? [True, True] Translation: X:166.46, Y:-9.13, Z:-2.22 [[ 9.99215044e-01 3.92362066e-02 -5.46045257e-03 1.66462112e+02] [-3.92347594e-02 9.99229951e-01 3.71932721e-04 -9.13484619e+00] [ 5.47084098e-03 -1.57401227e-04 9.99985022e-01 -2.22134107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32037174299998 meters Centerline goodness [0,1] 0.993416140636666 Centerline is valid? [True, True] Translation: X:166.49, Y:-9.14, Z:-2.22 [[ 9.99133661e-01 4.13250339e-02 -4.91619710e-03 1.66491239e+02] [-4.13239040e-02 9.99145748e-01 3.31240228e-04 -9.13594585e+00] [ 4.92568594e-03 -1.27796804e-04 9.99987861e-01 -2.22094417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35037174299998 meters Centerline goodness [0,1] 0.9927148446283222 Centerline is valid? [True, True] Translation: X:166.52, Y:-9.14, Z:-2.22 [[ 9.98941531e-01 4.58339680e-02 -3.88140988e-03 1.66520689e+02] [-4.58332904e-02 9.98949068e-01 2.63375961e-04 -9.13781587e+00] [ 3.88940235e-03 -8.51993991e-05 9.99992433e-01 -2.22008490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38037174299998 meters Centerline goodness [0,1] 0.992969489386633 Centerline is valid? [True, True] Translation: X:166.55, Y:-9.14, Z:-2.22 [[ 9.98883280e-01 4.70636480e-02 -4.14789337e-03 1.66548058e+02] [-4.70628892e-02 9.98891889e-01 2.80414183e-04 -9.14075068e+00] [ 4.15649436e-03 -8.48891931e-05 9.99991358e-01 -2.22057398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41037174299998 meters Centerline goodness [0,1] 0.9933129193497546 Centerline is valid? [True, True] Translation: X:166.58, Y:-9.14, Z:-2.22 [[ 9.98861730e-01 4.75180644e-02 -4.15678303e-03 1.66576456e+02] [-4.75173196e-02 9.98870376e-01 2.77812351e-04 -9.14295117e+00] [ 4.16528853e-03 -7.99769379e-05 9.99991322e-01 -2.21976204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440371743 meters Centerline goodness [0,1] 0.9922772098887738 Centerline is valid? [True, True] Translation: X:166.60, Y:-9.15, Z:-2.22 [[ 9.98884785e-01 4.70116011e-02 -4.36978349e-03 1.66603634e+02] [-4.70107645e-02 9.98894340e-01 2.94008612e-04 -9.14817265e+00] [ 4.37877381e-03 -8.82538665e-05 9.99990409e-01 -2.21936308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.470371743 meters Centerline goodness [0,1] 0.992710091123861 Centerline is valid? [True, True] Translation: X:166.63, Y:-9.15, Z:-2.22 [[ 9.98948871e-01 4.56123821e-02 -4.54570093e-03 1.66632101e+02] [-4.56114772e-02 9.98959209e-01 3.02593590e-04 -9.15248685e+00] [ 4.55477183e-03 -9.49393911e-05 9.99989622e-01 -2.21955010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500371743 meters Centerline goodness [0,1] 0.9933422999327505 Centerline is valid? [True, True] Translation: X:166.66, Y:-9.16, Z:-2.22 [[ 9.99187335e-01 4.00711330e-02 -4.35579470e-03 1.66660378e+02] [-4.00702396e-02 9.99196823e-01 2.92228666e-04 -9.16255479e+00] [ 4.36400616e-03 -1.17453445e-04 9.99990471e-01 -2.22082972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.530371743 meters Centerline goodness [0,1] 0.9930416825660479 Centerline is valid? [True, True] Translation: X:166.69, Y:-9.17, Z:-2.22 [[ 9.99312613e-01 3.67304875e-02 -5.01730862e-03 1.66689495e+02] [-3.67292591e-02 9.99325196e-01 3.36781595e-04 -9.16897403e+00] [ 5.02629307e-03 -1.52268067e-04 9.99987357e-01 -2.22166042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560371743 meters Centerline goodness [0,1] 0.9909895810043375 Centerline is valid? [True, True] Translation: X:166.72, Y:-9.18, Z:-2.22 [[ 9.99540910e-01 2.97419622e-02 -5.77795136e-03 1.66718260e+02] [-2.97402160e-02 9.99557587e-01 3.87920351e-04 -9.18235020e+00] [ 5.78693263e-03 -2.15904739e-04 9.99983232e-01 -2.22477325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.590371743 meters Centerline goodness [0,1] 0.992227458512943 Centerline is valid? [True, True] Translation: X:166.75, Y:-9.18, Z:-2.22 [[ 9.99646356e-01 2.59249392e-02 -5.92110735e-03 1.66747468e+02] [-2.59230428e-02 9.99663863e-01 3.96808228e-04 -9.18375179e+00] [ 5.92940427e-03 -2.43174780e-04 9.99982391e-01 -2.22315729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620371743 meters Centerline goodness [0,1] 0.991725768321513 Centerline is valid? [True, True] Translation: X:166.78, Y:-9.19, Z:-2.22 [[ 9.99729605e-01 2.23974144e-02 -6.25081402e-03 1.66776075e+02] [-2.23952340e-02 9.99749108e-01 4.18604625e-04 -9.18940470e+00] [ 6.25862140e-03 -2.78502994e-04 9.99980376e-01 -2.22385328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.650371743 meters Centerline goodness [0,1] 0.9914760776673235 Centerline is valid? [True, True] Translation: X:166.81, Y:-9.20, Z:-2.23 [[ 9.99844828e-01 1.65382829e-02 -6.06666490e-03 1.66805138e+02] [-1.65361197e-02 9.99863186e-01 4.06571621e-04 -9.20149282e+00] [ 6.07255889e-03 -3.06189436e-04 9.99981515e-01 -2.22606218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680371743 meters Centerline goodness [0,1] 0.9912821083064606 Centerline is valid? [True, True] Translation: X:166.83, Y:-9.21, Z:-2.23 [[ 9.99872644e-01 1.46050888e-02 -6.43332297e-03 1.66833887e+02] [-1.46026237e-02 9.99893284e-01 4.29980955e-04 -9.20596033e+00] [ 6.43891634e-03 -3.35982799e-04 9.99979214e-01 -2.22638333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.710371743 meters Centerline goodness [0,1] 0.9910996395354011 Centerline is valid? [True, True] Translation: X:166.86, Y:-9.22, Z:-2.23 [[ 9.99919479e-01 1.14192055e-02 -5.53517073e-03 1.66861183e+02] [-1.14173347e-02 9.99934752e-01 3.69472600e-04 -9.21857738e+00] [ 5.53902866e-03 -3.06245953e-04 9.99984613e-01 -2.22780210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74037174299997 meters Centerline goodness [0,1] 0.9912512490285333 Centerline is valid? [True, True] Translation: X:166.89, Y:-9.21, Z:-2.22 [[ 9.99939036e-01 1.04127718e-02 -3.67410344e-03 1.66890149e+02] [-1.04119431e-02 9.99945764e-01 2.44622834e-04 -9.21261278e+00] [ 3.67645137e-03 -2.06353364e-04 9.99993221e-01 -2.22298269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77037174299997 meters Centerline goodness [0,1] 0.9909239828219772 Centerline is valid? [True, True] Translation: X:166.92, Y:-9.22, Z:-2.22 [[ 9.99931716e-01 1.10957062e-02 -3.66734569e-03 1.66917788e+02] [-1.10948871e-02 9.99938420e-01 2.43606880e-04 -9.21812210e+00] [ 3.66982285e-03 -2.02901459e-04 9.99993246e-01 -2.22337266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80037174299997 meters Centerline goodness [0,1] 0.9912627834593153 Centerline is valid? [True, True] Translation: X:166.95, Y:-9.22, Z:-2.22 [[ 9.99937947e-01 1.07728229e-02 -2.83705452e-03 1.66947007e+02] [-1.07723321e-02 9.99941959e-01 1.88223876e-04 -9.21829060e+00] [ 2.83891755e-03 -1.57650503e-04 9.99995958e-01 -2.22258307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83037174299997 meters Centerline goodness [0,1] 0.9908493248045487 Centerline is valid? [True, True] Translation: X:166.97, Y:-9.22, Z:-2.22 [[ 9.99929558e-01 1.16096055e-02 -2.46885073e-03 1.66974777e+02] [-1.16092377e-02 9.99932597e-01 1.63243878e-04 -9.22273069e+00] [ 2.47057951e-03 -1.34570904e-04 9.99996939e-01 -2.22390755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86037174299997 meters Centerline goodness [0,1] 0.9908885341846235 Centerline is valid? [True, True] Translation: X:167.00, Y:-9.23, Z:-2.23 [[ 9.99923002e-01 1.20364875e-02 -3.01872152e-03 1.67003723e+02] [-1.20359388e-02 9.99927545e-01 1.99874793e-04 -9.22548605e+00] [ 3.02090859e-03 -1.63526255e-04 9.99995424e-01 -2.22587436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89037174299997 meters Centerline goodness [0,1] 0.9913374836608547 Centerline is valid? [True, True] Translation: X:167.03, Y:-9.23, Z:-2.23 [[ 9.99902819e-01 1.33558590e-02 -3.99677985e-03 1.67031333e+02] [-1.33549092e-02 9.99910784e-01 2.64243873e-04 -9.22989650e+00] [ 3.99995248e-03 -2.10841562e-04 9.99991978e-01 -2.22747384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92037174299998 meters Centerline goodness [0,1] 0.9912051395657953 Centerline is valid? [True, True] Translation: X:167.06, Y:-9.23, Z:-2.23 [[ 9.99911758e-01 1.25966822e-02 -4.21896030e-03 1.67059931e+02] [-1.25956166e-02 9.99920633e-01 2.79047083e-04 -9.23124684e+00] [ 4.22214052e-03 -2.25882053e-04 9.99991061e-01 -2.22791017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95037174299998 meters Centerline goodness [0,1] 0.991088648001596 Centerline is valid? [True, True] Translation: X:167.09, Y:-9.23, Z:-2.23 [[ 9.99929273e-01 1.10741483e-02 -4.33735268e-03 1.67089356e+02] [-1.10730063e-02 9.99938651e-01 2.87216781e-04 -9.23186443e+00] [ 4.34026727e-03 -2.39168933e-04 9.99990552e-01 -2.22793143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98037174299998 meters Centerline goodness [0,1] 0.991088648001596 Centerline is valid? [True, True] Translation: X:167.12, Y:-9.23, Z:-2.23 [[ 9.99930432e-01 1.09689849e-02 -4.33744573e-03 1.67116805e+02] [-1.09678480e-02 9.99939811e-01 2.85812389e-04 -9.23359168e+00] [ 4.34031973e-03 -2.38220060e-04 9.99990552e-01 -2.22830428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01037174299998 meters Centerline goodness [0,1] 0.9914098476797732 Centerline is valid? [True, True] Translation: X:167.15, Y:-9.23, Z:-2.23 [[ 9.99932996e-01 1.07177355e-02 -4.37421138e-03 1.67145612e+02] [-1.07165762e-02 9.99942534e-01 2.88404288e-04 -9.23433978e+00] [ 4.37705106e-03 -2.41508394e-04 9.99990392e-01 -2.22806573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04037174299998 meters Centerline goodness [0,1] 0.990667433323013 Centerline is valid? [True, True] Translation: X:167.17, Y:-9.24, Z:-2.23 [[ 9.99902213e-01 1.27820052e-02 -5.67323830e-03 1.67173257e+02] [-1.27800906e-02 9.99918262e-01 3.73607137e-04 -9.23887181e+00] [ 5.67755003e-03 -3.01066103e-04 9.99983837e-01 -2.23030376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07037174299998 meters Centerline goodness [0,1] 0.9915297231719422 Centerline is valid? [True, True] Translation: X:167.20, Y:-9.24, Z:-2.23 [[ 9.99911699e-01 1.23616577e-02 -4.87681101e-03 1.67200475e+02] [-1.23602406e-02 9.99923558e-01 3.20607804e-04 -9.24223253e+00] [ 4.88040146e-03 -2.60300937e-04 9.99988057e-01 -2.23157048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10037174299998 meters Centerline goodness [0,1] 0.991572971414632 Centerline is valid? [True, True] Translation: X:167.23, Y:-9.23, Z:-2.23 [[ 9.99850127e-01 1.62133651e-02 -6.07041600e-03 1.67230820e+02] [-1.62112358e-02 9.99868509e-01 3.99810415e-04 -9.23348641e+00] [ 6.07610007e-03 -3.01341549e-04 9.99981495e-01 -2.22956357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13037174299998 meters Centerline goodness [0,1] 0.991346877351392 Centerline is valid? [True, True] Translation: X:167.26, Y:-9.24, Z:-2.23 [[ 9.99816901e-01 1.82902685e-02 -5.62416178e-03 1.67258688e+02] [-1.82884787e-02 9.99832684e-01 3.69507288e-04 -9.24076162e+00] [ 5.62997915e-03 -2.66582269e-04 9.99984116e-01 -2.23306052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16037174299998 meters Centerline goodness [0,1] 0.9916230830600125 Centerline is valid? [True, True] Translation: X:167.29, Y:-9.23, Z:-2.23 [[ 9.99665302e-01 2.53756343e-02 -5.03597713e-03 1.67290431e+02] [-2.53742833e-02 9.99677966e-01 3.31995726e-04 -9.22865065e+00] [ 5.04277998e-03 -2.04100297e-04 9.99987264e-01 -2.22898840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.190371743 meters Centerline goodness [0,1] 0.9916130898089031 Centerline is valid? [True, True] Translation: X:167.32, Y:-9.22, Z:-2.23 [[ 9.99437335e-01 3.32903247e-02 -4.09486282e-03 1.67321350e+02] [-3.32894986e-02 9.99445715e-01 2.69736705e-04 -9.22169738e+00] [ 4.10157272e-03 -1.33269004e-04 9.99991580e-01 -2.22820800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220371743 meters Centerline goodness [0,1] 0.9916130898089031 Centerline is valid? [True, True] Translation: X:167.35, Y:-9.22, Z:-2.23 [[ 9.99440900e-01 3.31831094e-02 -4.09498438e-03 1.67348768e+02] [-3.31822901e-02 9.99449280e-01 2.67890147e-04 -9.22341494e+00] [ 4.10161862e-03 -1.31859410e-04 9.99991580e-01 -2.22858029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.250371743 meters Centerline goodness [0,1] 0.9923272516393808 Centerline is valid? [True, True] Translation: X:167.38, Y:-9.22, Z:-2.23 [[ 9.99203477e-01 3.98208134e-02 -2.59121492e-03 1.67377561e+02] [-3.98205074e-02 9.99206835e-01 1.69577425e-04 -9.21974850e+00] [ 2.59591237e-03 -6.62588601e-05 9.99996628e-01 -2.22898979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280371743 meters Centerline goodness [0,1] 0.9927594350131445 Centerline is valid? [True, True] Translation: X:167.41, Y:-9.22, Z:-2.23 [[ 9.99057960e-01 4.33661386e-02 -1.60308600e-03 1.67406827e+02] [-4.33660310e-02 9.99059246e-01 1.01811759e-04 -9.21760474e+00] [ 1.60599307e-03 -3.21963712e-05 9.99998710e-01 -2.22848274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.310371743 meters Centerline goodness [0,1] 0.9927280838724069 Centerline is valid? [True, True] Translation: X:167.44, Y:-9.22, Z:-2.23 [[ 9.99037604e-01 4.38306992e-02 -1.65425727e-03 1.67435288e+02] [-4.38305817e-02 9.99038973e-01 1.07241067e-04 -9.21904012e+00] [ 1.65736793e-03 -3.46308000e-05 9.99998626e-01 -2.22871609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340371743 meters Centerline goodness [0,1] 0.9926050044682753 Centerline is valid? [True, True] Translation: X:167.46, Y:-9.22, Z:-2.23 [[ 9.99082398e-01 4.28085554e-02 -1.33764299e-03 1.67463839e+02] [-4.28084780e-02 9.99083293e-01 8.64406552e-05 -9.22131602e+00] [ 1.34011716e-03 -2.90988767e-05 9.99999102e-01 -2.22927443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.370371743 meters Centerline goodness [0,1] 0.9926919477741634 Centerline is valid? [True, True] Translation: X:167.49, Y:-9.23, Z:-2.23 [[ 9.99229498e-01 3.92292307e-02 -1.21557028e-03 1.67493122e+02] [-3.92291637e-02 9.99230237e-01 7.89037703e-05 -9.22805432e+00] [ 1.21772991e-03 -3.11571694e-05 9.99999258e-01 -2.23028433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400371743 meters Centerline goodness [0,1] 0.993395450199026 Centerline is valid? [True, True] Translation: X:167.52, Y:-9.24, Z:-2.23 [[ 9.99471552e-01 3.24977935e-02 -7.14013479e-04 1.67522984e+02] [-3.24977686e-02 9.99471807e-01 4.63743423e-05 -9.23562820e+00] [ 7.15143406e-04 -2.31459910e-05 9.99999744e-01 -2.23096952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.430371743 meters Centerline goodness [0,1] 0.9929266724317612 Centerline is valid? [True, True] Translation: X:167.55, Y:-9.24, Z:-2.23 [[ 9.99553290e-01 2.98610312e-02 -1.24075279e-03 1.67550802e+02] [-2.98609549e-02 9.99554059e-01 7.99522471e-05 -9.24240657e+00] [ 1.24258694e-03 -4.28664685e-05 9.99999227e-01 -2.23204145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460371743 meters Centerline goodness [0,1] 0.9927539453211824 Centerline is valid? [True, True] Translation: X:167.58, Y:-9.25, Z:-2.23 [[ 9.99637755e-01 2.68638209e-02 -1.64120753e-03 1.67580294e+02] [-2.68636822e-02 9.99639100e-01 1.06504331e-04 -9.24676214e+00] [ 1.64347633e-03 -6.23768731e-05 9.99998648e-01 -2.23204988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49037174299997 meters Centerline goodness [0,1] 0.9924738799362494 Centerline is valid? [True, True] Translation: X:167.61, Y:-9.25, Z:-2.23 [[ 9.99724014e-01 2.33995745e-02 -2.08719504e-03 1.67609675e+02] [-2.33993425e-02 9.99726189e-01 1.35497731e-04 -9.25361465e+00] [ 2.08979413e-03 -8.66213436e-05 9.99997813e-01 -2.23208687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52037174299997 meters Centerline goodness [0,1] 0.9926136237606193 Centerline is valid? [True, True] Translation: X:167.64, Y:-9.26, Z:-2.23 [[ 9.99760018e-01 2.18552052e-02 -1.50196176e-03 1.67637896e+02] [-2.18550848e-02 9.99761144e-01 9.65082177e-05 -9.25737175e+00] [ 1.50371222e-03 -6.36595557e-05 9.99998867e-01 -2.23230179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55037174299997 meters Centerline goodness [0,1] 0.9929670912951167 Centerline is valid? [True, True] Translation: X:167.67, Y:-9.26, Z:-2.23 [[ 9.99798570e-01 2.00641379e-02 -5.00113859e-04 1.67666173e+02] [-2.00641247e-02 9.99798695e-01 3.15270026e-05 -9.26394339e+00] [ 5.00645745e-04 -2.14863053e-05 9.99999874e-01 -2.23257624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58037174299997 meters Centerline goodness [0,1] 0.9925948849444064 Centerline is valid? [True, True] Translation: X:167.69, Y:-9.27, Z:-2.23 [[ 9.99824252e-01 1.87462426e-02 2.06416156e-04 1.67693747e+02] [-1.87462400e-02 9.99824274e-01 -1.46053329e-05 -9.27011504e+00] [-2.06653679e-04 1.07332392e-05 9.99999979e-01 -2.23359740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61037174299997 meters Centerline goodness [0,1] 0.9923799006073992 Centerline is valid? [True, True] Translation: X:167.72, Y:-9.27, Z:-2.23 [[ 9.99837614e-01 1.80206389e-02 5.47935407e-05 1.67722182e+02] [-1.80206387e-02 9.99837615e-01 -4.50329310e-06 -9.27401294e+00] [-5.48657954e-05 3.51514723e-06 9.99999998e-01 -2.23338038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64037174299997 meters Centerline goodness [0,1] 0.9917490654102241 Centerline is valid? [True, True] Translation: X:167.75, Y:-9.28, Z:-2.23 [[ 9.99842143e-01 1.77664862e-02 -2.04413096e-04 1.67750440e+02] [-1.77664840e-02 9.99842163e-01 1.22832572e-05 -9.27674186e+00] [ 2.04599062e-04 -8.64961619e-06 9.99999979e-01 -2.23385608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67037174299998 meters Centerline goodness [0,1] 0.9924482338611449 Centerline is valid? [True, True] Translation: X:167.78, Y:-9.28, Z:-2.23 [[ 9.99861620e-01 1.66282398e-02 -4.93295298e-04 1.67779380e+02] [-1.66282266e-02 9.99861741e-01 3.09549627e-05 -9.28008952e+00] [ 4.93741822e-04 -2.27480531e-05 9.99999878e-01 -2.23444562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70037174299998 meters Centerline goodness [0,1] 0.9924076894215277 Centerline is valid? [True, True] Translation: X:167.81, Y:-9.29, Z:-2.24 [[ 9.99900328e-01 1.41117208e-02 -4.40310862e-04 1.67808194e+02] [-1.41117099e-02 9.99900424e-01 2.77461726e-05 -9.28649995e+00] [ 4.40658564e-04 -2.15298680e-05 9.99999903e-01 -2.23586016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73037174299998 meters Centerline goodness [0,1] 0.9926826572344424 Centerline is valid? [True, True] Translation: X:167.84, Y:-9.29, Z:-2.24 [[ 9.99946261e-01 1.03657667e-02 -1.62527455e-04 1.67838358e+02] [-1.03657652e-02 9.99946274e-01 1.02553052e-05 -9.29001689e+00] [ 1.62625027e-04 -8.57003269e-06 9.99999987e-01 -2.23576458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76037174299998 meters Centerline goodness [0,1] 0.9919662760158026 Centerline is valid? [True, True] Translation: X:167.87, Y:-9.30, Z:-2.24 [[ 9.99965212e-01 8.33926415e-03 -1.78910172e-04 1.67866287e+02] [-8.33926234e-03 9.99965228e-01 1.08168542e-05 -9.29772364e+00] [ 1.78994156e-04 -9.32449904e-06 9.99999984e-01 -2.23679107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79037174299998 meters Centerline goodness [0,1] 0.9913857677902622 Centerline is valid? [True, True] Translation: X:167.90, Y:-9.30, Z:-2.24 [[ 9.99979959e-01 6.31582906e-03 -4.37560589e-04 1.67895365e+02] [-6.31581762e-03 9.99980055e-01 2.75184873e-05 -9.30200052e+00] [ 4.37725664e-04 -2.47543829e-05 9.99999904e-01 -2.23687749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82037174299998 meters Centerline goodness [0,1] 0.9905385735080058 Centerline is valid? [True, True] Translation: X:167.93, Y:-9.31, Z:-2.24 [[ 9.99998576e-01 1.37555041e-03 -9.78186068e-04 1.67925440e+02] [-1.37548934e-03 9.99999052e-01 6.30949235e-05 -9.30653883e+00] [ 9.78271930e-04 -6.17493491e-05 9.99999520e-01 -2.23645213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85037174299998 meters Centerline goodness [0,1] 0.9909157056865037 Centerline is valid? [True, True] Translation: X:167.96, Y:-9.31, Z:-2.24 [[ 9.99999631e-01 -3.47880698e-04 -7.84971143e-04 1.67955120e+02] [ 3.47920159e-04 9.99999938e-01 5.01337346e-05 -9.31041574e+00] [ 7.84953654e-04 -5.04068234e-05 9.99999691e-01 -2.23651291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88037174299998 meters Centerline goodness [0,1] 0.9903545474565074 Centerline is valid? [True, True] Translation: X:167.98, Y:-9.32, Z:-2.24 [[ 9.99995971e-01 -2.72401830e-03 -7.98730991e-04 1.67984755e+02] [ 2.72406122e-03 9.99996288e-01 5.26545329e-05 -9.31740694e+00] [ 7.98584595e-04 -5.48301128e-05 9.99999680e-01 -2.23684930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91037174299998 meters Centerline goodness [0,1] 0.9898711879335022 Centerline is valid? [True, True] Translation: X:168.02, Y:-9.32, Z:-2.24 [[ 9.99988733e-01 -4.74689007e-03 3.16558587e-05 1.68015532e+02] [ 4.74689014e-03 9.99988733e-01 -2.04349350e-06 -9.31802352e+00] [-3.16458019e-05 2.19373736e-06 9.99999999e-01 -2.23656727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940371743 meters Centerline goodness [0,1] 0.9904070921360209 Centerline is valid? [True, True] Translation: X:168.05, Y:-9.32, Z:-2.24 [[ 9.99974931e-01 -7.06769899e-03 4.30820060e-04 1.68046912e+02] [ 7.06771143e-03 9.99975023e-01 -2.73482079e-05 -9.32084830e+00] [-4.30616010e-04 3.03924342e-05 9.99999907e-01 -2.23631525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.970371743 meters Centerline goodness [0,1] 0.990354052622285 Centerline is valid? [True, True] Translation: X:168.08, Y:-9.32, Z:-2.24 [[ 9.99969711e-01 -7.73767500e-03 8.39859241e-04 1.68079113e+02] [ 7.73772253e-03 9.99970062e-01 -5.33503775e-05 -9.32405116e+00] [-8.39421290e-04 5.98473594e-05 9.99999646e-01 -2.23636232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000371743 meters Centerline goodness [0,1] 0.9900968309859155 Centerline is valid? [True, True] Translation: X:168.11, Y:-9.32, Z:-2.24 [[ 9.99961818e-01 -8.71664576e-03 6.19251839e-04 1.68111404e+02] [ 8.71667165e-03 9.99962008e-01 -3.91164955e-05 -9.32451536e+00] [-6.18887348e-04 4.45128169e-05 9.99999807e-01 -2.23651567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.030371743 meters Centerline goodness [0,1] 0.9898331307326776 Centerline is valid? [True, True] Translation: X:168.14, Y:-9.33, Z:-2.24 [[ 9.99948826e-01 -1.01018863e-02 5.45141939e-04 1.68143488e+02] [ 1.01019066e-02 9.99948974e-01 -3.43584286e-05 -9.32837101e+00] [-5.44767038e-04 3.98636433e-05 9.99999851e-01 -2.23746834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060371743 meters Centerline goodness [0,1] 0.989123494572756 Centerline is valid? [True, True] Translation: X:168.18, Y:-9.33, Z:-2.24 [[ 9.99943869e-01 -1.05937742e-02 1.72780479e-04 1.68175263e+02] [ 1.05937762e-02 9.99943884e-01 -1.02463973e-05 -9.33197242e+00] [-1.72662235e-04 1.20762199e-05 9.99999985e-01 -2.23866535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.090371743 meters Centerline goodness [0,1] 0.9894961684136352 Centerline is valid? [True, True] Translation: X:168.21, Y:-9.33, Z:-2.24 [[ 9.99932793e-01 -1.15627141e-02 -8.44163533e-04 1.68207105e+02] [ 1.15627651e-02 9.99933147e-01 5.55387355e-05 -9.33248100e+00] [ 8.43464920e-04 -6.52958675e-05 9.99999642e-01 -2.23906684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120371743 meters Centerline goodness [0,1] 0.9889516164601068 Centerline is valid? [True, True] Translation: X:168.24, Y:-9.34, Z:-2.24 [[ 9.99927410e-01 -1.19907003e-02 -1.18226413e-03 1.68238219e+02] [ 1.19908003e-02 9.99928105e-01 7.75474807e-05 -9.33749366e+00] [ 1.18124928e-03 -9.17181446e-05 9.99999298e-01 -2.24040110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.150371743 meters Centerline goodness [0,1] 0.9896087884992184 Centerline is valid? [True, True] Translation: X:168.27, Y:-9.34, Z:-2.24 [[ 9.99927940e-01 -1.18891002e-02 -1.66280351e-03 1.68271112e+02] [ 1.18892981e-02 9.99929314e-01 1.09141061e-04 -9.33503287e+00] [ 1.66138839e-03 -1.28902763e-04 9.99998612e-01 -2.24029657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180371743 meters Centerline goodness [0,1] 0.9886904761904762 Centerline is valid? [True, True] Translation: X:168.30, Y:-9.34, Z:-2.24 [[ 9.99945381e-01 -1.00342267e-02 -2.92386440e-03 1.68301401e+02] [ 1.00348272e-02 9.99949632e-01 1.90794017e-04 -9.34134254e+00] [ 2.92180266e-03 -2.20124070e-04 9.99995707e-01 -2.24262352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.210371743 meters Centerline goodness [0,1] 0.9892667844522968 Centerline is valid? [True, True] Translation: X:168.33, Y:-9.34, Z:-2.24 [[ 9.99950565e-01 -9.41675007e-03 -3.19259147e-03 1.68333312e+02] [ 9.41746489e-03 9.99955633e-01 2.08942478e-04 -9.34284062e+00] [ 3.19048226e-03 -2.38998267e-04 9.99994882e-01 -2.24357295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24037174299997 meters Centerline goodness [0,1] 0.9892217152681346 Centerline is valid? [True, True] Translation: X:168.36, Y:-9.33, Z:-2.24 [[ 9.99981245e-01 -5.47137052e-03 -2.75215665e-03 1.68364598e+02] [ 5.47188471e-03 9.99985013e-01 1.79336256e-04 -9.33345092e+00] [ 2.75113419e-03 -1.94392376e-04 9.99996197e-01 -2.24143274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27037174299997 meters Centerline goodness [0,1] 0.9888005301524189 Centerline is valid? [True, True] Translation: X:168.39, Y:-9.34, Z:-2.24 [[ 9.99990019e-01 -3.86820708e-03 -2.23593916e-03 1.68394366e+02] [ 3.86854309e-03 9.99992507e-01 1.45970515e-04 -9.33893763e+00] [ 2.23535776e-03 -1.54618885e-04 9.99997490e-01 -2.24287832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30037174299997 meters Centerline goodness [0,1] 0.9909215409082877 Centerline is valid? [True, True] Translation: X:168.43, Y:-9.32, Z:-2.24 [[ 9.99998065e-01 1.89714877e-03 -5.19946788e-04 1.68426125e+02] [-1.89713129e-03 9.99998200e-01 3.40972451e-05 -9.32498550e+00] [ 5.20010540e-04 -3.31107718e-05 9.99999864e-01 -2.23950197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33037174299997 meters Centerline goodness [0,1] 0.9903990797274578 Centerline is valid? [True, True] Translation: X:168.46, Y:-9.32, Z:-2.24 [[ 9.99988664e-01 4.75146912e-03 -3.09599768e-04 1.68456394e+02] [-4.75146318e-03 9.99988712e-01 1.99313012e-05 -9.32186857e+00] [ 3.09690976e-04 -1.84600233e-05 9.99999952e-01 -2.23917382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36037174299997 meters Centerline goodness [0,1] 0.9897828298465213 Centerline is valid? [True, True] Translation: X:168.49, Y:-9.32, Z:-2.24 [[ 9.99949663e-01 1.00328603e-02 -1.18171078e-04 1.68486054e+02] [-1.00328595e-02 9.99949670e-01 7.40989491e-06 -9.31968100e+00] [ 1.18239472e-04 -6.22392809e-06 9.99999993e-01 -2.23974698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39037174299997 meters Centerline goodness [0,1] 0.9900998870456911 Centerline is valid? [True, True] Translation: X:168.52, Y:-9.32, Z:-2.24 [[ 9.99920506e-01 1.25989694e-02 -4.97430053e-04 1.68516185e+02] [-1.25989551e-02 9.99920630e-01 3.16967575e-05 -9.31805287e+00] [ 4.97789918e-04 -2.54271389e-05 9.99999876e-01 -2.23955089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42037174299998 meters Centerline goodness [0,1] 0.990877239373306 Centerline is valid? [True, True] Translation: X:168.55, Y:-9.32, Z:-2.24 [[ 9.99865712e-01 1.63877299e-02 -9.13988892e-06 1.68545042e+02] [-1.63877299e-02 9.99865712e-01 -1.29887937e-07 -9.31656529e+00] [ 9.13653289e-06 2.79652530e-07 1.00000000e+00 -2.23967085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45037174299998 meters Centerline goodness [0,1] 0.9899847111741376 Centerline is valid? [True, True] Translation: X:168.57, Y:-9.31, Z:-2.24 [[ 9.99833652e-01 1.82390290e-02 -7.58560763e-05 1.68574071e+02] [-1.82390288e-02 9.99833655e-01 3.94368410e-06 -9.31416525e+00] [ 7.59153869e-05 -2.55948692e-06 9.99999997e-01 -2.23953943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48037174299998 meters Centerline goodness [0,1] 0.9908535234973646 Centerline is valid? [True, True] Translation: X:168.60, Y:-9.32, Z:-2.24 [[ 9.99796040e-01 2.01883839e-02 5.54803222e-04 1.68601956e+02] [-2.01883662e-02 9.99796193e-01 -3.74189472e-05 -9.31575933e+00] [-5.55445577e-04 2.62107446e-05 9.99999845e-01 -2.24086374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51037174299998 meters Centerline goodness [0,1] 0.9913669064748202 Centerline is valid? [True, True] Translation: X:168.63, Y:-9.32, Z:-2.24 [[ 9.99762033e-01 2.18026988e-02 7.20751639e-04 1.68631208e+02] [-2.18026696e-02 9.99762292e-01 -4.82897174e-05 -9.31575795e+00] [-7.21633158e-04 3.25639162e-05 9.99999739e-01 -2.24073121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54037174299998 meters Centerline goodness [0,1] 0.9918250697859896 Centerline is valid? [True, True] Translation: X:168.66, Y:-9.32, Z:-2.24 [[ 9.99701890e-01 2.43588006e-02 1.66760421e-03 1.68660340e+02] [-2.43586536e-02 9.99703278e-01 -1.08397479e-04 -9.31713732e+00] [-1.66974983e-03 6.77445714e-05 9.99998604e-01 -2.24073426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57037174299998 meters Centerline goodness [0,1] 0.9917289398407876 Centerline is valid? [True, True] Translation: X:168.69, Y:-9.32, Z:-2.24 [[ 9.99669448e-01 2.56387706e-02 1.90980526e-03 1.68688762e+02] [-2.56385796e-02 9.99671270e-01 -1.24407763e-04 -9.31818858e+00] [-1.91236711e-03 7.54019459e-05 9.99998169e-01 -2.24094011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60037174299998 meters Centerline goodness [0,1] 0.9906997342781222 Centerline is valid? [True, True] Translation: X:168.72, Y:-9.32, Z:-2.24 [[ 9.99613388e-01 2.77613846e-02 1.54271917e-03 1.68717698e+02] [-2.77612624e-02 9.99614577e-01 -1.00571230e-04 -9.31915934e+00] [-1.54491657e-03 5.77045164e-05 9.99998805e-01 -2.24166109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63037174299998 meters Centerline goodness [0,1] 0.9911750430216653 Centerline is valid? [True, True] Translation: X:168.75, Y:-9.32, Z:-2.24 [[ 9.99604532e-01 2.80692040e-02 1.70292951e-03 1.68746584e+02] [-2.80690559e-02 9.99605980e-01 -1.10793925e-04 -9.32126899e+00] [-1.70536842e-03 6.29504855e-05 9.99998544e-01 -2.24267971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66037174299998 meters Centerline goodness [0,1] 0.990848401786109 Centerline is valid? [True, True] Translation: X:168.78, Y:-9.32, Z:-2.24 [[ 9.99593156e-01 2.84901207e-02 1.35506708e-03 1.68775707e+02] [-2.84900272e-02 9.99594073e-01 -8.82620642e-05 -9.32370996e+00] [-1.35703162e-03 4.96202572e-05 9.99999078e-01 -2.24358792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.690371743 meters Centerline goodness [0,1] 0.9909189572305035 Centerline is valid? [True, True] Translation: X:168.80, Y:-9.33, Z:-2.24 [[ 9.99579200e-01 2.89615899e-02 1.62752186e-03 1.68803739e+02] [-2.89614561e-02 9.99580523e-01 -1.05694297e-04 -9.32850570e+00] [-1.62990022e-03 5.85144180e-05 9.99998670e-01 -2.24460055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720371743 meters Centerline goodness [0,1] 0.9913475617872831 Centerline is valid? [True, True] Translation: X:168.83, Y:-9.33, Z:-2.24 [[ 9.99593021e-01 2.84683386e-02 1.82921508e-03 1.68831971e+02] [-2.84681693e-02 9.99594693e-01 -1.18536931e-04 -9.33144196e+00] [-1.83184823e-03 6.64142848e-05 9.99998320e-01 -2.24473511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.750371743 meters Centerline goodness [0,1] 0.9920274609677776 Centerline is valid? [True, True] Translation: X:168.86, Y:-9.33, Z:-2.24 [[ 9.99544925e-01 3.00302041e-02 2.85137522e-03 1.68861250e+02] [-3.00298016e-02 9.99548987e-01 -1.83900392e-04 -9.33137487e+00] [-2.85561178e-03 9.81904712e-05 9.99995918e-01 -2.24310649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780371743 meters Centerline goodness [0,1] 0.9924090297239446 Centerline is valid? [True, True] Translation: X:168.89, Y:-9.33, Z:-2.24 [[ 9.99498476e-01 3.15249953e-02 2.99516740e-03 1.68889632e+02] [-3.15245578e-02 9.99502959e-01 -1.93171986e-04 -9.33353759e+00] [-2.99976842e-03 9.86537780e-05 9.99995496e-01 -2.24288824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.810371743 meters Centerline goodness [0,1] 0.9917960479887086 Centerline is valid? [True, True] Translation: X:168.92, Y:-9.34, Z:-2.24 [[ 9.99473394e-01 3.22200288e-02 3.84772317e-03 1.68917215e+02] [-3.22193135e-02 9.99480792e-01 -2.47760502e-04 -9.33695137e+00] [-3.85370825e-03 1.23659031e-04 9.99992567e-01 -2.24359888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840371743 meters Centerline goodness [0,1] 0.991696663206943 Centerline is valid? [True, True] Translation: X:168.95, Y:-9.34, Z:-2.24 [[ 9.99426140e-01 3.35804221e-02 4.44371559e-03 1.68945976e+02] [-3.35794849e-02 9.99436009e-01 -2.85365551e-04 -9.34186107e+00] [-4.45079208e-03 1.35984111e-04 9.99990086e-01 -2.24351449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.870371743 meters Centerline goodness [0,1] 0.9920647132525883 Centerline is valid? [True, True] Translation: X:168.97, Y:-9.35, Z:-2.24 [[ 9.99439471e-01 3.31542220e-02 4.64132612e-03 1.68974350e+02] [-3.31531968e-02 9.99450237e-01 -2.97676643e-04 -9.34585566e+00] [-4.64864373e-03 1.43634988e-04 9.99989185e-01 -2.24408713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900371743 meters Centerline goodness [0,1] 0.9920647132525883 Centerline is valid? [True, True] Translation: X:169.00, Y:-9.35, Z:-2.24 [[ 9.99443006e-01 3.30474762e-02 4.64132716e-03 1.69001769e+02] [-3.30464499e-02 9.99453773e-01 -2.97661138e-04 -9.34751905e+00] [-4.64862889e-03 1.44115957e-04 9.99989185e-01 -2.24445969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.930371743 meters Centerline goodness [0,1] 0.9914168757427704 Centerline is valid? [True, True] Translation: X:169.03, Y:-9.35, Z:-2.25 [[ 9.99519527e-01 3.07103649e-02 4.19398391e-03 1.69029718e+02] [-3.07095070e-02 9.99528316e-01 -2.68820242e-04 -9.35466745e+00] [-4.20026124e-03 1.39895903e-04 9.99991169e-01 -2.24595234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96037174299997 meters Centerline goodness [0,1] 0.9912487081949911 Centerline is valid? [True, True] Translation: X:169.06, Y:-9.36, Z:-2.25 [[ 9.99568490e-01 2.91981433e-02 3.20955928e-03 1.69056974e+02] [-2.91976342e-02 9.99573637e-01 -2.05355766e-04 -9.36106829e+00] [-3.21418685e-03 1.11555615e-04 9.99994828e-01 -2.24756374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99037174299997 meters Centerline goodness [0,1] 0.9911053521621681 Centerline is valid? [True, True] Translation: X:169.09, Y:-9.37, Z:-2.25 [[ 9.99712745e-01 2.39141144e-02 1.59457009e-03 1.69086554e+02] [-2.39139826e-02 9.99714015e-01 -1.01640411e-04 -9.36914669e+00] [-1.59654471e-03 6.34786924e-05 9.99998724e-01 -2.24978956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02037174299997 meters Centerline goodness [0,1] 0.9906939993854528 Centerline is valid? [True, True] Translation: X:169.11, Y:-9.38, Z:-2.25 [[ 9.99794415e-01 2.02604907e-02 8.00119410e-04 1.69114942e+02] [-2.02604559e-02 9.99794735e-01 -5.15569505e-05 -9.37732606e+00] [-8.00999742e-04 3.53355672e-05 9.99999679e-01 -2.25199767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05037174299997 meters Centerline goodness [0,1] 0.9897760360794273 Centerline is valid? [True, True] Translation: X:169.14, Y:-9.38, Z:-2.25 [[ 9.99857872e-01 1.68540174e-02 4.21522570e-04 1.69144134e+02] [-1.68540072e-02 9.99857961e-01 -2.77650364e-05 -9.38031940e+00] [-4.21930649e-04 2.06567458e-05 9.99999911e-01 -2.25223459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08037174299997 meters Centerline goodness [0,1] 0.9902156068731531 Centerline is valid? [True, True] Translation: X:169.17, Y:-9.39, Z:-2.25 [[ 9.99946575e-01 1.03360917e-02 1.15065153e-04 1.69172631e+02] [-1.03360909e-02 9.99946581e-01 -7.54179053e-06 -9.39275005e+00] [-1.15136959e-04 6.35206373e-06 9.99999993e-01 -2.25379039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11037174299997 meters Centerline goodness [0,1] 0.9891689641591178 Centerline is valid? [True, True] Translation: X:169.20, Y:-9.39, Z:-2.25 [[ 9.99975292e-01 6.98962388e-03 7.48466777e-04 1.69202789e+02] [-6.98959012e-03 9.99975571e-01 -4.77169108e-05 -9.39432192e+00] [-7.48782017e-04 4.24842558e-05 9.99999719e-01 -2.25308912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14037174299997 meters Centerline goodness [0,1] 0.9890886031662731 Centerline is valid? [True, True] Translation: X:169.23, Y:-9.40, Z:-2.25 [[ 9.99999082e-01 1.28376461e-03 4.32818093e-04 1.69232259e+02] [-1.28375275e-03 9.99999176e-01 -2.76796570e-05 -9.40286494e+00] [-4.32853270e-04 2.71240002e-05 9.99999906e-01 -2.25259950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17037174299998 meters Centerline goodness [0,1] 0.9880412011173184 Centerline is valid? [True, True] Translation: X:169.26, Y:-9.41, Z:-2.25 [[ 9.99998520e-01 -1.67915022e-03 3.73959906e-04 1.69261971e+02] [ 1.67915882e-03 9.99998590e-01 -2.26723517e-05 -9.41019762e+00] [-3.73921309e-04 2.33002562e-05 9.99999930e-01 -2.25344616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20037174299998 meters Centerline goodness [0,1] 0.9877992884737107 Centerline is valid? [True, True] Translation: X:169.29, Y:-9.42, Z:-2.25 [[ 9.99970126e-01 -7.71834235e-03 4.17060320e-04 1.69292068e+02] [ 7.71835387e-03 9.99970213e-01 -2.60038953e-05 -9.41914606e+00] [-4.16847190e-04 2.92221376e-05 9.99999913e-01 -2.25470685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23037174299998 meters Centerline goodness [0,1] 0.9870277105544291 Centerline is valid? [True, True] Translation: X:169.32, Y:-9.42, Z:-2.26 [[ 9.99937651e-01 -1.11436889e-02 7.16340291e-04 1.69322789e+02] [ 1.11437243e-02 9.99937906e-01 -4.54543070e-05 -9.42395874e+00] [-7.15789282e-04 5.34341717e-05 9.99999742e-01 -2.25524197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26037174299998 meters Centerline goodness [0,1] 0.9864078938770175 Centerline is valid? [True, True] Translation: X:169.35, Y:-9.43, Z:-2.26 [[ 9.99906694e-01 -1.36374166e-02 7.89808476e-04 1.69352673e+02] [ 1.36374604e-02 9.99907004e-01 -5.01734360e-05 -9.43016032e+00] [-7.89050791e-04 6.09397364e-05 9.99999687e-01 -2.25579397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29037174299998 meters Centerline goodness [0,1] 0.9862548195264339 Centerline is valid? [True, True] Translation: X:169.38, Y:-9.43, Z:-2.25 [[ 9.99857754e-01 -1.67330347e-02 2.11582521e-03 1.69383324e+02] [ 1.67333557e-02 9.99859979e-01 -1.34084030e-04 -9.43199432e+00] [-2.11328532e-03 1.69469813e-04 9.99997753e-01 -2.25413229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32037174299998 meters Centerline goodness [0,1] 0.9862757058208435 Centerline is valid? [True, True] Translation: X:169.42, Y:-9.43, Z:-2.25 [[ 9.99842746e-01 -1.74509854e-02 3.15366267e-03 1.69415540e+02] [ 1.74517015e-02 9.99847688e-01 -1.99690284e-04 -9.43462087e+00] [-3.14969754e-03 2.54695661e-04 9.99995007e-01 -2.25343331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35037174299998 meters Centerline goodness [0,1] 0.9859231539097515 Centerline is valid? [True, True] Translation: X:169.45, Y:-9.44, Z:-2.25 [[ 9.99811940e-01 -1.87453970e-02 4.96929247e-03 1.69447171e+02] [ 1.87471962e-02 9.99824206e-01 -3.15718397e-04 -9.43701657e+00] [-4.96250063e-03 4.08819324e-04 9.99987603e-01 -2.25148991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38037174299998 meters Centerline goodness [0,1] 0.986049654510975 Centerline is valid? [True, True] Translation: X:169.48, Y:-9.44, Z:-2.25 [[ 9.99791143e-01 -1.96106866e-02 5.75250093e-03 1.69479373e+02] [ 1.96131134e-02 9.99807577e-01 -3.65757549e-04 -9.43826303e+00] [-5.74422126e-03 4.78505611e-04 9.99983387e-01 -2.25112126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41037174299998 meters Centerline goodness [0,1] 0.9855641327576432 Centerline is valid? [True, True] Translation: X:169.51, Y:-9.44, Z:-2.25 [[ 9.99771190e-01 -2.04556581e-02 6.25569137e-03 1.69511599e+02] [ 2.04585478e-02 9.99790623e-01 -3.98288012e-04 -9.44155127e+00] [-6.24623432e-03 5.26179241e-04 9.99980354e-01 -2.25142715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440371743 meters Centerline goodness [0,1] 0.9861301929996729 Centerline is valid? [True, True] Translation: X:169.54, Y:-9.44, Z:-2.25 [[ 9.99708763e-01 -2.34334300e-02 5.76737344e-03 1.69541808e+02] [ 2.34359404e-02 9.99725273e-01 -3.68063069e-04 -9.44185234e+00] [-5.75716401e-03 5.03119695e-04 9.99983301e-01 -2.25181857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.470371743 meters Centerline goodness [0,1] 0.9862753654811259 Centerline is valid? [True, True] Translation: X:169.57, Y:-9.45, Z:-2.25 [[ 9.99679796e-01 -2.48221101e-02 4.91617758e-03 1.69573022e+02] [ 2.48239495e-02 9.99691789e-01 -3.13473308e-04 -9.44514366e+00] [-4.90688129e-03 4.35411876e-04 9.99987866e-01 -2.25304069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500371743 meters Centerline goodness [0,1] 0.9867158188639735 Centerline is valid? [True, True] Translation: X:169.60, Y:-9.44, Z:-2.25 [[ 9.99615762e-01 -2.75058895e-02 3.42851518e-03 1.69603812e+02] [ 2.75068008e-02 9.99621592e-01 -2.18910563e-04 -9.44351030e+00] [-3.42119647e-03 3.13133933e-04 9.99994099e-01 -2.25462044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.530371743 meters Centerline goodness [0,1] 0.9858441332521527 Centerline is valid? [True, True] Translation: X:169.63, Y:-9.45, Z:-2.26 [[ 9.99602747e-01 -2.80144839e-02 3.08828209e-03 1.69633934e+02] [ 2.80152217e-02 9.99607477e-01 -1.95882894e-04 -9.45229745e+00] [-3.08158231e-03 2.82323987e-04 9.99995212e-01 -2.25576673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560371743 meters Centerline goodness [0,1] 0.9861293141109655 Centerline is valid? [True, True] Translation: X:169.67, Y:-9.45, Z:-2.26 [[ 9.99574358e-01 -2.90318118e-02 2.87336924e-03 1.69666223e+02] [ 2.90324572e-02 9.99578453e-01 -1.83117824e-04 -9.45238377e+00] [-2.86684174e-03 2.66460851e-04 9.99995855e-01 -2.25635982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.590371743 meters Centerline goodness [0,1] 0.9859453551912568 Centerline is valid? [True, True] Translation: X:169.70, Y:-9.45, Z:-2.26 [[ 9.99568957e-01 -2.93169986e-02 1.55348150e-03 1.69697902e+02] [ 2.93171874e-02 9.99570154e-01 -9.88792556e-05 -9.45383708e+00] [-1.54991490e-03 1.44380343e-04 9.99998788e-01 -2.25782148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620371743 meters Centerline goodness [0,1] 0.9857420467695801 Centerline is valid? [True, True] Translation: X:169.73, Y:-9.46, Z:-2.26 [[ 9.99578876e-01 -2.90032615e-02 9.38979979e-04 1.69729813e+02] [ 2.90033299e-02 9.99579313e-01 -5.92963598e-05 -9.45532618e+00] [-9.36865174e-04 8.65049347e-05 9.99999557e-01 -2.25961968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.650371743 meters Centerline goodness [0,1] 0.9861435398345954 Centerline is valid? [True, True] Translation: X:169.76, Y:-9.45, Z:-2.26 [[ 9.99593399e-01 -2.85085087e-02 5.49419646e-04 1.69762584e+02] [ 2.85085319e-02 9.99593549e-01 -3.43102153e-05 -9.45338290e+00] [-5.48218201e-04 4.99594122e-05 9.99999848e-01 -2.25995261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680371743 meters Centerline goodness [0,1] 0.9866655008088139 Centerline is valid? [True, True] Translation: X:169.79, Y:-9.46, Z:-2.26 [[ 9.99619949e-01 -2.75668761e-02 1.58393047e-04 1.69793327e+02] [ 2.75668779e-02 9.99619961e-01 -9.44321287e-06 -9.45671956e+00] [-1.58072532e-04 1.38060258e-05 9.99999987e-01 -2.26029966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71037174299997 meters Centerline goodness [0,1] 0.9864243485876943 Centerline is valid? [True, True] Translation: X:169.82, Y:-9.46, Z:-2.26 [[ 9.99652139e-01 -2.63470098e-02 1.19821645e-03 1.69823753e+02] [ 2.63471207e-02 9.99652851e-01 -7.68539347e-05 -9.45605369e+00] [-1.19577562e-03 1.08396754e-04 9.99999279e-01 -2.25943493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74037174299997 meters Centerline goodness [0,1] 0.9864394916996566 Centerline is valid? [True, True] Translation: X:169.85, Y:-9.46, Z:-2.26 [[ 9.99706581e-01 -2.42044475e-02 9.47276560e-04 1.69853685e+02] [ 2.42045160e-02 9.99707026e-01 -6.09533693e-05 -9.45871535e+00] [-9.45523690e-04 8.38638550e-05 9.99999549e-01 -2.25958347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77037174299997 meters Centerline goodness [0,1] 0.986078581591332 Centerline is valid? [True, True] Translation: X:169.88, Y:-9.46, Z:-2.26 [[ 9.99745311e-01 -2.24499254e-02 2.30506712e-03 1.69883426e+02] [ 2.24503266e-02 9.99747949e-01 -1.48321634e-04 -9.45992895e+00] [-2.30115631e-03 2.00033368e-04 9.99997332e-01 -2.25897082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80037174299997 meters Centerline goodness [0,1] 0.9878225064610802 Centerline is valid? [True, True] Translation: X:169.92, Y:-9.45, Z:-2.26 [[ 9.99769050e-01 -2.13428396e-02 2.51576895e-03 1.69915137e+02] [ 2.13433131e-02 9.99772193e-01 -1.61478829e-04 -9.45462391e+00] [-2.51174942e-03 2.15136379e-04 9.99996822e-01 -2.25807798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83037174299997 meters Centerline goodness [0,1] 0.9879004025905829 Centerline is valid? [True, True] Translation: X:169.95, Y:-9.45, Z:-2.26 [[ 9.99833414e-01 -1.80069097e-02 2.98269304e-03 1.69946209e+02] [ 1.80075619e-02 9.99837832e-01 -1.91975352e-04 -9.45321870e+00] [-2.97875246e-03 2.45654401e-04 9.99995533e-01 -2.25824215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86037174299997 meters Centerline goodness [0,1] 0.9878643430345703 Centerline is valid? [True, True] Translation: X:169.98, Y:-9.45, Z:-2.26 [[ 9.99850889e-01 -1.69918883e-02 3.07816093e-03 1.69978490e+02] [ 1.69925762e-02 9.99855596e-01 -1.97447693e-04 -9.45454189e+00] [-3.07436142e-03 2.49724135e-04 9.99995243e-01 -2.25897427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89037174299997 meters Centerline goodness [0,1] 0.9888289000087789 Centerline is valid? [True, True] Translation: X:170.01, Y:-9.45, Z:-2.26 [[ 9.99901178e-01 -1.39687073e-02 1.58428835e-03 1.70009495e+02] [ 1.39688862e-02 9.99902425e-01 -1.01907747e-04 -9.45061478e+00] [-1.58271025e-03 1.24028420e-04 9.99998740e-01 -2.26018298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92037174299998 meters Centerline goodness [0,1] 0.9884602703593801 Centerline is valid? [True, True] Translation: X:170.04, Y:-9.45, Z:-2.26 [[ 9.99940870e-01 -1.08474720e-02 7.67088005e-04 1.70039556e+02] [ 1.08475131e-02 9.99941163e-01 -4.94598110e-05 -9.45325527e+00] [-7.66506358e-04 5.77778837e-05 9.99999705e-01 -2.26206541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95037174299998 meters Centerline goodness [0,1] 0.9885914006858348 Centerline is valid? [True, True] Translation: X:170.07, Y:-9.45, Z:-2.26 [[ 9.99954624e-01 -9.51333087e-03 4.97375374e-04 1.70071003e+02] [ 9.51334776e-03 9.99954747e-01 -3.16060920e-05 -9.45154020e+00] [-4.97052187e-04 3.63363627e-05 9.99999876e-01 -2.26263533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98037174299998 meters Centerline goodness [0,1] 0.9893322797313315 Centerline is valid? [True, True] Translation: X:170.10, Y:-9.45, Z:-2.26 [[ 9.99984137e-01 -5.63117599e-03 1.24965499e-04 1.70101177e+02] [ 5.63117707e-03 9.99984145e-01 -8.26687390e-06 -9.44939689e+00] [-1.24916966e-04 8.97044563e-06 9.99999992e-01 -2.26338817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01037174299998 meters Centerline goodness [0,1] 0.9889062534392815 Centerline is valid? [True, True] Translation: X:170.13, Y:-9.45, Z:-2.26 [[ 9.99990908e-01 -4.23874923e-03 4.66236628e-04 1.70131537e+02] [ 4.23876360e-03 9.99991016e-01 -2.98445540e-05 -9.44994368e+00] [-4.66105935e-04 3.18205495e-05 9.99999891e-01 -2.26350035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04037174299998 meters Centerline goodness [0,1] 0.9898803238296374 Centerline is valid? [True, True] Translation: X:170.16, Y:-9.44, Z:-2.26 [[ 9.99996580e-01 1.56096750e-04 2.61075024e-03 1.70162911e+02] [-1.55657702e-04 9.99999974e-01 -1.68371385e-04 -9.43966120e+00] [-2.61077645e-03 1.67964426e-04 9.99996578e-01 -2.26061818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07037174299998 meters Centerline goodness [0,1] 0.9895568851698938 Centerline is valid? [True, True] Translation: X:170.19, Y:-9.44, Z:-2.26 [[ 9.99991281e-01 1.28387581e-03 3.97357178e-03 1.70194028e+02] [-1.28286855e-03 9.99999144e-01 -2.56027431e-04 -9.44002324e+00] [-3.97389709e-03 2.50927628e-04 9.99992073e-01 -2.26010293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10037174299998 meters Centerline goodness [0,1] 0.9892541924095322 Centerline is valid? [True, True] Translation: X:170.22, Y:-9.44, Z:-2.26 [[ 9.99981629e-01 3.43122936e-03 4.99679786e-03 1.70224833e+02] [-3.42966169e-03 9.99994067e-01 -3.22269368e-04 -9.44269533e+00] [-4.99787400e-03 3.05126122e-04 9.99987464e-01 -2.26036762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13037174299998 meters Centerline goodness [0,1] 0.9889889227238625 Centerline is valid? [True, True] Translation: X:170.26, Y:-9.44, Z:-2.26 [[ 9.99961474e-01 6.60131969e-03 5.78563138e-03 1.70256050e+02] [-6.59926814e-03 9.99978155e-01 -3.73612998e-04 -9.44061194e+00] [-5.78797133e-03 3.35417671e-04 9.99983193e-01 -2.26069077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16037174299998 meters Centerline goodness [0,1] 0.9893577007323495 Centerline is valid? [True, True] Translation: X:170.29, Y:-9.44, Z:-2.26 [[ 9.99949763e-01 8.65266581e-03 5.05992661e-03 1.70287209e+02] [-8.65112282e-03 9.99962525e-01 -3.26752244e-04 -9.43808329e+00] [-5.06256427e-03 2.82961782e-04 9.99987145e-01 -2.26111917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.190371743 meters Centerline goodness [0,1] 0.9886318484835107 Centerline is valid? [True, True] Translation: X:170.32, Y:-9.44, Z:-2.26 [[ 9.99939211e-01 1.01351268e-02 4.34202898e-03 1.70316777e+02] [-1.01340051e-02 9.99948610e-01 -2.80265837e-04 -9.44217659e+00] [-4.34464638e-03 2.36246656e-04 9.99990534e-01 -2.26277779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220371743 meters Centerline goodness [0,1] 0.9902846165735609 Centerline is valid? [True, True] Translation: X:170.35, Y:-9.44, Z:-2.26 [[ 9.99937480e-01 1.08320274e-02 2.77562105e-03 1.70345789e+02] [-1.08315687e-02 9.99941321e-01 -1.80229342e-04 -9.44176911e+00] [-2.77741043e-03 1.50153744e-04 9.99996132e-01 -2.26487957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.250371743 meters Centerline goodness [0,1] 0.9895900241422845 Centerline is valid? [True, True] Translation: X:170.37, Y:-9.44, Z:-2.27 [[ 9.99940577e-01 1.06644986e-02 2.26081945e-03 1.70373324e+02] [-1.06641932e-02 9.99943125e-01 -1.47100302e-04 -9.44440584e+00] [-2.26225962e-03 1.22981745e-04 9.99997434e-01 -2.26631507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280371743 meters Centerline goodness [0,1] 0.9895508627123853 Centerline is valid? [True, True] Translation: X:170.40, Y:-9.45, Z:-2.27 [[ 9.99940160e-01 1.08399436e-02 1.47381387e-03 1.70402112e+02] [-1.08398140e-02 9.99941243e-01 -9.58878192e-05 -9.44553861e+00] [-1.47476669e-03 7.99062131e-05 9.99998909e-01 -2.26712609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.310371743 meters Centerline goodness [0,1] 0.9899177500663305 Centerline is valid? [True, True] Translation: X:170.43, Y:-9.44, Z:-2.27 [[ 9.99939176e-01 1.10291305e-02 5.04056094e-05 1.70431025e+02] [-1.10291303e-02 9.99939177e-01 -4.20490026e-06 -9.44392872e+00] [-5.04489201e-05 3.64871447e-06 9.99999999e-01 -2.26793687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340371743 meters Centerline goodness [0,1] 0.9890352816340967 Centerline is valid? [True, True] Translation: X:170.46, Y:-9.45, Z:-2.27 [[ 9.99933354e-01 1.15448348e-02 -6.84738382e-05 1.70458525e+02] [-1.15448346e-02 9.99933356e-01 3.20906537e-06 -9.44652920e+00] [ 6.85063229e-05 -2.41833235e-06 9.99999998e-01 -2.26881260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.370371743 meters Centerline goodness [0,1] 0.9901861102515361 Centerline is valid? [True, True] Translation: X:170.49, Y:-9.44, Z:-2.27 [[ 9.99923033e-01 1.24043089e-02 -2.46405002e-04 1.70487526e+02] [-1.24043056e-02 9.99923064e-01 1.48345493e-05 -9.44265903e+00] [ 2.46570057e-04 -1.17769246e-05 9.99999970e-01 -2.26785869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400371743 meters Centerline goodness [0,1] 0.9893006667700419 Centerline is valid? [True, True] Translation: X:170.52, Y:-9.45, Z:-2.27 [[ 9.99915277e-01 1.30160228e-02 1.51535535e-04 1.70515462e+02] [-1.30160213e-02 9.99915288e-01 -1.09336696e-05 -9.44617871e+00] [-1.51665011e-04 8.96035353e-06 9.99999988e-01 -2.26862796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.430371743 meters Centerline goodness [0,1] 0.9897810218978103 Centerline is valid? [True, True] Translation: X:170.54, Y:-9.45, Z:-2.27 [[ 9.99891067e-01 1.47473414e-02 6.07667876e-04 1.70544811e+02] [-1.47473200e-02 9.99891252e-01 -3.96470586e-05 -9.44565148e+00] [-6.08186482e-04 3.06812671e-05 9.99999815e-01 -2.26863276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46037174299997 meters Centerline goodness [0,1] 0.9899977871210445 Centerline is valid? [True, True] Translation: X:170.57, Y:-9.44, Z:-2.27 [[ 9.99804519e-01 1.97630379e-02 5.87552232e-04 1.70574932e+02] [-1.97630191e-02 9.99804692e-01 -3.77390972e-05 -9.44355543e+00] [-5.88183317e-04 2.61199140e-05 9.99999827e-01 -2.26833425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49037174299997 meters Centerline goodness [0,1] 0.9903763381525218 Centerline is valid? [True, True] Translation: X:170.61, Y:-9.44, Z:-2.27 [[ 9.99703260e-01 2.42284015e-02 2.52504473e-03 1.70605376e+02] [-2.42280697e-02 9.99706444e-01 -1.61910067e-04 -9.44221529e+00] [-2.52822631e-03 1.00685062e-04 9.99996799e-01 -2.26789606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52037174299997 meters Centerline goodness [0,1] 0.9901542137752506 Centerline is valid? [True, True] Translation: X:170.63, Y:-9.44, Z:-2.27 [[ 9.99650556e-01 2.62142055e-02 3.40313479e-03 1.70633233e+02] [-2.62136124e-02 9.99656340e-01 -2.18787960e-04 -9.44287791e+00] [-3.40770063e-03 1.29503050e-04 9.99994185e-01 -2.26759430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55037174299997 meters Centerline goodness [0,1] 0.9902231856488752 Centerline is valid? [True, True] Translation: X:170.66, Y:-9.44, Z:-2.27 [[ 9.99599438e-01 2.79132086e-02 4.67086059e-03 1.70662118e+02] [-2.79121146e-02 9.99610336e-01 -2.99268533e-04 -9.44335959e+00] [-4.67739407e-03 1.68775062e-04 9.99989047e-01 -2.26676580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58037174299997 meters Centerline goodness [0,1] 0.9898692086011971 Centerline is valid? [True, True] Translation: X:170.69, Y:-9.44, Z:-2.27 [[ 9.99555423e-01 2.93078230e-02 5.47785335e-03 1.70691264e+02] [-2.93063421e-02 9.99570415e-01 -3.50424682e-04 -9.44334099e+00] [-5.48577033e-03 1.89733047e-04 9.99984935e-01 -2.26620020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61037174299997 meters Centerline goodness [0,1] 0.9902839563552663 Centerline is valid? [True, True] Translation: X:170.72, Y:-9.45, Z:-2.27 [[ 9.99513259e-01 3.05210277e-02 6.45851087e-03 1.70719975e+02] [-3.05189986e-02 9.99534102e-01 -4.12518542e-04 -9.44561796e+00] [-6.46809235e-03 2.15210468e-04 9.99979059e-01 -2.26644547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64037174299997 meters Centerline goodness [0,1] 0.9901854354520682 Centerline is valid? [True, True] Translation: X:170.75, Y:-9.45, Z:-2.27 [[ 9.99533237e-01 2.99452977e-02 6.04878452e-03 1.70748582e+02] [-2.99435096e-02 9.99551518e-01 -3.85985559e-04 -9.44796017e+00] [-6.05763020e-03 2.04683557e-04 9.99981631e-01 -2.26726997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67037174299998 meters Centerline goodness [0,1] 0.9893892167915644 Centerline is valid? [True, True] Translation: X:170.78, Y:-9.45, Z:-2.27 [[ 9.99590772e-01 2.80404674e-02 5.65871001e-03 1.70776508e+02] [-2.80388731e-02 9.99606768e-01 -3.60892569e-04 -9.45384360e+00] [-5.66660442e-03 2.02081030e-04 9.99983924e-01 -2.26938324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70037174299998 meters Centerline goodness [0,1] 0.9899319968206306 Centerline is valid? [True, True] Translation: X:170.80, Y:-9.46, Z:-2.27 [[ 9.99638266e-01 2.63523958e-02 5.37471641e-03 1.70804060e+02] [-2.63509355e-02 9.99652695e-01 -3.42346442e-04 -9.45912728e+00] [-5.38187139e-03 2.00593799e-04 9.99985498e-01 -2.27063989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73037174299998 meters Centerline goodness [0,1] 0.990145170912787 Centerline is valid? [True, True] Translation: X:170.83, Y:-9.46, Z:-2.27 [[ 9.99710031e-01 2.34866860e-02 5.31322263e-03 1.70832876e+02] [-2.34852225e-02 9.99724127e-01 -3.37671063e-04 -9.46339985e+00] [-5.31968763e-03 2.12790933e-04 9.99985828e-01 -2.27124948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76037174299998 meters Centerline goodness [0,1] 0.9899167804147769 Centerline is valid? [True, True] Translation: X:170.86, Y:-9.47, Z:-2.27 [[ 9.99803737e-01 1.92355007e-02 4.74172052e-03 1.70861441e+02] [-1.92342890e-02 9.99814959e-01 -3.01010057e-04 -9.47178909e+00] [-4.74663319e-03 2.09747357e-04 9.99988713e-01 -2.27275844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79037174299998 meters Centerline goodness [0,1] 0.9899167804147769 Centerline is valid? [True, True] Translation: X:170.89, Y:-9.47, Z:-2.27 [[ 9.99805108e-01 1.91640991e-02 4.74171150e-03 1.70889720e+02] [-1.91628860e-02 9.99816330e-01 -3.01152681e-04 -9.47352132e+00] [-4.74661191e-03 2.10229112e-04 9.99988713e-01 -2.27314252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82037174299998 meters Centerline goodness [0,1] 0.9902473467046181 Centerline is valid? [True, True] Translation: X:170.92, Y:-9.48, Z:-2.27 [[ 9.99840798e-01 1.73981069e-02 3.96033974e-03 1.70918686e+02] [-1.73972475e-02 9.99848625e-01 -2.51364502e-04 -9.47583652e+00] [-3.96411351e-03 1.82425474e-04 9.99992126e-01 -2.27304839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85037174299998 meters Centerline goodness [0,1] 0.9900275785990071 Centerline is valid? [True, True] Translation: X:170.95, Y:-9.48, Z:-2.27 [[ 9.99891247e-01 1.42491396e-02 3.80207627e-03 1.70946740e+02] [-1.42483254e-02 9.99898458e-01 -2.41146192e-04 -9.48272732e+00] [-3.80512633e-03 1.86946747e-04 9.99992743e-01 -2.27369315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88037174299998 meters Centerline goodness [0,1] 0.9904719894133216 Centerline is valid? [True, True] Translation: X:170.97, Y:-9.49, Z:-2.27 [[ 9.99905369e-01 1.32011839e-02 3.87064727e-03 1.70974944e+02] [-1.32003327e-02 9.99912842e-01 -2.45374857e-04 -9.48589334e+00] [-3.87354915e-03 1.94257805e-04 9.99992479e-01 -2.27377599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91037174299998 meters Centerline goodness [0,1] 0.9904146330739129 Centerline is valid? [True, True] Translation: X:171.00, Y:-9.49, Z:-2.27 [[ 9.99924582e-01 1.11636645e-02 5.11884762e-03 1.71003049e+02] [-1.11621552e-02 9.99937649e-01 -3.23335482e-04 -9.49274292e+00] [-5.12213806e-03 2.66173725e-04 9.99986846e-01 -2.27312917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940371743 meters Centerline goodness [0,1] 0.9894660290455517 Centerline is valid? [True, True] Translation: X:171.03, Y:-9.50, Z:-2.27 [[ 9.99933901e-01 9.76385445e-03 6.07137747e-03 1.71032362e+02] [-9.76170910e-03 9.99952280e-01 -3.82889444e-04 -9.49602053e+00] [-6.07482622e-03 3.23597114e-04 9.99981496e-01 -2.27276425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.970371743 meters Centerline goodness [0,1] 0.9900983563271503 Centerline is valid? [True, True] Translation: X:171.06, Y:-9.50, Z:-2.27 [[ 9.99941544e-01 8.21189745e-03 7.03374575e-03 1.71061426e+02] [-8.20898294e-03 9.99966208e-01 -4.43131804e-04 -9.50095094e+00] [-7.03714702e-03 3.85366001e-04 9.99975165e-01 -2.27264123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000371743 meters Centerline goodness [0,1] 0.989578076661474 Centerline is valid? [True, True] Translation: X:171.09, Y:-9.50, Z:-2.27 [[ 9.99946276e-01 7.16467121e-03 7.49088232e-03 1.71092083e+02] [-7.16133817e-03 9.99974246e-01 -4.71673829e-04 -9.50455569e+00] [-7.49406878e-03 4.18003747e-04 9.99971832e-01 -2.27254503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.030371743 meters Centerline goodness [0,1] 0.9894723018669702 Centerline is valid? [True, True] Translation: X:171.12, Y:-9.51, Z:-2.27 [[ 9.99948008e-01 6.51774652e-03 7.84216456e-03 1.71121980e+02] [-6.51407721e-03 9.99978661e-01 -4.93347540e-04 -9.51073694e+00] [-7.84521273e-03 4.42237425e-04 9.99969128e-01 -2.27290860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060371743 meters Centerline goodness [0,1] 0.9898161182474046 Centerline is valid? [True, True] Translation: X:171.15, Y:-9.51, Z:-2.27 [[ 9.99941860e-01 7.94352357e-03 7.29220099e-03 1.71152954e+02] [-7.94038310e-03 9.99968369e-01 -4.59513660e-04 -9.51314043e+00] [-7.29562049e-03 4.01584074e-04 9.99973306e-01 -2.27383268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.090371743 meters Centerline goodness [0,1] 0.9902376816692685 Centerline is valid? [True, True] Translation: X:171.18, Y:-9.51, Z:-2.27 [[ 9.99920608e-01 1.06378290e-02 6.75376656e-03 1.71184326e+02] [-1.06351936e-02 9.99943354e-01 -4.26010282e-04 -9.51014289e+00] [-6.75791581e-03 3.54148846e-04 9.99977102e-01 -2.27426413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120371743 meters Centerline goodness [0,1] 0.9899574617374907 Centerline is valid? [True, True] Translation: X:171.21, Y:-9.51, Z:-2.27 [[ 9.99899997e-01 1.27684308e-02 6.07971027e-03 1.71213824e+02] [-1.27663334e-02 9.99918433e-01 -3.83664300e-04 -9.51182918e+00] [-6.08411316e-03 3.06010324e-04 9.99981445e-01 -2.27477825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.150371743 meters Centerline goodness [0,1] 0.9898969932573412 Centerline is valid? [True, True] Translation: X:171.24, Y:-9.51, Z:-2.28 [[ 9.99790066e-01 1.99274495e-02 4.76665886e-03 1.71243606e+02] [-1.99262422e-02 9.99801408e-01 -3.00635832e-04 -9.51359527e+00] [-4.77170314e-03 2.05591119e-04 9.99988594e-01 -2.27545289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180371743 meters Centerline goodness [0,1] 0.991561734872333 Centerline is valid? [True, True] Translation: X:171.27, Y:-9.51, Z:-2.28 [[ 9.99692219e-01 2.44653948e-02 4.11227344e-03 1.71273695e+02] [-2.44645340e-02 9.99700665e-01 -2.59496257e-04 -9.51076498e+00] [-4.11739117e-03 1.58811536e-04 9.99991511e-01 -2.27540716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21037174299997 meters Centerline goodness [0,1] 0.9906837757075058 Centerline is valid? [True, True] Translation: X:171.30, Y:-9.51, Z:-2.28 [[ 9.99542655e-01 3.00513780e-02 3.37583362e-03 1.71303640e+02] [-3.00508298e-02 9.99548349e-01 -2.13006165e-04 -9.51068781e+00] [-3.38071005e-03 1.11462146e-04 9.99994279e-01 -2.27644214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24037174299997 meters Centerline goodness [0,1] 0.9922351392849309 Centerline is valid? [True, True] Translation: X:171.33, Y:-9.51, Z:-2.28 [[ 9.99396328e-01 3.45661060e-02 3.48774074e-03 1.71333720e+02] [-3.45655479e-02 9.99402409e-01 -2.20187798e-04 -9.50785822e+00] [-3.49326753e-03 9.94992067e-05 9.99993894e-01 -2.27604309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27037174299997 meters Centerline goodness [0,1] 0.9930178943901635 Centerline is valid? [True, True] Translation: X:171.36, Y:-9.50, Z:-2.28 [[ 9.98884764e-01 4.71485705e-02 2.49826867e-03 1.71363594e+02] [-4.71483237e-02 9.98887887e-01 -1.57606911e-04 -9.50466043e+00] [-2.50292126e-03 3.96419617e-05 9.99996867e-01 -2.27632307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30037174299997 meters Centerline goodness [0,1] 0.9937985178017725 Centerline is valid? [True, True] Translation: X:171.39, Y:-9.50, Z:-2.28 [[ 9.98624762e-01 5.23724730e-02 2.38944158e-03 1.71392928e+02] [-5.23722594e-02 9.98627620e-01 -1.51881890e-04 -9.50282070e+00] [-2.39411678e-03 2.65325621e-05 9.99997134e-01 -2.27608131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33037174299997 meters Centerline goodness [0,1] 0.9948787832164758 Centerline is valid? [True, True] Translation: X:171.42, Y:-9.50, Z:-2.28 [[ 9.97982401e-01 6.34782357e-02 1.28060469e-03 1.71421968e+02] [-6.34781807e-02 9.97983223e-01 -8.35977171e-05 -9.50021968e+00] [-1.28332863e-03 2.13859456e-06 9.99999177e-01 -2.27553316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36037174299997 meters Centerline goodness [0,1] 0.995492722395673 Centerline is valid? [True, True] Translation: X:171.45, Y:-9.50, Z:-2.28 [[ 9.97688000e-01 6.79450751e-02 1.45663271e-03 1.71450295e+02] [-6.79450099e-02 9.97689063e-01 -9.42372513e-05 -9.50138332e+00] [-1.45966948e-03 -4.95154933e-06 9.99998935e-01 -2.27598537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39037174299997 meters Centerline goodness [0,1] 0.9959655316069902 Centerline is valid? [True, True] Translation: X:171.48, Y:-9.50, Z:-2.28 [[ 9.97396812e-01 7.20943833e-02 1.41386764e-03 1.71478270e+02] [-7.20943292e-02 9.97397814e-01 -8.92158895e-05 -9.50281652e+00] [-1.41662046e-03 -1.29481957e-05 9.99998997e-01 -2.27706718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42037174299998 meters Centerline goodness [0,1] 0.9958736327314804 Centerline is valid? [True, True] Translation: X:171.51, Y:-9.51, Z:-2.28 [[ 9.96941523e-01 7.81277822e-02 1.91013920e-03 1.71507003e+02] [-7.81276922e-02 9.96943353e-01 -1.21808184e-04 -9.50756806e+00] [-1.91381718e-03 -2.77991308e-05 9.99998168e-01 -2.27689554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45037174299998 meters Centerline goodness [0,1] 0.9957540391063885 Centerline is valid? [True, True] Translation: X:171.54, Y:-9.51, Z:-2.28 [[ 9.96807499e-01 7.98207712e-02 1.85879523e-03 1.71535303e+02] [-7.98206896e-02 9.96809231e-01 -1.18170277e-04 -9.51231589e+00] [-1.86229668e-03 -3.05772990e-05 9.99998265e-01 -2.27698464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48037174299998 meters Centerline goodness [0,1] 0.9965910324611877 Centerline is valid? [True, True] Translation: X:171.56, Y:-9.52, Z:-2.28 [[ 9.96808653e-01 7.97889652e-02 2.49610132e-03 1.71562446e+02] [-7.97888270e-02 9.96811777e-01 -1.55080079e-04 -9.52212387e+00] [-2.50051688e-03 -4.45758321e-05 9.99996873e-01 -2.27708943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51037174299998 meters Centerline goodness [0,1] 0.996801148975062 Centerline is valid? [True, True] Translation: X:171.59, Y:-9.53, Z:-2.28 [[ 9.96981586e-01 7.75867436e-02 2.83113148e-03 1.71589841e+02] [-7.75865581e-02 9.96985604e-01 -1.75468654e-04 -9.52862843e+00] [-2.83621137e-03 -4.47187302e-05 9.99995977e-01 -2.27765318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54037174299998 meters Centerline goodness [0,1] 0.9964031115252108 Centerline is valid? [True, True] Translation: X:171.62, Y:-9.54, Z:-2.28 [[ 9.97093621e-01 7.61468445e-02 2.44324529e-03 1.71618023e+02] [-7.61466978e-02 9.97096614e-01 -1.53132871e-04 -9.53722435e+00] [-2.44781219e-03 -3.33572521e-05 9.99997004e-01 -2.27825191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57037174299998 meters Centerline goodness [0,1] 0.9963801684945379 Centerline is valid? [True, True] Translation: X:171.65, Y:-9.55, Z:-2.28 [[ 9.97490144e-01 7.07872021e-02 1.60738565e-03 1.71645413e+02] [-7.07871304e-02 9.97491439e-01 -1.01538716e-04 -9.55389362e+00] [-1.61054107e-03 -1.24983495e-05 9.99998703e-01 -2.28016179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60037174299998 meters Centerline goodness [0,1] 0.9958882287092052 Centerline is valid? [True, True] Translation: X:171.67, Y:-9.56, Z:-2.28 [[ 9.97708945e-01 6.76384885e-02 1.37677868e-03 1.71672242e+02] [-6.76384354e-02 9.97709895e-01 -8.51437004e-05 -9.56289785e+00] [-1.37938471e-03 -8.17452449e-06 9.99999049e-01 -2.28164084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63037174299998 meters Centerline goodness [0,1] 0.9941899105975173 Centerline is valid? [True, True] Translation: X:171.70, Y:-9.58, Z:-2.28 [[ 9.97958624e-01 6.38023616e-02 2.80064636e-03 1.71700530e+02] [-6.38021314e-02 9.97962554e-01 -1.71547251e-04 -9.57916690e+00] [-2.80588532e-03 -7.49014861e-06 9.99996063e-01 -2.28173207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66037174299998 meters Centerline goodness [0,1] 0.9940108232978974 Centerline is valid? [True, True] Translation: X:171.73, Y:-9.59, Z:-2.28 [[ 9.97993309e-01 6.32315009e-02 3.33659070e-03 1.71727401e+02] [-6.32311718e-02 9.97998886e-01 -2.04118524e-04 -9.58742634e+00] [-3.34282052e-03 -7.26761880e-06 9.99994413e-01 -2.28160328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.690371743 meters Centerline goodness [0,1] 0.993653303701171 Centerline is valid? [True, True] Translation: X:171.76, Y:-9.60, Z:-2.28 [[ 9.98075530e-01 6.18412827e-02 4.57080467e-03 1.71756241e+02] [-6.18406486e-02 9.98085996e-01 -2.80058835e-04 -9.59518456e+00] [-4.57937533e-03 -3.14165598e-06 9.99989515e-01 -2.28163850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720371743 meters Centerline goodness [0,1] 0.9928645977550108 Centerline is valid? [True, True] Translation: X:171.78, Y:-9.61, Z:-2.28 [[ 9.98110690e-01 6.12146800e-02 5.27378900e-03 1.71782975e+02] [-6.12138429e-02 9.98124623e-01 -3.20158684e-04 -9.60876851e+00] [-5.28349707e-03 -3.27508648e-06 9.99986042e-01 -2.28184969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.750371743 meters Centerline goodness [0,1] 0.9925995236474991 Centerline is valid? [True, True] Translation: X:171.81, Y:-9.62, Z:-2.28 [[ 9.98170565e-01 6.02596186e-02 4.92975999e-03 1.71809206e+02] [-6.02588758e-02 9.98182738e-01 -2.99209012e-04 -9.61657049e+00] [-4.93883154e-03 1.59983340e-06 9.99987804e-01 -2.28247170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780371743 meters Centerline goodness [0,1] 0.9910731324611437 Centerline is valid? [True, True] Translation: X:171.84, Y:-9.63, Z:-2.28 [[ 9.98432198e-01 5.56661098e-02 5.86770200e-03 1.71836337e+02] [-5.56649852e-02 9.98449440e-01 -3.54929337e-04 -9.63102022e+00] [-5.87836131e-03 2.77473328e-05 9.99982722e-01 -2.28375366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.810371743 meters Centerline goodness [0,1] 0.9904401345149214 Centerline is valid? [True, True] Translation: X:171.86, Y:-9.64, Z:-2.28 [[ 9.98556583e-01 5.33648735e-02 6.07796264e-03 1.71864576e+02] [-5.33636302e-02 9.98575079e-01 -3.66667158e-04 -9.63970768e+00] [-6.08886917e-03 4.17957536e-05 9.99981462e-01 -2.28454613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840371743 meters Centerline goodness [0,1] 0.9896935463474266 Centerline is valid? [True, True] Translation: X:171.89, Y:-9.65, Z:-2.28 [[ 9.98697678e-01 5.06851279e-02 5.82808527e-03 1.71893056e+02] [-5.06839413e-02 9.98714681e-01 -3.51211630e-04 -9.64863675e+00] [-5.83839553e-03 5.53639071e-05 9.99982955e-01 -2.28498759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.870371743 meters Centerline goodness [0,1] 0.9883789598009027 Centerline is valid? [True, True] Translation: X:171.92, Y:-9.66, Z:-2.29 [[ 9.99015808e-01 4.39793749e-02 5.76454725e-03 1.71920955e+02] [-4.39781055e-02 9.99032435e-01 -3.46840507e-04 -9.66437116e+00] [-5.77422350e-03 9.29852824e-05 9.99983325e-01 -2.28582382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900371743 meters Centerline goodness [0,1] 0.9869919383695721 Centerline is valid? [True, True] Translation: X:171.95, Y:-9.67, Z:-2.29 [[ 9.99147774e-01 4.09183812e-02 5.42330921e-03 1.71948985e+02] [-4.09172131e-02 9.99162487e-01 -3.26206632e-04 -9.67224554e+00] [-5.43211497e-03 1.04021931e-04 9.99985241e-01 -2.28620126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.930371743 meters Centerline goodness [0,1] 0.9863742949489829 Centerline is valid? [True, True] Translation: X:171.98, Y:-9.68, Z:-2.28 [[ 9.99367607e-01 3.49949930e-02 6.30364342e-03 1.71977573e+02] [-3.49933015e-02 9.99387475e-01 -3.78451587e-04 -9.68367464e+00] [-6.31302619e-03 1.57626962e-04 9.99980060e-01 -2.28467511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96037174299997 meters Centerline goodness [0,1] 0.9853651335906033 Centerline is valid? [True, True] Translation: X:172.01, Y:-9.69, Z:-2.29 [[ 9.99470405e-01 3.17351635e-02 7.19639421e-03 1.72005179e+02] [-3.17328775e-02 9.99496292e-01 -4.31652459e-04 -9.69220062e+00] [-7.20646789e-03 2.03061562e-04 9.99974012e-01 -2.28530152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99037174299997 meters Centerline goodness [0,1] 0.9847344339722099 Centerline is valid? [True, True] Translation: X:172.03, Y:-9.70, Z:-2.29 [[ 9.99521550e-01 3.01815680e-02 6.76350341e-03 1.72033955e+02] [-3.01795171e-02 9.99544413e-01 -4.05114443e-04 -9.69901020e+00] [-6.77264903e-03 2.00801349e-04 9.99977045e-01 -2.28556763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02037174299997 meters Centerline goodness [0,1] 0.9849571711886578 Centerline is valid? [True, True] Translation: X:172.06, Y:-9.71, Z:-2.29 [[ 9.99595339e-01 2.74929970e-02 7.30028039e-03 1.72063379e+02] [-2.74905402e-02 9.99621968e-01 -4.36687570e-04 -9.70546915e+00] [-7.30952651e-03 2.35822207e-04 9.99973257e-01 -2.28671741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05037174299997 meters Centerline goodness [0,1] 0.9834084305385944 Centerline is valid? [True, True] Translation: X:172.09, Y:-9.72, Z:-2.29 [[ 9.99679256e-01 2.42649503e-02 7.25244532e-03 1.72092225e+02] [-2.42624434e-02 9.99705530e-01 -4.33448878e-04 -9.71571937e+00] [-7.26082731e-03 2.57347807e-04 9.99973607e-01 -2.28795993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08037174299997 meters Centerline goodness [0,1] 0.9824927316394894 Centerline is valid? [True, True] Translation: X:172.12, Y:-9.73, Z:-2.29 [[ 9.99736972e-01 2.20390983e-02 6.34544226e-03 1.72121181e+02] [-2.20371351e-02 9.99757081e-01 -3.79155381e-04 -9.72511885e+00] [-6.35225707e-03 2.39220285e-04 9.99979796e-01 -2.28832596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11037174299997 meters Centerline goodness [0,1] 0.9833951449763992 Centerline is valid? [True, True] Translation: X:172.15, Y:-9.73, Z:-2.29 [[ 9.99778847e-01 1.99351126e-02 6.69682812e-03 1.72150914e+02] [-1.99328789e-02 9.99801240e-01 -4.00137399e-04 -9.73084252e+00] [-6.70347384e-03 2.66561844e-04 9.99977496e-01 -2.28839945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14037174299997 meters Centerline goodness [0,1] 0.9841670877547583 Centerline is valid? [True, True] Translation: X:172.18, Y:-9.73, Z:-2.29 [[ 9.99824796e-01 1.72674491e-02 7.22580760e-03 1.72181236e+02] [-1.72647827e-02 9.99850860e-01 -4.31227599e-04 -9.73294931e+00] [-7.23217614e-03 3.06400048e-04 9.99973801e-01 -2.28847248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17037174299998 meters Centerline goodness [0,1] 0.983552976178005 Centerline is valid? [True, True] Translation: X:172.21, Y:-9.74, Z:-2.29 [[ 9.99853347e-01 1.51616614e-02 7.96297454e-03 1.72210534e+02] [-1.51583565e-02 9.99884993e-01 -4.75220845e-04 -9.74238966e+00] [-7.96926388e-03 3.54445545e-04 9.99968182e-01 -2.28939324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20037174299998 meters Centerline goodness [0,1] 0.9837622678067478 Centerline is valid? [True, True] Translation: X:172.24, Y:-9.75, Z:-2.29 [[ 9.99895145e-01 1.20683800e-02 8.00326883e-03 1.72241229e+02] [-1.20649436e-02 9.99927102e-01 -4.77524264e-04 -9.74584814e+00] [-8.00844835e-03 3.80915206e-04 9.99967859e-01 -2.28790776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23037174299998 meters Centerline goodness [0,1] 0.9828904487340185 Centerline is valid? [True, True] Translation: X:172.27, Y:-9.75, Z:-2.29 [[ 9.99914903e-01 1.04204078e-02 7.84872533e-03 1.72271757e+02] [-1.04170518e-02 9.99945631e-01 -4.68338261e-04 -9.75000205e+00] [-7.85317888e-03 3.86537828e-04 9.99969089e-01 -2.28667252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26037174299998 meters Centerline goodness [0,1] 0.9829439104923342 Centerline is valid? [True, True] Translation: X:172.30, Y:-9.75, Z:-2.29 [[ 9.99918826e-01 9.80252374e-03 8.13953665e-03 1.72303383e+02] [-9.79890024e-03 9.99951872e-01 -4.84934063e-04 -9.75181471e+00] [-8.14389848e-03 4.05136191e-04 9.99966756e-01 -2.28704346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29037174299998 meters Centerline goodness [0,1] 0.982683618787433 Centerline is valid? [True, True] Translation: X:172.34, Y:-9.75, Z:-2.29 [[ 9.99916743e-01 1.06812619e-02 7.24002287e-03 1.72335193e+02] [-1.06783999e-02 9.99942890e-01 -4.33840605e-04 -9.75350725e+00] [-7.24424336e-03 3.56492625e-04 9.99973697e-01 -2.28752366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32037174299998 meters Centerline goodness [0,1] 0.9823565030380222 Centerline is valid? [True, True] Translation: X:172.37, Y:-9.76, Z:-2.29 [[ 9.99915828e-01 1.10469985e-02 6.80448664e-03 1.72366424e+02] [-1.10444850e-02 9.99938925e-01 -4.06858842e-04 -9.75658678e+00] [-6.80856562e-03 3.31672545e-04 9.99976766e-01 -2.28868884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35037174299998 meters Centerline goodness [0,1] 0.983551386142779 Centerline is valid? [True, True] Translation: X:172.40, Y:-9.76, Z:-2.29 [[ 9.99893896e-01 1.21679173e-02 8.00865357e-03 1.72397727e+02] [-1.21644429e-02 9.99925894e-01 -4.82399290e-04 -9.75668623e+00] [-8.01392988e-03 3.84927296e-04 9.99967814e-01 -2.28782723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38037174299998 meters Centerline goodness [0,1] 0.982991768856039 Centerline is valid? [True, True] Translation: X:172.43, Y:-9.75, Z:-2.29 [[ 9.99846565e-01 1.50975116e-02 8.88316708e-03 1.72429262e+02] [-1.50933491e-02 9.99885946e-01 -5.35443347e-04 -9.75321288e+00] [-8.89023777e-03 4.01284450e-04 9.99960401e-01 -2.28783948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41037174299998 meters Centerline goodness [0,1] 0.9826266934269945 Centerline is valid? [True, True] Translation: X:172.46, Y:-9.76, Z:-2.29 [[ 9.99814315e-01 1.72628315e-02 8.56331349e-03 1.72460057e+02] [-1.72590401e-02 9.99850918e-01 -5.16459994e-04 -9.75601642e+00] [-8.57095242e-03 3.68569524e-04 9.99963201e-01 -2.28863026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440371743 meters Centerline goodness [0,1] 0.9829253932206241 Centerline is valid? [True, True] Translation: X:172.49, Y:-9.75, Z:-2.29 [[ 9.99780864e-01 1.91160050e-02 8.53239494e-03 1.72491444e+02] [-1.91123049e-02 9.99817211e-01 -5.14990600e-04 -9.74979914e+00] [-8.54067987e-03 3.51804013e-04 9.99963466e-01 -2.28911326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.470371743 meters Centerline goodness [0,1] 0.9823204187601169 Centerline is valid? [True, True] Translation: X:172.52, Y:-9.75, Z:-2.29 [[ 9.99660427e-01 2.49997228e-02 7.35146459e-03 1.72522045e+02] [-2.49971333e-02 9.99687424e-01 -4.43927853e-04 -9.74532168e+00] [-7.36026478e-03 2.60011567e-04 9.99972879e-01 -2.28937393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500371743 meters Centerline goodness [0,1] 0.9848360569541716 Centerline is valid? [True, True] Translation: X:172.55, Y:-9.74, Z:-2.29 [[ 9.99580874e-01 2.80853568e-02 7.02055525e-03 1.72551948e+02] [-2.80830695e-02 9.99605503e-01 -4.24183890e-04 -9.74322798e+00] [-7.02969902e-03 2.26847363e-04 9.99975266e-01 -2.28943534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.530371743 meters Centerline goodness [0,1] 0.9851111948737279 Centerline is valid? [True, True] Translation: X:172.58, Y:-9.74, Z:-2.29 [[ 9.99500382e-01 3.08982775e-02 6.65460338e-03 1.72581007e+02] [-3.08962867e-02 9.99522515e-01 -4.01772294e-04 -9.74228590e+00] [-6.66383997e-03 1.95969027e-04 9.99977777e-01 -2.29022486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560371743 meters Centerline goodness [0,1] 0.985495059911709 Centerline is valid? [True, True] Translation: X:172.61, Y:-9.74, Z:-2.29 [[ 9.99301302e-01 3.68018354e-02 6.52168115e-03 1.72611191e+02] [-3.68000503e-02 9.99322571e-01 -3.93545949e-04 -9.73884696e+00] [-6.53174639e-03 1.53272785e-04 9.99978656e-01 -2.28982267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.590371743 meters Centerline goodness [0,1] 0.9864697094038676 Centerline is valid? [True, True] Translation: X:172.64, Y:-9.74, Z:-2.29 [[ 9.99220328e-01 3.87749384e-02 7.43236613e-03 1.72640427e+02] [-3.87726732e-02 9.99247956e-01 -4.48671207e-04 -9.73714956e+00] [-7.44417387e-03 1.60148688e-04 9.99972279e-01 -2.28933070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620371743 meters Centerline goodness [0,1] 0.9870055901276237 Centerline is valid? [True, True] Translation: X:172.67, Y:-9.74, Z:-2.29 [[ 9.98987232e-01 4.41959576e-02 8.43964915e-03 1.72669671e+02] [-4.41932366e-02 9.99022872e-01 -5.08722475e-04 -9.73552801e+00] [-8.45388601e-03 1.35231846e-04 9.99964256e-01 -2.28776548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.650371743 meters Centerline goodness [0,1] 0.9872627583298187 Centerline is valid? [True, True] Translation: X:172.70, Y:-9.73, Z:-2.29 [[ 9.98934312e-01 4.50604940e-02 9.98960191e-03 1.72698424e+02] [-4.50567340e-02 9.98984249e-01 -6.01245554e-04 -9.73480630e+00] [-1.00065474e-02 1.50505977e-04 9.99949922e-01 -2.28748343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680371743 meters Centerline goodness [0,1] 0.9864288729421697 Centerline is valid? [True, True] Translation: X:172.73, Y:-9.74, Z:-2.29 [[ 9.98827160e-01 4.73489745e-02 1.01182883e-02 1.72726614e+02] [-4.73452414e-02 9.98878400e-01 -6.08289140e-04 -9.73592442e+00] [-1.01357415e-02 1.28522912e-04 9.99948624e-01 -2.28737793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71037174299997 meters Centerline goodness [0,1] 0.9864288729421697 Centerline is valid? [True, True] Translation: X:172.75, Y:-9.74, Z:-2.29 [[ 9.98830527e-01 4.72778833e-02 1.01183478e-02 1.72754883e+02] [-4.72741567e-02 9.98881767e-01 -6.07297074e-04 -9.73756196e+00] [-1.01357449e-02 1.28250496e-04 9.99948624e-01 -2.28776187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74037174299997 meters Centerline goodness [0,1] 0.9881045282939278 Centerline is valid? [True, True] Translation: X:172.78, Y:-9.74, Z:-2.29 [[ 9.98795109e-01 4.78916579e-02 1.07106967e-02 1.72783735e+02] [-4.78875261e-02 9.98852528e-01 -6.42035117e-04 -9.73719758e+00] [-1.07291546e-02 1.28352766e-04 9.99942433e-01 -2.28785331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77037174299997 meters Centerline goodness [0,1] 0.9877572559366755 Centerline is valid? [True, True] Translation: X:172.81, Y:-9.74, Z:-2.29 [[ 9.98667234e-01 5.06423730e-02 9.95516941e-03 1.72811926e+02] [-5.06389469e-02 9.98716848e-01 -5.96077942e-04 -9.74026360e+00] [-9.97258221e-03 9.11642142e-05 9.99950268e-01 -2.28846213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80037174299997 meters Centerline goodness [0,1] 0.9874892057541229 Centerline is valid? [True, True] Translation: X:172.84, Y:-9.74, Z:-2.29 [[ 9.98710383e-01 4.97565727e-02 1.00923246e-02 1.72839278e+02] [-4.97530129e-02 9.98761370e-01 -6.03633271e-04 -9.74328069e+00] [-1.01098587e-02 1.00731256e-04 9.99948889e-01 -2.28990324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83037174299997 meters Centerline goodness [0,1] 0.9880574931304164 Centerline is valid? [True, True] Translation: X:172.87, Y:-9.75, Z:-2.29 [[ 9.98722155e-01 4.94307898e-02 1.05192605e-02 1.72867821e+02] [-4.94269172e-02 9.98777546e-01 -6.27962201e-04 -9.74781506e+00] [-1.05374418e-02 1.07225146e-04 9.99944474e-01 -2.29030793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86037174299997 meters Centerline goodness [0,1] 0.9877329159704744 Centerline is valid? [True, True] Translation: X:172.90, Y:-9.75, Z:-2.29 [[ 9.98723839e-01 4.92749072e-02 1.10759753e-02 1.72895720e+02] [-4.92706133e-02 9.98785247e-01 -6.60381972e-04 -9.75153327e+00] [-1.10950610e-02 1.13819125e-04 9.99938441e-01 -2.28989292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89037174299997 meters Centerline goodness [0,1] 0.9874532665864013 Centerline is valid? [True, True] Translation: X:172.92, Y:-9.75, Z:-2.29 [[ 9.98749916e-01 4.85308721e-02 1.19733149e-02 1.72924583e+02] [-4.85258156e-02 9.98821674e-01 -7.12637749e-04 -9.75443401e+00] [-1.19937913e-02 1.30732021e-04 9.99928063e-01 -2.28917828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92037174299998 meters Centerline goodness [0,1] 0.9877531299890765 Centerline is valid? [True, True] Translation: X:172.95, Y:-9.76, Z:-2.29 [[ 9.98777677e-01 4.75951328e-02 1.33362054e-02 1.72951739e+02] [-4.75887908e-02 9.98866697e-01 -7.92662077e-04 -9.76024706e+00] [-1.33588183e-02 1.57039300e-04 9.99910755e-01 -2.28778493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95037174299998 meters Centerline goodness [0,1] 0.9875806519630582 Centerline is valid? [True, True] Translation: X:172.98, Y:-9.76, Z:-2.29 [[ 9.98855944e-01 4.58411663e-02 1.36158425e-02 1.72980932e+02] [-4.58344100e-02 9.98948724e-01 -8.08016536e-04 -9.76429745e+00] [-1.36385689e-02 1.83018013e-04 9.99906974e-01 -2.28811984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98037174299998 meters Centerline goodness [0,1] 0.9863212915735784 Centerline is valid? [True, True] Translation: X:173.01, Y:-9.77, Z:-2.29 [[ 9.99023712e-01 4.21953190e-02 1.30835243e-02 1.73010121e+02] [-4.21887738e-02 9.99109356e-01 -7.75988815e-04 -9.77096279e+00] [-1.31046146e-02 2.23253381e-04 9.99914106e-01 -2.28890638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01037174299998 meters Centerline goodness [0,1] 0.9862300587741394 Centerline is valid? [True, True] Translation: X:173.04, Y:-9.78, Z:-2.29 [[ 9.99152396e-01 3.93956734e-02 1.19361115e-02 1.73038726e+02] [-3.93900305e-02 9.99223661e-01 -7.07567784e-04 -9.77670106e+00] [-1.19547201e-02 2.36804251e-04 9.99928512e-01 -2.28941246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04037174299998 meters Centerline goodness [0,1] 0.9848944507647579 Centerline is valid? [True, True] Translation: X:173.07, Y:-9.79, Z:-2.29 [[ 9.99300736e-01 3.54695146e-02 1.18301437e-02 1.73067921e+02] [-3.54637048e-02 9.99370719e-01 -7.00580690e-04 -9.78509739e+00] [-1.18475485e-02 2.80550075e-04 9.99929776e-01 -2.29060892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07037174299998 meters Centerline goodness [0,1] 0.9863464075555463 Centerline is valid? [True, True] Translation: X:173.10, Y:-9.79, Z:-2.29 [[ 9.99570898e-01 2.73618728e-02 1.04569623e-02 1.73098263e+02] [-2.73568926e-02 9.99625539e-01 -6.19030949e-04 -9.79450027e+00] [-1.04699844e-02 3.32695328e-04 9.99945133e-01 -2.29180288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10037174299998 meters Centerline goodness [0,1] 0.9850252371876768 Centerline is valid? [True, True] Translation: X:173.13, Y:-9.80, Z:-2.29 [[ 9.99694905e-01 2.28669343e-02 9.33812106e-03 1.73128306e+02] [-2.28627671e-02 9.99738460e-01 -5.52775562e-04 -9.80203727e+00] [-9.34831905e-03 3.39111626e-04 9.99956246e-01 -2.29261331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13037174299998 meters Centerline goodness [0,1] 0.9856143730630706 Centerline is valid? [True, True] Translation: X:173.16, Y:-9.81, Z:-2.29 [[ 9.99896155e-01 1.14472712e-02 8.75442827e-03 1.73158612e+02] [-1.14431704e-02 9.99934390e-01 -5.18369670e-04 -9.81329787e+00] [-8.75978781e-03 4.18137425e-04 9.99961545e-01 -2.29437258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16037174299998 meters Centerline goodness [0,1] 0.9861216250315418 Centerline is valid? [True, True] Translation: X:173.19, Y:-9.82, Z:-2.29 [[ 9.99940047e-01 6.58440836e-03 8.74921036e-03 1.73189043e+02] [-6.58012502e-03 9.99978216e-01 -5.18265091e-04 -9.81874516e+00] [-8.75243224e-03 4.60663122e-04 9.99961591e-01 -2.29424959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.190371743 meters Centerline goodness [0,1] 0.9857518125459703 Centerline is valid? [True, True] Translation: X:173.22, Y:-9.83, Z:-2.29 [[ 9.99959445e-01 3.21632594e-03 8.41210238e-03 1.73220114e+02] [-3.21224852e-03 9.99994717e-01 -4.98175843e-04 -9.82564516e+00] [-8.41366023e-03 4.71133876e-04 9.99964494e-01 -2.29362395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220371743 meters Centerline goodness [0,1] 0.9862797831659453 Centerline is valid? [True, True] Translation: X:173.25, Y:-9.83, Z:-2.29 [[ 9.99926375e-01 -6.01297916e-03 1.05398379e-02 1.73250592e+02] [ 6.01989727e-03 9.99981685e-01 -6.24774468e-04 -9.83238321e+00] [-1.05358881e-02 6.88177210e-04 9.99944259e-01 -2.29189748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.250371743 meters Centerline goodness [0,1] 0.9856302521008403 Centerline is valid? [True, True] Translation: X:173.28, Y:-9.84, Z:-2.29 [[ 9.99895852e-01 -9.61336646e-03 1.07641971e-02 1.73279872e+02] [ 9.62079138e-03 9.99953515e-01 -6.38209118e-04 -9.83788556e+00] [-1.07575614e-02 7.41702744e-04 9.99941861e-01 -2.29172401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280371743 meters Centerline goodness [0,1] 0.9844228912121594 Centerline is valid? [True, True] Translation: X:173.31, Y:-9.84, Z:-2.29 [[ 9.99857340e-01 -1.28787405e-02 1.09287233e-02 1.73310327e+02] [ 1.28865859e-02 9.99916755e-01 -6.47756984e-04 -9.84173813e+00] [-1.09194713e-02 7.88498507e-04 9.99940070e-01 -2.29152041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.310371743 meters Centerline goodness [0,1] 0.9853639074377388 Centerline is valid? [True, True] Translation: X:173.34, Y:-9.85, Z:-2.29 [[ 9.99843329e-01 -1.42976419e-02 1.04353080e-02 1.73340784e+02] [ 1.43048730e-02 9.99897489e-01 -6.18629478e-04 -9.84688837e+00] [-1.04253933e-02 7.67808312e-04 9.99945359e-01 -2.29085447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340371743 meters Centerline goodness [0,1] 0.9843291096752539 Centerline is valid? [True, True] Translation: X:173.37, Y:-9.85, Z:-2.29 [[ 9.99753906e-01 -1.83698760e-02 1.24368668e-02 1.73371728e+02] [ 1.83804678e-02 9.99830793e-01 -7.37876406e-04 -9.84927922e+00] [-1.24212077e-02 9.66290250e-04 9.99922387e-01 -2.29084479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.370371743 meters Centerline goodness [0,1] 0.9839633687379777 Centerline is valid? [True, True] Translation: X:173.40, Y:-9.85, Z:-2.29 [[ 9.99740929e-01 -1.94507650e-02 1.18212521e-02 1.73403597e+02] [ 1.94604086e-02 9.99810382e-01 -7.01298831e-04 -9.84986566e+00] [-1.18053698e-02 9.31163542e-04 9.99929881e-01 -2.29169501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400371743 meters Centerline goodness [0,1] 0.9832656988662511 Centerline is valid? [True, True] Translation: X:173.43, Y:-9.85, Z:-2.29 [[ 9.99740619e-01 -1.97246793e-02 1.13856139e-02 1.73434565e+02] [ 1.97336478e-02 9.99805044e-01 -6.75891151e-04 -9.85130612e+00] [-1.13700624e-02 9.00395531e-04 9.99934953e-01 -2.29324855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.430371743 meters Centerline goodness [0,1] 0.9830001046791583 Centerline is valid? [True, True] Translation: X:173.47, Y:-9.85, Z:-2.29 [[ 9.99742497e-01 -2.01870995e-02 1.03644228e-02 1.73467025e+02] [ 2.01945697e-02 9.99795879e-01 -6.16595570e-04 -9.85170650e+00] [-1.03498599e-02 8.25741853e-04 9.99946098e-01 -2.29472331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46037174299997 meters Centerline goodness [0,1] 0.9817110258184946 Centerline is valid? [True, True] Translation: X:173.50, Y:-9.85, Z:-2.30 [[ 9.99743816e-01 -2.06129725e-02 9.34918316e-03 1.73498980e+02] [ 2.06190747e-02 9.99787249e-01 -5.56769726e-04 -9.85232196e+00] [-9.33571743e-03 7.49398597e-04 9.99956140e-01 -2.29614035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49037174299997 meters Centerline goodness [0,1] 0.9817105180270037 Centerline is valid? [True, True] Translation: X:173.53, Y:-9.85, Z:-2.30 [[ 9.99741102e-01 -2.15095036e-02 7.42093532e-03 1.73531295e+02] [ 2.15133751e-02 9.99768463e-01 -4.42267065e-04 -9.85198332e+00] [-7.40970415e-03 6.01801928e-04 9.99972367e-01 -2.29857275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52037174299997 meters Centerline goodness [0,1] 0.9813955441698339 Centerline is valid? [True, True] Translation: X:173.56, Y:-9.85, Z:-2.30 [[ 9.99702227e-01 -2.31668688e-02 7.66510065e-03 1.73561831e+02] [ 2.31710531e-02 9.99731410e-01 -4.57527346e-04 -9.85302202e+00] [-7.65244240e-03 6.34999560e-04 9.99970518e-01 -2.29965870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55037174299997 meters Centerline goodness [0,1] 0.9811777076761304 Centerline is valid? [True, True] Translation: X:173.59, Y:-9.85, Z:-2.30 [[ 9.99680668e-01 -2.43171639e-02 6.87295789e-03 1.73594248e+02] [ 2.43205558e-02 9.99704127e-01 -4.10347368e-04 -9.84734283e+00] [-6.86094588e-03 5.77370486e-04 9.99976297e-01 -2.29953103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58037174299997 meters Centerline goodness [0,1] 0.9819399819399819 Centerline is valid? [True, True] Translation: X:173.63, Y:-9.84, Z:-2.30 [[ 9.99655671e-01 -2.52499279e-02 7.14012933e-03 1.73627117e+02] [ 2.52536159e-02 9.99680985e-01 -4.26815393e-04 -9.83732127e+00] [-7.12707447e-03 6.06982512e-04 9.99974418e-01 -2.29885698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61037174299997 meters Centerline goodness [0,1] 0.9770141435306443 Centerline is valid? [True, True] Translation: X:173.66, Y:-9.85, Z:-2.30 [[ 9.99601280e-01 -2.71418851e-02 7.78458384e-03 1.73656942e+02] [ 2.71463324e-02 9.99631362e-01 -4.66180556e-04 -9.84774627e+00] [-7.76906113e-03 6.77317581e-04 9.99969591e-01 -2.30063133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64037174299997 meters Centerline goodness [0,1] 0.9810487348295227 Centerline is valid? [True, True] Translation: X:173.69, Y:-9.83, Z:-2.30 [[ 9.99603668e-01 -2.70133601e-02 7.92375961e-03 1.73690599e+02] [ 2.70179640e-02 9.99634836e-01 -4.74540980e-04 -9.83376603e+00] [-7.90804719e-03 6.88436757e-04 9.99968494e-01 -2.29971709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67037174299998 meters Centerline goodness [0,1] 0.9807688265831565 Centerline is valid? [True, True] Translation: X:173.72, Y:-9.83, Z:-2.30 [[ 9.99642194e-01 -2.57443153e-02 7.26041047e-03 1.73722770e+02] [ 2.57481549e-02 9.99668366e-01 -4.35846647e-04 -9.82991210e+00] [-7.24678210e-03 6.22632872e-04 9.99973548e-01 -2.30003427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70037174299998 meters Centerline goodness [0,1] 0.9800345030716149 Centerline is valid? [True, True] Translation: X:173.75, Y:-9.82, Z:-2.30 [[ 9.99697619e-01 -2.34618213e-02 7.36304918e-03 1.73754499e+02] [ 2.34657135e-02 9.99724544e-01 -4.42664478e-04 -9.82187012e+00] [-7.35063527e-03 6.15309827e-04 9.99972794e-01 -2.30010683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73037174299998 meters Centerline goodness [0,1] 0.9797374068930691 Centerline is valid? [True, True] Translation: X:173.78, Y:-9.82, Z:-2.30 [[ 9.99755605e-01 -2.09125597e-02 7.16905749e-03 1.73784099e+02] [ 2.09161871e-02 9.99781140e-01 -4.31364132e-04 -9.81944061e+00] [-7.15846754e-03 5.81208057e-04 9.99974209e-01 -2.30000137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76037174299998 meters Centerline goodness [0,1] 0.979505359652619 Centerline is valid? [True, True] Translation: X:173.81, Y:-9.82, Z:-2.30 [[ 9.99822444e-01 -1.74749204e-02 7.05043204e-03 1.73813440e+02] [ 1.74783427e-02 9.99847152e-01 -4.24071723e-04 -9.81852472e+00] [-7.04194378e-03 5.47226294e-04 9.99975055e-01 -2.29958887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79037174299998 meters Centerline goodness [0,1] 0.9815643873801579 Centerline is valid? [True, True] Translation: X:173.84, Y:-9.81, Z:-2.30 [[ 9.99890808e-01 -1.16664582e-02 9.07003332e-03 1.73844669e+02] [ 1.16718822e-02 9.99931733e-01 -5.45310680e-04 -9.80504071e+00] [-9.06305228e-03 6.51115497e-04 9.99958718e-01 -2.29650947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82037174299998 meters Centerline goodness [0,1] 0.9818592191026642 Centerline is valid? [True, True] Translation: X:173.88, Y:-9.80, Z:-2.30 [[ 9.99915468e-01 -7.95124277e-03 1.02876292e-02 1.73876016e+02] [ 7.95802482e-03 9.99968143e-01 -6.18475447e-04 -9.80051116e+00] [-1.02823839e-02 7.00292374e-04 9.99946890e-01 -2.29543755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85037174299998 meters Centerline goodness [0,1] 0.9824249730347059 Centerline is valid? [True, True] Translation: X:173.91, Y:-9.79, Z:-2.29 [[ 9.99938157e-01 -1.07462933e-04 1.11207542e-02 1.73907045e+02] [ 1.14905889e-04 9.99999770e-01 -6.68648418e-04 -9.78875977e+00] [-1.11206798e-02 6.69884907e-04 9.99937939e-01 -2.29357179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88037174299998 meters Centerline goodness [0,1] 0.9832878509022445 Centerline is valid? [True, True] Translation: X:173.94, Y:-9.78, Z:-2.29 [[ 9.99930364e-01 4.53319435e-03 1.08957786e-02 1.73938141e+02] [-4.52632541e-03 9.99989542e-01 -6.54998859e-04 -9.77953978e+00] [-1.08986339e-02 6.05635408e-04 9.99940425e-01 -2.29339896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91037174299998 meters Centerline goodness [0,1] 0.9842264614342275 Centerline is valid? [True, True] Translation: X:173.97, Y:-9.78, Z:-2.29 [[ 9.99897439e-01 9.08331702e-03 1.10726863e-02 1.73968288e+02] [-9.07649976e-03 9.99958586e-01 -6.65779975e-04 -9.77696843e+00] [-1.10782752e-02 5.65210458e-04 9.99938474e-01 -2.29378335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940371743 meters Centerline goodness [0,1] 0.9839830508474576 Centerline is valid? [True, True] Translation: X:174.00, Y:-9.78, Z:-2.29 [[ 9.99863406e-01 1.23465174e-02 1.09878181e-02 1.73998820e+02] [-1.23400019e-02 9.99923641e-01 -6.60581752e-04 -9.77923086e+00] [-1.09951350e-02 5.24901824e-04 9.99939414e-01 -2.29491587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.970371743 meters Centerline goodness [0,1] 0.986292068072826 Centerline is valid? [True, True] Translation: X:174.03, Y:-9.77, Z:-2.30 [[ 9.99742547e-01 2.02370318e-02 1.02616639e-02 1.74030053e+02] [-2.02317592e-02 9.99795126e-01 -6.17369528e-04 -9.76913195e+00] [-1.02720552e-02 4.09599073e-04 9.99947157e-01 -2.29631653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000371743 meters Centerline goodness [0,1] 0.9883376960565239 Centerline is valid? [True, True] Translation: X:174.06, Y:-9.76, Z:-2.30 [[ 9.99577846e-01 2.76231707e-02 9.00505778e-03 1.74061313e+02] [-2.76194089e-02 9.99618365e-01 -5.41861457e-04 -9.75828122e+00] [-9.01658906e-03 2.92918334e-04 9.99959307e-01 -2.29796359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.030371743 meters Centerline goodness [0,1] 0.9875744680851064 Centerline is valid? [True, True] Translation: X:174.09, Y:-9.76, Z:-2.30 [[ 9.99466928e-01 3.15442232e-02 8.41558323e-03 1.74091750e+02] [-3.15410763e-02 9.99502328e-01 -5.06439888e-04 -9.75671646e+00] [-8.42737029e-03 2.40733367e-04 9.99964460e-01 -2.29927628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060371743 meters Centerline goodness [0,1] 0.9888209867342376 Centerline is valid? [True, True] Translation: X:174.12, Y:-9.75, Z:-2.30 [[ 9.99409281e-01 3.33395033e-02 8.34071551e-03 1.74120565e+02] [-3.33364734e-02 9.99444059e-01 -5.02073756e-04 -9.75446200e+00] [-8.35281745e-03 2.23727131e-04 9.99965090e-01 -2.29965309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.090371743 meters Centerline goodness [0,1] 0.9892715739282217 Centerline is valid? [True, True] Translation: X:174.15, Y:-9.75, Z:-2.30 [[ 9.99334238e-01 3.55041548e-02 8.39850007e-03 1.74149735e+02] [-3.55011644e-02 9.99369507e-01 -5.04932162e-04 -9.75346269e+00] [-8.41113207e-03 2.06439466e-04 9.99964604e-01 -2.30082708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120371743 meters Centerline goodness [0,1] 0.9888166007568993 Centerline is valid? [True, True] Translation: X:174.18, Y:-9.76, Z:-2.30 [[ 9.99332059e-01 3.54789170e-02 8.75686027e-03 1.74177496e+02] [-3.54756701e-02 9.99370402e-01 -5.25882472e-04 -9.75533751e+00] [-8.77000471e-03 2.14875727e-04 9.99961520e-01 -2.30101567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.150371743 meters Centerline goodness [0,1] 0.989474357062195 Centerline is valid? [True, True] Translation: X:174.21, Y:-9.76, Z:-2.30 [[ 9.99379739e-01 3.38688910e-02 9.64552520e-03 1.74206468e+02] [-3.38648870e-02 9.99426253e-01 -5.78186322e-04 -9.75702395e+00] [-9.65957363e-03 2.51183074e-04 9.99953314e-01 -2.30077944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180371743 meters Centerline goodness [0,1] 0.9888334825043685 Centerline is valid? [True, True] Translation: X:174.24, Y:-9.76, Z:-2.30 [[ 9.99418647e-01 3.26643472e-02 9.76772005e-03 1.74235335e+02] [-3.26601905e-02 9.99466343e-01 -5.84807227e-04 -9.76027599e+00] [-9.78160978e-03 2.65451651e-04 9.99952124e-01 -2.30152480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21037174299997 meters Centerline goodness [0,1] 0.9884734206881858 Centerline is valid? [True, True] Translation: X:174.26, Y:-9.76, Z:-2.30 [[ 9.99481154e-01 3.04524112e-02 1.04916306e-02 1.74262967e+02] [-3.04475017e-02 9.99536170e-01 -6.27385710e-04 -9.76429705e+00] [-1.05058697e-02 3.07616253e-04 9.99944765e-01 -2.30197692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24037174299997 meters Centerline goodness [0,1] 0.987907432245428 Centerline is valid? [True, True] Translation: X:174.29, Y:-9.77, Z:-2.30 [[ 9.99612042e-01 2.55899861e-02 1.09963175e-02 1.74292550e+02] [-2.55843122e-02 9.99672452e-01 -6.56361006e-04 -9.77123916e+00] [-1.10095120e-02 3.74773144e-04 9.99939323e-01 -2.30279595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27037174299997 meters Centerline goodness [0,1] 0.9867310268569119 Centerline is valid? [True, True] Translation: X:174.32, Y:-9.77, Z:-2.30 [[ 9.99674685e-01 2.30674609e-02 1.08819346e-02 1.74321831e+02] [-2.30617567e-02 9.99733831e-01 -6.49396587e-04 -9.77482658e+00] [-1.08940181e-02 3.98228799e-04 9.99940579e-01 -2.30409958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30037174299997 meters Centerline goodness [0,1] 0.9881689541440579 Centerline is valid? [True, True] Translation: X:174.35, Y:-9.78, Z:-2.30 [[ 9.99709754e-01 2.18798234e-02 1.00837371e-02 1.74351507e+02] [-2.18748682e-02 9.99760536e-01 -6.01441488e-04 -9.77841789e+00] [-1.00944818e-02 3.80686501e-04 9.99948977e-01 -2.30431431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33037174299997 meters Centerline goodness [0,1] 0.9859289646523689 Centerline is valid? [True, True] Translation: X:174.38, Y:-9.79, Z:-2.31 [[ 9.99819480e-01 1.58112311e-02 1.05362190e-02 1.74379973e+02] [-1.58054897e-02 9.99874888e-01 -6.27970638e-04 -9.78841748e+00] [-1.05448298e-02 4.61327175e-04 9.99944295e-01 -2.30514401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36037174299997 meters Centerline goodness [0,1] 0.9859792237588426 Centerline is valid? [True, True] Translation: X:174.41, Y:-9.79, Z:-2.31 [[ 9.99849032e-01 1.34243046e-02 1.10318291e-02 1.74411072e+02] [-1.34178695e-02 9.99909760e-01 -6.57127045e-04 -9.79107465e+00] [-1.10396551e-02 5.09004196e-04 9.99938932e-01 -2.30543725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39037174299997 meters Centerline goodness [0,1] 0.9853297099910832 Centerline is valid? [True, True] Translation: X:174.44, Y:-9.81, Z:-2.31 [[ 9.99891396e-01 8.80834311e-03 1.18156248e-02 1.74439701e+02] [-8.80063332e-03 9.99961026e-01 -7.04345056e-04 -9.80713797e+00] [-1.18213684e-02 6.00283580e-04 9.99929945e-01 -2.30541652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42037174299998 meters Centerline goodness [0,1] 0.9845756176109157 Centerline is valid? [True, True] Translation: X:174.47, Y:-9.81, Z:-2.31 [[ 9.99898246e-01 7.88459931e-03 1.18882753e-02 1.74472436e+02] [-7.87673416e-03 9.99968727e-01 -7.08266750e-04 -9.80578258e+00] [-1.18934879e-02 6.14553897e-04 9.99929081e-01 -2.30590833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45037174299998 meters Centerline goodness [0,1] 0.9844226856561547 Centerline is valid? [True, True] Translation: X:174.50, Y:-9.81, Z:-2.31 [[ 9.99917457e-01 5.40231543e-03 1.16573255e-02 1.74503585e+02] [-5.39454683e-03 9.99985206e-01 -6.97755032e-04 -9.80981548e+00] [-1.16609226e-02 6.34811449e-04 9.99931808e-01 -2.30638064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48037174299998 meters Centerline goodness [0,1] 0.9850319079017109 Centerline is valid? [True, True] Translation: X:174.54, Y:-9.81, Z:-2.31 [[ 9.99920170e-01 6.05537002e-03 1.10899393e-02 1.74535553e+02] [-6.04838127e-03 9.99981488e-01 -6.63618586e-04 -9.80966763e+00] [-1.10937525e-02 5.96489428e-04 9.99938285e-01 -2.30678627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51037174299998 meters Centerline goodness [0,1] 0.9853611965630635 Centerline is valid? [True, True] Translation: X:174.57, Y:-9.81, Z:-2.31 [[ 9.99911191e-01 7.04255316e-03 1.13142239e-02 1.74567449e+02] [-7.03530788e-03 9.99975021e-01 -6.80043449e-04 -9.81143833e+00] [-1.13187305e-02 6.00384007e-04 9.99935761e-01 -2.30742356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54037174299998 meters Centerline goodness [0,1] 0.9840169581346052 Centerline is valid? [True, True] Translation: X:174.60, Y:-9.82, Z:-2.31 [[ 9.99878496e-01 1.05434848e-02 1.14816564e-02 1.74596607e+02] [-1.05362124e-02 9.99944252e-01 -6.93700445e-04 -9.81676409e+00] [-1.14883304e-02 5.72642987e-04 9.99933843e-01 -2.30754786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57037174299998 meters Centerline goodness [0,1] 0.98472069170128 Centerline is valid? [True, True] Translation: X:174.63, Y:-9.82, Z:-2.31 [[ 9.99836348e-01 1.44774330e-02 1.08480767e-02 1.74627989e+02] [-1.44711751e-02 9.99895072e-01 -6.55138833e-04 -9.81534170e+00] [-1.08564232e-02 4.98047200e-04 9.99940943e-01 -2.30762811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60037174299998 meters Centerline goodness [0,1] 0.98472069170128 Centerline is valid? [True, True] Translation: X:174.66, Y:-9.82, Z:-2.31 [[ 9.99835838e-01 1.45126131e-02 1.08480680e-02 1.74658803e+02] [-1.45063557e-02 9.99894563e-01 -6.55282892e-04 -9.81723414e+00] [-1.08564341e-02 4.97809386e-04 9.99940943e-01 -2.30804642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63037174299998 meters Centerline goodness [0,1] 0.9846193011859049 Centerline is valid? [True, True] Translation: X:174.69, Y:-9.82, Z:-2.31 [[ 9.99775906e-01 1.78788638e-02 1.13350480e-02 1.74690290e+02] [-1.78722432e-02 9.99840044e-01 -6.85120739e-04 -9.81774805e+00] [-1.13454840e-02 4.82384474e-04 9.99935522e-01 -2.30808618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66037174299998 meters Centerline goodness [0,1] 0.9858085318512547 Centerline is valid? [True, True] Translation: X:174.72, Y:-9.81, Z:-2.31 [[ 9.99736362e-01 1.96499287e-02 1.18779699e-02 1.74721119e+02] [-1.96427774e-02 9.99806804e-01 -7.18437959e-04 -9.81381136e+00] [-1.18897924e-02 4.84932234e-04 9.99929196e-01 -2.30807444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.690371743 meters Centerline goodness [0,1] 0.9863007897689978 Centerline is valid? [True, True] Translation: X:174.75, Y:-9.81, Z:-2.31 [[ 9.99608105e-01 2.51907678e-02 1.22090921e-02 1.74752496e+02] [-2.51836251e-02 9.99682569e-01 -7.38441388e-04 -9.81283794e+00] [-1.22238185e-02 4.30682798e-04 9.99925194e-01 -2.30792866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720371743 meters Centerline goodness [0,1] 0.9857006673021925 Centerline is valid? [True, True] Translation: X:174.78, Y:-9.82, Z:-2.31 [[ 9.99512151e-01 2.91887507e-02 1.11119896e-02 1.74782205e+02] [-2.91830773e-02 9.99573857e-01 -6.72403509e-04 -9.81526051e+00] [-1.11268810e-02 3.47793425e-04 9.99938034e-01 -2.30892666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.750371743 meters Centerline goodness [0,1] 0.9859544045384566 Centerline is valid? [True, True] Translation: X:174.81, Y:-9.82, Z:-2.31 [[ 9.99527874e-01 2.87822699e-02 1.07522214e-02 1.74810754e+02] [-2.87769380e-02 9.99585647e-01 -6.50301890e-04 -9.81960911e+00] [-1.07664833e-02 3.40578858e-04 9.99941982e-01 -2.30990304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780371743 meters Centerline goodness [0,1] 0.9860758422210936 Centerline is valid? [True, True] Translation: X:174.84, Y:-9.82, Z:-2.31 [[ 9.99522154e-01 2.89461821e-02 1.08434976e-02 1.74840041e+02] [-2.89407749e-02 9.99580913e-01 -6.55270839e-04 -9.81970753e+00] [-1.08579208e-02 3.41138497e-04 9.99940993e-01 -2.31045651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.810371743 meters Centerline goodness [0,1] 0.986050843511208 Centerline is valid? [True, True] Translation: X:174.87, Y:-9.82, Z:-2.31 [[ 9.99491457e-01 3.01748178e-02 1.03105249e-02 1.74868287e+02] [-3.01700017e-02 9.99544588e-01 -6.22362040e-04 -9.82309214e+00] [-1.03246090e-02 3.10976989e-04 9.99946651e-01 -2.31121827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840371743 meters Centerline goodness [0,1] 0.9849636798746267 Centerline is valid? [True, True] Translation: X:174.90, Y:-9.83, Z:-2.31 [[ 9.99529098e-01 2.87529802e-02 1.07167615e-02 1.74896879e+02] [-2.87477051e-02 9.99586491e-01 -6.45985594e-04 -9.82790781e+00] [-1.07309041e-02 3.37599098e-04 9.99942365e-01 -2.31189282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.870371743 meters Centerline goodness [0,1] 0.9858094533150048 Centerline is valid? [True, True] Translation: X:174.93, Y:-9.83, Z:-2.31 [[ 9.99562480e-01 2.75916194e-02 1.06560083e-02 1.74925857e+02] [-2.75863443e-02 9.99619218e-01 -6.41729876e-04 -9.83249960e+00] [-1.06696570e-02 3.47488793e-04 9.99943017e-01 -2.31197804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900371743 meters Centerline goodness [0,1] 0.985545335085414 Centerline is valid? [True, True] Translation: X:174.95, Y:-9.84, Z:-2.31 [[ 9.99576662e-01 2.72233825e-02 1.02657222e-02 1.74954485e+02] [-2.72184722e-02 9.99629318e-01 -6.17755144e-04 -9.83589325e+00] [-1.02787343e-02 3.38076350e-04 9.99947115e-01 -2.31232873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.930371743 meters Centerline goodness [0,1] 0.9842119743497492 Centerline is valid? [True, True] Translation: X:174.98, Y:-9.84, Z:-2.31 [[ 9.99605734e-01 2.62021023e-02 1.00908719e-02 1.74983406e+02] [-2.61973142e-02 9.99656608e-01 -6.06409195e-04 -9.84034693e+00] [-1.01032960e-02 3.41816367e-04 9.99948902e-01 -2.31327767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96037174299997 meters Centerline goodness [0,1] 0.9842943019219372 Centerline is valid? [True, True] Translation: X:175.01, Y:-9.85, Z:-2.31 [[ 9.99677911e-01 2.35048127e-02 9.57072324e-03 1.75011850e+02] [-2.35003855e-02 9.99723663e-01 -5.74796466e-04 -9.84953677e+00] [-9.58158898e-03 3.49695645e-04 9.99954034e-01 -2.31382733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99037174299997 meters Centerline goodness [0,1] 0.9834584875727128 Centerline is valid? [True, True] Translation: X:175.04, Y:-9.85, Z:-2.31 [[ 9.99720223e-01 2.15979375e-02 9.64386022e-03 1.75041665e+02] [-2.15933596e-02 9.99766669e-01 -5.78586800e-04 -9.85305933e+00] [-9.65410629e-03 3.70181583e-04 9.99953330e-01 -2.31463027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02037174299997 meters Centerline goodness [0,1] 0.9832411667862722 Centerline is valid? [True, True] Translation: X:175.07, Y:-9.86, Z:-2.32 [[ 9.99819428e-01 1.65319071e-02 9.37056028e-03 1.75070798e+02] [-1.65273665e-02 9.99863256e-01 -5.61793921e-04 -9.86164972e+00] [-9.37856644e-03 4.06821793e-04 9.99955938e-01 -2.31570685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05037174299997 meters Centerline goodness [0,1] 0.983204653622422 Centerline is valid? [True, True] Translation: X:175.10, Y:-9.86, Z:-2.32 [[ 9.99861635e-01 1.40819324e-02 8.85498634e-03 1.75101699e+02] [-1.40777846e-02 9.99900762e-01 -5.30573620e-04 -9.86443110e+00] [-8.86157909e-03 4.05841616e-04 9.99960653e-01 -2.31663079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08037174299997 meters Centerline goodness [0,1] 0.9829565879342792 Centerline is valid? [True, True] Translation: X:175.13, Y:-9.87, Z:-2.32 [[ 9.99890905e-01 1.21394100e-02 8.41504672e-03 1.75132677e+02] [-1.21355951e-02 9.99926234e-01 -5.04261905e-04 -9.87075164e+00] [-8.42054742e-03 4.02085294e-04 9.99964466e-01 -2.31764168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11037174299997 meters Centerline goodness [0,1] 0.9824735310245919 Centerline is valid? [True, True] Translation: X:175.16, Y:-9.88, Z:-2.32 [[ 9.99945673e-01 5.88765567e-03 8.60149687e-03 1.75161274e+02] [-5.88343424e-03 9.99982559e-01 -5.15999760e-04 -9.88108842e+00] [-8.60438489e-03 4.65365387e-04 9.99962873e-01 -2.31821333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14037174299997 meters Centerline goodness [0,1] 0.9819023569023569 Centerline is valid? [True, True] Translation: X:175.19, Y:-9.88, Z:-2.32 [[ 9.99958274e-01 3.43932444e-03 8.46298214e-03 1.75191853e+02] [-3.43515290e-03 9.99993971e-01 -5.07402681e-04 -9.88435841e+00] [-8.46467624e-03 4.78309872e-04 9.99964060e-01 -2.31853773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17037174299998 meters Centerline goodness [0,1] 0.981791038499548 Centerline is valid? [True, True] Translation: X:175.22, Y:-9.89, Z:-2.32 [[ 9.99970807e-01 -3.97250235e-04 7.63068853e-03 1.75222295e+02] [ 4.00753824e-04 9.99999815e-01 -4.57620946e-04 -9.89044811e+00] [-7.63050533e-03 4.60665615e-04 9.99970781e-01 -2.31912126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20037174299998 meters Centerline goodness [0,1] 0.9817643227798903 Centerline is valid? [True, True] Translation: X:175.25, Y:-9.89, Z:-2.32 [[ 9.99978959e-01 -1.09327506e-03 6.39422939e-03 1.75254635e+02] [ 1.09573945e-03 9.99999327e-01 -3.81917304e-04 -9.89427962e+00] [-6.39380754e-03 3.88915677e-04 9.99979484e-01 -2.31977016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23037174299998 meters Centerline goodness [0,1] 0.9816810344827587 Centerline is valid? [True, True] Translation: X:175.29, Y:-9.90, Z:-2.32 [[ 9.99973929e-01 -2.02650597e-03 6.93067297e-03 1.75287071e+02] [ 2.02943703e-03 9.99997854e-01 -4.15905593e-04 -9.89557850e+00] [-6.92981526e-03 4.29960114e-04 9.99975896e-01 -2.31996600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26037174299998 meters Centerline goodness [0,1] 0.9820804379869447 Centerline is valid? [True, True] Translation: X:175.32, Y:-9.89, Z:-2.32 [[ 9.99966196e-01 -1.52029936e-03 8.08053775e-03 1.75319663e+02] [ 1.52429538e-03 9.99998719e-01 -4.88388236e-04 -9.89348395e+00] [-8.07978491e-03 5.00688853e-04 9.99967233e-01 -2.31904975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29037174299998 meters Centerline goodness [0,1] 0.9822628552168693 Centerline is valid? [True, True] Translation: X:175.35, Y:-9.90, Z:-2.32 [[ 9.99970184e-01 -7.06873048e-04 7.68968514e-03 1.75350837e+02] [ 7.10472602e-04 9.99999639e-01 -4.65380033e-04 -9.89875830e+00] [-7.68935341e-03 4.70829468e-04 9.99970326e-01 -2.31952823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32037174299998 meters Centerline goodness [0,1] 0.9829502399595857 Centerline is valid? [True, True] Translation: X:175.38, Y:-9.89, Z:-2.32 [[ 9.99959279e-01 1.87700186e-03 8.82707780e-03 1.75382884e+02] [-1.87235386e-03 9.99998104e-01 -5.34795929e-04 -9.89316932e+00] [-8.82806488e-03 5.18246739e-04 9.99960898e-01 -2.31836557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35037174299998 meters Centerline goodness [0,1] 0.9820522002907038 Centerline is valid? [True, True] Translation: X:175.41, Y:-9.90, Z:-2.32 [[ 9.99946208e-01 3.24568259e-03 9.85121379e-03 1.75412766e+02] [-3.23995226e-03 9.99994573e-01 -5.97591821e-04 -9.89765152e+00] [-9.85309992e-03 5.65642213e-04 9.99951297e-01 -2.31894042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38037174299998 meters Centerline goodness [0,1] 0.9835443037974684 Centerline is valid? [True, True] Translation: X:175.44, Y:-9.89, Z:-2.32 [[ 9.99941997e-01 5.35679249e-03 9.34381874e-03 1.75444419e+02] [-5.35172842e-03 9.99985519e-01 -5.66890287e-04 -9.89322639e+00] [-9.34672014e-03 5.16851826e-04 9.99956185e-01 -2.31820444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41037174299998 meters Centerline goodness [0,1] 0.9826388155532557 Centerline is valid? [True, True] Translation: X:175.47, Y:-9.89, Z:-2.32 [[ 9.99923490e-01 6.88884121e-03 1.02741008e-02 1.75474694e+02] [-6.88279425e-03 9.99976119e-01 -6.23805970e-04 -9.89144250e+00] [-1.02781527e-02 5.53043721e-04 9.99947025e-01 -2.31848371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440371743 meters Centerline goodness [0,1] 0.9829474706118229 Centerline is valid? [True, True] Translation: X:175.51, Y:-9.89, Z:-2.32 [[ 9.99915559e-01 8.23514929e-03 1.00527307e-02 1.75507497e+02] [-8.22943469e-03 9.99965952e-01 -6.09696185e-04 -9.88693284e+00] [-1.00574094e-02 5.26916411e-04 9.99949284e-01 -2.31834261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.470371743 meters Centerline goodness [0,1] 0.9831962892683955 Centerline is valid? [True, True] Translation: X:175.54, Y:-9.89, Z:-2.32 [[ 9.99914450e-01 7.07845627e-03 1.09994553e-02 1.75537847e+02] [-7.07150348e-03 9.99974772e-01 -6.70868035e-04 -9.89402009e+00] [-1.10039265e-02 5.93027956e-04 9.99939279e-01 -2.31951817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500371743 meters Centerline goodness [0,1] 0.9842773932128989 Centerline is valid? [True, True] Translation: X:175.57, Y:-9.89, Z:-2.32 [[ 9.99917946e-01 8.17489777e-03 9.86264443e-03 1.75570183e+02] [-8.16936597e-03 9.99966450e-01 -6.01040991e-04 -9.88663701e+00] [-9.86722699e-03 5.20420122e-04 9.99951182e-01 -2.32000398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.530371743 meters Centerline goodness [0,1] 0.9845152840272937 Centerline is valid? [True, True] Translation: X:175.60, Y:-9.89, Z:-2.32 [[ 9.99918522e-01 9.65225899e-03 8.35358951e-03 1.75601297e+02] [-9.64832758e-03 9.99953323e-01 -5.10798905e-04 -9.88865199e+00] [-8.35812995e-03 4.30159118e-04 9.99964978e-01 -2.32081981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560371743 meters Centerline goodness [0,1] 0.983719407901683 Centerline is valid? [True, True] Translation: X:175.63, Y:-9.89, Z:-2.32 [[ 9.99902628e-01 1.17416042e-02 7.54114659e-03 1.75633213e+02] [-1.17384402e-02 9.99930995e-01 -4.63685521e-04 -9.88549337e+00] [-7.54607062e-03 3.75119073e-04 9.99971458e-01 -2.32085170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.590371743 meters Centerline goodness [0,1] 0.9852788764567778 Centerline is valid? [True, True] Translation: X:175.66, Y:-9.89, Z:-2.32 [[ 9.99884496e-01 1.27940632e-02 8.20408320e-03 1.75664717e+02] [-1.27903488e-02 9.99918073e-01 -5.05055307e-04 -9.88529353e+00] [-8.20987277e-03 4.00063885e-04 9.99966218e-01 -2.32063456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620371743 meters Centerline goodness [0,1] 0.9855026589009875 Centerline is valid? [True, True] Translation: X:175.70, Y:-9.88, Z:-2.32 [[ 9.99867379e-01 1.35369577e-02 9.05403648e-03 1.75696532e+02] [-1.35324608e-02 9.99908277e-01 -5.57753529e-04 -9.88463732e+00] [-9.06075630e-03 4.35156165e-04 9.99958856e-01 -2.32056933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.650371743 meters Centerline goodness [0,1] 0.9858225062423294 Centerline is valid? [True, True] Translation: X:175.73, Y:-9.88, Z:-2.32 [[ 9.99834063e-01 1.52286079e-02 9.99679989e-03 1.75727137e+02] [-1.52232054e-02 9.99883930e-01 -6.16300790e-04 -9.88414848e+00] [-1.00050250e-02 4.64015185e-04 9.99949841e-01 -2.32027051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680371743 meters Centerline goodness [0,1] 0.9857848018134441 Centerline is valid? [True, True] Translation: X:175.76, Y:-9.88, Z:-2.32 [[ 9.99818960e-01 1.58260082e-02 1.05633474e-02 1.75757101e+02] [-1.58200071e-02 9.99874644e-01 -6.51429895e-04 -9.88496293e+00] [-1.05723327e-02 4.84199730e-04 9.99943994e-01 -2.32021294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71037174299997 meters Centerline goodness [0,1] 0.9854968135334844 Centerline is valid? [True, True] Translation: X:175.79, Y:-9.89, Z:-2.32 [[ 9.99824650e-01 1.61677017e-02 9.44848433e-03 1.75787486e+02] [-1.61629144e-02 9.99869202e-01 -5.82817778e-04 -9.88763684e+00] [-9.45667130e-03 4.30000538e-04 9.99955192e-01 -2.32102817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74037174299997 meters Centerline goodness [0,1] 0.9855669227830369 Centerline is valid? [True, True] Translation: X:175.82, Y:-9.89, Z:-2.32 [[ 9.99843769e-01 1.54375029e-02 8.60936457e-03 1.75818360e+02] [-1.54334993e-02 9.99880755e-01 -5.31270646e-04 -9.88658562e+00] [-8.61653945e-03 3.98315023e-04 9.99962798e-01 -2.32157486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77037174299997 meters Centerline goodness [0,1] 0.9861626944544664 Centerline is valid? [True, True] Translation: X:175.85, Y:-9.89, Z:-2.32 [[ 9.99860380e-01 1.44389604e-02 8.41050982e-03 1.75849185e+02] [-1.44351044e-02 9.99895674e-01 -5.18999625e-04 -9.88767142e+00] [-8.41712619e-03 3.97520575e-04 9.99964496e-01 -2.32255935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80037174299997 meters Centerline goodness [0,1] 0.9860156183685596 Centerline is valid? [True, True] Translation: X:175.88, Y:-9.89, Z:-2.32 [[ 9.99869582e-01 1.39710687e-02 8.10112704e-03 1.75879865e+02] [-1.39674759e-02 9.99902325e-01 -4.99908090e-04 -9.88724403e+00] [-8.10732002e-03 3.86690596e-04 9.99967060e-01 -2.32200113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83037174299997 meters Centerline goodness [0,1] 0.9859526270274831 Centerline is valid? [True, True] Translation: X:175.91, Y:-9.89, Z:-2.32 [[ 9.99884574e-01 1.25218373e-02 8.60479426e-03 1.75910689e+02] [-1.25177310e-02 9.99921509e-01 -5.30905523e-04 -9.88859951e+00] [-8.61076678e-03 4.23131743e-04 9.99962837e-01 -2.32208436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86037174299997 meters Centerline goodness [0,1] 0.986595117398774 Centerline is valid? [True, True] Translation: X:175.94, Y:-9.88, Z:-2.32 [[ 9.99900092e-01 1.14170014e-02 8.33415719e-03 1.75941994e+02] [-1.14131100e-02 9.99934736e-01 -5.14334382e-04 -9.88294014e+00] [-8.33948542e-03 4.19164343e-04 9.99965138e-01 -2.32139736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89037174299997 meters Centerline goodness [0,1] 0.9858906899770856 Centerline is valid? [True, True] Translation: X:175.97, Y:-9.90, Z:-2.32 [[ 9.99916037e-01 9.74262535e-03 8.54401488e-03 1.75971660e+02] [-9.73847315e-03 9.99952441e-01 -5.27447829e-04 -9.89621219e+00] [-8.54874726e-03 4.44197884e-04 9.99963360e-01 -2.32214736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92037174299998 meters Centerline goodness [0,1] 0.9871849364559867 Centerline is valid? [True, True] Translation: X:176.00, Y:-9.88, Z:-2.32 [[ 9.99917414e-01 1.01949415e-02 7.82489703e-03 1.76003431e+02] [-1.01914726e-02 9.99947949e-01 -4.83071590e-04 -9.88489632e+00] [-7.82941463e-03 4.03284472e-04 9.99969268e-01 -2.32043944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95037174299998 meters Centerline goodness [0,1] 0.9875164816468887 Centerline is valid? [True, True] Translation: X:176.03, Y:-9.89, Z:-2.32 [[ 9.99910732e-01 1.03195377e-02 8.48738999e-03 1.76033647e+02] [-1.03154572e-02 9.99946657e-01 -5.24412321e-04 -9.88555326e+00] [-8.49234894e-03 4.36814200e-04 9.99963844e-01 -2.32030256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98037174299998 meters Centerline goodness [0,1] 0.9869605844376487 Centerline is valid? [True, True] Translation: X:176.07, Y:-9.88, Z:-2.32 [[ 9.99904697e-01 1.07858175e-02 8.61756718e-03 1.76065556e+02] [-1.07816275e-02 9.99941735e-01 -5.32527223e-04 -9.88429804e+00] [-8.62280882e-03 4.39565072e-04 9.99962726e-01 -2.32031237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01037174299998 meters Centerline goodness [0,1] 0.9874454729226514 Centerline is valid? [True, True] Translation: X:176.10, Y:-9.89, Z:-2.32 [[ 9.99893448e-01 1.20993533e-02 8.16684221e-03 1.76095861e+02] [-1.20956309e-02 9.99926718e-01 -5.05037356e-04 -9.88694304e+00] [-8.17235435e-03 4.06200435e-04 9.99966523e-01 -2.32080632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04037174299998 meters Centerline goodness [0,1] 0.9886091761766637 Centerline is valid? [True, True] Translation: X:176.13, Y:-9.88, Z:-2.32 [[ 9.99859602e-01 1.54099909e-02 6.58086966e-03 1.76126658e+02] [-1.54076442e-02 9.99881212e-01 -4.07153953e-04 -9.87909808e+00] [-6.58636217e-03 3.05701091e-04 9.99978263e-01 -2.32100202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07037174299998 meters Centerline goodness [0,1] 0.9895700025595086 Centerline is valid? [True, True] Translation: X:176.16, Y:-9.88, Z:-2.32 [[ 9.99838791e-01 1.70484286e-02 5.63415727e-03 1.76156231e+02] [-1.70467328e-02 9.99854633e-01 -3.48871690e-04 -9.87807575e+00] [-5.63928596e-03 2.52771475e-04 9.99984067e-01 -2.32116121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10037174299998 meters Centerline goodness [0,1] 0.988687830912841 Centerline is valid? [True, True] Translation: X:176.18, Y:-9.88, Z:-2.32 [[ 9.99815687e-01 1.83802260e-02 5.54616107e-03 1.76184687e+02] [-1.83786036e-02 9.99831040e-01 -3.43369322e-04 -9.87886482e+00] [-5.55153519e-03 2.41375339e-04 9.99984561e-01 -2.32251777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13037174299998 meters Centerline goodness [0,1] 0.9890713888532444 Centerline is valid? [True, True] Translation: X:176.21, Y:-9.88, Z:-2.32 [[ 9.99799861e-01 1.94349195e-02 4.74566127e-03 1.76213453e+02] [-1.94337435e-02 9.99811104e-01 -2.93796660e-04 -9.88010718e+00] [-4.75047475e-03 2.01511896e-04 9.99988696e-01 -2.32254706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16037174299998 meters Centerline goodness [0,1] 0.9896494085376307 Centerline is valid? [True, True] Translation: X:176.24, Y:-9.88, Z:-2.32 [[ 9.99793160e-01 1.97833625e-02 4.71766908e-03 1.76241962e+02] [-1.97822057e-02 9.99804270e-01 -2.91736216e-04 -9.88068939e+00] [-4.72251721e-03 1.98349973e-04 9.99988829e-01 -2.32300711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.190371743 meters Centerline goodness [0,1] 0.9900184209398963 Centerline is valid? [True, True] Translation: X:176.27, Y:-9.88, Z:-2.32 [[ 9.99791229e-01 1.95495397e-02 5.94247739e-03 1.76270558e+02] [-1.95477040e-02 9.99808858e-01 -3.66833691e-04 -9.87751144e+00] [-5.94851297e-03 2.50595318e-04 9.99982276e-01 -2.32218928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220371743 meters Centerline goodness [0,1] 0.9889326540223488 Centerline is valid? [True, True] Translation: X:176.30, Y:-9.88, Z:-2.32 [[ 9.99754218e-01 2.15561563e-02 5.18030189e-03 1.76298386e+02] [-2.15547888e-02 9.99767617e-01 -3.19677714e-04 -9.87766647e+00] [-5.18598910e-03 2.07938830e-04 9.99986531e-01 -2.32195474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.250371743 meters Centerline goodness [0,1] 0.9892129530345272 Centerline is valid? [True, True] Translation: X:176.33, Y:-9.88, Z:-2.32 [[ 9.99753258e-01 2.15707434e-02 5.30344473e-03 1.76327074e+02] [-2.15693138e-02 9.99767302e-01 -3.26607491e-04 -9.87792588e+00] [-5.30925580e-03 2.12135240e-04 9.99985883e-01 -2.32221315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280371743 meters Centerline goodness [0,1] 0.9894400891059418 Centerline is valid? [True, True] Translation: X:176.36, Y:-9.88, Z:-2.32 [[ 9.99725884e-01 2.27701244e-02 5.44779595e-03 1.76355263e+02] [-2.27686352e-02 9.99740705e-01 -3.35214962e-04 -9.87868160e+00] [-5.45401625e-03 2.11084196e-04 9.99985104e-01 -2.32298136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.310371743 meters Centerline goodness [0,1] 0.9891637877389867 Centerline is valid? [True, True] Translation: X:176.38, Y:-9.88, Z:-2.32 [[ 9.99721935e-01 2.29746574e-02 5.31206799e-03 1.76384299e+02] [-2.29732477e-02 9.99736027e-01 -3.26267779e-04 -9.87983435e+00] [-5.31816164e-03 2.04141602e-04 9.99985838e-01 -2.32374360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340371743 meters Centerline goodness [0,1] 0.9894596741300474 Centerline is valid? [True, True] Translation: X:176.41, Y:-9.88, Z:-2.32 [[ 9.99711098e-01 2.34284034e-02 5.36940514e-03 1.76412708e+02] [-2.34269717e-02 9.99725497e-01 -3.29390606e-04 -9.88145186e+00] [-5.37564832e-03 2.03506542e-04 9.99985530e-01 -2.32426741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.370371743 meters Centerline goodness [0,1] 0.9892834224598931 Centerline is valid? [True, True] Translation: X:176.44, Y:-9.88, Z:-2.33 [[ 9.99716373e-01 2.33156479e-02 4.85321048e-03 1.76440794e+02] [-2.33144775e-02 9.99728136e-01 -2.97618171e-04 -9.88490864e+00] [-4.85883023e-03 1.84383693e-04 9.99988179e-01 -2.32500730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400371743 meters Centerline goodness [0,1] 0.9892175777063237 Centerline is valid? [True, True] Translation: X:176.47, Y:-9.89, Z:-2.33 [[ 9.99762808e-01 2.15033741e-02 3.45437084e-03 1.76470464e+02] [-2.15027721e-02 9.99768766e-01 -2.11327873e-04 -9.88764330e+00] [-3.45811633e-03 1.36999199e-04 9.99994011e-01 -2.32596044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.430371743 meters Centerline goodness [0,1] 0.9894752636542914 Centerline is valid? [True, True] Translation: X:176.50, Y:-9.89, Z:-2.33 [[ 9.99784672e-01 2.05592496e-02 2.81550427e-03 1.76498579e+02] [-2.05588444e-02 9.99788630e-01 -1.72788672e-04 -9.89117743e+00] [-2.81846156e-03 1.14867951e-04 9.99996022e-01 -2.32725607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46037174299997 meters Centerline goodness [0,1] 0.9894431927904731 Centerline is valid? [True, True] Translation: X:176.53, Y:-9.89, Z:-2.33 [[ 9.99827584e-01 1.84796237e-02 1.81834527e-03 1.76528352e+02] [-1.84794518e-02 9.99829234e-01 -1.11268420e-04 -9.88987092e+00] [-1.82009096e-03 7.76472117e-05 9.99998341e-01 -2.32713757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49037174299997 meters Centerline goodness [0,1] 0.9893719393537626 Centerline is valid? [True, True] Translation: X:176.56, Y:-9.90, Z:-2.33 [[ 9.99906348e-01 1.36482459e-02 1.01069545e-03 1.76556840e+02] [-1.36481902e-02 9.99906857e-01 -6.20282944e-05 -9.89618222e+00] [-1.01144789e-03 4.82283215e-05 9.99999487e-01 -2.32862461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52037174299997 meters Centerline goodness [0,1] 0.9893719393537626 Centerline is valid? [True, True] Translation: X:176.59, Y:-9.90, Z:-2.33 [[ 9.99907339e-01 1.35754089e-02 1.01067016e-03 1.76585133e+02] [-1.35753527e-02 9.99907849e-01 -6.24442710e-05 -9.89784563e+00] [-1.01142473e-03 4.87182810e-05 9.99999487e-01 -2.32900880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55037174299997 meters Centerline goodness [0,1] 0.9890234751849073 Centerline is valid? [True, True] Translation: X:176.61, Y:-9.91, Z:-2.33 [[ 9.99933683e-01 1.14827896e-02 8.80708006e-04 1.76613039e+02] [-1.14827463e-02 9.99934070e-01 -5.42407836e-05 -9.90722518e+00] [-8.81272776e-04 4.41242399e-05 9.99999611e-01 -2.33040519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58037174299997 meters Centerline goodness [0,1] 0.9888703394546466 Centerline is valid? [True, True] Translation: X:176.64, Y:-9.91, Z:-2.33 [[ 9.99959253e-01 8.75975139e-03 2.18132719e-03 1.76642708e+02] [-8.75948220e-03 9.99961626e-01 -1.32928662e-04 -9.90711371e+00] [-2.18240791e-03 1.13815949e-04 9.99997612e-01 -2.32866616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61037174299997 meters Centerline goodness [0,1] 0.9876848867735257 Centerline is valid? [True, True] Translation: X:176.67, Y:-9.91, Z:-2.33 [[ 9.99969306e-01 7.22003476e-03 3.04279727e-03 1.76672454e+02] [-7.21950477e-03 9.99973922e-01 -1.85125904e-04 -9.90874202e+00] [-3.04405454e-03 1.63152732e-04 9.99995354e-01 -2.32804775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64037174299997 meters Centerline goodness [0,1] 0.9880595737396217 Centerline is valid? [True, True] Translation: X:176.70, Y:-9.91, Z:-2.33 [[ 9.99969622e-01 7.15882284e-03 3.08311296e-03 1.76702494e+02] [-7.15827879e-03 9.99974362e-01 -1.87458932e-04 -9.91146369e+00] [-3.08437590e-03 1.65383455e-04 9.99995230e-01 -2.32760863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67037174299998 meters Centerline goodness [0,1] 0.9883078504432738 Centerline is valid? [True, True] Translation: X:176.73, Y:-9.92, Z:-2.33 [[ 9.99971009e-01 6.55168982e-03 3.88016332e-03 1.76731309e+02] [-6.55082460e-03 9.99978515e-01 -2.35653030e-04 -9.91559062e+00] [-3.88162388e-03 2.10227929e-04 9.99992444e-01 -2.32717440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70037174299998 meters Centerline goodness [0,1] 0.9885477426660684 Centerline is valid? [True, True] Translation: X:176.76, Y:-9.92, Z:-2.33 [[ 9.99975676e-01 5.12798414e-03 4.72776091e-03 1.76762163e+02] [-5.12668653e-03 9.99986817e-01 -2.86542228e-04 -9.91551777e+00] [-4.72916797e-03 2.62297510e-04 9.99988783e-01 -2.32664178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73037174299998 meters Centerline goodness [0,1] 0.9877902749861011 Centerline is valid? [True, True] Translation: X:176.79, Y:-9.92, Z:-2.33 [[ 9.99976060e-01 4.00520797e-03 5.64243961e-03 1.76792537e+02] [-4.00334515e-03 9.99991928e-01 -3.41400494e-04 -9.92040719e+00] [-5.64376144e-03 3.18803688e-04 9.99984023e-01 -2.32677440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76037174299998 meters Centerline goodness [0,1] 0.9881336036708995 Centerline is valid? [True, True] Translation: X:176.82, Y:-9.92, Z:-2.33 [[ 9.99978913e-01 3.23197129e-03 5.63267163e-03 1.76823721e+02] [-3.23009869e-03 9.99994725e-01 -3.41518594e-04 -9.92350261e+00] [-5.63374569e-03 3.23317308e-04 9.99984078e-01 -2.32752723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79037174299998 meters Centerline goodness [0,1] 0.9883355764917003 Centerline is valid? [True, True] Translation: X:176.86, Y:-9.93, Z:-2.33 [[ 9.99983012e-01 2.48103646e-03 5.27450742e-03 1.76855376e+02] [-2.47938749e-03 9.99996875e-01 -3.19146056e-04 -9.92510996e+00] [-5.27528276e-03 3.06063086e-04 9.99986039e-01 -2.32786740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82037174299998 meters Centerline goodness [0,1] 0.9878004486700139 Centerline is valid? [True, True] Translation: X:176.89, Y:-9.93, Z:-2.33 [[ 9.99988791e-01 9.09594481e-04 4.64651415e-03 1.76886649e+02] [-9.08291963e-04 9.99999548e-01 -2.82424001e-04 -9.92741508e+00] [-4.64676894e-03 2.78200443e-04 9.99989165e-01 -2.32878555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85037174299998 meters Centerline goodness [0,1] 0.9872484941689094 Centerline is valid? [True, True] Translation: X:176.92, Y:-9.93, Z:-2.33 [[ 9.99990370e-01 1.18411856e-03 4.22581264e-03 1.76918816e+02] [-1.18304471e-03 9.99999267e-01 -2.56607632e-04 -9.92909281e+00] [-4.22611340e-03 2.51605836e-04 9.99991038e-01 -2.32977887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88037174299998 meters Centerline goodness [0,1] 0.9876593291628414 Centerline is valid? [True, True] Translation: X:176.95, Y:-9.93, Z:-2.33 [[ 9.99992770e-01 -6.94685469e-05 3.80186708e-03 1.76950339e+02] [ 7.03452472e-05 9.99999971e-01 -2.30464064e-04 -9.93160307e+00] [-3.80185096e-03 2.30729841e-04 9.99992746e-01 -2.33128994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91037174299998 meters Centerline goodness [0,1] 0.9873582331372047 Centerline is valid? [True, True] Translation: X:176.98, Y:-9.94, Z:-2.33 [[ 9.99994601e-01 1.06365080e-03 3.10919472e-03 1.76981369e+02] [-1.06306709e-03 9.99999417e-01 -1.89383065e-04 -9.93850100e+00] [-3.10939434e-03 1.86076760e-04 9.99995149e-01 -2.33273084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940371743 meters Centerline goodness [0,1] 0.9870823102380698 Centerline is valid? [True, True] Translation: X:177.01, Y:-9.94, Z:-2.33 [[ 9.99993246e-01 1.38677517e-03 3.40363124e-03 1.77013208e+02] [-1.38607597e-03 9.99999018e-01 -2.07777435e-04 -9.93734997e+00] [-3.40391604e-03 2.03058340e-04 9.99994186e-01 -2.33278602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.970371743 meters Centerline goodness [0,1] 0.9875400726650994 Centerline is valid? [True, True] Translation: X:177.04, Y:-9.94, Z:-2.33 [[ 9.99990029e-01 2.63205460e-03 3.60760588e-03 1.77044331e+02] [-2.63127656e-03 9.99996514e-01 -2.20393435e-04 -9.93905614e+00] [-3.60817339e-03 2.10898629e-04 9.99993468e-01 -2.33230475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000371743 meters Centerline goodness [0,1] 0.9867943074490363 Centerline is valid? [True, True] Translation: X:177.07, Y:-9.94, Z:-2.33 [[ 9.99984676e-01 3.02238355e-03 4.63820014e-03 1.77074671e+02] [-3.02109946e-03 9.99995396e-01 -2.83831855e-04 -9.94084789e+00] [-4.63903663e-03 2.69815042e-04 9.99989203e-01 -2.33242635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.030371743 meters Centerline goodness [0,1] 0.9869475123368439 Centerline is valid? [True, True] Translation: X:177.11, Y:-9.94, Z:-2.33 [[ 9.99976533e-01 3.79190809e-03 5.70561565e-03 1.77106234e+02] [-3.78998622e-03 9.99992758e-01 -3.47613813e-04 -9.94180607e+00] [-5.70689245e-03 3.25981451e-04 9.99983662e-01 -2.33184930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060371743 meters Centerline goodness [0,1] 0.986858131931534 Centerline is valid? [True, True] Translation: X:177.14, Y:-9.94, Z:-2.33 [[ 9.99972183e-01 3.78979507e-03 6.42422846e-03 1.77137127e+02] [-3.78733713e-03 9.99992750e-01 -3.94726297e-04 -9.94435719e+00] [-6.42567782e-03 3.70384598e-04 9.99979287e-01 -2.33249437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.090371743 meters Centerline goodness [0,1] 0.98716552416341 Centerline is valid? [True, True] Translation: X:177.17, Y:-9.95, Z:-2.33 [[ 9.99975769e-01 1.26985499e-03 6.84461075e-03 1.77166986e+02] [-1.26700247e-03 9.99999109e-01 -4.21074192e-04 -9.94907986e+00] [-6.84513936e-03 4.12391850e-04 9.99976487e-01 -2.33317352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120371743 meters Centerline goodness [0,1] 0.9869606043791882 Centerline is valid? [True, True] Translation: X:177.20, Y:-9.95, Z:-2.33 [[ 9.99974348e-01 -8.15155098e-04 7.11605334e-03 1.77198148e+02] [ 8.18289318e-04 9.99999569e-01 -4.37543155e-04 -9.95101754e+00] [-7.11569361e-03 4.43354921e-04 9.99974585e-01 -2.33330532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.150371743 meters Centerline goodness [0,1] 0.9866330714041681 Centerline is valid? [True, True] Translation: X:177.23, Y:-9.96, Z:-2.33 [[ 9.99968933e-01 -3.13890951e-03 7.23045388e-03 1.77228128e+02] [ 3.14220857e-03 9.99994964e-01 -4.44958186e-04 -9.95635486e+00] [-7.22902079e-03 4.67663957e-04 9.99973761e-01 -2.33386775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180371743 meters Centerline goodness [0,1] 0.9863250416008875 Centerline is valid? [True, True] Translation: X:177.26, Y:-9.96, Z:-2.33 [[ 9.99962383e-01 -5.60496254e-03 6.61950148e-03 1.77257556e+02] [ 5.60778288e-03 9.99984193e-01 -4.07581204e-04 -9.96071030e+00] [-6.61711237e-03 4.44686599e-04 9.99978008e-01 -2.33474574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21037174299997 meters Centerline goodness [0,1] 0.9859826064659502 Centerline is valid? [True, True] Translation: X:177.29, Y:-9.97, Z:-2.34 [[ 9.99926351e-01 -1.10279725e-02 5.06713898e-03 1.77288672e+02] [ 1.10296931e-02 9.99939122e-01 -3.11750343e-04 -9.96746660e+00] [-5.06339253e-03 3.67616371e-04 9.99987113e-01 -2.33591718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24037174299997 meters Centerline goodness [0,1] 0.9848076923076923 Centerline is valid? [True, True] Translation: X:177.32, Y:-9.97, Z:-2.34 [[ 9.99817539e-01 -1.85062866e-02 4.73353453e-03 1.77319030e+02] [ 1.85078730e-02 9.99828672e-01 -2.91559489e-04 -9.97380248e+00] [-4.72732786e-03 3.79113947e-04 9.99988754e-01 -2.33739188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27037174299997 meters Centerline goodness [0,1] 0.9867375704766786 Centerline is valid? [True, True] Translation: X:177.35, Y:-9.97, Z:-2.34 [[ 9.99771315e-01 -2.10238037e-02 3.91369089e-03 1.77351140e+02] [ 2.10249061e-02 9.99778923e-01 -2.40746430e-04 -9.96504814e+00] [-3.90776426e-03 3.22976359e-04 9.99992313e-01 -2.33657552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30037174299997 meters Centerline goodness [0,1] 0.9854967367657723 Centerline is valid? [True, True] Translation: X:177.38, Y:-9.97, Z:-2.34 [[ 9.99732200e-01 -2.29238988e-02 3.16607753e-03 1.77381203e+02] [ 2.29246304e-02 9.99737177e-01 -1.94975871e-04 -9.97401232e+00] [-3.16077580e-03 2.67504813e-04 9.99994969e-01 -2.33801650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33037174299997 meters Centerline goodness [0,1] 0.9864627511459538 Centerline is valid? [True, True] Translation: X:177.41, Y:-9.97, Z:-2.34 [[ 9.99717117e-01 -2.36921219e-02 2.09025540e-03 1.77413226e+02] [ 2.36924414e-02 9.99719286e-01 -1.28247126e-04 -9.97000218e+00] [-2.08663019e-03 1.77734101e-04 9.99997807e-01 -2.33822112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36037174299997 meters Centerline goodness [0,1] 0.9867309753483386 Centerline is valid? [True, True] Translation: X:177.44, Y:-9.97, Z:-2.34 [[ 9.99687355e-01 -2.49233808e-02 2.00443526e-03 1.77444872e+02] [ 2.49236773e-02 9.99689349e-01 -1.23061302e-04 -9.96889849e+00] [-2.00074547e-03 1.72980725e-04 9.99997984e-01 -2.33912479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39037174299997 meters Centerline goodness [0,1] 0.9865511250294932 Centerline is valid? [True, True] Translation: X:177.48, Y:-9.97, Z:-2.34 [[ 9.99689585e-01 -2.45751117e-02 4.09847219e-03 1.77475942e+02] [ 2.45763525e-02 9.99697924e-01 -2.52656602e-04 -9.97016785e+00] [-4.09102507e-03 3.53303671e-04 9.99991569e-01 -2.33875490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42037174299998 meters Centerline goodness [0,1] 0.9873896324303422 Centerline is valid? [True, True] Translation: X:177.51, Y:-9.97, Z:-2.34 [[ 9.99711660e-01 -2.34540870e-02 5.14810574e-03 1.77507847e+02] [ 2.34560325e-02 9.99724819e-01 -3.17848586e-04 -9.96946163e+00] [-5.13923423e-03 4.38511073e-04 9.99986698e-01 -2.33794502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45037174299998 meters Centerline goodness [0,1] 0.9873086091008654 Centerline is valid? [True, True] Translation: X:177.54, Y:-9.97, Z:-2.34 [[ 9.99735033e-01 -2.22815859e-02 5.77886620e-03 1.77539167e+02] [ 2.22840211e-02 9.99751617e-01 -3.57341522e-04 -9.96662489e+00] [-5.76946869e-03 4.86023215e-04 9.99983238e-01 -2.33670168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48037174299998 meters Centerline goodness [0,1] 0.985732369284902 Centerline is valid? [True, True] Translation: X:177.57, Y:-9.97, Z:-2.34 [[ 9.99759340e-01 -2.08915479e-02 6.69360685e-03 1.77569840e+02] [ 2.08947864e-02 9.99781594e-01 -4.14238531e-04 -9.97025029e+00] [-6.68349085e-03 5.54000325e-04 9.99977512e-01 -2.33687885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51037174299998 meters Centerline goodness [0,1] 0.9861501792961285 Centerline is valid? [True, True] Translation: X:177.60, Y:-9.97, Z:-2.34 [[ 9.99815636e-01 -1.79995940e-02 6.68646822e-03 1.77599559e+02] [ 1.80027655e-02 9.99837851e-01 -4.14425621e-04 -9.96694647e+00] [-6.67792453e-03 5.34724136e-04 9.99977559e-01 -2.33615243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54037174299998 meters Centerline goodness [0,1] 0.9872112834005478 Centerline is valid? [True, True] Translation: X:177.63, Y:-9.96, Z:-2.34 [[ 9.99837324e-01 -1.68185198e-02 6.51638042e-03 1.77631244e+02] [ 1.68215038e-02 9.99858427e-01 -4.03383542e-04 -9.96054410e+00] [-6.50867357e-03 5.12933240e-04 9.99978687e-01 -2.33596121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57037174299998 meters Centerline goodness [0,1] 0.9867734000776766 Centerline is valid? [True, True] Translation: X:177.66, Y:-9.96, Z:-2.34 [[ 9.99873351e-01 -1.43301942e-02 6.92302899e-03 1.77661425e+02] [ 1.43335066e-02 9.99897178e-01 -4.29087692e-04 -9.96119633e+00] [-6.91616824e-03 5.28264630e-04 9.99975943e-01 -2.33678045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60037174299998 meters Centerline goodness [0,1] 0.9851936711049628 Centerline is valid? [True, True] Translation: X:177.69, Y:-9.96, Z:-2.34 [[ 9.99891829e-01 -1.32037591e-02 6.48003014e-03 1.77693704e+02] [ 1.32066344e-02 9.99912708e-01 -4.01124950e-04 -9.96164676e+00] [-6.47416813e-03 4.86660949e-04 9.99978924e-01 -2.33764971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63037174299998 meters Centerline goodness [0,1] 0.9866015473051821 Centerline is valid? [True, True] Translation: X:177.73, Y:-9.96, Z:-2.34 [[ 9.99901390e-01 -1.23948516e-02 6.60142985e-03 1.77726423e+02] [ 1.23978205e-02 9.99923060e-01 -4.09007459e-04 -9.96146934e+00] [-6.59585236e-03 4.90810469e-04 9.99978127e-01 -2.33845452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66037174299998 meters Centerline goodness [0,1] 0.9867125451751824 Centerline is valid? [True, True] Translation: X:177.76, Y:-9.96, Z:-2.34 [[ 9.99922842e-01 -1.10542542e-02 5.66692988e-03 1.77758168e+02] [ 1.10564249e-02 9.99938814e-01 -3.51868224e-04 -9.95887618e+00] [-5.66269350e-03 4.14497059e-04 9.99983881e-01 -2.34003604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.690371743 meters Centerline goodness [0,1] 0.987235333636738 Centerline is valid? [True, True] Translation: X:177.79, Y:-9.96, Z:-2.34 [[ 9.99951681e-01 -8.61578468e-03 4.73319442e-03 1.77790265e+02] [ 8.61727072e-03 9.99962828e-01 -2.93655976e-04 -9.95897422e+00] [-4.73048840e-03 3.34429005e-04 9.99988755e-01 -2.34116573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720371743 meters Centerline goodness [0,1] 0.9883246527777778 Centerline is valid? [True, True] Translation: X:177.82, Y:-9.95, Z:-2.34 [[ 9.99979884e-01 -5.60036026e-03 2.97801253e-03 1.77820002e+02] [ 5.60093761e-03 9.99984297e-01 -1.85567612e-04 -9.95487765e+00] [-2.97692652e-03 2.02243541e-04 9.99995548e-01 -2.34336829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.750371743 meters Centerline goodness [0,1] 0.9886257367173398 Centerline is valid? [True, True] Translation: X:177.85, Y:-9.95, Z:-2.34 [[ 9.99991666e-01 -3.33154193e-03 2.35965138e-03 1.77851928e+02] [ 3.33189628e-03 9.99994439e-01 -1.46256200e-04 -9.95268268e+00] [-2.35915100e-03 1.54117095e-04 9.99997205e-01 -2.34480246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780371743 meters Centerline goodness [0,1] 0.9886737383197927 Centerline is valid? [True, True] Translation: X:177.88, Y:-9.94, Z:-2.34 [[ 9.99995882e-01 2.54098584e-03 1.33388555e-03 1.77883610e+02] [-2.54087733e-03 9.99996769e-01 -8.30402298e-05 -9.94371620e+00] [-1.33409224e-03 7.96506483e-05 9.99999107e-01 -2.34438293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.810371743 meters Centerline goodness [0,1] 0.9895265110189831 Centerline is valid? [True, True] Translation: X:177.91, Y:-9.94, Z:-2.34 [[ 9.99979671e-01 6.24702258e-03 1.27750010e-03 1.77913530e+02] [-6.24692544e-03 9.99980485e-01 -8.00205759e-05 -9.94240150e+00] [-1.27797506e-03 7.20385013e-05 9.99999181e-01 -2.34398632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840371743 meters Centerline goodness [0,1] 0.9895445337515519 Centerline is valid? [True, True] Translation: X:177.94, Y:-9.94, Z:-2.34 [[ 9.99960803e-01 8.52180416e-03 2.40227689e-03 1.77942578e+02] [-8.52146797e-03 9.99963680e-01 -1.50145824e-04 -9.93945264e+00] [-2.40346915e-03 1.29669013e-04 9.99997103e-01 -2.34321211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.870371743 meters Centerline goodness [0,1] 0.9908483312947755 Centerline is valid? [True, True] Translation: X:177.97, Y:-9.93, Z:-2.34 [[ 9.99827466e-01 1.81152229e-02 4.10805335e-03 1.77973768e+02] [-1.81143257e-02 9.99835890e-01 -2.55489185e-04 -9.93004885e+00] [-4.11200742e-03 1.81030488e-04 9.99991529e-01 -2.34026097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900371743 meters Centerline goodness [0,1] 0.9906992991725433 Centerline is valid? [True, True] Translation: X:178.00, Y:-9.93, Z:-2.34 [[ 9.99730323e-01 2.24372965e-02 5.98732088e-03 1.78003440e+02] [-2.24354662e-02 9.99748224e-01 -3.72693202e-04 -9.92705376e+00] [-5.99417565e-03 2.38264359e-04 9.99982006e-01 -2.33945638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.930371743 meters Centerline goodness [0,1] 0.9906004765339804 Centerline is valid? [True, True] Translation: X:178.03, Y:-9.92, Z:-2.34 [[ 9.99592421e-01 2.76556764e-02 7.08207042e-03 1.78033321e+02] [-2.76532487e-02 9.99617479e-01 -4.40494965e-04 -9.92390437e+00] [-7.09154356e-03 2.44473173e-04 9.99974825e-01 -2.33850086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96037174299997 meters Centerline goodness [0,1] 0.9908441317221336 Centerline is valid? [True, True] Translation: X:178.06, Y:-9.92, Z:-2.34 [[ 9.99426681e-01 3.29240614e-02 7.89400093e-03 1.78064011e+02] [-3.29212128e-02 9.99457830e-01 -4.90559546e-04 -9.91987191e+00] [-7.90587225e-03 2.30398215e-04 9.99968722e-01 -2.33812097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99037174299997 meters Centerline goodness [0,1] 0.9929688526744644 Centerline is valid? [True, True] Translation: X:178.09, Y:-9.91, Z:-2.34 [[ 9.99024293e-01 4.34097647e-02 8.12743524e-03 1.78093647e+02] [-4.34070928e-02 9.99057340e-01 -5.04934060e-04 -9.91429496e+00] [-8.14169290e-03 1.51653057e-04 9.99966844e-01 -2.33901876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02037174299997 meters Centerline goodness [0,1] 0.992942311064352 Centerline is valid? [True, True] Translation: X:178.12, Y:-9.91, Z:-2.34 [[ 9.98818792e-01 4.79621207e-02 7.78812389e-03 1.78122900e+02] [-4.79598047e-02 9.98849149e-01 -4.83969744e-04 -9.91277110e+00] [-7.80237314e-03 1.09881174e-04 9.99969555e-01 -2.34002898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05037174299997 meters Centerline goodness [0,1] 0.993482268258427 Centerline is valid? [True, True] Translation: X:178.15, Y:-9.91, Z:-2.34 [[ 9.98421787e-01 5.57307241e-02 6.92969732e-03 1.78151302e+02] [-5.57290803e-02 9.98445835e-01 -4.30235216e-04 -9.90950139e+00] [-6.94290475e-03 4.33705547e-05 9.99975897e-01 -2.34176655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08037174299997 meters Centerline goodness [0,1] 0.9946169226374882 Centerline is valid? [True, True] Translation: X:178.18, Y:-9.91, Z:-2.34 [[ 9.98236352e-01 5.90204344e-02 6.38548556e-03 1.78179825e+02] [-5.90191083e-02 9.98256775e-01 -3.96082196e-04 -9.90967518e+00] [-6.39773116e-03 1.85179829e-05 9.99979534e-01 -2.34217954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11037174299997 meters Centerline goodness [0,1] 0.9941159681208422 Centerline is valid? [True, True] Translation: X:178.21, Y:-9.91, Z:-2.34 [[ 9.98077490e-01 6.16686420e-02 6.18896582e-03 1.78206947e+02] [-6.16674473e-02 9.98096678e-01 -3.83864811e-04 -9.91066586e+00] [-6.20085865e-03 1.46910273e-06 9.99980774e-01 -2.34402481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14037174299997 meters Centerline goodness [0,1] 0.9957642927685724 Centerline is valid? [True, True] Translation: X:178.23, Y:-9.91, Z:-2.34 [[ 9.97781422e-01 6.63170512e-02 5.85510860e-03 1.78234782e+02] [-6.63160674e-02 9.97798601e-01 -3.62213209e-04 -9.91192374e+00] [-5.86624008e-03 -2.68781657e-05 9.99982793e-01 -2.34489263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17037174299998 meters Centerline goodness [0,1] 0.9957858694936459 Centerline is valid? [True, True] Translation: X:178.26, Y:-9.91, Z:-2.34 [[ 9.97667955e-01 6.80506547e-02 5.26878751e-03 1.78263753e+02] [-6.80498770e-02 9.97681867e-01 -3.26937651e-04 -9.91450934e+00] [-5.27882209e-03 -3.23651251e-05 9.99986066e-01 -2.34493921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20037174299998 meters Centerline goodness [0,1] 0.9960517657381005 Centerline is valid? [True, True] Translation: X:178.29, Y:-9.92, Z:-2.35 [[ 9.97558968e-01 6.96594757e-02 4.86442288e-03 1.78292767e+02] [-6.96588364e-02 9.97570828e-01 -3.00924409e-04 -9.91752590e+00] [-4.87356860e-03 -3.86601948e-05 9.99988123e-01 -2.34610082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23037174299998 meters Centerline goodness [0,1] 0.9960129688047669 Centerline is valid? [True, True] Translation: X:178.32, Y:-9.92, Z:-2.35 [[ 9.97283877e-01 7.35481362e-02 3.94211074e-03 1.78321245e+02] [-7.35477482e-02 9.97291667e-01 -2.43502951e-04 -9.92283631e+00] [-3.94934338e-03 -4.70918007e-05 9.99992200e-01 -2.34801426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26037174299998 meters Centerline goodness [0,1] 0.9960435428871207 Centerline is valid? [True, True] Translation: X:178.35, Y:-9.93, Z:-2.35 [[ 9.97121716e-01 7.57334930e-02 3.56681597e-03 1.78349376e+02] [-7.57331911e-02 9.97128094e-01 -2.19812982e-04 -9.92718273e+00] [-3.57321962e-03 -5.09460578e-05 9.99993615e-01 -2.34832022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29037174299998 meters Centerline goodness [0,1] 0.9960617861987485 Centerline is valid? [True, True] Translation: X:178.38, Y:-9.93, Z:-2.35 [[ 9.96959332e-01 7.78343958e-02 3.72800194e-03 1.78376501e+02] [-7.78340884e-02 9.96966300e-01 -2.27692118e-04 -9.93066568e+00] [-3.73441458e-03 -6.31658509e-05 9.99993025e-01 -2.34880979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32037174299998 meters Centerline goodness [0,1] 0.99671753402026 Centerline is valid? [True, True] Translation: X:178.40, Y:-9.94, Z:-2.35 [[ 9.96559404e-01 8.27690802e-02 4.31678602e-03 1.78404988e+02] [-8.27687228e-02 9.96568748e-01 -2.61676523e-04 -9.93728097e+00] [-4.32363276e-03 -9.65186660e-05 9.99990648e-01 -2.34918868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35037174299998 meters Centerline goodness [0,1] 0.9961857703226925 Centerline is valid? [True, True] Translation: X:178.43, Y:-9.94, Z:-2.35 [[ 9.96423213e-01 8.43610703e-02 4.89794315e-03 1.78433455e+02] [-8.43606230e-02 9.96435244e-01 -2.98217322e-04 -9.94231121e+00] [-4.90564111e-03 -1.16042873e-04 9.99987961e-01 -2.34967001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38037174299998 meters Centerline goodness [0,1] 0.9966885281152564 Centerline is valid? [True, True] Translation: X:178.46, Y:-9.95, Z:-2.35 [[ 9.96269356e-01 8.61306182e-02 5.37466078e-03 1.78461417e+02] [-8.61301212e-02 9.96283844e-01 -3.24287173e-04 -9.94781122e+00] [-5.38261876e-03 -1.39842811e-04 9.99985504e-01 -2.35035192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41037174299998 meters Centerline goodness [0,1] 0.9966885281152564 Centerline is valid? [True, True] Translation: X:178.49, Y:-9.95, Z:-2.35 [[ 9.96293466e-01 8.58512894e-02 5.37459492e-03 1.78488774e+02] [-8.58507825e-02 9.96307953e-01 -3.25388068e-04 -9.94938947e+00] [-5.38268665e-03 -1.37231174e-04 9.99985504e-01 -2.35072362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440371743 meters Centerline goodness [0,1] 0.9968108259529812 Centerline is valid? [True, True] Translation: X:178.52, Y:-9.96, Z:-2.35 [[ 9.96168060e-01 8.72510243e-02 6.03775215e-03 1.78516995e+02] [-8.72504250e-02 9.96186344e-01 -3.63099634e-04 -9.96010292e+00] [-6.04640705e-03 -1.65088183e-04 9.99981707e-01 -2.35182363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.470371743 meters Centerline goodness [0,1] 0.9956095041322314 Centerline is valid? [True, True] Translation: X:178.55, Y:-9.97, Z:-2.35 [[ 9.96114430e-01 8.78235863e-02 6.56199121e-03 1.78545366e+02] [-8.78229026e-02 9.96136027e-01 -3.92819513e-04 -9.97033016e+00] [-6.57113467e-03 -1.84999930e-04 9.99978393e-01 -2.35126003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500371743 meters Centerline goodness [0,1] 0.9966689589959598 Centerline is valid? [True, True] Translation: X:178.57, Y:-9.97, Z:-2.35 [[ 9.96107128e-01 8.78002778e-02 7.85502646e-03 1.78572934e+02] [-8.77993263e-02 9.96138073e-01 -4.66552390e-04 -9.97423364e+00] [-7.86565435e-03 -2.24929870e-04 9.99969040e-01 -2.35231792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.530371743 meters Centerline goodness [0,1] 0.9953739398612182 Centerline is valid? [True, True] Translation: X:178.60, Y:-9.99, Z:-2.35 [[ 9.96056516e-01 8.83383944e-02 8.23073065e-03 1.78600875e+02] [-8.83373676e-02 9.96090493e-01 -4.88922147e-04 -9.99105810e+00] [-8.24174315e-03 -2.40086989e-04 9.99966007e-01 -2.35207258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560371743 meters Centerline goodness [0,1] 0.995290995098354 Centerline is valid? [True, True] Translation: X:178.63, Y:-10.00, Z:-2.35 [[ 9.96145193e-01 8.72583444e-02 8.98525703e-03 1.78629156e+02] [-8.72571004e-02 9.96185684e-01 -5.31132864e-04 -9.99862149e+00] [-8.99733019e-03 -2.54942025e-04 9.99959491e-01 -2.35238443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.590371743 meters Centerline goodness [0,1] 0.9943444949527285 Centerline is valid? [True, True] Translation: X:178.66, Y:-10.01, Z:-2.35 [[ 9.96204938e-01 8.66100435e-02 8.62686242e-03 1.78656739e+02] [-8.66088972e-02 9.96242261e-01 -5.07077367e-04 -1.00063443e+01] [-8.63836291e-03 -2.42010064e-04 9.99962659e-01 -2.35345388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620371743 meters Centerline goodness [0,1] 0.9942995004056535 Centerline is valid? [True, True] Translation: X:178.68, Y:-10.02, Z:-2.35 [[ 9.96232856e-01 8.62933710e-02 8.57615008e-03 1.78684010e+02] [-8.62922246e-02 9.96269741e-01 -5.04301374e-04 -1.00150345e+01] [-8.58767669e-03 -2.37653471e-04 9.99963097e-01 -2.35392847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.650371743 meters Centerline goodness [0,1] 0.9941536629958757 Centerline is valid? [True, True] Translation: X:178.71, Y:-10.03, Z:-2.36 [[ 9.96280170e-01 8.56526929e-02 9.45724111e-03 1.78710709e+02] [-8.56513071e-02 9.96325022e-01 -5.52200415e-04 -1.00313037e+01] [-9.46978340e-03 -2.59878738e-04 9.99955127e-01 -2.35504358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680371743 meters Centerline goodness [0,1] 0.9937558406252655 Centerline is valid? [True, True] Translation: X:178.74, Y:-10.04, Z:-2.36 [[ 9.96317950e-01 8.51554899e-02 9.95411735e-03 1.78739181e+02] [-8.51539400e-02 9.96367638e-01 -5.80206816e-04 -1.00415944e+01] [-9.96736819e-03 -2.69561845e-04 9.99950288e-01 -2.35518838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71037174299997 meters Centerline goodness [0,1] 0.9923664122137404 Centerline is valid? [True, True] Translation: X:178.77, Y:-10.06, Z:-2.36 [[ 9.96383698e-01 8.43994855e-02 9.81083564e-03 1.78767306e+02] [-8.43979499e-02 9.96431964e-01 -5.71169068e-04 -1.00584261e+01] [-9.82403661e-03 -2.58910867e-04 9.99951709e-01 -2.35581888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74037174299997 meters Centerline goodness [0,1] 0.9914965626652564 Centerline is valid? [True, True] Translation: X:178.79, Y:-10.07, Z:-2.36 [[ 9.96477604e-01 8.33403152e-02 9.31534234e-03 1.78794490e+02] [-8.33388897e-02 9.96521117e-01 -5.41771122e-04 -1.00663445e+01] [-9.32808672e-03 -2.36467498e-04 9.99956464e-01 -2.35625069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77037174299997 meters Centerline goodness [0,1] 0.9921488127989165 Centerline is valid? [True, True] Translation: X:178.82, Y:-10.08, Z:-2.36 [[ 9.96525584e-01 8.28223237e-02 8.78761473e-03 1.78822632e+02] [-8.28210421e-02 9.96564305e-01 -5.10271808e-04 -1.00763358e+01] [-8.79968507e-03 -2.19300498e-04 9.99961258e-01 -2.35622374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80037174299997 meters Centerline goodness [0,1] 0.9912732958627393 Centerline is valid? [True, True] Translation: X:178.85, Y:-10.09, Z:-2.36 [[ 9.96725570e-01 8.03021485e-02 9.47120760e-03 1.78849954e+02] [-8.03005526e-02 9.96770545e-01 -5.49284440e-04 -1.00853832e+01] [-9.48472948e-03 -2.13057357e-04 9.99954996e-01 -2.35673756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83037174299997 meters Centerline goodness [0,1] 0.9893917664923233 Centerline is valid? [True, True] Translation: X:178.88, Y:-10.11, Z:-2.36 [[ 9.97056885e-01 7.60103300e-02 9.99989088e-03 1.78877677e+02] [-7.60083452e-02 9.97107013e-01 -5.78933162e-04 -1.01068091e+01] [-1.00149662e-02 -1.82845862e-04 9.99949832e-01 -2.35576412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86037174299997 meters Centerline goodness [0,1] 0.9908820990124029 Centerline is valid? [True, True] Translation: X:178.90, Y:-10.12, Z:-2.36 [[ 9.97311086e-01 7.24667598e-02 1.09163197e-02 1.78904662e+02] [-7.24641913e-02 9.97370815e-01 -6.31155231e-04 -1.01169178e+01] [-1.09333564e-02 -1.61584166e-04 9.99940216e-01 -2.35576887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89037174299997 meters Centerline goodness [0,1] 0.9895341337050831 Centerline is valid? [True, True] Translation: X:178.93, Y:-10.14, Z:-2.35 [[ 9.97784113e-01 6.55551581e-02 1.13747919e-02 1.78932018e+02] [-6.55519328e-02 9.97848943e-01 -6.56549564e-04 -1.01394066e+01] [-1.13933642e-02 -9.05448670e-05 9.99935089e-01 -2.35437095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92037174299998 meters Centerline goodness [0,1] 0.989544404786899 Centerline is valid? [True, True] Translation: X:178.96, Y:-10.15, Z:-2.35 [[ 9.98089064e-01 6.07679031e-02 1.12018836e-02 1.78959241e+02] [-6.07644817e-02 9.98151923e-01 -6.45834662e-04 -1.01508551e+01] [-1.12204276e-02 -3.60761351e-05 9.99937048e-01 -2.35430157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95037174299998 meters Centerline goodness [0,1] 0.99 Centerline is valid? [True, True] Translation: X:178.99, Y:-10.16, Z:-2.35 [[ 9.98396869e-01 5.53840963e-02 1.16745245e-02 1.78987601e+02] [-5.53800249e-02 9.98465123e-01 -6.71985394e-04 -1.01623245e+01] [-1.16938228e-02 2.43726580e-05 9.99931625e-01 -2.35390867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98037174299998 meters Centerline goodness [0,1] 0.9905739072405739 Centerline is valid? [True, True] Translation: X:179.02, Y:-10.17, Z:-2.35 [[ 9.98671045e-01 5.01235166e-02 1.19907389e-02 1.79015788e+02] [-5.01188536e-02 9.98743023e-01 -6.89247949e-04 -1.01730817e+01] [-1.20102144e-02 8.73698805e-05 9.99927871e-01 -2.35412659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01037174299998 meters Centerline goodness [0,1] 0.9915854369740899 Centerline is valid? [True, True] Translation: X:179.04, Y:-10.19, Z:-2.35 [[ 9.99130863e-01 4.01785245e-02 1.10997421e-02 1.79044566e+02] [-4.01739221e-02 9.99192499e-01 -6.37387898e-04 -1.01930481e+01] [-1.11163883e-02 1.90913749e-04 9.99938193e-01 -2.35352846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04037174299998 meters Centerline goodness [0,1] 0.9914589250026297 Centerline is valid? [True, True] Translation: X:179.07, Y:-10.20, Z:-2.35 [[ 9.99301670e-01 3.55494396e-02 1.15069388e-02 1.79074669e+02] [-3.55441898e-02 9.99367887e-01 -6.60480174e-04 -1.02042764e+01] [-1.15231448e-02 2.51014126e-04 9.99933575e-01 -2.35313032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07037174299998 meters Centerline goodness [0,1] 0.9919025798757141 Centerline is valid? [True, True] Translation: X:179.11, Y:-10.21, Z:-2.35 [[ 9.99425998e-01 3.17217247e-02 1.18914332e-02 1.79105317e+02] [-3.17158451e-02 9.99496693e-01 -6.82742885e-04 -1.02129865e+01] [-1.19071060e-02 3.05204136e-04 9.99929061e-01 -2.35271198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10037174299998 meters Centerline goodness [0,1] 0.9924083109017496 Centerline is valid? [True, True] Translation: X:179.14, Y:-10.22, Z:-2.35 [[ 9.99585396e-01 2.65846225e-02 1.10586223e-02 1.79136137e+02] [-2.65792195e-02 9.99646508e-01 -6.35287098e-04 -1.02248284e+01] [-1.10716021e-02 3.41094155e-04 9.99938650e-01 -2.35214391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13037174299998 meters Centerline goodness [0,1] 0.9934676216681719 Centerline is valid? [True, True] Translation: X:179.17, Y:-10.23, Z:-2.35 [[ 9.99637409e-01 2.48181179e-02 1.04456797e-02 1.79166403e+02] [-2.48132001e-02 9.99691925e-01 -6.00150521e-04 -1.02345104e+01] [-1.04573563e-02 3.40742170e-04 9.99945262e-01 -2.35315880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16037174299998 meters Centerline goodness [0,1] 0.9935918984788638 Centerline is valid? [True, True] Translation: X:179.20, Y:-10.24, Z:-2.35 [[ 9.99682835e-01 2.34278101e-02 9.23947323e-03 1.79197858e+02] [-2.34238943e-02 9.99725481e-01 -5.31817183e-04 -1.02401112e+01] [-9.24939613e-03 3.15224065e-04 9.99957174e-01 -2.35369219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.190371743 meters Centerline goodness [0,1] 0.9937743190661479 Centerline is valid? [True, True] Translation: X:179.23, Y:-10.25, Z:-2.35 [[ 9.99673636e-01 2.37731903e-02 9.35183975e-03 1.79229279e+02] [-2.37691864e-02 9.99717328e-01 -5.39072109e-04 -1.02457885e+01] [-9.36201171e-03 3.16610553e-04 9.99956125e-01 -2.35411686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220371743 meters Centerline goodness [0,1] 0.9944840604026846 Centerline is valid? [True, True] Translation: X:179.26, Y:-10.25, Z:-2.35 [[ 9.99665703e-01 2.40963816e-02 9.37269542e-03 1.79261357e+02] [-2.40923519e-02 9.99709590e-01 -5.42627195e-04 -1.02479895e+01] [-9.38304885e-03 3.16635520e-04 9.99955928e-01 -2.35447360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.250371743 meters Centerline goodness [0,1] 0.9943232808097673 Centerline is valid? [True, True] Translation: X:179.29, Y:-10.26, Z:-2.36 [[ 9.99655513e-01 2.49521906e-02 8.13906344e-03 1.79292220e+02] [-2.49491660e-02 9.99688609e-01 -4.72949036e-04 -1.02558609e+01] [-8.14833012e-03 2.69723267e-04 9.99966765e-01 -2.35566357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280371743 meters Centerline goodness [0,1] 0.9949278841136321 Centerline is valid? [True, True] Translation: X:179.32, Y:-10.26, Z:-2.36 [[ 9.99652799e-01 2.45791391e-02 9.49460936e-03 1.79324682e+02] [-2.45749805e-02 9.99697836e-01 -5.54430545e-04 -1.02590425e+01] [-9.50536785e-03 3.20908206e-04 9.99954771e-01 -2.35581810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.310371743 meters Centerline goodness [0,1] 0.9951702994414346 Centerline is valid? [True, True] Translation: X:179.36, Y:-10.26, Z:-2.36 [[ 9.99658157e-01 2.47448439e-02 8.44165921e-03 1.79356652e+02] [-2.47415477e-02 9.99693759e-01 -4.94698591e-04 -1.02625242e+01] [-8.45131527e-03 2.85669769e-04 9.99964246e-01 -2.35664535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340371743 meters Centerline goodness [0,1] 0.9954523443585911 Centerline is valid? [True, True] Translation: X:179.39, Y:-10.27, Z:-2.36 [[ 9.99665525e-01 2.46538853e-02 7.81176067e-03 1.79388507e+02] [-2.46510464e-02 9.99696011e-01 -4.59504909e-04 -1.02668444e+01] [-7.82071456e-03 2.66783141e-04 9.99969382e-01 -2.35811976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.370371743 meters Centerline goodness [0,1] 0.9955882352941177 Centerline is valid? [True, True] Translation: X:179.42, Y:-10.27, Z:-2.36 [[ 9.99664322e-01 2.45467024e-02 8.28874553e-03 1.79420427e+02] [-2.45434832e-02 9.99698643e-01 -4.89883560e-04 -1.02694276e+01] [-8.29827269e-03 2.86284430e-04 9.99965528e-01 -2.35862414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400371743 meters Centerline goodness [0,1] 0.9955458441885873 Centerline is valid? [True, True] Translation: X:179.45, Y:-10.27, Z:-2.36 [[ 9.99640705e-01 2.57673015e-02 7.38285796e-03 1.79451971e+02] [-2.57647696e-02 9.99667937e-01 -4.37862413e-04 -1.02727165e+01] [-7.39168892e-03 2.47487456e-04 9.99972650e-01 -2.35980342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.430371743 meters Centerline goodness [0,1] 0.9954282102601917 Centerline is valid? [True, True] Translation: X:179.48, Y:-10.27, Z:-2.36 [[ 9.99550098e-01 2.90318301e-02 7.53353577e-03 1.79483850e+02] [-2.90292626e-02 9.99578461e-01 -4.49962466e-04 -1.02737988e+01] [-7.54342332e-03 2.31067039e-04 9.99971521e-01 -2.35965616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46037174299997 meters Centerline goodness [0,1] 0.9950941171516402 Centerline is valid? [True, True] Translation: X:179.52, Y:-10.28, Z:-2.36 [[ 9.99470614e-01 3.16613134e-02 7.48681632e-03 1.79515683e+02] [-3.16588482e-02 9.99498633e-01 -4.47582497e-04 -1.02753281e+01] [-7.49723373e-03 2.10321572e-04 9.99971873e-01 -2.36038186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49037174299997 meters Centerline goodness [0,1] 0.9958496704763494 Centerline is valid? [True, True] Translation: X:179.55, Y:-10.28, Z:-2.36 [[ 9.99297231e-01 3.64958081e-02 8.54986132e-03 1.79546485e+02] [-3.64927642e-02 9.99333786e-01 -5.11799945e-04 -1.02755966e+01] [-8.56284384e-03 1.99432194e-04 9.99963318e-01 -2.35995876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52037174299997 meters Centerline goodness [0,1] 0.9958558070763656 Centerline is valid? [True, True] Translation: X:179.58, Y:-10.28, Z:-2.36 [[ 9.99209985e-01 3.86181937e-02 9.38299836e-03 1.79578169e+02] [-3.86146176e-02 9.99254019e-01 -5.62063951e-04 -1.02762675e+01] [-9.39770472e-03 1.99299019e-04 9.99955821e-01 -2.36011803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55037174299997 meters Centerline goodness [0,1] 0.9957310790065821 Centerline is valid? [True, True] Translation: X:179.61, Y:-10.28, Z:-2.36 [[ 9.99131064e-01 4.04517330e-02 1.00386391e-02 1.79609360e+02] [-4.04477282e-02 9.99181475e-01 -6.01727042e-04 -1.02767000e+01] [-1.00547631e-02 1.95164036e-04 9.99949431e-01 -2.36010358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58037174299997 meters Centerline goodness [0,1] 0.9952867570385818 Centerline is valid? [True, True] Translation: X:179.64, Y:-10.28, Z:-2.36 [[ 9.99038091e-01 4.25798842e-02 1.04807211e-02 1.79640042e+02] [-4.25756317e-02 9.99093049e-01 -6.28630122e-04 -1.02794109e+01] [-1.04979826e-02 1.81802115e-04 9.99944878e-01 -2.36097795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61037174299997 meters Centerline goodness [0,1] 0.9957141662485366 Centerline is valid? [True, True] Translation: X:179.67, Y:-10.28, Z:-2.36 [[ 9.99006987e-01 4.32427226e-02 1.07287539e-02 1.79671750e+02] [-4.32383004e-02 9.99064580e-01 -6.43906259e-04 -1.02805893e+01] [-1.07465622e-02 1.79373770e-04 9.99942238e-01 -2.36120640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64037174299997 meters Centerline goodness [0,1] 0.9962040629041005 Centerline is valid? [True, True] Translation: X:179.70, Y:-10.28, Z:-2.36 [[ 9.99006261e-01 4.29343792e-02 1.19637143e-02 1.79703135e+02] [-4.29288523e-02 9.99077874e-01 -7.18510136e-04 -1.02822513e+01] [-1.19835310e-02 2.04207602e-04 9.99928174e-01 -2.36054481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67037174299998 meters Centerline goodness [0,1] 0.9958292494734428 Centerline is valid? [True, True] Translation: X:179.73, Y:-10.29, Z:-2.36 [[ 9.98962583e-01 4.41348811e-02 1.12191504e-02 1.79733812e+02] [-4.41300973e-02 9.99025566e-01 -6.73715911e-04 -1.02850148e+01] [-1.12379525e-02 1.77914787e-04 9.99936836e-01 -2.36210410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70037174299998 meters Centerline goodness [0,1] 0.9958269868758737 Centerline is valid? [True, True] Translation: X:179.76, Y:-10.29, Z:-2.36 [[ 9.98939111e-01 4.46966169e-02 1.10844641e-02 1.79764687e+02] [-4.46919484e-02 9.99000592e-01 -6.68644504e-04 -1.02887841e+01] [-1.11032723e-02 1.72548849e-04 9.99938342e-01 -2.36297241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73037174299998 meters Centerline goodness [0,1] 0.9959100204498977 Centerline is valid? [True, True] Translation: X:179.80, Y:-10.29, Z:-2.36 [[ 9.98919977e-01 4.50392385e-02 1.14169563e-02 1.79795630e+02] [-4.50343079e-02 9.98985203e-01 -6.88713557e-04 -1.02919378e+01] [-1.14363895e-02 1.73815007e-04 9.99934587e-01 -2.36288436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76037174299998 meters Centerline goodness [0,1] 0.9965181494068345 Centerline is valid? [True, True] Translation: X:179.83, Y:-10.30, Z:-2.36 [[ 9.98877644e-01 4.59433744e-02 1.15177257e-02 1.79827313e+02] [-4.59383812e-02 9.98944032e-01 -6.97849029e-04 -1.02951455e+01] [-1.15376249e-02 1.67960122e-04 9.99933425e-01 -2.36216089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79037174299998 meters Centerline goodness [0,1] 0.9958297712629538 Centerline is valid? [True, True] Translation: X:179.86, Y:-10.30, Z:-2.36 [[ 9.98851238e-01 4.64582990e-02 1.17401733e-02 1.79858996e+02] [-4.64531415e-02 9.98920217e-01 -7.11760421e-04 -1.02976166e+01] [-1.17605636e-02 1.65574846e-04 9.99930828e-01 -2.36212271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82037174299998 meters Centerline goodness [0,1] 0.9963706901946061 Centerline is valid? [True, True] Translation: X:179.89, Y:-10.30, Z:-2.36 [[ 9.98807507e-01 4.72391208e-02 1.23300258e-02 1.79890059e+02] [-4.72334885e-02 9.98883596e-01 -7.47758912e-04 -1.03009281e+01] [-1.23515840e-02 1.64477080e-04 9.99923703e-01 -2.36209203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85037174299998 meters Centerline goodness [0,1] 0.9966972553774117 Centerline is valid? [True, True] Translation: X:179.92, Y:-10.31, Z:-2.36 [[ 9.98738007e-01 4.86546351e-02 1.24546887e-02 1.79922118e+02] [-4.86489616e-02 9.98815650e-01 -7.58269586e-04 -1.03052740e+01] [-1.24768313e-02 1.51404984e-04 9.99922150e-01 -2.36276341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88037174299998 meters Centerline goodness [0,1] 0.9966899136046633 Centerline is valid? [True, True] Translation: X:179.95, Y:-10.31, Z:-2.36 [[ 9.98702304e-01 4.95116759e-02 1.19290233e-02 1.79954083e+02] [-4.95064987e-02 9.98773535e-01 -7.29082851e-04 -1.03080674e+01] [-1.19504909e-02 1.37572548e-04 9.99928581e-01 -2.36329436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91037174299998 meters Centerline goodness [0,1] 0.9975226218219228 Centerline is valid? [True, True] Translation: X:179.99, Y:-10.31, Z:-2.36 [[ 9.98670412e-01 5.01251365e-02 1.20365403e-02 1.79986101e+02] [-5.01198736e-02 9.98742936e-01 -7.38681135e-04 -1.03104461e+01] [-1.20584361e-02 1.34429117e-04 9.99927285e-01 -2.36393881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940371743 meters Centerline goodness [0,1] 0.9968645484949833 Centerline is valid? [True, True] Translation: X:180.02, Y:-10.32, Z:-2.37 [[ 9.98619251e-01 5.16221058e-02 9.73396138e-03 1.80016826e+02] [-5.16187162e-02 9.98666686e-01 -5.99302394e-04 -1.03152269e+01] [-9.75192021e-03 9.60203172e-05 9.99952444e-01 -2.36662303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.970371743 meters Centerline goodness [0,1] 0.9976321193579482 Centerline is valid? [True, True] Translation: X:180.05, Y:-10.32, Z:-2.37 [[ 9.98593439e-01 5.22195020e-02 9.17968595e-03 1.80048425e+02] [-5.22164862e-02 9.98635627e-01 -5.68060008e-04 -1.03184668e+01] [-9.19682524e-03 8.79300524e-05 9.99957704e-01 -2.36756638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000371743 meters Centerline goodness [0,1] 0.9970588853175354 Centerline is valid? [True, True] Translation: X:180.08, Y:-10.32, Z:-2.37 [[ 9.98608942e-01 5.19705044e-02 8.90211115e-03 1.80079696e+02] [-5.19676556e-02 9.98648616e-01 -5.51191898e-04 -1.03232431e+01] [-8.91872671e-03 8.78033114e-05 9.99960224e-01 -2.36815363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.030371743 meters Centerline goodness [0,1] 0.9973754383018036 Centerline is valid? [True, True] Translation: X:180.11, Y:-10.33, Z:-2.37 [[ 9.98648988e-01 5.06988905e-02 1.13939406e-02 1.80110381e+02] [-5.06941345e-02 9.98713976e-01 -7.06028599e-04 -1.03273056e+01] [-1.14150826e-02 1.27468787e-04 9.99934838e-01 -2.36680182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060371743 meters Centerline goodness [0,1] 0.9976687039253985 Centerline is valid? [True, True] Translation: X:180.14, Y:-10.33, Z:-2.37 [[ 9.98645576e-01 5.09770191e-02 1.04094614e-02 1.80141853e+02] [-5.09730682e-02 9.98699820e-01 -6.44679029e-04 -1.03321411e+01] [-1.04287910e-02 1.13203676e-04 9.99945612e-01 -2.36736263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.090371743 meters Centerline goodness [0,1] 0.99777348344816 Centerline is valid? [True, True] Translation: X:180.17, Y:-10.34, Z:-2.37 [[ 9.98678463e-01 5.02755128e-02 1.06630737e-02 1.80172884e+02] [-5.02712965e-02 9.98735379e-01 -6.63239118e-04 -1.03366289e+01] [-1.06829336e-02 1.26316084e-04 9.99942928e-01 -2.36654012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120371743 meters Centerline goodness [0,1] 0.9974615029580833 Centerline is valid? [True, True] Translation: X:180.20, Y:-10.34, Z:-2.37 [[ 9.98721251e-01 4.91749464e-02 1.17340191e-02 1.80204610e+02] [-4.91697289e-02 9.98790168e-01 -7.32894927e-04 -1.03423843e+01] [-1.17558630e-02 1.54999199e-04 9.99930885e-01 -2.36569331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.150371743 meters Centerline goodness [0,1] 0.9981080512928316 Centerline is valid? [True, True] Translation: X:180.24, Y:-10.35, Z:-2.37 [[ 9.98773661e-01 4.80967791e-02 1.17419391e-02 1.80236440e+02] [-4.80914451e-02 9.98842666e-01 -7.36362955e-04 -1.03462290e+01] [-1.17637665e-02 1.70773104e-04 9.99930790e-01 -2.36516323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180371743 meters Centerline goodness [0,1] 0.9985286699176055 Centerline is valid? [True, True] Translation: X:180.27, Y:-10.35, Z:-2.37 [[ 9.98889573e-01 4.57227302e-02 1.13601429e-02 1.80268107e+02] [-4.57175526e-02 9.98954150e-01 -7.15176633e-04 -1.03535756e+01] [-1.13809617e-02 1.95024551e-04 9.99935216e-01 -2.36616321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21037174299997 meters Centerline goodness [0,1] 0.9983602421796165 Centerline is valid? [True, True] Translation: X:180.30, Y:-10.36, Z:-2.37 [[ 9.98951511e-01 4.44719160e-02 1.08686329e-02 1.80299231e+02] [-4.44670744e-02 9.99010614e-01 -6.86835517e-04 -1.03587958e+01] [-1.08884245e-02 2.02819071e-04 9.99940699e-01 -2.36719801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24037174299997 meters Centerline goodness [0,1] 0.9982536609998317 Centerline is valid? [True, True] Translation: X:180.33, Y:-10.36, Z:-2.37 [[ 9.99032030e-01 4.26052046e-02 1.09452766e-02 1.80331172e+02] [-4.26001551e-02 9.99091960e-01 -6.94177968e-04 -1.03636434e+01] [-1.09649134e-02 2.27235546e-04 9.99939858e-01 -2.36728213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27037174299997 meters Centerline goodness [0,1] 0.9985530647765638 Centerline is valid? [True, True] Translation: X:180.36, Y:-10.37, Z:-2.37 [[ 9.99206406e-01 3.85165655e-02 1.01504767e-02 1.80361276e+02] [-3.85119846e-02 9.99257929e-01 -6.46452256e-04 -1.03724066e+01] [-1.01678435e-02 2.55024233e-04 9.99948274e-01 -2.36861715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30037174299997 meters Centerline goodness [0,1] 0.9982455041042672 Centerline is valid? [True, True] Translation: X:180.39, Y:-10.38, Z:-2.37 [[ 9.99303646e-01 3.55812854e-02 1.12336280e-02 1.80393191e+02] [-3.55754705e-02 9.99366735e-01 -7.17099527e-04 -1.03777592e+01] [-1.12520294e-02 3.16958572e-04 9.99936644e-01 -2.36822673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33037174299997 meters Centerline goodness [0,1] 0.9982455041042672 Centerline is valid? [True, True] Translation: X:180.43, Y:-10.38, Z:-2.37 [[ 9.99293762e-01 3.58578143e-02 1.12336088e-02 1.80425649e+02] [-3.58520135e-02 9.99356852e-01 -7.17400808e-04 -1.03799195e+01] [-1.12521083e-02 3.14146658e-04 9.99936644e-01 -2.36866754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36037174299997 meters Centerline goodness [0,1] 0.9983379268267025 Centerline is valid? [True, True] Translation: X:180.46, Y:-10.39, Z:-2.37 [[ 9.99492939e-01 3.00693631e-02 1.04737251e-02 1.80455520e+02] [-3.00639668e-02 9.99547751e-01 -6.72323971e-04 -1.03876058e+01] [-1.04892047e-02 3.57101339e-04 9.99944923e-01 -2.36977680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39037174299997 meters Centerline goodness [0,1] 0.9982998908571908 Centerline is valid? [True, True] Translation: X:180.49, Y:-10.39, Z:-2.37 [[ 9.99589118e-01 2.65509977e-02 1.07999957e-02 1.80486142e+02] [-2.65450532e-02 9.99647377e-01 -6.93415340e-04 -1.03940447e+01] [-1.08145982e-02 4.06443968e-04 9.99941438e-01 -2.37014057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42037174299998 meters Centerline goodness [0,1] 0.9983232378277546 Centerline is valid? [True, True] Translation: X:180.52, Y:-10.40, Z:-2.37 [[ 9.99679708e-01 2.29862691e-02 1.05883418e-02 1.80517328e+02] [-2.29803520e-02 9.99735685e-01 -6.80175984e-04 -1.04000026e+01] [-1.06011779e-02 4.36634306e-04 9.99943711e-01 -2.36999728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45037174299998 meters Centerline goodness [0,1] 0.9979735517162137 Centerline is valid? [True, True] Translation: X:180.55, Y:-10.41, Z:-2.37 [[ 9.99764506e-01 1.92846616e-02 9.95162230e-03 1.80548162e+02] [-1.92792480e-02 9.99813933e-01 -6.39646440e-04 -1.04055511e+01] [-9.96210600e-03 4.47636013e-04 9.99950277e-01 -2.37099100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48037174299998 meters Centerline goodness [0,1] 0.9986457769073711 Centerline is valid? [True, True] Translation: X:180.58, Y:-10.42, Z:-2.37 [[ 9.99876639e-01 1.12894428e-02 1.09203883e-02 1.80577849e+02] [-1.12824457e-02 9.99936105e-01 -7.02136190e-04 -1.04151753e+01] [-1.09276173e-02 5.78840886e-04 9.99940124e-01 -2.36870811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51037174299998 meters Centerline goodness [0,1] 0.9982678019868102 Centerline is valid? [True, True] Translation: X:180.61, Y:-10.42, Z:-2.37 [[ 9.99922384e-01 7.90017558e-03 9.63399380e-03 1.80608669e+02] [-7.89457301e-03 9.99968646e-01 -6.19432772e-04 -1.04193022e+01] [-9.63858536e-03 5.43328427e-04 9.99953400e-01 -2.37107186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54037174299998 meters Centerline goodness [0,1] 0.9982405060639702 Centerline is valid? [True, True] Translation: X:180.64, Y:-10.42, Z:-2.37 [[ 9.99955507e-01 1.88437781e-03 9.24305345e-03 1.80639654e+02] [-1.87896155e-03 9.99998058e-01 -5.94630153e-04 -1.04244045e+01] [-9.24415601e-03 5.77236354e-04 9.99957105e-01 -2.37244851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57037174299998 meters Centerline goodness [0,1] 0.9975734248180068 Centerline is valid? [True, True] Translation: X:180.67, Y:-10.43, Z:-2.37 [[ 9.99948397e-01 -7.10821283e-04 1.01340232e-02 1.80669575e+02] [ 7.17468874e-04 9.99999530e-01 -6.52347181e-04 -1.04278814e+01] [-1.01335548e-02 6.59584364e-04 9.99948437e-01 -2.37131091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60037174299998 meters Centerline goodness [0,1] 0.9981699236416416 Centerline is valid? [True, True] Translation: X:180.70, Y:-10.42, Z:-2.37 [[ 9.99939250e-01 -2.65984445e-03 1.06967967e-02 1.80701529e+02] [ 2.66736084e-03 9.99996206e-01 -6.88470977e-04 -1.04166208e+01] [-1.06949249e-02 7.16961369e-04 9.99942551e-01 -2.37067303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63037174299998 meters Centerline goodness [0,1] 0.9976219537859338 Centerline is valid? [True, True] Translation: X:180.73, Y:-10.43, Z:-2.37 [[ 9.99933185e-01 -5.53115034e-03 1.01504576e-02 1.80730805e+02] [ 5.53807049e-03 9.99984451e-01 -6.53775376e-04 -1.04323927e+01] [-1.01466837e-02 7.09945644e-04 9.99948269e-01 -2.37258793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66037174299998 meters Centerline goodness [0,1] 0.9968031091330785 Centerline is valid? [True, True] Translation: X:180.76, Y:-10.43, Z:-2.37 [[ 9.99929832e-01 -6.03548805e-03 1.01933006e-02 1.80762269e+02] [ 6.04249117e-03 9.99981529e-01 -6.56373697e-04 -1.04334559e+01] [-1.01891508e-02 7.17920570e-04 9.99947832e-01 -2.37368516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.690371743 meters Centerline goodness [0,1] 0.9963506711409396 Centerline is valid? [True, True] Translation: X:180.79, Y:-10.43, Z:-2.37 [[ 9.99907648e-01 -7.07607416e-03 1.16028286e-02 1.80794716e+02] [ 7.08522502e-03 9.99974620e-01 -7.47758895e-04 -1.04333059e+01] [-1.15972430e-02 8.29898489e-04 9.99932405e-01 -2.37198672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720371743 meters Centerline goodness [0,1] 0.9963855169964273 Centerline is valid? [True, True] Translation: X:180.83, Y:-10.43, Z:-2.37 [[ 9.99913696e-01 -6.90565087e-03 1.11763924e-02 1.80826752e+02] [ 6.91413849e-03 9.99975837e-01 -7.20963110e-04 -1.04331411e+01] [-1.11711436e-02 7.98176013e-04 9.99937282e-01 -2.37403547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.750371743 meters Centerline goodness [0,1] 0.9966561474638969 Centerline is valid? [True, True] Translation: X:180.86, Y:-10.41, Z:-2.37 [[ 9.99908678e-01 -7.86644843e-03 1.09888157e-02 1.80859932e+02] [ 7.87471906e-03 9.99968742e-01 -7.09574289e-04 -1.04119080e+01] [-1.09828904e-02 7.96043326e-04 9.99939369e-01 -2.37470719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780371743 meters Centerline goodness [0,1] 0.996244702723115 Centerline is valid? [True, True] Translation: X:180.89, Y:-10.41, Z:-2.38 [[ 9.99902162e-01 -8.38681178e-03 1.11950224e-02 1.80892895e+02] [ 8.39543464e-03 9.99964496e-01 -7.23466801e-04 -1.04074030e+01] [-1.11885574e-02 8.17383098e-04 9.99937072e-01 -2.37561209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.810371743 meters Centerline goodness [0,1] 0.9961178494984682 Centerline is valid? [True, True] Translation: X:180.93, Y:-10.41, Z:-2.38 [[ 9.99891992e-01 -9.28479728e-03 1.13928206e-02 1.80925026e+02] [ 9.29379545e-03 9.99956540e-01 -7.37120620e-04 -1.04069797e+01] [-1.13854815e-02 8.42923549e-04 9.99934828e-01 -2.37629889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840371743 meters Centerline goodness [0,1] 0.9961996346610116 Centerline is valid? [True, True] Translation: X:180.96, Y:-10.40, Z:-2.38 [[ 9.99855811e-01 -1.27258600e-02 1.12431703e-02 1.80955585e+02] [ 1.27348507e-02 9.99918643e-01 -7.28425372e-04 -1.04027942e+01] [-1.12329858e-02 8.71500437e-04 9.99936528e-01 -2.37775061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.870371743 meters Centerline goodness [0,1] 0.9954079386047682 Centerline is valid? [True, True] Translation: X:180.99, Y:-10.40, Z:-2.38 [[ 9.99796927e-01 -1.51320804e-02 1.33088045e-02 1.80986294e+02] [ 1.51448911e-02 9.99884938e-01 -8.62314478e-04 -1.04027256e+01] [-1.32942246e-02 1.06369976e-03 9.99911062e-01 -2.37724421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900371743 meters Centerline goodness [0,1] 0.9956985186117756 Centerline is valid? [True, True] Translation: X:181.02, Y:-10.40, Z:-2.38 [[ 9.99786656e-01 -1.70751754e-02 1.16224643e-02 1.81017704e+02] [ 1.70850773e-02 9.99853756e-01 -7.53200409e-04 -1.04002479e+01] [-1.16079036e-02 9.51610420e-04 9.99932173e-01 -2.37939450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.930371743 meters Centerline goodness [0,1] 0.9940845779493204 Centerline is valid? [True, True] Translation: X:181.05, Y:-10.40, Z:-2.38 [[ 9.99697838e-01 -2.20824370e-02 1.07980727e-02 1.81048089e+02] [ 2.20912778e-02 9.99755713e-01 -7.00142826e-04 -1.03983731e+01] [-1.07799740e-02 9.38474493e-04 9.99941454e-01 -2.38181302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96037174299997 meters Centerline goodness [0,1] 0.9929502555010951 Centerline is valid? [True, True] Translation: X:181.08, Y:-10.40, Z:-2.38 [[ 9.99627175e-01 -2.46826084e-02 1.16738773e-02 1.81077903e+02] [ 2.46931243e-02 9.99694791e-01 -7.57510973e-04 -1.04004035e+01] [-1.16516170e-02 1.04549306e-03 9.99931571e-01 -2.38215262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99037174299997 meters Centerline goodness [0,1] 0.9925102276303367 Centerline is valid? [True, True] Translation: X:181.11, Y:-10.40, Z:-2.38 [[ 9.99511301e-01 -2.93565576e-02 1.07401545e-02 1.81108481e+02] [ 2.93657257e-02 9.99568491e-01 -6.96884999e-04 -1.03979712e+01] [-1.07150619e-02 1.01193686e-03 9.99942080e-01 -2.38408231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02037174299997 meters Centerline goodness [0,1] 0.9921606439171627 Centerline is valid? [True, True] Translation: X:181.14, Y:-10.39, Z:-2.38 [[ 9.99489349e-01 -3.04708621e-02 9.62123139e-03 1.81140582e+02] [ 3.04782698e-02 9.99535235e-01 -6.24219935e-04 -1.03900334e+01] [-9.59773926e-03 9.17139662e-04 9.99953520e-01 -2.38484040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05037174299997 meters Centerline goodness [0,1] 0.990256399487621 Centerline is valid? [True, True] Translation: X:181.17, Y:-10.39, Z:-2.38 [[ 9.99431530e-01 -3.18963809e-02 1.09196258e-02 1.81170852e+02] [ 3.19060163e-02 9.99490622e-01 -7.09284180e-04 -1.03897544e+01] [-1.08914399e-02 1.05728273e-03 9.99940128e-01 -2.38499995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08037174299997 meters Centerline goodness [0,1] 0.987831696232224 Centerline is valid? [True, True] Translation: X:181.20, Y:-10.38, Z:-2.39 [[ 9.99426330e-01 -3.17682549e-02 1.17383798e-02 1.81203658e+02] [ 3.17793824e-02 9.99494617e-01 -7.62605505e-04 -1.03802963e+01] [-1.17082208e-02 1.13520648e-03 9.99930812e-01 -2.38540219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11037174299997 meters Centerline goodness [0,1] 0.9870956999542105 Centerline is valid? [True, True] Translation: X:181.23, Y:-10.38, Z:-2.39 [[ 9.99454986e-01 -3.07527912e-02 1.19998729e-02 1.81233807e+02] [ 3.07643579e-02 9.99526360e-01 -7.80460530e-04 -1.03791610e+01] [-1.19701879e-02 1.14920355e-03 9.99927694e-01 -2.38601791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14037174299997 meters Centerline goodness [0,1] 0.9858069918358803 Centerline is valid? [True, True] Translation: X:181.27, Y:-10.38, Z:-2.39 [[ 9.99477207e-01 -2.99416397e-02 1.21987928e-02 1.81266469e+02] [ 2.99535501e-02 9.99550976e-01 -7.94783368e-04 -1.03771972e+01] [-1.21695181e-02 1.15976501e-03 9.99925276e-01 -2.38655485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17037174299998 meters Centerline goodness [0,1] 0.9849674434185457 Centerline is valid? [True, True] Translation: X:181.30, Y:-10.38, Z:-2.39 [[ 9.99507386e-01 -2.87629537e-02 1.25569460e-02 1.81297937e+02] [ 2.87754939e-02 9.99585564e-01 -8.19100002e-04 -1.03750628e+01] [-1.25281823e-02 1.18002883e-03 9.99920823e-01 -2.38717690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20037174299998 meters Centerline goodness [0,1] 0.9832676339847354 Centerline is valid? [True, True] Translation: X:181.33, Y:-10.37, Z:-2.39 [[ 9.99592505e-01 -2.56153633e-02 1.25967281e-02 1.81328893e+02] [ 2.56277414e-02 9.99671217e-01 -8.22186812e-04 -1.03663029e+01] [-1.25715259e-02 1.14467746e-03 9.99920320e-01 -2.38735427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23037174299998 meters Centerline goodness [0,1] 0.9832188049945529 Centerline is valid? [True, True] Translation: X:181.36, Y:-10.36, Z:-2.39 [[ 9.99613206e-01 -2.46146550e-02 1.29444225e-02 1.81359186e+02] [ 2.46276429e-02 9.99696337e-01 -8.44890344e-04 -1.03639511e+01] [-1.29196950e-02 1.16335416e-03 9.99915861e-01 -2.38725371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26037174299998 meters Centerline goodness [0,1] 0.9814388067205765 Centerline is valid? [True, True] Translation: X:181.39, Y:-10.36, Z:-2.39 [[ 9.99641592e-01 -2.33348057e-02 1.31215235e-02 1.81391188e+02] [ 2.33480450e-02 9.99727030e-01 -8.56673229e-04 -1.03607325e+01] [-1.30979514e-02 1.16272811e-03 9.99913542e-01 -2.38833700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29037174299998 meters Centerline goodness [0,1] 0.9812171142276167 Centerline is valid? [True, True] Translation: X:181.42, Y:-10.34, Z:-2.39 [[ 9.99711549e-01 -2.10193386e-02 1.16192588e-02 1.81423328e+02] [ 2.10295716e-02 9.99778566e-01 -7.59198497e-04 -1.03443004e+01] [-1.16007281e-02 1.00332754e-03 9.99932206e-01 -2.39074650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32037174299998 meters Centerline goodness [0,1] 0.9813368602258891 Centerline is valid? [True, True] Translation: X:181.45, Y:-10.34, Z:-2.39 [[ 9.99773921e-01 -1.85076756e-02 1.04677501e-02 1.81454964e+02] [ 1.85158458e-02 9.99828333e-01 -6.84127803e-04 -1.03396841e+01] [-1.04532916e-02 8.77792383e-04 9.99944978e-01 -2.39207782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35037174299998 meters Centerline goodness [0,1] 0.9801859664588712 Centerline is valid? [True, True] Translation: X:181.49, Y:-10.34, Z:-2.39 [[ 9.99815007e-01 -1.66189086e-02 9.68317796e-03 1.81485739e+02] [ 1.66258127e-02 9.99861581e-01 -6.32941711e-04 -1.03370605e+01] [-9.67131883e-03 7.93815325e-04 9.99952917e-01 -2.39333642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38037174299998 meters Centerline goodness [0,1] 0.9809811700988728 Centerline is valid? [True, True] Translation: X:181.52, Y:-10.32, Z:-2.39 [[ 9.99908715e-01 -1.01267003e-02 8.94494769e-03 1.81517430e+02] [ 1.01323371e-02 9.99948495e-01 -5.85074863e-04 -1.03233388e+01] [-8.93856210e-03 6.75654680e-04 9.99959822e-01 -2.39363793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41037174299998 meters Centerline goodness [0,1] 0.980078592893017 Centerline is valid? [True, True] Translation: X:181.55, Y:-10.32, Z:-2.39 [[ 9.99937793e-01 -6.60210015e-03 8.99014204e-03 1.81547449e+02] [ 6.60765485e-03 9.99977996e-01 -5.88303305e-04 -1.03199699e+01] [-8.98606019e-03 6.47670464e-04 9.99959415e-01 -2.39391645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440371743 meters Centerline goodness [0,1] 0.980168900466367 Centerline is valid? [True, True] Translation: X:181.58, Y:-10.32, Z:-2.39 [[ 9.99943748e-01 -3.43656579e-03 1.00344677e-02 1.81577843e+02] [ 3.44332586e-03 9.99993856e-01 -6.56485971e-04 -1.03178830e+01] [-1.00321499e-02 6.91000984e-04 9.99949438e-01 -2.39440039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.470371743 meters Centerline goodness [0,1] 0.9807817658066822 Centerline is valid? [True, True] Translation: X:181.61, Y:-10.30, Z:-2.39 [[ 9.99930824e-01 5.82243842e-03 1.02198897e-02 1.81609868e+02] [-5.81590796e-03 9.99982864e-01 -6.68599018e-04 -1.03012571e+01] [-1.02236075e-02 6.09114830e-04 9.99947552e-01 -2.39351800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500371743 meters Centerline goodness [0,1] 0.9799596672548525 Centerline is valid? [True, True] Translation: X:181.64, Y:-10.30, Z:-2.39 [[ 9.99893375e-01 1.01222357e-02 1.05251817e-02 1.81640131e+02] [-1.01155458e-02 9.99948599e-01 -6.88649070e-04 -1.02980547e+01] [-1.05316114e-02 5.82107686e-04 9.99944372e-01 -2.39399657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.530371743 meters Centerline goodness [0,1] 0.9807777426493834 Centerline is valid? [True, True] Translation: X:181.67, Y:-10.29, Z:-2.39 [[ 9.99771658e-01 1.83172472e-02 1.10050479e-02 1.81670329e+02] [-1.83104280e-02 9.99832091e-01 -7.20085619e-04 -1.02885001e+01] [-1.10163901e-02 5.18414055e-04 9.99939183e-01 -2.39478800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560371743 meters Centerline goodness [0,1] 0.9812633043185027 Centerline is valid? [True, True] Translation: X:181.70, Y:-10.29, Z:-2.40 [[ 9.99688724e-01 2.23518812e-02 1.10837425e-02 1.81701587e+02] [-2.23452151e-02 9.99750052e-01 -7.24921245e-04 -1.02852039e+01] [-1.10971755e-02 4.77026984e-04 9.99938311e-01 -2.39534355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.590371743 meters Centerline goodness [0,1] 0.9816606589514956 Centerline is valid? [True, True] Translation: X:181.73, Y:-10.28, Z:-2.40 [[ 9.99617205e-01 2.55243135e-02 1.06748974e-02 1.81731780e+02] [-2.55183082e-02 9.99674111e-01 -6.98415187e-04 -1.02838706e+01] [-1.06892451e-02 4.25742515e-04 9.99942778e-01 -2.39663240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620371743 meters Centerline goodness [0,1] 0.9818062992789982 Centerline is valid? [True, True] Translation: X:181.76, Y:-10.28, Z:-2.40 [[ 9.99546850e-01 2.81806059e-02 1.05805173e-02 1.81760919e+02] [-2.81748538e-02 9.99602770e-01 -6.92342348e-04 -1.02829552e+01] [-1.05958251e-02 3.93924085e-04 9.99943785e-01 -2.39697461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.650371743 meters Centerline goodness [0,1] 0.9828413245145067 Centerline is valid? [True, True] Translation: X:181.79, Y:-10.28, Z:-2.40 [[ 9.99439447e-01 3.21079212e-02 9.48011136e-03 1.81791502e+02] [-3.21034831e-02 9.99484358e-01 -6.19986572e-04 -1.02758631e+01] [-9.49512950e-03 3.15294442e-04 9.99954871e-01 -2.39706548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680371743 meters Centerline goodness [0,1] 0.9835442235788673 Centerline is valid? [True, True] Translation: X:181.82, Y:-10.28, Z:-2.40 [[ 9.99409083e-01 3.29548406e-02 9.77050264e-03 1.81819916e+02] [-3.29501668e-02 9.99456792e-01 -6.38994163e-04 -1.02759846e+01] [-9.78625317e-03 3.16676880e-04 9.99952063e-01 -2.39737077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71037174299997 meters Centerline goodness [0,1] 0.9830666131112191 Centerline is valid? [True, True] Translation: X:181.85, Y:-10.28, Z:-2.40 [[ 9.99390650e-01 3.35069411e-02 9.77819569e-03 1.81847448e+02] [-3.35022923e-02 9.99438436e-01 -6.38880444e-04 -1.02769988e+01] [-9.79411154e-03 3.10899172e-04 9.99951988e-01 -2.39778799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74037174299997 meters Centerline goodness [0,1] 0.984102856419026 Centerline is valid? [True, True] Translation: X:181.88, Y:-10.28, Z:-2.40 [[ 9.99384085e-01 3.34132926e-02 1.07238801e-02 1.81876069e+02] [-3.34077073e-02 9.99441562e-01 -6.99592794e-04 -1.02774567e+01] [-1.07412672e-02 3.40901656e-04 9.99942253e-01 -2.39796912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77037174299997 meters Centerline goodness [0,1] 0.9832094280645434 Centerline is valid? [True, True] Translation: X:181.91, Y:-10.28, Z:-2.40 [[ 9.99304401e-01 3.58437534e-02 1.02926585e-02 1.81905470e+02] [-3.58387443e-02 9.99357361e-01 -6.70754926e-04 -1.02751047e+01] [-1.03100864e-02 3.01412393e-04 9.99946804e-01 -2.39773483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80037174299997 meters Centerline goodness [0,1] 0.983103243838401 Centerline is valid? [True, True] Translation: X:181.93, Y:-10.28, Z:-2.40 [[ 9.99235891e-01 3.77514033e-02 1.01225348e-02 1.81933855e+02] [-3.77466610e-02 9.99287123e-01 -6.59203288e-04 -1.02764823e+01] [-1.01402046e-02 2.76607694e-04 9.99948549e-01 -2.39825704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83037174299997 meters Centerline goodness [0,1] 0.9839292888710326 Centerline is valid? [True, True] Translation: X:181.96, Y:-10.28, Z:-2.40 [[ 9.99200194e-01 3.86082041e-02 1.04105282e-02 1.81962706e+02] [-3.86032425e-02 9.99254388e-01 -6.77195654e-04 -1.02775428e+01] [-1.04289113e-02 2.74773885e-04 9.99945580e-01 -2.39909981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86037174299997 meters Centerline goodness [0,1] 0.9845444742795526 Centerline is valid? [True, True] Translation: X:181.99, Y:-10.28, Z:-2.40 [[ 9.99019804e-01 4.30567791e-02 1.02734647e-02 1.81990968e+02] [-4.30521897e-02 9.99072602e-01 -6.67568348e-04 -1.02774705e+01] [-1.02926804e-02 2.24618850e-04 9.99947004e-01 -2.40018474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89037174299997 meters Centerline goodness [0,1] 0.9851444291609354 Centerline is valid? [True, True] Translation: X:182.02, Y:-10.28, Z:-2.40 [[ 9.98847881e-01 4.70993916e-02 9.19555445e-03 1.82020076e+02] [-4.70958908e-02 9.98890195e-01 -5.96992393e-04 -1.02773489e+01] [-9.21346715e-03 1.63231758e-04 9.99957542e-01 -2.40043665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92037174299998 meters Centerline goodness [0,1] 0.98640246997124 Centerline is valid? [True, True] Translation: X:182.05, Y:-10.28, Z:-2.40 [[ 9.98563608e-01 5.28969394e-02 8.52263470e-03 1.82048027e+02] [-5.28941467e-02 9.98599972e-01 -5.52905664e-04 -1.02783899e+01] [-8.53994978e-03 1.01313984e-04 9.99963529e-01 -2.40146981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95037174299998 meters Centerline goodness [0,1] 0.986717989932744 Centerline is valid? [True, True] Translation: X:182.08, Y:-10.28, Z:-2.40 [[ 9.98457945e-01 5.47866136e-02 8.95320543e-03 1.82076481e+02] [-5.47836173e-02 9.98498082e-01 -5.79747446e-04 -1.02796545e+01] [-8.97152084e-03 8.83644630e-05 9.99959751e-01 -2.40173811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98037174299998 meters Centerline goodness [0,1] 0.9863286210107509 Centerline is valid? [True, True] Translation: X:182.10, Y:-10.28, Z:-2.40 [[ 9.98292336e-01 5.77521160e-02 8.78090023e-03 1.82104714e+02] [-5.77493539e-02 9.98330952e-01 -5.67996434e-04 -1.02817567e+01] [-8.79904748e-03 5.99351726e-05 9.99961286e-01 -2.40175925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01037174299998 meters Centerline goodness [0,1] 0.9877417712928401 Centerline is valid? [True, True] Translation: X:182.13, Y:-10.29, Z:-2.40 [[ 9.98056215e-01 6.15795339e-02 9.57879603e-03 1.82132970e+02] [-6.15764304e-02 9.98102179e-01 -6.18863600e-04 -1.02860660e+01] [-9.59872652e-03 2.78325952e-05 9.99953931e-01 -2.40080793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04037174299998 meters Centerline goodness [0,1] 0.9866613114615482 Centerline is valid? [True, True] Translation: X:182.16, Y:-10.29, Z:-2.40 [[ 9.98014455e-01 6.21804577e-02 1.00368310e-02 1.82159823e+02] [-6.21770851e-02 9.98064923e-01 -6.48020638e-04 -1.02899393e+01] [-1.00577031e-02 2.26730712e-05 9.99949420e-01 -2.40086646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07037174299998 meters Centerline goodness [0,1] 0.9873195680199506 Centerline is valid? [True, True] Translation: X:182.19, Y:-10.29, Z:-2.40 [[ 9.97961773e-01 6.28470817e-02 1.10699624e-02 1.82188772e+02] [-6.28430435e-02 9.98023168e-01 -7.12608597e-04 -1.02944098e+01] [-1.10928644e-02 1.54860080e-05 9.99938472e-01 -2.40100466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10037174299998 meters Centerline goodness [0,1] 0.9862666384956688 Centerline is valid? [True, True] Translation: X:182.22, Y:-10.30, Z:-2.40 [[ 9.97876499e-01 6.42536474e-02 1.06753061e-02 1.82216677e+02] [-6.42499788e-02 9.97933599e-01 -6.86607950e-04 -1.02996447e+01] [-1.06973637e-02 -7.38255582e-07 9.99942782e-01 -2.40071343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13037174299998 meters Centerline goodness [0,1] 0.9863464663304282 Centerline is valid? [True, True] Translation: X:182.24, Y:-10.31, Z:-2.40 [[ 9.97916563e-01 6.34777938e-02 1.15370179e-02 1.82243977e+02] [-6.34734718e-02 9.97983251e-01 -7.40766716e-04 -1.03090793e+01] [-1.15607729e-02 6.92879300e-06 9.99933172e-01 -2.40069002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16037174299998 meters Centerline goodness [0,1] 0.9864995178399228 Centerline is valid? [True, True] Translation: X:182.27, Y:-10.32, Z:-2.40 [[ 9.97905392e-01 6.38137635e-02 1.06127962e-02 1.82271836e+02] [-6.38101366e-02 9.97961825e-01 -6.80351972e-04 -1.03157013e+01] [-1.06345812e-02 1.72292905e-06 9.99943451e-01 -2.40179815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.190371743 meters Centerline goodness [0,1] 0.9860988247188172 Centerline is valid? [True, True] Translation: X:182.30, Y:-10.33, Z:-2.40 [[ 9.98088016e-01 6.10192488e-02 9.84702075e-03 1.82299821e+02] [-6.10159999e-02 9.98136589e-01 -6.30302116e-04 -1.03274149e+01] [-9.86713227e-03 2.82711713e-05 9.99951318e-01 -2.40238650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220371743 meters Centerline goodness [0,1] 0.9860988247188172 Centerline is valid? [True, True] Translation: X:182.33, Y:-10.33, Z:-2.40 [[ 9.98092397e-01 6.09475318e-02 9.84706595e-03 1.82328082e+02] [-6.09442863e-02 9.98140971e-01 -6.29595008e-04 -1.03291641e+01] [-9.86713223e-03 2.82715834e-05 9.99951318e-01 -2.40277036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.250371743 meters Centerline goodness [0,1] 0.9853353416175056 Centerline is valid? [True, True] Translation: X:182.36, Y:-10.34, Z:-2.40 [[ 9.98264678e-01 5.82011542e-02 8.95868645e-03 1.82356310e+02] [-5.81983623e-02 9.98304875e-01 -5.72234299e-04 -1.03365422e+01] [-8.97680505e-03 4.98604079e-05 9.99959706e-01 -2.40360702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280371743 meters Centerline goodness [0,1] 0.9858686266663859 Centerline is valid? [True, True] Translation: X:182.38, Y:-10.34, Z:-2.40 [[ 9.98499108e-01 5.41242087e-02 8.37271453e-03 1.82384782e+02] [-5.41216312e-02 9.98534208e-01 -5.34275538e-04 -1.03442933e+01] [-8.38935911e-03 8.03286793e-05 9.99964805e-01 -2.40447426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.310371743 meters Centerline goodness [0,1] 0.9853055725142629 Centerline is valid? [True, True] Translation: X:182.41, Y:-10.36, Z:-2.41 [[ 9.98976475e-01 4.45733350e-02 7.69551883e-03 1.82412801e+02] [-4.45708788e-02 9.99006104e-01 -4.90470625e-04 -1.03596118e+01] [-7.70973220e-03 1.46972579e-04 9.99970269e-01 -2.40522547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340371743 meters Centerline goodness [0,1] 0.9850252737994946 Centerline is valid? [True, True] Translation: X:182.44, Y:-10.37, Z:-2.40 [[ 9.99190198e-01 3.96163700e-02 7.03494632e-03 1.82442262e+02] [-3.96141976e-02 9.99214949e-01 -4.47931115e-04 -1.03687686e+01] [-7.04716893e-03 1.68884626e-04 9.99975154e-01 -2.40485354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.370371743 meters Centerline goodness [0,1] 0.984645478829691 Centerline is valid? [True, True] Translation: X:182.47, Y:-10.38, Z:-2.40 [[ 9.99392518e-01 3.39155066e-02 8.02079843e-03 1.82470958e+02] [-3.39125012e-02 9.99424675e-01 -5.10443405e-04 -1.03772649e+01] [-8.03349582e-03 2.38127984e-04 9.99967703e-01 -2.40481372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400371743 meters Centerline goodness [0,1] 0.9844110612227771 Centerline is valid? [True, True] Translation: X:182.50, Y:-10.39, Z:-2.40 [[ 9.99679264e-01 2.40928237e-02 7.80411269e-03 1.82499703e+02] [-2.40896844e-02 9.99709678e-01 -4.96025666e-04 -1.03936473e+01] [-7.81379764e-03 3.07867962e-04 9.99969424e-01 -2.40369460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.430371743 meters Centerline goodness [0,1] 0.9852082195234694 Centerline is valid? [True, True] Translation: X:182.53, Y:-10.40, Z:-2.40 [[ 9.99786117e-01 1.90658391e-02 8.01334282e-03 1.82530014e+02] [-1.90623697e-02 9.99818167e-01 -5.09106766e-04 -1.03996885e+01] [-8.02159228e-03 3.56244573e-04 9.99967763e-01 -2.40342933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46037174299997 meters Centerline goodness [0,1] 0.9856851146243395 Centerline is valid? [True, True] Translation: X:182.56, Y:-10.41, Z:-2.40 [[ 9.99851848e-01 1.47073249e-02 8.94298354e-03 1.82559022e+02] [-1.47028329e-02 9.99891746e-01 -5.67842016e-04 -1.04129481e+01] [-8.95036686e-03 4.36270697e-04 9.99959849e-01 -2.40389897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49037174299997 meters Centerline goodness [0,1] 0.9867532959061376 Centerline is valid? [True, True] Translation: X:182.59, Y:-10.42, Z:-2.40 [[ 9.99930716e-01 8.67555483e-03 7.95598149e-03 1.82589242e+02] [-8.67180251e-03 9.99962271e-01 -5.06011689e-04 -1.04182278e+01] [-7.96007125e-03 4.36983930e-04 9.99968223e-01 -2.40376088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52037174299997 meters Centerline goodness [0,1] 0.9853943119074904 Centerline is valid? [True, True] Translation: X:182.62, Y:-10.43, Z:-2.41 [[ 9.99949412e-01 6.26895974e-03 7.86596663e-03 1.82618789e+02] [-6.26521807e-03 9.99980248e-01 -5.00228819e-04 -1.04318551e+01] [-7.86894718e-03 4.50921517e-04 9.99968938e-01 -2.40513559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55037174299997 meters Centerline goodness [0,1] 0.9867413944539714 Centerline is valid? [True, True] Translation: X:182.65, Y:-10.43, Z:-2.40 [[ 9.99970392e-01 2.48468946e-03 7.28297237e-03 1.82649597e+02] [-2.48138105e-03 9.99996814e-01 -4.63267675e-04 -1.04317273e+01] [-7.28410025e-03 4.45182129e-04 9.99973371e-01 -2.40473679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58037174299997 meters Centerline goodness [0,1] 0.9870472284416916 Centerline is valid? [True, True] Translation: X:182.68, Y:-10.44, Z:-2.41 [[ 9.99973957e-01 1.02035531e-03 7.14449022e-03 1.82680807e+02] [-1.01714347e-03 9.99999380e-01 -4.53174374e-04 -1.04377355e+01] [-7.14494819e-03 4.45895600e-04 9.99974375e-01 -2.40502565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61037174299997 meters Centerline goodness [0,1] 0.9876587334959213 Centerline is valid? [True, True] Translation: X:182.71, Y:-10.44, Z:-2.40 [[ 9.99975135e-01 1.01679561e-04 7.05124175e-03 1.82713150e+02] [-9.85177328e-05 9.99999894e-01 -4.48753125e-04 -1.04385845e+01] [-7.05128664e-03 4.48047294e-04 9.99975039e-01 -2.40453893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64037174299997 meters Centerline goodness [0,1] 0.9879036499421479 Centerline is valid? [True, True] Translation: X:182.75, Y:-10.44, Z:-2.40 [[ 9.99963785e-01 -1.60571907e-03 8.35765184e-03 1.82745362e+02] [ 1.61025254e-03 9.99998560e-01 -5.35732022e-04 -1.04439220e+01] [-8.35677957e-03 5.49170550e-04 9.99964931e-01 -2.40469085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67037174299998 meters Centerline goodness [0,1] 0.9875546445229978 Centerline is valid? [True, True] Translation: X:182.78, Y:-10.45, Z:-2.41 [[ 9.99973723e-01 -7.83767445e-04 7.20692531e-03 1.82776028e+02] [ 7.87120956e-04 9.99999583e-01 -4.62493149e-04 -1.04536454e+01] [-7.20655982e-03 4.68153717e-04 9.99973923e-01 -2.40583408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70037174299998 meters Centerline goodness [0,1] 0.9880679789088923 Centerline is valid? [True, True] Translation: X:182.81, Y:-10.45, Z:-2.41 [[ 9.99972391e-01 -5.17113980e-04 7.41284696e-03 1.82808075e+02] [ 5.20657026e-04 9.99999751e-01 -4.76038402e-04 -1.04527834e+01] [-7.41259895e-03 4.79884809e-04 9.99972411e-01 -2.40546367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73037174299998 meters Centerline goodness [0,1] 0.9881732092945643 Centerline is valid? [True, True] Translation: X:182.84, Y:-10.46, Z:-2.41 [[ 9.99971137e-01 6.58392839e-04 7.56912567e-03 1.82838611e+02] [-6.54727134e-04 9.99999667e-01 -4.86764787e-04 -1.04601498e+01] [-7.56944364e-03 4.81795026e-04 9.99971235e-01 -2.40669684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76037174299998 meters Centerline goodness [0,1] 0.9889521329104619 Centerline is valid? [True, True] Translation: X:182.87, Y:-10.45, Z:-2.41 [[ 9.99967361e-01 4.25510385e-03 6.86810805e-03 1.82870002e+02] [-4.25216644e-03 9.99990862e-01 -4.42234830e-04 -1.04547773e+01] [-6.86992704e-03 4.13016058e-04 9.99976316e-01 -2.40649011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79037174299998 meters Centerline goodness [0,1] 0.9885931558935361 Centerline is valid? [True, True] Translation: X:182.90, Y:-10.46, Z:-2.41 [[ 9.99949094e-01 6.83020043e-03 7.42681377e-03 1.82900541e+02] [-6.82683611e-03 9.99976583e-01 -4.78254610e-04 -1.04560087e+01] [-7.42990643e-03 4.27528623e-04 9.99972306e-01 -2.40711044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82037174299998 meters Centerline goodness [0,1] 0.9893790849673203 Centerline is valid? [True, True] Translation: X:182.93, Y:-10.46, Z:-2.41 [[ 9.99921418e-01 9.84315987e-03 7.76340343e-03 1.82930327e+02] [-9.83957019e-03 9.99951465e-01 -5.00445407e-04 -1.04568029e+01] [-7.76795260e-03 4.24017527e-04 9.99969739e-01 -2.40717410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85037174299998 meters Centerline goodness [0,1] 0.9888921552158576 Centerline is valid? [True, True] Translation: X:182.96, Y:-10.45, Z:-2.41 [[ 9.99822295e-01 1.65254487e-02 9.07124569e-03 1.82961104e+02] [-1.65208219e-02 9.99863351e-01 -5.84754914e-04 -1.04508511e+01] [-9.07966946e-03 4.34786566e-04 9.99958684e-01 -2.40648177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88037174299998 meters Centerline goodness [0,1] 0.9888451853239266 Centerline is valid? [True, True] Translation: X:182.99, Y:-10.45, Z:-2.41 [[ 9.99760635e-01 1.94884209e-02 9.94359786e-03 1.82991414e+02] [-1.94830083e-02 9.99809983e-01 -6.40911578e-04 -1.04534287e+01] [-9.95419876e-03 4.47026966e-04 9.99950356e-01 -2.40673667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91037174299998 meters Centerline goodness [0,1] 0.9892297033444606 Centerline is valid? [True, True] Translation: X:183.02, Y:-10.45, Z:-2.41 [[ 9.99692696e-01 2.27005516e-02 9.95979979e-03 1.83023636e+02] [-2.26952799e-02 9.99742223e-01 -6.42010852e-04 -1.04513102e+01] [-9.97180638e-03 4.15773115e-04 9.99950194e-01 -2.40645572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940371743 meters Centerline goodness [0,1] 0.9885220881854864 Centerline is valid? [True, True] Translation: X:183.05, Y:-10.45, Z:-2.41 [[ 9.99587648e-01 2.66683765e-02 1.06457128e-02 1.83054633e+02] [-2.66625709e-02 9.99644254e-01 -6.86918827e-04 -1.04509457e+01] [-1.06602446e-02 4.02793503e-04 9.99943097e-01 -2.40648647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.970371743 meters Centerline goodness [0,1] 0.9883737889363475 Centerline is valid? [True, True] Translation: X:183.09, Y:-10.45, Z:-2.41 [[ 9.99539888e-01 2.85681555e-02 1.01918233e-02 1.83085803e+02] [-2.85629294e-02 9.99591780e-01 -6.57986653e-04 -1.04521865e+01] [-1.02064603e-02 3.66575574e-04 9.99947846e-01 -2.40668840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000371743 meters Centerline goodness [0,1] 0.9895353968354031 Centerline is valid? [True, True] Translation: X:183.12, Y:-10.45, Z:-2.41 [[ 9.99481995e-01 3.07809659e-02 9.39538317e-03 1.83117187e+02] [-3.07766196e-02 9.99526103e-01 -6.06865328e-04 -1.04521907e+01] [-9.40961063e-03 3.17392835e-04 9.99955678e-01 -2.40749185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.030371743 meters Centerline goodness [0,1] 0.9885320619184642 Centerline is valid? [True, True] Translation: X:183.15, Y:-10.46, Z:-2.41 [[ 9.99451982e-01 3.17660073e-02 9.30890898e-03 1.83147233e+02] [-3.17617826e-02 9.99495286e-01 -6.01357606e-04 -1.04552990e+01] [-9.32331338e-03 3.05360508e-04 9.99956490e-01 -2.40855084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060371743 meters Centerline goodness [0,1] 0.9895373755199798 Centerline is valid? [True, True] Translation: X:183.18, Y:-10.46, Z:-2.41 [[ 9.99427575e-01 3.26495148e-02 8.86178039e-03 1.83177478e+02] [-3.26457092e-02 9.99466822e-01 -5.73792819e-04 -1.04552111e+01] [-8.87578955e-03 2.84165260e-04 9.99960569e-01 -2.40826830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.090371743 meters Centerline goodness [0,1] 0.9889567718502655 Centerline is valid? [True, True] Translation: X:183.21, Y:-10.46, Z:-2.41 [[ 9.99413626e-01 3.25693388e-02 1.05661405e-02 1.83208458e+02] [-3.25639271e-02 9.99469421e-01 -6.83860243e-04 -1.04556721e+01] [-1.05828072e-02 3.39384216e-04 9.99943943e-01 -2.40879552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120371743 meters Centerline goodness [0,1] 0.9892938114031404 Centerline is valid? [True, True] Translation: X:183.24, Y:-10.46, Z:-2.41 [[ 9.99371369e-01 3.37187803e-02 1.09504029e-02 1.83238678e+02] [-3.37130367e-02 9.99431303e-01 -7.08730417e-04 -1.04567319e+01] [-1.09680729e-02 3.39113553e-04 9.99939791e-01 -2.40820731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.150371743 meters Centerline goodness [0,1] 0.9884345916553383 Centerline is valid? [True, True] Translation: X:183.27, Y:-10.46, Z:-2.41 [[ 9.99355903e-01 3.44719218e-02 9.97329933e-03 1.83268692e+02] [-3.44671950e-02 9.99405621e-01 -6.45490460e-04 -1.04596701e+01] [-9.98962271e-03 3.01323049e-04 9.99950057e-01 -2.40848301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180371743 meters Centerline goodness [0,1] 0.989099097203224 Centerline is valid? [True, True] Translation: X:183.30, Y:-10.46, Z:-2.41 [[ 9.99422410e-01 3.25575902e-02 9.73905905e-03 1.83298946e+02] [-3.25529920e-02 9.99469812e-01 -6.30329994e-04 -1.04632268e+01] [-9.75441755e-03 3.12930410e-04 9.99952376e-01 -2.40943124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21037174299997 meters Centerline goodness [0,1] 0.9890570087754372 Centerline is valid? [True, True] Translation: X:183.33, Y:-10.47, Z:-2.41 [[ 9.99478093e-01 3.09605044e-02 9.21889390e-03 1.83329153e+02] [-3.09563164e-02 9.99520560e-01 -5.96663940e-04 -1.04669182e+01] [-9.23294702e-03 3.10969540e-04 9.99957327e-01 -2.41039324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24037174299997 meters Centerline goodness [0,1] 0.9892574840228725 Centerline is valid? [True, True] Translation: X:183.36, Y:-10.47, Z:-2.41 [[ 9.99543895e-01 2.89780219e-02 8.50155146e-03 1.83359687e+02] [-2.89743887e-02 9.99580003e-01 -5.50236204e-04 -1.04711513e+01] [-8.51392559e-03 3.03657982e-04 9.99963710e-01 -2.41158545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27037174299997 meters Centerline goodness [0,1] 0.989174304212562 Centerline is valid? [True, True] Translation: X:183.39, Y:-10.48, Z:-2.41 [[ 9.99707981e-01 2.22817774e-02 9.35277736e-03 1.83388256e+02] [-2.22770885e-02 9.99751652e-01 -6.05233621e-04 -1.04824430e+01] [-9.36394030e-03 3.96704233e-04 9.99956079e-01 -2.41342489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30037174299997 meters Centerline goodness [0,1] 0.9886120996441281 Centerline is valid? [True, True] Translation: X:183.42, Y:-10.48, Z:-2.41 [[ 9.99779537e-01 1.90399635e-02 8.85190389e-03 1.83419684e+02] [-1.90356354e-02 9.99818642e-01 -5.72948956e-04 -1.04837392e+01] [-8.86120745e-03 4.04321027e-04 9.99960657e-01 -2.41409306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33037174299997 meters Centerline goodness [0,1] 0.988143040343095 Centerline is valid? [True, True] Translation: X:183.45, Y:-10.49, Z:-2.41 [[ 9.99835573e-01 1.63733607e-02 7.79364982e-03 1.83450703e+02] [-1.63699231e-02 9.99865876e-01 -5.04669645e-04 -1.04884476e+01] [-7.80086764e-03 3.77005215e-04 9.99969502e-01 -2.41435207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36037174299997 meters Centerline goodness [0,1] 0.9881734834847407 Centerline is valid? [True, True] Translation: X:183.48, Y:-10.50, Z:-2.42 [[ 9.99929520e-01 9.70415414e-03 6.83985092e-03 1.83480034e+02] [-9.70134981e-03 9.99952843e-01 -4.43058796e-04 -1.04971090e+01] [-6.84382788e-03 3.76671783e-04 9.99976510e-01 -2.41543743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39037174299997 meters Centerline goodness [0,1] 0.9892744479495268 Centerline is valid? [True, True] Translation: X:183.51, Y:-10.49, Z:-2.42 [[ 9.99953309e-01 6.58025049e-03 7.07678031e-03 1.83511239e+02] [-6.57716733e-03 9.99978265e-01 -4.58857584e-04 -1.04949876e+01] [-7.07964590e-03 4.12290991e-04 9.99974854e-01 -2.41508677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42037174299998 meters Centerline goodness [0,1] 0.9877163830637529 Centerline is valid? [True, True] Translation: X:183.54, Y:-10.50, Z:-2.42 [[ 9.99969250e-01 3.96969427e-03 6.76324397e-03 1.83540889e+02] [-3.96681714e-03 9.99992036e-01 -4.38767559e-04 -1.05035730e+01] [-6.76493188e-03 4.11925514e-04 9.99977033e-01 -2.41616051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45037174299998 meters Centerline goodness [0,1] 0.987657161984059 Centerline is valid? [True, True] Translation: X:183.57, Y:-10.50, Z:-2.42 [[ 9.99970404e-01 -7.47019175e-04 7.65728049e-03 1.83571786e+02] [ 7.50844833e-04 9.99999595e-01 -4.96748017e-04 -1.05020543e+01] [-7.65690631e-03 5.02482745e-04 9.99970559e-01 -2.41564739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48037174299998 meters Centerline goodness [0,1] 0.9869374383098474 Centerline is valid? [True, True] Translation: X:183.60, Y:-10.51, Z:-2.42 [[ 9.99967251e-01 -2.29786242e-03 7.75998682e-03 1.83603490e+02] [ 2.30182743e-03 9.99997225e-01 -5.02063233e-04 -1.05055005e+01] [-7.75881161e-03 5.19908941e-04 9.99969765e-01 -2.41576369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51037174299998 meters Centerline goodness [0,1] 0.9871385339609953 Centerline is valid? [True, True] Translation: X:183.63, Y:-10.51, Z:-2.42 [[ 9.99948699e-01 -5.28968263e-03 8.63819856e-03 1.83634219e+02] [ 5.29473771e-03 9.99985825e-01 -5.62436928e-04 -1.05081933e+01] [-8.63510099e-03 6.08145070e-04 9.99962532e-01 -2.41523440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54037174299998 meters Centerline goodness [0,1] 0.9861639426493333 Centerline is valid? [True, True] Translation: X:183.67, Y:-10.51, Z:-2.42 [[ 9.99950740e-01 -5.74117186e-03 8.09666972e-03 1.83665339e+02] [ 5.74562718e-03 9.99983355e-01 -5.27111887e-04 -1.05147859e+01] [-8.09350871e-03 5.73606367e-04 9.99967083e-01 -2.41586436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57037174299998 meters Centerline goodness [0,1] 0.9866812318810134 Centerline is valid? [True, True] Translation: X:183.70, Y:-10.51, Z:-2.42 [[ 9.99931437e-01 -6.93013658e-03 9.43898617e-03 1.83697946e+02] [ 6.93624983e-03 9.99975755e-01 -6.15076968e-04 -1.05136823e+01] [-9.43449476e-03 6.80505963e-04 9.99955263e-01 -2.41573423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60037174299998 meters Centerline goodness [0,1] 0.9852785228619549 Centerline is valid? [True, True] Translation: X:183.73, Y:-10.53, Z:-2.42 [[ 9.99929084e-01 -7.25848193e-03 9.44143359e-03 1.83728690e+02] [ 7.26462025e-03 9.99973423e-01 -6.16013747e-04 -1.05272089e+01] [-9.43671134e-03 6.84558491e-04 9.99955239e-01 -2.41702137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63037174299998 meters Centerline goodness [0,1] 0.9864199341953601 Centerline is valid? [True, True] Translation: X:183.76, Y:-10.52, Z:-2.42 [[ 9.99913649e-01 -8.37884507e-03 1.01236700e-02 1.83760977e+02] [ 8.38596391e-03 9.99964619e-01 -6.60941868e-04 -1.05211194e+01] [-1.01177739e-02 7.45781527e-04 9.99948536e-01 -2.41639608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66037174299998 meters Centerline goodness [0,1] 0.9863292307047156 Centerline is valid? [True, True] Translation: X:183.79, Y:-10.52, Z:-2.42 [[ 9.99933035e-01 -7.76995529e-03 8.57630867e-03 1.83793591e+02] [ 7.77504992e-03 9.99969617e-01 -5.60852800e-04 -1.05180241e+01] [-8.57169029e-03 6.27496471e-04 9.99963066e-01 -2.41649440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.690371743 meters Centerline goodness [0,1] 0.9853422244589833 Centerline is valid? [True, True] Translation: X:183.83, Y:-10.52, Z:-2.42 [[ 9.99921184e-01 -8.50784395e-03 9.23264283e-03 1.83825439e+02] [ 8.51378660e-03 9.99963574e-01 -6.04542903e-04 -1.05191139e+01] [-9.22716317e-03 6.83100006e-04 9.99957196e-01 -2.41789090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720371743 meters Centerline goodness [0,1] 0.9862458527571291 Centerline is valid? [True, True] Translation: X:183.86, Y:-10.52, Z:-2.42 [[ 9.99924925e-01 -8.08763194e-03 9.20511453e-03 1.83857428e+02] [ 8.09352771e-03 9.99967065e-01 -6.03416610e-04 -1.05184850e+01] [-9.19993115e-03 6.77873158e-04 9.99957450e-01 -2.41823065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.750371743 meters Centerline goodness [0,1] 0.9855163727959698 Centerline is valid? [True, True] Translation: X:183.89, Y:-10.52, Z:-2.42 [[ 9.99946636e-01 -7.06834315e-03 7.53415171e-03 1.83888866e+02] [ 7.07226679e-03 9.99974869e-01 -4.94265711e-04 -1.05217425e+01] [-7.53046873e-03 5.47522866e-04 9.99971496e-01 -2.41825159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780371743 meters Centerline goodness [0,1] 0.985154344351922 Centerline is valid? [True, True] Translation: X:183.92, Y:-10.52, Z:-2.42 [[ 9.99945432e-01 -5.60093917e-03 8.81830840e-03 1.83919248e+02] [ 5.60626724e-03 9.99984117e-01 -5.79601284e-04 -1.05208043e+01] [-8.81492203e-03 6.29007450e-04 9.99960950e-01 -2.41871483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.810371743 meters Centerline goodness [0,1] 0.9851308112177677 Centerline is valid? [True, True] Translation: X:183.95, Y:-10.52, Z:-2.42 [[ 9.99952575e-01 -3.67362694e-03 9.01950854e-03 1.83951068e+02] [ 3.67912297e-03 9.99993056e-01 -5.92833382e-04 -1.05193707e+01] [-9.01726807e-03 6.25989148e-04 9.99959148e-01 -2.41872624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840371743 meters Centerline goodness [0,1] 0.9856062197940744 Centerline is valid? [True, True] Translation: X:183.98, Y:-10.52, Z:-2.42 [[ 9.99954668e-01 -1.63098183e-03 9.38095277e-03 1.83982645e+02] [ 1.63684352e-03 9.99998470e-01 -6.17206328e-04 -1.05153907e+01] [-9.37993176e-03 6.32533501e-04 9.99955807e-01 -2.41895376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.870371743 meters Centerline goodness [0,1] 0.9840605614551572 Centerline is valid? [True, True] Translation: X:184.01, Y:-10.51, Z:-2.42 [[ 9.99957319e-01 3.84534927e-03 8.40085473e-03 1.84012003e+02] [-3.84083624e-03 9.99992471e-01 -5.53277748e-04 -1.05134478e+01] [-8.40291903e-03 5.20987826e-04 9.99964559e-01 -2.42004265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900371743 meters Centerline goodness [0,1] 0.9843221318538133 Centerline is valid? [True, True] Translation: X:184.04, Y:-10.51, Z:-2.42 [[ 9.99944523e-01 6.71095398e-03 8.11879482e-03 1.84043517e+02] [-6.70683671e-03 9.99977366e-01 -5.34248161e-04 -1.05088249e+01] [-8.12219638e-03 4.79767092e-04 9.99966899e-01 -2.42123315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.930371743 meters Centerline goodness [0,1] 0.9840608966271344 Centerline is valid? [True, True] Translation: X:184.07, Y:-10.50, Z:-2.42 [[ 9.99889843e-01 1.28090758e-02 7.49860222e-03 1.84074505e+02] [-1.28057311e-02 9.99917881e-01 -4.93899184e-04 -1.05024183e+01] [-7.50431284e-03 3.97819694e-04 9.99971763e-01 -2.42282825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96037174299997 meters Centerline goodness [0,1] 0.9841895575592368 Centerline is valid? [True, True] Translation: X:184.10, Y:-10.51, Z:-2.42 [[ 9.99853698e-01 1.48684142e-02 8.45650036e-03 1.84104799e+02] [-1.48642345e-02 9.99889366e-01 -5.56893519e-04 -1.05072623e+01] [-8.46384490e-03 4.31112640e-04 9.99964088e-01 -2.42481537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99037174299997 meters Centerline goodness [0,1] 0.9835239509063918 Centerline is valid? [True, True] Translation: X:184.14, Y:-10.50, Z:-2.42 [[ 9.99810193e-01 1.75193280e-02 8.52361511e-03 1.84136196e+02] [-1.75151771e-02 9.99846440e-01 -5.61389790e-04 -1.05031326e+01] [-8.53214140e-03 4.11990606e-04 9.99963516e-01 -2.42491042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02037174299997 meters Centerline goodness [0,1] 0.9835511822587751 Centerline is valid? [True, True] Translation: X:184.17, Y:-10.50, Z:-2.42 [[ 9.99730643e-01 2.13135821e-02 9.18543343e-03 1.84167492e+02] [-2.13089176e-02 9.99772756e-01 -6.05401844e-04 -1.04989412e+01] [-9.19624937e-03 4.09507131e-04 9.99957630e-01 -2.42394160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05037174299997 meters Centerline goodness [0,1] 0.9824972292507476 Centerline is valid? [True, True] Translation: X:184.20, Y:-10.50, Z:-2.42 [[ 9.99701672e-01 2.24770648e-02 9.55765355e-03 1.84198766e+02] [-2.24720656e-02 9.99747273e-01 -6.30140683e-04 -1.04998494e+01] [-9.56940179e-03 4.15172477e-04 9.99954126e-01 -2.42411283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08037174299997 meters Centerline goodness [0,1] 0.9829329297769931 Centerline is valid? [True, True] Translation: X:184.23, Y:-10.50, Z:-2.42 [[ 9.99688884e-01 2.30754442e-02 9.46889852e-03 1.84230409e+02] [-2.30705610e-02 9.99733644e-01 -6.24631637e-04 -1.04996712e+01] [-9.48079008e-03 4.05984503e-04 9.99954974e-01 -2.42437282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11037174299997 meters Centerline goodness [0,1] 0.9829660363196631 Centerline is valid? [True, True] Translation: X:184.26, Y:-10.50, Z:-2.42 [[ 9.99653743e-01 2.48298949e-02 8.71040951e-03 1.84260722e+02] [-2.48258260e-02 9.99691626e-01 -5.74968091e-04 -1.04990783e+01] [-8.72199985e-03 3.58525893e-04 9.99961898e-01 -2.42490675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14037174299997 meters Centerline goodness [0,1] 0.9829660363196631 Centerline is valid? [True, True] Translation: X:184.29, Y:-10.50, Z:-2.43 [[ 9.99653743e-01 2.48298983e-02 8.71039323e-03 1.84290679e+02] [-2.48258272e-02 9.99691626e-01 -5.75214636e-04 -1.05010565e+01] [-8.72198969e-03 3.58772747e-04 9.99961898e-01 -2.42531356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17037174299998 meters Centerline goodness [0,1] 0.9831242250383541 Centerline is valid? [True, True] Translation: X:184.32, Y:-10.50, Z:-2.43 [[ 9.99655071e-01 2.45500410e-02 9.32927870e-03 1.84321451e+02] [-2.45453586e-02 9.99698527e-01 -6.16084430e-04 -1.05010543e+01] [-9.34159107e-03 3.86881433e-04 9.99956292e-01 -2.42641030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20037174299998 meters Centerline goodness [0,1] 0.9830180748213535 Centerline is valid? [True, True] Translation: X:184.35, Y:-10.50, Z:-2.43 [[ 9.99647245e-01 2.50964316e-02 8.69225957e-03 1.84351378e+02] [-2.50923882e-02 9.99684972e-01 -5.73929526e-04 -1.05029027e+01] [-8.70392485e-03 3.55617517e-04 9.99962057e-01 -2.42837645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23037174299998 meters Centerline goodness [0,1] 0.9832533871917866 Centerline is valid? [True, True] Translation: X:184.38, Y:-10.50, Z:-2.43 [[ 9.99643159e-01 2.53176624e-02 8.51882322e-03 1.84382184e+02] [-2.53137848e-02 9.99679396e-01 -5.62718368e-04 -1.05037461e+01] [-8.53033877e-03 3.46873910e-04 9.99963556e-01 -2.42962732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26037174299998 meters Centerline goodness [0,1] 0.9831738353139131 Centerline is valid? [True, True] Translation: X:184.41, Y:-10.51, Z:-2.43 [[ 9.99628630e-01 2.63030436e-02 7.12406041e-03 1.84412640e+02] [-2.63003567e-02 9.99653975e-01 -4.70586083e-04 -1.05061661e+01] [-7.13397315e-03 2.83045991e-04 9.99974513e-01 -2.43020581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29037174299998 meters Centerline goodness [0,1] 0.9821815504365204 Centerline is valid? [True, True] Translation: X:184.44, Y:-10.50, Z:-2.43 [[ 9.99660852e-01 2.49820806e-02 7.35364939e-03 1.84442719e+02] [-2.49791805e-02 9.99687853e-01 -4.85979703e-04 -1.05042550e+01] [-7.36349476e-03 3.02126749e-04 9.99972843e-01 -2.43085845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32037174299998 meters Centerline goodness [0,1] 0.9822759230413001 Centerline is valid? [True, True] Translation: X:184.47, Y:-10.50, Z:-2.43 [[ 9.99679325e-01 2.41492740e-02 7.61970853e-03 1.84472466e+02] [-2.41461383e-02 9.99708313e-01 -5.03265361e-04 -1.05046100e+01] [-7.62963946e-03 3.19117440e-04 9.99970843e-01 -2.43079710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35037174299998 meters Centerline goodness [0,1] 0.982139848357203 Centerline is valid? [True, True] Translation: X:184.50, Y:-10.51, Z:-2.43 [[ 9.99722931e-01 2.20831578e-02 8.14828612e-03 1.84501430e+02] [-2.20795062e-02 9.99756073e-01 -5.37835705e-04 -1.05063839e+01] [-8.15817564e-03 3.57776554e-04 9.99966658e-01 -2.43122779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38037174299998 meters Centerline goodness [0,1] 0.9826364802085304 Centerline is valid? [True, True] Translation: X:184.53, Y:-10.51, Z:-2.43 [[ 9.99743419e-01 2.06482746e-02 9.31372162e-03 1.84531382e+02] [-2.06434462e-02 9.99786713e-01 -6.14265752e-04 -1.05081411e+01] [-9.32441865e-03 4.21840832e-04 9.99956438e-01 -2.43161856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41037174299998 meters Centerline goodness [0,1] 0.9817042395693136 Centerline is valid? [True, True] Translation: X:184.56, Y:-10.51, Z:-2.43 [[ 9.99746832e-01 2.06367605e-02 8.96635559e-03 1.84562711e+02] [-2.06322888e-02 9.99786957e-01 -5.90947683e-04 -1.05088901e+01] [-8.97664062e-03 4.05801636e-04 9.99959627e-01 -2.43126034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440371743 meters Centerline goodness [0,1] 0.9810068266532647 Centerline is valid? [True, True] Translation: X:184.59, Y:-10.51, Z:-2.43 [[ 9.99754657e-01 1.97422271e-02 1.00434442e-02 1.84592941e+02] [-1.97365663e-02 9.99804996e-01 -6.62435592e-04 -1.05110372e+01] [-1.00545637e-02 4.64049965e-04 9.99949344e-01 -2.43049924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.470371743 meters Centerline goodness [0,1] 0.9814106068890104 Centerline is valid? [True, True] Translation: X:184.62, Y:-10.51, Z:-2.43 [[ 9.99748722e-01 1.97533840e-02 1.05969949e-02 1.84624554e+02] [-1.97470810e-02 9.99804763e-01 -6.99102054e-04 -1.05107305e+01] [-1.06087356e-02 4.89666669e-04 9.99943606e-01 -2.42996728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500371743 meters Centerline goodness [0,1] 0.9807316509424051 Centerline is valid? [True, True] Translation: X:184.66, Y:-10.51, Z:-2.43 [[ 9.99741670e-01 1.90293728e-02 1.24288202e-02 1.84655753e+02] [-1.90206424e-02 9.99818755e-01 -8.20276866e-04 -1.05114174e+01] [-1.24421769e-02 5.83660821e-04 9.99922423e-01 -2.43069572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.530371743 meters Centerline goodness [0,1] 0.9812549742386797 Centerline is valid? [True, True] Translation: X:184.69, Y:-10.51, Z:-2.43 [[ 9.99718365e-01 2.04908804e-02 1.19714454e-02 1.84688158e+02] [-2.04828529e-02 9.99789890e-01 -7.92791228e-04 -1.05106274e+01] [-1.19851751e-02 5.47358595e-04 9.99928025e-01 -2.43010073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560371743 meters Centerline goodness [0,1] 0.9804808278821278 Centerline is valid? [True, True] Translation: X:184.72, Y:-10.51, Z:-2.43 [[ 9.99729143e-01 1.98664030e-02 1.21230111e-02 1.84719607e+02] [-1.98580827e-02 9.99802484e-01 -8.06328592e-04 -1.05116381e+01] [-1.21366355e-02 5.65370435e-04 9.99926188e-01 -2.43083178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.590371743 meters Centerline goodness [0,1] 0.9800353059852052 Centerline is valid? [True, True] Translation: X:184.75, Y:-10.51, Z:-2.43 [[ 9.99760013e-01 1.85862420e-02 1.15960715e-02 1.84751832e+02] [-1.85785435e-02 9.99827106e-01 -7.71263713e-04 -1.05144659e+01] [-1.16084015e-02 5.55640499e-04 9.99932466e-01 -2.43217282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620371743 meters Centerline goodness [0,1] 0.9801037700322189 Centerline is valid? [True, True] Translation: X:184.78, Y:-10.52, Z:-2.43 [[ 9.99773092e-01 1.82313275e-02 1.10174112e-02 1.84782826e+02] [-1.82243266e-02 9.99833653e-01 -7.35514001e-04 -1.05192088e+01] [-1.10289878e-02 5.34562207e-04 9.99939036e-01 -2.43341737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.650371743 meters Centerline goodness [0,1] 0.9805917109994322 Centerline is valid? [True, True] Translation: X:184.81, Y:-10.52, Z:-2.43 [[ 9.99789734e-01 1.76434432e-02 1.04497329e-02 1.84814123e+02] [-1.76370821e-02 9.99844209e-01 -7.00575395e-04 -1.05192169e+01] [-1.04604655e-02 5.16125290e-04 9.99945155e-01 -2.43456048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680371743 meters Centerline goodness [0,1] 0.980623739071957 Centerline is valid? [True, True] Translation: X:184.84, Y:-10.52, Z:-2.44 [[ 9.99802371e-01 1.75950232e-02 9.25392171e-03 1.84844835e+02] [-1.75900366e-02 9.99845091e-01 -6.19984565e-04 -1.05196919e+01] [-9.26339684e-03 4.57085216e-04 9.99956989e-01 -2.43665154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71037174299997 meters Centerline goodness [0,1] 0.9804458102675283 Centerline is valid? [True, True] Translation: X:184.88, Y:-10.52, Z:-2.44 [[ 9.99787134e-01 1.85093001e-02 9.11552385e-03 1.84876598e+02] [-1.85044764e-02 9.99828589e-01 -6.13234508e-04 -1.05179776e+01] [-9.12531190e-03 4.44425975e-04 9.99958265e-01 -2.43692856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74037174299997 meters Centerline goodness [0,1] 0.9810451466318846 Centerline is valid? [True, True] Translation: X:184.91, Y:-10.52, Z:-2.44 [[ 9.99740239e-01 2.11454955e-02 8.50421070e-03 1.84906447e+02] [-2.11413883e-02 9.99776332e-01 -5.72576643e-04 -1.05195207e+01] [-8.51441600e-03 3.92637089e-04 9.99963675e-01 -2.43691825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77037174299997 meters Centerline goodness [0,1] 0.9805847707193942 Centerline is valid? [True, True] Translation: X:184.94, Y:-10.52, Z:-2.44 [[ 9.99660608e-01 2.42417658e-02 9.53970277e-03 1.84935891e+02] [-2.42367406e-02 9.99706041e-01 -6.42032260e-04 -1.05203243e+01] [-9.55246248e-03 4.10603057e-04 9.99954290e-01 -2.43801299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80037174299997 meters Centerline goodness [0,1] 0.981171415934795 Centerline is valid? [True, True] Translation: X:184.97, Y:-10.52, Z:-2.44 [[ 9.99573882e-01 2.76891036e-02 9.23952437e-03 1.84966532e+02] [-2.76845280e-02 9.99616516e-01 -6.22772560e-04 -1.05164407e+01] [-9.25322518e-03 3.66715314e-04 9.99957121e-01 -2.43781529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83037174299997 meters Centerline goodness [0,1] 0.9809796933977184 Centerline is valid? [True, True] Translation: X:185.00, Y:-10.51, Z:-2.44 [[ 9.99386140e-01 3.37618067e-02 9.35327367e-03 1.84995992e+02] [-3.37573843e-02 9.99429858e-01 -6.30338974e-04 -1.05136824e+01] [-9.36922237e-03 3.14209980e-04 9.99956059e-01 -2.43807656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86037174299997 meters Centerline goodness [0,1] 0.9823296221322537 Centerline is valid? [True, True] Translation: X:185.02, Y:-10.51, Z:-2.44 [[ 9.99311464e-01 3.56887145e-02 1.01446171e-02 1.85024842e+02] [-3.56836141e-02 9.99362903e-01 -6.83389123e-04 -1.05115546e+01] [-1.01625433e-02 3.20921984e-04 9.99948309e-01 -2.43870076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89037174299997 meters Centerline goodness [0,1] 0.9817749936937694 Centerline is valid? [True, True] Translation: X:185.05, Y:-10.51, Z:-2.44 [[ 9.99189816e-01 3.90247643e-02 9.83770087e-03 1.85053176e+02] [-3.90201369e-02 9.99238205e-01 -6.61948617e-04 -1.05135934e+01] [-9.85603895e-03 2.77543882e-04 9.99951390e-01 -2.43851164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92037174299998 meters Centerline goodness [0,1] 0.982128965792738 Centerline is valid? [True, True] Translation: X:185.08, Y:-10.51, Z:-2.44 [[ 9.99149151e-01 3.99394549e-02 1.02865453e-02 1.85080745e+02] [-3.99344489e-02 9.99202062e-01 -6.91669195e-04 -1.05141193e+01] [-1.03059621e-02 2.80293173e-04 9.99946853e-01 -2.43877856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95037174299998 meters Centerline goodness [0,1] 0.9823795053600067 Centerline is valid? [True, True] Translation: X:185.11, Y:-10.51, Z:-2.44 [[ 9.99148863e-01 3.97358333e-02 1.10731118e-02 1.85109438e+02] [-3.97300327e-02 9.99210174e-01 -7.43411313e-04 -1.05139930e+01] [-1.10939060e-02 3.02843474e-04 9.99938415e-01 -2.43862529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98037174299998 meters Centerline goodness [0,1] 0.9817769566677864 Centerline is valid? [True, True] Translation: X:185.14, Y:-10.52, Z:-2.44 [[ 9.99220024e-01 3.77546898e-02 1.15726586e-02 1.85137749e+02] [-3.77482320e-02 9.99286980e-01 -7.76024428e-04 -1.05187023e+01] [-1.15937056e-02 3.38571745e-04 9.99932733e-01 -2.43997920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01037174299998 meters Centerline goodness [0,1] 0.9818097506481462 Centerline is valid? [True, True] Translation: X:185.17, Y:-10.52, Z:-2.44 [[ 9.99357478e-01 3.40548728e-02 1.11757453e-02 1.85167402e+02] [-3.40486262e-02 9.99419897e-01 -7.48784294e-04 -1.05216874e+01] [-1.11947620e-02 3.67784408e-04 9.99937269e-01 -2.43992983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04037174299998 meters Centerline goodness [0,1] 0.9814740573502416 Centerline is valid? [True, True] Translation: X:185.20, Y:-10.52, Z:-2.44 [[ 9.99449473e-01 3.14189352e-02 1.06583828e-02 1.85196737e+02] [-3.14131078e-02 9.99506232e-01 -7.13758514e-04 -1.05247344e+01] [-1.06755456e-02 3.78552642e-04 9.99942943e-01 -2.44034815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07037174299998 meters Centerline goodness [0,1] 0.9814150704581892 Centerline is valid? [True, True] Translation: X:185.23, Y:-10.53, Z:-2.44 [[ 9.99542220e-01 2.83891347e-02 1.04598188e-02 1.85225564e+02] [-2.83833607e-02 9.99596866e-01 -7.00086856e-04 -1.05302068e+01] [-1.04754770e-02 4.02881559e-04 9.99945050e-01 -2.44046388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10037174299998 meters Centerline goodness [0,1] 0.9814050456976793 Centerline is valid? [True, True] Translation: X:185.26, Y:-10.53, Z:-2.44 [[ 9.99684271e-01 2.26678667e-02 1.08409642e-02 1.85255970e+02] [-2.26613338e-02 9.99742936e-01 -7.25087954e-04 -1.05326656e+01] [-1.08546136e-02 4.79188313e-04 9.99940972e-01 -2.44071869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13037174299998 meters Centerline goodness [0,1] 0.9804921210078369 Centerline is valid? [True, True] Translation: X:185.29, Y:-10.54, Z:-2.44 [[ 9.99774052e-01 1.83153972e-02 1.07884516e-02 1.85285317e+02] [-1.83086746e-02 9.99832122e-01 -7.21575698e-04 -1.05396265e+01] [-1.07998564e-02 5.23890409e-04 9.99941543e-01 -2.44091448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16037174299998 meters Centerline goodness [0,1] 0.9811706228016597 Centerline is valid? [True, True] Translation: X:185.32, Y:-10.54, Z:-2.44 [[ 9.99799077e-01 1.65009569e-02 1.13808990e-02 1.85316833e+02] [-1.64933592e-02 9.99863686e-01 -7.61122013e-04 -1.05428153e+01] [-1.13919068e-02 5.73259831e-04 9.99934946e-01 -2.44141726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.190371743 meters Centerline goodness [0,1] 0.9801204565556164 Centerline is valid? [True, True] Translation: X:185.35, Y:-10.55, Z:-2.44 [[ 9.99812802e-01 1.56150264e-02 1.14250866e-02 1.85349024e+02] [-1.56073123e-02 9.99877907e-01 -7.64039785e-04 -1.05464142e+01] [-1.14356221e-02 5.85581863e-04 9.99934440e-01 -2.44161736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220371743 meters Centerline goodness [0,1] 0.9798105263157895 Centerline is valid? [True, True] Translation: X:185.38, Y:-10.55, Z:-2.44 [[ 9.99829873e-01 1.42640686e-02 1.16945252e-02 1.85379507e+02] [-1.42558534e-02 9.99898072e-01 -7.85550194e-04 -1.05503068e+01] [-1.17045383e-02 6.18701114e-04 9.99931308e-01 -2.44217574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.250371743 meters Centerline goodness [0,1] 0.9806830376870147 Centerline is valid? [True, True] Translation: X:185.41, Y:-10.55, Z:-2.44 [[ 9.99830017e-01 1.43590725e-02 1.15651975e-02 1.85411837e+02] [-1.43510444e-02 9.99896717e-01 -7.76848421e-04 -1.05486731e+01] [-1.15751578e-02 6.10743707e-04 9.99932819e-01 -2.44237964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280371743 meters Centerline goodness [0,1] 0.9816484833196696 Centerline is valid? [True, True] Translation: X:185.44, Y:-10.55, Z:-2.44 [[ 9.99826047e-01 1.44612784e-02 1.17790966e-02 1.85444085e+02] [-1.44529211e-02 9.99895236e-01 -7.94328197e-04 -1.05496111e+01] [-1.17893496e-02 6.23947668e-04 9.99930309e-01 -2.44329328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.310371743 meters Centerline goodness [0,1] 0.9803348336347958 Centerline is valid? [True, True] Translation: X:185.48, Y:-10.55, Z:-2.44 [[ 9.99793806e-01 1.66668863e-02 1.15999984e-02 1.85475378e+02] [-1.66588901e-02 9.99860922e-01 -7.85618162e-04 -1.05499412e+01] [-1.16114789e-02 5.92213074e-04 9.99932409e-01 -2.44397692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340371743 meters Centerline goodness [0,1] 0.9806890451922672 Centerline is valid? [True, True] Translation: X:185.51, Y:-10.55, Z:-2.44 [[ 9.99765717e-01 1.84477441e-02 1.13221590e-02 1.85507239e+02] [-1.84402411e-02 9.99829670e-01 -7.66726407e-04 -1.05513379e+01] [-1.13343749e-02 5.57763433e-04 9.99935608e-01 -2.44392424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.370371743 meters Centerline goodness [0,1] 0.9802980550644103 Centerline is valid? [True, True] Translation: X:185.54, Y:-10.55, Z:-2.44 [[ 9.99731885e-01 2.01415391e-02 1.14226590e-02 1.85539100e+02] [-2.01339744e-02 9.99796989e-01 -7.76874964e-04 -1.05522321e+01] [-1.14359876e-02 5.46683147e-04 9.99934458e-01 -2.44402296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400371743 meters Centerline goodness [0,1] 0.9797429478954122 Centerline is valid? [True, True] Translation: X:185.57, Y:-10.55, Z:-2.44 [[ 9.99656809e-01 2.35503188e-02 1.14737562e-02 1.85569875e+02] [-2.35428992e-02 9.99722522e-01 -7.81314854e-04 -1.05518943e+01] [-1.14889727e-02 5.10921228e-04 9.99933869e-01 -2.44429688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.430371743 meters Centerline goodness [0,1] 0.9805379446890073 Centerline is valid? [True, True] Translation: X:185.60, Y:-10.55, Z:-2.44 [[ 9.99603364e-01 2.54032175e-02 1.21569094e-02 1.85600491e+02] [-2.53950185e-02 9.99677151e-01 -8.28356382e-04 -1.05522302e+01] [-1.21740275e-02 5.19302887e-04 9.99925759e-01 -2.44474873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46037174299997 meters Centerline goodness [0,1] 0.9805430245794511 Centerline is valid? [True, True] Translation: X:185.63, Y:-10.55, Z:-2.45 [[ 9.99540267e-01 2.78169433e-02 1.20611609e-02 1.85631673e+02] [-2.78090486e-02 9.99612916e-01 -8.21806129e-04 -1.05523276e+01] [-1.20793523e-02 4.86018908e-04 9.99926924e-01 -2.44559686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49037174299997 meters Centerline goodness [0,1] 0.9809032529739973 Centerline is valid? [True, True] Translation: X:185.66, Y:-10.55, Z:-2.45 [[ 9.99385638e-01 3.23696471e-02 1.34369884e-02 1.85661943e+02] [-3.23602556e-02 9.99475850e-01 -9.15819725e-04 -1.05516843e+01] [-1.34595902e-02 4.80432701e-04 9.99909300e-01 -2.44646491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52037174299997 meters Centerline goodness [0,1] 0.9808064651906726 Centerline is valid? [True, True] Translation: X:185.69, Y:-10.55, Z:-2.45 [[ 9.99311797e-01 3.47266645e-02 1.30380523e-02 1.85692282e+02] [-3.47180227e-02 9.99396753e-01 -8.88638212e-04 -1.05506761e+01] [-1.30610466e-02 4.35371254e-04 9.99914606e-01 -2.44662279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55037174299997 meters Centerline goodness [0,1] 0.9822845388522732 Centerline is valid? [True, True] Translation: X:185.72, Y:-10.55, Z:-2.45 [[ 9.99271451e-01 3.53821821e-02 1.43062649e-02 1.85720623e+02] [-3.53718486e-02 9.99373745e-01 -9.74767646e-04 -1.05521399e+01] [-1.43317949e-02 4.68018444e-04 9.99897185e-01 -2.44772475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58037174299997 meters Centerline goodness [0,1] 0.9810501133215814 Centerline is valid? [True, True] Translation: X:185.75, Y:-10.55, Z:-2.45 [[ 9.99136382e-01 3.92648798e-02 1.35925962e-02 1.85749029e+02] [-3.92559200e-02 9.99228761e-01 -9.25454182e-04 -1.05537847e+01] [-1.36184509e-02 3.91065074e-04 9.99907188e-01 -2.44818333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61037174299997 meters Centerline goodness [0,1] 0.9823167390296337 Centerline is valid? [True, True] Translation: X:185.78, Y:-10.55, Z:-2.45 [[ 9.99137024e-01 3.92545419e-02 1.35752620e-02 1.85778429e+02] [-3.92456062e-02 9.99229167e-01 -9.24110862e-04 -1.05522539e+01] [-1.36010733e-02 3.90543992e-04 9.99907425e-01 -2.44920425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64037174299997 meters Centerline goodness [0,1] 0.9824180457468115 Centerline is valid? [True, True] Translation: X:185.81, Y:-10.56, Z:-2.45 [[ 9.99232235e-01 3.65807928e-02 1.40280371e-02 1.85806992e+02] [-3.65709952e-02 9.99330602e-01 -9.54402843e-04 -1.05575386e+01] [-1.40535595e-02 4.40650810e-04 9.99901147e-01 -2.45067358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67037174299998 meters Centerline goodness [0,1] 0.9825678210830294 Centerline is valid? [True, True] Translation: X:185.84, Y:-10.56, Z:-2.45 [[ 9.99309549e-01 3.44725517e-02 1.38588554e-02 1.85836534e+02] [-3.44627934e-02 9.99405537e-01 -9.42396397e-04 -1.05609355e+01] [-1.38831036e-02 4.64130850e-04 9.99903517e-01 -2.45116210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70037174299998 meters Centerline goodness [0,1] 0.9821815960740538 Centerline is valid? [True, True] Translation: X:185.87, Y:-10.57, Z:-2.45 [[ 9.99402092e-01 3.18316265e-02 1.34983677e-02 1.85866002e+02] [-3.18221351e-02 9.99493127e-01 -9.17406797e-04 -1.05668275e+01] [-1.35207283e-02 4.87311391e-04 9.99908472e-01 -2.45126813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73037174299998 meters Centerline goodness [0,1] 0.981506863758092 Centerline is valid? [True, True] Translation: X:185.90, Y:-10.57, Z:-2.45 [[ 9.99610369e-01 2.43291082e-02 1.36822602e-02 1.85896452e+02] [-2.43186580e-02 9.99703825e-01 -9.29660453e-04 -1.05716622e+01] [-1.37008256e-02 5.96564023e-04 9.99905961e-01 -2.45183890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76037174299998 meters Centerline goodness [0,1] 0.9810480552096743 Centerline is valid? [True, True] Translation: X:185.93, Y:-10.58, Z:-2.45 [[ 9.99708795e-01 1.98513690e-02 1.37203896e-02 1.85925895e+02] [-1.98404374e-02 9.99802724e-01 -9.32406810e-04 -1.05779245e+01] [-1.37361925e-02 6.59916755e-04 9.99905436e-01 -2.45255346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79037174299998 meters Centerline goodness [0,1] 0.9801961404618792 Centerline is valid? [True, True] Translation: X:185.96, Y:-10.58, Z:-2.45 [[ 9.99785787e-01 1.56610174e-02 1.35319226e-02 1.85956832e+02] [-1.56499882e-02 9.99877108e-01 -9.20565428e-04 -1.05839143e+01] [-1.35446766e-02 7.08593802e-04 9.99908016e-01 -2.45304937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82037174299998 meters Centerline goodness [0,1] 0.9799152774557947 Centerline is valid? [True, True] Translation: X:185.99, Y:-10.59, Z:-2.45 [[ 9.99845528e-01 1.13583940e-02 1.34129372e-02 1.85986140e+02] [-1.13471686e-02 9.99935202e-01 -9.12713631e-04 -1.05908631e+01] [-1.34224351e-02 7.60373781e-04 9.99909626e-01 -2.45400067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85037174299998 meters Centerline goodness [0,1] 0.9787856466379038 Centerline is valid? [True, True] Translation: X:186.02, Y:-10.60, Z:-2.45 [[ 9.99909179e-01 4.94187879e-03 1.25383799e-02 1.86016595e+02] [-4.93155794e-03 9.99987475e-01 -8.53925444e-04 -1.05977467e+01] [-1.25424428e-02 7.92014143e-04 9.99921027e-01 -2.45488443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88037174299998 meters Centerline goodness [0,1] 0.979742677251574 Centerline is valid? [True, True] Translation: X:186.05, Y:-10.60, Z:-2.46 [[ 9.99929004e-01 6.82356160e-04 1.18962779e-02 1.86045977e+02] [-6.72758531e-04 9.99999445e-01 -8.10758884e-04 -1.06042422e+01] [-1.18968245e-02 8.02698001e-04 9.99928908e-01 -2.45554108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91037174299998 meters Centerline goodness [0,1] 0.9787520228662702 Centerline is valid? [True, True] Translation: X:186.08, Y:-10.60, Z:-2.46 [[ 9.99935423e-01 -4.83046735e-04 1.13541587e-02 1.86077769e+02] [ 4.91856063e-04 9.99999580e-01 -7.73088387e-04 -1.06034880e+01] [-1.13537805e-02 7.78623075e-04 9.99935241e-01 -2.45550453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940371743 meters Centerline goodness [0,1] 0.9789106643980927 Centerline is valid? [True, True] Translation: X:186.11, Y:-10.61, Z:-2.46 [[ 9.99930405e-01 -1.31389159e-03 1.17242557e-02 1.86109036e+02] [ 1.32337654e-03 9.99998803e-01 -8.01280933e-04 -1.06080168e+01] [-1.17231888e-02 8.16740773e-04 9.99930948e-01 -2.45593576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.970371743 meters Centerline goodness [0,1] 0.9796489603501979 Centerline is valid? [True, True] Translation: X:186.14, Y:-10.61, Z:-2.46 [[ 9.99927327e-01 -1.80965329e-03 1.19191671e-02 1.86141356e+02] [ 1.81952979e-03 9.99998010e-01 -8.17831079e-04 -1.06089557e+01] [-1.19176634e-02 8.39458924e-04 9.99928630e-01 -2.45642995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000371743 meters Centerline goodness [0,1] 0.9793191954893545 Centerline is valid? [True, True] Translation: X:186.17, Y:-10.61, Z:-2.46 [[ 9.99926353e-01 -1.58069686e-03 1.20328357e-02 1.86173196e+02] [ 1.59075715e-03 9.99998393e-01 -8.26544405e-04 -1.06117110e+01] [-1.20315099e-02 8.45624853e-04 9.99927261e-01 -2.45640179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.030371743 meters Centerline goodness [0,1] 0.9793191954893545 Centerline is valid? [True, True] Translation: X:186.21, Y:-10.61, Z:-2.46 [[ 9.99926525e-01 -1.46895561e-03 1.20327781e-02 1.86205715e+02] [ 1.47901788e-03 9.99998564e-01 -8.27382159e-04 -1.06140358e+01] [-1.20315454e-02 8.45118061e-04 9.99927261e-01 -2.45684341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060371743 meters Centerline goodness [0,1] 0.9792833029292739 Centerline is valid? [True, True] Translation: X:186.24, Y:-10.62, Z:-2.46 [[ 9.99916057e-01 -1.86297452e-03 1.28221766e-02 1.86238215e+02] [ 1.87445277e-03 9.99997853e-01 -8.83227372e-04 -1.06159248e+01] [-1.28205036e-02 9.07187796e-04 9.99917402e-01 -2.45797219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.090371743 meters Centerline goodness [0,1] 0.979732715984426 Centerline is valid? [True, True] Translation: X:186.27, Y:-10.62, Z:-2.46 [[ 9.99919091e-01 -3.91625126e-05 1.27204549e-02 1.86269951e+02] [ 5.03246067e-05 9.99999614e-01 -8.77172830e-04 -1.06175358e+01] [-1.27204157e-02 8.77742011e-04 9.99918707e-01 -2.45795284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120371743 meters Centerline goodness [0,1] 0.9788939859433525 Centerline is valid? [True, True] Translation: X:186.30, Y:-10.62, Z:-2.46 [[ 9.99914085e-01 -8.68028393e-05 1.31078521e-02 1.86302597e+02] [ 9.86690248e-05 9.99999586e-01 -9.04629084e-04 -1.06183913e+01] [-1.31077682e-02 9.05844701e-04 9.99913679e-01 -2.45892226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.150371743 meters Centerline goodness [0,1] 0.9791903379202963 Centerline is valid? [True, True] Translation: X:186.33, Y:-10.62, Z:-2.46 [[ 9.99929732e-01 1.40516188e-03 1.17710439e-02 1.86334390e+02] [-1.39568664e-03 9.99998695e-01 -8.13138077e-04 -1.06205269e+01] [-1.17721711e-02 7.96652250e-04 9.99930388e-01 -2.45899466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180371743 meters Centerline goodness [0,1] 0.979095249111443 Centerline is valid? [True, True] Translation: X:186.37, Y:-10.62, Z:-2.46 [[ 9.99922106e-01 8.09508168e-04 1.24549528e-02 1.86366158e+02] [-7.98843856e-04 9.99999310e-01 -8.61181762e-04 -1.06216465e+01] [-1.24556413e-02 8.51165119e-04 9.99922063e-01 -2.46063800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21037174299997 meters Centerline goodness [0,1] 0.9796451049319048 Centerline is valid? [True, True] Translation: X:186.40, Y:-10.62, Z:-2.46 [[ 9.99950128e-01 7.01434199e-04 9.96236966e-03 1.86398574e+02] [-6.94589813e-04 9.99999520e-01 -6.90467286e-04 -1.06194377e+01] [-9.96284920e-03 6.83513090e-04 9.99950136e-01 -2.46122349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24037174299997 meters Centerline goodness [0,1] 0.9790857358839217 Centerline is valid? [True, True] Translation: X:186.43, Y:-10.62, Z:-2.46 [[ 9.99943662e-01 -9.47714847e-04 1.05723343e-02 1.86429440e+02] [ 9.55546978e-04 9.99999273e-01 -7.35787053e-04 -1.06231387e+01] [-1.05716293e-02 7.45847962e-04 9.99943841e-01 -2.46264666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27037174299997 meters Centerline goodness [0,1] 0.9786569934199426 Centerline is valid? [True, True] Translation: X:186.46, Y:-10.63, Z:-2.46 [[ 9.99950329e-01 -1.70644514e-03 9.81971317e-03 1.86459849e+02] [ 1.71326647e-03 9.99998297e-01 -6.86286883e-04 -1.06291009e+01] [-9.81852534e-03 7.03076580e-04 9.99951550e-01 -2.46311467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30037174299997 meters Centerline goodness [0,1] 0.9787547328565419 Centerline is valid? [True, True] Translation: X:186.49, Y:-10.63, Z:-2.46 [[ 9.99944041e-01 -3.98291432e-03 9.80058509e-03 1.86491180e+02] [ 3.98982142e-03 9.99991806e-01 -6.85313246e-04 -1.06316361e+01] [-9.79777524e-03 7.24377481e-04 9.99951738e-01 -2.46393104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33037174299997 meters Centerline goodness [0,1] 0.9786929726773658 Centerline is valid? [True, True] Translation: X:186.52, Y:-10.63, Z:-2.46 [[ 9.99921345e-01 -7.55856663e-03 1.00085662e-02 1.86522404e+02] [ 7.56595270e-03 9.99971133e-01 -7.00317348e-04 -1.06253433e+01] [-1.00029839e-02 7.75986604e-04 9.99949668e-01 -2.46310722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36037174299997 meters Centerline goodness [0,1] 0.9779800661651601 Centerline is valid? [True, True] Translation: X:186.55, Y:-10.63, Z:-2.46 [[ 9.99913079e-01 -8.48819600e-03 1.00888508e-02 1.86553003e+02] [ 8.49574475e-03 9.99963662e-01 -7.05604263e-04 -1.06289669e+01] [-1.00824948e-02 7.91255232e-04 9.99948857e-01 -2.46258723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39037174299997 meters Centerline goodness [0,1] 0.9782072628406433 Centerline is valid? [True, True] Translation: X:186.58, Y:-10.63, Z:-2.46 [[ 9.99858740e-01 -1.27638568e-02 1.09354026e-02 1.86583531e+02] [ 1.27730004e-02 9.99918128e-01 -7.66715322e-04 -1.06261177e+01] [-1.09247210e-02 9.06284918e-04 9.99939913e-01 -2.46246756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42037174299998 meters Centerline goodness [0,1] 0.9775134224655226 Centerline is valid? [True, True] Translation: X:186.61, Y:-10.63, Z:-2.46 [[ 9.99841595e-01 -1.44065439e-02 1.04516426e-02 1.86613346e+02] [ 1.44149839e-02 9.99895830e-01 -7.32645364e-04 -1.06320837e+01] [-1.04399989e-02 8.83189569e-04 9.99945112e-01 -2.46297214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45037174299998 meters Centerline goodness [0,1] 0.9771371978844006 Centerline is valid? [True, True] Translation: X:186.65, Y:-10.63, Z:-2.46 [[ 9.99839377e-01 -1.51982723e-02 9.49909146e-03 1.86645285e+02] [ 1.52052834e-02 9.99884171e-01 -6.66290356e-04 -1.06310513e+01] [-9.48786473e-03 8.10619713e-04 9.99954661e-01 -2.46338266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48037174299998 meters Centerline goodness [0,1] 0.9769415431266847 Centerline is valid? [True, True] Translation: X:186.67, Y:-10.63, Z:-2.47 [[ 9.99782972e-01 -1.88291536e-02 8.91464661e-03 1.86674841e+02] [ 1.88354787e-02 9.99822401e-01 -6.26082015e-04 -1.06328278e+01] [-8.90127478e-03 7.93857775e-04 9.99960068e-01 -2.46519421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51037174299998 meters Centerline goodness [0,1] 0.9778835622209117 Centerline is valid? [True, True] Translation: X:186.71, Y:-10.63, Z:-2.47 [[ 9.99786839e-01 -1.91244994e-02 7.78005613e-03 1.86706789e+02] [ 1.91293218e-02 9.99816869e-01 -5.45891068e-04 -1.06311960e+01] [-7.76819147e-03 6.94601903e-04 9.99969586e-01 -2.46559750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54037174299998 meters Centerline goodness [0,1] 0.9776539849338483 Centerline is valid? [True, True] Translation: X:186.74, Y:-10.63, Z:-2.47 [[ 9.99770060e-01 -2.01581769e-02 7.31272115e-03 1.86737789e+02] [ 2.01624675e-02 9.99796585e-01 -5.13471856e-04 -1.06330742e+01] [-7.30088297e-03 6.60796291e-04 9.99973130e-01 -2.46570701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57037174299998 meters Centerline goodness [0,1] 0.9770847400405132 Centerline is valid? [True, True] Translation: X:186.77, Y:-10.63, Z:-2.47 [[ 9.99731557e-01 -2.16693247e-02 8.20088708e-03 1.86768233e+02] [ 2.16747760e-02 9.99764908e-01 -5.76414177e-04 -1.06349121e+01] [-8.18646861e-03 7.54011833e-04 9.99966206e-01 -2.46624494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60037174299998 meters Centerline goodness [0,1] 0.9787938194312696 Centerline is valid? [True, True] Translation: X:186.80, Y:-10.63, Z:-2.47 [[ 9.99752895e-01 -2.06841018e-02 8.14357035e-03 1.86801608e+02] [ 2.06894463e-02 9.99785787e-01 -5.72570537e-04 -1.06276876e+01] [-8.12998278e-03 7.40915013e-04 9.99966677e-01 -2.46562341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63037174299998 meters Centerline goodness [0,1] 0.9798148109088608 Centerline is valid? [True, True] Translation: X:186.83, Y:-10.62, Z:-2.47 [[ 9.99800190e-01 -1.82302261e-02 8.19987704e-03 1.86833171e+02] [ 1.82355725e-02 9.99833551e-01 -5.77713935e-04 -1.06219576e+01] [-8.18798033e-03 7.27127955e-04 9.99966214e-01 -2.46562610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66037174299998 meters Centerline goodness [0,1] 0.980879218285039 Centerline is valid? [True, True] Translation: X:186.86, Y:-10.62, Z:-2.47 [[ 9.99842782e-01 -1.59566682e-02 7.73273241e-03 1.86862543e+02] [ 1.59613580e-02 9.99872461e-01 -5.45149386e-04 -1.06217839e+01] [-7.72304742e-03 6.68488590e-04 9.99969953e-01 -2.46604298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.690371743 meters Centerline goodness [0,1] 0.9814204185161699 Centerline is valid? [True, True] Translation: X:186.89, Y:-10.61, Z:-2.47 [[ 9.99936839e-01 -9.40981236e-03 6.14606643e-03 1.86894148e+02] [ 9.41265045e-03 9.99955606e-01 -4.33009899e-04 -1.06124700e+01] [-6.14171904e-03 4.90833324e-04 9.99981019e-01 -2.46627559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720371743 meters Centerline goodness [0,1] 0.9828341623452217 Centerline is valid? [True, True] Translation: X:186.93, Y:-10.61, Z:-2.47 [[ 9.99956082e-01 -6.90309351e-03 6.33886601e-03 1.86925257e+02] [ 6.90606251e-03 9.99976053e-01 -4.46612002e-04 -1.06075158e+01] [-6.33563121e-03 4.90368992e-04 9.99979809e-01 -2.46713842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.750371743 meters Centerline goodness [0,1] 0.9825178529804411 Centerline is valid? [True, True] Translation: X:186.96, Y:-10.61, Z:-2.47 [[ 9.99985742e-01 -2.16553880e-03 4.88119236e-03 1.86955127e+02] [ 2.16724413e-03 9.99997592e-01 -3.44105850e-04 -1.06088687e+01] [-4.88043544e-03 3.54679679e-04 9.99988028e-01 -2.46762114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780371743 meters Centerline goodness [0,1] 0.9856485701566574 Centerline is valid? [True, True] Translation: X:186.99, Y:-10.60, Z:-2.47 [[ 9.99983739e-01 9.41409505e-05 5.70201749e-03 1.86987013e+02] [-9.18520386e-05 9.99999915e-01 -4.01681939e-04 -1.06009495e+01] [-5.70205482e-03 4.01151665e-04 9.99983663e-01 -2.46822686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.810371743 meters Centerline goodness [0,1] 0.9855728369879313 Centerline is valid? [True, True] Translation: X:187.02, Y:-10.60, Z:-2.47 [[ 9.99978268e-01 4.34729251e-03 4.95617477e-03 1.87018326e+02] [-4.34561322e-03 9.99990497e-01 -3.49544829e-04 -1.05975825e+01] [-4.95764724e-03 3.27999614e-04 9.99987657e-01 -2.46810075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840371743 meters Centerline goodness [0,1] 0.9868449061262718 Centerline is valid? [True, True] Translation: X:187.05, Y:-10.59, Z:-2.47 [[ 9.99932517e-01 1.06132806e-02 4.72436557e-03 1.87048499e+02] [-1.06118233e-02 9.99943637e-01 -3.33409959e-04 -1.05910614e+01] [-4.72763787e-03 2.83253327e-04 9.99988785e-01 -2.46802635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.870371743 meters Centerline goodness [0,1] 0.9869792221630261 Centerline is valid? [True, True] Translation: X:187.08, Y:-10.59, Z:-2.47 [[ 9.99903870e-01 1.27892771e-02 5.35590673e-03 1.87078728e+02] [-1.27874353e-02 9.99918166e-01 -3.77977673e-04 -1.05853212e+01] [-5.36030249e-03 3.09453027e-04 9.99985586e-01 -2.46718513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900371743 meters Centerline goodness [0,1] 0.9876556347770565 Centerline is valid? [True, True] Translation: X:187.11, Y:-10.58, Z:-2.47 [[ 9.99838778e-01 1.70575815e-02 5.60869075e-03 1.87108715e+02] [-1.70556305e-02 9.99854464e-01 -3.95513371e-04 -1.05807884e+01] [-5.61462099e-03 2.99789849e-04 9.99984193e-01 -2.46607707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.930371743 meters Centerline goodness [0,1] 0.987412378184305 Centerline is valid? [True, True] Translation: X:187.14, Y:-10.58, Z:-2.47 [[ 9.99818984e-01 1.82895286e-02 5.24326870e-03 1.87136573e+02] [-1.82878384e-02 9.99832695e-01 -3.70123179e-04 -1.05794166e+01] [-5.24916085e-03 2.74168130e-04 9.99986185e-01 -2.46660844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96037174299997 meters Centerline goodness [0,1] 0.9879866375433637 Centerline is valid? [True, True] Translation: X:187.17, Y:-10.58, Z:-2.47 [[ 9.99789346e-01 1.99693843e-02 4.74202286e-03 1.87165661e+02] [-1.99680229e-02 9.99800563e-01 -3.34289056e-04 -1.05763651e+01] [-4.74775268e-03 2.39529816e-04 9.99988701e-01 -2.46671303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99037174299997 meters Centerline goodness [0,1] 0.9888596096578615 Centerline is valid? [True, True] Translation: X:187.19, Y:-10.57, Z:-2.47 [[ 9.99784519e-01 2.02351524e-02 4.63188223e-03 1.87194503e+02] [-2.02338577e-02 9.99795221e-01 -3.26218238e-04 -1.05722604e+01] [-4.63753480e-03 2.32427098e-04 9.99989220e-01 -2.46768419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02037174299997 meters Centerline goodness [0,1] 0.9880602143148581 Centerline is valid? [True, True] Translation: X:187.22, Y:-10.57, Z:-2.47 [[ 9.99765765e-01 2.12801894e-02 3.94571425e-03 1.87222635e+02] [-2.12792579e-02 9.99773532e-01 -2.77917304e-04 -1.05737944e+01] [-3.95073481e-03 1.93890335e-04 9.99992177e-01 -2.46887003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05037174299997 meters Centerline goodness [0,1] 0.988412440027416 Centerline is valid? [True, True] Translation: X:187.25, Y:-10.57, Z:-2.47 [[ 9.99765729e-01 2.12343218e-02 4.19413460e-03 1.87250075e+02] [-2.12332709e-02 9.99774505e-01 -2.94947140e-04 -1.05743984e+01] [-4.19945185e-03 2.05822846e-04 9.99991161e-01 -2.46962140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08037174299997 meters Centerline goodness [0,1] 0.9891573263343588 Centerline is valid? [True, True] Translation: X:187.28, Y:-10.57, Z:-2.47 [[ 9.99766574e-01 2.12340024e-02 3.98932214e-03 1.87279329e+02] [-2.12330534e-02 9.99774514e-01 -2.80093676e-04 -1.05722553e+01] [-3.99437011e-03 1.95322805e-04 9.99992003e-01 -2.46973051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11037174299997 meters Centerline goodness [0,1] 0.9894797986317284 Centerline is valid? [True, True] Translation: X:187.31, Y:-10.57, Z:-2.47 [[ 9.99773111e-01 2.09391428e-02 3.90871736e-03 1.87307805e+02] [-2.09382305e-02 9.99780734e-01 -2.74172913e-04 -1.05721343e+01] [-3.91360126e-03 1.92269082e-04 9.99992323e-01 -2.46992931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14037174299997 meters Centerline goodness [0,1] 0.9893538913362702 Centerline is valid? [True, True] Translation: X:187.34, Y:-10.57, Z:-2.47 [[ 9.99748118e-01 2.23212876e-02 2.33686014e-03 1.87335922e+02] [-2.23209643e-02 9.99750843e-01 -1.64328986e-04 -1.05719767e+01] [-2.33994593e-03 1.12126623e-04 9.99997256e-01 -2.47152379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17037174299998 meters Centerline goodness [0,1] 0.9893287733500725 Centerline is valid? [True, True] Translation: X:187.36, Y:-10.57, Z:-2.47 [[ 9.99735104e-01 2.29661071e-02 1.50989634e-03 1.87364743e+02] [-2.29659728e-02 9.99736242e-01 -1.06244321e-04 -1.05726780e+01] [-1.51193811e-03 7.15399396e-05 9.99998854e-01 -2.47219391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20037174299998 meters Centerline goodness [0,1] 0.9887713377036412 Centerline is valid? [True, True] Translation: X:187.39, Y:-10.57, Z:-2.47 [[ 9.99742183e-01 2.26088414e-02 2.09924759e-03 1.87392308e+02] [-2.26085816e-02 9.99744382e-01 -1.47391008e-04 -1.05710069e+01] [-2.10204332e-03 9.98919980e-05 9.99997786e-01 -2.47146578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23037174299998 meters Centerline goodness [0,1] 0.9896570377583036 Centerline is valid? [True, True] Translation: X:187.42, Y:-10.57, Z:-2.47 [[ 9.99737974e-01 2.27290456e-02 2.71537706e-03 1.87421179e+02] [-2.27286134e-02 9.99741654e-01 -1.89905334e-04 -1.05685836e+01] [-2.71899192e-03 1.28138818e-04 9.99996295e-01 -2.46993335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26037174299998 meters Centerline goodness [0,1] 0.9895673253825675 Centerline is valid? [True, True] Translation: X:187.45, Y:-10.57, Z:-2.47 [[ 9.99718156e-01 2.35328686e-02 3.13247473e-03 1.87449471e+02] [-2.35322986e-02 9.99723053e-01 -2.18696308e-04 -1.05703344e+01] [-3.13675375e-03 1.44920339e-04 9.99995070e-01 -2.46920476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29037174299998 meters Centerline goodness [0,1] 0.9898314618896172 Centerline is valid? [True, True] Translation: X:187.48, Y:-10.57, Z:-2.47 [[ 9.99762719e-01 2.11496877e-02 5.21511258e-03 1.87479397e+02] [-2.11480823e-02 9.99776288e-01 -3.62795476e-04 -1.05697600e+01] [-5.22161891e-03 2.52419762e-04 9.99986335e-01 -2.46742375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32037174299998 meters Centerline goodness [0,1] 0.9895287958115183 Centerline is valid? [True, True] Translation: X:187.51, Y:-10.57, Z:-2.47 [[ 9.99785240e-01 2.00106504e-02 5.38950792e-03 1.87507171e+02] [-2.00089181e-02 9.99799731e-01 -3.75151632e-04 -1.05728217e+01] [-5.39593559e-03 2.67232842e-04 9.99985406e-01 -2.46822537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35037174299998 meters Centerline goodness [0,1] 0.9887781629116118 Centerline is valid? [True, True] Translation: X:187.54, Y:-10.58, Z:-2.47 [[ 9.99830429e-01 1.79430354e-02 4.14247903e-03 1.87535074e+02] [-1.79419954e-02 9.99838988e-01 -2.88081180e-04 -1.05762914e+01] [-4.14698109e-03 2.13707990e-04 9.99991378e-01 -2.46975332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38037174299998 meters Centerline goodness [0,1] 0.9889707475622969 Centerline is valid? [True, True] Translation: X:187.56, Y:-10.58, Z:-2.47 [[ 9.99861102e-01 1.63657461e-02 3.15278082e-03 1.87564982e+02] [-1.63651370e-02 9.99866058e-01 -2.18896087e-04 -1.05756716e+01] [-3.15594093e-03 1.67269992e-04 9.99995006e-01 -2.47015683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41037174299998 meters Centerline goodness [0,1] 0.9887959431345353 Centerline is valid? [True, True] Translation: X:187.59, Y:-10.58, Z:-2.47 [[ 9.99870277e-01 1.60198841e-02 1.67134416e-03 1.87593281e+02] [-1.60197114e-02 9.99871669e-01 -1.16632485e-04 -1.05777957e+01] [-1.67299812e-03 8.98429042e-05 9.99998597e-01 -2.47101182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440371743 meters Centerline goodness [0,1] 0.9886634586205402 Centerline is valid? [True, True] Translation: X:187.62, Y:-10.58, Z:-2.47 [[ 9.99897254e-01 1.42774592e-02 1.27883895e-03 1.87622928e+02] [-1.42773570e-02 9.99898069e-01 -8.89390078e-05 -1.05788570e+01] [-1.27997842e-03 7.06714294e-05 9.99999178e-01 -2.47204995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.470371743 meters Centerline goodness [0,1] 0.9888845722179056 Centerline is valid? [True, True] Translation: X:187.65, Y:-10.58, Z:-2.47 [[ 9.99907554e-01 1.34882741e-02 1.71733398e-03 1.87651928e+02] [-1.34880884e-02 9.99909024e-01 -1.19638257e-04 -1.05792859e+01] [-1.71879146e-03 9.64636443e-05 9.99998518e-01 -2.47162287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500371743 meters Centerline goodness [0,1] 0.9888568517354261 Centerline is valid? [True, True] Translation: X:187.68, Y:-10.58, Z:-2.47 [[ 9.99918233e-01 1.27039701e-02 1.46140118e-03 1.87680533e+02] [-1.27038348e-02 9.99919298e-01 -1.01842265e-04 -1.05817788e+01] [-1.46257705e-03 8.32685385e-05 9.99998927e-01 -2.47164714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.530371743 meters Centerline goodness [0,1] 0.9884464483124878 Centerline is valid? [True, True] Translation: X:187.71, Y:-10.58, Z:-2.47 [[ 9.99922532e-01 1.22244398e-02 2.34380678e-03 1.87709329e+02] [-1.22240922e-02 9.99925270e-01 -1.62579845e-04 -1.05835469e+01] [-2.34561907e-03 1.33916340e-04 9.99997240e-01 -2.47102075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560371743 meters Centerline goodness [0,1] 0.9881040086673889 Centerline is valid? [True, True] Translation: X:187.74, Y:-10.58, Z:-2.47 [[ 9.99934289e-01 1.11411959e-02 2.70034605e-03 1.87737840e+02] [-1.11407315e-02 9.99937923e-01 -1.86979119e-04 -1.05842884e+01] [-2.70226159e-03 1.56883002e-04 9.99996337e-01 -2.47097741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.590371743 meters Centerline goodness [0,1] 0.9885435841905793 Centerline is valid? [True, True] Translation: X:187.77, Y:-10.59, Z:-2.47 [[ 9.99956332e-01 9.06311254e-03 2.27909035e-03 1.87767667e+02] [-9.06277727e-03 9.99958920e-01 -1.57390169e-04 -1.05865637e+01] [-2.28042317e-03 1.36728407e-04 9.99997390e-01 -2.47201777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620371743 meters Centerline goodness [0,1] 0.987704563165642 Centerline is valid? [True, True] Translation: X:187.80, Y:-10.59, Z:-2.47 [[ 9.99960143e-01 8.83071900e-03 1.31531512e-03 1.87796249e+02] [-8.83060635e-03 9.99961005e-01 -9.14309159e-05 -1.05897239e+01] [-1.31607123e-03 7.98122417e-05 9.99999131e-01 -2.47322176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.650371743 meters Centerline goodness [0,1] 0.9873949579831933 Centerline is valid? [True, True] Translation: X:187.83, Y:-10.59, Z:-2.47 [[ 9.99968459e-01 7.89881779e-03 8.30074640e-04 1.87825862e+02] [-7.89877272e-03 9.99968803e-01 -5.75568172e-05 -1.05886486e+01] [-8.30503375e-04 5.09984309e-05 9.99999654e-01 -2.47331318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680371743 meters Centerline goodness [0,1] 0.9874883650453493 Centerline is valid? [True, True] Translation: X:187.85, Y:-10.59, Z:-2.47 [[ 9.99979194e-01 6.40620646e-03 7.55801804e-04 1.87853654e+02] [-6.40616882e-03 9.99979479e-01 -5.22017826e-05 -1.05942814e+01] [-7.56120710e-04 4.73589025e-05 9.99999713e-01 -2.47448780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71037174299997 meters Centerline goodness [0,1] 0.9877138143613788 Centerline is valid? [True, True] Translation: X:187.88, Y:-10.59, Z:-2.47 [[ 9.99988579e-01 4.75450732e-03 -4.86310140e-04 1.87883771e+02] [-4.75449188e-03 9.99988697e-01 3.28966623e-05 -1.05928724e+01] [ 4.86461050e-04 -3.05841290e-05 9.99999881e-01 -2.47427842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74037174299997 meters Centerline goodness [0,1] 0.9869617095129624 Centerline is valid? [True, True] Translation: X:187.91, Y:-10.60, Z:-2.48 [[ 9.99992203e-01 3.84467682e-03 -9.00943790e-04 1.87911988e+02] [-3.84462335e-03 9.99992608e-01 6.10784784e-05 -1.05996814e+01] [ 9.01171957e-04 -5.76142126e-05 9.99999592e-01 -2.47620830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77037174299997 meters Centerline goodness [0,1] 0.9871239967809992 Centerline is valid? [True, True] Translation: X:187.94, Y:-10.60, Z:-2.48 [[ 9.99995973e-01 2.74894972e-03 -7.05204072e-04 1.87941395e+02] [-2.74891663e-03 9.99996221e-01 4.78889608e-05 -1.06030383e+01] [ 7.05333051e-04 -4.59502208e-05 9.99999750e-01 -2.47688827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80037174299997 meters Centerline goodness [0,1] 0.9870079082297731 Centerline is valid? [True, True] Translation: X:187.97, Y:-10.60, Z:-2.48 [[ 9.99999922e-01 3.66281793e-04 1.48956560e-04 1.87971882e+02] [-3.66280238e-04 9.99999933e-01 -1.04651564e-05 -1.06009321e+01] [-1.48960383e-04 1.04105958e-05 9.99999989e-01 -2.47617215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83037174299997 meters Centerline goodness [0,1] 0.9862710170743364 Centerline is valid? [True, True] Translation: X:188.00, Y:-10.61, Z:-2.48 [[ 9.99998631e-01 -1.50012897e-03 6.98864748e-04 1.88001217e+02] [ 1.50016200e-03 9.99998874e-01 -4.67346227e-05 -1.06096153e+01] [-6.98793853e-04 4.77829691e-05 9.99999755e-01 -2.47740301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86037174299997 meters Centerline goodness [0,1] 0.9860103401833428 Centerline is valid? [True, True] Translation: X:188.03, Y:-10.61, Z:-2.48 [[ 9.99989143e-01 -4.60153336e-03 7.34482087e-04 1.88031942e+02] [ 4.60157127e-03 9.99989411e-01 -4.99350548e-05 -1.06128885e+01] [-7.34244532e-04 5.33142843e-05 9.99999729e-01 -2.47763793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89037174299997 meters Centerline goodness [0,1] 0.985989530160523 Centerline is valid? [True, True] Translation: X:188.06, Y:-10.61, Z:-2.48 [[ 9.99973369e-01 -7.29109993e-03 3.19419358e-04 1.88062717e+02] [ 7.29110714e-03 9.99973419e-01 -2.13895698e-05 -1.06143231e+01] [-3.19254915e-04 2.37179209e-05 9.99999949e-01 -2.47839193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92037174299998 meters Centerline goodness [0,1] 0.9858163730750016 Centerline is valid? [True, True] Translation: X:188.09, Y:-10.62, Z:-2.48 [[ 9.99950289e-01 -9.97061798e-03 -8.54763071e-05 1.88092467e+02] [ 9.97061852e-03 9.99950292e-01 5.87571532e-06 -1.06214993e+01] [ 8.54134736e-05 -6.72767488e-06 9.99999996e-01 -2.48007386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95037174299998 meters Centerline goodness [0,1] 0.9858163730750016 Centerline is valid? [True, True] Translation: X:188.12, Y:-10.62, Z:-2.48 [[ 9.99950991e-01 -9.89993202e-03 -8.54101656e-05 1.88124177e+02] [ 9.89993264e-03 9.99950994e-01 6.83740338e-06 -1.06237428e+01] [ 8.53382901e-05 -7.68262317e-06 9.99999996e-01 -2.48050463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98037174299998 meters Centerline goodness [0,1] 0.9857130449887094 Centerline is valid? [True, True] Translation: X:188.15, Y:-10.63, Z:-2.48 [[ 9.99905796e-01 -1.37026008e-02 -7.98434126e-04 1.88154488e+02] [ 1.37026490e-02 9.99906113e-01 5.49829984e-05 -1.06259961e+01] [ 7.97605754e-04 -6.59184814e-05 9.99999680e-01 -2.48072410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01037174299998 meters Centerline goodness [0,1] 0.9863716390983981 Centerline is valid? [True, True] Translation: X:188.19, Y:-10.63, Z:-2.48 [[ 9.99888573e-01 -1.49234520e-02 -3.62693192e-04 1.88186499e+02] [ 1.49234624e-02 9.99888639e-01 2.59517024e-05 -1.06293054e+01] [ 3.62265512e-04 -3.13614489e-05 9.99999934e-01 -2.48059682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04037174299998 meters Centerline goodness [0,1] 0.985911818418993 Centerline is valid? [True, True] Translation: X:188.22, Y:-10.63, Z:-2.48 [[ 9.99873488e-01 -1.58710995e-02 1.05647153e-03 1.88218669e+02] [ 1.58711842e-02 9.99874042e-01 -7.18569232e-05 -1.06266026e+01] [-1.05519801e-03 8.86152866e-05 9.99999439e-01 -2.47838672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07037174299998 meters Centerline goodness [0,1] 0.9868375174337517 Centerline is valid? [True, True] Translation: X:188.25, Y:-10.63, Z:-2.48 [[ 9.99851956e-01 -1.71146215e-02 1.77635816e-03 1.88249661e+02] [ 1.71148638e-02 9.99853523e-01 -1.21287892e-04 -1.06299914e+01] [-1.77402216e-03 1.51672063e-04 9.99998415e-01 -2.47806332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10037174299998 meters Centerline goodness [0,1] 0.9863770891364902 Centerline is valid? [True, True] Translation: X:188.28, Y:-10.63, Z:-2.48 [[ 9.99867502e-01 -1.61209632e-02 2.25670376e-03 1.88280847e+02] [ 1.61213548e-02 9.99870030e-01 -1.55447512e-04 -1.06329135e+01] [-2.25390449e-03 1.91808037e-04 9.99997442e-01 -2.47828135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13037174299998 meters Centerline goodness [0,1] 0.9868002613809628 Centerline is valid? [True, True] Translation: X:188.31, Y:-10.63, Z:-2.48 [[ 9.99869599e-01 -1.59841397e-02 2.30055359e-03 1.88313063e+02] [ 1.59845456e-02 9.99872226e-01 -1.58154299e-04 -1.06331689e+01] [-2.29773168e-03 1.94906980e-04 9.99997341e-01 -2.47847913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16037174299998 meters Centerline goodness [0,1] 0.9863652204216763 Centerline is valid? [True, True] Translation: X:188.35, Y:-10.63, Z:-2.48 [[ 9.99867755e-01 -1.60494078e-02 2.62485886e-03 1.88345871e+02] [ 1.60499372e-02 9.99871175e-01 -1.80763738e-04 -1.06314173e+01] [-2.62161956e-03 2.22868652e-04 9.99996539e-01 -2.47855076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.190371743 meters Centerline goodness [0,1] 0.9859932366095778 Centerline is valid? [True, True] Translation: X:188.38, Y:-10.64, Z:-2.48 [[ 9.99911664e-01 -1.31529660e-02 1.91413987e-03 1.88375830e+02] [ 1.31532436e-02 9.99913484e-01 -1.32545641e-04 -1.06359680e+01] [-1.91223089e-03 1.57711080e-04 9.99998159e-01 -2.48021512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220371743 meters Centerline goodness [0,1] 0.9868030064674008 Centerline is valid? [True, True] Translation: X:188.41, Y:-10.63, Z:-2.48 [[ 9.99927780e-01 -1.18628956e-02 1.92514054e-03 1.88408151e+02] [ 1.18631728e-02 9.99929621e-01 -1.32676939e-04 -1.06318723e+01] [-1.92343112e-03 1.55505632e-04 9.99998138e-01 -2.48023147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.250371743 meters Centerline goodness [0,1] 0.9879043723616002 Centerline is valid? [True, True] Translation: X:188.44, Y:-10.62, Z:-2.48 [[ 9.99955793e-01 -8.91429541e-03 2.99110720e-03 1.88439556e+02] [ 8.91495451e-03 9.99960240e-01 -2.07092354e-04 -1.06243578e+01] [-2.98914219e-03 2.33748783e-04 9.99995505e-01 -2.47913694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280371743 meters Centerline goodness [0,1] 0.9869808761104547 Centerline is valid? [True, True] Translation: X:188.47, Y:-10.63, Z:-2.48 [[ 9.99974798e-01 -6.15661563e-03 3.53540379e-03 1.88469489e+02] [ 6.15752032e-03 9.99981012e-01 -2.45067429e-04 -1.06258630e+01] [-3.53382787e-03 2.66830574e-04 9.99993720e-01 -2.47986060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.310371743 meters Centerline goodness [0,1] 0.9879964076840514 Centerline is valid? [True, True] Translation: X:188.50, Y:-10.62, Z:-2.48 [[ 9.99986466e-01 -3.68454944e-03 3.67309034e-03 1.88500700e+02] [ 3.68550873e-03 9.99993176e-01 -2.54430193e-04 -1.06199701e+01] [-3.67212781e-03 2.67963956e-04 9.99993222e-01 -2.48017301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340371743 meters Centerline goodness [0,1] 0.987822741085678 Centerline is valid? [True, True] Translation: X:188.53, Y:-10.62, Z:-2.48 [[ 9.99991577e-01 -2.09688763e-03 3.52818987e-03 1.88531405e+02] [ 2.09776244e-03 9.99997770e-01 -2.44264844e-04 -1.06222446e+01] [-3.52766981e-03 2.51664091e-04 9.99993746e-01 -2.48129414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.370371743 meters Centerline goodness [0,1] 0.9874186265699318 Centerline is valid? [True, True] Translation: X:188.56, Y:-10.62, Z:-2.48 [[ 9.99994124e-01 -7.47044048e-04 3.34577763e-03 1.88562914e+02] [ 7.47823542e-04 9.99999694e-01 -2.31733261e-04 -1.06191910e+01] [-3.34560348e-03 2.34233950e-04 9.99994376e-01 -2.48144007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400371743 meters Centerline goodness [0,1] 0.9871370018313421 Centerline is valid? [True, True] Translation: X:188.59, Y:-10.62, Z:-2.48 [[ 9.99995629e-01 1.40670857e-03 2.60066900e-03 1.88593189e+02] [-1.40624437e-03 9.99998995e-01 -1.80312414e-04 -1.06228838e+01] [-2.60092003e-03 1.76654450e-04 9.99996602e-01 -2.48333178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.430371743 meters Centerline goodness [0,1] 0.9882899872812596 Centerline is valid? [True, True] Translation: X:188.62, Y:-10.62, Z:-2.48 [[ 9.99995035e-01 2.16915432e-03 2.28578807e-03 1.88624794e+02] [-2.16879813e-03 9.99997636e-01 -1.58295390e-04 -1.06195332e+01] [-2.28612603e-03 1.53337191e-04 9.99997375e-01 -2.48385692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46037174299997 meters Centerline goodness [0,1] 0.9890358586746353 Centerline is valid? [True, True] Translation: X:188.66, Y:-10.61, Z:-2.48 [[ 9.99988814e-01 4.52902116e-03 1.36377705e-03 1.88655638e+02] [-4.52889616e-03 9.99989740e-01 -9.47339615e-05 -1.06144619e+01] [-1.36419211e-03 8.85564972e-05 9.99999066e-01 -2.48477741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49037174299997 meters Centerline goodness [0,1] 0.9884705934123963 Centerline is valid? [True, True] Translation: X:188.69, Y:-10.62, Z:-2.49 [[ 9.99984921e-01 5.24638637e-03 1.62289388e-03 1.88685050e+02] [-5.24620959e-03 9.99986232e-01 -1.13164809e-04 -1.06156775e+01] [-1.62346524e-03 1.04649061e-04 9.99998677e-01 -2.48566759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52037174299997 meters Centerline goodness [0,1] 0.9883851382564509 Centerline is valid? [True, True] Translation: X:188.71, Y:-10.62, Z:-2.49 [[ 9.99979019e-01 6.01727794e-03 2.39854133e-03 1.88714473e+02] [-6.01689479e-03 9.99981884e-01 -1.66927379e-04 -1.06153789e+01] [-2.39950232e-03 1.52492106e-04 9.99997110e-01 -2.48561570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55037174299997 meters Centerline goodness [0,1] 0.987526399155227 Centerline is valid? [True, True] Translation: X:188.74, Y:-10.62, Z:-2.49 [[ 9.99978822e-01 5.85706055e-03 2.83722043e-03 1.88743400e+02] [-5.85652380e-03 9.99982831e-01 -1.97453782e-04 -1.06176400e+01] [-2.83832821e-03 1.80833351e-04 9.99995956e-01 -2.48600203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58037174299997 meters Centerline goodness [0,1] 0.9876092974208006 Centerline is valid? [True, True] Translation: X:188.77, Y:-10.62, Z:-2.49 [[ 9.99978434e-01 5.56700525e-03 3.48431427e-03 1.88773059e+02] [-5.56619584e-03 9.99984479e-01 -2.41954219e-04 -1.06191388e+01] [-3.48560715e-03 2.22554626e-04 9.99993900e-01 -2.48561793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61037174299997 meters Centerline goodness [0,1] 0.9883941155743481 Centerline is valid? [True, True] Translation: X:188.80, Y:-10.62, Z:-2.49 [[ 9.99983637e-01 4.76071215e-03 3.17190327e-03 1.88803945e+02] [-4.76003873e-03 9.99988647e-01 -2.19821542e-04 -1.06194378e+01] [-3.17291377e-03 2.04719562e-04 9.99994945e-01 -2.48641404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64037174299997 meters Centerline goodness [0,1] 0.9875677820394128 Centerline is valid? [True, True] Translation: X:188.83, Y:-10.62, Z:-2.49 [[ 9.99989227e-01 3.33113410e-03 3.23256238e-03 1.88833512e+02] [-3.33042724e-03 9.99994429e-01 -2.24025383e-04 -1.06240599e+01] [-3.23329063e-03 2.13257156e-04 9.99994750e-01 -2.48743030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67037174299998 meters Centerline goodness [0,1] 0.9883672255392275 Centerline is valid? [True, True] Translation: X:188.86, Y:-10.62, Z:-2.49 [[ 9.99994045e-01 1.86082835e-03 2.90629655e-03 1.88864534e+02] [-1.86025137e-03 9.99998249e-01 -2.01217498e-04 -1.06217799e+01] [-2.90666589e-03 1.95809858e-04 9.99995756e-01 -2.48759267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70037174299998 meters Centerline goodness [0,1] 0.9876246360187064 Centerline is valid? [True, True] Translation: X:188.89, Y:-10.63, Z:-2.49 [[ 9.99994696e-01 -1.52484528e-03 2.87797722e-03 1.88894388e+02] [ 1.52542411e-03 9.99998817e-01 -1.98939475e-04 -1.06287670e+01] [-2.87767047e-03 2.03328555e-04 9.99995839e-01 -2.48843650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73037174299998 meters Centerline goodness [0,1] 0.9875770925110132 Centerline is valid? [True, True] Translation: X:188.92, Y:-10.63, Z:-2.49 [[ 9.99990673e-01 -3.56611257e-03 2.43650015e-03 1.88924095e+02] [ 3.56653495e-03 9.99993626e-01 -1.69030818e-04 -1.06331950e+01] [-2.43588184e-03 1.77719105e-04 9.99997017e-01 -2.48909955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76037174299998 meters Centerline goodness [0,1] 0.9875482093663912 Centerline is valid? [True, True] Translation: X:188.95, Y:-10.64, Z:-2.49 [[ 9.99982934e-01 -5.48746854e-03 2.00493074e-03 1.88954920e+02] [ 5.48775797e-03 9.99984933e-01 -1.38886387e-04 -1.06366795e+01] [-2.00413840e-03 1.49886592e-04 9.99997980e-01 -2.48967682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79037174299998 meters Centerline goodness [0,1] 0.9873701813061081 Centerline is valid? [True, True] Translation: X:188.98, Y:-10.64, Z:-2.49 [[ 9.99962567e-01 -8.43792302e-03 1.91487381e-03 1.88984127e+02] [ 8.43819295e-03 9.99964389e-01 -1.32930049e-04 -1.06411525e+01] [-1.91368397e-03 1.49083148e-04 9.99998158e-01 -2.49027441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82037174299998 meters Centerline goodness [0,1] 0.9864951342763202 Centerline is valid? [True, True] Translation: X:189.02, Y:-10.64, Z:-2.49 [[ 9.99951597e-01 -9.61189479e-03 2.10113437e-03 1.89016304e+02] [ 9.61222049e-03 9.99953791e-01 -1.44970035e-04 -1.06404001e+01] [-2.09964384e-03 1.65159585e-04 9.99997782e-01 -2.49048684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85037174299998 meters Centerline goodness [0,1] 0.9878751739216856 Centerline is valid? [True, True] Translation: X:189.05, Y:-10.64, Z:-2.49 [[ 9.99953949e-01 -9.35117683e-03 2.15747061e-03 1.89048748e+02] [ 9.35152002e-03 9.99956262e-01 -1.49036384e-04 -1.06425272e+01] [-2.15598258e-03 1.69205150e-04 9.99997662e-01 -2.49085757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88037174299998 meters Centerline goodness [0,1] 0.9871780773713958 Centerline is valid? [True, True] Translation: X:189.08, Y:-10.64, Z:-2.49 [[ 9.99949912e-01 -9.39768714e-03 3.44349314e-03 1.89079785e+02] [ 9.39856517e-03 9.99955804e-01 -2.38890380e-04 -1.06443685e+01] [-3.44109594e-03 2.71242309e-04 9.99994043e-01 -2.49030142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91037174299998 meters Centerline goodness [0,1] 0.9875728412502207 Centerline is valid? [True, True] Translation: X:189.11, Y:-10.64, Z:-2.49 [[ 9.99956678e-01 -8.51480734e-03 3.76029606e-03 1.89112758e+02] [ 8.51584713e-03 9.99963706e-01 -2.60593390e-04 -1.06405997e+01] [-3.75794068e-03 2.92604207e-04 9.99992896e-01 -2.48977388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940371743 meters Centerline goodness [0,1] 0.9883959496128306 Centerline is valid? [True, True] Translation: X:189.14, Y:-10.64, Z:-2.49 [[ 9.99967818e-01 -6.37536864e-03 4.87015029e-03 1.89142693e+02] [ 6.37709694e-03 9.99979609e-01 -3.39427875e-04 -1.06408160e+01] [-4.86788700e-03 3.70474372e-04 9.99988083e-01 -2.48955942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.970371743 meters Centerline goodness [0,1] 0.9883651617176289 Centerline is valid? [True, True] Translation: X:189.17, Y:-10.64, Z:-2.49 [[ 9.99972480e-01 -5.22250602e-03 5.26926813e-03 1.89174928e+02] [ 5.22451010e-03 9.99986285e-01 -3.66640674e-04 -1.06374745e+01] [-5.26728108e-03 3.94159928e-04 9.99986050e-01 -2.48927449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000371743 meters Centerline goodness [0,1] 0.987600291757841 Centerline is valid? [True, True] Translation: X:189.21, Y:-10.64, Z:-2.49 [[ 9.99976202e-01 -4.19254185e-03 5.47880456e-03 1.89206348e+02] [ 4.19469549e-03 9.99991129e-01 -3.81653866e-04 -1.06440270e+01] [-5.47715586e-03 4.04626700e-04 9.99984918e-01 -2.49010710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.030371743 meters Centerline goodness [0,1] 0.9885169154668315 Centerline is valid? [True, True] Translation: X:189.24, Y:-10.64, Z:-2.49 [[ 9.99982423e-01 -2.99155072e-03 5.11904903e-03 1.89238775e+02] [ 2.99341687e-03 9.99995456e-01 -3.56927655e-04 -1.06449670e+01] [-5.11795801e-03 3.72244829e-04 9.99986834e-01 -2.49165328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060371743 meters Centerline goodness [0,1] 0.9880016824209151 Centerline is valid? [True, True] Translation: X:189.27, Y:-10.65, Z:-2.49 [[ 9.99987112e-01 -2.11213023e-03 4.61688648e-03 1.89270964e+02] [ 2.11363997e-03 9.99997714e-01 -3.22148761e-04 -1.06472059e+01] [-4.61619551e-03 3.31903045e-04 9.99989290e-01 -2.49255570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.090371743 meters Centerline goodness [0,1] 0.9883363211827457 Centerline is valid? [True, True] Translation: X:189.30, Y:-10.65, Z:-2.49 [[ 9.99992019e-01 -1.45346618e-03 3.72149409e-03 1.89303025e+02] [ 1.45444284e-03 9.99998909e-01 -2.59745470e-04 -1.06479330e+01] [-3.72111250e-03 2.65156098e-04 9.99993041e-01 -2.49360848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120371743 meters Centerline goodness [0,1] 0.9876805814056545 Centerline is valid? [True, True] Translation: X:189.34, Y:-10.65, Z:-2.49 [[ 9.99994534e-01 -1.93456304e-03 2.68128288e-03 1.89335183e+02] [ 1.93506626e-03 9.99998111e-01 -1.85096603e-04 -1.06469178e+01] [-2.68091973e-03 1.90284051e-04 9.99996388e-01 -2.49413400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.150371743 meters Centerline goodness [0,1] 0.98833392476934 Centerline is valid? [True, True] Translation: X:189.37, Y:-10.65, Z:-2.49 [[ 9.99997177e-01 -1.53804170e-03 1.81123287e-03 1.89367112e+02] [ 1.53827333e-03 9.99998809e-01 -1.26502864e-04 -1.06487415e+01] [-1.81103615e-03 1.29288678e-04 9.99998352e-01 -2.49482244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180371743 meters Centerline goodness [0,1] 0.9874380750176929 Centerline is valid? [True, True] Translation: X:189.40, Y:-10.65, Z:-2.50 [[ 9.99997978e-01 -1.68158230e-03 1.10323819e-03 1.89397871e+02] [ 1.68166752e-03 9.99998583e-01 -7.63228039e-05 -1.06512579e+01] [-1.10310829e-03 7.81779294e-05 9.99999389e-01 -2.49553752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21037174299997 meters Centerline goodness [0,1] 0.9864846870838881 Centerline is valid? [True, True] Translation: X:189.43, Y:-10.65, Z:-2.50 [[ 9.99998850e-01 -1.40534632e-03 5.69664618e-04 1.89429080e+02] [ 1.40536917e-03 9.99999012e-01 -3.96999758e-05 -1.06532795e+01] [-5.69608263e-04 4.05005192e-05 9.99999837e-01 -2.49610957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24037174299997 meters Centerline goodness [0,1] 0.9879328320134868 Centerline is valid? [True, True] Translation: X:189.46, Y:-10.65, Z:-2.50 [[ 9.99999180e-01 -1.21516011e-03 4.03819883e-04 1.89460425e+02] [ 1.21517152e-03 9.99999261e-01 -2.80004336e-05 -1.06493548e+01] [-4.03785560e-04 2.84911211e-05 9.99999918e-01 -2.49564184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27037174299997 meters Centerline goodness [0,1] 0.9872039386143884 Centerline is valid? [True, True] Translation: X:189.49, Y:-10.65, Z:-2.50 [[ 9.99999091e-01 -1.26633271e-03 4.63629705e-04 1.89490057e+02] [ 1.26634791e-03 9.99999198e-01 -3.24784032e-05 -1.06534916e+01] [-4.63588205e-04 3.30654901e-05 9.99999892e-01 -2.49664430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30037174299997 meters Centerline goodness [0,1] 0.9870779769583203 Centerline is valid? [True, True] Translation: X:189.52, Y:-10.65, Z:-2.50 [[ 9.99999738e-01 -6.19709832e-04 3.73331875e-04 1.89521827e+02] [ 6.19719536e-04 9.99999808e-01 -2.58793606e-05 -1.06508755e+01] [-3.73315765e-04 2.61107149e-05 9.99999930e-01 -2.49639439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33037174299997 meters Centerline goodness [0,1] 0.9886277651666889 Centerline is valid? [True, True] Translation: X:189.55, Y:-10.65, Z:-2.50 [[ 9.99999626e-01 -5.21989261e-04 6.90152884e-04 1.89552805e+02] [ 5.22023021e-04 9.99999863e-01 -4.87372924e-05 -1.06507506e+01] [-6.90127349e-04 4.90975498e-05 9.99999761e-01 -2.49640632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36037174299997 meters Centerline goodness [0,1] 0.987460465945031 Centerline is valid? [True, True] Translation: X:189.58, Y:-10.65, Z:-2.49 [[ 9.99997501e-01 -5.88433418e-04 2.15663529e-03 1.89583231e+02] [ 5.88763231e-04 9.99999815e-01 -1.52297509e-04 -1.06467955e+01] [-2.15654528e-03 1.53566876e-04 9.99997663e-01 -2.49483790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39037174299997 meters Centerline goodness [0,1] 0.9866749855162886 Centerline is valid? [True, True] Translation: X:189.61, Y:-10.65, Z:-2.50 [[ 9.99994844e-01 -8.64640443e-04 3.09274473e-03 1.89614017e+02] [ 8.65318263e-04 9.99999602e-01 -2.17832901e-04 -1.06530634e+01] [-3.09255515e-03 2.20507986e-04 9.99995194e-01 -2.49533647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42037174299998 meters Centerline goodness [0,1] 0.9871265701345352 Centerline is valid? [True, True] Translation: X:189.65, Y:-10.65, Z:-2.49 [[ 9.99993204e-01 -1.29709152e-03 3.45107921e-03 1.89646050e+02] [ 1.29793269e-03 9.99999129e-01 -2.41512772e-04 -1.06498888e+01] [-3.45076293e-03 2.45990399e-04 9.99994016e-01 -2.49467931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45037174299998 meters Centerline goodness [0,1] 0.9868814421489447 Centerline is valid? [True, True] Translation: X:189.68, Y:-10.65, Z:-2.50 [[ 9.99989880e-01 -3.26316374e-03 3.09710666e-03 1.89675688e+02] [ 3.26385948e-03 9.99994649e-01 -2.19615399e-04 -1.06528882e+01] [-3.09637345e-03 2.29721697e-04 9.99995180e-01 -2.49584579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48037174299998 meters Centerline goodness [0,1] 0.984207356516696 Centerline is valid? [True, True] Translation: X:189.71, Y:-10.66, Z:-2.50 [[ 9.99987186e-01 -4.29506311e-03 2.67949824e-03 1.89705963e+02] [ 4.29558651e-03 9.99990756e-01 -1.89611556e-04 -1.06612100e+01] [-2.67865908e-03 2.01119143e-04 9.99996392e-01 -2.49777203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51037174299998 meters Centerline goodness [0,1] 0.9861764509152527 Centerline is valid? [True, True] Translation: X:189.74, Y:-10.66, Z:-2.50 [[ 9.99982118e-01 -5.49044960e-03 2.37032315e-03 1.89737829e+02] [ 5.49086214e-03 9.99984911e-01 -1.67571460e-04 -1.06588793e+01] [-2.36936734e-03 1.80583581e-04 9.99997177e-01 -2.49802238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54037174299998 meters Centerline goodness [0,1] 0.985550361240969 Centerline is valid? [True, True] Translation: X:189.77, Y:-10.66, Z:-2.50 [[ 9.99962501e-01 -8.56260448e-03 1.29545246e-03 1.89768690e+02] [ 8.56273072e-03 9.99963335e-01 -9.19329798e-05 -1.06600902e+01] [-1.29461778e-03 1.03022143e-04 9.99999157e-01 -2.49910896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57037174299998 meters Centerline goodness [0,1] 0.9855250519355776 Centerline is valid? [True, True] Translation: X:189.80, Y:-10.66, Z:-2.50 [[ 9.99948823e-01 -1.00517898e-02 1.14585393e-03 1.89799846e+02] [ 1.00518891e-02 9.99949475e-01 -8.09194134e-05 -1.06614389e+01] [-1.14498265e-03 9.24332688e-05 9.99999340e-01 -2.49986920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60037174299998 meters Centerline goodness [0,1] 0.9861048957307795 Centerline is valid? [True, True] Translation: X:189.83, Y:-10.66, Z:-2.50 [[ 9.99931304e-01 -1.17040395e-02 6.34540171e-04 1.89831486e+02] [ 1.17040702e-02 9.99931504e-01 -4.46070651e-05 -1.06595578e+01] [-6.33974625e-04 5.20307035e-05 9.99999798e-01 -2.49998643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63037174299998 meters Centerline goodness [0,1] 0.9855163586553791 Centerline is valid? [True, True] Translation: X:189.86, Y:-10.66, Z:-2.50 [[ 9.99893830e-01 -1.45643395e-02 4.56884316e-04 1.89860646e+02] [ 1.45643559e-02 9.99893934e-01 -3.26478350e-05 -1.06628506e+01] [-4.56360361e-04 3.92985946e-05 9.99999895e-01 -2.50133309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66037174299998 meters Centerline goodness [0,1] 0.9841668535546086 Centerline is valid? [True, True] Translation: X:189.89, Y:-10.67, Z:-2.50 [[ 9.99873491e-01 -1.59059774e-02 5.21505325e-05 1.89890710e+02] [ 1.59059776e-02 9.99873492e-01 -3.46529325e-06 -1.06674890e+01] [-5.20888163e-05 4.29436007e-06 9.99999999e-01 -2.50264360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.690371743 meters Centerline goodness [0,1] 0.9830767158953181 Centerline is valid? [True, True] Translation: X:189.92, Y:-10.67, Z:-2.50 [[ 9.99828841e-01 -1.85000156e-02 1.92842037e-04 1.89921151e+02] [ 1.85000186e-02 9.99828860e-01 -1.35542205e-05 -1.06682999e+01] [-1.92558281e-04 1.71194819e-05 9.99999981e-01 -2.50310600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720371743 meters Centerline goodness [0,1] 0.9832619085014248 Centerline is valid? [True, True] Translation: X:189.95, Y:-10.67, Z:-2.50 [[ 9.99812517e-01 -1.93595236e-02 3.72622364e-04 1.89953530e+02] [ 1.93595345e-02 9.99812586e-01 -2.55481043e-05 -1.06684838e+01] [-3.72057930e-04 3.27571100e-05 9.99999930e-01 -2.50353189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.750371743 meters Centerline goodness [0,1] 0.9817785076372798 Centerline is valid? [True, True] Translation: X:189.98, Y:-10.67, Z:-2.50 [[ 9.99787109e-01 -2.06317684e-02 2.58186873e-04 1.89984342e+02] [ 2.06317737e-02 9.99787142e-01 -1.76972924e-05 -1.06716232e+01] [-2.57766789e-04 2.30203779e-05 9.99999967e-01 -2.50439639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780371743 meters Centerline goodness [0,1] 0.9825431372988983 Centerline is valid? [True, True] Translation: X:190.02, Y:-10.67, Z:-2.50 [[ 9.99764243e-01 -2.17113708e-02 2.72058043e-04 1.90016161e+02] [ 2.17113767e-02 9.99764280e-01 -1.86577163e-05 -1.06711513e+01] [-2.71588829e-04 2.45600722e-05 9.99999963e-01 -2.50462431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.810371743 meters Centerline goodness [0,1] 0.982305666238941 Centerline is valid? [True, True] Translation: X:190.05, Y:-10.67, Z:-2.51 [[ 9.99702675e-01 -2.43823411e-02 2.52921366e-04 1.90046382e+02] [ 2.43823464e-02 9.99702706e-01 -1.79716010e-05 -1.06720468e+01] [-2.52407984e-04 2.41330740e-05 9.99999968e-01 -2.50531594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840371743 meters Centerline goodness [0,1] 0.982305666238941 Centerline is valid? [True, True] Translation: X:190.08, Y:-10.67, Z:-2.51 [[ 9.99705323e-01 -2.42735267e-02 2.53020476e-04 1.90078987e+02] [ 2.42735317e-02 9.99705354e-01 -1.65821138e-05 -1.06744650e+01] [-2.52543418e-04 2.27189280e-05 9.99999968e-01 -2.50575897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.870371743 meters Centerline goodness [0,1] 0.9573753493823821 Centerline is valid? [True, True] Translation: X:190.11, Y:-10.68, Z:-2.51 [[ 9.99684019e-01 -2.51368645e-02 -2.52898558e-05 1.90109842e+02] [ 2.51368646e-02 9.99684019e-01 2.53875630e-06 -1.06849335e+01] [ 2.52180482e-05 -3.17366177e-06 1.00000000e+00 -2.50705880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900371743 meters Centerline goodness [0,1] 0.9777311019265081 Centerline is valid? [True, True] Translation: X:190.14, Y:-10.68, Z:-2.51 [[ 9.99657041e-01 -2.61839606e-02 -4.47392983e-04 1.90142105e+02] [ 2.61839780e-02 9.99657140e-01 3.29662582e-05 -1.06798615e+01] [ 4.46376403e-04 -4.46694801e-05 9.99999899e-01 -2.50642497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.930371743 meters Centerline goodness [0,1] 0.9825676042326128 Centerline is valid? [True, True] Translation: X:190.17, Y:-10.68, Z:-2.51 [[ 9.99644088e-01 -2.66626408e-02 -8.95403189e-04 1.90174675e+02] [ 2.66627097e-02 9.99644485e-01 6.50925407e-05 -1.06773809e+01] [ 8.93349320e-04 -8.89432487e-05 9.99999597e-01 -2.50594509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96037174299997 meters Centerline goodness [0,1] 0.9780334254268762 Centerline is valid? [True, True] Translation: X:190.21, Y:-10.68, Z:-2.51 [[ 9.99644312e-01 -2.66686471e-02 -1.82524362e-04 1.90206990e+02] [ 2.66686501e-02 9.99644328e-01 1.43163220e-05 -1.06806226e+01] [ 1.82077646e-04 -1.91789082e-05 9.99999983e-01 -2.50672152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99037174299997 meters Centerline goodness [0,1] 0.9780364097454941 Centerline is valid? [True, True] Translation: X:190.24, Y:-10.68, Z:-2.51 [[ 9.99662593e-01 -2.59750046e-02 8.05314173e-06 1.90239411e+02] [ 2.59750046e-02 9.99662593e-01 3.96560199e-07 -1.06817932e+01] [-8.06072529e-06 -1.87245997e-07 1.00000000e+00 -2.50705938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02037174299997 meters Centerline goodness [0,1] 0.9684745762711864 Centerline is valid? [True, True] Translation: X:190.27, Y:-10.68, Z:-2.51 [[ 9.99709991e-01 -2.40767894e-02 4.92215940e-04 1.90268665e+02] [ 2.40768098e-02 9.99710111e-01 -3.55472096e-05 -1.06837951e+01] [-4.91217389e-04 4.73878901e-05 9.99999878e-01 -2.50779944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05037174299997 meters Centerline goodness [0,1] 0.982429491248753 Centerline is valid? [True, True] Translation: X:190.30, Y:-10.68, Z:-2.51 [[ 9.99743538e-01 -2.26462312e-02 8.12534070e-05 1.90300959e+02] [ 2.26462317e-02 9.99743541e-01 -5.08997819e-06 -1.06758218e+01] [-8.11173001e-05 6.92875629e-06 9.99999997e-01 -2.50724313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08037174299997 meters Centerline goodness [0,1] 0.9831640651625656 Centerline is valid? [True, True] Translation: X:190.33, Y:-10.67, Z:-2.51 [[ 9.99787582e-01 -2.05941627e-02 -8.19378548e-04 1.90332399e+02] [ 2.05942180e-02 9.99787915e-01 5.90955688e-05 -1.06726275e+01] [ 8.17987746e-04 -7.59574763e-05 9.99999663e-01 -2.50835388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11037174299997 meters Centerline goodness [0,1] 0.9817359896413076 Centerline is valid? [True, True] Translation: X:190.36, Y:-10.68, Z:-2.51 [[ 9.99804813e-01 -1.97500125e-02 -5.22816980e-04 1.90363112e+02] [ 1.97500352e-02 9.99804948e-01 3.83077558e-05 -1.06753678e+01] [ 5.21958425e-04 -4.86259323e-05 9.99999863e-01 -2.50925886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14037174299997 meters Centerline goodness [0,1] 0.9772980596437751 Centerline is valid? [True, True] Translation: X:190.39, Y:-10.68, Z:-2.51 [[ 9.99818935e-01 -1.90210123e-02 -5.46085207e-04 1.90394656e+02] [ 1.90210371e-02 9.99819083e-01 4.02457845e-05 -1.06792036e+01] [ 5.45220895e-04 -5.06256043e-05 9.99999850e-01 -2.51020446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17037174299998 meters Centerline goodness [0,1] 0.974542470998473 Centerline is valid? [True, True] Translation: X:190.43, Y:-10.68, Z:-2.51 [[ 9.99824055e-01 -1.87562864e-02 -2.48326335e-04 1.90425727e+02] [ 1.87562916e-02 9.99824085e-01 1.85907165e-05 -1.06822024e+01] [ 2.47933958e-04 -2.32451267e-05 9.99999969e-01 -2.51089830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20037174299998 meters Centerline goodness [0,1] 0.9829092983456931 Centerline is valid? [True, True] Translation: X:190.46, Y:-10.67, Z:-2.51 [[ 9.99830264e-01 -1.84239831e-02 2.12304152e-05 1.90459039e+02] [ 1.84239831e-02 9.99830264e-01 -5.33553018e-07 -1.06740315e+01] [-2.12169815e-05 9.24611271e-07 1.00000000e+00 -2.51032971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23037174299998 meters Centerline goodness [0,1] 0.9789442534884251 Centerline is valid? [True, True] Translation: X:190.49, Y:-10.68, Z:-2.51 [[ 9.99837530e-01 -1.80220845e-02 3.44293815e-04 1.90489914e+02] [ 1.80220939e-02 9.99837589e-01 -2.40839837e-05 -1.06797447e+01] [-3.43803854e-04 3.02849663e-05 9.99999940e-01 -2.51126888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26037174299998 meters Centerline goodness [0,1] 0.9819288132491536 Centerline is valid? [True, True] Translation: X:190.52, Y:-10.68, Z:-2.51 [[ 9.99862486e-01 -1.65833279e-02 5.55588785e-05 1.90522036e+02] [ 1.65833281e-02 9.99862487e-01 -3.27099195e-06 -1.06762771e+01] [-5.54969946e-05 4.19189326e-06 9.99999998e-01 -2.51170303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29037174299998 meters Centerline goodness [0,1] 0.9824999427354147 Centerline is valid? [True, True] Translation: X:190.55, Y:-10.67, Z:-2.51 [[ 9.99882764e-01 -1.53112330e-02 1.56395945e-04 1.90553473e+02] [ 1.53112348e-02 9.99882776e-01 -1.07925445e-05 -1.06747255e+01] [-1.56212365e-04 1.31858943e-05 9.99999988e-01 -2.51237919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32037174299998 meters Centerline goodness [0,1] 0.9803548505409866 Centerline is valid? [True, True] Translation: X:190.58, Y:-10.68, Z:-2.51 [[ 9.99902979e-01 -1.39279904e-02 2.07342184e-04 1.90583955e+02] [ 1.39279937e-02 9.99903001e-01 -1.44826636e-05 -1.06805122e+01] [-2.07120358e-04 1.73691192e-05 9.99999978e-01 -2.51379371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35037174299998 meters Centerline goodness [0,1] 0.9820388126806441 Centerline is valid? [True, True] Translation: X:190.62, Y:-10.67, Z:-2.51 [[ 9.99936346e-01 -1.12651787e-02 6.32314506e-04 1.90615664e+02] [ 1.12652097e-02 9.99936544e-01 -4.54421889e-05 -1.06734929e+01] [-6.31762468e-04 5.25624518e-05 9.99999799e-01 -2.51322125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38037174299998 meters Centerline goodness [0,1] 0.9829579338501766 Centerline is valid? [True, True] Translation: X:190.65, Y:-10.67, Z:-2.51 [[ 9.99952365e-01 -9.67951183e-03 1.25489760e-03 1.90647640e+02] [ 9.67963234e-03 9.99953147e-01 -8.99968274e-05 -1.06723947e+01] [-1.25396768e-03 1.02139488e-04 9.99999209e-01 -2.51301950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41037174299998 meters Centerline goodness [0,1] 0.9819556149609384 Centerline is valid? [True, True] Translation: X:190.68, Y:-10.68, Z:-2.51 [[ 9.99966406e-01 -8.03995440e-03 1.59566812e-03 1.90678043e+02] [ 8.04014800e-03 9.99967671e-01 -1.14947787e-04 -1.06764311e+01] [-1.59469236e-03 1.27773333e-04 9.99998720e-01 -2.51422036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440371743 meters Centerline goodness [0,1] 0.9827009572137009 Centerline is valid? [True, True] Translation: X:190.71, Y:-10.67, Z:-2.51 [[ 9.99990134e-01 -3.82147875e-03 2.26455595e-03 1.90709211e+02] [ 3.82185951e-03 9.99992683e-01 -1.63836983e-04 -1.06721556e+01] [-2.26391328e-03 1.72490182e-04 9.99997422e-01 -2.51465306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.470371743 meters Centerline goodness [0,1] 0.9834347453901858 Centerline is valid? [True, True] Translation: X:190.74, Y:-10.67, Z:-2.52 [[ 9.99995256e-01 -1.85287321e-03 2.46079510e-03 1.90739632e+02] [ 1.85331590e-03 9.99998267e-01 -1.77631236e-04 -1.06749924e+01] [-2.46046171e-03 1.82191024e-04 9.99996956e-01 -2.51558154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500371743 meters Centerline goodness [0,1] 0.983218141050831 Centerline is valid? [True, True] Translation: X:190.77, Y:-10.67, Z:-2.52 [[ 9.99989938e-01 2.88494163e-03 3.43524190e-03 1.90769253e+02] [-2.88410374e-03 9.99995810e-01 -2.48841646e-04 -1.06732728e+01] [-3.43594540e-03 2.38931548e-04 9.99994069e-01 -2.51622392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.530371743 meters Centerline goodness [0,1] 0.9850780905525516 Centerline is valid? [True, True] Translation: X:190.80, Y:-10.67, Z:-2.52 [[ 9.99979081e-01 5.31995914e-03 3.67919426e-03 1.90800712e+02] [-5.31901606e-03 9.99985819e-01 -2.66064888e-04 -1.06685865e+01] [-3.68055754e-03 2.46489629e-04 9.99993196e-01 -2.51588278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560371743 meters Centerline goodness [0,1] 0.9847275090520843 Centerline is valid? [True, True] Translation: X:190.83, Y:-10.67, Z:-2.52 [[ 9.99965047e-01 7.42958955e-03 3.83490942e-03 1.90831000e+02] [-7.42857752e-03 9.99972369e-01 -2.78075659e-04 -1.06691896e+01] [-3.83686944e-03 2.49578017e-04 9.99992608e-01 -2.51614672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.590371743 meters Centerline goodness [0,1] 0.9851806976256495 Centerline is valid? [True, True] Translation: X:190.86, Y:-10.67, Z:-2.52 [[ 9.99944455e-01 9.62579513e-03 4.29323261e-03 1.90861291e+02] [-9.62454951e-03 9.99953635e-01 -3.10702503e-04 -1.06686617e+01] [-4.29602431e-03 2.69364815e-04 9.99990736e-01 -2.51628791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620371743 meters Centerline goodness [0,1] 0.9838930854154562 Centerline is valid? [True, True] Translation: X:190.89, Y:-10.67, Z:-2.52 [[ 9.99890620e-01 1.39131293e-02 5.01719820e-03 1.90891177e+02] [-1.39114824e-02 9.99903165e-01 -3.62996829e-04 -1.06681173e+01] [-5.02176278e-03 2.93160460e-04 9.99987348e-01 -2.51621300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.650371743 meters Centerline goodness [0,1] 0.9835387119274588 Centerline is valid? [True, True] Translation: X:190.92, Y:-10.67, Z:-2.52 [[ 9.99857596e-01 1.59151515e-02 5.61202766e-03 1.90919777e+02] [-1.59131227e-02 9.99873296e-01 -4.05983798e-04 -1.06742872e+01] [-5.61777788e-03 3.16621100e-04 9.99984170e-01 -2.51746896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680371743 meters Centerline goodness [0,1] 0.9848640568065028 Centerline is valid? [True, True] Translation: X:190.95, Y:-10.67, Z:-2.52 [[ 9.99786462e-01 1.97984096e-02 5.92063838e-03 1.90950621e+02] [-1.97962208e-02 9.99803944e-01 -4.28073376e-04 -1.06666163e+01] [-5.92795277e-03 3.10775701e-04 9.99982381e-01 -2.51688085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71037174299997 meters Centerline goodness [0,1] 0.9843804639235342 Centerline is valid? [True, True] Translation: X:190.98, Y:-10.67, Z:-2.52 [[ 9.99749997e-01 2.15028824e-02 6.12946072e-03 1.90979183e+02] [-2.15005682e-02 9.99768738e-01 -4.43196654e-04 -1.06674323e+01] [-6.13757321e-03 3.11298965e-04 9.99981116e-01 -2.51719409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74037174299997 meters Centerline goodness [0,1] 0.9839567182706045 Centerline is valid? [True, True] Translation: X:191.01, Y:-10.67, Z:-2.52 [[ 9.99718743e-01 2.29273457e-02 6.06392312e-03 1.91007860e+02] [-2.29251102e-02 9.99737089e-01 -4.37919060e-04 -1.06678100e+01] [-6.07236918e-03 2.98779786e-04 9.99981518e-01 -2.51805685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77037174299997 meters Centerline goodness [0,1] 0.9846395572440317 Centerline is valid? [True, True] Translation: X:191.04, Y:-10.67, Z:-2.52 [[ 9.99679720e-01 2.46330658e-02 5.80260012e-03 1.91035408e+02] [-2.46310475e-02 9.99696522e-01 -4.19043239e-04 -1.06691550e+01] [-5.81116148e-03 2.75984909e-04 9.99983077e-01 -2.51868661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80037174299997 meters Centerline goodness [0,1] 0.9859798841816519 Centerline is valid? [True, True] Translation: X:191.07, Y:-10.66, Z:-2.52 [[ 9.99610613e-01 2.74616012e-02 4.94797505e-03 1.91065231e+02] [-2.74601718e-02 9.99622835e-01 -3.56600371e-04 -1.06649453e+01] [-4.95590166e-03 2.20589271e-04 9.99987695e-01 -2.51931069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83037174299997 meters Centerline goodness [0,1] 0.9863828786453434 Centerline is valid? [True, True] Translation: X:191.09, Y:-10.66, Z:-2.52 [[ 9.99578554e-01 2.86957820e-02 4.38929520e-03 1.91093921e+02] [-2.86946680e-02 9.99588173e-01 -3.16568989e-04 -1.06641402e+01] [-4.39657177e-03 1.90486203e-04 9.99990317e-01 -2.51947566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86037174299997 meters Centerline goodness [0,1] 0.9864785142884112 Centerline is valid? [True, True] Translation: X:191.12, Y:-10.66, Z:-2.52 [[ 9.99489515e-01 3.16051710e-02 4.67143397e-03 1.91123198e+02] [-3.16039443e-02 9.99500414e-01 -3.36190927e-04 -1.06646531e+01] [-4.67972556e-03 1.88383568e-04 9.99989032e-01 -2.52026419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89037174299997 meters Centerline goodness [0,1] 0.9871449501394206 Centerline is valid? [True, True] Translation: X:191.15, Y:-10.67, Z:-2.52 [[ 9.99436866e-01 3.31537962e-02 5.17463895e-03 1.91151909e+02] [-3.31523114e-02 9.99450242e-01 -3.72468160e-04 -1.06651386e+01] [-5.18414288e-03 2.00707169e-04 9.99986542e-01 -2.52063229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92037174299998 meters Centerline goodness [0,1] 0.986925945155048 Centerline is valid? [True, True] Translation: X:191.18, Y:-10.67, Z:-2.52 [[ 9.99389321e-01 3.45066949e-02 5.50200957e-03 1.91180404e+02] [-3.45050393e-02 9.99404446e-01 -3.95565714e-04 -1.06667065e+01] [-5.51238249e-03 2.05477094e-04 9.99984786e-01 -2.52078437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95037174299998 meters Centerline goodness [0,1] 0.9870142180094786 Centerline is valid? [True, True] Translation: X:191.21, Y:-10.67, Z:-2.52 [[ 9.99306560e-01 3.67115380e-02 6.21794466e-03 1.91209347e+02] [-3.67094698e-02 9.99325881e-01 -4.46466373e-04 -1.06676521e+01] [-6.23014349e-03 2.17899324e-04 9.99980569e-01 -2.52021458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98037174299998 meters Centerline goodness [0,1] 0.9873507506797494 Centerline is valid? [True, True] Translation: X:191.24, Y:-10.67, Z:-2.52 [[ 9.99281220e-01 3.72779103e-02 6.88487459e-03 1.91237899e+02] [-3.72753920e-02 9.99304909e-01 -4.93771876e-04 -1.06679846e+01] [-6.89849576e-03 2.36780563e-04 9.99976177e-01 -2.51979077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01037174299998 meters Centerline goodness [0,1] 0.9881541851263949 Centerline is valid? [True, True] Translation: X:191.27, Y:-10.67, Z:-2.52 [[ 9.99267000e-01 3.74750868e-02 7.81536049e-03 1.91265069e+02] [-3.74718525e-02 9.99297527e-01 -5.59910596e-04 -1.06712894e+01] [-7.83085311e-03 2.66644146e-04 9.99969303e-01 -2.51989031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04037174299998 meters Centerline goodness [0,1] 0.9877907663242413 Centerline is valid? [True, True] Translation: X:191.29, Y:-10.67, Z:-2.52 [[ 9.99288362e-01 3.68390919e-02 8.10250037e-03 1.91294037e+02] [-3.68356017e-02 9.99321171e-01 -5.79618458e-04 -1.06735507e+01] [-8.11835277e-03 2.80745503e-04 9.99967006e-01 -2.51944225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07037174299998 meters Centerline goodness [0,1] 0.9870920546522878 Centerline is valid? [True, True] Translation: X:191.32, Y:-10.68, Z:-2.52 [[ 9.99306628e-01 3.63164508e-02 8.20850796e-03 1.91322602e+02] [-3.63128559e-02 9.99340299e-01 -5.86612315e-04 -1.06756593e+01] [-8.22439647e-03 2.88131208e-04 9.99966138e-01 -2.51998952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10037174299998 meters Centerline goodness [0,1] 0.9883441083478836 Centerline is valid? [True, True] Translation: X:191.35, Y:-10.68, Z:-2.52 [[ 9.99329281e-01 3.57799433e-02 7.79635949e-03 1.91351286e+02] [-3.57766880e-02 9.99359654e-01 -5.56647078e-04 -1.06790366e+01] [-7.81128393e-03 2.77345804e-04 9.99969453e-01 -2.52085070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13037174299998 meters Centerline goodness [0,1] 0.9875211505922166 Centerline is valid? [True, True] Translation: X:191.38, Y:-10.68, Z:-2.52 [[ 9.99358014e-01 3.52730349e-02 6.27470694e-03 1.91378702e+02] [-3.52709172e-02 9.99377687e-01 -4.47868723e-04 -1.06833220e+01] [-6.28659980e-03 2.26266529e-04 9.99980214e-01 -2.52203242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16037174299998 meters Centerline goodness [0,1] 0.9884622614907416 Centerline is valid? [True, True] Translation: X:191.41, Y:-10.69, Z:-2.52 [[ 9.99360163e-01 3.52811852e-02 5.87383452e-03 1.91406742e+02] [-3.52793315e-02 9.99377403e-01 -4.18944087e-04 -1.06864569e+01] [-5.88495834e-03 2.11451076e-04 9.99982661e-01 -2.52279940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.190371743 meters Centerline goodness [0,1] 0.9874430831338309 Centerline is valid? [True, True] Translation: X:191.43, Y:-10.69, Z:-2.52 [[ 9.99365738e-01 3.52059096e-02 5.35407842e-03 1.91434041e+02] [-3.52043670e-02 9.99380061e-01 -3.82110147e-04 -1.06887449e+01] [-5.36421175e-03 1.93380847e-04 9.99985594e-01 -2.52349448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220371743 meters Centerline goodness [0,1] 0.9878245802992344 Centerline is valid? [True, True] Translation: X:191.46, Y:-10.69, Z:-2.52 [[ 9.99341886e-01 3.59435202e-02 4.88457226e-03 1.91462754e+02] [-3.59422536e-02 9.99353808e-01 -3.46879744e-04 -1.06915460e+01] [-4.89388397e-03 1.71088923e-04 9.99988010e-01 -2.52377103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.250371743 meters Centerline goodness [0,1] 0.9877948790029751 Centerline is valid? [True, True] Translation: X:191.49, Y:-10.69, Z:-2.52 [[ 9.99322895e-01 3.64848329e-02 4.75490637e-03 1.91491259e+02] [-3.64836402e-02 9.99334193e-01 -3.37361803e-04 -1.06944518e+01] [-4.76404911e-03 1.63657080e-04 9.99988638e-01 -2.52468479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280371743 meters Centerline goodness [0,1] 0.9887763673697966 Centerline is valid? [True, True] Translation: X:191.52, Y:-10.70, Z:-2.52 [[ 9.99254471e-01 3.83011819e-02 4.84998808e-03 1.91519937e+02] [-3.82999640e-02 9.99266228e-01 -3.43767161e-04 -1.06955302e+01] [-4.85959598e-03 1.57756503e-04 9.99988180e-01 -2.52435781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.310371743 meters Centerline goodness [0,1] 0.9889174655132102 Centerline is valid? [True, True] Translation: X:191.55, Y:-10.70, Z:-2.52 [[ 9.99197349e-01 3.97947004e-02 4.58680889e-03 1.91548752e+02] [-3.97936281e-02 9.99207867e-01 -3.24845269e-04 -1.06969927e+01] [-4.59610265e-03 1.42058765e-04 9.99989428e-01 -2.52445618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340371743 meters Centerline goodness [0,1] 0.9895495579556323 Centerline is valid? [True, True] Translation: X:191.58, Y:-10.70, Z:-2.52 [[ 9.99018080e-01 4.39497695e-02 5.59403851e-03 1.91578939e+02] [-4.39482453e-02 9.99033731e-01 -3.95159893e-04 -1.06977421e+01] [-5.60600035e-03 1.48923701e-04 9.99984275e-01 -2.52326634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.370371743 meters Centerline goodness [0,1] 0.9892535782553965 Centerline is valid? [True, True] Translation: X:191.61, Y:-10.70, Z:-2.52 [[ 9.98925798e-01 4.58642302e-02 6.61233944e-03 1.91607322e+02] [-4.58621330e-02 9.98947669e-01 -4.68529098e-04 -1.07000385e+01] [-6.62686980e-03 1.64769812e-04 9.99978028e-01 -2.52296129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400371743 meters Centerline goodness [0,1] 0.9903664481817546 Centerline is valid? [True, True] Translation: X:191.64, Y:-10.70, Z:-2.52 [[ 9.98836715e-01 4.76543180e-02 7.36763151e-03 1.91635771e+02] [-4.76517791e-02 9.98863873e-01 -5.19871269e-04 -1.07010066e+01] [-7.38403506e-03 1.68185762e-04 9.99972723e-01 -2.52218966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.430371743 meters Centerline goodness [0,1] 0.9899676450734387 Centerline is valid? [True, True] Translation: X:191.66, Y:-10.70, Z:-2.52 [[ 9.98677713e-01 5.07564563e-02 8.16137865e-03 1.91663898e+02] [-5.07534646e-02 9.98711048e-01 -5.73395585e-04 -1.07048079e+01] [-8.17996255e-03 1.58419149e-04 9.99966531e-01 -2.52165340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46037174299997 meters Centerline goodness [0,1] 0.9908068983173133 Centerline is valid? [True, True] Translation: X:191.69, Y:-10.71, Z:-2.52 [[ 9.98614269e-01 5.19683945e-02 8.29622354e-03 1.91692640e+02] [-5.19653711e-02 9.98648719e-01 -5.79719658e-04 -1.07074028e+01] [-8.31514011e-03 1.47799987e-04 9.99965418e-01 -2.52148151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49037174299997 meters Centerline goodness [0,1] 0.9911518810961449 Centerline is valid? [True, True] Translation: X:191.72, Y:-10.71, Z:-2.52 [[ 9.98582470e-01 5.25644098e-02 8.36856106e-03 1.91720971e+02] [-5.25613518e-02 9.98617525e-01 -5.85090325e-04 -1.07104829e+01] [-8.38774667e-03 1.44398060e-04 9.99964812e-01 -2.52131710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52037174299997 meters Centerline goodness [0,1] 0.9908373631967422 Centerline is valid? [True, True] Translation: X:191.75, Y:-10.72, Z:-2.52 [[ 9.98574176e-01 5.27045545e-02 8.47615585e-03 1.91748847e+02] [-5.27014479e-02 9.98610139e-01 -5.89607275e-04 -1.07167779e+01] [-8.49545016e-03 1.42060913e-04 9.99963903e-01 -2.52149535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55037174299997 meters Centerline goodness [0,1] 0.9904891304347826 Centerline is valid? [True, True] Translation: X:191.78, Y:-10.72, Z:-2.52 [[ 9.98629436e-01 5.16639713e-02 8.37157615e-03 1.91777449e+02] [-5.16609037e-02 9.98664514e-01 -5.82406382e-04 -1.07217619e+01] [-8.39048546e-03 1.49124968e-04 9.99964788e-01 -2.52223465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58037174299997 meters Centerline goodness [0,1] 0.9908048090848486 Centerline is valid? [True, True] Translation: X:191.81, Y:-10.73, Z:-2.52 [[ 9.98677483e-01 5.07254340e-02 8.37949788e-03 1.91805487e+02] [-5.07223526e-02 9.98712625e-01 -5.79987664e-04 -1.07272238e+01] [-8.39813045e-03 1.54192774e-04 9.99964723e-01 -2.52294201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61037174299997 meters Centerline goodness [0,1] 0.9910035711015475 Centerline is valid? [True, True] Translation: X:191.83, Y:-10.74, Z:-2.52 [[ 9.98820855e-01 4.79276137e-02 7.73587825e-03 1.91833446e+02] [-4.79248990e-02 9.98850798e-01 -5.36025381e-04 -1.07353821e+01] [-7.75267858e-03 1.64652146e-04 9.99969934e-01 -2.52414478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64037174299997 meters Centerline goodness [0,1] 0.9908838142121337 Centerline is valid? [True, True] Translation: X:191.86, Y:-10.74, Z:-2.52 [[ 9.98900140e-01 4.63622447e-02 7.00371373e-03 1.91861818e+02] [-4.63599994e-02 9.98924681e-01 -4.82677847e-04 -1.07400177e+01] [-7.01856053e-03 1.57454805e-04 9.99975357e-01 -2.52437856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67037174299998 meters Centerline goodness [0,1] 0.9905110817821873 Centerline is valid? [True, True] Translation: X:191.89, Y:-10.75, Z:-2.52 [[ 9.98951686e-01 4.52863216e-02 6.68414014e-03 1.91889496e+02] [-4.52842547e-02 9.98974036e-01 -4.60332902e-04 -1.07457353e+01] [-6.69812924e-03 1.57164024e-04 9.99977555e-01 -2.52498839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70037174299998 meters Centerline goodness [0,1] 0.9900445495045004 Centerline is valid? [True, True] Translation: X:191.92, Y:-10.75, Z:-2.52 [[ 9.98996415e-01 4.44105043e-02 5.81972507e-03 1.91918548e+02] [-4.44089255e-02 9.99013357e-01 -4.00296103e-04 -1.07498225e+01] [-5.83176043e-03 1.41446635e-04 9.99982985e-01 -2.52493200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73037174299998 meters Centerline goodness [0,1] 0.9895358075133356 Centerline is valid? [True, True] Translation: X:191.95, Y:-10.76, Z:-2.52 [[ 9.99031279e-01 4.36641375e-02 5.47237169e-03 1.91947089e+02] [-4.36627322e-02 9.99046257e-01 -3.76069966e-04 -1.07569126e+01] [-5.48357323e-03 1.36766960e-04 9.99984956e-01 -2.52482348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76037174299998 meters Centerline goodness [0,1] 0.9895358075133356 Centerline is valid? [True, True] Translation: X:191.97, Y:-10.76, Z:-2.53 [[ 9.99035964e-01 4.35568059e-02 5.47237888e-03 1.91974488e+02] [-4.35553995e-02 9.99050943e-01 -3.75965748e-04 -1.07587029e+01] [-5.48356115e-03 1.37251655e-04 9.99984956e-01 -2.52519595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79037174299998 meters Centerline goodness [0,1] 0.9899816405630227 Centerline is valid? [True, True] Translation: X:192.00, Y:-10.76, Z:-2.53 [[ 9.99031938e-01 4.36326005e-02 5.60206404e-03 1.92001765e+02] [-4.36311323e-02 9.99047635e-01 -3.84088264e-04 -1.07636200e+01] [-5.61348760e-03 1.39292046e-04 9.99984235e-01 -2.52557532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82037174299998 meters Centerline goodness [0,1] 0.9894977479006812 Centerline is valid? [True, True] Translation: X:192.03, Y:-10.77, Z:-2.53 [[ 9.99033768e-01 4.35768219e-02 5.70877512e-03 1.92029565e+02] [-4.35752986e-02 9.99050069e-01 -3.91005419e-04 -1.07682094e+01] [-5.72039095e-03 1.41866037e-04 9.99983628e-01 -2.52586136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85037174299998 meters Centerline goodness [0,1] 0.9893758300132802 Centerline is valid? [True, True] Translation: X:192.06, Y:-10.78, Z:-2.53 [[ 9.99038502e-01 4.35146932e-02 5.34248773e-03 1.92057479e+02] [-4.35133608e-02 9.99052778e-01 -3.65437902e-04 -1.07755005e+01] [-5.35332913e-03 1.32616939e-04 9.99985662e-01 -2.52665741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88037174299998 meters Centerline goodness [0,1] 0.9900742741390952 Centerline is valid? [True, True] Translation: X:192.09, Y:-10.78, Z:-2.53 [[ 9.99048935e-01 4.32567531e-02 5.48437737e-03 1.92086140e+02] [-4.32553500e-02 9.99063979e-01 -3.74249761e-04 -1.07794295e+01] [-5.49543271e-03 1.36665162e-04 9.99984891e-01 -2.52737184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91037174299998 meters Centerline goodness [0,1] 0.9903958352033031 Centerline is valid? [True, True] Translation: X:192.11, Y:-10.79, Z:-2.53 [[ 9.99115003e-01 4.18031526e-02 4.65907893e-03 1.92113143e+02] [-4.18021244e-02 9.99125859e-01 -3.17896261e-04 -1.07879419e+01] [-4.66829530e-03 1.22855527e-04 9.99989096e-01 -2.52886798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940371743 meters Centerline goodness [0,1] 0.9893791032736562 Centerline is valid? [True, True] Translation: X:192.14, Y:-10.79, Z:-2.53 [[ 9.99167989e-01 4.05594540e-02 4.27313775e-03 1.92141928e+02] [-4.05585796e-02 9.99177120e-01 -2.91116533e-04 -1.07931675e+01] [-4.28142900e-03 1.17561923e-04 9.99990828e-01 -2.53012005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.970371743 meters Centerline goodness [0,1] 0.9889214654998769 Centerline is valid? [True, True] Translation: X:192.17, Y:-10.80, Z:-2.53 [[ 9.99224577e-01 3.92055128e-02 3.62925993e-03 1.92170226e+02] [-3.92048735e-02 9.99231163e-01 -2.47145172e-04 -1.07979388e+01] [-3.63615907e-03 1.04668854e-04 9.99993384e-01 -2.53076023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000371743 meters Centerline goodness [0,1] 0.9896296627405404 Centerline is valid? [True, True] Translation: X:192.20, Y:-10.80, Z:-2.53 [[ 9.99307118e-01 3.71060902e-02 2.90192567e-03 1.92197075e+02] [-3.71056702e-02 9.99311328e-01 -1.98434657e-04 -1.08041004e+01] [-2.90729033e-03 9.06192687e-05 9.99995770e-01 -2.53150855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.030371743 meters Centerline goodness [0,1] 0.9893204316418442 Centerline is valid? [True, True] Translation: X:192.23, Y:-10.81, Z:-2.53 [[ 9.99459161e-01 3.27840983e-02 2.56668422e-03 1.92225971e+02] [-3.27837592e-02 9.99462453e-01 -1.74105597e-04 -1.08134272e+01] [-2.57101240e-03 8.98658769e-05 9.99996691e-01 -2.53220083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060371743 meters Centerline goodness [0,1] 0.9890802932721235 Centerline is valid? [True, True] Translation: X:192.25, Y:-10.82, Z:-2.53 [[ 9.99550963e-01 2.98857190e-02 2.17146449e-03 1.92254904e+02] [-2.98854690e-02 9.99553319e-01 -1.47502425e-04 -1.08189857e+01] [-2.17490276e-03 8.25409568e-05 9.99997631e-01 -2.53300683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.090371743 meters Centerline goodness [0,1] 0.9893962297705851 Centerline is valid? [True, True] Translation: X:192.28, Y:-10.83, Z:-2.53 [[ 9.99635083e-01 2.69355524e-02 2.04382737e-03 1.92283544e+02] [-2.69353249e-02 9.99637169e-01 -1.38760885e-04 -1.08255683e+01] [-2.04682341e-03 8.36590949e-05 9.99997902e-01 -2.53398255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120371743 meters Centerline goodness [0,1] 0.9899855667813923 Centerline is valid? [True, True] Translation: X:192.31, Y:-10.84, Z:-2.54 [[ 9.99780642e-01 2.09260362e-02 8.76811235e-04 1.92313845e+02] [-2.09259922e-02 9.99781026e-01 -5.92906158e-05 -1.08352450e+01] [-8.77859954e-04 4.09294649e-05 9.99999614e-01 -2.53501041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.150371743 meters Centerline goodness [0,1] 0.9903739520028391 Centerline is valid? [True, True] Translation: X:192.34, Y:-10.84, Z:-2.54 [[ 9.99831551e-01 1.83311919e-02 9.15377778e-04 1.92342300e+02] [-1.83311423e-02 9.99831969e-01 -6.24957529e-05 -1.08424893e+01] [-9.16369587e-04 4.57053052e-05 9.99999579e-01 -2.53626436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180371743 meters Centerline goodness [0,1] 0.9903978356322349 Centerline is valid? [True, True] Translation: X:192.37, Y:-10.86, Z:-2.54 [[ 9.99920516e-01 1.26033385e-02 -3.43775893e-04 1.92370466e+02] [-1.26033312e-02 9.99920575e-01 2.31843641e-05 -1.08585906e+01] [ 3.44040789e-04 -1.88497998e-05 9.99999941e-01 -2.53997400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21037174299997 meters Centerline goodness [0,1] 0.9897526501766785 Centerline is valid? [True, True] Translation: X:192.40, Y:-10.86, Z:-2.54 [[ 9.99950432e-01 9.85448886e-03 -1.42251151e-03 1.92400878e+02] [-9.85436225e-03 9.99951440e-01 9.59885421e-05 -1.08600550e+01] [ 1.42338836e-03 -8.19658404e-05 9.99998984e-01 -2.54033200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24037174299997 meters Centerline goodness [0,1] 0.9898401877019788 Centerline is valid? [True, True] Translation: X:192.43, Y:-10.86, Z:-2.54 [[ 9.99971488e-01 7.32072050e-03 -1.85207223e-03 1.92429771e+02] [-7.32050306e-03 9.99973197e-01 1.24153082e-04 -1.08649131e+01] [ 1.85293148e-03 -1.10591442e-04 9.99998277e-01 -2.54145586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27037174299997 meters Centerline goodness [0,1] 0.9902140537674788 Centerline is valid? [True, True] Translation: X:192.46, Y:-10.87, Z:-2.54 [[ 9.99993771e-01 2.50447618e-03 -2.48719323e-03 1.92459408e+02] [-2.50406697e-03 9.99996851e-01 1.67626463e-04 -1.08734576e+01] [ 2.48760521e-03 -1.61397320e-04 9.99996893e-01 -2.54221812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30037174299997 meters Centerline goodness [0,1] 0.9894613841303437 Centerline is valid? [True, True] Translation: X:192.49, Y:-10.88, Z:-2.54 [[ 9.99995910e-01 1.41794491e-03 -2.48365909e-03 1.92487929e+02] [-1.41753620e-03 9.99998981e-01 1.66312317e-04 -1.08794540e+01] [ 2.48389238e-03 -1.62790961e-04 9.99996902e-01 -2.54310361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33037174299997 meters Centerline goodness [0,1] 0.9895337563899171 Centerline is valid? [True, True] Translation: X:192.52, Y:-10.88, Z:-2.54 [[ 9.99997204e-01 -9.49070429e-04 -2.16596898e-03 1.92517628e+02] [ 9.49387444e-04 9.99999539e-01 1.45338464e-04 -1.08837734e+01] [ 2.16583004e-03 -1.47394401e-04 9.99997644e-01 -2.54298813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36037174299997 meters Centerline goodness [0,1] 0.9901788073636925 Centerline is valid? [True, True] Translation: X:192.55, Y:-10.89, Z:-2.54 [[ 9.99993097e-01 -3.33105992e-03 -1.64624764e-03 1.92546634e+02] [ 3.33124640e-03 9.99994445e-01 1.10548479e-04 -1.08921591e+01] [ 1.64587026e-03 -1.16031772e-04 9.99998639e-01 -2.54282239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39037174299997 meters Centerline goodness [0,1] 0.9899588223636404 Centerline is valid? [True, True] Translation: X:192.58, Y:-10.90, Z:-2.54 [[ 9.99992591e-01 -3.42495486e-03 -1.75694113e-03 1.92576905e+02] [ 3.42516786e-03 9.99994127e-01 1.18237266e-04 -1.08961029e+01] [ 1.75652586e-03 -1.24254209e-04 9.99998450e-01 -2.54363861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42037174299998 meters Centerline goodness [0,1] 0.9897027437347357 Centerline is valid? [True, True] Translation: X:192.61, Y:-10.90, Z:-2.54 [[ 9.99989465e-01 -4.27844417e-03 -1.66277852e-03 1.92607189e+02] [ 4.27863612e-03 9.99990840e-01 1.11900384e-04 -1.08987949e+01] [ 1.66228453e-03 -1.19013629e-04 9.99998611e-01 -2.54339223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45037174299998 meters Centerline goodness [0,1] 0.9898694677624928 Centerline is valid? [True, True] Translation: X:192.64, Y:-10.90, Z:-2.54 [[ 9.99984210e-01 -5.40097187e-03 -1.55231017e-03 1.92637784e+02] [ 5.40114093e-03 9.99985408e-01 1.04738659e-04 -1.09024157e+01] [ 1.55172183e-03 -1.13121251e-04 9.99998790e-01 -2.54324947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48037174299998 meters Centerline goodness [0,1] 0.9899381822964619 Centerline is valid? [True, True] Translation: X:192.67, Y:-10.91, Z:-2.54 [[ 9.99980067e-01 -6.19862024e-03 -1.20115333e-03 1.92667448e+02] [ 6.19872213e-03 9.99980784e-01 8.11198599e-05 -1.09106193e+01] [ 1.20062742e-03 -8.85638586e-05 9.99999275e-01 -2.54475745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51037174299998 meters Centerline goodness [0,1] 0.9894898182614408 Centerline is valid? [True, True] Translation: X:192.70, Y:-10.91, Z:-2.55 [[ 9.99982884e-01 -5.62495658e-03 -1.60998511e-03 1.92698316e+02] [ 5.62513925e-03 9.99984173e-01 1.08955975e-04 -1.09126496e+01] [ 1.60934676e-03 -1.18010500e-04 9.99998698e-01 -2.54551681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54037174299998 meters Centerline goodness [0,1] 0.9892979077300184 Centerline is valid? [True, True] Translation: X:192.73, Y:-10.92, Z:-2.55 [[ 9.99977431e-01 -6.38552534e-03 -2.08886159e-03 1.92728488e+02] [ 6.38583374e-03 9.99979600e-01 1.41007265e-04 -1.09180434e+01] [ 2.08791858e-03 -1.54343206e-04 9.99997808e-01 -2.54661956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57037174299998 meters Centerline goodness [0,1] 0.9904597650962756 Centerline is valid? [True, True] Translation: X:192.76, Y:-10.92, Z:-2.55 [[ 9.99980160e-01 -5.62132728e-03 -2.84241605e-03 1.92758134e+02] [ 5.62189515e-03 9.99984179e-01 1.91835591e-04 -1.09248607e+01] [ 2.84129270e-03 -2.07811550e-04 9.99995942e-01 -2.54795865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60037174299998 meters Centerline goodness [0,1] 0.9898753553465997 Centerline is valid? [True, True] Translation: X:192.79, Y:-10.92, Z:-2.55 [[ 9.99983984e-01 -4.84841158e-03 -2.91955955e-03 1.92789873e+02] [ 4.84900845e-03 9.99988224e-01 1.97392794e-04 -1.09248663e+01] [ 2.91856813e-03 -2.11546602e-04 9.99995719e-01 -2.54778982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63037174299998 meters Centerline goodness [0,1] 0.9892360199527435 Centerline is valid? [True, True] Translation: X:192.82, Y:-10.93, Z:-2.55 [[ 9.99992841e-01 -2.24521499e-03 -3.04586843e-03 1.92819511e+02] [ 2.24585103e-03 9.99997457e-01 2.05419170e-04 -1.09319382e+01] [ 3.04539948e-03 -2.12258266e-04 9.99995340e-01 -2.54948229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66037174299998 meters Centerline goodness [0,1] 0.9899320797571469 Centerline is valid? [True, True] Translation: X:192.85, Y:-10.93, Z:-2.55 [[ 9.99995014e-01 -1.65934464e-03 -2.68676283e-03 1.92848967e+02] [ 1.65983585e-03 9.99998606e-01 1.80608025e-04 -1.09309238e+01] [ 2.68645940e-03 -1.85066710e-04 9.99996374e-01 -2.54854828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.690371743 meters Centerline goodness [0,1] 0.9894862864606008 Centerline is valid? [True, True] Translation: X:192.88, Y:-10.93, Z:-2.55 [[ 9.99994409e-01 -3.36491845e-04 -3.32702136e-03 1.92878488e+02] [ 3.37240914e-04 9.99999918e-01 2.24588624e-04 -1.09346885e+01] [ 3.32694551e-03 -2.25709376e-04 9.99994440e-01 -2.54950647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720371743 meters Centerline goodness [0,1] 0.9903456391927821 Centerline is valid? [True, True] Translation: X:192.91, Y:-10.94, Z:-2.55 [[ 9.99992533e-01 1.65118376e-03 -3.49385097e-03 1.92907886e+02] [-1.65037288e-03 9.99998611e-01 2.34958993e-04 -1.09384453e+01] [ 3.49423407e-03 -2.29191082e-04 9.99993869e-01 -2.55020131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.750371743 meters Centerline goodness [0,1] 0.9900696864111498 Centerline is valid? [True, True] Translation: X:192.94, Y:-10.94, Z:-2.55 [[ 9.99990407e-01 2.39076646e-03 -3.67003780e-03 1.92936507e+02] [-2.38987880e-03 9.99997114e-01 2.46230924e-04 -1.09417290e+01] [ 3.67061589e-03 -2.37457617e-04 9.99993235e-01 -2.55053581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780371743 meters Centerline goodness [0,1] 0.9894119953813643 Centerline is valid? [True, True] Translation: X:192.97, Y:-10.94, Z:-2.55 [[ 9.99988534e-01 3.69776243e-03 -3.04269000e-03 1.92965058e+02] [-3.69715976e-03 9.99993145e-01 2.03672682e-04 -1.09447510e+01] [ 3.04342228e-03 -1.92421036e-04 9.99995350e-01 -2.55071054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.810371743 meters Centerline goodness [0,1] 0.9906414209406349 Centerline is valid? [True, True] Translation: X:192.99, Y:-10.95, Z:-2.55 [[ 9.99985005e-01 4.86575170e-03 -2.51269753e-03 1.92994277e+02] [-4.86535169e-03 9.99988150e-01 1.65280903e-04 -1.09473483e+01] [ 2.51347197e-03 -1.53053268e-04 9.99996830e-01 -2.55037644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840371743 meters Centerline goodness [0,1] 0.9909211643552285 Centerline is valid? [True, True] Translation: X:193.02, Y:-10.95, Z:-2.55 [[ 9.99974006e-01 7.20209807e-03 -3.41607708e-04 1.93022476e+02] [-7.20209092e-03 9.99974064e-01 2.21621183e-05 -1.09533794e+01] [ 3.41758461e-04 -1.97012525e-05 9.99999941e-01 -2.55001999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.870371743 meters Centerline goodness [0,1] 0.9899493114625709 Centerline is valid? [True, True] Translation: X:193.05, Y:-10.95, Z:-2.55 [[ 9.99963434e-01 8.55155568e-03 4.24665196e-05 1.93051130e+02] [-8.55155553e-03 9.99963435e-01 -3.80942728e-06 -1.09516847e+01] [-4.24975434e-05 3.44613319e-06 9.99999999e-01 -2.54920513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900371743 meters Centerline goodness [0,1] 0.989980003477656 Centerline is valid? [True, True] Translation: X:193.08, Y:-10.95, Z:-2.55 [[ 9.99950788e-01 9.91953975e-03 1.55245955e-04 1.93078694e+02] [-9.91953809e-03 9.99950800e-01 -1.14877588e-05 -1.09548937e+01] [-1.55352270e-04 9.94722531e-06 9.99999988e-01 -2.54956696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.930371743 meters Centerline goodness [0,1] 0.990969819613987 Centerline is valid? [True, True] Translation: X:193.11, Y:-10.95, Z:-2.55 [[ 9.99944189e-01 1.05634417e-02 1.81642151e-04 1.93107224e+02] [-1.05634395e-02 9.99944205e-01 -1.30956692e-05 -1.09549657e+01] [-1.81770352e-04 1.11761724e-05 9.99999983e-01 -2.54909800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96037174299997 meters Centerline goodness [0,1] 0.9902636211505444 Centerline is valid? [True, True] Translation: X:193.13, Y:-10.96, Z:-2.55 [[ 9.99937640e-01 1.11674752e-02 -6.61538945e-05 1.93134230e+02] [-1.11674750e-02 9.99937642e-01 3.20360746e-06 -1.09638191e+01] [ 6.61855453e-05 -2.46463571e-06 9.99999998e-01 -2.55138188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99037174299997 meters Centerline goodness [0,1] 0.9901958653072759 Centerline is valid? [True, True] Translation: X:193.16, Y:-10.96, Z:-2.55 [[ 9.99942413e-01 1.07133144e-02 -6.29416955e-04 1.93162945e+02] [-1.07132907e-02 9.99942610e-01 4.09372688e-05 -1.09624405e+01] [ 6.29819407e-04 -3.41917845e-05 9.99999801e-01 -2.55116916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02037174299997 meters Centerline goodness [0,1] 0.9900317074230117 Centerline is valid? [True, True] Translation: X:193.19, Y:-10.97, Z:-2.55 [[ 9.99968797e-01 7.84534231e-03 -9.25158369e-04 1.93192766e+02] [-7.84528891e-03 9.99969223e-01 6.13393488e-05 -1.09687143e+01] [ 9.25611124e-04 -5.40793001e-05 9.99999570e-01 -2.55238063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05037174299997 meters Centerline goodness [0,1] 0.9901135431507145 Centerline is valid? [True, True] Translation: X:193.22, Y:-10.97, Z:-2.55 [[ 9.99982178e-01 5.88845027e-03 -9.84712439e-04 1.93220917e+02] [-5.88838933e-03 9.99982661e-01 6.47771548e-05 -1.09746093e+01] [ 9.85076802e-04 -5.89776301e-05 9.99999513e-01 -2.55305325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08037174299997 meters Centerline goodness [0,1] 0.9898091934084996 Centerline is valid? [True, True] Translation: X:193.25, Y:-10.98, Z:-2.55 [[ 9.99992984e-01 3.64292237e-03 -8.72519756e-04 1.93250432e+02] [-3.64287356e-03 9.99993363e-01 5.75224859e-05 -1.09777417e+01] [ 8.72723515e-04 -5.43436031e-05 9.99999618e-01 -2.55280855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11037174299997 meters Centerline goodness [0,1] 0.9894081535601573 Centerline is valid? [True, True] Translation: X:193.28, Y:-10.98, Z:-2.55 [[ 9.99998174e-01 1.50780991e-03 -1.17429923e-03 1.93279560e+02] [-1.50772019e-03 9.99998860e-01 7.72849717e-05 -1.09816507e+01] [ 1.17441443e-03 -7.55143159e-05 9.99999308e-01 -2.55287414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14037174299997 meters Centerline goodness [0,1] 0.9895404738187016 Centerline is valid? [True, True] Translation: X:193.31, Y:-10.99, Z:-2.55 [[ 9.99997153e-01 -2.08947725e-03 -1.15254323e-03 1.93308820e+02] [ 2.08956645e-03 9.99997814e-01 7.61903830e-05 -1.09878816e+01] [ 1.15238151e-03 -7.85984817e-05 9.99999333e-01 -2.55299537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17037174299998 meters Centerline goodness [0,1] 0.9892272273141914 Centerline is valid? [True, True] Translation: X:193.34, Y:-10.99, Z:-2.55 [[ 9.99995396e-01 -2.86939020e-03 -9.86876883e-04 1.93339422e+02] [ 2.86945626e-03 9.99995881e-01 6.55271558e-05 -1.09920902e+01] [ 9.86684795e-04 -6.83586542e-05 9.99999511e-01 -2.55332692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20037174299998 meters Centerline goodness [0,1] 0.9887231089521166 Centerline is valid? [True, True] Translation: X:193.37, Y:-11.00, Z:-2.55 [[ 9.99988282e-01 -4.81334206e-03 -5.17120243e-04 1.93369885e+02] [ 4.81336045e-03 9.99988415e-01 3.43360143e-05 -1.09950805e+01] [ 5.16948981e-04 -3.68246980e-05 9.99999866e-01 -2.55291221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23037174299998 meters Centerline goodness [0,1] 0.9892224121886294 Centerline is valid? [True, True] Translation: X:193.40, Y:-10.99, Z:-2.55 [[ 9.99980570e-01 -6.12546178e-03 1.15702702e-03 1.93401936e+02] [ 6.12555424e-03 9.99981236e-01 -7.63787556e-05 -1.09917726e+01] [-1.15653745e-03 8.34647033e-05 9.99999328e-01 -2.55030875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26037174299998 meters Centerline goodness [0,1] 0.9890824018715882 Centerline is valid? [True, True] Translation: X:193.43, Y:-10.99, Z:-2.55 [[ 9.99977483e-01 -6.47677260e-03 1.75624467e-03 1.93434754e+02] [ 6.47698590e-03 9.99979017e-01 -1.15794042e-04 -1.09891495e+01] [-1.75545785e-03 1.27166607e-04 9.99998451e-01 -2.54892742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29037174299998 meters Centerline goodness [0,1] 0.9894711705453283 Centerline is valid? [True, True] Translation: X:193.47, Y:-10.99, Z:-2.55 [[ 9.99976935e-01 -6.20391737e-03 2.76435778e-03 1.93465715e+02] [ 6.20444535e-03 9.99980736e-01 -1.82458487e-04 -1.09933134e+01] [-2.76317257e-03 1.99605585e-04 9.99996163e-01 -2.54832877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32037174299998 meters Centerline goodness [0,1] 0.9885396130765398 Centerline is valid? [True, True] Translation: X:193.50, Y:-11.00, Z:-2.55 [[ 9.99975168e-01 -5.98667204e-03 3.71787664e-03 1.93497313e+02] [ 5.98763171e-03 9.99982043e-01 -2.47045981e-04 -1.09963293e+01] [-3.71633090e-03 2.69301123e-04 9.99993058e-01 -2.54745094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35037174299998 meters Centerline goodness [0,1] 0.9887679431024763 Centerline is valid? [True, True] Translation: X:193.53, Y:-10.99, Z:-2.55 [[ 9.99975515e-01 -5.72580577e-03 4.02302679e-03 1.93530265e+02] [ 5.72692877e-03 9.99983565e-01 -2.67676317e-04 -1.09926178e+01] [-4.02142801e-03 2.90709351e-04 9.99991872e-01 -2.54660231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38037174299998 meters Centerline goodness [0,1] 0.9885962059620597 Centerline is valid? [True, True] Translation: X:193.56, Y:-11.00, Z:-2.55 [[ 9.99973088e-01 -5.83779012e-03 4.44344781e-03 1.93561134e+02] [ 5.83916390e-03 9.99982908e-01 -2.96259349e-04 -1.09968975e+01] [-4.44164236e-03 3.22197396e-04 9.99990084e-01 -2.54714922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41037174299998 meters Centerline goodness [0,1] 0.9888525016807999 Centerline is valid? [True, True] Translation: X:193.59, Y:-11.00, Z:-2.55 [[ 9.99978411e-01 -4.79316932e-03 4.49480256e-03 1.93593571e+02] [ 4.79456496e-03 9.99988461e-01 -2.99777081e-04 -1.09966504e+01] [-4.49331381e-03 3.21321232e-04 9.99989853e-01 -2.54775225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440371743 meters Centerline goodness [0,1] 0.9889854946770452 Centerline is valid? [True, True] Translation: X:193.63, Y:-11.00, Z:-2.55 [[ 9.99976492e-01 -5.64000960e-03 3.89951805e-03 1.93625556e+02] [ 5.64106707e-03 9.99984055e-01 -2.60234868e-04 -1.09980413e+01] [-3.89798814e-03 2.82226194e-04 9.99992363e-01 -2.54772592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.470371743 meters Centerline goodness [0,1] 0.9882827756802499 Centerline is valid? [True, True] Translation: X:193.66, Y:-11.00, Z:-2.55 [[ 9.99978581e-01 -5.66531482e-03 3.27733000e-03 1.93657280e+02] [ 5.66606218e-03 9.99983924e-01 -2.18798262e-04 -1.09992132e+01] [-3.27603775e-03 2.37363131e-04 9.99994606e-01 -2.54869988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500371743 meters Centerline goodness [0,1] 0.9892798121249021 Centerline is valid? [True, True] Translation: X:193.69, Y:-11.00, Z:-2.55 [[ 9.99987181e-01 -4.52835481e-03 2.26518320e-03 1.93689623e+02] [ 4.52870863e-03 9.99989734e-01 -1.51092788e-04 -1.09990625e+01] [-2.26447574e-03 1.61349206e-04 9.99997423e-01 -2.54968125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.530371743 meters Centerline goodness [0,1] 0.988882361899789 Centerline is valid? [True, True] Translation: X:193.72, Y:-11.00, Z:-2.55 [[ 9.99994046e-01 -3.24024407e-03 1.18689061e-03 1.93721042e+02] [ 3.24034038e-03 9.99994747e-01 -7.92353777e-05 -1.10006259e+01] [-1.18662764e-03 8.30808356e-05 9.99999293e-01 -2.55112296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560371743 meters Centerline goodness [0,1] 0.9886440272369308 Centerline is valid? [True, True] Translation: X:193.75, Y:-11.00, Z:-2.55 [[ 9.99992904e-01 -3.45234901e-03 1.50756078e-03 1.93751935e+02] [ 3.45250460e-03 9.99994035e-01 -1.00618789e-04 -1.10016229e+01] [-1.50720442e-03 1.05822936e-04 9.99998859e-01 -2.55088515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.590371743 meters Centerline goodness [0,1] 0.988755230125523 Centerline is valid? [True, True] Translation: X:193.78, Y:-11.00, Z:-2.55 [[ 9.99993853e-01 -2.99877063e-03 1.81695626e-03 1.93783829e+02] [ 2.99899635e-03 9.99995496e-01 -1.21516466e-04 -1.10011596e+01] [-1.81658368e-03 1.26964764e-04 9.99998342e-01 -2.55103095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620371743 meters Centerline goodness [0,1] 0.9890323143343073 Centerline is valid? [True, True] Translation: X:193.82, Y:-11.00, Z:-2.55 [[ 9.99997227e-01 -3.50998782e-04 2.32872548e-03 1.93815088e+02] [ 3.51364098e-04 9.99999926e-01 -1.56466316e-04 -1.09958011e+01] [-2.32867038e-03 1.57284113e-04 9.99997276e-01 -2.54987294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.650371743 meters Centerline goodness [0,1] 0.9890323143343073 Centerline is valid? [True, True] Translation: X:193.85, Y:-11.00, Z:-2.55 [[ 9.99997239e-01 -3.14521579e-04 2.32873632e-03 1.93845932e+02] [ 3.14886422e-04 9.99999938e-01 -1.56305335e-04 -1.09979064e+01] [-2.32868701e-03 1.57038191e-04 9.99997276e-01 -2.55029181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680371743 meters Centerline goodness [0,1] 0.9889798762958446 Centerline is valid? [True, True] Translation: X:193.88, Y:-11.00, Z:-2.55 [[ 9.99995583e-01 -2.60064391e-04 2.96083825e-03 1.93875908e+02] [ 2.60655239e-04 9.99999946e-01 -1.99170044e-04 -1.10033735e+01] [-2.96078629e-03 1.99940922e-04 9.99995597e-01 -2.55045866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71037174299997 meters Centerline goodness [0,1] 0.988963772383258 Centerline is valid? [True, True] Translation: X:193.91, Y:-11.00, Z:-2.55 [[ 9.99992686e-01 8.38663359e-04 3.73156740e-03 1.93907383e+02] [-8.37732658e-04 9.99999618e-01 -2.50968802e-04 -1.09987361e+01] [-3.73177645e-03 2.47840911e-04 9.99993006e-01 -2.54941208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74037174299997 meters Centerline goodness [0,1] 0.9893619340352713 Centerline is valid? [True, True] Translation: X:193.94, Y:-11.00, Z:-2.55 [[ 9.99985771e-01 3.00107161e-03 4.41032957e-03 1.93937522e+02] [-2.99979064e-03 9.99995457e-01 -2.97035553e-04 -1.09996154e+01] [-4.41120096e-03 2.83801261e-04 9.99990230e-01 -2.54882679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77037174299997 meters Centerline goodness [0,1] 0.9897172236503856 Centerline is valid? [True, True] Translation: X:193.97, Y:-11.00, Z:-2.55 [[ 9.99983324e-01 3.85807190e-03 4.29742925e-03 1.93969429e+02] [-3.85686394e-03 9.99992520e-01 -2.89342598e-04 -1.09972564e+01] [-4.29851341e-03 2.72763173e-04 9.99990724e-01 -2.54848032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80037174299997 meters Centerline goodness [0,1] 0.9897728261815649 Centerline is valid? [True, True] Translation: X:194.00, Y:-11.00, Z:-2.55 [[ 9.99979103e-01 4.46463289e-03 4.67554578e-03 1.93999701e+02] [-4.46320714e-03 9.99989990e-01 -3.15325706e-04 -1.09979696e+01] [-4.67690680e-03 2.94451187e-04 9.99989020e-01 -2.54897238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83037174299997 meters Centerline goodness [0,1] 0.9893654190505307 Centerline is valid? [True, True] Translation: X:194.03, Y:-11.00, Z:-2.55 [[ 9.99979125e-01 5.22982724e-03 3.79454241e-03 1.94030055e+02] [-5.22889367e-03 9.99986297e-01 -2.55909539e-04 -1.09964596e+01] [-3.79582878e-03 2.36062938e-04 9.99992768e-01 -2.55003753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86037174299997 meters Centerline goodness [0,1] 0.9901251829681254 Centerline is valid? [True, True] Translation: X:194.06, Y:-10.99, Z:-2.55 [[ 9.99983280e-01 4.48290673e-03 3.65286491e-03 1.94061059e+02] [-4.48203661e-03 9.99989925e-01 -2.46354599e-04 -1.09937209e+01] [-3.65393250e-03 2.29978206e-04 9.99993298e-01 -2.54952196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89037174299997 meters Centerline goodness [0,1] 0.9903391167192429 Centerline is valid? [True, True] Translation: X:194.09, Y:-11.00, Z:-2.55 [[ 9.99987453e-01 4.01421580e-03 2.99675016e-03 1.94090429e+02] [-4.01362750e-03 9.99991925e-01 -2.02298106e-04 -1.09966078e+01] [-2.99753803e-03 1.90267729e-04 9.99995489e-01 -2.55043755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92037174299998 meters Centerline goodness [0,1] 0.9900148900762021 Centerline is valid? [True, True] Translation: X:194.12, Y:-11.00, Z:-2.55 [[ 9.99990410e-01 3.75319436e-03 2.25696629e-03 1.94121416e+02] [-3.75286043e-03 9.99992946e-01 -1.52171767e-04 -1.09970088e+01] [-2.25752150e-03 1.43700228e-04 9.99997441e-01 -2.55102468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95037174299998 meters Centerline goodness [0,1] 0.9901269702276707 Centerline is valid? [True, True] Translation: X:194.15, Y:-11.00, Z:-2.55 [[ 9.99991978e-01 3.54622946e-03 1.86212556e-03 1.94151210e+02] [-3.54600204e-03 9.99993705e-01 -1.25412067e-04 -1.09995815e+01] [-1.86255858e-03 1.18807960e-04 9.99998258e-01 -2.55171857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98037174299998 meters Centerline goodness [0,1] 0.9895078089063151 Centerline is valid? [True, True] Translation: X:194.18, Y:-11.00, Z:-2.55 [[ 9.99990080e-01 3.80990606e-03 2.30766698e-03 1.94181872e+02] [-3.80955705e-03 9.99992732e-01 -1.55617547e-04 -1.09997297e+01] [-2.30824309e-03 1.46824814e-04 9.99997325e-01 -2.55178161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01037174299998 meters Centerline goodness [0,1] 0.9896002457325903 Centerline is valid? [True, True] Translation: X:194.21, Y:-11.00, Z:-2.55 [[ 9.99984885e-01 4.57624991e-03 3.04744658e-03 1.94211081e+02] [-4.57564424e-03 9.99989511e-01 -2.05689231e-04 -1.10001939e+01] [-3.04835589e-03 1.91742091e-04 9.99995335e-01 -2.55090374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04037174299998 meters Centerline goodness [0,1] 0.9887987724682157 Centerline is valid? [True, True] Translation: X:194.24, Y:-11.00, Z:-2.55 [[ 9.99974011e-01 6.05626484e-03 3.91149936e-03 1.94241365e+02] [-6.05527950e-03 9.99981632e-01 -2.63703026e-04 -1.10014353e+01] [-3.91302456e-03 2.40010951e-04 9.99992315e-01 -2.55085232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07037174299998 meters Centerline goodness [0,1] 0.9882536336890178 Centerline is valid? [True, True] Translation: X:194.27, Y:-11.00, Z:-2.55 [[ 9.99972591e-01 5.99705815e-03 4.34196427e-03 1.94271989e+02] [-5.99584344e-03 9.99981982e-01 -2.92723842e-04 -1.10024798e+01] [-4.34364152e-03 2.66682080e-04 9.99990531e-01 -2.55040329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10037174299998 meters Centerline goodness [0,1] 0.9893994490358127 Centerline is valid? [True, True] Translation: X:194.30, Y:-11.00, Z:-2.55 [[ 9.99962620e-01 6.81900788e-03 5.31600892e-03 1.94301262e+02] [-6.81719999e-03 9.99976698e-01 -3.58131379e-04 -1.10031774e+01] [-5.31832715e-03 3.21877696e-04 9.99985806e-01 -2.54979767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13037174299998 meters Centerline goodness [0,1] 0.9889207680423747 Centerline is valid? [True, True] Translation: X:194.33, Y:-11.00, Z:-2.55 [[ 9.99963470e-01 7.01422355e-03 4.88463450e-03 1.94331593e+02] [-7.01269756e-03 9.99975356e-01 -3.29464075e-04 -1.10049340e+01] [-4.88682506e-03 2.95197575e-04 9.99988016e-01 -2.55060964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16037174299998 meters Centerline goodness [0,1] 0.9885547625886564 Centerline is valid? [True, True] Translation: X:194.36, Y:-11.01, Z:-2.55 [[ 9.99954680e-01 8.29845218e-03 4.66626366e-03 1.94360911e+02] [-8.29707281e-03 9.99965529e-01 -3.14885164e-04 -1.10074387e+01] [-4.66871587e-03 2.76154564e-04 9.99989063e-01 -2.55248610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.190371743 meters Centerline goodness [0,1] 0.9882503644153894 Centerline is valid? [True, True] Translation: X:194.39, Y:-11.01, Z:-2.55 [[ 9.99968509e-01 7.00252495e-03 3.73440163e-03 1.94390863e+02] [-7.00163195e-03 9.99975456e-01 -2.52146530e-04 -1.10087767e+01] [-3.73607564e-03 2.25991684e-04 9.99992995e-01 -2.55272358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220371743 meters Centerline goodness [0,1] 0.9877879115782965 Centerline is valid? [True, True] Translation: X:194.42, Y:-11.01, Z:-2.55 [[ 9.99974202e-01 6.70777448e-03 2.56937481e-03 1.94420025e+02] [-6.70735182e-03 9.99977490e-01 -1.73080949e-04 -1.10105760e+01] [-2.57047796e-03 1.55842783e-04 9.99996684e-01 -2.55453340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.250371743 meters Centerline goodness [0,1] 0.9880068910681156 Centerline is valid? [True, True] Translation: X:194.45, Y:-11.01, Z:-2.56 [[ 9.99979535e-01 6.15317238e-03 1.75177325e-03 1.94449289e+02] [-6.15297425e-03 9.99981063e-01 -1.18469781e-04 -1.10130542e+01] [-1.75246904e-03 1.07688741e-04 9.99998459e-01 -2.55553169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280371743 meters Centerline goodness [0,1] 0.9864587698211411 Centerline is valid? [True, True] Translation: X:194.48, Y:-11.02, Z:-2.56 [[ 9.99982834e-01 5.67527031e-03 1.45678444e-03 1.94479266e+02] [-5.67513275e-03 9.99983891e-01 -9.85459762e-05 -1.10153783e+01] [-1.45732024e-03 9.02768395e-05 9.99998934e-01 -2.55662265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.310371743 meters Centerline goodness [0,1] 0.9865880422975459 Centerline is valid? [True, True] Translation: X:194.51, Y:-11.02, Z:-2.56 [[ 9.99988849e-01 4.62682260e-03 9.45213160e-04 1.94507879e+02] [-4.62676396e-03 9.99989294e-01 -6.42191667e-05 -1.10180622e+01] [-9.45500171e-04 5.98451724e-05 9.99999551e-01 -2.55723773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340371743 meters Centerline goodness [0,1] 0.9850358562198885 Centerline is valid? [True, True] Translation: X:194.54, Y:-11.02, Z:-2.56 [[ 9.99988420e-01 4.69219234e-03 1.06951914e-03 1.94536629e+02] [-4.69211738e-03 9.99988989e-01 -7.25787856e-05 -1.10213627e+01] [-1.06984792e-03 6.75596358e-05 9.99999425e-01 -2.55813848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.370371743 meters Centerline goodness [0,1] 0.9858444444444444 Centerline is valid? [True, True] Translation: X:194.57, Y:-11.02, Z:-2.56 [[ 9.99988747e-01 4.51303013e-03 1.46250190e-03 1.94566515e+02] [-4.51289054e-03 9.99989812e-01 -9.87368227e-05 -1.10221928e+01] [-1.46293261e-03 9.21356006e-05 9.99998926e-01 -2.55781145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400371743 meters Centerline goodness [0,1] 0.9844761248137357 Centerline is valid? [True, True] Translation: X:194.60, Y:-11.02, Z:-2.56 [[ 9.99985147e-01 5.15337271e-03 1.77463162e-03 1.94595964e+02] [-5.15316878e-03 9.99986715e-01 -1.19470043e-04 -1.10231389e+01] [-1.77522372e-03 1.10323292e-04 9.99998418e-01 -2.55794293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.430371743 meters Centerline goodness [0,1] 0.9833511396011396 Centerline is valid? [True, True] Translation: X:194.63, Y:-11.02, Z:-2.56 [[ 9.99986250e-01 4.94111397e-03 1.75674578e-03 1.94625449e+02] [-4.94091352e-03 9.99987787e-01 -1.18424691e-04 -1.10244365e+01] [-1.75730948e-03 1.09743134e-04 9.99998450e-01 -2.55836690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46037174299997 meters Centerline goodness [0,1] 0.9835684424671928 Centerline is valid? [True, True] Translation: X:194.66, Y:-11.03, Z:-2.56 [[ 9.99985429e-01 4.95566257e-03 2.14061663e-03 1.94655200e+02] [-4.95536572e-03 9.99987712e-01 -1.43959263e-04 -1.10262486e+01] [-2.14130374e-03 1.33349628e-04 9.99997699e-01 -2.55925021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49037174299997 meters Centerline goodness [0,1] 0.9794643059297665 Centerline is valid? [True, True] Translation: X:194.69, Y:-11.03, Z:-2.56 [[ 9.99990874e-01 4.06529767e-03 1.31361851e-03 1.94685127e+02] [-4.06518504e-03 9.99991733e-01 -8.84022031e-05 -1.10280922e+01] [-1.31396703e-03 8.30612940e-05 9.99999133e-01 -2.56057131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52037174299997 meters Centerline goodness [0,1] 0.9765102209185077 Centerline is valid? [True, True] Translation: X:194.71, Y:-11.03, Z:-2.56 [[ 9.99994105e-01 3.27471774e-03 1.03210063e-03 1.94714436e+02] [-3.27464757e-03 9.99994636e-01 -6.96776555e-05 -1.10301215e+01] [-1.03232327e-03 6.62974790e-05 9.99999465e-01 -2.56243854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55037174299997 meters Centerline goodness [0,1] 0.9653076318587344 Centerline is valid? [True, True] Translation: X:194.74, Y:-11.03, Z:-2.57 [[ 9.99999854e-01 -4.38264430e-04 3.15821244e-04 1.94743601e+02] [ 4.38271203e-04 9.99999904e-01 -2.13740498e-05 -1.10339004e+01] [-3.15811846e-04 2.15124621e-05 9.99999950e-01 -2.56695289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58037174299997 meters Centerline goodness [0,1] 0.9741332769992723 Centerline is valid? [True, True] Translation: X:194.77, Y:-11.02, Z:-2.56 [[ 9.99999578e-01 -1.74284857e-04 9.02488007e-04 1.94774848e+02] [ 1.74339573e-04 9.99999983e-01 -6.05494015e-05 -1.10202273e+01] [-9.02477439e-04 6.07067153e-05 9.99999591e-01 -2.56232238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61037174299997 meters Centerline goodness [0,1] 0.9779190054274713 Centerline is valid? [True, True] Translation: X:194.81, Y:-11.02, Z:-2.56 [[ 9.99997782e-01 -1.90621332e-03 8.95378354e-04 1.94805430e+02] [ 1.90626787e-03 9.99998181e-01 -6.00724032e-05 -1.10231687e+01] [-8.95262214e-04 6.17791010e-05 9.99999597e-01 -2.56307684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64037174299997 meters Centerline goodness [0,1] 0.9797538249165996 Centerline is valid? [True, True] Translation: X:194.84, Y:-11.02, Z:-2.56 [[ 9.99992502e-01 -3.83468949e-03 5.40123011e-04 1.94836299e+02] [ 3.83470925e-03 9.99992647e-01 -3.55641897e-05 -1.10242824e+01] [-5.39982662e-04 3.76351377e-05 9.99999854e-01 -2.56348314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67037174299998 meters Centerline goodness [0,1] 0.9104784535941142 Centerline is valid? [True, False] Translation: X:194.84, Y:-11.03, Z:-2.56 [[ 9.99987623e-01 -4.89633649e-03 8.82786320e-04 1.94835016e+02] [ 4.89668350e-03 9.99987935e-01 -3.91356509e-04 -1.10251872e+01] [-8.80859455e-04 3.95674390e-04 9.99999534e-01 -2.56306553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70037174299998 meters Centerline goodness [0,1] 0.9796846435100548 Centerline is valid? [False, True] Translation: X:194.84, Y:-11.03, Z:-2.56 [[ 9.99987408e-01 -4.95034493e-03 8.22930686e-04 1.94835105e+02] [ 4.95031642e-03 9.99987746e-01 3.66815788e-05 -1.10263019e+01] [-8.23102189e-04 -3.26073496e-05 9.99999661e-01 -2.56324249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73037174299998 meters Centerline goodness [0,1] 0.9776892430278884 Centerline is valid? [True, True] Translation: X:194.86, Y:-11.03, Z:-2.56 [[ 9.99963058e-01 -8.52094993e-03 1.12925603e-03 1.94864137e+02] [ 8.52104743e-03 9.99963692e-01 -8.15587802e-05 -1.10345753e+01] [-1.12852007e-03 9.11782114e-05 9.99999359e-01 -2.56428517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76037174299998 meters Centerline goodness [0,1] 0.9778151948849804 Centerline is valid? [True, True] Translation: X:194.90, Y:-11.03, Z:-2.56 [[ 9.99951573e-01 -9.77586087e-03 1.13328228e-03 1.94896562e+02] [ 9.77595859e-03 9.99952211e-01 -8.07237333e-05 -1.10344944e+01] [-1.13243898e-03 9.17987447e-05 9.99999355e-01 -2.56399205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79037174299998 meters Centerline goodness [0,1] 0.9783141275746302 Centerline is valid? [True, True] Translation: X:194.93, Y:-11.04, Z:-2.56 [[ 9.99940872e-01 -1.07508673e-02 1.63426462e-03 1.94928571e+02] [ 1.07510727e-02 9.99942199e-01 -1.16967673e-04 -1.10379444e+01] [-1.63291266e-03 1.34530855e-04 9.99998658e-01 -2.56375209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82037174299998 meters Centerline goodness [0,1] 0.9770976756867289 Centerline is valid? [True, True] Translation: X:194.96, Y:-11.04, Z:-2.56 [[ 9.99916602e-01 -1.27096825e-02 2.29193425e-03 1.94959424e+02] [ 1.27100944e-02 9.99919210e-01 -1.65236261e-04 -1.10417217e+01] [-2.28964898e-03 1.94353182e-04 9.99997360e-01 -2.56342883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85037174299998 meters Centerline goodness [0,1] 0.9779843555152476 Centerline is valid? [True, True] Translation: X:194.99, Y:-11.04, Z:-2.56 [[ 9.99909548e-01 -1.32533637e-02 2.29003437e-03 1.94991282e+02] [ 1.32537750e-02 9.99912151e-01 -1.64504618e-04 -1.10429445e+01] [-2.28765295e-03 1.94841339e-04 9.99997364e-01 -2.56342412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88037174299998 meters Centerline goodness [0,1] 0.979220484930886 Centerline is valid? [True, True] Translation: X:195.02, Y:-11.05, Z:-2.56 [[ 9.99911098e-01 -1.31029965e-02 2.47123720e-03 1.95022189e+02] [ 1.31034761e-02 9.99914130e-01 -1.77991311e-04 -1.10476069e+01] [-2.46869277e-03 2.10357284e-04 9.99996931e-01 -2.56405640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91037174299998 meters Centerline goodness [0,1] 0.9797309538907509 Centerline is valid? [True, True] Translation: X:195.05, Y:-11.05, Z:-2.56 [[ 9.99917461e-01 -1.26430613e-02 2.28586555e-03 1.95054449e+02] [ 1.26434702e-02 9.99920055e-01 -1.64500168e-04 -1.10493355e+01] [-2.28360302e-03 1.93387863e-04 9.99997374e-01 -2.56405950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940371743 meters Centerline goodness [0,1] 0.9804904607427236 Centerline is valid? [True, True] Translation: X:195.09, Y:-11.05, Z:-2.56 [[ 9.99924094e-01 -1.22235173e-02 1.54686382e-03 1.95086893e+02] [ 1.22237037e-02 9.99925282e-01 -1.11105638e-04 -1.10509529e+01] [-1.54539014e-03 1.30005610e-04 9.99998797e-01 -2.56452378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.970371743 meters Centerline goodness [0,1] 0.9779925583083764 Centerline is valid? [True, True] Translation: X:195.12, Y:-11.06, Z:-2.57 [[ 9.99936732e-01 -1.11559956e-02 1.44055699e-03 1.95116812e+02] [ 1.11561571e-02 9.99937763e-01 -1.04177448e-04 -1.10593423e+01] [-1.43930513e-03 1.20241937e-04 9.99998957e-01 -2.56582316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000371743 meters Centerline goodness [0,1] 0.9812542449626444 Centerline is valid? [True, True] Translation: X:195.15, Y:-11.05, Z:-2.57 [[ 9.99959201e-01 -8.90532407e-03 1.51347042e-03 1.95147923e+02] [ 8.90550025e-03 9.99960339e-01 -1.09709256e-04 -1.10512221e+01] [-1.51243340e-03 1.23182992e-04 9.99998849e-01 -2.56591230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.030371743 meters Centerline goodness [0,1] 0.9801971183392894 Centerline is valid? [True, True] Translation: X:195.18, Y:-11.06, Z:-2.57 [[ 9.99971062e-01 -7.49131861e-03 1.32453861e-03 1.95178228e+02] [ 7.49145066e-03 9.99971934e-01 -9.47645517e-05 -1.10553291e+01] [-1.32379153e-03 1.04684525e-04 9.99999118e-01 -2.56688275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060371743 meters Centerline goodness [0,1] 0.9811917936106747 Centerline is valid? [True, True] Translation: X:195.21, Y:-11.05, Z:-2.57 [[ 9.99991855e-01 -3.86015605e-03 1.17855403e-03 1.95208888e+02] [ 3.86025946e-03 9.99992546e-01 -8.54824915e-05 -1.10509384e+01] [-1.17821527e-03 9.00313196e-05 9.99999302e-01 -2.56656168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.090371743 meters Centerline goodness [0,1] 0.9803970732374462 Centerline is valid? [True, True] Translation: X:195.24, Y:-11.05, Z:-2.57 [[ 9.99997252e-01 -1.83751800e-03 1.45583715e-03 1.95240785e+02] [ 1.83767286e-03 9.99998306e-01 -1.05044470e-04 -1.10503963e+01] [-1.45564167e-03 1.07719534e-04 9.99998935e-01 -2.56685762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120371743 meters Centerline goodness [0,1] 0.9784072810011376 Centerline is valid? [True, True] Translation: X:195.27, Y:-11.06, Z:-2.57 [[ 9.99998319e-01 4.87348134e-04 1.76774816e-03 1.95270270e+02] [-4.87121887e-04 9.99999873e-01 -1.28413909e-04 -1.10593174e+01] [-1.76781052e-03 1.27552585e-04 9.99998429e-01 -2.56869206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.150371743 meters Centerline goodness [0,1] 0.9801667999543013 Centerline is valid? [True, True] Translation: X:195.30, Y:-11.05, Z:-2.57 [[ 9.99995956e-01 2.33225782e-03 1.62765575e-03 1.95301427e+02] [-2.33206844e-03 9.99997274e-01 -1.18237226e-04 -1.10506430e+01] [-1.62792707e-03 1.14440943e-04 9.99998668e-01 -2.56722848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180371743 meters Centerline goodness [0,1] 0.9802565507166986 Centerline is valid? [True, True] Translation: X:195.33, Y:-11.05, Z:-2.57 [[ 9.99981268e-01 5.48867790e-03 2.70874125e-03 1.95332301e+02] [-5.48816465e-03 9.99984921e-01 -1.96873556e-04 -1.10491119e+01] [-2.70978097e-03 1.82003850e-04 9.99996312e-01 -2.56630301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21037174299997 meters Centerline goodness [0,1] 0.9801198755490483 Centerline is valid? [True, True] Translation: X:195.36, Y:-11.05, Z:-2.57 [[ 9.99972759e-01 6.65318805e-03 3.19632095e-03 1.95362144e+02] [-6.65247858e-03 9.99977845e-01 -2.32545567e-04 -1.10499624e+01] [-3.19779731e-03 2.11275776e-04 9.99994865e-01 -2.56596397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24037174299997 meters Centerline goodness [0,1] 0.981228512491405 Centerline is valid? [True, True] Translation: X:195.39, Y:-11.05, Z:-2.57 [[ 9.99954925e-01 8.87247601e-03 3.38045102e-03 1.95392071e+02] [-8.87169557e-03 9.99960616e-01 -2.45794295e-04 -1.10487747e+01] [-3.38249869e-03 2.15792884e-04 9.99994256e-01 -2.56615748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27037174299997 meters Centerline goodness [0,1] 0.9802669362063816 Centerline is valid? [True, True] Translation: X:195.42, Y:-11.05, Z:-2.57 [[ 9.99945057e-01 9.92607970e-03 3.36991143e-03 1.95420953e+02] [-9.92531095e-03 9.99950713e-01 -2.44767074e-04 -1.10509655e+01] [-3.37217491e-03 2.11306207e-04 9.99994292e-01 -2.56715109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30037174299997 meters Centerline goodness [0,1] 0.9794667342658954 Centerline is valid? [True, True] Translation: X:195.45, Y:-11.05, Z:-2.57 [[ 9.99938938e-01 1.05830183e-02 3.18111728e-03 1.95449235e+02] [-1.05823351e-02 9.99943979e-01 -2.31519474e-04 -1.10528802e+01] [-3.18338924e-03 1.97841688e-04 9.99994913e-01 -2.56834920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33037174299997 meters Centerline goodness [0,1] 0.9789962312712566 Centerline is valid? [True, True] Translation: X:195.48, Y:-11.06, Z:-2.57 [[ 9.99905550e-01 1.33863447e-02 3.11401403e-03 1.95478471e+02] [-1.33857054e-02 9.99910382e-01 -2.26051047e-04 -1.10551146e+01] [-3.11676095e-03 1.84346422e-04 9.99995126e-01 -2.56962575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36037174299997 meters Centerline goodness [0,1] 0.9793554306686547 Centerline is valid? [True, True] Translation: X:195.51, Y:-11.06, Z:-2.57 [[ 9.99891200e-01 1.44314801e-02 3.05285255e-03 1.95506678e+02] [-1.44308697e-02 9.99895845e-01 -2.21880523e-04 -1.10568325e+01] [-3.05573665e-03 1.77801065e-04 9.99995315e-01 -2.57072354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39037174299997 meters Centerline goodness [0,1] 0.9801977915581273 Centerline is valid? [True, True] Translation: X:195.54, Y:-11.06, Z:-2.57 [[ 9.99873590e-01 1.56737751e-02 2.67143268e-03 1.95535485e+02] [-1.56733123e-02 9.99877147e-01 -1.94091363e-04 -1.10572630e+01] [-2.67414663e-03 1.52196629e-04 9.99996413e-01 -2.57115587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42037174299998 meters Centerline goodness [0,1] 0.9794911973453775 Centerline is valid? [True, True] Translation: X:195.56, Y:-11.06, Z:-2.57 [[ 9.99851078e-01 1.71451702e-02 1.96577808e-03 1.95563774e+02] [-1.71449222e-02 9.99853005e-01 -1.42932949e-04 -1.10574925e+01] [-1.96793973e-03 1.09208551e-04 9.99998058e-01 -2.57237348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45037174299998 meters Centerline goodness [0,1] 0.9808865674401405 Centerline is valid? [True, True] Translation: X:195.59, Y:-11.05, Z:-2.57 [[ 9.99830879e-01 1.83010608e-02 1.81228816e-03 1.95593412e+02] [-1.83008519e-02 9.99832517e-01 -1.31784351e-04 -1.10515542e+01] [-1.81439642e-03 9.85956460e-05 9.99998349e-01 -2.57044851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48037174299998 meters Centerline goodness [0,1] 0.9810627081021087 Centerline is valid? [True, True] Translation: X:195.62, Y:-11.05, Z:-2.57 [[ 9.99822232e-01 1.87710202e-02 1.77573614e-03 1.95622027e+02] [-1.87708206e-02 9.99823804e-01 -1.29016505e-04 -1.10525968e+01] [-1.77784503e-03 9.56615457e-05 9.99998415e-01 -2.57060593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51037174299998 meters Centerline goodness [0,1] 0.9801836301559472 Centerline is valid? [True, True] Translation: X:195.65, Y:-11.06, Z:-2.57 [[ 9.99818362e-01 1.89341103e-02 2.17754597e-03 1.95649842e+02] [-1.89338109e-02 9.99820727e-01 -1.58029447e-04 -1.10589165e+01] [-2.18014775e-03 1.16771499e-04 9.99997617e-01 -2.57110178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54037174299998 meters Centerline goodness [0,1] 0.9804664049873009 Centerline is valid? [True, True] Translation: X:195.68, Y:-11.05, Z:-2.57 [[ 9.99825129e-01 1.86177596e-02 1.75800848e-03 1.95678949e+02] [-1.86175642e-02 9.99826670e-01 -1.27455889e-04 -1.10546236e+01] [-1.76007671e-03 9.47037648e-05 9.99998447e-01 -2.56970125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57037174299998 meters Centerline goodness [0,1] 0.9804664049873009 Centerline is valid? [True, True] Translation: X:195.71, Y:-11.06, Z:-2.57 [[ 9.99827119e-01 1.85105920e-02 1.75798602e-03 1.95706378e+02] [-1.85103959e-02 9.99828660e-01 -1.27769189e-04 -1.10565059e+01] [-1.76004988e-03 9.52060832e-05 9.99998447e-01 -2.57008840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60037174299998 meters Centerline goodness [0,1] 0.9811146298051363 Centerline is valid? [True, True] Translation: X:195.73, Y:-11.06, Z:-2.57 [[ 9.99843381e-01 1.75887446e-02 1.96178404e-03 1.95733522e+02] [-1.75884998e-02 9.99845300e-01 -1.41969448e-04 -1.10621510e+01] [-1.96397762e-03 1.07442374e-04 9.99998066e-01 -2.57040319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63037174299998 meters Centerline goodness [0,1] 0.9802412645590682 Centerline is valid? [True, True] Translation: X:195.76, Y:-11.06, Z:-2.57 [[ 9.99863262e-01 1.64644878e-02 1.54227339e-03 1.95762028e+02] [-1.64643353e-02 9.99864447e-01 -1.11506353e-04 -1.10626957e+01] [-1.54390022e-03 8.60985992e-05 9.99998804e-01 -2.57022097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66037174299998 meters Centerline goodness [0,1] 0.9815886984715146 Centerline is valid? [True, True] Translation: X:195.79, Y:-11.06, Z:-2.57 [[ 9.99879721e-01 1.54667578e-02 1.15023504e-03 1.95790715e+02] [-1.54666721e-02 9.99880380e-01 -8.33426075e-05 -1.10641536e+01] [-1.15138649e-03 6.55422748e-05 9.99999335e-01 -2.57025194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.690371743 meters Centerline goodness [0,1] 0.9808868501529052 Centerline is valid? [True, True] Translation: X:195.82, Y:-11.07, Z:-2.57 [[ 9.99912654e-01 1.31952004e-02 7.55393090e-04 1.95819713e+02] [-1.31951627e-02 9.99912939e-01 -5.47819082e-05 -1.10684956e+01] [-7.56050183e-04 4.48095884e-05 9.99999713e-01 -2.57129669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720371743 meters Centerline goodness [0,1] 0.9803213409269806 Centerline is valid? [True, True] Translation: X:195.85, Y:-11.07, Z:-2.57 [[ 9.99923366e-01 1.23799205e-02 1.72712210e-05 1.95846762e+02] [-1.23799205e-02 9.99923366e-01 -2.65599586e-06 -1.10746092e+01] [-1.73027784e-05 2.44197598e-06 1.00000000e+00 -2.57285570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.750371743 meters Centerline goodness [0,1] 0.9806297643596932 Centerline is valid? [True, True] Translation: X:195.88, Y:-11.08, Z:-2.57 [[ 9.99938368e-01 1.10971135e-02 -3.37511568e-04 1.95875518e+02] [-1.10971063e-02 9.99938425e-01 2.31310094e-05 -1.10776109e+01] [ 3.37747473e-04 -1.93841820e-05 9.99999943e-01 -2.57388062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780371743 meters Centerline goodness [0,1] 0.9809581032052319 Centerline is valid? [True, True] Translation: X:195.91, Y:-11.08, Z:-2.57 [[ 9.99956569e-01 9.19350537e-03 -1.52946371e-03 1.95905079e+02] [-9.19334997e-03 9.99957734e-01 1.08602813e-04 -1.10774240e+01] [ 1.53039751e-03 -9.45372010e-05 9.99998824e-01 -2.57424213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.810371743 meters Centerline goodness [0,1] 0.979957562618202 Centerline is valid? [True, True] Translation: X:195.93, Y:-11.08, Z:-2.58 [[ 9.99965176e-01 8.21849850e-03 -1.45015605e-03 1.95932252e+02] [-8.21835907e-03 9.99966224e-01 1.02085181e-04 -1.10828434e+01] [ 1.45094606e-03 -9.01637230e-05 9.99998943e-01 -2.57562856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840371743 meters Centerline goodness [0,1] 0.9798107983387171 Centerline is valid? [True, True] Translation: X:195.96, Y:-11.09, Z:-2.58 [[ 9.99973169e-01 7.06153848e-03 -1.94809964e-03 1.95960015e+02] [-7.06128358e-03 9.99975059e-01 1.37692962e-04 -1.10873301e+01] [ 1.94902338e-03 -1.23933184e-04 9.99998093e-01 -2.57621668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.870371743 meters Centerline goodness [0,1] 0.9795753705710136 Centerline is valid? [True, True] Translation: X:195.99, Y:-11.09, Z:-2.58 [[ 9.99974757e-01 6.86351856e-03 -1.83802974e-03 1.95987938e+02] [-6.86329244e-03 9.99976439e-01 1.29301932e-04 -1.10900844e+01] [ 1.83887390e-03 -1.16683733e-04 9.99998302e-01 -2.57676318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900371743 meters Centerline goodness [0,1] 0.9805076329707384 Centerline is valid? [True, True] Translation: X:196.02, Y:-11.09, Z:-2.58 [[ 9.99974528e-01 6.92046441e-03 -1.74682830e-03 1.96017051e+02] [-6.92025992e-03 9.99976047e-01 1.23079434e-04 -1.10902028e+01] [ 1.74763822e-03 -1.10987793e-04 9.99998467e-01 -2.57618502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.930371743 meters Centerline goodness [0,1] 0.9785565579458709 Centerline is valid? [True, True] Translation: X:196.04, Y:-11.09, Z:-2.58 [[ 9.99973302e-01 7.15859426e-03 -1.46625123e-03 1.96044746e+02] [-7.15845119e-03 9.99974373e-01 1.02800280e-04 -1.10944311e+01] [ 1.46694955e-03 -9.23014471e-05 9.99998920e-01 -2.57679167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96037174299997 meters Centerline goodness [0,1] 0.9801408613324096 Centerline is valid? [True, True] Translation: X:196.07, Y:-11.10, Z:-2.58 [[ 9.99968551e-01 7.83073755e-03 -1.25572249e-03 1.96073944e+02] [-7.83063281e-03 9.99969336e-01 8.83040392e-05 -1.10965384e+01] [ 1.25637547e-03 -7.84681604e-05 9.99999208e-01 -2.57709139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99037174299997 meters Centerline goodness [0,1] 0.9791941188709342 Centerline is valid? [True, True] Translation: X:196.10, Y:-11.10, Z:-2.58 [[ 9.99966444e-01 8.01576515e-03 -1.69072216e-03 1.96102721e+02] [-8.01557571e-03 9.99967868e-01 1.18792639e-04 -1.10983266e+01] [ 1.69162005e-03 -1.05236541e-04 9.99998564e-01 -2.57763204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02037174299997 meters Centerline goodness [0,1] 0.9785289558316559 Centerline is valid? [True, True] Translation: X:196.13, Y:-11.10, Z:-2.58 [[ 9.99963318e-01 8.35226301e-03 -1.89824852e-03 1.96130574e+02] [-8.35202532e-03 9.99965112e-01 1.33107730e-04 -1.11008378e+01] [ 1.89929404e-03 -1.17248627e-04 9.99998189e-01 -2.57896436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05037174299997 meters Centerline goodness [0,1] 0.9804950197591921 Centerline is valid? [True, True] Translation: X:196.16, Y:-11.09, Z:-2.58 [[ 9.99963291e-01 8.36721859e-03 -1.84572590e-03 1.96160573e+02] [-8.36699393e-03 9.99964988e-01 1.29406628e-04 -1.10910825e+01] [ 1.84674405e-03 -1.13958700e-04 9.99998288e-01 -2.57651092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08037174299997 meters Centerline goodness [0,1] 0.9793721350187526 Centerline is valid? [True, True] Translation: X:196.19, Y:-11.10, Z:-2.58 [[ 9.99968476e-01 7.58538713e-03 -2.34700242e-03 1.96188406e+02] [-7.58502214e-03 9.99971220e-01 1.64375241e-04 -1.10965120e+01] [ 2.34818173e-03 -1.46567994e-04 9.99997232e-01 -2.57818942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11037174299997 meters Centerline goodness [0,1] 0.9793657035786162 Centerline is valid? [True, True] Translation: X:196.22, Y:-11.10, Z:-2.58 [[ 9.99973762e-01 6.95355017e-03 -2.03063985e-03 1.96215586e+02] [-6.95327597e-03 9.99975816e-01 1.42060188e-04 -1.10992713e+01] [ 2.03157856e-03 -1.27936861e-04 9.99997928e-01 -2.57907750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14037174299997 meters Centerline goodness [0,1] 0.9793721350187526 Centerline is valid? [True, True] Translation: X:196.24, Y:-11.10, Z:-2.58 [[ 9.99976578e-01 6.57954723e-03 -1.88501721e-03 1.96243178e+02] [-6.57931129e-03 9.99978347e-01 1.31339988e-04 -1.11043593e+01] [ 1.88584056e-03 -1.18934796e-04 9.99998215e-01 -2.58006504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17037174299998 meters Centerline goodness [0,1] 0.9796224845782409 Centerline is valid? [True, True] Translation: X:196.27, Y:-11.10, Z:-2.58 [[ 9.99979019e-01 6.29655189e-03 -1.52177135e-03 1.96272431e+02] [-6.29639776e-03 9.99980172e-01 1.06051585e-04 -1.11017638e+01] [ 1.52240893e-03 -9.64676818e-05 9.99998836e-01 -2.57929238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20037174299998 meters Centerline goodness [0,1] 0.979459659511473 Centerline is valid? [True, True] Translation: X:196.30, Y:-11.10, Z:-2.58 [[ 9.99981388e-01 5.99094523e-03 -1.15436787e-03 1.96300011e+02] [-5.99085699e-03 9.99982051e-01 7.98808235e-05 -1.11038853e+01] [ 1.15482571e-03 -7.29636839e-05 9.99999331e-01 -2.57958856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23037174299998 meters Centerline goodness [0,1] 0.9798806715693076 Centerline is valid? [True, True] Translation: X:196.33, Y:-11.11, Z:-2.58 [[ 9.99982470e-01 5.86311506e-03 -8.27177038e-04 1.96328941e+02] [-5.86306983e-03 9.99982810e-01 5.70975975e-05 -1.11061276e+01] [ 8.27497589e-04 -5.22467998e-05 9.99999656e-01 -2.58043059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26037174299998 meters Centerline goodness [0,1] 0.9793582763813274 Centerline is valid? [True, True] Translation: X:196.36, Y:-11.11, Z:-2.58 [[ 9.99984769e-01 5.34335084e-03 -1.38200930e-03 1.96356406e+02] [-5.34322368e-03 9.99985720e-01 9.56860462e-05 -1.11075604e+01] [ 1.38250085e-03 -8.83002040e-05 9.99999040e-01 -2.58081744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29037174299998 meters Centerline goodness [0,1] 0.979526285384171 Centerline is valid? [True, True] Translation: X:196.38, Y:-11.11, Z:-2.58 [[ 9.99985142e-01 5.18296299e-03 -1.68922357e-03 1.96384636e+02] [-5.18277257e-03 9.99986562e-01 1.17088623e-04 -1.11095525e+01] [ 1.68980774e-03 -1.08332022e-04 9.99998566e-01 -2.58154166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32037174299998 meters Centerline goodness [0,1] 0.9797572714920664 Centerline is valid? [True, True] Translation: X:196.41, Y:-11.11, Z:-2.58 [[ 9.99986380e-01 4.88253869e-03 -1.84432416e-03 1.96413467e+02] [-4.88231077e-03 9.99988073e-01 1.28061487e-04 -1.11110970e+01] [ 1.84492743e-03 -1.19055179e-04 9.99998291e-01 -2.58219982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35037174299998 meters Centerline goodness [0,1] 0.9789659006671608 Centerline is valid? [True, True] Translation: X:196.44, Y:-11.11, Z:-2.58 [[ 9.99989204e-01 4.30049055e-03 -1.75993687e-03 1.96441510e+02] [-4.30028046e-03 9.99990746e-01 1.23140354e-04 -1.11133068e+01] [ 1.76045015e-03 -1.15570802e-04 9.99998444e-01 -2.58269356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38037174299998 meters Centerline goodness [0,1] 0.9783821478382148 Centerline is valid? [True, True] Translation: X:196.47, Y:-11.12, Z:-2.58 [[ 9.99990371e-01 4.31360217e-03 -8.07050463e-04 1.96470173e+02] [-4.31355879e-03 9.99990695e-01 5.54822051e-05 -1.11159306e+01] [ 8.07282281e-04 -5.20004112e-05 9.99999673e-01 -2.58267496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41037174299998 meters Centerline goodness [0,1] 0.9776394919543966 Centerline is valid? [True, True] Translation: X:196.50, Y:-11.12, Z:-2.58 [[ 9.99989008e-01 4.68205383e-03 -2.48463933e-04 1.96499311e+02] [-4.68204989e-03 9.99989039e-01 1.64301538e-05 -1.11158812e+01] [ 2.48538136e-04 -1.52666526e-05 9.99999969e-01 -2.58262990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440371743 meters Centerline goodness [0,1] 0.9812386664806807 Centerline is valid? [True, True] Translation: X:196.53, Y:-11.10, Z:-2.58 [[ 9.99982175e-01 5.92117744e-03 7.67540994e-04 1.96529667e+02] [-5.92113751e-03 9.99982468e-01 -5.42973170e-05 -1.11028751e+01] [-7.67849042e-04 4.97516334e-05 9.99999704e-01 -2.57929385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.470371743 meters Centerline goodness [0,1] 0.9784876140808344 Centerline is valid? [True, True] Translation: X:196.56, Y:-11.12, Z:-2.58 [[ 9.99977141e-01 6.65578546e-03 1.19083260e-03 1.96557589e+02] [-6.65569042e-03 9.99977847e-01 -8.37550383e-05 -1.11150838e+01] [-1.19136368e-03 7.58273106e-05 9.99999287e-01 -2.58195310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500371743 meters Centerline goodness [0,1] 0.9815155823873569 Centerline is valid? [True, True] Translation: X:196.59, Y:-11.10, Z:-2.58 [[ 9.99961327e-01 8.49997399e-03 2.25708532e-03 1.96587876e+02] [-8.49963950e-03 9.99963865e-01 -1.57746583e-04 -1.11039412e+01] [-2.25834460e-03 1.38556071e-04 9.99997440e-01 -2.58031833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.530371743 meters Centerline goodness [0,1] 0.9806692316660837 Centerline is valid? [True, True] Translation: X:196.62, Y:-11.11, Z:-2.58 [[ 9.99949345e-01 9.74157256e-03 2.53171085e-03 1.96615826e+02] [-9.74115505e-03 9.99952538e-01 -1.77189161e-04 -1.11111858e+01] [-2.53331679e-03 1.52518398e-04 9.99996780e-01 -2.58219805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560371743 meters Centerline goodness [0,1] 0.9817118628273227 Centerline is valid? [True, True] Translation: X:196.65, Y:-11.10, Z:-2.58 [[ 9.99939404e-01 1.06718150e-02 2.70182883e-03 1.96645763e+02] [-1.06713441e-02 9.99943042e-01 -1.88645796e-04 -1.11041899e+01] [-2.70368813e-03 1.59802219e-04 9.99996332e-01 -2.58141527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.590371743 meters Centerline goodness [0,1] 0.9703609934960059 Centerline is valid? [True, True] Translation: X:196.67, Y:-11.13, Z:-2.59 [[ 9.99889039e-01 1.44469224e-02 3.63252315e-03 1.96673322e+02] [-1.44460985e-02 9.99895618e-01 -2.52960788e-04 -1.11320413e+01] [-3.63579849e-03 2.00456933e-04 9.99993370e-01 -2.58634827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620371743 meters Centerline goodness [0,1] 0.9842479199775638 Centerline is valid? [True, True] Translation: X:196.70, Y:-11.10, Z:-2.58 [[ 9.99904336e-01 1.36820589e-02 2.02958149e-03 1.96703867e+02] [-1.36817989e-02 9.99906390e-01 -1.41933688e-04 -1.11036798e+01] [-2.03133344e-03 1.14151785e-04 9.99997930e-01 -2.58258470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.650371743 meters Centerline goodness [0,1] 0.9807373895198339 Centerline is valid? [True, True] Translation: X:196.73, Y:-11.11, Z:-2.59 [[ 9.99891907e-01 1.45890475e-02 1.82570342e-03 1.96731011e+02] [-1.45888383e-02 9.99893569e-01 -1.27855425e-04 -1.11145811e+01] [-1.82737440e-03 1.01206713e-04 9.99998325e-01 -2.58580038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680371743 meters Centerline goodness [0,1] 0.9832727611592582 Centerline is valid? [True, True] Translation: X:196.76, Y:-11.11, Z:-2.58 [[ 9.99859925e-01 1.66186078e-02 1.98817914e-03 1.96760570e+02] [-1.66183647e-02 9.99861896e-01 -1.38720010e-04 -1.11056392e+01] [-1.99020990e-03 1.05660292e-04 9.99998014e-01 -2.58462643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71037174299997 meters Centerline goodness [0,1] 0.9833940582959642 Centerline is valid? [True, True] Translation: X:196.79, Y:-11.10, Z:-2.58 [[ 9.99844227e-01 1.75415131e-02 1.95349883e-03 1.96790126e+02] [-1.75412794e-02 9.99846131e-01 -1.36718302e-04 -1.11036595e+01] [-1.95559649e-03 1.02430136e-04 9.99998083e-01 -2.58457322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74037174299997 meters Centerline goodness [0,1] 0.9839287375569821 Centerline is valid? [True, True] Translation: X:196.82, Y:-11.11, Z:-2.59 [[ 9.99817890e-01 1.89311399e-02 2.40809950e-03 1.96817746e+02] [-1.89307909e-02 9.99820782e-01 -1.67656036e-04 -1.11064867e+01] [-2.41084185e-03 1.22038276e-04 9.99997086e-01 -2.58525724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77037174299997 meters Centerline goodness [0,1] 0.9845945250952615 Centerline is valid? [True, True] Translation: X:196.85, Y:-11.10, Z:-2.59 [[ 9.99757210e-01 2.19210445e-02 2.23356015e-03 1.96847773e+02] [-2.19207534e-02 9.99759699e-01 -1.54711805e-04 -1.11022080e+01] [-2.23641487e-03 1.05712921e-04 9.99997494e-01 -2.58508920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80037174299997 meters Centerline goodness [0,1] 0.9837622835751053 Centerline is valid? [True, True] Translation: X:196.88, Y:-11.11, Z:-2.59 [[ 9.99725991e-01 2.33056174e-02 2.18896694e-03 1.96875786e+02] [-2.33053404e-02 9.99728382e-01 -1.51967747e-04 -1.11059864e+01] [-2.19191407e-03 1.00911486e-04 9.99997593e-01 -2.58667224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83037174299997 meters Centerline goodness [0,1] 0.9850316233309908 Centerline is valid? [True, True] Translation: X:196.91, Y:-11.11, Z:-2.59 [[ 9.99664347e-01 2.57693539e-02 2.67082120e-03 1.96905072e+02] [-2.57689525e-02 9.99667908e-01 -1.84600241e-04 -1.11062555e+01] [-2.67469127e-03 1.15714015e-04 9.99996416e-01 -2.58700313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86037174299997 meters Centerline goodness [0,1] 0.9849234448638889 Centerline is valid? [True, True] Translation: X:196.93, Y:-11.10, Z:-2.59 [[ 9.99641573e-01 2.66032771e-02 2.99841060e-03 1.96934205e+02] [-2.66027742e-02 9.99646062e-01 -2.07478160e-04 -1.11045376e+01] [-3.00286895e-03 1.27637754e-04 9.99995483e-01 -2.58631407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89037174299997 meters Centerline goodness [0,1] 0.9863241458445543 Centerline is valid? [True, True] Translation: X:196.96, Y:-11.10, Z:-2.59 [[ 9.99624910e-01 2.71767143e-02 3.38605957e-03 1.96963398e+02] [-2.71760775e-02 9.99630635e-01 -2.33960267e-04 -1.11037552e+01] [-3.39116715e-03 1.41852694e-04 9.99994240e-01 -2.58597854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92037174299998 meters Centerline goodness [0,1] 0.9853159544629599 Centerline is valid? [True, True] Translation: X:196.99, Y:-11.11, Z:-2.59 [[ 9.99605366e-01 2.78417566e-02 3.73480977e-03 1.96990811e+02] [-2.78409871e-02 9.99612331e-01 -2.57863661e-04 -1.11076087e+01] [-3.74054128e-03 1.53781108e-04 9.99992992e-01 -2.58678288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95037174299998 meters Centerline goodness [0,1] 0.985755452990652 Centerline is valid? [True, True] Translation: X:197.02, Y:-11.11, Z:-2.59 [[ 9.99597598e-01 2.81569840e-02 3.43887840e-03 1.97019970e+02] [-2.81563349e-02 9.99603504e-01 -2.37040617e-04 -1.11070857e+01] [-3.44418925e-03 1.40119019e-04 9.99994059e-01 -2.58689180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98037174299998 meters Centerline goodness [0,1] 0.9838089882374994 Centerline is valid? [True, True] Translation: X:197.05, Y:-11.12, Z:-2.59 [[ 9.99599034e-01 2.81723264e-02 2.84435326e-03 1.97046068e+02] [-2.81718808e-02 9.99603074e-01 -1.96612282e-04 -1.11155891e+01] [-2.84876329e-03 1.16402667e-04 9.99995935e-01 -2.58989671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01037174299998 meters Centerline goodness [0,1] 0.9857413780993187 Centerline is valid? [True, True] Translation: X:197.08, Y:-11.11, Z:-2.59 [[ 9.99600941e-01 2.81466588e-02 2.39237347e-03 1.97075256e+02] [-2.81463450e-02 9.99603800e-01 -1.64746589e-04 -1.11109957e+01] [-2.39606267e-03 9.73442764e-05 9.99997125e-01 -2.58911483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04037174299998 meters Centerline goodness [0,1] 0.9855102996254682 Centerline is valid? [True, True] Translation: X:197.10, Y:-11.12, Z:-2.59 [[ 9.99617129e-01 2.76585325e-02 7.74697291e-04 1.97102578e+02] [-2.76584988e-02 9.99617429e-01 -5.41899618e-05 -1.11151280e+01] [-7.75899730e-04 3.27422499e-05 9.99999698e-01 -2.59180991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07037174299998 meters Centerline goodness [0,1] 0.9862612242984081 Centerline is valid? [True, True] Translation: X:197.13, Y:-11.12, Z:-2.59 [[ 9.99619398e-01 2.75833360e-02 4.67239088e-04 1.97130887e+02] [-2.75833236e-02 9.99619507e-01 -3.28861516e-05 -1.11167327e+01] [-4.67968416e-04 1.99856281e-05 9.99999890e-01 -2.59243525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10037174299998 meters Centerline goodness [0,1] 0.985623340928845 Centerline is valid? [True, True] Translation: X:197.16, Y:-11.12, Z:-2.59 [[ 9.99606728e-01 2.80178539e-02 1.17901835e-03 1.97158311e+02] [-2.80177770e-02 9.99607422e-01 -8.16279997e-05 -1.11203008e+01] [-1.18084253e-03 4.85624244e-05 9.99999302e-01 -2.59284904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13037174299998 meters Centerline goodness [0,1] 0.9856262350616355 Centerline is valid? [True, True] Translation: X:197.19, Y:-11.12, Z:-2.59 [[ 9.99577092e-01 2.90062452e-02 2.06780306e-03 1.97187472e+02] [-2.90060137e-02 9.99579227e-01 -1.41857677e-04 -1.11208292e+01] [-2.07104774e-03 8.18189600e-05 9.99997852e-01 -2.59187935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16037174299998 meters Centerline goodness [0,1] 0.9849758624749794 Centerline is valid? [True, True] Translation: X:197.22, Y:-11.12, Z:-2.59 [[ 9.99554014e-01 2.97507814e-02 2.58159902e-03 1.97216474e+02] [-2.97504241e-02 9.99557343e-01 -1.76700256e-04 -1.11207128e+01] [-2.58571322e-03 9.98177844e-05 9.99996652e-01 -2.59128687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.190371743 meters Centerline goodness [0,1] 0.9843284457478005 Centerline is valid? [True, True] Translation: X:197.24, Y:-11.13, Z:-2.59 [[ 9.99524994e-01 3.06545979e-02 3.17523683e-03 1.97243692e+02] [-3.06540615e-02 9.99530030e-01 -2.17458828e-04 -1.11266308e+01] [-3.18041068e-03 1.20021629e-04 9.99994935e-01 -2.59234980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220371743 meters Centerline goodness [0,1] 0.9860510990043209 Centerline is valid? [True, True] Translation: X:197.27, Y:-11.12, Z:-2.59 [[ 9.99482674e-01 3.19831697e-02 3.38540129e-03 1.97272759e+02] [-3.19825713e-02 9.99488400e-01 -2.30744131e-04 -1.11246165e+01] [-3.39104925e-03 1.22350922e-04 9.99994243e-01 -2.59185358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.250371743 meters Centerline goodness [0,1] 0.9855503512880562 Centerline is valid? [True, True] Translation: X:197.30, Y:-11.13, Z:-2.59 [[ 9.99470124e-01 3.23902378e-02 3.21617009e-03 1.97301944e+02] [-3.23897010e-02 9.99475292e-01 -2.18846022e-04 -1.11271788e+01] [-3.22157102e-03 1.14559273e-04 9.99994804e-01 -2.59245516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280371743 meters Centerline goodness [0,1] 0.9856296955086947 Centerline is valid? [True, True] Translation: X:197.33, Y:-11.13, Z:-2.59 [[ 9.99521616e-01 3.08470722e-02 2.23547572e-03 1.97329740e+02] [-3.08468068e-02 9.99524112e-01 -1.53103993e-04 -1.11320515e+01] [-2.23913469e-03 8.40734626e-05 9.99997490e-01 -2.59357181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.310371743 meters Centerline goodness [0,1] 0.9839011606140022 Centerline is valid? [True, True] Translation: X:197.36, Y:-11.14, Z:-2.60 [[ 9.99565358e-01 2.94211538e-02 1.86838229e-03 1.97357169e+02] [-2.94209668e-02 9.99567102e-01 -1.27496785e-04 -1.11387152e+01] [-1.87132457e-03 7.24717562e-05 9.99998246e-01 -2.59570267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340371743 meters Centerline goodness [0,1] 0.9851316807767172 Centerline is valid? [True, True] Translation: X:197.39, Y:-11.14, Z:-2.59 [[ 9.99615599e-01 2.76717750e-02 1.71085992e-03 1.97386152e+02] [-2.76716161e-02 9.99617061e-01 -1.16511341e-04 -1.11392890e+01] [-1.71342884e-03 6.91242953e-05 9.99998530e-01 -2.59499042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.370371743 meters Centerline goodness [0,1] 0.9850550787005636 Centerline is valid? [True, True] Translation: X:197.42, Y:-11.14, Z:-2.59 [[ 9.99722132e-01 2.34680939e-02 2.21522439e-03 1.97416634e+02] [-2.34678198e-02 9.99724582e-01 -1.49626509e-04 -1.11426792e+01] [-2.21812572e-03 9.75984461e-05 9.99997535e-01 -2.59375954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400371743 meters Centerline goodness [0,1] 0.983530179141333 Centerline is valid? [True, True] Translation: X:197.45, Y:-11.15, Z:-2.59 [[ 9.99762997e-01 2.15969767e-02 2.74222468e-03 1.97445278e+02] [-2.15965476e-02 9.99766750e-01 -1.86015791e-04 -1.11468393e+01] [-2.74560244e-03 1.26749119e-04 9.99996223e-01 -2.59364261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.430371743 meters Centerline goodness [0,1] 0.9829665605465573 Centerline is valid? [True, True] Translation: X:197.47, Y:-11.15, Z:-2.59 [[ 9.99794111e-01 1.99923392e-02 3.47028745e-03 1.97472920e+02] [-1.99916434e-02 9.99800119e-01 -2.35074589e-04 -1.11530324e+01] [-3.47429350e-03 1.65649440e-04 9.99993951e-01 -2.59378575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46037174299997 meters Centerline goodness [0,1] 0.9829665605465573 Centerline is valid? [True, True] Translation: X:197.50, Y:-11.15, Z:-2.59 [[ 9.99796146e-01 1.98902714e-02 3.47029674e-03 1.97500348e+02] [-1.98895755e-02 9.99802155e-01 -2.34937536e-04 -1.11547832e+01] [-3.47428313e-03 1.65866914e-04 9.99993951e-01 -2.59417288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49037174299997 meters Centerline goodness [0,1] 0.9820617355853233 Centerline is valid? [True, True] Translation: X:197.53, Y:-11.16, Z:-2.59 [[ 9.99846731e-01 1.71783811e-02 3.37905982e-03 1.97529826e+02] [-1.71777093e-02 9.99852426e-01 -2.27727760e-04 -1.11586445e+01] [-3.38247316e-03 1.69648349e-04 9.99994265e-01 -2.59390822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52037174299997 meters Centerline goodness [0,1] 0.9832524724762083 Centerline is valid? [True, True] Translation: X:197.56, Y:-11.16, Z:-2.59 [[ 9.99867971e-01 1.58898705e-02 3.39898835e-03 1.97558481e+02] [-1.58891824e-02 9.99873733e-01 -2.29338299e-04 -1.11593986e+01] [-3.40220332e-03 1.75300874e-04 9.99994197e-01 -2.59402080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55037174299997 meters Centerline goodness [0,1] 0.9818253654681944 Centerline is valid? [True, True] Translation: X:197.59, Y:-11.17, Z:-2.60 [[ 9.99888623e-01 1.46654903e-02 2.76845397e-03 1.97585427e+02] [-1.46650286e-02 9.99892445e-01 -1.86973597e-04 -1.11687716e+01] [-2.77089827e-03 1.46353316e-04 9.99996150e-01 -2.59598147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58037174299997 meters Centerline goodness [0,1] 0.981991624011168 Centerline is valid? [True, True] Translation: X:197.61, Y:-11.17, Z:-2.60 [[ 9.99919801e-01 1.23337697e-02 2.87568520e-03 1.97614981e+02] [-1.23332646e-02 9.99923924e-01 -1.93327679e-04 -1.11681262e+01] [-2.87785089e-03 1.57845587e-04 9.99995847e-01 -2.59521860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61037174299997 meters Centerline goodness [0,1] 0.9824157955865273 Centerline is valid? [True, True] Translation: X:197.64, Y:-11.17, Z:-2.60 [[ 9.99930967e-01 1.12797693e-02 3.29066255e-03 1.97643917e+02] [-1.12791015e-02 9.99936364e-01 -2.21413430e-04 -1.11717045e+01] [-3.29295064e-03 1.84282428e-04 9.99994561e-01 -2.59546405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64037174299997 meters Centerline goodness [0,1] 0.9819865946751071 Centerline is valid? [True, True] Translation: X:197.67, Y:-11.17, Z:-2.60 [[ 9.99942337e-01 1.02390022e-02 3.23800549e-03 1.97672539e+02] [-1.02383509e-02 9.99947563e-01 -2.17668068e-04 -1.11730979e+01] [-3.24006441e-03 1.84503680e-04 9.99994734e-01 -2.59513334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67037174299998 meters Centerline goodness [0,1] 0.9820804399496668 Centerline is valid? [True, True] Translation: X:197.70, Y:-11.18, Z:-2.60 [[ 9.99955207e-01 8.59977025e-03 3.95314526e-03 1.97702086e+02] [-8.59879006e-03 9.99962995e-01 -2.64882077e-04 -1.11761135e+01] [-3.95527690e-03 2.30877946e-04 9.99992151e-01 -2.59501080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70037174299998 meters Centerline goodness [0,1] 0.9816371065094252 Centerline is valid? [True, True] Translation: X:197.73, Y:-11.18, Z:-2.60 [[ 9.99956212e-01 8.29179824e-03 4.33828553e-03 1.97730790e+02] [-8.29061557e-03 9.99965590e-01 -2.90525604e-04 -1.11798035e+01] [-4.34054523e-03 2.54545825e-04 9.99990547e-01 -2.59503399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73037174299998 meters Centerline goodness [0,1] 0.9816113303923845 Centerline is valid? [True, True] Translation: X:197.76, Y:-11.18, Z:-2.60 [[ 9.99962310e-01 7.39552178e-03 4.54813855e-03 1.97759958e+02] [-7.39421384e-03 9.99972616e-01 -3.04325901e-04 -1.11839459e+01] [-4.55026465e-03 2.70684522e-04 9.99989611e-01 -2.59567561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76037174299998 meters Centerline goodness [0,1] 0.9817453147079945 Centerline is valid? [True, True] Translation: X:197.79, Y:-11.19, Z:-2.60 [[ 9.99969390e-01 6.58268655e-03 4.22942610e-03 1.97788363e+02] [-6.58154803e-03 9.99978301e-01 -2.83053782e-04 -1.11882584e+01] [-4.23119758e-03 2.55208947e-04 9.99991016e-01 -2.59672301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79037174299998 meters Centerline goodness [0,1] 0.9809943214740989 Centerline is valid? [True, True] Translation: X:197.82, Y:-11.19, Z:-2.60 [[ 9.99977322e-01 5.60066486e-03 3.73997838e-03 1.97817876e+02] [-5.59976952e-03 9.99984290e-01 -2.49826542e-04 -1.11929612e+01] [-3.74131882e-03 2.28877859e-04 9.99992975e-01 -2.59807961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82037174299998 meters Centerline goodness [0,1] 0.9818481848184818 Centerline is valid? [True, True] Translation: X:197.85, Y:-11.19, Z:-2.60 [[ 9.99985246e-01 4.63779755e-03 2.82804697e-03 1.97847623e+02] [-4.63728118e-03 9.99989230e-01 -1.89117166e-04 -1.11942471e+01] [-2.82889360e-03 1.75999927e-04 9.99995983e-01 -2.59885080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85037174299998 meters Centerline goodness [0,1] 0.981419580903202 Centerline is valid? [True, True] Translation: X:197.88, Y:-11.20, Z:-2.60 [[ 9.99991806e-01 3.39262228e-03 2.20861800e-03 1.97876743e+02] [-3.39230471e-03 9.99994235e-01 -1.47518029e-04 -1.11983107e+01] [-2.20910575e-03 1.40024515e-04 9.99997550e-01 -2.59956257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88037174299998 meters Centerline goodness [0,1] 0.9822326206305451 Centerline is valid? [True, True] Translation: X:197.91, Y:-11.19, Z:-2.60 [[ 9.99994834e-01 2.48298286e-03 2.04149558e-03 1.97907842e+02] [-2.48271010e-03 9.99996909e-01 -1.36132153e-04 -1.11945695e+01] [-2.04182728e-03 1.31063008e-04 9.99997907e-01 -2.59850306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91037174299998 meters Centerline goodness [0,1] 0.9805277398765061 Centerline is valid? [True, True] Translation: X:197.94, Y:-11.20, Z:-2.60 [[ 9.99995906e-01 2.04492470e-03 2.00146401e-03 1.97936389e+02] [-2.04466122e-03 9.99997901e-01 -1.33678384e-04 -1.12035786e+01] [-2.00173317e-03 1.29585521e-04 9.99997988e-01 -2.59958578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940371743 meters Centerline goodness [0,1] 0.9823876112330984 Centerline is valid? [True, True] Translation: X:197.97, Y:-11.20, Z:-2.60 [[ 9.99995546e-01 1.85180551e-03 2.34064319e-03 1.97966958e+02] [-1.85144533e-03 9.99998274e-01 -1.56038136e-04 -1.11999233e+01] [-2.34092810e-03 1.51703868e-04 9.99997249e-01 -2.59917797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.970371743 meters Centerline goodness [0,1] 0.9811089246440561 Centerline is valid? [True, True] Translation: X:198.00, Y:-11.21, Z:-2.60 [[ 9.99996096e-01 1.66366509e-03 2.24494599e-03 1.97996343e+02] [-1.66333375e-03 9.99998605e-01 -1.49450784e-04 -1.12085533e+01] [-2.24519150e-03 1.45716106e-04 9.99997469e-01 -2.60057543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000371743 meters Centerline goodness [0,1] 0.9818143909558449 Centerline is valid? [True, True] Translation: X:198.03, Y:-11.20, Z:-2.60 [[ 9.99994874e-01 1.29223445e-03 2.92959222e-03 1.98027209e+02] [-1.29166766e-03 9.99999147e-01 -1.95351831e-04 -1.12033790e+01] [-2.92984216e-03 1.91566770e-04 9.99995690e-01 -2.59942374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.030371743 meters Centerline goodness [0,1] 0.9816746676514032 Centerline is valid? [True, True] Translation: X:198.06, Y:-11.21, Z:-2.60 [[ 9.99991659e-01 1.58927433e-03 3.76234990e-03 1.98057082e+02] [-1.58834230e-03 9.99998707e-01 -2.50700095e-04 -1.12073571e+01] [-3.76274346e-03 2.44722104e-04 9.99992891e-01 -2.59936751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060371743 meters Centerline goodness [0,1] 0.9818708034267192 Centerline is valid? [True, True] Translation: X:198.09, Y:-11.21, Z:-2.60 [[ 9.99990380e-01 1.59504167e-03 4.08595679e-03 1.98088047e+02] [-1.59394278e-03 9.99998693e-01 -2.72185120e-04 -1.12090947e+01] [-4.08638559e-03 2.65669720e-04 9.99991615e-01 -2.59966677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.090371743 meters Centerline goodness [0,1] 0.9811076425020233 Centerline is valid? [True, True] Translation: X:198.12, Y:-11.21, Z:-2.60 [[ 9.99990418e-01 1.60447127e-03 4.07310690e-03 1.98117910e+02] [-1.60337807e-03 9.99998678e-01 -2.71645395e-04 -1.12120785e+01] [-4.07353736e-03 2.65112062e-04 9.99991668e-01 -2.59987755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120371743 meters Centerline goodness [0,1] 0.9817104227438996 Centerline is valid? [True, True] Translation: X:198.15, Y:-11.21, Z:-2.60 [[ 9.99991455e-01 1.69156130e-03 3.77207293e-03 1.98149435e+02] [-1.69062484e-03 9.99998539e-01 -2.51435503e-04 -1.12123536e+01] [-3.77249274e-03 2.45056195e-04 9.99992854e-01 -2.60008927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.150371743 meters Centerline goodness [0,1] 0.9820400804382498 Centerline is valid? [True, True] Translation: X:198.18, Y:-11.22, Z:-2.60 [[ 9.99990799e-01 1.45577094e-03 4.03527883e-03 1.98179746e+02] [-1.45469590e-03 9.99998906e-01 -2.69332281e-04 -1.12178640e+01] [-4.03566650e-03 2.63459699e-04 9.99991822e-01 -2.60072022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180371743 meters Centerline goodness [0,1] 0.9815174198318085 Centerline is valid? [True, True] Translation: X:198.21, Y:-11.22, Z:-2.60 [[ 9.99990215e-01 1.10103837e-03 4.28463915e-03 1.98211073e+02] [-1.09982344e-03 9.99999354e-01 -2.85900222e-04 -1.12192527e+01] [-4.28495117e-03 2.81185078e-04 9.99990780e-01 -2.60098268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21037174299997 meters Centerline goodness [0,1] 0.980988856332049 Centerline is valid? [True, True] Translation: X:198.24, Y:-11.22, Z:-2.60 [[ 9.99988916e-01 1.37597037e-03 4.50271197e-03 1.98242073e+02] [-1.37463859e-03 9.99999011e-01 -2.98853056e-04 -1.12237816e+01] [-4.50311873e-03 2.92660142e-04 9.99989818e-01 -2.60171421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24037174299997 meters Centerline goodness [0,1] 0.9820049641478212 Centerline is valid? [True, True] Translation: X:198.27, Y:-11.23, Z:-2.60 [[ 9.99989717e-01 1.17553423e-03 4.37987126e-03 1.98273056e+02] [-1.17426045e-03 9.99999268e-01 -2.93386492e-04 -1.12250728e+01] [-4.38021294e-03 2.88240365e-04 9.99990365e-01 -2.60202022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27037174299997 meters Centerline goodness [0,1] 0.9823731138545954 Centerline is valid? [True, True] Translation: X:198.30, Y:-11.23, Z:-2.60 [[ 9.99992599e-01 1.04075884e-03 3.70388100e-03 1.98304195e+02] [-1.03985039e-03 9.99999429e-01 -2.47186068e-04 -1.12291177e+01] [-3.70413615e-03 2.43332756e-04 9.99993110e-01 -2.60320808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30037174299997 meters Centerline goodness [0,1] 0.986328125 Centerline is valid? [True, True] Translation: X:198.34, Y:-11.22, Z:-2.60 [[ 9.99986957e-01 2.78003013e-03 4.28458445e-03 1.98335772e+02] [-2.77882226e-03 9.99996098e-01 -2.87838010e-04 -1.12213037e+01] [-4.28536792e-03 2.75928157e-04 9.99990780e-01 -2.60128693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33037174299997 meters Centerline goodness [0,1] 0.9878156494168271 Centerline is valid? [True, True] Translation: X:198.37, Y:-11.22, Z:-2.60 [[ 9.99981968e-01 4.37972359e-03 4.10875576e-03 1.98366178e+02] [-4.37862528e-03 9.99990376e-01 -2.76268808e-04 -1.12213866e+01] [-4.10992619e-03 2.58273125e-04 9.99991521e-01 -2.60108622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36037174299997 meters Centerline goodness [0,1] 0.9881782770178458 Centerline is valid? [True, True] Translation: X:198.40, Y:-11.22, Z:-2.60 [[ 9.99978561e-01 5.15495157e-03 4.03770707e-03 1.98395781e+02] [-5.15389648e-03 9.99986682e-01 -2.71670552e-04 -1.12241586e+01] [-4.03905375e-03 2.50854803e-04 9.99991812e-01 -2.60097898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39037174299997 meters Centerline goodness [0,1] 0.9889374024387485 Centerline is valid? [True, True] Translation: X:198.43, Y:-11.22, Z:-2.60 [[ 9.99974261e-01 6.09153028e-03 3.79073159e-03 1.98426584e+02] [-6.09060791e-03 9.99981420e-01 -2.54817295e-04 -1.12247763e+01] [-3.79221339e-03 2.31722876e-04 9.99992783e-01 -2.60104064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42037174299998 meters Centerline goodness [0,1] 0.9891077425796496 Centerline is valid? [True, True] Translation: X:198.46, Y:-11.23, Z:-2.60 [[ 9.99970689e-01 6.71250405e-03 3.68292707e-03 1.98456004e+02] [-6.71163624e-03 9.99977446e-01 -2.47940539e-04 -1.12258840e+01] [-3.68450830e-03 2.23214805e-04 9.99993187e-01 -2.60117293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45037174299998 meters Centerline goodness [0,1] 0.9881154884216734 Centerline is valid? [True, True] Translation: X:198.49, Y:-11.23, Z:-2.60 [[ 9.99965033e-01 7.13130095e-03 4.36784339e-03 1.98485669e+02] [-7.13008542e-03 9.99974537e-01 -2.93800004e-04 -1.12275441e+01] [-4.36982735e-03 2.62646635e-04 9.99990418e-01 -2.60207066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48037174299998 meters Centerline goodness [0,1] 0.9884416644003263 Centerline is valid? [True, True] Translation: X:198.51, Y:-11.23, Z:-2.60 [[ 9.99961510e-01 7.55567161e-03 4.45992475e-03 1.98514416e+02] [-7.55440851e-03 9.99971420e-01 -2.99990613e-04 -1.12321437e+01] [-4.46206391e-03 2.66286973e-04 9.99990009e-01 -2.60262185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51037174299998 meters Centerline goodness [0,1] 0.9887632797602833 Centerline is valid? [True, True] Translation: X:198.54, Y:-11.23, Z:-2.60 [[ 9.99958951e-01 7.80310627e-03 4.60522946e-03 1.98544716e+02] [-7.80176412e-03 9.99969518e-01 -3.09332834e-04 -1.12297091e+01] [-4.60750284e-03 2.73391223e-04 9.99989348e-01 -2.60243781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54037174299998 meters Centerline goodness [0,1] 0.9892382980651593 Centerline is valid? [True, True] Translation: X:198.57, Y:-11.23, Z:-2.60 [[ 9.99959337e-01 7.85143750e-03 4.43613195e-03 1.98574677e+02] [-7.85019320e-03 9.99969142e-01 -2.97834083e-04 -1.12321974e+01] [-4.43833348e-03 2.62997479e-04 9.99990116e-01 -2.60276609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57037174299998 meters Centerline goodness [0,1] 0.9896961150031844 Centerline is valid? [True, True] Translation: X:198.60, Y:-11.23, Z:-2.60 [[ 9.99959947e-01 7.68406845e-03 4.58907415e-03 1.98604057e+02] [-7.68273593e-03 9.99970440e-01 -3.07925613e-04 -1.12317208e+01] [-4.59130461e-03 2.72656635e-04 9.99989423e-01 -2.60320749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60037174299998 meters Centerline goodness [0,1] 0.9890139946209601 Centerline is valid? [True, True] Translation: X:198.63, Y:-11.23, Z:-2.60 [[ 9.99960140e-01 7.43900049e-03 4.93751417e-03 1.98633859e+02] [-7.43745606e-03 9.99972287e-01 -3.31084308e-04 -1.12346824e+01] [-4.93984027e-03 2.94348567e-04 9.99987756e-01 -2.60419636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63037174299998 meters Centerline goodness [0,1] 0.9886996657647621 Centerline is valid? [True, True] Translation: X:198.66, Y:-11.24, Z:-2.60 [[ 9.99960467e-01 7.20617338e-03 5.20920762e-03 1.98663441e+02] [-7.20445227e-03 9.99973987e-01 -3.49087899e-04 -1.12368864e+01] [-5.21158770e-03 3.11544610e-04 9.99986371e-01 -2.60489673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66037174299998 meters Centerline goodness [0,1] 0.988739251103326 Centerline is valid? [True, True] Translation: X:198.69, Y:-11.24, Z:-2.60 [[ 9.99962273e-01 6.86259262e-03 5.32516626e-03 1.98693028e+02] [-6.86079025e-03 9.99976401e-01 -3.56656873e-04 -1.12375624e+01] [-5.32748818e-03 3.20108569e-04 9.99985758e-01 -2.60477177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.690371743 meters Centerline goodness [0,1] 0.9894763217238787 Centerline is valid? [True, True] Translation: X:198.72, Y:-11.24, Z:-2.60 [[ 9.99958619e-01 7.03074958e-03 5.77315357e-03 1.98723040e+02] [-7.02863536e-03 9.99975224e-01 -3.86422984e-04 -1.12354318e+01] [-5.77572738e-03 3.45829602e-04 9.99983261e-01 -2.60417747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720371743 meters Centerline goodness [0,1] 0.9895717115599171 Centerline is valid? [True, True] Translation: X:198.75, Y:-11.24, Z:-2.60 [[ 9.99958616e-01 7.09093066e-03 5.69947828e-03 1.98752495e+02] [-7.08887307e-03 9.99974801e-01 -3.81135929e-04 -1.12381137e+01] [-5.70203727e-03 3.40717278e-04 9.99983685e-01 -2.60496027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.750371743 meters Centerline goodness [0,1] 0.9894406523432131 Centerline is valid? [True, True] Translation: X:198.78, Y:-11.24, Z:-2.61 [[ 9.99958742e-01 7.00819717e-03 5.77929201e-03 1.98782288e+02] [-7.00607992e-03 9.99975382e-01 -3.86514591e-04 -1.12383190e+01] [-5.78185850e-03 3.46008462e-04 9.99983225e-01 -2.60531837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780371743 meters Centerline goodness [0,1] 0.9891957608845254 Centerline is valid? [True, True] Translation: X:198.81, Y:-11.24, Z:-2.61 [[ 9.99960401e-01 6.80502038e-03 5.73476131e-03 1.98811942e+02] [-6.80293346e-03 9.99976786e-01 -3.83336684e-04 -1.12381355e+01] [-5.73723680e-03 3.44308305e-04 9.99983483e-01 -2.60535119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.810371743 meters Centerline goodness [0,1] 0.9891636629100699 Centerline is valid? [True, True] Translation: X:198.84, Y:-11.24, Z:-2.61 [[ 9.99958803e-01 6.81468253e-03 5.99595312e-03 1.98841129e+02] [-6.81240370e-03 9.99976715e-01 -4.00402254e-04 -1.12415184e+01] [-5.99854212e-03 3.59538906e-04 9.99981944e-01 -2.60584150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840371743 meters Centerline goodness [0,1] 0.9878942920444942 Centerline is valid? [True, True] Translation: X:198.87, Y:-11.24, Z:-2.61 [[ 9.99960061e-01 5.73224895e-03 6.85688776e-03 1.98870530e+02] [-5.72924449e-03 9.99983483e-01 -4.57729838e-04 -1.12441832e+01] [-6.85939833e-03 4.18426770e-04 9.99976387e-01 -2.60565058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.870371743 meters Centerline goodness [0,1] 0.9885681688533942 Centerline is valid? [True, True] Translation: X:198.90, Y:-11.25, Z:-2.61 [[ 9.99964721e-01 5.15229571e-03 6.63408600e-03 1.98900626e+02] [-5.14947310e-03 9.99986643e-01 -4.42481469e-04 -1.12474851e+01] [-6.63627718e-03 4.08303811e-04 9.99977896e-01 -2.60627203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900371743 meters Centerline goodness [0,1] 0.9885107256023891 Centerline is valid? [True, True] Translation: X:198.93, Y:-11.25, Z:-2.61 [[ 9.99966705e-01 4.51646225e-03 6.79637496e-03 1.98930765e+02] [-4.51348349e-03 9.99989711e-01 -4.53561145e-04 -1.12489555e+01] [-6.79835352e-03 4.22870717e-04 9.99976802e-01 -2.60673809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.930371743 meters Centerline goodness [0,1] 0.9885120475048532 Centerline is valid? [True, True] Translation: X:198.96, Y:-11.25, Z:-2.61 [[ 9.99965657e-01 4.38431527e-03 7.03295539e-03 1.98962037e+02] [-4.38112403e-03 9.99990293e-01 -4.69097392e-04 -1.12501569e+01] [-7.03494379e-03 4.38269032e-04 9.99975158e-01 -2.60710068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96037174299997 meters Centerline goodness [0,1] 0.9890597821111416 Centerline is valid? [True, True] Translation: X:198.99, Y:-11.25, Z:-2.61 [[ 9.99969918e-01 4.41261647e-03 6.37902237e-03 1.98992426e+02] [-4.40998962e-03 9.99990185e-01 -4.25801692e-04 -1.12534591e+01] [-6.38083866e-03 3.97657460e-04 9.99979563e-01 -2.60818887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99037174299997 meters Centerline goodness [0,1] 0.9886553372521214 Centerline is valid? [True, True] Translation: X:199.02, Y:-11.26, Z:-2.61 [[ 9.99973025e-01 4.18279176e-03 6.03760000e-03 1.99022441e+02] [-4.18043384e-03 9.99991181e-01 -4.03107834e-04 -1.12574466e+01] [-6.03923287e-03 3.77857173e-04 9.99981692e-01 -2.60889098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02037174299997 meters Centerline goodness [0,1] 0.988611155578933 Centerline is valid? [True, True] Translation: X:199.05, Y:-11.26, Z:-2.61 [[ 9.99974220e-01 4.55110975e-03 5.55395700e-03 1.99054045e+02] [-4.54912054e-03 9.99989584e-01 -3.70741014e-04 -1.12566088e+01] [-5.55558643e-03 3.45465837e-04 9.99984508e-01 -2.60975746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05037174299997 meters Centerline goodness [0,1] 0.9893724002376926 Centerline is valid? [True, True] Translation: X:199.08, Y:-11.26, Z:-2.61 [[ 9.99971944e-01 4.96543662e-03 5.60844573e-03 1.99084524e+02] [-4.96341183e-03 9.99987612e-01 -3.74885810e-04 -1.12574898e+01] [-5.61023772e-03 3.47038267e-04 9.99984202e-01 -2.61025458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08037174299997 meters Centerline goodness [0,1] 0.9886806287521195 Centerline is valid? [True, True] Translation: X:199.11, Y:-11.26, Z:-2.61 [[ 9.99961407e-01 6.48078491e-03 5.93164677e-03 1.99114434e+02] [-6.47854745e-03 9.99978935e-01 -3.96344903e-04 -1.12634136e+01] [-5.93409045e-03 3.57901151e-04 9.99982329e-01 -2.61118711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11037174299997 meters Centerline goodness [0,1] 0.98925913202794 Centerline is valid? [True, True] Translation: X:199.15, Y:-11.26, Z:-2.61 [[ 9.99953791e-01 7.65710876e-03 5.81251101e-03 1.99145118e+02] [-7.65497865e-03 9.99970625e-01 -3.88629930e-04 -1.12585161e+01] [-5.81531605e-03 3.44117324e-04 9.99983032e-01 -2.61014371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14037174299997 meters Centerline goodness [0,1] 0.9902443492797764 Centerline is valid? [True, True] Translation: X:199.18, Y:-11.26, Z:-2.61 [[ 9.99921399e-01 1.09378903e-02 6.12844672e-03 1.99175022e+02] [-1.09355820e-02 9.99940121e-01 -4.10039623e-04 -1.12569690e+01] [-6.13256472e-03 3.42989262e-04 9.99981137e-01 -2.60973268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17037174299998 meters Centerline goodness [0,1] 0.9891224695429147 Centerline is valid? [True, True] Translation: X:199.20, Y:-11.26, Z:-2.61 [[ 9.99897720e-01 1.28483416e-02 6.28244959e-03 1.99203377e+02] [-1.28459541e-02 9.99917399e-01 -4.20240052e-04 -1.12584403e+01] [-6.28733004e-03 3.39493011e-04 9.99980177e-01 -2.60999312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20037174299998 meters Centerline goodness [0,1] 0.9898316729646169 Centerline is valid? [True, True] Translation: X:199.23, Y:-11.26, Z:-2.61 [[ 9.99874343e-01 1.46585116e-02 6.03533445e-03 1.99232003e+02] [-1.46563420e-02 9.99892509e-01 -4.03555196e-04 -1.12588431e+01] [-6.04060122e-03 3.15048561e-04 9.99981706e-01 -2.61051353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23037174299998 meters Centerline goodness [0,1] 0.989626508507179 Centerline is valid? [True, True] Translation: X:199.26, Y:-11.26, Z:-2.61 [[ 9.99842733e-01 1.66397846e-02 6.13403250e-03 1.99260552e+02] [-1.66375835e-02 9.99861502e-01 -4.09700057e-04 -1.12595874e+01] [-6.14000026e-03 3.07580148e-04 9.99981103e-01 -2.61145846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26037174299998 meters Centerline goodness [0,1] 0.9899598853868194 Centerline is valid? [True, True] Translation: X:199.29, Y:-11.26, Z:-2.61 [[ 9.99781576e-01 1.99620071e-02 6.19017323e-03 1.99289552e+02] [-1.99598335e-02 9.99800697e-01 -4.12719297e-04 -1.12620782e+01] [-6.19717822e-03 2.89074322e-04 9.99980756e-01 -2.61273257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29037174299998 meters Centerline goodness [0,1] 0.9896841190329148 Centerline is valid? [True, True] Translation: X:199.32, Y:-11.26, Z:-2.61 [[ 9.99727402e-01 2.23448176e-02 6.76987450e-03 1.99319098e+02] [-2.23422734e-02 9.99750278e-01 -4.51214668e-04 -1.12590370e+01] [-6.77826622e-03 2.99837281e-04 9.99976982e-01 -2.61306124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32037174299998 meters Centerline goodness [0,1] 0.9899604363436778 Centerline is valid? [True, True] Translation: X:199.35, Y:-11.26, Z:-2.61 [[ 9.99701234e-01 2.34835978e-02 6.77956098e-03 1.99348044e+02] [-2.34810740e-02 9.99724180e-01 -4.51636169e-04 -1.12602574e+01] [-6.78829708e-03 2.92309863e-04 9.99976917e-01 -2.61370097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35037174299998 meters Centerline goodness [0,1] 0.9904909938740056 Centerline is valid? [True, True] Translation: X:199.38, Y:-11.26, Z:-2.61 [[ 9.99684306e-01 2.41385890e-02 6.97262922e-03 1.99375988e+02] [-2.41359381e-02 9.99708578e-01 -4.64090468e-04 -1.12628643e+01] [-6.98179973e-03 2.95653010e-04 9.99975583e-01 -2.61456528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38037174299998 meters Centerline goodness [0,1] 0.9904909938740056 Centerline is valid? [True, True] Translation: X:199.40, Y:-11.26, Z:-2.61 [[ 9.99686858e-01 2.40326319e-02 6.97266201e-03 1.99403408e+02] [-2.40299819e-02 9.99711131e-01 -4.63597128e-04 -1.12645933e+01] [-6.98178928e-03 2.95899014e-04 9.99975583e-01 -2.61495229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41037174299998 meters Centerline goodness [0,1] 0.9902714828549192 Centerline is valid? [True, True] Translation: X:199.43, Y:-11.27, Z:-2.62 [[ 9.99682774e-01 2.43619529e-02 6.39112095e-03 1.99431807e+02] [-2.43597385e-02 9.99703168e-01 -4.24105913e-04 -1.12664894e+01] [-6.39955590e-03 2.68285341e-04 9.99979487e-01 -2.61568150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440371743 meters Centerline goodness [0,1] 0.9894927204468456 Centerline is valid? [True, True] Translation: X:199.46, Y:-11.27, Z:-2.62 [[ 9.99671739e-01 2.48132049e-02 6.38109035e-03 1.99460235e+02] [-2.48110095e-02 9.99692070e-01 -4.22997719e-04 -1.12669883e+01] [-6.38962135e-03 2.64537573e-04 9.99979551e-01 -2.61624467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.470371743 meters Centerline goodness [0,1] 0.9885091674868954 Centerline is valid? [True, True] Translation: X:199.49, Y:-11.27, Z:-2.62 [[ 9.99681086e-01 2.45313712e-02 5.99487352e-03 1.99488043e+02] [-2.45294286e-02 9.99699029e-01 -3.97368029e-04 -1.12702489e+01] [-6.00281722e-03 2.50190481e-04 9.99981952e-01 -2.61710843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500371743 meters Centerline goodness [0,1] 0.9894182317911131 Centerline is valid? [True, True] Translation: X:199.52, Y:-11.27, Z:-2.62 [[ 9.99704059e-01 2.36799508e-02 5.57257134e-03 1.99516765e+02] [-2.36782640e-02 9.99719563e-01 -3.68481878e-04 -1.12724410e+01] [-5.57973421e-03 2.36424014e-04 9.99984405e-01 -2.61765827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.530371743 meters Centerline goodness [0,1] 0.9891204973486927 Centerline is valid? [True, True] Translation: X:199.54, Y:-11.28, Z:-2.62 [[ 9.99729621e-01 2.26648856e-02 5.19494761e-03 1.99543827e+02] [-2.26634063e-02 9.99743093e-01 -3.43454490e-04 -1.12764504e+01] [-5.20139735e-03 2.25626419e-04 9.99986447e-01 -2.61864892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560371743 meters Centerline goodness [0,1] 0.9888787185354692 Centerline is valid? [True, True] Translation: X:199.57, Y:-11.28, Z:-2.62 [[ 9.99749826e-01 2.17549549e-02 5.19685730e-03 1.99572087e+02] [-2.17534663e-02 9.99763307e-01 -3.42799552e-04 -1.12798924e+01] [-5.20308483e-03 2.29664133e-04 9.99986437e-01 -2.61934231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.590371743 meters Centerline goodness [0,1] 0.988920869883041 Centerline is valid? [True, True] Translation: X:199.60, Y:-11.28, Z:-2.62 [[ 9.99796392e-01 1.95478567e-02 5.00554154e-03 1.99600992e+02] [-1.95464505e-02 9.99808896e-01 -3.29703381e-04 -1.12840173e+01] [-5.01102996e-03 2.31795681e-04 9.99987418e-01 -2.61973720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620371743 meters Centerline goodness [0,1] 0.9887153767240396 Centerline is valid? [True, True] Translation: X:199.63, Y:-11.29, Z:-2.62 [[ 9.99810341e-01 1.86456015e-02 5.62349713e-03 1.99629135e+02] [-1.86438123e-02 9.99826120e-01 -3.70423190e-04 -1.12869746e+01] [-5.62942608e-03 2.65509510e-04 9.99984119e-01 -2.61980815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.650371743 meters Centerline goodness [0,1] 0.989029996813692 Centerline is valid? [True, True] Translation: X:199.66, Y:-11.29, Z:-2.62 [[ 9.99819412e-01 1.80844475e-02 5.83921568e-03 1.99657813e+02] [-1.80825140e-02 9.99836424e-01 -3.83736750e-04 -1.12889877e+01] [-5.84520020e-03 2.78079752e-04 9.99982878e-01 -2.61979197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680371743 meters Centerline goodness [0,1] 0.9888149801813294 Centerline is valid? [True, True] Translation: X:199.69, Y:-11.29, Z:-2.62 [[ 9.99826335e-01 1.73840019e-02 6.71531575e-03 1.99685848e+02] [-1.73814324e-02 9.99848834e-01 -4.40806125e-04 -1.12938822e+01] [-6.72196360e-03 3.24007765e-04 9.99977355e-01 -2.62098343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71037174299997 meters Centerline goodness [0,1] 0.9886412587571134 Centerline is valid? [True, True] Translation: X:199.71, Y:-11.30, Z:-2.62 [[ 9.99829829e-01 1.71048508e-02 6.90916075e-03 1.99712925e+02] [-1.71021278e-02 9.99853645e-01 -4.53000723e-04 -1.12977422e+01] [-6.91589807e-03 3.34762285e-04 9.99976029e-01 -2.62166485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74037174299997 meters Centerline goodness [0,1] 0.9896373056994818 Centerline is valid? [True, True] Translation: X:199.74, Y:-11.30, Z:-2.62 [[ 9.99836057e-01 1.66083509e-02 7.21257727e-03 1.99741322e+02] [-1.66053784e-02 9.99862010e-01 -4.71814982e-04 -1.13019567e+01] [-7.21941807e-03 3.51970056e-04 9.99973878e-01 -2.62242693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77037174299997 meters Centerline goodness [0,1] 0.9895387541607228 Centerline is valid? [True, True] Translation: X:199.77, Y:-11.30, Z:-2.62 [[ 9.99833081e-01 1.65307953e-02 7.78089073e-03 1.99769761e+02] [-1.65273384e-02 9.99863285e-01 -5.08372716e-04 -1.13028622e+01] [-7.78823077e-03 3.79690445e-04 9.99969599e-01 -2.62219624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80037174299997 meters Centerline goodness [0,1] 0.9894063471179366 Centerline is valid? [True, True] Translation: X:199.80, Y:-11.31, Z:-2.62 [[ 9.99843992e-01 1.55450441e-02 8.38703763e-03 1.99798312e+02] [-1.55409987e-02 9.99879082e-01 -5.47297052e-04 -1.13053998e+01] [-8.39453124e-03 4.16868728e-04 9.99964678e-01 -2.62110726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83037174299997 meters Centerline goodness [0,1] 0.9880384397964952 Centerline is valid? [True, True] Translation: X:199.83, Y:-11.32, Z:-2.62 [[ 9.99857656e-01 1.45425996e-02 8.55453813e-03 1.99825633e+02] [-1.45383600e-02 9.99894157e-01 -5.57582622e-04 -1.13192563e+01] [-8.56174139e-03 4.33134299e-04 9.99963254e-01 -2.62244242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86037174299997 meters Centerline goodness [0,1] 0.9881052178444389 Centerline is valid? [True, True] Translation: X:199.85, Y:-11.31, Z:-2.62 [[ 9.99875809e-01 1.34100392e-02 8.27874867e-03 1.99854798e+02] [-1.34060345e-02 9.99909990e-01 -5.39040069e-04 -1.13141535e+01] [-8.28523205e-03 4.27987934e-04 9.99965585e-01 -2.62238443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89037174299997 meters Centerline goodness [0,1] 0.9887714066241923 Centerline is valid? [True, True] Translation: X:199.88, Y:-11.32, Z:-2.62 [[ 9.99897153e-01 1.22899927e-02 7.39180963e-03 1.99883881e+02] [-1.22867736e-02 9.99924399e-01 -4.80751940e-04 -1.13172406e+01] [-7.39715924e-03 3.89881005e-04 9.99972565e-01 -2.62371302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92037174299998 meters Centerline goodness [0,1] 0.9891535228453925 Centerline is valid? [True, True] Translation: X:199.91, Y:-11.32, Z:-2.63 [[ 9.99932705e-01 9.70177758e-03 6.36090028e-03 1.99912516e+02] [-9.69934690e-03 9.99952875e-01 -4.12866180e-04 -1.13235664e+01] [-6.36460606e-03 3.51141818e-04 9.99979684e-01 -2.62602187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95037174299998 meters Centerline goodness [0,1] 0.9891284693969804 Centerline is valid? [True, True] Translation: X:199.94, Y:-11.33, Z:-2.63 [[ 9.99948494e-01 8.21436047e-03 5.96100857e-03 1.99941862e+02] [-8.21219587e-03 9.99966204e-01 -3.87514097e-04 -1.13265947e+01] [-5.96399029e-03 3.38541168e-04 9.99982158e-01 -2.62674191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98037174299998 meters Centerline goodness [0,1] 0.9883658130428912 Centerline is valid? [True, True] Translation: X:199.97, Y:-11.33, Z:-2.63 [[ 9.99967149e-01 5.40298432e-03 6.04231130e-03 1.99970825e+02] [-5.40071046e-03 9.99985339e-01 -3.92575823e-04 -1.13326064e+01] [-6.04434380e-03 3.59930152e-04 9.99981668e-01 -2.62717167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01037174299998 meters Centerline goodness [0,1] 0.9881342524579049 Centerline is valid? [True, True] Translation: X:200.00, Y:-11.34, Z:-2.63 [[ 9.99971371e-01 4.35697576e-03 6.18663355e-03 2.00000907e+02] [-4.35457518e-03 9.99990438e-01 -4.01444332e-04 -1.13360265e+01] [-6.18832348e-03 3.74492678e-04 9.99980782e-01 -2.62738925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04037174299998 meters Centerline goodness [0,1] 0.9887767314770906 Centerline is valid? [True, True] Translation: X:200.03, Y:-11.34, Z:-2.63 [[ 9.99968287e-01 3.68497417e-03 7.06015450e-03 2.00032591e+02] [-3.68183289e-03 9.99993117e-01 -4.57876463e-04 -1.13369077e+01] [-7.06179317e-03 4.31867633e-04 9.99974972e-01 -2.62689157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07037174299998 meters Centerline goodness [0,1] 0.9882886542106688 Centerline is valid? [True, True] Translation: X:200.06, Y:-11.34, Z:-2.63 [[ 9.99952382e-01 3.28358282e-03 9.18972235e-03 2.00063622e+02] [-3.27824803e-03 9.99994449e-01 -5.95520814e-04 -1.13418188e+01] [-9.19162678e-03 5.65366268e-04 9.99957596e-01 -2.62626291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10037174299998 meters Centerline goodness [0,1] 0.9867048245712869 Centerline is valid? [True, True] Translation: X:200.10, Y:-11.35, Z:-2.63 [[ 9.99944971e-01 3.56653829e-03 9.86586192e-03 2.00095046e+02] [-3.56037898e-03 9.99993456e-01 -6.41798448e-04 -1.13482592e+01] [-9.86808635e-03 6.06636923e-04 9.99951125e-01 -2.62630166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13037174299998 meters Centerline goodness [0,1] 0.9869836391575522 Centerline is valid? [True, True] Translation: X:200.13, Y:-11.35, Z:-2.63 [[ 9.99939340e-01 3.80753218e-03 1.03352871e-02 2.00127450e+02] [-3.80075749e-03 9.99992549e-01 -6.75052908e-04 -1.13501815e+01] [-1.03377804e-02 6.35730039e-04 9.99946362e-01 -2.62632437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16037174299998 meters Centerline goodness [0,1] 0.9879806606118114 Centerline is valid? [True, True] Translation: X:200.16, Y:-11.35, Z:-2.63 [[ 9.99933007e-01 4.26067869e-03 1.07623714e-02 2.00159711e+02] [-4.25333007e-03 9.99990706e-01 -7.05603450e-04 -1.13469951e+01] [-1.07652778e-02 6.59780262e-04 9.99941835e-01 -2.62634366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.190371743 meters Centerline goodness [0,1] 0.9874141359363702 Centerline is valid? [True, True] Translation: X:200.19, Y:-11.35, Z:-2.63 [[ 9.99932586e-01 4.37158573e-03 1.07569989e-02 2.00191780e+02] [-4.36422272e-03 9.99990226e-01 -7.07864080e-04 -1.13525811e+01] [-1.07599882e-02 6.60870421e-04 9.99941891e-01 -2.62725229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220371743 meters Centerline goodness [0,1] 0.9877837910668972 Centerline is valid? [True, True] Translation: X:200.22, Y:-11.35, Z:-2.63 [[ 9.99942867e-01 4.38656593e-03 9.74787890e-03 2.00224082e+02] [-4.38049795e-03 9.99990198e-01 -6.43756093e-04 -1.13531571e+01] [-9.75060723e-03 6.01018749e-04 9.99952281e-01 -2.62913517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.250371743 meters Centerline goodness [0,1] 0.987464836277709 Centerline is valid? [True, True] Translation: X:200.26, Y:-11.35, Z:-2.63 [[ 9.99948605e-01 4.18814507e-03 9.23288267e-03 2.00256320e+02] [-4.18267372e-03 9.99991065e-01 -6.11823690e-04 -1.13538157e+01] [-9.23536259e-03 5.73174110e-04 9.99957189e-01 -2.63032425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280371743 meters Centerline goodness [0,1] 0.9686054335940786 Centerline is valid? [True, True] Translation: X:200.29, Y:-11.39, Z:-2.63 [[ 9.99935400e-01 6.23402507e-03 9.50439651e-03 2.00285086e+02] [-6.22828635e-03 9.99980404e-01 -6.33275362e-04 -1.13879227e+01] [-9.50815811e-03 5.74038349e-04 9.99954632e-01 -2.63345680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.310371743 meters Centerline goodness [0,1] 0.9875544772431145 Centerline is valid? [True, True] Translation: X:200.32, Y:-11.36, Z:-2.63 [[ 9.99957510e-01 3.43292294e-03 8.55533367e-03 2.00318175e+02] [-3.42816797e-03 9.99993961e-01 -5.70393413e-04 -1.13603286e+01] [-8.55724012e-03 5.41040056e-04 9.99963240e-01 -2.63215853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340371743 meters Centerline goodness [0,1] 0.9867281520638849 Centerline is valid? [True, True] Translation: X:200.35, Y:-11.36, Z:-2.63 [[ 9.99961976e-01 2.91510331e-03 8.21883150e-03 2.00350263e+02] [-2.91070758e-03 9.99995614e-01 -5.46747386e-04 -1.13623266e+01] [-8.22038928e-03 5.22803982e-04 9.99966075e-01 -2.63257277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.370371743 meters Centerline goodness [0,1] 0.9860384337784194 Centerline is valid? [True, True] Translation: X:200.38, Y:-11.36, Z:-2.63 [[ 9.99959731e-01 3.04097957e-03 8.44329421e-03 2.00382604e+02] [-3.03632637e-03 9.99995231e-01 -5.63875384e-04 -1.13647507e+01] [-8.44496868e-03 5.38216080e-04 9.99964196e-01 -2.63287340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400371743 meters Centerline goodness [0,1] 0.9867630174917269 Centerline is valid? [True, True] Translation: X:200.41, Y:-11.37, Z:-2.63 [[ 9.99953552e-01 3.85198242e-03 8.83496947e-03 2.00414402e+02] [-3.84688987e-03 9.99992425e-01 -5.93329602e-04 -1.13667382e+01] [-8.83718803e-03 5.59314888e-04 9.99960795e-01 -2.63274672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43037174299997 meters Centerline goodness [0,1] 0.9873571766614834 Centerline is valid? [True, True] Translation: X:200.45, Y:-11.37, Z:-2.63 [[ 9.99947939e-01 4.79642461e-03 9.00625669e-03 2.00446626e+02] [-4.79117307e-03 9.99988340e-01 -6.04584167e-04 -1.13664721e+01] [-9.00905151e-03 5.61402157e-04 9.99959260e-01 -2.63324304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46037174299997 meters Centerline goodness [0,1] 0.9869977691146314 Centerline is valid? [True, True] Translation: X:200.48, Y:-11.37, Z:-2.63 [[ 9.99945581e-01 5.35455923e-03 8.95336516e-03 2.00477355e+02] [-5.34937045e-03 9.99985510e-01 -6.03381533e-04 -1.13695929e+01] [-8.95646627e-03 5.55453831e-04 9.99959736e-01 -2.63379461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49037174299997 meters Centerline goodness [0,1] 0.9862180786380219 Centerline is valid? [True, True] Translation: X:200.51, Y:-11.37, Z:-2.63 [[ 9.99942272e-01 6.30662381e-03 8.69934926e-03 2.00508642e+02] [-6.30174431e-03 9.99979971e-01 -5.88201525e-04 -1.13727542e+01] [-8.70288458e-03 5.33346495e-04 9.99961987e-01 -2.63461679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52037174299997 meters Centerline goodness [0,1] 0.9852805265649303 Centerline is valid? [True, True] Translation: X:200.54, Y:-11.37, Z:-2.64 [[ 9.99943854e-01 6.46222800e-03 8.39817980e-03 2.00540161e+02] [-6.45766138e-03 9.99978986e-01 -5.70766743e-04 -1.13745479e+01] [-8.40169175e-03 5.16502096e-04 9.99964572e-01 -2.63530741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55037174299997 meters Centerline goodness [0,1] 0.9856301160384996 Centerline is valid? [True, True] Translation: X:200.57, Y:-11.38, Z:-2.64 [[ 9.99941829e-01 6.70464600e-03 8.44906942e-03 2.00570068e+02] [-6.70002907e-03 9.99977389e-01 -5.74628943e-04 -1.13802897e+01] [-8.45273106e-03 5.17986506e-04 9.99964141e-01 -2.63648079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58037174299997 meters Centerline goodness [0,1] 0.9862629346142623 Centerline is valid? [True, True] Translation: X:200.60, Y:-11.38, Z:-2.64 [[ 9.99938452e-01 6.75703875e-03 8.79968926e-03 2.00601354e+02] [-6.75203206e-03 9.99977026e-01 -5.98547155e-04 -1.13807880e+01] [-8.80353150e-03 5.39094531e-04 9.99961103e-01 -2.63707764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61037174299997 meters Centerline goodness [0,1] 0.9856599356160375 Centerline is valid? [True, True] Translation: X:200.63, Y:-11.38, Z:-2.64 [[ 9.99937687e-01 6.66719485e-03 8.95378591e-03 2.00632551e+02] [-6.66200476e-03 9.99977623e-01 -6.09353529e-04 -1.13831901e+01] [-8.95764823e-03 5.49665394e-04 9.99959728e-01 -2.63753136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64037174299997 meters Centerline goodness [0,1] 0.9860586436409426 Centerline is valid? [True, True] Translation: X:200.66, Y:-11.39, Z:-2.64 [[ 9.99946754e-01 5.79311201e-03 8.53985699e-03 2.00662498e+02] [-5.78835572e-03 9.99983078e-01 -5.81563127e-04 -1.13884136e+01] [-8.54308154e-03 5.32100431e-04 9.99963366e-01 -2.63801308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67037174299998 meters Centerline goodness [0,1] 0.9858517133394913 Centerline is valid? [True, True] Translation: X:200.69, Y:-11.39, Z:-2.64 [[ 9.99953622e-01 5.53463993e-03 7.88171368e-03 2.00694289e+02] [-5.53059000e-03 9.99984563e-01 -5.35541765e-04 -1.13896384e+01] [-7.88455604e-03 4.91926401e-04 9.99968795e-01 -2.63850042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70037174299998 meters Centerline goodness [0,1] 0.9859820444164435 Centerline is valid? [True, True] Translation: X:200.73, Y:-11.39, Z:-2.64 [[ 9.99959152e-01 5.35347753e-03 7.28253429e-03 2.00725994e+02] [-5.34999499e-03 9.99985565e-01 -4.97601589e-04 -1.13921117e+01] [-7.28509307e-03 4.58619741e-04 9.99973358e-01 -2.63904106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73037174299998 meters Centerline goodness [0,1] 0.98505744531973 Centerline is valid? [True, True] Translation: X:200.76, Y:-11.40, Z:-2.64 [[ 9.99965351e-01 4.97130883e-03 6.67706998e-03 2.00756943e+02] [-4.96837150e-03 9.99987553e-01 -4.56427774e-04 -1.13955872e+01] [-6.67925592e-03 4.23237795e-04 9.99977604e-01 -2.64055936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76037174299998 meters Centerline goodness [0,1] 0.9855313412716243 Centerline is valid? [True, True] Translation: X:200.79, Y:-11.40, Z:-2.64 [[ 9.99968436e-01 5.10540031e-03 6.08786659e-03 2.00787801e+02] [-5.10295992e-03 9.99986893e-01 -4.16328370e-04 -1.13993392e+01] [-6.08991232e-03 3.85249090e-04 9.99981382e-01 -2.64168781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79037174299998 meters Centerline goodness [0,1] 0.985726468872032 Centerline is valid? [True, True] Translation: X:200.82, Y:-11.40, Z:-2.64 [[ 9.99970185e-01 5.41095147e-03 5.50908893e-03 2.00818032e+02] [-5.40895516e-03 9.99985300e-01 -3.77201570e-04 -1.14019989e+01] [-5.51104897e-03 3.47391909e-04 9.99984754e-01 -2.64253778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82037174299998 meters Centerline goodness [0,1] 0.9849127769919849 Centerline is valid? [True, True] Translation: X:200.85, Y:-11.40, Z:-2.64 [[ 9.99963179e-01 6.67198146e-03 5.39671939e-03 2.00848859e+02] [-6.67008459e-03 9.99977687e-01 -3.69408914e-04 -1.14037881e+01] [-5.39906366e-03 3.33398738e-04 9.99985369e-01 -2.64340506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85037174299998 meters Centerline goodness [0,1] 0.9851393884892087 Centerline is valid? [True, True] Translation: X:200.88, Y:-11.40, Z:-2.64 [[ 9.99953859e-01 7.85625398e-03 5.52801629e-03 2.00879004e+02] [-7.85428080e-03 9.99969083e-01 -3.78560766e-04 -1.14047785e+01] [-5.53081945e-03 3.35124706e-04 9.99984649e-01 -2.64376361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88037174299998 meters Centerline goodness [0,1] 0.9841654875008423 Centerline is valid? [True, True] Translation: X:200.91, Y:-11.41, Z:-2.65 [[ 9.99923860e-01 1.09851348e-02 5.62145057e-03 2.00907865e+02] [-1.09831419e-02 9.99939609e-01 -3.85258398e-04 -1.14122815e+01] [-5.62534320e-03 3.23487875e-04 9.99984125e-01 -2.64529888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91037174299998 meters Centerline goodness [0,1] 0.9862533692722372 Centerline is valid? [True, True] Translation: X:200.94, Y:-11.41, Z:-2.64 [[ 9.99913427e-01 1.19142657e-02 5.58478035e-03 2.00937360e+02] [-1.19123126e-02 9.99928973e-01 -3.82852089e-04 -1.14074463e+01] [-5.58894507e-03 3.16291295e-04 9.99984332e-01 -2.64443341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940371743 meters Centerline goodness [0,1] 0.9864527308324145 Centerline is valid? [True, True] Translation: X:200.97, Y:-11.41, Z:-2.64 [[ 9.99901261e-01 1.30798358e-02 5.13671783e-03 2.00966022e+02] [-1.30782003e-02 9.99914415e-01 -3.51857858e-04 -1.14073633e+01] [-5.14088045e-03 2.84644091e-04 9.99986745e-01 -2.64445598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.970371743 meters Centerline goodness [0,1] 0.9861416827635776 Centerline is valid? [True, True] Translation: X:200.99, Y:-11.41, Z:-2.64 [[ 9.99870115e-01 1.51201342e-02 5.57989063e-03 2.00994707e+02] [-1.51182396e-02 9.99885640e-01 -3.81565674e-04 -1.14093430e+01] [-5.58502184e-03 2.97157990e-04 9.99984359e-01 -2.64497086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000371743 meters Centerline goodness [0,1] 0.9876446318055431 Centerline is valid? [True, True] Translation: X:201.02, Y:-11.41, Z:-2.64 [[ 9.99852195e-01 1.63485525e-02 5.32090138e-03 2.01023598e+02] [-1.63468475e-02 9.99866315e-01 -3.63764602e-04 -1.14100736e+01] [-5.32613708e-03 2.76730872e-04 9.99985778e-01 -2.64496961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.030371743 meters Centerline goodness [0,1] 0.9874199707963608 Centerline is valid? [True, True] Translation: X:201.05, Y:-11.41, Z:-2.65 [[ 9.99842632e-01 1.67749988e-02 5.77150508e-03 2.01051382e+02] [-1.67730020e-02 9.99859246e-01 -3.94211926e-04 -1.14138575e+01] [-5.77730562e-03 2.97344424e-04 9.99983267e-01 -2.64586294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060371743 meters Centerline goodness [0,1] 0.987409548132715 Centerline is valid? [True, True] Translation: X:201.08, Y:-11.41, Z:-2.65 [[ 9.99807690e-01 1.88137045e-02 5.53427834e-03 2.01080071e+02] [-1.88119029e-02 9.99822969e-01 -3.77418604e-04 -1.14138875e+01] [-5.54039924e-03 2.73235715e-04 9.99984615e-01 -2.64604137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.090371743 meters Centerline goodness [0,1] 0.9861431870669746 Centerline is valid? [True, True] Translation: X:201.11, Y:-11.42, Z:-2.65 [[ 9.99783260e-01 2.00192468e-02 5.71511493e-03 2.01107262e+02] [-2.00173469e-02 9.99799557e-01 -3.89453275e-04 -1.14186795e+01] [-5.72176594e-03 2.74967427e-04 9.99983593e-01 -2.64722252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120371743 meters Centerline goodness [0,1] 0.9874133405128895 Centerline is valid? [True, True] Translation: X:201.14, Y:-11.42, Z:-2.65 [[ 9.99741048e-01 2.20264337e-02 5.71598277e-03 2.01136085e+02] [-2.20245697e-02 9.99757354e-01 -3.88864893e-04 -1.14171781e+01] [-5.72316112e-03 2.62872135e-04 9.99983588e-01 -2.64666478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.150371743 meters Centerline goodness [0,1] 0.9881935715568325 Centerline is valid? [True, True] Translation: X:201.16, Y:-11.42, Z:-2.65 [[ 9.99724652e-01 2.25337436e-02 6.54599645e-03 2.01164412e+02] [-2.25313137e-02 9.99746039e-01 -4.44725572e-04 -1.14187840e+01] [-6.55435535e-03 2.97113219e-04 9.99978476e-01 -2.64689780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18037174299997 meters Centerline goodness [0,1] 0.9874315468174881 Centerline is valid? [True, True] Translation: X:201.19, Y:-11.42, Z:-2.65 [[ 9.99719469e-01 2.28385461e-02 6.27570678e-03 2.01192635e+02] [-2.28363212e-02 9.99739126e-01 -4.25956595e-04 -1.14212495e+01] [-6.28379785e-03 2.82523045e-04 9.99980217e-01 -2.64717676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21037174299997 meters Centerline goodness [0,1] 0.9879677347075958 Centerline is valid? [True, True] Translation: X:201.22, Y:-11.42, Z:-2.65 [[ 9.99756792e-01 2.12791329e-02 5.79273700e-03 2.01221010e+02] [-2.12772131e-02 9.99773537e-01 -3.92846583e-04 -1.14241651e+01] [-5.79978459e-03 2.69497740e-04 9.99983145e-01 -2.64766852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24037174299997 meters Centerline goodness [0,1] 0.9881305637982196 Centerline is valid? [True, True] Translation: X:201.25, Y:-11.43, Z:-2.65 [[ 9.99783154e-01 2.00294187e-02 5.69809735e-03 2.01249372e+02] [-2.00275431e-02 9.99799354e-01 -3.86034435e-04 -1.14272160e+01] [-5.70468609e-03 2.71831834e-04 9.99983691e-01 -2.64798701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27037174299997 meters Centerline goodness [0,1] 0.9881305637982196 Centerline is valid? [True, True] Translation: X:201.28, Y:-11.43, Z:-2.65 [[ 9.99784583e-01 1.99579366e-02 5.69812495e-03 2.01277645e+02] [-1.99560622e-02 9.99800784e-01 -3.85626192e-04 -1.14290668e+01] [-5.70468610e-03 2.71830985e-04 9.99983691e-01 -2.64838597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30037174299997 meters Centerline goodness [0,1] 0.987563861253025 Centerline is valid? [True, True] Translation: X:201.31, Y:-11.43, Z:-2.65 [[ 9.99820745e-01 1.82420514e-02 5.07014254e-03 2.01305607e+02] [-1.82405467e-02 9.99833569e-01 -3.42869152e-04 -1.14335612e+01] [-5.07555335e-03 2.50325520e-04 9.99987088e-01 -2.64922340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33037174299997 meters Centerline goodness [0,1] 0.987262293237313 Centerline is valid? [True, True] Translation: X:201.33, Y:-11.44, Z:-2.65 [[ 9.99857874e-01 1.62811528e-02 4.37675492e-03 2.01334781e+02] [-1.62800143e-02 9.99867428e-01 -2.95638180e-04 -1.14355273e+01] [-4.38098802e-03 2.24342530e-04 9.99990378e-01 -2.64974935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36037174299997 meters Centerline goodness [0,1] 0.9869109359915583 Centerline is valid? [True, True] Translation: X:201.36, Y:-11.44, Z:-2.65 [[ 9.99886291e-01 1.44379074e-02 4.35336593e-03 2.01362667e+02] [-1.44367660e-02 9.99895741e-01 -2.93501153e-04 -1.14413345e+01] [-4.35714959e-03 2.30619254e-04 9.99990481e-01 -2.65114527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39037174299997 meters Centerline goodness [0,1] 0.9866331748452498 Centerline is valid? [True, True] Translation: X:201.39, Y:-11.45, Z:-2.65 [[ 9.99930407e-01 1.10714995e-02 4.07456628e-03 2.01392153e+02] [-1.10704721e-02 9.99938683e-01 -2.74610105e-04 -1.14457657e+01] [-4.07735678e-03 2.29483622e-04 9.99991661e-01 -2.65121176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42037174299998 meters Centerline goodness [0,1] 0.9859861204387732 Centerline is valid? [True, True] Translation: X:201.42, Y:-11.45, Z:-2.65 [[ 9.99941732e-01 9.71693955e-03 4.70248416e-03 2.01420617e+02] [-9.71555524e-03 9.99952753e-01 -3.17133851e-04 -1.14537123e+01] [-4.70534355e-03 2.71428128e-04 9.99988893e-01 -2.65175329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45037174299998 meters Centerline goodness [0,1] 0.9865345471626368 Centerline is valid? [True, True] Translation: X:201.45, Y:-11.45, Z:-2.65 [[ 9.99952017e-01 8.00619815e-03 5.64489691e-03 2.01450729e+02] [-8.00417951e-03 9.99967894e-01 -3.80104958e-04 -1.14507690e+01] [-5.64775887e-03 3.34903951e-04 9.99983995e-01 -2.65057385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48037174299998 meters Centerline goodness [0,1] 0.9861216645063245 Centerline is valid? [True, True] Translation: X:201.48, Y:-11.45, Z:-2.65 [[ 9.99955040e-01 7.41661389e-03 5.90865305e-03 2.01480470e+02] [-7.41439332e-03 9.99972434e-01 -3.97632749e-04 -1.14519969e+01] [-5.91143926e-03 3.53805794e-04 9.99982465e-01 -2.65106351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51037174299998 meters Centerline goodness [0,1] 0.9858477910928277 Centerline is valid? [True, True] Translation: X:201.51, Y:-11.45, Z:-2.65 [[ 9.99958643e-01 7.17246268e-03 5.59182450e-03 2.01510652e+02] [-7.17047275e-03 9.99974221e-01 -3.75831485e-04 -1.14532918e+01] [-5.59437599e-03 3.35719916e-04 9.99984295e-01 -2.65132002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54037174299998 meters Centerline goodness [0,1] 0.9864297108449976 Centerline is valid? [True, True] Translation: X:201.54, Y:-11.46, Z:-2.65 [[ 9.99970502e-01 6.06316469e-03 4.71518525e-03 2.01540473e+02] [-6.06173750e-03 9.99981577e-01 -3.16911783e-04 -1.14560584e+01] [-4.71701987e-03 2.88320220e-04 9.99988833e-01 -2.65224662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57037174299998 meters Centerline goodness [0,1] 0.9860060006269312 Centerline is valid? [True, True] Translation: X:201.57, Y:-11.46, Z:-2.65 [[ 9.99972847e-01 5.52653722e-03 4.87477544e-03 2.01569831e+02] [-5.52500464e-03 9.99984683e-01 -3.27800436e-04 -1.14592909e+01] [-4.87651238e-03 3.00858378e-04 9.99988064e-01 -2.65282210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60037174299998 meters Centerline goodness [0,1] 0.9857206803939123 Centerline is valid? [True, True] Translation: X:201.60, Y:-11.46, Z:-2.65 [[ 9.99984346e-01 3.88807928e-03 4.02382101e-03 2.01600332e+02] [-3.88702268e-03 9.99992409e-01 -2.70373213e-04 -1.14595066e+01] [-4.02484170e-03 2.54728297e-04 9.99991868e-01 -2.65377993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63037174299998 meters Centerline goodness [0,1] 0.9856063653837558 Centerline is valid? [True, True] Translation: X:201.63, Y:-11.46, Z:-2.65 [[ 9.99983242e-01 3.55275261e-03 4.57096512e-03 2.01630225e+02] [-3.55138641e-03 9.99993647e-01 -3.06968511e-04 -1.14631711e+01] [-4.57202667e-03 2.90730103e-04 9.99989506e-01 -2.65440015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66037174299998 meters Centerline goodness [0,1] 0.9850856401770941 Centerline is valid? [True, True] Translation: X:201.66, Y:-11.47, Z:-2.65 [[ 9.99986497e-01 2.93409314e-03 4.28920131e-03 2.01660939e+02] [-2.93288351e-03 9.99995658e-01 -2.88281567e-04 -1.14650470e+01] [-4.29002853e-03 2.75697947e-04 9.99990760e-01 -2.65499351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.690371743 meters Centerline goodness [0,1] 0.9843645148302241 Centerline is valid? [True, True] Translation: X:201.69, Y:-11.47, Z:-2.66 [[ 9.99985001e-01 2.89675513e-03 4.64838100e-03 2.01692528e+02] [-2.89533558e-03 9.99995760e-01 -3.12086892e-04 -1.14669862e+01] [-4.64926533e-03 2.98623588e-04 9.99989148e-01 -2.65538184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720371743 meters Centerline goodness [0,1] 0.9853500335495415 Centerline is valid? [True, True] Translation: X:201.72, Y:-11.47, Z:-2.66 [[ 9.99986133e-01 3.50691388e-03 3.92884034e-03 2.01723931e+02] [-3.50590424e-03 9.99993819e-01 -2.63841348e-04 -1.14670393e+01] [-3.92974133e-03 2.50063551e-04 9.99992247e-01 -2.65561639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.750371743 meters Centerline goodness [0,1] 0.9854731320196382 Centerline is valid? [True, True] Translation: X:201.75, Y:-11.47, Z:-2.66 [[ 9.99984464e-01 4.03314222e-03 3.84777728e-03 2.01754693e+02] [-4.03217580e-03 9.99991837e-01 -2.58887791e-04 -1.14675708e+01] [-3.84879000e-03 2.43368854e-04 9.99992564e-01 -2.65639926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780371743 meters Centerline goodness [0,1] 0.9860265137943389 Centerline is valid? [True, True] Translation: X:201.79, Y:-11.47, Z:-2.66 [[ 9.99980326e-01 5.09369626e-03 3.66086224e-03 2.01785132e+02] [-5.09282853e-03 9.99987001e-01 -2.46311694e-04 -1.14670447e+01] [-3.66206929e-03 2.27662704e-04 9.99993269e-01 -2.65647160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.810371743 meters Centerline goodness [0,1] 0.9860078607523863 Centerline is valid? [True, True] Translation: X:201.82, Y:-11.47, Z:-2.66 [[ 9.99969612e-01 6.86032778e-03 3.70295970e-03 2.01815866e+02] [-6.85945205e-03 9.99976443e-01 -2.49144113e-04 -1.14664165e+01] [-3.70458168e-03 2.23736267e-04 9.99993113e-01 -2.65710520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840371743 meters Centerline goodness [0,1] 0.9857618426379954 Centerline is valid? [True, True] Translation: X:201.84, Y:-11.47, Z:-2.66 [[ 9.99964944e-01 7.55855557e-03 3.60259966e-03 2.01844669e+02] [-7.55772917e-03 9.99971410e-01 -2.42948478e-04 -1.14683062e+01] [-3.60433300e-03 2.15712488e-04 9.99993481e-01 -2.65807822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.870371743 meters Centerline goodness [0,1] 0.985280568102654 Centerline is valid? [True, True] Translation: X:201.87, Y:-11.47, Z:-2.66 [[ 9.99957181e-01 8.50210856e-03 3.65376578e-03 2.01873414e+02] [-8.50126557e-03 9.99963833e-01 -2.46188546e-04 -1.14700958e+01] [-3.65572676e-03 2.15116371e-04 9.99993295e-01 -2.65888531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900371743 meters Centerline goodness [0,1] 0.9862797665983284 Centerline is valid? [True, True] Translation: X:201.90, Y:-11.47, Z:-2.66 [[ 9.99956536e-01 8.71311626e-03 3.31766664e-03 2.01902394e+02] [-8.71242204e-03 9.99962021e-01 -2.23646390e-04 -1.14661982e+01] [-3.31948929e-03 1.94731757e-04 9.99994472e-01 -2.65804314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93037174299997 meters Centerline goodness [0,1] 0.985722007026394 Centerline is valid? [True, True] Translation: X:201.93, Y:-11.47, Z:-2.66 [[ 9.99955972e-01 8.68030252e-03 3.56460003e-03 2.01931230e+02] [-8.67950278e-03 9.99962304e-01 -2.39762845e-04 -1.14687979e+01] [-3.56654687e-03 2.08813333e-04 9.99993618e-01 -2.65829207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96037174299997 meters Centerline goodness [0,1] 0.9850220264317181 Centerline is valid? [True, True] Translation: X:201.96, Y:-11.47, Z:-2.66 [[ 9.99953391e-01 8.84669854e-03 3.86675161e-03 2.01959763e+02] [-8.84575982e-03 9.99960842e-01 -2.59804061e-04 -1.14712731e+01] [-3.86889861e-03 2.25587596e-04 9.99992490e-01 -2.65882936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99037174299997 meters Centerline goodness [0,1] 0.9858064807293077 Centerline is valid? [True, True] Translation: X:201.99, Y:-11.47, Z:-2.66 [[ 9.99954274e-01 8.80080067e-03 3.74097783e-03 2.01988999e+02] [-8.79992165e-03 9.99961248e-01 -2.51366201e-04 -1.14707694e+01] [-3.74304508e-03 2.18434395e-04 9.99992971e-01 -2.65903781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02037174299997 meters Centerline goodness [0,1] 0.9860539758600425 Centerline is valid? [True, True] Translation: X:202.02, Y:-11.47, Z:-2.66 [[ 9.99952768e-01 8.96588163e-03 3.75166641e-03 2.02017894e+02] [-8.96499973e-03 9.99959782e-01 -2.51821551e-04 -1.14714377e+01] [-3.75377333e-03 2.18175969e-04 9.99992931e-01 -2.66040871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05037174299997 meters Centerline goodness [0,1] 0.9863214680721396 Centerline is valid? [True, True] Translation: X:202.05, Y:-11.47, Z:-2.66 [[ 9.99946743e-01 9.90725657e-03 2.89098437e-03 2.02046174e+02] [-9.90673734e-03 9.99950908e-01 -1.93868508e-04 -1.14731620e+01] [-2.89276315e-03 1.65217960e-04 9.99995802e-01 -2.66186261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08037174299997 meters Centerline goodness [0,1] 0.9872270199394131 Centerline is valid? [True, True] Translation: X:202.08, Y:-11.47, Z:-2.66 [[ 9.99938552e-01 1.07611699e-02 2.66275930e-03 2.02075159e+02] [-1.07607321e-02 9.99942086e-01 -1.78688548e-04 -1.14724831e+01] [-2.66452798e-03 1.50024328e-04 9.99996439e-01 -2.66200415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11037174299997 meters Centerline goodness [0,1] 0.9864631989478935 Centerline is valid? [True, True] Translation: X:202.11, Y:-11.47, Z:-2.66 [[ 9.99912705e-01 1.30388789e-02 2.13797318e-03 2.02105191e+02] [-1.30386027e-02 9.99914984e-01 -1.43088803e-04 -1.14707754e+01] [-2.13965713e-03 1.15200129e-04 9.99997704e-01 -2.66248648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14037174299997 meters Centerline goodness [0,1] 0.9866633400621471 Centerline is valid? [True, True] Translation: X:202.13, Y:-11.47, Z:-2.66 [[ 9.99898927e-01 1.40253117e-02 2.32967428e-03 2.02133970e+02] [-1.40249857e-02 9.99901633e-01 -1.56207013e-04 -1.14713546e+01] [-2.33163596e-03 1.23517576e-04 9.99997274e-01 -2.66336921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17037174299998 meters Centerline goodness [0,1] 0.9867456480787998 Centerline is valid? [True, True] Translation: X:202.16, Y:-11.47, Z:-2.66 [[ 9.99884714e-01 1.49356799e-02 2.73573101e-03 2.02161826e+02] [-1.49352342e-02 9.99888446e-01 -1.83257543e-04 -1.14727749e+01] [-2.73816290e-03 1.42377633e-04 9.99996241e-01 -2.66385624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20037174299998 meters Centerline goodness [0,1] 0.9865709286736803 Centerline is valid? [True, True] Translation: X:202.19, Y:-11.47, Z:-2.66 [[ 9.99866803e-01 1.59992108e-02 3.22516272e-03 2.02190668e+02] [-1.59985992e-02 9.99871991e-01 -2.15335472e-04 -1.14733058e+01] [-3.22819507e-03 1.63708704e-04 9.99994776e-01 -2.66414836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23037174299998 meters Centerline goodness [0,1] 0.9865791625034063 Centerline is valid? [True, True] Translation: X:202.22, Y:-11.47, Z:-2.66 [[ 9.99818787e-01 1.86629582e-02 3.75328571e-03 2.02219703e+02] [-1.86621516e-02 9.99825816e-01 -2.49802873e-04 -1.14727773e+01] [-3.75729401e-03 1.79713218e-04 9.99992925e-01 -2.66409932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26037174299998 meters Centerline goodness [0,1] 0.9866963818706934 Centerline is valid? [True, True] Translation: X:202.25, Y:-11.47, Z:-2.66 [[ 9.99789840e-01 2.01417921e-02 3.81903493e-03 2.02248830e+02] [-2.01409670e-02 9.99797118e-01 -2.54392706e-04 -1.14713711e+01] [-3.82338404e-03 1.77420186e-04 9.99992675e-01 -2.66450359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29037174299998 meters Centerline goodness [0,1] 0.9867143703568662 Centerline is valid? [True, True] Translation: X:202.28, Y:-11.47, Z:-2.67 [[ 9.99716703e-01 2.35223089e-02 3.63511560e-03 2.02278223e+02] [-2.35215857e-02 9.99723300e-01 -2.41569659e-04 -1.14701159e+01] [-3.63979204e-03 1.55997540e-04 9.99993364e-01 -2.66586809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32037174299998 meters Centerline goodness [0,1] 0.9867326236122825 Centerline is valid? [True, True] Translation: X:202.31, Y:-11.47, Z:-2.67 [[ 9.99677217e-01 2.51252935e-02 3.76588734e-03 2.02307575e+02] [-2.51245287e-02 9.99684298e-01 -2.50283154e-04 -1.14702691e+01] [-3.77098688e-03 1.55586222e-04 9.99992878e-01 -2.66692129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35037174299998 meters Centerline goodness [0,1] 0.9878425009712288 Centerline is valid? [True, True] Translation: X:202.34, Y:-11.47, Z:-2.67 [[ 9.99646172e-01 2.63682757e-02 3.49912499e-03 2.02336246e+02] [-2.63676228e-02 9.99652287e-01 -2.32598245e-04 -1.14709461e+01] [-3.50404151e-03 1.40252337e-04 9.99993851e-01 -2.66768265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38037174299998 meters Centerline goodness [0,1] 0.9884365268364169 Centerline is valid? [True, True] Translation: X:202.37, Y:-11.46, Z:-2.67 [[ 9.99598724e-01 2.81926618e-02 2.75035483e-03 2.02366010e+02] [-2.81922657e-02 9.99602502e-01 -1.82689266e-04 -1.14649559e+01] [-2.75441207e-03 1.05077223e-04 9.99996201e-01 -2.66770875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41037174299998 meters Centerline goodness [0,1] 0.9883079891578995 Centerline is valid? [True, True] Translation: X:202.39, Y:-11.47, Z:-2.67 [[ 9.99598238e-01 2.82463366e-02 2.34673125e-03 2.02393467e+02] [-2.82460470e-02 9.99600989e-01 -1.56488685e-04 -1.14659989e+01] [-2.35021511e-03 9.01399327e-05 9.99997234e-01 -2.66837684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440371743 meters Centerline goodness [0,1] 0.9891032552591131 Centerline is valid? [True, True] Translation: X:202.42, Y:-11.47, Z:-2.67 [[ 9.99605202e-01 2.80013226e-02 2.31667279e-03 2.02422403e+02] [-2.80010411e-02 9.99607882e-01 -1.53834604e-04 -1.14673622e+01] [-2.32007195e-03 8.89046199e-05 9.99997305e-01 -2.66877491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.470371743 meters Centerline goodness [0,1] 0.9875037191312109 Centerline is valid? [True, True] Translation: X:202.45, Y:-11.47, Z:-2.67 [[ 9.99657142e-01 2.60326569e-02 2.81038397e-03 2.02449505e+02] [-2.60322350e-02 9.99661087e-01 -1.86595416e-04 -1.14713199e+01] [-2.81428907e-03 1.13370864e-04 9.99996033e-01 -2.67032399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500371743 meters Centerline goodness [0,1] 0.9887902635431918 Centerline is valid? [True, True] Translation: X:202.48, Y:-11.47, Z:-2.67 [[ 9.99695816e-01 2.44807056e-02 2.99504194e-03 2.02478057e+02] [-2.44802220e-02 9.99700295e-01 -1.98043776e-04 -1.14736625e+01] [-2.99899256e-03 1.24664243e-04 9.99995495e-01 -2.67059465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.530371743 meters Centerline goodness [0,1] 0.9884852638793694 Centerline is valid? [True, True] Translation: X:202.51, Y:-11.48, Z:-2.67 [[ 9.99727053e-01 2.31025074e-02 3.47745363e-03 2.02506618e+02] [-2.31018485e-02 9.99733090e-01 -2.29532624e-04 -1.14766608e+01] [-3.48182825e-03 1.49134367e-04 9.99993927e-01 -2.67089967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560371743 meters Centerline goodness [0,1] 0.9867102795187337 Centerline is valid? [True, True] Translation: X:202.53, Y:-11.49, Z:-2.67 [[ 9.99793074e-01 1.98619514e-02 4.39460174e-03 2.02534047e+02] [-1.98608704e-02 9.99802712e-01 -2.89492378e-04 -1.14889935e+01] [-4.39948462e-03 2.02151859e-04 9.99990302e-01 -2.67216199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.590371743 meters Centerline goodness [0,1] 0.987408424908425 Centerline is valid? [True, True] Translation: X:202.56, Y:-11.48, Z:-2.67 [[ 9.99817570e-01 1.84406784e-02 4.97682726e-03 2.02563472e+02] [-1.84392768e-02 9.99829928e-01 -3.27361823e-04 -1.14842486e+01] [-4.98201762e-03 2.35533007e-04 9.99987562e-01 -2.67063691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620371743 meters Centerline goodness [0,1] 0.987264635398836 Centerline is valid? [True, True] Translation: X:202.59, Y:-11.49, Z:-2.67 [[ 9.99842242e-01 1.69572793e-02 5.28606766e-03 2.02592084e+02] [-1.69556797e-02 9.99856182e-01 -3.47283337e-04 -1.14855149e+01] [-5.29119640e-03 2.57599680e-04 9.99985968e-01 -2.67054398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.650371743 meters Centerline goodness [0,1] 0.987715324960538 Centerline is valid? [True, True] Translation: X:202.62, Y:-11.49, Z:-2.67 [[ 9.99887235e-01 1.37911421e-02 5.94312144e-03 2.02621625e+02] [-1.37890693e-02 9.99904850e-01 -3.89609754e-04 -1.14907711e+01] [-5.94792912e-03 3.07615707e-04 9.99982264e-01 -2.67019611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68037174299997 meters Centerline goodness [0,1] 0.9877797610874639 Centerline is valid? [True, True] Translation: X:202.65, Y:-11.49, Z:-2.67 [[ 9.99900225e-01 1.23073274e-02 6.93328366e-03 2.02650912e+02] [-1.23044731e-02 9.99924194e-01 -4.54190998e-04 -1.14940699e+01] [-6.93834795e-03 3.68835278e-04 9.99975861e-01 -2.67039805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71037174299997 meters Centerline goodness [0,1] 0.9872741733893876 Centerline is valid? [True, True] Translation: X:202.68, Y:-11.50, Z:-2.67 [[ 9.99932931e-01 9.40929987e-03 6.75260576e-03 2.02681018e+02] [-9.40652891e-03 9.99955660e-01 -4.41997779e-04 -1.14977166e+01] [-6.75646523e-03 3.78449554e-04 9.99977103e-01 -2.67092001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74037174299997 meters Centerline goodness [0,1] 0.9863150943825854 Centerline is valid? [True, True] Translation: X:202.71, Y:-11.50, Z:-2.67 [[ 9.99948211e-01 7.78594378e-03 6.55398993e-03 2.02710062e+02] [-7.78329937e-03 9.99969618e-01 -4.28891140e-04 -1.15049977e+01] [-6.55713013e-03 3.77857263e-04 9.99978430e-01 -2.67229154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77037174299997 meters Centerline goodness [0,1] 0.9863488228993368 Centerline is valid? [True, True] Translation: X:202.74, Y:-11.51, Z:-2.67 [[ 9.99962093e-01 6.31150952e-03 5.99808211e-03 2.02740207e+02] [-6.30926963e-03 9.99980019e-01 -3.92284615e-04 -1.15088553e+01] [-6.00043817e-03 3.54426227e-04 9.99981934e-01 -2.67304044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80037174299997 meters Centerline goodness [0,1] 0.9874080652139263 Centerline is valid? [True, True] Translation: X:202.77, Y:-11.51, Z:-2.67 [[ 9.99970760e-01 4.64355438e-03 6.07585767e-03 2.02770465e+02] [-4.64122526e-03 9.99989150e-01 -3.97384419e-04 -1.15070016e+01] [-6.07763702e-03 3.69173375e-04 9.99981463e-01 -2.67350705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83037174299997 meters Centerline goodness [0,1] 0.9872697046298194 Centerline is valid? [True, True] Translation: X:202.80, Y:-11.51, Z:-2.68 [[ 9.99983844e-01 1.77200781e-03 5.40111290e-03 2.02800332e+02] [-1.77012651e-03 9.99998371e-01 -3.53078083e-04 -1.15135268e+01] [-5.40172976e-03 3.43511725e-04 9.99985352e-01 -2.67521390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86037174299997 meters Centerline goodness [0,1] 0.9871315993258325 Centerline is valid? [True, True] Translation: X:202.83, Y:-11.51, Z:-2.68 [[ 9.99988029e-01 4.91939403e-04 4.86830304e-03 2.02831760e+02] [-4.90396382e-04 9.99999829e-01 -3.18141211e-04 -1.15149943e+01] [-4.86845872e-03 3.15750005e-04 9.99988099e-01 -2.67574868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89037174299997 meters Centerline goodness [0,1] 0.9868933032971534 Centerline is valid? [True, True] Translation: X:202.86, Y:-11.52, Z:-2.68 [[ 9.99989027e-01 -8.16909459e-05 4.68397481e-03 2.02864015e+02] [ 8.31166690e-05 9.99999950e-01 -3.04189316e-04 -1.15170400e+01] [-4.68394972e-03 3.04575294e-04 9.99988984e-01 -2.67617068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92037174299998 meters Centerline goodness [0,1] 0.9866405698809714 Centerline is valid? [True, True] Translation: X:202.90, Y:-11.52, Z:-2.68 [[ 9.99986589e-01 -1.05264547e-04 5.17781278e-03 2.02895367e+02] [ 1.07021512e-04 9.99999937e-01 -3.39049766e-04 -1.15229040e+01] [-5.17777676e-03 3.39599357e-04 9.99986538e-01 -2.67686721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95037174299998 meters Centerline goodness [0,1] 0.9868205780767133 Centerline is valid? [True, True] Translation: X:202.93, Y:-11.53, Z:-2.68 [[ 9.99984256e-01 4.29574874e-04 5.59490019e-03 2.02926465e+02] [-4.27522930e-04 9.99999841e-01 -3.67943462e-04 -1.15253413e+01] [-5.59505736e-03 3.65545721e-04 9.99984281e-01 -2.67728108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98037174299998 meters Centerline goodness [0,1] 0.9864741572008576 Centerline is valid? [True, True] Translation: X:202.96, Y:-11.52, Z:-2.68 [[ 9.99977686e-01 2.75244187e-03 6.08691774e-03 2.02958180e+02] [-2.75005362e-03 9.99996138e-01 -4.00693432e-04 -1.15248257e+01] [-6.08799712e-03 3.83945141e-04 9.99981394e-01 -2.67700928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01037174299998 meters Centerline goodness [0,1] 0.9869234967706723 Centerline is valid? [True, True] Translation: X:202.99, Y:-11.52, Z:-2.68 [[ 9.99969730e-01 4.51947146e-03 6.33355592e-03 2.02990085e+02] [-4.51691876e-03 9.99989712e-01 -4.17289486e-04 -1.15244216e+01] [-6.33537669e-03 3.88668697e-04 9.99979856e-01 -2.67686664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04037174299998 meters Centerline goodness [0,1] 0.9870061896959766 Centerline is valid? [True, True] Translation: X:203.02, Y:-11.53, Z:-2.68 [[ 9.99956164e-01 6.46139449e-03 6.77649976e-03 2.03021212e+02] [-6.45851294e-03 9.99979044e-01 -4.47024481e-04 -1.15257281e+01] [-6.77924615e-03 4.03238774e-04 9.99976939e-01 -2.67686028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07037174299998 meters Centerline goodness [0,1] 0.9882216248234383 Centerline is valid? [True, True] Translation: X:203.05, Y:-11.52, Z:-2.68 [[ 9.99913398e-01 1.05797061e-02 7.82726699e-03 2.03052360e+02] [-1.05759824e-02 9.99943939e-01 -5.16972835e-04 -1.15233581e+01] [-7.83229760e-03 4.34147026e-04 9.99969233e-01 -2.67641894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10037174299998 meters Centerline goodness [0,1] 0.9886244471800484 Centerline is valid? [True, True] Translation: X:203.08, Y:-11.52, Z:-2.68 [[ 9.99888372e-01 1.27426154e-02 7.80190035e-03 2.03082137e+02] [-1.27389806e-02 9.99918723e-01 -5.15403969e-04 -1.15243185e+01] [-7.80783383e-03 4.15958178e-04 9.99969432e-01 -2.67664225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13037174299998 meters Centerline goodness [0,1] 0.9879680058336942 Centerline is valid? [True, True] Translation: X:203.11, Y:-11.52, Z:-2.68 [[ 9.99855281e-01 1.51761747e-02 7.68773407e-03 2.03111586e+02] [-1.51727193e-02 9.99884759e-01 -5.07596495e-04 -1.15237253e+01] [-7.69455150e-03 3.90879205e-04 9.99970320e-01 -2.67712553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16037174299998 meters Centerline goodness [0,1] 0.9889829155356857 Centerline is valid? [True, True] Translation: X:203.14, Y:-11.52, Z:-2.68 [[ 9.99783415e-01 1.95249390e-02 7.20417242e-03 2.03140347e+02] [-1.95220180e-02 9.99809314e-01 -4.75560897e-04 -1.15231296e+01] [-7.21208398e-03 3.34817914e-04 9.99973937e-01 -2.67793215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.190371743 meters Centerline goodness [0,1] 0.9889829155356857 Centerline is valid? [True, True] Translation: X:203.17, Y:-11.52, Z:-2.68 [[ 9.99784793e-01 1.94542320e-02 7.20418975e-03 2.03168619e+02] [-1.94513111e-02 9.99810692e-01 -4.75298206e-04 -1.15249319e+01] [-7.21207250e-03 3.35064982e-04 9.99973937e-01 -2.67833099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220371743 meters Centerline goodness [0,1] 0.9890034677860924 Centerline is valid? [True, True] Translation: X:203.20, Y:-11.52, Z:-2.68 [[ 9.99748852e-01 2.14508825e-02 6.48787438e-03 2.03197822e+02] [-2.14485587e-02 9.99769862e-01 -4.27544202e-04 -1.15249465e+01] [-6.49555247e-03 2.88281271e-04 9.99978862e-01 -2.67945175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.250371743 meters Centerline goodness [0,1] 0.9903542857142857 Centerline is valid? [True, True] Translation: X:203.23, Y:-11.53, Z:-2.68 [[ 9.99656228e-01 2.56765754e-02 5.30472275e-03 2.03226659e+02] [-2.56750829e-02 9.99670280e-01 -3.49271194e-04 -1.15254419e+01] [-5.31194176e-03 2.12951928e-04 9.99985869e-01 -2.68097526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280371743 meters Centerline goodness [0,1] 0.9899222508493126 Centerline is valid? [True, True] Translation: X:203.26, Y:-11.53, Z:-2.68 [[ 9.99595051e-01 2.81025353e-02 4.47009105e-03 2.03255650e+02] [-2.81014986e-02 9.99605032e-01 -2.94575840e-04 -1.15250852e+01] [-4.47660384e-03 1.68840294e-04 9.99989966e-01 -2.68152276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.310371743 meters Centerline goodness [0,1] 0.9899476822553746 Centerline is valid? [True, True] Translation: X:203.28, Y:-11.52, Z:-2.68 [[ 9.99516767e-01 3.07566976e-02 4.50096354e-03 2.03284377e+02] [-3.07556749e-02 9.99526888e-01 -2.96293600e-04 -1.15244413e+01] [-4.50794710e-03 1.57720250e-04 9.99989827e-01 -2.68209899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340371743 meters Centerline goodness [0,1] 0.9911989182003621 Centerline is valid? [True, True] Translation: X:203.31, Y:-11.52, Z:-2.68 [[ 9.99421104e-01 3.37743185e-02 4.09293668e-03 2.03313741e+02] [-3.37734996e-02 9.99429476e-01 -2.69054177e-04 -1.15245453e+01] [-4.09968868e-03 1.30665627e-04 9.99991588e-01 -2.68176340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.370371743 meters Centerline goodness [0,1] 0.99155672823219 Centerline is valid? [True, True] Translation: X:203.34, Y:-11.52, Z:-2.68 [[ 9.99192198e-01 3.98491176e-02 5.19602785e-03 2.03343426e+02] [-3.98478831e-02 9.99205700e-01 -3.40928966e-04 -1.15225420e+01] [-5.20548636e-03 1.33602853e-04 9.99986442e-01 -2.68102424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400371743 meters Centerline goodness [0,1] 0.9921341099848645 Centerline is valid? [True, True] Translation: X:203.37, Y:-11.52, Z:-2.68 [[ 9.99060618e-01 4.28963861e-02 6.14662613e-03 2.03371346e+02] [-4.28947156e-02 9.99079517e-01 -4.03405211e-04 -1.15232197e+01] [-6.15827289e-03 1.39368480e-04 9.99981028e-01 -2.68075305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43037174299997 meters Centerline goodness [0,1] 0.9916406393532978 Centerline is valid? [True, True] Translation: X:203.40, Y:-11.52, Z:-2.68 [[ 9.98862507e-01 4.70250312e-02 7.89550572e-03 2.03400450e+02] [-4.70224050e-02 9.98893701e-01 -5.18026915e-04 -1.15231872e+01] [-7.91113116e-03 1.46171994e-04 9.99968696e-01 -2.67974392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46037174299997 meters Centerline goodness [0,1] 0.9920742183025999 Centerline is valid? [True, True] Translation: X:203.43, Y:-11.53, Z:-2.68 [[ 9.98780389e-01 4.85795281e-02 8.81833394e-03 2.03427864e+02] [-4.85763410e-02 9.98819307e-01 -5.75371179e-04 -1.15254030e+01] [-8.83587346e-03 1.46307053e-04 9.99960952e-01 -2.68021494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49037174299997 meters Centerline goodness [0,1] 0.9925421084033228 Centerline is valid? [True, True] Translation: X:203.46, Y:-11.53, Z:-2.68 [[ 9.98744968e-01 4.91987531e-02 9.37926894e-03 2.03456231e+02] [-4.91951843e-02 9.98788997e-01 -6.10976746e-04 -1.15277328e+01] [-9.39796991e-03 1.48795087e-04 9.99955827e-01 -2.68022791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52037174299997 meters Centerline goodness [0,1] 0.9930253830322433 Centerline is valid? [True, True] Translation: X:203.48, Y:-11.53, Z:-2.68 [[ 9.98750866e-01 4.91245181e-02 9.13726122e-03 2.03484118e+02] [-4.91211321e-02 9.98792651e-01 -5.94757177e-04 -1.15320586e+01] [-9.15544652e-03 1.45181630e-04 9.99958077e-01 -2.68105395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55037174299997 meters Centerline goodness [0,1] 0.9930279339825355 Centerline is valid? [True, True] Translation: X:203.51, Y:-11.54, Z:-2.68 [[ 9.98795428e-01 4.82427263e-02 8.96284772e-03 2.03512591e+02] [-4.82394428e-02 9.98835631e-01 -5.82291732e-04 -1.15354856e+01] [-8.98050300e-03 1.49227539e-04 9.99959663e-01 -2.68175291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58037174299997 meters Centerline goodness [0,1] 0.9918814462460265 Centerline is valid? [True, True] Translation: X:203.54, Y:-11.54, Z:-2.68 [[ 9.98935487e-01 4.54791083e-02 7.71649341e-03 2.03539439e+02] [-4.54765912e-02 9.98965279e-01 -5.01439001e-04 -1.15433511e+01] [-7.73131399e-03 1.49985396e-04 9.99970102e-01 -2.68365648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61037174299997 meters Centerline goodness [0,1] 0.9926222788960744 Centerline is valid? [True, True] Translation: X:203.57, Y:-11.55, Z:-2.68 [[ 9.99021556e-01 4.36588901e-02 7.05913617e-03 2.03568346e+02] [-4.36567488e-02 9.99046485e-01 -4.57215816e-04 -1.15479554e+01] [-7.07236671e-03 1.48589521e-04 9.99974979e-01 -2.68478097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64037174299997 meters Centerline goodness [0,1] 0.992040932347925 Centerline is valid? [True, True] Translation: X:203.60, Y:-11.55, Z:-2.69 [[ 9.99127373e-01 4.12544240e-02 6.52424594e-03 2.03595576e+02] [-4.12525453e-02 9.99148662e-01 -4.22310666e-04 -1.15541199e+01] [-6.53611378e-03 1.52800395e-04 9.99978628e-01 -2.68658885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67037174299998 meters Centerline goodness [0,1] 0.9916430112410582 Centerline is valid? [True, True] Translation: X:203.62, Y:-11.56, Z:-2.69 [[ 9.99227685e-01 3.88455403e-02 5.92097399e-03 2.03624285e+02] [-3.88439541e-02 9.99245216e-01 -3.82699775e-04 -1.15598076e+01] [-5.93137111e-03 1.52410168e-04 9.99982398e-01 -2.68704187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70037174299998 meters Centerline goodness [0,1] 0.9912628171755812 Centerline is valid? [True, True] Translation: X:203.65, Y:-11.57, Z:-2.69 [[ 9.99414840e-01 3.36465728e-02 6.15516419e-03 2.03653547e+02] [-3.36447646e-02 9.99433776e-01 -3.97099975e-04 -1.15671955e+01] [-6.16504004e-03 1.89778557e-04 9.99980978e-01 -2.68623001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73037174299998 meters Centerline goodness [0,1] 0.9908801553082462 Centerline is valid? [True, True] Translation: X:203.68, Y:-11.57, Z:-2.69 [[ 9.99484355e-01 3.13335016e-02 7.01686412e-03 2.03681073e+02] [-3.13310944e-02 9.99508958e-01 -4.52743859e-04 -1.15734360e+01] [-7.02760459e-03 2.32664372e-04 9.99975279e-01 -2.68650357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76037174299998 meters Centerline goodness [0,1] 0.9894732106707455 Centerline is valid? [True, True] Translation: X:203.71, Y:-11.58, Z:-2.69 [[ 9.99590064e-01 2.74422695e-02 8.16248844e-03 2.03709748e+02] [-2.74388919e-02 9.99623345e-01 -5.25517432e-04 -1.15818295e+01] [-8.17383539e-03 3.01332365e-04 9.99966548e-01 -2.68610194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79037174299998 meters Centerline goodness [0,1] 0.9889623235320565 Centerline is valid? [True, True] Translation: X:203.74, Y:-11.59, Z:-2.69 [[ 9.99629278e-01 2.57831755e-02 8.74844193e-03 2.03738619e+02] [-2.57792359e-02 9.99667502e-01 -5.62806958e-04 -1.15874992e+01] [-8.76004404e-03 3.37070165e-04 9.99961573e-01 -2.68628867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82037174299998 meters Centerline goodness [0,1] 0.9885384891440876 Centerline is valid? [True, True] Translation: X:203.77, Y:-11.59, Z:-2.69 [[ 9.99668201e-01 2.41679771e-02 8.91050470e-03 2.03767392e+02] [-2.41638319e-02 9.99707848e-01 -5.72578099e-04 -1.15917662e+01] [-8.92173953e-03 3.57076181e-04 9.99960137e-01 -2.68626610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85037174299998 meters Centerline goodness [0,1] 0.9886020108829523 Centerline is valid? [True, True] Translation: X:203.80, Y:-11.60, Z:-2.69 [[ 9.99725476e-01 2.14181381e-02 9.49921902e-03 2.03795006e+02] [-2.14133116e-02 9.99770523e-01 -6.09523731e-04 -1.16010648e+01] [-9.51009403e-03 4.05946666e-04 9.99954696e-01 -2.68711634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88037174299998 meters Centerline goodness [0,1] 0.9869719172438367 Centerline is valid? [True, True] Translation: X:203.82, Y:-11.61, Z:-2.69 [[ 9.99764148e-01 1.96267591e-02 9.29728938e-03 2.03824491e+02] [-1.96220623e-02 9.99807291e-01 -5.96140817e-04 -1.16060731e+01] [-9.30719802e-03 4.13568225e-04 9.99956602e-01 -2.68774843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91037174299998 meters Centerline goodness [0,1] 0.9884408542164104 Centerline is valid? [True, True] Translation: X:203.85, Y:-11.61, Z:-2.69 [[ 9.99802205e-01 1.76266257e-02 9.21155771e-03 2.03852703e+02] [-1.76219327e-02 9.99844547e-01 -5.90395502e-04 -1.16116808e+01] [-9.22053243e-03 4.27953275e-04 9.99957398e-01 -2.68829356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940371743 meters Centerline goodness [0,1] 0.9865774794995444 Centerline is valid? [True, True] Translation: X:203.88, Y:-11.62, Z:-2.69 [[ 9.99833405e-01 1.59471461e-02 8.87982460e-03 2.03881910e+02] [-1.59427234e-02 9.99872745e-01 -5.68628181e-04 -1.16171661e+01] [-8.88776260e-03 4.26964862e-04 9.99960412e-01 -2.68920342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.970371743 meters Centerline goodness [0,1] 0.9870351491511901 Centerline is valid? [True, True] Translation: X:203.91, Y:-11.62, Z:-2.69 [[ 9.99894486e-01 1.22012833e-02 7.88327243e-03 2.03912103e+02] [-1.21976849e-02 9.99925478e-01 -5.04378594e-04 -1.16237263e+01] [-7.88883902e-03 4.08167701e-04 9.99968799e-01 -2.69040561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000371743 meters Centerline goodness [0,1] 0.9875002770328671 Centerline is valid? [True, True] Translation: X:203.94, Y:-11.63, Z:-2.69 [[ 9.99923996e-01 1.00502665e-02 7.14109823e-03 2.03941406e+02] [-1.00472573e-02 9.99949421e-01 -4.57140484e-04 -1.16279800e+01] [-7.14533142e-03 3.85357287e-04 9.99974398e-01 -2.69133139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.030371743 meters Centerline goodness [0,1] 0.9868441417737193 Centerline is valid? [True, True] Translation: X:203.97, Y:-11.64, Z:-2.69 [[ 9.99952945e-01 7.24995878e-03 6.44558689e-03 2.03969908e+02] [-7.24745041e-03 9.99973652e-01 -4.12433192e-04 -1.16359686e+01] [-6.44840718e-03 3.65699714e-04 9.99979142e-01 -2.69271360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060371743 meters Centerline goodness [0,1] 0.9871375530410184 Centerline is valid? [True, True] Translation: X:204.00, Y:-11.64, Z:-2.69 [[ 9.99961341e-01 6.06874569e-03 6.36290245e-03 2.03999360e+02] [-6.06628056e-03 9.99981517e-01 -4.06650263e-04 -1.16427877e+01] [-6.36525271e-03 3.68035391e-04 9.99979674e-01 -2.69353029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.090371743 meters Centerline goodness [0,1] 0.9861206267818861 Centerline is valid? [True, True] Translation: X:204.03, Y:-11.65, Z:-2.69 [[ 9.99960779e-01 5.54352204e-03 6.90722936e-03 2.04029451e+02] [-5.54060545e-03 9.99984553e-01 -4.41315786e-04 -1.16494832e+01] [-6.90956911e-03 4.03028244e-04 9.99976047e-01 -2.69386302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120371743 meters Centerline goodness [0,1] 0.9860437296471057 Centerline is valid? [True, True] Translation: X:204.06, Y:-11.65, Z:-2.69 [[ 9.99957521e-01 4.84986994e-03 7.83805881e-03 2.04060810e+02] [-4.84609261e-03 9.99988132e-01 -5.00842008e-04 -1.16478705e+01] [-7.84039481e-03 4.62836774e-04 9.99969157e-01 -2.69282055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.150371743 meters Centerline goodness [0,1] 0.9863963605847799 Centerline is valid? [True, True] Translation: X:204.09, Y:-11.65, Z:-2.69 [[ 9.99952364e-01 5.02298876e-03 8.36896398e-03 2.04092415e+02] [-5.01868572e-03 9.99987263e-01 -5.35088509e-04 -1.16472553e+01] [-8.37154513e-03 4.93061820e-04 9.99964836e-01 -2.69283266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18037174299997 meters Centerline goodness [0,1] 0.9873392549383534 Centerline is valid? [True, True] Translation: X:204.12, Y:-11.65, Z:-2.69 [[ 9.99945534e-01 5.11577844e-03 9.09716563e-03 2.04124144e+02] [-5.11070414e-03 9.99986772e-01 -5.80948822e-04 -1.16512664e+01] [-9.10001729e-03 5.34424258e-04 9.99958451e-01 -2.69306728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21037174299997 meters Centerline goodness [0,1] 0.9860510285159354 Centerline is valid? [True, True] Translation: X:204.16, Y:-11.65, Z:-2.69 [[ 9.99945144e-01 5.34797018e-03 9.00599751e-03 2.04155808e+02] [-5.34298614e-03 9.99985559e-01 -5.77382883e-04 -1.16547716e+01] [-9.00895528e-03 5.29232290e-04 9.99959278e-01 -2.69341142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24037174299997 meters Centerline goodness [0,1] 0.9867180616740088 Centerline is valid? [True, True] Translation: X:204.19, Y:-11.66, Z:-2.69 [[ 9.99941355e-01 5.39388846e-03 9.39111372e-03 2.04186618e+02] [-5.38844628e-03 9.99985299e-01 -6.04709481e-04 -1.16618737e+01] [-9.39423740e-03 5.54070506e-04 9.99955720e-01 -2.69413442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27037174299997 meters Centerline goodness [0,1] 0.9859471861280857 Centerline is valid? [True, True] Translation: X:204.22, Y:-11.66, Z:-2.69 [[ 9.99941092e-01 5.65082893e-03 9.26713952e-03 2.04218470e+02] [-5.64552145e-03 9.99983885e-01 -5.98780009e-04 -1.16622040e+01] [-9.27037379e-03 5.46426901e-04 9.99956880e-01 -2.69473200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30037174299997 meters Centerline goodness [0,1] 0.9869393518212103 Centerline is valid? [True, True] Translation: X:204.25, Y:-11.67, Z:-2.70 [[ 9.99944068e-01 5.16857015e-03 9.22746892e-03 2.04250587e+02] [-5.16326641e-03 9.99986491e-01 -5.98508202e-04 -1.16654655e+01] [-9.23043770e-03 5.50830846e-04 9.99957247e-01 -2.69541603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33037174299997 meters Centerline goodness [0,1] 0.9866493357714085 Centerline is valid? [True, True] Translation: X:204.28, Y:-11.67, Z:-2.70 [[ 9.99948254e-01 5.24139113e-03 8.71879008e-03 2.04282828e+02] [-5.23664141e-03 9.99986128e-01 -5.67508717e-04 -1.16685932e+01] [-8.72164366e-03 5.21822173e-04 9.99961830e-01 -2.69653920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36037174299997 meters Centerline goodness [0,1] 0.9864721952939103 Centerline is valid? [True, True] Translation: X:204.31, Y:-11.67, Z:-2.70 [[ 9.99955408e-01 5.27977225e-03 7.82982175e-03 2.04314979e+02] [-5.27593035e-03 9.99985951e-01 -5.11249188e-04 -1.16728948e+01] [-7.83241104e-03 4.69916796e-04 9.99969216e-01 -2.69786836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39037174299997 meters Centerline goodness [0,1] 0.9865105736857162 Centerline is valid? [True, True] Translation: X:204.35, Y:-11.68, Z:-2.70 [[ 9.99956345e-01 5.39140401e-03 7.63152757e-03 2.04345815e+02] [-5.38773341e-03 9.99985360e-01 -5.01455337e-04 -1.16756200e+01] [-7.63411940e-03 4.60316810e-04 9.99970754e-01 -2.69864087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42037174299998 meters Centerline goodness [0,1] 0.9872426535280662 Centerline is valid? [True, True] Translation: X:204.38, Y:-11.68, Z:-2.70 [[ 9.99946360e-01 6.48010299e-03 8.07998698e-03 2.04376611e+02] [-6.47602116e-03 9.99978889e-01 -5.31239318e-04 -1.16782713e+01] [-8.08325889e-03 4.78884655e-04 9.99967215e-01 -2.69878914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45037174299998 meters Centerline goodness [0,1] 0.9859158033943134 Centerline is valid? [True, True] Translation: X:204.41, Y:-11.68, Z:-2.70 [[ 9.99930939e-01 8.92440659e-03 7.64669523e-03 2.04407374e+02] [-8.92082021e-03 9.99960082e-01 -5.02991387e-04 -1.16791734e+01] [-7.65087889e-03 4.34741856e-04 9.99970637e-01 -2.69938068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48037174299998 meters Centerline goodness [0,1] 0.9864379912375333 Centerline is valid? [True, True] Translation: X:204.44, Y:-11.68, Z:-2.70 [[ 9.99912042e-01 1.09165652e-02 7.53242849e-03 2.04438454e+02] [-1.09131388e-02 9.99940327e-01 -4.95844140e-04 -1.16796166e+01] [-7.53739192e-03 4.13598088e-04 9.99971508e-01 -2.70019992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51037174299998 meters Centerline goodness [0,1] 0.9868566135932607 Centerline is valid? [True, True] Translation: X:204.47, Y:-11.68, Z:-2.70 [[ 9.99890047e-01 1.31569174e-02 6.84022774e-03 2.04468327e+02] [-1.31541409e-02 9.99913379e-01 -4.50739620e-04 -1.16799512e+01] [-6.84556557e-03 3.60712740e-04 9.99976504e-01 -2.70095464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54037174299998 meters Centerline goodness [0,1] 0.9878659518609217 Centerline is valid? [True, True] Translation: X:204.50, Y:-11.68, Z:-2.70 [[ 9.99850523e-01 1.60230330e-02 6.49562941e-03 2.04498405e+02] [-1.60205916e-02 9.99871571e-01 -4.27707539e-04 -1.16795933e+01] [-6.50164835e-03 3.23579781e-04 9.99978812e-01 -2.70182427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57037174299998 meters Centerline goodness [0,1] 0.9872275655166328 Centerline is valid? [True, True] Translation: X:204.53, Y:-11.68, Z:-2.70 [[ 9.99721973e-01 2.24934663e-02 7.07249236e-03 2.04528096e+02] [-2.24907345e-02 9.99746943e-01 -4.65570189e-04 -1.16768074e+01] [-7.08117490e-03 3.06375200e-04 9.99974881e-01 -2.70238084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60037174299998 meters Centerline goodness [0,1] 0.9879629629629629 Centerline is valid? [True, True] Translation: X:204.56, Y:-11.68, Z:-2.70 [[ 9.99638091e-01 2.58023367e-02 7.61100784e-03 2.04557904e+02] [-2.57992694e-02 9.99667018e-01 -5.00934493e-04 -1.16764197e+01] [-7.62139879e-03 3.04394759e-04 9.99970910e-01 -2.70221906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63037174299998 meters Centerline goodness [0,1] 0.9874254143646409 Centerline is valid? [True, True] Translation: X:204.59, Y:-11.67, Z:-2.70 [[ 9.99471574e-01 3.11561932e-02 9.26629986e-03 2.04588356e+02] [-3.11518808e-02 9.99514477e-01 -6.09391121e-04 -1.16737295e+01] [-9.28078717e-03 3.20406434e-04 9.99956881e-01 -2.70123439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66037174299998 meters Centerline goodness [0,1] 0.9876578645235362 Centerline is valid? [True, True] Translation: X:204.62, Y:-11.67, Z:-2.70 [[ 9.99395050e-01 3.33720554e-02 9.78975434e-03 2.04616675e+02] [-3.33673478e-02 9.99442948e-01 -6.43857088e-04 -1.16743823e+01] [-9.80578777e-03 3.16809449e-04 9.99951872e-01 -2.70115504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.690371743 meters Centerline goodness [0,1] 0.9893077723418856 Centerline is valid? [True, True] Translation: X:204.65, Y:-11.67, Z:-2.70 [[ 9.99336188e-01 3.49989780e-02 1.01121211e-02 2.04646250e+02] [-3.49940459e-02 9.99387300e-01 -6.64317185e-04 -1.16716463e+01] [-1.01291758e-02 3.10012173e-04 9.99948651e-01 -2.70098195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720371743 meters Centerline goodness [0,1] 0.9896111933865299 Centerline is valid? [True, True] Translation: X:204.68, Y:-11.67, Z:-2.70 [[ 9.99266231e-01 3.68667785e-02 1.03846566e-02 2.04675450e+02] [-3.68616829e-02 9.99320145e-01 -6.81731179e-04 -1.16719160e+01] [-1.04027298e-02 2.98435027e-04 9.99945846e-01 -2.70132231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.750371743 meters Centerline goodness [0,1] 0.9886232846392209 Centerline is valid? [True, True] Translation: X:204.70, Y:-11.67, Z:-2.70 [[ 9.99268161e-01 3.68671960e-02 1.01956777e-02 2.04703304e+02] [-3.68622899e-02 9.99320131e-01 -6.68763332e-04 -1.16733577e+01] [-1.02134014e-02 2.92437879e-04 9.99947799e-01 -2.70233430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780371743 meters Centerline goodness [0,1] 0.9890804597701149 Centerline is valid? [True, True] Translation: X:204.73, Y:-11.68, Z:-2.70 [[ 9.99281800e-01 3.66782042e-02 9.51806454e-03 2.04732263e+02] [-3.66739303e-02 9.99327091e-01 -6.23239388e-04 -1.16755888e+01] [-9.53451904e-03 2.73726942e-04 9.99954508e-01 -2.70353360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.810371743 meters Centerline goodness [0,1] 0.9897965959142118 Centerline is valid? [True, True] Translation: X:204.76, Y:-11.68, Z:-2.71 [[ 9.99313061e-01 3.60264640e-02 8.68906122e-03 2.04759494e+02] [-3.60228814e-02 9.99350804e-01 -5.68515181e-04 -1.16791427e+01] [-8.70390191e-03 2.55119624e-04 9.99962088e-01 -2.70537037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840371743 meters Centerline goodness [0,1] 0.9880447443025735 Centerline is valid? [True, True] Translation: X:204.79, Y:-11.69, Z:-2.71 [[ 9.99374377e-01 3.46921674e-02 6.87812409e-03 2.04786179e+02] [-3.46898934e-02 9.99398023e-01 -4.49664528e-04 -1.16902911e+01] [-6.88958345e-03 2.10781816e-04 9.99976244e-01 -2.70951974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.870371743 meters Centerline goodness [0,1] 0.9896605929107535 Centerline is valid? [True, True] Translation: X:204.81, Y:-11.69, Z:-2.71 [[ 9.99411095e-01 3.36748651e-02 6.59298894e-03 2.04814962e+02] [-3.36727579e-02 9.99432819e-01 -4.30376329e-04 -1.16855057e+01] [-6.60374239e-03 2.08118758e-04 9.99978173e-01 -2.70818779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900371743 meters Centerline goodness [0,1] 0.9908918070477959 Centerline is valid? [True, True] Translation: X:204.84, Y:-11.69, Z:-2.71 [[ 9.99456093e-01 3.20721580e-02 7.67430487e-03 2.04843916e+02] [-3.20692612e-02 9.99485524e-01 -5.00265256e-04 -1.16886395e+01] [-7.68640121e-03 2.53883871e-04 9.99970427e-01 -2.70737862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93037174299997 meters Centerline goodness [0,1] 0.9901127761470725 Centerline is valid? [True, True] Translation: X:204.87, Y:-11.69, Z:-2.71 [[ 9.99467420e-01 3.14115009e-02 8.84278079e-03 2.04872684e+02] [-3.14076358e-02 9.99506493e-01 -5.75649369e-04 -1.16914321e+01] [-8.85649882e-03 2.97611951e-04 9.99960736e-01 -2.70719998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96037174299997 meters Centerline goodness [0,1] 0.9890759627219975 Centerline is valid? [True, True] Translation: X:204.90, Y:-11.70, Z:-2.71 [[ 9.99493153e-01 3.03884573e-02 9.48573992e-03 2.04900379e+02] [-3.03839701e-02 9.99538110e-01 -6.16829290e-04 -1.16956747e+01] [-9.50010305e-03 3.28302213e-04 9.99954819e-01 -2.70752429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99037174299997 meters Centerline goodness [0,1] 0.989422653151168 Centerline is valid? [True, True] Translation: X:204.93, Y:-11.70, Z:-2.71 [[ 9.99541218e-01 2.85971123e-02 9.97788966e-03 2.04929265e+02] [-2.85920685e-02 9.99590953e-01 -6.47809139e-04 -1.16980896e+01] [-9.99233371e-03 3.62223430e-04 9.99950010e-01 -2.70780677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02037174299997 meters Centerline goodness [0,1] 0.9886972040452112 Centerline is valid? [True, True] Translation: X:204.96, Y:-11.70, Z:-2.71 [[ 9.99550594e-01 2.82485937e-02 1.00313352e-02 2.04957667e+02] [-2.82434855e-02 9.99600861e-01 -6.50555519e-04 -1.17004855e+01] [-1.00457085e-02 3.66943287e-04 9.99949473e-01 -2.70837482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05037174299997 meters Centerline goodness [0,1] 0.9888010249160629 Centerline is valid? [True, True] Translation: X:204.99, Y:-11.71, Z:-2.71 [[ 9.99579241e-01 2.71454630e-02 1.02207835e-02 2.04985425e+02] [-2.71401094e-02 9.99631420e-01 -6.62156743e-04 -1.17050777e+01] [-1.02349909e-02 3.84484953e-04 9.99947547e-01 -2.70907606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08037174299997 meters Centerline goodness [0,1] 0.9888010249160629 Centerline is valid? [True, True] Translation: X:205.01, Y:-11.71, Z:-2.71 [[ 9.99581140e-01 2.70754237e-02 1.02208465e-02 2.05013693e+02] [-2.70700764e-02 9.99633320e-01 -6.61182035e-04 -1.17068443e+01] [-1.02350005e-02 3.84225996e-04 9.99947547e-01 -2.70947493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11037174299997 meters Centerline goodness [0,1] 0.9891919370524268 Centerline is valid? [True, True] Translation: X:205.04, Y:-11.71, Z:-2.71 [[ 9.99594175e-01 2.64393970e-02 1.06039412e-02 2.05042169e+02] [-2.64336138e-02 9.99650336e-01 -6.85181965e-04 -1.17088881e+01] [-1.06183492e-02 4.04603414e-04 9.99943542e-01 -2.70933524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14037174299997 meters Centerline goodness [0,1] 0.9894391039774231 Centerline is valid? [True, True] Translation: X:205.07, Y:-11.71, Z:-2.71 [[ 9.99595611e-01 2.60815851e-02 1.13298089e-02 2.05071095e+02] [-2.60749700e-02 9.99659723e-01 -7.31222924e-04 -1.17091926e+01] [-1.13450251e-02 4.35502799e-04 9.99935548e-01 -2.70899826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17037174299998 meters Centerline goodness [0,1] 0.9880053015241882 Centerline is valid? [True, True] Translation: X:205.10, Y:-11.72, Z:-2.71 [[ 9.99641399e-01 2.40729900e-02 1.17287941e-02 2.05098896e+02] [-2.40657722e-02 9.99710091e-01 -7.56161707e-04 -1.17156650e+01] [-1.17435969e-02 4.73628060e-04 9.99930929e-01 -2.70888970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20037174299998 meters Centerline goodness [0,1] 0.9889165546570302 Centerline is valid? [True, True] Translation: X:205.13, Y:-11.72, Z:-2.71 [[ 9.99673977e-01 2.26753842e-02 1.17373857e-02 2.05127437e+02] [-2.26680753e-02 9.99742761e-01 -7.55389798e-04 -1.17162057e+01] [-1.17514952e-02 4.89079580e-04 9.99930829e-01 -2.70948943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23037174299998 meters Centerline goodness [0,1] 0.9882225800048521 Centerline is valid? [True, True] Translation: X:205.16, Y:-11.72, Z:-2.71 [[ 9.99767311e-01 1.92910705e-02 9.65287171e-03 2.05156079e+02] [-1.92859762e-02 9.99813816e-01 -6.20561108e-04 -1.17218735e+01] [-9.66304578e-03 4.34251657e-04 9.99953217e-01 -2.71161683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26037174299998 meters Centerline goodness [0,1] 0.9880485115766262 Centerline is valid? [True, True] Translation: X:205.19, Y:-11.72, Z:-2.71 [[ 9.99819278e-01 1.69985283e-02 8.51239107e-03 2.05185452e+02] [-1.69944859e-02 9.99855434e-01 -5.46998221e-04 -1.17243070e+01] [-8.52045863e-03 4.02235656e-04 9.99963619e-01 -2.71270963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29037174299998 meters Centerline goodness [0,1] 0.9875668419778624 Centerline is valid? [True, True] Translation: X:205.21, Y:-11.73, Z:-2.71 [[ 9.99862519e-01 1.46925228e-02 7.68591941e-03 2.05214029e+02] [-1.46891602e-02 9.99891987e-01 -4.93773911e-04 -1.17287724e+01] [-7.69234401e-03 3.80806325e-04 9.99970341e-01 -2.71402891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32037174299998 meters Centerline goodness [0,1] 0.9865674907022534 Centerline is valid? [True, True] Translation: X:205.24, Y:-11.73, Z:-2.72 [[ 9.99897035e-01 1.25219622e-02 7.00856880e-03 2.05243377e+02] [-1.25191160e-02 9.99921532e-01 -4.49822590e-04 -1.17326200e+01] [-7.01365151e-03 3.62035188e-04 9.99975339e-01 -2.71534576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35037174299998 meters Centerline goodness [0,1] 0.9850808761955132 Centerline is valid? [True, True] Translation: X:205.27, Y:-11.74, Z:-2.72 [[ 9.99947442e-01 8.40812303e-03 5.86659632e-03 2.05273099e+02] [-8.40605982e-03 9.99964598e-01 -3.76257843e-04 -1.17371858e+01] [-5.86955226e-03 3.26923108e-04 9.99982721e-01 -2.71629117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38037174299998 meters Centerline goodness [0,1] 0.9847481127715298 Centerline is valid? [True, True] Translation: X:205.30, Y:-11.74, Z:-2.72 [[ 9.99953847e-01 7.31195309e-03 6.23204001e-03 2.05302804e+02] [-7.30960944e-03 9.99973205e-01 -3.98759180e-04 -1.17412027e+01] [-6.23478873e-03 3.53186997e-04 9.99980501e-01 -2.71663747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41037174299998 meters Centerline goodness [0,1] 0.9854663965471682 Centerline is valid? [True, True] Translation: X:205.33, Y:-11.74, Z:-2.72 [[ 9.99963845e-01 5.92114590e-03 6.10320819e-03 2.05333686e+02] [-5.91886587e-03 9.99982407e-01 -3.91573437e-04 -1.17428974e+01] [-6.10541938e-03 3.55435209e-04 9.99981299e-01 -2.71637686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440371743 meters Centerline goodness [0,1] 0.9853839201075814 Centerline is valid? [True, True] Translation: X:205.36, Y:-11.74, Z:-2.71 [[ 9.99960133e-01 4.73801381e-03 7.56852985e-03 2.05364182e+02] [-4.73447142e-03 9.99988674e-01 -4.85890385e-04 -1.17397878e+01] [-7.57074628e-03 4.50038026e-04 9.99971240e-01 -2.71481872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.470371743 meters Centerline goodness [0,1] 0.9845703468920585 Centerline is valid? [True, True] Translation: X:205.39, Y:-11.75, Z:-2.72 [[ 9.99958372e-01 4.65763885e-03 7.84602411e-03 2.05394854e+02] [-4.65384092e-03 9.99989045e-01 -5.02245290e-04 -1.17489819e+01] [-7.84827743e-03 4.65710234e-04 9.99969093e-01 -2.71518977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500371743 meters Centerline goodness [0,1] 0.9848207794496706 Centerline is valid? [True, True] Translation: X:205.43, Y:-11.75, Z:-2.71 [[ 9.99952904e-01 4.44685611e-03 8.62646500e-03 2.05427438e+02] [-4.44223745e-03 9.99989979e-01 -5.54493195e-04 -1.17451409e+01] [-8.62884431e-03 5.16146274e-04 9.99962638e-01 -2.71422206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.530371743 meters Centerline goodness [0,1] 0.984240183130833 Centerline is valid? [True, True] Translation: X:205.46, Y:-11.75, Z:-2.71 [[ 9.99954462e-01 4.76215671e-03 8.27022879e-03 2.05460135e+02] [-4.75790654e-03 9.99988539e-01 -5.33510938e-04 -1.17466756e+01] [-8.27267467e-03 4.94137667e-04 9.99965659e-01 -2.71462548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560371743 meters Centerline goodness [0,1] 0.9846116590348715 Centerline is valid? [True, True] Translation: X:205.49, Y:-11.75, Z:-2.72 [[ 9.99957836e-01 4.89937471e-03 7.76668323e-03 2.05492422e+02] [-4.89561708e-03 9.99987890e-01 -5.02752389e-04 -1.17481253e+01] [-7.76905235e-03 4.64708484e-04 9.99969712e-01 -2.71504665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.590371743 meters Centerline goodness [0,1] 0.9856629243222974 Centerline is valid? [True, True] Translation: X:205.52, Y:-11.75, Z:-2.72 [[ 9.99961579e-01 4.67083835e-03 7.41777197e-03 2.05523417e+02] [-4.66738138e-03 9.99988991e-01 -4.83281380e-04 -1.17497700e+01] [-7.41994764e-03 4.48641242e-04 9.99972371e-01 -2.71519573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620371743 meters Centerline goodness [0,1] 0.9856238459509364 Centerline is valid? [True, True] Translation: X:205.55, Y:-11.75, Z:-2.72 [[ 9.99964932e-01 4.52880117e-03 7.04454510e-03 2.05554178e+02] [-4.52568779e-03 9.99989654e-01 -4.57833882e-04 -1.17517351e+01] [-7.04654566e-03 4.25936414e-04 9.99975082e-01 -2.71585244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.650371743 meters Centerline goodness [0,1] 0.9864641432067194 Centerline is valid? [True, True] Translation: X:205.59, Y:-11.75, Z:-2.72 [[ 9.99969255e-01 4.54268939e-03 6.39161517e-03 2.05585809e+02] [-4.54010974e-03 9.99989606e-01 -4.18050044e-04 -1.17505493e+01] [-6.39344781e-03 3.89018557e-04 9.99979486e-01 -2.71612508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68037174299997 meters Centerline goodness [0,1] 0.9860385874856182 Centerline is valid? [True, True] Translation: X:205.62, Y:-11.76, Z:-2.72 [[ 9.99974078e-01 4.46716755e-03 5.64688569e-03 2.05615429e+02] [-4.46515116e-03 9.99989963e-01 -3.69635301e-04 -1.17552852e+01] [-5.64848023e-03 3.44411521e-04 9.99983988e-01 -2.71766978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71037174299997 meters Centerline goodness [0,1] 0.9871234207968902 Centerline is valid? [True, True] Translation: X:205.65, Y:-11.75, Z:-2.72 [[ 9.99973307e-01 5.43456383e-03 4.88379956e-03 2.05647183e+02] [-5.43306761e-03 9.99985190e-01 -3.19578667e-04 -1.17541393e+01] [-4.88546400e-03 2.93036123e-04 9.99988023e-01 -2.71936227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74037174299997 meters Centerline goodness [0,1] 0.9877080097625915 Centerline is valid? [True, True] Translation: X:205.68, Y:-11.75, Z:-2.72 [[ 9.99972130e-01 5.80266574e-03 4.69774245e-03 2.05677860e+02] [-5.80128317e-03 9.99983125e-01 -3.07878109e-04 -1.17543923e+01] [-4.69944968e-03 2.80616594e-04 9.99988918e-01 -2.71947547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77037174299997 meters Centerline goodness [0,1] 0.9862087197902668 Centerline is valid? [True, True] Translation: X:205.71, Y:-11.76, Z:-2.72 [[ 9.99967711e-01 6.52072051e-03 4.69658303e-03 2.05706991e+02] [-6.51934575e-03 9.99978701e-01 -3.07965525e-04 -1.17595069e+01] [-4.69849116e-03 2.77336932e-04 9.99988924e-01 -2.72028491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80037174299997 meters Centerline goodness [0,1] 0.9878320290973217 Centerline is valid? [True, True] Translation: X:205.74, Y:-11.75, Z:-2.72 [[ 9.99960221e-01 7.87039198e-03 4.19678393e-03 2.05737556e+02] [-7.86930628e-03 9.99968999e-01 -2.75147555e-04 -1.17524192e+01] [-4.19881934e-03 2.42110832e-04 9.99991156e-01 -2.71934261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83037174299997 meters Centerline goodness [0,1] 0.9882576678976581 Centerline is valid? [True, True] Translation: X:205.77, Y:-11.75, Z:-2.72 [[ 9.99957743e-01 8.38551947e-03 3.76755618e-03 2.05767480e+02] [-8.38464760e-03 9.99964818e-01 -2.47149948e-04 -1.17519461e+01] [-3.76949611e-03 2.15549874e-04 9.99992872e-01 -2.71940908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86037174299997 meters Centerline goodness [0,1] 0.9876452843580871 Centerline is valid? [True, True] Translation: X:205.80, Y:-11.75, Z:-2.72 [[ 9.99944801e-01 9.75896706e-03 3.89317993e-03 2.05796708e+02] [-9.75804708e-03 9.99952357e-01 -2.55232517e-04 -1.17532001e+01] [-3.89548525e-03 2.17228595e-04 9.99992389e-01 -2.71948725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89037174299997 meters Centerline goodness [0,1] 0.9877053711606926 Centerline is valid? [True, True] Translation: X:205.83, Y:-11.75, Z:-2.72 [[ 9.99932721e-01 1.06594388e-02 4.57498664e-03 2.05825509e+02] [-1.06581774e-02 9.99943155e-01 -3.00000870e-04 -1.17533991e+01] [-4.57792441e-03 2.51219666e-04 9.99989490e-01 -2.71936034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92037174299998 meters Centerline goodness [0,1] 0.9881687014428413 Centerline is valid? [True, True] Translation: X:205.85, Y:-11.75, Z:-2.72 [[ 9.99914990e-01 1.19336094e-02 5.25371965e-03 2.05854658e+02] [-1.19319661e-02 9.99928752e-01 -3.44018882e-04 -1.17495646e+01] [-5.25745072e-03 2.81302433e-04 9.99986140e-01 -2.71786879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95037174299998 meters Centerline goodness [0,1] 0.9891693539419548 Centerline is valid? [True, True] Translation: X:205.88, Y:-11.75, Z:-2.72 [[ 9.99874526e-01 1.48799505e-02 5.43309876e-03 2.05884556e+02] [-1.48782404e-02 9.99889250e-01 -3.55035967e-04 -1.17463148e+01] [-5.43777996e-03 2.74156470e-04 9.99985178e-01 -2.71742666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98037174299998 meters Centerline goodness [0,1] 0.9885502984941638 Centerline is valid? [True, True] Translation: X:205.91, Y:-11.75, Z:-2.72 [[ 9.99856985e-01 1.61401849e-02 5.05015747e-03 2.05912317e+02] [-1.61387218e-02 9.99869708e-01 -3.30339914e-04 -1.17468782e+01] [-5.05483122e-03 2.48789584e-04 9.99987193e-01 -2.71802627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01037174299998 meters Centerline goodness [0,1] 0.9886520404076365 Centerline is valid? [True, True] Translation: X:205.94, Y:-11.75, Z:-2.72 [[ 9.99831794e-01 1.76405625e-02 5.01948737e-03 2.05941775e+02] [-1.76391398e-02 9.99844365e-01 -3.27576929e-04 -1.17469734e+01] [-5.02448480e-03 2.38982390e-04 9.99987349e-01 -2.71872563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04037174299998 meters Centerline goodness [0,1] 0.9880872558222699 Centerline is valid? [True, True] Translation: X:205.97, Y:-11.74, Z:-2.72 [[ 9.99794894e-01 1.97444684e-02 4.50849776e-03 2.05971343e+02] [-1.97433426e-02 9.99805038e-01 -2.94072709e-04 -1.17445098e+01] [-4.51342508e-03 2.04999577e-04 9.99989793e-01 -2.71939424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07037174299998 meters Centerline goodness [0,1] 0.9888408766928012 Centerline is valid? [True, True] Translation: X:206.00, Y:-11.74, Z:-2.72 [[ 9.99782686e-01 2.04126518e-02 4.23134314e-03 2.06000326e+02] [-2.04116662e-02 9.99791622e-01 -2.75996832e-04 -1.17439481e+01] [-4.23609525e-03 1.89568090e-04 9.99991010e-01 -2.71970474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10037174299998 meters Centerline goodness [0,1] 0.9891821818913301 Centerline is valid? [True, True] Translation: X:206.03, Y:-11.74, Z:-2.72 [[ 9.99785667e-01 2.04334582e-02 3.33083732e-03 2.06029201e+02] [-2.04328476e-02 9.99791204e-01 -2.17231233e-04 -1.17443052e+01] [-3.33458064e-03 1.49126182e-04 9.99994429e-01 -2.72070263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13037174299998 meters Centerline goodness [0,1] 0.9893325612987997 Centerline is valid? [True, True] Translation: X:206.06, Y:-11.75, Z:-2.72 [[ 9.99788473e-01 2.03498867e-02 2.98187148e-03 2.06058205e+02] [-2.03493973e-02 9.99792911e-01 -1.94369074e-04 -1.17450701e+01] [-2.98520935e-03 1.33648672e-04 9.99995535e-01 -2.72143668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16037174299998 meters Centerline goodness [0,1] 0.9891465552110017 Centerline is valid? [True, True] Translation: X:206.09, Y:-11.75, Z:-2.72 [[ 9.99801698e-01 1.97890275e-02 2.22699888e-03 2.06086741e+02] [-1.97887529e-02 9.99804173e-01 -1.45256779e-04 -1.17465309e+01] [-2.22943726e-03 1.01158444e-04 9.99997510e-01 -2.72231156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.190371743 meters Centerline goodness [0,1] 0.9888122570934333 Centerline is valid? [True, True] Translation: X:206.11, Y:-11.75, Z:-2.72 [[ 9.99807958e-01 1.95157582e-02 1.78400594e-03 2.06114068e+02] [-1.95155811e-02 9.99809546e-01 -1.16644251e-04 -1.17479282e+01] [-1.78594257e-03 8.18059376e-05 9.99998402e-01 -2.72309416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220371743 meters Centerline goodness [0,1] 0.9889959965109257 Centerline is valid? [True, True] Translation: X:206.14, Y:-11.75, Z:-2.72 [[ 9.99811054e-01 1.92890976e-02 2.40580965e-03 2.06141634e+02] [-1.92887764e-02 9.99813942e-01 -1.56648093e-04 -1.17490986e+01] [-2.40838363e-03 1.10213370e-04 9.99997094e-01 -2.72305945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.250371743 meters Centerline goodness [0,1] 0.9882787987449574 Centerline is valid? [True, True] Translation: X:206.17, Y:-11.75, Z:-2.72 [[ 9.99824147e-01 1.86315479e-02 2.13097161e-03 2.06168920e+02] [-1.86312945e-02 9.99826413e-01 -1.38693576e-04 -1.17535631e+01] [-2.13318578e-03 9.89664268e-05 9.99997720e-01 -2.72406945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280371743 meters Centerline goodness [0,1] 0.9888067204361134 Centerline is valid? [True, True] Translation: X:206.20, Y:-11.75, Z:-2.72 [[ 9.99845891e-01 1.73037169e-02 2.96237085e-03 2.06197973e+02] [-1.73032241e-02 9.99850270e-01 -1.91907366e-04 -1.17496360e+01] [-2.96524801e-03 1.40619224e-04 9.99995594e-01 -2.72247709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.310371743 meters Centerline goodness [0,1] 0.9889281454643652 Centerline is valid? [True, True] Translation: X:206.23, Y:-11.75, Z:-2.72 [[ 9.99871955e-01 1.56694101e-02 3.24699557e-03 2.06226478e+02] [-1.56688105e-02 9.99877215e-01 -2.10024003e-04 -1.17511601e+01] [-3.24988783e-03 1.59120552e-04 9.99994706e-01 -2.72266380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340371743 meters Centerline goodness [0,1] 0.9891003265398041 Centerline is valid? [True, True] Translation: X:206.25, Y:-11.75, Z:-2.72 [[ 9.99894704e-01 1.41418717e-02 3.25410400e-03 2.06254699e+02] [-1.41412615e-02 9.99899985e-01 -2.10452860e-04 -1.17526750e+01] [-3.25675474e-03 1.64413565e-04 9.99994683e-01 -2.72229916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.370371743 meters Centerline goodness [0,1] 0.9876204195552354 Centerline is valid? [True, True] Translation: X:206.28, Y:-11.76, Z:-2.72 [[ 9.99938787e-01 1.05389062e-02 3.36962313e-03 2.06284461e+02] [-1.05382352e-02 9.99944448e-01 -2.16807941e-04 -1.17568133e+01] [-3.37172086e-03 1.81284788e-04 9.99994299e-01 -2.72289455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400371743 meters Centerline goodness [0,1] 0.9873145367340536 Centerline is valid? [True, True] Translation: X:206.31, Y:-11.76, Z:-2.72 [[ 9.99952791e-01 8.96706089e-03 3.74273499e-03 2.06313118e+02] [-8.96622115e-03 9.99959774e-01 -2.41083641e-04 -1.17611066e+01] [-3.74474624e-03 2.07514070e-04 9.99992967e-01 -2.72386321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43037174299997 meters Centerline goodness [0,1] 0.9878333482984646 Centerline is valid? [True, True] Translation: X:206.34, Y:-11.76, Z:-2.72 [[ 9.99966957e-01 7.30648038e-03 3.56378256e-03 2.06342988e+02] [-7.30570973e-03 9.99973287e-01 -2.29214425e-04 -1.17637189e+01] [-3.56536211e-03 2.03170890e-04 9.99993623e-01 -2.72426364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46037174299997 meters Centerline goodness [0,1] 0.9874581376008631 Centerline is valid? [True, True] Translation: X:206.37, Y:-11.77, Z:-2.72 [[ 9.99985822e-01 4.68675487e-03 2.52794501e-03 2.06373002e+02] [-4.68635914e-03 9.99989006e-01 -1.62444145e-04 -1.17665663e+01] [-2.52867855e-03 1.50594983e-04 9.99996792e-01 -2.72464687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49037174299997 meters Centerline goodness [0,1] 0.9875819635318422 Centerline is valid? [True, True] Translation: X:206.40, Y:-11.77, Z:-2.73 [[ 9.99990831e-01 3.47156099e-03 2.50723695e-03 2.06402644e+02] [-3.47116802e-03 9.99993963e-01 -1.61070323e-04 -1.17697201e+01] [-2.50778098e-03 1.52365805e-04 9.99996844e-01 -2.72531638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52037174299997 meters Centerline goodness [0,1] 0.9863718006286484 Centerline is valid? [True, True] Translation: X:206.43, Y:-11.77, Z:-2.73 [[ 9.99994132e-01 2.50790566e-03 2.33388327e-03 2.06432755e+02] [-2.50756308e-03 9.99996845e-01 -1.49703513e-04 -1.17730073e+01] [-2.33425134e-03 1.43850275e-04 9.99997265e-01 -2.72600194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55037174299997 meters Centerline goodness [0,1] 0.9862044172826746 Centerline is valid? [True, True] Translation: X:206.46, Y:-11.78, Z:-2.73 [[ 9.99994449e-01 1.38276737e-03 3.03145302e-03 2.06461853e+02] [-1.38218366e-03 9.99999026e-01 -1.94637840e-04 -1.17764389e+01] [-3.03171921e-03 1.90446735e-04 9.99995386e-01 -2.72642704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58037174299997 meters Centerline goodness [0,1] 0.9862081358521081 Centerline is valid? [True, True] Translation: X:206.49, Y:-11.78, Z:-2.73 [[ 9.99990661e-01 1.29815698e-03 4.12230897e-03 2.06493030e+02] [-1.29707964e-03 9.99999124e-01 -2.64007411e-04 -1.17787410e+01] [-4.12264808e-03 2.58657983e-04 9.99991468e-01 -2.72612213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61037174299997 meters Centerline goodness [0,1] 0.9864287961173774 Centerline is valid? [True, True] Translation: X:206.52, Y:-11.78, Z:-2.73 [[ 9.99982580e-01 2.14790722e-03 5.49782332e-03 2.06523714e+02] [-2.14600180e-03 9.99997635e-01 -3.52452553e-04 -1.17815342e+01] [-5.49856735e-03 3.40648075e-04 9.99984825e-01 -2.72545302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64037174299997 meters Centerline goodness [0,1] 0.9853037010404261 Centerline is valid? [True, True] Translation: X:206.56, Y:-11.78, Z:-2.73 [[ 9.99981459e-01 2.85869275e-03 5.37685050e-03 2.06555177e+02] [-2.85687955e-03 9.99995860e-01 -3.44873066e-04 -1.17833708e+01] [-5.37781413e-03 3.29505658e-04 9.99985485e-01 -2.72609560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67037174299998 meters Centerline goodness [0,1] 0.9855062693811514 Centerline is valid? [True, True] Translation: X:206.59, Y:-11.79, Z:-2.73 [[ 9.99981033e-01 3.73877109e-03 4.89432692e-03 2.06586480e+02] [-3.73727862e-03 9.99992967e-01 -3.14049243e-04 -1.17853014e+01] [-4.89546665e-03 2.95751823e-04 9.99987973e-01 -2.72720209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70037174299998 meters Centerline goodness [0,1] 0.9867554136403499 Centerline is valid? [True, True] Translation: X:206.62, Y:-11.78, Z:-2.73 [[ 9.99977969e-01 6.01793355e-03 2.80106138e-03 2.06618106e+02] [-6.01745344e-03 9.99981879e-01 -1.79801036e-04 -1.17767494e+01] [-2.80209265e-03 1.62941819e-04 9.99996061e-01 -2.72755573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73037174299998 meters Centerline goodness [0,1] 0.9879428300480932 Centerline is valid? [True, True] Translation: X:206.65, Y:-11.78, Z:-2.73 [[ 9.99971621e-01 7.37040704e-03 1.56009972e-03 2.06647820e+02] [-7.37025883e-03 9.99972834e-01 -1.00730731e-04 -1.17768919e+01] [-1.56079976e-03 8.92295337e-05 9.99998778e-01 -2.72833527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76037174299998 meters Centerline goodness [0,1] 0.9877402925202262 Centerline is valid? [True, True] Translation: X:206.68, Y:-11.78, Z:-2.73 [[ 9.99957238e-01 9.21514244e-03 7.76684455e-04 2.06677058e+02] [-9.21510590e-03 9.99957539e-01 -5.06123387e-05 -1.17763218e+01] [-7.77117876e-04 4.34529449e-05 9.99999697e-01 -2.72896673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79037174299998 meters Centerline goodness [0,1] 0.9877421102532846 Centerline is valid? [True, True] Translation: X:206.71, Y:-11.78, Z:-2.73 [[ 9.99937624e-01 1.11331039e-02 8.95818648e-04 2.06705392e+02] [-1.11330560e-02 9.99938024e-01 -5.84397871e-05 -1.17788922e+01] [-8.96413745e-04 4.84629427e-05 9.99999597e-01 -2.73010801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82037174299998 meters Centerline goodness [0,1] 0.9883707827184423 Centerline is valid? [True, True] Translation: X:206.73, Y:-11.78, Z:-2.73 [[ 9.99879174e-01 1.55266335e-02 7.48376624e-04 2.06734418e+02] [-1.55266016e-02 9.99879454e-01 -4.84369390e-05 -1.17773432e+01] [-7.49038472e-04 3.68113409e-05 9.99999719e-01 -2.73002118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85037174299998 meters Centerline goodness [0,1] 0.9885907553551296 Centerline is valid? [True, True] Translation: X:206.76, Y:-11.78, Z:-2.73 [[ 9.99844066e-01 1.76258309e-02 1.08324250e-03 2.06763480e+02] [-1.76257651e-02 9.99844652e-01 -7.03308069e-05 -1.17750868e+01] [-1.08431386e-03 5.12268621e-05 9.99999411e-01 -2.72895507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88037174299998 meters Centerline goodness [0,1] 0.9889828974753416 Centerline is valid? [True, True] Translation: X:206.79, Y:-11.77, Z:-2.73 [[ 9.99763961e-01 2.16264199e-02 2.07846756e-03 2.06793749e+02] [-2.16261895e-02 9.99766118e-01 -1.33262701e-04 -1.17721766e+01] [-2.08086344e-03 8.82819120e-05 9.99997831e-01 -2.72812841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91037174299998 meters Centerline goodness [0,1] 0.9890631355357707 Centerline is valid? [True, True] Translation: X:206.82, Y:-11.78, Z:-2.73 [[ 9.99709884e-01 2.39049140e-02 2.95007928e-03 2.06821427e+02] [-2.39044579e-02 9.99714230e-01 -1.89762433e-04 -1.17750551e+01] [-2.95377249e-03 1.19187334e-04 9.99995631e-01 -2.72903031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940371743 meters Centerline goodness [0,1] 0.9894018484622511 Centerline is valid? [True, True] Translation: X:206.85, Y:-11.77, Z:-2.73 [[ 9.99658824e-01 2.58884525e-02 3.46757950e-03 2.06850534e+02] [-2.58878367e-02 9.99664829e-01 -2.22362495e-04 -1.17719767e+01] [-3.47217389e-03 1.32518498e-04 9.99993963e-01 -2.72846830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.970371743 meters Centerline goodness [0,1] 0.98930759319122 Centerline is valid? [True, True] Translation: X:206.88, Y:-11.77, Z:-2.73 [[ 9.99584060e-01 2.86210765e-02 3.54124407e-03 2.06879941e+02] [-2.86204530e-02 9.99590325e-01 -2.26640536e-04 -1.17702075e+01] [-3.54628001e-03 1.25194258e-04 9.99993704e-01 -2.72882896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000371743 meters Centerline goodness [0,1] 0.98930759319122 Centerline is valid? [True, True] Translation: X:206.91, Y:-11.77, Z:-2.73 [[ 9.99587150e-01 2.85129502e-02 3.54122020e-03 2.06907359e+02] [-2.85123247e-02 9.99593415e-01 -2.27015814e-04 -1.17718685e+01] [-3.54625328e-03 1.25953670e-04 9.99993704e-01 -2.72921568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.030371743 meters Centerline goodness [0,1] 0.9887813263367412 Centerline is valid? [True, True] Translation: X:206.93, Y:-11.78, Z:-2.73 [[ 9.99570849e-01 2.90676487e-02 3.63164945e-03 2.06934877e+02] [-2.90669968e-02 9.99577439e-01 -2.32183849e-04 -1.17775659e+01] [-3.63686389e-03 1.26523064e-04 9.99993379e-01 -2.73083941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060371743 meters Centerline goodness [0,1] 0.9897646551528493 Centerline is valid? [True, True] Translation: X:206.96, Y:-11.78, Z:-2.73 [[ 9.99578140e-01 2.88295300e-02 3.52144998e-03 2.06963565e+02] [-2.88289173e-02 9.99584335e-01 -2.24627382e-04 -1.17794612e+01] [-3.52646214e-03 1.23013030e-04 9.99993774e-01 -2.73115184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.090371743 meters Centerline goodness [0,1] 0.98912699489127 Centerline is valid? [True, True] Translation: X:206.99, Y:-11.78, Z:-2.73 [[ 9.99602255e-01 2.80049245e-02 3.32517048e-03 2.06992554e+02] [-2.80043742e-02 9.99607778e-01 -2.11965744e-04 -1.17786562e+01] [-3.32980236e-03 1.18762118e-04 9.99994449e-01 -2.73039069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120371743 meters Centerline goodness [0,1] 0.9896753496148024 Centerline is valid? [True, True] Translation: X:207.02, Y:-11.78, Z:-2.73 [[ 9.99669998e-01 2.54141003e-02 3.74406910e-03 2.07021618e+02] [-2.54133865e-02 9.99676999e-01 -2.38107981e-04 -1.17819460e+01] [-3.74891107e-03 1.42879930e-04 9.99992963e-01 -2.73008225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.150371743 meters Centerline goodness [0,1] 0.9891088214027477 Centerline is valid? [True, True] Translation: X:207.05, Y:-11.79, Z:-2.73 [[ 9.99708764e-01 2.38062659e-02 3.95580168e-03 2.07050187e+02] [-2.38054568e-02 9.99716578e-01 -2.51495003e-04 -1.17860564e+01] [-3.96066767e-03 1.57252093e-04 9.99992144e-01 -2.73117331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18037174299997 meters Centerline goodness [0,1] 0.9883605297654026 Centerline is valid? [True, True] Translation: X:207.08, Y:-11.79, Z:-2.73 [[ 9.99783043e-01 2.05681505e-02 3.28921128e-03 2.07079390e+02] [-2.05675751e-02 9.99788443e-01 -2.08668985e-04 -1.17907913e+01] [-3.29280736e-03 1.40972613e-04 9.99994569e-01 -2.73264082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21037174299997 meters Centerline goodness [0,1] 0.9878326310808679 Centerline is valid? [True, True] Translation: X:207.11, Y:-11.80, Z:-2.73 [[ 9.99816055e-01 1.89669749e-02 2.84787506e-03 2.07106845e+02] [-1.89665355e-02 9.99820103e-01 -1.81231389e-04 -1.17953518e+01] [-2.85080015e-03 1.27183729e-04 9.99995928e-01 -2.73374582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24037174299997 meters Centerline goodness [0,1] 0.9883125380745019 Centerline is valid? [True, True] Translation: X:207.14, Y:-11.80, Z:-2.73 [[ 9.99839500e-01 1.77234818e-02 2.61767383e-03 2.07135438e+02] [-1.77231072e-02 9.99842920e-01 -1.66249225e-04 -1.17970805e+01] [-2.62020916e-03 1.19829229e-04 9.99996560e-01 -2.73383049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27037174299997 meters Centerline goodness [0,1] 0.9883605968002876 Centerline is valid? [True, True] Translation: X:207.16, Y:-11.80, Z:-2.73 [[ 9.99884422e-01 1.49829516e-02 2.57947766e-03 2.07163838e+02] [-1.49825797e-02 9.99887741e-01 -1.63443607e-04 -1.18026586e+01] [-2.58163696e-03 1.24777487e-04 9.99996660e-01 -2.73475167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30037174299997 meters Centerline goodness [0,1] 0.9873559862555303 Centerline is valid? [True, True] Translation: X:207.19, Y:-11.80, Z:-2.74 [[ 9.99904121e-01 1.35913618e-02 2.65021551e-03 2.07192675e+02] [-1.35909643e-02 9.99907624e-01 -1.67968518e-04 -1.18047569e+01] [-2.65225362e-03 1.31933429e-04 9.99996474e-01 -2.73522237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33037174299997 meters Centerline goodness [0,1] 0.9878939537400243 Centerline is valid? [True, True] Translation: X:207.22, Y:-11.81, Z:-2.74 [[ 9.99931525e-01 1.12486316e-02 3.22703446e-03 2.07220362e+02] [-1.12480315e-02 9.99936718e-01 -2.04071886e-04 -1.18108813e+01] [-3.22912577e-03 1.67760127e-04 9.99994772e-01 -2.73531195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36037174299997 meters Centerline goodness [0,1] 0.9869951005847689 Centerline is valid? [True, True] Translation: X:207.25, Y:-11.81, Z:-2.74 [[ 9.99943280e-01 1.01387117e-02 3.26239720e-03 2.07248288e+02] [-1.01380954e-02 9.99948587e-01 -2.05411326e-04 -1.18145906e+01] [-3.26431208e-03 1.72325181e-04 9.99994657e-01 -2.73589937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39037174299997 meters Centerline goodness [0,1] 0.9865500101212299 Centerline is valid? [True, True] Translation: X:207.28, Y:-11.82, Z:-2.74 [[ 9.99947585e-01 9.53562959e-03 3.72822877e-03 2.07276163e+02] [-9.53481772e-03 9.99954515e-01 -2.35476248e-04 -1.18181353e+01] [-3.73030460e-03 1.99915923e-04 9.99993022e-01 -2.73596531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42037174299998 meters Centerline goodness [0,1] 0.9871460674157303 Centerline is valid? [True, True] Translation: X:207.31, Y:-11.82, Z:-2.74 [[ 9.99955150e-01 8.40957164e-03 4.35628991e-03 2.07305316e+02] [-8.40845729e-03 9.99964611e-01 -2.74056591e-04 -1.18222548e+01] [-4.35844044e-03 2.37414622e-04 9.99990474e-01 -2.73600352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45037174299998 meters Centerline goodness [0,1] 0.9866411784549646 Centerline is valid? [True, True] Translation: X:207.33, Y:-11.83, Z:-2.74 [[ 9.99955080e-01 8.32773569e-03 4.52632573e-03 2.07334365e+02] [-8.32653260e-03 9.99965293e-01 -2.84577736e-04 -1.18250733e+01] [-4.52853853e-03 2.46876354e-04 9.99989716e-01 -2.73637220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48037174299998 meters Centerline goodness [0,1] 0.9860729215567925 Centerline is valid? [True, True] Translation: X:207.36, Y:-11.83, Z:-2.74 [[ 9.99959081e-01 7.92126649e-03 4.36908393e-03 2.07362614e+02] [-7.92014154e-03 9.99968597e-01 -2.74720642e-04 -1.18302630e+01] [-4.37112286e-03 2.40105638e-04 9.99990418e-01 -2.73732958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51037174299998 meters Centerline goodness [0,1] 0.9865535601480011 Centerline is valid? [True, True] Translation: X:207.39, Y:-11.83, Z:-2.74 [[ 9.99959671e-01 7.84851487e-03 4.36544793e-03 2.07391864e+02] [-7.84739281e-03 9.99969171e-01 -2.74101051e-04 -1.18336108e+01] [-4.36746464e-03 2.39832612e-04 9.99990434e-01 -2.73797702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54037174299998 meters Centerline goodness [0,1] 0.9858545552367288 Centerline is valid? [True, True] Translation: X:207.42, Y:-11.84, Z:-2.74 [[ 9.99962162e-01 7.68125748e-03 4.08333886e-03 2.07421223e+02] [-7.68027481e-03 9.99970473e-01 -2.56279920e-04 -1.18364864e+01] [-4.08518685e-03 2.24909058e-04 9.99991630e-01 -2.73909528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57037174299998 meters Centerline goodness [0,1] 0.987017937219731 Centerline is valid? [True, True] Translation: X:207.45, Y:-11.84, Z:-2.74 [[ 9.99961375e-01 7.69842646e-03 4.24066113e-03 2.07450658e+02] [-7.69736745e-03 9.99970339e-01 -2.65993959e-04 -1.18394373e+01] [-4.24258308e-03 2.33341758e-04 9.99990973e-01 -2.73970257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60037174299998 meters Centerline goodness [0,1] 0.987466086683558 Centerline is valid? [True, True] Translation: X:207.48, Y:-11.83, Z:-2.74 [[ 9.99960815e-01 7.57985816e-03 4.57317733e-03 2.07480570e+02] [-7.57862606e-03 9.99971241e-01 -2.86688888e-04 -1.18328082e+01] [-4.57521887e-03 2.52019253e-04 9.99989502e-01 -2.73798992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63037174299998 meters Centerline goodness [0,1] 0.987553735004839 Centerline is valid? [True, True] Translation: X:207.51, Y:-11.83, Z:-2.74 [[ 9.99942902e-01 8.99563238e-03 5.76811336e-03 2.07510791e+02] [-8.99369855e-03 9.99959491e-01 -3.61114185e-04 -1.18331271e+01] [-5.77112814e-03 3.09216894e-04 9.99983299e-01 -2.73724570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66037174299998 meters Centerline goodness [0,1] 0.9871992838760211 Centerline is valid? [True, True] Translation: X:207.54, Y:-11.84, Z:-2.74 [[ 9.99928959e-01 1.01393844e-02 6.26657882e-03 2.07539529e+02] [-1.01371243e-02 9.99948541e-01 -3.92323649e-04 -1.18413805e+01] [-6.27023426e-03 3.28770689e-04 9.99980288e-01 -2.73820911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.690371743 meters Centerline goodness [0,1] 0.9873454643361979 Centerline is valid? [True, True] Translation: X:207.57, Y:-11.84, Z:-2.74 [[ 9.99918230e-01 1.09643989e-02 6.58147111e-03 2.07569427e+02] [-1.09619256e-02 9.99939832e-01 -4.11763097e-04 -1.18427976e+01] [-6.58558985e-03 3.39583831e-04 9.99978257e-01 -2.73862464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720371743 meters Centerline goodness [0,1] 0.9882001929246024 Centerline is valid? [True, True] Translation: X:207.60, Y:-11.84, Z:-2.74 [[ 9.99909239e-01 1.20712200e-02 5.98322394e-03 2.07599268e+02] [-1.20691965e-02 9.99927095e-01 -3.74196773e-04 -1.18371509e+01] [-5.98730474e-03 3.01950105e-04 9.99982030e-01 -2.73869016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.750371743 meters Centerline goodness [0,1] 0.9887806848269982 Centerline is valid? [True, True] Translation: X:207.63, Y:-11.84, Z:-2.74 [[ 9.99905182e-01 1.27121790e-02 5.29418649e-03 2.07627706e+02] [-1.27106027e-02 9.99919162e-01 -3.31290774e-04 -1.18374674e+01] [-5.29796995e-03 2.63967061e-04 9.99985931e-01 -2.73942730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780371743 meters Centerline goodness [0,1] 0.9890788649180915 Centerline is valid? [True, True] Translation: X:207.66, Y:-11.84, Z:-2.74 [[ 9.99901410e-01 1.34208650e-02 4.12917854e-03 2.07655202e+02] [-1.34199117e-02 9.99909916e-01 -2.58485221e-04 -1.18403521e+01] [-4.13227566e-03 2.03046525e-04 9.99991441e-01 -2.74063538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.810371743 meters Centerline goodness [0,1] 0.9885653951565799 Centerline is valid? [True, True] Translation: X:207.68, Y:-11.84, Z:-2.74 [[ 9.99902406e-01 1.33674444e-02 4.06068479e-03 2.07683677e+02] [-1.33665242e-02 9.99910632e-01 -2.53681533e-04 -1.18411803e+01] [-4.06371297e-03 1.99379534e-04 9.99991723e-01 -2.74086045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840371743 meters Centerline goodness [0,1] 0.9880286593446084 Centerline is valid? [True, True] Translation: X:207.71, Y:-11.84, Z:-2.74 [[ 9.99897672e-01 1.36806214e-02 4.18161610e-03 2.07711053e+02] [-1.36796489e-02 9.99906395e-01 -2.61077189e-04 -1.18441858e+01] [-4.18479638e-03 2.03847434e-04 9.99991223e-01 -2.74151021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.870371743 meters Centerline goodness [0,1] 0.9882737322651389 Centerline is valid? [True, True] Translation: X:207.74, Y:-11.85, Z:-2.74 [[ 9.99890407e-01 1.40764106e-02 4.58572455e-03 2.07739595e+02] [-1.40752484e-02 9.99900898e-01 -2.85612897e-04 -1.18457956e+01] [-4.58929050e-03 2.21036384e-04 9.99989445e-01 -2.74162945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900371743 meters Centerline goodness [0,1] 0.9884406012679495 Centerline is valid? [True, True] Translation: X:207.77, Y:-11.85, Z:-2.74 [[ 9.99875731e-01 1.51376089e-02 4.40179771e-03 2.07768603e+02] [-1.51365495e-02 9.99885398e-01 -2.73892187e-04 -1.18463775e+01] [-4.40543932e-03 2.07230122e-04 9.99990275e-01 -2.74176482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93037174299997 meters Centerline goodness [0,1] 0.9879367068776438 Centerline is valid? [True, True] Translation: X:207.80, Y:-11.85, Z:-2.74 [[ 9.99860851e-01 1.59915954e-02 4.74847454e-03 2.07797349e+02] [-1.59903742e-02 9.99872102e-01 -2.95042103e-04 -1.18479823e+01] [-4.75258542e-03 2.19071164e-04 9.99988682e-01 -2.74229960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96037174299997 meters Centerline goodness [0,1] 0.9879908244501416 Centerline is valid? [True, True] Translation: X:207.83, Y:-11.85, Z:-2.74 [[ 9.99844624e-01 1.70048522e-02 4.64352432e-03 2.07826585e+02] [-1.70036975e-02 9.99855385e-01 -2.88040910e-04 -1.18500530e+01] [-4.64775089e-03 2.09039073e-04 9.99989177e-01 -2.74256357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99037174299997 meters Centerline goodness [0,1] 0.988306713559284 Centerline is valid? [True, True] Translation: X:207.85, Y:-11.85, Z:-2.74 [[ 9.99804248e-01 1.90667327e-02 5.28438036e-03 2.07854233e+02] [-1.90652664e-02 9.99818188e-01 -3.27713248e-04 -1.18521979e+01] [-5.28966801e-03 2.26900978e-04 9.99985984e-01 -2.74247080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02037174299997 meters Centerline goodness [0,1] 0.988622138769671 Centerline is valid? [True, True] Translation: X:207.88, Y:-11.85, Z:-2.74 [[ 9.99784736e-01 2.00362078e-02 5.38818367e-03 2.07883441e+02] [-2.00347018e-02 9.99799230e-01 -3.33347142e-04 -1.18533349e+01] [-5.39378090e-03 2.25324731e-04 9.99985428e-01 -2.74249601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05037174299997 meters Centerline goodness [0,1] 0.9889085572161599 Centerline is valid? [True, True] Translation: X:207.91, Y:-11.86, Z:-2.74 [[ 9.99761293e-01 2.10714696e-02 5.77501858e-03 2.07912602e+02] [-2.10697589e-02 9.99777944e-01 -3.56916198e-04 -1.18565241e+01] [-5.78125695e-03 2.35152750e-04 9.99983261e-01 -2.74275590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08037174299997 meters Centerline goodness [0,1] 0.9882474088334714 Centerline is valid? [True, True] Translation: X:207.94, Y:-11.86, Z:-2.74 [[ 9.99754561e-01 2.12547234e-02 6.24939618e-03 2.07940822e+02] [-2.12527253e-02 9.99774061e-01 -3.85978339e-04 -1.18597632e+01] [-6.25618806e-03 2.53066905e-04 9.99980398e-01 -2.74334283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11037174299997 meters Centerline goodness [0,1] 0.9876877011083304 Centerline is valid? [True, True] Translation: X:207.97, Y:-11.86, Z:-2.74 [[ 9.99753451e-01 2.11684079e-02 6.70335933e-03 2.07968012e+02] [-2.11661097e-02 9.99775887e-01 -4.13601004e-04 -1.18649126e+01] [-6.71061230e-03 2.71614992e-04 9.99977447e-01 -2.74399761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14037174299997 meters Centerline goodness [0,1] 0.9870727187479068 Centerline is valid? [True, True] Translation: X:208.00, Y:-11.87, Z:-2.75 [[ 9.99766418e-01 2.04569916e-02 6.97292468e-03 2.07995323e+02] [-2.04544923e-02 9.99790693e-01 -4.29567345e-04 -1.18702135e+01] [-6.98025286e-03 2.86839372e-04 9.99975597e-01 -2.74504726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17037174299998 meters Centerline goodness [0,1] 0.9876256939644601 Centerline is valid? [True, True] Translation: X:208.02, Y:-11.87, Z:-2.75 [[ 9.99776420e-01 1.99761771e-02 6.93274193e-03 2.08023248e+02] [-1.99736990e-02 9.99800415e-01 -4.26509674e-04 -1.18740126e+01] [-6.93987829e-03 2.87941815e-04 9.99975877e-01 -2.74553972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20037174299998 meters Centerline goodness [0,1] 0.9887237314197848 Centerline is valid? [True, True] Translation: X:208.05, Y:-11.87, Z:-2.75 [[ 9.99778908e-01 1.97147619e-02 7.31186286e-03 2.08052230e+02] [-1.97120039e-02 9.99805599e-01 -4.49083206e-04 -1.18716489e+01] [-7.31929500e-03 3.04852448e-04 9.99973167e-01 -2.74511944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23037174299998 meters Centerline goodness [0,1] 0.9887665393837137 Centerline is valid? [True, True] Translation: X:208.08, Y:-11.88, Z:-2.75 [[ 9.99783642e-01 1.96699413e-02 6.76483091e-03 2.08080192e+02] [-1.96675814e-02 9.99806488e-01 -4.15203804e-04 -1.18772104e+01] [-6.77168887e-03 2.82066109e-04 9.99977032e-01 -2.74677044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26037174299998 meters Centerline goodness [0,1] 0.988148444622329 Centerline is valid? [True, True] Translation: X:208.11, Y:-11.88, Z:-2.75 [[ 9.99797622e-01 1.92538592e-02 5.83135092e-03 2.08108371e+02] [-1.92521006e-02 9.99814597e-01 -3.57564091e-04 -1.18801563e+01] [-5.83715426e-03 2.45225973e-04 9.99982934e-01 -2.74788902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29037174299998 meters Centerline goodness [0,1] 0.9894107943018927 Centerline is valid? [True, True] Translation: X:208.14, Y:-11.88, Z:-2.75 [[ 9.99814359e-01 1.88629158e-02 3.92914673e-03 2.08136936e+02] [-1.88621148e-02 9.99822065e-01 -2.40809993e-04 -1.18835649e+01] [-3.93298998e-03 1.66653272e-04 9.99992252e-01 -2.75013993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32037174299998 meters Centerline goodness [0,1] 0.9893303165413367 Centerline is valid? [True, True] Translation: X:208.17, Y:-11.89, Z:-2.75 [[ 9.99810759e-01 1.90983210e-02 3.70128627e-03 2.08165578e+02] [-1.90976125e-02 9.99817598e-01 -2.26648683e-04 -1.18852960e+01] [-3.70493976e-03 1.55920060e-04 9.99993125e-01 -2.75093481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35037174299998 meters Centerline goodness [0,1] 0.9892315548746642 Centerline is valid? [True, True] Translation: X:208.19, Y:-11.89, Z:-2.75 [[ 9.99815602e-01 1.88596117e-02 3.61628637e-03 2.08194131e+02] [-1.88589348e-02 9.99822130e-01 -2.21204569e-04 -1.18883232e+01] [-3.61981497e-03 1.52964470e-04 9.99993437e-01 -2.75173544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38037174299998 meters Centerline goodness [0,1] 0.9883845364961876 Centerline is valid? [True, True] Translation: X:208.22, Y:-11.89, Z:-2.75 [[ 9.99808471e-01 1.91700769e-02 3.94078104e-03 2.08222394e+02] [-1.91692769e-02 9.99816224e-01 -2.40680186e-04 -1.18912913e+01] [-3.94467068e-03 1.65092166e-04 9.99992206e-01 -2.75169859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41037174299998 meters Centerline goodness [0,1] 0.9888053876859264 Centerline is valid? [True, True] Translation: X:208.25, Y:-11.89, Z:-2.75 [[ 9.99768852e-01 2.07365993e-02 5.67771337e-03 2.08251606e+02] [-2.07349695e-02 9.99784948e-01 -3.45783802e-04 -1.18923597e+01] [-5.68366275e-03 2.27976661e-04 9.99983822e-01 -2.75000748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440371743 meters Centerline goodness [0,1] 0.9890824364806391 Centerline is valid? [True, True] Translation: X:208.28, Y:-11.90, Z:-2.75 [[ 9.99712531e-01 2.29418684e-02 6.96607074e-03 2.08278960e+02] [-2.29394707e-02 9.99736766e-01 -4.23911390e-04 -1.18952368e+01] [-6.97396235e-03 2.63991553e-04 9.99975647e-01 -2.74958623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.470371743 meters Centerline goodness [0,1] 0.9888011708874795 Centerline is valid? [True, True] Translation: X:208.31, Y:-11.90, Z:-2.75 [[ 9.99680261e-01 2.42664134e-02 7.10756917e-03 2.08306847e+02] [-2.42639549e-02 9.99705494e-01 -4.31934813e-04 -1.18978487e+01] [-7.11595746e-03 2.59338969e-04 9.99974648e-01 -2.75022414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500371743 meters Centerline goodness [0,1] 0.9895870337477798 Centerline is valid? [True, True] Translation: X:208.34, Y:-11.90, Z:-2.75 [[ 9.99643393e-01 2.57579507e-02 7.04384261e-03 2.08335310e+02] [-2.57555784e-02 9.99668179e-01 -4.27306630e-04 -1.18991143e+01] [-7.05251185e-03 2.45736009e-04 9.99975101e-01 -2.75067109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.530371743 meters Centerline goodness [0,1] 0.9899286333622357 Centerline is valid? [True, True] Translation: X:208.36, Y:-11.90, Z:-2.75 [[ 9.99605789e-01 2.71966346e-02 6.97210743e-03 2.08364464e+02] [-2.71943487e-02 9.99630076e-01 -4.22478663e-04 -1.19000854e+01] [-6.98101828e-03 2.32710197e-04 9.99975605e-01 -2.75128582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560371743 meters Centerline goodness [0,1] 0.9898425596749619 Centerline is valid? [True, True] Translation: X:208.39, Y:-11.90, Z:-2.75 [[ 9.99500575e-01 3.09126048e-02 6.55823964e-03 2.08392330e+02] [-3.09106640e-02 9.99522072e-01 -3.97116472e-04 -1.19017654e+01] [-6.56738118e-03 1.94198601e-04 9.99978416e-01 -2.75244034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.590371743 meters Centerline goodness [0,1] 0.9899913450655777 Centerline is valid? [True, True] Translation: X:208.42, Y:-11.90, Z:-2.75 [[ 9.99441864e-01 3.27322618e-02 6.67532496e-03 2.08421032e+02] [-3.27302965e-02 9.99464139e-01 -4.03462368e-04 -1.19032779e+01] [-6.68495415e-03 1.84751816e-04 9.99977638e-01 -2.75303158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620371743 meters Centerline goodness [0,1] 0.9904609432326063 Centerline is valid? [True, True] Translation: X:208.45, Y:-11.90, Z:-2.75 [[ 9.99299676e-01 3.66834933e-02 7.38103812e-03 2.08449845e+02] [-3.66812028e-02 9.99326919e-01 -4.45497189e-04 -1.19035526e+01] [-7.39241247e-03 1.74439840e-04 9.99972661e-01 -2.75286748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.650371743 meters Centerline goodness [0,1] 0.9905230139485217 Centerline is valid? [True, True] Translation: X:208.48, Y:-11.90, Z:-2.75 [[ 9.99229671e-01 3.84557113e-02 7.82451879e-03 2.08479162e+02] [-3.84531973e-02 9.99260291e-01 -4.71543166e-04 -1.19042590e+01] [-7.83686446e-03 1.70302158e-04 9.99969277e-01 -2.75265924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68037174299997 meters Centerline goodness [0,1] 0.9907549052211506 Centerline is valid? [True, True] Translation: X:208.51, Y:-11.91, Z:-2.75 [[ 9.99175618e-01 3.97663100e-02 8.16854278e-03 2.08507534e+02] [-3.97636168e-02 9.99208994e-01 -4.91910922e-04 -1.19051362e+01] [-8.18164289e-03 1.66694595e-04 9.99966516e-01 -2.75285698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71037174299997 meters Centerline goodness [0,1] 0.9908608948337437 Centerline is valid? [True, True] Translation: X:208.54, Y:-11.91, Z:-2.75 [[ 9.99069125e-01 4.21114278e-02 9.35479079e-03 2.08536767e+02] [-4.21080069e-02 9.99112906e-01 -5.62437053e-04 -1.19070429e+01] [-9.37017724e-03 1.68001899e-04 9.99956085e-01 -2.75266224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74037174299997 meters Centerline goodness [0,1] 0.9911889384557339 Centerline is valid? [True, True] Translation: X:208.56, Y:-11.91, Z:-2.75 [[ 9.99042955e-01 4.26915147e-02 9.51889835e-03 2.08564040e+02] [-4.26880009e-02 9.99088288e-01 -5.72104995e-04 -1.19096380e+01] [-9.53464388e-03 1.65214723e-04 9.99954531e-01 -2.75312192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77037174299997 meters Centerline goodness [0,1] 0.9912891600893192 Centerline is valid? [True, True] Translation: X:208.59, Y:-11.91, Z:-2.75 [[ 9.98998778e-01 4.35500084e-02 1.02390636e-02 2.08592689e+02] [-4.35460047e-02 9.99051234e-01 -6.13746442e-04 -1.19137237e+01] [-1.02560778e-02 1.67261632e-04 9.99947391e-01 -2.75427253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80037174299997 meters Centerline goodness [0,1] 0.9916902404526167 Centerline is valid? [True, True] Translation: X:208.62, Y:-11.92, Z:-2.76 [[ 9.99009754e-01 4.33316635e-02 1.00934796e-02 2.08621024e+02] [-4.33277687e-02 9.99060729e-01 -6.04322953e-04 -1.19165544e+01] [-1.01101854e-02 1.66396575e-04 9.99948877e-01 -2.75508485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83037174299997 meters Centerline goodness [0,1] 0.9910627806639077 Centerline is valid? [True, True] Translation: X:208.65, Y:-11.92, Z:-2.76 [[ 9.99022309e-01 4.31162709e-02 9.76799361e-03 2.08649317e+02] [-4.31126195e-02 9.99070048e-01 -5.84170352e-04 -1.19197189e+01] [-9.78409709e-03 1.62475422e-04 9.99952121e-01 -2.75597972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86037174299997 meters Centerline goodness [0,1] 0.9912676242218947 Centerline is valid? [True, True] Translation: X:208.68, Y:-11.92, Z:-2.76 [[ 9.99107945e-01 4.13941211e-02 8.35704259e-03 2.08678297e+02] [-4.13913920e-02 9.99142884e-01 -4.99335956e-04 -1.19246062e+01] [-8.37054921e-03 1.52980896e-04 9.99964955e-01 -2.75689510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89037174299997 meters Centerline goodness [0,1] 0.9912676242218947 Centerline is valid? [True, True] Translation: X:208.71, Y:-11.93, Z:-2.76 [[ 9.99112342e-01 4.12878521e-02 8.35706599e-03 2.08705714e+02] [-4.12851225e-02 9.99147281e-01 -4.98943998e-04 -1.19261523e+01] [-8.37054009e-03 1.53478613e-04 9.99964955e-01 -2.75728176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92037174299998 meters Centerline goodness [0,1] 0.9914254854850442 Centerline is valid? [True, True] Translation: X:208.73, Y:-11.93, Z:-2.76 [[ 9.99188177e-01 3.95181595e-02 7.82949852e-03 2.08733154e+02] [-3.95157161e-02 9.99218840e-01 -4.66590643e-04 -1.19303918e+01] [-7.84182123e-03 1.56823613e-04 9.99969240e-01 -2.75801711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95037174299998 meters Centerline goodness [0,1] 0.9902692966656416 Centerline is valid? [True, True] Translation: X:208.76, Y:-11.94, Z:-2.76 [[ 9.99350964e-01 3.51293706e-02 7.97363476e-03 2.08761910e+02] [-3.51267042e-02 9.99382754e-01 -4.74246876e-04 -1.19374488e+01] [-7.98537306e-03 1.93851563e-04 9.99968098e-01 -2.75877780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98037174299998 meters Centerline goodness [0,1] 0.9895956802317925 Centerline is valid? [True, True] Translation: X:208.79, Y:-11.94, Z:-2.76 [[ 9.99442331e-01 3.24162721e-02 8.01325949e-03 2.08788975e+02] [-3.24134929e-02 9.99474431e-01 -4.76488664e-04 -1.19429760e+01] [-8.02449396e-03 2.16485212e-04 9.99967780e-01 -2.75947109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01037174299998 meters Centerline goodness [0,1] 0.9884299331653337 Centerline is valid? [True, True] Translation: X:208.82, Y:-11.95, Z:-2.76 [[ 9.99583734e-01 2.73964438e-02 9.04396351e-03 2.08818218e+02] [-2.73927121e-02 9.99624605e-01 -5.36249183e-04 -1.19511814e+01] [-9.05525977e-03 2.88287272e-04 9.99958959e-01 -2.75948781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04037174299998 meters Centerline goodness [0,1] 0.9883354488554296 Centerline is valid? [True, True] Translation: X:208.85, Y:-11.96, Z:-2.76 [[ 9.99650712e-01 2.47703531e-02 9.21322697e-03 2.08846366e+02] [-2.47663699e-02 9.99693117e-01 -5.46198458e-04 -1.19562573e+01] [-9.22392912e-03 3.17829490e-04 9.99957408e-01 -2.76014915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07037174299998 meters Centerline goodness [0,1] 0.9882689619014331 Centerline is valid? [True, True] Translation: X:208.87, Y:-11.96, Z:-2.76 [[ 9.99694026e-01 2.27895693e-02 9.61714751e-03 2.08873850e+02] [-2.27851463e-02 9.99740223e-01 -5.69231726e-04 -1.19611372e+01] [-9.62762174e-03 3.49929443e-04 9.99953592e-01 -2.76055373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10037174299998 meters Centerline goodness [0,1] 0.9877102763008804 Centerline is valid? [True, True] Translation: X:208.90, Y:-11.97, Z:-2.76 [[ 9.99773971e-01 1.91358653e-02 9.26421618e-03 2.08902801e+02] [-1.91316133e-02 9.99816824e-01 -5.47389137e-04 -1.19674222e+01] [-9.27299396e-03 3.70026010e-04 9.99956936e-01 -2.76178843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13037174299998 meters Centerline goodness [0,1] 0.9871803243007944 Centerline is valid? [True, True] Translation: X:208.93, Y:-11.97, Z:-2.76 [[ 9.99794494e-01 1.78950932e-02 9.52554199e-03 2.08931310e+02] [-1.78905467e-02 9.99839793e-01 -5.62299232e-04 -1.19732849e+01] [-9.53407833e-03 3.91766523e-04 9.99954473e-01 -2.76223556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16037174299998 meters Centerline goodness [0,1] 0.9869281045751634 Centerline is valid? [True, True] Translation: X:208.96, Y:-11.98, Z:-2.76 [[ 9.99816487e-01 1.64289450e-02 9.85300620e-03 2.08961020e+02] [-1.64240156e-02 9.99864948e-01 -5.81006897e-04 -1.19762784e+01] [-9.86122086e-03 4.19074348e-04 9.99951289e-01 -2.76299060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.190371743 meters Centerline goodness [0,1] 0.9857541838965987 Centerline is valid? [True, True] Translation: X:208.99, Y:-11.98, Z:-2.76 [[ 9.99855968e-01 1.35960808e-02 1.01582347e-02 2.08989978e+02] [-1.35906997e-02 9.99907463e-01 -5.98566750e-04 -1.19839554e+01] [-1.01654328e-02 4.60423020e-04 9.99948225e-01 -2.76422263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220371743 meters Centerline goodness [0,1] 0.9860136822673472 Centerline is valid? [True, True] Translation: X:209.02, Y:-11.99, Z:-2.76 [[ 9.99879847e-01 1.18172187e-02 1.00322160e-02 2.09020413e+02] [-1.18118834e-02 9.99930063e-01 -5.90900261e-04 -1.19883642e+01] [-1.00384972e-02 4.72329896e-04 9.99949501e-01 -2.76474123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.250371743 meters Centerline goodness [0,1] 0.985499684775756 Centerline is valid? [True, True] Translation: X:209.05, Y:-11.99, Z:-2.77 [[ 9.99922635e-01 7.68590069e-03 9.78011652e-03 2.09051154e+02] [-7.68063381e-03 9.99970338e-01 -5.75975928e-04 -1.19900559e+01] [-9.78425331e-03 5.00813875e-04 9.99952008e-01 -2.76515804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280371743 meters Centerline goodness [0,1] 0.9850516692302693 Centerline is valid? [True, True] Translation: X:209.08, Y:-12.00, Z:-2.77 [[ 9.99940386e-01 5.52379582e-03 9.41869103e-03 2.09080648e+02] [-5.51881696e-03 9.99984617e-01 -5.54523726e-04 -1.20005326e+01] [-9.42160922e-03 5.02510637e-04 9.99955489e-01 -2.76652236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.310371743 meters Centerline goodness [0,1] 0.9845963057241695 Centerline is valid? [True, True] Translation: X:209.11, Y:-12.01, Z:-2.77 [[ 9.99954670e-01 3.06777085e-03 9.01365288e-03 2.09111808e+02] [-3.06310237e-03 9.99995167e-01 -5.31693522e-04 -1.20053795e+01] [-9.01524043e-03 5.04059679e-04 9.99959235e-01 -2.76763054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340371743 meters Centerline goodness [0,1] 0.9856407594827213 Centerline is valid? [True, True] Translation: X:209.14, Y:-12.00, Z:-2.77 [[ 9.99963155e-01 1.28178791e-03 8.48800728e-03 2.09143718e+02] [-1.27759094e-03 9.99999059e-01 -4.99862852e-04 -1.20029855e+01] [-8.48864001e-03 4.89000233e-04 9.99963851e-01 -2.76764868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.370371743 meters Centerline goodness [0,1] 0.9854258387733414 Centerline is valid? [True, True] Translation: X:209.17, Y:-12.00, Z:-2.77 [[ 9.99960941e-01 -2.55517315e-03 8.46088734e-03 2.09174477e+02] [ 2.55950639e-03 9.99996599e-01 -5.01360173e-04 -1.20042394e+01] [-8.45957750e-03 5.22996286e-04 9.99964080e-01 -2.76845665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400371743 meters Centerline goodness [0,1] 0.9848616104301122 Centerline is valid? [True, True] Translation: X:209.21, Y:-12.01, Z:-2.77 [[ 9.99954428e-01 -4.00993875e-03 8.66388342e-03 2.09206452e+02] [ 4.01453532e-03 9.99991810e-01 -5.13218408e-04 -1.20075679e+01] [-8.66175449e-03 5.47976486e-04 9.99962336e-01 -2.76885000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43037174299997 meters Centerline goodness [0,1] 0.9848945220939318 Centerline is valid? [True, True] Translation: X:209.24, Y:-12.01, Z:-2.77 [[ 9.99934243e-01 -6.11702406e-03 9.70009466e-03 2.09237591e+02] [ 6.12289409e-03 9.99981089e-01 -5.75570727e-04 -1.20100373e+01] [-9.69639044e-03 6.34925531e-04 9.99952787e-01 -2.76849090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46037174299997 meters Centerline goodness [0,1] 0.9838101430429129 Centerline is valid? [True, True] Translation: X:209.27, Y:-12.01, Z:-2.77 [[ 9.99930596e-01 -6.36851949e-03 9.91185869e-03 2.09268908e+02] [ 6.37466056e-03 9.99979509e-01 -5.88097962e-04 -1.20125149e+01] [-9.90791027e-03 6.51241881e-04 9.99950703e-01 -2.76919673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49037174299997 meters Centerline goodness [0,1] 0.9842181707819376 Centerline is valid? [True, True] Translation: X:209.30, Y:-12.01, Z:-2.77 [[ 9.99928376e-01 -6.79681792e-03 9.85115314e-03 2.09300612e+02] [ 6.80292073e-03 9.99976688e-01 -5.86125927e-04 -1.20140594e+01] [-9.84693970e-03 6.53100560e-04 9.99951304e-01 -2.76983395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52037174299997 meters Centerline goodness [0,1] 0.9843322772449112 Centerline is valid? [True, True] Translation: X:209.33, Y:-12.01, Z:-2.77 [[ 9.99934676e-01 -7.47866169e-03 8.64369012e-03 2.09333114e+02] [ 7.48338782e-03 9.99971867e-01 -5.14558468e-04 -1.20149083e+01] [-8.63959873e-03 5.79208940e-04 9.99962510e-01 -2.77118224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55037174299997 meters Centerline goodness [0,1] 0.9848294122753711 Centerline is valid? [True, True] Translation: X:209.36, Y:-12.02, Z:-2.77 [[ 9.99937806e-01 -7.70489822e-03 8.06337552e-03 2.09364741e+02] [ 7.70902322e-03 9.99970170e-01 -4.80616524e-04 -1.20164302e+01] [-8.05943188e-03 5.42747382e-04 9.99967375e-01 -2.77201516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58037174299997 meters Centerline goodness [0,1] 0.9840992071207899 Centerline is valid? [True, True] Translation: X:209.40, Y:-12.02, Z:-2.77 [[ 9.99941600e-01 -7.72131530e-03 7.56158796e-03 2.09397064e+02] [ 7.72494513e-03 9.99970060e-01 -4.50946781e-04 -1.20176789e+01] [-7.55787967e-03 5.09333298e-04 9.99971309e-01 -2.77287117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61037174299997 meters Centerline goodness [0,1] 0.9846110313003352 Centerline is valid? [True, True] Translation: X:209.43, Y:-12.02, Z:-2.77 [[ 9.99933917e-01 -8.29457726e-03 7.96006208e-03 2.09428549e+02] [ 8.29862019e-03 9.99965453e-01 -4.75005775e-04 -1.20186927e+01] [-7.95584711e-03 5.41031917e-04 9.99968205e-01 -2.77314485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64037174299997 meters Centerline goodness [0,1] 0.9847775430649622 Centerline is valid? [True, True] Translation: X:209.46, Y:-12.02, Z:-2.77 [[ 9.99932298e-01 -8.43778999e-03 8.01269297e-03 2.09460252e+02] [ 8.44190222e-03 9.99964252e-01 -4.79531659e-04 -1.20193513e+01] [-8.00836034e-03 5.47141564e-04 9.99967783e-01 -2.77308398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67037174299998 meters Centerline goodness [0,1] 0.9834495725748267 Centerline is valid? [True, True] Translation: X:209.49, Y:-12.02, Z:-2.77 [[ 9.99933119e-01 -7.77606408e-03 8.56092342e-03 2.09491125e+02] [ 7.78073837e-03 9.99969598e-01 -5.12831888e-04 -1.20187680e+01] [-8.55667534e-03 5.79407894e-04 9.99963223e-01 -2.77317968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70037174299998 meters Centerline goodness [0,1] 0.9856890420820699 Centerline is valid? [True, True] Translation: X:209.52, Y:-12.01, Z:-2.77 [[ 9.99933991e-01 -7.18657636e-03 8.96473027e-03 2.09523469e+02] [ 7.19168195e-03 9.99973995e-01 -5.37413106e-04 -1.20129169e+01] [-8.96063498e-03 6.01849121e-04 9.99959672e-01 -2.77265696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73037174299998 meters Centerline goodness [0,1] 0.9830194032782592 Centerline is valid? [True, True] Translation: X:209.55, Y:-12.02, Z:-2.77 [[ 9.99935368e-01 -6.31249695e-03 9.45585160e-03 2.09554974e+02] [ 6.31814522e-03 9.99979879e-01 -5.67576644e-04 -1.20169216e+01] [-9.45207852e-03 6.27283403e-04 9.99955131e-01 -2.77371478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76037174299998 meters Centerline goodness [0,1] 0.9839928175706747 Centerline is valid? [True, True] Translation: X:209.59, Y:-12.02, Z:-2.77 [[ 9.99937554e-01 -5.17088103e-03 9.90706664e-03 2.09586278e+02] [ 5.17703357e-03 9.99986422e-01 -5.95480933e-04 -1.20171474e+01] [-9.90385295e-03 6.46732964e-04 9.99950747e-01 -2.77376704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79037174299998 meters Centerline goodness [0,1] 0.9835330328679784 Centerline is valid? [True, True] Translation: X:209.62, Y:-12.01, Z:-2.77 [[ 9.99941772e-01 -3.09997829e-03 1.03364802e-02 2.09616975e+02] [ 3.10657249e-03 9.99994981e-01 -6.21958968e-04 -1.20145617e+01] [-1.03345003e-02 6.54033778e-04 9.99946384e-01 -2.77394163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82037174299998 meters Centerline goodness [0,1] 0.98571491363017 Centerline is valid? [True, True] Translation: X:209.65, Y:-12.00, Z:-2.77 [[ 9.99942491e-01 -1.80064804e-03 1.05722392e-02 2.09650385e+02] [ 1.80747340e-03 9.99998164e-01 -6.36073287e-04 -1.20033623e+01] [-1.05710745e-02 6.55145749e-04 9.99943910e-01 -2.77329500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85037174299998 meters Centerline goodness [0,1] 0.9854483999824415 Centerline is valid? [True, True] Translation: X:209.68, Y:-12.00, Z:-2.77 [[ 9.99943003e-01 -1.19568032e-03 1.06094426e-02 2.09682411e+02] [ 1.20253062e-03 9.99999073e-01 -6.39324436e-04 -1.20026146e+01] [-1.06086683e-02 6.52046176e-04 9.99943514e-01 -2.77334774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88037174299998 meters Centerline goodness [0,1] 0.9862520314490271 Centerline is valid? [True, True] Translation: X:209.72, Y:-12.00, Z:-2.77 [[ 9.99939103e-01 -2.14309024e-04 1.10337463e-02 2.09715241e+02] [ 2.21667828e-04 9.99999754e-01 -6.65717501e-04 -1.19984927e+01] [-1.10336009e-02 6.68122788e-04 9.99938905e-01 -2.77240404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91037174299998 meters Centerline goodness [0,1] 0.9875146658402143 Centerline is valid? [True, True] Translation: X:209.75, Y:-12.00, Z:-2.77 [[ 9.99937965e-01 -1.76068597e-04 1.11371022e-02 2.09748751e+02] [ 1.83571406e-04 9.99999757e-01 -6.72658336e-04 -1.19973471e+01] [-1.11369810e-02 6.74661061e-04 9.99937754e-01 -2.77262775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940371743 meters Centerline goodness [0,1] 0.9863561983105568 Centerline is valid? [True, True] Translation: X:209.78, Y:-12.00, Z:-2.77 [[ 9.99949434e-01 -6.11729590e-04 1.00376479e-02 2.09779373e+02] [ 6.17854892e-04 9.99999625e-01 -6.07143110e-04 -1.19996263e+01] [-1.00372727e-02 6.13314219e-04 9.99949437e-01 -2.77407569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.970371743 meters Centerline goodness [0,1] 0.9870930542003016 Centerline is valid? [True, True] Translation: X:209.81, Y:-12.00, Z:-2.78 [[ 9.99954709e-01 -8.68734699e-04 9.47764277e-03 2.09811315e+02] [ 8.74212266e-04 9.99999453e-01 -5.73818601e-04 -1.20004293e+01] [-9.47713909e-03 5.82078083e-04 9.99954921e-01 -2.77507913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000371743 meters Centerline goodness [0,1] 0.9864152114174275 Centerline is valid? [True, True] Translation: X:209.84, Y:-12.00, Z:-2.78 [[ 9.99955631e-01 -1.04628822e-03 9.36165169e-03 2.09843295e+02] [ 1.05166961e-03 9.99999285e-01 -5.69928741e-04 -1.20017748e+01] [-9.36104868e-03 5.79748819e-04 9.99956016e-01 -2.77603364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.030371743 meters Centerline goodness [0,1] 0.9872788842846322 Centerline is valid? [True, True] Translation: X:209.88, Y:-12.00, Z:-2.78 [[ 9.99961050e-01 -1.47344944e-03 8.70211373e-03 2.09875274e+02] [ 1.47811190e-03 9.99998767e-01 -5.29377361e-04 -1.20013436e+01] [-8.70132299e-03 5.42219440e-04 9.99961996e-01 -2.77691496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060371743 meters Centerline goodness [0,1] 0.9867480577136515 Centerline is valid? [True, True] Translation: X:209.91, Y:-12.00, Z:-2.78 [[ 9.99960083e-01 -1.28239427e-03 8.84242251e-03 2.09907022e+02] [ 1.28722907e-03 9.99999025e-01 -5.41104425e-04 -1.20028886e+01] [-8.84171998e-03 5.52465049e-04 9.99960759e-01 -2.77696497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.090371743 meters Centerline goodness [0,1] 0.9873881475231476 Centerline is valid? [True, True] Translation: X:209.94, Y:-12.00, Z:-2.78 [[ 9.99953923e-01 -1.04473404e-03 9.54255417e-03 2.09939404e+02] [ 1.05036122e-03 9.99999277e-01 -5.84701268e-04 -1.20018794e+01] [-9.54193642e-03 5.94697456e-04 9.99954298e-01 -2.77719329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120371743 meters Centerline goodness [0,1] 0.986104626603526 Centerline is valid? [True, True] Translation: X:209.97, Y:-12.01, Z:-2.78 [[ 9.99956069e-01 -9.10095333e-04 9.32910771e-03 2.09970728e+02] [ 9.15474573e-04 9.99999417e-01 -5.72354040e-04 -1.20059096e+01] [-9.32858138e-03 5.80869456e-04 9.99956319e-01 -2.77793938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.150371743 meters Centerline goodness [0,1] 0.9862490281017439 Centerline is valid? [True, True] Translation: X:210.00, Y:-12.01, Z:-2.78 [[ 9.99950835e-01 -7.79731849e-04 9.88536411e-03 2.10002308e+02] [ 7.85766444e-04 9.99999507e-01 -6.06588263e-04 -1.20080915e+01] [-9.88488626e-03 6.14326028e-04 9.99950955e-01 -2.77838885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18037174299997 meters Centerline goodness [0,1] 0.984635567216614 Centerline is valid? [True, True] Translation: X:210.03, Y:-12.01, Z:-2.78 [[ 9.99943695e-01 -1.47857126e-03 1.05080793e-02 2.10033543e+02] [ 1.48544621e-03 9.99998688e-01 -6.46478650e-04 -1.20101544e+01] [-1.05071096e-02 6.62051437e-04 9.99944580e-01 -2.77783570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21037174299997 meters Centerline goodness [0,1] 0.9869151819433953 Centerline is valid? [True, True] Translation: X:210.07, Y:-12.01, Z:-2.78 [[ 9.99940115e-01 -2.02634892e-03 1.07545217e-02 2.10065819e+02] [ 2.03360727e-03 9.99997712e-01 -6.64019129e-04 -1.20065552e+01] [-1.07531516e-02 6.85849838e-04 9.99941948e-01 -2.77764041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24037174299997 meters Centerline goodness [0,1] 0.9870109615898761 Centerline is valid? [True, True] Translation: X:210.10, Y:-12.01, Z:-2.78 [[ 9.99935429e-01 -4.18835753e-03 1.05638782e-02 2.10096990e+02] [ 4.19551614e-03 9.99990984e-01 -6.55579990e-04 -1.20088908e+01] [-1.05610372e-02 6.99858581e-04 9.99943986e-01 -2.77909750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27037174299997 meters Centerline goodness [0,1] 0.9852051259232891 Centerline is valid? [True, True] Translation: X:210.13, Y:-12.02, Z:-2.78 [[ 9.99939914e-01 -5.33796288e-03 9.57468503e-03 2.10127832e+02] [ 5.34389808e-03 9.99985545e-01 -5.94407895e-04 -1.20186913e+01] [-9.57137370e-03 6.45538321e-04 9.99953985e-01 -2.78163798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30037174299997 meters Centerline goodness [0,1] 0.9862294498453872 Centerline is valid? [True, True] Translation: X:210.16, Y:-12.01, Z:-2.78 [[ 9.99941482e-01 -6.73344217e-03 8.46718094e-03 2.10160026e+02] [ 6.73813650e-03 9.99977160e-01 -5.26010200e-04 -1.20110808e+01] [-8.46344570e-03 5.83032440e-04 9.99964014e-01 -2.78292245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33037174299997 meters Centerline goodness [0,1] 0.9853582554517134 Centerline is valid? [True, True] Translation: X:210.19, Y:-12.02, Z:-2.79 [[ 9.99935942e-01 -8.86675008e-03 7.03513658e-03 2.10190202e+02] [ 8.87004692e-03 9.99960565e-01 -4.37561921e-04 -1.20165681e+01] [-7.03097939e-03 4.99935883e-04 9.99975157e-01 -2.78572582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36037174299997 meters Centerline goodness [0,1] 0.9852783725910064 Centerline is valid? [True, True] Translation: X:210.22, Y:-12.02, Z:-2.79 [[ 9.99931882e-01 -9.77209382e-03 6.38252193e-03 2.10221409e+02] [ 9.77482146e-03 9.99952147e-01 -3.96306193e-04 -1.20203353e+01] [-6.37834377e-03 4.58667210e-04 9.99979553e-01 -2.78653884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39037174299997 meters Centerline goodness [0,1] 0.9859705560395863 Centerline is valid? [True, True] Translation: X:210.25, Y:-12.02, Z:-2.79 [[ 9.99919049e-01 -1.06967280e-02 6.89018432e-03 2.10254327e+02] [ 1.06999373e-02 9.99942662e-01 -4.29088758e-04 -1.20162835e+01] [-6.88519940e-03 5.02778563e-04 9.99976170e-01 -2.78598716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42037174299998 meters Centerline goodness [0,1] 0.9847567108468742 Centerline is valid? [True, True] Translation: X:210.29, Y:-12.02, Z:-2.79 [[ 9.99914109e-01 -1.09490541e-02 7.20371225e-03 2.10286556e+02] [ 1.09525728e-02 9.99939918e-01 -4.49178347e-04 -1.20179448e+01] [-7.19836136e-03 5.28038949e-04 9.99973952e-01 -2.78630233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45037174299998 meters Centerline goodness [0,1] 0.9862532184036717 Centerline is valid? [True, True] Translation: X:210.32, Y:-12.02, Z:-2.79 [[ 9.99913096e-01 -1.10250990e-02 7.22823634e-03 2.10318756e+02] [ 1.10286473e-02 9.99939081e-01 -4.51220764e-04 -1.20171595e+01] [-7.22282125e-03 5.30899220e-04 9.99973774e-01 -2.78607933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48037174299998 meters Centerline goodness [0,1] 0.9862884585175378 Centerline is valid? [True, True] Translation: X:210.35, Y:-12.02, Z:-2.79 [[ 9.99909032e-01 -1.08162982e-02 8.05823927e-03 2.10350457e+02] [ 1.08207071e-02 9.99941328e-01 -5.03738570e-04 -1.20180701e+01] [-8.05231789e-03 5.90888593e-04 9.99967405e-01 -2.78603809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51037174299998 meters Centerline goodness [0,1] 0.9856618798371584 Centerline is valid? [True, True] Translation: X:210.38, Y:-12.02, Z:-2.79 [[ 9.99912668e-01 -1.01898177e-02 8.41565299e-03 2.10382516e+02] [ 1.01946099e-02 9.99947895e-01 -5.26731454e-04 -1.20183289e+01] [-8.40984719e-03 6.12479753e-04 9.99964449e-01 -2.78598850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54037174299998 meters Centerline goodness [0,1] 0.986517156917822 Centerline is valid? [True, True] Translation: X:210.41, Y:-12.02, Z:-2.79 [[ 9.99922900e-01 -9.04578990e-03 8.50689615e-03 2.10414818e+02] [ 9.05065063e-03 9.99958900e-01 -5.33061978e-04 -1.20157434e+01] [-8.50172455e-03 6.10013824e-04 9.99963674e-01 -2.78546549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57037174299998 meters Centerline goodness [0,1] 0.9851178451178452 Centerline is valid? [True, True] Translation: X:210.45, Y:-12.02, Z:-2.79 [[ 9.99925624e-01 -8.37210351e-03 8.86871075e-03 2.10445871e+02] [ 8.37736704e-03 9.99964754e-01 -5.56511290e-04 -1.20179557e+01] [-8.86373900e-03 6.30766344e-04 9.99960517e-01 -2.78602779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60037174299998 meters Centerline goodness [0,1] 0.9860656105551318 Centerline is valid? [True, True] Translation: X:210.48, Y:-12.02, Z:-2.79 [[ 9.99927900e-01 -7.84909027e-03 9.08766809e-03 2.10476867e+02] [ 7.85460005e-03 9.99968989e-01 -5.70759524e-04 -1.20200095e+01] [-9.08290633e-03 6.42098371e-04 9.99958543e-01 -2.78643094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63037174299998 meters Centerline goodness [0,1] 0.9866170164748364 Centerline is valid? [True, True] Translation: X:210.51, Y:-12.02, Z:-2.79 [[ 9.99939453e-01 -7.10843577e-03 8.39998822e-03 2.10509017e+02] [ 7.11311957e-03 9.99974562e-01 -5.27851523e-04 -1.20177380e+01] [-8.39602234e-03 5.87569684e-04 9.99964580e-01 -2.78774668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66037174299998 meters Centerline goodness [0,1] 0.9874350774534485 Centerline is valid? [True, True] Translation: X:210.54, Y:-12.02, Z:-2.79 [[ 9.99964999e-01 -5.34025309e-03 6.44064052e-03 2.10540753e+02] [ 5.34297331e-03 9.99985644e-01 -4.05220504e-04 -1.20156973e+01] [-6.43838408e-03 4.39618491e-04 9.99979177e-01 -2.78896983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.690371743 meters Centerline goodness [0,1] 0.9879174585935379 Centerline is valid? [True, True] Translation: X:210.57, Y:-12.01, Z:-2.79 [[ 9.99972422e-01 -4.50406936e-03 5.90501077e-03 2.10572875e+02] [ 4.50634065e-03 9.99989777e-01 -3.71389197e-04 -1.20122660e+01] [-5.90327765e-03 3.97988945e-04 9.99982496e-01 -2.78943940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720371743 meters Centerline goodness [0,1] 0.9874571888679716 Centerline is valid? [True, True] Translation: X:210.60, Y:-12.02, Z:-2.79 [[ 9.99979530e-01 -3.42182571e-03 5.40651884e-03 2.10603828e+02] [ 3.42371646e-03 9.99994081e-01 -3.40501039e-04 -1.20202914e+01] [-5.40532170e-03 3.59004457e-04 9.99985327e-01 -2.79075718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.750371743 meters Centerline goodness [0,1] 0.9874304224838033 Centerline is valid? [True, True] Translation: X:210.64, Y:-12.02, Z:-2.79 [[ 9.99983364e-01 -2.21236414e-03 5.32694356e-03 2.10636129e+02] [ 2.21418333e-03 9.99997492e-01 -3.35633955e-04 -1.20156859e+01] [-5.32618766e-03 3.47423202e-04 9.99985755e-01 -2.79066547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780371743 meters Centerline goodness [0,1] 0.9873253538433532 Centerline is valid? [True, True] Translation: X:210.67, Y:-12.02, Z:-2.79 [[ 9.99982010e-01 1.77848101e-04 5.99569602e-03 2.10665447e+02] [-1.75578860e-04 9.99999913e-01 -3.79002591e-04 -1.20156571e+01] [-5.99576290e-03 3.77943055e-04 9.99981954e-01 -2.79055047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.810371743 meters Centerline goodness [0,1] 0.9873253538433532 Centerline is valid? [True, True] Translation: X:210.70, Y:-12.02, Z:-2.79 [[ 9.99981995e-01 2.45835834e-04 5.99574585e-03 2.10697137e+02] [-2.43572519e-04 9.99999899e-01 -3.78214095e-04 -1.20177251e+01] [-5.99583822e-03 3.76746887e-04 9.99981954e-01 -2.79099732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840371743 meters Centerline goodness [0,1] 0.9873492875411034 Centerline is valid? [True, True] Translation: X:210.73, Y:-12.02, Z:-2.79 [[ 9.99977001e-01 1.64011955e-03 6.58088782e-03 2.10728047e+02] [-1.63741772e-03 9.99998573e-01 -4.15923613e-04 -1.20197601e+01] [-6.58156060e-03 4.05138384e-04 9.99978259e-01 -2.79097443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.870371743 meters Centerline goodness [0,1] 0.9877456014239748 Centerline is valid? [True, True] Translation: X:210.76, Y:-12.01, Z:-2.79 [[ 9.99959180e-01 3.94593224e-03 8.12817686e-03 2.10760501e+02] [-3.94188421e-03 9.99992099e-01 -5.13985505e-04 -1.20095395e+01] [-8.13014079e-03 4.81924193e-04 9.99966834e-01 -2.78969579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900371743 meters Centerline goodness [0,1] 0.988773511864098 Centerline is valid? [True, True] Translation: X:210.79, Y:-12.01, Z:-2.79 [[ 9.99953289e-01 4.93646845e-03 8.30964735e-03 2.10793083e+02] [-4.93227713e-03 9.99987699e-01 -5.24809604e-04 -1.20106368e+01] [-8.31213583e-03 4.83799606e-04 9.99965337e-01 -2.78984169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93037174299997 meters Centerline goodness [0,1] 0.9880575244433302 Centerline is valid? [True, True] Translation: X:210.83, Y:-12.01, Z:-2.79 [[ 9.99945752e-01 6.04035993e-03 8.48572061e-03 2.10825003e+02] [-6.03600212e-03 9.99981638e-01 -5.39062942e-04 -1.20111898e+01] [-8.48882093e-03 4.87813871e-04 9.99963850e-01 -2.79044979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96037174299997 meters Centerline goodness [0,1] 0.9884494865167769 Centerline is valid? [True, True] Translation: X:210.86, Y:-12.01, Z:-2.79 [[ 9.99947977e-01 6.61370233e-03 7.76550734e-03 2.10856731e+02] [-6.61006403e-03 9.99978031e-01 -4.94093280e-04 -1.20117002e+01] [-7.76860453e-03 4.42737075e-04 9.99969726e-01 -2.79215309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99037174299997 meters Centerline goodness [0,1] 0.9866291183002496 Centerline is valid? [True, True] Translation: X:210.89, Y:-12.02, Z:-2.79 [[ 9.99951091e-01 6.79719090e-03 7.18434283e-03 2.10886176e+02] [-6.79407909e-03 9.99976815e-01 -4.57454919e-04 -1.20215186e+01] [-7.18728567e-03 4.08621552e-04 9.99974088e-01 -2.79434717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02037174299997 meters Centerline goodness [0,1] 0.9887550384756321 Centerline is valid? [True, True] Translation: X:210.92, Y:-12.01, Z:-2.79 [[ 9.99966769e-01 5.69515356e-03 5.83311363e-03 2.10917407e+02] [-5.69308237e-03 9.99983725e-01 -3.71617324e-04 -1.20121043e+01] [-5.83513512e-03 3.38396578e-04 9.99982918e-01 -2.79452239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05037174299997 meters Centerline goodness [0,1] 0.9884061955824397 Centerline is valid? [True, True] Translation: X:210.95, Y:-12.02, Z:-2.80 [[ 9.99973362e-01 4.56497733e-03 5.69532666e-03 2.10947476e+02] [-4.56298542e-03 9.99989524e-01 -3.62689336e-04 -1.20172726e+01] [-5.69692266e-03 3.36691982e-04 9.99983716e-01 -2.79550532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08037174299997 meters Centerline goodness [0,1] 0.9890716668583918 Centerline is valid? [True, True] Translation: X:210.98, Y:-12.02, Z:-2.80 [[ 9.99980176e-01 3.19451183e-03 5.42609115e-03 2.10978315e+02] [-3.19268528e-03 9.99994844e-01 -3.45252090e-04 -1.20172915e+01] [-5.42716608e-03 3.27921444e-04 9.99985219e-01 -2.79581093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11037174299997 meters Centerline goodness [0,1] 0.9879797215149221 Centerline is valid? [True, True] Translation: X:211.01, Y:-12.02, Z:-2.80 [[ 9.99982724e-01 9.57996580e-05 5.87736510e-03 2.11008680e+02] [-9.36000978e-05 9.99999925e-01 -3.74516480e-04 -1.20215785e+01] [-5.87740054e-03 3.73959888e-04 9.99982658e-01 -2.79606934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14037174299997 meters Centerline goodness [0,1] 0.9847546341797901 Centerline is valid? [True, True] Translation: X:211.04, Y:-12.04, Z:-2.80 [[ 9.99981412e-01 -1.14159259e-03 5.98942923e-03 2.11038554e+02] [ 1.14389177e-03 9.99999273e-01 -3.80461490e-04 -1.20405234e+01] [-5.98899054e-03 3.87305677e-04 9.99981991e-01 -2.79829797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17037174299998 meters Centerline goodness [0,1] 0.9875411485003658 Centerline is valid? [True, True] Translation: X:211.07, Y:-12.03, Z:-2.80 [[ 9.99975637e-01 -3.88400527e-03 5.80000210e-03 2.11070718e+02] [ 3.88622393e-03 9.99992380e-01 -3.71307380e-04 -1.20297000e+01] [-5.79851574e-03 3.93838441e-04 9.99983111e-01 -2.79742653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20037174299998 meters Centerline goodness [0,1] 0.9875688073394495 Centerline is valid? [True, True] Translation: X:211.10, Y:-12.03, Z:-2.80 [[ 9.99973865e-01 -5.01737127e-03 5.20539918e-03 2.11103006e+02] [ 5.01917269e-03 9.99987348e-01 -3.33061481e-04 -1.20327102e+01] [-5.20366223e-03 3.59179574e-04 9.99986396e-01 -2.79843842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23037174299998 meters Centerline goodness [0,1] 0.9870379260681709 Centerline is valid? [True, True] Translation: X:211.14, Y:-12.03, Z:-2.80 [[ 9.99974082e-01 -5.72552827e-03 4.36504161e-03 2.11135027e+02] [ 5.72680235e-03 9.99983563e-01 -2.79438675e-04 -1.20344521e+01] [-4.36336992e-03 3.04429163e-04 9.99990434e-01 -2.79905899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26037174299998 meters Centerline goodness [0,1] 0.9877057624945627 Centerline is valid? [True, True] Translation: X:211.17, Y:-12.03, Z:-2.80 [[ 9.99970532e-01 -6.98716045e-03 3.18050258e-03 2.11167496e+02] [ 6.98784302e-03 9.99975564e-01 -2.03550721e-04 -1.20347575e+01] [-3.17900262e-03 2.25769576e-04 9.99994921e-01 -2.80024705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29037174299998 meters Centerline goodness [0,1] 0.9877532333753004 Centerline is valid? [True, True] Translation: X:211.20, Y:-12.04, Z:-2.80 [[ 9.99968812e-01 -7.39351551e-03 2.77685132e-03 2.11198814e+02] [ 7.39403644e-03 9.99972648e-01 -1.77377628e-04 -1.20385503e+01] [-2.77546392e-03 1.97904236e-04 9.99996129e-01 -2.80121351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32037174299998 meters Centerline goodness [0,1] 0.9871035843774382 Centerline is valid? [True, True] Translation: X:211.23, Y:-12.04, Z:-2.80 [[ 9.99966658e-01 -7.54981154e-03 3.11188851e-03 2.11229939e+02] [ 7.55047004e-03 9.99971475e-01 -1.99911502e-04 -1.20438937e+01] [-3.11029045e-03 2.23401057e-04 9.99995138e-01 -2.80221773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35037174299998 meters Centerline goodness [0,1] 0.9869856108514343 Centerline is valid? [True, True] Translation: X:211.26, Y:-12.05, Z:-2.80 [[ 9.99968924e-01 -7.03429469e-03 3.55954177e-03 2.11261398e+02] [ 7.03515413e-03 9.99975227e-01 -2.28982861e-04 -1.20466315e+01] [-3.55784285e-03 2.54017670e-04 9.99993639e-01 -2.80216182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38037174299998 meters Centerline goodness [0,1] 0.9880793482763381 Centerline is valid? [True, True] Translation: X:211.29, Y:-12.04, Z:-2.80 [[ 9.99973959e-01 -5.73609181e-03 4.37934428e-03 2.11293862e+02] [ 5.73738195e-03 9.99983501e-01 -2.82091359e-04 -1.20398019e+01] [-4.37765393e-03 3.07209984e-04 9.99990371e-01 -2.80053606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41037174299998 meters Centerline goodness [0,1] 0.9889857205270298 Centerline is valid? [True, True] Translation: X:211.33, Y:-12.04, Z:-2.80 [[ 9.99977612e-01 -4.95108902e-03 4.50143295e-03 2.11326296e+02] [ 4.95244456e-03 9.99987695e-01 -2.90038339e-04 -1.20382353e+01] [-4.49994156e-03 3.12324943e-04 9.99989826e-01 -2.80025276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440371743 meters Centerline goodness [0,1] 0.9866424915654908 Centerline is valid? [True, True] Translation: X:211.36, Y:-12.05, Z:-2.80 [[ 9.99977976e-01 -4.18380123e-03 5.15198581e-03 2.11356643e+02] [ 4.18556947e-03 9.99991185e-01 -3.32481151e-04 -1.20513116e+01] [-5.15054936e-03 3.54037823e-04 9.99986673e-01 -2.80166583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.470371743 meters Centerline goodness [0,1] 0.9885287356321839 Centerline is valid? [True, True] Translation: X:211.39, Y:-12.04, Z:-2.80 [[ 9.99976073e-01 -3.20443578e-03 6.13061111e-03 2.11390025e+02] [ 3.20692426e-03 9.99994779e-01 -3.96122633e-04 -1.20408054e+01] [-6.12930975e-03 4.15773560e-04 9.99981129e-01 -2.80035884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500371743 meters Centerline goodness [0,1] 0.988929549586872 Centerline is valid? [True, True] Translation: X:211.42, Y:-12.04, Z:-2.80 [[ 9.99973974e-01 -3.05958285e-03 6.53372501e-03 2.11422249e+02] [ 3.06241158e-03 9.99995221e-01 -4.22981920e-04 -1.20417068e+01] [-6.53239964e-03 4.42979866e-04 9.99978566e-01 -2.80060772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.530371743 meters Centerline goodness [0,1] 0.9885782710818404 Centerline is valid? [True, True] Translation: X:211.45, Y:-12.04, Z:-2.80 [[ 9.99972576e-01 -3.20043590e-03 6.67860450e-03 2.11454193e+02] [ 3.20339801e-03 9.99994775e-01 -4.32871884e-04 -1.20446519e+01] [-6.67718422e-03 4.54254242e-04 9.99977604e-01 -2.80094575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560371743 meters Centerline goodness [0,1] 0.9879670241348428 Centerline is valid? [True, True] Translation: X:211.49, Y:-12.05, Z:-2.80 [[ 9.99971271e-01 -4.67891568e-03 5.96369813e-03 2.11486291e+02] [ 4.68130564e-03 9.99988968e-01 -3.86854629e-04 -1.20464910e+01] [-5.96182227e-03 4.14761409e-04 9.99982142e-01 -2.80230665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.590371743 meters Centerline goodness [0,1] 0.98818635224896 Centerline is valid? [True, True] Translation: X:211.52, Y:-12.05, Z:-2.80 [[ 9.99967356e-01 -6.11236589e-03 5.28444892e-03 2.11516604e+02] [ 6.11426544e-03 9.99981249e-01 -3.43380080e-04 -1.20511240e+01] [-5.28225096e-03 3.75679394e-04 9.99985978e-01 -2.80400800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620371743 meters Centerline goodness [0,1] 0.9888193613692832 Centerline is valid? [True, True] Translation: X:211.55, Y:-12.06, Z:-2.81 [[ 9.99953501e-01 -9.22715890e-03 2.80288141e-03 2.11547426e+02] [ 9.22770609e-03 9.99957407e-01 -1.82354151e-04 -1.20551047e+01] [-2.80107942e-03 2.08209837e-04 9.99996055e-01 -2.80671498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.650371743 meters Centerline goodness [0,1] 0.9870849132483052 Centerline is valid? [True, True] Translation: X:211.58, Y:-12.06, Z:-2.81 [[ 9.99939948e-01 -1.08002045e-02 1.85887472e-03 2.11577092e+02] [ 1.08004460e-02 9.99941666e-01 -1.19914621e-04 -1.20610068e+01] [-1.85747118e-03 1.39984095e-04 9.99998265e-01 -2.80864881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68037174299997 meters Centerline goodness [0,1] 0.9888043403296628 Centerline is valid? [True, True] Translation: X:211.61, Y:-12.06, Z:-2.81 [[ 9.99921980e-01 -1.23631254e-02 1.78520994e-03 2.11608866e+02] [ 1.23633519e-02 9.99923564e-01 -1.15896662e-04 -1.20596009e+01] [-1.78364064e-03 1.37958798e-04 9.99998400e-01 -2.80892034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71037174299997 meters Centerline goodness [0,1] 0.9875214261227289 Centerline is valid? [True, True] Translation: X:211.64, Y:-12.07, Z:-2.81 [[ 9.99886637e-01 -1.49272076e-02 1.97291833e-03 2.11638041e+02] [ 1.49274887e-02 9.99888571e-01 -1.27855671e-04 -1.20669500e+01] [-1.97078996e-03 1.57291893e-04 9.99998046e-01 -2.80917702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74037174299997 meters Centerline goodness [0,1] 0.9860123824810824 Centerline is valid? [True, True] Translation: X:211.67, Y:-12.07, Z:-2.81 [[ 9.99862353e-01 -1.64681068e-02 2.01906002e-03 2.11669199e+02] [ 1.64684054e-02 9.99864378e-01 -1.31359401e-04 -1.20705940e+01] [-2.01662295e-03 1.64592019e-04 9.99997953e-01 -2.80940424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77037174299997 meters Centerline goodness [0,1] 0.9858121891402507 Centerline is valid? [True, True] Translation: X:211.70, Y:-12.08, Z:-2.81 [[ 9.99827636e-01 -1.83471855e-02 2.84234302e-03 2.11698832e+02] [ 1.83477842e-02 9.99831648e-01 -1.84706769e-04 -1.20757478e+01] [-2.83847565e-03 2.36825629e-04 9.99995943e-01 -2.80924964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80037174299997 meters Centerline goodness [0,1] 0.9867171369580179 Centerline is valid? [True, True] Translation: X:211.73, Y:-12.07, Z:-2.81 [[ 9.99812005e-01 -1.91253155e-02 3.18998569e-03 2.11730757e+02] [ 1.91260757e-02 9.99817058e-01 -2.07984147e-04 -1.20735032e+01] [-3.18542434e-03 2.68956955e-04 9.99994890e-01 -2.80897638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83037174299997 meters Centerline goodness [0,1] 0.9867383102778096 Centerline is valid? [True, True] Translation: X:211.76, Y:-12.08, Z:-2.81 [[ 9.99815878e-01 -1.88913301e-02 3.36563471e-03 2.11762422e+02] [ 1.88921751e-02 9.99821503e-01 -2.19468341e-04 -1.20758671e+01] [-3.36088791e-03 2.83012093e-04 9.99994312e-01 -2.80945796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86037174299997 meters Centerline goodness [0,1] 0.9876461454146876 Centerline is valid? [True, True] Translation: X:211.79, Y:-12.08, Z:-2.81 [[ 9.99859675e-01 -1.64654874e-02 3.08522488e-03 2.11792160e+02] [ 1.64661889e-02 9.99864403e-01 -2.02106777e-04 -1.20795262e+01] [-3.08147874e-03 2.52880312e-04 9.99995220e-01 -2.81126432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89037174299997 meters Centerline goodness [0,1] 0.9875392262409236 Centerline is valid? [True, True] Translation: X:211.82, Y:-12.08, Z:-2.81 [[ 9.99885884e-01 -1.48145125e-02 2.95783080e-03 2.11824051e+02] [ 1.48151483e-02 9.99890231e-01 -1.93172459e-04 -1.20811278e+01] [-2.95464437e-03 2.36971117e-04 9.99995607e-01 -2.81100777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92037174299998 meters Centerline goodness [0,1] 0.9869361653534315 Centerline is valid? [True, True] Translation: X:211.85, Y:-12.08, Z:-2.81 [[ 9.99921104e-01 -1.20039987e-02 3.70005014e-03 2.11853715e+02] [ 1.20049780e-02 9.99927908e-01 -2.42580614e-04 -1.20824237e+01] [-3.69687146e-03 2.86980496e-04 9.99993125e-01 -2.80932190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95037174299998 meters Centerline goodness [0,1] 0.9855569267333973 Centerline is valid? [True, True] Translation: X:211.89, Y:-12.08, Z:-2.81 [[ 9.99930784e-01 -1.10575134e-02 4.01967588e-03 2.11885990e+02] [ 1.10586589e-02 9.99938817e-01 -2.62838199e-04 -1.20840426e+01] [-4.01652361e-03 3.07272231e-04 9.99991887e-01 -2.80920101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98037174299998 meters Centerline goodness [0,1] 0.9877689124619922 Centerline is valid? [True, True] Translation: X:211.92, Y:-12.08, Z:-2.81 [[ 9.99942342e-01 -1.00269163e-02 3.84361079e-03 2.11918398e+02] [ 1.00279567e-02 9.99949687e-01 -2.51529696e-04 -1.20821908e+01] [-3.84089534e-03 2.90058756e-04 9.99992582e-01 -2.80915249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01037174299998 meters Centerline goodness [0,1] 0.9878685608738285 Centerline is valid? [True, True] Translation: X:211.95, Y:-12.09, Z:-2.81 [[ 9.99958914e-01 -8.68280095e-03 2.60355231e-03 2.11949825e+02] [ 8.68327351e-03 9.99962285e-01 -1.70257934e-04 -1.20876437e+01] [-2.60197581e-03 1.92858295e-04 9.99996596e-01 -2.81231666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04037174299998 meters Centerline goodness [0,1] 0.9871288710376778 Centerline is valid? [True, True] Translation: X:211.98, Y:-12.10, Z:-2.82 [[ 9.99962862e-01 -8.53133342e-03 1.22145778e-03 2.11980238e+02] [ 8.53143706e-03 9.99963603e-01 -7.96645835e-05 -1.20959981e+01] [-1.22073368e-03 9.00824151e-05 9.99999251e-01 -2.81518610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07037174299998 meters Centerline goodness [0,1] 0.9892328090709583 Centerline is valid? [True, True] Translation: X:212.01, Y:-12.09, Z:-2.82 [[ 9.99970017e-01 -7.74139182e-03 1.90412518e-04 2.12012973e+02] [ 7.74139416e-03 9.99970035e-01 -1.15413341e-05 -1.20908876e+01] [-1.90317467e-04 1.30150464e-05 9.99999982e-01 -2.81524623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10037174299998 meters Centerline goodness [0,1] 0.9882893803892866 Centerline is valid? [True, True] Translation: X:212.04, Y:-12.09, Z:-2.82 [[ 9.99974502e-01 -7.11959959e-03 5.53094605e-04 2.12044381e+02] [ 7.11961987e-03 9.99974655e-01 -3.47055627e-05 -1.20940565e+01] [-5.52833497e-04 3.86425011e-05 9.99999846e-01 -2.81545936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13037174299998 meters Centerline goodness [0,1] 0.9892697466467958 Centerline is valid? [True, True] Translation: X:212.08, Y:-12.10, Z:-2.82 [[ 9.99977870e-01 -6.58642798e-03 9.37001079e-04 2.12076309e+02] [ 6.58648795e-03 9.99978307e-01 -6.09352302e-05 -1.20957663e+01] [-9.36579407e-04 6.71054281e-05 9.99999559e-01 -2.81526688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16037174299998 meters Centerline goodness [0,1] 0.987674439955931 Centerline is valid? [True, True] Translation: X:212.11, Y:-12.10, Z:-2.81 [[ 9.99984606e-01 -4.99336615e-03 2.41946155e-03 2.12106346e+02] [ 4.99376711e-03 9.99987518e-01 -1.59710737e-04 -1.20991709e+01] [-2.41863385e-03 1.71790506e-04 9.99997060e-01 -2.81421102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.190371743 meters Centerline goodness [0,1] 0.9874314442413162 Centerline is valid? [True, True] Translation: X:212.14, Y:-12.10, Z:-2.81 [[ 9.99985206e-01 -4.09213991e-03 3.58362055e-03 2.12136485e+02] [ 4.09301448e-03 9.99991596e-01 -2.36746751e-04 -1.21031246e+01] [-3.58262163e-03 2.51411059e-04 9.99993551e-01 -2.81410253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220371743 meters Centerline goodness [0,1] 0.9881275828215256 Centerline is valid? [True, True] Translation: X:212.17, Y:-12.10, Z:-2.81 [[ 9.99981597e-01 -3.25139719e-03 5.12189426e-03 2.12168715e+02] [ 3.25317130e-03 9.99994651e-01 -3.38086182e-04 -1.21017833e+01] [-5.12076761e-03 3.54742360e-04 9.99986826e-01 -2.81279756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.250371743 meters Centerline goodness [0,1] 0.9878288271830471 Centerline is valid? [True, True] Translation: X:212.20, Y:-12.11, Z:-2.81 [[ 9.99980202e-01 -3.16687800e-03 5.43758600e-03 2.12200002e+02] [ 3.16887960e-03 9.99994914e-01 -3.59528581e-04 -1.21061399e+01] [-5.43641976e-03 3.76752519e-04 9.99985152e-01 -2.81343790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280371743 meters Centerline goodness [0,1] 0.9885259364022081 Centerline is valid? [True, True] Translation: X:212.23, Y:-12.11, Z:-2.81 [[ 9.99978837e-01 -2.92556869e-03 5.81083536e-03 2.12232781e+02] [ 2.92785165e-03 9.99995640e-01 -3.84410882e-04 -1.21055062e+01] [-5.80968541e-03 4.01416011e-04 9.99983043e-01 -2.81377557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.310371743 meters Centerline goodness [0,1] 0.9879364210622334 Centerline is valid? [True, True] Translation: X:212.26, Y:-12.11, Z:-2.81 [[ 9.99980893e-01 -3.33708558e-03 5.20362314e-03 2.12264337e+02] [ 3.33892409e-03 9.99994366e-01 -3.44667095e-04 -1.21089534e+01] [-5.20244364e-03 3.62035012e-04 9.99986402e-01 -2.81495993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340371743 meters Centerline goodness [0,1] 0.9866937508558908 Centerline is valid? [True, True] Translation: X:212.29, Y:-12.12, Z:-2.82 [[ 9.99980407e-01 -3.76554165e-03 5.00066353e-03 2.12294471e+02] [ 3.76724608e-03 9.99992849e-01 -3.31465534e-04 -1.21212088e+01] [-4.99937962e-03 3.50297770e-04 9.99987442e-01 -2.81717985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.370371743 meters Centerline goodness [0,1] 0.9882897045086916 Centerline is valid? [True, True] Translation: X:212.33, Y:-12.12, Z:-2.82 [[ 9.99970092e-01 -5.65481481e-03 5.27623858e-03 2.12325902e+02] [ 5.65674096e-03 9.99983939e-01 -3.50209761e-04 -1.21184616e+01] [-5.27417347e-03 3.80045602e-04 9.99986019e-01 -2.81703046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400371743 meters Centerline goodness [0,1] 0.9883071593007089 Centerline is valid? [True, True] Translation: X:212.36, Y:-12.12, Z:-2.82 [[ 9.99963612e-01 -6.91430946e-03 4.99664861e-03 2.12357613e+02] [ 6.91605168e-03 9.99976029e-01 -3.31483424e-04 -1.21227449e+01] [-4.99423686e-03 3.66028442e-04 9.99987462e-01 -2.81790259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43037174299997 meters Centerline goodness [0,1] 0.9872495446265938 Centerline is valid? [True, True] Translation: X:212.39, Y:-12.13, Z:-2.82 [[ 9.99941148e-01 -9.73579352e-03 4.78693151e-03 2.12387418e+02] [ 9.73742924e-03 9.99952539e-01 -3.18518050e-04 -1.21284619e+01] [-4.78360330e-03 3.65111711e-04 9.99988492e-01 -2.81860249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46037174299997 meters Centerline goodness [0,1] 0.9873547505126452 Centerline is valid? [True, True] Translation: X:212.42, Y:-12.13, Z:-2.82 [[ 9.99926030e-01 -1.10979554e-02 4.97697906e-03 2.12419832e+02] [ 1.10997372e-02 9.99938341e-01 -3.30517011e-04 -1.21297963e+01] [-4.97300412e-03 3.85735722e-04 9.99987560e-01 -2.81884899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49037174299997 meters Centerline goodness [0,1] 0.9873521383075523 Centerline is valid? [True, True] Translation: X:212.45, Y:-12.13, Z:-2.82 [[ 9.99912433e-01 -1.23449391e-02 4.76737984e-03 2.12451303e+02] [ 1.23465902e-02 9.99923728e-01 -3.17062432e-04 -1.21340826e+01] [-4.76310210e-03 3.75895553e-04 9.99988586e-01 -2.81961221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52037174299997 meters Centerline goodness [0,1] 0.9873340143003064 Centerline is valid? [True, True] Translation: X:212.48, Y:-12.14, Z:-2.82 [[ 9.99880966e-01 -1.45862123e-02 5.02958452e-03 2.12482464e+02] [ 1.45880806e-02 9.99893532e-01 -3.34969512e-04 -1.21383225e+01] [-5.02416310e-03 4.08301624e-04 9.99987295e-01 -2.82044253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55037174299997 meters Centerline goodness [0,1] 0.9854624750136289 Centerline is valid? [True, True] Translation: X:212.51, Y:-12.15, Z:-2.82 [[ 9.99873331e-01 -1.52133841e-02 4.67705728e-03 2.12513432e+02] [ 1.52150031e-02 9.99884197e-01 -3.10766379e-04 -1.21486271e+01] [-4.67178786e-03 3.81888456e-04 9.99989014e-01 -2.82163747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58037174299997 meters Centerline goodness [0,1] 0.987443986989059 Centerline is valid? [True, True] Translation: X:212.55, Y:-12.14, Z:-2.82 [[ 9.99865940e-01 -1.56786630e-02 4.72031226e-03 2.12546102e+02] [ 1.56803225e-02 9.99877007e-01 -3.14767608e-04 -1.21419399e+01] [-4.71479656e-03 3.88741429e-04 9.99988810e-01 -2.82087191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61037174299997 meters Centerline goodness [0,1] 0.9866579227064065 Centerline is valid? [True, True] Translation: X:212.58, Y:-12.14, Z:-2.82 [[ 9.99876241e-01 -1.50160750e-02 4.69253078e-03 2.12577344e+02] [ 1.50177101e-02 9.99887179e-01 -3.13419079e-04 -1.21449528e+01] [-4.68729504e-03 3.83851357e-04 9.99988941e-01 -2.82139372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64037174299997 meters Centerline goodness [0,1] 0.9870675939815446 Centerline is valid? [True, True] Translation: X:212.61, Y:-12.15, Z:-2.82 [[ 9.99887236e-01 -1.40887082e-02 5.19851420e-03 2.12609795e+02] [ 1.40907037e-02 9.99900661e-01 -3.47417223e-04 -1.21462864e+01] [-5.19310313e-03 4.20628770e-04 9.99986427e-01 -2.82171747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67037174299998 meters Centerline goodness [0,1] 0.9868591565306355 Centerline is valid? [True, True] Translation: X:212.64, Y:-12.15, Z:-2.82 [[ 9.99920357e-01 -1.12822796e-02 5.65598355e-03 2.12640020e+02] [ 1.12846032e-02 9.99936255e-01 -3.79080748e-04 -1.21468356e+01] [-5.65134611e-03 4.42876087e-04 9.99983933e-01 -2.82214549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70037174299998 meters Centerline goodness [0,1] 0.9868591565306355 Centerline is valid? [True, True] Translation: X:212.67, Y:-12.15, Z:-2.82 [[ 9.99921540e-01 -1.11768589e-02 5.65604281e-03 2.12672584e+02] [ 1.11791759e-02 9.99937440e-01 -3.78197234e-04 -1.21491142e+01] [-5.65146191e-03 4.41397458e-04 9.99983933e-01 -2.82260473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73037174299998 meters Centerline goodness [0,1] 0.986660596403369 Centerline is valid? [True, True] Translation: X:212.70, Y:-12.15, Z:-2.82 [[ 9.99941045e-01 -9.32492470e-03 5.56340931e-03 2.12703270e+02] [ 9.32714440e-03 9.99956432e-01 -3.73168627e-04 -1.21514315e+01] [-5.55968715e-03 4.25037349e-04 9.99984454e-01 -2.82320664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76037174299998 meters Centerline goodness [0,1] 0.9887278950370793 Centerline is valid? [True, True] Translation: X:212.73, Y:-12.15, Z:-2.82 [[ 9.99971559e-01 -4.98943841e-03 5.65571314e-03 2.12734507e+02] [ 4.99166598e-03 9.99987469e-01 -3.79815552e-04 -1.21451493e+01] [-5.65374721e-03 4.08036180e-04 9.99983934e-01 -2.82296347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79037174299998 meters Centerline goodness [0,1] 0.988106359224407 Centerline is valid? [True, True] Translation: X:212.77, Y:-12.14, Z:-2.82 [[ 9.99980442e-01 -2.60232074e-03 5.68720381e-03 2.12765144e+02] [ 2.60453520e-03 9.99996535e-01 -3.82004968e-04 -1.21442544e+01] [-5.68619001e-03 3.96810019e-04 9.99983755e-01 -2.82307945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82037174299998 meters Centerline goodness [0,1] 0.9894347716952285 Centerline is valid? [True, True] Translation: X:212.80, Y:-12.14, Z:-2.82 [[ 9.99980787e-01 -1.28102371e-04 6.19758174e-03 2.12795846e+02] [ 1.30684840e-04 9.99999905e-01 -4.16286649e-04 -1.21429448e+01] [-6.19752782e-03 4.17088580e-04 9.99980708e-01 -2.82313630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85037174299998 meters Centerline goodness [0,1] 0.9891207663359562 Centerline is valid? [True, True] Translation: X:212.83, Y:-12.14, Z:-2.82 [[ 9.99966289e-01 4.59711057e-03 6.80343183e-03 2.12825235e+02] [-4.59410655e-03 9.99989343e-01 -4.57108228e-04 -1.21408446e+01] [-6.80546070e-03 4.25837128e-04 9.99976752e-01 -2.82254630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88037174299998 meters Centerline goodness [0,1] 0.9892724522073992 Centerline is valid? [True, True] Translation: X:212.86, Y:-12.14, Z:-2.82 [[ 9.99950480e-01 6.53162977e-03 7.50836796e-03 2.12856383e+02] [-6.52802737e-03 9.99978565e-01 -5.04192448e-04 -1.21411392e+01] [-7.51150021e-03 4.55152649e-04 9.99971685e-01 -2.82255054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91037174299998 meters Centerline goodness [0,1] 0.9891467919193762 Centerline is valid? [True, True] Translation: X:212.89, Y:-12.14, Z:-2.82 [[ 9.99912859e-01 1.05035928e-02 7.99683170e-03 2.12887384e+02] [-1.04996333e-02 9.99944733e-01 -5.36954644e-04 -1.21385080e+01] [-8.00202969e-03 4.52944053e-04 9.99967881e-01 -2.82257331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940371743 meters Centerline goodness [0,1] 0.9895826162777357 Centerline is valid? [True, True] Translation: X:212.92, Y:-12.14, Z:-2.82 [[ 9.99900406e-01 1.16771069e-02 7.92616108e-03 2.12916853e+02] [-1.16732511e-02 9.99931723e-01 -5.32552225e-04 -1.21395639e+01] [-7.93183858e-03 4.39975118e-04 9.99968446e-01 -2.82321673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.970371743 meters Centerline goodness [0,1] 0.9894347716952285 Centerline is valid? [True, True] Translation: X:212.94, Y:-12.14, Z:-2.82 [[ 9.99888702e-01 1.26767375e-02 7.86659252e-03 2.12944902e+02] [-1.26729717e-02 9.99919555e-01 -5.28379529e-04 -1.21436736e+01] [-7.87265783e-03 4.28627617e-04 9.99968918e-01 -2.82498265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000371743 meters Centerline goodness [0,1] 0.9906152719282183 Centerline is valid? [True, True] Translation: X:212.97, Y:-12.14, Z:-2.83 [[ 9.99883495e-01 1.36521263e-02 6.82761536e-03 2.12974046e+02] [-1.36493131e-02 9.99906739e-01 -4.58462123e-04 -1.21411591e+01] [-6.83323759e-03 3.65216450e-04 9.99976586e-01 -2.82673701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.030371743 meters Centerline goodness [0,1] 0.990546122074346 Centerline is valid? [True, True] Translation: X:213.00, Y:-12.14, Z:-2.83 [[ 9.99885416e-01 1.38456278e-02 6.11997367e-03 2.13002474e+02] [-1.38433733e-02 9.99904092e-01 -4.10604902e-04 -1.21434112e+01] [-6.12507180e-03 3.25836773e-04 9.99981188e-01 -2.82807867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060371743 meters Centerline goodness [0,1] 0.9900860585197935 Centerline is valid? [True, True] Translation: X:213.03, Y:-12.15, Z:-2.83 [[ 9.99888201e-01 1.38991099e-02 5.51356858e-03 2.13031099e+02] [-1.38972824e-02 9.99903360e-01 -3.69629998e-04 -1.21451423e+01] [-5.51817328e-03 2.92965054e-04 9.99984732e-01 -2.82996431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.090371743 meters Centerline goodness [0,1] 0.9898354863134708 Centerline is valid? [True, True] Translation: X:213.06, Y:-12.15, Z:-2.83 [[ 9.99894424e-01 1.35299641e-02 5.29911710e-03 2.13059732e+02] [-1.35282726e-02 9.99908426e-01 -3.54917914e-04 -1.21467293e+01] [-5.30343386e-03 2.83192542e-04 9.99985897e-01 -2.83027511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120371743 meters Centerline goodness [0,1] 0.9895732855633641 Centerline is valid? [True, True] Translation: X:213.09, Y:-12.15, Z:-2.83 [[ 9.99896260e-01 1.32417802e-02 5.66792384e-03 2.13087521e+02] [-1.32398423e-02 9.99912278e-01 -3.79287879e-04 -1.21501034e+01] [-5.67244908e-03 3.04206114e-04 9.99983865e-01 -2.83038011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.150371743 meters Centerline goodness [0,1] 0.9895845308440439 Centerline is valid? [True, True] Translation: X:213.12, Y:-12.15, Z:-2.83 [[ 9.99896933e-01 1.25607096e-02 6.95348907e-03 2.13115958e+02] [-1.25577828e-02 9.99921040e-01 -4.64421798e-04 -1.21490813e+01] [-6.95877349e-03 3.77053526e-04 9.99975716e-01 -2.82851625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18037174299997 meters Centerline goodness [0,1] 0.9890679073178558 Centerline is valid? [True, True] Translation: X:213.14, Y:-12.15, Z:-2.83 [[ 9.99895171e-01 1.20805203e-02 7.98171399e-03 2.13143974e+02] [-1.20766608e-02 9.99926933e-01 -5.31562707e-04 -1.21521594e+01] [-7.98755235e-03 4.35114531e-04 9.99968004e-01 -2.82830252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21037174299997 meters Centerline goodness [0,1] 0.9895988453343719 Centerline is valid? [True, True] Translation: X:213.17, Y:-12.16, Z:-2.83 [[ 9.99892899e-01 1.09898831e-02 9.66507846e-03 2.13173549e+02] [-1.09841698e-02 9.99939465e-01 -6.44011772e-04 -1.21562412e+01] [-9.67157100e-03 5.37779934e-04 9.99953085e-01 -2.82867190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24037174299997 meters Centerline goodness [0,1] 0.9899696328333487 Centerline is valid? [True, True] Translation: X:213.20, Y:-12.16, Z:-2.83 [[ 9.99904428e-01 1.00158185e-02 9.52981074e-03 2.13203257e+02] [-1.00102231e-02 9.99949695e-01 -6.34665672e-04 -1.21584036e+01] [-9.53568804e-03 5.39209485e-04 9.99954389e-01 -2.82918572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27037174299997 meters Centerline goodness [0,1] 0.9885798151672897 Centerline is valid? [True, True] Translation: X:213.23, Y:-12.17, Z:-2.83 [[ 9.99912929e-01 9.36039125e-03 9.30148815e-03 2.13231991e+02] [-9.35503751e-03 9.99956049e-01 -6.18921969e-04 -1.21661481e+01] [-9.30687269e-03 5.31852308e-04 9.99956549e-01 -2.83073616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30037174299997 meters Centerline goodness [0,1] 0.988770225053857 Centerline is valid? [True, True] Translation: X:213.26, Y:-12.17, Z:-2.83 [[ 9.99941405e-01 7.25235204e-03 8.03673366e-03 2.13261610e+02] [-7.24829057e-03 9.99973588e-01 -5.34375437e-04 -1.21715713e+01] [-8.04039687e-03 4.76091545e-04 9.99967562e-01 -2.83271842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33037174299997 meters Centerline goodness [0,1] 0.9879675168706393 Centerline is valid? [True, True] Translation: X:213.29, Y:-12.18, Z:-2.83 [[ 9.99953377e-01 6.27174372e-03 7.34232011e-03 2.13291931e+02] [-6.26831961e-03 9.99980234e-01 -4.89272869e-04 -1.21755671e+01] [-7.34524358e-03 4.43226049e-04 9.99972925e-01 -2.83397331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36037174299997 meters Centerline goodness [0,1] 0.989657697235951 Centerline is valid? [True, True] Translation: X:213.32, Y:-12.17, Z:-2.83 [[ 9.99968562e-01 4.71640057e-03 6.37415408e-03 2.13322936e+02] [-4.71378847e-03 9.99988800e-01 -4.24756835e-04 -1.21728921e+01] [-6.37608601e-03 3.94697068e-04 9.99979595e-01 -2.83422058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39037174299997 meters Centerline goodness [0,1] 0.9880927846854892 Centerline is valid? [True, True] Translation: X:213.35, Y:-12.18, Z:-2.84 [[ 9.99971622e-01 4.56029824e-03 5.99654757e-03 2.13352676e+02] [-4.55798452e-03 9.99989533e-01 -3.99451346e-04 -1.21833788e+01] [-5.99830642e-03 3.72107840e-04 9.99981941e-01 -2.83604151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42037174299998 meters Centerline goodness [0,1] 0.9878210704638066 Centerline is valid? [True, True] Translation: X:213.38, Y:-12.19, Z:-2.84 [[ 9.99973855e-01 4.38181789e-03 5.75234961e-03 2.13384348e+02] [-4.37968605e-03 9.99990336e-01 -3.83147098e-04 -1.21863975e+01] [-5.75397289e-03 3.57943595e-04 9.99983382e-01 -2.83692563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45037174299998 meters Centerline goodness [0,1] 0.987729639228458 Centerline is valid? [True, True] Translation: X:213.42, Y:-12.19, Z:-2.84 [[ 9.99971646e-01 5.17103432e-03 5.47426264e-03 2.13415831e+02] [-5.16911452e-03 9.99986574e-01 -3.64786555e-04 -1.21890367e+01] [-5.47607546e-03 3.36479122e-04 9.99984950e-01 -2.83812368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48037174299998 meters Centerline goodness [0,1] 0.9877764043400632 Centerline is valid? [True, True] Translation: X:213.45, Y:-12.19, Z:-2.84 [[ 9.99968584e-01 6.06192632e-03 5.10733934e-03 2.13446212e+02] [-6.06026536e-03 9.99981578e-01 -3.40623161e-04 -1.21913366e+01] [-5.10931009e-03 3.09660629e-04 9.99986899e-01 -2.83872330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51037174299998 meters Centerline goodness [0,1] 0.9891386540180106 Centerline is valid? [True, True] Translation: X:213.48, Y:-12.18, Z:-2.84 [[ 9.99948698e-01 8.53272758e-03 5.45832873e-03 2.13476905e+02] [-8.53086498e-03 9.99963545e-01 -3.64431000e-04 -1.21815582e+01] [-5.46123934e-03 3.17848038e-04 9.99985037e-01 -2.83707196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54037174299998 meters Centerline goodness [0,1] 0.9898188488878698 Centerline is valid? [True, True] Translation: X:213.51, Y:-12.18, Z:-2.84 [[ 9.99928298e-01 1.04005091e-02 5.93527782e-03 2.13506302e+02] [-1.03983395e-02 9.99945857e-01 -3.96290810e-04 -1.21824861e+01] [-5.93907809e-03 3.34545361e-04 9.99982308e-01 -2.83699727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57037174299998 meters Centerline goodness [0,1] 0.9897827983652477 Centerline is valid? [True, True] Translation: X:213.54, Y:-12.18, Z:-2.84 [[ 9.99901333e-01 1.24910887e-02 6.42620622e-03 2.13536099e+02] [-1.24885900e-02 9.99921923e-01 -4.28799163e-04 -1.21831427e+01] [-6.43106065e-03 3.48502599e-04 9.99979260e-01 -2.83717633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60037174299998 meters Centerline goodness [0,1] 0.9899265718219367 Centerline is valid? [True, True] Translation: X:213.57, Y:-12.18, Z:-2.84 [[ 9.99836825e-01 1.65341936e-02 7.27618669e-03 2.13565945e+02] [-1.65310994e-02 9.99863234e-01 -4.85197888e-04 -1.21803581e+01] [-7.28321392e-03 3.64835351e-04 9.99973410e-01 -2.83689093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63037174299998 meters Centerline goodness [0,1] 0.9899586397058824 Centerline is valid? [True, True] Translation: X:213.60, Y:-12.18, Z:-2.84 [[ 9.99797499e-01 1.86001071e-02 7.68094606e-03 2.13595050e+02] [-1.85967205e-02 9.99826935e-01 -5.12111530e-04 -1.21806704e+01] [-7.68914208e-03 3.69167421e-04 9.99970370e-01 -2.83724349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66037174299998 meters Centerline goodness [0,1] 0.9898017777981947 Centerline is valid? [True, True] Translation: X:213.62, Y:-12.18, Z:-2.84 [[ 9.99713555e-01 2.26603051e-02 7.70188425e-03 2.13623781e+02] [-2.26570262e-02 9.99743165e-01 -5.12728814e-04 -1.21824965e+01] [-7.71152473e-03 3.38080152e-04 9.99970209e-01 -2.83803177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.690371743 meters Centerline goodness [0,1] 0.9902865692254574 Centerline is valid? [True, True] Translation: X:213.65, Y:-12.18, Z:-2.84 [[ 9.99672830e-01 2.45102462e-02 7.31309047e-03 2.13653139e+02] [-2.45073393e-02 9.99699532e-01 -4.86859970e-04 -1.21786456e+01] [-7.32282617e-03 3.07476295e-04 9.99973140e-01 -2.83789958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720371743 meters Centerline goodness [0,1] 0.9906789413118527 Centerline is valid? [True, True] Translation: X:213.68, Y:-12.18, Z:-2.84 [[ 9.99581619e-01 2.81740382e-02 6.54299427e-03 2.13682224e+02] [-2.81717937e-02 9.99603002e-01 -4.34955740e-04 -1.21796018e+01] [-6.55265117e-03 2.50445877e-04 9.99978500e-01 -2.83989841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.750371743 meters Centerline goodness [0,1] 0.9918200880204613 Centerline is valid? [True, True] Translation: X:213.71, Y:-12.18, Z:-2.84 [[ 9.99542450e-01 2.96328946e-02 6.06481282e-03 2.13711174e+02] [-2.96309924e-02 9.99560824e-01 -4.03274613e-04 -1.21798426e+01] [-6.07409950e-03 2.23383672e-04 9.99981528e-01 -2.84015387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780371743 meters Centerline goodness [0,1] 0.9905497291690677 Centerline is valid? [True, True] Translation: X:213.74, Y:-12.18, Z:-2.84 [[ 9.99502918e-01 3.09989760e-02 5.74292032e-03 2.13739089e+02] [-3.09972941e-02 9.99519396e-01 -3.81657439e-04 -1.21821213e+01] [-5.75199124e-03 2.03452733e-04 9.99983436e-01 -2.84098912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.810371743 meters Centerline goodness [0,1] 0.9904362454773812 Centerline is valid? [True, True] Translation: X:213.77, Y:-12.18, Z:-2.84 [[ 9.99431426e-01 3.30882739e-02 6.47996108e-03 2.13768151e+02] [-3.30861822e-02 9.99452410e-01 -4.29767260e-04 -1.21824457e+01] [-6.49063297e-03 2.15125733e-04 9.99978912e-01 -2.84094434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840371743 meters Centerline goodness [0,1] 0.9916733755031627 Centerline is valid? [True, True] Translation: X:213.80, Y:-12.18, Z:-2.84 [[ 9.99406649e-01 3.38037628e-02 6.60724936e-03 2.13796052e+02] [-3.38016061e-02 9.99428467e-01 -4.37843856e-04 -1.21849834e+01] [-6.61827387e-03 2.14248421e-04 9.99978076e-01 -2.84123039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.870371743 meters Centerline goodness [0,1] 0.9909812492810307 Centerline is valid? [True, True] Translation: X:213.82, Y:-12.19, Z:-2.84 [[ 9.99369119e-01 3.48766468e-02 6.70692159e-03 2.13824722e+02] [-3.48744536e-02 9.99391603e-01 -4.43710544e-04 -1.21871489e+01] [-6.71831625e-03 2.09530389e-04 9.99977410e-01 -2.84225916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900371743 meters Centerline goodness [0,1] 0.9907786414018305 Centerline is valid? [True, True] Translation: X:213.85, Y:-12.19, Z:-2.84 [[ 9.99349902e-01 3.53379715e-02 7.14156847e-03 2.13853422e+02] [-3.53355007e-02 9.99375395e-01 -4.71891049e-04 -1.21898904e+01] [-7.15378349e-03 2.19233376e-04 9.99974387e-01 -2.84301211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93037174299997 meters Centerline goodness [0,1] 0.9908456345119578 Centerline is valid? [True, True] Translation: X:213.88, Y:-12.19, Z:-2.84 [[ 9.99335405e-01 3.57521435e-02 7.10865305e-03 2.13882104e+02] [-3.57497094e-02 9.99360665e-01 -4.69222449e-04 -1.21919889e+01] [-7.12088394e-03 2.14778325e-04 9.99974623e-01 -2.84313248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96037174299997 meters Centerline goodness [0,1] 0.991386240955553 Centerline is valid? [True, True] Translation: X:213.91, Y:-12.19, Z:-2.84 [[ 9.99320081e-01 3.61679146e-02 7.15940329e-03 2.13911007e+02] [-3.61654599e-02 9.99345704e-01 -4.72079655e-04 -1.21937975e+01] [-7.17179306e-03 2.12835567e-04 9.99974260e-01 -2.84304534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99037174299997 meters Centerline goodness [0,1] 0.9917912836694562 Centerline is valid? [True, True] Translation: X:213.94, Y:-12.20, Z:-2.84 [[ 9.99307570e-01 3.64826796e-02 7.30717566e-03 2.13938791e+02] [-3.64801341e-02 9.99334262e-01 -4.81393406e-04 -1.21973952e+01] [-7.31987352e-03 2.14493327e-04 9.99973186e-01 -2.84386605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02037174299997 meters Centerline goodness [0,1] 0.9919610455234508 Centerline is valid? [True, True] Translation: X:213.97, Y:-12.20, Z:-2.84 [[ 9.99318538e-01 3.62860276e-02 6.76635542e-03 2.13967213e+02] [-3.62838447e-02 9.99341425e-01 -4.45131523e-04 -1.21996935e+01] [-6.77805132e-03 1.99318794e-04 9.99977009e-01 -2.84423897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05037174299997 meters Centerline goodness [0,1] 0.9912475655859778 Centerline is valid? [True, True] Translation: X:213.99, Y:-12.20, Z:-2.85 [[ 9.99334792e-01 3.58701739e-02 6.58056830e-03 2.13994365e+02] [-3.58681023e-02 9.99356439e-01 -4.32591245e-04 -1.22047249e+01] [-6.59185042e-03 1.96270986e-04 9.99978254e-01 -2.84509941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08037174299997 meters Centerline goodness [0,1] 0.9918075808402365 Centerline is valid? [True, True] Translation: X:214.02, Y:-12.21, Z:-2.85 [[ 9.99352209e-01 3.52912663e-02 7.04902628e-03 2.14023594e+02] [-3.52888809e-02 9.99377046e-01 -4.62539513e-04 -1.22062802e+01] [-7.06095867e-03 2.13487636e-04 9.99975048e-01 -2.84541407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11037174299997 meters Centerline goodness [0,1] 0.9915089817625711 Centerline is valid? [True, True] Translation: X:214.05, Y:-12.21, Z:-2.85 [[ 9.99409321e-01 3.36943036e-02 6.76044300e-03 2.14050736e+02] [-3.36920751e-02 9.99432163e-01 -4.43284955e-04 -1.22127810e+01] [-6.77154035e-03 2.15249762e-04 9.99977050e-01 -2.84648485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14037174299997 meters Centerline goodness [0,1] 0.9912328767123287 Centerline is valid? [True, True] Translation: X:214.08, Y:-12.22, Z:-2.85 [[ 9.99434869e-01 3.29929159e-02 6.43510218e-03 2.14079176e+02] [-3.29908864e-02 9.99455564e-01 -4.21298978e-04 -1.22166153e+01] [-6.44549855e-03 2.08761163e-04 9.99979206e-01 -2.84724486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17037174299998 meters Centerline goodness [0,1] 0.9920411133345461 Centerline is valid? [True, True] Translation: X:214.11, Y:-12.22, Z:-2.85 [[ 9.99475102e-01 3.18818839e-02 5.75028022e-03 2.14107258e+02] [-3.18802459e-02 9.99491625e-01 -3.76311051e-04 -1.22217974e+01] [-5.75935443e-03 1.92793179e-04 9.99983396e-01 -2.84818389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20037174299998 meters Centerline goodness [0,1] 0.9918423922923105 Centerline is valid? [True, True] Translation: X:214.14, Y:-12.22, Z:-2.85 [[ 9.99490662e-01 3.14334097e-02 5.50982012e-03 2.14135650e+02] [-3.14319023e-02 9.99505831e-01 -3.59987423e-04 -1.22248256e+01] [-5.51841297e-03 1.86619940e-04 9.99984756e-01 -2.84862349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23037174299998 meters Centerline goodness [0,1] 0.9917409901710957 Centerline is valid? [True, True] Translation: X:214.16, Y:-12.23, Z:-2.85 [[ 9.99497280e-01 3.12323308e-02 5.45236829e-03 2.14163303e+02] [-3.12308530e-02 9.99512135e-01 -3.56002299e-04 -1.22284901e+01] [-5.46082705e-03 1.85541217e-04 9.99985072e-01 -2.84889064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26037174299998 meters Centerline goodness [0,1] 0.9919393292613701 Centerline is valid? [True, True] Translation: X:214.19, Y:-12.23, Z:-2.85 [[ 9.99460780e-01 3.22358938e-02 6.24469520e-03 2.14192189e+02] [-3.22339802e-02 9.99480267e-01 -4.06877181e-04 -1.22303290e+01] [-6.25456568e-03 2.05366403e-04 9.99980419e-01 -2.84861764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29037174299998 meters Centerline goodness [0,1] 0.9921518815070202 Centerline is valid? [True, True] Translation: X:214.22, Y:-12.23, Z:-2.85 [[ 9.99440592e-01 3.27590781e-02 6.73390763e-03 2.14220084e+02] [-3.27568658e-02 9.99463254e-01 -4.38595589e-04 -1.22345154e+01] [-6.74466122e-03 2.17768527e-04 9.99977231e-01 -2.84916775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32037174299998 meters Centerline goodness [0,1] 0.9913106444605359 Centerline is valid? [True, True] Translation: X:214.25, Y:-12.24, Z:-2.85 [[ 9.99395860e-01 3.39876797e-02 7.26311559e-03 2.14249080e+02] [-3.39851491e-02 9.99422227e-01 -4.71596849e-04 -1.22373360e+01] [-7.27494763e-03 2.24473872e-04 9.99973512e-01 -2.84954259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35037174299998 meters Centerline goodness [0,1] 0.9921889150516211 Centerline is valid? [True, True] Translation: X:214.28, Y:-12.24, Z:-2.85 [[ 9.99392870e-01 3.39672990e-02 7.75331831e-03 2.14277792e+02] [-3.39644194e-02 9.99422916e-01 -5.02819485e-04 -1.22388824e+01] [-7.76592341e-03 2.39177254e-04 9.99969816e-01 -2.84909649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38037174299998 meters Centerline goodness [0,1] 0.9919606160516689 Centerline is valid? [True, True] Translation: X:214.31, Y:-12.24, Z:-2.85 [[ 9.99384330e-01 3.40893376e-02 8.29932141e-03 2.14306071e+02] [-3.40860477e-02 9.99418757e-01 -5.37562906e-04 -1.22416551e+01] [-8.31282265e-03 2.54340878e-04 9.99965416e-01 -2.84964908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41037174299998 meters Centerline goodness [0,1] 0.9912377769246403 Centerline is valid? [True, True] Translation: X:214.33, Y:-12.25, Z:-2.85 [[ 9.99398633e-01 3.36142379e-02 8.51212565e-03 2.14334868e+02] [-3.36107654e-02 9.99434847e-01 -5.50709830e-04 -1.22460177e+01] [-8.52582669e-03 2.64279592e-04 9.99963620e-01 -2.84990359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440371743 meters Centerline goodness [0,1] 0.9912860916089126 Centerline is valid? [True, True] Translation: X:214.36, Y:-12.25, Z:-2.85 [[ 9.99403021e-01 3.33605825e-02 8.98186855e-03 2.14362540e+02] [-3.33567106e-02 9.99443341e-01 -5.80584243e-04 -1.22492499e+01] [-8.99623735e-03 2.80632057e-04 9.99959494e-01 -2.85039628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.470371743 meters Centerline goodness [0,1] 0.9913565480354766 Centerline is valid? [True, True] Translation: X:214.39, Y:-12.25, Z:-2.85 [[ 9.99414867e-01 3.30309419e-02 8.88148203e-03 2.14390876e+02] [-3.30271528e-02 9.99454291e-01 -5.72990323e-04 -1.22539480e+01] [-8.89556173e-03 2.79324983e-04 9.99960395e-01 -2.85149465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500371743 meters Centerline goodness [0,1] 0.990679725582235 Centerline is valid? [True, True] Translation: X:214.42, Y:-12.26, Z:-2.85 [[ 9.99423773e-01 3.27656098e-02 8.86211632e-03 2.14417926e+02] [-3.27618316e-02 9.99463024e-01 -5.71202346e-04 -1.22630837e+01] [-8.87607337e-03 2.80534041e-04 9.99960568e-01 -2.85299063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.530371743 meters Centerline goodness [0,1] 0.991643203063408 Centerline is valid? [True, True] Translation: X:214.45, Y:-12.26, Z:-2.85 [[ 9.99415799e-01 3.29141206e-02 9.20442313e-03 2.14446969e+02] [-3.29100599e-02 9.99458142e-01 -5.92324181e-04 -1.22615165e+01] [-9.21893147e-03 2.89060028e-04 9.99957463e-01 -2.85265448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560371743 meters Centerline goodness [0,1] 0.9911215269170967 Centerline is valid? [True, True] Translation: X:214.48, Y:-12.27, Z:-2.85 [[ 9.99382721e-01 3.37776736e-02 9.65638843e-03 2.14476060e+02] [-3.37732524e-02 9.99429328e-01 -6.20606366e-04 -1.22650873e+01] [-9.67184045e-03 2.94095635e-04 9.99953183e-01 -2.85275225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.590371743 meters Centerline goodness [0,1] 0.9913511565575801 Centerline is valid? [True, True] Translation: X:214.51, Y:-12.27, Z:-2.85 [[ 9.99357231e-01 3.45277072e-02 9.64165008e-03 2.14505205e+02] [-3.45233393e-02 9.99403700e-01 -6.19140631e-04 -1.22683169e+01] [-9.65727827e-03 2.85880710e-04 9.99953327e-01 -2.85288665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620371743 meters Centerline goodness [0,1] 0.9913511565575801 Centerline is valid? [True, True] Translation: X:214.53, Y:-12.27, Z:-2.85 [[ 9.99360906e-01 3.44211699e-02 9.64166799e-03 2.14532618e+02] [-3.44167998e-02 9.99407375e-01 -6.18861837e-04 -1.22699852e+01] [-9.65725604e-03 2.86630970e-04 9.99953327e-01 -2.85327330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.650371743 meters Centerline goodness [0,1] 0.9918141245598691 Centerline is valid? [True, True] Translation: X:214.56, Y:-12.27, Z:-2.85 [[ 9.99261231e-01 3.72005982e-02 9.64923900e-03 2.14561892e+02] [-3.71963629e-02 9.99307785e-01 -6.18078865e-04 -1.22732135e+01] [-9.66555256e-03 2.58705652e-04 9.99953254e-01 -2.85408211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68037174299997 meters Centerline goodness [0,1] 0.9920866867496965 Centerline is valid? [True, True] Translation: X:214.59, Y:-12.28, Z:-2.85 [[ 9.99181999e-01 3.92446603e-02 9.75649848e-03 2.14590040e+02] [-3.92404321e-02 9.99229602e-01 -6.24492576e-04 -1.22756526e+01] [-9.77349010e-03 2.41132524e-04 9.99952209e-01 -2.85486703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71037174299997 meters Centerline goodness [0,1] 0.992406712645744 Centerline is valid? [True, True] Translation: X:214.62, Y:-12.28, Z:-2.86 [[ 9.99086035e-01 4.16363236e-02 9.67007159e-03 2.14618942e+02] [-4.16322885e-02 9.99132809e-01 -6.18283385e-04 -1.22777158e+01] [-9.68742884e-03 2.15131085e-04 9.99953053e-01 -2.85519156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74037174299997 meters Centerline goodness [0,1] 0.9936820880474964 Centerline is valid? [True, True] Translation: X:214.65, Y:-12.28, Z:-2.86 [[ 9.98860859e-01 4.66258380e-02 1.01496791e-02 2.14648144e+02] [-4.66216561e-02 9.98912409e-01 -6.48368560e-04 -1.22798252e+01] [-1.01688711e-02 1.74435128e-04 9.99948280e-01 -2.85561576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77037174299997 meters Centerline goodness [0,1] 0.9934476258863657 Centerline is valid? [True, True] Translation: X:214.68, Y:-12.28, Z:-2.86 [[ 9.98753701e-01 4.87963515e-02 1.04862168e-02 2.14675354e+02] [-4.87920204e-02 9.98808736e-01 -6.68611262e-04 -1.22826504e+01] [-1.05063507e-02 1.56134269e-04 9.99944795e-01 -2.85628565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80037174299997 meters Centerline goodness [0,1] 0.9932036875042056 Centerline is valid? [True, True] Translation: X:214.70, Y:-12.29, Z:-2.86 [[ 9.98527889e-01 5.30744967e-02 1.11872056e-02 2.14704460e+02] [-5.30698499e-02 9.98590549e-01 -7.12023685e-04 -1.22866090e+01] [-1.12092281e-02 1.17272186e-04 9.99937168e-01 -2.85624829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83037174299997 meters Centerline goodness [0,1] 0.9939047704729989 Centerline is valid? [True, True] Translation: X:214.73, Y:-12.29, Z:-2.86 [[ 9.98445122e-01 5.45213930e-02 1.16084216e-02 2.14733002e+02] [-5.45165242e-02 9.98512598e-01 -7.35670561e-04 -1.22891518e+01] [-1.16312650e-02 1.01675885e-04 9.99932349e-01 -2.85642432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86037174299997 meters Centerline goodness [0,1] 0.9944923318034256 Centerline is valid? [True, True] Translation: X:214.76, Y:-12.29, Z:-2.86 [[ 9.98346105e-01 5.62577187e-02 1.18374104e-02 2.14761298e+02] [-5.62527883e-02 9.98416277e-01 -7.49312865e-04 -1.22921107e+01] [-1.18608178e-02 8.21862393e-05 9.99929655e-01 -2.85633658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89037174299997 meters Centerline goodness [0,1] 0.9945689828576537 Centerline is valid? [True, True] Translation: X:214.79, Y:-12.30, Z:-2.86 [[ 9.98239599e-01 5.82176506e-02 1.13317147e-02 2.14790059e+02] [-5.82132676e-02 9.98303913e-01 -7.16528587e-04 -1.22972422e+01] [-1.13542098e-02 5.56110677e-05 9.99935537e-01 -2.85683385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92037174299998 meters Centerline goodness [0,1] 0.9948818809646202 Centerline is valid? [True, True] Translation: X:214.82, Y:-12.30, Z:-2.86 [[ 9.98219679e-01 5.85021346e-02 1.16177328e-02 2.14816900e+02] [-5.84975554e-02 9.98287282e-01 -7.33874488e-04 -1.23015422e+01] [-1.16407682e-02 5.29589854e-05 9.99932243e-01 -2.85772575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95037174299998 meters Centerline goodness [0,1] 0.9944198661657144 Centerline is valid? [True, True] Translation: X:214.84, Y:-12.31, Z:-2.86 [[ 9.98249072e-01 5.80661510e-02 1.12743866e-02 2.14844843e+02] [-5.80618278e-02 9.98312736e-01 -7.10667349e-04 -1.23099794e+01] [-1.12966295e-02 5.48115284e-05 9.99936190e-01 -2.85858032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98037174299998 meters Centerline goodness [0,1] 0.994276679137716 Centerline is valid? [True, True] Translation: X:214.87, Y:-12.32, Z:-2.86 [[ 9.98323905e-01 5.66716671e-02 1.17346927e-02 2.14873386e+02] [-5.66668976e-02 9.98392867e-01 -7.38809214e-04 -1.23156561e+01] [-1.17577030e-02 7.26022721e-05 9.99930873e-01 -2.85906638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01037174299998 meters Centerline goodness [0,1] 0.9938746627747557 Centerline is valid? [True, True] Translation: X:214.90, Y:-12.33, Z:-2.86 [[ 9.98536974e-01 5.26684572e-02 1.22452336e-02 2.14900838e+02] [-5.26629737e-02 9.98612046e-01 -7.70048437e-04 -1.23270452e+01] [-1.22687950e-02 1.24051420e-04 9.99924728e-01 -2.85971131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04037174299998 meters Centerline goodness [0,1] 0.9932509925011028 Centerline is valid? [True, True] Translation: X:214.93, Y:-12.33, Z:-2.86 [[ 9.98654462e-01 5.02935344e-02 1.26422005e-02 2.14929236e+02] [-5.02875146e-02 9.98734467e-01 -7.93803244e-04 -1.23334898e+01] [-1.26661245e-02 1.56990309e-04 9.99919769e-01 -2.86052396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07037174299998 meters Centerline goodness [0,1] 0.9925051650622005 Centerline is valid? [True, True] Translation: X:214.96, Y:-12.34, Z:-2.86 [[ 9.98793426e-01 4.74627956e-02 1.26085399e-02 2.14956209e+02] [-4.74565934e-02 9.98872988e-01 -7.90813312e-04 -1.23409680e+01] [-1.26318642e-02 1.91500784e-04 9.99920196e-01 -2.86136961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10037174299998 meters Centerline goodness [0,1] 0.9913397191969557 Centerline is valid? [True, True] Translation: X:214.99, Y:-12.35, Z:-2.86 [[ 9.99059859e-01 4.15925690e-02 1.22252662e-02 2.14985424e+02] [-4.15863128e-02 9.99134622e-01 -7.65628002e-04 -1.23537767e+01] [-1.22465312e-02 2.56504459e-04 9.99924976e-01 -2.86281739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13037174299998 meters Centerline goodness [0,1] 0.9904527323059485 Centerline is valid? [True, True] Translation: X:215.01, Y:-12.36, Z:-2.86 [[ 9.99191711e-01 3.85499305e-02 1.13942003e-02 2.15013892e+02] [-3.85443014e-02 9.99256638e-01 -7.13302602e-04 -1.23611877e+01] [-1.14132280e-02 2.73544558e-04 9.99934830e-01 -2.86386330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16037174299998 meters Centerline goodness [0,1] 0.98994668697639 Centerline is valid? [True, True] Translation: X:215.04, Y:-12.37, Z:-2.87 [[ 9.99393396e-01 3.31701181e-02 1.06105261e-02 2.15042154e+02] [-3.31649416e-02 9.99449672e-01 -6.63496063e-04 -1.23735966e+01] [-1.06266951e-02 3.11196105e-04 9.99943487e-01 -2.86551834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.190371743 meters Centerline goodness [0,1] 0.989044127218293 Centerline is valid? [True, True] Translation: X:215.07, Y:-12.38, Z:-2.87 [[ 9.99457132e-01 3.11827633e-02 1.06337252e-02 2.15070083e+02] [-3.11774565e-02 9.99513644e-01 -6.64503283e-04 -1.23795791e+01] [-1.06492744e-02 3.32610041e-04 9.99943240e-01 -2.86665395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220371743 meters Centerline goodness [0,1] 0.9885420953453616 Centerline is valid? [True, True] Translation: X:215.10, Y:-12.39, Z:-2.87 [[ 9.99515661e-01 2.93655931e-02 1.03007256e-02 2.15097386e+02] [-2.93605261e-02 9.99568680e-01 -6.42815959e-04 -1.23862540e+01] [-1.03151594e-02 3.40069894e-04 9.99946740e-01 -2.86692361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.250371743 meters Centerline goodness [0,1] 0.9875675675675676 Centerline is valid? [True, True] Translation: X:215.12, Y:-12.40, Z:-2.87 [[ 9.99573040e-01 2.72828799e-02 1.04586205e-02 2.15124693e+02] [-2.72775524e-02 9.99627686e-01 -6.51725352e-04 -1.23963641e+01] [-1.04725075e-02 3.66161524e-04 9.99945095e-01 -2.86769839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280371743 meters Centerline goodness [0,1] 0.9881370920777344 Centerline is valid? [True, True] Translation: X:215.15, Y:-12.40, Z:-2.87 [[ 9.99594691e-01 2.65169347e-02 1.03588397e-02 2.15153002e+02] [-2.65116772e-02 9.99648296e-01 -6.44549560e-04 -1.24014912e+01] [-1.03722879e-02 3.69658104e-04 9.99946138e-01 -2.86800804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.310371743 meters Centerline goodness [0,1] 0.9878093432983696 Centerline is valid? [True, True] Translation: X:215.18, Y:-12.41, Z:-2.87 [[ 9.99611550e-01 2.57374947e-02 1.06925719e-02 2.15181223e+02] [-2.57318567e-02 9.99668660e-01 -6.64546865e-04 -1.24064793e+01] [-1.07061328e-02 3.89148993e-04 9.99942612e-01 -2.86864337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340371743 meters Centerline goodness [0,1] 0.9875362630278285 Centerline is valid? [True, True] Translation: X:215.21, Y:-12.41, Z:-2.87 [[ 9.99631396e-01 2.48288374e-02 1.09818414e-02 2.15209909e+02] [-2.48228439e-02 9.99691633e-01 -6.81747887e-04 -1.24126268e+01] [-1.09953820e-02 4.08896056e-04 9.99939465e-01 -2.86891068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.370371743 meters Centerline goodness [0,1] 0.9878127279749388 Centerline is valid? [True, True] Translation: X:215.24, Y:-12.42, Z:-2.87 [[ 9.99639578e-01 2.45167516e-02 1.09381003e-02 2.15238211e+02] [-2.45107962e-02 9.99699335e-01 -6.78209372e-04 -1.24181754e+01] [-1.09514391e-02 4.09863382e-04 9.99939947e-01 -2.86982927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400371743 meters Centerline goodness [0,1] 0.987495985440531 Centerline is valid? [True, True] Translation: X:215.27, Y:-12.42, Z:-2.87 [[ 9.99653348e-01 2.39788596e-02 1.08718877e-02 2.15267103e+02] [-2.39729510e-02 9.99712381e-01 -6.73482534e-04 -1.24242566e+01] [-1.08849101e-02 4.12617839e-04 9.99940672e-01 -2.87081266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43037174299997 meters Centerline goodness [0,1] 0.9867048563611491 Centerline is valid? [True, True] Translation: X:215.30, Y:-12.43, Z:-2.87 [[ 9.99649805e-01 2.42904016e-02 1.04997407e-02 2.15295327e+02] [-2.42849102e-02 9.99704867e-01 -6.50200164e-04 -1.24281292e+01] [-1.05124355e-02 3.94987207e-04 9.99944665e-01 -2.87161879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46037174299997 meters Centerline goodness [0,1] 0.9878984841033974 Centerline is valid? [True, True] Translation: X:215.32, Y:-12.43, Z:-2.87 [[ 9.99649241e-01 2.44136250e-02 1.02649361e-02 2.15324170e+02] [-2.44083902e-02 9.99701869e-01 -6.34956906e-04 -1.24321256e+01] [-1.02773774e-02 3.84183624e-04 9.99947113e-01 -2.87229836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49037174299997 meters Centerline goodness [0,1] 0.9879167646870122 Centerline is valid? [True, True] Translation: X:215.35, Y:-12.43, Z:-2.87 [[ 9.99620962e-01 2.59376582e-02 9.22877420e-03 2.15353802e+02] [-2.59334984e-02 9.99663508e-01 -5.70154675e-04 -1.24345252e+01] [-9.24045727e-03 3.30604164e-04 9.99957251e-01 -2.87315285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52037174299997 meters Centerline goodness [0,1] 0.9878982253581355 Centerline is valid? [True, True] Translation: X:215.38, Y:-12.44, Z:-2.87 [[ 9.99590366e-01 2.72133887e-02 8.86177005e-03 2.15381119e+02] [-2.72096034e-02 9.99629600e-01 -5.47458424e-04 -1.24399754e+01] [-8.87338585e-03 3.06108918e-04 9.99960584e-01 -2.87411944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55037174299997 meters Centerline goodness [0,1] 0.9871305090171807 Centerline is valid? [True, True] Translation: X:215.41, Y:-12.44, Z:-2.87 [[ 9.99470637e-01 3.12850994e-02 8.92687247e-03 2.15411074e+02] [-3.12814310e-02 9.99510465e-01 -5.50305329e-04 -1.24416744e+01] [-8.93971881e-03 2.70768672e-04 9.99960003e-01 -2.87457967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58037174299997 meters Centerline goodness [0,1] 0.9891079170493133 Centerline is valid? [True, True] Translation: X:215.44, Y:-12.44, Z:-2.87 [[ 9.99399854e-01 3.34998918e-02 8.81415281e-03 2.15440002e+02] [-3.34964002e-02 9.99438690e-01 -5.43494269e-04 -1.24414424e+01] [-8.82741234e-03 2.47925703e-04 9.99961007e-01 -2.87429229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61037174299997 meters Centerline goodness [0,1] 0.9884304224390036 Centerline is valid? [True, True] Translation: X:215.47, Y:-12.44, Z:-2.87 [[ 9.99173200e-01 3.94832760e-02 9.69472023e-03 2.15468982e+02] [-3.94793428e-02 9.99220209e-01 -5.96822406e-04 -1.24447638e+01] [-9.71072487e-03 2.13587770e-04 9.99952827e-01 -2.87436386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64037174299997 meters Centerline goodness [0,1] 0.9891649781379972 Centerline is valid? [True, True] Translation: X:215.50, Y:-12.45, Z:-2.87 [[ 9.99057355e-01 4.21165347e-02 1.05165857e-02 2.15497747e+02] [-4.21120553e-02 9.99112684e-01 -6.47115138e-04 -1.24460440e+01] [-1.05345084e-02 2.03630099e-04 9.99944490e-01 -2.87378217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67037174299998 meters Centerline goodness [0,1] 0.9891142260662094 Centerline is valid? [True, True] Translation: X:215.53, Y:-12.45, Z:-2.87 [[ 9.98953695e-01 4.42180341e-02 1.16739004e-02 2.15526793e+02] [-4.42126688e-02 9.99021884e-01 -7.17398100e-04 -1.24476332e+01] [-1.16942039e-02 2.00513190e-04 9.99931600e-01 -2.87389892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70037174299998 meters Centerline goodness [0,1] 0.9902493027612782 Centerline is valid? [True, True] Translation: X:215.56, Y:-12.45, Z:-2.87 [[ 9.98789562e-01 4.76188501e-02 1.23230022e-02 2.15555083e+02] [-4.76131417e-02 9.98865565e-01 -7.56359948e-04 -1.24508528e+01] [-1.23450396e-02 1.68707569e-04 9.99923783e-01 -2.87421213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73037174299998 meters Centerline goodness [0,1] 0.990351232188119 Centerline is valid? [True, True] Translation: X:215.58, Y:-12.45, Z:-2.87 [[ 9.98736404e-01 4.86687600e-02 1.25278319e-02 2.15583609e+02] [-4.86629543e-02 9.98814961e-01 -7.68027378e-04 -1.24539214e+01] [-1.25503649e-02 1.57415589e-04 9.99921229e-01 -2.87485068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76037174299998 meters Centerline goodness [0,1] 0.990530303030303 Centerline is valid? [True, True] Translation: X:215.61, Y:-12.46, Z:-2.88 [[ 9.98691119e-01 4.96076220e-02 1.24552010e-02 2.15610763e+02] [-4.96019670e-02 9.98768774e-01 -7.62720212e-04 -1.24594474e+01] [-1.24777025e-02 1.43919434e-04 9.99922140e-01 -2.87568768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79037174299998 meters Centerline goodness [0,1] 0.989788568281005 Centerline is valid? [True, True] Translation: X:215.64, Y:-12.46, Z:-2.88 [[ 9.98721555e-01 4.90482124e-02 1.22282067e-02 2.15638962e+02] [-4.90427331e-02 9.98796401e-01 -7.47729696e-04 -1.24635028e+01] [-1.22501636e-02 1.47069089e-04 9.99924953e-01 -2.87614629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82037174299998 meters Centerline goodness [0,1] 0.9890783390592527 Centerline is valid? [True, True] Translation: X:215.67, Y:-12.47, Z:-2.88 [[ 9.98778956e-01 4.79193142e-02 1.20140177e-02 2.15667310e+02] [-4.79139534e-02 9.98851197e-01 -7.33810471e-04 -1.24672109e+01] [-1.20353797e-02 1.57275371e-04 9.99927560e-01 -2.87686192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85037174299998 meters Centerline goodness [0,1] 0.9891202918221921 Centerline is valid? [True, True] Translation: X:215.70, Y:-12.47, Z:-2.88 [[ 9.98959594e-01 4.41742966e-02 1.13296950e-02 2.15695983e+02] [-4.41692969e-02 9.99023821e-01 -6.91257954e-04 -1.24749062e+01] [-1.13491710e-02 1.90114104e-04 9.99935578e-01 -2.87776571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88037174299998 meters Centerline goodness [0,1] 0.9881303122151804 Centerline is valid? [True, True] Translation: X:215.72, Y:-12.48, Z:-2.88 [[ 9.99089264e-01 4.11648466e-02 1.12293335e-02 2.15723575e+02] [-4.11597536e-02 9.99152344e-01 -6.84370403e-04 -1.24810492e+01] [-1.12479869e-02 2.21550521e-04 9.99936715e-01 -2.87864773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91037174299998 meters Centerline goodness [0,1] 0.9869965647326603 Centerline is valid? [True, True] Translation: X:215.75, Y:-12.49, Z:-2.88 [[ 9.99275299e-01 3.61743629e-02 1.18444856e-02 2.15751645e+02] [-3.61683607e-02 9.99345451e-01 -7.20630041e-04 -1.24915686e+01] [-1.18628011e-02 2.91712174e-04 9.99929592e-01 -2.87895224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940371743 meters Centerline goodness [0,1] 0.9865345528455285 Centerline is valid? [True, True] Translation: X:215.78, Y:-12.50, Z:-2.88 [[ 9.99360156e-01 3.34658345e-02 1.26220527e-02 2.15781147e+02] [-3.34588119e-02 9.99439803e-01 -7.67194499e-04 -1.24961787e+01] [-1.26406567e-02 3.44384727e-04 9.99920044e-01 -2.87934352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.970371743 meters Centerline goodness [0,1] 0.984716665608264 Centerline is valid? [True, True] Translation: X:215.81, Y:-12.50, Z:-2.88 [[ 9.99440266e-01 3.09337201e-02 1.27380994e-02 2.15808935e+02] [-3.09263685e-02 9.99521366e-01 -7.73754859e-04 -1.25032835e+01] [-1.27559376e-02 3.79378606e-04 9.99918568e-01 -2.87984005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000371743 meters Centerline goodness [0,1] 0.9844876280402984 Centerline is valid? [True, True] Translation: X:215.84, Y:-12.51, Z:-2.88 [[ 9.99563722e-01 2.65985053e-02 1.28407478e-02 2.15837363e+02] [-2.65906795e-02 9.99646101e-01 -7.79821868e-04 -1.25129669e+01] [-1.28569456e-02 4.38037439e-04 9.99917250e-01 -2.88008699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.030371743 meters Centerline goodness [0,1] 0.9846092133597939 Centerline is valid? [True, True] Translation: X:215.87, Y:-12.52, Z:-2.88 [[ 9.99619562e-01 2.43360434e-02 1.29803291e-02 2.15867889e+02] [-2.43278625e-02 9.99703723e-01 -7.87802117e-04 -1.25173702e+01] [-1.29956553e-02 4.71718746e-04 9.99915442e-01 -2.88029941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060371743 meters Centerline goodness [0,1] 0.9834119232064669 Centerline is valid? [True, True] Translation: X:215.90, Y:-12.52, Z:-2.88 [[ 9.99699331e-01 2.07331831e-02 1.30913145e-02 2.15898302e+02] [-2.07245532e-02 9.99784908e-01 -7.94538046e-04 -1.25226373e+01] [-1.31049720e-02 5.22987509e-04 9.99913989e-01 -2.88061617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.090371743 meters Centerline goodness [0,1] 0.9834168104718212 Centerline is valid? [True, True] Translation: X:215.93, Y:-12.53, Z:-2.88 [[ 9.99734823e-01 1.89976205e-02 1.30143636e-02 2.15929684e+02] [-1.89889455e-02 9.99819382e-01 -7.89830876e-04 -1.25275366e+01] [-1.30270179e-02 5.42492390e-04 9.99914998e-01 -2.88116131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120371743 meters Centerline goodness [0,1] 0.9822814467711232 Centerline is valid? [True, True] Translation: X:215.96, Y:-12.53, Z:-2.88 [[ 9.99760203e-01 1.74771367e-02 1.31941774e-02 2.15960736e+02] [-1.74680818e-02 9.99847100e-01 -8.01224570e-04 -1.25326781e+01] [-1.32061631e-02 5.70555469e-04 9.99912632e-01 -2.88130226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.150371743 meters Centerline goodness [0,1] 0.981291161542011 Centerline is valid? [True, True] Translation: X:215.99, Y:-12.54, Z:-2.88 [[ 9.99814925e-01 1.38842138e-02 1.33170787e-02 2.15990323e+02] [-1.38746645e-02 9.99903415e-01 -8.09194932e-04 -1.25406830e+01] [-1.33270275e-02 6.24275170e-04 9.99910996e-01 -2.88139668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18037174299997 meters Centerline goodness [0,1] 0.9816423089054779 Centerline is valid? [True, True] Translation: X:216.02, Y:-12.55, Z:-2.88 [[ 9.99836398e-01 1.20873771e-02 1.34563165e-02 2.16022562e+02] [-1.20774652e-02 9.99926730e-01 -8.17614081e-04 -1.25452504e+01] [-1.34652134e-02 6.54962122e-04 9.99909125e-01 -2.88178723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21037174299997 meters Centerline goodness [0,1] 0.980037823072074 Centerline is valid? [True, True] Translation: X:216.05, Y:-12.55, Z:-2.88 [[ 9.99857393e-01 8.19359729e-03 1.47667775e-02 2.16053592e+02] [-8.18122063e-03 9.99966130e-01 -8.98356989e-04 -1.25526761e+01] [-1.47736381e-02 7.77418613e-04 9.99890562e-01 -2.88260971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24037174299997 meters Centerline goodness [0,1] 0.9804045246204953 Centerline is valid? [True, True] Translation: X:216.09, Y:-12.56, Z:-2.88 [[ 9.99871768e-01 6.19898996e-03 1.47655200e-02 2.16085672e+02] [-6.18639050e-03 9.99980460e-01 -8.98825128e-04 -1.25565039e+01] [-1.47708033e-02 8.07364596e-04 9.99890580e-01 -2.88307792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27037174299997 meters Centerline goodness [0,1] 0.9801076625452099 Centerline is valid? [True, True] Translation: X:216.12, Y:-12.56, Z:-2.88 [[ 9.99879707e-01 3.96823191e-03 1.49941247e-02 2.16117106e+02] [-3.95497361e-03 9.99991762e-01 -9.13782176e-04 -1.25591776e+01] [-1.49976273e-02 8.54370887e-04 9.99887164e-01 -2.88356116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30037174299997 meters Centerline goodness [0,1] 0.9799739430108431 Centerline is valid? [True, True] Translation: X:216.15, Y:-12.57, Z:-2.89 [[ 9.99894631e-01 -6.34488880e-04 1.45025859e-02 2.16146152e+02] [ 6.47381421e-04 9.99999399e-01 -8.84304887e-04 -1.25658577e+01] [-1.45020161e-02 8.93600413e-04 9.99894441e-01 -2.88501118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33037174299997 meters Centerline goodness [0,1] 0.9775681341719078 Centerline is valid? [True, True] Translation: X:216.18, Y:-12.57, Z:-2.89 [[ 9.99896477e-01 -2.88203973e-03 1.40971454e-02 2.16175532e+02] [ 2.89444103e-03 9.99995442e-01 -8.59379304e-04 -1.25721435e+01] [-1.40946044e-02 9.00093694e-04 9.99900261e-01 -2.88612679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36037174299997 meters Centerline goodness [0,1] 0.9793074501573977 Centerline is valid? [True, True] Translation: X:216.21, Y:-12.57, Z:-2.89 [[ 9.99888078e-01 -7.58064087e-03 1.28982595e-02 2.16205709e+02] [ 7.59141140e-03 9.99970876e-01 -7.86281721e-04 -1.25717944e+01] [-1.28919233e-02 8.84109713e-04 9.99916505e-01 -2.88748879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39037174299997 meters Centerline goodness [0,1] 0.9803337181236226 Centerline is valid? [True, True] Translation: X:216.24, Y:-12.57, Z:-2.89 [[ 9.99874727e-01 -1.00036346e-02 1.22661256e-02 2.16236952e+02] [ 1.00135576e-02 9.99949583e-01 -7.47823084e-04 -1.25747294e+01] [-1.22580262e-02 8.70556957e-04 9.99924489e-01 -2.88788918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42037174299998 meters Centerline goodness [0,1] 0.9784961996691723 Centerline is valid? [True, True] Translation: X:216.27, Y:-12.58, Z:-2.89 [[ 9.99850555e-01 -1.22002412e-02 1.22482995e-02 2.16267171e+02] [ 1.22103051e-02 9.99925172e-01 -7.47210455e-04 -1.25806979e+01] [-1.22382668e-02 8.96654261e-04 9.99924708e-01 -2.88862514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45037174299998 meters Centerline goodness [0,1] 0.9785318559556787 Centerline is valid? [True, True] Translation: X:216.30, Y:-12.58, Z:-2.89 [[ 9.99798760e-01 -1.61888523e-02 1.18474218e-02 2.16298233e+02] [ 1.61985494e-02 9.99868533e-01 -7.22991260e-04 -1.25792645e+01] [-1.18341599e-02 9.14756812e-04 9.99929555e-01 -2.88870741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48037174299998 meters Centerline goodness [0,1] 0.9786693006052455 Centerline is valid? [True, True] Translation: X:216.33, Y:-12.58, Z:-2.89 [[ 9.99769253e-01 -1.79601016e-02 1.17845731e-02 2.16329188e+02] [ 1.79698184e-02 9.99838271e-01 -7.19160620e-04 -1.25809299e+01] [-1.17697510e-02 9.30761314e-04 9.99930301e-01 -2.88890108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51037174299998 meters Centerline goodness [0,1] 0.9786693006052455 Centerline is valid? [True, True] Translation: X:216.36, Y:-12.58, Z:-2.89 [[ 9.99771203e-01 -1.78511782e-02 1.17845727e-02 2.16361746e+02] [ 1.78608876e-02 9.99840223e-01 -7.19168034e-04 -1.25830103e+01] [-1.17698518e-02 9.29486419e-04 9.99930301e-01 -2.88935999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54037174299998 meters Centerline goodness [0,1] 0.9782955834769088 Centerline is valid? [True, True] Translation: X:216.39, Y:-12.58, Z:-2.89 [[ 9.99715271e-01 -2.08643967e-02 1.15781210e-02 2.16393131e+02] [ 2.08739864e-02 9.99781864e-01 -7.08015851e-04 -1.25806492e+01] [-1.15608230e-02 9.49495798e-04 9.99932721e-01 -2.88952112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57037174299998 meters Centerline goodness [0,1] 0.9770368040264235 Centerline is valid? [True, True] Translation: X:216.42, Y:-12.59, Z:-2.89 [[ 9.99690812e-01 -2.18292216e-02 1.19065036e-02 2.16423501e+02] [ 2.18394343e-02 9.99761226e-01 -7.28380819e-04 -1.25863717e+01] [-1.18877607e-02 9.88186915e-04 9.99928850e-01 -2.88952345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60037174299998 meters Centerline goodness [0,1] 0.9779107611548556 Centerline is valid? [True, True] Translation: X:216.46, Y:-12.58, Z:-2.89 [[ 9.99670399e-01 -2.24855691e-02 1.23891986e-02 2.16455722e+02] [ 2.24966819e-02 9.99746630e-01 -7.58327526e-04 -1.25820799e+01] [-1.23690081e-02 1.03679344e-03 9.99922963e-01 -2.88967806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63037174299998 meters Centerline goodness [0,1] 0.9776958719460825 Centerline is valid? [True, True] Translation: X:216.49, Y:-12.58, Z:-2.89 [[ 9.99648315e-01 -2.31019753e-02 1.30209112e-02 2.16486538e+02] [ 2.31143157e-02 9.99732510e-01 -7.98022797e-04 -1.25828940e+01] [-1.29989924e-02 1.09871160e-03 9.99914906e-01 -2.88960566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66037174299998 meters Centerline goodness [0,1] 0.9777450257921887 Centerline is valid? [True, True] Translation: X:216.52, Y:-12.58, Z:-2.89 [[ 9.99654850e-01 -2.30209253e-02 1.26576865e-02 2.16519270e+02] [ 2.30325879e-02 9.99734413e-01 -7.76360229e-04 -1.25822376e+01] [-1.26364522e-02 1.06763154e-03 9.99919587e-01 -2.89006345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.690371743 meters Centerline goodness [0,1] 0.9770642201834863 Centerline is valid? [True, True] Translation: X:216.55, Y:-12.58, Z:-2.89 [[ 9.99659522e-01 -2.26059746e-02 1.30311056e-02 2.16550291e+02] [ 2.26183200e-02 9.99743852e-01 -8.00765080e-04 -1.25831439e+01] [-1.30096656e-02 1.09523415e-03 9.99914771e-01 -2.89006202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720371743 meters Centerline goodness [0,1] 0.9770833333333333 Centerline is valid? [True, True] Translation: X:216.58, Y:-12.58, Z:-2.89 [[ 9.99666974e-01 -2.22999977e-02 1.29865944e-02 2.16583191e+02] [ 2.23122420e-02 9.99750732e-01 -7.98702958e-04 -1.25797737e+01] [-1.29655462e-02 1.08819701e-03 9.99915352e-01 -2.89030517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.750371743 meters Centerline goodness [0,1] 0.9800320499304179 Centerline is valid? [True, True] Translation: X:216.62, Y:-12.57, Z:-2.89 [[ 9.99673933e-01 -2.22354906e-02 1.25543101e-02 2.16616766e+02] [ 2.22469380e-02 9.99752207e-01 -7.72899455e-04 -1.25721837e+01] [-1.25340135e-02 1.05194240e-03 9.99920893e-01 -2.89078442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780371743 meters Centerline goodness [0,1] 0.9801754681963895 Centerline is valid? [True, True] Translation: X:216.65, Y:-12.57, Z:-2.89 [[ 9.99665691e-01 -2.30143237e-02 1.17833100e-02 2.16647950e+02] [ 2.30244774e-02 9.99734637e-01 -7.26749332e-04 -1.25696163e+01] [-1.17634575e-02 9.97810929e-04 9.99930310e-01 -2.89161523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.810371743 meters Centerline goodness [0,1] 0.9807115392740947 Centerline is valid? [True, True] Translation: X:216.68, Y:-12.57, Z:-2.89 [[ 9.99661578e-01 -2.32583608e-02 1.16523867e-02 2.16680322e+02] [ 2.32683133e-02 9.99728997e-01 -7.19250421e-04 -1.25658871e+01] [-1.16325003e-02 9.90138395e-04 9.99931850e-01 -2.89203240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840371743 meters Centerline goodness [0,1] 0.9802752584511956 Centerline is valid? [True, True] Translation: X:216.71, Y:-12.56, Z:-2.89 [[ 9.99662438e-01 -2.32667295e-02 1.15615864e-02 2.16712763e+02] [ 2.32765376e-02 9.99728809e-01 -7.14478889e-04 -1.25648685e+01] [-1.15418274e-02 9.83351408e-04 9.99932907e-01 -2.89237267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.870371743 meters Centerline goodness [0,1] 0.9819617163957387 Centerline is valid? [True, True] Translation: X:216.74, Y:-12.56, Z:-2.89 [[ 9.99678933e-01 -2.24334896e-02 1.17800332e-02 2.16744752e+02] [ 2.24436247e-02 9.99747844e-01 -7.28852810e-04 -1.25609331e+01] [-1.17607121e-02 9.93005443e-04 9.99930347e-01 -2.89267914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900371743 meters Centerline goodness [0,1] 0.982539615106844 Centerline is valid? [True, True] Translation: X:216.78, Y:-12.56, Z:-2.89 [[ 9.99706651e-01 -2.13324653e-02 1.14690180e-02 2.16775159e+02] [ 2.13420111e-02 9.99771981e-01 -7.10545792e-04 -1.25594003e+01] [-1.14512452e-02 9.55109263e-04 9.99933976e-01 -2.89351538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93037174299997 meters Centerline goodness [0,1] 0.9830027724461505 Centerline is valid? [True, True] Translation: X:216.81, Y:-12.55, Z:-2.89 [[ 9.99788028e-01 -1.77763065e-02 1.03876361e-02 2.16805963e+02] [ 1.77839485e-02 9.99841646e-01 -6.43771543e-04 -1.25509382e+01] [-1.03745473e-02 8.28368266e-04 9.99945840e-01 -2.89463583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96037174299997 meters Centerline goodness [0,1] 0.9835586642214356 Centerline is valid? [True, True] Translation: X:216.84, Y:-12.55, Z:-2.89 [[ 9.99823911e-01 -1.57169256e-02 1.02530602e-02 2.16836143e+02] [ 1.57242635e-02 9.99876164e-01 -6.35447934e-04 -1.25481803e+01] [-1.02418032e-02 7.96557858e-04 9.99947234e-01 -2.89466880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99037174299997 meters Centerline goodness [0,1] 0.9830088797814207 Centerline is valid? [True, True] Translation: X:216.87, Y:-12.55, Z:-2.89 [[ 9.99851051e-01 -1.34200603e-02 1.08525433e-02 2.16866233e+02] [ 1.34281468e-02 9.99909612e-01 -6.72601747e-04 -1.25453465e+01] [-1.08425360e-02 8.18231108e-04 9.99940883e-01 -2.89470376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02037174299997 meters Centerline goodness [0,1] 0.9856728600579959 Centerline is valid? [True, True] Translation: X:216.90, Y:-12.53, Z:-2.89 [[ 9.99889198e-01 -9.01202971e-03 1.18479923e-02 2.16898185e+02] [ 9.02135961e-03 9.99959037e-01 -7.34257142e-04 -1.25303242e+01] [-1.18408898e-02 8.41060784e-04 9.99929540e-01 -2.89273738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05037174299997 meters Centerline goodness [0,1] 0.983454537630707 Centerline is valid? [True, True] Translation: X:216.93, Y:-12.53, Z:-2.89 [[ 9.99901497e-01 -6.78454606e-03 1.22867987e-02 2.16928490e+02] [ 6.79441345e-03 9.99976628e-01 -7.61523940e-04 -1.25322927e+01] [-1.22813450e-02 8.44930518e-04 9.99924224e-01 -2.89286878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08037174299997 meters Centerline goodness [0,1] 0.9856053096582339 Centerline is valid? [True, True] Translation: X:216.96, Y:-12.52, Z:-2.89 [[ 9.99926599e-01 -2.28988295e-03 1.18976026e-02 2.16960190e+02] [ 2.29883550e-03 9.99997085e-01 -7.38845936e-04 -1.25200171e+01] [-1.18958760e-02 7.66142335e-04 9.99928948e-01 -2.89346389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11037174299997 meters Centerline goodness [0,1] 0.9840572813013758 Centerline is valid? [True, True] Translation: X:216.99, Y:-12.52, Z:-2.89 [[ 9.99938804e-01 -5.72227668e-04 1.10481190e-02 2.16990233e+02] [ 5.79842427e-04 9.99999597e-01 -6.86044945e-04 -1.25216757e+01] [-1.10477220e-02 6.92409130e-04 9.99938732e-01 -2.89456640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14037174299997 meters Centerline goodness [0,1] 0.9857790110342735 Centerline is valid? [True, True] Translation: X:217.02, Y:-12.52, Z:-2.90 [[ 9.99939876e-01 1.64194785e-03 1.08420123e-02 2.17022484e+02] [-1.63474340e-03 9.99998437e-01 -6.73322785e-04 -1.25152045e+01] [-1.08431009e-02 6.55558394e-04 9.99940997e-01 -2.89507758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17037174299998 meters Centerline goodness [0,1] 0.9877117164309411 Centerline is valid? [True, True] Translation: X:217.05, Y:-12.50, Z:-2.90 [[ 9.99927843e-01 5.97620285e-03 1.04208546e-02 2.17054374e+02] [-5.96977482e-03 9.99981971e-01 -6.47840264e-04 -1.25044106e+01] [-1.04245384e-02 5.85583362e-04 9.99945492e-01 -2.89525831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20037174299998 meters Centerline goodness [0,1] 0.9869263898909075 Centerline is valid? [True, True] Translation: X:217.08, Y:-12.51, Z:-2.90 [[ 9.99917189e-01 7.76906638e-03 1.02594761e-02 2.17084826e+02] [-7.76292949e-03 9.99969665e-01 -6.37855753e-04 -1.25067762e+01] [-1.02641205e-02 5.58159341e-04 9.99947167e-01 -2.89600387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23037174299998 meters Centerline goodness [0,1] 0.987036023212526 Centerline is valid? [True, True] Translation: X:217.12, Y:-12.50, Z:-2.90 [[ 9.99881614e-01 1.16718722e-02 1.00262072e-02 2.17116156e+02] [-1.16662051e-02 9.99931753e-01 -6.23529113e-04 -1.24984835e+01] [-1.00328007e-02 5.06487507e-04 9.99949542e-01 -2.89678737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26037174299998 meters Centerline goodness [0,1] 0.9880335499736519 Centerline is valid? [True, True] Translation: X:217.15, Y:-12.49, Z:-2.90 [[ 9.99864740e-01 1.33618330e-02 9.58972960e-03 2.17147660e+02] [-1.33567247e-02 9.99910617e-01 -5.96535735e-04 -1.24927311e+01] [-9.59684326e-03 4.68367670e-04 9.99953840e-01 -2.89681626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29037174299998 meters Centerline goodness [0,1] 0.9883007624222242 Centerline is valid? [True, True] Translation: X:217.18, Y:-12.49, Z:-2.90 [[ 9.99834023e-01 1.53219600e-02 9.85716609e-03 2.17177223e+02] [-1.53166545e-02 9.99882505e-01 -6.13504419e-04 -1.24926456e+01] [-9.86540802e-03 4.62423783e-04 9.99951229e-01 -2.89740163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32037174299998 meters Centerline goodness [0,1] 0.989507489936429 Centerline is valid? [True, True] Translation: X:217.21, Y:-12.49, Z:-2.90 [[ 9.99792575e-01 1.80814554e-02 9.37382416e-03 2.17207352e+02] [-1.80767793e-02 9.99836432e-01 -5.83348544e-04 -1.24862187e+01] [-9.38283869e-03 4.13778993e-04 9.99955895e-01 -2.89826051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35037174299998 meters Centerline goodness [0,1] 0.9899629400864731 Centerline is valid? [True, True] Translation: X:217.24, Y:-12.48, Z:-2.90 [[ 9.99755849e-01 2.02591900e-02 8.82083898e-03 2.17237291e+02] [-2.02551364e-02 9.99794693e-01 -5.48653215e-04 -1.24821518e+01] [-8.83014327e-03 3.69851964e-04 9.99960945e-01 -2.89881169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38037174299998 meters Centerline goodness [0,1] 0.9901038215153524 Centerline is valid? [True, True] Translation: X:217.27, Y:-12.48, Z:-2.90 [[ 9.99730559e-01 2.13307227e-02 9.15476406e-03 2.17266296e+02] [-2.13264027e-02 9.99772404e-01 -5.69257569e-04 -1.24801454e+01] [-9.16482315e-03 3.73866003e-04 9.99957932e-01 -2.89922434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41037174299998 meters Centerline goodness [0,1] 0.9899964667432206 Centerline is valid? [True, True] Translation: X:217.30, Y:-12.48, Z:-2.90 [[ 9.99717698e-01 2.19185394e-02 9.17071597e-03 2.17295503e+02] [-2.19142350e-02 9.99759692e-01 -5.69597590e-04 -1.24788531e+01] [-9.18099692e-03 3.68467566e-04 9.99957786e-01 -2.89931609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440371743 meters Centerline goodness [0,1] 0.9904643908051063 Centerline is valid? [True, True] Translation: X:217.32, Y:-12.48, Z:-2.90 [[ 9.99699547e-01 2.24331619e-02 9.87774728e-03 2.17324184e+02] [-2.24282011e-02 9.99748268e-01 -6.12728013e-04 -1.24783751e+01] [-9.88900616e-03 3.91003815e-04 9.99951026e-01 -2.89931439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.470371743 meters Centerline goodness [0,1] 0.990436341900777 Centerline is valid? [True, True] Translation: X:217.35, Y:-12.48, Z:-2.90 [[ 9.99678139e-01 2.30357433e-02 1.06289169e-02 2.17352446e+02] [-2.30300415e-02 9.99734557e-01 -6.58540558e-04 -1.24775655e+01] [-1.06412655e-02 4.13544202e-04 9.99943295e-01 -2.89857774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500371743 meters Centerline goodness [0,1] 0.9896786196814991 Centerline is valid? [True, True] Translation: X:217.38, Y:-12.48, Z:-2.90 [[ 9.99664524e-01 2.33283960e-02 1.12528382e-02 2.17381210e+02] [-2.33220363e-02 9.99727762e-01 -6.96070111e-04 -1.24761746e+01] [-1.12660129e-02 4.33397495e-04 9.99936443e-01 -2.89863907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.530371743 meters Centerline goodness [0,1] 0.9903196508871808 Centerline is valid? [True, True] Translation: X:217.41, Y:-12.48, Z:-2.90 [[ 9.99663729e-01 2.34947536e-02 1.09738769e-02 2.17408816e+02] [-2.34887231e-02 9.99723872e-01 -6.78107486e-04 -1.24778834e+01] [-1.09867787e-02 4.20117101e-04 9.99939555e-01 -2.89954273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560371743 meters Centerline goodness [0,1] 0.990532780524577 Centerline is valid? [True, True] Translation: X:217.44, Y:-12.48, Z:-2.90 [[ 9.99666059e-01 2.37019015e-02 1.02951347e-02 2.17437721e+02] [-2.36966143e-02 9.99718994e-01 -6.35265590e-04 -1.24782881e+01] [-1.03072987e-02 3.91093612e-04 9.99946802e-01 -2.90055771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.590371743 meters Centerline goodness [0,1] 0.9909347434843468 Centerline is valid? [True, True] Translation: X:217.47, Y:-12.48, Z:-2.90 [[ 9.99645810e-01 2.49666996e-02 9.21508899e-03 2.17467146e+02] [-2.49625230e-02 9.99688226e-01 -5.67987038e-04 -1.24772646e+01] [-9.22639673e-03 3.37753991e-04 9.99957379e-01 -2.90179904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620371743 meters Centerline goodness [0,1] 0.9911626254551914 Centerline is valid? [True, True] Translation: X:217.50, Y:-12.48, Z:-2.90 [[ 9.99621742e-01 2.58282324e-02 9.44859494e-03 2.17495304e+02] [-2.58238842e-02 9.99666339e-01 -5.81928366e-04 -1.24797347e+01] [-9.46047249e-03 3.37708825e-04 9.99955192e-01 -2.90252561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.650371743 meters Centerline goodness [0,1] 0.9913348738002133 Centerline is valid? [True, True] Translation: X:217.52, Y:-12.48, Z:-2.90 [[ 9.99560065e-01 2.81785963e-02 9.25436306e-03 2.17524173e+02] [-2.81745316e-02 9.99602857e-01 -5.69319738e-04 -1.24792121e+01] [-9.26673038e-03 3.08331930e-04 9.99957015e-01 -2.90291382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68037174299997 meters Centerline goodness [0,1] 0.9915546171796866 Centerline is valid? [True, True] Translation: X:217.55, Y:-12.48, Z:-2.90 [[ 9.99517122e-01 2.96101359e-02 9.42140812e-03 2.17551553e+02] [-2.96059924e-02 9.99561479e-01 -5.78989530e-04 -1.24809415e+01] [-9.43442060e-03 2.99779812e-04 9.99955450e-01 -2.90364502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71037174299997 meters Centerline goodness [0,1] 0.9915994399626642 Centerline is valid? [True, True] Translation: X:217.58, Y:-12.48, Z:-2.90 [[ 9.99483266e-01 3.07388959e-02 9.39788719e-03 2.17580514e+02] [-3.07348314e-02 9.99527407e-01 -5.76639253e-04 -1.24824094e+01] [-9.41117107e-03 2.87498805e-04 9.99955673e-01 -2.90432314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74037174299997 meters Centerline goodness [0,1] 0.9913768196466274 Centerline is valid? [True, True] Translation: X:217.61, Y:-12.48, Z:-2.91 [[ 9.99429144e-01 3.25659173e-02 8.99154647e-03 2.17608055e+02] [-3.25622752e-02 9.99469557e-01 -5.51204448e-04 -1.24845965e+01] [-9.00472744e-03 2.58104579e-04 9.99959423e-01 -2.90545049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77037174299997 meters Centerline goodness [0,1] 0.9915496706367689 Centerline is valid? [True, True] Translation: X:217.64, Y:-12.49, Z:-2.91 [[ 9.99381457e-01 3.41161420e-02 8.53185458e-03 2.17635479e+02] [-3.41129250e-02 9.99417848e-01 -5.22340082e-04 -1.24871711e+01] [-8.54470798e-03 2.30970477e-04 9.99963467e-01 -2.90666745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80037174299997 meters Centerline goodness [0,1] 0.9916696285765061 Centerline is valid? [True, True] Translation: X:217.66, Y:-12.49, Z:-2.91 [[ 9.99368231e-01 3.45556805e-02 8.30924132e-03 2.17664124e+02] [-3.45526509e-02 9.99402750e-01 -5.07927499e-04 -1.24896204e+01] [-8.32183040e-03 2.20500291e-04 9.99965349e-01 -2.90746189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83037174299997 meters Centerline goodness [0,1] 0.9911020606919144 Centerline is valid? [True, True] Translation: X:217.69, Y:-12.49, Z:-2.91 [[ 9.99355939e-01 3.48507597e-02 8.55172046e-03 2.17692400e+02] [-3.48475667e-02 9.99392503e-01 -5.22136480e-04 -1.24926103e+01] [-8.56472217e-03 2.23793543e-04 9.99963297e-01 -2.90778142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86037174299997 meters Centerline goodness [0,1] 0.9919068736141907 Centerline is valid? [True, True] Translation: X:217.72, Y:-12.49, Z:-2.91 [[ 9.99345262e-01 3.49841254e-02 9.22811685e-03 2.17721493e+02] [-3.49804194e-02 9.99387839e-01 -5.62746719e-04 -1.24940373e+01] [-9.24215496e-03 2.39574870e-04 9.99957262e-01 -2.90767235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89037174299997 meters Centerline goodness [0,1] 0.9909941805146815 Centerline is valid? [True, True] Translation: X:217.75, Y:-12.50, Z:-2.91 [[ 9.99361990e-01 3.41084190e-02 1.05938039e-02 2.17749660e+02] [-3.41034951e-02 9.99418098e-01 -6.45143791e-04 -1.24987905e+01] [-1.06096442e-02 2.83446442e-04 9.99943676e-01 -2.90743923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92037174299998 meters Centerline goodness [0,1] 0.989663339162 Centerline is valid? [True, True] Translation: X:217.78, Y:-12.51, Z:-2.91 [[ 9.99406651e-01 3.21483610e-02 1.23623931e-02 2.17776561e+02] [-3.21415185e-02 9.99483045e-01 -7.51827514e-04 -1.25097913e+01] [-1.23801723e-02 3.54035333e-04 9.99923300e-01 -2.90837595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95037174299998 meters Centerline goodness [0,1] 0.9893560639519478 Centerline is valid? [True, True] Translation: X:217.81, Y:-12.51, Z:-2.91 [[ 9.99457353e-01 3.05985569e-02 1.21953666e-02 2.17805033e+02] [-3.05917962e-02 9.99531687e-01 -7.40564509e-04 -1.25149649e+01] [-1.22123155e-02 3.67084475e-04 9.99925360e-01 -2.90948309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98037174299998 meters Centerline goodness [0,1] 0.9900364520048602 Centerline is valid? [True, True] Translation: X:217.83, Y:-12.52, Z:-2.91 [[ 9.99520432e-01 2.85054772e-02 1.20972637e-02 2.17833850e+02] [-2.84986812e-02 9.99593561e-01 -7.33829525e-04 -1.25164582e+01] [-1.21132650e-02 3.88721543e-04 9.99926556e-01 -2.91052472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01037174299998 meters Centerline goodness [0,1] 0.9898436810032677 Centerline is valid? [True, True] Translation: X:217.86, Y:-12.53, Z:-2.91 [[ 9.99686284e-01 2.25222914e-02 1.09580634e-02 2.17862057e+02] [-2.25163654e-02 9.99746254e-01 -6.63875745e-04 -1.25272465e+01] [-1.09702348e-02 4.16931716e-04 9.99939738e-01 -2.91232146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04037174299998 meters Centerline goodness [0,1] 0.9885705476887842 Centerline is valid? [True, True] Translation: X:217.89, Y:-12.53, Z:-2.91 [[ 9.99760007e-01 1.90500144e-02 1.08178636e-02 2.17891455e+02] [-1.90440368e-02 9.99818431e-01 -6.55318432e-04 -1.25341521e+01] [-1.08283833e-02 4.49145367e-04 9.99941270e-01 -2.91338142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07037174299998 meters Centerline goodness [0,1] 0.9868241907857174 Centerline is valid? [True, True] Translation: X:217.92, Y:-12.55, Z:-2.92 [[ 9.99894131e-01 1.02195895e-02 1.03578904e-02 2.17921365e+02] [-1.02136415e-02 9.99947643e-01 -6.26989088e-04 -1.25463862e+01] [-1.03637557e-02 5.21130930e-04 9.99946159e-01 -2.91509349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10037174299998 meters Centerline goodness [0,1] 0.9864017195244988 Centerline is valid? [True, True] Translation: X:217.95, Y:-12.55, Z:-2.92 [[ 9.99933625e-01 5.88474589e-03 9.90527491e-03 2.17950314e+02] [-5.87909512e-03 9.99982538e-01 -5.99502773e-04 -1.25537810e+01] [-9.90862987e-03 5.41228928e-04 9.99950762e-01 -2.91553206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13037174299998 meters Centerline goodness [0,1] 0.9855072463768116 Centerline is valid? [True, True] Translation: X:217.98, Y:-12.56, Z:-2.92 [[ 9.99949800e-01 1.74838817e-03 9.86609020e-03 2.17979603e+02] [-1.74257852e-03 9.99998303e-01 -5.97416029e-04 -1.25611203e+01] [-9.86711798e-03 5.80193602e-04 9.99951150e-01 -2.91614566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16037174299998 meters Centerline goodness [0,1] 0.9855521606285464 Centerline is valid? [True, True] Translation: X:218.01, Y:-12.56, Z:-2.92 [[ 9.99942944e-01 -4.56486540e-03 9.65770850e-03 2.18010251e+02] [ 4.57072693e-03 9.99989383e-01 -5.84942763e-04 -1.25647090e+01] [-9.65493578e-03 6.29052137e-04 9.99953192e-01 -2.91658200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.190371743 meters Centerline goodness [0,1] 0.9851352236264815 Centerline is valid? [True, True] Translation: X:218.04, Y:-12.57, Z:-2.92 [[ 9.99931293e-01 -6.56507940e-03 9.71131435e-03 2.18041113e+02] [ 6.57110312e-03 9.99978237e-01 -5.88500284e-04 -1.25686192e+01] [-9.70723945e-03 6.52273897e-04 9.99952671e-01 -2.91707730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220371743 meters Centerline goodness [0,1] 0.9835915339297403 Centerline is valid? [True, True] Translation: X:218.07, Y:-12.57, Z:-2.92 [[ 9.99912871e-01 -8.54784178e-03 1.00590887e-02 2.18072283e+02] [ 8.55441032e-03 9.99963224e-01 -6.10149974e-04 -1.25742829e+01] [-1.00535033e-02 6.96146385e-04 9.99949220e-01 -2.91729586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.250371743 meters Centerline goodness [0,1] 0.9826658827116134 Centerline is valid? [True, True] Translation: X:218.10, Y:-12.59, Z:-2.92 [[ 9.99904573e-01 -8.99367766e-03 1.04861490e-02 2.18102421e+02] [ 9.00084361e-03 9.99959289e-01 -6.36378968e-04 -1.25854147e+01] [-1.04799988e-02 7.30702428e-04 9.99944816e-01 -2.91794865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280371743 meters Centerline goodness [0,1] 0.9847617389032806 Centerline is valid? [True, True] Translation: X:218.14, Y:-12.58, Z:-2.92 [[ 9.99898062e-01 -8.46571165e-03 1.14976789e-02 2.18135317e+02] [ 8.47429934e-03 9.99963849e-01 -6.98392018e-04 -1.25793446e+01] [-1.14913508e-02 7.95755598e-04 9.99933656e-01 -2.91705523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.310371743 meters Centerline goodness [0,1] 0.9849003905823823 Centerline is valid? [True, True] Translation: X:218.17, Y:-12.58, Z:-2.92 [[ 9.99903475e-01 -8.02405687e-03 1.13426659e-02 2.18167792e+02] [ 8.03239510e-03 9.99967502e-01 -6.89755050e-04 -1.25802738e+01] [-1.13367626e-02 7.80797245e-04 9.99935432e-01 -2.91776168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340371743 meters Centerline goodness [0,1] 0.9856168575675439 Centerline is valid? [True, True] Translation: X:218.20, Y:-12.58, Z:-2.92 [[ 9.99910037e-01 -7.26144824e-03 1.12778265e-02 2.18199739e+02] [ 7.26965195e-03 9.99973340e-01 -6.86594998e-04 -1.25796934e+01] [-1.12725401e-02 7.68519103e-04 9.99936168e-01 -2.91801050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.370371743 meters Centerline goodness [0,1] 0.9859231776516805 Centerline is valid? [True, True] Translation: X:218.23, Y:-12.58, Z:-2.92 [[ 9.99931798e-01 -5.44506795e-03 1.03319964e-02 2.18231618e+02] [ 5.45186414e-03 9.99984940e-01 -6.29729522e-04 -1.25804828e+01] [-1.03284118e-02 6.86015214e-04 9.99946425e-01 -2.91939687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400371743 meters Centerline goodness [0,1] 0.9860536398467433 Centerline is valid? [True, True] Translation: X:218.26, Y:-12.58, Z:-2.92 [[ 9.99943804e-01 -4.24237533e-03 9.71551326e-03 2.18263977e+02] [ 4.24833198e-03 9.99990800e-01 -5.92551061e-04 -1.25810227e+01] [-9.71291006e-03 6.33792488e-04 9.99952628e-01 -2.92014472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43037174299997 meters Centerline goodness [0,1] 0.9860536398467433 Centerline is valid? [True, True] Translation: X:218.30, Y:-12.58, Z:-2.92 [[ 9.99944250e-01 -4.13607887e-03 9.71548078e-03 2.18296515e+02] [ 4.14203567e-03 9.99991246e-01 -5.93083179e-04 -1.25831041e+01] [-9.71294269e-03 6.33291982e-04 9.99952628e-01 -2.92060311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46037174299997 meters Centerline goodness [0,1] 0.9870837802929135 Centerline is valid? [True, True] Translation: X:218.33, Y:-12.58, Z:-2.92 [[ 9.99956502e-01 -6.42190532e-04 9.30488848e-03 2.18327577e+02] [ 6.47516381e-04 9.99999628e-01 -5.69369780e-04 -1.25804793e+01] [-9.30451937e-03 5.75370082e-04 9.99956546e-01 -2.92106625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49037174299997 meters Centerline goodness [0,1] 0.9880659880659881 Centerline is valid? [True, True] Translation: X:218.36, Y:-12.58, Z:-2.92 [[ 9.99955205e-01 1.85793974e-03 9.28097716e-03 2.18358963e+02] [-1.85274781e-03 9.99998122e-01 -5.67982971e-04 -1.25783574e+01] [-9.28201501e-03 5.50762218e-04 9.99956769e-01 -2.92131789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52037174299997 meters Centerline goodness [0,1] 0.9885463521667581 Centerline is valid? [True, True] Translation: X:218.39, Y:-12.58, Z:-2.92 [[ 9.99946031e-01 4.51961915e-03 9.35455531e-03 2.18390564e+02] [-4.51445749e-03 9.99989646e-01 -5.72822610e-04 -1.25755892e+01] [-9.35704739e-03 5.30560953e-04 9.99956081e-01 -2.92144189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55037174299997 meters Centerline goodness [0,1] 0.9876220783496105 Centerline is valid? [True, True] Translation: X:218.42, Y:-12.57, Z:-2.92 [[ 9.99895872e-01 1.07171535e-02 9.66378638e-03 2.18420405e+02] [-1.07119276e-02 9.99942450e-01 -5.92368996e-04 -1.25737459e+01] [-9.66957874e-03 4.88789533e-04 9.99953129e-01 -2.92168851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58037174299997 meters Centerline goodness [0,1] 0.9886418559690672 Centerline is valid? [True, True] Translation: X:218.45, Y:-12.57, Z:-2.92 [[ 9.99803642e-01 1.68095628e-02 1.04936139e-02 2.18451803e+02] [-1.68037386e-02 9.99858600e-01 -6.42944998e-04 -1.25676873e+01] [-1.05029378e-02 4.66486804e-04 9.99944734e-01 -2.92184161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61037174299997 meters Centerline goodness [0,1] 0.9894593226679577 Centerline is valid? [True, True] Translation: X:218.48, Y:-12.57, Z:-2.92 [[ 9.99751370e-01 1.94409122e-02 1.09200801e-02 2.18480371e+02] [-1.94347609e-02 9.99810903e-01 -6.69143198e-04 -1.25680166e+01] [-1.09310239e-02 4.56747684e-04 9.99940150e-01 -2.92209798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64037174299997 meters Centerline goodness [0,1] 0.9891225366068479 Centerline is valid? [True, True] Translation: X:218.51, Y:-12.57, Z:-2.92 [[ 9.99708512e-01 2.12932795e-02 1.13792343e-02 2.18510387e+02] [-2.12867212e-02 9.99773169e-01 -6.97162591e-04 -1.25671572e+01] [-1.13914980e-02 4.54732789e-04 9.99935011e-01 -2.92234025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67037174299998 meters Centerline goodness [0,1] 0.9896677337454465 Centerline is valid? [True, True] Translation: X:218.54, Y:-12.57, Z:-2.92 [[ 9.99672282e-01 2.28054864e-02 1.16291799e-02 2.18539922e+02] [-2.27987439e-02 9.99739821e-01 -7.12049737e-04 -1.25673588e+01] [-1.16423929e-02 4.46685691e-04 9.99932125e-01 -2.92275763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70037174299998 meters Centerline goodness [0,1] 0.9900660792951542 Centerline is valid? [True, True] Translation: X:218.57, Y:-12.57, Z:-2.92 [[ 9.99639433e-01 2.42860776e-02 1.14538660e-02 2.18568650e+02] [-2.42796380e-02 9.99704960e-01 -7.00959664e-04 -1.25694611e+01] [-1.14675102e-02 4.22611200e-04 9.99934157e-01 -2.92383946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73037174299998 meters Centerline goodness [0,1] 0.9897790602903276 Centerline is valid? [True, True] Translation: X:218.60, Y:-12.57, Z:-2.93 [[ 9.99657278e-01 2.41826957e-02 1.00261255e-02 2.18596206e+02] [-2.41777594e-02 9.99707487e-01 -6.13275869e-04 -1.25707650e+01] [-1.00380234e-02 3.70656436e-04 9.99949549e-01 -2.92564018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76037174299998 meters Centerline goodness [0,1] 0.9900754267566495 Centerline is valid? [True, True] Translation: X:218.62, Y:-12.57, Z:-2.93 [[ 9.99669135e-01 2.39968223e-02 9.26133674e-03 2.18624646e+02] [-2.39926096e-02 9.99711976e-01 -5.65723540e-04 -1.25699398e+01] [-9.27224482e-03 3.43332726e-04 9.99956953e-01 -2.92609348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79037174299998 meters Centerline goodness [0,1] 0.9897389500628903 Centerline is valid? [True, True] Translation: X:218.65, Y:-12.57, Z:-2.93 [[ 9.99675683e-01 2.39891760e-02 8.54688013e-03 2.18652526e+02] [-2.39855917e-02 9.99712168e-01 -5.21648483e-04 -1.25741161e+01] [-8.55693399e-03 3.16477326e-04 9.99963339e-01 -2.92718989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82037174299998 meters Centerline goodness [0,1] 0.9905903611802817 Centerline is valid? [True, True] Translation: X:218.68, Y:-12.57, Z:-2.93 [[ 9.99664106e-01 2.46608737e-02 7.96971074e-03 2.18681169e+02] [-2.46577840e-02 9.99695833e-01 -4.85711694e-04 -1.25707587e+01] [-7.97926469e-03 2.89033141e-04 9.99968123e-01 -2.92711397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85037174299998 meters Centerline goodness [0,1] 0.9894504524387553 Centerline is valid? [True, True] Translation: X:218.71, Y:-12.58, Z:-2.93 [[ 9.99650507e-01 2.52432415e-02 7.85129690e-03 2.18708361e+02] [-2.52402644e-02 9.99681299e-01 -4.78052971e-04 -1.25772755e+01] [-7.86086230e-03 2.79717085e-04 9.99969064e-01 -2.92839505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88037174299998 meters Centerline goodness [0,1] 0.9899141488821699 Centerline is valid? [True, True] Translation: X:218.74, Y:-12.58, Z:-2.93 [[ 9.99603761e-01 2.68465629e-02 8.46064194e-03 2.18736525e+02] [-2.68431714e-02 9.99639525e-01 -5.14175933e-04 -1.25786947e+01] [-8.47139594e-03 2.86861735e-04 9.99964076e-01 -2.92826850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91037174299998 meters Centerline goodness [0,1] 0.9897986163134006 Centerline is valid? [True, True] Translation: X:218.77, Y:-12.58, Z:-2.93 [[ 9.99567874e-01 2.78750050e-02 9.32998278e-03 2.18766106e+02] [-2.78709305e-02 9.99611370e-01 -5.66471351e-04 -1.25754974e+01] [-9.34214725e-03 3.06191263e-04 9.99956314e-01 -2.92787543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940371743 meters Centerline goodness [0,1] 0.989750386569472 Centerline is valid? [True, True] Translation: X:218.79, Y:-12.58, Z:-2.93 [[ 9.99528789e-01 2.90818931e-02 9.82060040e-03 2.18793349e+02] [-2.90774483e-02 9.99576984e-01 -5.95109343e-04 -1.25808475e+01] [-9.83375304e-03 3.09270920e-04 9.99951600e-01 -2.92837861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.970371743 meters Centerline goodness [0,1] 0.9912856921681817 Centerline is valid? [True, True] Translation: X:218.82, Y:-12.58, Z:-2.93 [[ 9.99423393e-01 3.21647408e-02 1.08770783e-02 2.18822850e+02] [-3.21594818e-02 9.99482533e-01 -6.58105576e-04 -1.25770319e+01] [-1.08926175e-02 3.07924907e-04 9.99940626e-01 -2.92798836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000371743 meters Centerline goodness [0,1] 0.9911985846970367 Centerline is valid? [True, True] Translation: X:218.85, Y:-12.58, Z:-2.93 [[ 9.99363519e-01 3.38925993e-02 1.11286960e-02 2.18851879e+02] [-3.38872152e-02 9.99425437e-01 -6.72061644e-04 -1.25771753e+01] [-1.11450797e-02 2.94513375e-04 9.99937848e-01 -2.92809297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.030371743 meters Centerline goodness [0,1] 0.9914620424912304 Centerline is valid? [True, True] Translation: X:218.88, Y:-12.58, Z:-2.93 [[ 9.99221647e-01 3.75864331e-02 1.19733150e-02 2.18879536e+02] [-3.75804765e-02 9.99293343e-01 -7.22170820e-04 -1.25793026e+01] [-1.19919978e-02 2.71645835e-04 9.99928057e-01 -2.92806142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060371743 meters Centerline goodness [0,1] 0.9918774555246546 Centerline is valid? [True, True] Translation: X:218.91, Y:-12.58, Z:-2.93 [[ 9.99153901e-01 3.92556094e-02 1.22670329e-02 2.18908311e+02] [-3.92494968e-02 9.99229169e-01 -7.38736369e-04 -1.25789856e+01] [-1.22865767e-02 2.56636454e-04 9.99924484e-01 -2.92817575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.090371743 meters Centerline goodness [0,1] 0.9918833675202364 Centerline is valid? [True, True] Translation: X:218.94, Y:-12.58, Z:-2.93 [[ 9.99076870e-01 4.10251660e-02 1.27413879e-02 2.18936103e+02] [-4.10187271e-02 9.99158084e-01 -7.66386769e-04 -1.25838013e+01] [-1.27621019e-02 2.43043780e-04 9.99918532e-01 -2.92922624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120371743 meters Centerline goodness [0,1] 0.9920222143864598 Centerline is valid? [True, True] Translation: X:218.96, Y:-12.59, Z:-2.93 [[ 9.99090685e-01 4.08289329e-02 1.22800923e-02 2.18964203e+02] [-4.08229521e-02 9.99166124e-01 -7.37404945e-04 -1.25861972e+01] [-1.22999596e-02 2.35424793e-04 9.99924325e-01 -2.93012295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.150371743 meters Centerline goodness [0,1] 0.9916347466208779 Centerline is valid? [True, True] Translation: X:218.99, Y:-12.59, Z:-2.93 [[ 9.99101395e-01 4.05843001e-02 1.22195738e-02 2.18991815e+02] [-4.05783759e-02 9.99176090e-01 -7.32464168e-04 -1.25905789e+01] [-1.22392325e-02 2.35955513e-04 9.99925070e-01 -2.93136484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18037174299997 meters Centerline goodness [0,1] 0.9915890723822909 Centerline is valid? [True, True] Translation: X:219.02, Y:-12.60, Z:-2.93 [[ 9.99146281e-01 3.94000461e-02 1.24235532e-02 2.19020468e+02] [-3.93938449e-02 9.99223485e-01 -7.43565914e-04 -1.25953807e+01] [-1.24432027e-02 2.53519589e-04 9.99922548e-01 -2.93258789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21037174299997 meters Centerline goodness [0,1] 0.9914134887082996 Centerline is valid? [True, True] Translation: X:219.05, Y:-12.60, Z:-2.93 [[ 9.99236369e-01 3.70246152e-02 1.24842339e-02 2.19047226e+02] [-3.70181784e-02 9.99314314e-01 -7.46358837e-04 -1.26039871e+01] [-1.25033073e-02 2.83645295e-04 9.99921790e-01 -2.93473288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24037174299997 meters Centerline goodness [0,1] 0.9902668416447944 Centerline is valid? [True, True] Translation: X:219.07, Y:-12.61, Z:-2.94 [[ 9.99324679e-01 3.48692634e-02 1.15896924e-02 2.19074455e+02] [-3.48635816e-02 9.99391841e-01 -6.91982425e-04 -1.26122077e+01] [-1.16067729e-02 2.87456929e-04 9.99932598e-01 -2.93648876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27037174299997 meters Centerline goodness [0,1] 0.9895546523316289 Centerline is valid? [True, True] Translation: X:219.10, Y:-12.62, Z:-2.94 [[ 9.99356242e-01 3.39858015e-02 1.14920003e-02 2.19103398e+02] [-3.39801683e-02 9.99422272e-01 -6.85144054e-04 -1.26171991e+01] [-1.15086462e-02 2.94202882e-04 9.99933730e-01 -2.93739891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30037174299997 meters Centerline goodness [0,1] 0.9898731967087889 Centerline is valid? [True, True] Translation: X:219.13, Y:-12.62, Z:-2.94 [[ 9.99381115e-01 3.32959601e-02 1.13475420e-02 2.19131493e+02] [-3.32904312e-02 9.99445491e-01 -6.75826301e-04 -1.26215160e+01] [-1.13637520e-02 2.97643475e-04 9.99935386e-01 -2.93813010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33037174299997 meters Centerline goodness [0,1] 0.9893154023588806 Centerline is valid? [True, True] Translation: X:219.16, Y:-12.63, Z:-2.94 [[ 9.99399782e-01 3.24670201e-02 1.20817012e-02 2.19158583e+02] [-3.24607054e-02 9.99472754e-01 -7.18452766e-04 -1.26303041e+01] [-1.20986572e-02 3.25840994e-04 9.99926755e-01 -2.93883233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36037174299997 meters Centerline goodness [0,1] 0.9886301994054723 Centerline is valid? [True, True] Translation: X:219.19, Y:-12.63, Z:-2.94 [[ 9.99408295e-01 3.22863772e-02 1.18595828e-02 2.19187546e+02] [-3.22802918e-02 9.99478607e-01 -7.04232982e-04 -1.26348005e+01] [-1.18761364e-02 3.20985490e-04 9.99929425e-01 -2.93937824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39037174299997 meters Centerline goodness [0,1] 0.9885396130765398 Centerline is valid? [True, True] Translation: X:219.21, Y:-12.64, Z:-2.94 [[ 9.99412834e-01 3.22643654e-02 1.15324604e-02 2.19214602e+02] [-3.22586177e-02 9.99479321e-01 -6.84112695e-04 -1.26424011e+01] [-1.15485281e-02 3.11689777e-04 9.99933265e-01 -2.94054305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42037174299998 meters Centerline goodness [0,1] 0.9896088151884485 Centerline is valid? [True, True] Translation: X:219.24, Y:-12.65, Z:-2.94 [[ 9.99408528e-01 3.24281278e-02 1.14459630e-02 2.19243303e+02] [-3.24224878e-02 9.99474023e-01 -6.78008540e-04 -1.26464785e+01] [-1.14619293e-02 3.06500919e-04 9.99934263e-01 -2.94089080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45037174299998 meters Centerline goodness [0,1] 0.9898700347005194 Centerline is valid? [True, True] Translation: X:219.27, Y:-12.65, Z:-2.94 [[ 9.99354629e-01 3.36633015e-02 1.25342380e-02 2.19272622e+02] [-3.36566466e-02 9.99433179e-01 -7.41556480e-04 -1.26479998e+01] [-1.25520966e-02 3.19217482e-04 9.99921168e-01 -2.93984680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48037174299998 meters Centerline goodness [0,1] 0.9889906280297318 Centerline is valid? [True, True] Translation: X:219.30, Y:-12.65, Z:-2.94 [[ 9.99324551e-01 3.40966815e-02 1.37061287e-02 2.19301593e+02] [-3.40887755e-02 9.99418480e-01 -8.10102742e-04 -1.26507145e+01] [-1.37257802e-02 3.42330414e-04 9.99905738e-01 -2.93989763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51037174299998 meters Centerline goodness [0,1] 0.9887804668357477 Centerline is valid? [True, True] Translation: X:219.33, Y:-12.65, Z:-2.94 [[ 9.99280312e-01 3.49764629e-02 1.46801157e-02 2.19330632e+02] [-3.49675047e-02 9.99388074e-01 -8.66540960e-04 -1.26545451e+01] [-1.47014411e-02 3.52590305e-04 9.99891866e-01 -2.93978254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54037174299998 meters Centerline goodness [0,1] 0.9891229726250751 Centerline is valid? [True, True] Translation: X:219.36, Y:-12.66, Z:-2.94 [[ 9.99209199e-01 3.66357035e-02 1.54532035e-02 2.19357925e+02] [-3.66259935e-02 9.99328628e-01 -9.10984613e-04 -1.26618328e+01] [-1.54762033e-02 3.44275273e-04 9.99880177e-01 -2.94001024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57037174299998 meters Centerline goodness [0,1] 0.9890194732778588 Centerline is valid? [True, True] Translation: X:219.39, Y:-12.67, Z:-2.94 [[ 9.99173532e-01 3.73628879e-02 1.60083461e-02 2.19386230e+02] [-3.73525840e-02 9.99301704e-01 -9.42271959e-04 -1.26658524e+01] [-1.60323736e-02 3.43540108e-04 9.99871414e-01 -2.94058290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60037174299998 meters Centerline goodness [0,1] 0.9891548002818044 Centerline is valid? [True, True] Translation: X:219.41, Y:-12.67, Z:-2.94 [[ 9.99094507e-01 3.93063547e-02 1.62842680e-02 2.19414185e+02] [-3.92959697e-02 9.99227156e-01 -9.57339753e-04 -1.26728796e+01] [-1.63093123e-02 3.16566786e-04 9.99866944e-01 -2.94167139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63037174299998 meters Centerline goodness [0,1] 0.9895302471373435 Centerline is valid? [True, True] Translation: X:219.44, Y:-12.68, Z:-2.94 [[ 9.99063524e-01 4.01881817e-02 1.60307327e-02 2.19443167e+02] [-4.01782489e-02 9.99192085e-01 -9.41320396e-04 -1.26769220e+01] [-1.60556112e-02 2.96352102e-04 9.99871056e-01 -2.94265212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66037174299998 meters Centerline goodness [0,1] 0.9890088823567001 Centerline is valid? [True, True] Translation: X:219.47, Y:-12.69, Z:-2.94 [[ 9.99006496e-01 4.18502162e-02 1.53160262e-02 2.19471517e+02] [-4.18413607e-02 9.99123863e-01 -8.98314137e-04 -1.26850922e+01] [-1.53402019e-02 2.56578282e-04 9.99882299e-01 -2.94423566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.690371743 meters Centerline goodness [0,1] 0.9902803181760177 Centerline is valid? [True, True] Translation: X:219.50, Y:-12.69, Z:-2.94 [[ 9.98981801e-01 4.25203303e-02 1.50792409e-02 2.19499651e+02] [-4.25118386e-02 9.99095573e-01 -8.83377828e-04 -1.26899981e+01] [-1.51031643e-02 2.41432117e-04 9.99885912e-01 -2.94476933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720371743 meters Centerline goodness [0,1] 0.9898167439091798 Centerline is valid? [True, True] Translation: X:219.53, Y:-12.70, Z:-2.95 [[ 9.98961581e-01 4.30144410e-02 1.50172597e-02 2.19528157e+02] [-4.30060907e-02 9.99074424e-01 -8.78687115e-04 -1.26951092e+01] [-1.50411563e-02 2.31941038e-04 9.99886849e-01 -2.94559392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.750371743 meters Centerline goodness [0,1] 0.9903275072119464 Centerline is valid? [True, True] Translation: X:219.56, Y:-12.70, Z:-2.95 [[ 9.98908878e-01 4.42198174e-02 1.50220033e-02 2.19556987e+02] [-4.42116139e-02 9.99021803e-01 -8.77916375e-04 -1.27038112e+01] [-1.50461302e-02 2.12811450e-04 9.99886778e-01 -2.94678478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780371743 meters Centerline goodness [0,1] 0.9895577395577395 Centerline is valid? [True, True] Translation: X:219.58, Y:-12.71, Z:-2.95 [[ 9.98841596e-01 4.58872746e-02 1.44853205e-02 2.19584693e+02] [-4.58798331e-02 9.98946608e-01 -8.45796098e-04 -1.27142479e+01] [-1.45088731e-02 1.80232237e-04 9.99894725e-01 -2.94781750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.810371743 meters Centerline goodness [0,1] 0.989592147571501 Centerline is valid? [True, True] Translation: X:219.61, Y:-12.72, Z:-2.95 [[ 9.98803885e-01 4.67743096e-02 1.42465471e-02 2.19613158e+02] [-4.67672158e-02 9.98905470e-01 -8.30863366e-04 -1.27183531e+01] [-1.42698169e-02 1.63598214e-04 9.99898168e-01 -2.94865022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840371743 meters Centerline goodness [0,1] 0.9898981342256296 Centerline is valid? [True, True] Translation: X:219.64, Y:-12.72, Z:-2.95 [[ 9.98755694e-01 4.78736245e-02 1.39706670e-02 2.19641405e+02] [-4.78669237e-02 9.98853390e-01 -8.13818073e-04 -1.27225762e+01] [-1.39936085e-02 1.44072584e-04 9.99902074e-01 -2.94940069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.870371743 meters Centerline goodness [0,1] 0.9904167548127777 Centerline is valid? [True, True] Translation: X:219.67, Y:-12.73, Z:-2.95 [[ 9.98670030e-01 4.95548611e-02 1.42297867e-02 2.19668396e+02] [-4.95480952e-02 9.98771396e-01 -8.27847308e-04 -1.27322134e+01] [-1.42533278e-02 1.21687471e-04 9.99898409e-01 -2.94950292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900371743 meters Centerline goodness [0,1] 0.9887185542880037 Centerline is valid? [True, True] Translation: X:219.70, Y:-12.74, Z:-2.95 [[ 9.98648419e-01 4.99180852e-02 1.44747758e-02 2.19695784e+02] [-4.99111418e-02 9.98753308e-01 -8.40764017e-04 -1.27383536e+01] [-1.44986996e-02 1.17175066e-04 9.99894881e-01 -2.94997044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93037174299997 meters Centerline goodness [0,1] 0.9887389757730114 Centerline is valid? [True, True] Translation: X:219.72, Y:-12.75, Z:-2.95 [[ 9.98601144e-01 5.08049800e-02 1.46495529e-02 2.19723995e+02] [-5.07979826e-02 9.98708588e-01 -8.49606079e-04 -1.27489376e+01] [-1.46737985e-02 1.04249871e-04 9.99892329e-01 -2.94950422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96037174299997 meters Centerline goodness [0,1] 0.9884900260920798 Centerline is valid? [True, True] Translation: X:219.75, Y:-12.76, Z:-2.95 [[ 9.98587279e-01 5.09214925e-02 1.51804776e-02 2.19752738e+02] [-5.09140088e-02 9.98702654e-01 -8.79301461e-04 -1.27550910e+01] [-1.52055586e-02 1.05160286e-04 9.99884383e-01 -2.94990246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99037174299997 meters Centerline goodness [0,1] 0.9880233218969038 Centerline is valid? [True, True] Translation: X:219.78, Y:-12.77, Z:-2.95 [[ 9.98578953e-01 5.10231036e-02 1.53856222e-02 2.19780000e+02] [-5.10154456e-02 9.98697468e-01 -8.90058242e-04 -1.27665543e+01] [-1.54109955e-02 1.03889056e-04 9.99881238e-01 -2.94947853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02037174299997 meters Centerline goodness [0,1] 0.9871900044172398 Centerline is valid? [True, True] Translation: X:219.81, Y:-12.77, Z:-2.95 [[ 9.98595244e-01 5.05956613e-02 1.57358918e-02 2.19808426e+02] [-5.05876193e-02 9.98719213e-01 -9.08942276e-04 -1.27731103e+01] [-1.57617261e-02 1.11624127e-04 9.99875770e-01 -2.94969170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05037174299997 meters Centerline goodness [0,1] 0.9866971610818523 Centerline is valid? [True, True] Translation: X:219.84, Y:-12.79, Z:-2.95 [[ 9.98670092e-01 4.90693229e-02 1.58192835e-02 2.19835610e+02] [-4.90610222e-02 9.98795366e-01 -9.12609549e-04 -1.27855175e+01] [-1.58450082e-02 1.35285641e-04 9.99874451e-01 -2.95013099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08037174299997 meters Centerline goodness [0,1] 0.9888102785883736 Centerline is valid? [True, True] Translation: X:219.86, Y:-12.79, Z:-2.95 [[ 9.98733548e-01 4.77334314e-02 1.59003022e-02 2.19864518e+02] [-4.77248979e-02 9.98860098e-01 -9.15915820e-04 -1.27918811e+01] [-1.59258973e-02 1.55915556e-04 9.99873163e-01 -2.95082508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11037174299997 meters Centerline goodness [0,1] 0.9886289730410154 Centerline is valid? [True, True] Translation: X:219.89, Y:-12.80, Z:-2.95 [[ 9.98874423e-01 4.51250684e-02 1.46156109e-02 2.19893775e+02] [-4.51175931e-02 9.98981329e-01 -8.40952500e-04 -1.28046601e+01] [-1.46386705e-02 1.80584756e-04 9.99892833e-01 -2.95248930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14037174299997 meters Centerline goodness [0,1] 0.987748116298971 Centerline is valid? [True, True] Translation: X:219.92, Y:-12.81, Z:-2.95 [[ 9.98951763e-01 4.35385167e-02 1.41340728e-02 2.19922378e+02] [-4.35313742e-02 9.99051730e-01 -8.12748799e-04 -1.28129047e+01] [-1.41560558e-02 1.96621233e-04 9.99899779e-01 -2.95343592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17037174299998 meters Centerline goodness [0,1] 0.9890328386948241 Centerline is valid? [True, True] Translation: X:219.95, Y:-12.83, Z:-2.95 [[ 9.99116475e-01 3.98094618e-02 1.34712827e-02 2.19952105e+02] [-3.98026422e-02 9.99207261e-01 -7.74068588e-04 -1.28255904e+01] [-1.34914188e-02 2.37192033e-04 9.99908959e-01 -2.95365979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20037174299998 meters Centerline goodness [0,1] 0.9879746177051909 Centerline is valid? [True, True] Translation: X:219.98, Y:-12.83, Z:-2.95 [[ 9.99204303e-01 3.76708102e-02 1.31023038e-02 2.19981448e+02] [-3.76641750e-02 9.99290170e-01 -7.52883501e-04 -1.28335716e+01] [-1.31213651e-02 2.58796971e-04 9.99913878e-01 -2.95413223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23037174299998 meters Centerline goodness [0,1] 0.9887941687786691 Centerline is valid? [True, True] Translation: X:220.01, Y:-12.85, Z:-2.95 [[ 9.99369011e-01 3.30366403e-02 1.30445857e-02 2.20011620e+02] [-3.30296723e-02 9.99454091e-01 -7.49301366e-04 -1.28452095e+01] [-1.30622189e-02 3.17970173e-04 9.99914635e-01 -2.95335800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26037174299998 meters Centerline goodness [0,1] 0.9887172402243992 Centerline is valid? [True, True] Translation: X:220.04, Y:-12.85, Z:-2.95 [[ 9.99427648e-01 3.11739858e-02 1.31361902e-02 2.20042713e+02] [-3.11667560e-02 9.99513914e-01 -7.54782382e-04 -1.28520390e+01] [-1.31533345e-02 3.44937945e-04 9.99913432e-01 -2.95291173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29037174299998 meters Centerline goodness [0,1] 0.9898756995828705 Centerline is valid? [True, True] Translation: X:220.07, Y:-12.86, Z:-2.95 [[ 9.99511819e-01 2.80259084e-02 1.38084442e-02 2.20073278e+02] [-2.80176129e-02 9.99607114e-01 -7.93876669e-04 -1.28635854e+01] [-1.38252681e-02 4.06609469e-04 9.99904344e-01 -2.95219437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32037174299998 meters Centerline goodness [0,1] 0.9898756995828705 Centerline is valid? [True, True] Translation: X:220.10, Y:-12.87, Z:-2.95 [[ 9.99504937e-01 2.82703430e-02 1.38082632e-02 2.20104943e+02] [-2.82620275e-02 9.99600231e-01 -7.97012442e-04 -1.28654616e+01] [-1.38252749e-02 4.06368357e-04 9.99904344e-01 -2.95264025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35037174299998 meters Centerline goodness [0,1] 0.9894595670669097 Centerline is valid? [True, True] Translation: X:220.14, Y:-12.87, Z:-2.95 [[ 9.99548202e-01 2.67526372e-02 1.36999163e-02 2.20136796e+02] [-2.67442636e-02 9.99641993e-01 -7.94093177e-04 -1.28713835e+01] [-1.37162557e-02 4.27340236e-04 9.99905836e-01 -2.95280505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38037174299998 meters Centerline goodness [0,1] 0.9896236480408359 Centerline is valid? [True, True] Translation: X:220.17, Y:-12.88, Z:-2.95 [[ 9.99578211e-01 2.56308777e-02 1.36549480e-02 2.20168183e+02] [-2.56224087e-02 9.99671376e-01 -7.94825554e-04 -1.28771448e+01] [-1.36708327e-02 4.44617648e-04 9.99906451e-01 -2.95301097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41037174299998 meters Centerline goodness [0,1] 0.9905450733752621 Centerline is valid? [True, True] Translation: X:220.20, Y:-12.89, Z:-2.95 [[ 9.99662291e-01 2.24745328e-02 1.30460772e-02 2.20198432e+02] [-2.24664946e-02 9.99747306e-01 -7.62387392e-04 -1.28854712e+01] [-1.30599148e-02 4.69030305e-04 9.99914606e-01 -2.95282078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440371743 meters Centerline goodness [0,1] 0.9904067697205815 Centerline is valid? [True, True] Translation: X:220.23, Y:-12.89, Z:-2.95 [[ 9.99691663e-01 2.12836900e-02 1.27899586e-02 2.20229273e+02] [-2.12758646e-02 9.99773364e-01 -7.47608664e-04 -1.28907954e+01] [-1.28029718e-02 4.75260722e-04 9.99917926e-01 -2.95255883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.470371743 meters Centerline goodness [0,1] 0.9904999058360711 Centerline is valid? [True, True] Translation: X:220.26, Y:-12.90, Z:-2.95 [[ 9.99738392e-01 1.87601608e-02 1.30845115e-02 2.20260162e+02] [-1.87517157e-02 9.99823876e-01 -7.67823027e-04 -1.28979815e+01] [-1.30966114e-02 5.22265119e-04 9.99914099e-01 -2.95150687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500371743 meters Centerline goodness [0,1] 0.9898768065926251 Centerline is valid? [True, True] Translation: X:220.29, Y:-12.90, Z:-2.95 [[ 9.99753111e-01 1.75985258e-02 1.35649534e-02 2.20291991e+02] [-1.75892996e-02 9.99844977e-01 -7.99159876e-04 -1.28976097e+01] [-1.35769146e-02 5.60364542e-04 9.99907672e-01 -2.95143306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.530371743 meters Centerline goodness [0,1] 0.9906884699510468 Centerline is valid? [True, True] Translation: X:220.32, Y:-12.90, Z:-2.95 [[ 9.99803581e-01 1.42030201e-02 1.38229585e-02 2.20322200e+02] [-1.41930896e-02 9.99898940e-01 -8.16247185e-04 -1.29033350e+01] [-1.38331548e-02 6.19896369e-04 9.99904125e-01 -2.95071471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560371743 meters Centerline goodness [0,1] 0.9911497035985639 Centerline is valid? [True, True] Translation: X:220.35, Y:-12.91, Z:-2.95 [[ 9.99828129e-01 1.22714877e-02 1.38968960e-02 2.20354343e+02] [-1.22612611e-02 9.99924491e-01 -8.20852165e-04 -1.29070945e+01] [-1.39059197e-02 6.50317613e-04 9.99903097e-01 -2.95048023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.590371743 meters Centerline goodness [0,1] 0.9902914648404877 Centerline is valid? [True, True] Translation: X:220.38, Y:-12.91, Z:-2.95 [[ 9.99856771e-01 8.85576809e-03 1.44226453e-02 2.20383898e+02] [-8.84438370e-03 9.99960524e-01 -8.52933804e-04 -1.29126519e+01] [-1.44296293e-02 7.25252230e-04 9.99895624e-01 -2.95040540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620371743 meters Centerline goodness [0,1] 0.9909256277834696 Centerline is valid? [True, True] Translation: X:220.42, Y:-12.92, Z:-2.95 [[ 9.99861296e-01 7.83745508e-03 1.46956981e-02 2.20415590e+02] [-7.82552349e-03 9.99969002e-01 -8.69239397e-04 -1.29163736e+01] [-1.47020552e-02 7.54117299e-04 9.99891635e-01 -2.95066633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.650371743 meters Centerline goodness [0,1] 0.9895246770453793 Centerline is valid? [True, True] Translation: X:220.45, Y:-12.92, Z:-2.95 [[ 9.99872664e-01 6.47015318e-03 1.45874079e-02 2.20447068e+02] [-6.45820084e-03 9.99978770e-01 -8.66318089e-04 -1.29201809e+01] [-1.45927034e-02 7.71999366e-04 9.99893223e-01 -2.95197537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68037174299997 meters Centerline goodness [0,1] 0.9897922898320329 Centerline is valid? [True, True] Translation: X:220.48, Y:-12.92, Z:-2.95 [[ 9.99897204e-01 5.34437878e-03 1.33048695e-02 2.20478960e+02] [-5.33430080e-03 9.99985458e-01 -7.92837997e-04 -1.29219604e+01] [-1.33089133e-02 7.21784320e-04 9.99911172e-01 -2.95317428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71037174299997 meters Centerline goodness [0,1] 0.9898671892917458 Centerline is valid? [True, True] Translation: X:220.51, Y:-12.92, Z:-2.96 [[ 9.99912792e-01 4.56864590e-03 1.23909221e-02 2.20510403e+02] [-4.55981012e-03 9.99989329e-01 -7.41242702e-04 -1.29247481e+01] [-1.23941763e-02 6.84677808e-04 9.99922955e-01 -2.95510362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74037174299997 meters Centerline goodness [0,1] 0.989620173694674 Centerline is valid? [True, True] Translation: X:220.54, Y:-12.93, Z:-2.96 [[ 9.99937281e-01 1.90008949e-03 1.10373724e-02 2.20541361e+02] [-1.89290056e-03 9.99997990e-01 -6.61736898e-04 -1.29262285e+01] [-1.10386076e-02 6.40802746e-04 9.99938867e-01 -2.95681837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77037174299997 meters Centerline goodness [0,1] 0.9894798485767469 Centerline is valid? [True, True] Translation: X:220.57, Y:-12.93, Z:-2.96 [[ 9.99945144e-01 3.71915699e-04 1.04676480e-02 2.20572976e+02] [-3.65368773e-04 9.99999736e-01 -6.27349242e-04 -1.29289563e+01] [-1.04678785e-02 6.23490276e-04 9.99945016e-01 -2.95769293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80037174299997 meters Centerline goodness [0,1] 0.9884547812264703 Centerline is valid? [True, True] Translation: X:220.60, Y:-12.93, Z:-2.96 [[ 9.99934900e-01 -3.40655470e-03 1.08899344e-02 2.20602061e+02] [ 3.41389920e-03 9.99993958e-01 -6.55912273e-04 -1.29331251e+01] [-1.08876342e-02 6.93046711e-04 9.99940488e-01 -2.95849604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83037174299997 meters Centerline goodness [0,1] 0.9879054195438376 Centerline is valid? [True, True] Translation: X:220.63, Y:-12.94, Z:-2.96 [[ 9.99926834e-01 -5.54872434e-03 1.07489069e-02 2.20632187e+02] [ 5.55600052e-03 9.99984356e-01 -6.47179591e-04 -1.29370430e+01] [-1.07451477e-02 7.06853171e-04 9.99942019e-01 -2.95848882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86037174299997 meters Centerline goodness [0,1] 0.9874230946302264 Centerline is valid? [True, True] Translation: X:220.66, Y:-12.94, Z:-2.96 [[ 9.99886605e-01 -9.71272291e-03 1.15082576e-02 2.20661497e+02] [ 9.72134063e-03 9.99952506e-01 -6.93125271e-04 -1.29395792e+01] [-1.15009789e-02 8.04922366e-04 9.99933538e-01 -2.95818309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89037174299997 meters Centerline goodness [0,1] 0.986498367244411 Centerline is valid? [True, True] Translation: X:220.69, Y:-12.94, Z:-2.96 [[ 9.99868115e-01 -1.16956825e-02 1.12677740e-02 2.20692378e+02] [ 1.17040700e-02 9.99931275e-01 -6.78728985e-04 -1.29413044e+01] [-1.12590614e-02 8.10518287e-04 9.99936286e-01 -2.95817359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92037174299998 meters Centerline goodness [0,1] 0.985225391369952 Centerline is valid? [True, True] Translation: X:220.72, Y:-12.94, Z:-2.96 [[ 9.99824255e-01 -1.49358766e-02 1.13304551e-02 2.20721648e+02] [ 1.49445667e-02 9.99888091e-01 -6.82684285e-04 -1.29430152e+01] [-1.13189907e-02 8.51893049e-04 9.99935575e-01 -2.95933985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95037174299998 meters Centerline goodness [0,1] 0.9841851696690407 Centerline is valid? [True, True] Translation: X:220.75, Y:-12.94, Z:-2.96 [[ 9.99809913e-01 -1.61026301e-02 1.09928450e-02 2.20753183e+02] [ 1.61108815e-02 9.99869992e-01 -6.62458993e-04 -1.29444332e+01] [-1.09807485e-02 8.39437491e-04 9.99939357e-01 -2.96052092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98037174299998 meters Centerline goodness [0,1] 0.9822672710484345 Centerline is valid? [True, True] Translation: X:220.78, Y:-12.94, Z:-2.96 [[ 9.99778072e-01 -1.79713369e-02 1.09925975e-02 2.20783838e+02] [ 1.79797071e-02 9.99838132e-01 -6.63078196e-04 -1.29428434e+01] [-1.09789018e-02 8.60574724e-04 9.99939360e-01 -2.96057757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01037174299998 meters Centerline goodness [0,1] 0.9806447571720883 Centerline is valid? [True, True] Translation: X:220.82, Y:-12.94, Z:-2.96 [[ 9.99765862e-01 -1.81182361e-02 1.18300687e-02 2.20815741e+02] [ 1.81279417e-02 9.99835421e-01 -7.13696413e-04 -1.29425956e+01] [-1.18151908e-02 9.27984105e-04 9.99929768e-01 -2.96058426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04037174299998 meters Centerline goodness [0,1] 0.9833493502695023 Centerline is valid? [True, True] Translation: X:220.85, Y:-12.92, Z:-2.96 [[ 9.99739218e-01 -1.89612325e-02 1.27266253e-02 2.20849555e+02] [ 1.89725440e-02 9.99819710e-01 -7.68652736e-04 -1.29196039e+01] [-1.27097562e-02 1.00990874e-03 9.99918718e-01 -2.96005699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07037174299998 meters Centerline goodness [0,1] 0.970489744663039 Centerline is valid? [True, True] Translation: X:220.88, Y:-12.94, Z:-2.96 [[ 9.99725216e-01 -1.96650581e-02 1.27584740e-02 2.20879627e+02] [ 1.96764953e-02 9.99806101e-01 -7.71517570e-04 -1.29387379e+01] [-1.27408282e-02 1.02234762e-03 9.99918310e-01 -2.96070243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10037174299998 meters Centerline goodness [0,1] 0.962574568288854 Centerline is valid? [True, True] Translation: X:220.91, Y:-12.94, Z:-2.96 [[ 9.99705067e-01 -2.02764437e-02 1.33658196e-02 2.20910853e+02] [ 2.02890601e-02 9.99793829e-01 -8.08998590e-04 -1.29380555e+01] [-1.33466603e-02 1.07993991e-03 9.99910346e-01 -2.96071633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13037174299998 meters Centerline goodness [0,1] 0.9444840305138738 Centerline is valid? [True, False] Translation: X:220.91, Y:-12.93, Z:-2.96 [[ 9.99749379e-01 -1.78354420e-02 1.35305761e-02 2.20910220e+02] [ 1.78254026e-02 9.99840743e-01 8.62226862e-04 -1.29323490e+01] [-1.35437995e-02 -6.20822803e-04 9.99908086e-01 -2.96041446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16037174299998 meters Centerline goodness [0,1] 0.9777281456124238 Centerline is valid? [False, True] Translation: X:220.91, Y:-12.93, Z:-2.96 [[ 9.99745697e-01 -1.82582383e-02 1.32354649e-02 2.20910968e+02] [ 1.82659773e-02 9.99833055e-01 -4.64060086e-04 -1.29283347e+01] [-1.32247824e-02 7.05700776e-04 9.99912300e-01 -2.96058281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.190371743 meters Centerline goodness [0,1] 0.8740101692089689 Centerline is valid? [True, False] Translation: X:220.91, Y:-12.92, Z:-2.96 [[ 9.99784780e-01 -1.61486062e-02 1.30236410e-02 2.20912150e+02] [ 1.61383347e-02 9.99869369e-01 8.93396495e-04 -1.29222941e+01] [-1.30363668e-02 -6.83024342e-04 9.99914790e-01 -2.96181143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220371743 meters Centerline goodness [0,1] 0.9785455383519454 Centerline is valid? [False, True] Translation: X:220.91, Y:-12.92, Z:-2.96 [[ 9.99776817e-01 -1.67683026e-02 1.28507225e-02 2.20912575e+02] [ 1.67773114e-02 9.99859075e-01 -5.93537782e-04 -1.29181941e+01] [-1.28389589e-02 8.09005886e-04 9.99917250e-01 -2.96191161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.250371743 meters Centerline goodness [0,1] 0.9796171384143394 Centerline is valid? [True, True] Translation: X:220.95, Y:-12.91, Z:-2.96 [[ 9.99768411e-01 -1.78317781e-02 1.20479008e-02 2.20945456e+02] [ 1.78429413e-02 9.99840466e-01 -8.19714488e-04 -1.29107746e+01] [-1.20313618e-02 1.03449464e-03 9.99927085e-01 -2.96297536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280371743 meters Centerline goodness [0,1] 0.9781267762783942 Centerline is valid? [True, True] Translation: X:220.98, Y:-12.91, Z:-2.96 [[ 9.99735025e-01 -2.03528966e-02 1.07536013e-02 2.20975510e+02] [ 2.03619468e-02 9.99792406e-01 -7.32774096e-04 -1.29093592e+01] [-1.07364549e-02 9.51544188e-04 9.99941910e-01 -2.96442234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.310371743 meters Centerline goodness [0,1] 0.6916414396232762 Centerline is valid? [True, False] Translation: X:220.98, Y:-12.90, Z:-2.96 [[ 9.99776451e-01 -1.82013751e-02 1.07591198e-02 2.20975099e+02] [ 1.81946189e-02 9.99834201e-01 7.25507954e-04 -1.29033648e+01] [-1.07705412e-02 -5.29587682e-04 9.99941856e-01 -2.96405523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340371743 meters Centerline goodness [0,1] 0.9765763111373011 Centerline is valid? [False, True] Translation: X:220.97, Y:-12.90, Z:-2.96 [[ 9.99817759e-01 -1.55317239e-02 1.11001764e-02 2.20973975e+02] [ 1.54942660e-02 9.99873996e-01 3.45260554e-03 -1.29011659e+01] [-1.11524027e-02 -3.27998725e-03 9.99932431e-01 -2.96360724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.370371743 meters Centerline goodness [0,1] 0.9774357033205056 Centerline is valid? [True, True] Translation: X:221.01, Y:-12.89, Z:-2.96 [[ 9.99823396e-01 -1.51487270e-02 1.11217555e-02 2.21006617e+02] [ 1.51590345e-02 9.99884740e-01 -8.43066667e-04 -1.28915742e+01] [-1.11077022e-02 1.01151285e-03 9.99937796e-01 -2.96256950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400371743 meters Centerline goodness [0,1] 0.978757894736842 Centerline is valid? [True, True] Translation: X:221.04, Y:-12.88, Z:-2.96 [[ 9.99826804e-01 -1.43511634e-02 1.18493042e-02 2.21039457e+02] [ 1.43628190e-02 9.99896445e-01 -8.99141494e-04 -1.28838956e+01] [-1.18351734e-02 1.06917518e-03 9.99929390e-01 -2.96183218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43037174299997 meters Centerline goodness [0,1] 0.6729399367755532 Centerline is valid? [True, False] Translation: X:221.04, Y:-12.88, Z:-2.96 [[ 9.99866430e-01 -1.14434989e-02 1.16690976e-02 2.21039314e+02] [ 1.14418820e-02 9.99934518e-01 2.05315464e-04 -1.28754115e+01] [-1.16706831e-02 -7.17716020e-05 9.99931893e-01 -2.96092625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46037174299997 meters Centerline goodness [0,1] 0.980152865166167 Centerline is valid? [False, True] Translation: X:221.04, Y:-12.87, Z:-2.96 [[ 9.99899246e-01 -8.09984820e-03 1.16571580e-02 2.21039078e+02] [ 8.06520343e-03 9.99962928e-01 3.01592240e-03 -1.28720928e+01] [-1.16811544e-02 -2.92160118e-03 9.99927505e-01 -2.96065674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49037174299997 meters Centerline goodness [0,1] 0.9812149098737811 Centerline is valid? [True, True] Translation: X:221.07, Y:-12.87, Z:-2.96 [[ 9.99922189e-01 -5.39228244e-03 1.12489276e-02 2.21069155e+02] [ 5.40239224e-03 9.99985030e-01 -8.68542154e-04 -1.28676242e+01] [-1.12440757e-02 9.29245691e-04 9.99936352e-01 -2.95993472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52037174299997 meters Centerline goodness [0,1] 0.9824891614676959 Centerline is valid? [True, True] Translation: X:221.10, Y:-12.86, Z:-2.96 [[ 9.99941674e-01 9.51342037e-04 1.07584390e-02 2.21099994e+02] [-9.42459132e-04 9.99999211e-01 -8.30708249e-04 -1.28569821e+01] [-1.07592208e-02 8.20520408e-04 9.99941781e-01 -2.95922131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55037174299997 meters Centerline goodness [0,1] 0.9837427669090061 Centerline is valid? [True, True] Translation: X:221.13, Y:-12.85, Z:-2.96 [[ 9.99930899e-01 3.68215388e-03 1.11641618e-02 2.21130902e+02] [-3.67275896e-03 9.99992884e-01 -8.61909958e-04 -1.28531720e+01] [-1.11672561e-02 8.20847124e-04 9.99937307e-01 -2.95943624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58037174299997 meters Centerline goodness [0,1] 0.984604261472377 Centerline is valid? [True, True] Translation: X:221.16, Y:-12.84, Z:-2.96 [[ 9.99904248e-01 8.06425294e-03 1.12455305e-02 2.21162265e+02] [-8.05499628e-03 9.99967181e-01 -8.68192304e-04 -1.28440188e+01] [-1.12521627e-02 7.77526467e-04 9.99936390e-01 -2.95894147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61037174299997 meters Centerline goodness [0,1] 0.9849773061433229 Centerline is valid? [True, True] Translation: X:221.19, Y:-12.83, Z:-2.96 [[ 9.99893528e-01 1.02006525e-02 1.04344974e-02 2.21194417e+02] [-1.01928006e-02 9.99947728e-01 -8.05395242e-04 -1.28348232e+01] [-1.04421675e-02 6.98952738e-04 9.99945235e-01 -2.95956859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64037174299997 meters Centerline goodness [0,1] 0.9849773061433229 Centerline is valid? [True, True] Translation: X:221.23, Y:-12.84, Z:-2.96 [[ 9.99890987e-01 1.04467711e-02 1.04345518e-02 2.21226128e+02] [-1.04389399e-02 9.99945189e-01 -8.04692800e-04 -1.28373272e+01] [-1.04423863e-02 6.95679418e-04 9.99945235e-01 -2.96006369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67037174299998 meters Centerline goodness [0,1] 0.9856366127236921 Centerline is valid? [True, True] Translation: X:221.26, Y:-12.83, Z:-2.96 [[ 9.99888158e-01 1.19378239e-02 9.00887415e-03 2.21259365e+02] [-1.19320316e-02 9.99928568e-01 -6.96434220e-04 -1.28292040e+01] [-9.01654454e-03 5.88862159e-04 9.99959177e-01 -2.96131959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70037174299998 meters Centerline goodness [0,1] 0.9865160819341263 Centerline is valid? [True, True] Translation: X:221.29, Y:-12.83, Z:-2.96 [[ 9.99889901e-01 1.20268527e-02 8.69145197e-03 2.21291133e+02] [-1.20214342e-02 9.99927512e-01 -6.75404483e-04 -1.28282137e+01] [-8.69894493e-03 5.70846404e-04 9.99962001e-01 -2.96175968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73037174299998 meters Centerline goodness [0,1] 0.9859524577820803 Centerline is valid? [True, True] Translation: X:221.32, Y:-12.83, Z:-2.96 [[ 9.99895800e-01 1.16918726e-02 8.46699662e-03 2.21321459e+02] [-1.16867149e-02 9.99931491e-01 -6.58376467e-04 -1.28252069e+01] [-8.47411422e-03 5.59356488e-04 9.99963938e-01 -2.96324366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76037174299998 meters Centerline goodness [0,1] 0.9858648107048202 Centerline is valid? [True, True] Translation: X:221.35, Y:-12.82, Z:-2.96 [[ 9.99910676e-01 1.04647751e-02 8.31439656e-03 2.21352292e+02] [-1.04597571e-02 9.99945086e-01 -6.46779949e-04 -1.28203633e+01] [-8.32070839e-03 5.59755607e-04 9.99965226e-01 -2.96344616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79037174299998 meters Centerline goodness [0,1] 0.9858286059403378 Centerline is valid? [True, True] Translation: X:221.38, Y:-12.82, Z:-2.96 [[ 9.99920629e-01 9.61045423e-03 8.14713653e-03 2.21383183e+02] [-9.60561210e-03 9.99953665e-01 -6.33258278e-04 -1.28204893e+01] [-8.15284493e-03 5.54949782e-04 9.99966611e-01 -2.96383802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82037174299998 meters Centerline goodness [0,1] 0.9864540280873347 Centerline is valid? [True, True] Translation: X:221.41, Y:-12.82, Z:-2.96 [[ 9.99928140e-01 8.84028284e-03 8.09715936e-03 2.21414596e+02] [-8.83546826e-03 9.99960768e-01 -6.30180465e-04 -1.28205892e+01] [-8.10241266e-03 5.58592986e-04 9.99967019e-01 -2.96393787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85037174299998 meters Centerline goodness [0,1] 0.986306133982524 Centerline is valid? [True, True] Translation: X:221.45, Y:-12.82, Z:-2.96 [[ 9.99941288e-01 7.36826459e-03 7.94534399e-03 2.21446431e+02] [-7.36358055e-03 9.99972697e-01 -6.18625175e-04 -1.28160352e+01] [-7.94968525e-03 5.60082674e-04 9.99968244e-01 -2.96369575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88037174299998 meters Centerline goodness [0,1] 0.9848366183700996 Centerline is valid? [True, True] Translation: X:221.48, Y:-12.82, Z:-2.97 [[ 9.99960399e-01 4.70826162e-03 7.55193786e-03 2.21476576e+02] [-4.70395152e-03 9.99988763e-01 -5.88387550e-04 -1.28203800e+01] [-7.55462328e-03 5.52840300e-04 9.99971311e-01 -2.96512649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91037174299998 meters Centerline goodness [0,1] 0.9862625998737291 Centerline is valid? [True, True] Translation: X:221.51, Y:-12.82, Z:-2.97 [[ 9.99965432e-01 3.21903943e-03 7.66637754e-03 2.21508749e+02] [-3.21455623e-03 9.99994655e-01 -5.97037932e-04 -1.28204360e+01] [-7.66825845e-03 5.72373292e-04 9.99970435e-01 -2.96528167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940371743 meters Centerline goodness [0,1] 0.985250865994205 Centerline is valid? [True, True] Translation: X:221.54, Y:-12.82, Z:-2.97 [[ 9.99971561e-01 -1.24925724e-04 7.54069686e-03 2.21539102e+02] [ 1.29365495e-04 9.99999819e-01 -5.88289713e-04 -1.28185081e+01] [-7.54062200e-03 5.89248488e-04 9.99971395e-01 -2.96568419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.970371743 meters Centerline goodness [0,1] 0.9864161343949602 Centerline is valid? [True, True] Translation: X:221.57, Y:-12.82, Z:-2.97 [[ 9.99974996e-01 -2.24693428e-03 6.70504910e-03 2.21569794e+02] [ 2.25049124e-03 9.99997331e-01 -5.22992237e-04 -1.28194628e+01] [-6.70385608e-03 5.38068815e-04 9.99977384e-01 -2.96661358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000371743 meters Centerline goodness [0,1] 0.9827650313860152 Centerline is valid? [True, True] Translation: X:221.60, Y:-12.83, Z:-2.97 [[ 9.99967255e-01 -5.70796467e-03 5.73657156e-03 2.21598685e+02] [ 5.71062556e-03 9.99983594e-01 -4.47574576e-04 -1.28269300e+01] [-5.73392271e-03 4.80319332e-04 9.99983446e-01 -2.96903298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.030371743 meters Centerline goodness [0,1] 0.9849344165371056 Centerline is valid? [True, True] Translation: X:221.63, Y:-12.82, Z:-2.97 [[ 9.99958804e-01 -7.30620403e-03 5.38599756e-03 2.21629848e+02] [ 7.30857259e-03 9.99973204e-01 -4.20212156e-04 -1.28222480e+01] [-5.38278308e-03 4.59558800e-04 9.99985407e-01 -2.96906489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060371743 meters Centerline goodness [0,1] 0.9853409815168898 Centerline is valid? [True, True] Translation: X:221.66, Y:-12.82, Z:-2.97 [[ 9.99954031e-01 -7.95139462e-03 5.35826447e-03 2.21661964e+02] [ 7.95374561e-03 9.99968281e-01 -4.17593103e-04 -1.28205030e+01] [-5.35477406e-03 4.60192179e-04 9.99985557e-01 -2.96976084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.090371743 meters Centerline goodness [0,1] 0.9850001099698683 Centerline is valid? [True, True] Translation: X:221.69, Y:-12.82, Z:-2.97 [[ 9.99953019e-01 -8.38894065e-03 4.85655690e-03 2.21693734e+02] [ 8.39087923e-03 9.99964724e-01 -3.78930777e-04 -1.28192643e+01] [-4.85320675e-03 4.19663757e-04 9.99988135e-01 -2.96981339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120371743 meters Centerline goodness [0,1] 0.9833362761543215 Centerline is valid? [True, True] Translation: X:221.73, Y:-12.82, Z:-2.97 [[ 9.99953589e-01 -7.99450996e-03 5.37660414e-03 2.21725070e+02] [ 7.99688234e-03 9.99967936e-01 -4.19886867e-04 -1.28227829e+01] [-5.37307496e-03 4.62863450e-04 9.99985458e-01 -2.96991326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.150371743 meters Centerline goodness [0,1] 0.9861255100915407 Centerline is valid? [True, True] Translation: X:221.76, Y:-12.81, Z:-2.97 [[ 9.99960241e-01 -6.43627890e-03 6.17175718e-03 2.21757815e+02] [ 6.43937813e-03 9.99979151e-01 -4.82424110e-04 -1.28115818e+01] [-6.16852348e-03 5.22147207e-04 9.99980838e-01 -2.96736624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18037174299997 meters Centerline goodness [0,1] 0.9856833546904689 Centerline is valid? [True, True] Translation: X:221.79, Y:-12.81, Z:-2.97 [[ 9.99962286e-01 -5.46387520e-03 6.75075209e-03 2.21789562e+02] [ 5.46756526e-03 9.99984913e-01 -5.28279963e-04 -1.28106725e+01] [-6.74776379e-03 5.65170217e-04 9.99977074e-01 -2.96696514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21037174299997 meters Centerline goodness [0,1] 0.9861542557912488 Centerline is valid? [True, True] Translation: X:221.82, Y:-12.81, Z:-2.97 [[ 9.99971684e-01 -3.38199886e-03 6.72260109e-03 2.21819517e+02] [ 3.38561522e-03 9.99994130e-01 -5.26632706e-04 -1.28111526e+01] [-6.72078056e-03 5.49377934e-04 9.99977264e-01 -2.96734742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24037174299997 meters Centerline goodness [0,1] 0.9861542557912488 Centerline is valid? [True, True] Translation: X:221.85, Y:-12.81, Z:-2.97 [[ 9.99971915e-01 -3.31287002e-03 6.72264876e-03 2.21851211e+02] [ 3.31648077e-03 9.99994362e-01 -5.26024482e-04 -1.28137015e+01] [-6.72086821e-03 5.48305244e-04 9.99977264e-01 -2.96784244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27037174299997 meters Centerline goodness [0,1] 0.9870297448219093 Centerline is valid? [True, True] Translation: X:221.88, Y:-12.81, Z:-2.97 [[ 9.99977192e-01 -2.16529880e-03 6.39749454e-03 2.21882995e+02] [ 2.16854986e-03 9.99997523e-01 -5.01284383e-04 -1.28094063e+01] [-6.39639326e-03 5.15146235e-04 9.99979410e-01 -2.96839252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30037174299997 meters Centerline goodness [0,1] 0.9869618422516409 Centerline is valid? [True, True] Translation: X:221.92, Y:-12.81, Z:-2.97 [[ 9.99983934e-01 -1.03169899e-03 5.57380712e-03 2.21915382e+02] [ 1.03414803e-03 9.99999370e-01 -4.36519612e-04 -1.28082558e+01] [-5.57335325e-03 4.42276741e-04 9.99984371e-01 -2.96938175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33037174299997 meters Centerline goodness [0,1] 0.9883861169428686 Centerline is valid? [True, True] Translation: X:221.95, Y:-12.80, Z:-2.97 [[ 9.99987204e-01 1.66035625e-03 4.77860678e-03 2.21947021e+02] [-1.65858311e-03 9.99998554e-01 -3.74997167e-04 -1.28026702e+01] [-4.77922250e-03 3.67066652e-04 9.99988512e-01 -2.96981646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36037174299997 meters Centerline goodness [0,1] 0.9878525333273787 Centerline is valid? [True, True] Translation: X:221.98, Y:-12.80, Z:-2.97 [[ 9.99985916e-01 3.19404306e-03 4.23852929e-03 2.21977764e+02] [-3.19266243e-03 9.99994848e-01 -3.32460615e-04 -1.28028790e+01] [-4.23956934e-03 3.18923739e-04 9.99990962e-01 -2.97074180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39037174299997 meters Centerline goodness [0,1] 0.9884673951988534 Centerline is valid? [True, True] Translation: X:222.01, Y:-12.80, Z:-2.97 [[ 9.99970561e-01 6.76393077e-03 3.62291054e-03 2.22008456e+02] [-6.76294390e-03 9.99977091e-01 -2.84579353e-04 -1.27972096e+01] [-3.62475242e-03 2.60069434e-04 9.99993397e-01 -2.97123859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42037174299998 meters Centerline goodness [0,1] 0.9882707172388999 Centerline is valid? [True, True] Translation: X:222.04, Y:-12.80, Z:-2.97 [[ 9.99959142e-01 8.57000861e-03 2.87572876e-03 2.22037959e+02] [-8.56939596e-03 9.99963257e-01 -2.25293763e-04 -1.27971309e+01] [-2.87755387e-03 2.00641299e-04 9.99995840e-01 -2.97179022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45037174299998 meters Centerline goodness [0,1] 0.9883524455358551 Centerline is valid? [True, True] Translation: X:222.07, Y:-12.79, Z:-2.97 [[ 9.99903237e-01 1.36182051e-02 2.83907597e-03 2.22068184e+02] [-1.36176251e-02 9.99907251e-01 -2.23543426e-04 -1.27912121e+01] [-2.84185691e-03 1.84860323e-04 9.99995945e-01 -2.97177215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48037174299998 meters Centerline goodness [0,1] 0.9881043572297571 Centerline is valid? [True, True] Translation: X:222.10, Y:-12.79, Z:-2.97 [[ 9.99862791e-01 1.63256853e-02 2.80572648e-03 2.22096682e+02] [-1.63251287e-02 9.99866712e-01 -2.21176597e-04 -1.27914583e+01] [-2.80896337e-03 1.75342403e-04 9.99996039e-01 -2.97218328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51037174299998 meters Centerline goodness [0,1] 0.9894148779770656 Centerline is valid? [True, True] Translation: X:222.13, Y:-12.78, Z:-2.97 [[ 9.99737200e-01 2.27260598e-02 3.00936780e-03 2.22126898e+02] [-2.27254498e-02 9.99741716e-01 -2.36750129e-04 -1.27844151e+01] [-3.01397092e-03 1.68298674e-04 9.99995444e-01 -2.97179817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54037174299998 meters Centerline goodness [0,1] 0.9896353079923795 Centerline is valid? [True, True] Translation: X:222.16, Y:-12.78, Z:-2.97 [[ 9.99650497e-01 2.62041733e-02 3.49639652e-03 2.22157297e+02] [-2.62033722e-02 9.99656595e-01 -2.74729666e-04 -1.27828658e+01] [-3.50239491e-03 1.83016268e-04 9.99993850e-01 -2.97205173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57037174299998 meters Centerline goodness [0,1] 0.989752754088719 Centerline is valid? [True, True] Translation: X:222.19, Y:-12.77, Z:-2.97 [[ 9.99447491e-01 3.29679634e-02 4.22198929e-03 2.22189114e+02] [-3.29668576e-02 9.99456391e-01 -3.31265311e-04 -1.27739452e+01] [-4.23061532e-03 1.91896565e-04 9.99991032e-01 -2.97064271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60037174299998 meters Centerline goodness [0,1] 0.990482664853841 Centerline is valid? [True, True] Translation: X:222.22, Y:-12.77, Z:-2.97 [[ 9.99347474e-01 3.58370564e-02 4.50911517e-03 2.22219055e+02] [-3.58358214e-02 9.99357628e-01 -3.54419706e-04 -1.27717994e+01] [-4.51892000e-03 1.92600592e-04 9.99989771e-01 -2.97058454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63037174299998 meters Centerline goodness [0,1] 0.9905673243022093 Centerline is valid? [True, True] Translation: X:222.25, Y:-12.77, Z:-2.97 [[ 9.99253195e-01 3.83705351e-02 4.55561563e-03 2.22248430e+02] [-3.83693006e-02 9.99263563e-01 -3.58112538e-04 -1.27694298e+01] [-4.56600168e-03 1.83049312e-04 9.99989559e-01 -2.97038931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66037174299998 meters Centerline goodness [0,1] 0.9904907415853325 Centerline is valid? [True, True] Translation: X:222.28, Y:-12.77, Z:-2.97 [[ 9.99095309e-01 4.23132642e-02 4.26053866e-03 2.22277581e+02] [-4.23122218e-02 9.99104381e-01 -3.34537491e-04 -1.27683059e+01] [-4.27087822e-03 1.53961980e-04 9.99990868e-01 -2.97120046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.690371743 meters Centerline goodness [0,1] 0.9909262932311972 Centerline is valid? [True, True] Translation: X:222.31, Y:-12.77, Z:-2.97 [[ 9.99040626e-01 4.36059204e-02 4.04357639e-03 2.22306211e+02] [-4.36049909e-02 9.99048799e-01 -3.17796632e-04 -1.27679334e+01] [-4.05358796e-03 1.41171634e-04 9.99991774e-01 -2.97176936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720371743 meters Centerline goodness [0,1] 0.9912380778533291 Centerline is valid? [True, True] Translation: X:222.33, Y:-12.77, Z:-2.97 [[ 9.99063481e-01 4.31059500e-02 3.74668265e-03 2.22334985e+02] [-4.31051492e-02 9.99070498e-01 -2.94272571e-04 -1.27708097e+01] [-3.75588500e-03 1.32495664e-04 9.99992938e-01 -2.97217701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.750371743 meters Centerline goodness [0,1] 0.991039548793523 Centerline is valid? [True, True] Translation: X:222.36, Y:-12.77, Z:-2.97 [[ 9.99107175e-01 4.20932056e-02 3.60775437e-03 2.22362430e+02] [-4.20924565e-02 9.99113680e-01 -2.83348557e-04 -1.27743136e+01] [-3.61648380e-03 1.31236332e-04 9.99993452e-01 -2.97293517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780371743 meters Centerline goodness [0,1] 0.991109797412519 Centerline is valid? [True, True] Translation: X:222.39, Y:-12.78, Z:-2.97 [[ 9.99240128e-01 3.88466858e-02 3.17833191e-03 2.22390308e+02] [-3.88460891e-02 9.99245175e-01 -2.49279740e-04 -1.27812751e+01] [-3.18561651e-03 1.25624554e-04 9.99994918e-01 -2.97376380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.810371743 meters Centerline goodness [0,1] 0.9914535742698034 Centerline is valid? [True, True] Translation: X:222.42, Y:-12.79, Z:-2.97 [[ 9.99324691e-01 3.66376365e-02 2.80103124e-03 2.22419123e+02] [-3.66371653e-02 9.99328610e-01 -2.19387388e-04 -1.27858109e+01] [-2.80718849e-03 1.16617389e-04 9.99996053e-01 -2.97433349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840371743 meters Centerline goodness [0,1] 0.9900841482829201 Centerline is valid? [True, True] Translation: X:222.45, Y:-12.79, Z:-2.98 [[ 9.99498292e-01 3.15789195e-02 2.43642611e-03 2.22447299e+02] [-3.15785490e-02 9.99501255e-01 -1.90386258e-04 -1.27941449e+01] [-2.44122315e-03 1.13351938e-04 9.99997014e-01 -2.97540245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.870371743 meters Centerline goodness [0,1] 0.9894082692613005 Centerline is valid? [True, True] Translation: X:222.48, Y:-12.80, Z:-2.98 [[ 9.99626527e-01 2.71451260e-02 3.15402893e-03 2.22476004e+02] [-2.71444830e-02 9.99631490e-01 -2.46492561e-04 -1.28046615e+01] [-3.15955771e-03 1.60786018e-04 9.99994996e-01 -2.97590117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900371743 meters Centerline goodness [0,1] 0.9901419914985982 Centerline is valid? [True, True] Translation: X:222.51, Y:-12.80, Z:-2.97 [[ 9.99673983e-01 2.53181564e-02 3.30426739e-03 2.22505319e+02] [-2.53174404e-02 9.99679429e-01 -2.58337409e-04 -1.28023892e+01] [-3.30974876e-03 1.74597594e-04 9.99994508e-01 -2.97400472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93037174299997 meters Centerline goodness [0,1] 0.9902728136452066 Centerline is valid? [True, True] Translation: X:222.53, Y:-12.81, Z:-2.97 [[ 9.99711854e-01 2.36824473e-02 3.91787884e-03 2.22533153e+02] [-2.36814280e-02 9.99719509e-01 -3.06350264e-04 -1.28078232e+01] [-3.92403503e-03 2.13481025e-04 9.99992278e-01 -2.97406743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96037174299997 meters Centerline goodness [0,1] 0.9896860478295364 Centerline is valid? [True, True] Translation: X:222.56, Y:-12.81, Z:-2.97 [[ 9.99737701e-01 2.24867504e-02 4.34451337e-03 2.22561064e+02] [-2.24854882e-02 9.99747112e-01 -3.39165951e-04 -1.28120706e+01] [-4.35104143e-03 2.41388484e-04 9.99990505e-01 -2.97373743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99037174299997 meters Centerline goodness [0,1] 0.9885353193410066 Centerline is valid? [True, True] Translation: X:222.59, Y:-12.82, Z:-2.97 [[ 9.99761125e-01 2.12741323e-02 5.01042083e-03 2.22587942e+02] [-2.12724415e-02 9.99773640e-01 -3.90505358e-04 -1.28237483e+01] [-5.01759433e-03 2.83828192e-04 9.99987372e-01 -2.97451071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02037174299997 meters Centerline goodness [0,1] 0.9885865388961714 Centerline is valid? [True, True] Translation: X:222.62, Y:-12.82, Z:-2.97 [[ 9.99766807e-01 2.10517774e-02 4.81184274e-03 2.22617243e+02] [-2.10502180e-02 9.99778349e-01 -3.74488891e-04 -1.28197014e+01] [-4.81865985e-03 2.73111224e-04 9.99988353e-01 -2.97400977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05037174299997 meters Centerline goodness [0,1] 0.9893708250586748 Centerline is valid? [True, True] Translation: X:222.65, Y:-12.82, Z:-2.97 [[ 9.99770810e-01 2.08502999e-02 4.85712693e-03 2.22646221e+02] [-2.08487103e-02 9.99782571e-01 -3.77670026e-04 -1.28234202e+01] [-4.86394539e-03 2.76318635e-04 9.99988133e-01 -2.97443462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08037174299997 meters Centerline goodness [0,1] 0.9884070416487764 Centerline is valid? [True, True] Translation: X:222.67, Y:-12.83, Z:-2.98 [[ 9.99768495e-01 2.08894796e-02 5.15608696e-03 2.22674042e+02] [-2.08876902e-02 9.99781748e-01 -4.00665569e-04 -1.28293856e+01] [-5.16333133e-03 2.92874066e-04 9.99986627e-01 -2.97577673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11037174299997 meters Centerline goodness [0,1] 0.988739704389033 Centerline is valid? [True, True] Translation: X:222.70, Y:-12.84, Z:-2.98 [[ 9.99769496e-01 2.09944003e-02 4.49338375e-03 2.22701457e+02] [-2.09930434e-02 9.99779561e-01 -3.48927919e-04 -1.28351161e+01] [-4.49971877e-03 2.54517689e-04 9.99989844e-01 -2.97729377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14037174299997 meters Centerline goodness [0,1] 0.9893468782307727 Centerline is valid? [True, True] Translation: X:222.73, Y:-12.83, Z:-2.98 [[ 9.99766544e-01 2.11775937e-02 4.28560961e-03 2.22730640e+02] [-2.11763631e-02 9.99775700e-01 -3.32339578e-04 -1.28322292e+01] [-4.29168650e-03 2.41508366e-04 9.99990762e-01 -2.97747405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17037174299998 meters Centerline goodness [0,1] 0.9890456655997836 Centerline is valid? [True, True] Translation: X:222.76, Y:-12.84, Z:-2.98 [[ 9.99777686e-01 2.09336641e-02 2.52197657e-03 2.22758279e+02] [-2.09332359e-02 9.99780857e-01 -1.96062680e-04 -1.28400896e+01] [-2.52552821e-03 1.43225962e-04 9.99996801e-01 -2.98024347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20037174299998 meters Centerline goodness [0,1] 0.9892373646209386 Centerline is valid? [True, True] Translation: X:222.79, Y:-12.84, Z:-2.98 [[ 9.99786065e-01 2.06058144e-02 1.79547069e-03 2.22786827e+02] [-2.06055969e-02 9.99787672e-01 -1.39555454e-04 -1.28412754e+01] [-1.79796512e-03 1.02528853e-04 9.99998378e-01 -2.98134424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23037174299998 meters Centerline goodness [0,1] 0.989734353894642 Centerline is valid? [True, True] Translation: X:222.81, Y:-12.84, Z:-2.98 [[ 9.99788903e-01 2.05070272e-02 1.26902911e-03 2.22814740e+02] [-2.05069178e-02 9.99789706e-01 -9.90926237e-05 -1.28445108e+01] [-1.27079433e-03 7.30478300e-05 9.99999190e-01 -2.98230544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26037174299998 meters Centerline goodness [0,1] 0.9905199396518723 Centerline is valid? [True, True] Translation: X:222.84, Y:-12.84, Z:-2.98 [[ 9.99789683e-01 2.04800686e-02 1.07563753e-03 2.22843281e+02] [-2.04799895e-02 9.99790259e-01 -8.44198410e-05 -1.28411447e+01] [-1.07714085e-03 6.23730407e-05 9.99999418e-01 -2.98136970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29037174299998 meters Centerline goodness [0,1] 0.9894606741573033 Centerline is valid? [True, True] Translation: X:222.87, Y:-12.85, Z:-2.98 [[ 9.99766717e-01 2.15657111e-02 1.19676770e-03 2.22870193e+02] [-2.15656147e-02 9.99767431e-01 -9.33496889e-05 -1.28490787e+01] [-1.19850252e-03 6.75188808e-05 9.99999280e-01 -2.98289129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32037174299998 meters Centerline goodness [0,1] 0.9904013370372879 Centerline is valid? [True, True] Translation: X:222.90, Y:-12.84, Z:-2.98 [[ 9.99752510e-01 2.21884367e-02 1.61021412e-03 2.22900070e+02] [-2.21882649e-02 9.99753802e-01 -1.24503603e-04 -1.28434419e+01] [-1.61258023e-03 8.87449320e-05 9.99998696e-01 -2.98046893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35037174299998 meters Centerline goodness [0,1] 0.9898914854338331 Centerline is valid? [True, True] Translation: X:222.93, Y:-12.85, Z:-2.98 [[ 9.99735075e-01 2.28835988e-02 2.47412135e-03 2.22928012e+02] [-2.28831955e-02 9.99738127e-01 -1.91181429e-04 -1.28457322e+01] [-2.47784836e-03 1.34514977e-04 9.99996921e-01 -2.98080929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38037174299998 meters Centerline goodness [0,1] 0.9900916522169928 Centerline is valid? [True, True] Translation: X:222.96, Y:-12.85, Z:-2.98 [[ 9.99725354e-01 2.32250502e-02 3.13282769e-03 2.22956881e+02] [-2.32244079e-02 9.99730248e-01 -2.41232855e-04 -1.28461703e+01] [-3.13758525e-03 1.68408533e-04 9.99995064e-01 -2.98068475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41037174299998 meters Centerline goodness [0,1] 0.9899153610660903 Centerline is valid? [True, True] Translation: X:222.99, Y:-12.85, Z:-2.98 [[ 9.99691242e-01 2.45334166e-02 3.94099321e-03 2.22985622e+02] [-2.45324126e-02 9.99698989e-01 -3.02896337e-04 -1.28473656e+01] [-3.94723801e-03 2.06120744e-04 9.99992188e-01 -2.98004209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440371743 meters Centerline goodness [0,1] 0.9894421007512352 Centerline is valid? [True, True] Translation: X:223.01, Y:-12.85, Z:-2.98 [[ 9.99683597e-01 2.48112833e-02 4.13598975e-03 2.23014236e+02] [-2.48101813e-02 9.99692130e-01 -3.17538081e-04 -1.28485997e+01] [-4.14259493e-03 2.14822956e-04 9.99991396e-01 -2.98020274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.470371743 meters Centerline goodness [0,1] 0.9897210314877573 Centerline is valid? [True, True] Translation: X:223.04, Y:-12.85, Z:-2.98 [[ 9.99645043e-01 2.61333529e-02 5.18030179e-03 2.23041635e+02] [-2.61316443e-02 9.99658431e-01 -3.97242462e-04 -1.28512121e+01] [-5.18891364e-03 2.61731654e-04 9.99986503e-01 -2.97999566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500371743 meters Centerline goodness [0,1] 0.9905860096392054 Centerline is valid? [True, True] Translation: X:223.07, Y:-12.85, Z:-2.98 [[ 9.99632169e-01 2.66460556e-02 5.05127008e-03 2.23070972e+02] [-2.66444416e-02 9.99644899e-01 -3.86567656e-04 -1.28520201e+01] [-5.05977687e-03 2.51837194e-04 9.99987168e-01 -2.97990204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.530371743 meters Centerline goodness [0,1] 0.9900708579681364 Centerline is valid? [True, True] Translation: X:223.10, Y:-12.85, Z:-2.98 [[ 9.99580318e-01 2.85192528e-02 5.08328181e-03 2.23100428e+02] [-2.85176438e-02 9.99593214e-01 -3.88752466e-04 -1.28509490e+01] [-5.09230093e-03 2.43626093e-04 9.99987004e-01 -2.97985472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560371743 meters Centerline goodness [0,1] 0.9909353296653739 Centerline is valid? [True, True] Translation: X:223.13, Y:-12.86, Z:-2.98 [[ 9.99540986e-01 2.98458129e-02 5.20055141e-03 2.23128061e+02] [-2.98441463e-02 9.99554485e-01 -3.97785307e-04 -1.28577422e+01] [-5.21010671e-03 2.42396701e-04 9.99986398e-01 -2.98127555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.590371743 meters Centerline goodness [0,1] 0.991058929780989 Centerline is valid? [True, True] Translation: X:223.16, Y:-12.85, Z:-2.98 [[ 9.99423769e-01 3.35036625e-02 5.44375677e-03 2.23158564e+02] [-3.35018975e-02 9.99438568e-01 -4.15113396e-04 -1.28523875e+01] [-5.45460828e-03 2.32498014e-04 9.99985096e-01 -2.98084111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620371743 meters Centerline goodness [0,1] 0.9907981686551343 Centerline is valid? [True, True] Translation: X:223.19, Y:-12.85, Z:-2.98 [[ 9.99345350e-01 3.57903127e-02 5.28440200e-03 2.23187449e+02] [-3.57886791e-02 9.99359299e-01 -4.03420937e-04 -1.28533908e+01] [-5.29545484e-03 2.14035070e-04 9.99985956e-01 -2.98119978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.650371743 meters Centerline goodness [0,1] 0.9905412744388125 Centerline is valid? [True, True] Translation: X:223.22, Y:-12.85, Z:-2.98 [[ 9.99160583e-01 4.05971204e-02 5.47756046e-03 2.23216761e+02] [-4.05954415e-02 9.99175578e-01 -4.17375336e-04 -1.28542407e+01] [-5.48998888e-03 1.94660999e-04 9.99984911e-01 -2.98202190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68037174299997 meters Centerline goodness [0,1] 0.9913886628695416 Centerline is valid? [True, True] Translation: X:223.25, Y:-12.85, Z:-2.98 [[ 9.99040952e-01 4.33586086e-02 6.09971709e-03 2.23245568e+02] [-4.33565778e-02 9.99059553e-01 -4.64838744e-04 -1.28528950e+01] [-6.11413539e-03 1.99930083e-04 9.99981289e-01 -2.98146626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71037174299997 meters Centerline goodness [0,1] 0.9916378511537506 Centerline is valid? [True, True] Translation: X:223.27, Y:-12.85, Z:-2.98 [[ 9.98929645e-01 4.58158990e-02 6.36144883e-03 2.23274911e+02] [-4.58137337e-02 9.98949882e-01 -4.85761838e-04 -1.28526381e+01] [-6.37702417e-03 1.93800178e-04 9.99979648e-01 -2.98182213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74037174299997 meters Centerline goodness [0,1] 0.9926936301121969 Centerline is valid? [True, True] Translation: X:223.31, Y:-12.85, Z:-2.98 [[ 9.98630387e-01 5.18097979e-02 7.28667662e-03 2.23305465e+02] [-5.18071453e-02 9.98656955e-01 -5.52443211e-04 -1.28508299e+01] [-7.30551226e-03 1.74184663e-04 9.99973299e-01 -2.98172904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77037174299997 meters Centerline goodness [0,1] 0.993209135975734 Centerline is valid? [True, True] Translation: X:223.33, Y:-12.85, Z:-2.98 [[ 9.98476221e-01 5.46553401e-02 7.61778662e-03 2.23333340e+02] [-5.46525180e-02 9.98505267e-01 -5.78297447e-04 -1.28527671e+01] [-7.63800711e-03 1.61085028e-04 9.99970817e-01 -2.98217474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80037174299997 meters Centerline goodness [0,1] 0.9933836358280652 Centerline is valid? [True, True] Translation: X:223.36, Y:-12.85, Z:-2.98 [[ 9.98215823e-01 5.92122604e-02 7.68625768e-03 2.23362596e+02] [-5.92095242e-02 9.98245407e-01 -5.83246559e-04 -1.28534073e+01] [-7.70730677e-03 1.27106283e-04 9.99970290e-01 -2.98237636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83037174299997 meters Centerline goodness [0,1] 0.9936998594932692 Centerline is valid? [True, True] Translation: X:223.39, Y:-12.86, Z:-2.98 [[ 9.98077061e-01 6.14807231e-02 7.89314709e-03 2.23390652e+02] [-6.14779326e-02 9.98108265e-01 -5.95906547e-04 -1.28559422e+01] [-7.91485211e-03 1.09506290e-04 9.99968671e-01 -2.98294112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86037174299997 meters Centerline goodness [0,1] 0.9940691778341181 Centerline is valid? [True, True] Translation: X:223.42, Y:-12.86, Z:-2.98 [[ 9.97969655e-01 6.31716967e-02 8.11821337e-03 2.23418960e+02] [-6.31687973e-02 9.98002669e-01 -6.13317184e-04 -1.28578592e+01] [-8.14074290e-03 9.92541631e-05 9.99966859e-01 -2.98317509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89037174299997 meters Centerline goodness [0,1] 0.994438164141985 Centerline is valid? [True, True] Translation: X:223.45, Y:-12.86, Z:-2.98 [[ 9.97799053e-01 6.58295221e-02 7.97013587e-03 2.23447972e+02] [-6.58268284e-02 9.97830882e-01 -6.00113281e-04 -1.28621522e+01] [-7.99235287e-03 7.41436979e-05 9.99968058e-01 -2.98388421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92037174299998 meters Centerline goodness [0,1] 0.9946025293586269 Centerline is valid? [True, True] Translation: X:223.48, Y:-12.87, Z:-2.98 [[ 9.97757372e-01 6.64412622e-02 8.11082740e-03 2.23475663e+02] [-6.64385174e-02 9.97790336e-01 -6.07681857e-04 -1.28668183e+01] [-8.13328035e-03 6.74477057e-05 9.99966922e-01 -2.98492771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95037174299998 meters Centerline goodness [0,1] 0.9942919026239199 Centerline is valid? [True, True] Translation: X:223.50, Y:-12.87, Z:-2.98 [[ 9.97789463e-01 6.58791346e-02 8.72504575e-03 2.23503485e+02] [-6.58759329e-02 9.97827607e-01 -6.54158176e-04 -1.28748284e+01] [-8.74918690e-03 7.79416070e-05 9.99961722e-01 -2.98495791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98037174299998 meters Centerline goodness [0,1] 0.9943563799887577 Centerline is valid? [True, True] Translation: X:223.53, Y:-12.88, Z:-2.98 [[ 9.97863342e-01 6.45625185e-02 1.00216091e-02 2.23530561e+02] [-6.45582723e-02 9.97913659e-01 -7.46957301e-04 -1.28809614e+01] [-1.00489261e-02 9.83835391e-05 9.99949503e-01 -2.98490096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01037174299998 meters Centerline goodness [0,1] 0.9937311093697526 Centerline is valid? [True, True] Translation: X:223.56, Y:-12.89, Z:-2.99 [[ 9.97972046e-01 6.27849926e-02 1.04804670e-02 2.23558636e+02] [-6.27802586e-02 9.98027069e-01 -7.80406219e-04 -1.28874143e+01] [-1.05087876e-02 1.20857161e-04 9.99944774e-01 -2.98512183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04037174299998 meters Centerline goodness [0,1] 0.9939074924403629 Centerline is valid? [True, True] Translation: X:223.59, Y:-12.89, Z:-2.99 [[ 9.98063259e-01 6.12379757e-02 1.09380535e-02 2.23586053e+02] [-6.12327667e-02 9.98123184e-01 -8.10807299e-04 -1.28946672e+01] [-1.09671770e-02 1.39469699e-04 9.99939849e-01 -2.98588301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07037174299998 meters Centerline goodness [0,1] 0.9929901326070456 Centerline is valid? [True, True] Translation: X:223.61, Y:-12.91, Z:-2.99 [[ 9.98243103e-01 5.82188456e-02 1.10124196e-02 2.23613728e+02] [-5.82133937e-02 9.98303830e-01 -8.15242137e-04 -1.29063335e+01] [-1.10412031e-02 1.72739523e-04 9.99939029e-01 -2.98694394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10037174299998 meters Centerline goodness [0,1] 0.9916961642066832 Centerline is valid? [True, True] Translation: X:223.64, Y:-12.92, Z:-2.99 [[ 9.98339860e-01 5.66334781e-02 1.04963373e-02 2.23640769e+02] [-5.66284416e-02 9.98395020e-01 -7.76652057e-04 -1.29155053e+01] [-1.05234754e-02 1.80971481e-04 9.99944610e-01 -2.98904661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13037174299998 meters Centerline goodness [0,1] 0.9916961642066832 Centerline is valid? [True, True] Translation: X:223.67, Y:-12.92, Z:-2.99 [[ 9.98345344e-01 5.65366977e-02 1.04964495e-02 2.23668163e+02] [-5.65316719e-02 9.98400505e-01 -7.75132060e-04 -1.29174262e+01] [-1.05234839e-02 1.80467643e-04 9.99944610e-01 -2.98947486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16037174299998 meters Centerline goodness [0,1] 0.9909643903738566 Centerline is valid? [True, True] Translation: X:223.70, Y:-12.93, Z:-2.99 [[ 9.98510349e-01 5.36491710e-02 9.94231559e-03 2.23696216e+02] [-5.36445292e-02 9.98559826e-01 -7.33168043e-04 -1.29272381e+01] [-9.96733079e-03 1.98725040e-04 9.99950305e-01 -2.99006484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.190371743 meters Centerline goodness [0,1] 0.9915940361898863 Centerline is valid? [True, True] Translation: X:223.72, Y:-12.93, Z:-2.99 [[ 9.98583395e-01 5.21609246e-02 1.05090806e-02 2.23724467e+02] [-5.21556643e-02 9.98638667e-01 -7.74170323e-04 -1.29340860e+01] [-1.05351557e-02 2.24965549e-04 9.99944478e-01 -2.99053629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220371743 meters Centerline goodness [0,1] 0.9911004129585054 Centerline is valid? [True, True] Translation: X:223.75, Y:-12.94, Z:-2.99 [[ 9.98658180e-01 5.05950283e-02 1.10445340e-02 2.23753225e+02] [-5.05891319e-02 9.98719219e-01 -8.12778427e-04 -1.29416059e+01] [-1.10715109e-02 2.52954438e-04 9.99938677e-01 -2.99083785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.250371743 meters Centerline goodness [0,1] 0.9900248280711006 Centerline is valid? [True, True] Translation: X:223.78, Y:-12.95, Z:-2.99 [[ 9.98767398e-01 4.81006976e-02 1.22477230e-02 2.23781582e+02] [-4.80932711e-02 9.98842443e-01 -9.00334151e-04 -1.29545216e+01] [-1.22768523e-02 3.10191336e-04 9.99924588e-01 -2.99064709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280371743 meters Centerline goodness [0,1] 0.9890179606659228 Centerline is valid? [True, True] Translation: X:223.81, Y:-12.96, Z:-2.99 [[ 9.98814613e-01 4.69974588e-02 1.26731292e-02 2.23809296e+02] [-4.69894299e-02 9.98894953e-01 -9.30720956e-04 -1.29615104e+01] [-1.27028663e-02 3.34114575e-04 9.99919260e-01 -2.99145528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.310371743 meters Centerline goodness [0,1] 0.9885152838427947 Centerline is valid? [True, True] Translation: X:223.84, Y:-12.97, Z:-2.99 [[ 9.98861699e-01 4.62061952e-02 1.18445349e-02 2.23837289e+02] [-4.61991383e-02 9.98931872e-01 -8.68860467e-04 -1.29716250e+01] [-1.18720302e-02 3.20664136e-04 9.99929474e-01 -2.99215538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340371743 meters Centerline goodness [0,1] 0.98648981098036 Centerline is valid? [True, True] Translation: X:223.86, Y:-12.99, Z:-3.00 [[ 9.98770528e-01 4.82840224e-02 1.12287544e-02 2.23864270e+02] [-4.82778190e-02 9.98833607e-01 -8.23020825e-04 -1.29878398e+01] [-1.12553960e-02 2.79909174e-04 9.99936617e-01 -2.99552026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.370371743 meters Centerline goodness [0,1] 0.9888449160650604 Centerline is valid? [True, True] Translation: X:223.89, Y:-12.99, Z:-2.99 [[ 9.98903400e-01 4.55251288e-02 1.09297502e-02 2.23892946e+02] [-4.55190974e-02 9.98963148e-01 -8.00097712e-04 -1.29887010e+01] [-1.09548422e-02 3.01707963e-04 9.99939948e-01 -2.99499952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400371743 meters Centerline goodness [0,1] 0.9873225701592805 Centerline is valid? [True, True] Translation: X:223.92, Y:-13.00, Z:-3.00 [[ 9.98938644e-01 4.47625902e-02 1.08579812e-02 2.23921037e+02] [-4.47566011e-02 9.98997606e-01 -7.94076414e-04 -1.29957969e+01] [-1.08826422e-02 3.07267281e-04 9.99940735e-01 -2.99648649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43037174299997 meters Centerline goodness [0,1] 0.9875597672053829 Centerline is valid? [True, True] Translation: X:223.95, Y:-13.00, Z:-3.00 [[ 9.98985948e-01 4.38158077e-02 1.03562237e-02 2.23949455e+02] [-4.38103156e-02 9.99039581e-01 -7.56700945e-04 -1.30023375e+01] [-1.03794328e-02 3.02224184e-04 9.99946087e-01 -2.99708271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46037174299997 meters Centerline goodness [0,1] 0.987042107759643 Centerline is valid? [True, True] Translation: X:223.98, Y:-13.02, Z:-3.00 [[ 9.99096550e-01 4.13237813e-02 9.92111229e-03 2.23976543e+02] [-4.13186238e-02 9.99145758e-01 -7.24341727e-04 -1.30152895e+01] [-9.94256980e-03 3.13760614e-04 9.99950522e-01 -2.99846539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49037174299997 meters Centerline goodness [0,1] 0.9858706638852448 Centerline is valid? [True, True] Translation: X:224.00, Y:-13.02, Z:-3.00 [[ 9.99151075e-01 3.99771339e-02 9.94775441e-03 2.24004390e+02] [-3.99718909e-02 9.99200541e-01 -7.25397333e-04 -1.30224108e+01] [-9.96880089e-03 3.27150972e-04 9.99950257e-01 -2.99913963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52037174299997 meters Centerline goodness [0,1] 0.9856147400820794 Centerline is valid? [True, True] Translation: X:224.03, Y:-13.03, Z:-3.00 [[ 9.99211291e-01 3.85075619e-02 9.69349582e-03 2.24033037e+02] [-3.85025233e-02 9.99258254e-01 -7.05937999e-04 -1.30294266e+01] [-9.71348966e-03 3.32157170e-04 9.99952768e-01 -2.99967907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55037174299997 meters Centerline goodness [0,1] 0.9863028357410379 Centerline is valid? [True, True] Translation: X:224.06, Y:-13.04, Z:-3.00 [[ 9.99319699e-01 3.54196120e-02 1.02757253e-02 2.24061574e+02] [-3.54137948e-02 9.99372455e-01 -7.47566869e-04 -1.30379595e+01] [-1.02957553e-02 3.83155871e-04 9.99946924e-01 -2.99937314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58037174299997 meters Centerline goodness [0,1] 0.987037155874992 Centerline is valid? [True, True] Translation: X:224.09, Y:-13.05, Z:-3.00 [[ 9.99354301e-01 3.43089970e-02 1.06711609e-02 2.24088829e+02] [-3.43026674e-02 9.99411189e-01 -7.75667847e-04 -1.30463976e+01] [-1.06914900e-02 4.09117716e-04 9.99942761e-01 -2.99980084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61037174299997 meters Centerline goodness [0,1] 0.9866037090846936 Centerline is valid? [True, True] Translation: X:224.12, Y:-13.06, Z:-3.00 [[ 9.99418660e-01 3.25180577e-02 1.02429238e-02 2.24116694e+02] [-3.25121428e-02 9.99471064e-01 -7.43485015e-04 -1.30552905e+01] [-1.02616826e-02 4.10033396e-04 9.99947263e-01 -3.00001980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64037174299997 meters Centerline goodness [0,1] 0.9868342309994016 Centerline is valid? [True, True] Translation: X:224.14, Y:-13.06, Z:-3.00 [[ 9.99415020e-01 3.25231200e-02 1.05766315e-02 2.24144961e+02] [-3.25168251e-02 9.99470894e-01 -7.66638405e-04 -1.30605882e+01] [-1.05959688e-02 4.22271460e-04 9.99943772e-01 -3.00020551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67037174299998 meters Centerline goodness [0,1] 0.986320956039266 Centerline is valid? [True, True] Translation: X:224.17, Y:-13.07, Z:-3.00 [[ 9.99425010e-01 3.22107146e-02 1.05886466e-02 2.24173404e+02] [-3.22043959e-02 9.99481010e-01 -7.66753329e-04 -1.30658561e+01] [-1.06078488e-02 4.25311488e-04 9.99943645e-01 -3.00084738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70037174299998 meters Centerline goodness [0,1] 0.9861867869913162 Centerline is valid? [True, True] Translation: X:224.20, Y:-13.07, Z:-3.00 [[ 9.99416764e-01 3.22890452e-02 1.11152862e-02 2.24200285e+02] [-3.22820956e-02 9.99478474e-01 -8.04122259e-04 -1.30735007e+01] [-1.11354536e-02 4.44828534e-04 9.99937900e-01 -3.00076178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73037174299998 meters Centerline goodness [0,1] 0.9852762566320769 Centerline is valid? [True, True] Translation: X:224.23, Y:-13.08, Z:-3.00 [[ 9.99398501e-01 3.27322991e-02 1.14556937e-02 2.24228782e+02] [-3.27249592e-02 9.99464052e-01 -8.27629544e-04 -1.30767680e+01] [-1.14766442e-02 4.52244617e-04 9.99934039e-01 -3.00074007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76037174299998 meters Centerline goodness [0,1] 0.985482839479855 Centerline is valid? [True, True] Translation: X:224.26, Y:-13.08, Z:-3.00 [[ 9.99347065e-01 3.38843220e-02 1.25417819e-02 2.24256813e+02] [-3.38756274e-02 9.99425646e-01 -9.05107306e-04 -1.30829929e+01] [-1.25652474e-02 4.79655601e-04 9.99920939e-01 -3.00000718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79037174299998 meters Centerline goodness [0,1] 0.986380537554446 Centerline is valid? [True, True] Translation: X:224.29, Y:-13.09, Z:-3.00 [[ 9.99318869e-01 3.47053921e-02 1.25432697e-02 2.24285749e+02] [-3.46967709e-02 9.99397477e-01 -9.04341580e-04 -1.30850671e+01] [-1.25670976e-02 4.68514650e-04 9.99920921e-01 -3.00041229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82037174299998 meters Centerline goodness [0,1] 0.9864336970829264 Centerline is valid? [True, True] Translation: X:224.31, Y:-13.09, Z:-3.00 [[ 9.99308044e-01 3.51918711e-02 1.20401366e-02 2.24314924e+02] [-3.51839734e-02 9.99380476e-01 -8.67204967e-04 -1.30877552e+01] [-1.20631960e-02 4.42985055e-04 9.99927139e-01 -3.00090853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85037174299998 meters Centerline goodness [0,1] 0.9862017804154303 Centerline is valid? [True, True] Translation: X:224.34, Y:-13.09, Z:-3.00 [[ 9.99284981e-01 3.58834617e-02 1.19123614e-02 2.24342656e+02] [-3.58757856e-02 9.99355889e-01 -8.57511709e-04 -1.30924738e+01] [-1.19354590e-02 4.29533250e-04 9.99928678e-01 -3.00167825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88037174299998 meters Centerline goodness [0,1] 0.9858277724817286 Centerline is valid? [True, True] Translation: X:224.37, Y:-13.10, Z:-3.00 [[ 9.99219258e-01 3.75848936e-02 1.21757938e-02 2.24370290e+02] [-3.75770146e-02 9.99293351e-01 -8.75311833e-04 -1.30982766e+01] [-1.22000883e-02 4.17098458e-04 9.99925489e-01 -3.00254070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91037174299998 meters Centerline goodness [0,1] 0.9869447270261106 Centerline is valid? [True, True] Translation: X:224.40, Y:-13.10, Z:-3.00 [[ 9.99169442e-01 3.87756809e-02 1.25248708e-02 2.24398846e+02] [-3.87674518e-02 9.99247855e-01 -8.99231677e-04 -1.30999592e+01] [-1.25503186e-02 4.12927487e-04 9.99921156e-01 -3.00246578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940371743 meters Centerline goodness [0,1] 0.9867506147714746 Centerline is valid? [True, True] Translation: X:224.43, Y:-13.10, Z:-3.00 [[ 9.99005893e-01 4.24074594e-02 1.37416373e-02 2.24429011e+02] [-4.23979121e-02 9.99100318e-01 -9.85486043e-04 -1.31023390e+01] [-1.37710662e-02 4.01889634e-04 9.99905094e-01 -3.00190433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.970371743 meters Centerline goodness [0,1] 0.9872085870049426 Centerline is valid? [True, True] Translation: X:224.46, Y:-13.10, Z:-3.00 [[ 9.98897394e-01 4.47248732e-02 1.42716990e-02 2.24458048e+02] [-4.47148216e-02 9.98999269e-01 -1.02277705e-03 -1.31027680e+01] [-1.43031604e-02 3.83492862e-04 9.99897631e-01 -3.00161897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000371743 meters Centerline goodness [0,1] 0.9858769641834723 Centerline is valid? [True, True] Translation: X:224.49, Y:-13.11, Z:-3.00 [[ 9.98609207e-01 5.06627227e-02 1.45924919e-02 2.24486659e+02] [-5.06528636e-02 9.98715773e-01 -1.04466663e-03 -1.31053372e+01] [-1.46266775e-02 3.04062212e-04 9.99892978e-01 -3.00248994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.030371743 meters Centerline goodness [0,1] 0.9871653208669783 Centerline is valid? [True, True] Translation: X:224.51, Y:-13.11, Z:-3.00 [[ 9.98449290e-01 5.36641470e-02 1.48045463e-02 2.24514049e+02] [-5.36543407e-02 9.98559007e-01 -1.05906183e-03 -1.31074182e+01] [-1.48400467e-02 2.63091365e-04 9.99889846e-01 -3.00320307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060371743 meters Centerline goodness [0,1] 0.9862003179650238 Centerline is valid? [True, True] Translation: X:224.54, Y:-13.11, Z:-3.00 [[ 9.98275892e-01 5.68222365e-02 1.47131340e-02 2.24543121e+02] [-5.68129130e-02 9.98384289e-01 -1.05121800e-03 -1.31083452e+01] [-1.47490944e-02 2.13509585e-04 9.99891203e-01 -3.00398790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.090371743 meters Centerline goodness [0,1] 0.9872486201865127 Centerline is valid? [True, True] Translation: X:224.57, Y:-13.11, Z:-3.00 [[ 9.97908864e-01 6.27310505e-02 1.55792912e-02 2.24571065e+02] [-6.27213350e-02 9.98030459e-01 -1.11192695e-03 -1.31106564e+01] [-1.56183595e-02 1.32447825e-04 9.99878017e-01 -3.00449372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120371743 meters Centerline goodness [0,1] 0.9876185235353877 Centerline is valid? [True, True] Translation: X:224.60, Y:-13.11, Z:-3.01 [[ 9.97708486e-01 6.57246400e-02 1.60639002e-02 2.24599735e+02] [-6.57147218e-02 9.97837795e-01 -1.14506456e-03 -1.31133637e+01] [-1.61044257e-02 8.68058904e-05 9.99870312e-01 -3.00513211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.150371743 meters Centerline goodness [0,1] 0.9879978869519281 Centerline is valid? [True, True] Translation: X:224.63, Y:-13.12, Z:-3.01 [[ 9.97371274e-01 7.05338120e-02 1.65988758e-02 2.24627012e+02] [-7.05239082e-02 9.97509389e-01 -1.18198404e-03 -1.31174221e+01] [-1.66409043e-02 8.25933618e-06 9.99861531e-01 -3.00536540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18037174299997 meters Centerline goodness [0,1] 0.9872634110634738 Centerline is valid? [True, True] Translation: X:224.65, Y:-13.12, Z:-3.01 [[ 9.97204972e-01 7.28893724e-02 1.64128978e-02 2.24653621e+02] [-7.28800319e-02 9.97340031e-01 -1.16730471e-03 -1.31205855e+01] [-1.64543241e-02 -3.21304504e-05 9.99864618e-01 -3.00636258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21037174299997 meters Centerline goodness [0,1] 0.9877583869874619 Centerline is valid? [True, True] Translation: X:224.68, Y:-13.12, Z:-3.01 [[ 9.97097791e-01 7.42700870e-02 1.67316854e-02 2.24681870e+02] [-7.42606076e-02 9.97238162e-01 -1.18799970e-03 -1.31249428e+01] [-1.67737080e-02 -5.79532417e-05 9.99859310e-01 -3.00703157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24037174299997 meters Centerline goodness [0,1] 0.9877836317457652 Centerline is valid? [True, True] Translation: X:224.71, Y:-13.13, Z:-3.01 [[ 9.96913439e-01 7.66678962e-02 1.69005555e-02 2.24709023e+02] [-7.66585889e-02 9.97056680e-01 -1.19880712e-03 -1.31329126e+01] [-1.69427218e-02 -1.00465812e-04 9.99856457e-01 -3.00736954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27037174299997 meters Centerline goodness [0,1] 0.987749335807363 Centerline is valid? [True, True] Translation: X:224.74, Y:-13.14, Z:-3.01 [[ 9.96935168e-01 7.62885226e-02 1.73300646e-02 2.24735910e+02] [-7.62787059e-02 9.97085780e-01 -1.22772132e-03 -1.31389163e+01] [-1.73732220e-02 -9.79563436e-05 9.99849069e-01 -3.00814449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30037174299997 meters Centerline goodness [0,1] 0.9871035276876374 Centerline is valid? [True, True] Translation: X:224.76, Y:-13.15, Z:-3.01 [[ 9.97029385e-01 7.47954531e-02 1.83859978e-02 2.24763206e+02] [-7.47841896e-02 9.97198894e-01 -1.30036690e-03 -1.31507478e+01] [-1.84317582e-02 -7.84779335e-05 9.99830118e-01 -3.00838444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33037174299997 meters Centerline goodness [0,1] 0.9858770123155816 Centerline is valid? [True, True] Translation: X:224.79, Y:-13.16, Z:-3.01 [[ 9.97130882e-01 7.33568870e-02 1.86754385e-02 2.24791217e+02] [-7.33450421e-02 9.97305753e-01 -1.31931846e-03 -1.31583056e+01] [-1.87219034e-02 -5.42176467e-05 9.99824728e-01 -3.00914875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36037174299997 meters Centerline goodness [0,1] 0.9856888049522611 Centerline is valid? [True, True] Translation: X:224.82, Y:-13.17, Z:-3.01 [[ 9.97352700e-01 7.03167840e-02 1.85241087e-02 2.24819496e+02] [-7.03046295e-02 9.97524711e-01 -1.30735712e-03 -1.31713505e+01] [-1.85701853e-02 1.56556258e-06 9.99827559e-01 -3.00971827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39037174299997 meters Centerline goodness [0,1] 0.9860004172751929 Centerline is valid? [True, True] Translation: X:224.85, Y:-13.18, Z:-3.01 [[ 9.97488973e-01 6.83628259e-02 1.85005916e-02 2.24846822e+02] [-6.83503910e-02 9.97660525e-01 -1.30435880e-03 -1.31794508e+01] [-1.85464796e-02 3.65608476e-05 9.99827999e-01 -3.01057853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42037174299998 meters Centerline goodness [0,1] 0.9848538511218984 Centerline is valid? [True, True] Translation: X:224.88, Y:-13.19, Z:-3.01 [[ 9.97646392e-01 6.60880527e-02 1.82769196e-02 2.24875262e+02] [-6.60755642e-02 9.97813792e-01 -1.28698791e-03 -1.31882412e+01] [-1.83220170e-02 7.63010720e-05 9.99832135e-01 -3.01094854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45037174299998 meters Centerline goodness [0,1] 0.9855961478069716 Centerline is valid? [True, True] Translation: X:224.90, Y:-13.20, Z:-3.01 [[ 9.97974520e-01 6.06306594e-02 1.92556749e-02 2.24904299e+02] [-6.06158057e-02 9.98160252e-01 -1.35465172e-03 -1.32031432e+01] [-1.93023828e-02 1.84709648e-04 9.99813675e-01 -3.01103100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48037174299998 meters Centerline goodness [0,1] 0.9857009442772647 Centerline is valid? [True, True] Translation: X:224.93, Y:-13.21, Z:-3.01 [[ 9.98129874e-01 5.79147623e-02 1.95610391e-02 2.24933197e+02] [-5.78989249e-02 9.98321503e-01 -1.37548378e-03 -1.32137424e+01] [-1.96078668e-02 2.40348315e-04 9.99807718e-01 -3.01071457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51037174299998 meters Centerline goodness [0,1] 0.9859601824968892 Centerline is valid? [True, True] Translation: X:224.96, Y:-13.23, Z:-3.01 [[ 9.98394758e-01 5.34029193e-02 1.88689085e-02 2.24963163e+02] [-5.33873824e-02 9.98572996e-01 -1.32654235e-03 -1.32262134e+01] [-1.89128237e-02 3.17051298e-04 9.99821086e-01 -3.01126106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54037174299998 meters Centerline goodness [0,1] 0.9870877281098276 Centerline is valid? [True, True] Translation: X:224.99, Y:-13.23, Z:-3.01 [[ 9.98477586e-01 5.18623390e-02 1.87831930e-02 2.24992866e+02] [-5.18466658e-02 9.98654184e-01 -1.32076089e-03 -1.32339552e+01] [-1.88264121e-02 3.44904212e-04 9.99822708e-01 -3.01170618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57037174299998 meters Centerline goodness [0,1] 0.9880494735082734 Centerline is valid? [True, True] Translation: X:225.02, Y:-13.24, Z:-3.01 [[ 9.98563924e-01 5.03603328e-02 1.82736509e-02 2.25024301e+02] [-5.03452244e-02 9.98731047e-01 -1.28616737e-03 -1.32394863e+01] [-1.83152344e-02 3.64329279e-04 9.99832196e-01 -3.01243619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60037174299998 meters Centerline goodness [0,1] 0.9888596271214781 Centerline is valid? [True, True] Translation: X:225.05, Y:-13.25, Z:-3.01 [[ 9.98646218e-01 4.89059595e-02 1.77182797e-02 2.25054854e+02] [-4.88915079e-02 9.98803315e-01 -1.24814205e-03 -1.32524552e+01] [-1.77581181e-02 3.80178926e-04 9.99842240e-01 -3.01228779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63037174299998 meters Centerline goodness [0,1] 0.988635890604837 Centerline is valid? [True, True] Translation: X:225.09, Y:-13.26, Z:-3.01 [[ 9.98654924e-01 4.88138755e-02 1.74799274e-02 2.25086110e+02] [-4.87997318e-02 9.98807820e-01 -1.23501878e-03 -1.32584313e+01] [-1.75193742e-02 3.80341813e-04 9.99846452e-01 -3.01315304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66037174299998 meters Centerline goodness [0,1] 0.9897448724362181 Centerline is valid? [True, True] Translation: X:225.12, Y:-13.26, Z:-3.01 [[ 9.98688101e-01 4.84938026e-02 1.64447010e-02 2.25117743e+02] [-4.84812326e-02 9.98823417e-01 -1.16240941e-03 -1.32612974e+01] [-1.64817221e-02 3.63625072e-04 9.99864101e-01 -3.01395889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.690371743 meters Centerline goodness [0,1] 0.9897806268992215 Centerline is valid? [True, True] Translation: X:225.15, Y:-13.27, Z:-3.01 [[ 9.98664136e-01 4.92298375e-02 1.56960814e-02 2.25148661e+02] [-4.92184681e-02 9.98787420e-01 -1.11005750e-03 -1.32700364e+01] [-1.57316966e-02 3.36037534e-04 9.99876193e-01 -3.01438376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720371743 meters Centerline goodness [0,1] 0.9910475043100763 Centerline is valid? [True, True] Translation: X:225.18, Y:-13.28, Z:-3.01 [[ 9.98590450e-01 5.07425567e-02 1.55661940e-02 2.25179753e+02] [-5.07315233e-02 9.98711718e-01 -1.10311219e-03 -1.32760052e+01] [-1.56021151e-02 3.11860563e-04 9.99878231e-01 -3.01472677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.750371743 meters Centerline goodness [0,1] 0.9913650714001966 Centerline is valid? [True, True] Translation: X:225.21, Y:-13.28, Z:-3.01 [[ 9.98535418e-01 5.17662483e-02 1.57249805e-02 2.25211189e+02] [-5.17551068e-02 9.98659184e-01 -1.11492089e-03 -1.32792871e+01] [-1.57616115e-02 2.99439956e-04 9.99875733e-01 -3.01455848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780371743 meters Centerline goodness [0,1] 0.9924855852292833 Centerline is valid? [True, True] Translation: X:225.24, Y:-13.28, Z:-3.01 [[ 9.98463695e-01 5.30918819e-02 1.58587903e-02 2.25240971e+02] [-5.30807077e-02 9.98589592e-01 -1.12499742e-03 -1.32834104e+01] [-1.58961511e-02 2.81473273e-04 9.99873609e-01 -3.01417883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.810371743 meters Centerline goodness [0,1] 0.9920639854126521 Centerline is valid? [True, True] Translation: X:225.27, Y:-13.29, Z:-3.01 [[ 9.98387555e-01 5.43672441e-02 1.63246193e-02 2.25271827e+02] [-5.43555501e-02 9.98520971e-01 -1.15951404e-03 -1.32869419e+01] [-1.63635143e-02 2.70310721e-04 9.99866072e-01 -3.01438806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840371743 meters Centerline goodness [0,1] 0.9930871271096718 Centerline is valid? [True, True] Translation: X:225.30, Y:-13.29, Z:-3.01 [[ 9.98223790e-01 5.70469717e-02 1.71728736e-02 2.25302207e+02] [-5.70344217e-02 9.98371467e-01 -1.22007846e-03 -1.32920668e+01] [-1.72145088e-02 2.38466428e-04 9.99851791e-01 -3.01370969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.870371743 meters Centerline goodness [0,1] 0.9928054562089329 Centerline is valid? [True, True] Translation: X:225.33, Y:-13.30, Z:-3.01 [[ 9.98154175e-01 5.80780838e-02 1.77533077e-02 2.25333436e+02] [-5.80648277e-02 9.98312017e-01 -1.26167058e-03 -1.32960135e+01] [-1.77966158e-02 2.28499002e-04 9.99841602e-01 -3.01363397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900371743 meters Centerline goodness [0,1] 0.9932824680709902 Centerline is valid? [True, True] Translation: X:225.36, Y:-13.30, Z:-3.01 [[ 9.98049184e-01 5.95473357e-02 1.87600916e-02 2.25363959e+02] [-5.95327812e-02 9.98225460e-01 -1.33383290e-03 -1.33010492e+01] [-1.88062272e-02 2.14390415e-04 9.99823124e-01 -3.01257035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93037174299997 meters Centerline goodness [0,1] 0.993854367123968 Centerline is valid? [True, True] Translation: X:225.39, Y:-13.30, Z:-3.01 [[ 9.98018848e-01 5.98827445e-02 1.92985919e-02 2.25394680e+02] [-5.98673974e-02 9.98205395e-01 -1.37251661e-03 -1.33048605e+01] [-1.93461486e-02 2.14440980e-04 9.99812823e-01 -3.01253045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96037174299997 meters Centerline goodness [0,1] 0.9935957415840143 Centerline is valid? [True, True] Translation: X:225.43, Y:-13.31, Z:-3.01 [[ 9.98004862e-01 6.00500992e-02 1.95008092e-02 2.25426330e+02] [-6.00344313e-02 9.98195341e-01 -1.38840322e-03 -1.33079262e+01] [-1.95489906e-02 2.14913177e-04 9.99808877e-01 -3.01328880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99037174299997 meters Centerline goodness [0,1] 0.9942920234152032 Centerline is valid? [True, True] Translation: X:225.46, Y:-13.32, Z:-3.01 [[ 9.98032495e-01 5.98127404e-02 1.88035894e-02 2.25457400e+02] [-5.97980505e-02 9.98209592e-01 -1.34302145e-03 -1.33168727e+01] [-1.88502531e-02 2.15961065e-04 9.99822295e-01 -3.01336697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02037174299997 meters Centerline goodness [0,1] 0.994091457579162 Centerline is valid? [True, True] Translation: X:225.49, Y:-13.32, Z:-3.01 [[ 9.98067947e-01 5.92667406e-02 1.86501024e-02 2.25489714e+02] [-5.92521295e-02 9.98242156e-01 -1.33552213e-03 -1.33210437e+01] [-1.86964705e-02 2.27883543e-04 9.99825180e-01 -3.01464090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05037174299997 meters Centerline goodness [0,1] 0.994091457579162 Centerline is valid? [True, True] Translation: X:225.52, Y:-13.32, Z:-3.02 [[ 9.98053434e-01 5.95107413e-02 1.86497748e-02 2.25521329e+02] [-5.94960876e-02 9.98227639e-01 -1.34008242e-03 -1.33233578e+01] [-1.86964700e-02 2.27885220e-04 9.99825180e-01 -3.01513414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08037174299997 meters Centerline goodness [0,1] 0.9944268840459158 Centerline is valid? [True, True] Translation: X:225.55, Y:-13.33, Z:-3.02 [[ 9.98098571e-01 5.89010791e-02 1.81632945e-02 2.25552810e+02] [-5.88869995e-02 9.98263796e-01 -1.30949550e-03 -1.33286062e+01] [-1.82088900e-02 2.37423672e-04 9.99834176e-01 -3.01570517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11037174299997 meters Centerline goodness [0,1] 0.9951924073191454 Centerline is valid? [True, True] Translation: X:225.58, Y:-13.34, Z:-3.02 [[ 9.98244263e-01 5.64541263e-02 1.79254965e-02 2.25583520e+02] [-5.64399403e-02 9.98405154e-01 -1.29669947e-03 -1.33375804e+01] [-1.79701121e-02 2.82708855e-04 9.99838485e-01 -3.01611803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14037174299997 meters Centerline goodness [0,1] 0.9953480644625353 Centerline is valid? [True, True] Translation: X:225.62, Y:-13.34, Z:-3.02 [[ 9.98318517e-01 5.53496537e-02 1.72207425e-02 2.25615101e+02] [-5.53363311e-02 9.98466989e-01 -1.24954469e-03 -1.33433156e+01] [-1.72635048e-02 2.94510894e-04 9.99850931e-01 -3.01690947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17037174299998 meters Centerline goodness [0,1] 0.996524091997086 Centerline is valid? [True, True] Translation: X:225.65, Y:-13.35, Z:-3.02 [[ 9.98475867e-01 5.27632973e-02 1.61857068e-02 2.25646814e+02] [-5.27511278e-02 9.98606995e-01 -1.17818347e-03 -1.33521410e+01] [-1.62253249e-02 3.22573469e-04 9.99868309e-01 -3.01860899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20037174299998 meters Centerline goodness [0,1] 0.9959662249717844 Centerline is valid? [True, True] Translation: X:225.68, Y:-13.36, Z:-3.02 [[ 9.98558008e-01 5.13424055e-02 1.56800117e-02 2.25678976e+02] [-5.13307508e-02 9.98681052e-01 -1.14510372e-03 -1.33572278e+01] [-1.57181229e-02 3.38585719e-04 9.99876405e-01 -3.02017695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23037174299998 meters Centerline goodness [0,1] 0.9962381011763728 Centerline is valid? [True, True] Translation: X:225.71, Y:-13.36, Z:-3.02 [[ 9.98632421e-01 5.00394901e-02 1.51438956e-02 2.25709825e+02] [-5.00284128e-02 9.98747179e-01 -1.10966086e-03 -1.33637412e+01] [-1.51804498e-02 3.50518253e-04 9.99884709e-01 -3.02125191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26037174299998 meters Centerline goodness [0,1] 0.9965652907013052 Centerline is valid? [True, True] Translation: X:225.74, Y:-13.37, Z:-3.02 [[ 9.98792201e-01 4.70355265e-02 1.42055733e-02 2.25741681e+02] [-4.70254492e-02 9.98893147e-01 -1.04277464e-03 -1.33709017e+01] [-1.42388973e-02 3.73491710e-04 9.99898552e-01 -3.02267676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29037174299998 meters Centerline goodness [0,1] 0.996751749863783 Centerline is valid? [True, True] Translation: X:225.77, Y:-13.38, Z:-3.02 [[ 9.98846269e-01 4.59265870e-02 1.40314115e-02 2.25773896e+02] [-4.59166356e-02 9.98944743e-01 -1.03072165e-03 -1.33761414e+01] [-1.40639423e-02 3.85257259e-04 9.99901024e-01 -3.02304978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32037174299998 meters Centerline goodness [0,1] 0.997164067061473 Centerline is valid? [True, True] Translation: X:225.80, Y:-13.39, Z:-3.02 [[ 9.99026836e-01 4.21290209e-02 1.30585566e-02 2.25804118e+02] [-4.21200305e-02 9.99112094e-01 -9.62850997e-04 -1.33853020e+01] [-1.30875258e-02 4.11887184e-04 9.99914270e-01 -3.02358678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35037174299998 meters Centerline goodness [0,1] 0.996984694726335 Centerline is valid? [True, True] Translation: X:225.84, Y:-13.39, Z:-3.02 [[ 9.99118691e-01 3.98447296e-02 1.31999810e-02 2.25835243e+02] [-3.98353438e-02 9.99205784e-01 -9.73307020e-04 -1.33914079e+01] [-1.32282786e-02 4.46623451e-04 9.99912403e-01 -3.02428134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38037174299998 meters Centerline goodness [0,1] 0.9972549182714303 Centerline is valid? [True, True] Translation: X:225.87, Y:-13.40, Z:-3.02 [[ 9.99308847e-01 3.46228034e-02 1.35310506e-02 2.25865344e+02] [-3.46124137e-02 9.99400309e-01 -1.00133715e-03 -1.33992414e+01] [-1.35576053e-02 5.32302750e-04 9.99907950e-01 -3.02386617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41037174299998 meters Centerline goodness [0,1] 0.9969678089304258 Centerline is valid? [True, True] Translation: X:225.90, Y:-13.41, Z:-3.02 [[ 9.99407944e-01 3.14259926e-02 1.40059856e-02 2.25896390e+02] [-3.14145441e-02 9.99505904e-01 -1.03671503e-03 -1.34055946e+01] [-1.40316450e-02 5.96109590e-04 9.99901374e-01 -3.02375611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440371743 meters Centerline goodness [0,1] 0.9969987494789495 Centerline is valid? [True, True] Translation: X:225.93, Y:-13.41, Z:-3.02 [[ 9.99500307e-01 2.80373393e-02 1.45960567e-02 2.25927203e+02] [-2.80245370e-02 9.99606651e-01 -1.08094570e-03 -1.34111516e+01] [-1.46206222e-02 6.71357827e-04 9.99892888e-01 -3.02371065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.470371743 meters Centerline goodness [0,1] 0.9973745077201975 Centerline is valid? [True, True] Translation: X:225.96, Y:-13.42, Z:-3.02 [[ 9.99659596e-01 2.16793247e-02 1.45154492e-02 2.25957188e+02] [-2.16659907e-02 9.99764687e-01 -1.07524623e-03 -1.34195056e+01] [-1.45353441e-02 7.60388622e-04 9.99894067e-01 -3.02424745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500371743 meters Centerline goodness [0,1] 0.9970534528552457 Centerline is valid? [True, True] Translation: X:225.99, Y:-13.42, Z:-3.03 [[ 9.99723655e-01 1.86116855e-02 1.43603071e-02 2.25988318e+02] [-1.85983195e-02 9.99826470e-01 -1.06375587e-03 -1.34238878e+01] [-1.43776135e-02 7.96384331e-04 9.99896320e-01 -3.02529232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.530371743 meters Centerline goodness [0,1] 0.9972132102154563 Centerline is valid? [True, True] Translation: X:226.02, Y:-13.43, Z:-3.03 [[ 9.99814095e-01 1.34946195e-02 1.37721087e-02 2.26018465e+02] [-1.34818351e-02 9.99908595e-01 -1.02070479e-03 -1.34270850e+01] [-1.37846239e-02 8.34841739e-04 9.99904639e-01 -3.02618341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560371743 meters Centerline goodness [0,1] 0.9975256274301874 Centerline is valid? [True, True] Translation: X:226.05, Y:-13.43, Z:-3.03 [[ 9.99832148e-01 1.22169835e-02 1.36535899e-02 2.26049088e+02] [-1.22043021e-02 9.99925013e-01 -1.01173288e-03 -1.34331563e+01] [-1.36649264e-02 8.44930524e-04 9.99906274e-01 -3.02643458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.590371743 meters Centerline goodness [0,1] 0.9969323881772583 Centerline is valid? [True, True] Translation: X:226.08, Y:-13.43, Z:-3.03 [[ 9.99830957e-01 1.15174653e-02 1.43319973e-02 2.26081276e+02] [-1.15033957e-02 9.99933268e-01 -1.06374408e-03 -1.34346984e+01] [-1.43432926e-02 8.98697629e-04 9.99896726e-01 -3.02669990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620371743 meters Centerline goodness [0,1] 0.9968650072104834 Centerline is valid? [True, True] Translation: X:226.11, Y:-13.43, Z:-3.03 [[ 9.99803174e-01 1.26088894e-02 1.53176001e-02 2.26113633e+02] [-1.25928833e-02 9.99920056e-01 -1.14095260e-03 -1.34326849e+01] [-1.53307617e-02 9.47835278e-04 9.99882028e-01 -3.02558756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.650371743 meters Centerline goodness [0,1] 0.9966283014548255 Centerline is valid? [True, True] Translation: X:226.14, Y:-13.43, Z:-3.03 [[ 9.99778526e-01 1.41339975e-02 1.55926155e-02 2.26143798e+02] [-1.41175343e-02 9.99899663e-01 -1.16540042e-03 -1.34342284e+01] [-1.56075228e-02 9.45013030e-04 9.99877749e-01 -3.02547979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68037174299997 meters Centerline goodness [0,1] 0.9964840011650647 Centerline is valid? [True, True] Translation: X:226.17, Y:-13.43, Z:-3.03 [[ 9.99702048e-01 1.78745239e-02 1.66227598e-02 2.26174174e+02] [-1.78563236e-02 9.99839791e-01 -1.24268774e-03 -1.34314895e+01] [-1.66423092e-02 9.45496104e-04 9.99861060e-01 -3.02523854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71037174299997 meters Centerline goodness [0,1] 0.9966513185433236 Centerline is valid? [True, True] Translation: X:226.21, Y:-13.43, Z:-3.03 [[ 9.99656305e-01 1.98824571e-02 1.70868348e-02 2.26205661e+02] [-1.98635178e-02 9.99801885e-01 -1.27743599e-03 -1.34301794e+01] [-1.71088482e-02 9.37592292e-04 9.99853193e-01 -3.02509835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74037174299997 meters Centerline goodness [0,1] 0.9964951309603761 Centerline is valid? [True, True] Translation: X:226.24, Y:-13.43, Z:-3.03 [[ 9.99601933e-01 2.16113850e-02 1.81362265e-02 2.26236905e+02] [-2.15903190e-02 9.99765982e-01 -1.35655896e-03 -1.34297061e+01] [-1.81612994e-02 9.64452041e-04 9.99834605e-01 -3.02562424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77037174299997 meters Centerline goodness [0,1] 0.9962406800192143 Centerline is valid? [True, True] Translation: X:226.27, Y:-13.42, Z:-3.03 [[ 9.99544632e-01 2.42802217e-02 1.79164430e-02 2.26269062e+02] [-2.42600779e-02 9.99704782e-01 -1.34083831e-03 -1.34242635e+01] [-1.79437096e-02 9.05573431e-04 9.99838589e-01 -3.02755157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80037174299997 meters Centerline goodness [0,1] 0.9962147209916599 Centerline is valid? [True, True] Translation: X:226.30, Y:-13.43, Z:-3.03 [[ 9.99523024e-01 2.54172424e-02 1.75410337e-02 2.26300527e+02] [-2.53980800e-02 9.99676553e-01 -1.31437287e-03 -1.34267238e+01] [-1.75687678e-02 8.68237374e-04 9.99845280e-01 -3.02891270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83037174299997 meters Centerline goodness [0,1] 0.9961245993673671 Centerline is valid? [True, True] Translation: X:226.33, Y:-13.42, Z:-3.03 [[ 9.99512803e-01 2.57537843e-02 1.76323295e-02 2.26334040e+02] [-2.57344013e-02 9.99667937e-01 -1.32534144e-03 -1.34215784e+01] [-1.76606070e-02 8.70938299e-04 9.99843660e-01 -3.03045963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86037174299997 meters Centerline goodness [0,1] 0.9953705643303029 Centerline is valid? [True, True] Translation: X:226.37, Y:-13.42, Z:-3.03 [[ 9.99534114e-01 2.51136077e-02 1.73453639e-02 2.26366727e+02] [-2.50946717e-02 9.99684223e-01 -1.30852778e-03 -1.34208101e+01] [-1.73727485e-02 8.72641938e-04 9.99848702e-01 -3.03176966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89037174299997 meters Centerline goodness [0,1] 0.9959241390783563 Centerline is valid? [True, True] Translation: X:226.40, Y:-13.42, Z:-3.03 [[ 9.99531779e-01 2.49381672e-02 1.77288168e-02 2.26397421e+02] [-2.49182776e-02 9.99688591e-01 -1.34193476e-03 -1.34233603e+01] [-1.77567613e-02 8.99534858e-04 9.99841932e-01 -3.03181523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92037174299998 meters Centerline goodness [0,1] 0.9963391297112905 Centerline is valid? [True, True] Translation: X:226.43, Y:-13.42, Z:-3.03 [[ 9.99560297e-01 2.32413337e-02 1.84133688e-02 2.26429201e+02] [-2.32195157e-02 9.99729413e-01 -1.39783695e-03 -1.34219274e+01] [-1.84408740e-02 9.69672809e-04 9.99829482e-01 -3.03166586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95037174299998 meters Centerline goodness [0,1] 0.9952541238945454 Centerline is valid? [True, True] Translation: X:226.46, Y:-13.42, Z:-3.03 [[ 9.99582084e-01 2.23289542e-02 1.83596254e-02 2.26461789e+02] [-2.23070609e-02 9.99750191e-01 -1.39642017e-03 -1.34218647e+01] [-1.83862196e-02 9.86287297e-04 9.99830473e-01 -3.03239595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98037174299998 meters Centerline goodness [0,1] 0.9945634060989835 Centerline is valid? [True, True] Translation: X:226.49, Y:-13.42, Z:-3.03 [[ 9.99621803e-01 2.00445041e-02 1.88273444e-02 2.26493134e+02] [-2.00209994e-02 9.99798528e-01 -1.43611269e-03 -1.34221311e+01] [-1.88523374e-02 1.05862731e-03 9.99821718e-01 -3.03285991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01037174299998 meters Centerline goodness [0,1] 0.9940777990192003 Centerline is valid? [True, True] Translation: X:226.52, Y:-13.42, Z:-3.03 [[ 9.99636207e-01 1.90584862e-02 1.90847265e-02 2.26524183e+02] [-1.90341289e-02 9.99817773e-01 -1.45712476e-03 -1.34247582e+01] [-1.91090193e-02 1.09333352e-03 9.99816808e-01 -3.03335656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04037174299998 meters Centerline goodness [0,1] 0.9946246679634394 Centerline is valid? [True, True] Translation: X:226.56, Y:-13.42, Z:-3.03 [[ 9.99648744e-01 1.82135769e-02 1.92523881e-02 2.26556109e+02] [-1.81885545e-02 9.99833488e-01 -1.47402160e-03 -1.34237024e+01] [-1.92760296e-02 1.12333072e-03 9.99813569e-01 -3.03387644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07037174299998 meters Centerline goodness [0,1] 0.993347236704901 Centerline is valid? [True, True] Translation: X:226.59, Y:-13.43, Z:-3.03 [[ 9.99667735e-01 1.72454991e-02 1.91575496e-02 2.26587765e+02] [-1.72204971e-02 9.99850637e-01 -1.46928429e-03 -1.34255159e+01] [-1.91800267e-02 1.13889358e-03 9.99815398e-01 -3.03489999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10037174299998 meters Centerline goodness [0,1] 0.9930337499220195 Centerline is valid? [True, True] Translation: X:226.62, Y:-13.43, Z:-3.04 [[ 9.99702788e-01 1.56566632e-02 1.86870260e-02 2.26618231e+02] [-1.56325589e-02 9.99876774e-01 -1.43528226e-03 -1.34276776e+01] [-1.87071950e-02 1.14272965e-03 9.99824352e-01 -3.03694833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13037174299998 meters Centerline goodness [0,1] 0.9929344776708714 Centerline is valid? [True, True] Translation: X:226.65, Y:-13.43, Z:-3.04 [[ 9.99735186e-01 1.49257170e-02 1.75151533e-02 2.26650649e+02] [-1.49044121e-02 9.99888017e-01 -1.34628311e-03 -1.34264788e+01] [-1.75332862e-02 1.08487353e-03 9.99845692e-01 -3.03924431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16037174299998 meters Centerline goodness [0,1] 0.9922082779255319 Centerline is valid? [True, True] Translation: X:226.68, Y:-13.43, Z:-3.04 [[ 9.99749301e-01 1.50219816e-02 1.66034710e-02 2.26682719e+02] [-1.50027857e-02 9.99886632e-01 -1.28009858e-03 -1.34291427e+01] [-1.66208183e-02 1.03067934e-03 9.99861333e-01 -3.04035778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.190371743 meters Centerline goodness [0,1] 0.9915072542203535 Centerline is valid? [True, True] Translation: X:226.72, Y:-13.43, Z:-3.04 [[ 9.99759383e-01 1.49666660e-02 1.60366677e-02 2.26715308e+02] [-1.49486864e-02 9.99887493e-01 -1.24044231e-03 -1.34269161e+01] [-1.60534287e-02 1.00041672e-03 9.99870635e-01 -3.04178036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220371743 meters Centerline goodness [0,1] 0.9900944770466559 Centerline is valid? [True, True] Translation: X:226.75, Y:-13.42, Z:-3.04 [[ 9.99761587e-01 1.55288351e-02 1.53500329e-02 2.26747925e+02] [-1.55123733e-02 9.99878967e-01 -1.19092274e-03 -1.34218775e+01] [-1.53666687e-02 9.52523370e-04 9.99881472e-01 -3.04393854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.250371743 meters Centerline goodness [0,1] 0.9906716417910448 Centerline is valid? [True, True] Translation: X:226.78, Y:-13.43, Z:-3.04 [[ 9.99749029e-01 1.63135426e-02 1.53540638e-02 2.26778709e+02] [-1.62971051e-02 9.99866479e-01 -1.19508210e-03 -1.34251468e+01] [-1.53715097e-02 9.44555382e-04 9.99881405e-01 -3.04453056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280371743 meters Centerline goodness [0,1] 0.9903565166569258 Centerline is valid? [True, True] Translation: X:226.81, Y:-13.42, Z:-3.05 [[ 9.99731768e-01 1.75685393e-02 1.50909872e-02 2.26811476e+02] [-1.75527512e-02 9.99845245e-01 -1.17802090e-03 -1.34229816e+01] [-1.51093479e-02 9.12816573e-04 9.99885431e-01 -3.04540814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.310371743 meters Centerline goodness [0,1] 0.9897572317295407 Centerline is valid? [True, True] Translation: X:226.84, Y:-13.41, Z:-3.05 [[ 9.99673870e-01 2.05415996e-02 1.51722234e-02 2.26842996e+02] [-2.05259237e-02 9.99788615e-01 -1.18820860e-03 -1.34142003e+01] [-1.51934239e-02 8.76397189e-04 9.99884189e-01 -3.04614278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340371743 meters Centerline goodness [0,1] 0.9900845423233483 Centerline is valid? [True, True] Translation: X:226.87, Y:-13.42, Z:-3.05 [[ 9.99614158e-01 2.29116155e-02 1.57032935e-02 2.26873248e+02] [-2.28951097e-02 9.99737116e-01 -1.23009750e-03 -1.34171489e+01] [-1.57273488e-02 8.70094251e-04 9.99875939e-01 -3.04651745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.370371743 meters Centerline goodness [0,1] 0.989866488372579 Centerline is valid? [True, True] Translation: X:226.91, Y:-13.41, Z:-3.05 [[ 9.99481880e-01 2.79339774e-02 1.59895209e-02 2.26905033e+02] [-2.79175004e-02 9.99609446e-01 -1.25281401e-03 -1.34055319e+01] [-1.60182722e-02 8.05777447e-04 9.99871375e-01 -3.04722872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400371743 meters Centerline goodness [0,1] 0.9880320252219364 Centerline is valid? [True, True] Translation: X:226.94, Y:-13.41, Z:-3.05 [[ 9.99405789e-01 3.04317096e-02 1.61857969e-02 2.26935895e+02] [-3.04151500e-02 9.99536548e-01 -1.26832742e-03 -1.34075752e+01] [-1.62168929e-02 7.75280323e-04 9.99868197e-01 -3.04807490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43037174299997 meters Centerline goodness [0,1] 0.9872859094252391 Centerline is valid? [True, True] Translation: X:226.97, Y:-13.40, Z:-3.05 [[ 9.99369669e-01 3.15408091e-02 1.62924040e-02 2.26968497e+02] [-3.15241651e-02 9.99502174e-01 -1.27745635e-03 -1.34028267e+01] [-1.63245852e-02 7.63046699e-04 9.99866454e-01 -3.04906235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46037174299997 meters Centerline goodness [0,1] 0.9869687081659974 Centerline is valid? [True, True] Translation: X:227.00, Y:-13.41, Z:-3.05 [[ 9.99328785e-01 3.22751954e-02 1.73289370e-02 2.26999891e+02] [-3.22563941e-02 9.99478697e-01 -1.36345200e-03 -1.34051260e+01] [-1.73639091e-02 8.03567812e-04 9.99848913e-01 -3.04909379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49037174299997 meters Centerline goodness [0,1] 0.9864788496556921 Centerline is valid? [True, True] Translation: X:227.03, Y:-13.41, Z:-3.05 [[ 9.99338611e-01 3.15710459e-02 1.80446758e-02 2.27030951e+02] [-3.15504641e-02 9.99501145e-01 -1.42421626e-03 -1.34076946e+01] [-1.80806382e-02 8.53956402e-04 9.99836167e-01 -3.04935333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52037174299997 meters Centerline goodness [0,1] 0.985220954053263 Centerline is valid? [True, True] Translation: X:227.06, Y:-13.41, Z:-3.05 [[ 9.99428401e-01 2.82021773e-02 1.86415790e-02 2.27061833e+02] [-2.81795570e-02 9.99601789e-01 -1.47505032e-03 -1.34066439e+01] [-1.86757553e-02 9.48895741e-04 9.99825143e-01 -3.04971656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55037174299997 meters Centerline goodness [0,1] 0.9845352195203616 Centerline is valid? [True, True] Translation: X:227.09, Y:-13.41, Z:-3.05 [[ 9.99477944e-01 2.62534388e-02 1.88307542e-02 2.27093747e+02] [-2.62300024e-02 9.99654823e-01 -1.49053279e-03 -1.34083440e+01] [-1.88633858e-02 9.95823918e-04 9.99821575e-01 -3.05043770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58037174299997 meters Centerline goodness [0,1] 0.9834302690489142 Centerline is valid? [True, True] Translation: X:227.12, Y:-13.41, Z:-3.05 [[ 9.99574431e-01 2.22233732e-02 1.88965288e-02 2.27124805e+02] [-2.21990327e-02 9.99752450e-01 -1.49690579e-03 -1.34097269e+01] [-1.89251173e-02 1.07678410e-03 9.99820324e-01 -3.05065357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61037174299997 meters Centerline goodness [0,1] 0.9827467793294345 Centerline is valid? [True, True] Translation: X:227.16, Y:-13.41, Z:-3.05 [[ 9.99595279e-01 2.09319967e-02 1.92647430e-02 2.27155481e+02] [-2.09064450e-02 9.99780271e-01 -1.52680950e-03 -1.34128254e+01] [-1.92924691e-02 1.12343427e-03 9.99813252e-01 -3.05119305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64037174299997 meters Centerline goodness [0,1] 0.9823646039862256 Centerline is valid? [True, True] Translation: X:227.19, Y:-13.41, Z:-3.05 [[ 9.99622084e-01 1.92752043e-02 1.95999059e-02 2.27187142e+02] [-1.92483904e-02 9.99813522e-01 -1.55581539e-03 -1.34126173e+01] [-1.96262396e-02 1.17796078e-03 9.99806693e-01 -3.05235532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67037174299998 meters Centerline goodness [0,1] 0.9820979372798927 Centerline is valid? [True, True] Translation: X:227.22, Y:-13.41, Z:-3.05 [[ 9.99616184e-01 1.91491908e-02 2.00198320e-02 2.27219648e+02] [-1.91211296e-02 9.99815907e-01 -1.59216956e-03 -1.34144367e+01] [-2.00466352e-02 1.20875666e-03 9.99798315e-01 -3.05291816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70037174299998 meters Centerline goodness [0,1] 0.9829920601755119 Centerline is valid? [True, True] Translation: X:227.25, Y:-13.41, Z:-3.05 [[ 9.99615838e-01 1.94108590e-02 1.97837021e-02 2.27252429e+02] [-1.93834087e-02 9.99810878e-01 -1.57835061e-03 -1.34141235e+01] [-1.98105977e-02 1.19426869e-03 9.99803038e-01 -3.05427137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73037174299998 meters Centerline goodness [0,1] 0.9811565408344661 Centerline is valid? [True, True] Translation: X:227.28, Y:-13.42, Z:-3.06 [[ 9.99610392e-01 1.99545167e-02 1.95161614e-02 2.27283743e+02] [-1.99278049e-02 9.99800201e-01 -1.56223912e-03 -1.34170146e+01] [-1.95434359e-02 1.17271621e-03 9.99808321e-01 -3.05516728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76037174299998 meters Centerline goodness [0,1] 0.9810652128328791 Centerline is valid? [True, True] Translation: X:227.31, Y:-13.42, Z:-3.06 [[ 9.99586740e-01 2.14951858e-02 1.90868327e-02 2.27314284e+02] [-2.14698492e-02 9.99768323e-01 -1.53138375e-03 -1.34160681e+01] [-1.91153281e-02 1.12095947e-03 9.99816657e-01 -3.05643006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79037174299998 meters Centerline goodness [0,1] 0.9813572428783414 Centerline is valid? [True, True] Translation: X:227.35, Y:-13.41, Z:-3.06 [[ 9.99557978e-01 2.30915693e-02 1.87250697e-02 2.27347266e+02] [-2.30674429e-02 9.99732781e-01 -1.50344883e-03 -1.34078542e+01] [-1.87547830e-02 1.07084480e-03 9.99823540e-01 -3.05800584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82037174299998 meters Centerline goodness [0,1] 0.9819829245835775 Centerline is valid? [True, True] Translation: X:227.38, Y:-13.41, Z:-3.06 [[ 9.99479601e-01 2.58979040e-02 1.92308509e-02 2.27377557e+02] [-2.58728935e-02 9.99664042e-01 -1.54824944e-03 -1.34094297e+01] [-1.92644866e-02 1.04988598e-03 9.99813871e-01 -3.05814672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85037174299998 meters Centerline goodness [0,1] 0.9794629412748871 Centerline is valid? [True, True] Translation: X:227.41, Y:-13.42, Z:-3.06 [[ 9.99443161e-01 2.73505774e-02 1.91131912e-02 2.27408261e+02] [-2.73261155e-02 9.99625386e-01 -1.53989113e-03 -1.34165871e+01] [-1.91481480e-02 1.01674439e-03 9.99816140e-01 -3.05823218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88037174299998 meters Centerline goodness [0,1] 0.9812899842684846 Centerline is valid? [True, True] Translation: X:227.44, Y:-13.41, Z:-3.06 [[ 9.99389442e-01 2.90802554e-02 1.93670277e-02 2.27441125e+02] [-2.90553742e-02 9.99576578e-01 -1.56492373e-03 -1.34099731e+01] [-1.94043356e-02 1.00125202e-03 9.99811217e-01 -3.05937125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91037174299998 meters Centerline goodness [0,1] 0.9796603105137022 Centerline is valid? [True, True] Translation: X:227.47, Y:-13.42, Z:-3.06 [[ 9.99334950e-01 3.16178357e-02 1.81650885e-02 2.27471002e+02] [-3.15962984e-02 9.99499629e-01 -1.47149087e-03 -1.34154736e+01] [-1.82025246e-02 8.96562700e-04 9.99833918e-01 -3.06027804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940371743 meters Centerline goodness [0,1] 0.9796603105137022 Centerline is valid? [True, True] Translation: X:227.50, Y:-13.42, Z:-3.06 [[ 9.99326640e-01 3.18794577e-02 1.81650098e-02 2.27503476e+02] [-3.18579460e-02 9.99491322e-01 -1.47246128e-03 -1.34182128e+01] [-1.82027109e-02 8.92769880e-04 9.99833918e-01 -3.06078538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.970371743 meters Centerline goodness [0,1] 0.9812075756306042 Centerline is valid? [True, True] Translation: X:227.54, Y:-13.41, Z:-3.06 [[ 9.99291870e-01 3.31152630e-02 1.78644328e-02 2.27535920e+02] [-3.30945718e-02 9.99451169e-01 -1.45270340e-03 -1.34115786e+01] [-1.79027349e-02 8.60458938e-04 9.99839363e-01 -3.06194454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000371743 meters Centerline goodness [0,1] 0.9811681624245991 Centerline is valid? [True, True] Translation: X:227.57, Y:-13.41, Z:-3.06 [[ 9.99252486e-01 3.42203471e-02 1.79843672e-02 2.27566739e+02] [-3.41994753e-02 9.99413950e-01 -1.46691783e-03 -1.34137546e+01] [-1.80240259e-02 8.50765369e-04 9.99837192e-01 -3.06273501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.030371743 meters Centerline goodness [0,1] 0.9826938021128684 Centerline is valid? [True, True] Translation: X:227.60, Y:-13.41, Z:-3.06 [[ 9.99148548e-01 3.70246388e-02 1.82031772e-02 2.27598618e+02] [-3.70036506e-02 9.99314022e-01 -1.48858299e-03 -1.34145488e+01] [-1.82458045e-02 8.13731521e-04 9.99833200e-01 -3.06329179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060371743 meters Centerline goodness [0,1] 0.9823923686256382 Centerline is valid? [True, True] Translation: X:227.63, Y:-13.41, Z:-3.06 [[ 9.99068580e-01 3.89604751e-02 1.85486750e-02 2.27630785e+02] [-3.89389785e-02 9.99240436e-01 -1.51882514e-03 -1.34141302e+01] [-1.85937603e-02 7.95144015e-04 9.99826805e-01 -3.06347161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.090371743 meters Centerline goodness [0,1] 0.9820271682340648 Centerline is valid? [True, True] Translation: X:227.66, Y:-13.42, Z:-3.06 [[ 9.98895196e-01 4.26619173e-02 1.97065360e-02 2.27661079e+02] [-4.26382891e-02 9.99089265e-01 -1.61780838e-03 -1.34154849e+01] [-1.97576073e-02 7.75768042e-04 9.99804498e-01 -3.06246789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120371743 meters Centerline goodness [0,1] 0.9826021338587628 Centerline is valid? [True, True] Translation: X:227.69, Y:-13.41, Z:-3.06 [[ 9.98781727e-01 4.48178958e-02 2.06498774e-02 2.27692337e+02] [-4.47924011e-02 9.98994878e-01 -1.69572565e-03 -1.34135651e+01] [-2.07051206e-02 7.68702204e-04 9.99785330e-01 -3.06216029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.150371743 meters Centerline goodness [0,1] 0.9826565496539648 Centerline is valid? [True, True] Translation: X:227.72, Y:-13.41, Z:-3.06 [[ 9.98697467e-01 4.65047748e-02 2.09922773e-02 2.27723308e+02] [-4.64787837e-02 9.98917789e-01 -1.72459946e-03 -1.34147546e+01] [-2.10497613e-02 7.46657598e-04 9.99778150e-01 -3.06211334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18037174299997 meters Centerline goodness [0,1] 0.9823602120126537 Centerline is valid? [True, True] Translation: X:227.75, Y:-13.42, Z:-3.06 [[ 9.98552505e-01 4.89528950e-02 2.22824784e-02 2.27754756e+02] [-4.89242004e-02 9.98800815e-01 -1.83141897e-03 -1.34162251e+01] [-2.23454109e-02 7.38615562e-04 9.99750037e-01 -3.06248451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21037174299997 meters Centerline goodness [0,1] 0.9828795077335231 Centerline is valid? [True, True] Translation: X:227.79, Y:-13.42, Z:-3.06 [[ 9.98506703e-01 4.97789616e-02 2.25037441e-02 2.27786193e+02] [-4.97498854e-02 9.98759994e-01 -1.85041650e-03 -1.34178688e+01] [-2.25679511e-02 7.28094591e-04 9.99745046e-01 -3.06318936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24037174299997 meters Centerline goodness [0,1] 0.9829752651649336 Centerline is valid? [True, True] Translation: X:227.82, Y:-13.42, Z:-3.06 [[ 9.98517956e-01 4.98499785e-02 2.18373906e-02 2.27817468e+02] [-4.98225992e-02 9.98756468e-01 -1.79639314e-03 -1.34210709e+01] [-2.18997853e-02 7.05735243e-04 9.99759922e-01 -3.06444627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27037174299997 meters Centerline goodness [0,1] 0.9827629487072211 Centerline is valid? [True, True] Translation: X:227.85, Y:-13.43, Z:-3.07 [[ 9.98573619e-01 4.88430455e-02 2.15658228e-02 2.27847722e+02] [-4.88160942e-02 9.98806207e-01 -1.77471283e-03 -1.34255364e+01] [-2.16267601e-02 7.19422177e-04 9.99765855e-01 -3.06517704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30037174299997 meters Centerline goodness [0,1] 0.9839383568834114 Centerline is valid? [True, True] Translation: X:227.88, Y:-13.43, Z:-3.07 [[ 9.98650680e-01 4.74175795e-02 2.11752874e-02 2.27879020e+02] [-4.73912655e-02 9.98874882e-01 -1.74305243e-03 -1.34289218e+01] [-2.12341140e-02 7.37176830e-04 9.99774259e-01 -3.06620935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33037174299997 meters Centerline goodness [0,1] 0.9827127380927435 Centerline is valid? [True, True] Translation: X:227.91, Y:-13.44, Z:-3.07 [[ 9.98840486e-01 4.35482385e-02 2.05240113e-02 2.27908870e+02] [-4.35226861e-02 9.99051009e-01 -1.69024843e-03 -1.34387259e+01] [-2.05781416e-02 7.95028462e-04 9.99787932e-01 -3.06704962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36037174299997 meters Centerline goodness [0,1] 0.9826795400758163 Centerline is valid? [True, True] Translation: X:227.94, Y:-13.44, Z:-3.07 [[ 9.98941089e-01 4.14421855e-02 1.99811583e-02 2.27939076e+02] [-4.14175277e-02 9.99140569e-01 -1.64648093e-03 -1.34449814e+01] [-2.00322197e-02 8.17167269e-04 9.99799001e-01 -3.06791528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39037174299997 meters Centerline goodness [0,1] 0.9833893322133558 Centerline is valid? [True, True] Translation: X:227.97, Y:-13.45, Z:-3.07 [[ 9.99086230e-01 3.84419394e-02 1.86794368e-02 2.27970216e+02] [-3.84198550e-02 9.99260498e-01 -1.53984474e-03 -1.34488098e+01] [-1.87248180e-02 8.20776422e-04 9.99824338e-01 -3.06960424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42037174299998 meters Centerline goodness [0,1] 0.983626994680851 Centerline is valid? [True, True] Translation: X:228.00, Y:-13.46, Z:-3.07 [[ 9.99114125e-01 3.80712953e-02 1.79315951e-02 2.28000810e+02] [-3.80508687e-02 9.99274709e-01 -1.47907514e-03 -1.34557024e+01] [-1.79748998e-02 7.95452095e-04 9.99838122e-01 -3.07004716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45037174299998 meters Centerline goodness [0,1] 0.9832037843582637 Centerline is valid? [True, True] Translation: X:228.03, Y:-13.46, Z:-3.07 [[ 9.99073180e-01 3.90168078e-02 1.81788301e-02 2.28032626e+02] [-3.89959267e-02 9.99238241e-01 -1.50185311e-03 -1.34580924e+01] [-1.82235797e-02 7.91560841e-04 9.99833623e-01 -3.07043452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48037174299998 meters Centerline goodness [0,1] 0.9838746977819826 Centerline is valid? [True, True] Translation: X:228.06, Y:-13.46, Z:-3.07 [[ 9.98981364e-01 4.10132877e-02 1.88187508e-02 2.28064360e+02] [-4.09912257e-02 9.99158294e-01 -1.55674999e-03 -1.34607599e+01] [-1.88667584e-02 7.83760565e-04 9.99821700e-01 -3.07005761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51037174299998 meters Centerline goodness [0,1] 0.983740515300592 Centerline is valid? [True, True] Translation: X:228.09, Y:-13.46, Z:-3.07 [[ 9.98725868e-01 4.66813193e-02 1.91701801e-02 2.28094075e+02] [-4.66593912e-02 9.98909592e-01 -1.58979741e-03 -1.34624608e+01] [-1.92234907e-02 6.93302866e-04 9.99814971e-01 -3.07011834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54037174299998 meters Centerline goodness [0,1] 0.9846291816134145 Centerline is valid? [True, True] Translation: X:228.13, Y:-13.46, Z:-3.07 [[ 9.98586509e-01 4.97496368e-02 1.87071358e-02 2.28125666e+02] [-4.97292909e-02 9.98761528e-01 -1.55151099e-03 -1.34632760e+01] [-1.87611546e-02 6.19025352e-04 9.99823802e-01 -3.07071847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57037174299998 meters Centerline goodness [0,1] 0.9843029202413008 Centerline is valid? [True, True] Translation: X:228.16, Y:-13.46, Z:-3.07 [[ 9.98432312e-01 5.28812682e-02 1.83436632e-02 2.28156351e+02] [-5.28622232e-02 9.98600655e-01 -1.52190970e-03 -1.34643611e+01] [-1.83984746e-02 5.49837005e-04 9.99830583e-01 -3.07129802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60037174299998 meters Centerline goodness [0,1] 0.9852211614624589 Centerline is valid? [True, True] Translation: X:228.19, Y:-13.47, Z:-3.07 [[ 9.98280442e-01 5.56772171e-02 1.83359457e-02 2.28186132e+02] [-5.56586611e-02 9.98448696e-01 -1.52116951e-03 -1.34662702e+01] [-1.83921955e-02 4.97999585e-04 9.99830725e-01 -3.07209666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63037174299998 meters Centerline goodness [0,1] 0.9852006688963211 Centerline is valid? [True, True] Translation: X:228.22, Y:-13.47, Z:-3.07 [[ 9.98011332e-01 6.00239027e-02 1.92486967e-02 2.28215239e+02] [-6.00042731e-02 9.98196844e-01 -1.59625023e-03 -1.34693039e+01] [-1.93098015e-02 4.38071767e-04 9.99813452e-01 -3.07217302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66037174299998 meters Centerline goodness [0,1] 0.9853361423416283 Centerline is valid? [True, True] Translation: X:228.24, Y:-13.47, Z:-3.07 [[ 9.97776172e-01 6.37516307e-02 1.94535164e-02 2.28244449e+02] [-6.37322958e-02 9.97965727e-01 -1.61289172e-03 -1.34731747e+01] [-1.95167671e-02 3.69487670e-04 9.99809461e-01 -3.07183655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.690371743 meters Centerline goodness [0,1] 0.9857959862743059 Centerline is valid? [True, True] Translation: X:228.27, Y:-13.48, Z:-3.07 [[ 9.97691837e-01 6.49377544e-02 1.98516011e-02 2.28273818e+02] [-6.49178630e-02 9.97889254e-01 -1.64547473e-03 -1.34768544e+01] [-1.99165529e-02 3.52953183e-04 9.99801583e-01 -3.07215024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720371743 meters Centerline goodness [0,1] 0.9871230303662736 Centerline is valid? [True, True] Translation: X:228.30, Y:-13.48, Z:-3.07 [[ 9.97626110e-01 6.59454377e-02 1.98329043e-02 2.28303569e+02] [-6.59257963e-02 9.97823175e-01 -1.64324840e-03 -1.34806624e+01] [-1.98980963e-02 3.31847505e-04 9.99801958e-01 -3.07252151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.750371743 meters Centerline goodness [0,1] 0.987871323299167 Centerline is valid? [True, True] Translation: X:228.33, Y:-13.48, Z:-3.07 [[ 9.97577186e-01 6.66431604e-02 1.99611539e-02 2.28333152e+02] [-6.66234175e-02 9.97776822e-01 -1.65318468e-03 -1.34840729e+01] [-2.00269501e-02 3.19299033e-04 9.99799390e-01 -3.07342080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780371743 meters Centerline goodness [0,1] 0.9885945012175578 Centerline is valid? [True, True] Translation: X:228.36, Y:-13.49, Z:-3.07 [[ 9.97593862e-01 6.66784050e-02 1.89862132e-02 2.28362770e+02] [-6.66605624e-02 9.97774473e-01 -1.57179845e-03 -1.34906253e+01] [-1.90487639e-02 3.02384838e-04 9.99818510e-01 -3.07387744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.810371743 meters Centerline goodness [0,1] 0.9889281262982966 Centerline is valid? [True, True] Translation: X:228.39, Y:-13.50, Z:-3.07 [[ 9.97658595e-01 6.59032135e-02 1.82782403e-02 2.28390695e+02] [-6.58865592e-02 9.97825974e-01 -1.51251202e-03 -1.34957448e+01] [-1.83381824e-02 3.04680252e-04 9.99831795e-01 -3.07442958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840371743 meters Centerline goodness [0,1] 0.9890011457139881 Centerline is valid? [True, True] Translation: X:228.42, Y:-13.50, Z:-3.08 [[ 9.97802711e-01 6.40438099e-02 1.69746747e-02 2.28419921e+02] [-6.40291915e-02 9.97947039e-01 -1.40383063e-03 -1.35032201e+01] [-1.70297330e-02 3.13871307e-04 9.99854934e-01 -3.07571259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.870371743 meters Centerline goodness [0,1] 0.9891108220385213 Centerline is valid? [True, True] Translation: X:228.45, Y:-13.51, Z:-3.08 [[ 9.97890572e-01 6.28730342e-02 1.61675162e-02 2.28448998e+02] [-6.28596283e-02 9.98021483e-01 -1.33653191e-03 -1.35088871e+01] [-1.62195603e-02 3.17428535e-04 9.99868404e-01 -3.07622552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900371743 meters Centerline goodness [0,1] 0.9896356849415052 Centerline is valid? [True, True] Translation: X:228.48, Y:-13.51, Z:-3.08 [[ 9.97965743e-01 6.18563765e-02 1.54325733e-02 2.28478711e+02] [-6.18440483e-02 9.98085010e-01 -1.27525832e-03 -1.35146457e+01] [-1.54819029e-02 3.18251315e-04 9.99880098e-01 -3.07684686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93037174299997 meters Centerline goodness [0,1] 0.9894935514312677 Centerline is valid? [True, True] Translation: X:228.51, Y:-13.52, Z:-3.08 [[ 9.98124215e-01 5.93887332e-02 1.48670406e-02 2.28507729e+02] [-5.93770263e-02 9.98234873e-01 -1.22799942e-03 -1.35243081e+01] [-1.49137277e-02 3.42935294e-04 9.99888725e-01 -3.07641995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96037174299997 meters Centerline goodness [0,1] 0.9897916316585448 Centerline is valid? [True, True] Translation: X:228.54, Y:-13.53, Z:-3.08 [[ 9.98118545e-01 5.92569510e-02 1.57474932e-02 2.28537666e+02] [-5.92437983e-02 9.98242696e-01 -1.30082993e-03 -1.35294369e+01] [-1.57969033e-02 3.65441167e-04 9.99875154e-01 -3.07581672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99037174299997 meters Centerline goodness [0,1] 0.9909691951529814 Centerline is valid? [True, True] Translation: X:228.57, Y:-13.53, Z:-3.07 [[ 9.97920916e-01 6.22120972e-02 1.68374799e-02 2.28566633e+02] [-6.21974800e-02 9.98062893e-01 -1.39091301e-03 -1.35339358e+01] [-1.68913955e-02 3.40772360e-04 9.99857272e-01 -3.07393243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02037174299997 meters Centerline goodness [0,1] 0.9906085649887303 Centerline is valid? [True, True] Translation: X:228.60, Y:-13.54, Z:-3.07 [[ 9.97769004e-01 6.46655053e-02 1.65947787e-02 2.28597061e+02] [-6.46516372e-02 9.97906952e-01 -1.37137405e-03 -1.35362071e+01] [-1.66487257e-02 2.95434905e-04 9.99861357e-01 -3.07359796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05037174299997 meters Centerline goodness [0,1] 0.9914938194007962 Centerline is valid? [True, True] Translation: X:228.63, Y:-13.54, Z:-3.07 [[ 9.97585365e-01 6.74045274e-02 1.67352570e-02 2.28626745e+02] [-6.73908094e-02 9.97725697e-01 -1.38294181e-03 -1.35380825e+01] [-1.67904125e-02 2.51799990e-04 9.99858999e-01 -3.07402326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08037174299997 meters Centerline goodness [0,1] 0.9921557963435552 Centerline is valid? [True, True] Translation: X:228.66, Y:-13.54, Z:-3.07 [[ 9.97219490e-01 7.25641024e-02 1.69628987e-02 2.28656208e+02] [-7.25507645e-02 9.97363737e-01 -1.40117196e-03 -1.35392417e+01] [-1.70198548e-02 1.66604726e-04 9.99855138e-01 -3.07392103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11037174299997 meters Centerline goodness [0,1] 0.9930603457285592 Centerline is valid? [True, True] Translation: X:228.69, Y:-13.54, Z:-3.07 [[ 9.97067954e-01 7.46158298e-02 1.69697495e-02 2.28686244e+02] [-7.46027879e-02 9.97212345e-01 -1.40117004e-03 -1.35423066e+01] [-1.70269931e-02 1.31071121e-04 9.99855022e-01 -3.07406727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14037174299997 meters Centerline goodness [0,1] 0.9925989242380019 Centerline is valid? [True, True] Translation: X:228.71, Y:-13.55, Z:-3.07 [[ 9.96734250e-01 7.87713596e-02 1.77738019e-02 2.28714979e+02] [-7.87577192e-02 9.96892707e-01 -1.46720240e-03 -1.35460327e+01] [-1.78341470e-02 6.25867870e-05 9.99840957e-01 -3.07293328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17037174299998 meters Centerline goodness [0,1] 0.9939074350301477 Centerline is valid? [True, True] Translation: X:228.74, Y:-13.55, Z:-3.07 [[ 9.96552136e-01 8.09505920e-02 1.81890845e-02 2.28744111e+02] [-8.09366809e-02 9.96718115e-01 -1.50086555e-03 -1.35487240e+01] [-1.82508860e-02 2.35266435e-05 9.99833438e-01 -3.07276094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20037174299998 meters Centerline goodness [0,1] 0.9937160751565762 Centerline is valid? [True, True] Translation: X:228.77, Y:-13.55, Z:-3.07 [[ 9.96384887e-01 8.28673072e-02 1.87127340e-02 2.28773371e+02] [-8.28529337e-02 9.96560590e-01 -1.54341790e-03 -1.35515383e+01] [-1.87762721e-02 -1.25666377e-05 9.99823710e-01 -3.07248381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23037174299998 meters Centerline goodness [0,1] 0.994993011077963 Centerline is valid? [True, True] Translation: X:228.80, Y:-13.56, Z:-3.07 [[ 9.96036055e-01 8.67613533e-02 1.96123543e-02 2.28802567e+02] [-8.67463326e-02 9.96229120e-01 -1.61692405e-03 -1.35557078e+01] [-1.96786850e-02 -9.07851609e-05 9.99806352e-01 -3.07123569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26037174299998 meters Centerline goodness [0,1] 0.9953007714220364 Centerline is valid? [True, True] Translation: X:228.83, Y:-13.56, Z:-3.07 [[ 9.95868740e-01 8.86577558e-02 1.96279378e-02 2.28832247e+02] [-8.86430929e-02 9.96062139e-01 -1.61753140e-03 -1.35595984e+01] [-1.96940524e-02 -1.29032158e-04 9.99806045e-01 -3.07154459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29037174299998 meters Centerline goodness [0,1] 0.995495306738183 Centerline is valid? [True, True] Translation: X:228.86, Y:-13.57, Z:-3.07 [[ 9.95640692e-01 9.11971193e-02 1.95626545e-02 2.28861388e+02] [-9.11830574e-02 9.95832844e-01 -1.61145659e-03 -1.35668004e+01] [-1.96280941e-02 -1.79350899e-04 9.99807334e-01 -3.07304533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32037174299998 meters Centerline goodness [0,1] 0.9952427650384961 Centerline is valid? [True, True] Translation: X:228.89, Y:-13.57, Z:-3.07 [[ 9.95564292e-01 9.21160813e-02 1.91407687e-02 2.28889405e+02] [-9.21028025e-02 9.95748256e-01 -1.57600969e-03 -1.35712709e+01] [-1.92045629e-02 -1.93899472e-04 9.99815557e-01 -3.07324774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35037174299998 meters Centerline goodness [0,1] 0.9950615217209341 Centerline is valid? [True, True] Translation: X:228.92, Y:-13.58, Z:-3.07 [[ 9.95416105e-01 9.38071073e-02 1.86280724e-02 2.28918373e+02] [-9.37948391e-02 9.95590366e-01 -1.53311415e-03 -1.35797345e+01] [-1.86897464e-02 -2.21130537e-04 9.99825307e-01 -3.07421174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38037174299998 meters Centerline goodness [0,1] 0.9958182616513684 Centerline is valid? [True, True] Translation: X:228.95, Y:-13.59, Z:-3.08 [[ 9.95351206e-01 9.45420368e-02 1.83788035e-02 2.28948001e+02] [-9.45302318e-02 9.95520843e-01 -1.51195767e-03 -1.35856071e+01] [-1.84394255e-02 -2.32423667e-04 9.99829952e-01 -3.07513761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41037174299998 meters Centerline goodness [0,1] 0.9960847535697835 Centerline is valid? [True, True] Translation: X:228.98, Y:-13.59, Z:-3.08 [[ 9.95290027e-01 9.53048597e-02 1.77410646e-02 2.28977708e+02] [-9.52939917e-02 9.95448104e-01 -1.45888633e-03 -1.35918500e+01] [-1.77993481e-02 -2.38601844e-04 9.99841551e-01 -3.07553867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440371743 meters Centerline goodness [0,1] 0.9963754452126545 Centerline is valid? [True, True] Translation: X:229.01, Y:-13.60, Z:-3.08 [[ 9.95176918e-01 9.65177814e-02 1.75276704e-02 2.29007268e+02] [-9.65073722e-02 9.95331227e-01 -1.44072567e-03 -1.35985966e+01] [-1.75848933e-02 -2.57772485e-04 9.99845341e-01 -3.07632515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.470371743 meters Centerline goodness [0,1] 0.9972388980693204 Centerline is valid? [True, True] Translation: X:229.03, Y:-13.61, Z:-3.08 [[ 9.94981549e-01 9.85697774e-02 1.71964040e-02 2.29034900e+02] [-9.85600752e-02 9.95130100e-01 -1.41285760e-03 -1.36081145e+01] [-1.72519243e-02 -2.89111625e-04 9.99851133e-01 -3.07681958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500371743 meters Centerline goodness [0,1] 0.9978853924585976 Centerline is valid? [True, True] Translation: X:229.06, Y:-13.62, Z:-3.08 [[ 9.94843476e-01 9.99478668e-02 1.72302748e-02 2.29063791e+02] [-9.99383485e-02 9.94992626e-01 -1.41474241e-03 -1.36198331e+01] [-1.72853969e-02 -3.14517957e-04 9.99850547e-01 -3.07681450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.530371743 meters Centerline goodness [0,1] 0.9980095124353091 Centerline is valid? [True, True] Translation: X:229.09, Y:-13.63, Z:-3.08 [[ 9.94837393e-01 1.00017026e-01 1.71801140e-02 2.29093437e+02] [-1.00007582e-01 9.94985676e-01 -1.41007954e-03 -1.36272954e+01] [-1.72349993e-02 -3.15341814e-04 9.99851417e-01 -3.07702825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560371743 meters Centerline goodness [0,1] 0.9974471646788031 Centerline is valid? [True, True] Translation: X:229.12, Y:-13.63, Z:-3.08 [[ 9.94861234e-01 9.98151562e-02 1.69723315e-02 2.29122900e+02] [-9.98059102e-02 9.95005950e-01 -1.39305096e-03 -1.36346042e+01] [-1.70266184e-02 -3.08046595e-04 9.99854989e-01 -3.07740346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.590371743 meters Centerline goodness [0,1] 0.998448994990673 Centerline is valid? [True, True] Translation: X:229.15, Y:-13.64, Z:-3.08 [[ 9.94893406e-01 9.95869811e-02 1.64178068e-02 2.29153718e+02] [-9.95782935e-02 9.95028817e-01 -1.34783116e-03 -1.36438290e+01] [-1.64704173e-02 -2.93908851e-04 9.99864310e-01 -3.07724512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620371743 meters Centerline goodness [0,1] 0.9988676159120934 Centerline is valid? [True, True] Translation: X:229.18, Y:-13.66, Z:-3.08 [[ 9.95144225e-01 9.72236653e-02 1.53469659e-02 2.29183374e+02] [-9.72157851e-02 9.95262529e-01 -1.26043795e-03 -1.36574094e+01] [-1.53968045e-02 -2.37649790e-04 9.99881434e-01 -3.07793874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.650371743 meters Centerline goodness [0,1] 0.9989769714178341 Centerline is valid? [True, True] Translation: X:229.21, Y:-13.67, Z:-3.08 [[ 9.95284657e-01 9.58059049e-02 1.51551974e-02 2.29214372e+02] [-9.57980531e-02 9.95400012e-01 -1.24487942e-03 -1.36660635e+01] [-1.52047505e-02 -2.12829028e-04 9.99884378e-01 -3.07843323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68037174299997 meters Centerline goodness [0,1] 0.9992669389464865 Centerline is valid? [True, True] Translation: X:229.24, Y:-13.68, Z:-3.08 [[ 9.95705443e-01 9.13731994e-02 1.48865525e-02 2.29244054e+02] [-9.13650783e-02 9.95816710e-01 -1.22614168e-03 -1.36818412e+01] [-1.49363142e-02 -1.39235085e-04 9.99888437e-01 -3.07844260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71037174299997 meters Centerline goodness [0,1] 0.9994974242995351 Centerline is valid? [True, True] Translation: X:229.28, Y:-13.69, Z:-3.08 [[ 9.95953958e-01 8.86170829e-02 1.49240443e-02 2.29275316e+02] [-8.86085612e-02 9.96065763e-01 -1.23257548e-03 -1.36917725e+01] [-1.49745568e-02 -9.48096686e-05 9.99887871e-01 -3.07857962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74037174299997 meters Centerline goodness [0,1] 0.9996848143556555 Centerline is valid? [True, True] Translation: X:229.31, Y:-13.70, Z:-3.08 [[ 9.96239213e-01 8.53938151e-02 1.46740244e-02 2.29305883e+02] [-8.53851731e-02 9.96347276e-01 -1.21557779e-03 -1.37015938e+01] [-1.47242271e-02 -4.19378559e-05 9.99891592e-01 -3.07855740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77037174299997 meters Centerline goodness [0,1] 0.9997701821828514 Centerline is valid? [True, True] Translation: X:229.34, Y:-13.72, Z:-3.08 [[ 9.96902145e-01 7.72843959e-02 1.46026081e-02 2.29336770e+02] [-7.72749391e-02 9.97009085e-01 -1.21158803e-03 -1.37197942e+01] [-1.46525697e-02 7.94190612e-05 9.99892642e-01 -3.07856077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80037174299997 meters Centerline goodness [0,1] 0.9997910354194964 Centerline is valid? [True, True] Translation: X:229.37, Y:-13.73, Z:-3.08 [[ 9.97241324e-01 7.28722078e-02 1.41203040e-02 2.29368356e+02] [-7.28628757e-02 9.97341276e-01 -1.17491162e-03 -1.37297682e+01] [-1.41683805e-02 1.42824464e-04 9.99899613e-01 -3.07874866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83037174299997 meters Centerline goodness [0,1] 0.9999164961797002 Centerline is valid? [True, True] Translation: X:229.40, Y:-13.74, Z:-3.08 [[ 9.97807216e-01 6.46616539e-02 1.41290574e-02 2.29398434e+02] [-6.46514333e-02 9.97907211e-01 -1.17941549e-03 -1.37447030e+01] [-1.41757512e-02 2.63365476e-04 9.99899484e-01 -3.07853097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86037174299997 meters Centerline goodness [0,1] 0.9999164961797002 Centerline is valid? [True, True] Translation: X:229.43, Y:-13.75, Z:-3.08 [[ 9.97788892e-01 6.49437986e-02 1.41290442e-02 2.29430826e+02] [-6.49336040e-02 9.97888889e-01 -1.17957397e-03 -1.37474710e+01] [-1.41758222e-02 2.59516040e-04 9.99899484e-01 -3.07903713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89037174299997 meters Centerline goodness [0,1] 0.9997909611605836 Centerline is valid? [True, True] Translation: X:229.46, Y:-13.76, Z:-3.08 [[ 9.97995263e-01 6.16676756e-02 1.42320883e-02 2.29462508e+02] [-6.16569397e-02 9.98096689e-01 -1.19230639e-03 -1.37554396e+01] [-1.42785270e-02 3.12409122e-04 9.99898008e-01 -3.07977556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92037174299998 meters Centerline goodness [0,1] 0.9997705273698264 Centerline is valid? [True, True] Translation: X:229.49, Y:-13.76, Z:-3.08 [[ 9.98192625e-01 5.84768009e-02 1.38544905e-02 2.29492862e+02] [-5.84662728e-02 9.98288706e-01 -1.16406627e-03 -1.37631594e+01] [-1.38988522e-02 3.51941949e-04 9.99903344e-01 -3.08031842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95037174299998 meters Centerline goodness [0,1] 0.9999165989032756 Centerline is valid? [True, True] Translation: X:229.52, Y:-13.77, Z:-3.08 [[ 9.98472068e-01 5.35769483e-02 1.35292132e-02 2.29523079e+02] [-5.35664122e-02 9.98563638e-01 -1.14020269e-03 -1.37712675e+01] [-1.35708689e-02 4.13749131e-04 9.99907826e-01 -3.08064996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98037174299998 meters Centerline goodness [0,1] 0.9999582079572049 Centerline is valid? [True, True] Translation: X:229.55, Y:-13.78, Z:-3.08 [[ 9.98541584e-01 5.22447717e-02 1.36083857e-02 2.29553269e+02] [-5.22339878e-02 9.98634215e-01 -1.14691711e-03 -1.37776364e+01] [-1.36497200e-02 4.34424174e-04 9.99906744e-01 -3.08103263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01037174299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.58, Y:-13.79, Z:-3.08 [[ 9.98612018e-01 5.10473070e-02 1.29695544e-02 2.29583803e+02] [-5.10373942e-02 9.98696143e-01 -1.09435995e-03 -1.37869148e+01] [-1.30085081e-02 4.30908733e-04 9.99915293e-01 -3.08176077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04037174299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.62, Y:-13.79, Z:-3.08 [[ 9.98627537e-01 5.08274399e-02 1.26338300e-02 2.29616189e+02] [-5.08179812e-02 9.98707360e-01 -1.06879247e-03 -1.37893938e+01] [-1.26718230e-02 4.25299858e-04 9.99919619e-01 -3.08221745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07037174299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.65, Y:-13.79, Z:-3.08 [[ 9.98644132e-01 5.05355401e-02 1.24922840e-02 2.29648294e+02] [-5.05262309e-02 9.98722172e-01 -1.05988506e-03 -1.37926462e+01] [-1.25298829e-02 4.27259976e-04 9.99921407e-01 -3.08264273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10037174299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.68, Y:-13.80, Z:-3.08 [[ 9.98718770e-01 4.90098659e-02 1.26036140e-02 2.29678587e+02] [-4.90002203e-02 9.98798191e-01 -1.07315701e-03 -1.37980075e+01] [-1.26410621e-02 4.54202192e-04 9.99919995e-01 -3.08332320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13037174299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.71, Y:-13.80, Z:-3.08 [[ 9.98753708e-01 4.83923514e-02 1.22151671e-02 2.29711070e+02] [-4.83832485e-02 9.98828304e-01 -1.03980099e-03 -1.37994237e+01] [-1.22511730e-02 4.47495635e-04 9.99924851e-01 -3.08379189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16037174299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.74, Y:-13.80, Z:-3.08 [[ 9.98809873e-01 4.72087712e-02 1.22544038e-02 2.29741825e+02] [-4.71994785e-02 9.98884935e-01 -1.04658893e-03 -1.38035114e+01] [-1.22901475e-02 4.66941885e-04 9.99924364e-01 -3.08416185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.190371743 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.77, Y:-13.81, Z:-3.08 [[ 9.98820081e-01 4.69538441e-02 1.24009079e-02 2.29772304e+02] [-4.69442902e-02 9.98896946e-01 -1.06054790e-03 -1.38067548e+01] [-1.24370258e-02 4.77144723e-04 9.99922543e-01 -3.08487182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220371743 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.81, Y:-13.81, Z:-3.08 [[ 9.98824624e-01 4.68128188e-02 1.25670262e-02 2.29805111e+02] [-4.68029670e-02 9.98903560e-01 -1.07705526e-03 -1.38062804e+01] [-1.26036672e-02 4.87615203e-04 9.99920452e-01 -3.08456773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.250371743 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.84, Y:-13.81, Z:-3.08 [[ 9.98789903e-01 4.74083346e-02 1.30835544e-02 2.29835819e+02] [-4.73976592e-02 9.98875466e-01 -1.12499591e-03 -1.38099807e+01] [-1.31221757e-02 5.03504702e-04 9.99913774e-01 -3.08485829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280371743 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.87, Y:-13.81, Z:-3.08 [[ 9.98735928e-01 4.83759923e-02 1.36494997e-02 2.29867695e+02] [-4.83644384e-02 9.98829064e-01 -1.17548398e-03 -1.38106995e+01] [-1.36903822e-02 5.13847692e-04 9.99906150e-01 -3.08479905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.310371743 meters Centerline goodness [0,1] 0.9999374074151349 Centerline is valid? [True, True] Translation: X:229.90, Y:-13.81, Z:-3.09 [[ 9.98583472e-01 5.12074490e-02 1.44514992e-02 2.29899234e+02] [-5.11947365e-02 9.98687909e-01 -1.24847953e-03 -1.38078734e+01] [-1.44964690e-02 5.06870331e-04 9.99894792e-01 -3.08505534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340371743 meters Centerline goodness [0,1] 0.9998331734578971 Centerline is valid? [True, True] Translation: X:229.93, Y:-13.81, Z:-3.09 [[ 9.98473815e-01 5.32144469e-02 1.47737460e-02 2.29931579e+02] [-5.32013750e-02 9.98582988e-01 -1.27669259e-03 -1.38066166e+01] [-1.48207499e-02 4.88760520e-04 9.99890047e-01 -3.08582571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.370371743 meters Centerline goodness [0,1] 0.9996868083684803 Centerline is valid? [True, True] Translation: X:229.96, Y:-13.80, Z:-3.09 [[ 9.98244902e-01 5.73242398e-02 1.48676235e-02 2.29963918e+02] [-5.73113989e-02 9.98355519e-01 -1.28866790e-03 -1.38033398e+01] [-1.49170459e-02 4.34321859e-04 9.99888640e-01 -3.08686962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40037174299997 meters Centerline goodness [0,1] 0.9996860479718699 Centerline is valid? [True, True] Translation: X:230.00, Y:-13.80, Z:-3.09 [[ 9.98135408e-01 5.93461297e-02 1.42739154e-02 2.29995655e+02] [-5.93344934e-02 9.98237390e-01 -1.23770191e-03 -1.38037284e+01] [-1.43222088e-02 3.88458563e-04 9.99897356e-01 -3.08759230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43037174299997 meters Centerline goodness [0,1] 0.9995398644691709 Centerline is valid? [True, True] Translation: X:230.03, Y:-13.80, Z:-3.09 [[ 9.98034073e-01 6.10131788e-02 1.43311130e-02 2.30027038e+02] [-6.10015688e-02 9.98136892e-01 -1.24627444e-03 -1.38047827e+01] [-1.43804518e-02 3.69603975e-04 9.99896528e-01 -3.08854962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46037174299997 meters Centerline goodness [0,1] 0.9994362668336987 Centerline is valid? [True, True] Translation: X:230.06, Y:-13.81, Z:-3.09 [[ 9.97933730e-01 6.26238693e-02 1.43708487e-02 2.30059386e+02] [-6.26123144e-02 9.98037138e-01 -1.25300942e-03 -1.38051355e+01] [-1.44211090e-02 3.50628271e-04 9.99895949e-01 -3.08908578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49037174299997 meters Centerline goodness [0,1] 0.9994362315209221 Centerline is valid? [True, True] Translation: X:230.09, Y:-13.81, Z:-3.09 [[ 9.97894922e-01 6.32105093e-02 1.44967810e-02 2.30092745e+02] [-6.31987614e-02 9.98000155e-01 -1.26753157e-03 -1.38071935e+01] [-1.45479110e-02 3.48684710e-04 9.99894113e-01 -3.08990935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52037174299997 meters Centerline goodness [0,1] 0.9996240680019214 Centerline is valid? [True, True] Translation: X:230.12, Y:-13.81, Z:-3.09 [[ 9.97940322e-01 6.26832162e-02 1.36355808e-02 2.30124834e+02] [-6.26727239e-02 9.98033416e-01 -1.19585318e-03 -1.38059677e+01] [-1.36837252e-02 3.38811115e-04 9.99906316e-01 -3.09053724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55037174299997 meters Centerline goodness [0,1] 0.9998119868808624 Centerline is valid? [True, True] Translation: X:230.16, Y:-13.81, Z:-3.09 [[ 9.97946149e-01 6.27708175e-02 1.27792235e-02 2.30156182e+02] [-6.27615680e-02 9.98027917e-01 -1.12394258e-03 -1.38091647e+01] [-1.28245726e-02 3.19590067e-04 9.99917711e-01 -3.09157879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58037174299997 meters Centerline goodness [0,1] 0.9997495355972532 Centerline is valid? [True, True] Translation: X:230.19, Y:-13.81, Z:-3.09 [[ 9.97931046e-01 6.31631375e-02 1.20018587e-02 2.30189424e+02] [-6.31549879e-02 9.98003171e-01 -1.05720588e-03 -1.38098622e+01] [-1.20446695e-02 2.97041330e-04 9.99927416e-01 -3.09277112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61037174299997 meters Centerline goodness [0,1] 0.9998118375112375 Centerline is valid? [True, True] Translation: X:230.22, Y:-13.81, Z:-3.09 [[ 9.97892512e-01 6.39858178e-02 1.07865449e-02 2.30221489e+02] [-6.39792525e-02 9.97950774e-01 -9.52979773e-04 -1.38108078e+01] [-1.08254180e-02 2.60856299e-04 9.99941369e-01 -3.09392010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64037174299997 meters Centerline goodness [0,1] 0.99976980705646 Centerline is valid? [True, True] Translation: X:230.25, Y:-13.81, Z:-3.09 [[ 9.97850343e-01 6.46515234e-02 1.07178810e-02 2.30253023e+02] [-6.46450512e-02 9.97907869e-01 -9.49579390e-04 -1.38136564e+01] [-1.07568496e-02 2.54680152e-04 9.99942111e-01 -3.09429689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67037174299998 meters Centerline goodness [0,1] 0.9997698744769874 Centerline is valid? [True, True] Translation: X:230.29, Y:-13.81, Z:-3.09 [[ 9.97708809e-01 6.67515216e-02 1.10166968e-02 2.30285565e+02] [-6.67447801e-02 9.97769601e-01 -9.78880307e-04 -1.38144624e+01] [-1.10574669e-02 2.41330499e-04 9.99938835e-01 -3.09357054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70037174299998 meters Centerline goodness [0,1] 0.9997069535730733 Centerline is valid? [True, True] Translation: X:230.32, Y:-13.81, Z:-3.09 [[ 9.97602548e-01 6.82970341e-02 1.11656110e-02 2.30318459e+02] [-6.82901673e-02 9.97665005e-01 -9.95543694e-04 -1.38138319e+01] [-1.12075320e-02 2.30655484e-04 9.99937167e-01 -3.09378097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73037174299998 meters Centerline goodness [0,1] 0.9995818961011811 Centerline is valid? [True, True] Translation: X:230.35, Y:-13.82, Z:-3.09 [[ 9.97409308e-01 7.10838222e-02 1.10346022e-02 2.30349280e+02] [-7.10772823e-02 9.97470326e-01 -9.84207836e-04 -1.38156416e+01] [-1.10766495e-02 1.97348525e-04 9.99938633e-01 -3.09412623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76037174299998 meters Centerline goodness [0,1] 0.9997905978431578 Centerline is valid? [True, True] Translation: X:230.38, Y:-13.81, Z:-3.09 [[ 9.96968706e-01 7.68312029e-02 1.22623945e-02 2.30381046e+02] [-7.68235127e-02 9.97044103e-01 -1.09764834e-03 -1.38147679e+01] [-1.23104818e-02 1.52280825e-04 9.99924212e-01 -3.09421283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79037174299998 meters Centerline goodness [0,1] 0.9997485963295064 Centerline is valid? [True, True] Translation: X:230.41, Y:-13.82, Z:-3.09 [[ 9.96711959e-01 8.00566543e-02 1.24981472e-02 2.30413127e+02] [-8.00489212e-02 9.96790308e-01 -1.11857088e-03 -1.38161714e+01] [-1.25475810e-02 1.14429773e-04 9.99921269e-01 -3.09430712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82037174299998 meters Centerline goodness [0,1] 0.9993348990917216 Centerline is valid? [True, True] Translation: X:230.44, Y:-13.82, Z:-3.09 [[ 9.96228286e-01 8.57142397e-02 1.35007568e-02 2.30444689e+02] [-8.57056856e-02 9.96319761e-01 -1.21196964e-03 -1.38163975e+01] [-1.35549539e-02 5.03068228e-05 9.99908126e-01 -3.09499588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85037174299998 meters Centerline goodness [0,1] 0.9993140148837982 Centerline is valid? [True, True] Translation: X:230.48, Y:-13.82, Z:-3.10 [[ 9.96055645e-01 8.76697708e-02 1.36807301e-02 2.30478077e+02] [-8.76611297e-02 9.96149592e-01 -1.23117442e-03 -1.38184195e+01] [-1.37359905e-02 2.70499726e-05 9.99905656e-01 -3.09561388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88037174299998 meters Centerline goodness [0,1] 0.9997912535225968 Centerline is valid? [True, True] Translation: X:230.51, Y:-13.82, Z:-3.10 [[ 9.95886389e-01 8.95321622e-02 1.39389017e-02 2.30509634e+02] [-8.95233170e-02 9.95983932e-01 -1.25849436e-03 -1.38212323e+01] [-1.39955979e-02 5.46068119e-06 9.99902057e-01 -3.09622643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91037174299998 meters Centerline goodness [0,1] 0.9996258807390934 Centerline is valid? [True, True] Translation: X:230.54, Y:-13.83, Z:-3.10 [[ 9.95742975e-01 9.11362911e-02 1.37878115e-02 2.30541721e+02] [-9.11277403e-02 9.95838429e-01 -1.24847337e-03 -1.38257350e+01] [-1.38442137e-02 -1.32935098e-05 9.99904164e-01 -3.09753784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940371743 meters Centerline goodness [0,1] 0.9998331282201038 Centerline is valid? [True, True] Translation: X:230.57, Y:-13.83, Z:-3.10 [[ 9.95695930e-01 9.16162967e-02 1.40024860e-02 2.30574070e+02] [-9.16074731e-02 9.95794383e-01 -1.27160168e-03 -1.38303180e+01] [-1.40600964e-02 -1.66037442e-05 9.99901152e-01 -3.09778389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.970371743 meters Centerline goodness [0,1] 0.9999792034938131 Centerline is valid? [True, True] Translation: X:230.61, Y:-13.84, Z:-3.10 [[ 9.95735969e-01 9.11887297e-02 1.39461461e-02 2.30606704e+02] [-9.11798800e-02 9.95833628e-01 -1.27041405e-03 -1.38375461e+01] [-1.40038887e-02 -6.61096566e-06 9.99901941e-01 -3.09858643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000371743 meters Centerline goodness [0,1] 0.9998751378686034 Centerline is valid? [True, True] Translation: X:230.64, Y:-13.84, Z:-3.10 [[ 9.95782387e-01 9.06553450e-02 1.41083426e-02 2.30637936e+02] [-9.06461762e-02 9.95882327e-01 -1.28931814e-03 -1.38429349e+01] [-1.41671326e-02 5.01298183e-06 9.99899641e-01 -3.09931448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.030371743 meters Centerline goodness [0,1] 0.9999791935416753 Centerline is valid? [True, True] Translation: X:230.67, Y:-13.85, Z:-3.10 [[ 9.95887172e-01 8.94732014e-02 1.42578682e-02 2.30670665e+02] [-8.94636614e-02 9.95989230e-01 -1.30679698e-03 -1.38487983e+01] [-1.43176065e-02 2.58612474e-05 9.99897497e-01 -3.09948436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060371743 meters Centerline goodness [0,1] 0.9999377554619582 Centerline is valid? [True, True] Translation: X:230.70, Y:-13.86, Z:-3.10 [[ 9.96276556e-01 8.49614327e-02 1.46485226e-02 2.30701288e+02] [-8.49508103e-02 9.96384236e-01 -1.34700090e-03 -1.38591871e+01] [-1.47100002e-02 9.75815457e-05 9.99891797e-01 -3.10010623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.090371743 meters Centerline goodness [0,1] 0.9999582698687587 Centerline is valid? [True, True] Translation: X:230.73, Y:-13.87, Z:-3.10 [[ 9.96868659e-01 7.79424475e-02 1.33361160e-02 2.30732555e+02] [-7.79329730e-02 9.96957843e-01 -1.22944450e-03 -1.38721064e+01] [-1.33913714e-02 1.86271518e-04 9.99910314e-01 -3.10122181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120371743 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.76, Y:-13.88, Z:-3.10 [[ 9.97108737e-01 7.49097542e-02 1.27552050e-02 2.30762925e+02] [-7.49008337e-02 9.97190293e-01 -1.17630946e-03 -1.38806574e+01] [-1.28074836e-02 2.17532952e-04 9.99917957e-01 -3.10182527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15037174299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.79, Y:-13.89, Z:-3.10 [[ 9.97363616e-01 7.14286876e-02 1.27968787e-02 2.30794162e+02] [-7.14193819e-02 9.97445674e-01 -1.18329185e-03 -1.38876323e+01] [-1.28487123e-02 2.66227068e-04 9.99917416e-01 -3.10206608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18037174299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.83, Y:-13.89, Z:-3.10 [[ 9.97609551e-01 6.78761862e-02 1.29617182e-02 2.30826140e+02] [-6.78663162e-02 9.97693702e-01 -1.20031925e-03 -1.38945823e+01] [-1.30132977e-02 3.17785877e-04 9.99915273e-01 -3.10195729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21037174299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.86, Y:-13.91, Z:-3.10 [[ 9.98041115e-01 6.11450742e-02 1.32367703e-02 2.30855612e+02] [-6.11341748e-02 9.98128803e-01 -1.22686981e-03 -1.39050096e+01] [-1.32870187e-02 4.15247481e-04 9.99911637e-01 -3.10171858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24037174299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.89, Y:-13.91, Z:-3.10 [[ 9.98360820e-01 5.56276247e-02 1.34625498e-02 2.30885085e+02] [-5.56158471e-02 9.98451461e-01 -1.24793755e-03 -1.39145185e+01] [-1.35111223e-02 4.97160847e-04 9.99908597e-01 -3.10181807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27037174299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.92, Y:-13.92, Z:-3.10 [[ 9.98467334e-01 5.36793380e-02 1.34726175e-02 2.30916412e+02] [-5.36673581e-02 9.98558087e-01 -1.24943159e-03 -1.39189209e+01] [-1.35202598e-02 5.24476842e-04 9.99908460e-01 -3.10181445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30037174299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.95, Y:-13.93, Z:-3.10 [[ 9.98571237e-01 5.16234697e-02 1.38022643e-02 2.30947718e+02] [-5.16106523e-02 9.98666457e-01 -1.28346505e-03 -1.39251353e+01] [-1.38501153e-02 5.69287418e-04 9.99903920e-01 -3.10245584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33037174299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.98, Y:-13.93, Z:-3.10 [[ 9.98661092e-01 4.97502971e-02 1.41750552e-02 2.30978325e+02] [-4.97365761e-02 9.98761500e-01 -1.31907422e-03 -1.39315493e+01] [-1.42231237e-02 6.12289387e-04 9.99898659e-01 -3.10273619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36037174299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.01, Y:-13.93, Z:-3.10 [[ 9.98806235e-01 4.66126494e-02 1.46070313e-02 2.31009679e+02] [-4.65977172e-02 9.98912809e-01 -1.36113351e-03 -1.39332328e+01] [-1.46545967e-02 6.78854327e-04 9.99892385e-01 -3.10272367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39037174299997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.04, Y:-13.94, Z:-3.10 [[ 9.98844309e-01 4.58161987e-02 1.45231415e-02 2.31041281e+02] [-4.58013488e-02 9.98949650e-01 -1.35363367e-03 -1.39356427e+01] [-1.45699055e-02 6.86889819e-04 9.99893617e-01 -3.10357305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42037174299998 meters Centerline goodness [0,1] 0.9998958485220906 Centerline is valid? [True, True] Translation: X:231.07, Y:-13.94, Z:-3.10 [[ 9.98878368e-01 4.51645273e-02 1.42187230e-02 2.31071940e+02] [-4.51501833e-02 9.98979327e-01 -1.32836644e-03 -1.39387045e+01] [-1.42642054e-02 6.84898548e-04 9.99898026e-01 -3.10471023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45037174299998 meters Centerline goodness [0,1] 0.9999166354049435 Centerline is valid? [True, True] Translation: X:231.11, Y:-13.94, Z:-3.11 [[ 9.98867960e-01 4.54346777e-02 1.40885777e-02 2.31105465e+02] [-4.54205795e-02 9.98967082e-01 -1.31920928e-03 -1.39355719e+01] [-1.41339632e-02 6.77804521e-04 9.99899881e-01 -3.10543794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48037174299998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.14, Y:-13.94, Z:-3.11 [[ 9.98855434e-01 4.56370492e-02 1.43206473e-02 2.31138143e+02] [-4.56224436e-02 9.98957849e-01 -1.34510330e-03 -1.39363437e+01] [-1.43671095e-02 6.90220822e-04 9.99896550e-01 -3.10617609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51037174299998 meters Centerline goodness [0,1] 0.9999791579824927 Centerline is valid? [True, True] Translation: X:231.17, Y:-13.94, Z:-3.11 [[ 9.98824852e-01 4.64021237e-02 1.39913328e-02 2.31169085e+02] [-4.63882011e-02 9.98922618e-01 -1.31815794e-03 -1.39364713e+01] [-1.40374242e-02 6.67576150e-04 9.99901248e-01 -3.10739135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54037174299998 meters Centerline goodness [0,1] 0.9998748043818466 Centerline is valid? [True, True] Translation: X:231.20, Y:-13.93, Z:-3.11 [[ 9.98802122e-01 4.70222580e-02 1.35361600e-02 2.31201759e+02] [-4.70092437e-02 9.98893637e-01 -1.27819964e-03 -1.39346485e+01] [-1.35812879e-02 6.40343871e-04 9.99907565e-01 -3.10885166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57037174299998 meters Centerline goodness [0,1] 0.9998539841468502 Centerline is valid? [True, True] Translation: X:231.23, Y:-13.93, Z:-3.11 [[ 9.98751783e-01 4.87696902e-02 1.07885416e-02 2.31232839e+02] [-4.87615033e-02 9.98809929e-01 -1.02074563e-03 -1.39334758e+01] [-1.08254839e-02 4.93406008e-04 9.99941281e-01 -3.11202405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60037174299998 meters Centerline goodness [0,1] 0.9999164229001254 Centerline is valid? [True, True] Translation: X:231.26, Y:-13.93, Z:-3.11 [[ 9.98732690e-01 4.92579562e-02 1.03279959e-02 2.31264660e+02] [-4.92504567e-02 9.98785980e-01 -9.79373475e-04 -1.39335919e+01] [-1.03636995e-02 4.69473790e-04 9.99946185e-01 -3.11362421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63037174299998 meters Centerline goodness [0,1] 0.9997077122218047 Centerline is valid? [True, True] Translation: X:231.30, Y:-13.93, Z:-3.11 [[ 9.98759907e-01 4.87487917e-02 1.01096117e-02 2.31295794e+02] [-4.87415548e-02 9.98810962e-01 -9.61138114e-04 -1.39321022e+01] [-1.01444453e-02 4.67188019e-04 9.99948435e-01 -3.11483413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66037174299998 meters Centerline goodness [0,1] 0.9996872784889297 Centerline is valid? [True, True] Translation: X:231.33, Y:-13.93, Z:-3.12 [[ 9.98798706e-01 4.79389901e-02 1.01488412e-02 2.31327611e+02] [-4.79316265e-02 9.98850150e-01 -9.67685021e-04 -1.39336388e+01] [-1.01835614e-02 4.80072081e-04 9.99948031e-01 -3.11522964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.690371743 meters Centerline goodness [0,1] 0.9996658521813587 Centerline is valid? [True, True] Translation: X:231.36, Y:-13.93, Z:-3.12 [[ 9.98838818e-01 4.71868474e-02 9.71685449e-03 2.31359962e+02] [-4.71800573e-02 9.98885971e-01 -9.26972611e-04 -1.39274189e+01] [-9.74977054e-03 4.67454476e-04 9.99952361e-01 -3.11525972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720371743 meters Centerline goodness [0,1] 0.9994346733668342 Centerline is valid? [True, True] Translation: X:231.39, Y:-13.93, Z:-3.12 [[ 9.98819887e-01 4.77061391e-02 9.10808761e-03 2.31392261e+02] [-4.77001784e-02 9.98861319e-01 -8.70678826e-04 -1.39274757e+01] [-9.13925313e-03 4.35193922e-04 9.99958141e-01 -3.11617723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.750371743 meters Centerline goodness [0,1] 0.9994346733668342 Centerline is valid? [True, True] Translation: X:231.42, Y:-13.93, Z:-3.12 [[ 9.98806630e-01 4.79829311e-02 9.10789801e-03 2.31424648e+02] [-4.79769639e-02 9.98848061e-01 -8.72656300e-04 -1.39306479e+01] [-9.13927887e-03 4.34645605e-04 9.99958141e-01 -3.11668401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780371743 meters Centerline goodness [0,1] 0.999582733512758 Centerline is valid? [True, True] Translation: X:231.46, Y:-13.93, Z:-3.12 [[ 9.98737643e-01 4.94039835e-02 9.07561512e-03 2.31456141e+02] [-4.93980909e-02 9.98778788e-01 -8.72435639e-04 -1.39310846e+01] [-9.10763367e-03 4.23016253e-04 9.99958435e-01 -3.11726245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.810371743 meters Centerline goodness [0,1] 0.9992478846756503 Centerline is valid? [True, True] Translation: X:231.49, Y:-13.92, Z:-3.12 [[ 9.98511794e-01 5.36738030e-02 9.66022103e-03 2.31487449e+02] [-5.36672901e-02 9.98558437e-01 -9.32348559e-04 -1.39248058e+01] [-9.69633791e-03 4.12523148e-04 9.99952904e-01 -3.11700822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840371743 meters Centerline goodness [0,1] 0.9992052370694162 Centerline is valid? [True, True] Translation: X:231.52, Y:-13.92, Z:-3.12 [[ 9.98135113e-01 5.99961505e-02 1.12586810e-02 2.31518308e+02] [-5.99877047e-02 9.98198525e-01 -1.08667973e-03 -1.39177581e+01] [-1.13035954e-02 4.09270763e-04 9.99936029e-01 -3.11616505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.870371743 meters Centerline goodness [0,1] 0.9990583410061104 Centerline is valid? [True, True] Translation: X:231.55, Y:-13.92, Z:-3.12 [[ 9.97886002e-01 6.39895131e-02 1.13520385e-02 2.31550456e+02] [-6.39811908e-02 9.97950504e-01 -1.09515244e-03 -1.39150265e+01] [-1.13988508e-02 3.66520350e-04 9.99934964e-01 -3.11626681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90037174299997 meters Centerline goodness [0,1] 0.9988924182897266 Centerline is valid? [True, True] Translation: X:231.58, Y:-13.91, Z:-3.12 [[ 9.97621970e-01 6.79125879e-02 1.17594847e-02 2.31582160e+02] [-6.79039161e-02 9.97691219e-01 -1.13559945e-03 -1.39121876e+01] [-1.18094561e-02 3.34383898e-04 9.99930210e-01 -3.11656165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93037174299997 meters Centerline goodness [0,1] 0.9989550242434375 Centerline is valid? [True, True] Translation: X:231.61, Y:-13.90, Z:-3.12 [[ 9.97117684e-01 7.48963580e-02 1.21186085e-02 2.31613498e+02] [-7.48876569e-02 9.97191290e-01 -1.17083245e-03 -1.39029845e+01] [-1.21722619e-02 2.59923540e-04 9.99925881e-01 -3.11648167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96037174299997 meters Centerline goodness [0,1] 0.9991851232762223 Centerline is valid? [True, True] Translation: X:231.64, Y:-13.90, Z:-3.12 [[ 9.96881364e-01 7.78828353e-02 1.27204976e-02 2.31644490e+02] [-7.78734995e-02 9.96962491e-01 -1.22834517e-03 -1.39029220e+01] [-1.27775260e-02 2.33924744e-04 9.99918337e-01 -3.11666432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99037174299997 meters Centerline goodness [0,1] 0.9987681386366009 Centerline is valid? [True, True] Translation: X:231.68, Y:-13.90, Z:-3.12 [[ 9.96567360e-01 8.17344030e-02 1.31523686e-02 2.31676112e+02] [-8.17247159e-02 9.96654127e-01 -1.27321307e-03 -1.39002143e+01] [-1.32124278e-02 1.93968998e-04 9.99912693e-01 -3.11702030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02037174299997 meters Centerline goodness [0,1] 0.9988929735149136 Centerline is valid? [True, True] Translation: X:231.71, Y:-13.90, Z:-3.12 [[ 9.96474079e-01 8.28019769e-02 1.35366905e-02 2.31708097e+02] [-8.27917668e-02 9.96566002e-01 -1.31387245e-03 -1.38999699e+01] [-1.35989968e-02 1.88513315e-04 9.99907512e-01 -3.11719380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05037174299997 meters Centerline goodness [0,1] 0.9988923719958203 Centerline is valid? [True, True] Translation: X:231.74, Y:-13.90, Z:-3.12 [[ 9.96434079e-01 8.32776190e-02 1.35633521e-02 2.31739756e+02] [-8.32674026e-02 9.96526369e-01 -1.31719721e-03 -1.39009909e+01] [-1.36259311e-02 1.83115090e-04 9.99907146e-01 -3.11749995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08037174299997 meters Centerline goodness [0,1] 0.9982637799393369 Centerline is valid? [True, True] Translation: X:231.77, Y:-13.90, Z:-3.12 [[ 9.96590983e-01 8.14564940e-02 1.30863550e-02 2.31771133e+02] [-8.14468210e-02 9.96676878e-01 -1.27130846e-03 -1.39023914e+01] [-1.31464238e-02 2.01132534e-04 9.99913562e-01 -3.11844910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11037174299997 meters Centerline goodness [0,1] 0.9983906700664632 Centerline is valid? [True, True] Translation: X:231.80, Y:-13.91, Z:-3.12 [[ 9.96738173e-01 7.96936345e-02 1.27255018e-02 2.31802934e+02] [-7.96843460e-02 9.96819380e-01 -1.23609215e-03 -1.39052618e+01] [-1.27835355e-02 2.18036948e-04 9.99918263e-01 -3.11894423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14037174299997 meters Centerline goodness [0,1] 0.9983049783413899 Centerline is valid? [True, True] Translation: X:231.83, Y:-13.91, Z:-3.12 [[ 9.97246148e-01 7.30058730e-02 1.30484658e-02 2.31833332e+02] [-7.29954842e-02 9.97331461e-01 -1.27130048e-03 -1.39110555e+01] [-1.31064578e-02 3.15320427e-04 9.99914057e-01 -3.11987797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17037174299998 meters Centerline goodness [0,1] 0.9985581142642204 Centerline is valid? [True, True] Translation: X:231.86, Y:-13.92, Z:-3.12 [[ 9.97524359e-01 6.91966939e-02 1.25287746e-02 2.31864701e+02] [-6.91868181e-02 9.97602974e-01 -1.22049490e-03 -1.39151443e+01] [-1.25831970e-02 3.50647348e-04 9.99920767e-01 -3.12010558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20037174299998 meters Centerline goodness [0,1] 0.9983916449086162 Centerline is valid? [True, True] Translation: X:231.90, Y:-13.92, Z:-3.12 [[ 9.97777864e-01 6.54656884e-02 1.23926855e-02 2.31896612e+02] [-6.54556962e-02 9.97854742e-01 -1.21062376e-03 -1.39202590e+01] [-1.24453543e-02 3.96761728e-04 9.99922475e-01 -3.12161376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23037174299998 meters Centerline goodness [0,1] 0.9980718195388953 Centerline is valid? [True, True] Translation: X:231.93, Y:-13.93, Z:-3.12 [[ 9.98261565e-01 5.79745008e-02 1.06209970e-02 2.31925459e+02] [-5.79667270e-02 9.98317975e-01 -1.03857607e-03 -1.39281909e+01] [-1.06633432e-02 4.21106135e-04 9.99943056e-01 -3.12329413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26037174299998 meters Centerline goodness [0,1] 0.9981498420089805 Centerline is valid? [True, True] Translation: X:231.96, Y:-13.93, Z:-3.12 [[ 9.98453281e-01 5.46922274e-02 9.99034076e-03 2.31956571e+02] [-5.46851894e-02 9.98503168e-01 -9.76499450e-04 -1.39333652e+01] [-1.00287938e-02 4.28665402e-04 9.99949619e-01 -3.12447024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29037174299998 meters Centerline goodness [0,1] 0.998024948024948 Centerline is valid? [True, True] Translation: X:231.99, Y:-13.94, Z:-3.13 [[ 9.98756396e-01 4.90107100e-02 9.14392456e-03 2.31987191e+02] [-4.90045722e-02 9.98798154e-01 -8.94228943e-04 -1.39386128e+01] [-9.17676177e-03 4.45022765e-04 9.99957794e-01 -3.12577398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32037174299998 meters Centerline goodness [0,1] 0.997319424819217 Centerline is valid? [True, True] Translation: X:232.02, Y:-13.94, Z:-3.13 [[ 9.98857466e-01 4.68969521e-02 9.18900027e-03 2.32018468e+02] [-4.68906768e-02 9.98899624e-01 -8.97292035e-04 -1.39424544e+01] [-9.22096918e-03 4.65388407e-04 9.99957378e-01 -3.12646372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35037174299998 meters Centerline goodness [0,1] 0.9967603937367612 Centerline is valid? [True, True] Translation: X:232.05, Y:-13.94, Z:-3.13 [[ 9.99025181e-01 4.32946833e-02 8.61736788e-03 2.32049269e+02] [-4.32890033e-02 9.99062235e-01 -8.44659427e-04 -1.39449119e+01] [-8.64585607e-03 4.70798770e-04 9.99962513e-01 -3.12793836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38037174299998 meters Centerline goodness [0,1] 0.9968793558990575 Centerline is valid? [True, True] Translation: X:232.08, Y:-13.95, Z:-3.13 [[ 9.99095985e-01 4.16877168e-02 8.32752079e-03 2.32079629e+02] [-4.16823567e-02 9.99130579e-01 -8.16260221e-04 -1.39504405e+01] [-8.35430869e-03 4.68411617e-04 9.99964992e-01 -3.12870488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41037174299998 meters Centerline goodness [0,1] 0.9966475793857366 Centerline is valid? [True, True] Translation: X:232.11, Y:-13.95, Z:-3.13 [[ 9.99168250e-01 3.99023610e-02 8.40296561e-03 2.32112052e+02] [-3.98968401e-02 9.99203465e-01 -8.23701820e-04 -1.39497524e+01] [-8.42914000e-03 4.87764931e-04 9.99964355e-01 -3.12871739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440371743 meters Centerline goodness [0,1] 0.9962918211741177 Centerline is valid? [True, True] Translation: X:232.14, Y:-13.95, Z:-3.13 [[ 9.99323325e-01 3.56442791e-02 9.07624030e-03 2.32142808e+02] [-3.56376523e-02 9.99364380e-01 -8.90866967e-04 -1.39527272e+01] [-9.10222557e-03 5.66808243e-04 9.99958413e-01 -3.12854288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.470371743 meters Centerline goodness [0,1] 0.9962249113902812 Centerline is valid? [True, True] Translation: X:232.17, Y:-13.95, Z:-3.13 [[ 9.99421773e-01 3.28198404e-02 8.88692732e-03 2.32174100e+02] [-3.28133765e-02 9.99461116e-01 -8.72221827e-04 -1.39517835e+01] [-8.91076448e-03 5.80107393e-04 9.99960130e-01 -3.12888621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500371743 meters Centerline goodness [0,1] 0.9959674049310488 Centerline is valid? [True, True] Translation: X:232.20, Y:-13.95, Z:-3.13 [[ 9.99623350e-01 2.60102004e-02 8.75367639e-03 2.32204674e+02] [-2.60036663e-02 9.99661478e-01 -8.59457275e-04 -1.39536121e+01] [-8.77306773e-03 6.31505882e-04 9.99961316e-01 -3.12979217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.530371743 meters Centerline goodness [0,1] 0.9946606278436831 Centerline is valid? [True, True] Translation: X:232.23, Y:-13.97, Z:-3.13 [[ 9.99708326e-01 2.24293472e-02 8.95468907e-03 2.32232504e+02] [-2.24223665e-02 9.99748201e-01 -8.79202944e-04 -1.39678733e+01] [-8.97215424e-03 6.78161183e-04 9.99959519e-01 -3.13148169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560371743 meters Centerline goodness [0,1] 0.9942420828639379 Centerline is valid? [True, True] Translation: X:232.26, Y:-13.96, Z:-3.13 [[ 9.99818334e-01 1.63982744e-02 9.71572377e-03 2.32264408e+02] [-1.63897768e-02 9.99865224e-01 -9.53601323e-04 -1.39577659e+01] [-9.73005174e-03 7.94189542e-04 9.99952347e-01 -3.13122532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.590371743 meters Centerline goodness [0,1] 0.9938008362630276 Centerline is valid? [True, True] Translation: X:232.30, Y:-13.95, Z:-3.13 [[ 9.99843114e-01 1.44027196e-02 1.03105866e-02 2.32295594e+02] [-1.43930429e-02 9.99895903e-01 -1.01211753e-03 -1.39533958e+01] [-1.03240906e-02 8.63558032e-04 9.99946332e-01 -3.13160840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620371743 meters Centerline goodness [0,1] 0.993290128987893 Centerline is valid? [True, True] Translation: X:232.33, Y:-13.96, Z:-3.13 [[ 9.99857298e-01 1.34464952e-02 1.02262070e-02 2.32326454e+02] [-1.34369365e-02 9.99909217e-01 -1.00286386e-03 -1.39581433e+01] [-1.02387636e-02 8.65311852e-04 9.99947208e-01 -3.13228181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65037174299997 meters Centerline goodness [0,1] 0.9923675265364003 Centerline is valid? [True, True] Translation: X:232.36, Y:-13.95, Z:-3.13 [[ 9.99862482e-01 1.28854222e-02 1.04394649e-02 2.32359102e+02] [-1.28754041e-02 9.99916582e-01 -1.02628073e-03 -1.39516316e+01] [-1.04518181e-02 8.91727265e-04 9.99944981e-01 -3.13323905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68037174299997 meters Centerline goodness [0,1] 0.9911875 Centerline is valid? [True, True] Translation: X:232.39, Y:-13.95, Z:-3.13 [[ 9.99854239e-01 1.34394414e-02 1.05300845e-02 2.32391639e+02] [-1.34292511e-02 9.99909285e-01 -1.03784716e-03 -1.39481419e+01] [-1.05430773e-02 8.96284736e-04 9.99944019e-01 -3.13416632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71037174299997 meters Centerline goodness [0,1] 0.9895472551174896 Centerline is valid? [True, True] Translation: X:232.42, Y:-13.94, Z:-3.14 [[ 9.99830506e-01 1.46613661e-02 1.11357118e-02 2.32422643e+02] [-1.46499999e-02 9.99892076e-01 -1.10158984e-03 -1.39447834e+01] [-1.11506608e-02 9.38264950e-04 9.99937389e-01 -3.13522883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74037174299997 meters Centerline goodness [0,1] 0.9887486221741572 Centerline is valid? [True, True] Translation: X:232.46, Y:-13.94, Z:-3.14 [[ 9.99817057e-01 1.54993989e-02 1.12080769e-02 2.32455701e+02] [-1.54879457e-02 9.99879441e-01 -1.10794936e-03 -1.39370582e+01] [-1.12238982e-02 9.34156580e-04 9.99936574e-01 -3.13631487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77037174299997 meters Centerline goodness [0,1] 0.9886392062036188 Centerline is valid? [True, True] Translation: X:232.49, Y:-13.93, Z:-3.14 [[ 9.99802358e-01 1.66254512e-02 1.09013589e-02 2.32488121e+02] [-1.66146440e-02 9.99861383e-01 -1.08117971e-03 -1.39317994e+01] [-1.09178229e-02 8.99843829e-04 9.99939994e-01 -3.13699833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80037174299997 meters Centerline goodness [0,1] 0.9874190177638453 Centerline is valid? [True, True] Translation: X:232.52, Y:-13.92, Z:-3.14 [[ 9.99755255e-01 1.94157603e-02 1.06046238e-02 2.32519915e+02] [-1.94056815e-02 9.99811138e-01 -1.05249294e-03 -1.39229231e+01] [-1.06230559e-02 8.46445397e-04 9.99943215e-01 -3.13915967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83037174299997 meters Centerline goodness [0,1] 0.9872715132292796 Centerline is valid? [True, True] Translation: X:232.55, Y:-13.92, Z:-3.14 [[ 9.99718851e-01 2.12999569e-02 1.04178033e-02 2.32551871e+02] [-2.12903309e-02 9.99772800e-01 -1.03403849e-03 -1.39161405e+01] [-1.04374613e-02 8.11949291e-04 9.99945199e-01 -3.14020501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86037174299997 meters Centerline goodness [0,1] 0.9848985959438378 Centerline is valid? [True, True] Translation: X:232.58, Y:-13.91, Z:-3.14 [[ 9.99631642e-01 2.51362334e-02 1.02347703e-02 2.32582114e+02] [-2.51271359e-02 9.99683747e-01 -1.01652690e-03 -1.39094416e+01] [-1.02570851e-02 7.58981986e-04 9.99947107e-01 -3.14212285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89037174299997 meters Centerline goodness [0,1] 0.9846009193480986 Centerline is valid? [True, True] Translation: X:232.61, Y:-13.90, Z:-3.14 [[ 9.99582187e-01 2.67431904e-02 1.09659940e-02 2.32614163e+02] [-2.67328475e-02 9.99642021e-01 -1.08871056e-03 -1.39014279e+01] [-1.09911840e-02 7.95103436e-04 9.99939279e-01 -3.14275701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92037174299998 meters Centerline goodness [0,1] 0.9823154817830672 Centerline is valid? [True, True] Translation: X:232.64, Y:-13.90, Z:-3.14 [[ 9.99534937e-01 2.83957318e-02 1.11172063e-02 2.32644964e+02] [-2.83851985e-02 9.99596449e-01 -1.10414821e-03 -1.39041548e+01] [-1.11440731e-02 7.88070601e-04 9.99937592e-01 -3.14441373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95037174299998 meters Centerline goodness [0,1] 0.9821298093985512 Centerline is valid? [True, True] Translation: X:232.68, Y:-13.90, Z:-3.15 [[ 9.99437399e-01 3.14634599e-02 1.16162440e-02 2.32677114e+02] [-3.14521602e-02 9.99504592e-01 -1.15419848e-03 -1.38951946e+01] [-1.16468043e-02 7.88193158e-04 9.99931863e-01 -3.14566763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98037174299998 meters Centerline goodness [0,1] 0.9816704024132225 Centerline is valid? [True, True] Translation: X:232.71, Y:-13.88, Z:-3.15 [[ 9.99370793e-01 3.33824959e-02 1.19844446e-02 2.32709358e+02] [-3.33706003e-02 9.99442336e-01 -1.19124392e-03 -1.38794464e+01] [-1.20175280e-02 7.90566271e-04 9.99927474e-01 -3.14684420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01037174299998 meters Centerline goodness [0,1] 0.9811759286402278 Centerline is valid? [True, True] Translation: X:232.74, Y:-13.88, Z:-3.15 [[ 9.99339877e-01 3.42774887e-02 1.20359480e-02 2.32738922e+02] [-3.42655545e-02 9.99412047e-01 -1.19642697e-03 -1.38799608e+01] [-1.20698819e-02 7.83218749e-04 9.99926850e-01 -3.14791974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04037174299998 meters Centerline goodness [0,1] 0.9804011989854738 Centerline is valid? [True, True] Translation: X:232.77, Y:-13.88, Z:-3.15 [[ 9.99318125e-01 3.49235450e-02 1.19846026e-02 2.32768979e+02] [-3.49117621e-02 9.99389689e-01 -1.19103877e-03 -1.38807804e+01] [-1.20188835e-02 7.71823041e-04 9.99927473e-01 -3.14880623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07037174299998 meters Centerline goodness [0,1] 0.9809416572834564 Centerline is valid? [True, True] Translation: X:232.80, Y:-13.87, Z:-3.15 [[ 9.99273125e-01 3.60230881e-02 1.24723073e-02 2.32799420e+02] [-3.60104106e-02 9.99350646e-01 -1.23961443e-03 -1.38724450e+01] [-1.25088631e-02 7.89580481e-04 9.99921449e-01 -3.14858712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10037174299998 meters Centerline goodness [0,1] 0.9804964910443071 Centerline is valid? [True, True] Translation: X:232.83, Y:-13.87, Z:-3.15 [[ 9.99264196e-01 3.61324157e-02 1.28652972e-02 2.32829089e+02] [-3.61189417e-02 9.99346681e-01 -1.27819923e-03 -1.38705504e+01] [-1.29030765e-02 8.12577808e-04 9.99916422e-01 -3.14922045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13037174299998 meters Centerline goodness [0,1] 0.9794199794199794 Centerline is valid? [True, True] Translation: X:232.86, Y:-13.87, Z:-3.15 [[ 9.99264259e-01 3.63352511e-02 1.22755958e-02 2.32859730e+02] [-3.63230045e-02 9.99339358e-01 -1.21919957e-03 -1.38657081e+01] [-1.23117859e-02 7.72416033e-04 9.99923909e-01 -3.14979061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16037174299998 meters Centerline goodness [0,1] 0.9800899840215289 Centerline is valid? [True, True] Translation: X:232.89, Y:-13.86, Z:-3.15 [[ 9.99280776e-01 3.58034986e-02 1.24916219e-02 2.32889559e+02] [-3.57907813e-02 9.99358535e-01 -1.24020560e-03 -1.38626392e+01] [-1.25280127e-02 7.92228710e-04 9.99921208e-01 -3.15000587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.190371743 meters Centerline goodness [0,1] 0.9798927332001262 Centerline is valid? [True, True] Translation: X:232.92, Y:-13.86, Z:-3.15 [[ 9.99309893e-01 3.49590040e-02 1.25540775e-02 2.32918004e+02] [-3.49460979e-02 9.99388422e-01 -1.24600169e-03 -1.38629064e+01] [-1.25899587e-02 8.06425789e-04 9.99920418e-01 -3.15048206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220371743 meters Centerline goodness [0,1] 0.9792682161461057 Centerline is valid? [True, True] Translation: X:232.95, Y:-13.86, Z:-3.15 [[ 9.99374405e-01 3.30682167e-02 1.25415649e-02 2.32948346e+02] [-3.30551979e-02 9.99452753e-01 -1.24397961e-03 -1.38605662e+01] [-1.25758378e-02 8.28637468e-04 9.99920578e-01 -3.15131695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.250371743 meters Centerline goodness [0,1] 0.9802429047357989 Centerline is valid? [True, True] Translation: X:232.98, Y:-13.86, Z:-3.15 [[ 9.99401220e-01 3.21604794e-02 1.27634270e-02 2.32978138e+02] [-3.21469245e-02 9.99482353e-01 -1.26580224e-03 -1.38608025e+01] [-1.27975289e-02 8.54739373e-04 9.99917743e-01 -3.15170038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280371743 meters Centerline goodness [0,1] 0.9800168634064081 Centerline is valid? [True, True] Translation: X:233.01, Y:-13.86, Z:-3.15 [[ 9.99429604e-01 3.10985668e-02 1.31660692e-02 2.33008482e+02] [-3.10840584e-02 9.99515922e-01 -1.30520579e-03 -1.38587019e+01] [-1.32002858e-02 8.95206438e-04 9.99912472e-01 -3.15213812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.310371743 meters Centerline goodness [0,1] 0.9804388107470732 Centerline is valid? [True, True] Translation: X:233.04, Y:-13.86, Z:-3.15 [[ 9.99430435e-01 3.10088438e-02 1.33138016e-02 2.33038700e+02] [-3.09940027e-02 9.99518699e-01 -1.31965168e-03 -1.38570817e+01] [-1.33483145e-02 9.06252054e-04 9.99910497e-01 -3.15275726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340371743 meters Centerline goodness [0,1] 0.9815447566017043 Centerline is valid? [True, True] Translation: X:233.07, Y:-13.85, Z:-3.15 [[ 9.99434489e-01 3.08539454e-02 1.33692466e-02 2.33068916e+02] [-3.08389731e-02 9.99523488e-01 -1.32467028e-03 -1.38547386e+01] [-1.34037473e-02 9.11627327e-04 9.99909750e-01 -3.15319554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.370371743 meters Centerline goodness [0,1] 0.9815457048573891 Centerline is valid? [True, True] Translation: X:233.10, Y:-13.85, Z:-3.15 [[ 9.99430096e-01 3.10352009e-02 1.32777519e-02 2.33098623e+02] [-3.10204551e-02 9.99517885e-01 -1.31512766e-03 -1.38539480e+01] [-1.33121658e-02 9.02496261e-04 9.99910982e-01 -3.15415123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40037174299997 meters Centerline goodness [0,1] 0.9824372759856631 Centerline is valid? [True, True] Translation: X:233.13, Y:-13.85, Z:-3.16 [[ 9.99481400e-01 2.96710681e-02 1.25123363e-02 2.33127578e+02] [-2.96578754e-02 9.99559341e-01 -1.23865021e-03 -1.38546253e+01] [-1.25435747e-02 8.66918538e-04 9.99920950e-01 -3.15540206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43037174299997 meters Centerline goodness [0,1] 0.9827031375703942 Centerline is valid? [True, True] Translation: X:233.16, Y:-13.85, Z:-3.16 [[ 9.99597016e-01 2.60312221e-02 1.13217085e-02 2.33158010e+02] [-2.60201812e-02 9.99660789e-01 -1.12143277e-03 -1.38537936e+01] [-1.13470604e-02 8.26387947e-04 9.99935279e-01 -3.15667541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46037174299997 meters Centerline goodness [0,1] 0.9813064349002939 Centerline is valid? [True, True] Translation: X:233.19, Y:-13.86, Z:-3.16 [[ 9.99667937e-01 2.33585984e-02 1.08808294e-02 2.33187820e+02] [-2.33482431e-02 9.99726812e-01 -1.07777387e-03 -1.38559753e+01] [-1.09030322e-02 8.23367726e-04 9.99940221e-01 -3.15767472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49037174299997 meters Centerline goodness [0,1] 0.9813630395188275 Centerline is valid? [True, True] Translation: X:233.22, Y:-13.86, Z:-3.16 [[ 9.99731466e-01 2.04722413e-02 1.08574493e-02 2.33217735e+02] [-2.04617641e-02 9.99790058e-01 -1.07519375e-03 -1.38595576e+01] [-1.08771815e-02 8.52742456e-04 9.99940478e-01 -3.15809300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52037174299997 meters Centerline goodness [0,1] 0.9808014240003391 Centerline is valid? [True, True] Translation: X:233.25, Y:-13.86, Z:-3.16 [[ 9.99809505e-01 1.58271483e-02 1.14216670e-02 2.33247372e+02] [-1.58152570e-02 9.99874292e-01 -1.13069538e-03 -1.38618250e+01] [-1.14381269e-02 9.49843389e-04 9.99934131e-01 -3.15658062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55037174299997 meters Centerline goodness [0,1] 0.9812878370941112 Centerline is valid? [True, True] Translation: X:233.28, Y:-13.86, Z:-3.16 [[ 9.99813400e-01 1.44080528e-02 1.28675627e-02 2.33279394e+02] [-1.43928263e-02 9.99895605e-01 -1.27514830e-03 -1.38576630e+01] [-1.28845918e-02 1.08970976e-03 9.99916396e-01 -3.15618343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58037174299997 meters Centerline goodness [0,1] 0.9789346401069179 Centerline is valid? [True, True] Translation: X:233.31, Y:-13.86, Z:-3.16 [[ 9.99807512e-01 1.41479976e-02 1.35931486e-02 2.33310000e+02] [-1.41309795e-02 9.99899245e-01 -1.34719994e-03 -1.38620124e+01] [-1.36108392e-02 1.15485611e-03 9.99906701e-01 -3.15581516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61037174299997 meters Centerline goodness [0,1] 0.9810172377101511 Centerline is valid? [True, True] Translation: X:233.34, Y:-13.85, Z:-3.16 [[ 9.99800293e-01 1.49100241e-02 1.33066030e-02 2.33343420e+02] [-1.48937431e-02 9.99888208e-01 -1.32178838e-03 -1.38548138e+01] [-1.33248233e-02 1.12333929e-03 9.99910590e-01 -3.15652137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64037174299997 meters Centerline goodness [0,1] 0.9808368682454757 Centerline is valid? [True, True] Translation: X:233.37, Y:-13.85, Z:-3.16 [[ 9.99782229e-01 1.60631528e-02 1.33217381e-02 2.33374827e+02] [-1.60468858e-02 9.99870360e-01 -1.32708389e-03 -1.38522422e+01] [-1.33413282e-02 1.11302248e-03 9.99910381e-01 -3.15771541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67037174299998 meters Centerline goodness [0,1] 0.9808368682454757 Centerline is valid? [True, True] Translation: X:233.41, Y:-13.86, Z:-3.16 [[ 9.99778207e-01 1.63115885e-02 1.33217367e-02 2.33406511e+02] [-1.62953432e-02 9.99866341e-01 -1.32709887e-03 -1.38554538e+01] [-1.33416032e-02 1.10972226e-03 9.99910381e-01 -3.15821109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70037174299998 meters Centerline goodness [0,1] 0.9837347714918029 Centerline is valid? [True, True] Translation: X:233.44, Y:-13.85, Z:-3.16 [[ 9.99742794e-01 1.90131725e-02 1.23630722e-02 2.33438061e+02] [-1.89993418e-02 9.99818733e-01 -1.23520578e-03 -1.38454687e+01] [-1.23843164e-02 9.99997839e-04 9.99922811e-01 -3.15920561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73037174299998 meters Centerline goodness [0,1] 0.9835576448365424 Centerline is valid? [True, True] Translation: X:233.47, Y:-13.85, Z:-3.16 [[ 9.99727665e-01 1.97583371e-02 1.24179122e-02 2.33468627e+02] [-1.97444413e-02 9.99804290e-01 -1.24062888e-03 -1.38470560e+01] [-1.24399946e-02 9.95106280e-04 9.99922125e-01 -3.15952494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76037174299998 meters Centerline goodness [0,1] 0.981843665768194 Centerline is valid? [True, True] Translation: X:233.50, Y:-13.84, Z:-3.16 [[ 9.99718376e-01 1.99836443e-02 1.27993295e-02 2.33499450e+02] [-1.99688970e-02 9.99799784e-01 -1.27897796e-03 -1.38444204e+01] [-1.28223255e-02 1.02302928e-03 9.99917267e-01 -3.15976471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79037174299998 meters Centerline goodness [0,1] 0.9814143245693563 Centerline is valid? [True, True] Translation: X:233.53, Y:-13.85, Z:-3.16 [[ 9.99728280e-01 1.96836892e-02 1.24867337e-02 2.33529697e+02] [-1.96696274e-02 9.99805755e-01 -1.24795835e-03 -1.38463752e+01] [-1.25088726e-02 1.00200986e-03 9.99921259e-01 -3.16017789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82037174299998 meters Centerline goodness [0,1] 0.981834283739416 Centerline is valid? [True, True] Translation: X:233.56, Y:-13.85, Z:-3.16 [[ 9.99750190e-01 1.86989362e-02 1.22436359e-02 2.33560420e+02] [-1.86853400e-02 9.99824665e-01 -1.22393076e-03 -1.38450171e+01] [-1.22643754e-02 9.94848513e-04 9.99924295e-01 -3.16075297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85037174299998 meters Centerline goodness [0,1] 0.9814002951645108 Centerline is valid? [True, True] Translation: X:233.59, Y:-13.84, Z:-3.16 [[ 9.99816278e-01 1.57298422e-02 1.09536267e-02 2.33590472e+02] [-1.57187844e-02 9.99875853e-01 -1.09487555e-03 -1.38444650e+01] [-1.09694891e-02 9.22496703e-04 9.99939408e-01 -3.16096759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88037174299998 meters Centerline goodness [0,1] 0.9794312054270308 Centerline is valid? [True, True] Translation: X:233.62, Y:-13.85, Z:-3.16 [[ 9.99849553e-01 1.39205646e-02 1.03483693e-02 2.33619859e+02] [-1.39105999e-02 9.99902708e-01 -1.03428457e-03 -1.38480754e+01] [-1.03617603e-02 8.90176944e-04 9.99945919e-01 -3.16162503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91037174299998 meters Centerline goodness [0,1] 0.9790154932339674 Centerline is valid? [True, True] Translation: X:233.65, Y:-13.85, Z:-3.16 [[ 9.99913705e-01 1.01714482e-02 8.31411488e-03 2.33651177e+02] [-1.01648808e-02 9.99947990e-01 -8.31785674e-04 -1.38474633e+01] [-8.32214293e-03 7.47201908e-04 9.99965091e-01 -3.16432672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940371743 meters Centerline goodness [0,1] 0.9778998299986923 Centerline is valid? [True, True] Translation: X:233.68, Y:-13.85, Z:-3.17 [[ 9.99937955e-01 8.64855469e-03 7.02051893e-03 2.33681191e+02] [-8.64383515e-03 9.99962395e-01 -7.02314220e-04 -1.38509742e+01] [-7.02632892e-03 6.41586437e-04 9.99975109e-01 -3.16611019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.970371743 meters Centerline goodness [0,1] 0.9816954631834167 Centerline is valid? [True, True] Translation: X:233.71, Y:-13.84, Z:-3.17 [[ 9.99959635e-01 7.06988115e-03 5.54476163e-03 2.33712766e+02] [-7.06691104e-03 9.99974875e-01 -5.55070569e-04 -1.38439624e+01] [-5.54854660e-03 5.15863827e-04 9.99984474e-01 -3.16703202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000371743 meters Centerline goodness [0,1] 0.9726219112180188 Centerline is valid? [True, True] Translation: X:233.74, Y:-13.85, Z:-3.17 [[ 9.99978851e-01 4.41736671e-03 4.77332746e-03 2.33742278e+02] [-4.41513373e-03 9.99990139e-01 -4.78240036e-04 -1.38503066e+01] [-4.77539296e-03 4.57155043e-04 9.99988493e-01 -3.16869400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.030371743 meters Centerline goodness [0,1] 0.9797984205244556 Centerline is valid? [True, True] Translation: X:233.77, Y:-13.84, Z:-3.17 [[ 9.99980136e-01 3.91312120e-03 4.94119136e-03 2.33773841e+02] [-3.91072439e-03 9.99992231e-01 -4.94636404e-04 -1.38444207e+01] [-4.94308855e-03 4.75302941e-04 9.99987670e-01 -3.16751413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060371743 meters Centerline goodness [0,1] 0.9809289449400185 Centerline is valid? [True, True] Translation: X:233.81, Y:-13.84, Z:-3.17 [[ 9.99971656e-01 3.71506097e-03 6.54868231e-03 2.33805450e+02] [-3.71084648e-03 9.99992900e-01 -6.55596934e-04 -1.38389552e+01] [-6.55107139e-03 6.31277197e-04 9.99978342e-01 -3.16548666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.090371743 meters Centerline goodness [0,1] 0.9816445109604719 Centerline is valid? [True, True] Translation: X:233.84, Y:-13.84, Z:-3.16 [[ 9.99966448e-01 4.40771325e-03 6.90465889e-03 2.33837876e+02] [-4.40305558e-03 9.99990069e-01 -6.89623875e-04 -1.38359988e+01] [-6.90762998e-03 6.59199140e-04 9.99975925e-01 -3.16465137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120371743 meters Centerline goodness [0,1] 0.9835537918871252 Centerline is valid? [True, True] Translation: X:233.87, Y:-13.83, Z:-3.16 [[ 9.99959304e-01 4.90432909e-03 7.57221037e-03 2.33869964e+02] [-4.89871068e-03 9.99987712e-01 -7.60346688e-04 -1.38313718e+01] [-7.57584632e-03 7.23221677e-04 9.99971041e-01 -3.16411527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15037174299997 meters Centerline goodness [0,1] 0.9816548191973156 Centerline is valid? [True, True] Translation: X:233.90, Y:-13.84, Z:-3.16 [[ 9.99950980e-01 5.85484036e-03 7.98483777e-03 2.33899544e+02] [-5.84861917e-03 9.99982575e-01 -8.02253602e-04 -1.38385001e+01] [-7.98939570e-03 7.55514001e-04 9.99967799e-01 -3.16434781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18037174299997 meters Centerline goodness [0,1] 0.9834012039660056 Centerline is valid? [True, True] Translation: X:233.93, Y:-13.83, Z:-3.16 [[ 9.99956051e-01 6.16543381e-03 7.06282596e-03 2.33933031e+02] [-6.16058746e-03 9.99980773e-01 -7.07728371e-04 -1.38315378e+01] [-7.06705361e-03 6.64186110e-04 9.99974807e-01 -3.16449435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21037174299997 meters Centerline goodness [0,1] 0.9831075097414098 Centerline is valid? [True, True] Translation: X:233.96, Y:-13.84, Z:-3.17 [[ 9.99958789e-01 6.56672548e-03 6.26886404e-03 2.33963884e+02] [-6.56290693e-03 9.99978266e-01 -6.29506854e-04 -1.38350206e+01] [-6.27286159e-03 5.88338940e-04 9.99980152e-01 -3.16560781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24037174299997 meters Centerline goodness [0,1] 0.9844576866634055 Centerline is valid? [True, True] Translation: X:234.00, Y:-13.83, Z:-3.17 [[ 9.99960770e-01 6.65447658e-03 5.84608482e-03 2.33995996e+02] [-6.65113948e-03 9.99977707e-01 -5.90083095e-04 -1.38313195e+01] [-5.84988118e-03 5.51176820e-04 9.99982737e-01 -3.16609145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27037174299997 meters Centerline goodness [0,1] 0.9832796713667148 Centerline is valid? [True, True] Translation: X:234.03, Y:-13.84, Z:-3.17 [[ 9.99962832e-01 6.87672703e-03 5.20048604e-03 2.34025988e+02] [-6.87408761e-03 9.99976235e-01 -5.25237450e-04 -1.38360155e+01] [-5.20397436e-03 4.89469332e-04 9.99986339e-01 -3.16758217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30037174299997 meters Centerline goodness [0,1] 0.9838181939590892 Centerline is valid? [True, True] Translation: X:234.06, Y:-13.83, Z:-3.17 [[ 9.99963453e-01 7.47325580e-03 4.15241639e-03 2.34057459e+02] [-7.47157722e-03 9.99971999e-01 -4.19609538e-04 -1.38300380e+01] [-4.15543597e-03 3.88569103e-04 9.99991291e-01 -3.16816654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33037174299997 meters Centerline goodness [0,1] 0.9842881692592675 Centerline is valid? [True, True] Translation: X:234.09, Y:-13.83, Z:-3.17 [[ 9.99956275e-01 8.61258260e-03 3.64310919e-03 2.34086901e+02] [-8.61129724e-03 9.99962854e-01 -3.68357904e-04 -1.38293720e+01] [-3.64614638e-03 3.36969902e-04 9.99993296e-01 -3.16927478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36037174299997 meters Centerline goodness [0,1] 0.9831908386722326 Centerline is valid? [True, True] Translation: X:234.12, Y:-13.83, Z:-3.17 [[ 9.99949437e-01 9.44179110e-03 3.46050948e-03 2.34115825e+02] [-9.44063572e-03 9.99955375e-01 -3.50058639e-04 -1.38320425e+01] [-3.46366024e-03 3.17371529e-04 9.99993951e-01 -3.17016123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39037174299997 meters Centerline goodness [0,1] 0.9836325473383352 Centerline is valid? [True, True] Translation: X:234.14, Y:-13.83, Z:-3.17 [[ 9.99945379e-01 9.97064547e-03 3.13447632e-03 2.34144726e+02] [-9.96969890e-03 9.99950251e-01 -3.17466619e-04 -1.38302386e+01] [-3.13748573e-03 2.86199493e-04 9.99995037e-01 -3.17063197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42037174299998 meters Centerline goodness [0,1] 0.9821700223713646 Centerline is valid? [True, True] Translation: X:234.17, Y:-13.83, Z:-3.17 [[ 9.99931851e-01 1.12275514e-02 3.19920901e-03 2.34173555e+02] [-1.12265749e-02 9.99936928e-01 -3.23025525e-04 -1.38306727e+01] [-3.20263401e-03 2.87087352e-04 9.99994830e-01 -3.17103936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45037174299998 meters Centerline goodness [0,1] 0.9837527732335343 Centerline is valid? [True, True] Translation: X:234.20, Y:-13.83, Z:-3.17 [[ 9.99924148e-01 1.19027701e-02 3.16586930e-03 2.34202863e+02] [-1.19018150e-02 9.99929120e-01 -3.20361955e-04 -1.38289251e+01] [-3.16945810e-03 2.82658065e-04 9.99994937e-01 -3.17071491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48037174299998 meters Centerline goodness [0,1] 0.9827118416036953 Centerline is valid? [True, True] Translation: X:234.23, Y:-13.83, Z:-3.17 [[ 9.99903878e-01 1.33720301e-02 3.66383366e-03 2.34231982e+02] [-1.33707638e-02 9.99910539e-01 -3.69888947e-04 -1.38291142e+01] [-3.66845205e-03 3.20865138e-04 9.99993220e-01 -3.17065473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51037174299998 meters Centerline goodness [0,1] 0.9821782178217822 Centerline is valid? [True, True] Translation: X:234.26, Y:-13.83, Z:-3.17 [[ 9.99896394e-01 1.38339119e-02 3.97788645e-03 2.34260832e+02] [-1.38324220e-02 9.99904247e-01 -4.01805714e-04 -1.38304544e+01] [-3.98306410e-03 3.46740281e-04 9.99992007e-01 -3.17089428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54037174299998 meters Centerline goodness [0,1] 0.9822855859901213 Centerline is valid? [True, True] Translation: X:234.29, Y:-13.83, Z:-3.17 [[ 9.99883281e-01 1.46095622e-02 4.47046713e-03 2.34290153e+02] [-1.46076911e-02 9.99893200e-01 -4.50920237e-04 -1.38310360e+01] [-4.47657743e-03 3.85564404e-04 9.99989906e-01 -3.17073864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57037174299998 meters Centerline goodness [0,1] 0.9832822638788753 Centerline is valid? [True, True] Translation: X:234.32, Y:-13.83, Z:-3.17 [[ 9.99854386e-01 1.63619224e-02 4.84703736e-03 2.34320178e+02] [-1.63597456e-02 9.99866051e-01 -4.88400055e-04 -1.38284251e+01] [-4.85437927e-03 4.09032639e-04 9.99988134e-01 -3.17113834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60037174299998 meters Centerline goodness [0,1] 0.9819120864250435 Centerline is valid? [True, True] Translation: X:234.35, Y:-13.83, Z:-3.17 [[ 9.99842486e-01 1.71056386e-02 4.73294463e-03 2.34347844e+02] [-1.71035703e-02 9.99853609e-01 -4.77124385e-04 -1.38347275e+01] [-4.74041329e-03 3.96098980e-04 9.99988686e-01 -3.17252928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63037174299998 meters Centerline goodness [0,1] 0.9829806495416997 Centerline is valid? [True, True] Translation: X:234.38, Y:-13.83, Z:-3.17 [[ 9.99805547e-01 1.93804227e-02 3.64233795e-03 2.34377195e+02] [-1.93792144e-02 9.99812138e-01 -3.66750401e-04 -1.38335312e+01] [-3.64876147e-03 2.96093437e-04 9.99993299e-01 -3.17379942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66037174299998 meters Centerline goodness [0,1] 0.9846394699823025 Centerline is valid? [True, True] Translation: X:234.41, Y:-13.83, Z:-3.17 [[ 9.99784454e-01 2.05373712e-02 3.04317771e-03 2.34407111e+02] [-2.05365317e-02 9.99789056e-01 -3.06868762e-04 -1.38253658e+01] [-3.04883805e-03 2.44306302e-04 9.99995322e-01 -3.17352512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.690371743 meters Centerline goodness [0,1] 0.9851895466280176 Centerline is valid? [True, True] Translation: X:234.43, Y:-13.83, Z:-3.17 [[ 9.99757860e-01 2.18274690e-02 2.78971078e-03 2.34434904e+02] [-2.18267682e-02 9.99761728e-01 -2.81422403e-04 -1.38268119e+01] [-2.79518881e-03 2.20463889e-04 9.99996069e-01 -3.17458103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720371743 meters Centerline goodness [0,1] 0.9850790267353001 Centerline is valid? [True, True] Translation: X:234.46, Y:-13.83, Z:-3.18 [[ 9.99709829e-01 2.39687218e-02 2.39948078e-03 2.34463469e+02] [-2.39682106e-02 9.99712692e-01 -2.41561160e-04 -1.38275558e+01] [-2.40458130e-03 1.83979805e-04 9.99997092e-01 -3.17640613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.750371743 meters Centerline goodness [0,1] 0.9833947500113734 Centerline is valid? [True, True] Translation: X:234.49, Y:-13.84, Z:-3.18 [[ 9.99706050e-01 2.41513697e-02 2.12737359e-03 2.34490107e+02] [-2.41509674e-02 9.99708300e-01 -2.14602822e-04 -1.38361888e+01] [-2.13193598e-03 1.63161610e-04 9.99997714e-01 -3.17824655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780371743 meters Centerline goodness [0,1] 0.9843625339077708 Centerline is valid? [True, True] Translation: X:234.52, Y:-13.83, Z:-3.18 [[ 9.99677572e-01 2.52244984e-02 2.91144168e-03 2.34520275e+02] [-2.52237522e-02 9.99681788e-01 -2.92743207e-04 -1.38269907e+01] [-2.91789952e-03 2.19211335e-04 9.99995719e-01 -3.17710221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.810371743 meters Centerline goodness [0,1] 0.9845129211048514 Centerline is valid? [True, True] Translation: X:234.55, Y:-13.83, Z:-3.18 [[ 9.99661984e-01 2.58101426e-02 3.12330747e-03 2.34549767e+02] [-2.58092883e-02 9.99666836e-01 -3.13534340e-04 -1.38269374e+01] [-3.13035926e-03 2.32818017e-04 9.99995073e-01 -3.17698551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840371743 meters Centerline goodness [0,1] 0.9843250159948816 Centerline is valid? [True, True] Translation: X:234.58, Y:-13.83, Z:-3.18 [[ 9.99654823e-01 2.60304982e-02 3.55632320e-03 2.34578890e+02] [-2.60293922e-02 9.99661114e-01 -3.56911195e-04 -1.38277709e+01] [-3.56440859e-03 2.64219066e-04 9.99993613e-01 -3.17695133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.870371743 meters Centerline goodness [0,1] 0.9844573838888634 Centerline is valid? [True, True] Translation: X:234.61, Y:-13.83, Z:-3.18 [[ 9.99618276e-01 2.72938628e-02 4.28333689e-03 2.34608066e+02] [-2.72922723e-02 9.99627404e-01 -4.29345831e-04 -1.38261085e+01] [-4.29345944e-03 3.12279943e-04 9.99990734e-01 -3.17692751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90037174299997 meters Centerline goodness [0,1] 0.984726706510041 Centerline is valid? [True, True] Translation: X:234.64, Y:-13.83, Z:-3.18 [[ 9.99593842e-01 2.81348518e-02 4.53665414e-03 2.34636723e+02] [-2.81330780e-02 9.99604083e-01 -4.54351085e-04 -1.38267363e+01] [-4.54764110e-03 3.26536502e-04 9.99989606e-01 -3.17693466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93037174299997 meters Centerline goodness [0,1] 0.9857989797325245 Centerline is valid? [True, True] Translation: X:234.67, Y:-13.82, Z:-3.18 [[ 9.99561342e-01 2.92611962e-02 4.57238597e-03 2.34665972e+02] [-2.92594075e-02 9.99571747e-01 -4.57615613e-04 -1.38233401e+01] [-4.58381821e-03 3.23629572e-04 9.99989442e-01 -3.17717566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96037174299997 meters Centerline goodness [0,1] 0.9859274563820019 Centerline is valid? [True, True] Translation: X:234.69, Y:-13.83, Z:-3.18 [[ 9.99547557e-01 2.97249281e-02 4.59461963e-03 2.34694513e+02] [-2.97231284e-02 9.99558065e-01 -4.59501032e-04 -1.38251484e+01] [-4.60624774e-03 3.22726664e-04 9.99989339e-01 -3.17782220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99037174299997 meters Centerline goodness [0,1] 0.9855780306870018 Centerline is valid? [True, True] Translation: X:234.72, Y:-13.83, Z:-3.18 [[ 9.99550111e-01 2.96878938e-02 4.26672734e-03 2.34721518e+02] [-2.96863399e-02 9.99559172e-01 -4.27074897e-04 -1.38277586e+01] [-4.27752540e-03 3.00219242e-04 9.99990806e-01 -3.17897317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02037174299997 meters Centerline goodness [0,1] 0.9861986198619862 Centerline is valid? [True, True] Translation: X:234.75, Y:-13.83, Z:-3.18 [[ 9.99567007e-01 2.92649441e-02 3.05981155e-03 2.34749439e+02] [-2.92641439e-02 9.99571666e-01 -3.05974655e-04 -1.38298284e+01] [-3.06745526e-03 2.16299404e-04 9.99995272e-01 -3.18060539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05037174299997 meters Centerline goodness [0,1] 0.9853080240791567 Centerline is valid? [True, True] Translation: X:234.78, Y:-13.83, Z:-3.18 [[ 9.99581132e-01 2.88101699e-02 2.74502641e-03 2.34776801e+02] [-2.88095231e-02 9.99584882e-01 -2.74873649e-04 -1.38330321e+01] [-2.75180606e-03 1.95675612e-04 9.99996195e-01 -3.18194205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08037174299997 meters Centerline goodness [0,1] 0.9859574566367185 Centerline is valid? [True, True] Translation: X:234.81, Y:-13.83, Z:-3.18 [[ 9.99609635e-01 2.78556033e-02 2.15453168e-03 2.34805966e+02] [-2.78552039e-02 9.99611945e-01 -2.15159043e-04 -1.38329777e+01] [-2.15968899e-03 1.55060133e-04 9.99997656e-01 -3.18252119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11037174299997 meters Centerline goodness [0,1] 0.9860871167622601 Centerline is valid? [True, True] Translation: X:234.83, Y:-13.83, Z:-3.18 [[ 9.99611998e-01 2.77723649e-02 2.13311170e-03 2.34834379e+02] [-2.77719725e-02 9.99614262e-01 -2.13352012e-04 -1.38344976e+01] [-2.13821416e-03 1.54028511e-04 9.99997702e-01 -3.18287271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14037174299997 meters Centerline goodness [0,1] 0.9862352479272039 Centerline is valid? [True, True] Translation: X:234.86, Y:-13.83, Z:-3.18 [[ 9.99607621e-01 2.78783174e-02 2.72093500e-03 2.34864018e+02] [-2.78776825e-02 9.99611305e-01 -2.70983939e-04 -1.38321608e+01] [-2.72743196e-03 1.95024248e-04 9.99996262e-01 -3.18246998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17037174299998 meters Centerline goodness [0,1] 0.9850805141769919 Centerline is valid? [True, True] Translation: X:234.89, Y:-13.84, Z:-3.18 [[ 9.99580803e-01 2.87505879e-02 3.40917951e-03 2.34890958e+02] [-2.87495973e-02 9.99586587e-01 -3.39204320e-04 -1.38397112e+01] [-3.41752244e-03 2.41049589e-04 9.99994131e-01 -3.18349353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20037174299998 meters Centerline goodness [0,1] 0.9863156432342317 Centerline is valid? [True, True] Translation: X:234.92, Y:-13.83, Z:-3.18 [[ 9.99562179e-01 2.93069653e-02 4.06835890e-03 2.34920139e+02] [-2.93055628e-02 9.99570418e-01 -4.03949634e-04 -1.38338877e+01] [-4.07844974e-03 2.84547229e-04 9.99991643e-01 -3.18248874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23037174299998 meters Centerline goodness [0,1] 0.9849248565654689 Centerline is valid? [True, True] Translation: X:234.95, Y:-13.84, Z:-3.18 [[ 9.99470717e-01 3.22884704e-02 3.96747860e-03 2.34947983e+02] [-3.22871618e-02 9.99478556e-01 -3.93467830e-04 -1.38412220e+01] [-3.97811425e-03 2.65160950e-04 9.99992052e-01 -3.18490149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26037174299998 meters Centerline goodness [0,1] 0.9858146132738013 Centerline is valid? [True, True] Translation: X:234.98, Y:-13.83, Z:-3.18 [[ 9.99424355e-01 3.37003022e-02 3.90483326e-03 2.34978133e+02] [-3.36990460e-02 9.99431951e-01 -3.87069908e-04 -1.38338469e+01] [-3.91565950e-03 2.55257938e-04 9.99992301e-01 -3.18409142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29037174299998 meters Centerline goodness [0,1] 0.9865304983017726 Centerline is valid? [True, True] Translation: X:235.01, Y:-13.84, Z:-3.18 [[ 9.99381298e-01 3.49076569e-02 4.29846452e-03 2.35005691e+02] [-3.49061437e-02 9.99390504e-01 -4.26566154e-04 -1.38364906e+01] [-4.31073505e-03 2.76259416e-04 9.99990671e-01 -3.18495998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32037174299998 meters Centerline goodness [0,1] 0.9867301009818326 Centerline is valid? [True, True] Translation: X:235.04, Y:-13.83, Z:-3.18 [[ 9.99329389e-01 3.63977737e-02 3.99683937e-03 2.35035506e+02] [-3.63964820e-02 9.99337350e-01 -3.95472858e-04 -1.38315632e+01] [-4.00858520e-03 2.49736757e-04 9.99991934e-01 -3.18465146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35037174299998 meters Centerline goodness [0,1] 0.9871750110560249 Centerline is valid? [True, True] Translation: X:235.06, Y:-13.84, Z:-3.19 [[ 9.99321518e-01 3.66341468e-02 3.80039833e-03 2.35063135e+02] [-3.66329777e-02 9.99328716e-01 -3.76800154e-04 -1.38351990e+01] [-3.81165094e-03 2.37324595e-04 9.99992707e-01 -3.18605308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38037174299998 meters Centerline goodness [0,1] 0.9866458104732333 Centerline is valid? [True, True] Translation: X:235.09, Y:-13.84, Z:-3.19 [[ 9.99328707e-01 3.65242871e-02 2.84802545e-03 2.35090394e+02] [-3.65236298e-02 9.99332750e-01 -2.82474674e-04 -1.38399221e+01] [-2.85644229e-03 1.78264823e-04 9.99995904e-01 -3.18778418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41037174299998 meters Centerline goodness [0,1] 0.9876260739633919 Centerline is valid? [True, True] Translation: X:235.12, Y:-13.84, Z:-3.19 [[ 9.99355179e-01 3.59013229e-02 5.66748947e-04 2.35119057e+02] [-3.59012964e-02 9.99355339e-01 -5.68737697e-05 -1.38406862e+01] [-5.68425429e-04 3.64900744e-05 9.99999838e-01 -3.19012145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440371743 meters Centerline goodness [0,1] 0.9874279849788912 Centerline is valid? [True, True] Translation: X:235.15, Y:-13.84, Z:-3.19 [[ 9.99362791e-01 3.56930000e-02 1.44506380e-04 2.35147809e+02] [-3.56929981e-02 9.99362802e-01 -1.53146748e-05 -1.38443259e+01] [-1.44960927e-04 1.01470503e-05 9.99999989e-01 -3.19171020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.470371743 meters Centerline goodness [0,1] 0.9873232229251954 Centerline is valid? [True, True] Translation: X:235.18, Y:-13.85, Z:-3.19 [[ 9.99383113e-01 3.51150475e-02 -5.72430626e-04 2.35176327e+02] [-3.51150217e-02 9.99383276e-01 5.51384573e-05 -1.38478973e+01] [ 5.74013783e-04 -3.50035293e-05 9.99999835e-01 -3.19346637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500371743 meters Centerline goodness [0,1] 0.9867626838192454 Centerline is valid? [True, True] Translation: X:235.20, Y:-13.85, Z:-3.19 [[ 9.99395796e-01 3.47372110e-02 -1.17032290e-03 2.35203755e+02] [-3.47371018e-02 9.99396478e-01 1.13513102e-04 -1.38527738e+01] [ 1.17355971e-03 -7.27908916e-05 9.99999309e-01 -3.19440079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.530371743 meters Centerline goodness [0,1] 0.9877546269351647 Centerline is valid? [True, True] Translation: X:235.23, Y:-13.85, Z:-3.19 [[ 9.99384084e-01 3.50821497e-02 -8.34169749e-04 2.35232935e+02] [-3.50820945e-02 9.99384431e-01 8.07241493e-05 -1.38539741e+01] [ 8.36488237e-04 -5.14100080e-05 9.99999649e-01 -3.19402877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560371743 meters Centerline goodness [0,1] 0.9877546269351647 Centerline is valid? [True, True] Translation: X:235.26, Y:-13.86, Z:-3.19 [[ 9.99387771e-01 3.49769395e-02 -8.34231084e-04 2.35260318e+02] [-3.49768848e-02 9.99388118e-01 8.00979495e-05 -1.38565665e+01] [ 8.36522215e-04 -5.08701067e-05 9.99999649e-01 -3.19445745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.590371743 meters Centerline goodness [0,1] 0.9869734118030193 Centerline is valid? [True, True] Translation: X:235.29, Y:-13.86, Z:-3.19 [[ 9.99375124e-01 3.53450708e-02 -2.95800899e-04 2.35289343e+02] [-3.53450641e-02 9.99375168e-01 2.78728022e-05 -1.38594879e+01] [ 2.96601239e-04 -1.74002834e-05 9.99999956e-01 -3.19349718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620371743 meters Centerline goodness [0,1] 0.9870293472682312 Centerline is valid? [True, True] Translation: X:235.32, Y:-13.86, Z:-3.19 [[ 9.99369087e-01 3.55133763e-02 4.77102874e-04 2.35318465e+02] [-3.55133575e-02 9.99369201e-01 -4.77988444e-05 -1.38597379e+01] [-4.78499416e-04 3.08251626e-05 9.99999885e-01 -3.19224833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65037174299997 meters Centerline goodness [0,1] 0.9868650876825263 Centerline is valid? [True, True] Translation: X:235.35, Y:-13.87, Z:-3.19 [[ 9.99323254e-01 3.66861347e-02 2.67603591e-03 2.35345940e+02] [-3.66855621e-02 9.99326824e-01 -2.62756408e-04 -1.38674926e+01] [-2.68387398e-03 1.64406707e-04 9.99996385e-01 -3.19209730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68037174299997 meters Centerline goodness [0,1] 0.9872426453501882 Centerline is valid? [True, True] Translation: X:235.37, Y:-13.87, Z:-3.19 [[ 9.99302436e-01 3.71661808e-02 3.64910648e-03 2.35374611e+02] [-3.71651218e-02 9.99309074e-01 -3.57619212e-04 -1.38677485e+01] [-3.65987656e-03 2.21750263e-04 9.99993278e-01 -3.19129379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71037174299997 meters Centerline goodness [0,1] 0.9866842972139096 Centerline is valid? [True, True] Translation: X:235.40, Y:-13.87, Z:-3.19 [[ 9.99282766e-01 3.75356254e-02 5.00308894e-03 2.35403085e+02] [-3.75336431e-02 9.99295245e-01 -4.89565549e-04 -1.38689250e+01] [-5.01793913e-03 3.01430262e-04 9.99987365e-01 -3.19109153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74037174299997 meters Centerline goodness [0,1] 0.9874817442103067 Centerline is valid? [True, True] Translation: X:235.43, Y:-13.87, Z:-3.19 [[ 9.99292022e-01 3.72453915e-02 5.31376904e-03 2.35430307e+02] [-3.72431503e-02 9.99306098e-01 -5.20137180e-04 -1.38739563e+01] [-5.32945452e-03 3.21867435e-04 9.99985747e-01 -3.19132167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77037174299997 meters Centerline goodness [0,1] 0.987842370039128 Centerline is valid? [True, True] Translation: X:235.46, Y:-13.88, Z:-3.19 [[ 9.99311326e-01 3.67548003e-02 5.09502195e-03 2.35458745e+02] [-3.67527397e-02 9.99324266e-01 -4.97508856e-04 -1.38756965e+01] [-5.10986491e-03 3.09910218e-04 9.99986897e-01 -3.19166422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80037174299997 meters Centerline goodness [0,1] 0.9871872243628429 Centerline is valid? [True, True] Translation: X:235.49, Y:-13.88, Z:-3.19 [[ 9.99375579e-01 3.51274809e-02 3.80935808e-03 2.35486238e+02] [-3.51263168e-02 9.99382811e-01 -3.72083529e-04 -1.38842346e+01] [-3.82007734e-03 2.38042474e-04 9.99992675e-01 -3.19364484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83037174299997 meters Centerline goodness [0,1] 0.9881623842350811 Centerline is valid? [True, True] Translation: X:235.52, Y:-13.88, Z:-3.19 [[ 9.99399116e-01 3.45088920e-02 3.24719062e-03 2.35515700e+02] [-3.45080434e-02 9.99404370e-01 -3.16994780e-04 -1.38820447e+01] [-3.25619564e-03 2.04750107e-04 9.99994678e-01 -3.19335002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86037174299997 meters Centerline goodness [0,1] 0.9878947001556727 Centerline is valid? [True, True] Translation: X:235.54, Y:-13.89, Z:-3.19 [[ 9.99428478e-01 3.36532472e-02 3.19003885e-03 2.35543771e+02] [-3.36524246e-02 9.99433548e-01 -3.11198534e-04 -1.38868223e+01] [-3.19870469e-03 2.03668135e-04 9.99994863e-01 -3.19409180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89037174299997 meters Centerline goodness [0,1] 0.988243205639551 Centerline is valid? [True, True] Translation: X:235.57, Y:-13.89, Z:-3.19 [[ 9.99450977e-01 3.28969480e-02 3.94142501e-03 2.35571516e+02] [-3.28956878e-02 9.99458717e-01 -3.84152978e-04 -1.38917010e+01] [-3.95192904e-03 2.54286182e-04 9.99992159e-01 -3.19363215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92037174299998 meters Centerline goodness [0,1] 0.986890038749797 Centerline is valid? [True, True] Translation: X:235.60, Y:-13.90, Z:-3.19 [[ 9.99458456e-01 3.26503758e-02 4.09248084e-03 2.35597639e+02] [-3.26490127e-02 9.99466799e-01 -3.99462811e-04 -1.38987767e+01] [-4.10334133e-03 2.65631026e-04 9.99991546e-01 -3.19400974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95037174299998 meters Centerline goodness [0,1] 0.9885006736979046 Centerline is valid? [True, True] Translation: X:235.63, Y:-13.90, Z:-3.19 [[ 9.99442111e-01 3.30444433e-02 4.85092223e-03 2.35626975e+02] [-3.30425449e-02 9.99453835e-01 -4.70993385e-04 -1.38965203e+01] [-4.86383654e-03 3.10443808e-04 9.99988123e-01 -3.19230153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98037174299998 meters Centerline goodness [0,1] 0.987891605466208 Centerline is valid? [True, True] Translation: X:235.65, Y:-13.90, Z:-3.19 [[ 9.99430544e-01 3.33397710e-02 5.20074204e-03 2.35654409e+02] [-3.33375944e-02 9.99444020e-01 -5.04684240e-04 -1.38997493e+01] [-5.21467659e-03 3.31016616e-04 9.99986349e-01 -3.19245815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01037174299998 meters Centerline goodness [0,1] 0.9874808023456043 Centerline is valid? [True, True] Translation: X:235.68, Y:-13.91, Z:-3.19 [[ 9.99371953e-01 3.51266585e-02 4.67098250e-03 2.35681997e+02] [-3.51249235e-02 9.99382827e-01 -4.52989265e-04 -1.39054324e+01] [-4.68401170e-03 2.88636864e-04 9.99988988e-01 -3.19405632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04037174299998 meters Centerline goodness [0,1] 0.9882978476398337 Centerline is valid? [True, True] Translation: X:235.71, Y:-13.91, Z:-3.19 [[ 9.99331651e-01 3.62568126e-02 4.65783713e-03 2.35710582e+02] [-3.62551024e-02 9.99342466e-01 -4.51107329e-04 -1.39065531e+01] [-4.67113015e-03 2.81935470e-04 9.99989050e-01 -3.19443224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07037174299998 meters Centerline goodness [0,1] 0.9881522092645078 Centerline is valid? [True, True] Translation: X:235.74, Y:-13.91, Z:-3.19 [[ 9.99284307e-01 3.75383058e-02 4.66354176e-03 2.35739530e+02] [-3.75366043e-02 9.99295151e-01 -4.51872889e-04 -1.39065873e+01] [-4.67721721e-03 2.76495966e-04 9.99989024e-01 -3.19469773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10037174299998 meters Centerline goodness [0,1] 0.988876503645906 Centerline is valid? [True, True] Translation: X:235.77, Y:-13.90, Z:-3.19 [[ 9.99143669e-01 4.10390338e-02 5.26556527e-03 2.35769858e+02] [-4.10369231e-02 9.99157501e-01 -5.08312907e-04 -1.39040328e+01] [-5.28198970e-03 2.91795026e-04 9.99986008e-01 -3.19338427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13037174299998 meters Centerline goodness [0,1] 0.9884156412105423 Centerline is valid? [True, True] Translation: X:235.80, Y:-13.91, Z:-3.19 [[ 9.99060803e-01 4.28840057e-02 6.20276920e-03 2.35797522e+02] [-4.28811102e-02 9.99080003e-01 -5.99112671e-04 -1.39118584e+01] [-6.22275502e-03 3.32568356e-04 9.99980583e-01 -3.19415199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16037174299998 meters Centerline goodness [0,1] 0.9883953488372093 Centerline is valid? [True, True] Translation: X:235.83, Y:-13.91, Z:-3.19 [[ 9.98888139e-01 4.65652293e-02 7.35972902e-03 2.35827829e+02] [-4.65612600e-02 9.98915184e-01 -7.09846043e-04 -1.39069800e+01] [-7.38479921e-03 3.66378536e-04 9.99972665e-01 -3.19228664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.190371743 meters Centerline goodness [0,1] 0.9881931855157347 Centerline is valid? [True, True] Translation: X:235.86, Y:-13.91, Z:-3.19 [[ 9.98793686e-01 4.85116399e-02 7.60218835e-03 2.35856671e+02] [-4.85074610e-02 9.98822551e-01 -7.33221365e-04 -1.39086903e+01] [-7.62880694e-03 3.63574015e-04 9.99970834e-01 -3.19238544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220371743 meters Centerline goodness [0,1] 0.9886849442379182 Centerline is valid? [True, True] Translation: X:235.89, Y:-13.91, Z:-3.19 [[ 9.98695935e-01 5.04485989e-02 7.83381118e-03 2.35885762e+02] [-5.04442161e-02 9.98726594e-01 -7.56184521e-04 -1.39100726e+01] [-7.86198400e-03 3.60027944e-04 9.99969029e-01 -3.19238589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.250371743 meters Centerline goodness [0,1] 0.9886408511231387 Centerline is valid? [True, True] Translation: X:235.92, Y:-13.91, Z:-3.19 [[ 9.98600181e-01 5.22603880e-02 8.15657469e-03 2.35915043e+02] [-5.22557226e-02 9.98633428e-01 -7.84205624e-04 -1.39095531e+01] [-8.18641104e-03 3.56880174e-04 9.99966427e-01 -3.19267630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280371743 meters Centerline goodness [0,1] 0.9887161075233721 Centerline is valid? [True, True] Translation: X:235.95, Y:-13.91, Z:-3.19 [[ 9.98425595e-01 5.55582820e-02 7.72061157e-03 2.35945231e+02] [-5.55542055e-02 9.98455397e-01 -7.41626634e-04 -1.39106520e+01] [-7.74988980e-03 3.11546571e-04 9.99969921e-01 -3.19320482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.310371743 meters Centerline goodness [0,1] 0.9897194957435921 Centerline is valid? [True, True] Translation: X:235.97, Y:-13.91, Z:-3.19 [[ 9.98332429e-01 5.71478211e-02 8.15406169e-03 2.35973619e+02] [-5.71433186e-02 9.98365678e-01 -7.84283614e-04 -1.39122605e+01] [-8.18555543e-03 3.17025620e-04 9.99966448e-01 -3.19344503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340371743 meters Centerline goodness [0,1] 0.9896716906180628 Centerline is valid? [True, True] Translation: X:236.00, Y:-13.92, Z:-3.20 [[ 9.98209254e-01 5.93385151e-02 7.56481719e-03 2.36001723e+02] [-5.93347256e-02 9.98237880e-01 -7.24587715e-04 -1.39155069e+01] [-7.59448303e-03 2.74433811e-04 9.99971124e-01 -3.19505631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.370371743 meters Centerline goodness [0,1] 0.9895481738401732 Centerline is valid? [True, True] Translation: X:236.03, Y:-13.92, Z:-3.20 [[ 9.98152032e-01 6.04000042e-02 6.66030441e-03 2.36030492e+02] [-6.03970821e-02 9.98174225e-01 -6.39177872e-04 -1.39188588e+01] [-6.68675054e-03 2.35733740e-04 9.99977616e-01 -3.19612933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40037174299997 meters Centerline goodness [0,1] 0.9900237198269848 Centerline is valid? [True, True] Translation: X:236.06, Y:-13.92, Z:-3.20 [[ 9.98125993e-01 6.08709118e-02 6.26378667e-03 2.36059234e+02] [-6.08683449e-02 9.98145623e-01 -5.99805723e-04 -1.39218061e+01] [-6.28868196e-03 2.17415355e-04 9.99980202e-01 -3.19684846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43037174299997 meters Centerline goodness [0,1] 0.9903039040156254 Centerline is valid? [True, True] Translation: X:236.09, Y:-13.93, Z:-3.20 [[ 9.98031567e-01 6.24436105e-02 5.81265072e-03 2.36086595e+02] [-6.24414427e-02 9.98048476e-01 -5.53854476e-04 -1.39278033e+01] [-5.83589186e-03 1.89813954e-04 9.99982953e-01 -3.19814665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46037174299997 meters Centerline goodness [0,1] 0.9913992416535652 Centerline is valid? [True, True] Translation: X:236.11, Y:-13.93, Z:-3.20 [[ 9.97983014e-01 6.31835164e-02 6.14381758e-03 2.36114988e+02] [-6.31811032e-02 9.98001906e-01 -5.86274714e-04 -1.39300891e+01] [-6.16858456e-03 1.96919033e-04 9.99980955e-01 -3.19812448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49037174299997 meters Centerline goodness [0,1] 0.9908127372026289 Centerline is valid? [True, True] Translation: X:236.14, Y:-13.94, Z:-3.20 [[ 9.97918032e-01 6.42028917e-02 6.13109010e-03 2.36142057e+02] [-6.42005263e-02 9.97936849e-01 -5.82042277e-04 -1.39357081e+01] [-6.15580953e-03 1.87211272e-04 9.99981035e-01 -3.19843596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52037174299997 meters Centerline goodness [0,1] 0.9912612132310331 Centerline is valid? [True, True] Translation: X:236.17, Y:-13.94, Z:-3.20 [[ 9.97903419e-01 6.44278936e-02 6.14917740e-03 2.36170914e+02] [-6.44255127e-02 9.97922347e-01 -5.84697063e-04 -1.39396067e+01] [-6.17407234e-03 1.87307293e-04 9.99980923e-01 -3.19891527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55037174299997 meters Centerline goodness [0,1] 0.9910776200822893 Centerline is valid? [True, True] Translation: X:236.20, Y:-13.94, Z:-3.20 [[ 9.97921086e-01 6.41560317e-02 6.12453306e-03 2.36198505e+02] [-6.41536715e-02 9.97939862e-01 -5.81246337e-04 -1.39427785e+01] [-6.14920614e-03 1.87126694e-04 9.99981076e-01 -3.19954762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58037174299997 meters Centerline goodness [0,1] 0.9917771515683467 Centerline is valid? [True, True] Translation: X:236.22, Y:-13.95, Z:-3.20 [[ 9.97934338e-01 6.39836617e-02 5.75751614e-03 2.36224682e+02] [-6.39815863e-02 9.97950931e-01 -5.44130390e-04 -1.39491269e+01] [-5.78053405e-03 1.74631385e-04 9.99983277e-01 -3.20095752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61037174299997 meters Centerline goodness [0,1] 0.9914148272608005 Centerline is valid? [True, True] Translation: X:236.25, Y:-13.96, Z:-3.20 [[ 9.98020645e-01 6.26702941e-02 5.21786499e-03 2.36251967e+02] [-6.26685813e-02 9.98034272e-01 -4.91267836e-04 -1.39570784e+01] [-5.23839599e-03 1.63299246e-04 9.99986266e-01 -3.20198425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64037174299997 meters Centerline goodness [0,1] 0.9925477838857327 Centerline is valid? [True, True] Translation: X:236.28, Y:-13.96, Z:-3.20 [[ 9.98095104e-01 6.14577712e-02 5.39488326e-03 2.36280597e+02] [-6.14559161e-02 9.98109669e-01 -5.09114747e-04 -1.39592673e+01] [-5.41597420e-03 1.76597444e-04 9.99985318e-01 -3.20143254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67037174299998 meters Centerline goodness [0,1] 0.9920631279533881 Centerline is valid? [True, True] Translation: X:236.31, Y:-13.97, Z:-3.20 [[ 9.98262400e-01 5.86061439e-02 6.12376392e-03 2.36308652e+02] [-5.86037130e-02 9.98281159e-01 -5.75803735e-04 -1.39682164e+01] [-6.14698378e-03 2.15927915e-04 9.99981084e-01 -3.20196645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70037174299998 meters Centerline goodness [0,1] 0.9917449863940911 Centerline is valid? [True, True] Translation: X:236.34, Y:-13.97, Z:-3.20 [[ 9.98378877e-01 5.65400324e-02 6.54544107e-03 2.36337167e+02] [-5.65372232e-02 9.98400303e-01 -6.13568657e-04 -1.39733505e+01] [-6.56966155e-03 2.42512923e-04 9.99978390e-01 -3.20170438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73037174299998 meters Centerline goodness [0,1] 0.9915097569325574 Centerline is valid? [True, True] Translation: X:236.36, Y:-13.98, Z:-3.20 [[ 9.98488540e-01 5.45504989e-02 6.69916680e-03 2.36364169e+02] [-5.45475333e-02 9.98510980e-01 -6.24740603e-04 -1.39807845e+01] [-6.72327152e-03 2.58373308e-04 9.99977365e-01 -3.20265263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76037174299998 meters Centerline goodness [0,1] 0.991316208229143 Centerline is valid? [True, True] Translation: X:236.39, Y:-13.99, Z:-3.20 [[ 9.98681455e-01 5.09869995e-02 5.97299708e-03 2.36393282e+02] [-5.09845838e-02 9.98699286e-01 -5.56119922e-04 -1.39889109e+01] [-5.99358280e-03 2.50855883e-04 9.99982007e-01 -3.20326399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79037174299998 meters Centerline goodness [0,1] 0.9918150194393288 Centerline is valid? [True, True] Translation: X:236.42, Y:-13.99, Z:-3.20 [[ 9.98776352e-01 4.91150345e-02 5.78900586e-03 2.36421500e+02] [-4.91127329e-02 9.98793096e-01 -5.39147396e-04 -1.39942718e+01] [-5.80849933e-03 2.54173771e-04 9.99983098e-01 -3.20405323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82037174299998 meters Centerline goodness [0,1] 0.9912925170068028 Centerline is valid? [True, True] Translation: X:236.45, Y:-14.00, Z:-3.20 [[ 9.98851458e-01 4.75994071e-02 5.48288884e-03 2.36448654e+02] [-4.75973206e-02 9.98866475e-01 -5.10476554e-04 -1.40003901e+01] [-5.50097223e-03 2.48919432e-04 9.99984839e-01 -3.20446873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85037174299998 meters Centerline goodness [0,1] 0.99143944197844 Centerline is valid? [True, True] Translation: X:236.48, Y:-14.01, Z:-3.20 [[ 9.99009825e-01 4.41115504e-02 5.79142904e-03 2.36477524e+02] [-4.41091694e-02 9.99026572e-01 -5.38268583e-04 -1.40072548e+01] [-5.80953537e-03 2.82280478e-04 9.99983085e-01 -3.20448552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88037174299998 meters Centerline goodness [0,1] 0.9906518786781349 Centerline is valid? [True, True] Translation: X:236.50, Y:-14.01, Z:-3.20 [[ 9.99070569e-01 4.26721368e-02 6.08987997e-03 2.36504357e+02] [-4.26694742e-02 9.99089083e-01 -5.66550014e-04 -1.40131373e+01] [-6.10850849e-03 3.06171469e-04 9.99981296e-01 -3.20455716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91037174299998 meters Centerline goodness [0,1] 0.9908835904628331 Centerline is valid? [True, True] Translation: X:236.53, Y:-14.02, Z:-3.20 [[ 9.99170073e-01 4.02298514e-02 6.38157167e-03 2.36533343e+02] [-4.02268915e-02 9.99190396e-01 -5.91552594e-04 -1.40193715e+01] [-6.40020319e-03 3.34350857e-04 9.99979463e-01 -3.20490399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940371743 meters Centerline goodness [0,1] 0.9896087467244963 Centerline is valid? [True, True] Translation: X:236.56, Y:-14.02, Z:-3.21 [[ 9.99230916e-01 3.87131636e-02 6.23430170e-03 2.36560487e+02] [-3.87103076e-02 9.99250308e-01 -5.78184345e-04 -1.40249386e+01] [-6.25201124e-03 3.36407937e-04 9.99980399e-01 -3.20588986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.970371743 meters Centerline goodness [0,1] 0.9900078944400587 Centerline is valid? [True, True] Translation: X:236.59, Y:-14.03, Z:-3.21 [[ 9.99287325e-01 3.73235561e-02 5.63867081e-03 2.36587547e+02] [-3.73211989e-02 9.99303185e-01 -5.22734241e-04 -1.40299841e+01] [-5.65425200e-03 3.11919747e-04 9.99983966e-01 -3.20676126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000371743 meters Centerline goodness [0,1] 0.9898368487470705 Centerline is valid? [True, True] Translation: X:236.62, Y:-14.03, Z:-3.21 [[ 9.99313273e-01 3.65426629e-02 6.13315194e-03 2.36616003e+02] [-3.65398663e-02 9.99332035e-01 -5.67460162e-04 -1.40327546e+01] [-6.14979171e-03 3.42965921e-04 9.99981031e-01 -3.20729286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.030371743 meters Centerline goodness [0,1] 0.9894382884611045 Centerline is valid? [True, True] Translation: X:236.65, Y:-14.04, Z:-3.21 [[ 9.99400040e-01 3.40689115e-02 6.23445373e-03 2.36645348e+02] [-3.40659787e-02 9.99419420e-01 -5.76039952e-04 -1.40386542e+01] [-6.25045918e-03 3.63311583e-04 9.99980400e-01 -3.20751042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060371743 meters Centerline goodness [0,1] 0.9900780705109457 Centerline is valid? [True, True] Translation: X:236.67, Y:-14.04, Z:-3.21 [[ 9.99437171e-01 3.28408765e-02 6.84243872e-03 2.36673068e+02] [-3.28373140e-02 9.99460510e-01 -6.32373942e-04 -1.40439247e+01] [-6.85951501e-03 4.07330714e-04 9.99976390e-01 -3.20759589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.090371743 meters Centerline goodness [0,1] 0.9883624272651704 Centerline is valid? [True, True] Translation: X:236.70, Y:-14.05, Z:-3.21 [[ 9.99540752e-01 2.93966218e-02 7.35691263e-03 2.36702528e+02] [-2.93924202e-02 9.99567719e-01 -6.78595798e-04 -1.40506085e+01] [-7.37368080e-03 4.62046686e-04 9.99972707e-01 -3.20788369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120371743 meters Centerline goodness [0,1] 0.9888225524083135 Centerline is valid? [True, True] Translation: X:236.73, Y:-14.05, Z:-3.21 [[ 9.99591293e-01 2.76180973e-02 7.38163531e-03 2.36731268e+02] [-2.76138180e-02 9.99618434e-01 -6.81034975e-04 -1.40548458e+01] [-7.39762762e-03 4.76921497e-04 9.99972523e-01 -3.20849768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15037174299997 meters Centerline goodness [0,1] 0.9888386327325097 Centerline is valid? [True, True] Translation: X:236.76, Y:-14.06, Z:-3.21 [[ 9.99636519e-01 2.58531868e-02 7.64478328e-03 2.36760582e+02] [-2.58485499e-02 9.99665622e-01 -7.04743121e-04 -1.40571658e+01] [-7.66044689e-03 5.06880398e-04 9.99970530e-01 -3.20893943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18037174299997 meters Centerline goodness [0,1] 0.988063184347514 Centerline is valid? [True, True] Translation: X:236.79, Y:-14.07, Z:-3.21 [[ 9.99714907e-01 2.23940987e-02 8.28300366e-03 2.36788550e+02] [-2.23885399e-02 9.99749054e-01 -7.63228572e-04 -1.40669919e+01] [-8.29801688e-03 5.77566624e-04 9.99965404e-01 -3.20975290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21037174299997 meters Centerline goodness [0,1] 0.987590602068981 Centerline is valid? [True, True] Translation: X:236.82, Y:-14.07, Z:-3.21 [[ 9.99744871e-01 2.09098282e-02 8.54234016e-03 2.36817918e+02] [-2.09038649e-02 9.99781181e-01 -7.86798075e-04 -1.40711700e+01] [-8.55692275e-03 6.08029416e-04 9.99963204e-01 -3.21028563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24037174299997 meters Centerline goodness [0,1] 0.9871866795323475 Centerline is valid? [True, True] Translation: X:236.85, Y:-14.08, Z:-3.21 [[ 9.99769059e-01 1.96772738e-02 8.63905767e-03 2.36847292e+02] [-1.96711315e-02 9.99806188e-01 -7.95395393e-04 -1.40753315e+01] [-8.65303453e-03 6.25271663e-04 9.99962366e-01 -3.21043701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27037174299997 meters Centerline goodness [0,1] 0.9871992838760211 Centerline is valid? [True, True] Translation: X:236.88, Y:-14.08, Z:-3.21 [[ 9.99804002e-01 1.77312984e-02 8.80675652e-03 2.36876356e+02] [-1.77248420e-02 9.99842574e-01 -8.10633312e-04 -1.40794357e+01] [-8.81974369e-03 6.54376062e-04 9.99960891e-01 -3.21072508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30037174299997 meters Centerline goodness [0,1] 0.986210293031273 Centerline is valid? [True, True] Translation: X:236.90, Y:-14.09, Z:-3.21 [[ 9.99815593e-01 1.71402697e-02 8.65976511e-03 2.36904390e+02] [-1.71340089e-02 9.99852885e-01 -7.96654768e-04 -1.40872576e+01] [-8.67214601e-03 6.48131367e-04 9.99962186e-01 -3.21192971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33037174299997 meters Centerline goodness [0,1] 0.9879137142344605 Centerline is valid? [True, True] Translation: X:236.93, Y:-14.09, Z:-3.21 [[ 9.99836097e-01 1.64492516e-02 7.56319616e-03 2.36933563e+02] [-1.64444586e-02 9.99864539e-01 -6.95482321e-04 -1.40874684e+01] [-7.57361180e-03 5.70995663e-04 9.99971157e-01 -3.21342281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36037174299997 meters Centerline goodness [0,1] 0.9871288904834514 Centerline is valid? [True, True] Translation: X:236.96, Y:-14.09, Z:-3.22 [[ 9.99840792e-01 1.63975260e-02 7.03649255e-03 2.36960376e+02] [-1.63933762e-02 9.99865410e-01 -6.47026222e-04 -1.40944620e+01] [-7.04615514e-03 5.31571341e-04 9.99975034e-01 -3.21509024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39037174299997 meters Centerline goodness [0,1] 0.9875625799788968 Centerline is valid? [True, True] Translation: X:236.99, Y:-14.09, Z:-3.22 [[ 9.99831733e-01 1.72007729e-02 6.37486962e-03 2.36989361e+02] [-1.71973868e-02 9.99851943e-01 -5.85609478e-04 -1.40913641e+01] [-6.38399871e-03 4.75879841e-04 9.99979509e-01 -3.21559686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42037174299998 meters Centerline goodness [0,1] 0.987875794247738 Centerline is valid? [True, True] Translation: X:237.02, Y:-14.09, Z:-3.22 [[ 9.99784466e-01 1.99286464e-02 5.81981118e-03 2.37018601e+02] [-1.99258741e-02 9.99801317e-01 -5.33959706e-04 -1.40948044e+01] [-5.82929597e-03 4.17879795e-04 9.99982922e-01 -3.21668158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45037174299998 meters Centerline goodness [0,1] 0.9884663903406019 Centerline is valid? [True, True] Translation: X:237.05, Y:-14.09, Z:-3.22 [[ 9.99754515e-01 2.13326253e-02 5.98564427e-03 2.37048427e+02] [-2.13297180e-02 9.99772345e-01 -5.49134613e-04 -1.40886139e+01] [-5.99599609e-03 4.21327705e-04 9.99981935e-01 -3.21601364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48037174299998 meters Centerline goodness [0,1] 0.9884663903406019 Centerline is valid? [True, True] Translation: X:237.08, Y:-14.09, Z:-3.22 [[ 9.99756047e-01 2.12607249e-02 5.98565805e-03 2.37076686e+02] [-2.12578172e-02 9.99773876e-01 -5.48984444e-04 -1.40911411e+01] [-5.99597636e-03 4.21608493e-04 9.99981935e-01 -3.21645564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51037174299998 meters Centerline goodness [0,1] 0.9894893205194571 Centerline is valid? [True, True] Translation: X:237.11, Y:-14.09, Z:-3.22 [[ 9.99644176e-01 2.56688915e-02 7.25459977e-03 2.37107566e+02] [-2.56647456e-02 9.99670386e-01 -6.64027539e-04 -1.40886054e+01] [-7.26925340e-03 4.77603804e-04 9.99973465e-01 -3.21546330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54037174299998 meters Centerline goodness [0,1] 0.9897648623667065 Centerline is valid? [True, True] Translation: X:237.14, Y:-14.09, Z:-3.22 [[ 9.99580618e-01 2.78391981e-02 7.97292045e-03 2.37136726e+02] [-2.78342573e-02 9.99612285e-01 -7.30002289e-04 -1.40920491e+01] [-7.99015191e-03 5.07775820e-04 9.99967949e-01 -3.21574578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57037174299998 meters Centerline goodness [0,1] 0.9908675799086758 Centerline is valid? [True, True] Translation: X:237.17, Y:-14.09, Z:-3.22 [[ 9.99501988e-01 3.02758959e-02 8.89643507e-03 2.37166983e+02] [-3.02698449e-02 9.99541432e-01 -8.14054829e-04 -1.40898445e+01] [-8.91700169e-03 5.44355710e-04 9.99960095e-01 -3.21551724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60037174299998 meters Centerline goodness [0,1] 0.9903610116433574 Centerline is valid? [True, True] Translation: X:237.20, Y:-14.09, Z:-3.22 [[ 9.99375503e-01 3.40877505e-02 9.30748228e-03 2.37196162e+02] [-3.40812928e-02 9.99418701e-01 -8.51591620e-04 -1.40911752e+01] [-9.33110070e-03 5.33848774e-04 9.99956322e-01 -3.21581331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63037174299998 meters Centerline goodness [0,1] 0.9905579399141631 Centerline is valid? [True, True] Translation: X:237.22, Y:-14.09, Z:-3.22 [[ 9.99333857e-01 3.52696236e-02 9.37524376e-03 2.37224999e+02] [-3.52631245e-02 9.99377695e-01 -8.57681453e-04 -1.40905588e+01] [-9.39965959e-03 5.26509727e-04 9.99955684e-01 -3.21585125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66037174299998 meters Centerline goodness [0,1] 0.9901766402307137 Centerline is valid? [True, True] Translation: X:237.25, Y:-14.09, Z:-3.22 [[ 9.99291548e-01 3.62975001e-02 9.94453314e-03 2.37254069e+02] [-3.62902463e-02 9.99340879e-01 -9.08966797e-04 -1.40925716e+01] [-9.97097171e-03 5.47433281e-04 9.99950139e-01 -3.21628729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.690371743 meters Centerline goodness [0,1] 0.9904572384785854 Centerline is valid? [True, True] Translation: X:237.28, Y:-14.09, Z:-3.22 [[ 9.99270790e-01 3.69331857e-02 9.68653378e-03 2.37283253e+02] [-3.69263397e-02 9.99317599e-01 -8.84716064e-04 -1.40938117e+01] [-9.71259906e-03 5.26382682e-04 9.99952693e-01 -3.21652406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720371743 meters Centerline goodness [0,1] 0.9909616775126536 Centerline is valid? [True, True] Translation: X:237.31, Y:-14.10, Z:-3.22 [[ 9.99272419e-01 3.69797840e-02 9.33420418e-03 2.37311521e+02] [-3.69734349e-02 9.99315886e-01 -8.51904145e-04 -1.40962431e+01] [-9.35932174e-03 5.06166726e-04 9.99956072e-01 -3.21722798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.750371743 meters Centerline goodness [0,1] 0.9907043905960923 Centerline is valid? [True, True] Translation: X:237.34, Y:-14.10, Z:-3.22 [[ 9.99322837e-01 3.58528807e-02 8.27279102e-03 2.37340265e+02] [-3.58478589e-02 9.99356974e-01 -7.54562970e-04 -1.40985326e+01] [-8.29452466e-03 4.57490163e-04 9.99965495e-01 -3.21864091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780371743 meters Centerline goodness [0,1] 0.9911404420738598 Centerline is valid? [True, True] Translation: X:237.37, Y:-14.10, Z:-3.22 [[ 9.99347349e-01 3.52566222e-02 7.86426156e-03 2.37368526e+02] [-3.52520687e-02 9.99378196e-01 -7.16932744e-04 -1.41003529e+01] [-7.88464815e-03 4.39233349e-04 9.99968819e-01 -3.21959221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.810371743 meters Centerline goodness [0,1] 0.9904527046899392 Centerline is valid? [True, True] Translation: X:237.40, Y:-14.11, Z:-3.22 [[ 9.99383241e-01 3.43945488e-02 7.08188267e-03 2.37396128e+02] [-3.43908383e-02 9.99408252e-01 -6.45096569e-04 -1.41056676e+01] [-7.09987979e-03 4.01146818e-04 9.99974715e-01 -3.22131271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840371743 meters Centerline goodness [0,1] 0.9905722231014447 Centerline is valid? [True, True] Translation: X:237.42, Y:-14.11, Z:-3.22 [[ 9.99439247e-01 3.28763403e-02 6.35123422e-03 2.37424597e+02] [-3.28733304e-02 9.99459359e-01 -5.77765507e-04 -1.41100898e+01] [-6.36679529e-03 3.68655303e-04 9.99979664e-01 -3.22292686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.870371743 meters Centerline goodness [0,1] 0.990656108597285 Centerline is valid? [True, True] Translation: X:237.45, Y:-14.11, Z:-3.22 [[ 9.99469531e-01 3.19800458e-02 6.15897051e-03 2.37453204e+02] [-3.19771992e-02 9.99488442e-01 -5.60132807e-04 -1.41135311e+01] [-6.17373291e-03 3.62889047e-04 9.99980876e-01 -3.22437399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90037174299997 meters Centerline goodness [0,1] 0.9909565689222491 Centerline is valid? [True, True] Translation: X:237.48, Y:-14.11, Z:-3.22 [[ 9.99503049e-01 3.08951632e-02 6.25649012e-03 2.37481932e+02] [-3.08922073e-02 9.99522560e-01 -5.68565711e-04 -1.41130802e+01] [-6.27106895e-03 3.75006372e-04 9.99980266e-01 -3.22457228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93037174299997 meters Centerline goodness [0,1] 0.9891274864376131 Centerline is valid? [True, True] Translation: X:237.51, Y:-14.12, Z:-3.23 [[ 9.99525785e-01 3.02236014e-02 5.89398267e-03 2.37508843e+02] [-3.02209676e-02 9.99543099e-01 -5.35429683e-04 -1.41207720e+01] [-5.90747232e-03 3.57053914e-04 9.99982487e-01 -3.22568334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96037174299997 meters Centerline goodness [0,1] 0.9906215478954844 Centerline is valid? [True, True] Translation: X:237.54, Y:-14.12, Z:-3.23 [[ 9.99540651e-01 2.96658519e-02 6.19877336e-03 2.37537687e+02] [-2.96629329e-02 9.99559800e-01 -5.62330527e-04 -1.41188324e+01] [-6.21272667e-03 3.78198423e-04 9.99980629e-01 -3.22512198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99037174299997 meters Centerline goodness [0,1] 0.990047608252097 Centerline is valid? [True, True] Translation: X:237.57, Y:-14.12, Z:-3.23 [[ 9.99578665e-01 2.83313397e-02 6.31097378e-03 2.37565951e+02] [-2.83282894e-02 9.99598510e-01 -5.72212616e-04 -1.41198250e+01] [-6.32465153e-03 3.93192430e-04 9.99979922e-01 -3.22506503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02037174299997 meters Centerline goodness [0,1] 0.9904960173787111 Centerline is valid? [True, True] Translation: X:237.59, Y:-14.12, Z:-3.23 [[ 9.99597145e-01 2.76533853e-02 6.39048200e-03 2.37594599e+02] [-2.76502487e-02 9.99617491e-01 -5.78673916e-04 -1.41218648e+01] [-6.40403988e-03 4.01742377e-04 9.99979413e-01 -3.22557860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05037174299997 meters Centerline goodness [0,1] 0.9906012909070321 Centerline is valid? [True, True] Translation: X:237.62, Y:-14.13, Z:-3.23 [[ 9.99650191e-01 2.56382363e-02 6.49437256e-03 2.37623333e+02] [-2.56349587e-02 9.99671198e-01 -5.87436072e-04 -1.41257683e+01] [-6.50729803e-03 4.20747610e-04 9.99978739e-01 -3.22648682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08037174299997 meters Centerline goodness [0,1] 0.9903448275862069 Centerline is valid? [True, True] Translation: X:237.65, Y:-14.13, Z:-3.23 [[ 9.99669438e-01 2.49417652e-02 6.23880857e-03 2.37650393e+02] [-2.49387258e-02 9.99688822e-01 -5.64505385e-04 -1.41296017e+01] [-6.25094695e-03 4.08730845e-04 9.99980379e-01 -3.22764558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11037174299997 meters Centerline goodness [0,1] 0.9899870874204291 Centerline is valid? [True, True] Translation: X:237.68, Y:-14.13, Z:-3.23 [[ 9.99711392e-01 2.34875371e-02 5.04670345e-03 2.37679726e+02] [-2.34855337e-02 9.99724073e-01 -4.55877995e-04 -1.41289893e+01] [-5.05601838e-03 3.37221901e-04 9.99987161e-01 -3.22883178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14037174299997 meters Centerline goodness [0,1] 0.9903065825067628 Centerline is valid? [True, True] Translation: X:237.71, Y:-14.13, Z:-3.23 [[ 9.99739952e-01 2.23674549e-02 4.44128128e-03 2.37707327e+02] [-2.23658907e-02 9.99749772e-01 -4.01571587e-04 -1.41328433e+01] [-4.44915208e-03 3.02133948e-04 9.99990057e-01 -3.22998575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17037174299998 meters Centerline goodness [0,1] 0.9890925548766689 Centerline is valid? [True, True] Translation: X:237.74, Y:-14.14, Z:-3.23 [[ 9.99764544e-01 2.12875948e-02 4.20661321e-03 2.37735591e+02] [-2.12861849e-02 9.99773351e-01 -3.79669335e-04 -1.41362928e+01] [-4.21374203e-03 2.90037193e-04 9.99991080e-01 -3.23106425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20037174299998 meters Centerline goodness [0,1] 0.9891605633802817 Centerline is valid? [True, True] Translation: X:237.76, Y:-14.14, Z:-3.23 [[ 9.99790723e-01 2.00798151e-02 3.91285174e-03 2.37764715e+02] [-2.00785875e-02 9.99798343e-01 -3.52750062e-04 -1.41394294e+01] [-3.91914584e-03 2.74111703e-04 9.99992283e-01 -3.23190719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23037174299998 meters Centerline goodness [0,1] 0.9898898308926871 Centerline is valid? [True, True] Translation: X:237.79, Y:-14.14, Z:-3.23 [[ 9.99819172e-01 1.86159510e-02 3.88204684e-03 2.37794513e+02] [-1.86147332e-02 9.99826670e-01 -3.49582325e-04 -1.41376288e+01] [-3.88788177e-03 2.77255844e-04 9.99992404e-01 -3.23178560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26037174299998 meters Centerline goodness [0,1] 0.9895797938611395 Centerline is valid? [True, True] Translation: X:237.82, Y:-14.14, Z:-3.23 [[ 9.99825092e-01 1.82461412e-02 4.10648487e-03 2.37823252e+02] [-1.82447745e-02 9.99833482e-01 -3.70024703e-04 -1.41397733e+01] [-4.11255259e-03 2.95038092e-04 9.99991500e-01 -3.23193669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29037174299998 meters Centerline goodness [0,1] 0.9900093095070502 Centerline is valid? [True, True] Translation: X:237.85, Y:-14.14, Z:-3.23 [[ 9.99826462e-01 1.80588940e-02 4.57414667e-03 2.37852172e+02] [-1.80571985e-02 9.99836871e-01 -4.11700574e-04 -1.41409907e+01] [-4.58083535e-03 3.29032853e-04 9.99989454e-01 -3.23262675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32037174299998 meters Centerline goodness [0,1] 0.9891420393885014 Centerline is valid? [True, True] Translation: X:237.88, Y:-14.15, Z:-3.23 [[ 9.99827565e-01 1.79690644e-02 4.68536752e-03 2.37879531e+02] [-1.79672853e-02 9.99838486e-01 -4.21532541e-04 -1.41455300e+01] [-4.69218532e-03 3.37276519e-04 9.99988935e-01 -3.23380882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35037174299998 meters Centerline goodness [0,1] 0.9894071649390799 Centerline is valid? [True, True] Translation: X:237.91, Y:-14.15, Z:-3.23 [[ 9.99822929e-01 1.82410072e-02 4.62334809e-03 2.37908577e+02] [-1.82392806e-02 9.99833564e-01 -4.15345886e-04 -1.41461804e+01] [-4.63015492e-03 3.30945798e-04 9.99989226e-01 -3.23386799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38037174299998 meters Centerline goodness [0,1] 0.9875545058139535 Centerline is valid? [True, True] Translation: X:237.94, Y:-14.16, Z:-3.24 [[ 9.99822631e-01 1.81525860e-02 5.01898011e-03 2.37935080e+02] [-1.81505515e-02 9.99835164e-01 -4.50614899e-04 -1.41562713e+01] [-5.02633263e-03 3.59437717e-04 9.99987303e-01 -3.23554516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41037174299998 meters Centerline goodness [0,1] 0.9885478803333182 Centerline is valid? [True, True] Translation: X:237.96, Y:-14.15, Z:-3.23 [[ 9.99824665e-01 1.79875610e-02 5.20459617e-03 2.37964813e+02] [-1.79853746e-02 9.99838141e-01 -4.66584489e-04 -1.41493971e+01] [-5.21214648e-03 3.72896068e-04 9.99986347e-01 -3.23465491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440371743 meters Centerline goodness [0,1] 0.9889951496293584 Centerline is valid? [True, True] Translation: X:237.99, Y:-14.15, Z:-3.23 [[ 9.99828267e-01 1.78519226e-02 4.97438892e-03 2.37993801e+02] [-1.78499252e-02 9.99840578e-01 -4.45655513e-04 -1.41482511e+01] [-4.98155170e-03 3.56786510e-04 9.99987528e-01 -3.23492364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.470371743 meters Centerline goodness [0,1] 0.9879589509692133 Centerline is valid? [True, True] Translation: X:238.02, Y:-14.15, Z:-3.24 [[ 9.99825453e-01 1.79651010e-02 5.13026214e-03 2.38021272e+02] [-1.79629791e-02 9.99838547e-01 -4.59394635e-04 -1.41531727e+01] [-5.13768691e-03 3.67159658e-04 9.99986735e-01 -3.23634945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500371743 meters Centerline goodness [0,1] 0.9893043239784258 Centerline is valid? [True, True] Translation: X:238.05, Y:-14.15, Z:-3.24 [[ 9.99817095e-01 1.83081173e-02 5.53079600e-03 2.38049828e+02] [-1.83056606e-02 9.99832315e-01 -4.94479132e-04 -1.41521999e+01] [-5.53892155e-03 3.93143815e-04 9.99984583e-01 -3.23705033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.530371743 meters Centerline goodness [0,1] 0.9888182915442599 Centerline is valid? [True, True] Translation: X:238.08, Y:-14.16, Z:-3.24 [[ 9.99817846e-01 1.82785187e-02 5.49272393e-03 2.38077166e+02] [-1.82760965e-02 9.99832858e-01 -4.90858077e-04 -1.41557419e+01] [-5.50077802e-03 3.90383112e-04 9.99984794e-01 -3.23804298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560371743 meters Centerline goodness [0,1] 0.9887102683887515 Centerline is valid? [True, True] Translation: X:238.11, Y:-14.15, Z:-3.24 [[ 9.99814994e-01 1.85383232e-02 5.12908233e-03 2.38105985e+02] [-1.85362173e-02 9.99828085e-01 -4.57832934e-04 -1.41517098e+01] [-5.13668802e-03 3.62674448e-04 9.99986741e-01 -3.23843900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.590371743 meters Centerline goodness [0,1] 0.9878689573243169 Centerline is valid? [True, True] Translation: X:238.13, Y:-14.16, Z:-3.24 [[ 9.99808824e-01 1.87199363e-02 5.64620522e-03 2.38133054e+02] [-1.87173891e-02 9.99824687e-01 -5.03639075e-04 -1.41581092e+01] [-5.65464346e-03 3.97860571e-04 9.99983933e-01 -3.23970779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620371743 meters Centerline goodness [0,1] 0.9889510361269026 Centerline is valid? [True, True] Translation: X:238.16, Y:-14.16, Z:-3.24 [[ 9.99808003e-01 1.86722417e-02 5.94178403e-03 2.38161680e+02] [-1.86694246e-02 9.99825571e-01 -5.29227364e-04 -1.41560524e+01] [-5.95062947e-03 4.18196064e-04 9.99982207e-01 -3.23928347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65037174299997 meters Centerline goodness [0,1] 0.9876424550322669 Centerline is valid? [True, True] Translation: X:238.19, Y:-14.16, Z:-3.24 [[ 9.99791364e-01 1.89683797e-02 7.57820390e-03 2.38189102e+02] [-1.89638110e-02 9.99819943e-01 -6.74275184e-04 -1.41579900e+01] [-7.58962930e-03 5.30422879e-04 9.99971058e-01 -3.23930315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68037174299997 meters Centerline goodness [0,1] 0.9887457596039241 Centerline is valid? [True, True] Translation: X:238.22, Y:-14.16, Z:-3.24 [[ 9.99782357e-01 1.91243117e-02 8.33656653e-03 2.38217664e+02] [-1.91187966e-02 9.99816945e-01 -7.40752884e-04 -1.41599297e+01] [-8.34920687e-03 5.81206545e-04 9.99964976e-01 -3.23912817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71037174299997 meters Centerline goodness [0,1] 0.9879992671308171 Centerline is valid? [True, True] Translation: X:238.25, Y:-14.16, Z:-3.24 [[ 9.99772134e-01 1.92161554e-02 9.29624807e-03 2.38247158e+02] [-1.92093096e-02 9.99815144e-01 -8.25142523e-04 -1.41594236e+01] [-9.31038567e-03 6.46379994e-04 9.99956449e-01 -3.23912708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74037174299997 meters Centerline goodness [0,1] 0.9883240812955911 Centerline is valid? [True, True] Translation: X:238.28, Y:-14.16, Z:-3.24 [[ 9.99779248e-01 1.89877650e-02 8.99552752e-03 2.38275285e+02] [-1.89813478e-02 9.99819519e-01 -7.98224394e-04 -1.41623411e+01] [-9.00906050e-03 6.27300948e-04 9.99959221e-01 -3.23975326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77037174299997 meters Centerline goodness [0,1] 0.9883760918907766 Centerline is valid? [True, True] Translation: X:238.30, Y:-14.16, Z:-3.24 [[ 9.99787895e-01 1.86353210e-02 8.76866504e-03 2.38304244e+02] [-1.86292175e-02 9.99826159e-01 -7.77227203e-04 -1.41645379e+01] [-8.78162457e-03 6.13708981e-04 9.99961252e-01 -3.24087490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80037174299997 meters Centerline goodness [0,1] 0.9889764862263373 Centerline is valid? [True, True] Translation: X:238.33, Y:-14.17, Z:-3.24 [[ 9.99803942e-01 1.79718310e-02 8.31205167e-03 2.38332796e+02] [-1.79663283e-02 9.99838321e-01 -7.36217929e-04 -1.41662554e+01] [-8.32393897e-03 5.86736539e-04 9.99965183e-01 -3.24197698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83037174299997 meters Centerline goodness [0,1] 0.9898846250888823 Centerline is valid? [True, True] Translation: X:238.36, Y:-14.17, Z:-3.24 [[ 9.99823604e-01 1.70848270e-02 7.80192181e-03 2.38361656e+02] [-1.70799560e-02 9.99853888e-01 -6.90537819e-04 -1.41698170e+01] [-7.81257958e-03 5.57159529e-04 9.99969326e-01 -3.24308049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86037174299997 meters Centerline goodness [0,1] 0.9889003554638229 Centerline is valid? [True, True] Translation: X:238.39, Y:-14.17, Z:-3.24 [[ 9.99848406e-01 1.61637379e-02 6.47297089e-03 2.38391158e+02] [-1.61603697e-02 9.99869249e-01 -5.72318683e-04 -1.41722440e+01] [-6.48137535e-03 4.67626320e-04 9.99978886e-01 -3.24421906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89037174299997 meters Centerline goodness [0,1] 0.9901085534620063 Centerline is valid? [True, True] Translation: X:238.42, Y:-14.17, Z:-3.24 [[ 9.99853504e-01 1.60152850e-02 6.03990717e-03 2.38420107e+02] [-1.60123488e-02 9.99871651e-01 -5.34181176e-04 -1.41747243e+01] [-6.04768702e-03 4.37389820e-04 9.99981617e-01 -3.24460100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92037174299998 meters Centerline goodness [0,1] 0.9897445331003242 Centerline is valid? [True, True] Translation: X:238.45, Y:-14.18, Z:-3.24 [[ 9.99853523e-01 1.61182269e-02 5.75632205e-03 2.38448844e+02] [-1.61155637e-02 9.99870006e-01 -5.08740348e-04 -1.41774218e+01] [-5.76377376e-03 4.15899455e-04 9.99983303e-01 -3.24490420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95037174299998 meters Centerline goodness [0,1] 0.9887842288293682 Centerline is valid? [True, True] Translation: X:238.48, Y:-14.18, Z:-3.24 [[ 9.99838046e-01 1.68904816e-02 6.21228752e-03 2.38476387e+02] [-1.68873969e-02 9.99857247e-01 -5.48676491e-04 -1.41784360e+01] [-6.22066811e-03 4.43678266e-04 9.99980553e-01 -3.24458746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98037174299998 meters Centerline goodness [0,1] 0.988734016818339 Centerline is valid? [True, True] Translation: X:238.51, Y:-14.18, Z:-3.24 [[ 9.99825445e-01 1.75253221e-02 6.47629930e-03 2.38505307e+02] [-1.75219879e-02 9.99846315e-01 -5.71209714e-04 -1.41804857e+01] [-6.48531463e-03 4.57632368e-04 9.99978865e-01 -3.24486654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01037174299998 meters Centerline goodness [0,1] 0.9880626538169607 Centerline is valid? [True, True] Translation: X:238.53, Y:-14.18, Z:-3.24 [[ 9.99794118e-01 1.86290690e-02 8.04239757e-03 2.38534387e+02] [-1.86239694e-02 9.99826308e-01 -7.08523268e-04 -1.41819525e+01] [-8.05419979e-03 5.58596029e-04 9.99967408e-01 -3.24428963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04037174299998 meters Centerline goodness [0,1] 0.987232479103518 Centerline is valid? [True, True] Translation: X:238.56, Y:-14.18, Z:-3.24 [[ 9.99774109e-01 1.94691157e-02 8.52551801e-03 2.38562934e+02] [-1.94634209e-02 9.99810288e-01 -7.50436902e-04 -1.41840288e+01] [-8.53851096e-03 5.84331640e-04 9.99963376e-01 -3.24452010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07037174299998 meters Centerline goodness [0,1] 0.9868587604427976 Centerline is valid? [True, True] Translation: X:238.59, Y:-14.19, Z:-3.24 [[ 9.99747515e-01 2.02888592e-02 9.65755720e-03 2.38590533e+02] [-2.02815966e-02 9.99793946e-01 -8.49375348e-04 -1.41866351e+01] [-9.67280009e-03 6.53290214e-04 9.99953004e-01 -3.24446473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10037174299998 meters Centerline goodness [0,1] 0.9855773661413695 Centerline is valid? [True, True] Translation: X:238.62, Y:-14.19, Z:-3.24 [[ 9.99692786e-01 2.19599918e-02 1.14931496e-02 2.38619648e+02] [-2.19498319e-02 9.99758564e-01 -1.00941078e-03 -1.41889731e+01] [-1.15125414e-02 7.56827976e-04 9.99933442e-01 -3.24392887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13037174299998 meters Centerline goodness [0,1] 0.9863083281383482 Centerline is valid? [True, True] Translation: X:238.65, Y:-14.19, Z:-3.24 [[ 9.99685288e-01 2.20992937e-02 1.18720613e-02 2.38646984e+02] [-2.20884653e-02 9.99755477e-01 -1.04245337e-03 -1.41921242e+01] [-1.18921958e-02 7.79889684e-04 9.99928981e-01 -3.24372528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16037174299998 meters Centerline goodness [0,1] 0.9851320824305011 Centerline is valid? [True, True] Translation: X:238.68, Y:-14.19, Z:-3.24 [[ 9.99675344e-01 2.22480655e-02 1.24189578e-02 2.38676143e+02] [-2.22362420e-02 9.99752151e-01 -1.08933931e-03 -1.41940435e+01] [-1.24401154e-02 8.12834702e-04 9.99922288e-01 -3.24361101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.190371743 meters Centerline goodness [0,1] 0.9838705966268608 Centerline is valid? [True, True] Translation: X:238.70, Y:-14.20, Z:-3.24 [[ 9.99675562e-01 2.17950582e-02 1.31813086e-02 2.38703389e+02] [-2.17817111e-02 9.99762083e-01 -1.15531552e-03 -1.41994584e+01] [-1.32033528e-02 8.67829240e-04 9.99912455e-01 -3.24399809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220371743 meters Centerline goodness [0,1] 0.9840130655809353 Centerline is valid? [True, True] Translation: X:238.73, Y:-14.20, Z:-3.25 [[ 9.99700380e-01 2.09149482e-02 1.27167375e-02 2.38732284e+02] [-2.09024685e-02 9.99780899e-01 -1.11349040e-03 -1.42038565e+01] [-1.27372399e-02 8.47345568e-04 9.99918519e-01 -3.24508998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.250371743 meters Centerline goodness [0,1] 0.9826527090762682 Centerline is valid? [True, True] Translation: X:238.76, Y:-14.21, Z:-3.25 [[ 9.99723955e-01 2.00622069e-02 1.22278888e-02 2.38761343e+02] [-2.00506111e-02 9.99798394e-01 -1.07017306e-03 -1.42089354e+01] [-1.22468936e-02 8.24701003e-04 9.99924664e-01 -3.24682034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280371743 meters Centerline goodness [0,1] 0.9848958572807945 Centerline is valid? [True, True] Translation: X:238.79, Y:-14.20, Z:-3.25 [[ 9.99779607e-01 1.84820007e-02 9.95757137e-03 2.38791010e+02] [-1.84742345e-02 9.99828957e-01 -8.71357319e-04 -1.42049517e+01] [-9.97197263e-03 6.87206770e-04 9.99950043e-01 -3.24940677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.310371743 meters Centerline goodness [0,1] 0.9844786811471081 Centerline is valid? [True, True] Translation: X:238.82, Y:-14.21, Z:-3.25 [[ 9.99798585e-01 1.79331377e-02 9.01061960e-03 2.38819481e+02] [-1.79267602e-02 9.99838992e-01 -7.88047039e-04 -1.42096872e+01] [-9.02330098e-03 6.26357098e-04 9.99959093e-01 -3.25100056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340371743 meters Centerline goodness [0,1] 0.9844072460444853 Centerline is valid? [True, True] Translation: X:238.85, Y:-14.21, Z:-3.25 [[ 9.99816037e-01 1.75684063e-02 7.69698508e-03 2.38848377e+02] [-1.75637424e-02 9.99845519e-01 -6.73119436e-04 -1.42127507e+01] [-7.70762167e-03 5.37807744e-04 9.99970151e-01 -3.25255597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.370371743 meters Centerline goodness [0,1] 0.9844072460444853 Centerline is valid? [True, True] Translation: X:238.88, Y:-14.22, Z:-3.25 [[ 9.99817206e-01 1.75017237e-02 7.69702996e-03 2.38876645e+02] [-1.74970617e-02 9.99846688e-01 -6.72605593e-04 -1.42151520e+01] [-7.70762167e-03 5.37807236e-04 9.99970151e-01 -3.25299806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40037174299997 meters Centerline goodness [0,1] 0.9865309787488776 Centerline is valid? [True, True] Translation: X:238.91, Y:-14.21, Z:-3.25 [[ 9.99827966e-01 1.74414062e-02 6.31154464e-03 2.38905803e+02] [-1.74382715e-02 9.99847790e-01 -5.51347349e-04 -1.42077358e+01] [-6.32020023e-03 4.41190070e-04 9.99979930e-01 -3.25340304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43037174299997 meters Centerline goodness [0,1] 0.9857264348265796 Centerline is valid? [True, True] Translation: X:238.93, Y:-14.22, Z:-3.25 [[ 9.99817990e-01 1.79446819e-02 6.47886975e-03 2.38932966e+02] [-1.79413915e-02 9.99838880e-01 -5.65622776e-04 -1.42157420e+01] [-6.48797580e-03 4.49279888e-04 9.99978852e-01 -3.25403484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46037174299997 meters Centerline goodness [0,1] 0.9841628437723322 Centerline is valid? [True, True] Translation: X:238.96, Y:-14.22, Z:-3.26 [[ 9.99805874e-01 1.86186049e-02 6.44683494e-03 2.38960357e+02] [-1.86153650e-02 9.99826561e-01 -5.62215014e-04 -1.42243042e+01] [-6.45618447e-03 4.42095689e-04 9.99979061e-01 -3.25523182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49037174299997 meters Centerline goodness [0,1] 0.9860842318680306 Centerline is valid? [True, True] Translation: X:238.99, Y:-14.21, Z:-3.25 [[ 9.99741430e-01 2.15746532e-02 7.18380894e-03 2.38991399e+02] [-2.15707157e-02 9.99767130e-01 -6.25149497e-04 -1.42119580e+01] [-7.19562343e-03 4.70027952e-04 9.99974001e-01 -3.25329234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52037174299997 meters Centerline goodness [0,1] 0.9859190692735624 Centerline is valid? [True, True] Translation: X:239.02, Y:-14.21, Z:-3.25 [[ 9.99701217e-01 2.31815984e-02 7.75175275e-03 2.39020474e+02] [-2.31770598e-02 9.99731148e-01 -6.74831931e-04 -1.42121697e+01] [-7.76531236e-03 4.94967466e-04 9.99969727e-01 -3.25323409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55037174299997 meters Centerline goodness [0,1] 0.9861797778646492 Centerline is valid? [True, True] Translation: X:239.05, Y:-14.22, Z:-3.25 [[ 9.99648356e-01 2.50645448e-02 8.65641509e-03 2.39049521e+02] [-2.50589639e-02 9.99685692e-01 -7.52580715e-04 -1.42153161e+01] [-8.67255740e-03 5.35395280e-04 9.99962249e-01 -3.25335832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58037174299997 meters Centerline goodness [0,1] 0.9871978555252576 Centerline is valid? [True, True] Translation: X:239.08, Y:-14.21, Z:-3.25 [[ 9.99566705e-01 2.76785006e-02 1.00151344e-02 2.39080011e+02] [-2.76711665e-02 9.99616701e-01 -8.70161382e-04 -1.42145042e+01] [-1.00353804e-02 5.92653895e-04 9.99949469e-01 -3.25309269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61037174299997 meters Centerline goodness [0,1] 0.9872609997696383 Centerline is valid? [True, True] Translation: X:239.11, Y:-14.22, Z:-3.25 [[ 9.99538020e-01 2.84625050e-02 1.06598927e-02 2.39107260e+02] [-2.84542394e-02 9.99594667e-01 -9.26287539e-04 -1.42172161e+01] [-1.06819364e-02 6.22540472e-04 9.99942753e-01 -3.25318286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64037174299997 meters Centerline goodness [0,1] 0.9872740686093693 Centerline is valid? [True, True] Translation: X:239.14, Y:-14.22, Z:-3.25 [[ 9.99531461e-01 2.87215798e-02 1.05796764e-02 2.39136236e+02] [-2.87134623e-02 9.99587262e-01 -9.18399487e-04 -1.42166779e+01] [-1.06016877e-02 6.14190041e-04 9.99943612e-01 -3.25353166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67037174299998 meters Centerline goodness [0,1] 0.986947745102537 Centerline is valid? [True, True] Translation: X:239.16, Y:-14.22, Z:-3.25 [[ 9.99537924e-01 2.85373621e-02 1.04669668e-02 2.39163354e+02] [-2.85294135e-02 9.99592541e-01 -9.07953225e-04 -1.42247358e+01] [-1.04886125e-02 6.08917259e-04 9.99944808e-01 -3.25489452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70037174299998 meters Centerline goodness [0,1] 0.9867683543140678 Centerline is valid? [True, True] Translation: X:239.19, Y:-14.23, Z:-3.26 [[ 9.99553618e-01 2.82101522e-02 9.83627544e-03 2.39191830e+02] [-2.82031260e-02 9.99601849e-01 -8.52321862e-04 -1.42276309e+01] [-9.85640325e-03 5.74527685e-04 9.99951259e-01 -3.25613511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73037174299998 meters Centerline goodness [0,1] 0.9870508552405005 Centerline is valid? [True, True] Translation: X:239.22, Y:-14.23, Z:-3.26 [[ 9.99566281e-01 2.80587057e-02 8.94193544e-03 2.39219495e+02] [-2.80528968e-02 9.99606140e-01 -7.74406428e-04 -1.42319534e+01] [-8.96014241e-03 5.23223361e-04 9.99959720e-01 -3.25785599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76037174299998 meters Centerline goodness [0,1] 0.9880793175005764 Centerline is valid? [True, True] Translation: X:239.25, Y:-14.23, Z:-3.26 [[ 9.99596778e-01 2.74226195e-02 7.36755890e-03 2.39247852e+02] [-2.74186617e-02 9.99623834e-01 -6.37678582e-04 -1.42321949e+01] [-7.38227429e-03 4.35412851e-04 9.99972656e-01 -3.25996079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79037174299998 meters Centerline goodness [0,1] 0.9878037576370068 Centerline is valid? [True, True] Translation: X:239.28, Y:-14.23, Z:-3.26 [[ 9.99601691e-01 2.73283721e-02 7.04404203e-03 2.39276159e+02] [-2.73247548e-02 9.99626424e-01 -6.09273185e-04 -1.42334316e+01] [-7.05806099e-03 4.16553785e-04 9.99975005e-01 -3.26055950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82037174299998 meters Centerline goodness [0,1] 0.9874782130079809 Centerline is valid? [True, True] Translation: X:239.30, Y:-14.24, Z:-3.26 [[ 9.99606685e-01 2.71944431e-02 6.85113200e-03 2.39302794e+02] [-2.71910218e-02 9.99630080e-01 -5.92043651e-04 -1.42413538e+01] [-6.86469793e-03 4.05521512e-04 9.99976355e-01 -3.26193214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85037174299998 meters Centerline goodness [0,1] 0.9875366568914956 Centerline is valid? [True, True] Translation: X:239.33, Y:-14.24, Z:-3.26 [[ 9.99613546e-01 2.67971729e-02 7.39389254e-03 2.39331352e+02] [-2.67931873e-02 9.99640795e-01 -6.37590171e-04 -1.42394979e+01] [-7.40832223e-03 4.39237824e-04 9.99972462e-01 -3.26105882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88037174299998 meters Centerline goodness [0,1] 0.9868983588470556 Centerline is valid? [True, True] Translation: X:239.36, Y:-14.24, Z:-3.26 [[ 9.99610595e-01 2.67013007e-02 8.10545214e-03 2.39359299e+02] [-2.66965148e-02 9.99643341e-01 -6.98090855e-04 -1.42443076e+01] [-8.12120119e-03 4.81431691e-04 9.99966907e-01 -3.26085414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91037174299998 meters Centerline goodness [0,1] 0.9883672812543105 Centerline is valid? [True, True] Translation: X:239.39, Y:-14.24, Z:-3.26 [[ 9.99609998e-01 2.64534308e-02 8.94804823e-03 2.39387265e+02] [-2.64475953e-02 9.99649905e-01 -7.69870472e-04 -1.42422708e+01] [-8.96528128e-03 5.32915863e-04 9.99959669e-01 -3.25990581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940371743 meters Centerline goodness [0,1] 0.9880249192431934 Centerline is valid? [True, True] Translation: X:239.42, Y:-14.24, Z:-3.26 [[ 9.99619312e-01 2.57036478e-02 1.00276223e-02 2.39415782e+02] [-2.56962966e-02 9.99669425e-01 -8.61276760e-04 -1.42449153e+01] [-1.00464454e-02 6.03276126e-04 9.99949351e-01 -3.25912448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.970371743 meters Centerline goodness [0,1] 0.9884103295237657 Centerline is valid? [True, True] Translation: X:239.44, Y:-14.25, Z:-3.26 [[ 9.99618433e-01 2.56991304e-02 1.01263807e-02 2.39444187e+02] [-2.56916409e-02 9.99669538e-01 -8.69020012e-04 -1.42479805e+01] [-1.01453674e-02 6.08525086e-04 9.99948349e-01 -3.25921176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000371743 meters Centerline goodness [0,1] 0.9881280229571174 Centerline is valid? [True, True] Translation: X:239.47, Y:-14.25, Z:-3.26 [[ 9.99629184e-01 2.54055510e-02 9.80067178e-03 2.39472965e+02] [-2.53985280e-02 9.99677052e-01 -8.40407293e-04 -1.42512168e+01] [-9.81885768e-03 5.91173020e-04 9.99951619e-01 -3.26071067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.030371743 meters Centerline goodness [0,1] 0.9880741337630943 Centerline is valid? [True, True] Translation: X:239.50, Y:-14.26, Z:-3.26 [[ 9.99637055e-01 2.52956308e-02 9.26763069e-03 2.39500487e+02] [-2.52893507e-02 9.99679858e-01 -7.94211958e-04 -1.42581101e+01] [-9.28475382e-03 5.59551340e-04 9.99956739e-01 -3.26218854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060371743 meters Centerline goodness [0,1] 0.9875948257972285 Centerline is valid? [True, True] Translation: X:239.53, Y:-14.26, Z:-3.26 [[ 9.99658947e-01 2.49586928e-02 7.68457334e-03 2.39529486e+02] [-2.49543697e-02 9.99688375e-01 -6.57956362e-04 -1.42579901e+01] [-7.69860036e-03 4.65968281e-04 9.99970257e-01 -3.26382530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.090371743 meters Centerline goodness [0,1] 0.9886157172098158 Centerline is valid? [True, True] Translation: X:239.56, Y:-14.26, Z:-3.26 [[ 9.99664949e-01 2.48540737e-02 7.22947436e-03 2.39557936e+02] [-2.48502478e-02 9.99690994e-01 -6.18569533e-04 -1.42578205e+01] [-7.24261438e-03 4.38708051e-04 9.99973676e-01 -3.26440168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120371743 meters Centerline goodness [0,1] 0.9885323731107085 Centerline is valid? [True, True] Translation: X:239.59, Y:-14.26, Z:-3.26 [[ 9.99699518e-01 2.34841678e-02 7.02617941e-03 2.39586960e+02] [-2.34805236e-02 9.99724114e-01 -6.00717147e-04 -1.42587412e+01] [-7.03834833e-03 4.35558271e-04 9.99975136e-01 -3.26483400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15037174299997 meters Centerline goodness [0,1] 0.987888277418315 Centerline is valid? [True, True] Translation: X:239.62, Y:-14.26, Z:-3.27 [[ 9.99727518e-01 2.23816041e-02 6.62971530e-03 2.39615664e+02] [-2.23783337e-02 9.99749413e-01 -5.67068035e-04 -1.42620387e+01] [-6.64074587e-03 4.18551538e-04 9.99977862e-01 -3.26557949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18037174299997 meters Centerline goodness [0,1] 0.9886878348239947 Centerline is valid? [True, True] Translation: X:239.64, Y:-14.27, Z:-3.27 [[ 9.99737810e-01 2.20721226e-02 6.09359511e-03 2.39642518e+02] [-2.20693629e-02 9.99756307e-01 -5.19754404e-04 -1.42683203e+01] [-6.10358222e-03 3.85136368e-04 9.99981299e-01 -3.26704128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21037174299997 meters Centerline goodness [0,1] 0.9888355424869633 Centerline is valid? [True, True] Translation: X:239.67, Y:-14.27, Z:-3.27 [[ 9.99763245e-01 2.11205969e-02 5.23198684e-03 2.39671379e+02] [-2.11185501e-02 9.99776879e-01 -4.46141592e-04 -1.42681847e+01] [-5.24024225e-03 3.35543989e-04 9.99986214e-01 -3.26777661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24037174299997 meters Centerline goodness [0,1] 0.9890028988174665 Centerline is valid? [True, True] Translation: X:239.70, Y:-14.27, Z:-3.27 [[ 9.99766906e-01 2.08309698e-02 5.67491022e-03 2.39699649e+02] [-2.08285600e-02 9.99782945e-01 -4.83411852e-04 -1.42715602e+01] [-5.68374839e-03 3.65098964e-04 9.99983781e-01 -3.26836752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27037174299997 meters Centerline goodness [0,1] 0.9880654563815382 Centerline is valid? [True, True] Translation: X:239.73, Y:-14.28, Z:-3.27 [[ 9.99769539e-01 2.06088070e-02 6.01216493e-03 2.39727010e+02] [-2.06061003e-02 9.99787541e-01 -5.11814122e-04 -1.42750517e+01] [-6.02143547e-03 3.87808895e-04 9.99981796e-01 -3.26869998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30037174299997 meters Centerline goodness [0,1] 0.9882588576559155 Centerline is valid? [True, True] Translation: X:239.76, Y:-14.28, Z:-3.27 [[ 9.99758974e-01 2.06952260e-02 7.32814176e-03 2.39756059e+02] [-2.06912149e-02 9.99785720e-01 -6.22762249e-04 -1.42765734e+01] [-7.33945969e-03 4.70983992e-04 9.99972955e-01 -3.26749992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33037174299997 meters Centerline goodness [0,1] 0.9889404948036421 Centerline is valid? [True, True] Translation: X:239.79, Y:-14.28, Z:-3.27 [[ 9.99748415e-01 2.09300405e-02 8.06476404e-03 2.39785421e+02] [-2.09251954e-02 9.99780810e-01 -6.84703929e-04 -1.42754111e+01] [-8.07732721e-03 5.15774905e-04 9.99967245e-01 -3.26636139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36037174299997 meters Centerline goodness [0,1] 0.988374506954536 Centerline is valid? [True, True] Translation: X:239.81, Y:-14.28, Z:-3.27 [[ 9.99741149e-01 2.10436431e-02 8.64865362e-03 2.39813669e+02] [-2.10380812e-02 9.99778406e-01 -7.33575700e-04 -1.42779820e+01] [-8.66217423e-03 5.51434737e-04 9.99962331e-01 -3.26645423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39037174299997 meters Centerline goodness [0,1] 0.9885333271808596 Centerline is valid? [True, True] Translation: X:239.84, Y:-14.28, Z:-3.27 [[ 9.99715836e-01 2.21160464e-02 8.89537339e-03 2.39842654e+02] [-2.21102109e-02 9.99755255e-01 -7.53836215e-04 -1.42795581e+01] [-8.90986817e-03 5.56943420e-04 9.99960151e-01 -3.26666096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42037174299998 meters Centerline goodness [0,1] 0.9882822411367149 Centerline is valid? [True, True] Translation: X:239.87, Y:-14.28, Z:-3.27 [[ 9.99707131e-01 2.26042621e-02 8.64292633e-03 2.39870864e+02] [-2.25987765e-02 9.99744347e-01 -7.31847044e-04 -1.42822536e+01] [-8.65725960e-03 5.36313148e-04 9.99962381e-01 -3.26765050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45037174299998 meters Centerline goodness [0,1] 0.9888479262672811 Centerline is valid? [True, True] Translation: X:239.90, Y:-14.28, Z:-3.27 [[ 9.99702036e-01 2.29856600e-02 8.21573013e-03 2.39899380e+02] [-2.29807205e-02 9.99735667e-01 -6.95136128e-04 -1.42846994e+01] [-8.22953660e-03 5.06125604e-04 9.99966009e-01 -3.26892844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48037174299998 meters Centerline goodness [0,1] 0.9898628365584445 Centerline is valid? [True, True] Translation: X:239.93, Y:-14.28, Z:-3.27 [[ 9.99694171e-01 2.40403108e-02 5.79896282e-03 2.39928785e+02] [-2.40378691e-02 9.99710928e-01 -4.90400257e-04 -1.42836756e+01] [-5.80907588e-03 3.50855569e-04 9.99983066e-01 -3.27036733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51037174299998 meters Centerline goodness [0,1] 0.9887370753323486 Centerline is valid? [True, True] Translation: X:239.96, Y:-14.29, Z:-3.27 [[ 9.99688036e-01 2.45239942e-02 4.73336393e-03 2.39956558e+02] [-2.45223715e-02 9.99699201e-01 -4.00567640e-04 -1.42880989e+01] [-4.74176365e-03 2.84369368e-04 9.99988717e-01 -3.27205995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54037174299998 meters Centerline goodness [0,1] 0.9903839469842668 Centerline is valid? [True, True] Translation: X:239.99, Y:-14.29, Z:-3.27 [[ 9.99643005e-01 2.64937991e-02 3.45558606e-03 2.39985895e+02] [-2.64929464e-02 9.99648958e-01 -2.92290069e-04 -1.42850974e+01] [-3.46211688e-03 2.00637067e-04 9.99993987e-01 -3.27218593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57037174299998 meters Centerline goodness [0,1] 0.9894359685621822 Centerline is valid? [True, True] Translation: X:240.01, Y:-14.29, Z:-3.27 [[ 9.99610349e-01 2.77368026e-02 3.13369814e-03 2.40013648e+02] [-2.77361072e-02 9.99615245e-01 -2.65161372e-04 -1.42885086e+01] [-3.13984717e-03 1.78141464e-04 9.99995055e-01 -3.27324389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60037174299998 meters Centerline goodness [0,1] 0.9900141004599986 Centerline is valid? [True, True] Translation: X:240.04, Y:-14.29, Z:-3.27 [[ 9.99570728e-01 2.90807890e-02 3.55925944e-03 2.40042869e+02] [-2.90799030e-02 9.99577045e-01 -3.00423067e-04 -1.42884032e+01] [-3.56649057e-03 1.96791185e-04 9.99993621e-01 -3.27280436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63037174299998 meters Centerline goodness [0,1] 0.9896206569731154 Centerline is valid? [True, True] Translation: X:240.07, Y:-14.29, Z:-3.27 [[ 9.99545036e-01 2.99483369e-02 3.58017649e-03 2.40071934e+02] [-2.99474470e-02 9.99551429e-01 -3.01931475e-04 -1.42889320e+01] [-3.58761287e-03 1.94576962e-04 9.99993546e-01 -3.27256669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66037174299998 meters Centerline goodness [0,1] 0.990515062266645 Centerline is valid? [True, True] Translation: X:240.10, Y:-14.29, Z:-3.27 [[ 9.99478544e-01 3.20160999e-02 4.19631736e-03 2.40101526e+02] [-3.20148992e-02 9.99487329e-01 -3.52998158e-04 -1.42901886e+01] [-4.20546765e-03 2.18469408e-04 9.99991133e-01 -3.27224905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.690371743 meters Centerline goodness [0,1] 0.9905940135297934 Centerline is valid? [True, True] Translation: X:240.13, Y:-14.29, Z:-3.27 [[ 9.99443512e-01 3.30456181e-02 4.54469423e-03 2.40130167e+02] [-3.30442196e-02 9.99453817e-01 -3.82482926e-04 -1.42919127e+01] [-4.55485138e-03 2.32094205e-04 9.99989600e-01 -3.27250061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720371743 meters Centerline goodness [0,1] 0.9909164827506098 Centerline is valid? [True, True] Translation: X:240.16, Y:-14.29, Z:-3.27 [[ 9.99415066e-01 3.37772852e-02 5.34993562e-03 2.40158981e+02] [-3.37753607e-02 9.99429349e-01 -4.49696497e-04 -1.42917868e+01] [-5.36207219e-03 2.68737449e-04 9.99985588e-01 -3.27237525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.750371743 meters Centerline goodness [0,1] 0.9903536977491961 Centerline is valid? [True, True] Translation: X:240.19, Y:-14.29, Z:-3.27 [[ 9.99378314e-01 3.47424708e-02 5.99555331e-03 2.40186718e+02] [-3.47400734e-02 9.99396255e-01 -5.03564217e-04 -1.42938339e+01] [-6.00942859e-03 2.94965196e-04 9.99981900e-01 -3.27237702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780371743 meters Centerline goodness [0,1] 0.9900404390525708 Centerline is valid? [True, True] Translation: X:240.22, Y:-14.30, Z:-3.27 [[ 9.99371042e-01 3.49760996e-02 5.84754798e-03 2.40215295e+02] [-3.49738271e-02 9.99388108e-01 -4.90463957e-04 -1.42963195e+01] [-5.86112443e-03 2.85644344e-04 9.99982783e-01 -3.27314977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.810371743 meters Centerline goodness [0,1] 0.9908286702732824 Centerline is valid? [True, True] Translation: X:240.24, Y:-14.30, Z:-3.27 [[ 9.99378810e-01 3.49845949e-02 4.25105578e-03 2.40244473e+02] [-3.49833939e-02 9.99387830e-01 -3.56573940e-04 -1.42963707e+01] [-4.26092801e-03 2.07636081e-04 9.99990901e-01 -3.27362559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840371743 meters Centerline goodness [0,1] 0.9897597479322569 Centerline is valid? [True, True] Translation: X:240.27, Y:-14.30, Z:-3.28 [[ 9.99387967e-01 3.47909860e-02 3.64410775e-03 2.40271631e+02] [-3.47901018e-02 9.99394594e-01 -3.05767200e-04 -1.43003142e+01] [-3.65253953e-03 1.78801181e-04 9.99993313e-01 -3.27502073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.870371743 meters Centerline goodness [0,1] 0.990203798054655 Centerline is valid? [True, True] Translation: X:240.30, Y:-14.30, Z:-3.28 [[ 9.99417218e-01 3.39780014e-02 3.27397613e-03 2.40298592e+02] [-3.39772815e-02 9.99422568e-01 -2.75270115e-04 -1.43045516e+01] [-3.28143876e-03 1.63868884e-04 9.99994603e-01 -3.27592551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90037174299997 meters Centerline goodness [0,1] 0.9905156260843415 Centerline is valid? [True, True] Translation: X:240.33, Y:-14.31, Z:-3.28 [[ 9.99467173e-01 3.25228840e-02 2.76249512e-03 2.40327629e+02] [-3.25223688e-02 9.99470981e-01 -2.31239392e-04 -1.43056630e+01] [-2.76855428e-03 1.41273296e-04 9.99996158e-01 -3.27556032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93037174299997 meters Centerline goodness [0,1] 0.9902910371674855 Centerline is valid? [True, True] Translation: X:240.36, Y:-14.31, Z:-3.28 [[ 9.99486932e-01 3.19327873e-02 2.48398185e-03 2.40356567e+02] [-3.19323690e-02 9.99490010e-01 -2.07858160e-04 -1.43088505e+01] [-2.48935254e-03 1.28432089e-04 9.99996893e-01 -3.27656045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96037174299997 meters Centerline goodness [0,1] 0.9900896322306413 Centerline is valid? [True, True] Translation: X:240.38, Y:-14.31, Z:-3.28 [[ 9.99488950e-01 3.18848585e-02 2.27899522e-03 2.40384846e+02] [-3.18845054e-02 9.99491542e-01 -1.91106380e-04 -1.43113688e+01] [-2.28392984e-03 1.18344079e-04 9.99997385e-01 -3.27763650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99037174299997 meters Centerline goodness [0,1] 0.9899548663349149 Centerline is valid? [True, True] Translation: X:240.41, Y:-14.32, Z:-3.28 [[ 9.99470664e-01 3.25128300e-02 1.14377358e-03 2.40412312e+02] [-3.25127409e-02 9.99471316e-01 -9.63526859e-05 -1.43151432e+01] [-1.14630158e-03 5.91144688e-05 9.99999341e-01 -3.27899108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02037174299997 meters Centerline goodness [0,1] 0.9900647647345574 Centerline is valid? [True, True] Translation: X:240.44, Y:-14.32, Z:-3.28 [[ 9.99373856e-01 3.53820634e-02 -7.34643480e-05 2.40440565e+02] [-3.53820631e-02 9.99373859e-01 5.49961966e-06 -1.43179970e+01] [ 7.36129368e-05 -2.89685591e-06 9.99999997e-01 -3.28144206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05037174299997 meters Centerline goodness [0,1] 0.9903721232368226 Centerline is valid? [True, True] Translation: X:240.47, Y:-14.31, Z:-3.28 [[ 9.99294595e-01 3.75439928e-02 -8.72382486e-04 2.40469653e+02] [-3.75439449e-02 9.99294975e-01 7.12749058e-05 -1.43147670e+01] [ 8.74443379e-04 -3.84719481e-05 9.99999617e-01 -3.28076707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08037174299997 meters Centerline goodness [0,1] 0.9900294479096622 Centerline is valid? [True, True] Translation: X:240.50, Y:-14.32, Z:-3.28 [[ 9.99192320e-01 4.01799580e-02 -5.27483377e-04 2.40498241e+02] [-4.01799409e-02 9.99192459e-01 4.29210112e-05 -1.43153578e+01] [ 5.28781977e-04 -2.16920938e-05 9.99999860e-01 -3.28117631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11037174299997 meters Centerline goodness [0,1] 0.9899727799362539 Centerline is valid? [True, True] Translation: X:240.53, Y:-14.31, Z:-3.28 [[ 9.99064026e-01 4.32546738e-02 -3.25789809e-04 2.40527840e+02] [-4.32546675e-02 9.99064079e-01 2.64546543e-05 -1.43141735e+01] [ 3.26629183e-04 -1.23379635e-05 9.99999947e-01 -3.28055208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14037174299997 meters Centerline goodness [0,1] 0.9903991797357444 Centerline is valid? [True, True] Translation: X:240.56, Y:-14.31, Z:-3.28 [[ 9.98775521e-01 4.94545846e-02 1.30477925e-03 2.40558559e+02] [-4.94544855e-02 9.98776372e-01 -1.08153918e-04 -1.43117668e+01] [-1.30853140e-03 4.34942991e-05 9.99999143e-01 -3.27971470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17037174299998 meters Centerline goodness [0,1] 0.9908164695985419 Centerline is valid? [True, True] Translation: X:240.59, Y:-14.31, Z:-3.28 [[ 9.98628678e-01 5.22934029e-02 2.48280984e-03 2.40586691e+02] [-5.22930502e-02 9.98631761e-01 -2.06784388e-04 -1.43120792e+01] [-2.49022622e-03 7.66671203e-05 9.99996896e-01 -3.27915118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20037174299998 meters Centerline goodness [0,1] 0.9910385064177363 Centerline is valid? [True, True] Translation: X:240.62, Y:-14.31, Z:-3.28 [[ 9.98345320e-01 5.73325224e-02 4.42769795e-03 2.40616818e+02] [-5.73314591e-02 9.98355132e-01 -3.66812898e-04 -1.43086253e+01] [-4.44144528e-03 1.12359556e-04 9.99990130e-01 -3.27680908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23037174299998 meters Centerline goodness [0,1] 0.9916068264478224 Centerline is valid? [True, True] Translation: X:240.64, Y:-14.31, Z:-3.28 [[ 9.98231091e-01 5.92543306e-02 4.85931619e-03 2.40644436e+02] [-5.92530710e-02 9.98242912e-01 -4.02901505e-04 -1.43100768e+01] [-4.87465160e-03 1.14259402e-04 9.99988112e-01 -3.27662122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26037174299998 meters Centerline goodness [0,1] 0.9911643386144183 Centerline is valid? [True, True] Translation: X:240.67, Y:-14.31, Z:-3.28 [[ 9.98169346e-01 6.02411161e-02 5.38189143e-03 2.40673680e+02] [-6.02395861e-02 9.98183847e-01 -4.46093690e-04 -1.43111448e+01] [-5.39899027e-03 1.21074135e-04 9.99985418e-01 -3.27613526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29037174299998 meters Centerline goodness [0,1] 0.9911643386144183 Centerline is valid? [True, True] Translation: X:240.70, Y:-14.31, Z:-3.28 [[ 9.98186436e-01 5.99572768e-02 5.38182571e-03 2.40700957e+02] [-5.99557384e-02 9.98200937e-01 -4.46895258e-04 -1.43133246e+01] [-5.39893809e-03 1.23413450e-04 9.99985418e-01 -3.27656220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32037174299998 meters Centerline goodness [0,1] 0.9915030078883921 Centerline is valid? [True, True] Translation: X:240.73, Y:-14.32, Z:-3.28 [[ 9.98153298e-01 6.05385389e-02 5.00796770e-03 2.40729872e+02] [-6.05372216e-02 9.98165855e-01 -4.14341066e-04 -1.43174390e+01] [-5.02386596e-03 1.10407451e-04 9.99987374e-01 -3.27738096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35037174299998 meters Centerline goodness [0,1] 0.9921013273509067 Centerline is valid? [True, True] Translation: X:240.76, Y:-14.32, Z:-3.28 [[ 9.98183494e-01 6.00324916e-02 5.08058796e-03 2.40757257e+02] [-6.00311343e-02 9.98196417e-01 -4.19382180e-04 -1.43215351e+01] [-5.09660125e-03 1.13626912e-04 9.99987006e-01 -3.27847346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38037174299998 meters Centerline goodness [0,1] 0.9918930252061687 Centerline is valid? [True, True] Translation: X:240.79, Y:-14.33, Z:-3.28 [[ 9.98235891e-01 5.91785073e-02 4.79694099e-03 2.40785961e+02] [-5.91772947e-02 9.98247410e-01 -3.94452364e-04 -1.43262423e+01] [-4.81187702e-03 1.09886517e-04 9.99988417e-01 -3.27942114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41037174299998 meters Centerline goodness [0,1] 0.9924008273105436 Centerline is valid? [True, True] Translation: X:240.81, Y:-14.33, Z:-3.28 [[ 9.98381384e-01 5.66829467e-02 4.65352830e-03 2.40813986e+02] [-5.66817829e-02 9.98392222e-01 -3.81692667e-04 -1.43323501e+01] [-4.66768193e-03 1.17304572e-04 9.99989099e-01 -3.27984933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440371743 meters Centerline goodness [0,1] 0.9916361857279314 Centerline is valid? [True, True] Translation: X:240.84, Y:-14.34, Z:-3.28 [[ 9.98483452e-01 5.48877510e-02 4.25795019e-03 2.40842505e+02] [-5.48867634e-02 9.98492525e-01 -3.48545596e-04 -1.43366411e+01] [-4.27066232e-03 1.14311905e-04 9.99990874e-01 -3.28033135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.470371743 meters Centerline goodness [0,1] 0.9922989492240959 Centerline is valid? [True, True] Translation: X:240.87, Y:-14.34, Z:-3.28 [[ 9.98534831e-01 5.39181842e-02 4.58475955e-03 2.40869462e+02] [-5.39170431e-02 9.98545349e-01 -3.72201191e-04 -1.43418682e+01] [-4.59815873e-03 1.24459176e-04 9.99989421e-01 -3.28092029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500371743 meters Centerline goodness [0,1] 0.9922225822878571 Centerline is valid? [True, True] Translation: X:240.90, Y:-14.35, Z:-3.28 [[ 9.98608079e-01 5.25523235e-02 4.48978554e-03 2.40898202e+02] [-5.25512104e-02 9.98618164e-01 -3.65612992e-04 -1.43470324e+01] [-4.50279520e-03 1.29160423e-04 9.99989854e-01 -3.28176414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.530371743 meters Centerline goodness [0,1] 0.9914671832480052 Centerline is valid? [True, True] Translation: X:240.92, Y:-14.36, Z:-3.28 [[ 9.98735400e-01 5.01431615e-02 3.64190948e-03 2.40924819e+02] [-5.01424200e-02 9.98742034e-01 -2.94669206e-04 -1.43556205e+01] [-3.65210373e-03 1.11682412e-04 9.99993325e-01 -3.28374357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560371743 meters Centerline goodness [0,1] 0.9916045634372987 Centerline is valid? [True, True] Translation: X:240.95, Y:-14.36, Z:-3.28 [[ 9.98802590e-01 4.88090830e-02 3.32571166e-03 2.40953170e+02] [-4.88084524e-02 9.98808121e-01 -2.70559613e-04 -1.43603957e+01] [-3.33495358e-03 1.07912803e-04 9.99994433e-01 -3.28466992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.590371743 meters Centerline goodness [0,1] 0.9916530616937617 Centerline is valid? [True, True] Translation: X:240.98, Y:-14.37, Z:-3.29 [[ 9.98927087e-01 4.62237766e-02 2.83509969e-03 2.40981270e+02] [-4.62233081e-02 9.98931105e-01 -2.30586475e-04 -1.43658095e+01] [-2.84272785e-03 9.92913888e-05 9.99995955e-01 -3.28552036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620371743 meters Centerline goodness [0,1] 0.9911403127217784 Centerline is valid? [True, True] Translation: X:241.01, Y:-14.37, Z:-3.29 [[ 9.98975245e-01 4.51857640e-02 2.58975112e-03 2.41009815e+02] [-4.51853765e-02 9.98978598e-01 -2.08001405e-04 -1.43702722e+01] [-2.59650464e-03 9.07693755e-05 9.99996625e-01 -3.28606253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65037174299997 meters Centerline goodness [0,1] 0.9914909190722357 Centerline is valid? [True, True] Translation: X:241.04, Y:-14.38, Z:-3.29 [[ 9.99069145e-01 4.30282111e-02 3.06870073e-03 2.41037844e+02] [-4.30276581e-02 9.99073851e-01 -2.46040203e-04 -1.43777138e+01] [-3.07644533e-03 1.13772169e-04 9.99995261e-01 -3.28703150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68037174299997 meters Centerline goodness [0,1] 0.991540689057619 Centerline is valid? [True, True] Translation: X:241.07, Y:-14.38, Z:-3.29 [[ 9.99122434e-01 4.17368454e-02 3.52100979e-03 2.41066250e+02] [-4.17361108e-02 9.99128629e-01 -2.81888812e-04 -1.43824989e+01] [-3.52970684e-03 1.34688181e-04 9.99993761e-01 -3.28738076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71037174299997 meters Centerline goodness [0,1] 0.9912910653626062 Centerline is valid? [True, True] Translation: X:241.09, Y:-14.39, Z:-3.29 [[ 9.99172343e-01 4.05051296e-02 3.73672083e-03 2.41094836e+02] [-4.05042949e-02 9.99179320e-01 -2.98819766e-04 -1.43876040e+01] [-3.74575791e-03 1.47219203e-04 9.99992974e-01 -3.28787899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74037174299997 meters Centerline goodness [0,1] 0.9907612290987066 Centerline is valid? [True, True] Translation: X:241.12, Y:-14.39, Z:-3.29 [[ 9.99224837e-01 3.91565896e-02 4.06027805e-03 2.41121803e+02] [-3.91555909e-02 9.99233073e-01 -3.25187353e-04 -1.43927131e+01] [-4.06989734e-03 1.65952694e-04 9.99991704e-01 -3.28849446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77037174299997 meters Centerline goodness [0,1] 0.9906760435571688 Centerline is valid? [True, True] Translation: X:241.15, Y:-14.40, Z:-3.29 [[ 9.99321692e-01 3.65404352e-02 4.57733963e-03 2.41150470e+02] [-3.65391478e-02 9.99332156e-01 -3.64592356e-04 -1.44005217e+01] [-4.58760504e-03 1.97092961e-04 9.99989457e-01 -3.28961442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80037174299997 meters Centerline goodness [0,1] 0.9906493270692903 Centerline is valid? [True, True] Translation: X:241.18, Y:-14.40, Z:-3.29 [[ 9.99379776e-01 3.49381118e-02 4.40366701e-03 2.41178695e+02] [-3.49369047e-02 9.99389458e-01 -3.50759147e-04 -1.44049945e+01] [-4.41323325e-03 1.96691103e-04 9.99990242e-01 -3.28970121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83037174299997 meters Centerline goodness [0,1] 0.9903654785597974 Centerline is valid? [True, True] Translation: X:241.21, Y:-14.41, Z:-3.29 [[ 9.99481847e-01 3.17560280e-02 5.25286782e-03 2.41208100e+02] [-3.17542715e-02 9.99495619e-01 -4.17457201e-04 -1.44128846e+01] [-5.26347516e-03 2.50439903e-04 9.99986116e-01 -3.29014446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86037174299997 meters Centerline goodness [0,1] 0.9899067620168371 Centerline is valid? [True, True] Translation: X:241.24, Y:-14.42, Z:-3.29 [[ 9.99535667e-01 3.00636567e-02 4.96254158e-03 2.41237425e+02] [-3.00620690e-02 9.99547956e-01 -3.94239790e-04 -1.44175791e+01] [-4.97215058e-03 2.44872464e-04 9.99987609e-01 -3.29079624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89037174299997 meters Centerline goodness [0,1] 0.9892053024999435 Centerline is valid? [True, True] Translation: X:241.27, Y:-14.43, Z:-3.29 [[ 9.99636269e-01 2.65558067e-02 4.70312241e-03 2.41266382e+02] [-2.65543435e-02 9.99647302e-01 -3.73298686e-04 -1.44271220e+01] [-4.71137687e-03 2.48274578e-04 9.99988871e-01 -3.29189304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92037174299998 meters Centerline goodness [0,1] 0.9891660083512019 Centerline is valid? [True, True] Translation: X:241.29, Y:-14.43, Z:-3.29 [[ 9.99681182e-01 2.48265127e-02 4.60205319e-03 2.41294900e+02] [-2.48250920e-02 9.99691743e-01 -3.65577009e-04 -1.44329151e+01] [-4.60971058e-03 2.51214062e-04 9.99989344e-01 -3.29263250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95037174299998 meters Centerline goodness [0,1] 0.9887665794459983 Centerline is valid? [True, True] Translation: X:241.32, Y:-14.43, Z:-3.29 [[ 9.99723452e-01 2.30573853e-02 4.62348047e-03 2.41324464e+02] [-2.30559345e-02 9.99734109e-01 -3.66854911e-04 -1.44348421e+01] [-4.63070985e-03 2.60154795e-04 9.99989244e-01 -3.29322084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98037174299998 meters Centerline goodness [0,1] 0.9887293465275117 Centerline is valid? [True, True] Translation: X:241.35, Y:-14.44, Z:-3.29 [[ 9.99790008e-01 1.99702081e-02 4.59677847e-03 2.41353144e+02] [-1.99687435e-02 9.99800538e-01 -3.64286978e-04 -1.44434497e+01] [-4.60313648e-03 2.72418591e-04 9.99989368e-01 -3.29457037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01037174299998 meters Centerline goodness [0,1] 0.9877304772234273 Centerline is valid? [True, True] Translation: X:241.38, Y:-14.45, Z:-3.30 [[ 9.99821343e-01 1.82451256e-02 4.93929906e-03 2.41381069e+02] [-1.82434110e-02 9.99833498e-01 -3.91970194e-04 -1.44505456e+01] [-4.94562820e-03 3.01790503e-04 9.99987725e-01 -3.29571831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04037174299998 meters Centerline goodness [0,1] 0.9882466627713605 Centerline is valid? [True, True] Translation: X:241.41, Y:-14.45, Z:-3.30 [[ 9.99854859e-01 1.61470378e-02 5.43454174e-03 2.41410913e+02] [-1.61449354e-02 9.99869569e-01 -4.30509800e-04 -1.44523496e+01] [-5.44078437e-03 3.42706989e-04 9.99985140e-01 -3.29546800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07037174299998 meters Centerline goodness [0,1] 0.9862655919304724 Centerline is valid? [True, True] Translation: X:241.44, Y:-14.46, Z:-3.30 [[ 9.99874452e-01 1.49167867e-02 5.34497522e-03 2.41438562e+02] [-1.49147346e-02 9.99888679e-01 -4.23587874e-04 -1.44602201e+01] [-5.35069878e-03 3.43815807e-04 9.99985626e-01 -3.29630262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10037174299998 meters Centerline goodness [0,1] 0.9873184332418942 Centerline is valid? [True, True] Translation: X:241.47, Y:-14.46, Z:-3.30 [[ 9.99880204e-01 1.43207414e-02 5.87319931e-03 2.41467186e+02] [-1.43182564e-02 9.99897380e-01 -4.64936983e-04 -1.44586609e+01] [-5.87925484e-03 3.80787312e-04 9.99982645e-01 -3.29528864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13037174299998 meters Centerline goodness [0,1] 0.9879393599101628 Centerline is valid? [True, True] Translation: X:241.50, Y:-14.46, Z:-3.29 [[ 9.99890543e-01 1.33145107e-02 6.45178878e-03 2.41496691e+02] [-1.33114957e-02 9.99911268e-01 -5.10043952e-04 -1.44563043e+01] [-6.45800729e-03 4.24105166e-04 9.99979057e-01 -3.29437262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16037174299998 meters Centerline goodness [0,1] 0.9861251431265575 Centerline is valid? [True, True] Translation: X:241.52, Y:-14.47, Z:-3.30 [[ 9.99897016e-01 1.24903527e-02 7.06746599e-03 2.41524167e+02] [-1.24867175e-02 9.99921882e-01 -5.58245044e-04 -1.44682637e+01] [-7.07388657e-03 4.69938102e-04 9.99974869e-01 -3.29572444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.190371743 meters Centerline goodness [0,1] 0.9874071247390513 Centerline is valid? [True, True] Translation: X:241.55, Y:-14.46, Z:-3.30 [[ 9.99906795e-01 1.17038253e-02 7.03005296e-03 2.41554177e+02] [-1.17002130e-02 9.99931396e-01 -5.54752443e-04 -1.44646145e+01] [-7.03606339e-03 4.72447621e-04 9.99975135e-01 -3.29545770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220371743 meters Centerline goodness [0,1] 0.9857219948734092 Centerline is valid? [True, True] Translation: X:241.58, Y:-14.48, Z:-3.30 [[ 9.99912748e-01 1.10422957e-02 7.25009053e-03 2.41582617e+02] [-1.10384395e-02 9.99938911e-01 -5.71688654e-04 -1.44776844e+01] [-7.25596038e-03 4.91609087e-04 9.99973554e-01 -3.29760579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.250371743 meters Centerline goodness [0,1] 0.9882564679415073 Centerline is valid? [True, True] Translation: X:241.61, Y:-14.47, Z:-3.30 [[ 9.99935022e-01 9.37212675e-03 6.48965852e-03 2.41613372e+02] [-9.36900257e-03 9.99955979e-01 -5.11643452e-04 -1.44701409e+01] [-6.49416803e-03 4.50808579e-04 9.99978811e-01 -3.29765230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280371743 meters Centerline goodness [0,1] 0.9866016230919677 Centerline is valid? [True, True] Translation: X:241.64, Y:-14.48, Z:-3.30 [[ 9.99944165e-01 8.47100767e-03 6.31739065e-03 2.41642734e+02] [-8.46803099e-03 9.99964022e-01 -4.97787702e-04 -1.44778474e+01] [-6.32138013e-03 4.44264048e-04 9.99979921e-01 -3.29942089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.310371743 meters Centerline goodness [0,1] 0.987246845390453 Centerline is valid? [True, True] Translation: X:241.67, Y:-14.48, Z:-3.30 [[ 9.99955818e-01 7.47754448e-03 5.69633628e-03 2.41672862e+02] [-7.47510839e-03 9.99971960e-01 -4.48830509e-04 -1.44784435e+01] [-5.69953270e-03 4.06229948e-04 9.99983675e-01 -3.29995284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340371743 meters Centerline goodness [0,1] 0.9876160294877846 Centerline is valid? [True, True] Translation: X:241.70, Y:-14.48, Z:-3.30 [[ 9.99972854e-01 5.25067219e-03 5.16923788e-03 2.41702616e+02] [-5.24863536e-03 9.99986143e-01 -4.07515565e-04 -1.44805219e+01] [-5.17130597e-03 3.80373058e-04 9.99986556e-01 -3.30089511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.370371743 meters Centerline goodness [0,1] 0.9871293800539084 Centerline is valid? [True, True] Translation: X:241.73, Y:-14.48, Z:-3.30 [[ 9.99979142e-01 4.20658514e-03 4.90112528e-03 2.41733433e+02] [-4.20474652e-03 9.99991086e-01 -3.85385968e-04 -1.44844324e+01] [-4.90270275e-03 3.64769940e-04 9.99987915e-01 -3.30117809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40037174299997 meters Centerline goodness [0,1] 0.9864512649979778 Centerline is valid? [True, True] Translation: X:241.76, Y:-14.49, Z:-3.30 [[ 9.99985873e-01 2.26289429e-03 4.80973793e-03 2.41762398e+02] [-2.26109623e-03 9.99997372e-01 -3.79242020e-04 -1.44937292e+01] [-4.81058347e-03 3.68361382e-04 9.99988361e-01 -3.30285461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43037174299997 meters Centerline goodness [0,1] 0.9868025991485548 Centerline is valid? [True, True] Translation: X:241.79, Y:-14.49, Z:-3.30 [[ 9.99985518e-01 2.08820422e-03 4.96022069e-03 2.41794001e+02] [-2.08629164e-03 9.99997747e-01 -3.90726421e-04 -1.44911656e+01] [-4.96102543e-03 3.80372295e-04 9.99987622e-01 -3.30303863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46037174299997 meters Centerline goodness [0,1] 0.9858000358358717 Centerline is valid? [True, True] Translation: X:241.83, Y:-14.50, Z:-3.30 [[ 9.99987975e-01 2.37727166e-03 4.28943523e-03 2.41825307e+02] [-2.37584878e-03 9.99997121e-01 -3.36781702e-04 -1.44953742e+01] [-4.29022351e-03 3.26586603e-04 9.99990744e-01 -3.30352688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49037174299997 meters Centerline goodness [0,1] 0.98746884053089 Centerline is valid? [True, True] Translation: X:241.86, Y:-14.49, Z:-3.30 [[ 9.99986126e-01 3.49541523e-03 3.94071157e-03 2.41857198e+02] [-3.49421666e-03 9.99993847e-01 -3.10993904e-04 -1.44912674e+01] [-3.94177438e-03 2.97219889e-04 9.99992187e-01 -3.30319621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52037174299997 meters Centerline goodness [0,1] 0.9862727006773635 Centerline is valid? [True, True] Translation: X:241.89, Y:-14.49, Z:-3.30 [[ 9.99955731e-01 8.65795498e-03 3.68461924e-03 2.41887153e+02] [-8.65693998e-03 9.99962486e-01 -2.91330673e-04 -1.44931822e+01] [-3.68700334e-03 2.59420248e-04 9.99993169e-01 -3.30376592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55037174299997 meters Centerline goodness [0,1] 0.9871201222801654 Centerline is valid? [True, True] Translation: X:241.92, Y:-14.49, Z:-3.30 [[ 9.99914185e-01 1.22334287e-02 4.68683572e-03 2.41918174e+02] [-1.22318255e-02 9.99925120e-01 -3.70591492e-04 -1.44902647e+01] [-4.69101838e-03 3.13231133e-04 9.99988948e-01 -3.30350509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58037174299997 meters Centerline goodness [0,1] 0.9878516047601875 Centerline is valid? [True, True] Translation: X:241.95, Y:-14.49, Z:-3.30 [[ 9.99859484e-01 1.58973689e-02 5.31847595e-03 2.41948698e+02] [-1.58953561e-02 9.99873572e-01 -4.20514930e-04 -1.44874477e+01] [-5.32448862e-03 3.35916772e-04 9.99985768e-01 -3.30299945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61037174299997 meters Centerline goodness [0,1] 0.9878837198788372 Centerline is valid? [True, True] Translation: X:241.98, Y:-14.49, Z:-3.30 [[ 9.99780901e-01 2.00189316e-02 6.11500789e-03 2.41978406e+02] [-2.00163468e-02 9.99799536e-01 -4.83616983e-04 -1.44866650e+01] [-6.12346354e-03 3.61110904e-04 9.99981186e-01 -3.30305799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64037174299997 meters Centerline goodness [0,1] 0.9883209361393324 Centerline is valid? [True, True] Translation: X:242.01, Y:-14.48, Z:-3.30 [[ 9.99548724e-01 2.89846127e-02 7.88930688e-03 2.42009698e+02] [-2.89805915e-02 9.99579780e-01 -6.23580820e-04 -1.44775248e+01] [-7.90406588e-03 3.94662634e-04 9.99968685e-01 -3.30226340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67037174299998 meters Centerline goodness [0,1] 0.9881650109750855 Centerline is valid? [True, True] Translation: X:242.04, Y:-14.48, Z:-3.30 [[ 9.99402444e-01 3.35644671e-02 8.25715490e-03 2.42038434e+02] [-3.35602170e-02 9.99436484e-01 -6.52776923e-04 -1.44799278e+01] [-8.27441197e-03 3.75274942e-04 9.99965696e-01 -3.30379061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70037174299998 meters Centerline goodness [0,1] 0.9902722851038683 Centerline is valid? [True, True] Translation: X:242.07, Y:-14.47, Z:-3.30 [[ 9.99090314e-01 4.18697651e-02 8.09120802e-03 2.42070176e+02] [-4.18659611e-02 9.99123032e-01 -6.39013123e-04 -1.44709032e+01] [-8.11086762e-03 2.99685621e-04 9.99967061e-01 -3.30459755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73037174299998 meters Centerline goodness [0,1] 0.9902503473883232 Centerline is valid? [True, True] Translation: X:242.10, Y:-14.47, Z:-3.31 [[ 9.98937673e-01 4.54206345e-02 7.77765842e-03 2.42100086e+02] [-4.54172234e-02 9.98967916e-01 -6.14736029e-04 -1.44692121e+01] [-7.79755293e-03 2.60843328e-04 9.99969565e-01 -3.30544131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76037174299998 meters Centerline goodness [0,1] 0.9907899236293172 Centerline is valid? [True, True] Translation: X:242.13, Y:-14.47, Z:-3.31 [[ 9.98769503e-01 4.89271229e-02 8.10034685e-03 2.42128788e+02] [-4.89235385e-02 9.98802322e-01 -6.40190162e-04 -1.44676978e+01] [-8.12196790e-03 2.43104780e-04 9.99966987e-01 -3.30642621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79037174299998 meters Centerline goodness [0,1] 0.9921301154249738 Centerline is valid? [True, True] Translation: X:242.16, Y:-14.46, Z:-3.31 [[ 9.98397689e-01 5.60362376e-02 7.87369816e-03 2.42158999e+02] [-5.60330789e-02 9.98428720e-01 -6.21362330e-04 -1.44640478e+01] [-7.89614518e-03 1.79179163e-04 9.99968809e-01 -3.30696454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82037174299998 meters Centerline goodness [0,1] 0.9927627510707006 Centerline is valid? [True, True] Translation: X:242.19, Y:-14.46, Z:-3.31 [[ 9.98222667e-01 5.90515130e-02 8.02658239e-03 2.42187656e+02] [-5.90483259e-02 9.98254924e-01 -6.33683476e-04 -1.44632260e+01] [-8.04999536e-03 1.58600956e-04 9.99967586e-01 -3.30725356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85037174299998 meters Centerline goodness [0,1] 0.9932644505028753 Centerline is valid? [True, True] Translation: X:242.22, Y:-14.46, Z:-3.31 [[ 9.97894713e-01 6.43751584e-02 7.87277668e-03 2.42216688e+02] [-6.43722621e-02 9.97925762e-01 -6.20998488e-04 -1.44610557e+01] [-7.89642354e-03 1.12902663e-04 9.99968816e-01 -3.30837108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88037174299998 meters Centerline goodness [0,1] 0.9931224209078404 Centerline is valid? [True, True] Translation: X:242.24, Y:-14.46, Z:-3.31 [[ 9.97778011e-01 6.61955321e-02 7.56260509e-03 2.42244038e+02] [-6.61929145e-02 9.97806666e-01 -5.96173618e-04 -1.44619965e+01] [-7.58548181e-03 9.42580541e-05 9.99971225e-01 -3.30923362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91037174299998 meters Centerline goodness [0,1] 0.9934628529485974 Centerline is valid? [True, True] Translation: X:242.27, Y:-14.46, Z:-3.31 [[ 9.97711548e-01 6.72156400e-02 7.32974116e-03 2.42271462e+02] [-6.72132132e-02 9.97738468e-01 -5.77206448e-04 -1.44638081e+01] [-7.35196202e-03 8.32300835e-05 9.99972970e-01 -3.31050753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940371743 meters Centerline goodness [0,1] 0.9935411721745481 Centerline is valid? [True, True] Translation: X:242.30, Y:-14.47, Z:-3.31 [[ 9.97710457e-01 6.71330696e-02 8.18507618e-03 2.42298795e+02] [-6.71300359e-02 9.97744026e-01 -6.45116506e-04 -1.44675520e+01] [-8.20991951e-03 9.41750258e-05 9.99966294e-01 -3.31173788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.970371743 meters Centerline goodness [0,1] 0.9933985834460312 Centerline is valid? [True, True] Translation: X:242.33, Y:-14.47, Z:-3.31 [[ 9.97740989e-01 6.66229014e-02 8.62017763e-03 2.42325364e+02] [-6.66195501e-02 9.97778221e-01 -6.75656687e-04 -1.44715962e+01] [-8.64603971e-03 9.98580156e-05 9.99962617e-01 -3.31282546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000371743 meters Centerline goodness [0,1] 0.9933629331258297 Centerline is valid? [True, True] Translation: X:242.35, Y:-14.47, Z:-3.31 [[ 9.97809725e-01 6.56228980e-02 8.32993553e-03 2.42353622e+02] [-6.56197339e-02 9.97844489e-01 -6.52881883e-04 -1.44742534e+01] [-8.35482426e-03 1.04843739e-04 9.99965092e-01 -3.31322245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.030371743 meters Centerline goodness [0,1] 0.9928162891786777 Centerline is valid? [True, True] Translation: X:242.38, Y:-14.48, Z:-3.31 [[ 9.97949175e-01 6.34008577e-02 8.81903438e-03 2.42381627e+02] [-6.33972460e-02 9.97988134e-01 -6.88764569e-04 -1.44805619e+01] [-8.84495992e-03 1.28249542e-04 9.99960874e-01 -3.31397011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060371743 meters Centerline goodness [0,1] 0.9938409598978055 Centerline is valid? [True, True] Translation: X:242.41, Y:-14.49, Z:-3.31 [[ 9.98063872e-01 6.15074618e-02 9.23799466e-03 2.42409790e+02] [-6.15034406e-02 9.98106612e-01 -7.19021822e-04 -1.44852483e+01] [-9.26472876e-03 1.49461248e-04 9.99957070e-01 -3.31413319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.090371743 meters Centerline goodness [0,1] 0.9928589297491528 Centerline is valid? [True, True] Translation: X:242.44, Y:-14.49, Z:-3.31 [[ 9.98160309e-01 5.97893967e-02 1.00610447e-02 2.42436727e+02] [-5.97845768e-02 9.98210998e-01 -7.79408735e-04 -1.44908117e+01] [-1.00896458e-02 1.76479564e-04 9.99949083e-01 -3.31435146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120371743 meters Centerline goodness [0,1] 0.9919636776390466 Centerline is valid? [True, True] Translation: X:242.46, Y:-14.50, Z:-3.32 [[ 9.98380558e-01 5.56898164e-02 1.16148835e-02 2.42464654e+02] [-5.56831264e-02 9.98448087e-01 -8.98830256e-04 -1.45005786e+01] [-1.16469139e-02 2.50621624e-04 9.99932141e-01 -3.31505791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15037174299997 meters Centerline goodness [0,1] 0.9920643917923138 Centerline is valid? [True, True] Translation: X:242.49, Y:-14.51, Z:-3.32 [[ 9.98499168e-01 5.33823370e-02 1.22367224e-02 2.42491746e+02] [-5.33747847e-02 9.98574105e-01 -9.43167186e-04 -1.45073296e+01] [-1.22696225e-02 2.88619230e-04 9.99924684e-01 -3.31568832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18037174299997 meters Centerline goodness [0,1] 0.9920643917923138 Centerline is valid? [True, True] Translation: X:242.52, Y:-14.51, Z:-3.32 [[ 9.98504759e-01 5.32776392e-02 1.22368006e-02 2.42519131e+02] [-5.32700915e-02 9.98579696e-01 -9.42150438e-04 -1.45093464e+01] [-1.22696162e-02 2.88886207e-04 9.99924684e-01 -3.31611634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21037174299997 meters Centerline goodness [0,1] 0.9904714595375722 Centerline is valid? [True, True] Translation: X:242.55, Y:-14.52, Z:-3.32 [[ 9.98646225e-01 5.03831331e-02 1.29328216e-02 2.42545678e+02] [-5.03744772e-02 9.98729905e-01 -9.94390526e-04 -1.45195980e+01] [-1.29664962e-02 3.41560216e-04 9.99915873e-01 -3.31691750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24037174299997 meters Centerline goodness [0,1] 0.9908054266011629 Centerline is valid? [True, True] Translation: X:242.58, Y:-14.53, Z:-3.32 [[ 9.98925099e-01 4.45560909e-02 1.27828900e-02 2.42575663e+02] [-4.45471860e-02 9.99006800e-01 -9.80656182e-04 -1.45252488e+01] [-1.28138882e-02 4.10160296e-04 9.99917815e-01 -3.31703231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27037174299997 meters Centerline goodness [0,1] 0.9887930647262274 Centerline is valid? [True, True] Translation: X:242.60, Y:-14.54, Z:-3.32 [[ 9.99073214e-01 4.12375785e-02 1.23359535e-02 2.42603184e+02] [-4.12290343e-02 9.99149274e-01 -9.46243330e-04 -1.45382728e+01] [-1.23644798e-02 4.36766915e-04 9.99923462e-01 -3.31889021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30037174299997 meters Centerline goodness [0,1] 0.9896701174462734 Centerline is valid? [True, True] Translation: X:242.63, Y:-14.54, Z:-3.32 [[ 9.99378746e-01 3.37018021e-02 1.03107414e-02 2.42633789e+02] [-3.36954396e-02 9.99431835e-01 -7.90212547e-04 -1.45410491e+01] [-1.03315148e-02 4.42296659e-04 9.99946531e-01 -3.32044906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33037174299997 meters Centerline goodness [0,1] 0.9887527165998252 Centerline is valid? [True, True] Translation: X:242.66, Y:-14.55, Z:-3.32 [[ 9.99511403e-01 2.97214101e-02 9.67438172e-03 2.42661933e+02] [-2.97156208e-02 9.99558118e-01 -7.41637826e-04 -1.45544163e+01] [-9.69214931e-03 4.53795204e-04 9.99952927e-01 -3.32261416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36037174299997 meters Centerline goodness [0,1] 0.9883951884666027 Centerline is valid? [True, True] Translation: X:242.69, Y:-14.56, Z:-3.32 [[ 9.99615718e-01 2.60985377e-02 9.34255986e-03 2.42692185e+02] [-2.60929860e-02 9.99659264e-01 -7.15655240e-04 -1.45612839e+01] [-9.35805406e-03 4.71604943e-04 9.99956101e-01 -3.32368217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39037174299997 meters Centerline goodness [0,1] 0.9887964578022272 Centerline is valid? [True, True] Translation: X:242.72, Y:-14.57, Z:-3.32 [[ 9.99698532e-01 2.27804331e-02 9.15951581e-03 2.42720965e+02] [-2.27749575e-02 9.99740371e-01 -7.01684275e-04 -1.45692063e+01] [-9.17312241e-03 4.92865157e-04 9.99957805e-01 -3.32457493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42037174299998 meters Centerline goodness [0,1] 0.988235556746138 Centerline is valid? [True, True] Translation: X:242.75, Y:-14.58, Z:-3.32 [[ 9.99805198e-01 1.70646777e-02 9.91781764e-03 2.42751348e+02] [-1.70579789e-02 9.99854214e-01 -7.59640857e-04 -1.45768332e+01] [-9.92933479e-03 5.90314953e-04 9.99950529e-01 -3.32403858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45037174299998 meters Centerline goodness [0,1] 0.9869307284000178 Centerline is valid? [True, True] Translation: X:242.78, Y:-14.58, Z:-3.32 [[ 9.99847277e-01 1.43907521e-02 9.91605857e-03 2.42779647e+02] [-1.43839227e-02 9.99896257e-01 -7.59700572e-04 -1.45849367e+01] [-9.92596251e-03 6.16952729e-04 9.99950546e-01 -3.32448001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48037174299998 meters Centerline goodness [0,1] 0.9880240851423112 Centerline is valid? [True, True] Translation: X:242.81, Y:-14.58, Z:-3.32 [[ 9.99893371e-01 1.10659575e-02 9.52841842e-03 2.42810421e+02] [-1.10595061e-02 9.99938576e-01 -7.29494596e-04 -1.45827414e+01] [-9.53590570e-03 6.24037209e-04 9.99954337e-01 -3.32416493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51037174299998 meters Centerline goodness [0,1] 0.9867178997401328 Centerline is valid? [True, True] Translation: X:242.84, Y:-14.59, Z:-3.33 [[ 9.99902655e-01 1.03099190e-02 9.40136372e-03 2.42840237e+02] [-1.03036094e-02 9.99946658e-01 -7.19327071e-04 -1.45889278e+01] [-9.40827844e-03 6.22389068e-04 9.99955547e-01 -3.32529160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54037174299998 meters Centerline goodness [0,1] 0.9871532716927454 Centerline is valid? [True, True] Translation: X:242.87, Y:-14.59, Z:-3.33 [[ 9.99903126e-01 1.04637581e-02 9.17864783e-03 2.42871506e+02] [-1.04577424e-02 9.99945069e-01 -7.03153181e-04 -1.45919854e+01] [-9.18550127e-03 6.07097130e-04 9.99957628e-01 -3.32585736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57037174299998 meters Centerline goodness [0,1] 0.98741956313598 Centerline is valid? [True, True] Translation: X:242.90, Y:-14.59, Z:-3.33 [[ 9.99894457e-01 1.12595967e-02 9.18129407e-03 2.42902859e+02] [-1.12536079e-02 9.99936429e-01 -7.03679590e-04 -1.45944787e+01] [-9.18863355e-03 6.00282638e-04 9.99957603e-01 -3.32608622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60037174299998 meters Centerline goodness [0,1] 0.9880962956382695 Centerline is valid? [True, True] Translation: X:242.93, Y:-14.59, Z:-3.33 [[ 9.99868478e-01 1.28390587e-02 9.90886979e-03 2.42933826e+02] [-1.28321545e-02 9.99917376e-01 -7.60031936e-04 -1.45924501e+01] [-9.91780917e-03 6.32779826e-04 9.99950617e-01 -3.32562862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63037174299998 meters Centerline goodness [0,1] 0.9873001776198934 Centerline is valid? [True, True] Translation: X:242.96, Y:-14.59, Z:-3.33 [[ 9.99836772e-01 1.46548376e-02 1.05671822e-02 2.42963756e+02] [-1.46470865e-02 9.99892397e-01 -8.10525931e-04 -1.45942223e+01] [-1.05779232e-02 6.55615199e-04 9.99943837e-01 -3.32553711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66037174299998 meters Centerline goodness [0,1] 0.9874752067036616 Centerline is valid? [True, True] Translation: X:242.99, Y:-14.59, Z:-3.33 [[ 9.99768815e-01 1.82858009e-02 1.13113112e-02 2.42994362e+02] [-1.82771513e-02 9.99832582e-01 -8.67602251e-04 -1.45929099e+01] [-1.13252823e-02 6.60663129e-04 9.99935649e-01 -3.32536667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.690371743 meters Centerline goodness [0,1] 0.9883326640788828 Centerline is valid? [True, True] Translation: X:243.02, Y:-14.59, Z:-3.33 [[ 9.99747123e-01 1.95049911e-02 1.11913426e-02 2.43022606e+02] [-1.94965975e-02 9.99809555e-01 -8.58630594e-04 -1.45944593e+01] [-1.12059588e-02 6.40220364e-04 9.99937006e-01 -3.32619462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720371743 meters Centerline goodness [0,1] 0.9883770217512549 Centerline is valid? [True, True] Translation: X:243.05, Y:-14.60, Z:-3.33 [[ 9.99722830e-01 2.06510077e-02 1.13047957e-02 2.43052112e+02] [-2.06425238e-02 9.99786545e-01 -8.66650051e-04 -1.45956604e+01] [-1.13202798e-02 6.33050327e-04 9.99935723e-01 -3.32650322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.750371743 meters Centerline goodness [0,1] 0.9880392899302849 Centerline is valid? [True, True] Translation: X:243.08, Y:-14.59, Z:-3.33 [[ 9.99695432e-01 2.17982544e-02 1.15706425e-02 2.43081621e+02] [-2.17894483e-02 9.99762189e-01 -8.86610056e-04 -1.45948136e+01] [-1.15872175e-02 6.34222106e-04 9.99932665e-01 -3.32652696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780371743 meters Centerline goodness [0,1] 0.9882011821121891 Centerline is valid? [True, True] Translation: X:243.11, Y:-14.60, Z:-3.33 [[ 9.99697279e-01 2.15967948e-02 1.17867737e-02 2.43109399e+02] [-2.15876453e-02 9.99766552e-01 -9.02940269e-04 -1.45968539e+01] [-1.18035227e-02 6.48218240e-04 9.99930126e-01 -3.32665774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.810371743 meters Centerline goodness [0,1] 0.9874474178823951 Centerline is valid? [True, True] Translation: X:243.14, Y:-14.60, Z:-3.33 [[ 9.99727464e-01 2.01626595e-02 1.17670993e-02 2.43139193e+02] [-2.01534560e-02 9.99796493e-01 -9.00209496e-04 -1.45972878e+01] [-1.17828552e-02 6.62816439e-04 9.99930360e-01 -3.32615091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840371743 meters Centerline goodness [0,1] 0.987538592330753 Centerline is valid? [True, True] Translation: X:243.17, Y:-14.60, Z:-3.33 [[ 9.99746996e-01 1.89685781e-02 1.20886897e-02 2.43168608e+02] [-1.89587829e-02 9.99819839e-01 -9.24370006e-04 -1.46002757e+01] [-1.21040458e-02 6.94949292e-04 9.99926502e-01 -3.32656684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.870371743 meters Centerline goodness [0,1] 0.9863105175292154 Centerline is valid? [True, True] Translation: X:243.20, Y:-14.61, Z:-3.33 [[ 9.99773960e-01 1.73661755e-02 1.22655869e-02 2.43196941e+02] [-1.73559761e-02 9.99848934e-01 -9.37515082e-04 -1.46059316e+01] [-1.22800150e-02 7.24421933e-04 9.99924335e-01 -3.32740223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90037174299997 meters Centerline goodness [0,1] 0.9866112340463578 Centerline is valid? [True, True] Translation: X:243.23, Y:-14.61, Z:-3.33 [[ 9.99847599e-01 1.36561304e-02 1.08760910e-02 2.43227129e+02] [-1.36479005e-02 9.99906518e-01 -8.30559316e-04 -1.46090553e+01] [-1.08864165e-02 6.81996930e-04 9.99940509e-01 -3.32977387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93037174299997 meters Centerline goodness [0,1] 0.9861878453038674 Centerline is valid? [True, True] Translation: X:243.26, Y:-14.61, Z:-3.33 [[ 9.99885432e-01 1.17235956e-02 9.57497058e-03 2.43257402e+02] [-1.17171279e-02 9.99931085e-01 -7.31295555e-04 -1.46124648e+01] [-9.58288413e-03 6.19020617e-04 9.99953892e-01 -3.33143064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96037174299997 meters Centerline goodness [0,1] 0.9868132850565464 Centerline is valid? [True, True] Translation: X:243.29, Y:-14.61, Z:-3.33 [[ 9.99917660e-01 9.71717308e-03 8.38147834e-03 2.43288633e+02] [-9.71215020e-03 9.99952631e-01 -6.39777782e-04 -1.46108901e+01] [-8.38729815e-03 5.58322927e-04 9.99964670e-01 -3.33264801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99037174299997 meters Centerline goodness [0,1] 0.9861204387732259 Centerline is valid? [True, True] Translation: X:243.32, Y:-14.61, Z:-3.34 [[ 9.99959213e-01 6.36559359e-03 6.40717788e-03 2.43318595e+02] [-6.36258627e-03 9.99979639e-01 -4.89640592e-04 -1.46147389e+01] [-6.41016428e-03 4.48854399e-04 9.99979354e-01 -3.33503458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02037174299997 meters Centerline goodness [0,1] 0.9855185473989083 Centerline is valid? [True, True] Translation: X:243.35, Y:-14.62, Z:-3.34 [[ 9.99968125e-01 5.33486936e-03 5.94040469e-03 2.43348402e+02] [-5.33226681e-03 9.99985680e-01 -4.53860860e-04 -1.46198313e+01] [-5.94274091e-03 4.22170570e-04 9.99982253e-01 -3.33616446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05037174299997 meters Centerline goodness [0,1] 0.9863893801347631 Centerline is valid? [True, True] Translation: X:243.38, Y:-14.62, Z:-3.34 [[ 9.99978580e-01 4.11392306e-03 5.09077270e-03 2.43380036e+02] [-4.11199673e-03 9.99991470e-01 -3.88804752e-04 -1.46177311e+01] [-5.09232879e-03 3.67863183e-04 9.99986966e-01 -3.33621502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08037174299997 meters Centerline goodness [0,1] 0.9848342504361831 Centerline is valid? [True, True] Translation: X:243.41, Y:-14.63, Z:-3.34 [[ 9.99980198e-01 3.06907962e-03 5.49411938e-03 2.43409663e+02] [-3.06681791e-03 9.99995209e-01 -4.20037181e-04 -1.46302038e+01] [-5.49538218e-03 4.03179400e-04 9.99984819e-01 -3.33777542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11037174299997 meters Centerline goodness [0,1] 0.985794501241583 Centerline is valid? [True, True] Translation: X:243.44, Y:-14.62, Z:-3.34 [[ 9.99979601e-01 2.92517898e-03 5.67805360e-03 2.43442183e+02] [-2.92277250e-03 9.99995635e-01 -4.32072818e-04 -1.46218976e+01] [-5.67929271e-03 4.15468346e-04 9.99983786e-01 -3.33666357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14037174299997 meters Centerline goodness [0,1] 0.9854702576846441 Centerline is valid? [True, True] Translation: X:243.47, Y:-14.63, Z:-3.34 [[ 9.99976587e-01 2.71248169e-03 6.28239188e-03 2.43472664e+02] [-2.70951342e-03 9.99996214e-01 -4.80938823e-04 -1.46261251e+01] [-6.28367264e-03 4.63905338e-04 9.99980150e-01 -3.33729306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17037174299998 meters Centerline goodness [0,1] 0.9860011217049915 Centerline is valid? [True, True] Translation: X:243.50, Y:-14.62, Z:-3.34 [[ 9.99981266e-01 2.18649381e-03 5.71728076e-03 2.43504972e+02] [-2.18403113e-03 9.99997520e-01 -4.36952090e-04 -1.46231819e+01] [-5.71822197e-03 4.24457185e-04 9.99983561e-01 -3.33720254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20037174299998 meters Centerline goodness [0,1] 0.9855947225525613 Centerline is valid? [True, True] Translation: X:243.54, Y:-14.63, Z:-3.34 [[ 9.99980041e-01 2.31495476e-03 5.87869300e-03 2.43536196e+02] [-2.31234264e-03 9.99997225e-01 -4.51095589e-04 -1.46264610e+01] [-5.87972095e-03 4.37493033e-04 9.99982619e-01 -3.33770817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23037174299998 meters Centerline goodness [0,1] 0.9856286349448723 Centerline is valid? [True, True] Translation: X:243.57, Y:-14.63, Z:-3.34 [[ 9.99982381e-01 2.71106787e-03 5.28083868e-03 2.43568070e+02] [-2.70896171e-03 9.99996248e-01 -4.05942804e-04 -1.46281407e+01] [-5.28191941e-03 3.91630062e-04 9.99985974e-01 -3.33839732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26037174299998 meters Centerline goodness [0,1] 0.986488309352518 Centerline is valid? [True, True] Translation: X:243.60, Y:-14.63, Z:-3.34 [[ 9.99980424e-01 3.11739580e-03 5.42517150e-03 2.43600141e+02] [-3.11516104e-03 9.99995060e-01 -4.20324673e-04 -1.46271759e+01] [-5.42645501e-03 4.03416162e-04 9.99985195e-01 -3.33856567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29037174299998 meters Centerline goodness [0,1] 0.9849952687784437 Centerline is valid? [True, True] Translation: X:243.63, Y:-14.63, Z:-3.34 [[ 9.99978320e-01 3.70261673e-03 5.44520092e-03 2.43630859e+02] [-3.70037026e-03 9.99993064e-01 -4.22575917e-04 -1.46305300e+01] [-5.44672779e-03 4.02417496e-04 9.99985085e-01 -3.33916357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32037174299998 meters Centerline goodness [0,1] 0.9854739026480804 Centerline is valid? [True, True] Translation: X:243.66, Y:-14.63, Z:-3.34 [[ 9.99973856e-01 4.24463916e-03 5.85406808e-03 2.43662355e+02] [-4.24205038e-03 9.99990899e-01 -4.54565030e-04 -1.46316926e+01] [-5.85594426e-03 4.29719895e-04 9.99982761e-01 -3.33973304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35037174299998 meters Centerline goodness [0,1] 0.985043650883169 Centerline is valid? [True, True] Translation: X:243.69, Y:-14.63, Z:-3.34 [[ 9.99971438e-01 5.46837862e-03 5.21729874e-03 2.43694540e+02] [-5.46633930e-03 9.99984977e-01 -4.05057138e-04 -1.46301302e+01] [-5.21943537e-03 3.76526043e-04 9.99986308e-01 -3.34041446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38037174299998 meters Centerline goodness [0,1] 0.9861666779684004 Centerline is valid? [True, True] Translation: X:243.72, Y:-14.63, Z:-3.34 [[ 9.99971194e-01 6.18424333e-03 4.40065585e-03 2.43724980e+02] [-6.18279629e-03 9.99980828e-01 -3.42353681e-04 -1.46299913e+01] [-4.40268868e-03 3.15135461e-04 9.99990258e-01 -3.34081874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41037174299998 meters Centerline goodness [0,1] 0.9866437659608127 Centerline is valid? [True, True] Translation: X:243.76, Y:-14.63, Z:-3.34 [[ 9.99970828e-01 6.79288999e-03 3.49268277e-03 2.43755234e+02] [-6.79198216e-03 9.99976897e-01 -2.71716954e-04 -1.46284716e+01] [-3.49444782e-03 2.47986788e-04 9.99993864e-01 -3.34139748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440371743 meters Centerline goodness [0,1] 0.9867723076228527 Centerline is valid? [True, True] Translation: X:243.78, Y:-14.63, Z:-3.34 [[ 9.99953905e-01 9.31727588e-03 2.31883351e-03 2.43784578e+02] [-9.31688368e-03 9.99956581e-01 -1.79880743e-04 -1.46328542e+01] [-2.32040883e-03 1.58268149e-04 9.99997295e-01 -3.34317065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.470371743 meters Centerline goodness [0,1] 0.9869436336071323 Centerline is valid? [True, True] Translation: X:243.81, Y:-14.63, Z:-3.34 [[ 9.99942413e-01 1.05208628e-02 2.11724510e-03 2.43813263e+02] [-1.05205354e-02 9.99944644e-01 -1.65717100e-04 -1.46327224e+01] [-2.11887139e-03 1.43433005e-04 9.99997745e-01 -3.34372099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500371743 meters Centerline goodness [0,1] 0.9872624480621212 Centerline is valid? [True, True] Translation: X:243.84, Y:-14.63, Z:-3.34 [[ 9.99901054e-01 1.38745988e-02 2.31880673e-03 2.43842872e+02] [-1.38742170e-02 9.99903732e-01 -1.80653959e-04 -1.46311635e+01] [-2.32109000e-03 1.48464457e-04 9.99997295e-01 -3.34348194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.530371743 meters Centerline goodness [0,1] 0.987752783458305 Centerline is valid? [True, True] Translation: X:243.87, Y:-14.63, Z:-3.34 [[ 9.99869963e-01 1.59579437e-02 2.32404567e-03 2.43872676e+02] [-1.59575657e-02 9.99872654e-01 -1.81126007e-04 -1.46304622e+01] [-2.32664010e-03 1.44016343e-04 9.99997283e-01 -3.34309091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560371743 meters Centerline goodness [0,1] 0.9882969313465333 Centerline is valid? [True, True] Translation: X:243.90, Y:-14.63, Z:-3.34 [[ 9.99825186e-01 1.83749989e-02 3.45791890e-03 2.43902541e+02] [-1.83741776e-02 9.99831144e-01 -2.69132295e-04 -1.46263506e+01] [-3.46228032e-03 2.05548830e-04 9.99993985e-01 -3.34225021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.590371743 meters Centerline goodness [0,1] 0.9887737478411054 Centerline is valid? [True, True] Translation: X:243.93, Y:-14.62, Z:-3.34 [[ 9.99766955e-01 2.12211175e-02 3.96232795e-03 2.43932843e+02] [-2.12200631e-02 9.99774782e-01 -3.07970004e-04 -1.46238637e+01] [-3.96797103e-03 2.23817384e-04 9.99992103e-01 -3.34178839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620371743 meters Centerline goodness [0,1] 0.9877158786999682 Centerline is valid? [True, True] Translation: X:243.96, Y:-14.63, Z:-3.34 [[ 9.99631298e-01 2.67215959e-02 4.81912848e-03 2.43962071e+02] [-2.67201004e-02 9.99642884e-01 -3.74450497e-04 -1.46286217e+01] [-4.82741340e-03 2.45544840e-04 9.99988318e-01 -3.34327613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65037174299997 meters Centerline goodness [0,1] 0.9893956670467503 Centerline is valid? [True, True] Translation: X:243.99, Y:-14.62, Z:-3.34 [[ 9.99564611e-01 2.92052339e-02 4.20027637e-03 2.43992354e+02] [-2.92041193e-02 9.99573415e-01 -3.26467921e-04 -1.46245996e+01] [-4.20801917e-03 2.03660409e-04 9.99991126e-01 -3.34325295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68037174299997 meters Centerline goodness [0,1] 0.9897005878867976 Centerline is valid? [True, True] Translation: X:244.02, Y:-14.62, Z:-3.34 [[ 9.99479419e-01 3.20342879e-02 3.83343636e-03 2.44022958e+02] [-3.20333814e-02 9.99486755e-01 -2.97675293e-04 -1.46210636e+01] [-3.84100469e-03 1.74722400e-04 9.99992608e-01 -3.34319525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71037174299997 meters Centerline goodness [0,1] 0.9905561145156865 Centerline is valid? [True, True] Translation: X:244.05, Y:-14.62, Z:-3.35 [[ 9.99316703e-01 3.69188073e-02 1.76906900e-03 2.44052648e+02] [-3.69186212e-02 9.99318266e-01 -1.37730124e-04 -1.46193750e+01] [-1.77294780e-03 7.23244254e-05 9.99998426e-01 -3.34514840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74037174299997 meters Centerline goodness [0,1] 0.9899873983274143 Centerline is valid? [True, True] Translation: X:244.08, Y:-14.62, Z:-3.35 [[ 9.99243901e-01 3.88676802e-02 9.64453433e-04 2.44079892e+02] [-3.88676249e-02 9.99244365e-01 -7.60658555e-05 -1.46231869e+01] [-9.66681162e-04 3.85223280e-05 9.99999532e-01 -3.34753738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77037174299997 meters Centerline goodness [0,1] 0.9919465859030837 Centerline is valid? [True, True] Translation: X:244.11, Y:-14.62, Z:-3.35 [[ 9.99122967e-01 4.18704469e-02 -4.04200987e-04 2.44108994e+02] [-4.18704381e-02 9.99123048e-01 3.01705133e-05 -1.46187268e+01] [ 4.05109775e-04 -1.32199804e-05 9.99999918e-01 -3.34711659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80037174299997 meters Centerline goodness [0,1] 0.9909847911361915 Centerline is valid? [True, True] Translation: X:244.14, Y:-14.62, Z:-3.35 [[ 9.99070687e-01 4.30931503e-02 -8.62223008e-04 2.44136663e+02] [-4.30931100e-02 9.99071058e-01 6.52839377e-05 -1.46215101e+01] [ 8.64235344e-04 -2.80673975e-05 9.99999626e-01 -3.34867118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83037174299997 meters Centerline goodness [0,1] 0.9916415991182347 Centerline is valid? [True, True] Translation: X:244.17, Y:-14.62, Z:-3.35 [[ 9.99042667e-01 4.37072008e-02 -1.85207567e-03 2.44165017e+02] [-4.37070127e-02 9.99044382e-01 1.41947443e-04 -1.46223605e+01] [ 1.85650992e-03 -6.08628576e-05 9.99998275e-01 -3.34920351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86037174299997 meters Centerline goodness [0,1] 0.991114682585237 Centerline is valid? [True, True] Translation: X:244.19, Y:-14.62, Z:-3.35 [[ 9.99018206e-01 4.42424257e-02 -2.28717243e-03 2.44194019e+02] [-4.42421400e-02 9.99020822e-01 1.75396351e-04 -1.46238587e+01] [ 2.29269284e-03 -7.40347449e-05 9.99997369e-01 -3.34985183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89037174299997 meters Centerline goodness [0,1] 0.9907915585459389 Centerline is valid? [True, True] Translation: X:244.22, Y:-14.62, Z:-3.35 [[ 9.98950863e-01 4.57632170e-02 -1.70313593e-03 2.44223229e+02] [-4.57630615e-02 9.98952314e-01 1.30203334e-04 -1.46241034e+01] [ 1.70731010e-03 -5.21260187e-05 9.99998541e-01 -3.34902150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92037174299998 meters Centerline goodness [0,1] 0.9918230470634173 Centerline is valid? [True, True] Translation: X:244.25, Y:-14.63, Z:-3.35 [[ 9.98917966e-01 4.65013134e-02 -7.24401654e-04 2.44251357e+02] [-4.65012859e-02 9.98918229e-01 5.47128660e-05 -1.46263055e+01] [ 7.26162237e-04 -2.09680564e-05 9.99999736e-01 -3.34894653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95037174299998 meters Centerline goodness [0,1] 0.9918333639199853 Centerline is valid? [True, True] Translation: X:244.28, Y:-14.63, Z:-3.35 [[ 9.98911148e-01 4.66529823e-02 1.30085296e-04 2.44280517e+02] [-4.66529812e-02 9.98911157e-01 -1.11083300e-05 -1.46272853e+01] [-1.30461891e-04 5.02736775e-06 9.99999991e-01 -3.34802700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98037174299998 meters Centerline goodness [0,1] 0.9914941421922645 Centerline is valid? [True, True] Translation: X:244.31, Y:-14.63, Z:-3.35 [[ 9.98906209e-01 4.66345768e-02 3.40614351e-03 2.44309505e+02] [-4.66339510e-02 9.98912011e-01 -2.62948118e-04 -1.46302173e+01] [-3.41470013e-03 1.03818579e-04 9.99994165e-01 -3.34595087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01037174299998 meters Centerline goodness [0,1] 0.9917700190275326 Centerline is valid? [True, True] Translation: X:244.34, Y:-14.63, Z:-3.35 [[ 9.98915652e-01 4.62816968e-02 5.05224949e-03 2.44338134e+02] [-4.62803200e-02 9.98928416e-01 -3.89145814e-04 -1.46326225e+01] [-5.06484591e-03 1.54904121e-04 9.99987162e-01 -3.34502215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04037174299998 meters Centerline goodness [0,1] 0.9919571045576407 Centerline is valid? [True, True] Translation: X:244.37, Y:-14.64, Z:-3.34 [[ 9.99018563e-01 4.37909226e-02 6.65326246e-03 2.44366587e+02] [-4.37884852e-02 9.99040693e-01 -5.11647754e-04 -1.46366163e+01] [-6.66928547e-03 2.19809319e-04 9.99977736e-01 -3.34468203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07037174299998 meters Centerline goodness [0,1] 0.991259581283606 Centerline is valid? [True, True] Translation: X:244.39, Y:-14.65, Z:-3.35 [[ 9.99107466e-01 4.17127465e-02 6.65717069e-03 2.44393883e+02] [-4.17102623e-02 9.99129617e-01 -5.11627548e-04 -1.46460207e+01] [-6.67271779e-03 2.33498568e-04 9.99977710e-01 -3.34636681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10037174299998 meters Centerline goodness [0,1] 0.991259581283606 Centerline is valid? [True, True] Translation: X:244.42, Y:-14.65, Z:-3.35 [[ 9.99111529e-01 4.16153040e-02 6.65720889e-03 2.44421281e+02] [-4.16128209e-02 9.99133681e-01 -5.11129664e-04 -1.46480195e+01] [-6.67271244e-03 2.33650300e-04 9.99977710e-01 -3.34679503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13037174299998 meters Centerline goodness [0,1] 0.9912216532553035 Centerline is valid? [True, True] Translation: X:244.45, Y:-14.65, Z:-3.35 [[ 9.99215754e-01 3.90635775e-02 6.47415931e-03 2.44451349e+02] [-3.90611831e-02 9.99236698e-01 -4.95919344e-04 -1.46462255e+01] [-6.48858995e-03 2.42642098e-04 9.99978919e-01 -3.34632988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16037174299998 meters Centerline goodness [0,1] 0.9903315547042459 Centerline is valid? [True, True] Translation: X:244.48, Y:-14.66, Z:-3.35 [[ 9.99451512e-01 3.26614835e-02 5.46840963e-03 2.44480256e+02] [-3.26596823e-02 9.99466443e-01 -4.18393427e-04 -1.46554684e+01] [-5.47915727e-03 2.39567422e-04 9.99984961e-01 -3.34903638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.190371743 meters Centerline goodness [0,1] 0.9900382096069869 Centerline is valid? [True, True] Translation: X:244.51, Y:-14.66, Z:-3.35 [[ 9.99577168e-01 2.86949225e-02 4.69956162e-03 2.44510345e+02] [-2.86935472e-02 9.99588191e-01 -3.59813454e-04 -1.46590625e+01] [-4.70795111e-03 2.24814220e-04 9.99988892e-01 -3.35030565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220371743 meters Centerline goodness [0,1] 0.9892365456821026 Centerline is valid? [True, True] Translation: X:244.54, Y:-14.67, Z:-3.35 [[ 9.99686634e-01 2.47151646e-02 3.97414813e-03 2.44538514e+02] [-2.47141501e-02 9.99694512e-01 -3.04176190e-04 -1.46684711e+01] [-3.98045184e-03 2.05863178e-04 9.99992057e-01 -3.35285139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.250371743 meters Centerline goodness [0,1] 0.9897157646204141 Centerline is valid? [True, True] Translation: X:244.57, Y:-14.68, Z:-3.35 [[ 9.99852337e-01 1.70588985e-02 2.07323943e-03 2.44568384e+02] [-1.70586063e-02 9.99854479e-01 -1.58535084e-04 -1.46784621e+01] [-2.07564216e-03 1.23145099e-04 9.99997838e-01 -3.35489378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280371743 meters Centerline goodness [0,1] 0.9898228078146297 Centerline is valid? [True, True] Translation: X:244.60, Y:-14.68, Z:-3.35 [[ 9.99907356e-01 1.35064347e-02 1.68958260e-03 2.44598442e+02] [-1.35062352e-02 9.99908778e-01 -1.29473071e-04 -1.46790631e+01] [-1.69117719e-03 1.06641176e-04 9.99998564e-01 -3.35467784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.310371743 meters Centerline goodness [0,1] 0.9894083687524149 Centerline is valid? [True, True] Translation: X:244.63, Y:-14.68, Z:-3.36 [[ 9.99942711e-01 1.05954670e-02 1.51995750e-03 2.44628735e+02] [-1.05953026e-02 9.99943861e-01 -1.16220289e-04 -1.46837903e+01] [-1.52110358e-03 1.00109222e-04 9.99998838e-01 -3.35533430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340371743 meters Centerline goodness [0,1] 0.9891902916581685 Centerline is valid? [True, True] Translation: X:244.66, Y:-14.69, Z:-3.36 [[ 9.99973852e-01 7.11433566e-03 1.29636442e-03 2.44657802e+02] [-7.11421281e-03 9.99974689e-01 -9.93506944e-05 -1.46894789e+01] [-1.29703842e-03 9.01254843e-05 9.99999155e-01 -3.35564665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.370371743 meters Centerline goodness [0,1] 0.9887872528769549 Centerline is valid? [True, True] Translation: X:244.69, Y:-14.69, Z:-3.36 [[ 9.99978523e-01 6.23911820e-03 2.00669097e-03 2.44685705e+02] [-6.23882260e-03 9.99980527e-01 -1.53529718e-04 -1.46935389e+01] [-2.00760978e-03 1.41007032e-04 9.99997975e-01 -3.35586947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40037174299997 meters Centerline goodness [0,1] 0.9890668239350361 Centerline is valid? [True, True] Translation: X:244.72, Y:-14.70, Z:-3.36 [[ 9.99971819e-01 6.36662899e-03 3.97825752e-03 2.44715436e+02] [-6.36546772e-03 9.99979694e-01 -3.04497314e-04 -1.46959243e+01] [-3.98011536e-03 2.79165263e-04 9.99992040e-01 -3.35500662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43037174299997 meters Centerline goodness [0,1] 0.9885566378312104 Centerline is valid? [True, True] Translation: X:244.75, Y:-14.70, Z:-3.35 [[ 9.99966592e-01 6.23134778e-03 5.29004260e-03 2.44745252e+02] [-6.22929447e-03 9.99980516e-01 -4.04534925e-04 -1.46971787e+01] [-5.29246033e-03 3.71568177e-04 9.99985926e-01 -3.35467313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46037174299997 meters Centerline goodness [0,1] 0.9882921516574774 Centerline is valid? [True, True] Translation: X:244.78, Y:-14.70, Z:-3.35 [[ 9.99959360e-01 6.65770537e-03 6.07888571e-03 2.44775467e+02] [-6.65501117e-03 9.99977748e-01 -4.63325960e-04 -1.47008418e+01] [-6.08183513e-03 4.22852078e-04 9.99981416e-01 -3.35453176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49037174299997 meters Centerline goodness [0,1] 0.989151157512483 Centerline is valid? [True, True] Translation: X:244.81, Y:-14.70, Z:-3.35 [[ 9.99956389e-01 6.32772967e-03 6.86875889e-03 2.44806063e+02] [-6.32427059e-03 9.99979864e-01 -5.25198826e-04 -1.47012786e+01] [-6.87194390e-03 4.81736031e-04 9.99976272e-01 -3.35411780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52037174299997 meters Centerline goodness [0,1] 0.9884562175401991 Centerline is valid? [True, True] Translation: X:244.84, Y:-14.71, Z:-3.35 [[ 9.99957161e-01 5.24274510e-03 7.62825180e-03 2.44835766e+02] [-5.23844840e-03 9.99986109e-01 -5.83132365e-04 -1.47065064e+01] [-7.63120306e-03 5.43147181e-04 9.99970734e-01 -3.35452402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55037174299997 meters Centerline goodness [0,1] 0.9885850448201521 Centerline is valid? [True, True] Translation: X:244.87, Y:-14.71, Z:-3.36 [[ 9.99965557e-01 4.21946672e-03 7.14708811e-03 2.44867317e+02] [-4.21566928e-03 9.99990965e-01 -5.46309433e-04 -1.47081176e+01] [-7.14932867e-03 5.16160856e-04 9.99974310e-01 -3.35602991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58037174299997 meters Centerline goodness [0,1] 0.9872511589855467 Centerline is valid? [True, True] Translation: X:244.90, Y:-14.72, Z:-3.36 [[ 9.99980682e-01 1.34916234e-03 6.06760562e-03 2.44896273e+02] [-1.34637001e-03 9.99998986e-01 -4.64263960e-04 -1.47177145e+01] [-6.06822584e-03 4.56085749e-04 9.99981484e-01 -3.35905023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61037174299997 meters Centerline goodness [0,1] 0.9880744156463667 Centerline is valid? [True, True] Translation: X:244.93, Y:-14.72, Z:-3.36 [[ 9.99986246e-01 -6.33579304e-04 5.20635836e-03 2.44927769e+02] [ 6.35659964e-04 9.99999719e-01 -3.97993167e-04 -1.47155790e+01] [-5.20610474e-03 4.01297167e-04 9.99986368e-01 -3.35953988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64037174299997 meters Centerline goodness [0,1] 0.9881111741349972 Centerline is valid? [True, True] Translation: X:244.96, Y:-14.72, Z:-3.36 [[ 9.99984949e-01 -4.34725258e-03 3.34707363e-03 2.44958205e+02] [ 4.34813425e-03 9.99990514e-01 -2.56181006e-04 -1.47210894e+01] [-3.34592820e-03 2.70730676e-04 9.99994366e-01 -3.36213995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67037174299998 meters Centerline goodness [0,1] 0.9862280204197391 Centerline is valid? [True, True] Translation: X:244.99, Y:-14.73, Z:-3.36 [[ 9.99981441e-01 -5.64448017e-03 2.29279099e-03 2.44987946e+02] [ 5.64489681e-03 9.99984052e-01 -1.75285996e-04 -1.47323723e+01] [-2.29176503e-03 1.88225311e-04 9.99997356e-01 -3.36479944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70037174299998 meters Centerline goodness [0,1] 0.9882587605965819 Centerline is valid? [True, True] Translation: X:245.02, Y:-14.73, Z:-3.37 [[ 9.99975744e-01 -6.90879009e-03 8.83606762e-04 2.45019234e+02] [ 6.90885188e-03 9.99976131e-01 -6.68955091e-05 -1.47290438e+01] [-8.83123504e-04 7.29985947e-05 9.99999607e-01 -3.36542169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73037174299998 meters Centerline goodness [0,1] 0.9885216523376358 Centerline is valid? [True, True] Translation: X:245.05, Y:-14.73, Z:-3.37 [[ 9.99974850e-01 -7.08274611e-03 -3.65731160e-04 2.45051404e+02] [ 7.08275725e-03 9.99974917e-01 2.91634154e-05 -1.47306163e+01] [ 3.65515429e-04 -3.17530670e-05 9.99999933e-01 -3.36658482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76037174299998 meters Centerline goodness [0,1] 0.987386936957411 Centerline is valid? [True, True] Translation: X:245.08, Y:-14.73, Z:-3.37 [[ 9.99979043e-01 -6.47236689e-03 -1.48814337e-04 2.45082924e+02] [ 6.47236883e-03 9.99979054e-01 1.25253595e-05 -1.47344535e+01] [ 1.48730151e-04 -1.34882782e-05 9.99999989e-01 -3.36706973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79037174299998 meters Centerline goodness [0,1] 0.9885258964143426 Centerline is valid? [True, True] Translation: X:245.11, Y:-14.73, Z:-3.37 [[ 9.99983398e-01 -5.70540355e-03 8.07875319e-04 2.45114885e+02] [ 5.70545507e-03 9.99983722e-01 -6.14829268e-05 -1.47313530e+01] [-8.07511383e-04 6.60912024e-05 9.99999672e-01 -3.36545494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82037174299998 meters Centerline goodness [0,1] 0.9882307500056802 Centerline is valid? [True, True] Translation: X:245.15, Y:-14.73, Z:-3.36 [[ 9.99988781e-01 -2.99289035e-03 3.67160453e-03 2.45145740e+02] [ 2.99394544e-03 9.99995478e-01 -2.81903835e-04 -1.47311361e+01] [-3.67074422e-03 2.92893256e-04 9.99993220e-01 -3.36344087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85037174299998 meters Centerline goodness [0,1] 0.988561011735217 Centerline is valid? [True, True] Translation: X:245.18, Y:-14.73, Z:-3.36 [[ 9.99987894e-01 -9.81164198e-04 4.82177066e-03 2.45175292e+02] [ 9.82957878e-04 9.99999449e-01 -3.69640379e-04 -1.47326345e+01] [-4.82140532e-03 3.74375501e-04 9.99988307e-01 -3.36287412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88037174299998 meters Centerline goodness [0,1] 0.9884795774327216 Centerline is valid? [True, True] Translation: X:245.21, Y:-14.73, Z:-3.36 [[ 9.99982522e-01 9.69304816e-04 5.83233476e-03 2.45206797e+02] [-9.66708083e-04 9.99999432e-01 -4.48032936e-04 -1.47325453e+01] [-5.83276573e-03 4.42386940e-04 9.99982891e-01 -3.36238011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91037174299998 meters Centerline goodness [0,1] 0.9889210568308752 Centerline is valid? [True, True] Translation: X:245.24, Y:-14.73, Z:-3.36 [[ 9.99974260e-01 3.09674153e-03 6.47226464e-03 2.45237573e+02] [-3.09358402e-03 9.99995091e-01 -4.97806672e-04 -1.47304813e+01] [-6.47377445e-03 4.77771364e-04 9.99978931e-01 -3.36176857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940371743 meters Centerline goodness [0,1] 0.9890660592255125 Centerline is valid? [True, True] Translation: X:245.27, Y:-14.73, Z:-3.36 [[ 9.99956872e-01 6.07229353e-03 7.02723905e-03 2.45268878e+02] [-6.06864548e-03 9.99981440e-01 -5.40336933e-04 -1.47281927e+01] [-7.03038971e-03 4.97667807e-04 9.99975163e-01 -3.36217436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.970371743 meters Centerline goodness [0,1] 0.9897407712741596 Centerline is valid? [True, True] Translation: X:245.30, Y:-14.73, Z:-3.36 [[ 9.99948780e-01 7.01366875e-03 7.29701435e-03 2.45300019e+02] [-7.00976022e-03 9.99975274e-01 -5.61072573e-04 -1.47289510e+01] [-7.30076910e-03 5.09893513e-04 9.99973219e-01 -3.36279543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000371743 meters Centerline goodness [0,1] 0.9890205011389521 Centerline is valid? [True, True] Translation: X:245.33, Y:-14.73, Z:-3.36 [[ 9.99944213e-01 8.12944627e-03 6.74412644e-03 2.45330557e+02] [-8.12613146e-03 9.99966848e-01 -5.18767679e-04 -1.47334591e+01] [-6.74812016e-03 4.63935080e-04 9.99977124e-01 -3.36413761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.030371743 meters Centerline goodness [0,1] 0.9898560657984922 Centerline is valid? [True, True] Translation: X:245.36, Y:-14.73, Z:-3.36 [[ 9.99946013e-01 8.12404364e-03 6.47845150e-03 2.45361445e+02] [-8.12098122e-03 9.99966900e-01 -4.98874413e-04 -1.47349372e+01] [-6.48228994e-03 4.46236097e-04 9.99978890e-01 -3.36465824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060371743 meters Centerline goodness [0,1] 0.989122751009053 Centerline is valid? [True, True] Translation: X:245.39, Y:-14.74, Z:-3.37 [[ 9.99951517e-01 7.36587340e-03 6.53505967e-03 2.45390954e+02] [-7.36274006e-03 9.99972768e-01 -5.03394578e-04 -1.47410589e+01] [-6.53858964e-03 4.55254227e-04 9.99978520e-01 -3.36552910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.090371743 meters Centerline goodness [0,1] 0.9892696040461111 Centerline is valid? [True, True] Translation: X:245.42, Y:-14.74, Z:-3.37 [[ 9.99962091e-01 5.37448896e-03 6.85070932e-03 2.45421777e+02] [-5.37100446e-03 9.99985437e-01 -5.26930785e-04 -1.47431337e+01] [-6.85344154e-03 4.90115619e-04 9.99976395e-01 -3.36563995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120371743 meters Centerline goodness [0,1] 0.9881115058759223 Centerline is valid? [True, True] Translation: X:245.45, Y:-14.75, Z:-3.37 [[ 9.99968023e-01 4.33076868e-03 6.72290763e-03 2.45451419e+02] [-4.32738483e-03 9.99990503e-01 -5.17797303e-04 -1.47522879e+01] [-6.72508624e-03 4.88688137e-04 9.99977267e-01 -3.36703062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15037174299997 meters Centerline goodness [0,1] 0.9889081218967795 Centerline is valid? [True, True] Translation: X:245.48, Y:-14.75, Z:-3.37 [[ 9.99974747e-01 2.30081778e-03 6.72401591e-03 2.45483029e+02] [-2.29738742e-03 9.99997227e-01 -5.17844590e-04 -1.47511006e+01] [-6.72518873e-03 5.02383843e-04 9.99977259e-01 -3.36734229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18037174299997 meters Centerline goodness [0,1] 0.9870789318583669 Centerline is valid? [True, True] Translation: X:245.51, Y:-14.76, Z:-3.37 [[ 9.99975516e-01 1.76005133e-03 6.77272120e-03 2.45513987e+02] [-1.75656282e-03 9.99998322e-01 -5.20995840e-04 -1.47578180e+01] [-6.77362681e-03 5.09086374e-04 9.99976929e-01 -3.36862268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21037174299997 meters Centerline goodness [0,1] 0.9883924710380773 Centerline is valid? [True, True] Translation: X:245.55, Y:-14.76, Z:-3.37 [[ 9.99982281e-01 7.89868554e-04 5.90031194e-03 2.45545976e+02] [-7.87197523e-04 9.99999587e-01 -4.55001762e-04 -1.47609128e+01] [-5.90066890e-03 4.50348989e-04 9.99982489e-01 -3.36947602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24037174299997 meters Centerline goodness [0,1] 0.987888721941447 Centerline is valid? [True, True] Translation: X:245.58, Y:-14.77, Z:-3.37 [[ 9.99984993e-01 3.97793923e-04 5.46401706e-03 2.45576681e+02] [-3.95504465e-04 9.99999834e-01 -4.20080582e-04 -1.47653098e+01] [-5.46418325e-03 4.17913235e-04 9.99984984e-01 -3.37043151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27037174299997 meters Centerline goodness [0,1] 0.9877716774808294 Centerline is valid? [True, True] Translation: X:245.61, Y:-14.77, Z:-3.37 [[ 9.99988256e-01 -2.24292440e-04 4.84132880e-03 2.45608636e+02] [ 2.26099809e-04 9.99999905e-01 -3.72776788e-04 -1.47678056e+01] [-4.84124473e-03 3.73867034e-04 9.99988211e-01 -3.37077609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30037174299997 meters Centerline goodness [0,1] 0.9881889763779528 Centerline is valid? [True, True] Translation: X:245.64, Y:-14.77, Z:-3.37 [[ 9.99989912e-01 -4.25967750e-04 4.47155158e-03 2.45641155e+02] [ 4.27523511e-04 9.99999848e-01 -3.46974139e-04 -1.47698053e+01] [-4.47140311e-03 3.48882333e-04 9.99989942e-01 -3.37097899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33037174299997 meters Centerline goodness [0,1] 0.9882253803407124 Centerline is valid? [True, True] Translation: X:245.67, Y:-14.77, Z:-3.37 [[ 9.99988768e-01 -3.38626811e-04 4.72749524e-03 2.45672405e+02] [ 3.40367594e-04 9.99999875e-01 -3.67425583e-04 -1.47739502e+01] [-4.72737022e-03 3.69030542e-04 9.99988758e-01 -3.37174345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36037174299997 meters Centerline goodness [0,1] 0.9876141253614444 Centerline is valid? [True, True] Translation: X:245.70, Y:-14.78, Z:-3.37 [[ 9.99990824e-01 4.15832097e-04 4.26372423e-03 2.45703718e+02] [-4.14422280e-04 9.99999859e-01 -3.31532216e-04 -1.47772722e+01] [-4.26386149e-03 3.29762191e-04 9.99990855e-01 -3.37290987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39037174299997 meters Centerline goodness [0,1] 0.9880121016355405 Centerline is valid? [True, True] Translation: X:245.73, Y:-14.78, Z:-3.37 [[ 9.99990238e-01 1.18619306e-03 4.25640483e-03 2.45734992e+02] [-1.18479744e-03 9.99999244e-01 -3.30393444e-04 -1.47804524e+01] [-4.25679352e-03 3.25347241e-04 9.99990887e-01 -3.37392055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42037174299998 meters Centerline goodness [0,1] 0.9880922565515358 Centerline is valid? [True, True] Translation: X:245.77, Y:-14.78, Z:-3.37 [[ 9.99990201e-01 2.40428323e-03 3.71712204e-03 2.45767153e+02] [-2.40322339e-03 9.99997070e-01 -2.89563023e-04 -1.47777280e+01] [-3.71780734e-03 2.80627111e-04 9.99993050e-01 -3.37415092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45037174299998 meters Centerline goodness [0,1] 0.9881575950808472 Centerline is valid? [True, True] Translation: X:245.80, Y:-14.78, Z:-3.38 [[ 9.99986241e-01 4.56639894e-03 2.58180316e-03 2.45797159e+02] [-4.56589393e-03 9.99989556e-01 -2.01465738e-04 -1.47840683e+01] [-2.58269617e-03 1.89674727e-04 9.99996647e-01 -3.37651892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48037174299998 meters Centerline goodness [0,1] 0.9898098755300233 Centerline is valid? [True, True] Translation: X:245.83, Y:-14.78, Z:-3.38 [[ 9.99980243e-01 5.75122319e-03 2.53712505e-03 2.45827722e+02] [-5.75073735e-03 9.99983445e-01 -1.98744669e-04 -1.47795079e+01] [-2.53822607e-03 1.84150402e-04 9.99996762e-01 -3.37605221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51037174299998 meters Centerline goodness [0,1] 0.9900241424862206 Centerline is valid? [True, True] Translation: X:245.86, Y:-14.78, Z:-3.38 [[ 9.99963195e-01 8.10753584e-03 2.80652680e-03 2.45858246e+02] [-8.10695178e-03 9.99967114e-01 -2.19423102e-04 -1.47762207e+01] [-2.80821348e-03 1.96662649e-04 9.99996038e-01 -3.37530566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54037174299998 meters Centerline goodness [0,1] 0.9902846195949644 Centerline is valid? [True, True] Translation: X:245.89, Y:-14.78, Z:-3.38 [[ 9.99954061e-01 9.03455197e-03 3.20186628e-03 2.45887224e+02] [-9.03379465e-03 9.99959163e-01 -2.50908207e-04 -1.47769359e+01] [-3.20400237e-03 2.21971679e-04 9.99994843e-01 -3.37519622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57037174299998 meters Centerline goodness [0,1] 0.9902649218001915 Centerline is valid? [True, True] Translation: X:245.92, Y:-14.78, Z:-3.38 [[ 9.99948834e-01 9.58844139e-03 3.22347539e-03 2.45915942e+02] [-9.58767748e-03 9.99954005e-01 -2.52351943e-04 -1.47785999e+01] [-3.22574679e-03 2.21433388e-04 9.99994773e-01 -3.37509974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60037174299998 meters Centerline goodness [0,1] 0.9901755185776157 Centerline is valid? [True, True] Translation: X:245.94, Y:-14.78, Z:-3.38 [[ 9.99938571e-01 1.04791409e-02 3.61136367e-03 2.45944121e+02] [-1.04781893e-02 9.99945062e-01 -2.82315515e-04 -1.47825314e+01] [-3.61412369e-03 2.44457621e-04 9.99993439e-01 -3.37537912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63037174299998 meters Centerline goodness [0,1] 0.9901719901719902 Centerline is valid? [True, True] Translation: X:245.97, Y:-14.78, Z:-3.38 [[ 9.99927581e-01 1.16112872e-02 3.16409548e-03 2.45971540e+02] [-1.16105620e-02 9.99932565e-01 -2.47458875e-04 -1.47849468e+01] [-3.16675542e-03 2.10704027e-04 9.99994964e-01 -3.37552012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66037174299998 meters Centerline goodness [0,1] 0.9905826017557862 Centerline is valid? [True, True] Translation: X:246.00, Y:-14.78, Z:-3.38 [[ 9.99922952e-01 1.20361417e-02 3.03653663e-03 2.46000890e+02] [-1.20354770e-02 9.99927543e-01 -2.37069626e-04 -1.47845773e+01] [-3.03917001e-03 2.00505193e-04 9.99995362e-01 -3.37562518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.690371743 meters Centerline goodness [0,1] 0.9894856622667274 Centerline is valid? [True, True] Translation: X:246.03, Y:-14.79, Z:-3.38 [[ 9.99919964e-01 1.23337082e-02 2.81864287e-03 2.46029905e+02] [-1.23331371e-02 9.99923920e-01 -2.19932677e-04 -1.47868896e+01] [-2.82114101e-03 1.85152365e-04 9.99996003e-01 -3.37595221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720371743 meters Centerline goodness [0,1] 0.9906320516034919 Centerline is valid? [True, True] Translation: X:246.06, Y:-14.79, Z:-3.38 [[ 9.99913589e-01 1.27661811e-02 3.13689804e-03 2.46059325e+02] [-1.27654775e-02 9.99918488e-01 -2.44206288e-04 -1.47867242e+01] [-3.13975992e-03 2.04141184e-04 9.99995050e-01 -3.37535481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.750371743 meters Centerline goodness [0,1] 0.9903427855597312 Centerline is valid? [True, True] Translation: X:246.09, Y:-14.79, Z:-3.38 [[ 9.99908993e-01 1.31605316e-02 2.96737278e-03 2.46086729e+02] [-1.31599028e-02 9.99913378e-01 -2.31335150e-04 -1.47908579e+01] [-2.97016023e-03 1.92263759e-04 9.99995571e-01 -3.37571934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780371743 meters Centerline goodness [0,1] 0.9903708582199714 Centerline is valid? [True, True] Translation: X:246.12, Y:-14.79, Z:-3.38 [[ 9.99899719e-01 1.37002455e-02 3.58541120e-03 2.46115519e+02] [-1.36993339e-02 9.99906121e-01 -2.78691611e-04 -1.47921864e+01] [-3.58889275e-03 2.29545919e-04 9.99993534e-01 -3.37545023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.810371743 meters Centerline goodness [0,1] 0.9905750580521787 Centerline is valid? [True, True] Translation: X:246.14, Y:-14.80, Z:-3.38 [[ 9.99895104e-01 1.37442545e-02 4.56916498e-03 2.46143010e+02] [-1.37427765e-02 9.99905501e-01 -3.54717094e-04 -1.47973711e+01] [-4.57360852e-03 2.91886873e-04 9.99989498e-01 -3.37579513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840371743 meters Centerline goodness [0,1] 0.9902411282984531 Centerline is valid? [True, True] Translation: X:246.17, Y:-14.80, Z:-3.38 [[ 9.99891826e-01 1.38808033e-02 4.86406033e-03 2.46172378e+02] [-1.38791316e-02 9.99903609e-01 -3.77273424e-04 -1.47971251e+01] [-4.86882833e-03 3.09723679e-04 9.99988099e-01 -3.37539765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.870371743 meters Centerline goodness [0,1] 0.9898191591126497 Centerline is valid? [True, True] Translation: X:246.20, Y:-14.80, Z:-3.38 [[ 9.99893477e-01 1.37959605e-02 4.76517797e-03 2.46201558e+02] [-1.37943590e-02 9.99904785e-01 -3.68774693e-04 -1.47987350e+01] [-4.76981185e-03 3.03002834e-04 9.99988578e-01 -3.37553244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90037174299997 meters Centerline goodness [0,1] 0.9902899374644685 Centerline is valid? [True, True] Translation: X:246.23, Y:-14.80, Z:-3.38 [[ 9.99892870e-01 1.37846112e-02 4.92276564e-03 2.46229830e+02] [-1.37829038e-02 9.99904939e-01 -3.80585958e-04 -1.48009923e+01] [-4.92754391e-03 3.12695180e-04 9.99987811e-01 -3.37620879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93037174299997 meters Centerline goodness [0,1] 0.9901096146395935 Centerline is valid? [True, True] Translation: X:246.26, Y:-14.80, Z:-3.38 [[ 9.99900092e-01 1.34931270e-02 4.21198252e-03 2.46258796e+02] [-1.34918751e-02 9.99908928e-01 -3.25492340e-04 -1.48042191e+01] [-4.21599083e-03 2.68632278e-04 9.99991077e-01 -3.37706467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96037174299997 meters Centerline goodness [0,1] 0.9893677572114837 Centerline is valid? [True, True] Translation: X:246.29, Y:-14.81, Z:-3.38 [[ 9.99918062e-01 1.24137990e-02 3.12529226e-03 2.46286797e+02] [-1.24131050e-02 9.99922925e-01 -2.41355185e-04 -1.48116676e+01] [-3.12804751e-03 2.02540828e-04 9.99995087e-01 -3.37954041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99037174299997 meters Centerline goodness [0,1] 0.9893677572114837 Centerline is valid? [True, True] Translation: X:246.32, Y:-14.81, Z:-3.38 [[ 9.99918897e-01 1.23463621e-02 3.12528996e-03 2.46315081e+02] [-1.23456677e-02 9.99923760e-01 -2.41385368e-04 -1.48137785e+01] [-3.12803192e-03 2.02781999e-04 9.99995087e-01 -3.37998227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02037174299997 meters Centerline goodness [0,1] 0.9900505441464414 Centerline is valid? [True, True] Translation: X:246.34, Y:-14.82, Z:-3.38 [[ 9.99928890e-01 1.16809670e-02 2.40191308e-03 2.46342821e+02] [-1.16805542e-02 9.99931763e-01 -1.85809738e-04 -1.48183048e+01] [-2.40391962e-03 1.57740849e-04 9.99997098e-01 -3.38088492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05037174299997 meters Centerline goodness [0,1] 0.9902669189213832 Centerline is valid? [True, True] Translation: X:246.37, Y:-14.82, Z:-3.38 [[ 9.99943947e-01 1.03646484e-02 2.16282258e-03 2.46372408e+02] [-1.03643117e-02 9.99946275e-01 -1.66849001e-04 -1.48156228e+01] [-2.16443571e-03 1.44423481e-04 9.99997647e-01 -3.38039585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08037174299997 meters Centerline goodness [0,1] 0.9900871336426389 Centerline is valid? [True, True] Translation: X:246.40, Y:-14.82, Z:-3.38 [[ 9.99946275e-01 1.01088713e-02 2.29290958e-03 2.46401432e+02] [-1.01084920e-02 9.99948892e-01 -1.76969053e-04 -1.48159700e+01] [-2.29458135e-03 1.53781688e-04 9.99997356e-01 -3.38019414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11037174299997 meters Centerline goodness [0,1] 0.9890742721871941 Centerline is valid? [True, True] Translation: X:246.43, Y:-14.82, Z:-3.38 [[ 9.99946196e-01 1.00760033e-02 2.46557354e-03 2.46429113e+02] [-1.00755647e-02 9.99949222e-01 -1.90259834e-04 -1.48216113e+01] [-2.46736540e-03 1.65407552e-04 9.99996942e-01 -3.38131531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14037174299997 meters Centerline goodness [0,1] 0.989563912509663 Centerline is valid? [True, True] Translation: X:246.46, Y:-14.82, Z:-3.38 [[ 9.99927319e-01 1.16940816e-02 2.93351195e-03 2.46458563e+02] [-1.16934706e-02 9.99931604e-01 -2.25359979e-04 -1.48230925e+01] [-2.93594669e-03 1.91040663e-04 9.99995672e-01 -3.38138783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17037174299998 meters Centerline goodness [0,1] 0.989978590625427 Centerline is valid? [True, True] Translation: X:246.49, Y:-14.82, Z:-3.38 [[ 9.99913922e-01 1.27747433e-02 2.99246694e-03 2.46487728e+02] [-1.27741121e-02 9.99918381e-01 -2.29966657e-04 -1.48218962e+01] [-2.99516046e-03 1.91720754e-04 9.99995496e-01 -3.38101628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20037174299998 meters Centerline goodness [0,1] 0.9895432281581046 Centerline is valid? [True, True] Translation: X:246.52, Y:-14.83, Z:-3.38 [[ 9.99895577e-01 1.40526486e-02 3.37016166e-03 2.46515413e+02] [-1.40518565e-02 9.99901234e-01 -2.58598810e-04 -1.48301562e+01] [-3.37346281e-03 2.11214778e-04 9.99994288e-01 -3.38244412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23037174299998 meters Centerline goodness [0,1] 0.9890402843601895 Centerline is valid? [True, True] Translation: X:246.54, Y:-14.83, Z:-3.38 [[ 9.99855395e-01 1.64380026e-02 4.35670147e-03 2.46544544e+02] [-1.64367061e-02 9.99864853e-01 -3.33241452e-04 -1.48317001e+01] [-4.36159050e-03 2.61583442e-04 9.99990454e-01 -3.38221334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26037174299998 meters Centerline goodness [0,1] 0.9901506899055919 Centerline is valid? [True, True] Translation: X:246.57, Y:-14.83, Z:-3.38 [[ 9.99832639e-01 1.76478881e-02 4.82133516e-03 2.46574169e+02] [-1.76463119e-02 9.99844224e-01 -3.69270343e-04 -1.48266460e+01] [-4.82710095e-03 2.84129757e-04 9.99988309e-01 -3.38122965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29037174299998 meters Centerline goodness [0,1] 0.9899578731640669 Centerline is valid? [True, True] Translation: X:246.60, Y:-14.83, Z:-3.38 [[ 9.99784504e-01 2.02899199e-02 4.38911497e-03 2.46604467e+02] [-2.02886444e-02 9.99794108e-01 -3.34953757e-04 -1.48275331e+01] [-4.39500747e-03 2.45832383e-04 9.99990312e-01 -3.38173998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32037174299998 meters Centerline goodness [0,1] 0.990476841409792 Centerline is valid? [True, True] Translation: X:246.63, Y:-14.83, Z:-3.38 [[ 9.99748258e-01 2.19727386e-02 4.54080078e-03 2.46632498e+02] [-2.19713885e-02 9.99758540e-01 -3.47013961e-04 -1.48302844e+01] [-4.54732920e-03 2.47158905e-04 9.99989630e-01 -3.38282191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35037174299998 meters Centerline goodness [0,1] 0.9895410837169029 Centerline is valid? [True, True] Translation: X:246.66, Y:-14.83, Z:-3.38 [[ 9.99709449e-01 2.38021878e-02 3.80444846e-03 2.46661483e+02] [-2.38012535e-02 9.99716668e-01 -2.90657677e-04 -1.48287397e+01] [-3.81028883e-03 2.00022583e-04 9.99992721e-01 -3.38325228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38037174299998 meters Centerline goodness [0,1] 0.9906724906724906 Centerline is valid? [True, True] Translation: X:246.69, Y:-14.83, Z:-3.38 [[ 9.99670617e-01 2.54190803e-02 3.53936675e-03 2.46690467e+02] [-2.54182825e-02 9.99676867e-01 -2.70228631e-04 -1.48297669e+01] [-3.54509202e-03 1.80174999e-04 9.99993700e-01 -3.38399331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41037174299998 meters Centerline goodness [0,1] 0.991248114802797 Centerline is valid? [True, True] Translation: X:246.72, Y:-14.83, Z:-3.38 [[ 9.99600079e-01 2.80689185e-02 3.43779140e-03 2.46720411e+02] [-2.80681836e-02 9.99605977e-01 -2.61856088e-04 -1.48262416e+01] [-3.44378685e-03 1.65258806e-04 9.99994056e-01 -3.38324542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440371743 meters Centerline goodness [0,1] 0.9906578169750421 Centerline is valid? [True, True] Translation: X:246.75, Y:-14.83, Z:-3.38 [[ 9.99557369e-01 2.94565299e-02 4.16876783e-03 2.46748479e+02] [-2.94554606e-02 9.99566043e-01 -3.17667586e-04 -1.48293972e+01] [-4.17631615e-03 1.94734000e-04 9.99991260e-01 -3.38402467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.470371743 meters Centerline goodness [0,1] 0.9904707495429617 Centerline is valid? [True, True] Translation: X:246.78, Y:-14.83, Z:-3.38 [[ 9.99490581e-01 3.15884412e-02 4.55511431e-03 2.46776357e+02] [-3.15871879e-02 9.99500940e-01 -3.46849729e-04 -1.48327350e+01] [-4.56379748e-03 2.02789785e-04 9.99989565e-01 -3.38429846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500371743 meters Centerline goodness [0,1] 0.9907667695120558 Centerline is valid? [True, True] Translation: X:246.81, Y:-14.83, Z:-3.38 [[ 9.99472549e-01 3.21617996e-02 4.49923159e-03 2.46805555e+02] [-3.21605851e-02 9.99482656e-01 -3.42045889e-04 -1.48290498e+01] [-4.50790476e-03 1.97167556e-04 9.99989820e-01 -3.38342903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.530371743 meters Centerline goodness [0,1] 0.9912926227260261 Centerline is valid? [True, True] Translation: X:246.83, Y:-14.83, Z:-3.38 [[ 9.99457660e-01 3.26467644e-02 4.30986131e-03 2.46833535e+02] [-3.26456548e-02 9.99466935e-01 -3.27578923e-04 -1.48319252e+01] [-4.31825827e-03 1.86703019e-04 9.99990659e-01 -3.38418010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560371743 meters Centerline goodness [0,1] 0.9917839569744822 Centerline is valid? [True, True] Translation: X:246.86, Y:-14.83, Z:-3.38 [[ 9.99451765e-01 3.28409600e-02 4.20018851e-03 2.46862556e+02] [-3.28399101e-02 9.99460574e-01 -3.18703857e-04 -1.48342337e+01] [-4.20838936e-03 1.80595319e-04 9.99991128e-01 -3.38495692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.590371743 meters Centerline goodness [0,1] 0.9919205751454981 Centerline is valid? [True, True] Translation: X:246.89, Y:-14.84, Z:-3.38 [[ 9.99453674e-01 3.28074341e-02 4.00310977e-03 2.46890638e+02] [-3.28064793e-02 9.99461676e-01 -3.03953481e-04 -1.48352192e+01] [-4.01092673e-03 1.72459486e-04 9.99991941e-01 -3.38498162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620371743 meters Centerline goodness [0,1] 0.9910421225382933 Centerline is valid? [True, True] Translation: X:246.92, Y:-14.84, Z:-3.39 [[ 9.99469049e-01 3.23289920e-02 4.05655743e-03 2.46918337e+02] [-3.23280085e-02 9.99477266e-01 -3.07798864e-04 -1.48400401e+01] [-4.06438776e-03 1.76495015e-04 9.99991725e-01 -3.38655164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65037174299997 meters Centerline goodness [0,1] 0.9894490533928951 Centerline is valid? [True, True] Translation: X:246.94, Y:-14.86, Z:-3.39 [[ 9.99415164e-01 3.38887107e-02 4.57007266e-03 2.46944567e+02] [-3.38874830e-02 9.99425594e-01 -3.45816471e-04 -1.48629280e+01] [-4.57916686e-03 1.90745965e-04 9.99989497e-01 -3.39280298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68037174299997 meters Centerline goodness [0,1] 0.9913170309259555 Centerline is valid? [True, True] Translation: X:246.98, Y:-14.84, Z:-3.39 [[ 9.99486537e-01 3.19432198e-02 2.50878281e-03 2.46975286e+02] [-3.19428446e-02 9.99489679e-01 -1.89489946e-04 -1.48441017e+01] [-2.51355544e-03 1.09254991e-04 9.99996835e-01 -3.38795754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71037174299997 meters Centerline goodness [0,1] 0.9909598087213936 Centerline is valid? [True, True] Translation: X:247.00, Y:-14.85, Z:-3.39 [[ 9.99497553e-01 3.16354253e-02 1.95978297e-03 2.47004033e+02] [-3.16351952e-02 9.99499471e-01 -1.48344920e-04 -1.48469167e+01] [-1.96349500e-03 8.62722676e-05 9.99998069e-01 -3.38827275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74037174299997 meters Centerline goodness [0,1] 0.9914656349567592 Centerline is valid? [True, True] Translation: X:247.03, Y:-14.85, Z:-3.39 [[ 9.99513348e-01 3.11431434e-02 1.78092949e-03 2.47032751e+02] [-3.11429526e-02 9.99514932e-01 -1.34775197e-04 -1.48495800e+01] [-1.78426294e-03 7.92462061e-05 9.99998405e-01 -3.38844474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77037174299997 meters Centerline goodness [0,1] 0.9914135647408084 Centerline is valid? [True, True] Translation: X:247.06, Y:-14.85, Z:-3.39 [[ 9.99516169e-01 3.10566386e-02 1.70702635e-03 2.47060736e+02] [-3.10564625e-02 9.99517623e-01 -1.29588259e-04 -1.48526762e+01] [-1.71022749e-03 7.65113607e-05 9.99998535e-01 -3.38892344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80037174299997 meters Centerline goodness [0,1] 0.9909175540973184 Centerline is valid? [True, True] Translation: X:247.09, Y:-14.85, Z:-3.39 [[ 9.99508093e-01 3.13235804e-02 1.55103365e-03 2.47089503e+02] [-3.13234361e-02 9.99509294e-01 -1.17245045e-04 -1.48543671e+01] [-1.55394508e-03 6.86036675e-05 9.99998790e-01 -3.38937540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83037174299997 meters Centerline goodness [0,1] 0.9917031363967906 Centerline is valid? [True, True] Translation: X:247.12, Y:-14.86, Z:-3.39 [[ 9.99496695e-01 3.16766447e-02 1.71689052e-03 2.47118656e+02] [-3.16764673e-02 9.99498166e-01 -1.30430982e-04 -1.48566033e+01] [-1.72016054e-03 7.59803090e-05 9.99998518e-01 -3.38959381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86037174299997 meters Centerline goodness [0,1] 0.9916433271853724 Centerline is valid? [True, True] Translation: X:247.15, Y:-14.86, Z:-3.39 [[ 9.99472153e-01 3.24446246e-02 1.66204851e-03 2.47147326e+02] [-3.24444612e-02 9.99473532e-01 -1.25213214e-04 -1.48584575e+01] [-1.66523599e-03 7.12228528e-05 9.99998611e-01 -3.39007486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89037174299997 meters Centerline goodness [0,1] 0.99242700729927 Centerline is valid? [True, True] Translation: X:247.18, Y:-14.86, Z:-3.39 [[ 9.99440035e-01 3.34217091e-02 1.61437436e-03 2.47176254e+02] [-3.34215563e-02 9.99441336e-01 -1.21541927e-04 -1.48596617e+01] [-1.61753460e-03 6.75189640e-05 9.99998690e-01 -3.39017018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92037174299998 meters Centerline goodness [0,1] 0.9915362503992334 Centerline is valid? [True, True] Translation: X:247.21, Y:-14.86, Z:-3.39 [[ 9.99367852e-01 3.55060365e-02 1.79385640e-03 2.47205044e+02] [-3.55058516e-02 9.99369459e-01 -1.34794178e-04 -1.48612559e+01] [-1.79751131e-03 7.10165688e-05 9.99998382e-01 -3.39067437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95037174299998 meters Centerline goodness [0,1] 0.9921250881944602 Centerline is valid? [True, True] Translation: X:247.23, Y:-14.86, Z:-3.39 [[ 9.99332964e-01 3.64535153e-02 2.18375390e-03 2.47234079e+02] [-3.64532444e-02 9.99335346e-01 -1.63706916e-04 -1.48625361e+01] [-2.18827015e-03 8.39928024e-05 9.99997602e-01 -3.39094939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98037174299998 meters Centerline goodness [0,1] 0.9914028384279476 Centerline is valid? [True, True] Translation: X:247.26, Y:-14.87, Z:-3.39 [[ 9.99309836e-01 3.70641451e-02 2.46985868e-03 2.47261382e+02] [-3.70638008e-02 9.99312884e-01 -1.85056553e-04 -1.48669540e+01] [-2.47502057e-03 9.33864839e-05 9.99996933e-01 -3.39199028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01037174299998 meters Centerline goodness [0,1] 0.9917864476386037 Centerline is valid? [True, True] Translation: X:247.29, Y:-14.87, Z:-3.39 [[ 9.99301468e-01 3.72176306e-02 3.37992009e-03 2.47290474e+02] [-3.72169902e-02 9.99307176e-01 -2.52205617e-04 -1.48697103e+01] [-3.38696490e-03 1.26238991e-04 9.99994256e-01 -3.39226495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04037174299998 meters Centerline goodness [0,1] 0.9921166552745501 Centerline is valid? [True, True] Translation: X:247.32, Y:-14.87, Z:-3.39 [[ 9.99327767e-01 3.64868328e-02 3.56716053e-03 2.47319368e+02] [-3.64861158e-02 9.99334125e-01 -2.65869218e-04 -1.48728212e+01] [-3.57448597e-03 1.35538660e-04 9.99993602e-01 -3.39290528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07037174299998 meters Centerline goodness [0,1] 0.9912817827957479 Centerline is valid? [True, True] Translation: X:247.35, Y:-14.88, Z:-3.39 [[ 9.99444354e-01 3.31742012e-02 3.23347631e-03 2.47348096e+02] [-3.31735959e-02 9.99449576e-01 -2.40653752e-04 -1.48790712e+01] [-3.23968002e-03 1.33253998e-04 9.99994743e-01 -3.39425860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10037174299998 meters Centerline goodness [0,1] 0.9920484837438199 Centerline is valid? [True, True] Translation: X:247.38, Y:-14.88, Z:-3.40 [[ 9.99514977e-01 3.09986790e-02 2.98190397e-03 2.47376163e+02] [-3.09981549e-02 9.99519417e-01 -2.21833023e-04 -1.48849315e+01] [-2.98734745e-03 1.29291908e-04 9.99995530e-01 -3.39522142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13037174299998 meters Centerline goodness [0,1] 0.9906387415567343 Centerline is valid? [True, True] Translation: X:247.40, Y:-14.89, Z:-3.40 [[ 9.99646759e-01 2.64586794e-02 2.50920243e-03 2.47404681e+02] [-2.64582951e-02 9.99649901e-01 -1.86212173e-04 -1.48934968e+01] [-2.51325089e-03 1.19757177e-04 9.99996835e-01 -3.39685526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16037174299998 meters Centerline goodness [0,1] 0.9915304268846503 Centerline is valid? [True, True] Translation: X:247.43, Y:-14.90, Z:-3.40 [[ 9.99702244e-01 2.43060858e-02 2.15357077e-03 2.47434083e+02] [-2.43057973e-02 9.99704558e-01 -1.60043954e-04 -1.48983711e+01] [-2.15682456e-03 1.07652046e-04 9.99997668e-01 -3.39772265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.190371743 meters Centerline goodness [0,1] 0.9911426040744021 Centerline is valid? [True, True] Translation: X:247.46, Y:-14.90, Z:-3.40 [[ 9.99751613e-01 2.22081396e-02 1.87392601e-03 2.47463558e+02] [-2.22079175e-02 9.99753364e-01 -1.39267953e-04 -1.49026964e+01] [-1.87655672e-03 9.76173669e-05 9.99998235e-01 -3.39837008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220371743 meters Centerline goodness [0,1] 0.9910894456410838 Centerline is valid? [True, True] Translation: X:247.49, Y:-14.91, Z:-3.40 [[ 9.99794244e-01 2.02512797e-02 1.16444910e-03 2.47493113e+02] [-2.02511925e-02 9.99794920e-01 -8.66961953e-05 -1.49075850e+01] [-1.16596601e-03 6.30968741e-05 9.99999318e-01 -3.39935527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.250371743 meters Centerline goodness [0,1] 0.9912732863085549 Centerline is valid? [True, True] Translation: X:247.52, Y:-14.91, Z:-3.40 [[ 9.99836200e-01 1.80259241e-02 1.62459051e-03 2.47521431e+02] [-1.80257513e-02 9.99837516e-01 -1.20923243e-04 -1.49134626e+01] [-1.62650630e-03 9.16189711e-05 9.99998673e-01 -3.39943927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280371743 meters Centerline goodness [0,1] 0.9914618955950628 Centerline is valid? [True, True] Translation: X:247.55, Y:-14.92, Z:-3.40 [[ 9.99847296e-01 1.73395216e-02 2.17386079e-03 2.47550276e+02] [-1.73392110e-02 9.99849652e-01 -1.61650018e-04 -1.49159821e+01] [-2.17633689e-03 1.23932303e-04 9.99997624e-01 -3.39887357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.310371743 meters Centerline goodness [0,1] 0.9915382358914187 Centerline is valid? [True, True] Translation: X:247.58, Y:-14.91, Z:-3.40 [[ 9.99849290e-01 1.68898930e-02 4.01606286e-03 2.47580017e+02] [-1.68888337e-02 9.99857329e-01 -2.97556249e-04 -1.49109812e+01] [-4.02051558e-03 2.29684787e-04 9.99991891e-01 -3.39696558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340371743 meters Centerline goodness [0,1] 0.9912824925278507 Centerline is valid? [True, True] Translation: X:247.61, Y:-14.91, Z:-3.40 [[ 9.99852645e-01 1.65956573e-02 4.38995510e-03 2.47608959e+02] [-1.65943904e-02 9.99862251e-01 -3.24854481e-04 -1.49119954e+01] [-4.39474157e-03 2.51957983e-04 9.99990311e-01 -3.39732711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.370371743 meters Centerline goodness [0,1] 0.9911384085397639 Centerline is valid? [True, True] Translation: X:247.64, Y:-14.92, Z:-3.40 [[ 9.99855605e-01 1.63231099e-02 4.72487596e-03 2.47636807e+02] [-1.63216401e-02 9.99866732e-01 -3.49475393e-04 -1.49152095e+01] [-4.72995081e-03 2.72307206e-04 9.99988777e-01 -3.39777368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40037174299997 meters Centerline goodness [0,1] 0.9909230838879081 Centerline is valid? [True, True] Translation: X:247.67, Y:-14.91, Z:-3.40 [[ 9.99850043e-01 1.66145123e-02 4.88367730e-03 2.47665894e+02] [-1.66129493e-02 9.99861930e-01 -3.60447064e-04 -1.49145081e+01] [-4.88899166e-03 2.79260729e-04 9.99988010e-01 -3.39838926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43037174299997 meters Centerline goodness [0,1] 0.9912531842467143 Centerline is valid? [True, True] Translation: X:247.69, Y:-14.92, Z:-3.40 [[ 9.99842896e-01 1.71065711e-02 4.64212733e-03 2.47694637e+02] [-1.71051655e-02 9.99853637e-01 -3.42333548e-04 -1.49158890e+01] [-4.64730405e-03 2.62875410e-04 9.99989167e-01 -3.39897180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46037174299997 meters Centerline goodness [0,1] 0.9908882794260976 Centerline is valid? [True, True] Translation: X:247.72, Y:-14.92, Z:-3.40 [[ 9.99820976e-01 1.81079441e-02 5.48802126e-03 2.47722427e+02] [-1.81059969e-02 9.99835991e-01 -4.04293116e-04 -1.49159703e+01] [-5.49444209e-03 3.04854642e-04 9.99984859e-01 -3.39884883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49037174299997 meters Centerline goodness [0,1] 0.991215160640297 Centerline is valid? [True, True] Translation: X:247.75, Y:-14.92, Z:-3.40 [[ 9.99805681e-01 1.88485723e-02 5.77330781e-03 2.47751033e+02] [-1.88464340e-02 9.99822300e-01 -4.24554247e-04 -1.49161061e+01] [-5.78028413e-03 3.15665483e-04 9.99983244e-01 -3.39856336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52037174299997 meters Centerline goodness [0,1] 0.9908344298743137 Centerline is valid? [True, True] Translation: X:247.78, Y:-14.92, Z:-3.40 [[ 9.99783937e-01 1.97438079e-02 6.50090572e-03 2.47780323e+02] [-1.97411205e-02 9.99805011e-01 -4.77300653e-04 -1.49164471e+01] [-6.50906185e-03 3.48862362e-04 9.99978755e-01 -3.39843935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55037174299997 meters Centerline goodness [0,1] 0.990395557376303 Centerline is valid? [True, True] Translation: X:247.81, Y:-14.92, Z:-3.40 [[ 9.99763826e-01 2.05312984e-02 7.12448338e-03 2.47808977e+02] [-2.05280928e-02 9.99789140e-01 -5.22782439e-04 -1.49159948e+01] [-7.13371451e-03 3.76406915e-04 9.99974484e-01 -3.39809424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58037174299997 meters Centerline goodness [0,1] 0.9907845635751342 Centerline is valid? [True, True] Translation: X:247.84, Y:-14.92, Z:-3.40 [[ 9.99730035e-01 2.17131802e-02 8.27007724e-03 2.47837993e+02] [-2.17089076e-02 9.99764150e-01 -6.06071581e-04 -1.49152785e+01] [-8.28128648e-03 4.26373621e-04 9.99965619e-01 -3.39776423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61037174299997 meters Centerline goodness [0,1] 0.9908148148148148 Centerline is valid? [True, True] Translation: X:247.87, Y:-14.92, Z:-3.40 [[ 9.99723087e-01 2.21255970e-02 8.01292225e-03 2.47866906e+02] [-2.21216034e-02 9.99755115e-01 -5.86687222e-04 -1.49158156e+01] [-8.02394081e-03 4.09266073e-04 9.99967724e-01 -3.39860524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64037174299997 meters Centerline goodness [0,1] 0.9914288962146186 Centerline is valid? [True, True] Translation: X:247.90, Y:-14.92, Z:-3.40 [[ 9.99701027e-01 2.32008891e-02 7.71851389e-03 2.47895571e+02] [-2.31972196e-02 9.99730749e-01 -5.64618415e-04 -1.49156634e+01] [-7.72953532e-03 3.85401548e-04 9.99970052e-01 -3.40006343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67037174299998 meters Centerline goodness [0,1] 0.9910152330566451 Centerline is valid? [True, True] Translation: X:247.92, Y:-14.92, Z:-3.40 [[ 9.99695308e-01 2.34677715e-02 7.65206130e-03 2.47923106e+02] [-2.34641757e-02 9.99724522e-01 -5.59357411e-04 -1.49181948e+01] [-7.66308020e-03 3.79637669e-04 9.99970566e-01 -3.40086849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70037174299998 meters Centerline goodness [0,1] 0.99072 Centerline is valid? [True, True] Translation: X:247.95, Y:-14.92, Z:-3.40 [[ 9.99685836e-01 2.37643378e-02 7.96775600e-03 2.47951521e+02] [-2.37604558e-02 9.99717511e-01 -5.81537875e-04 -1.49197913e+01] [-7.97932507e-03 3.92037662e-04 9.99968088e-01 -3.40144204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73037174299998 meters Centerline goodness [0,1] 0.9905856071485559 Centerline is valid? [True, True] Translation: X:247.98, Y:-14.92, Z:-3.40 [[ 9.99672274e-01 2.38508180e-02 9.29958939e-03 2.47980328e+02] [-2.38455412e-02 9.99715425e-01 -6.77912148e-04 -1.49207842e+01] [-9.31311172e-03 4.55936237e-04 9.99956528e-01 -3.40129777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76037174299998 meters Centerline goodness [0,1] 0.9907432740538076 Centerline is valid? [True, True] Translation: X:248.01, Y:-14.92, Z:-3.40 [[ 9.99678138e-01 2.34653439e-02 9.64351944e-03 2.48009477e+02] [-2.34596585e-02 9.99724538e-01 -7.02274121e-04 -1.49206026e+01] [-9.65734212e-03 4.75814413e-04 9.99953254e-01 -3.40115454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79037174299998 meters Centerline goodness [0,1] 0.9908719346049046 Centerline is valid? [True, True] Translation: X:248.04, Y:-14.93, Z:-3.40 [[ 9.99709478e-01 2.18944386e-02 1.00793615e-02 2.48036449e+02] [-2.18881539e-02 9.99760157e-01 -7.33426317e-04 -1.49251474e+01] [-1.00930020e-02 5.12594625e-04 9.99948933e-01 -3.40147680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82037174299998 meters Centerline goodness [0,1] 0.9907497897679493 Centerline is valid? [True, True] Translation: X:248.06, Y:-14.93, Z:-3.40 [[ 9.99738439e-01 2.04669907e-02 1.02056524e-02 2.48064556e+02] [-2.04604857e-02 9.99790387e-01 -7.41405145e-04 -1.49282818e+01] [-1.02186875e-02 5.32398618e-04 9.99947646e-01 -3.40212161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85037174299998 meters Centerline goodness [0,1] 0.9909879078256901 Centerline is valid? [True, True] Translation: X:248.09, Y:-14.93, Z:-3.40 [[ 9.99777436e-01 1.87553265e-02 9.66006426e-03 2.48094120e+02] [-1.87494291e-02 9.99823968e-01 -7.00703328e-04 -1.49289744e+01] [-9.67150570e-03 5.19426687e-04 9.99953095e-01 -3.40306743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88037174299998 meters Centerline goodness [0,1] 0.9904582320467092 Centerline is valid? [True, True] Translation: X:248.12, Y:-14.94, Z:-3.41 [[ 9.99858353e-01 1.48003620e-02 8.01399206e-03 2.48122406e+02] [-1.47961781e-02 9.99890362e-01 -5.81110535e-04 -1.49384030e+01] [-8.02171407e-03 4.62451768e-04 9.99967719e-01 -3.40574527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91037174299998 meters Centerline goodness [0,1] 0.9904582320467092 Centerline is valid? [True, True] Translation: X:248.15, Y:-14.94, Z:-3.41 [[ 9.99859360e-01 1.47321131e-02 8.01399466e-03 2.48150684e+02] [-1.47279273e-02 9.99891369e-01 -5.81074832e-04 -1.49403867e+01] [-8.02168456e-03 4.62963579e-04 9.99967719e-01 -3.40618683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940371743 meters Centerline goodness [0,1] 0.9907417990627501 Centerline is valid? [True, True] Translation: X:248.18, Y:-14.94, Z:-3.41 [[ 9.99886574e-01 1.33156221e-02 7.03802812e-03 2.48180654e+02] [-1.33123633e-02 9.99911257e-01 -5.09678017e-04 -1.49388275e+01] [-7.04419022e-03 4.15927419e-04 9.99975103e-01 -3.40704383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.970371743 meters Centerline goodness [0,1] 0.9908420307397172 Centerline is valid? [True, True] Translation: X:248.21, Y:-14.94, Z:-3.41 [[ 9.99917562e-01 1.22263273e-02 3.92253557e-03 2.48210006e+02] [-1.22253063e-02 9.99925228e-01 -2.84163282e-04 -1.49412606e+01] [-3.92571655e-03 2.36185657e-04 9.99992266e-01 -3.40921368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000371743 meters Centerline goodness [0,1] 0.9907752026487042 Centerline is valid? [True, True] Translation: X:248.24, Y:-14.94, Z:-3.41 [[ 9.99912181e-01 1.28582982e-02 3.20860018e-03 2.48237523e+02] [-1.28576162e-02 9.99917310e-01 -2.33077174e-04 -1.49433258e+01] [-3.21133184e-03 1.91801756e-04 9.99994825e-01 -3.41011962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.030371743 meters Centerline goodness [0,1] 0.9906035665294924 Centerline is valid? [True, True] Translation: X:248.27, Y:-14.94, Z:-3.41 [[ 9.99886552e-01 1.45644782e-02 3.84187575e-03 2.48266197e+02] [-1.45635162e-02 9.99893908e-01 -2.78258816e-04 -1.49443050e+01] [-3.84552085e-03 2.22276028e-04 9.99992581e-01 -3.41021527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060371743 meters Centerline goodness [0,1] 0.9909797043347532 Centerline is valid? [True, True] Translation: X:248.29, Y:-14.94, Z:-3.41 [[ 9.99844197e-01 1.70569313e-02 4.54341357e-03 2.48294829e+02] [-1.70556161e-02 9.99854489e-01 -3.28072616e-04 -1.49439563e+01] [-4.54834836e-03 2.50530784e-04 9.99989625e-01 -3.40952827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.090371743 meters Centerline goodness [0,1] 0.9907335377293736 Centerline is valid? [True, True] Translation: X:248.32, Y:-14.94, Z:-3.41 [[ 9.99704608e-01 2.32456479e-02 7.09478475e-03 2.48323850e+02] [-2.32425980e-02 9.99729723e-01 -5.12036510e-04 -1.49407130e+01] [-7.10476981e-03 3.46984029e-04 9.99974701e-01 -3.40712989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120371743 meters Centerline goodness [0,1] 0.9910000456850473 Centerline is valid? [True, True] Translation: X:248.35, Y:-14.94, Z:-3.41 [[ 9.99613322e-01 2.65894955e-02 8.13663307e-03 2.48354050e+02] [-2.65855999e-02 9.99646368e-01 -5.86579099e-04 -1.49400455e+01] [-8.14935254e-03 3.70035011e-04 9.99966725e-01 -3.40667895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15037174299997 meters Centerline goodness [0,1] 0.9913785217709477 Centerline is valid? [True, True] Translation: X:248.38, Y:-14.94, Z:-3.41 [[ 9.99429957e-01 3.22787212e-02 9.89163238e-03 2.48383454e+02] [-3.22732439e-02 9.99478829e-01 -7.12891704e-04 -1.49390487e+01] [-9.90948838e-03 3.93250261e-04 9.99950822e-01 -3.40579014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18037174299997 meters Centerline goodness [0,1] 0.9915513005946232 Centerline is valid? [True, True] Translation: X:248.41, Y:-14.94, Z:-3.41 [[ 9.99367437e-01 3.40936439e-02 1.01167648e-02 2.48412091e+02] [-3.40880069e-02 9.99418569e-01 -7.29158245e-04 -1.49385798e+01] [-1.01357423e-02 3.83836657e-04 9.99948558e-01 -3.40605175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21037174299997 meters Centerline goodness [0,1] 0.9920758877302587 Centerline is valid? [True, True] Translation: X:248.44, Y:-14.93, Z:-3.41 [[ 9.99327971e-01 3.52573435e-02 1.00262735e-02 2.48440816e+02] [-3.52518717e-02 9.99378199e-01 -7.22003326e-04 -1.49347523e+01] [-1.00454951e-02 3.68073210e-04 9.99949475e-01 -3.40588985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24037174299997 meters Centerline goodness [0,1] 0.9915081599487285 Centerline is valid? [True, True] Translation: X:248.47, Y:-14.94, Z:-3.41 [[ 9.99339564e-01 3.49570011e-02 9.92190988e-03 2.48468268e+02] [-3.49516338e-02 9.99388750e-01 -7.13887417e-04 -1.49383865e+01] [-9.94080047e-03 3.66628979e-04 9.99950522e-01 -3.40728123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27037174299997 meters Centerline goodness [0,1] 0.9922235221251118 Centerline is valid? [True, True] Translation: X:248.50, Y:-14.94, Z:-3.41 [[ 9.99393020e-01 3.36764072e-02 8.91582248e-03 2.48496739e+02] [-3.36720293e-02 9.99432731e-01 -6.40732436e-04 -1.49410915e+01] [-8.93234238e-03 3.40129689e-04 9.99960048e-01 -3.40819271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30037174299997 meters Centerline goodness [0,1] 0.9916962141141484 Centerline is valid? [True, True] Translation: X:248.52, Y:-14.95, Z:-3.41 [[ 9.99450878e-01 3.20477083e-02 8.41946144e-03 2.48523695e+02] [-3.20437482e-02 9.99486284e-01 -6.04859042e-04 -1.49452122e+01] [-8.43452057e-03 3.34735797e-04 9.99964373e-01 -3.40952786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33037174299997 meters Centerline goodness [0,1] 0.9913895758908124 Centerline is valid? [True, True] Translation: X:248.55, Y:-14.95, Z:-3.41 [[ 9.99598065e-01 2.74757611e-02 6.98503463e-03 2.48552633e+02] [-2.74729339e-02 9.99622422e-01 -5.00406633e-04 -1.49521667e+01] [-6.99614629e-03 3.08306108e-04 9.99975479e-01 -3.41096236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36037174299997 meters Centerline goodness [0,1] 0.9918708495534692 Centerline is valid? [True, True] Translation: X:248.58, Y:-14.96, Z:-3.41 [[ 9.99670989e-01 2.47134174e-02 6.86736250e-03 2.48581972e+02] [-2.47106191e-02 9.99694525e-01 -4.92053146e-04 -1.49556625e+01] [-6.87742500e-03 3.22194477e-04 9.99976298e-01 -3.41164325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39037174299997 meters Centerline goodness [0,1] 0.9911212814645309 Centerline is valid? [True, True] Translation: X:248.61, Y:-14.96, Z:-3.41 [[ 9.99792532e-01 1.94796766e-02 5.95277792e-03 2.48611731e+02] [-1.94774838e-02 9.99810205e-01 -4.26115928e-04 -1.49610209e+01] [-5.95994872e-03 3.10082387e-04 9.99982191e-01 -3.41298501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42037174299998 meters Centerline goodness [0,1] 0.9914023734937004 Centerline is valid? [True, True] Translation: X:248.64, Y:-14.96, Z:-3.41 [[ 9.99837055e-01 1.71370628e-02 5.67305328e-03 2.48641153e+02] [-1.71350323e-02 9.99853102e-01 -4.06340144e-04 -1.49648107e+01] [-5.67918340e-03 3.09065983e-04 9.99983826e-01 -3.41395910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45037174299998 meters Centerline goodness [0,1] 0.9907942526897686 Centerline is valid? [True, True] Translation: X:248.67, Y:-14.97, Z:-3.42 [[ 9.99883452e-01 1.45591276e-02 4.59495113e-03 2.48669350e+02] [-1.45577677e-02 9.99893976e-01 -3.29254531e-04 -1.49704019e+01] [-4.59925761e-03 2.62323926e-04 9.99989389e-01 -3.41574301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48037174299998 meters Centerline goodness [0,1] 0.9908055441196651 Centerline is valid? [True, True] Translation: X:248.70, Y:-14.98, Z:-3.42 [[ 9.99943691e-01 1.02211514e-02 2.85358674e-03 2.48698597e+02] [-1.02206101e-02 9.99947747e-01 -2.04217667e-04 -1.49793237e+01] [-2.85552497e-03 1.75040770e-04 9.99995908e-01 -3.41862009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51037174299998 meters Centerline goodness [0,1] 0.9905910295058007 Centerline is valid? [True, True] Translation: X:248.73, Y:-14.98, Z:-3.42 [[ 9.99959029e-01 8.71384661e-03 2.45131058e-03 2.48727962e+02] [-8.71344155e-03 9.99962022e-01 -1.75870234e-04 -1.49763870e+01] [-2.45274999e-03 1.54503677e-04 9.99996980e-01 -3.41787273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54037174299998 meters Centerline goodness [0,1] 0.9901161466636301 Centerline is valid? [True, True] Translation: X:248.76, Y:-14.99, Z:-3.42 [[ 9.99969524e-01 7.36233554e-03 2.59736930e-03 2.48755393e+02] [-7.36187613e-03 9.99972884e-01 -1.86389005e-04 -1.49865011e+01] [-2.59867113e-03 1.67261814e-04 9.99996609e-01 -3.41948120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57037174299998 meters Centerline goodness [0,1] 0.9903122863004331 Centerline is valid? [True, True] Translation: X:248.78, Y:-14.98, Z:-3.42 [[ 9.99972108e-01 6.57496673e-03 3.54303551e-03 2.48784767e+02] [-6.57410941e-03 9.99978358e-01 -2.53565034e-04 -1.49830330e+01] [-3.54462602e-03 2.30265659e-04 9.99993691e-01 -3.41689327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60037174299998 meters Centerline goodness [0,1] 0.9907472984396062 Centerline is valid? [True, True] Translation: X:248.81, Y:-14.99, Z:-3.42 [[ 9.99966792e-01 6.94879244e-03 4.25775806e-03 2.48814837e+02] [-6.94756256e-03 9.99975819e-01 -3.03578511e-04 -1.49853022e+01] [-4.25976461e-03 2.73987389e-04 9.99990890e-01 -3.41651212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63037174299998 meters Centerline goodness [0,1] 0.9906792761662272 Centerline is valid? [True, True] Translation: X:248.84, Y:-14.99, Z:-3.42 [[ 9.99956797e-01 7.75236396e-03 5.12882767e-03 2.48844798e+02] [-7.75058969e-03 9.99969897e-01 -3.65726495e-04 -1.49870336e+01] [-5.13150852e-03 3.25959256e-04 9.99986781e-01 -3.41607522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66037174299998 meters Centerline goodness [0,1] 0.9901261031172326 Centerline is valid? [True, True] Translation: X:248.87, Y:-14.99, Z:-3.42 [[ 9.99933628e-01 1.00554488e-02 5.62376594e-03 2.48874380e+02] [-1.00533543e-02 9.99949384e-01 -4.00584751e-04 -1.49883946e+01] [-5.62750934e-03 3.44020452e-04 9.99984106e-01 -3.41565330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.690371743 meters Centerline goodness [0,1] 0.9900641830931226 Centerline is valid? [True, True] Translation: X:248.90, Y:-14.99, Z:-3.42 [[ 9.99921822e-01 1.10699853e-02 5.81431001e-03 2.48903889e+02] [-1.10677632e-02 9.99938665e-01 -4.14221738e-04 -1.49875448e+01] [-5.81853881e-03 3.49837949e-04 9.99983011e-01 -3.41576405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720371743 meters Centerline goodness [0,1] 0.9896196929254215 Centerline is valid? [True, True] Translation: X:248.93, Y:-14.99, Z:-3.42 [[ 9.99885358e-01 1.37567698e-02 6.32631127e-03 2.48932966e+02] [-1.37541944e-02 9.99905305e-01 -4.50417862e-04 -1.49886369e+01] [-6.33190850e-03 3.63352910e-04 9.99979887e-01 -3.41541009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.750371743 meters Centerline goodness [0,1] 0.9901817517581515 Centerline is valid? [True, True] Translation: X:248.96, Y:-14.99, Z:-3.42 [[ 9.99872050e-01 1.46863284e-02 6.33995728e-03 2.48962215e+02] [-1.46837599e-02 9.99892086e-01 -4.51480924e-04 -1.49882097e+01] [-6.34590371e-03 3.58328746e-04 9.99979800e-01 -3.41558579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780371743 meters Centerline goodness [0,1] 0.9897264965070088 Centerline is valid? [True, True] Translation: X:248.99, Y:-14.99, Z:-3.42 [[ 9.99862600e-01 1.54655154e-02 5.96652525e-03 2.48989631e+02] [-1.54632556e-02 9.99880347e-01 -4.24692551e-04 -1.49936117e+01] [-5.97237943e-03 3.32372294e-04 9.99982110e-01 -3.41684363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.810371743 meters Centerline goodness [0,1] 0.9900317794188253 Centerline is valid? [True, True] Translation: X:249.02, Y:-14.99, Z:-3.42 [[ 9.99860904e-01 1.57127017e-02 5.59309549e-03 2.49019014e+02] [-1.57107241e-02 9.99876500e-01 -3.97337382e-04 -1.49933600e+01] [-5.59864799e-03 3.09410534e-04 9.99984280e-01 -3.41736361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840371743 meters Centerline goodness [0,1] 0.9904178196537609 Centerline is valid? [True, True] Translation: X:249.05, Y:-15.00, Z:-3.42 [[ 9.99855551e-01 1.61968323e-02 5.15169509e-03 2.49046782e+02] [-1.61951602e-02 9.99868783e-01 -3.66130838e-04 -1.49954799e+01] [-5.15694926e-03 2.82645424e-04 9.99986663e-01 -3.41850391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.870371743 meters Centerline goodness [0,1] 0.9903578120001828 Centerline is valid? [True, True] Translation: X:249.08, Y:-14.99, Z:-3.42 [[ 9.99863589e-01 1.56760794e-02 5.20239119e-03 2.49075688e+02] [-1.56743704e-02 9.99877081e-01 -3.69121058e-04 -1.49927486e+01] [-5.20753809e-03 2.87526500e-04 9.99986399e-01 -3.41794607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90037174299997 meters Centerline goodness [0,1] 0.9900847593155285 Centerline is valid? [True, True] Translation: X:249.10, Y:-15.00, Z:-3.42 [[ 9.99881339e-01 1.45218807e-02 5.14038774e-03 2.49103583e+02] [-1.45201978e-02 9.99894510e-01 -3.64543340e-04 -1.49963305e+01] [-5.14513934e-03 2.89860636e-04 9.99986722e-01 -3.41845682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93037174299997 meters Centerline goodness [0,1] 0.9907364945427863 Centerline is valid? [True, True] Translation: X:249.13, Y:-15.00, Z:-3.42 [[ 9.99898582e-01 1.33008934e-02 5.09046880e-03 2.49132010e+02] [-1.32992305e-02 9.99911496e-01 -3.60368538e-04 -1.49986981e+01] [-5.09481150e-03 2.92632671e-04 9.99986979e-01 -3.41881638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96037174299997 meters Centerline goodness [0,1] 0.9899518143826075 Centerline is valid? [True, True] Translation: X:249.16, Y:-15.00, Z:-3.42 [[ 9.99913723e-01 1.21661992e-02 4.95275187e-03 2.49159848e+02] [-1.21646119e-02 9.99925947e-01 -3.50476852e-04 -1.50027865e+01] [-4.95664907e-03 2.90198310e-04 9.99987674e-01 -3.41945517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99037174299997 meters Centerline goodness [0,1] 0.9901771336553945 Centerline is valid? [True, True] Translation: X:249.19, Y:-15.01, Z:-3.42 [[ 9.99940959e-01 9.72425958e-03 4.84945371e-03 2.49188707e+02] [-9.72271303e-03 9.99952675e-01 -3.42387481e-04 -1.50050839e+01] [-4.85255368e-03 2.95217419e-04 9.99988183e-01 -3.41957312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02037174299997 meters Centerline goodness [0,1] 0.9903428074511419 Centerline is valid? [True, True] Translation: X:249.22, Y:-15.01, Z:-3.42 [[ 9.99948913e-01 8.49313830e-03 5.48077968e-03 2.49218208e+02] [-8.49114756e-03 9.99963875e-01 -3.86389906e-04 -1.50071186e+01] [-5.48386335e-03 3.39832057e-04 9.99984906e-01 -3.41954994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05037174299997 meters Centerline goodness [0,1] 0.989689540611754 Centerline is valid? [True, True] Translation: X:249.25, Y:-15.01, Z:-3.42 [[ 9.99958627e-01 6.80590204e-03 6.03525633e-03 2.49247836e+02] [-6.80345914e-03 9.99976766e-01 -4.25208358e-04 -1.50101925e+01] [-6.03801004e-03 3.84130146e-04 9.99981697e-01 -3.41992230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08037174299997 meters Centerline goodness [0,1] 0.989772337261183 Centerline is valid? [True, True] Translation: X:249.28, Y:-15.01, Z:-3.42 [[ 9.99975205e-01 4.20772571e-03 5.64659147e-03 2.49278081e+02] [-4.20554903e-03 9.99991078e-01 -3.97304416e-04 -1.50141699e+01] [-5.64821284e-03 3.73547548e-04 9.99983979e-01 -3.42082432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11037174299997 meters Centerline goodness [0,1] 0.9900347412689705 Centerline is valid? [True, True] Translation: X:249.31, Y:-15.02, Z:-3.42 [[ 9.99981389e-01 3.24521105e-03 5.16620607e-03 2.49307969e+02] [-3.24337715e-03 9.99994674e-01 -3.63319883e-04 -1.50181304e+01] [-5.16735760e-03 3.46557167e-04 9.99986589e-01 -3.42220167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14037174299997 meters Centerline goodness [0,1] 0.9898800685322673 Centerline is valid? [True, True] Translation: X:249.34, Y:-15.02, Z:-3.42 [[ 9.99987834e-01 1.95591146e-03 4.52832930e-03 2.49339197e+02] [-1.95449000e-03 9.99998039e-01 -3.18308209e-04 -1.50206554e+01] [-4.52894301e-03 3.09453762e-04 9.99989696e-01 -3.42403255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17037174299998 meters Centerline goodness [0,1] 0.9902312099148655 Centerline is valid? [True, True] Translation: X:249.37, Y:-15.03, Z:-3.42 [[ 9.99987582e-01 1.86792826e-03 4.62027378e-03 2.49370551e+02] [-1.86645657e-03 9.99998206e-01 -3.22819137e-04 -1.50256900e+01] [-4.62086849e-03 3.14191588e-04 9.99989274e-01 -3.42497183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20037174299998 meters Centerline goodness [0,1] 0.9896973158195317 Centerline is valid? [True, True] Translation: X:249.40, Y:-15.03, Z:-3.43 [[ 9.99987601e-01 1.84468199e-03 4.62537551e-03 2.49401887e+02] [-1.84319198e-03 9.99998248e-01 -3.26380833e-04 -1.50274109e+01] [-4.62596947e-03 3.17851331e-04 9.99989250e-01 -3.42523598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23037174299998 meters Centerline goodness [0,1] 0.9897536765546737 Centerline is valid? [True, True] Translation: X:249.43, Y:-15.03, Z:-3.42 [[ 9.99983510e-01 2.61877607e-03 5.11095563e-03 2.49433568e+02] [-2.61696566e-03 9.99996511e-01 -3.60876922e-04 -1.50266975e+01] [-5.11188285e-03 3.47495776e-04 9.99986874e-01 -3.42424497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26037174299998 meters Centerline goodness [0,1] 0.9895254431103487 Centerline is valid? [True, True] Translation: X:249.46, Y:-15.03, Z:-3.42 [[ 9.99979695e-01 3.39772672e-03 5.39116317e-03 2.49464587e+02] [-3.39572339e-03 9.99994162e-01 -3.80705892e-04 -1.50323365e+01] [-5.39242523e-03 3.62391263e-04 9.99985395e-01 -3.42488600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29037174299998 meters Centerline goodness [0,1] 0.9904145314787701 Centerline is valid? [True, True] Translation: X:249.50, Y:-15.03, Z:-3.43 [[ 9.99975794e-01 5.08334264e-03 4.75089057e-03 2.49496345e+02] [-5.08180418e-03 9.99987031e-01 -3.35841272e-04 -1.50310832e+01] [-4.75253616e-03 3.11690047e-04 9.99988658e-01 -3.42543745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32037174299998 meters Centerline goodness [0,1] 0.9903778026649601 Centerline is valid? [True, True] Translation: X:249.53, Y:-15.03, Z:-3.43 [[ 9.99966278e-01 6.50931797e-03 5.00708034e-03 2.49527018e+02] [-6.50762492e-03 9.99978762e-01 -3.54349351e-04 -1.50339988e+01] [-5.00928057e-03 3.21753201e-04 9.99987402e-01 -3.42636465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35037174299998 meters Centerline goodness [0,1] 0.990852124594063 Centerline is valid? [True, True] Translation: X:249.56, Y:-15.04, Z:-3.43 [[ 9.99958956e-01 7.57616436e-03 4.96877499e-03 2.49556342e+02] [-7.57450796e-03 9.99971251e-01 -3.52095359e-04 -1.50357951e+01] [-4.97129968e-03 3.14444882e-04 9.99987594e-01 -3.42711352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38037174299998 meters Centerline goodness [0,1] 0.9902507915537232 Centerline is valid? [True, True] Translation: X:249.59, Y:-15.04, Z:-3.43 [[ 9.99929794e-01 1.04068061e-02 5.66620115e-03 2.49585311e+02] [-1.04046972e-02 9.99945789e-01 -4.01545151e-04 -1.50366246e+01] [-5.67007278e-03 3.42561853e-04 9.99983866e-01 -3.42753118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41037174299998 meters Centerline goodness [0,1] 0.9910697930023814 Centerline is valid? [True, True] Translation: X:249.62, Y:-15.04, Z:-3.43 [[ 9.99908080e-01 1.22321792e-02 5.84855963e-03 2.49615080e+02] [-1.22299647e-02 9.99925125e-01 -4.14247414e-04 -1.50376511e+01] [-5.85318887e-03 3.42681658e-04 9.99982811e-01 -3.42781859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440371743 meters Centerline goodness [0,1] 0.9903383854572095 Centerline is valid? [True, True] Translation: X:249.64, Y:-15.04, Z:-3.43 [[ 9.99877664e-01 1.43813355e-02 6.15102797e-03 2.49644845e+02] [-1.43789281e-02 9.99896523e-01 -4.35429418e-04 -1.50385486e+01] [-6.15665354e-03 3.46930961e-04 9.99980987e-01 -3.42802278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.470371743 meters Centerline goodness [0,1] 0.9911346299223421 Centerline is valid? [True, True] Translation: X:249.68, Y:-15.03, Z:-3.43 [[ 9.99800743e-01 1.86934367e-02 7.00208191e-03 2.49675316e+02] [-1.86904264e-02 9.99825196e-01 -4.95114788e-04 -1.50332882e+01] [-7.01011332e-03 3.64144237e-04 9.99975363e-01 -3.42742817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500371743 meters Centerline goodness [0,1] 0.9915723241555101 Centerline is valid? [True, True] Translation: X:249.70, Y:-15.03, Z:-3.43 [[ 9.99762306e-01 2.06954792e-02 6.85779123e-03 2.49704884e+02] [-2.06926331e-02 9.99785767e-01 -4.85730237e-04 -1.50317571e+01] [-6.86637448e-03 3.43709024e-04 9.99976367e-01 -3.42736810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.530371743 meters Centerline goodness [0,1] 0.9911589555657352 Centerline is valid? [True, True] Translation: X:249.73, Y:-15.03, Z:-3.43 [[ 9.99704514e-01 2.31998003e-02 7.25634777e-03 2.49734634e+02] [-2.31966896e-02 9.99730789e-01 -5.12564872e-04 -1.50326315e+01] [-7.26628568e-03 3.44090169e-04 9.99973541e-01 -3.42739053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560371743 meters Centerline goodness [0,1] 0.9912141857637694 Centerline is valid? [True, True] Translation: X:249.76, Y:-15.03, Z:-3.43 [[ 9.99575330e-01 2.82139685e-02 7.28920500e-03 2.49764600e+02] [-2.82109657e-02 9.99601859e-01 -5.14465580e-04 -1.50319521e+01] [-7.30081799e-03 3.08611589e-04 9.99973301e-01 -3.42762195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.590371743 meters Centerline goodness [0,1] 0.9911441484846399 Centerline is valid? [True, True] Translation: X:249.79, Y:-15.03, Z:-3.43 [[ 9.99486560e-01 3.12465414e-02 7.09012840e-03 2.49794419e+02] [-3.12437763e-02 9.99511669e-01 -5.00453414e-04 -1.50323265e+01] [-7.10230351e-03 2.78674076e-04 9.99974739e-01 -3.42835494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620371743 meters Centerline goodness [0,1] 0.9921465968586387 Centerline is valid? [True, True] Translation: X:249.82, Y:-15.03, Z:-3.43 [[ 9.99258060e-01 3.80633642e-02 5.87444948e-03 2.49824226e+02] [-3.80615848e-02 9.99275309e-01 -4.14438057e-04 -1.50320416e+01] [-5.88596723e-03 1.90539711e-04 9.99982659e-01 -3.43013136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65037174299997 meters Centerline goodness [0,1] 0.9923997152763426 Centerline is valid? [True, True] Translation: X:249.85, Y:-15.03, Z:-3.43 [[ 9.99149534e-01 4.09295159e-02 4.99830236e-03 2.49853459e+02] [-4.09282531e-02 9.99162025e-01 -3.54712302e-04 -1.50325216e+01] [-5.00863211e-03 1.49838847e-04 9.99987445e-01 -3.43132378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68037174299997 meters Centerline goodness [0,1] 0.9928106969502701 Centerline is valid? [True, True] Translation: X:249.88, Y:-15.03, Z:-3.43 [[ 9.99020357e-01 4.40198064e-02 4.53686220e-03 2.49881101e+02] [-4.40188066e-02 9.99030651e-01 -3.20047176e-04 -1.50333112e+01] [-4.54655281e-03 1.20026385e-04 9.99989657e-01 -3.43212582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71037174299997 meters Centerline goodness [0,1] 0.9935244503848458 Centerline is valid? [True, True] Translation: X:249.91, Y:-15.03, Z:-3.43 [[ 9.98887945e-01 4.69557408e-02 4.24642966e-03 2.49909666e+02] [-4.69548955e-02 9.98896966e-01 -2.98591878e-04 -1.50335582e+01] [-4.25576631e-03 9.88691659e-05 9.99990939e-01 -3.43256505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74037174299997 meters Centerline goodness [0,1] 0.9938274448385462 Centerline is valid? [True, True] Translation: X:249.94, Y:-15.03, Z:-3.43 [[ 9.98621083e-01 5.23003518e-02 4.53945291e-03 2.49938599e+02] [-5.22994428e-02 9.98631397e-01 -3.18796968e-04 -1.50343440e+01] [-4.54991339e-03 8.09465154e-05 9.99989646e-01 -3.43285376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77037174299997 meters Centerline goodness [0,1] 0.9943022561227772 Centerline is valid? [True, True] Translation: X:249.97, Y:-15.04, Z:-3.43 [[ 9.98519780e-01 5.41709881e-02 4.87369823e-03 2.49967527e+02] [-5.41699647e-02 9.98531671e-01 -3.41843084e-04 -1.50364746e+01] [-4.88506001e-03 7.73290199e-05 9.99988065e-01 -3.43318122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80037174299997 meters Centerline goodness [0,1] 0.9943022561227772 Centerline is valid? [True, True] Translation: X:249.99, Y:-15.04, Z:-3.43 [[ 9.98535227e-01 5.38855150e-02 4.87356308e-03 2.49994833e+02] [-5.38844788e-02 9.98547117e-01 -3.43782439e-04 -1.50383159e+01] [-4.88500726e-03 8.06694700e-05 9.99988065e-01 -3.43360777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83037174299997 meters Centerline goodness [0,1] 0.9939356492287976 Centerline is valid? [True, True] Translation: X:250.02, Y:-15.04, Z:-3.43 [[ 9.98387948e-01 5.64688829e-02 5.72461129e-03 2.50021988e+02] [-5.64675206e-02 9.98404357e-01 -3.99446067e-04 -1.50434183e+01] [-5.73803312e-03 7.55475328e-05 9.99983534e-01 -3.43408559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86037174299997 meters Centerline goodness [0,1] 0.9948396608920015 Centerline is valid? [True, True] Translation: X:250.05, Y:-15.05, Z:-3.43 [[ 9.98401970e-01 5.62442656e-02 5.48540997e-03 2.50050143e+02] [-5.62430033e-02 9.98417036e-01 -3.84240757e-04 -1.50473741e+01] [-5.49833810e-03 7.51107976e-05 9.99984881e-01 -3.43431372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89037174299997 meters Centerline goodness [0,1] 0.9944227679596053 Centerline is valid? [True, True] Translation: X:250.08, Y:-15.05, Z:-3.43 [[ 9.98421178e-01 5.58532692e-02 5.96345014e-03 2.50077332e+02] [-5.58517821e-02 9.98438984e-01 -4.15737482e-04 -1.50513509e+01] [-5.97736140e-03 8.20117887e-05 9.99982132e-01 -3.43417723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92037174299998 meters Centerline goodness [0,1] 0.9936820016878407 Centerline is valid? [True, True] Translation: X:250.11, Y:-15.06, Z:-3.43 [[ 9.98552339e-01 5.33790831e-02 6.62566788e-03 2.50105803e+02] [-5.33772109e-02 9.98574315e-01 -4.59203064e-04 -1.50603807e+01] [-6.64073360e-03 1.04878622e-04 9.99977945e-01 -3.43445641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95037174299998 meters Centerline goodness [0,1] 0.9939153620017775 Centerline is valid? [True, True] Translation: X:250.13, Y:-15.07, Z:-3.43 [[ 9.98658856e-01 5.13434882e-02 6.65855679e-03 2.50134208e+02] [-5.13415739e-02 9.98681047e-01 -4.58216547e-04 -1.50667211e+01] [-6.67330090e-03 1.15741227e-04 9.99977727e-01 -3.43498335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98037174299998 meters Centerline goodness [0,1] 0.9939331970006816 Centerline is valid? [True, True] Translation: X:250.16, Y:-15.07, Z:-3.44 [[ 9.98767192e-01 4.91638061e-02 6.85687989e-03 2.50161903e+02] [-4.91617247e-02 9.98790720e-01 -4.71870855e-04 -1.50744215e+01] [-6.87178697e-03 1.34193088e-04 9.99976380e-01 -3.43585429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01037174299998 meters Centerline goodness [0,1] 0.9937512781476516 Centerline is valid? [True, True] Translation: X:250.19, Y:-15.08, Z:-3.44 [[ 9.98875386e-01 4.68487496e-02 7.29092869e-03 2.50190518e+02] [-4.68463464e-02 9.98901982e-01 -5.00141327e-04 -1.50804856e+01] [-7.30635412e-03 1.58025490e-04 9.99973296e-01 -3.43615256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04037174299998 meters Centerline goodness [0,1] 0.9935162094763093 Centerline is valid? [True, True] Translation: X:250.22, Y:-15.09, Z:-3.44 [[ 9.99063508e-01 4.25545206e-02 7.82429922e-03 2.50219344e+02] [-4.25516285e-02 9.99094126e-01 -5.35810178e-04 -1.50922698e+01] [-7.84001253e-03 2.02371723e-04 9.99969246e-01 -3.43659665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07037174299998 meters Centerline goodness [0,1] 0.992680674729185 Centerline is valid? [True, True] Translation: X:250.25, Y:-15.10, Z:-3.44 [[ 9.99148046e-01 4.04778525e-02 8.04524869e-03 2.50246569e+02] [-4.04747267e-02 9.99180411e-01 -5.51035252e-04 -1.50995957e+01] [-8.06095961e-03 2.24936553e-04 9.99967485e-01 -3.43759672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10037174299998 meters Centerline goodness [0,1] 0.9925801011804385 Centerline is valid? [True, True] Translation: X:250.27, Y:-15.11, Z:-3.44 [[ 9.99305605e-01 3.63931867e-02 7.99028900e-03 2.50274471e+02] [-3.63899808e-02 9.99337516e-01 -5.46285158e-04 -1.51113682e+01] [-8.00487662e-03 2.55139356e-04 9.99967928e-01 -3.43844251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13037174299998 meters Centerline goodness [0,1] 0.9922985649360826 Centerline is valid? [True, True] Translation: X:250.30, Y:-15.12, Z:-3.44 [[ 9.99389597e-01 3.41086171e-02 7.55213326e-03 2.50302641e+02] [-3.41056897e-02 9.99418098e-01 -5.16118371e-04 -1.51173332e+01] [-7.56534274e-03 2.58232618e-04 9.99971349e-01 -3.43931967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16037174299998 meters Centerline goodness [0,1] 0.9923475079202178 Centerline is valid? [True, True] Translation: X:250.33, Y:-15.13, Z:-3.44 [[ 9.99511157e-01 3.03816239e-02 7.37593195e-03 2.50331751e+02] [-3.03787359e-02 9.99538333e-01 -5.03295514e-04 -1.51278143e+01] [-7.38781766e-03 2.78977993e-04 9.99972671e-01 -3.44062199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.190371743 meters Centerline goodness [0,1] 0.9919263361580036 Centerline is valid? [True, True] Translation: X:250.36, Y:-15.13, Z:-3.44 [[ 9.99570883e-01 2.83528958e-02 7.35962431e-03 2.50359425e+02] [-2.83499644e-02 9.99597933e-01 -5.02349352e-04 -1.51345747e+01] [-7.37090830e-03 2.93488698e-04 9.99972791e-01 -3.44156326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220371743 meters Centerline goodness [0,1] 0.9919700095383864 Centerline is valid? [True, True] Translation: X:250.39, Y:-15.14, Z:-3.44 [[ 9.99616957e-01 2.65263604e-02 7.89249692e-03 2.50388214e+02] [-2.65229395e-02 9.99648060e-01 -5.37813046e-04 -1.51399738e+01] [-7.90398546e-03 3.28274822e-04 9.99968709e-01 -3.44187930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.250371743 meters Centerline goodness [0,1] 0.9914896453648565 Centerline is valid? [True, True] Translation: X:250.42, Y:-15.15, Z:-3.44 [[ 9.99719540e-01 2.19339229e-02 8.93000053e-03 2.50416444e+02] [-2.19293707e-02 9.99759338e-01 -6.07369110e-04 -1.51516774e+01] [-8.94117341e-03 4.11369475e-04 9.99959942e-01 -3.44252050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280371743 meters Centerline goodness [0,1] 0.990595472549844 Centerline is valid? [True, True] Translation: X:250.45, Y:-15.16, Z:-3.44 [[ 9.99768372e-01 1.93635995e-02 9.39436297e-03 2.50445468e+02] [-1.93584472e-02 9.99812403e-01 -6.39071861e-04 -1.51575135e+01] [-9.40497535e-03 4.57063554e-04 9.99955668e-01 -3.44292518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.310371743 meters Centerline goodness [0,1] 0.990822238931399 Centerline is valid? [True, True] Translation: X:250.48, Y:-15.16, Z:-3.44 [[ 9.99813570e-01 1.68492824e-02 9.43010839e-03 2.50475072e+02] [-1.68439847e-02 9.99857925e-01 -6.40933981e-04 -1.51587382e+01] [-9.43956788e-03 4.81973890e-04 9.99955330e-01 -3.44260029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340371743 meters Centerline goodness [0,1] 0.9901007601202051 Centerline is valid? [True, True] Translation: X:250.50, Y:-15.17, Z:-3.44 [[ 9.99860097e-01 1.38989168e-02 9.30628073e-03 2.50503755e+02] [-1.38936339e-02 9.99903279e-01 -6.32087410e-04 -1.51703724e+01] [-9.31416595e-03 5.02700922e-04 9.99956496e-01 -3.44391861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.370371743 meters Centerline goodness [0,1] 0.9894017847306379 Centerline is valid? [True, True] Translation: X:250.53, Y:-15.18, Z:-3.44 [[ 9.99926046e-01 7.91379122e-03 9.23438646e-03 2.50534259e+02] [-7.90833783e-03 9.99968532e-01 -6.26918172e-04 -1.51755944e+01] [-9.23905718e-03 5.53843161e-04 9.99957166e-01 -3.44451265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40037174299997 meters Centerline goodness [0,1] 0.9893291676750786 Centerline is valid? [True, True] Translation: X:250.56, Y:-15.18, Z:-3.45 [[ 9.99941494e-01 4.87111848e-03 9.65821823e-03 2.50564989e+02] [-4.86501219e-03 9.99987951e-01 -6.55631357e-04 -1.51777655e+01] [-9.66129551e-03 6.08605649e-04 9.99953143e-01 -3.44505877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43037174299997 meters Centerline goodness [0,1] 0.9883355666366452 Centerline is valid? [True, True] Translation: X:250.60, Y:-15.19, Z:-3.45 [[ 9.99950339e-01 -5.69481830e-04 9.94962101e-03 2.50595412e+02] [ 5.76231680e-04 9.99999606e-01 -6.75549197e-04 -1.51868418e+01] [-9.94923238e-03 6.81248935e-04 9.99950273e-01 -3.44547224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46037174299997 meters Centerline goodness [0,1] 0.9870898214128618 Centerline is valid? [True, True] Translation: X:250.62, Y:-15.20, Z:-3.45 [[ 9.99946160e-01 -3.24572648e-03 9.85613028e-03 2.50624739e+02] [ 3.25248346e-03 9.99994486e-01 -6.69609963e-04 -1.51975930e+01] [-9.85390257e-03 7.01630812e-04 9.99951203e-01 -3.44635873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49037174299997 meters Centerline goodness [0,1] 0.9878376591900586 Centerline is valid? [True, True] Translation: X:250.66, Y:-15.20, Z:-3.45 [[ 9.99935461e-01 -5.63765117e-03 9.86359119e-03 2.50655689e+02] [ 5.64453315e-03 9.99983845e-01 -6.70016200e-04 -1.51959147e+01] [-9.85965452e-03 7.25648326e-04 9.99951129e-01 -3.44651106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52037174299997 meters Centerline goodness [0,1] 0.9876605889364708 Centerline is valid? [True, True] Translation: X:250.69, Y:-15.20, Z:-3.45 [[ 9.99917048e-01 -9.26259016e-03 8.94995302e-03 2.50686537e+02] [ 9.26840248e-03 9.99956862e-01 -6.08165659e-04 -1.51974793e+01] [-8.94393375e-03 6.91066977e-04 9.99959763e-01 -3.44708363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55037174299997 meters Centerline goodness [0,1] 0.9862348000087957 Centerline is valid? [True, True] Translation: X:250.72, Y:-15.21, Z:-3.45 [[ 9.99908991e-01 -1.03248625e-02 8.68368475e-03 2.50717358e+02] [ 1.03303675e-02 9.99946467e-01 -5.89324314e-04 -1.52054991e+01] [-8.67713519e-03 6.78976335e-04 9.99962122e-01 -3.44816770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58037174299997 meters Centerline goodness [0,1] 0.9865583132000878 Centerline is valid? [True, True] Translation: X:250.75, Y:-15.21, Z:-3.45 [[ 9.99903592e-01 -1.12340793e-02 8.16097502e-03 2.50749464e+02] [ 1.12389819e-02 9.99936687e-01 -5.55113839e-04 -1.52083255e+01] [-8.15422213e-03 6.46781372e-04 9.99966545e-01 -3.44896772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61037174299997 meters Centerline goodness [0,1] 0.9857211897544045 Centerline is valid? [True, True] Translation: X:250.78, Y:-15.21, Z:-3.45 [[ 9.99890441e-01 -1.21203610e-02 8.49720244e-03 2.50780800e+02] [ 1.21257142e-02 9.99926313e-01 -5.78756881e-04 -1.52123470e+01] [-8.48956156e-03 6.81728121e-04 9.99963731e-01 -3.44994778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64037174299997 meters Centerline goodness [0,1] 0.9857712385189753 Centerline is valid? [True, True] Translation: X:250.81, Y:-15.22, Z:-3.45 [[ 9.99898042e-01 -1.19237617e-02 7.85675732e-03 2.50813693e+02] [ 1.19283319e-02 9.99928712e-01 -5.35088880e-04 -1.52150918e+01] [-7.84981696e-03 6.28752333e-04 9.99968992e-01 -3.45042410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67037174299998 meters Centerline goodness [0,1] 0.9852947641447224 Centerline is valid? [True, True] Translation: X:250.85, Y:-15.22, Z:-3.45 [[ 9.99905917e-01 -1.12584506e-02 7.83609952e-03 2.50845772e+02] [ 1.12629850e-02 9.99936428e-01 -5.34772582e-04 -1.52162188e+01] [-7.82958065e-03 6.22980141e-04 9.99969154e-01 -3.45100855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70037174299998 meters Centerline goodness [0,1] 0.9853689567430025 Centerline is valid? [True, True] Translation: X:250.88, Y:-15.22, Z:-3.45 [[ 9.99914395e-01 -1.07819581e-02 7.41302093e-03 2.50877081e+02] [ 1.07860075e-02 9.99941701e-01 -5.06495777e-04 -1.52180579e+01] [-7.40712774e-03 5.86409317e-04 9.99972395e-01 -3.45134693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73037174299998 meters Centerline goodness [0,1] 0.9866493643601812 Centerline is valid? [True, True] Translation: X:250.91, Y:-15.21, Z:-3.45 [[ 9.99916020e-01 -1.02880696e-02 7.88085606e-03 2.50909598e+02] [ 1.02926334e-02 9.99946884e-01 -5.38770520e-04 -1.52143780e+01] [-7.87489456e-03 6.19840037e-04 9.99968800e-01 -3.45102335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76037174299998 meters Centerline goodness [0,1] 0.985350080288599 Centerline is valid? [True, True] Translation: X:250.94, Y:-15.22, Z:-3.45 [[ 9.99914529e-01 -9.58267021e-03 8.89422435e-03 2.50940308e+02] [ 9.58846347e-03 9.99953844e-01 -6.08935740e-04 -1.52212316e+01] [-8.88797860e-03 6.94165639e-04 9.99960260e-01 -3.45117164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79037174299998 meters Centerline goodness [0,1] 0.9866334889456532 Centerline is valid? [True, True] Translation: X:250.97, Y:-15.22, Z:-3.45 [[ 9.99924188e-01 -8.53108357e-03 8.87906919e-03 2.50971771e+02] [ 8.53682113e-03 9.99963376e-01 -6.08489027e-04 -1.52211576e+01] [-8.87355293e-03 6.84241922e-04 9.99960395e-01 -3.45155335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82037174299998 meters Centerline goodness [0,1] 0.988155519351856 Centerline is valid? [True, True] Translation: X:251.00, Y:-15.21, Z:-3.45 [[ 9.99930382e-01 -8.07704509e-03 8.60190305e-03 2.51004712e+02] [ 8.08241337e-03 9.99967163e-01 -5.89500939e-04 -1.52110128e+01] [-8.59685917e-03 6.58984035e-04 9.99962829e-01 -3.45101727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85037174299998 meters Centerline goodness [0,1] 0.9863355408388521 Centerline is valid? [True, True] Translation: X:251.03, Y:-15.22, Z:-3.45 [[ 9.99935077e-01 -7.60173001e-03 8.48853070e-03 2.51034844e+02] [ 7.60694686e-03 9.99970897e-01 -5.82458742e-04 -1.52232086e+01] [-8.48385597e-03 6.46992729e-04 9.99963802e-01 -3.45241136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88037174299998 meters Centerline goodness [0,1] 0.9855318585827397 Centerline is valid? [True, True] Translation: X:251.07, Y:-15.23, Z:-3.45 [[ 9.99941782e-01 -7.26282109e-03 7.98020040e-03 2.51065772e+02] [ 7.26741983e-03 9.99973442e-01 -5.47421287e-04 -1.52254631e+01] [-7.97601264e-03 6.05384885e-04 9.99968008e-01 -3.45302570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91037174299998 meters Centerline goodness [0,1] 0.9857455897651564 Centerline is valid? [True, True] Translation: X:251.10, Y:-15.23, Z:-3.45 [[ 9.99942670e-01 -7.60014104e-03 7.54289374e-03 2.51097570e+02] [ 7.60426899e-03 9.99970953e-01 -5.18735220e-04 -1.52261346e+01] [-7.53873218e-03 5.76063674e-04 9.99971417e-01 -3.45412274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940371743 meters Centerline goodness [0,1] 0.9880491313488989 Centerline is valid? [True, True] Translation: X:251.13, Y:-15.22, Z:-3.45 [[ 9.99942391e-01 -8.29110499e-03 6.81710950e-03 2.51130233e+02] [ 8.29449478e-03 9.99965490e-01 -4.69124262e-04 -1.52164095e+01] [-6.81298468e-03 5.25641716e-04 9.99976653e-01 -3.45392053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.970371743 meters Centerline goodness [0,1] 0.9886626816948629 Centerline is valid? [True, True] Translation: X:251.16, Y:-15.22, Z:-3.46 [[ 9.99927583e-01 -1.03957444e-02 6.06272570e-03 2.51161501e+02] [ 1.03984678e-02 9.99945847e-01 -4.17851996e-04 -1.52186005e+01] [-6.05805350e-03 4.80864795e-04 9.99981534e-01 -3.45506748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000371743 meters Centerline goodness [0,1] 0.9881163140656811 Centerline is valid? [True, True] Translation: X:251.19, Y:-15.22, Z:-3.46 [[ 9.99915591e-01 -1.15911722e-02 5.86994787e-03 2.51193978e+02] [ 1.15937448e-02 9.99932709e-01 -4.04412380e-04 -1.52203243e+01] [-5.86486526e-03 4.72432921e-04 9.99982690e-01 -3.45556834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.030371743 meters Centerline goodness [0,1] 0.9882018259603934 Centerline is valid? [True, True] Translation: X:251.22, Y:-15.22, Z:-3.46 [[ 9.99908563e-01 -1.23692357e-02 5.46508131e-03 2.51224965e+02] [ 1.23714798e-02 9.99923399e-01 -3.77006897e-04 -1.52230381e+01] [-5.45999939e-03 4.44583568e-04 9.99984995e-01 -3.45632179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060371743 meters Centerline goodness [0,1] 0.9879160107314694 Centerline is valid? [True, True] Translation: X:251.26, Y:-15.22, Z:-3.46 [[ 9.99892122e-01 -1.38077012e-02 5.00909433e-03 2.51256136e+02] [ 1.38096071e-02 9.99904583e-01 -3.46109714e-04 -1.52212133e+01] [-5.00383739e-03 4.15246001e-04 9.99987395e-01 -3.45664552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.090371743 meters Centerline goodness [0,1] 0.9880305884960656 Centerline is valid? [True, True] Translation: X:251.29, Y:-15.22, Z:-3.46 [[ 9.99891447e-01 -1.37269118e-02 5.35403191e-03 2.51289551e+02] [ 1.37290839e-02 9.99905684e-01 -3.69150800e-04 -1.52221258e+01] [-5.34845963e-03 4.42616681e-04 9.99985599e-01 -3.45658881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120371743 meters Centerline goodness [0,1] 0.9890691036222424 Centerline is valid? [True, True] Translation: X:251.32, Y:-15.22, Z:-3.46 [[ 9.99888113e-01 -1.38040283e-02 5.76284640e-03 2.51321521e+02] [ 1.38065524e-02 9.99904606e-01 -3.98432842e-04 -1.52236284e+01] [-5.75679668e-03 4.77953303e-04 9.99983315e-01 -3.45618954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15037174299997 meters Centerline goodness [0,1] 0.9884098594055882 Centerline is valid? [True, True] Translation: X:251.35, Y:-15.22, Z:-3.46 [[ 9.99890079e-01 -1.31252114e-02 6.89621282e-03 2.51353650e+02] [ 1.31288147e-02 9.99913699e-01 -4.77490232e-04 -1.52215838e+01] [-6.88935052e-03 5.67976846e-04 9.99976107e-01 -3.45510931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18037174299997 meters Centerline goodness [0,1] 0.989296602060571 Centerline is valid? [True, True] Translation: X:251.39, Y:-15.22, Z:-3.46 [[ 9.99896511e-01 -1.26208680e-02 6.90519617e-03 2.51385704e+02] [ 1.26244721e-02 9.99920194e-01 -4.78594333e-04 -1.52201336e+01] [-6.89860482e-03 5.65719260e-04 9.99976044e-01 -3.45506655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21037174299997 meters Centerline goodness [0,1] 0.9901221905101677 Centerline is valid? [True, True] Translation: X:251.42, Y:-15.22, Z:-3.46 [[ 9.99897455e-01 -1.22958205e-02 7.34107209e-03 2.51418369e+02] [ 1.22998895e-02 9.99924224e-01 -5.09391436e-04 -1.52176843e+01] [-7.33425243e-03 5.99633576e-04 9.99972924e-01 -3.45517368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24037174299997 meters Centerline goodness [0,1] 0.9898555248372425 Centerline is valid? [True, True] Translation: X:251.45, Y:-15.22, Z:-3.46 [[ 9.99899635e-01 -1.21662793e-02 7.25962276e-03 2.51450222e+02] [ 1.21702589e-02 9.99925813e-01 -5.04254983e-04 -1.52187041e+01] [-7.25294928e-03 5.92555862e-04 9.99973521e-01 -3.45573449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27037174299997 meters Centerline goodness [0,1] 0.9889782013315224 Centerline is valid? [True, True] Translation: X:251.48, Y:-15.22, Z:-3.46 [[ 9.99899599e-01 -1.21202364e-02 7.34108346e-03 2.51481793e+02] [ 1.21243075e-02 9.99926368e-01 -5.10313689e-04 -1.52217189e+01] [-7.33435780e-03 5.99268006e-04 9.99972924e-01 -3.45672897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30037174299997 meters Centerline goodness [0,1] 0.9899051080153443 Centerline is valid? [True, True] Translation: X:251.51, Y:-15.22, Z:-3.46 [[ 9.99895294e-01 -1.24740980e-02 7.33469238e-03 2.51514273e+02] [ 1.24781775e-02 9.99922014e-01 -5.10687702e-04 -1.52236571e+01] [-7.32775001e-03 6.02157823e-04 9.99972970e-01 -3.45735773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33037174299997 meters Centerline goodness [0,1] 0.9891418485667687 Centerline is valid? [True, True] Translation: X:251.55, Y:-15.23, Z:-3.46 [[ 9.99884023e-01 -1.32714247e-02 7.47061017e-03 2.51546665e+02] [ 1.32756831e-02 9.99911739e-01 -5.20708629e-04 -1.52255516e+01] [-7.46304026e-03 6.19825692e-04 9.99971959e-01 -3.45832705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36037174299997 meters Centerline goodness [0,1] 0.9888871497886993 Centerline is valid? [True, True] Translation: X:251.58, Y:-15.23, Z:-3.46 [[ 9.99882856e-01 -1.34858971e-02 7.23912270e-03 2.51578297e+02] [ 1.34899058e-02 9.99908879e-01 -5.05207408e-04 -1.52274956e+01] [-7.23164989e-03 6.02803309e-04 9.99973670e-01 -3.45882206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39037174299997 meters Centerline goodness [0,1] 0.9885575357437602 Centerline is valid? [True, True] Translation: X:251.61, Y:-15.23, Z:-3.46 [[ 9.99887040e-01 -1.35203736e-02 6.56564122e-03 2.51609676e+02] [ 1.35236737e-02 9.99908446e-01 -4.58486339e-04 -1.52298448e+01] [-6.55884120e-03 5.47226137e-04 9.99978341e-01 -3.45946818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42037174299998 meters Centerline goodness [0,1] 0.9887642959256612 Centerline is valid? [True, True] Translation: X:251.64, Y:-15.23, Z:-3.46 [[ 9.99894482e-01 -1.30296620e-02 6.42289550e-03 2.51641130e+02] [ 1.30328122e-02 9.99914969e-01 -4.48849736e-04 -1.52323074e+01] [-6.41650099e-03 5.32510765e-04 9.99979272e-01 -3.46042538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45037174299998 meters Centerline goodness [0,1] 0.9888503302362028 Centerline is valid? [True, True] Translation: X:251.67, Y:-15.23, Z:-3.46 [[ 9.99909068e-01 -1.22747280e-02 5.58451072e-03 2.51673660e+02] [ 1.22770979e-02 9.99924557e-01 -3.90277768e-04 -1.52338282e+01] [-5.57929886e-03 4.58803865e-04 9.99984330e-01 -3.46146067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48037174299998 meters Centerline goodness [0,1] 0.9886152260146568 Centerline is valid? [True, True] Translation: X:251.70, Y:-15.24, Z:-3.46 [[ 9.99944296e-01 -9.92314045e-03 3.59672199e-03 2.51703331e+02] [ 9.92411088e-03 9.99950723e-01 -2.52062343e-04 -1.52366090e+01] [-3.59404350e-03 2.87742570e-04 9.99993500e-01 -3.46404749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51037174299998 meters Centerline goodness [0,1] 0.9887023379883885 Centerline is valid? [True, True] Translation: X:251.73, Y:-15.24, Z:-3.47 [[ 9.99959514e-01 -8.42644933e-03 3.15671690e-03 2.51734697e+02] [ 8.42718808e-03 9.99964466e-01 -2.20797005e-04 -1.52352840e+01] [-3.15474420e-03 2.47390313e-04 9.99994993e-01 -3.46505347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54037174299998 meters Centerline goodness [0,1] 0.9904194833684022 Centerline is valid? [True, True] Translation: X:251.77, Y:-15.23, Z:-3.46 [[ 9.99988710e-01 -4.14398597e-03 2.32548832e-03 2.51766342e+02] [ 4.14437626e-03 9.99991399e-01 -1.63040297e-04 -1.52264414e+01] [-2.32479268e-03 1.72676155e-04 9.99997283e-01 -3.46463814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57037174299998 meters Centerline goodness [0,1] 0.9904169846043359 Centerline is valid? [True, True] Translation: X:251.80, Y:-15.22, Z:-3.46 [[ 9.99996381e-01 -1.66582072e-03 2.11240327e-03 2.51796908e+02] [ 1.66613730e-03 9.99998601e-01 -1.48115032e-04 -1.52244717e+01] [-2.11215358e-03 1.51634050e-04 9.99997758e-01 -3.46471363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60037174299998 meters Centerline goodness [0,1] 0.9906857451403888 Centerline is valid? [True, True] Translation: X:251.83, Y:-15.22, Z:-3.46 [[ 9.99997141e-01 1.10005101e-03 2.12295372e-03 2.51826797e+02] [-1.09973747e-03 9.99999384e-01 -1.48854797e-04 -1.52246668e+01] [-2.12311616e-03 1.46519679e-04 9.99997735e-01 -3.46479790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63037174299998 meters Centerline goodness [0,1] 0.9910864635487999 Centerline is valid? [True, True] Translation: X:251.86, Y:-15.22, Z:-3.46 [[ 9.99988903e-01 4.28461556e-03 1.95863757e-03 2.51857722e+02] [-4.28435523e-03 9.99990813e-01 -1.37090548e-04 -1.52211535e+01] [-1.95920696e-03 1.28697528e-04 9.99998072e-01 -3.46440683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66037174299998 meters Centerline goodness [0,1] 0.9913200723327306 Centerline is valid? [True, True] Translation: X:251.89, Y:-15.21, Z:-3.46 [[ 9.99944061e-01 1.02884341e-02 2.45431018e-03 2.51888057e+02] [-1.02880415e-02 9.99947062e-01 -1.72509714e-04 -1.52147078e+01] [-2.45595511e-03 1.47250019e-04 9.99996973e-01 -3.46344002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.690371743 meters Centerline goodness [0,1] 0.9914184413179468 Centerline is valid? [True, True] Translation: X:251.92, Y:-15.22, Z:-3.46 [[ 9.99903546e-01 1.34028980e-02 3.64160844e-03 2.51917478e+02] [-1.34020553e-02 9.99910156e-01 -2.55724734e-04 -1.52161001e+01] [-3.64470872e-03 2.06895031e-04 9.99993337e-01 -3.46347291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720371743 meters Centerline goodness [0,1] 0.9914184413179468 Centerline is valid? [True, True] Translation: X:251.95, Y:-15.22, Z:-3.46 [[ 9.99904484e-01 1.33327627e-02 3.64158891e-03 2.51945761e+02] [-1.33319185e-02 9.99911093e-01 -2.56003990e-04 -1.52180194e+01] [-3.64467838e-03 2.07430171e-04 9.99993337e-01 -3.46391446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.750371743 meters Centerline goodness [0,1] 0.9919804820746831 Centerline is valid? [True, True] Translation: X:251.98, Y:-15.22, Z:-3.46 [[ 9.99857294e-01 1.63464817e-02 4.26436921e-03 2.51976055e+02] [-1.63453560e-02 9.99866361e-01 -2.98702494e-04 -1.52162141e+01] [-4.26868206e-03 2.28957235e-04 9.99990863e-01 -3.46312818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780371743 meters Centerline goodness [0,1] 0.9918349806617963 Centerline is valid? [True, True] Translation: X:252.01, Y:-15.21, Z:-3.46 [[ 9.99759002e-01 2.11703212e-02 5.80990048e-03 2.52007218e+02] [-2.11683146e-02 9.99775843e-01 -4.06661012e-04 -1.52097546e+01] [-5.81720730e-03 2.83577206e-04 9.99983040e-01 -3.46132595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.810371743 meters Centerline goodness [0,1] 0.9912023460410557 Centerline is valid? [True, True] Translation: X:252.04, Y:-15.21, Z:-3.46 [[ 9.99708264e-01 2.32969305e-02 6.37489811e-03 2.52035437e+02] [-2.32945544e-02 9.99728545e-01 -4.46734166e-04 -1.52112602e+01] [-6.38357515e-03 2.98103427e-04 9.99979580e-01 -3.46206479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840371743 meters Centerline goodness [0,1] 0.9915156189741612 Centerline is valid? [True, True] Translation: X:252.06, Y:-15.21, Z:-3.46 [[ 9.99671247e-01 2.50169222e-02 5.61700396e-03 2.52063231e+02] [-2.50151053e-02 9.99686996e-01 -3.93507516e-04 -1.52103124e+01] [-5.62509016e-03 2.52868204e-04 9.99984147e-01 -3.46325583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.870371743 meters Centerline goodness [0,1] 0.9919241093771327 Centerline is valid? [True, True] Translation: X:252.09, Y:-15.21, Z:-3.46 [[ 9.99673795e-01 2.50243476e-02 5.10739180e-03 2.52091330e+02] [-2.50228460e-02 9.99686816e-01 -3.57694331e-04 -1.52087491e+01] [-5.11474331e-03 2.29776170e-04 9.99986893e-01 -3.46389258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90037174299997 meters Centerline goodness [0,1] 0.9914456218374895 Centerline is valid? [True, True] Translation: X:252.12, Y:-15.22, Z:-3.47 [[ 9.99680689e-01 2.49394198e-02 4.06754101e-03 2.52118245e+02] [-2.49384680e-02 9.99688948e-01 -2.84560725e-04 -1.52150842e+01] [-4.07337257e-03 1.83031621e-04 9.99991687e-01 -3.46649101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93037174299997 meters Centerline goodness [0,1] 0.991574500942475 Centerline is valid? [True, True] Translation: X:252.15, Y:-15.21, Z:-3.47 [[ 9.99705310e-01 2.40658760e-02 3.18220172e-03 2.52146799e+02] [-2.40652890e-02 9.99710364e-01 -2.22637049e-04 -1.52121982e+01] [-3.18663800e-03 1.45990836e-04 9.99994912e-01 -3.46621288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96037174299997 meters Centerline goodness [0,1] 0.9914520199149749 Centerline is valid? [True, True] Translation: X:252.18, Y:-15.21, Z:-3.47 [[ 9.99763723e-01 2.16214921e-02 2.23830401e-03 2.52175459e+02] [-2.16211962e-02 9.99766222e-01 -1.56334245e-04 -1.52148071e+01] [-2.24116092e-03 1.07902497e-04 9.99997483e-01 -3.46662141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99037174299997 meters Centerline goodness [0,1] 0.9905651798299459 Centerline is valid? [True, True] Translation: X:252.20, Y:-15.22, Z:-3.47 [[ 9.99818061e-01 1.88942682e-02 2.61764733e-03 2.52203653e+02] [-1.88938549e-02 9.99821479e-01 -1.82542122e-04 -1.52227606e+01] [-2.62062902e-03 1.33051461e-04 9.99996557e-01 -3.46780623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02037174299997 meters Centerline goodness [0,1] 0.990704154580545 Centerline is valid? [True, True] Translation: X:252.23, Y:-15.22, Z:-3.47 [[ 9.99849781e-01 1.71537232e-02 2.48299044e-03 2.52233266e+02] [-1.71533461e-02 9.99852856e-01 -1.73077331e-04 -1.52177801e+01] [-2.48559400e-03 1.30459737e-04 9.99996902e-01 -3.46619711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05037174299997 meters Centerline goodness [0,1] 0.9908035511040292 Centerline is valid? [True, True] Translation: X:252.26, Y:-15.22, Z:-3.47 [[ 9.99875059e-01 1.55886259e-02 2.61930999e-03 2.52260850e+02] [-1.55882003e-02 9.99878480e-01 -1.82846432e-04 -1.52234615e+01] [-2.62184202e-03 1.41993259e-04 9.99996553e-01 -3.46748355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08037174299997 meters Centerline goodness [0,1] 0.989698475283178 Centerline is valid? [True, True] Translation: X:252.29, Y:-15.23, Z:-3.47 [[ 9.99895186e-01 1.42940798e-02 2.30133470e-03 2.52287915e+02] [-1.42937474e-02 9.99897826e-01 -1.60793706e-04 -1.52267108e+01] [-2.30339797e-03 1.27882155e-04 9.99997339e-01 -3.46865672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11037174299997 meters Centerline goodness [0,1] 0.9908788251926848 Centerline is valid? [True, True] Translation: X:252.32, Y:-15.22, Z:-3.47 [[ 9.99928884e-01 1.17258196e-02 2.17546239e-03 2.52317896e+02] [-1.17255188e-02 9.99931242e-01 -1.50974898e-04 -1.52243077e+01] [-2.17708311e-03 1.25455736e-04 9.99997622e-01 -3.46764390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14037174299997 meters Centerline goodness [0,1] 0.9906028328353443 Centerline is valid? [True, True] Translation: X:252.35, Y:-15.22, Z:-3.47 [[ 9.99944090e-01 1.03499316e-02 2.16682971e-03 2.52347827e+02] [-1.03496301e-02 9.99946430e-01 -1.50310327e-04 -1.52244058e+01] [-2.16826933e-03 1.27876037e-04 9.99997641e-01 -3.46746954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17037174299998 meters Centerline goodness [0,1] 0.9898462100123214 Centerline is valid? [True, True] Translation: X:252.38, Y:-15.23, Z:-3.47 [[ 9.99964150e-01 7.79489216e-03 3.30729298e-03 2.52377141e+02] [-7.79417648e-03 9.99969599e-01 -2.29227546e-04 -1.52267745e+01] [-3.30897923e-03 2.03441703e-04 9.99994505e-01 -3.46670027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20037174299998 meters Centerline goodness [0,1] 0.9901164519892929 Centerline is valid? [True, True] Translation: X:252.41, Y:-15.23, Z:-3.47 [[ 9.99972220e-01 6.50768941e-03 3.63439597e-03 2.52406290e+02] [-6.50681767e-03 9.99978799e-01 -2.51630644e-04 -1.52271676e+01] [-3.63595645e-03 2.27975302e-04 9.99993364e-01 -3.46564762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23037174299998 meters Centerline goodness [0,1] 0.9903282465384703 Centerline is valid? [True, True] Translation: X:252.44, Y:-15.23, Z:-3.47 [[ 9.99978829e-01 5.19927110e-03 3.91270789e-03 2.52435181e+02] [-5.19825271e-03 9.99986452e-01 -2.70404271e-04 -1.52316512e+01] [-3.91406079e-03 2.50059302e-04 9.99992309e-01 -3.46584724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26037174299998 meters Centerline goodness [0,1] 0.9892182671397505 Centerline is valid? [True, True] Translation: X:252.46, Y:-15.24, Z:-3.47 [[ 9.99991569e-01 2.03242628e-03 3.56805036e-03 2.52464997e+02] [-2.03156116e-03 9.99997906e-01 -2.46071503e-04 -1.52388442e+01] [-3.56854301e-03 2.38820716e-04 9.99993604e-01 -3.46749224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29037174299998 meters Centerline goodness [0,1] 0.9901846652514323 Centerline is valid? [True, True] Translation: X:252.50, Y:-15.24, Z:-3.47 [[ 9.99995433e-01 7.38945015e-04 2.93048250e-03 2.52496550e+02] [-7.38357250e-04 9.99999707e-01 -2.01646073e-04 -1.52387673e+01] [-2.93063065e-03 1.99481409e-04 9.99995686e-01 -3.46776805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32037174299998 meters Centerline goodness [0,1] 0.9891674474941152 Centerline is valid? [True, True] Translation: X:252.53, Y:-15.24, Z:-3.47 [[ 9.99997329e-01 -1.17445355e-03 1.99079633e-03 2.52526813e+02] [ 1.17472885e-03 9.99999301e-01 -1.37124766e-04 -1.52433538e+01] [-1.99063389e-03 1.39463045e-04 9.99998009e-01 -3.46888606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35037174299998 meters Centerline goodness [0,1] 0.9890548398130202 Centerline is valid? [True, True] Translation: X:252.56, Y:-15.25, Z:-3.47 [[ 9.99997984e-01 -1.43488864e-03 1.40457947e-03 2.52557315e+02] [ 1.43502515e-03 9.99998966e-01 -9.61888505e-05 -1.52486942e+01] [-1.40444000e-03 9.82042635e-05 9.99999009e-01 -3.46995820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38037174299998 meters Centerline goodness [0,1] 0.9886249658065105 Centerline is valid? [True, True] Translation: X:252.59, Y:-15.25, Z:-3.47 [[ 9.99998901e-01 -1.32818577e-03 6.58774692e-04 2.52588394e+02] [ 1.32821569e-03 9.99999117e-01 -4.49773920e-05 -1.52488572e+01] [-6.58714372e-04 4.58523374e-05 9.99999782e-01 -3.47039922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41037174299998 meters Centerline goodness [0,1] 0.9904991911781459 Centerline is valid? [True, True] Translation: X:252.62, Y:-15.25, Z:-3.47 [[ 9.99999875e-01 4.98245548e-04 -3.70357424e-05 2.52619351e+02] [-4.98245443e-04 9.99999876e-01 2.83885183e-06 -1.52474206e+01] [ 3.70371522e-05 -2.82039858e-06 9.99999999e-01 -3.47061266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440371743 meters Centerline goodness [0,1] 0.9906146065879995 Centerline is valid? [True, True] Translation: X:252.65, Y:-15.25, Z:-3.47 [[ 9.99998642e-01 1.64707227e-03 6.39979482e-05 2.52650044e+02] [-1.64707199e-03 9.99998644e-01 -4.42392733e-06 -1.52489369e+01] [-6.40051479e-05 4.31851210e-06 9.99999998e-01 -3.47074421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.470371743 meters Centerline goodness [0,1] 0.9901544225146199 Centerline is valid? [True, True] Translation: X:252.68, Y:-15.25, Z:-3.47 [[ 9.99990074e-01 4.39234014e-03 7.48401553e-04 2.52679503e+02] [-4.39230234e-03 9.99990352e-01 -5.21334330e-05 -1.52487636e+01] [-7.48623320e-04 4.88457096e-05 9.99999719e-01 -3.47003653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500371743 meters Centerline goodness [0,1] 0.9901266808695851 Centerline is valid? [True, True] Translation: X:252.71, Y:-15.25, Z:-3.47 [[ 9.99979592e-01 6.18807792e-03 1.58849068e-03 2.52708202e+02] [-6.18791033e-03 9.99980849e-01 -1.10392884e-04 -1.52507084e+01] [-1.58914338e-03 1.00561193e-04 9.99998732e-01 -3.47034158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.530371743 meters Centerline goodness [0,1] 0.990779182053811 Centerline is valid? [True, True] Translation: X:252.74, Y:-15.25, Z:-3.47 [[ 9.99944795e-01 1.02454085e-02 2.33198678e-03 2.52739236e+02] [-1.02450606e-02 9.99947505e-01 -1.61081887e-04 -1.52451653e+01] [-2.33351472e-03 1.37181649e-04 9.99997268e-01 -3.46884340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560371743 meters Centerline goodness [0,1] 0.9915466427767441 Centerline is valid? [True, True] Translation: X:252.77, Y:-15.25, Z:-3.47 [[ 9.99924105e-01 1.20931329e-02 2.35364802e-03 2.52767555e+02] [-1.20927815e-02 9.99926866e-01 -1.63464964e-04 -1.52464870e+01] [-2.35545269e-03 1.34990407e-04 9.99997217e-01 -3.46933921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.590371743 meters Centerline goodness [0,1] 0.9910182384749335 Centerline is valid? [True, True] Translation: X:252.80, Y:-15.25, Z:-3.47 [[ 9.99899335e-01 1.38832627e-02 2.92837216e-03 2.52796616e+02] [-1.38827278e-02 9.99903610e-01 -2.02900833e-04 -1.52457015e+01] [-2.93090682e-03 1.62226614e-04 9.99995692e-01 -3.46924933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620371743 meters Centerline goodness [0,1] 0.9907498794959487 Centerline is valid? [True, True] Translation: X:252.83, Y:-15.25, Z:-3.47 [[ 9.99846596e-01 1.71591536e-02 3.51402413e-03 2.52826759e+02] [-1.71584075e-02 9.99852754e-01 -2.42354198e-04 -1.52452286e+01] [-3.51766529e-03 1.82021962e-04 9.99993796e-01 -3.46857406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65037174299997 meters Centerline goodness [0,1] 0.9913385103156734 Centerline is valid? [True, True] Translation: X:252.85, Y:-15.25, Z:-3.47 [[ 9.99817769e-01 1.86690417e-02 3.98702736e-03 2.52854649e+02] [-1.86680904e-02 9.99825698e-01 -2.75689655e-04 -1.52476976e+01] [-3.99147927e-03 2.01209229e-04 9.99992014e-01 -3.46870130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68037174299997 meters Centerline goodness [0,1] 0.9910535636254916 Centerline is valid? [True, True] Translation: X:252.88, Y:-15.25, Z:-3.47 [[ 9.99781527e-01 2.04592158e-02 4.27993901e-03 2.52883827e+02] [-2.04581388e-02 9.99790667e-01 -2.95273600e-04 -1.52452122e+01] [-4.28508414e-03 2.07649505e-04 9.99990797e-01 -3.46807331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71037174299997 meters Centerline goodness [0,1] 0.9916620600700202 Centerline is valid? [True, True] Translation: X:252.91, Y:-15.25, Z:-3.47 [[ 9.99699368e-01 2.41648695e-02 4.15132171e-03 2.52912837e+02] [-2.41638910e-02 9.99707970e-01 -2.85712778e-04 -1.52471878e+01] [-4.15701361e-03 1.85314798e-04 9.99991342e-01 -3.46939003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74037174299997 meters Centerline goodness [0,1] 0.991774572600341 Centerline is valid? [True, True] Translation: X:252.94, Y:-15.25, Z:-3.47 [[ 9.99642884e-01 2.64335929e-02 3.92049031e-03 2.52941404e+02] [-2.64327364e-02 9.99650558e-01 -2.70129049e-04 -1.52464186e+01] [-3.92626081e-03 1.66403295e-04 9.99992278e-01 -3.46996863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77037174299997 meters Centerline goodness [0,1] 0.9933233910749111 Centerline is valid? [True, True] Translation: X:252.97, Y:-15.25, Z:-3.47 [[ 9.99502246e-01 3.13839622e-02 3.21037305e-03 2.52971884e+02] [-3.13834156e-02 9.99507395e-01 -2.20516038e-04 -1.52455786e+01] [-3.21571227e-03 1.19653804e-04 9.99994822e-01 -3.46996454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80037174299997 meters Centerline goodness [0,1] 0.9939332426010934 Centerline is valid? [True, True] Translation: X:253.00, Y:-15.25, Z:-3.47 [[ 9.99418987e-01 3.39279084e-02 3.25348527e-03 2.53001245e+02] [-3.39273592e-02 9.99424276e-01 -2.23854232e-04 -1.52462399e+01] [-3.25920707e-03 1.13342006e-04 9.99994682e-01 -3.47023826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83037174299997 meters Centerline goodness [0,1] 0.9931762644658583 Centerline is valid? [True, True] Translation: X:253.03, Y:-15.25, Z:-3.47 [[ 9.99332441e-01 3.63847912e-02 3.28928048e-03 2.53030678e+02] [-3.63842438e-02 9.99337849e-01 -2.26137750e-04 -1.52465604e+01] [-3.29533045e-03 1.06308807e-04 9.99994565e-01 -3.47021033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86037174299997 meters Centerline goodness [0,1] 0.9930664332442642 Centerline is valid? [True, True] Translation: X:253.06, Y:-15.25, Z:-3.47 [[ 9.99232761e-01 3.90508651e-02 2.98661713e-03 2.53059166e+02] [-3.90504252e-02 9.99237220e-01 -2.05471122e-04 -1.52474715e+01] [-2.99236283e-03 8.86848077e-05 9.99995519e-01 -3.47029769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89037174299997 meters Centerline goodness [0,1] 0.9928275862068966 Centerline is valid? [True, True] Translation: X:253.09, Y:-15.25, Z:-3.47 [[ 9.99030135e-01 4.38437638e-02 4.06372708e-03 2.53088436e+02] [-4.38429936e-02 9.99038395e-01 -2.78459885e-04 -1.52486864e+01] [-4.07202810e-03 1.00023856e-04 9.99991704e-01 -3.47082926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92037174299998 meters Centerline goodness [0,1] 0.9935934367294265 Centerline is valid? [True, True] Translation: X:253.12, Y:-15.25, Z:-3.47 [[ 9.98946495e-01 4.56541453e-02 4.64751728e-03 2.53117242e+02] [-4.56531568e-02 9.98957300e-01 -3.18601762e-04 -1.52500074e+01] [-4.65721681e-03 1.06092278e-04 9.99989149e-01 -3.47085214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95037174299998 meters Centerline goodness [0,1] 0.9925845749948184 Centerline is valid? [True, True] Translation: X:253.14, Y:-15.26, Z:-3.47 [[ 9.98858647e-01 4.73332443e-02 6.40058907e-03 2.53144875e+02] [-4.73314061e-02 9.98879145e-01 -4.38445012e-04 -1.52559406e+01] [-6.41416797e-03 1.34995711e-04 9.99979420e-01 -3.47275904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98037174299998 meters Centerline goodness [0,1] 0.9930342521047169 Centerline is valid? [True, True] Translation: X:253.17, Y:-15.26, Z:-3.47 [[ 9.98874299e-01 4.69266840e-02 6.92973898e-03 2.53172670e+02] [-4.69245284e-02 9.98898325e-01 -4.73418908e-04 -1.52575950e+01] [-6.94432064e-03 1.47711246e-04 9.99975877e-01 -3.47217557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01037174299998 meters Centerline goodness [0,1] 0.9917766171889316 Centerline is valid? [True, True] Translation: X:253.20, Y:-15.26, Z:-3.47 [[ 9.98996947e-01 4.42254443e-02 7.01494049e-03 2.53200543e+02] [-4.42231751e-02 9.99021562e-01 -4.78335983e-04 -1.52647753e+01] [-7.02923143e-03 1.67633245e-04 9.99975281e-01 -3.47361444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04037174299998 meters Centerline goodness [0,1] 0.9923366372980911 Centerline is valid? [True, True] Translation: X:253.23, Y:-15.27, Z:-3.48 [[ 9.99102269e-01 4.17759139e-02 7.03051230e-03 2.53228547e+02] [-4.17735785e-02 9.99126988e-01 -4.78777024e-04 -1.52700848e+01] [-7.04437593e-03 1.84657554e-04 9.99975171e-01 -3.47503331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07037174299998 meters Centerline goodness [0,1] 0.9923721998851235 Centerline is valid? [True, True] Translation: X:253.26, Y:-15.27, Z:-3.48 [[ 9.99224785e-01 3.88180136e-02 6.55675751e-03 2.53258252e+02] [-3.88159249e-02 9.99246279e-01 -4.45559367e-04 -1.52747745e+01] [-6.56911127e-03 1.90707355e-04 9.99978405e-01 -3.47617081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10037174299998 meters Centerline goodness [0,1] 0.9910904957633929 Centerline is valid? [True, True] Translation: X:253.29, Y:-15.28, Z:-3.48 [[ 9.99335345e-01 3.59209476e-02 6.20914922e-03 2.53285713e+02] [-3.59190177e-02 9.99354615e-01 -4.22073918e-04 -1.52832763e+01] [-6.22030322e-03 1.98766844e-04 9.99980634e-01 -3.47800351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13037174299998 meters Centerline goodness [0,1] 0.9909018173505544 Centerline is valid? [True, True] Translation: X:253.31, Y:-15.29, Z:-3.48 [[ 9.99551906e-01 2.93466449e-02 5.89584938e-03 2.53314595e+02] [-2.93447964e-02 9.99569269e-01 -3.99806660e-04 -1.52944308e+01] [-5.90504284e-03 2.26615009e-04 9.99982539e-01 -3.47964936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16037174299998 meters Centerline goodness [0,1] 0.9903315547042459 Centerline is valid? [True, True] Translation: X:253.34, Y:-15.30, Z:-3.48 [[ 9.99683867e-01 2.43557144e-02 6.24224215e-03 2.53342790e+02] [-2.43535451e-02 9.99703319e-01 -4.23303575e-04 -1.53046892e+01] [-6.25070006e-03 2.71149029e-04 9.99980427e-01 -3.48107916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.190371743 meters Centerline goodness [0,1] 0.9901963019538998 Centerline is valid? [True, True] Translation: X:253.37, Y:-15.31, Z:-3.48 [[ 9.99728052e-01 2.24843422e-02 6.18682734e-03 2.53371777e+02] [-2.24821751e-02 9.99747156e-01 -4.19620898e-04 -1.53107950e+01] [-6.19469794e-03 2.80413447e-04 9.99980773e-01 -3.48212580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220371743 meters Centerline goodness [0,1] 0.9910400802516985 Centerline is valid? [True, True] Translation: X:253.40, Y:-15.31, Z:-3.48 [[ 9.99762108e-01 2.08143238e-02 6.51857925e-03 2.53401160e+02] [-2.08118818e-02 9.99783312e-01 -4.42229568e-04 -1.53086032e+01] [-6.52637146e-03 3.06460464e-04 9.99978656e-01 -3.48129052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.250371743 meters Centerline goodness [0,1] 0.9902921450494486 Centerline is valid? [True, True] Translation: X:253.43, Y:-15.32, Z:-3.48 [[ 9.99820529e-01 1.75077333e-02 7.23806198e-03 2.53430571e+02] [-1.75046430e-02 9.99846662e-01 -4.90093749e-04 -1.53150018e+01] [-7.24553254e-03 3.63306101e-04 9.99973685e-01 -3.48187939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280371743 meters Centerline goodness [0,1] 0.9903463940942646 Centerline is valid? [True, True] Translation: X:253.46, Y:-15.32, Z:-3.48 [[ 9.99837827e-01 1.63803802e-02 7.48349906e-03 2.53458910e+02] [-1.63770451e-02 9.99865759e-01 -5.06720358e-04 -1.53174155e+01] [-7.49079474e-03 3.84080580e-04 9.99971870e-01 -3.48224179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.310371743 meters Centerline goodness [0,1] 0.9896292926995679 Centerline is valid? [True, True] Translation: X:253.49, Y:-15.33, Z:-3.48 [[ 9.99862820e-01 1.48104802e-02 7.41561202e-03 2.53486511e+02] [-1.48071696e-02 9.99890242e-01 -5.01137774e-04 -1.53266767e+01] [-7.42222019e-03 3.91264803e-04 9.99972378e-01 -3.48379133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340371743 meters Centerline goodness [0,1] 0.989155587821589 Centerline is valid? [True, True] Translation: X:253.52, Y:-15.33, Z:-3.48 [[ 9.99875052e-01 1.39889646e-02 7.36135180e-03 2.53515516e+02] [-1.39856789e-02 9.99902072e-01 -4.97631834e-04 -1.53303520e+01] [-7.36759227e-03 3.94616153e-04 9.99972781e-01 -3.48483430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.370371743 meters Centerline goodness [0,1] 0.9895285584768813 Centerline is valid? [True, True] Translation: X:253.54, Y:-15.33, Z:-3.49 [[ 9.99885534e-01 1.33274637e-02 7.16220101e-03 2.53544217e+02] [-1.33243380e-02 9.99911110e-01 -4.83970643e-04 -1.53322924e+01] [-7.16801447e-03 3.88483658e-04 9.99974234e-01 -3.48527141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40037174299997 meters Centerline goodness [0,1] 0.9898909766767152 Centerline is valid? [True, True] Translation: X:253.57, Y:-15.34, Z:-3.49 [[ 9.99889455e-01 1.27515148e-02 7.64697687e-03 2.53572583e+02] [-1.27479394e-02 9.99918609e-01 -5.16114239e-04 -1.53353769e+01] [-7.65293571e-03 4.18573987e-04 9.99970628e-01 -3.48571335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43037174299997 meters Centerline goodness [0,1] 0.9893812538288749 Centerline is valid? [True, True] Translation: X:253.60, Y:-15.34, Z:-3.49 [[ 9.99893344e-01 1.14931023e-02 9.01164063e-03 2.53602242e+02] [-1.14880955e-02 9.99933825e-01 -6.07155183e-04 -1.53401920e+01] [-9.01802239e-03 5.03563838e-04 9.99959210e-01 -3.48578720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46037174299997 meters Centerline goodness [0,1] 0.989837352267314 Centerline is valid? [True, True] Translation: X:253.63, Y:-15.34, Z:-3.49 [[ 9.99902089e-01 1.01350058e-02 9.64850808e-03 2.53632537e+02] [-1.01292090e-02 9.99948487e-01 -6.49478498e-04 -1.53426707e+01] [-9.65459353e-03 5.51683153e-04 9.99953241e-01 -3.48590419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49037174299997 meters Centerline goodness [0,1] 0.9880539499036609 Centerline is valid? [True, True] Translation: X:253.66, Y:-15.35, Z:-3.49 [[ 9.99909829e-01 8.66604422e-03 1.02582995e-02 2.53662804e+02] [-8.65941539e-03 9.99962268e-01 -6.90433075e-04 -1.53484173e+01] [-1.02638957e-02 6.01539942e-04 9.99947144e-01 -3.48705396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52037174299997 meters Centerline goodness [0,1] 0.9886428165814878 Centerline is valid? [True, True] Translation: X:253.69, Y:-15.35, Z:-3.49 [[ 9.99913942e-01 8.35881610e-03 1.01113191e-02 2.53694342e+02] [-8.35235947e-03 9.99964887e-01 -6.80614153e-04 -1.53483889e+01] [-1.01166532e-02 5.96102208e-04 9.99948648e-01 -3.48747434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55037174299997 meters Centerline goodness [0,1] 0.9879296653431651 Centerline is valid? [True, True] Translation: X:253.73, Y:-15.35, Z:-3.49 [[ 9.99909144e-01 8.40279159e-03 1.05402202e-02 2.53725539e+02] [-8.39578412e-03 9.99964504e-01 -7.08904757e-04 -1.53534126e+01] [-1.05458028e-02 6.20346936e-04 9.99944199e-01 -3.48842576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58037174299997 meters Centerline goodness [0,1] 0.988445854100589 Centerline is valid? [True, True] Translation: X:253.76, Y:-15.36, Z:-3.49 [[ 9.99909042e-01 8.63709742e-03 1.03589276e-02 2.53756621e+02] [-8.63031670e-03 9.99962514e-01 -6.99101293e-04 -1.53557967e+01] [-1.03645775e-02 6.09636878e-04 9.99946100e-01 -3.48953587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61037174299997 meters Centerline goodness [0,1] 0.988445854100589 Centerline is valid? [True, True] Translation: X:253.79, Y:-15.36, Z:-3.49 [[ 9.99908744e-01 8.67183185e-03 1.03587019e-02 2.53787446e+02] [-8.66501864e-03 9.99962211e-01 -7.02428597e-04 -1.53579178e+01] [-1.03644018e-02 6.12606151e-04 9.99946100e-01 -3.49001570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64037174299997 meters Centerline goodness [0,1] 0.9873446327683616 Centerline is valid? [True, True] Translation: X:253.82, Y:-15.36, Z:-3.49 [[ 9.99905128e-01 8.84055554e-03 1.05631196e-02 2.53818495e+02] [-8.83347614e-03 9.99960727e-01 -7.16668580e-04 -1.53592731e+01] [-1.05690405e-02 6.23291523e-04 9.99943952e-01 -3.49069874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67037174299998 meters Centerline goodness [0,1] 0.987748261883733 Centerline is valid? [True, True] Translation: X:253.85, Y:-15.36, Z:-3.49 [[ 9.99906262e-01 8.95106367e-03 1.03607782e-02 2.53849938e+02] [-8.94425517e-03 9.99959752e-01 -7.03292367e-04 -1.53615661e+01] [-1.03666564e-02 6.10556998e-04 9.99946078e-01 -3.49127921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70037174299998 meters Centerline goodness [0,1] 0.9876604704870152 Centerline is valid? [True, True] Translation: X:253.88, Y:-15.36, Z:-3.49 [[ 9.99885685e-01 1.04344996e-02 1.09424563e-02 2.53881752e+02] [-1.04269911e-02 9.99945361e-01 -7.43014013e-04 -1.53628229e+01] [-1.09496114e-02 6.28832182e-04 9.99939853e-01 -3.49216822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73037174299998 meters Centerline goodness [0,1] 0.987857191493225 Centerline is valid? [True, True] Translation: X:253.91, Y:-15.36, Z:-3.49 [[ 9.99879449e-01 1.08976380e-02 1.10602627e-02 2.53913042e+02] [-1.08899842e-02 9.99940420e-01 -7.52004364e-04 -1.53643714e+01] [-1.10677988e-02 6.31467623e-04 9.99938551e-01 -3.49279548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76037174299998 meters Centerline goodness [0,1] 0.987758346581876 Centerline is valid? [True, True] Translation: X:253.94, Y:-15.36, Z:-3.49 [[ 9.99860969e-01 1.21824242e-02 1.13855841e-02 2.53944238e+02] [-1.21743907e-02 9.99925589e-01 -7.74630916e-04 -1.53620987e+01] [-1.13941737e-02 6.35910669e-04 9.99934882e-01 -3.49277179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79037174299998 meters Centerline goodness [0,1] 0.9877300613496932 Centerline is valid? [True, True] Translation: X:253.98, Y:-15.36, Z:-3.49 [[ 9.99856007e-01 1.24445582e-02 1.15368026e-02 2.53975262e+02] [-1.24363266e-02 9.99922358e-01 -7.84969648e-04 -1.53642322e+01] [-1.15456755e-02 6.41381172e-04 9.99933141e-01 -3.49294509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82037174299998 meters Centerline goodness [0,1] 0.988506791441421 Centerline is valid? [True, True] Translation: X:254.01, Y:-15.37, Z:-3.49 [[ 9.99847363e-01 1.27874277e-02 1.19051750e-02 2.54006250e+02] [-1.27786811e-02 9.99918021e-01 -8.10468322e-04 -1.53651452e+01] [-1.19145628e-02 6.58212180e-04 9.99928802e-01 -3.49328400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85037174299998 meters Centerline goodness [0,1] 0.9879810969237061 Centerline is valid? [True, True] Translation: X:254.04, Y:-15.36, Z:-3.49 [[ 9.99838900e-01 1.33705417e-02 1.19750548e-02 2.54038000e+02] [-1.33617287e-02 9.99910395e-01 -8.15650758e-04 -1.53640267e+01] [-1.19848875e-02 6.55511923e-04 9.99927964e-01 -3.49449841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88037174299998 meters Centerline goodness [0,1] 0.9878369792139421 Centerline is valid? [True, True] Translation: X:254.07, Y:-15.37, Z:-3.50 [[ 9.99836913e-01 1.35377364e-02 1.19531072e-02 2.54067668e+02] [-1.35289617e-02 9.99908148e-01 -8.14653087e-04 -1.53693378e+01] [-1.19630378e-02 6.52807099e-04 9.99928227e-01 -3.49554470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91037174299998 meters Centerline goodness [0,1] 0.9872882319499716 Centerline is valid? [True, True] Translation: X:254.10, Y:-15.37, Z:-3.50 [[ 9.99830077e-01 1.41778192e-02 1.17816340e-02 2.54098009e+02] [-1.41693355e-02 9.99899287e-01 -8.03240687e-04 -1.53701233e+01] [-1.17918356e-02 6.36166273e-04 9.99930272e-01 -3.49639317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940371743 meters Centerline goodness [0,1] 0.988807498066336 Centerline is valid? [True, True] Translation: X:254.13, Y:-15.37, Z:-3.50 [[ 9.99819019e-01 1.47320701e-02 1.20372606e-02 2.54129103e+02] [-1.47232543e-02 9.99891270e-01 -8.20668635e-04 -1.53684017e+01] [-1.20480420e-02 6.43292460e-04 9.99927213e-01 -3.49627804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.970371743 meters Centerline goodness [0,1] 0.9881691807157645 Centerline is valid? [True, True] Translation: X:254.16, Y:-15.37, Z:-3.50 [[ 9.99802351e-01 1.56015437e-02 1.23227805e-02 2.54158726e+02] [-1.55923698e-02 9.99878079e-01 -8.40191478e-04 -1.53715879e+01] [-1.23343864e-02 6.47884064e-04 9.99923719e-01 -3.49656768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000371743 meters Centerline goodness [0,1] 0.988941476290161 Centerline is valid? [True, True] Translation: X:254.19, Y:-15.37, Z:-3.50 [[ 9.99783907e-01 1.70977706e-02 1.18239440e-02 2.54189218e+02] [-1.70894312e-02 9.99853640e-01 -8.05980640e-04 -1.53692005e+01] [-1.18359939e-02 6.03741996e-04 9.99929770e-01 -3.49711636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.030371743 meters Centerline goodness [0,1] 0.9890634592210272 Centerline is valid? [True, True] Translation: X:254.22, Y:-15.37, Z:-3.50 [[ 9.99774368e-01 1.75816021e-02 1.19206000e-02 2.54218937e+02] [-1.75731618e-02 9.99845250e-01 -8.12423591e-04 -1.53683766e+01] [-1.19330390e-02 6.02757649e-04 9.99928617e-01 -3.49742510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060371743 meters Centerline goodness [0,1] 0.9891774891774892 Centerline is valid? [True, True] Translation: X:254.25, Y:-15.37, Z:-3.50 [[ 9.99770318e-01 1.80302758e-02 1.15853601e-02 2.54248938e+02] [-1.80223383e-02 9.99837273e-01 -7.89177926e-04 -1.53688952e+01] [-1.15977040e-02 5.80201387e-04 9.99932576e-01 -3.49760777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.090371743 meters Centerline goodness [0,1] 0.990498272413166 Centerline is valid? [True, True] Translation: X:254.28, Y:-15.37, Z:-3.50 [[ 9.99776788e-01 1.76460997e-02 1.16184830e-02 2.54278058e+02] [-1.76380948e-02 9.99844124e-01 -7.91090404e-04 -1.53704379e+01] [-1.16306316e-02 5.85985918e-04 9.99932190e-01 -3.49803792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120371743 meters Centerline goodness [0,1] 0.9905417416869886 Centerline is valid? [True, True] Translation: X:254.31, Y:-15.37, Z:-3.50 [[ 9.99786715e-01 1.72753826e-02 1.13174826e-02 2.54306476e+02] [-1.72677691e-02 9.99850604e-01 -7.70095346e-04 -1.53704255e+01] [-1.13290955e-02 5.74503420e-04 9.99935659e-01 -3.49856841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15037174299997 meters Centerline goodness [0,1] 0.9909619402307204 Centerline is valid? [True, True] Translation: X:254.33, Y:-15.37, Z:-3.50 [[ 9.99811584e-01 1.58779188e-02 1.11663859e-02 2.54334708e+02] [-1.58704300e-02 9.99873769e-01 -7.58952905e-04 -1.53725916e+01] [-1.11770269e-02 5.81594560e-04 9.99937366e-01 -3.49906526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18037174299997 meters Centerline goodness [0,1] 0.99084303318831 Centerline is valid? [True, True] Translation: X:254.36, Y:-15.37, Z:-3.50 [[ 9.99828966e-01 1.49324399e-02 1.09115490e-02 2.54364231e+02] [-1.49252399e-02 9.99888338e-01 -7.40992911e-04 -1.53743108e+01] [-1.09213954e-02 5.78008690e-04 9.99940193e-01 -3.49899510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21037174299997 meters Centerline goodness [0,1] 0.9891661344767814 Centerline is valid? [True, True] Translation: X:254.39, Y:-15.37, Z:-3.50 [[ 9.99851387e-01 1.25854966e-02 1.17817278e-02 2.54394683e+02] [-1.25769468e-02 9.99920587e-01 -7.99497116e-04 -1.53749131e+01] [-1.17908543e-02 6.51200137e-04 9.99930273e-01 -3.49901397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24037174299997 meters Centerline goodness [0,1] 0.988831009303701 Centerline is valid? [True, True] Translation: X:254.42, Y:-15.38, Z:-3.50 [[ 9.99856729e-01 1.14762335e-02 1.24425748e-02 2.54424771e+02] [-1.14666146e-02 9.99933900e-01 -8.44123685e-04 -1.53786623e+01] [-1.24514397e-02 7.01328536e-04 9.99922232e-01 -3.49930661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27037174299997 meters Centerline goodness [0,1] 0.9885078438526085 Centerline is valid? [True, True] Translation: X:254.45, Y:-15.39, Z:-3.50 [[ 9.99884167e-01 7.91920126e-03 1.29976691e-02 2.54454789e+02] [-7.90839117e-03 9.99968338e-01 -8.82882285e-04 -1.53857234e+01] [-1.30042493e-02 7.79989366e-04 9.99915137e-01 -3.50022541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30037174299997 meters Centerline goodness [0,1] 0.9884805766554894 Centerline is valid? [True, True] Translation: X:254.49, Y:-15.39, Z:-3.50 [[ 9.99900748e-01 6.16331520e-03 1.26691770e-02 2.54486274e+02] [-6.15290913e-03 9.99980701e-01 -8.60183228e-04 -1.53889005e+01] [-1.26742341e-02 7.82145558e-04 9.99919373e-01 -3.50099866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33037174299997 meters Centerline goodness [0,1] 0.9886905169072212 Centerline is valid? [True, True] Translation: X:254.52, Y:-15.39, Z:-3.50 [[ 9.99914410e-01 3.74587161e-03 1.25355799e-02 2.54516960e+02] [-3.73545144e-03 9.99992658e-01 -8.54558407e-04 -1.53930588e+01] [-1.25386889e-02 8.07659216e-04 9.99921061e-01 -3.50204177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36037174299997 meters Centerline goodness [0,1] 0.9883218975780433 Centerline is valid? [True, True] Translation: X:254.55, Y:-15.40, Z:-3.50 [[ 9.99934029e-01 -9.47729608e-04 1.14472231e-02 2.54546927e+02] [ 9.56727736e-04 9.99999238e-01 -7.80602765e-04 -1.53982731e+01] [-1.14464746e-02 7.91503144e-04 9.99934174e-01 -3.50357195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39037174299997 meters Centerline goodness [0,1] 0.9880126469986125 Centerline is valid? [True, True] Translation: X:254.58, Y:-15.40, Z:-3.50 [[ 9.99939223e-01 -3.07575590e-03 1.05872716e-02 2.54577846e+02] [ 3.08357101e-03 9.99994985e-01 -7.21916696e-04 -1.54027959e+01] [-1.05849981e-02 7.54519424e-04 9.99943693e-01 -3.50493608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42037174299998 meters Centerline goodness [0,1] 0.9883130197061168 Centerline is valid? [True, True] Translation: X:254.61, Y:-15.41, Z:-3.51 [[ 9.99943293e-01 -6.74318576e-03 8.24259022e-03 2.54607960e+02] [ 6.74804804e-03 9.99977074e-01 -5.62228077e-04 -1.54058065e+01] [-8.23861004e-03 6.17817589e-04 9.99965871e-01 -3.50634532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45037174299998 meters Centerline goodness [0,1] 0.9889242665453718 Centerline is valid? [True, True] Translation: X:254.64, Y:-15.41, Z:-3.51 [[ 9.99943693e-01 -7.61948354e-03 7.38613215e-03 2.54640547e+02] [ 7.62340762e-03 9.99970815e-01 -5.03267823e-04 -1.54062090e+01] [-7.38208194e-03 5.59546981e-04 9.99972596e-01 -3.50761464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48037174299998 meters Centerline goodness [0,1] 0.9890803811608079 Centerline is valid? [True, True] Translation: X:254.67, Y:-15.41, Z:-3.51 [[ 9.99946750e-01 -8.04547311e-03 6.46278905e-03 2.54671223e+02] [ 8.04848529e-03 9.99967514e-01 -4.40207760e-04 -1.54101794e+01] [-6.45903742e-03 4.92199982e-04 9.99979019e-01 -3.50871717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51037174299998 meters Centerline goodness [0,1] 0.9891939850308256 Centerline is valid? [True, True] Translation: X:254.70, Y:-15.41, Z:-3.51 [[ 9.99952624e-01 -7.81276389e-03 5.80606150e-03 2.54703326e+02] [ 7.81519164e-03 9.99969383e-01 -3.95569976e-04 -1.54141225e+01] [-5.80279324e-03 4.40926719e-04 9.99983066e-01 -3.51001862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54037174299998 meters Centerline goodness [0,1] 0.9898946218449143 Centerline is valid? [True, True] Translation: X:254.74, Y:-15.41, Z:-3.51 [[ 9.99963950e-01 -6.95935328e-03 4.86475350e-03 2.54736259e+02] [ 6.96105306e-03 9.99975716e-01 -3.32561389e-04 -1.54106712e+01] [-4.86232095e-03 3.66413208e-04 9.99988112e-01 -3.51065028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57037174299998 meters Centerline goodness [0,1] 0.9893357639284494 Centerline is valid? [True, True] Translation: X:254.77, Y:-15.41, Z:-3.51 [[ 9.99972352e-01 -5.85225808e-03 4.58759009e-03 2.54767093e+02] [ 5.85375767e-03 9.99982817e-01 -3.13521879e-04 -1.54123088e+01] [-4.58567645e-03 3.40367851e-04 9.99989428e-01 -3.51128340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60037174299998 meters Centerline goodness [0,1] 0.989941840574752 Centerline is valid? [True, True] Translation: X:254.80, Y:-15.41, Z:-3.51 [[ 9.99980319e-01 -4.17875396e-03 4.67970654e-03 2.54799108e+02] [ 4.18030395e-03 9.99991211e-01 -3.21482591e-04 -1.54117434e+01] [-4.67832201e-03 3.41038860e-04 9.99988998e-01 -3.51120986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63037174299998 meters Centerline goodness [0,1] 0.9886185153991487 Centerline is valid? [True, True] Translation: X:254.83, Y:-15.41, Z:-3.51 [[ 9.99982221e-01 -7.81337032e-04 5.91156192e-03 2.54828294e+02] [ 7.83759294e-04 9.99999610e-01 -4.07444381e-04 -1.54115580e+01] [-5.91124126e-03 4.12070379e-04 9.99982444e-01 -3.51086465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66037174299998 meters Centerline goodness [0,1] 0.9893035906109295 Centerline is valid? [True, True] Translation: X:254.86, Y:-15.41, Z:-3.51 [[ 9.99981421e-01 1.04081758e-03 6.00620603e-03 2.54860465e+02] [-1.03835615e-03 9.99999376e-01 -4.12918295e-04 -1.54085002e+01] [-6.00663205e-03 4.06674042e-04 9.99981877e-01 -3.51046021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.690371743 meters Centerline goodness [0,1] 0.9882877730756033 Centerline is valid? [True, True] Translation: X:254.89, Y:-15.41, Z:-3.51 [[ 9.99975087e-01 2.88429847e-03 6.44257183e-03 2.54890407e+02] [-2.88149919e-03 9.99995750e-01 -4.43737933e-04 -1.54122102e+01] [-6.44382432e-03 4.25162612e-04 9.99979148e-01 -3.51086470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720371743 meters Centerline goodness [0,1] 0.9903323124742881 Centerline is valid? [True, True] Translation: X:254.92, Y:-15.41, Z:-3.51 [[ 9.99958136e-01 5.47430006e-03 7.33196954e-03 2.54921474e+02] [-5.47074155e-03 9.99984908e-01 -5.05310127e-04 -1.54060399e+01] [-7.33462510e-03 4.65177662e-04 9.99972993e-01 -3.51043142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.750371743 meters Centerline goodness [0,1] 0.9891648988343712 Centerline is valid? [True, True] Translation: X:254.95, Y:-15.41, Z:-3.51 [[ 9.99949849e-01 6.26805793e-03 7.81094899e-03 2.54951939e+02] [-6.26405193e-03 9.99980236e-01 -5.37228887e-04 -1.54139960e+01] [-7.81416200e-03 4.88273754e-04 9.99969350e-01 -3.51147181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780371743 meters Centerline goodness [0,1] 0.9907950174024547 Centerline is valid? [True, True] Translation: X:254.98, Y:-15.41, Z:-3.51 [[ 9.99939845e-01 7.51507090e-03 7.98936633e-03 2.54983576e+02] [-7.51090217e-03 9.99971641e-01 -5.51661304e-04 -1.54063962e+01] [-7.99328553e-03 4.91620770e-04 9.99967932e-01 -3.51034189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.810371743 meters Centerline goodness [0,1] 0.9892739273927392 Centerline is valid? [True, True] Translation: X:255.02, Y:-15.41, Z:-3.51 [[ 9.99935957e-01 8.43349451e-03 7.54701121e-03 2.55015040e+02] [-8.42980160e-03 9.99964333e-01 -5.20998653e-04 -1.54062457e+01] [-7.55113587e-03 4.57345479e-04 9.99971385e-01 -3.51085120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840371743 meters Centerline goodness [0,1] 0.9897414760367291 Centerline is valid? [True, True] Translation: X:255.05, Y:-15.41, Z:-3.51 [[ 9.99924856e-01 9.40560009e-03 7.86240315e-03 2.55045246e+02] [-9.40161853e-03 9.99955656e-01 -5.43213506e-04 -1.54115211e+01] [-7.86716375e-03 4.69253372e-04 9.99968943e-01 -3.51158068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.870371743 meters Centerline goodness [0,1] 0.990416580691015 Centerline is valid? [True, True] Translation: X:255.08, Y:-15.41, Z:-3.51 [[ 9.99912447e-01 1.09248111e-02 7.46633755e-03 2.55075803e+02] [-1.09212597e-02 9.99940228e-01 -5.16255078e-04 -1.54066116e+01] [-7.47153126e-03 4.34668067e-04 9.99971993e-01 -3.51161132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90037174299997 meters Centerline goodness [0,1] 0.9899368767724819 Centerline is valid? [True, True] Translation: X:255.11, Y:-15.41, Z:-3.51 [[ 9.99902227e-01 1.19754063e-02 7.21985266e-03 2.55105110e+02] [-1.19721127e-02 9.99928207e-01 -4.99238195e-04 -1.54079696e+01] [-7.22531291e-03 4.12752493e-04 9.99973812e-01 -3.51221269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93037174299997 meters Centerline goodness [0,1] 0.9902966072534581 Centerline is valid? [True, True] Translation: X:255.13, Y:-15.41, Z:-3.51 [[ 9.99902426e-01 1.22714168e-02 6.67463662e-03 2.55133893e+02] [-1.22686077e-02 9.99924631e-01 -4.61654742e-04 -1.54090513e+01] [-6.67979872e-03 3.79721198e-04 9.99977618e-01 -3.51307511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96037174299997 meters Centerline goodness [0,1] 0.9902464772570799 Centerline is valid? [True, True] Translation: X:255.16, Y:-15.41, Z:-3.51 [[ 9.99906800e-01 1.24412216e-02 5.62197707e-03 2.55162402e+02] [-1.24392336e-02 9.99922554e-01 -3.88445703e-04 -1.54110042e+01] [-5.62637441e-03 3.18476414e-04 9.99984121e-01 -3.51451808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99037174299997 meters Centerline goodness [0,1] 0.9896916683885484 Centerline is valid? [True, True] Translation: X:255.19, Y:-15.41, Z:-3.52 [[ 9.99910548e-01 1.23680106e-02 5.09204594e-03 2.55190228e+02] [-1.23663780e-02 9.99923471e-01 -3.51994472e-04 -1.54141539e+01] [-5.09600972e-03 2.88992821e-04 9.99986973e-01 -3.51624763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.020371743 meters Centerline goodness [0,1] 0.9890160499228591 Centerline is valid? [True, True] Translation: X:255.22, Y:-15.42, Z:-3.52 [[ 9.99917724e-01 1.19249206e-02 4.72658545e-03 2.55219326e+02] [-1.19235113e-02 9.99928859e-01 -3.26226194e-04 -1.54164993e+01] [-4.73013941e-03 2.69841858e-04 9.99988776e-01 -3.51736167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.050371743 meters Centerline goodness [0,1] 0.9903435937428322 Centerline is valid? [True, True] Translation: X:255.25, Y:-15.41, Z:-3.52 [[ 9.99918907e-01 1.19915117e-02 4.28759448e-03 2.55248537e+02] [-1.19903534e-02 9.99928069e-01 -2.95758441e-04 -1.54147569e+01] [-4.29083266e-03 2.44324684e-04 9.99990764e-01 -3.51712793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.080371743 meters Centerline goodness [0,1] 0.9895050412465628 Centerline is valid? [True, True] Translation: X:255.28, Y:-15.42, Z:-3.52 [[ 9.99921323e-01 1.18755924e-02 4.03968762e-03 2.55277285e+02] [-1.18745641e-02 9.99929456e-01 -2.78436706e-04 -1.54161945e+01] [-4.04270925e-03 2.30445270e-04 9.99991802e-01 -3.51776070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11037174300003 meters Centerline goodness [0,1] 0.9900110476891917 Centerline is valid? [True, True] Translation: X:255.31, Y:-15.42, Z:-3.52 [[ 9.99925234e-01 1.16785184e-02 3.62478756e-03 2.55306104e+02] [-1.16776897e-02 9.99931782e-01 -2.49711345e-04 -1.54160456e+01] [-3.62745655e-03 2.07363530e-04 9.99993399e-01 -3.51767352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.140371743 meters Centerline goodness [0,1] 0.9902176908239184 Centerline is valid? [True, True] Translation: X:255.33, Y:-15.42, Z:-3.52 [[ 9.99931165e-01 1.10383759e-02 3.97743891e-03 2.55333971e+02] [-1.10373738e-02 9.99939049e-01 -2.73810540e-04 -1.54195275e+01] [-3.98021890e-03 2.29891212e-04 9.99992052e-01 -3.51862972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17037174300003 meters Centerline goodness [0,1] 0.9898818400825973 Centerline is valid? [True, True] Translation: X:255.36, Y:-15.43, Z:-3.52 [[ 9.99932566e-01 1.06554525e-02 4.61784965e-03 2.55361526e+02] [-1.06541056e-02 9.99943193e-01 -3.16167619e-04 -1.54295031e+01] [-4.62095623e-03 2.66947241e-04 9.99989288e-01 -3.52026501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.200371743 meters Centerline goodness [0,1] 0.9887982773628992 Centerline is valid? [True, True] Translation: X:255.39, Y:-15.43, Z:-3.52 [[ 9.99947637e-01 9.12075990e-03 4.64048722e-03 2.55390651e+02] [-9.11938165e-03 9.99958367e-01 -3.18077430e-04 -1.54345882e+01] [-4.64319513e-03 2.75742401e-04 9.99989182e-01 -3.52088016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23037174300003 meters Centerline goodness [0,1] 0.9902487151248165 Centerline is valid? [True, True] Translation: X:255.42, Y:-15.43, Z:-3.52 [[ 9.99957618e-01 8.11987002e-03 4.33944420e-03 2.55421085e+02] [-8.11865472e-03 9.99966999e-01 -2.97600259e-04 -1.54298125e+01] [-4.34171747e-03 2.62357197e-04 9.99990540e-01 -3.51992417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.260371743 meters Centerline goodness [0,1] 0.990470954737035 Centerline is valid? [True, True] Translation: X:255.45, Y:-15.43, Z:-3.52 [[ 9.99966812e-01 7.13598532e-03 3.93105746e-03 2.55449703e+02] [-7.13498000e-03 9.99974509e-01 -2.69702027e-04 -1.54346319e+01] [-3.93288184e-03 2.41645060e-04 9.99992237e-01 -3.52078668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.290371743 meters Centerline goodness [0,1] 0.990682944740224 Centerline is valid? [True, True] Translation: X:255.48, Y:-15.44, Z:-3.52 [[ 9.99978063e-01 5.58672074e-03 3.55850456e-03 2.55479224e+02] [-5.58588829e-03 9.99984369e-01 -2.43829284e-04 -1.54357466e+01] [-3.55981115e-03 2.23946526e-04 9.99993639e-01 -3.52137907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.320371743 meters Centerline goodness [0,1] 0.9900480360385208 Centerline is valid? [True, True] Translation: X:255.51, Y:-15.44, Z:-3.52 [[ 9.99981973e-01 5.10330442e-03 3.16375855e-03 2.55508976e+02] [-5.10264486e-03 9.99986958e-01 -2.16508282e-04 -1.54393369e+01] [-3.16482219e-03 2.00360843e-04 9.99994972e-01 -3.52216287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.350371743 meters Centerline goodness [0,1] 0.9898162801899126 Centerline is valid? [True, True] Translation: X:255.54, Y:-15.44, Z:-3.52 [[ 9.99980979e-01 5.26647746e-03 3.21023633e-03 2.55537967e+02] [-5.26579942e-03 9.99986111e-01 -2.19626248e-04 -1.54422146e+01] [-3.21134840e-03 2.02717610e-04 9.99994823e-01 -3.52256570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380371743 meters Centerline goodness [0,1] 0.9897744429702154 Centerline is valid? [True, True] Translation: X:255.57, Y:-15.45, Z:-3.52 [[ 9.99976655e-01 5.20121257e-03 4.43131012e-03 2.55567144e+02] [-5.19992081e-03 9.99986434e-01 -3.02980584e-04 -1.54454259e+01] [-4.43282587e-03 2.79931049e-04 9.99990136e-01 -3.52157016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.410371743 meters Centerline goodness [0,1] 0.9900560064007315 Centerline is valid? [True, True] Translation: X:255.60, Y:-15.45, Z:-3.52 [[ 9.99968195e-01 5.47574570e-03 5.79868809e-03 2.55597702e+02] [-5.47354036e-03 9.99984942e-01 -3.96117436e-04 -1.54488826e+01] [-5.80076981e-03 3.64365485e-04 9.99983109e-01 -3.52120835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440371743 meters Centerline goodness [0,1] 0.9891418404124276 Centerline is valid? [True, True] Translation: X:255.63, Y:-15.45, Z:-3.52 [[ 9.99962076e-01 5.40218501e-03 6.83106562e-03 2.55627914e+02] [-5.39912279e-03 9.99985316e-01 -4.66640757e-04 -1.54520176e+01] [-6.83348619e-03 4.29741298e-04 9.99976559e-01 -3.52080303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.470371743 meters Centerline goodness [0,1] 0.9899015342340279 Centerline is valid? [True, True] Translation: X:255.66, Y:-15.45, Z:-3.52 [[ 9.99954547e-01 5.51081779e-03 7.78035276e-03 2.55659516e+02] [-5.50685070e-03 9.99984696e-01 -5.31217453e-04 -1.54530904e+01] [-7.78316113e-03 4.88348067e-04 9.99969591e-01 -3.51979918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500371743 meters Centerline goodness [0,1] 0.9896638463297508 Centerline is valid? [True, True] Translation: X:255.69, Y:-15.46, Z:-3.52 [[ 9.99935528e-01 6.10936757e-03 9.57160126e-03 2.55690244e+02] [-6.10339723e-03 9.99981161e-01 -6.52842396e-04 -1.54590771e+01] [-9.57540939e-03 5.94381022e-04 9.99953978e-01 -3.51971480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.530371743 meters Centerline goodness [0,1] 0.9896638463297508 Centerline is valid? [True, True] Translation: X:255.72, Y:-15.46, Z:-3.52 [[ 9.99934051e-01 6.34672222e-03 9.57145955e-03 2.55721996e+02] [-6.34074298e-03 9.99979683e-01 -6.54911443e-04 -1.54613153e+01] [-9.57542162e-03 5.94178088e-04 9.99953978e-01 -3.52020904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560371743 meters Centerline goodness [0,1] 0.9895604897660819 Centerline is valid? [True, True] Translation: X:255.75, Y:-15.46, Z:-3.52 [[ 9.99930346e-01 6.73304430e-03 9.69375303e-03 2.55754162e+02] [-6.72690666e-03 9.99977153e-01 -6.65620035e-04 -1.54631589e+01] [-9.69801320e-03 6.00364700e-04 9.99952793e-01 -3.52088986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.590371743 meters Centerline goodness [0,1] 0.9897723900189485 Centerline is valid? [True, True] Translation: X:255.79, Y:-15.47, Z:-3.52 [[ 9.99932296e-01 7.07401975e-03 9.23911684e-03 2.55786300e+02] [-7.06843988e-03 9.99974816e-01 -6.36454237e-04 -1.54658314e+01] [-9.24338645e-03 5.71105005e-04 9.99957116e-01 -3.52222275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620371743 meters Centerline goodness [0,1] 0.9889259293086127 Centerline is valid? [True, True] Translation: X:255.82, Y:-15.47, Z:-3.52 [[ 9.99936157e-01 6.97156572e-03 8.89261770e-03 2.55817010e+02] [-6.96637347e-03 9.99975546e-01 -6.14725007e-04 -1.54723256e+01] [-8.89668583e-03 5.52736465e-04 9.99960271e-01 -3.52364292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.650371743 meters Centerline goodness [0,1] 0.9900795913247736 Centerline is valid? [True, True] Translation: X:255.85, Y:-15.47, Z:-3.52 [[ 9.99940297e-01 7.14441714e-03 8.26804888e-03 2.55848048e+02] [-7.13990992e-03 9.99974345e-01 -5.74525167e-04 -1.54726597e+01] [-8.27194141e-03 5.15457742e-04 9.99965654e-01 -3.52473733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680371743 meters Centerline goodness [0,1] 0.9893709031318281 Centerline is valid? [True, True] Translation: X:255.88, Y:-15.48, Z:-3.53 [[ 9.99947960e-01 7.09387122e-03 7.33176932e-03 2.55878632e+02] [-7.09032426e-03 9.99974733e-01 -5.09659428e-04 -1.54777770e+01] [-7.33519953e-03 4.57648283e-04 9.99972992e-01 -3.52654061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.710371743 meters Centerline goodness [0,1] 0.9890645646329794 Centerline is valid? [True, True] Translation: X:255.91, Y:-15.48, Z:-3.53 [[ 9.99951041e-01 7.14650107e-03 6.84423682e-03 2.55910247e+02] [-7.14341002e-03 9.99974372e-01 -4.75968522e-04 -1.54812602e+01] [-6.84746293e-03 4.27054029e-04 9.99976465e-01 -3.52763772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740371743 meters Centerline goodness [0,1] 0.9888208374126272 Centerline is valid? [True, True] Translation: X:255.94, Y:-15.48, Z:-3.53 [[ 9.99956615e-01 7.02056968e-03 6.12209020e-03 2.55940904e+02] [-7.01809123e-03 9.99975282e-01 -4.26225724e-04 -1.54834439e+01] [-6.12493122e-03 3.83241845e-04 9.99981169e-01 -3.52875428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.770371743 meters Centerline goodness [0,1] 0.9885844229675952 Centerline is valid? [True, True] Translation: X:255.97, Y:-15.49, Z:-3.53 [[ 9.99963988e-01 6.89547921e-03 4.94713476e-03 2.55971120e+02] [-6.89386019e-03 9.99976178e-01 -3.44242066e-04 -1.54921925e+01] [-4.94939062e-03 3.10124814e-04 9.99987704e-01 -3.53092843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800371743 meters Centerline goodness [0,1] 0.9896409625936298 Centerline is valid? [True, True] Translation: X:256.00, Y:-15.49, Z:-3.53 [[ 9.99965063e-01 6.96005793e-03 4.62935534e-03 2.56002043e+02] [-6.95863976e-03 9.99975736e-01 -3.22379797e-04 -1.54933853e+01] [-4.63148679e-03 2.90154518e-04 9.99989233e-01 -3.53163066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.830371743 meters Centerline goodness [0,1] 0.9897945298680092 Centerline is valid? [True, True] Translation: X:256.03, Y:-15.50, Z:-3.53 [[ 9.99961384e-01 7.66612856e-03 4.29667724e-03 2.56031684e+02] [-7.66491338e-03 9.99970579e-01 -2.99212706e-04 -1.54988446e+01] [-4.29884463e-03 2.66267493e-04 9.99990724e-01 -3.53303457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86037174300003 meters Centerline goodness [0,1] 0.9893884769743555 Centerline is valid? [True, True] Translation: X:256.06, Y:-15.50, Z:-3.53 [[ 9.99956471e-01 8.49360103e-03 3.86189256e-03 2.56061361e+02] [-8.49262398e-03 9.99963901e-01 -2.69327036e-04 -1.55017450e+01] [-3.86404070e-03 2.36517711e-04 9.99992507e-01 -3.53376598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.890371743 meters Centerline goodness [0,1] 0.9897243960530793 Centerline is valid? [True, True] Translation: X:256.09, Y:-15.50, Z:-3.53 [[ 9.99930018e-01 1.08622129e-02 4.68732474e-03 2.56089950e+02] [-1.08607999e-02 9.99940966e-01 -3.26802047e-04 -1.55042213e+01] [-4.69059782e-03 2.75871081e-04 9.99988961e-01 -3.53409610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92037174300003 meters Centerline goodness [0,1] 0.9908813214164498 Centerline is valid? [True, True] Translation: X:256.12, Y:-15.50, Z:-3.53 [[ 9.99910151e-01 1.24633210e-02 4.93517475e-03 2.56119683e+02] [-1.24617754e-02 9.99922290e-01 -3.43812570e-04 -1.55003775e+01] [-4.93907629e-03 2.82280639e-04 9.99987763e-01 -3.53287331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.950371743 meters Centerline goodness [0,1] 0.9891609977324263 Centerline is valid? [True, True] Translation: X:256.15, Y:-15.51, Z:-3.53 [[ 9.99886099e-01 1.41816756e-02 5.16424839e-03 2.56148346e+02] [-1.41800085e-02 9.99899394e-01 -3.59284185e-04 -1.55067117e+01] [-5.16882409e-03 2.86014176e-04 9.99986601e-01 -3.53420951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98037174300003 meters Centerline goodness [0,1] 0.9901008000723229 Centerline is valid? [True, True] Translation: X:256.18, Y:-15.50, Z:-3.53 [[ 9.99861253e-01 1.58670004e-02 5.07089057e-03 2.56177471e+02] [-1.58654135e-02 9.99874074e-01 -3.53003901e-04 -1.54998843e+01] [-5.07585313e-03 2.72503147e-04 9.99987081e-01 -3.53315821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.010371743 meters Centerline goodness [0,1] 0.9896493020088526 Centerline is valid? [True, True] Translation: X:256.21, Y:-15.50, Z:-3.53 [[ 9.99833210e-01 1.75330444e-02 5.11322969e-03 2.56206895e+02] [-1.75314555e-02 9.99846249e-01 -3.55400972e-04 -1.55006816e+01] [-5.11867479e-03 2.65699336e-04 9.99986864e-01 -3.53376639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.040371743 meters Centerline goodness [0,1] 0.9906053092513819 Centerline is valid? [True, True] Translation: X:256.24, Y:-15.50, Z:-3.53 [[ 9.99768380e-01 2.08220018e-02 5.44348642e-03 2.56236002e+02] [-2.08202525e-02 9.99783164e-01 -3.77832396e-04 -1.55020993e+01] [-5.45017330e-03 2.64410121e-04 9.99985113e-01 -3.53452170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.070371743 meters Centerline goodness [0,1] 0.9905647477095583 Centerline is valid? [True, True] Translation: X:256.26, Y:-15.50, Z:-3.53 [[ 9.99734751e-01 2.23434249e-02 5.58558416e-03 2.56264652e+02] [-2.23416061e-02 9.99750320e-01 -3.87826602e-04 -1.55041019e+01] [-5.59285493e-03 2.62932811e-04 9.99984325e-01 -3.53498298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.100371743 meters Centerline goodness [0,1] 0.9903859266330288 Centerline is valid? [True, True] Translation: X:256.29, Y:-15.51, Z:-3.54 [[ 9.99710895e-01 2.33390731e-02 5.78057608e-03 2.56291771e+02] [-2.33371435e-02 9.99727571e-01 -4.01046865e-04 -1.55099739e+01] [-5.78836134e-03 2.66028786e-04 9.99983212e-01 -3.53606343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.130371743 meters Centerline goodness [0,1] 0.9904033758337493 Centerline is valid? [True, True] Translation: X:256.32, Y:-15.51, Z:-3.53 [[ 9.99667265e-01 2.50745871e-02 6.05180361e-03 2.56320621e+02] [-2.50725080e-02 9.99685547e-01 -4.19187834e-04 -1.55071473e+01] [-6.06041157e-03 2.67314460e-04 9.99981600e-01 -3.53490621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.160371743 meters Centerline goodness [0,1] 0.991360544217687 Centerline is valid? [True, True] Translation: X:256.35, Y:-15.51, Z:-3.54 [[ 9.99660370e-01 2.52693990e-02 6.37190909e-03 2.56348352e+02] [-2.52671003e-02 9.99680639e-01 -4.41012734e-04 -1.55116415e+01] [-6.38101827e-03 2.79863288e-04 9.99979602e-01 -3.53548912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.190371743 meters Centerline goodness [0,1] 0.9908905506458192 Centerline is valid? [True, True] Translation: X:256.38, Y:-15.51, Z:-3.53 [[ 9.99665123e-01 2.50950660e-02 6.31496788e-03 2.56377077e+02] [-2.50928090e-02 9.99685031e-01 -4.36398702e-04 -1.55099319e+01] [-6.32393031e-03 2.77792280e-04 9.99979965e-01 -3.53472418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.220371743 meters Centerline goodness [0,1] 0.9904554626040037 Centerline is valid? [True, True] Translation: X:256.40, Y:-15.52, Z:-3.54 [[ 9.99667122e-01 2.49099993e-02 6.71834507e-03 2.56404450e+02] [-2.49074426e-02 9.99689654e-01 -4.63973102e-04 -1.55176894e+01] [-6.72781763e-03 2.96481861e-04 9.99977324e-01 -3.53635567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.250371743 meters Centerline goodness [0,1] 0.9915958772227885 Centerline is valid? [True, True] Translation: X:256.43, Y:-15.52, Z:-3.54 [[ 9.99674627e-01 2.46406029e-02 6.59392892e-03 2.56431571e+02] [-2.46381390e-02 9.99696332e-01 -4.54634393e-04 -1.55214098e+01] [-6.60312902e-03 2.92024330e-04 9.99978156e-01 -3.53710962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.280371743 meters Centerline goodness [0,1] 0.9912888044166893 Centerline is valid? [True, True] Translation: X:256.46, Y:-15.52, Z:-3.54 [[ 9.99686560e-01 2.40910181e-02 6.81206854e-03 2.56460260e+02] [-2.40883809e-02 9.99709723e-01 -4.68919846e-04 -1.55241795e+01] [-6.82138791e-03 3.04681166e-04 9.99976688e-01 -3.53770127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.310371743 meters Centerline goodness [0,1] 0.9914419615567479 Centerline is valid? [True, True] Translation: X:256.49, Y:-15.53, Z:-3.54 [[ 9.99694905e-01 2.37412260e-02 6.81548824e-03 2.56487655e+02] [-2.37385803e-02 9.99718090e-01 -4.68835969e-04 -1.55274898e+01] [-6.82469763e-03 3.06902915e-04 9.99976664e-01 -3.53787295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.340371743 meters Centerline goodness [0,1] 0.9916027088036118 Centerline is valid? [True, True] Translation: X:256.52, Y:-15.53, Z:-3.54 [[ 9.99702966e-01 2.33987516e-02 6.81746880e-03 2.56516210e+02] [-2.33961012e-02 9.99726164e-01 -4.68256915e-04 -1.55288165e+01] [-6.82655856e-03 3.08615636e-04 9.99976651e-01 -3.53798358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.370371743 meters Centerline goodness [0,1] 0.9905125482843525 Centerline is valid? [True, True] Translation: X:256.54, Y:-15.54, Z:-3.54 [[ 9.99724461e-01 2.25408816e-02 6.55058328e-03 2.56543805e+02] [-2.25384181e-02 9.99745876e-01 -4.49666198e-04 -1.55353003e+01] [-6.55905450e-03 3.01902513e-04 9.99978444e-01 -3.53908699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.400371743 meters Centerline goodness [0,1] 0.9916792909308794 Centerline is valid? [True, True] Translation: X:256.57, Y:-15.53, Z:-3.54 [[ 9.99733307e-01 2.21030410e-02 6.69102262e-03 2.56572872e+02] [-2.21004657e-02 9.99755650e-01 -4.58588574e-04 -1.55326103e+01] [-6.69952387e-03 3.10591556e-04 9.99977510e-01 -3.53839846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.430371743 meters Centerline goodness [0,1] 0.9914111812443643 Centerline is valid? [True, True] Translation: X:256.60, Y:-15.54, Z:-3.54 [[ 9.99751516e-01 2.12962067e-02 6.58616063e-03 2.56600366e+02] [-2.12936960e-02 9.99773162e-01 -4.51100859e-04 -1.55381782e+01] [-6.59427337e-03 3.10745066e-04 9.99978209e-01 -3.53953065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.460371743 meters Centerline goodness [0,1] 0.9917759452030103 Centerline is valid? [True, True] Translation: X:256.63, Y:-15.54, Z:-3.54 [[ 9.99793675e-01 1.92590809e-02 6.45720864e-03 2.56629669e+02] [-1.92566319e-02 9.99814477e-01 -4.41234854e-04 -1.55426347e+01] [-6.46450845e-03 3.16799726e-04 9.99979055e-01 -3.53994205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.490371743 meters Centerline goodness [0,1] 0.991569361164961 Centerline is valid? [True, True] Translation: X:256.66, Y:-15.55, Z:-3.54 [[ 9.99821882e-01 1.77703468e-02 6.35759604e-03 2.56657081e+02] [-1.77679410e-02 9.99842043e-01 -4.34694015e-04 -1.55475651e+01] [-6.36431648e-03 3.21655197e-04 9.99979696e-01 -3.54069692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.520371743 meters Centerline goodness [0,1] 0.9913401412569166 Centerline is valid? [True, True] Translation: X:256.68, Y:-15.55, Z:-3.54 [[ 9.99872958e-01 1.50437356e-02 5.26814310e-03 2.56684934e+02] [-1.50420482e-02 9.99886797e-01 -3.59781240e-04 -1.55536311e+01] [-5.27295919e-03 2.80491871e-04 9.99986059e-01 -3.54225307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.550371743 meters Centerline goodness [0,1] 0.9917148839408335 Centerline is valid? [True, True] Translation: X:256.71, Y:-15.56, Z:-3.54 [[ 9.99894460e-01 1.38287357e-02 4.45354920e-03 2.56714201e+02] [-1.38275202e-02 9.99904349e-01 -3.03619598e-04 -1.55574774e+01] [-4.45732189e-03 2.42006013e-04 9.99990037e-01 -3.54342606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.580371743 meters Centerline goodness [0,1] 0.9908005128320475 Centerline is valid? [True, True] Translation: X:256.74, Y:-15.56, Z:-3.54 [[ 9.99913286e-01 1.26131618e-02 3.78535811e-03 2.56742164e+02] [-1.26122736e-02 9.99920429e-01 -2.58418608e-04 -1.55620407e+01] [-3.78831638e-03 2.10654227e-04 9.99992802e-01 -3.54442667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61037174300003 meters Centerline goodness [0,1] 0.9912188347035237 Centerline is valid? [True, True] Translation: X:256.77, Y:-15.57, Z:-3.55 [[ 9.99923502e-01 1.17857002e-02 3.75343610e-03 2.56770859e+02] [-1.17848220e-02 9.99930524e-01 -2.55987917e-04 -1.55654254e+01] [-3.75619233e-03 2.11734757e-04 9.99992923e-01 -3.54523697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.640371743 meters Centerline goodness [0,1] 0.9909932223998559 Centerline is valid? [True, True] Translation: X:256.80, Y:-15.57, Z:-3.55 [[ 9.99948121e-01 9.48049298e-03 3.72486392e-03 2.56799160e+02] [-9.47961393e-03 9.99955035e-01 -2.53580979e-04 -1.55715580e+01] [-3.72710051e-03 2.18257551e-04 9.99993031e-01 -3.54580670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67037174300003 meters Centerline goodness [0,1] 0.9910353194931248 Centerline is valid? [True, True] Translation: X:256.83, Y:-15.58, Z:-3.55 [[ 9.99957245e-01 8.57237836e-03 3.46734732e-03 2.56827675e+02] [-8.57161166e-03 9.99963235e-01 -2.35920678e-04 -1.55752163e+01] [-3.46924224e-03 2.06189837e-04 9.99993961e-01 -3.54608850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.700371743 meters Centerline goodness [0,1] 0.9911410905002811 Centerline is valid? [True, True] Translation: X:256.86, Y:-15.58, Z:-3.55 [[ 9.99962802e-01 7.91206541e-03 3.43433579e-03 2.56857280e+02] [-7.91131065e-03 9.99968678e-01 -2.33298762e-04 -1.55783818e+01] [-3.43607409e-03 2.06119986e-04 9.99994075e-01 -3.54599903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73037174300003 meters Centerline goodness [0,1] 0.9912680419313565 Centerline is valid? [True, True] Translation: X:256.89, Y:-15.58, Z:-3.55 [[ 9.99960244e-01 7.87243654e-03 4.18753719e-03 2.56886941e+02] [-7.87131514e-03 9.99968980e-01 -2.84208366e-04 -1.55810723e+01] [-4.18964470e-03 2.51235643e-04 9.99991192e-01 -3.54592569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.760371743 meters Centerline goodness [0,1] 0.9920187054565076 Centerline is valid? [True, True] Translation: X:256.92, Y:-15.58, Z:-3.55 [[ 9.99954854e-01 8.15735659e-03 4.87315978e-03 2.56916569e+02] [-8.15584249e-03 9.99966686e-01 -3.30492498e-04 -1.55836440e+01] [-4.87569338e-03 2.90732853e-04 9.99988071e-01 -3.54553565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.790371743 meters Centerline goodness [0,1] 0.9917944337035205 Centerline is valid? [True, True] Translation: X:256.95, Y:-15.58, Z:-3.54 [[ 9.99939490e-01 9.01419276e-03 6.30568190e-03 2.56946052e+02] [-9.01167689e-03 9.99959303e-01 -4.27284100e-04 -1.55845253e+01] [-6.30927690e-03 3.70433477e-04 9.99980028e-01 -3.54461679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.820371743 meters Centerline goodness [0,1] 0.9911353486388833 Centerline is valid? [True, True] Translation: X:256.98, Y:-15.59, Z:-3.55 [[ 9.99925378e-01 1.02661562e-02 6.62159022e-03 2.56975326e+02] [-1.02634119e-02 9.99947229e-01 -4.48296659e-04 -1.55866302e+01] [-6.62584308e-03 3.80303098e-04 9.99977977e-01 -3.54532568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.850371743 meters Centerline goodness [0,1] 0.9925193754914073 Centerline is valid? [True, True] Translation: X:257.01, Y:-15.58, Z:-3.54 [[ 9.99908844e-01 1.19838370e-02 6.22022498e-03 2.57005848e+02] [-1.19814478e-02 9.99928131e-01 -4.21214403e-04 -1.55775736e+01] [-6.22482570e-03 3.46648706e-04 9.99980566e-01 -3.54463994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880371743 meters Centerline goodness [0,1] 0.9926770464838557 Centerline is valid? [True, True] Translation: X:257.04, Y:-15.57, Z:-3.54 [[ 9.99851257e-01 1.64738414e-02 5.10652578e-03 2.57036693e+02] [-1.64722909e-02 9.99864263e-01 -3.45532843e-04 -1.55732353e+01] [-5.11152488e-03 2.61365269e-04 9.99986902e-01 -3.54480143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.910371743 meters Centerline goodness [0,1] 0.9932076829652288 Centerline is valid? [True, True] Translation: X:257.06, Y:-15.57, Z:-3.54 [[ 9.99814818e-01 1.84766286e-02 5.37995047e-03 2.57064647e+02] [-1.84749333e-02 9.99829257e-01 -3.64651097e-04 -1.55739686e+01] [-5.38576941e-03 2.65189344e-04 9.99985461e-01 -3.54498680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940371743 meters Centerline goodness [0,1] 0.9931286187397211 Centerline is valid? [True, True] Translation: X:257.09, Y:-15.57, Z:-3.55 [[ 9.99778102e-01 2.01986380e-02 5.98016585e-03 2.57093689e+02] [-2.01965793e-02 9.99795946e-01 -4.04463755e-04 -1.55744980e+01] [-5.98711519e-03 2.83595111e-04 9.99982037e-01 -3.54522099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.970371743 meters Centerline goodness [0,1] 0.9937736870600975 Centerline is valid? [True, True] Translation: X:257.12, Y:-15.57, Z:-3.54 [[ 9.99744722e-01 2.17042007e-02 6.27842978e-03 2.57122591e+02] [-2.17019641e-02 9.99764395e-01 -4.24140954e-04 -1.55739663e+01] [-6.28615619e-03 2.87778422e-04 9.99980201e-01 -3.54470995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000371743 meters Centerline goodness [0,1] 0.9927200379824105 Centerline is valid? [True, True] Translation: X:257.15, Y:-15.58, Z:-3.55 [[ 9.99708003e-01 2.33000780e-02 6.40428066e-03 2.57150233e+02] [-2.32977857e-02 9.99728476e-01 -4.32315491e-04 -1.55763458e+01] [-6.41261473e-03 2.82983698e-04 9.99979399e-01 -3.54590306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.030371743 meters Centerline goodness [0,1] 0.992534620415896 Centerline is valid? [True, True] Translation: X:257.18, Y:-15.58, Z:-3.55 [[ 9.99699299e-01 2.37131391e-02 6.24481935e-03 2.57178235e+02] [-2.37109709e-02 9.99718767e-01 -4.21010319e-04 -1.55790435e+01] [-6.25304657e-03 2.72812991e-04 9.99980412e-01 -3.54695345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060371743 meters Centerline goodness [0,1] 0.9924293480702701 Centerline is valid? [True, True] Translation: X:257.21, Y:-15.58, Z:-3.55 [[ 9.99681726e-01 2.44345647e-02 6.27679394e-03 2.57207507e+02] [-2.44323910e-02 9.99701395e-01 -4.22770465e-04 -1.55799533e+01] [-6.28524987e-03 2.69278825e-04 9.99980211e-01 -3.54806807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.090371743 meters Centerline goodness [0,1] 0.9928439207187684 Centerline is valid? [True, True] Translation: X:257.24, Y:-15.58, Z:-3.55 [[ 9.99664140e-01 2.51541526e-02 6.23507186e-03 2.57236464e+02] [-2.51520275e-02 9.99683550e-01 -4.19016349e-04 -1.55789693e+01] [-6.24363878e-03 2.62050919e-04 9.99980474e-01 -3.54831763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120371743 meters Centerline goodness [0,1] 0.9925364720737785 Centerline is valid? [True, True] Translation: X:257.26, Y:-15.58, Z:-3.55 [[ 9.99640808e-01 2.61362427e-02 5.92882826e-03 2.57263905e+02] [-2.61343397e-02 9.99658360e-01 -3.98231769e-04 -1.55815224e+01] [-5.93721102e-03 2.43142716e-04 9.99982345e-01 -3.54896928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.150371743 meters Centerline goodness [0,1] 0.9924832335598865 Centerline is valid? [True, True] Translation: X:257.29, Y:-15.58, Z:-3.55 [[ 9.99574331e-01 2.87197481e-02 5.13150840e-03 2.57293188e+02] [-2.87183599e-02 9.99587484e-01 -3.44025253e-04 -1.55825438e+01] [-5.13927189e-03 1.96510308e-04 9.99986775e-01 -3.54907914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180371743 meters Centerline goodness [0,1] 0.9923700202565834 Centerline is valid? [True, True] Translation: X:257.32, Y:-15.58, Z:-3.55 [[ 9.99541124e-01 2.97720028e-02 5.58301054e-03 2.57321630e+02] [-2.97703770e-02 9.99556694e-01 -3.74108941e-04 -1.55833973e+01] [-5.59167353e-03 2.07728942e-04 9.99984345e-01 -3.54873395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.210371743 meters Centerline goodness [0,1] 0.9920414834855146 Centerline is valid? [True, True] Translation: X:257.35, Y:-15.59, Z:-3.55 [[ 9.99498040e-01 3.11056595e-02 6.00882910e-03 2.57349786e+02] [-3.11038034e-02 9.99516079e-01 -4.02124500e-04 -1.55864808e+01] [-6.01842965e-03 2.15025211e-04 9.99981866e-01 -3.54885848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240371743 meters Centerline goodness [0,1] 0.9931264507696121 Centerline is valid? [True, True] Translation: X:257.38, Y:-15.59, Z:-3.55 [[ 9.99423908e-01 3.29686028e-02 8.05756175e-03 2.57379014e+02] [-3.29653343e-02 9.99456351e-01 -5.38158436e-04 -1.55881547e+01] [-8.07092359e-03 2.72228191e-04 9.99967393e-01 -3.54755925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.270371743 meters Centerline goodness [0,1] 0.9927552535661252 Centerline is valid? [True, True] Translation: X:257.41, Y:-15.59, Z:-3.55 [[ 9.99394116e-01 3.36518795e-02 8.88545832e-03 2.57406253e+02] [-3.36479347e-02 9.99433572e-01 -5.93125943e-04 -1.55915441e+01] [-8.90038515e-03 2.93789257e-04 9.99960348e-01 -3.54773312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300371743 meters Centerline goodness [0,1] 0.9929347703800373 Centerline is valid? [True, True] Translation: X:257.43, Y:-15.59, Z:-3.55 [[ 9.99347304e-01 3.47751365e-02 9.78040728e-03 2.57434570e+02] [-3.47704214e-02 9.99395114e-01 -6.51768048e-04 -1.55933869e+01] [-9.79715656e-03 3.11273759e-04 9.99951958e-01 -3.54766022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.330371743 meters Centerline goodness [0,1] 0.9927731394200556 Centerline is valid? [True, True] Translation: X:257.46, Y:-15.60, Z:-3.55 [[ 9.99316266e-01 3.55911750e-02 1.00134336e-02 2.57462528e+02] [-3.55862799e-02 9.99366385e-01 -6.66653782e-04 -1.55975153e+01] [-1.00308160e-02 3.09857115e-04 9.99949642e-01 -3.54814109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36037174300003 meters Centerline goodness [0,1] 0.9932818047004898 Centerline is valid? [True, True] Translation: X:257.49, Y:-15.60, Z:-3.55 [[ 9.99251836e-01 3.74659423e-02 9.59540275e-03 2.57491411e+02] [-3.74615425e-02 9.99297866e-01 -6.37923391e-04 -1.56013549e+01] [-9.61256590e-03 2.77987532e-04 9.99953760e-01 -3.54966134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.390371743 meters Centerline goodness [0,1] 0.9944080129356809 Centerline is valid? [True, True] Translation: X:257.52, Y:-15.60, Z:-3.55 [[ 9.99233628e-01 3.81539253e-02 8.74265833e-03 2.57520500e+02] [-3.81503034e-02 9.99271843e-01 -5.80732498e-04 -1.56031340e+01] [-8.75844953e-03 2.46752373e-04 9.99961614e-01 -3.55032389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42037174300003 meters Centerline goodness [0,1] 0.9933682842675987 Centerline is valid? [True, True] Translation: X:257.55, Y:-15.61, Z:-3.55 [[ 9.99213375e-01 3.88020391e-02 8.18737197e-03 2.57547588e+02] [-3.87988877e-02 9.99246892e-01 -5.43458663e-04 -1.56101584e+01] [-8.20229330e-03 2.25370239e-04 9.99966335e-01 -3.55249160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.450371743 meters Centerline goodness [0,1] 0.9933682842675987 Centerline is valid? [True, True] Translation: X:257.57, Y:-15.61, Z:-3.55 [[ 9.99217422e-01 3.86976781e-02 8.18741263e-03 2.57574999e+02] [-3.86945282e-02 9.99250939e-01 -5.42845200e-04 -1.56118806e+01] [-8.20228660e-03 2.25612313e-04 9.99966335e-01 -3.55291969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48037174300003 meters Centerline goodness [0,1] 0.9932971378778739 Centerline is valid? [True, True] Translation: X:257.60, Y:-15.61, Z:-3.55 [[ 9.99225255e-01 3.84679054e-02 8.31318695e-03 2.57603615e+02] [-3.84646595e-02 9.99259810e-01 -5.50046912e-04 -1.56145849e+01] [-8.32819277e-03 2.29856861e-04 9.99965294e-01 -3.55291075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.510371743 meters Centerline goodness [0,1] 0.9934905702438807 Centerline is valid? [True, True] Translation: X:257.63, Y:-15.62, Z:-3.55 [[ 9.99229423e-01 3.81985515e-02 9.02395936e-03 2.57629846e+02] [-3.81947194e-02 9.99270137e-01 -5.96675586e-04 -1.56196242e+01] [-9.04016525e-03 2.51548205e-04 9.99959105e-01 -3.55328113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.540371743 meters Centerline goodness [0,1] 0.9920328450954283 Centerline is valid? [True, True] Translation: X:257.66, Y:-15.63, Z:-3.55 [[ 9.99311667e-01 3.56995833e-02 1.00862659e-02 2.57657978e+02] [-3.56946865e-02 9.99362520e-01 -6.65148495e-04 -1.56283834e+01] [-1.01035817e-02 3.04664551e-04 9.99948911e-01 -3.55316473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.570371743 meters Centerline goodness [0,1] 0.9927608642551018 Centerline is valid? [True, True] Translation: X:257.69, Y:-15.63, Z:-3.55 [[ 9.99367771e-01 3.38631134e-02 1.08327080e-02 2.57685991e+02] [-3.38573655e-02 9.99426420e-01 -7.13609159e-04 -1.56343558e+01] [-1.08506596e-02 3.46391041e-04 9.99941070e-01 -3.55341173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.600371743 meters Centerline goodness [0,1] 0.9908104517271922 Centerline is valid? [True, True] Translation: X:257.71, Y:-15.64, Z:-3.55 [[ 9.99508139e-01 2.92388145e-02 1.13389887e-02 2.57714469e+02] [-2.92322332e-02 9.99572369e-01 -7.45747580e-04 -1.56439162e+01] [-1.13559445e-02 4.13916815e-04 9.99935434e-01 -3.55357814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.630371743 meters Centerline goodness [0,1] 0.9909269955077563 Centerline is valid? [True, True] Translation: X:257.74, Y:-15.65, Z:-3.55 [[ 9.99581428e-01 2.67078080e-02 1.11203175e-02 2.57742278e+02] [-2.67013274e-02 9.99643189e-01 -7.30859930e-04 -1.56508336e+01] [-1.11358693e-02 4.33626775e-04 9.99937900e-01 -3.55459005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.660371743 meters Centerline goodness [0,1] 0.9904420023344418 Centerline is valid? [True, True] Translation: X:257.77, Y:-15.66, Z:-3.56 [[ 9.99639103e-01 2.44634799e-02 1.10995961e-02 2.57771260e+02] [-2.44568959e-02 9.99700620e-01 -7.28547919e-04 -1.56582175e+01] [-1.11140959e-02 4.56823322e-04 9.99938132e-01 -3.55549815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.690371743 meters Centerline goodness [0,1] 0.9899764798980063 Centerline is valid? [True, True] Translation: X:257.80, Y:-15.67, Z:-3.56 [[ 9.99733648e-01 2.05871418e-02 1.04308136e-02 2.57800582e+02] [-2.05811211e-02 9.99787952e-01 -6.84224900e-04 -1.56686005e+01] [-1.04426880e-02 4.69364817e-04 9.99945363e-01 -3.55719919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.720371743 meters Centerline goodness [0,1] 0.9897909790979098 Centerline is valid? [True, True] Translation: X:257.83, Y:-15.68, Z:-3.56 [[ 9.99760147e-01 1.94714401e-02 1.00255874e-02 2.57829220e+02] [-1.94658223e-02 9.99810307e-01 -6.57629489e-04 -1.56759496e+01] [-1.00364907e-02 4.62315451e-04 9.99949526e-01 -3.55814283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.750371743 meters Centerline goodness [0,1] 0.9897831113068369 Centerline is valid? [True, True] Translation: X:257.86, Y:-15.68, Z:-3.56 [[ 9.99780581e-01 1.84079019e-02 9.99696821e-03 2.57858739e+02] [-1.84022683e-02 9.99830449e-01 -6.55235625e-04 -1.56802830e+01] [-1.00073347e-02 4.71124963e-04 9.99949814e-01 -3.55844736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.780371743 meters Centerline goodness [0,1] 0.988396578196973 Centerline is valid? [True, True] Translation: X:257.89, Y:-15.69, Z:-3.56 [[ 9.99801758e-01 1.74999559e-02 9.49721115e-03 2.57887695e+02] [-1.74948335e-02 9.99846760e-01 -6.22174687e-04 -1.56856938e+01] [-9.50664383e-03 4.55899219e-04 9.99954707e-01 -3.55931700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.810371743 meters Centerline goodness [0,1] 0.9885753130276517 Centerline is valid? [True, True] Translation: X:257.92, Y:-15.69, Z:-3.56 [[ 9.99812718e-01 1.72215675e-02 8.82868999e-03 2.57917508e+02] [-1.72171325e-02 9.99851607e-01 -5.78103311e-04 -1.56892987e+01] [-8.83733572e-03 4.25990318e-04 9.99960859e-01 -3.55999591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.840371743 meters Centerline goodness [0,1] 0.9880595709318346 Centerline is valid? [True, True] Translation: X:257.95, Y:-15.70, Z:-3.56 [[ 9.99818155e-01 1.72263551e-02 8.17977080e-03 2.57945761e+02] [-1.72225493e-02 9.99851538e-01 -5.35488314e-04 -1.56956982e+01] [-8.18778093e-03 3.94514433e-04 9.99966402e-01 -3.56105181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.870371743 meters Centerline goodness [0,1] 0.9887077360761571 Centerline is valid? [True, True] Translation: X:257.97, Y:-15.70, Z:-3.56 [[ 9.99823501e-01 1.68927717e-02 8.22198876e-03 2.57974875e+02] [-1.68889199e-02 9.99857227e-01 -5.37680032e-04 -1.56988586e+01] [-8.22989779e-03 3.98724622e-04 9.99966054e-01 -3.56167815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.900371743 meters Centerline goodness [0,1] 0.9887961911417839 Centerline is valid? [True, True] Translation: X:258.00, Y:-15.70, Z:-3.56 [[ 9.99828412e-01 1.65038102e-02 8.41254717e-03 2.58004714e+02] [-1.64997667e-02 9.99863718e-01 -5.49830275e-04 -1.57030059e+01] [-8.42047499e-03 4.10930865e-04 9.99964463e-01 -3.56262900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.930371743 meters Centerline goodness [0,1] 0.9874154852780807 Centerline is valid? [True, True] Translation: X:258.03, Y:-15.71, Z:-3.56 [[ 9.99863162e-01 1.42092938e-02 8.47071187e-03 2.58034588e+02] [-1.42051157e-02 9.99898949e-01 -5.53202535e-04 -1.57085249e+01] [-8.47771652e-03 4.32799393e-04 9.99963970e-01 -3.56362396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.960371743 meters Centerline goodness [0,1] 0.9872691722789485 Centerline is valid? [True, True] Translation: X:258.06, Y:-15.71, Z:-3.56 [[ 9.99881316e-01 1.27075352e-02 8.71051735e-03 2.58064216e+02] [-1.27030628e-02 9.99919151e-01 -5.68577981e-04 -1.57144104e+01] [-8.71703834e-03 4.57860250e-04 9.99961901e-01 -3.56404028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.990371743 meters Centerline goodness [0,1] 0.9875829259776536 Centerline is valid? [True, True] Translation: X:258.09, Y:-15.72, Z:-3.56 [[ 9.99890834e-01 1.13463855e-02 9.46464737e-03 2.58094795e+02] [-1.13410454e-02 9.99935497e-01 -6.17698075e-04 -1.57188386e+01] [-9.47104551e-03 5.10291648e-04 9.99955018e-01 -3.56388738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.020371743 meters Centerline goodness [0,1] 0.9858488509005277 Centerline is valid? [True, True] Translation: X:258.12, Y:-15.73, Z:-3.56 [[ 9.99905857e-01 7.87971484e-03 1.12332700e-02 2.58124264e+02] [-7.87197395e-03 9.99968747e-01 -7.33153566e-04 -1.57265642e+01] [-1.12386959e-02 6.44656536e-04 9.99936636e-01 -3.56354436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.050371743 meters Centerline goodness [0,1] 0.9856096341542943 Centerline is valid? [True, True] Translation: X:258.16, Y:-15.73, Z:-3.56 [[ 9.99905656e-01 6.74186051e-03 1.19677633e-02 2.58155245e+02] [-6.73298892e-03 9.99977028e-01 -7.81427087e-04 -1.57313380e+01] [-1.19727567e-02 7.00774545e-04 9.99928078e-01 -3.56377176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.080371743 meters Centerline goodness [0,1] 0.9848399164781625 Centerline is valid? [True, True] Translation: X:258.19, Y:-15.74, Z:-3.56 [[ 9.99922873e-01 3.75815080e-03 1.18373807e-02 2.58185741e+02] [-3.74922364e-03 9.99992670e-01 -7.76251278e-04 -1.57356462e+01] [-1.18402112e-02 7.31810421e-04 9.99929634e-01 -3.56400829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11037174300003 meters Centerline goodness [0,1] 0.9846535623326585 Centerline is valid? [True, True] Translation: X:258.22, Y:-15.74, Z:-3.56 [[ 9.99930385e-01 2.72470345e-03 1.14804416e-02 2.58217214e+02] [-2.71624609e-03 9.99996028e-01 -7.52204201e-04 -1.57388161e+01] [-1.14824455e-02 7.20968132e-04 9.99933815e-01 -3.56451254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.140371743 meters Centerline goodness [0,1] 0.9843467265473413 Centerline is valid? [True, True] Translation: X:258.25, Y:-15.74, Z:-3.57 [[ 9.99932109e-01 1.43480152e-03 1.15636892e-02 2.58247570e+02] [-1.42609666e-03 9.99998694e-01 -7.60985630e-04 -1.57439867e+01] [-1.15647660e-02 7.44443027e-04 9.99932849e-01 -3.56556239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17037174300003 meters Centerline goodness [0,1] 0.9843817976159401 Centerline is valid? [True, True] Translation: X:258.28, Y:-15.75, Z:-3.57 [[ 9.99930676e-01 -7.32823677e-04 1.17518824e-02 2.58278196e+02] [ 7.41968817e-04 9.99999425e-01 -7.73844060e-04 -1.57475013e+01] [-1.17513086e-02 7.82509944e-04 9.99930645e-01 -3.56703975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.200371743 meters Centerline goodness [0,1] 0.9837720252338482 Centerline is valid? [True, True] Translation: X:258.31, Y:-15.75, Z:-3.57 [[ 9.99938381e-01 -1.09070039e-03 1.10473398e-02 2.58310615e+02] [ 1.09880293e-03 9.99999132e-01 -7.27395143e-04 -1.57513143e+01] [-1.10465369e-02 7.39489171e-04 9.99938712e-01 -3.56830588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23037174300003 meters Centerline goodness [0,1] 0.9839873458863296 Centerline is valid? [True, True] Translation: X:258.34, Y:-15.75, Z:-3.57 [[ 9.99941253e-01 -1.28306443e-03 1.07630919e-02 2.58342428e+02] [ 1.29077395e-03 9.99998915e-01 -7.09376607e-04 -1.57548955e+01] [-1.07621701e-02 7.23227652e-04 9.99941825e-01 -3.56991854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.260371743 meters Centerline goodness [0,1] 0.9844561838300833 Centerline is valid? [True, True] Translation: X:258.38, Y:-15.76, Z:-3.57 [[ 9.99961091e-01 -4.65926359e-04 8.80907289e-03 2.58375111e+02] [ 4.71060137e-04 9.99999720e-01 -5.80717133e-04 -1.57567335e+01] [-8.80879985e-03 5.84844141e-04 9.99961031e-01 -3.57218795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.290371743 meters Centerline goodness [0,1] 0.9837255666796689 Centerline is valid? [True, True] Translation: X:258.41, Y:-15.76, Z:-3.57 [[ 9.99964702e-01 1.36338158e-04 8.40099329e-03 2.58406400e+02] [-1.31679803e-04 9.99999837e-01 -5.55051166e-04 -1.57583254e+01] [-8.40106760e-03 5.53925333e-04 9.99964557e-01 -3.57307670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.320371743 meters Centerline goodness [0,1] 0.9864160652377734 Centerline is valid? [True, True] Translation: X:258.44, Y:-15.74, Z:-3.57 [[ 9.99959245e-01 2.19126472e-03 8.75827400e-03 2.58438672e+02] [-2.18627535e-03 9.99997442e-01 -5.79209075e-04 -1.57442349e+01] [-8.75952080e-03 5.60037470e-04 9.99961478e-01 -3.57095667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.350371743 meters Centerline goodness [0,1] 0.9862596747543264 Centerline is valid? [True, True] Translation: X:258.47, Y:-15.75, Z:-3.57 [[ 9.99951667e-01 3.64982620e-03 9.12922633e-03 2.58469209e+02] [-3.64446653e-03 9.99993177e-01 -6.03655723e-04 -1.57473065e+01] [-9.13136728e-03 5.70355387e-04 9.99958146e-01 -3.57155736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380371743 meters Centerline goodness [0,1] 0.9869318181818182 Centerline is valid? [True, True] Translation: X:258.50, Y:-15.75, Z:-3.57 [[ 9.99945945e-01 5.06766805e-03 9.07890823e-03 2.58501769e+02] [-5.06241489e-03 9.99987005e-01 -6.01498876e-04 -1.57458158e+01] [-9.08183845e-03 5.55505162e-04 9.99958605e-01 -3.57193507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.410371743 meters Centerline goodness [0,1] 0.9865672292729731 Centerline is valid? [True, True] Translation: X:258.53, Y:-15.75, Z:-3.57 [[ 9.99929877e-01 7.82352113e-03 8.89012972e-03 2.58531089e+02] [-7.81858187e-03 9.99969260e-01 -5.90208571e-04 -1.57481631e+01] [-8.89447395e-03 5.20658976e-04 9.99960308e-01 -3.57350544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440371743 meters Centerline goodness [0,1] 0.9877484166848657 Centerline is valid? [True, True] Translation: X:258.56, Y:-15.75, Z:-3.57 [[ 9.99917592e-01 8.90941836e-03 9.24290745e-03 2.58563036e+02] [-8.90413132e-03 9.99960170e-01 -6.13004081e-04 -1.57469222e+01] [-9.24800081e-03 5.30653503e-04 9.99957096e-01 -3.57375578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.470371743 meters Centerline goodness [0,1] 0.9865689598600021 Centerline is valid? [True, True] Translation: X:258.59, Y:-15.75, Z:-3.58 [[ 9.99916222e-01 9.39886471e-03 8.89997828e-03 2.58594389e+02] [-9.39398329e-03 9.99955701e-01 -5.90120947e-04 -1.57494114e+01] [-8.90513049e-03 5.06465260e-04 9.99960220e-01 -3.57501027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500371743 meters Centerline goodness [0,1] 0.9869617618056317 Centerline is valid? [True, True] Translation: X:258.63, Y:-15.75, Z:-3.58 [[ 9.99922438e-01 9.16274636e-03 8.43577051e-03 2.58625836e+02] [-9.15833703e-03 9.99957904e-01 -5.61176872e-04 -1.57517745e+01] [-8.44055732e-03 4.83875717e-04 9.99964261e-01 -3.57597889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.530371743 meters Centerline goodness [0,1] 0.9869382575591826 Centerline is valid? [True, True] Translation: X:258.66, Y:-15.75, Z:-3.58 [[ 9.99938660e-01 7.64945380e-03 8.01007151e-03 2.58657549e+02] [-7.64542797e-03 9.99970631e-01 -5.33096909e-04 -1.57501013e+01] [-8.01391416e-03 4.71823784e-04 9.99967777e-01 -3.57674245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560371743 meters Centerline goodness [0,1] 0.9860798496536352 Centerline is valid? [True, True] Translation: X:258.69, Y:-15.76, Z:-3.58 [[ 9.99946587e-01 6.80042172e-03 7.78314274e-03 2.58688064e+02] [-6.79660477e-03 9.99976769e-01 -5.16757661e-04 -1.57572704e+01] [-7.78647610e-03 4.63831115e-04 9.99969577e-01 -3.57790401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.590371743 meters Centerline goodness [0,1] 0.9869358409504395 Centerline is valid? [True, True] Translation: X:258.72, Y:-15.75, Z:-3.58 [[ 9.99953891e-01 5.85241258e-03 7.61350293e-03 2.58720129e+02] [-5.84872019e-03 9.99982767e-01 -5.07153890e-04 -1.57546979e+01] [-7.61633980e-03 4.62601257e-04 9.99970888e-01 -3.57753378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620371743 meters Centerline goodness [0,1] 0.9868351879435732 Centerline is valid? [True, True] Translation: X:258.75, Y:-15.75, Z:-3.58 [[ 9.99960607e-01 4.91753836e-03 7.38927610e-03 2.58752006e+02] [-4.91402310e-03 9.99987804e-01 -4.93804832e-04 -1.57549033e+01] [-7.39161429e-03 4.57474306e-04 9.99972577e-01 -3.57726157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.650371743 meters Centerline goodness [0,1] 0.9879322093508891 Centerline is valid? [True, True] Translation: X:258.78, Y:-15.75, Z:-3.58 [[ 9.99958914e-01 4.90501592e-03 7.62303080e-03 2.58784528e+02] [-4.90126153e-03 9.99987858e-01 -5.11109456e-04 -1.57537413e+01] [-7.62544524e-03 4.73725989e-04 9.99970814e-01 -3.57705451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680371743 meters Centerline goodness [0,1] 0.987181457011787 Centerline is valid? [True, True] Translation: X:258.82, Y:-15.76, Z:-3.58 [[ 9.99954109e-01 5.44335384e-03 7.88345772e-03 2.58816076e+02] [-5.43933835e-03 9.99985066e-01 -5.30707159e-04 -1.57582214e+01] [-7.88622881e-03 4.87802010e-04 9.99968784e-01 -3.57790667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.710371743 meters Centerline goodness [0,1] 0.9865624451080274 Centerline is valid? [True, True] Translation: X:258.85, Y:-15.76, Z:-3.58 [[ 9.99939653e-01 7.69277531e-03 7.84289752e-03 2.58847824e+02] [-7.68884276e-03 9.99970299e-01 -5.31444419e-04 -1.57578729e+01] [-7.84675286e-03 4.71109543e-04 9.99969103e-01 -3.57805665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740371743 meters Centerline goodness [0,1] 0.9876469941751841 Centerline is valid? [True, True] Translation: X:258.88, Y:-15.75, Z:-3.58 [[ 9.99930454e-01 9.06869892e-03 7.53968511e-03 2.58879610e+02] [-9.06509985e-03 9.99958780e-01 -5.11388361e-04 -1.57542891e+01] [-7.54401195e-03 4.43004798e-04 9.99971445e-01 -3.57829361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.770371743 meters Centerline goodness [0,1] 0.9886771670888864 Centerline is valid? [True, True] Translation: X:258.91, Y:-15.75, Z:-3.58 [[ 9.99888502e-01 1.26583693e-02 7.92147757e-03 2.58909394e+02] [-1.26545041e-02 9.99919784e-01 -5.37870607e-04 -1.57531877e+01] [-7.92765071e-03 4.37568265e-04 9.99968480e-01 -3.57881956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800371743 meters Centerline goodness [0,1] 0.9893351586477953 Centerline is valid? [True, True] Translation: X:258.94, Y:-15.75, Z:-3.58 [[ 9.99863602e-01 1.44966896e-02 7.91355042e-03 2.58940036e+02] [-1.44928896e-02 9.99894828e-01 -5.37332351e-04 -1.57537389e+01] [-7.92050768e-03 4.22568848e-04 9.99968543e-01 -3.57891471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.830371743 meters Centerline goodness [0,1] 0.9876064895326568 Centerline is valid? [True, True] Translation: X:258.97, Y:-15.75, Z:-3.58 [[ 9.99817213e-01 1.70294808e-02 8.69126727e-03 2.58970030e+02] [-1.70249915e-02 9.99854890e-01 -5.90258638e-04 -1.57534707e+01] [-8.70005787e-03 4.42181995e-04 9.99962056e-01 -3.57992817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86037174300003 meters Centerline goodness [0,1] 0.9889345975317333 Centerline is valid? [True, True] Translation: X:259.00, Y:-15.76, Z:-3.58 [[ 9.99808568e-01 1.76051668e-02 8.53730437e-03 2.58999200e+02] [-1.76008563e-02 9.99844925e-01 -5.79779609e-04 -1.57553489e+01] [-8.54618756e-03 4.29404754e-04 9.99963388e-01 -3.58089649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.890371743 meters Centerline goodness [0,1] 0.9888071211386771 Centerline is valid? [True, True] Translation: X:259.03, Y:-15.76, Z:-3.58 [[ 9.99818514e-01 1.74937697e-02 7.54361661e-03 2.59027468e+02] [-1.74904006e-02 9.99846900e-01 -5.12372508e-04 -1.57577828e+01] [-7.55142501e-03 3.80338644e-04 9.99971415e-01 -3.58198388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92037174300003 meters Centerline goodness [0,1] 0.989453520630587 Centerline is valid? [True, True] Translation: X:259.06, Y:-15.76, Z:-3.58 [[ 9.99829614e-01 1.71131144e-02 6.91982478e-03 2.59056025e+02] [-1.71102729e-02 9.99853498e-01 -4.69629382e-04 -1.57575104e+01] [-6.92684784e-03 3.51149273e-04 9.99975947e-01 -3.58297656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.950371743 meters Centerline goodness [0,1] 0.9888656617889757 Centerline is valid? [True, True] Translation: X:259.09, Y:-15.76, Z:-3.58 [[ 9.99878897e-01 1.46385391e-02 5.28245247e-03 2.59085544e+02] [-1.46368513e-02 9.99892811e-01 -3.58029939e-04 -1.57604553e+01] [-5.28712729e-03 2.80668109e-04 9.99985984e-01 -3.58443214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98037174300003 meters Centerline goodness [0,1] 0.9890192273769625 Centerline is valid? [True, True] Translation: X:259.11, Y:-15.77, Z:-3.59 [[ 9.99903701e-01 1.29169720e-02 5.07353901e-03 2.59114117e+02] [-1.29153928e-02 9.99916534e-01 -3.43894499e-04 -1.57651417e+01] [-5.07755762e-03 2.78334633e-04 9.99987070e-01 -3.58523332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.010371743 meters Centerline goodness [0,1] 0.9887101763068358 Centerline is valid? [True, True] Translation: X:259.14, Y:-15.76, Z:-3.59 [[ 9.99931069e-01 1.06871255e-02 4.86244837e-03 2.59143469e+02] [-1.06856498e-02 9.99942853e-01 -3.29376570e-04 -1.57649003e+01] [-4.86569059e-03 2.77395445e-04 9.99988124e-01 -3.58542784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.040371743 meters Centerline goodness [0,1] 0.9882124409518344 Centerline is valid? [True, True] Translation: X:259.17, Y:-15.77, Z:-3.59 [[ 9.99964958e-01 6.67031182e-03 5.05865678e-03 2.59172568e+02] [-6.66866635e-03 9.99977706e-01 -3.42076751e-04 -1.57720952e+01] [-5.06082576e-03 3.08330270e-04 9.99987146e-01 -3.58645991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.070371743 meters Centerline goodness [0,1] 0.9878798563212059 Centerline is valid? [True, True] Translation: X:259.20, Y:-15.78, Z:-3.59 [[ 9.99973968e-01 4.66215898e-03 5.50708581e-03 2.59203490e+02] [-4.66018205e-03 9.99989072e-01 -3.71756668e-04 -1.57754103e+01] [-5.50875882e-03 3.46082968e-04 9.99984767e-01 -3.58685437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.100371743 meters Centerline goodness [0,1] 0.9875313918138962 Centerline is valid? [True, True] Translation: X:259.23, Y:-15.78, Z:-3.59 [[ 9.99980739e-01 2.10902184e-03 5.83729464e-03 2.59234554e+02] [-2.10675770e-03 9.99997703e-01 -3.93997255e-04 -1.57798550e+01] [-5.83811219e-03 3.81691901e-04 9.99982885e-01 -3.58741088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.130371743 meters Centerline goodness [0,1] 0.987152411122844 Centerline is valid? [True, True] Translation: X:259.27, Y:-15.78, Z:-3.59 [[ 9.99981153e-01 1.44853502e-03 5.96619533e-03 2.59266856e+02] [-1.44616876e-03 9.99998874e-01 -4.00907450e-04 -1.57829551e+01] [-5.96676934e-03 3.92271768e-04 9.99982122e-01 -3.58777853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.160371743 meters Centerline goodness [0,1] 0.9876760951520095 Centerline is valid? [True, True] Translation: X:259.30, Y:-15.78, Z:-3.59 [[ 9.99979066e-01 1.09337550e-03 6.37743848e-03 2.59298762e+02] [-1.09065214e-03 9.99999313e-01 -4.30492678e-04 -1.57821263e+01] [-6.37790479e-03 4.23528100e-04 9.99979571e-01 -3.58757798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.190371743 meters Centerline goodness [0,1] 0.9871303274714619 Centerline is valid? [True, True] Translation: X:259.33, Y:-15.78, Z:-3.59 [[ 9.99972687e-01 8.82229040e-04 7.33805587e-03 2.59331209e+02] [-8.78602320e-04 9.99999490e-01 -4.97443404e-04 -1.57821177e+01] [-7.33849099e-03 4.90982584e-04 9.99972952e-01 -3.58685319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.220371743 meters Centerline goodness [0,1] 0.9871324740343866 Centerline is valid? [True, True] Translation: X:259.36, Y:-15.79, Z:-3.59 [[ 9.99971733e-01 1.04556307e-03 7.44574142e-03 2.59362390e+02] [-1.04180744e-03 9.99999328e-01 -5.08260154e-04 -1.57855490e+01] [-7.44626784e-03 5.00488759e-04 9.99972151e-01 -3.58699606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.250371743 meters Centerline goodness [0,1] 0.986801671346141 Centerline is valid? [True, True] Translation: X:259.39, Y:-15.78, Z:-3.59 [[ 9.99968005e-01 1.18567845e-03 7.91093751e-03 2.59394455e+02] [-1.18144053e-03 9.99999156e-01 -5.40355605e-04 -1.57833108e+01] [-7.91157152e-03 5.30992014e-04 9.99968562e-01 -3.58604853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.280371743 meters Centerline goodness [0,1] 0.9875647668393782 Centerline is valid? [True, True] Translation: X:259.43, Y:-15.79, Z:-3.59 [[ 9.99965413e-01 1.48379475e-03 8.18361598e-03 2.59426344e+02] [-1.47926446e-03 9.99998749e-01 -5.59605671e-04 -1.57854387e+01] [-8.18443608e-03 5.47480584e-04 9.99966357e-01 -3.58610442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.310371743 meters Centerline goodness [0,1] 0.9874170720919947 Centerline is valid? [True, True] Translation: X:259.46, Y:-15.79, Z:-3.59 [[ 9.99960909e-01 1.90509482e-03 8.63433622e-03 2.59458769e+02] [-1.90007200e-03 9.99998021e-01 -5.89891171e-04 -1.57879823e+01] [-8.63544293e-03 5.73462250e-04 9.99962549e-01 -3.58684873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.340371743 meters Centerline goodness [0,1] 0.9874170720919947 Centerline is valid? [True, True] Translation: X:259.49, Y:-15.79, Z:-3.59 [[ 9.99960337e-01 2.18516806e-03 8.63420787e-03 2.59491358e+02] [-2.18013957e-03 9.99997448e-01 -5.91761710e-04 -1.57903068e+01] [-8.63547893e-03 5.72914461e-04 9.99962549e-01 -3.58735625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.370371743 meters Centerline goodness [0,1] 0.9865195268618252 Centerline is valid? [True, True] Translation: X:259.52, Y:-15.79, Z:-3.59 [[ 9.99956050e-01 2.33080467e-03 9.08102747e-03 2.59523408e+02] [-2.32522181e-03 9.99997101e-01 -6.25292884e-04 -1.57932215e+01] [-9.08245858e-03 6.04149999e-04 9.99958571e-01 -3.58797927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.400371743 meters Centerline goodness [0,1] 0.986230827034434 Centerline is valid? [True, True] Translation: X:259.55, Y:-15.80, Z:-3.59 [[ 9.99958855e-01 2.32864177e-03 8.76727865e-03 2.59554166e+02] [-2.32341683e-03 9.99997117e-01 -6.06096830e-04 -1.57957444e+01] [-8.76866475e-03 5.85701849e-04 9.99961383e-01 -3.58935364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.430371743 meters Centerline goodness [0,1] 0.9862583951926476 Centerline is valid? [True, True] Translation: X:259.59, Y:-15.80, Z:-3.59 [[ 9.99958750e-01 2.64960086e-03 8.68779920e-03 2.59586807e+02] [-2.64446861e-03 9.99996322e-01 -6.02176406e-04 -1.57980445e+01] [-8.68936277e-03 5.79176954e-04 9.99962079e-01 -3.59050433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.460371743 meters Centerline goodness [0,1] 0.9861602405376725 Centerline is valid? [True, True] Translation: X:259.62, Y:-15.80, Z:-3.59 [[ 9.99961823e-01 2.80870415e-03 8.27432025e-03 2.59618257e+02] [-2.80403083e-03 9.99995903e-01 -5.76345557e-04 -1.58007952e+01] [-8.27590513e-03 5.53122105e-04 9.99965601e-01 -3.59174481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.490371743 meters Centerline goodness [0,1] 0.9866699089220975 Centerline is valid? [True, True] Translation: X:259.65, Y:-15.80, Z:-3.59 [[ 9.99972202e-01 2.97164570e-03 6.83846197e-03 2.59650117e+02] [-2.96845647e-03 9.99995481e-01 -4.76469801e-04 -1.58019234e+01] [-6.83984696e-03 4.56156880e-04 9.99976504e-01 -3.59319523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.520371743 meters Centerline goodness [0,1] 0.9867320449956735 Centerline is valid? [True, True] Translation: X:259.68, Y:-15.80, Z:-3.59 [[ 9.99976232e-01 2.79019386e-03 6.30475872e-03 2.59681203e+02] [-2.78747073e-03 9.99996018e-01 -4.40662704e-04 -1.58044995e+01] [-6.30596315e-03 4.23077900e-04 9.99980028e-01 -3.59397099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.550371743 meters Centerline goodness [0,1] 0.9863871555150896 Centerline is valid? [True, True] Translation: X:259.71, Y:-15.81, Z:-3.60 [[ 9.99986862e-01 1.85256644e-03 4.77953205e-03 2.59712972e+02] [-1.85098970e-03 9.99998231e-01 -3.34297912e-04 -1.58064736e+01] [-4.78014290e-03 3.25446655e-04 9.99988522e-01 -3.59576810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.580371743 meters Centerline goodness [0,1] 0.9864849845510926 Centerline is valid? [True, True] Translation: X:259.74, Y:-15.81, Z:-3.60 [[ 9.99989432e-01 1.33908462e-03 4.39813790e-03 2.59744748e+02] [-1.33774150e-03 9.99999058e-01 -3.08311247e-04 -1.58085635e+01] [-4.39854661e-03 3.02424417e-04 9.99990281e-01 -3.59642075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61037174300003 meters Centerline goodness [0,1] 0.9889155982905983 Centerline is valid? [True, True] Translation: X:259.78, Y:-15.80, Z:-3.60 [[ 9.99991236e-01 5.72717335e-04 4.14715890e-03 2.59776424e+02] [-5.71505140e-04 9.99999794e-01 -2.93474556e-04 -1.58000745e+01] [-4.14732612e-03 2.91101862e-04 9.99991357e-01 -3.59556577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.640371743 meters Centerline goodness [0,1] 0.9869397579620673 Centerline is valid? [True, True] Translation: X:259.81, Y:-15.81, Z:-3.60 [[ 9.99990662e-01 -1.83573828e-03 3.91216301e-03 2.59805387e+02] [ 1.83683738e-03 9.99998275e-01 -2.77369799e-04 -1.58099158e+01] [-3.91164708e-03 2.84553216e-04 9.99992309e-01 -3.59823091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67037174300003 meters Centerline goodness [0,1] 0.9877666318201027 Centerline is valid? [True, True] Translation: X:259.84, Y:-15.81, Z:-3.60 [[ 9.99989561e-01 -2.77935606e-03 3.62683480e-03 2.59838016e+02] [ 2.78030384e-03 9.99996102e-01 -2.56307744e-04 -1.58069767e+01] [-3.62610829e-03 2.66388771e-04 9.99993390e-01 -3.59795640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.700371743 meters Centerline goodness [0,1] 0.9884368594599412 Centerline is valid? [True, True] Translation: X:259.87, Y:-15.80, Z:-3.60 [[ 9.99984501e-01 -3.81077732e-03 4.05906471e-03 2.59870222e+02] [ 3.81197451e-03 9.99992693e-01 -2.87246304e-04 -1.58036936e+01] [-4.05794042e-03 3.02714903e-04 9.99991721e-01 -3.59783688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73037174300003 meters Centerline goodness [0,1] 0.9873361177495366 Centerline is valid? [True, True] Translation: X:259.90, Y:-15.81, Z:-3.60 [[ 9.99982392e-01 -3.93496189e-03 4.44205831e-03 2.59901086e+02] [ 3.93639966e-03 9.99992203e-01 -3.14976030e-04 -1.58099240e+01] [-4.44078426e-03 3.32456201e-04 9.99990084e-01 -3.59922902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.760371743 meters Centerline goodness [0,1] 0.9878824530753035 Centerline is valid? [True, True] Translation: X:259.93, Y:-15.81, Z:-3.60 [[ 9.99980014e-01 -3.81792228e-03 5.03934360e-03 2.59933315e+02] [ 3.81977219e-03 9.99992641e-01 -3.57521244e-04 -1.58062671e+01] [-5.03794153e-03 3.76763243e-04 9.99987239e-01 -3.59856680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.790371743 meters Centerline goodness [0,1] 0.9773783977110158 Centerline is valid? [True, True] Translation: X:259.96, Y:-15.82, Z:-3.60 [[ 9.99978663e-01 -2.79827896e-03 5.90274489e-03 2.59963566e+02] [ 2.80080409e-03 9.99995990e-01 -4.19567398e-04 -1.58205304e+01] [-5.90154715e-03 4.36090878e-04 9.99982491e-01 -3.59957893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.820371743 meters Centerline goodness [0,1] 0.9879226511909297 Centerline is valid? [True, True] Translation: X:260.00, Y:-15.81, Z:-3.60 [[ 9.99978255e-01 -2.12884703e-03 6.24153713e-03 2.59996392e+02] [ 2.13165876e-03 9.99997630e-01 -4.43868681e-04 -1.58082716e+01] [-6.24057740e-03 4.57163857e-04 9.99980423e-01 -3.59734489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.850371743 meters Centerline goodness [0,1] 0.9725770013644396 Centerline is valid? [True, True] Translation: X:260.03, Y:-15.82, Z:-3.60 [[ 9.99973570e-01 -1.64486571e-03 7.08197768e-03 2.60026354e+02] [ 1.64847915e-03 9.99998514e-01 -5.04423579e-04 -1.58239977e+01] [-7.08113744e-03 5.16084739e-04 9.99974795e-01 -3.59926504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880371743 meters Centerline goodness [0,1] 0.9871536185095507 Centerline is valid? [True, True] Translation: X:260.06, Y:-15.80, Z:-3.60 [[ 9.99969809e-01 -1.29514826e-03 7.66187044e-03 2.60059923e+02] [ 1.29936973e-03 9.99999007e-01 -5.46019256e-04 -1.58029637e+01] [-7.66115565e-03 5.55958373e-04 9.99970498e-01 -3.59713315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.910371743 meters Centerline goodness [0,1] 0.9870714765852565 Centerline is valid? [True, True] Translation: X:260.09, Y:-15.81, Z:-3.60 [[ 9.99972339e-01 -1.66114561e-03 7.24991497e-03 2.60091678e+02] [ 1.66493831e-03 9.99998480e-01 -5.17133441e-04 -1.58055979e+01] [-7.24904492e-03 5.29189798e-04 9.99973585e-01 -3.59776764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940371743 meters Centerline goodness [0,1] 0.9869964474830752 Centerline is valid? [True, True] Translation: X:260.12, Y:-15.81, Z:-3.60 [[ 9.99973891e-01 -1.74341504e-03 7.01264275e-03 2.60122967e+02] [ 1.74696996e-03 9.99998349e-01 -5.00836646e-04 -1.58086621e+01] [-7.01175800e-03 5.13074446e-04 9.99975286e-01 -3.59867728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.970371743 meters Centerline goodness [0,1] 0.9868359191349318 Centerline is valid? [True, True] Translation: X:260.16, Y:-15.81, Z:-3.60 [[ 9.99977953e-01 -2.44200085e-03 6.17488244e-03 2.60155498e+02] [ 2.44477080e-03 9.99996914e-01 -4.41075301e-04 -1.58094837e+01] [-6.17378628e-03 4.56161749e-04 9.99980838e-01 -3.60042886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000371743 meters Centerline goodness [0,1] 0.986232762880115 Centerline is valid? [True, True] Translation: X:260.19, Y:-15.81, Z:-3.60 [[ 9.99982534e-01 -2.50659344e-03 5.35247043e-03 2.60187703e+02] [ 2.50867683e-03 9.99996780e-01 -3.82561455e-04 -1.58101380e+01] [-5.35149427e-03 3.95982392e-04 9.99985602e-01 -3.60113860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.030371743 meters Centerline goodness [0,1] 0.9872145709030551 Centerline is valid? [True, True] Translation: X:260.22, Y:-15.81, Z:-3.60 [[ 9.99984160e-01 -1.92958011e-03 5.28744897e-03 2.60220473e+02] [ 1.93160703e-03 9.99998063e-01 -3.78265132e-04 -1.58082523e+01] [-5.28670883e-03 3.88472414e-04 9.99985950e-01 -3.60252515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060371743 meters Centerline goodness [0,1] 0.9860066036252555 Centerline is valid? [True, True] Translation: X:260.25, Y:-15.81, Z:-3.60 [[ 9.99983043e-01 -1.60966793e-03 5.59660163e-03 2.60251453e+02] [ 1.61193383e-03 9.99998621e-01 -4.00383144e-04 -1.58126963e+01] [-5.59594943e-03 4.09397706e-04 9.99984259e-01 -3.60357121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.090371743 meters Centerline goodness [0,1] 0.9857944344703771 Centerline is valid? [True, True] Translation: X:260.28, Y:-15.81, Z:-3.60 [[ 9.99982140e-01 -1.07591749e-03 5.87890015e-03 2.60282818e+02] [ 1.07841713e-03 9.99999329e-01 -4.22034851e-04 -1.58146117e+01] [-5.87844213e-03 4.28367220e-04 9.99982630e-01 -3.60382225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120371743 meters Centerline goodness [0,1] 0.9850971387406857 Centerline is valid? [True, True] Translation: X:260.31, Y:-15.82, Z:-3.60 [[ 9.99978869e-01 -8.43502071e-04 6.44597857e-03 2.60314714e+02] [ 8.46504093e-04 9.99999535e-01 -4.63006017e-04 -1.58155695e+01] [-6.44558502e-03 4.68452780e-04 9.99979117e-01 -3.60382399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.150371743 meters Centerline goodness [0,1] 0.9872444955265589 Centerline is valid? [True, True] Translation: X:260.35, Y:-15.81, Z:-3.60 [[ 9.99976583e-01 -1.34708028e-03 6.70963288e-03 2.60347714e+02] [ 1.35033692e-03 9.99998973e-01 -4.80860662e-04 -1.58125546e+01] [-6.70897823e-03 4.89909667e-04 9.99977375e-01 -3.60326398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180371743 meters Centerline goodness [0,1] 0.9866299912069082 Centerline is valid? [True, True] Translation: X:260.38, Y:-15.81, Z:-3.60 [[ 9.99974853e-01 -1.83230723e-03 6.85104364e-03 2.60380228e+02] [ 1.83573696e-03 9.99998193e-01 -4.94359192e-04 -1.58144644e+01] [-6.85012544e-03 5.06923474e-04 9.99976409e-01 -3.60395774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.210371743 meters Centerline goodness [0,1] 0.9865767284991568 Centerline is valid? [True, True] Translation: X:260.41, Y:-15.82, Z:-3.61 [[ 9.99972736e-01 -2.52453391e-03 6.93928018e-03 2.60410830e+02] [ 2.52806317e-03 9.99996680e-01 -4.99867331e-04 -1.58210334e+01] [-6.93799521e-03 5.17396641e-04 9.99975798e-01 -3.60550056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240371743 meters Centerline goodness [0,1] 0.9866606680913284 Centerline is valid? [True, True] Translation: X:260.44, Y:-15.82, Z:-3.61 [[ 9.99973428e-01 -2.99347808e-03 6.64693069e-03 2.60443372e+02] [ 2.99674533e-03 9.99995394e-01 -4.81637145e-04 -1.58214403e+01] [-6.64545831e-03 5.01543505e-04 9.99977793e-01 -3.60603339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.270371743 meters Centerline goodness [0,1] 0.9859679202292057 Centerline is valid? [True, True] Translation: X:260.48, Y:-15.82, Z:-3.61 [[ 9.99972271e-01 -3.02834952e-03 6.80338141e-03 2.60475397e+02] [ 3.03177662e-03 9.99995282e-01 -4.93478736e-04 -1.58233650e+01] [-6.80185489e-03 5.14091385e-04 9.99976735e-01 -3.60648124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300371743 meters Centerline goodness [0,1] 0.9861724168993784 Centerline is valid? [True, True] Translation: X:260.51, Y:-15.83, Z:-3.61 [[ 9.99970779e-01 -2.36323189e-03 7.27026001e-03 2.60506209e+02] [ 2.36713336e-03 9.99997059e-01 -5.28075557e-04 -1.58259129e+01] [-7.26899066e-03 5.45269801e-04 9.99973432e-01 -3.60703317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.330371743 meters Centerline goodness [0,1] 0.9874470386730371 Centerline is valid? [True, True] Translation: X:260.54, Y:-15.82, Z:-3.61 [[ 9.99970865e-01 -1.63892913e-03 7.45539523e-03 2.60539178e+02] [ 1.64301366e-03 9.99998503e-01 -5.41771283e-04 -1.58202473e+01] [-7.45449615e-03 5.54004814e-04 9.99972061e-01 -3.60692883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36037174300003 meters Centerline goodness [0,1] 0.9872358658638342 Centerline is valid? [True, True] Translation: X:260.57, Y:-15.82, Z:-3.61 [[ 9.99972583e-01 -8.77700390e-04 7.35277817e-03 2.60570828e+02] [ 8.81656634e-04 9.99999468e-01 -5.34837039e-04 -1.58224447e+01] [-7.35230484e-03 5.41305001e-04 9.99972825e-01 -3.60723358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.390371743 meters Centerline goodness [0,1] 0.9870349492671928 Centerline is valid? [True, True] Translation: X:260.60, Y:-15.82, Z:-3.61 [[ 9.99971792e-01 -7.66933793e-05 7.51058229e-03 2.60602453e+02] [ 8.08030842e-05 9.99999847e-01 -5.46886677e-04 -1.58249605e+01] [-7.51053920e-03 5.47478129e-04 9.99971646e-01 -3.60748709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42037174300003 meters Centerline goodness [0,1] 0.9877858451516591 Centerline is valid? [True, True] Translation: X:260.63, Y:-15.82, Z:-3.61 [[ 9.99969842e-01 2.33391228e-03 7.40734796e-03 2.60633901e+02] [-2.32997372e-03 9.99997140e-01 -5.40294978e-04 -1.58197479e+01] [-7.40858777e-03 5.23019757e-04 9.99972419e-01 -3.60737512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.450371743 meters Centerline goodness [0,1] 0.988241424622774 Centerline is valid? [True, True] Translation: X:260.66, Y:-15.82, Z:-3.61 [[ 9.99958148e-01 4.45838085e-03 7.98901543e-03 2.60664338e+02] [-4.45386528e-03 9.99989912e-01 -5.82924577e-04 -1.58201219e+01] [-7.99153373e-03 5.47318182e-04 9.99967917e-01 -3.60827541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48037174300003 meters Centerline goodness [0,1] 0.9881585799352458 Centerline is valid? [True, True] Translation: X:260.70, Y:-15.82, Z:-3.61 [[ 9.99954882e-01 5.29263244e-03 7.88803693e-03 2.60696336e+02] [-5.28826918e-03 9.99985852e-01 -5.73903344e-04 -1.58203679e+01] [-7.89096279e-03 5.32163388e-04 9.99968724e-01 -3.60903118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.510371743 meters Centerline goodness [0,1] 0.9880177011233405 Centerline is valid? [True, True] Translation: X:260.73, Y:-15.82, Z:-3.61 [[ 9.99951915e-01 5.88027640e-03 7.84797033e-03 2.60727871e+02] [-5.87595863e-03 9.99982572e-01 -5.73120341e-04 -1.58236432e+01] [-7.85120366e-03 5.26978433e-04 9.99969040e-01 -3.60997229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.540371743 meters Centerline goodness [0,1] 0.9885425174698248 Centerline is valid? [True, True] Translation: X:260.76, Y:-15.82, Z:-3.61 [[ 9.99967132e-01 5.17300869e-03 6.24300459e-03 2.60759643e+02] [-5.17024687e-03 9.99986529e-01 -4.58445293e-04 -1.58223001e+01] [-6.24529204e-03 4.26152349e-04 9.99980407e-01 -3.61134128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.570371743 meters Centerline goodness [0,1] 0.9890980267200765 Centerline is valid? [True, True] Translation: X:260.79, Y:-15.83, Z:-3.61 [[ 9.99969730e-01 4.58606295e-03 6.28545751e-03 2.60790377e+02] [-4.58324938e-03 9.99989390e-01 -4.61962492e-04 -1.58258233e+01] [-6.28750941e-03 4.33140689e-04 9.99980140e-01 -3.61233307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.600371743 meters Centerline goodness [0,1] 0.9890860410237793 Centerline is valid? [True, True] Translation: X:260.82, Y:-15.83, Z:-3.61 [[ 9.99976722e-01 2.44100148e-03 6.37156139e-03 2.60821769e+02] [-2.43806725e-03 9.99996918e-01 -4.68246418e-04 -1.58296700e+01] [-6.37268474e-03 4.52701223e-04 9.99979592e-01 -3.61384375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.630371743 meters Centerline goodness [0,1] 0.9889168994572006 Centerline is valid? [True, True] Translation: X:260.85, Y:-15.83, Z:-3.61 [[ 9.99979655e-01 1.53682946e-03 6.19095554e-03 2.60852308e+02] [-1.53404583e-03 9.99998720e-01 -4.54352728e-04 -1.58331988e+01] [-6.19164588e-03 4.44846275e-04 9.99980733e-01 -3.61427010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.660371743 meters Centerline goodness [0,1] 0.9882045454545455 Centerline is valid? [True, True] Translation: X:260.88, Y:-15.84, Z:-3.61 [[ 9.99980783e-01 1.24268621e-03 6.07358866e-03 2.60884081e+02] [-1.24000346e-03 9.99999132e-01 -4.45452965e-04 -1.58351782e+01] [-6.07413694e-03 4.37913134e-04 9.99981456e-01 -3.61496563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.690371743 meters Centerline goodness [0,1] 0.9885224664196913 Centerline is valid? [True, True] Translation: X:260.92, Y:-15.84, Z:-3.62 [[ 9.99984227e-01 7.89514940e-04 5.56085083e-03 2.60915864e+02] [-7.87253584e-04 9.99999607e-01 -4.08833639e-04 -1.58373948e+01] [-5.56117143e-03 4.04449390e-04 9.99984455e-01 -3.61543570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.720371743 meters Centerline goodness [0,1] 0.9876756560098231 Centerline is valid? [True, True] Translation: X:260.95, Y:-15.84, Z:-3.62 [[ 9.99987047e-01 4.35074953e-04 5.07120563e-03 2.60948006e+02] [-4.33186300e-04 9.99999836e-01 -3.73519292e-04 -1.58405092e+01] [-5.07136731e-03 3.71317676e-04 9.99987072e-01 -3.61658705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.750371743 meters Centerline goodness [0,1] 0.9886430879876189 Centerline is valid? [True, True] Translation: X:260.98, Y:-15.84, Z:-3.62 [[ 9.99989680e-01 6.96465176e-04 4.48942590e-03 2.60980756e+02] [-6.94975978e-04 9.99999703e-01 -3.33264039e-04 -1.58404035e+01] [-4.48965667e-03 3.30140557e-04 9.99989867e-01 -3.61769875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.780371743 meters Centerline goodness [0,1] 0.9879520816252163 Centerline is valid? [True, True] Translation: X:261.01, Y:-15.84, Z:-3.62 [[ 9.99990582e-01 9.01036894e-04 4.24542898e-03 2.61013358e+02] [-8.99705996e-04 9.99999546e-01 -3.15389168e-04 -1.58410844e+01] [-4.24571123e-03 3.11566560e-04 9.99990938e-01 -3.61843356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.810371743 meters Centerline goodness [0,1] 0.9883276450511945 Centerline is valid? [True, True] Translation: X:261.04, Y:-15.84, Z:-3.62 [[ 9.99986752e-01 1.82443525e-03 4.81333182e-03 2.61044133e+02] [-1.82273179e-03 9.99998275e-01 -3.58267560e-04 -1.58437245e+01] [-4.81397715e-03 3.49489400e-04 9.99988352e-01 -3.61853340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.840371743 meters Centerline goodness [0,1] 0.9867283880236244 Centerline is valid? [True, True] Translation: X:261.07, Y:-15.85, Z:-3.62 [[ 9.99975926e-01 3.91057763e-03 5.73183195e-03 2.61073720e+02] [-3.90819041e-03 9.99992272e-01 -4.27627068e-04 -1.58495235e+01] [-5.73345992e-03 4.05215682e-04 9.99983481e-01 -3.61838117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.870371743 meters Centerline goodness [0,1] 0.9896104489199433 Centerline is valid? [True, True] Translation: X:261.11, Y:-15.84, Z:-3.62 [[ 9.99964365e-01 5.10799050e-03 6.72140361e-03 2.61105859e+02] [-5.10473689e-03 9.99986845e-01 -5.01133574e-04 -1.58401015e+01] [-6.72387498e-03 4.66804719e-04 9.99977286e-01 -3.61651390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.900371743 meters Centerline goodness [0,1] 0.9892240397320818 Centerline is valid? [True, True] Translation: X:261.14, Y:-15.84, Z:-3.62 [[ 9.99950052e-01 6.50737825e-03 7.58604880e-03 2.61135833e+02] [-6.50327000e-03 9.99978693e-01 -5.66095947e-04 -1.58433189e+01] [-7.58957096e-03 5.16733548e-04 9.99971065e-01 -3.61643688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.930371743 meters Centerline goodness [0,1] 0.9883221353809589 Centerline is valid? [True, True] Translation: X:261.17, Y:-15.84, Z:-3.62 [[ 9.99928913e-01 7.89430127e-03 8.93577853e-03 2.61166860e+02] [-7.88865425e-03 9.99968662e-01 -6.67027306e-04 -1.58417548e+01] [-8.94076421e-03 5.96488622e-04 9.99959853e-01 -3.61606910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.960371743 meters Centerline goodness [0,1] 0.9885945464103678 Centerline is valid? [True, True] Translation: X:261.20, Y:-15.84, Z:-3.62 [[ 9.99921975e-01 8.35606157e-03 9.28546309e-03 2.61197765e+02] [-8.34998310e-03 9.99964898e-01 -6.93196815e-04 -1.58443353e+01] [-9.29092954e-03 6.15609268e-04 9.99956649e-01 -3.61634501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.990371743 meters Centerline goodness [0,1] 0.9872612916457774 Centerline is valid? [True, True] Translation: X:261.23, Y:-15.85, Z:-3.62 [[ 9.99917157e-01 8.69715584e-03 9.48891392e-03 2.61228029e+02] [-8.69081896e-03 9.99961983e-01 -7.08849994e-04 -1.58477260e+01] [-9.49471816e-03 6.26324837e-04 9.99954728e-01 -3.61727303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.020371743 meters Centerline goodness [0,1] 0.9885987159275254 Centerline is valid? [True, True] Translation: X:261.26, Y:-15.85, Z:-3.62 [[ 9.99931362e-01 7.98014145e-03 8.57836733e-03 2.61259628e+02] [-7.97493615e-03 9.99967994e-01 -6.40829846e-04 -1.58504060e+01] [-8.58320668e-03 5.72373929e-04 9.99963000e-01 -3.61923985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.050371743 meters Centerline goodness [0,1] 0.9884986650236188 Centerline is valid? [True, True] Translation: X:261.29, Y:-15.85, Z:-3.62 [[ 9.99944272e-01 7.28751003e-03 7.63840167e-03 2.61290498e+02] [-7.28336122e-03 9.99973313e-01 -5.70827861e-04 -1.58539285e+01] [-7.64235774e-03 5.15162811e-04 9.99970664e-01 -3.62090634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.080371743 meters Centerline goodness [0,1] 0.9884897661485162 Centerline is valid? [True, True] Translation: X:261.32, Y:-15.86, Z:-3.62 [[ 9.99974417e-01 4.99245293e-03 5.12258597e-03 2.61319800e+02] [-4.99055513e-03 9.99987474e-01 -3.83193216e-04 -1.58622666e+01] [-5.12443488e-03 3.57618865e-04 9.99986806e-01 -3.62409882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11037174300003 meters Centerline goodness [0,1] 0.9882120019115672 Centerline is valid? [True, True] Translation: X:261.35, Y:-15.87, Z:-3.63 [[ 9.99985243e-01 3.49617615e-03 4.15818379e-03 2.61349932e+02] [-3.49491535e-03 9.99993845e-01 -3.10437355e-04 -1.58683872e+01] [-4.15924354e-03 2.95900273e-04 9.99991307e-01 -3.62636043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.140371743 meters Centerline goodness [0,1] 0.9888198192044083 Centerline is valid? [True, True] Translation: X:261.38, Y:-15.87, Z:-3.63 [[ 9.99992603e-01 1.80123635e-03 3.39839936e-03 2.61380843e+02] [-1.80038287e-03 9.99998347e-01 -2.54183004e-04 -1.58672403e+01] [-3.39885159e-03 2.48062703e-04 9.99994193e-01 -3.62705762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17037174300003 meters Centerline goodness [0,1] 0.9879493370996401 Centerline is valid? [True, True] Translation: X:261.41, Y:-15.87, Z:-3.63 [[ 9.99998140e-01 -1.13492603e-04 1.92543779e-03 2.61410546e+02] [ 1.13768369e-04 9.99999983e-01 -1.43113867e-04 -1.58739123e+01] [-1.92542152e-03 1.43332655e-04 9.99998136e-01 -3.62903244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.200371743 meters Centerline goodness [0,1] 0.7889651665395372 Centerline is valid? [True, False] Translation: X:261.46, Y:-15.88, Z:-3.63 [[ 9.99995545e-01 -2.12553634e-03 2.09556472e-03 2.61462859e+02] [ 2.13231491e-03 9.99992485e-01 -3.23781073e-03 -1.58750403e+01] [-2.08866689e-03 3.24226471e-03 9.99992563e-01 -3.62904898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23037174300003 meters Centerline goodness [0,1] 0.9876380193511668 Centerline is valid? [False, True] Translation: X:261.40, Y:-15.87, Z:-3.63 [[ 9.99998599e-01 -1.67127817e-03 9.86562916e-05 2.61401962e+02] [ 1.67098006e-03 9.99994258e-01 2.94812412e-03 -1.58735294e+01] [-1.03582861e-04 -2.94795513e-03 9.99995649e-01 -3.62861012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.260371743 meters Centerline goodness [0,1] 0.9876380193511668 Centerline is valid? [True, True] Translation: X:261.43, Y:-15.87, Z:-3.63 [[ 9.99998721e-01 -1.59524196e-03 -1.17001145e-04 2.61432924e+02] [ 1.59524304e-03 9.99998728e-01 9.07629488e-06 -1.58744879e+01] [ 1.16986517e-04 -9.26292853e-06 9.99999993e-01 -3.62798274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.290371743 meters Centerline goodness [0,1] 0.9886898505689348 Centerline is valid? [True, True] Translation: X:261.46, Y:-15.87, Z:-3.63 [[ 9.99999574e-01 -3.46427527e-04 8.55148142e-04 2.61463207e+02] [ 3.46481352e-04 9.99999938e-01 -6.27954611e-05 -1.58743981e+01] [-8.55126335e-04 6.30917272e-05 9.99999632e-01 -3.62735151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.320371743 meters Centerline goodness [0,1] 0.9887473751483612 Centerline is valid? [True, True] Translation: X:261.49, Y:-15.87, Z:-3.63 [[ 9.99998172e-01 9.95268778e-04 1.63235469e-03 2.61494134e+02] [-9.95074431e-04 9.99999498e-01 -1.19867494e-04 -1.58707893e+01] [-1.63247317e-03 1.18242961e-04 9.99998661e-01 -3.62643741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.350371743 meters Centerline goodness [0,1] 0.9875783501852953 Centerline is valid? [True, True] Translation: X:261.52, Y:-15.88, Z:-3.63 [[ 9.99986509e-01 3.85162042e-03 3.48520681e-03 2.61523844e+02] [-3.85075173e-03 9.99992553e-01 -2.55926614e-04 -1.58784061e+01] [-3.48616659e-03 2.42502496e-04 9.99993894e-01 -3.62682053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380371743 meters Centerline goodness [0,1] 0.9885454296035484 Centerline is valid? [True, True] Translation: X:261.55, Y:-15.88, Z:-3.63 [[ 9.99975103e-01 5.43194803e-03 4.50415503e-03 2.61554492e+02] [-5.43051309e-03 9.99985200e-01 -3.30750285e-04 -1.58757365e+01] [-4.50588499e-03 3.06282177e-04 9.99989802e-01 -3.62593194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.410371743 meters Centerline goodness [0,1] 0.9871121063936749 Centerline is valid? [True, True] Translation: X:261.58, Y:-15.88, Z:-3.63 [[ 9.99961454e-01 6.88580331e-03 5.44761734e-03 2.61583667e+02] [-6.88372495e-03 9.99976227e-01 -4.00175369e-04 -1.58816940e+01] [-5.45024336e-03 3.62660045e-04 9.99985082e-01 -3.62643207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440371743 meters Centerline goodness [0,1] 0.9875426503927272 Centerline is valid? [True, True] Translation: X:261.61, Y:-15.88, Z:-3.63 [[ 9.99950737e-01 8.09700089e-03 5.74124855e-03 2.61614181e+02] [-8.09471376e-03 9.99967148e-01 -4.21493581e-04 -1.58829933e+01] [-5.74447278e-03 3.74999053e-04 9.99983430e-01 -3.62666153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.470371743 meters Centerline goodness [0,1] 0.9880287310454908 Centerline is valid? [True, True] Translation: X:261.64, Y:-15.88, Z:-3.63 [[ 9.99935722e-01 9.67279976e-03 5.91519749e-03 2.61644007e+02] [-9.67039940e-03 9.99953146e-01 -4.34264037e-04 -1.58845495e+01] [-5.91912089e-03 3.77033801e-04 9.99982411e-01 -3.62662070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500371743 meters Centerline goodness [0,1] 0.9892972305440575 Centerline is valid? [True, True] Translation: X:261.67, Y:-15.88, Z:-3.63 [[ 9.99932635e-01 1.00286137e-02 5.84400044e-03 2.61674120e+02] [-1.00262752e-02 9.99949643e-01 -4.29321783e-04 -1.58769424e+01] [-5.84801166e-03 3.70699305e-04 9.99982832e-01 -3.62606668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.530371743 meters Centerline goodness [0,1] 0.9886805396752801 Centerline is valid? [True, True] Translation: X:261.70, Y:-15.88, Z:-3.63 [[ 9.99932236e-01 1.01531878e-02 5.69527321e-03 2.61702781e+02] [-1.01509691e-02 9.99948390e-01 -4.18346111e-04 -1.58836284e+01] [-5.69922683e-03 3.60505220e-04 9.99983694e-01 -3.62779261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560371743 meters Centerline goodness [0,1] 0.989842965397608 Centerline is valid? [True, True] Translation: X:261.73, Y:-15.88, Z:-3.63 [[ 9.99934237e-01 1.05910633e-02 4.39895015e-03 2.61732875e+02] [-1.05897449e-02 9.99943875e-01 -3.22894068e-04 -1.58823234e+01] [-4.40212305e-03 2.76289074e-04 9.99990272e-01 -3.62915576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.590371743 meters Centerline goodness [0,1] 0.9902242930884838 Centerline is valid? [True, True] Translation: X:261.76, Y:-15.88, Z:-3.63 [[ 9.99933651e-01 1.09063741e-02 3.70747035e-03 2.61761166e+02] [-1.09054386e-02 9.99940497e-01 -2.72442110e-04 -1.58849075e+01] [-3.71022110e-03 2.31992443e-04 9.99993090e-01 -3.63063056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620371743 meters Centerline goodness [0,1] 0.9905505341002465 Centerline is valid? [True, True] Translation: X:261.79, Y:-15.89, Z:-3.63 [[ 9.99928291e-01 1.17771432e-02 2.17055085e-03 2.61790350e+02] [-1.17768245e-02 9.99930638e-01 -1.59551448e-04 -1.58866387e+01] [-2.17227936e-03 1.33977811e-04 9.99997632e-01 -3.63286520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.650371743 meters Centerline goodness [0,1] 0.9906691670859443 Centerline is valid? [True, True] Translation: X:261.82, Y:-15.89, Z:-3.63 [[ 9.99917527e-01 1.27819816e-02 1.24944517e-03 2.61818749e+02] [-1.27818762e-02 9.99918304e-01 -9.23119828e-05 -1.58884481e+01] [-1.25052302e-03 7.63341161e-05 9.99999215e-01 -3.63401400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680371743 meters Centerline goodness [0,1] 0.9910722440405516 Centerline is valid? [True, True] Translation: X:261.85, Y:-15.89, Z:-3.63 [[ 9.99900792e-01 1.40849323e-02 1.47665815e-04 2.61848054e+02] [-1.40849307e-02 9.99900802e-01 -1.21926849e-05 -1.58891168e+01] [-1.47822900e-04 1.01116125e-05 9.99999989e-01 -3.63476771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.710371743 meters Centerline goodness [0,1] 0.9913696403635281 Centerline is valid? [True, True] Translation: X:261.88, Y:-15.89, Z:-3.64 [[ 9.99840118e-01 1.78749168e-02 -4.75557657e-04 2.61877324e+02] [-1.78749026e-02 9.99840231e-01 3.42030212e-05 -1.58915128e+01] [ 4.76093054e-04 -2.56970059e-05 9.99999886e-01 -3.63683211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740371743 meters Centerline goodness [0,1] 0.9907906764168191 Centerline is valid? [True, True] Translation: X:261.91, Y:-15.89, Z:-3.64 [[ 9.99796341e-01 2.01793065e-02 -2.69114952e-04 2.61907324e+02] [-2.01793021e-02 9.99796377e-01 1.91404579e-05 -1.58905115e+01] [ 2.69446395e-04 -1.37060079e-05 9.99999964e-01 -3.63662650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.770371743 meters Centerline goodness [0,1] 0.9910702019508174 Centerline is valid? [True, True] Translation: X:261.94, Y:-15.89, Z:-3.63 [[ 9.99680390e-01 2.52518294e-02 1.20961311e-03 2.61938575e+02] [-2.52517411e-02 9.99681120e-01 -8.82435898e-05 -1.58865588e+01] [-1.21145570e-03 5.76705491e-05 9.99999265e-01 -3.63474757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800371743 meters Centerline goodness [0,1] 0.9902859363214556 Centerline is valid? [True, True] Translation: X:261.97, Y:-15.89, Z:-3.63 [[ 9.99609576e-01 2.78218391e-02 2.57716627e-03 2.61968688e+02] [-2.78214464e-02 9.99612891e-01 -1.88118968e-04 -1.58863401e+01] [-2.58140244e-03 1.16345029e-04 9.99996661e-01 -3.63434795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.830371743 meters Centerline goodness [0,1] 0.9921465369204351 Centerline is valid? [True, True] Translation: X:262.00, Y:-15.89, Z:-3.63 [[ 9.99534262e-01 3.02965687e-02 3.65743394e-03 2.61997910e+02] [-3.02957942e-02 9.99540941e-01 -2.66982198e-04 -1.58871066e+01] [-3.66384361e-03 1.56052988e-04 9.99993276e-01 -3.63378810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86037174300003 meters Centerline goodness [0,1] 0.9915423685964468 Centerline is valid? [True, True] Translation: X:262.03, Y:-15.89, Z:-3.63 [[ 9.99394231e-01 3.43329141e-02 5.69400308e-03 2.62026590e+02] [-3.43311043e-02 9.99410428e-01 -4.15315732e-04 -1.58858123e+01] [-5.70490505e-03 2.19582733e-04 9.99983703e-01 -3.63246756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.890371743 meters Centerline goodness [0,1] 0.991945107398568 Centerline is valid? [True, True] Translation: X:262.06, Y:-15.89, Z:-3.63 [[ 9.99344015e-01 3.56036220e-02 6.62733776e-03 2.62055246e+02] [-3.56012004e-02 9.99365960e-01 -4.83057466e-04 -1.58850136e+01] [-6.64033435e-03 2.46799408e-04 9.99977922e-01 -3.63171397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92037174300003 meters Centerline goodness [0,1] 0.9924014600215789 Centerline is valid? [True, True] Translation: X:262.08, Y:-15.89, Z:-3.63 [[ 9.99307558e-01 3.64755282e-02 7.34436615e-03 2.62084486e+02] [-3.64725822e-02 9.99334511e-01 -5.34705050e-04 -1.58852153e+01] [-7.35898220e-03 2.66466800e-04 9.99972887e-01 -3.63135136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.950371743 meters Centerline goodness [0,1] 0.991424695956043 Centerline is valid? [True, True] Translation: X:262.11, Y:-15.89, Z:-3.63 [[ 9.99287250e-01 3.68796893e-02 8.05482840e-03 2.62112497e+02] [-3.68761642e-02 9.99319671e-01 -5.85759992e-04 -1.58898499e+01] [-8.07095112e-03 2.88311317e-04 9.99967388e-01 -3.63180394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98037174300003 meters Centerline goodness [0,1] 0.9924073349745761 Centerline is valid? [True, True] Translation: X:262.14, Y:-15.89, Z:-3.63 [[ 9.99312868e-01 3.60621641e-02 8.56228466e-03 2.62141024e+02] [-3.60581558e-02 9.99349500e-01 -6.22101174e-04 -1.58880313e+01] [-8.57914921e-03 3.12933514e-04 9.99963149e-01 -3.63183185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.010371743 meters Centerline goodness [0,1] 0.991602245536536 Centerline is valid? [True, True] Translation: X:262.17, Y:-15.89, Z:-3.63 [[ 9.99351198e-01 3.49505727e-02 8.69720279e-03 2.62168857e+02] [-3.49464020e-02 9.99388989e-01 -6.31096913e-04 -1.58918623e+01] [-8.71394590e-03 3.26751511e-04 9.99961979e-01 -3.63264042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.040371743 meters Centerline goodness [0,1] 0.9908994806269247 Centerline is valid? [True, True] Translation: X:262.20, Y:-15.90, Z:-3.63 [[ 9.99441385e-01 3.24869228e-02 7.84338871e-03 2.62198157e+02] [-3.24834622e-02 9.99472112e-01 -5.68238805e-04 -1.58962304e+01] [-7.85770860e-03 3.13140957e-04 9.99969079e-01 -3.63401818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.070371743 meters Centerline goodness [0,1] 0.9909464831452929 Centerline is valid? [True, True] Translation: X:262.23, Y:-15.90, Z:-3.64 [[ 9.99502364e-01 3.07168131e-02 7.17645242e-03 2.62226930e+02] [-3.07138703e-02 9.99528083e-01 -5.19945116e-04 -1.58990743e+01] [-7.18903679e-03 2.99269744e-04 9.99974114e-01 -3.63501936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.100371743 meters Centerline goodness [0,1] 0.9916922935695598 Centerline is valid? [True, True] Translation: X:262.26, Y:-15.90, Z:-3.64 [[ 9.99609697e-01 2.73375637e-02 5.75420394e-03 2.62255141e+02] [-2.73356179e-02 9.99626225e-01 -4.16539268e-04 -1.59047553e+01] [-5.76344034e-03 2.59081971e-04 9.99983358e-01 -3.63681023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.130371743 meters Centerline goodness [0,1] 0.9913561847988077 Centerline is valid? [True, True] Translation: X:262.28, Y:-15.91, Z:-3.64 [[ 9.99658460e-01 2.56101449e-02 5.20412901e-03 2.62283485e+02] [-2.56085283e-02 9.99671977e-01 -3.77053697e-04 -1.59067864e+01] [-5.21207833e-03 2.43654833e-04 9.99986387e-01 -3.63719453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.160371743 meters Centerline goodness [0,1] 0.9908955395023507 Centerline is valid? [True, True] Translation: X:262.31, Y:-15.91, Z:-3.64 [[ 9.99702445e-01 2.38883042e-02 4.93655575e-03 2.62312146e+02] [-2.38868330e-02 9.99714605e-01 -3.56776102e-04 -1.59107832e+01] [-4.94366966e-03 2.38751259e-04 9.99987751e-01 -3.63798929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.190371743 meters Centerline goodness [0,1] 0.9903266475644699 Centerline is valid? [True, True] Translation: X:262.34, Y:-15.92, Z:-3.64 [[ 9.99736991e-01 2.24528110e-02 4.67128696e-03 2.62339942e+02] [-2.24514785e-02 9.99747877e-01 -3.37488238e-04 -1.59151380e+01] [-4.67768678e-03 2.32522176e-04 9.99989033e-01 -3.63894359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.220371743 meters Centerline goodness [0,1] 0.9907829875042989 Centerline is valid? [True, True] Translation: X:262.37, Y:-15.92, Z:-3.64 [[ 9.99791357e-01 1.99258092e-02 4.49505089e-03 2.62368865e+02] [-1.99245530e-02 9.99801434e-01 -3.24086161e-04 -1.59184601e+01] [-4.50061601e-03 2.34456663e-04 9.99989845e-01 -3.63874700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.250371743 meters Centerline goodness [0,1] 0.9906875643519049 Centerline is valid? [True, True] Translation: X:262.40, Y:-15.92, Z:-3.64 [[ 9.99809873e-01 1.89706856e-02 4.50894561e-03 2.62396033e+02] [-1.89694115e-02 9.99820012e-01 -3.25169654e-04 -1.59238999e+01] [-4.51430274e-03 2.39575786e-04 9.99989782e-01 -3.63935661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.280371743 meters Centerline goodness [0,1] 0.9907005438011242 Centerline is valid? [True, True] Translation: X:262.43, Y:-15.93, Z:-3.64 [[ 9.99847738e-01 1.68475581e-02 4.54544540e-03 2.62425508e+02] [-1.68462455e-02 9.99858038e-01 -3.26896009e-04 -1.59261168e+01] [-4.55030752e-03 2.50272546e-04 9.99989616e-01 -3.63935346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.310371743 meters Centerline goodness [0,1] 0.9913505865169565 Centerline is valid? [True, True] Translation: X:262.45, Y:-15.93, Z:-3.64 [[ 9.99864961e-01 1.57249888e-02 4.77336263e-03 2.62453792e+02] [-1.57235280e-02 9.99876319e-01 -3.43415431e-04 -1.59291128e+01] [-4.77817246e-03 2.68314956e-04 9.99988548e-01 -3.63953962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.340371743 meters Centerline goodness [0,1] 0.9903800123099369 Centerline is valid? [True, True] Translation: X:262.48, Y:-15.93, Z:-3.64 [[ 9.99879358e-01 1.48187677e-02 4.65542199e-03 2.62482374e+02] [-1.48173698e-02 9.99890161e-01 -3.34621082e-04 -1.59324051e+01] [-4.65986932e-03 2.65599603e-04 9.99989107e-01 -3.63977982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.370371743 meters Centerline goodness [0,1] 0.9911175046810066 Centerline is valid? [True, True] Translation: X:262.51, Y:-15.94, Z:-3.64 [[ 9.99910081e-01 1.25541222e-02 4.71426503e-03 2.62511742e+02] [-1.25526668e-02 9.99921155e-01 -3.38178662e-04 -1.59375436e+01] [-4.71813887e-03 2.78971655e-04 9.99988831e-01 -3.63970849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.400371743 meters Centerline goodness [0,1] 0.9900154306980121 Centerline is valid? [True, True] Translation: X:262.54, Y:-15.94, Z:-3.64 [[ 9.99925244e-01 1.12516542e-02 4.78613636e-03 2.62539660e+02] [-1.12501409e-02 9.99936656e-01 -3.42979371e-04 -1.59425833e+01] [-4.78969228e-03 2.89109023e-04 9.99988488e-01 -3.64038869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.430371743 meters Centerline goodness [0,1] 0.9902954643825318 Centerline is valid? [True, True] Translation: X:262.57, Y:-15.95, Z:-3.64 [[ 9.99941875e-01 9.65699921e-03 4.79471140e-03 2.62569428e+02] [-9.65546179e-03 9.99953326e-01 -3.43692821e-04 -1.59462834e+01] [-4.79780665e-03 2.97377691e-04 9.99988446e-01 -3.64076578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.460371743 meters Centerline goodness [0,1] 0.9903332196065052 Centerline is valid? [True, True] Translation: X:262.60, Y:-15.95, Z:-3.64 [[ 9.99969702e-01 6.49980933e-03 4.28349511e-03 2.62599037e+02] [-6.49855456e-03 9.99978837e-01 -3.06784254e-04 -1.59499729e+01] [-4.28539850e-03 2.78938433e-04 9.99990779e-01 -3.64105169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.490371743 meters Centerline goodness [0,1] 0.9895499670596788 Centerline is valid? [True, True] Translation: X:262.63, Y:-15.96, Z:-3.64 [[ 9.99981986e-01 5.01705902e-03 3.29505534e-03 2.62628356e+02] [-5.01630853e-03 9.99987390e-01 -2.35988498e-04 -1.59567644e+01] [-3.29619776e-03 2.19455232e-04 9.99994543e-01 -3.64213935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.520371743 meters Centerline goodness [0,1] 0.9892015484572023 Centerline is valid? [True, True] Translation: X:262.66, Y:-15.96, Z:-3.64 [[ 9.99991502e-01 3.27172366e-03 2.50849611e-03 2.62657885e+02] [-3.27128617e-03 9.99994633e-01 -1.78485914e-04 -1.59640737e+01] [-2.50906660e-03 1.70278389e-04 9.99996838e-01 -3.64361449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.550371743 meters Centerline goodness [0,1] 0.9899852390144204 Centerline is valid? [True, True] Translation: X:262.69, Y:-15.97, Z:-3.64 [[ 9.99993490e-01 2.96402853e-03 2.05769949e-03 2.62687816e+02] [-2.96373148e-03 9.99995597e-01 -1.47394055e-04 -1.59669767e+01] [-2.05812731e-03 1.41294627e-04 9.99997872e-01 -3.64421591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.580371743 meters Centerline goodness [0,1] 0.9899563715688057 Centerline is valid? [True, True] Translation: X:262.72, Y:-15.97, Z:-3.64 [[ 9.99993382e-01 3.24654693e-03 1.64217946e-03 2.62718312e+02] [-3.24635812e-03 9.99994724e-01 -1.17630145e-04 -1.59690481e+01] [-1.64255268e-03 1.12298264e-04 9.99998645e-01 -3.64477514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61037174300003 meters Centerline goodness [0,1] 0.9897463817431151 Centerline is valid? [True, True] Translation: X:262.75, Y:-15.97, Z:-3.65 [[ 9.99990125e-01 4.12574720e-03 1.65195378e-03 2.62747102e+02] [-4.12555697e-03 9.99991483e-01 -1.18543787e-04 -1.59741984e+01] [-1.65242879e-03 1.11727387e-04 9.99998628e-01 -3.64594957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.640371743 meters Centerline goodness [0,1] 0.9908348457350272 Centerline is valid? [True, True] Translation: X:262.78, Y:-15.97, Z:-3.65 [[ 9.99979405e-01 6.39669987e-03 5.21456997e-04 2.62777215e+02] [-6.39668102e-03 9.99979540e-01 -3.78245250e-05 -1.59704358e+01] [-5.21688281e-04 3.44881519e-05 9.99999863e-01 -3.64542465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67037174300003 meters Centerline goodness [0,1] 0.9909144596374869 Centerline is valid? [True, True] Translation: X:262.81, Y:-15.97, Z:-3.65 [[ 9.99970518e-01 7.67867699e-03 -2.29437446e-05 2.62805681e+02] [-7.67867697e-03 9.99970519e-01 8.98982075e-07 -1.59735165e+01] [ 2.29499712e-05 -7.22777969e-07 1.00000000e+00 -3.64637694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.700371743 meters Centerline goodness [0,1] 0.9915567761410835 Centerline is valid? [True, True] Translation: X:262.84, Y:-15.98, Z:-3.65 [[ 9.99944543e-01 1.05173588e-02 -5.44923350e-04 2.62835484e+02] [-1.05173393e-02 9.99944691e-01 3.87214116e-05 -1.59754424e+01] [ 5.45300458e-04 -3.29881205e-05 9.99999851e-01 -3.64753804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73037174300003 meters Centerline goodness [0,1] 0.9914030339557416 Centerline is valid? [True, True] Translation: X:262.86, Y:-15.98, Z:-3.65 [[ 9.99929938e-01 1.18127307e-02 -7.60809861e-04 2.62864042e+02] [-1.18126935e-02 9.99930226e-01 5.33689435e-05 -1.59764503e+01] [ 7.61387210e-04 -4.43779907e-05 9.99999709e-01 -3.64749603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.760371743 meters Centerline goodness [0,1] 0.9917028483098815 Centerline is valid? [True, True] Translation: X:262.89, Y:-15.98, Z:-3.65 [[ 9.99901604e-01 1.40230353e-02 -3.71138885e-04 2.62893776e+02] [-1.40230266e-02 9.99901672e-01 2.60096262e-05 -1.59767310e+01] [ 3.71467126e-04 -2.08025765e-05 9.99999931e-01 -3.64772598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.790371743 meters Centerline goodness [0,1] 0.9904287727913427 Centerline is valid? [True, True] Translation: X:262.92, Y:-15.98, Z:-3.65 [[ 9.99889210e-01 1.48713791e-02 -6.39664519e-04 2.62921781e+02] [-1.48713537e-02 9.99889414e-01 4.44037869e-05 -1.59789592e+01] [ 6.40254127e-04 -3.48861901e-05 9.99999794e-01 -3.64830940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.820371743 meters Centerline goodness [0,1] 0.9917535115541459 Centerline is valid? [True, True] Translation: X:262.95, Y:-15.98, Z:-3.65 [[ 9.99875272e-01 1.57845089e-02 -5.38660999e-04 2.62950553e+02] [-1.57844910e-02 9.99875416e-01 3.74056621e-05 -1.59803494e+01] [ 5.39184321e-04 -2.88985069e-05 9.99999854e-01 -3.64871782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.850371743 meters Centerline goodness [0,1] 0.9912572761658852 Centerline is valid? [True, True] Translation: X:262.98, Y:-15.98, Z:-3.65 [[ 9.99869945e-01 1.61265423e-02 -1.66057850e-04 2.62978917e+02] [-1.61265407e-02 9.99869959e-01 1.08471625e-05 -1.59818262e+01] [ 1.66211183e-04 -8.16781314e-06 9.99999986e-01 -3.64855802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880371743 meters Centerline goodness [0,1] 0.9910404427609045 Centerline is valid? [True, True] Translation: X:263.01, Y:-15.98, Z:-3.65 [[ 9.99881341e-01 1.54042857e-02 1.11752658e-04 2.63007169e+02] [-1.54042848e-02 9.99881347e-01 -9.16048654e-06 -1.59839108e+01] [-1.11880509e-04 7.43792979e-06 9.99999994e-01 -3.64845788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.910371743 meters Centerline goodness [0,1] 0.9911036470508137 Centerline is valid? [True, True] Translation: X:263.04, Y:-15.99, Z:-3.65 [[ 9.99915171e-01 1.29982847e-02 8.33539633e-04 2.63036417e+02] [-1.29982395e-02 9.99915518e-01 -5.97067857e-05 -1.59888688e+01] [-8.34245299e-04 4.88671731e-05 9.99999651e-01 -3.64850756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940371743 meters Centerline goodness [0,1] 0.9911355959101317 Centerline is valid? [True, True] Translation: X:263.06, Y:-15.99, Z:-3.65 [[ 9.99933307e-01 1.14849182e-02 1.21581476e-03 2.63064164e+02] [-1.14848206e-02 9.99934043e-01 -8.72602464e-05 -1.59940608e+01] [-1.21673674e-03 7.32910124e-05 9.99999257e-01 -3.64905758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.970371743 meters Centerline goodness [0,1] 0.9917447213843468 Centerline is valid? [True, True] Translation: X:263.09, Y:-16.00, Z:-3.65 [[ 9.99952720e-01 9.65219066e-03 1.18006669e-03 2.63093692e+02] [-9.65209799e-03 9.99953414e-01 -8.42050353e-05 -1.59962575e+01] [-1.18082448e-03 7.28109347e-05 9.99999300e-01 -3.64902326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000371743 meters Centerline goodness [0,1] 0.9905156412694102 Centerline is valid? [True, True] Translation: X:263.12, Y:-16.01, Z:-3.65 [[ 9.99984432e-01 5.47858473e-03 1.05855447e-03 2.63122175e+02] [-5.47850800e-03 9.99984990e-01 -7.53713787e-05 -1.60066105e+01] [-1.05895151e-03 6.95709062e-05 9.99999437e-01 -3.64978858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.030371743 meters Centerline goodness [0,1] 0.9904559435498462 Centerline is valid? [True, True] Translation: X:263.15, Y:-16.01, Z:-3.65 [[ 9.99993582e-01 3.47824841e-03 8.58798836e-04 2.63152057e+02] [-3.47819699e-03 9.99993949e-01 -6.13615781e-05 -1.60078098e+01] [-8.59007071e-04 5.83741128e-05 9.99999629e-01 -3.64970543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060371743 meters Centerline goodness [0,1] 0.9905799234618782 Centerline is valid? [True, True] Translation: X:263.18, Y:-16.01, Z:-3.65 [[ 9.99998804e-01 1.54682683e-03 -1.43533375e-05 2.63182557e+02] [-1.54682681e-03 9.99998804e-01 1.01744055e-06 -1.60117299e+01] [ 1.43548941e-05 -9.95237207e-07 1.00000000e+00 -3.65060458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.090371743 meters Centerline goodness [0,1] 0.9902325686314317 Centerline is valid? [True, True] Translation: X:263.21, Y:-16.01, Z:-3.65 [[ 9.99998628e-01 -1.50777135e-03 -6.85965619e-04 2.63213039e+02] [ 1.50780506e-03 9.99998862e-01 4.86248741e-05 -1.60136581e+01] [ 6.85891523e-04 -4.96591098e-05 9.99999764e-01 -3.65130222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120371743 meters Centerline goodness [0,1] 0.9902741735304074 Centerline is valid? [True, True] Translation: X:263.24, Y:-16.02, Z:-3.65 [[ 9.99996258e-01 -2.55662509e-03 -9.73567447e-04 2.63242934e+02] [ 2.55669374e-03 9.99996729e-01 6.92775324e-05 -1.60199652e+01] [ 9.73387146e-04 -7.17663870e-05 9.99999524e-01 -3.65248932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.150371743 meters Centerline goodness [0,1] 0.9902741735304074 Centerline is valid? [True, True] Translation: X:263.27, Y:-16.02, Z:-3.65 [[ 9.99996258e-01 -2.55662166e-03 -9.73584972e-04 2.63272940e+02] [ 2.55669007e-03 9.99996729e-01 6.90303729e-05 -1.60220926e+01] [ 9.73405303e-04 -7.15192696e-05 9.99999524e-01 -3.65290568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180371743 meters Centerline goodness [0,1] 0.9911288132524667 Centerline is valid? [True, True] Translation: X:263.30, Y:-16.02, Z:-3.65 [[ 9.99993452e-01 -3.49553363e-03 -9.36330234e-04 2.63303588e+02] [ 3.49559732e-03 9.99993888e-01 6.63888896e-05 -1.60229387e+01] [ 9.36092447e-04 -6.96614883e-05 9.99999559e-01 -3.65223926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.210371743 meters Centerline goodness [0,1] 0.9910369584358703 Centerline is valid? [True, True] Translation: X:263.33, Y:-16.03, Z:-3.65 [[ 9.99994228e-01 -3.28953248e-03 -8.49794491e-04 2.63334761e+02] [ 3.28958531e-03 9.99994587e-01 6.07821883e-05 -1.60261981e+01] [ 8.49589946e-04 -6.35773090e-05 9.99999637e-01 -3.65214633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240371743 meters Centerline goodness [0,1] 0.9910959830485551 Centerline is valid? [True, True] Translation: X:263.37, Y:-16.03, Z:-3.65 [[ 9.99996008e-01 -2.75402238e-03 -6.32194901e-04 2.63365694e+02] [ 2.75405144e-03 9.99996207e-01 4.51060290e-05 -1.60286924e+01] [ 6.32068280e-04 -4.68469462e-05 9.99999799e-01 -3.65239289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.270371743 meters Centerline goodness [0,1] 0.9899385508812208 Centerline is valid? [True, True] Translation: X:263.40, Y:-16.03, Z:-3.65 [[ 9.99997015e-01 -2.33644675e-03 -7.14908581e-04 2.63396252e+02] [ 2.33648380e-03 9.99997269e-01 5.09858447e-05 -1.60316722e+01] [ 7.14787503e-04 -5.26560649e-05 9.99999743e-01 -3.65282983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300371743 meters Centerline goodness [0,1] 0.9903238146672968 Centerline is valid? [True, True] Translation: X:263.43, Y:-16.03, Z:-3.65 [[ 9.99998298e-01 -1.32861858e-03 -1.28002258e-03 2.63426515e+02] [ 1.32873595e-03 9.99999113e-01 9.08496540e-05 -1.60337253e+01] [ 1.27990074e-03 -9.25503114e-05 9.99999177e-01 -3.65336439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.330371743 meters Centerline goodness [0,1] 0.9906985144714859 Centerline is valid? [True, True] Translation: X:263.46, Y:-16.03, Z:-3.65 [[ 9.99997944e-01 -1.32363155e-03 -1.53648860e-03 2.63456835e+02] [ 1.32380066e-03 9.99999118e-01 1.09052340e-04 -1.60331689e+01] [ 1.53634290e-03 -1.11086120e-04 9.99998814e-01 -3.65349543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36037174300003 meters Centerline goodness [0,1] 0.9912205470795342 Centerline is valid? [True, True] Translation: X:263.49, Y:-16.04, Z:-3.65 [[ 9.99998679e-01 -7.91221430e-04 -1.41999482e-03 2.63487667e+02] [ 7.91365337e-04 9.99999682e-01 1.00784189e-04 -1.60353930e+01] [ 1.41991463e-03 -1.01907791e-04 9.99998987e-01 -3.65387690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.390371743 meters Centerline goodness [0,1] 0.9911990950226245 Centerline is valid? [True, True] Translation: X:263.52, Y:-16.04, Z:-3.65 [[ 9.99997343e-01 -7.93909316e-04 -2.16433190e-03 2.63518179e+02] [ 7.94243637e-04 9.99999673e-01 1.53613543e-04 -1.60371455e+01] [ 2.16420924e-03 -1.55332142e-04 9.99997646e-01 -3.65430269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42037174300003 meters Centerline goodness [0,1] 0.9909612690378271 Centerline is valid? [True, True] Translation: X:263.55, Y:-16.04, Z:-3.66 [[ 9.99998584e-01 -7.11980999e-04 -1.52514711e-03 2.63547667e+02] [ 7.12146085e-04 9.99999741e-01 1.07702072e-04 -1.60394764e+01] [ 1.52507003e-03 -1.08788047e-04 9.99998831e-01 -3.65503576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.450371743 meters Centerline goodness [0,1] 0.9899140323563257 Centerline is valid? [True, True] Translation: X:263.58, Y:-16.04, Z:-3.66 [[ 9.99998381e-01 -6.28519161e-04 -1.68602696e-03 2.63577122e+02] [ 6.28721826e-04 9.99999795e-01 1.19675605e-04 -1.60423808e+01] [ 1.68595140e-03 -1.20735453e-04 9.99998571e-01 -3.65583709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48037174300003 meters Centerline goodness [0,1] 0.9910384937427866 Centerline is valid? [True, True] Translation: X:263.61, Y:-16.04, Z:-3.66 [[ 9.99997808e-01 -7.41693006e-04 -1.95781424e-03 2.63606362e+02] [ 7.41965269e-04 9.99999715e-01 1.38342138e-04 -1.60444324e+01] [ 1.95771107e-03 -1.39794465e-04 9.99998074e-01 -3.65683181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.510371743 meters Centerline goodness [0,1] 0.9905228241983889 Centerline is valid? [True, True] Translation: X:263.64, Y:-16.04, Z:-3.66 [[ 9.99997439e-01 -8.74919459e-04 -2.08711181e-03 2.63636051e+02] [ 8.75229048e-04 9.99999606e-01 1.47425363e-04 -1.60430329e+01] [ 2.08698201e-03 -1.49251687e-04 9.99997811e-01 -3.65711684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.540371743 meters Centerline goodness [0,1] 0.9905455532434633 Centerline is valid? [True, True] Translation: X:263.67, Y:-16.05, Z:-3.66 [[ 9.99996268e-01 -1.73542109e-03 -2.10987491e-03 2.63665251e+02] [ 1.73573984e-03 9.99998482e-01 1.49251113e-04 -1.60456217e+01] [ 2.10961269e-03 -1.52912750e-04 9.99997763e-01 -3.65784100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.570371743 meters Centerline goodness [0,1] 0.9901032508228504 Centerline is valid? [True, True] Translation: X:263.70, Y:-16.05, Z:-3.66 [[ 9.99995889e-01 -2.02703615e-03 -2.02817034e-03 2.63695818e+02] [ 2.02733176e-03 9.99997935e-01 1.43706692e-04 -1.60465394e+01] [ 2.02787485e-03 -1.47817875e-04 9.99997933e-01 -3.65788695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.600371743 meters Centerline goodness [0,1] 0.9895988784877674 Centerline is valid? [True, True] Translation: X:263.73, Y:-16.05, Z:-3.66 [[ 9.99995451e-01 -2.27270339e-03 -1.98300532e-03 2.63725276e+02] [ 2.27298648e-03 9.99997407e-01 1.40516068e-04 -1.60497000e+01] [ 1.98268083e-03 -1.45022773e-04 9.99998024e-01 -3.65838091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.630371743 meters Centerline goodness [0,1] 0.9898033009269727 Centerline is valid? [True, True] Translation: X:263.76, Y:-16.05, Z:-3.66 [[ 9.99992328e-01 -3.48422286e-03 -1.78983695e-03 2.63756224e+02] [ 3.48445540e-03 9.99993921e-01 1.26820583e-04 -1.60490485e+01] [ 1.78938420e-03 -1.33056217e-04 9.99998390e-01 -3.65827106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.660371743 meters Centerline goodness [0,1] 0.9895555455079803 Centerline is valid? [True, True] Translation: X:263.79, Y:-16.05, Z:-3.66 [[ 9.99990299e-01 -4.21570615e-03 -1.27631575e-03 2.63786569e+02] [ 4.21582533e-03 9.99991109e-01 9.06988282e-05 -1.60545701e+01] [ 1.27592204e-03 -9.60786726e-05 9.99999181e-01 -3.65933992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.690371743 meters Centerline goodness [0,1] 0.9895264322152498 Centerline is valid? [True, True] Translation: X:263.82, Y:-16.06, Z:-3.66 [[ 9.99978750e-01 -6.46887685e-03 -8.08061623e-04 2.63817430e+02] [ 6.46892575e-03 9.99979075e-01 5.79126255e-05 -1.60557576e+01] [ 8.07670084e-04 -6.31386855e-05 9.99999672e-01 -3.65892966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.720371743 meters Centerline goodness [0,1] 0.9898065274387488 Centerline is valid? [True, True] Translation: X:263.85, Y:-16.05, Z:-3.66 [[ 9.99970065e-01 -7.71226860e-03 -6.25015505e-04 2.63849271e+02] [ 7.71229863e-03 9.99970259e-01 4.56478093e-05 -1.60542143e+01] [ 6.24644868e-04 -5.04667490e-05 9.99999804e-01 -3.65845968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.750371743 meters Centerline goodness [0,1] 0.9902045063795132 Centerline is valid? [True, True] Translation: X:263.88, Y:-16.05, Z:-3.66 [[ 9.99957673e-01 -9.18673732e-03 -5.06202925e-04 2.63880484e+02] [ 9.18675695e-03 9.99957800e-01 3.64632926e-05 -1.60540911e+01] [ 5.05846584e-04 -4.11121125e-05 9.99999871e-01 -3.65808368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.780371743 meters Centerline goodness [0,1] 0.9884318475086591 Centerline is valid? [True, True] Translation: X:263.91, Y:-16.06, Z:-3.66 [[ 9.99945731e-01 -1.04159771e-02 -2.08463865e-04 2.63910376e+02] [ 1.04159806e-02 9.99945752e-01 1.53171974e-05 -1.60644796e+01] [ 2.08293013e-04 -1.74877217e-05 9.99999978e-01 -3.65980186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.810371743 meters Centerline goodness [0,1] 0.989196519380721 Centerline is valid? [True, True] Translation: X:263.94, Y:-16.06, Z:-3.66 [[ 9.99909812e-01 -1.34098741e-02 -7.36608175e-04 2.63940946e+02] [ 1.34099164e-02 9.99910082e-01 5.24148839e-05 -1.60611326e+01] [ 7.35839064e-04 -6.22880107e-05 9.99999727e-01 -3.65973757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.840371743 meters Centerline goodness [0,1] 0.9880176012636804 Centerline is valid? [True, True] Translation: X:263.97, Y:-16.07, Z:-3.66 [[ 9.99891772e-01 -1.46775353e-02 -1.00740750e-03 2.63971849e+02] [ 1.46776156e-02 9.99892275e-01 7.23940463e-05 -1.60679930e+01] [ 1.00623641e-03 -8.71725513e-05 9.99999490e-01 -3.66101649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.870371743 meters Centerline goodness [0,1] 0.9895372324731622 Centerline is valid? [True, True] Translation: X:264.00, Y:-16.06, Z:-3.66 [[ 9.99875402e-01 -1.57035122e-02 -1.60638153e-03 2.64004660e+02] [ 1.57037177e-02 9.99876682e-01 1.15403718e-04 -1.60637374e+01] [ 1.60437119e-03 -1.40615501e-04 9.99998703e-01 -3.66045524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.900371743 meters Centerline goodness [0,1] 0.990405117270789 Centerline is valid? [True, True] Translation: X:264.04, Y:-16.07, Z:-3.66 [[ 9.99855006e-01 -1.68781780e-02 -2.25683451e-03 2.64036715e+02] [ 1.68785860e-02 9.99857533e-01 1.61867951e-04 -1.60672275e+01] [ 2.25378095e-03 -1.99936657e-04 9.99997440e-01 -3.66148336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.930371743 meters Centerline goodness [0,1] 0.9887823781358352 Centerline is valid? [True, True] Translation: X:264.07, Y:-16.07, Z:-3.66 [[ 9.99865855e-01 -1.62364254e-02 -2.15668483e-03 2.64067642e+02] [ 1.62367991e-02 9.99868162e-01 1.55871241e-04 -1.60738399e+01] [ 2.15386970e-03 -1.90867990e-04 9.99997662e-01 -3.66301690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.960371743 meters Centerline goodness [0,1] 0.9895894760716716 Centerline is valid? [True, True] Translation: X:264.10, Y:-16.07, Z:-3.66 [[ 9.99880303e-01 -1.54018804e-02 -1.47058362e-03 2.64100123e+02] [ 1.54020530e-02 9.99881376e-01 1.06125270e-04 -1.60722251e+01] [ 1.46877464e-03 -1.28762573e-04 9.99998913e-01 -3.66177087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.990371743 meters Centerline goodness [0,1] 0.9892446279866579 Centerline is valid? [True, True] Translation: X:264.13, Y:-16.07, Z:-3.66 [[ 9.99894253e-01 -1.45083339e-02 -9.95341918e-04 2.64132196e+02] [ 1.45084129e-02 9.99894745e-01 7.22214695e-05 -1.60732521e+01] [ 9.94189340e-04 -8.66546639e-05 9.99999502e-01 -3.66160032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.020371743 meters Centerline goodness [0,1] 0.9892678056860209 Centerline is valid? [True, True] Translation: X:264.16, Y:-16.07, Z:-3.66 [[ 9.99908444e-01 -1.35070548e-02 -8.14684603e-04 2.64164517e+02] [ 1.35071076e-02 9.99908773e-01 5.93433793e-05 -1.60744085e+01] [ 8.13808727e-04 -7.03419787e-05 9.99999666e-01 -3.66084068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.050371743 meters Centerline goodness [0,1] 0.9895897261052392 Centerline is valid? [True, True] Translation: X:264.19, Y:-16.08, Z:-3.66 [[ 9.99933452e-01 -1.15269552e-02 -4.70827990e-04 2.64194484e+02] [ 1.15269724e-02 9.99933562e-01 3.37265839e-05 -1.60755502e+01] [ 4.70407945e-04 -3.91515607e-05 9.99999889e-01 -3.66079708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.080371743 meters Centerline goodness [0,1] 0.9883887386670909 Centerline is valid? [True, True] Translation: X:264.23, Y:-16.08, Z:-3.66 [[ 9.99943601e-01 -1.06179566e-02 -2.30986093e-04 2.64225930e+02] [ 1.06179610e-02 9.99943628e-01 1.75378788e-05 -1.60789267e+01] [ 2.30786855e-04 -1.99894910e-05 9.99999973e-01 -3.66192893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11037174300003 meters Centerline goodness [0,1] 0.9894978518333295 Centerline is valid? [True, True] Translation: X:264.26, Y:-16.08, Z:-3.66 [[ 9.99964176e-01 -8.46322523e-03 -1.40058577e-04 2.64256387e+02] [ 8.46322671e-03 9.99964186e-01 1.00426412e-05 -1.60804607e+01] [ 1.39968568e-04 -1.12276289e-05 9.99999990e-01 -3.66264289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.140371743 meters Centerline goodness [0,1] 0.9892123170759461 Centerline is valid? [True, True] Translation: X:264.29, Y:-16.08, Z:-3.66 [[ 9.99970476e-01 -7.67503256e-03 -3.75229845e-04 2.64288482e+02] [ 7.67504356e-03 9.99970546e-01 2.78963746e-05 -1.60824623e+01] [ 3.75004687e-04 -3.07754564e-05 9.99999929e-01 -3.66313590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17037174300003 meters Centerline goodness [0,1] 0.9888724877938004 Centerline is valid? [True, True] Translation: X:264.32, Y:-16.08, Z:-3.66 [[ 9.99977642e-01 -6.68584761e-03 -1.25427523e-04 2.64319530e+02] [ 6.68584885e-03 9.99977649e-01 9.48815758e-06 -1.60840550e+01] [ 1.25361284e-04 -1.03265349e-05 9.99999992e-01 -3.66322245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.200371743 meters Centerline goodness [0,1] 0.9896065499204003 Centerline is valid? [True, True] Translation: X:264.35, Y:-16.08, Z:-3.66 [[ 9.99987854e-01 -4.92244003e-03 2.46841632e-04 2.64351388e+02] [ 4.92244443e-03 9.99987885e-01 -1.72387862e-05 -1.60805368e+01] [-2.46753785e-04 1.84536410e-05 9.99999969e-01 -3.66205914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23037174300003 meters Centerline goodness [0,1] 0.9898383686830798 Centerline is valid? [True, True] Translation: X:264.38, Y:-16.08, Z:-3.66 [[ 9.99990661e-01 -4.31711354e-03 1.99822597e-04 2.64383955e+02] [ 4.31711630e-03 9.99990681e-01 -1.33790291e-05 -1.60818117e+01] [-1.99762976e-04 1.42415615e-05 9.99999980e-01 -3.66205210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.260371743 meters Centerline goodness [0,1] 0.9898824545847259 Centerline is valid? [True, True] Translation: X:264.42, Y:-16.08, Z:-3.66 [[ 9.99993033e-01 -3.73062758e-03 1.31613963e-04 2.64415820e+02] [ 3.73062873e-03 9.99993041e-01 -8.48362157e-06 -1.60842123e+01] [-1.31581398e-04 8.97456529e-06 9.99999991e-01 -3.66275054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.290371743 meters Centerline goodness [0,1] 0.9904744542181304 Centerline is valid? [True, True] Translation: X:264.45, Y:-16.09, Z:-3.66 [[ 9.99994865e-01 -3.19938239e-03 -1.82109373e-04 2.64446877e+02] [ 3.19938492e-03 9.99994882e-01 1.36088003e-05 -1.60867605e+01] [ 1.82064901e-04 -1.41913684e-05 9.99999983e-01 -3.66405155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.320371743 meters Centerline goodness [0,1] 0.9903629280295263 Centerline is valid? [True, True] Translation: X:264.48, Y:-16.09, Z:-3.66 [[ 9.99994469e-01 -3.21913156e-03 -8.35710954e-04 2.64478104e+02] [ 3.21918342e-03 9.99994817e-01 6.07182476e-05 -1.60868509e+01] [ 8.35511162e-04 -6.34082186e-05 9.99999649e-01 -3.66430394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.350371743 meters Centerline goodness [0,1] 0.9909059829059829 Centerline is valid? [True, True] Translation: X:264.51, Y:-16.09, Z:-3.66 [[ 9.99995200e-01 -2.94517235e-03 -9.62489869e-04 2.64509828e+02] [ 2.94524098e-03 9.99995660e-01 6.98927035e-05 -1.60877462e+01] [ 9.62279846e-04 -7.27271326e-05 9.99999534e-01 -3.66465702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380371743 meters Centerline goodness [0,1] 0.9907145464500822 Centerline is valid? [True, True] Translation: X:264.54, Y:-16.09, Z:-3.67 [[ 9.99995239e-01 -2.39360762e-03 -1.94766235e-03 2.64540321e+02] [ 2.39388673e-03 9.99997125e-01 1.40986470e-04 -1.60911701e+01] [ 1.94731929e-03 -1.45648281e-04 9.99998093e-01 -3.66554111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.410371743 meters Centerline goodness [0,1] 0.9909464082098062 Centerline is valid? [True, True] Translation: X:264.57, Y:-16.09, Z:-3.67 [[ 9.99996541e-01 -1.73981986e-03 -1.97237111e-03 2.64569703e+02] [ 1.74010424e-03 9.99998476e-01 1.42473843e-04 -1.60933397e+01] [ 1.97212023e-03 -1.45905481e-04 9.99998045e-01 -3.66612790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440371743 meters Centerline goodness [0,1] 0.9909180110900668 Centerline is valid? [True, True] Translation: X:264.60, Y:-16.10, Z:-3.67 [[ 9.99998168e-01 -3.64577653e-05 -1.91370318e-03 2.64600031e+02] [ 3.67220440e-05 9.99999990e-01 1.38063099e-04 -1.60953844e+01] [ 1.91369813e-03 -1.38133122e-04 9.99998159e-01 -3.66667754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.470371743 meters Centerline goodness [0,1] 0.9910080562338818 Centerline is valid? [True, True] Translation: X:264.63, Y:-16.09, Z:-3.67 [[ 9.99997861e-01 8.68154057e-04 -1.87712270e-03 2.64630518e+02] [-8.67901904e-04 9.99999614e-01 1.35139659e-04 -1.60927523e+01] [ 1.87723930e-03 -1.33510211e-04 9.99998229e-01 -3.66604353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500371743 meters Centerline goodness [0,1] 0.9905628120084798 Centerline is valid? [True, True] Translation: X:264.66, Y:-16.10, Z:-3.67 [[ 9.99997456e-01 1.72366810e-03 -1.45492566e-03 2.64659091e+02] [-1.72351844e-03 9.99998509e-01 1.04114505e-04 -1.60967468e+01] [ 1.45510295e-03 -1.01606649e-04 9.99998936e-01 -3.66635091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.530371743 meters Centerline goodness [0,1] 0.9907618613138686 Centerline is valid? [True, True] Translation: X:264.69, Y:-16.09, Z:-3.67 [[ 9.99993245e-01 3.61771733e-03 -6.50270093e-04 2.64689666e+02] [-3.61768778e-03 9.99993455e-01 4.66041199e-05 -1.60944308e+01] [ 6.50434437e-04 -4.42513309e-05 9.99999787e-01 -3.66562851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560371743 meters Centerline goodness [0,1] 0.9905077010838562 Centerline is valid? [True, True] Translation: X:264.72, Y:-16.10, Z:-3.67 [[ 9.99988656e-01 4.73931045e-03 -4.75909610e-04 2.64718060e+02] [-4.73929503e-03 9.99988769e-01 3.35170081e-05 -1.60999821e+01] [ 4.76063113e-04 -3.12611519e-05 9.99999886e-01 -3.66677608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.590371743 meters Centerline goodness [0,1] 0.990874038922224 Centerline is valid? [True, True] Translation: X:264.75, Y:-16.10, Z:-3.67 [[ 9.99986459e-01 5.20318638e-03 9.12521768e-05 2.64747400e+02] [-5.20318571e-03 9.99986463e-01 -7.56158130e-06 -1.60984099e+01] [-9.12902859e-05 7.08667688e-06 9.99999996e-01 -3.66611487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620371743 meters Centerline goodness [0,1] 0.9913592099849129 Centerline is valid? [True, True] Translation: X:264.78, Y:-16.10, Z:-3.67 [[ 9.99984233e-01 5.60993209e-03 2.51057594e-04 2.64775437e+02] [-5.60992749e-03 9.99984264e-01 -1.90289389e-05 -1.61020921e+01] [-2.51160394e-04 1.76202240e-05 9.99999968e-01 -3.66648399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.650371743 meters Centerline goodness [0,1] 0.9903186860748536 Centerline is valid? [True, True] Translation: X:264.80, Y:-16.11, Z:-3.67 [[ 9.99983149e-01 5.75449872e-03 7.67040026e-04 2.64804181e+02] [-5.75445742e-03 9.99983441e-01 -5.60462691e-05 -1.61050199e+01] [-7.67349843e-04 5.16314255e-05 9.99999704e-01 -3.66674053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680371743 meters Centerline goodness [0,1] 0.9903936109526525 Centerline is valid? [True, True] Translation: X:264.83, Y:-16.11, Z:-3.67 [[ 9.99982155e-01 5.96278807e-03 3.67248989e-04 2.64832536e+02] [-5.96277852e-03 9.99982222e-01 -2.70767232e-05 -1.61102189e+01] [-3.67403913e-04 2.48864157e-05 9.99999932e-01 -3.66762813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.710371743 meters Centerline goodness [0,1] 0.9900248240679588 Centerline is valid? [True, True] Translation: X:264.86, Y:-16.11, Z:-3.67 [[ 9.99977107e-01 6.76594284e-03 9.18381565e-05 2.64861502e+02] [-6.76594218e-03 9.99977111e-01 -7.54831131e-06 -1.61116304e+01] [-9.18871258e-05 6.92676685e-06 9.99999996e-01 -3.66789768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740371743 meters Centerline goodness [0,1] 0.9894662601810984 Centerline is valid? [True, True] Translation: X:264.89, Y:-16.12, Z:-3.67 [[ 9.99972659e-01 7.38608438e-03 3.56254296e-04 2.64889221e+02] [-7.38607534e-03 9.99972722e-01 -2.66979971e-05 -1.61177299e+01] [-3.56441772e-04 2.40659461e-05 9.99999936e-01 -3.66882206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.770371743 meters Centerline goodness [0,1] 0.9897672096927894 Centerline is valid? [True, True] Translation: X:264.92, Y:-16.11, Z:-3.67 [[ 9.99965850e-01 8.22376735e-03 8.17986368e-04 2.64918550e+02] [-8.22372143e-03 9.99966183e-01 -5.94868091e-05 -1.61124449e+01] [-8.18447912e-04 5.27578856e-05 9.99999664e-01 -3.66776065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800371743 meters Centerline goodness [0,1] 0.9890764872521246 Centerline is valid? [True, True] Translation: X:264.95, Y:-16.12, Z:-3.67 [[ 9.99935609e-01 1.13355326e-02 5.32128531e-04 2.64946891e+02] [-1.13355137e-02 9.99935750e-01 -3.85242717e-05 -1.61201134e+01] [-5.32531035e-04 3.24898408e-05 9.99999858e-01 -3.66941624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.830371743 meters Centerline goodness [0,1] 0.9899670117165282 Centerline is valid? [True, True] Translation: X:264.98, Y:-16.12, Z:-3.67 [[ 9.99916176e-01 1.29226628e-02 8.04104081e-04 2.64975729e+02] [-1.29226200e-02 9.99916498e-01 -5.83870324e-05 -1.61161298e+01] [-8.04791452e-04 4.79910066e-05 9.99999675e-01 -3.66857309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86037174300003 meters Centerline goodness [0,1] 0.9900805387450516 Centerline is valid? [True, True] Translation: X:265.01, Y:-16.12, Z:-3.67 [[ 9.99886662e-01 1.50125397e-02 1.13420795e-03 2.65005985e+02] [-1.50124568e-02 9.99887303e-01 -8.16373791e-05 -1.61167025e+01] [-1.13530571e-03 6.46008787e-05 9.99999353e-01 -3.66848325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.890371743 meters Centerline goodness [0,1] 0.9898973810553141 Centerline is valid? [True, True] Translation: X:265.04, Y:-16.12, Z:-3.67 [[ 9.99796142e-01 2.01874713e-02 3.73959581e-04 2.65036607e+02] [-2.01874627e-02 9.99796212e-01 -2.67230802e-05 -1.61153255e+01] [-3.74422844e-04 1.91683374e-05 9.99999930e-01 -3.66901668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92037174300003 meters Centerline goodness [0,1] 0.9898566251054227 Centerline is valid? [True, True] Translation: X:265.07, Y:-16.11, Z:-3.67 [[ 9.99742288e-01 2.27014874e-02 -1.30191808e-05 2.65066148e+02] [-2.27014874e-02 9.99742288e-01 4.30984872e-07 -1.61144753e+01] [ 1.30256096e-05 -1.35319035e-07 1.00000000e+00 -3.66937536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.950371743 meters Centerline goodness [0,1] 0.9897318881916715 Centerline is valid? [True, True] Translation: X:265.10, Y:-16.11, Z:-3.67 [[ 9.99626055e-01 2.73378566e-02 -6.26538626e-04 2.65096720e+02] [-2.73378343e-02 9.99626251e-01 4.41441661e-05 -1.61137308e+01] [ 6.27511264e-04 -2.69994495e-05 9.99999803e-01 -3.67019910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98037174300003 meters Centerline goodness [0,1] 0.9899965819756181 Centerline is valid? [True, True] Translation: X:265.12, Y:-16.12, Z:-3.67 [[ 9.99569674e-01 2.93312401e-02 -3.82039663e-04 2.65124745e+02] [-2.93312323e-02 9.99569747e-01 2.59715141e-05 -1.61154895e+01] [ 3.82637065e-04 -1.47546437e-05 9.99999927e-01 -3.67058529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.010371743 meters Centerline goodness [0,1] 0.990306320279178 Centerline is valid? [True, True] Translation: X:265.15, Y:-16.12, Z:-3.67 [[ 9.99532426e-01 3.05725336e-02 -5.00177831e-04 2.65153400e+02] [-3.05725201e-02 9.99532551e-01 3.45934775e-05 -1.61169094e+01] [ 5.01001634e-04 -1.92856057e-05 9.99999874e-01 -3.67077528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.040371743 meters Centerline goodness [0,1] 0.990306320279178 Centerline is valid? [True, True] Translation: X:265.18, Y:-16.12, Z:-3.67 [[ 9.99535639e-01 3.04673088e-02 -5.00215980e-04 2.65180814e+02] [-3.04672956e-02 9.99535764e-01 3.40558683e-05 -1.61187667e+01] [ 5.01021352e-04 -1.87998259e-05 9.99999874e-01 -3.67115604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.070371743 meters Centerline goodness [0,1] 0.9898237945635842 Centerline is valid? [True, True] Translation: X:265.21, Y:-16.12, Z:-3.67 [[ 9.99510898e-01 3.12715741e-02 2.31478905e-04 2.65208845e+02] [-3.12715709e-02 9.99510925e-01 -1.73855614e-05 -1.61233620e+01] [-2.31909369e-04 1.01383491e-05 9.99999973e-01 -3.67215811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.100371743 meters Centerline goodness [0,1] 0.9893515358361775 Centerline is valid? [True, True] Translation: X:265.24, Y:-16.12, Z:-3.67 [[ 9.99510473e-01 3.12600712e-02 1.27403116e-03 2.65237476e+02] [-3.12599802e-02 9.99511283e-01 -9.12908044e-05 -1.61216046e+01] [-1.27626228e-03 5.14199262e-05 9.99999184e-01 -3.66992805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.130371743 meters Centerline goodness [0,1] 0.989778534923339 Centerline is valid? [True, True] Translation: X:265.26, Y:-16.13, Z:-3.67 [[ 9.99529076e-01 3.06331194e-02 1.79948141e-03 2.65264493e+02] [-3.06329374e-02 9.99530693e-01 -1.28604161e-04 -1.61309982e+01] [-1.80257645e-03 7.34201965e-05 9.99998373e-01 -3.67187589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.160371743 meters Centerline goodness [0,1] 0.9898153177620859 Centerline is valid? [True, True] Translation: X:265.29, Y:-16.13, Z:-3.67 [[ 9.99593172e-01 2.83630885e-02 3.00440501e-03 2.65292852e+02] [-2.83625744e-02 9.99597678e-01 -2.13592635e-04 -1.61318697e+01] [-3.00925442e-03 1.28293078e-04 9.99995464e-01 -3.67094900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.190371743 meters Centerline goodness [0,1] 0.9903277685912972 Centerline is valid? [True, True] Translation: X:265.32, Y:-16.14, Z:-3.67 [[ 9.99644736e-01 2.65393713e-02 2.46257007e-03 2.65320864e+02] [-2.65390204e-02 9.99647763e-01 -1.75062792e-04 -1.61365429e+01] [-2.46634872e-03 1.09646401e-04 9.99996953e-01 -3.67130194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.220371743 meters Centerline goodness [0,1] 0.9899499762330519 Centerline is valid? [True, True] Translation: X:265.35, Y:-16.14, Z:-3.67 [[ 9.99699082e-01 2.43934723e-02 2.58909146e-03 2.65349307e+02] [-2.43930785e-02 9.99702428e-01 -1.83561534e-04 -1.61422633e+01] [-2.59279872e-03 1.20350386e-04 9.99996631e-01 -3.67194258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.250371743 meters Centerline goodness [0,1] 0.9897922230772713 Centerline is valid? [True, True] Translation: X:265.38, Y:-16.15, Z:-3.67 [[ 9.99790652e-01 2.03370405e-02 2.24869028e-03 2.65379193e+02] [-2.03367347e-02 9.99793175e-01 -1.58777306e-04 -1.61490810e+01] [-2.25145425e-03 1.13013049e-04 9.99997459e-01 -3.67200304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.280371743 meters Centerline goodness [0,1] 0.9890648652312419 Centerline is valid? [True, True] Translation: X:265.41, Y:-16.15, Z:-3.67 [[ 9.99831352e-01 1.82174096e-02 2.32222066e-03 2.65408011e+02] [-1.82170769e-02 9.99834042e-01 -1.64326846e-04 -1.61543037e+01] [-2.32482888e-03 1.21995061e-04 9.99997290e-01 -3.67237508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.310371743 meters Centerline goodness [0,1] 0.9892143147253938 Centerline is valid? [True, True] Translation: X:265.44, Y:-16.16, Z:-3.67 [[ 9.99868952e-01 1.59686585e-02 2.66079745e-03 2.65436953e+02] [-1.59682145e-02 9.99872482e-01 -1.88040038e-04 -1.61585081e+01] [-2.66346090e-03 1.45527211e-04 9.99996442e-01 -3.67233721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.340371743 meters Centerline goodness [0,1] 0.9894115526718933 Centerline is valid? [True, True] Translation: X:265.47, Y:-16.17, Z:-3.67 [[ 9.99916454e-01 1.25035483e-02 3.27817726e-03 2.65466604e+02] [-1.25028581e-02 9.99921810e-01 -2.30947268e-04 -1.61658425e+01] [-3.28080860e-03 1.89941388e-04 9.99994600e-01 -3.67236039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.370371743 meters Centerline goodness [0,1] 0.9893296792164615 Centerline is valid? [True, True] Translation: X:265.49, Y:-16.17, Z:-3.67 [[ 9.99933781e-01 1.09899851e-02 3.41384055e-03 2.65494306e+02] [-1.09892262e-02 9.99939588e-01 -2.40985109e-04 -1.61717757e+01] [-3.41628274e-03 2.03453685e-04 9.99994144e-01 -3.67330311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.400371743 meters Centerline goodness [0,1] 0.9897773074238364 Centerline is valid? [True, True] Translation: X:265.52, Y:-16.17, Z:-3.67 [[ 9.99944150e-01 9.88380465e-03 3.74262090e-03 2.65524194e+02] [-9.88288744e-03 9.99951128e-01 -2.63487721e-04 -1.61718301e+01] [-3.74504225e-03 2.26485104e-04 9.99992962e-01 -3.67302112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.430371743 meters Centerline goodness [0,1] 0.989379893798938 Centerline is valid? [True, True] Translation: X:265.55, Y:-16.18, Z:-3.67 [[ 9.99951122e-01 9.22807836e-03 3.54903226e-03 2.65552770e+02] [-9.22724919e-03 9.99957397e-01 -2.49937832e-04 -1.61783491e+01] [-3.55118750e-03 2.17177810e-04 9.99993671e-01 -3.67435807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.460371743 meters Centerline goodness [0,1] 0.9888649425287356 Centerline is valid? [True, True] Translation: X:265.58, Y:-16.18, Z:-3.68 [[ 9.99953669e-01 9.10444003e-03 3.12559576e-03 2.65581507e+02] [-9.10379659e-03 9.99958535e-01 -2.20028292e-04 -1.61832883e+01] [-3.12746939e-03 1.91563310e-04 9.99995091e-01 -3.67527869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.490371743 meters Centerline goodness [0,1] 0.9896812193696327 Centerline is valid? [True, True] Translation: X:265.61, Y:-16.18, Z:-3.68 [[ 9.99952816e-01 9.19735865e-03 3.12652019e-03 2.65610642e+02] [-9.19671519e-03 9.99957685e-01 -2.20122523e-04 -1.61838109e+01] [-3.12841244e-03 1.91358421e-04 9.99995088e-01 -3.67529892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.520371743 meters Centerline goodness [0,1] 0.9897371263953907 Centerline is valid? [True, True] Translation: X:265.64, Y:-16.19, Z:-3.68 [[ 9.99948243e-01 9.67793819e-03 3.13841118e-03 2.65639125e+02] [-9.67729419e-03 9.99953150e-01 -2.20321000e-04 -1.61871807e+01] [-3.14039640e-03 1.89938268e-04 9.99995051e-01 -3.67567689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.550371743 meters Centerline goodness [0,1] 0.9897111021251741 Centerline is valid? [True, True] Translation: X:265.67, Y:-16.19, Z:-3.68 [[ 9.99936130e-01 1.06635194e-02 3.74503992e-03 2.65668358e+02] [-1.06626078e-02 9.99943118e-01 -2.63297742e-04 -1.61900109e+01] [-3.74763458e-03 2.23349033e-04 9.99992953e-01 -3.67551821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.580371743 meters Centerline goodness [0,1] 0.9898034978729151 Centerline is valid? [True, True] Translation: X:265.70, Y:-16.19, Z:-3.68 [[ 9.99927797e-01 1.11874422e-02 4.38653793e-03 2.65696865e+02] [-1.11862003e-02 9.99937385e-01 -3.07549294e-04 -1.61922731e+01] [-4.38970396e-03 2.58458396e-04 9.99990332e-01 -3.67539975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61037174300003 meters Centerline goodness [0,1] 0.9898647130208099 Centerline is valid? [True, True] Translation: X:265.73, Y:-16.20, Z:-3.68 [[ 9.99920482e-01 1.17634622e-02 4.54431005e-03 2.65725236e+02] [-1.17621376e-02 9.99930773e-01 -3.18088306e-04 -1.61957325e+01] [-4.54773728e-03 2.64612212e-04 9.99989624e-01 -3.67583887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.640371743 meters Centerline goodness [0,1] 0.9896897953682697 Centerline is valid? [True, True] Translation: X:265.75, Y:-16.20, Z:-3.68 [[ 9.99911997e-01 1.25583248e-02 4.27626343e-03 2.65753529e+02] [-1.25571600e-02 9.99921111e-01 -2.99139992e-04 -1.61985150e+01] [-4.27968278e-03 2.45415943e-04 9.99990812e-01 -3.67677111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67037174300003 meters Centerline goodness [0,1] 0.990446003057279 Centerline is valid? [True, True] Translation: X:265.78, Y:-16.20, Z:-3.68 [[ 9.99911401e-01 1.27617726e-02 3.78512123e-03 2.65781610e+02] [-1.27608603e-02 9.99918542e-01 -2.65058033e-04 -1.62010523e+01] [-3.78819551e-03 2.16733146e-04 9.99992801e-01 -3.67770886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.700371743 meters Centerline goodness [0,1] 0.9907440771101702 Centerline is valid? [True, True] Translation: X:265.81, Y:-16.20, Z:-3.68 [[ 9.99908821e-01 1.30425215e-02 3.49881218e-03 2.65810421e+02] [-1.30417453e-02 9.99914923e-01 -2.44576270e-04 -1.61994638e+01] [-3.50170441e-03 1.98923352e-04 9.99993849e-01 -3.67757771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73037174300003 meters Centerline goodness [0,1] 0.9911679439063308 Centerline is valid? [True, True] Translation: X:265.84, Y:-16.20, Z:-3.68 [[ 9.99910288e-01 1.28464876e-02 3.79256089e-03 2.65838957e+02] [-1.28455754e-02 9.99917457e-01 -2.64768179e-04 -1.62006063e+01] [-3.79564919e-03 2.16026800e-04 9.99992773e-01 -3.67792794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.760371743 meters Centerline goodness [0,1] 0.9905829999550502 Centerline is valid? [True, True] Translation: X:265.87, Y:-16.20, Z:-3.68 [[ 9.99915873e-01 1.23795186e-02 3.87216466e-03 2.65866779e+02] [-1.23785647e-02 9.99923346e-01 -2.70200858e-04 -1.62047728e+01] [-3.87521280e-03 2.22246286e-04 9.99992467e-01 -3.67860595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.790371743 meters Centerline goodness [0,1] 0.9901261164220636 Centerline is valid? [True, True] Translation: X:265.90, Y:-16.21, Z:-3.68 [[ 9.99920695e-01 1.15655097e-02 4.98420799e-03 2.65895611e+02] [-1.15639240e-02 9.99933075e-01 -3.46850072e-04 -1.62082864e+01] [-4.98788592e-03 2.89185563e-04 9.99987519e-01 -3.67848581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.820371743 meters Centerline goodness [0,1] 0.9895119814943742 Centerline is valid? [True, True] Translation: X:265.92, Y:-16.21, Z:-3.68 [[ 9.99926844e-01 1.08410353e-02 5.36465882e-03 2.65924585e+02] [-1.08391903e-02 9.99941185e-01 -3.72879544e-04 -1.62110418e+01] [-5.36838570e-03 3.14703708e-04 9.99985541e-01 -3.67850864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.850371743 meters Centerline goodness [0,1] 0.9893112972402488 Centerline is valid? [True, True] Translation: X:265.95, Y:-16.21, Z:-3.68 [[ 9.99935933e-01 9.77706007e-03 5.70422016e-03 2.65953730e+02] [-9.77496021e-03 9.99952146e-01 -3.95888051e-04 -1.62131100e+01] [-5.70781781e-03 3.40104163e-04 9.99983652e-01 -3.67862439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880371743 meters Centerline goodness [0,1] 0.9899046550757151 Centerline is valid? [True, True] Translation: X:265.98, Y:-16.22, Z:-3.68 [[ 9.99954417e-01 7.28716123e-03 6.16938107e-03 2.65982866e+02] [-7.28466173e-03 9.99973375e-01 -4.27520665e-04 -1.62201565e+01] [-6.17233222e-03 3.82559323e-04 9.99980878e-01 -3.67904114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.910371743 meters Centerline goodness [0,1] 0.9897188934931124 Centerline is valid? [True, True] Translation: X:266.01, Y:-16.22, Z:-3.68 [[ 9.99958208e-01 6.35943097e-03 6.56812749e-03 2.66013776e+02] [-6.35657966e-03 9.99979693e-01 -4.54898364e-04 -1.62202018e+01] [-6.57088701e-03 4.13128527e-04 9.99978326e-01 -3.67940041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940371743 meters Centerline goodness [0,1] 0.988231587948066 Centerline is valid? [True, True] Translation: X:266.04, Y:-16.23, Z:-3.68 [[ 9.99968230e-01 4.90252457e-03 6.28517892e-03 2.66043285e+02] [-4.89988782e-03 9.99987901e-01 -4.34848735e-04 -1.62323597e+01] [-6.28723473e-03 4.04038248e-04 9.99980154e-01 -3.68131950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.970371743 meters Centerline goodness [0,1] 0.9899932690150325 Centerline is valid? [True, True] Translation: X:266.08, Y:-16.23, Z:-3.68 [[ 9.99970598e-01 4.80728383e-03 5.97431177e-03 2.66075119e+02] [-4.80489668e-03 9.99988371e-01 -4.13857875e-04 -1.62264629e+01] [-5.97623182e-03 3.85139756e-04 9.99982068e-01 -3.68102599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000371743 meters Centerline goodness [0,1] 0.9896099815986715 Centerline is valid? [True, True] Translation: X:266.11, Y:-16.23, Z:-3.68 [[ 9.99970393e-01 5.11336984e-03 5.75036407e-03 2.66105689e+02] [-5.11117112e-03 9.99986859e-01 -3.96992087e-04 -1.62348931e+01] [-5.75231847e-03 3.67589238e-04 9.99983388e-01 -3.68268661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.030371743 meters Centerline goodness [0,1] 0.9904742647884792 Centerline is valid? [True, True] Translation: X:266.14, Y:-16.23, Z:-3.68 [[ 9.99967168e-01 6.30862794e-03 5.08576301e-03 2.66137385e+02] [-6.30691107e-03 9.99980049e-01 -3.53550877e-04 -1.62265490e+01] [-5.08789197e-03 3.21463814e-04 9.99987005e-01 -3.68246298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060371743 meters Centerline goodness [0,1] 0.9913392716910857 Centerline is valid? [True, True] Translation: X:266.17, Y:-16.23, Z:-3.68 [[ 9.99960054e-01 7.43165012e-03 4.96602172e-03 2.66167867e+02] [-7.43002532e-03 9.99972337e-01 -3.45551385e-04 -1.62285136e+01] [-4.96845237e-03 3.08639914e-04 9.99987610e-01 -3.68289533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.090371743 meters Centerline goodness [0,1] 0.9909972454258392 Centerline is valid? [True, True] Translation: X:266.20, Y:-16.23, Z:-3.68 [[ 9.99953036e-01 8.41019487e-03 4.81608243e-03 2.66198040e+02] [-8.40867477e-03 9.99964590e-01 -3.35793765e-04 -1.62299272e+01] [-4.81873598e-03 2.95281124e-04 9.99988346e-01 -3.68331257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120371743 meters Centerline goodness [0,1] 0.9911233960313715 Centerline is valid? [True, True] Translation: X:266.23, Y:-16.23, Z:-3.68 [[ 9.99928184e-01 1.07611995e-02 5.27488055e-03 2.66227301e+02] [-1.07594109e-02 9.99942048e-01 -3.67341764e-04 -1.62306678e+01] [-5.27852790e-03 3.10560775e-04 9.99986020e-01 -3.68381046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.150371743 meters Centerline goodness [0,1] 0.9903456308939811 Centerline is valid? [True, True] Translation: X:266.26, Y:-16.23, Z:-3.68 [[ 9.99919142e-01 1.14806827e-02 5.46831068e-03 2.66257120e+02] [-1.14787724e-02 9.99934044e-01 -3.80600821e-04 -1.62325444e+01] [-5.47231957e-03 3.17800553e-04 9.99984976e-01 -3.68423778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180371743 meters Centerline goodness [0,1] 0.9900400197850623 Centerline is valid? [True, True] Translation: X:266.29, Y:-16.23, Z:-3.69 [[ 9.99901695e-01 1.29946084e-02 5.26690613e-03 2.66286119e+02] [-1.29928580e-02 9.99915522e-01 -3.66416978e-04 -1.62341592e+01] [-5.27122264e-03 2.97948794e-04 9.99986063e-01 -3.68573816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.210371743 meters Centerline goodness [0,1] 0.9913012205264222 Centerline is valid? [True, True] Translation: X:266.32, Y:-16.24, Z:-3.69 [[ 9.99899877e-01 1.32376665e-02 5.00011511e-03 2.66315286e+02] [-1.32360912e-02 9.99912339e-01 -3.48006236e-04 -1.62359197e+01] [-5.00428358e-03 2.81789413e-04 9.99987439e-01 -3.68654839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240371743 meters Centerline goodness [0,1] 0.9905342963527881 Centerline is valid? [True, True] Translation: X:266.34, Y:-16.24, Z:-3.69 [[ 9.99895676e-01 1.34954634e-02 5.14880594e-03 2.66344327e+02] [-1.34937984e-02 9.99908890e-01 -3.57974761e-04 -1.62376303e+01] [-5.15316787e-03 2.88460466e-04 9.99986681e-01 -3.68697531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.270371743 meters Centerline goodness [0,1] 0.9909509374649152 Centerline is valid? [True, True] Translation: X:266.37, Y:-16.24, Z:-3.69 [[ 9.99901095e-01 1.31167214e-02 5.07458235e-03 2.66373138e+02] [-1.31151009e-02 9.99913931e-01 -3.52491509e-04 -1.62382652e+01] [-5.07876912e-03 2.85902986e-04 9.99987062e-01 -3.68709942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300371743 meters Centerline goodness [0,1] 0.9915421546192847 Centerline is valid? [True, True] Translation: X:266.40, Y:-16.24, Z:-3.69 [[ 9.99912644e-01 1.18077427e-02 5.93987425e-03 2.66402557e+02] [-1.18055043e-02 9.99930228e-01 -4.11773737e-04 -1.62376006e+01] [-5.94432193e-03 3.41614555e-04 9.99982274e-01 -3.68668345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.330371743 meters Centerline goodness [0,1] 0.9902984571852051 Centerline is valid? [True, True] Translation: X:266.43, Y:-16.25, Z:-3.69 [[ 9.99925863e-01 1.04462649e-02 6.25646209e-03 2.66430191e+02] [-1.04437556e-02 9.99945368e-01 -4.33603410e-04 -1.62481502e+01] [-6.26064983e-03 3.68230303e-04 9.99980334e-01 -3.68779950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36037174300003 meters Centerline goodness [0,1] 0.9913676827623416 Centerline is valid? [True, True] Translation: X:266.46, Y:-16.25, Z:-3.69 [[ 9.99952842e-01 7.30040733e-03 6.40452128e-03 2.66460459e+02] [-7.29771754e-03 9.99973273e-01 -4.43251172e-04 -1.62463491e+01] [-6.40758602e-03 3.96491881e-04 9.99979393e-01 -3.68784181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.390371743 meters Centerline goodness [0,1] 0.9912302399316408 Centerline is valid? [True, True] Translation: X:266.49, Y:-16.25, Z:-3.69 [[ 9.99964716e-01 5.75146245e-03 6.12269821e-03 2.66491244e+02] [-5.74897669e-03 9.99983385e-01 -4.23513720e-04 -1.62461262e+01] [-6.12503230e-03 3.88299527e-04 9.99981166e-01 -3.68857614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42037174300003 meters Centerline goodness [0,1] 0.9904358733145187 Centerline is valid? [True, True] Translation: X:266.52, Y:-16.25, Z:-3.69 [[ 9.99973819e-01 4.32907489e-03 5.79827102e-03 2.66520946e+02] [-4.32682261e-03 9.99990559e-01 -4.00927972e-04 -1.62534699e+01] [-5.79995193e-03 3.75829386e-04 9.99983110e-01 -3.69034223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.450371743 meters Centerline goodness [0,1] 0.9894941982886072 Centerline is valid? [True, True] Translation: X:266.55, Y:-16.26, Z:-3.69 [[ 9.99991784e-01 1.54948865e-03 3.74580860e-03 2.66550247e+02] [-1.54852866e-03 9.99998767e-01 -2.59169361e-04 -1.62630078e+01] [-3.74620556e-03 2.53366740e-04 9.99992951e-01 -3.69402176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48037174300003 meters Centerline goodness [0,1] 0.9912928345414151 Centerline is valid? [True, True] Translation: X:266.58, Y:-16.26, Z:-3.69 [[ 9.99996375e-01 7.11422801e-04 2.59682399e-03 2.66582223e+02] [-7.10965304e-04 9.99999732e-01 -1.77094273e-04 -1.62608899e+01] [-2.59694928e-03 1.75247380e-04 9.99996613e-01 -3.69468288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.510371743 meters Centerline goodness [0,1] 0.9917734322319622 Centerline is valid? [True, True] Translation: X:266.61, Y:-16.26, Z:-3.70 [[ 9.99998662e-01 -8.00368032e-05 1.63418935e-03 2.66613794e+02] [ 8.02215914e-05 9.99999990e-01 -1.13011160e-04 -1.62624584e+01] [-1.63418029e-03 1.13142106e-04 9.99998658e-01 -3.69563247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.540371743 meters Centerline goodness [0,1] 0.9912134831460674 Centerline is valid? [True, True] Translation: X:266.64, Y:-16.27, Z:-3.70 [[ 9.99998980e-01 -1.37201228e-03 3.97304945e-04 2.66644830e+02] [ 1.37202317e-03 9.99999058e-01 -2.71213377e-05 -1.62654460e+01] [-3.97267360e-04 2.76664216e-05 9.99999921e-01 -3.69689063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.570371743 meters Centerline goodness [0,1] 0.9911987247131727 Centerline is valid? [True, True] Translation: X:266.68, Y:-16.27, Z:-3.70 [[ 9.99998401e-01 -1.78636706e-03 8.19109178e-05 2.66676235e+02] [ 1.78636750e-03 9.99998404e-01 -5.20272514e-06 -1.62659580e+01] [-8.19014932e-05 5.34903983e-06 9.99999997e-01 -3.69697465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.600371743 meters Centerline goodness [0,1] 0.9885553681843733 Centerline is valid? [True, True] Translation: X:266.71, Y:-16.28, Z:-3.70 [[ 9.99997346e-01 -2.05400191e-03 1.04392428e-03 2.66705286e+02] [ 2.05407856e-03 9.99997888e-01 -7.23539262e-05 -1.62798097e+01] [-1.04377346e-03 7.44980366e-05 9.99999452e-01 -3.69877598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.630371743 meters Centerline goodness [0,1] 0.9901810647689397 Centerline is valid? [True, True] Translation: X:266.74, Y:-16.27, Z:-3.70 [[ 9.99996460e-01 -2.18579042e-03 1.51724741e-03 2.66737617e+02] [ 2.18595236e-03 9.99997605e-01 -1.05080662e-04 -1.62700660e+01] [-1.51701409e-03 1.08396921e-04 9.99998843e-01 -3.69677666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.660371743 meters Centerline goodness [0,1] 0.9906104343518498 Centerline is valid? [True, True] Translation: X:266.77, Y:-16.27, Z:-3.70 [[ 9.99995328e-01 -1.90595718e-03 2.38990183e-03 2.66768946e+02] [ 1.90635904e-03 9.99998169e-01 -1.65883180e-04 -1.62717223e+01] [-2.38958128e-03 1.70438416e-04 9.99997130e-01 -3.69668408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.690371743 meters Centerline goodness [0,1] 0.9892804864317082 Centerline is valid? [True, True] Translation: X:266.80, Y:-16.28, Z:-3.70 [[ 9.99987741e-01 -1.80849219e-03 4.60944303e-03 2.66799900e+02] [ 1.80998817e-03 9.99998311e-01 -3.20396880e-04 -1.62753568e+01] [-4.60885581e-03 3.28735990e-04 9.99989325e-01 -3.69634846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.720371743 meters Centerline goodness [0,1] 0.9896499854067039 Centerline is valid? [True, True] Translation: X:266.83, Y:-16.28, Z:-3.70 [[ 9.99985565e-01 -1.36257290e-03 5.19742254e-03 2.66832462e+02] [ 1.36447005e-03 9.99999004e-01 -3.61490446e-04 -1.62768669e+01] [-5.19692481e-03 3.68576955e-04 9.99986428e-01 -3.69603211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.750371743 meters Centerline goodness [0,1] 0.9892567567567567 Centerline is valid? [True, True] Translation: X:266.86, Y:-16.28, Z:-3.70 [[ 9.99985793e-01 -1.34144813e-03 5.15889073e-03 2.66864369e+02] [ 1.34331879e-03 9.99999033e-01 -3.59161472e-04 -1.62787264e+01] [-5.15840395e-03 3.66086405e-04 9.99986628e-01 -3.69671215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.780371743 meters Centerline goodness [0,1] 0.9886532486829663 Centerline is valid? [True, True] Translation: X:266.90, Y:-16.28, Z:-3.70 [[ 9.99989544e-01 -2.03016618e-03 4.09763127e-03 2.66896114e+02] [ 2.03134628e-03 9.99997897e-01 -2.83852755e-04 -1.62796909e+01] [-4.09704638e-03 2.92173495e-04 9.99991564e-01 -3.69795906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.810371743 meters Centerline goodness [0,1] 0.9895383369330454 Centerline is valid? [True, True] Translation: X:266.93, Y:-16.28, Z:-3.70 [[ 9.99990703e-01 -2.65767716e-03 3.39562039e-03 2.66928854e+02] [ 2.65849733e-03 9.99996438e-01 -2.37046869e-04 -1.62775764e+01] [-3.39497830e-03 2.46071913e-04 9.99994207e-01 -3.69891244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.840371743 meters Centerline goodness [0,1] 0.9888505980133793 Centerline is valid? [True, True] Translation: X:266.96, Y:-16.29, Z:-3.70 [[ 9.99989025e-01 -3.89489862e-03 2.60378730e-03 2.66959613e+02] [ 3.89538031e-03 9.99992397e-01 -1.79952778e-04 -1.62881641e+01] [-2.60306660e-03 1.90093545e-04 9.99996594e-01 -3.70180889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.870371743 meters Centerline goodness [0,1] 0.9887911592241768 Centerline is valid? [True, True] Translation: X:266.99, Y:-16.28, Z:-3.70 [[ 9.99973222e-01 -7.26111939e-03 9.12332236e-04 2.66990462e+02] [ 7.26118087e-03 9.99973635e-01 -6.40914522e-05 -1.62847757e+01] [-9.11842807e-04 7.07143454e-05 9.99999582e-01 -3.70304319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.900371743 meters Centerline goodness [0,1] 0.9894305095440922 Centerline is valid? [True, True] Translation: X:267.02, Y:-16.29, Z:-3.70 [[ 9.99960806e-01 -8.84592567e-03 -3.69878002e-04 2.67021272e+02] [ 8.84593614e-03 9.99960874e-01 2.66862970e-05 -1.62872405e+01] [ 3.69627465e-04 -2.99571682e-05 9.99999931e-01 -3.70401136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.930371743 meters Centerline goodness [0,1] 0.988184892897407 Centerline is valid? [True, True] Translation: X:267.05, Y:-16.29, Z:-3.70 [[ 9.99927196e-01 -1.19548609e-02 -1.63848458e-03 2.67051640e+02] [ 1.19550659e-02 9.99928529e-01 1.15376557e-04 -1.62889452e+01] [ 1.63698817e-03 -1.34956348e-04 9.99998651e-01 -3.70483919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.960371743 meters Centerline goodness [0,1] 0.988184892897407 Centerline is valid? [True, True] Translation: X:267.08, Y:-16.29, Z:-3.71 [[ 9.99928046e-01 -1.18835016e-02 -1.63841038e-03 2.67083361e+02] [ 1.18837083e-02 9.99929379e-01 1.16430238e-04 -1.62912405e+01] [ 1.63691108e-03 -1.35892252e-04 9.99998651e-01 -3.70527946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.990371743 meters Centerline goodness [0,1] 0.9877779281107654 Centerline is valid? [True, True] Translation: X:267.11, Y:-16.30, Z:-3.71 [[ 9.99914594e-01 -1.29879184e-02 -1.45553755e-03 2.67114214e+02] [ 1.29880825e-02 9.99915646e-01 1.03370858e-04 -1.62995450e+01] [ 1.45407220e-03 -1.22266671e-04 9.99998935e-01 -3.70634439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.020371743 meters Centerline goodness [0,1] 0.9890412816051698 Centerline is valid? [True, True] Translation: X:267.15, Y:-16.29, Z:-3.71 [[ 9.99904877e-01 -1.37489864e-02 -1.09613750e-03 2.67146641e+02] [ 1.37490805e-02 9.99905474e-01 7.83765103e-05 -1.62937724e+01] [ 1.09495629e-03 -9.34399377e-05 9.99999396e-01 -3.70516201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.050371743 meters Centerline goodness [0,1] 0.9862241562013844 Centerline is valid? [True, True] Translation: X:267.18, Y:-16.30, Z:-3.71 [[ 9.99903491e-01 -1.38644312e-02 -8.87214753e-04 2.67176945e+02] [ 1.38644937e-02 9.99903881e-01 6.43170030e-05 -1.63026656e+01] [ 8.86237757e-04 -7.66115791e-05 9.99999604e-01 -3.70655211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.080371743 meters Centerline goodness [0,1] 0.963161450123846 Centerline is valid? [True, True] Translation: X:267.21, Y:-16.31, Z:-3.71 [[ 9.99910280e-01 -1.33951194e-02 5.66188052e-05 2.67207175e+02] [ 1.33951196e-02 9.99910281e-01 -3.28532821e-06 -1.63134504e+01] [-5.65697181e-05 4.04344911e-06 9.99999998e-01 -3.70762935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11037174300003 meters Centerline goodness [0,1] 0.9873647026855668 Centerline is valid? [True, True] Translation: X:267.24, Y:-16.30, Z:-3.71 [[ 9.99923891e-01 -1.23073939e-02 8.60861518e-04 2.67240081e+02] [ 1.23074503e-02 9.99924259e-01 -6.02102796e-05 -1.62986853e+01] [-8.60055284e-04 7.08007073e-05 9.99999628e-01 -3.70508147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.140371743 meters Centerline goodness [0,1] 0.9870631265239772 Centerline is valid? [True, True] Translation: X:267.27, Y:-16.30, Z:-3.70 [[ 9.99934180e-01 -1.13527849e-02 1.65850764e-03 2.67271097e+02] [ 1.13529944e-02 9.99935546e-01 -1.16995246e-04 -1.62995224e+01] [-1.65707252e-03 1.35816574e-04 9.99998618e-01 -3.70493694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17037174300003 meters Centerline goodness [0,1] 0.9865712538780317 Centerline is valid? [True, True] Translation: X:267.30, Y:-16.30, Z:-3.70 [[ 9.99950890e-01 -9.37740448e-03 3.20659013e-03 2.67302468e+02] [ 9.37818023e-03 9.99955998e-01 -2.26971723e-04 -1.62989343e+01] [-3.20432062e-03 2.57032556e-04 9.99994833e-01 -3.70433422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.200371743 meters Centerline goodness [0,1] 0.9870951646557199 Centerline is valid? [True, True] Translation: X:267.33, Y:-16.30, Z:-3.70 [[ 9.99957272e-01 -8.28009706e-03 4.11018745e-03 2.67334371e+02] [ 8.28136156e-03 9.99965667e-01 -2.90724688e-04 -1.62996893e+01] [-4.10763910e-03 3.24750215e-04 9.99991511e-01 -3.70425660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23037174300003 meters Centerline goodness [0,1] 0.9854937992215081 Centerline is valid? [True, True] Translation: X:267.37, Y:-16.30, Z:-3.70 [[ 9.99966855e-01 -6.87337938e-03 4.36410699e-03 2.67366456e+02] [ 6.87479287e-03 9.99976321e-01 -3.08970413e-04 -1.62995422e+01] [-4.36187998e-03 3.38962504e-04 9.99990430e-01 -3.70425095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.260371743 meters Centerline goodness [0,1] 0.9864256464785864 Centerline is valid? [True, True] Translation: X:267.40, Y:-16.30, Z:-3.70 [[ 9.99968194e-01 -6.66565392e-03 4.37949134e-03 2.67398966e+02] [ 6.66707570e-03 9.99977727e-01 -3.10124179e-04 -1.62996996e+01] [-4.37732661e-03 3.39312716e-04 9.99990362e-01 -3.70420278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.290371743 meters Centerline goodness [0,1] 0.984787685052937 Centerline is valid? [True, True] Translation: X:267.43, Y:-16.31, Z:-3.71 [[ 9.99965014e-01 -6.92672899e-03 4.68954710e-03 2.67429315e+02] [ 6.92836475e-03 9.99975943e-01 -3.32654045e-04 -1.63093991e+01] [-4.68713008e-03 3.65133299e-04 9.99988949e-01 -3.70550382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.320371743 meters Centerline goodness [0,1] 0.9863296773168018 Centerline is valid? [True, True] Translation: X:267.46, Y:-16.30, Z:-3.70 [[ 9.99962147e-01 -7.50059910e-03 4.40966963e-03 2.67462176e+02] [ 7.50205096e-03 9.99971810e-01 -3.12796763e-04 -1.63002755e+01] [-4.40719916e-03 3.45866489e-04 9.99990228e-01 -3.70485638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.350371743 meters Centerline goodness [0,1] 0.9852624419000113 Centerline is valid? [True, True] Translation: X:267.49, Y:-16.31, Z:-3.71 [[ 9.99952364e-01 -9.18102814e-03 3.31327490e-03 2.67491636e+02] [ 9.18185646e-03 9.99957818e-01 -2.34876515e-04 -1.63060464e+01] [-3.31097873e-03 2.65287341e-04 9.99994484e-01 -3.70655351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380371743 meters Centerline goodness [0,1] 0.9848845378113174 Centerline is valid? [True, True] Translation: X:267.52, Y:-16.31, Z:-3.71 [[ 9.99938600e-01 -1.07250204e-02 2.78764916e-03 2.67521510e+02] [ 1.07256140e-02 9.99942459e-01 -1.98056385e-04 -1.63147902e+01] [-2.78536460e-03 2.27943473e-04 9.99996095e-01 -3.70839716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.410371743 meters Centerline goodness [0,1] 0.986077097505669 Centerline is valid? [True, True] Translation: X:267.55, Y:-16.32, Z:-3.71 [[ 9.99929327e-01 -1.17083029e-02 2.06336539e-03 2.67553973e+02] [ 1.17086295e-02 9.99931441e-01 -1.46280233e-04 -1.63156591e+01] [-2.06151123e-03 1.70429076e-04 9.99997861e-01 -3.70883966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440371743 meters Centerline goodness [0,1] 0.9839674833465056 Centerline is valid? [True, True] Translation: X:267.58, Y:-16.33, Z:-3.71 [[ 9.99902494e-01 -1.38569084e-02 1.72886658e-03 2.67582903e+02] [ 1.38571409e-02 9.99903978e-01 -1.22540853e-04 -1.63279443e+01] [-1.72700253e-03 1.46486052e-04 9.99998498e-01 -3.71087679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.470371743 meters Centerline goodness [0,1] 0.9842998170194501 Centerline is valid? [True, True] Translation: X:267.62, Y:-16.33, Z:-3.71 [[ 9.99896228e-01 -1.43337778e-02 1.44069808e-03 2.67615103e+02] [ 1.43339396e-02 9.99897259e-01 -1.02045930e-04 -1.63259615e+01] [-1.43908736e-03 1.22686220e-04 9.99998957e-01 -3.71071271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500371743 meters Centerline goodness [0,1] 0.984520895657692 Centerline is valid? [True, True] Translation: X:267.65, Y:-16.33, Z:-3.71 [[ 9.99893196e-01 -1.45043980e-02 1.79390465e-03 2.67647037e+02] [ 1.45046498e-02 9.99894794e-01 -1.27440474e-04 -1.63286030e+01] [-1.79186748e-03 1.53446821e-04 9.99998383e-01 -3.71055147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.530371743 meters Centerline goodness [0,1] 0.9850537343086788 Centerline is valid? [True, True] Translation: X:267.68, Y:-16.33, Z:-3.71 [[ 9.99909604e-01 -1.30759132e-02 3.13110917e-03 2.67678689e+02] [ 1.30766770e-02 9.99914472e-01 -2.23591562e-04 -1.63290979e+01] [-3.12791770e-03 2.64515854e-04 9.99995073e-01 -3.70903646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560371743 meters Centerline goodness [0,1] 0.9846671484057448 Centerline is valid? [True, True] Translation: X:267.71, Y:-16.33, Z:-3.71 [[ 9.99921498e-01 -1.19669315e-02 3.71360663e-03 2.67710172e+02] [ 1.19679996e-02 9.99928346e-01 -2.65535385e-04 -1.63327842e+01] [-3.71016289e-03 3.09958983e-04 9.99993069e-01 -3.70955386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.590371743 meters Centerline goodness [0,1] 0.9856345854132316 Centerline is valid? [True, True] Translation: X:267.74, Y:-16.33, Z:-3.71 [[ 9.99948583e-01 -9.30922020e-03 4.02108313e-03 2.67740953e+02] [ 9.31045372e-03 9.99956615e-01 -2.88151672e-04 -1.63329527e+01] [-4.01822621e-03 3.25574964e-04 9.99991874e-01 -3.70861467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620371743 meters Centerline goodness [0,1] 0.984589697885878 Centerline is valid? [True, True] Translation: X:267.77, Y:-16.34, Z:-3.71 [[ 9.99957419e-01 -8.09832198e-03 4.42467501e-03 2.67771438e+02] [ 8.09980349e-03 9.99967146e-01 -3.17010893e-04 -1.63378147e+01] [-4.42196239e-03 3.52836392e-04 9.99990161e-01 -3.70932371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.650371743 meters Centerline goodness [0,1] 0.9855245923851678 Centerline is valid? [True, True] Translation: X:267.80, Y:-16.34, Z:-3.71 [[ 9.99966559e-01 -6.91418686e-03 4.36758009e-03 2.67803540e+02] [ 6.91561906e-03 9.99976038e-01 -3.12898296e-04 -1.63365932e+01] [-4.36531200e-03 3.43092352e-04 9.99990413e-01 -3.70926961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680371743 meters Centerline goodness [0,1] 0.9855569597400253 Centerline is valid? [True, True] Translation: X:267.83, Y:-16.34, Z:-3.71 [[ 9.99976627e-01 -5.15381605e-03 4.49256107e-03 2.67833981e+02] [ 5.15531568e-03 9.99986659e-01 -3.22285083e-04 -1.63407277e+01] [-4.49084013e-03 3.45438121e-04 9.99989856e-01 -3.70965383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.710371743 meters Centerline goodness [0,1] 0.9858081057982097 Centerline is valid? [True, True] Translation: X:267.87, Y:-16.34, Z:-3.71 [[ 9.99983386e-01 -4.16843957e-03 3.98137207e-03 2.67866289e+02] [ 4.16960852e-03 9.99991266e-01 -2.85351025e-04 -1.63415649e+01] [-3.98014783e-03 3.01947048e-04 9.99992034e-01 -3.71011683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740371743 meters Centerline goodness [0,1] 0.9863809287981451 Centerline is valid? [True, True] Translation: X:267.90, Y:-16.34, Z:-3.71 [[ 9.99989512e-01 -3.38458986e-03 3.08568071e-03 2.67897248e+02] [ 3.38528890e-03 9.99994245e-01 -2.21349076e-04 -1.63448081e+01] [-3.08491378e-03 2.31792675e-04 9.99995215e-01 -3.71087285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.770371743 meters Centerline goodness [0,1] 0.986196145765086 Centerline is valid? [True, True] Translation: X:267.93, Y:-16.35, Z:-3.71 [[ 9.99993381e-01 -2.52198729e-03 2.62257193e-03 2.67928607e+02] [ 2.52248888e-03 9.99996801e-01 -1.87969482e-04 -1.63490456e+01] [-2.62208949e-03 1.94583646e-04 9.99996543e-01 -3.71196238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800371743 meters Centerline goodness [0,1] 0.9865045097994891 Centerline is valid? [True, True] Translation: X:267.96, Y:-16.35, Z:-3.71 [[ 9.99998775e-01 -4.17669952e-04 1.50832108e-03 2.67960755e+02] [ 4.17833334e-04 9.99999907e-01 -1.08007167e-04 -1.63489948e+01] [-1.50827583e-03 1.08637262e-04 9.99998857e-01 -3.71285400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.830371743 meters Centerline goodness [0,1] 0.9856410947822569 Centerline is valid? [True, True] Translation: X:267.99, Y:-16.35, Z:-3.71 [[ 9.99998407e-01 8.60635038e-04 1.56364150e-03 2.67991241e+02] [-8.60460487e-04 9.99999623e-01 -1.12300247e-04 -1.63548936e+01] [-1.56373756e-03 1.10954616e-04 9.99998771e-01 -3.71410561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86037174300003 meters Centerline goodness [0,1] 0.9872241316931982 Centerline is valid? [True, True] Translation: X:268.02, Y:-16.36, Z:-3.71 [[ 9.99997016e-01 2.13811294e-03 1.18211683e-03 2.68021910e+02] [-2.13801363e-03 9.99997711e-01 -8.52652514e-05 -1.63556291e+01] [-1.18229643e-03 8.27376151e-05 9.99999298e-01 -3.71410071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.890371743 meters Centerline goodness [0,1] 0.9881792957206343 Centerline is valid? [True, True] Translation: X:268.05, Y:-16.35, Z:-3.71 [[ 9.99980081e-01 6.09837842e-03 1.62718791e-03 2.68053012e+02] [-6.09819541e-03 9.99981399e-01 -1.17411263e-04 -1.63504999e+01] [-1.62787366e-03 1.07486015e-04 9.99998669e-01 -3.71316312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92037174300003 meters Centerline goodness [0,1] 0.9881372017353579 Centerline is valid? [True, True] Translation: X:268.08, Y:-16.35, Z:-3.71 [[ 9.99966740e-01 7.96888097e-03 1.73657418e-03 2.68083417e+02] [-7.96867505e-03 9.99968242e-01 -1.25467176e-04 -1.63505283e+01] [-1.73751887e-03 1.11624808e-04 9.99998484e-01 -3.71298264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.950371743 meters Centerline goodness [0,1] 0.9880150151508299 Centerline is valid? [True, True] Translation: X:268.11, Y:-16.35, Z:-3.71 [[ 9.99908886e-01 1.33359818e-02 2.09068666e-03 2.68114323e+02] [-1.33356955e-02 9.99911064e-01 -1.50789863e-04 -1.63484660e+01] [-2.09251165e-03 1.22895363e-04 9.99997803e-01 -3.71314609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98037174300003 meters Centerline goodness [0,1] 0.9888586956521739 Centerline is valid? [True, True] Translation: X:268.14, Y:-16.35, Z:-3.71 [[ 9.99873901e-01 1.57572937e-02 1.97219104e-03 2.68143992e+02] [-1.57570430e-02 9.99875840e-01 -1.42625428e-04 -1.63492477e+01] [-1.97419356e-03 1.11531544e-04 9.99998045e-01 -3.71366675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.010371743 meters Centerline goodness [0,1] 0.9892599809670549 Centerline is valid? [True, True] Translation: X:268.17, Y:-16.35, Z:-3.71 [[ 9.99840633e-01 1.76727026e-02 2.52660250e-03 2.68172842e+02] [-1.76722967e-02 9.99843816e-01 -1.82880760e-04 -1.63502517e+01] [-2.52943988e-03 1.38200745e-04 9.99996791e-01 -3.71415931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.040371743 meters Centerline goodness [0,1] 0.9892933134139165 Centerline is valid? [True, True] Translation: X:268.20, Y:-16.35, Z:-3.71 [[ 9.99806669e-01 1.94786174e-02 2.68478660e-03 2.68202364e+02] [-1.94781649e-02 9.99810264e-01 -1.94555761e-04 -1.63486942e+01] [-2.68806688e-03 1.42223431e-04 9.99996377e-01 -3.71425255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.070371743 meters Centerline goodness [0,1] 0.9894089898852452 Centerline is valid? [True, True] Translation: X:268.23, Y:-16.35, Z:-3.72 [[ 9.99763720e-01 2.16112737e-02 2.33588375e-03 2.68230291e+02] [-2.16109382e-02 9.99766442e-01 -1.68742648e-04 -1.63514463e+01] [-2.33898492e-03 1.18222138e-04 9.99997258e-01 -3.71573366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.100371743 meters Centerline goodness [0,1] 0.9898934964876501 Centerline is valid? [True, True] Translation: X:268.26, Y:-16.35, Z:-3.72 [[ 9.99753511e-01 2.20851370e-02 2.27234998e-03 2.68259498e+02] [-2.20848197e-02 9.99756087e-01 -1.64624495e-04 -1.63529427e+01] [-2.27543148e-03 1.14399478e-04 9.99997405e-01 -3.71624696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.130371743 meters Centerline goodness [0,1] 0.9898912058023572 Centerline is valid? [True, True] Translation: X:268.29, Y:-16.35, Z:-3.72 [[ 9.99757845e-01 2.18940160e-02 2.21448502e-03 2.68287946e+02] [-2.18937160e-02 9.99760291e-01 -1.59596837e-04 -1.63537074e+01] [-2.21744840e-03 1.11074884e-04 9.99997535e-01 -3.71677422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.160371743 meters Centerline goodness [0,1] 0.9890931261855298 Centerline is valid? [True, True] Translation: X:268.31, Y:-16.36, Z:-3.72 [[ 9.99758616e-01 2.19165076e-02 1.54184747e-03 2.68314656e+02] [-2.19163609e-02 9.99759801e-01 -1.11966769e-04 -1.63576319e+01] [-1.54393104e-03 7.81480560e-05 9.99998805e-01 -3.71761935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.190371743 meters Centerline goodness [0,1] 0.9896921229695748 Centerline is valid? [True, True] Translation: X:268.34, Y:-16.36, Z:-3.72 [[ 9.99775816e-01 2.10951578e-02 1.82000884e-03 2.68343374e+02] [-2.10949542e-02 9.99777468e-01 -1.30980886e-04 -1.63592139e+01] [-1.82236689e-03 9.25585190e-05 9.99998335e-01 -3.71769533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.220371743 meters Centerline goodness [0,1] 0.9891380597859293 Centerline is valid? [True, True] Translation: X:268.37, Y:-16.36, Z:-3.72 [[ 9.99784592e-01 2.07118191e-02 1.33799757e-03 2.68370964e+02] [-2.07117082e-02 9.99785485e-01 -9.66739205e-05 -1.63646953e+01] [-1.33971284e-03 6.89408808e-05 9.99999100e-01 -3.71899094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.250371743 meters Centerline goodness [0,1] 0.9904650006778436 Centerline is valid? [True, True] Translation: X:268.40, Y:-16.36, Z:-3.72 [[ 9.99808445e-01 1.95450982e-02 1.03107978e-03 2.68399382e+02] [-1.95450315e-02 9.99808975e-01 -7.47048894e-05 -1.63644384e+01] [-1.03234294e-03 5.45380924e-05 9.99999466e-01 -3.71858825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.280371743 meters Centerline goodness [0,1] 0.9897107709007033 Centerline is valid? [True, True] Translation: X:268.43, Y:-16.37, Z:-3.72 [[ 9.99820324e-01 1.89508155e-02 4.31641082e-04 2.68426396e+02] [-1.89508034e-02 9.99820417e-01 -3.20038911e-05 -1.63692330e+01] [-4.32170066e-04 2.38181955e-05 9.99999906e-01 -3.71942114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.310371743 meters Centerline goodness [0,1] 0.990122284758482 Centerline is valid? [True, True] Translation: X:268.45, Y:-16.37, Z:-3.72 [[ 9.99831482e-01 1.83503061e-02 5.23363606e-04 2.68454687e+02] [-1.83502886e-02 9.99831619e-01 -3.81693793e-05 -1.63724816e+01] [-5.23975902e-04 2.85590738e-05 9.99999862e-01 -3.71997678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.340371743 meters Centerline goodness [0,1] 0.9897903867003975 Centerline is valid? [True, True] Translation: X:268.48, Y:-16.37, Z:-3.72 [[ 9.99842126e-01 1.77638939e-02 4.10026255e-04 2.68483126e+02] [-1.77638831e-02 9.99842209e-01 -3.00900578e-05 -1.63749670e+01] [-4.10496074e-04 2.28016489e-05 9.99999915e-01 -3.72025215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.370371743 meters Centerline goodness [0,1] 0.9899903059269112 Centerline is valid? [True, True] Translation: X:268.51, Y:-16.38, Z:-3.72 [[ 9.99856399e-01 1.69326218e-02 6.84232678e-04 2.68512221e+02] [-1.69325918e-02 9.99856632e-01 -4.95298278e-05 -1.63772753e+01] [-6.84973251e-04 3.79368826e-05 9.99999765e-01 -3.72046421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.400371743 meters Centerline goodness [0,1] 0.9894136991238147 Centerline is valid? [True, True] Translation: X:268.54, Y:-16.38, Z:-3.72 [[ 9.99862026e-01 1.65755991e-02 1.08573300e-03 2.68539213e+02] [-1.65755240e-02 9.99862614e-01 -7.81511723e-05 -1.63842841e+01] [-1.08687924e-03 6.01437960e-05 9.99999408e-01 -3.72215307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.430371743 meters Centerline goodness [0,1] 0.989954954954955 Centerline is valid? [True, True] Translation: X:268.57, Y:-16.39, Z:-3.72 [[ 9.99876968e-01 1.56523451e-02 1.02644606e-03 2.68567633e+02] [-1.56522777e-02 9.99877493e-01 -7.36219447e-05 -1.63855073e+01] [-1.02747267e-03 5.75466681e-05 9.99999470e-01 -3.72189325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.460371743 meters Centerline goodness [0,1] 0.9900065272682257 Centerline is valid? [True, True] Translation: X:268.60, Y:-16.39, Z:-3.72 [[ 9.99888055e-01 1.49282992e-02 1.01203586e-03 2.68596167e+02] [-1.49282334e-02 9.99888565e-01 -7.25481286e-05 -1.63868235e+01] [-1.01300610e-03 5.74320996e-05 9.99999485e-01 -3.72211762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.490371743 meters Centerline goodness [0,1] 0.9903436139250502 Centerline is valid? [True, True] Translation: X:268.62, Y:-16.39, Z:-3.72 [[ 9.99903291e-01 1.38685664e-02 1.03561874e-03 2.68624513e+02] [-1.38684970e-02 9.99903825e-01 -7.41442169e-05 -1.63896431e+01] [-1.03654742e-03 5.97745710e-05 9.99999461e-01 -3.72220647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.520371743 meters Centerline goodness [0,1] 0.9886358532093609 Centerline is valid? [True, True] Translation: X:268.65, Y:-16.40, Z:-3.72 [[ 9.99932575e-01 1.15623135e-02 1.07609542e-03 2.68651984e+02] [-1.15622374e-02 9.99933152e-01 -7.69183433e-05 -1.63993139e+01] [-1.07691284e-03 6.44710864e-05 9.99999418e-01 -3.72331345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.550371743 meters Centerline goodness [0,1] 0.9890144381669805 Centerline is valid? [True, True] Translation: X:268.68, Y:-16.40, Z:-3.72 [[ 9.99948710e-01 1.00340164e-02 1.37726991e-03 2.68681639e+02] [-1.00338914e-02 9.99949654e-01 -9.76105053e-05 -1.64020799e+01] [-1.37817999e-03 8.37861222e-05 9.99999047e-01 -3.72305912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.580371743 meters Centerline goodness [0,1] 0.9895701928275364 Centerline is valid? [True, True] Translation: X:268.71, Y:-16.40, Z:-3.72 [[ 9.99963685e-01 8.43964941e-03 1.18398333e-03 2.68710615e+02] [-8.43955564e-03 9.99964383e-01 -8.41725698e-05 -1.64040443e+01] [-1.18465154e-03 7.41772199e-05 9.99999296e-01 -3.72322252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61037174300003 meters Centerline goodness [0,1] 0.9892763202266136 Centerline is valid? [True, True] Translation: X:268.74, Y:-16.41, Z:-3.72 [[ 9.99986552e-01 5.16728760e-03 4.41971095e-04 2.68739743e+02] [-5.16727423e-03 9.99986649e-01 -3.13819414e-05 -1.64110445e+01] [-4.42127354e-04 2.90977335e-05 9.99999902e-01 -3.72409661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.640371743 meters Centerline goodness [0,1] 0.9888001799167885 Centerline is valid? [True, True] Translation: X:268.77, Y:-16.41, Z:-3.72 [[ 9.99992414e-01 3.88730890e-03 2.45810041e-04 2.68769342e+02] [-3.88730464e-03 9.99992444e-01 -1.78048930e-05 -1.64119913e+01] [-2.45877397e-04 1.68492194e-05 9.99999970e-01 -3.72392622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67037174300003 meters Centerline goodness [0,1] 0.9889233396243372 Centerline is valid? [True, True] Translation: X:268.80, Y:-16.42, Z:-3.72 [[ 9.99995197e-01 3.01094735e-03 7.34797897e-04 2.68798230e+02] [-3.01090972e-03 9.99995466e-01 -5.23082236e-05 -1.64158483e+01] [-7.34952063e-04 5.00955622e-05 9.99999729e-01 -3.72403918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.700371743 meters Centerline goodness [0,1] 0.9893194516121794 Centerline is valid? [True, True] Translation: X:268.83, Y:-16.42, Z:-3.72 [[ 9.99994119e-01 2.46728921e-03 2.38209430e-03 2.68827763e+02] [-2.46689589e-03 9.99996943e-01 -1.68040858e-04 -1.64182887e+01] [-2.38250163e-03 1.62163491e-04 9.99997149e-01 -3.72209915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73037174300003 meters Centerline goodness [0,1] 0.989402460063182 Centerline is valid? [True, True] Translation: X:268.86, Y:-16.42, Z:-3.72 [[ 9.99991819e-01 2.51362091e-03 3.16924154e-03 2.68857862e+02] [-2.51293015e-03 9.99996818e-01 -2.21919478e-04 -1.64219740e+01] [-3.16978927e-03 2.13953580e-04 9.99994953e-01 -3.72200858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.760371743 meters Centerline goodness [0,1] 0.9893373952779894 Centerline is valid? [True, True] Translation: X:268.89, Y:-16.42, Z:-3.72 [[ 9.99984499e-01 3.58582266e-03 4.25955309e-03 2.68889067e+02] [-3.58457711e-03 9.99993530e-01 -3.00010939e-04 -1.64200450e+01] [-4.26060132e-03 2.84737592e-04 9.99990883e-01 -3.72158063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.790371743 meters Centerline goodness [0,1] 0.9891781681304893 Centerline is valid? [True, True] Translation: X:268.92, Y:-16.42, Z:-3.72 [[ 9.99982135e-01 4.19776340e-03 4.25543307e-03 2.68919386e+02] [-4.19652990e-03 9.99991150e-01 -2.98751458e-04 -1.64247870e+01] [-4.25664950e-03 2.80888069e-04 9.99990901e-01 -3.72289456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.820371743 meters Centerline goodness [0,1] 0.9897470338034475 Centerline is valid? [True, True] Translation: X:268.95, Y:-16.43, Z:-3.72 [[ 9.99979598e-01 5.01960342e-03 3.95050901e-03 2.68949442e+02] [-5.01854178e-03 9.99987368e-01 -2.78602758e-04 -1.64263340e+01] [-3.95185759e-03 2.58771279e-04 9.99992158e-01 -3.72389698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.850371743 meters Centerline goodness [0,1] 0.9897470338034475 Centerline is valid? [True, True] Translation: X:268.98, Y:-16.43, Z:-3.72 [[ 9.99979598e-01 5.01960342e-03 3.95050901e-03 2.68979431e+02] [-5.01854178e-03 9.99987368e-01 -2.78602758e-04 -1.64284488e+01] [-3.95185759e-03 2.58771279e-04 9.99992158e-01 -3.72431316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880371743 meters Centerline goodness [0,1] 0.9903150420205833 Centerline is valid? [True, True] Translation: X:269.01, Y:-16.43, Z:-3.72 [[ 9.99978814e-01 5.51761201e-03 3.45372839e-03 2.69010008e+02] [-5.51680354e-03 9.99984753e-01 -2.43568170e-04 -1.64272192e+01] [-3.45501964e-03 2.24509469e-04 9.99994006e-01 -3.72445166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.910371743 meters Centerline goodness [0,1] 0.9910702235818075 Centerline is valid? [True, True] Translation: X:269.04, Y:-16.43, Z:-3.73 [[ 9.99978834e-01 5.88294171e-03 2.77897394e-03 2.69039277e+02] [-5.88241914e-03 9.99982679e-01 -1.96183038e-04 -1.64309203e+01] [-2.78007994e-03 1.79831796e-04 9.99996119e-01 -3.72597917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940371743 meters Centerline goodness [0,1] 0.9906487434248977 Centerline is valid? [True, True] Translation: X:269.07, Y:-16.43, Z:-3.73 [[ 9.99981565e-01 5.60575909e-03 2.33359708e-03 2.69069125e+02] [-5.60538937e-03 9.99984276e-01 -1.64943309e-04 -1.64327490e+01] [-2.33448502e-03 1.51859548e-04 9.99997264e-01 -3.72684609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.970371743 meters Centerline goodness [0,1] 0.9900628084342754 Centerline is valid? [True, True] Translation: X:269.10, Y:-16.44, Z:-3.73 [[ 9.99985379e-01 5.17536679e-03 1.56731094e-03 2.69097797e+02] [-5.17519932e-03 9.99986602e-01 -1.10884842e-04 -1.64382639e+01] [-1.56786381e-03 1.02772075e-04 9.99998766e-01 -3.72796455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000371743 meters Centerline goodness [0,1] 0.9904185690830166 Centerline is valid? [True, True] Translation: X:269.13, Y:-16.44, Z:-3.73 [[ 9.99992534e-01 3.85403626e-03 2.80405386e-04 2.69127559e+02] [-3.85403081e-03 9.99992573e-01 -1.99857499e-05 -1.64411897e+01] [-2.80480329e-04 1.89049097e-05 9.99999960e-01 -3.72934008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.030371743 meters Centerline goodness [0,1] 0.9912668657252542 Centerline is valid? [True, True] Translation: X:269.16, Y:-16.44, Z:-3.73 [[ 9.99994357e-01 3.35280246e-03 -2.10656946e-04 2.69157059e+02] [-3.35279951e-03 9.99994379e-01 1.43323371e-05 -1.64406033e+01] [ 2.10703816e-04 -1.36259657e-05 9.99999978e-01 -3.72964654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060371743 meters Centerline goodness [0,1] 0.9904659111350962 Centerline is valid? [True, True] Translation: X:269.19, Y:-16.44, Z:-3.73 [[ 9.99998227e-01 1.67144688e-03 -8.67356862e-04 2.69186411e+02] [-1.67139501e-03 9.99998601e-01 6.05217878e-05 -1.64433348e+01] [ 8.67456808e-04 -5.90719845e-05 9.99999622e-01 -3.73065903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.090371743 meters Centerline goodness [0,1] 0.9901603989756032 Centerline is valid? [True, True] Translation: X:269.22, Y:-16.45, Z:-3.73 [[ 9.99998693e-01 1.27663895e-03 -9.92324233e-04 2.69215127e+02] [-1.27656952e-03 9.99999183e-01 7.05891766e-05 -1.64478765e+01] [ 9.92413538e-04 -6.93223135e-05 9.99999505e-01 -3.73182666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120371743 meters Centerline goodness [0,1] 0.9913955364345254 Centerline is valid? [True, True] Translation: X:269.25, Y:-16.45, Z:-3.73 [[ 9.99998279e-01 1.21715681e-03 -1.40040113e-03 2.69245080e+02] [-1.21702069e-03 9.99999255e-01 9.80506398e-05 -1.64487017e+01] [ 1.40051943e-03 -9.63461539e-05 9.99999015e-01 -3.73181588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.150371743 meters Centerline goodness [0,1] 0.9900602680579293 Centerline is valid? [True, True] Translation: X:269.27, Y:-16.45, Z:-3.73 [[ 9.99998780e-01 1.32566707e-03 -8.26283346e-04 2.69274482e+02] [-1.32561990e-03 9.99999120e-01 5.76284838e-05 -1.64504397e+01] [ 8.26359015e-04 -5.65330758e-05 9.99999657e-01 -3.73268498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180371743 meters Centerline goodness [0,1] 0.990542457609944 Centerline is valid? [True, True] Translation: X:269.30, Y:-16.45, Z:-3.73 [[ 9.99998558e-01 1.69783474e-03 2.36225820e-05 2.69304301e+02] [-1.69783469e-03 9.99998559e-01 -2.14325499e-06 -1.64516413e+01] [-2.36261869e-05 2.10314466e-06 1.00000000e+00 -3.73248568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.210371743 meters Centerline goodness [0,1] 0.9906195168038872 Centerline is valid? [True, True] Translation: X:269.33, Y:-16.45, Z:-3.73 [[ 9.99997632e-01 2.10428068e-03 5.54493425e-04 2.69333786e+02] [-2.10425913e-03 9.99997785e-01 -3.94470250e-05 -1.64504554e+01] [-5.54575205e-04 3.82801337e-05 9.99999845e-01 -3.73168892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240371743 meters Centerline goodness [0,1] 0.9902777152630868 Centerline is valid? [True, True] Translation: X:269.36, Y:-16.45, Z:-3.73 [[ 9.99995204e-01 2.24673506e-03 2.13183161e-03 2.69362824e+02] [-2.24642041e-03 9.99997466e-01 -1.49981520e-04 -1.64543370e+01] [-2.13216318e-03 1.45191810e-04 9.99997716e-01 -3.73083179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.270371743 meters Centerline goodness [0,1] 0.990433644691124 Centerline is valid? [True, True] Translation: X:269.39, Y:-16.46, Z:-3.73 [[ 9.99992898e-01 2.36309310e-03 2.93592693e-03 2.69393341e+02] [-2.36249779e-03 9.99997188e-01 -2.06217778e-04 -1.64559075e+01] [-2.93640599e-03 1.99280192e-04 9.99995669e-01 -3.73086645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300371743 meters Centerline goodness [0,1] 0.9897639393051203 Centerline is valid? [True, True] Translation: X:269.42, Y:-16.46, Z:-3.73 [[ 9.99993638e-01 2.05468017e-03 2.91573166e-03 2.69424208e+02] [-2.05409280e-03 9.99997869e-01 -2.04428242e-04 -1.64582415e+01] [-2.91614549e-03 1.98437758e-04 9.99995728e-01 -3.73155667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.330371743 meters Centerline goodness [0,1] 0.9907963004737198 Centerline is valid? [True, True] Translation: X:269.46, Y:-16.46, Z:-3.73 [[ 9.99998238e-01 4.57345066e-04 1.82093149e-03 2.69455245e+02] [-4.57113962e-04 9.99999887e-01 -1.27329322e-04 -1.64554344e+01] [-1.82098952e-03 1.26496725e-04 9.99998334e-01 -3.73298743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36037174300003 meters Centerline goodness [0,1] 0.9900892194979437 Centerline is valid? [True, True] Translation: X:269.49, Y:-16.46, Z:-3.73 [[ 9.99999068e-01 -5.16093923e-04 1.26413527e-03 2.69485852e+02] [ 5.16206437e-04 9.99999863e-01 -8.86801056e-05 -1.64587215e+01] [-1.26408933e-03 8.93325777e-05 9.99999197e-01 -3.73444863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.390371743 meters Centerline goodness [0,1] 0.990750558350441 Centerline is valid? [True, True] Translation: X:269.52, Y:-16.46, Z:-3.74 [[ 9.99998684e-01 -1.56727763e-03 4.19904348e-04 2.69517311e+02] [ 1.56728997e-03 9.99998771e-01 -2.90634990e-05 -1.64607653e+01] [-4.19858282e-04 2.97215726e-05 9.99999911e-01 -3.73542734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42037174300003 meters Centerline goodness [0,1] 0.9904426218396258 Centerline is valid? [True, True] Translation: X:269.55, Y:-16.46, Z:-3.74 [[ 9.99991941e-01 -3.89165571e-03 -9.86641556e-04 2.69548484e+02] [ 3.89172662e-03 9.99992425e-01 6.99601208e-05 -1.64633666e+01] [ 9.86361821e-04 -7.37992962e-05 9.99999511e-01 -3.73684075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.450371743 meters Centerline goodness [0,1] 0.9898779936737461 Centerline is valid? [True, True] Translation: X:269.58, Y:-16.47, Z:-3.74 [[ 9.99988740e-01 -4.63711888e-03 -1.00833121e-03 2.69578474e+02] [ 4.63719308e-03 9.99989246e-01 7.12603080e-05 -1.64666756e+01] [ 1.00798993e-03 -7.59353322e-05 9.99999489e-01 -3.73759689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48037174300003 meters Centerline goodness [0,1] 0.9899707953181952 Centerline is valid? [True, True] Translation: X:269.61, Y:-16.47, Z:-3.74 [[ 9.99984481e-01 -5.38105816e-03 -1.44286412e-03 2.69609467e+02] [ 5.38121112e-03 9.99985516e-01 1.02149601e-04 -1.64696499e+01] [ 1.44229355e-03 -1.09912372e-04 9.99998954e-01 -3.73827551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.510371743 meters Centerline goodness [0,1] 0.9898519606735224 Centerline is valid? [True, True] Translation: X:269.64, Y:-16.47, Z:-3.74 [[ 9.99979969e-01 -6.23146057e-03 -1.10903832e-03 2.69640923e+02] [ 6.23155162e-03 9.99980581e-01 7.86667969e-05 -1.64702821e+01] [ 1.10852658e-03 -8.55762507e-05 9.99999382e-01 -3.73823906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.540371743 meters Centerline goodness [0,1] 0.989366996968463 Centerline is valid? [True, True] Translation: X:269.67, Y:-16.47, Z:-3.74 [[ 9.99978076e-01 -6.61211711e-03 -3.57106112e-04 2.69672794e+02] [ 6.61212687e-03 9.99978139e-01 2.61623625e-05 -1.64714078e+01] [ 3.56925317e-04 -2.85230199e-05 9.99999936e-01 -3.73834816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.570371743 meters Centerline goodness [0,1] 0.9897761126658843 Centerline is valid? [True, True] Translation: X:269.71, Y:-16.47, Z:-3.74 [[ 9.99979641e-01 -6.35110919e-03 6.16738881e-04 2.69705722e+02] [ 6.35113652e-03 9.99979830e-01 -4.23621750e-05 -1.64695833e+01] [-6.16457395e-04 4.62783054e-05 9.99999809e-01 -3.73732369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.600371743 meters Centerline goodness [0,1] 0.9874758933635848 Centerline is valid? [True, True] Translation: X:269.74, Y:-16.48, Z:-3.74 [[ 9.99981975e-01 -5.78665533e-03 1.60148561e-03 2.69736800e+02] [ 5.78684256e-03 9.99983250e-01 -1.12303194e-04 -1.64780763e+01] [-1.60080893e-03 1.21568714e-04 9.99998711e-01 -3.73825952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.630371743 meters Centerline goodness [0,1] 0.9898395600914214 Centerline is valid? [True, True] Translation: X:269.77, Y:-16.47, Z:-3.74 [[ 9.99985066e-01 -4.75259514e-03 2.69839529e-03 2.69768793e+02] [ 4.75312629e-03 9.99988686e-01 -1.90459090e-04 -1.64687387e+01] [-2.69745959e-03 2.03282059e-04 9.99996341e-01 -3.73642039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.660371743 meters Centerline goodness [0,1] 0.9883641807294502 Centerline is valid? [True, True] Translation: X:269.80, Y:-16.48, Z:-3.74 [[ 9.99987120e-01 -4.22040751e-03 2.81933109e-03 2.69799801e+02] [ 4.22098279e-03 9.99991072e-01 -1.98129156e-04 -1.64786199e+01] [-2.81846973e-03 2.10026952e-04 9.99996006e-01 -3.73778330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.690371743 meters Centerline goodness [0,1] 0.987044167610419 Centerline is valid? [True, True] Translation: X:269.83, Y:-16.48, Z:-3.74 [[ 9.99989326e-01 -3.61603571e-03 2.87602525e-03 2.69831141e+02] [ 3.61663541e-03 9.99993439e-01 -2.03341356e-04 -1.64807766e+01] [-2.87527109e-03 2.13740720e-04 9.99995844e-01 -3.73810926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.720371743 meters Centerline goodness [0,1] 0.9902734321860971 Centerline is valid? [True, True] Translation: X:269.86, Y:-16.47, Z:-3.74 [[ 9.99989273e-01 -3.41602115e-03 3.12810416e-03 2.69863885e+02] [ 3.41672954e-03 9.99994139e-01 -2.21144117e-04 -1.64690872e+01] [-3.12733039e-03 2.31829631e-04 9.99995083e-01 -3.73618956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.750371743 meters Centerline goodness [0,1] 0.9900543935911149 Centerline is valid? [True, True] Translation: X:269.90, Y:-16.47, Z:-3.74 [[ 9.99982566e-01 -4.70900918e-03 3.56283440e-03 2.69896162e+02] [ 4.70993770e-03 9.99988876e-01 -2.52268780e-04 -1.64710060e+01] [-3.56160684e-03 2.69045110e-04 9.99993621e-01 -3.73653505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.780371743 meters Centerline goodness [0,1] 0.9898068303337808 Centerline is valid? [True, True] Translation: X:269.93, Y:-16.47, Z:-3.74 [[ 9.99981537e-01 -5.11546669e-03 3.27984358e-03 2.69927294e+02] [ 5.11625689e-03 9.99986885e-01 -2.32579962e-04 -1.64745617e+01] [-3.27861081e-03 2.49356190e-04 9.99994594e-01 -3.73734567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.810371743 meters Centerline goodness [0,1] 0.9893604928728943 Centerline is valid? [True, True] Translation: X:269.96, Y:-16.48, Z:-3.74 [[ 9.99979546e-01 -5.98063098e-03 2.26696213e-03 2.69958383e+02] [ 5.98101047e-03 9.99982101e-01 -1.60654632e-04 -1.64793354e+01] [-2.26596074e-03 1.74210070e-04 9.99997418e-01 -3.73850929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.840371743 meters Centerline goodness [0,1] 0.9898282664720506 Centerline is valid? [True, True] Translation: X:269.99, Y:-16.47, Z:-3.74 [[ 9.99979872e-01 -6.09895903e-03 1.74875082e-03 2.69991424e+02] [ 6.09918448e-03 9.99981392e-01 -1.23617027e-04 -1.64742271e+01] [-1.74796435e-03 1.34280493e-04 9.99998463e-01 -3.73852079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.870371743 meters Centerline goodness [0,1] 0.989613466050156 Centerline is valid? [True, True] Translation: X:270.02, Y:-16.47, Z:-3.74 [[ 9.99981385e-01 -5.96453207e-03 1.28625202e-03 2.70023725e+02] [ 5.96465371e-03 9.99982207e-01 -9.07470538e-05 -1.64748609e+01] [-1.28568787e-03 9.84174125e-05 9.99999169e-01 -3.73920343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.900371743 meters Centerline goodness [0,1] 0.9900967506389193 Centerline is valid? [True, True] Translation: X:270.05, Y:-16.48, Z:-3.74 [[ 9.99987615e-01 -4.78692880e-03 1.36182082e-03 2.70054763e+02] [ 4.78706489e-03 9.99988537e-01 -9.66908213e-05 -1.64762679e+01] [-1.36134236e-03 1.03208748e-04 9.99999068e-01 -3.73985217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.930371743 meters Centerline goodness [0,1] 0.9899667077119533 Centerline is valid? [True, True] Translation: X:270.09, Y:-16.48, Z:-3.74 [[ 9.99991612e-01 -3.96755181e-03 1.01738255e-03 2.70087307e+02] [ 3.96762678e-03 9.99992126e-01 -7.16865214e-05 -1.64778082e+01] [-1.01709012e-03 7.57225143e-05 9.99999480e-01 -3.74059350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.960371743 meters Centerline goodness [0,1] 0.9883354850399765 Centerline is valid? [True, True] Translation: X:270.12, Y:-16.49, Z:-3.74 [[ 9.99995032e-01 -3.07543386e-03 6.90492308e-04 2.70117763e+02] [ 3.07546816e-03 9.99995270e-01 -4.86256004e-05 -1.64882876e+01] [-6.90339496e-04 5.07489459e-05 9.99999760e-01 -3.74304812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.990371743 meters Centerline goodness [0,1] 0.9907962818810385 Centerline is valid? [True, True] Translation: X:270.15, Y:-16.48, Z:-3.74 [[ 9.99998636e-01 -1.58294501e-03 4.71983591e-04 2.70149859e+02] [ 1.58296089e-03 9.99998747e-01 -3.32713485e-05 -1.64810662e+01] [-4.71930333e-04 3.40184347e-05 9.99999888e-01 -3.74206254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.020371743 meters Centerline goodness [0,1] 0.9904781523953398 Centerline is valid? [True, True] Translation: X:270.18, Y:-16.48, Z:-3.74 [[ 9.99999706e-01 -5.50351567e-04 5.33173946e-04 2.70181069e+02] [ 5.50371731e-04 9.99999848e-01 -3.76725570e-05 -1.64818110e+01] [-5.33153132e-04 3.79659898e-05 9.99999857e-01 -3.74185390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.050371743 meters Centerline goodness [0,1] 0.9896786891248627 Centerline is valid? [True, True] Translation: X:270.21, Y:-16.48, Z:-3.74 [[ 9.99997052e-01 1.23125790e-03 2.09265080e-03 2.70211643e+02] [-1.23094718e-03 9.99999231e-01 -1.49765209e-04 -1.64800945e+01] [-2.09283359e-03 1.47188825e-04 9.99997799e-01 -3.74094466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.080371743 meters Centerline goodness [0,1] 0.9895320338090111 Centerline is valid? [True, True] Translation: X:270.24, Y:-16.48, Z:-3.74 [[ 9.99995429e-01 1.65802474e-03 2.52840953e-03 2.70241941e+02] [-1.65757299e-03 9.99998610e-01 -1.80753705e-04 -1.64837581e+01] [-2.52870571e-03 1.76561855e-04 9.99996787e-01 -3.74112616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11037174300003 meters Centerline goodness [0,1] 0.9908679989904321 Centerline is valid? [True, True] Translation: X:270.27, Y:-16.48, Z:-3.74 [[ 9.99993483e-01 1.77286794e-03 3.14486494e-03 2.70272769e+02] [-1.77216868e-03 9.99998404e-01 -2.25124340e-04 -1.64811312e+01] [-3.14525904e-03 2.19549642e-04 9.99995030e-01 -3.74056510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.140371743 meters Centerline goodness [0,1] 0.9887853889639072 Centerline is valid? [True, True] Translation: X:270.30, Y:-16.49, Z:-3.74 [[ 9.99991783e-01 1.96829046e-03 3.54398472e-03 2.70303230e+02] [-1.96740431e-03 9.99998033e-01 -2.53511303e-04 -1.64867444e+01] [-3.54447674e-03 2.46536770e-04 9.99993688e-01 -3.74165158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17037174300003 meters Centerline goodness [0,1] 0.9897504964959938 Centerline is valid? [True, True] Translation: X:270.33, Y:-16.49, Z:-3.74 [[ 9.99990798e-01 2.71988814e-03 3.31759645e-03 2.70334211e+02] [-2.71911554e-03 9.99996275e-01 -2.37365396e-04 -1.64871477e+01] [-3.31822970e-03 2.28342284e-04 9.99994469e-01 -3.74245560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.200371743 meters Centerline goodness [0,1] 0.990247476019322 Centerline is valid? [True, True] Translation: X:270.36, Y:-16.49, Z:-3.74 [[ 9.99990012e-01 2.95830095e-03 3.35016462e-03 2.70364831e+02] [-2.95751363e-03 9.99995598e-01 -2.39939266e-04 -1.64893160e+01] [-3.35085968e-03 2.30028713e-04 9.99994359e-01 -3.74329506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23037174300003 meters Centerline goodness [0,1] 0.990079956012738 Centerline is valid? [True, True] Translation: X:270.40, Y:-16.49, Z:-3.74 [[ 9.99991240e-01 3.10569826e-03 2.80629494e-03 2.70395177e+02] [-3.10514693e-03 9.99995159e-01 -2.00796088e-04 -1.64926878e+01] [-2.80690496e-03 1.92080371e-04 9.99996042e-01 -3.74432986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.260371743 meters Centerline goodness [0,1] 0.9905677572222729 Centerline is valid? [True, True] Translation: X:270.43, Y:-16.49, Z:-3.75 [[ 9.99991633e-01 3.40287924e-03 2.27045967e-03 2.70425661e+02] [-3.40251867e-03 9.99994198e-01 -1.62650100e-04 -1.64943622e+01] [-2.27099998e-03 1.54923457e-04 9.99997409e-01 -3.74532971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.290371743 meters Centerline goodness [0,1] 0.9903813043777691 Centerline is valid? [True, True] Translation: X:270.46, Y:-16.49, Z:-3.75 [[ 9.99986597e-01 4.97555402e-03 1.43180409e-03 2.70456104e+02] [-4.97541223e-03 9.99987617e-01 -1.02570894e-04 -1.64932883e+01] [-1.43229671e-03 9.54457034e-05 9.99998970e-01 -3.74573754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.320371743 meters Centerline goodness [0,1] 0.9906045189972043 Centerline is valid? [True, True] Translation: X:270.49, Y:-16.49, Z:-3.75 [[ 9.99977040e-01 6.62590888e-03 1.42027270e-03 2.70485453e+02] [-6.62577040e-03 9.99978044e-01 -1.02181849e-04 -1.64943616e+01] [-1.42091856e-03 9.27691024e-05 9.99998986e-01 -3.74561765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.350371743 meters Centerline goodness [0,1] 0.9907058931521938 Centerline is valid? [True, True] Translation: X:270.51, Y:-16.50, Z:-3.75 [[ 9.99968102e-01 7.83427955e-03 1.55540696e-03 2.70514036e+02] [-7.83411476e-03 9.99969307e-01 -1.12013566e-04 -1.64959290e+01] [-1.55623676e-03 9.98247561e-05 9.99998784e-01 -3.74521702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380371743 meters Centerline goodness [0,1] 0.9900036768085302 Centerline is valid? [True, True] Translation: X:270.54, Y:-16.50, Z:-3.74 [[ 9.99952778e-01 9.44148080e-03 2.30236076e-03 2.70543488e+02] [-9.44112507e-03 9.99955418e-01 -1.65325211e-04 -1.64967911e+01] [-2.30381903e-03 1.43580528e-04 9.99997336e-01 -3.74492639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.410371743 meters Centerline goodness [0,1] 0.9903810835629018 Centerline is valid? [True, True] Translation: X:270.57, Y:-16.50, Z:-3.74 [[ 9.99913642e-01 1.27683848e-02 3.11084163e-03 2.70572609e+02] [-1.27677532e-02 9.99918464e-01 -2.22787902e-04 -1.64973857e+01] [-3.11343263e-03 1.83050205e-04 9.99995137e-01 -3.74469949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440371743 meters Centerline goodness [0,1] 0.9907950753653204 Centerline is valid? [True, True] Translation: X:270.60, Y:-16.50, Z:-3.74 [[ 9.99893970e-01 1.42070198e-02 3.19531410e-03 2.70601153e+02] [-1.42063600e-02 9.99899058e-01 -2.29079473e-04 -1.64978013e+01] [-3.19824610e-03 1.83661401e-04 9.99994869e-01 -3.74495263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.470371743 meters Centerline goodness [0,1] 0.9915636062709761 Centerline is valid? [True, True] Translation: X:270.63, Y:-16.50, Z:-3.74 [[ 9.99841825e-01 1.73860512e-02 3.74826776e-03 2.70631156e+02] [-1.73851685e-02 9.99848831e-01 -2.67961476e-04 -1.64951317e+01] [-3.75235993e-03 2.02754824e-04 9.99992939e-01 -3.74479326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500371743 meters Centerline goodness [0,1] 0.9913705817378498 Centerline is valid? [True, True] Translation: X:270.66, Y:-16.49, Z:-3.74 [[ 9.99825831e-01 1.82673835e-02 3.82231342e-03 2.70660066e+02] [-1.82664712e-02 9.99833117e-01 -2.73469234e-04 -1.64947412e+01] [-3.82667111e-03 2.03601426e-04 9.99992658e-01 -3.74499316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.530371743 meters Centerline goodness [0,1] 0.9910451197053407 Centerline is valid? [True, True] Translation: X:270.69, Y:-16.50, Z:-3.75 [[ 9.99812668e-01 1.90146109e-02 3.61586246e-03 2.70688680e+02] [-1.90138001e-02 9.99819188e-01 -2.58492521e-04 -1.64963177e+01] [-3.62012380e-03 1.89692811e-04 9.99993429e-01 -3.74548690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560371743 meters Centerline goodness [0,1] 0.9907152050009193 Centerline is valid? [True, True] Translation: X:270.72, Y:-16.50, Z:-3.75 [[ 9.99794785e-01 1.98438316e-02 4.07547964e-03 2.70717844e+02] [-1.98428100e-02 9.99803070e-01 -2.90942982e-04 -1.64973306e+01] [-4.08045048e-03 2.10014308e-04 9.99991653e-01 -3.74606950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.590371743 meters Centerline goodness [0,1] 0.9906109768726269 Centerline is valid? [True, True] Translation: X:270.75, Y:-16.50, Z:-3.75 [[ 9.99795655e-01 1.98442325e-02 3.85428790e-03 2.70745853e+02] [-1.98433184e-02 9.99803064e-01 -2.75277449e-04 -1.64994850e+01] [-3.85899152e-03 1.98739335e-04 9.99992534e-01 -3.74614730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620371743 meters Centerline goodness [0,1] 0.9901480100361393 Centerline is valid? [True, True] Translation: X:270.77, Y:-16.50, Z:-3.75 [[ 9.99801208e-01 1.96279770e-02 3.50516760e-03 2.70774594e+02] [-1.96272218e-02 9.99807336e-01 -2.49732304e-04 -1.65023323e+01] [-3.50939402e-03 1.80885957e-04 9.99993826e-01 -3.74665137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.650371743 meters Centerline goodness [0,1] 0.990506838294449 Centerline is valid? [True, True] Translation: X:270.80, Y:-16.51, Z:-3.75 [[ 9.99813636e-01 1.91155413e-02 2.69997190e-03 2.70802004e+02] [-1.91150907e-02 9.99817271e-01 -1.92585523e-04 -1.65070992e+01] [-2.70315991e-03 1.40939424e-04 9.99996337e-01 -3.74817781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680371743 meters Centerline goodness [0,1] 0.9910048771510076 Centerline is valid? [True, True] Translation: X:270.83, Y:-16.51, Z:-3.75 [[ 9.99822447e-01 1.87125290e-02 2.21723199e-03 2.70830761e+02] [-1.87122245e-02 9.99824899e-01 -1.57982605e-04 -1.65080913e+01] [-2.21980000e-03 1.16465212e-04 9.99997529e-01 -3.74815096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.710371743 meters Centerline goodness [0,1] 0.9907632921281191 Centerline is valid? [True, True] Translation: X:270.86, Y:-16.51, Z:-3.75 [[ 9.99834611e-01 1.80876283e-02 1.89439852e-03 2.70859124e+02] [-1.80874049e-02 9.99836400e-01 -1.34997758e-04 -1.65108692e+01] [-1.89653038e-03 1.00710677e-04 9.99998197e-01 -3.74894226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740371743 meters Centerline goodness [0,1] 0.9900912885912198 Centerline is valid? [True, True] Translation: X:270.89, Y:-16.52, Z:-3.75 [[ 9.99836293e-01 1.80284927e-02 1.53618568e-03 2.70886278e+02] [-1.80283450e-02 9.99837470e-01 -1.09942373e-04 -1.65154024e+01] [-1.53791810e-03 8.22294892e-05 9.99998814e-01 -3.75008173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.770371743 meters Centerline goodness [0,1] 0.9900912885912198 Centerline is valid? [True, True] Translation: X:270.91, Y:-16.52, Z:-3.75 [[ 9.99838170e-01 1.79241224e-02 1.53619577e-03 2.70913707e+02] [-1.79239748e-02 9.99839347e-01 -1.09800515e-04 -1.65172456e+01] [-1.53791705e-03 8.22480117e-05 9.99998814e-01 -3.75046287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800371743 meters Centerline goodness [0,1] 0.9903534761937574 Centerline is valid? [True, True] Translation: X:270.94, Y:-16.52, Z:-3.75 [[ 9.99833379e-01 1.81697554e-02 1.75322819e-03 2.70942539e+02] [-1.81695649e-02 9.99834912e-01 -1.24515872e-04 -1.65185135e+01] [-1.75520118e-03 9.26397312e-05 9.99998455e-01 -3.75065679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.830371743 meters Centerline goodness [0,1] 0.9910288179148311 Centerline is valid? [True, True] Translation: X:270.97, Y:-16.52, Z:-3.75 [[ 9.99798635e-01 1.98937807e-02 2.63189467e-03 2.70970965e+02] [-1.98933592e-02 9.99802090e-01 -1.86238781e-04 -1.65211354e+01] [-2.63507879e-03 1.33844053e-04 9.99996519e-01 -3.75042686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86037174300003 meters Centerline goodness [0,1] 0.9899747648543243 Centerline is valid? [True, True] Translation: X:271.00, Y:-16.53, Z:-3.75 [[ 9.99771350e-01 2.11759855e-02 2.97075355e-03 2.70998282e+02] [-2.11754545e-02 9.99775753e-01 -2.10064857e-04 -1.65269154e+01] [-2.97453570e-03 1.47109769e-04 9.99995565e-01 -3.75139791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.890371743 meters Centerline goodness [0,1] 0.9910187205696566 Centerline is valid? [True, True] Translation: X:271.03, Y:-16.52, Z:-3.75 [[ 9.99733363e-01 2.28524406e-02 3.31188568e-03 2.71028002e+02] [-2.28517925e-02 9.99738836e-01 -2.33395737e-04 -1.65237374e+01] [-3.31635440e-03 1.57650981e-04 9.99994488e-01 -3.75021738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92037174300003 meters Centerline goodness [0,1] 0.9916553953371082 Centerline is valid? [True, True] Translation: X:271.06, Y:-16.52, Z:-3.75 [[ 9.99637262e-01 2.67419108e-02 3.19601077e-03 2.71057931e+02] [-2.67413288e-02 9.99642361e-01 -2.24710892e-04 -1.65230043e+01] [-3.20087695e-03 1.39163806e-04 9.99994867e-01 -3.75029338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.950371743 meters Centerline goodness [0,1] 0.9917789449646038 Centerline is valid? [True, True] Translation: X:271.09, Y:-16.53, Z:-3.75 [[ 9.99583886e-01 2.86636069e-02 3.23302936e-03 2.71085299e+02] [-2.86630182e-02 9.99589105e-01 -2.28278400e-04 -1.65273041e+01] [-3.23824420e-03 1.35515031e-04 9.99994748e-01 -3.75153041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98037174300003 meters Centerline goodness [0,1] 0.992013181682953 Centerline is valid? [True, True] Translation: X:271.12, Y:-16.53, Z:-3.75 [[ 9.99487127e-01 3.18685615e-02 3.14276610e-03 2.71115217e+02] [-3.18680247e-02 9.99492061e-01 -2.20737038e-04 -1.65266288e+01] [-3.14820434e-03 1.20470080e-04 9.99995037e-01 -3.75110458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.010371743 meters Centerline goodness [0,1] 0.9919802590993214 Centerline is valid? [True, True] Translation: X:271.14, Y:-16.53, Z:-3.75 [[ 9.99463701e-01 3.25688809e-02 3.40268863e-03 2.71144153e+02] [-3.25682550e-02 9.99469485e-01 -2.39192311e-04 -1.65293440e+01] [-3.40867368e-03 1.28244401e-04 9.99994182e-01 -3.75154606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.040371743 meters Centerline goodness [0,1] 0.9924254559600906 Centerline is valid? [True, True] Translation: X:271.17, Y:-16.53, Z:-3.75 [[ 9.99465327e-01 3.25141507e-02 3.44826892e-03 2.71172000e+02] [-3.25135072e-02 9.99471267e-01 -2.42520015e-04 -1.65313420e+01] [-3.45433104e-03 1.30275030e-04 9.99994025e-01 -3.75138909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.070371743 meters Centerline goodness [0,1] 0.9917702040351077 Centerline is valid? [True, True] Translation: X:271.20, Y:-16.54, Z:-3.75 [[ 9.99533851e-01 3.02149304e-02 4.37480288e-03 2.71199909e+02] [-3.02138772e-02 9.99543410e-01 -3.06661139e-04 -1.65367648e+01] [-4.38207113e-03 1.74338433e-04 9.99990383e-01 -3.75167766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.100371743 meters Centerline goodness [0,1] 0.9912743137611343 Centerline is valid? [True, True] Translation: X:271.23, Y:-16.54, Z:-3.75 [[ 9.99594393e-01 2.81469919e-02 4.33550826e-03 2.71226792e+02] [-2.81459383e-02 9.99603778e-01 -3.03842287e-04 -1.65420603e+01] [-4.34234268e-03 1.81692098e-04 9.99990555e-01 -3.75249355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.130371743 meters Centerline goodness [0,1] 0.9916924617625638 Centerline is valid? [True, True] Translation: X:271.26, Y:-16.55, Z:-3.75 [[ 9.99721790e-01 2.32459157e-02 3.99627712e-03 2.71256610e+02] [-2.32449867e-02 9.99729760e-01 -2.78752844e-04 -1.65489026e+01] [-4.00167703e-03 1.85781883e-04 9.99991976e-01 -3.75328190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.160371743 meters Centerline goodness [0,1] 0.9916719759716028 Centerline is valid? [True, True] Translation: X:271.29, Y:-16.55, Z:-3.75 [[ 9.99778867e-01 2.07269402e-02 3.55114147e-03 2.71285542e+02] [-2.07261899e-02 9.99785159e-01 -2.47962330e-04 -1.65541162e+01] [-3.55551804e-03 1.74305865e-04 9.99993664e-01 -3.75416591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.190371743 meters Centerline goodness [0,1] 0.991614920908308 Centerline is valid? [True, True] Translation: X:271.31, Y:-16.56, Z:-3.76 [[ 9.99827989e-01 1.82289981e-02 3.41987255e-03 2.71313614e+02] [-1.82282882e-02 9.99833822e-01 -2.38634489e-04 -1.65616264e+01] [-3.42365432e-03 1.76255019e-04 9.99994124e-01 -3.75556072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.220371743 meters Centerline goodness [0,1] 0.9911300176494546 Centerline is valid? [True, True] Translation: X:271.34, Y:-16.57, Z:-3.76 [[ 9.99904723e-01 1.35521942e-02 2.62350679e-03 2.71343678e+02] [-1.35517617e-02 9.99908154e-01 -1.82557900e-04 -1.65696499e+01] [-2.62573989e-03 1.46987368e-04 9.99996542e-01 -3.75653439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.250371743 meters Centerline goodness [0,1] 0.9911644408288703 Centerline is valid? [True, True] Translation: X:271.37, Y:-16.58, Z:-3.76 [[ 9.99931517e-01 1.13695078e-02 2.77420213e-03 2.71371804e+02] [-1.13690145e-02 9.99935352e-01 -1.93551120e-04 -1.65769990e+01] [-2.77622336e-03 1.61997921e-04 9.99996133e-01 -3.75743331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.280371743 meters Centerline goodness [0,1] 0.9910837538753988 Centerline is valid? [True, True] Translation: X:271.40, Y:-16.58, Z:-3.76 [[ 9.99952244e-01 9.35261699e-03 2.83518683e-03 2.71400898e+02] [-9.35209400e-03 9.99956249e-01 -1.97663632e-04 -1.65768137e+01] [-2.83691146e-03 1.71139259e-04 9.99995961e-01 -3.75706905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.310371743 meters Centerline goodness [0,1] 0.9905419742218009 Centerline is valid? [True, True] Translation: X:271.43, Y:-16.59, Z:-3.76 [[ 9.99978279e-01 6.06853630e-03 2.57197795e-03 2.71429332e+02] [-6.06809581e-03 9.99981573e-01 -1.79033348e-04 -1.65859161e+01] [-2.57301702e-03 1.63422451e-04 9.99996676e-01 -3.75781836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.340371743 meters Centerline goodness [0,1] 0.9903954547504171 Centerline is valid? [True, True] Translation: X:271.46, Y:-16.59, Z:-3.76 [[ 9.99985348e-01 4.93862221e-03 2.21685265e-03 2.71459187e+02] [-4.93829269e-03 9.99987795e-01 -1.54090845e-04 -1.65902353e+01] [-2.21758659e-03 1.43141120e-04 9.99997531e-01 -3.75890599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.370371743 meters Centerline goodness [0,1] 0.9914059504206798 Centerline is valid? [True, True] Translation: X:271.49, Y:-16.60, Z:-3.76 [[ 9.99993203e-01 2.92061830e-03 2.25043369e-03 2.71488325e+02] [-2.92027374e-03 9.99995724e-01 -1.56377456e-04 -1.65989382e+01] [-2.25088079e-03 1.49804510e-04 9.99997456e-01 -3.76071987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.400371743 meters Centerline goodness [0,1] 0.9909585713643111 Centerline is valid? [True, True] Translation: X:271.52, Y:-16.60, Z:-3.76 [[ 9.99994402e-01 2.32940728e-03 2.40209958e-03 2.71518641e+02] [-2.32901365e-03 9.99997274e-01 -1.66653930e-04 -1.65993576e+01] [-2.40248124e-03 1.61058474e-04 9.99997101e-01 -3.76073753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.430371743 meters Centerline goodness [0,1] 0.9908796837092282 Centerline is valid? [True, True] Translation: X:271.55, Y:-16.60, Z:-3.76 [[ 9.99994530e-01 2.05894579e-03 2.58844551e-03 2.71548147e+02] [-2.05848781e-03 9.99997865e-01 -1.79582320e-04 -1.66048883e+01] [-2.58880974e-03 1.74253055e-04 9.99996634e-01 -3.76114150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.460371743 meters Centerline goodness [0,1] 0.9907282686781609 Centerline is valid? [True, True] Translation: X:271.58, Y:-16.61, Z:-3.76 [[ 9.99993377e-01 1.93645607e-03 3.08162882e-03 2.71578918e+02] [-1.93580638e-03 9.99998103e-01 -2.13798611e-04 -1.66077223e+01] [-3.08203699e-03 2.07831758e-04 9.99995229e-01 -3.76102518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.490371743 meters Centerline goodness [0,1] 0.9904505111785192 Centerline is valid? [True, True] Translation: X:271.61, Y:-16.61, Z:-3.76 [[ 9.99992171e-01 1.47599147e-03 3.67133416e-03 2.71609219e+02] [-1.47506908e-03 9.99998880e-01 -2.53938098e-04 -1.66141282e+01] [-3.67170486e-03 2.48520639e-04 9.99993228e-01 -3.76129714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.520371743 meters Centerline goodness [0,1] 0.9906318965905508 Centerline is valid? [True, True] Translation: X:271.64, Y:-16.61, Z:-3.76 [[ 9.99990602e-01 7.98332440e-04 4.26121939e-03 2.71640674e+02] [-7.97079933e-04 9.99999639e-01 -2.95621853e-04 -1.66141396e+01] [-4.26145386e-03 2.92222542e-04 9.99990877e-01 -3.76078501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.550371743 meters Centerline goodness [0,1] 0.9893600340478911 Centerline is valid? [True, True] Translation: X:271.67, Y:-16.62, Z:-3.76 [[ 9.99981875e-01 -4.09860545e-05 6.02055953e-03 2.71671365e+02] [ 4.34948772e-05 9.99999912e-01 -4.16578885e-04 -1.66233978e+01] [-6.02054193e-03 4.16833199e-04 9.99981789e-01 -3.76026306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.580371743 meters Centerline goodness [0,1] 0.9880092167960448 Centerline is valid? [True, True] Translation: X:271.70, Y:-16.63, Z:-3.76 [[ 9.99980637e-01 -3.80995716e-04 6.21135810e-03 2.71702281e+02] [ 3.83682436e-04 9.99999833e-01 -4.31363641e-04 -1.66309738e+01] [-6.21119271e-03 4.33738477e-04 9.99980616e-01 -3.76056870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61037174300003 meters Centerline goodness [0,1] 0.9898279261516401 Centerline is valid? [True, True] Translation: X:271.73, Y:-16.63, Z:-3.76 [[ 9.99974636e-01 -2.37606329e-03 6.71427693e-03 2.71733410e+02] [ 2.37926896e-03 9.99997059e-01 -4.69493919e-04 -1.66255673e+01] [-6.71314164e-03 4.85457082e-04 9.99977349e-01 -3.75936075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.640371743 meters Centerline goodness [0,1] 0.9893443173423474 Centerline is valid? [True, True] Translation: X:271.77, Y:-16.63, Z:-3.76 [[ 9.99968726e-01 -3.21215792e-03 7.22694342e-03 2.71765733e+02] [ 3.21588393e-03 9.99994702e-01 -5.04009806e-04 -1.66289535e+01] [-7.22528617e-03 5.27235055e-04 9.99973758e-01 -3.76002222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67037174300003 meters Centerline goodness [0,1] 0.9901774327075828 Centerline is valid? [True, True] Translation: X:271.80, Y:-16.63, Z:-3.76 [[ 9.99965576e-01 -4.10325785e-03 7.21184656e-03 2.71798352e+02] [ 4.10701195e-03 9.99991438e-01 -5.05813866e-04 -1.66293511e+01] [-7.20970933e-03 5.35415594e-04 9.99973866e-01 -3.76053260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.700371743 meters Centerline goodness [0,1] 0.9895472717932683 Centerline is valid? [True, True] Translation: X:271.83, Y:-16.64, Z:-3.76 [[ 9.99963455e-01 -5.09190149e-03 6.86737520e-03 2.71828850e+02] [ 5.09532950e-03 9.99986903e-01 -4.81769344e-04 -1.66375736e+01] [-6.86483213e-03 5.16743278e-04 9.99976303e-01 -3.76194122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73037174300003 meters Centerline goodness [0,1] 0.9901584953034277 Centerline is valid? [True, True] Translation: X:271.86, Y:-16.64, Z:-3.76 [[ 9.99959098e-01 -7.16432676e-03 5.52035806e-03 2.71859391e+02] [ 7.16657993e-03 9.99974244e-01 -3.88483498e-04 -1.66402516e+01] [-5.51743265e-03 4.28029696e-04 9.99984687e-01 -3.76354583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.760371743 meters Centerline goodness [0,1] 0.989145728643216 Centerline is valid? [True, True] Translation: X:271.89, Y:-16.65, Z:-3.77 [[ 9.99957366e-01 -7.74713363e-03 5.02473303e-03 2.71890439e+02] [ 7.74900371e-03 9.99969914e-01 -3.52813196e-04 -1.66490733e+01] [-5.02184857e-03 3.91734829e-04 9.99987314e-01 -3.76526413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.790371743 meters Centerline goodness [0,1] 0.9884593062190277 Centerline is valid? [True, True] Translation: X:271.92, Y:-16.65, Z:-3.77 [[ 9.99956972e-01 -8.31749657e-03 4.10761076e-03 2.71922465e+02] [ 8.31875365e-03 9.99965357e-01 -2.89045327e-04 -1.66535493e+01] [-4.10506433e-03 3.23203093e-04 9.99991522e-01 -3.76616284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.820371743 meters Centerline goodness [0,1] 0.9886835409133521 Centerline is valid? [True, True] Translation: X:271.95, Y:-16.66, Z:-3.77 [[ 9.99961725e-01 -7.72811722e-03 4.10183151e-03 2.71953911e+02] [ 7.72936704e-03 9.99970086e-01 -2.88932099e-04 -1.66576845e+01] [-4.09947590e-03 3.20625602e-04 9.99991546e-01 -3.76681616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.850371743 meters Centerline goodness [0,1] 0.9893588542363807 Centerline is valid? [True, True] Translation: X:271.98, Y:-16.65, Z:-3.77 [[ 9.99973054e-01 -5.39513126e-03 4.97836171e-03 2.71984616e+02] [ 5.39694938e-03 9.99985374e-01 -3.51842403e-04 -1.66532199e+01] [-4.97639066e-03 3.78700888e-04 9.99987546e-01 -3.76601845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880371743 meters Centerline goodness [0,1] 0.9898744340611548 Centerline is valid? [True, True] Translation: X:272.02, Y:-16.66, Z:-3.77 [[ 9.99981175e-01 -3.82997044e-03 4.79377297e-03 2.72015316e+02] [ 3.83163678e-03 9.99992602e-01 -3.38470440e-04 -1.66559538e+01] [-4.79244118e-03 3.56832065e-04 9.99988453e-01 -3.76605010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.910371743 meters Centerline goodness [0,1] 0.9888426795456579 Centerline is valid? [True, True] Translation: X:272.05, Y:-16.66, Z:-3.77 [[ 9.99986110e-01 -2.11139546e-03 4.82933277e-03 2.72045537e+02] [ 2.11306833e-03 9.99997709e-01 -3.41322291e-04 -1.66591455e+01] [-4.82860104e-03 3.51522260e-04 9.99988280e-01 -3.76675770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940371743 meters Centerline goodness [0,1] 0.9903108147418828 Centerline is valid? [True, True] Translation: X:272.08, Y:-16.66, Z:-3.77 [[ 9.99990269e-01 2.92334044e-05 4.41153937e-03 2.72076846e+02] [-2.78586592e-05 9.99999951e-01 -3.11685966e-04 -1.66596795e+01] [-4.41154826e-03 3.11560033e-04 9.99990221e-01 -3.76697056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.970371743 meters Centerline goodness [0,1] 0.9904836367697978 Centerline is valid? [True, True] Translation: X:272.11, Y:-16.66, Z:-3.77 [[ 9.99978795e-01 5.04468088e-03 4.11841446e-03 2.72107708e+02] [-5.04352318e-03 9.99987239e-01 -2.91440312e-04 -1.66556068e+01] [-4.11983213e-03 2.70662813e-04 9.99991477e-01 -3.76751519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000371743 meters Centerline goodness [0,1] 0.99140593527595 Centerline is valid? [True, True] Translation: X:272.14, Y:-16.65, Z:-3.77 [[ 9.99963706e-01 7.76100237e-03 3.51467268e-03 2.72138555e+02] [-7.76017617e-03 9.99969858e-01 -2.48645719e-04 -1.66548101e+01] [-3.51649648e-03 2.21362216e-04 9.99993793e-01 -3.76751150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.030371743 meters Centerline goodness [0,1] 0.99145222644887 Centerline is valid? [True, True] Translation: X:272.17, Y:-16.65, Z:-3.77 [[ 9.99893695e-01 1.40422956e-02 3.92588718e-03 2.72167812e+02] [-1.40413117e-02 9.99901377e-01 -2.78045085e-04 -1.66548168e+01] [-3.92940439e-03 2.22890922e-04 9.99992255e-01 -3.76778607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060371743 meters Centerline goodness [0,1] 0.9906562997154317 Centerline is valid? [True, True] Translation: X:272.20, Y:-16.65, Z:-3.77 [[ 9.99843363e-01 1.71872250e-02 4.22469011e-03 2.72198196e+02] [-1.71861143e-02 9.99852263e-01 -2.99066715e-04 -1.66528731e+01] [-4.22920610e-03 2.26413863e-04 9.99991031e-01 -3.76729980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.090371743 meters Centerline goodness [0,1] 0.9913325867861142 Centerline is valid? [True, True] Translation: X:272.23, Y:-16.65, Z:-3.77 [[ 9.99779618e-01 2.04658480e-02 4.67591681e-03 2.72228227e+02] [-2.04645237e-02 9.99790525e-01 -3.30898049e-04 -1.66524215e+01] [-4.68170943e-03 2.35134715e-04 9.99989013e-01 -3.76717041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120371743 meters Centerline goodness [0,1] 0.9917446216658815 Centerline is valid? [True, True] Translation: X:272.26, Y:-16.65, Z:-3.77 [[ 9.99667250e-01 2.51988628e-02 5.51422206e-03 2.72258906e+02] [-2.51970942e-02 9.99682427e-01 -3.89991017e-04 -1.66499843e+01] [-5.52229822e-03 2.50918874e-04 9.99984721e-01 -3.76659783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.150371743 meters Centerline goodness [0,1] 0.9912585453322873 Centerline is valid? [True, True] Translation: X:272.29, Y:-16.65, Z:-3.77 [[ 9.99621883e-01 2.68940366e-02 5.72729208e-03 2.72287699e+02] [-2.68921537e-02 9.99638258e-01 -4.05533440e-04 -1.66503848e+01] [-5.73612671e-03 2.51360883e-04 9.99983517e-01 -3.76675379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180371743 meters Centerline goodness [0,1] 0.9913404374649467 Centerline is valid? [True, True] Translation: X:272.32, Y:-16.65, Z:-3.77 [[ 9.99576911e-01 2.84137604e-02 6.21747134e-03 2.72317017e+02] [-2.84115716e-02 9.99596213e-01 -4.40094394e-04 -1.66516536e+01] [-6.22746554e-03 2.63260063e-04 9.99980574e-01 -3.76723121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.210371743 meters Centerline goodness [0,1] 0.9911794411401639 Centerline is valid? [True, True] Translation: X:272.34, Y:-16.66, Z:-3.77 [[ 9.99570702e-01 2.86314891e-02 6.21688506e-03 2.72344269e+02] [-2.86293112e-02 9.99590001e-01 -4.39044201e-04 -1.66561186e+01] [-6.22690663e-03 2.60870583e-04 9.99980579e-01 -3.76815945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240371743 meters Centerline goodness [0,1] 0.9914164051994622 Centerline is valid? [True, True] Translation: X:272.37, Y:-16.66, Z:-3.77 [[ 9.99578190e-01 2.84283310e-02 5.93902767e-03 2.72373152e+02] [-2.84263435e-02 9.99595802e-01 -4.18807515e-04 -1.66571612e+01] [-5.94853313e-03 2.49806017e-04 9.99982276e-01 -3.76852325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.270371743 meters Centerline goodness [0,1] 0.9907089476873359 Centerline is valid? [True, True] Translation: X:272.40, Y:-16.66, Z:-3.77 [[ 9.99601782e-01 2.74615489e-02 6.49153593e-03 2.72401994e+02] [-2.74591575e-02 9.99622822e-01 -4.57241580e-04 -1.66582768e+01] [-6.50164402e-03 2.78807390e-04 9.99978825e-01 -3.76841607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300371743 meters Centerline goodness [0,1] 0.9904294368005044 Centerline is valid? [True, True] Translation: X:272.43, Y:-16.66, Z:-3.77 [[ 9.99639623e-01 2.60201838e-02 6.60109557e-03 2.72430897e+02] [-2.60176829e-02 9.99661375e-01 -4.64465046e-04 -1.66620086e+01] [-6.61094574e-03 2.92552452e-04 9.99978105e-01 -3.76867217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.330371743 meters Centerline goodness [0,1] 0.9910222540634935 Centerline is valid? [True, True] Translation: X:272.46, Y:-16.67, Z:-3.77 [[ 9.99682366e-01 2.42387677e-02 6.90287360e-03 2.72459047e+02] [-2.42359925e-02 9.99706147e-01 -4.85411885e-04 -1.66661239e+01] [-6.91261096e-03 3.17959709e-04 9.99976057e-01 -3.76949431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36037174300003 meters Centerline goodness [0,1] 0.9905178211163417 Centerline is valid? [True, True] Translation: X:272.49, Y:-16.67, Z:-3.77 [[ 9.99790574e-01 1.96687494e-02 5.65229378e-03 2.72487302e+02] [-1.96668211e-02 9.99806511e-01 -3.96541370e-04 -1.66744451e+01] [-5.65899959e-03 2.85295674e-04 9.99983947e-01 -3.77181414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.390371743 meters Centerline goodness [0,1] 0.9897485363063325 Centerline is valid? [True, True] Translation: X:272.52, Y:-16.68, Z:-3.77 [[ 9.99847427e-01 1.69217140e-02 4.33347972e-03 2.72516353e+02] [-1.69205543e-02 9.99856791e-01 -3.04142672e-04 -1.66789205e+01] [-4.33800574e-03 2.30771389e-04 9.99990564e-01 -3.77338675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42037174300003 meters Centerline goodness [0,1] 0.9900754979053252 Centerline is valid? [True, True] Translation: X:272.55, Y:-16.68, Z:-3.78 [[ 9.99921450e-01 1.23550198e-02 2.10883205e-03 2.72547180e+02] [-1.23547357e-02 9.99923666e-01 -1.47726071e-04 -1.66808732e+01] [-2.11049623e-03 1.21660404e-04 9.99997765e-01 -3.77507282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.450371743 meters Centerline goodness [0,1] 0.9886951265921963 Centerline is valid? [True, True] Translation: X:272.57, Y:-16.69, Z:-3.78 [[ 9.99945381e-01 1.03029019e-02 1.75622803e-03 2.72574966e+02] [-1.03027006e-02 9.99946918e-01 -1.23611022e-04 -1.66918203e+01] [-1.75740835e-03 1.05510379e-04 9.99998450e-01 -3.77753684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48037174300003 meters Centerline goodness [0,1] 0.9899134479905173 Centerline is valid? [True, True] Translation: X:272.60, Y:-16.70, Z:-3.78 [[ 9.99962662e-01 8.50222386e-03 1.54495122e-03 2.72604283e+02] [-8.50206633e-03 9.99963851e-01 -1.08498253e-04 -1.66961416e+01] [-1.54581784e-03 9.53589244e-05 9.99998801e-01 -3.77832668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.510371743 meters Centerline goodness [0,1] 0.9892509237487404 Centerline is valid? [True, True] Translation: X:272.64, Y:-16.69, Z:-3.78 [[ 9.99986423e-01 5.06368018e-03 1.23006300e-03 2.72635179e+02] [-5.06357820e-03 9.99987176e-01 -8.60088649e-05 -1.66939778e+01] [-1.23048275e-03 7.97791770e-05 9.99999240e-01 -3.77727928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.540371743 meters Centerline goodness [0,1] 0.9879135144814002 Centerline is valid? [True, True] Translation: X:272.66, Y:-16.71, Z:-3.78 [[ 9.99991554e-01 3.86305299e-03 1.40336685e-03 2.72664164e+02] [-3.86291916e-03 9.99992534e-01 -9.80632635e-05 -1.67066766e+01] [-1.40373519e-03 9.26413425e-05 9.99999010e-01 -3.77941168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.570371743 meters Centerline goodness [0,1] 0.9885739890220678 Centerline is valid? [True, True] Translation: X:272.69, Y:-16.71, Z:-3.78 [[ 9.99994223e-01 3.17027690e-03 1.22603391e-03 2.72694116e+02] [-3.17017364e-03 9.99994971e-01 -8.61539548e-05 -1.67092247e+01] [-1.22630088e-03 8.22667167e-05 9.99999245e-01 -3.77922526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.600371743 meters Centerline goodness [0,1] 0.9895209580838323 Centerline is valid? [True, True] Translation: X:272.72, Y:-16.70, Z:-3.78 [[ 9.99996035e-01 2.65133485e-03 9.48936292e-04 2.72724700e+02] [-2.65127289e-03 9.99996483e-01 -6.65543463e-05 -1.67020045e+01] [-9.49109412e-04 6.40381933e-05 9.99999548e-01 -3.77764194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.630371743 meters Centerline goodness [0,1] 0.9892709149960802 Centerline is valid? [True, True] Translation: X:272.75, Y:-16.70, Z:-3.78 [[ 9.99996895e-01 2.48717397e-03 1.57119358e-04 2.72754479e+02] [-2.48717224e-03 9.99996907e-01 -1.12199138e-05 -1.67036075e+01] [-1.57146778e-04 1.08290961e-05 9.99999988e-01 -3.77807369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.660371743 meters Centerline goodness [0,1] 0.9892709149960802 Centerline is valid? [True, True] Translation: X:272.78, Y:-16.71, Z:-3.78 [[ 9.99996981e-01 2.45219854e-03 1.57102958e-04 2.72783629e+02] [-2.45219677e-03 9.99996993e-01 -1.14547874e-05 -1.67056123e+01] [-1.57130575e-04 1.10695054e-05 9.99999988e-01 -3.77847828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.690371743 meters Centerline goodness [0,1] 0.9888311920855902 Centerline is valid? [True, True] Translation: X:272.81, Y:-16.71, Z:-3.78 [[ 9.99996534e-01 2.63191274e-03 6.82104598e-05 2.72813158e+02] [-2.63191239e-03 9.99996536e-01 -5.24393154e-06 -1.67077703e+01] [-6.82240252e-05 5.06438942e-06 9.99999998e-01 -3.77914021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.720371743 meters Centerline goodness [0,1] 0.9898704674824078 Centerline is valid? [True, True] Translation: X:272.84, Y:-16.71, Z:-3.78 [[ 9.99996574e-01 2.57745636e-03 4.56254259e-04 2.72842615e+02] [-2.57744188e-03 9.99996678e-01 -3.23080712e-05 -1.67091398e+01] [-4.56336016e-04 3.11319916e-05 9.99999895e-01 -3.77910950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.750371743 meters Centerline goodness [0,1] 0.9898263974667056 Centerline is valid? [True, True] Translation: X:272.87, Y:-16.71, Z:-3.78 [[ 9.99995904e-01 2.77088596e-03 7.16961877e-04 2.72872465e+02] [-2.77085065e-03 9.99996160e-01 -5.02366672e-05 -1.67102288e+01] [-7.17098324e-04 4.82498671e-05 9.99999742e-01 -3.77857098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.780371743 meters Centerline goodness [0,1] 0.9903289503208724 Centerline is valid? [True, True] Translation: X:272.90, Y:-16.71, Z:-3.78 [[ 9.99995011e-01 2.96286238e-03 1.09529874e-03 2.72902422e+02] [-2.96277999e-03 9.99995608e-01 -7.68378784e-05 -1.67052956e+01] [-1.09552159e-03 7.35923659e-05 9.99999397e-01 -3.77760901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.810371743 meters Centerline goodness [0,1] 0.9898998987740412 Centerline is valid? [True, True] Translation: X:272.93, Y:-16.71, Z:-3.78 [[ 9.99995842e-01 2.67932903e-03 1.06593450e-03 2.72931912e+02] [-2.67925111e-03 9.99996408e-01 -7.45226496e-05 -1.67127838e+01] [-1.06613034e-03 7.16664335e-05 9.99999429e-01 -3.77880796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.840371743 meters Centerline goodness [0,1] 0.9903502260611378 Centerline is valid? [True, True] Translation: X:272.96, Y:-16.71, Z:-3.78 [[ 9.99996327e-01 2.10151151e-03 1.71141263e-03 2.72962355e+02] [-2.10131011e-03 9.99997785e-01 -1.19470879e-04 -1.67084151e+01] [-1.71165990e-03 1.15874232e-04 9.99998528e-01 -3.77772100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.870371743 meters Centerline goodness [0,1] 0.9903351097461838 Centerline is valid? [True, True] Translation: X:272.99, Y:-16.71, Z:-3.78 [[ 9.99998298e-01 1.11420275e-03 1.47029960e-03 2.72993304e+02] [-1.11405335e-03 9.99999374e-01 -1.02427858e-04 -1.67074387e+01] [-1.47041281e-03 1.00789691e-04 9.99998914e-01 -3.77743976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.900371743 meters Centerline goodness [0,1] 0.9897862554112554 Centerline is valid? [True, True] Translation: X:273.02, Y:-16.71, Z:-3.78 [[ 9.99997729e-01 -1.77775175e-03 1.17534521e-03 2.73023119e+02] [ 1.77784920e-03 9.99998416e-01 -8.18799735e-05 -1.67108153e+01] [-1.17519779e-03 8.39693742e-05 9.99999306e-01 -3.77784232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.930371743 meters Centerline goodness [0,1] 0.9890616911615764 Centerline is valid? [True, True] Translation: X:273.05, Y:-16.72, Z:-3.78 [[ 9.99994109e-01 -3.33784320e-03 8.00461503e-04 2.73052594e+02] [ 3.33788797e-03 9.99994428e-01 -5.46084678e-05 -1.67170754e+01] [-8.00274769e-04 5.72799970e-05 9.99999678e-01 -3.77913367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.960371743 meters Centerline goodness [0,1] 0.9892371431144735 Centerline is valid? [True, True] Translation: X:273.08, Y:-16.72, Z:-3.78 [[ 9.99989176e-01 -4.62627154e-03 4.94789047e-04 2.73083651e+02] [ 4.62628894e-03 9.99989298e-01 -3.40421222e-05 -1.67185555e+01] [-4.94626264e-04 3.63307908e-05 9.99999877e-01 -3.78008441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.990371743 meters Centerline goodness [0,1] 0.9888911422068997 Centerline is valid? [True, True] Translation: X:273.11, Y:-16.72, Z:-3.78 [[ 9.99968390e-01 -7.93963520e-03 -4.26365033e-04 2.73112662e+02] [ 7.93964851e-03 9.99968480e-01 2.95516502e-05 -1.67241016e+01] [ 4.26116965e-04 -3.29359046e-05 9.99999909e-01 -3.78183058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.020371743 meters Centerline goodness [0,1] 0.9903183680821362 Centerline is valid? [True, True] Translation: X:273.14, Y:-16.72, Z:-3.78 [[ 9.99958861e-01 -9.04588810e-03 -6.70044849e-04 2.73144915e+02] [ 9.04592198e-03 9.99959084e-01 4.75452969e-05 -1.67187195e+01] [ 6.69587343e-04 -5.36045143e-05 9.99999774e-01 -3.78113818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.050371743 meters Centerline goodness [0,1] 0.989118164988486 Centerline is valid? [True, True] Translation: X:273.18, Y:-16.73, Z:-3.78 [[ 9.99946870e-01 -1.02809085e-02 -7.48528596e-04 2.73175795e+02] [ 1.02809511e-02 9.99947148e-01 5.30595215e-05 -1.67256102e+01] [ 7.47943534e-04 -6.07522883e-05 9.99999718e-01 -3.78246508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.080371743 meters Centerline goodness [0,1] 0.9895750887587346 Centerline is valid? [True, True] Translation: X:273.21, Y:-16.72, Z:-3.78 [[ 9.99944705e-01 -1.04658591e-02 -1.02595183e-03 2.73208026e+02] [ 1.04659393e-02 9.99945228e-01 7.27767536e-05 -1.67210265e+01] [ 1.02513396e-03 -8.35102789e-05 9.99999471e-01 -3.78171210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11037174300003 meters Centerline goodness [0,1] 0.9899599755783189 Centerline is valid? [True, True] Translation: X:273.24, Y:-16.72, Z:-3.78 [[ 9.99949466e-01 -1.00071291e-02 -9.60419131e-04 2.73239533e+02] [ 1.00071993e-02 9.99949924e-01 6.82539485e-05 -1.67248834e+01] [ 9.59688011e-04 -7.78616050e-05 9.99999536e-01 -3.78243112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.140371743 meters Centerline goodness [0,1] 0.9896592987288614 Centerline is valid? [True, True] Translation: X:273.27, Y:-16.73, Z:-3.78 [[ 9.99954548e-01 -9.49050220e-03 -9.11902949e-04 2.73271937e+02] [ 9.49056531e-03 9.99954961e-01 6.49069165e-05 -1.67250251e+01] [ 9.11245879e-04 -7.35584409e-05 9.99999582e-01 -3.78279873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17037174300003 meters Centerline goodness [0,1] 0.9890805902383655 Centerline is valid? [True, True] Translation: X:273.30, Y:-16.72, Z:-3.78 [[ 9.99965794e-01 -8.26036527e-03 -4.21627856e-04 2.73303760e+02] [ 8.26037878e-03 9.99965882e-01 3.03150537e-05 -1.67238200e+01] [ 4.21363058e-04 -3.37968225e-05 9.99999911e-01 -3.78266914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.200371743 meters Centerline goodness [0,1] 0.989145183175034 Centerline is valid? [True, True] Translation: X:273.34, Y:-16.72, Z:-3.78 [[ 9.99972979e-01 -7.35124153e-03 2.17379398e-05 2.73335777e+02] [ 7.35124154e-03 9.99972979e-01 -7.83575062e-07 -1.67228407e+01] [-2.17315922e-05 9.43354735e-07 1.00000000e+00 -3.78237907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23037174300003 meters Centerline goodness [0,1] 0.9890486901597255 Centerline is valid? [True, True] Translation: X:273.37, Y:-16.72, Z:-3.78 [[ 9.99981739e-01 -5.99233561e-03 7.83492678e-04 2.73365923e+02] [ 5.99238035e-03 9.99982044e-01 -5.47724053e-05 -1.67247180e+01] [-7.83150395e-04 5.94663913e-05 9.99999692e-01 -3.78292588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.260371743 meters Centerline goodness [0,1] 0.9902227666621297 Centerline is valid? [True, True] Translation: X:273.40, Y:-16.72, Z:-3.78 [[ 9.99985335e-01 -5.25257784e-03 1.31912053e-03 2.73398288e+02] [ 5.25270339e-03 9.99986200e-01 -9.17331398e-05 -1.67201637e+01] [-1.31862049e-03 9.86607434e-05 9.99999126e-01 -3.78193614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.290371743 meters Centerline goodness [0,1] 0.9906162877671751 Centerline is valid? [True, True] Translation: X:273.43, Y:-16.72, Z:-3.78 [[ 9.99988287e-01 -4.58508119e-03 1.55027567e-03 2.73430993e+02] [ 4.58525392e-03 9.99989482e-01 -1.07878464e-04 -1.67215728e+01] [-1.54976473e-03 1.14985608e-04 9.99998793e-01 -3.78222831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.320371743 meters Centerline goodness [0,1] 0.989753819649091 Centerline is valid? [True, True] Translation: X:273.46, Y:-16.72, Z:-3.78 [[ 9.99987769e-01 -4.43919570e-03 2.18071948e-03 2.73461922e+02] [ 4.43953957e-03 9.99990134e-01 -1.52871790e-04 -1.67236211e+01] [-2.18001934e-03 1.62551311e-04 9.99997611e-01 -3.78193997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.350371743 meters Centerline goodness [0,1] 0.9891728708915926 Centerline is valid? [True, True] Translation: X:273.49, Y:-16.73, Z:-3.78 [[ 9.99986413e-01 -4.73721372e-03 2.17542982e-03 2.73494044e+02] [ 4.73755643e-03 9.99988766e-01 -1.52410289e-04 -1.67252245e+01] [-2.17468338e-03 1.62714439e-04 9.99997622e-01 -3.78203189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380371743 meters Centerline goodness [0,1] 0.9895696041448894 Centerline is valid? [True, True] Translation: X:273.53, Y:-16.72, Z:-3.78 [[ 9.99984808e-01 -4.90911954e-03 2.50683363e-03 2.73526632e+02] [ 4.90957594e-03 9.99987932e-01 -1.75939215e-04 -1.67238616e+01] [-2.50593968e-03 1.88244032e-04 9.99996842e-01 -3.78222197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.410371743 meters Centerline goodness [0,1] 0.9891343880705583 Centerline is valid? [True, True] Translation: X:273.56, Y:-16.73, Z:-3.78 [[ 9.99986423e-01 -4.85639425e-03 1.88915411e-03 2.73559053e+02] [ 4.85665315e-03 9.99988198e-01 -1.32483560e-04 -1.67265832e+01] [-1.88848842e-03 1.41656728e-04 9.99998207e-01 -3.78291330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440371743 meters Centerline goodness [0,1] 0.9888717296511628 Centerline is valid? [True, True] Translation: X:273.59, Y:-16.73, Z:-3.78 [[ 9.99988035e-01 -4.56211289e-03 1.76526869e-03 2.73589837e+02] [ 4.56233749e-03 9.99989585e-01 -1.23223461e-04 -1.67323762e+01] [-1.76468814e-03 1.31275738e-04 9.99998434e-01 -3.78430836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.470371743 meters Centerline goodness [0,1] 0.9890853575172036 Centerline is valid? [True, True] Translation: X:273.62, Y:-16.73, Z:-3.79 [[ 9.99992855e-01 -3.72500025e-03 6.43958585e-04 2.73621842e+02] [ 3.72502977e-03 9.99993061e-01 -4.46442298e-05 -1.67314489e+01] [-6.43787817e-04 4.70426758e-05 9.99999792e-01 -3.78577922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500371743 meters Centerline goodness [0,1] 0.9900555252139086 Centerline is valid? [True, True] Translation: X:273.65, Y:-16.73, Z:-3.79 [[ 9.99995637e-01 -2.95268302e-03 8.63362484e-05 2.73654279e+02] [ 2.95268347e-03 9.99995641e-01 -5.13075018e-06 -1.67316621e+01] [-8.63207225e-05 5.38565140e-06 9.99999996e-01 -3.78677580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.530371743 meters Centerline goodness [0,1] 0.990557215519011 Centerline is valid? [True, True] Translation: X:273.68, Y:-16.73, Z:-3.79 [[ 9.99998889e-01 -1.35050565e-03 -6.30658337e-04 2.73684937e+02] [ 1.35053445e-03 9.99999087e-01 4.52440193e-05 -1.67332564e+01] [ 6.30596659e-04 -4.60956948e-05 9.99999800e-01 -3.78803826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560371743 meters Centerline goodness [0,1] 0.989420160977723 Centerline is valid? [True, True] Translation: X:273.72, Y:-16.73, Z:-3.79 [[ 9.99999202e-01 -6.19024225e-04 -1.10119483e-03 2.73715856e+02] [ 6.19110647e-04 9.99999805e-01 7.81410940e-05 -1.67337065e+01] [ 1.10114625e-03 -7.88227931e-05 9.99999391e-01 -3.78836126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.590371743 meters Centerline goodness [0,1] 0.990707550400694 Centerline is valid? [True, True] Translation: X:273.75, Y:-16.73, Z:-3.79 [[ 9.99999302e-01 4.23614739e-04 -1.10263044e-03 2.73746173e+02] [-4.23528722e-04 9.99999907e-01 7.82429654e-05 -1.67347854e+01] [ 1.10266349e-03 -7.77759151e-05 9.99999389e-01 -3.78863133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620371743 meters Centerline goodness [0,1] 0.9906945905162559 Centerline is valid? [True, True] Translation: X:273.78, Y:-16.73, Z:-3.79 [[ 9.99998546e-01 1.43229525e-03 -9.25907261e-04 2.73776192e+02] [-1.43223552e-03 9.99998972e-01 6.51689905e-05 -1.67311321e+01] [ 9.25999650e-04 -6.38427784e-05 9.99999569e-01 -3.78788743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.650371743 meters Centerline goodness [0,1] 0.9908762462270191 Centerline is valid? [True, True] Translation: X:273.81, Y:-16.73, Z:-3.79 [[ 9.99993874e-01 3.43144965e-03 -6.91171528e-04 2.73805778e+02] [-3.43141695e-03 9.99994111e-01 4.84965409e-05 -1.67304770e+01] [ 6.91333872e-04 -4.61245460e-05 9.99999760e-01 -3.78787999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680371743 meters Centerline goodness [0,1] 0.991109074243813 Centerline is valid? [True, True] Translation: X:273.83, Y:-16.73, Z:-3.79 [[ 9.99991847e-01 3.92734974e-03 -9.39184828e-04 2.73834496e+02] [-3.92728994e-03 9.99992286e-01 6.55111373e-05 -1.67308637e+01] [ 9.39434868e-04 -6.18221520e-05 9.99999557e-01 -3.78850657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.710371743 meters Centerline goodness [0,1] 0.9916149281770488 Centerline is valid? [True, True] Translation: X:273.86, Y:-16.73, Z:-3.79 [[ 9.99984266e-01 5.55962760e-03 -7.47619894e-04 2.73863745e+02] [-5.55959209e-03 9.99984544e-01 4.95637629e-05 -1.67307698e+01] [ 7.47883895e-04 -4.54065214e-05 9.99999719e-01 -3.78950289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740371743 meters Centerline goodness [0,1] 0.9910550878477306 Centerline is valid? [True, True] Translation: X:273.89, Y:-16.73, Z:-3.79 [[ 9.99980713e-01 6.17559869e-03 -6.59299715e-04 2.73891085e+02] [-6.17557019e-03 9.99980930e-01 4.52457539e-05 -1.67336603e+01] [ 6.59566561e-04 -4.11733296e-05 9.99999782e-01 -3.79021669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.770371743 meters Centerline goodness [0,1] 0.9907962818810385 Centerline is valid? [True, True] Translation: X:273.92, Y:-16.73, Z:-3.79 [[ 9.99979569e-01 6.36295737e-03 -6.12651511e-04 2.73919931e+02] [-6.36293272e-03 9.99979755e-01 4.21632341e-05 -1.67331917e+01] [ 6.12907391e-04 -3.82641123e-05 9.99999811e-01 -3.78979655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800371743 meters Centerline goodness [0,1] 0.9910792293189865 Centerline is valid? [True, True] Translation: X:273.95, Y:-16.73, Z:-3.79 [[ 9.99979782e-01 6.35302583e-03 2.72274248e-04 2.73948863e+02] [-6.35302058e-03 9.99979819e-01 -2.01463878e-05 -1.67302884e+01] [-2.72396743e-04 1.84162166e-05 9.99999963e-01 -3.78765578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.830371743 meters Centerline goodness [0,1] 0.9901042384166782 Centerline is valid? [True, True] Translation: X:273.98, Y:-16.73, Z:-3.79 [[ 9.99983245e-01 5.74497738e-03 7.10638380e-04 2.73977356e+02] [-5.74494263e-03 9.99983496e-01 -5.09292758e-05 -1.67318239e+01] [-7.10919239e-04 4.68458457e-05 9.99999746e-01 -3.78759161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86037174300003 meters Centerline goodness [0,1] 0.9895495992099038 Centerline is valid? [True, True] Translation: X:274.01, Y:-16.74, Z:-3.79 [[ 9.99987938e-01 4.69592206e-03 1.43938394e-03 2.74005545e+02] [-4.69578035e-03 9.99988970e-01 -1.01818482e-04 -1.67382052e+01] [-1.43984619e-03 9.50582227e-05 9.99998959e-01 -3.78792225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.890371743 meters Centerline goodness [0,1] 0.9896833785212077 Centerline is valid? [True, True] Translation: X:274.04, Y:-16.74, Z:-3.79 [[ 9.99996329e-01 1.66818356e-03 2.13522654e-03 2.74036060e+02] [-1.66786717e-03 9.99998598e-01 -1.49949957e-04 -1.67406129e+01] [-2.13547369e-03 1.46388132e-04 9.99997709e-01 -3.78790495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92037174300003 meters Centerline goodness [0,1] 0.9904740043612992 Centerline is valid? [True, True] Translation: X:274.07, Y:-16.74, Z:-3.79 [[ 9.99998457e-01 7.63257259e-04 1.58236893e-03 2.74066701e+02] [-7.63082370e-04 9.99999703e-01 -1.11124580e-04 -1.67446923e+01] [-1.58245328e-03 1.09916931e-04 9.99998742e-01 -3.78971281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.950371743 meters Centerline goodness [0,1] 0.9895735250212434 Centerline is valid? [True, True] Translation: X:274.10, Y:-16.75, Z:-3.79 [[ 9.99999958e-01 5.89090062e-05 2.84167558e-04 2.74097050e+02] [-5.89034040e-05 9.99999998e-01 -1.97227673e-05 -1.67504623e+01] [-2.84168719e-04 1.97060280e-05 9.99999959e-01 -3.79224954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98037174300003 meters Centerline goodness [0,1] 0.9900009194556822 Centerline is valid? [True, True] Translation: X:274.13, Y:-16.75, Z:-3.79 [[ 9.99999885e-01 3.51869906e-04 3.25495470e-04 2.74127192e+02] [-3.51862483e-04 9.99999938e-01 -2.28640969e-05 -1.67522446e+01] [-3.25503495e-04 2.27495646e-05 9.99999947e-01 -3.79268336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.010371743 meters Centerline goodness [0,1] 0.9894727164069324 Centerline is valid? [True, True] Translation: X:274.16, Y:-16.75, Z:-3.79 [[ 9.99999738e-01 7.12905458e-04 1.28480616e-04 2.74157721e+02] [-7.12904304e-04 9.99999746e-01 -9.02498966e-06 -1.67529510e+01] [-1.28487017e-04 8.93339291e-06 9.99999992e-01 -3.79275494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.040371743 meters Centerline goodness [0,1] 0.989469820367524 Centerline is valid? [True, True] Translation: X:274.19, Y:-16.75, Z:-3.79 [[ 9.99999387e-01 1.10654395e-03 -3.36837383e-05 2.74188105e+02] [-1.10654387e-03 9.99999388e-01 2.36607980e-06 -1.67549497e+01] [ 3.36863359e-05 -2.32880582e-06 9.99999999e-01 -3.79307052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.070371743 meters Centerline goodness [0,1] 0.9896266036306888 Centerline is valid? [True, True] Translation: X:274.22, Y:-16.76, Z:-3.79 [[ 9.99998587e-01 1.67923693e-03 7.55241454e-05 2.74217358e+02] [-1.67923652e-03 9.99998590e-01 -5.53940123e-06 -1.67582201e+01] [-7.55333409e-05 5.41257050e-06 9.99999997e-01 -3.79359442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.100371743 meters Centerline goodness [0,1] 0.9896859853444513 Centerline is valid? [True, True] Translation: X:274.25, Y:-16.76, Z:-3.79 [[ 9.99998616e-01 1.66368472e-03 1.48986091e-05 2.74246737e+02] [-1.66368471e-03 9.99998616e-01 -1.27976270e-06 -1.67621190e+01] [-1.49007176e-05 1.25497434e-06 1.00000000e+00 -3.79447435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.130371743 meters Centerline goodness [0,1] 0.9905289533573941 Centerline is valid? [True, True] Translation: X:274.28, Y:-16.76, Z:-3.79 [[ 9.99998122e-01 1.93805801e-03 1.04114210e-05 2.74277121e+02] [-1.93805800e-03 9.99998122e-01 -1.22859224e-06 -1.67575072e+01] [-1.04137825e-05 1.20841199e-06 1.00000000e+00 -3.79421507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.160371743 meters Centerline goodness [0,1] 0.9907863674910041 Centerline is valid? [True, True] Translation: X:274.31, Y:-16.76, Z:-3.79 [[ 9.99997566e-01 2.17433984e-03 3.74002466e-04 2.74306769e+02] [-2.17432999e-03 9.99997636e-01 -2.67310954e-05 -1.67587026e+01] [-3.74059704e-04 2.59178255e-05 9.99999930e-01 -3.79434398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.190371743 meters Centerline goodness [0,1] 0.9899483648881239 Centerline is valid? [True, True] Translation: X:274.34, Y:-16.76, Z:-3.79 [[ 9.99996555e-01 2.32502149e-03 1.21834438e-03 2.74336434e+02] [-2.32491882e-03 9.99997294e-01 -8.56760034e-05 -1.67618330e+01] [-1.21854028e-03 8.28431564e-05 9.99999254e-01 -3.79405852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.220371743 meters Centerline goodness [0,1] 0.9901220485913084 Centerline is valid? [True, True] Translation: X:274.37, Y:-16.77, Z:-3.79 [[ 9.99996104e-01 2.40427346e-03 1.41836881e-03 2.74367084e+02] [-2.40413480e-03 9.99997105e-01 -9.94559562e-05 -1.67652515e+01] [-1.41860383e-03 9.60456188e-05 9.99998989e-01 -3.79435551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.250371743 meters Centerline goodness [0,1] 0.9900305515356167 Centerline is valid? [True, True] Translation: X:274.40, Y:-16.77, Z:-3.79 [[ 9.99997905e-01 1.46524744e-03 1.42916643e-03 2.74397347e+02] [-1.46510571e-03 9.99998922e-01 -1.00213085e-04 -1.67678706e+01] [-1.42931173e-03 9.81189948e-05 9.99998974e-01 -3.79465923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.280371743 meters Centerline goodness [0,1] 0.989114208942884 Centerline is valid? [True, True] Translation: X:274.43, Y:-16.77, Z:-3.80 [[ 9.99998367e-01 8.91422101e-04 1.57204180e-03 2.74427885e+02] [-8.91251320e-04 9.99999597e-01 -1.09333895e-04 -1.67724329e+01] [-1.57213863e-03 1.07932632e-04 9.99998758e-01 -3.79523896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.310371743 meters Centerline goodness [0,1] 0.9897807548981504 Centerline is valid? [True, True] Translation: X:274.46, Y:-16.78, Z:-3.80 [[ 9.99998310e-01 -1.54902408e-03 9.89733208e-04 2.74458655e+02] [ 1.54909337e-03 9.99998798e-01 -6.92457636e-05 -1.67763140e+01] [-9.89624755e-04 7.07788358e-05 9.99999508e-01 -3.79561666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.340371743 meters Centerline goodness [0,1] 0.9892333013304073 Centerline is valid? [True, True] Translation: X:274.49, Y:-16.78, Z:-3.80 [[ 9.99994611e-01 -3.25487700e-03 4.28975573e-04 2.74489343e+02] [ 3.25489012e-03 9.99994702e-01 -2.98826309e-05 -1.67807578e+01] [-4.28876036e-04 3.12787382e-05 9.99999908e-01 -3.79636519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.370371743 meters Centerline goodness [0,1] 0.9887561008985997 Centerline is valid? [True, True] Translation: X:274.52, Y:-16.79, Z:-3.80 [[ 9.99980601e-01 -6.20976167e-03 -4.85535452e-04 2.74518567e+02] [ 6.20977886e-03 9.99980719e-01 3.39176507e-05 -1.67902787e+01] [ 4.85315469e-04 -3.69320605e-05 9.99999882e-01 -3.79860422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.400371743 meters Centerline goodness [0,1] 0.9894260853678032 Centerline is valid? [True, True] Translation: X:274.55, Y:-16.79, Z:-3.80 [[ 9.99972393e-01 -7.36923784e-03 -9.52880881e-04 2.74550453e+02] [ 7.36930592e-03 9.99972844e-01 6.79483248e-05 -1.67927545e+01] [ 9.52354278e-04 -7.49685197e-05 9.99999544e-01 -3.79912714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.430371743 meters Centerline goodness [0,1] 0.9887673797401886 Centerline is valid? [True, True] Translation: X:274.58, Y:-16.80, Z:-3.80 [[ 9.99961437e-01 -8.62753677e-03 -1.64003307e-03 2.74581359e+02] [ 8.62773872e-03 9.99962774e-01 1.16100140e-04 -1.67963927e+01] [ 1.63897036e-03 -1.30245439e-04 9.99998648e-01 -3.80027823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.460371743 meters Centerline goodness [0,1] 0.990139594197618 Centerline is valid? [True, True] Translation: X:274.61, Y:-16.80, Z:-3.80 [[ 9.99954778e-01 -9.22839935e-03 -2.29756361e-03 2.74611802e+02] [ 9.22879945e-03 9.99957400e-01 1.63599160e-04 -1.68025402e+01] [ 2.29595597e-03 -1.84795516e-04 9.99997347e-01 -3.80163575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.490371743 meters Centerline goodness [0,1] 0.9901186220714464 Centerline is valid? [True, True] Translation: X:274.64, Y:-16.80, Z:-3.80 [[ 9.99955029e-01 -9.00024759e-03 -2.98910165e-03 2.74644287e+02] [ 9.00092077e-03 9.99959468e-01 2.11836519e-04 -1.68011294e+01] [ 2.98707392e-03 -2.38731660e-04 9.99995510e-01 -3.80137503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.520371743 meters Centerline goodness [0,1] 0.9901421887066734 Centerline is valid? [True, True] Translation: X:274.68, Y:-16.81, Z:-3.80 [[ 9.99962665e-01 -8.15710467e-03 -2.85152076e-03 2.74675531e+02] [ 8.15771786e-03 9.99966705e-01 2.03473373e-04 -1.68051412e+01] [ 2.84976606e-03 -2.26727678e-04 9.99995914e-01 -3.80148531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.550371743 meters Centerline goodness [0,1] 0.9902903790617823 Centerline is valid? [True, True] Translation: X:274.71, Y:-16.81, Z:-3.80 [[ 9.99982321e-01 -5.49775140e-03 -2.26567517e-03 2.74706703e+02] [ 5.49812888e-03 9.99984872e-01 1.60416425e-04 -1.68052065e+01] [ 2.26475897e-03 -1.72870563e-04 9.99997420e-01 -3.80064190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.580371743 meters Centerline goodness [0,1] 0.9902903790617823 Centerline is valid? [True, True] Translation: X:274.74, Y:-16.81, Z:-3.80 [[ 9.99982516e-01 -5.46217084e-03 -2.26565207e-03 2.74737562e+02] [ 5.46254898e-03 9.99985067e-01 1.60743048e-04 -1.68074195e+01] [ 2.26474024e-03 -1.73116473e-04 9.99997420e-01 -3.80107012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61037174300003 meters Centerline goodness [0,1] 0.9897910461335577 Centerline is valid? [True, True] Translation: X:274.77, Y:-16.81, Z:-3.80 [[ 9.99991653e-01 -3.71379946e-03 -1.70335495e-03 2.74768878e+02] [ 3.71401088e-03 9.99993096e-01 1.20973043e-04 -1.68089131e+01] [ 1.70289392e-03 -1.27298312e-04 9.99998542e-01 -3.80099112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.640371743 meters Centerline goodness [0,1] 0.9901458774265492 Centerline is valid? [True, True] Translation: X:274.80, Y:-16.81, Z:-3.80 [[ 9.99999756e-01 -3.12666073e-04 -6.25103801e-04 2.74799244e+02] [ 3.12693832e-04 9.99999950e-01 4.43090576e-05 -1.68089306e+01] [ 6.25089915e-04 -4.45045129e-05 9.99999804e-01 -3.80009913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67037174300003 meters Centerline goodness [0,1] 0.991091161794527 Centerline is valid? [True, True] Translation: X:274.83, Y:-16.81, Z:-3.80 [[ 9.99998565e-01 1.62271822e-03 -4.87077854e-04 2.74829758e+02] [-1.62270162e-03 9.99998683e-01 3.44690537e-05 -1.68061913e+01] [ 4.87133146e-04 -3.36786222e-05 9.99999881e-01 -3.79902971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.700371743 meters Centerline goodness [0,1] 0.9891869789418687 Centerline is valid? [True, True] Translation: X:274.86, Y:-16.82, Z:-3.80 [[ 9.99992468e-01 3.88112805e-03 -1.63422591e-05 2.74858599e+02] [-3.88112803e-03 9.99992468e-01 9.04759372e-07 -1.68154557e+01] [ 1.63456475e-05 -8.41326158e-07 1.00000000e+00 -3.80063325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73037174300003 meters Centerline goodness [0,1] 0.9905355599035355 Centerline is valid? [True, True] Translation: X:274.89, Y:-16.81, Z:-3.80 [[ 9.99964871e-01 8.33681024e-03 8.68360913e-04 2.74889331e+02] [-8.33675999e-03 9.99965247e-01 -6.14738543e-05 -1.68065881e+01] [-8.68843231e-04 5.42323782e-05 9.99999621e-01 -3.79792585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.760371743 meters Centerline goodness [0,1] 0.9904525361163014 Centerline is valid? [True, True] Translation: X:274.92, Y:-16.81, Z:-3.80 [[ 9.99944348e-01 1.04513002e-02 1.43948159e-03 2.74919715e+02] [-1.04511641e-02 9.99945380e-01 -1.02059944e-04 -1.68058650e+01] [-1.44046963e-03 8.70100054e-05 9.99998959e-01 -3.79777226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.790371743 meters Centerline goodness [0,1] 0.99108442503639 Centerline is valid? [True, True] Translation: X:274.95, Y:-16.81, Z:-3.80 [[ 9.99916545e-01 1.27426871e-02 2.12771767e-03 2.74947981e+02] [-1.27423949e-02 9.99918801e-01 -1.50843255e-04 -1.68095584e+01] [-2.12946705e-03 1.23718447e-04 9.99997725e-01 -3.79855838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.820371743 meters Centerline goodness [0,1] 0.9911583276216587 Centerline is valid? [True, True] Translation: X:274.98, Y:-16.80, Z:-3.80 [[ 9.99838843e-01 1.76877077e-02 3.07140058e-03 2.74979290e+02] [-1.76871237e-02 9.99843547e-01 -2.17175324e-04 -1.68037962e+01] [-3.07476138e-03 1.62816083e-04 9.99995260e-01 -3.79687561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.850371743 meters Centerline goodness [0,1] 0.9907890836962222 Centerline is valid? [True, True] Translation: X:275.01, Y:-16.81, Z:-3.80 [[ 9.99783330e-01 2.04682553e-02 3.78732188e-03 2.75008138e+02] [-2.04673862e-02 9.99790485e-01 -2.68097991e-04 -1.68060709e+01] [-3.79201587e-03 1.90523322e-04 9.99992792e-01 -3.79705378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880371743 meters Centerline goodness [0,1] 0.9909493989120994 Centerline is valid? [True, True] Translation: X:275.04, Y:-16.80, Z:-3.80 [[ 9.99671986e-01 2.51450220e-02 4.86295251e-03 2.75039269e+02] [-2.51436466e-02 9.99683789e-01 -3.43775433e-04 -1.68006079e+01] [-4.87005903e-03 2.21390310e-04 9.99988117e-01 -3.79596013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.910371743 meters Centerline goodness [0,1] 0.9918195736124124 Centerline is valid? [True, True] Translation: X:275.07, Y:-16.80, Z:-3.80 [[ 9.99624675e-01 2.69516194e-02 4.91110235e-03 2.75067390e+02] [-2.69502366e-02 9.99636716e-01 -3.47553741e-04 -1.68018915e+01] [-4.91868536e-03 2.15067925e-04 9.99987880e-01 -3.79655810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940371743 meters Centerline goodness [0,1] 0.9916012540906698 Centerline is valid? [True, True] Translation: X:275.10, Y:-16.80, Z:-3.80 [[ 9.99563339e-01 2.90107949e-02 5.61299962e-03 2.75096173e+02] [-2.90090239e-02 9.99579071e-01 -3.96684798e-04 -1.68026037e+01] [-5.62214509e-03 2.33683941e-04 9.99984168e-01 -3.79684752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.970371743 meters Centerline goodness [0,1] 0.9913619283292091 Centerline is valid? [True, True] Translation: X:275.13, Y:-16.80, Z:-3.80 [[ 9.99475415e-01 3.18121441e-02 6.07313242e-03 2.75125017e+02] [-3.18101265e-02 9.99493838e-01 -4.28551465e-04 -1.68036509e+01] [-6.08369157e-03 2.35139543e-04 9.99981467e-01 -3.79787882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000371743 meters Centerline goodness [0,1] 0.9910708137266154 Centerline is valid? [True, True] Translation: X:275.15, Y:-16.80, Z:-3.80 [[ 9.99425119e-01 3.33363613e-02 6.17407719e-03 2.75153706e+02] [-3.33343063e-02 9.99444163e-01 -4.35466554e-04 -1.68049091e+01] [-6.18516228e-03 2.29407632e-04 9.99980845e-01 -3.79812822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.030371743 meters Centerline goodness [0,1] 0.9915137929456974 Centerline is valid? [True, True] Translation: X:275.18, Y:-16.81, Z:-3.80 [[ 9.99364327e-01 3.49844640e-02 6.85785414e-03 2.75182690e+02] [-3.49819714e-02 9.99387827e-01 -4.83110246e-04 -1.68060903e+01] [-6.87055730e-03 2.42901888e-04 9.99976368e-01 -3.79787544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060371743 meters Centerline goodness [0,1] 0.9915487151298612 Centerline is valid? [True, True] Translation: X:275.21, Y:-16.81, Z:-3.80 [[ 9.99309105e-01 3.63997197e-02 7.50817201e-03 2.75211884e+02] [-3.63967739e-02 9.99337278e-01 -5.28657528e-04 -1.68070327e+01] [-7.52243916e-03 2.55019043e-04 9.99971674e-01 -3.79803421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.090371743 meters Centerline goodness [0,1] 0.9922179881548139 Centerline is valid? [True, True] Translation: X:275.24, Y:-16.81, Z:-3.80 [[ 9.99158666e-01 4.02838084e-02 7.69251268e-03 2.75241212e+02] [-4.02808429e-02 9.99188252e-01 -5.40114170e-04 -1.68072438e+01] [-7.70802615e-03 2.29798858e-04 9.99970266e-01 -3.79768104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120371743 meters Centerline goodness [0,1] 0.9923674651708124 Centerline is valid? [True, True] Translation: X:275.27, Y:-16.81, Z:-3.80 [[ 9.99086191e-01 4.20435354e-02 7.68920540e-03 2.75270255e+02] [-4.20406249e-02 9.99115756e-01 -5.39822996e-04 -1.68084252e+01] [-7.70510233e-03 2.16070700e-04 9.99970292e-01 -3.79835678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.150371743 meters Centerline goodness [0,1] 0.9928715967623253 Centerline is valid? [True, True] Translation: X:275.30, Y:-16.81, Z:-3.80 [[ 9.98937563e-01 4.53559618e-02 8.15979619e-03 2.75299630e+02] [-4.53527919e-02 9.98970868e-01 -5.73181701e-04 -1.68064380e+01] [-8.17739589e-03 2.02503193e-04 9.99966544e-01 -3.79854218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180371743 meters Centerline goodness [0,1] 0.9924917340191036 Centerline is valid? [True, True] Translation: X:275.33, Y:-16.81, Z:-3.80 [[ 9.98869780e-01 4.68168203e-02 8.20656015e-03 2.75327166e+02] [-4.68136836e-02 9.98903474e-01 -5.74009195e-04 -1.68089478e+01] [-8.22443473e-03 1.89181128e-04 9.99966161e-01 -3.79933641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.210371743 meters Centerline goodness [0,1] 0.9930660788905726 Centerline is valid? [True, True] Translation: X:275.36, Y:-16.81, Z:-3.80 [[ 9.98792310e-01 4.83443245e-02 8.76059834e-03 2.75356092e+02] [-4.83408221e-02 9.98830712e-01 -6.11216146e-04 -1.68103012e+01] [-8.77990351e-03 1.86983460e-04 9.99961438e-01 -3.79967026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240371743 meters Centerline goodness [0,1] 0.9925388506168036 Centerline is valid? [True, True] Translation: X:275.38, Y:-16.81, Z:-3.80 [[ 9.98650189e-01 5.12021192e-02 8.72600925e-03 2.75383843e+02] [-5.11987581e-02 9.98688298e-01 -6.08273935e-04 -1.68140743e+01] [-8.74570825e-03 1.60692043e-04 9.99961743e-01 -3.80145180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.270371743 meters Centerline goodness [0,1] 0.9935128939828081 Centerline is valid? [True, True] Translation: X:275.41, Y:-16.82, Z:-3.80 [[ 9.98603782e-01 5.20904696e-02 8.77892235e-03 2.75412385e+02] [-5.20871095e-02 9.98642358e-01 -6.11102155e-04 -1.68156239e+01] [-8.79883631e-03 1.52980233e-04 9.99961278e-01 -3.80136942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300371743 meters Centerline goodness [0,1] 0.9937560258941279 Centerline is valid? [True, True] Translation: X:275.44, Y:-16.82, Z:-3.80 [[ 9.98614199e-01 5.19333930e-02 8.52078009e-03 2.75439484e+02] [-5.19302245e-02 9.98650540e-01 -5.92831925e-04 -1.68190968e+01] [-8.54006941e-03 1.49524355e-04 9.99963522e-01 -3.80183675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.330371743 meters Centerline goodness [0,1] 0.9928915910493474 Centerline is valid? [True, True] Translation: X:275.47, Y:-16.83, Z:-3.80 [[ 9.98709222e-01 5.01376745e-02 8.13044232e-03 2.75468096e+02] [-5.01347402e-02 9.98742304e-01 -5.64441301e-04 -1.68263109e+01] [-8.14851647e-03 1.56095119e-04 9.99966788e-01 -3.80280996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36037174300003 meters Centerline goodness [0,1] 0.9928049337597076 Centerline is valid? [True, True] Translation: X:275.50, Y:-16.83, Z:-3.80 [[ 9.98790359e-01 4.85927707e-02 7.52076422e-03 2.75496634e+02] [-4.85902197e-02 9.98818661e-01 -5.21653068e-04 -1.68319710e+01] [-7.53722822e-03 1.55586469e-04 9.99971583e-01 -3.80381321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.390371743 meters Centerline goodness [0,1] 0.9932211900577455 Centerline is valid? [True, True] Translation: X:275.52, Y:-16.84, Z:-3.81 [[ 9.98994120e-01 4.44989725e-02 5.53075976e-03 2.75524689e+02] [-4.44975318e-02 9.99009421e-01 -3.83339224e-04 -1.68422443e+01] [-5.54233931e-03 1.36848473e-04 9.99984632e-01 -3.80533725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42037174300003 meters Centerline goodness [0,1] 0.9921704297159505 Centerline is valid? [True, True] Translation: X:275.55, Y:-16.85, Z:-3.81 [[ 9.99099059e-01 4.21375316e-02 5.04968024e-03 2.75553540e+02] [-4.21363007e-02 9.99111810e-01 -3.49947848e-04 -1.68479666e+01] [-5.05994110e-03 1.36857720e-04 9.99987189e-01 -3.80602561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.450371743 meters Centerline goodness [0,1] 0.9929604650634694 Centerline is valid? [True, True] Translation: X:275.58, Y:-16.86, Z:-3.81 [[ 9.99302679e-01 3.70231318e-02 4.84179735e-03 2.75582592e+02] [-3.70219432e-02 9.99314397e-01 -3.34921654e-04 -1.68589119e+01] [-4.85087765e-03 1.55435360e-04 9.99988222e-01 -3.80662198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48037174300003 meters Centerline goodness [0,1] 0.9923193692366948 Centerline is valid? [True, True] Translation: X:275.61, Y:-16.86, Z:-3.81 [[ 9.99404697e-01 3.41944733e-02 4.58140147e-03 2.75612160e+02] [-3.41933800e-02 9.99415185e-01 -3.16779330e-04 -1.68644889e+01] [-4.58955430e-03 1.59937148e-04 9.99989455e-01 -3.80711325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.510371743 meters Centerline goodness [0,1] 0.9917165105518565 Centerline is valid? [True, True] Translation: X:275.64, Y:-16.87, Z:-3.81 [[ 9.99490718e-01 3.15872851e-02 4.53293655e-03 2.75640414e+02] [-3.15861880e-02 9.99500983e-01 -3.13434120e-04 -1.68721851e+01] [-4.54057507e-03 1.70096308e-04 9.99989677e-01 -3.80815459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.540371743 meters Centerline goodness [0,1] 0.991584091217592 Centerline is valid? [True, True] Translation: X:275.67, Y:-16.88, Z:-3.81 [[ 9.99578806e-01 2.87607130e-02 3.87700761e-03 2.75669886e+02] [-2.87598903e-02 9.99586313e-01 -2.67798552e-04 -1.68780488e+01] [-3.88310582e-03 1.56183444e-04 9.99992449e-01 -3.80879691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.570371743 meters Centerline goodness [0,1] 0.9913300004503895 Centerline is valid? [True, True] Translation: X:275.70, Y:-16.89, Z:-3.81 [[ 9.99713492e-01 2.37884721e-02 2.65370664e-03 2.75699457e+02] [-2.37880696e-02 9.99717007e-01 -1.83165004e-04 -1.68875920e+01] [-2.65731287e-03 1.19985968e-04 9.99996462e-01 -3.81078416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.600371743 meters Centerline goodness [0,1] 0.9909264887988293 Centerline is valid? [True, True] Translation: X:275.73, Y:-16.89, Z:-3.81 [[ 9.99778426e-01 2.09711219e-02 1.81955179e-03 2.75727087e+02] [-2.09709268e-02 9.99780078e-01 -1.26217503e-04 -1.68946374e+01] [-1.82179855e-03 8.80318494e-05 9.99998337e-01 -3.81254432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.630371743 meters Centerline goodness [0,1] 0.991015879433102 Centerline is valid? [True, True] Translation: X:275.76, Y:-16.90, Z:-3.81 [[ 9.99860782e-01 1.66837570e-02 -2.63499319e-04 2.75756868e+02] [-1.66837528e-02 9.99860816e-01 1.79543603e-05 -1.69031062e+01] [ 2.63762190e-04 -1.35557032e-05 9.99999965e-01 -3.81426655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.660371743 meters Centerline goodness [0,1] 0.991031891577582 Centerline is valid? [True, True] Translation: X:275.79, Y:-16.91, Z:-3.82 [[ 9.99881569e-01 1.53804258e-02 -5.38443023e-04 2.75785680e+02] [-1.53804086e-02 9.99881714e-01 3.60658759e-05 -1.69083459e+01] [ 5.38934041e-04 -2.77801308e-05 9.99999854e-01 -3.81524629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.690371743 meters Centerline goodness [0,1] 0.9911000515614141 Centerline is valid? [True, True] Translation: X:275.81, Y:-16.91, Z:-3.82 [[ 9.99893042e-01 1.46114849e-02 -6.40053991e-04 2.75814114e+02] [-1.46114604e-02 9.99893246e-01 4.29816098e-05 -1.69101370e+01] [ 6.40613688e-04 -3.36248891e-05 9.99999794e-01 -3.81523514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.720371743 meters Centerline goodness [0,1] 0.9912410063904903 Centerline is valid? [True, True] Translation: X:275.84, Y:-16.92, Z:-3.82 [[ 9.99880132e-01 1.53460383e-02 -2.05443292e-03 2.75841613e+02] [-1.53457835e-02 9.99882237e-01 1.39736957e-04 -1.69185440e+01] [ 2.05633539e-03 -1.08193324e-04 9.99997880e-01 -3.81708446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.750371743 meters Centerline goodness [0,1] 0.9917576894726261 Centerline is valid? [True, True] Translation: X:275.87, Y:-16.92, Z:-3.82 [[ 9.99862172e-01 1.63269992e-02 -3.01114958e-03 2.75870967e+02] [-1.63264573e-02 9.99866694e-01 2.04441452e-04 -1.69180152e+01] [ 3.01408609e-03 -1.55251869e-04 9.99995446e-01 -3.81656406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.780371743 meters Centerline goodness [0,1] 0.9910243815307672 Centerline is valid? [True, True] Translation: X:275.90, Y:-16.93, Z:-3.82 [[ 9.99830582e-01 1.79641608e-02 -4.01211690e-03 2.75897667e+02] [-1.79632088e-02 9.99838611e-01 2.73203631e-04 -1.69307313e+01] [ 4.01637726e-03 -2.01086851e-04 9.99991914e-01 -3.82106537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.810371743 meters Centerline goodness [0,1] 0.9920429724067222 Centerline is valid? [True, True] Translation: X:275.93, Y:-16.93, Z:-3.82 [[ 9.99743879e-01 2.22672096e-02 -4.04312271e-03 2.75927619e+02] [-2.22662754e-02 9.99752038e-01 2.75945780e-04 -1.69274520e+01] [ 4.04826471e-03 -1.85849822e-04 9.99991788e-01 -3.81952062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.840371743 meters Centerline goodness [0,1] 0.992289865406899 Centerline is valid? [True, True] Translation: X:275.96, Y:-16.93, Z:-3.82 [[ 9.99689958e-01 2.46144995e-02 -3.75684917e-03 2.75956741e+02] [-2.46137125e-02 9.99697004e-01 2.55603818e-04 -1.69256753e+01] [ 3.76200242e-03 -1.63054564e-04 9.99992910e-01 -3.81809344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.870371743 meters Centerline goodness [0,1] 0.9920931890061918 Centerline is valid? [True, True] Translation: X:275.99, Y:-16.93, Z:-3.82 [[ 9.99579155e-01 2.87227984e-02 -4.06377577e-03 2.75986896e+02] [-2.87219083e-02 9.99587402e-01 2.77222511e-04 -1.69282835e+01] [ 4.07006167e-03 -1.60386448e-04 9.99991704e-01 -3.81937771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.900371743 meters Centerline goodness [0,1] 0.9925706786484864 Centerline is valid? [True, True] Translation: X:276.01, Y:-16.94, Z:-3.82 [[ 9.99527221e-01 3.04642018e-02 -4.15544519e-03 2.76013820e+02] [-3.04632917e-02 9.99535846e-01 2.82150932e-04 -1.69361348e+01] [ 4.16211193e-03 -1.55428997e-04 9.99991326e-01 -3.82243498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.930371743 meters Centerline goodness [0,1] 0.9924367130844863 Centerline is valid? [True, True] Translation: X:276.04, Y:-16.93, Z:-3.82 [[ 9.99484043e-01 3.18644257e-02 -4.03819674e-03 2.76042908e+02] [-3.18635781e-02 9.99492190e-01 2.74089575e-04 -1.69327229e+01] [ 4.04487981e-03 -1.45276759e-04 9.99991809e-01 -3.81993761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.960371743 meters Centerline goodness [0,1] 0.9928992765720646 Centerline is valid? [True, True] Translation: X:276.07, Y:-16.94, Z:-3.82 [[ 9.99446674e-01 3.30467459e-02 -3.77595701e-03 2.76071551e+02] [-3.30460144e-02 9.99453799e-01 2.55953219e-04 -1.69355815e+01] [ 3.78235299e-03 -1.31031264e-04 9.99992838e-01 -3.82036338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.990371743 meters Centerline goodness [0,1] 0.9930852009960868 Centerline is valid? [True, True] Translation: X:276.10, Y:-16.94, Z:-3.82 [[ 9.99434320e-01 3.35484667e-02 -2.35393683e-03 2.76100594e+02] [-3.35481845e-02 9.99437089e-01 1.59303375e-04 -1.69409313e+01] [ 2.35795616e-03 -8.02429536e-05 9.99997217e-01 -3.81960129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.020371743 meters Centerline goodness [0,1] 0.9921653682719547 Centerline is valid? [True, True] Translation: X:276.13, Y:-16.95, Z:-3.82 [[ 9.99513657e-01 3.11777606e-02 -6.29122939e-04 2.76127669e+02] [-3.11777406e-02 9.99513855e-01 4.14819905e-05 -1.69515236e+01] [ 6.30110410e-04 -2.18471842e-05 9.99999801e-01 -3.82064213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.050371743 meters Centerline goodness [0,1] 0.9912666651926861 Centerline is valid? [True, True] Translation: X:276.16, Y:-16.96, Z:-3.82 [[ 9.99590473e-01 2.86046586e-02 -8.11866328e-04 2.76156679e+02] [-2.86046239e-02 9.99590803e-01 5.43454974e-05 -1.69569947e+01] [ 8.13088649e-04 -3.11001105e-05 9.99999669e-01 -3.82110816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.080371743 meters Centerline goodness [0,1] 0.9915392771936026 Centerline is valid? [True, True] Translation: X:276.19, Y:-16.96, Z:-3.82 [[ 9.99680970e-01 2.52239792e-02 -1.30716256e-03 2.76185994e+02] [-2.52238854e-02 9.99681823e-01 8.81545638e-05 -1.69646035e+01] [ 1.30897026e-03 -5.51547212e-05 9.99999142e-01 -3.82229677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11037174300003 meters Centerline goodness [0,1] 0.9905026945843273 Centerline is valid? [True, True] Translation: X:276.22, Y:-16.97, Z:-3.82 [[ 9.99761715e-01 2.17145503e-02 -2.23423033e-03 2.76215981e+02] [-2.17142658e-02 9.99764206e-01 1.51512909e-04 -1.69724120e+01] [ 2.23699354e-03 -1.02962134e-04 9.99997493e-01 -3.82352718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.140371743 meters Centerline goodness [0,1] 0.9895390148690733 Centerline is valid? [True, True] Translation: X:276.25, Y:-16.99, Z:-3.83 [[ 9.99904011e-01 1.34176233e-02 -3.45476238e-03 2.76245865e+02] [-1.34168935e-02 9.99909962e-01 2.34310447e-04 -1.69854889e+01] [ 3.45759521e-03 -1.87935777e-04 9.99994005e-01 -3.82556082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17037174300003 meters Centerline goodness [0,1] 0.9888040824406661 Centerline is valid? [True, True] Translation: X:276.28, Y:-16.99, Z:-3.83 [[ 9.99944867e-01 9.51774721e-03 -4.43568015e-03 2.76275698e+02] [-9.51650816e-03 9.99954672e-01 3.00361471e-04 -1.69940214e+01] [ 4.43833785e-03 -2.58132725e-04 9.99990117e-01 -3.82695838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.200371743 meters Centerline goodness [0,1] 0.9891156462585035 Centerline is valid? [True, True] Translation: X:276.31, Y:-17.00, Z:-3.83 [[ 9.99982483e-01 3.22044689e-03 -4.96605336e-03 2.76305038e+02] [-3.21881555e-03 9.99994763e-01 3.36456783e-04 -1.70028019e+01] [ 4.96711089e-03 -3.20466080e-04 9.99987612e-01 -3.82770373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.230371743 meters Centerline goodness [0,1] 0.9891135303265941 Centerline is valid? [True, True] Translation: X:276.33, Y:-17.01, Z:-3.83 [[ 9.99982062e-01 1.53720888e-03 -5.78896848e-03 2.76334417e+02] [-1.53496704e-03 9.99998745e-01 3.91684563e-04 -1.70085031e+01] [ 5.78956332e-03 -3.82791662e-04 9.99983167e-01 -3.82837866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.260371743 meters Centerline goodness [0,1] 0.9879454811962634 Centerline is valid? [True, True] Translation: X:276.36, Y:-17.02, Z:-3.83 [[ 9.99984408e-01 6.63827155e-04 -5.54465844e-03 2.76361917e+02] [-6.61765587e-04 9.99999711e-01 3.73637830e-04 -1.70153388e+01] [ 5.54490487e-03 -3.69962740e-04 9.99984558e-01 -3.82989598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.290371743 meters Centerline goodness [0,1] 0.9883980073413738 Centerline is valid? [True, True] Translation: X:276.39, Y:-17.02, Z:-3.83 [[ 9.99987453e-01 1.29686027e-03 -4.83869674e-03 2.76390623e+02] [-1.29531384e-03 9.99999109e-01 3.22716935e-04 -1.70160700e+01] [ 4.83911095e-03 -3.16445254e-04 9.99988241e-01 -3.82830463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.320371743 meters Centerline goodness [0,1] 0.9888927682974731 Centerline is valid? [True, True] Translation: X:276.42, Y:-17.02, Z:-3.83 [[ 9.99988795e-01 2.24285309e-03 -4.16883250e-03 2.76418064e+02] [-2.24170771e-03 9.99997448e-01 2.79400249e-04 -1.70187657e+01] [ 4.16944852e-03 -2.70051814e-04 9.99991271e-01 -3.82819105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.350371743 meters Centerline goodness [0,1] 0.9877307322194033 Centerline is valid? [True, True] Translation: X:276.45, Y:-17.02, Z:-3.83 [[ 9.99988401e-01 3.81160007e-03 -2.94449939e-03 2.76447944e+02] [-3.81103546e-03 9.99992719e-01 1.97339969e-04 -1.70205558e+01] [ 2.94523014e-03 -1.86116089e-04 9.99995645e-01 -3.82748022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380371743 meters Centerline goodness [0,1] 0.9885549536956142 Centerline is valid? [True, True] Translation: X:276.48, Y:-17.02, Z:-3.83 [[ 9.99984826e-01 4.61548935e-03 -3.00735173e-03 2.76476479e+02] [-4.61490533e-03 9.99989331e-01 2.01106879e-04 -1.70219400e+01] [ 3.00824785e-03 -1.87225184e-04 9.99995458e-01 -3.82752749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.410371743 meters Centerline goodness [0,1] 0.987830456630981 Centerline is valid? [True, True] Translation: X:276.51, Y:-17.02, Z:-3.83 [[ 9.99978178e-01 5.98865720e-03 -2.78921468e-03 2.76505567e+02] [-5.98816252e-03 9.99982054e-01 1.85673444e-04 -1.70241569e+01] [ 2.79027655e-03 -1.68967121e-04 9.99996093e-01 -3.82772044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440371743 meters Centerline goodness [0,1] 0.9873633581110626 Centerline is valid? [True, True] Translation: X:276.53, Y:-17.03, Z:-3.83 [[ 9.99967670e-01 7.33082455e-03 -3.30413886e-03 2.76533057e+02] [-7.33013683e-03 9.99973110e-01 2.20199432e-04 -1.70265875e+01] [ 3.30566426e-03 -1.95972523e-04 9.99994517e-01 -3.82884720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.470371743 meters Centerline goodness [0,1] 0.9873633581110626 Centerline is valid? [True, True] Translation: X:276.56, Y:-17.03, Z:-3.83 [[ 9.99968161e-01 7.26363842e-03 -3.30413732e-03 2.76561361e+02] [-7.26295027e-03 9.99973600e-01 2.20221865e-04 -1.70284173e+01] [ 3.30564970e-03 -1.96217068e-04 9.99994517e-01 -3.82924017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500371743 meters Centerline goodness [0,1] 0.9880803971742886 Centerline is valid? [True, True] Translation: X:276.59, Y:-17.02, Z:-3.83 [[ 9.99948710e-01 9.52864288e-03 -3.43260491e-03 2.76591867e+02] [-9.52791121e-03 9.99954582e-01 2.29443567e-04 -1.70209535e+01] [ 3.43463530e-03 -1.96726244e-04 9.99994082e-01 -3.82752350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.530371743 meters Centerline goodness [0,1] 0.9884680906827414 Centerline is valid? [True, True] Translation: X:276.62, Y:-17.02, Z:-3.83 [[ 9.99924621e-01 1.19837966e-02 -2.67230330e-03 2.76622331e+02] [-1.19833634e-02 9.99928181e-01 1.78065152e-04 -1.70207437e+01] [ 2.67424527e-03 -1.46028548e-04 9.99996414e-01 -3.82745320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560371743 meters Centerline goodness [0,1] 0.9871223921198693 Centerline is valid? [True, True] Translation: X:276.65, Y:-17.01, Z:-3.82 [[ 9.99832712e-01 1.82776555e-02 -6.89235963e-04 2.76652773e+02] [-1.82776284e-02 9.99832949e-01 4.56211548e-05 -1.70147976e+01] [ 6.89954673e-04 -3.30159242e-05 9.99999761e-01 -3.82433736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.590371743 meters Centerline goodness [0,1] 0.9886952322416367 Centerline is valid? [True, True] Translation: X:276.68, Y:-17.01, Z:-3.82 [[ 9.99691811e-01 2.46700372e-02 2.76987373e-03 2.76682324e+02] [-2.46696182e-02 9.99695641e-01 -1.85362283e-04 -1.70123937e+01] [-2.77360359e-03 1.16973429e-04 9.99996147e-01 -3.82250086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620371743 meters Centerline goodness [0,1] 0.9878115735148787 Centerline is valid? [True, True] Translation: X:276.71, Y:-17.01, Z:-3.82 [[ 9.99621204e-01 2.72682038e-02 3.72744971e-03 2.76711570e+02] [-2.72674617e-02 9.99628142e-01 -2.49765623e-04 -1.70102213e+01] [-3.73287429e-03 1.48032921e-04 9.99993022e-01 -3.82221268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.650371743 meters Centerline goodness [0,1] 0.9884147815955506 Centerline is valid? [True, True] Translation: X:276.74, Y:-17.01, Z:-3.82 [[ 9.99559688e-01 2.93125682e-02 4.60472178e-03 2.76740392e+02] [-2.93114599e-02 9.99570279e-01 -3.07995474e-04 -1.70096102e+01] [-4.61177118e-03 1.72888742e-04 9.99989351e-01 -3.82175939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680371743 meters Centerline goodness [0,1] 0.988341456988539 Centerline is valid? [True, True] Translation: X:276.77, Y:-17.01, Z:-3.82 [[ 9.99498643e-01 3.11938242e-02 5.42295667e-03 2.76769201e+02] [-3.11923177e-02 9.99513336e-01 -3.62171162e-04 -1.70078973e+01] [-5.43161502e-03 1.92834998e-04 9.99985230e-01 -3.82112556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.710371743 meters Centerline goodness [0,1] 0.9896336487350846 Centerline is valid? [True, True] Translation: X:276.80, Y:-17.01, Z:-3.82 [[ 9.99451685e-01 3.22798440e-02 7.37158600e-03 2.76796657e+02] [-3.22770949e-02 9.99478838e-01 -4.91626138e-04 -1.70080452e+01] [-7.38361383e-03 2.53423192e-04 9.99972709e-01 -3.82076988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740371743 meters Centerline goodness [0,1] 0.9886065627961302 Centerline is valid? [True, True] Translation: X:276.83, Y:-17.01, Z:-3.82 [[ 9.99524227e-01 2.97424116e-02 8.16751771e-03 2.76825860e+02] [-2.97389626e-02 9.99557552e-01 -5.43425476e-04 -1.70101965e+01] [-8.18006678e-03 3.00273425e-04 9.99966498e-01 -3.82147981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.770371743 meters Centerline goodness [0,1] 0.9877820170698896 Centerline is valid? [True, True] Translation: X:276.86, Y:-17.01, Z:-3.82 [[ 9.99590559e-01 2.73800695e-02 8.30942003e-03 2.76855481e+02] [-2.73764226e-02 9.99625043e-01 -5.52332396e-04 -1.70092600e+01] [-8.32142725e-03 3.24624054e-04 9.99965324e-01 -3.82165396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800371743 meters Centerline goodness [0,1] 0.9884973727204486 Centerline is valid? [True, True] Translation: X:276.88, Y:-17.01, Z:-3.82 [[ 9.99660170e-01 2.46029523e-02 8.61622112e-03 2.76884096e+02] [-2.45989302e-02 9.99697237e-01 -5.72484820e-04 -1.70143274e+01] [-8.62769727e-03 3.60340450e-04 9.99962716e-01 -3.82159775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.830371743 meters Centerline goodness [0,1] 0.9866913449673894 Centerline is valid? [True, True] Translation: X:276.91, Y:-17.02, Z:-3.82 [[ 9.99722060e-01 2.19185890e-02 8.68204335e-03 2.76912240e+02] [-2.19144085e-02 9.99759684e-01 -5.76372186e-04 -1.70197635e+01] [-8.69259018e-03 3.85950145e-04 9.99962144e-01 -3.82222727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86037174300003 meters Centerline goodness [0,1] 0.9859723416925825 Centerline is valid? [True, True] Translation: X:276.94, Y:-17.02, Z:-3.82 [[ 9.99823431e-01 1.68127905e-02 8.39261411e-03 2.76942539e+02] [-1.68087096e-02 9.99858569e-01 -5.56556206e-04 -1.70185399e+01] [-8.40078439e-03 4.15388922e-04 9.99964627e-01 -3.82280287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.890371743 meters Centerline goodness [0,1] 0.9857794827700245 Centerline is valid? [True, True] Translation: X:276.97, Y:-17.03, Z:-3.82 [[ 9.99896852e-01 1.22216986e-02 7.54428890e-03 2.76971748e+02] [-1.22182709e-02 9.99925229e-01 -5.00265590e-04 -1.70250507e+01] [-7.54983890e-03 4.08035823e-04 9.99971416e-01 -3.82497219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92037174300003 meters Centerline goodness [0,1] 0.9851641205387651 Centerline is valid? [True, True] Translation: X:277.00, Y:-17.03, Z:-3.83 [[ 9.99923868e-01 1.00886356e-02 7.10479168e-03 2.77000866e+02] [-1.00855439e-02 9.99949029e-01 -4.70843704e-04 -1.70291944e+01] [-7.10917971e-03 3.99152169e-04 9.99974650e-01 -3.82613350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.950371743 meters Centerline goodness [0,1] 0.9842375204492196 Centerline is valid? [True, True] Translation: X:277.03, Y:-17.03, Z:-3.83 [[ 9.99941082e-01 8.33059858e-03 6.95949277e-03 2.77031698e+02] [-8.32759218e-03 9.99965219e-01 -4.60853088e-04 -1.70327958e+01] [-6.96308989e-03 4.02870118e-04 9.99975676e-01 -3.82702799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.980371743 meters Centerline goodness [0,1] 0.9839173524466861 Centerline is valid? [True, True] Translation: X:277.06, Y:-17.04, Z:-3.83 [[ 9.99947863e-01 7.36458999e-03 7.07350239e-03 2.77063010e+02] [-7.36146012e-03 9.99972794e-01 -4.68412452e-04 -1.70352888e+01] [-7.07675961e-03 4.16316724e-04 9.99974873e-01 -3.82754256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.010371743 meters Centerline goodness [0,1] 0.9861289040067147 Centerline is valid? [True, True] Translation: X:277.09, Y:-17.04, Z:-3.83 [[ 9.99957619e-01 5.05568901e-03 7.69418293e-03 2.77094203e+02] [-5.05191525e-03 9.99987109e-01 -5.09825439e-04 -1.70361644e+01] [-7.69666127e-03 4.70933471e-04 9.99970269e-01 -3.82721705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.040371743 meters Centerline goodness [0,1] 0.9857841840782862 Centerline is valid? [True, True] Translation: X:277.13, Y:-17.04, Z:-3.83 [[ 9.99960333e-01 4.17462187e-03 7.86797114e-03 2.77126691e+02] [-4.17065633e-03 9.99991167e-01 -5.20350963e-04 -1.70377572e+01] [-7.87007391e-03 4.87515719e-04 9.99968912e-01 -3.82758477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.070371743 meters Centerline goodness [0,1] 0.9862370144908357 Centerline is valid? [True, True] Translation: X:277.16, Y:-17.04, Z:-3.83 [[ 9.99959160e-01 4.56552713e-03 7.79965779e-03 2.77158756e+02] [-4.56162700e-03 9.99989462e-01 -5.17755136e-04 -1.70382086e+01] [-7.80193942e-03 4.82154861e-04 9.99969448e-01 -3.82765285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.100371743 meters Centerline goodness [0,1] 0.9861506230014334 Centerline is valid? [True, True] Translation: X:277.19, Y:-17.04, Z:-3.83 [[ 9.99959219e-01 4.97079429e-03 7.53994998e-03 2.77189700e+02] [-4.96714655e-03 9.99987537e-01 -5.02438454e-04 -1.70397594e+01] [-7.54235353e-03 4.64965928e-04 9.99971448e-01 -3.82769953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.130371743 meters Centerline goodness [0,1] 0.9866816856612775 Centerline is valid? [True, True] Translation: X:277.22, Y:-17.04, Z:-3.83 [[ 9.99953240e-01 7.13554687e-03 6.52706531e-03 2.77221839e+02] [-7.13284363e-03 9.99974465e-01 -4.37343197e-04 -1.70387748e+01] [-6.53001933e-03 3.90766211e-04 9.99978603e-01 -3.82778056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.160371743 meters Centerline goodness [0,1] 0.9874404026134558 Centerline is valid? [True, True] Translation: X:277.25, Y:-17.04, Z:-3.83 [[ 9.99942463e-01 8.73811101e-03 6.22216320e-03 2.77252945e+02] [-8.73568180e-03 9.99961756e-01 -4.17484628e-04 -1.70381371e+01] [-6.22557327e-03 3.63105770e-04 9.99980555e-01 -3.82834785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.190371743 meters Centerline goodness [0,1] 0.9877316916535642 Centerline is valid? [True, True] Translation: X:277.28, Y:-17.03, Z:-3.83 [[ 9.99895883e-01 1.31525333e-02 5.93574775e-03 2.77284126e+02] [-1.31503986e-02 9.99913450e-01 -3.98522167e-04 -1.70336371e+01] [-5.94047559e-03 3.20423225e-04 9.99982304e-01 -3.82812036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.220371743 meters Centerline goodness [0,1] 0.9874302912277596 Centerline is valid? [True, True] Translation: X:277.31, Y:-17.03, Z:-3.83 [[ 9.99870788e-01 1.49460232e-02 5.91807341e-03 2.77314148e+02] [-1.49439311e-02 9.99888254e-01 -3.97580635e-04 -1.70327755e+01] [-5.92335434e-03 3.09089982e-04 9.99982409e-01 -3.82806872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.250371743 meters Centerline goodness [0,1] 0.9893214830536579 Centerline is valid? [True, True] Translation: X:277.34, Y:-17.03, Z:-3.83 [[ 9.99842085e-01 1.66422304e-02 6.23233177e-03 2.77344219e+02] [-1.66399446e-02 9.99861459e-01 -4.18443798e-04 -1.70321538e+01] [-6.23843217e-03 3.14672064e-04 9.99980491e-01 -3.82748467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.280371743 meters Centerline goodness [0,1] 0.9883947987396263 Centerline is valid? [True, True] Translation: X:277.37, Y:-17.03, Z:-3.83 [[ 9.99795116e-01 1.86172662e-02 7.94499349e-03 2.77372785e+02] [-1.86136162e-02 9.99826610e-01 -5.33120139e-04 -1.70310011e+01] [-7.95354115e-03 3.85125852e-04 9.99968296e-01 -3.82672008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.310371743 meters Centerline goodness [0,1] 0.988451222485758 Centerline is valid? [True, True] Translation: X:277.40, Y:-17.03, Z:-3.83 [[ 9.99791358e-01 1.86336579e-02 8.36823233e-03 2.77401921e+02] [-1.86296124e-02 9.99826296e-01 -5.61134272e-04 -1.70321067e+01] [-8.37723472e-03 4.05120271e-04 9.99964828e-01 -3.82660169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.340371743 meters Centerline goodness [0,1] 0.9890207386048575 Centerline is valid? [True, True] Translation: X:277.43, Y:-17.03, Z:-3.83 [[ 9.99810889e-01 1.78270329e-02 7.77062239e-03 2.77431159e+02] [-1.78235239e-02 9.99841013e-01 -5.20590047e-04 -1.70321929e+01] [-7.77866754e-03 3.81991723e-04 9.99969673e-01 -3.82795754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.370371743 meters Centerline goodness [0,1] 0.9896746628688415 Centerline is valid? [True, True] Translation: X:277.46, Y:-17.03, Z:-3.83 [[ 9.99823894e-01 1.75556419e-02 6.63173248e-03 2.77460443e+02] [-1.75530823e-02 9.99845834e-01 -4.43977845e-04 -1.70321124e+01] [-6.63850441e-03 3.27492312e-04 9.99977911e-01 -3.82845536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.400371743 meters Centerline goodness [0,1] 0.9896189166407879 Centerline is valid? [True, True] Translation: X:277.49, Y:-17.03, Z:-3.83 [[ 9.99858273e-01 1.57555452e-02 5.93270404e-03 2.77489527e+02] [-1.57534678e-02 9.99875828e-01 -3.96728454e-04 -1.70320858e+01] [-5.93821804e-03 3.03211565e-04 9.99982323e-01 -3.82920579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.430371743 meters Centerline goodness [0,1] 0.9879696915987238 Centerline is valid? [True, True] Translation: X:277.52, Y:-17.05, Z:-3.83 [[ 9.99914400e-01 1.22554886e-02 4.58219803e-03 2.77518062e+02] [-1.22542138e-02 9.99924867e-01 -3.06169791e-04 -1.70450385e+01] [-4.58560602e-03 2.49992348e-04 9.99989455e-01 -3.83192512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.460371743 meters Centerline goodness [0,1] 0.9895241477272727 Centerline is valid? [True, True] Translation: X:277.55, Y:-17.04, Z:-3.83 [[ 9.99935746e-01 1.04267733e-02 4.44817019e-03 2.77548013e+02] [-1.04255547e-02 9.99945608e-01 -2.97064195e-04 -1.70398044e+01] [-4.45102566e-03 2.50670466e-04 9.99990063e-01 -3.83104584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.490371743 meters Centerline goodness [0,1] 0.9889323495421816 Centerline is valid? [True, True] Translation: X:277.58, Y:-17.04, Z:-3.83 [[ 9.99958468e-01 8.31121987e-03 3.73964831e-03 2.77576974e+02] [-8.31034645e-03 9.99965437e-01 -2.49036196e-04 -1.70434906e+01] [-3.74158885e-03 2.17948081e-04 9.99992976e-01 -3.83177958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.520371743 meters Centerline goodness [0,1] 0.9889320173006543 Centerline is valid? [True, True] Translation: X:277.61, Y:-17.05, Z:-3.83 [[ 9.99984564e-01 4.64701620e-03 3.04595567e-03 2.77606897e+02] [-4.64641822e-03 9.99989185e-01 -2.03366850e-04 -1.70456738e+01] [-3.04686778e-03 1.89210927e-04 9.99995340e-01 -3.83226064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.550371743 meters Centerline goodness [0,1] 0.9885276822367691 Centerline is valid? [True, True] Translation: X:277.64, Y:-17.05, Z:-3.83 [[ 9.99995938e-01 1.53936226e-03 2.39885120e-03 2.77636228e+02] [-1.53898503e-03 9.99998803e-01 -1.59094603e-04 -1.70533371e+01] [-2.39909323e-03 1.55402161e-04 9.99997110e-01 -3.83348804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.580371743 meters Centerline goodness [0,1] 0.9879739954292307 Centerline is valid? [True, True] Translation: X:277.67, Y:-17.06, Z:-3.83 [[ 9.99997646e-01 3.33441843e-04 2.14417558e-03 2.77667418e+02] [-3.33136542e-04 9.99999934e-01 -1.42741737e-04 -1.70560411e+01] [-2.14422303e-03 1.42027097e-04 9.99997691e-01 -3.83420190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61037174300003 meters Centerline goodness [0,1] 0.9893042182739988 Centerline is valid? [True, True] Translation: X:277.70, Y:-17.05, Z:-3.83 [[ 9.99996729e-01 -2.34004934e-06 2.55789594e-03 2.77698965e+02] [ 2.77604960e-06 9.99999985e-01 -1.70449156e-04 -1.70532422e+01] [-2.55789550e-03 1.70455699e-04 9.99996714e-01 -3.83356042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.640371743 meters Centerline goodness [0,1] 0.9885082970982341 Centerline is valid? [True, True] Translation: X:277.73, Y:-17.05, Z:-3.83 [[ 9.99996591e-01 -7.05416758e-05 2.61020190e-03 2.77730483e+02] [ 7.09956716e-05 9.99999982e-01 -1.73839028e-04 -1.70549882e+01] [-2.61018959e-03 1.74023748e-04 9.99996578e-01 -3.83320936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67037174300003 meters Centerline goodness [0,1] 0.9888531142444765 Centerline is valid? [True, True] Translation: X:277.76, Y:-17.06, Z:-3.83 [[ 9.99995348e-01 1.16770871e-04 3.04801079e-03 2.77761898e+02] [-1.16151186e-04 9.99999973e-01 -2.03484302e-04 -1.70565045e+01] [-3.04803446e-03 2.03129326e-04 9.99995334e-01 -3.83299488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.700371743 meters Centerline goodness [0,1] 0.9886560790070733 Centerline is valid? [True, True] Translation: X:277.79, Y:-17.06, Z:-3.83 [[ 9.99992481e-01 3.17575437e-04 3.86497368e-03 2.77792715e+02] [-3.16579477e-04 9.99999917e-01 -2.58297789e-04 -1.70585751e+01] [-3.86505538e-03 2.57072275e-04 9.99992498e-01 -3.83239740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.730371743 meters Centerline goodness [0,1] 0.9878 Centerline is valid? [True, True] Translation: X:277.82, Y:-17.06, Z:-3.83 [[ 9.99990343e-01 2.64255545e-04 4.38680749e-03 2.77824592e+02] [-2.62972454e-04 9.99999922e-01 -2.93062714e-04 -1.70606498e+01] [-4.38688459e-03 2.91906274e-04 9.99990335e-01 -3.83228625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.760371743 meters Centerline goodness [0,1] 0.9875693673695893 Centerline is valid? [True, True] Translation: X:277.86, Y:-17.06, Z:-3.83 [[ 9.99988640e-01 1.46557420e-04 4.76428842e-03 2.77856449e+02] [-1.45048196e-04 9.99999939e-01 -3.17122276e-04 -1.70631210e+01] [-4.76433461e-03 3.16427622e-04 9.99988600e-01 -3.83229680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.790371743 meters Centerline goodness [0,1] 0.9890596161971048 Centerline is valid? [True, True] Translation: X:277.89, Y:-17.06, Z:-3.83 [[ 9.99987228e-01 -1.65736375e-03 4.77466614e-03 2.77888168e+02] [ 1.65891462e-03 9.99998573e-01 -3.20869658e-04 -1.70594730e+01] [-4.77412753e-03 3.28786323e-04 9.99988550e-01 -3.83108081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.820371743 meters Centerline goodness [0,1] 0.9880846523208252 Centerline is valid? [True, True] Translation: X:277.92, Y:-17.06, Z:-3.83 [[ 9.99983640e-01 -2.66490030e-03 5.06146100e-03 2.77919145e+02] [ 2.66664809e-03 9.99996387e-01 -3.38595046e-04 -1.70643993e+01] [-5.06054039e-03 3.52086642e-04 9.99987133e-01 -3.83160920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.850371743 meters Centerline goodness [0,1] 0.9879253323863005 Centerline is valid? [True, True] Translation: X:277.95, Y:-17.07, Z:-3.83 [[ 9.99968979e-01 -5.87167358e-03 5.25018557e-03 2.77950171e+02] [ 5.87361451e-03 9.99982687e-01 -3.54345258e-04 -1.70694877e+01] [-5.24801408e-03 3.85171832e-04 9.99986155e-01 -3.83241746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880371743 meters Centerline goodness [0,1] 0.9881058248110272 Centerline is valid? [True, True] Translation: X:277.98, Y:-17.07, Z:-3.83 [[ 9.99956735e-01 -7.56103759e-03 5.41846632e-03 2.77980774e+02] [ 7.56313144e-03 9.99971332e-01 -3.66041873e-04 -1.70745007e+01] [-5.41554333e-03 4.07006609e-04 9.99985253e-01 -3.83308591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.910371743 meters Centerline goodness [0,1] 0.9856899564284608 Centerline is valid? [True, True] Translation: X:278.01, Y:-17.09, Z:-3.83 [[ 9.99935820e-01 -1.00279949e-02 5.27216337e-03 2.78010432e+02] [ 1.00300118e-02 9.99949635e-01 -3.56247415e-04 -1.70850579e+01] [-5.26832539e-03 4.09104412e-04 9.99986039e-01 -3.83486549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940371743 meters Centerline goodness [0,1] 0.9867037724180582 Centerline is valid? [True, True] Translation: X:278.04, Y:-17.08, Z:-3.84 [[ 9.99927551e-01 -1.09165726e-02 5.07169376e-03 2.78043185e+02] [ 1.09184484e-02 9.99940333e-01 -3.42307920e-04 -1.70825648e+01] [-5.06765432e-03 3.97658146e-04 9.99987080e-01 -3.83520453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.970371743 meters Centerline goodness [0,1] 0.9868537535410765 Centerline is valid? [True, True] Translation: X:278.07, Y:-17.09, Z:-3.84 [[ 9.99924103e-01 -1.15410508e-02 4.31194983e-03 2.78073611e+02] [ 1.15424146e-02 9.99933342e-01 -2.91535183e-04 -1.70863509e+01] [-4.30829778e-03 3.41283369e-04 9.99990661e-01 -3.83634618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000371743 meters Centerline goodness [0,1] 0.986176444483891 Centerline is valid? [True, True] Translation: X:278.11, Y:-17.09, Z:-3.84 [[ 9.99918793e-01 -1.24804015e-02 2.57808831e-03 2.78105770e+02] [ 1.24808908e-02 9.99922096e-01 -1.73805574e-04 -1.70895393e+01] [-2.57571831e-03 2.05968299e-04 9.99996662e-01 -3.83765619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.030371743 meters Centerline goodness [0,1] 0.9868564197064896 Centerline is valid? [True, True] Translation: X:278.14, Y:-17.09, Z:-3.84 [[ 9.99914419e-01 -1.28877139e-02 2.24991580e-03 2.78136859e+02] [ 1.28880882e-02 9.99916934e-01 -1.51924704e-04 -1.70937523e+01] [-2.24777095e-03 1.80908815e-04 9.99997457e-01 -3.83845381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060371743 meters Centerline goodness [0,1] 0.985863062264569 Centerline is valid? [True, True] Translation: X:278.17, Y:-17.10, Z:-3.84 [[ 9.99912473e-01 -1.30574241e-02 2.13309723e-03 2.78169333e+02] [ 1.30577606e-02 9.99914733e-01 -1.43910139e-04 -1.70961476e+01] [-2.13103625e-03 1.71751016e-04 9.99997715e-01 -3.83908112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.090371743 meters Centerline goodness [0,1] 0.9874841888023433 Centerline is valid? [True, True] Translation: X:278.20, Y:-17.09, Z:-3.84 [[ 9.99909773e-01 -1.32924227e-02 1.93839015e-03 2.78201671e+02] [ 1.32927011e-02 9.99911640e-01 -1.30800067e-04 -1.70940847e+01] [-1.93648022e-03 1.56554706e-04 9.99998113e-01 -3.83899525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120371743 meters Centerline goodness [0,1] 0.9848750694058857 Centerline is valid? [True, True] Translation: X:278.23, Y:-17.10, Z:-3.84 [[ 9.99913294e-01 -1.30845350e-02 1.48315426e-03 2.78232395e+02] [ 1.30846979e-02 9.99914387e-01 -1.00180806e-04 -1.71030666e+01] [-1.48171646e-03 1.19578745e-04 9.99998895e-01 -3.84036179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.150371743 meters Centerline goodness [0,1] 0.9867895204262878 Centerline is valid? [True, True] Translation: X:278.26, Y:-17.10, Z:-3.84 [[ 9.99916702e-01 -1.27060984e-02 2.26793429e-03 2.78264653e+02] [ 1.27064790e-02 9.99919258e-01 -1.53499705e-04 -1.70982353e+01] [-2.26580079e-03 1.82304378e-04 9.99997416e-01 -3.83911536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180371743 meters Centerline goodness [0,1] 0.9867837521788054 Centerline is valid? [True, True] Translation: X:278.30, Y:-17.10, Z:-3.84 [[ 9.99918075e-01 -1.24706586e-02 2.88547936e-03 2.78297461e+02] [ 1.24712745e-02 9.99922212e-01 -1.95565751e-04 -1.70975722e+01] [-2.88281607e-03 2.31535334e-04 9.99995818e-01 -3.83887364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.210371743 meters Centerline goodness [0,1] 0.9871957037924683 Centerline is valid? [True, True] Translation: X:278.33, Y:-17.10, Z:-3.84 [[ 9.99914564e-01 -1.25137742e-02 3.77749537e-03 2.78329747e+02] [ 1.25148336e-02 9.99921653e-01 -2.56928682e-04 -1.70996251e+01] [-3.77398427e-03 3.04181457e-04 9.99992832e-01 -3.83860763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240371743 meters Centerline goodness [0,1] 0.9833499612016406 Centerline is valid? [True, True] Translation: X:278.36, Y:-17.11, Z:-3.84 [[ 9.99910507e-01 -1.20272266e-02 5.85858538e-03 2.78360585e+02] [ 1.20297722e-02 9.99927560e-01 -3.99455566e-04 -1.71128662e+01] [-5.85335664e-03 4.69897265e-04 9.99982759e-01 -3.83914330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.270371743 meters Centerline goodness [0,1] 0.9827132074636447 Centerline is valid? [True, True] Translation: X:278.39, Y:-17.12, Z:-3.84 [[ 9.99908370e-01 -1.19047118e-02 6.44427893e-03 2.78392546e+02] [ 1.19077932e-02 9.99929003e-01 -4.39988295e-04 -1.71150353e+01] [-6.43858347e-03 5.16685120e-04 9.99979139e-01 -3.83950836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300371743 meters Centerline goodness [0,1] 0.9863031856139266 Centerline is valid? [True, True] Translation: X:278.43, Y:-17.11, Z:-3.84 [[ 9.99910436e-01 -1.17340643e-02 6.43681148e-03 2.78425675e+02] [ 1.17371375e-02 9.99931021e-01 -4.39873787e-04 -1.71064655e+01] [-6.43120597e-03 5.15384131e-04 9.99979187e-01 -3.83913086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.330371743 meters Centerline goodness [0,1] 0.9859832775177981 Centerline is valid? [True, True] Translation: X:278.46, Y:-17.11, Z:-3.84 [[ 9.99907059e-01 -1.22217496e-02 6.04170639e-03 2.78456644e+02] [ 1.22244690e-02 9.99925193e-01 -4.13391101e-04 -1.71111885e+01] [-6.03620206e-03 4.87209332e-04 9.99981663e-01 -3.83991240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36037174300003 meters Centerline goodness [0,1] 0.9870358016455415 Centerline is valid? [True, True] Translation: X:278.49, Y:-17.11, Z:-3.84 [[ 9.99907734e-01 -1.22616780e-02 5.84594000e-03 2.78489127e+02] [ 1.22642256e-02 9.99924711e-01 -4.00140038e-04 -1.71105645e+01] [-5.84059348e-03 4.71799046e-04 9.99982832e-01 -3.84009880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.390371743 meters Centerline goodness [0,1] 0.9870358016455415 Centerline is valid? [True, True] Translation: X:278.52, Y:-17.11, Z:-3.84 [[ 9.99909055e-01 -1.21534851e-02 5.84593101e-03 2.78521690e+02] [ 1.21560316e-02 9.99926033e-01 -4.00271704e-04 -1.71128912e+01] [-5.84063391e-03 4.71298624e-04 9.99982832e-01 -3.84055042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42037174300003 meters Centerline goodness [0,1] 0.9863289905167065 Centerline is valid? [True, True] Translation: X:278.55, Y:-17.12, Z:-3.84 [[ 9.99907877e-01 -1.27385477e-02 4.68690097e-03 2.78552725e+02] [ 1.27401943e-02 9.99918789e-01 -3.21625343e-04 -1.71190397e+01] [-4.68242330e-03 3.81307743e-04 9.99988965e-01 -3.84286949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.450371743 meters Centerline goodness [0,1] 0.9865182491463036 Centerline is valid? [True, True] Translation: X:278.58, Y:-17.12, Z:-3.84 [[ 9.99910280e-01 -1.28195922e-02 3.88467848e-03 2.78584985e+02] [ 1.28207236e-02 9.99917776e-01 -2.66480123e-04 -1.71200474e+01] [-3.88094290e-03 3.16260603e-04 9.99992419e-01 -3.84402366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.480371743 meters Centerline goodness [0,1] 0.9877273333629775 Centerline is valid? [True, True] Translation: X:278.62, Y:-17.12, Z:-3.85 [[ 9.99911356e-01 -1.30075239e-02 2.84345061e-03 2.78616737e+02] [ 1.30081307e-02 9.99915372e-01 -1.94992462e-04 -1.71226542e+01] [-2.84067360e-03 2.31963154e-04 9.99995938e-01 -3.84581405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.510371743 meters Centerline goodness [0,1] 0.9876183053112125 Centerline is valid? [True, True] Translation: X:278.65, Y:-17.12, Z:-3.85 [[ 9.99924634e-01 -1.21350502e-02 1.86209945e-03 2.78648519e+02] [ 1.21353085e-02 9.99926356e-01 -1.27481758e-04 -1.71238156e+01] [-1.86041532e-03 1.50069301e-04 9.99998258e-01 -3.84712873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.540371743 meters Centerline goodness [0,1] 0.9876913506187651 Centerline is valid? [True, True] Translation: X:278.68, Y:-17.13, Z:-3.85 [[ 9.99937662e-01 -1.11140725e-02 1.07202589e-03 2.78680146e+02] [ 1.11141572e-02 9.99938233e-01 -7.30557019e-05 -1.71267743e+01] [-1.07114773e-03 8.49658121e-05 9.99999423e-01 -3.84903577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.570371743 meters Centerline goodness [0,1] 0.9877666318201027 Centerline is valid? [True, True] Translation: X:278.71, Y:-17.13, Z:-3.85 [[ 9.99952447e-01 -9.72481738e-03 7.29211941e-04 2.78711365e+02] [ 9.72485633e-03 9.99952711e-01 -4.98894652e-05 -1.71255478e+01] [-7.28692291e-04 5.69785742e-05 9.99999733e-01 -3.84949677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.600371743 meters Centerline goodness [0,1] 0.950351484629105 Centerline is valid? [True, True] Translation: X:278.74, Y:-17.15, Z:-3.85 [[ 9.99985124e-01 -4.88339077e-03 2.42975914e-03 2.78739085e+02] [ 4.88381362e-03 9.99988060e-01 -1.68126378e-04 -1.71483316e+01] [-2.42890910e-03 1.79990368e-04 9.99997034e-01 -3.85352695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.630371743 meters Centerline goodness [0,1] 0.9881007984697849 Centerline is valid? [True, True] Translation: X:278.77, Y:-17.13, Z:-3.85 [[ 9.99993531e-01 -3.13152730e-03 1.76976800e-03 2.78772471e+02] [ 3.13174738e-03 9.99995089e-01 -1.21596491e-04 -1.71250594e+01] [-1.76937853e-03 1.27138170e-04 9.99998427e-01 -3.84958418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.660371743 meters Centerline goodness [0,1] 0.9883308418304737 Centerline is valid? [True, True] Translation: X:278.80, Y:-17.13, Z:-3.85 [[ 9.99997353e-01 -9.57320623e-04 2.09238841e-03 2.78802839e+02] [ 9.57622825e-04 9.99999531e-01 -1.43432368e-04 -1.71268005e+01] [-2.09225012e-03 1.45435707e-04 9.99997801e-01 -3.84970368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.690371743 meters Centerline goodness [0,1] 0.990006469026746 Centerline is valid? [True, True] Translation: X:278.83, Y:-17.12, Z:-3.85 [[ 9.99994908e-01 2.57261296e-03 1.88832448e-03 2.78834575e+02] [-2.57237092e-03 9.99996683e-01 -1.30595076e-04 -1.71207550e+01] [-1.88865418e-03 1.25736940e-04 9.99998209e-01 -3.84872085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.720371743 meters Centerline goodness [0,1] 0.9889037731636526 Centerline is valid? [True, True] Translation: X:278.86, Y:-17.12, Z:-3.85 [[ 9.99992117e-01 3.45422415e-03 1.95793575e-03 2.78863835e+02] [-3.45396482e-03 9.99994026e-01 -1.35816294e-04 -1.71245428e+01] [-1.95839320e-03 1.29052582e-04 9.99998074e-01 -3.84960939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.750371743 meters Centerline goodness [0,1] 0.9892588614393125 Centerline is valid? [True, True] Translation: X:278.89, Y:-17.12, Z:-3.85 [[ 9.99988329e-01 4.75443324e-03 8.58958844e-04 2.78894202e+02] [-4.75438390e-03 9.99988696e-01 -5.94756527e-05 -1.71228965e+01] [-8.59231907e-04 5.53911384e-05 9.99999629e-01 -3.85039209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.780371743 meters Centerline goodness [0,1] 0.9897082133369053 Centerline is valid? [True, True] Translation: X:278.92, Y:-17.13, Z:-3.85 [[ 9.99986265e-01 5.21759419e-03 4.96811195e-04 2.78923385e+02] [-5.21757751e-03 9.99986388e-01 -3.48730852e-05 -1.71250305e+01] [-4.96986386e-04 3.22804553e-05 9.99999876e-01 -3.85151185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.810371743 meters Centerline goodness [0,1] 0.9898429459931093 Centerline is valid? [True, True] Translation: X:278.95, Y:-17.13, Z:-3.85 [[ 9.99984654e-01 5.53627173e-03 2.01913065e-04 2.78952434e+02] [-5.53626882e-03 9.99984675e-01 -1.49434181e-05 -1.71259869e+01] [-2.01992702e-04 1.38253437e-05 9.99999980e-01 -3.85213698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.840371743 meters Centerline goodness [0,1] 0.9893609888022172 Centerline is valid? [True, True] Translation: X:278.98, Y:-17.13, Z:-3.85 [[ 9.99979893e-01 6.28706198e-03 -8.28305099e-04 2.78980746e+02] [-6.28701734e-03 9.99980235e-01 5.64888360e-05 -1.71281339e+01] [ 8.28643876e-04 -5.12801317e-05 9.99999655e-01 -3.85382051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.870371743 meters Centerline goodness [0,1] 0.9890513385406235 Centerline is valid? [True, True] Translation: X:279.01, Y:-17.13, Z:-3.85 [[ 9.99983324e-01 5.70396809e-03 -9.03756874e-04 2.79008488e+02] [-5.70391515e-03 9.99983731e-01 6.11465197e-05 -1.71318684e+01] [ 9.04090949e-04 -5.59905475e-05 9.99999590e-01 -3.85461453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.900371743 meters Centerline goodness [0,1] 0.9885447602885024 Centerline is valid? [True, True] Translation: X:279.04, Y:-17.13, Z:-3.85 [[ 9.99978532e-01 6.41776824e-03 -1.32240124e-03 2.79037386e+02] [-6.41765457e-03 9.99979403e-01 9.01811810e-05 -1.71304740e+01] [ 1.32295277e-03 -8.16925305e-05 9.99999122e-01 -3.85457287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.930371743 meters Centerline goodness [0,1] 0.9889690284259652 Centerline is valid? [True, True] Translation: X:279.07, Y:-17.13, Z:-3.85 [[ 9.99976634e-01 6.72001895e-03 -1.25399872e-03 2.79066256e+02] [-6.71991714e-03 9.99977417e-01 8.53780152e-05 -1.71314801e+01] [ 1.25454415e-03 -7.69492527e-05 9.99999210e-01 -3.85481581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.960371743 meters Centerline goodness [0,1] 0.9889468149374623 Centerline is valid? [True, True] Translation: X:279.10, Y:-17.13, Z:-3.85 [[ 9.99973782e-01 7.16606393e-03 -1.04072616e-03 2.79095364e+02] [-7.16599429e-03 9.99974321e-01 7.06277459e-05 -1.71335394e+01] [ 1.04120555e-03 -6.31680565e-05 9.99999456e-01 -3.85487746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.990371743 meters Centerline goodness [0,1] 0.9895844949483685 Centerline is valid? [True, True] Translation: X:279.13, Y:-17.13, Z:-3.85 [[ 9.99959039e-01 9.04901355e-03 1.88776735e-04 2.79125394e+02] [-9.04901121e-03 9.99959057e-01 -1.32230424e-05 -1.71325634e+01] [-1.88888661e-04 1.15142580e-05 9.99999982e-01 -3.85354472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.020371743 meters Centerline goodness [0,1] 0.9891155853172381 Centerline is valid? [True, True] Translation: X:279.15, Y:-17.13, Z:-3.85 [[ 9.99949555e-01 1.00370756e-02 3.79165496e-04 2.79154582e+02] [-1.00370661e-02 9.99949627e-01 -2.70123988e-05 -1.71329105e+01] [-3.79417522e-04 2.32053270e-05 9.99999928e-01 -3.85316850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.050371743 meters Centerline goodness [0,1] 0.9891768599476732 Centerline is valid? [True, True] Translation: X:279.18, Y:-17.13, Z:-3.85 [[ 9.99931793e-01 1.16455823e-02 8.88453294e-04 2.79183994e+02] [-1.16455315e-02 9.99932187e-01 -6.23223399e-05 -1.71304599e+01] [-8.89118824e-04 5.19715783e-05 9.99999603e-01 -3.85190100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.080371743 meters Centerline goodness [0,1] 0.9893204970334714 Centerline is valid? [True, True] Translation: X:279.21, Y:-17.13, Z:-3.85 [[ 9.99923147e-01 1.23526328e-02 1.05499677e-03 2.79212833e+02] [-1.23525624e-02 9.99923702e-01 -7.32745755e-05 -1.71327439e+01] [-1.05582141e-03 6.02370308e-05 9.99999441e-01 -3.85242367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11037174300003 meters Centerline goodness [0,1] 0.9892801076474546 Centerline is valid? [True, True] Translation: X:279.24, Y:-17.14, Z:-3.85 [[ 9.99906576e-01 1.36344282e-02 9.70718607e-04 2.79240945e+02] [-1.36343691e-02 9.99907045e-01 -6.74226766e-05 -1.71355865e+01] [-9.71547644e-04 5.41812418e-05 9.99999527e-01 -3.85362024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.140371743 meters Centerline goodness [0,1] 0.9896521602795261 Centerline is valid? [True, True] Translation: X:279.27, Y:-17.14, Z:-3.85 [[ 9.99889870e-01 1.48347291e-02 4.22210676e-04 2.79270197e+02] [-1.48347177e-02 9.99889959e-01 -3.02043089e-05 -1.71376740e+01] [-4.22612288e-04 2.39376063e-05 9.99999910e-01 -3.85453236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17037174300003 meters Centerline goodness [0,1] 0.9891818344039971 Centerline is valid? [True, True] Translation: X:279.30, Y:-17.14, Z:-3.86 [[ 9.99884242e-01 1.52057452e-02 5.35995714e-04 2.79297400e+02] [-1.52057272e-02 9.99884386e-01 -3.77903720e-05 -1.71420908e+01] [-5.36508376e-04 2.96357929e-05 9.99999856e-01 -3.85546575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.200371743 meters Centerline goodness [0,1] 0.989552105239608 Centerline is valid? [True, True] Translation: X:279.33, Y:-17.14, Z:-3.86 [[ 9.99844885e-01 1.76096562e-02 3.25412585e-04 2.79327691e+02] [-1.76096498e-02 9.99844938e-01 -2.24476408e-05 -1.71420598e+01] [-3.25757421e-04 1.67137571e-05 9.99999947e-01 -3.85534874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.230371743 meters Centerline goodness [0,1] 0.9894054537326777 Centerline is valid? [True, True] Translation: X:279.36, Y:-17.14, Z:-3.86 [[ 9.99818321e-01 1.90608997e-02 -8.36528110e-05 2.79356639e+02] [-1.90608994e-02 9.99818325e-01 4.75079233e-06 -1.71426385e+01] [ 8.37281677e-05 -3.15543140e-06 9.99999996e-01 -3.85595143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.260371743 meters Centerline goodness [0,1] 0.989918408405052 Centerline is valid? [True, True] Translation: X:279.39, Y:-17.14, Z:-3.86 [[ 9.99749091e-01 2.23954147e-02 -4.47636676e-04 2.79386379e+02] [-2.23954035e-02 9.99749191e-01 3.00307622e-05 -1.71436049e+01] [ 4.48196956e-04 -1.99982232e-05 9.99999899e-01 -3.85723290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.290371743 meters Centerline goodness [0,1] 0.9900387258523046 Centerline is valid? [True, True] Translation: X:279.42, Y:-17.14, Z:-3.86 [[ 9.99705384e-01 2.42653757e-02 -5.80231275e-04 2.79415126e+02] [-2.42653574e-02 9.99705552e-01 3.85268939e-05 -1.71426462e+01] [ 5.80995297e-04 -2.44360240e-05 9.99999831e-01 -3.85644178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.320371743 meters Centerline goodness [0,1] 0.9895230648944487 Centerline is valid? [True, True] Translation: X:279.44, Y:-17.15, Z:-3.86 [[ 9.99598330e-01 2.83177958e-02 1.13185870e-03 2.79443436e+02] [-2.83177259e-02 9.99598970e-01 -7.77257681e-05 -1.71460721e+01] [-1.13360581e-03 4.56428836e-05 9.99999356e-01 -3.85653565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.350371743 meters Centerline goodness [0,1] 0.9900441984017143 Centerline is valid? [True, True] Translation: X:279.47, Y:-17.14, Z:-3.86 [[ 9.99546469e-01 3.00543199e-02 1.89569953e-03 2.79472560e+02] [-3.00541276e-02 9.99548264e-01 -1.29817755e-04 -1.71439186e+01] [-1.89874476e-03 7.27852826e-05 9.99998195e-01 -3.85500500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380371743 meters Centerline goodness [0,1] 0.9897733616166127 Centerline is valid? [True, True] Translation: X:279.50, Y:-17.15, Z:-3.86 [[ 9.99495535e-01 3.16500339e-02 2.63628725e-03 2.79500498e+02] [-3.16496692e-02 9.99499008e-01 -1.79949215e-04 -1.71498347e+01] [-2.64066189e-03 9.64208173e-05 9.99996509e-01 -3.85646164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.410371743 meters Centerline goodness [0,1] 0.9907988476226635 Centerline is valid? [True, True] Translation: X:279.53, Y:-17.15, Z:-3.85 [[ 9.99429497e-01 3.35830844e-02 3.58569136e-03 2.79529380e+02] [-3.35824243e-02 9.99435921e-01 -2.44156648e-04 -1.71477589e+01] [-3.59186828e-03 1.23601147e-04 9.99993542e-01 -3.85457306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440371743 meters Centerline goodness [0,1] 0.9905618278370297 Centerline is valid? [True, True] Translation: X:279.56, Y:-17.15, Z:-3.86 [[ 9.99425866e-01 3.36386777e-02 4.04686615e-03 2.79556797e+02] [-3.36378368e-02 9.99434050e-01 -2.75697557e-04 -1.71512820e+01] [-4.05384993e-03 1.39411446e-04 9.99991773e-01 -3.85526087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.470371743 meters Centerline goodness [0,1] 0.9900668151447661 Centerline is valid? [True, True] Translation: X:279.58, Y:-17.16, Z:-3.86 [[ 9.99477150e-01 3.20658976e-02 4.14797605e-03 2.79584491e+02] [-3.20650046e-02 9.99485746e-01 -2.81608671e-04 -1.71594370e+01] [-4.15487297e-03 1.48456560e-04 9.99991357e-01 -3.85712300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500371743 meters Centerline goodness [0,1] 0.9902605362276851 Centerline is valid? [True, True] Translation: X:279.61, Y:-17.16, Z:-3.86 [[ 9.99522442e-01 3.05887187e-02 4.38379793e-03 2.79613387e+02] [-3.05877099e-02 9.99532042e-01 -2.96995791e-04 -1.71618461e+01] [-4.39083122e-03 1.62763620e-04 9.99990347e-01 -3.85758658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.530371743 meters Centerline goodness [0,1] 0.9888149134487351 Centerline is valid? [True, True] Translation: X:279.64, Y:-17.17, Z:-3.86 [[ 9.99566787e-01 2.91250865e-02 4.23882278e-03 2.79640875e+02] [-2.91241299e-02 9.99575761e-01 -2.87258676e-04 -1.71688801e+01] [-4.24539094e-03 1.63682207e-04 9.99990975e-01 -3.85882611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560371743 meters Centerline goodness [0,1] 0.9889475894692632 Centerline is valid? [True, True] Translation: X:279.67, Y:-17.17, Z:-3.86 [[ 9.99661121e-01 2.57201598e-02 4.01443014e-03 2.79670116e+02] [-2.57192786e-02 9.99669168e-01 -2.70990646e-04 -1.71747841e+01] [-4.02007196e-03 1.67650566e-04 9.99991905e-01 -3.85969167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.590371743 meters Centerline goodness [0,1] 0.9895662211961106 Centerline is valid? [True, True] Translation: X:279.70, Y:-17.18, Z:-3.86 [[ 9.99701158e-01 2.40817317e-02 4.20298588e-03 2.79698199e+02] [-2.40807498e-02 9.99709976e-01 -2.84068329e-04 -1.71785764e+01] [-4.20860778e-03 1.82772386e-04 9.99991127e-01 -3.86024250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620371743 meters Centerline goodness [0,1] 0.988801841278272 Centerline is valid? [True, True] Translation: X:279.73, Y:-17.19, Z:-3.86 [[ 9.99774166e-01 2.09483761e-02 3.57525239e-03 2.79726252e+02] [-2.09476474e-02 9.99780545e-01 -2.41140008e-04 -1.71871669e+01] [-3.57951928e-03 1.66192424e-04 9.99993580e-01 -3.86218367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.650371743 meters Centerline goodness [0,1] 0.9886994405006745 Centerline is valid? [True, True] Translation: X:279.75, Y:-17.19, Z:-3.86 [[ 9.99803294e-01 1.95642013e-02 3.25807712e-03 2.79754276e+02] [-1.95635880e-02 9.99808590e-01 -2.20002254e-04 -1.71919780e+01] [-3.26175766e-03 1.56219300e-04 9.99994668e-01 -3.86312870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680371743 meters Centerline goodness [0,1] 0.9884174159542898 Centerline is valid? [True, True] Translation: X:279.78, Y:-17.20, Z:-3.86 [[ 9.99829674e-01 1.82909609e-02 2.46255297e-03 2.79781502e+02] [-1.82906065e-02 9.99832699e-01 -1.66355098e-04 -1.71966968e+01] [-2.46518378e-03 1.21285176e-04 9.99996954e-01 -3.86376583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.710371743 meters Centerline goodness [0,1] 0.9884022044664793 Centerline is valid? [True, True] Translation: X:279.81, Y:-17.20, Z:-3.86 [[ 9.99836426e-01 1.79492036e-02 2.22436539e-03 2.79809417e+02] [-1.79489135e-02 9.99838894e-01 -1.50318500e-04 -1.72023674e+01] [-2.22670513e-03 1.10368970e-04 9.99997515e-01 -3.86459754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740371743 meters Centerline goodness [0,1] 0.988607818077652 Centerline is valid? [True, True] Translation: X:279.84, Y:-17.21, Z:-3.86 [[ 9.99821549e-01 1.86915469e-02 2.73799809e-03 2.79837116e+02] [-1.86911121e-02 9.99825289e-01 -1.84304176e-04 -1.72061836e+01] [-2.74096466e-03 1.33095057e-04 9.99996235e-01 -3.86461535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.770371743 meters Centerline goodness [0,1] 0.987913275546439 Centerline is valid? [True, True] Translation: X:279.87, Y:-17.21, Z:-3.86 [[ 9.99751636e-01 2.18897404e-02 4.18397812e-03 2.79865767e+02] [-2.18887592e-02 9.99760373e-01 -2.80169476e-04 -1.72104628e+01] [-4.18910836e-03 1.88517802e-04 9.99991208e-01 -3.86458864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800371743 meters Centerline goodness [0,1] 0.9884613687508274 Centerline is valid? [True, True] Translation: X:279.89, Y:-17.21, Z:-3.86 [[ 9.99707367e-01 2.37501671e-02 4.59457625e-03 2.79894614e+02] [-2.37490030e-02 9.99717905e-01 -3.07770938e-04 -1.72121263e+01] [-4.60058976e-03 1.98564269e-04 9.99989398e-01 -3.86452459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.830371743 meters Centerline goodness [0,1] 0.9889471134792374 Centerline is valid? [True, True] Translation: X:279.92, Y:-17.21, Z:-3.86 [[ 9.99634935e-01 2.65434033e-02 5.04416865e-03 2.79923139e+02] [-2.65420386e-02 9.99647641e-01 -3.37307866e-04 -1.72136946e+01] [-5.05134459e-03 2.03302208e-04 9.99987221e-01 -3.86442846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86037174300003 meters Centerline goodness [0,1] 0.9894374738141966 Centerline is valid? [True, True] Translation: X:279.95, Y:-17.21, Z:-3.86 [[ 9.99473573e-01 3.19606857e-02 5.57602165e-03 2.79952691e+02] [-3.19591049e-02 9.99489108e-01 -3.72381107e-04 -1.72134628e+01] [-5.58507446e-03 1.93980415e-04 9.99984385e-01 -3.86460093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.890371743 meters Centerline goodness [0,1] 0.9894045862061369 Centerline is valid? [True, True] Translation: X:279.98, Y:-17.21, Z:-3.87 [[ 9.99382784e-01 3.47438941e-02 5.18767833e-03 2.79981142e+02] [-3.47425626e-02 9.99396235e-01 -3.46593011e-04 -1.72147934e+01] [-5.19658819e-03 1.66145850e-04 9.99986484e-01 -3.86532280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92037174300003 meters Centerline goodness [0,1] 0.9910960262711304 Centerline is valid? [True, True] Translation: X:280.01, Y:-17.21, Z:-3.87 [[ 9.99192576e-01 3.98630641e-02 5.01328373e-03 2.80010957e+02] [-3.98618878e-02 9.99205143e-01 -3.34381641e-04 -1.72121240e+01] [-5.02262837e-03 1.34272700e-04 9.99987378e-01 -3.86568244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.950371743 meters Centerline goodness [0,1] 0.9912934503001122 Centerline is valid? [True, True] Translation: X:280.04, Y:-17.21, Z:-3.87 [[ 9.99134875e-01 4.12753018e-02 5.08435957e-03 2.80039885e+02] [-4.12741095e-02 9.99147803e-01 -3.39239637e-04 -1.72148473e+01] [-5.09402891e-03 1.29093739e-04 9.99987017e-01 -3.86671380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.980371743 meters Centerline goodness [0,1] 0.9900953051746528 Centerline is valid? [True, True] Translation: X:280.07, Y:-17.22, Z:-3.87 [[ 9.99085715e-01 4.24403164e-02 5.15303181e-03 2.80067112e+02] [-4.24391069e-02 9.99098996e-01 -3.43886110e-04 -1.72221782e+01] [-5.16298354e-03 1.24881633e-04 9.99986664e-01 -3.86868782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.010371743 meters Centerline goodness [0,1] 0.989786301369863 Centerline is valid? [True, True] Translation: X:280.09, Y:-17.23, Z:-3.87 [[ 9.99064184e-01 4.27940976e-02 6.27860671e-03 2.80094757e+02] [-4.27923166e-02 9.99083902e-01 -4.17780231e-04 -1.72273568e+01] [-6.29073342e-03 1.48713140e-04 9.99980202e-01 -3.86865050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.040371743 meters Centerline goodness [0,1] 0.9908981511869599 Centerline is valid? [True, True] Translation: X:280.12, Y:-17.23, Z:-3.87 [[ 9.99137360e-01 4.09530981e-02 6.88334862e-03 2.80123409e+02] [-4.09509219e-02 9.99161055e-01 -4.56861138e-04 -1.72293092e+01] [-6.89628375e-03 1.74587559e-04 9.99976205e-01 -3.86727151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.070371743 meters Centerline goodness [0,1] 0.9903044066908329 Centerline is valid? [True, True] Translation: X:280.15, Y:-17.24, Z:-3.87 [[ 9.99200964e-01 3.94067548e-02 6.67388954e-03 2.80150423e+02] [-3.94046758e-02 9.99223236e-01 -4.42764824e-04 -1.72351172e+01] [-6.68615343e-03 1.79428586e-04 9.99977631e-01 -3.86840226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.100371743 meters Centerline goodness [0,1] 0.990205680705191 Centerline is valid? [True, True] Translation: X:280.18, Y:-17.24, Z:-3.87 [[ 9.99264835e-01 3.77310672e-02 6.79376790e-03 2.80177638e+02] [-3.77288801e-02 9.99287911e-01 -4.49849134e-04 -1.72414098e+01] [-6.80590342e-03 1.93197166e-04 9.99976821e-01 -3.86921303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.130371743 meters Centerline goodness [0,1] 0.9890571291824392 Centerline is valid? [True, True] Translation: X:280.21, Y:-17.25, Z:-3.87 [[ 9.99395378e-01 3.42047637e-02 6.23797710e-03 2.80206922e+02] [-3.42028564e-02 9.99414826e-01 -4.12212734e-04 -1.72505874e+01] [-6.24842644e-03 1.98606866e-04 9.99980459e-01 -3.87084419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.160371743 meters Centerline goodness [0,1] 0.9886685552407932 Centerline is valid? [True, True] Translation: X:280.24, Y:-17.25, Z:-3.87 [[ 9.99431562e-01 3.31338404e-02 6.22112850e-03 2.80235109e+02] [-3.31319206e-02 9.99450903e-01 -4.11431205e-04 -1.72528250e+01] [-6.23134479e-03 2.05079397e-04 9.99980564e-01 -3.87048919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.190371743 meters Centerline goodness [0,1] 0.9880497131931166 Centerline is valid? [True, True] Translation: X:280.26, Y:-17.26, Z:-3.87 [[ 9.99467312e-01 3.20037145e-02 6.39171652e-03 2.80263672e+02] [-3.20016711e-02 9.99487726e-01 -4.21742834e-04 -1.72591958e+01] [-6.40193955e-03 2.16972567e-04 9.99979484e-01 -3.87005071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.220371743 meters Centerline goodness [0,1] 0.9881894029689023 Centerline is valid? [True, True] Translation: X:280.29, Y:-17.26, Z:-3.87 [[ 9.99501392e-01 3.06746119e-02 7.48571527e-03 2.80291451e+02] [-3.06717756e-02 9.99529389e-01 -4.93419113e-04 -1.72638575e+01] [-7.49732785e-03 2.63572911e-04 9.99971860e-01 -3.87012678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.250371743 meters Centerline goodness [0,1] 0.9892948467906211 Centerline is valid? [True, True] Translation: X:280.32, Y:-17.27, Z:-3.87 [[ 9.99522217e-01 2.99683996e-02 7.56526465e-03 2.80320097e+02] [-2.99654897e-02 9.99550810e-01 -4.97717273e-04 -1.72665711e+01] [-7.57678220e-03 2.70782611e-04 9.99971259e-01 -3.87028928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.280371743 meters Centerline goodness [0,1] 0.9892948467906211 Centerline is valid? [True, True] Translation: X:280.35, Y:-17.27, Z:-3.87 [[ 9.99524369e-01 2.98965199e-02 7.56530042e-03 2.80348365e+02] [-2.98936121e-02 9.99552962e-01 -4.97172713e-04 -1.72683683e+01] [-7.57678218e-03 2.70782087e-04 9.99971259e-01 -3.87068169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.310371743 meters Centerline goodness [0,1] 0.987417615338526 Centerline is valid? [True, True] Translation: X:280.38, Y:-17.28, Z:-3.87 [[ 9.99552393e-01 2.87095905e-02 8.41267442e-03 2.80375876e+02] [-2.87059575e-02 9.99587747e-01 -5.52296591e-04 -1.72776550e+01] [-8.42506247e-03 3.10555505e-04 9.99964460e-01 -3.87148115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.340371743 meters Centerline goodness [0,1] 0.9888208964905831 Centerline is valid? [True, True] Translation: X:280.40, Y:-17.28, Z:-3.87 [[ 9.99575650e-01 2.77877920e-02 8.73833358e-03 2.80404093e+02] [-2.77838453e-02 9.99613790e-01 -5.72744753e-04 -1.72796757e+01] [-8.75087406e-03 3.29717200e-04 9.99961656e-01 -3.87140731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.370371743 meters Centerline goodness [0,1] 0.9881849795883103 Centerline is valid? [True, True] Translation: X:280.43, Y:-17.29, Z:-3.87 [[ 9.99621067e-01 2.59756467e-02 9.10978431e-03 2.80432512e+02] [-2.59712933e-02 9.99662511e-01 -5.95874037e-04 -1.72884057e+01] [-9.12218808e-03 3.59055360e-04 9.99958328e-01 -3.87217107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.400371743 meters Centerline goodness [0,1] 0.9878491230329963 Centerline is valid? [True, True] Translation: X:280.46, Y:-17.29, Z:-3.87 [[ 9.99647841e-01 2.48286683e-02 9.36654744e-03 2.80459780e+02] [-2.48240193e-02 9.99691649e-01 -6.12295674e-04 -1.72942851e+01] [-9.37886174e-03 3.79564694e-04 9.99955945e-01 -3.87333634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.430371743 meters Centerline goodness [0,1] 0.9875532052108861 Centerline is valid? [True, True] Translation: X:280.49, Y:-17.30, Z:-3.87 [[ 9.99679704e-01 2.35925400e-02 9.15864411e-03 2.80489432e+02] [-2.35880528e-02 9.99721585e-01 -5.97663240e-04 -1.72993896e+01] [-9.17019460e-03 3.81437230e-04 9.99957880e-01 -3.87404178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.460371743 meters Centerline goodness [0,1] 0.9877655457125656 Centerline is valid? [True, True] Translation: X:280.52, Y:-17.31, Z:-3.88 [[ 9.99720703e-01 2.19174827e-02 8.83970635e-03 2.80517795e+02] [-2.19132391e-02 9.99759710e-01 -5.76640633e-04 -1.73070351e+01] [-8.85022077e-03 3.82772980e-04 9.99960763e-01 -3.87522362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.490371743 meters Centerline goodness [0,1] 0.9866257352625478 Centerline is valid? [True, True] Translation: X:280.55, Y:-17.31, Z:-3.88 [[ 9.99726402e-01 2.20055011e-02 7.92957808e-03 2.80545991e+02] [-2.20020910e-02 9.99757791e-01 -5.17031706e-04 -1.73107993e+01] [-7.93903501e-03 3.42422949e-04 9.99968427e-01 -3.87569353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.520371743 meters Centerline goodness [0,1] 0.9871010524514418 Centerline is valid? [True, True] Translation: X:280.58, Y:-17.31, Z:-3.88 [[ 9.99734938e-01 2.12984284e-02 8.74250616e-03 2.80575727e+02] [-2.12942641e-02 9.99773089e-01 -5.69150756e-04 -1.73129789e+01] [-8.75264441e-03 3.82834661e-04 9.99961622e-01 -3.87536398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.550371743 meters Centerline goodness [0,1] 0.9873320043727092 Centerline is valid? [True, True] Translation: X:280.60, Y:-17.32, Z:-3.88 [[ 9.99723920e-01 2.17952364e-02 8.77787557e-03 2.80603812e+02] [-2.17910595e-02 9.99762383e-01 -5.71223419e-04 -1.73202043e+01] [-8.78823975e-03 3.79786507e-04 9.99961311e-01 -3.87628653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.580371743 meters Centerline goodness [0,1] 0.9872457182053975 Centerline is valid? [True, True] Translation: X:280.63, Y:-17.32, Z:-3.88 [[ 9.99716102e-01 2.21766637e-02 8.71268942e-03 2.80632964e+02] [-2.21725647e-02 9.99753998e-01 -5.66786878e-04 -1.73227297e+01] [-8.72311552e-03 3.73443298e-04 9.99961883e-01 -3.87688398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61037174300003 meters Centerline goodness [0,1] 0.9869771028337653 Centerline is valid? [True, True] Translation: X:280.66, Y:-17.33, Z:-3.88 [[ 9.99693051e-01 2.32488381e-02 8.56130556e-03 2.80662463e+02] [-2.32449303e-02 9.99729646e-01 -5.55680250e-04 -1.73260314e+01] [-8.57190989e-03 3.56502733e-04 9.99963197e-01 -3.87830180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.640371743 meters Centerline goodness [0,1] 0.9874986689383453 Centerline is valid? [True, True] Translation: X:280.69, Y:-17.33, Z:-3.88 [[ 9.99691536e-01 2.34894218e-02 8.06718993e-03 2.80690445e+02] [-2.34859596e-02 9.99724030e-01 -5.23651483e-04 -1.73299940e+01] [-8.07726389e-03 3.34024259e-04 9.99967323e-01 -3.87948330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67037174300003 meters Centerline goodness [0,1] 0.9882486407808554 Centerline is valid? [True, True] Translation: X:280.72, Y:-17.33, Z:-3.88 [[ 9.99684756e-01 2.39753441e-02 7.45464240e-03 2.80719893e+02] [-2.39724059e-02 9.99712504e-01 -4.83252277e-04 -1.73280133e+01] [-7.46408535e-03 3.04394221e-04 9.99972097e-01 -3.87991182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.700371743 meters Centerline goodness [0,1] 0.9882526956633583 Centerline is valid? [True, True] Translation: X:280.75, Y:-17.33, Z:-3.88 [[ 9.99686204e-01 2.39298973e-02 7.40627155e-03 2.80748456e+02] [-2.39269998e-02 9.99713593e-01 -4.79604773e-04 -1.73284398e+01] [-7.41562724e-03 3.02244417e-04 9.99972458e-01 -3.87997538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.730371743 meters Centerline goodness [0,1] 0.9882609532362563 Centerline is valid? [True, True] Translation: X:280.78, Y:-17.33, Z:-3.88 [[ 9.99685932e-01 2.40101534e-02 7.17978239e-03 2.80775957e+02] [-2.40074348e-02 9.99711672e-01 -4.64609743e-04 -1.73329676e+01] [-7.18886761e-03 2.92095666e-04 9.99974117e-01 -3.88092467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.760371743 meters Centerline goodness [0,1] 0.988215416203268 Centerline is valid? [True, True] Translation: X:280.80, Y:-17.34, Z:-3.88 [[ 9.99693316e-01 2.38272303e-02 6.74815053e-03 2.80803980e+02] [-2.38248288e-02 9.99716053e-01 -4.36040427e-04 -1.73368342e+01] [-6.75662405e-03 2.75133169e-04 9.99977136e-01 -3.88172670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.790371743 meters Centerline goodness [0,1] 0.9890825020336516 Centerline is valid? [True, True] Translation: X:280.83, Y:-17.34, Z:-3.88 [[ 9.99694355e-01 2.36224570e-02 7.29216027e-03 2.80833138e+02] [-2.36196535e-02 9.99720906e-01 -4.70347527e-04 -1.73370261e+01] [-7.30123584e-03 2.97965469e-04 9.99973301e-01 -3.88144825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.820371743 meters Centerline goodness [0,1] 0.9876635434230465 Centerline is valid? [True, True] Translation: X:280.86, Y:-17.34, Z:-3.88 [[ 9.99705373e-01 2.30131059e-02 7.71783950e-03 2.80860645e+02] [-2.30099514e-02 9.99735112e-01 -4.97288854e-04 -1.73418507e+01] [-7.72723930e-03 3.19555228e-04 9.99970093e-01 -3.88147863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.850371743 meters Centerline goodness [0,1] 0.9878611728500598 Centerline is valid? [True, True] Translation: X:280.89, Y:-17.34, Z:-3.88 [[ 9.99711199e-01 2.26243512e-02 8.10296661e-03 2.80889261e+02] [-2.26208686e-02 9.99743980e-01 -5.21204322e-04 -1.73430785e+01] [-8.11268399e-03 3.37757655e-04 9.99967035e-01 -3.88130079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880371743 meters Centerline goodness [0,1] 0.9879171461449943 Centerline is valid? [True, True] Translation: X:280.92, Y:-17.35, Z:-3.88 [[ 9.99717078e-01 2.21454649e-02 8.67998680e-03 2.80916744e+02] [-2.21414558e-02 9.99754692e-01 -5.57713372e-04 -1.73467444e+01] [-8.69020835e-03 3.65368038e-04 9.99962173e-01 -3.88068290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.910371743 meters Centerline goodness [0,1] 0.9880093876680179 Centerline is valid? [True, True] Translation: X:280.95, Y:-17.35, Z:-3.88 [[ 9.99724787e-01 2.18108104e-02 8.63932485e-03 2.80945367e+02] [-2.18068338e-02 9.99762049e-01 -5.54239295e-04 -1.73502232e+01] [-8.64935752e-03 3.65690441e-04 9.99962527e-01 -3.88088824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940371743 meters Centerline goodness [0,1] 0.9879435802232038 Centerline is valid? [True, True] Translation: X:280.97, Y:-17.35, Z:-3.88 [[ 9.99735308e-01 2.15757245e-02 7.98756272e-03 2.80973682e+02] [-2.15723216e-02 9.99767159e-01 -5.11940662e-04 -1.73522144e+01] [-7.99674838e-03 3.39494884e-04 9.99967968e-01 -3.88172133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.970371743 meters Centerline goodness [0,1] 0.987869355732742 Centerline is valid? [True, True] Translation: X:281.00, Y:-17.36, Z:-3.88 [[ 9.99743378e-01 2.16445366e-02 6.68515323e-03 2.81001838e+02] [-2.16421575e-02 9.99765689e-01 -4.28021852e-04 -1.73568489e+01] [-6.69285117e-03 2.83230873e-04 9.99977563e-01 -3.88309550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000371743 meters Centerline goodness [0,1] 0.9884635888687493 Centerline is valid? [True, True] Translation: X:281.03, Y:-17.35, Z:-3.88 [[ 9.99746220e-01 2.16795494e-02 6.12307472e-03 2.81030487e+02] [-2.16775549e-02 9.99764937e-01 -3.91926915e-04 -1.73546184e+01] [-6.13013221e-03 2.59094164e-04 9.99981177e-01 -3.88265541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.030371743 meters Centerline goodness [0,1] 0.988220257748429 Centerline is valid? [True, True] Translation: X:281.06, Y:-17.36, Z:-3.88 [[ 9.99727705e-01 2.25010795e-02 6.18207099e-03 2.81059126e+02] [-2.24990649e-02 9.99746786e-01 -3.95239652e-04 -1.73567688e+01] [-6.18939892e-03 2.56041213e-04 9.99980813e-01 -3.88250177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060371743 meters Centerline goodness [0,1] 0.9887705215516321 Centerline is valid? [True, True] Translation: X:281.09, Y:-17.36, Z:-3.88 [[ 9.99717854e-01 2.26184490e-02 7.25381846e-03 2.81088407e+02] [-2.26156843e-02 9.99744126e-01 -4.62938697e-04 -1.73580507e+01] [-7.26243335e-03 2.98758013e-04 9.99973584e-01 -3.88220548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.090371743 meters Centerline goodness [0,1] 0.9875167756641032 Centerline is valid? [True, True] Translation: X:281.12, Y:-17.36, Z:-3.88 [[ 9.99666089e-01 2.46279528e-02 7.82141662e-03 2.81116712e+02] [-2.46248030e-02 9.99696639e-01 -4.98784340e-04 -1.73601011e+01] [-7.83132795e-03 3.06016947e-04 9.99969288e-01 -3.88271850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120371743 meters Centerline goodness [0,1] 0.9877609330689354 Centerline is valid? [True, True] Translation: X:281.15, Y:-17.36, Z:-3.88 [[ 9.99641917e-01 2.55117472e-02 8.07396644e-03 2.81145210e+02] [-2.55084252e-02 9.99674475e-01 -5.14168821e-04 -1.73621648e+01] [-8.08445551e-03 3.08030536e-04 9.99967273e-01 -3.88295333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.150371743 meters Centerline goodness [0,1] 0.9882177796682263 Centerline is valid? [True, True] Translation: X:281.17, Y:-17.36, Z:-3.88 [[ 9.99605026e-01 2.70231612e-02 7.71632466e-03 2.81174142e+02] [-2.70201740e-02 9.99634768e-01 -4.91137220e-04 -1.73605592e+01] [-7.72677849e-03 2.82446798e-04 9.99970108e-01 -3.88317806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180371743 meters Centerline goodness [0,1] 0.9890587083315594 Centerline is valid? [True, True] Translation: X:281.20, Y:-17.36, Z:-3.88 [[ 9.99609397e-01 2.68297512e-02 7.82417855e-03 2.81203134e+02] [-2.68266784e-02 9.99639976e-01 -4.97434219e-04 -1.73602723e+01] [-7.83470769e-03 2.87343198e-04 9.99969267e-01 -3.88363472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.210371743 meters Centerline goodness [0,1] 0.9870949969273802 Centerline is valid? [True, True] Translation: X:281.23, Y:-17.37, Z:-3.88 [[ 9.99630595e-01 2.60175961e-02 7.85867067e-03 2.81230240e+02] [-2.60144749e-02 9.99661442e-01 -4.99145541e-04 -1.73662442e+01] [-7.86899662e-03 2.94521964e-04 9.99968996e-01 -3.88437122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240371743 meters Centerline goodness [0,1] 0.9886950215434495 Centerline is valid? [True, True] Translation: X:281.26, Y:-17.37, Z:-3.88 [[ 9.99726838e-01 2.20878922e-02 7.64025613e-03 2.81260005e+02] [-2.20848352e-02 9.99755983e-01 -4.84261133e-04 -1.73685788e+01] [-7.64908809e-03 3.15395054e-04 9.99970696e-01 -3.88364768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.270371743 meters Centerline goodness [0,1] 0.9873406930650868 Centerline is valid? [True, True] Translation: X:281.29, Y:-17.37, Z:-3.88 [[ 9.99781331e-01 1.93761601e-02 7.86477374e-03 2.81288366e+02] [-1.93728386e-02 9.99812205e-01 -4.98298366e-04 -1.73744070e+01] [-7.87295188e-03 3.45826411e-04 9.99968948e-01 -3.88406091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300371743 meters Centerline goodness [0,1] 0.9870502679254912 Centerline is valid? [True, True] Translation: X:281.32, Y:-17.38, Z:-3.88 [[ 9.99866104e-01 1.39011605e-02 8.63317788e-03 2.81318451e+02] [-1.38969612e-02 9.99903283e-01 -5.46213833e-04 -1.73819329e+01] [-8.63993591e-03 4.26165759e-04 9.99962584e-01 -3.88422222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.330371743 meters Centerline goodness [0,1] 0.986753699608777 Centerline is valid? [True, True] Translation: X:281.35, Y:-17.39, Z:-3.88 [[ 9.99901610e-01 1.09162923e-02 8.80932698e-03 2.81348386e+02] [-1.09118064e-02 9.99940309e-01 -5.57121517e-04 -1.73877363e+01] [-8.81488285e-03 4.60941032e-04 9.99961042e-01 -3.88477838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36037174300003 meters Centerline goodness [0,1] 0.985992678953048 Centerline is valid? [True, True] Translation: X:281.38, Y:-17.39, Z:-3.89 [[ 9.99927473e-01 8.38510626e-03 8.64514690e-03 2.81378458e+02] [-8.38069042e-03 9.99964732e-01 -5.46889374e-04 -1.73945051e+01] [-8.64942772e-03 4.74397410e-04 9.99962480e-01 -3.88558202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.390371743 meters Centerline goodness [0,1] 0.9857528080344821 Centerline is valid? [True, True] Translation: X:281.41, Y:-17.40, Z:-3.89 [[ 9.99963408e-01 3.04837222e-03 7.99317597e-03 2.81408875e+02] [-3.04442573e-03 9.99995238e-01 -5.05853693e-04 -1.73956864e+01] [-7.99467994e-03 4.81500552e-04 9.99967926e-01 -3.88652498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42037174300003 meters Centerline goodness [0,1] 0.9854340071343638 Centerline is valid? [True, True] Translation: X:281.44, Y:-17.40, Z:-3.89 [[ 9.99975383e-01 -5.27352647e-04 6.99680728e-03 2.81439237e+02] [ 5.30463163e-04 9.99999761e-01 -4.42713841e-04 -1.74011781e+01] [-6.99657214e-03 4.46414492e-04 9.99975424e-01 -3.88810607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.450371743 meters Centerline goodness [0,1] 0.9855075538957732 Centerline is valid? [True, True] Translation: X:281.47, Y:-17.41, Z:-3.89 [[ 9.99976890e-01 -1.19801640e-03 6.69208123e-03 2.81470009e+02] [ 1.20086715e-03 9.99999190e-01 -4.21987112e-04 -1.74061359e+01] [-6.69157027e-03 4.30013660e-04 9.99977519e-01 -3.88906846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.480371743 meters Centerline goodness [0,1] 0.9842946402006205 Centerline is valid? [True, True] Translation: X:281.50, Y:-17.41, Z:-3.89 [[ 9.99978973e-01 -1.70007538e-03 6.25808189e-03 2.81502340e+02] [ 1.70259382e-03 9.99998472e-01 -3.97124434e-04 -1.74086355e+01] [-6.25739719e-03 4.07771056e-04 9.99980339e-01 -3.88974796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.510371743 meters Centerline goodness [0,1] 0.985125760735413 Centerline is valid? [True, True] Translation: X:281.53, Y:-17.41, Z:-3.89 [[ 9.99982464e-01 -1.52722130e-03 5.72175676e-03 2.81534779e+02] [ 1.52932555e-03 9.99998765e-01 -3.63406141e-04 -1.74071778e+01] [-5.72119469e-03 3.72150197e-04 9.99983565e-01 -3.88927683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.540371743 meters Centerline goodness [0,1] 0.9857443327880346 Centerline is valid? [True, True] Translation: X:281.57, Y:-17.41, Z:-3.89 [[ 9.99982053e-01 -1.37337061e-03 5.83164621e-03 2.81567003e+02] [ 1.37555647e-03 9.99998985e-01 -3.70833193e-04 -1.74080098e+01] [-5.83113100e-03 3.78848297e-04 9.99982927e-01 -3.88964232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.570371743 meters Centerline goodness [0,1] 0.9850061589432103 Centerline is valid? [True, True] Translation: X:281.60, Y:-17.41, Z:-3.89 [[ 9.99979469e-01 -7.68056106e-04 6.36171682e-03 2.81597981e+02] [ 7.70649699e-04 9.99999621e-01 -4.05246217e-04 -1.74115199e+01] [-6.36140315e-03 4.10140552e-04 9.99979682e-01 -3.88947697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.600371743 meters Centerline goodness [0,1] 0.9849124152921621 Centerline is valid? [True, True] Translation: X:281.63, Y:-17.41, Z:-3.89 [[ 9.99973737e-01 -6.09432141e-04 7.22174853e-03 2.81629947e+02] [ 6.12773055e-04 9.99999706e-01 -4.60414703e-04 -1.74121400e+01] [-7.22146582e-03 4.64827905e-04 9.99973817e-01 -3.88946127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.630371743 meters Centerline goodness [0,1] 0.9843986122640104 Centerline is valid? [True, True] Translation: X:281.66, Y:-17.41, Z:-3.89 [[ 9.99972641e-01 -4.29521660e-06 7.39706175e-03 2.81661929e+02] [ 7.78801075e-06 9.99999889e-01 -4.72157956e-04 -1.74132378e+01] [-7.39705890e-03 4.72202647e-04 9.99972530e-01 -3.88912202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.660371743 meters Centerline goodness [0,1] 0.984398580143261 Centerline is valid? [True, True] Translation: X:281.69, Y:-17.41, Z:-3.89 [[ 9.99968886e-01 -1.91556037e-04 7.88607670e-03 2.81693641e+02] [ 1.95529218e-04 9.99999854e-01 -5.03054410e-04 -1.74148561e+01] [-7.88597919e-03 5.04580717e-04 9.99968778e-01 -3.88919619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.690371743 meters Centerline goodness [0,1] 0.9847095448865922 Centerline is valid? [True, True] Translation: X:281.73, Y:-17.42, Z:-3.89 [[ 9.99971653e-01 5.09812594e-05 7.52928188e-03 2.81726138e+02] [-4.73464813e-05 9.99999882e-01 -4.82929754e-04 -1.74162722e+01] [-7.52930562e-03 4.82559579e-04 9.99971538e-01 -3.89001863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.720371743 meters Centerline goodness [0,1] 0.9851922872057101 Centerline is valid? [True, True] Translation: X:281.76, Y:-17.42, Z:-3.89 [[ 9.99981020e-01 -4.68561734e-05 6.16097760e-03 2.81757856e+02] [ 4.92933601e-05 9.99999921e-01 -3.95433150e-04 -1.74180004e+01] [-6.16095858e-03 3.95729340e-04 9.99980943e-01 -3.89132534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.750371743 meters Centerline goodness [0,1] 0.9852878555612332 Centerline is valid? [True, True] Translation: X:281.79, Y:-17.42, Z:-3.89 [[ 9.99985784e-01 5.24332941e-05 5.33188857e-03 2.81789908e+02] [-5.06080890e-05 9.99999940e-01 -3.42453023e-04 -1.74164753e+01] [-5.33190621e-03 3.42178318e-04 9.99985727e-01 -3.89222538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.780371743 meters Centerline goodness [0,1] 0.9858872686961713 Centerline is valid? [True, True] Translation: X:281.82, Y:-17.42, Z:-3.89 [[ 9.99989039e-01 -4.67756540e-05 4.68187321e-03 2.81821906e+02] [ 4.81773554e-05 9.99999954e-01 -2.99276687e-04 -1.74183374e+01] [-4.68185900e-03 2.99498967e-04 9.99988995e-01 -3.89303095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.810371743 meters Centerline goodness [0,1] 0.9855474079126876 Centerline is valid? [True, True] Translation: X:281.85, Y:-17.42, Z:-3.89 [[ 9.99990948e-01 -7.79164763e-05 4.25419780e-03 2.81854042e+02] [ 7.90846671e-05 9.99999959e-01 -2.74429669e-04 -1.74197736e+01] [-4.25417624e-03 2.74763627e-04 9.99990913e-01 -3.89376751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.840371743 meters Centerline goodness [0,1] 0.9854510597507722 Centerline is valid? [True, True] Translation: X:281.89, Y:-17.42, Z:-3.89 [[ 9.99992427e-01 1.09729959e-04 3.89015450e-03 2.81885867e+02] [-1.08753772e-04 9.99999963e-01 -2.51148495e-04 -1.74218360e+01] [-3.89018192e-03 2.50723524e-04 9.99992402e-01 -3.89473833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.870371743 meters Centerline goodness [0,1] 0.9856728018106504 Centerline is valid? [True, True] Translation: X:281.92, Y:-17.42, Z:-3.90 [[ 9.99993581e-01 6.99934694e-04 3.51406206e-03 2.81917017e+02] [-6.99140546e-04 9.99999730e-01 -2.27214762e-04 -1.74242076e+01] [-3.51422015e-03 2.24756480e-04 9.99993800e-01 -3.89573282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.900371743 meters Centerline goodness [0,1] 0.9862390222013291 Centerline is valid? [True, True] Translation: X:281.95, Y:-17.42, Z:-3.90 [[ 9.99994342e-01 9.99467921e-04 3.21205175e-03 2.81948762e+02] [-9.98805016e-04 9.99999480e-01 -2.07978135e-04 -1.74211481e+01] [-3.21225795e-03 2.04768745e-04 9.99994820e-01 -3.89547328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.930371743 meters Centerline goodness [0,1] 0.9865338577291382 Centerline is valid? [True, True] Translation: X:281.98, Y:-17.42, Z:-3.90 [[ 9.99992519e-01 2.77066485e-03 2.69910296e-03 2.81978711e+02] [-2.77020259e-03 9.99996148e-01 -1.74988209e-04 -1.74236912e+01] [-2.69957739e-03 1.67509838e-04 9.99996342e-01 -3.89686970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.960371743 meters Centerline goodness [0,1] 0.9860492981855529 Centerline is valid? [True, True] Translation: X:282.01, Y:-17.43, Z:-3.90 [[ 9.99990203e-01 3.76824672e-03 2.32265600e-03 2.82008926e+02] [-3.76790859e-03 9.99992890e-01 -1.49938063e-04 -1.74257170e+01] [-2.32320449e-03 1.41185038e-04 9.99997291e-01 -3.89762389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.990371743 meters Centerline goodness [0,1] 0.985172981878089 Centerline is valid? [True, True] Translation: X:282.04, Y:-17.43, Z:-3.90 [[ 9.99985726e-01 4.90006304e-03 2.13003162e-03 2.82039876e+02] [-4.89977964e-03 9.99987986e-01 -1.38248790e-04 -1.74261811e+01] [-2.13068346e-03 1.27810131e-04 9.99997722e-01 -3.89819988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.020371743 meters Centerline goodness [0,1] 0.9861304338520152 Centerline is valid? [True, True] Translation: X:282.07, Y:-17.42, Z:-3.90 [[ 9.99967811e-01 7.41306919e-03 3.06983952e-03 2.82070209e+02] [-7.41249069e-03 9.99972507e-01 -1.99778294e-04 -1.74235892e+01] [-3.07123609e-03 1.77016707e-04 9.99995268e-01 -3.89757720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.050371743 meters Centerline goodness [0,1] 0.985433669644196 Centerline is valid? [True, True] Translation: X:282.10, Y:-17.43, Z:-3.90 [[ 9.99956165e-01 8.84397124e-03 3.07460343e-03 2.82099645e+02] [-8.84339968e-03 9.99960876e-01 -1.99442240e-04 -1.74251217e+01] [-3.07624700e-03 1.72243550e-04 9.99995254e-01 -3.89762662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.080371743 meters Centerline goodness [0,1] 0.9832189931395884 Centerline is valid? [True, True] Translation: X:282.13, Y:-17.44, Z:-3.90 [[ 9.99881748e-01 1.44425578e-02 5.28232602e-03 2.82128216e+02] [-1.44409430e-02 9.99895665e-01 -3.43717911e-04 -1.74364525e+01] [-5.28673905e-03 2.67395497e-04 9.99985989e-01 -3.89905909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11037174300003 meters Centerline goodness [0,1] 0.985560340210382 Centerline is valid? [True, True] Translation: X:282.16, Y:-17.42, Z:-3.90 [[ 9.99896306e-01 1.39568010e-02 3.54764332e-03 2.82159327e+02] [-1.39560690e-02 9.99902583e-01 -2.31002570e-04 -1.74208669e+01] [-3.55052177e-03 1.81467461e-04 9.99993680e-01 -3.89667076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.140371743 meters Centerline goodness [0,1] 0.9864713966672393 Centerline is valid? [True, True] Translation: X:282.19, Y:-17.41, Z:-3.90 [[ 9.99874791e-01 1.54568586e-02 3.38933820e-03 2.82188386e+02] [-1.54561981e-02 9.99880521e-01 -2.20995542e-04 -1.74140647e+01] [-3.39234915e-03 1.68581589e-04 9.99994232e-01 -3.89558131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17037174300003 meters Centerline goodness [0,1] 0.9874087944727836 Centerline is valid? [True, True] Translation: X:282.22, Y:-17.41, Z:-3.90 [[ 9.99849729e-01 1.70939653e-02 2.88358912e-03 2.82217726e+02] [-1.70934942e-02 9.99853878e-01 -1.87969077e-04 -1.74102197e+01] [-2.88638090e-03 1.38650217e-04 9.99995825e-01 -3.89589163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.200371743 meters Centerline goodness [0,1] 0.9874087944727836 Centerline is valid? [True, True] Translation: X:282.25, Y:-17.41, Z:-3.90 [[ 9.99850954e-01 1.70221856e-02 2.88360257e-03 2.82246012e+02] [-1.70217147e-02 9.99855102e-01 -1.87762061e-04 -1.74119939e+01] [-2.88638087e-03 1.38650216e-04 9.99995825e-01 -3.89628424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.230371743 meters Centerline goodness [0,1] 0.9864646421104812 Centerline is valid? [True, True] Translation: X:282.27, Y:-17.41, Z:-3.90 [[ 9.99850297e-01 1.70734394e-02 2.80721393e-03 2.82273529e+02] [-1.70729933e-02 9.99854229e-01 -1.82802857e-04 -1.74118068e+01] [-2.80992579e-03 1.34847946e-04 9.99996043e-01 -3.89715508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.260371743 meters Centerline goodness [0,1] 0.9880649199292096 Centerline is valid? [True, True] Translation: X:282.30, Y:-17.41, Z:-3.90 [[ 9.99853059e-01 1.68895318e-02 2.93318245e-03 2.82302267e+02] [-1.68890454e-02 9.99857352e-01 -1.90498770e-04 -1.74113653e+01] [-2.93598147e-03 1.40932126e-04 9.99995680e-01 -3.89718355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.290371743 meters Centerline goodness [0,1] 0.9873630277066155 Centerline is valid? [True, True] Translation: X:282.33, Y:-17.41, Z:-3.90 [[ 9.99864024e-01 1.62541566e-02 2.78126984e-03 2.82330067e+02] [-1.62537168e-02 9.99867883e-01 -1.80673938e-04 -1.74143848e+01] [-2.78383909e-03 1.35443399e-04 9.99996116e-01 -3.89815974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.320371743 meters Centerline goodness [0,1] 0.9874336053892991 Centerline is valid? [True, True] Translation: X:282.36, Y:-17.41, Z:-3.90 [[ 9.99883538e-01 1.49198008e-02 3.21078318e-03 2.82358687e+02] [-1.49192099e-02 9.99888681e-01 -2.07895448e-04 -1.74144840e+01] [-3.21352752e-03 1.59968888e-04 9.99994824e-01 -3.89815292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.350371743 meters Centerline goodness [0,1] 0.9885425223745082 Centerline is valid? [True, True] Translation: X:282.39, Y:-17.41, Z:-3.90 [[ 9.99898853e-01 1.38556574e-02 3.20999430e-03 2.82387969e+02] [-1.38550626e-02 9.99903992e-01 -2.07454397e-04 -1.74129343e+01] [-3.21256054e-03 1.62958742e-04 9.99994826e-01 -3.89799742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380371743 meters Centerline goodness [0,1] 0.9874414690460264 Centerline is valid? [True, True] Translation: X:282.42, Y:-17.41, Z:-3.90 [[ 9.99931135e-01 1.14734929e-02 2.46662514e-03 2.82416423e+02] [-1.14731343e-02 9.99934169e-01 -1.59500290e-04 -1.74149570e+01] [-2.46829278e-03 1.31189384e-04 9.99996945e-01 -3.89868946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.410371743 meters Centerline goodness [0,1] 0.9878201799930771 Centerline is valid? [True, True] Translation: X:282.45, Y:-17.42, Z:-3.90 [[ 9.99946157e-01 1.01658007e-02 2.08336288e-03 2.82446114e+02] [-1.01655426e-02 9.99948320e-01 -1.34453525e-04 -1.74163569e+01] [-2.08462204e-03 1.13267772e-04 9.99997821e-01 -3.89926636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440371743 meters Centerline goodness [0,1] 0.987405868605557 Centerline is valid? [True, True] Translation: X:282.48, Y:-17.42, Z:-3.90 [[ 9.99956101e-01 9.17908292e-03 1.88177673e-03 2.82475319e+02] [-9.17887020e-03 9.99957866e-01 -1.21642582e-04 -1.74179242e+01] [-1.88281401e-03 1.04364658e-04 9.99998222e-01 -3.89953492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.470371743 meters Centerline goodness [0,1] 0.9866201909545563 Centerline is valid? [True, True] Translation: X:282.51, Y:-17.42, Z:-3.90 [[ 9.99977748e-01 6.48159488e-03 1.57900479e-03 2.82505132e+02] [-6.48144241e-03 9.99978990e-01 -1.01661701e-04 -1.74208876e+01] [-1.57963054e-03 9.14252098e-05 9.99998748e-01 -3.89922890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500371743 meters Centerline goodness [0,1] 0.9877501463478091 Centerline is valid? [True, True] Translation: X:282.53, Y:-17.42, Z:-3.90 [[ 9.99986140e-01 4.95278126e-03 1.78623109e-03 2.82534855e+02] [-4.95258344e-03 9.99987729e-01 -1.15154346e-04 -1.74234686e+01] [-1.78677950e-03 1.06306292e-04 9.99998398e-01 -3.89930699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.530371743 meters Centerline goodness [0,1] 0.9864306273941178 Centerline is valid? [True, True] Translation: X:282.56, Y:-17.43, Z:-3.90 [[ 9.99995132e-01 2.20053232e-03 2.21235762e-03 2.82564206e+02] [-2.20022304e-03 9.99997569e-01 -1.42218451e-04 -1.74291195e+01] [-2.21266520e-03 1.37350078e-04 9.99997543e-01 -3.89964506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560371743 meters Centerline goodness [0,1] 0.986122837782252 Centerline is valid? [True, True] Translation: X:282.59, Y:-17.43, Z:-3.90 [[ 9.99998016e-01 7.74481317e-04 1.83541338e-03 2.82594842e+02] [-7.74266435e-04 9.99999693e-01 -1.17782912e-04 -1.74314288e+01] [-1.83550404e-03 1.16361579e-04 9.99998309e-01 -3.89999275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.590371743 meters Centerline goodness [0,1] 0.9867258553486358 Centerline is valid? [True, True] Translation: X:282.63, Y:-17.43, Z:-3.90 [[ 9.99997888e-01 -4.78524901e-04 1.99885123e-03 2.82626470e+02] [ 4.78781412e-04 9.99999877e-01 -1.27852954e-04 -1.74337622e+01] [-1.99878981e-03 1.28809697e-04 9.99997994e-01 -3.90041380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620371743 meters Centerline goodness [0,1] 0.9866816813565195 Centerline is valid? [True, True] Translation: X:282.66, Y:-17.44, Z:-3.90 [[ 9.99997723e-01 -1.80173158e-03 1.14385372e-03 2.82656764e+02] [ 1.80181651e-03 9.99998374e-01 -7.32218734e-05 -1.74378378e+01] [-1.14371994e-03 7.52827211e-05 9.99999343e-01 -3.90126726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.650371743 meters Centerline goodness [0,1] 0.9857849733061331 Centerline is valid? [True, True] Translation: X:282.69, Y:-17.44, Z:-3.90 [[ 9.99997941e-01 -1.93975818e-03 5.95890923e-04 2.82687755e+02] [ 1.93978106e-03 9.99998118e-01 -3.78131851e-05 -1.74400702e+01] [-5.95816453e-04 3.89690052e-05 9.99999822e-01 -3.90225288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680371743 meters Centerline goodness [0,1] 0.98644163394581 Centerline is valid? [True, True] Translation: X:282.72, Y:-17.44, Z:-3.90 [[ 9.99998860e-01 -1.19993273e-03 -9.16373664e-04 2.82719302e+02] [ 1.19998765e-03 9.99999278e-01 5.93941126e-05 -1.74414323e+01] [ 9.16301734e-04 -6.04936820e-05 9.99999578e-01 -3.90359989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.710371743 meters Centerline goodness [0,1] 0.986509055416983 Centerline is valid? [True, True] Translation: X:282.75, Y:-17.44, Z:-3.90 [[ 9.99999193e-01 -9.06014039e-04 -8.90553067e-04 2.82748959e+02] [ 9.06065163e-04 9.99999588e-01 5.70060418e-05 -1.74440569e+01] [ 8.90501052e-04 -5.78128949e-05 9.99999602e-01 -3.90448610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740371743 meters Centerline goodness [0,1] 0.986037334952193 Centerline is valid? [True, True] Translation: X:282.78, Y:-17.45, Z:-3.90 [[ 9.99999762e-01 -2.19491800e-04 -6.53986427e-04 2.82779126e+02] [ 2.19519338e-04 9.99999975e-01 4.20365487e-05 -1.74454682e+01] [ 6.53977184e-04 -4.21801013e-05 9.99999785e-01 -3.90484028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.770371743 meters Centerline goodness [0,1] 0.9865362934697771 Centerline is valid? [True, True] Translation: X:282.81, Y:-17.44, Z:-3.90 [[ 9.99998423e-01 1.69601332e-03 -5.26061257e-04 2.82809981e+02] [-1.69599577e-03 9.99998561e-01 3.38138510e-05 -1.74391299e+01] [ 5.26117849e-04 -3.29216001e-05 9.99999861e-01 -3.90309780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800371743 meters Centerline goodness [0,1] 0.9872711080218085 Centerline is valid? [True, True] Translation: X:282.84, Y:-17.44, Z:-3.90 [[ 9.99995069e-01 3.11408725e-03 -4.04915892e-04 2.82839253e+02] [-3.11407684e-03 9.99995151e-01 2.63316872e-05 -1.74405335e+01] [ 4.04995927e-04 -2.50706182e-05 9.99999918e-01 -3.90313683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.830371743 meters Centerline goodness [0,1] 0.9870386452453321 Centerline is valid? [True, True] Translation: X:282.87, Y:-17.44, Z:-3.90 [[ 9.99980950e-01 6.13755440e-03 6.56114437e-04 2.82869819e+02] [-6.13752788e-03 9.99981164e-01 -4.24231350e-05 -1.74362418e+01] [-6.56362453e-04 3.83954062e-05 9.99999784e-01 -3.90198080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86037174300003 meters Centerline goodness [0,1] 0.9865236702415773 Centerline is valid? [True, True] Translation: X:282.90, Y:-17.44, Z:-3.90 [[ 9.99970846e-01 7.52625444e-03 1.28962248e-03 2.82898233e+02] [-7.52615291e-03 9.99971675e-01 -8.35654376e-05 -1.74401828e+01] [-1.29021489e-03 7.38571053e-05 9.99999165e-01 -3.90298529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.890371743 meters Centerline goodness [0,1] 0.9875887296955973 Centerline is valid? [True, True] Translation: X:282.93, Y:-17.44, Z:-3.90 [[ 9.99964537e-01 8.32013956e-03 1.30389749e-03 2.82928418e+02] [-8.32003683e-03 9.99965384e-01 -8.41933723e-05 -1.74377266e+01] [-1.30455285e-03 7.33419115e-05 9.99999146e-01 -3.90270259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92037174300003 meters Centerline goodness [0,1] 0.9879215994069811 Centerline is valid? [True, True] Translation: X:282.96, Y:-17.44, Z:-3.90 [[ 9.99955153e-01 9.39933258e-03 1.15937602e-03 2.82957164e+02] [-9.39925220e-03 9.99955823e-01 -7.47615116e-05 -1.74383454e+01] [-1.16002751e-03 6.38608911e-05 9.99999325e-01 -3.90375624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.950371743 meters Centerline goodness [0,1] 0.9875438252651293 Centerline is valid? [True, True] Translation: X:282.99, Y:-17.44, Z:-3.90 [[ 9.99952944e-01 9.62586069e-03 1.20546557e-03 2.82985974e+02] [-9.62577335e-03 9.99953668e-01 -7.82368519e-05 -1.74399933e+01] [-1.20616282e-03 6.66296319e-05 9.99999270e-01 -3.90431447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.980371743 meters Centerline goodness [0,1] 0.9878702090592334 Centerline is valid? [True, True] Translation: X:283.01, Y:-17.44, Z:-3.90 [[ 9.99958690e-01 9.07762205e-03 4.64114890e-04 2.83014994e+02] [-9.07760878e-03 9.99958797e-01 -3.07002926e-05 -1.74400908e+01] [-4.64374453e-04 2.64859710e-05 9.99999892e-01 -3.90488233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.010371743 meters Centerline goodness [0,1] 0.9872421162821128 Centerline is valid? [True, True] Translation: X:283.04, Y:-17.44, Z:-3.91 [[ 9.99962741e-01 8.60976774e-03 6.22948697e-04 2.83043783e+02] [-8.60974397e-03 9.99962935e-01 -4.08249711e-05 -1.74416936e+01] [-6.23277100e-04 3.54600212e-05 9.99999805e-01 -3.90557562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.040371743 meters Centerline goodness [0,1] 0.9877599109811708 Centerline is valid? [True, True] Translation: X:283.07, Y:-17.45, Z:-3.91 [[ 9.99971183e-01 7.58949018e-03 -1.81991171e-04 2.83071926e+02] [-7.58948831e-03 9.99971199e-01 1.09678511e-05 -1.74468333e+01] [ 1.82069170e-04 -9.58631519e-06 9.99999983e-01 -3.90709804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.070371743 meters Centerline goodness [0,1] 0.98757980519905 Centerline is valid? [True, True] Translation: X:283.10, Y:-17.44, Z:-3.91 [[ 9.99975744e-01 6.94430918e-03 -5.35943144e-04 2.83100724e+02] [-6.94429237e-03 9.99975888e-01 3.32136914e-05 -1.74433732e+01] [ 5.36160867e-04 -2.94911399e-05 9.99999856e-01 -3.90632102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.100371743 meters Centerline goodness [0,1] 0.9881898358365351 Centerline is valid? [True, True] Translation: X:283.13, Y:-17.44, Z:-3.91 [[ 9.99978560e-01 6.52896629e-03 -5.03048910e-04 2.83129259e+02] [-6.52895148e-03 9.99978686e-01 3.10758479e-05 -1.74445452e+01] [ 5.03241081e-04 -2.77907997e-05 9.99999873e-01 -3.90638187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.130371743 meters Centerline goodness [0,1] 0.988095498132413 Centerline is valid? [True, True] Translation: X:283.16, Y:-17.45, Z:-3.91 [[ 9.99983810e-01 5.68312408e-03 2.85598585e-04 2.83157346e+02] [-5.68311876e-03 9.99983851e-01 -1.94213073e-05 -1.74470730e+01] [-2.85704347e-04 1.77979022e-05 9.99999959e-01 -3.90654765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.160371743 meters Centerline goodness [0,1] 0.9871466981441406 Centerline is valid? [True, True] Translation: X:283.19, Y:-17.45, Z:-3.91 [[ 9.99983551e-01 5.70625717e-03 5.79562932e-04 2.83187488e+02] [-5.70623646e-03 9.99983719e-01 -3.73864889e-05 -1.74464109e+01] [-5.79766833e-04 3.40787508e-05 9.99999831e-01 -3.90633190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.190371743 meters Centerline goodness [0,1] 0.9863955976765515 Centerline is valid? [True, True] Translation: X:283.22, Y:-17.45, Z:-3.91 [[ 9.99987796e-01 4.78114829e-03 1.24453978e-03 2.83216023e+02] [-4.78105268e-03 9.99988568e-01 -7.97932228e-05 -1.74496072e+01] [-1.24490706e-03 7.38420387e-05 9.99999222e-01 -3.90686623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.220371743 meters Centerline goodness [0,1] 0.9865641316933563 Centerline is valid? [True, True] Translation: X:283.24, Y:-17.46, Z:-3.91 [[ 9.99988680e-01 4.53596552e-03 1.43710112e-03 2.83244782e+02] [-4.53583854e-03 9.99989709e-01 -9.16004943e-05 -1.74550693e+01] [-1.43750183e-03 8.50809987e-05 9.99998963e-01 -3.90798628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.250371743 meters Centerline goodness [0,1] 0.9866075329896006 Centerline is valid? [True, True] Translation: X:283.27, Y:-17.46, Z:-3.91 [[ 9.99991536e-01 3.89696070e-03 1.31934959e-03 2.83274686e+02] [-3.89685361e-03 9.99992404e-01 -8.37288935e-05 -1.74576106e+01] [-1.31966586e-03 7.85868727e-05 9.99999126e-01 -3.90824804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.280371743 meters Centerline goodness [0,1] 0.986344996073641 Centerline is valid? [True, True] Translation: X:283.30, Y:-17.46, Z:-3.91 [[ 9.99994073e-01 3.21728280e-03 1.22613304e-03 2.83304819e+02] [-3.21718935e-03 9.99994822e-01 -7.81793121e-05 -1.74571335e+01] [-1.22637822e-03 7.42341466e-05 9.99999245e-01 -3.90860435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.310371743 meters Centerline goodness [0,1] 0.9861693759832197 Centerline is valid? [True, True] Translation: X:283.33, Y:-17.46, Z:-3.91 [[ 9.99995002e-01 2.80446447e-03 1.45976167e-03 2.83334315e+02] [-2.80433168e-03 9.99996064e-01 -9.30012607e-05 -1.74602993e+01] [-1.46001674e-03 8.89071400e-05 9.99998930e-01 -3.90887581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.340371743 meters Centerline goodness [0,1] 0.9856338151172438 Centerline is valid? [True, True] Translation: X:283.36, Y:-17.46, Z:-3.91 [[ 9.99994456e-01 2.46207535e-03 2.24204065e-03 2.83364980e+02] [-2.46176209e-03 9.99996960e-01 -1.42467082e-04 -1.74625818e+01] [-2.24238460e-03 1.36946922e-04 9.99997476e-01 -3.90888643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.370371743 meters Centerline goodness [0,1] 0.9867267280400603 Centerline is valid? [True, True] Translation: X:283.40, Y:-17.46, Z:-3.91 [[ 9.99995198e-01 1.93180248e-03 2.42314123e-03 2.83395723e+02] [-1.93143503e-03 9.99998123e-01 -1.53974844e-04 -1.74635719e+01] [-2.42343413e-03 1.49293965e-04 9.99997052e-01 -3.90890060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.400371743 meters Centerline goodness [0,1] 0.9858225746553946 Centerline is valid? [True, True] Translation: X:283.43, Y:-17.47, Z:-3.91 [[ 9.99996260e-01 1.38045910e-03 2.36083453e-03 2.83425993e+02] [-1.38010925e-03 9.99999036e-01 -1.49814729e-04 -1.74678080e+01] [-2.36103907e-03 1.46555959e-04 9.99997202e-01 -3.90927639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.430371743 meters Centerline goodness [0,1] 0.9873255079596681 Centerline is valid? [True, True] Translation: X:283.46, Y:-17.47, Z:-3.91 [[ 9.99996807e-01 7.67694129e-04 2.40746359e-03 2.83457433e+02] [-7.67328914e-04 9.99999694e-01 -1.52621281e-04 -1.74688563e+01] [-2.40758002e-03 1.50773477e-04 9.99997090e-01 -3.90969910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.460371743 meters Centerline goodness [0,1] 0.9860619565692315 Centerline is valid? [True, True] Translation: X:283.49, Y:-17.47, Z:-3.91 [[ 9.99996765e-01 2.17038730e-04 2.53447817e-03 2.83487876e+02] [-2.16634402e-04 9.99999964e-01 -1.59804477e-04 -1.74735971e+01] [-2.53451276e-03 1.59254905e-04 9.99996775e-01 -3.91066174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.490371743 meters Centerline goodness [0,1] 0.9866139668952264 Centerline is valid? [True, True] Translation: X:283.52, Y:-17.47, Z:-3.91 [[ 9.99996309e-01 3.65200155e-04 2.69238304e-03 2.83519521e+02] [-3.64740645e-04 9.99999919e-01 -1.71159311e-04 -1.74710039e+01] [-2.69244533e-03 1.70176658e-04 9.99996361e-01 -3.91017586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.520371743 meters Centerline goodness [0,1] 0.9862397344050323 Centerline is valid? [True, True] Translation: X:283.55, Y:-17.47, Z:-3.91 [[ 9.99996772e-01 6.27638743e-04 2.46226821e-03 2.83551059e+02] [-6.27255100e-04 9.99999791e-01 -1.56578172e-04 -1.74733093e+01] [-2.46236597e-03 1.55033196e-04 9.99996956e-01 -3.91097984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.550371743 meters Centerline goodness [0,1] 0.9874680139098484 Centerline is valid? [True, True] Translation: X:283.58, Y:-17.47, Z:-3.91 [[ 9.99996999e-01 9.76968008e-04 2.24645642e-03 2.83582048e+02] [-9.76649008e-04 9.99999513e-01 -1.43093991e-04 -1.74740184e+01] [-2.24659512e-03 1.40899563e-04 9.99997466e-01 -3.91145435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.580371743 meters Centerline goodness [0,1] 0.9872738423796381 Centerline is valid? [True, True] Translation: X:283.61, Y:-17.47, Z:-3.91 [[ 9.99996481e-01 1.36967250e-03 2.27217504e-03 2.83613848e+02] [-1.36934755e-03 9.99999052e-01 -1.44561425e-04 -1.74729163e+01] [-2.27237089e-03 1.41449519e-04 9.99997408e-01 -3.91161763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61037174300003 meters Centerline goodness [0,1] 0.9878797177048174 Centerline is valid? [True, True] Translation: X:283.64, Y:-17.48, Z:-3.91 [[ 9.99995865e-01 2.03606488e-03 2.03086746e-03 2.83644548e+02] [-2.03580661e-03 9.99997919e-01 -1.29233168e-04 -1.74761450e+01] [-2.03112636e-03 1.25098180e-04 9.99997929e-01 -3.91189218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.640371743 meters Centerline goodness [0,1] 0.9875810408270544 Centerline is valid? [True, True] Translation: X:283.67, Y:-17.48, Z:-3.91 [[ 9.99993792e-01 2.84071623e-03 2.08484089e-03 2.83674815e+02] [-2.84044642e-03 9.99995957e-01 -1.32362025e-04 -1.74775315e+01] [-2.08520846e-03 1.26439325e-04 9.99997818e-01 -3.91251974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67037174300003 meters Centerline goodness [0,1] 0.9876207795622357 Centerline is valid? [True, True] Translation: X:283.70, Y:-17.48, Z:-3.91 [[ 9.99992878e-01 2.94773023e-03 2.35707693e-03 2.83704771e+02] [-2.94738310e-03 9.99995645e-01 -1.50731752e-04 -1.74794416e+01] [-2.35751098e-03 1.43783469e-04 9.99997211e-01 -3.91350961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.700371743 meters Centerline goodness [0,1] 0.9884891456582633 Centerline is valid? [True, True] Translation: X:283.74, Y:-17.48, Z:-3.91 [[ 9.99990917e-01 3.34910818e-03 2.63610165e-03 2.83735846e+02] [-3.34867547e-03 9.99994379e-01 -1.68543748e-04 -1.74787148e+01] [-2.63665130e-03 1.59714768e-04 9.99996511e-01 -3.91300860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.730371743 meters Centerline goodness [0,1] 0.9880968038932001 Centerline is valid? [True, True] Translation: X:283.77, Y:-17.48, Z:-3.91 [[ 9.99978266e-01 5.02536164e-03 4.26764757e-03 2.83766918e+02] [-5.02424320e-03 9.99987341e-01 -2.72753502e-04 -1.74788178e+01] [-4.26896423e-03 2.51305875e-04 9.99990856e-01 -3.91231137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.760371743 meters Centerline goodness [0,1] 0.9876578331181478 Centerline is valid? [True, True] Translation: X:283.80, Y:-17.48, Z:-3.91 [[ 9.99967146e-01 6.61447828e-03 4.68562451e-03 2.83796994e+02] [-6.61314992e-03 9.99978088e-01 -2.98935377e-04 -1.74843079e+01] [-4.68749914e-03 2.67938819e-04 9.99988978e-01 -3.91295421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.790371743 meters Centerline goodness [0,1] 0.9889597536837476 Centerline is valid? [True, True] Translation: X:283.83, Y:-17.48, Z:-3.91 [[ 9.99934587e-01 1.01441237e-02 5.28373463e-03 2.83828350e+02] [-1.01424772e-02 9.99948507e-01 -3.38306021e-04 -1.74750486e+01] [-5.28689437e-03 2.84693733e-04 9.99985984e-01 -3.91128988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.820371743 meters Centerline goodness [0,1] 0.9883966244725738 Centerline is valid? [True, True] Translation: X:283.86, Y:-17.48, Z:-3.91 [[ 9.99911631e-01 1.22121793e-02 5.25288706e-03 2.83858241e+02] [-1.22105776e-02 9.99925391e-01 -3.36880141e-04 -1.74754382e+01] [-5.25660919e-03 2.72709586e-04 9.99986147e-01 -3.91172070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.850371743 meters Centerline goodness [0,1] 0.9892144802741412 Centerline is valid? [True, True] Translation: X:283.89, Y:-17.48, Z:-3.91 [[ 9.99887875e-01 1.40689916e-02 5.12849254e-03 2.83887322e+02] [-1.40674901e-02 9.99900994e-01 -3.28729989e-04 -1.74767275e+01] [-5.13260968e-03 2.56548112e-04 9.99986795e-01 -3.91192745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880371743 meters Centerline goodness [0,1] 0.9889789018419723 Centerline is valid? [True, True] Translation: X:283.92, Y:-17.48, Z:-3.91 [[ 9.99847812e-01 1.65962338e-02 5.37751560e-03 2.83917633e+02] [-1.65946214e-02 9.99862241e-01 -3.44327980e-04 -1.74761764e+01] [-5.38248934e-03 2.55037742e-04 9.99985482e-01 -3.91155003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.910371743 meters Centerline goodness [0,1] 0.9895721279445018 Centerline is valid? [True, True] Translation: X:283.95, Y:-17.47, Z:-3.91 [[ 9.99831809e-01 1.74727288e-02 5.57285367e-03 2.83946429e+02] [-1.74710088e-02 9.99847306e-01 -3.57172822e-04 -1.74749901e+01] [-5.57824351e-03 2.59749373e-04 9.99984408e-01 -3.91087440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940371743 meters Centerline goodness [0,1] 0.9891954677946043 Centerline is valid? [True, True] Translation: X:283.98, Y:-17.47, Z:-3.91 [[ 9.99804352e-01 1.90073722e-02 5.47509217e-03 2.83975513e+02] [-1.90057371e-02 9.99819313e-01 -3.50531313e-04 -1.74747933e+01] [-5.48076557e-03 2.46404571e-04 9.99984950e-01 -3.91072508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.970371743 meters Centerline goodness [0,1] 0.9895305195232765 Centerline is valid? [True, True] Translation: X:284.00, Y:-17.48, Z:-3.91 [[ 9.99801471e-01 1.92455997e-02 5.16000829e-03 2.84004289e+02] [-1.92441521e-02 9.99814760e-01 -3.30045614e-04 -1.74760427e+01] [-5.16540437e-03 2.30680106e-04 9.99986633e-01 -3.91104364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000371743 meters Centerline goodness [0,1] 0.9893654498216566 Centerline is valid? [True, True] Translation: X:284.03, Y:-17.48, Z:-3.91 [[ 9.99799859e-01 1.94284278e-02 4.77254478e-03 2.84031765e+02] [-1.94271921e-02 9.99811228e-01 -3.05152793e-04 -1.74782317e+01] [-4.77757249e-03 2.12374575e-04 9.99988565e-01 -3.91193067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.030371743 meters Centerline goodness [0,1] 0.9896157153250876 Centerline is valid? [True, True] Translation: X:284.06, Y:-17.48, Z:-3.91 [[ 9.99804097e-01 1.93533861e-02 4.14903141e-03 2.84060120e+02] [-1.93524530e-02 9.99812689e-01 -2.64914374e-04 -1.74787642e+01] [-4.15338124e-03 1.84568541e-04 9.99991358e-01 -3.91368368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060371743 meters Centerline goodness [0,1] 0.989511642736208 Centerline is valid? [True, True] Translation: X:284.09, Y:-17.48, Z:-3.91 [[ 9.99808784e-01 1.91645268e-02 3.88808919e-03 2.84089078e+02] [-1.91637068e-02 9.99816329e-01 -2.48051757e-04 -1.74793865e+01] [-3.89212885e-03 1.73494124e-04 9.99992411e-01 -3.91409216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.090371743 meters Centerline goodness [0,1] 0.989511642736208 Centerline is valid? [True, True] Translation: X:284.12, Y:-17.48, Z:-3.91 [[ 9.99810146e-01 1.90933055e-02 3.88810684e-03 2.84117359e+02] [-1.90924860e-02 9.99817691e-01 -2.47774375e-04 -1.74811234e+01] [-3.89212883e-03 1.73493709e-04 9.99992411e-01 -3.91448471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120371743 meters Centerline goodness [0,1] 0.9902102496714849 Centerline is valid? [True, True] Translation: X:284.15, Y:-17.48, Z:-3.91 [[ 9.99830062e-01 1.81378300e-02 3.29625727e-03 2.84145767e+02] [-1.81372361e-02 9.99835485e-01 -2.09976707e-04 -1.74821030e+01] [-3.29952351e-03 1.50156027e-04 9.99994545e-01 -3.91426340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.150371743 meters Centerline goodness [0,1] 0.9894431248350488 Centerline is valid? [True, True] Translation: X:284.17, Y:-17.48, Z:-3.91 [[ 9.99837723e-01 1.77164278e-02 3.26448004e-03 2.84174846e+02] [-1.77158438e-02 9.99843041e-01 -2.07735353e-04 -1.74827043e+01] [-3.26764798e-03 1.49868623e-04 9.99994650e-01 -3.91392383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180371743 meters Centerline goodness [0,1] 0.9900492048150427 Centerline is valid? [True, True] Translation: X:284.20, Y:-17.49, Z:-3.91 [[ 9.99846721e-01 1.72544748e-02 2.96932932e-03 2.84201990e+02] [-1.72539888e-02 9.99851121e-01 -1.89213351e-04 -1.74853880e+01] [-2.97215203e-03 1.37951574e-04 9.99995574e-01 -3.91423787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.210371743 meters Centerline goodness [0,1] 0.9891789649636 Centerline is valid? [True, True] Translation: X:284.23, Y:-17.49, Z:-3.91 [[ 9.99840927e-01 1.74827752e-02 3.53174375e-03 2.84230952e+02] [-1.74820927e-02 9.99847151e-01 -2.24013361e-04 -1.74880302e+01] [-3.53512030e-03 1.62235455e-04 9.99993738e-01 -3.91433486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240371743 meters Centerline goodness [0,1] 0.9887871753317857 Centerline is valid? [True, True] Translation: X:284.26, Y:-17.49, Z:-3.91 [[ 9.99839314e-01 1.74031502e-02 4.29854072e-03 2.84258349e+02] [-1.74021400e-02 9.99848534e-01 -2.72290267e-04 -1.74909602e+01] [-4.30262834e-03 1.97442706e-04 9.99990724e-01 -3.91412995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.270371743 meters Centerline goodness [0,1] 0.9891089543717887 Centerline is valid? [True, True] Translation: X:284.29, Y:-17.49, Z:-3.91 [[ 9.99829381e-01 1.78568772e-02 4.72664687e-03 2.84287195e+02] [-1.78556642e-02 9.99840530e-01 -2.98696042e-04 -1.74929567e+01] [-4.73122689e-03 2.14247660e-04 9.99988785e-01 -3.91393603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300371743 meters Centerline goodness [0,1] 0.9890397118256897 Centerline is valid? [True, True] Translation: X:284.32, Y:-17.49, Z:-3.91 [[ 9.99811775e-01 1.87354780e-02 5.03943529e-03 2.84316143e+02] [-1.87341124e-02 9.99824451e-01 -3.18053709e-04 -1.74927118e+01] [-5.04450951e-03 2.23584496e-04 9.99987251e-01 -3.91342404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.330371743 meters Centerline goodness [0,1] 0.9893960350391886 Centerline is valid? [True, True] Translation: X:284.34, Y:-17.49, Z:-3.91 [[ 9.99767002e-01 2.09817671e-02 5.07025134e-03 2.84344895e+02] [-2.09804155e-02 9.99779836e-01 -3.19626245e-04 -1.74938929e+01] [-5.07584137e-03 2.13175793e-04 9.99987095e-01 -3.91306883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36037174300003 meters Centerline goodness [0,1] 0.9899606299212599 Centerline is valid? [True, True] Translation: X:284.37, Y:-17.49, Z:-3.91 [[ 9.99735715e-01 2.24343061e-02 5.02023788e-03 2.84373695e+02] [-2.24330011e-02 9.99748299e-01 -3.16125747e-04 -1.74948513e+01] [-5.02606634e-03 2.03423197e-04 9.99987349e-01 -3.91327763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.390371743 meters Centerline goodness [0,1] 0.9901218307540336 Centerline is valid? [True, True] Translation: X:284.40, Y:-17.50, Z:-3.91 [[ 9.99694354e-01 2.42585918e-02 4.76651316e-03 2.84402976e+02] [-2.42574358e-02 9.99705700e-01 -3.00197145e-04 -1.74958366e+01] [-4.77239274e-03 1.84482004e-04 9.99988595e-01 -3.91325536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42037174300003 meters Centerline goodness [0,1] 0.9899078351102257 Centerline is valid? [True, True] Translation: X:284.43, Y:-17.50, Z:-3.91 [[ 9.99675063e-01 2.49742500e-02 5.10448655e-03 2.84430500e+02] [-2.49729378e-02 9.99688076e-01 -3.20647575e-04 -1.75007971e+01] [-5.11090227e-03 1.93069359e-04 9.99986921e-01 -3.91403832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.450371743 meters Centerline goodness [0,1] 0.990169461838245 Centerline is valid? [True, True] Translation: X:284.46, Y:-17.50, Z:-3.91 [[ 9.99661707e-01 2.54793392e-02 5.22258751e-03 2.84459550e+02] [-2.54779760e-02 9.99675330e-01 -3.27398055e-04 -1.75022704e+01] [-5.22923377e-03 1.94226339e-04 9.99986309e-01 -3.91393537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.480371743 meters Centerline goodness [0,1] 0.9905481216301761 Centerline is valid? [True, True] Translation: X:284.49, Y:-17.50, Z:-3.91 [[ 9.99670044e-01 2.51531627e-02 5.20791935e-03 2.84488320e+02] [-2.51518045e-02 9.99683590e-01 -3.26128890e-04 -1.75044823e+01] [-5.21447469e-03 1.95032712e-04 9.99986386e-01 -3.91374124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.510371743 meters Centerline goodness [0,1] 0.9893021330370176 Centerline is valid? [True, True] Translation: X:284.52, Y:-17.51, Z:-3.92 [[ 9.99672603e-01 2.51638332e-02 4.63335519e-03 2.84515306e+02] [-2.51627586e-02 9.99683326e-01 -2.90084096e-04 -1.75146194e+01] [-4.63918755e-03 1.73401125e-04 9.99989224e-01 -3.91684261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.540371743 meters Centerline goodness [0,1] 0.9901827881756166 Centerline is valid? [True, True] Translation: X:284.54, Y:-17.51, Z:-3.92 [[ 9.99682542e-01 2.49145491e-02 3.75235640e-03 2.84544504e+02] [-2.49138436e-02 9.99689574e-01 -2.34647545e-04 -1.75127216e+01] [-3.75703771e-03 1.41087434e-04 9.99992932e-01 -3.91600955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.570371743 meters Centerline goodness [0,1] 0.9904343838039704 Centerline is valid? [True, True] Translation: X:284.57, Y:-17.52, Z:-3.92 [[ 9.99684427e-01 2.49167711e-02 3.19389858e-03 2.84573350e+02] [-2.49162603e-02 9.99689522e-01 -1.99642220e-04 -1.75156699e+01] [-3.19788138e-03 1.19999210e-04 9.99994880e-01 -3.91652168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.600371743 meters Centerline goodness [0,1] 0.9903082161878983 Centerline is valid? [True, True] Translation: X:284.60, Y:-17.52, Z:-3.92 [[ 9.99693943e-01 2.45584117e-02 2.98412571e-03 2.84601474e+02] [-2.45579640e-02 9.99698390e-01 -1.86567349e-04 -1.75188866e+01] [-2.98780746e-03 1.13226197e-04 9.99995530e-01 -3.91721539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.630371743 meters Centerline goodness [0,1] 0.9897659227000545 Centerline is valid? [True, True] Translation: X:284.63, Y:-17.52, Z:-3.92 [[ 9.99699830e-01 2.43685288e-02 2.53476373e-03 2.84630315e+02] [-2.43682058e-02 9.99703039e-01 -1.58237903e-04 -1.75222368e+01] [-2.53786703e-03 9.64227603e-05 9.99996775e-01 -3.91737927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.660371743 meters Centerline goodness [0,1] 0.9898321322040541 Centerline is valid? [True, True] Translation: X:284.66, Y:-17.53, Z:-3.92 [[ 9.99683469e-01 2.49927350e-02 2.88545158e-03 2.84658782e+02] [-2.49923201e-02 9.99687627e-01 -1.79787425e-04 -1.75263216e+01] [-2.88904363e-03 1.07616387e-04 9.99995821e-01 -3.91754984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.690371743 meters Centerline goodness [0,1] 0.9894398331232889 Centerline is valid? [True, True] Translation: X:284.69, Y:-17.53, Z:-3.92 [[ 9.99669843e-01 2.55255281e-02 2.94144653e-03 2.84685969e+02] [-2.55250993e-02 9.99674165e-01 -1.83234659e-04 -1.75315369e+01] [-2.94516526e-03 1.08093448e-04 9.99995657e-01 -3.91876536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.720371743 meters Centerline goodness [0,1] 0.9890396093326099 Centerline is valid? [True, True] Translation: X:284.71, Y:-17.53, Z:-3.92 [[ 9.99658060e-01 2.59495406e-02 3.22255681e-03 2.84714667e+02] [-2.59490301e-02 9.99663247e-01 -2.00153390e-04 -1.75320945e+01] [-3.22666549e-03 1.16462726e-04 9.99994788e-01 -3.91855308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.750371743 meters Centerline goodness [0,1] 0.9895002282559074 Centerline is valid? [True, True] Translation: X:284.74, Y:-17.53, Z:-3.92 [[ 9.99649775e-01 2.62810668e-02 3.10376539e-03 2.84742914e+02] [-2.62805954e-02 9.99654587e-01 -1.92586923e-04 -1.75349810e+01] [-3.10775470e-03 1.10950671e-04 9.99995165e-01 -3.91881277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.780371743 meters Centerline goodness [0,1] 0.9902078119899902 Centerline is valid? [True, True] Translation: X:284.77, Y:-17.54, Z:-3.92 [[ 9.99644485e-01 2.64553440e-02 3.31941617e-03 2.84771174e+02] [-2.64548066e-02 9.99649989e-01 -2.05684299e-04 -1.75370603e+01] [-3.32369579e-03 1.17796662e-04 9.99994470e-01 -3.91835914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.810371743 meters Centerline goodness [0,1] 0.9895876177075441 Centerline is valid? [True, True] Translation: X:284.80, Y:-17.54, Z:-3.92 [[ 9.99639544e-01 2.66246886e-02 3.45076371e-03 2.84798485e+02] [-2.66241093e-02 9.99645493e-01 -2.13714410e-04 -1.75424998e+01] [-3.45523047e-03 1.21763865e-04 9.99994023e-01 -3.91958045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.840371743 meters Centerline goodness [0,1] 0.9897934860337617 Centerline is valid? [True, True] Translation: X:284.83, Y:-17.54, Z:-3.92 [[ 9.99650256e-01 2.61099579e-02 4.19958561e-03 2.84826881e+02] [-2.61090987e-02 9.99659066e-01 -2.59288709e-04 -1.75440242e+01] [-4.20492384e-03 1.49550629e-04 9.99991148e-01 -3.91781120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.870371743 meters Centerline goodness [0,1] 0.9890016736583563 Centerline is valid? [True, True] Translation: X:284.86, Y:-17.55, Z:-3.92 [[ 9.99669249e-01 2.53161213e-02 4.52625849e-03 2.84855769e+02] [-2.53151170e-02 9.99679482e-01 -2.79049247e-04 -1.75474051e+01] [-4.53187219e-03 1.64374188e-04 9.99989718e-01 -3.91779555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.900371743 meters Centerline goodness [0,1] 0.989295175229079 Centerline is valid? [True, True] Translation: X:284.88, Y:-17.55, Z:-3.92 [[ 9.99684327e-01 2.44658470e-02 5.71556646e-03 2.84883446e+02] [-2.44642343e-02 9.99700644e-01 -3.51916694e-04 -1.75537009e+01] [-5.72246541e-03 2.11978647e-04 9.99983604e-01 -3.91758094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.930371743 meters Centerline goodness [0,1] 0.9878362876869468 Centerline is valid? [True, True] Translation: X:284.91, Y:-17.56, Z:-3.92 [[ 9.99701689e-01 2.35187334e-02 6.58800209e-03 2.84911441e+02] [-2.35165767e-02 9.99723365e-01 -4.04654877e-04 -1.75586542e+01] [-6.59569659e-03 2.49606908e-04 9.99978217e-01 -3.91802395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.960371743 meters Centerline goodness [0,1] 0.9886846440648573 Centerline is valid? [True, True] Translation: X:284.94, Y:-17.56, Z:-3.92 [[ 9.99723802e-01 2.24245808e-02 7.03260640e-03 2.84939732e+02] [-2.24221010e-02 9.99748500e-01 -4.31275567e-04 -1.75593325e+01] [-7.04050887e-03 2.73470638e-04 9.99975178e-01 -3.91740419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.990371743 meters Centerline goodness [0,1] 0.9875 Centerline is valid? [True, True] Translation: X:284.97, Y:-17.57, Z:-3.92 [[ 9.99791224e-01 1.92984158e-02 6.71413235e-03 2.84968105e+02] [-1.92960906e-02 9.99813729e-01 -4.10929659e-04 -1.75677802e+01] [-6.72081199e-03 2.81287361e-04 9.99977376e-01 -3.91888721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.020371743 meters Centerline goodness [0,1] 0.9879778585019893 Centerline is valid? [True, True] Translation: X:285.00, Y:-17.57, Z:-3.92 [[ 9.99827307e-01 1.74534161e-02 6.38238298e-03 2.84997055e+02] [-1.74512797e-02 9.99847639e-01 -3.90284938e-04 -1.75720859e+01] [-6.38822235e-03 2.78836788e-04 9.99979556e-01 -3.91961910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.050371743 meters Centerline goodness [0,1] 0.9879317429764042 Centerline is valid? [True, True] Translation: X:285.03, Y:-17.58, Z:-3.92 [[ 9.99893508e-01 1.35995195e-02 5.29389053e-03 2.85025873e+02] [-1.35979993e-02 9.99907491e-01 -3.23044594e-04 -1.75799028e+01] [-5.29779404e-03 2.51023873e-04 9.99985935e-01 -3.92116860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.080371743 meters Centerline goodness [0,1] 0.9873376693532704 Centerline is valid? [True, True] Translation: X:285.06, Y:-17.58, Z:-3.92 [[ 9.99918398e-01 1.17032219e-02 5.12168014e-03 2.85055277e+02] [-1.17017718e-02 9.99931483e-01 -3.13020855e-04 -1.75813761e+01] [-5.12499257e-03 2.53062580e-04 9.99986835e-01 -3.92141407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11037174300003 meters Centerline goodness [0,1] 0.9875720111334066 Centerline is valid? [True, True] Translation: X:285.08, Y:-17.59, Z:-3.92 [[ 9.99936094e-01 1.00866057e-02 5.10564036e-03 2.85084247e+02] [-1.00851463e-02 9.99949095e-01 -3.11505588e-04 -1.75877783e+01] [-5.10852250e-03 2.59994551e-04 9.99986918e-01 -3.92227792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.140371743 meters Centerline goodness [0,1] 0.9876915781078226 Centerline is valid? [True, True] Translation: X:285.11, Y:-17.59, Z:-3.92 [[ 9.99955557e-01 7.72134393e-03 5.40978742e-03 2.85114208e+02] [-7.71966982e-03 9.99970148e-01 -3.30272976e-04 -1.75914289e+01] [-5.41217608e-03 2.88496525e-04 9.99985312e-01 -3.92181101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17037174300003 meters Centerline goodness [0,1] 0.9872211995376514 Centerline is valid? [True, True] Translation: X:285.14, Y:-17.60, Z:-3.92 [[ 9.99962676e-01 6.78151274e-03 5.35330444e-03 2.85144164e+02] [-6.77986209e-03 9.99976963e-01 -3.26429808e-04 -1.75953402e+01] [-5.35539480e-03 2.90122958e-04 9.99985618e-01 -3.92232030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.200371743 meters Centerline goodness [0,1] 0.9868449289669085 Centerline is valid? [True, True] Translation: X:285.17, Y:-17.60, Z:-3.92 [[ 9.99969457e-01 5.77924577e-03 5.26163863e-03 2.85174654e+02] [-5.77763607e-03 9.99983258e-01 -3.21081119e-04 -1.75991191e+01] [-5.26340615e-03 2.90671479e-04 9.99986106e-01 -3.92285142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.230371743 meters Centerline goodness [0,1] 0.986997356487352 Centerline is valid? [True, True] Translation: X:285.21, Y:-17.60, Z:-3.92 [[ 9.99971274e-01 5.43174980e-03 5.28655065e-03 2.85205737e+02] [-5.43012156e-03 9.99985205e-01 -3.22301280e-04 -1.76022832e+01] [-5.28822310e-03 2.93585408e-04 9.99985974e-01 -3.92327305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.260371743 meters Centerline goodness [0,1] 0.9872062270195885 Centerline is valid? [True, True] Translation: X:285.24, Y:-17.61, Z:-3.92 [[ 9.99969627e-01 5.53443876e-03 5.48780110e-03 2.85236219e+02] [-5.53268376e-03 9.99984638e-01 -3.34929924e-04 -1.76057352e+01] [-5.48957045e-03 3.04557483e-04 9.99984886e-01 -3.92387737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.290371743 meters Centerline goodness [0,1] 0.9871254782272277 Centerline is valid? [True, True] Translation: X:285.27, Y:-17.61, Z:-3.92 [[ 9.99964880e-01 6.72118882e-03 5.00637299e-03 2.85267684e+02] [-6.71974353e-03 9.99977376e-01 -3.05456237e-04 -1.76052603e+01] [-5.00831275e-03 2.71803967e-04 9.99987421e-01 -3.92360073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.320371743 meters Centerline goodness [0,1] 0.9870467434267056 Centerline is valid? [True, True] Translation: X:285.30, Y:-17.60, Z:-3.92 [[ 9.99963669e-01 7.10503797e-03 4.70952573e-03 2.85298097e+02] [-7.10376107e-03 9.99974727e-01 -2.87803778e-04 -1.76047416e+01] [-4.71145156e-03 2.54337977e-04 9.99988869e-01 -3.92395530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.350371743 meters Centerline goodness [0,1] 0.9869929169349646 Centerline is valid? [True, True] Translation: X:285.33, Y:-17.61, Z:-3.92 [[ 9.99960410e-01 7.79350157e-03 4.29412697e-03 2.85328490e+02] [-7.79244633e-03 9.99969604e-01 -2.62418349e-04 -1.76052549e+01] [-4.29604161e-03 2.28946206e-04 9.99990746e-01 -3.92397759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380371743 meters Centerline goodness [0,1] 0.9868344627299128 Centerline is valid? [True, True] Translation: X:285.36, Y:-17.61, Z:-3.92 [[ 9.99958138e-01 7.88090387e-03 4.64906241e-03 2.85357373e+02] [-7.87966714e-03 9.99968915e-01 -2.84272899e-04 -1.76084814e+01] [-4.65115822e-03 2.47627934e-04 9.99989153e-01 -3.92426034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.410371743 meters Centerline goodness [0,1] 0.9874978592224696 Centerline is valid? [True, True] Translation: X:285.39, Y:-17.61, Z:-3.92 [[ 9.99963231e-01 7.22407180e-03 4.62056018e-03 2.85387915e+02] [-7.22284433e-03 9.99973875e-01 -2.82284297e-04 -1.76106743e+01] [-4.62247871e-03 2.48900330e-04 9.99989285e-01 -3.92457357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440371743 meters Centerline goodness [0,1] 0.9868878492639169 Centerline is valid? [True, True] Translation: X:285.42, Y:-17.61, Z:-3.93 [[ 9.99971572e-01 6.09013034e-03 4.44579718e-03 2.85417673e+02] [-6.08898280e-03 9.99981425e-01 -2.71607485e-04 -1.76141047e+01] [-4.44736872e-03 2.44529381e-04 9.99990081e-01 -3.92549719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.470371743 meters Centerline goodness [0,1] 0.9874248927038627 Centerline is valid? [True, True] Translation: X:285.45, Y:-17.61, Z:-3.93 [[ 9.99982050e-01 4.55457943e-03 3.89304314e-03 2.85448743e+02] [-4.55369033e-03 9.99989604e-01 -2.37213280e-04 -1.76128443e+01] [-3.89408308e-03 2.19481310e-04 9.99992394e-01 -3.92536902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500371743 meters Centerline goodness [0,1] 0.98720041233571 Centerline is valid? [True, True] Translation: X:285.48, Y:-17.62, Z:-3.93 [[ 9.99993927e-01 9.63705064e-04 3.34921377e-03 2.85479269e+02] [-9.63025085e-04 9.99999515e-01 -2.04633019e-04 -1.76170293e+01] [-3.34940936e-03 2.01406399e-04 9.99994370e-01 -3.92627864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.530371743 meters Centerline goodness [0,1] 0.9868330612595584 Centerline is valid? [True, True] Translation: X:285.51, Y:-17.62, Z:-3.93 [[ 9.99993832e-01 -1.00793429e-03 3.36439260e-03 2.85509011e+02] [ 1.00862923e-03 9.99999470e-01 -2.04866620e-04 -1.76224217e+01] [-3.36418433e-03 2.08258782e-04 9.99994319e-01 -3.92762472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560371743 meters Centerline goodness [0,1] 0.986604267742905 Centerline is valid? [True, True] Translation: X:285.54, Y:-17.62, Z:-3.93 [[ 9.99980123e-01 -5.47257609e-03 3.13130510e-03 2.85539582e+02] [ 5.47320336e-03 9.99985004e-01 -1.91786559e-04 -1.76243756e+01] [-3.13020858e-03 2.08921017e-04 9.99995079e-01 -3.92729380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.590371743 meters Centerline goodness [0,1] 0.9859557197156785 Centerline is valid? [True, True] Translation: X:285.57, Y:-17.63, Z:-3.93 [[ 9.99965597e-01 -7.67854567e-03 3.13765949e-03 2.85569202e+02] [ 7.67918651e-03 9.99970496e-01 -1.92244472e-04 -1.76296734e+01] [-3.13609076e-03 2.16332531e-04 9.99995059e-01 -3.92788509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620371743 meters Centerline goodness [0,1] 0.9858222859957595 Centerline is valid? [True, True] Translation: X:285.60, Y:-17.63, Z:-3.93 [[ 9.99946306e-01 -9.69689783e-03 3.65436909e-03 2.85600026e+02] [ 9.69777985e-03 9.99952950e-01 -2.23718315e-04 -1.76318636e+01] [-3.65202778e-03 2.59145570e-04 9.99993298e-01 -3.92809284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.650371743 meters Centerline goodness [0,1] 0.9868981541241771 Centerline is valid? [True, True] Translation: X:285.63, Y:-17.64, Z:-3.93 [[ 9.99901056e-01 -1.35523858e-02 3.76962969e-03 2.85630685e+02] [ 1.35533524e-02 9.99908122e-01 -2.31000695e-04 -1.76350832e+01] [-3.76615274e-03 2.82068959e-04 9.99992868e-01 -3.92769498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680371743 meters Centerline goodness [0,1] 0.9867257589122437 Centerline is valid? [True, True] Translation: X:285.66, Y:-17.64, Z:-3.93 [[ 9.99879118e-01 -1.51747365e-02 3.38781545e-03 2.85661020e+02] [ 1.51755248e-02 9.99884824e-01 -2.07096431e-04 -1.76395409e+01] [-3.38428262e-03 2.58483274e-04 9.99994240e-01 -3.92830786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.710371743 meters Centerline goodness [0,1] 0.9856617726090414 Centerline is valid? [True, True] Translation: X:285.69, Y:-17.64, Z:-3.93 [[ 9.99839285e-01 -1.76320028e-02 3.24293401e-03 2.85691119e+02] [ 1.76327390e-02 9.99844511e-01 -1.98535393e-04 -1.76434489e+01] [-3.23892919e-03 2.55685294e-04 9.99994722e-01 -3.92915335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740371743 meters Centerline goodness [0,1] 0.9867008112935506 Centerline is valid? [True, True] Translation: X:285.72, Y:-17.64, Z:-3.93 [[ 9.99818527e-01 -1.87980112e-02 3.09011211e-03 2.85723310e+02] [ 1.87986842e-02 9.99823271e-01 -1.88887516e-04 -1.76407094e+01] [-3.08601528e-03 2.46943279e-04 9.99995208e-01 -3.92920400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.770371743 meters Centerline goodness [0,1] 0.9863716358329399 Centerline is valid? [True, True] Translation: X:285.76, Y:-17.64, Z:-3.93 [[ 9.99800527e-01 -1.97819167e-02 2.75337750e-03 2.85755018e+02] [ 1.97824539e-02 9.99804294e-01 -1.68018817e-04 -1.76432915e+01] [-2.74951492e-03 2.22453866e-04 9.99996195e-01 -3.92974809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800371743 meters Centerline goodness [0,1] 0.9866686800267489 Centerline is valid? [True, True] Translation: X:285.79, Y:-17.64, Z:-3.93 [[ 9.99756616e-01 -2.19251176e-02 2.44924097e-03 2.85786568e+02] [ 2.19255513e-02 9.99759595e-01 -1.50370186e-04 -1.76442075e+01] [-2.44535528e-03 2.04034547e-04 9.99996989e-01 -3.92994247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.830371743 meters Centerline goodness [0,1] 0.9860103626943005 Centerline is valid? [True, True] Translation: X:285.82, Y:-17.65, Z:-3.93 [[ 9.99721290e-01 -2.34385734e-02 2.82401907e-03 2.85816204e+02] [ 2.34391576e-02 9.99725250e-01 -1.73958026e-04 -1.76474308e+01] [-2.81916584e-03 2.40102171e-04 9.99995997e-01 -3.92956120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86037174300003 meters Centerline goodness [0,1] 0.9852359438836169 Centerline is valid? [True, True] Translation: X:285.85, Y:-17.65, Z:-3.93 [[ 9.99713938e-01 -2.36320573e-02 3.68339803e-03 2.85848457e+02] [ 2.36330499e-02 9.99720675e-01 -2.26175904e-04 -1.76480276e+01] [-3.67702417e-03 3.13161133e-04 9.99993191e-01 -3.92967005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.890371743 meters Centerline goodness [0,1] 0.9853710186265612 Centerline is valid? [True, True] Translation: X:285.88, Y:-17.65, Z:-3.93 [[ 9.99719492e-01 -2.34200199e-02 3.52713839e-03 2.85881256e+02] [ 2.34209294e-02 9.99725669e-01 -2.16779727e-04 -1.76461026e+01] [-3.52109380e-03 2.99327778e-04 9.99993756e-01 -3.92953008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92037174300003 meters Centerline goodness [0,1] 0.9856920549840062 Centerline is valid? [True, True] Translation: X:285.91, Y:-17.65, Z:-3.93 [[ 9.99738841e-01 -2.26530743e-02 3.01479790e-03 2.85912626e+02] [ 2.26537332e-02 9.99743354e-01 -1.84597922e-04 -1.76458964e+01] [-3.00984245e-03 2.52846140e-04 9.99995438e-01 -3.93032378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.950371743 meters Centerline goodness [0,1] 0.9849179902194141 Centerline is valid? [True, True] Translation: X:285.94, Y:-17.65, Z:-3.93 [[ 9.99746611e-01 -2.24395748e-02 1.78316947e-03 2.85944290e+02] [ 2.24398052e-02 9.99748190e-01 -1.09285582e-04 -1.76478283e+01] [-1.78026813e-03 1.49271866e-04 9.99998404e-01 -3.93161594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.980371743 meters Centerline goodness [0,1] 0.9846617781056103 Centerline is valid? [True, True] Translation: X:285.98, Y:-17.64, Z:-3.93 [[ 9.99745128e-01 -2.25446614e-02 1.19062233e-03 2.85976290e+02] [ 2.25447641e-02 9.99745832e-01 -7.29026486e-05 -1.76449947e+01] [-1.18867615e-03 9.97263673e-05 9.99999289e-01 -3.93158433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.010371743 meters Centerline goodness [0,1] 0.9846617781056103 Centerline is valid? [True, True] Translation: X:286.01, Y:-17.65, Z:-3.93 [[ 9.99746698e-01 -2.24749183e-02 1.19061715e-03 2.86008027e+02] [ 2.24750210e-02 9.99747402e-01 -7.29865956e-05 -1.76470287e+01] [-1.18867604e-03 9.97272535e-05 9.99999289e-01 -3.93202434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.040371743 meters Centerline goodness [0,1] 0.9846297665115875 Centerline is valid? [True, True] Translation: X:286.04, Y:-17.65, Z:-3.93 [[ 9.99742886e-01 -2.26506415e-02 1.05346394e-03 2.86040362e+02] [ 2.26507220e-02 9.99743437e-01 -6.45440592e-05 -1.76472754e+01] [-1.05173170e-03 8.83891830e-05 9.99999443e-01 -3.93218203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.070371743 meters Centerline goodness [0,1] 0.9858665682464558 Centerline is valid? [True, True] Translation: X:286.07, Y:-17.64, Z:-3.93 [[ 9.99736698e-01 -2.29149083e-02 1.20037145e-03 2.86073238e+02] [ 2.29150132e-02 9.99737414e-01 -7.37451289e-05 -1.76441717e+01] [-1.19836639e-03 1.01232239e-04 9.99999277e-01 -3.93195039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.100371743 meters Centerline goodness [0,1] 0.9859460868431913 Centerline is valid? [True, True] Translation: X:286.10, Y:-17.64, Z:-3.93 [[ 9.99694392e-01 -2.46517642e-02 1.84734210e-03 2.86104597e+02] [ 2.46520181e-02 9.99696086e-01 -1.14789982e-04 -1.76401026e+01] [-1.84395089e-03 1.60295612e-04 9.99998287e-01 -3.93169273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.130371743 meters Centerline goodness [0,1] 0.9846419364704855 Centerline is valid? [True, True] Translation: X:286.13, Y:-17.64, Z:-3.93 [[ 9.99661188e-01 -2.59803582e-02 1.59058814e-03 2.86134753e+02] [ 2.59805481e-02 9.99662444e-01 -9.88318641e-05 -1.76438118e+01] [-1.58748354e-03 1.40122730e-04 9.99998730e-01 -3.93261611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.160371743 meters Centerline goodness [0,1] 0.9838391801340165 Centerline is valid? [True, True] Translation: X:286.17, Y:-17.64, Z:-3.93 [[ 9.99592735e-01 -2.84500469e-02 2.22703304e-03 2.86165759e+02] [ 2.84504251e-02 9.99595195e-01 -1.38309726e-04 -1.76406135e+01] [-2.22219661e-03 2.01613434e-04 9.99997511e-01 -3.93184525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.190371743 meters Centerline goodness [0,1] 0.9494978165938864 Centerline is valid? [True, False] Translation: X:286.17, Y:-17.64, Z:-3.93 [[ 9.99672643e-01 -2.54836561e-02 2.27831735e-03 2.86165073e+02] [ 2.54754866e-02 9.99669159e-01 3.54563197e-03 -1.76406842e+01] [-2.36791925e-03 -3.48643004e-03 9.99991119e-01 -3.93177955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.220371743 meters Centerline goodness [0,1] 0.982425422949815 Centerline is valid? [False, True] Translation: X:286.16, Y:-17.64, Z:-3.93 [[ 9.99661834e-01 -2.58960056e-02 2.36954684e-03 2.86164624e+02] [ 2.58895256e-02 9.99661094e-01 2.72566282e-03 -1.76384168e+01] [-2.43932756e-03 -2.66339465e-03 9.99993478e-01 -3.93127562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.250371743 meters Centerline goodness [0,1] 0.9804144443472939 Centerline is valid? [True, True] Translation: X:286.19, Y:-17.64, Z:-3.93 [[ 9.99623277e-01 -2.72944783e-02 2.88363261e-03 2.86194937e+02] [ 2.72951478e-02 9.99627399e-01 -1.93058669e-04 -1.76384528e+01] [-2.87728873e-03 2.71695118e-04 9.99995824e-01 -3.93024080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.280371743 meters Centerline goodness [0,1] 0.9835122615205603 Centerline is valid? [True, True] Translation: X:286.23, Y:-17.63, Z:-3.93 [[ 9.99566461e-01 -2.92855192e-02 3.04111468e-03 2.86226973e+02] [ 2.92862740e-02 9.99571044e-01 -2.03938122e-04 -1.76323139e+01] [-3.03383774e-03 2.92912625e-04 9.99995355e-01 -3.92995742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.310371743 meters Centerline goodness [0,1] 0.9820691774207708 Centerline is valid? [True, True] Translation: X:286.26, Y:-17.64, Z:-3.93 [[ 9.99545093e-01 -3.00591975e-02 2.45984747e-03 2.86258052e+02] [ 3.00596931e-02 9.99548092e-01 -1.64756958e-04 -1.76351912e+01] [-2.45378339e-03 2.38624269e-04 9.99996961e-01 -3.93074307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.340371743 meters Centerline goodness [0,1] 0.980788675429727 Centerline is valid? [True, True] Translation: X:286.29, Y:-17.64, Z:-3.93 [[ 9.99529488e-01 -3.06338148e-02 1.54026684e-03 2.86290638e+02] [ 3.06340091e-02 9.99530663e-01 -1.02766687e-04 -1.76359186e+01] [-1.53639581e-03 1.49902883e-04 9.99998809e-01 -3.93150124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.370371743 meters Centerline goodness [0,1] 0.9762130255709975 Centerline is valid? [True, True] Translation: X:286.32, Y:-17.64, Z:-3.93 [[ 9.99524080e-01 -3.08260861e-02 1.16884964e-03 2.86321775e+02] [ 3.08261983e-02 9.99524757e-01 -7.80616868e-05 -1.76388989e+01] [-1.16588781e-03 1.14055726e-04 9.99999314e-01 -3.93211892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.400371743 meters Centerline goodness [0,1] 0.9817988809518544 Centerline is valid? [True, True] Translation: X:286.35, Y:-17.63, Z:-3.93 [[ 9.99520373e-01 -3.09518037e-02 1.00441517e-03 2.86354685e+02] [ 3.09518863e-02 9.99520873e-01 -6.67931956e-05 -1.76339466e+01] [-1.00186656e-03 9.78497040e-05 9.99999493e-01 -3.93247897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.430371743 meters Centerline goodness [0,1] 0.9718852513154708 Centerline is valid? [True, True] Translation: X:286.39, Y:-17.64, Z:-3.93 [[ 9.99532348e-01 -3.05570639e-02 1.16261049e-03 2.86385822e+02] [ 3.05571749e-02 9.99533017e-01 -7.77760881e-05 -1.76371575e+01] [-1.15969096e-03 1.13265808e-04 9.99999321e-01 -3.93377927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.460371743 meters Centerline goodness [0,1] 0.9835863042710907 Centerline is valid? [True, True] Translation: X:286.42, Y:-17.63, Z:-3.93 [[ 9.99546714e-01 -3.00950734e-02 8.08490776e-04 2.86418468e+02] [ 3.00951266e-02 9.99547038e-01 -5.36784529e-05 -1.76320711e+01] [-8.06509103e-04 7.79857534e-05 9.99999672e-01 -3.93330126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.490371743 meters Centerline goodness [0,1] 0.9816954404603807 Centerline is valid? [True, True] Translation: X:286.45, Y:-17.63, Z:-3.93 [[ 9.99563680e-01 -2.95207503e-02 9.87646406e-04 2.86449872e+02] [ 2.95208299e-02 9.99564163e-01 -6.60923756e-05 -1.76348480e+01] [-9.85264857e-04 9.52196798e-05 9.99999510e-01 -3.93389038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.520371743 meters Centerline goodness [0,1] 0.9835829811713167 Centerline is valid? [True, True] Translation: X:286.48, Y:-17.63, Z:-3.93 [[ 9.99596442e-01 -2.83527433e-02 1.75384854e-03 2.86481889e+02] [ 2.83529936e-02 9.99597966e-01 -1.18021890e-04 -1.76306349e+01] [-1.74979719e-03 1.67701118e-04 9.99998455e-01 -3.93375831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.550371743 meters Centerline goodness [0,1] 0.9791467932648579 Centerline is valid? [True, True] Translation: X:286.51, Y:-17.64, Z:-3.93 [[ 9.99619614e-01 -2.75082752e-02 1.98038622e-03 2.86513205e+02] [ 2.75085927e-02 9.99621558e-01 -1.33269312e-04 -1.76359766e+01] [-1.97597075e-03 1.87696256e-04 9.99998030e-01 -3.93462931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.580371743 meters Centerline goodness [0,1] 0.9837028824833702 Centerline is valid? [True, True] Translation: X:286.54, Y:-17.63, Z:-3.94 [[ 9.99662607e-01 -2.58971003e-02 2.00326181e-03 2.86544949e+02] [ 2.58974231e-02 9.99664596e-01 -1.35373234e-04 -1.76304015e+01] [-1.99908414e-03 1.87206879e-04 9.99997984e-01 -3.93561199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61037174300003 meters Centerline goodness [0,1] 0.6889916436850727 Centerline is valid? [True, False] Translation: X:286.60, Y:-17.63, Z:-3.94 [[ 9.99654755e-01 -2.62619816e-02 8.24276346e-04 2.86597022e+02] [ 2.62633435e-02 9.99653635e-01 -1.68729417e-03 -1.76297977e+01] [-7.79679157e-04 1.70835989e-03 9.99998237e-01 -3.93580356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.640371743 meters Centerline goodness [0,1] 0.9832532692820923 Centerline is valid? [False, True] Translation: X:286.53, Y:-17.63, Z:-3.94 [[ 9.99758019e-01 -2.19539791e-02 1.38771520e-03 2.86527393e+02] [ 2.19538321e-02 9.99758978e-01 1.21043740e-04 -1.76269262e+01] [-1.39003812e-03 -9.05487829e-05 9.99999030e-01 -3.93715945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67037174300003 meters Centerline goodness [0,1] 0.9835300393412015 Centerline is valid? [True, True] Translation: X:286.56, Y:-17.63, Z:-3.94 [[ 9.99770367e-01 -2.14047312e-02 1.02488139e-03 2.86558431e+02] [ 2.14048145e-02 9.99770888e-01 -7.03750412e-05 -1.76285233e+01] [-1.02314022e-03 9.22962769e-05 9.99999472e-01 -3.93750992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.700371743 meters Centerline goodness [0,1] 0.9843604004449388 Centerline is valid? [True, True] Translation: X:286.59, Y:-17.63, Z:-3.94 [[ 9.99788440e-01 -2.05251549e-02 1.33896089e-03 2.86590811e+02] [ 2.05252985e-02 9.99789329e-01 -9.35538139e-05 -1.76260269e+01] [-1.33675861e-03 1.21016594e-04 9.99999099e-01 -3.93727569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.730371743 meters Centerline goodness [0,1] 0.9854424040066778 Centerline is valid? [True, True] Translation: X:286.62, Y:-17.63, Z:-3.94 [[ 9.99804448e-01 -1.97037617e-02 1.68131291e-03 2.86623054e+02] [ 1.97039875e-02 9.99805851e-01 -1.17839231e-04 -1.76258352e+01] [-1.67866461e-03 1.50944756e-04 9.99998580e-01 -3.93721563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.760371743 meters Centerline goodness [0,1] 0.9857957075429691 Centerline is valid? [True, True] Translation: X:286.65, Y:-17.63, Z:-3.94 [[ 9.99830001e-01 -1.82092302e-02 2.89717143e-03 2.86653514e+02] [ 1.82098987e-02 9.99834165e-01 -2.04556924e-04 -1.76260579e+01] [-2.89296615e-03 2.57279348e-04 9.99995782e-01 -3.93698920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.790371743 meters Centerline goodness [0,1] 0.9843117183675286 Centerline is valid? [True, True] Translation: X:286.69, Y:-17.63, Z:-3.94 [[ 9.99844142e-01 -1.72976996e-02 3.53277181e-03 2.86685111e+02] [ 1.72986866e-02 9.99850336e-01 -2.49028929e-04 -1.76294177e+01] [-3.52793545e-03 3.10102428e-04 9.99993729e-01 -3.93735770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.820371743 meters Centerline goodness [0,1] 0.9859624924918244 Centerline is valid? [True, True] Translation: X:286.72, Y:-17.63, Z:-3.94 [[ 9.99860007e-01 -1.63111590e-02 3.72988218e-03 2.86717222e+02] [ 1.63122542e-02 9.99866912e-01 -2.63398345e-04 -1.76276093e+01] [-3.72508944e-03 3.24204257e-04 9.99993009e-01 -3.93743006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.850371743 meters Centerline goodness [0,1] 0.9847819790111628 Centerline is valid? [True, True] Translation: X:286.75, Y:-17.63, Z:-3.94 [[ 9.99885923e-01 -1.45790596e-02 3.94879635e-03 2.86747292e+02] [ 1.45802761e-02 9.99893663e-01 -2.79454219e-04 -1.76299675e+01] [-3.94430227e-03 3.36996881e-04 9.99992164e-01 -3.93859436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880371743 meters Centerline goodness [0,1] 0.9859659267826164 Centerline is valid? [True, True] Translation: X:286.78, Y:-17.63, Z:-3.94 [[ 9.99902317e-01 -1.33230532e-02 4.22534992e-03 2.86779201e+02] [ 1.33244340e-02 9.99911181e-01 -2.98788329e-04 -1.76292249e+01] [-4.22099386e-03 3.55059538e-04 9.99991029e-01 -3.93921438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.910371743 meters Centerline goodness [0,1] 0.9842690595001007 Centerline is valid? [True, True] Translation: X:286.81, Y:-17.63, Z:-3.94 [[ 9.99927185e-01 -1.13253540e-02 4.16670663e-03 2.86808881e+02] [ 1.13266824e-02 9.99935807e-01 -2.95350428e-04 -1.76323605e+01] [-4.16309421e-03 3.42523884e-04 9.99991276e-01 -3.93960913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940371743 meters Centerline goodness [0,1] 0.9862076673745389 Centerline is valid? [True, True] Translation: X:286.84, Y:-17.63, Z:-3.94 [[ 9.99942322e-01 -9.96946612e-03 3.99529007e-03 2.86840828e+02] [ 9.97067534e-03 9.99950252e-01 -2.82855041e-04 -1.76261750e+01] [-3.99227140e-03 3.22674466e-04 9.99991979e-01 -3.93865795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.970371743 meters Centerline goodness [0,1] 0.9871019750100766 Centerline is valid? [True, True] Translation: X:286.87, Y:-17.62, Z:-3.94 [[ 9.99959521e-01 -7.80864290e-03 4.47000351e-03 2.86872004e+02] [ 7.81013673e-03 9.99969450e-01 -3.16830863e-04 -1.76222978e+01] [-4.46739293e-03 3.51729377e-04 9.99989959e-01 -3.93772356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000371743 meters Centerline goodness [0,1] 0.9863838935793787 Centerline is valid? [True, True] Translation: X:286.90, Y:-17.62, Z:-3.94 [[ 9.99966614e-01 -6.59320116e-03 4.82708531e-03 2.86902678e+02] [ 6.59492894e-03 9.99978195e-01 -3.42103261e-04 -1.76244354e+01] [-4.82472450e-03 3.73926124e-04 9.99988291e-01 -3.93797348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.030371743 meters Centerline goodness [0,1] 0.9870871005281533 Centerline is valid? [True, True] Translation: X:286.93, Y:-17.63, Z:-3.94 [[ 9.99975966e-01 -5.37944410e-03 4.37367911e-03 2.86933087e+02] [ 5.38085224e-03 9.99985475e-01 -3.10254429e-04 -1.76272329e+01] [-4.37194658e-03 3.33781093e-04 9.99990387e-01 -3.93896537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060371743 meters Centerline goodness [0,1] 0.9862362698946424 Centerline is valid? [True, True] Translation: X:286.96, Y:-17.63, Z:-3.94 [[ 9.99994288e-01 -1.54796524e-03 3.00475250e-03 2.86962904e+02] [ 1.54861364e-03 9.99998778e-01 -2.13478196e-04 -1.76261780e+01] [-3.00441837e-03 2.18130177e-04 9.99995463e-01 -3.94013505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.090371743 meters Centerline goodness [0,1] 0.9868829590964316 Centerline is valid? [True, True] Translation: X:286.99, Y:-17.63, Z:-3.94 [[ 9.99996724e-01 1.01771260e-03 2.34852952e-03 2.86993620e+02] [-1.01732391e-03 9.99999469e-01 -1.66691880e-04 -1.76257451e+01] [-2.34869792e-03 1.64302119e-04 9.99997228e-01 -3.94047777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120371743 meters Centerline goodness [0,1] 0.9879806606118114 Centerline is valid? [True, True] Translation: X:287.02, Y:-17.62, Z:-3.94 [[ 9.99969136e-01 7.58093394e-03 2.06291302e-03 2.87024565e+02] [-7.58064830e-03 9.99971256e-01 -1.46247747e-04 -1.76219501e+01] [-2.06396241e-03 1.30605015e-04 9.99997861e-01 -3.94098555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.150371743 meters Centerline goodness [0,1] 0.9879504504504505 Centerline is valid? [True, True] Translation: X:287.06, Y:-17.62, Z:-3.94 [[ 9.99933638e-01 1.13562703e-02 1.93769715e-03 2.87055077e+02] [-1.13560249e-02 9.99935509e-01 -1.37630053e-04 -1.76208018e+01] [-1.93913515e-03 1.15616383e-04 9.99998113e-01 -3.94079040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180371743 meters Centerline goodness [0,1] 0.9880127322392036 Centerline is valid? [True, True] Translation: X:287.09, Y:-17.62, Z:-3.94 [[ 9.99822638e-01 1.85391090e-02 3.31576655e-03 2.87085294e+02] [-1.85384298e-02 9.99828121e-01 -2.35453246e-04 -1.76181870e+01] [-3.31956173e-03 1.73942380e-04 9.99994475e-01 -3.93991028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.210371743 meters Centerline goodness [0,1] 0.989621958940038 Centerline is valid? [True, True] Translation: X:287.12, Y:-17.61, Z:-3.94 [[ 9.99704443e-01 2.39978316e-02 3.88975595e-03 2.87115936e+02] [-2.39969385e-02 9.99711994e-01 -2.76118350e-04 -1.76119344e+01] [-3.89526191e-03 1.82694507e-04 9.99992397e-01 -3.93890913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240371743 meters Centerline goodness [0,1] 0.9900251068738549 Centerline is valid? [True, True] Translation: X:287.14, Y:-17.62, Z:-3.94 [[ 9.99653435e-01 2.60706375e-02 3.65132425e-03 2.87144100e+02] [-2.60698619e-02 9.99660090e-01 -2.59860695e-04 -1.76158825e+01] [-3.65685786e-03 1.64581117e-04 9.99993300e-01 -3.94087886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.270371743 meters Centerline goodness [0,1] 0.990307275192047 Centerline is valid? [True, True] Translation: X:287.17, Y:-17.61, Z:-3.94 [[ 9.99613662e-01 2.75860881e-02 3.39636503e-03 2.87173302e+02] [-2.75854263e-02 9.99619421e-01 -2.41541194e-04 -1.76129135e+01] [-3.40173562e-03 1.47757700e-04 9.99994203e-01 -3.94132577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300371743 meters Centerline goodness [0,1] 0.9905724516158274 Centerline is valid? [True, True] Translation: X:287.20, Y:-17.61, Z:-3.94 [[ 9.99582644e-01 2.87866956e-02 2.42142954e-03 2.87202437e+02] [-2.87863625e-02 9.99585572e-01 -1.72305052e-04 -1.76140731e+01] [-2.42538612e-03 1.02528991e-04 9.99997053e-01 -3.94297714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.330371743 meters Centerline goodness [0,1] 0.9908300502649097 Centerline is valid? [True, True] Translation: X:287.23, Y:-17.62, Z:-3.95 [[ 9.99567728e-01 2.93923592e-02 6.68479489e-04 2.87229702e+02] [-2.93923333e-02 9.99567951e-01 -4.84290205e-05 -1.76188479e+01] [-6.69614117e-04 2.87599140e-05 9.99999775e-01 -3.94682381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36037174300003 meters Centerline goodness [0,1] 0.9905512881517232 Centerline is valid? [True, True] Translation: X:287.26, Y:-17.62, Z:-3.95 [[ 9.99598964e-01 2.83178982e-02 -9.19711963e-05 2.87258593e+02] [-2.83178979e-02 9.99598968e-01 5.56885413e-06 -1.76183036e+01] [ 9.20920112e-05 -2.96218988e-06 9.99999996e-01 -3.94750919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.390371743 meters Centerline goodness [0,1] 0.9914541539159016 Centerline is valid? [True, True] Translation: X:287.29, Y:-17.62, Z:-3.95 [[ 9.99632787e-01 2.70975178e-02 -1.22449033e-04 2.87287562e+02] [-2.70975171e-02 9.99632795e-01 7.71466515e-06 -1.76208472e+01] [ 1.22613117e-04 -4.39376747e-06 9.99999992e-01 -3.94757969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42037174300003 meters Centerline goodness [0,1] 0.9910807498524806 Centerline is valid? [True, True] Translation: X:287.32, Y:-17.62, Z:-3.95 [[ 9.99663437e-01 2.59423431e-02 -8.82913125e-05 2.87315645e+02] [-2.59423427e-02 9.99663441e-01 5.07457613e-06 -1.76238770e+01] [ 8.83932436e-05 -2.78238472e-06 9.99999996e-01 -3.94777467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.450371743 meters Centerline goodness [0,1] 0.9907145923231593 Centerline is valid? [True, True] Translation: X:287.34, Y:-17.63, Z:-3.95 [[ 9.99728901e-01 2.32785502e-02 4.84007687e-04 2.87343869e+02] [-2.32785361e-02 9.99729018e-01 -3.47618849e-05 -1.76285542e+01] [-4.84685736e-04 2.34854705e-05 9.99999882e-01 -3.94723527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.480371743 meters Centerline goodness [0,1] 0.9903525299071573 Centerline is valid? [True, True] Translation: X:287.37, Y:-17.63, Z:-3.95 [[ 9.99773438e-01 2.12633804e-02 9.69768184e-04 2.87372867e+02] [-2.12633236e-02 9.99773908e-01 -6.89106122e-05 -1.76315230e+01] [-9.71014199e-04 4.82745050e-05 9.99999527e-01 -3.94689358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.510371743 meters Centerline goodness [0,1] 0.9895396065439859 Centerline is valid? [True, True] Translation: X:287.40, Y:-17.64, Z:-3.95 [[ 9.99852528e-01 1.71428116e-02 1.02240133e-03 2.87401425e+02] [-1.71427466e-02 9.99853050e-01 -7.23514040e-05 -1.76371481e+01] [-1.02349139e-03 5.48139673e-05 9.99999475e-01 -3.94663669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.540371743 meters Centerline goodness [0,1] 0.9891075431961774 Centerline is valid? [True, True] Translation: X:287.43, Y:-17.64, Z:-3.95 [[ 9.99882364e-01 1.53000972e-02 1.07911135e-03 2.87431090e+02] [-1.53000238e-02 9.99882945e-01 -7.63056621e-05 -1.76402034e+01] [-1.08015252e-03 5.97862565e-05 9.99999415e-01 -3.94660889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.570371743 meters Centerline goodness [0,1] 0.988868484889705 Centerline is valid? [True, True] Translation: X:287.46, Y:-17.65, Z:-3.95 [[ 9.99938308e-01 1.10352330e-02 1.26642707e-03 2.87460333e+02] [-1.10351287e-02 9.99939107e-01 -8.92859185e-05 -1.76476658e+01] [-1.26733524e-03 7.53052245e-05 9.99999194e-01 -3.94680921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.600371743 meters Centerline goodness [0,1] 0.9898417305337627 Centerline is valid? [True, True] Translation: X:287.49, Y:-17.64, Z:-3.94 [[ 9.99958393e-01 8.98256930e-03 1.58909874e-03 2.87490654e+02] [-8.98240245e-03 9.99959651e-01 -1.12104858e-04 -1.76381961e+01] [-1.59004161e-03 9.78262697e-05 9.99998731e-01 -3.94410233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.630371743 meters Centerline goodness [0,1] 0.9861394673562905 Centerline is valid? [True, True] Translation: X:287.52, Y:-17.66, Z:-3.95 [[ 9.99982048e-01 5.50707402e-03 2.36133403e-03 2.87518478e+02] [-5.50669671e-03 9.99984824e-01 -1.66257203e-04 -1.76584330e+01] [-2.36221379e-03 1.53251068e-04 9.99997198e-01 -3.94615343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.660371743 meters Centerline goodness [0,1] 0.9879130099553257 Centerline is valid? [True, True] Translation: X:287.55, Y:-17.65, Z:-3.94 [[ 9.99989761e-01 3.91092668e-03 2.27647197e-03 2.87549001e+02] [-3.91057203e-03 9.99992341e-01 -1.60217435e-04 -1.76469547e+01] [-2.27708113e-03 1.51313487e-04 9.99997396e-01 -3.94390958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.690371743 meters Centerline goodness [0,1] 0.9880957779692531 Centerline is valid? [True, True] Translation: X:287.58, Y:-17.65, Z:-3.94 [[ 9.99997805e-01 8.68007985e-04 1.90717308e-03 2.87579384e+02] [-8.67753929e-04 9.99999615e-01 -1.34034358e-04 -1.76481212e+01] [-1.90728869e-03 1.32379107e-04 9.99998172e-01 -3.94427930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.720371743 meters Centerline goodness [0,1] 0.988405336721728 Centerline is valid? [True, True] Translation: X:287.61, Y:-17.65, Z:-3.95 [[ 9.99998470e-01 -4.41694193e-04 1.69276867e-03 2.87609459e+02] [ 4.41895829e-04 9.99999895e-01 -1.18743730e-04 -1.76530589e+01] [-1.69271604e-03 1.19491575e-04 9.99998560e-01 -3.94522338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.750371743 meters Centerline goodness [0,1] 0.9881388926615057 Centerline is valid? [True, True] Translation: X:287.64, Y:-17.66, Z:-3.95 [[ 9.99995187e-01 -3.00154447e-03 7.85481732e-04 2.87640452e+02] [ 3.00158848e-03 9.99995494e-01 -5.48623696e-05 -1.76550844e+01] [-7.85313520e-04 5.72197985e-05 9.99999690e-01 -3.94548045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.780371743 meters Centerline goodness [0,1] 0.9870250231696015 Centerline is valid? [True, True] Translation: X:287.67, Y:-17.66, Z:-3.95 [[ 9.99992575e-01 -3.63292927e-03 1.28552689e-03 2.87671817e+02] [ 3.63304763e-03 9.99993396e-01 -8.97484467e-05 -1.76588578e+01] [-1.28519235e-03 9.44181607e-05 9.99999170e-01 -3.94582528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.810371743 meters Centerline goodness [0,1] 0.9870244166629056 Centerline is valid? [True, True] Translation: X:287.70, Y:-17.66, Z:-3.95 [[ 9.99990006e-01 -4.37562517e-03 9.18005029e-04 2.87702181e+02] [ 4.37568573e-03 9.99990425e-01 -6.39794018e-05 -1.76647422e+01] [-9.17716289e-04 6.79956639e-05 9.99999577e-01 -3.94664220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.840371743 meters Centerline goodness [0,1] 0.9874870126936802 Centerline is valid? [True, True] Translation: X:287.73, Y:-17.67, Z:-3.95 [[ 9.99989312e-01 -4.53360027e-03 9.06645358e-04 2.87734230e+02] [ 4.53365903e-03 9.99989721e-01 -6.27668219e-05 -1.76662390e+01] [-9.06351479e-04 6.68765720e-05 9.99999587e-01 -3.94692414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.870371743 meters Centerline goodness [0,1] 0.9862308699381518 Centerline is valid? [True, True] Translation: X:287.77, Y:-17.67, Z:-3.95 [[ 9.99990756e-01 -4.25206589e-03 6.38093362e-04 2.87765584e+02] [ 4.25209493e-03 9.99990959e-01 -4.41684351e-05 -1.76697108e+01] [-6.37899785e-04 4.68812603e-05 9.99999795e-01 -3.94782702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.900371743 meters Centerline goodness [0,1] 0.9862308699381518 Centerline is valid? [True, True] Translation: X:287.80, Y:-17.67, Z:-3.95 [[ 9.99991054e-01 -4.18139653e-03 6.38107115e-04 2.87797285e+02] [ 4.18142543e-03 9.99991257e-01 -4.39734339e-05 -1.76720045e+01] [-6.37917666e-04 4.66412379e-05 9.99999795e-01 -3.94826277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.930371743 meters Centerline goodness [0,1] 0.9869880497887817 Centerline is valid? [True, True] Translation: X:287.83, Y:-17.67, Z:-3.95 [[ 9.99993327e-01 -3.63327681e-03 3.81285522e-04 2.87829169e+02] [ 3.63328695e-03 9.99993399e-01 -2.59155518e-05 -1.76729288e+01] [-3.81188847e-04 2.73006986e-05 9.99999927e-01 -3.94830215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.960371743 meters Centerline goodness [0,1] 0.9869083813586241 Centerline is valid? [True, True] Translation: X:287.86, Y:-17.67, Z:-3.95 [[ 9.99992823e-01 -3.78853966e-03 2.52409635e-05 2.87860700e+02] [ 3.78853969e-03 9.99992823e-01 -1.28788204e-06 -1.76707719e+01] [-2.52359032e-05 1.38349919e-06 1.00000000e+00 -3.94772537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.990371743 meters Centerline goodness [0,1] 0.9866413077933252 Centerline is valid? [True, True] Translation: X:287.89, Y:-17.68, Z:-3.95 [[ 9.99991871e-01 -4.02397408e-03 -2.56050638e-04 2.87891522e+02] [ 4.02397903e-03 9.99991904e-01 1.88127803e-05 -1.76776147e+01] [ 2.55972863e-04 -1.98429698e-05 9.99999967e-01 -3.94959153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.020371743 meters Centerline goodness [0,1] 0.9863880974992086 Centerline is valid? [True, True] Translation: X:287.92, Y:-17.68, Z:-3.95 [[ 9.99989910e-01 -4.45083588e-03 -6.08369067e-04 2.87922940e+02] [ 4.45086313e-03 9.99990094e-01 4.34453140e-05 -1.76798992e+01] [ 6.08169672e-04 -4.61526431e-05 9.99999814e-01 -3.95056897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.050371743 meters Centerline goodness [0,1] 0.985590517338883 Centerline is valid? [True, True] Translation: X:287.95, Y:-17.69, Z:-3.95 [[ 9.99975606e-01 -6.86895115e-03 -1.26724028e-03 2.87952322e+02] [ 6.86907006e-03 9.99976404e-01 8.95057666e-05 -1.76857185e+01] [ 1.26659557e-03 -9.82083454e-05 9.99999193e-01 -3.95203161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.080371743 meters Centerline goodness [0,1] 0.9867783563504641 Centerline is valid? [True, True] Translation: X:287.98, Y:-17.68, Z:-3.95 [[ 9.99966021e-01 -8.12828692e-03 -1.37375365e-03 2.87983612e+02] [ 8.12842857e-03 9.99966959e-01 9.75600749e-05 -1.76843715e+01] [ 1.37291527e-03 -1.08723218e-04 9.99999052e-01 -3.95165511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11037174300003 meters Centerline goodness [0,1] 0.98637682473479 Centerline is valid? [True, True] Translation: X:288.01, Y:-17.69, Z:-3.95 [[ 9.99936533e-01 -1.11849132e-02 -1.35208583e-03 2.88013871e+02] [ 1.11850527e-02 9.99937441e-01 9.56120636e-05 -1.76893577e+01] [ 1.35093183e-03 -1.10729147e-04 9.99999081e-01 -3.95203458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.140371743 meters Centerline goodness [0,1] 0.9861880326423582 Centerline is valid? [True, True] Translation: X:288.05, Y:-17.69, Z:-3.95 [[ 9.99922527e-01 -1.23896076e-02 -1.19926636e-03 2.88045780e+02] [ 1.23897194e-02 9.99923241e-01 8.58110705e-05 -1.76926057e+01] [ 1.19811114e-03 -1.00662996e-04 9.99999277e-01 -3.95285897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17037174300003 meters Centerline goodness [0,1] 0.9846449136276392 Centerline is valid? [True, True] Translation: X:288.08, Y:-17.70, Z:-3.95 [[ 9.99907414e-01 -1.35311644e-02 -1.43899272e-03 2.88076008e+02] [ 1.35313275e-02 9.99908442e-01 1.03665092e-04 -1.76997599e+01] [ 1.43745826e-03 -1.23126976e-04 9.99998959e-01 -3.95395915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.200371743 meters Centerline goodness [0,1] 0.9855543517515348 Centerline is valid? [True, True] Translation: X:288.11, Y:-17.70, Z:-3.95 [[ 9.99908381e-01 -1.34358131e-02 -1.64546380e-03 2.88108552e+02] [ 1.34360248e-02 9.99909726e-01 1.17689251e-04 -1.77002735e+01] [ 1.64373400e-03 -1.39786961e-04 9.99998639e-01 -3.95399078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.230371743 meters Centerline goodness [0,1] 0.9858766637290127 Centerline is valid? [True, True] Translation: X:288.14, Y:-17.70, Z:-3.95 [[ 9.99920852e-01 -1.24607600e-02 -1.73775450e-03 2.88140771e+02] [ 1.24609947e-02 9.99922351e-01 1.24331766e-04 -1.77009681e+01] [ 1.73607029e-03 -1.45976075e-04 9.99998482e-01 -3.95426598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.260371743 meters Centerline goodness [0,1] 0.9868787816982799 Centerline is valid? [True, True] Translation: X:288.17, Y:-17.69, Z:-3.95 [[ 9.99938878e-01 -1.09400888e-02 -1.59865576e-03 2.88172447e+02] [ 1.09402851e-02 9.99940147e-01 1.14066917e-04 -1.76941831e+01] [ 1.59731217e-03 -1.31549694e-04 9.99998716e-01 -3.95291386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.290371743 meters Centerline goodness [0,1] 0.9863183798794392 Centerline is valid? [True, True] Translation: X:288.20, Y:-17.70, Z:-3.95 [[ 9.99950969e-01 -9.79433723e-03 -1.45953677e-03 2.88202537e+02] [ 9.79450113e-03 9.99952027e-01 1.05191989e-04 -1.76977272e+01] [ 1.45843647e-03 -1.19482266e-04 9.99998929e-01 -3.95351258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.320371743 meters Centerline goodness [0,1] 0.9874186747670755 Centerline is valid? [True, True] Translation: X:288.23, Y:-17.70, Z:-3.95 [[ 9.99957962e-01 -9.06692145e-03 -1.36553371e-03 2.88234962e+02] [ 9.06706399e-03 9.99958889e-01 9.82282861e-05 -1.76979175e+01] [ 1.36458694e-03 -1.10605538e-04 9.99999063e-01 -3.95394886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.350371743 meters Centerline goodness [0,1] 0.9848717832752928 Centerline is valid? [True, True] Translation: X:288.27, Y:-17.71, Z:-3.96 [[ 9.99965425e-01 -8.16477168e-03 -1.57650474e-03 2.88265214e+02] [ 8.16496006e-03 9.99966660e-01 1.13090457e-04 -1.77075501e+01] [ 1.57552882e-03 -1.25958645e-04 9.99998751e-01 -3.95630282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380371743 meters Centerline goodness [0,1] 0.9842660914973322 Centerline is valid? [True, True] Translation: X:288.30, Y:-17.71, Z:-3.96 [[ 9.99972338e-01 -6.96380375e-03 -2.61314199e-03 2.88295630e+02] [ 6.96431791e-03 9.99975731e-01 1.87713633e-04 -1.77081837e+01] [ 2.61177137e-03 -2.05907192e-04 9.99996568e-01 -3.95773001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.410371743 meters Centerline goodness [0,1] 0.9870991187426184 Centerline is valid? [True, True] Translation: X:288.33, Y:-17.70, Z:-3.96 [[ 9.99972092e-01 -6.77875701e-03 -3.14066691e-03 2.88327742e+02] [ 6.77949600e-03 9.99976994e-01 2.24710757e-04 -1.76980753e+01] [ 3.13907140e-03 -2.45996625e-04 9.99995043e-01 -3.95608673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440371743 meters Centerline goodness [0,1] 0.9886135908179996 Centerline is valid? [True, True] Translation: X:288.36, Y:-17.70, Z:-3.96 [[ 9.99972752e-01 -6.42665335e-03 -3.63232419e-03 2.88358981e+02] [ 6.42763973e-03 9.99979309e-01 2.59946274e-04 -1.76955306e+01] [ 3.63057844e-03 -2.83286462e-04 9.99993369e-01 -3.95602392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.470371743 meters Centerline goodness [0,1] 0.9882855067199419 Centerline is valid? [True, True] Translation: X:288.39, Y:-17.70, Z:-3.96 [[ 9.99974031e-01 -6.46611377e-03 -3.18219100e-03 2.88389443e+02] [ 6.46687060e-03 9.99979064e-01 2.27602572e-04 -1.76995526e+01] [ 3.18065267e-03 -2.48175478e-04 9.99994911e-01 -3.95709983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500371743 meters Centerline goodness [0,1] 0.9882543078919214 Centerline is valid? [True, True] Translation: X:288.42, Y:-17.70, Z:-3.96 [[ 9.99973912e-01 -6.66749155e-03 -2.77864534e-03 2.88421265e+02] [ 6.66807041e-03 9.99977748e-01 1.99111983e-04 -1.76991641e+01] [ 2.77725593e-03 -2.17634991e-04 9.99996120e-01 -3.95712914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.530371743 meters Centerline goodness [0,1] 0.9886659064994299 Centerline is valid? [True, True] Translation: X:288.45, Y:-17.70, Z:-3.96 [[ 9.99971408e-01 -7.29602642e-03 -1.98771103e-03 2.88452791e+02] [ 7.29632429e-03 9.99973371e-01 1.42648967e-04 -1.76991408e+01] [ 1.98661733e-03 -1.57147873e-04 9.99998014e-01 -3.95731132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560371743 meters Centerline goodness [0,1] 0.9885565788273912 Centerline is valid? [True, True] Translation: X:288.48, Y:-17.70, Z:-3.96 [[ 9.99973003e-01 -7.26155348e-03 -1.12364472e-03 2.88484554e+02] [ 7.26164952e-03 9.99973631e-01 8.14171533e-05 -1.77002826e+01] [ 1.12302387e-03 -8.95744694e-05 9.99999365e-01 -3.95678327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.590371743 meters Centerline goodness [0,1] 0.9884614507559346 Centerline is valid? [True, True] Translation: X:288.52, Y:-17.70, Z:-3.96 [[ 9.99971138e-01 -7.57292899e-03 -6.11578391e-04 2.88516616e+02] [ 7.57295781e-03 9.99971324e-01 4.48127762e-05 -1.77000759e+01] [ 6.11221490e-04 -4.94429401e-05 9.99999812e-01 -3.95626431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620371743 meters Centerline goodness [0,1] 0.9878457574168243 Centerline is valid? [True, True] Translation: X:288.55, Y:-17.70, Z:-3.96 [[ 9.99965369e-01 -8.31884061e-03 -2.41585986e-04 2.88547311e+02] [ 8.31884521e-03 9.99965398e-01 1.80592370e-05 -1.77045426e+01] [ 2.41427395e-04 -2.00683280e-05 9.99999971e-01 -3.95687514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.650371743 meters Centerline goodness [0,1] 0.9864954565222367 Centerline is valid? [True, True] Translation: X:288.58, Y:-17.71, Z:-3.96 [[ 9.99948970e-01 -1.01018883e-02 9.62220516e-05 2.88578378e+02] [ 1.01018890e-02 9.99948975e-01 -6.42274629e-06 -1.77070213e+01] [-9.61522600e-05 7.39444302e-06 9.99999995e-01 -3.95773343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680371743 meters Centerline goodness [0,1] 0.9862031157202248 Centerline is valid? [True, True] Translation: X:288.61, Y:-17.71, Z:-3.96 [[ 9.99941035e-01 -1.08593674e-02 1.65150760e-05 2.88609380e+02] [ 1.08593674e-02 9.99941035e-01 -4.64428058e-07 -1.77122117e+01] [-1.65090588e-05 6.43743950e-07 1.00000000e+00 -3.95865758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.710371743 meters Centerline goodness [0,1] 0.9835365575192949 Centerline is valid? [True, True] Translation: X:288.64, Y:-17.72, Z:-3.96 [[ 9.99923475e-01 -1.23705059e-02 1.20782194e-04 2.88639310e+02] [ 1.23705070e-02 9.99923482e-01 -8.43808786e-06 -1.77167811e+01] [-1.20668568e-04 9.93157911e-06 9.99999993e-01 -3.95949974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740371743 meters Centerline goodness [0,1] 0.9856307397085028 Centerline is valid? [True, True] Translation: X:288.67, Y:-17.72, Z:-3.96 [[ 9.99920231e-01 -1.26297318e-02 -1.45090865e-04 2.88671201e+02] [ 1.26297336e-02 9.99920242e-01 1.11505741e-05 -1.77159097e+01] [ 1.44938464e-04 -1.29821436e-05 9.99999989e-01 -3.95950952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.770371743 meters Centerline goodness [0,1] 0.983548040180308 Centerline is valid? [True, True] Translation: X:288.70, Y:-17.72, Z:-3.96 [[ 9.99920866e-01 -1.25398001e-02 -1.00730864e-03 2.88702319e+02] [ 1.25398801e-02 9.99921370e-01 7.31658899e-05 -1.77186402e+01] [ 1.00631195e-03 -8.57916296e-05 9.99999490e-01 -3.96094001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800371743 meters Centerline goodness [0,1] 0.9878769823081859 Centerline is valid? [True, True] Translation: X:288.74, Y:-17.71, Z:-3.96 [[ 9.99926094e-01 -1.20322027e-02 -1.74133616e-03 2.88735229e+02] [ 1.20324409e-02 9.99927600e-01 1.26366505e-04 -1.77099094e+01] [ 1.73968962e-03 -1.47309690e-04 9.99998476e-01 -3.96033708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.830371743 meters Centerline goodness [0,1] 0.9817109550690716 Centerline is valid? [True, True] Translation: X:288.77, Y:-17.72, Z:-3.96 [[ 9.99932554e-01 -1.11078106e-02 -3.39186624e-03 2.88765435e+02] [ 1.11087056e-02 9.99938266e-01 2.45131688e-04 -1.77212715e+01] [ 3.38893398e-03 -2.82794398e-04 9.99994218e-01 -3.96426899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86037174300003 meters Centerline goodness [0,1] 0.9874919673184614 Centerline is valid? [True, True] Translation: X:288.80, Y:-17.71, Z:-3.96 [[ 9.99937272e-01 -1.05744391e-02 -3.69237542e-03 2.88798190e+02] [ 1.05754977e-02 9.99944042e-01 2.67286576e-04 -1.77129034e+01] [ 3.68934239e-03 -3.06318518e-04 9.99993147e-01 -3.96305564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.890371743 meters Centerline goodness [0,1] 0.9855977509447875 Centerline is valid? [True, True] Translation: X:288.83, Y:-17.71, Z:-3.96 [[ 9.99951756e-01 -8.91560164e-03 -4.12286803e-03 2.88829194e+02] [ 8.91690555e-03 9.99960199e-01 2.97989175e-04 -1.77131509e+01] [ 4.12004718e-03 -3.34738023e-04 9.99991457e-01 -3.96367878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92037174300003 meters Centerline goodness [0,1] 0.986007204211693 Centerline is valid? [True, True] Translation: X:288.86, Y:-17.71, Z:-3.96 [[ 9.99960670e-01 -7.77939637e-03 -4.25906025e-03 2.88860998e+02] [ 7.78077954e-03 9.99969682e-01 3.08284996e-04 -1.77128126e+01] [ 4.25653285e-03 -3.41411680e-04 9.99990883e-01 -3.96340165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.950371743 meters Centerline goodness [0,1] 0.9851055980817117 Centerline is valid? [True, True] Translation: X:288.89, Y:-17.71, Z:-3.96 [[ 9.99979901e-01 -5.37358184e-03 -3.36482251e-03 2.88892049e+02] [ 5.37443069e-03 9.99985528e-01 2.43282584e-04 -1.77105235e+01] [ 3.36346652e-03 -2.61361700e-04 9.99994309e-01 -3.96239148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.980371743 meters Centerline goodness [0,1] 0.9855612374759932 Centerline is valid? [True, True] Translation: X:288.92, Y:-17.71, Z:-3.96 [[ 9.99986498e-01 -4.48066581e-03 -2.63182631e-03 2.88923338e+02] [ 4.48118310e-03 9.99989941e-01 1.90686480e-04 -1.77090196e+01] [ 2.63094543e-03 -2.02477601e-04 9.99996519e-01 -3.96188782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.010371743 meters Centerline goodness [0,1] 0.9857361181864494 Centerline is valid? [True, True] Translation: X:288.95, Y:-17.71, Z:-3.96 [[ 9.99992391e-01 -3.20680241e-03 -2.22115858e-03 2.88954715e+02] [ 3.20716808e-03 9.99994844e-01 1.61091650e-04 -1.77092431e+01] [ 2.22063053e-03 -1.68214053e-04 9.99997520e-01 -3.96151323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.040371743 meters Centerline goodness [0,1] 0.9851392328881275 Centerline is valid? [True, True] Translation: X:288.98, Y:-17.71, Z:-3.96 [[ 9.99998126e-01 -1.50249234e-03 -1.22066352e-03 2.88984941e+02] [ 1.50260306e-03 9.99998867e-01 8.97956642e-05 -1.77114889e+01] [ 1.22052722e-03 -9.16296687e-05 9.99999251e-01 -3.96225016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.070371743 meters Centerline goodness [0,1] 0.9841335923767232 Centerline is valid? [True, True] Translation: X:289.02, Y:-17.72, Z:-3.96 [[ 9.99998795e-01 -5.77158816e-04 -1.44133790e-03 2.89015247e+02] [ 5.77310217e-04 9.99999828e-01 1.04628160e-04 -1.77155373e+01] [ 1.44127727e-03 -1.05460133e-04 9.99998956e-01 -3.96324370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.100371743 meters Centerline goodness [0,1] 0.9839261760488459 Centerline is valid? [True, True] Translation: X:289.05, Y:-17.72, Z:-3.96 [[ 9.99997597e-01 -2.34590390e-04 -2.17983451e-03 2.89045371e+02] [ 2.34935078e-04 9.99999960e-01 1.57871217e-04 -1.77158311e+01] [ 2.17979739e-03 -1.58382958e-04 9.99997612e-01 -3.96378665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.130371743 meters Centerline goodness [0,1] 0.9835422293008332 Centerline is valid? [True, True] Translation: X:289.07, Y:-17.72, Z:-3.97 [[ 9.99995597e-01 -2.70715859e-04 -2.95515826e-03 2.89074116e+02] [ 2.71349529e-04 9.99999940e-01 2.14029495e-04 -1.77214970e+01] [ 2.95510014e-03 -2.14830433e-04 9.99995611e-01 -3.96546606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.160371743 meters Centerline goodness [0,1] 0.983743967487935 Centerline is valid? [True, True] Translation: X:289.10, Y:-17.72, Z:-3.97 [[ 9.99995912e-01 -4.47952697e-04 -2.82404031e-03 2.89104173e+02] [ 4.48530460e-04 9.99999879e-01 2.03957315e-04 -1.77223497e+01] [ 2.82394860e-03 -2.05223149e-04 9.99995992e-01 -3.96578038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.190371743 meters Centerline goodness [0,1] 0.983991314190672 Centerline is valid? [True, True] Translation: X:289.13, Y:-17.72, Z:-3.97 [[ 9.99992053e-01 -3.50073925e-04 -3.97128822e-03 2.89134067e+02] [ 3.51215887e-04 9.99999897e-01 2.86860611e-04 -1.77229583e+01] [ 3.97118739e-03 -2.88253110e-04 9.99992073e-01 -3.96658054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.220371743 meters Centerline goodness [0,1] 0.985439477765689 Centerline is valid? [True, True] Translation: X:289.16, Y:-17.72, Z:-3.97 [[ 9.99990316e-01 -2.48212066e-04 -4.39392728e-03 2.89164349e+02] [ 2.49608502e-04 9.99999919e-01 3.17265024e-04 -1.77196741e+01] [ 4.39384817e-03 -3.18358713e-04 9.99990296e-01 -3.96616092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.250371743 meters Centerline goodness [0,1] 0.9829528369532533 Centerline is valid? [True, True] Translation: X:289.19, Y:-17.73, Z:-3.97 [[ 9.99990893e-01 -3.56838342e-04 -4.25278673e-03 2.89191625e+02] [ 3.58144085e-04 9.99999889e-01 3.06274543e-04 -1.77333824e+01] [ 4.25267697e-03 -3.07794865e-04 9.99990910e-01 -3.96930176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.280371743 meters Centerline goodness [0,1] 0.9846890394800749 Centerline is valid? [True, True] Translation: X:289.22, Y:-17.73, Z:-3.97 [[ 9.99994039e-01 -3.94018476e-04 -3.43028710e-03 2.89220652e+02] [ 3.94866757e-04 9.99999892e-01 2.46617938e-04 -1.77285935e+01] [ 3.43018956e-03 -2.47970974e-04 9.99994086e-01 -3.96665958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.310371743 meters Centerline goodness [0,1] 0.9849441476444876 Centerline is valid? [True, True] Translation: X:289.25, Y:-17.73, Z:-3.97 [[ 9.99996605e-01 9.51669654e-06 -2.60574045e-03 2.89250662e+02] [-9.02817890e-06 9.99999982e-01 1.87489175e-04 -1.77293863e+01] [ 2.60574218e-03 -1.87465014e-04 9.99996587e-01 -3.96583936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.340371743 meters Centerline goodness [0,1] 0.9826625673270302 Centerline is valid? [True, True] Translation: X:289.28, Y:-17.74, Z:-3.97 [[ 9.99996228e-01 8.25059850e-04 -2.61973161e-03 2.89278091e+02] [-8.24569845e-04 9.99999642e-01 1.88118385e-04 -1.77428569e+01] [ 2.61988588e-03 -1.85957524e-04 9.99996551e-01 -3.96872797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.370371743 meters Centerline goodness [0,1] 0.9856762698137221 Centerline is valid? [True, True] Translation: X:289.31, Y:-17.73, Z:-3.97 [[ 9.99995698e-01 1.47829639e-03 -2.53355700e-03 2.89308207e+02] [-1.47784806e-03 9.99998892e-01 1.78820546e-04 -1.77312196e+01] [ 2.53381855e-03 -1.75075565e-04 9.99996775e-01 -3.96635616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.400371743 meters Centerline goodness [0,1] 0.985511919843372 Centerline is valid? [True, True] Translation: X:289.34, Y:-17.73, Z:-3.97 [[ 9.99988898e-01 3.51086539e-03 -3.14295210e-03 2.89336825e+02] [-3.51017570e-03 9.99993814e-01 2.24930007e-04 -1.77343252e+01] [ 3.14372236e-03 -2.13895196e-04 9.99995036e-01 -3.96727516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.430371743 meters Centerline goodness [0,1] 0.9860824861635366 Centerline is valid? [True, True] Translation: X:289.37, Y:-17.73, Z:-3.97 [[ 9.99985915e-01 4.27437952e-03 -3.14628820e-03 2.89365553e+02] [-4.27369361e-03 9.99990842e-01 2.24696794e-04 -1.77333961e+01] [ 3.14721982e-03 -2.11247358e-04 9.99995025e-01 -3.96693179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.460371743 meters Centerline goodness [0,1] 0.9855777021552422 Centerline is valid? [True, True] Translation: X:289.39, Y:-17.74, Z:-3.97 [[ 9.99975364e-01 6.00246507e-03 -3.63899925e-03 2.89393033e+02] [-6.00156036e-03 9.99981957e-01 2.59485584e-04 -1.77400400e+01] [ 3.64049114e-03 -2.37639517e-04 9.99993345e-01 -3.96839848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.490371743 meters Centerline goodness [0,1] 0.9864413032951322 Centerline is valid? [True, True] Translation: X:289.42, Y:-17.74, Z:-3.97 [[ 9.99964089e-01 7.74849014e-03 -3.43231446e-03 2.89422983e+02] [-7.74769365e-03 9.99969956e-01 2.45289985e-04 -1.77384510e+01] [ 3.43411196e-03 -2.18688656e-04 9.99994080e-01 -3.96773530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.520371743 meters Centerline goodness [0,1] 0.9861497128034094 Centerline is valid? [True, True] Translation: X:289.45, Y:-17.74, Z:-3.97 [[ 9.99958987e-01 8.37895131e-03 -3.43770004e-03 2.89452426e+02] [-8.37816127e-03 9.99964873e-01 2.44151226e-04 -1.77366038e+01] [ 3.43962501e-03 -2.15339607e-04 9.99994061e-01 -3.96672296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.550371743 meters Centerline goodness [0,1] 0.9863704385863935 Centerline is valid? [True, True] Translation: X:289.48, Y:-17.74, Z:-3.97 [[ 9.99950724e-01 9.46790560e-03 -2.98478370e-03 2.89479622e+02] [-9.46731517e-03 9.99955162e-01 2.11880706e-04 -1.77417078e+01] [ 2.98665593e-03 -1.83612378e-04 9.99995523e-01 -3.96785844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.580371743 meters Centerline goodness [0,1] 0.9867398473352859 Centerline is valid? [True, True] Translation: X:289.51, Y:-17.75, Z:-3.97 [[ 9.99951251e-01 9.50167456e-03 -2.68571389e-03 2.89507205e+02] [-9.50119757e-03 9.99954844e-01 1.90305173e-04 -1.77452221e+01] [ 2.68740084e-03 -1.64778398e-04 9.99996375e-01 -3.96846233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61037174300003 meters Centerline goodness [0,1] 0.9863294285517019 Centerline is valid? [True, True] Translation: X:289.54, Y:-17.75, Z:-3.97 [[ 9.99950126e-01 9.65642431e-03 -2.54913161e-03 2.89536023e+02] [-9.65599507e-03 9.99953363e-01 1.80642132e-04 -1.77486775e+01] [ 2.55075708e-03 -1.56018720e-04 9.99996735e-01 -3.96889188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.640371743 meters Centerline goodness [0,1] 0.9869576237988801 Centerline is valid? [True, True] Translation: X:289.56, Y:-17.75, Z:-3.97 [[ 9.99951100e-01 9.44411014e-03 -2.93360221e-03 2.89564665e+02] [-9.44354097e-03 9.99955387e-01 2.07810823e-04 -1.77498277e+01] [ 2.93543392e-03 -1.80097068e-04 9.99995675e-01 -3.96904587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67037174300003 meters Centerline goodness [0,1] 0.9867186239018654 Centerline is valid? [True, True] Translation: X:289.59, Y:-17.75, Z:-3.97 [[ 9.99953977e-01 9.02940419e-03 -3.24258210e-03 2.89593791e+02] [-9.02870711e-03 9.99959214e-01 2.29550659e-04 -1.77514655e+01] [ 3.24452256e-03 -2.00263770e-04 9.99994716e-01 -3.96997704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.700371743 meters Centerline goodness [0,1] 0.9865722431711579 Centerline is valid? [True, True] Translation: X:289.62, Y:-17.76, Z:-3.97 [[ 9.99964670e-01 7.47182757e-03 -3.85095380e-03 2.89622097e+02] [-7.47083199e-03 9.99972056e-01 2.72849564e-04 -1.77604435e+01] [ 3.85288487e-03 -2.44070096e-04 9.99992548e-01 -3.97238294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.730371743 meters Centerline goodness [0,1] 0.9875907712105892 Centerline is valid? [True, True] Translation: X:289.65, Y:-17.76, Z:-3.97 [[ 9.99971550e-01 6.33250877e-03 -4.09862117e-03 2.89651157e+02] [-6.33137359e-03 9.99979915e-01 2.89882057e-04 -1.77597641e+01] [ 4.10037453e-03 -2.63923908e-04 9.99991559e-01 -3.97167601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.760371743 meters Centerline goodness [0,1] 0.9873487601784975 Centerline is valid? [True, True] Translation: X:289.68, Y:-17.77, Z:-3.97 [[ 9.99983483e-01 3.87960619e-03 -4.24067496e-03 2.89679187e+02] [-3.87836871e-03 9.99992434e-01 2.99995846e-04 -1.77692830e+01] [ 4.24180674e-03 -2.83543990e-04 9.99990963e-01 -3.97283157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.790371743 meters Centerline goodness [0,1] 0.9866770979543938 Centerline is valid? [True, True] Translation: X:289.71, Y:-17.78, Z:-3.97 [[ 9.99987228e-01 2.79822253e-03 -4.20873386e-03 2.89706732e+02] [-2.79699864e-03 9.99996044e-01 2.96656388e-04 -1.77767424e+01] [ 4.20954732e-03 -2.84880776e-04 9.99991099e-01 -3.97389365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.820371743 meters Centerline goodness [0,1] 0.9866770979543938 Centerline is valid? [True, True] Translation: X:289.74, Y:-17.78, Z:-3.97 [[ 9.99987419e-01 2.72929763e-03 -4.20872357e-03 2.89735036e+02] [-2.72807252e-03 9.99996235e-01 2.96801054e-04 -1.77786822e+01] [ 4.20951778e-03 -2.85315617e-04 9.99991099e-01 -3.97428336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.850371743 meters Centerline goodness [0,1] 0.9863712240744552 Centerline is valid? [True, True] Translation: X:289.76, Y:-17.79, Z:-3.97 [[ 9.99993802e-01 9.72194410e-04 -3.38381522e-03 2.89763200e+02] [-9.71392870e-04 9.99999500e-01 2.38510083e-04 -1.77868461e+01] [ 3.38404540e-03 -2.35221591e-04 9.99994246e-01 -3.97479642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880371743 meters Centerline goodness [0,1] 0.9872384219554031 Centerline is valid? [True, True] Translation: X:289.79, Y:-17.79, Z:-3.97 [[ 9.99996700e-01 6.95178387e-04 -2.47332318e-03 2.89792175e+02] [-6.94750876e-04 9.99999744e-01 1.73703604e-04 -1.77862821e+01] [ 2.47344330e-03 -1.71984687e-04 9.99996926e-01 -3.97366370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.910371743 meters Centerline goodness [0,1] 0.9866185604676653 Centerline is valid? [True, True] Translation: X:289.82, Y:-17.79, Z:-3.97 [[ 9.99998492e-01 1.20586707e-03 -1.24972187e-03 2.89820669e+02] [-1.20575869e-03 9.99999269e-01 8.74715557e-05 -1.77928436e+01] [ 1.24982644e-03 -8.59645608e-05 9.99999215e-01 -3.97351495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940371743 meters Centerline goodness [0,1] 0.986824709368589 Centerline is valid? [True, True] Translation: X:289.85, Y:-17.79, Z:-3.97 [[ 9.99996090e-01 2.37639034e-03 -1.47384887e-03 2.89850624e+02] [-2.37624042e-03 9.99997171e-01 1.03464164e-04 -1.77908893e+01] [ 1.47409057e-03 -9.99615401e-05 9.99998909e-01 -3.97241816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.970371743 meters Centerline goodness [0,1] 0.9860645455582164 Centerline is valid? [True, True] Translation: X:289.88, Y:-17.80, Z:-3.97 [[ 9.99991551e-01 3.94714389e-03 -1.14790673e-03 2.89878458e+02] [-3.94705432e-03 9.99992207e-01 8.02842298e-05 -1.78030719e+01] [ 1.14821468e-03 -7.57527013e-05 9.99999338e-01 -3.97475356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000371743 meters Centerline goodness [0,1] 0.9882838321442411 Centerline is valid? [True, True] Translation: X:289.91, Y:-17.79, Z:-3.97 [[ 9.99969969e-01 7.60740638e-03 -1.47965840e-03 2.89909730e+02] [-7.60726066e-03 9.99971059e-01 1.04083471e-04 -1.77943443e+01] [ 1.48040738e-03 -9.28241976e-05 9.99998900e-01 -3.97243635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.030371743 meters Centerline goodness [0,1] 0.9877987821503227 Centerline is valid? [True, True] Translation: X:289.94, Y:-17.80, Z:-3.97 [[ 9.99925807e-01 1.21571653e-02 -7.63492539e-04 2.89938984e+02] [-1.21571279e-02 9.99926098e-01 5.34952260e-05 -1.78000539e+01] [ 7.64086466e-04 -4.42093806e-05 9.99999707e-01 -3.97386052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060371743 meters Centerline goodness [0,1] 0.9880770893535689 Centerline is valid? [True, True] Translation: X:289.97, Y:-17.80, Z:-3.97 [[ 9.99902988e-01 1.38932116e-02 -9.96625212e-04 2.89967842e+02] [-1.38931495e-02 9.99903483e-01 6.91702790e-05 -1.77985459e+01] [ 9.97490018e-04 -5.53173056e-05 9.99999501e-01 -3.97377584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.090371743 meters Centerline goodness [0,1] 0.9877854245476505 Centerline is valid? [True, True] Translation: X:290.00, Y:-17.80, Z:-3.97 [[ 9.99876289e-01 1.57085780e-02 -8.04270439e-04 2.89997075e+02] [-1.57085381e-02 9.99876612e-01 5.58151438e-05 -1.77980660e+01] [ 8.05047978e-04 -4.31743260e-05 9.99999675e-01 -3.97402415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120371743 meters Centerline goodness [0,1] 0.9878173511830352 Centerline is valid? [True, True] Translation: X:290.03, Y:-17.80, Z:-3.98 [[ 9.99825249e-01 1.86776502e-02 -7.85837193e-04 2.90025705e+02] [-1.86776129e-02 9.99825557e-01 5.47433678e-05 -1.78014270e+01] [ 7.86722587e-04 -4.00562384e-05 9.99999690e-01 -3.97522548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.150371743 meters Centerline goodness [0,1] 0.988519074250898 Centerline is valid? [True, True] Translation: X:290.05, Y:-17.80, Z:-3.98 [[ 9.99784458e-01 2.07029400e-02 -1.55771076e-03 2.90054678e+02] [-2.07027962e-02 9.99785668e-01 1.08393234e-04 -1.78020064e+01] [ 1.55962095e-03 -7.61209025e-05 9.99998781e-01 -3.97609861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180371743 meters Centerline goodness [0,1] 0.9882146439317954 Centerline is valid? [True, True] Translation: X:290.08, Y:-17.80, Z:-3.98 [[ 9.99777429e-01 2.09969764e-02 -2.05423472e-03 2.90082862e+02] [-2.09967266e-02 9.99779534e-01 1.43119163e-04 -1.78045255e+01] [ 2.05678690e-03 -9.99551044e-05 9.99997880e-01 -3.97736273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.210371743 meters Centerline goodness [0,1] 0.9881284757689253 Centerline is valid? [True, True] Translation: X:290.11, Y:-17.81, Z:-3.98 [[ 9.99773845e-01 2.10913110e-02 -2.72317141e-03 2.90111631e+02] [-2.10908719e-02 9.99777545e-01 1.89855503e-04 -1.78076519e+01] [ 2.72656993e-03 -1.32378507e-04 9.99996274e-01 -3.97822502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240371743 meters Centerline goodness [0,1] 0.9879471581623388 Centerline is valid? [True, True] Translation: X:290.14, Y:-17.81, Z:-3.98 [[ 9.99774957e-01 2.09950492e-02 -3.04027644e-03 2.90139362e+02] [-2.09945026e-02 9.99779569e-01 2.11568606e-04 -1.78108393e+01] [ 3.04404816e-03 -1.47691903e-04 9.99995356e-01 -3.97920512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.270371743 meters Centerline goodness [0,1] 0.9869914261672466 Centerline is valid? [True, True] Translation: X:290.17, Y:-17.82, Z:-3.98 [[ 9.99809877e-01 1.92863158e-02 -2.87196708e-03 2.90166280e+02] [-1.92858240e-02 9.99813991e-01 1.98858856e-04 -1.78155813e+01] [ 2.87526812e-03 -1.43432796e-04 9.99995856e-01 -3.98046726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300371743 meters Centerline goodness [0,1] 0.9868564176939811 Centerline is valid? [True, True] Translation: X:290.20, Y:-17.82, Z:-3.98 [[ 9.99863306e-01 1.63815724e-02 -2.23903777e-03 2.90195359e+02] [-1.63812649e-02 9.99865806e-01 1.55568856e-04 -1.78193413e+01] [ 2.24128577e-03 -1.18869320e-04 9.99997481e-01 -3.98026004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.330371743 meters Centerline goodness [0,1] 0.9866500453309157 Centerline is valid? [True, True] Translation: X:290.22, Y:-17.82, Z:-3.98 [[ 9.99888431e-01 1.48258229e-02 -1.82241558e-03 2.90222677e+02] [-1.48256181e-02 9.99890087e-01 1.25853809e-04 -1.78243613e+01] [ 1.82408116e-03 -9.88213300e-05 9.99998331e-01 -3.98097669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36037174300003 meters Centerline goodness [0,1] 0.9867659035381413 Centerline is valid? [True, True] Translation: X:290.25, Y:-17.83, Z:-3.98 [[ 9.99911367e-01 1.32278160e-02 -1.51110387e-03 2.90251545e+02] [-1.32276735e-02 9.99912505e-01 1.04292805e-04 -1.78271643e+01] [ 1.51235122e-03 -8.42951725e-05 9.99998853e-01 -3.98090238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.390371743 meters Centerline goodness [0,1] 0.985724644249071 Centerline is valid? [True, True] Translation: X:290.28, Y:-17.83, Z:-3.98 [[ 9.99948023e-01 1.01371336e-02 -1.09059625e-03 2.90279983e+02] [-1.01370569e-02 9.99948616e-01 7.58223816e-05 -1.78330961e+01] [ 1.09130884e-03 -6.47630043e-05 9.99999402e-01 -3.98168364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42037174300003 meters Centerline goodness [0,1] 0.9858268429632313 Centerline is valid? [True, True] Translation: X:290.31, Y:-17.84, Z:-3.98 [[ 9.99961727e-01 8.69941075e-03 -9.30173535e-04 2.90307943e+02] [-8.69935519e-03 9.99962158e-01 6.37646719e-05 -1.78377210e+01] [ 9.30693051e-04 -5.56703215e-05 9.99999565e-01 -3.98234416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.450371743 meters Centerline goodness [0,1] 0.9853259888026007 Centerline is valid? [True, True] Translation: X:290.34, Y:-17.84, Z:-3.98 [[ 9.99983411e-01 5.72122200e-03 -6.67005808e-04 2.90337729e+02] [-5.72119249e-03 9.99983633e-01 4.61526268e-05 -1.78429324e+01] [ 6.67258941e-04 -4.23357926e-05 9.99999776e-01 -3.98317370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.480371743 meters Centerline goodness [0,1] 0.985316043916324 Centerline is valid? [True, True] Translation: X:290.37, Y:-17.85, Z:-3.98 [[ 9.99989776e-01 4.48183807e-03 -6.00417376e-04 2.90367308e+02] [-4.48181410e-03 9.99989956e-01 4.12646319e-05 -1.78478909e+01] [ 6.00596286e-04 -3.85732510e-05 9.99999819e-01 -3.98427738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.510371743 meters Centerline goodness [0,1] 0.9839758057235714 Centerline is valid? [True, True] Translation: X:290.40, Y:-17.86, Z:-3.99 [[ 9.99997879e-01 1.92359423e-03 -7.35426195e-04 2.90395614e+02] [-1.92355705e-03 9.99998149e-01 5.12617664e-05 -1.78551529e+01] [ 7.35523440e-04 -4.98470235e-05 9.99999728e-01 -3.98500245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.540371743 meters Centerline goodness [0,1] 0.984477935204404 Centerline is valid? [True, True] Translation: X:290.43, Y:-17.86, Z:-3.98 [[ 9.99999716e-01 5.84239897e-04 -4.75777881e-04 2.90425395e+02] [-5.84224339e-04 9.99999829e-01 3.28372489e-05 -1.78591865e+01] [ 4.75796984e-04 -3.25592786e-05 9.99999886e-01 -3.98477469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.570371743 meters Centerline goodness [0,1] 0.9853037157067945 Centerline is valid? [True, True] Translation: X:290.46, Y:-17.86, Z:-3.98 [[ 9.99999234e-01 -7.92026749e-04 9.51504429e-04 2.90456058e+02] [ 7.92090037e-04 9.99999684e-01 -6.61385563e-05 -1.78593420e+01] [-9.51451745e-04 6.68921828e-05 9.99999545e-01 -3.98357930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.600371743 meters Centerline goodness [0,1] 0.9848952814662849 Centerline is valid? [True, True] Translation: X:290.49, Y:-17.86, Z:-3.98 [[ 9.99998640e-01 -8.07989122e-04 1.43775559e-03 2.90487118e+02] [ 8.08133008e-04 9.99999669e-01 -9.94991409e-05 -1.78618079e+01] [-1.43767472e-03 1.00660903e-04 9.99998961e-01 -3.98401668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.630371743 meters Centerline goodness [0,1] 0.9850426869100984 Centerline is valid? [True, True] Translation: X:290.52, Y:-17.86, Z:-3.98 [[ 9.99999273e-01 -3.13243925e-04 1.16464165e-03 2.90518703e+02] [ 3.13337936e-04 9.99999948e-01 -8.05394256e-05 -1.78625959e+01] [-1.16461636e-03 8.09042935e-05 9.99999319e-01 -3.98442562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.660371743 meters Centerline goodness [0,1] 0.9866678677596613 Centerline is valid? [True, True] Translation: X:290.55, Y:-17.86, Z:-3.99 [[ 9.99998649e-01 1.23393831e-03 1.08581128e-03 2.90549343e+02] [-1.23385700e-03 9.99999236e-01 -7.55525784e-05 -1.78638265e+01] [-1.08590368e-03 7.42127405e-05 9.99999408e-01 -3.98500115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.690371743 meters Centerline goodness [0,1] 0.9856141062932647 Centerline is valid? [True, True] Translation: X:290.58, Y:-17.87, Z:-3.99 [[ 9.99996817e-01 2.27022343e-03 1.10084663e-03 2.90578403e+02] [-2.27014072e-03 9.99997420e-01 -7.63788302e-05 -1.78693161e+01] [-1.10101719e-03 7.38795103e-05 9.99999391e-01 -3.98612001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.720371743 meters Centerline goodness [0,1] 0.9859986923094266 Centerline is valid? [True, True] Translation: X:290.61, Y:-17.87, Z:-3.99 [[ 9.99989126e-01 4.42387473e-03 1.47572547e-03 2.90608453e+02] [-4.42372763e-03 9.99990210e-01 -1.02923462e-04 -1.78703310e+01] [-1.47616634e-03 9.63941353e-05 9.99998906e-01 -3.98643459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.750371743 meters Centerline goodness [0,1] 0.9860316315955482 Centerline is valid? [True, True] Translation: X:290.64, Y:-17.87, Z:-3.99 [[ 9.99982711e-01 5.44102510e-03 2.23016899e-03 2.90638084e+02] [-5.44069158e-03 9.99985187e-01 -1.55590090e-04 -1.78699287e+01] [-2.23098252e-03 1.43453738e-04 9.99997501e-01 -3.98651764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.780371743 meters Centerline goodness [0,1] 0.9857345683185721 Centerline is valid? [True, True] Translation: X:290.67, Y:-17.87, Z:-3.99 [[ 9.99974012e-01 6.80079174e-03 2.39248986e-03 2.90668101e+02] [-6.80041255e-03 9.99976863e-01 -1.66591019e-04 -1.78712042e+01] [-2.39356745e-03 1.50316772e-04 9.99997124e-01 -3.98691841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.810371743 meters Centerline goodness [0,1] 0.9858242477596443 Centerline is valid? [True, True] Translation: X:290.70, Y:-17.87, Z:-3.99 [[ 9.99955974e-01 8.76616198e-03 3.34719123e-03 2.90698354e+02] [-8.76543129e-03 9.99961556e-01 -2.32907443e-04 -1.78733986e+01] [-3.34910425e-03 2.03557614e-04 9.99994371e-01 -3.98758659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.840371743 meters Centerline goodness [0,1] 0.9867694457592354 Centerline is valid? [True, True] Translation: X:290.73, Y:-17.87, Z:-3.99 [[ 9.99943205e-01 1.03188355e-02 2.66617965e-03 2.90727364e+02] [-1.03183758e-02 9.99946747e-01 -1.86117206e-04 -1.78737275e+01] [-2.66795818e-03 1.58595992e-04 9.99996428e-01 -3.98763196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.870371743 meters Centerline goodness [0,1] 0.9862692489797759 Centerline is valid? [True, True] Translation: X:290.76, Y:-17.87, Z:-3.99 [[ 9.99940574e-01 1.06686404e-02 2.24226657e-03 2.90755958e+02] [-1.06683161e-02 9.99943080e-01 -1.56528802e-04 -1.78738763e+01] [-2.24380889e-03 1.32598292e-04 9.99997474e-01 -3.98779862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.900371743 meters Centerline goodness [0,1] 0.9868059001308133 Centerline is valid? [True, True] Translation: X:290.78, Y:-17.88, Z:-3.99 [[ 9.99945703e-01 1.02470080e-02 1.89474899e-03 2.90783793e+02] [-1.02467753e-02 9.99947492e-01 -1.32491264e-04 -1.78773021e+01] [-1.89600714e-03 1.13069003e-04 9.99998196e-01 -3.98829366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.930371743 meters Centerline goodness [0,1] 0.9871613265879707 Centerline is valid? [True, True] Translation: X:290.81, Y:-17.88, Z:-3.99 [[ 9.99954878e-01 9.40305781e-03 1.35060724e-03 2.90812432e+02] [-9.40293878e-03 9.99955787e-01 -9.44507129e-05 -1.78799203e+01] [-1.35143565e-03 8.17467740e-05 9.99999083e-01 -3.98884197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.960371743 meters Centerline goodness [0,1] 0.9865022946099163 Centerline is valid? [True, True] Translation: X:290.84, Y:-17.89, Z:-3.99 [[ 9.99959171e-01 8.83737454e-03 1.88580511e-03 2.90840276e+02] [-8.83714188e-03 9.99960943e-01 -1.31673152e-04 -1.78858668e+01] [-1.88689510e-03 1.15002649e-04 9.99998213e-01 -3.98976065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.990371743 meters Centerline goodness [0,1] 0.9860530925751246 Centerline is valid? [True, True] Translation: X:290.87, Y:-17.89, Z:-3.99 [[ 9.99969267e-01 7.29822495e-03 2.86387874e-03 2.90869928e+02] [-7.29768689e-03 9.99973352e-01 -1.98282535e-04 -1.78907997e+01] [-2.86524953e-03 1.77376751e-04 9.99995879e-01 -3.98926929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.020371743 meters Centerline goodness [0,1] 0.9858527698432334 Centerline is valid? [True, True] Translation: X:290.90, Y:-17.89, Z:-3.99 [[ 9.99975418e-01 6.35568266e-03 2.96135808e-03 2.90899950e+02] [-6.35510357e-03 9.99979785e-01 -2.04919897e-04 -1.78911835e+01] [-2.96260062e-03 1.86095123e-04 9.99995594e-01 -3.98880575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.050371743 meters Centerline goodness [0,1] 0.9853396794037088 Centerline is valid? [True, True] Translation: X:290.93, Y:-17.89, Z:-3.99 [[ 9.99979089e-01 5.73561122e-03 2.98742574e-03 2.90928563e+02] [-5.73501890e-03 9.99983533e-01 -2.06799410e-04 -1.78945382e+01] [-2.98856267e-03 1.89662143e-04 9.99995516e-01 -3.98912262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.080371743 meters Centerline goodness [0,1] 0.9854106628242075 Centerline is valid? [True, True] Translation: X:290.96, Y:-17.90, Z:-3.99 [[ 9.99987960e-01 4.15685123e-03 2.60783451e-03 2.90958446e+02] [-4.15639515e-03 9.99991346e-01 -1.80284450e-04 -1.78961896e+01] [-2.60856136e-03 1.69443089e-04 9.99996583e-01 -3.99017241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11037174300003 meters Centerline goodness [0,1] 0.9851212550288809 Centerline is valid? [True, True] Translation: X:290.99, Y:-17.90, Z:-3.99 [[ 9.99992580e-01 2.76470058e-03 2.68275648e-03 2.90988725e+02] [-2.76421427e-03 9.99996162e-01 -1.84964093e-04 -1.79008032e+01] [-2.68325755e-03 1.77547007e-04 9.99996384e-01 -3.99084775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.140371743 meters Centerline goodness [0,1] 0.9857549219432437 Centerline is valid? [True, True] Translation: X:291.02, Y:-17.90, Z:-3.99 [[ 9.99994191e-01 2.00488055e-03 2.75663905e-03 2.91018844e+02] [-2.00436421e-03 9.99997973e-01 -1.90057968e-04 -1.79019200e+01] [-2.75701451e-03 1.84531555e-04 9.99996182e-01 -3.99123352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17037174300003 meters Centerline goodness [0,1] 0.9856050584093814 Centerline is valid? [True, True] Translation: X:291.05, Y:-17.91, Z:-3.99 [[ 9.99997051e-01 -6.90369097e-04 2.32839755e-03 2.91049306e+02] [ 6.90744744e-04 9.99999749e-01 -1.60532626e-04 -1.79053192e+01] [-2.32828614e-03 1.62140481e-04 9.99997276e-01 -3.99148992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.200371743 meters Centerline goodness [0,1] 0.9849389477464536 Centerline is valid? [True, True] Translation: X:291.08, Y:-17.91, Z:-3.99 [[ 9.99995857e-01 -1.66114167e-03 2.35104535e-03 2.91079616e+02] [ 1.66152396e-03 9.99998607e-01 -1.60662658e-04 -1.79123412e+01] [-2.35077519e-03 1.64568311e-04 9.99997223e-01 -3.99230271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.230371743 meters Centerline goodness [0,1] 0.9847160099795464 Centerline is valid? [True, True] Translation: X:291.11, Y:-17.91, Z:-3.99 [[ 9.99994276e-01 -2.72175298e-03 2.01007044e-03 2.91111548e+02] [ 2.72203208e-03 9.99996286e-01 -1.36130015e-04 -1.79133702e+01] [-2.00969246e-03 1.41600712e-04 9.99997971e-01 -3.99227553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.260371743 meters Centerline goodness [0,1] 0.9845190156599553 Centerline is valid? [True, True] Translation: X:291.14, Y:-17.92, Z:-3.99 [[ 9.99984736e-01 -4.84857628e-03 2.64930996e-03 2.91142581e+02] [ 4.84907860e-03 9.99988226e-01 -1.83212402e-04 -1.79179601e+01] [-2.64839045e-03 1.96056318e-04 9.99996474e-01 -3.99268527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.290371743 meters Centerline goodness [0,1] 0.9833486269331483 Centerline is valid? [True, True] Translation: X:291.17, Y:-17.93, Z:-3.99 [[ 9.99977510e-01 -5.94348926e-03 3.10716323e-03 2.91173563e+02] [ 5.94418548e-03 9.99982310e-01 -2.14883169e-04 -1.79257467e+01] [-3.10583111e-03 2.33347891e-04 9.99995150e-01 -3.99385427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.320371743 meters Centerline goodness [0,1] 0.9842157038096941 Centerline is valid? [True, True] Translation: X:291.20, Y:-17.93, Z:-3.99 [[ 9.99963786e-01 -7.65455497e-03 3.71950311e-03 2.91204350e+02] [ 7.65556703e-03 9.99970662e-01 -2.57933469e-04 -1.79281721e+01] [-3.71741962e-03 2.86399034e-04 9.99993049e-01 -3.99366406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.350371743 meters Centerline goodness [0,1] 0.9830956272529835 Centerline is valid? [True, True] Translation: X:291.24, Y:-17.93, Z:-3.99 [[ 9.99958210e-01 -8.31288815e-03 3.80451373e-03 2.91236752e+02] [ 8.31395004e-03 9.99965404e-01 -2.63381932e-04 -1.79313608e+01] [-3.80219265e-03 2.95001463e-04 9.99992728e-01 -3.99366719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380371743 meters Centerline goodness [0,1] 0.9829640725256545 Centerline is valid? [True, True] Translation: X:291.27, Y:-17.94, Z:-3.99 [[ 9.99949610e-01 -9.17503000e-03 4.07382809e-03 2.91268154e+02] [ 9.17625610e-03 9.99957857e-01 -2.82379472e-04 -1.79354340e+01] [-4.07106556e-03 3.19747732e-04 9.99991662e-01 -3.99373521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.410371743 meters Centerline goodness [0,1] 0.9824141402841481 Centerline is valid? [True, True] Translation: X:291.30, Y:-17.94, Z:-3.99 [[ 9.99947867e-01 -9.46714288e-03 3.82578913e-03 2.91300058e+02] [ 9.46822714e-03 9.99955140e-01 -2.65395674e-04 -1.79367899e+01] [-3.82310497e-03 3.01605278e-04 9.99992646e-01 -3.99412194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440371743 meters Centerline goodness [0,1] 0.9823893170819143 Centerline is valid? [True, True] Translation: X:291.33, Y:-17.94, Z:-4.00 [[ 9.99949234e-01 -9.50472640e-03 3.34506136e-03 2.91331132e+02] [ 9.50555653e-03 9.99954794e-01 -2.32352415e-04 -1.79412468e+01] [-3.34270170e-03 2.64137290e-04 9.99994378e-01 -3.99512978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.470371743 meters Centerline goodness [0,1] 0.9828168698959615 Centerline is valid? [True, True] Translation: X:291.36, Y:-17.94, Z:-4.00 [[ 9.99946558e-01 -1.00626688e-02 2.37125506e-03 2.91363671e+02] [ 1.00630868e-02 9.99949352e-01 -1.64426456e-04 -1.79409334e+01] [-2.36948039e-03 1.88279814e-04 9.99997175e-01 -3.99566700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500371743 meters Centerline goodness [0,1] 0.9832264981127019 Centerline is valid? [True, True] Translation: X:291.39, Y:-17.95, Z:-4.00 [[ 9.99948343e-01 -9.92366487e-03 2.19823122e-03 2.91394800e+02] [ 9.92402442e-03 9.99950744e-01 -1.52717306e-04 -1.79473140e+01] [-2.19660743e-03 1.74524717e-04 9.99997572e-01 -3.99652902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.530371743 meters Centerline goodness [0,1] 0.9848122217997182 Centerline is valid? [True, True] Translation: X:291.43, Y:-17.94, Z:-4.00 [[ 9.99948881e-01 -9.85170852e-03 2.27576910e-03 2.91427243e+02] [ 9.85209353e-03 9.99951454e-01 -1.58028160e-04 -1.79418984e+01] [-2.27410178e-03 1.80441171e-04 9.99997398e-01 -3.99585994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560371743 meters Centerline goodness [0,1] 0.9846678403494307 Centerline is valid? [True, True] Translation: X:291.46, Y:-17.94, Z:-4.00 [[ 9.99954602e-01 -9.21340718e-03 2.43060112e-03 2.91459039e+02] [ 9.21384507e-03 9.99957537e-01 -1.69020483e-04 -1.79443560e+01] [-2.42894065e-03 1.91407991e-04 9.99997032e-01 -3.99628338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.590371743 meters Centerline goodness [0,1] 0.9850130126536839 Centerline is valid? [True, True] Translation: X:291.49, Y:-17.94, Z:-4.00 [[ 9.99961186e-01 -8.35707743e-03 2.79028436e-03 2.91491769e+02] [ 8.35765160e-03 9.99965055e-01 -1.94179066e-04 -1.79446998e+01] [-2.78856409e-03 2.17491754e-04 9.99996088e-01 -3.99616803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620371743 meters Centerline goodness [0,1] 0.9835331018259214 Centerline is valid? [True, True] Translation: X:291.52, Y:-17.95, Z:-4.00 [[ 9.99980935e-01 -5.82120934e-03 2.06009514e-03 2.91520746e+02] [ 5.82151713e-03 9.99983045e-01 -1.43444567e-04 -1.79518152e+01] [-2.05922519e-03 1.55434712e-04 9.99997868e-01 -3.99740293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.650371743 meters Centerline goodness [0,1] 0.9860171200645363 Centerline is valid? [True, True] Translation: X:291.55, Y:-17.94, Z:-4.00 [[ 9.99987065e-01 -4.61138662e-03 2.14573898e-03 2.91553334e+02] [ 4.61171859e-03 9.99989355e-01 -1.49788290e-04 -1.79427385e+01] [-2.14502541e-03 1.59681897e-04 9.99997687e-01 -3.99586695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680371743 meters Centerline goodness [0,1] 0.9855859901212394 Centerline is valid? [True, True] Translation: X:291.58, Y:-17.94, Z:-4.00 [[ 9.99993309e-01 -3.04497894e-03 2.02727850e-03 2.91583559e+02] [ 3.04527131e-03 9.99995353e-01 -1.41146172e-04 -1.79443446e+01] [-2.02683929e-03 1.47318841e-04 9.99997935e-01 -3.99624536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.710371743 meters Centerline goodness [0,1] 0.9855859901212394 Centerline is valid? [True, True] Translation: X:291.62, Y:-17.95, Z:-4.00 [[ 9.99993520e-01 -2.97478328e-03 2.02724865e-03 2.91615256e+02] [ 2.97507636e-03 9.99995564e-01 -1.41571652e-04 -1.79466343e+01] [-2.02681851e-03 1.47601954e-04 9.99997935e-01 -3.99668087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740371743 meters Centerline goodness [0,1] 0.9862628715319933 Centerline is valid? [True, True] Translation: X:291.65, Y:-17.95, Z:-4.00 [[ 9.99998745e-01 9.30625336e-04 1.28254282e-03 2.91645025e+02] [-9.30510205e-04 9.99999563e-01 -9.03622112e-05 -1.79464462e+01] [-1.28262636e-03 8.91686785e-05 9.99999173e-01 -3.99724900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.770371743 meters Centerline goodness [0,1] 0.9854680025273039 Centerline is valid? [True, True] Translation: X:291.67, Y:-17.95, Z:-4.00 [[ 9.99993581e-01 3.40121452e-03 1.12701855e-03 2.91674921e+02] [-3.40112738e-03 9.99994213e-01 -7.92242666e-05 -1.79479257e+01] [-1.12728148e-03 7.53906244e-05 9.99999362e-01 -3.99786474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800371743 meters Centerline goodness [0,1] 0.9869495758612155 Centerline is valid? [True, True] Translation: X:291.70, Y:-17.94, Z:-4.00 [[ 9.99959096e-01 8.95073668e-03 1.30026834e-03 2.91704892e+02] [-8.95062484e-03 9.99959938e-01 -9.18089491e-05 -1.79445814e+01] [-1.30103800e-03 8.01669796e-05 9.99999150e-01 -3.99766840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.830371743 meters Centerline goodness [0,1] 0.9880605773354098 Centerline is valid? [True, True] Translation: X:291.74, Y:-17.94, Z:-4.00 [[ 9.99923927e-01 1.22997959e-02 9.24413178e-04 2.91735297e+02] [-1.22997409e-02 9.99924353e-01 -6.51680770e-05 -1.79441089e+01] [-9.25144803e-04 5.37930769e-05 9.99999571e-01 -3.99785094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86037174300003 meters Centerline goodness [0,1] 0.9887290222031486 Centerline is valid? [True, True] Translation: X:291.76, Y:-17.94, Z:-4.00 [[ 9.99813976e-01 1.92858004e-02 2.65401032e-04 2.91764254e+02] [-1.92857959e-02 9.99814012e-01 -1.92449584e-05 -1.79397328e+01] [-2.65722825e-04 1.41229082e-05 9.99999965e-01 -3.99851067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.890371743 meters Centerline goodness [0,1] 0.9880911951821413 Centerline is valid? [True, True] Translation: X:291.79, Y:-17.94, Z:-4.00 [[ 9.99741862e-01 2.27202360e-02 -2.66622989e-05 2.91792917e+02] [-2.27202359e-02 9.99741862e-01 1.49438878e-06 -1.79392127e+01] [ 2.66893692e-05 -8.88229300e-07 1.00000000e+00 -3.99928962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92037174300003 meters Centerline goodness [0,1] 0.989110460763629 Centerline is valid? [True, True] Translation: X:291.82, Y:-17.94, Z:-4.00 [[ 9.99585610e-01 2.87838375e-02 3.15439616e-04 2.91822709e+02] [-2.87838318e-02 9.99585659e-01 -2.23950418e-05 -1.79369043e+01] [-3.15953532e-04 1.33062007e-05 9.99999950e-01 -3.99925639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.950371743 meters Centerline goodness [0,1] 0.9889206738409845 Centerline is valid? [True, True] Translation: X:291.85, Y:-17.94, Z:-4.00 [[ 9.99499463e-01 3.16305867e-02 5.74760273e-04 2.91852381e+02] [-3.16305685e-02 9.99499628e-01 -4.07506924e-05 -1.79368530e+01] [-5.75761647e-04 2.25503010e-05 9.99999834e-01 -3.99941226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.980371743 meters Centerline goodness [0,1] 0.9887954545454546 Centerline is valid? [True, True] Translation: X:291.88, Y:-17.93, Z:-4.00 [[ 9.99335334e-01 3.64469382e-02 7.15308056e-04 2.91882594e+02] [-3.64469113e-02 9.99335589e-01 -5.06178784e-05 -1.79349083e+01] [-7.16677664e-04 2.45134652e-05 9.99999743e-01 -3.99890812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.010371743 meters Centerline goodness [0,1] 0.9896867316273563 Centerline is valid? [True, True] Translation: X:291.91, Y:-17.94, Z:-4.00 [[ 9.99263315e-01 3.83705613e-02 7.25721693e-04 2.91911593e+02] [-3.83705338e-02 9.99263579e-01 -5.16988252e-05 -1.79355118e+01] [-7.27170969e-04 2.38144106e-05 9.99999735e-01 -3.99930558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.040371743 meters Centerline goodness [0,1] 0.9901710957408082 Centerline is valid? [True, True] Translation: X:291.94, Y:-17.94, Z:-4.00 [[ 9.99218092e-01 3.95357798e-02 3.56222688e-04 2.91939233e+02] [-3.95357731e-02 9.99218155e-01 -2.60097793e-05 -1.79369912e+01] [-3.56972494e-04 1.19059027e-05 9.99999936e-01 -4.00007054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.070371743 meters Centerline goodness [0,1] 0.9903131182208882 Centerline is valid? [True, True] Translation: X:291.97, Y:-17.94, Z:-4.00 [[ 9.99189247e-01 4.02595164e-02 -1.43101783e-04 2.91966699e+02] [-4.02595155e-02 9.99189257e-01 8.91236327e-06 -1.79398675e+01] [ 1.43344571e-04 -3.14392910e-06 9.99999990e-01 -4.00187418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.100371743 meters Centerline goodness [0,1] 0.989838043823436 Centerline is valid? [True, True] Translation: X:291.99, Y:-17.94, Z:-4.00 [[ 9.99215277e-01 3.95978727e-02 -9.15563200e-04 2.91994233e+02] [-3.95978318e-02 9.99215696e-01 6.28173540e-05 -1.79443622e+01] [ 9.17332554e-04 -2.65137422e-05 9.99999579e-01 -4.00339096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.130371743 meters Centerline goodness [0,1] 0.9899012770582375 Centerline is valid? [True, True] Translation: X:292.02, Y:-17.95, Z:-4.00 [[ 9.99231107e-01 3.91888470e-02 -1.19502736e-03 2.92022635e+02] [-3.91887763e-02 9.99231821e-01 8.24701011e-05 -1.79476620e+01] [ 1.19734127e-03 -3.55750305e-05 9.99999283e-01 -4.00430646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.160371743 meters Centerline goodness [0,1] 0.9904992422014613 Centerline is valid? [True, True] Translation: X:292.05, Y:-17.94, Z:-4.00 [[ 9.99273354e-01 3.80606360e-02 -2.03766499e-03 2.92052167e+02] [-3.80604276e-02 9.99275429e-01 1.40964075e-04 -1.79428741e+01] [ 2.04155374e-03 -6.33072436e-05 9.99997914e-01 -4.00068207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.190371743 meters Centerline goodness [0,1] 0.9913074972835929 Centerline is valid? [True, True] Translation: X:292.08, Y:-17.95, Z:-4.00 [[ 9.99365773e-01 3.55242709e-02 -2.46530741e-03 2.92081938e+02] [-3.55239567e-02 9.99368810e-01 1.71134402e-04 -1.79462408e+01] [ 2.46983076e-03 -8.34483903e-05 9.99996946e-01 -4.00038564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.220371743 meters Centerline goodness [0,1] 0.9915073829151191 Centerline is valid? [True, True] Translation: X:292.11, Y:-17.95, Z:-4.00 [[ 9.99427373e-01 3.37334063e-02 -2.64245582e-03 2.92110021e+02] [-3.37330416e-02 9.99430862e-01 1.82496860e-04 -1.79495839e+01] [ 2.64710814e-03 -9.32542854e-05 9.99996492e-01 -3.99999076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.250371743 meters Centerline goodness [0,1] 0.9909248541896548 Centerline is valid? [True, True] Translation: X:292.14, Y:-17.96, Z:-4.00 [[ 9.99535064e-01 3.04543550e-02 -1.47948518e-03 2.92138903e+02] [-3.04542373e-02 9.99536157e-01 1.02048772e-04 -1.79557231e+01] [ 1.48190676e-03 -5.69447327e-05 9.99998900e-01 -3.99894658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.280371743 meters Centerline goodness [0,1] 0.9900300002255656 Centerline is valid? [True, True] Translation: X:292.17, Y:-17.96, Z:-4.00 [[ 9.99595716e-01 2.84283095e-02 -4.84744753e-04 2.92167296e+02] [-2.84282970e-02 9.99595834e-01 3.26544819e-05 -1.79594590e+01] [ 4.85477147e-04 -1.88608124e-05 9.99999882e-01 -3.99833058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.310371743 meters Centerline goodness [0,1] 0.9893973842378948 Centerline is valid? [True, True] Translation: X:292.19, Y:-17.96, Z:-4.00 [[ 9.99650114e-01 2.64507889e-02 -7.75038440e-05 2.92194704e+02] [-2.64507886e-02 9.99650117e-01 4.14769828e-06 -1.79647753e+01] [ 7.75864366e-05 -2.09620926e-06 9.99999997e-01 -3.99809132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.340371743 meters Centerline goodness [0,1] 0.9896447706091577 Centerline is valid? [True, True] Translation: X:292.22, Y:-17.97, Z:-4.00 [[ 9.99741034e-01 2.27467933e-02 6.68881611e-04 2.92223769e+02] [-2.27467669e-02 9.99741258e-01 -4.70554324e-05 -1.79705649e+01] [-6.69778904e-04 3.18283526e-05 9.99999775e-01 -3.99705870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.370371743 meters Centerline goodness [0,1] 0.9901695142978705 Centerline is valid? [True, True] Translation: X:292.25, Y:-17.97, Z:-4.00 [[ 9.99780460e-01 2.09318779e-02 9.42366644e-04 2.92252300e+02] [-2.09318248e-02 9.99780903e-01 -6.61747252e-05 -1.79745553e+01] [-9.43545336e-04 4.64347437e-05 9.99999554e-01 -3.99704842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.400371743 meters Centerline goodness [0,1] 0.9899293484355725 Centerline is valid? [True, True] Translation: X:292.28, Y:-17.98, Z:-4.00 [[ 9.99859429e-01 1.67621980e-02 3.87443534e-04 2.92282286e+02] [-1.67621889e-02 9.99859504e-01 -2.68056538e-05 -1.79829831e+01] [-3.87838422e-04 2.03074840e-05 9.99999925e-01 -3.99766428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.430371743 meters Centerline goodness [0,1] 0.9893939054196471 Centerline is valid? [True, True] Translation: X:292.31, Y:-17.99, Z:-4.00 [[ 9.99894106e-01 1.45417659e-02 5.59786815e-04 2.92311367e+02] [-1.45417461e-02 9.99894262e-01 -3.94303531e-05 -1.79876063e+01] [-5.60301011e-04 3.12858999e-05 9.99999843e-01 -3.99806285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.460371743 meters Centerline goodness [0,1] 0.9894932152996669 Centerline is valid? [True, True] Translation: X:292.34, Y:-18.00, Z:-4.00 [[ 9.99946199e-01 1.03360061e-02 -8.75142082e-04 2.92340615e+02] [-1.03359574e-02 9.99946581e-01 6.01573100e-05 -1.79965523e+01] [ 8.75717119e-04 -5.11086422e-05 9.99999615e-01 -3.99946187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.490371743 meters Centerline goodness [0,1] 0.9888004649707158 Centerline is valid? [True, True] Translation: X:292.37, Y:-18.00, Z:-4.00 [[ 9.99963107e-01 8.48845318e-03 -1.31538101e-03 2.92369857e+02] [-8.48834161e-03 9.99963969e-01 9.03823788e-05 -1.80014987e+01] [ 1.31610083e-03 -7.92136409e-05 9.99999131e-01 -4.00063306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.520371743 meters Centerline goodness [0,1] 0.9890569753390324 Centerline is valid? [True, True] Translation: X:292.40, Y:-18.00, Z:-4.00 [[ 9.99973133e-01 7.07419060e-03 -1.92044674e-03 2.92399480e+02] [-7.07394992e-03 9.99974971e-01 1.32090007e-04 -1.80013578e+01] [ 1.92133311e-03 -1.18501314e-04 9.99998147e-01 -4.00014117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.550371743 meters Centerline goodness [0,1] 0.9892081508624542 Centerline is valid? [True, True] Translation: X:292.43, Y:-18.01, Z:-4.00 [[ 9.99983960e-01 5.13623551e-03 -2.38736469e-03 2.92428031e+02] [-5.13585866e-03 9.99986798e-01 1.63955953e-04 -1.80072518e+01] [ 2.38817529e-03 -1.51692155e-04 9.99997137e-01 -4.00114012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.580371743 meters Centerline goodness [0,1] 0.9890274425672656 Centerline is valid? [True, True] Translation: X:292.46, Y:-18.01, Z:-4.00 [[ 9.99984273e-01 5.28244021e-03 -1.88407163e-03 2.92456896e+02] [-5.28220675e-03 9.99986041e-01 1.28866416e-04 -1.80107989e+01] [ 1.88472606e-03 -1.18912333e-04 9.99998217e-01 -4.00185964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61037174300003 meters Centerline goodness [0,1] 0.9890327901740933 Centerline is valid? [True, True] Translation: X:292.49, Y:-18.01, Z:-4.00 [[ 9.99973690e-01 7.23528514e-03 -5.19924253e-04 2.92486955e+02] [-7.23526784e-03 9.99973824e-01 3.51436014e-05 -1.80100618e+01] [ 5.20164917e-04 -3.13808855e-05 9.99999864e-01 -4.00009898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.640371743 meters Centerline goodness [0,1] 0.9893067189449296 Centerline is valid? [True, True] Translation: X:292.52, Y:-18.01, Z:-4.00 [[ 9.99960844e-01 8.84534232e-03 2.64576579e-04 2.92515778e+02] [-8.84533755e-03 9.99960879e-01 -1.91963891e-05 -1.80090649e+01] [-2.64736027e-04 1.68553683e-05 9.99999965e-01 -3.99884729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67037174300003 meters Centerline goodness [0,1] 0.9897332886954581 Centerline is valid? [True, True] Translation: X:292.54, Y:-18.01, Z:-4.00 [[ 9.99938451e-01 1.10449228e-02 1.05024547e-03 2.92544520e+02] [-1.10448525e-02 9.99939001e-01 -7.27043145e-05 -1.80121841e+01] [-1.05098442e-03 6.11000333e-05 9.99999446e-01 -3.99864137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.700371743 meters Centerline goodness [0,1] 0.9893066035629772 Centerline is valid? [True, True] Translation: X:292.58, Y:-18.01, Z:-4.00 [[ 9.99871317e-01 1.59104530e-02 2.05089934e-03 2.92575705e+02] [-1.59101971e-02 9.99873415e-01 -1.41054729e-04 -1.80070512e+01] [-2.05288397e-03 1.08406365e-04 9.99997887e-01 -3.99681665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.730371743 meters Centerline goodness [0,1] 0.9891973930899027 Centerline is valid? [True, True] Translation: X:292.60, Y:-18.01, Z:-4.00 [[ 9.99827633e-01 1.83786064e-02 2.63284594e-03 2.92604693e+02] [-1.83781923e-02 9.99831090e-01 -1.81411552e-04 -1.80106353e+01] [-2.63573531e-03 1.32993334e-04 9.99996518e-01 -3.99757897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.760371743 meters Centerline goodness [0,1] 0.990413407821229 Centerline is valid? [True, True] Translation: X:292.64, Y:-18.01, Z:-4.00 [[ 9.99746363e-01 2.24007626e-02 2.32706114e-03 2.92635229e+02] [-2.24004498e-02 9.99749066e-01 -1.60377274e-04 -1.80075418e+01] [-2.33006977e-03 1.08209380e-04 9.99997280e-01 -3.99766539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.790371743 meters Centerline goodness [0,1] 0.9900700020128375 Centerline is valid? [True, True] Translation: X:292.66, Y:-18.01, Z:-4.00 [[ 9.99709588e-01 2.40012621e-02 2.16295249e-03 2.92664254e+02] [-2.40009950e-02 9.99711923e-01 -1.49370048e-04 -1.80079184e+01] [-2.16591446e-03 9.74136578e-05 9.99997650e-01 -3.99780697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.820371743 meters Centerline goodness [0,1] 0.9895256252102725 Centerline is valid? [True, True] Translation: X:292.69, Y:-18.01, Z:-4.00 [[ 9.99659385e-01 2.60737857e-02 1.12791240e-03 2.92691964e+02] [-2.60737137e-02 9.99660020e-01 -7.84973641e-05 -1.80102981e+01] [-1.12957566e-03 4.90617616e-05 9.99999361e-01 -4.00003019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.850371743 meters Centerline goodness [0,1] 0.9905015793364547 Centerline is valid? [True, True] Translation: X:292.72, Y:-18.01, Z:-4.00 [[ 9.99642411e-01 2.67392113e-02 2.52845958e-04 2.92720347e+02] [-2.67392076e-02 9.99642443e-01 -1.82781634e-05 -1.80112843e+01] [-2.53244295e-04 1.15107268e-05 9.99999968e-01 -4.00108260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880371743 meters Centerline goodness [0,1] 0.9896202304622697 Centerline is valid? [True, True] Translation: X:292.75, Y:-18.01, Z:-4.00 [[ 9.99609159e-01 2.79530619e-02 -3.93301115e-04 2.92748441e+02] [-2.79530538e-02 9.99609237e-01 2.59267327e-05 -1.80140417e+01] [ 3.93872159e-04 -1.49226322e-05 9.99999922e-01 -4.00254075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.910371743 meters Centerline goodness [0,1] 0.9905128434619171 Centerline is valid? [True, True] Translation: X:292.78, Y:-18.02, Z:-4.00 [[ 9.99591142e-01 2.85919883e-02 -2.15567200e-04 2.92777038e+02] [-2.85919860e-02 9.99591166e-01 1.37606024e-05 -1.80152120e+01] [ 2.15872512e-04 -7.59148190e-06 9.99999977e-01 -4.00240953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940371743 meters Centerline goodness [0,1] 0.9894383530991273 Centerline is valid? [True, True] Translation: X:292.81, Y:-18.02, Z:-4.00 [[ 9.99562817e-01 2.95664347e-02 -1.35112483e-05 2.92805654e+02] [-2.95664347e-02 9.99562817e-01 -6.35831173e-08 -1.80154289e+01] [ 1.35034615e-05 4.63034761e-07 1.00000000e+00 -4.00225888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.970371743 meters Centerline goodness [0,1] 0.9908948895335863 Centerline is valid? [True, True] Translation: X:292.83, Y:-18.02, Z:-4.00 [[ 9.99496256e-01 3.17279702e-02 7.54862486e-04 2.92833221e+02] [-3.17279395e-02 9.99496541e-01 -5.26605675e-05 -1.80182854e+01] [-7.56153256e-04 2.86838088e-05 9.99999714e-01 -4.00209280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000371743 meters Centerline goodness [0,1] 0.9913990055100121 Centerline is valid? [True, True] Translation: X:292.86, Y:-18.02, Z:-4.00 [[ 9.99462479e-01 3.27551429e-02 1.36150619e-03 2.92861849e+02] [-3.27550457e-02 9.99463405e-01 -9.36524421e-05 -1.80184980e+01] [-1.36384321e-03 4.90059045e-05 9.99999069e-01 -4.00102714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.030371743 meters Centerline goodness [0,1] 0.9917139411265466 Centerline is valid? [True, True] Translation: X:292.89, Y:-18.02, Z:-4.00 [[ 9.99332083e-01 3.64998192e-02 1.77496992e-03 2.92891841e+02] [-3.64996610e-02 9.99333658e-01 -1.21427143e-04 -1.80185323e+01] [-1.77821926e-03 5.65602396e-05 9.99998417e-01 -4.00007028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060371743 meters Centerline goodness [0,1] 0.991799054426494 Centerline is valid? [True, True] Translation: X:292.92, Y:-18.02, Z:-4.00 [[ 9.99262254e-01 3.83749113e-02 1.52123345e-03 2.92921117e+02] [-3.83747969e-02 9.99263411e-01 -1.04354412e-04 -1.80177498e+01] [-1.52411752e-03 4.59004005e-05 9.99998837e-01 -3.99932711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.090371743 meters Centerline goodness [0,1] 0.9915166748956417 Centerline is valid? [True, True] Translation: X:292.95, Y:-18.02, Z:-4.00 [[ 9.99176567e-01 4.05371914e-02 1.71005167e-03 2.92949051e+02] [-4.05370501e-02 9.99178029e-01 -1.17267241e-04 -1.80197757e+01] [-1.71339974e-03 4.78502295e-05 9.99998531e-01 -3.99977632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120371743 meters Centerline goodness [0,1] 0.992691729997534 Centerline is valid? [True, True] Translation: X:292.98, Y:-18.02, Z:-4.00 [[ 9.99023444e-01 4.41298746e-02 2.17094656e-03 2.92977857e+02] [-4.41296568e-02 9.99025801e-01 -1.48137691e-04 -1.80198540e+01] [-2.17536892e-03 5.21898991e-05 9.99997633e-01 -3.99945326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.150371743 meters Centerline goodness [0,1] 0.9923101067168864 Centerline is valid? [True, True] Translation: X:293.01, Y:-18.02, Z:-4.00 [[ 9.98969730e-01 4.53089490e-02 2.56483597e-03 2.93005405e+02] [-4.53086481e-02 9.98973020e-01 -1.75317746e-04 -1.80229387e+01] [-2.57014540e-03 5.89278711e-05 9.99996695e-01 -4.00044319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180371743 meters Centerline goodness [0,1] 0.9924369559866639 Centerline is valid? [True, True] Translation: X:293.03, Y:-18.03, Z:-4.00 [[ 9.98965091e-01 4.54039764e-02 2.68810897e-03 2.93033737e+02] [-4.54036493e-02 9.98968706e-01 -1.82628897e-04 -1.80261553e+01] [-2.69362881e-03 6.03899360e-05 9.99996370e-01 -4.00060412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.210371743 meters Centerline goodness [0,1] 0.9927400259125229 Centerline is valid? [True, True] Translation: X:293.06, Y:-18.03, Z:-4.00 [[ 9.99007662e-01 4.44718339e-02 2.43854800e-03 2.93062560e+02] [-4.44715621e-02 9.99010637e-01 -1.65603477e-04 -1.80290311e+01] [-2.44350008e-03 5.69931032e-05 9.99997013e-01 -4.00071238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240371743 meters Centerline goodness [0,1] 0.9921162847992117 Centerline is valid? [True, True] Translation: X:293.09, Y:-18.03, Z:-4.00 [[ 9.99101644e-01 4.23229582e-02 2.16135495e-03 2.93090918e+02] [-4.23227397e-02 9.99103981e-01 -1.46746861e-04 -1.80323859e+01] [-2.16562909e-03 5.51405676e-05 9.99997654e-01 -4.00114796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.270371743 meters Centerline goodness [0,1] 0.9920672059183991 Centerline is valid? [True, True] Translation: X:293.12, Y:-18.04, Z:-4.00 [[ 9.99311936e-01 3.70413195e-02 1.89622920e-03 2.93118952e+02] [-3.70411423e-02 9.99313733e-01 -1.28513051e-04 -1.80417350e+01] [-1.89968817e-03 5.81861308e-05 9.99998194e-01 -4.00271279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300371743 meters Centerline goodness [0,1] 0.991404649505656 Centerline is valid? [True, True] Translation: X:293.15, Y:-18.05, Z:-4.00 [[ 9.99437917e-01 3.34972585e-02 1.33547432e-03 2.93148183e+02] [-3.34971675e-02 9.99438808e-01 -9.04325219e-05 -1.80476734e+01] [-1.33775411e-03 4.56470843e-05 9.99999104e-01 -4.00292154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.330371743 meters Centerline goodness [0,1] 0.9906176008497267 Centerline is valid? [True, True] Translation: X:293.18, Y:-18.06, Z:-4.00 [[ 9.99652765e-01 2.63110175e-02 1.44199874e-03 2.93178291e+02] [-2.63109046e-02 9.99653803e-01 -9.72005819e-05 -1.80582441e+01] [-1.44405697e-03 5.92265392e-05 9.99998956e-01 -4.00323723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36037174300003 meters Centerline goodness [0,1] 0.9898278040023935 Centerline is valid? [True, True] Translation: X:293.21, Y:-18.06, Z:-4.00 [[ 9.99736542e-01 2.29069751e-02 1.45513164e-03 2.93207462e+02] [-2.29068553e-02 9.99737599e-01 -9.89303132e-05 -1.80617941e+01] [-1.45701601e-03 6.55717593e-05 9.99998936e-01 -4.00220951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.390371743 meters Centerline goodness [0,1] 0.9896588297684284 Centerline is valid? [True, True] Translation: X:293.24, Y:-18.07, Z:-4.00 [[ 9.99800431e-01 1.98974136e-02 1.78628356e-03 2.93235385e+02] [-1.98972292e-02 9.99802023e-01 -1.20951528e-04 -1.80692041e+01] [-1.78833654e-03 8.53852967e-05 9.99998397e-01 -4.00252520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42037174300003 meters Centerline goodness [0,1] 0.9892048214049185 Centerline is valid? [True, True] Translation: X:293.27, Y:-18.08, Z:-4.00 [[ 9.99889413e-01 1.46201864e-02 2.72261668e-03 2.93265160e+02] [-1.46197420e-02 9.99893109e-01 -1.83056310e-04 -1.80783440e+01] [-2.72500198e-03 1.43232112e-04 9.99996277e-01 -4.00237520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.450371743 meters Centerline goodness [0,1] 0.9889674994472695 Centerline is valid? [True, True] Translation: X:293.29, Y:-18.08, Z:-4.00 [[ 9.99924181e-01 1.19607387e-02 2.92809684e-03 2.93294354e+02] [-1.19602125e-02 9.99928455e-01 -1.97136344e-04 -1.80836354e+01] [-2.93024524e-03 1.62100737e-04 9.99995694e-01 -4.00301232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.480371743 meters Centerline goodness [0,1] 0.9885709242547934 Centerline is valid? [True, True] Translation: X:293.32, Y:-18.09, Z:-4.00 [[ 9.99967228e-01 7.61468462e-03 2.74950503e-03 2.93324254e+02] [-7.61420529e-03 9.99970994e-01 -1.84758873e-04 -1.80921113e+01] [-2.75083216e-03 1.63817522e-04 9.99996203e-01 -4.00409641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.510371743 meters Centerline goodness [0,1] 0.9885261726119959 Centerline is valid? [True, True] Translation: X:293.35, Y:-18.10, Z:-4.01 [[ 9.99979021e-01 5.74948216e-03 2.98348543e-03 2.93352348e+02] [-5.74890823e-03 9.99983455e-01 -2.00908473e-04 -1.80982915e+01] [-2.98459118e-03 1.83752475e-04 9.99995529e-01 -4.00512465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.540371743 meters Centerline goodness [0,1] 0.9882629623931248 Centerline is valid? [True, True] Translation: X:293.38, Y:-18.10, Z:-4.01 [[ 9.99990775e-01 3.60297866e-03 2.33866829e-03 2.93382082e+02] [-3.60262103e-03 9.99993498e-01 -1.57116434e-04 -1.81012668e+01] [-2.33921917e-03 1.48689649e-04 9.99997253e-01 -4.00555345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.570371743 meters Centerline goodness [0,1] 0.9884333435757868 Centerline is valid? [True, True] Translation: X:293.41, Y:-18.11, Z:-4.01 [[ 9.99999255e-01 4.52995663e-04 1.13304942e-03 2.93411125e+02] [-4.52909585e-04 9.99999895e-01 -7.62248308e-05 -1.81100252e+01] [-1.13308383e-03 7.57116051e-05 9.99999355e-01 -4.00791048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.600371743 meters Centerline goodness [0,1] 0.987990954795934 Centerline is valid? [True, True] Translation: X:293.44, Y:-18.11, Z:-4.01 [[ 9.99998824e-01 -1.22820141e-03 9.17892552e-04 2.93441153e+02] [ 1.22825843e-03 9.99999244e-01 -6.15533901e-05 -1.81143939e+01] [-9.17816258e-04 6.26807270e-05 9.99999577e-01 -4.00911385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.630371743 meters Centerline goodness [0,1] 0.9874282951273654 Centerline is valid? [True, True] Translation: X:293.47, Y:-18.12, Z:-4.01 [[ 9.99994378e-01 -3.35224334e-03 -8.21045217e-05 2.93472069e+02] [ 3.35224384e-03 9.99994381e-01 5.98947208e-06 -1.81199603e+01] [ 8.20839822e-05 -6.26467279e-06 9.99999997e-01 -4.01037013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.660371743 meters Centerline goodness [0,1] 0.9874282951273654 Centerline is valid? [True, True] Translation: X:293.50, Y:-18.12, Z:-4.01 [[ 9.99994495e-01 -3.31724462e-03 -8.21042939e-05 2.93502920e+02] [ 3.31724513e-03 9.99994498e-01 5.99274121e-06 -1.81220618e+01] [ 8.20839628e-05 -6.26506828e-06 9.99999997e-01 -4.01079418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.690371743 meters Centerline goodness [0,1] 0.987802207428171 Centerline is valid? [True, True] Translation: X:293.53, Y:-18.13, Z:-4.01 [[ 9.99992565e-01 -3.85608284e-03 -2.86819980e-05 2.93533630e+02] [ 3.85608291e-03 9.99992565e-01 2.57725100e-06 -1.81263762e+01] [ 2.86718467e-05 -2.68783200e-06 1.00000000e+00 -4.01114611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.720371743 meters Centerline goodness [0,1] 0.9867046325703647 Centerline is valid? [True, True] Translation: X:293.57, Y:-18.13, Z:-4.01 [[ 9.99990066e-01 -4.44797645e-03 2.88274307e-04 2.93565082e+02] [ 4.44798208e-03 9.99990108e-01 -1.89007295e-05 -1.81302853e+01] [-2.88187386e-04 2.01827807e-05 9.99999958e-01 -4.01155300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.750371743 meters Centerline goodness [0,1] 0.987407196513436 Centerline is valid? [True, True] Translation: X:293.60, Y:-18.13, Z:-4.01 [[ 9.99985512e-01 -5.31545499e-03 8.49133550e-04 2.93596363e+02] [ 5.31550498e-03 9.99985871e-01 -5.66172333e-05 -1.81310397e+01] [-8.48820606e-04 6.11299867e-05 9.99999638e-01 -4.01100364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.780371743 meters Centerline goodness [0,1] 0.9872225515379043 Centerline is valid? [True, True] Translation: X:293.63, Y:-18.13, Z:-4.01 [[ 9.99982780e-01 -5.79178391e-03 9.46533638e-04 2.93628022e+02] [ 5.79184609e-03 9.99983225e-01 -6.29681894e-05 -1.81333094e+01] [-9.46153062e-04 6.84492822e-05 9.99999550e-01 -4.01125280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.810371743 meters Centerline goodness [0,1] 0.985562493153686 Centerline is valid? [True, True] Translation: X:293.66, Y:-18.14, Z:-4.01 [[ 9.99980734e-01 -6.06813961e-03 1.30737336e-03 2.93658659e+02] [ 6.06825804e-03 9.99981584e-01 -8.66380561e-05 -1.81429793e+01] [-1.30682355e-03 9.45698659e-05 9.99999142e-01 -4.01251764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.840371743 meters Centerline goodness [0,1] 0.9859426741814513 Centerline is valid? [True, True] Translation: X:293.69, Y:-18.14, Z:-4.01 [[ 9.99981497e-01 -5.95215883e-03 1.25594004e-03 2.93690927e+02] [ 5.95226872e-03 9.99982282e-01 -8.37774972e-05 -1.81382858e+01] [-1.25541913e-03 9.12516397e-05 9.99999208e-01 -4.01138756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.870371743 meters Centerline goodness [0,1] 0.9863022676628653 Centerline is valid? [True, True] Translation: X:293.72, Y:-18.14, Z:-4.01 [[ 9.99983325e-01 -5.63824050e-03 1.24936418e-03 2.93722832e+02] [ 5.63834911e-03 9.99984101e-01 -8.34284585e-05 -1.81408219e+01] [-1.24887393e-03 9.04714187e-05 9.99999216e-01 -4.01181693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.900371743 meters Centerline goodness [0,1] 0.9878086284157807 Centerline is valid? [True, True] Translation: X:293.75, Y:-18.14, Z:-4.01 [[ 9.99988664e-01 -4.45572580e-03 1.67862712e-03 2.93754796e+02] [ 4.45592164e-03 9.99990066e-01 -1.12945940e-04 -1.81361294e+01] [-1.67810719e-03 1.20424490e-04 9.99998585e-01 -4.01115100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.930371743 meters Centerline goodness [0,1] 0.9864426825528932 Centerline is valid? [True, True] Translation: X:293.78, Y:-18.15, Z:-4.01 [[ 9.99988718e-01 -4.38314283e-03 1.83079072e-03 2.93784926e+02] [ 4.38337407e-03 9.99990385e-01 -1.22314602e-04 -1.81469530e+01] [-1.83023699e-03 1.30338262e-04 9.99998317e-01 -4.01255197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.960371743 meters Centerline goodness [0,1] 0.9871915573752545 Centerline is valid? [True, True] Translation: X:293.82, Y:-18.14, Z:-4.01 [[ 9.99991587e-01 -3.77457841e-03 1.60578435e-03 2.93817713e+02] [ 3.77475644e-03 9.99992870e-01 -1.07851691e-04 -1.81409086e+01] [-1.60536580e-03 1.13912229e-04 9.99998705e-01 -4.01202016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.990371743 meters Centerline goodness [0,1] 0.9876629933705053 Centerline is valid? [True, True] Translation: X:293.85, Y:-18.14, Z:-4.01 [[ 9.99991368e-01 -4.05161624e-03 9.20779688e-04 2.93848512e+02] [ 4.05167478e-03 9.99991790e-01 -6.17225836e-05 -1.81444740e+01] [-9.20522052e-04 6.54527507e-05 9.99999574e-01 -4.01280647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.020371743 meters Centerline goodness [0,1] 0.9881452482019927 Centerline is valid? [True, True] Translation: X:293.88, Y:-18.14, Z:-4.01 [[ 9.99992379e-01 -3.85100540e-03 6.42288591e-04 2.93880458e+02] [ 3.85103356e-03 9.99992584e-01 -4.26178422e-05 -1.81431593e+01] [-6.42119706e-04 4.50909923e-05 9.99999793e-01 -4.01290196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.050371743 meters Centerline goodness [0,1] 0.987436414664094 Centerline is valid? [True, True] Translation: X:293.91, Y:-18.15, Z:-4.01 [[ 9.99989739e-01 -4.51059725e-03 4.19319274e-04 2.93911610e+02] [ 4.51060928e-03 9.99989827e-01 -2.77545572e-05 -1.81481390e+01] [-4.19189819e-04 2.96456578e-05 9.99999912e-01 -4.01421527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.080371743 meters Centerline goodness [0,1] 0.9874508252565878 Centerline is valid? [True, True] Translation: X:293.94, Y:-18.15, Z:-4.02 [[ 9.99988625e-01 -4.75860938e-03 3.23549612e-04 2.93942542e+02] [ 4.75861651e-03 9.99988677e-01 -2.12792223e-05 -1.81516478e+01] [-3.23444689e-04 2.28186288e-05 9.99999947e-01 -4.01524368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11037174300003 meters Centerline goodness [0,1] 0.9873060648801129 Centerline is valid? [True, True] Translation: X:293.97, Y:-18.15, Z:-4.02 [[ 9.99987333e-01 -5.02997930e-03 1.80896385e-04 2.93974981e+02] [ 5.02998144e-03 9.99987349e-01 -1.13354122e-05 -1.81502085e+01] [-1.80837079e-04 1.22451741e-05 9.99999984e-01 -4.01525204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.140371743 meters Centerline goodness [0,1] 0.985544872500055 Centerline is valid? [True, True] Translation: X:294.01, Y:-18.16, Z:-4.02 [[ 9.99987936e-01 -4.89421855e-03 4.16690348e-04 2.94005478e+02] [ 4.89423050e-03 9.99988023e-01 -2.76629921e-05 -1.81627719e+01] [-4.16549969e-04 2.97020370e-05 9.99999913e-01 -4.01739527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17037174300003 meters Centerline goodness [0,1] 0.98802329171997 Centerline is valid? [True, True] Translation: X:294.04, Y:-18.15, Z:-4.01 [[ 9.99989270e-01 -4.60601796e-03 4.95198505e-04 2.94038993e+02] [ 4.60603477e-03 9.99989392e-01 -3.28131360e-05 -1.81516495e+01] [-4.95042114e-04 3.50936854e-05 9.99999877e-01 -4.01484414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.200371743 meters Centerline goodness [0,1] 0.9876006618863762 Centerline is valid? [True, True] Translation: X:294.07, Y:-18.15, Z:-4.01 [[ 9.99989852e-01 -4.43524190e-03 7.90291051e-04 2.94071394e+02] [ 4.43528516e-03 9.99990163e-01 -5.29914366e-05 -1.81516741e+01] [-7.90048247e-04 5.64960651e-05 9.99999686e-01 -4.01471714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.230371743 meters Centerline goodness [0,1] 0.988453216761602 Centerline is valid? [True, True] Translation: X:294.10, Y:-18.15, Z:-4.01 [[ 9.99990185e-01 -4.21741334e-03 1.35766993e-03 2.94103860e+02] [ 4.21754186e-03 9.99991102e-01 -9.18140139e-05 -1.81503163e+01] [-1.35727063e-03 9.75391425e-05 9.99999074e-01 -4.01424068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.260371743 meters Centerline goodness [0,1] 0.9866911325801959 Centerline is valid? [True, True] Translation: X:294.13, Y:-18.15, Z:-4.01 [[ 9.99988854e-01 -4.37721306e-03 1.76967434e-03 2.94134441e+02] [ 4.37743282e-03 9.99990412e-01 -1.20325436e-04 -1.81545070e+01] [-1.76913068e-03 1.28070726e-04 9.99998427e-01 -4.01433908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.290371743 meters Centerline goodness [0,1] 0.9866498962884505 Centerline is valid? [True, True] Translation: X:294.17, Y:-18.16, Z:-4.01 [[ 9.99987114e-01 -4.57038642e-03 2.21002501e-03 2.94165345e+02] [ 4.57073034e-03 9.99989543e-01 -1.50591282e-04 -1.81575052e+01] [-2.20931363e-03 1.60690770e-04 9.99997547e-01 -4.01419221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.320371743 meters Centerline goodness [0,1] 0.9874251364671043 Centerline is valid? [True, True] Translation: X:294.20, Y:-18.15, Z:-4.01 [[ 9.99982842e-01 -5.15989992e-03 2.77327596e-03 2.94197990e+02] [ 5.16044405e-03 9.99986667e-01 -1.89083858e-04 -1.81516913e+01] [-2.77226333e-03 2.03391949e-04 9.99996137e-01 -4.01256166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.350371743 meters Centerline goodness [0,1] 0.9875859940024696 Centerline is valid? [True, True] Translation: X:294.23, Y:-18.15, Z:-4.01 [[ 9.99979785e-01 -5.74778746e-03 2.71901409e-03 2.94230546e+02] [ 5.74831314e-03 9.99983461e-01 -1.85556817e-04 -1.81519861e+01] [-2.71790258e-03 2.01182810e-04 9.99996286e-01 -4.01259023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380371743 meters Centerline goodness [0,1] 0.9875322726570602 Centerline is valid? [True, True] Translation: X:294.26, Y:-18.15, Z:-4.01 [[ 9.99977325e-01 -6.13453821e-03 2.77806050e-03 2.94262817e+02] [ 6.13508908e-03 9.99981162e-01 -1.89814337e-04 -1.81546414e+01] [-2.77684374e-03 2.06853681e-04 9.99996123e-01 -4.01351816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.410371743 meters Centerline goodness [0,1] 0.9866219998677628 Centerline is valid? [True, True] Translation: X:294.29, Y:-18.16, Z:-4.01 [[ 9.99969798e-01 -7.47610131e-03 2.12379366e-03 2.94293673e+02] [ 7.47642483e-03 9.99972041e-01 -1.44430130e-04 -1.81567527e+01] [-2.12265450e-03 1.60304152e-04 9.99997734e-01 -4.01477721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440371743 meters Centerline goodness [0,1] 0.9871110618979072 Centerline is valid? [True, True] Translation: X:294.33, Y:-18.16, Z:-4.02 [[ 9.99961231e-01 -8.71579536e-03 1.25373483e-03 2.94325547e+02] [ 8.71590949e-03 9.99962012e-01 -8.55953760e-05 -1.81564859e+01] [-1.25294117e-03 9.65194968e-05 9.99999210e-01 -4.01565205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.470371743 meters Centerline goodness [0,1] 0.9867512926921285 Centerline is valid? [True, True] Translation: X:294.36, Y:-18.16, Z:-4.02 [[ 9.99956207e-01 -9.34892058e-03 4.27123608e-04 2.94357812e+02] [ 9.34893359e-03 9.99956297e-01 -2.84596287e-05 -1.81562522e+01] [-4.26838874e-04 3.24515326e-05 9.99999908e-01 -4.01581528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500371743 meters Centerline goodness [0,1] 0.9871692239270625 Centerline is valid? [True, True] Translation: X:294.39, Y:-18.16, Z:-4.02 [[ 9.99957724e-01 -9.19506342e-03 7.23342422e-06 2.94388528e+02] [ 9.19506342e-03 9.99957725e-01 2.32378932e-07 -1.81576823e+01] [-7.23525516e-06 -1.65857314e-07 1.00000000e+00 -4.01611308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.530371743 meters Centerline goodness [0,1] 0.9856110322809507 Centerline is valid? [True, True] Translation: X:294.42, Y:-18.16, Z:-4.02 [[ 9.99963238e-01 -8.57196004e-03 2.09059107e-04 2.94421049e+02] [ 8.57196304e-03 9.99963260e-01 -1.34721215e-05 -1.81569628e+01] [-2.08935944e-04 1.52636732e-05 9.99999978e-01 -4.01676162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560371743 meters Centerline goodness [0,1] 0.98666399946656 Centerline is valid? [True, True] Translation: X:294.45, Y:-18.16, Z:-4.02 [[ 9.99968058e-01 -7.99251568e-03 4.14191804e-05 2.94453374e+02] [ 7.99251576e-03 9.99968059e-01 -1.89182317e-06 -1.81559802e+01] [-4.14027370e-05 2.22280620e-06 9.99999999e-01 -4.01711151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.590371743 meters Centerline goodness [0,1] 0.9869227170450242 Centerline is valid? [True, True] Translation: X:294.49, Y:-18.15, Z:-4.02 [[ 9.99978669e-01 -6.51939009e-03 3.98336133e-04 2.94485373e+02] [ 6.51940138e-03 9.99978748e-01 -2.70517661e-05 -1.81511424e+01] [-3.98151307e-04 2.96481022e-05 9.99999920e-01 -4.01615877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620371743 meters Centerline goodness [0,1] 0.9877286925479697 Centerline is valid? [True, True] Translation: X:294.52, Y:-18.15, Z:-4.02 [[ 9.99982911e-01 -5.81218239e-03 6.29811708e-04 2.94518137e+02] [ 5.81221023e-03 9.99983108e-01 -4.23801015e-05 -1.81512381e+01] [-6.29554749e-04 4.60399753e-05 9.99999801e-01 -4.01608296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.650371743 meters Centerline goodness [0,1] 0.9866494016788713 Centerline is valid? [True, True] Translation: X:294.55, Y:-18.15, Z:-4.02 [[ 9.99986812e-01 -5.00332495e-03 1.15859894e-03 2.94550377e+02] [ 5.00342019e-03 9.99987480e-01 -7.93187647e-05 -1.81486239e+01] [-1.15818758e-03 8.51146760e-05 9.99999326e-01 -4.01572089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680371743 meters Centerline goodness [0,1] 0.9874877111448744 Centerline is valid? [True, True] Translation: X:294.58, Y:-18.15, Z:-4.02 [[ 9.99988747e-01 -4.58370499e-03 1.22292813e-03 2.94582699e+02] [ 4.58381096e-03 9.99989491e-01 -8.38624801e-05 -1.81484085e+01] [-1.22253088e-03 8.94672078e-05 9.99999249e-01 -4.01592659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.710371743 meters Centerline goodness [0,1] 0.9868606603245663 Centerline is valid? [True, True] Translation: X:294.61, Y:-18.15, Z:-4.02 [[ 9.99989067e-01 -4.44554337e-03 1.45030357e-03 2.94613804e+02] [ 4.44569191e-03 9.99990113e-01 -9.92123678e-05 -1.81505101e+01] [-1.44984818e-03 1.05658886e-04 9.99998943e-01 -4.01647630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740371743 meters Centerline goodness [0,1] 0.9867969783237318 Centerline is valid? [True, True] Translation: X:294.65, Y:-18.15, Z:-4.02 [[ 9.99986392e-01 -5.09816340e-03 1.10703986e-03 2.94646042e+02] [ 5.09825070e-03 9.99987001e-01 -7.60443301e-05 -1.81499795e+01] [-1.10663778e-03 8.16872620e-05 9.99999384e-01 -4.01712198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.770371743 meters Centerline goodness [0,1] 0.986276796125213 Centerline is valid? [True, True] Translation: X:294.68, Y:-18.15, Z:-4.02 [[ 9.99984720e-01 -5.33518966e-03 1.44724857e-03 2.94677108e+02] [ 5.33534001e-03 9.99985762e-01 -1.00045499e-04 -1.81522572e+01] [-1.44669420e-03 1.07765534e-04 9.99998948e-01 -4.01758781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800371743 meters Centerline goodness [0,1] 0.986262073911387 Centerline is valid? [True, True] Translation: X:294.71, Y:-18.15, Z:-4.02 [[ 9.99976582e-01 -6.74994471e-03 1.12894066e-03 2.94708782e+02] [ 6.75003699e-03 9.99977215e-01 -7.79543901e-05 -1.81536581e+01] [-1.12838875e-03 8.55729558e-05 9.99999360e-01 -4.01831622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.830371743 meters Centerline goodness [0,1] 0.9868246210670931 Centerline is valid? [True, True] Translation: X:294.74, Y:-18.15, Z:-4.02 [[ 9.99971576e-01 -7.52376825e-03 4.90063702e-04 2.94740889e+02] [ 7.52378542e-03 9.99971695e-01 -3.32051424e-05 -1.81535002e+01] [-4.89800003e-04 3.68913327e-05 9.99999879e-01 -4.01854624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86037174300003 meters Centerline goodness [0,1] 0.9858739905976561 Centerline is valid? [True, True] Translation: X:294.77, Y:-18.16, Z:-4.02 [[ 9.99964918e-01 -8.37632548e-03 2.32895091e-05 2.94771608e+02] [ 8.37632551e-03 9.99964918e-01 -8.93553362e-07 -1.81587614e+01] [-2.32812074e-05 1.08860252e-06 1.00000000e+00 -4.01996399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.890371743 meters Centerline goodness [0,1] 0.9860031104199067 Centerline is valid? [True, True] Translation: X:294.80, Y:-18.16, Z:-4.02 [[ 9.99949326e-01 -1.00463564e-02 -6.45636609e-04 2.94803281e+02] [ 1.00463879e-02 9.99949533e-01 4.55828928e-05 -1.81568966e+01] [ 6.45146084e-04 -5.20668987e-05 9.99999791e-01 -4.01995195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92037174300003 meters Centerline goodness [0,1] 0.9851130058194614 Centerline is valid? [True, True] Translation: X:294.83, Y:-18.16, Z:-4.02 [[ 9.99943900e-01 -1.05845608e-02 -4.04729783e-04 2.94833777e+02] [ 1.05845734e-02 9.99943981e-01 2.90152761e-05 -1.81631631e+01] [ 4.04399996e-04 -3.32975405e-05 9.99999918e-01 -4.02089645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.950371743 meters Centerline goodness [0,1] 0.9853687129427148 Centerline is valid? [True, True] Translation: X:294.87, Y:-18.16, Z:-4.02 [[ 9.99941973e-01 -1.07723116e-02 9.28402985e-05 2.94866475e+02] [ 1.07723122e-02 9.99941977e-01 -5.52893305e-06 -1.81596936e+01] [-9.27753522e-05 6.52871690e-06 9.99999996e-01 -4.02030849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.980371743 meters Centerline goodness [0,1] 0.9855357425362171 Centerline is valid? [True, True] Translation: X:294.90, Y:-18.16, Z:-4.02 [[ 9.99945641e-01 -1.04209772e-02 3.43146458e-04 2.94898786e+02] [ 1.04209857e-02 9.99945700e-01 -2.30682857e-05 -1.81601939e+01] [-3.42887431e-04 2.66429560e-05 9.99999941e-01 -4.02021187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.010371743 meters Centerline goodness [0,1] 0.9844092955897993 Centerline is valid? [True, True] Translation: X:294.93, Y:-18.16, Z:-4.02 [[ 9.99954352e-01 -9.53390840e-03 6.31926967e-04 2.94931570e+02] [ 9.53393754e-03 9.99954550e-01 -4.31203165e-05 -1.81611669e+01] [-6.31487141e-04 4.91431004e-05 9.99999799e-01 -4.02016624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.040371743 meters Centerline goodness [0,1] 0.9864303705552656 Centerline is valid? [True, True] Translation: X:294.96, Y:-18.16, Z:-4.02 [[ 9.99976472e-01 -6.72806694e-03 1.33724463e-03 2.94962918e+02] [ 6.72819793e-03 9.99977361e-01 -9.34811525e-05 -1.81558591e+01] [-1.33658541e-03 1.02476200e-04 9.99999102e-01 -4.01864925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.070371743 meters Centerline goodness [0,1] 0.9851491862567812 Centerline is valid? [True, True] Translation: X:294.99, Y:-18.16, Z:-4.02 [[ 9.99987878e-01 -4.53349504e-03 1.92128534e-03 2.94992260e+02] [ 4.53376081e-03 9.99989713e-01 -1.33992349e-04 -1.81601200e+01] [-1.92065813e-03 1.42701373e-04 9.99998145e-01 -4.01929015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.100371743 meters Centerline goodness [0,1] 0.9869703872437358 Centerline is valid? [True, True] Translation: X:295.02, Y:-18.15, Z:-4.02 [[ 9.99998642e-01 -8.49577491e-04 1.41225978e-03 2.95023902e+02] [ 8.49718242e-04 9.99999634e-01 -9.90666363e-05 -1.81490352e+01] [-1.41217510e-03 1.00266525e-04 9.99998998e-01 -4.01908366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.130371743 meters Centerline goodness [0,1] 0.9870088431032911 Centerline is valid? [True, True] Translation: X:295.06, Y:-18.15, Z:-4.02 [[ 9.99999032e-01 7.91809242e-04 1.14411362e-03 2.95055426e+02] [-7.91718345e-04 9.99999683e-01 -7.98977164e-05 -1.81486051e+01] [-1.14417652e-03 7.89918233e-05 9.99999342e-01 -4.02002755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.160371743 meters Centerline goodness [0,1] 0.9868274371516323 Centerline is valid? [True, True] Translation: X:295.09, Y:-18.15, Z:-4.02 [[ 9.99996668e-01 2.41293493e-03 9.17064346e-04 2.95085221e+02] [-2.41287685e-03 9.99997087e-01 -6.44402700e-05 -1.81501039e+01] [-9.17217165e-04 6.22272920e-05 9.99999577e-01 -4.02107732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.190371743 meters Centerline goodness [0,1] 0.9879900449802498 Centerline is valid? [True, True] Translation: X:295.12, Y:-18.15, Z:-4.02 [[ 9.99988971e-01 4.67673314e-03 4.30546074e-04 2.95115676e+02] [-4.67672024e-03 9.99989064e-01 -3.09624725e-05 -1.81455292e+01] [-4.30686169e-04 2.89485875e-05 9.99999907e-01 -4.02128642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.220371743 meters Centerline goodness [0,1] 0.9879688605803255 Centerline is valid? [True, True] Translation: X:295.14, Y:-18.15, Z:-4.02 [[ 9.99985627e-01 5.33382039e-03 5.44653139e-04 2.95143982e+02] [-5.33379996e-03 9.99985774e-01 -3.89443657e-05 -1.81471146e+01] [-5.44853114e-04 3.60387351e-05 9.99999851e-01 -4.02211988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.250371743 meters Centerline goodness [0,1] 0.9880998695562624 Centerline is valid? [True, True] Translation: X:295.17, Y:-18.15, Z:-4.02 [[ 9.99985100e-01 5.45413230e-03 -2.29144328e-04 2.95173148e+02] [-5.45412898e-03 9.99985126e-01 1.50928537e-05 -1.81472058e+01] [ 2.29223238e-04 -1.38428461e-05 9.99999974e-01 -4.02350331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.280371743 meters Centerline goodness [0,1] 0.9890495867768595 Centerline is valid? [True, True] Translation: X:295.20, Y:-18.14, Z:-4.02 [[ 9.99988620e-01 4.72252073e-03 -6.76286264e-04 2.95202473e+02] [-4.72249046e-03 9.99988848e-01 4.63520300e-05 -1.81449152e+01] [ 6.76497620e-04 -4.31577470e-05 9.99999770e-01 -4.02355786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.310371743 meters Centerline goodness [0,1] 0.9885228968208424 Centerline is valid? [True, True] Translation: X:295.23, Y:-18.15, Z:-4.03 [[ 9.99991249e-01 4.05481201e-03 -1.02988475e-03 2.95229944e+02] [-4.05474125e-03 9.99991777e-01 7.07781889e-05 -1.81499985e+01] [ 1.03016327e-03 -6.66016533e-05 9.99999467e-01 -4.02504638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.340371743 meters Centerline goodness [0,1] 0.9884262980228259 Centerline is valid? [True, True] Translation: X:295.26, Y:-18.15, Z:-4.02 [[ 9.99997771e-01 2.00713991e-03 -6.55190991e-04 2.95259310e+02] [-2.00711083e-03 9.99997985e-01 4.50317805e-05 -1.81481918e+01] [ 6.55280056e-04 -4.37166392e-05 9.99999784e-01 -4.02441163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.370371743 meters Centerline goodness [0,1] 0.9866776730641352 Centerline is valid? [True, True] Translation: X:295.29, Y:-18.16, Z:-4.03 [[ 9.99999775e-01 6.58208531e-04 1.29491887e-04 2.95287857e+02] [-6.58207301e-04 9.99999783e-01 -9.53869897e-06 -1.81564012e+01] [-1.29498138e-04 9.45346432e-06 9.99999992e-01 -4.02558868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.400371743 meters Centerline goodness [0,1] 0.9879222061491125 Centerline is valid? [True, True] Translation: X:295.32, Y:-18.15, Z:-4.02 [[ 9.99996964e-01 -2.43228583e-03 3.95324296e-04 2.95318666e+02] [ 2.43229694e-03 9.99997042e-01 -2.76078189e-05 -1.81545116e+01] [-3.95255977e-04 2.85692811e-05 9.99999921e-01 -4.02427194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.430371743 meters Centerline goodness [0,1] 0.9870013755158185 Centerline is valid? [True, True] Translation: X:295.35, Y:-18.16, Z:-4.03 [[ 9.99993171e-01 -3.61885586e-03 7.49615144e-04 2.95350077e+02] [ 3.61889577e-03 9.99993450e-01 -5.18873962e-05 -1.81580734e+01] [-7.49422462e-04 5.45998210e-05 9.99999718e-01 -4.02514077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.460371743 meters Centerline goodness [0,1] 0.9870816476645826 Centerline is valid? [True, True] Translation: X:295.38, Y:-18.16, Z:-4.03 [[ 9.99987875e-01 -4.90911995e-03 3.87188629e-04 2.95381974e+02] [ 4.90913042e-03 9.99987950e-01 -2.61042034e-05 -1.81615406e+01] [-3.87055815e-04 2.80046464e-05 9.99999925e-01 -4.02604238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.490371743 meters Centerline goodness [0,1] 0.9857044515832951 Centerline is valid? [True, True] Translation: X:295.41, Y:-18.17, Z:-4.03 [[ 9.99978433e-01 -6.51409366e-03 -8.36375770e-04 2.95411127e+02] [ 6.51414485e-03 9.99978781e-01 5.84986758e-05 -1.81714562e+01] [ 8.35976957e-04 -6.39456871e-05 9.99999649e-01 -4.02928542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.520371743 meters Centerline goodness [0,1] 0.9857044515832951 Centerline is valid? [True, True] Translation: X:295.44, Y:-18.17, Z:-4.03 [[ 9.99978870e-01 -6.44668269e-03 -8.36307271e-04 2.95442835e+02] [ 6.44673468e-03 9.99979218e-01 5.94775557e-05 -1.81737412e+01] [ 8.35906458e-04 -6.48677500e-05 9.99999649e-01 -4.02972151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.550371743 meters Centerline goodness [0,1] 0.9867122596043513 Centerline is valid? [True, True] Translation: X:295.48, Y:-18.17, Z:-4.03 [[ 9.99976601e-01 -6.72696521e-03 -1.24303025e-03 2.95475454e+02] [ 6.72707988e-03 9.99977369e-01 8.80965044e-05 -1.81682093e+01] [ 1.24240950e-03 -9.64564069e-05 9.99999224e-01 -4.02927669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.580371743 meters Centerline goodness [0,1] 0.9868511951365542 Centerline is valid? [True, True] Translation: X:295.51, Y:-18.17, Z:-4.03 [[ 9.99976122e-01 -6.45062172e-03 -2.47892597e-03 2.95507302e+02] [ 6.45107499e-03 9.99979176e-01 1.74897079e-04 -1.81688902e+01] [ 2.47774616e-03 -1.90884640e-04 9.99996912e-01 -4.03108903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61037174300003 meters Centerline goodness [0,1] 0.9880131854959544 Centerline is valid? [True, True] Translation: X:295.54, Y:-18.17, Z:-4.03 [[ 9.99980227e-01 -5.53413000e-03 -2.98659039e-03 2.95540043e+02] [ 5.53478396e-03 9.99984661e-01 2.10743169e-04 -1.81677549e+01] [ 2.98537829e-03 -2.27269134e-04 9.99995518e-01 -4.03174089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.640371743 meters Centerline goodness [0,1] 0.9877964540640111 Centerline is valid? [True, True] Translation: X:295.57, Y:-18.17, Z:-4.03 [[ 9.99988302e-01 -3.44985202e-03 -3.39042311e-03 2.95570314e+02] [ 3.45068007e-03 9.99994018e-01 2.38413075e-04 -1.81703536e+01] [ 3.38958034e-03 -2.50109552e-04 9.99994224e-01 -4.03294710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67037174300003 meters Centerline goodness [0,1] 0.9875479369773137 Centerline is valid? [True, True] Translation: X:295.60, Y:-18.16, Z:-4.03 [[ 9.99988452e-01 2.78796877e-03 -3.91454348e-03 2.95601080e+02] [-2.78691330e-03 9.99996079e-01 2.75056997e-04 -1.81649417e+01] [ 3.91529498e-03 -2.64144327e-04 9.99992300e-01 -4.03301406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.700371743 meters Centerline goodness [0,1] 0.9881360645101492 Centerline is valid? [True, True] Translation: X:295.63, Y:-18.16, Z:-4.03 [[ 9.99919046e-01 1.23832144e-02 -2.92532963e-03 2.95631447e+02] [-1.23826660e-02 9.99923311e-01 2.05505583e-04 -1.81577260e+01] [ 2.92765011e-03 -1.69265567e-04 9.99995700e-01 -4.03187072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.730371743 meters Centerline goodness [0,1] 0.9880775309101051 Centerline is valid? [True, True] Translation: X:295.66, Y:-18.15, Z:-4.03 [[ 9.99841789e-01 1.76174682e-02 -2.45372919e-03 2.95661546e+02] [-1.76170988e-02 9.99844792e-01 1.72049586e-04 -1.81546667e+01] [ 2.45637943e-03 -1.28794777e-04 9.99996975e-01 -4.03141879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.760371743 meters Centerline goodness [0,1] 0.9886077718758737 Centerline is valid? [True, True] Translation: X:295.69, Y:-18.15, Z:-4.03 [[ 9.99734077e-01 2.30261551e-02 -1.25342522e-03 2.95691949e+02] [-2.30260628e-02 9.99734861e-01 8.79825969e-05 -1.81500135e+01] [ 1.25511879e-03 -5.90977524e-05 9.99999211e-01 -4.03029289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.790371743 meters Centerline goodness [0,1] 0.9875838847709683 Centerline is valid? [True, True] Translation: X:295.72, Y:-18.15, Z:-4.03 [[ 9.99604167e-01 2.81335923e-02 1.00731630e-04 2.95722319e+02] [-2.81335917e-02 9.99604172e-01 -7.12330055e-06 -1.81471785e+01] [-1.00892162e-04 4.28653834e-06 9.99999995e-01 -4.03006229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.820371743 meters Centerline goodness [0,1] 0.9890311215502056 Centerline is valid? [True, True] Translation: X:295.75, Y:-18.14, Z:-4.03 [[ 9.99334149e-01 3.64490889e-02 1.65022645e-03 2.95752941e+02] [-3.64489466e-02 9.99335510e-01 -1.16244500e-04 -1.81402549e+01] [-1.65336689e-03 5.60180830e-05 9.99998632e-01 -4.02909503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.850371743 meters Centerline goodness [0,1] 0.9901847438831607 Centerline is valid? [True, True] Translation: X:295.78, Y:-18.14, Z:-4.03 [[ 9.99217097e-01 3.94862331e-02 2.45551865e-03 2.95782068e+02] [-3.94859267e-02 9.99220112e-01 -1.73165810e-04 -1.81364109e+01] [-2.46044128e-03 7.60718088e-05 9.99996970e-01 -4.02802905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880371743 meters Centerline goodness [0,1] 0.9900966641394996 Centerline is valid? [True, True] Translation: X:295.81, Y:-18.13, Z:-4.03 [[ 9.99057278e-01 4.32830491e-02 3.33669188e-03 2.95811439e+02] [-4.32825076e-02 9.99062846e-01 -2.34342873e-04 -1.81346042e+01] [-3.34370796e-03 8.97015613e-05 9.99994406e-01 -4.02871456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.910371743 meters Centerline goodness [0,1] 0.9901304863582444 Centerline is valid? [True, True] Translation: X:295.84, Y:-18.13, Z:-4.03 [[ 9.99016083e-01 4.42114456e-02 3.49492170e-03 2.95840639e+02] [-4.42108565e-02 9.99022192e-01 -2.45671900e-04 -1.81348301e+01] [-3.50236585e-03 9.09166972e-05 9.99993863e-01 -4.02890928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940371743 meters Centerline goodness [0,1] 0.9899610784127587 Centerline is valid? [True, True] Translation: X:295.87, Y:-18.14, Z:-4.03 [[ 9.99008338e-01 4.43849988e-02 3.50894102e-03 2.95868770e+02] [-4.43844064e-02 9.99014496e-01 -2.46573938e-04 -1.81366354e+01] [-3.51642713e-03 9.05871557e-05 9.99993813e-01 -4.02926403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.970371743 meters Centerline goodness [0,1] 0.99002446381493 Centerline is valid? [True, True] Translation: X:295.90, Y:-18.14, Z:-4.03 [[ 9.99015731e-01 4.42180825e-02 3.51133357e-03 2.95896923e+02] [-4.42174886e-02 9.99021898e-01 -2.46629429e-04 -1.81376461e+01] [-3.51880461e-03 9.11243273e-05 9.99993805e-01 -4.02922724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000371743 meters Centerline goodness [0,1] 0.9904791300631559 Centerline is valid? [True, True] Translation: X:295.93, Y:-18.14, Z:-4.03 [[ 9.99040113e-01 4.36771142e-02 3.34102199e-03 2.95925602e+02] [-4.36765757e-02 9.99045696e-01 -2.34012926e-04 -1.81405841e+01] [-3.34805465e-03 8.78639000e-05 9.99994391e-01 -4.02973525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.030371743 meters Centerline goodness [0,1] 0.9891855997723284 Centerline is valid? [True, True] Translation: X:295.95, Y:-18.15, Z:-4.03 [[ 9.99118739e-01 4.18390701e-02 3.35235607e-03 2.95952465e+02] [-4.18385155e-02 9.99124358e-01 -2.35441108e-04 -1.81462438e+01] [-3.35927125e-03 9.49760211e-05 9.99994353e-01 -4.03118975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060371743 meters Centerline goodness [0,1] 0.9888610349068205 Centerline is valid? [True, True] Translation: X:295.98, Y:-18.15, Z:-4.03 [[ 9.99158374e-01 4.09092822e-02 2.99560780e-03 2.95981210e+02] [-4.09088386e-02 9.99162861e-01 -2.09231218e-04 -1.81490832e+01] [-3.00165956e-03 8.65082883e-05 9.99995491e-01 -4.03148480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.090371743 meters Centerline goodness [0,1] 0.9886741700290225 Centerline is valid? [True, True] Translation: X:296.01, Y:-18.16, Z:-4.03 [[ 9.99263664e-01 3.81792953e-02 3.80406036e-03 2.96009399e+02] [-3.81785623e-02 9.99270898e-01 -2.65157587e-04 -1.81554624e+01] [-3.81141034e-03 1.19728786e-04 9.99992729e-01 -4.03237095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120371743 meters Centerline goodness [0,1] 0.9880276213146049 Centerline is valid? [True, True] Translation: X:296.04, Y:-18.16, Z:-4.03 [[ 9.99299798e-01 3.72307174e-02 3.71322413e-03 2.96036392e+02] [-3.72300102e-02 9.99306689e-01 -2.59408534e-04 -1.81606688e+01] [-3.72030768e-03 1.20983523e-04 9.99993072e-01 -4.03338994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.150371743 meters Centerline goodness [0,1] 0.988622712175818 Centerline is valid? [True, True] Translation: X:296.07, Y:-18.16, Z:-4.03 [[ 9.99300029e-01 3.71728185e-02 4.19931199e-03 2.96065003e+02] [-3.71719207e-02 9.99308843e-01 -2.91668800e-04 -1.81624154e+01] [-4.20725176e-03 1.35368148e-04 9.99991140e-01 -4.03374282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180371743 meters Centerline goodness [0,1] 0.988612300597619 Centerline is valid? [True, True] Translation: X:296.09, Y:-18.17, Z:-4.03 [[ 9.99259050e-01 3.81534743e-02 5.06588435e-03 2.96092700e+02] [-3.81521805e-02 9.99271879e-01 -3.51810056e-04 -1.81662998e+01] [-5.07561855e-03 1.58274848e-04 9.99987106e-01 -4.03372394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.210371743 meters Centerline goodness [0,1] 0.9886070002349072 Centerline is valid? [True, True] Translation: X:296.12, Y:-18.17, Z:-4.03 [[ 9.99214064e-01 3.93034156e-02 5.14744027e-03 2.96121524e+02] [-3.93021012e-02 9.99227310e-01 -3.56283654e-04 -1.81671407e+01] [-5.15746606e-03 1.53698419e-04 9.99986688e-01 -4.03296742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240371743 meters Centerline goodness [0,1] 0.9892100643651258 Centerline is valid? [True, True] Translation: X:296.15, Y:-18.17, Z:-4.03 [[ 9.99122444e-01 4.13284007e-02 6.80479061e-03 2.96150037e+02] [-4.13261561e-02 9.99145599e-01 -4.70196329e-04 -1.81697329e+01] [-6.81840905e-03 1.88567867e-04 9.99976737e-01 -4.03249434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.270371743 meters Centerline goodness [0,1] 0.9891202620496022 Centerline is valid? [True, True] Translation: X:296.18, Y:-18.17, Z:-4.03 [[ 9.99079722e-01 4.22057668e-02 7.64083159e-03 2.96178885e+02] [-4.22029676e-02 9.99108919e-01 -5.27293028e-04 -1.81727140e+01] [-7.65627779e-03 2.04342004e-04 9.99970669e-01 -4.03254511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300371743 meters Centerline goodness [0,1] 0.9887420002802821 Centerline is valid? [True, True] Translation: X:296.21, Y:-18.18, Z:-4.03 [[ 9.99054158e-01 4.27070580e-02 8.17902304e-03 2.96206637e+02] [-4.27038719e-02 9.99087614e-01 -5.63869997e-04 -1.81768840e+01] [-8.19564184e-03 2.14060713e-04 9.99966392e-01 -4.03332908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.330371743 meters Centerline goodness [0,1] 0.9895425749953419 Centerline is valid? [True, True] Translation: X:296.24, Y:-18.18, Z:-4.04 [[ 9.99045448e-01 4.30226392e-02 7.56601383e-03 2.96235317e+02] [-4.30199271e-02 9.99074079e-01 -5.20915378e-04 -1.81824967e+01] [-7.58141945e-03 1.94928774e-04 9.99971242e-01 -4.03522732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36037174300003 meters Centerline goodness [0,1] 0.9889498906620761 Centerline is valid? [True, True] Translation: X:296.26, Y:-18.19, Z:-4.04 [[ 9.99073595e-01 4.23824144e-02 7.46213550e-03 2.96264221e+02] [-4.23797624e-02 9.99101442e-01 -5.13236198e-04 -1.81871715e+01] [-7.47718253e-03 1.96517204e-04 9.99972026e-01 -4.03657429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.390371743 meters Centerline goodness [0,1] 0.9890616671687794 Centerline is valid? [True, True] Translation: X:296.29, Y:-18.20, Z:-4.04 [[ 9.99160226e-01 4.04788862e-02 6.34849426e-03 2.96291039e+02] [-4.04769286e-02 9.99180378e-01 -4.36588903e-04 -1.81958114e+01] [-6.36096353e-03 1.79254718e-04 9.99979753e-01 -4.03811313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42037174300003 meters Centerline goodness [0,1] 0.9886506057652138 Centerline is valid? [True, True] Translation: X:296.32, Y:-18.20, Z:-4.04 [[ 9.99221151e-01 3.89431690e-02 6.36554099e-03 2.96319560e+02] [-3.89411759e-02 9.99241409e-01 -4.36798780e-04 -1.82011420e+01] [-6.37772248e-03 1.88576929e-04 9.99979644e-01 -4.03920052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.450371743 meters Centerline goodness [0,1] 0.9887565221406474 Centerline is valid? [True, True] Translation: X:296.35, Y:-18.21, Z:-4.04 [[ 9.99273014e-01 3.75988082e-02 6.30653359e-03 2.96347646e+02] [-3.75968270e-02 9.99292896e-01 -4.32448183e-04 -1.82059496e+01] [-6.31833375e-03 1.95028147e-04 9.99980020e-01 -4.03985662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.480371743 meters Centerline goodness [0,1] 0.9885932433364764 Centerline is valid? [True, True] Translation: X:296.38, Y:-18.21, Z:-4.04 [[ 9.99383157e-01 3.46332753e-02 5.81735807e-03 2.96376617e+02] [-3.46315441e-02 9.99400069e-01 -3.98079961e-04 -1.82131802e+01] [-5.82765487e-03 1.96370315e-04 9.99983000e-01 -4.04064920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.510371743 meters Centerline goodness [0,1] 0.9883659439450027 Centerline is valid? [True, True] Translation: X:296.40, Y:-18.22, Z:-4.04 [[ 9.99429835e-01 3.31748841e-02 6.27943876e-03 2.96404632e+02] [-3.31728374e-02 9.99449538e-01 -4.29832938e-04 -1.82182755e+01] [-6.29024182e-03 2.21281061e-04 9.99980192e-01 -4.04133238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.540371743 meters Centerline goodness [0,1] 0.9884448724121329 Centerline is valid? [True, True] Translation: X:296.43, Y:-18.22, Z:-4.04 [[ 9.99541500e-01 2.95432051e-02 6.63237501e-03 2.96433213e+02] [-2.95408480e-02 9.99563471e-01 -4.53095872e-04 -1.82247978e+01] [-6.64286569e-03 2.56962145e-04 9.99977903e-01 -4.04131320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.570371743 meters Centerline goodness [0,1] 0.9882511909124221 Centerline is valid? [True, True] Translation: X:296.46, Y:-18.23, Z:-4.04 [[ 9.99603323e-01 2.73666865e-02 6.65283293e-03 2.96461592e+02] [-2.73642683e-02 9.99625425e-01 -4.54252372e-04 -1.82292475e+01] [-6.66277233e-03 2.72022275e-04 9.99977766e-01 -4.04128783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.600371743 meters Centerline goodness [0,1] 0.9869896508586375 Centerline is valid? [True, True] Translation: X:296.49, Y:-18.24, Z:-4.04 [[ 9.99658625e-01 2.52108098e-02 6.85920767e-03 2.96489547e+02] [-2.52081930e-02 9.99682114e-01 -4.67705431e-04 -1.82384629e+01] [-6.86881845e-03 2.94637537e-04 9.99976366e-01 -4.04238479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.630371743 meters Centerline goodness [0,1] 0.9865334393096401 Centerline is valid? [True, True] Translation: X:296.52, Y:-18.24, Z:-4.04 [[ 9.99794635e-01 1.92365708e-02 6.37515287e-03 2.96519552e+02] [-1.92341933e-02 9.99814912e-01 -4.34033110e-04 -1.82435411e+01] [-6.38232221e-03 3.11323052e-04 9.99979584e-01 -4.04240542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.660371743 meters Centerline goodness [0,1] 0.9869543401906673 Centerline is valid? [True, True] Translation: X:296.55, Y:-18.25, Z:-4.04 [[ 9.99850743e-01 1.59398334e-02 6.66437795e-03 2.96548678e+02] [-1.59371600e-02 9.99872892e-01 -4.54071694e-04 -1.82475367e+01] [-6.67076869e-03 3.47792663e-04 9.99977690e-01 -4.04279470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.690371743 meters Centerline goodness [0,1] 0.9873567669772422 Centerline is valid? [True, True] Translation: X:296.58, Y:-18.25, Z:-4.04 [[ 9.99912703e-01 1.08307808e-02 7.56839308e-03 2.96578675e+02] [-1.08271931e-02 9.99941252e-01 -5.14851980e-04 -1.82547021e+01] [-7.57352469e-03 4.32862582e-04 9.99971227e-01 -4.04315536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.720371743 meters Centerline goodness [0,1] 0.9862347810285299 Centerline is valid? [True, True] Translation: X:296.61, Y:-18.26, Z:-4.04 [[ 9.99926658e-01 8.99370476e-03 8.11120030e-03 2.96607940e+02] [-8.98952251e-03 9.99959441e-01 -5.51926259e-04 -1.82586669e+01] [-8.11583518e-03 4.78969962e-04 9.99966951e-01 -4.04318999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.750371743 meters Centerline goodness [0,1] 0.9851048346750353 Centerline is valid? [True, True] Translation: X:296.64, Y:-18.27, Z:-4.04 [[ 9.99938408e-01 7.50628402e-03 8.17530337e-03 2.96636522e+02] [-7.50198915e-03 9.99971705e-01 -5.55886258e-04 -1.82686580e+01] [-8.17924469e-03 4.94520982e-04 9.99966427e-01 -4.04432685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.780371743 meters Centerline goodness [0,1] 0.9856775865596653 Centerline is valid? [True, True] Translation: X:296.67, Y:-18.27, Z:-4.04 [[ 9.99951081e-01 6.14360130e-03 7.75193151e-03 2.96667227e+02] [-6.13970078e-03 9.99981013e-01 -5.26864799e-04 -1.82687978e+01] [-7.75502117e-03 4.79244485e-04 9.99969815e-01 -4.04449722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.810371743 meters Centerline goodness [0,1] 0.9862908159796968 Centerline is valid? [True, True] Translation: X:296.70, Y:-18.27, Z:-4.04 [[ 9.99949522e-01 6.04251440e-03 8.02754288e-03 2.96698796e+02] [-6.03832997e-03 9.99981620e-01 -5.45393272e-04 -1.82686280e+01] [-8.03069088e-03 4.96892788e-04 9.99967630e-01 -4.04448037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.840371743 meters Centerline goodness [0,1] 0.9861240011770831 Centerline is valid? [True, True] Translation: X:296.73, Y:-18.27, Z:-4.04 [[ 9.99939446e-01 6.84969222e-03 8.61310106e-03 2.96729340e+02] [-6.84490464e-03 9.99976402e-01 -5.85205027e-04 -1.82719267e+01] [-8.61690628e-03 5.26213735e-04 9.99962735e-01 -4.04446247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.870371743 meters Centerline goodness [0,1] 0.9864662337072528 Centerline is valid? [True, True] Translation: X:296.76, Y:-18.27, Z:-4.04 [[ 9.99935729e-01 6.99723881e-03 8.92059145e-03 2.96760943e+02] [-6.99209819e-03 9.99975371e-01 -6.07321539e-04 -1.82716573e+01] [-8.92462131e-03 5.44908855e-04 9.99960026e-01 -4.04441061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.900371743 meters Centerline goodness [0,1] 0.9869117680474448 Centerline is valid? [True, True] Translation: X:296.79, Y:-18.27, Z:-4.04 [[ 9.99931387e-01 6.70880526e-03 9.60282286e-03 2.96792590e+02] [-6.70283132e-03 9.99977322e-01 -6.54151845e-04 -1.82729339e+01] [-9.60699366e-03 5.89740859e-04 9.99953678e-01 -4.04462621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.930371743 meters Centerline goodness [0,1] 0.9858489494605338 Centerline is valid? [True, True] Translation: X:296.82, Y:-18.28, Z:-4.04 [[ 9.99925468e-01 6.55424441e-03 1.03004994e-02 2.96823273e+02] [-6.54736214e-03 9.99978320e-01 -7.01728268e-04 -1.82759636e+01] [-1.03048754e-02 6.34234867e-04 9.99946702e-01 -4.04478341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.960371743 meters Centerline goodness [0,1] 0.986321912205762 Centerline is valid? [True, True] Translation: X:296.85, Y:-18.28, Z:-4.04 [[ 9.99926396e-01 6.19329455e-03 1.04329195e-02 2.96854168e+02] [-6.18619516e-03 9.99980611e-01 -7.12613328e-04 -1.82778125e+01] [-1.04371306e-02 6.48020800e-04 9.99945322e-01 -4.04493728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.990371743 meters Centerline goodness [0,1] 0.9866355584750945 Centerline is valid? [True, True] Translation: X:296.89, Y:-18.28, Z:-4.05 [[ 9.99933747e-01 6.15287877e-03 9.72852845e-03 2.96886344e+02] [-6.14670918e-03 9.99980888e-01 -6.63947930e-04 -1.82760206e+01] [-9.73242772e-03 6.04105506e-04 9.99952456e-01 -4.04565990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.020371743 meters Centerline goodness [0,1] 0.9868438929396314 Centerline is valid? [True, True] Translation: X:296.92, Y:-18.28, Z:-4.05 [[ 9.99937473e-01 6.53805620e-03 9.07218065e-03 2.96917019e+02] [-6.53268719e-03 9.99978469e-01 -6.21318068e-04 -1.82790481e+01] [-9.07604752e-03 5.62013500e-04 9.99958654e-01 -4.04683743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.050371743 meters Centerline goodness [0,1] 0.9884231355334683 Centerline is valid? [True, True] Translation: X:296.95, Y:-18.28, Z:-4.05 [[ 9.99944349e-01 6.44787048e-03 8.35006433e-03 2.96948838e+02] [-6.44329598e-03 9.99979077e-01 -5.74625549e-04 -1.82791606e+01] [-8.35359473e-03 5.20791634e-04 9.99964973e-01 -4.04782886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.080371743 meters Centerline goodness [0,1] 0.9879100323919887 Centerline is valid? [True, True] Translation: X:296.98, Y:-18.28, Z:-4.05 [[ 9.99952321e-01 7.41909688e-03 6.34926047e-03 2.96980343e+02] [-7.41647079e-03 9.99972402e-01 -4.37049695e-04 -1.82796691e+01] [-6.35232776e-03 3.89939752e-04 9.99979748e-01 -4.04978241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11037174300003 meters Centerline goodness [0,1] 0.9889520418178913 Centerline is valid? [True, True] Translation: X:297.01, Y:-18.28, Z:-4.05 [[ 9.99950687e-01 8.14372906e-03 5.68360062e-03 2.97010761e+02] [-8.14163392e-03 9.99966780e-01 -3.91668130e-04 -1.82813007e+01] [-5.68660145e-03 3.45375020e-04 9.99983772e-01 -4.05071404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.140371743 meters Centerline goodness [0,1] 0.9895405133826619 Centerline is valid? [True, True] Translation: X:297.04, Y:-18.28, Z:-4.05 [[ 9.99944761e-01 9.53703413e-03 4.41805177e-03 2.97040713e+02] [-9.53578024e-03 9.99954487e-01 -3.04789550e-04 -1.82789818e+01] [-4.42075748e-03 2.62643143e-04 9.99990194e-01 -4.05073403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17037174300003 meters Centerline goodness [0,1] 0.9888434192176676 Centerline is valid? [True, True] Translation: X:297.07, Y:-18.28, Z:-4.05 [[ 9.99936992e-01 1.04233575e-02 4.16709256e-03 2.97068847e+02] [-1.04222488e-02 9.99945646e-01 -2.87692970e-04 -1.82818143e+01] [-4.16986479e-03 2.44244367e-04 9.99991276e-01 -4.05134255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.200371743 meters Centerline goodness [0,1] 0.9889787088694069 Centerline is valid? [True, True] Translation: X:297.10, Y:-18.28, Z:-4.05 [[ 9.99921126e-01 1.16692157e-02 4.64439815e-03 2.97098326e+02] [-1.16678530e-02 9.99931877e-01 -3.20398004e-04 -1.82801431e+01] [-4.64782055e-03 2.66182579e-04 9.99989163e-01 -4.05101802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.230371743 meters Centerline goodness [0,1] 0.989464281624333 Centerline is valid? [True, True] Translation: X:297.13, Y:-18.28, Z:-4.05 [[ 9.99880627e-01 1.44199584e-02 5.54939877e-03 2.97128402e+02] [-1.44180616e-02 9.99895982e-01 -3.81663029e-04 -1.82778032e+01] [-5.55432510e-03 3.01605896e-04 9.99984529e-01 -4.05124392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.260371743 meters Centerline goodness [0,1] 0.9899151959660784 Centerline is valid? [True, True] Translation: X:297.16, Y:-18.28, Z:-4.05 [[ 9.99853749e-01 1.60443664e-02 5.92103751e-03 2.97157644e+02] [-1.60422367e-02 9.99871232e-01 -4.06997358e-04 -1.82780978e+01] [-5.92680508e-03 3.11951149e-04 9.99982388e-01 -4.05093428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.290371743 meters Centerline goodness [0,1] 0.989336818932306 Centerline is valid? [True, True] Translation: X:297.19, Y:-18.28, Z:-4.05 [[ 9.99786950e-01 1.94218142e-02 6.98908396e-03 2.97187758e+02] [-1.94189344e-02 9.99811320e-01 -4.79671492e-04 -1.82750444e+01] [-6.99708135e-03 3.43848735e-04 9.99975461e-01 -4.05024495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.320371743 meters Centerline goodness [0,1] 0.98958548865439 Centerline is valid? [True, True] Translation: X:297.22, Y:-18.28, Z:-4.05 [[ 9.99745474e-01 2.09234285e-02 8.43790936e-03 2.97216502e+02] [-2.09192837e-02 9.99781000e-01 -5.79184349e-04 -1.82757241e+01] [-8.44817998e-03 4.02521911e-04 9.99964232e-01 -4.05029930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.350371743 meters Centerline goodness [0,1] 0.9889728686622711 Centerline is valid? [True, True] Translation: X:297.25, Y:-18.28, Z:-4.05 [[ 9.99715357e-01 2.23506262e-02 8.34597314e-03 2.97245245e+02] [-2.23466257e-02 9.99750119e-01 -5.72289925e-04 -1.82760053e+01] [-8.35667868e-03 3.85622688e-04 9.99965008e-01 -4.05056441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380371743 meters Centerline goodness [0,1] 0.9895993925308911 Centerline is valid? [True, True] Translation: X:297.27, Y:-18.28, Z:-4.05 [[ 9.99659882e-01 2.45422098e-02 8.82043076e-03 2.97272930e+02] [-2.45378320e-02 9.99698719e-01 -6.04223679e-04 -1.82798646e+01] [-8.83260232e-03 3.87583923e-04 9.99960917e-01 -4.05242702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.410371743 meters Centerline goodness [0,1] 0.9899157342174334 Centerline is valid? [True, True] Translation: X:297.30, Y:-18.28, Z:-4.05 [[ 9.99654639e-01 2.49015083e-02 8.39753576e-03 2.97301962e+02] [-2.48975594e-02 9.99689843e-01 -5.74474324e-04 -1.82773851e+01] [-8.40923648e-03 3.65197778e-04 9.99964575e-01 -4.05279617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440371743 meters Centerline goodness [0,1] 0.9900992378715664 Centerline is valid? [True, True] Translation: X:297.33, Y:-18.28, Z:-4.05 [[ 9.99662007e-01 2.48207862e-02 7.73310104e-03 2.97330432e+02] [-2.48174387e-02 9.99691860e-01 -5.28556745e-04 -1.82770736e+01] [-7.74383736e-03 3.36462335e-04 9.99969959e-01 -4.05405808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.470371743 meters Centerline goodness [0,1] 0.9900992378715664 Centerline is valid? [True, True] Translation: X:297.36, Y:-18.28, Z:-4.05 [[ 9.99664664e-01 2.47135429e-02 7.73312417e-03 2.97357848e+02] [-2.47101947e-02 9.99694517e-01 -5.28218171e-04 -1.82788538e+01] [-7.74381598e-03 3.36954036e-04 9.99969959e-01 -4.05443537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500371743 meters Centerline goodness [0,1] 0.990564074099771 Centerline is valid? [True, True] Translation: X:297.39, Y:-18.28, Z:-4.06 [[ 9.99683776e-01 2.40537407e-02 7.33243520e-03 2.97386543e+02] [-2.40507197e-02 9.99710615e-01 -4.99907256e-04 -1.82802852e+01] [-7.34233794e-03 3.23398829e-04 9.99972992e-01 -4.05517994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.530371743 meters Centerline goodness [0,1] 0.9903209490527864 Centerline is valid? [True, True] Translation: X:297.41, Y:-18.28, Z:-4.06 [[ 9.99695773e-01 2.34304763e-02 7.70544378e-03 2.97414585e+02] [-2.34271256e-02 9.99725409e-01 -5.24836340e-04 -1.82827995e+01] [-7.71562510e-03 3.44160272e-04 9.99970175e-01 -4.05652331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560371743 meters Centerline goodness [0,1] 0.9899619245413638 Centerline is valid? [True, True] Translation: X:297.44, Y:-18.28, Z:-4.06 [[ 9.99701296e-01 2.31000861e-02 7.98149813e-03 2.97443638e+02] [-2.30964873e-02 9.99733093e-01 -5.42781517e-04 -1.82842922e+01] [-7.99190611e-03 3.58274816e-04 9.99968000e-01 -4.05725545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.590371743 meters Centerline goodness [0,1] 0.9893609671848014 Centerline is valid? [True, True] Translation: X:297.47, Y:-18.29, Z:-4.06 [[ 9.99686871e-01 2.35110452e-02 8.56680652e-03 2.97472019e+02] [-2.35069201e-02 9.99723505e-01 -5.81904224e-04 -1.82856431e+01] [-8.57811901e-03 3.80342776e-04 9.99963135e-01 -4.05747591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620371743 meters Centerline goodness [0,1] 0.9893531028430218 Centerline is valid? [True, True] Translation: X:297.50, Y:-18.29, Z:-4.06 [[ 9.99672110e-01 2.40077754e-02 8.90499405e-03 2.97500322e+02] [-2.40033439e-02 9.99711696e-01 -6.04201816e-04 -1.82873416e+01] [-8.91693225e-03 3.90254069e-04 9.99960167e-01 -4.05805634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.650371743 meters Centerline goodness [0,1] 0.9891176266722118 Centerline is valid? [True, True] Translation: X:297.53, Y:-18.29, Z:-4.06 [[ 9.99652234e-01 2.46315876e-02 9.41790326e-03 2.97529270e+02] [-2.46266653e-02 9.99696514e-01 -6.38281426e-04 -1.82879191e+01] [-9.43076694e-03 4.06127902e-04 9.99955447e-01 -4.05782805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680371743 meters Centerline goodness [0,1] 0.9888670747199446 Centerline is valid? [True, True] Translation: X:297.56, Y:-18.29, Z:-4.06 [[ 9.99617212e-01 2.57612077e-02 1.00890747e-02 2.97558368e+02] [-2.57556242e-02 9.99668036e-01 -6.82979197e-04 -1.82885730e+01] [-1.01033199e-02 4.22867344e-04 9.99948871e-01 -4.05742272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.710371743 meters Centerline goodness [0,1] 0.9889782337446278 Centerline is valid? [True, True] Translation: X:297.59, Y:-18.29, Z:-4.06 [[ 9.99615541e-01 2.58691336e-02 9.97787963e-03 2.97585929e+02] [-2.58636842e-02 9.99665251e-01 -6.74819725e-04 -1.82923783e+01] [-9.99199655e-03 4.16495557e-04 9.99949992e-01 -4.05822452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740371743 meters Centerline goodness [0,1] 0.9895828521273156 Centerline is valid? [True, True] Translation: X:297.61, Y:-18.29, Z:-4.06 [[ 9.99637629e-01 2.50176809e-02 9.93614983e-03 2.97614752e+02] [-2.50122442e-02 9.99686920e-01 -6.71075806e-04 -1.82918798e+01] [-9.94982777e-03 4.22307222e-04 9.99950410e-01 -4.05959263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.770371743 meters Centerline goodness [0,1] 0.9899315715503536 Centerline is valid? [True, True] Translation: X:297.64, Y:-18.30, Z:-4.06 [[ 9.99657324e-01 2.41310764e-02 1.01452515e-02 2.97643304e+02] [-2.41253706e-02 9.99708707e-01 -6.84441226e-04 -1.82954673e+01] [-1.01588126e-02 4.39448732e-04 9.99948301e-01 -4.06074923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800371743 meters Centerline goodness [0,1] 0.9895670198065407 Centerline is valid? [True, True] Translation: X:297.67, Y:-18.30, Z:-4.06 [[ 9.99698160e-01 2.26685441e-02 9.47234314e-03 2.97671786e+02] [-2.26635104e-02 9.99742946e-01 -6.38425724e-04 -1.82994306e+01] [-9.48438042e-03 4.23556474e-04 9.99954933e-01 -4.06186901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.830371743 meters Centerline goodness [0,1] 0.9897586626558589 Centerline is valid? [True, True] Translation: X:297.70, Y:-18.31, Z:-4.06 [[ 9.99773935e-01 1.94911347e-02 8.49559698e-03 2.97699250e+02] [-1.94869755e-02 9.99809947e-01 -5.72084671e-04 -1.83125631e+01] [-8.50513295e-03 4.06401853e-04 9.99963748e-01 -4.06446003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86037174300003 meters Centerline goodness [0,1] 0.9901493631448731 Centerline is valid? [True, True] Translation: X:297.73, Y:-18.31, Z:-4.07 [[ 9.99850096e-01 1.58614089e-02 6.94276895e-03 2.97729217e+02] [-1.58585486e-02 9.99874136e-01 -4.66845344e-04 -1.83115916e+01] [-6.94929994e-03 3.56673124e-04 9.99975790e-01 -4.06525705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.890371743 meters Centerline goodness [0,1] 0.9899388077831 Centerline is valid? [True, True] Translation: X:297.76, Y:-18.32, Z:-4.07 [[ 9.99888171e-01 1.35945075e-02 6.23178891e-03 2.97758677e+02] [-1.35921588e-02 9.99907535e-01 -4.19086516e-04 -1.83152294e+01] [-6.23690995e-03 3.34336186e-04 9.99980494e-01 -4.06647661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92037174300003 meters Centerline goodness [0,1] 0.990155226887678 Centerline is valid? [True, True] Translation: X:297.79, Y:-18.32, Z:-4.07 [[ 9.99917693e-01 1.15029500e-02 5.68234893e-03 2.97788201e+02] [-1.15009645e-02 9.99933789e-01 -3.81980201e-04 -1.83190566e+01] [-5.68636660e-03 3.16596268e-04 9.99983782e-01 -4.06759694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.950371743 meters Centerline goodness [0,1] 0.9891903057009088 Centerline is valid? [True, True] Translation: X:297.82, Y:-18.33, Z:-4.07 [[ 9.99961736e-01 7.58751043e-03 4.35381131e-03 2.97816747e+02] [-7.58630799e-03 9.99971181e-01 -2.92628656e-04 -1.83325421e+01] [-4.35590616e-03 2.59588105e-04 9.99990479e-01 -4.06963744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.980371743 meters Centerline goodness [0,1] 0.9900396125752754 Centerline is valid? [True, True] Translation: X:297.85, Y:-18.33, Z:-4.07 [[ 9.99972309e-01 6.16015168e-03 4.17529535e-03 2.97846146e+02] [-6.15903327e-03 9.99980994e-01 -2.80670311e-04 -1.83302499e+01] [-4.17694496e-03 2.54946756e-04 9.99991244e-01 -4.06922896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.010371743 meters Centerline goodness [0,1] 0.9904151892942926 Centerline is valid? [True, True] Translation: X:297.88, Y:-18.33, Z:-4.07 [[ 9.99978974e-01 4.36701245e-03 4.79374604e-03 2.97875937e+02] [-4.36552012e-03 9.99990419e-01 -3.21727100e-04 -1.83318334e+01] [-4.79510510e-03 3.00793141e-04 9.99988458e-01 -4.06878974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.040371743 meters Centerline goodness [0,1] 0.9893053016453383 Centerline is valid? [True, True] Translation: X:297.91, Y:-18.34, Z:-4.07 [[ 9.99980097e-01 3.86958563e-03 4.98323412e-03 2.97906509e+02] [-3.86797019e-03 9.99992464e-01 -3.33770148e-04 -1.83356365e+01] [-4.98448811e-03 3.14488504e-04 9.99987528e-01 -4.06895991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.070371743 meters Centerline goodness [0,1] 0.9896332830981412 Centerline is valid? [True, True] Translation: X:297.94, Y:-18.34, Z:-4.07 [[ 9.99980147e-01 3.68567369e-03 5.11090546e-03 2.97937018e+02] [-3.68397074e-03 9.99993155e-01 -3.42574729e-04 -1.83379388e+01] [-5.11213310e-03 3.23739502e-04 9.99986881e-01 -4.06888895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.100371743 meters Centerline goodness [0,1] 0.9891778351103907 Centerline is valid? [True, True] Translation: X:297.97, Y:-18.34, Z:-4.07 [[ 9.99973862e-01 3.97634927e-03 6.03853824e-03 2.97967386e+02] [-3.97397814e-03 9.99992022e-01 -4.04615326e-04 -1.83426207e+01] [-6.04009896e-03 3.80607731e-04 9.99981686e-01 -4.06946317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.130371743 meters Centerline goodness [0,1] 0.989806157354618 Centerline is valid? [True, True] Translation: X:298.00, Y:-18.34, Z:-4.07 [[ 9.99972910e-01 4.20189274e-03 6.04353822e-03 2.97998318e+02] [-4.19952112e-03 9.99991100e-01 -4.05058015e-04 -1.83447090e+01] [-6.04518645e-03 3.79667075e-04 9.99981656e-01 -4.07036494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.160371743 meters Centerline goodness [0,1] 0.9895968494616313 Centerline is valid? [True, True] Translation: X:298.03, Y:-18.35, Z:-4.07 [[ 9.99977887e-01 3.40660844e-03 5.71140501e-03 2.98029231e+02] [-3.40447772e-03 9.99994132e-01 -3.82744709e-04 -1.83494533e+01] [-5.71267536e-03 3.63291894e-04 9.99983617e-01 -4.07175444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.190371743 meters Centerline goodness [0,1] 0.9895230720174919 Centerline is valid? [True, True] Translation: X:298.06, Y:-18.35, Z:-4.07 [[ 9.99981055e-01 2.72274043e-03 5.52048455e-03 2.98060928e+02] [-2.72073843e-03 9.99996230e-01 -3.70128470e-04 -1.83514302e+01] [-5.52147150e-03 3.55101664e-04 9.99984694e-01 -4.07237195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.220371743 meters Centerline goodness [0,1] 0.9892128809556252 Centerline is valid? [True, True] Translation: X:298.09, Y:-18.36, Z:-4.07 [[ 9.99984513e-01 1.89241482e-03 5.23378630e-03 2.98091966e+02] [-1.89061188e-03 9.99998152e-01 -3.49407027e-04 -1.83585263e+01] [-5.23443785e-03 3.39506557e-04 9.99986243e-01 -4.07338030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.250371743 meters Centerline goodness [0,1] 0.9900755713375217 Centerline is valid? [True, True] Translation: X:298.12, Y:-18.36, Z:-4.07 [[ 9.99993176e-01 -4.86437429e-04 3.66225835e-03 2.98122585e+02] [ 4.87343580e-04 9.99999851e-01 -2.46541078e-04 -1.83590980e+01] [-3.66213787e-03 2.48324173e-04 9.99993264e-01 -4.07479973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.280371743 meters Centerline goodness [0,1] 0.9887010777084515 Centerline is valid? [True, True] Translation: X:298.15, Y:-18.37, Z:-4.08 [[ 9.99992251e-01 -3.04288902e-03 2.49783147e-03 2.98152005e+02] [ 3.04331891e-03 9.99995355e-01 -1.68322034e-04 -1.83716832e+01] [-2.49730769e-03 1.75922428e-04 9.99996866e-01 -4.07771273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.310371743 meters Centerline goodness [0,1] 0.9888153856645979 Centerline is valid? [True, True] Translation: X:298.18, Y:-18.37, Z:-4.08 [[ 9.99988660e-01 -4.43002110e-03 1.74798780e-03 2.98184798e+02] [ 4.43023222e-03 9.99990180e-01 -1.16922384e-04 -1.83689718e+01] [-1.74745267e-03 1.24665050e-04 9.99998465e-01 -4.07759170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.340371743 meters Centerline goodness [0,1] 0.9877384196185286 Centerline is valid? [True, True] Translation: X:298.22, Y:-18.38, Z:-4.08 [[ 9.99981940e-01 -5.78700520e-03 1.62149765e-03 2.98215268e+02] [ 5.78718557e-03 9.99983248e-01 -1.06563672e-04 -1.83804952e+01] [-1.62085380e-03 1.15945656e-04 9.99998680e-01 -4.07959315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.370371743 meters Centerline goodness [0,1] 0.9876256767208044 Centerline is valid? [True, True] Translation: X:298.25, Y:-18.39, Z:-4.08 [[ 9.99968614e-01 -7.83322799e-03 1.18805518e-03 2.98245182e+02] [ 7.83332878e-03 9.99969316e-01 -8.02120964e-05 -1.83875256e+01] [-1.18739041e-03 8.95160057e-05 9.99999291e-01 -4.08081027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.400371743 meters Centerline goodness [0,1] 0.9877793930583318 Centerline is valid? [True, True] Translation: X:298.28, Y:-18.38, Z:-4.08 [[ 9.99963275e-01 -8.45748619e-03 1.38576916e-03 2.98277707e+02] [ 8.45762306e-03 9.99964229e-01 -9.29375570e-05 -1.83822024e+01] [-1.38493357e-03 1.04654457e-04 9.99999036e-01 -4.08018421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.430371743 meters Centerline goodness [0,1] 0.987838635022916 Centerline is valid? [True, True] Translation: X:298.31, Y:-18.39, Z:-4.08 [[ 9.99954792e-01 -9.46464356e-03 9.13048954e-04 2.98309027e+02] [ 9.46470336e-03 9.99955207e-01 -6.11939867e-05 -1.83883781e+01] [-9.12428876e-04 6.98329578e-05 9.99999581e-01 -4.08191614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.460371743 meters Centerline goodness [0,1] 0.984408237157728 Centerline is valid? [True, True] Translation: X:298.34, Y:-18.40, Z:-4.08 [[ 9.99951298e-01 -9.82322176e-03 9.51712982e-04 2.98339573e+02] [ 9.82328698e-03 9.99951748e-01 -6.38719077e-05 -1.84029521e+01] [-9.51039633e-04 7.32177467e-05 9.99999545e-01 -4.08434282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.490371743 meters Centerline goodness [0,1] 0.9883886095641783 Centerline is valid? [True, True] Translation: X:298.37, Y:-18.39, Z:-4.08 [[ 9.99954510e-01 -9.49508743e-03 9.05870924e-04 2.98372607e+02] [ 9.49514619e-03 9.99954918e-01 -6.05839187e-05 -1.83949412e+01] [-9.05254837e-04 6.91825397e-05 9.99999588e-01 -4.08339020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.520371743 meters Centerline goodness [0,1] 0.9873652329182018 Centerline is valid? [True, True] Translation: X:298.40, Y:-18.40, Z:-4.08 [[ 9.99962067e-01 -8.58517634e-03 1.46950083e-03 2.98403729e+02] [ 8.58532998e-03 9.99963141e-01 -9.82773331e-05 -1.83995056e+01] [-1.46860294e-03 1.10889755e-04 9.99998915e-01 -4.08354998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.550371743 meters Centerline goodness [0,1] 0.9869564236228646 Centerline is valid? [True, True] Translation: X:298.44, Y:-18.40, Z:-4.08 [[ 9.99971239e-01 -7.39621653e-03 1.67866451e-03 2.98435143e+02] [ 7.39641807e-03 9.99972640e-01 -1.13881941e-04 -1.84014706e+01] [-1.67777629e-03 1.26294770e-04 9.99998585e-01 -4.08402503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.580371743 meters Centerline goodness [0,1] 0.9879213419727723 Centerline is valid? [True, True] Translation: X:298.46, Y:-18.40, Z:-4.08 [[ 9.99987711e-01 -4.42848708e-03 2.22868673e-03 2.98464442e+02] [ 4.42883464e-03 9.99990181e-01 -1.51038055e-04 -1.84046856e+01] [-2.22799598e-03 1.60906684e-04 9.99997505e-01 -4.08496903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61037174300003 meters Centerline goodness [0,1] 0.9883499977378636 Centerline is valid? [True, True] Translation: X:298.50, Y:-18.40, Z:-4.08 [[ 9.99993994e-01 -2.89633299e-03 1.90365525e-03 2.98496117e+02] [ 2.89658454e-03 9.99995797e-01 -1.29399720e-04 -1.84012187e+01] [-1.90327247e-03 1.34913041e-04 9.99998180e-01 -4.08446920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.640371743 meters Centerline goodness [0,1] 0.9888682325201777 Centerline is valid? [True, True] Translation: X:298.53, Y:-18.41, Z:-4.09 [[ 9.99997683e-01 -1.03793983e-03 1.88617566e-03 2.98526076e+02] [ 1.03818240e-03 9.99999453e-01 -1.27628238e-04 -1.84057814e+01] [-1.88604216e-03 1.29586137e-04 9.99998213e-01 -4.08517172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67037174300003 meters Centerline goodness [0,1] 0.9887622629539842 Centerline is valid? [True, True] Translation: X:298.56, Y:-18.41, Z:-4.09 [[ 9.99997005e-01 1.50960707e-03 1.92662038e-03 2.98556688e+02] [-1.50935623e-03 9.99998852e-01 -1.31644049e-04 -1.84064598e+01] [-1.92681690e-03 1.28735699e-04 9.99998135e-01 -4.08542364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.700371743 meters Centerline goodness [0,1] 0.9887895429582898 Centerline is valid? [True, True] Translation: X:298.59, Y:-18.41, Z:-4.09 [[ 9.99992217e-01 3.70513926e-03 1.35552446e-03 2.98587564e+02] [-3.70501720e-03 9.99993132e-01 -9.25431202e-05 -1.84064061e+01] [-1.35585804e-03 8.75201585e-05 9.99999077e-01 -4.08595587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.730371743 meters Centerline goodness [0,1] 0.9890134834521269 Centerline is valid? [True, True] Translation: X:298.62, Y:-18.41, Z:-4.09 [[ 9.99987474e-01 4.86294437e-03 1.18472017e-03 2.98617657e+02] [-4.86285159e-03 9.99988173e-01 -8.11819439e-05 -1.84066347e+01] [-1.18510094e-03 7.54198086e-05 9.99999295e-01 -4.08652901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.760371743 meters Centerline goodness [0,1] 0.9898536938895683 Centerline is valid? [True, True] Translation: X:298.65, Y:-18.41, Z:-4.09 [[ 9.99979963e-01 6.24840935e-03 1.01503410e-03 2.98646996e+02] [-6.24834171e-03 9.99980476e-01 -6.97984897e-05 -1.84076250e+01] [-1.01545041e-03 6.34548113e-05 9.99999482e-01 -4.08674314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.790371743 meters Centerline goodness [0,1] 0.9889484032815784 Centerline is valid? [True, True] Translation: X:298.68, Y:-18.41, Z:-4.09 [[ 9.99959356e-01 8.94555767e-03 1.12397722e-03 2.98677409e+02] [-8.94547678e-03 9.99959985e-01 -7.69731962e-05 -1.84071807e+01] [-1.12462081e-03 6.69155556e-05 9.99999365e-01 -4.08693997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.820371743 meters Centerline goodness [0,1] 0.9888858707954186 Centerline is valid? [True, True] Translation: X:298.71, Y:-18.41, Z:-4.09 [[ 9.99950525e-01 9.84346748e-03 1.43301835e-03 2.98706030e+02] [-9.84333609e-03 9.99951548e-01 -9.87081167e-05 -1.84080660e+01] [-1.43392055e-03 8.45975519e-05 9.99998968e-01 -4.08701905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.850371743 meters Centerline goodness [0,1] 0.9902765529249485 Centerline is valid? [True, True] Translation: X:298.74, Y:-18.41, Z:-4.09 [[ 9.99925043e-01 1.20129693e-02 2.36571120e-03 2.98736443e+02] [-1.20126206e-02 9.99927833e-01 -1.61525716e-04 -1.84080896e+01] [-2.36748088e-03 1.33095217e-04 9.99997189e-01 -4.08607844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880371743 meters Centerline goodness [0,1] 0.9898734177215189 Centerline is valid? [True, True] Translation: X:298.77, Y:-18.41, Z:-4.09 [[ 9.99917260e-01 1.25250404e-02 2.93193470e-03 2.98765315e+02] [-1.25245058e-02 9.99921545e-01 -2.00659800e-04 -1.84094143e+01] [-2.93421795e-03 1.63922164e-04 9.99995682e-01 -4.08632300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.910371743 meters Centerline goodness [0,1] 0.9901494565217391 Centerline is valid? [True, True] Translation: X:298.79, Y:-18.41, Z:-4.09 [[ 9.99916607e-01 1.26236709e-02 2.72437235e-03 2.98792733e+02] [-1.26232094e-02 9.99920307e-01 -1.86520387e-04 -1.84141361e+01] [-2.72650981e-03 1.52114510e-04 9.99996271e-01 -4.08692464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940371743 meters Centerline goodness [0,1] 0.9897577042819113 Centerline is valid? [True, True] Translation: X:298.82, Y:-18.41, Z:-4.09 [[ 9.99920858e-01 1.23132807e-02 2.58103659e-03 2.98821247e+02] [-1.23128664e-02 9.99924178e-01 -1.76340737e-04 -1.84149923e+01] [-2.58301222e-03 1.44546822e-04 9.99996654e-01 -4.08718436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.970371743 meters Centerline goodness [0,1] 0.9899154343598788 Centerline is valid? [True, True] Translation: X:298.85, Y:-18.42, Z:-4.09 [[ 9.99930254e-01 1.15479709e-02 2.47601856e-03 2.98849045e+02] [-1.15475871e-02 9.99933310e-01 -1.69219884e-04 -1.84189967e+01] [-2.47780758e-03 1.40616042e-04 9.99996920e-01 -4.08781128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000371743 meters Centerline goodness [0,1] 0.9900110736965807 Centerline is valid? [True, True] Translation: X:298.88, Y:-18.42, Z:-4.09 [[ 9.99939471e-01 1.06482302e-02 2.76940559e-03 2.98878023e+02] [-1.06477484e-02 9.99943293e-01 -1.88674000e-04 -1.84219712e+01] [-2.77125759e-03 1.59174646e-04 9.99996147e-01 -4.08795049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.030371743 meters Centerline goodness [0,1] 0.9900741611648729 Centerline is valid? [True, True] Translation: X:298.91, Y:-18.42, Z:-4.09 [[ 9.99947638e-01 9.78241671e-03 3.00436061e-03 2.98906434e+02] [-9.78184661e-03 9.99952136e-01 -2.04395799e-04 -1.84232111e+01] [-3.00621630e-03 1.74996902e-04 9.99995466e-01 -4.08811464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060371743 meters Centerline goodness [0,1] 0.9887721676267932 Centerline is valid? [True, True] Translation: X:298.93, Y:-18.43, Z:-4.09 [[ 9.99954947e-01 9.03324206e-03 2.91635661e-03 2.98934072e+02] [-9.03270432e-03 9.99959185e-01 -1.97509297e-04 -1.84312890e+01] [-2.91802172e-03 1.71157812e-04 9.99995728e-01 -4.08969743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.090371743 meters Centerline goodness [0,1] 0.9891326495958704 Centerline is valid? [True, True] Translation: X:298.96, Y:-18.43, Z:-4.09 [[ 9.99973447e-01 6.62285913e-03 3.04032829e-03 2.98963355e+02] [-6.62226204e-03 9.99978051e-01 -2.06414879e-04 -1.84273955e+01] [-3.04162862e-03 1.86275547e-04 9.99995357e-01 -4.08900756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120371743 meters Centerline goodness [0,1] 0.9888617775970359 Centerline is valid? [True, True] Translation: X:298.99, Y:-18.43, Z:-4.09 [[ 9.99979543e-01 5.69633884e-03 2.90951143e-03 2.98991678e+02] [-5.69578850e-03 9.99983759e-01 -1.97402890e-04 -1.84332946e+01] [-2.91058865e-03 1.80826890e-04 9.99995748e-01 -4.08986580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.150371743 meters Centerline goodness [0,1] 0.989247311827957 Centerline is valid? [True, True] Translation: X:299.02, Y:-18.43, Z:-4.09 [[ 9.99991379e-01 3.50430432e-03 2.22729111e-03 2.99021948e+02] [-3.50397746e-03 9.99993850e-01 -1.50637672e-04 -1.84327914e+01] [-2.22780529e-03 1.42831996e-04 9.99997508e-01 -4.09016677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180371743 meters Centerline goodness [0,1] 0.9885944465817285 Centerline is valid? [True, True] Translation: X:299.05, Y:-18.44, Z:-4.09 [[ 9.99995450e-01 2.16225441e-03 2.10337820e-03 2.99051281e+02] [-2.16196236e-03 9.99997653e-01 -1.41112716e-04 -1.84402402e+01] [-2.10367839e-03 1.36564649e-04 9.99997778e-01 -4.09163381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.210371743 meters Centerline goodness [0,1] 0.9887024836423736 Centerline is valid? [True, True] Translation: X:299.08, Y:-18.45, Z:-4.09 [[ 9.99998275e-01 6.70984677e-04 1.73188064e-03 2.99081124e+02] [-6.70783059e-04 9.99999768e-01 -1.16994086e-04 -1.84455365e+01] [-1.73195874e-03 1.15832168e-04 9.99998493e-01 -4.09241265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240371743 meters Centerline goodness [0,1] 0.9876601803512103 Centerline is valid? [True, True] Translation: X:299.11, Y:-18.44, Z:-4.09 [[ 9.99992132e-01 -2.72605991e-03 2.88175005e-03 2.99112156e+02] [ 2.72663276e-03 9.99996264e-01 -1.94875356e-04 -1.84426723e+01] [-2.88120804e-03 2.02731296e-04 9.99995829e-01 -4.09113305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.270371743 meters Centerline goodness [0,1] 0.9878779685458069 Centerline is valid? [True, True] Translation: X:299.14, Y:-18.45, Z:-4.09 [[ 9.99973782e-01 -5.91246481e-03 4.18056396e-03 2.99142102e+02] [ 5.91369713e-03 9.99982474e-01 -2.82471748e-04 -1.84481324e+01] [-4.17882059e-03 3.07186931e-04 9.99991222e-01 -4.09022330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300371743 meters Centerline goodness [0,1] 0.9875787619413265 Centerline is valid? [True, True] Translation: X:299.17, Y:-18.45, Z:-4.09 [[ 9.99963065e-01 -7.30793193e-03 4.52350346e-03 2.99174050e+02] [ 7.30939012e-03 9.99973239e-01 -3.05910908e-04 -1.84494429e+01] [-4.52114683e-03 3.38963661e-04 9.99989722e-01 -4.09028275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.330371743 meters Centerline goodness [0,1] 0.9875787619413265 Centerline is valid? [True, True] Translation: X:299.21, Y:-18.45, Z:-4.09 [[ 9.99963585e-01 -7.23648909e-03 4.52348156e-03 2.99205758e+02] [ 7.23794801e-03 9.99973759e-01 -3.06233980e-04 -1.84516558e+01] [-4.52114680e-03 3.38963553e-04 9.99989722e-01 -4.09071842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36037174300003 meters Centerline goodness [0,1] 0.9871251409244645 Centerline is valid? [True, True] Translation: X:299.24, Y:-18.45, Z:-4.09 [[ 9.99955632e-01 -8.19511562e-03 4.64484149e-03 2.99238013e+02] [ 8.19666583e-03 9.99966357e-01 -3.14811386e-04 -1.84542452e+01] [-4.64210530e-03 3.52869632e-04 9.99989163e-01 -4.09079176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.390371743 meters Centerline goodness [0,1] 0.9855327600604871 Centerline is valid? [True, True] Translation: X:299.27, Y:-18.46, Z:-4.09 [[ 9.99948356e-01 -9.15737026e-03 4.40771207e-03 2.99268949e+02] [ 9.15877744e-03 9.99958013e-01 -2.99174400e-04 -1.84613890e+01] [-4.40478735e-03 3.39528203e-04 9.99990241e-01 -4.09161304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42037174300003 meters Centerline goodness [0,1] 0.9869230769230769 Centerline is valid? [True, True] Translation: X:299.30, Y:-18.45, Z:-4.09 [[ 9.99939395e-01 -1.01849144e-02 4.18015524e-03 2.99301327e+02] [ 1.01861896e-02 9.99948079e-01 -2.83897908e-04 -1.84543190e+01] [-4.17704672e-03 3.26460556e-04 9.99991223e-01 -4.09110230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.450371743 meters Centerline goodness [0,1] 0.9863239748632397 Centerline is valid? [True, True] Translation: X:299.33, Y:-18.46, Z:-4.09 [[ 9.99932480e-01 -1.07830258e-02 4.33150558e-03 2.99331932e+02] [ 1.07844018e-02 9.99941803e-01 -2.94446955e-04 -1.84580901e+01] [-4.32807848e-03 3.41139770e-04 9.99990576e-01 -4.09245772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.480371743 meters Centerline goodness [0,1] 0.9869462920229853 Centerline is valid? [True, True] Translation: X:299.36, Y:-18.46, Z:-4.09 [[ 9.99930914e-01 -1.10599858e-02 3.98052174e-03 2.99364144e+02] [ 1.10611499e-02 9.99938787e-01 -2.70566976e-04 -1.84568236e+01] [-3.97728562e-03 3.14577431e-04 9.99992041e-01 -4.09279668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.510371743 meters Centerline goodness [0,1] 0.9865137927119991 Centerline is valid? [True, True] Translation: X:299.40, Y:-18.46, Z:-4.09 [[ 9.99929115e-01 -1.13842309e-02 3.48775019e-03 2.99396013e+02] [ 1.13851271e-02 9.99935159e-01 -2.37203763e-04 -1.84589416e+01] [-3.48482366e-03 2.76895428e-04 9.99993890e-01 -4.09349322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.540371743 meters Centerline goodness [0,1] 0.9871973027769552 Centerline is valid? [True, True] Translation: X:299.43, Y:-18.46, Z:-4.09 [[ 9.99932882e-01 -1.11632487e-02 3.10050450e-03 2.99428411e+02] [ 1.11639526e-02 9.99937659e-01 -2.09836775e-04 -1.84611805e+01] [-3.09796875e-03 2.44436576e-04 9.99995171e-01 -4.09441963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.570371743 meters Centerline goodness [0,1] 0.9867170085975526 Centerline is valid? [True, True] Translation: X:299.46, Y:-18.46, Z:-4.09 [[ 9.99937376e-01 -1.07631828e-02 3.06563526e-03 2.99460848e+02] [ 1.07638743e-02 9.99942046e-01 -2.09161312e-04 -1.84602514e+01] [-3.06320635e-03 2.42146326e-04 9.99995279e-01 -4.09406784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.600371743 meters Centerline goodness [0,1] 0.9874300079990859 Centerline is valid? [True, True] Translation: X:299.49, Y:-18.46, Z:-4.09 [[ 9.99949149e-01 -9.49021672e-03 3.41103883e-03 2.99492579e+02] [ 9.49106794e-03 9.99954932e-01 -2.33446568e-04 -1.84570194e+01] [-3.40866964e-03 2.65809098e-04 9.99994155e-01 -4.09341970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.630371743 meters Centerline goodness [0,1] 0.9871463531779613 Centerline is valid? [True, True] Translation: X:299.52, Y:-18.46, Z:-4.09 [[ 9.99957489e-01 -8.49285867e-03 3.59053945e-03 2.99523831e+02] [ 8.49379536e-03 9.99963897e-01 -2.45707218e-04 -1.84599353e+01] [-3.58832306e-03 2.76194080e-04 9.99993524e-01 -4.09405578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.660371743 meters Centerline goodness [0,1] 0.9878226762747423 Centerline is valid? [True, True] Translation: X:299.56, Y:-18.46, Z:-4.09 [[ 9.99966334e-01 -7.34894332e-03 3.65031458e-03 2.99555279e+02] [ 7.34990534e-03 9.99972958e-01 -2.50201796e-04 -1.84602154e+01] [-3.64837715e-03 2.77022839e-04 9.99993306e-01 -4.09448606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.690371743 meters Centerline goodness [0,1] 0.9880745284746384 Centerline is valid? [True, True] Translation: X:299.59, Y:-18.46, Z:-4.10 [[ 9.99987009e-01 -4.18073449e-03 2.91606236e-03 2.99586725e+02] [ 4.18133560e-03 9.99991238e-01 -2.00070328e-04 -1.84555018e+01] [-2.91520037e-03 2.12260764e-04 9.99995728e-01 -4.09568681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.720371743 meters Centerline goodness [0,1] 0.9888748709714417 Centerline is valid? [True, True] Translation: X:299.62, Y:-18.46, Z:-4.10 [[ 9.99994666e-01 -2.10588979e-03 2.49658049e-03 2.99618383e+02] [ 2.10632298e-03 9.99997767e-01 -1.70896747e-04 -1.84554059e+01] [-2.49621503e-03 1.76154440e-04 9.99996869e-01 -4.09648674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.750371743 meters Centerline goodness [0,1] 0.9887609460111701 Centerline is valid? [True, True] Translation: X:299.65, Y:-18.45, Z:-4.10 [[ 9.99991669e-01 2.41019337e-03 3.29437610e-03 2.99649634e+02] [-2.40946027e-03 9.99997072e-01 -2.26479696e-04 -1.84520841e+01] [-3.29491231e-03 2.18540140e-04 9.99994548e-01 -4.09660268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.780371743 meters Centerline goodness [0,1] 0.9893952290032435 Centerline is valid? [True, True] Translation: X:299.68, Y:-18.45, Z:-4.10 [[ 9.99982558e-01 4.76986691e-03 3.48318203e-03 2.99680157e+02] [-4.76906163e-03 9.99988599e-01 -2.39461210e-04 -1.84504563e+01] [-3.48428452e-03 2.22845523e-04 9.99993905e-01 -4.09670073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.810371743 meters Centerline goodness [0,1] 0.9887022549470778 Centerline is valid? [True, True] Translation: X:299.71, Y:-18.45, Z:-4.10 [[ 9.99964822e-01 7.54140460e-03 3.67165107e-03 2.99710320e+02] [-7.54052758e-03 9.99971538e-01 -2.52645924e-04 -1.84495617e+01] [-3.67345188e-03 2.24950851e-04 9.99993228e-01 -4.09662852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.840371743 meters Centerline goodness [0,1] 0.989582613104704 Centerline is valid? [True, True] Translation: X:299.74, Y:-18.45, Z:-4.10 [[ 9.99913547e-01 1.26438900e-02 3.60972133e-03 2.99741286e+02] [-1.26430764e-02 9.99920042e-01 -2.48112366e-04 -1.84465301e+01] [-3.61256981e-03 2.02452933e-04 9.99993454e-01 -4.09722171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.870371743 meters Centerline goodness [0,1] 0.9900006927926471 Centerline is valid? [True, True] Translation: X:299.77, Y:-18.44, Z:-4.10 [[ 9.99879407e-01 1.51459796e-02 3.43090898e-03 2.99771337e+02] [-1.51452589e-02 9.99885276e-01 -2.35961020e-04 -1.84449410e+01] [-3.43408923e-03 1.83970560e-04 9.99994087e-01 -4.09749518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.900371743 meters Centerline goodness [0,1] 0.9883640072319317 Centerline is valid? [True, True] Translation: X:299.80, Y:-18.45, Z:-4.10 [[ 9.99785422e-01 2.04613467e-02 3.23174842e-03 2.99800385e+02] [-2.04607349e-02 9.99790633e-01 -2.22252732e-04 -1.84450468e+01] [-3.23561939e-03 1.56081094e-04 9.99994753e-01 -4.09983661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.930371743 meters Centerline goodness [0,1] 0.989321375739645 Centerline is valid? [True, True] Translation: X:299.83, Y:-18.44, Z:-4.10 [[ 9.99732817e-01 2.29496710e-02 2.75817307e-03 2.99830059e+02] [-2.29492321e-02 9.99736614e-01 -1.90672931e-04 -1.84426571e+01] [-2.76182249e-03 1.27324032e-04 9.99996178e-01 -4.10003247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.960371743 meters Centerline goodness [0,1] 0.9894221624254796 Centerline is valid? [True, True] Translation: X:299.86, Y:-18.44, Z:-4.10 [[ 9.99680518e-01 2.51532032e-02 2.48552090e-03 2.99859451e+02] [-2.51528539e-02 9.99683602e-01 -1.71728189e-04 -1.84426846e+01] [-2.48905400e-03 1.09155381e-04 9.99996896e-01 -4.10098000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.990371743 meters Centerline goodness [0,1] 0.9899518526271719 Centerline is valid? [True, True] Translation: X:299.89, Y:-18.44, Z:-4.10 [[ 9.99566643e-01 2.93267581e-02 2.54317794e-03 2.99889301e+02] [-2.93264090e-02 9.99569873e-01 -1.74490342e-04 -1.84394203e+01] [-2.54720129e-03 9.98324486e-05 9.99996751e-01 -4.10079148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.020371743 meters Centerline goodness [0,1] 0.9891327112372885 Centerline is valid? [True, True] Translation: X:299.92, Y:-18.44, Z:-4.10 [[ 9.99516586e-01 3.09918304e-02 2.47016976e-03 2.99917330e+02] [-3.09915048e-02 9.99519633e-01 -1.70001392e-04 -1.84405905e+01] [-2.47425183e-03 9.33649325e-05 9.99996935e-01 -4.10109365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.050371743 meters Centerline goodness [0,1] 0.9890992273756448 Centerline is valid? [True, True] Translation: X:299.95, Y:-18.44, Z:-4.10 [[ 9.99403044e-01 3.44018994e-02 3.17252082e-03 2.99947782e+02] [-3.44013838e-02 9.99408074e-01 -2.16962135e-04 -1.84396674e+01] [-3.17810683e-03 1.07693511e-04 9.99994944e-01 -4.10137976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.080371743 meters Centerline goodness [0,1] 0.9889858589629906 Centerline is valid? [True, True] Translation: X:299.98, Y:-18.44, Z:-4.10 [[ 9.99346213e-01 3.59296452e-02 4.02572743e-03 2.99975576e+02] [-3.59288252e-02 9.99354313e-01 -2.75850556e-04 -1.84408293e+01] [-4.03303928e-03 1.31030552e-04 9.99991859e-01 -4.10174590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11037174300003 meters Centerline goodness [0,1] 0.9892076247430387 Centerline is valid? [True, True] Translation: X:300.00, Y:-18.44, Z:-4.10 [[ 9.99294428e-01 3.72597610e-02 4.72829418e-03 3.00004720e+02] [-3.72586484e-02 9.99305603e-01 -3.23207081e-04 -1.84417887e+01] [-4.73705348e-03 1.46809185e-04 9.99988769e-01 -4.10213437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.140371743 meters Centerline goodness [0,1] 0.989919966399888 Centerline is valid? [True, True] Translation: X:300.03, Y:-18.44, Z:-4.10 [[ 9.99226944e-01 3.88207278e-02 6.20211598e-03 3.00033280e+02] [-3.88188480e-02 9.99246175e-01 -4.23227414e-04 -1.84427054e+01] [-6.21387066e-03 1.82141237e-04 9.99980677e-01 -4.10313038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17037174300003 meters Centerline goodness [0,1] 0.9892568753657109 Centerline is valid? [True, True] Translation: X:300.06, Y:-18.45, Z:-4.10 [[ 9.99219895e-01 3.89924330e-02 6.26036890e-03 3.00060442e+02] [-3.89905211e-02 9.99239489e-01 -4.27199485e-04 -1.84458277e+01] [-6.27226537e-03 1.82771179e-04 9.99980312e-01 -4.10417555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.200371743 meters Centerline goodness [0,1] 0.9897244278374592 Centerline is valid? [True, True] Translation: X:300.09, Y:-18.45, Z:-4.10 [[ 9.99251628e-01 3.80054105e-02 7.19529505e-03 3.00089453e+02] [-3.80028707e-02 9.99277510e-01 -4.89421894e-04 -1.84465486e+01] [-7.20869720e-03 2.15613757e-04 9.99973994e-01 -4.10454996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.230371743 meters Centerline goodness [0,1] 0.9908091674462114 Centerline is valid? [True, True] Translation: X:300.12, Y:-18.45, Z:-4.11 [[ 9.99290153e-01 3.69975438e-02 7.09729120e-03 3.00118579e+02] [-3.69950509e-02 9.99315332e-01 -4.82264500e-04 -1.84488579e+01] [-7.11027452e-03 2.19357518e-04 9.99974698e-01 -4.10508092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.260371743 meters Centerline goodness [0,1] 0.9902676966882162 Centerline is valid? [True, True] Translation: X:300.15, Y:-18.45, Z:-4.11 [[ 9.99329564e-01 3.59276305e-02 7.04466418e-03 3.00145669e+02] [-3.59251497e-02 9.99354369e-01 -4.78419992e-04 -1.84528115e+01] [-7.05730442e-03 2.25018627e-04 9.99975072e-01 -4.10626032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.290371743 meters Centerline goodness [0,1] 0.9910959862011095 Centerline is valid? [True, True] Translation: X:300.18, Y:-18.46, Z:-4.11 [[ 9.99419968e-01 3.31579876e-02 7.76371909e-03 3.00175315e+02] [-3.31549020e-02 9.99450087e-01 -5.25837910e-04 -1.84583708e+01] [-7.77688545e-03 2.68127562e-04 9.99969724e-01 -4.10717105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.320371743 meters Centerline goodness [0,1] 0.9907668632982816 Centerline is valid? [True, True] Translation: X:300.20, Y:-18.46, Z:-4.11 [[ 9.99477363e-01 3.12878187e-02 8.12852559e-03 3.00203585e+02] [-3.12843755e-02 9.99510373e-01 -5.50434931e-04 -1.84617152e+01] [-8.14176755e-03 2.95851407e-04 9.99966811e-01 -4.10813175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.350371743 meters Centerline goodness [0,1] 0.9909006499535747 Centerline is valid? [True, True] Translation: X:300.23, Y:-18.47, Z:-4.11 [[ 9.99588975e-01 2.70598247e-02 9.46821840e-03 3.00232371e+02] [-2.70549721e-02 9.99633742e-01 -6.40246354e-04 -1.84678886e+01] [-9.48207554e-03 3.83820812e-04 9.99954970e-01 -4.10830572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380371743 meters Centerline goodness [0,1] 0.9899505651356557 Centerline is valid? [True, True] Translation: X:300.26, Y:-18.47, Z:-4.11 [[ 9.99628386e-01 2.51239377e-02 1.05772684e-02 3.00261336e+02] [-2.51177798e-02 9.99684243e-01 -7.14643882e-04 -1.84721273e+01] [-1.05918832e-02 4.48700812e-04 9.99943804e-01 -4.10861299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.410371743 meters Centerline goodness [0,1] 0.9897248385827683 Centerline is valid? [True, True] Translation: X:300.29, Y:-18.48, Z:-4.11 [[ 9.99676636e-01 2.31865608e-02 1.04406777e-02 3.00288369e+02] [-2.31804620e-02 9.99731049e-01 -7.04791389e-04 -1.84769268e+01] [-1.04542113e-02 4.62543753e-04 9.99945246e-01 -4.10926985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440371743 meters Centerline goodness [0,1] 0.9883156611541735 Centerline is valid? [True, True] Translation: X:300.32, Y:-18.49, Z:-4.11 [[ 9.99749619e-01 1.97435412e-02 1.05304831e-02 3.00316048e+02] [-1.97371601e-02 9.99804951e-01 -7.09555910e-04 -1.84899288e+01] [-1.05424383e-02 5.01536420e-04 9.99944301e-01 -4.11048234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.470371743 meters Centerline goodness [0,1] 0.9890758239225628 Centerline is valid? [True, True] Translation: X:300.35, Y:-18.49, Z:-4.11 [[ 9.99786295e-01 1.79182400e-02 1.03102375e-02 3.00345490e+02] [-1.79120316e-02 9.99839326e-01 -6.94190242e-04 -1.84864250e+01] [-1.03210195e-02 5.09364591e-04 9.99946607e-01 -4.11098500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500371743 meters Centerline goodness [0,1] 0.987320799871137 Centerline is valid? [True, True] Translation: X:300.37, Y:-18.49, Z:-4.11 [[ 9.99834133e-01 1.56862309e-02 9.25465515e-03 3.00373808e+02] [-1.56811373e-02 9.99876850e-01 -6.22696330e-04 -1.84943167e+01] [-9.26328320e-03 4.77469527e-04 9.99956981e-01 -4.11298033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.530371743 meters Centerline goodness [0,1] 0.9875475613974404 Centerline is valid? [True, True] Translation: X:300.40, Y:-18.50, Z:-4.11 [[ 9.99857281e-01 1.43869503e-02 8.85629401e-03 3.00403317e+02] [-1.43822396e-02 9.99896393e-01 -5.95367816e-04 -1.84967890e+01] [-8.86394196e-03 4.67909503e-04 9.99960605e-01 -4.11363239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560371743 meters Centerline goodness [0,1] 0.9881197272622212 Centerline is valid? [True, True] Translation: X:300.43, Y:-18.50, Z:-4.11 [[ 9.99866140e-01 1.39887020e-02 8.48638767e-03 3.00430867e+02] [-1.39843623e-02 9.99902051e-01 -5.70493903e-04 -1.85001912e+01] [-8.49353691e-03 4.51740816e-04 9.99963827e-01 -4.11498850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.590371743 meters Centerline goodness [0,1] 0.9869809668648325 Centerline is valid? [True, True] Translation: X:300.46, Y:-18.50, Z:-4.12 [[ 9.99878012e-01 1.36060676e-02 7.67042297e-03 3.00459856e+02] [-1.36025162e-02 9.99907349e-01 -5.14979007e-04 -1.85036047e+01] [-7.67671913e-03 4.10579134e-04 9.99970449e-01 -4.11550773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620371743 meters Centerline goodness [0,1] 0.9866863223844843 Centerline is valid? [True, True] Translation: X:300.49, Y:-18.51, Z:-4.12 [[ 9.99883234e-01 1.34206226e-02 7.30792026e-03 3.00487290e+02] [-1.34173966e-02 9.99909862e-01 -4.90286222e-04 -1.85065124e+01] [-7.31384149e-03 3.92175709e-04 9.99973177e-01 -4.11594624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.650371743 meters Centerline goodness [0,1] 0.9859515570934256 Centerline is valid? [True, True] Translation: X:300.52, Y:-18.51, Z:-4.12 [[ 9.99871993e-01 1.41063893e-02 7.55027881e-03 3.00515938e+02] [-1.41029712e-02 9.99900420e-01 -5.05763833e-04 -1.85055971e+01] [-7.55666145e-03 3.99217727e-04 9.99971368e-01 -4.11522777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680371743 meters Centerline goodness [0,1] 0.9848834525732749 Centerline is valid? [True, True] Translation: X:300.55, Y:-18.51, Z:-4.12 [[ 9.99865618e-01 1.44606262e-02 7.72243514e-03 3.00545165e+02] [-1.44570662e-02 9.99895358e-01 -5.16623676e-04 -1.85071545e+01] [-7.72909775e-03 4.04910495e-04 9.99970048e-01 -4.11514232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.710371743 meters Centerline goodness [0,1] 0.9846912897127311 Centerline is valid? [True, True] Translation: X:300.57, Y:-18.51, Z:-4.11 [[ 9.99853251e-01 1.49860374e-02 8.30032272e-03 3.00573232e+02] [-1.49819452e-02 9.99887610e-01 -5.54976856e-04 -1.85102929e+01] [-8.30770676e-03 4.30540433e-04 9.99965398e-01 -4.11499535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740371743 meters Centerline goodness [0,1] 0.9850405679513184 Centerline is valid? [True, True] Translation: X:300.60, Y:-18.51, Z:-4.11 [[ 9.99846631e-01 1.50813403e-02 8.90324918e-03 3.00602058e+02] [-1.50766442e-02 9.99886164e-01 -5.94349793e-04 -1.85100971e+01] [-8.91119927e-03 4.60027518e-04 9.99960189e-01 -4.11447505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.770371743 meters Centerline goodness [0,1] 0.9853157797827288 Centerline is valid? [True, True] Translation: X:300.63, Y:-18.51, Z:-4.11 [[ 9.99840380e-01 1.51968183e-02 9.39522492e-03 3.00629271e+02] [-1.51916000e-02 9.99884405e-01 -6.26536714e-04 -1.85143617e+01] [-9.40366024e-03 4.83708208e-04 9.99955668e-01 -4.11472012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800371743 meters Centerline goodness [0,1] 0.9852342510177327 Centerline is valid? [True, True] Translation: X:300.66, Y:-18.52, Z:-4.12 [[ 9.99846459e-01 1.48194227e-02 9.35108816e-03 3.00657867e+02] [-1.48142454e-02 9.99890069e-01 -6.22679859e-04 -1.85178199e+01] [-9.35928795e-03 4.84054938e-04 9.99956084e-01 -4.11501259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.830371743 meters Centerline goodness [0,1] 0.9854926317236954 Centerline is valid? [True, True] Translation: X:300.69, Y:-18.52, Z:-4.12 [[ 9.99850410e-01 1.45792629e-02 9.30607125e-03 3.00686832e+02] [-1.45741310e-02 9.99893600e-01 -6.19036985e-04 -1.85210721e+01] [-9.31410619e-03 4.83316481e-04 9.99956506e-01 -4.11564241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86037174300003 meters Centerline goodness [0,1] 0.9845691750355391 Centerline is valid? [True, True] Translation: X:300.72, Y:-18.52, Z:-4.12 [[ 9.99877313e-01 1.32916325e-02 8.28807503e-03 3.00716045e+02] [-1.32875233e-02 9.99911565e-01 -5.50664702e-04 -1.85240349e+01] [-8.29466131e-03 4.40469153e-04 9.99965502e-01 -4.11654313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.890371743 meters Centerline goodness [0,1] 0.9840873706383368 Centerline is valid? [True, True] Translation: X:300.75, Y:-18.53, Z:-4.12 [[ 9.99892708e-01 1.23921735e-02 7.81068880e-03 3.00745102e+02] [-1.23884978e-02 9.99923125e-01 -5.18802495e-04 -1.85275115e+01] [-7.81651745e-03 4.21984130e-04 9.99969362e-01 -4.11765353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92037174300003 meters Centerline goodness [0,1] 0.9836211826604141 Centerline is valid? [True, True] Translation: X:300.77, Y:-18.53, Z:-4.12 [[ 9.99906910e-01 1.16146191e-02 7.16039349e-03 3.00774723e+02] [-1.16115132e-02 9.99932471e-01 -4.75176948e-04 -1.85307037e+01] [-7.16542895e-03 3.91989711e-04 9.99974251e-01 -4.11825007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.950371743 meters Centerline goodness [0,1] 0.9838735503351099 Centerline is valid? [True, True] Translation: X:300.80, Y:-18.54, Z:-4.12 [[ 9.99935986e-01 9.59525413e-03 5.99630435e-03 3.00803790e+02] [-9.59303985e-03 9.99953907e-01 -3.97927378e-04 -1.85358016e+01] [-5.99984617e-03 3.40379118e-04 9.99981943e-01 -4.11897668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.980371743 meters Centerline goodness [0,1] 0.9841527184709885 Centerline is valid? [True, True] Translation: X:300.83, Y:-18.54, Z:-4.12 [[ 9.99947525e-01 8.42896511e-03 5.82229719e-03 3.00833507e+02] [-8.42686024e-03 9.99964419e-01 -3.85956625e-04 -1.85386955e+01] [-5.82534324e-03 3.36872687e-04 9.99982976e-01 -4.11941227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.010371743 meters Centerline goodness [0,1] 0.9837726805888395 Centerline is valid? [True, True] Translation: X:300.86, Y:-18.55, Z:-4.12 [[ 9.99967323e-01 5.76923492e-03 5.66291466e-03 3.00861685e+02] [-5.76720229e-03 9.99983299e-01 -3.75202478e-04 -1.85481624e+01] [-5.66498472e-03 3.42531043e-04 9.99983895e-01 -4.11988273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.040371743 meters Centerline goodness [0,1] 0.9836916909620991 Centerline is valid? [True, True] Translation: X:300.89, Y:-18.55, Z:-4.12 [[ 9.99972396e-01 4.45980497e-03 5.94284085e-03 3.00892390e+02] [-4.45754918e-03 9.99989988e-01 -3.92773108e-04 -1.85530275e+01] [-5.94453305e-03 3.66271760e-04 9.99982264e-01 -4.12023660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.070371743 meters Centerline goodness [0,1] 0.9845228054979371 Centerline is valid? [True, True] Translation: X:300.92, Y:-18.56, Z:-4.12 [[ 9.99975193e-01 3.20504563e-03 6.27223559e-03 3.00923060e+02] [-3.20250545e-03 9.99994786e-01 -4.14990318e-04 -1.85578823e+01] [-6.27353295e-03 3.94893155e-04 9.99980243e-01 -4.12019888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.100371743 meters Centerline goodness [0,1] 0.9842482100238663 Centerline is valid? [True, True] Translation: X:300.95, Y:-18.57, Z:-4.12 [[ 9.99976879e-01 3.31249554e-04 6.79210531e-03 3.00952488e+02] [-3.28198885e-04 9.99999845e-01 -4.50259031e-04 -1.85659949e+01] [-6.79225341e-03 4.48019459e-04 9.99976832e-01 -4.12016575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.130371743 meters Centerline goodness [0,1] 0.9835488195596356 Centerline is valid? [True, True] Translation: X:300.98, Y:-18.57, Z:-4.12 [[ 9.99981196e-01 -1.21691410e-03 6.01058915e-03 3.00983651e+02] [ 1.21932942e-03 9.99999177e-01 -3.98195659e-04 -1.85696549e+01] [-6.01009964e-03 4.05517060e-04 9.99981857e-01 -4.12033155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.160371743 meters Centerline goodness [0,1] 0.9854989983609543 Centerline is valid? [True, True] Translation: X:301.01, Y:-18.57, Z:-4.12 [[ 9.99981561e-01 -3.89817763e-03 4.65634445e-03 3.01014965e+02] [ 3.89965700e-03 9.99992349e-01 -3.08672838e-04 -1.85678559e+01] [-4.65510556e-03 3.26825293e-04 9.99989112e-01 -4.11989759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.190371743 meters Centerline goodness [0,1] 0.9881204342186113 Centerline is valid? [True, True] Translation: X:301.05, Y:-18.57, Z:-4.12 [[ 9.99979302e-01 -5.04513311e-03 3.99284769e-03 3.01046801e+02] [ 5.04622875e-03 9.99987233e-01 -2.64374588e-04 -1.85696533e+01] [-3.99146290e-03 2.84517939e-04 9.99991994e-01 -4.12021436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.220371743 meters Centerline goodness [0,1] 0.9847753857357425 Centerline is valid? [True, True] Translation: X:301.08, Y:-18.58, Z:-4.12 [[ 9.99968693e-01 -7.55682824e-03 2.34690252e-03 3.01076526e+02] [ 7.55721419e-03 9.99971432e-01 -1.55624572e-04 -1.85798030e+01] [-2.34565944e-03 1.73355745e-04 9.99997234e-01 -4.12177334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.250371743 meters Centerline goodness [0,1] 0.9863755259865802 Centerline is valid? [True, True] Translation: X:301.11, Y:-18.58, Z:-4.12 [[ 9.99963063e-01 -8.29009248e-03 2.26866971e-03 3.01108256e+02] [ 8.29045415e-03 9.99965622e-01 -1.50064832e-04 -1.85805157e+01] [-2.26734767e-03 1.68867591e-04 9.99997415e-01 -4.12193607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.280371743 meters Centerline goodness [0,1] 0.9863755259865802 Centerline is valid? [True, True] Translation: X:301.14, Y:-18.58, Z:-4.12 [[ 9.99963643e-01 -8.21980437e-03 2.26867502e-03 3.01139966e+02] [ 8.22016569e-03 9.99966203e-01 -1.49985420e-04 -1.85826867e+01] [-2.26736549e-03 1.68628852e-04 9.99997415e-01 -4.12237182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.310371743 meters Centerline goodness [0,1] 0.9865286153145978 Centerline is valid? [True, True] Translation: X:301.17, Y:-18.59, Z:-4.12 [[ 9.99961329e-01 -8.59720324e-03 1.85159617e-03 3.01171238e+02] [ 8.59744487e-03 9.99963034e-01 -1.22577583e-04 -1.85867603e+01] [-1.85047390e-03 1.38491838e-04 9.99998278e-01 -4.12289047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.340371743 meters Centerline goodness [0,1] 0.9859738026830758 Centerline is valid? [True, True] Translation: X:301.20, Y:-18.59, Z:-4.12 [[ 9.99961580e-01 -8.61270995e-03 1.63118081e-03 3.01203612e+02] [ 8.61289716e-03 9.99962903e-01 -1.07781628e-04 -1.85903483e+01] [-1.63019200e-03 1.21826679e-04 9.99998664e-01 -4.12284547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.370371743 meters Centerline goodness [0,1] 0.9857025958085194 Centerline is valid? [True, True] Translation: X:301.24, Y:-18.59, Z:-4.12 [[ 9.99963675e-01 -8.30136522e-03 1.93296174e-03 3.01235502e+02] [ 8.30162811e-03 9.99965533e-01 -1.28020286e-04 -1.85906414e+01] [-1.93183237e-03 1.44062365e-04 9.99998124e-01 -4.12167989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.400371743 meters Centerline goodness [0,1] 0.9843494457568599 Centerline is valid? [True, True] Translation: X:301.27, Y:-18.60, Z:-4.12 [[ 9.99967479e-01 -7.72987609e-03 2.29988922e-03 3.01266510e+02] [ 7.73024616e-03 9.99970110e-01 -1.52057852e-04 -1.85980994e+01] [-2.29864508e-03 1.69831617e-04 9.99997344e-01 -4.12229684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.430371743 meters Centerline goodness [0,1] 0.9841881116346503 Centerline is valid? [True, True] Translation: X:301.30, Y:-18.60, Z:-4.12 [[ 9.99970527e-01 -7.34886049e-03 2.22250299e-03 3.01297671e+02] [ 7.34920749e-03 9.99972983e-01 -1.48002119e-04 -1.86020559e+01] [-2.22135530e-03 1.64331392e-04 9.99997519e-01 -4.12263565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.460371743 meters Centerline goodness [0,1] 0.9848234308107006 Centerline is valid? [True, True] Translation: X:301.33, Y:-18.60, Z:-4.12 [[ 9.99978987e-01 -6.20236916e-03 1.88587942e-03 3.01329550e+02] [ 6.20261675e-03 9.99980756e-01 -1.25466620e-04 -1.86044588e+01] [-1.88506494e-03 1.37161371e-04 9.99998214e-01 -4.12204051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.490371743 meters Centerline goodness [0,1] 0.986109854311827 Centerline is valid? [True, True] Translation: X:301.36, Y:-18.60, Z:-4.12 [[ 9.99982619e-01 -5.75717334e-03 1.27143048e-03 3.01362376e+02] [ 5.75728509e-03 9.99983423e-01 -8.42561162e-05 -1.85982562e+01] [-1.27092433e-03 9.15746396e-05 9.99999188e-01 -4.12083166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.520371743 meters Centerline goodness [0,1] 0.985300104030033 Centerline is valid? [True, True] Translation: X:301.39, Y:-18.61, Z:-4.12 [[ 9.99990105e-01 -4.42145243e-03 4.90643640e-04 3.01391936e+02] [ 4.42146899e-03 9.99990225e-01 -3.26590936e-05 -1.86099668e+01] [-4.90494444e-04 3.48281361e-05 9.99999879e-01 -4.12300226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.550371743 meters Centerline goodness [0,1] 0.9877525195462558 Centerline is valid? [True, True] Translation: X:301.43, Y:-18.60, Z:-4.12 [[ 9.99990982e-01 -4.24677352e-03 -2.90417701e-05 3.01425102e+02] [ 4.24677361e-03 9.99990982e-01 2.92263895e-06 -1.86025278e+01] [ 2.90290964e-05 -3.04594642e-06 1.00000000e+00 -4.12187495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.580371743 meters Centerline goodness [0,1] 0.9878735775208706 Centerline is valid? [True, True] Translation: X:301.46, Y:-18.60, Z:-4.12 [[ 9.99990588e-01 -4.26182026e-03 -8.12531784e-04 3.01457726e+02] [ 4.26186684e-03 9.99990917e-01 5.56006209e-05 -1.86029807e+01] [ 8.12287444e-04 -5.90629999e-05 9.99999668e-01 -4.12227796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61037174300003 meters Centerline goodness [0,1] 0.9888838782412627 Centerline is valid? [True, True] Translation: X:301.49, Y:-18.61, Z:-4.12 [[ 9.99989562e-01 -4.25631963e-03 -1.66143283e-03 3.01488450e+02] [ 4.25651236e-03 9.99990935e-01 1.12485357e-04 -1.86070366e+01] [ 1.66093900e-03 -1.19556092e-04 9.99998613e-01 -4.12205793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.640371743 meters Centerline goodness [0,1] 0.9874859075535513 Centerline is valid? [True, True] Translation: X:301.52, Y:-18.61, Z:-4.12 [[ 9.99988314e-01 -4.41665449e-03 -1.96621753e-03 3.01518459e+02] [ 4.41692353e-03 9.99990237e-01 1.32512093e-04 -1.86143642e+01] [ 1.96561307e-03 -1.41195177e-04 9.99998058e-01 -4.12322246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67037174300003 meters Centerline goodness [0,1] 0.9878257347315361 Centerline is valid? [True, True] Translation: X:301.55, Y:-18.61, Z:-4.12 [[ 9.99985642e-01 -4.83895790e-03 -2.30244351e-03 3.01550235e+02] [ 4.83932862e-03 9.99988278e-01 1.55466078e-04 -1.86113135e+01] [ 2.30166423e-03 -1.66606126e-04 9.99997337e-01 -4.12218324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.700371743 meters Centerline goodness [0,1] 0.988835366677171 Centerline is valid? [True, True] Translation: X:301.58, Y:-18.62, Z:-4.12 [[ 9.99986485e-01 -4.62031524e-03 -2.38364855e-03 3.01580290e+02] [ 4.62071142e-03 9.99989312e-01 1.60724496e-04 -1.86155120e+01] [ 2.38288048e-03 -1.71736476e-04 9.99997146e-01 -4.12230293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.730371743 meters Centerline goodness [0,1] 0.9880351509689049 Centerline is valid? [True, True] Translation: X:301.61, Y:-18.62, Z:-4.12 [[ 9.99988278e-01 -4.32948080e-03 -2.16778265e-03 3.01611927e+02] [ 4.32980853e-03 9.99990616e-01 1.46511254e-04 -1.86178543e+01] [ 2.16712799e-03 -1.55895620e-04 9.99997640e-01 -4.12277367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.760371743 meters Centerline goodness [0,1] 0.9879897440510998 Centerline is valid? [True, True] Translation: X:301.64, Y:-18.62, Z:-4.12 [[ 9.99992572e-01 -3.07138949e-03 -2.32861656e-03 3.01642429e+02] [ 3.07176436e-03 9.99995270e-01 1.57426044e-04 -1.86236593e+01] [ 2.32812203e-03 -1.64577836e-04 9.99997276e-01 -4.12380735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.790371743 meters Centerline goodness [0,1] 0.988827319007073 Centerline is valid? [True, True] Translation: X:301.67, Y:-18.62, Z:-4.12 [[ 9.99995112e-01 -1.95229359e-03 -2.44217223e-03 3.01673030e+02] [ 1.95270135e-03 9.99998080e-01 1.64593066e-04 -1.86212403e+01] [ 2.44184621e-03 -1.69361095e-04 9.99997004e-01 -4.12298425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.820371743 meters Centerline goodness [0,1] 0.98818046737809 Centerline is valid? [True, True] Translation: X:301.70, Y:-18.63, Z:-4.12 [[ 9.99995864e-01 -1.72913204e-03 -2.29838137e-03 3.01701924e+02] [ 1.72949195e-03 9.99998492e-01 1.54617111e-04 -1.86279642e+01] [ 2.29811055e-03 -1.58591504e-04 9.99997347e-01 -4.12430920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.850371743 meters Centerline goodness [0,1] 0.9884283752448276 Centerline is valid? [True, True] Translation: X:301.73, Y:-18.63, Z:-4.12 [[ 9.99993693e-01 -2.20938785e-03 -2.78084005e-03 3.01731845e+02] [ 2.20991721e-03 9.99997541e-01 1.87300806e-04 -1.86298175e+01] [ 2.78041939e-03 -1.93445051e-04 9.99996116e-01 -4.12482234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880371743 meters Centerline goodness [0,1] 0.9885953840605842 Centerline is valid? [True, True] Translation: X:301.76, Y:-18.63, Z:-4.12 [[ 9.99993101e-01 -2.35515762e-03 -2.87242232e-03 3.01762901e+02] [ 2.35572319e-03 9.99997207e-01 1.93527263e-04 -1.86298751e+01] [ 2.87195851e-03 -2.00292560e-04 9.99995856e-01 -4.12428317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.910371743 meters Centerline goodness [0,1] 0.9877012321251911 Centerline is valid? [True, True] Translation: X:301.79, Y:-18.64, Z:-4.13 [[ 9.99988094e-01 -3.66207824e-03 -3.22503435e-03 3.01791708e+02] [ 3.66279700e-03 9.99993268e-01 2.16989744e-04 -1.86394194e+01] [ 3.22421801e-03 -2.28799807e-04 9.99994776e-01 -4.12629789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940371743 meters Centerline goodness [0,1] 0.9885091072633236 Centerline is valid? [True, True] Translation: X:301.82, Y:-18.64, Z:-4.13 [[ 9.99980964e-01 -4.63264090e-03 -4.07557487e-03 3.01822160e+02] [ 4.63379801e-03 9.99989226e-01 2.74517767e-04 -1.86390714e+01] [ 4.07425922e-03 -2.93397932e-04 9.99991657e-01 -4.12632982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.970371743 meters Centerline goodness [0,1] 0.9846565125578469 Centerline is valid? [True, True] Translation: X:301.85, Y:-18.65, Z:-4.13 [[ 9.99962098e-01 -6.84908922e-03 -5.37520552e-03 3.01851390e+02] [ 6.85113383e-03 9.99976465e-01 3.62056756e-04 -1.86504685e+01] [ 5.37259926e-03 -3.98869285e-04 9.99985488e-01 -4.13018544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000371743 meters Centerline goodness [0,1] 0.9867043974307146 Centerline is valid? [True, True] Translation: X:301.88, Y:-18.65, Z:-4.13 [[ 9.99948165e-01 -8.30961366e-03 -5.88363561e-03 3.01882018e+02] [ 8.31208851e-03 9.99965375e-01 3.96302990e-04 -1.86498022e+01] [ 5.88013877e-03 -4.45187748e-04 9.99982613e-01 -4.13013635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.030371743 meters Centerline goodness [0,1] 0.9888893886914669 Centerline is valid? [True, True] Translation: X:301.91, Y:-18.65, Z:-4.13 [[ 9.99938276e-01 -9.24181464e-03 -6.16713686e-03 3.01913937e+02] [ 9.24455573e-03 9.99957182e-01 4.16107030e-04 -1.86474526e+01] [ 6.16302720e-03 -4.73093787e-04 9.99980896e-01 -4.12930654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060371743 meters Centerline goodness [0,1] 0.9885209515055041 Centerline is valid? [True, True] Translation: X:301.94, Y:-18.65, Z:-4.13 [[ 9.99929634e-01 -1.03182924e-02 -5.85322632e-03 3.01944351e+02] [ 1.03207792e-02 9.99946661e-01 3.94809402e-04 -1.86528391e+01] [ 5.84884036e-03 -4.55191477e-04 9.99982792e-01 -4.12935998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.090371743 meters Centerline goodness [0,1] 0.9876911349266849 Centerline is valid? [True, True] Translation: X:301.98, Y:-18.65, Z:-4.13 [[ 9.99938360e-01 -9.87687592e-03 -5.07191247e-03 3.01976058e+02] [ 9.87873977e-03 9.99951145e-01 3.42564623e-04 -1.86544759e+01] [ 5.06828122e-03 -3.92647611e-04 9.99987079e-01 -4.12820220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120371743 meters Centerline goodness [0,1] 0.9883138189091399 Centerline is valid? [True, True] Translation: X:302.01, Y:-18.65, Z:-4.13 [[ 9.99948466e-01 -8.98174046e-03 -4.73228462e-03 3.02007281e+02] [ 8.98335411e-03 9.99959598e-01 3.19843438e-04 -1.86538608e+01] [ 4.72922068e-03 -3.62338743e-04 9.99988752e-01 -4.12754070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.150371743 meters Centerline goodness [0,1] 0.9875629124259031 Centerline is valid? [True, True] Translation: X:302.04, Y:-18.66, Z:-4.13 [[ 9.99965212e-01 -7.44878763e-03 -3.75369327e-03 3.02037316e+02] [ 7.44979731e-03 9.99972217e-01 2.55073090e-04 -1.86555562e+01] [ 3.75168900e-03 -2.83028470e-04 9.99992922e-01 -4.12763553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180371743 meters Centerline goodness [0,1] 0.9882484862076699 Centerline is valid? [True, True] Translation: X:302.07, Y:-18.66, Z:-4.13 [[ 9.99975421e-01 -5.96577582e-03 -3.68330626e-03 3.02068608e+02] [ 5.96673530e-03 9.99982168e-01 2.49558805e-04 -1.86565847e+01] [ 3.68175176e-03 -2.71529985e-04 9.99993185e-01 -4.12784618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.210371743 meters Centerline goodness [0,1] 0.9885491889946233 Centerline is valid? [True, True] Translation: X:302.10, Y:-18.66, Z:-4.13 [[ 9.99989165e-01 -2.73562239e-03 -3.76637199e-03 3.02099494e+02] [ 2.73660196e-03 9.99996223e-01 2.54954909e-04 -1.86569953e+01] [ 3.76566031e-03 -2.65259208e-04 9.99992875e-01 -4.12812247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240371743 meters Centerline goodness [0,1] 0.9883384539481062 Centerline is valid? [True, True] Translation: X:302.13, Y:-18.66, Z:-4.13 [[ 9.99991155e-01 1.52387843e-03 -3.92023935e-03 3.02130234e+02] [-1.52285084e-03 9.99998805e-01 2.65095408e-04 -1.86562602e+01] [ 3.92063864e-03 -2.59123124e-04 9.99992281e-01 -4.12838084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.270371743 meters Centerline goodness [0,1] 0.9889157279273991 Centerline is valid? [True, True] Translation: X:302.16, Y:-18.65, Z:-4.13 [[ 9.99985195e-01 3.21651815e-03 -4.38894959e-03 3.02159761e+02] [-3.21525606e-03 9.99994788e-01 2.94586429e-04 -1.86547083e+01] [ 4.38987425e-03 -2.80470471e-04 9.99990325e-01 -4.12795469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300371743 meters Centerline goodness [0,1] 0.9881707564846378 Centerline is valid? [True, True] Translation: X:302.19, Y:-18.65, Z:-4.13 [[ 9.99974545e-01 5.61870996e-03 -4.39768318e-03 3.02189260e+02] [-5.61746132e-03 9.99984178e-01 2.96230102e-04 -1.86544045e+01] [ 4.39927803e-03 -2.71518746e-04 9.99990286e-01 -4.12793314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.330371743 meters Centerline goodness [0,1] 0.9885569119399295 Centerline is valid? [True, True] Translation: X:302.22, Y:-18.65, Z:-4.13 [[ 9.99943062e-01 9.69597206e-03 -4.45657560e-03 3.02218721e+02] [-9.69472970e-03 9.99952960e-01 3.00288040e-04 -1.86540748e+01] [ 4.45927755e-03 -2.57065646e-04 9.99990024e-01 -4.12940424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36037174300003 meters Centerline goodness [0,1] 0.9888307234080961 Centerline is valid? [True, True] Translation: X:302.25, Y:-18.66, Z:-4.13 [[ 9.99928042e-01 1.10511838e-02 -4.66717020e-03 3.02247179e+02] [-1.10498404e-02 9.99938900e-01 3.13518660e-04 -1.86551485e+01] [ 4.67034978e-03 -2.61924614e-04 9.99989060e-01 -4.13036458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.390371743 meters Centerline goodness [0,1] 0.9895772100384355 Centerline is valid? [True, True] Translation: X:302.28, Y:-18.65, Z:-4.13 [[ 9.99901758e-01 1.33062158e-02 -4.40663567e-03 3.02276796e+02] [-1.33050389e-02 9.99911440e-01 2.96281124e-04 -1.86536946e+01] [ 4.41018780e-03 -2.37621558e-04 9.99990247e-01 -4.13018065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42037174300003 meters Centerline goodness [0,1] 0.9892721347093971 Centerline is valid? [True, True] Translation: X:302.31, Y:-18.65, Z:-4.13 [[ 9.99895741e-01 1.37888821e-02 -4.28642210e-03 3.02306192e+02] [-1.37877810e-02 9.99904903e-01 2.86328650e-04 -1.86535097e+01] [ 4.28996262e-03 -2.27198549e-04 9.99990772e-01 -4.12987715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.450371743 meters Centerline goodness [0,1] 0.9888649994341971 Centerline is valid? [True, True] Translation: X:302.33, Y:-18.65, Z:-4.13 [[ 9.99886126e-01 1.45281028e-02 -4.08269937e-03 3.02334773e+02] [-1.45271084e-02 9.99894439e-01 2.73135541e-04 -1.86524215e+01] [ 4.08623653e-03 -2.13794622e-04 9.99991628e-01 -4.12904977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.480371743 meters Centerline goodness [0,1] 0.9894863254254186 Centerline is valid? [True, True] Translation: X:302.36, Y:-18.65, Z:-4.13 [[ 9.99881121e-01 1.49639478e-02 -3.71813905e-03 3.02363684e+02] [-1.49631273e-02 9.99888015e-01 2.48392889e-04 -1.86527449e+01] [ 3.72143962e-03 -1.92728372e-04 9.99993057e-01 -4.12880071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.510371743 meters Centerline goodness [0,1] 0.9888270683493916 Centerline is valid? [True, True] Translation: X:302.39, Y:-18.65, Z:-4.13 [[ 9.99888352e-01 1.46463453e-02 -2.96122515e-03 3.02391884e+02] [-1.46458264e-02 9.99892725e-01 1.96814325e-04 -1.86546494e+01] [ 2.96379009e-03 -1.53422762e-04 9.99995596e-01 -4.12917809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.540371743 meters Centerline goodness [0,1] 0.988603215521335 Centerline is valid? [True, True] Translation: X:302.42, Y:-18.66, Z:-4.13 [[ 9.99899707e-01 1.38750595e-02 -2.83876160e-03 3.02419038e+02] [-1.38745798e-02 9.99903726e-01 1.88616740e-04 -1.86590421e+01] [ 2.84110537e-03 -1.49211199e-04 9.99995953e-01 -4.12995047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.570371743 meters Centerline goodness [0,1] 0.9883124222900418 Centerline is valid? [True, True] Translation: X:302.45, Y:-18.66, Z:-4.13 [[ 9.99910907e-01 1.30713147e-02 -2.70542824e-03 3.02446444e+02] [-1.30708767e-02 9.99914556e-01 1.79493234e-04 -1.86646521e+01] [ 2.70754329e-03 -1.44114924e-04 9.99996324e-01 -4.13107334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.600371743 meters Centerline goodness [0,1] 0.9884917411318711 Centerline is valid? [True, True] Translation: X:302.48, Y:-18.66, Z:-4.13 [[ 9.99932033e-01 1.12505776e-02 -3.05826834e-03 3.02476404e+02] [-1.12500071e-02 9.99936696e-01 2.03663732e-04 -1.86637545e+01] [ 3.06036608e-03 -1.69244349e-04 9.99995303e-01 -4.13004025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.630371743 meters Centerline goodness [0,1] 0.9871855611957134 Centerline is valid? [True, True] Translation: X:302.50, Y:-18.67, Z:-4.13 [[ 9.99943933e-01 1.01172713e-02 -3.12604281e-03 3.02503808e+02] [-1.01166736e-02 9.99948804e-01 2.06949096e-04 -1.86729654e+01] [ 3.12797652e-03 -1.75312338e-04 9.99995093e-01 -4.13287759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.660371743 meters Centerline goodness [0,1] 0.9882544271774485 Centerline is valid? [True, True] Translation: X:302.53, Y:-18.67, Z:-4.13 [[ 9.99956442e-01 8.69861022e-03 -3.38347124e-03 3.02533143e+02] [-8.69789986e-03 9.99962147e-01 2.24609792e-04 -1.86705194e+01] [ 3.38529695e-03 -1.95170914e-04 9.99994251e-01 -4.13196699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.690371743 meters Centerline goodness [0,1] 0.9882472366343334 Centerline is valid? [True, True] Translation: X:302.56, Y:-18.67, Z:-4.13 [[ 9.99977439e-01 5.87424790e-03 -3.25809640e-03 3.02562954e+02] [-5.87357396e-03 9.99982727e-01 2.16380014e-04 -1.86718570e+01] [ 3.25931120e-03 -1.97238462e-04 9.99994669e-01 -4.13153590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.720371743 meters Centerline goodness [0,1] 0.9870848708487084 Centerline is valid? [True, True] Translation: X:302.59, Y:-18.68, Z:-4.13 [[ 9.99985411e-01 4.16632616e-03 -3.43782584e-03 3.02590595e+02] [-4.16556823e-03 9.99991298e-01 2.27599774e-04 -1.86810023e+01] [ 3.43874418e-03 -2.13275956e-04 9.99994065e-01 -4.13287292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.750371743 meters Centerline goodness [0,1] 0.9880890613368224 Centerline is valid? [True, True] Translation: X:302.62, Y:-18.68, Z:-4.13 [[ 9.99995543e-01 1.50271636e-03 -2.57977618e-03 3.02619881e+02] [-1.50228111e-03 9.99998857e-01 1.70645961e-04 -1.86785719e+01] [ 2.58002966e-03 -1.66769652e-04 9.99996658e-01 -4.13069185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.780371743 meters Centerline goodness [0,1] 0.9873061601134343 Centerline is valid? [True, True] Translation: X:302.65, Y:-18.68, Z:-4.13 [[ 9.99997204e-01 3.38335882e-04 -2.34049362e-03 3.02648633e+02] [-3.37974225e-04 9.99999931e-01 1.54915436e-04 -1.86831748e+01] [ 2.34054588e-03 -1.54123976e-04 9.99997249e-01 -4.13145342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.810371743 meters Centerline goodness [0,1] 0.9874952121307707 Centerline is valid? [True, True] Translation: X:302.68, Y:-18.69, Z:-4.13 [[ 9.99996502e-01 -9.69861188e-04 -2.46065076e-03 3.02678049e+02] [ 9.70266117e-04 9.99999516e-01 1.63373377e-04 -1.86896758e+01] [ 2.46049112e-03 -1.65760291e-04 9.99996959e-01 -4.13260892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.840371743 meters Centerline goodness [0,1] 0.9868489202152814 Centerline is valid? [True, True] Translation: X:302.71, Y:-18.69, Z:-4.13 [[ 9.99993513e-01 -2.88311032e-03 -2.15911642e-03 3.02708689e+02] [ 2.88342654e-03 9.99995833e-01 1.43362431e-04 -1.86898879e+01] [ 2.15869410e-03 -1.49587155e-04 9.99997659e-01 -4.13218344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.870371743 meters Centerline goodness [0,1] 0.9867524347180675 Centerline is valid? [True, True] Translation: X:302.74, Y:-18.69, Z:-4.13 [[ 9.99990641e-01 -3.57323357e-03 -2.43923859e-03 3.02738882e+02] [ 3.57364110e-03 9.99993601e-01 1.62736649e-04 -1.86942736e+01] [ 2.43864148e-03 -1.71452089e-04 9.99997012e-01 -4.13283131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.900371743 meters Centerline goodness [0,1] 0.9873392056590596 Centerline is valid? [True, True] Translation: X:302.77, Y:-18.69, Z:-4.13 [[ 9.99988435e-01 -4.17063353e-03 -2.39490868e-03 3.02769919e+02] [ 4.17102655e-03 9.99991289e-01 1.59133756e-04 -1.86931007e+01] [ 2.39422413e-03 -1.69121143e-04 9.99997120e-01 -4.13141535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.930371743 meters Centerline goodness [0,1] 0.9856571725430849 Centerline is valid? [True, True] Translation: X:302.80, Y:-18.70, Z:-4.13 [[ 9.99988598e-01 -4.14908375e-03 -2.36406494e-03 3.02799576e+02] [ 4.14946733e-03 9.99991379e-01 1.57370930e-04 -1.87040230e+01] [ 2.36339161e-03 -1.67178746e-04 9.99997193e-01 -4.13397438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.960371743 meters Centerline goodness [0,1] 0.9872835497835498 Centerline is valid? [True, True] Translation: X:302.83, Y:-18.70, Z:-4.13 [[ 9.99987847e-01 -4.20061964e-03 -2.58067008e-03 3.02830956e+02] [ 4.20107697e-03 9.99991161e-01 1.71815972e-04 -1.86971917e+01] [ 2.57992554e-03 -1.82655478e-04 9.99996655e-01 -4.13246902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.990371743 meters Centerline goodness [0,1] 0.986199431741307 Centerline is valid? [True, True] Translation: X:302.86, Y:-18.70, Z:-4.13 [[ 9.99986983e-01 -4.35342082e-03 -2.66113250e-03 3.02861046e+02] [ 4.35390774e-03 9.99990506e-01 1.77210841e-04 -1.87018342e+01] [ 2.66033576e-03 -1.88794860e-04 9.99996443e-01 -4.13324199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.020371743 meters Centerline goodness [0,1] 0.9856560607084149 Centerline is valid? [True, True] Translation: X:302.89, Y:-18.71, Z:-4.13 [[ 9.99986780e-01 -4.48146152e-03 -2.52120601e-03 3.02891024e+02] [ 4.48189912e-03 9.99989942e-01 1.67946412e-04 -1.87087101e+01] [ 2.52042800e-03 -1.79243983e-04 9.99996808e-01 -4.13452571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.050371743 meters Centerline goodness [0,1] 0.9865853384050958 Centerline is valid? [True, True] Translation: X:302.92, Y:-18.70, Z:-4.13 [[ 9.99989223e-01 -4.14231726e-03 -2.09650669e-03 3.02923228e+02] [ 4.14261986e-03 9.99991410e-01 1.40014428e-04 -1.87037803e+01] [ 2.09590870e-03 -1.48697949e-04 9.99997793e-01 -4.13282412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.080371743 meters Centerline goodness [0,1] 0.9865939661582137 Centerline is valid? [True, True] Translation: X:302.95, Y:-18.70, Z:-4.13 [[ 9.99989322e-01 -3.88449659e-03 -2.50344536e-03 3.02954114e+02] [ 3.88492725e-03 9.99992440e-01 1.67186856e-04 -1.87048060e+01] [ 2.50277700e-03 -1.76910774e-04 9.99996852e-01 -4.13312749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11037174300003 meters Centerline goodness [0,1] 0.9872312586008527 Centerline is valid? [True, True] Translation: X:302.98, Y:-18.71, Z:-4.13 [[ 9.99990670e-01 -3.28253501e-03 -2.80803993e-03 3.02984606e+02] [ 3.28307597e-03 9.99994593e-01 1.88057643e-04 -1.87073562e+01] [ 2.80740745e-03 -1.97274897e-04 9.99996040e-01 -4.13431213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.140371743 meters Centerline goodness [0,1] 0.9872312586008527 Centerline is valid? [True, True] Translation: X:303.01, Y:-18.71, Z:-4.13 [[ 9.99990670e-01 -3.28252281e-03 -2.80809904e-03 3.03014614e+02] [ 3.28306129e-03 9.99994593e-01 1.87170961e-04 -1.87093560e+01] [ 2.80746946e-03 -1.96388376e-04 9.99996040e-01 -4.13472436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17037174300003 meters Centerline goodness [0,1] 0.9873849070229284 Centerline is valid? [True, True] Translation: X:303.05, Y:-18.71, Z:-4.14 [[ 9.99990482e-01 -2.84418503e-03 -3.30852348e-03 3.03045119e+02] [ 2.84493370e-03 9.99995929e-01 2.21601283e-04 -1.87118862e+01] [ 3.30787973e-03 -2.31011704e-04 9.99994502e-01 -4.13587111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.200371743 meters Centerline goodness [0,1] 0.9874692375426158 Centerline is valid? [True, True] Translation: X:303.08, Y:-18.71, Z:-4.14 [[ 9.99990225e-01 -2.62188514e-03 -3.56042319e-03 3.03075567e+02] [ 2.62274744e-03 9.99996532e-01 2.37541606e-04 -1.87126611e+01] [ 3.55978804e-03 -2.46877375e-04 9.99993633e-01 -4.13597238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.230371743 meters Centerline goodness [0,1] 0.9872934910174235 Centerline is valid? [True, True] Translation: X:303.11, Y:-18.71, Z:-4.14 [[ 9.99990272e-01 -1.48871126e-03 -4.15202740e-03 3.03105332e+02] [ 1.48987292e-03 9.99998852e-01 2.76702299e-04 -1.87132874e+01] [ 4.15161070e-03 -2.82885601e-04 9.99991342e-01 -4.13541211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.260371743 meters Centerline goodness [0,1] 0.9875502733969 Centerline is valid? [True, True] Translation: X:303.13, Y:-18.71, Z:-4.14 [[ 9.99990821e-01 -4.98449911e-04 -4.25563239e-03 3.03134653e+02] [ 4.99659753e-04 9.99999835e-01 2.83233592e-04 -1.87137850e+01] [ 4.25549051e-03 -2.85357360e-04 9.99990905e-01 -4.13538513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.290371743 meters Centerline goodness [0,1] 0.9879237431873177 Centerline is valid? [True, True] Translation: X:303.16, Y:-18.72, Z:-4.14 [[ 9.99990914e-01 2.38245903e-04 -4.25615640e-03 3.03163277e+02] [-2.37044319e-04 9.99999932e-01 2.82818751e-04 -1.87154500e+01] [ 4.25622349e-03 -2.81807284e-04 9.99990903e-01 -4.13567565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.320371743 meters Centerline goodness [0,1] 0.9876912614756885 Centerline is valid? [True, True] Translation: X:303.19, Y:-18.71, Z:-4.14 [[ 9.99987272e-01 2.52739986e-03 -4.36666394e-03 3.03193750e+02] [-2.52615500e-03 9.99996767e-01 2.90573582e-04 -1.87137731e+01] [ 4.36738422e-03 -2.79539014e-04 9.99990424e-01 -4.13510139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.350371743 meters Centerline goodness [0,1] 0.9875249049085311 Centerline is valid? [True, True] Translation: X:303.22, Y:-18.72, Z:-4.14 [[ 9.99984687e-01 3.52215313e-03 -4.26859681e-03 3.03221059e+02] [-3.52097809e-03 9.99993761e-01 2.82759495e-04 -1.87181078e+01] [ 4.26956610e-03 -2.67725529e-04 9.99990850e-01 -4.13620308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380371743 meters Centerline goodness [0,1] 0.9891738538356786 Centerline is valid? [True, True] Translation: X:303.25, Y:-18.71, Z:-4.13 [[ 9.99970647e-01 6.48249812e-03 -4.08438727e-03 3.03251949e+02] [-6.48144367e-03 9.99978958e-01 2.71349667e-04 -1.87078892e+01] [ 4.08606035e-03 -2.44868976e-04 9.99991622e-01 -4.13333559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.410371743 meters Centerline goodness [0,1] 0.9881754839881074 Centerline is valid? [True, True] Translation: X:303.28, Y:-18.72, Z:-4.14 [[ 9.99957625e-01 8.30631552e-03 -3.96913204e-03 3.03279195e+02] [-8.30534016e-03 9.99965476e-01 2.62156088e-04 -1.87169594e+01] [ 3.97117256e-03 -2.29179988e-04 9.99992089e-01 -4.13627457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440371743 meters Centerline goodness [0,1] 0.9892592760797493 Centerline is valid? [True, True] Translation: X:303.31, Y:-18.71, Z:-4.13 [[ 9.99942094e-01 9.97824945e-03 -4.03027951e-03 3.03308987e+02] [-9.97725546e-03 9.99950190e-01 2.66660893e-04 -1.87082613e+01] [ 4.03273957e-03 -2.26434324e-04 9.99991843e-01 -4.13358451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.470371743 meters Centerline goodness [0,1] 0.9900675046025865 Centerline is valid? [True, True] Translation: X:303.34, Y:-18.71, Z:-4.13 [[ 9.99919983e-01 1.20442517e-02 -3.86834909e-03 3.03339223e+02] [-1.20433499e-02 9.99927443e-01 2.56328377e-04 -1.87081225e+01] [ 3.87115569e-03 -2.09719985e-04 9.99992485e-01 -4.13348382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500371743 meters Centerline goodness [0,1] 0.9893462028774358 Centerline is valid? [True, True] Translation: X:303.37, Y:-18.71, Z:-4.13 [[ 9.99871909e-01 1.54781238e-02 -4.07352945e-03 3.03367969e+02] [-1.54771550e-02 9.99880185e-01 2.69254398e-04 -1.87079672e+01] [ 4.07720893e-03 -2.06173262e-04 9.99991667e-01 -4.13384591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.530371743 meters Centerline goodness [0,1] 0.9899427896839811 Centerline is valid? [True, True] Translation: X:303.40, Y:-18.71, Z:-4.13 [[ 9.99846769e-01 1.70143090e-02 -4.11719043e-03 3.03396922e+02] [-1.70133343e-02 9.99855226e-01 2.71636511e-04 -1.87083968e+01] [ 4.12121607e-03 -2.01547751e-04 9.99991487e-01 -4.13412363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560371743 meters Centerline goodness [0,1] 0.9907580241292966 Centerline is valid? [True, True] Translation: X:303.43, Y:-18.71, Z:-4.14 [[ 9.99795630e-01 1.96614688e-02 -4.70368641e-03 3.03425471e+02] [-1.96602253e-02 9.99806671e-01 3.10468404e-04 -1.87115212e+01] [ 4.70888132e-03 -2.17929419e-04 9.99988889e-01 -4.13559796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.590371743 meters Centerline goodness [0,1] 0.9916258960063716 Centerline is valid? [True, True] Translation: X:303.45, Y:-18.71, Z:-4.14 [[ 9.99770813e-01 2.09200787e-02 -4.54661483e-03 3.03454668e+02] [-2.09189324e-02 9.99781130e-01 2.99544846e-04 -1.87109743e+01] [ 4.55188622e-03 -2.04365865e-04 9.99989619e-01 -4.13545807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620371743 meters Centerline goodness [0,1] 0.9911967425672755 Centerline is valid? [True, True] Translation: X:303.48, Y:-18.71, Z:-4.14 [[ 9.99746906e-01 2.20275062e-02 -4.57306867e-03 3.03483482e+02] [-2.20263594e-02 9.99757345e-01 3.00993687e-04 -1.87125782e+01] [ 4.57858913e-03 -2.00189453e-04 9.99989498e-01 -4.13589463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.650371743 meters Centerline goodness [0,1] 0.9907453726863432 Centerline is valid? [True, True] Translation: X:303.51, Y:-18.71, Z:-4.14 [[ 9.99705793e-01 2.37178502e-02 -5.07845863e-03 3.03511639e+02] [-2.37164588e-02 9.99718669e-01 3.34029765e-04 -1.87141362e+01] [ 5.08495238e-03 -2.13488436e-04 9.99987049e-01 -4.13672841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680371743 meters Centerline goodness [0,1] 0.9908985150208718 Centerline is valid? [True, True] Translation: X:303.54, Y:-18.72, Z:-4.14 [[ 9.99679440e-01 2.46522090e-02 -5.76933874e-03 3.03539117e+02] [-2.46504321e-02 9.99696060e-01 3.78902950e-04 -1.87163989e+01] [ 5.77692600e-03 -2.36564796e-04 9.99983285e-01 -4.13764614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.710371743 meters Centerline goodness [0,1] 0.9901012733465926 Centerline is valid? [True, True] Translation: X:303.57, Y:-18.72, Z:-4.14 [[ 9.99659276e-01 2.52799046e-02 -6.50067255e-03 3.03567692e+02] [-2.52776622e-02 9.99680378e-01 4.26882915e-04 -1.87182888e+01] [ 6.50938634e-03 -2.62415661e-04 9.99978779e-01 -4.13859857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740371743 meters Centerline goodness [0,1] 0.9893845310930509 Centerline is valid? [True, True] Translation: X:303.60, Y:-18.72, Z:-4.14 [[ 9.99602433e-01 2.72956407e-02 -7.06575616e-03 3.03596391e+02] [-2.72930446e-02 9.99627368e-01 4.63600967e-04 -1.87198960e+01] [ 7.07577752e-03 -2.70570656e-04 9.99974930e-01 -4.13938828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.770371743 meters Centerline goodness [0,1] 0.9893648583882968 Centerline is valid? [True, True] Translation: X:303.62, Y:-18.72, Z:-4.14 [[ 9.99580306e-01 2.79954384e-02 -7.44762476e-03 3.03624521e+02] [-2.79925767e-02 9.99608012e-01 4.88227604e-04 -1.87232033e+01] [ 7.45837352e-03 -2.79544490e-04 9.99972147e-01 -4.14059747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800371743 meters Centerline goodness [0,1] 0.9886868501809188 Centerline is valid? [True, True] Translation: X:303.65, Y:-18.73, Z:-4.14 [[ 9.99514445e-01 3.02001169e-02 -7.66989953e-03 3.03652478e+02] [-3.01971501e-02 9.99543836e-01 5.02349810e-04 -1.87263931e+01] [ 7.68157182e-03 -2.70496784e-04 9.99970460e-01 -4.14159551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.830371743 meters Centerline goodness [0,1] 0.9882559919574109 Centerline is valid? [True, True] Translation: X:303.68, Y:-18.73, Z:-4.14 [[ 9.99485443e-01 3.11859397e-02 -7.50236331e-03 3.03680855e+02] [-3.11831324e-02 9.99513567e-01 4.90897389e-04 -1.87280076e+01] [ 7.51402302e-03 -2.56697606e-04 9.99971736e-01 -4.14171734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86037174300003 meters Centerline goodness [0,1] 0.9891159891847303 Centerline is valid? [True, True] Translation: X:303.71, Y:-18.72, Z:-4.14 [[ 9.99441488e-01 3.26253285e-02 -7.23181651e-03 3.03709758e+02] [-3.26227620e-02 9.99467624e-01 4.72589374e-04 -1.87238801e+01] [ 7.24338485e-03 -2.36403598e-04 9.99973738e-01 -4.13784539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.890371743 meters Centerline goodness [0,1] 0.9890862302690532 Centerline is valid? [True, True] Translation: X:303.74, Y:-18.73, Z:-4.14 [[ 9.99336432e-01 3.57249165e-02 -7.10112568e-03 3.03737414e+02] [-3.57225237e-02 9.99361639e-01 4.63554701e-04 -1.87317083e+01] [ 7.11315305e-03 -2.09576971e-04 9.99974679e-01 -4.14207023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92037174300003 meters Centerline goodness [0,1] 0.9889842566668197 Centerline is valid? [True, True] Translation: X:303.77, Y:-18.73, Z:-4.14 [[ 9.99294481e-01 3.67129459e-02 -7.91834435e-03 3.03766201e+02] [-3.67100041e-02 9.99325827e-01 5.16596676e-04 -1.87332911e+01] [ 7.93197181e-03 -2.25549754e-04 9.99968516e-01 -4.14244571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.950371743 meters Centerline goodness [0,1] 0.9898617511520738 Centerline is valid? [True, True] Translation: X:303.80, Y:-18.73, Z:-4.14 [[ 9.99237551e-01 3.81412596e-02 -8.34026487e-03 3.03795550e+02] [-3.81380504e-02 9.99272332e-01 5.43548154e-04 -1.87322830e+01] [ 8.35492754e-03 -2.25052285e-04 9.99965072e-01 -4.13948190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.980371743 meters Centerline goodness [0,1] 0.9877355875831486 Centerline is valid? [True, True] Translation: X:303.82, Y:-18.73, Z:-4.14 [[ 9.99271199e-01 3.72581354e-02 -8.30071614e-03 3.03824088e+02] [-3.72549612e-02 9.99305649e-01 5.36756741e-04 -1.87342935e+01] [ 8.31495108e-03 -2.27122695e-04 9.99965404e-01 -4.14156598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.010371743 meters Centerline goodness [0,1] 0.9854765435585999 Centerline is valid? [True, True] Translation: X:303.85, Y:-18.74, Z:-4.15 [[ 9.99392713e-01 3.36732702e-02 -8.96189617e-03 3.03853768e+02] [-3.36694019e-02 9.99432855e-01 5.82206598e-04 -1.87359207e+01] [ 8.97641828e-03 -2.80111347e-04 9.99959672e-01 -4.14598116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.040371743 meters Centerline goodness [0,1] 0.9829995068917745 Centerline is valid? [True, True] Translation: X:303.88, Y:-18.74, Z:-4.15 [[ 9.99464078e-01 3.13447527e-02 -9.43738086e-03 3.03881973e+02] [-3.13403694e-02 9.99508583e-01 6.12027999e-04 -1.87421169e+01] [ 9.45192704e-03 -3.15928997e-04 9.99955280e-01 -4.14862376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.070371743 meters Centerline goodness [0,1] 0.9835819142689372 Centerline is valid? [True, True] Translation: X:303.91, Y:-18.75, Z:-4.15 [[ 9.99492199e-01 3.02268148e-02 -1.00838343e-02 3.03910821e+02] [-3.02217593e-02 9.99543005e-01 6.53380408e-04 -1.87471237e+01] [ 1.00989756e-02 -3.48297409e-04 9.99948943e-01 -4.14922826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.100371743 meters Centerline goodness [0,1] 0.981591490760525 Centerline is valid? [True, True] Translation: X:303.94, Y:-18.75, Z:-4.15 [[ 9.99553092e-01 2.81265892e-02 -1.01247471e-02 3.03938119e+02] [-2.81213954e-02 9.99604301e-01 6.55006168e-04 -1.87520865e+01] [ 1.01391638e-02 -3.69991423e-04 9.99948529e-01 -4.15088801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.130371743 meters Centerline goodness [0,1] 0.9815056064765273 Centerline is valid? [True, True] Translation: X:303.97, Y:-18.75, Z:-4.15 [[ 9.99668317e-01 2.37705276e-02 -9.91047194e-03 3.03968474e+02] [-2.37653268e-02 9.99717358e-01 6.42224045e-04 -1.87541813e+01] [ 9.92293683e-03 -4.06485426e-04 9.99950684e-01 -4.14779869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.160371743 meters Centerline goodness [0,1] 0.9792141892835529 Centerline is valid? [True, True] Translation: X:304.00, Y:-18.77, Z:-4.15 [[ 9.99718284e-01 2.13796728e-02 -1.03083746e-02 3.03996153e+02] [-2.13739321e-02 9.99771329e-01 6.66754996e-04 -1.87669912e+01] [ 1.03202724e-02 -4.46236661e-04 9.99946645e-01 -4.15192739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.190371743 meters Centerline goodness [0,1] 0.9808280077799388 Centerline is valid? [True, True] Translation: X:304.03, Y:-18.77, Z:-4.15 [[ 9.99823866e-01 1.64152682e-02 -9.09813022e-03 3.04026645e+02] [-1.64105855e-02 9.99865164e-01 5.89106622e-04 -1.87690545e+01] [ 9.10657381e-03 -4.39697216e-04 9.99958438e-01 -4.14746126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.220371743 meters Centerline goodness [0,1] 0.9773908223828549 Centerline is valid? [True, True] Translation: X:304.05, Y:-18.79, Z:-4.15 [[ 9.99869355e-01 1.34723902e-02 -8.93131371e-03 3.04053546e+02] [-1.34677764e-02 9.99909139e-01 5.76527732e-04 -1.87870470e+01] [ 8.93826941e-03 -4.56167476e-04 9.99959949e-01 -4.15320639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.250371743 meters Centerline goodness [0,1] 0.977740241108823 Centerline is valid? [True, True] Translation: X:304.08, Y:-18.78, Z:-4.15 [[ 9.99901949e-01 1.04988692e-02 -9.26644405e-03 3.04083872e+02] [-1.04937686e-02 9.99944760e-01 5.98882862e-04 -1.87831999e+01] [ 9.27221976e-03 -5.01584220e-04 9.99956886e-01 -4.14862456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.280371743 meters Centerline goodness [0,1] 0.9767126124674966 Centerline is valid? [True, True] Translation: X:304.11, Y:-18.79, Z:-4.15 [[ 9.99927385e-01 7.58234005e-03 -9.36657240e-03 3.04112617e+02] [-7.57700016e-03 9.99971111e-01 6.05455771e-04 -1.87896617e+01] [ 9.37089258e-03 -5.34441286e-04 9.99955949e-01 -4.14952084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.310371743 meters Centerline goodness [0,1] 0.9772847211068536 Centerline is valid? [True, True] Translation: X:304.14, Y:-18.79, Z:-4.15 [[ 9.99956120e-01 1.55780203e-03 -9.23747590e-03 3.04142563e+02] [-1.55235270e-03 9.99998617e-01 5.97056350e-04 -1.87939973e+01] [ 9.23839322e-03 -5.82690330e-04 9.99957155e-01 -4.14731389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.340371743 meters Centerline goodness [0,1] 0.9751963621331129 Centerline is valid? [True, True] Translation: X:304.17, Y:-18.80, Z:-4.15 [[ 9.99958055e-01 -1.30861686e-03 -9.06509955e-03 3.04171511e+02] [ 1.31397909e-03 9.99998965e-01 5.85593912e-04 -1.88046424e+01] [ 9.06432385e-03 -5.97480700e-04 9.99958740e-01 -4.14944477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.370371743 meters Centerline goodness [0,1] 0.9753230952872851 Centerline is valid? [True, True] Translation: X:304.20, Y:-18.81, Z:-4.15 [[ 9.99936726e-01 -6.79866285e-03 -8.96231310e-03 3.04202016e+02] [ 6.80412597e-03 9.99976684e-01 5.79216087e-04 -1.88088481e+01] [ 8.95816624e-03 -6.40160145e-04 9.99959670e-01 -4.14823890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.400371743 meters Centerline goodness [0,1] 0.9756742464304601 Centerline is valid? [True, True] Translation: X:304.23, Y:-18.81, Z:-4.15 [[ 9.99909462e-01 -9.65531562e-03 -9.37243928e-03 3.04231761e+02] [ 9.66141103e-03 9.99953144e-01 6.05295267e-04 -1.88124593e+01] [ 9.36615581e-03 -6.95791453e-04 9.99955895e-01 -4.14800565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.430371743 meters Centerline goodness [0,1] 0.9743613180384809 Centerline is valid? [True, True] Translation: X:304.26, Y:-18.82, Z:-4.15 [[ 9.99880705e-01 -1.21825594e-02 -9.49536774e-03 3.04260030e+02] [ 1.21889236e-02 9.99925525e-01 6.12660940e-04 -1.88208936e+01] [ 9.48719680e-03 -7.28326164e-04 9.99954730e-01 -4.14940669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.460371743 meters Centerline goodness [0,1] 0.972513148868054 Centerline is valid? [True, True] Translation: X:304.29, Y:-18.83, Z:-4.15 [[ 9.99805047e-01 -1.67080329e-02 -1.05218758e-02 3.04290389e+02] [ 1.67161135e-02 9.99860044e-01 6.80493696e-04 -1.88254796e+01] [ 1.05090335e-02 -8.56245902e-04 9.99944412e-01 -4.14913683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.490371743 meters Centerline goodness [0,1] 0.9727469522615928 Centerline is valid? [True, True] Translation: X:304.32, Y:-18.83, Z:-4.15 [[ 9.99770706e-01 -1.84653804e-02 -1.08427638e-02 3.04321004e+02] [ 1.84740620e-02 9.99829094e-01 7.01057985e-04 -1.88290628e+01] [ 1.08279654e-02 -9.01207127e-04 9.99940970e-01 -4.14893118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.520371743 meters Centerline goodness [0,1] 0.9691925295874855 Centerline is valid? [True, True] Translation: X:304.35, Y:-18.84, Z:-4.15 [[ 9.99695482e-01 -2.21885026e-02 -1.07988038e-02 3.04351077e+02] [ 2.21973277e-02 9.99753365e-01 6.98044442e-04 -1.88359470e+01] [ 1.07806519e-02 -9.37536462e-04 9.99941448e-01 -4.15013044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.550371743 meters Centerline goodness [0,1] 0.9632433169667212 Centerline is valid? [True, True] Translation: X:304.38, Y:-18.84, Z:-4.15 [[ 9.99666227e-01 -2.34736859e-02 -1.07898490e-02 3.04380713e+02] [ 2.34825702e-02 9.99724003e-01 6.97427566e-04 -1.88425860e+01] [ 1.07704998e-02 -9.50568170e-04 9.99941545e-01 -4.15163823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.580371743 meters Centerline goodness [0,1] 0.9592114208021754 Centerline is valid? [True, True] Translation: X:304.41, Y:-18.85, Z:-4.15 [[ 9.99653339e-01 -2.41776218e-02 -1.04232656e-02 3.04412258e+02] [ 2.41859636e-02 9.99707249e-01 6.74977676e-04 -1.88463760e+01] [ 1.04038948e-02 -9.26840409e-04 9.99945448e-01 -4.15241910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61037174300003 meters Centerline goodness [0,1] 0.9503575076608785 Centerline is valid? [True, True] Translation: X:304.44, Y:-18.85, Z:-4.15 [[ 9.99628531e-01 -2.50576488e-02 -1.07197601e-02 3.04443888e+02] [ 2.50665278e-02 9.99685544e-01 6.94705710e-04 -1.88490432e+01] [ 1.06989815e-02 -9.63154813e-04 9.99942300e-01 -4.15227197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.640371743 meters Centerline goodness [0,1] 0.9573342415985467 Centerline is valid? [True, True] Translation: X:304.48, Y:-18.85, Z:-4.15 [[ 9.99641880e-01 -2.46492181e-02 -1.04176784e-02 3.04476047e+02] [ 2.46575919e-02 9.99695727e-01 6.76105493e-04 -1.88492443e+01] [ 1.03978431e-02 -9.32738228e-04 9.99945506e-01 -4.15147937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67037174300003 meters Centerline goodness [0,1] 0.9526348025315882 Centerline is valid? [True, True] Translation: X:304.51, Y:-18.85, Z:-4.15 [[ 9.99658443e-01 -2.40914121e-02 -1.01292411e-02 3.04507862e+02] [ 2.40993074e-02 9.99709353e-01 6.58104097e-04 -1.88513769e+01] [ 1.01104424e-02 -9.01987011e-04 9.99948481e-01 -4.15101946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.700371743 meters Centerline goodness [0,1] 0.9502764924952037 Centerline is valid? [True, True] Translation: X:304.54, Y:-18.85, Z:-4.15 [[ 9.99718707e-01 -2.20312601e-02 -8.78243753e-03 3.04537509e+02] [ 2.20371093e-02 9.99756991e-01 5.69786839e-04 -1.88535227e+01] [ 8.76775019e-03 -7.63166097e-04 9.99961271e-01 -4.15067510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.730371743 meters Centerline goodness [0,1] 0.9715090013394174 Centerline is valid? [True, True] Translation: X:304.57, Y:-18.84, Z:-4.15 [[ 9.99737154e-01 -2.12889353e-02 -8.50910568e-03 3.04570576e+02] [ 2.12944130e-02 9.99773095e-01 5.53660410e-04 -1.88437812e+01] [ 8.49538808e-03 -7.34711294e-04 9.99963644e-01 -4.14843150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.760371743 meters Centerline goodness [0,1] 0.9508349426331932 Centerline is valid? [True, True] Translation: X:304.60, Y:-18.86, Z:-4.15 [[ 9.99756930e-01 -2.04763144e-02 -8.17317291e-03 3.04600504e+02] [ 2.04813398e-02 9.99790094e-01 5.31632519e-04 -1.88567973e+01] [ 8.16057144e-03 -6.98900827e-04 9.99966458e-01 -4.15133978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.790371743 meters Centerline goodness [0,1] 0.9708954883445098 Centerline is valid? [True, True] Translation: X:304.63, Y:-18.85, Z:-4.15 [[ 9.99791192e-01 -1.85319967e-02 -8.61034997e-03 3.04632402e+02] [ 1.85375049e-02 9.99828009e-01 5.60350695e-04 -1.88468747e+01] [ 8.59848465e-03 -7.19848095e-04 9.99962773e-01 -4.14880526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.820371743 meters Centerline goodness [0,1] 0.9705018108926904 Centerline is valid? [True, True] Translation: X:304.66, Y:-18.85, Z:-4.15 [[ 9.99820877e-01 -1.68114576e-02 -8.69416668e-03 3.04664124e+02] [ 1.68170151e-02 9.99858424e-01 5.66511383e-04 -1.88464209e+01] [ 8.68341190e-03 -7.12619840e-04 9.99962045e-01 -4.14917630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.850371743 meters Centerline goodness [0,1] 0.9691036874771815 Centerline is valid? [True, True] Translation: X:304.70, Y:-18.85, Z:-4.15 [[ 9.99851857e-01 -1.49838084e-02 -8.47053111e-03 3.04696069e+02] [ 1.49890221e-02 9.99887506e-01 5.52358252e-04 -1.88476800e+01] [ 8.46130180e-03 -6.79241402e-04 9.99963972e-01 -4.14981373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880371743 meters Centerline goodness [0,1] 0.9697740501397865 Centerline is valid? [True, True] Translation: X:304.73, Y:-18.84, Z:-4.15 [[ 9.99916056e-01 -1.00429814e-02 -8.18653277e-03 3.04726973e+02] [ 1.00476809e-02 9.99949379e-01 5.33135242e-04 -1.88442059e+01] [ 8.18076409e-03 -6.15346158e-04 9.99966348e-01 -4.14971009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.910371743 meters Centerline goodness [0,1] 0.9687970782926273 Centerline is valid? [True, True] Translation: X:304.76, Y:-18.84, Z:-4.15 [[ 9.99940954e-01 -7.23313720e-03 -8.10990837e-03 3.04758196e+02] [ 7.23766058e-03 9.99973668e-01 5.28549090e-04 -1.88419519e+01] [ 8.10587175e-03 -5.87214646e-04 9.99966974e-01 -4.14969990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940371743 meters Centerline goodness [0,1] 0.9689856927366641 Centerline is valid? [True, True] Translation: X:304.79, Y:-18.84, Z:-4.15 [[ 9.99967834e-01 -2.32206138e-03 -7.67723421e-03 3.04787680e+02] [ 2.32596480e-03 9.99997170e-01 4.99552523e-04 -1.88409705e+01] [ 7.67605250e-03 -5.17393431e-04 9.99970405e-01 -4.15128293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.970371743 meters Centerline goodness [0,1] 0.969450756271661 Centerline is valid? [True, True] Translation: X:304.82, Y:-18.83, Z:-4.15 [[ 9.99973245e-01 1.32481728e-05 -7.31498989e-03 3.04817633e+02] [-9.76963553e-06 9.99999887e-01 4.75571019e-04 -1.88339214e+01] [ 7.31499536e-03 -4.75486831e-04 9.99973132e-01 -4.14931406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000371743 meters Centerline goodness [0,1] 0.9708272892634293 Centerline is valid? [True, True] Translation: X:304.85, Y:-18.83, Z:-4.15 [[ 9.99974627e-01 2.20910605e-03 -6.77245182e-03 3.04847825e+02] [-2.20617395e-03 9.99997469e-01 4.40386300e-04 -1.88326886e+01] [ 6.77340754e-03 -4.25433920e-04 9.99976970e-01 -4.14866364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.030371743 meters Centerline goodness [0,1] 0.9700177587121475 Centerline is valid? [True, True] Translation: X:304.88, Y:-18.84, Z:-4.15 [[ 9.99970178e-01 5.22598110e-03 -5.68622771e-03 3.04876949e+02] [-5.22396548e-03 9.99986287e-01 3.69268272e-04 -1.88374299e+01] [ 5.68807952e-03 -3.39552602e-04 9.99983765e-01 -4.15113329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060371743 meters Centerline goodness [0,1] 0.9709879406307977 Centerline is valid? [True, True] Translation: X:304.91, Y:-18.83, Z:-4.15 [[ 9.99962254e-01 6.89806061e-03 -5.28274605e-03 3.04906876e+02] [-6.89634713e-03 9.99976161e-01 3.42501430e-04 -1.88293448e+01] [ 5.28498271e-03 -3.06056852e-04 9.99985988e-01 -4.14845154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.090371743 meters Centerline goodness [0,1] 0.9709879406307977 Centerline is valid? [True, True] Translation: X:304.93, Y:-18.83, Z:-4.15 [[ 9.99962986e-01 6.79111667e-03 -5.28283019e-03 3.04934327e+02] [-6.78940853e-03 9.99976893e-01 3.41204722e-04 -1.88310369e+01] [ 5.28502529e-03 -3.05324800e-04 9.99985988e-01 -4.14882910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120371743 meters Centerline goodness [0,1] 0.9742922225837943 Centerline is valid? [True, True] Translation: X:304.96, Y:-18.83, Z:-4.15 [[ 9.99938754e-01 9.89899832e-03 -4.94954570e-03 3.04963340e+02] [-9.89753332e-03 9.99950967e-01 3.20394168e-04 -1.88292821e+01] [ 4.95247459e-03 -2.71386251e-04 9.99987700e-01 -4.14896276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.150371743 meters Centerline goodness [0,1] 0.9725352934313383 Centerline is valid? [True, True] Translation: X:304.99, Y:-18.83, Z:-4.15 [[ 9.99922419e-01 1.12800599e-02 -5.28359576e-03 3.04992829e+02] [-1.12784124e-02 9.99936338e-01 3.41515902e-04 -1.88278226e+01] [ 5.28711172e-03 -2.81898835e-04 9.99985983e-01 -4.14843156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180371743 meters Centerline goodness [0,1] 0.972935104966957 Centerline is valid? [True, True] Translation: X:305.02, Y:-18.83, Z:-4.15 [[ 9.99905706e-01 1.23327398e-02 -6.04015320e-03 3.05020825e+02] [-1.23306113e-02 9.99923899e-01 3.89505237e-04 -1.88286997e+01] [ 6.04449720e-03 -3.14989728e-04 9.99981682e-01 -4.14950977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.210371743 meters Centerline goodness [0,1] 0.9711673699015471 Centerline is valid? [True, True] Translation: X:305.05, Y:-18.83, Z:-4.15 [[ 9.99891344e-01 1.31714827e-02 -6.61903411e-03 3.05048671e+02] [-1.31689479e-02 9.99913195e-01 4.26394191e-04 -1.88318102e+01] [ 6.62407579e-03 -3.39182145e-04 9.99978003e-01 -4.15123784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240371743 meters Centerline goodness [0,1] 0.9722980606288835 Centerline is valid? [True, True] Translation: X:305.08, Y:-18.83, Z:-4.15 [[ 9.99863702e-01 1.49406831e-02 -7.02514259e-03 3.05076748e+02] [-1.49378747e-02 9.99888322e-01 4.52070721e-04 -1.88315141e+01] [ 7.03111228e-03 -3.47068405e-04 9.99975221e-01 -4.15134469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.270371743 meters Centerline goodness [0,1] 0.9732864093721952 Centerline is valid? [True, True] Translation: X:305.11, Y:-18.83, Z:-4.15 [[ 9.99859729e-01 1.55028946e-02 -6.33892859e-03 3.05106099e+02] [-1.55006216e-02 9.99879775e-01 4.07547930e-04 -1.88278859e+01] [ 6.34448467e-03 -3.09233430e-04 9.99979826e-01 -4.14976160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300371743 meters Centerline goodness [0,1] 0.9743298554427804 Centerline is valid? [True, True] Translation: X:305.14, Y:-18.83, Z:-4.15 [[ 9.99841657e-01 1.68897187e-02 -5.60340287e-03 3.05135387e+02] [-1.68879653e-02 9.99857323e-01 3.60090221e-04 -1.88269649e+01] [ 5.60868522e-03 -2.65403130e-04 9.99984236e-01 -4.14949117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.330371743 meters Centerline goodness [0,1] 0.9736910839368396 Centerline is valid? [True, True] Translation: X:305.16, Y:-18.83, Z:-4.15 [[ 9.99826664e-01 1.78891566e-02 -5.15940977e-03 3.05163429e+02] [-1.78876867e-02 9.99839948e-01 3.30905588e-04 -1.88327367e+01] [ 5.16450362e-03 -2.38558325e-04 9.99986635e-01 -4.15111892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36037174300003 meters Centerline goodness [0,1] 0.9778472765181131 Centerline is valid? [True, True] Translation: X:305.19, Y:-18.83, Z:-4.15 [[ 9.99824232e-01 1.80263773e-02 -5.15305117e-03 3.05192444e+02] [-1.80249148e-02 9.99837484e-01 3.30118059e-04 -1.88276600e+01] [ 5.15816455e-03 -2.37176727e-04 9.99986668e-01 -4.14891981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.390371743 meters Centerline goodness [0,1] 0.9784757198517533 Centerline is valid? [True, True] Translation: X:305.22, Y:-18.83, Z:-4.15 [[ 9.99825906e-01 1.80662238e-02 -4.66572317e-03 3.05221396e+02] [-1.80650272e-02 9.99836770e-01 2.98481059e-04 -1.88292630e+01] [ 4.67035401e-03 -2.14142680e-04 9.99989071e-01 -4.14881019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42037174300003 meters Centerline goodness [0,1] 0.9794404962802747 Centerline is valid? [True, True] Translation: X:305.25, Y:-18.83, Z:-4.15 [[ 9.99837055e-01 1.75112402e-02 -4.38409348e-03 3.05250065e+02] [-1.75101801e-02 9.99846646e-01 2.80077033e-04 -1.88300963e+01] [ 4.38832566e-03 -2.03265129e-04 9.99990351e-01 -4.14899704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.450371743 meters Centerline goodness [0,1] 0.9742445703493862 Centerline is valid? [True, True] Translation: X:305.28, Y:-18.84, Z:-4.15 [[ 9.99849540e-01 1.66699595e-02 -4.79688584e-03 3.05277192e+02] [-1.66686834e-02 9.99861021e-01 3.05885215e-04 -1.88386784e+01] [ 4.80131827e-03 -2.25881420e-04 9.99988448e-01 -4.15205453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.480371743 meters Centerline goodness [0,1] 0.9212167801449593 Centerline is valid? [True, False] Translation: X:305.35, Y:-18.84, Z:-4.15 [[ 9.99909435e-01 1.17957897e-02 -6.47934140e-03 3.05346837e+02] [-1.18218646e-02 9.99922115e-01 -4.00085624e-03 -1.88394710e+01] [ 6.43164350e-03 4.07709180e-03 9.99971005e-01 -4.14971142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.510371743 meters Centerline goodness [0,1] 0.9739889203262084 Centerline is valid? [False, True] Translation: X:305.29, Y:-18.84, Z:-4.15 [[ 9.99921841e-01 1.06888287e-02 -6.48541224e-03 3.05289741e+02] [-1.06886280e-02 9.99942873e-01 6.56127866e-05 -1.88375357e+01] [ 6.48574307e-03 3.71250039e-06 9.99978967e-01 -4.15181792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.540371743 meters Centerline goodness [0,1] 0.9745702005730659 Centerline is valid? [True, True] Translation: X:305.32, Y:-18.84, Z:-4.15 [[ 9.99903393e-01 1.17785642e-02 -7.38035132e-03 3.05318165e+02] [-1.17756118e-02 9.99930567e-01 4.43360759e-04 -1.88379396e+01] [ 7.38506103e-03 -3.56409775e-04 9.99972667e-01 -4.15307221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.570371743 meters Centerline goodness [0,1] 0.9748072225681307 Centerline is valid? [True, True] Translation: X:305.35, Y:-18.84, Z:-4.15 [[ 9.99878256e-01 1.33857913e-02 -8.01828027e-03 3.05346847e+02] [-1.33823621e-02 9.99910336e-01 4.81172837e-04 -1.88374549e+01] [ 8.02400220e-03 -3.73810727e-04 9.99967737e-01 -4.15386151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.600371743 meters Centerline goodness [0,1] 0.9743595899455021 Centerline is valid? [True, True] Translation: X:305.37, Y:-18.84, Z:-4.15 [[ 9.99832060e-01 1.60828756e-02 -8.78591317e-03 3.05374396e+02] [-1.60788701e-02 9.99870588e-01 5.26341679e-04 -1.88384091e+01] [ 8.79324126e-03 -3.84985729e-04 9.99961265e-01 -4.15472111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.630371743 meters Centerline goodness [0,1] 0.9769558621686051 Centerline is valid? [True, True] Translation: X:305.41, Y:-18.84, Z:-4.15 [[ 9.99697884e-01 2.29489580e-02 -8.80256890e-03 3.05405383e+02] [-2.29451949e-02 9.99736585e-01 5.28264545e-04 -1.88354205e+01] [ 8.81237329e-03 -3.26128289e-04 9.99961117e-01 -4.15476846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.660371743 meters Centerline goodness [0,1] 0.9782698025186725 Centerline is valid? [True, True] Translation: X:305.44, Y:-18.84, Z:-4.15 [[ 9.99621264e-01 2.64075338e-02 -7.74407753e-03 3.05435249e+02] [-2.64047300e-02 9.99651227e-01 4.64102230e-04 -1.88358753e+01] [ 7.75363239e-03 -2.59446182e-04 9.99969906e-01 -4.15425784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.690371743 meters Centerline goodness [0,1] 0.9794402921897298 Centerline is valid? [True, True] Translation: X:305.47, Y:-18.84, Z:-4.15 [[ 9.99534667e-01 2.98038120e-02 -6.49485662e-03 3.05465195e+02] [-2.98019113e-02 9.99555749e-01 3.89257518e-04 -1.88365249e+01] [ 6.50357263e-03 -1.95517243e-04 9.99978832e-01 -4.15343690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.720371743 meters Centerline goodness [0,1] 0.9801095067351487 Centerline is valid? [True, True] Translation: X:305.50, Y:-18.84, Z:-4.15 [[ 9.99369543e-01 3.53978556e-02 -2.74028289e-03 3.05495066e+02] [-3.53975387e-02 9.99373297e-01 1.64070097e-04 -1.88359190e+01] [ 2.74437328e-03 -6.69673875e-05 9.99996232e-01 -4.15101198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.750371743 meters Centerline goodness [0,1] 0.9790720154664089 Centerline is valid? [True, True] Translation: X:305.52, Y:-18.84, Z:-4.15 [[ 9.99298210e-01 3.74296363e-02 -1.45282843e-03 3.05522805e+02] [-3.74295508e-02 9.99299265e-01 8.59789073e-05 -1.88402773e+01] [ 1.45502854e-03 -3.15398524e-05 9.99998941e-01 -4.15268615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.780371743 meters Centerline goodness [0,1] 0.983705346381912 Centerline is valid? [True, True] Translation: X:305.55, Y:-18.84, Z:-4.15 [[ 9.99156379e-01 4.10671274e-02 1.46134441e-04 3.05552064e+02] [-4.10671264e-02 9.99156390e-01 -9.52605204e-06 -1.88382225e+01] [-1.46402368e-04 3.51669411e-06 9.99999989e-01 -4.15215356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.810371743 meters Centerline goodness [0,1] 0.9838837326426362 Centerline is valid? [True, True] Translation: X:305.58, Y:-18.84, Z:-4.15 [[ 9.99082769e-01 4.28168410e-02 5.82060457e-04 3.05579708e+02] [-4.28168275e-02 9.99082939e-01 -3.57276360e-05 -1.88411929e+01] [-5.83056417e-04 1.07728833e-05 9.99999830e-01 -4.15399751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.840371743 meters Centerline goodness [0,1] 0.9835672878838692 Centerline is valid? [True, True] Translation: X:305.61, Y:-18.84, Z:-4.16 [[ 9.99079770e-01 4.28811961e-02 9.03949495e-04 3.05606863e+02] [-4.28811630e-02 9.99080178e-01 -5.58708503e-05 -1.88432516e+01] [-9.05513832e-04 1.70570305e-05 9.99999590e-01 -4.15520560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.870371743 meters Centerline goodness [0,1] 0.9866631611654199 Centerline is valid? [True, True] Translation: X:305.64, Y:-18.85, Z:-4.16 [[ 9.99050454e-01 4.35197771e-02 2.05431004e-03 3.05635960e+02] [-4.35196164e-02 9.99052565e-01 -1.22909176e-04 -1.88457542e+01] [-2.05771269e-03 3.33896834e-05 9.99997882e-01 -4.15509026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.900371743 meters Centerline goodness [0,1] 0.9856860926837387 Centerline is valid? [True, True] Translation: X:305.66, Y:-18.85, Z:-4.16 [[ 9.99068592e-01 4.30463820e-02 2.99301869e-03 3.05662945e+02] [-4.30460391e-02 9.99073074e-01 -1.78921870e-04 -1.88505764e+01] [-2.99794633e-03 4.99176211e-05 9.99995505e-01 -4.15597416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.930371743 meters Centerline goodness [0,1] 0.9858383148306291 Centerline is valid? [True, True] Translation: X:305.69, Y:-18.86, Z:-4.16 [[ 9.99096455e-01 4.23674822e-02 3.35714340e-03 3.05691225e+02] [-4.23670503e-02 9.99102093e-01 -1.99690894e-04 -1.88555525e+01] [-3.36258940e-03 5.72782012e-05 9.99994345e-01 -4.15629274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.960371743 meters Centerline goodness [0,1] 0.9853379313580595 Centerline is valid? [True, True] Translation: X:305.72, Y:-18.87, Z:-4.16 [[ 9.99237378e-01 3.88288997e-02 4.12059376e-03 3.05718657e+02] [-3.88282204e-02 9.99245870e-01 -2.44755124e-04 -1.88652744e+01] [-4.12698987e-03 8.45731460e-05 9.99991480e-01 -4.15797727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.990371743 meters Centerline goodness [0,1] 0.9845080609411819 Centerline is valid? [True, True] Translation: X:305.75, Y:-18.87, Z:-4.16 [[ 9.99326162e-01 3.64633213e-02 4.20095580e-03 3.05747317e+02] [-3.64625964e-02 9.99334987e-01 -2.49036332e-04 -1.88701292e+01] [-4.20724281e-03 9.56907657e-05 9.99991145e-01 -4.15888680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.020371743 meters Centerline goodness [0,1] 0.9813585291113381 Centerline is valid? [True, True] Translation: X:305.78, Y:-18.88, Z:-4.16 [[ 9.99513009e-01 3.10140139e-02 3.44608253e-03 3.05775245e+02] [-3.10134946e-02 9.99518945e-01 -2.04046720e-04 -1.88815224e+01] [-3.45075308e-03 9.70722890e-05 9.99994041e-01 -4.16116723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.050371743 meters Centerline goodness [0,1] 0.9774618025948886 Centerline is valid? [True, True] Translation: X:305.80, Y:-18.89, Z:-4.16 [[ 9.99591927e-01 2.84033103e-02 3.03842387e-03 3.05802085e+02] [-2.84028935e-02 9.99596540e-01 -1.80217533e-04 -1.88899522e+01] [-3.04231677e-03 9.38439614e-05 9.99995368e-01 -4.16263854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.080371743 meters Centerline goodness [0,1] 0.9769002005671208 Centerline is valid? [True, True] Translation: X:305.83, Y:-18.90, Z:-4.16 [[ 9.99681570e-01 2.50332699e-02 3.17719603e-03 3.05831199e+02] [-2.50328002e-02 9.99686613e-01 -1.87524829e-04 -1.88969523e+01] [-3.18089470e-03 1.07931002e-04 9.99994935e-01 -4.16333122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11037174300003 meters Centerline goodness [0,1] 0.9743642517380169 Centerline is valid? [True, True] Translation: X:305.86, Y:-18.91, Z:-4.16 [[ 9.99821477e-01 1.84187619e-02 4.21457307e-03 3.05860736e+02] [-1.84178786e-02 9.99830346e-01 -2.48316391e-04 -1.89069089e+01] [-4.21843173e-03 1.70648566e-04 9.99991088e-01 -4.16220720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.140371743 meters Centerline goodness [0,1] 0.9760003639755226 Centerline is valid? [True, True] Translation: X:305.89, Y:-18.91, Z:-4.16 [[ 9.99858767e-01 1.60374886e-02 5.02446189e-03 3.05890120e+02] [-1.60362025e-02 9.99871368e-01 -2.96159101e-04 -1.89088532e+01] [-5.02856523e-03 2.15543985e-04 9.99987333e-01 -4.16123193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17037174300003 meters Centerline goodness [0,1] 0.972874116818502 Centerline is valid? [True, True] Translation: X:305.92, Y:-18.92, Z:-4.16 [[ 9.99900242e-01 1.31172113e-02 5.23868570e-03 3.05918578e+02] [-1.31157737e-02 9.99913937e-01 -3.08687232e-04 -1.89168682e+01] [-5.24228396e-03 2.39947022e-04 9.99986230e-01 -4.16144185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.200371743 meters Centerline goodness [0,1] 0.9719106226440801 Centerline is valid? [True, True] Translation: X:305.95, Y:-18.92, Z:-4.16 [[ 9.99933373e-01 1.02705901e-02 5.26929286e-03 3.05946235e+02] [-1.02690971e-02 9.99947223e-01 -3.10305746e-04 -1.89234799e+01] [-5.27220179e-03 2.56174191e-04 9.99986069e-01 -4.16149672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.230371743 meters Centerline goodness [0,1] 0.9738299170602726 Centerline is valid? [True, True] Translation: X:305.98, Y:-18.93, Z:-4.16 [[ 9.99961224e-01 6.36591229e-03 6.08481050e-03 3.05976096e+02] [-6.36385416e-03 9.99979687e-01 -3.57541152e-04 -1.89277533e+01] [-6.08696297e-03 3.18804441e-04 9.99981423e-01 -4.16092476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.260371743 meters Centerline goodness [0,1] 0.9726964769647697 Centerline is valid? [True, True] Translation: X:306.01, Y:-18.93, Z:-4.16 [[ 9.99971119e-01 4.75481105e-03 5.92903062e-03 3.06006771e+02] [-4.75283044e-03 9.99988645e-01 -3.48097966e-04 -1.89322273e+01] [-5.93061843e-03 3.19908236e-04 9.99982363e-01 -4.16169475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.290371743 meters Centerline goodness [0,1] 0.9714413909141896 Centerline is valid? [True, True] Translation: X:306.04, Y:-18.94, Z:-4.16 [[ 9.99978233e-01 3.53189438e-03 5.57313262e-03 3.06036883e+02] [-3.53012834e-03 9.99993716e-01 -3.26689900e-04 -1.89428779e+01] [-5.57425143e-03 3.07008915e-04 9.99984417e-01 -4.16287596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.320371743 meters Centerline goodness [0,1] 0.9724243584833397 Centerline is valid? [True, True] Translation: X:306.07, Y:-18.94, Z:-4.16 [[ 9.99981353e-01 2.99918676e-03 5.31972341e-03 3.06068234e+02] [-2.99756416e-03 9.99995458e-01 -3.12963623e-04 -1.89443737e+01] [-5.32063788e-03 2.97011575e-04 9.99985801e-01 -4.16346946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.350371743 meters Centerline goodness [0,1] 0.9712806662165203 Centerline is valid? [True, True] Translation: X:306.10, Y:-18.95, Z:-4.16 [[ 9.99981443e-01 3.32596690e-03 5.10412101e-03 3.06099514e+02] [-3.32448258e-03 9.99994429e-01 -2.99264298e-04 -1.89512915e+01] [-5.10508792e-03 2.82290183e-04 9.99986929e-01 -4.16441728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380371743 meters Centerline goodness [0,1] 0.9721867937616074 Centerline is valid? [True, True] Translation: X:306.13, Y:-18.95, Z:-4.17 [[ 9.99973119e-01 5.35812806e-03 5.00521050e-03 3.06129944e+02] [-5.35671453e-03 9.99985609e-01 -2.95774117e-04 -1.89549831e+01] [-5.00672326e-03 2.68954682e-04 9.99987430e-01 -4.16531399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.410371743 meters Centerline goodness [0,1] 0.9733303501510236 Centerline is valid? [True, True] Translation: X:306.16, Y:-18.95, Z:-4.17 [[ 9.99966369e-01 6.22559604e-03 5.33881526e-03 3.06160801e+02] [-6.22399795e-03 9.99980581e-01 -3.15896063e-04 -1.89522293e+01] [-5.34067822e-03 2.82656664e-04 9.99985699e-01 -4.16561035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440371743 meters Centerline goodness [0,1] 0.973621853623642 Centerline is valid? [True, True] Translation: X:306.19, Y:-18.96, Z:-4.17 [[ 9.99961064e-01 7.28003395e-03 4.98708093e-03 3.06189836e+02] [-7.27865204e-03 9.99973467e-01 -2.95193412e-04 -1.89596486e+01] [-4.98909762e-03 2.58882692e-04 9.99987521e-01 -4.16635315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.470371743 meters Centerline goodness [0,1] 0.9743646951205908 Centerline is valid? [True, True] Translation: X:306.22, Y:-18.96, Z:-4.17 [[ 9.99948000e-01 9.00847817e-03 4.77951662e-03 3.06220333e+02] [-9.00722894e-03 9.99959394e-01 -2.82831774e-04 -1.89567216e+01] [-4.78187043e-03 2.39766866e-04 9.99988538e-01 -4.16735085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500371743 meters Centerline goodness [0,1] 0.9734976818830242 Centerline is valid? [True, True] Translation: X:306.25, Y:-18.96, Z:-4.17 [[ 9.99942146e-01 9.79869549e-03 4.43744420e-03 3.06248575e+02] [-9.79762568e-03 9.99951968e-01 -2.62761089e-04 -1.89648515e+01] [-4.43980578e-03 2.19269470e-04 9.99990120e-01 -4.16845303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.530371743 meters Centerline goodness [0,1] 0.9749693798018038 Centerline is valid? [True, True] Translation: X:306.28, Y:-18.96, Z:-4.17 [[ 9.99931303e-01 1.07979028e-02 4.56003827e-03 3.06278354e+02] [-1.07967851e-02 9.99941677e-01 -2.69642737e-04 -1.89631768e+01] [-4.56268389e-03 2.20390460e-04 9.99989567e-01 -4.16731327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560371743 meters Centerline goodness [0,1] 0.9739956399875428 Centerline is valid? [True, True] Translation: X:306.31, Y:-18.97, Z:-4.17 [[ 9.99927182e-01 1.10417038e-02 4.86950124e-03 3.06306444e+02] [-1.10404331e-02 9.99939011e-01 -2.87743310e-04 -1.89655164e+01] [-4.87238143e-03 2.33960954e-04 9.99988103e-01 -4.16754393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.590371743 meters Centerline goodness [0,1] 0.974253665430136 Centerline is valid? [True, True] Translation: X:306.33, Y:-18.97, Z:-4.17 [[ 9.99919380e-01 1.14965192e-02 5.39114470e-03 3.06334515e+02] [-1.14949690e-02 9.99933880e-01 -3.18442127e-04 -1.89696955e+01] [-5.39444921e-03 2.56445413e-04 9.99985417e-01 -4.16792167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620371743 meters Centerline goodness [0,1] 0.9757170469440803 Centerline is valid? [True, True] Translation: X:306.36, Y:-18.97, Z:-4.17 [[ 9.99916601e-01 1.19001041e-02 5.01773641e-03 3.06363726e+02] [-1.18987668e-02 9.99929163e-01 -2.96282357e-04 -1.89683970e+01] [-5.02090676e-03 2.36552772e-04 9.99987367e-01 -4.16815060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.650371743 meters Centerline goodness [0,1] 0.9750548792656156 Centerline is valid? [True, True] Translation: X:306.39, Y:-18.97, Z:-4.17 [[ 9.99913923e-01 1.20821903e-02 5.11546744e-03 3.06392135e+02] [-1.20808047e-02 9.99926979e-01 -3.01684968e-04 -1.89693996e+01] [-5.11873892e-03 2.39860036e-04 9.99986870e-01 -4.16887401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680371743 meters Centerline goodness [0,1] 0.977059831341922 Centerline is valid? [True, True] Translation: X:306.42, Y:-18.97, Z:-4.17 [[ 9.99901770e-01 1.30474839e-02 5.11990328e-03 3.06421257e+02] [-1.30461102e-02 9.99914850e-01 -3.01604192e-04 -1.89668141e+01] [-5.12340250e-03 2.34779743e-04 9.99986848e-01 -4.16721852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.710371743 meters Centerline goodness [0,1] 0.9766688125735343 Centerline is valid? [True, True] Translation: X:306.45, Y:-18.97, Z:-4.17 [[ 9.99891878e-01 1.36846289e-02 5.38169468e-03 3.06448962e+02] [-1.36831221e-02 9.99906332e-01 -3.16696073e-04 -1.89687474e+01] [-5.38552446e-03 2.43023445e-04 9.99985468e-01 -4.16697866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740371743 meters Centerline goodness [0,1] 0.9764823229524549 Centerline is valid? [True, True] Translation: X:306.48, Y:-18.97, Z:-4.17 [[ 9.99880540e-01 1.46288556e-02 4.99015815e-03 3.06477715e+02] [-1.46275743e-02 9.99892968e-01 -2.93164128e-04 -1.89705538e+01] [-4.99391270e-03 2.20135197e-04 9.99987506e-01 -4.16766149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.770371743 meters Centerline goodness [0,1] 0.9762200808206404 Centerline is valid? [True, True] Translation: X:306.51, Y:-18.97, Z:-4.17 [[ 9.99868683e-01 1.55159742e-02 4.67674440e-03 3.06506758e+02] [-1.55148598e-02 9.99879600e-01 -2.74473311e-04 -1.89711118e+01] [-4.68044004e-03 2.01878234e-04 9.99989026e-01 -4.16853843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800371743 meters Centerline goodness [0,1] 0.9765204088419839 Centerline is valid? [True, True] Translation: X:306.54, Y:-18.97, Z:-4.17 [[ 9.99864903e-01 1.58154372e-02 4.47742532e-03 3.06535697e+02] [-1.58144201e-02 9.99874910e-01 -2.62490359e-04 -1.89727346e+01] [-4.48101664e-03 1.91647013e-04 9.99989942e-01 -4.16896965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.830371743 meters Centerline goodness [0,1] 0.9772132819080551 Centerline is valid? [True, True] Translation: X:306.56, Y:-18.98, Z:-4.17 [[ 9.99876721e-01 1.49671372e-02 4.74636071e-03 3.06564263e+02] [-1.49659864e-02 9.99887965e-01 -2.77870155e-04 -1.89757164e+01] [-4.74998787e-03 2.06801929e-04 9.99988697e-01 -4.16891546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86037174300003 meters Centerline goodness [0,1] 0.9777057334458409 Centerline is valid? [True, True] Translation: X:306.59, Y:-18.98, Z:-4.17 [[ 9.99893720e-01 1.36832035e-02 5.03178071e-03 3.06592570e+02] [-1.36818954e-02 9.99906355e-01 -2.94292230e-04 -1.89768617e+01] [-5.03533637e-03 2.25416656e-04 9.99987297e-01 -4.16883875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.890371743 meters Centerline goodness [0,1] 0.9763499232429306 Centerline is valid? [True, True] Translation: X:306.62, Y:-18.98, Z:-4.17 [[ 9.99907679e-01 1.25011958e-02 5.32483790e-03 3.06621045e+02] [-1.24997176e-02 9.99921827e-01 -3.10793455e-04 -1.89789006e+01] [-5.32830693e-03 2.44205792e-04 9.99985775e-01 -4.16829059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92037174300003 meters Centerline goodness [0,1] 0.9761661936857041 Centerline is valid? [True, True] Translation: X:306.65, Y:-18.98, Z:-4.17 [[ 9.99937454e-01 9.20305017e-03 6.35547062e-03 3.06651124e+02] [-9.20088344e-03 9.99957602e-01 -3.70078584e-04 -1.89811870e+01] [-6.35860701e-03 3.11579493e-04 9.99979735e-01 -4.16796278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.950371743 meters Centerline goodness [0,1] 0.9761661936857041 Centerline is valid? [True, True] Translation: X:306.68, Y:-18.98, Z:-4.17 [[ 9.99937785e-01 9.16706286e-03 6.35547223e-03 3.06680263e+02] [-9.16489558e-03 9.99957933e-01 -3.70050923e-04 -1.89828530e+01] [-6.35859716e-03 3.11780661e-04 9.99979735e-01 -4.16828971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.980371743 meters Centerline goodness [0,1] 0.9740655817991585 Centerline is valid? [True, True] Translation: X:306.71, Y:-18.99, Z:-4.17 [[ 9.99959430e-01 6.98896301e-03 5.68271611e-03 3.06709861e+02] [-6.98719669e-03 9.99975535e-01 -3.30616822e-04 -1.89866637e+01] [-5.68488775e-03 2.90897154e-04 9.99983799e-01 -4.16896931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.010371743 meters Centerline goodness [0,1] 0.9742765273311897 Centerline is valid? [True, True] Translation: X:306.74, Y:-18.99, Z:-4.17 [[ 9.99972305e-01 5.40509724e-03 5.11609594e-03 3.06739100e+02] [-5.40364531e-03 9.99985356e-01 -2.97578395e-04 -1.89909917e+01] [-5.11762946e-03 2.69924585e-04 9.99986868e-01 -4.16991698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.040371743 meters Centerline goodness [0,1] 0.9739118890093599 Centerline is valid? [True, True] Translation: X:306.77, Y:-19.00, Z:-4.17 [[ 9.99994488e-01 5.33750913e-04 3.27707577e-03 3.06769466e+02] [-5.33129613e-04 9.99999840e-01 -1.90460601e-04 -1.89956456e+01] [-3.27717690e-03 1.88712445e-04 9.99994612e-01 -4.17231097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.070371743 meters Centerline goodness [0,1] 0.973885406943148 Centerline is valid? [True, True] Translation: X:306.80, Y:-19.00, Z:-4.17 [[ 9.99994949e-01 -1.86383133e-03 2.57446890e-03 3.06800441e+02] [ 1.86422237e-03 9.99998251e-01 -1.49499285e-04 -1.89976155e+01] [-2.57418575e-03 1.54297912e-04 9.99996675e-01 -4.17328255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.100371743 meters Centerline goodness [0,1] 0.9732557364668252 Centerline is valid? [True, True] Translation: X:306.83, Y:-19.00, Z:-4.17 [[ 9.99982825e-01 -5.60574676e-03 1.71047077e-03 3.06831408e+02] [ 5.60592468e-03 9.99984282e-01 -9.92438116e-05 -1.90011261e+01] [-1.70988755e-03 1.08830877e-04 9.99998532e-01 -4.17375188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.130371743 meters Centerline goodness [0,1] 0.9744421005884312 Centerline is valid? [True, True] Translation: X:306.86, Y:-19.00, Z:-4.17 [[ 9.99975169e-01 -6.80713139e-03 1.82306814e-03 3.06863410e+02] [ 6.80733478e-03 9.99976824e-01 -1.05382804e-04 -1.90026872e+01] [-1.82230853e-03 1.17790423e-04 9.99998333e-01 -4.17348636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.160371743 meters Centerline goodness [0,1] 0.9727993955421231 Centerline is valid? [True, True] Translation: X:306.90, Y:-19.00, Z:-4.17 [[ 9.99969878e-01 -7.58541163e-03 1.64466178e-03 3.06895090e+02] [ 7.58557855e-03 9.99971225e-01 -9.52782916e-05 -1.90042664e+01] [-1.64389173e-03 1.07751133e-04 9.99998643e-01 -4.17352441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.190371743 meters Centerline goodness [0,1] 0.970327792449899 Centerline is valid? [True, True] Translation: X:306.93, Y:-19.00, Z:-4.17 [[ 9.99970582e-01 -7.22523389e-03 2.57494105e-03 3.06926757e+02] [ 7.22564151e-03 9.99973884e-01 -1.49033904e-04 -1.90047908e+01] [-2.57379700e-03 1.67635120e-04 9.99996674e-01 -4.17266867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.220371743 meters Centerline goodness [0,1] 0.9721505472017083 Centerline is valid? [True, True] Translation: X:306.96, Y:-19.00, Z:-4.17 [[ 9.99975419e-01 -6.45395954e-03 2.74009177e-03 3.06958784e+02] [ 6.45442065e-03 9.99979157e-01 -1.59470875e-04 -1.90024538e+01] [-2.73900544e-03 1.77152660e-04 9.99996233e-01 -4.17211103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.250371743 meters Centerline goodness [0,1] 0.9728569203728836 Centerline is valid? [True, True] Translation: X:306.99, Y:-19.00, Z:-4.17 [[ 9.99990973e-01 -1.80909245e-03 3.84453287e-03 3.06987998e+02] [ 1.80997078e-03 9.99998337e-01 -2.24994265e-04 -1.90026104e+01] [-3.84411944e-03 2.31950727e-04 9.99992584e-01 -4.17168462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.280371743 meters Centerline goodness [0,1] 0.9732805761792558 Centerline is valid? [True, True] Translation: X:307.02, Y:-19.00, Z:-4.17 [[ 9.99991693e-01 8.86288808e-04 3.97839556e-03 3.07018973e+02] [-8.85370805e-04 9.99999581e-01 -2.32502496e-04 -1.89997015e+01] [-3.97859996e-03 2.28978209e-04 9.99992059e-01 -4.17148009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.310371743 meters Centerline goodness [0,1] 0.9720379357941137 Centerline is valid? [True, True] Translation: X:307.05, Y:-19.00, Z:-4.17 [[ 9.99983435e-01 4.02406419e-03 4.11529356e-03 3.07048368e+02] [-4.02310708e-03 9.99991878e-01 -2.40826207e-04 -1.90004458e+01] [-4.11622923e-03 2.24265951e-04 9.99991503e-01 -4.17195838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.340371743 meters Centerline goodness [0,1] 0.97573292813729 Centerline is valid? [True, True] Translation: X:307.08, Y:-18.99, Z:-4.17 [[ 9.99935577e-01 1.07887603e-02 3.52758209e-03 3.07079611e+02] [-1.07880996e-02 9.99941785e-01 -2.06287861e-04 -1.89896517e+01] [-3.52960232e-03 1.68218664e-04 9.99993757e-01 -4.17141145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.370371743 meters Centerline goodness [0,1] 0.9758785191157697 Centerline is valid? [True, True] Translation: X:307.11, Y:-18.99, Z:-4.17 [[ 9.99896398e-01 1.39694313e-02 3.47103668e-03 3.07109615e+02] [-1.39688098e-02 9.99902411e-01 -2.03231853e-04 -1.89864633e+01] [-3.47353698e-03 1.54724547e-04 9.99993955e-01 -4.17216718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.400371743 meters Centerline goodness [0,1] 0.9777489545363061 Centerline is valid? [True, True] Translation: X:307.14, Y:-18.99, Z:-4.17 [[ 9.99845850e-01 1.73579545e-02 2.64145230e-03 3.07139386e+02] [-1.73576064e-02 9.99849333e-01 -1.54659694e-04 -1.89851653e+01] [-2.64373890e-03 1.08786564e-04 9.99996499e-01 -4.17310938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.430371743 meters Centerline goodness [0,1] 0.9784914885504743 Centerline is valid? [True, True] Translation: X:307.17, Y:-18.98, Z:-4.18 [[ 9.99693841e-01 2.46715473e-02 1.88137915e-03 3.07168775e+02] [-2.46713838e-02 9.99695609e-01 -1.10071019e-04 -1.89834269e+01] [-1.88352210e-03 6.36210926e-05 9.99998224e-01 -4.17532162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.460371743 meters Centerline goodness [0,1] 0.9803860104787068 Centerline is valid? [True, True] Translation: X:307.20, Y:-18.98, Z:-4.18 [[ 9.99607338e-01 2.79816984e-02 1.48154461e-03 3.07197428e+02] [-2.79816000e-02 9.99608435e-01 -8.71542073e-05 -1.89818820e+01] [-1.48340321e-03 4.56639966e-05 9.99998899e-01 -4.17586564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.490371743 meters Centerline goodness [0,1] 0.9816332930161716 Centerline is valid? [True, True] Translation: X:307.23, Y:-18.98, Z:-4.18 [[ 9.99512821e-01 3.11795922e-02 1.39742388e-03 3.07226597e+02] [-3.11795078e-02 9.99513798e-01 -8.21535207e-05 -1.89799998e+01] [-1.39930596e-03 3.85425087e-05 9.99999020e-01 -4.17609653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.520371743 meters Centerline goodness [0,1] 0.9846375636347254 Centerline is valid? [True, True] Translation: X:307.26, Y:-18.97, Z:-4.18 [[ 9.99295006e-01 3.75213960e-02 1.27921589e-03 3.07256962e+02] [-3.75213312e-02 9.99295824e-01 -7.46720305e-05 -1.89748665e+01] [-1.28111690e-03 2.66215039e-05 9.99999179e-01 -4.17612902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.550371743 meters Centerline goodness [0,1] 0.985684058884437 Centerline is valid? [True, True] Translation: X:307.29, Y:-18.97, Z:-4.18 [[ 9.99184386e-01 4.03583011e-02 1.33041186e-03 3.07286214e+02] [-4.03582328e-02 9.99185272e-01 -7.81404700e-05 -1.89741542e+01] [-1.33248156e-03 2.43836658e-05 9.99999112e-01 -4.17711616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.580371743 meters Centerline goodness [0,1] 0.9866960312823049 Centerline is valid? [True, True] Translation: X:307.32, Y:-18.97, Z:-4.18 [[ 9.99047522e-01 4.36016252e-02 1.71679087e-03 3.07315212e+02] [-4.36015168e-02 9.99048997e-01 -1.00501280e-04 -1.89736868e+01] [-1.71954022e-03 2.55508687e-05 9.99998521e-01 -4.17644726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61037174300003 meters Centerline goodness [0,1] 0.9875616845805448 Centerline is valid? [True, True] Translation: X:307.34, Y:-18.97, Z:-4.18 [[ 9.98831610e-01 4.82623049e-02 2.48300454e-03 3.07344138e+02] [-4.82620940e-02 9.98834696e-01 -1.44824930e-04 -1.89730332e+01] [-2.48710067e-03 2.48207196e-05 9.99996907e-01 -4.17657859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.640371743 meters Centerline goodness [0,1] 0.9886181793594627 Centerline is valid? [True, True] Translation: X:307.37, Y:-18.97, Z:-4.18 [[ 9.98742709e-01 5.00469207e-02 2.88223164e-03 3.07372926e+02] [-5.00466449e-02 9.98746867e-01 -1.67786157e-04 -1.89742652e+01] [-2.88701700e-03 2.33291772e-05 9.99995832e-01 -4.17659843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67037174300003 meters Centerline goodness [0,1] 0.9888269412346568 Centerline is valid? [True, True] Translation: X:307.40, Y:-18.98, Z:-4.18 [[ 9.98681718e-01 5.12159553e-02 3.42809801e-03 3.07401209e+02] [-5.12155733e-02 9.98687601e-01 -1.99172491e-04 -1.89763553e+01] [-3.43379979e-03 2.33379204e-05 9.99994104e-01 -4.17651343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.700371743 meters Centerline goodness [0,1] 0.988477236340677 Centerline is valid? [True, True] Translation: X:307.43, Y:-18.98, Z:-4.18 [[ 9.98690204e-01 5.10257550e-02 3.77466261e-03 3.07429020e+02] [-5.10252909e-02 9.98697337e-01 -2.19221201e-04 -1.89796917e+01] [-3.78093142e-03 2.63308087e-05 9.99992852e-01 -4.17634561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.730371743 meters Centerline goodness [0,1] 0.9883731309975452 Centerline is valid? [True, True] Translation: X:307.46, Y:-18.99, Z:-4.18 [[ 9.98746534e-01 4.98502420e-02 4.50715940e-03 3.07455102e+02] [-4.98495709e-02 9.98756703e-01 -2.61170271e-04 -1.89868953e+01] [-4.51457507e-03 3.61629407e-05 9.99989809e-01 -4.17712407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.760371743 meters Centerline goodness [0,1] 0.98718035068813 Centerline is valid? [True, True] Translation: X:307.48, Y:-18.99, Z:-4.18 [[ 9.98832497e-01 4.81402029e-02 4.02050125e-03 3.07484036e+02] [-4.81396579e-02 9.98840588e-01 -2.32253394e-04 -1.89924023e+01] [-4.02702055e-03 3.84366828e-05 9.99991891e-01 -4.17826046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.790371743 meters Centerline goodness [0,1] 0.9857031510967599 Centerline is valid? [True, True] Translation: X:307.51, Y:-19.00, Z:-4.18 [[ 9.98965436e-01 4.53116582e-02 3.86153214e-03 3.07510979e+02] [-4.53111348e-02 9.98972898e-01 -2.22955336e-04 -1.90019384e+01] [-3.86766843e-03 4.77542710e-05 9.99992519e-01 -4.17974173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.820371743 meters Centerline goodness [0,1] 0.9857832558346497 Centerline is valid? [True, True] Translation: X:307.54, Y:-19.01, Z:-4.18 [[ 9.99047554e-01 4.34749343e-02 3.73019965e-03 3.07539147e+02] [-4.34744348e-02 9.99054517e-01 -2.14946794e-04 -1.90079265e+01] [-3.73601761e-03 5.25737478e-05 9.99993020e-01 -4.18016543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.850371743 meters Centerline goodness [0,1] 0.9851351351351352 Centerline is valid? [True, True] Translation: X:307.57, Y:-19.01, Z:-4.18 [[ 9.99145569e-01 4.12202962e-02 3.00313641e-03 3.07567485e+02] [-4.12199624e-02 9.99150081e-01 -1.72993500e-04 -1.90137952e+01] [-3.00771483e-03 4.90565192e-05 9.99995476e-01 -4.18079991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880371743 meters Centerline goodness [0,1] 0.9840548706525815 Centerline is valid? [True, True] Translation: X:307.60, Y:-19.02, Z:-4.18 [[ 9.99312691e-01 3.69593529e-02 2.85515686e-03 3.07596059e+02] [-3.69590342e-02 9.99316768e-01 -1.64326582e-04 -1.90233943e+01] [-2.85927953e-03 5.86897989e-05 9.99995911e-01 -4.18062103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.910371743 meters Centerline goodness [0,1] 0.9822638501394978 Centerline is valid? [True, True] Translation: X:307.62, Y:-19.03, Z:-4.18 [[ 9.99399683e-01 3.45245619e-02 2.88594731e-03 3.07624495e+02] [-3.45242267e-02 9.99403847e-01 -1.65890481e-04 -1.90294836e+01] [-2.88995414e-03 6.61557949e-05 9.99995822e-01 -4.18118932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940371743 meters Centerline goodness [0,1] 0.9806509707458491 Centerline is valid? [True, True] Translation: X:307.65, Y:-19.04, Z:-4.18 [[ 9.99529323e-01 3.05062942e-02 3.24014517e-03 3.07652601e+02] [-3.05058521e-02 9.99534571e-01 -1.85785348e-04 -1.90409703e+01] [-3.24430474e-03 8.68545136e-05 9.99994733e-01 -4.18151772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.970371743 meters Centerline goodness [0,1] 0.9808229420949617 Centerline is valid? [True, True] Translation: X:307.68, Y:-19.05, Z:-4.18 [[ 9.99594366e-01 2.82375496e-02 3.70740530e-03 3.07681478e+02] [-2.82369557e-02 9.99601235e-01 -2.12438927e-04 -1.90463234e+01] [-3.71192567e-03 1.07666915e-04 9.99993105e-01 -4.18124425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000371743 meters Centerline goodness [0,1] 0.9786679410870226 Centerline is valid? [True, True] Translation: X:307.71, Y:-19.06, Z:-4.18 [[ 9.99645767e-01 2.62501580e-02 4.38978645e-03 3.07709006e+02] [-2.62493077e-02 9.99655396e-01 -2.51199680e-04 -1.90551307e+01] [-4.39486774e-03 1.35881842e-04 9.99990333e-01 -4.18227192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.030371743 meters Centerline goodness [0,1] 0.9798531596888383 Centerline is valid? [True, True] Translation: X:307.74, Y:-19.06, Z:-4.18 [[ 9.99706924e-01 2.37900585e-02 4.48328660e-03 3.07737402e+02] [-2.37891493e-02 9.99716965e-01 -2.56022036e-04 -1.90583769e+01] [-4.48810845e-03 1.49293428e-04 9.99989917e-01 -4.18160923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060371743 meters Centerline goodness [0,1] 0.9761459511176829 Centerline is valid? [True, True] Translation: X:307.76, Y:-19.07, Z:-4.18 [[ 9.99783502e-01 2.01171922e-02 5.31488382e-03 3.07764741e+02] [-2.01158654e-02 9.99797610e-01 -3.02984024e-04 -1.90716752e+01] [-5.31990333e-03 1.96004941e-04 9.99985830e-01 -4.18223765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.090371743 meters Centerline goodness [0,1] 0.9753174861608597 Centerline is valid? [True, True] Translation: X:307.79, Y:-19.08, Z:-4.18 [[ 9.99816709e-01 1.82535194e-02 5.77560551e-03 3.07793438e+02] [-1.82519244e-02 9.99833366e-01 -3.28760927e-04 -1.90771522e+01] [-5.78064414e-03 2.23284753e-04 9.99983267e-01 -4.18227053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120371743 meters Centerline goodness [0,1] 0.9762531260193541 Centerline is valid? [True, True] Translation: X:307.82, Y:-19.08, Z:-4.18 [[ 9.99838350e-01 1.69510649e-02 5.99463851e-03 3.07822380e+02] [-1.69493259e-02 9.99856292e-01 -3.40795747e-04 -1.90818104e+01] [-5.99955388e-03 2.39135576e-04 9.99981974e-01 -4.18178601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.150371743 meters Centerline goodness [0,1] 0.975772115239145 Centerline is valid? [True, True] Translation: X:307.85, Y:-19.09, Z:-4.18 [[ 9.99855586e-01 1.58449446e-02 6.14363964e-03 3.07851213e+02] [-1.58430998e-02 9.99874429e-01 -3.48823818e-04 -1.90865659e+01] [-6.14839527e-03 2.51439147e-04 9.99981067e-01 -4.18218876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180371743 meters Centerline goodness [0,1] 0.9760353300283593 Centerline is valid? [True, True] Translation: X:307.88, Y:-19.09, Z:-4.18 [[ 9.99882459e-01 1.41765337e-02 5.83907411e-03 3.07880481e+02] [-1.41748422e-02 9.99899477e-01 -3.30981687e-04 -1.90938981e+01] [-5.84317932e-03 2.48174829e-04 9.99982898e-01 -4.18299153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.210371743 meters Centerline goodness [0,1] 0.9753944036875933 Centerline is valid? [True, True] Translation: X:307.91, Y:-19.10, Z:-4.18 [[ 9.99893010e-01 1.35167298e-02 5.59159569e-03 3.07908869e+02] [-1.35151687e-02 9.99908616e-01 -3.16870484e-04 -1.91003375e+01] [-5.59536776e-03 2.41265223e-04 9.99984317e-01 -4.18411344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240371743 meters Centerline goodness [0,1] 0.9752041190029944 Centerline is valid? [True, True] Translation: X:307.94, Y:-19.11, Z:-4.18 [[ 9.99890166e-01 1.37016382e-02 5.64995063e-03 3.07937111e+02] [-1.37000497e-02 9.99906099e-01 -3.19768759e-04 -1.91077153e+01] [-5.65380145e-03 2.42329033e-04 9.99983988e-01 -4.18488053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.270371743 meters Centerline goodness [0,1] 0.9760772755631091 Centerline is valid? [True, True] Translation: X:307.97, Y:-19.11, Z:-4.18 [[ 9.99893600e-01 1.34133270e-02 5.73339698e-03 3.07966071e+02] [-1.34116864e-02 9.99910007e-01 -3.24489515e-04 -1.91118968e+01] [-5.73723350e-03 2.47560467e-04 9.99983511e-01 -4.18485897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300371743 meters Centerline goodness [0,1] 0.9740839268857805 Centerline is valid? [True, True] Translation: X:308.00, Y:-19.12, Z:-4.19 [[ 9.99890647e-01 1.33527333e-02 6.35602813e-03 3.07996012e+02] [-1.33507201e-02 9.99910811e-01 -3.59059186e-04 -1.91159722e+01] [-6.36025566e-03 2.74162370e-04 9.99979736e-01 -4.18530124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.330371743 meters Centerline goodness [0,1] 0.9743056300268097 Centerline is valid? [True, True] Translation: X:308.03, Y:-19.12, Z:-4.19 [[ 9.99901909e-01 1.26748944e-02 5.95985771e-03 3.08025244e+02] [-1.26731134e-02 9.99919636e-01 -3.36507294e-04 -1.91205365e+01] [-5.96364395e-03 2.60944333e-04 9.99982183e-01 -4.18583467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36037174300003 meters Centerline goodness [0,1] 0.9756662804171494 Centerline is valid? [True, True] Translation: X:308.06, Y:-19.12, Z:-4.19 [[ 9.99911091e-01 1.17308323e-02 6.34014855e-03 3.08055265e+02] [-1.17287993e-02 9.99931151e-01 -3.57745497e-04 -1.91219047e+01] [-6.34390869e-03 2.83351360e-04 9.99979837e-01 -4.18589081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.390371743 meters Centerline goodness [0,1] 0.9748553054662379 Centerline is valid? [True, True] Translation: X:308.08, Y:-19.13, Z:-4.19 [[ 9.99925166e-01 1.02399939e-02 6.69362665e-03 3.08084308e+02] [-1.02376968e-02 9.99947522e-01 -3.77354214e-04 -1.91293481e+01] [-6.69713949e-03 3.08798655e-04 9.99977526e-01 -4.18631735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42037174300003 meters Centerline goodness [0,1] 0.9741327623126338 Centerline is valid? [True, True] Translation: X:308.11, Y:-19.13, Z:-4.19 [[ 9.99931474e-01 9.38595080e-03 6.99645276e-03 3.08114409e+02] [-9.38342170e-03 9.99955897e-01 -3.94222557e-04 -1.91337787e+01] [-6.99984435e-03 3.28544876e-04 9.99975447e-01 -4.18656193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.450371743 meters Centerline goodness [0,1] 0.9718069565588279 Centerline is valid? [True, True] Translation: X:308.14, Y:-19.14, Z:-4.19 [[ 9.99937617e-01 8.69221734e-03 7.01481181e-03 3.08144530e+02] [-8.68966005e-03 9.99962166e-01 -3.94953056e-04 -1.91423076e+01] [-7.01797943e-03 3.33972087e-04 9.99975318e-01 -4.18719743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.480371743 meters Centerline goodness [0,1] 0.9743507671297186 Centerline is valid? [True, True] Translation: X:308.17, Y:-19.14, Z:-4.19 [[ 9.99942057e-01 8.18492072e-03 6.99213278e-03 3.08174748e+02] [-8.18236187e-03 9.99966446e-01 -3.94489305e-04 -1.91424126e+01] [-6.99512703e-03 3.37254287e-04 9.99975477e-01 -4.18654289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.510371743 meters Centerline goodness [0,1] 0.9727166151550677 Centerline is valid? [True, True] Translation: X:308.20, Y:-19.15, Z:-4.19 [[ 9.99956392e-01 5.91238297e-03 7.22893405e-03 3.08204361e+02] [-5.90958863e-03 9.99982455e-01 -4.07849402e-04 -1.91493015e+01] [-7.23121858e-03 3.65111590e-04 9.99973788e-01 -4.18659600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.540371743 meters Centerline goodness [0,1] 0.9738674092320874 Centerline is valid? [True, True] Translation: X:308.24, Y:-19.15, Z:-4.19 [[ 9.99959910e-01 4.84280296e-03 7.53170180e-03 3.08236054e+02] [-4.83974549e-03 9.99988198e-01 -4.24119500e-04 -1.91516983e+01] [-7.53366684e-03 3.87650977e-04 9.99971546e-01 -4.18697760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.570371743 meters Centerline goodness [0,1] 0.9725300485892081 Centerline is valid? [True, True] Translation: X:308.27, Y:-19.16, Z:-4.19 [[ 9.99963572e-01 3.19876097e-03 7.91349799e-03 3.08268073e+02] [-3.19531540e-03 9.99994795e-01 -4.48009241e-04 -1.91580851e+01] [-7.91488987e-03 4.22706799e-04 9.99968587e-01 -4.18722639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.600371743 meters Centerline goodness [0,1] 0.9718042709176932 Centerline is valid? [True, True] Translation: X:308.30, Y:-19.16, Z:-4.19 [[ 9.99966466e-01 2.32295001e-03 7.85311555e-03 3.08299158e+02] [-2.31952736e-03 9.99997211e-01 -4.44913017e-04 -1.91636109e+01] [-7.85412716e-03 4.26682581e-04 9.99969065e-01 -4.18793562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.630371743 meters Centerline goodness [0,1] 0.9721702127659575 Centerline is valid? [True, True] Translation: X:308.33, Y:-19.17, Z:-4.19 [[ 9.99968101e-01 2.00672167e-03 7.73113697e-03 3.08331418e+02] [-2.00339020e-03 9.99997897e-01 -4.38635898e-04 -1.91677024e+01] [-7.73200093e-03 4.23133422e-04 9.99970018e-01 -4.18866006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.660371743 meters Centerline goodness [0,1] 0.9720533084729962 Centerline is valid? [True, True] Translation: X:308.36, Y:-19.17, Z:-4.19 [[ 9.99975387e-01 6.27453856e-04 6.98798342e-03 3.08363022e+02] [-6.24688348e-04 9.99999726e-01 -3.97927463e-04 -1.91727751e+01] [-6.98823118e-03 3.93552357e-04 9.99975505e-01 -4.18988357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.690371743 meters Centerline goodness [0,1] 0.9732756426571647 Centerline is valid? [True, True] Translation: X:308.40, Y:-19.17, Z:-4.19 [[ 9.99980317e-01 2.16935862e-04 6.27049432e-03 3.08395017e+02] [-2.14694674e-04 9.99999913e-01 -3.58088933e-04 -1.91749634e+01] [-6.27057145e-03 3.56735643e-04 9.99980276e-01 -4.19080892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.720371743 meters Centerline goodness [0,1] 0.9739108247751483 Centerline is valid? [True, True] Translation: X:308.43, Y:-19.17, Z:-4.19 [[ 9.99984104e-01 -8.07755404e-05 5.63777399e-03 3.08427601e+02] [ 8.25974907e-05 9.99999944e-01 -3.22936290e-04 -1.91711958e+01] [-5.63774760e-03 3.23396823e-04 9.99984055e-01 -4.19127863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.750371743 meters Centerline goodness [0,1] 0.972160238019339 Centerline is valid? [True, True] Translation: X:308.46, Y:-19.18, Z:-4.19 [[ 9.99988924e-01 -2.21183575e-04 4.70141034e-03 3.08458152e+02] [ 2.22456012e-04 9.99999939e-01 -2.70128655e-04 -1.91778020e+01] [-4.70135031e-03 2.71171520e-04 9.99988912e-01 -4.19242695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.780371743 meters Centerline goodness [0,1] 0.9746614428072566 Centerline is valid? [True, True] Translation: X:308.49, Y:-19.17, Z:-4.19 [[ 9.99988206e-01 -7.89722856e-04 4.79202507e-03 3.08490309e+02] [ 7.91056086e-04 9.99999649e-01 -2.76329400e-04 -1.91735082e+01] [-4.79180516e-03 2.80116901e-04 9.99988480e-01 -4.19228060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.810371743 meters Centerline goodness [0,1] 0.9738652876314214 Centerline is valid? [True, True] Translation: X:308.52, Y:-19.18, Z:-4.19 [[ 9.99989099e-01 -1.05101671e-03 4.54938899e-03 3.08522744e+02] [ 1.05223099e-03 9.99999411e-01 -2.64525010e-04 -1.91757937e+01] [-4.54910829e-03 2.69309135e-04 9.99989616e-01 -4.19290747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.840371743 meters Centerline goodness [0,1] 0.9732766539209194 Centerline is valid? [True, True] Translation: X:308.55, Y:-19.18, Z:-4.19 [[ 9.99988066e-01 -1.28150710e-03 4.71449434e-03 3.08554868e+02] [ 1.28281540e-03 9.99999140e-01 -2.74492041e-04 -1.91776837e+01] [-4.71413852e-03 2.80536591e-04 9.99988849e-01 -4.19302122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.870371743 meters Centerline goodness [0,1] 0.9731809701492538 Centerline is valid? [True, True] Translation: X:308.59, Y:-19.18, Z:-4.19 [[ 9.99987632e-01 -1.45277129e-03 4.75661259e-03 3.08586461e+02] [ 1.45410720e-03 9.99998904e-01 -2.77406891e-04 -1.91795106e+01] [-4.75620437e-03 2.84320085e-04 9.99988649e-01 -4.19331781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.900371743 meters Centerline goodness [0,1] 0.9731809701492538 Centerline is valid? [True, True] Translation: X:308.62, Y:-19.18, Z:-4.19 [[ 9.99987731e-01 -1.38276387e-03 4.75660425e-03 3.08618146e+02] [ 1.38409967e-03 9.99999004e-01 -2.77549757e-04 -1.91814259e+01] [-4.75621573e-03 2.84129967e-04 9.99988649e-01 -4.19367317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.930371743 meters Centerline goodness [0,1] 0.9735769769514835 Centerline is valid? [True, True] Translation: X:308.65, Y:-19.18, Z:-4.19 [[ 9.99989609e-01 -1.54077693e-03 4.29046114e-03 3.08650523e+02] [ 1.54186611e-03 9.99998780e-01 -2.50566259e-04 -1.91806819e+01] [-4.29006984e-03 2.57178972e-04 9.99990765e-01 -4.19364266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.960371743 meters Centerline goodness [0,1] 0.9741289291422482 Centerline is valid? [True, True] Translation: X:308.68, Y:-19.18, Z:-4.19 [[ 9.99992294e-01 -1.26947168e-03 3.71501235e-03 3.08681946e+02] [ 1.27028752e-03 9.99999170e-01 -2.17253726e-04 -1.91827747e+01] [-3.71473347e-03 2.21971186e-04 9.99993076e-01 -4.19393592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.990371743 meters Centerline goodness [0,1] 0.9739091414162998 Centerline is valid? [True, True] Translation: X:308.71, Y:-19.18, Z:-4.19 [[ 9.99993894e-01 -5.07178582e-04 3.45763310e-03 3.08714153e+02] [ 5.07880801e-04 9.99999851e-01 -2.02217309e-04 -1.91817636e+01] [-3.45753002e-03 2.03972140e-04 9.99994002e-01 -4.19432149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.020371743 meters Centerline goodness [0,1] 0.9738972551532629 Centerline is valid? [True, True] Translation: X:308.75, Y:-19.18, Z:-4.19 [[ 9.99995160e-01 3.95256300e-04 3.08621092e-03 3.08745183e+02] [-3.94699840e-04 9.99999906e-01 -1.80911964e-04 -1.91819698e+01] [-3.08628214e-03 1.79692961e-04 9.99995221e-01 -4.19469550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.050371743 meters Centerline goodness [0,1] 0.9741536221332363 Centerline is valid? [True, True] Translation: X:308.78, Y:-19.18, Z:-4.19 [[ 9.99990236e-01 3.28910688e-03 2.95121119e-03 3.08775990e+02] [-3.28860951e-03 9.99994577e-01 -1.73367659e-04 -1.91752922e+01] [-2.95176541e-03 1.63660585e-04 9.99995630e-01 -4.19457260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.080371743 meters Centerline goodness [0,1] 0.9732129580456718 Centerline is valid? [True, True] Translation: X:308.81, Y:-19.18, Z:-4.20 [[ 9.99980791e-01 5.37581523e-03 3.08530879e-03 3.08806385e+02] [-5.37528198e-03 9.99985537e-01 -1.81100506e-04 -1.91790393e+01] [-3.08623773e-03 1.64512623e-04 9.99995224e-01 -4.19554128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11037174300003 meters Centerline goodness [0,1] 0.9754871553549657 Centerline is valid? [True, True] Translation: X:308.84, Y:-19.17, Z:-4.20 [[ 9.99973727e-01 6.79914004e-03 2.51329850e-03 3.08836830e+02] [-6.79878988e-03 9.99976877e-01 -1.47841197e-04 -1.91733810e+01] [-2.51424558e-03 1.30749924e-04 9.99996831e-01 -4.19532667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.140371743 meters Centerline goodness [0,1] 0.9755851189580692 Centerline is valid? [True, True] Translation: X:308.87, Y:-19.17, Z:-4.20 [[ 9.99942015e-01 1.05244560e-02 2.28080634e-03 3.08866370e+02] [-1.05241773e-02 9.99944610e-01 -1.34141929e-04 -1.91698472e+01] [-2.28209178e-03 1.10130541e-04 9.99997390e-01 -4.19570533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17037174300003 meters Centerline goodness [0,1] 0.9750144890205422 Centerline is valid? [True, True] Translation: X:308.90, Y:-19.17, Z:-4.20 [[ 9.99914851e-01 1.27721810e-02 2.67633696e-03 3.08896505e+02] [-1.27718055e-02 9.99918425e-01 -1.57323033e-04 -1.91671249e+01] [-2.67812799e-03 1.23127982e-04 9.99996406e-01 -4.19625430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.200371743 meters Centerline goodness [0,1] 0.9752179701928445 Centerline is valid? [True, True] Translation: X:308.93, Y:-19.16, Z:-4.20 [[ 9.99837721e-01 1.76473313e-02 3.61991807e-03 3.08927360e+02] [-1.76466768e-02 9.99844263e-01 -2.12653411e-04 -1.91617856e+01] [-3.62310708e-03 1.48739377e-04 9.99993425e-01 -4.19573228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.230371743 meters Centerline goodness [0,1] 0.9745775514167944 Centerline is valid? [True, True] Translation: X:308.96, Y:-19.16, Z:-4.20 [[ 9.99806745e-01 1.92650124e-02 3.91559971e-03 3.08956751e+02] [-1.92642584e-02 9.99814400e-01 -2.30195309e-04 -1.91605967e+01] [-3.91930769e-03 1.54719698e-04 9.99992308e-01 -4.19603905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.260371743 meters Centerline goodness [0,1] 0.9762147394896035 Centerline is valid? [True, True] Translation: X:308.99, Y:-19.16, Z:-4.20 [[ 9.99765623e-01 2.12967041e-02 3.89229686e-03 3.08985858e+02] [-2.12959747e-02 9.99773189e-01 -2.28751738e-04 -1.91588554e+01] [-3.89628570e-03 1.45807868e-04 9.99992399e-01 -4.19630734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.290371743 meters Centerline goodness [0,1] 0.9770883364704355 Centerline is valid? [True, True] Translation: X:309.02, Y:-19.15, Z:-4.20 [[ 9.99687103e-01 2.47807925e-02 3.40707693e-03 3.09016501e+02] [-2.47802556e-02 9.99692902e-01 -1.99693890e-04 -1.91517921e+01] [-3.41097920e-03 1.15203169e-04 9.99994176e-01 -4.19682411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.320371743 meters Centerline goodness [0,1] 0.977185487193945 Centerline is valid? [True, True] Translation: X:309.05, Y:-19.15, Z:-4.20 [[ 9.99663756e-01 2.57720259e-02 2.85967250e-03 3.09045938e+02] [-2.57716510e-02 9.99667842e-01 -1.67889113e-04 -1.91509539e+01] [-2.86304948e-03 9.41341799e-05 9.99995897e-01 -4.19699292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.350371743 meters Centerline goodness [0,1] 0.9773591427583823 Centerline is valid? [True, True] Translation: X:309.07, Y:-19.15, Z:-4.20 [[ 9.99638933e-01 2.67253030e-02 2.78613588e-03 3.09074971e+02] [-2.67249508e-02 9.99642811e-01 -1.63584166e-04 -1.91508074e+01] [-2.78951254e-03 8.90657565e-05 9.99996105e-01 -4.19724784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380371743 meters Centerline goodness [0,1] 0.9767275718739176 Centerline is valid? [True, True] Translation: X:309.10, Y:-19.15, Z:-4.20 [[ 9.99640035e-01 2.67115960e-02 2.50812905e-03 3.09103497e+02] [-2.67113100e-02 9.99643178e-01 -1.47466172e-04 -1.91493764e+01] [-2.51117315e-03 8.04176769e-05 9.99996844e-01 -4.19698674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.410371743 meters Centerline goodness [0,1] 0.9779161333709352 Centerline is valid? [True, True] Translation: X:309.13, Y:-19.15, Z:-4.20 [[ 9.99668186e-01 2.56688312e-02 2.15161607e-03 3.09132395e+02] [-2.56686191e-02 9.99670499e-01 -1.26132601e-04 -1.91496679e+01] [-2.15414479e-03 7.08617355e-05 9.99997677e-01 -4.19700905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440371743 meters Centerline goodness [0,1] 0.9762126966901791 Centerline is valid? [True, True] Translation: X:309.16, Y:-19.15, Z:-4.20 [[ 9.99760001e-01 2.18418857e-02 1.69480448e-03 3.09160352e+02] [-2.18417486e-02 9.99761436e-01 -9.93499419e-05 -1.91524720e+01] [-1.69657015e-03 6.23086046e-05 9.99998559e-01 -4.19840935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.470371743 meters Centerline goodness [0,1] 0.9761170697815797 Centerline is valid? [True, True] Translation: X:309.19, Y:-19.16, Z:-4.20 [[ 9.99813567e-01 1.92637025e-02 1.31920006e-03 3.09190039e+02] [-1.92636175e-02 9.99814436e-01 -7.71061276e-05 -1.91555216e+01] [-1.32044061e-03 5.16791872e-05 9.99999127e-01 -4.19850735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500371743 meters Centerline goodness [0,1] 0.9743511781952438 Centerline is valid? [True, True] Translation: X:309.22, Y:-19.16, Z:-4.20 [[ 9.99862824e-01 1.64838608e-02 1.61695961e-03 3.09218512e+02] [-1.64837294e-02 9.99864130e-01 -9.45295403e-05 -1.91612946e+01] [-1.61829812e-03 6.78630486e-05 9.99998688e-01 -4.19963384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.530371743 meters Centerline goodness [0,1] 0.9739767228978684 Centerline is valid? [True, True] Translation: X:309.25, Y:-19.16, Z:-4.20 [[ 9.99913716e-01 1.30410800e-02 1.57853051e-03 3.09247532e+02] [-1.30409505e-02 9.99914959e-01 -9.23200116e-05 -1.91613043e+01] [-1.57960022e-03 7.17265075e-05 9.99998750e-01 -4.19928822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560371743 meters Centerline goodness [0,1] 0.9725205716760502 Centerline is valid? [True, True] Translation: X:309.28, Y:-19.17, Z:-4.20 [[ 9.99976386e-01 6.59114235e-03 1.94510383e-03 3.09276949e+02] [-6.59093490e-03 9.99978273e-01 -1.13044307e-04 -1.91689429e+01] [-1.94580666e-03 1.00221585e-04 9.99998102e-01 -4.19925813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.590371743 meters Centerline goodness [0,1] 0.9729682708827175 Centerline is valid? [True, True] Translation: X:309.31, Y:-19.17, Z:-4.20 [[ 9.99991628e-01 3.68715239e-03 1.77469034e-03 3.09307246e+02] [-3.68697547e-03 9.99993198e-01 -1.02953810e-04 -1.91721561e+01] [-1.77505788e-03 9.64097086e-05 9.99998420e-01 -4.19921310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620371743 meters Centerline goodness [0,1] 0.9709053828296197 Centerline is valid? [True, True] Translation: X:309.34, Y:-19.18, Z:-4.20 [[ 9.99995762e-01 -2.25382309e-03 1.84288339e-03 3.09336646e+02] [ 2.25402382e-03 9.99997454e-01 -1.06850938e-04 -1.91786480e+01] [-1.84263788e-03 1.11004388e-04 9.99998296e-01 -4.19915394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.650371743 meters Centerline goodness [0,1] 0.9700089233247002 Centerline is valid? [True, True] Translation: X:309.37, Y:-19.18, Z:-4.20 [[ 9.99982744e-01 -5.59219996e-03 1.79951885e-03 3.09367506e+02] [ 5.59239656e-03 9.99984357e-01 -1.04240721e-04 -1.91813916e+01] [-1.79890776e-03 1.14302546e-04 9.99998375e-01 -4.19952080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680371743 meters Centerline goodness [0,1] 0.9687995654535578 Centerline is valid? [True, True] Translation: X:309.40, Y:-19.19, Z:-4.20 [[ 9.99966044e-01 -8.08343903e-03 1.60302675e-03 3.09397576e+02] [ 8.08359824e-03 9.99967323e-01 -9.28664967e-05 -1.91901824e+01] [-1.60222368e-03 1.05821567e-04 9.99998711e-01 -4.20037128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.710371743 meters Centerline goodness [0,1] 0.9689295548665466 Centerline is valid? [True, True] Translation: X:309.43, Y:-19.19, Z:-4.20 [[ 9.99910808e-01 -1.32841335e-02 1.38145428e-03 3.09428445e+02] [ 1.32842566e-02 9.99911757e-01 -7.99344000e-05 -1.91917725e+01] [-1.38027052e-03 9.82788636e-05 9.99999043e-01 -4.20040482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740371743 meters Centerline goodness [0,1] 0.9679807797313531 Centerline is valid? [True, True] Translation: X:309.46, Y:-19.19, Z:-4.20 [[ 9.99882745e-01 -1.52694883e-02 1.15719341e-03 3.09459278e+02] [ 1.52695757e-02 9.99883411e-01 -6.67680489e-05 -1.91943112e+01] [-1.15603898e-03 8.44300723e-05 9.99999328e-01 -4.20023034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.770371743 meters Centerline goodness [0,1] 0.9678211367981923 Centerline is valid? [True, True] Translation: X:309.49, Y:-19.20, Z:-4.20 [[ 9.99860664e-01 -1.66646622e-02 9.70756725e-04 3.09491266e+02] [ 1.66647241e-02 9.99861132e-01 -5.57188318e-05 -1.91954953e+01] [-9.69693382e-04 7.18884612e-05 9.99999527e-01 -4.20043655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800371743 meters Centerline goodness [0,1] 0.9645206255172715 Centerline is valid? [True, True] Translation: X:309.52, Y:-19.20, Z:-4.20 [[ 9.99810200e-01 -1.94772127e-02 4.49990423e-04 3.09520499e+02] [ 1.94772262e-02 9.99810301e-01 -2.57102330e-05 -1.91998254e+01] [-4.49404296e-04 3.44699184e-05 9.99999898e-01 -4.20215719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.830371743 meters Centerline goodness [0,1] 0.964049071705045 Centerline is valid? [True, True] Translation: X:309.55, Y:-19.20, Z:-4.20 [[ 9.99794401e-01 -2.02713441e-02 4.77101441e-04 3.09552766e+02] [ 2.02713594e-02 9.99794515e-01 -2.70621849e-05 -1.92009928e+01] [-4.76454817e-04 3.67281157e-05 9.99999886e-01 -4.20282378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86037174300003 meters Centerline goodness [0,1] 0.9641950450844787 Centerline is valid? [True, True] Translation: X:309.58, Y:-19.20, Z:-4.20 [[ 9.99755431e-01 -2.21013130e-02 -7.80826707e-04 3.09584421e+02] [ 2.21013556e-02 9.99755734e-01 4.59313813e-05 -1.91994203e+01] [ 7.79620834e-04 -6.31774766e-05 9.99999694e-01 -4.20450294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.890371743 meters Centerline goodness [0,1] 0.9615853658536585 Centerline is valid? [True, True] Translation: X:309.62, Y:-19.20, Z:-4.21 [[ 9.99746354e-01 -2.24961414e-02 -1.07261166e-03 3.09615933e+02] [ 2.24962227e-02 9.99746926e-01 6.37392881e-05 -1.92012322e+01] [ 1.07090632e-03 -8.78528315e-05 9.99999423e-01 -4.20506238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92037174300003 meters Centerline goodness [0,1] 0.9590867300030647 Centerline is valid? [True, True] Translation: X:309.65, Y:-19.20, Z:-4.21 [[ 9.99709860e-01 -2.40512884e-02 -1.31578991e-03 3.09646593e+02] [ 2.40514111e-02 9.99710720e-01 7.74524225e-05 -1.92020210e+01] [ 1.31354644e-03 -1.09076554e-04 9.99999131e-01 -4.20555597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.950371743 meters Centerline goodness [0,1] 0.955280538915586 Centerline is valid? [True, True] Translation: X:309.68, Y:-19.20, Z:-4.20 [[ 9.99655603e-01 -2.61948425e-02 -1.58309950e-03 3.09677593e+02] [ 2.61950220e-02 9.99656847e-01 9.27935032e-05 -1.92007812e+01] [ 1.58012554e-03 -1.34230872e-04 9.99998743e-01 -4.20429358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.980371743 meters Centerline goodness [0,1] 0.9647813103811699 Centerline is valid? [True, True] Translation: X:309.71, Y:-19.19, Z:-4.20 [[ 9.99621573e-01 -2.74839336e-02 -1.15955546e-03 3.09710091e+02] [ 2.74840317e-02 9.99622240e-01 6.86998681e-05 -1.91935004e+01] [ 1.15722929e-03 -1.00543129e-04 9.99999325e-01 -4.20260571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.010371743 meters Centerline goodness [0,1] 0.9401271363526384 Centerline is valid? [True, False] Translation: X:309.71, Y:-19.19, Z:-4.20 [[ 9.99694034e-01 -2.47214435e-02 -8.29631437e-04 3.09708881e+02] [ 2.47242048e-02 9.99688177e-01 3.50189393e-03 -1.91935013e+01] [ 7.42800866e-04 -3.52133445e-03 9.99993524e-01 -4.20239954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.040371743 meters Centerline goodness [0,1] 0.9467101925579549 Centerline is valid? [False, False] Translation: X:309.71, Y:-19.19, Z:-4.20 [[ 9.99739469e-01 -2.28238738e-02 -2.54109926e-04 3.09707074e+02] [ 2.28250029e-02 9.99720683e-01 6.12982924e-03 -1.91923848e+01] [ 1.14132500e-04 -6.13403229e-03 9.99981180e-01 -4.20207475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.070371743 meters Centerline goodness [0,1] 0.964002386582105 Centerline is valid? [False, True] Translation: X:309.71, Y:-19.19, Z:-4.20 [[ 9.99728457e-01 -2.33023642e-02 -1.14219621e-04 3.09706662e+02] [ 2.33026390e-02 9.99712985e-01 5.56192021e-03 -1.91910582e+01] [-1.54190525e-05 -5.56307152e-03 9.99984526e-01 -4.20188861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.100371743 meters Centerline goodness [0,1] 0.9536901757648205 Centerline is valid? [True, True] Translation: X:309.74, Y:-19.20, Z:-4.20 [[ 9.99698069e-01 -2.45706589e-02 2.32535365e-04 3.09736940e+02] [ 2.45706633e-02 9.99698096e-01 -1.60270335e-05 -1.91957867e+01] [-2.32071367e-04 2.17357426e-05 9.99999973e-01 -4.20068632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.130371743 meters Centerline goodness [0,1] 0.9538290788013318 Centerline is valid? [True, True] Translation: X:309.77, Y:-19.19, Z:-4.20 [[ 9.99620822e-01 -2.75322590e-02 -4.32735172e-04 3.09767748e+02] [ 2.75322746e-02 9.99620915e-01 3.02202962e-05 -1.91938477e+01] [ 4.31739096e-04 -4.21230209e-05 9.99999906e-01 -4.20138127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.160371743 meters Centerline goodness [0,1] 0.9531232676231235 Centerline is valid? [True, True] Translation: X:309.80, Y:-19.19, Z:-4.20 [[ 9.99609083e-01 -2.79567347e-02 -3.18670243e-04 3.09799920e+02] [ 2.79567434e-02 9.99609134e-01 2.30254914e-05 -1.91944191e+01] [ 3.17901968e-04 -3.19254726e-05 9.99999949e-01 -4.20158491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.190371743 meters Centerline goodness [0,1] 0.9614151464897733 Centerline is valid? [True, True] Translation: X:309.83, Y:-19.19, Z:-4.20 [[ 9.99588206e-01 -2.86690300e-02 -1.22687352e-03 3.09832068e+02] [ 2.86691583e-02 9.99588951e-01 8.71286189e-05 -1.91897644e+01] [ 1.22387133e-03 -1.22266171e-04 9.99999244e-01 -4.20130744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.220371743 meters Centerline goodness [0,1] 0.9621340592645484 Centerline is valid? [True, True] Translation: X:309.86, Y:-19.19, Z:-4.20 [[ 9.99577776e-01 -2.90061113e-02 -1.70736946e-03 3.09864088e+02] [ 2.90063584e-02 9.99579220e-01 1.20125162e-04 -1.91859590e+01] [ 1.70316667e-03 -1.69599013e-04 9.99998535e-01 -4.20129169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.250371743 meters Centerline goodness [0,1] 0.9498379002531421 Centerline is valid? [True, False] Translation: X:309.86, Y:-19.18, Z:-4.20 [[ 9.99573032e-01 -2.91569045e-02 -1.90499445e-03 3.09864412e+02] [ 2.91559921e-02 9.99574746e-01 -5.04999719e-04 -1.91839361e+01] [ 1.91890857e-03 4.49242097e-04 9.99998058e-01 -4.20107418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.280371743 meters Centerline goodness [0,1] 0.9332886954580962 Centerline is valid? [False, False] Translation: X:309.86, Y:-19.18, Z:-4.20 [[ 9.99656345e-01 -2.61689971e-02 -1.54140576e-03 3.09863174e+02] [ 2.61734796e-02 9.99653023e-01 2.96345940e-03 -1.91837075e+01] [ 1.46332017e-03 -3.00278495e-03 9.99994421e-01 -4.20096872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.310371743 meters Centerline goodness [0,1] 0.9617622052177026 Centerline is valid? [False, True] Translation: X:309.86, Y:-19.18, Z:-4.20 [[ 9.99734516e-01 -2.30126472e-02 -1.14703944e-03 3.09862141e+02] [ 2.30190944e-02 9.99717223e-01 5.96620349e-03 -1.91813766e+01] [ 1.00941695e-03 -5.99102337e-03 9.99981544e-01 -4.20096212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.340371743 meters Centerline goodness [0,1] 0.9620838194382123 Centerline is valid? [True, True] Translation: X:309.89, Y:-19.18, Z:-4.20 [[ 9.99755275e-01 -2.20452553e-02 -1.84330662e-03 3.09894888e+02] [ 2.20455475e-02 9.99756958e-01 1.38322823e-04 -1.91791277e+01] [ 1.83980925e-03 -1.78925675e-04 9.99998292e-01 -4.19928913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.370371743 meters Centerline goodness [0,1] 0.9317132224364435 Centerline is valid? [True, False] Translation: X:309.90, Y:-19.18, Z:-4.20 [[ 9.99824928e-01 -1.86185065e-02 -1.86109927e-03 3.09895042e+02] [ 1.86238764e-02 9.99822323e-01 2.91089790e-03 -1.91752212e+01] [ 1.80657202e-03 -2.94504917e-03 9.99994031e-01 -4.19972761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.400371743 meters Centerline goodness [0,1] 0.963756104117199 Centerline is valid? [False, True] Translation: X:309.90, Y:-19.17, Z:-4.20 [[ 9.99863983e-01 -1.63874209e-02 -1.86240956e-03 3.09896021e+02] [ 1.63965162e-02 9.99853176e-01 4.97802627e-03 -1.91733519e+01] [ 1.78055910e-03 -5.00788620e-03 9.99985875e-01 -4.20097924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.430371743 meters Centerline goodness [0,1] 0.96346548265681 Centerline is valid? [True, True] Translation: X:309.93, Y:-19.17, Z:-4.20 [[ 9.99879117e-01 -1.53377965e-02 -2.55021417e-03 3.09928373e+02] [ 1.53383449e-02 9.99882342e-01 1.95589675e-04 -1.91718106e+01] [ 2.54691420e-03 -2.34682096e-04 9.99996729e-01 -4.20085655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.460371743 meters Centerline goodness [0,1] 0.9626680501669224 Centerline is valid? [True, True] Translation: X:309.96, Y:-19.17, Z:-4.20 [[ 9.99910420e-01 -1.30186974e-02 -3.10884277e-03 3.09958137e+02] [ 1.30194977e-02 9.99915215e-01 2.37329513e-04 -1.91694377e+01] [ 3.10548947e-03 -2.77783825e-04 9.99995139e-01 -4.20203350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.490371743 meters Centerline goodness [0,1] 0.7434062036499645 Centerline is valid? [True, False] Translation: X:310.01, Y:-19.17, Z:-4.20 [[ 9.99897695e-01 -1.39949882e-02 -2.95625084e-03 3.10005876e+02] [ 1.39916138e-02 9.99901441e-01 -1.15907148e-03 -1.91685294e+01] [ 2.97218067e-03 1.11759018e-03 9.99994959e-01 -4.20137308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.520371743 meters Centerline goodness [0,1] 0.960227659236752 Centerline is valid? [False, True] Translation: X:309.94, Y:-19.16, Z:-4.20 [[ 9.99969374e-01 -7.30239593e-03 -2.81541656e-03 3.09937091e+02] [ 7.30162608e-03 9.99973303e-01 -2.83622489e-04 -1.91622261e+01] [ 2.81741252e-03 2.63056684e-04 9.99995996e-01 -4.20188137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.550371743 meters Centerline goodness [0,1] 0.9602636962946124 Centerline is valid? [True, True] Translation: X:309.97, Y:-19.16, Z:-4.20 [[ 9.99973808e-01 -6.62739238e-03 -2.90891746e-03 3.09968540e+02] [ 6.62809335e-03 9.99978007e-01 2.31399451e-04 -1.91616522e+01] [ 2.90731991e-03 -2.50673967e-04 9.99995742e-01 -4.20229640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.580371743 meters Centerline goodness [0,1] 0.9591604184233916 Centerline is valid? [True, True] Translation: X:310.00, Y:-19.16, Z:-4.20 [[ 9.99980993e-01 -5.51775394e-03 -2.75104196e-03 3.09999317e+02] [ 5.51837704e-03 9.99984750e-01 2.18955105e-04 -1.91626339e+01] [ 2.74979186e-03 -2.34132230e-04 9.99996192e-01 -4.20273086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61037174300003 meters Centerline goodness [0,1] 0.9599626712796467 Centerline is valid? [True, True] Translation: X:310.03, Y:-19.16, Z:-4.20 [[ 9.99986581e-01 -4.30722186e-03 -2.87838848e-03 3.10031060e+02] [ 4.30789922e-03 9.99990695e-01 2.29169181e-04 -1.91619991e+01] [ 2.87737462e-03 -2.41565913e-04 9.99995831e-01 -4.20292261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.640371743 meters Centerline goodness [0,1] 0.9616844138819254 Centerline is valid? [True, True] Translation: X:310.06, Y:-19.16, Z:-4.20 [[ 9.99996141e-01 -1.86400631e-03 -2.05981392e-03 3.10062352e+02] [ 1.86434798e-03 9.99998249e-01 1.63967254e-04 -1.91568986e+01] [ 2.05950468e-03 -1.67806831e-04 9.99997865e-01 -4.20276057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67037174300003 meters Centerline goodness [0,1] 0.9633008548579832 Centerline is valid? [True, True] Translation: X:310.09, Y:-19.16, Z:-4.20 [[ 9.99998029e-01 -6.43650692e-05 -1.98447981e-03 3.10092655e+02] [ 6.46778518e-05 9.99999985e-01 1.57550602e-04 -1.91559486e+01] [ 1.98446964e-03 -1.57678643e-04 9.99998019e-01 -4.20227707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.700371743 meters Centerline goodness [0,1] 0.9641093108064441 Centerline is valid? [True, True] Translation: X:310.12, Y:-19.15, Z:-4.20 [[ 9.99993708e-01 3.30812188e-03 -1.28074040e-03 3.10122884e+02] [-3.30799451e-03 9.99994523e-01 1.01556473e-04 -1.91525861e+01] [ 1.28106934e-03 -9.73191520e-05 9.99999175e-01 -4.20157332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.730371743 meters Centerline goodness [0,1] 0.9634538431290912 Centerline is valid? [True, True] Translation: X:310.15, Y:-19.15, Z:-4.20 [[ 9.99988768e-01 4.52095597e-03 -1.42299972e-03 3.10152369e+02] [-4.52080150e-03 9.99989775e-01 1.11753461e-04 -1.91521624e+01] [ 1.42349041e-03 -1.05319107e-04 9.99998981e-01 -4.20127377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.760371743 meters Centerline goodness [0,1] 0.9634538431290912 Centerline is valid? [True, True] Translation: X:310.18, Y:-19.15, Z:-4.20 [[ 9.99989064e-01 4.45498679e-03 -1.42297273e-03 3.10180671e+02] [-4.45483177e-03 9.99990071e-01 1.12093324e-04 -1.91543392e+01] [ 1.42345797e-03 -1.05752994e-04 9.99998981e-01 -4.20159230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.790371743 meters Centerline goodness [0,1] 0.9638018481206142 Centerline is valid? [True, True] Translation: X:310.21, Y:-19.15, Z:-4.20 [[ 9.99982884e-01 5.71219077e-03 -1.26558144e-03 3.10209430e+02] [-5.71206934e-03 9.99983681e-01 9.95441667e-05 -1.91537391e+01] [ 1.26612941e-03 -9.23133739e-05 9.99999194e-01 -4.20138261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.820371743 meters Centerline goodness [0,1] 0.9639356475984261 Centerline is valid? [True, True] Translation: X:310.24, Y:-19.15, Z:-4.20 [[ 9.99978594e-01 6.45693949e-03 -1.05821309e-03 3.10238461e+02] [-6.45685520e-03 9.99979151e-01 8.30415749e-05 -1.91542296e+01] [ 1.05872722e-03 -7.62070686e-05 9.99999437e-01 -4.20139095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.850371743 meters Centerline goodness [0,1] 0.9629181875247018 Centerline is valid? [True, True] Translation: X:310.27, Y:-19.15, Z:-4.20 [[ 9.99974573e-01 6.92497887e-03 -1.70232028e-03 3.10266320e+02] [-6.92476122e-03 9.99976015e-01 1.33717581e-04 -1.91546468e+01] [ 1.70320544e-03 -1.21926019e-04 9.99998542e-01 -4.20275120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880371743 meters Centerline goodness [0,1] 0.9683289507365089 Centerline is valid? [True, True] Translation: X:310.30, Y:-19.14, Z:-4.20 [[ 9.99974674e-01 6.82807587e-03 -2.00702587e-03 3.10295929e+02] [-6.82777284e-03 9.99976678e-01 1.57795371e-04 -1.91440348e+01] [ 2.00805651e-03 -1.44087858e-04 9.99997973e-01 -4.20150242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.910371743 meters Centerline goodness [0,1] 0.9611924296102927 Centerline is valid? [True, True] Translation: X:310.32, Y:-19.16, Z:-4.20 [[ 9.99970834e-01 7.08077015e-03 -2.86260773e-03 3.10322871e+02] [-7.08015503e-03 9.99974910e-01 2.24960560e-04 -1.91558801e+01] [ 2.86412881e-03 -2.04686292e-04 9.99995877e-01 -4.20434476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940371743 meters Centerline goodness [0,1] 0.9598592041772536 Centerline is valid? [True, True] Translation: X:310.35, Y:-19.16, Z:-4.20 [[ 9.99968448e-01 7.33815032e-03 -3.04197720e-03 3.10351045e+02] [-7.33745738e-03 9.99973052e-01 2.38891715e-04 -1.91566950e+01] [ 3.04364825e-03 -2.16563800e-04 9.99995345e-01 -4.20438114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.970371743 meters Centerline goodness [0,1] 0.9588052591018426 Centerline is valid? [True, True] Translation: X:310.38, Y:-19.16, Z:-4.20 [[ 9.99964741e-01 7.77761737e-03 -3.16619140e-03 3.10379887e+02] [-7.77686863e-03 9.99969729e-01 2.48724878e-04 -1.91575694e+01] [ 3.16803004e-03 -2.24093054e-04 9.99994957e-01 -4.20424555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000371743 meters Centerline goodness [0,1] 0.9583372431265834 Centerline is valid? [True, True] Translation: X:310.41, Y:-19.16, Z:-4.21 [[ 9.99955037e-01 8.87035866e-03 -3.35268788e-03 3.10408335e+02] [-8.86952577e-03 9.99960630e-01 2.63211893e-04 -1.91576787e+01] [ 3.35489067e-03 -2.33463307e-04 9.99994345e-01 -4.20552631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.030371743 meters Centerline goodness [0,1] 0.967405107944123 Centerline is valid? [True, True] Translation: X:310.44, Y:-19.15, Z:-4.20 [[ 9.99948842e-01 9.50661265e-03 -3.45507473e-03 3.10438446e+02] [-9.50573282e-03 9.99954783e-01 2.70981911e-04 -1.91471145e+01] [ 3.45749462e-03 -2.38125031e-04 9.99993994e-01 -4.20391424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060371743 meters Centerline goodness [0,1] 0.9552045267004597 Centerline is valid? [True, True] Translation: X:310.47, Y:-19.16, Z:-4.21 [[ 9.99943913e-01 1.00037244e-02 -3.47805917e-03 3.10465777e+02] [-1.00028366e-02 9.99949933e-01 2.72563890e-04 -1.91594258e+01] [ 3.48061169e-03 -2.37758145e-04 9.99993914e-01 -4.20723526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.090371743 meters Centerline goodness [0,1] 0.9667679408370428 Centerline is valid? [True, True] Translation: X:310.50, Y:-19.15, Z:-4.20 [[ 9.99940703e-01 1.04165160e-02 -3.17595865e-03 3.10495869e+02] [-1.04157786e-02 9.99945723e-01 2.48619118e-04 -1.91488811e+01] [ 3.17837602e-03 -2.15524293e-04 9.99994926e-01 -4.20490726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120371743 meters Centerline goodness [0,1] 0.968906886426068 Centerline is valid? [True, True] Translation: X:310.53, Y:-19.14, Z:-4.20 [[ 9.99938706e-01 1.03215859e-02 -4.00614345e-03 3.10525764e+02] [-1.03204124e-02 9.99946694e-01 3.13479945e-04 -1.91413788e+01] [ 4.00916551e-03 -2.72115678e-04 9.99991926e-01 -4.20344519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.150371743 meters Centerline goodness [0,1] 0.9703976923440677 Centerline is valid? [True, True] Translation: X:310.55, Y:-19.14, Z:-4.20 [[ 9.99942048e-01 1.01225826e-02 -3.66515921e-03 3.10554909e+02] [-1.01216003e-02 9.99948734e-01 2.86470520e-04 -1.91424480e+01] [ 3.66787113e-03 -2.49356642e-04 9.99993242e-01 -4.20321204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180371743 meters Centerline goodness [0,1] 0.9680166540499622 Centerline is valid? [True, True] Translation: X:310.58, Y:-19.15, Z:-4.20 [[ 9.99945196e-01 9.75254704e-03 -3.80700853e-03 3.10581921e+02] [-9.75148719e-03 9.99952409e-01 2.96858766e-04 -1.91468918e+01] [ 3.80972248e-03 -2.59718502e-04 9.99992709e-01 -4.20418463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.210371743 meters Centerline goodness [0,1] 0.9694678203152779 Centerline is valid? [True, True] Translation: X:310.61, Y:-19.14, Z:-4.20 [[ 9.99947575e-01 9.27587778e-03 -4.33649730e-03 3.10611202e+02] [-9.27449745e-03 9.99956934e-01 3.38307872e-04 -1.91418837e+01] [ 4.33944865e-03 -2.98071303e-04 9.99990540e-01 -4.20320605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240371743 meters Centerline goodness [0,1] 0.9681230388894171 Centerline is valid? [True, True] Translation: X:310.64, Y:-19.15, Z:-4.20 [[ 9.99957017e-01 7.77323230e-03 -5.05389792e-03 3.10638783e+02] [-7.77133874e-03 9.99969725e-01 3.94202015e-04 -1.91481480e+01] [ 5.05680914e-03 -3.54909518e-04 9.99987151e-01 -4.20489162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.270371743 meters Centerline goodness [0,1] 0.9688027582927119 Centerline is valid? [True, True] Translation: X:310.67, Y:-19.15, Z:-4.20 [[ 9.99963040e-01 6.74306890e-03 -5.33387815e-03 3.10667452e+02] [-6.74094912e-03 9.99977193e-01 4.15296938e-04 -1.91453111e+01] [ 5.33655688e-03 -3.79326187e-04 9.99985689e-01 -4.20471083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300371743 meters Centerline goodness [0,1] 0.9689309284982488 Centerline is valid? [True, True] Translation: X:310.70, Y:-19.15, Z:-4.21 [[ 9.99966998e-01 4.72920663e-03 -6.60590330e-03 3.10697438e+02] [-4.72590557e-03 9.99988700e-01 5.15234744e-04 -1.91473225e+01] [ 6.60826531e-03 -4.83998865e-04 9.99978048e-01 -4.20543346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.330371743 meters Centerline goodness [0,1] 0.9675624256837099 Centerline is valid? [True, True] Translation: X:310.73, Y:-19.15, Z:-4.21 [[ 9.99968874e-01 3.94019940e-03 -6.83567388e-03 3.10725036e+02] [-3.93665775e-03 9.99992110e-01 5.31490746e-04 -1.91549435e+01] [ 6.83771413e-03 -5.04564494e-04 9.99976495e-01 -4.20737957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36037174300003 meters Centerline goodness [0,1] 0.9672675182046079 Centerline is valid? [True, True] Translation: X:310.75, Y:-19.15, Z:-4.21 [[ 9.99961293e-01 2.69711705e-03 -8.37478814e-03 3.10754621e+02] [-2.69175134e-03 9.99996165e-01 6.51903788e-04 -1.91540661e+01] [ 8.37651428e-03 -6.29335707e-04 9.99964718e-01 -4.20799345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.390371743 meters Centerline goodness [0,1] 0.9672999287580147 Centerline is valid? [True, True] Translation: X:310.78, Y:-19.16, Z:-4.21 [[ 9.99962444e-01 2.77796145e-03 -8.20936841e-03 3.10781496e+02] [-2.77281920e-03 9.99995952e-01 6.37702948e-04 -1.91615630e+01] [ 8.21110669e-03 -6.14915904e-04 9.99966099e-01 -4.20935482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42037174300003 meters Centerline goodness [0,1] 0.9663173474015898 Centerline is valid? [True, True] Translation: X:310.81, Y:-19.16, Z:-4.21 [[ 9.99957316e-01 2.18334678e-03 -8.97771248e-03 3.10810889e+02] [-2.17717602e-03 9.99997387e-01 6.97058166e-04 -1.91593219e+01] [ 8.97921094e-03 -6.77482353e-04 9.99959457e-01 -4.20830918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.450371743 meters Centerline goodness [0,1] 0.9669545714831075 Centerline is valid? [True, True] Translation: X:310.84, Y:-19.16, Z:-4.21 [[ 9.99959784e-01 2.12042793e-03 -8.71400824e-03 3.10839329e+02] [-2.11461752e-03 9.99997536e-01 6.75949565e-04 -1.91607946e+01] [ 8.71542007e-03 -6.57495587e-04 9.99961804e-01 -4.20775313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.480371743 meters Centerline goodness [0,1] 0.9661421647047588 Centerline is valid? [True, True] Translation: X:310.87, Y:-19.16, Z:-4.21 [[ 9.99962294e-01 2.28022426e-03 -8.37925191e-03 3.10868164e+02] [-2.27486238e-03 9.99997202e-01 6.49374148e-04 -1.91647511e+01] [ 8.38070918e-03 -6.30288018e-04 9.99964683e-01 -4.20860450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.510371743 meters Centerline goodness [0,1] 0.9659223601744393 Centerline is valid? [True, True] Translation: X:310.90, Y:-19.17, Z:-4.21 [[ 9.99960108e-01 2.44363788e-03 -8.59137596e-03 3.10896957e+02] [-2.43801219e-03 9.99996807e-01 6.65218679e-04 -1.91660370e+01] [ 8.59297408e-03 -6.44246263e-04 9.99962872e-01 -4.20878253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.540371743 meters Centerline goodness [0,1] 0.963780770794957 Centerline is valid? [True, True] Translation: X:310.92, Y:-19.17, Z:-4.21 [[ 9.99947510e-01 3.33899203e-03 -9.68648006e-03 3.10924821e+02] [-3.33192345e-03 9.99994171e-01 7.45782874e-04 -1.91704604e+01] [ 9.68891376e-03 -7.13469118e-04 9.99952807e-01 -4.21050724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.570371743 meters Centerline goodness [0,1] 0.9658315985930658 Centerline is valid? [True, True] Translation: X:310.95, Y:-19.17, Z:-4.21 [[ 9.99944077e-01 4.48616608e-03 -9.57691259e-03 3.10953731e+02] [-4.47929670e-03 9.99989695e-01 7.38614504e-04 -1.91687429e+01] [ 9.58012744e-03 -6.95675366e-04 9.99953868e-01 -4.20981854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.600371743 meters Centerline goodness [0,1] 0.9654048873981792 Centerline is valid? [True, True] Translation: X:310.98, Y:-19.17, Z:-4.21 [[ 9.99939212e-01 5.62605334e-03 -9.48265755e-03 3.10982270e+02] [-5.61937581e-03 9.99983944e-01 7.30680339e-04 -1.91706701e+01] [ 9.48661614e-03 -6.77349305e-04 9.99954772e-01 -4.21013095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.630371743 meters Centerline goodness [0,1] 0.967117570873507 Centerline is valid? [True, True] Translation: X:311.01, Y:-19.17, Z:-4.21 [[ 9.99926746e-01 7.74413103e-03 -9.30217185e-03 3.11012284e+02] [-7.73779626e-03 9.99969806e-01 7.16797022e-04 -1.91657428e+01] [ 9.30744195e-03 -6.44766203e-04 9.99956477e-01 -4.20879856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.660371743 meters Centerline goodness [0,1] 0.966815540508092 Centerline is valid? [True, True] Translation: X:311.04, Y:-19.17, Z:-4.21 [[ 9.99919589e-01 8.53451450e-03 -9.37965790e-03 3.11039554e+02] [-8.52812167e-03 9.99963375e-01 7.21349585e-04 -1.91695579e+01] [ 9.38547074e-03 -6.41300716e-04 9.99955750e-01 -4.21008507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.690371743 meters Centerline goodness [0,1] 0.9668783702816057 Centerline is valid? [True, True] Translation: X:311.07, Y:-19.17, Z:-4.21 [[ 9.99905833e-01 9.90537338e-03 -9.49777844e-03 3.11068870e+02] [-9.89888095e-03 9.99950738e-01 7.30341695e-04 -1.91705309e+01] [ 9.50454487e-03 -6.36255543e-04 9.99954628e-01 -4.21034796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.720371743 meters Centerline goodness [0,1] 0.967487684729064 Centerline is valid? [True, True] Translation: X:311.10, Y:-19.17, Z:-4.21 [[ 9.99874498e-01 1.17263135e-02 -1.06527713e-02 3.11098222e+02] [-1.17182540e-02 9.99931004e-01 8.18668508e-04 -1.91704812e+01] [ 1.06616363e-02 -6.93733883e-04 9.99942922e-01 -4.21136552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.750371743 meters Centerline goodness [0,1] 0.9681369606454246 Centerline is valid? [True, True] Translation: X:311.13, Y:-19.17, Z:-4.21 [[ 9.99867460e-01 1.21194126e-02 -1.08711563e-02 3.11127087e+02] [-1.21110526e-02 9.99926310e-01 8.34516213e-04 -1.91729613e+01] [ 1.08804690e-02 -7.02744461e-04 9.99940559e-01 -4.21259777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.780371743 meters Centerline goodness [0,1] 0.9695854972110021 Centerline is valid? [True, True] Translation: X:311.16, Y:-19.17, Z:-4.21 [[ 9.99855008e-01 1.28200422e-02 -1.12076044e-02 3.11155660e+02] [-1.28112090e-02 9.99917564e-01 8.59579834e-04 -1.91740604e+01] [ 1.12177003e-02 -7.15872239e-04 9.99936823e-01 -4.21322255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.810371743 meters Centerline goodness [0,1] 0.9696692283601147 Centerline is valid? [True, True] Translation: X:311.18, Y:-19.17, Z:-4.21 [[ 9.99853071e-01 1.29822092e-02 -1.11936552e-02 3.11184400e+02] [-1.29734172e-02 9.99915474e-01 8.57704342e-04 -1.91741747e+01] [ 1.12038440e-02 -7.12358361e-04 9.99936981e-01 -4.21295629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.840371743 meters Centerline goodness [0,1] 0.9696816086127404 Centerline is valid? [True, True] Translation: X:311.21, Y:-19.18, Z:-4.21 [[ 9.99849866e-01 1.30893176e-02 -1.13541240e-02 3.11211624e+02] [-1.30803020e-02 9.99914072e-01 8.67943666e-04 -1.91778479e+01] [ 1.13645091e-02 -7.19297987e-04 9.99935163e-01 -4.21357496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.870371743 meters Centerline goodness [0,1] 0.9699095840867993 Centerline is valid? [True, True] Translation: X:311.24, Y:-19.18, Z:-4.21 [[ 9.99858720e-01 1.24659215e-02 -1.12756435e-02 3.11240033e+02] [-1.24569923e-02 9.99922037e-01 8.61791700e-04 -1.91792297e+01] [ 1.12855075e-02 -7.21209342e-04 9.99936057e-01 -4.21384458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.900371743 meters Centerline goodness [0,1] 0.9709153946164588 Centerline is valid? [True, True] Translation: X:311.27, Y:-19.18, Z:-4.21 [[ 9.99879811e-01 1.17511013e-02 -1.01130829e-02 3.11269249e+02] [-1.17438903e-02 9.99930740e-01 7.72124268e-04 -1.91797268e+01] [ 1.01214558e-02 -6.53264531e-04 9.99948563e-01 -4.21309338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.930371743 meters Centerline goodness [0,1] 0.9699353344271788 Centerline is valid? [True, True] Translation: X:311.30, Y:-19.19, Z:-4.21 [[ 9.99886931e-01 1.11407078e-02 -1.00999932e-02 3.11296867e+02] [-1.11335038e-02 9.99937725e-01 7.69216151e-04 -1.91858542e+01] [ 1.01079338e-02 -6.56680864e-04 9.99948698e-01 -4.21397709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.960371743 meters Centerline goodness [0,1] 0.7041878532614626 Centerline is valid? [True, False] Translation: X:311.36, Y:-19.19, Z:-4.21 [[ 9.99930622e-01 7.67121141e-03 -8.93892160e-03 3.11355920e+02] [-7.74264362e-03 9.99938151e-01 -7.98412893e-03 -1.91859837e+01] [ 8.87712079e-03 8.05278589e-03 9.99928172e-01 -4.21178659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.990371743 meters Centerline goodness [0,1] 0.9698824094072475 Centerline is valid? [False, True] Translation: X:311.28, Y:-19.18, Z:-4.21 [[ 9.99941690e-01 5.31840422e-03 -9.39850904e-03 3.11282995e+02] [-5.29109727e-03 9.99981716e-01 2.92793576e-03 -1.91840537e+01] [ 9.41390914e-03 -2.87803661e-03 9.99951546e-01 -4.21476700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.020371743 meters Centerline goodness [0,1] 0.9719987512307582 Centerline is valid? [True, True] Translation: X:311.31, Y:-19.18, Z:-4.21 [[ 9.99933581e-01 5.27323666e-03 -1.02482602e-02 3.11312245e+02] [-5.26599287e-03 9.99985865e-01 7.33687120e-04 -1.91809972e+01] [ 1.02519842e-02 -6.79671124e-04 9.99947216e-01 -4.21266013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.050371743 meters Centerline goodness [0,1] 0.9710388550021612 Centerline is valid? [True, True] Translation: X:311.34, Y:-19.18, Z:-4.21 [[ 9.99928490e-01 4.78665118e-03 -1.09591401e-02 3.11341362e+02] [-4.77834645e-03 9.99988276e-01 7.83849180e-04 -1.91826242e+01] [ 1.09627636e-02 -7.31426559e-04 9.99939640e-01 -4.21320962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.080371743 meters Centerline goodness [0,1] 0.9712010393609855 Centerline is valid? [True, True] Translation: X:311.37, Y:-19.19, Z:-4.21 [[ 9.99924310e-01 4.67423714e-03 -1.13809425e-02 3.11370396e+02] [-4.66528231e-03 9.99988787e-01 8.13247966e-04 -1.91857441e+01] [ 1.13846162e-02 -7.60091101e-04 9.99934904e-01 -4.21374837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11037174300003 meters Centerline goodness [0,1] 0.971918202764977 Centerline is valid? [True, True] Translation: X:311.40, Y:-19.19, Z:-4.22 [[ 9.99924456e-01 5.01871087e-03 -1.12202998e-02 3.11399278e+02] [-5.01003766e-03 9.99987129e-01 8.00966465e-04 -1.91891891e+01] [ 1.12241752e-02 -7.44691832e-04 9.99936730e-01 -4.21524296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.140371743 meters Centerline goodness [0,1] 0.9710635641044113 Centerline is valid? [True, True] Translation: X:311.43, Y:-19.19, Z:-4.22 [[ 9.99911578e-01 5.00323698e-03 -1.23208924e-02 3.11427884e+02] [-4.99278745e-03 9.99987150e-01 8.78728005e-04 -1.91901914e+01] [ 1.23251306e-02 -8.17134709e-04 9.99923709e-01 -4.21537813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17037174300003 meters Centerline goodness [0,1] 0.9705197455287481 Centerline is valid? [True, True] Translation: X:311.46, Y:-19.19, Z:-4.22 [[ 9.99899979e-01 7.05212298e-03 -1.22597045e-02 3.11456550e+02] [-7.04193069e-03 9.99974823e-01 8.74334310e-04 -1.91943633e+01] [ 1.22655618e-02 -7.87914869e-04 9.99924465e-01 -4.21595520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.200371743 meters Centerline goodness [0,1] 0.9719330230772921 Centerline is valid? [True, True] Translation: X:311.49, Y:-19.19, Z:-4.21 [[ 9.99891731e-01 8.47010390e-03 -1.20326045e-02 3.11485816e+02] [-8.46040334e-03 9.99963843e-01 8.56864169e-04 -1.91922917e+01] [ 1.20394271e-02 -7.54970710e-04 9.99927238e-01 -4.21472406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.230371743 meters Centerline goodness [0,1] 0.9726638972449029 Centerline is valid? [True, True] Translation: X:311.51, Y:-19.19, Z:-4.21 [[ 9.99873929e-01 1.02179708e-02 -1.21539578e-02 3.11514441e+02] [-1.02082126e-02 9.99947521e-01 8.64647143e-04 -1.91927671e+01] [ 1.21621549e-02 -7.40467951e-04 9.99925764e-01 -4.21417538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.260371743 meters Centerline goodness [0,1] 0.973312213502292 Centerline is valid? [True, True] Translation: X:311.54, Y:-19.19, Z:-4.21 [[ 9.99828209e-01 1.38550424e-02 -1.23122116e-02 3.11543274e+02] [-1.38453034e-02 9.99903766e-01 8.75891400e-04 -1.91936642e+01] [ 1.23231623e-02 -7.05274624e-04 9.99923818e-01 -4.21394076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.290371743 meters Centerline goodness [0,1] 0.9745319251080173 Centerline is valid? [True, True] Translation: X:311.57, Y:-19.19, Z:-4.21 [[ 9.99796340e-01 1.56017642e-02 -1.28008801e-02 3.11572187e+02] [-1.55913958e-02 9.99878033e-01 9.09385454e-04 -1.91947586e+01] [ 1.28135069e-02 -7.09616661e-04 9.99917652e-01 -4.21423796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.320371743 meters Centerline goodness [0,1] 0.9754679353180038 Centerline is valid? [True, True] Translation: X:311.60, Y:-19.20, Z:-4.21 [[ 9.99747753e-01 1.86245817e-02 -1.25520867e-02 3.11602135e+02] [-1.86148453e-02 9.99826331e-01 8.92077524e-04 -1.91951609e+01] [ 1.25665213e-02 -6.58197349e-04 9.99920822e-01 -4.21380152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.350371743 meters Centerline goodness [0,1] 0.9757330394787275 Centerline is valid? [True, True] Translation: X:311.63, Y:-19.20, Z:-4.21 [[ 9.99723721e-01 2.02570207e-02 -1.19220094e-02 3.11630389e+02] [-2.02483699e-02 9.99794623e-01 8.45886914e-04 -1.91973643e+01] [ 1.19366960e-02 -6.04251957e-04 9.99928573e-01 -4.21404033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380371743 meters Centerline goodness [0,1] 0.975237594918573 Centerline is valid? [True, True] Translation: X:311.66, Y:-19.20, Z:-4.21 [[ 9.99695598e-01 2.18516021e-02 -1.14550624e-02 3.11659554e+02] [-2.18437416e-02 9.99761068e-01 8.10882168e-04 -1.91974778e+01] [ 1.14700445e-02 -5.60413911e-04 9.99934060e-01 -4.21340375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.410371743 meters Centerline goodness [0,1] 0.9768491834774256 Centerline is valid? [True, True] Translation: X:311.69, Y:-19.20, Z:-4.21 [[ 9.99646664e-01 2.37667470e-02 -1.19032889e-02 3.11688629e+02] [-2.37583978e-02 9.99717375e-01 8.42359125e-04 -1.91977554e+01] [ 1.19199449e-02 -5.59258416e-04 9.99928799e-01 -4.21357825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440371743 meters Centerline goodness [0,1] 0.9778482533275672 Centerline is valid? [True, True] Translation: X:311.72, Y:-19.20, Z:-4.21 [[ 9.99600210e-01 2.55888224e-02 -1.20263213e-02 3.11717377e+02] [-2.55804415e-02 9.99672405e-01 8.50213566e-04 -1.91975680e+01] [ 1.20441376e-02 -5.42235050e-04 9.99927320e-01 -4.21344844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.470371743 meters Centerline goodness [0,1] 0.9763400486196356 Centerline is valid? [True, True] Translation: X:311.74, Y:-19.20, Z:-4.22 [[ 9.99586444e-01 2.59790120e-02 -1.23301619e-02 3.11744616e+02] [-2.59702600e-02 9.99662338e-01 8.69418642e-04 -1.92025767e+01] [ 1.23485851e-02 -5.48841578e-04 9.99923603e-01 -4.21554674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500371743 meters Centerline goodness [0,1] 0.9771093317944649 Centerline is valid? [True, True] Translation: X:311.77, Y:-19.20, Z:-4.22 [[ 9.99588919e-01 2.58645059e-02 -1.23701650e-02 3.11772024e+02] [-2.58556996e-02 9.99665306e-01 8.71320066e-04 -1.92049520e+01] [ 1.23885610e-02 -5.51122612e-04 9.99923107e-01 -4.21575025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.530371743 meters Centerline goodness [0,1] 0.9785618792971734 Centerline is valid? [True, True] Translation: X:311.80, Y:-19.20, Z:-4.21 [[ 9.99591481e-01 2.59184524e-02 -1.20459111e-02 3.11800706e+02] [-2.59101119e-02 9.99663917e-01 8.47964348e-04 -1.92044286e+01] [ 1.20638406e-02 -5.35507034e-04 9.99927086e-01 -4.21402118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560371743 meters Centerline goodness [0,1] 0.9762201553360821 Centerline is valid? [True, True] Translation: X:311.83, Y:-19.21, Z:-4.22 [[ 9.99671689e-01 2.30263693e-02 -1.12383405e-02 3.11828539e+02] [-2.30189394e-02 9.99734717e-01 7.90039081e-04 -1.92109201e+01] [ 1.12535508e-02 -5.31085025e-04 9.99936536e-01 -4.21504731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.590371743 meters Centerline goodness [0,1] 0.9756788552495739 Centerline is valid? [True, True] Translation: X:311.86, Y:-19.21, Z:-4.21 [[ 9.99725200e-01 2.06128981e-02 -1.11638887e-02 3.11857678e+02] [-2.06054193e-02 9.99787378e-01 7.84534748e-04 -1.92129658e+01] [ 1.11776866e-02 -5.54282550e-04 9.99937374e-01 -4.21455120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620371743 meters Centerline goodness [0,1] 0.9762719161862846 Centerline is valid? [True, True] Translation: X:311.89, Y:-19.22, Z:-4.21 [[ 9.99818182e-01 1.62089945e-02 -1.00434950e-02 3.11886942e+02] [-1.62027183e-02 9.99868478e-01 7.05961733e-04 -1.92199880e+01] [ 1.00536170e-02 -5.43101456e-04 9.99949314e-01 -4.21443491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.650371743 meters Centerline goodness [0,1] 0.975654625382263 Centerline is valid? [True, True] Translation: X:311.91, Y:-19.23, Z:-4.22 [[ 9.99866879e-01 1.32671884e-02 -9.49773547e-03 3.11914678e+02] [-1.32614577e-02 9.99911841e-01 6.66110625e-04 -1.92272356e+01] [ 9.50573558e-03 -5.40068134e-04 9.99954674e-01 -4.21550822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680371743 meters Centerline goodness [0,1] 0.9728751399109333 Centerline is valid? [True, True] Translation: X:311.94, Y:-19.24, Z:-4.22 [[ 9.99927984e-01 7.51285671e-03 -9.35862551e-03 3.11943758e+02] [-7.50703617e-03 9.99971606e-01 6.56917580e-04 -1.92362822e+01] [ 9.36329511e-03 -5.86614731e-04 9.99955991e-01 -4.21582222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.710371743 meters Centerline goodness [0,1] 0.9728751399109333 Centerline is valid? [True, True] Translation: X:311.97, Y:-19.24, Z:-4.22 [[ 9.99928741e-01 7.41117961e-03 -9.35876071e-03 3.11971208e+02] [-7.40537260e-03 9.99972365e-01 6.54990562e-04 -1.92381109e+01] [ 9.36335633e-03 -5.85638778e-04 9.99955991e-01 -4.21613728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740371743 meters Centerline goodness [0,1] 0.97225273413248 Centerline is valid? [True, True] Translation: X:312.00, Y:-19.24, Z:-4.22 [[ 9.99946121e-01 4.52221734e-03 -9.34369079e-03 3.12001524e+02] [-4.51629252e-03 9.99989587e-01 6.55100855e-04 -1.92408941e+01] [ 9.34655600e-03 -6.12866718e-04 9.99956132e-01 -4.21522034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.770371743 meters Centerline goodness [0,1] 0.9720855030078227 Centerline is valid? [True, True] Translation: X:312.03, Y:-19.25, Z:-4.22 [[ 9.99956917e-01 1.77104954e-03 -9.11197040e-03 3.12030101e+02] [-1.76530769e-03 9.99998238e-01 6.38147340e-04 -1.92492874e+01] [ 9.11308453e-03 -6.22034415e-04 9.99958282e-01 -4.21658694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800371743 meters Centerline goodness [0,1] 0.9709524828258338 Centerline is valid? [True, True] Translation: X:312.06, Y:-19.25, Z:-4.22 [[ 9.99959390e-01 -2.47083339e-03 -8.66682130e-03 3.12060016e+02] [ 2.47618953e-03 9.99996750e-01 6.07328100e-04 -1.92549673e+01] [ 8.66529252e-03 -6.28764129e-04 9.99962258e-01 -4.21662503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.830371743 meters Centerline goodness [0,1] 0.9707462545265201 Centerline is valid? [True, True] Translation: X:312.09, Y:-19.26, Z:-4.22 [[ 9.99958327e-01 -4.23869568e-03 -8.08566278e-03 3.12089228e+02] [ 4.24340971e-03 9.99990837e-01 5.65944162e-04 -1.92591161e+01] [ 8.08318982e-03 -6.00231357e-04 9.99967150e-01 -4.21698324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86037174300003 meters Centerline goodness [0,1] 0.9714745257580775 Centerline is valid? [True, True] Translation: X:312.12, Y:-19.26, Z:-4.22 [[ 9.99948121e-01 -7.20661629e-03 -7.19860640e-03 3.12119693e+02] [ 7.21042927e-03 9.99973878e-01 5.03870686e-04 -1.92591942e+01] [ 7.19478715e-03 -5.55749588e-04 9.99973963e-01 -4.21530054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.890371743 meters Centerline goodness [0,1] 0.9714285714285714 Centerline is valid? [True, True] Translation: X:312.15, Y:-19.26, Z:-4.22 [[ 9.99940704e-01 -8.14512987e-03 -7.22815778e-03 3.12149709e+02] [ 8.14900008e-03 9.99966668e-01 5.06144715e-04 -1.92628292e+01] [ 7.22379424e-03 -5.65016961e-04 9.99973748e-01 -4.21537583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92037174300003 meters Centerline goodness [0,1] 0.967545351473923 Centerline is valid? [True, True] Translation: X:312.18, Y:-19.27, Z:-4.22 [[ 9.99932275e-01 -8.87837567e-03 -7.52457284e-03 3.12179755e+02] [ 8.88259299e-03 9.99960410e-01 5.27238613e-04 -1.92715075e+01] [ 7.51959392e-03 -5.94040624e-04 9.99971551e-01 -4.21659315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.950371743 meters Centerline goodness [0,1] 0.9716118079788739 Centerline is valid? [True, True] Translation: X:312.21, Y:-19.27, Z:-4.22 [[ 9.99933069e-01 -9.06393679e-03 -7.19040715e-03 3.12211624e+02] [ 9.06779601e-03 9.99958760e-01 5.04297616e-04 -1.92684505e+01] [ 7.18553969e-03 -5.69465008e-04 9.99974022e-01 -4.21525278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.980371743 meters Centerline goodness [0,1] 0.9662923987597482 Centerline is valid? [True, True] Translation: X:312.24, Y:-19.28, Z:-4.22 [[ 9.99930279e-01 -9.77801867e-03 -6.62027989e-03 3.12241221e+02] [ 9.78130533e-03 9.99952054e-01 4.64257163e-04 -1.92783920e+01] [ 6.61542296e-03 -5.28979773e-04 9.99977978e-01 -4.21685117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.010371743 meters Centerline goodness [0,1] 0.9684430659335495 Centerline is valid? [True, True] Translation: X:312.27, Y:-19.28, Z:-4.22 [[ 9.99927813e-01 -1.01306737e-02 -6.46057629e-03 3.12272987e+02] [ 1.01338221e-02 9.99948548e-01 4.54773165e-04 -1.92790486e+01] [ 6.45563672e-03 -5.20210667e-04 9.99979027e-01 -4.21636352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.040371743 meters Centerline goodness [0,1] 0.9704572098475968 Centerline is valid? [True, True] Translation: X:312.31, Y:-19.28, Z:-4.21 [[ 9.99926113e-01 -1.04478248e-02 -6.21380512e-03 3.12305633e+02] [ 1.04507440e-02 9.99945294e-01 4.37500179e-04 -1.92772325e+01] [ 6.20889427e-03 -5.02406740e-04 9.99980598e-01 -4.21475574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.070371743 meters Centerline goodness [0,1] 0.9701009152781037 Centerline is valid? [True, True] Translation: X:312.34, Y:-19.28, Z:-4.22 [[ 9.99924228e-01 -1.03160752e-02 -6.71685005e-03 3.12337554e+02] [ 1.03194860e-02 9.99946641e-01 4.73337507e-04 -1.92793873e+01] [ 6.71160866e-03 -5.42616082e-04 9.99977330e-01 -4.21501777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.100371743 meters Centerline goodness [0,1] 0.9704971130826644 Centerline is valid? [True, True] Translation: X:312.37, Y:-19.28, Z:-4.22 [[ 9.99918403e-01 -1.04108299e-02 -7.40284158e-03 3.12368537e+02] [ 1.04149763e-02 9.99945627e-01 5.21781422e-04 -1.92836205e+01] [ 7.39700689e-03 -5.98839266e-04 9.99972462e-01 -4.21617481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.130371743 meters Centerline goodness [0,1] 0.9704257469967322 Centerline is valid? [True, True] Translation: X:312.40, Y:-19.29, Z:-4.22 [[ 9.99906343e-01 -1.04274182e-02 -8.86416624e-03 3.12399266e+02] [ 1.04333670e-02 9.99945376e-01 6.25126885e-04 -1.92871585e+01] [ 8.85716358e-03 -7.17551437e-04 9.99960517e-01 -4.21798757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.160371743 meters Centerline goodness [0,1] 0.969423488213589 Centerline is valid? [True, True] Translation: X:312.43, Y:-19.29, Z:-4.22 [[ 9.99902134e-01 -1.05317741e-02 -9.20896369e-03 3.12429796e+02] [ 1.05381966e-02 9.99944261e-01 6.49172777e-04 -1.92911519e+01] [ 9.20161345e-03 -7.46155115e-04 9.99957386e-01 -4.21949739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.190371743 meters Centerline goodness [0,1] 0.9685760586204467 Centerline is valid? [True, True] Translation: X:312.46, Y:-19.29, Z:-4.22 [[ 9.99897257e-01 -1.06847209e-02 -9.55576207e-03 3.12460760e+02] [ 1.06916483e-02 9.99942615e-01 6.74154427e-04 -1.92917614e+01] [ 9.54801056e-03 -7.76252010e-04 9.99954115e-01 -4.21989887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.220371743 meters Centerline goodness [0,1] 0.9677556015816231 Centerline is valid? [True, True] Translation: X:312.49, Y:-19.30, Z:-4.22 [[ 9.99886741e-01 -1.18954536e-02 -9.21977945e-03 3.12491782e+02] [ 1.19019566e-02 9.99928957e-01 6.50785406e-04 -1.92950469e+01] [ 9.21138307e-03 -7.60445113e-04 9.99957285e-01 -4.21963259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.250371743 meters Centerline goodness [0,1] 0.9689367910763873 Centerline is valid? [True, True] Translation: X:312.52, Y:-19.29, Z:-4.22 [[ 9.99878378e-01 -1.26992614e-02 -9.05311505e-03 3.12523042e+02] [ 1.27055672e-02 9.99919077e-01 6.39356189e-04 -1.92949335e+01] [ 9.04426309e-03 -7.54303390e-04 9.99958815e-01 -4.21854020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.280371743 meters Centerline goodness [0,1] 0.968421300327082 Centerline is valid? [True, True] Translation: X:312.55, Y:-19.30, Z:-4.22 [[ 9.99856578e-01 -1.48663320e-02 -8.11266605e-03 3.12553831e+02] [ 1.48714685e-02 9.99889249e-01 5.73191292e-04 -1.92981229e+01] [ 8.10324632e-03 -6.93756342e-04 9.99966928e-01 -4.21780062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.310371743 meters Centerline goodness [0,1] 0.968404534382612 Centerline is valid? [True, True] Translation: X:312.59, Y:-19.30, Z:-4.22 [[ 9.99840196e-01 -1.61089858e-02 -7.75131169e-03 3.12585588e+02] [ 1.61137175e-02 9.99870015e-01 5.48361578e-04 -1.93013013e+01] [ 7.74147059e-03 -6.73176395e-04 9.99969808e-01 -4.21783834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.340371743 meters Centerline goodness [0,1] 0.96594986281453 Centerline is valid? [True, True] Translation: X:312.62, Y:-19.31, Z:-4.22 [[ 9.99812747e-01 -1.79204964e-02 -7.30246451e-03 3.12616834e+02] [ 1.79247445e-02 9.99839205e-01 5.16694551e-04 -1.93060886e+01] [ 7.29203089e-03 -6.47492609e-04 9.99973203e-01 -4.21785754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.370371743 meters Centerline goodness [0,1] 0.962659870466927 Centerline is valid? [True, True] Translation: X:312.65, Y:-19.31, Z:-4.22 [[ 9.99745204e-01 -2.14469166e-02 -7.03972049e-03 3.12645628e+02] [ 2.14509493e-02 9.99769778e-01 4.97849344e-04 -1.93132626e+01] [ 7.02742246e-03 -6.48731181e-04 9.99975097e-01 -4.21828941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.400371743 meters Centerline goodness [0,1] 0.9630105917837686 Centerline is valid? [True, True] Translation: X:312.68, Y:-19.32, Z:-4.22 [[ 9.99699509e-01 -2.36349009e-02 -6.50252440e-03 3.12676216e+02] [ 2.36383892e-02 9.99720468e-01 4.60099880e-04 -1.93169130e+01] [ 6.48983232e-03 -6.13670827e-04 9.99978753e-01 -4.21882637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.430371743 meters Centerline goodness [0,1] 0.9608714880938526 Centerline is valid? [True, True] Translation: X:312.71, Y:-19.32, Z:-4.22 [[ 9.99596935e-01 -2.76030883e-02 -6.63606668e-03 3.12707282e+02] [ 2.76068099e-02 9.99618749e-01 4.69861719e-04 -1.93232729e+01] [ 6.62056703e-03 -6.52872965e-04 9.99977871e-01 -4.21984229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.460371743 meters Centerline goodness [0,1] 0.9538053591365836 Centerline is valid? [True, True] Translation: X:312.74, Y:-19.33, Z:-4.22 [[ 9.99534099e-01 -2.95916084e-02 -7.47812590e-03 3.12737315e+02] [ 2.95963918e-02 9.99561790e-01 5.29781470e-04 -1.93305987e+01] [ 7.45917183e-03 -7.50860188e-04 9.99971898e-01 -4.22112771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.490371743 meters Centerline goodness [0,1] 0.956786819630931 Centerline is valid? [True, True] Translation: X:312.77, Y:-19.33, Z:-4.22 [[ 9.99462977e-01 -3.18936928e-02 -7.51993076e-03 3.12768260e+02] [ 3.18985924e-02 9.99490969e-01 5.32478903e-04 -1.93322644e+01] [ 7.49912016e-03 -7.72068156e-04 9.99971583e-01 -4.22146344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.520371743 meters Centerline goodness [0,1] 0.9399562811032045 Centerline is valid? [True, False] Translation: X:312.77, Y:-19.33, Z:-4.22 [[ 9.99462051e-01 -3.19401759e-02 -7.44533853e-03 3.12768354e+02] [ 3.19504289e-02 9.99488658e-01 1.26222829e-03 -1.93342850e+01] [ 7.40121562e-03 -1.49943103e-03 9.99971486e-01 -4.22209919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.550371743 meters Centerline goodness [0,1] 0.9403677169553222 Centerline is valid? [False, False] Translation: X:312.77, Y:-19.34, Z:-4.22 [[ 9.99451689e-01 -3.22941746e-02 -7.30800456e-03 3.12768001e+02] [ 3.23101461e-02 9.99475731e-01 2.07804679e-03 -1.93374129e+01] [ 7.23706440e-03 -2.31303007e-03 9.99971137e-01 -4.22240410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.580371743 meters Centerline goodness [0,1] 0.943111895418766 Centerline is valid? [False, False] Translation: X:312.77, Y:-19.34, Z:-4.22 [[ 9.99454550e-01 -3.22258631e-02 -7.21782904e-03 3.12767949e+02] [ 3.22459638e-02 9.99476354e-01 2.68600502e-03 -1.93390556e+01] [ 7.12749063e-03 -2.91728579e-03 9.99970344e-01 -4.22271017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61037174300003 meters Centerline goodness [0,1] 0.9262865733780502 Centerline is valid? [False, False] Translation: X:312.77, Y:-19.34, Z:-4.22 [[ 9.99455239e-01 -3.22457136e-02 -7.03127698e-03 3.12767717e+02] [ 3.22710507e-02 9.99472955e-01 3.52028158e-03 -1.93414860e+01] [ 6.91405718e-03 -3.74527056e-03 9.99969084e-01 -4.22311499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.640371743 meters Centerline goodness [0,1] 0.9134924118176988 Centerline is valid? [False, False] Translation: X:312.77, Y:-19.34, Z:-4.22 [[ 9.99462231e-01 -3.20397012e-02 -6.97905677e-03 3.12767719e+02] [ 3.20678305e-02 9.99477863e-01 3.95659677e-03 -1.93424673e+01] [ 6.84864457e-03 -4.17827225e-03 9.99967819e-01 -4.22326262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67037174300003 meters Centerline goodness [0,1] 0.9439552566502577 Centerline is valid? [False, False] Translation: X:312.77, Y:-19.34, Z:-4.22 [[ 9.99468082e-01 -3.18477177e-02 -7.01974929e-03 3.12767756e+02] [ 3.18781679e-02 9.99482643e-01 4.26942041e-03 -1.93430496e+01] [ 6.88014628e-03 -4.49092617e-03 9.99966247e-01 -4.22319257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.700371743 meters Centerline goodness [0,1] 0.9298557005209533 Centerline is valid? [False, False] Translation: X:312.77, Y:-19.34, Z:-4.22 [[ 9.99481138e-01 -3.14261514e-02 -7.06064002e-03 3.12767797e+02] [ 3.14589042e-02 9.99494568e-01 4.57659809e-03 -1.93435152e+01] [ 6.91324649e-03 -4.79634346e-03 9.99964600e-01 -4.22291268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.730371743 meters Centerline goodness [0,1] 0.9548043443171075 Centerline is valid? [False, True] Translation: X:312.77, Y:-19.34, Z:-4.22 [[ 9.99486338e-01 -3.12188493e-02 -7.24176311e-03 3.12768023e+02] [ 3.12528887e-02 9.99500758e-01 4.63584562e-03 -1.93434441e+01] [ 7.09342195e-03 -4.85979037e-03 9.99963032e-01 -4.22261730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.760371743 meters Centerline goodness [0,1] 0.8907524305395568 Centerline is valid? [True, False] Translation: X:312.77, Y:-19.34, Z:-4.22 [[ 9.99503521e-01 -3.05798266e-02 -7.58856437e-03 3.12768933e+02] [ 3.06180523e-02 9.99518785e-01 4.97326211e-03 -1.93435843e+01] [ 7.43283114e-03 -5.20314005e-03 9.99958839e-01 -4.22274832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.790371743 meters Centerline goodness [0,1] 0.9513443711663515 Centerline is valid? [False, True] Translation: X:312.77, Y:-19.34, Z:-4.22 [[ 9.99513780e-01 -3.02013186e-02 -7.75136526e-03 3.12769474e+02] [ 3.02429204e-02 9.99528489e-01 5.30711159e-03 -1.93438102e+01] [ 7.58742864e-03 -5.53895509e-03 9.99955874e-01 -4.22301363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.820371743 meters Centerline goodness [0,1] 0.9546764414320954 Centerline is valid? [True, True] Translation: X:312.80, Y:-19.34, Z:-4.22 [[ 9.99591215e-01 -2.73158254e-02 -8.44084384e-03 3.12800375e+02] [ 2.73221350e-02 9.99626480e-01 6.33081834e-04 -1.93439584e+01] [ 8.42039786e-03 -8.63444915e-04 9.99964175e-01 -4.22216193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.850371743 meters Centerline goodness [0,1] 0.9437067041034729 Centerline is valid? [True, False] Translation: X:312.80, Y:-19.35, Z:-4.22 [[ 9.99680974e-01 -2.39191400e-02 -8.11326591e-03 3.12799344e+02] [ 2.39594942e-02 9.99700855e-01 4.91366043e-03 -1.93461754e+01] [ 7.99330833e-03 -5.10648259e-03 9.99955014e-01 -4.22239902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880371743 meters Centerline goodness [0,1] 0.9542677324513047 Centerline is valid? [False, True] Translation: X:312.80, Y:-19.35, Z:-4.22 [[ 9.99689226e-01 -2.34967538e-02 -8.32791095e-03 3.12799871e+02] [ 2.35406789e-02 9.99709271e-01 5.21625274e-03 -1.93464101e+01] [ 8.20292478e-03 -5.41067634e-03 9.99951717e-01 -4.22240914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.910371743 meters Centerline goodness [0,1] 0.9600203130049397 Centerline is valid? [True, True] Translation: X:312.83, Y:-19.34, Z:-4.22 [[ 9.99753502e-01 -2.05642529e-02 -8.36941061e-03 3.12830438e+02] [ 2.05703079e-02 9.99788205e-01 6.38023484e-04 -1.93445863e+01] [ 8.35451754e-03 -8.10027566e-04 9.99964772e-01 -4.22018084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940371743 meters Centerline goodness [0,1] 0.9557748033669105 Centerline is valid? [True, True] Translation: X:312.86, Y:-19.35, Z:-4.22 [[ 9.99783580e-01 -1.90465411e-02 -8.36791087e-03 3.12860331e+02] [ 1.90525438e-02 9.99818280e-01 6.38210184e-04 -1.93495079e+01] [ 8.35423456e-03 -7.97502051e-04 9.99964785e-01 -4.22056234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.970371743 meters Centerline goodness [0,1] 0.9601232637291878 Centerline is valid? [True, True] Translation: X:312.89, Y:-19.35, Z:-4.22 [[ 9.99835611e-01 -1.62264753e-02 -8.09022924e-03 3.12890849e+02] [ 1.62319939e-02 9.99868062e-01 6.16926160e-04 -1.93501880e+01] [ 8.07915129e-03 -7.48145295e-04 9.99967083e-01 -4.22016015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000371743 meters Centerline goodness [0,1] 0.9605299539170506 Centerline is valid? [True, True] Translation: X:312.92, Y:-19.35, Z:-4.22 [[ 9.99854469e-01 -1.53382990e-02 -7.46843793e-03 3.12922059e+02] [ 1.53429815e-02 9.99882127e-01 5.70073638e-04 -1.93531146e+01] [ 7.45881364e-03 -6.84578779e-04 9.99971948e-01 -4.22032305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.030371743 meters Centerline goodness [0,1] 0.9630396759642824 Centerline is valid? [True, True] Translation: X:312.95, Y:-19.36, Z:-4.22 [[ 9.99877893e-01 -1.39661768e-02 -7.01040633e-03 3.12953210e+02] [ 1.39702710e-02 9.99902268e-01 5.35382469e-04 -1.93552815e+01] [ 7.00224394e-03 -6.33254371e-04 9.99975283e-01 -4.22053292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060371743 meters Centerline goodness [0,1] 0.9611232592933594 Centerline is valid? [True, True] Translation: X:312.98, Y:-19.36, Z:-4.22 [[ 9.99896550e-01 -1.25634804e-02 -7.00342472e-03 3.12983571e+02] [ 1.25675340e-02 9.99920882e-01 5.35095096e-04 -1.93592904e+01] [ 6.99614797e-03 -6.23055518e-04 9.99975333e-01 -4.22115666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.090371743 meters Centerline goodness [0,1] 0.9655989146181617 Centerline is valid? [True, True] Translation: X:313.02, Y:-19.36, Z:-4.22 [[ 9.99897227e-01 -1.22244475e-02 -7.48994548e-03 3.13015979e+02] [ 1.22290808e-02 9.99925058e-01 5.73124392e-04 -1.93572350e+01] [ 7.48237803e-03 -6.64660639e-04 9.99971786e-01 -4.22063315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120371743 meters Centerline goodness [0,1] 0.9653676673092811 Centerline is valid? [True, True] Translation: X:313.05, Y:-19.36, Z:-4.22 [[ 9.99906462e-01 -1.16031615e-02 -7.24105821e-03 3.13047466e+02] [ 1.16074756e-02 9.99932478e-01 5.54031198e-04 -1.93604934e+01] [ 7.23414076e-03 -6.38029782e-04 9.99973630e-01 -4.22037481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.150371743 meters Centerline goodness [0,1] 0.9644373064127567 Centerline is valid? [True, True] Translation: X:313.08, Y:-19.37, Z:-4.22 [[ 9.99908929e-01 -1.17804040e-02 -6.58457438e-03 3.13078141e+02] [ 1.17839787e-02 9.99930439e-01 5.04352452e-04 -1.93669701e+01] [ 6.57817487e-03 -5.81899004e-04 9.99978194e-01 -4.22021205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180371743 meters Centerline goodness [0,1] 0.9631813176729676 Centerline is valid? [True, True] Translation: X:313.11, Y:-19.37, Z:-4.22 [[ 9.99913270e-01 -1.18614522e-02 -5.72355027e-03 3.13109133e+02] [ 1.18641565e-02 9.99929522e-01 4.38764894e-04 -1.93735669e+01] [ 5.71794250e-03 -5.06631936e-04 9.99983524e-01 -4.22081818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.210371743 meters Centerline goodness [0,1] 0.9652955710102489 Centerline is valid? [True, True] Translation: X:313.14, Y:-19.38, Z:-4.22 [[ 9.99905733e-01 -1.26630467e-02 -5.30777562e-03 3.13140746e+02] [ 1.26653853e-02 9.99919708e-01 4.07223430e-04 -1.93752284e+01] [ 5.30219276e-03 -4.74410065e-04 9.99985831e-01 -4.21957074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240371743 meters Centerline goodness [0,1] 0.9627495369417576 Centerline is valid? [True, True] Translation: X:313.17, Y:-19.38, Z:-4.22 [[ 9.99907851e-01 -1.27478048e-02 -4.66723957e-03 3.13171672e+02] [ 1.27496154e-02 9.99918656e-01 3.58387114e-04 -1.93816587e+01] [ 4.66229127e-03 -4.17859599e-04 9.99989044e-01 -4.21977529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.270371743 meters Centerline goodness [0,1] 0.9643516513573268 Centerline is valid? [True, True] Translation: X:313.20, Y:-19.38, Z:-4.22 [[ 9.99911222e-01 -1.25893094e-02 -4.36547639e-03 3.13203911e+02] [ 1.25908941e-02 9.99920675e-01 3.35731790e-04 -1.93827380e+01] [ 4.36090347e-03 -3.90667236e-04 9.99990415e-01 -4.21938473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300371743 meters Centerline goodness [0,1] 0.9635259050262804 Centerline is valid? [True, True] Translation: X:313.23, Y:-19.39, Z:-4.22 [[ 9.99906624e-01 -1.28540522e-02 -4.63850287e-03 3.13234967e+02] [ 1.28558444e-02 9.99917297e-01 3.56768643e-04 -1.93899655e+01] [ 4.63353333e-03 -4.16367201e-04 9.99989178e-01 -4.22029223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.330371743 meters Centerline goodness [0,1] 0.9644501162207739 Centerline is valid? [True, True] Translation: X:313.27, Y:-19.39, Z:-4.22 [[ 9.99903102e-01 -1.29245857e-02 -5.17115506e-03 3.13267114e+02] [ 1.29268167e-02 9.99916366e-01 3.98235699e-04 -1.93912184e+01] [ 5.16557554e-03 -4.65043684e-04 9.99986550e-01 -4.22066540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36037174300003 meters Centerline goodness [0,1] 0.9542710602759622 Centerline is valid? [True, True] Translation: X:313.30, Y:-19.41, Z:-4.22 [[ 9.99902186e-01 -1.28191300e-02 -5.59366705e-03 3.13296754e+02] [ 1.28217393e-02 9.99917705e-01 4.30855957e-04 -1.94066472e+01] [ 5.58768352e-03 -5.02534353e-04 9.99984263e-01 -4.22324634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.390371743 meters Centerline goodness [0,1] 0.9637866606273355 Centerline is valid? [True, True] Translation: X:313.33, Y:-19.40, Z:-4.22 [[ 9.99902186e-01 -1.28576317e-02 -5.50453149e-03 3.13329070e+02] [ 1.28601621e-02 9.99917215e-01 4.24553348e-04 -1.94039970e+01] [ 5.49861705e-03 -4.95300988e-04 9.99984760e-01 -4.22309796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42037174300003 meters Centerline goodness [0,1] 0.9647061476703802 Centerline is valid? [True, True] Translation: X:313.36, Y:-19.41, Z:-4.22 [[ 9.99907124e-01 -1.24209251e-02 -5.60926411e-03 3.13361492e+02] [ 1.24235482e-02 9.99922731e-01 4.33024599e-04 -1.94079876e+01] [ 5.60345212e-03 -5.02671344e-04 9.99984174e-01 -4.22362138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.450371743 meters Centerline goodness [0,1] 0.9660200759631037 Centerline is valid? [True, True] Translation: X:313.39, Y:-19.41, Z:-4.22 [[ 9.99910952e-01 -1.20049103e-02 -5.82836033e-03 3.13393171e+02] [ 1.20077376e-02 9.99927803e-01 4.50347795e-04 -1.94109799e+01] [ 5.82253316e-03 -5.20293114e-04 9.99982914e-01 -4.22359504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.480371743 meters Centerline goodness [0,1] 0.9563903670965996 Centerline is valid? [True, True] Translation: X:313.42, Y:-19.42, Z:-4.23 [[ 9.99913303e-01 -1.17713860e-02 -5.90087377e-03 3.13423338e+02] [ 1.17742810e-02 9.99930577e-01 4.56094333e-04 -1.94224990e+01] [ 5.89509525e-03 -5.25533336e-04 9.99982486e-01 -4.22505829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.510371743 meters Centerline goodness [0,1] 0.9658054024753817 Centerline is valid? [True, True] Translation: X:313.46, Y:-19.42, Z:-4.22 [[ 9.99917917e-01 -1.11725025e-02 -6.27169779e-03 3.13455688e+02] [ 1.11757647e-02 9.99937431e-01 4.85346179e-04 -1.94188941e+01] [ 6.26588285e-03 -5.55397359e-04 9.99980215e-01 -4.22353548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.540371743 meters Centerline goodness [0,1] 0.9642350077749983 Centerline is valid? [True, True] Translation: X:313.49, Y:-19.42, Z:-4.22 [[ 9.99930035e-01 -1.00668562e-02 -6.21151503e-03 3.13486373e+02] [ 1.00700343e-02 9.99949180e-01 4.80587565e-04 -1.94246136e+01] [ 6.20636135e-03 -5.43104111e-04 9.99980593e-01 -4.22461830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.570371743 meters Centerline goodness [0,1] 0.9642350077749983 Centerline is valid? [True, True] Translation: X:313.52, Y:-19.43, Z:-4.22 [[ 9.99930395e-01 -1.00310808e-02 -6.21149799e-03 3.13517246e+02] [ 1.00342597e-02 9.99949540e-01 4.80807756e-04 -1.94270319e+01] [ 6.20636154e-03 -5.43102073e-04 9.99980593e-01 -4.22490174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.600371743 meters Centerline goodness [0,1] 0.9667042634784571 Centerline is valid? [True, True] Translation: X:313.55, Y:-19.43, Z:-4.22 [[ 9.99939722e-01 -9.08860757e-03 -6.16028247e-03 3.13548879e+02] [ 9.09171789e-03 9.99958556e-01 4.77082819e-04 -1.94276323e+01] [ 6.15569114e-03 -5.33061612e-04 9.99980911e-01 -4.22470027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.630371743 meters Centerline goodness [0,1] 0.8459928988080142 Centerline is valid? [True, False] Translation: X:313.59, Y:-19.43, Z:-4.22 [[ 9.99939185e-01 -9.10933900e-03 -6.21666657e-03 3.13594822e+02] [ 9.10756607e-03 9.99958476e-01 -3.13440562e-04 -1.94315316e+01] [ 6.21926367e-03 2.56802798e-04 9.99980627e-01 -4.22316570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.660371743 meters Centerline goodness [0,1] 0.9667907501410039 Centerline is valid? [False, True] Translation: X:313.54, Y:-19.43, Z:-4.23 [[ 9.99968865e-01 -6.26312252e-03 -4.80016955e-03 3.13543754e+02] [ 6.28289826e-03 9.99971792e-01 4.11585444e-03 -1.94318304e+01] [ 4.77425605e-03 -4.14588527e-03 9.99980009e-01 -4.22606200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.690371743 meters Centerline goodness [0,1] 0.9669944766267008 Centerline is valid? [True, True] Translation: X:313.57, Y:-19.44, Z:-4.23 [[ 9.99976769e-01 -4.53165672e-03 -5.09174977e-03 3.13573546e+02] [ 4.53371362e-03 9.99989646e-01 3.92498707e-04 -1.94376691e+01] [ 5.08991838e-03 -4.15574124e-04 9.99986960e-01 -4.22537001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.720371743 meters Centerline goodness [0,1] 0.9663448585541087 Centerline is valid? [True, True] Translation: X:313.60, Y:-19.44, Z:-4.23 [[ 9.99981849e-01 -3.33378204e-03 -5.01866361e-03 3.13603852e+02] [ 3.33575911e-03 9.99994362e-01 3.85624811e-04 -1.94385438e+01] [ 5.01734972e-03 -4.02358865e-04 9.99987332e-01 -4.22536223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.750371743 meters Centerline goodness [0,1] 0.9665812657317512 Centerline is valid? [True, True] Translation: X:313.63, Y:-19.44, Z:-4.23 [[ 9.99988994e-01 -1.03430950e-03 -4.57628508e-03 3.13633462e+02] [ 1.03592902e-03 9.99999402e-01 3.51538088e-04 -1.94432970e+01] [ 4.57591874e-03 -3.56274926e-04 9.99989467e-01 -4.22596453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.780371743 meters Centerline goodness [0,1] 0.9681053598226085 Centerline is valid? [True, True] Translation: X:313.66, Y:-19.44, Z:-4.23 [[ 9.99989074e-01 1.07507265e-03 -4.54920679e-03 3.13663846e+02] [-1.07349433e-03 9.99999363e-01 3.49371681e-04 -1.94447319e+01] [ 4.54957949e-03 -3.44484317e-04 9.99989591e-01 -4.22559149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.810371743 meters Centerline goodness [0,1] 0.9676355806755483 Centerline is valid? [True, True] Translation: X:313.69, Y:-19.45, Z:-4.23 [[ 9.99985639e-01 2.49272331e-03 -4.74435810e-03 3.13691921e+02] [-2.49102535e-03 9.99996831e-01 3.63765951e-04 -1.94488303e+01] [ 4.74524984e-03 -3.51942410e-04 9.99988679e-01 -4.22603517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.840371743 meters Centerline goodness [0,1] 0.9686772344617589 Centerline is valid? [True, True] Translation: X:313.72, Y:-19.45, Z:-4.23 [[ 9.99982214e-01 3.05818000e-03 -5.12042460e-03 3.13721024e+02] [-3.05621216e-03 9.99995253e-01 3.92092445e-04 -1.94492829e+01] [ 5.12159938e-03 -3.76436368e-04 9.99986814e-01 -4.22621456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.870371743 meters Centerline goodness [0,1] 0.9686673539826975 Centerline is valid? [True, True] Translation: X:313.75, Y:-19.45, Z:-4.23 [[ 9.99969650e-01 5.24482397e-03 -5.76114881e-03 3.13749738e+02] [-5.24236760e-03 9.99986161e-01 4.41385865e-04 -1.94537171e+01] [ 5.76338408e-03 -4.11170409e-04 9.99983307e-01 -4.22783621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.900371743 meters Centerline goodness [0,1] 0.9688220933097409 Centerline is valid? [True, True] Translation: X:313.78, Y:-19.46, Z:-4.23 [[ 9.99964035e-01 6.23231400e-03 -5.75216481e-03 3.13777399e+02] [-6.22988741e-03 9.99980497e-01 4.39678977e-04 -1.94578981e+01] [ 5.75479284e-03 -4.03827825e-04 9.99983360e-01 -4.22915180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.930371743 meters Centerline goodness [0,1] 0.9687032947422427 Centerline is valid? [True, True] Translation: X:313.81, Y:-19.46, Z:-4.23 [[ 9.99956597e-01 7.15060242e-03 -5.97270765e-03 3.13805903e+02] [-7.14800381e-03 9.99974349e-01 4.56313321e-04 -1.94589450e+01] [ 5.97581735e-03 -4.13600579e-04 9.99982059e-01 -4.22950137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.960371743 meters Centerline goodness [0,1] 0.9704490930696621 Centerline is valid? [True, True] Translation: X:313.84, Y:-19.46, Z:-4.23 [[ 9.99949586e-01 8.02438913e-03 -6.03611569e-03 3.13835082e+02] [-8.02175752e-03 9.99967719e-01 4.60061321e-04 -1.94605549e+01] [ 6.03961255e-03 -4.11617871e-04 9.99981677e-01 -4.22879692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.990371743 meters Centerline goodness [0,1] 0.9692018443081606 Centerline is valid? [True, True] Translation: X:313.86, Y:-19.46, Z:-4.23 [[ 9.99948060e-01 8.48365411e-03 -5.64848643e-03 3.13864000e+02] [-8.48135726e-03 9.99963940e-01 4.30461812e-04 -1.94628084e+01] [ 5.65193463e-03 -3.82532622e-04 9.99983955e-01 -4.22917845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.020371743 meters Centerline goodness [0,1] 0.9696286205587441 Centerline is valid? [True, True] Translation: X:313.89, Y:-19.46, Z:-4.23 [[ 9.99945318e-01 9.00343805e-03 -5.31972498e-03 3.13892952e+02] [-9.00141042e-03 9.99959404e-01 4.04974108e-04 -1.94629052e+01] [ 5.32315518e-03 -3.57066935e-04 9.99985768e-01 -4.22875890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.050371743 meters Centerline goodness [0,1] 0.9695642458100558 Centerline is valid? [True, True] Translation: X:313.92, Y:-19.47, Z:-4.23 [[ 9.99945212e-01 8.65312669e-03 -5.89031006e-03 3.13920118e+02] [-8.65063836e-03 9.99962482e-01 4.47792066e-04 -1.94669924e+01] [ 5.89396387e-03 -3.96812591e-04 9.99982552e-01 -4.22938680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.080371743 meters Centerline goodness [0,1] 0.9710323230063751 Centerline is valid? [True, True] Translation: X:313.95, Y:-19.47, Z:-4.23 [[ 9.99948401e-01 8.21343005e-03 -5.97791185e-03 3.13948934e+02] [-8.21086082e-03 9.99966187e-01 4.54201829e-04 -1.94679556e+01] [ 5.98144028e-03 -4.05094590e-04 9.99982029e-01 -4.22960758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11037174300003 meters Centerline goodness [0,1] 0.9695077067207959 Centerline is valid? [True, True] Translation: X:313.98, Y:-19.47, Z:-4.23 [[ 9.99953032e-01 7.49913054e-03 -6.13982317e-03 3.13975909e+02] [-7.49641063e-03 9.99971793e-01 4.65888182e-04 -1.94733134e+01] [ 6.14314374e-03 -4.19839664e-04 9.99981043e-01 -4.23101629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.140371743 meters Centerline goodness [0,1] 0.9716073575914131 Centerline is valid? [True, True] Translation: X:314.01, Y:-19.48, Z:-4.23 [[ 9.99964752e-01 6.05020010e-03 -5.82157425e-03 3.14005017e+02] [-6.04773078e-03 9.99981615e-01 4.41678104e-04 -1.94750330e+01] [ 5.82413946e-03 -4.06455221e-04 9.99982957e-01 -4.23025563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17037174300003 meters Centerline goodness [0,1] 0.9709769601714592 Centerline is valid? [True, True] Translation: X:314.03, Y:-19.48, Z:-4.23 [[ 9.99967997e-01 5.12126936e-03 -6.14634716e-03 3.14033737e+02] [-5.11850302e-03 9.99986792e-01 4.65724494e-04 -1.94761849e+01] [ 6.14865107e-03 -4.34249493e-04 9.99981003e-01 -4.22981553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.200371743 meters Centerline goodness [0,1] 0.9697771400385633 Centerline is valid? [True, True] Translation: X:314.06, Y:-19.48, Z:-4.23 [[ 9.99976023e-01 3.48417665e-03 -5.98449092e-03 3.14061321e+02] [-3.48152757e-03 9.99993837e-01 4.53018169e-04 -1.94825393e+01] [ 5.98603243e-03 -4.32172137e-04 9.99981990e-01 -4.23054203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.230371743 meters Centerline goodness [0,1] 0.9673562809715339 Centerline is valid? [True, True] Translation: X:314.09, Y:-19.49, Z:-4.23 [[ 9.99978463e-01 2.99158085e-03 -5.84153220e-03 3.14088365e+02] [-2.98905242e-03 9.99995435e-01 4.41520449e-04 -1.94899068e+01] [ 5.84282638e-03 -4.24050294e-04 9.99982841e-01 -4.23168864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.260371743 meters Centerline goodness [0,1] 0.9702311880746228 Centerline is valid? [True, True] Translation: X:314.12, Y:-19.49, Z:-4.23 [[ 9.99981867e-01 1.95843805e-03 -5.69480974e-03 3.14117087e+02] [-1.95601981e-03 9.99997994e-01 4.30177643e-04 -1.94879158e+01] [ 5.69564079e-03 -4.19030682e-04 9.99983692e-01 -4.23112318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.290371743 meters Centerline goodness [0,1] 0.9661020736503396 Centerline is valid? [True, True] Translation: X:314.15, Y:-19.49, Z:-4.23 [[ 9.99980306e-01 7.82892006e-05 -6.27553068e-03 3.14145007e+02] [-7.53180683e-05 9.99999885e-01 4.73682116e-04 -1.94929953e+01] [ 6.27556705e-03 -4.73200126e-04 9.99980196e-01 -4.23230297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.320371743 meters Centerline goodness [0,1] 0.9654633885145687 Centerline is valid? [True, True] Translation: X:314.17, Y:-19.50, Z:-4.23 [[ 9.99981821e-01 -9.38814284e-04 -5.95615063e-03 3.14174075e+02] [ 9.41506025e-04 9.99999456e-01 4.49138525e-04 -1.94954574e+01] [ 5.95572573e-03 -4.54738112e-04 9.99982161e-01 -4.23269665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.350371743 meters Centerline goodness [0,1] 0.9655218554861731 Centerline is valid? [True, True] Translation: X:314.20, Y:-19.50, Z:-4.23 [[ 9.99981678e-01 -1.84108735e-03 -5.76663478e-03 3.14202882e+02] [ 1.84362305e-03 9.99998206e-01 4.34433035e-04 -1.94976467e+01] [ 5.76582460e-03 -4.45056576e-04 9.99983278e-01 -4.23294742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380371743 meters Centerline goodness [0,1] 0.9585091891650477 Centerline is valid? [True, True] Translation: X:314.23, Y:-19.50, Z:-4.23 [[ 9.99971334e-01 -4.43019960e-03 -6.14042342e-03 3.14231493e+02] [ 4.43312420e-03 9.99990067e-01 4.62757649e-04 -1.95023164e+01] [ 6.13831231e-03 -4.89965644e-04 9.99981040e-01 -4.23372557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.410371743 meters Centerline goodness [0,1] 0.9677916164456943 Centerline is valid? [True, True] Translation: X:314.26, Y:-19.50, Z:-4.23 [[ 9.99969315e-01 -5.24409048e-03 -5.81959282e-03 3.14261466e+02] [ 5.24672978e-03 9.99986140e-01 4.38344455e-04 -1.94978553e+01] [ 5.81721344e-03 -4.68864836e-04 9.99982970e-01 -4.23230292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440371743 meters Centerline goodness [0,1] 0.9490884688513589 Centerline is valid? [True, False] Translation: X:314.26, Y:-19.50, Z:-4.23 [[ 9.99967651e-01 -5.75872591e-03 -5.61554743e-03 3.14260837e+02] [ 5.75808693e-03 9.99983414e-01 -1.29948788e-04 -1.94964272e+01] [ 5.61620263e-03 9.76097739e-05 9.99984224e-01 -4.23199396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.470371743 meters Centerline goodness [0,1] 0.9674914981206372 Centerline is valid? [False, True] Translation: X:314.26, Y:-19.50, Z:-4.23 [[ 9.99966320e-01 -5.86760194e-03 -5.73842939e-03 3.14261119e+02] [ 5.86602813e-03 9.99982752e-01 -2.91050453e-04 -1.94957551e+01] [ 5.74003818e-03 2.57378862e-04 9.99983493e-01 -4.23206160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500371743 meters Centerline goodness [0,1] 0.9672472463508552 Centerline is valid? [True, True] Translation: X:314.29, Y:-19.50, Z:-4.23 [[ 9.99964390e-01 -6.32678577e-03 -5.58481745e-03 3.14291502e+02] [ 6.32931113e-03 9.99979875e-01 4.34623245e-04 -1.94959905e+01] [ 5.58195529e-03 -4.69955816e-04 9.99984310e-01 -4.23243141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.530371743 meters Centerline goodness [0,1] 0.9665761296549866 Centerline is valid? [True, True] Translation: X:314.32, Y:-19.50, Z:-4.23 [[ 9.99954358e-01 -7.23960984e-03 -6.23452273e-03 3.14322324e+02] [ 7.24277631e-03 9.99973653e-01 4.85464845e-04 -1.94969121e+01] [ 6.23084389e-03 -5.30597941e-04 9.99980447e-01 -4.23242464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560371743 meters Centerline goodness [0,1] 0.9666659189304381 Centerline is valid? [True, True] Translation: X:314.35, Y:-19.50, Z:-4.23 [[ 9.99951433e-01 -7.46646315e-03 -6.43301283e-03 3.14352851e+02] [ 7.46983801e-03 9.99971975e-01 5.00748078e-04 -1.94981748e+01] [ 6.42909373e-03 -5.48777322e-04 9.99979183e-01 -4.23244076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.590371743 meters Centerline goodness [0,1] 0.9652860314399121 Centerline is valid? [True, True] Translation: X:314.38, Y:-19.50, Z:-4.23 [[ 9.99948475e-01 -7.99962266e-03 -6.24919892e-03 3.14383647e+02] [ 8.00281774e-03 9.99967859e-01 4.86439936e-04 -1.94984275e+01] [ 6.24510673e-03 -5.36426072e-04 9.99980355e-01 -4.23241302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620371743 meters Centerline goodness [0,1] 0.9649008262602157 Centerline is valid? [True, True] Translation: X:314.41, Y:-19.50, Z:-4.23 [[ 9.99948924e-01 -8.05653323e-03 -6.10256302e-03 3.14413651e+02] [ 8.05958286e-03 9.99967408e-01 4.75301140e-04 -1.95010601e+01] [ 6.09853485e-03 -5.24460976e-04 9.99981266e-01 -4.23260588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.650371743 meters Centerline goodness [0,1] 0.9655195742377773 Centerline is valid? [True, True] Translation: X:314.45, Y:-19.50, Z:-4.23 [[ 9.99947547e-01 -8.37632809e-03 -5.89402474e-03 3.14445333e+02] [ 8.37918065e-03 9.99964789e-01 4.59447159e-04 -1.95005991e+01] [ 5.88996873e-03 -5.08810158e-04 9.99982525e-01 -4.23269196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680371743 meters Centerline goodness [0,1] 0.9619363874582091 Centerline is valid? [True, True] Translation: X:314.48, Y:-19.50, Z:-4.23 [[ 9.99939026e-01 -8.74112334e-03 -6.74804976e-03 3.14475686e+02] [ 8.74487362e-03 9.99961624e-01 5.26451528e-04 -1.95043477e+01] [ 6.74318902e-03 -5.85430271e-04 9.99977093e-01 -4.23452070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.710371743 meters Centerline goodness [0,1] 0.9617431878411742 Centerline is valid? [True, True] Translation: X:314.51, Y:-19.51, Z:-4.24 [[ 9.99936778e-01 -9.10225149e-03 -6.60214741e-03 3.14505877e+02] [ 9.10584611e-03 9.99958409e-01 5.14607541e-04 -1.95060233e+01] [ 6.59718872e-03 -5.74693145e-04 9.99978073e-01 -4.23562556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740371743 meters Centerline goodness [0,1] 0.9601187373954816 Centerline is valid? [True, True] Translation: X:314.54, Y:-19.51, Z:-4.24 [[ 9.99922548e-01 -1.04955203e-02 -6.68888712e-03 3.14537035e+02] [ 1.04992447e-02 9.99944745e-01 5.21928053e-04 -1.95072894e+01] [ 6.68303962e-03 -5.92115892e-04 9.99977493e-01 -4.23609793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.770371743 meters Centerline goodness [0,1] 0.9577695032240486 Centerline is valid? [True, True] Translation: X:314.57, Y:-19.51, Z:-4.24 [[ 9.99920652e-01 -1.09163312e-02 -6.28676704e-03 3.14568419e+02] [ 1.09196310e-02 9.99940259e-01 4.90787344e-04 -1.95105606e+01] [ 6.28103387e-03 -5.59397577e-04 9.99980118e-01 -4.23665827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800371743 meters Centerline goodness [0,1] 0.9578774617067833 Centerline is valid? [True, True] Translation: X:314.60, Y:-19.51, Z:-4.24 [[ 9.99903482e-01 -1.21366425e-02 -6.76228085e-03 3.14599570e+02] [ 1.21404895e-02 9.99926162e-01 5.28121941e-04 -1.95119991e+01] [ 6.75537191e-03 -6.10168368e-04 9.99976996e-01 -4.23690974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.830371743 meters Centerline goodness [0,1] 0.9493322412577071 Centerline is valid? [True, False] Translation: X:314.60, Y:-19.51, Z:-4.24 [[ 9.99897690e-01 -1.26709468e-02 -6.63749164e-03 3.14599088e+02] [ 1.26684559e-02 9.99919665e-01 -4.17186976e-04 -1.95094021e+01] [ 6.64224457e-03 3.33057523e-04 9.99977885e-01 -4.23644365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86037174300003 meters Centerline goodness [0,1] 0.947452229299363 Centerline is valid? [False, False] Translation: X:314.60, Y:-19.51, Z:-4.24 [[ 9.99930607e-01 -9.93614938e-03 -6.32888186e-03 3.14598107e+02] [ 9.95631443e-03 9.99945433e-01 3.16269615e-03 -1.95101470e+01] [ 6.29711149e-03 -3.22548902e-03 9.99974971e-01 -4.23660709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.890371743 meters Centerline goodness [0,1] 0.9373891692811349 Centerline is valid? [False, False] Translation: X:314.60, Y:-19.51, Z:-4.24 [[ 9.99927645e-01 -1.02883009e-02 -6.23346755e-03 3.14598015e+02] [ 1.03049677e-02 9.99943397e-01 2.64756151e-03 -1.95084480e+01] [ 6.20587581e-03 -2.71160563e-03 9.99977067e-01 -4.23669373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92037174300003 meters Centerline goodness [0,1] 0.9546331827161054 Centerline is valid? [False, True] Translation: X:314.60, Y:-19.51, Z:-4.24 [[ 9.99927694e-01 -1.02445777e-02 -6.29728475e-03 3.14598473e+02] [ 1.02615727e-02 9.99943778e-01 2.67241965e-03 -1.95080458e+01] [ 6.26955289e-03 -2.73684646e-03 9.99976601e-01 -4.23710827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.950371743 meters Centerline goodness [0,1] 0.9632956233573305 Centerline is valid? [True, True] Translation: X:314.63, Y:-19.50, Z:-4.24 [[ 9.99914208e-01 -1.13562891e-02 -6.52778154e-03 3.14629954e+02] [ 1.13601117e-02 9.99935321e-01 5.48810750e-04 -1.95024575e+01] [ 6.52112687e-03 -6.22919993e-04 9.99978543e-01 -4.23554877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.980371743 meters Centerline goodness [0,1] 0.9572821297289893 Centerline is valid? [True, True] Translation: X:314.66, Y:-19.51, Z:-4.24 [[ 9.99904562e-01 -1.24462751e-02 -5.99644133e-03 3.14660288e+02] [ 1.24495211e-02 9.99922375e-01 5.04297390e-04 -1.95074963e+01] [ 5.98969923e-03 -5.78902084e-04 9.99981894e-01 -4.23604341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.010371743 meters Centerline goodness [0,1] 0.942925604746691 Centerline is valid? [True, False] Translation: X:314.66, Y:-19.51, Z:-4.24 [[ 9.99935112e-01 -9.89573638e-03 -5.64318459e-03 3.14658964e+02] [ 9.91738172e-03 9.99943522e-01 3.82066332e-03 -1.95081942e+01] [ 5.60505760e-03 -3.87638102e-03 9.99976778e-01 -4.23588290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.040371743 meters Centerline goodness [0,1] 0.9539825435269387 Centerline is valid? [False, True] Translation: X:314.66, Y:-19.51, Z:-4.24 [[ 9.99932686e-01 -1.01269082e-02 -5.66300082e-03 3.14658951e+02] [ 1.01460769e-02 9.99942860e-01 3.36647591e-03 -1.95066810e+01] [ 5.62858524e-03 -3.42370654e-03 9.99978298e-01 -4.23576235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.070371743 meters Centerline goodness [0,1] 0.9594167734847098 Centerline is valid? [True, True] Translation: X:314.69, Y:-19.50, Z:-4.24 [[ 9.99924424e-01 -1.09395174e-02 -5.61001806e-03 3.14690873e+02] [ 1.09424518e-02 9.99940008e-01 4.92649663e-04 -1.95046265e+01] [ 5.60429216e-03 -5.53999783e-04 9.99984142e-01 -4.23508758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.100371743 meters Centerline goodness [0,1] 0.8846646243884596 Centerline is valid? [True, False] Translation: X:314.69, Y:-19.50, Z:-4.24 [[ 9.99924550e-01 -1.08829521e-02 -5.69692600e-03 3.14691274e+02] [ 1.08867916e-02 9.99940530e-01 6.43379240e-04 -1.95045447e+01] [ 5.68958534e-03 -7.05351944e-04 9.99983565e-01 -4.23549158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.130371743 meters Centerline goodness [0,1] 0.9514340694584441 Centerline is valid? [False, True] Translation: X:314.69, Y:-19.50, Z:-4.24 [[ 9.99923245e-01 -1.10242886e-02 -5.65404402e-03 3.14691549e+02] [ 1.10285162e-02 9.99938927e-01 7.17075306e-04 -1.95042842e+01] [ 5.64579347e-03 -7.79375983e-04 9.99983759e-01 -4.23616316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.160371743 meters Centerline goodness [0,1] 0.9576606901605185 Centerline is valid? [True, True] Translation: X:314.72, Y:-19.50, Z:-4.24 [[ 9.99912140e-01 -1.18158216e-02 -6.00825946e-03 3.14722933e+02] [ 1.18192763e-02 9.99930004e-01 5.39803533e-04 -1.95027981e+01] [ 6.00146068e-03 -6.10769384e-04 9.99981805e-01 -4.23612455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.190371743 meters Centerline goodness [0,1] 0.9571899766365843 Centerline is valid? [True, True] Translation: X:314.76, Y:-19.51, Z:-4.24 [[ 9.99906469e-01 -1.22831116e-02 -6.01489066e-03 3.14755274e+02] [ 1.22865866e-02 9.99924371e-01 5.41118395e-04 -1.95057662e+01] [ 6.00778914e-03 -6.14970258e-04 9.99981764e-01 -4.23694596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.220371743 meters Centerline goodness [0,1] 0.9142285398840739 Centerline is valid? [True, False] Translation: X:314.76, Y:-19.51, Z:-4.24 [[ 9.99905852e-01 -1.24230595e-02 -5.82711285e-03 3.14755129e+02] [ 1.24264673e-02 9.99922638e-01 5.48983823e-04 -1.95055357e+01] [ 5.81984200e-03 -6.21342564e-04 9.99982872e-01 -4.23730182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.250371743 meters Centerline goodness [0,1] 0.9292179000777072 Centerline is valid? [False, False] Translation: X:314.76, Y:-19.51, Z:-4.24 [[ 9.99906450e-01 -1.22980207e-02 -5.98745599e-03 3.14755561e+02] [ 1.23019997e-02 9.99924130e-01 6.28168907e-04 -1.95054332e+01] [ 5.97927649e-03 -7.01767824e-04 9.99981878e-01 -4.23742265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.280371743 meters Centerline goodness [0,1] 0.9157142529946635 Centerline is valid? [False, False] Translation: X:314.75, Y:-19.51, Z:-4.24 [[ 9.99939855e-01 -9.51979307e-03 -5.44600216e-03 3.14753784e+02] [ 9.54157105e-03 9.99946530e-01 3.98698553e-03 -1.95060176e+01] [ 5.40775569e-03 -4.03870916e-03 9.99977222e-01 -4.23697474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.310371743 meters Centerline goodness [0,1] 0.9480653600771102 Centerline is valid? [False, False] Translation: X:314.75, Y:-19.51, Z:-4.24 [[ 9.99939848e-01 -9.55878532e-03 -5.37862222e-03 3.14753578e+02] [ 9.57934377e-03 9.99946860e-01 3.80956066e-03 -1.95052931e+01] [ 5.34192163e-03 -3.86085518e-03 9.99978279e-01 -4.23679873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.340371743 meters Centerline goodness [0,1] 0.9475614228089475 Centerline is valid? [False, False] Translation: X:314.75, Y:-19.50, Z:-4.24 [[ 9.99940326e-01 -9.39632577e-03 -5.57258520e-03 3.14753997e+02] [ 9.41755931e-03 9.99948447e-01 3.79643629e-03 -1.95047273e+01] [ 5.53662537e-03 -3.84868989e-03 9.99977266e-01 -4.23674418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.370371743 meters Centerline goodness [0,1] 0.9472703001288897 Centerline is valid? [False, False] Translation: X:314.75, Y:-19.50, Z:-4.24 [[ 9.99941493e-01 -9.20248505e-03 -5.68541930e-03 3.14754148e+02] [ 9.22193394e-03 9.99951683e-01 3.40414381e-03 -1.95030966e+01] [ 5.65381801e-03 -3.45637521e-03 9.99978044e-01 -4.23631638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.400371743 meters Centerline goodness [0,1] 0.945226917057903 Centerline is valid? [False, False] Translation: X:314.75, Y:-19.50, Z:-4.24 [[ 9.99942004e-01 -8.98224529e-03 -5.94210141e-03 3.14754816e+02] [ 9.00195287e-03 9.99954042e-01 3.29821137e-03 -1.95020824e+01] [ 5.91220298e-03 -3.35151061e-03 9.99976906e-01 -4.23642813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.430371743 meters Centerline goodness [0,1] 0.9516881437347005 Centerline is valid? [False, True] Translation: X:314.76, Y:-19.50, Z:-4.24 [[ 9.99945113e-01 -8.35893798e-03 -6.31662658e-03 3.14756033e+02] [ 8.37849160e-03 9.99960170e-01 3.07548356e-03 -1.94998631e+01] [ 6.29066722e-03 -3.12823855e-03 9.99975321e-01 -4.23668427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.460371743 meters Centerline goodness [0,1] 0.9548326326188343 Centerline is valid? [True, True] Translation: X:314.79, Y:-19.50, Z:-4.24 [[ 9.99959907e-01 -5.94589106e-03 -6.69555363e-03 3.14787155e+02] [ 5.95008215e-03 9.99982114e-01 6.06205447e-04 -1.95003733e+01] [ 6.69182945e-03 -6.46020237e-04 9.99977401e-01 -4.23618592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.490371743 meters Centerline goodness [0,1] 0.942751979258299 Centerline is valid? [True, False] Translation: X:314.79, Y:-19.50, Z:-4.24 [[ 9.99976395e-01 -2.15290832e-03 -6.52493206e-03 3.14787140e+02] [ 2.18005642e-03 9.99988986e-01 4.15641844e-03 -1.94988916e+01] [ 6.51591181e-03 -4.17054505e-03 9.99970074e-01 -4.23676737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.520371743 meters Centerline goodness [0,1] 0.942751979258299 Centerline is valid? [False, False] Translation: X:314.79, Y:-19.50, Z:-4.24 [[ 9.99976395e-01 -2.15290832e-03 -6.52493206e-03 3.14787140e+02] [ 2.18005642e-03 9.99988986e-01 4.15641844e-03 -1.94988916e+01] [ 6.51591181e-03 -4.17054505e-03 9.99970074e-01 -4.23676737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.550371743 meters Centerline goodness [0,1] 0.9475586027981099 Centerline is valid? [False, False] Translation: X:314.79, Y:-19.50, Z:-4.24 [[ 9.99974318e-01 -1.95198504e-03 -6.89593516e-03 3.14787989e+02] [ 1.97630677e-03 9.99991845e-01 3.52191414e-03 -1.94967901e+01] [ 6.88900420e-03 -3.53545218e-03 9.99970021e-01 -4.23656927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.580371743 meters Centerline goodness [0,1] 0.9656875246331116 Centerline is valid? [False, True] Translation: X:314.79, Y:-19.49, Z:-4.24 [[ 9.99972988e-01 -1.64255909e-03 -7.16421348e-03 3.14788788e+02] [ 1.66377790e-03 9.99994244e-01 2.95682434e-03 -1.94945023e+01] [ 7.15931549e-03 -2.96866413e-03 9.99969965e-01 -4.23650222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61037174300003 meters Centerline goodness [0,1] 0.9668296089385475 Centerline is valid? [True, True] Translation: X:314.82, Y:-19.49, Z:-4.24 [[ 9.99964814e-01 3.39347035e-03 -7.67174121e-03 3.14819450e+02] [-3.38849327e-03 9.99994040e-01 6.61660269e-04 -1.94898987e+01] [ 7.67394081e-03 -6.35641344e-04 9.99970353e-01 -4.23586691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.640371743 meters Centerline goodness [0,1] 0.9677314135271778 Centerline is valid? [True, True] Translation: X:314.85, Y:-19.49, Z:-4.24 [[ 9.99955760e-01 5.59821249e-03 -7.55892578e-03 3.14849464e+02] [-5.59344463e-03 9.99984144e-01 6.51751975e-04 -1.94903237e+01] [ 7.56245458e-03 -6.09442709e-04 9.99971219e-01 -4.23621937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67037174300003 meters Centerline goodness [0,1] 0.9695488458030264 Centerline is valid? [True, True] Translation: X:314.88, Y:-19.49, Z:-4.24 [[ 9.99927176e-01 9.84967816e-03 -6.97326308e-03 3.14880407e+02] [-9.84572274e-03 9.99951349e-01 6.01330085e-04 -1.94879364e+01] [ 6.97884673e-03 -5.32629479e-04 9.99975506e-01 -4.23536550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.700371743 meters Centerline goodness [0,1] 0.9699088145896656 Centerline is valid? [True, True] Translation: X:314.91, Y:-19.49, Z:-4.23 [[ 9.99916742e-01 1.11758314e-02 -6.45060013e-03 3.14909377e+02] [-1.11724804e-02 9.99937432e-01 5.55294525e-04 -1.94876728e+01] [ 6.45640240e-03 -4.83179089e-04 9.99979040e-01 -4.23486638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.730371743 meters Centerline goodness [0,1] 0.9699828271660119 Centerline is valid? [True, True] Translation: X:314.94, Y:-19.49, Z:-4.24 [[ 9.99899038e-01 1.26332121e-02 -6.50506565e-03 3.14938639e+02] [-1.26298418e-02 9.99920084e-01 5.58927988e-04 -1.94876103e+01] [ 6.51160685e-03 -4.76713607e-04 9.99978686e-01 -4.23510196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.760371743 meters Centerline goodness [0,1] 0.9704533157684255 Centerline is valid? [True, True] Translation: X:314.97, Y:-19.49, Z:-4.24 [[ 9.99897379e-01 1.28355649e-02 -6.36242158e-03 3.14965839e+02] [-1.28323473e-02 9.99917513e-01 5.46272735e-04 -1.94908646e+01] [ 6.36890848e-03 -4.64571873e-04 9.99979610e-01 -4.23530394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.790371743 meters Centerline goodness [0,1] 0.9708500117730162 Centerline is valid? [True, True] Translation: X:315.00, Y:-19.49, Z:-4.24 [[ 9.99899501e-01 1.25853950e-02 -6.52654228e-03 3.14995136e+02] [-1.25820062e-02 9.99920687e-01 5.60034713e-04 -1.94905505e+01] [ 6.53307289e-03 -4.77861435e-04 9.99978545e-01 -4.23546470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.820371743 meters Centerline goodness [0,1] 0.9710172291715836 Centerline is valid? [True, True] Translation: X:315.02, Y:-19.49, Z:-4.23 [[ 9.99906378e-01 1.18427310e-02 -6.85453608e-03 3.15024384e+02] [-1.18389790e-02 9.99929744e-01 5.87694939e-04 -1.94896064e+01] [ 6.86101442e-03 -5.06489209e-04 9.99976335e-01 -4.23497512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.850371743 meters Centerline goodness [0,1] 0.9500792923990976 Centerline is valid? [True, True] Translation: X:315.05, Y:-19.52, Z:-4.24 [[ 9.99889682e-01 1.40351914e-02 -4.86191128e-03 3.15051207e+02] [-1.40333298e-02 9.99901441e-01 4.16788743e-04 -1.95156593e+01] [ 4.86728181e-03 -3.48513959e-04 9.99988094e-01 -4.23819865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880371743 meters Centerline goodness [0,1] 0.9687188966301721 Centerline is valid? [True, True] Translation: X:315.08, Y:-19.50, Z:-4.24 [[ 9.99912360e-01 1.03025242e-02 -8.31445632e-03 3.15082686e+02] [-1.02969501e-02 9.99946731e-01 7.12942608e-04 -1.95003312e+01] [ 8.32135852e-03 -6.27266584e-04 9.99965180e-01 -4.23660539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.910371743 meters Centerline goodness [0,1] 0.9699157356561258 Centerline is valid? [True, True] Translation: X:315.11, Y:-19.50, Z:-4.24 [[ 9.99922351e-01 8.82851316e-03 -8.79482596e-03 3.15112325e+02] [-8.82222614e-03 9.99960800e-01 7.53394383e-04 -1.94963455e+01] [ 8.80113255e-03 -6.75745940e-04 9.99961041e-01 -4.23549338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940371743 meters Centerline goodness [0,1] 0.9693430311071098 Centerline is valid? [True, True] Translation: X:315.14, Y:-19.50, Z:-4.24 [[ 9.99930241e-01 7.92342539e-03 -8.75966316e-03 3.15140790e+02] [-7.91716071e-03 9.99968378e-01 7.49619426e-04 -1.94991721e+01] [ 8.76532571e-03 -6.80215472e-04 9.99961352e-01 -4.23577457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.970371743 meters Centerline goodness [0,1] 0.969364805037998 Centerline is valid? [True, True] Translation: X:315.17, Y:-19.50, Z:-4.24 [[ 9.99937270e-01 6.82474482e-03 -8.88138151e-03 3.15170515e+02] [-6.81826217e-03 9.99976467e-01 7.59988044e-04 -1.95026746e+01] [ 8.88635922e-03 -6.99384782e-04 9.99960271e-01 -4.23633933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000371743 meters Centerline goodness [0,1] 0.9660964672945977 Centerline is valid? [True, True] Translation: X:315.20, Y:-19.51, Z:-4.24 [[ 9.99955143e-01 5.16772392e-03 -7.93761468e-03 3.15198437e+02] [-5.16250072e-03 9.99986444e-01 6.78380022e-04 -1.95077578e+01] [ 7.94101276e-03 -6.37371651e-04 9.99968267e-01 -4.23686610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.030371743 meters Centerline goodness [0,1] 0.9665189678458878 Centerline is valid? [True, True] Translation: X:315.23, Y:-19.51, Z:-4.24 [[ 9.99962789e-01 4.35821583e-03 -7.44492161e-03 3.15226871e+02] [-4.35360271e-03 9.99990321e-01 6.35726758e-04 -1.95115566e+01] [ 7.44762019e-03 -6.03290871e-04 9.99972084e-01 -4.23676904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060371743 meters Centerline goodness [0,1] 0.9642137694039579 Centerline is valid? [True, True] Translation: X:315.25, Y:-19.52, Z:-4.24 [[ 9.99966160e-01 3.71813292e-03 -7.33854538e-03 3.15254549e+02] [-3.71363923e-03 9.99992909e-01 6.25872269e-04 -1.95153953e+01] [ 7.34082042e-03 -5.98598379e-04 9.99972877e-01 -4.23701922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.090371743 meters Centerline goodness [0,1] 0.9645240187115618 Centerline is valid? [True, True] Translation: X:315.28, Y:-19.52, Z:-4.24 [[ 9.99971708e-01 2.13920589e-03 -7.21161282e-03 3.15283925e+02] [-2.13482465e-03 9.99997532e-01 6.15168775e-04 -1.95180947e+01] [ 7.21291100e-03 -5.99755842e-04 9.99973807e-01 -4.23714650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120371743 meters Centerline goodness [0,1] 0.9687159053175846 Centerline is valid? [True, True] Translation: X:315.31, Y:-19.51, Z:-4.24 [[ 9.99973243e-01 1.57762624e-03 -7.14307553e-03 3.15313125e+02] [-1.57331927e-03 9.99998577e-01 6.08536393e-04 -1.95139681e+01] [ 7.14402541e-03 -5.97281772e-04 9.99974303e-01 -4.23632227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.150371743 meters Centerline goodness [0,1] 0.9672037914691943 Centerline is valid? [True, True] Translation: X:315.34, Y:-19.52, Z:-4.24 [[ 9.99969883e-01 3.31692872e-04 -7.75385999e-03 3.15341074e+02] [-3.26584549e-04 9.99999729e-01 6.60067213e-04 -1.95188800e+01] [ 7.75407683e-03 -6.57515043e-04 9.99969721e-01 -4.23804347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180371743 meters Centerline goodness [0,1] 0.9599592484658943 Centerline is valid? [True, True] Translation: X:315.37, Y:-19.53, Z:-4.24 [[ 9.99968825e-01 3.25883043e-05 -7.89604082e-03 3.15367805e+02] [-2.72879608e-05 9.99999774e-01 6.71372774e-04 -1.95282031e+01] [ 7.89606092e-03 -6.71136377e-04 9.99968600e-01 -4.23971671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.210371743 meters Centerline goodness [0,1] 0.9684751081736485 Centerline is valid? [True, True] Translation: X:315.40, Y:-19.52, Z:-4.24 [[ 9.99964374e-01 -4.75073052e-04 -8.42761529e-03 3.15397753e+02] [ 4.81125218e-04 9.99999628e-01 7.16122145e-04 -1.95208386e+01] [ 8.42727195e-03 -7.20151371e-04 9.99964231e-01 -4.23837686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240371743 meters Centerline goodness [0,1] 0.9682966275032108 Centerline is valid? [True, True] Translation: X:315.43, Y:-19.52, Z:-4.24 [[ 9.99957569e-01 -4.51778822e-04 -9.20087280e-03 3.15425394e+02] [ 4.58983389e-04 9.99999590e-01 7.80934249e-04 -1.95237064e+01] [ 9.20051622e-03 -7.85124161e-04 9.99957366e-01 -4.23955921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.270371743 meters Centerline goodness [0,1] 0.9675265843307425 Centerline is valid? [True, True] Translation: X:315.45, Y:-19.53, Z:-4.24 [[ 9.99951613e-01 -2.57976435e-04 -9.83389343e-03 3.15452692e+02] [ 2.66189264e-04 9.99999617e-01 8.33855750e-04 -1.95272423e+01] [ 9.83367455e-03 -8.36433079e-04 9.99951298e-01 -4.24034159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300371743 meters Centerline goodness [0,1] 0.9695908939372291 Centerline is valid? [True, True] Translation: X:315.48, Y:-19.53, Z:-4.24 [[ 9.99956000e-01 1.45657975e-03 -9.26695757e-03 3.15482833e+02] [-1.44935689e-03 9.99998641e-01 7.86089216e-04 -1.95251932e+01] [ 9.26808997e-03 -7.72623499e-04 9.99956752e-01 -4.24036110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.330371743 meters Centerline goodness [0,1] 0.9692256230138819 Centerline is valid? [True, True] Translation: X:315.51, Y:-19.53, Z:-4.24 [[ 9.99957236e-01 1.99276206e-03 -9.03080700e-03 3.15511392e+02] [-1.98595932e-03 9.99997738e-01 7.62185998e-04 -1.95267238e+01] [ 9.03230542e-03 -7.44218589e-04 9.99958931e-01 -4.24067692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36037174300003 meters Centerline goodness [0,1] 0.9717895341325102 Centerline is valid? [True, True] Translation: X:315.54, Y:-19.52, Z:-4.24 [[ 9.99960349e-01 4.13889912e-03 -7.88475878e-03 3.15541611e+02] [-4.13377205e-03 9.99991234e-01 6.66436671e-04 -1.95224455e+01] [ 7.88744797e-03 -6.33816451e-04 9.99968693e-01 -4.23871373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.390371743 meters Centerline goodness [0,1] 0.9724055475848876 Centerline is valid? [True, True] Translation: X:315.57, Y:-19.52, Z:-4.24 [[ 9.99963003e-01 5.09223604e-03 -6.93271260e-03 3.15570997e+02] [-5.08829881e-03 9.99986883e-01 5.85439877e-04 -1.95212148e+01] [ 6.93560286e-03 -5.50142504e-04 9.99975797e-01 -4.23790285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42037174300003 meters Centerline goodness [0,1] 0.9729885057471265 Centerline is valid? [True, True] Translation: X:315.60, Y:-19.52, Z:-4.24 [[ 9.99962474e-01 5.76128598e-03 -6.46980214e-03 3.15599577e+02] [-5.75787496e-03 9.99983274e-01 5.45723828e-04 -1.95222696e+01] [ 6.47283800e-03 -5.08451038e-04 9.99978922e-01 -4.23775495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.450371743 meters Centerline goodness [0,1] 0.9726900318616295 Centerline is valid? [True, True] Translation: X:315.63, Y:-19.52, Z:-4.24 [[ 9.99950246e-01 7.26330739e-03 -6.83742611e-03 3.15628889e+02] [-7.25953396e-03 9.99973483e-01 5.76534665e-04 -1.95222558e+01] [ 6.84143235e-03 -5.26869453e-04 9.99976458e-01 -4.23749342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.480371743 meters Centerline goodness [0,1] 0.8890410036582355 Centerline is valid? [True, False] Translation: X:315.68, Y:-19.52, Z:-4.24 [[ 9.99957300e-01 4.83676137e-03 -7.87426168e-03 3.15676431e+02] [-4.84950738e-03 9.99986960e-01 -1.60040460e-03 -1.95223265e+01] [ 7.86641822e-03 1.63852255e-03 9.99967717e-01 -4.23509165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.510371743 meters Centerline goodness [0,1] 0.9730208084190385 Centerline is valid? [False, True] Translation: X:315.62, Y:-19.52, Z:-4.24 [[ 9.99938882e-01 6.23333803e-03 -9.13116959e-03 3.15620960e+02] [-6.22388729e-03 9.99980066e-01 1.06304847e-03 -1.95187127e+01] [ 9.13761391e-03 -1.00615213e-03 9.99957745e-01 -4.23559832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.540371743 meters Centerline goodness [0,1] 0.9724834468860953 Centerline is valid? [True, True] Translation: X:315.65, Y:-19.52, Z:-4.24 [[ 9.99926789e-01 7.56687541e-03 -9.44237288e-03 3.15649026e+02] [-7.55990400e-03 9.99971124e-01 7.73786323e-04 -1.95212243e+01] [ 9.44795537e-03 -7.02346241e-04 9.99955120e-01 -4.23645382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.570371743 meters Centerline goodness [0,1] 0.9751458828614653 Centerline is valid? [True, True] Translation: X:315.68, Y:-19.52, Z:-4.24 [[ 9.99915939e-01 8.59133215e-03 -9.71104301e-03 3.15677841e+02] [-8.58401292e-03 9.99962841e-01 7.95132568e-04 -1.95207871e+01] [ 9.71751340e-03 -7.11706009e-04 9.99952531e-01 -4.23663751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.600371743 meters Centerline goodness [0,1] 0.9731270750132319 Centerline is valid? [True, True] Translation: X:315.71, Y:-19.52, Z:-4.24 [[ 9.99889693e-01 1.12227752e-02 -9.72889801e-03 3.15706502e+02] [-1.12155569e-02 9.99936787e-01 7.96184412e-04 -1.95213545e+01] [ 9.73721841e-03 -6.86981578e-04 9.99952356e-01 -4.23688675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.630371743 meters Centerline goodness [0,1] 0.9747621914509331 Centerline is valid? [True, True] Translation: X:315.74, Y:-19.52, Z:-4.24 [[ 9.99869523e-01 1.29263615e-02 -9.68743788e-03 3.15735608e+02] [-1.29192865e-02 9.99916228e-01 7.92556982e-04 -1.95229187e+01] [ 9.69687123e-03 -6.67298786e-04 9.99952762e-01 -4.23706014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.660371743 meters Centerline goodness [0,1] 0.9744540485878699 Centerline is valid? [True, True] Translation: X:315.76, Y:-19.52, Z:-4.24 [[ 9.99847554e-01 1.47889649e-02 -9.28203955e-03 3.15764721e+02] [-1.47825525e-02 9.99890444e-01 7.59069808e-04 -1.95234632e+01] [ 9.29224850e-03 -6.21741853e-04 9.99956633e-01 -4.23656706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.690371743 meters Centerline goodness [0,1] 0.9766493788445302 Centerline is valid? [True, True] Translation: X:315.80, Y:-19.52, Z:-4.23 [[ 9.99816018e-01 1.69477426e-02 -8.98351340e-03 3.15795353e+02] [-1.69418235e-02 9.99856207e-01 7.34581028e-04 -1.95170484e+01] [ 8.99467112e-03 -5.82248781e-04 9.99959378e-01 -4.23461504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.720371743 meters Centerline goodness [0,1] 0.9779112575082348 Centerline is valid? [True, True] Translation: X:315.83, Y:-19.51, Z:-4.23 [[ 9.99746042e-01 2.08481649e-02 -8.55606536e-03 3.15826630e+02] [-2.08429377e-02 9.99782518e-01 6.99664500e-04 -1.95133651e+01] [ 8.56879129e-03 -5.21153278e-04 9.99963151e-01 -4.23349373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.750371743 meters Centerline goodness [0,1] 0.9777610891736719 Centerline is valid? [True, True] Translation: X:315.86, Y:-19.51, Z:-4.23 [[ 9.99701978e-01 2.29899478e-02 -8.21077165e-03 3.15856658e+02] [-2.29852078e-02 9.99735580e-01 6.71204392e-04 -1.95133672e+01] [ 8.22403151e-03 -4.82278066e-04 9.99966066e-01 -4.23346546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.780371743 meters Centerline goodness [0,1] 0.9781243179007106 Centerline is valid? [True, True] Translation: X:315.88, Y:-19.52, Z:-4.23 [[ 9.99659292e-01 2.47565400e-02 -8.27125314e-03 3.15884968e+02] [-2.47517974e-02 9.99693399e-01 6.75271392e-04 -1.95154321e+01] [ 8.28543455e-03 -4.70312940e-04 9.99965565e-01 -4.23387078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.810371743 meters Centerline goodness [0,1] 0.9803262722181642 Centerline is valid? [True, True] Translation: X:315.92, Y:-19.51, Z:-4.23 [[ 9.99553152e-01 2.88455938e-02 -7.83760764e-03 3.15915080e+02] [-2.88414616e-02 9.99583794e-01 6.39767107e-04 -1.95108346e+01] [ 7.85280004e-03 -4.13433169e-04 9.99969081e-01 -4.23283185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.840371743 meters Centerline goodness [0,1] 0.9801080130006599 Centerline is valid? [True, True] Translation: X:315.94, Y:-19.51, Z:-4.23 [[ 9.99487613e-01 3.09806432e-02 -8.04426595e-03 3.15942596e+02] [-3.09763673e-02 9.99519902e-01 6.55628539e-04 -1.95117866e+01] [ 8.06071571e-03 -4.06110467e-04 9.99967429e-01 -4.23313996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.870371743 meters Centerline goodness [0,1] 0.9821008238524912 Centerline is valid? [True, True] Translation: X:315.97, Y:-19.51, Z:-4.23 [[ 9.99324724e-01 3.59059217e-02 -7.80136804e-03 3.15973633e+02] [-3.59020477e-02 9.99355111e-01 6.36111283e-04 -1.95081340e+01] [ 7.81917718e-03 -3.55596645e-04 9.99969367e-01 -4.23262130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.900371743 meters Centerline goodness [0,1] 0.9833559363826901 Centerline is valid? [True, True] Translation: X:316.00, Y:-19.51, Z:-4.23 [[ 9.99247383e-01 3.79096554e-02 -8.21733535e-03 3.16002519e+02] [-3.79054322e-02 9.99281107e-01 6.69129041e-04 -1.95077571e+01] [ 8.23679442e-03 -3.57143796e-04 9.99966013e-01 -4.23298656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.930371743 meters Centerline goodness [0,1] 0.9836988737403675 Centerline is valid? [True, True] Translation: X:316.03, Y:-19.51, Z:-4.23 [[ 9.99180304e-01 3.96525813e-02 -8.14815093e-03 3.16031153e+02] [-3.96485095e-02 9.99213470e-01 6.60709106e-04 -1.95096150e+01] [ 8.16794099e-03 -3.37105486e-04 9.99966585e-01 -4.23386766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.960371743 meters Centerline goodness [0,1] 0.9843908221986218 Centerline is valid? [True, True] Translation: X:316.06, Y:-19.51, Z:-4.23 [[ 9.99060675e-01 4.24948050e-02 -8.48284727e-03 3.16060378e+02] [-4.24904914e-02 9.99096634e-01 6.88165488e-04 -1.95078869e+01] [ 8.50442762e-03 -3.27078728e-04 9.99963783e-01 -4.23365117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.990371743 meters Centerline goodness [0,1] 0.9839833387052785 Centerline is valid? [True, True] Translation: X:316.09, Y:-19.51, Z:-4.23 [[ 9.99043797e-01 4.28599664e-02 -8.63225740e-03 3.16089347e+02] [-4.28555383e-02 9.99081036e-01 6.97385395e-04 -1.95103577e+01] [ 8.65421459e-03 -3.26778515e-04 9.99962498e-01 -4.23429285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.020371743 meters Centerline goodness [0,1] 0.9848959747279055 Centerline is valid? [True, True] Translation: X:316.12, Y:-19.51, Z:-4.23 [[ 9.99040683e-01 4.28696055e-02 -8.93922268e-03 3.16115768e+02] [-4.28648616e-02 9.99080619e-01 7.21699365e-04 -1.95119515e+01] [ 8.96194309e-03 -3.37828484e-04 9.99959784e-01 -4.23434354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.050371743 meters Centerline goodness [0,1] 0.9840810777406995 Centerline is valid? [True, True] Translation: X:316.14, Y:-19.51, Z:-4.23 [[ 9.99067356e-01 4.21950180e-02 -9.16506127e-03 3.16144525e+02] [-4.21900299e-02 9.99109332e-01 7.37000378e-04 -1.95139918e+01] [ 9.18799599e-03 -3.49638810e-04 9.99957728e-01 -4.23420725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.080371743 meters Centerline goodness [0,1] 0.9822232111951739 Centerline is valid? [True, True] Translation: X:316.17, Y:-19.52, Z:-4.24 [[ 9.99107556e-01 4.12019852e-02 -9.29989952e-03 3.16172038e+02] [-4.11968055e-02 9.99150771e-01 7.47929571e-04 -1.95198978e+01] [ 9.32281796e-03 -3.64135934e-04 9.99956475e-01 -4.23540905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11037174300003 meters Centerline goodness [0,1] 0.9813736616174076 Centerline is valid? [True, True] Translation: X:316.20, Y:-19.52, Z:-4.23 [[ 9.99242187e-01 3.79183585e-02 -8.78919170e-03 3.16200978e+02] [-3.79136078e-02 9.99280771e-01 7.06572169e-04 -1.95236128e+01] [ 8.80966231e-03 -3.72806753e-04 9.99961125e-01 -4.23490560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.140371743 meters Centerline goodness [0,1] 0.9816034129861162 Centerline is valid? [True, True] Translation: X:316.23, Y:-19.53, Z:-4.23 [[ 9.99329576e-01 3.57526518e-02 -7.88329515e-03 3.16229802e+02] [-3.57487864e-02 9.99360609e-01 6.30740020e-04 -1.95269458e+01] [ 7.90080527e-03 -3.48498922e-04 9.99968727e-01 -4.23438011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17037174300003 meters Centerline goodness [0,1] 0.9792431585646448 Centerline is valid? [True, True] Translation: X:316.26, Y:-19.54, Z:-4.23 [[ 9.99500527e-01 3.06760133e-02 -7.59470640e-03 3.16258260e+02] [-3.06722713e-02 9.99529310e-01 6.08725573e-04 -1.95352137e+01] [ 7.60980492e-03 -3.75474635e-04 9.99970975e-01 -4.23430990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.200371743 meters Centerline goodness [0,1] 0.9789000515831102 Centerline is valid? [True, True] Translation: X:316.29, Y:-19.54, Z:-4.23 [[ 9.99590746e-01 2.76501118e-02 -7.33570330e-03 3.16287378e+02] [-2.76465435e-02 9.99617589e-01 5.87396201e-04 -1.95398402e+01] [ 7.34913961e-03 -3.84348966e-04 9.99972921e-01 -4.23449935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.230371743 meters Centerline goodness [0,1] 0.9788861914220555 Centerline is valid? [True, True] Translation: X:316.32, Y:-19.54, Z:-4.23 [[ 9.99668157e-01 2.46653708e-02 -7.42932367e-03 3.16317740e+02] [-2.46616266e-02 9.99695679e-01 5.95178128e-04 -1.95435438e+01] [ 7.44174306e-03 -4.11761416e-04 9.99972225e-01 -4.23425530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.260371743 meters Centerline goodness [0,1] 0.9764340250587314 Centerline is valid? [True, True] Translation: X:316.35, Y:-19.55, Z:-4.23 [[ 9.99805931e-01 1.82468938e-02 -7.42631903e-03 3.16348154e+02] [-1.82429760e-02 9.99833406e-01 5.94950703e-04 -1.95485651e+01] [ 7.43593786e-03 -4.59357082e-04 9.99972248e-01 -4.23410432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.290371743 meters Centerline goodness [0,1] 0.9744184910086005 Centerline is valid? [True, True] Translation: X:316.38, Y:-19.56, Z:-4.24 [[ 9.99853335e-01 1.54266785e-02 -7.43820874e-03 3.16376841e+02] [-1.54226722e-02 9.99880886e-01 5.95669213e-04 -1.95594172e+01] [ 7.44651194e-03 -4.80864793e-04 9.99972159e-01 -4.23599342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.320371743 meters Centerline goodness [0,1] 0.9757289858969032 Centerline is valid? [True, True] Translation: X:316.41, Y:-19.56, Z:-4.24 [[ 9.99898074e-01 1.22009322e-02 -7.41479944e-03 3.16407377e+02] [-1.21968638e-02 9.99925439e-01 5.93658698e-04 -1.95564194e+01] [ 7.42148978e-03 -5.03160889e-04 9.99972334e-01 -4.23509147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.350371743 meters Centerline goodness [0,1] 0.9748584260886546 Centerline is valid? [True, True] Translation: X:316.44, Y:-19.56, Z:-4.24 [[ 9.99944050e-01 7.55990604e-03 -7.39897065e-03 3.16437278e+02] [-7.55572783e-03 9.99971280e-01 5.92492568e-04 -1.95621306e+01] [ 7.40323734e-03 -5.36554810e-04 9.99972452e-01 -4.23533242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380371743 meters Centerline goodness [0,1] 0.9720833841277582 Centerline is valid? [True, True] Translation: X:316.47, Y:-19.57, Z:-4.24 [[ 9.99957837e-01 6.00792007e-03 -6.94474619e-03 3.16465144e+02] [-6.00420661e-03 9.99981820e-01 5.55440654e-04 -1.95707883e+01] [ 6.94795698e-03 -5.13719544e-04 9.99975731e-01 -4.23624154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.410371743 meters Centerline goodness [0,1] 0.9720833841277582 Centerline is valid? [True, True] Translation: X:316.49, Y:-19.57, Z:-4.24 [[ 9.99958455e-01 5.90408624e-03 -6.94482572e-03 3.16492590e+02] [-5.90037716e-03 9.99982439e-01 5.54445982e-04 -1.95728850e+01] [ 6.94797726e-03 -5.13445856e-04 9.99975731e-01 -4.23639358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440371743 meters Centerline goodness [0,1] 0.9726685359014995 Centerline is valid? [True, True] Translation: X:316.52, Y:-19.57, Z:-4.24 [[ 9.99967007e-01 4.87210420e-03 -6.49983139e-03 3.16521672e+02] [-4.86883554e-03 9.99988013e-01 5.18612628e-04 -1.95742184e+01] [ 6.50228021e-03 -4.86948907e-04 9.99978741e-01 -4.23555224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.470371743 meters Centerline goodness [0,1] 0.7022905891045879 Centerline is valid? [True, False] Translation: X:316.57, Y:-19.57, Z:-4.23 [[ 9.99976847e-01 1.20587442e-03 -6.69705273e-03 3.16569277e+02] [-1.22290844e-03 9.99996026e-01 -2.53999691e-03 -1.95735914e+01] [ 6.69396320e-03 2.54812798e-03 9.99974349e-01 -4.23296102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500371743 meters Centerline goodness [0,1] 0.9739047572507147 Centerline is valid? [False, True] Translation: X:316.51, Y:-19.57, Z:-4.23 [[ 9.99969205e-01 2.60913261e-03 -7.40143878e-03 3.16511534e+02] [-2.59723130e-03 9.99995320e-01 1.61712876e-03 -1.95705019e+01] [ 7.40562344e-03 -1.59785571e-03 9.99971301e-01 -4.23430461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.530371743 meters Centerline goodness [0,1] 0.9730842770995735 Centerline is valid? [True, True] Translation: X:316.54, Y:-19.57, Z:-4.23 [[ 9.99964767e-01 2.90951154e-03 -7.87398199e-03 3.16539262e+02] [-2.90476618e-03 9.99995593e-01 6.14033476e-04 -1.95726583e+01] [ 7.87573382e-03 -5.91139766e-04 9.99968811e-01 -4.23453675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560371743 meters Centerline goodness [0,1] 0.974399292418063 Centerline is valid? [True, True] Translation: X:316.57, Y:-19.57, Z:-4.23 [[ 9.99956131e-01 5.02590275e-03 -7.90416976e-03 3.16569087e+02] [-5.02118666e-03 9.99987204e-01 6.16390252e-04 -1.95702323e+01] [ 7.90716654e-03 -5.76674900e-04 9.99968572e-01 -4.23432502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.590371743 meters Centerline goodness [0,1] 0.9764549744396382 Centerline is valid? [True, True] Translation: X:316.60, Y:-19.57, Z:-4.23 [[ 9.99950800e-01 6.38035132e-03 -7.59536475e-03 3.16597861e+02] [-6.37604108e-03 9.99979498e-01 5.91563610e-04 -1.95681038e+01] [ 7.59898341e-03 -5.43106147e-04 9.99970980e-01 -4.23356235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620371743 meters Centerline goodness [0,1] 0.9761200650598847 Centerline is valid? [True, True] Translation: X:316.63, Y:-19.57, Z:-4.23 [[ 9.99943228e-01 7.45832539e-03 -7.61018089e-03 3.16626593e+02] [-7.45403363e-03 9.99972043e-01 5.92157407e-04 -1.95668296e+01] [ 7.61438463e-03 -5.35397245e-04 9.99970867e-01 -4.23325308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.650371743 meters Centerline goodness [0,1] 0.9751276926493448 Centerline is valid? [True, True] Translation: X:316.66, Y:-19.57, Z:-4.23 [[ 9.99916042e-01 1.09378742e-02 -6.94785285e-03 3.16655251e+02] [-1.09343802e-02 9.99940072e-01 5.40669565e-04 -1.95717359e+01] [ 6.95335025e-03 -4.64653706e-04 9.99975717e-01 -4.23361720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680371743 meters Centerline goodness [0,1] 0.9755484348040424 Centerline is valid? [True, True] Translation: X:316.68, Y:-19.57, Z:-4.23 [[ 9.99905698e-01 1.22539492e-02 -6.19974350e-03 3.16684387e+02] [-1.22511965e-02 9.99924835e-01 4.81785087e-04 -1.95713089e+01] [ 6.20518127e-03 -4.05785378e-04 9.99980665e-01 -4.23346459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.710371743 meters Centerline goodness [0,1] 0.9759740420578109 Centerline is valid? [True, True] Translation: X:316.71, Y:-19.57, Z:-4.23 [[ 9.99868813e-01 1.52630679e-02 -5.42168937e-03 3.16714487e+02] [-1.52610062e-02 9.99883455e-01 4.21438855e-04 -1.95691360e+01] [ 5.42748995e-03 -3.38643133e-04 9.99985214e-01 -4.23293847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740371743 meters Centerline goodness [0,1] 0.977040879644568 Centerline is valid? [True, True] Translation: X:316.74, Y:-19.57, Z:-4.23 [[ 9.99852412e-01 1.64257699e-02 -5.03474583e-03 3.16743715e+02] [-1.64240098e-02 9.99865041e-01 3.90741254e-04 -1.95672810e+01] [ 5.04048457e-03 -3.07992870e-04 9.99987249e-01 -4.23220421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.770371743 meters Centerline goodness [0,1] 0.9784317627742674 Centerline is valid? [True, True] Translation: X:316.77, Y:-19.57, Z:-4.23 [[ 9.99817970e-01 1.86759318e-02 -3.90339436e-03 3.16773675e+02] [-1.86748911e-02 9.99825563e-01 3.02896066e-04 -1.95654280e+01] [ 3.90837033e-03 -2.29945465e-04 9.99992336e-01 -4.23119220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800371743 meters Centerline goodness [0,1] 0.978953412892595 Centerline is valid? [True, True] Translation: X:316.80, Y:-19.56, Z:-4.23 [[ 9.99802854e-01 1.95292093e-02 -3.58646799e-03 3.16802347e+02] [-1.95283378e-02 9.99809265e-01 2.77854084e-04 -1.95632214e+01] [ 3.59121020e-03 -2.07761548e-04 9.99993530e-01 -4.23072766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.830371743 meters Centerline goodness [0,1] 0.9796875779807357 Centerline is valid? [True, True] Translation: X:316.83, Y:-19.56, Z:-4.23 [[ 9.99794616e-01 1.99509154e-02 -3.56173690e-03 3.16831315e+02] [-1.99500590e-02 9.99800940e-01 2.75830483e-04 -1.95644433e+01] [ 3.56653097e-03 -2.04716971e-04 9.99993619e-01 -4.23107079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86037174300003 meters Centerline goodness [0,1] 0.979228784044499 Centerline is valid? [True, True] Translation: X:316.86, Y:-19.57, Z:-4.23 [[ 9.99783293e-01 2.04693411e-02 -3.79123483e-03 3.16859193e+02] [-2.04683763e-02 9.99790458e-01 2.93104761e-04 -1.95687185e+01] [ 3.79644007e-03 -2.15440822e-04 9.99992770e-01 -4.23224849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.890371743 meters Centerline goodness [0,1] 0.9815364491623484 Centerline is valid? [True, True] Translation: X:316.89, Y:-19.57, Z:-4.23 [[ 9.99745076e-01 2.20569091e-02 -4.82452441e-03 3.16888743e+02] [-2.20553650e-02 9.99756681e-01 3.73036118e-04 -1.95670539e+01] [ 4.83157854e-03 -2.66534376e-04 9.99988292e-01 -4.23356676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92037174300003 meters Centerline goodness [0,1] 0.9814151704660077 Centerline is valid? [True, True] Translation: X:316.92, Y:-19.57, Z:-4.23 [[ 9.99688513e-01 2.43147406e-02 -5.62772483e-03 3.16917419e+02] [-2.43126766e-02 9.99704309e-01 4.34891164e-04 -1.95673352e+01] [ 5.63663502e-03 -2.97930647e-04 9.99984070e-01 -4.23482409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.950371743 meters Centerline goodness [0,1] 0.9821163194881741 Centerline is valid? [True, True] Translation: X:316.95, Y:-19.57, Z:-4.23 [[ 9.99662640e-01 2.52938046e-02 -5.90169603e-03 3.16946105e+02] [-2.52915546e-02 9.99680014e-01 4.55586838e-04 -1.95665576e+01] [ 5.91133109e-03 -3.06170073e-04 9.99982481e-01 -4.23489253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.980371743 meters Centerline goodness [0,1] 0.9813510363350733 Centerline is valid? [True, True] Translation: X:316.97, Y:-19.57, Z:-4.24 [[ 9.99638107e-01 2.62665364e-02 -5.80731662e-03 3.16974100e+02] [-2.62643775e-02 9.99654931e-01 4.47720069e-04 -1.95687155e+01] [ 5.81707276e-03 -2.95032485e-04 9.99983037e-01 -4.23515608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.010371743 meters Centerline goodness [0,1] 0.9821840391292227 Centerline is valid? [True, True] Translation: X:317.00, Y:-19.57, Z:-4.23 [[ 9.99616083e-01 2.71003077e-02 -5.76705921e-03 3.17003536e+02] [-2.70981944e-02 9.99632678e-01 4.44274427e-04 -1.95657593e+01] [ 5.77698081e-03 -2.87826971e-04 9.99983272e-01 -4.23442494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.040371743 meters Centerline goodness [0,1] 0.9837272473407631 Centerline is valid? [True, True] Translation: X:317.03, Y:-19.56, Z:-4.23 [[ 9.99562254e-01 2.91898021e-02 -4.82248353e-03 3.17032242e+02] [-2.91883506e-02 9.99573860e-01 3.71115649e-04 -1.95645789e+01] [ 4.83126128e-03 -2.30192855e-04 9.99988303e-01 -4.23408081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.070371743 meters Centerline goodness [0,1] 0.9842242303568693 Centerline is valid? [True, True] Translation: X:317.06, Y:-19.57, Z:-4.23 [[ 9.99500993e-01 3.12679498e-02 -4.48115329e-03 3.17059923e+02] [-3.12667196e-02 9.99511017e-01 3.44346379e-04 -1.95652354e+01] [ 4.48972909e-03 -2.04063584e-04 9.99989900e-01 -4.23408128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.100371743 meters Centerline goodness [0,1] 0.9844789356984479 Centerline is valid? [True, True] Translation: X:317.09, Y:-19.57, Z:-4.23 [[ 9.99488746e-01 3.17140617e-02 -4.05777892e-03 3.17088484e+02] [-3.17130639e-02 9.99496966e-01 3.10014194e-04 -1.95658546e+01] [ 4.06556953e-03 -1.81171096e-04 9.99991719e-01 -4.23381166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.130371743 meters Centerline goodness [0,1] 0.9848248729019237 Centerline is valid? [True, True] Translation: X:317.12, Y:-19.57, Z:-4.23 [[ 9.99472806e-01 3.22180518e-02 -4.01328300e-03 3.17116806e+02] [-3.22170840e-02 9.99480848e-01 3.05592706e-04 -1.95660273e+01] [ 4.02104510e-03 -1.76135324e-04 9.99991900e-01 -4.23317769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.160371743 meters Centerline goodness [0,1] 0.984665629066415 Centerline is valid? [True, True] Translation: X:317.15, Y:-19.57, Z:-4.23 [[ 9.99466329e-01 3.24328690e-02 -3.89443494e-03 3.17145521e+02] [-3.24319631e-02 9.99473902e-01 2.95553362e-04 -1.95677888e+01] [ 3.90197173e-03 -1.69091463e-04 9.99992373e-01 -4.23330590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.190371743 meters Centerline goodness [0,1] 0.9833141689025169 Centerline is valid? [True, True] Translation: X:317.17, Y:-19.57, Z:-4.23 [[ 9.99480823e-01 3.20119158e-02 -3.65002615e-03 3.17173394e+02] [-3.20111159e-02 9.99487474e-01 2.77382539e-04 -1.95726301e+01] [ 3.65703497e-03 -1.60397118e-04 9.99993300e-01 -4.23432688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.220371743 meters Centerline goodness [0,1] 0.9837172561410662 Centerline is valid? [True, True] Translation: X:317.20, Y:-19.57, Z:-4.23 [[ 9.99496867e-01 3.15355865e-02 -3.39401904e-03 3.17202035e+02] [-3.15348927e-02 9.99502618e-01 2.57750435e-04 -1.95742612e+01] [ 3.40045923e-03 -1.50590726e-04 9.99994207e-01 -4.23441864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.250371743 meters Centerline goodness [0,1] 0.9833959179502899 Centerline is valid? [True, True] Translation: X:317.23, Y:-19.58, Z:-4.23 [[ 9.99514486e-01 3.09926320e-02 -3.20148198e-03 3.17231085e+02] [-3.09920127e-02 9.99519603e-01 2.42883641e-04 -1.95765917e+01] [ 3.20747160e-03 -1.43545347e-04 9.99994846e-01 -4.23453466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.280371743 meters Centerline goodness [0,1] 0.9826930440331845 Centerline is valid? [True, True] Translation: X:317.26, Y:-19.58, Z:-4.24 [[ 9.99522022e-01 3.07253097e-02 -3.41807331e-03 3.17258227e+02] [-3.07246034e-02 9.99527854e-01 2.58961674e-04 -1.95805128e+01] [ 3.42441616e-03 -1.53818949e-04 9.99994125e-01 -4.23500489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.310371743 meters Centerline goodness [0,1] 0.9829786148114122 Centerline is valid? [True, True] Translation: X:317.29, Y:-19.58, Z:-4.24 [[ 9.99530928e-01 3.03604140e-02 -4.02099620e-03 3.17286551e+02] [-3.03594341e-02 9.99539000e-01 3.04521519e-04 -1.95833896e+01] [ 4.02838791e-03 -1.82303508e-04 9.99991869e-01 -4.23628091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.340371743 meters Centerline goodness [0,1] 0.9832538934060612 Centerline is valid? [True, True] Translation: X:317.31, Y:-19.59, Z:-4.24 [[ 9.99523792e-01 3.04772717e-02 -4.82969465e-03 3.17312970e+02] [-3.04758630e-02 9.99535436e-01 3.65010433e-04 -1.95878558e+01] [ 4.83857547e-03 -2.17647499e-04 9.99988270e-01 -4.23792397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.370371743 meters Centerline goodness [0,1] 0.9833541512656453 Centerline is valid? [True, True] Translation: X:317.34, Y:-19.59, Z:-4.24 [[ 9.99525014e-01 3.03112985e-02 -5.56528352e-03 3.17342089e+02] [-3.03094257e-02 9.99540475e-01 4.20564436e-04 -1.95900142e+01] [ 5.57547398e-03 -2.51684127e-04 9.99984425e-01 -4.23889161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.400371743 meters Centerline goodness [0,1] 0.982995188758496 Centerline is valid? [True, True] Translation: X:317.37, Y:-19.59, Z:-4.24 [[ 9.99520261e-01 3.03672761e-02 -6.08909339e-03 3.17368869e+02] [-3.03650454e-02 9.99538771e-01 4.58475950e-04 -1.95932874e+01] [ 6.10020759e-03 -2.73360403e-04 9.99981356e-01 -4.24000658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.430371743 meters Centerline goodness [0,1] 0.9829805637529256 Centerline is valid? [True, True] Translation: X:317.40, Y:-19.60, Z:-4.24 [[ 9.99515683e-01 3.03834452e-02 -6.72653390e-03 3.17397612e+02] [-3.03807219e-02 9.99538271e-01 5.06692836e-04 -1.95964426e+01] [ 6.73882314e-03 -3.02090480e-04 9.99977248e-01 -4.24080196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.460371743 meters Centerline goodness [0,1] 0.9835733630312081 Centerline is valid? [True, True] Translation: X:317.43, Y:-19.60, Z:-4.24 [[ 9.99497603e-01 3.09744628e-02 -6.71747245e-03 3.17426431e+02] [-3.09717768e-02 9.99520133e-01 5.03538843e-04 -1.95978839e+01] [ 6.72984580e-03 -2.95233810e-04 9.99977311e-01 -4.24229837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.490371743 meters Centerline goodness [0,1] 0.9856882775361586 Centerline is valid? [True, True] Translation: X:317.46, Y:-19.60, Z:-4.24 [[ 9.99429322e-01 3.30124720e-02 -7.15596514e-03 3.17455431e+02] [-3.30094731e-02 9.99454895e-01 5.36808015e-04 -1.95988673e+01] [ 7.16978575e-03 -3.00287031e-04 9.99974252e-01 -4.24223943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.520371743 meters Centerline goodness [0,1] 0.9846553114291473 Centerline is valid? [True, True] Translation: X:317.48, Y:-19.60, Z:-4.24 [[ 9.99390496e-01 3.42927353e-02 -6.53024859e-03 3.17482594e+02] [-3.42902697e-02 9.99411796e-01 4.89190623e-04 -1.96036138e+01] [ 6.54318316e-03 -2.64968474e-04 9.99978558e-01 -4.24343619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.550371743 meters Centerline goodness [0,1] 0.986392668703138 Centerline is valid? [True, True] Translation: X:317.51, Y:-19.61, Z:-4.24 [[ 9.99279858e-01 3.74048726e-02 -6.37496949e-03 3.17512081e+02] [-3.74025859e-02 9.99300164e-01 4.77581390e-04 -1.96051499e+01] [ 6.38837193e-03 -2.38797120e-04 9.99979566e-01 -4.24327947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.580371743 meters Centerline goodness [0,1] 0.9865651702669321 Centerline is valid? [True, True] Translation: X:317.54, Y:-19.61, Z:-4.24 [[ 9.99227529e-01 3.87949347e-02 -6.26875936e-03 3.17540545e+02] [-3.87927668e-02 9.99247168e-01 4.67105366e-04 -1.96078531e+01] [ 6.28216136e-03 -2.23562021e-04 9.99980242e-01 -4.24395169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61037174300003 meters Centerline goodness [0,1] 0.9877498872689012 Centerline is valid? [True, True] Translation: X:317.57, Y:-19.61, Z:-4.24 [[ 9.99154779e-01 4.06222563e-02 -6.28960599e-03 3.17569425e+02] [-4.06201198e-02 9.99174553e-01 4.67101446e-04 -1.96095964e+01] [ 6.30338897e-03 -2.11222093e-04 9.99980111e-01 -4.24450988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.640371743 meters Centerline goodness [0,1] 0.988597548724131 Centerline is valid? [True, True] Translation: X:317.60, Y:-19.61, Z:-4.24 [[ 9.99098612e-01 4.18936847e-02 -6.84705404e-03 3.17598128e+02] [-4.18911938e-02 9.99122050e-01 5.06865319e-04 -1.96107012e+01] [ 6.86227712e-03 -2.19577169e-04 9.99976430e-01 -4.24432054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67037174300003 meters Centerline goodness [0,1] 0.988355495454887 Centerline is valid? [True, True] Translation: X:317.63, Y:-19.61, Z:-4.25 [[ 9.98977782e-01 4.45239232e-02 -7.81097844e-03 3.17626355e+02] [-4.45207749e-02 9.99008292e-01 5.76558375e-04 -1.96146811e+01] [ 7.82890287e-03 -2.28218194e-04 9.99969328e-01 -4.24652368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.700371743 meters Centerline goodness [0,1] 0.9889497237430935 Centerline is valid? [True, True] Translation: X:317.65, Y:-19.62, Z:-4.25 [[ 9.98893524e-01 4.61841581e-02 -8.87413782e-03 3.17653842e+02] [-4.61801588e-02 9.98932913e-01 6.55152788e-04 -1.96180254e+01] [ 8.89492602e-03 -2.44618783e-04 9.99960409e-01 -4.24761948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.730371743 meters Centerline goodness [0,1] 0.9896538797950768 Centerline is valid? [True, True] Translation: X:317.68, Y:-19.62, Z:-4.25 [[ 9.98763795e-01 4.86823387e-02 -1.00454504e-02 3.17682160e+02] [-4.86773720e-02 9.98814281e-01 7.38479073e-04 -1.96225052e+01] [ 1.00694902e-02 -2.48580035e-04 9.99949271e-01 -4.24981118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.760371743 meters Centerline goodness [0,1] 0.990067214339059 Centerline is valid? [True, True] Translation: X:317.71, Y:-19.63, Z:-4.25 [[ 9.98708882e-01 4.97249431e-02 -1.03922272e-02 3.17710827e+02] [-4.97197100e-02 9.98762920e-01 7.61471008e-04 -1.96254484e+01] [ 1.04172353e-02 -2.43789336e-04 9.99945709e-01 -4.25022100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.790371743 meters Centerline goodness [0,1] 0.9899955203822607 Centerline is valid? [True, True] Translation: X:317.74, Y:-19.63, Z:-4.25 [[ 9.98640981e-01 5.10610138e-02 -1.04385890e-02 3.17739737e+02] [-5.10558337e-02 9.98695510e-01 7.62305544e-04 -1.96283415e+01] [ 1.04638961e-02 -2.28318690e-04 9.99945226e-01 -4.25047971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.820371743 meters Centerline goodness [0,1] 0.9915290026083716 Centerline is valid? [True, True] Translation: X:317.77, Y:-19.63, Z:-4.25 [[ 9.98539927e-01 5.30117582e-02 -1.03811596e-02 3.17768273e+02] [-5.30067678e-02 9.98593867e-01 7.55469395e-04 -1.96320047e+01] [ 1.04066110e-02 -2.04094640e-04 9.99945829e-01 -4.25007111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.850371743 meters Centerline goodness [0,1] 0.990894019251231 Centerline is valid? [True, True] Translation: X:317.80, Y:-19.64, Z:-4.25 [[ 9.98504008e-01 5.36284656e-02 -1.06646404e-02 3.17795527e+02] [-5.36232429e-02 9.98560938e-01 7.75271043e-04 -1.96369116e+01] [ 1.06908700e-02 -2.02238638e-04 9.99942831e-01 -4.25145946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880371743 meters Centerline goodness [0,1] 0.9900095966928321 Centerline is valid? [True, True] Translation: X:317.82, Y:-19.64, Z:-4.25 [[ 9.98487423e-01 5.38741931e-02 -1.09744021e-02 3.17822912e+02] [-5.38687202e-02 9.98547711e-01 7.93899897e-04 -1.96421263e+01] [ 1.10012348e-02 -2.01522067e-04 9.99939464e-01 -4.25126485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.910371743 meters Centerline goodness [0,1] 0.9899511068524115 Centerline is valid? [True, True] Translation: X:317.85, Y:-19.65, Z:-4.25 [[ 9.98518006e-01 5.33420922e-02 -1.07894544e-02 3.17850504e+02] [-5.33367714e-02 9.98576276e-01 7.80493896e-04 -1.96471774e+01] [ 1.08157264e-02 -2.03862545e-04 9.99941488e-01 -4.25229323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940371743 meters Centerline goodness [0,1] 0.9897969170540739 Centerline is valid? [True, True] Translation: X:317.88, Y:-19.65, Z:-4.25 [[ 9.98571391e-01 5.23460160e-02 -1.07271188e-02 3.17878796e+02] [-5.23407363e-02 9.98628985e-01 7.72527889e-04 -1.96519515e+01] [ 1.07528505e-02 -2.09958952e-04 9.99942164e-01 -4.25261924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.970371743 meters Centerline goodness [0,1] 0.9891466061803371 Centerline is valid? [True, True] Translation: X:317.91, Y:-19.66, Z:-4.25 [[ 9.98621602e-01 5.12908630e-02 -1.11419627e-02 3.17907382e+02] [-5.12851318e-02 9.98683732e-01 7.99679415e-04 -1.96570578e+01] [ 1.11683132e-02 -2.27160111e-04 9.99937607e-01 -4.25277043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000371743 meters Centerline goodness [0,1] 0.9881328729147415 Centerline is valid? [True, True] Translation: X:317.94, Y:-19.66, Z:-4.25 [[ 9.98697949e-01 4.97588085e-02 -1.12457608e-02 3.17935992e+02] [-4.97529041e-02 9.98761233e-01 8.04359710e-04 -1.96622879e+01] [ 1.12718539e-02 -2.43803136e-04 9.99936441e-01 -4.25326186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.030371743 meters Centerline goodness [0,1] 0.9879529753969216 Centerline is valid? [True, True] Translation: X:317.96, Y:-19.67, Z:-4.25 [[ 9.98759307e-01 4.86023153e-02 -1.08472027e-02 3.17963501e+02] [-4.85967563e-02 9.98818178e-01 7.75635193e-04 -1.96677537e+01] [ 1.08720809e-02 -2.47534004e-04 9.99940867e-01 -4.25378511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060371743 meters Centerline goodness [0,1] 0.9877544146658327 Centerline is valid? [True, True] Translation: X:317.99, Y:-19.68, Z:-4.25 [[ 9.98887211e-01 4.59375356e-02 -1.06809208e-02 3.17991967e+02] [-4.59320296e-02 9.98944278e-01 7.60362932e-04 -1.96764260e+01] [ 1.07045739e-02 -2.68920439e-04 9.99942668e-01 -4.25303778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.090371743 meters Centerline goodness [0,1] 0.9856432909994478 Centerline is valid? [True, True] Translation: X:318.02, Y:-19.69, Z:-4.25 [[ 9.99018598e-01 4.31573361e-02 -9.96422627e-03 3.18018593e+02] [-4.31524104e-02 9.99068249e-01 7.08914162e-04 -1.96853573e+01] [ 9.98553694e-03 -2.78238051e-04 9.99950105e-01 -4.25287077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120371743 meters Centerline goodness [0,1] 0.9848242620916748 Centerline is valid? [True, True] Translation: X:318.05, Y:-19.69, Z:-4.25 [[ 9.99093777e-01 4.15156942e-02 -9.38468772e-03 3.18046991e+02] [-4.15112803e-02 9.99137814e-01 6.64718526e-04 -1.96906906e+01] [ 9.40419262e-03 -2.74545741e-04 9.99955742e-01 -4.25287450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.150371743 meters Centerline goodness [0,1] 0.9851611517999856 Centerline is valid? [True, True] Translation: X:318.08, Y:-19.70, Z:-4.25 [[ 9.99165826e-01 3.98574075e-02 -8.89044041e-03 3.18075043e+02] [-3.98534005e-02 9.99205341e-01 6.27485429e-04 -1.96957830e+01] [ 8.90838548e-03 -2.72647714e-04 9.99960282e-01 -4.25262242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180371743 meters Centerline goodness [0,1] 0.9850675402986492 Centerline is valid? [True, True] Translation: X:318.10, Y:-19.70, Z:-4.25 [[ 9.99274571e-01 3.71649341e-02 -8.31263949e-03 3.18103174e+02] [-3.71613559e-02 9.99309107e-01 5.84552613e-04 -1.97037037e+01] [ 8.32862121e-03 -2.75219607e-04 9.99965279e-01 -4.25305919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.210371743 meters Centerline goodness [0,1] 0.9834230660243695 Centerline is valid? [True, True] Translation: X:318.13, Y:-19.71, Z:-4.25 [[ 9.99323860e-01 3.58479434e-02 -8.16992588e-03 3.18130335e+02] [-3.58444474e-02 9.99357216e-01 5.73990101e-04 -1.97123376e+01] [ 8.18525075e-03 -2.80755525e-04 9.99966461e-01 -4.25476104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240371743 meters Centerline goodness [0,1] 0.9834397305128265 Centerline is valid? [True, True] Translation: X:318.16, Y:-19.72, Z:-4.25 [[ 9.99409270e-01 3.31497540e-02 -9.06672134e-03 3.18159925e+02] [-3.31453355e-02 9.99450339e-01 6.37204887e-04 -1.97171225e+01] [ 9.08286090e-03 -3.36308950e-04 9.99958693e-01 -4.25453765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.270371743 meters Centerline goodness [0,1] 0.9815427191069209 Centerline is valid? [True, True] Translation: X:318.19, Y:-19.73, Z:-4.26 [[ 9.99429998e-01 3.23769535e-02 -9.56099121e-03 3.18187365e+02] [-3.23720152e-02 9.99475664e-01 6.70852523e-04 -1.97272321e+01] [ 9.57769820e-03 -3.60961583e-04 9.99954068e-01 -4.25716907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300371743 meters Centerline goodness [0,1] 0.9829646639797545 Centerline is valid? [True, True] Translation: X:318.22, Y:-19.73, Z:-4.26 [[ 9.99468541e-01 3.10408590e-02 -9.95495236e-03 3.18216115e+02] [-3.10354718e-02 9.99518042e-01 6.95225512e-04 -1.97264968e+01] [ 9.97173489e-03 -3.85899385e-04 9.99950207e-01 -4.25545653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.330371743 meters Centerline goodness [0,1] 0.9829646639797545 Centerline is valid? [True, True] Translation: X:318.24, Y:-19.73, Z:-4.26 [[ 9.99477356e-01 3.07556497e-02 -9.95516261e-03 3.18243442e+02] [-3.07502783e-02 9.99526859e-01 6.92211516e-04 -1.97283326e+01] [ 9.97174183e-03 -3.85725715e-04 9.99950207e-01 -4.25559038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36037174300003 meters Centerline goodness [0,1] 0.9826522023753858 Centerline is valid? [True, True] Translation: X:318.27, Y:-19.74, Z:-4.26 [[ 9.99513873e-01 2.93767181e-02 -1.04415263e-02 3.18271586e+02] [-2.93707584e-02 9.99568324e-01 7.23683048e-04 -1.97354518e+01] [ 1.04582784e-02 -4.16655699e-04 9.99945224e-01 -4.25626246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.390371743 meters Centerline goodness [0,1] 0.9825792910447761 Centerline is valid? [True, True] Translation: X:318.30, Y:-19.74, Z:-4.26 [[ 9.99530364e-01 2.86560093e-02 -1.08574971e-02 3.18299760e+02] [-2.86495517e-02 9.99589236e-01 7.49859331e-04 -1.97395682e+01] [ 1.08745252e-02 -4.38444745e-04 9.99940774e-01 -4.25678710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42037174300003 meters Centerline goodness [0,1] 0.9831774396202708 Centerline is valid? [True, True] Translation: X:318.33, Y:-19.74, Z:-4.26 [[ 9.99547191e-01 2.81777461e-02 -1.05559486e-02 3.18327832e+02] [-2.81716149e-02 9.99602835e-01 7.29102665e-04 -1.97449565e+01] [ 1.05723007e-02 -4.31394400e-04 9.99944019e-01 -4.25618090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.450371743 meters Centerline goodness [0,1] 0.9809767441860465 Centerline is valid? [True, True] Translation: X:318.36, Y:-19.75, Z:-4.26 [[ 9.99565675e-01 2.75684015e-02 -1.04136332e-02 3.18355540e+02] [-2.75624121e-02 9.99619827e-01 7.18259067e-04 -1.97498020e+01] [ 1.04294755e-02 -4.30922259e-04 9.99945519e-01 -4.25636818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.480371743 meters Centerline goodness [0,1] 0.982020805820069 Centerline is valid? [True, True] Translation: X:318.38, Y:-19.75, Z:-4.26 [[ 9.99563875e-01 2.78358671e-02 -9.86025809e-03 3.18384491e+02] [-2.78305166e-02 9.99612425e-01 6.79448237e-04 -1.97522115e+01] [ 9.87534953e-03 -4.04735835e-04 9.99951156e-01 -4.25547180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.510371743 meters Centerline goodness [0,1] 0.982372315257225 Centerline is valid? [True, True] Translation: X:318.41, Y:-19.76, Z:-4.26 [[ 9.99563550e-01 2.78258705e-02 -9.92118940e-03 3.18411999e+02] [-2.78204656e-02 9.99612703e-01 6.82403964e-04 -1.97550552e+01] [ 9.93633544e-03 -4.06094021e-04 9.99950551e-01 -4.25546984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.540371743 meters Centerline goodness [0,1] 0.9820441030150172 Centerline is valid? [True, True] Translation: X:318.44, Y:-19.76, Z:-4.26 [[ 9.99522308e-01 2.92005623e-02 -1.01233789e-02 3.18439486e+02] [-2.91950134e-02 9.99573493e-01 6.95510935e-04 -1.97600411e+01] [ 1.01393706e-02 -3.99626511e-04 9.99948515e-01 -4.25621056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.570371743 meters Centerline goodness [0,1] 0.9821057012068248 Centerline is valid? [True, True] Translation: X:318.47, Y:-19.76, Z:-4.26 [[ 9.99486691e-01 3.03626195e-02 -1.02208879e-02 3.18468063e+02] [-3.03570302e-02 9.99538873e-01 7.01581821e-04 -1.97630857e+01] [ 1.02374766e-02 -3.90945889e-04 9.99947519e-01 -4.25664987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.600371743 meters Centerline goodness [0,1] 0.9833371797830602 Centerline is valid? [True, True] Translation: X:318.50, Y:-19.76, Z:-4.26 [[ 9.99442625e-01 3.18777420e-02 -9.91208897e-03 3.18496986e+02] [-3.18725670e-02 9.99491710e-01 6.79660133e-04 -1.97644823e+01] [ 9.92871678e-03 -3.63357587e-04 9.99950643e-01 -4.25626761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.630371743 meters Centerline goodness [0,1] 0.9831087317703526 Centerline is valid? [True, True] Translation: X:318.53, Y:-19.77, Z:-4.26 [[ 9.99303821e-01 3.59442865e-02 -9.99403514e-03 3.18525943e+02] [-3.59392304e-02 9.99353742e-01 6.85102969e-04 -1.97682695e+01] [ 1.00122020e-02 -3.25448083e-04 9.99949824e-01 -4.25689887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.660371743 meters Centerline goodness [0,1] 0.9849658734550821 Centerline is valid? [True, True] Translation: X:318.55, Y:-19.77, Z:-4.26 [[ 9.99219465e-01 3.82659040e-02 -9.80724699e-03 3.18554578e+02] [-3.82611554e-02 9.99267548e-01 6.71436765e-04 -1.97691522e+01] [ 9.82575679e-03 -2.95676084e-04 9.99951682e-01 -4.25621321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.690371743 meters Centerline goodness [0,1] 0.9852788720713249 Centerline is valid? [True, True] Translation: X:318.58, Y:-19.77, Z:-4.26 [[ 9.99138452e-01 4.03103848e-02 -9.87052075e-03 3.18583270e+02] [-4.03057068e-02 9.99187169e-01 6.72479581e-04 -1.97704054e+01] [ 9.88960559e-03 -2.74061892e-04 9.99951059e-01 -4.25608816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.720371743 meters Centerline goodness [0,1] 0.9868548498685485 Centerline is valid? [True, True] Translation: X:318.61, Y:-19.77, Z:-4.26 [[ 9.98964269e-01 4.43844009e-02 -1.00207003e-02 3.18612330e+02] [-4.43798074e-02 9.99014499e-01 6.80414461e-04 -1.97706092e+01] [ 1.00410247e-02 -2.34992985e-04 9.99949560e-01 -4.25558285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.750371743 meters Centerline goodness [0,1] 0.9869197053491521 Centerline is valid? [True, True] Translation: X:318.64, Y:-19.77, Z:-4.26 [[ 9.98887044e-01 4.60917700e-02 -1.00110485e-02 3.18639899e+02] [-4.60872729e-02 9.98937186e-01 6.79567561e-04 -1.97749601e+01] [ 1.00317311e-02 -2.17429306e-04 9.99949657e-01 -4.25683918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.780371743 meters Centerline goodness [0,1] 0.9883199595337181 Centerline is valid? [True, True] Translation: X:318.67, Y:-19.78, Z:-4.26 [[ 9.98855874e-01 4.67646200e-02 -1.00006870e-02 3.18668263e+02] [-4.67601988e-02 9.98905915e-01 6.75587927e-04 -1.97766114e+01] [ 1.00213390e-02 -2.07180859e-04 9.99949764e-01 -4.25665690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.810371743 meters Centerline goodness [0,1] 0.9882598906400772 Centerline is valid? [True, True] Translation: X:318.70, Y:-19.78, Z:-4.26 [[ 9.98858276e-01 4.65698748e-02 -1.06484865e-02 3.18696244e+02] [-4.65648521e-02 9.98915010e-01 7.19264286e-04 -1.97822114e+01] [ 1.06704290e-02 -2.22597888e-04 9.99943045e-01 -4.25727535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.840371743 meters Centerline goodness [0,1] 0.9879373012267151 Centerline is valid? [True, True] Translation: X:318.72, Y:-19.79, Z:-4.26 [[ 9.98938584e-01 4.48611727e-02 -1.04489952e-02 3.18723125e+02] [-4.48562555e-02 9.98993203e-01 7.04594202e-04 -1.97888158e+01] [ 1.04700841e-02 -2.35143537e-04 9.99945160e-01 -4.25650201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.870371743 meters Centerline goodness [0,1] 0.9872413398879616 Centerline is valid? [True, True] Translation: X:318.75, Y:-19.79, Z:-4.26 [[ 9.99025434e-01 4.28510323e-02 -1.05816906e-02 3.18751524e+02] [-4.28459121e-02 9.99081440e-01 7.10206326e-04 -1.97930658e+01] [ 1.06024037e-02 -2.56131999e-04 9.99943760e-01 -4.25568023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.900371743 meters Centerline goodness [0,1] 0.98683970856102 Centerline is valid? [True, True] Translation: X:318.78, Y:-19.80, Z:-4.26 [[ 9.99097755e-01 4.13561310e-02 -9.66161378e-03 3.18779458e+02] [-4.13517943e-02 9.99144438e-01 6.48277568e-04 -1.97981913e+01] [ 9.68015793e-03 -2.48167596e-04 9.99953115e-01 -4.25520447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.930371743 meters Centerline goodness [0,1] 0.984878459194579 Centerline is valid? [True, True] Translation: X:318.81, Y:-19.81, Z:-4.26 [[ 9.99219581e-01 3.83750500e-02 -9.35863588e-03 3.18806796e+02] [-3.83708641e-02 9.99263371e-01 6.26486873e-04 -1.98087161e+01] [ 9.37578350e-03 -2.66899006e-04 9.99956011e-01 -4.25509990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.960371743 meters Centerline goodness [0,1] 0.9853077882326267 Centerline is valid? [True, True] Translation: X:318.84, Y:-19.81, Z:-4.25 [[ 9.99280307e-01 3.66548969e-02 -9.76151867e-03 3.18835858e+02] [-3.66502644e-02 9.99327940e-01 6.53088324e-04 -1.98106046e+01] [ 9.77889722e-03 -2.94856060e-04 9.99952142e-01 -4.25358525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.990371743 meters Centerline goodness [0,1] 0.9856269805341784 Centerline is valid? [True, True] Translation: X:318.86, Y:-19.82, Z:-4.25 [[ 9.99386524e-01 3.33869922e-02 -1.05775161e-02 3.18864518e+02] [-3.33813747e-02 9.99442436e-01 7.07235276e-04 -1.98197373e+01] [ 1.05952310e-02 -3.53709374e-04 9.99943806e-01 -4.25373736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.020371743 meters Centerline goodness [0,1] 0.9838309019466149 Centerline is valid? [True, True] Translation: X:318.89, Y:-19.83, Z:-4.25 [[ 9.99427029e-01 3.18505822e-02 -1.14522606e-02 3.18892500e+02] [-3.18439096e-02 9.99492562e-01 7.64566197e-04 -1.98256593e+01] [ 1.14708011e-02 -3.99443372e-04 9.99934128e-01 -4.25462518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.050371743 meters Centerline goodness [0,1] 0.9825422927038047 Centerline is valid? [True, True] Translation: X:318.92, Y:-19.84, Z:-4.26 [[ 9.99499949e-01 2.91230143e-02 -1.23167116e-02 3.18921045e+02] [-2.91150949e-02 9.99575728e-01 8.21837557e-04 -1.98350642e+01] [ 1.23354203e-02 -4.62824369e-04 9.99923809e-01 -4.25551018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.080371743 meters Centerline goodness [0,1] 0.9824762418278628 Centerline is valid? [True, True] Translation: X:318.95, Y:-19.84, Z:-4.26 [[ 9.99508526e-01 2.86498833e-02 -1.27235935e-02 3.18948635e+02] [-2.86414098e-02 9.99589391e-01 8.47726041e-04 -1.98415574e+01] [ 1.27426563e-02 -4.82887751e-04 9.99918692e-01 -4.25643032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11037174300003 meters Centerline goodness [0,1] 0.9834074007905491 Centerline is valid? [True, True] Translation: X:318.98, Y:-19.84, Z:-4.26 [[ 9.99508153e-01 2.85215237e-02 -1.30374718e-02 3.18977807e+02] [-2.85126268e-02 9.99593056e-01 8.67814184e-04 -1.98435077e+01] [ 1.30569177e-02 -4.95654783e-04 9.99914632e-01 -4.25508254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.140371743 meters Centerline goodness [0,1] 0.9840782873522035 Centerline is valid? [True, True] Translation: X:319.01, Y:-19.85, Z:-4.26 [[ 9.99471497e-01 2.93351979e-02 -1.40062018e-02 3.19005169e+02] [-2.93250273e-02 9.99569495e-01 9.31018975e-04 -1.98515077e+01] [ 1.40274837e-02 -5.19794678e-04 9.99901475e-01 -4.25615303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17037174300003 meters Centerline goodness [0,1] 0.9817486412131785 Centerline is valid? [True, True] Translation: X:319.03, Y:-19.86, Z:-4.26 [[ 9.99428199e-01 3.07292842e-02 -1.41062121e-02 3.19033076e+02] [-3.07191231e-02 9.99527618e-01 9.36491466e-04 -1.98564940e+01] [ 1.41283263e-02 -5.02625514e-04 9.99900064e-01 -4.25715935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.200371743 meters Centerline goodness [0,1] 0.9834686839470463 Centerline is valid? [True, True] Translation: X:319.06, Y:-19.86, Z:-4.26 [[ 9.99366947e-01 3.29012054e-02 -1.35357489e-02 3.19062046e+02] [-3.28920601e-02 9.99458507e-01 8.97765970e-04 -1.98581164e+01] [ 1.35579570e-02 -4.51978970e-04 9.99907985e-01 -4.25658175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.230371743 meters Centerline goodness [0,1] 0.985000334813955 Centerline is valid? [True, True] Translation: X:319.09, Y:-19.86, Z:-4.25 [[ 9.99284213e-01 3.48678944e-02 -1.46728440e-02 3.19090856e+02] [-3.48573749e-02 9.99391824e-01 9.72149245e-04 -1.98578669e+01] [ 1.46978171e-02 -4.59996569e-04 9.99891875e-01 -4.25483647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.260371743 meters Centerline goodness [0,1] 0.9858768406961178 Centerline is valid? [True, True] Translation: X:319.12, Y:-19.86, Z:-4.26 [[ 9.99096594e-01 3.99097685e-02 -1.46016152e-02 3.19119309e+02] [-3.98998937e-02 9.99203214e-01 9.67087195e-04 -1.98647455e+01] [ 1.46285771e-02 -3.83610626e-04 9.99892923e-01 -4.25642562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.290371743 meters Centerline goodness [0,1] 0.9874212436271345 Centerline is valid? [True, True] Translation: X:319.15, Y:-19.87, Z:-4.26 [[ 9.98998864e-01 4.23181319e-02 -1.45067638e-02 3.19148229e+02] [-4.23086550e-02 9.99104127e-01 9.59691621e-04 -1.98675820e+01] [ 1.45343799e-02 -3.44969175e-04 9.99894311e-01 -4.25621357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.320371743 meters Centerline goodness [0,1] 0.9870886300217036 Centerline is valid? [True, True] Translation: X:319.18, Y:-19.87, Z:-4.26 [[ 9.98916598e-01 4.43893663e-02 -1.39718981e-02 3.19175982e+02] [-4.43807951e-02 9.99014261e-01 9.23070774e-04 -1.98706448e+01] [ 1.39991000e-02 -3.01986770e-04 9.99901962e-01 -4.25631670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.350371743 meters Centerline goodness [0,1] 0.9876899831126122 Centerline is valid? [True, True] Translation: X:319.20, Y:-19.87, Z:-4.26 [[ 9.98838797e-01 4.60300061e-02 -1.42231157e-02 3.19204310e+02] [-4.60213469e-02 9.98940018e-01 9.35689261e-04 -1.98740758e+01] [ 1.42511093e-02 -2.80035792e-04 9.99898409e-01 -4.25585797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380371743 meters Centerline goodness [0,1] 0.9885039614727358 Centerline is valid? [True, True] Translation: X:319.23, Y:-19.88, Z:-4.25 [[ 9.98715290e-01 4.87725208e-02 -1.37480865e-02 3.19232928e+02] [-4.87647379e-02 9.98809886e-01 9.00968558e-04 -1.98776579e+01] [ 1.37756672e-02 -2.29389240e-04 9.99905085e-01 -4.25341979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.410371743 meters Centerline goodness [0,1] 0.9893080090317439 Centerline is valid? [True, True] Translation: X:319.26, Y:-19.88, Z:-4.25 [[ 9.98693514e-01 4.92191726e-02 -1.37381993e-02 3.19261433e+02] [-4.92114904e-02 9.98787978e-01 8.96879869e-04 -1.98810155e+01] [ 1.37656920e-02 -2.19630846e-04 9.99905224e-01 -4.25251019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440371743 meters Centerline goodness [0,1] 0.9893348674602823 Centerline is valid? [True, True] Translation: X:319.29, Y:-19.89, Z:-4.25 [[ 9.98656954e-01 4.98810853e-02 -1.40059188e-02 3.19289104e+02] [-4.98732254e-02 9.98755142e-01 9.10121452e-04 -1.98867325e+01] [ 1.40338813e-02 -2.10378770e-04 9.99901498e-01 -4.25205178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.470371743 meters Centerline goodness [0,1] 0.9898141806049625 Centerline is valid? [True, True] Translation: X:319.32, Y:-19.89, Z:-4.25 [[ 9.98642106e-01 5.01965928e-02 -1.39372099e-02 3.19316773e+02] [-5.01888969e-02 9.98739336e-01 9.01620432e-04 -1.98911911e+01] [ 1.39648981e-02 -2.00902934e-04 9.99902466e-01 -4.25209156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500371743 meters Centerline goodness [0,1] 0.9890732051197321 Centerline is valid? [True, True] Translation: X:319.34, Y:-19.90, Z:-4.25 [[ 9.98641850e-01 5.03023145e-02 -1.35695665e-02 3.19344437e+02] [-5.02950443e-02 9.98734019e-01 8.76719019e-04 -1.98961706e+01] [ 1.35964887e-02 -1.93046353e-04 9.99907545e-01 -4.25259621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.530371743 meters Centerline goodness [0,1] 0.9879873272903282 Centerline is valid? [True, True] Translation: X:319.37, Y:-19.90, Z:-4.25 [[ 9.98715469e-01 4.88110619e-02 -1.35975431e-02 3.19372977e+02] [-4.88036785e-02 9.98808008e-01 8.74486493e-04 -1.99041676e+01] [ 1.36240196e-02 -2.09753066e-04 9.99907167e-01 -4.25226360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560371743 meters Centerline goodness [0,1] 0.9877121892454277 Centerline is valid? [True, True] Translation: X:319.40, Y:-19.91, Z:-4.25 [[ 9.98766500e-01 4.78902843e-02 -1.31148608e-02 3.19400417e+02] [-4.78833421e-02 9.98852579e-01 8.43020115e-04 -1.99099528e+01] [ 1.31401850e-02 -2.13996884e-04 9.99913641e-01 -4.25252306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.590371743 meters Centerline goodness [0,1] 0.9870013544807096 Centerline is valid? [True, True] Translation: X:319.43, Y:-19.92, Z:-4.25 [[ 9.98822827e-01 4.67984189e-02 -1.27619965e-02 3.19428170e+02] [-4.67917808e-02 9.98904329e-01 8.18403298e-04 -1.99159422e+01] [ 1.27863136e-02 -2.20283351e-04 9.99918227e-01 -4.25301037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620371743 meters Centerline goodness [0,1] 0.984418244818794 Centerline is valid? [True, True] Translation: X:319.46, Y:-19.92, Z:-4.25 [[ 9.98952425e-01 4.39011594e-02 -1.29127907e-02 3.19456325e+02] [-4.38941709e-02 9.99035846e-01 8.24257936e-04 -1.99249701e+01] [ 1.29365267e-02 -2.56598222e-04 9.99916287e-01 -4.25292207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.650371743 meters Centerline goodness [0,1] 0.9837518785529153 Centerline is valid? [True, True] Translation: X:319.48, Y:-19.93, Z:-4.25 [[ 9.99015241e-01 4.24803386e-02 -1.28050379e-02 3.19483871e+02] [-4.24733542e-02 9.99097266e-01 8.17019140e-04 -1.99312390e+01] [ 1.28281856e-02 -2.72341664e-04 9.99917678e-01 -4.25348541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680371743 meters Centerline goodness [0,1] 0.9821424706162472 Centerline is valid? [True, True] Translation: X:319.51, Y:-19.94, Z:-4.25 [[ 9.99167685e-01 3.90360836e-02 -1.18372817e-02 3.19512224e+02] [-3.90298828e-02 9.99237759e-01 7.54489704e-04 -1.99409416e+01] [ 1.18577112e-02 -2.91854014e-04 9.99929652e-01 -4.25421694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.710371743 meters Centerline goodness [0,1] 0.9821575505608245 Centerline is valid? [True, True] Translation: X:319.54, Y:-19.95, Z:-4.25 [[ 9.99233367e-01 3.72862669e-02 -1.19336669e-02 3.19540253e+02] [-3.72798540e-02 9.99304576e-01 7.59451037e-04 -1.99454419e+01] [ 1.19536850e-02 -3.13983457e-04 9.99928503e-01 -4.25366440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740371743 meters Centerline goodness [0,1] 0.9805085112834062 Centerline is valid? [True, True] Translation: X:319.57, Y:-19.95, Z:-4.25 [[ 9.99307999e-01 3.53910934e-02 -1.14452659e-02 3.19567812e+02] [-3.53850826e-02 9.99373487e-01 7.27322156e-04 -1.99521646e+01] [ 1.14638360e-02 -3.21827169e-04 9.99934236e-01 -4.25495860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.770371743 meters Centerline goodness [0,1] 0.9781829952524816 Centerline is valid? [True, True] Translation: X:319.60, Y:-19.96, Z:-4.26 [[ 9.99463351e-01 3.08216330e-02 -1.10921987e-02 3.19595395e+02] [-3.08157159e-02 9.99524835e-01 7.04003755e-04 -1.99625722e+01] [ 1.11086266e-02 -3.61811907e-04 9.99938232e-01 -4.25570313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800371743 meters Centerline goodness [0,1] 0.9793589854197222 Centerline is valid? [True, True] Translation: X:319.62, Y:-19.97, Z:-4.25 [[ 9.99536233e-01 2.87317946e-02 -1.00897819e-02 3.19624372e+02] [-2.87267996e-02 9.99587096e-01 6.39664845e-04 -1.99661519e+01] [ 1.01039945e-02 -3.49521047e-04 9.99948892e-01 -4.25456465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.830371743 meters Centerline goodness [0,1] 0.9753376268119844 Centerline is valid? [True, True] Translation: X:319.65, Y:-19.97, Z:-4.25 [[ 9.99660097e-01 2.44245466e-02 -9.11766891e-03 3.19653128e+02] [-2.44202928e-02 9.99701613e-01 5.77600767e-04 -1.99743051e+01] [ 9.12905595e-03 -3.54748295e-04 9.99958266e-01 -4.25425692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86037174300003 meters Centerline goodness [0,1] 0.9735140861819204 Centerline is valid? [True, True] Translation: X:319.68, Y:-19.98, Z:-4.25 [[ 9.99717123e-01 2.22472124e-02 -8.41045143e-03 3.19681219e+02] [-2.22435281e-02 9.99752441e-01 5.31361140e-04 -1.99791958e+01] [ 8.42019065e-03 -3.44132717e-04 9.99964490e-01 -4.25469325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.890371743 meters Centerline goodness [0,1] 0.9727779811771801 Centerline is valid? [True, True] Translation: X:319.71, Y:-19.98, Z:-4.25 [[ 9.99764834e-01 2.02731955e-02 -7.69898659e-03 3.19709769e+02] [-2.02700524e-02 9.99794423e-01 4.86074777e-04 -1.99834963e+01] [ 7.70725815e-03 -3.29901607e-04 9.99970244e-01 -4.25430609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92037174300003 meters Centerline goodness [0,1] 0.9728344768439108 Centerline is valid? [True, True] Translation: X:319.74, Y:-19.99, Z:-4.25 [[ 9.99836016e-01 1.67785790e-02 -6.81318324e-03 3.19737729e+02] [-1.67760403e-02 9.99859180e-01 4.29599771e-04 -1.99917803e+01] [ 6.81943188e-03 -3.15231087e-04 9.99976698e-01 -4.25457061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.950371743 meters Centerline goodness [0,1] 0.9726426076833528 Centerline is valid? [True, True] Translation: X:319.77, Y:-20.00, Z:-4.25 [[ 9.99865218e-01 1.52499168e-02 -6.08161086e-03 3.19765269e+02] [-1.52478697e-02 9.99883671e-01 3.82829313e-04 -1.99965677e+01] [ 6.08674151e-03 -2.90046105e-04 9.99981434e-01 -4.25475250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.980371743 meters Centerline goodness [0,1] 0.9729962160302718 Centerline is valid? [True, True] Translation: X:319.79, Y:-20.00, Z:-4.25 [[ 9.99890996e-01 1.36765375e-02 -5.56306927e-03 3.19793964e+02] [-1.36748023e-02 9.99906434e-01 3.49832432e-04 -1.99984242e+01] [ 5.56733325e-03 -2.73720427e-04 9.99984465e-01 -4.25404554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.010371743 meters Centerline goodness [0,1] 0.971695691241282 Centerline is valid? [True, True] Translation: X:319.82, Y:-20.00, Z:-4.25 [[ 9.99923195e-01 1.10870242e-02 -5.53912402e-03 3.19822904e+02] [-1.10852655e-02 9.99938496e-01 3.48098647e-04 -2.00009546e+01] [ 5.54264272e-03 -2.86669250e-04 9.99984598e-01 -4.25354761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.040371743 meters Centerline goodness [0,1] 0.9725061609343191 Centerline is valid? [True, True] Translation: X:319.85, Y:-20.01, Z:-4.25 [[ 9.99932289e-01 1.00920972e-02 -5.79378680e-03 3.19850436e+02] [-1.00901605e-02 9.99949027e-01 3.63410652e-04 -2.00063796e+01] [ 5.79715905e-03 -3.04925806e-04 9.99983150e-01 -4.25361324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.070371743 meters Centerline goodness [0,1] 0.9733172921992824 Centerline is valid? [True, True] Translation: X:319.88, Y:-20.01, Z:-4.25 [[ 9.99941066e-01 8.81299298e-03 -6.33993539e-03 3.19879299e+02] [-8.81065037e-03 9.99961107e-01 3.97336075e-04 -2.00082203e+01] [ 6.34319053e-03 -3.41453704e-04 9.99979823e-01 -4.25400885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.100371743 meters Centerline goodness [0,1] 0.9730677154582763 Centerline is valid? [True, True] Translation: X:319.91, Y:-20.01, Z:-4.25 [[ 9.99950167e-01 7.37508715e-03 -6.72844069e-03 3.19907615e+02] [-7.37242091e-03 9.99972735e-01 4.20980633e-04 -2.00096402e+01] [ 6.73136200e-03 -3.71354758e-04 9.99977275e-01 -4.25390524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.130371743 meters Centerline goodness [0,1] 0.973015327809025 Centerline is valid? [True, True] Translation: X:319.93, Y:-20.02, Z:-4.25 [[ 9.99957648e-01 6.32790087e-03 -6.68276432e-03 3.19934909e+02] [-6.32525154e-03 9.99979908e-01 4.17504599e-04 -2.00153866e+01] [ 6.68527198e-03 -3.75216751e-04 9.99977583e-01 -4.25426298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.160371743 meters Centerline goodness [0,1] 0.972984489517641 Centerline is valid? [True, True] Translation: X:319.96, Y:-20.02, Z:-4.25 [[ 9.99969712e-01 4.85953752e-03 -6.07944157e-03 3.19963797e+02] [-4.85732030e-03 9.99988131e-01 3.79419649e-04 -2.00172070e+01] [ 6.08121322e-03 -3.49878362e-04 9.99981448e-01 -4.25333200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.190371743 meters Centerline goodness [0,1] 0.9719649987256818 Centerline is valid? [True, True] Translation: X:319.99, Y:-20.02, Z:-4.25 [[ 9.99972454e-01 3.75577570e-03 -6.40202703e-03 3.19991660e+02] [-3.75329332e-03 9.99992876e-01 3.99719046e-04 -2.00223713e+01] [ 6.40348268e-03 -3.75679350e-04 9.99979427e-01 -4.25442594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.220371743 meters Centerline goodness [0,1] 0.9719649987256818 Centerline is valid? [True, True] Translation: X:320.02, Y:-20.02, Z:-4.25 [[ 9.99972716e-01 3.68509630e-03 -6.40207112e-03 3.20019972e+02] [-3.68261698e-03 9.99993140e-01 3.99012580e-04 -2.00240770e+01] [ 6.40349760e-03 -3.75425318e-04 9.99979427e-01 -4.25456405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.250371743 meters Centerline goodness [0,1] 0.9712768679631525 Centerline is valid? [True, True] Translation: X:320.05, Y:-20.03, Z:-4.25 [[ 9.99974626e-01 2.72678882e-03 -6.58111923e-03 3.20048984e+02] [-2.72415120e-03 9.99996206e-01 4.09715958e-04 -2.00266602e+01] [ 6.58221147e-03 -3.91777598e-04 9.99978260e-01 -4.25482985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.280371743 meters Centerline goodness [0,1] 0.973086251648866 Centerline is valid? [True, True] Translation: X:320.08, Y:-20.03, Z:-4.26 [[ 9.99972860e-01 1.59107580e-03 -7.19354547e-03 3.20076975e+02] [-1.58790137e-03 9.99998639e-01 4.46978610e-04 -2.00298292e+01] [ 7.19424686e-03 -4.35543838e-04 9.99974026e-01 -4.25532899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.310371743 meters Centerline goodness [0,1] 0.9730623213752506 Centerline is valid? [True, True] Translation: X:320.11, Y:-20.03, Z:-4.25 [[ 9.99971434e-01 3.64109053e-04 -7.54970399e-03 3.20105624e+02] [-3.60582232e-04 9.99999825e-01 4.68502752e-04 -2.00269474e+01] [ 7.54987326e-03 -4.65767080e-04 9.99971391e-01 -4.25485226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.340371743 meters Centerline goodness [0,1] 0.9729284016191557 Centerline is valid? [True, True] Translation: X:320.13, Y:-20.03, Z:-4.25 [[ 9.99966924e-01 -9.85818232e-04 -8.07330797e-03 3.20134753e+02] [ 9.89893204e-04 9.99999385e-01 5.00765946e-04 -2.00278732e+01] [ 8.07280934e-03 -5.08741095e-04 9.99967285e-01 -4.25491480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.370371743 meters Centerline goodness [0,1] 0.9727093848917786 Centerline is valid? [True, True] Translation: X:320.16, Y:-20.03, Z:-4.25 [[ 9.99964998e-01 -1.85484313e-03 -8.15858466e-03 3.20163636e+02] [ 1.85902795e-03 9.99998144e-01 5.05380977e-04 -2.00289565e+01] [ 8.15763211e-03 -5.20530325e-04 9.99966590e-01 -4.25489371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.400371743 meters Centerline goodness [0,1] 0.9732734203633111 Centerline is valid? [True, True] Translation: X:320.19, Y:-20.03, Z:-4.25 [[ 9.99967949e-01 -1.74687710e-03 -7.81338803e-03 3.20191413e+02] [ 1.75070574e-03 9.99998351e-01 4.83197180e-04 -2.00310818e+01] [ 7.81253105e-03 -4.96860636e-04 9.99969358e-01 -4.25454724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.430371743 meters Centerline goodness [0,1] 0.9726217700741627 Centerline is valid? [True, True] Translation: X:320.22, Y:-20.03, Z:-4.25 [[ 9.99968547e-01 -2.73501981e-03 -7.44480713e-03 3.20220543e+02] [ 2.73851945e-03 9.99996144e-01 4.59924556e-04 -2.00288899e+01] [ 7.44352052e-03 -4.80297839e-04 9.99972181e-01 -4.25321707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.460371743 meters Centerline goodness [0,1] 0.971717862177981 Centerline is valid? [True, True] Translation: X:320.25, Y:-20.03, Z:-4.25 [[ 9.99968439e-01 -3.50810576e-03 -7.12837639e-03 3.20248672e+02] [ 3.51133157e-03 9.99993738e-01 4.40065847e-04 -2.00315682e+01] [ 7.12678796e-03 -4.65082051e-04 9.99974496e-01 -4.25317436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.490371743 meters Centerline goodness [0,1] 0.9725620188195039 Centerline is valid? [True, True] Translation: X:320.28, Y:-20.03, Z:-4.25 [[ 9.99967188e-01 -4.37869484e-03 -6.81547694e-03 3.20277821e+02] [ 4.38164487e-03 9.99990313e-01 4.17971095e-04 -2.00280953e+01] [ 6.81358076e-03 -4.47820380e-04 9.99976687e-01 -4.25186504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.520371743 meters Centerline goodness [0,1] 0.9728286410048276 Centerline is valid? [True, True] Translation: X:320.31, Y:-20.03, Z:-4.25 [[ 9.99963795e-01 -5.41901638e-03 -6.56065886e-03 3.20307577e+02] [ 5.42177742e-03 9.99985221e-01 4.03135671e-04 -2.00290648e+01] [ 6.55837730e-03 -4.38691507e-04 9.99978397e-01 -4.25184030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.550371743 meters Centerline goodness [0,1] 0.970640398299109 Centerline is valid? [True, True] Translation: X:320.34, Y:-20.03, Z:-4.25 [[ 9.99953091e-01 -7.31321233e-03 -6.35086850e-03 3.20336980e+02] [ 7.31583743e-03 9.99973163e-01 3.90212803e-04 -2.00320951e+01] [ 6.34784435e-03 -4.36656420e-04 9.99979757e-01 -4.25246822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.580371743 meters Centerline goodness [0,1] 0.9726159173988328 Centerline is valid? [True, True] Translation: X:320.37, Y:-20.03, Z:-4.25 [[ 9.99943381e-01 -8.55164771e-03 -6.33270951e-03 3.20367434e+02] [ 8.55428310e-03 9.99963336e-01 3.89185929e-04 -2.00319819e+01] [ 6.32914914e-03 -4.43335683e-04 9.99979872e-01 -4.25212101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61037174300003 meters Centerline goodness [0,1] 0.9704604319626688 Centerline is valid? [True, True] Translation: X:320.40, Y:-20.04, Z:-4.25 [[ 9.99902348e-01 -1.22534010e-02 -6.71934557e-03 3.20396964e+02] [ 1.22564501e-02 9.99924802e-01 4.12778159e-04 -2.00368103e+01] [ 6.71378235e-03 -4.95093174e-04 9.99977340e-01 -4.25381443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.640371743 meters Centerline goodness [0,1] 0.9713894416982303 Centerline is valid? [True, True] Translation: X:320.43, Y:-20.04, Z:-4.25 [[ 9.99875559e-01 -1.42489344e-02 -6.77011029e-03 3.20427989e+02] [ 1.42520771e-02 9.99898347e-01 4.16182409e-04 -2.00352551e+01] [ 6.76349193e-03 -5.12618753e-04 9.99976996e-01 -4.25361791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67037174300003 meters Centerline goodness [0,1] 0.8640324337407721 Centerline is valid? [True, False] Translation: X:320.47, Y:-20.04, Z:-4.25 [[ 9.99793979e-01 -1.89554682e-02 -7.25880850e-03 3.20465247e+02] [ 1.89754210e-02 9.99816332e-01 2.68983873e-03 -2.00354022e+01] [ 7.20648814e-03 -2.82702351e-03 9.99970037e-01 -4.25343280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.700371743 meters Centerline goodness [0,1] 0.9698178775983011 Centerline is valid? [False, True] Translation: X:320.40, Y:-20.03, Z:-4.25 [[ 9.99785124e-01 -1.94350319e-02 -7.21013446e-03 3.20400725e+02] [ 1.94370040e-02 9.99811063e-01 2.03545543e-04 -2.00310213e+01] [ 7.20481629e-03 -3.43645219e-04 9.99973986e-01 -4.25390110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.730371743 meters Centerline goodness [0,1] 0.9689019708216022 Centerline is valid? [True, True] Translation: X:320.43, Y:-20.04, Z:-4.25 [[ 9.99696205e-01 -2.32169913e-02 -8.27456016e-03 3.20430094e+02] [ 2.32219466e-02 9.99730208e-01 5.03273415e-04 -2.00351691e+01] [ 8.26064325e-03 -6.95271917e-04 9.99965639e-01 -4.25437616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.760371743 meters Centerline goodness [0,1] 0.9684623801248632 Centerline is valid? [True, True] Translation: X:320.46, Y:-20.04, Z:-4.25 [[ 9.99665553e-01 -2.44438916e-02 -8.44268988e-03 3.20461564e+02] [ 2.44490974e-02 9.99700944e-01 5.13928010e-04 -2.00353480e+01] [ 8.42760264e-03 -7.20172275e-04 9.99964228e-01 -4.25484248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.790371743 meters Centerline goodness [0,1] 0.9689592078355398 Centerline is valid? [True, True] Translation: X:320.49, Y:-20.03, Z:-4.25 [[ 9.99669523e-01 -2.41685455e-02 -8.75930468e-03 3.20493772e+02] [ 2.41741456e-02 9.99707620e-01 5.34012205e-04 -2.00298387e+01] [ 8.74383733e-03 -7.45584433e-04 9.99961494e-01 -4.25373737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.820371743 meters Centerline goodness [0,1] 0.9656767807187433 Centerline is valid? [True, True] Translation: X:320.52, Y:-20.03, Z:-4.25 [[ 9.99706288e-01 -2.25318588e-02 -8.92484538e-03 3.20524318e+02] [ 2.25376093e-02 9.99745848e-01 5.44259735e-04 -2.00340697e+01] [ 8.91031393e-03 -7.45244558e-04 9.99960025e-01 -4.25451235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.850371743 meters Centerline goodness [0,1] 0.9692417430399447 Centerline is valid? [True, True] Translation: X:320.56, Y:-20.02, Z:-4.25 [[ 9.99806385e-01 -1.77899914e-02 -8.40886886e-03 3.20555923e+02] [ 1.77949292e-02 9.99841526e-01 5.12748998e-04 -2.00242053e+01] [ 8.39841447e-03 -6.62284948e-04 9.99964513e-01 -4.25301487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880371743 meters Centerline goodness [0,1] 0.9696463803308545 Centerline is valid? [True, True] Translation: X:320.59, Y:-20.02, Z:-4.25 [[ 9.99866003e-01 -1.43227645e-02 -7.92687291e-03 3.20586704e+02] [ 1.43270442e-02 9.99897246e-01 4.83375072e-04 -2.00194566e+01] [ 7.91913512e-03 -5.96878959e-04 9.99968465e-01 -4.25243087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.910371743 meters Centerline goodness [0,1] 0.9707125603864735 Centerline is valid? [True, True] Translation: X:320.62, Y:-20.02, Z:-4.25 [[ 9.99926100e-01 -9.71013776e-03 -7.31490911e-03 3.20616753e+02] [ 9.71365920e-03 9.99952722e-01 4.46031826e-04 -2.00195387e+01] [ 7.31023224e-03 -5.17053399e-04 9.99973146e-01 -4.25272547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940371743 meters Centerline goodness [0,1] 0.9710286458333334 Centerline is valid? [True, True] Translation: X:320.65, Y:-20.01, Z:-4.25 [[ 9.99973498e-01 -1.55254082e-03 -7.11286960e-03 3.20646878e+02] [ 1.55566352e-03 9.99998696e-01 4.33509777e-04 -2.00126895e+01] [ 7.11218728e-03 -4.44563520e-04 9.99974609e-01 -4.25343434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.970371743 meters Centerline goodness [0,1] 0.9726179342743426 Centerline is valid? [True, True] Translation: X:320.68, Y:-20.01, Z:-4.25 [[ 9.99970996e-01 2.41282631e-03 -7.22389755e-03 3.20676507e+02] [-2.40970972e-03 9.99997000e-01 4.40101081e-04 -2.00109633e+01] [ 7.22493776e-03 -4.22680820e-04 9.99973810e-01 -4.25374853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000371743 meters Centerline goodness [0,1] 0.973228106128322 Centerline is valid? [True, True] Translation: X:320.71, Y:-20.00, Z:-4.25 [[ 9.99954883e-01 5.60977921e-03 -7.66567999e-03 3.20706538e+02] [-5.60636595e-03 9.99984175e-01 4.66680907e-04 -2.00038391e+01] [ 7.66817666e-03 -4.23683245e-04 9.99970509e-01 -4.25301095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.030371743 meters Centerline goodness [0,1] 0.9745801576729052 Centerline is valid? [True, True] Translation: X:320.74, Y:-20.00, Z:-4.25 [[ 9.99918292e-01 1.06812252e-02 -7.02291005e-03 3.20737445e+02] [-1.06784845e-02 9.99942892e-01 4.27624484e-04 -1.99992196e+01] [ 7.02707654e-03 -3.52595507e-04 9.99975248e-01 -4.25314142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060371743 meters Centerline goodness [0,1] 0.9740509791051307 Centerline is valid? [True, True] Translation: X:320.77, Y:-20.00, Z:-4.25 [[ 9.99907751e-01 1.20267095e-02 -6.31258033e-03 3.20765488e+02] [-1.20245279e-02 9.99927629e-01 3.83434465e-04 -2.00006385e+01] [ 6.31673494e-03 -3.07493295e-04 9.99980002e-01 -4.25345991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.090371743 meters Centerline goodness [0,1] 0.9743550469355157 Centerline is valid? [True, True] Translation: X:320.79, Y:-20.00, Z:-4.25 [[ 9.99881296e-01 1.39421900e-02 -6.55811454e-03 3.20793924e+02] [-1.39398788e-02 9.99902756e-01 3.97996624e-04 -1.99989481e+01] [ 6.56302575e-03 -3.06530058e-04 9.99978416e-01 -4.25410587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120371743 meters Centerline goodness [0,1] 0.9752163909280158 Centerline is valid? [True, True] Translation: X:320.82, Y:-20.00, Z:-4.25 [[ 9.99870062e-01 1.45846939e-02 -6.86634351e-03 3.20822753e+02] [-1.45821788e-02 9.99893588e-01 4.16218418e-04 -1.99963571e+01] [ 6.87168326e-03 -3.16038086e-04 9.99976340e-01 -4.25410820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.150371743 meters Centerline goodness [0,1] 0.9763580937342369 Centerline is valid? [True, True] Translation: X:320.85, Y:-20.00, Z:-4.25 [[ 9.99866281e-01 1.47965835e-02 -6.96284808e-03 3.20851459e+02] [-1.47940057e-02 9.99890474e-01 4.21581923e-04 -1.99967200e+01] [ 6.96832343e-03 -3.18517135e-04 9.99975670e-01 -4.25433008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180371743 meters Centerline goodness [0,1] 0.9770575861162241 Centerline is valid? [True, True] Translation: X:320.88, Y:-19.99, Z:-4.25 [[ 9.99868908e-01 1.45542871e-02 -7.09500763e-03 3.20880609e+02] [-1.45516081e-02 9.99894028e-01 4.29063769e-04 -1.99927769e+01] [ 7.10050048e-03 -3.25763752e-04 9.99974738e-01 -4.25392085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.210371743 meters Centerline goodness [0,1] 0.9768513439385628 Centerline is valid? [True, True] Translation: X:320.91, Y:-19.99, Z:-4.25 [[ 9.99875885e-01 1.37749309e-02 -7.64628391e-03 3.20908143e+02] [-1.37718024e-02 9.99905058e-01 4.61657384e-04 -1.99943664e+01] [ 7.65191726e-03 -3.56296975e-04 9.99970660e-01 -4.25417157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240371743 meters Centerline goodness [0,1] 0.9773485513608429 Centerline is valid? [True, True] Translation: X:320.94, Y:-20.00, Z:-4.25 [[ 9.99912966e-01 1.09643239e-02 -7.33787458e-03 3.20937610e+02] [-1.09613674e-02 9.99939824e-01 4.42999879e-04 -1.99962009e+01] [ 7.34229021e-03 -3.62528184e-04 9.99972979e-01 -4.25428091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.270371743 meters Centerline goodness [0,1] 0.9750694946045921 Centerline is valid? [True, True] Translation: X:320.97, Y:-20.00, Z:-4.26 [[ 9.99930014e-01 9.17919093e-03 -7.46392771e-03 3.20965539e+02] [-9.17608599e-03 9.99957798e-01 4.50133268e-04 -2.00043046e+01] [ 7.46774457e-03 -3.81612122e-04 9.99972043e-01 -4.25558738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300371743 meters Centerline goodness [0,1] 0.9746477018306334 Centerline is valid? [True, True] Translation: X:320.99, Y:-20.00, Z:-4.25 [[ 9.99955974e-01 6.23362841e-03 -7.01371632e-03 3.20994776e+02] [-6.23081730e-03 9.99980499e-01 4.22581370e-04 -2.00006178e+01] [ 7.01621377e-03 -3.78861580e-04 9.99975314e-01 -4.25410235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.330371743 meters Centerline goodness [0,1] 0.9744763824379984 Centerline is valid? [True, True] Translation: X:321.02, Y:-20.01, Z:-4.25 [[ 9.99980981e-01 9.66890778e-04 -6.09118793e-03 3.21023810e+02] [-9.64673144e-04 9.99999467e-01 3.66999999e-04 -2.00070631e+01] [ 6.09153953e-03 -3.61117013e-04 9.99981381e-01 -4.25337827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36037174300003 meters Centerline goodness [0,1] 0.9626294275102193 Centerline is valid? [True, True] Translation: X:321.05, Y:-20.03, Z:-4.26 [[ 9.99984169e-01 2.52616677e-03 -5.02795051e-03 3.21050691e+02] [-2.52467843e-03 9.99996767e-01 3.02338520e-04 -2.00287316e+01] [ 5.02869801e-03 -2.89639776e-04 9.99987314e-01 -4.25573584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.390371743 meters Centerline goodness [0,1] 0.9716716979481121 Centerline is valid? [True, True] Translation: X:321.08, Y:-20.02, Z:-4.25 [[ 9.99966638e-01 -5.26805326e-03 -6.24258048e-03 3.21081369e+02] [ 5.27050043e-03 9.99986040e-01 3.75625965e-04 -2.00154245e+01] [ 6.24051452e-03 -4.08514956e-04 9.99980444e-01 -4.25337867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42037174300003 meters Centerline goodness [0,1] 0.9696419985137912 Centerline is valid? [True, True] Translation: X:321.11, Y:-20.02, Z:-4.25 [[ 9.99909952e-01 -1.16401684e-02 -6.67784243e-03 3.21111673e+02] [ 1.16431107e-02 9.99932136e-01 4.01898682e-04 -2.00215500e+01] [ 6.67271108e-03 -4.79613351e-04 9.99977622e-01 -4.25418560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.450371743 meters Centerline goodness [0,1] 0.969330387417146 Centerline is valid? [True, True] Translation: X:321.14, Y:-20.02, Z:-4.25 [[ 9.99863515e-01 -1.48088283e-02 -7.32465037e-03 3.21142229e+02] [ 1.48124533e-02 9.99890192e-01 4.40895407e-04 -2.00228816e+01] [ 7.31731692e-03 -5.49331272e-04 9.99973077e-01 -4.25398543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.480371743 meters Centerline goodness [0,1] 0.9692801467216873 Centerline is valid? [True, True] Translation: X:321.17, Y:-20.03, Z:-4.25 [[ 9.99752720e-01 -2.10729823e-02 -7.10132183e-03 3.21172842e+02] [ 2.10765475e-02 9.99777773e-01 4.27582452e-04 -2.00276315e+01] [ 7.09073329e-03 -5.77148066e-04 9.99974694e-01 -4.25393895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.510371743 meters Centerline goodness [0,1] 0.9668172000785392 Centerline is valid? [True, True] Translation: X:321.20, Y:-20.03, Z:-4.25 [[ 9.99691724e-01 -2.39036703e-02 -6.71353952e-03 3.21203170e+02] [ 2.39069224e-02 9.99714107e-01 4.04567637e-04 -2.00323604e+01] [ 6.70194952e-03 -5.64942987e-04 9.99977382e-01 -4.25437303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.540371743 meters Centerline goodness [0,1] 0.9660238751147842 Centerline is valid? [True, True] Translation: X:321.23, Y:-20.04, Z:-4.25 [[ 9.99629617e-01 -2.63082100e-02 -6.96474324e-03 3.21233785e+02] [ 2.63117683e-02 9.99653697e-01 4.19752252e-04 -2.00367067e+01] [ 6.95128840e-03 -6.02851493e-04 9.99975658e-01 -4.25446056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.570371743 meters Centerline goodness [0,1] 0.9646966355915552 Centerline is valid? [True, True] Translation: X:321.26, Y:-20.04, Z:-4.25 [[ 9.99577120e-01 -2.82844135e-02 -6.75084300e-03 3.21264522e+02] [ 2.82878022e-02 9.99599737e-01 4.06986797e-04 -2.00401316e+01] [ 6.73662951e-03 -5.97781201e-04 9.99977130e-01 -4.25424086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.600371743 meters Centerline goodness [0,1] 0.9655360572725685 Centerline is valid? [True, True] Translation: X:321.30, Y:-20.04, Z:-4.25 [[ 9.99479481e-01 -3.12221573e-02 -8.12058428e-03 3.21295390e+02] [ 3.12271567e-02 9.99512194e-01 4.89547214e-04 -2.00406584e+01] [ 8.10133829e-03 -7.42875153e-04 9.99966908e-01 -4.25474423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.630371743 meters Centerline goodness [0,1] 0.9633278955954323 Centerline is valid? [True, True] Translation: X:321.33, Y:-20.04, Z:-4.26 [[ 9.99429214e-01 -3.26619025e-02 -8.62825754e-03 3.21325608e+02] [ 3.26676016e-02 9.99466136e-01 5.20362086e-04 -2.00448207e+01] [ 8.60665521e-03 -8.01929550e-04 9.99962640e-01 -4.25532752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.660371743 meters Centerline goodness [0,1] 0.9626064178127046 Centerline is valid? [True, True] Translation: X:321.36, Y:-20.05, Z:-4.26 [[ 9.99422948e-01 -3.29774450e-02 -8.13996018e-03 3.21357918e+02] [ 3.29825344e-02 9.99455807e-01 4.91758268e-04 -2.00475438e+01] [ 8.11931354e-03 -7.59951015e-04 9.99966749e-01 -4.25571944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.690371743 meters Centerline goodness [0,1] 0.9616151873205164 Centerline is valid? [True, True] Translation: X:321.39, Y:-20.05, Z:-4.26 [[ 9.99434325e-01 -3.27255492e-02 -7.75044464e-03 3.21390244e+02] [ 3.27301602e-02 9.99464115e-01 4.68808627e-04 -2.00492025e+01] [ 7.73094928e-03 -7.22216728e-04 9.99969855e-01 -4.25546600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.720371743 meters Centerline goodness [0,1] 0.9620587913889193 Centerline is valid? [True, True] Translation: X:321.42, Y:-20.05, Z:-4.26 [[ 9.99462358e-01 -3.19349880e-02 -7.42637766e-03 3.21422971e+02] [ 3.19392054e-02 9.99489712e-01 4.49973122e-04 -2.00509860e+01] [ 7.40821818e-03 -6.86923800e-04 9.99972323e-01 -4.25527991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.750371743 meters Centerline goodness [0,1] 0.9614390254590071 Centerline is valid? [True, True] Translation: X:321.45, Y:-20.05, Z:-4.26 [[ 9.99492197e-01 -3.08868567e-02 -7.83266190e-03 3.21454667e+02] [ 3.08915165e-02 9.99522631e-01 4.74607803e-04 -2.00509811e+01] [ 7.81426368e-03 -7.16329600e-04 9.99969212e-01 -4.25524576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.780371743 meters Centerline goodness [0,1] 0.9605309423347398 Centerline is valid? [True, True] Translation: X:321.49, Y:-20.05, Z:-4.26 [[ 9.99505672e-01 -3.03863438e-02 -8.06728545e-03 3.21485857e+02] [ 3.03912817e-02 9.99537958e-01 4.90182042e-04 -2.00532784e+01] [ 8.04866319e-03 -7.35114876e-04 9.99967339e-01 -4.25560898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.810371743 meters Centerline goodness [0,1] 0.9605072622756593 Centerline is valid? [True, True] Translation: X:321.52, Y:-20.05, Z:-4.26 [[ 9.99537511e-01 -2.90586872e-02 -8.96414352e-03 3.21517387e+02] [ 2.90647300e-02 9.99577383e-01 5.44549650e-04 -2.00522793e+01] [ 8.94453122e-03 -8.04838213e-04 9.99959673e-01 -4.25636835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.840371743 meters Centerline goodness [0,1] 0.9604883316071311 Centerline is valid? [True, True] Translation: X:321.55, Y:-20.05, Z:-4.26 [[ 9.99532604e-01 -2.89567528e-02 -9.80209121e-03 3.21549868e+02] [ 2.89639816e-02 9.99580278e-01 5.96287679e-04 -2.00531876e+01] [ 9.78071050e-03 -8.79916565e-04 9.99951781e-01 -4.25732781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.870371743 meters Centerline goodness [0,1] 0.9597547207402652 Centerline is valid? [True, True] Translation: X:321.58, Y:-20.06, Z:-4.26 [[ 9.99541338e-01 -2.85192074e-02 -1.01867018e-02 3.21580909e+02] [ 2.85269966e-02 9.99592830e-01 6.20128219e-04 -2.00552147e+01] [ 1.01648685e-02 -9.10439798e-04 9.99947922e-01 -4.25789198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.900371743 meters Centerline goodness [0,1] 0.9664395380735366 Centerline is valid? [True, True] Translation: X:321.61, Y:-20.05, Z:-4.26 [[ 9.99556706e-01 -2.79114452e-02 -1.03606114e-02 3.21613424e+02] [ 2.79194790e-02 9.99609976e-01 6.31558079e-04 -2.00468178e+01] [ 1.03389428e-02 -9.20540985e-04 9.99946128e-01 -4.25628299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.930371743 meters Centerline goodness [0,1] 0.9674466146701332 Centerline is valid? [True, True] Translation: X:321.65, Y:-20.05, Z:-4.26 [[ 9.99562090e-01 -2.76158505e-02 -1.06297792e-02 3.21645701e+02] [ 2.76242987e-02 9.99618166e-01 6.48735518e-04 -2.00461451e+01] [ 1.06078050e-02 -9.42091626e-04 9.99943292e-01 -4.25619841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.960371743 meters Centerline goodness [0,1] 0.9650988351570773 Centerline is valid? [True, True] Translation: X:321.68, Y:-20.05, Z:-4.26 [[ 9.99596792e-01 -2.65276772e-02 -1.01259857e-02 3.21676217e+02] [ 2.65353001e-02 9.99647685e-01 6.19180059e-04 -2.00461477e+01] [ 1.01059928e-02 -8.87626471e-04 9.99948539e-01 -4.25637705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.990371743 meters Centerline goodness [0,1] 0.9665530986260494 Centerline is valid? [True, True] Translation: X:321.71, Y:-20.05, Z:-4.26 [[ 9.99600926e-01 -2.62014336e-02 -1.05580699e-02 3.21708203e+02] [ 2.62097094e-02 9.99656258e-01 6.46203417e-04 -2.00450971e+01] [ 1.05375092e-02 -9.22669479e-04 9.99944053e-01 -4.25585642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.020371743 meters Centerline goodness [0,1] 0.965081690641094 Centerline is valid? [True, True] Translation: X:321.74, Y:-20.05, Z:-4.26 [[ 9.99612237e-01 -2.58091470e-02 -1.04528905e-02 3.21739651e+02] [ 2.58172424e-02 9.99666474e-01 6.40248391e-04 -2.00463095e+01] [ 1.04328799e-02 -9.09864934e-04 9.99945162e-01 -4.25598225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.050371743 meters Centerline goodness [0,1] 0.9646190772513112 Centerline is valid? [True, True] Translation: X:321.77, Y:-20.04, Z:-4.26 [[ 9.99631426e-01 -2.50035323e-02 -1.05752567e-02 3.21771638e+02] [ 2.50117823e-02 9.99686946e-01 6.48567392e-04 -2.00447116e+01] [ 1.05557296e-02 -9.12834366e-04 9.99943870e-01 -4.25617144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.080371743 meters Centerline goodness [0,1] 0.9644493882091213 Centerline is valid? [True, True] Translation: X:321.80, Y:-20.05, Z:-4.26 [[ 9.99645611e-01 -2.42493513e-02 -1.09827671e-02 3.21804136e+02] [ 2.42582126e-02 9.99705499e-01 6.74320457e-04 -2.00450436e+01] [ 1.09631808e-02 -9.40503785e-04 9.99939460e-01 -4.25678362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11037174300003 meters Centerline goodness [0,1] 0.9665552584670232 Centerline is valid? [True, True] Translation: X:321.84, Y:-20.04, Z:-4.26 [[ 9.99656866e-01 -2.32873561e-02 -1.19936794e-02 3.21836058e+02] [ 2.32978615e-02 9.99728296e-01 7.36921038e-04 -2.00433099e+01] [ 1.19732597e-02 -1.01609526e-03 9.99927802e-01 -4.25662263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.140371743 meters Centerline goodness [0,1] 0.9665552584670232 Centerline is valid? [True, True] Translation: X:321.87, Y:-20.05, Z:-4.26 [[ 9.99658508e-01 -2.32168035e-02 -1.19936226e-02 3.21867806e+02] [ 2.32273148e-02 9.99729937e-01 7.37845846e-04 -2.00453239e+01] [ 1.19732531e-02 -1.01617353e-03 9.99927802e-01 -4.25676540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17037174300003 meters Centerline goodness [0,1] 0.9676247701896776 Centerline is valid? [True, True] Translation: X:321.90, Y:-20.04, Z:-4.26 [[ 9.99709023e-01 -2.05265984e-02 -1.26699373e-02 3.21897833e+02] [ 2.05381100e-02 9.99788767e-01 7.79117271e-04 -2.00431330e+01] [ 1.26512684e-02 -1.03910713e-03 9.99919430e-01 -4.25695738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.200371743 meters Centerline goodness [0,1] 0.9658198303334979 Centerline is valid? [True, True] Translation: X:321.93, Y:-20.04, Z:-4.26 [[ 9.99745600e-01 -1.85974160e-02 -1.27620784e-02 3.21929063e+02] [ 1.86089433e-02 9.99826530e-01 7.85081397e-04 -2.00426235e+01] [ 1.27452641e-02 -1.02237047e-03 9.99918253e-01 -4.25699272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.230371743 meters Centerline goodness [0,1] 0.9673320416347497 Centerline is valid? [True, True] Translation: X:321.96, Y:-20.04, Z:-4.26 [[ 9.99830668e-01 -1.43692034e-02 -1.14961142e-02 3.21958631e+02] [ 1.43782750e-02 9.99896377e-01 7.06839291e-04 -2.00395674e+01] [ 1.14847662e-02 -8.72013892e-04 9.99933668e-01 -4.25639311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.260371743 meters Centerline goodness [0,1] 0.969471148434158 Centerline is valid? [True, True] Translation: X:321.99, Y:-20.04, Z:-4.26 [[ 9.99861475e-01 -1.23734980e-02 -1.11322480e-02 3.21989293e+02] [ 1.23818824e-02 9.99923107e-01 6.84546899e-04 -2.00391865e+01] [ 1.11229217e-02 -8.22290257e-04 9.99937800e-01 -4.25634251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.290371743 meters Centerline goodness [0,1] 0.9725345289863236 Centerline is valid? [True, True] Translation: X:322.02, Y:-20.03, Z:-4.25 [[ 9.99889953e-01 -1.00361248e-02 -1.09251213e-02 3.22020685e+02] [ 1.00440643e-02 9.99949331e-01 6.72087469e-04 -2.00301189e+01] [ 1.09178226e-02 -7.81746129e-04 9.99940093e-01 -4.25477042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.320371743 meters Centerline goodness [0,1] 0.9730433208093794 Centerline is valid? [True, True] Translation: X:322.05, Y:-20.03, Z:-4.26 [[ 9.99920892e-01 -5.06806754e-03 -1.15119467e-02 3.22050758e+02] [ 5.07655361e-03 9.99986864e-01 7.08050931e-04 -2.00266806e+01] [ 1.15082070e-02 -7.66435933e-04 9.99933485e-01 -4.25511817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.350371743 meters Centerline goodness [0,1] 0.9730617608409987 Centerline is valid? [True, True] Translation: X:322.08, Y:-20.02, Z:-4.25 [[ 9.99931103e-01 -2.38184399e-03 -1.14941837e-02 3.22081390e+02] [ 2.39012405e-03 9.99996894e-01 7.06686219e-04 -2.00236269e+01] [ 1.14924647e-02 -7.34110055e-04 9.99933690e-01 -4.25497878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380371743 meters Centerline goodness [0,1] 0.974818676337262 Centerline is valid? [True, True] Translation: X:322.11, Y:-20.02, Z:-4.26 [[ 9.99931394e-01 1.78663267e-03 -1.15764942e-02 3.22111159e+02] [-1.77851504e-03 9.99998165e-01 7.11472942e-04 -2.00206871e+01] [ 1.15777441e-02 -6.90835162e-04 9.99932737e-01 -4.25576465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.410371743 meters Centerline goodness [0,1] 0.9750889679715302 Centerline is valid? [True, True] Translation: X:322.14, Y:-20.02, Z:-4.26 [[ 9.99919990e-01 3.79220491e-03 -1.20678803e-02 3.22138839e+02] [-3.78354527e-03 9.99992568e-01 7.40327395e-04 -2.00225962e+01] [ 1.20705981e-02 -6.94608790e-04 9.99926906e-01 -4.25633310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440371743 meters Centerline goodness [0,1] 0.9756745104268306 Centerline is valid? [True, True] Translation: X:322.17, Y:-20.02, Z:-4.26 [[ 9.99913186e-01 5.14195504e-03 -1.21318196e-02 3.22168028e+02] [-5.13331172e-03 9.99986548e-01 7.43482216e-04 -2.00208638e+01] [ 1.21354794e-02 -6.81141259e-04 9.99926130e-01 -4.25610394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.470371743 meters Centerline goodness [0,1] 0.9770501488331932 Centerline is valid? [True, True] Translation: X:322.20, Y:-20.02, Z:-4.26 [[ 9.99899412e-01 7.15368687e-03 -1.22470851e-02 3.22196764e+02] [-7.14503919e-03 9.99974193e-01 7.49710916e-04 -2.00190105e+01] [ 1.22521322e-02 -6.62129601e-04 9.99924721e-01 -4.25607113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500371743 meters Centerline goodness [0,1] 0.9768318720755917 Centerline is valid? [True, True] Translation: X:322.23, Y:-20.02, Z:-4.26 [[ 9.99889525e-01 8.15246801e-03 -1.24287831e-02 3.22226061e+02] [-8.14364572e-03 9.99966551e-01 7.60272573e-04 -2.00198043e+01] [ 1.24345655e-02 -6.58972975e-04 9.99922471e-01 -4.25630010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.530371743 meters Centerline goodness [0,1] 0.9766567979959007 Centerline is valid? [True, True] Translation: X:322.26, Y:-20.02, Z:-4.26 [[ 9.99888239e-01 8.25426727e-03 -1.24649836e-02 3.22255164e+02] [-8.24541300e-03 9.99965716e-01 7.61556290e-04 -2.00204542e+01] [ 1.24708424e-02 -6.58692239e-04 9.99922019e-01 -4.25684419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560371743 meters Centerline goodness [0,1] 0.9776926235117012 Centerline is valid? [True, True] Translation: X:322.28, Y:-20.02, Z:-4.26 [[ 9.99884945e-01 7.75681080e-03 -1.30356664e-02 3.22284030e+02] [-7.74709695e-03 9.99969674e-01 7.95506430e-04 -2.00174917e+01] [ 1.30414417e-02 -6.94426332e-04 9.99914716e-01 -4.25690173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.590371743 meters Centerline goodness [0,1] 0.9776495541314115 Centerline is valid? [True, True] Translation: X:322.31, Y:-20.02, Z:-4.26 [[ 9.99885205e-01 6.96736770e-03 -1.34548451e-02 3.22313147e+02] [-6.95696073e-03 9.99975464e-01 8.20124589e-04 -2.00172159e+01] [ 1.34602290e-02 -7.26425614e-04 9.99909143e-01 -4.25658813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620371743 meters Centerline goodness [0,1] 0.9752514769279897 Centerline is valid? [True, True] Translation: X:322.34, Y:-20.03, Z:-4.26 [[ 9.99897859e-01 4.38190728e-03 -1.36040921e-02 3.22340598e+02] [-4.37104321e-03 9.99990104e-01 8.28219110e-04 -2.00277268e+01] [ 1.36075866e-02 -7.68670440e-04 9.99907117e-01 -4.25975132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.650371743 meters Centerline goodness [0,1] 0.9776175591503342 Centerline is valid? [True, True] Translation: X:322.37, Y:-20.02, Z:-4.26 [[ 9.99905090e-01 2.83792181e-03 -1.34817708e-02 3.22369898e+02] [-2.82712544e-03 9.99995668e-01 8.19803263e-04 -2.00199246e+01] [ 1.34840390e-02 -7.81610798e-04 9.99908781e-01 -4.25642268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680371743 meters Centerline goodness [0,1] 0.9755009107468123 Centerline is valid? [True, True] Translation: X:322.40, Y:-20.03, Z:-4.26 [[ 9.99916048e-01 7.21562887e-04 -1.29373686e-02 3.22397317e+02] [-7.11456603e-04 9.99999438e-01 7.85755343e-04 -2.00324165e+01] [ 1.29379283e-02 -7.76485002e-04 9.99916000e-01 -4.25903155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.710371743 meters Centerline goodness [0,1] 0.9763876531380467 Centerline is valid? [True, True] Translation: X:322.43, Y:-20.03, Z:-4.26 [[ 9.99909190e-01 -3.92506041e-03 -1.28920903e-02 3.22428330e+02] [ 3.93548455e-03 9.99991949e-01 7.83298462e-04 -2.00263957e+01] [ 1.28889120e-02 -8.33963952e-04 9.99916587e-01 -4.25582183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740371743 meters Centerline goodness [0,1] 0.9757568833542786 Centerline is valid? [True, True] Translation: X:322.46, Y:-20.03, Z:-4.26 [[ 9.99895294e-01 -6.38731094e-03 -1.29847421e-02 3.22456628e+02] [ 6.39807733e-03 9.99979222e-01 7.87784854e-04 -2.00303848e+01] [ 1.29794405e-02 -8.70779753e-04 9.99915384e-01 -4.25654754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.770371743 meters Centerline goodness [0,1] 0.9742811501597444 Centerline is valid? [True, True] Translation: X:322.49, Y:-20.03, Z:-4.26 [[ 9.99872222e-01 -9.10326176e-03 -1.31404350e-02 3.22486561e+02] [ 9.11452114e-03 9.99958144e-01 7.97216340e-04 -2.00331927e+01] [ 1.31326278e-02 -9.16883246e-04 9.99913343e-01 -4.25706877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800371743 meters Centerline goodness [0,1] 0.9746245113503875 Centerline is valid? [True, True] Translation: X:322.52, Y:-20.04, Z:-4.26 [[ 9.99808552e-01 -1.44359463e-02 -1.32084293e-02 3.22516510e+02] [ 1.44477827e-02 9.99895304e-01 8.01131835e-04 -2.00381288e+01] [ 1.31954813e-02 -9.91810976e-04 9.99912444e-01 -4.25773761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.830371743 meters Centerline goodness [0,1] 0.9737160603777032 Centerline is valid? [True, True] Translation: X:322.55, Y:-20.04, Z:-4.26 [[ 9.99770587e-01 -1.69365166e-02 -1.31121356e-02 3.22547112e+02] [ 1.69484014e-02 9.99856049e-01 7.95801129e-04 -2.00384433e+01] [ 1.30967700e-02 -1.01784830e-03 9.99913716e-01 -4.25733740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86037174300003 meters Centerline goodness [0,1] 0.8859798572322025 Centerline is valid? [True, False] Translation: X:322.58, Y:-20.04, Z:-4.25 [[ 9.99695347e-01 -2.03867625e-02 -1.39137436e-02 3.22580177e+02] [ 2.02602998e-02 9.99752682e-01 -9.17028733e-03 -2.00363048e+01] [ 1.40972549e-02 8.88559696e-03 9.99861147e-01 -4.25330216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.890371743 meters Centerline goodness [0,1] 0.973114111100976 Centerline is valid? [False, True] Translation: X:322.52, Y:-20.04, Z:-4.26 [[ 9.99746606e-01 -1.91340072e-02 -1.18580856e-02 3.22524998e+02] [ 1.91212338e-02 9.99816465e-01 -1.18964554e-03 -2.00369220e+01] [ 1.18786719e-02 9.62602867e-04 9.99928983e-01 -4.25850204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92037174300003 meters Centerline goodness [0,1] 0.9714429660842283 Centerline is valid? [True, True] Translation: X:322.56, Y:-20.04, Z:-4.26 [[ 9.99718242e-01 -2.08026715e-02 -1.14318153e-02 3.22555631e+02] [ 2.08125328e-02 9.99783119e-01 7.44317552e-04 -2.00395761e+01] [ 1.14138521e-02 -9.82032865e-04 9.99934378e-01 -4.25935179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.950371743 meters Centerline goodness [0,1] 0.9707872359879309 Centerline is valid? [True, True] Translation: X:322.59, Y:-20.04, Z:-4.26 [[ 9.99672727e-01 -2.31979744e-02 -1.07839091e-02 3.22586703e+02] [ 2.32068899e-02 9.99730437e-01 7.02332127e-04 -2.00422913e+01] [ 1.07647095e-02 -9.52363264e-04 9.99941605e-01 -4.25961004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.980371743 meters Centerline goodness [0,1] 0.9602271426281684 Centerline is valid? [True, True] Translation: X:322.62, Y:-20.05, Z:-4.26 [[ 9.99658504e-01 -2.39848606e-02 -1.03731569e-02 3.22617090e+02] [ 2.39931598e-02 9.99711894e-01 6.76342979e-04 -2.00505609e+01] [ 1.03539463e-02 -9.24996820e-04 9.99945969e-01 -4.26039035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.010371743 meters Centerline goodness [0,1] 0.9687621664949044 Centerline is valid? [True, True] Translation: X:322.65, Y:-20.05, Z:-4.26 [[ 9.99655248e-01 -2.42810968e-02 -9.99066559e-03 3.22649797e+02] [ 2.42888181e-02 9.99704770e-01 6.52224786e-04 -2.00479318e+01] [ 9.97187931e-03 -8.94661390e-04 9.99949879e-01 -4.25962508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.040371743 meters Centerline goodness [0,1] 0.9657836392311033 Centerline is valid? [True, True] Translation: X:322.68, Y:-20.05, Z:-4.26 [[ 9.99673930e-01 -2.36865581e-02 -9.53839970e-03 3.22681207e+02] [ 2.36935733e-02 9.99719074e-01 6.23120897e-04 -2.00497165e+01] [ 9.52096053e-03 -8.48916488e-04 9.99954314e-01 -4.25952400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.070371743 meters Centerline goodness [0,1] 0.967374358033749 Centerline is valid? [True, True] Translation: X:322.71, Y:-20.05, Z:-4.26 [[ 9.99680461e-01 -2.33189285e-02 -9.75726541e-03 3.22713534e+02] [ 2.33262595e-02 9.99727702e-01 6.38195763e-04 -2.00492133e+01] [ 9.73972649e-03 -8.65592340e-04 9.99952193e-01 -4.26028909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.100371743 meters Centerline goodness [0,1] 0.9704495803150511 Centerline is valid? [True, True] Translation: X:322.74, Y:-20.05, Z:-4.26 [[ 9.99700977e-01 -2.21696966e-02 -1.03179702e-02 3.22744914e+02] [ 2.21778353e-02 9.99753814e-01 6.75021203e-04 -2.00463161e+01] [ 1.03004650e-02 -9.03649600e-04 9.99946540e-01 -4.26012506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.130371743 meters Centerline goodness [0,1] 0.9621844882973841 Centerline is valid? [True, True] Translation: X:322.78, Y:-20.05, Z:-4.26 [[ 9.99713824e-01 -2.16967538e-02 -1.00757829e-02 3.22775575e+02] [ 2.17044974e-02 9.99764212e-01 6.59811689e-04 -2.00513315e+01] [ 1.00590914e-02 -8.78312671e-04 9.99949020e-01 -4.26123094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.160371743 meters Centerline goodness [0,1] 0.9710656153455988 Centerline is valid? [True, True] Translation: X:322.81, Y:-20.04, Z:-4.26 [[ 9.99718036e-01 -2.15294667e-02 -1.00165070e-02 3.22808663e+02] [ 2.15371195e-02 9.99767834e-01 6.56768972e-04 -2.00448182e+01] [ 1.00000416e-02 -8.72310495e-04 9.99949618e-01 -4.26000344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.190371743 meters Centerline goodness [0,1] 0.9708222811671088 Centerline is valid? [True, True] Translation: X:322.84, Y:-20.05, Z:-4.26 [[ 9.99726260e-01 -2.11519202e-02 -1.00000856e-02 3.22839813e+02] [ 2.11595336e-02 9.99775897e-01 6.56129230e-04 -2.00470957e+01] [ 9.98396616e-03 -8.67546769e-04 9.99949783e-01 -4.26012794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.220371743 meters Centerline goodness [0,1] 0.9721255158739308 Centerline is valid? [True, True] Translation: X:322.87, Y:-20.05, Z:-4.26 [[ 9.99727718e-01 -2.08892936e-02 -1.03983793e-02 3.22872217e+02] [ 2.08975201e-02 9.99781390e-01 6.83095413e-04 -2.00457397e+01] [ 1.03818367e-02 -9.00209759e-04 9.99945702e-01 -4.26007855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.250371743 meters Centerline goodness [0,1] 0.9700321987120515 Centerline is valid? [True, True] Translation: X:322.90, Y:-20.05, Z:-4.26 [[ 9.99731024e-01 -2.05197852e-02 -1.08082440e-02 3.22903357e+02] [ 2.05286565e-02 9.99789012e-01 7.10480602e-04 -2.00493243e+01] [ 1.07913847e-02 -9.32168229e-04 9.99941337e-01 -4.26093214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.280371743 meters Centerline goodness [0,1] 0.9715530022238695 Centerline is valid? [True, True] Translation: X:322.94, Y:-20.05, Z:-4.26 [[ 9.99730568e-01 -1.98935284e-02 -1.19598547e-02 3.22935794e+02] [ 1.99043577e-02 9.99801579e-01 7.87109509e-04 -2.00453232e+01] [ 1.19418232e-02 -1.02495066e-03 9.99928169e-01 -4.26160466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.310371743 meters Centerline goodness [0,1] 0.9729591836734693 Centerline is valid? [True, True] Translation: X:322.97, Y:-20.04, Z:-4.26 [[ 9.99744058e-01 -1.93062072e-02 -1.17935637e-02 3.22968378e+02] [ 1.93167071e-02 9.99813113e-01 7.77034693e-04 -2.00435439e+01] [ 1.17763581e-02 -1.00464863e-03 9.99930152e-01 -4.26134720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.340371743 meters Centerline goodness [0,1] 0.9709531997955105 Centerline is valid? [True, True] Translation: X:323.00, Y:-20.05, Z:-4.26 [[ 9.99779273e-01 -1.76423666e-02 -1.14084382e-02 3.22998590e+02] [ 1.76520833e-02 9.99843907e-01 7.51576372e-04 -2.00462260e+01] [ 1.13933978e-02 -9.52793180e-04 9.99934639e-01 -4.26126878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.370371743 meters Centerline goodness [0,1] 0.9720069808027924 Centerline is valid? [True, True] Translation: X:323.03, Y:-20.04, Z:-4.26 [[ 9.99802723e-01 -1.68851287e-02 -1.04597941e-02 3.23030584e+02] [ 1.68932635e-02 9.99857061e-01 6.89854496e-04 -2.00448918e+01] [ 1.04466507e-02 -8.66418461e-04 9.99945057e-01 -4.26023565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.400371743 meters Centerline goodness [0,1] 0.9719889258544075 Centerline is valid? [True, True] Translation: X:323.06, Y:-20.04, Z:-4.26 [[ 9.99836268e-01 -1.54362552e-02 -9.44245568e-03 3.23062271e+02] [ 1.54428229e-02 9.99880558e-01 6.23031014e-04 -2.00437256e+01] [ 9.43171060e-03 -7.68747175e-04 9.99955225e-01 -4.25935401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.430371743 meters Centerline goodness [0,1] 0.9703617541002675 Centerline is valid? [True, True] Translation: X:323.09, Y:-20.05, Z:-4.26 [[ 9.99860246e-01 -1.42806093e-02 -8.69209955e-03 3.23092572e+02] [ 1.42861318e-02 9.99897783e-01 5.73588873e-04 -2.00479040e+01] [ 8.68301987e-03 -6.97685192e-04 9.99962058e-01 -4.25982918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.460371743 meters Centerline goodness [0,1] 0.9699504626600617 Centerline is valid? [True, True] Translation: X:323.12, Y:-20.05, Z:-4.26 [[ 9.99908024e-01 -1.10586476e-02 -7.85178496e-03 3.23122203e+02] [ 1.10630529e-02 9.99938668e-01 5.17849347e-04 -2.00457327e+01] [ 7.84557668e-03 -6.04666430e-04 9.99969040e-01 -4.25933137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.490371743 meters Centerline goodness [0,1] 0.971063351594325 Centerline is valid? [True, True] Translation: X:323.15, Y:-20.05, Z:-4.26 [[ 9.99925901e-01 -9.31579853e-03 -7.83636134e-03 3.23153584e+02] [ 9.32013768e-03 9.99956433e-01 5.17382373e-04 -2.00463640e+01] [ 7.83120010e-03 -5.90380002e-04 9.99969161e-01 -4.25964241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.520371743 meters Centerline goodness [0,1] 0.9709345969785118 Centerline is valid? [True, True] Translation: X:323.18, Y:-20.05, Z:-4.26 [[ 9.99940483e-01 -7.79726273e-03 -7.63105423e-03 3.23184659e+02] [ 7.80133380e-03 9.99969442e-01 5.03865004e-04 -2.00472351e+01] [ 7.62689227e-03 -5.63367417e-04 9.99970756e-01 -4.26042576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.550371743 meters Centerline goodness [0,1] 0.9720067691439853 Centerline is valid? [True, True] Translation: X:323.21, Y:-20.05, Z:-4.26 [[ 9.99958937e-01 -5.56774767e-03 -7.15017155e-03 3.23214151e+02] [ 5.57126290e-03 9.99984369e-01 4.71804758e-04 -2.00477759e+01] [ 7.14743290e-03 -5.11620869e-04 9.99974326e-01 -4.26105806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.580371743 meters Centerline goodness [0,1] 0.9720432635786503 Centerline is valid? [True, True] Translation: X:323.24, Y:-20.05, Z:-4.26 [[ 9.99965376e-01 -4.48533401e-03 -7.00920291e-03 3.23244372e+02] [ 4.48868620e-03 9.99989819e-01 4.62596826e-04 -2.00487306e+01] [ 7.00705665e-03 -4.94042921e-04 9.99975328e-01 -4.26127792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61037174300003 meters Centerline goodness [0,1] 0.9754491159321074 Centerline is valid? [True, True] Translation: X:323.28, Y:-20.04, Z:-4.26 [[ 9.99971074e-01 -2.92824890e-03 -7.01978203e-03 3.23275046e+02] [ 2.93157145e-03 9.99995596e-01 4.63069517e-04 -2.00413517e+01] [ 7.01839513e-03 -4.83635115e-04 9.99975254e-01 -4.26017929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.640371743 meters Centerline goodness [0,1] 0.9745558495558495 Centerline is valid? [True, True] Translation: X:323.30, Y:-20.04, Z:-4.26 [[ 9.99972397e-01 -1.48588441e-03 -7.27995304e-03 3.23304050e+02] [ 1.48941719e-03 9.99998776e-01 4.79877718e-04 -2.00441093e+01] [ 7.27923108e-03 -4.90707359e-04 9.99973386e-01 -4.26082522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67037174300003 meters Centerline goodness [0,1] 0.9748605991872223 Centerline is valid? [True, True] Translation: X:323.33, Y:-20.04, Z:-4.26 [[ 9.99973180e-01 -7.16279642e-04 -7.28875605e-03 3.23332750e+02] [ 7.19778989e-04 9.99999627e-01 4.77490137e-04 -2.00443098e+01] [ 7.28841132e-03 -4.82723624e-04 9.99973323e-01 -4.26123769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.700371743 meters Centerline goodness [0,1] 0.9748473806256212 Centerline is valid? [True, True] Translation: X:323.36, Y:-20.05, Z:-4.26 [[ 9.99974406e-01 1.40422329e-03 -7.01534054e-03 3.23361305e+02] [-1.40102887e-03 9.99998913e-01 4.60242593e-04 -2.00455400e+01] [ 7.01597920e-03 -4.50402119e-04 9.99975286e-01 -4.26180248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.730371743 meters Centerline goodness [0,1] 0.9752948979108437 Centerline is valid? [True, True] Translation: X:323.39, Y:-20.04, Z:-4.26 [[ 9.99972594e-01 2.18606158e-03 -7.07334831e-03 3.23390113e+02] [-2.18285351e-03 9.99997511e-01 4.61231571e-04 -2.00444871e+01] [ 7.07433898e-03 -4.45778847e-04 9.99974877e-01 -4.26150764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.760371743 meters Centerline goodness [0,1] 0.977132701421801 Centerline is valid? [True, True] Translation: X:323.42, Y:-20.04, Z:-4.26 [[ 9.99965629e-01 4.53834811e-03 -6.93862884e-03 3.23420172e+02] [-4.53530968e-03 9.99989613e-01 4.53572110e-04 -2.00421447e+01] [ 6.94061523e-03 -4.22087690e-04 9.99975825e-01 -4.26090874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.790371743 meters Centerline goodness [0,1] 0.9772070321755201 Centerline is valid? [True, True] Translation: X:323.45, Y:-20.04, Z:-4.26 [[ 9.99960210e-01 5.54340347e-03 -6.98914332e-03 3.23448661e+02] [-5.54035067e-03 9.99984548e-01 4.56078365e-04 -2.00431920e+01] [ 6.99156355e-03 -4.17337913e-04 9.99975472e-01 -4.26103113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.820371743 meters Centerline goodness [0,1] 0.9772000094802455 Centerline is valid? [True, True] Translation: X:323.48, Y:-20.04, Z:-4.26 [[ 9.99950583e-01 6.69813433e-03 -7.34619170e-03 3.23476673e+02] [-6.69479803e-03 9.99977475e-01 4.78650663e-04 -2.00446426e+01] [ 7.34923229e-03 -4.29445740e-04 9.99972902e-01 -4.26131575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.850371743 meters Centerline goodness [0,1] 0.9767980342122673 Centerline is valid? [True, True] Translation: X:323.51, Y:-20.04, Z:-4.26 [[ 9.99927538e-01 9.56858534e-03 -7.30487196e-03 3.23506565e+02] [-9.56536087e-03 9.99954137e-01 4.76223544e-04 -2.00446783e+01] [ 7.30909372e-03 -4.06315300e-04 9.99973206e-01 -4.26093561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880371743 meters Centerline goodness [0,1] 0.9775432772112876 Centerline is valid? [True, True] Translation: X:323.53, Y:-20.05, Z:-4.26 [[ 9.99911263e-01 1.09085515e-02 -7.64648416e-03 3.23534367e+02] [-1.09050655e-02 9.99940414e-01 4.97437924e-04 -2.00472413e+01] [ 7.65145487e-03 -4.14008373e-04 9.99970641e-01 -4.26134735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.910371743 meters Centerline goodness [0,1] 0.9790920943463316 Centerline is valid? [True, True] Translation: X:323.56, Y:-20.05, Z:-4.26 [[ 9.99889465e-01 1.26583618e-02 -7.79891361e-03 3.23563856e+02] [-1.26547902e-02 9.99919796e-01 5.07135810e-04 -2.00455324e+01] [ 7.80470762e-03 -4.08386139e-04 9.99969459e-01 -4.26062489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940371743 meters Centerline goodness [0,1] 0.9784905481593784 Centerline is valid? [True, True] Translation: X:323.59, Y:-20.04, Z:-4.26 [[ 9.99835180e-01 1.61388355e-02 -8.31573096e-03 3.23594150e+02] [-1.61348943e-02 9.99869678e-01 5.40813935e-04 -2.00447069e+01] [ 8.32337535e-03 -4.06551358e-04 9.99965277e-01 -4.26015229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.970371743 meters Centerline goodness [0,1] 0.9799492806863698 Centerline is valid? [True, True] Translation: X:323.62, Y:-20.05, Z:-4.26 [[ 9.99800732e-01 1.80932012e-02 -8.43397902e-03 3.23623051e+02] [-1.80892242e-02 9.99836227e-01 5.47602367e-04 -2.00451787e+01] [ 8.44250564e-03 -3.94929110e-04 9.99964283e-01 -4.26030657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000371743 meters Centerline goodness [0,1] 0.9794159544159544 Centerline is valid? [True, True] Translation: X:323.65, Y:-20.05, Z:-4.26 [[ 9.99720082e-01 2.14477308e-02 -9.98766530e-03 3.23651868e+02] [-2.14423213e-02 9.99769877e-01 6.48401738e-04 -2.00509240e+01] [ 9.99927366e-03 -4.34061510e-04 9.99949912e-01 -4.26262055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.030371743 meters Centerline goodness [0,1] 0.9794159544159544 Centerline is valid? [True, True] Translation: X:323.68, Y:-20.05, Z:-4.26 [[ 9.99722222e-01 2.13476742e-02 -9.98775369e-03 3.23679298e+02] [-2.13422733e-02 9.99772018e-01 6.47039484e-04 -2.00526059e+01] [ 9.99928945e-03 -4.33698382e-04 9.99949912e-01 -4.26277484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060371743 meters Centerline goodness [0,1] 0.9811182010105084 Centerline is valid? [True, True] Translation: X:323.71, Y:-20.05, Z:-4.26 [[ 9.99676990e-01 2.31632361e-02 -1.04585095e-02 3.23708028e+02] [-2.31574187e-02 9.99731602e-01 6.77006665e-04 -2.00503217e+01] [ 1.04713841e-02 -4.34595902e-04 9.99945079e-01 -4.26214238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.090371743 meters Centerline goodness [0,1] 0.9810903907827533 Centerline is valid? [True, True] Translation: X:323.74, Y:-20.05, Z:-4.26 [[ 9.99630938e-01 2.48013857e-02 -1.10850879e-02 3.23736555e+02] [-2.47949592e-02 9.99692301e-01 7.16822712e-04 -2.00517916e+01] [ 1.10994553e-02 -4.41703857e-04 9.99938302e-01 -4.26248925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120371743 meters Centerline goodness [0,1] 0.982551643806309 Centerline is valid? [True, True] Translation: X:323.77, Y:-20.05, Z:-4.26 [[ 9.99543727e-01 2.81433126e-02 -1.09677256e-02 3.23766307e+02] [-2.81372244e-02 9.99603818e-01 7.09046085e-04 -2.00535587e+01] [ 1.09833353e-02 -4.00121212e-04 9.99939601e-01 -4.26231527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.150371743 meters Centerline goodness [0,1] 0.9827594361933591 Centerline is valid? [True, True] Translation: X:323.79, Y:-20.05, Z:-4.26 [[ 9.99509870e-01 2.93991056e-02 -1.07569829e-02 3.23794992e+02] [-2.93933319e-02 9.99567681e-01 6.94475063e-04 -2.00547003e+01] [ 1.07727494e-02 -3.77951111e-04 9.99941901e-01 -4.26138366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180371743 meters Centerline goodness [0,1] 0.9827823364796281 Centerline is valid? [True, True] Translation: X:323.82, Y:-20.06, Z:-4.26 [[ 9.99454022e-01 3.13297154e-02 -1.04931929e-02 3.23822834e+02] [-3.13243383e-02 9.99509044e-01 6.76436253e-04 -2.00582273e+01] [ 1.05092338e-02 -3.47374609e-04 9.99944716e-01 -4.26106017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.210371743 meters Centerline goodness [0,1] 0.9843432193368337 Centerline is valid? [True, True] Translation: X:323.85, Y:-20.06, Z:-4.26 [[ 9.99432936e-01 3.19416363e-02 -1.06554615e-02 3.23851411e+02] [-3.19361646e-02 9.99489677e-01 6.83311529e-04 -2.00574058e+01] [ 1.06718498e-02 -3.42629475e-04 9.99942995e-01 -4.25933508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240371743 meters Centerline goodness [0,1] 0.984035414066731 Centerline is valid? [True, True] Translation: X:323.88, Y:-20.06, Z:-4.26 [[ 9.99425908e-01 3.23344759e-02 -1.01161369e-02 3.23878613e+02] [-3.23295648e-02 9.99477052e-01 6.48663170e-04 -2.00620274e+01] [ 1.01318208e-02 -3.21240475e-04 9.99948620e-01 -4.26018097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.270371743 meters Centerline goodness [0,1] 0.9845579901775595 Centerline is valid? [True, True] Translation: X:323.91, Y:-20.07, Z:-4.26 [[ 9.99461729e-01 3.08946153e-02 -1.10352100e-02 3.23907375e+02] [-3.08887234e-02 9.99522582e-01 7.03999296e-04 -2.00664573e+01] [ 1.10516914e-02 -3.62756804e-04 9.99938862e-01 -4.26015666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300371743 meters Centerline goodness [0,1] 0.9834036634526981 Centerline is valid? [True, True] Translation: X:323.94, Y:-20.07, Z:-4.26 [[ 9.99496360e-01 2.95149143e-02 -1.16574686e-02 3.23935210e+02] [-2.95082460e-02 9.99564260e-01 7.43647647e-04 -2.00713398e+01] [ 1.16743376e-02 -3.99281666e-04 9.99931773e-01 -4.26137695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.330371743 meters Centerline goodness [0,1] 0.981720178111085 Centerline is valid? [True, True] Translation: X:323.96, Y:-20.08, Z:-4.26 [[ 9.99592899e-01 2.55309008e-02 -1.27361452e-02 3.23963875e+02] [-2.55226195e-02 9.99673915e-01 8.12358569e-04 -2.00798268e+01] [ 1.27527324e-02 -4.86968068e-04 9.99918562e-01 -4.26248835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36037174300003 meters Centerline goodness [0,1] 0.9822460293326472 Centerline is valid? [True, True] Translation: X:323.99, Y:-20.08, Z:-4.26 [[ 9.99655182e-01 2.29959207e-02 -1.26769469e-02 3.23993592e+02] [-2.29875185e-02 9.99735425e-01 8.08123608e-04 -2.00830166e+01] [ 1.26921764e-02 -5.16433401e-04 9.99919318e-01 -4.26201484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.390371743 meters Centerline goodness [0,1] 0.9800879294703296 Centerline is valid? [True, True] Translation: X:324.02, Y:-20.09, Z:-4.26 [[ 9.99773080e-01 1.73353572e-02 -1.23804107e-02 3.24022709e+02] [-1.73269119e-02 9.99849566e-01 7.89099320e-04 -2.00921930e+01] [ 1.23922276e-02 -5.74405971e-04 9.99923048e-01 -4.26229608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42037174300003 meters Centerline goodness [0,1] 0.9774561261532059 Centerline is valid? [True, True] Translation: X:324.05, Y:-20.10, Z:-4.26 [[ 9.99862024e-01 1.09619633e-02 -1.24806840e-02 3.24051529e+02] [-1.09528881e-02 9.99939699e-01 7.95257024e-04 -2.01030036e+01] [ 1.24886490e-02 -6.58447761e-04 9.99921797e-01 -4.26328015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.450371743 meters Centerline goodness [0,1] 0.9766143911439115 Centerline is valid? [True, True] Translation: X:324.08, Y:-20.11, Z:-4.26 [[ 9.99919452e-01 4.83822474e-03 -1.17337376e-02 3.24080651e+02] [-4.82978249e-03 9.99988057e-01 7.47715155e-04 -2.01133162e+01] [ 1.17372150e-02 -6.90983528e-04 9.99930878e-01 -4.26317924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.480371743 meters Centerline goodness [0,1] 0.9764464807864988 Centerline is valid? [True, True] Translation: X:324.11, Y:-20.11, Z:-4.26 [[ 9.99927129e-01 1.81989751e-03 -1.19341991e-02 3.24110697e+02] [-1.81095378e-03 9.99998071e-01 7.60183440e-04 -2.01143958e+01] [ 1.19355596e-02 -7.38515762e-04 9.99928496e-01 -4.26199521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.510371743 meters Centerline goodness [0,1] 0.9746585107850803 Centerline is valid? [True, True] Translation: X:324.14, Y:-20.12, Z:-4.26 [[ 9.99933427e-01 -9.29973411e-04 -1.15011866e-02 3.24138132e+02] [ 9.38447926e-04 9.99999292e-01 7.31463474e-04 -2.01233789e+01] [ 1.15004982e-02 -7.42208042e-04 9.99933592e-01 -4.26320490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.540371743 meters Centerline goodness [0,1] 0.9746585107850803 Centerline is valid? [True, True] Translation: X:324.17, Y:-20.13, Z:-4.26 [[ 9.99933120e-01 -1.21300026e-03 -1.15014682e-02 3.24165518e+02] [ 1.22144259e-03 9.99998990e-01 7.27026700e-04 -2.01250383e+01] [ 1.15005747e-02 -7.41026460e-04 9.99933592e-01 -4.26335900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.570371743 meters Centerline goodness [0,1] 0.9735099337748344 Centerline is valid? [True, True] Translation: X:324.20, Y:-20.13, Z:-4.26 [[ 9.99915499e-01 -6.57792086e-03 -1.12127904e-02 3.24195856e+02] [ 6.58629804e-03 9.99978058e-01 7.10346003e-04 -2.01327482e+01] [ 1.12078717e-02 -7.84136757e-04 9.99936882e-01 -4.26339862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.600371743 meters Centerline goodness [0,1] 0.9742207747528726 Centerline is valid? [True, True] Translation: X:324.23, Y:-20.14, Z:-4.26 [[ 9.99895230e-01 -9.15566829e-03 -1.12117611e-02 3.24225698e+02] [ 9.16420166e-03 9.99957756e-01 7.09969262e-04 -2.01354758e+01] [ 1.12047873e-02 -8.12641719e-04 9.99936894e-01 -4.26328115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.630371743 meters Centerline goodness [0,1] 0.9735752362213732 Centerline is valid? [True, True] Translation: X:324.26, Y:-20.14, Z:-4.26 [[ 9.99849805e-01 -1.32166890e-02 -1.12109724e-02 3.24255869e+02] [ 1.32254760e-02 9.99912287e-01 7.10004309e-04 -2.01427540e+01] [ 1.12006052e-02 -8.58168117e-04 9.99936903e-01 -4.26353422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.660371743 meters Centerline goodness [0,1] 0.9714220549663588 Centerline is valid? [True, True] Translation: X:324.29, Y:-20.15, Z:-4.27 [[ 9.99817825e-01 -1.50209791e-02 -1.17765174e-02 3.24285313e+02] [ 1.50307995e-02 9.99886753e-01 7.45826897e-04 -2.01520152e+01] [ 1.17639807e-02 -9.22701497e-04 9.99930376e-01 -4.26537221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.690371743 meters Centerline goodness [0,1] 0.9739432277512617 Centerline is valid? [True, True] Translation: X:324.32, Y:-20.15, Z:-4.26 [[ 9.99795186e-01 -1.64690026e-02 -1.17625553e-02 3.24316702e+02] [ 1.64789066e-02 9.99863936e-01 7.45570849e-04 -2.01510511e+01] [ 1.17486761e-02 -9.39252197e-04 9.99930541e-01 -4.26437884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.720371743 meters Centerline goodness [0,1] 0.972089950103666 Centerline is valid? [True, True] Translation: X:324.35, Y:-20.16, Z:-4.27 [[ 9.99741490e-01 -1.88817259e-02 -1.26662513e-02 3.24347390e+02] [ 1.88934041e-02 9.99821181e-01 8.02963353e-04 -2.01555948e+01] [ 1.26488250e-02 -1.04206438e-03 9.99919457e-01 -4.26524105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.750371743 meters Centerline goodness [0,1] 0.9686523949570253 Centerline is valid? [True, True] Translation: X:324.38, Y:-20.17, Z:-4.27 [[ 9.99730851e-01 -1.94290536e-02 -1.26782561e-02 3.24378265e+02] [ 1.94408090e-02 9.99810686e-01 8.04610952e-04 -2.01650288e+01] [ 1.26602231e-02 -1.05086995e-03 9.99919304e-01 -4.26673612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.780371743 meters Centerline goodness [0,1] 0.9731164422573075 Centerline is valid? [True, True] Translation: X:324.41, Y:-20.16, Z:-4.26 [[ 9.99732814e-01 -1.93520982e-02 -1.26411131e-02 3.24411286e+02] [ 1.93637916e-02 9.99812182e-01 8.03272382e-04 -2.01604846e+01] [ 1.26231938e-02 -1.04783764e-03 9.99919775e-01 -4.26457855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.810371743 meters Centerline goodness [0,1] 0.9712105682724064 Centerline is valid? [True, True] Translation: X:324.44, Y:-20.16, Z:-4.26 [[ 9.99741238e-01 -1.89896354e-02 -1.25240197e-02 3.24442167e+02] [ 1.90010920e-02 9.99819146e-01 7.96407768e-04 -2.01636291e+01] [ 1.25066312e-02 -1.03417174e-03 9.99921254e-01 -4.26471790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.840371743 meters Centerline goodness [0,1] 0.973746635646184 Centerline is valid? [True, True] Translation: X:324.47, Y:-20.16, Z:-4.26 [[ 9.99773873e-01 -1.79961071e-02 -1.13288412e-02 3.24474284e+02] [ 1.80054252e-02 9.99837629e-01 7.21052623e-04 -2.01624299e+01] [ 1.13140256e-02 -9.24870177e-04 9.99935567e-01 -4.26321174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.870371743 meters Centerline goodness [0,1] 0.9734720830676746 Centerline is valid? [True, True] Translation: X:324.51, Y:-20.16, Z:-4.26 [[ 9.99786509e-01 -1.72198956e-02 -1.14197948e-02 3.24506575e+02] [ 1.72293242e-02 9.99851299e-01 7.27759459e-04 -2.01646159e+01] [ 1.14055647e-02 -9.24359435e-04 9.99934527e-01 -4.26329933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.900371743 meters Centerline goodness [0,1] 0.973185759926974 Centerline is valid? [True, True] Translation: X:324.54, Y:-20.17, Z:-4.26 [[ 9.99807504e-01 -1.57599292e-02 -1.16867365e-02 3.24538324e+02] [ 1.57697107e-02 9.99875373e-01 7.45285430e-04 -2.01661613e+01] [ 1.16735343e-02 -9.29438418e-04 9.99931430e-01 -4.26409850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.930371743 meters Centerline goodness [0,1] 0.9739310596056646 Centerline is valid? [True, True] Translation: X:324.57, Y:-20.17, Z:-4.27 [[ 9.99819888e-01 -1.44486216e-02 -1.23056794e-02 3.24568837e+02] [ 1.44593680e-02 9.99895150e-01 7.84757024e-04 -2.01678883e+01] [ 1.22930505e-02 -9.62548026e-04 9.99923974e-01 -4.26530970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.960371743 meters Centerline goodness [0,1] 0.9739310596056646 Centerline is valid? [True, True] Translation: X:324.60, Y:-20.17, Z:-4.27 [[ 9.99820392e-01 -1.44137052e-02 -1.23056458e-02 3.24599719e+02] [ 1.44244553e-02 9.99895654e-01 7.85283703e-04 -2.01698895e+01] [ 1.22930429e-02 -9.62644897e-04 9.99923974e-01 -4.26548332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.990371743 meters Centerline goodness [0,1] 0.974289364420313 Centerline is valid? [True, True] Translation: X:324.63, Y:-20.17, Z:-4.27 [[ 9.99822343e-01 -1.33121731e-02 -1.33442310e-02 3.24630990e+02] [ 1.33247232e-02 9.99910859e-01 8.52019617e-04 -2.01682824e+01] [ 1.33316992e-02 -1.02967643e-03 9.99910599e-01 -4.26565745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.020371743 meters Centerline goodness [0,1] 0.975550010301962 Centerline is valid? [True, True] Translation: X:324.66, Y:-20.17, Z:-4.27 [[ 9.99821280e-01 -1.29483170e-02 -1.37749190e-02 3.24661267e+02] [ 1.29616532e-02 9.99915608e-01 8.79313837e-04 -2.01684609e+01] [ 1.37623709e-02 -1.05770241e-03 9.99904735e-01 -4.26605294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.050371743 meters Centerline goodness [0,1] 0.9755061976396466 Centerline is valid? [True, True] Translation: X:324.69, Y:-20.17, Z:-4.27 [[ 9.99841640e-01 -1.19312906e-02 -1.32037247e-02 3.24690550e+02] [ 1.19434511e-02 9.99928319e-01 8.42519406e-04 -2.01713276e+01] [ 1.31927259e-02 -1.00008403e-03 9.99912472e-01 -4.26675262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.080371743 meters Centerline goodness [0,1] 0.9742363151780222 Centerline is valid? [True, True] Translation: X:324.72, Y:-20.18, Z:-4.27 [[ 9.99862076e-01 -1.13808846e-02 -1.20956215e-02 3.24719999e+02] [ 1.13910539e-02 9.99934822e-01 7.72177717e-04 -2.01753957e+01] [ 1.20860450e-02 -9.09853091e-04 9.99926547e-01 -4.26601763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11037174300003 meters Centerline goodness [0,1] 0.9774152212713377 Centerline is valid? [True, True] Translation: X:324.75, Y:-20.17, Z:-4.26 [[ 9.99865114e-01 -1.16229269e-02 -1.16044059e-02 3.24751218e+02] [ 1.16323022e-02 9.99932068e-01 7.40735370e-04 -2.01688344e+01] [ 1.15950081e-02 -8.75621412e-04 9.99932392e-01 -4.26299465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.140371743 meters Centerline goodness [0,1] 0.9772467413674822 Centerline is valid? [True, True] Translation: X:324.78, Y:-20.17, Z:-4.26 [[ 9.99873279e-01 -1.15423930e-02 -1.09634985e-02 3.24781490e+02] [ 1.15507564e-02 9.99933043e-01 6.99824804e-04 -2.01701215e+01] [ 1.09546868e-02 -8.26372822e-04 9.99939654e-01 -4.26245719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17037174300003 meters Centerline goodness [0,1] 0.978435420968112 Centerline is valid? [True, True] Translation: X:324.81, Y:-20.17, Z:-4.26 [[ 9.99873854e-01 -1.16055790e-02 -1.08437554e-02 3.24812336e+02] [ 1.16137752e-02 9.99932318e-01 6.93176556e-04 -2.01714873e+01] [ 1.08349767e-02 -8.19026051e-04 9.99940964e-01 -4.26271400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.200371743 meters Centerline goodness [0,1] 0.9776126229133318 Centerline is valid? [True, True] Translation: X:324.84, Y:-20.18, Z:-4.26 [[ 9.99868507e-01 -1.18925127e-02 -1.10244125e-02 3.24842579e+02] [ 1.19010011e-02 9.99928932e-01 7.04679288e-04 -2.01760446e+01] [ 1.10152486e-02 -8.35788173e-04 9.99938981e-01 -4.26338278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.230371743 meters Centerline goodness [0,1] 0.9769211491581801 Centerline is valid? [True, True] Translation: X:324.87, Y:-20.18, Z:-4.26 [[ 9.99863690e-01 -1.22437252e-02 -1.10766812e-02 3.24873383e+02] [ 1.22523211e-02 9.99924686e-01 7.08509048e-04 -2.01793028e+01] [ 1.10671722e-02 -8.44127526e-04 9.99938401e-01 -4.26430925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.260371743 meters Centerline goodness [0,1] 0.9777070063694268 Centerline is valid? [True, True] Translation: X:324.91, Y:-20.18, Z:-4.26 [[ 9.99847606e-01 -1.35186756e-02 -1.10458399e-02 3.24905007e+02] [ 1.35273055e-02 9.99908252e-01 7.06939501e-04 -2.01785875e+01] [ 1.10352696e-02 -8.56252218e-04 9.99938743e-01 -4.26419508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.290371743 meters Centerline goodness [0,1] 0.9784235213362316 Centerline is valid? [True, True] Translation: X:324.94, Y:-20.18, Z:-4.26 [[ 9.99840350e-01 -1.40580051e-02 -1.10293574e-02 3.24936502e+02] [ 1.40666463e-02 9.99900810e-01 7.06285698e-04 -2.01800764e+01] [ 1.10183345e-02 -8.61319009e-04 9.99938925e-01 -4.26419174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.320371743 meters Centerline goodness [0,1] 0.977768629065459 Centerline is valid? [True, True] Translation: X:324.97, Y:-20.18, Z:-4.26 [[ 9.99813857e-01 -1.54592703e-02 -1.15438888e-02 3.24967314e+02] [ 1.54688305e-02 9.99880077e-01 7.39332466e-04 -2.01821419e+01] [ 1.15310748e-02 -9.17765303e-04 9.99933094e-01 -4.26443668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.350371743 meters Centerline goodness [0,1] 0.9775093234493331 Centerline is valid? [True, True] Translation: X:325.00, Y:-20.18, Z:-4.26 [[ 9.99807178e-01 -1.59859245e-02 -1.14042694e-02 3.24999338e+02] [ 1.59953018e-02 9.99871799e-01 7.31516640e-04 -2.01846365e+01] [ 1.13911134e-02 -9.13790318e-04 9.99934702e-01 -4.26468971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380371743 meters Centerline goodness [0,1] 0.9762139145166091 Centerline is valid? [True, True] Translation: X:325.03, Y:-20.19, Z:-4.27 [[ 9.99796037e-01 -1.63255163e-02 -1.18895936e-02 3.25031293e+02] [ 1.63357425e-02 9.99866271e-01 7.63482573e-04 -2.01866540e+01] [ 1.18755394e-02 -9.57552190e-04 9.99929025e-01 -4.26538821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.410371743 meters Centerline goodness [0,1] 0.9770880205702741 Centerline is valid? [True, True] Translation: X:325.06, Y:-20.19, Z:-4.26 [[ 9.99792291e-01 -1.67348795e-02 -1.16326279e-02 3.25063697e+02] [ 1.67447059e-02 9.99859518e-01 7.47843122e-04 -2.01852153e+01] [ 1.16184787e-02 -9.42472723e-04 9.99932059e-01 -4.26445750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440371743 meters Centerline goodness [0,1] 0.9772727272727273 Centerline is valid? [True, True] Translation: X:325.10, Y:-20.19, Z:-4.26 [[ 9.99801054e-01 -1.64687323e-02 -1.12531055e-02 3.25096059e+02] [ 1.64779206e-02 9.99863968e-01 7.24273550e-04 -2.01863345e+01] [ 1.12396469e-02 -9.09557239e-04 9.99936420e-01 -4.26419232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.470371743 meters Centerline goodness [0,1] 0.9775102800303233 Centerline is valid? [True, True] Translation: X:325.13, Y:-20.18, Z:-4.26 [[ 9.99836604e-01 -1.48976771e-02 -1.02383897e-02 3.25128010e+02] [ 1.49052061e-02 9.99888694e-01 6.59457991e-04 -2.01848216e+01] [ 1.02274257e-02 -8.11955547e-04 9.99947369e-01 -4.26240362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500371743 meters Centerline goodness [0,1] 0.9764167222695166 Centerline is valid? [True, True] Translation: X:325.16, Y:-20.19, Z:-4.26 [[ 9.99863260e-01 -1.35793653e-02 -9.43731248e-03 3.25158749e+02] [ 1.35857063e-02 9.99907525e-01 6.08123450e-04 -2.01866200e+01] [ 9.42818184e-03 -7.36252851e-04 9.99955283e-01 -4.26187042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.530371743 meters Centerline goodness [0,1] 0.9773442705820179 Centerline is valid? [True, True] Translation: X:325.19, Y:-20.18, Z:-4.26 [[ 9.99887078e-01 -1.20568210e-02 -8.97015690e-03 3.25190838e+02] [ 1.20624949e-02 9.99927078e-01 5.78697555e-04 -2.01848293e+01] [ 8.96252553e-03 -6.86834679e-04 9.99959600e-01 -4.26102683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560371743 meters Centerline goodness [0,1] 0.9780470914127424 Centerline is valid? [True, True] Translation: X:325.22, Y:-20.18, Z:-4.26 [[ 9.99922235e-01 -8.80388551e-03 -8.83263356e-03 3.25221424e+02] [ 8.80925726e-03 9.99961036e-01 5.69449765e-04 -2.01815503e+01] [ 8.82727603e-03 -6.47214423e-04 9.99960829e-01 -4.26007315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.590371743 meters Centerline goodness [0,1] 0.9783313269747199 Centerline is valid? [True, True] Translation: X:325.25, Y:-20.18, Z:-4.26 [[ 9.99937122e-01 -6.85131798e-03 -8.87760151e-03 3.25252433e+02] [ 6.85667049e-03 9.99976329e-01 5.72626765e-04 -2.01808836e+01] [ 8.87346812e-03 -6.33461548e-04 9.99960429e-01 -4.26035674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620371743 meters Centerline goodness [0,1] 0.9789700665445524 Centerline is valid? [True, True] Translation: X:325.28, Y:-20.18, Z:-4.26 [[ 9.99950455e-01 -2.41002742e-03 -9.65808683e-03 3.25282795e+02] [ 2.41615483e-03 9.99996887e-01 6.22815011e-04 -2.01771431e+01] [ 9.65655576e-03 -6.46119587e-04 9.99953166e-01 -4.26108514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.650371743 meters Centerline goodness [0,1] 0.9785719271305926 Centerline is valid? [True, True] Translation: X:325.31, Y:-20.18, Z:-4.26 [[ 9.99952941e-01 -7.20221585e-05 -9.70105945e-03 3.25313171e+02] [ 7.80921752e-05 9.99999801e-01 6.25329238e-04 -2.01761120e+01] [ 9.70101248e-03 -6.26057388e-04 9.99952748e-01 -4.26139578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680371743 meters Centerline goodness [0,1] 0.9794795608068897 Centerline is valid? [True, True] Translation: X:325.34, Y:-20.18, Z:-4.26 [[ 9.99951841e-01 2.59550476e-03 -9.46465010e-03 3.25342828e+02] [-2.58985018e-03 9.99996460e-01 6.09649421e-04 -2.01755058e+01] [ 9.46619895e-03 -5.85108035e-04 9.99955023e-01 -4.26147819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.710371743 meters Centerline goodness [0,1] 0.9805709476046854 Centerline is valid? [True, True] Translation: X:325.37, Y:-20.17, Z:-4.26 [[ 9.99927446e-01 7.34038855e-03 -9.55095833e-03 3.25372219e+02] [-7.33484713e-03 9.99972910e-01 6.15094277e-04 -2.01723400e+01] [ 9.55521463e-03 -5.44994830e-04 9.99954199e-01 -4.26113709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740371743 meters Centerline goodness [0,1] 0.9804713019132058 Centerline is valid? [True, True] Translation: X:325.40, Y:-20.17, Z:-4.26 [[ 9.99911141e-01 9.77963070e-03 -9.05914115e-03 3.25402189e+02] [-9.77475023e-03 9.99952056e-01 5.82854795e-04 -2.01719498e+01] [ 9.06440693e-03 -4.94252161e-04 9.99958795e-01 -4.26122037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.770371743 meters Centerline goodness [0,1] 0.9819705314691899 Centerline is valid? [True, True] Translation: X:325.43, Y:-20.17, Z:-4.26 [[ 9.99869484e-01 1.34588520e-02 -8.93719487e-03 3.25432523e+02] [-1.34542513e-02 9.99909322e-01 5.74710597e-04 -2.01670226e+01] [ 8.94411941e-03 -4.54392323e-04 9.99959897e-01 -4.26007891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800371743 meters Centerline goodness [0,1] 0.9809434184213622 Centerline is valid? [True, True] Translation: X:325.46, Y:-20.17, Z:-4.26 [[ 9.99841546e-01 1.53153018e-02 -9.07332938e-03 3.25460474e+02] [-1.53106436e-02 9.99882615e-01 5.82638951e-04 -2.01702734e+01] [ 9.08118761e-03 -4.43628117e-04 9.99958667e-01 -4.26125383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.830371743 meters Centerline goodness [0,1] 0.9806456170092533 Centerline is valid? [True, True] Translation: X:325.49, Y:-20.17, Z:-4.26 [[ 9.99821478e-01 1.65769593e-02 -9.06729383e-03 3.25489333e+02] [-1.65723647e-02 9.99862500e-01 5.81625870e-04 -2.01689057e+01] [ 9.07568867e-03 -4.31255537e-04 9.99958722e-01 -4.26122543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86037174300003 meters Centerline goodness [0,1] 0.9821238812666777 Centerline is valid? [True, True] Translation: X:325.52, Y:-20.17, Z:-4.26 [[ 9.99770228e-01 1.94351669e-02 -9.04241237e-03 3.25519721e+02] [-1.94307129e-02 9.99811038e-01 5.80159945e-04 -2.01664887e+01] [ 9.05197920e-03 -4.04326121e-04 9.99958948e-01 -4.26130483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.890371743 meters Centerline goodness [0,1] 0.9820864564182341 Centerline is valid? [True, True] Translation: X:325.55, Y:-20.17, Z:-4.26 [[ 9.99741525e-01 2.09092386e-02 -8.92679837e-03 3.25547553e+02] [-2.09049647e-02 9.99781304e-01 5.71819311e-04 -2.01725425e+01] [ 8.93680242e-03 -3.85057104e-04 9.99959992e-01 -4.26283085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92037174300003 meters Centerline goodness [0,1] 0.981347248128822 Centerline is valid? [True, True] Translation: X:325.58, Y:-20.17, Z:-4.26 [[ 9.99698544e-01 2.27589027e-02 -9.21160753e-03 3.25576406e+02] [-2.27544358e-02 9.99740911e-01 5.89442477e-04 -2.01688911e+01] [ 9.22263596e-03 -3.79659853e-04 9.99957399e-01 -4.26142689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.950371743 meters Centerline goodness [0,1] 0.981347248128822 Centerline is valid? [True, True] Translation: X:325.60, Y:-20.17, Z:-4.26 [[ 9.99700895e-01 2.26553771e-02 -9.21168090e-03 3.25603832e+02] [-2.26509165e-02 9.99743262e-01 5.88295329e-04 -2.01705527e+01] [ 9.22264397e-03 -3.79466352e-04 9.99957399e-01 -4.26158124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.980371743 meters Centerline goodness [0,1] 0.9819341126461212 Centerline is valid? [True, True] Translation: X:325.63, Y:-20.17, Z:-4.26 [[ 9.99688065e-01 2.34082516e-02 -8.70782031e-03 3.25632815e+02] [-2.34042979e-02 9.99725927e-01 5.55682296e-04 -2.01723776e+01] [ 8.71844128e-03 -3.51708539e-04 9.99961932e-01 -4.26173859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.010371743 meters Centerline goodness [0,1] 0.9815368550951635 Centerline is valid? [True, True] Translation: X:325.66, Y:-20.17, Z:-4.26 [[ 9.99674111e-01 2.39272687e-02 -8.89708628e-03 3.25661976e+02] [-2.39231671e-02 9.99713639e-01 5.67159225e-04 -2.01740338e+01] [ 8.90810908e-03 -3.54127912e-04 9.99960259e-01 -4.26166290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.040371743 meters Centerline goodness [0,1] 0.9822927689594356 Centerline is valid? [True, True] Translation: X:325.69, Y:-20.18, Z:-4.26 [[ 9.99659686e-01 2.48228477e-02 -8.02117144e-03 3.25689523e+02] [-2.48195493e-02 9.99691817e-01 5.10509730e-04 -2.01764080e+01] [ 8.03137176e-03 -3.11254137e-04 9.99967700e-01 -4.26195653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.070371743 meters Centerline goodness [0,1] 0.9833407950234454 Centerline is valid? [True, True] Translation: X:325.72, Y:-20.18, Z:-4.26 [[ 9.99656194e-01 2.50982113e-02 -7.58773710e-03 3.25718450e+02] [-2.50952713e-02 9.99684948e-01 4.82448157e-04 -2.01770749e+01] [ 7.59745515e-03 -2.91865968e-04 9.99971096e-01 -4.26149183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.100371743 meters Centerline goodness [0,1] 0.9836181496758987 Centerline is valid? [True, True] Translation: X:325.75, Y:-20.18, Z:-4.26 [[ 9.99659505e-01 2.48700577e-02 -7.89642825e-03 3.25746983e+02] [-2.48668710e-02 9.99690646e-01 5.01505559e-04 -2.01775704e+01] [ 7.90645793e-03 -3.04975336e-04 9.99968697e-01 -4.26086009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.130371743 meters Centerline goodness [0,1] 0.9824804816103847 Centerline is valid? [True, True] Translation: X:325.77, Y:-20.19, Z:-4.26 [[ 9.99699630e-01 2.31655751e-02 -8.00037807e-03 3.25774600e+02] [-2.31622559e-02 9.99731590e-01 5.07296622e-04 -2.01861162e+01] [ 8.00998250e-03 -3.21837442e-04 9.99967868e-01 -4.26295481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.160371743 meters Centerline goodness [0,1] 0.9833728658321786 Centerline is valid? [True, True] Translation: X:325.80, Y:-20.19, Z:-4.26 [[ 9.99730588e-01 2.17045490e-02 -8.22578242e-03 3.25803804e+02] [-2.17009946e-02 9.99764370e-01 5.21125709e-04 -2.01866352e+01] [ 8.23515498e-03 -3.42477651e-04 9.99966032e-01 -4.26271584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.190371743 meters Centerline goodness [0,1] 0.9821169080766887 Centerline is valid? [True, True] Translation: X:325.83, Y:-20.19, Z:-4.26 [[ 9.99763495e-01 2.00527185e-02 -8.41681365e-03 3.25831434e+02] [-2.00489506e-02 9.99798858e-01 5.31812376e-04 -2.01937874e+01] [ 8.42578496e-03 -3.62938319e-04 9.99964437e-01 -4.26402215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.220371743 meters Centerline goodness [0,1] 0.9826030176535062 Centerline is valid? [True, True] Translation: X:325.86, Y:-20.20, Z:-4.26 [[ 9.99833929e-01 1.62194092e-02 -8.30937581e-03 3.25861790e+02] [-1.62155988e-02 9.99868380e-01 5.25742680e-04 -2.01967132e+01] [ 8.31680937e-03 -3.90913865e-04 9.99965338e-01 -4.26310000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.250371743 meters Centerline goodness [0,1] 0.9813038416763679 Centerline is valid? [True, True] Translation: X:325.89, Y:-20.20, Z:-4.26 [[ 9.99873940e-01 1.38186255e-02 -7.81989033e-03 3.25889793e+02] [-1.38151849e-02 9.99904444e-01 4.93824381e-04 -2.02026998e+01] [ 7.82596707e-03 -3.85728898e-04 9.99969302e-01 -4.26324071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.280371743 meters Centerline goodness [0,1] 0.9808036025161905 Centerline is valid? [True, True] Translation: X:325.92, Y:-20.21, Z:-4.26 [[ 9.99942446e-01 8.57263403e-03 -6.45088166e-03 3.25919427e+02] [-8.57018224e-03 9.99963192e-01 4.07617663e-04 -2.02082502e+01] [ 6.45413858e-03 -3.52308972e-04 9.99979110e-01 -4.26205358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.310371743 meters Centerline goodness [0,1] 0.9801232128327327 Centerline is valid? [True, True] Translation: X:325.95, Y:-20.21, Z:-4.26 [[ 9.99964280e-01 5.68606834e-03 -6.25354056e-03 3.25948365e+02] [-5.68371171e-03 9.99983770e-01 3.94555510e-04 -2.02125902e+01] [ 6.25568253e-03 -3.58998094e-04 9.99980369e-01 -4.26225994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.340371743 meters Centerline goodness [0,1] 0.9794626921026401 Centerline is valid? [True, True] Translation: X:325.98, Y:-20.22, Z:-4.26 [[ 9.99981495e-01 -3.38362317e-04 -6.07414356e-03 3.25976815e+02] [ 3.40699872e-04 9.99999868e-01 3.83806386e-04 -2.02215288e+01] [ 6.07401289e-03 -3.85868743e-04 9.99981479e-01 -4.26327997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.370371743 meters Centerline goodness [0,1] 0.9808203965481341 Centerline is valid? [True, True] Translation: X:326.01, Y:-20.22, Z:-4.26 [[ 9.99972915e-01 -3.40692591e-03 -6.52388940e-03 3.26007456e+02] [ 3.40968653e-03 9.99994102e-01 4.12079642e-04 -2.02229492e+01] [ 6.52244700e-03 -4.34312899e-04 9.99978634e-01 -4.26331946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.400371743 meters Centerline goodness [0,1] 0.9790996412452262 Centerline is valid? [True, True] Translation: X:326.04, Y:-20.23, Z:-4.26 [[ 9.99952087e-01 -6.55195997e-03 -7.27296364e-03 3.26037589e+02] [ 6.55547205e-03 9.99978407e-01 4.59161604e-04 -2.02268134e+01] [ 7.26979819e-03 -5.06817314e-04 9.99973446e-01 -4.26360213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.430371743 meters Centerline goodness [0,1] 0.976855693868142 Centerline is valid? [True, True] Translation: X:326.07, Y:-20.24, Z:-4.27 [[ 9.99895269e-01 -1.16833693e-02 -8.54102540e-03 3.26066888e+02] [ 1.16884100e-02 9.99931542e-01 5.40505709e-04 -2.02373098e+01] [ 8.53412577e-03 -6.40280108e-04 9.99963379e-01 -4.26555011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.460371743 meters Centerline goodness [0,1] 0.9788128740093806 Centerline is valid? [True, True] Translation: X:326.10, Y:-20.24, Z:-4.27 [[ 9.99866349e-01 -1.36931770e-02 -8.93202779e-03 3.26098365e+02] [ 1.36987700e-02 9.99906008e-01 5.65293586e-04 -2.02361844e+01] [ 8.92344758e-03 -6.87575828e-04 9.99959949e-01 -4.26504803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.490371743 meters Centerline goodness [0,1] 0.9760528870602376 Centerline is valid? [True, True] Translation: X:326.13, Y:-20.25, Z:-4.27 [[ 9.99823348e-01 -1.68898146e-02 -8.24665198e-03 3.26127743e+02] [ 1.68946872e-02 9.99857139e-01 5.21548759e-04 -2.02463511e+01] [ 8.23666499e-03 -6.60781232e-04 9.99965860e-01 -4.26625374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.520371743 meters Centerline goodness [0,1] 0.976613851795475 Centerline is valid? [True, True] Translation: X:326.16, Y:-20.25, Z:-4.27 [[ 9.99809035e-01 -1.80100280e-02 -7.58503466e-03 3.26160286e+02] [ 1.80141899e-02 9.99837616e-01 4.80721101e-04 -2.02452636e+01] [ 7.57514517e-03 -6.17267555e-04 9.99971118e-01 -4.26531373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.550371743 meters Centerline goodness [0,1] 0.9773182121414277 Centerline is valid? [True, True] Translation: X:326.19, Y:-20.25, Z:-4.26 [[ 9.99809130e-01 -1.84676787e-02 -6.37564445e-03 3.26192775e+02] [ 1.84706318e-02 9.99829321e-01 4.04601588e-04 -2.02464763e+01] [ 6.36708422e-03 -5.22286543e-04 9.99979594e-01 -4.26457497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.580371743 meters Centerline goodness [0,1] 0.9761415340554773 Centerline is valid? [True, True] Translation: X:326.22, Y:-20.25, Z:-4.26 [[ 9.99794109e-01 -1.93218012e-02 -6.19736656e-03 3.26223900e+02] [ 1.93246092e-02 9.99813185e-01 3.93530477e-04 -2.02499067e+01] [ 6.18860508e-03 -5.13211139e-04 9.99980719e-01 -4.26479530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61037174300003 meters Centerline goodness [0,1] 0.9756091932804135 Centerline is valid? [True, True] Translation: X:326.26, Y:-20.25, Z:-4.26 [[ 9.99789121e-01 -1.96041564e-02 -6.11471807e-03 3.26256045e+02] [ 1.96068986e-02 9.99807691e-01 3.88830519e-04 -2.02496357e+01] [ 6.10591946e-03 -5.08639181e-04 9.99981229e-01 -4.26481766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.640371743 meters Centerline goodness [0,1] 0.9746143512299069 Centerline is valid? [True, True] Translation: X:326.29, Y:-20.25, Z:-4.27 [[ 9.99803139e-01 -1.87549667e-02 -6.47562904e-03 3.26287526e+02] [ 1.87580273e-02 9.99823968e-01 4.12218261e-04 -2.02520983e+01] [ 6.46675798e-03 -5.33607138e-04 9.99978948e-01 -4.26570786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67037174300003 meters Centerline goodness [0,1] 0.9743209762196957 Centerline is valid? [True, True] Translation: X:326.32, Y:-20.25, Z:-4.27 [[ 9.99814545e-01 -1.80515830e-02 -6.70944627e-03 3.26319914e+02] [ 1.80548560e-02 9.99836906e-01 4.27558379e-04 -2.02523674e+01] [ 6.70063390e-03 -5.48617172e-04 9.99977400e-01 -4.26621572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.700371743 meters Centerline goodness [0,1] 0.9719647875873922 Centerline is valid? [True, True] Translation: X:326.35, Y:-20.26, Z:-4.27 [[ 9.99831800e-01 -1.71045535e-02 -6.61861960e-03 3.26350537e+02] [ 1.71077195e-02 9.99853563e-01 4.22021170e-04 -2.02588714e+01] [ 6.61043191e-03 -5.35179674e-04 9.99978008e-01 -4.26705777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.730371743 meters Centerline goodness [0,1] 0.9752444351986687 Centerline is valid? [True, True] Translation: X:326.38, Y:-20.25, Z:-4.27 [[ 9.99856071e-01 -1.57668077e-02 -6.26452600e-03 3.26382863e+02] [ 1.57696200e-02 9.99875572e-01 3.99784972e-04 -2.02545672e+01] [ 6.25744318e-03 -4.98516626e-04 9.99980298e-01 -4.26640017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.760371743 meters Centerline goodness [0,1] 0.9750664738536176 Centerline is valid? [True, True] Translation: X:326.41, Y:-20.25, Z:-4.27 [[ 9.99885490e-01 -1.33386014e-02 -7.14763496e-03 3.26412620e+02] [ 1.33421970e-02 9.99910885e-01 4.55588707e-04 -2.02522897e+01] [ 7.14092108e-03 -5.50901691e-04 9.99974352e-01 -4.26715846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.790371743 meters Centerline goodness [0,1] 0.975416744708747 Centerline is valid? [True, True] Translation: X:326.44, Y:-20.25, Z:-4.27 [[ 9.99903523e-01 -1.16605771e-02 -7.54819961e-03 3.26444139e+02] [ 1.16645436e-02 9.99931851e-01 4.81675179e-04 -2.02520712e+01] [ 7.54206860e-03 -5.69675012e-04 9.99971396e-01 -4.26750992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.820371743 meters Centerline goodness [0,1] 0.9759342548331645 Centerline is valid? [True, True] Translation: X:326.48, Y:-20.25, Z:-4.27 [[ 9.99924335e-01 -8.78178331e-03 -8.61421675e-03 3.26475509e+02] [ 8.78684358e-03 9.99961244e-01 5.49761608e-04 -2.02465022e+01] [ 8.60905501e-03 -6.25411785e-04 9.99962746e-01 -4.26829210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.850371743 meters Centerline goodness [0,1] 0.9774007321881161 Centerline is valid? [True, True] Translation: X:326.51, Y:-20.25, Z:-4.27 [[ 9.99938638e-01 -7.02311601e-03 -8.56716001e-03 3.26505665e+02] [ 7.02805599e-03 9.99975153e-01 5.46648581e-04 -2.02463004e+01] [ 8.56310796e-03 -6.06825518e-04 9.99963152e-01 -4.26869127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880371743 meters Centerline goodness [0,1] 0.9781968179139658 Centerline is valid? [True, True] Translation: X:326.54, Y:-20.24, Z:-4.27 [[ 9.99944364e-01 -5.98975678e-03 -8.68279474e-03 3.26536677e+02] [ 5.99479226e-03 9.99981878e-01 5.54026938e-04 -2.02420971e+01] [ 8.67931890e-03 -6.06047665e-04 9.99962150e-01 -4.26822558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.910371743 meters Centerline goodness [0,1] 0.9772377729929252 Centerline is valid? [True, True] Translation: X:326.57, Y:-20.24, Z:-4.27 [[ 9.99961756e-01 -4.01152109e-03 -7.77140806e-03 3.26565914e+02] [ 4.01549364e-03 9.99991815e-01 4.95639818e-04 -2.02434314e+01] [ 7.76935618e-03 -5.26826903e-04 9.99969679e-01 -4.26776792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940371743 meters Centerline goodness [0,1] 0.9768978466511384 Centerline is valid? [True, True] Translation: X:326.60, Y:-20.24, Z:-4.27 [[ 9.99965375e-01 -4.00677950e-03 -7.29347804e-03 3.26596192e+02] [ 4.01027740e-03 9.99991851e-01 4.65031322e-04 -2.02423344e+01] [ 7.29155533e-03 -4.94264091e-04 9.99973294e-01 -4.26697308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.970371743 meters Centerline goodness [0,1] 0.9756010558607405 Centerline is valid? [True, True] Translation: X:326.63, Y:-20.24, Z:-4.27 [[ 9.99967635e-01 -4.58252804e-03 -6.61276087e-03 3.26625317e+02] [ 4.58542002e-03 9.99989398e-01 4.22238025e-04 -2.02421291e+01] [ 6.61075585e-03 -4.52546646e-04 9.99978046e-01 -4.26690697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000371743 meters Centerline goodness [0,1] 0.9754954440558609 Centerline is valid? [True, True] Translation: X:326.66, Y:-20.24, Z:-4.27 [[ 9.99965998e-01 -5.08081848e-03 -6.49521215e-03 3.26655683e+02] [ 5.08361749e-03 9.99986992e-01 4.14496853e-04 -2.02437873e+01] [ 6.49302168e-03 -4.47501934e-04 9.99978820e-01 -4.26683228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.030371743 meters Centerline goodness [0,1] 0.9750864226963881 Centerline is valid? [True, True] Translation: X:326.69, Y:-20.25, Z:-4.27 [[ 9.99959215e-01 -6.21998580e-03 -6.54828217e-03 3.26686157e+02] [ 6.22285504e-03 9.99980551e-01 4.17883557e-04 -2.02456297e+01] [ 6.54555558e-03 -4.58615524e-04 9.99978472e-01 -4.26749072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060371743 meters Centerline goodness [0,1] 0.973018227048749 Centerline is valid? [True, True] Translation: X:326.72, Y:-20.25, Z:-4.27 [[ 9.99938408e-01 -8.90830195e-03 -6.61977730e-03 3.26715629e+02] [ 8.91129279e-03 9.99960204e-01 4.22446072e-04 -2.02478076e+01] [ 6.61575059e-03 -4.81410827e-04 9.99978000e-01 -4.26786068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.090371743 meters Centerline goodness [0,1] 0.9758273381294964 Centerline is valid? [True, True] Translation: X:326.75, Y:-20.24, Z:-4.27 [[ 9.99924692e-01 -1.00893067e-02 -6.98681597e-03 3.26747686e+02] [ 1.00926715e-02 9.99948968e-01 4.46501902e-04 -2.02401244e+01] [ 6.98195453e-03 -5.16983915e-04 9.99975492e-01 -4.26674378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120371743 meters Centerline goodness [0,1] 0.9752914313183512 Centerline is valid? [True, True] Translation: X:326.78, Y:-20.24, Z:-4.27 [[ 9.99904663e-01 -1.16172328e-02 -7.46358989e-03 3.26778026e+02] [ 1.16211143e-02 9.99932359e-01 4.76896801e-04 -2.02424203e+01] [ 7.45754483e-03 -5.63586567e-04 9.99972033e-01 -4.26861142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.150371743 meters Centerline goodness [0,1] 0.9765553467302781 Centerline is valid? [True, True] Translation: X:326.81, Y:-20.24, Z:-4.27 [[ 9.99896660e-01 -1.18991030e-02 -8.06725312e-03 3.26809996e+02] [ 1.19036519e-02 9.99929016e-01 5.16090607e-04 -2.02401986e+01] [ 8.06053946e-03 -6.12067047e-04 9.99967326e-01 -4.26902924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180371743 meters Centerline goodness [0,1] 0.9102470930232558 Centerline is valid? [True, False] Translation: X:326.86, Y:-20.24, Z:-4.27 [[ 9.99866342e-01 -1.39463595e-02 -8.53214611e-03 3.26858565e+02] [ 1.39415924e-02 9.99902620e-01 -6.17940250e-04 -2.02374564e+01] [ 8.53993327e-03 4.98905953e-04 9.99963410e-01 -4.26816812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.210371743 meters Centerline goodness [0,1] 0.9784737238514055 Centerline is valid? [False, True] Translation: X:326.80, Y:-20.23, Z:-4.27 [[ 9.99901948e-01 -1.09343831e-02 -8.74830438e-03 3.26803514e+02] [ 1.09574359e-02 9.99936607e-01 2.59153165e-03 -2.02342664e+01] [ 8.71941301e-03 -2.68713653e-03 9.99958375e-01 -4.26900454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240371743 meters Centerline goodness [0,1] 0.9768763662861307 Centerline is valid? [True, True] Translation: X:326.83, Y:-20.23, Z:-4.27 [[ 9.99917754e-01 -9.61774545e-03 -8.48434025e-03 3.26833777e+02] [ 9.62267253e-03 9.99953555e-01 5.40095139e-04 -2.02346379e+01] [ 8.47875170e-03 -6.21692747e-04 9.99963861e-01 -4.26794293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.270371743 meters Centerline goodness [0,1] 0.9774384741091247 Centerline is valid? [True, True] Translation: X:326.86, Y:-20.24, Z:-4.27 [[ 9.99938244e-01 -7.63030041e-03 -8.08002806e-03 3.26863282e+02] [ 7.63470380e-03 9.99970723e-01 5.14267695e-04 -2.02382987e+01] [ 8.07586748e-03 -5.75924556e-04 9.99967224e-01 -4.26845470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300371743 meters Centerline goodness [0,1] 0.9795020522525623 Centerline is valid? [True, True] Translation: X:326.89, Y:-20.23, Z:-4.27 [[ 9.99964832e-01 -2.97441847e-03 -7.84141287e-03 3.26894088e+02] [ 2.97842312e-03 9.99995440e-01 4.99076932e-04 -2.02281335e+01] [ 7.83989265e-03 -5.22414426e-04 9.99969131e-01 -4.26699710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.330371743 meters Centerline goodness [0,1] 0.981896423801751 Centerline is valid? [True, True] Translation: X:326.92, Y:-20.22, Z:-4.27 [[ 9.99968771e-01 2.45528250e-03 -7.51192279e-03 3.26923738e+02] [-2.45176243e-03 9.99996880e-01 4.77771576e-04 -2.02233133e+01] [ 7.51307242e-03 -4.59339206e-04 9.99971671e-01 -4.26596787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36037174300003 meters Centerline goodness [0,1] 0.9820606720443411 Centerline is valid? [True, True] Translation: X:326.95, Y:-20.22, Z:-4.27 [[ 9.99957150e-01 5.26171140e-03 -7.61654461e-03 3.26952986e+02] [-5.25817601e-03 9.99986059e-01 4.84123086e-04 -2.02217494e+01] [ 7.61898574e-03 -4.44053209e-04 9.99970877e-01 -4.26583725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.390371743 meters Centerline goodness [0,1] 0.9830765407554672 Centerline is valid? [True, True] Translation: X:326.98, Y:-20.22, Z:-4.27 [[ 9.99938277e-01 8.20577571e-03 -7.49048163e-03 3.26983066e+02] [-8.20243902e-03 9.99966246e-01 4.76070155e-04 -2.02198117e+01] [ 7.49413532e-03 -4.14600552e-04 9.99971833e-01 -4.26588829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42037174300003 meters Centerline goodness [0,1] 0.9856624546478169 Centerline is valid? [True, True] Translation: X:327.01, Y:-20.21, Z:-4.26 [[ 9.99907816e-01 1.11391937e-02 -7.76382648e-03 3.27013186e+02] [-1.11357000e-02 9.99937875e-01 4.93073443e-04 -2.02141020e+01] [ 7.76883659e-03 -4.06572347e-04 9.99969739e-01 -4.26496586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.450371743 meters Centerline goodness [0,1] 0.9852989301447451 Centerline is valid? [True, True] Translation: X:327.04, Y:-20.21, Z:-4.27 [[ 9.99816871e-01 1.71399735e-02 -8.51147694e-03 3.27042600e+02] [-1.71359922e-02 9.99853022e-01 5.40470642e-04 -2.02100329e+01] [ 8.51948960e-03 -3.94519064e-04 9.99963631e-01 -4.26645602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.480371743 meters Centerline goodness [0,1] 0.9881308648237382 Centerline is valid? [True, True] Translation: X:327.07, Y:-20.21, Z:-4.27 [[ 9.99697233e-01 2.29385346e-02 -8.90316796e-03 3.27073784e+02] [-2.29344073e-02 9.99736812e-01 5.65406283e-04 -2.02061136e+01] [ 8.91379435e-03 -3.61046215e-04 9.99960206e-01 -4.26637355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.510371743 meters Centerline goodness [0,1] 0.9869319191047731 Centerline is valid? [True, True] Translation: X:327.10, Y:-20.21, Z:-4.27 [[ 9.99650340e-01 2.50110272e-02 -8.58179240e-03 3.27102554e+02] [-2.50072768e-02 9.99687121e-01 5.44062945e-04 -2.02052266e+01] [ 8.59271492e-03 -3.29265449e-04 9.99963028e-01 -4.26647742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.540371743 meters Centerline goodness [0,1] 0.9885482554580698 Centerline is valid? [True, True] Translation: X:327.13, Y:-20.20, Z:-4.26 [[ 9.99605204e-01 2.68990453e-02 -8.11647650e-03 3.27131489e+02] [-2.68957578e-02 9.99638112e-01 5.13936062e-04 -2.02010462e+01] [ 8.12736363e-03 -2.95434376e-04 9.99966929e-01 -4.26475947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.570371743 meters Centerline goodness [0,1] 0.9882431119971374 Centerline is valid? [True, True] Translation: X:327.16, Y:-20.20, Z:-4.27 [[ 9.99574973e-01 2.80666098e-02 -7.88279270e-03 3.27158961e+02] [-2.80635560e-02 9.99606017e-01 4.97771354e-04 -2.02023156e+01] [ 7.89365777e-03 -2.76340594e-04 9.99968806e-01 -4.26518029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.600371743 meters Centerline goodness [0,1] 0.9874753981034174 Centerline is valid? [True, True] Translation: X:327.19, Y:-20.21, Z:-4.27 [[ 9.99580979e-01 2.81064211e-02 -6.92062544e-03 3.27186340e+02] [-2.81040751e-02 9.99604907e-01 4.36023419e-04 -2.02060589e+01] [ 6.93014621e-03 -2.41342939e-04 9.99975957e-01 -4.26597746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.630371743 meters Centerline goodness [0,1] 0.9874212231776083 Centerline is valid? [True, True] Translation: X:327.21, Y:-20.21, Z:-4.27 [[ 9.99651619e-01 2.57973401e-02 -5.58020591e-03 3.27214945e+02] [-2.57957801e-02 9.99667172e-01 3.51374996e-04 -2.02081764e+01] [ 5.58741320e-03 -2.07306819e-04 9.99984369e-01 -4.26532208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.660371743 meters Centerline goodness [0,1] 0.9880736522205481 Centerline is valid? [True, True] Translation: X:327.24, Y:-20.21, Z:-4.26 [[ 9.99690448e-01 2.43976356e-02 -4.87473991e-03 3.27243720e+02] [-2.43964304e-02 9.99702316e-01 3.06550674e-04 -2.02098154e+01] [ 4.88076789e-03 -1.87529528e-04 9.99988071e-01 -4.26493278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.690371743 meters Centerline goodness [0,1] 0.9872258130184742 Centerline is valid? [True, True] Translation: X:327.27, Y:-20.21, Z:-4.27 [[ 9.99719890e-01 2.32496520e-02 -4.42672695e-03 3.27271278e+02] [-2.32486492e-02 9.99729675e-01 2.77860448e-04 -2.02148654e+01] [ 4.43199045e-03 -1.74867195e-04 9.99990163e-01 -4.26523893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.720371743 meters Centerline goodness [0,1] 0.9860539551897577 Centerline is valid? [True, True] Translation: X:327.30, Y:-20.22, Z:-4.27 [[ 9.99753797e-01 2.17650866e-02 -4.31584956e-03 3.27298513e+02] [-2.17641212e-02 9.99763097e-01 2.70532123e-04 -2.02188077e+01] [ 4.32071528e-03 -1.76534844e-04 9.99990650e-01 -4.26525408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.750371743 meters Centerline goodness [0,1] 0.9854605430093885 Centerline is valid? [True, True] Translation: X:327.33, Y:-20.22, Z:-4.27 [[ 9.99782466e-01 2.03842314e-02 -4.41638359e-03 3.27327063e+02] [-2.03832080e-02 9.99792203e-01 2.76625441e-04 -2.02227374e+01] [ 4.42110467e-03 -1.86545200e-04 9.99990209e-01 -4.26577918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.780371743 meters Centerline goodness [0,1] 0.9861626644446128 Centerline is valid? [True, True] Translation: X:327.36, Y:-20.22, Z:-4.27 [[ 9.99790094e-01 1.99402655e-02 -4.70674533e-03 3.27355751e+02] [-1.99390996e-02 9.99801153e-01 2.94497562e-04 -2.02238800e+01] [ 4.71168176e-03 -2.00587481e-04 9.99988880e-01 -4.26597199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.810371743 meters Centerline goodness [0,1] 0.9855758281246046 Centerline is valid? [True, True] Translation: X:327.38, Y:-20.23, Z:-4.27 [[ 9.99797678e-01 1.94000859e-02 -5.31409849e-03 3.27383605e+02] [-1.93985971e-02 9.99811775e-01 3.31564181e-04 -2.02293537e+01] [ 5.31953062e-03 -2.28411043e-04 9.99985825e-01 -4.26727653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.840371743 meters Centerline goodness [0,1] 0.9855758281246046 Centerline is valid? [True, True] Translation: X:327.41, Y:-20.23, Z:-4.27 [[ 9.99799690e-01 1.92960876e-02 -5.31412525e-03 3.27411028e+02] [-1.92945996e-02 9.99813787e-01 3.31135368e-04 -2.02309733e+01] [ 5.31952530e-03 -2.28535119e-04 9.99985825e-01 -4.26742185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.870371743 meters Centerline goodness [0,1] 0.9863437127872507 Centerline is valid? [True, True] Translation: X:327.44, Y:-20.23, Z:-4.27 [[ 9.99797837e-01 1.92865529e-02 -5.68447721e-03 3.27439185e+02] [-1.92848532e-02 9.99813967e-01 3.53666167e-04 -2.02340589e+01] [ 5.69024071e-03 -2.43970360e-04 9.99983781e-01 -4.26798881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.900371743 meters Centerline goodness [0,1] 0.9866165944147596 Centerline is valid? [True, True] Translation: X:327.47, Y:-20.24, Z:-4.27 [[ 9.99774029e-01 2.04295675e-02 -5.87568947e-03 3.27468060e+02] [-2.04277725e-02 9.99791265e-01 3.65346094e-04 -2.02350998e+01] [ 5.88192687e-03 -2.45236288e-04 9.99982671e-01 -4.26801041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.930371743 meters Centerline goodness [0,1] 0.9862506610259122 Centerline is valid? [True, True] Translation: X:327.50, Y:-20.24, Z:-4.27 [[ 9.99703772e-01 2.34795611e-02 -6.40923564e-03 3.27496717e+02] [-2.34774893e-02 9.99724286e-01 3.98315724e-04 -2.02375075e+01] [ 6.41682081e-03 -2.47724971e-04 9.99979381e-01 -4.26894878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.960371743 meters Centerline goodness [0,1] 0.9867021945149694 Centerline is valid? [True, True] Translation: X:327.53, Y:-20.24, Z:-4.27 [[ 9.99646914e-01 2.58039771e-02 -6.34055954e-03 3.27525227e+02] [-2.58019995e-02 9.99666996e-01 3.93525228e-04 -2.02390100e+01] [ 6.34860262e-03 -2.29787165e-04 9.99979821e-01 -4.26879247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.990371743 meters Centerline goodness [0,1] 0.9891482649842271 Centerline is valid? [True, True] Translation: X:327.55, Y:-20.24, Z:-4.27 [[ 9.99570655e-01 2.86498366e-02 -6.13934419e-03 3.27554038e+02] [-2.86480387e-02 9.99589488e-01 3.80603500e-04 -2.02398647e+01] [ 6.14772815e-03 -2.04559920e-04 9.99981082e-01 -4.26843182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.020371743 meters Centerline goodness [0,1] 0.9892887531908504 Centerline is valid? [True, True] Translation: X:327.58, Y:-20.24, Z:-4.27 [[ 9.99416804e-01 3.37871848e-02 -4.94757960e-03 3.27583258e+02] [-3.37860804e-02 9.99429040e-01 3.06664782e-04 -2.02408458e+01] [ 4.95511607e-03 -1.39326614e-04 9.99987714e-01 -4.26771567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.050371743 meters Centerline goodness [0,1] 0.9896189422883571 Centerline is valid? [True, True] Translation: X:327.61, Y:-20.24, Z:-4.27 [[ 9.99348108e-01 3.58503611e-02 -4.25564200e-03 3.27612557e+02] [-3.58495710e-02 9.99357163e-01 2.61803611e-04 -2.02418565e+01] [ 4.26229207e-03 -1.09070003e-04 9.99990910e-01 -4.26689324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.080371743 meters Centerline goodness [0,1] 0.9910359809233689 Centerline is valid? [True, True] Translation: X:327.64, Y:-20.24, Z:-4.27 [[ 9.99214224e-01 3.95300652e-02 -2.88253918e-03 3.27640958e+02] [-3.95297174e-02 9.99218379e-01 1.77566494e-04 -2.02444279e+01] [ 2.88730534e-03 -6.34810078e-05 9.99995830e-01 -4.26649094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11037174300003 meters Centerline goodness [0,1] 0.991771394374626 Centerline is valid? [True, True] Translation: X:327.67, Y:-20.25, Z:-4.27 [[ 9.99187332e-01 4.01812873e-02 -3.18426557e-03 3.27669566e+02] [-4.01808716e-02 9.99192404e-01 1.94415747e-04 -2.02454766e+01] [ 3.18950585e-03 -6.63111856e-05 9.99994911e-01 -4.26619065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.140371743 meters Centerline goodness [0,1] 0.9916951757647875 Centerline is valid? [True, True] Translation: X:327.70, Y:-20.25, Z:-4.27 [[ 9.99152684e-01 4.10037657e-02 -3.55044944e-03 3.27696795e+02] [-4.10032517e-02 9.99158989e-01 2.17467947e-04 -2.02507260e+01] [ 3.55638048e-03 -7.17037105e-05 9.99993673e-01 -4.26752062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17037174300003 meters Centerline goodness [0,1] 0.9909518996079978 Centerline is valid? [True, True] Translation: X:327.72, Y:-20.26, Z:-4.27 [[ 9.99099738e-01 4.21056445e-02 -5.17956987e-03 3.27724055e+02] [-4.21045664e-02 9.99113159e-01 3.17058207e-04 -2.02590638e+01] [ 5.18832636e-03 -9.86892275e-05 9.99986536e-01 -4.27037422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.200371743 meters Centerline goodness [0,1] 0.9909653343808308 Centerline is valid? [True, True] Translation: X:327.75, Y:-20.26, Z:-4.27 [[ 9.99114493e-01 4.17249675e-02 -5.40901216e-03 3.27752257e+02] [-4.17237996e-02 9.99129129e-01 3.28636042e-04 -2.02609343e+01] [ 5.41801394e-03 -1.02660493e-04 9.99985317e-01 -4.26992682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.230371743 meters Centerline goodness [0,1] 0.9909521123997744 Centerline is valid? [True, True] Translation: X:327.78, Y:-20.26, Z:-4.27 [[ 9.99147692e-01 4.08503957e-02 -5.92744649e-03 3.27781131e+02] [-4.08489851e-02 9.99165267e-01 3.58893223e-04 -2.02645289e+01] [ 5.93715959e-03 -1.16457161e-04 9.99982368e-01 -4.26953658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.260371743 meters Centerline goodness [0,1] 0.9906020058767818 Centerline is valid? [True, True] Translation: X:327.81, Y:-20.28, Z:-4.27 [[ 9.99217303e-01 3.90787358e-02 -6.13471701e-03 3.27808558e+02] [-3.90771893e-02 9.99236126e-01 3.71798047e-04 -2.02751023e+01] [ 6.14456026e-03 -1.31779543e-04 9.99981113e-01 -4.27033629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.290371743 meters Centerline goodness [0,1] 0.9891506584511296 Centerline is valid? [True, True] Translation: X:327.84, Y:-20.28, Z:-4.27 [[ 9.99258250e-01 3.79919428e-02 -6.28979599e-03 3.27836726e+02] [-3.79903106e-02 9.99278036e-01 3.78819763e-04 -2.02800726e+01] [ 6.29964708e-03 -1.39587470e-04 9.99980147e-01 -4.27067435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.320371743 meters Centerline goodness [0,1] 0.9883246048142987 Centerline is valid? [True, True] Translation: X:327.87, Y:-20.29, Z:-4.27 [[ 9.99269413e-01 3.76225126e-02 -6.72211602e-03 3.27865271e+02] [-3.76206363e-02 9.99292011e-01 4.05389560e-04 -2.02880383e+01] [ 6.73260861e-03 -1.52203106e-04 9.99977324e-01 -4.26994050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.350371743 meters Centerline goodness [0,1] 0.9881396461023434 Centerline is valid? [True, True] Translation: X:327.89, Y:-20.29, Z:-4.27 [[ 9.99278773e-01 3.73412552e-02 -6.89667349e-03 3.27893299e+02] [-3.73392950e-02 9.99302560e-01 4.12815456e-04 -2.02931853e+01] [ 6.90727852e-03 -1.55000797e-04 9.99976132e-01 -4.26980131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380371743 meters Centerline goodness [0,1] 0.986712469286004 Centerline is valid? [True, True] Translation: X:327.92, Y:-20.30, Z:-4.27 [[ 9.99277350e-01 3.75025621e-02 -6.19161271e-03 3.27922130e+02] [-3.75009947e-02 9.99296522e-01 3.69091438e-04 -2.02986206e+01] [ 6.20109892e-03 -1.36633079e-04 9.99980764e-01 -4.26935880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.410371743 meters Centerline goodness [0,1] 0.9858574372823538 Centerline is valid? [True, True] Translation: X:327.95, Y:-20.31, Z:-4.27 [[ 9.99319887e-01 3.65873313e-02 -4.59686701e-03 3.27949523e+02] [-3.65864581e-02 9.99330454e-01 2.73940862e-04 -2.03081423e+01] [ 4.60381196e-03 -1.05571469e-04 9.99989397e-01 -4.26780342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440371743 meters Centerline goodness [0,1] 0.9846306161897129 Centerline is valid? [True, True] Translation: X:327.98, Y:-20.31, Z:-4.27 [[ 9.99362891e-01 3.55276101e-02 -3.40605959e-03 3.27978435e+02] [-3.55271252e-02 9.99368692e-01 2.02776160e-04 -2.03144820e+01] [ 3.41111347e-03 -8.16394640e-05 9.99994179e-01 -4.26716494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.470371743 meters Centerline goodness [0,1] 0.9835530152805319 Centerline is valid? [True, True] Translation: X:328.01, Y:-20.33, Z:-4.27 [[ 9.99446176e-01 3.31983405e-02 -2.28270111e-03 3.28005629e+02] [-3.31981176e-02 9.99448781e-01 1.35479630e-04 -2.03268693e+01] [ 2.28594054e-03 -5.96232178e-05 9.99997385e-01 -4.26738303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500371743 meters Centerline goodness [0,1] 0.9842471978188427 Centerline is valid? [True, True] Translation: X:328.03, Y:-20.33, Z:-4.27 [[ 9.99501413e-01 3.14937062e-02 -2.25194870e-03 3.28033593e+02] [-3.14934862e-02 9.99503948e-01 1.33090032e-04 -2.03317343e+01] [ 2.25502312e-03 -6.21019592e-05 9.99997456e-01 -4.26749360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.530371743 meters Centerline goodness [0,1] 0.9819678194932495 Centerline is valid? [True, True] Translation: X:328.06, Y:-20.34, Z:-4.27 [[ 9.99574722e-01 2.90025953e-02 -3.03726054e-03 3.28060571e+02] [-2.90021829e-02 9.99579332e-01 1.79720128e-04 -2.03447212e+01] [ 3.04119521e-03 -9.15565117e-05 9.99995371e-01 -4.26914553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560371743 meters Centerline goodness [0,1] 0.9817443282789817 Centerline is valid? [True, True] Translation: X:328.09, Y:-20.35, Z:-4.27 [[ 9.99598259e-01 2.81310275e-02 -3.45918677e-03 3.28089006e+02] [-2.81304877e-02 9.99604239e-01 2.04613736e-04 -2.03514886e+01] [ 3.46357376e-03 -1.07222924e-04 9.99993996e-01 -4.26944543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.590371743 meters Centerline goodness [0,1] 0.9827810935034643 Centerline is valid? [True, True] Translation: X:328.12, Y:-20.36, Z:-4.27 [[ 9.99631143e-01 2.69143788e-02 -3.63232131e-03 3.28117333e+02] [-2.69137765e-02 9.99637736e-01 2.14608461e-04 -2.03568042e+01] [ 3.63678150e-03 -1.16769818e-04 9.99993380e-01 -4.26964078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620371743 meters Centerline goodness [0,1] 0.9803165769546575 Centerline is valid? [True, True] Translation: X:328.14, Y:-20.37, Z:-4.27 [[ 9.99685473e-01 2.47165786e-02 -4.24793013e-03 3.28144016e+02] [-2.47157374e-02 9.99694488e-01 2.50407846e-04 -2.03685156e+01] [ 4.25282156e-03 -1.45338360e-04 9.99990946e-01 -4.27089872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.650371743 meters Centerline goodness [0,1] 0.9803455918939702 Centerline is valid? [True, True] Translation: X:328.17, Y:-20.37, Z:-4.27 [[ 9.99705676e-01 2.39423495e-02 -3.91473912e-03 3.28172924e+02] [-2.39416297e-02 9.99713331e-01 2.30633768e-04 -2.03747599e+01] [ 3.91913880e-03 -1.36840653e-04 9.99992311e-01 -4.27151752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680371743 meters Centerline goodness [0,1] 0.9800158067065597 Centerline is valid? [True, True] Translation: X:328.20, Y:-20.39, Z:-4.27 [[ 9.99751073e-01 2.17410573e-02 -5.01187822e-03 3.28201146e+02] [-2.17398502e-02 9.99763618e-01 2.95206170e-04 -2.03866779e+01] [ 5.01711160e-03 -1.86175203e-04 9.99987397e-01 -4.27306192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.710371743 meters Centerline goodness [0,1] 0.9806933261158851 Centerline is valid? [True, True] Translation: X:328.23, Y:-20.39, Z:-4.27 [[ 9.99764149e-01 2.10351225e-02 -5.40100807e-03 3.28229513e+02] [-2.10337128e-02 9.99778717e-01 3.17672873e-04 -2.03921730e+01] [ 5.40649520e-03 -2.03994697e-04 9.99985364e-01 -4.27328594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740371743 meters Centerline goodness [0,1] 0.9799337136157644 Centerline is valid? [True, True] Translation: X:328.26, Y:-20.40, Z:-4.27 [[ 9.99792433e-01 1.94898392e-02 -5.93601913e-03 3.28256674e+02] [-1.94881127e-02 9.99810028e-01 3.48568338e-04 -2.03989084e+01] [ 5.94168499e-03 -2.32814177e-04 9.99982321e-01 -4.27380965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.770371743 meters Centerline goodness [0,1] 0.978626913923937 Centerline is valid? [True, True] Translation: X:328.28, Y:-20.41, Z:-4.27 [[ 9.99835349e-01 1.73939588e-02 -5.16960543e-03 3.28284021e+02] [-1.73926259e-02 9.99848691e-01 3.02681668e-04 -2.04105075e+01] [ 5.17408805e-03 -2.12718818e-04 9.99986592e-01 -4.27383431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800371743 meters Centerline goodness [0,1] 0.9796059840336322 Centerline is valid? [True, True] Translation: X:328.31, Y:-20.41, Z:-4.27 [[ 9.99861230e-01 1.61413519e-02 -4.12036938e-03 3.28312849e+02] [-1.61404951e-02 9.99869705e-01 2.41098980e-04 -2.04126002e+01] [ 4.12372418e-03 -1.74560720e-04 9.99991482e-01 -4.27206026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.830371743 meters Centerline goodness [0,1] 0.9774847145981167 Centerline is valid? [True, True] Translation: X:328.34, Y:-20.43, Z:-4.27 [[ 9.99904832e-01 1.35490137e-02 -2.59828292e-03 3.28340970e+02] [-1.35486648e-02 9.99908201e-01 1.51855952e-04 -2.04272881e+01] [ 2.60010190e-03 -1.16638236e-04 9.99996613e-01 -4.27185661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86037174300003 meters Centerline goodness [0,1] 0.9765611101227539 Centerline is valid? [True, True] Translation: X:328.37, Y:-20.43, Z:-4.27 [[ 9.99925860e-01 1.19441489e-02 -2.36877127e-03 3.28367914e+02] [-1.19438556e-02 9.99928660e-01 1.37932123e-04 -2.04336687e+01] [ 2.37024977e-03 -1.09629634e-04 9.99997185e-01 -4.27233046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.890371743 meters Centerline goodness [0,1] 0.9760021331437205 Centerline is valid? [True, True] Translation: X:328.40, Y:-20.44, Z:-4.27 [[ 9.99951100e-01 9.59909869e-03 -2.37818733e-03 3.28396588e+02] [-9.59879607e-03 9.99953921e-01 1.38629943e-04 -2.04398342e+01] [ 2.37940847e-03 -1.15795428e-04 9.99997162e-01 -4.27234088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92037174300003 meters Centerline goodness [0,1] 0.976634479092842 Centerline is valid? [True, True] Translation: X:328.43, Y:-20.44, Z:-4.27 [[ 9.99984161e-01 5.02180765e-03 -2.54165594e-03 3.28426580e+02] [-5.02144690e-03 9.99987381e-01 1.48298736e-04 -2.04415407e+01] [ 2.54236859e-03 -1.35533597e-04 9.99996759e-01 -4.27207545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.950371743 meters Centerline goodness [0,1] 0.9762241158550047 Centerline is valid? [True, True] Translation: X:328.45, Y:-20.45, Z:-4.27 [[ 9.99995220e-01 2.23257539e-03 -2.13913558e-03 3.28454840e+02] [-2.23231422e-03 9.99997501e-01 1.24470259e-04 -2.04500541e+01] [ 2.13940812e-03 -1.19694441e-04 9.99997704e-01 -4.27296807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.980371743 meters Centerline goodness [0,1] 0.9755390910096207 Centerline is valid? [True, True] Translation: X:328.49, Y:-20.45, Z:-4.27 [[ 9.99988263e-01 -4.11041268e-03 -2.56469545e-03 3.28485133e+02] [ 4.11080966e-03 9.99991539e-01 1.49534840e-04 -2.04547293e+01] [ 2.56405910e-03 -1.60076060e-04 9.99996700e-01 -4.27346964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.010371743 meters Centerline goodness [0,1] 0.9751747249597637 Centerline is valid? [True, True] Translation: X:328.52, Y:-20.46, Z:-4.27 [[ 9.99967912e-01 -7.57606278e-03 -2.60348085e-03 3.28515922e+02] [ 7.57648404e-03 9.99971286e-01 1.51980545e-04 -2.04597941e+01] [ 2.60225469e-03 -1.71700899e-04 9.99996599e-01 -4.27423103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.040371743 meters Centerline goodness [0,1] 0.9748099173553719 Centerline is valid? [True, True] Translation: X:328.55, Y:-20.47, Z:-4.27 [[ 9.99939001e-01 -1.06902031e-02 -2.77734262e-03 3.28545419e+02] [ 1.06906956e-02 9.99942840e-01 1.62546301e-04 -2.04668213e+01] [ 2.77544621e-03 -1.92228111e-04 9.99996130e-01 -4.27484233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.070371743 meters Centerline goodness [0,1] 0.9736598890942698 Centerline is valid? [True, True] Translation: X:328.58, Y:-20.47, Z:-4.28 [[ 9.99895958e-01 -1.39823102e-02 -3.54514890e-03 3.28575802e+02] [ 1.39831318e-02 9.99902210e-01 2.07091434e-04 -2.04714056e+01] [ 3.54190660e-03 -2.56642172e-04 9.99993694e-01 -4.27501203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.100371743 meters Centerline goodness [0,1] 0.9723681607350905 Centerline is valid? [True, True] Translation: X:328.61, Y:-20.48, Z:-4.28 [[ 9.99802992e-01 -1.94604166e-02 -3.90772825e-03 3.28606610e+02] [ 1.94614578e-02 9.99810582e-01 2.28582470e-04 -2.04750228e+01] [ 3.90253975e-03 -3.04587525e-04 9.99992339e-01 -4.27503114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.130371743 meters Centerline goodness [0,1] 0.9714997354963851 Centerline is valid? [True, True] Translation: X:328.64, Y:-20.48, Z:-4.28 [[ 9.99751944e-01 -2.18172322e-02 -4.47861433e-03 3.28637975e+02] [ 2.18186239e-02 9.99761911e-01 2.62103981e-04 -2.04782605e+01] [ 4.47182964e-03 -3.59756167e-04 9.99989937e-01 -4.27536380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.160371743 meters Centerline goodness [0,1] 0.9707066927834144 Centerline is valid? [True, True] Translation: X:328.67, Y:-20.48, Z:-4.28 [[ 9.99720231e-01 -2.32278493e-02 -4.46396898e-03 3.28668362e+02] [ 2.32292466e-02 9.99730130e-01 2.61399643e-04 -2.04820946e+01] [ 4.45669253e-03 -3.65021147e-04 9.99990002e-01 -4.27575441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.190371743 meters Centerline goodness [0,1] 0.971558965540049 Centerline is valid? [True, True] Translation: X:328.70, Y:-20.48, Z:-4.28 [[ 9.99687661e-01 -2.45482281e-02 -4.68678075e-03 3.28700432e+02] [ 2.45497851e-02 9.99698571e-01 2.74956171e-04 -2.04811007e+01] [ 4.67861833e-03 -3.89929752e-04 9.99988979e-01 -4.27506573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.220371743 meters Centerline goodness [0,1] 0.9698934691987031 Centerline is valid? [True, True] Translation: X:328.73, Y:-20.48, Z:-4.27 [[ 9.99677870e-01 -2.50059386e-02 -4.34263843e-03 3.28733061e+02] [ 2.50072811e-02 9.99687236e-01 2.55108128e-04 -2.04804350e+01] [ 4.33490099e-03 -3.63623530e-04 9.99990538e-01 -4.27470876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.250371743 meters Centerline goodness [0,1] 0.972271243271861 Centerline is valid? [True, True] Translation: X:328.77, Y:-20.47, Z:-4.27 [[ 9.99705512e-01 -2.41267284e-02 -2.60573315e-03 3.28766413e+02] [ 2.41272100e-02 9.99708885e-01 1.53567167e-04 -2.04726162e+01] [ 2.60126951e-03 -2.16391015e-04 9.99996593e-01 -4.27191833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.280371743 meters Centerline goodness [0,1] 0.9716286904867453 Centerline is valid? [True, True] Translation: X:328.80, Y:-20.47, Z:-4.27 [[ 9.99701841e-01 -2.43335683e-02 -2.02632744e-03 3.28798556e+02] [ 2.43338604e-02 9.99703881e-01 1.19576452e-04 -2.04720884e+01] [ 2.02281769e-03 -1.68849168e-04 9.99997940e-01 -4.27130834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.310371743 meters Centerline goodness [0,1] 0.9720082576749761 Centerline is valid? [True, True] Translation: X:328.83, Y:-20.47, Z:-4.27 [[ 9.99705823e-01 -2.42367587e-02 -9.19801234e-04 3.28829774e+02] [ 2.42368190e-02 9.99706244e-01 5.44403510e-05 -2.04723739e+01] [ 9.18211579e-04 -7.67173919e-05 9.99999576e-01 -4.27075402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.340371743 meters Centerline goodness [0,1] 0.9717933887974374 Centerline is valid? [True, True] Translation: X:328.86, Y:-20.47, Z:-4.27 [[ 9.99699545e-01 -2.45099378e-02 -2.88566766e-04 3.28861582e+02] [ 2.45099438e-02 9.99699586e-01 1.72902563e-05 -2.04710815e+01] [ 2.88056294e-04 -2.43578166e-05 9.99999958e-01 -4.27054360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.370371743 meters Centerline goodness [0,1] 0.9654037709000356 Centerline is valid? [True, True] Translation: X:328.89, Y:-20.47, Z:-4.27 [[ 9.99689405e-01 -2.49124586e-02 6.80685145e-04 3.28892826e+02] [ 2.49124915e-02 9.99689635e-01 -3.98675092e-05 -2.04749208e+01] [-6.79480686e-04 5.68126894e-05 9.99999768e-01 -4.26981335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.400371743 meters Centerline goodness [0,1] 0.9735019167395251 Centerline is valid? [True, True] Translation: X:328.93, Y:-20.46, Z:-4.27 [[ 9.99686332e-01 -2.50385373e-02 5.55719790e-04 3.28925996e+02] [ 2.50385592e-02 9.99686486e-01 -3.24305041e-05 -2.04593022e+01] [-5.54733552e-04 4.63347546e-05 9.99999845e-01 -4.26877070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.430371743 meters Centerline goodness [0,1] 0.9734469501090451 Centerline is valid? [True, True] Translation: X:328.96, Y:-20.45, Z:-4.27 [[ 9.99706921e-01 -2.42033154e-02 -5.20763006e-04 3.28957981e+02] [ 2.42033349e-02 9.99707056e-01 3.11787903e-05 -2.04541525e+01] [ 5.19855821e-04 -4.37738539e-05 9.99999864e-01 -4.26933287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.460371743 meters Centerline goodness [0,1] 0.9739249977463265 Centerline is valid? [True, True] Translation: X:328.99, Y:-20.45, Z:-4.27 [[ 9.99720904e-01 -2.35837346e-02 -1.38628413e-03 3.28990176e+02] [ 2.35838714e-02 9.99721858e-01 8.24565356e-05 -2.04519566e+01] [ 1.38395391e-03 -1.15127469e-04 9.99999036e-01 -4.27065598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.490371743 meters Centerline goodness [0,1] 0.9746531785366737 Centerline is valid? [True, True] Translation: X:329.02, Y:-20.45, Z:-4.27 [[ 9.99752828e-01 -2.19920633e-02 -3.26067512e-03 3.29022434e+02] [ 2.19928112e-02 9.99758110e-01 1.93687292e-04 -2.04456992e+01] [ 3.25562681e-03 -2.65350830e-04 9.99994665e-01 -4.27197283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.520371743 meters Centerline goodness [0,1] 0.9744456033739967 Centerline is valid? [True, True] Translation: X:329.06, Y:-20.44, Z:-4.27 [[ 9.99770908e-01 -2.10242104e-02 -4.01424020e-03 3.29055271e+02] [ 2.10253376e-02 9.99778915e-01 2.38797868e-04 -2.04426631e+01] [ 4.00833217e-03 -3.23143917e-04 9.99991914e-01 -4.27265340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.550371743 meters Centerline goodness [0,1] 0.974926555988249 Centerline is valid? [True, True] Translation: X:329.09, Y:-20.44, Z:-4.27 [[ 9.99792995e-01 -1.99144643e-02 -4.16901361e-03 3.29087867e+02] [ 1.99156713e-02 9.99801633e-01 2.48197699e-04 -2.04389143e+01] [ 4.16324389e-03 -3.31175025e-04 9.99991279e-01 -4.27303406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.580371743 meters Centerline goodness [0,1] 0.9757138922045726 Centerline is valid? [True, True] Translation: X:329.12, Y:-20.43, Z:-4.27 [[ 9.99832972e-01 -1.75251963e-02 -5.18605959e-03 3.29119651e+02] [ 1.75270306e-02 9.99846342e-01 3.08459706e-04 -2.04306632e+01] [ 5.17985689e-03 -3.99304410e-04 9.99986505e-01 -4.27298394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61037174300003 meters Centerline goodness [0,1] 0.9756411139426499 Centerline is valid? [True, True] Translation: X:329.15, Y:-20.43, Z:-4.27 [[ 9.99855529e-01 -1.62600842e-02 -4.95292127e-03 3.29151318e+02] [ 1.62617432e-02 9.99867726e-01 2.94872956e-04 -2.04284337e+01] [ 4.94747147e-03 -3.75373489e-04 9.99987691e-01 -4.27394457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.640371743 meters Centerline goodness [0,1] 0.9764319878000878 Centerline is valid? [True, True] Translation: X:329.18, Y:-20.42, Z:-4.27 [[ 9.99892576e-01 -1.37775374e-02 -5.00160897e-03 3.29182494e+02] [ 1.37791983e-02 9.99905018e-01 2.97764126e-04 -2.04202962e+01] [ 4.99703145e-03 -3.66650301e-04 9.99987448e-01 -4.27388255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67037174300003 meters Centerline goodness [0,1] 0.9775600944838126 Centerline is valid? [True, True] Translation: X:329.21, Y:-20.42, Z:-4.27 [[ 9.99910015e-01 -1.26127612e-02 -4.56956363e-03 3.29214243e+02] [ 1.26141367e-02 9.99920402e-01 2.72311680e-04 -2.04180180e+01] [ 4.56576530e-03 -3.29928276e-04 9.99989522e-01 -4.27282899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.700371743 meters Centerline goodness [0,1] 0.9770522388059701 Centerline is valid? [True, True] Translation: X:329.25, Y:-20.42, Z:-4.27 [[ 9.99927105e-01 -1.15143068e-02 -3.63405067e-03 3.29246157e+02] [ 1.15151707e-02 9.99933675e-01 2.16892621e-04 -2.04151647e+01] [ 3.63131228e-03 -2.58723525e-04 9.99993373e-01 -4.27233881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.730371743 meters Centerline goodness [0,1] 0.9770522388059701 Centerline is valid? [True, True] Translation: X:329.28, Y:-20.42, Z:-4.27 [[ 9.99927929e-01 -1.14425113e-02 -3.63402949e-03 3.29277879e+02] [ 1.14433760e-02 9.99934499e-01 2.17247575e-04 -2.04171165e+01] [ 3.63130560e-03 -2.58817484e-04 9.99993373e-01 -4.27250645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.760371743 meters Centerline goodness [0,1] 0.9778466887495008 Centerline is valid? [True, True] Translation: X:329.31, Y:-20.41, Z:-4.27 [[ 9.99950236e-01 -9.95715441e-03 -6.17337609e-04 3.29310360e+02] [ 9.95717924e-03 9.99950425e-01 3.71601422e-05 -2.04105895e+01] [ 6.16936995e-04 -4.33052342e-05 9.99999809e-01 -4.26996300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.790371743 meters Centerline goodness [0,1] 0.9771454126065057 Centerline is valid? [True, True] Translation: X:329.34, Y:-20.41, Z:-4.27 [[ 9.99955027e-01 -9.42649952e-03 1.04192142e-03 3.29342719e+02] [ 9.42656915e-03 9.99955567e-01 -6.19322322e-05 -2.04105668e+01] [-1.04129132e-03 7.17511913e-05 9.99999455e-01 -4.26922639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.820371743 meters Centerline goodness [0,1] 0.9775775207549847 Centerline is valid? [True, True] Translation: X:329.38, Y:-20.41, Z:-4.27 [[ 9.99952120e-01 -9.54259340e-03 2.16712896e-03 3.29375641e+02] [ 9.54289610e-03 9.99954457e-01 -1.29377669e-04 -2.04058016e+01] [-2.16579566e-03 1.50052160e-04 9.99997643e-01 -4.26856246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.850371743 meters Centerline goodness [0,1] 0.9771100895692147 Centerline is valid? [True, True] Translation: X:329.41, Y:-20.41, Z:-4.27 [[ 9.99951771e-01 -9.51719917e-03 2.42460952e-03 3.29406703e+02] [ 9.51757865e-03 9.99954696e-01 -1.45021175e-04 -2.04090013e+01] [-2.42311948e-03 1.68090593e-04 9.99997050e-01 -4.26882007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880371743 meters Centerline goodness [0,1] 0.9774176660955645 Centerline is valid? [True, True] Translation: X:329.44, Y:-20.40, Z:-4.27 [[ 9.99948678e-01 -9.75985234e-03 2.71770354e-03 3.29439473e+02] [ 9.76033037e-03 9.99952354e-01 -1.62685197e-04 -2.04049882e+01] [-2.71598627e-03 1.89202532e-04 9.99996294e-01 -4.26960649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.910371743 meters Centerline goodness [0,1] 0.9774385721463263 Centerline is valid? [True, True] Translation: X:329.47, Y:-20.40, Z:-4.27 [[ 9.99942286e-01 -1.06243516e-02 1.59630132e-03 3.29470747e+02] [ 1.06245177e-02 9.99943554e-01 -9.55823015e-05 -2.04034143e+01] [-1.59519571e-03 1.12536717e-04 9.99998721e-01 -4.27117871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940371743 meters Centerline goodness [0,1] 0.9786027141523659 Centerline is valid? [True, True] Translation: X:329.50, Y:-20.40, Z:-4.27 [[ 9.99941445e-01 -1.08085525e-02 5.31057373e-04 3.29502869e+02] [ 1.08085707e-02 9.99941585e-01 -3.15593615e-05 -2.04015858e+01] [-5.30685241e-04 3.72974847e-05 9.99999858e-01 -4.27220576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.970371743 meters Centerline goodness [0,1] 0.9808324470656483 Centerline is valid? [True, True] Translation: X:329.54, Y:-20.40, Z:-4.27 [[ 9.99939478e-01 -1.09991233e-02 -2.44873763e-04 3.29535598e+02] [ 1.09991274e-02 9.99939508e-01 1.51252432e-05 -2.03952538e+01] [ 2.44692585e-04 -1.78177255e-05 9.99999970e-01 -4.27306314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000371743 meters Centerline goodness [0,1] 0.9798729327319463 Centerline is valid? [True, True] Translation: X:329.57, Y:-20.40, Z:-4.28 [[ 9.99942477e-01 -1.05245588e-02 -2.06787560e-03 3.29566457e+02] [ 1.05248405e-02 9.99944604e-01 1.25387578e-04 -2.03964843e+01] [ 2.06644140e-03 -1.47144426e-04 9.99997854e-01 -4.27645274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.030371743 meters Centerline goodness [0,1] 0.9808719837997414 Centerline is valid? [True, True] Translation: X:329.60, Y:-20.40, Z:-4.28 [[ 9.99943300e-01 -1.01303296e-02 -3.28224181e-03 3.29598503e+02] [ 1.01310357e-02 9.99948660e-01 1.98580830e-04 -2.03964674e+01] [ 3.28006161e-03 -2.31822080e-04 9.99994594e-01 -4.27811651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060371743 meters Centerline goodness [0,1] 0.9811761811023622 Centerline is valid? [True, True] Translation: X:329.63, Y:-20.39, Z:-4.28 [[ 9.99949270e-01 -9.35968246e-03 -3.72214343e-03 3.29629662e+02] [ 9.36058544e-03 9.99956163e-01 2.25247558e-04 -2.03935340e+01] [ 3.71987202e-03 -2.60077573e-04 9.99993047e-01 -4.27905968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.090371743 meters Centerline goodness [0,1] 0.9823753846153847 Centerline is valid? [True, True] Translation: X:329.66, Y:-20.39, Z:-4.28 [[ 9.99958321e-01 -8.46302787e-03 -3.42534464e-03 3.29661846e+02] [ 8.46378854e-03 9.99964160e-01 2.07637538e-04 -2.03931882e+01] [ 3.42346463e-03 -2.36620277e-04 9.99994112e-01 -4.27918601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120371743 meters Centerline goodness [0,1] 0.9815555555555555 Centerline is valid? [True, True] Translation: X:329.69, Y:-20.39, Z:-4.28 [[ 9.99963272e-01 -8.12226562e-03 -2.73571436e-03 3.29694398e+02] [ 8.12275029e-03 9.99966996e-01 1.66096991e-04 -2.03925249e+01] [ 2.73427498e-03 -1.88312415e-04 9.99996244e-01 -4.27836843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.150371743 meters Centerline goodness [0,1] 0.9821584311380229 Centerline is valid? [True, True] Translation: X:329.73, Y:-20.39, Z:-4.28 [[ 9.99977962e-01 -6.62327898e-03 4.56471010e-04 3.29726172e+02] [ 6.62329222e-03 9.99978065e-01 -2.74816122e-05 -2.03853734e+01] [-4.56278979e-04 3.05043475e-05 9.99999895e-01 -4.27534800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180371743 meters Centerline goodness [0,1] 0.983465707577801 Centerline is valid? [True, True] Translation: X:329.76, Y:-20.38, Z:-4.27 [[ 9.99990353e-01 -4.14603423e-03 1.45078081e-03 3.29756923e+02] [ 4.14616616e-03 9.99991401e-01 -8.79409258e-05 -2.03822603e+01] [-1.45040373e-03 9.39552557e-05 9.99998944e-01 -4.27466076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.210371743 meters Centerline goodness [0,1] 0.9814652033051209 Centerline is valid? [True, True] Translation: X:329.79, Y:-20.38, Z:-4.27 [[ 9.99993400e-01 -4.90914633e-04 3.59979474e-03 3.29787202e+02] [ 4.91703306e-04 9.99999855e-01 -2.18206642e-04 -2.03807905e+01] [-3.59968710e-03 2.19975233e-04 9.99993497e-01 -4.27303556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240371743 meters Centerline goodness [0,1] 0.983478983554537 Centerline is valid? [True, True] Translation: X:329.82, Y:-20.38, Z:-4.27 [[ 9.99991416e-01 1.72130991e-03 3.76906583e-03 3.29818843e+02] [-1.72046118e-03 9.99998494e-01 -2.28412670e-04 -2.03796902e+01] [-3.76945333e-03 2.21926178e-04 9.99992871e-01 -4.27281810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.270371743 meters Centerline goodness [0,1] 0.9844373705219545 Centerline is valid? [True, True] Translation: X:329.85, Y:-20.38, Z:-4.27 [[ 9.99986555e-01 2.92648263e-03 4.28091298e-03 3.29849303e+02] [-2.92539783e-03 9.99995687e-01 -2.59642789e-04 -2.03769232e+01] [-4.28165436e-03 2.47115925e-04 9.99990803e-01 -4.27299901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300371743 meters Centerline goodness [0,1] 0.984865740389239 Centerline is valid? [True, True] Translation: X:329.88, Y:-20.38, Z:-4.27 [[ 9.99982513e-01 4.75294510e-03 3.51894962e-03 3.29880177e+02] [-4.75222338e-03 9.99988685e-01 -2.13428747e-04 -2.03752839e+01] [-3.51992422e-03 1.96702180e-04 9.99993786e-01 -4.27417487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.330371743 meters Centerline goodness [0,1] 0.9873456319560908 Centerline is valid? [True, True] Translation: X:329.91, Y:-20.38, Z:-4.28 [[ 9.99982120e-01 5.42106531e-03 2.52415344e-03 3.29909737e+02] [-5.42069584e-03 9.99985296e-01 -1.53193242e-04 -2.03753671e+01] [-2.52494680e-03 1.39507835e-04 9.99996803e-01 -4.27536558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36037174300003 meters Centerline goodness [0,1] 0.9856704456110984 Centerline is valid? [True, True] Translation: X:329.94, Y:-20.38, Z:-4.28 [[ 9.99981135e-01 6.05599132e-03 1.02708708e-03 3.29937957e+02] [-6.05593032e-03 9.99981661e-01 -6.24864661e-05 -2.03801411e+01] [-1.02744666e-03 5.62653195e-05 9.99999471e-01 -4.27754373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.390371743 meters Centerline goodness [0,1] 0.986260940362304 Centerline is valid? [True, True] Translation: X:329.97, Y:-20.38, Z:-4.28 [[ 9.99976149e-01 6.71816832e-03 -1.60241473e-03 3.29967146e+02] [-6.71802218e-03 9.99977429e-01 9.65643659e-05 -2.03813748e+01] [ 1.60302730e-03 -8.57970050e-05 9.99998711e-01 -4.28132856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42037174300003 meters Centerline goodness [0,1] 0.9865380700325733 Centerline is valid? [True, True] Translation: X:330.00, Y:-20.38, Z:-4.28 [[ 9.99975020e-01 6.62081932e-03 -2.47483114e-03 3.29996187e+02] [-6.62047041e-03 9.99978073e-01 1.49147718e-04 -2.03798895e+01] [ 2.47576436e-03 -1.32759445e-04 9.99996926e-01 -4.28204952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.450371743 meters Centerline goodness [0,1] 0.9870772054138098 Centerline is valid? [True, True] Translation: X:330.02, Y:-20.38, Z:-4.28 [[ 9.99967087e-01 6.04354265e-03 -5.41294153e-03 3.30024391e+02] [-6.04186644e-03 9.99981695e-01 3.25965722e-04 -2.03806952e+01] [ 5.41481243e-03 -2.93250723e-04 9.99985297e-01 -4.28420984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.480371743 meters Centerline goodness [0,1] 0.986679571097471 Centerline is valid? [True, True] Translation: X:330.05, Y:-20.38, Z:-4.29 [[ 9.99963070e-01 5.19331401e-03 -6.84746509e-03 3.30052890e+02] [-5.19061307e-03 9.99986444e-01 4.12155991e-04 -2.03828061e+01] [ 6.84951272e-03 -3.76598229e-04 9.99976471e-01 -4.28549369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.510371743 meters Centerline goodness [0,1] 0.986312194127243 Centerline is valid? [True, True] Translation: X:330.08, Y:-20.39, Z:-4.29 [[ 9.99961960e-01 4.73094901e-03 -7.32776383e-03 3.30080479e+02] [-4.72784874e-03 9.99988727e-01 4.40350626e-04 -2.03869253e+01] [ 7.32976450e-03 -4.05689316e-04 9.99973055e-01 -4.28660966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.540371743 meters Centerline goodness [0,1] 0.987413084301883 Centerline is valid? [True, True] Translation: X:330.11, Y:-20.39, Z:-4.29 [[ 9.99964726e-01 4.46143763e-03 -7.11639354e-03 3.30109189e+02] [-4.45850989e-03 9.99989970e-01 4.27219360e-04 -2.03875562e+01] [ 7.11822817e-03 -3.95475779e-04 9.99974587e-01 -4.28648525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.570371743 meters Centerline goodness [0,1] 0.9859794024676252 Centerline is valid? [True, True] Translation: X:330.14, Y:-20.39, Z:-4.29 [[ 9.99965970e-01 5.37195549e-03 -6.26099715e-03 3.30137238e+02] [-5.36971016e-03 9.99985513e-01 3.75376233e-04 -2.03906955e+01] [ 6.26292294e-03 -3.41743719e-04 9.99980329e-01 -4.28517541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.600371743 meters Centerline goodness [0,1] 0.9869822183726499 Centerline is valid? [True, True] Translation: X:330.17, Y:-20.39, Z:-4.28 [[ 9.99965158e-01 6.57387215e-03 -5.14459664e-03 3.30165816e+02] [-6.57237421e-03 9.99978354e-01 3.08018938e-04 -2.03902262e+01] [ 5.14651015e-03 -2.74195992e-04 9.99986719e-01 -4.28408911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.630371743 meters Centerline goodness [0,1] 0.9865301861329667 Centerline is valid? [True, True] Translation: X:330.20, Y:-20.39, Z:-4.28 [[ 9.99951274e-01 9.44229540e-03 -2.87983196e-03 3.30195828e+02] [-9.44183814e-03 9.99955410e-01 1.72336060e-04 -2.03868412e+01] [ 2.88133080e-03 -1.45136755e-04 9.99995838e-01 -4.28245583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.660371743 meters Centerline goodness [0,1] 0.9867047745425779 Centerline is valid? [True, True] Translation: X:330.22, Y:-20.39, Z:-4.28 [[ 9.99941987e-01 1.04953860e-02 -2.42265386e-03 3.30223984e+02] [-1.04950664e-02 9.99944915e-01 1.44588806e-04 -2.03907308e+01] [ 2.42403792e-03 -1.19154505e-04 9.99997055e-01 -4.28296260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.690371743 meters Centerline goodness [0,1] 0.987023251070773 Centerline is valid? [True, True] Translation: X:330.25, Y:-20.39, Z:-4.28 [[ 9.99934636e-01 1.13307851e-02 -1.52894161e-03 3.30253242e+02] [-1.13306590e-02 9.99935802e-01 9.11321115e-05 -2.03919377e+01] [ 1.52987606e-03 -7.38022387e-05 9.99998827e-01 -4.28298277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.720371743 meters Centerline goodness [0,1] 0.9867225184056867 Centerline is valid? [True, True] Translation: X:330.28, Y:-20.39, Z:-4.28 [[ 9.99938862e-01 1.10284467e-02 -8.03169257e-04 3.30282038e+02] [-1.10284120e-02 9.99939184e-01 4.75888987e-05 -2.03931753e+01] [ 8.03645243e-04 -3.87283077e-05 9.99999676e-01 -4.28321662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.750371743 meters Centerline goodness [0,1] 0.986969111969112 Centerline is valid? [True, True] Translation: X:330.31, Y:-20.40, Z:-4.28 [[ 9.99950055e-01 9.96271533e-03 -7.94427437e-04 3.30311022e+02] [-9.96268112e-03 9.99950370e-01 4.70094679e-05 -2.03960067e+01] [ 7.94856352e-04 -3.90924928e-05 9.99999683e-01 -4.28384765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.780371743 meters Centerline goodness [0,1] 0.9859956015066104 Centerline is valid? [True, True] Translation: X:330.34, Y:-20.41, Z:-4.29 [[ 9.99976469e-01 6.47604758e-03 -2.26332431e-03 3.30339365e+02] [-6.47575919e-03 9.99979023e-01 1.34726992e-04 -2.04058300e+01] [ 2.26414933e-03 -1.20067078e-04 9.99997430e-01 -4.28640370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.810371743 meters Centerline goodness [0,1] 0.986583274488046 Centerline is valid? [True, True] Translation: X:330.37, Y:-20.40, Z:-4.29 [[ 9.99973582e-01 6.02793695e-03 -4.06198344e-03 3.30368036e+02] [-6.02700576e-03 9.99981808e-01 2.41446947e-04 -2.04032678e+01] [ 4.06336497e-03 -2.16958970e-04 9.99991721e-01 -4.28826342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.840371743 meters Centerline goodness [0,1] 0.9852541519879214 Centerline is valid? [True, True] Translation: X:330.40, Y:-20.41, Z:-4.29 [[ 9.99963898e-01 6.19953839e-03 -5.81110744e-03 3.30395834e+02] [-6.19763809e-03 9.99980735e-01 3.44962609e-04 -2.04113581e+01] [ 5.81313410e-03 -3.08935014e-04 9.99983056e-01 -4.29197953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.870371743 meters Centerline goodness [0,1] 0.9856482060257532 Centerline is valid? [True, True] Translation: X:330.42, Y:-20.42, Z:-4.29 [[ 9.99950846e-01 6.59389172e-03 -7.40442738e-03 3.30424788e+02] [-6.59081939e-03 9.99978184e-01 4.39255570e-04 -2.04165013e+01] [ 7.40716225e-03 -3.90432735e-04 9.99972490e-01 -4.29364542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.900371743 meters Centerline goodness [0,1] 0.9849887976101568 Centerline is valid? [True, True] Translation: X:330.45, Y:-20.42, Z:-4.29 [[ 9.99957222e-01 6.11548181e-03 -6.93935165e-03 3.30453621e+02] [-6.11277549e-03 9.99981232e-01 4.11139691e-04 -2.04180971e+01] [ 6.94173573e-03 -3.68703404e-04 9.99975838e-01 -4.29289608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.930371743 meters Centerline goodness [0,1] 0.9854592535418171 Centerline is valid? [True, True] Translation: X:330.48, Y:-20.42, Z:-4.29 [[ 9.99952684e-01 6.10092981e-03 -7.57682547e-03 3.30482062e+02] [-6.09770692e-03 9.99981308e-01 4.48390857e-04 -2.04201369e+01] [ 7.57941945e-03 -4.02168380e-04 9.99971195e-01 -4.29284122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.960371743 meters Centerline goodness [0,1] 0.9854507535317923 Centerline is valid? [True, True] Translation: X:330.51, Y:-20.43, Z:-4.30 [[ 9.99927423e-01 7.31323180e-03 -9.57418495e-03 3.30509290e+02] [-7.30814920e-03 9.99973135e-01 5.65743763e-04 -2.04275673e+01] [ 9.57806516e-03 -4.95733131e-04 9.99954006e-01 -4.29567854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.990371743 meters Centerline goodness [0,1] 0.9856500906179398 Centerline is valid? [True, True] Translation: X:330.54, Y:-20.43, Z:-4.30 [[ 9.99917674e-01 7.76131597e-03 -1.02179618e-02 3.30538067e+02] [-7.75555626e-03 9.99969743e-01 6.03188942e-04 -2.04288643e+01] [ 1.02223342e-02 -5.23893307e-04 9.99947613e-01 -4.29601973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.020371743 meters Centerline goodness [0,1] 0.9849503286709831 Centerline is valid? [True, True] Translation: X:330.57, Y:-20.43, Z:-4.30 [[ 9.99919335e-01 8.50590391e-03 -9.43250914e-03 3.30566485e+02] [-8.50103526e-03 9.99963711e-01 5.56131350e-04 -2.04329428e+01] [ 9.43689724e-03 -4.75900397e-04 9.99955358e-01 -4.29679084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.050371743 meters Centerline goodness [0,1] 0.9858262670084796 Centerline is valid? [True, True] Translation: X:330.59, Y:-20.44, Z:-4.29 [[ 9.99935617e-01 8.45435491e-03 -7.56870326e-03 3.30594953e+02] [-8.45122351e-03 9.99964188e-01 4.45618581e-04 -2.04351242e+01] [ 7.57219963e-03 -3.81625088e-04 9.99971258e-01 -4.29488053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.080371743 meters Centerline goodness [0,1] 0.9843646286599307 Centerline is valid? [True, True] Translation: X:330.62, Y:-20.44, Z:-4.29 [[ 9.99932131e-01 9.75781154e-03 -6.36542475e-03 3.30622361e+02] [-9.75562760e-03 9.99952343e-01 3.74054650e-04 -2.04428274e+01] [ 6.36877135e-03 -3.11930550e-04 9.99979671e-01 -4.29463496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11037174300003 meters Centerline goodness [0,1] 0.9846029372103856 Centerline is valid? [True, True] Translation: X:330.65, Y:-20.44, Z:-4.29 [[ 9.99926524e-01 1.07725510e-02 -5.55869129e-03 3.30651198e+02] [-1.07709031e-02 9.99941939e-01 3.26309757e-04 -2.04439245e+01] [ 5.56188373e-03 -2.66413656e-04 9.99984497e-01 -4.29453153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.140371743 meters Centerline goodness [0,1] 0.9846447726103886 Centerline is valid? [True, True] Translation: X:330.68, Y:-20.45, Z:-4.30 [[ 9.99919333e-01 1.13196037e-02 -5.76150258e-03 3.30678462e+02] [-1.13178457e-02 9.99935894e-01 3.37646901e-04 -2.04485846e+01] [ 5.76495526e-03 -2.72411867e-04 9.99983345e-01 -4.29556345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17037174300003 meters Centerline goodness [0,1] 0.9855519639533745 Centerline is valid? [True, True] Translation: X:330.71, Y:-20.45, Z:-4.30 [[ 9.99909798e-01 1.21895599e-02 -5.64003353e-03 3.30707411e+02] [-1.21878908e-02 9.99925670e-01 3.30205265e-04 -2.04488269e+01] [ 5.64363936e-03 -2.61435367e-04 9.99984040e-01 -4.29541483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.200371743 meters Centerline goodness [0,1] 0.986197815060476 Centerline is valid? [True, True] Translation: X:330.74, Y:-20.45, Z:-4.30 [[ 9.99886786e-01 1.36069420e-02 -6.42390103e-03 3.30736503e+02] [-1.36048087e-02 9.99907380e-01 3.75672755e-04 -2.04494412e+01] [ 6.42841780e-03 -2.88234279e-04 9.99979296e-01 -4.29501266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.230371743 meters Centerline goodness [0,1] 0.9851673828077586 Centerline is valid? [True, True] Translation: X:330.76, Y:-20.45, Z:-4.30 [[ 9.99869204e-01 1.47604693e-02 -6.61090707e-03 3.30763927e+02] [-1.47582395e-02 9.99891017e-01 3.85939153e-04 -2.04543859e+01] [ 6.61588324e-03 -2.88323324e-04 9.99978073e-01 -4.29601170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.260371743 meters Centerline goodness [0,1] 0.9862364127130803 Centerline is valid? [True, True] Translation: X:330.79, Y:-20.46, Z:-4.30 [[ 9.99834356e-01 1.58166464e-02 -9.00525261e-03 3.30793084e+02] [-1.58125551e-02 9.99874836e-01 5.25346257e-04 -2.04551159e+01] [ 9.01243469e-03 -3.82863183e-04 9.99959314e-01 -4.29744408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.290371743 meters Centerline goodness [0,1] 0.984608683025991 Centerline is valid? [True, True] Translation: X:330.82, Y:-20.46, Z:-4.30 [[ 9.99816670e-01 1.65697078e-02 -9.59532332e-03 3.30820461e+02] [-1.65651061e-02 9.99862633e-01 5.58858477e-04 -2.04603263e+01] [ 9.60326536e-03 -3.99808473e-04 9.99953808e-01 -4.29983965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.320371743 meters Centerline goodness [0,1] 0.9856172689788989 Centerline is valid? [True, True] Translation: X:330.85, Y:-20.46, Z:-4.30 [[ 9.99800016e-01 1.70760644e-02 -1.04084857e-02 3.30849659e+02] [-1.70706835e-02 9.99854102e-01 6.05606163e-04 -2.04610323e+01] [ 1.04173085e-02 -4.27805086e-04 9.99945647e-01 -4.30019919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.350371743 meters Centerline goodness [0,1] 0.9851045338226063 Centerline is valid? [True, True] Translation: X:330.88, Y:-20.47, Z:-4.30 [[ 9.99789568e-01 1.72283947e-02 -1.11356461e-02 3.30877560e+02] [-1.72222602e-02 9.99851477e-01 6.46553475e-04 -2.04653002e+01] [ 1.11451313e-02 -4.54636425e-04 9.99937788e-01 -4.30143369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380371743 meters Centerline goodness [0,1] 0.9850735453952613 Centerline is valid? [True, True] Translation: X:330.91, Y:-20.47, Z:-4.30 [[ 9.99792167e-01 1.69790309e-02 -1.12842691e-02 3.30906356e+02] [-1.69727226e-02 9.99855739e-01 6.54574249e-04 -2.04690178e+01] [ 1.12937552e-02 -4.62913439e-04 9.99936116e-01 -4.30155476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.410371743 meters Centerline goodness [0,1] 0.9847291586630811 Centerline is valid? [True, True] Translation: X:330.94, Y:-20.47, Z:-4.30 [[ 9.99820964e-01 1.54415869e-02 -1.09360289e-02 3.30935312e+02] [-1.54355789e-02 9.99880664e-01 6.33571220e-04 -2.04742153e+01] [ 1.09445072e-02 -4.64653851e-04 9.99939999e-01 -4.30205308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440371743 meters Centerline goodness [0,1] 0.9839169040040208 Centerline is valid? [True, True] Translation: X:330.96, Y:-20.48, Z:-4.30 [[ 9.99833095e-01 1.45028082e-02 -1.11108670e-02 3.30963925e+02] [-1.44965575e-02 9.99894713e-01 6.42908876e-04 -2.04781937e+01] [ 1.11190211e-02 -4.81732249e-04 9.99938066e-01 -4.30244543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.470371743 meters Centerline goodness [0,1] 0.9838701957593452 Centerline is valid? [True, True] Translation: X:330.99, Y:-20.48, Z:-4.30 [[ 9.99848937e-01 1.33802604e-02 -1.10937458e-02 3.30991807e+02] [-1.33739719e-02 9.99910359e-01 6.40840324e-04 -2.04831079e+01] [ 1.11013260e-02 -4.92376071e-04 9.99938257e-01 -4.30292427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500371743 meters Centerline goodness [0,1] 0.9820939590923161 Centerline is valid? [True, True] Translation: X:331.02, Y:-20.49, Z:-4.30 [[ 9.99882289e-01 1.09717263e-02 -1.07251482e-02 3.31020659e+02] [-1.09657149e-02 9.99939683e-01 6.19145468e-04 -2.04889942e+01] [ 1.07312943e-02 -5.01463671e-04 9.99942292e-01 -4.30305106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.530371743 meters Centerline goodness [0,1] 0.9815518305712522 Centerline is valid? [True, True] Translation: X:331.05, Y:-20.49, Z:-4.30 [[ 9.99899695e-01 9.56059685e-03 -1.04496825e-02 3.31049484e+02] [-9.55482223e-03 9.99954170e-01 6.02397750e-04 -2.04935374e+01] [ 1.04549629e-02 -5.02492468e-04 9.99945219e-01 -4.30330641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560371743 meters Centerline goodness [0,1] 0.9812308204676833 Centerline is valid? [True, True] Translation: X:331.08, Y:-20.50, Z:-4.30 [[ 9.99915609e-01 7.69692377e-03 -1.04657828e-02 3.31078922e+02] [-7.69103141e-03 9.99970242e-01 6.03143014e-04 -2.04981783e+01] [ 1.04701137e-02 -5.22599450e-04 9.99945050e-01 -4.30359311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.590371743 meters Centerline goodness [0,1] 0.9809722156482227 Centerline is valid? [True, True] Translation: X:331.11, Y:-20.51, Z:-4.30 [[ 9.99934283e-01 4.87956558e-03 -1.03740110e-02 3.31106790e+02] [-4.87363443e-03 9.99987946e-01 5.96935350e-04 -2.05054085e+01] [ 1.03767987e-02 -5.46336984e-04 9.99946010e-01 -4.30402411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620371743 meters Centerline goodness [0,1] 0.9808507112931095 Centerline is valid? [True, True] Translation: X:331.14, Y:-20.51, Z:-4.30 [[ 9.99939227e-01 3.39165675e-03 -1.04899651e-02 3.31135309e+02] [-3.38551852e-03 9.99994087e-01 6.02854974e-04 -2.05078704e+01] [ 1.04919478e-02 -5.67304365e-04 9.99944797e-01 -4.30428740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.650371743 meters Centerline goodness [0,1] 0.9808507112931095 Centerline is valid? [True, True] Translation: X:331.16, Y:-20.51, Z:-4.30 [[ 9.99939584e-01 3.28453027e-03 -1.04900405e-02 3.31162761e+02] [-3.27839989e-03 9.99994445e-01 6.01542875e-04 -2.05093579e+01] [ 1.04919580e-02 -5.67115985e-04 9.99944797e-01 -4.30443268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680371743 meters Centerline goodness [0,1] 0.980544747081712 Centerline is valid? [True, True] Translation: X:331.19, Y:-20.52, Z:-4.30 [[ 9.99944712e-01 1.28800367e-03 -1.04361894e-02 3.31191682e+02] [-1.28183063e-03 9.99999000e-01 5.98170320e-04 -2.05156686e+01] [ 1.04369494e-02 -5.84759821e-04 9.99945363e-01 -4.30487359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.710371743 meters Centerline goodness [0,1] 0.9797653820785829 Centerline is valid? [True, True] Translation: X:331.22, Y:-20.52, Z:-4.31 [[ 9.99943658e-01 1.41386372e-04 -1.06141843e-02 3.31220477e+02] [-1.34945624e-04 9.99999806e-01 6.07519540e-04 -2.05194921e+01] [ 1.06142682e-02 -6.06052974e-04 9.99943483e-01 -4.30547907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740371743 meters Centerline goodness [0,1] 0.9788737370168868 Centerline is valid? [True, True] Translation: X:331.25, Y:-20.53, Z:-4.31 [[ 9.99939933e-01 -4.36951469e-04 -1.09516713e-02 3.31247960e+02] [ 4.43831345e-04 9.99999706e-01 6.25780763e-04 -2.05251256e+01] [ 1.09513946e-02 -6.30603869e-04 9.99939833e-01 -4.30630128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.770371743 meters Centerline goodness [0,1] 0.9791486071738162 Centerline is valid? [True, True] Translation: X:331.28, Y:-20.53, Z:-4.31 [[ 9.99929363e-01 -2.26260135e-03 -1.16682841e-02 3.31276738e+02] [ 2.27053026e-03 9.99997200e-01 6.66324232e-04 -2.05306602e+01] [ 1.16667438e-02 -6.92770357e-04 9.99931701e-01 -4.30675919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800371743 meters Centerline goodness [0,1] 0.9797309963445496 Centerline is valid? [True, True] Translation: X:331.31, Y:-20.53, Z:-4.31 [[ 9.99923748e-01 -3.04377831e-03 -1.19680199e-02 3.31305710e+02] [ 3.05216427e-03 9.99995109e-01 6.82494945e-04 -2.05340854e+01] [ 1.19658840e-02 -7.18971266e-04 9.99928148e-01 -4.30715707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.830371743 meters Centerline goodness [0,1] 0.9791170287316048 Centerline is valid? [True, True] Translation: X:331.33, Y:-20.54, Z:-4.31 [[ 9.99914280e-01 -3.64479410e-03 -1.25756565e-02 3.31333114e+02] [ 3.65408573e-03 9.99993068e-01 7.15960374e-04 -2.05398329e+01] [ 1.25729597e-02 -7.61851529e-04 9.99920667e-01 -4.30833632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86037174300003 meters Centerline goodness [0,1] 0.9791802515137401 Centerline is valid? [True, True] Translation: X:331.36, Y:-20.55, Z:-4.31 [[ 9.99894486e-01 -5.49572678e-03 -1.34467356e-02 3.31362319e+02] [ 5.50651490e-03 9.99984546e-01 7.65392178e-04 -2.05463615e+01] [ 1.34423214e-02 -8.39356067e-04 9.99909296e-01 -4.30949045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.890371743 meters Centerline goodness [0,1] 0.9795832848329648 Centerline is valid? [True, True] Translation: X:331.39, Y:-20.55, Z:-4.31 [[ 9.99886385e-01 -6.55487126e-03 -1.35738911e-02 3.31390930e+02] [ 6.56589973e-03 9.99978149e-01 7.68071428e-04 -2.05480636e+01] [ 1.35685599e-02 -8.57108971e-04 9.99907576e-01 -4.30936087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92037174300003 meters Centerline goodness [0,1] 0.9786454589719215 Centerline is valid? [True, True] Translation: X:331.42, Y:-20.56, Z:-4.31 [[ 9.99880433e-01 -7.41861905e-03 -1.35677567e-02 3.31418226e+02] [ 7.42971200e-03 9.99972105e-01 7.67374331e-04 -2.05558446e+01] [ 1.35616853e-02 -8.68087103e-04 9.99907659e-01 -4.31016650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.950371743 meters Centerline goodness [0,1] 0.977179907242899 Centerline is valid? [True, True] Translation: X:331.45, Y:-20.56, Z:-4.31 [[ 9.99887965e-01 -7.31570191e-03 -1.30590103e-02 3.31446454e+02] [ 7.32596308e-03 9.99972892e-01 7.38089035e-04 -2.05623002e+01] [ 1.30532567e-02 -8.33676170e-04 9.99914455e-01 -4.31159136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.980371743 meters Centerline goodness [0,1] 0.9781740074370049 Centerline is valid? [True, True] Translation: X:331.47, Y:-20.57, Z:-4.31 [[ 9.99882502e-01 -8.06871974e-03 -1.30337599e-02 3.31474948e+02] [ 8.07895125e-03 9.99967096e-01 7.32539124e-04 -2.05665263e+01] [ 1.30274204e-02 -8.37752163e-04 9.99914789e-01 -4.31216383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.010371743 meters Centerline goodness [0,1] 0.9771698984302862 Centerline is valid? [True, True] Translation: X:331.50, Y:-20.57, Z:-4.31 [[ 9.99867342e-01 -8.43494299e-03 -1.39337681e-02 3.31503289e+02] [ 8.44667706e-03 9.99964019e-01 7.83495223e-04 -2.05733833e+01] [ 1.39266580e-02 -9.01085326e-04 9.99902613e-01 -4.31327760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.040371743 meters Centerline goodness [0,1] 0.9763679874821667 Centerline is valid? [True, True] Translation: X:331.53, Y:-20.58, Z:-4.31 [[ 9.99856097e-01 -9.31394863e-03 -1.41787120e-02 3.31532171e+02] [ 9.32612532e-03 9.99956196e-01 7.92922693e-04 -2.05765898e+01] [ 1.41707057e-02 -9.25041034e-04 9.99899163e-01 -4.31396056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.070371743 meters Centerline goodness [0,1] 0.9791312732448689 Centerline is valid? [True, True] Translation: X:331.56, Y:-20.57, Z:-4.31 [[ 9.99852979e-01 -9.78127956e-03 -1.40835469e-02 3.31562298e+02] [ 9.79334724e-03 9.99951733e-01 7.88151344e-04 -2.05746303e+01] [ 1.40751580e-02 -9.25960535e-04 9.99900511e-01 -4.31228798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.100371743 meters Centerline goodness [0,1] 0.9773426380790597 Centerline is valid? [True, True] Translation: X:331.59, Y:-20.58, Z:-4.31 [[ 9.99839488e-01 -1.01092674e-02 -1.47919030e-02 3.31590441e+02] [ 1.01226026e-02 9.99948423e-01 8.26921660e-04 -2.05832652e+01] [ 1.47827805e-02 -9.76521484e-04 9.99890252e-01 -4.31433341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.130371743 meters Centerline goodness [0,1] 0.9766318776892795 Centerline is valid? [True, True] Translation: X:331.62, Y:-20.59, Z:-4.32 [[ 9.99826459e-01 -1.05563331e-02 -1.53497664e-02 3.31619088e+02] [ 1.05707340e-02 9.99943761e-01 8.57353087e-04 -2.05893471e+01] [ 1.53398527e-02 -1.01946260e-03 9.99881818e-01 -4.31620197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.160371743 meters Centerline goodness [0,1] 0.976483274445923 Centerline is valid? [True, True] Translation: X:331.65, Y:-20.59, Z:-4.32 [[ 9.99788422e-01 -1.20343587e-02 -1.66818719e-02 3.31647832e+02] [ 1.20515512e-02 9.99926945e-01 9.30459509e-04 -2.05940474e+01] [ 1.66694557e-02 -1.13130508e-03 9.99860415e-01 -4.31756703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.190371743 meters Centerline goodness [0,1] 0.9755919188225615 Centerline is valid? [True, True] Translation: X:331.68, Y:-20.60, Z:-4.32 [[ 9.99777740e-01 -1.24157777e-02 -1.70387477e-02 3.31676335e+02] [ 1.24336862e-02 9.99922252e-01 9.45509752e-04 -2.05979195e+01] [ 1.70256837e-02 -1.15715404e-03 9.99854383e-01 -4.31818611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.220371743 meters Centerline goodness [0,1] 0.9762345467425333 Centerline is valid? [True, True] Translation: X:331.71, Y:-20.60, Z:-4.32 [[ 9.99772561e-01 -1.33187855e-02 -1.66564006e-02 3.31705755e+02] [ 1.33360314e-02 9.99910644e-01 9.24744153e-04 -2.05985108e+01] [ 1.66425957e-02 -1.14666411e-03 9.99860845e-01 -4.31644739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.250371743 meters Centerline goodness [0,1] 0.9750582963741942 Centerline is valid? [True, True] Translation: X:331.73, Y:-20.61, Z:-4.32 [[ 9.99778207e-01 -1.32895343e-02 -1.63378208e-02 3.31734199e+02] [ 1.33061076e-02 9.99911059e-01 9.06122610e-04 -2.06070305e+01] [ 1.63243258e-02 -1.12331444e-03 9.99866118e-01 -4.31803662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.280371743 meters Centerline goodness [0,1] 0.9768857279627984 Centerline is valid? [True, True] Translation: X:331.76, Y:-20.60, Z:-4.32 [[ 9.99779228e-01 -1.28743394e-02 -1.66056246e-02 3.31763848e+02] [ 1.28913952e-02 9.99916479e-01 9.20473574e-04 -2.06006712e+01] [ 1.65923872e-02 -1.13434003e-03 9.99861693e-01 -4.31548649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.310371743 meters Centerline goodness [0,1] 0.9780921953445915 Centerline is valid? [True, True] Translation: X:331.79, Y:-20.61, Z:-4.32 [[ 9.99806331e-01 -1.17802253e-02 -1.57647181e-02 3.31793479e+02] [ 1.17954529e-02 9.99930050e-01 8.73292568e-04 -2.06053107e+01] [ 1.57533278e-02 -1.05907543e-03 9.99875348e-01 -4.31567659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.340371743 meters Centerline goodness [0,1] 0.9781178131475283 Centerline is valid? [True, True] Translation: X:331.82, Y:-20.61, Z:-4.32 [[ 9.99822103e-01 -1.09257680e-02 -1.53749879e-02 3.31823290e+02] [ 1.09401428e-02 9.99939793e-01 8.51146552e-04 -2.06067234e+01] [ 1.53647628e-02 -1.01919970e-03 9.99881436e-01 -4.31535361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.370371743 meters Centerline goodness [0,1] 0.9767859578918648 Centerline is valid? [True, True] Translation: X:331.85, Y:-20.61, Z:-4.31 [[ 9.99838370e-01 -9.90732250e-03 -1.50026600e-02 3.31852810e+02] [ 9.92088709e-03 9.99950442e-01 8.29989751e-04 -2.06098517e+01] [ 1.49936935e-02 -9.78695296e-04 9.99887109e-01 -4.31473489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.400371743 meters Centerline goodness [0,1] 0.9776809027541267 Centerline is valid? [True, True] Translation: X:331.88, Y:-20.62, Z:-4.32 [[ 9.99852076e-01 -9.21602849e-03 -1.45220763e-02 3.31881122e+02] [ 9.22865255e-03 9.99957093e-01 8.02526819e-04 -2.06181886e+01] [ 1.45140571e-02 -9.36427302e-04 9.99894227e-01 -4.31645143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.430371743 meters Centerline goodness [0,1] 0.9790013152523924 Centerline is valid? [True, True] Translation: X:331.91, Y:-20.62, Z:-4.31 [[ 9.99852163e-01 -9.04861286e-03 -1.46210362e-02 3.31909648e+02] [ 9.06132221e-03 9.99958623e-01 8.03237036e-04 -2.06151413e+01] [ 1.46131630e-02 -9.35604208e-04 9.99892784e-01 -4.31474416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.460371743 meters Centerline goodness [0,1] 0.9776640086988039 Centerline is valid? [True, True] Translation: X:331.94, Y:-20.62, Z:-4.32 [[ 9.99839506e-01 -8.88412372e-03 -1.55574679e-02 3.31937434e+02] [ 8.89849827e-03 9.99960042e-01 8.54983719e-04 -2.06228900e+01] [ 1.55492505e-02 -9.93284600e-04 9.99878610e-01 -4.31717712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.490371743 meters Centerline goodness [0,1] 0.9786438989038863 Centerline is valid? [True, True] Translation: X:331.97, Y:-20.62, Z:-4.32 [[ 9.99828752e-01 -9.80233834e-03 -1.56965333e-02 3.31966171e+02] [ 9.81700440e-03 9.99951444e-01 8.57570126e-04 -2.06230769e+01] [ 1.56873649e-02 -1.01151620e-03 9.99876434e-01 -4.31660658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.520371743 meters Centerline goodness [0,1] 0.9794944836317598 Centerline is valid? [True, True] Translation: X:331.99, Y:-20.63, Z:-4.32 [[ 9.99819441e-01 -1.02173454e-02 -1.60216021e-02 3.31993800e+02] [ 1.02326695e-02 9.99947262e-01 8.74780868e-04 -2.06289612e+01] [ 1.60118192e-02 -1.03856668e-03 9.99871263e-01 -4.31835578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.550371743 meters Centerline goodness [0,1] 0.9781539155946739 Centerline is valid? [True, True] Translation: X:332.02, Y:-20.64, Z:-4.32 [[ 9.99759545e-01 -1.31112766e-02 -1.75768711e-02 3.32023413e+02] [ 1.31301680e-02 9.99913335e-01 9.59812966e-04 -2.06359036e+01] [ 1.75627634e-02 -1.19036944e-03 9.99845054e-01 -4.32049923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.580371743 meters Centerline goodness [0,1] 0.9783486321297278 Centerline is valid? [True, True] Translation: X:332.05, Y:-20.64, Z:-4.32 [[ 9.99722730e-01 -1.50429637e-02 -1.81155094e-02 3.32052365e+02] [ 1.50633258e-02 9.99886053e-01 9.88081699e-04 -2.06407671e+01] [ 1.80985815e-02 -1.26068755e-03 9.99835412e-01 -4.32094683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61037174300003 meters Centerline goodness [0,1] 0.9781977725278435 Centerline is valid? [True, True] Translation: X:332.08, Y:-20.65, Z:-4.32 [[ 9.99648894e-01 -1.89386394e-02 -1.85315031e-02 3.32081482e+02] [ 1.89606192e-02 9.99819720e-01 1.01108135e-03 -2.06488712e+01] [ 1.85090138e-02 -1.36209512e-03 9.99827766e-01 -4.32206589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.640371743 meters Centerline goodness [0,1] 0.977087770429324 Centerline is valid? [True, True] Translation: X:332.11, Y:-20.65, Z:-4.32 [[ 9.99616809e-01 -2.05119529e-02 -1.85875040e-02 3.32111894e+02] [ 2.05343361e-02 9.99788634e-01 1.01413147e-03 -2.06516273e+01] [ 1.85627734e-02 -1.39542492e-03 9.99826723e-01 -4.32188606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67037174300003 meters Centerline goodness [0,1] 0.9776040850148933 Centerline is valid? [True, True] Translation: X:332.14, Y:-20.66, Z:-4.32 [[ 9.99594163e-01 -2.20405480e-02 -1.80477998e-02 3.32141363e+02] [ 2.20618903e-02 9.99756122e-01 9.84273350e-04 -2.06580119e+01] [ 1.80217044e-02 -1.38204248e-03 9.99836641e-01 -4.32263964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.700371743 meters Centerline goodness [0,1] 0.9763428827215757 Centerline is valid? [True, True] Translation: X:332.17, Y:-20.66, Z:-4.32 [[ 9.99554431e-01 -2.39576479e-02 -1.78036400e-02 3.32172326e+02] [ 2.39787349e-02 9.99711996e-01 9.71860788e-04 -2.06633961e+01] [ 1.77752290e-02 -1.39833652e-03 9.99841030e-01 -4.32314584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.730371743 meters Centerline goodness [0,1] 0.9745275820279187 Centerline is valid? [True, True] Translation: X:332.20, Y:-20.67, Z:-4.32 [[ 9.99534276e-01 -2.46584108e-02 -1.79776007e-02 3.32203893e+02] [ 2.46800358e-02 9.99694919e-01 9.81983188e-04 -2.06675659e+01] [ 1.79479019e-02 -1.42521368e-03 9.99837908e-01 -4.32324302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.760371743 meters Centerline goodness [0,1] 0.9741568014295287 Centerline is valid? [True, True] Translation: X:332.24, Y:-20.67, Z:-4.32 [[ 9.99525543e-01 -2.52914900e-02 -1.75792293e-02 3.32235259e+02] [ 2.53122752e-02 9.99679131e-01 9.60839094e-04 -2.06712189e+01] [ 1.75492876e-02 -1.40535351e-03 9.99845012e-01 -4.32346032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.790371743 meters Centerline goodness [0,1] 0.9776798693892157 Centerline is valid? [True, True] Translation: X:332.27, Y:-20.67, Z:-4.32 [[ 9.99492388e-01 -2.70445532e-02 -1.68391789e-02 3.32266721e+02] [ 2.70638827e-02 9.99633282e-01 9.21019645e-04 -2.06698699e+01] [ 1.68080951e-02 -1.37628569e-03 9.99857787e-01 -4.32097239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.820371743 meters Centerline goodness [0,1] 0.9767899028258684 Centerline is valid? [True, True] Translation: X:332.30, Y:-20.68, Z:-4.32 [[ 9.99463194e-01 -2.88200001e-02 -1.55798420e-02 3.32297833e+02] [ 2.88367694e-02 9.99583770e-01 8.52723392e-04 -2.06762480e+01] [ 1.55487817e-02 -1.30153796e-03 9.99878263e-01 -4.32075982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.850371743 meters Centerline goodness [0,1] 0.976837416481069 Centerline is valid? [True, True] Translation: X:332.33, Y:-20.68, Z:-4.32 [[ 9.99451569e-01 -2.96227644e-02 -1.48004590e-02 3.32329886e+02] [ 2.96380042e-02 9.99560369e-01 8.11354719e-04 -2.06805450e+01] [ 1.47699177e-02 -1.24956581e-03 9.99890138e-01 -4.32048190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880371743 meters Centerline goodness [0,1] 0.9752921832644537 Centerline is valid? [True, True] Translation: X:332.36, Y:-20.68, Z:-4.32 [[ 9.99435877e-01 -3.03673697e-02 -1.43440191e-02 3.32361366e+02] [ 3.03817700e-02 9.99538058e-01 7.87033527e-04 -2.06849173e+01] [ 1.43134929e-02 -1.22238623e-03 9.99896810e-01 -4.32042576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.910371743 meters Centerline goodness [0,1] 0.974759348800071 Centerline is valid? [True, True] Translation: X:332.39, Y:-20.69, Z:-4.32 [[ 9.99426453e-01 -3.07446160e-02 -1.41962547e-02 3.32392471e+02] [ 3.07587698e-02 9.99526533e-01 7.79699690e-04 -2.06899417e+01] [ 1.41655616e-02 -1.21591182e-03 9.99898924e-01 -4.32058713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940371743 meters Centerline goodness [0,1] 0.9748662270476698 Centerline is valid? [True, True] Translation: X:332.43, Y:-20.69, Z:-4.32 [[ 9.99454271e-01 -2.97227680e-02 -1.44124157e-02 3.32425244e+02] [ 2.97372722e-02 9.99557435e-01 7.93068637e-04 -2.06917032e+01] [ 1.43824650e-02 -1.22122176e-03 9.99895821e-01 -4.32115604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.970371743 meters Centerline goodness [0,1] 0.9755052187430602 Centerline is valid? [True, True] Translation: X:332.46, Y:-20.69, Z:-4.32 [[ 9.99476760e-01 -2.87326070e-02 -1.48540415e-02 3.32457703e+02] [ 2.87479249e-02 9.99586358e-01 8.18689562e-04 -2.06948682e+01] [ 1.48243741e-02 -1.24528406e-03 9.99889337e-01 -4.32229787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000371743 meters Centerline goodness [0,1] 0.976053362979433 Centerline is valid? [True, True] Translation: X:332.49, Y:-20.70, Z:-4.32 [[ 9.99469760e-01 -2.81580078e-02 -1.63501167e-02 3.32490171e+02] [ 2.81765077e-02 9.99602556e-01 9.02183723e-04 -2.06978314e+01] [ 1.63182148e-02 -1.36239454e-03 9.99865921e-01 -4.32380058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.030371743 meters Centerline goodness [0,1] 0.9769702606346464 Centerline is valid? [True, True] Translation: X:332.52, Y:-20.70, Z:-4.32 [[ 9.99494805e-01 -2.71491610e-02 -1.65244884e-02 3.32521145e+02] [ 2.71679274e-02 9.99630468e-01 9.12210661e-04 -2.06997420e+01] [ 1.64936163e-02 -1.36068592e-03 9.99863045e-01 -4.32429098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060371743 meters Centerline goodness [0,1] 0.9764820299721497 Centerline is valid? [True, True] Translation: X:332.55, Y:-20.70, Z:-4.33 [[ 9.99512703e-01 -2.64128081e-02 -1.66349232e-02 3.32551145e+02] [ 2.64317282e-02 9.99650199e-01 9.18505730e-04 -2.07037882e+01] [ 1.66048439e-02 -1.35774791e-03 9.99861208e-01 -4.32520751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.090371743 meters Centerline goodness [0,1] 0.9751409419807342 Centerline is valid? [True, True] Translation: X:332.58, Y:-20.71, Z:-4.33 [[ 9.99502472e-01 -2.66026075e-02 -1.69442871e-02 3.32581939e+02] [ 2.66222834e-02 9.99645125e-01 9.36670445e-04 -2.07076079e+01] [ 1.69133561e-02 -1.38730004e-03 9.99855997e-01 -4.32623949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120371743 meters Centerline goodness [0,1] 0.9779023966886975 Centerline is valid? [True, True] Translation: X:332.61, Y:-20.70, Z:-4.32 [[ 9.99519853e-01 -2.63426266e-02 -1.63134798e-02 3.32613245e+02] [ 2.63608386e-02 9.99652085e-01 9.02316151e-04 -2.07038409e+01] [ 1.62840348e-02 -1.33191992e-03 9.99866519e-01 -4.32338852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.150371743 meters Centerline goodness [0,1] 0.9747047787219953 Centerline is valid? [True, True] Translation: X:332.64, Y:-20.71, Z:-4.32 [[ 9.99518045e-01 -2.64437903e-02 -1.62604750e-02 3.32644301e+02] [ 2.64619133e-02 9.99649417e-01 9.00363651e-04 -2.07121728e+01] [ 1.62309653e-02 -1.33021300e-03 9.99867384e-01 -4.32471091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180371743 meters Centerline goodness [0,1] 0.9774472807991121 Centerline is valid? [True, True] Translation: X:332.68, Y:-20.71, Z:-4.32 [[ 9.99512036e-01 -2.68831232e-02 -1.59056042e-02 3.32676179e+02] [ 2.69005328e-02 9.99637726e-01 8.81580190e-04 -2.07102326e+01] [ 1.58761424e-02 -1.30901924e-03 9.99873109e-01 -4.32354420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.210371743 meters Centerline goodness [0,1] 0.9777368782845866 Centerline is valid? [True, True] Translation: X:332.71, Y:-20.71, Z:-4.32 [[ 9.99521593e-01 -2.67395132e-02 -1.55429557e-02 3.32707976e+02] [ 2.67561397e-02 9.99641618e-01 8.62715446e-04 -2.07115730e+01] [ 1.55143168e-02 -1.27817221e-03 9.99878829e-01 -4.32337824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240371743 meters Centerline goodness [0,1] 0.6765588529509836 Centerline is valid? [True, False] Translation: X:332.75, Y:-20.71, Z:-4.32 [[ 9.99509488e-01 -2.63755487e-02 -1.68852931e-02 3.32745247e+02] [ 2.62231419e-02 9.99613919e-01 -9.18470890e-03 -2.07108010e+01] [ 1.71210257e-02 8.73741825e-03 9.99815247e-01 -4.31901490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.270371743 meters Centerline goodness [0,1] 0.9781459443916034 Centerline is valid? [False, True] Translation: X:332.69, Y:-20.71, Z:-4.32 [[ 9.99626860e-01 -2.33770401e-02 -1.41299412e-02 3.32691379e+02] [ 2.33913512e-02 9.99726025e-01 8.48376924e-04 -2.07147273e+01] [ 1.41062374e-02 -1.17857878e-03 9.99899807e-01 -4.32474399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300371743 meters Centerline goodness [0,1] 0.9760533427849896 Centerline is valid? [True, True] Translation: X:332.72, Y:-20.72, Z:-4.33 [[ 9.99619207e-01 -2.37704382e-02 -1.40145591e-02 3.32722651e+02] [ 2.37843629e-02 9.99716769e-01 8.27728023e-04 -2.07201647e+01] [ 1.39909143e-02 -1.16074019e-03 9.99901449e-01 -4.32531867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.330371743 meters Centerline goodness [0,1] 0.9763022678951099 Centerline is valid? [True, True] Translation: X:332.75, Y:-20.73, Z:-4.32 [[ 9.99638951e-01 -2.34746236e-02 -1.30732378e-02 3.32753333e+02] [ 2.34867200e-02 9.99723850e-01 7.72498442e-04 -2.07250684e+01] [ 1.30514935e-02 -1.07926701e-03 9.99914243e-01 -4.32435094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36037174300003 meters Centerline goodness [0,1] 0.9749161666078362 Centerline is valid? [True, True] Translation: X:332.78, Y:-20.73, Z:-4.32 [[ 9.99654876e-01 -2.29489923e-02 -1.27856324e-02 3.32783944e+02] [ 2.29605254e-02 9.99736087e-01 7.55960913e-04 -2.07309635e+01] [ 1.27649095e-02 -1.04926485e-03 9.99917975e-01 -4.32489463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.390371743 meters Centerline goodness [0,1] 0.9757913929834582 Centerline is valid? [True, True] Translation: X:332.82, Y:-20.73, Z:-4.32 [[ 9.99690583e-01 -2.17712933e-02 -1.20312061e-02 3.32815073e+02] [ 2.17814262e-02 9.99762503e-01 7.11815838e-04 -2.07309041e+01] [ 1.20128515e-02 -9.73652417e-04 9.99927369e-01 -4.32337826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42037174300003 meters Centerline goodness [0,1] 0.9761564034257282 Centerline is valid? [True, True] Translation: X:332.85, Y:-20.73, Z:-4.32 [[ 9.99711193e-01 -2.10013267e-02 -1.16822318e-02 3.32846339e+02] [ 2.10108330e-02 9.99779009e-01 6.91593222e-04 -2.07349760e+01] [ 1.16651257e-02 -9.36846907e-04 9.99931521e-01 -4.32363553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.450371743 meters Centerline goodness [0,1] 0.976280501209057 Centerline is valid? [True, True] Translation: X:332.88, Y:-20.74, Z:-4.32 [[ 9.99730618e-01 -2.01890649e-02 -1.14495928e-02 3.32876812e+02] [ 2.01981444e-02 9.99795767e-01 6.77909268e-04 -2.07393244e+01] [ 1.14335681e-02 -9.08987181e-04 9.99934221e-01 -4.32405324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.480371743 meters Centerline goodness [0,1] 0.9761507378777231 Centerline is valid? [True, True] Translation: X:332.91, Y:-20.74, Z:-4.32 [[ 9.99755348e-01 -1.87275172e-02 -1.17696408e-02 3.32908419e+02] [ 1.87370210e-02 9.99824203e-01 6.97730363e-04 -2.07410678e+01] [ 1.17545050e-02 -9.18087669e-04 9.99930492e-01 -4.32392776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.510371743 meters Centerline goodness [0,1] 0.9753251889611531 Centerline is valid? [True, True] Translation: X:332.94, Y:-20.75, Z:-4.33 [[ 9.99770301e-01 -1.67409822e-02 -1.33822614e-02 3.32937897e+02] [ 1.67530867e-02 9.99859343e-01 7.92922299e-04 -2.07468901e+01] [ 1.33671048e-02 -1.01693435e-03 9.99910139e-01 -4.32575990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.540371743 meters Centerline goodness [0,1] 0.9753251889611531 Centerline is valid? [True, True] Translation: X:332.97, Y:-20.75, Z:-4.33 [[ 9.99770301e-01 -1.67409822e-02 -1.33822614e-02 3.32967936e+02] [ 1.67530867e-02 9.99859343e-01 7.92922299e-04 -2.07486700e+01] [ 1.33671048e-02 -1.01693435e-03 9.99910139e-01 -4.32596033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.570371743 meters Centerline goodness [0,1] 0.975815991237678 Centerline is valid? [True, True] Translation: X:333.00, Y:-20.75, Z:-4.33 [[ 9.99770850e-01 -1.60209606e-02 -1.41977244e-02 3.32998052e+02] [ 1.60345133e-02 9.99871085e-01 8.41239905e-04 -2.07531456e+01] [ 1.41824167e-02 -1.06870074e-03 9.99898853e-01 -4.32702009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.600371743 meters Centerline goodness [0,1] 0.9752344313536908 Centerline is valid? [True, True] Translation: X:333.03, Y:-20.76, Z:-4.33 [[ 9.99760785e-01 -1.63089913e-02 -1.45735920e-02 3.33027293e+02] [ 1.63232907e-02 9.99866394e-01 8.62769844e-04 -2.07603740e+01] [ 1.45575740e-02 -1.10045244e-03 9.99893427e-01 -4.32752260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.630371743 meters Centerline goodness [0,1] 0.9762097038217256 Centerline is valid? [True, True] Translation: X:333.06, Y:-20.76, Z:-4.33 [[ 9.99758745e-01 -1.65141613e-02 -1.44821892e-02 3.33056885e+02] [ 1.65282959e-02 9.99863031e-01 8.56841410e-04 -2.07628688e+01] [ 1.44660556e-02 -1.09600060e-03 9.99894760e-01 -4.32674584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.660371743 meters Centerline goodness [0,1] 0.9760015693796591 Centerline is valid? [True, True] Translation: X:333.09, Y:-20.77, Z:-4.33 [[ 9.99758377e-01 -1.68376438e-02 -1.41308341e-02 3.33086890e+02] [ 1.68511361e-02 9.99857660e-01 8.36283001e-04 -2.07651639e+01] [ 1.41147417e-02 -1.07420154e-03 9.99899805e-01 -4.32620286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.690371743 meters Centerline goodness [0,1] 0.9759993036969341 Centerline is valid? [True, True] Translation: X:333.12, Y:-20.77, Z:-4.33 [[ 9.99778435e-01 -1.64124600e-02 -1.31799631e-02 3.33115770e+02] [ 1.64241561e-02 9.99864810e-01 7.79655437e-04 -2.07732105e+01] [ 1.31653853e-02 -9.95952465e-04 9.99912837e-01 -4.32551186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.720371743 meters Centerline goodness [0,1] 0.976256284141113 Centerline is valid? [True, True] Translation: X:333.15, Y:-20.78, Z:-4.33 [[ 9.99772328e-01 -1.71483031e-02 -1.26975684e-02 3.33146208e+02] [ 1.71592190e-02 9.99852488e-01 7.51233799e-04 -2.07787332e+01] [ 1.26828130e-02 -9.68943121e-04 9.99919100e-01 -4.32583323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.750371743 meters Centerline goodness [0,1] 0.9760261375684272 Centerline is valid? [True, True] Translation: X:333.18, Y:-20.78, Z:-4.32 [[ 9.99764705e-01 -1.76922104e-02 -1.25506831e-02 3.33176998e+02] [ 1.77029178e-02 9.99843015e-01 7.42543540e-04 -2.07791717e+01] [ 1.25355756e-02 -9.64552536e-04 9.99920961e-01 -4.32474708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.780371743 meters Centerline goodness [0,1] 0.9755592020036272 Centerline is valid? [True, True] Translation: X:333.21, Y:-20.79, Z:-4.32 [[ 9.99725228e-01 -2.04031218e-02 -1.15403765e-02 3.33206115e+02] [ 2.04123649e-02 9.99791412e-01 6.83704885e-04 -2.07910935e+01] [ 1.15240196e-02 -9.19083398e-04 9.99933174e-01 -4.32463361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.810371743 meters Centerline goodness [0,1] 0.9748735062977716 Centerline is valid? [True, True] Translation: X:333.24, Y:-20.80, Z:-4.32 [[ 9.99698852e-01 -2.17671758e-02 -1.13311327e-02 3.33236181e+02] [ 2.17761736e-02 9.99762646e-01 6.71294692e-04 -2.07983854e+01] [ 1.13138311e-02 -9.17841247e-04 9.99935575e-01 -4.32439744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.840371743 meters Centerline goodness [0,1] 0.9749120096145591 Centerline is valid? [True, True] Translation: X:333.27, Y:-20.81, Z:-4.32 [[ 9.99685272e-01 -2.25797317e-02 -1.09321766e-02 3.33265838e+02] [ 2.25881575e-02 9.99744645e-01 6.47856205e-04 -2.08088950e+01] [ 1.09147566e-02 -8.94590034e-04 9.99940032e-01 -4.32395094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.870371743 meters Centerline goodness [0,1] 0.9750644883920894 Centerline is valid? [True, True] Translation: X:333.30, Y:-20.81, Z:-4.32 [[ 9.99695258e-01 -2.18365179e-02 -1.15133670e-02 3.33297127e+02] [ 2.18458204e-02 9.99761118e-01 6.82819212e-04 -2.08129551e+01] [ 1.14957063e-02 -9.34130076e-04 9.99933486e-01 -4.32411679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.900371743 meters Centerline goodness [0,1] 0.9740965918821716 Centerline is valid? [True, True] Translation: X:333.33, Y:-20.82, Z:-4.32 [[ 9.99721769e-01 -2.03197000e-02 -1.19789217e-02 3.33326967e+02] [ 2.03296630e-02 9.99793079e-01 7.10516789e-04 -2.08180243e+01] [ 1.19620055e-02 -9.53846542e-04 9.99927998e-01 -4.32446859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.930371743 meters Centerline goodness [0,1] 0.9741076778224771 Centerline is valid? [True, True] Translation: X:333.36, Y:-20.82, Z:-4.33 [[ 9.99773554e-01 -1.69958342e-02 -1.28055944e-02 3.33356195e+02] [ 1.70069451e-02 9.99855083e-01 7.59258607e-04 -2.08222958e+01] [ 1.27908344e-02 -9.76870716e-04 9.99917717e-01 -4.32503201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.960371743 meters Centerline goodness [0,1] 0.9760161466944367 Centerline is valid? [True, True] Translation: X:333.39, Y:-20.82, Z:-4.32 [[ 9.99784846e-01 -1.55773189e-02 -1.36970635e-02 3.33387293e+02] [ 1.55898993e-02 9.99878140e-01 8.12174949e-04 -2.08162135e+01] [ 1.36827428e-02 -1.02553605e-03 9.99905861e-01 -4.32340942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.990371743 meters Centerline goodness [0,1] 0.9756076722628049 Centerline is valid? [True, True] Translation: X:333.42, Y:-20.83, Z:-4.33 [[ 9.99830979e-01 -1.19801706e-02 -1.39459094e-02 3.33416140e+02] [ 1.19928578e-02 9.99927742e-01 8.26471323e-04 -2.08297971e+01] [ 1.39350004e-02 -9.93582941e-04 9.99902410e-01 -4.32625972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.020371743 meters Centerline goodness [0,1] 0.9777872612824069 Centerline is valid? [True, True] Translation: X:333.45, Y:-20.83, Z:-4.32 [[ 9.99843364e-01 -1.09197763e-02 -1.39286338e-02 3.33445400e+02] [ 1.09323113e-02 9.99939901e-01 8.24123402e-04 -2.08272911e+01] [ 1.39187975e-02 -9.76266475e-04 9.99902652e-01 -4.32424869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.050371743 meters Centerline goodness [0,1] 0.977859306343586 Centerline is valid? [True, True] Translation: X:333.47, Y:-20.83, Z:-4.32 [[ 9.99852175e-01 -1.08561426e-02 -1.33330925e-02 3.33473934e+02] [ 1.08675624e-02 9.99940639e-01 7.84347785e-04 -2.08312844e+01] [ 1.33237860e-02 -9.29130054e-04 9.99910803e-01 -4.32389551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.080371743 meters Centerline goodness [0,1] 0.9764583289028773 Centerline is valid? [True, True] Translation: X:333.50, Y:-20.84, Z:-4.32 [[ 9.99871028e-01 -1.02927548e-02 -1.23283107e-02 3.33502296e+02] [ 1.03024375e-02 9.99946668e-01 7.22149990e-04 -2.08363620e+01] [ 1.23202203e-02 -8.49068503e-04 9.99923743e-01 -4.32223039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11037174300003 meters Centerline goodness [0,1] 0.9776766731864954 Centerline is valid? [True, True] Translation: X:333.53, Y:-20.84, Z:-4.32 [[ 9.99878057e-01 -9.91586294e-03 -1.20643125e-02 3.33530554e+02] [ 9.92507106e-03 9.99950498e-01 7.03619059e-04 -2.08397452e+01] [ 1.20567383e-02 -8.23272416e-04 9.99926976e-01 -4.32140326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.140371743 meters Centerline goodness [0,1] 0.9778443368170617 Centerline is valid? [True, True] Translation: X:333.56, Y:-20.84, Z:-4.32 [[ 9.99884832e-01 -9.21176034e-03 -1.20609529e-02 3.33559725e+02] [ 9.22088045e-03 9.99957241e-01 7.00776903e-04 -2.08434014e+01] [ 1.20539818e-02 -8.11908801e-04 9.99927019e-01 -4.32151799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17037174300003 meters Centerline goodness [0,1] 0.9765011387582214 Centerline is valid? [True, True] Translation: X:333.59, Y:-20.85, Z:-4.32 [[ 9.99882431e-01 -9.21459987e-03 -1.22562578e-02 3.33588247e+02] [ 9.22397895e-03 9.99957207e-01 7.08939420e-04 -2.08465478e+01] [ 1.22492007e-02 -8.21907534e-04 9.99924638e-01 -4.32046290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.200371743 meters Centerline goodness [0,1] 0.975756551855215 Centerline is valid? [True, True] Translation: X:333.62, Y:-20.85, Z:-4.32 [[ 9.99879908e-01 -9.80421640e-03 -1.20019336e-02 3.33617214e+02] [ 9.81321579e-03 9.99951610e-01 6.91166080e-04 -2.08492762e+01] [ 1.19945765e-02 -8.08860640e-04 9.99927735e-01 -4.32025674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.230371743 meters Centerline goodness [0,1] 0.9769645100168189 Centerline is valid? [True, True] Translation: X:333.65, Y:-20.86, Z:-4.32 [[ 9.99878755e-01 -1.06224298e-02 -1.13859574e-02 3.33645418e+02] [ 1.06305483e-02 9.99943281e-01 6.52737720e-04 -2.08558619e+01] [ 1.13783780e-02 -7.73697548e-04 9.99934965e-01 -4.31855073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.260371743 meters Centerline goodness [0,1] 0.9763606961998383 Centerline is valid? [True, True] Translation: X:333.68, Y:-20.86, Z:-4.32 [[ 9.99883998e-01 -1.04892277e-02 -1.10438863e-02 3.33675009e+02] [ 1.04968683e-02 9.99944705e-01 6.34098904e-04 -2.08563924e+01] [ 1.10366244e-02 -7.49951567e-04 9.99938813e-01 -4.31714972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.290371743 meters Centerline goodness [0,1] 0.9750513151490784 Centerline is valid? [True, True] Translation: X:333.70, Y:-20.86, Z:-4.32 [[ 9.99884897e-01 -1.02177751e-02 -1.12155979e-02 3.33704155e+02] [ 1.02256336e-02 9.99947510e-01 6.43553058e-04 -2.08602897e+01] [ 1.12084335e-02 -7.58165578e-04 9.99936896e-01 -4.31786256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.320371743 meters Centerline goodness [0,1] 0.9752840004246736 Centerline is valid? [True, True] Translation: X:333.73, Y:-20.87, Z:-4.32 [[ 9.99879840e-01 -1.03936402e-02 -1.15011821e-02 3.33733143e+02] [ 1.04018653e-02 9.99945684e-01 6.55557478e-04 -2.08657292e+01] [ 1.14937437e-02 -7.75112453e-04 9.99933644e-01 -4.31716858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.350371743 meters Centerline goodness [0,1] 0.97538774903991 Centerline is valid? [True, True] Translation: X:333.76, Y:-20.87, Z:-4.32 [[ 9.99886735e-01 -1.02131111e-02 -1.10548662e-02 3.33761591e+02] [ 1.02206671e-02 9.99947571e-01 6.27212869e-04 -2.08679282e+01] [ 1.10478809e-02 -7.40129935e-04 9.99938696e-01 -4.31649713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380371743 meters Centerline goodness [0,1] 0.9747274843898825 Centerline is valid? [True, True] Translation: X:333.79, Y:-20.87, Z:-4.32 [[ 9.99895727e-01 -9.38602935e-03 -1.09743829e-02 3.33790906e+02] [ 9.39343742e-03 9.99955686e-01 6.23681446e-04 -2.08685176e+01] [ 1.09680427e-02 -7.26703592e-04 9.99939585e-01 -4.31574522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.410371743 meters Centerline goodness [0,1] 0.9753580811933215 Centerline is valid? [True, True] Translation: X:333.82, Y:-20.87, Z:-4.32 [[ 9.99898576e-01 -8.98580073e-03 -1.10496089e-02 3.33819221e+02] [ 8.99327831e-03 9.99959363e-01 6.27225343e-04 -2.08726499e+01] [ 1.10435237e-02 -7.26533935e-04 9.99938754e-01 -4.31594709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440371743 meters Centerline goodness [0,1] 0.9748993004027984 Centerline is valid? [True, True] Translation: X:333.85, Y:-20.88, Z:-4.32 [[ 9.99913524e-01 -7.76168240e-03 -1.06160728e-02 3.33847321e+02] [ 7.76850637e-03 9.99969644e-01 6.01709276e-04 -2.08789096e+01] [ 1.06110802e-02 -6.84128271e-04 9.99943467e-01 -4.31618565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.470371743 meters Centerline goodness [0,1] 0.9750853459426221 Centerline is valid? [True, True] Translation: X:333.88, Y:-20.88, Z:-4.32 [[ 9.99913207e-01 -7.82390809e-03 -1.06002089e-02 3.33875985e+02] [ 7.83067326e-03 9.99969162e-01 5.96857008e-04 -2.08791212e+01] [ 1.05952123e-02 -6.79811978e-04 9.99943638e-01 -4.31501280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500371743 meters Centerline goodness [0,1] 0.9744147263093453 Centerline is valid? [True, True] Translation: X:333.90, Y:-20.89, Z:-4.31 [[ 9.99920509e-01 -7.77844106e-03 -9.92329843e-03 3.33903765e+02] [ 7.78437445e-03 9.99969545e-01 5.59440434e-04 -2.08871190e+01] [ 9.91864464e-03 -6.36642634e-04 9.99950606e-01 -4.31499247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.530371743 meters Centerline goodness [0,1] 0.9749160701843289 Centerline is valid? [True, True] Translation: X:333.93, Y:-20.89, Z:-4.31 [[ 9.99916325e-01 -8.46538487e-03 -9.78166957e-03 3.33932769e+02] [ 8.47114580e-03 9.99963969e-01 5.47669284e-04 -2.08886810e+01] [ 9.77668090e-03 -6.30485406e-04 9.99952008e-01 -4.31458936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560371743 meters Centerline goodness [0,1] 0.9750037039388745 Centerline is valid? [True, True] Translation: X:333.96, Y:-20.89, Z:-4.31 [[ 9.99901102e-01 -9.82636565e-03 -1.00612099e-02 3.33962005e+02] [ 9.83253722e-03 9.99951500e-01 5.64119654e-04 -2.08892764e+01] [ 1.00551787e-02 -6.62991085e-04 9.99949226e-01 -4.31383936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.590371743 meters Centerline goodness [0,1] 0.9730504828982329 Centerline is valid? [True, True] Translation: X:333.99, Y:-20.89, Z:-4.31 [[ 9.99886446e-01 -1.13138423e-02 -9.95451484e-03 3.33991112e+02] [ 1.13199515e-02 9.99935772e-01 5.57580299e-04 -2.08942035e+01] [ 9.94756711e-03 -6.70201609e-04 9.99950297e-01 -4.31283081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620371743 meters Centerline goodness [0,1] 0.9742178935829328 Centerline is valid? [True, True] Translation: X:334.02, Y:-20.90, Z:-4.31 [[ 9.99887701e-01 -1.13204587e-02 -9.81998095e-03 3.34019408e+02] [ 1.13263989e-02 9.99935703e-01 5.49502801e-04 -2.09017503e+01] [ 9.81312893e-03 -6.60666114e-04 9.99951632e-01 -4.31326070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.650371743 meters Centerline goodness [0,1] 0.9741504624265279 Centerline is valid? [True, True] Translation: X:334.05, Y:-20.90, Z:-4.31 [[ 9.99892376e-01 -1.15919666e-02 -8.99231796e-03 3.34048726e+02] [ 1.15969565e-02 9.99932627e-01 5.02955670e-04 -2.09025034e+01] [ 8.98588187e-03 -6.07185060e-04 9.99959442e-01 -4.31232333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680371743 meters Centerline goodness [0,1] 0.9741175477115352 Centerline is valid? [True, True] Translation: X:334.08, Y:-20.90, Z:-4.31 [[ 9.99891556e-01 -1.19242823e-02 -8.64219537e-03 3.34078170e+02] [ 1.19289006e-02 9.99928731e-01 4.83036117e-04 -2.09022198e+01] [ 8.63581960e-03 -5.86075624e-04 9.99962539e-01 -4.31068359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.710371743 meters Centerline goodness [0,1] 0.972869682079711 Centerline is valid? [True, True] Translation: X:334.11, Y:-20.91, Z:-4.31 [[ 9.99903935e-01 -1.15320003e-02 -7.68982436e-03 3.34107009e+02] [ 1.15356482e-02 9.99933370e-01 4.30190245e-04 -2.09114413e+01] [ 7.68435103e-03 -5.18856028e-04 9.99970340e-01 -4.31067965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740371743 meters Centerline goodness [0,1] 0.9718987767455547 Centerline is valid? [True, True] Translation: X:334.14, Y:-20.91, Z:-4.31 [[ 9.99899810e-01 -1.17599968e-02 -7.87863589e-03 3.34137631e+02] [ 1.17638325e-02 9.99930707e-01 4.40674616e-04 -2.09082344e+01] [ 7.87290762e-03 -5.33313418e-04 9.99968866e-01 -4.30948433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.770371743 meters Centerline goodness [0,1] 0.9727652604833799 Centerline is valid? [True, True] Translation: X:334.17, Y:-20.91, Z:-4.31 [[ 9.99898838e-01 -1.13424848e-02 -8.58265658e-03 3.34167600e+02] [ 1.13470213e-02 9.99935505e-01 4.80052505e-04 -2.09114457e+01] [ 8.57665805e-03 -5.77391529e-04 9.99963053e-01 -4.30901715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800371743 meters Centerline goodness [0,1] 0.972387004158838 Centerline is valid? [True, True] Translation: X:334.20, Y:-20.92, Z:-4.31 [[ 9.99889966e-01 -1.19182189e-02 -8.83238207e-03 3.34196451e+02] [ 1.19230431e-02 9.99928796e-01 4.93738045e-04 -2.09167838e+01] [ 8.82586869e-03 -5.98992589e-04 9.99960872e-01 -4.30965422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.830371743 meters Centerline goodness [0,1] 0.9726024516915831 Centerline is valid? [True, True] Translation: X:334.23, Y:-20.92, Z:-4.31 [[ 9.99895598e-01 -1.17477940e-02 -8.41322802e-03 3.34226070e+02] [ 1.17521616e-02 9.99930831e-01 4.69876943e-04 -2.09187487e+01] [ 8.40712607e-03 -5.68701502e-04 9.99964498e-01 -4.30969572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86037174300003 meters Centerline goodness [0,1] 0.9730712634013033 Centerline is valid? [True, True] Translation: X:334.26, Y:-20.92, Z:-4.31 [[ 9.99898356e-01 -1.16508187e-02 -8.21802129e-03 3.34256453e+02] [ 1.16549846e-02 9.99931973e-01 4.59209915e-04 -2.09202355e+01] [ 8.21211207e-03 -5.54944151e-04 9.99966126e-01 -4.30866219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.890371743 meters Centerline goodness [0,1] 0.9725702034639314 Centerline is valid? [True, True] Translation: X:334.29, Y:-20.92, Z:-4.31 [[ 9.99906629e-01 -1.16697571e-02 -7.10979753e-03 3.34286526e+02] [ 1.16728756e-02 9.99931791e-01 3.97284140e-04 -2.09215982e+01] [ 7.10467636e-03 -4.80238828e-04 9.99974646e-01 -4.30679443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.920371743 meters Centerline goodness [0,1] 0.9730179809861085 Centerline is valid? [True, True] Translation: X:334.32, Y:-20.92, Z:-4.31 [[ 9.99910257e-01 -1.15890241e-02 -6.72100184e-03 3.34316636e+02] [ 1.15918091e-02 9.99932742e-01 3.75558857e-04 -2.09225566e+01] [ 6.71619744e-03 -4.53433724e-04 9.99977343e-01 -4.30584189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.950371743 meters Centerline goodness [0,1] 0.9720612930310664 Centerline is valid? [True, True] Translation: X:334.35, Y:-20.93, Z:-4.31 [[ 9.99913746e-01 -1.13960671e-02 -6.52913311e-03 3.34346273e+02] [ 1.13986912e-02 9.99934966e-01 3.64837539e-04 -2.09299780e+01] [ 6.52455078e-03 -4.39229642e-04 9.99978618e-01 -4.30651351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.980371743 meters Centerline goodness [0,1] 0.9715167289366525 Centerline is valid? [True, True] Translation: X:334.38, Y:-20.93, Z:-4.31 [[ 9.99917218e-01 -1.11077340e-02 -6.49430271e-03 3.34376463e+02] [ 1.11103241e-02 9.99938213e-01 3.62891272e-04 -2.09285882e+01] [ 6.48987055e-03 -4.35015039e-04 9.99978846e-01 -4.30564675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.010371743 meters Centerline goodness [0,1] 0.9725242309313106 Centerline is valid? [True, True] Translation: X:334.41, Y:-20.93, Z:-4.31 [[ 9.99912114e-01 -1.14164901e-02 -6.73996550e-03 3.34406797e+02] [ 1.14192869e-02 9.99934727e-01 3.76618517e-04 -2.09282198e+01] [ 6.73522590e-03 -4.53551017e-04 9.99977215e-01 -4.30506754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.040371743 meters Centerline goodness [0,1] 0.9721958124696288 Centerline is valid? [True, True] Translation: X:334.44, Y:-20.93, Z:-4.31 [[ 9.99895300e-01 -1.24995159e-02 -7.29044879e-03 3.34436463e+02] [ 1.25028169e-02 9.99921754e-01 4.07378644e-04 -2.09313706e+01] [ 7.28478630e-03 -4.98487138e-04 9.99973341e-01 -4.30522476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.070371743 meters Centerline goodness [0,1] 0.9722591677750333 Centerline is valid? [True, True] Translation: X:334.47, Y:-20.93, Z:-4.31 [[ 9.99887976e-01 -1.31150150e-02 -7.21329206e-03 3.34467096e+02] [ 1.31182624e-02 9.99913871e-01 4.03067249e-04 -2.09342280e+01] [ 7.20738455e-03 -4.97647954e-04 9.99973903e-01 -4.30504876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.100371743 meters Centerline goodness [0,1] 0.9715366410278083 Centerline is valid? [True, True] Translation: X:334.50, Y:-20.94, Z:-4.31 [[ 9.99876125e-01 -1.41899271e-02 -6.81036230e-03 3.34497204e+02] [ 1.41928483e-02 9.99899204e-01 3.80794221e-04 -2.09379243e+01] [ 6.80427240e-03 -4.77405490e-04 9.99976737e-01 -4.30502080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.130371743 meters Centerline goodness [0,1] 0.9727927053211474 Centerline is valid? [True, True] Translation: X:334.53, Y:-20.94, Z:-4.30 [[ 9.99872719e-01 -1.45635596e-02 -6.51519541e-03 3.34528099e+02] [ 1.45662418e-02 9.99893840e-01 3.64415015e-04 -2.09376113e+01] [ 6.50919658e-03 -4.59270544e-04 9.99978709e-01 -4.30400374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.160371743 meters Centerline goodness [0,1] 0.9708866621758168 Centerline is valid? [True, True] Translation: X:334.56, Y:-20.94, Z:-4.30 [[ 9.99855432e-01 -1.59168945e-02 -5.98052451e-03 3.34557973e+02] [ 1.59191780e-02 9.99873226e-01 3.34398348e-04 -2.09398959e+01] [ 5.97444376e-03 -4.29555039e-04 9.99982061e-01 -4.30269970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.190371743 meters Centerline goodness [0,1] 0.9699076497811656 Centerline is valid? [True, True] Translation: X:334.59, Y:-20.94, Z:-4.30 [[ 9.99860304e-01 -1.58533173e-02 -5.29567180e-03 3.34588776e+02] [ 1.58551102e-02 9.99874256e-01 2.96745434e-04 -2.09437710e+01] [ 5.29030150e-03 -3.80667440e-04 9.99985934e-01 -4.30219886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.220371743 meters Centerline goodness [0,1] 0.9695076916584018 Centerline is valid? [True, True] Translation: X:334.62, Y:-20.94, Z:-4.30 [[ 9.99850770e-01 -1.64987735e-02 -5.12125452e-03 3.34619907e+02] [ 1.65004590e-02 9.99863817e-01 2.87044129e-04 -2.09438157e+01] [ 5.11582122e-03 -3.71504344e-04 9.99986845e-01 -4.30148630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.250371743 meters Centerline goodness [0,1] 0.970722433460076 Centerline is valid? [True, True] Translation: X:334.65, Y:-20.95, Z:-4.30 [[ 9.99841920e-01 -1.69528748e-02 -5.36043780e-03 3.34651146e+02] [ 1.69547300e-02 9.99856213e-01 3.00839119e-04 -2.09459260e+01] [ 5.35456695e-03 -3.91676338e-04 9.99985587e-01 -4.30228342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.280371743 meters Centerline goodness [0,1] 0.9706514864010121 Centerline is valid? [True, True] Translation: X:334.68, Y:-20.95, Z:-4.30 [[ 9.99834456e-01 -1.70548684e-02 -6.33965614e-03 3.34682789e+02] [ 1.70574656e-02 9.99854448e-01 3.55827834e-04 -2.09474896e+01] [ 6.33266479e-03 -4.63907395e-04 9.99979841e-01 -4.30236561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.310371743 meters Centerline goodness [0,1] 0.9698993827682422 Centerline is valid? [True, True] Translation: X:334.71, Y:-20.95, Z:-4.30 [[ 9.99811558e-01 -1.81959642e-02 -6.76422796e-03 3.34713784e+02] [ 1.81989483e-02 9.99834313e-01 3.79872740e-04 -2.09495301e+01] [ 6.75619507e-03 -5.02902991e-04 9.99977050e-01 -4.30288396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.340371743 meters Centerline goodness [0,1] 0.9701704244733778 Centerline is valid? [True, True] Translation: X:334.74, Y:-20.95, Z:-4.30 [[ 9.99789118e-01 -1.93199240e-02 -6.96132651e-03 3.34744208e+02] [ 1.93231139e-02 9.99813215e-01 3.91262197e-04 -2.09516564e+01] [ 6.95246708e-03 -5.25694192e-04 9.99975693e-01 -4.30250460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.370371743 meters Centerline goodness [0,1] 0.9713677734704197 Centerline is valid? [True, True] Translation: X:334.78, Y:-20.94, Z:-4.30 [[ 9.99784131e-01 -1.96448140e-02 -6.76555527e-03 3.34776509e+02] [ 1.96478391e-02 9.99806890e-01 3.80965739e-04 -2.09434662e+01] [ 6.75676477e-03 -5.13812042e-04 9.99977041e-01 -4.30102666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.400371743 meters Centerline goodness [0,1] 0.9712709526840654 Centerline is valid? [True, True] Translation: X:334.81, Y:-20.94, Z:-4.30 [[ 9.99764970e-01 -2.07201658e-02 -6.37804150e-03 3.34808288e+02] [ 2.07228763e-02 9.99785194e-01 3.59164648e-04 -2.09431517e+01] [ 6.36922950e-03 -4.91251598e-04 9.99979596e-01 -4.30073677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.430371743 meters Centerline goodness [0,1] 0.9715740347899873 Centerline is valid? [True, True] Translation: X:334.84, Y:-20.94, Z:-4.30 [[ 9.99757082e-01 -2.13470329e-02 -5.48463363e-03 3.34840948e+02] [ 2.13490504e-02 9.99772035e-01 3.09550514e-04 -2.09395209e+01] [ 5.47677534e-03 -4.26567039e-04 9.99984911e-01 -4.30021788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.460371743 meters Centerline goodness [0,1] 0.9715740347899873 Centerline is valid? [True, True] Translation: X:334.87, Y:-20.94, Z:-4.30 [[ 9.99758667e-01 -2.12726994e-02 -5.48461058e-03 3.34872678e+02] [ 2.12747180e-02 9.99773620e-01 3.09959000e-04 -2.09413685e+01] [ 5.47677530e-03 -4.26567740e-04 9.99984911e-01 -4.30042947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.490371743 meters Centerline goodness [0,1] 0.970989869815448 Centerline is valid? [True, True] Translation: X:334.91, Y:-20.94, Z:-4.30 [[ 9.99735091e-01 -2.23202163e-02 -5.61744124e-03 3.34905125e+02] [ 2.23223525e-02 9.99750775e-01 3.17867939e-04 -2.09419276e+01] [ 5.60894635e-03 -4.43178237e-04 9.99984172e-01 -4.30076992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.520371743 meters Centerline goodness [0,1] 0.9707858975174373 Centerline is valid? [True, True] Translation: X:334.93, Y:-20.94, Z:-4.30 [[ 9.99696178e-01 -2.39027476e-02 -6.01756132e-03 3.34934951e+02] [ 2.39052244e-02 9.99714171e-01 3.39980647e-04 -2.09426504e+01] [ 6.00771485e-03 -4.83728507e-04 9.99981837e-01 -4.30132453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.550371743 meters Centerline goodness [0,1] 0.9716836408573741 Centerline is valid? [True, True] Translation: X:334.97, Y:-20.94, Z:-4.30 [[ 9.99681953e-01 -2.44975294e-02 -5.98862978e-03 3.34967603e+02] [ 2.44999985e-02 9.99699772e-01 3.39270619e-04 -2.09418052e+01] [ 5.97852054e-03 -4.85884136e-04 9.99982010e-01 -4.30076384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.580371743 meters Centerline goodness [0,1] 0.971386662698497 Centerline is valid? [True, True] Translation: X:335.00, Y:-20.94, Z:-4.30 [[ 9.99654477e-01 -2.55759264e-02 -6.06615989e-03 3.34999353e+02] [ 2.55784843e-02 9.99672758e-01 3.44454188e-04 -2.09427390e+01] [ 6.05536506e-03 -4.99498347e-04 9.99981541e-01 -4.30163181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61037174300003 meters Centerline goodness [0,1] 0.9714718559296718 Centerline is valid? [True, True] Translation: X:335.03, Y:-20.95, Z:-4.30 [[ 9.99627379e-01 -2.66535866e-02 -5.88984476e-03 3.35031222e+02] [ 2.66560181e-02 9.99644609e-01 3.34695400e-04 -2.09451763e+01] [ 5.87883073e-03 -4.91570493e-04 9.99982599e-01 -4.30148303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.640371743 meters Centerline goodness [0,1] 0.9709044368600682 Centerline is valid? [True, True] Translation: X:335.06, Y:-20.95, Z:-4.30 [[ 9.99570659e-01 -2.87270557e-02 -5.76658674e-03 3.35060954e+02] [ 2.87294233e-02 9.99587171e-01 3.28140185e-04 -2.09460262e+01] [ 5.75477962e-03 -4.93670012e-04 9.99983319e-01 -4.30200808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.670371743 meters Centerline goodness [0,1] 0.9714950180289744 Centerline is valid? [True, True] Translation: X:335.09, Y:-20.94, Z:-4.30 [[ 9.99523864e-01 -3.03551143e-02 -5.53283782e-03 3.35092670e+02] [ 3.03573185e-02 9.99539061e-01 3.14809620e-04 -2.09435583e+01] [ 5.52073144e-03 -4.82621848e-04 9.99984644e-01 -4.30171008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.700371743 meters Centerline goodness [0,1] 0.9708832988988051 Centerline is valid? [True, True] Translation: X:335.12, Y:-20.95, Z:-4.30 [[ 9.99465127e-01 -3.22472821e-02 -5.43811637e-03 3.35122961e+02] [ 3.22494391e-02 9.99479804e-01 3.09400873e-04 -2.09468369e+01] [ 5.42531014e-03 -4.84611586e-04 9.99985165e-01 -4.30173329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.730371743 meters Centerline goodness [0,1] 0.972058102083911 Centerline is valid? [True, True] Translation: X:335.16, Y:-20.94, Z:-4.30 [[ 9.99427134e-01 -3.32890906e-02 -6.10248730e-03 3.35155379e+02] [ 3.32918310e-02 9.99445613e-01 3.47992878e-04 -2.09425675e+01] [ 6.08751979e-03 -5.50956500e-04 9.99981319e-01 -4.30154073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.760371743 meters Centerline goodness [0,1] 0.9734169653524493 Centerline is valid? [True, True] Translation: X:335.19, Y:-20.94, Z:-4.30 [[ 9.99412014e-01 -3.36906338e-02 -6.36931662e-03 3.35187991e+02] [ 3.36936301e-02 9.99432142e-01 3.63682333e-04 -2.09372874e+01] [ 6.35344707e-03 -5.78073891e-04 9.99979650e-01 -4.30086907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.790371743 meters Centerline goodness [0,1] 0.9720027335241105 Centerline is valid? [True, True] Translation: X:335.22, Y:-20.94, Z:-4.30 [[ 9.99390476e-01 -3.42368681e-02 -6.81999958e-03 3.35218650e+02] [ 3.42403244e-02 9.99413552e-01 3.90634924e-04 -2.09374095e+01] [ 6.80262589e-03 -6.23915821e-04 9.99976667e-01 -4.30186978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.820371743 meters Centerline goodness [0,1] 0.9722115997450606 Centerline is valid? [True, True] Translation: X:335.25, Y:-20.94, Z:-4.30 [[ 9.99412875e-01 -3.34500684e-02 -7.41603419e-03 3.35250949e+02] [ 3.34541345e-02 9.99440163e-01 4.24878115e-04 -2.09356713e+01] [ 7.39767022e-03 -6.72725664e-04 9.99972411e-01 -4.30169635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.850371743 meters Centerline goodness [0,1] 0.9723780566142778 Centerline is valid? [True, True] Translation: X:335.28, Y:-20.93, Z:-4.30 [[ 9.99434513e-01 -3.26864460e-02 -7.88992794e-03 3.35283299e+02] [ 3.26910293e-02 9.99465403e-01 4.52595926e-04 -2.09322489e+01] [ 7.87091625e-03 -7.10269854e-04 9.99968772e-01 -4.30190607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880371743 meters Centerline goodness [0,1] 0.9720362010312587 Centerline is valid? [True, True] Translation: X:335.31, Y:-20.93, Z:-4.30 [[ 9.99498589e-01 -3.06462905e-02 -7.96084153e-03 3.35313370e+02] [ 3.06508882e-02 9.99530047e-01 4.56159360e-04 -2.09318674e+01] [ 7.94312072e-03 -6.99937501e-04 9.99968208e-01 -4.30179349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.910371743 meters Centerline goodness [0,1] 0.9705273049569656 Centerline is valid? [True, True] Translation: X:335.34, Y:-20.93, Z:-4.30 [[ 9.99589128e-01 -2.73308131e-02 -8.63722361e-03 3.35342985e+02] [ 2.73361006e-02 9.99626177e-01 4.94688876e-04 -2.09259128e+01] [ 8.62047456e-03 -7.30593635e-04 9.99962576e-01 -4.30228613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940371743 meters Centerline goodness [0,1] 0.9713085774282715 Centerline is valid? [True, True] Translation: X:335.37, Y:-20.92, Z:-4.30 [[ 9.99640884e-01 -2.52617113e-02 -8.94141650e-03 3.35373644e+02] [ 2.52672965e-02 9.99680600e-01 5.12213650e-04 -2.09227201e+01] [ 8.92562121e-03 -7.37955127e-04 9.99959894e-01 -4.30193671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.970371743 meters Centerline goodness [0,1] 0.971682398667407 Centerline is valid? [True, True] Translation: X:335.40, Y:-20.92, Z:-4.30 [[ 9.99738074e-01 -2.12302186e-02 -8.54762209e-03 3.35404880e+02] [ 2.12351769e-02 9.99774388e-01 4.89736556e-04 -2.09165976e+01] [ 8.53529644e-03 -6.71118549e-04 9.99963348e-01 -4.30182136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000371743 meters Centerline goodness [0,1] 0.9712774160383825 Centerline is valid? [True, True] Translation: X:335.44, Y:-20.92, Z:-4.30 [[ 9.99770733e-01 -1.96787590e-02 -8.43964413e-03 3.35435376e+02] [ 1.96835496e-02 9.99806143e-01 4.84937225e-04 -2.09177656e+01] [ 8.42846508e-03 -6.50948199e-04 9.99964268e-01 -4.30206224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.030371743 meters Centerline goodness [0,1] 0.971380688410468 Centerline is valid? [True, True] Translation: X:335.47, Y:-20.92, Z:-4.30 [[ 9.99788855e-01 -1.88388018e-02 -8.20643520e-03 3.35467191e+02] [ 1.88433026e-02 9.99822338e-01 4.71463287e-04 -2.09151173e+01] [ 8.19609543e-03 -6.26000082e-04 9.99966216e-01 -4.30192913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060371743 meters Centerline goodness [0,1] 0.9726159793814433 Centerline is valid? [True, True] Translation: X:335.50, Y:-20.91, Z:-4.30 [[ 9.99833012e-01 -1.61856596e-02 -8.48364249e-03 3.35498164e+02] [ 1.61903725e-02 9.99868809e-01 4.87141137e-04 -2.09088889e+01] [ 8.47464481e-03 -6.24413122e-04 9.99963895e-01 -4.30180337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.090371743 meters Centerline goodness [0,1] 0.9727873581777864 Centerline is valid? [True, True] Translation: X:335.53, Y:-20.91, Z:-4.30 [[ 9.99856749e-01 -1.45596503e-02 -8.63119304e-03 3.35529695e+02] [ 1.45644732e-02 9.99893809e-01 4.96183580e-04 -2.09064852e+01] [ 8.62305223e-03 -6.21821281e-04 9.99962627e-01 -4.30122990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120371743 meters Centerline goodness [0,1] 0.973393844234616 Centerline is valid? [True, True] Translation: X:335.56, Y:-20.90, Z:-4.30 [[ 9.99889053e-01 -1.13621404e-02 -9.63240597e-03 3.35560586e+02] [ 1.13679998e-02 9.99935229e-01 5.53765466e-04 -2.09025420e+01] [ 9.62549011e-03 -6.63205217e-04 9.99953454e-01 -4.30141468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.150371743 meters Centerline goodness [0,1] 0.974462743740126 Centerline is valid? [True, True] Translation: X:335.59, Y:-20.90, Z:-4.30 [[ 9.99894155e-01 -1.05067287e-02 -1.00641984e-02 3.35591366e+02] [ 1.05130808e-02 9.99944569e-01 5.78460439e-04 -2.09027074e+01] [ 1.00575628e-02 -6.84204942e-04 9.99949187e-01 -4.30140904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180371743 meters Centerline goodness [0,1] 0.9742984583405508 Centerline is valid? [True, True] Translation: X:335.62, Y:-20.90, Z:-4.30 [[ 9.99905355e-01 -9.36719986e-03 -1.00765856e-02 3.35621197e+02] [ 9.37351000e-03 9.99955900e-01 5.79172417e-04 -2.09037512e+01] [ 1.00707160e-02 -6.73570577e-04 9.99949062e-01 -4.30163746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.210371743 meters Centerline goodness [0,1] 0.9739878148900315 Centerline is valid? [True, True] Translation: X:335.65, Y:-20.90, Z:-4.30 [[ 9.99915893e-01 -8.34581851e-03 -9.92748573e-03 3.35651704e+02] [ 8.35189318e-03 9.99964960e-01 5.70602597e-04 -2.09022709e+01] [ 9.92237572e-03 -6.53467906e-04 9.99950558e-01 -4.30139883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240371743 meters Centerline goodness [0,1] 0.9737052481472679 Centerline is valid? [True, True] Translation: X:335.68, Y:-20.91, Z:-4.30 [[ 9.99942903e-01 -5.59197958e-03 -9.10612275e-03 3.35681196e+02] [ 5.59698509e-03 9.99984199e-01 5.24294687e-04 -2.09052056e+01] [ 9.10304702e-03 -5.75231584e-04 9.99958401e-01 -4.30230623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.270371743 meters Centerline goodness [0,1] 0.9728045693515934 Centerline is valid? [True, True] Translation: X:335.71, Y:-20.90, Z:-4.30 [[ 9.99948329e-01 -4.33730475e-03 -9.19384322e-03 3.35710603e+02] [ 4.34231669e-03 9.99990434e-01 5.25249243e-04 -2.09026673e+01] [ 9.19147711e-03 -5.65144681e-04 9.99957598e-01 -4.30166591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300371743 meters Centerline goodness [0,1] 0.9724149895905622 Centerline is valid? [True, True] Translation: X:335.74, Y:-20.90, Z:-4.30 [[ 9.99955628e-01 -2.81855960e-03 -8.98874068e-03 3.35739399e+02] [ 2.82329544e-03 9.99995882e-01 5.14217614e-04 -2.09037308e+01] [ 8.98725431e-03 -5.39572668e-04 9.99959468e-01 -4.30229402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.330371743 meters Centerline goodness [0,1] 0.9724503541476557 Centerline is valid? [True, True] Translation: X:335.77, Y:-20.90, Z:-4.30 [[ 9.99954026e-01 1.05574910e-03 -9.53051960e-03 3.35769870e+02] [-1.05059965e-03 9.99999299e-01 5.45302872e-04 -2.09017411e+01] [ 9.53108862e-03 -5.35265042e-04 9.99954435e-01 -4.30258226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36037174300003 meters Centerline goodness [0,1] 0.9725256825141715 Centerline is valid? [True, True] Translation: X:335.80, Y:-20.90, Z:-4.30 [[ 9.99948871e-01 2.70522128e-03 -9.74358430e-03 3.35798387e+02] [-2.69992714e-03 9.99996200e-01 5.56458547e-04 -2.09022531e+01] [ 9.74505263e-03 -5.30123128e-04 9.99952375e-01 -4.30332731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.390371743 meters Centerline goodness [0,1] 0.9738400468536474 Centerline is valid? [True, True] Translation: X:335.83, Y:-20.90, Z:-4.30 [[ 9.99935706e-01 6.85923847e-03 -9.02970589e-03 3.35828531e+02] [-6.85485913e-03 9.99976372e-01 5.15852952e-04 -2.08997429e+01] [ 9.03303090e-03 -4.53922423e-04 9.99959098e-01 -4.30327209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.420371743 meters Centerline goodness [0,1] 0.9749403858660308 Centerline is valid? [True, True] Translation: X:335.86, Y:-20.90, Z:-4.30 [[ 9.99917127e-01 9.04198974e-03 -9.16411276e-03 3.35857974e+02] [-9.03757719e-03 9.99959024e-01 5.22801805e-04 -2.09006424e+01] [ 9.16846442e-03 -4.39937103e-04 9.99957872e-01 -4.30416924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.450371743 meters Centerline goodness [0,1] 0.9745790331341662 Centerline is valid? [True, True] Translation: X:335.89, Y:-20.90, Z:-4.31 [[ 9.99900786e-01 1.05751510e-02 -9.30503324e-03 3.35885662e+02] [-1.05706777e-02 9.99943988e-01 5.29794437e-04 -2.09046522e+01] [ 9.31011471e-03 -4.31381367e-04 9.99956567e-01 -4.30570074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.480371743 meters Centerline goodness [0,1] 0.9762806284545416 Centerline is valid? [True, True] Translation: X:335.92, Y:-20.90, Z:-4.31 [[ 9.99852838e-01 1.40755056e-02 -9.80729421e-03 3.35915533e+02] [-1.40707040e-02 9.99900847e-01 5.58429702e-04 -2.09014594e+01] [ 9.81418197e-03 -4.20351989e-04 9.99951751e-01 -4.30501366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.510371743 meters Centerline goodness [0,1] 0.9781810279256764 Centerline is valid? [True, True] Translation: X:335.94, Y:-20.90, Z:-4.30 [[ 9.99829942e-01 1.59702637e-02 -9.22158114e-03 3.35944673e+02] [-1.59661074e-02 9.99872396e-01 5.24159219e-04 -2.09011772e+01] [ 9.22877539e-03 -3.76837327e-04 9.99957343e-01 -4.30400267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.540371743 meters Centerline goodness [0,1] 0.9765864475314681 Centerline is valid? [True, True] Translation: X:335.97, Y:-20.91, Z:-4.31 [[ 9.99814161e-01 1.71630389e-02 -8.77916903e-03 3.35972517e+02] [-1.71593258e-02 9.99852644e-01 4.98093882e-04 -2.09057475e+01] [ 8.78642417e-03 -3.47356694e-04 9.99961338e-01 -4.30547284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.570371743 meters Centerline goodness [0,1] 0.978703563141116 Centerline is valid? [True, True] Translation: X:336.00, Y:-20.91, Z:-4.31 [[ 9.99780057e-01 1.96243135e-02 -7.39751727e-03 3.36000812e+02] [-1.96217461e-02 9.99807387e-01 4.19480992e-04 -2.09093937e+01] [ 7.40432444e-03 -2.74236524e-04 9.99972550e-01 -4.30529698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.600371743 meters Centerline goodness [0,1] 0.9801930795097082 Centerline is valid? [True, True] Translation: X:336.03, Y:-20.91, Z:-4.30 [[ 9.99751676e-01 2.12180295e-02 -6.81039589e-03 3.36029434e+02] [-2.12158948e-02 9.99774843e-01 3.85551327e-04 -2.09088491e+01] [ 6.81704312e-03 -2.40966943e-04 9.99976735e-01 -4.30460494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.630371743 meters Centerline goodness [0,1] 0.980406542661085 Centerline is valid? [True, True] Translation: X:336.06, Y:-20.91, Z:-4.30 [[ 9.99723880e-01 2.24636421e-02 -6.89554684e-03 3.36058635e+02] [-2.24614849e-02 9.99747633e-01 3.90127521e-04 -2.09101861e+01] [ 6.90257032e-03 -2.35135577e-04 9.99976149e-01 -4.30496571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.660371743 meters Centerline goodness [0,1] 0.9820464071209437 Centerline is valid? [True, True] Translation: X:336.09, Y:-20.91, Z:-4.30 [[ 9.99641597e-01 2.58716793e-02 -6.88001774e-03 3.36087621e+02] [-2.58696168e-02 9.99665250e-01 3.88621615e-04 -2.09110311e+01] [ 6.88776895e-03 -2.10498909e-04 9.99976257e-01 -4.30470685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.690371743 meters Centerline goodness [0,1] 0.9830501136486632 Centerline is valid? [True, True] Translation: X:336.12, Y:-20.92, Z:-4.31 [[ 9.99595329e-01 2.76673457e-02 -6.61030427e-03 3.36115523e+02] [-2.76654858e-02 9.99617168e-01 3.72660207e-04 -2.09151105e+01] [ 6.61808415e-03 -1.89632124e-04 9.99978082e-01 -4.30615638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.720371743 meters Centerline goodness [0,1] 0.983745628804559 Centerline is valid? [True, True] Translation: X:336.14, Y:-20.92, Z:-4.31 [[ 9.99541645e-01 2.95049644e-02 -6.77915714e-03 3.36144390e+02] [-2.95030528e-02 9.99564617e-01 3.81835384e-04 -2.09162200e+01] [ 6.78747165e-03 -1.81654537e-04 9.99976948e-01 -4.30620259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.750371743 meters Centerline goodness [0,1] 0.9839932784695592 Centerline is valid? [True, True] Translation: X:336.17, Y:-20.92, Z:-4.31 [[ 9.99463702e-01 3.20630680e-02 -6.65344802e-03 3.36171902e+02] [-3.20612880e-02 9.99485835e-01 3.74045466e-04 -2.09208516e+01] [ 6.66202010e-03 -1.60526753e-04 9.99977796e-01 -4.30727551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.780371743 meters Centerline goodness [0,1] 0.9850120419748839 Centerline is valid? [True, True] Translation: X:336.20, Y:-20.92, Z:-4.31 [[ 9.99434552e-01 3.30272166e-02 -6.30714766e-03 3.36201044e+02] [-3.30256386e-02 9.99454442e-01 3.54204990e-04 -2.09235643e+01] [ 6.31540515e-03 -1.45707126e-04 9.99980047e-01 -4.30652461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.810371743 meters Centerline goodness [0,1] 0.9843074288160993 Centerline is valid? [True, True] Translation: X:336.23, Y:-20.93, Z:-4.31 [[ 9.99413562e-01 3.38418771e-02 -5.22113893e-03 3.36229137e+02] [-3.38408092e-02 9.99427193e-01 2.92766676e-04 -2.09280436e+01] [ 5.22805600e-03 -1.15907420e-04 9.99986327e-01 -4.30731791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.840371743 meters Centerline goodness [0,1] 0.9852248394004283 Centerline is valid? [True, True] Translation: X:336.26, Y:-20.93, Z:-4.31 [[ 9.99405136e-01 3.41943456e-02 -4.48561884e-03 3.36257480e+02] [-3.41935628e-02 9.99415198e-01 2.51117601e-04 -2.09324819e+01] [ 4.49158244e-03 -9.75889304e-05 9.99989908e-01 -4.30659818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.870371743 meters Centerline goodness [0,1] 0.9853991123689457 Centerline is valid? [True, True] Translation: X:336.29, Y:-20.94, Z:-4.31 [[ 9.99398339e-01 3.44108254e-02 -4.34225030e-03 3.36286160e+02] [-3.44100953e-02 9.99407768e-01 2.42758175e-04 -2.09365475e+01] [ 4.34803219e-03 -9.31948697e-05 9.99990543e-01 -4.30678183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.900371743 meters Centerline goodness [0,1] 0.984198693929986 Centerline is valid? [True, True] Translation: X:336.31, Y:-20.94, Z:-4.31 [[ 9.99416463e-01 3.37506182e-02 -5.25626741e-03 3.36313881e+02] [-3.37495418e-02 9.99430279e-01 2.93368338e-04 -2.09446601e+01] [ 5.26317416e-03 -1.15800531e-04 9.99986143e-01 -4.30942137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.930371743 meters Centerline goodness [0,1] 0.9839420116318851 Centerline is valid? [True, True] Translation: X:336.34, Y:-20.95, Z:-4.31 [[ 9.99417391e-01 3.36597554e-02 -5.64788637e-03 3.36342883e+02] [-3.36585126e-02 9.99433342e-01 3.14984872e-04 -2.09498389e+01] [ 5.65528827e-03 -1.24701905e-04 9.99984001e-01 -4.31035770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.960371743 meters Centerline goodness [0,1] 0.9839351447964764 Centerline is valid? [True, True] Translation: X:336.37, Y:-20.95, Z:-4.31 [[ 9.99426632e-01 3.33349195e-02 -5.93213846e-03 3.36370263e+02] [-3.33335464e-02 9.99444228e-01 3.30216758e-04 -2.09547957e+01] [ 5.93984930e-03 -1.32288209e-04 9.99982350e-01 -4.31121467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.990371743 meters Centerline goodness [0,1] 0.9833985205339681 Centerline is valid? [True, True] Translation: X:336.40, Y:-20.96, Z:-4.31 [[ 9.99445668e-01 3.28040146e-02 -5.67916734e-03 3.36397469e+02] [-3.28027505e-02 9.99461795e-01 3.15611289e-04 -2.09637885e+01] [ 5.68646410e-03 -1.29144026e-04 9.99983824e-01 -4.31152722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.020371743 meters Centerline goodness [0,1] 0.9823511942641381 Centerline is valid? [True, True] Translation: X:336.42, Y:-20.97, Z:-4.31 [[ 9.99462314e-01 3.23870245e-02 -5.11502235e-03 3.36424761e+02] [-3.23859974e-02 9.99475396e-01 2.83528489e-04 -2.09678085e+01] [ 5.12152163e-03 -1.17720939e-04 9.99986878e-01 -4.31123764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.050371743 meters Centerline goodness [0,1] 0.9835487911014881 Centerline is valid? [True, True] Translation: X:336.45, Y:-20.97, Z:-4.31 [[ 9.99473930e-01 3.20951559e-02 -4.66512088e-03 3.36452868e+02] [-3.20943009e-02 9.99484812e-01 2.58027624e-04 -2.09725294e+01] [ 4.67099890e-03 -1.08168091e-04 9.99989085e-01 -4.31080892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.080371743 meters Centerline goodness [0,1] 0.9821969135671796 Centerline is valid? [True, True] Translation: X:336.48, Y:-20.98, Z:-4.31 [[ 9.99480688e-01 3.19960159e-02 -3.82216776e-03 3.36481302e+02] [-3.19954419e-02 9.99487992e-01 2.11241606e-04 -2.09810769e+01] [ 3.82696967e-03 -8.88399591e-05 9.99992673e-01 -4.31035879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11037174300003 meters Centerline goodness [0,1] 0.9810926586338602 Centerline is valid? [True, True] Translation: X:336.51, Y:-20.99, Z:-4.31 [[ 9.99482486e-01 3.19508564e-02 -3.72867031e-03 3.36508133e+02] [-3.19503129e-02 9.99489437e-01 2.05252842e-04 -2.09866010e+01] [ 3.73332460e-03 -8.60144383e-05 9.99993027e-01 -4.31093649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.140371743 meters Centerline goodness [0,1] 0.982908152472818 Centerline is valid? [True, True] Translation: X:336.54, Y:-20.99, Z:-4.31 [[ 9.99446116e-01 3.29774449e-02 -4.46650434e-03 3.36537123e+02] [-3.29766736e-02 9.99456091e-01 2.46256176e-04 -2.09935745e+01] [ 4.47219587e-03 -9.88293225e-05 9.99989995e-01 -4.31133686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.170371743 meters Centerline goodness [0,1] 0.9815921133182749 Centerline is valid? [True, True] Translation: X:336.57, Y:-21.00, Z:-4.31 [[ 9.99425243e-01 3.35047294e-02 -5.15923292e-03 3.36565839e+02] [-3.35037094e-02 9.99438553e-01 2.84018451e-04 -2.09981489e+01] [ 5.16585224e-03 -1.11001768e-04 9.99986651e-01 -4.31228120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.200371743 meters Centerline goodness [0,1] 0.981026478132751 Centerline is valid? [True, True] Translation: X:336.59, Y:-21.00, Z:-4.31 [[ 9.99403249e-01 3.40783351e-02 -5.64031243e-03 3.36594091e+02] [-3.40771272e-02 9.99419158e-01 3.10148975e-04 -2.10029307e+01] [ 5.64760566e-03 -1.17758249e-04 9.99984045e-01 -4.31286714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.230371743 meters Centerline goodness [0,1] 0.981966382295802 Centerline is valid? [True, True] Translation: X:336.62, Y:-21.01, Z:-4.31 [[ 9.99361503e-01 3.52820951e-02 -5.63567944e-03 3.36622663e+02] [-3.52809105e-02 9.99377387e-01 3.09497988e-04 -2.10078281e+01] [ 5.64309033e-03 -1.10468472e-04 9.99984072e-01 -4.31286355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.260371743 meters Centerline goodness [0,1] 0.9817817183871649 Centerline is valid? [True, True] Translation: X:336.65, Y:-21.01, Z:-4.31 [[ 9.99324837e-01 3.64547178e-02 -4.57430383e-03 3.36650831e+02] [-3.64539517e-02 9.99335302e-01 2.50773704e-04 -2.10143542e+01] [ 4.58040518e-03 -8.38529401e-05 9.99989506e-01 -4.31131245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.290371743 meters Centerline goodness [0,1] 0.9818170325734271 Centerline is valid? [True, True] Translation: X:336.68, Y:-21.02, Z:-4.31 [[ 9.99323942e-01 3.65331494e-02 -4.12163522e-03 3.36679777e+02] [-3.65325295e-02 9.99332439e-01 2.25602305e-04 -2.10189740e+01] [ 4.12712574e-03 -7.48760244e-05 9.99991481e-01 -4.31084101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.320371743 meters Centerline goodness [0,1] 0.9811467976971256 Centerline is valid? [True, True] Translation: X:336.71, Y:-21.03, Z:-4.31 [[ 9.99353688e-01 3.58880380e-02 -2.06287273e-03 3.36707394e+02] [-3.58878825e-02 9.99355816e-01 1.12364573e-04 -2.10289492e+01] [ 2.06557640e-03 -3.82598166e-05 9.99997866e-01 -4.30999442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.350371743 meters Centerline goodness [0,1] 0.9811467976971256 Centerline is valid? [True, True] Translation: X:336.73, Y:-21.03, Z:-4.31 [[ 9.99357564e-01 3.57799465e-02 -2.06289121e-03 3.36734834e+02] [-3.57797915e-02 9.99359692e-01 1.12026067e-04 -2.10303648e+01] [ 2.06557861e-03 -3.81442796e-05 9.99997866e-01 -4.31017755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380371743 meters Centerline goodness [0,1] 0.9791627202121614 Centerline is valid? [True, True] Translation: X:336.76, Y:-21.04, Z:-4.31 [[ 9.99388062e-01 3.49456561e-02 -1.51756136e-03 3.36763223e+02] [-3.49455713e-02 9.99389214e-01 8.23558045e-05 -2.10362950e+01] [ 1.51951244e-03 -2.92733589e-05 9.99998845e-01 -4.31017238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.410371743 meters Centerline goodness [0,1] 0.9780608930704272 Centerline is valid? [True, True] Translation: X:336.79, Y:-21.05, Z:-4.31 [[ 9.99450988e-01 3.31266236e-02 -5.90581023e-04 3.36790483e+02] [-3.31266107e-02 9.99451163e-01 3.15909961e-05 -2.10466192e+01] [ 5.91303393e-04 -1.20097046e-05 9.99999825e-01 -4.31039302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440371743 meters Centerline goodness [0,1] 0.977132417790097 Centerline is valid? [True, True] Translation: X:336.82, Y:-21.05, Z:-4.31 [[ 9.99484060e-01 3.21185294e-02 -1.18568735e-04 3.36819155e+02] [-3.21185289e-02 9.99484067e-01 5.97514237e-06 -2.10513934e+01] [ 1.18699474e-04 -2.16380621e-06 9.99999993e-01 -4.31057638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.470371743 meters Centerline goodness [0,1] 0.9771234952437073 Centerline is valid? [True, True] Translation: X:336.85, Y:-21.06, Z:-4.31 [[ 9.99522915e-01 3.08842246e-02 -3.27143908e-04 3.36847967e+02] [-3.08842206e-02 9.99522969e-01 1.73021202e-05 -2.10565376e+01] [ 3.27522213e-04 -7.19028100e-06 9.99999946e-01 -4.31082004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500371743 meters Centerline goodness [0,1] 0.9771318073859218 Centerline is valid? [True, True] Translation: X:336.88, Y:-21.06, Z:-4.31 [[ 9.99549845e-01 2.99952536e-02 -6.25612520e-04 3.36876906e+02] [-2.99952385e-02 9.99550041e-01 3.34828127e-05 -2.10621184e+01] [ 6.26335346e-04 -1.47023435e-05 9.99999804e-01 -4.31121590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.530371743 meters Centerline goodness [0,1] 0.9758985467622874 Centerline is valid? [True, True] Translation: X:336.91, Y:-21.07, Z:-4.31 [[ 9.99596984e-01 2.83540189e-02 -1.38526804e-03 3.36905160e+02] [-2.83539427e-02 9.99597943e-01 7.46169961e-05 -2.10711723e+01] [ 1.38682677e-03 -3.53091137e-05 9.99999038e-01 -4.31218652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560371743 meters Centerline goodness [0,1] 0.9761964894557393 Centerline is valid? [True, True] Translation: X:336.93, Y:-21.08, Z:-4.31 [[ 9.99612722e-01 2.77820965e-02 -1.60031348e-03 3.36933241e+02] [-2.77819943e-02 9.99614002e-01 8.60070083e-05 -2.10760318e+01] [ 1.60208521e-03 -4.15137997e-05 9.99998716e-01 -4.31171887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.590371743 meters Centerline goodness [0,1] 0.97683714472051 Centerline is valid? [True, True] Translation: X:336.96, Y:-21.09, Z:-4.31 [[ 9.99638841e-01 2.68665742e-02 -6.12905835e-04 3.36960087e+02] [-2.68665592e-02 9.99639028e-01 3.27187631e-05 -2.10851982e+01] [ 6.13563635e-04 -1.62402755e-05 9.99999812e-01 -4.31113072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620371743 meters Centerline goodness [0,1] 0.9768696345738094 Centerline is valid? [True, True] Translation: X:336.99, Y:-21.09, Z:-4.31 [[ 9.99652219e-01 2.63710935e-02 -7.54387153e-05 3.36987794e+02] [-2.63710933e-02 9.99652222e-01 3.49034407e-06 -2.10898595e+01] [ 7.55045236e-05 -1.49972880e-06 9.99999997e-01 -4.31054628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.650371743 meters Centerline goodness [0,1] 0.9768167539267015 Centerline is valid? [True, True] Translation: X:337.02, Y:-21.09, Z:-4.31 [[ 9.99659943e-01 2.60756976e-02 2.36534921e-04 3.37016595e+02] [-2.60756952e-02 9.99659971e-01 -1.32211025e-05 -2.10929320e+01] [-2.36799242e-04 7.04879403e-06 9.99999972e-01 -4.31000068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680371743 meters Centerline goodness [0,1] 0.9769716220169683 Centerline is valid? [True, True] Translation: X:337.04, Y:-21.10, Z:-4.31 [[ 9.99648929e-01 2.64952926e-02 1.37271544e-04 3.37044596e+02] [-2.64952918e-02 9.99648938e-01 -7.85755009e-06 -2.10990259e+01] [-1.37431541e-04 4.21774191e-06 9.99999991e-01 -4.31061070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.710371743 meters Centerline goodness [0,1] 0.978274154462122 Centerline is valid? [True, True] Translation: X:337.07, Y:-21.10, Z:-4.31 [[ 9.99649748e-01 2.64605159e-02 -4.71884044e-04 3.37072749e+02] [-2.64605071e-02 9.99649859e-01 2.49005208e-05 -2.11031783e+01] [ 4.72377699e-04 -1.24055082e-05 9.99999888e-01 -4.31012613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740371743 meters Centerline goodness [0,1] 0.9795140643422604 Centerline is valid? [True, True] Translation: X:337.10, Y:-21.11, Z:-4.31 [[ 9.99632067e-01 2.71112970e-02 -8.41975506e-04 3.37101920e+02] [-2.71112689e-02 9.99632421e-01 4.48679343e-05 -2.11065380e+01] [ 8.42882441e-04 -2.20244015e-05 9.99999645e-01 -4.31017618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.770371743 meters Centerline goodness [0,1] 0.9785349018287421 Centerline is valid? [True, True] Translation: X:337.13, Y:-21.11, Z:-4.31 [[ 9.99564671e-01 2.94665892e-02 -1.47909262e-03 3.37131086e+02] [-2.94665045e-02 9.99565765e-01 7.90084313e-05 -2.11109647e+01] [ 1.48077846e-03 -3.53903473e-05 9.99998903e-01 -4.31106349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800371743 meters Centerline goodness [0,1] 0.9798030800302954 Centerline is valid? [True, True] Translation: X:337.16, Y:-21.11, Z:-4.31 [[ 9.99514560e-01 3.11246140e-02 -1.37924235e-03 3.37158557e+02] [-3.11245425e-02 9.99515511e-01 7.33045727e-05 -2.11133447e+01] [ 1.38085570e-03 -3.03407006e-05 9.99999046e-01 -4.31096753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.830371743 meters Centerline goodness [0,1] 0.9805925271767699 Centerline is valid? [True, True] Translation: X:337.19, Y:-21.11, Z:-4.31 [[ 9.99443590e-01 3.33296655e-02 -1.28198702e-03 3.37187149e+02] [-3.33296056e-02 9.99444412e-01 6.80889843e-05 -2.11127979e+01] [ 1.28354415e-03 -2.53229771e-05 9.99999176e-01 -4.30957780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86037174300003 meters Centerline goodness [0,1] 0.9809185943994291 Centerline is valid? [True, True] Translation: X:337.21, Y:-21.12, Z:-4.31 [[ 9.99243663e-01 3.88856620e-02 8.17051629e-05 3.37214995e+02] [-3.88856617e-02 9.99243667e-01 -4.96634029e-06 -2.11154277e+01] [-8.18364860e-05 1.78542474e-06 9.99999997e-01 -4.30873696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.890371743 meters Centerline goodness [0,1] 0.9813923308774279 Centerline is valid? [True, True] Translation: X:337.24, Y:-21.12, Z:-4.31 [[ 9.99093069e-01 4.25769899e-02 4.88281958e-04 3.37243467e+02] [-4.25769820e-02 9.99093189e-01 -2.65034416e-05 -2.11162834e+01] [-4.88967615e-04 5.68983263e-06 9.99999880e-01 -4.30835540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.920371743 meters Centerline goodness [0,1] 0.9836041544517966 Centerline is valid? [True, True] Translation: X:337.27, Y:-21.12, Z:-4.31 [[ 9.98726281e-01 5.04477121e-02 9.18442687e-04 3.37272031e+02] [-5.04476880e-02 9.98726704e-01 -4.94002337e-05 -2.11159000e+01] [-9.19765366e-04 3.00400156e-06 9.99999577e-01 -4.30791441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.950371743 meters Centerline goodness [0,1] 0.9843835271399186 Centerline is valid? [True, True] Translation: X:337.30, Y:-21.12, Z:-4.31 [[ 9.98527593e-01 5.42393928e-02 8.57307546e-04 3.37299325e+02] [-5.42393730e-02 9.98527961e-01 -4.63915040e-05 -2.11168372e+01] [-8.58561802e-04 -1.76626888e-07 9.99999631e-01 -4.30855367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.980371743 meters Centerline goodness [0,1] 0.9851401341776914 Centerline is valid? [True, True] Translation: X:337.33, Y:-21.12, Z:-4.31 [[ 9.98316199e-01 5.80033680e-02 6.13560295e-04 3.37327010e+02] [-5.80033586e-02 9.98316387e-01 -3.31234219e-05 -2.11173232e+01] [-6.14448568e-04 -2.52090920e-06 9.99999811e-01 -4.30920906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.010371743 meters Centerline goodness [0,1] 0.9864143418018654 Centerline is valid? [True, True] Translation: X:337.36, Y:-21.12, Z:-4.31 [[ 9.97797815e-01 6.63267289e-02 5.33394258e-04 3.37355398e+02] [-6.63267230e-02 9.97797958e-01 -2.88361492e-05 -2.11176878e+01] [-5.34132309e-04 -6.60564653e-06 9.99999857e-01 -4.30838417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.040371743 meters Centerline goodness [0,1] 0.9879555862242018 Centerline is valid? [True, True] Translation: X:337.38, Y:-21.12, Z:-4.31 [[ 9.97559766e-01 6.98141761e-02 7.03031528e-04 3.37383327e+02] [-6.98141668e-02 9.97560014e-01 -3.77520654e-05 -2.11155436e+01] [-7.03951770e-04 -1.14216188e-05 9.99999752e-01 -4.30939128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.070371743 meters Centerline goodness [0,1] 0.988838302247026 Centerline is valid? [True, True] Translation: X:337.41, Y:-21.12, Z:-4.31 [[ 9.97062827e-01 7.65761344e-02 1.34685859e-03 3.37412271e+02] [-7.65761075e-02 9.97063736e-01 -7.16081016e-05 -2.11205466e+01] [-1.34838733e-03 -3.17394116e-05 9.99999090e-01 -4.30669947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.100371743 meters Centerline goodness [0,1] 0.9896387156193746 Centerline is valid? [True, True] Translation: X:337.44, Y:-21.12, Z:-4.31 [[ 9.96848382e-01 7.93035314e-02 2.06253421e-03 3.37440981e+02] [-7.93034751e-02 9.96850514e-01 -1.09208410e-04 -2.11226258e+01] [-2.06469890e-03 -5.47019039e-05 9.99997867e-01 -4.30590224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.130371743 meters Centerline goodness [0,1] 0.9899922857202427 Centerline is valid? [True, True] Translation: X:337.47, Y:-21.13, Z:-4.30 [[ 9.96593831e-01 8.24333609e-02 2.34032071e-03 3.37470536e+02] [-8.24332978e-02 9.96596576e-01 -1.23545231e-04 -2.11266085e+01] [-2.34253986e-03 -6.97959390e-05 9.99997254e-01 -4.30496637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.160371743 meters Centerline goodness [0,1] 0.9909334561748817 Centerline is valid? [True, True] Translation: X:337.50, Y:-21.13, Z:-4.30 [[ 9.96440863e-01 8.42523148e-02 2.67482159e-03 3.37497682e+02] [-8.42522382e-02 9.96444449e-01 -1.41507635e-04 -2.11290742e+01] [-2.67723347e-03 -8.43557165e-05 9.99996413e-01 -4.30457782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.190371743 meters Centerline goodness [0,1] 0.9919312912013641 Centerline is valid? [True, True] Translation: X:337.53, Y:-21.13, Z:-4.30 [[ 9.96130110e-01 8.78460231e-02 2.80728313e-03 3.37525624e+02] [-8.78459549e-02 9.96134060e-01 -1.47814419e-04 -2.11327071e+01] [-2.80941525e-03 -9.93660745e-05 9.99996049e-01 -4.30434916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.220371743 meters Centerline goodness [0,1] 0.9925346679178396 Centerline is valid? [True, True] Translation: X:337.55, Y:-21.14, Z:-4.30 [[ 9.96018834e-01 8.91185525e-02 2.08936199e-03 3.37553229e+02] [-8.91185175e-02 9.96021023e-01 -1.10002143e-04 -2.11359912e+01] [-2.09085170e-03 -7.66366367e-05 9.99997811e-01 -4.30482566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.250371743 meters Centerline goodness [0,1] 0.9936160036598807 Centerline is valid? [True, True] Translation: X:337.58, Y:-21.15, Z:-4.30 [[ 9.95876399e-01 9.07043500e-02 1.70831646e-03 3.37581853e+02] [-9.07043292e-02 9.95877862e-01 -8.98213326e-05 -2.11455797e+01] [-1.70942173e-03 -6.55007532e-05 9.99998537e-01 -4.30395856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.280371743 meters Centerline goodness [0,1] 0.9930438404665208 Centerline is valid? [True, True] Translation: X:337.61, Y:-21.15, Z:-4.30 [[ 9.95878345e-01 9.06897854e-02 1.29804323e-03 3.37610859e+02] [-9.06897734e-02 9.95879190e-01 -6.82677571e-05 -2.11504699e+01] [-1.29888543e-03 -4.97328652e-05 9.99999155e-01 -4.30421387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.310371743 meters Centerline goodness [0,1] 0.9939014236949463 Centerline is valid? [True, True] Translation: X:337.64, Y:-21.15, Z:-4.30 [[ 9.95899627e-01 9.04619593e-02 7.52644861e-04 3.37637312e+02] [-9.04619549e-02 9.95899911e-01 -4.00138230e-05 -2.11543466e+01] [-7.53178679e-04 -2.82359740e-05 9.99999716e-01 -4.30408888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.340371743 meters Centerline goodness [0,1] 0.9944759412705335 Centerline is valid? [True, True] Translation: X:337.67, Y:-21.17, Z:-4.30 [[ 9.96111160e-01 8.81030219e-02 6.43684407e-04 3.37665239e+02] [-8.81030183e-02 9.96111368e-01 -3.39551934e-05 -2.11664610e+01] [-6.44172910e-04 -2.28873919e-05 9.99999792e-01 -4.30273255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.370371743 meters Centerline goodness [0,1] 0.9943500477753313 Centerline is valid? [True, True] Translation: X:337.69, Y:-21.17, Z:-4.30 [[ 9.96260507e-01 8.63923333e-02 1.16937811e-03 3.37693728e+02] [-8.63923209e-02 9.96261192e-01 -6.12466451e-05 -2.11735376e+01] [-1.17029727e-03 -4.00076750e-05 9.99999314e-01 -4.30203761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.400371743 meters Centerline goodness [0,1] 0.9948487869724161 Centerline is valid? [True, True] Translation: X:337.72, Y:-21.19, Z:-4.30 [[ 9.96659981e-01 8.16459035e-02 1.68177180e-03 3.37722130e+02] [-8.16458718e-02 9.96661399e-01 -8.76125248e-05 -2.11865152e+01] [-1.68331024e-03 -4.99898272e-05 9.99998582e-01 -4.30042531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.430371743 meters Centerline goodness [0,1] 0.9949322210636079 Centerline is valid? [True, True] Translation: X:337.75, Y:-21.20, Z:-4.30 [[ 9.96917289e-01 7.84423882e-02 1.64663975e-03 3.37750156e+02] [-7.84423532e-02 9.96918648e-01 -8.59166156e-05 -2.11974009e+01] [-1.64830537e-03 -4.35145371e-05 9.99998641e-01 -4.29971813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.460371743 meters Centerline goodness [0,1] 0.9957298619460221 Centerline is valid? [True, True] Translation: X:337.78, Y:-21.20, Z:-4.30 [[ 9.97131406e-01 7.56724534e-02 1.62478810e-03 3.37777682e+02] [-7.56724157e-02 9.97132729e-01 -8.47542370e-05 -2.12014283e+01] [-1.62654295e-03 -3.84405291e-05 9.99998676e-01 -4.30014656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.490371743 meters Centerline goodness [0,1] 0.9962337175912439 Centerline is valid? [True, True] Translation: X:337.81, Y:-21.22, Z:-4.30 [[ 9.97595496e-01 6.93039167e-02 4.40610186e-04 3.37807090e+02] [-6.93039134e-02 9.97595593e-01 -2.29320716e-05 -2.12167620e+01] [-4.41140062e-04 -7.65907885e-06 9.99999903e-01 -4.30063653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.520371743 meters Centerline goodness [0,1] 0.9964368057011109 Centerline is valid? [True, True] Translation: X:337.83, Y:-21.22, Z:-4.30 [[ 9.97837335e-01 6.57291479e-02 -5.75353817e-04 3.37834528e+02] [-6.57291419e-02 9.97837501e-01 2.91941764e-05 -2.12229802e+01] [ 5.76028524e-04 8.68647354e-06 9.99999834e-01 -4.30188979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.550371743 meters Centerline goodness [0,1] 0.9963079618697983 Centerline is valid? [True, True] Translation: X:337.86, Y:-21.24, Z:-4.30 [[ 9.98257434e-01 5.89864191e-02 -1.64226510e-03 3.37862585e+02] [-5.89863602e-02 9.98258785e-01 8.43198089e-05 -2.12388439e+01] [ 1.64437929e-03 1.26983648e-05 9.99998648e-01 -4.30030925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.580371743 meters Centerline goodness [0,1] 0.9965251768622555 Centerline is valid? [True, True] Translation: X:337.89, Y:-21.25, Z:-4.30 [[ 9.98440981e-01 5.57921195e-02 -1.68740115e-03 3.37889873e+02] [-5.57920532e-02 9.98442407e-01 8.63817354e-05 -2.12452952e+01] [ 1.68959229e-03 7.89651035e-06 9.99998573e-01 -4.30048333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61037174300003 meters Centerline goodness [0,1] 0.996686257346505 Centerline is valid? [True, True] Translation: X:337.92, Y:-21.25, Z:-4.30 [[ 9.98616245e-01 5.25681468e-02 -1.47843235e-03 3.37918539e+02] [-5.25680925e-02 9.98617339e-01 7.56321308e-05 -2.12517072e+01] [ 1.48036402e-03 2.19089415e-06 9.99998904e-01 -4.30037854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.640371743 meters Centerline goodness [0,1] 0.9974215458147286 Centerline is valid? [True, True] Translation: X:337.95, Y:-21.26, Z:-4.30 [[ 9.98910467e-01 4.66440246e-02 -1.48804111e-03 3.37946899e+02] [-4.66439631e-02 9.98911575e-01 7.60242455e-05 -2.12614404e+01] [ 1.48996756e-03 -6.53328017e-06 9.99998890e-01 -4.29927154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.670371743 meters Centerline goodness [0,1] 0.9973069831997182 Centerline is valid? [True, True] Translation: X:337.97, Y:-21.27, Z:-4.30 [[ 9.99003476e-01 4.46136266e-02 -1.29619811e-03 3.37974273e+02] [-4.46135787e-02 9.99004316e-01 6.58686986e-05 -2.12665910e+01] [ 1.29784615e-03 -7.97502239e-06 9.99999158e-01 -4.29942356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.700371743 meters Centerline goodness [0,1] 0.9980035354060518 Centerline is valid? [True, True] Translation: X:338.00, Y:-21.27, Z:-4.30 [[ 9.99194861e-01 4.01016076e-02 -1.22114653e-03 3.38003518e+02] [-4.01015613e-02 9.99195607e-01 6.23798579e-05 -2.12735169e+01] [ 1.22266578e-03 -1.33597508e-05 9.99999252e-01 -4.29825969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.730371743 meters Centerline goodness [0,1] 0.9980093873103679 Centerline is valid? [True, True] Translation: X:338.03, Y:-21.28, Z:-4.30 [[ 9.99281192e-01 3.78824432e-02 -1.42135046e-03 3.38032335e+02] [-3.78823786e-02 9.99282202e-01 7.22915584e-05 -2.12765165e+01] [ 1.42306880e-03 -1.83954582e-05 9.99998987e-01 -4.29801751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.760371743 meters Centerline goodness [0,1] 0.9980584551148225 Centerline is valid? [True, True] Translation: X:338.06, Y:-21.28, Z:-4.30 [[ 9.99348071e-01 3.60825600e-02 -1.21736547e-03 3.38062054e+02] [-3.60825112e-02 9.99348812e-01 6.20448949e-05 -2.12797842e+01] [ 1.21881147e-03 -1.80788429e-05 9.99999257e-01 -4.29789648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.790371743 meters Centerline goodness [0,1] 0.9978663319736429 Centerline is valid? [True, True] Translation: X:338.09, Y:-21.28, Z:-4.30 [[ 9.99417920e-01 3.40802706e-02 -1.53473178e-03 3.38091719e+02] [-3.40801906e-02 9.99419099e-01 7.82291149e-05 -2.12830071e+01] [ 1.53650632e-03 -2.58796276e-05 9.99998819e-01 -4.29804960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.820371743 meters Centerline goodness [0,1] 0.9981958168124698 Centerline is valid? [True, True] Translation: X:338.12, Y:-21.29, Z:-4.30 [[ 9.99528813e-01 3.06828012e-02 -8.47514521e-04 3.38120779e+02] [-3.06827758e-02 9.99529172e-01 4.29236521e-05 -2.12878922e+01] [ 8.48432505e-04 -1.68993290e-05 9.99999640e-01 -4.29750851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.850371743 meters Centerline goodness [0,1] 0.9983671418702506 Centerline is valid? [True, True] Translation: X:338.15, Y:-21.29, Z:-4.30 [[ 9.99586358e-01 2.87461057e-02 -8.80123217e-04 3.38149364e+02] [-2.87460776e-02 9.99586745e-01 4.45446934e-05 -2.12913763e+01] [ 8.81039988e-04 -1.92261775e-05 9.99999612e-01 -4.29803531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880371743 meters Centerline goodness [0,1] 0.9982883860733072 Centerline is valid? [True, True] Translation: X:338.18, Y:-21.29, Z:-4.30 [[ 9.99643495e-01 2.66058948e-02 -2.23831206e-03 3.38178739e+02] [-2.66057065e-02 9.99645999e-01 1.13876086e-04 -2.12937743e+01] [ 2.24054947e-03 -5.42836145e-05 9.99997488e-01 -4.29980894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.910371743 meters Centerline goodness [0,1] 0.997832701204518 Centerline is valid? [True, True] Translation: X:338.21, Y:-21.30, Z:-4.30 [[ 9.99699903e-01 2.44460740e-02 -1.57879713e-03 3.38207204e+02] [-2.44459780e-02 9.99701149e-01 8.00481004e-05 -2.12967881e+01] [ 1.58028216e-03 -4.14288384e-05 9.99998750e-01 -4.29899828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940371743 meters Centerline goodness [0,1] 0.9980717639168344 Centerline is valid? [True, True] Translation: X:338.24, Y:-21.30, Z:-4.30 [[ 9.99740110e-01 2.27568189e-02 -1.35656173e-03 3.38236998e+02] [-2.27567465e-02 9.99741029e-01 6.88017605e-05 -2.12985700e+01] [ 1.35777613e-03 -3.79129483e-05 9.99999078e-01 -4.29824668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.970371743 meters Centerline goodness [0,1] 0.9981365159128979 Centerline is valid? [True, True] Translation: X:338.27, Y:-21.30, Z:-4.30 [[ 9.99781541e-01 2.08701406e-02 -1.14343611e-03 3.38266159e+02] [-2.08700882e-02 9.99782194e-01 5.77638087e-05 -2.12993087e+01] [ 1.14439260e-03 -3.38875772e-05 9.99999345e-01 -4.29814863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000371743 meters Centerline goodness [0,1] 0.9976545976169037 Centerline is valid? [True, True] Translation: X:338.30, Y:-21.30, Z:-4.30 [[ 9.99851136e-01 1.72409803e-02 -6.73660761e-04 3.38296706e+02] [-1.72409611e-02 9.99851363e-01 3.42480782e-05 -2.13023854e+01] [ 6.74151101e-04 -2.26284210e-05 9.99999773e-01 -4.29768387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.030371743 meters Centerline goodness [0,1] 0.9973819248088805 Centerline is valid? [True, True] Translation: X:338.33, Y:-21.30, Z:-4.30 [[ 9.99884209e-01 1.52032854e-02 -6.54315489e-04 3.38326551e+02] [-1.52032670e-02 9.99884423e-01 3.29939038e-05 -2.13035389e+01] [ 6.54741481e-04 -2.30423503e-05 9.99999785e-01 -4.29794192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060371743 meters Centerline goodness [0,1] 0.9974768537826341 Centerline is valid? [True, True] Translation: X:338.36, Y:-21.31, Z:-4.30 [[ 9.99936571e-01 1.12499577e-02 -5.40310540e-04 3.38355867e+02] [-1.12499445e-02 9.99936717e-01 2.74252139e-05 -2.13063193e+01] [ 5.40584880e-04 -2.13450107e-05 9.99999854e-01 -4.29843502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.090371743 meters Centerline goodness [0,1] 0.997311603867956 Centerline is valid? [True, True] Translation: X:338.39, Y:-21.31, Z:-4.30 [[ 9.99958251e-01 9.12563011e-03 -4.67401236e-04 3.38385188e+02] [-9.12561999e-03 9.99958360e-01 2.37723079e-05 -2.13099789e+01] [ 4.67598711e-04 -1.95059894e-05 9.99999890e-01 -4.29881043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120371743 meters Centerline goodness [0,1] 0.9970120562485635 Centerline is valid? [True, True] Translation: X:338.42, Y:-21.31, Z:-4.30 [[ 9.99971893e-01 7.45633615e-03 -7.85457940e-04 3.38415986e+02] [-7.45630710e-03 9.99972201e-01 3.99032472e-05 -2.13080514e+01] [ 7.85733636e-04 -3.40455100e-05 9.99999691e-01 -4.29887059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.150371743 meters Centerline goodness [0,1] 0.9962380872763752 Centerline is valid? [True, True] Translation: X:338.45, Y:-21.31, Z:-4.30 [[ 9.99993232e-01 3.57606073e-03 -8.65060220e-04 3.38446282e+02] [-3.57602417e-03 9.99993605e-01 4.38085267e-05 -2.13066477e+01] [ 8.65211350e-04 -4.07147539e-05 9.99999625e-01 -4.29978222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180371743 meters Centerline goodness [0,1] 0.9961648084499958 Centerline is valid? [True, True] Translation: X:338.48, Y:-21.31, Z:-4.30 [[ 9.99994807e-01 2.43379535e-03 -2.11253944e-03 3.38476338e+02] [-2.43357447e-03 9.99997033e-01 1.07120612e-04 -2.13067903e+01] [ 2.11279388e-03 -1.01979033e-04 9.99997763e-01 -4.30157584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.210371743 meters Centerline goodness [0,1] 0.996263594046799 Centerline is valid? [True, True] Translation: X:338.51, Y:-21.30, Z:-4.30 [[ 9.99998034e-01 -8.15675524e-04 -1.80755586e-03 3.38507214e+02] [ 8.15842717e-04 9.99999663e-01 9.17614799e-05 -2.13048452e+01] [ 1.80748040e-03 -9.32359808e-05 9.99998362e-01 -4.30057347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240371743 meters Centerline goodness [0,1] 0.9949820189010622 Centerline is valid? [True, True] Translation: X:338.54, Y:-21.31, Z:-4.30 [[ 9.99997594e-01 -1.66888632e-03 -1.42345743e-03 3.38536920e+02] [ 1.66899087e-03 9.99998605e-01 7.22625305e-05 -2.13078070e+01] [ 1.42333484e-03 -7.46380941e-05 9.99998984e-01 -4.30162419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.270371743 meters Centerline goodness [0,1] 0.9949820189010622 Centerline is valid? [True, True] Translation: X:338.57, Y:-21.31, Z:-4.30 [[ 9.99997594e-01 -1.66888632e-03 -1.42345743e-03 3.38566923e+02] [ 1.66899087e-03 9.99998605e-01 7.22625305e-05 -2.13093301e+01] [ 1.42333484e-03 -7.46380942e-05 9.99998984e-01 -4.30182428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300371743 meters Centerline goodness [0,1] 0.9950755293286513 Centerline is valid? [True, True] Translation: X:338.60, Y:-21.31, Z:-4.30 [[ 9.99996274e-01 -2.35602741e-03 -1.37901793e-03 3.38597444e+02] [ 2.35612618e-03 9.99997222e-01 7.00065373e-05 -2.13066291e+01] [ 1.37884916e-03 -7.32554167e-05 9.99999047e-01 -4.30146233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.330371743 meters Centerline goodness [0,1] 0.9946472629950236 Centerline is valid? [True, True] Translation: X:338.63, Y:-21.30, Z:-4.30 [[ 9.99992808e-01 -3.68978983e-03 -8.77184230e-04 3.38628089e+02] [ 3.68983031e-03 9.99993192e-01 4.45306975e-05 -2.13024835e+01] [ 8.77013949e-04 -4.77670382e-05 9.99999614e-01 -4.30135477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36037174300003 meters Centerline goodness [0,1] 0.9938421347266281 Centerline is valid? [True, True] Translation: X:338.66, Y:-21.30, Z:-4.30 [[ 9.99992246e-01 -3.87367634e-03 -7.08226225e-04 3.38658236e+02] [ 3.87370277e-03 9.99992497e-01 3.59534596e-05 -2.13010100e+01] [ 7.08081639e-04 -3.86966388e-05 9.99999749e-01 -4.30150640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.390371743 meters Centerline goodness [0,1] 0.9929042386185243 Centerline is valid? [True, True] Translation: X:338.69, Y:-21.29, Z:-4.30 [[ 9.99992415e-01 -3.85378227e-03 -5.64020408e-04 3.38688661e+02] [ 3.85379903e-03 9.99992574e-01 2.86327790e-05 -2.12935365e+01] [ 5.63905875e-04 -3.08061831e-05 9.99999841e-01 -4.30194417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.420371743 meters Centerline goodness [0,1] 0.992370867553258 Centerline is valid? [True, True] Translation: X:338.72, Y:-21.29, Z:-4.30 [[ 9.99993310e-01 -3.50834107e-03 -1.03537837e-03 3.38718656e+02] [ 3.50839752e-03 9.99993844e-01 5.27044811e-05 -2.12933090e+01] [ 1.03518709e-03 -5.63366474e-05 9.99999463e-01 -4.30291517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.450371743 meters Centerline goodness [0,1] 0.9916447340936625 Centerline is valid? [True, True] Translation: X:338.75, Y:-21.29, Z:-4.30 [[ 9.99992835e-01 -3.46713361e-03 -1.51940628e-03 3.38748328e+02] [ 3.46725461e-03 9.99993986e-01 7.70123608e-05 -2.12926890e+01] [ 1.51913013e-03 -8.22799775e-05 9.99998843e-01 -4.30414769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.480371743 meters Centerline goodness [0,1] 0.9910149541322834 Centerline is valid? [True, True] Translation: X:338.78, Y:-21.29, Z:-4.30 [[ 9.99992156e-01 -3.23271006e-03 -2.28847663e-03 3.38779465e+02] [ 3.23298437e-03 9.99994767e-01 1.16176409e-04 -2.12897201e+01] [ 2.28808909e-03 -1.23574107e-04 9.99997375e-01 -4.30475102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.510371743 meters Centerline goodness [0,1] 0.9897610921501706 Centerline is valid? [True, True] Translation: X:338.81, Y:-21.28, Z:-4.31 [[ 9.99992864e-01 -2.63144598e-03 -2.71071514e-03 3.38809950e+02] [ 2.63182818e-03 9.99996527e-01 1.37440245e-04 -2.12838370e+01] [ 2.71034406e-03 -1.44573401e-04 9.99996317e-01 -4.30615888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.540371743 meters Centerline goodness [0,1] 0.9886314220041001 Centerline is valid? [True, True] Translation: X:338.84, Y:-21.28, Z:-4.31 [[ 9.99994567e-01 -2.18906126e-03 -2.46460349e-03 3.38839650e+02] [ 2.18937532e-03 9.99997596e-01 1.24738699e-04 -2.12812839e+01] [ 2.46432451e-03 -1.30133963e-04 9.99996955e-01 -4.30667247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.570371743 meters Centerline goodness [0,1] 0.9875959587508105 Centerline is valid? [True, True] Translation: X:338.87, Y:-21.28, Z:-4.31 [[ 9.99996037e-01 -2.02846382e-03 -1.95209638e-03 3.38869752e+02] [ 2.02866061e-03 9.99997937e-01 9.88364839e-05 -2.12771221e+01] [ 1.95189187e-03 -1.02796233e-04 9.99998090e-01 -4.30699994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.600371743 meters Centerline goodness [0,1] 0.9878385155466399 Centerline is valid? [True, True] Translation: X:338.90, Y:-21.27, Z:-4.31 [[ 9.99997106e-01 -1.68927897e-03 -1.71319155e-03 3.38900282e+02] [ 1.68943023e-03 9.99998569e-01 8.68464020e-05 -2.12736657e+01] [ 1.71304239e-03 -8.97404682e-05 9.99998529e-01 -4.30697578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.630371743 meters Centerline goodness [0,1] 0.9867868119002321 Centerline is valid? [True, True] Translation: X:338.93, Y:-21.27, Z:-4.31 [[ 9.99996159e-01 -1.57144367e-03 -2.28328821e-03 3.38931086e+02] [ 1.57171204e-03 9.99998758e-01 1.15746173e-04 -2.12707561e+01] [ 2.28310349e-03 -1.19334400e-04 9.99997387e-01 -4.30776166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.660371743 meters Centerline goodness [0,1] 0.9854957198769334 Centerline is valid? [True, True] Translation: X:338.96, Y:-21.27, Z:-4.31 [[ 9.99995934e-01 -5.93065127e-04 -2.78914015e-03 3.38960505e+02] [ 5.93461310e-04 9.99999814e-01 1.41219353e-04 -2.12669154e+01] [ 2.78905588e-03 -1.42874026e-04 9.99996100e-01 -4.30995314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.690371743 meters Centerline goodness [0,1] 0.9837015649845176 Centerline is valid? [True, True] Translation: X:338.99, Y:-21.26, Z:-4.31 [[ 9.99993667e-01 -2.38327879e-04 -3.55105789e-03 3.38990677e+02] [ 2.38967045e-04 9.99999955e-01 1.79569995e-04 -2.12608237e+01] [ 3.55101494e-03 -1.80417443e-04 9.99993679e-01 -4.31041290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.720371743 meters Centerline goodness [0,1] 0.9834121240011714 Centerline is valid? [True, True] Translation: X:339.02, Y:-21.26, Z:-4.31 [[ 9.99992009e-01 4.88953120e-04 -3.96776888e-03 3.39020588e+02] [-4.88161324e-04 9.99999861e-01 2.00522895e-04 -2.12584829e+01] [ 3.96786638e-03 -1.98584381e-04 9.99992108e-01 -4.31065382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.750371743 meters Centerline goodness [0,1] 0.9820605247715651 Centerline is valid? [True, True] Translation: X:339.05, Y:-21.25, Z:-4.31 [[ 9.99991277e-01 2.32805880e-03 -3.46774901e-03 3.39050499e+02] [-2.32746558e-03 9.99997276e-01 1.75093794e-04 -2.12527207e+01] [ 3.46814720e-03 -1.67021200e-04 9.99993972e-01 -4.31105384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.780371743 meters Centerline goodness [0,1] 0.9805438497180116 Centerline is valid? [True, True] Translation: X:339.08, Y:-21.25, Z:-4.31 [[ 9.99988605e-01 3.55300998e-03 -3.18844341e-03 3.39079587e+02] [-3.55251569e-03 9.99993677e-01 1.60675314e-04 -2.12520333e+01] [ 3.18899413e-03 -1.49346488e-04 9.99994904e-01 -4.31110826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.810371743 meters Centerline goodness [0,1] 0.9782645077611816 Centerline is valid? [True, True] Translation: X:339.11, Y:-21.25, Z:-4.31 [[ 9.99976221e-01 6.30761731e-03 -2.78769056e-03 3.39108357e+02] [-6.30725068e-03 9.99980099e-01 1.40286986e-04 -2.12529715e+01] [ 2.78851996e-03 -1.22700987e-04 9.99996105e-01 -4.31229324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.840371743 meters Centerline goodness [0,1] 0.977685967745318 Centerline is valid? [True, True] Translation: X:339.14, Y:-21.25, Z:-4.31 [[ 9.99967951e-01 7.72738873e-03 -2.09366656e-03 3.39137782e+02] [-7.72718540e-03 9.99970139e-01 1.05188392e-04 -2.12506867e+01] [ 2.09441687e-03 -8.90068717e-05 9.99997803e-01 -4.31192606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.870371743 meters Centerline goodness [0,1] 0.9781537176274019 Centerline is valid? [True, True] Translation: X:339.17, Y:-21.24, Z:-4.31 [[ 9.99950556e-01 9.80253037e-03 -1.67200299e-03 3.39167538e+02] [-9.80240390e-03 9.99951952e-01 8.38188463e-05 -2.12428065e+01] [ 1.67274429e-03 -6.74250533e-05 9.99998599e-01 -4.31094361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.900371743 meters Centerline goodness [0,1] 0.9772175732217573 Centerline is valid? [True, True] Translation: X:339.20, Y:-21.24, Z:-4.31 [[ 9.99908084e-01 1.34989346e-02 -1.26555698e-03 3.39196241e+02] [-1.34988653e-02 9.99908884e-01 6.32895715e-05 -2.12383242e+01] [ 1.26629601e-03 -4.62001711e-05 9.99999197e-01 -4.31145887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.930371743 meters Centerline goodness [0,1] 0.9755586299417264 Centerline is valid? [True, True] Translation: X:339.23, Y:-21.24, Z:-4.31 [[ 9.99884437e-01 1.51094422e-02 -1.67832940e-03 3.39225580e+02] [-1.51093225e-02 9.99885844e-01 8.39628215e-05 -2.12367366e+01] [ 1.67940644e-03 -5.85946984e-05 9.99998588e-01 -4.31217742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.960371743 meters Centerline goodness [0,1] 0.9760537798283889 Centerline is valid? [True, True] Translation: X:339.25, Y:-21.24, Z:-4.31 [[ 9.99847954e-01 1.73114381e-02 -2.09339210e-03 3.39254504e+02] [-1.73112571e-02 9.99850143e-01 1.04549907e-04 -2.12351332e+01] [ 2.09488830e-03 -6.82947615e-05 9.99997803e-01 -4.31308642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.990371743 meters Centerline goodness [0,1] 0.976123094983544 Centerline is valid? [True, True] Translation: X:339.28, Y:-21.23, Z:-4.31 [[ 9.99782576e-01 2.06958819e-02 -2.54568624e-03 3.39283801e+02] [-2.06956254e-02 9.99785815e-01 1.27040603e-04 -2.12293660e+01] [ 2.54777020e-03 -7.43284126e-05 9.99996752e-01 -4.31420505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.020371743 meters Centerline goodness [0,1] 0.9760379696326942 Centerline is valid? [True, True] Translation: X:339.31, Y:-21.23, Z:-4.32 [[ 9.99755233e-01 2.19153354e-02 -3.03198608e-03 3.39311325e+02] [-2.19149782e-02 9.99759827e-01 1.51010623e-04 -2.12312404e+01] [ 3.03456732e-03 -8.45277522e-05 9.99995392e-01 -4.31591846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.050371743 meters Centerline goodness [0,1] 0.976556623485165 Centerline is valid? [True, True] Translation: X:339.34, Y:-21.23, Z:-4.32 [[ 9.99677446e-01 2.53229637e-02 -1.93712466e-03 3.39340317e+02] [-2.53228246e-02 9.99679321e-01 9.62789901e-05 -2.12282771e+01] [ 1.93894153e-03 -4.71944668e-05 9.99998119e-01 -4.31557696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.080371743 meters Centerline goodness [0,1] 0.9775056708392842 Centerline is valid? [True, True] Translation: X:339.37, Y:-21.23, Z:-4.31 [[ 9.99645183e-01 2.65791092e-02 -1.74900602e-03 3.39368939e+02] [-2.65789981e-02 9.99646712e-01 8.67303003e-05 -2.12252009e+01] [ 1.75069333e-03 -4.02126991e-05 9.99998467e-01 -4.31437730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11037174300003 meters Centerline goodness [0,1] 0.97756578257679 Centerline is valid? [True, True] Translation: X:339.40, Y:-21.23, Z:-4.31 [[ 9.99599130e-01 2.82753979e-02 -1.44278701e-03 3.39396825e+02] [-2.82753246e-02 9.99600171e-01 7.12149183e-05 -2.12258881e+01] [ 1.44422377e-03 -3.03910995e-05 9.99998957e-01 -4.31464362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.140371743 meters Centerline goodness [0,1] 0.9769064178917996 Centerline is valid? [True, True] Translation: X:339.43, Y:-21.22, Z:-4.31 [[ 9.99483340e-01 3.21309862e-02 -8.08458008e-04 3.39425997e+02] [-3.21309645e-02 9.99483666e-01 3.97107687e-05 -2.12232627e+01] [ 8.09316520e-04 -1.37137161e-05 9.99999672e-01 -4.31469553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.170371743 meters Centerline goodness [0,1] 0.9763769607122609 Centerline is valid? [True, True] Translation: X:339.46, Y:-21.22, Z:-4.31 [[ 9.99441367e-01 3.34131244e-02 -7.19339541e-04 3.39455148e+02] [-3.34131076e-02 9.99441626e-01 3.52290393e-05 -2.12238053e+01] [ 7.20114992e-04 -1.11739897e-05 9.99999741e-01 -4.31480855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.200371743 meters Centerline goodness [0,1] 0.978640980002094 Centerline is valid? [True, True] Translation: X:339.48, Y:-21.22, Z:-4.31 [[ 9.99358957e-01 3.57864139e-02 -1.00369565e-03 3.39483725e+02] [-3.57863825e-02 9.99359461e-01 4.92597983e-05 -2.12231571e+01] [ 1.00481557e-03 -1.33095843e-05 9.99999495e-01 -4.31491221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.230371743 meters Centerline goodness [0,1] 0.9781745614956412 Centerline is valid? [True, True] Translation: X:339.51, Y:-21.22, Z:-4.32 [[ 9.99338459e-01 3.63511131e-02 -1.11370922e-03 3.39512935e+02] [-3.63510748e-02 9.99339080e-01 5.46287724e-05 -2.12244443e+01] [ 1.11495897e-03 -1.41081059e-05 9.99999378e-01 -4.31550847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.260371743 meters Centerline goodness [0,1] 0.9786069338702573 Centerline is valid? [True, True] Translation: X:339.54, Y:-21.23, Z:-4.32 [[ 9.99314200e-01 3.70034091e-02 -1.36983305e-03 3.39540788e+02] [-3.70033519e-02 9.99315139e-01 6.70634947e-05 -2.12266525e+01] [ 1.37137649e-03 -1.63290880e-05 9.99999060e-01 -4.31629507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.290371743 meters Centerline goodness [0,1] 0.9782617836269605 Centerline is valid? [True, True] Translation: X:339.57, Y:-21.23, Z:-4.32 [[ 9.99312540e-01 3.70351287e-02 -1.68711130e-03 3.39568483e+02] [-3.70350422e-02 9.99313964e-01 8.24461330e-05 -2.12285686e+01] [ 1.68900729e-03 -1.99072163e-05 9.99998573e-01 -4.31626815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.320371743 meters Centerline goodness [0,1] 0.9795507456112754 Centerline is valid? [True, True] Translation: X:339.60, Y:-21.23, Z:-4.32 [[ 9.99317129e-01 3.69314489e-02 -1.15948535e-03 3.39596740e+02] [-3.69314081e-02 9.99317801e-01 5.65905147e-05 -2.12307829e+01] [ 1.16078432e-03 -1.37304440e-05 9.99999326e-01 -4.31649772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.350371743 meters Centerline goodness [0,1] 0.9799571860308932 Centerline is valid? [True, True] Translation: X:339.63, Y:-21.23, Z:-4.32 [[ 9.99344444e-01 3.61987270e-02 -5.78933420e-04 3.39625157e+02] [-3.61987168e-02 9.99344611e-01 2.79648008e-05 -2.12348117e+01] [ 5.79566284e-04 -6.98982139e-06 9.99999832e-01 -4.31589392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380371743 meters Centerline goodness [0,1] 0.9788097479343165 Centerline is valid? [True, True] Translation: X:339.65, Y:-21.24, Z:-4.32 [[ 9.99349539e-01 3.60602520e-02 -3.95466548e-04 3.39653606e+02] [-3.60602473e-02 9.99349618e-01 1.89133766e-05 -2.12375166e+01] [ 3.95891365e-04 -4.64045266e-06 9.99999922e-01 -4.31529575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.410371743 meters Centerline goodness [0,1] 0.9791788733573282 Centerline is valid? [True, True] Translation: X:339.68, Y:-21.24, Z:-4.32 [[ 9.99368429e-01 3.55294401e-02 -6.34249181e-04 3.39680755e+02] [-3.55294280e-02 9.99368630e-01 3.03207330e-05 -2.12417018e+01] [ 6.34926014e-04 -7.76707269e-06 9.99999798e-01 -4.31561700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440371743 meters Centerline goodness [0,1] 0.9790526514436686 Centerline is valid? [True, True] Translation: X:339.71, Y:-21.25, Z:-4.32 [[ 9.99410022e-01 3.43449221e-02 -1.84842712e-04 3.39708869e+02] [-3.43449211e-02 9.99410039e-01 8.43613546e-06 -2.12463973e+01] [ 1.85023400e-04 -2.08274998e-06 9.99999983e-01 -4.31520121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.470371743 meters Centerline goodness [0,1] 0.9799983209503421 Centerline is valid? [True, True] Translation: X:339.74, Y:-21.25, Z:-4.32 [[ 9.99440007e-01 3.34615053e-02 9.58988802e-07 3.39737223e+02] [-3.34615053e-02 9.99440007e-01 -5.34571731e-07 -2.12494742e+01] [-9.76339351e-07 5.02183165e-07 1.00000000e+00 -4.31531879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500371743 meters Centerline goodness [0,1] 0.9791561712846347 Centerline is valid? [True, True] Translation: X:339.76, Y:-21.26, Z:-4.32 [[ 9.99477702e-01 3.23149013e-02 2.66784367e-04 3.39764461e+02] [-3.23148988e-02 9.99477737e-01 -1.35985653e-05 -2.12564636e+01] [-2.67084472e-04 4.97035299e-06 9.99999964e-01 -4.31505041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.530371743 meters Centerline goodness [0,1] 0.980349208335941 Centerline is valid? [True, True] Translation: X:339.79, Y:-21.26, Z:-4.31 [[ 9.99496170e-01 3.17371894e-02 3.95752809e-04 3.39792369e+02] [-3.17371841e-02 9.99496248e-01 -1.98379165e-05 -2.12611786e+01] [-3.96183048e-04 7.26784184e-06 9.99999921e-01 -4.31474757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560371743 meters Centerline goodness [0,1] 0.9822322794225491 Centerline is valid? [True, True] Translation: X:339.82, Y:-21.26, Z:-4.31 [[ 9.99511039e-01 3.12659339e-02 3.53642247e-04 3.39821038e+02] [-3.12659296e-02 9.99511101e-01 -1.76479817e-05 -2.12639704e+01] [-3.54021132e-04 6.58239896e-06 9.99999937e-01 -4.31439525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.590371743 meters Centerline goodness [0,1] 0.9827276524644946 Centerline is valid? [True, True] Translation: X:339.85, Y:-21.27, Z:-4.31 [[ 9.99509480e-01 3.13170966e-02 1.97324196e-04 3.39849050e+02] [-3.13170952e-02 9.99509499e-01 -1.02021894e-05 -2.12704200e+01] [-1.97546911e-04 4.01756437e-06 9.99999980e-01 -4.31404074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620371743 meters Centerline goodness [0,1] 0.9839881733191747 Centerline is valid? [True, True] Translation: X:339.88, Y:-21.28, Z:-4.31 [[ 9.99469509e-01 3.25652486e-02 -4.52467710e-04 3.39876850e+02] [-3.25652423e-02 9.99469612e-01 2.12909808e-05 -2.12767874e+01] [ 4.52921073e-04 -6.54496552e-06 9.99999897e-01 -4.31388469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.650371743 meters Centerline goodness [0,1] 0.9852206451073436 Centerline is valid? [True, True] Translation: X:339.91, Y:-21.28, Z:-4.31 [[ 9.99448133e-01 3.32103863e-02 -7.07179317e-04 3.39905533e+02] [-3.32103708e-02 9.99448383e-01 3.36659533e-05 -2.12796237e+01] [ 7.07907284e-04 -1.01616868e-05 9.99999749e-01 -4.31331995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680371743 meters Centerline goodness [0,1] 0.9873558631408708 Centerline is valid? [True, True] Translation: X:339.93, Y:-21.28, Z:-4.31 [[ 9.99420553e-01 3.40321869e-02 -6.07559839e-04 3.39934122e+02] [-3.40321757e-02 9.99420737e-01 2.88111265e-05 -2.12830767e+01] [ 6.08188408e-04 -8.11784876e-06 9.99999815e-01 -4.31282850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.710371743 meters Centerline goodness [0,1] 0.9884624243566388 Centerline is valid? [True, True] Translation: X:339.96, Y:-21.29, Z:-4.31 [[ 9.99324772e-01 3.67374535e-02 -5.99547928e-04 3.39962969e+02] [-3.67374430e-02 9.99324952e-01 2.83690673e-05 -2.12875455e+01] [ 6.00185412e-04 -6.32405383e-06 9.99999820e-01 -4.31183913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740371743 meters Centerline goodness [0,1] 0.989311089220967 Centerline is valid? [True, True] Translation: X:339.99, Y:-21.29, Z:-4.31 [[ 9.99279415e-01 3.79530152e-02 -4.69214119e-04 3.39992029e+02] [-3.79530091e-02 9.99279525e-01 2.20639167e-05 -2.12906204e+01] [ 4.69713454e-04 -4.23993008e-06 9.99999890e-01 -4.31147693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.770371743 meters Centerline goodness [0,1] 0.9895946058436693 Centerline is valid? [True, True] Translation: X:340.02, Y:-21.30, Z:-4.31 [[ 9.99150735e-01 4.12038381e-02 -2.30923655e-04 3.40019236e+02] [-4.12038368e-02 9.99150761e-01 1.04717040e-05 -2.12957543e+01] [ 2.31159020e-04 -9.47870132e-07 9.99999973e-01 -4.31169856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800371743 meters Centerline goodness [0,1] 0.990407873884394 Centerline is valid? [True, True] Translation: X:340.05, Y:-21.30, Z:-4.31 [[ 9.99087570e-01 4.27084628e-02 -1.18761719e-04 3.40048128e+02] [-4.27084625e-02 9.99087577e-01 5.21023478e-06 -2.12981626e+01] [ 1.18875880e-04 -1.33350370e-07 9.99999993e-01 -4.31069791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.830371743 meters Centerline goodness [0,1] 0.9905380566463363 Centerline is valid? [True, True] Translation: X:340.08, Y:-21.30, Z:-4.31 [[ 9.99024475e-01 4.41594041e-02 2.14778708e-04 3.40076964e+02] [-4.41594028e-02 9.99024498e-01 -1.07573531e-05 -2.13009744e+01] [-2.15044229e-04 1.26235958e-06 9.99999977e-01 -4.31061345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86037174300003 meters Centerline goodness [0,1] 0.9909855139305256 Centerline is valid? [True, True] Translation: X:340.11, Y:-21.31, Z:-4.31 [[ 9.98924360e-01 4.63669875e-02 -4.74107653e-04 3.40105876e+02] [-4.63669822e-02 9.98924473e-01 2.21577212e-05 -2.13058763e+01] [ 4.74625124e-04 -1.50946309e-07 9.99999887e-01 -4.31072686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.890371743 meters Centerline goodness [0,1] 0.9918073900685505 Centerline is valid? [True, True] Translation: X:340.13, Y:-21.31, Z:-4.31 [[ 9.98877912e-01 4.73507367e-02 -9.08246077e-04 3.40133131e+02] [-4.73507175e-02 9.98878325e-01 4.26907987e-05 -2.13094438e+01] [ 9.09248761e-04 3.63207478e-07 9.99999587e-01 -4.31108279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.920371743 meters Centerline goodness [0,1] 0.9930837655979835 Centerline is valid? [True, True] Translation: X:340.16, Y:-21.32, Z:-4.31 [[ 9.98845864e-01 4.80120481e-02 -1.33502674e-03 3.40161135e+02] [-4.80120068e-02 9.98846757e-01 6.29288370e-05 -2.13158632e+01] [ 1.33650848e-03 1.24110453e-06 9.99999107e-01 -4.31078385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.950371743 meters Centerline goodness [0,1] 0.992466925420475 Centerline is valid? [True, True] Translation: X:340.19, Y:-21.32, Z:-4.31 [[ 9.98862519e-01 4.76719231e-02 -1.02756911e-03 3.40189294e+02] [-4.76718986e-02 9.98863048e-01 4.83480634e-05 -2.13201989e+01] [ 1.02870566e-03 6.93102206e-07 9.99999471e-01 -4.31046410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.980371743 meters Centerline goodness [0,1] 0.9940350002078397 Centerline is valid? [True, True] Translation: X:340.22, Y:-21.33, Z:-4.31 [[ 9.98938017e-01 4.60733989e-02 -2.84528022e-04 3.40216275e+02] [-4.60733971e-02 9.98938057e-01 1.29098568e-05 -2.13287029e+01] [ 2.84820671e-04 2.13025811e-07 9.99999959e-01 -4.30956023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.010371743 meters Centerline goodness [0,1] 0.9938234250777288 Centerline is valid? [True, True] Translation: X:340.24, Y:-21.33, Z:-4.31 [[ 9.99018502e-01 4.42947851e-02 6.42301183e-05 3.40244412e+02] [-4.42947850e-02 9.99018504e-01 -3.51635476e-06 -2.13338589e+01] [-6.43228329e-05 6.67844188e-07 9.99999998e-01 -4.30894527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.040371743 meters Centerline goodness [0,1] 0.9941229372764729 Centerline is valid? [True, True] Translation: X:340.27, Y:-21.34, Z:-4.31 [[ 9.99083380e-01 4.28064903e-02 5.93802205e-05 3.40272967e+02] [-4.28064901e-02 9.99083382e-01 -3.28267288e-06 -2.13393156e+01] [-5.94663112e-05 7.37805091e-07 9.99999998e-01 -4.30842359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.070371743 meters Centerline goodness [0,1] 0.9950929429866512 Centerline is valid? [True, True] Translation: X:340.30, Y:-21.35, Z:-4.31 [[ 9.99224841e-01 3.93664009e-02 6.46048320e-05 3.40300019e+02] [-3.93664007e-02 9.99224843e-01 -3.71489655e-06 -2.13494200e+01] [-6.47009952e-05 1.16875720e-06 9.99999998e-01 -4.30833207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.100371743 meters Centerline goodness [0,1] 0.994878307759572 Centerline is valid? [True, True] Translation: X:340.33, Y:-21.36, Z:-4.31 [[ 9.99297318e-01 3.74801659e-02 3.26298885e-04 3.40328569e+02] [-3.74801627e-02 9.99297372e-01 -1.58348815e-05 -2.13552488e+01] [-3.26663112e-04 3.59401933e-06 9.99999947e-01 -4.30813765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.130371743 meters Centerline goodness [0,1] 0.9958972009330224 Centerline is valid? [True, True] Translation: X:340.36, Y:-21.37, Z:-4.31 [[ 9.99404248e-01 3.45126092e-02 1.70533305e-04 3.40356594e+02] [-3.45126083e-02 9.99404262e-01 -8.36990755e-06 -2.13659478e+01] [-1.70720579e-04 2.47937200e-06 9.99999985e-01 -4.30808891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.160371743 meters Centerline goodness [0,1] 0.9958972009330224 Centerline is valid? [True, True] Translation: X:340.38, Y:-21.37, Z:-4.31 [[ 9.99406558e-01 3.44456484e-02 1.70529098e-04 3.40384893e+02] [-3.44456475e-02 9.99406573e-01 -8.45962518e-06 -2.13672150e+01] [-1.70719299e-04 2.58061969e-06 9.99999985e-01 -4.30827761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.190371743 meters Centerline goodness [0,1] 0.9959871088470735 Centerline is valid? [True, True] Translation: X:340.41, Y:-21.37, Z:-4.31 [[ 9.99442076e-01 3.33994309e-02 1.25018436e-04 3.40413553e+02] [-3.33994304e-02 9.99442083e-01 -6.31073500e-06 -2.13724879e+01] [-1.25159461e-04 2.13166953e-06 9.99999992e-01 -4.30829849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.220371743 meters Centerline goodness [0,1] 0.9970429603715041 Centerline is valid? [True, True] Translation: X:340.44, Y:-21.38, Z:-4.31 [[ 9.99479942e-01 3.22447940e-02 3.43679128e-04 3.40443146e+02] [-3.22447903e-02 9.99480001e-01 -1.63518603e-05 -2.13755203e+01] [-3.44027678e-04 5.26149495e-06 9.99999941e-01 -4.30642295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.250371743 meters Centerline goodness [0,1] 0.9965189283272208 Centerline is valid? [True, True] Translation: X:340.47, Y:-21.38, Z:-4.31 [[ 9.99523804e-01 3.08236086e-02 1.43889460e-03 3.40471795e+02] [-3.08235432e-02 9.99524839e-01 -6.76632623e-05 -2.13839780e+01] [-1.44029652e-03 2.32792116e-05 9.99998963e-01 -4.30678764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.280371743 meters Centerline goodness [0,1] 0.9973975682878081 Centerline is valid? [True, True] Translation: X:340.50, Y:-21.39, Z:-4.31 [[ 9.99551689e-01 2.99152745e-02 1.22362939e-03 3.40501715e+02] [-2.99152265e-02 9.99552438e-01 -5.75196159e-05 -2.13876689e+01] [-1.22480245e-03 2.08886790e-05 9.99999250e-01 -4.30550289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.310371743 meters Centerline goodness [0,1] 0.9978051839464883 Centerline is valid? [True, True] Translation: X:340.53, Y:-21.39, Z:-4.31 [[ 9.99627265e-01 2.72814757e-02 1.02613430e-03 3.40530521e+02] [-2.72814404e-02 9.99627791e-01 -4.83442406e-05 -2.13946597e+01] [-1.02707127e-03 2.03317992e-05 9.99999472e-01 -4.30551927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.340371743 meters Centerline goodness [0,1] 0.9978705192175202 Centerline is valid? [True, True] Translation: X:340.56, Y:-21.40, Z:-4.31 [[ 9.99663945e-01 2.59124728e-02 7.35377711e-04 3.40559183e+02] [-2.59124543e-02 9.99664215e-01 -3.47057609e-05 -2.13995532e+01] [-7.36030094e-04 1.56386566e-05 9.99999729e-01 -4.30575772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.370371743 meters Centerline goodness [0,1] 0.9983165682932912 Centerline is valid? [True, True] Translation: X:340.59, Y:-21.40, Z:-4.31 [[ 9.99707337e-01 2.41905823e-02 2.35929576e-04 3.40588205e+02] [-2.41905803e-02 9.99707365e-01 -1.12966658e-05 -2.14043698e+01] [-2.36133807e-04 5.58608633e-06 9.99999972e-01 -4.30620372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.400371743 meters Centerline goodness [0,1] 0.9990649156346106 Centerline is valid? [True, True] Translation: X:340.62, Y:-21.42, Z:-4.31 [[ 9.99796736e-01 2.01464717e-02 7.78928169e-04 3.40616471e+02] [-2.01464493e-02 9.99797039e-01 -3.65533191e-05 -2.14176390e+01] [-7.79506497e-04 2.08532522e-05 9.99999696e-01 -4.30622233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.430371743 meters Centerline goodness [0,1] 0.9992047547296166 Centerline is valid? [True, True] Translation: X:340.65, Y:-21.42, Z:-4.30 [[ 9.99883275e-01 1.52271580e-02 1.25296921e-03 3.40646599e+02] [-1.52270968e-02 9.99884059e-01 -5.84171947e-05 -2.14235800e+01] [-1.25371347e-03 3.93312925e-05 9.99999213e-01 -4.30459877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.460371743 meters Centerline goodness [0,1] 0.9990227877578177 Centerline is valid? [True, True] Translation: X:340.68, Y:-21.43, Z:-4.30 [[ 9.99916702e-01 1.28559707e-02 1.14631801e-03 3.40676777e+02] [-1.28559179e-02 9.99917358e-01 -5.34447948e-05 -2.14289969e+01] [-1.14691036e-03 3.87033727e-05 9.99999342e-01 -4.30473208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.490371743 meters Centerline goodness [0,1] 0.9994996247185389 Centerline is valid? [True, True] Translation: X:340.71, Y:-21.43, Z:-4.30 [[ 9.99945049e-01 1.04056241e-02 1.27368824e-03 3.40706829e+02] [-1.04055569e-02 9.99945859e-01 -5.93831785e-05 -2.14345456e+01] [-1.27423720e-03 4.61264798e-05 9.99999187e-01 -4.30474785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.520371743 meters Centerline goodness [0,1] 0.9994182785199344 Centerline is valid? [True, True] Translation: X:340.74, Y:-21.44, Z:-4.30 [[ 9.99983112e-01 5.67660097e-03 1.24544224e-03 3.40737248e+02] [-5.67653316e-03 9.99983887e-01 -5.79681732e-05 -2.14400825e+01] [-1.24575124e-03 5.08974001e-05 9.99999223e-01 -4.30472978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.550371743 meters Centerline goodness [0,1] 0.9993549058370617 Centerline is valid? [True, True] Translation: X:340.77, Y:-21.45, Z:-4.31 [[ 9.99993539e-01 3.43489659e-03 1.06021495e-03 3.40766986e+02] [-3.43484646e-03 9.99994100e-01 -4.90939614e-05 -2.14483760e+01] [-1.06037732e-03 4.54519687e-05 9.99999437e-01 -4.30525287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.580371743 meters Centerline goodness [0,1] 0.9997708333333334 Centerline is valid? [True, True] Translation: X:340.80, Y:-21.45, Z:-4.30 [[ 9.99998866e-01 -5.70660657e-04 1.39357807e-03 3.40797511e+02] [ 5.70751783e-04 9.99999835e-01 -6.49930378e-05 -2.14542059e+01] [-1.39354075e-03 6.57883513e-05 9.99999027e-01 -4.30482957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61037174300003 meters Centerline goodness [0,1] 0.9997496662216289 Centerline is valid? [True, True] Translation: X:340.83, Y:-21.46, Z:-4.30 [[ 9.99995172e-01 -2.53776564e-03 1.79298728e-03 3.40828288e+02] [ 2.53791975e-03 9.99996776e-01 -8.36834749e-05 -2.14554708e+01] [-1.79276913e-03 8.82335287e-05 9.99998389e-01 -4.30453149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.640371743 meters Centerline goodness [0,1] 0.9998547446618663 Centerline is valid? [True, True] Translation: X:340.86, Y:-21.46, Z:-4.30 [[ 9.99990201e-01 -4.09876498e-03 1.67297454e-03 3.40858117e+02] [ 4.09890137e-03 9.99991596e-01 -7.81057329e-05 -2.14640486e+01] [-1.67264034e-03 8.49623252e-05 9.99998598e-01 -4.30485376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.670371743 meters Centerline goodness [0,1] 0.9998341418916117 Centerline is valid? [True, True] Translation: X:340.89, Y:-21.47, Z:-4.30 [[ 9.99967620e-01 -7.87792539e-03 1.64236218e-03 3.40888688e+02] [ 7.87806211e-03 9.99968965e-01 -7.67955114e-05 -2.14650595e+01] [-1.64170622e-03 8.97316560e-05 9.99998648e-01 -4.30467159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.700371743 meters Centerline goodness [0,1] 0.9998551024632581 Centerline is valid? [True, True] Translation: X:340.92, Y:-21.47, Z:-4.30 [[ 9.99953659e-01 -9.46487541e-03 1.75934322e-03 3.40918848e+02] [ 9.46503475e-03 9.99955202e-01 -8.22654489e-05 -2.14685380e+01] [-1.75848577e-03 9.89138813e-05 9.99998449e-01 -4.30475609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.730371743 meters Centerline goodness [0,1] 0.999979195273166 Centerline is valid? [True, True] Translation: X:340.95, Y:-21.47, Z:-4.30 [[ 9.99922790e-01 -1.23385417e-02 1.47430505e-03 3.40949932e+02] [ 1.23386564e-02 9.99923874e-01 -6.86721199e-05 -2.14711328e+01] [-1.47334551e-03 8.68577612e-05 9.99998911e-01 -4.30449901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.760371743 meters Centerline goodness [0,1] 0.9999583550234253 Centerline is valid? [True, True] Translation: X:340.98, Y:-21.48, Z:-4.30 [[ 9.99912134e-01 -1.31323911e-02 1.80691178e-03 3.40979525e+02] [ 1.31325645e-02 9.99913761e-01 -8.41316692e-05 -2.14771963e+01] [-1.80565110e-03 1.07853662e-04 9.99998364e-01 -4.30468447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.790371743 meters Centerline goodness [0,1] 0.9999790996112528 Centerline is valid? [True, True] Translation: X:341.01, Y:-21.47, Z:-4.30 [[ 9.99901478e-01 -1.39102442e-02 1.88117521e-03 3.41009953e+02] [ 1.39104347e-02 9.99903241e-01 -8.82334468e-05 -2.14744516e+01] [-1.87976584e-03 1.14392719e-04 9.99998227e-01 -4.30433271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.820371743 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.04, Y:-21.48, Z:-4.30 [[ 9.99883881e-01 -1.51269250e-02 1.84392590e-03 3.41040174e+02] [ 1.51271100e-02 9.99885575e-01 -8.63968751e-05 -2.14775213e+01] [-1.84240799e-03 1.14280113e-04 9.99998296e-01 -4.30490995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.850371743 meters Centerline goodness [0,1] 0.9998751508593783 Centerline is valid? [True, True] Translation: X:341.07, Y:-21.48, Z:-4.31 [[ 9.99881063e-01 -1.53676945e-02 1.30134713e-03 3.41070995e+02] [ 1.53677869e-02 9.99881907e-01 -6.10617660e-05 -2.14788050e+01] [-1.30025507e-03 8.10533290e-05 9.99999151e-01 -4.30528440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880371743 meters Centerline goodness [0,1] 0.999874851386021 Centerline is valid? [True, True] Translation: X:341.10, Y:-21.48, Z:-4.31 [[ 9.99862309e-01 -1.65741492e-02 8.13394943e-04 3.41101377e+02] [ 1.65741857e-02 9.99862638e-01 -3.81660899e-05 -2.14801426e+01] [-8.12650643e-04 5.16421936e-05 9.99999668e-01 -4.30560317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.910371743 meters Centerline goodness [0,1] 0.999811770611118 Centerline is valid? [True, True] Translation: X:341.13, Y:-21.48, Z:-4.31 [[ 9.99849588e-01 -1.73266550e-02 7.66848808e-04 3.41132283e+02] [ 1.73266877e-02 9.99849881e-01 -3.59820537e-05 -2.14811587e+01] [-7.66110241e-04 4.92635914e-05 9.99999705e-01 -4.30572125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940371743 meters Centerline goodness [0,1] 0.9997699274225597 Centerline is valid? [True, True] Translation: X:341.16, Y:-21.48, Z:-4.31 [[ 9.99845030e-01 -1.76022009e-02 -2.81520611e-04 3.41162097e+02] [ 1.76022052e-02 9.99845069e-01 1.30828783e-05 -2.14835730e+01] [ 2.81246707e-04 -1.80362344e-05 9.99999960e-01 -4.31035660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.970371743 meters Centerline goodness [0,1] 0.999750499001996 Centerline is valid? [True, True] Translation: X:341.19, Y:-21.49, Z:-4.31 [[ 9.99808747e-01 -1.95429305e-02 7.36888765e-04 3.41191746e+02] [ 1.95429610e-02 9.99809018e-01 -3.41241771e-05 -2.14851602e+01] [-7.36081146e-04 4.85186391e-05 9.99999728e-01 -4.30636570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000371743 meters Centerline goodness [0,1] 0.9992716375668532 Centerline is valid? [True, True] Translation: X:341.22, Y:-21.48, Z:-4.31 [[ 9.99761696e-01 -2.17970095e-02 1.20053619e-03 3.41222569e+02] [ 2.17970929e-02 9.99762414e-01 -5.63986093e-05 -2.14832793e+01] [-1.19902164e-03 8.25533682e-05 9.99999278e-01 -4.30631671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.030371743 meters Centerline goodness [0,1] 0.9993542070287273 Centerline is valid? [True, True] Translation: X:341.25, Y:-21.49, Z:-4.31 [[ 9.99744306e-01 -2.25808015e-02 1.19622722e-03 3.41252023e+02] [ 2.25808850e-02 9.99745018e-01 -5.62948611e-05 -2.14874078e+01] [-1.19465102e-03 8.32923360e-05 9.99999283e-01 -4.30611755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060371743 meters Centerline goodness [0,1] 0.9993732372297086 Centerline is valid? [True, True] Translation: X:341.28, Y:-21.48, Z:-4.31 [[ 9.99721616e-01 -2.35570330e-02 1.32571767e-03 3.41283294e+02] [ 2.35571362e-02 9.99722490e-01 -6.22553917e-05 -2.14797304e+01] [-1.32388322e-03 9.34681724e-05 9.99999119e-01 -4.30602596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.090371743 meters Centerline goodness [0,1] 0.9991018089150687 Centerline is valid? [True, True] Translation: X:341.31, Y:-21.48, Z:-4.31 [[ 9.99686255e-01 -2.49987022e-02 1.56706009e-03 3.41313170e+02] [ 2.49988474e-02 9.99687477e-01 -7.31657531e-05 -2.14825960e+01] [-1.56474130e-03 1.12317494e-04 9.99998769e-01 -4.30629627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120371743 meters Centerline goodness [0,1] 0.9987701671738859 Centerline is valid? [True, True] Translation: X:341.34, Y:-21.48, Z:-4.31 [[ 9.99660367e-01 -2.60192707e-02 1.46583164e-03 3.41343751e+02] [ 2.60193997e-02 9.99661436e-01 -6.89570338e-05 -2.14809875e+01] [-1.46354115e-03 1.07073673e-04 9.99998923e-01 -4.30686091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.150371743 meters Centerline goodness [0,1] 0.9986904464953854 Centerline is valid? [True, True] Translation: X:341.37, Y:-21.48, Z:-4.31 [[ 9.99624767e-01 -2.73628790e-02 1.26419269e-03 3.41373656e+02] [ 2.73629760e-02 9.99625562e-01 -5.94713440e-05 -2.14796094e+01] [-1.26209202e-03 9.40411025e-05 9.99999199e-01 -4.30700479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180371743 meters Centerline goodness [0,1] 0.9986640225446196 Centerline is valid? [True, True] Translation: X:341.40, Y:-21.48, Z:-4.31 [[ 9.99601195e-01 -2.82276640e-02 8.06008935e-04 3.41403770e+02] [ 2.82277036e-02 9.99601518e-01 -3.78115064e-05 -2.14825127e+01] [-8.04620424e-04 6.05482083e-05 9.99999674e-01 -4.30758490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.210371743 meters Centerline goodness [0,1] 0.9983994013345251 Centerline is valid? [True, True] Translation: X:341.43, Y:-21.48, Z:-4.31 [[ 9.99581832e-01 -2.88938275e-02 1.14348053e-03 3.41434868e+02] [ 2.88939079e-02 9.99582482e-01 -5.38133269e-05 -2.14790955e+01] [-1.14144823e-03 8.68304450e-05 9.99999345e-01 -4.30801710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240371743 meters Centerline goodness [0,1] 0.9972236718505375 Centerline is valid? [True, True] Translation: X:341.47, Y:-21.47, Z:-4.31 [[ 9.99553658e-01 -2.98596414e-02 9.41200488e-04 3.41466269e+02] [ 2.98596960e-02 9.99554099e-01 -4.40128416e-05 -2.14707959e+01] [-9.39466598e-04 7.20971573e-05 9.99999556e-01 -4.30862956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.270371743 meters Centerline goodness [0,1] 0.9970228181212525 Centerline is valid? [True, True] Translation: X:341.50, Y:-21.47, Z:-4.31 [[ 9.99524582e-01 -3.08185078e-02 9.11036745e-04 3.41497245e+02] [ 3.08185595e-02 9.99524994e-01 -4.28136387e-05 -2.14668363e+01] [-9.09284545e-04 7.08701245e-05 9.99999584e-01 -4.30936056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300371743 meters Centerline goodness [0,1] 0.9960430680800549 Centerline is valid? [True, True] Translation: X:341.53, Y:-21.46, Z:-4.31 [[ 9.99521450e-01 -3.09144617e-02 1.07991943e-03 3.41528954e+02] [ 3.09145344e-02 9.99522030e-01 -5.06889157e-05 -2.14643001e+01] [-1.07783624e-03 8.40498648e-05 9.99999416e-01 -4.30927478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.330371743 meters Centerline goodness [0,1] 0.9959302082898527 Centerline is valid? [True, True] Translation: X:341.56, Y:-21.46, Z:-4.31 [[ 9.99515845e-01 -3.10849028e-02 1.34303870e-03 3.41560098e+02] [ 3.10850155e-02 9.99516742e-01 -6.31496861e-05 -2.14630588e+01] [-1.34042667e-03 1.04867491e-04 9.99999096e-01 -4.30976074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36037174300003 meters Centerline goodness [0,1] 0.9953581315959285 Centerline is valid? [True, True] Translation: X:341.59, Y:-21.46, Z:-4.31 [[ 9.99536354e-01 -3.04099615e-02 1.52029346e-03 3.41590476e+02] [ 3.04101051e-02 9.99537503e-01 -7.13975063e-05 -2.14596039e+01] [-1.51741913e-03 1.17596687e-04 9.99998842e-01 -4.30972703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.390371743 meters Centerline goodness [0,1] 0.9943015202878356 Centerline is valid? [True, True] Translation: X:341.62, Y:-21.46, Z:-4.31 [[ 9.99537038e-01 -3.03783732e-02 1.69242990e-03 3.41621640e+02] [ 3.03785517e-02 9.99538462e-01 -7.98269288e-05 -2.14573426e+01] [-1.68922377e-03 1.31203541e-04 9.99998565e-01 -4.31050548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.420371743 meters Centerline goodness [0,1] 0.9939859672569329 Centerline is valid? [True, True] Translation: X:341.65, Y:-21.45, Z:-4.31 [[ 9.99559855e-01 -2.96490421e-02 1.01480624e-03 3.41653674e+02] [ 2.96491058e-02 9.99560367e-01 -4.77979647e-05 -2.14458115e+01] [-1.01294294e-03 7.78650244e-05 9.99999484e-01 -4.31030819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.450371743 meters Centerline goodness [0,1] 0.9924761745527504 Centerline is valid? [True, True] Translation: X:341.69, Y:-21.44, Z:-4.31 [[ 9.99569240e-01 -2.93360244e-02 8.55373815e-04 3.41685363e+02] [ 2.93360695e-02 9.99569604e-01 -4.02829226e-05 -2.14440860e+01] [-8.53823925e-04 6.53588761e-05 9.99999633e-01 -4.31107282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.480371743 meters Centerline goodness [0,1] 0.9917288050629739 Centerline is valid? [True, True] Translation: X:341.72, Y:-21.44, Z:-4.31 [[ 9.99586796e-01 -2.87342536e-02 7.61605983e-04 3.41715999e+02] [ 2.87342893e-02 9.99587084e-01 -3.59792077e-05 -2.14429246e+01] [-7.60257669e-04 5.78485476e-05 9.99999709e-01 -4.31214399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.510371743 meters Centerline goodness [0,1] 0.9905020920502092 Centerline is valid? [True, True] Translation: X:341.75, Y:-21.44, Z:-4.31 [[ 9.99643095e-01 -2.67095234e-02 5.33241099e-04 3.41747200e+02] [ 2.67095406e-02 9.99643236e-01 -2.51643168e-05 -2.14359263e+01] [-5.32378731e-04 3.93979603e-05 9.99999858e-01 -4.31289887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.540371743 meters Centerline goodness [0,1] 0.9898500384783377 Centerline is valid? [True, True] Translation: X:341.78, Y:-21.43, Z:-4.31 [[ 9.99671429e-01 -2.56202471e-02 7.98556809e-04 3.41778600e+02] [ 2.56202853e-02 9.99671746e-01 -3.76508832e-05 -2.14322711e+01] [-7.97330054e-04 5.80977655e-05 9.99999680e-01 -4.31331068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.570371743 meters Centerline goodness [0,1] 0.98808558418065 Centerline is valid? [True, True] Translation: X:341.81, Y:-21.43, Z:-4.31 [[ 9.99748620e-01 -2.24206182e-02 1.16608708e-04 3.41809092e+02] [ 2.24206190e-02 9.99748626e-01 -5.53408885e-06 -2.14256073e+01] [-1.16455318e-04 8.14713709e-06 9.99999993e-01 -4.31438925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.600371743 meters Centerline goodness [0,1] 0.9875347708782131 Centerline is valid? [True, True] Translation: X:341.84, Y:-21.42, Z:-4.31 [[ 9.99788364e-01 -2.05702068e-02 -3.04903413e-04 3.41840424e+02] [ 2.05702122e-02 9.99788411e-01 1.47272312e-05 -2.14198236e+01] [ 3.04535956e-04 -2.09960423e-05 9.99999953e-01 -4.31498201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.630371743 meters Centerline goodness [0,1] 0.9862937120851364 Centerline is valid? [True, True] Translation: X:341.87, Y:-21.42, Z:-4.32 [[ 9.99826634e-01 -1.86152153e-02 -4.19588836e-04 3.41870722e+02] [ 1.86152254e-02 9.99826721e-01 2.00589292e-05 -2.14187437e+01] [ 4.19142729e-04 -2.78661924e-05 9.99999912e-01 -4.31618592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.660371743 meters Centerline goodness [0,1] 0.984089150933534 Centerline is valid? [True, True] Translation: X:341.90, Y:-21.41, Z:-4.32 [[ 9.99889678e-01 -1.48526796e-02 -1.70913943e-04 3.41902258e+02] [ 1.48526812e-02 9.99889693e-01 8.22900218e-06 -2.14094168e+01] [ 1.70772868e-04 -1.07666247e-05 9.99999985e-01 -4.31742945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.690371743 meters Centerline goodness [0,1] 0.9820777260721921 Centerline is valid? [True, True] Translation: X:341.93, Y:-21.40, Z:-4.32 [[ 9.99938832e-01 -1.10576667e-02 -2.45353651e-04 3.41933790e+02] [ 1.10576699e-02 9.99938862e-01 1.17884113e-05 -2.13964461e+01] [ 2.45208298e-04 -1.45007299e-05 9.99999970e-01 -4.31839806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.720371743 meters Centerline goodness [0,1] 0.9815542914505605 Centerline is valid? [True, True] Translation: X:341.97, Y:-21.39, Z:-4.32 [[ 9.99955869e-01 -9.37921754e-03 -5.38330975e-04 3.41965086e+02] [ 9.37923282e-03 9.99956014e-01 2.58657259e-05 -2.13916269e+01] [ 5.38064695e-04 -3.09137160e-05 9.99999855e-01 -4.31922356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.750371743 meters Centerline goodness [0,1] 0.9790303080835453 Centerline is valid? [True, True] Translation: X:342.00, Y:-21.39, Z:-4.32 [[ 9.99969204e-01 -7.82858670e-03 -5.52260909e-04 3.41995657e+02] [ 7.82860248e-03 9.99969356e-01 2.64123968e-05 -2.13915425e+01] [ 5.52037214e-04 -3.07350145e-05 9.99999847e-01 -4.32076126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.780371743 meters Centerline goodness [0,1] 0.9774073765020027 Centerline is valid? [True, True] Translation: X:342.03, Y:-21.39, Z:-4.32 [[ 9.99978790e-01 -6.39878204e-03 -1.21453839e-03 3.42027209e+02] [ 6.39885731e-03 9.99979525e-01 5.80982764e-05 -2.13880972e+01] [ 1.21414177e-03 -6.58687020e-05 9.99999261e-01 -4.32188369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.810371743 meters Centerline goodness [0,1] 0.9756649688737974 Centerline is valid? [True, True] Translation: X:342.06, Y:-21.38, Z:-4.32 [[ 9.99991622e-01 -3.74659853e-03 -1.64893454e-03 3.42057753e+02] [ 3.74673314e-03 9.99992978e-01 7.85549330e-05 -2.13813784e+01] [ 1.64862865e-03 -8.47323926e-05 9.99998637e-01 -4.32327462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.840371743 meters Centerline goodness [0,1] 0.9732129767315224 Centerline is valid? [True, True] Translation: X:342.09, Y:-21.37, Z:-4.32 [[ 9.99998876e-01 -1.42946036e-03 -4.51417393e-04 3.42089202e+02] [ 1.42947023e-03 9.99998978e-01 2.15448175e-05 -2.13722696e+01] [ 4.51386134e-04 -2.21900810e-05 9.99999898e-01 -4.32398227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.870371743 meters Centerline goodness [0,1] 0.9714142006874005 Centerline is valid? [True, True] Translation: X:342.12, Y:-21.37, Z:-4.32 [[ 9.99999893e-01 -3.51669459e-04 -2.99659532e-04 3.42119370e+02] [ 3.51673790e-04 9.99999938e-01 1.44012823e-05 -2.13704098e+01] [ 2.99654449e-04 -1.45066632e-05 9.99999955e-01 -4.32480482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.900371743 meters Centerline goodness [0,1] 0.9716682394883087 Centerline is valid? [True, True] Translation: X:342.15, Y:-21.37, Z:-4.33 [[ 9.99999913e-01 3.69449682e-04 -1.93116334e-04 3.42150149e+02] [-3.69447912e-04 9.99999932e-01 9.20453799e-06 -2.13684600e+01] [ 1.93119721e-04 -9.13319076e-06 9.99999981e-01 -4.32580743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.930371743 meters Centerline goodness [0,1] 0.971263646630694 Centerline is valid? [True, True] Translation: X:342.18, Y:-21.37, Z:-4.33 [[ 9.99999460e-01 1.03862922e-03 -3.83102142e-05 3.42180198e+02] [-1.03862915e-03 9.99999461e-01 1.82598651e-06 -2.13669802e+01] [ 3.83120900e-05 -1.78619542e-06 9.99999999e-01 -4.32717301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.960371743 meters Centerline goodness [0,1] 0.9709616593337523 Centerline is valid? [True, True] Translation: X:342.21, Y:-21.36, Z:-4.33 [[ 9.99998044e-01 1.81367710e-03 -7.88946493e-04 3.42210727e+02] [-1.81364799e-03 9.99998355e-01 3.76036963e-05 -2.13581491e+01] [ 7.89013395e-04 -3.61727515e-05 9.99999688e-01 -4.32904478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.990371743 meters Centerline goodness [0,1] 0.9699167955847305 Centerline is valid? [True, True] Translation: X:342.24, Y:-21.36, Z:-4.33 [[ 9.99996824e-01 2.31770114e-03 -9.90299880e-04 3.42240007e+02] [-2.31765580e-03 9.99997313e-01 4.69244182e-05 -2.13554386e+01] [ 9.90405976e-04 -4.46290949e-05 9.99999509e-01 -4.33112913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.020371743 meters Centerline goodness [0,1] 0.9686226142943747 Centerline is valid? [True, True] Translation: X:342.27, Y:-21.36, Z:-4.33 [[ 9.99994569e-01 3.09541155e-03 -1.13159869e-03 3.42269504e+02] [-3.09535270e-03 9.99995208e-01 5.37581409e-05 -2.13571430e+01] [ 1.13175967e-03 -5.02551519e-05 9.99999358e-01 -4.33202830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.050371743 meters Centerline goodness [0,1] 0.9698242534428354 Centerline is valid? [True, True] Translation: X:342.30, Y:-21.35, Z:-4.33 [[ 9.99994211e-01 3.34407357e-03 -6.29325606e-04 3.42299381e+02] [-3.34405554e-03 9.99994408e-01 2.97017220e-05 -2.13513713e+01] [ 6.29421412e-04 -2.75970502e-05 9.99999802e-01 -4.33177403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.080371743 meters Centerline goodness [0,1] 0.9698242534428354 Centerline is valid? [True, True] Translation: X:342.33, Y:-21.35, Z:-4.33 [[ 9.99994329e-01 3.30839719e-03 -6.29326680e-04 3.42328536e+02] [-3.30837917e-03 9.99994527e-01 2.96790466e-05 -2.13527277e+01] [ 6.29421426e-04 -2.75968270e-05 9.99999802e-01 -4.33196847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11037174300003 meters Centerline goodness [0,1] 0.9706104626752876 Centerline is valid? [True, True] Translation: X:342.36, Y:-21.35, Z:-4.33 [[ 9.99994718e-01 3.23609311e-03 3.04273837e-04 3.42358784e+02] [-3.23608879e-03 9.99994764e-01 -1.46993450e-05 -2.13463137e+01] [-3.04319812e-04 1.37146102e-05 9.99999954e-01 -4.33181257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.140371743 meters Centerline goodness [0,1] 0.9685599013316053 Centerline is valid? [True, True] Translation: X:342.39, Y:-21.35, Z:-4.33 [[ 9.99994462e-01 3.29526962e-03 4.65890000e-04 3.42388660e+02] [-3.29525961e-03 9.99994570e-01 -2.22434893e-05 -2.13484655e+01] [-4.65960769e-04 2.07081376e-05 9.99999891e-01 -4.33282161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.170371743 meters Centerline goodness [0,1] 0.9693201529812535 Centerline is valid? [True, True] Translation: X:342.42, Y:-21.35, Z:-4.33 [[ 9.99995486e-01 3.00406810e-03 -5.27054648e-05 3.42418877e+02] [-3.00406798e-03 9.99995488e-01 2.50259798e-06 -2.13455890e+01] [ 5.27127449e-05 -2.34425589e-06 9.99999999e-01 -4.33349999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.200371743 meters Centerline goodness [0,1] 0.9704949704949705 Centerline is valid? [True, True] Translation: X:342.45, Y:-21.34, Z:-4.33 [[ 9.99996929e-01 2.28533146e-03 -9.58858608e-04 3.42448339e+02] [-2.28528912e-03 9.99997388e-01 4.52518613e-05 -2.13447234e+01] [ 9.58959519e-04 -4.30604532e-05 9.99999539e-01 -4.33415321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.230371743 meters Centerline goodness [0,1] 0.9696132596685083 Centerline is valid? [True, True] Translation: X:342.48, Y:-21.35, Z:-4.34 [[ 9.99997817e-01 1.77772781e-03 -1.09805372e-03 3.42477665e+02] [-1.77767199e-03 9.99998419e-01 5.18174329e-05 -2.13450821e+01] [ 1.09814410e-03 -4.98653404e-05 9.99999396e-01 -4.33529694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.260371743 meters Centerline goodness [0,1] 0.9686875416389074 Centerline is valid? [True, True] Translation: X:342.51, Y:-21.35, Z:-4.34 [[ 9.99997254e-01 1.08688787e-03 -2.07640510e-03 3.42506725e+02] [-1.08668613e-03 9.99999405e-01 9.82851485e-05 -2.13480707e+01] [ 2.07651069e-03 -9.60284779e-05 9.99997839e-01 -4.33712132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.290371743 meters Centerline goodness [0,1] 0.969346491503761 Centerline is valid? [True, True] Translation: X:342.54, Y:-21.34, Z:-4.34 [[ 9.99996475e-01 3.10158223e-04 -2.63702085e-03 3.42536857e+02] [-3.09830181e-04 9.99999944e-01 1.24806492e-04 -2.13448122e+01] [ 2.63705942e-03 -1.23989023e-04 9.99996515e-01 -4.33747234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.320371743 meters Centerline goodness [0,1] 0.9690572524685017 Centerline is valid? [True, True] Translation: X:342.57, Y:-21.35, Z:-4.34 [[ 9.99995705e-01 2.52936806e-04 -2.92003060e-03 3.42565943e+02] [-2.52534441e-04 9.99999959e-01 1.38162654e-04 -2.13468886e+01] [ 2.92006543e-03 -1.37424653e-04 9.99995727e-01 -4.33825150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.350371743 meters Centerline goodness [0,1] 0.9706823925863521 Centerline is valid? [True, True] Translation: X:342.60, Y:-21.35, Z:-4.34 [[ 9.99996610e-01 3.70908689e-04 -2.57745170e-03 3.42595713e+02] [-3.70596169e-04 9.99999924e-01 1.21728418e-04 -2.13460373e+01] [ 2.57749666e-03 -1.20772811e-04 9.99996671e-01 -4.33796265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380371743 meters Centerline goodness [0,1] 0.9716951528210707 Centerline is valid? [True, True] Translation: X:342.63, Y:-21.34, Z:-4.34 [[ 9.99995560e-01 2.04111413e-03 -2.17092772e-03 3.42625622e+02] [-2.04089660e-03 9.99997912e-01 1.02411274e-04 -2.13444412e+01] [ 2.17113222e-03 -9.79801803e-05 9.99997638e-01 -4.33747400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.410371743 meters Centerline goodness [0,1] 0.972628389892912 Centerline is valid? [True, True] Translation: X:342.66, Y:-21.34, Z:-4.34 [[ 9.99993925e-01 2.65237843e-03 -2.26167579e-03 3.42655051e+02] [-2.65214408e-03 9.99996477e-01 1.06612430e-04 -2.13426698e+01] [ 2.26195060e-03 -1.00613492e-04 9.99997437e-01 -4.33653825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440371743 meters Centerline goodness [0,1] 0.9729894608410291 Centerline is valid? [True, True] Translation: X:342.68, Y:-21.34, Z:-4.34 [[ 9.99982284e-01 5.50196606e-03 -2.27152408e-03 3.42683520e+02] [-5.50173755e-03 9.99984860e-01 1.06832933e-04 -2.13417140e+01] [ 2.27207748e-03 -9.43337108e-05 9.99997414e-01 -4.33711069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.470371743 meters Centerline goodness [0,1] 0.9728347782173218 Centerline is valid? [True, True] Translation: X:342.71, Y:-21.34, Z:-4.34 [[ 9.99967999e-01 7.69118396e-03 -2.20168156e-03 3.42712457e+02] [-7.69097486e-03 9.99970419e-01 1.03421876e-04 -2.13420268e+01] [ 2.20241186e-03 -8.64854890e-05 9.99997571e-01 -4.33749842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500371743 meters Centerline goodness [0,1] 0.974075325114001 Centerline is valid? [True, True] Translation: X:342.74, Y:-21.34, Z:-4.34 [[ 9.99948059e-01 9.72159548e-03 -3.06091035e-03 3.42741648e+02] [-9.72120146e-03 9.99952738e-01 1.43580725e-04 -2.13410261e+01] [ 3.06216152e-03 -1.13817542e-04 9.99995305e-01 -4.33762416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.530371743 meters Centerline goodness [0,1] 0.9745423942772985 Centerline is valid? [True, True] Translation: X:342.77, Y:-21.34, Z:-4.34 [[ 9.99878683e-01 1.52553816e-02 -3.14527471e-03 3.42770418e+02] [-1.52549930e-02 9.99883625e-01 1.47505705e-04 -2.13402694e+01] [ 3.14715893e-03 -9.95066665e-05 9.99995043e-01 -4.33855909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560371743 meters Centerline goodness [0,1] 0.9755170603674541 Centerline is valid? [True, True] Translation: X:342.80, Y:-21.34, Z:-4.34 [[ 9.99826720e-01 1.83743960e-02 -2.98534028e-03 3.42798348e+02] [-1.83740613e-02 9.99831173e-01 1.39499441e-04 -2.13402085e+01] [ 2.98739949e-03 -8.46224430e-05 9.99995534e-01 -4.33840860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.590371743 meters Centerline goodness [0,1] 0.9774537485776897 Centerline is valid? [True, True] Translation: X:342.83, Y:-21.34, Z:-4.34 [[ 9.99716949e-01 2.36243925e-02 -2.81233098e-03 3.42828162e+02] [-2.36241156e-02 9.99720903e-01 1.31633070e-04 -2.13381796e+01] [ 2.81465582e-03 -6.51569789e-05 9.99996037e-01 -4.33781741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620371743 meters Centerline goodness [0,1] 0.9788848147679858 Centerline is valid? [True, True] Translation: X:342.86, Y:-21.34, Z:-4.34 [[ 9.99664659e-01 2.57344911e-02 -2.88188089e-03 3.42857298e+02] [-2.57342105e-02 9.99668811e-01 1.34432304e-04 -2.13369512e+01] [ 2.88438599e-03 -6.02242940e-05 9.99995838e-01 -4.33648766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.650371743 meters Centerline goodness [0,1] 0.9784998315363881 Centerline is valid? [True, True] Translation: X:342.89, Y:-21.34, Z:-4.34 [[ 9.99628871e-01 2.71067065e-02 -2.71066619e-03 3.42885382e+02] [-2.71064643e-02 9.99632544e-01 1.26055679e-04 -2.13390784e+01] [ 2.71308710e-03 -5.25323198e-05 9.99996318e-01 -4.33696580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680371743 meters Centerline goodness [0,1] 0.9795660417105541 Centerline is valid? [True, True] Translation: X:342.91, Y:-21.34, Z:-4.34 [[ 9.99572148e-01 2.91871812e-02 -1.90530489e-03 3.42914618e+02] [-2.91870654e-02 9.99573963e-01 8.85753704e-05 -2.13409422e+01] [ 1.90707843e-03 -3.29272148e-05 9.99998181e-01 -4.33664739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.710371743 meters Centerline goodness [0,1] 0.9794031105506515 Centerline is valid? [True, True] Translation: X:342.94, Y:-21.34, Z:-4.34 [[ 9.99542073e-01 3.02022121e-02 -1.86316340e-03 3.42943842e+02] [-3.02021036e-02 9.99543809e-01 8.63346199e-05 -2.13417027e+01] [ 1.86492093e-03 -3.00236311e-05 9.99998261e-01 -4.33560415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740371743 meters Centerline goodness [0,1] 0.9806340251757673 Centerline is valid? [True, True] Translation: X:342.97, Y:-21.35, Z:-4.34 [[ 9.99507153e-01 3.13353423e-02 -1.88350858e-03 3.42972684e+02] [-3.13352337e-02 9.99508927e-01 8.71457590e-05 -2.13454893e+01] [ 1.88531438e-03 -2.80826279e-05 9.99998222e-01 -4.33583222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.770371743 meters Centerline goodness [0,1] 0.9794447130036361 Centerline is valid? [True, True] Translation: X:343.00, Y:-21.35, Z:-4.34 [[ 9.99482741e-01 3.21059129e-02 -1.86006584e-03 3.43001578e+02] [-3.21058085e-02 9.99484472e-01 8.59215427e-05 -2.13479419e+01] [ 1.86186551e-03 -2.61581814e-05 9.99998266e-01 -4.33570254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800371743 meters Centerline goodness [0,1] 0.9786309536304288 Centerline is valid? [True, True] Translation: X:343.03, Y:-21.35, Z:-4.34 [[ 9.99470116e-01 3.25038661e-02 -1.72813166e-03 3.43030087e+02] [-3.25037769e-02 9.99471609e-01 7.96596980e-05 -2.13501034e+01] [ 1.72980778e-03 -2.34466817e-05 9.99998504e-01 -4.33549931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.830371743 meters Centerline goodness [0,1] 0.9791347425428746 Centerline is valid? [True, True] Translation: X:343.06, Y:-21.35, Z:-4.33 [[ 9.99440179e-01 3.34242743e-02 -1.46535777e-03 3.43058322e+02] [-3.34242115e-02 9.99441253e-01 6.73673365e-05 -2.13546860e+01] [ 1.46679071e-03 -1.83511949e-05 9.99998924e-01 -4.33468076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86037174300003 meters Centerline goodness [0,1] 0.9786232264844982 Centerline is valid? [True, True] Translation: X:343.08, Y:-21.36, Z:-4.34 [[ 9.99443733e-01 3.33202542e-02 -1.40904010e-03 3.43084680e+02] [-3.33201968e-02 9.99444726e-01 6.42206856e-05 -2.13583052e+01] [ 1.41039754e-03 -1.72354685e-05 9.99999005e-01 -4.33533187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.890371743 meters Centerline goodness [0,1] 0.9781433361274099 Centerline is valid? [True, True] Translation: X:343.11, Y:-21.36, Z:-4.33 [[ 9.99442672e-01 3.33385557e-02 -1.69902629e-03 3.43112844e+02] [-3.33384721e-02 9.99444116e-01 7.75517550e-05 -2.13640724e+01] [ 1.70066729e-03 -2.08655928e-05 9.99998554e-01 -4.33479151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.920371743 meters Centerline goodness [0,1] 0.978914273737162 Centerline is valid? [True, True] Translation: X:343.14, Y:-21.37, Z:-4.33 [[ 9.99428756e-01 3.37533758e-02 -1.69445229e-03 3.43140962e+02] [-3.37532935e-02 9.99430192e-01 7.71307036e-05 -2.13679587e+01] [ 1.69609020e-03 -1.98932976e-05 9.99998561e-01 -4.33489938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.950371743 meters Centerline goodness [0,1] 0.9791627281702271 Centerline is valid? [True, True] Translation: X:343.17, Y:-21.37, Z:-4.33 [[ 9.99424556e-01 3.38543808e-02 -2.10643382e-03 3.43168553e+02] [-3.38542540e-02 9.99426776e-01 9.58449125e-05 -2.13729756e+01] [ 2.10847114e-03 -2.44780135e-05 9.99997777e-01 -4.33450007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.980371743 meters Centerline goodness [0,1] 0.9780481685900653 Centerline is valid? [True, True] Translation: X:343.20, Y:-21.38, Z:-4.33 [[ 9.99399924e-01 3.45954305e-02 -1.71717740e-03 3.43195797e+02] [-3.45953479e-02 9.99401399e-01 7.77939527e-05 -2.13771446e+01] [ 1.71884081e-03 -1.83409209e-05 9.99998523e-01 -4.33469754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.010371743 meters Centerline goodness [0,1] 0.9785456140717375 Centerline is valid? [True, True] Translation: X:343.22, Y:-21.38, Z:-4.33 [[ 9.99378777e-01 3.51988607e-02 -1.76074319e-03 3.43224182e+02] [-3.51987745e-02 9.99380328e-01 7.99203061e-05 -2.13802364e+01] [ 1.76246522e-03 -1.78946551e-05 9.99998447e-01 -4.33346500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.040371743 meters Centerline goodness [0,1] 0.9788498697807275 Centerline is valid? [True, True] Translation: X:343.25, Y:-21.39, Z:-4.33 [[ 9.99329180e-01 3.65653926e-02 -2.04032897e-03 3.43251879e+02] [-3.65652806e-02 9.99331262e-01 9.22034003e-05 -2.13871547e+01] [ 2.04233598e-03 -1.75363472e-05 9.99997914e-01 -4.33292959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.070371743 meters Centerline goodness [0,1] 0.9804680148058303 Centerline is valid? [True, True] Translation: X:343.28, Y:-21.39, Z:-4.33 [[ 9.99289066e-01 3.76505871e-02 -1.94806149e-03 3.43280649e+02] [-3.76504868e-02 9.99290965e-01 8.81274601e-05 -2.13918992e+01] [ 1.94999830e-03 -1.47193440e-05 9.99998099e-01 -4.33247914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.100371743 meters Centerline goodness [0,1] 0.9802772526780088 Centerline is valid? [True, True] Translation: X:343.31, Y:-21.40, Z:-4.33 [[ 9.99234085e-01 3.91111140e-02 -1.25027563e-03 3.43308875e+02] [-3.91110742e-02 9.99234868e-01 5.62826354e-05 -2.13990642e+01] [ 1.25152028e-03 -7.33990498e-06 9.99999217e-01 -4.33104556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.130371743 meters Centerline goodness [0,1] 0.9816550140874465 Centerline is valid? [True, True] Translation: X:343.34, Y:-21.40, Z:-4.33 [[ 9.99196315e-01 4.00794322e-02 -6.03379535e-04 3.43336318e+02] [-4.00794234e-02 9.99196497e-01 2.67358563e-05 -2.14032109e+01] [ 6.03966276e-04 -2.53126520e-06 9.99999818e-01 -4.33052647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.160371743 meters Centerline goodness [0,1] 0.9813607296362302 Centerline is valid? [True, True] Translation: X:343.36, Y:-21.41, Z:-4.33 [[ 9.99151051e-01 4.11928083e-02 5.73736190e-04 3.43363769e+02] [-4.11927999e-02 9.99151216e-01 -2.65400953e-05 -2.14104644e+01] [-5.74342473e-04 2.88376407e-06 9.99999835e-01 -4.32858208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.190371743 meters Centerline goodness [0,1] 0.9825179222739278 Centerline is valid? [True, True] Translation: X:343.39, Y:-21.41, Z:-4.33 [[ 9.99137200e-01 4.15147377e-02 1.17556190e-03 3.43392136e+02] [-4.15147035e-02 9.99137892e-01 -5.35522914e-05 -2.14149783e+01] [-1.17677165e-03 4.70298263e-06 9.99999308e-01 -4.32799872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.220371743 meters Centerline goodness [0,1] 0.9831581586810707 Centerline is valid? [True, True] Translation: X:343.42, Y:-21.42, Z:-4.33 [[ 9.99143421e-01 4.13718701e-02 8.90235345e-04 3.43420244e+02] [-4.13718501e-02 9.99143818e-01 -4.08028545e-05 -2.14194262e+01] [-8.91161232e-04 3.93722039e-06 9.99999603e-01 -4.32780330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.250371743 meters Centerline goodness [0,1] 0.9839845715244004 Centerline is valid? [True, True] Translation: X:343.45, Y:-21.43, Z:-4.33 [[ 9.99193229e-01 4.01569345e-02 5.58420011e-04 3.43448619e+02] [-4.01569265e-02 9.99193385e-01 -2.55812974e-05 -2.14280987e+01] [-5.58996847e-04 3.13622789e-06 9.99999844e-01 -4.32732955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.280371743 meters Centerline goodness [0,1] 0.9845166952233692 Centerline is valid? [True, True] Translation: X:343.48, Y:-21.43, Z:-4.33 [[ 9.99241326e-01 3.89455171e-02 1.37806968e-04 3.43477555e+02] [-3.89455166e-02 9.99241336e-01 -6.67168151e-06 -2.14326123e+01] [-1.37962250e-04 1.29965633e-06 9.99999990e-01 -4.32683136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.310371743 meters Centerline goodness [0,1] 0.9851105209226458 Centerline is valid? [True, True] Translation: X:343.51, Y:-21.44, Z:-4.33 [[ 9.99352020e-01 3.59892871e-02 5.57195164e-04 3.43506414e+02] [-3.59892785e-02 9.99352176e-01 -2.54636249e-05 -2.14418019e+01] [-5.57750618e-04 5.39407307e-06 9.99999844e-01 -4.32674172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.340371743 meters Centerline goodness [0,1] 0.9854646312979646 Centerline is valid? [True, True] Translation: X:343.53, Y:-21.45, Z:-4.33 [[ 9.99437441e-01 3.35380042e-02 5.90278257e-05 3.43533585e+02] [-3.35380040e-02 9.99437443e-01 -3.30078383e-06 -2.14469313e+01] [-5.91053209e-05 1.31925148e-06 9.99999998e-01 -4.32666484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.370371743 meters Centerline goodness [0,1] 0.9864459087496872 Centerline is valid? [True, True] Translation: X:343.56, Y:-21.46, Z:-4.33 [[ 9.99606577e-01 2.80380531e-02 -7.47274339e-04 3.43562359e+02] [-2.80380362e-02 9.99606856e-01 3.30398389e-05 -2.14562085e+01] [ 7.47906926e-04 -1.20747353e-05 9.99999720e-01 -4.32623288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.400371743 meters Centerline goodness [0,1] 0.9864915650576248 Centerline is valid? [True, True] Translation: X:343.59, Y:-21.46, Z:-4.33 [[ 9.99697299e-01 2.45964885e-02 -5.68251915e-04 3.43591301e+02] [-2.45964782e-02 9.99697461e-01 2.50588817e-05 -2.14613641e+01] [ 5.68696357e-04 -1.10743005e-05 9.99999838e-01 -4.32585339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.430371743 meters Centerline goodness [0,1] 0.9870880267000417 Centerline is valid? [True, True] Translation: X:343.62, Y:-21.47, Z:-4.33 [[ 9.99847843e-01 1.74430178e-02 -1.80834503e-04 3.43621007e+02] [-1.74430166e-02 9.99847859e-01 7.94921269e-06 -2.14723890e+01] [ 1.80945649e-04 -4.79370392e-06 9.99999984e-01 -4.32524457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.460371743 meters Centerline goodness [0,1] 0.9875317960051707 Centerline is valid? [True, True] Translation: X:343.65, Y:-21.48, Z:-4.32 [[ 9.99902461e-01 1.39664593e-02 7.52052627e-05 3.43650650e+02] [-1.39664591e-02 9.99902464e-01 -3.59316997e-06 -2.14783190e+01] [-7.52481113e-05 2.54246828e-06 9.99999997e-01 -4.32477750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.490371743 meters Centerline goodness [0,1] 0.9880390765248612 Centerline is valid? [True, True] Translation: X:343.68, Y:-21.48, Z:-4.32 [[ 9.99946629e-01 1.03306058e-02 1.30221635e-04 3.43680010e+02] [-1.03306051e-02 9.99946638e-01 -6.04368269e-06 -2.14827779e+01] [-1.30277121e-04 4.69809185e-06 9.99999992e-01 -4.32439454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.520371743 meters Centerline goodness [0,1] 0.988217723199469 Centerline is valid? [True, True] Translation: X:343.71, Y:-21.49, Z:-4.32 [[ 9.99991498e-01 4.12300554e-03 -7.17544822e-05 3.43708836e+02] [-4.12300531e-03 9.99991500e-01 3.34091232e-06 -2.14919930e+01] [ 7.17676470e-05 -3.04503980e-06 9.99999997e-01 -4.32398384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.550371743 meters Centerline goodness [0,1] 0.9889656895403065 Centerline is valid? [True, True] Translation: X:343.74, Y:-21.50, Z:-4.32 [[ 9.99998651e-01 1.61278847e-03 3.10694122e-04 3.43738678e+02] [-1.61278424e-03 9.99998699e-01 -1.38587540e-05 -2.14964963e+01] [-3.10716069e-04 1.33576528e-05 9.99999952e-01 -4.32430442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.580371743 meters Centerline goodness [0,1] 0.9856685440938199 Centerline is valid? [True, True] Translation: X:343.77, Y:-21.53, Z:-4.33 [[ 9.99995327e-01 1.03604441e-03 2.87618540e-03 3.43766901e+02] [-1.03567979e-03 9.99999455e-01 -1.28259047e-04 -2.15263823e+01] [-2.87631671e-03 1.25279641e-04 9.99995856e-01 -4.32538341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61037174300003 meters Centerline goodness [0,1] 0.9890874882408278 Centerline is valid? [True, True] Translation: X:343.80, Y:-21.51, Z:-4.32 [[ 9.99995097e-01 -3.01049553e-03 8.62267080e-04 3.43798952e+02] [ 3.01052968e-03 9.99995468e-01 -3.83117926e-05 -2.15051762e+01] [-8.62147835e-04 4.09074854e-05 9.99999628e-01 -4.32310822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.640371743 meters Centerline goodness [0,1] 0.9891140512476972 Centerline is valid? [True, True] Translation: X:343.83, Y:-21.51, Z:-4.32 [[ 9.99997181e-01 -2.37058927e-03 -1.37301189e-04 3.43829460e+02] [ 2.37059014e-03 9.99997190e-01 6.11955833e-06 -2.15061542e+01] [ 1.37286296e-04 -6.44502592e-06 9.99999991e-01 -4.32285480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.670371743 meters Centerline goodness [0,1] 0.9899293803017007 Centerline is valid? [True, True] Translation: X:343.86, Y:-21.51, Z:-4.32 [[ 9.99995459e-01 -2.95752857e-03 5.78901317e-04 3.43859811e+02] [ 2.95754400e-03 9.99995626e-01 -2.58018188e-05 -2.15065589e+01] [-5.78822476e-04 2.75138277e-05 9.99999832e-01 -4.32327382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.700371743 meters Centerline goodness [0,1] 0.9891118077324974 Centerline is valid? [True, True] Translation: X:343.89, Y:-21.51, Z:-4.32 [[ 9.99998749e-01 -1.57844550e-03 1.04211973e-04 3.43889783e+02] [ 1.57844598e-03 9.99998754e-01 -4.52543380e-06 -2.15076306e+01] [-1.04204700e-04 4.68992111e-06 9.99999995e-01 -4.32396180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.730371743 meters Centerline goodness [0,1] 0.9889563892194317 Centerline is valid? [True, True] Translation: X:343.92, Y:-21.51, Z:-4.32 [[ 9.99999901e-01 -4.34333402e-04 9.61832891e-05 3.43920413e+02] [ 4.34333772e-04 9.99999906e-01 -3.82159306e-06 -2.15090156e+01] [-9.61816202e-05 3.86336833e-06 9.99999995e-01 -4.32425037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.760371743 meters Centerline goodness [0,1] 0.988475214390295 Centerline is valid? [True, True] Translation: X:343.95, Y:-21.51, Z:-4.32 [[ 9.99999833e-01 5.24994525e-04 2.43582708e-04 3.43951363e+02] [-5.24991919e-04 9.99999862e-01 -1.07646981e-05 -2.15096902e+01] [-2.43588326e-04 1.06368173e-05 9.99999970e-01 -4.32493691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.790371743 meters Centerline goodness [0,1] 0.98915205964273 Centerline is valid? [True, True] Translation: X:343.98, Y:-21.51, Z:-4.33 [[ 9.99998451e-01 1.71881997e-03 3.79067740e-04 3.43982423e+02] [-1.71881366e-03 9.99998523e-01 -1.69676592e-05 -2.15102876e+01] [-3.79096344e-04 1.63160861e-05 9.99999928e-01 -4.32542000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.820371743 meters Centerline goodness [0,1] 0.9889085422952867 Centerline is valid? [True, True] Translation: X:344.01, Y:-21.51, Z:-4.33 [[ 9.99990500e-01 4.35697495e-03 -1.27583599e-04 3.44012050e+02] [-4.35697423e-03 9.99990508e-01 5.87488660e-06 -2.15094187e+01] [ 1.27607985e-04 -5.31895234e-06 9.99999992e-01 -4.32727282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.850371743 meters Centerline goodness [0,1] 0.9894787483266398 Centerline is valid? [True, True] Translation: X:344.04, Y:-21.50, Z:-4.33 [[ 9.99977675e-01 6.51891105e-03 -1.46750548e-03 3.44042861e+02] [-6.51882180e-03 9.99978750e-01 6.55949912e-05 -2.15042350e+01] [ 1.46790191e-03 -5.60271200e-05 9.99998921e-01 -4.32852762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880371743 meters Centerline goodness [0,1] 0.9885678391959799 Centerline is valid? [True, True] Translation: X:344.07, Y:-21.51, Z:-4.33 [[ 9.99969467e-01 7.49384562e-03 -2.21505688e-03 3.44071148e+02] [-7.49364573e-03 9.99971917e-01 9.85277744e-05 -2.15079221e+01] [ 2.21573303e-03 -8.19259145e-05 9.99997542e-01 -4.33054048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.910371743 meters Centerline goodness [0,1] 0.9890692074128363 Centerline is valid? [True, True] Translation: X:344.10, Y:-21.50, Z:-4.33 [[ 9.99960175e-01 8.40191268e-03 -3.00945829e-03 3.44100773e+02] [-8.40154738e-03 9.99964697e-01 1.34004548e-04 -2.15038155e+01] [ 3.01047794e-03 -1.08715104e-04 9.99995463e-01 -4.33028517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940371743 meters Centerline goodness [0,1] 0.9881356284994692 Centerline is valid? [True, True] Translation: X:344.13, Y:-21.50, Z:-4.33 [[ 9.99942381e-01 1.01534547e-02 -3.48448449e-03 3.44129536e+02] [-1.01529765e-02 9.99948445e-01 1.54889856e-04 -2.15016515e+01] [ 3.48587752e-03 -1.19503042e-04 9.99993917e-01 -4.33110275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.970371743 meters Centerline goodness [0,1] 0.9881356284994692 Centerline is valid? [True, True] Translation: X:344.16, Y:-21.50, Z:-4.33 [[ 9.99943104e-01 1.00819755e-02 -3.48450084e-03 3.44157850e+02] [-1.00814981e-02 9.99949168e-01 1.54522374e-04 -2.15028528e+01] [ 3.48588161e-03 -1.19384593e-04 9.99993917e-01 -4.33129154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000371743 meters Centerline goodness [0,1] 0.988492013583197 Centerline is valid? [True, True] Translation: X:344.19, Y:-21.50, Z:-4.33 [[ 9.99934162e-01 1.08899242e-02 -3.61667802e-03 3.44186613e+02] [-1.08894162e-02 9.99940696e-01 1.60124681e-04 -2.15010164e+01] [ 3.61820728e-03 -1.20730627e-04 9.99993447e-01 -4.33091489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.030371743 meters Centerline goodness [0,1] 0.9877811078741643 Centerline is valid? [True, True] Translation: X:344.22, Y:-21.50, Z:-4.33 [[ 9.99936264e-01 1.10180484e-02 -2.46381417e-03 3.44215684e+02] [-1.10178138e-02 9.99939296e-01 1.08751252e-04 -2.14998736e+01] [ 2.46486283e-03 -8.15984753e-05 9.99996959e-01 -4.33122453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060371743 meters Centerline goodness [0,1] 0.988440516826168 Centerline is valid? [True, True] Translation: X:344.24, Y:-21.50, Z:-4.33 [[ 9.99941548e-01 1.06219822e-02 -2.01849285e-03 3.44244491e+02] [-1.06218245e-02 9.99943583e-01 8.88520923e-05 -2.14992874e+01] [ 2.01932276e-03 -6.74068219e-05 9.99997959e-01 -4.33093393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.090371743 meters Centerline goodness [0,1] 0.9867907597921579 Centerline is valid? [True, True] Translation: X:344.27, Y:-21.50, Z:-4.33 [[ 9.99951786e-01 9.72821246e-03 -1.33676165e-03 3.44273340e+02] [-9.72814263e-03 9.99952679e-01 5.87293517e-05 -2.15005977e+01] [ 1.33726973e-03 -4.57223121e-05 9.99999105e-01 -4.33142030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120371743 meters Centerline goodness [0,1] 0.9862045901091091 Centerline is valid? [True, True] Translation: X:344.30, Y:-21.50, Z:-4.33 [[ 9.99975419e-01 6.96669219e-03 -7.91501581e-04 3.44302562e+02] [-6.96666699e-03 9.99975732e-01 3.45837932e-05 -2.14993723e+01] [ 7.91723307e-04 -2.90688152e-05 9.99999686e-01 -4.33141154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.150371743 meters Centerline goodness [0,1] 0.9851856508255804 Centerline is valid? [True, True] Translation: X:344.33, Y:-21.50, Z:-4.33 [[ 9.99990105e-01 4.20054837e-03 -1.46465440e-03 3.44332610e+02] [-4.20045837e-03 9.99991176e-01 6.45206808e-05 -2.14982114e+01] [ 1.46491250e-03 -5.83678225e-05 9.99998925e-01 -4.33261521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180371743 meters Centerline goodness [0,1] 0.9847422507796312 Centerline is valid? [True, True] Translation: X:344.36, Y:-21.50, Z:-4.33 [[ 9.99994630e-01 2.55634273e-03 -2.05048053e-03 3.44362308e+02] [-2.55616318e-03 9.99996729e-01 9.01787776e-05 -2.14981186e+01] [ 2.05070435e-03 -8.49369306e-05 9.99997894e-01 -4.33391658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.210371743 meters Centerline goodness [0,1] 0.9843714040630165 Centerline is valid? [True, True] Translation: X:344.39, Y:-21.50, Z:-4.33 [[ 9.99995787e-01 1.12860885e-03 -2.67438316e-03 3.44392157e+02] [-1.12829839e-03 9.99999357e-01 1.17594275e-04 -2.14986370e+01] [ 2.67451415e-03 -1.14576278e-04 9.99996417e-01 -4.33467378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240371743 meters Centerline goodness [0,1] 0.9820923656927427 Centerline is valid? [True, True] Translation: X:344.42, Y:-21.50, Z:-4.34 [[ 9.99990948e-01 -2.61410756e-03 -3.35721022e-03 3.44421797e+02] [ 2.61461826e-03 9.99996571e-01 1.47742106e-04 -2.14988692e+01] [ 3.35681250e-03 -1.56518592e-04 9.99994354e-01 -4.33603206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.270371743 meters Centerline goodness [0,1] 0.9816101092095904 Centerline is valid? [True, True] Translation: X:344.45, Y:-21.50, Z:-4.34 [[ 9.99985959e-01 -4.20398020e-03 -3.22628369e-03 3.44451847e+02] [ 4.20445990e-03 9.99991151e-01 1.41919028e-04 -2.14988766e+01] [ 3.22565852e-03 -1.55481816e-04 9.99994785e-01 -4.33647870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300371743 meters Centerline goodness [0,1] 0.9802473269025549 Centerline is valid? [True, True] Translation: X:344.48, Y:-21.49, Z:-4.34 [[ 9.99968976e-01 -7.29374017e-03 -2.97464773e-03 3.44482811e+02] [ 7.29416193e-03 9.99973389e-01 1.30960070e-04 -2.14942517e+01] [ 2.97361338e-03 -1.52653569e-04 9.99995567e-01 -4.33624691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.330371743 meters Centerline goodness [0,1] 0.9797887000459348 Centerline is valid? [True, True] Translation: X:344.51, Y:-21.49, Z:-4.34 [[ 9.99958897e-01 -8.71782908e-03 -2.49091385e-03 3.44513166e+02] [ 8.71812922e-03 9.99961990e-01 1.09663490e-04 -2.14926766e+01] [ 2.48986314e-03 -1.31375091e-04 9.99996892e-01 -4.33629650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36037174300003 meters Centerline goodness [0,1] 0.9771447707151677 Centerline is valid? [True, True] Translation: X:344.54, Y:-21.49, Z:-4.34 [[ 9.99929425e-01 -1.16849505e-02 -2.14659168e-03 3.44543997e+02] [ 1.16851802e-02 9.99931721e-01 9.45045671e-05 -2.14879543e+01] [ 2.14534083e-03 -1.19581208e-04 9.99997692e-01 -4.33699146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.390371743 meters Centerline goodness [0,1] 0.9756733637937869 Centerline is valid? [True, True] Translation: X:344.57, Y:-21.49, Z:-4.34 [[ 9.99920634e-01 -1.25242195e-02 -1.36765543e-03 3.44573943e+02] [ 1.25243141e-02 9.99921566e-01 6.06477767e-05 -2.14890966e+01] [ 1.36678859e-03 -7.77719095e-05 9.99999063e-01 -4.33805184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.420371743 meters Centerline goodness [0,1] 0.9755347201875183 Centerline is valid? [True, True] Translation: X:344.61, Y:-21.49, Z:-4.34 [[ 9.99904397e-01 -1.37423631e-02 -1.53120908e-03 3.44605791e+02] [ 1.37424830e-02 9.99905565e-01 6.78023439e-05 -2.14861411e+01] [ 1.53013271e-03 -8.88384765e-05 9.99998825e-01 -4.33837324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.450371743 meters Centerline goodness [0,1] 0.9737089988068575 Centerline is valid? [True, True] Translation: X:344.64, Y:-21.48, Z:-4.34 [[ 9.99873238e-01 -1.57830621e-02 -2.09837064e-03 3.44636780e+02] [ 1.57832917e-02 9.99875432e-01 9.29314678e-05 -2.14819219e+01] [ 2.09664250e-03 -1.26038884e-04 9.99997794e-01 -4.33997435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.480371743 meters Centerline goodness [0,1] 0.9711136211512718 Centerline is valid? [True, True] Translation: X:344.67, Y:-21.48, Z:-4.34 [[ 9.99845718e-01 -1.73733806e-02 -2.58946901e-03 3.44667545e+02] [ 1.73737357e-02 9.99849059e-01 1.14691536e-04 -2.14775912e+01] [ 2.58708557e-03 -1.59662591e-04 9.99996641e-01 -4.34146362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.510371743 meters Centerline goodness [0,1] 0.9706030256044923 Centerline is valid? [True, True] Translation: X:344.70, Y:-21.48, Z:-4.34 [[ 9.99830115e-01 -1.82605819e-02 -2.50836708e-03 3.44699566e+02] [ 1.82609190e-02 9.99833249e-01 1.11535436e-04 -2.14758543e+01] [ 2.50591210e-03 -1.57321576e-04 9.99996848e-01 -4.34247919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.540371743 meters Centerline goodness [0,1] 0.9698145662023829 Centerline is valid? [True, True] Translation: X:344.73, Y:-21.47, Z:-4.34 [[ 9.99816556e-01 -1.89855500e-02 -2.53053462e-03 3.44731854e+02] [ 1.89858959e-02 9.99819745e-01 1.12711875e-04 -2.14722298e+01] [ 2.52793858e-03 -1.60735665e-04 9.99996792e-01 -4.34275411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.570371743 meters Centerline goodness [0,1] 0.968635497581709 Centerline is valid? [True, True] Translation: X:344.76, Y:-21.47, Z:-4.34 [[ 9.99798984e-01 -1.98711683e-02 -2.67000100e-03 3.44763094e+02] [ 1.98715565e-02 9.99802534e-01 1.18917803e-04 -2.14689932e+01] [ 2.66711073e-03 -1.71950975e-04 9.99996428e-01 -4.34436039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.600371743 meters Centerline goodness [0,1] 0.9686189837330202 Centerline is valid? [True, True] Translation: X:344.80, Y:-21.46, Z:-4.35 [[ 9.99797557e-01 -1.99735447e-02 -2.42936163e-03 3.44796027e+02] [ 1.99738671e-02 9.99800497e-01 1.08535025e-04 -2.14635727e+01] [ 2.42670914e-03 -1.57036800e-04 9.99997043e-01 -4.34510043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.630371743 meters Centerline goodness [0,1] 0.9674883887102537 Centerline is valid? [True, True] Translation: X:344.83, Y:-21.46, Z:-4.35 [[ 9.99815461e-01 -1.89597163e-02 -3.09396462e-03 3.44827681e+02] [ 1.89602342e-02 9.99820229e-01 1.38137744e-04 -2.14583516e+01] [ 3.09078937e-03 -1.96774546e-04 9.99995204e-01 -4.34698825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.660371743 meters Centerline goodness [0,1] 0.9687886473683107 Centerline is valid? [True, True] Translation: X:344.86, Y:-21.45, Z:-4.35 [[ 9.99835224e-01 -1.78964591e-02 -3.04014339e-03 3.44859616e+02] [ 1.78969542e-02 9.99839827e-01 1.35720980e-04 -2.14537554e+01] [ 3.03722752e-03 -1.90107924e-04 9.99995370e-01 -4.34766879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.690371743 meters Centerline goodness [0,1] 0.9693785334482251 Centerline is valid? [True, True] Translation: X:344.89, Y:-21.45, Z:-4.35 [[ 9.99850819e-01 -1.68891164e-02 -3.61894467e-03 3.44891765e+02] [ 1.68898122e-02 9.99857344e-01 1.61767711e-04 -2.14486408e+01] [ 3.61569629e-03 -2.22866874e-04 9.99993439e-01 -4.34847973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.720371743 meters Centerline goodness [0,1] 0.9699392522388994 Centerline is valid? [True, True] Translation: X:344.92, Y:-21.44, Z:-4.35 [[ 9.99892304e-01 -1.40507839e-02 -4.23745551e-03 3.44922564e+02] [ 1.40517156e-02 9.99901252e-01 1.90173079e-04 -2.14408229e+01] [ 4.23436499e-03 -2.49696118e-04 9.99991004e-01 -4.34998204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.750371743 meters Centerline goodness [0,1] 0.9703623082236222 Centerline is valid? [True, True] Translation: X:344.95, Y:-21.43, Z:-4.35 [[ 9.99908448e-01 -1.26440011e-02 -4.81925568e-03 3.44953718e+02] [ 1.26451880e-02 9.99920023e-01 2.15900803e-04 -2.14348061e+01] [ 4.81614040e-03 -2.76821431e-04 9.99988364e-01 -4.35081609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.780371743 meters Centerline goodness [0,1] 0.9713340218788863 Centerline is valid? [True, True] Translation: X:344.99, Y:-21.43, Z:-4.35 [[ 9.99910437e-01 -1.24423219e-02 -4.93015416e-03 3.44985378e+02] [ 1.24435625e-02 9.99922551e-01 2.21026748e-04 -2.14327450e+01] [ 4.92702225e-03 -2.82355633e-04 9.99987822e-01 -4.35038984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.810371743 meters Centerline goodness [0,1] 0.9725145579671785 Centerline is valid? [True, True] Translation: X:345.02, Y:-21.42, Z:-4.35 [[ 9.99913311e-01 -1.22657178e-02 -4.78781804e-03 3.45017233e+02] [ 1.22668867e-02 9.99924736e-01 2.14839969e-04 -2.14236311e+01] [ 4.78482252e-03 -2.73552966e-04 9.99988515e-01 -4.34912591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.840371743 meters Centerline goodness [0,1] 0.9718726868985936 Centerline is valid? [True, True] Translation: X:345.05, Y:-21.42, Z:-4.35 [[ 9.99913465e-01 -1.24074748e-02 -4.37224066e-03 3.45048578e+02] [ 1.24084525e-02 9.99922993e-01 1.96569418e-04 -2.14209745e+01] [ 4.36946504e-03 -2.50805149e-04 9.99990422e-01 -4.34893800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.870371743 meters Centerline goodness [0,1] 0.9732490272373541 Centerline is valid? [True, True] Translation: X:345.08, Y:-21.42, Z:-4.35 [[ 9.99912506e-01 -1.23270404e-02 -4.79832523e-03 3.45080571e+02] [ 1.23282192e-02 9.99923981e-01 2.16158352e-04 -2.14153108e+01] [ 4.79529588e-03 -2.75294244e-04 9.99988465e-01 -4.34824286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.900371743 meters Centerline goodness [0,1] 0.9720148069804336 Centerline is valid? [True, True] Translation: X:345.11, Y:-21.41, Z:-4.35 [[ 9.99921829e-01 -1.17967772e-02 -4.14397949e-03 3.45112889e+02] [ 1.17976534e-02 9.99930388e-01 1.87048584e-04 -2.14088237e+01] [ 4.14148445e-03 -2.35923196e-04 9.99991396e-01 -4.34821800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.930371743 meters Centerline goodness [0,1] 0.9734152198397688 Centerline is valid? [True, True] Translation: X:345.14, Y:-21.41, Z:-4.35 [[ 9.99930593e-01 -1.10057025e-02 -4.20530972e-03 3.45144519e+02] [ 1.10065974e-02 9.99939408e-01 1.89718499e-04 -2.14065478e+01] [ 4.20296692e-03 -2.35991482e-04 9.99991140e-01 -4.34842602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.960371743 meters Centerline goodness [0,1] 0.9720298910748966 Centerline is valid? [True, True] Translation: X:345.17, Y:-21.41, Z:-4.35 [[ 9.99939034e-01 -9.94284858e-03 -4.80294537e-03 3.45174816e+02] [ 9.94400336e-03 9.99950534e-01 2.16610991e-04 -2.14058463e+01] [ 4.80055406e-03 -2.64358290e-04 9.99988442e-01 -4.34929568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.990371743 meters Centerline goodness [0,1] 0.9741573991222464 Centerline is valid? [True, True] Translation: X:345.21, Y:-21.40, Z:-4.35 [[ 9.99950843e-01 -8.08458605e-03 -5.74022284e-03 3.45206471e+02] [ 8.08620680e-03 9.99967273e-01 2.59196599e-04 -2.13952571e+01] [ 5.73793948e-03 -3.05600487e-04 9.99983491e-01 -4.34796811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.020371743 meters Centerline goodness [0,1] 0.9738482817320991 Centerline is valid? [True, True] Translation: X:345.24, Y:-21.40, Z:-4.35 [[ 9.99954395e-01 -7.39562707e-03 -6.04248523e-03 3.45236569e+02] [ 7.39741030e-03 9.99972602e-01 2.72817374e-04 -2.13955522e+01] [ 6.04030202e-03 -3.17503674e-04 9.99981707e-01 -4.34885911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.050371743 meters Centerline goodness [0,1] 0.9746112886048989 Centerline is valid? [True, True] Translation: X:345.27, Y:-21.39, Z:-4.35 [[ 9.99960069e-01 -6.53355037e-03 -6.09693119e-03 3.45267486e+02] [ 6.53534915e-03 9.99978607e-01 2.75153743e-04 -2.13892004e+01] [ 6.09500303e-03 -3.14988330e-04 9.99981376e-01 -4.34730460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.080371743 meters Centerline goodness [0,1] 0.9753602182624265 Centerline is valid? [True, True] Translation: X:345.30, Y:-21.38, Z:-4.35 [[ 9.99960457e-01 -6.87421678e-03 -5.64169947e-03 3.45298456e+02] [ 6.87576237e-03 9.99976329e-01 2.54609192e-04 -2.13848674e+01] [ 5.63981569e-03 -2.93390109e-04 9.99984053e-01 -4.34603077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11037174300003 meters Centerline goodness [0,1] 0.9733378909588104 Centerline is valid? [True, True] Translation: X:345.33, Y:-21.39, Z:-4.35 [[ 9.99951733e-01 -8.56161773e-03 -4.81972067e-03 3.45328801e+02] [ 8.56276632e-03 9.99963315e-01 2.17724669e-04 -2.13873744e+01] [ 4.81767978e-03 -2.58984302e-04 9.99988361e-01 -4.34575019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.140371743 meters Centerline goodness [0,1] 0.9733954960542356 Centerline is valid? [True, True] Translation: X:345.36, Y:-21.39, Z:-4.35 [[ 9.99941304e-01 -9.85315073e-03 -4.50603328e-03 3.45359782e+02] [ 9.85416814e-03 9.99951426e-01 2.03642919e-04 -2.13851745e+01] [ 4.50380788e-03 -2.48034175e-04 9.99989827e-01 -4.34535427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.170371743 meters Centerline goodness [0,1] 0.9730476108922761 Centerline is valid? [True, True] Translation: X:345.39, Y:-21.38, Z:-4.35 [[ 9.99917348e-01 -1.19722544e-02 -4.68629287e-03 3.45391030e+02] [ 1.19733794e-02 9.99928294e-01 2.12082158e-04 -2.13841356e+01] [ 4.68341773e-03 -2.68175392e-04 9.99988997e-01 -4.34572105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.200371743 meters Centerline goodness [0,1] 0.9732077894286326 Centerline is valid? [True, True] Translation: X:345.42, Y:-21.39, Z:-4.35 [[ 9.99867385e-01 -1.55592423e-02 -4.80850330e-03 3.45421101e+02] [ 1.55604669e-02 9.99878905e-01 2.17360824e-04 -2.13864836e+01] [ 4.80453905e-03 -2.92154556e-04 9.99988415e-01 -4.34669746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.230371743 meters Centerline goodness [0,1] 0.972845941846305 Centerline is valid? [True, True] Translation: X:345.45, Y:-21.39, Z:-4.35 [[ 9.99829135e-01 -1.77718213e-02 -5.08548673e-03 3.45452417e+02] [ 1.77732217e-02 9.99842017e-01 2.30304782e-04 -2.13878116e+01] [ 5.08059038e-03 -3.20650914e-04 9.99987042e-01 -4.34770641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.260371743 meters Centerline goodness [0,1] 0.9712305843988672 Centerline is valid? [True, True] Translation: X:345.48, Y:-21.39, Z:-4.35 [[ 9.99730006e-01 -2.23168021e-02 -6.47114660e-03 3.45482783e+02] [ 2.23191626e-02 9.99750854e-01 2.92774289e-04 -2.13889167e+01] [ 6.46300055e-03 -4.37125815e-04 9.99979019e-01 -4.34901775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.290371743 meters Centerline goodness [0,1] 0.9720133577507272 Centerline is valid? [True, True] Translation: X:345.51, Y:-21.39, Z:-4.35 [[ 9.99669209e-01 -2.48324246e-02 -6.69506874e-03 3.45514026e+02] [ 2.48350090e-02 9.99691518e-01 3.03134623e-04 -2.13885820e+01] [ 6.68547586e-03 -4.69306441e-04 9.99977542e-01 -4.34881642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.320371743 meters Centerline goodness [0,1] 0.969330295735901 Centerline is valid? [True, True] Translation: X:345.54, Y:-21.39, Z:-4.35 [[ 9.99582777e-01 -2.81419098e-02 -6.50422579e-03 3.45543590e+02] [ 2.81444209e-02 9.99603824e-01 2.94844237e-04 -2.13914100e+01] [ 6.49335149e-03 -4.77778889e-04 9.99978804e-01 -4.34854157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.350371743 meters Centerline goodness [0,1] 0.9699972000258459 Centerline is valid? [True, True] Translation: X:345.58, Y:-21.39, Z:-4.35 [[ 9.99543279e-01 -2.96755393e-02 -5.70923418e-03 3.45575738e+02] [ 2.96775016e-02 9.99559492e-01 2.59275223e-04 -2.13867796e+01] [ 5.69902509e-03 -4.28592613e-04 9.99983669e-01 -4.34765285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380371743 meters Centerline goodness [0,1] 0.9708568097921119 Centerline is valid? [True, True] Translation: X:345.61, Y:-21.38, Z:-4.35 [[ 9.99481353e-01 -3.16773085e-02 -5.79426468e-03 3.45607289e+02] [ 3.16793635e-02 9.99498048e-01 2.63217257e-04 -2.13847007e+01] [ 5.78301823e-03 -4.46639358e-04 9.99983178e-01 -4.34733898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.410371743 meters Centerline goodness [0,1] 0.9706634311218962 Centerline is valid? [True, True] Translation: X:345.64, Y:-21.38, Z:-4.35 [[ 9.99475659e-01 -3.18060669e-02 -6.06469980e-03 3.45639211e+02] [ 3.18083247e-02 9.99493949e-01 2.76169371e-04 -2.13844399e+01] [ 6.05284689e-03 -4.68932505e-04 9.99981571e-01 -4.34771694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440371743 meters Centerline goodness [0,1] 0.970308196152428 Centerline is valid? [True, True] Translation: X:345.67, Y:-21.38, Z:-4.35 [[ 9.99470734e-01 -3.18065865e-02 -6.82588634e-03 3.45671083e+02] [ 3.18094496e-02 9.99493903e-01 3.11261871e-04 -2.13828558e+01] [ 6.81253160e-03 -5.28224818e-04 9.99976655e-01 -4.34856015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.470371743 meters Centerline goodness [0,1] 0.9701109976757826 Centerline is valid? [True, True] Translation: X:345.70, Y:-21.38, Z:-4.35 [[ 9.99524780e-01 -2.99111346e-02 -7.45243265e-03 3.45702050e+02] [ 2.99144949e-02 9.99552404e-01 3.39815186e-04 -2.13783147e+01] [ 7.43893271e-03 -5.62589458e-04 9.99972172e-01 -4.34979086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500371743 meters Centerline goodness [0,1] 0.9705619593402044 Centerline is valid? [True, True] Translation: X:345.73, Y:-21.38, Z:-4.35 [[ 9.99562072e-01 -2.87272226e-02 -7.10010112e-03 3.45733945e+02] [ 2.87302466e-02 9.99587149e-01 3.24258045e-04 -2.13751099e+01] [ 7.08785480e-03 -5.28103699e-04 9.99974741e-01 -4.34894910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.530371743 meters Centerline goodness [0,1] 0.9711990895760838 Centerline is valid? [True, True] Translation: X:345.77, Y:-21.37, Z:-4.35 [[ 9.99652265e-01 -2.56698310e-02 -6.03399094e-03 3.45765244e+02] [ 2.56719591e-02 9.99670383e-01 2.75490844e-04 -2.13669116e+01] [ 6.02493023e-03 -4.30299415e-04 9.99981757e-01 -4.34731231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560371743 meters Centerline goodness [0,1] 0.97331309264515 Centerline is valid? [True, True] Translation: X:345.80, Y:-21.36, Z:-4.35 [[ 9.99683423e-01 -2.44376583e-02 -5.98792193e-03 3.45797611e+02] [ 2.44397370e-02 9.99701267e-01 2.74202723e-04 -2.13600319e+01] [ 5.97943227e-03 -4.20459154e-04 9.99982035e-01 -4.34648845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.590371743 meters Centerline goodness [0,1] 0.9723906763402209 Centerline is valid? [True, True] Translation: X:345.83, Y:-21.36, Z:-4.35 [[ 9.99731197e-01 -2.21902234e-02 -6.71773380e-03 3.45828419e+02] [ 2.21927888e-02 9.99753662e-01 3.07563619e-04 -2.13563619e+01] [ 6.70925406e-03 -4.56566192e-04 9.99977388e-01 -4.34708732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620371743 meters Centerline goodness [0,1] 0.9738889011303792 Centerline is valid? [True, True] Translation: X:345.86, Y:-21.35, Z:-4.35 [[ 9.99749054e-01 -2.12990961e-02 -6.94105932e-03 3.45861120e+02] [ 2.13018187e-02 9.99773040e-01 3.18538710e-04 -2.13506829e+01] [ 6.93269939e-03 -4.66315961e-04 9.99975860e-01 -4.34664133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.650371743 meters Centerline goodness [0,1] 0.9723797288916453 Centerline is valid? [True, True] Translation: X:345.89, Y:-21.35, Z:-4.35 [[ 9.99782943e-01 -1.98170780e-02 -6.43048451e-03 3.45891660e+02] [ 1.98193844e-02 9.99803533e-01 2.95133736e-04 -2.13544664e+01] [ 6.42337244e-03 -4.22517919e-04 9.99979281e-01 -4.34822303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680371743 meters Centerline goodness [0,1] 0.9746275294640872 Centerline is valid? [True, True] Translation: X:345.92, Y:-21.34, Z:-4.35 [[ 9.99795188e-01 -1.92060499e-02 -6.38040491e-03 3.45924312e+02] [ 1.92083127e-02 9.99815460e-01 2.93562182e-04 -2.13419744e+01] [ 6.37358930e-03 -4.16058870e-04 9.99979602e-01 -4.34617120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.710371743 meters Centerline goodness [0,1] 0.9743355537237953 Centerline is valid? [True, True] Translation: X:345.96, Y:-21.34, Z:-4.35 [[ 9.99836587e-01 -1.69299948e-02 -6.33837999e-03 3.45955205e+02] [ 1.69321824e-02 9.99856598e-01 2.91617519e-04 -2.13383512e+01] [ 6.33253397e-03 -3.98892471e-04 9.99979870e-01 -4.34690926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740371743 meters Centerline goodness [0,1] 0.9748748211731044 Centerline is valid? [True, True] Translation: X:345.99, Y:-21.34, Z:-4.35 [[ 9.99859552e-01 -1.55212223e-02 -6.32198316e-03 3.45986639e+02] [ 1.55233719e-02 9.99879463e-01 2.91093399e-04 -2.13356615e+01] [ 6.31670300e-03 -3.89191011e-04 9.99979974e-01 -4.34683470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.770371743 meters Centerline goodness [0,1] 0.9769396261933575 Centerline is valid? [True, True] Translation: X:346.02, Y:-21.33, Z:-4.35 [[ 9.99879644e-01 -1.40372731e-02 -6.60702602e-03 3.46018368e+02] [ 1.40395903e-02 9.99901394e-01 3.04461118e-04 -2.13306157e+01] [ 6.60210072e-03 -3.97184412e-04 9.99978127e-01 -4.34617369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800371743 meters Centerline goodness [0,1] 0.9762054554442098 Centerline is valid? [True, True] Translation: X:346.05, Y:-21.33, Z:-4.35 [[ 9.99914963e-01 -1.15421569e-02 -6.07005207e-03 3.46049261e+02] [ 1.15440684e-02 9.99933326e-01 2.79960117e-04 -2.13261149e+01] [ 6.06641601e-03 -3.50009406e-04 9.99981538e-01 -4.34602613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.830371743 meters Centerline goodness [0,1] 0.975226491019041 Centerline is valid? [True, True] Translation: X:346.08, Y:-21.33, Z:-4.35 [[ 9.99935363e-01 -9.68364460e-03 -5.95792009e-03 3.46079885e+02] [ 9.68545453e-03 9.99953057e-01 2.75007565e-04 -2.13279199e+01] [ 5.95497733e-03 -3.32694954e-04 9.99982214e-01 -4.34668694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86037174300003 meters Centerline goodness [0,1] 0.9762536541488644 Centerline is valid? [True, True] Translation: X:346.11, Y:-21.32, Z:-4.35 [[ 9.99966144e-01 -6.41947812e-03 -5.14796037e-03 3.46111167e+02] [ 6.42078601e-03 9.99979358e-01 2.37573905e-04 -2.13207206e+01] [ 5.14632901e-03 -2.70619813e-04 9.99986721e-01 -4.34600199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.890371743 meters Centerline goodness [0,1] 0.9762536541488644 Centerline is valid? [True, True] Translation: X:346.14, Y:-21.32, Z:-4.35 [[ 9.99966371e-01 -6.38394623e-03 -5.14794526e-03 3.46142026e+02] [ 6.38525533e-03 9.99979586e-01 2.37901372e-04 -2.13221747e+01] [ 5.14632141e-03 -2.70764316e-04 9.99986721e-01 -4.34620772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.920371743 meters Centerline goodness [0,1] 0.9770278191081654 Centerline is valid? [True, True] Translation: X:346.17, Y:-21.32, Z:-4.35 [[ 9.99976184e-01 -4.92048878e-03 -4.83951086e-03 3.46173654e+02] [ 4.92162953e-03 9.99987864e-01 2.23835457e-04 -2.13210693e+01] [ 4.83835074e-03 -2.47648405e-04 9.99988264e-01 -4.34596588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.950371743 meters Centerline goodness [0,1] 0.976956848115375 Centerline is valid? [True, True] Translation: X:346.20, Y:-21.32, Z:-4.35 [[ 9.99984511e-01 -3.97087807e-03 -3.89998795e-03 3.46204407e+02] [ 3.97161094e-03 9.99992097e-01 1.80189484e-04 -2.13165954e+01] [ 3.89924162e-03 -1.95675928e-04 9.99992379e-01 -4.34570665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.980371743 meters Centerline goodness [0,1] 0.9773291147884279 Centerline is valid? [True, True] Translation: X:346.24, Y:-21.32, Z:-4.35 [[ 9.99987357e-01 -3.44461093e-03 -3.66346683e-03 3.46235093e+02] [ 3.44525408e-03 9.99994051e-01 1.69261599e-04 -2.13160006e+01] [ 3.66286199e-03 -1.81881033e-04 9.99993275e-01 -4.34522769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.010371743 meters Centerline goodness [0,1] 0.9780726669544866 Centerline is valid? [True, True] Translation: X:346.27, Y:-21.31, Z:-4.35 [[ 9.99989917e-01 -3.60202682e-03 -2.68149357e-03 3.46265743e+02] [ 3.60237195e-03 9.99993504e-01 1.23891906e-04 -2.13143460e+01] [ 2.68102989e-03 -1.33550394e-04 9.99996397e-01 -4.34501577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.040371743 meters Centerline goodness [0,1] 0.9768122518434487 Centerline is valid? [True, True] Translation: X:346.30, Y:-21.32, Z:-4.35 [[ 9.99975297e-01 -6.47832493e-03 -2.72711388e-03 3.46296184e+02] [ 6.47869304e-03 9.99979005e-01 1.26169430e-04 -2.13157649e+01] [ 2.72623926e-03 -1.43834447e-04 9.99996273e-01 -4.34636996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.070371743 meters Centerline goodness [0,1] 0.9755534739198977 Centerline is valid? [True, True] Translation: X:346.33, Y:-21.32, Z:-4.35 [[ 9.99959770e-01 -8.43901103e-03 -3.04006553e-03 3.46326818e+02] [ 8.43948081e-03 9.99964377e-01 1.41732921e-04 -2.13190243e+01] [ 3.03876115e-03 -1.67383793e-04 9.99995369e-01 -4.34767574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.100371743 meters Centerline goodness [0,1] 0.9752017139991794 Centerline is valid? [True, True] Translation: X:346.36, Y:-21.32, Z:-4.35 [[ 9.99904183e-01 -1.33669453e-02 -3.59859853e-03 3.46357194e+02] [ 1.33676319e-02 9.99910635e-01 1.66814881e-04 -2.13219679e+01] [ 3.59604714e-03 -2.14903638e-04 9.99993511e-01 -4.34930112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.130371743 meters Centerline goodness [0,1] 0.9741546610653211 Centerline is valid? [True, True] Translation: X:346.39, Y:-21.32, Z:-4.35 [[ 9.99866016e-01 -1.58243850e-02 -4.18794316e-03 3.46388404e+02] [ 1.58253380e-02 9.99874753e-01 1.94499495e-04 -2.13232113e+01] [ 4.18434080e-03 -2.60749051e-04 9.99991212e-01 -4.34927576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.160371743 meters Centerline goodness [0,1] 0.9734377854924173 Centerline is valid? [True, True] Translation: X:346.42, Y:-21.33, Z:-4.35 [[ 9.99779112e-01 -2.05465997e-02 -4.42319608e-03 3.46418926e+02] [ 2.05477077e-02 9.99788853e-01 2.05207263e-04 -2.13251722e+01] [ 4.41804582e-03 -2.96048475e-04 9.99990197e-01 -4.34965157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.190371743 meters Centerline goodness [0,1] 0.9723575005144386 Centerline is valid? [True, True] Translation: X:346.45, Y:-21.33, Z:-4.35 [[ 9.99732119e-01 -2.26022068e-02 -4.98300063e-03 3.46448574e+02] [ 2.26036384e-02 9.99744478e-01 2.31155038e-04 -2.13285533e+01] [ 4.97650275e-03 -3.43727060e-04 9.99987558e-01 -4.35044287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.220371743 meters Centerline goodness [0,1] 0.9733409873708381 Centerline is valid? [True, True] Translation: X:346.48, Y:-21.33, Z:-4.35 [[ 9.99650541e-01 -2.59405952e-02 -5.08736715e-03 3.46479226e+02] [ 2.59421308e-02 9.99663418e-01 2.36086635e-04 -2.13267091e+01] [ 5.07953060e-03 -3.67981277e-04 9.99987031e-01 -4.35094481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.250371743 meters Centerline goodness [0,1] 0.9719139765223771 Centerline is valid? [True, True] Translation: X:346.51, Y:-21.33, Z:-4.35 [[ 9.99637203e-01 -2.65238948e-02 -4.68453126e-03 3.46510240e+02] [ 2.65252059e-02 9.99648121e-01 2.17960335e-04 -2.13295364e+01] [ 4.67710172e-03 -3.42139416e-04 9.99989004e-01 -4.35158881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.280371743 meters Centerline goodness [0,1] 0.972379880052391 Centerline is valid? [True, True] Translation: X:346.54, Y:-21.33, Z:-4.35 [[ 9.99607657e-01 -2.77543348e-02 -3.77205922e-03 3.46540981e+02] [ 2.77551974e-02 9.99614735e-01 1.76508375e-04 -2.13303813e+01] [ 3.76570710e-03 -2.81133371e-04 9.99992870e-01 -4.35155538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.310371743 meters Centerline goodness [0,1] 0.973298741849573 Centerline is valid? [True, True] Translation: X:346.57, Y:-21.33, Z:-4.35 [[ 9.99599284e-01 -2.81572465e-02 -2.90528353e-03 3.46573824e+02] [ 2.81577601e-02 9.99603482e-01 1.36005673e-04 -2.13265084e+01] [ 2.90030199e-03 -2.17757450e-04 9.99995770e-01 -4.35070612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.340371743 meters Centerline goodness [0,1] 0.9722573088670969 Centerline is valid? [True, True] Translation: X:346.60, Y:-21.33, Z:-4.35 [[ 9.99581638e-01 -2.88307380e-02 -2.31050965e-03 3.46604643e+02] [ 2.88310648e-02 9.99584293e-01 1.08263067e-04 -2.13288342e+01] [ 2.30642785e-03 -1.74832227e-04 9.99997325e-01 -4.35084521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.370371743 meters Centerline goodness [0,1] 0.9705936963282736 Centerline is valid? [True, True] Translation: X:346.64, Y:-21.33, Z:-4.35 [[ 9.99553274e-01 -2.97767439e-02 -2.56872012e-03 3.46635281e+02] [ 2.97771508e-02 9.99556555e-01 1.20289995e-04 -2.13314018e+01] [ 2.56399919e-03 -1.96725425e-04 9.99996694e-01 -4.35167349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.400371743 meters Centerline goodness [0,1] 0.9712675664394045 Centerline is valid? [True, True] Translation: X:346.67, Y:-21.33, Z:-4.35 [[ 9.99533664e-01 -3.03725515e-02 -3.15627179e-03 3.46667202e+02] [ 3.03731700e-02 9.99538618e-01 1.48184502e-04 -2.13312315e+01] [ 3.15031480e-03 -2.43981377e-04 9.99995008e-01 -4.35214521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.430371743 meters Centerline goodness [0,1] 0.9740564394379282 Centerline is valid? [True, True] Translation: X:346.70, Y:-21.32, Z:-4.35 [[ 9.99495434e-01 -3.15921809e-02 -3.28804862e-03 3.46699476e+02] [ 3.15928588e-02 9.99500809e-01 1.54436244e-04 -2.13195347e+01] [ 3.28152828e-03 -2.58237176e-04 9.99994582e-01 -4.35173458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.460371743 meters Centerline goodness [0,1] 0.9720498343521068 Centerline is valid? [True, True] Translation: X:346.73, Y:-21.32, Z:-4.35 [[ 9.99483668e-01 -3.19247221e-02 -3.63435682e-03 3.46730124e+02] [ 3.19255585e-02 9.99490235e-01 1.72331857e-04 -2.13235243e+01] [ 3.62700251e-03 -2.88271748e-04 9.99993381e-01 -4.35230605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.490371743 meters Centerline goodness [0,1] 0.9728044263140619 Centerline is valid? [True, True] Translation: X:346.76, Y:-21.32, Z:-4.35 [[ 9.99467993e-01 -3.24169790e-02 -3.58749080e-03 3.46762557e+02] [ 3.24177951e-02 9.99474391e-01 1.69548852e-04 -2.13182013e+01] [ 3.58010892e-03 -2.85757192e-04 9.99993551e-01 -4.35202266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.520371743 meters Centerline goodness [0,1] 0.9739468506270299 Centerline is valid? [True, True] Translation: X:346.80, Y:-21.31, Z:-4.35 [[ 9.99441747e-01 -3.32465696e-02 -3.29541031e-03 3.46795263e+02] [ 3.32472636e-02 9.99447145e-01 1.56017931e-04 -2.13133716e+01] [ 3.28840137e-03 -2.65494208e-04 9.99994558e-01 -4.35219029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.550371743 meters Centerline goodness [0,1] 0.9725148006372001 Centerline is valid? [True, True] Translation: X:346.83, Y:-21.31, Z:-4.35 [[ 9.99444674e-01 -3.32239728e-02 -2.55164327e-03 3.46827264e+02] [ 3.32243900e-02 9.99447910e-01 1.21260034e-04 -2.13140967e+01] [ 2.54620579e-03 -2.05969486e-04 9.99996737e-01 -4.35245451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.580371743 meters Centerline goodness [0,1] 0.9739142966948501 Centerline is valid? [True, True] Translation: X:346.86, Y:-21.30, Z:-4.35 [[ 9.99448908e-01 -3.31517776e-02 -1.68527923e-03 3.46860213e+02] [ 3.31519598e-02 9.99450319e-01 8.02928759e-05 -2.13039392e+01] [ 1.68169101e-03 -1.36118936e-04 9.99998577e-01 -4.35078027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61037174300003 meters Centerline goodness [0,1] 0.9725412604960911 Centerline is valid? [True, True] Translation: X:346.89, Y:-21.30, Z:-4.35 [[ 9.99457326e-01 -3.29231520e-02 -1.05840072e-03 3.46892285e+02] [ 3.29232240e-02 9.99457882e-01 5.06815991e-05 -2.13009099e+01] [ 1.05615834e-03 -8.55000595e-05 9.99999439e-01 -4.35037332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.640371743 meters Centerline goodness [0,1] 0.9744472944912667 Centerline is valid? [True, True] Translation: X:346.93, Y:-21.29, Z:-4.35 [[ 9.99491832e-01 -3.18737677e-02 3.74097937e-04 3.46925393e+02] [ 3.18737763e-02 9.99491902e-01 -1.68771628e-05 -2.12931946e+01] [-3.73369920e-04 2.87925003e-05 9.99999930e-01 -4.34915315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.670371743 meters Centerline goodness [0,1] 0.9743854220388516 Centerline is valid? [True, True] Translation: X:346.96, Y:-21.29, Z:-4.35 [[ 9.99520060e-01 -3.09543087e-02 1.21656741e-03 3.46956677e+02] [ 3.09544004e-02 9.99520796e-01 -5.65983447e-05 -2.12925693e+01] [-1.21423246e-03 9.42292955e-05 9.99999258e-01 -4.34923686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.700371743 meters Centerline goodness [0,1] 0.9745638995422492 Centerline is valid? [True, True] Translation: X:346.99, Y:-21.29, Z:-4.35 [[ 9.99551524e-01 -2.99147022e-02 1.36411687e-03 3.46988737e+02] [ 2.99148184e-02 9.99552450e-01 -6.48340419e-05 -2.12881480e+01] [-1.36156686e-03 1.05612274e-04 9.99999067e-01 -4.34928911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.730371743 meters Centerline goodness [0,1] 0.9760924557313625 Centerline is valid? [True, True] Translation: X:347.02, Y:-21.28, Z:-4.35 [[ 9.99585655e-01 -2.87476122e-02 1.44659790e-03 3.47021697e+02] [ 2.87477417e-02 9.99586696e-01 -6.87923279e-05 -2.12834579e+01] [-1.44402240e-03 1.10350247e-04 9.99998951e-01 -4.34942602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.760371743 meters Centerline goodness [0,1] 0.9761052868616609 Centerline is valid? [True, True] Translation: X:347.05, Y:-21.28, Z:-4.35 [[ 9.99621732e-01 -2.74710566e-02 1.31650284e-03 3.47052047e+02] [ 2.74711633e-02 9.99622594e-01 -6.30520357e-05 -2.12826757e+01] [-1.31427388e-03 9.91940497e-05 9.99999131e-01 -4.34946792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.790371743 meters Centerline goodness [0,1] 0.9778278937766065 Centerline is valid? [True, True] Translation: X:347.08, Y:-21.28, Z:-4.35 [[ 9.99728970e-01 -2.32799749e-02 1.73785240e-04 3.47082266e+02] [ 2.32799767e-02 9.99728985e-01 -8.45043562e-06 -2.12753865e+01] [-1.73541416e-04 1.24938616e-05 9.99999985e-01 -4.35026662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.820371743 meters Centerline goodness [0,1] 0.9818357340649849 Centerline is valid? [True, True] Translation: X:347.11, Y:-21.27, Z:-4.35 [[ 9.99786720e-01 -2.06482294e-02 -4.05570036e-04 3.47113613e+02] [ 2.06482390e-02 9.99786802e-01 1.95798226e-05 -2.12686077e+01] [ 4.05079281e-04 -2.79499537e-05 9.99999918e-01 -4.35039020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.850371743 meters Centerline goodness [0,1] 0.9845493341559978 Centerline is valid? [True, True] Translation: X:347.14, Y:-21.26, Z:-4.35 [[ 9.99910520e-01 -1.32648688e-02 -1.73070001e-03 3.47144846e+02] [ 1.32650326e-02 9.99912012e-01 8.31812686e-05 -2.12579829e+01] [ 1.72944434e-03 -1.06131618e-04 9.99998499e-01 -4.35189717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880371743 meters Centerline goodness [0,1] 0.9861894170589148 Centerline is valid? [True, True] Translation: X:347.18, Y:-21.25, Z:-4.35 [[ 9.99954740e-01 -9.30657292e-03 -1.97623152e-03 3.47175691e+02] [ 9.30677851e-03 9.99956686e-01 9.48610783e-05 -2.12507765e+01] [ 1.97526309e-03 -1.13249134e-04 9.99998043e-01 -4.35199178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.910371743 meters Centerline goodness [0,1] 0.9877087682672234 Centerline is valid? [True, True] Translation: X:347.21, Y:-21.24, Z:-4.35 [[ 9.99996594e-01 -1.14569841e-03 -2.34516541e-03 3.47206113e+02] [ 1.14596552e-03 9.99999337e-01 1.12556092e-04 -2.12416576e+01] [ 2.34503490e-03 -1.15243188e-04 9.99997244e-01 -4.35235219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940371743 meters Centerline goodness [0,1] 0.9897749973714646 Centerline is valid? [True, True] Translation: X:347.24, Y:-21.24, Z:-4.35 [[ 9.99992261e-01 3.02252203e-03 -2.51852130e-03 3.47236851e+02] [-3.02222714e-03 9.99995426e-01 1.20887558e-04 -2.12370759e+01] [ 2.51887516e-03 -1.13275079e-04 9.99996821e-01 -4.35170437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.970371743 meters Centerline goodness [0,1] 0.9914086604957975 Centerline is valid? [True, True] Translation: X:347.27, Y:-21.23, Z:-4.35 [[ 9.99932475e-01 1.14235021e-02 -2.13291544e-03 3.47267838e+02] [-1.14233098e-02 9.99934747e-01 1.02307642e-04 -2.12266349e+01] [ 2.13394497e-03 -7.79357797e-05 9.99997720e-01 -4.35065555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000371743 meters Centerline goodness [0,1] 0.9920957060457167 Centerline is valid? [True, True] Translation: X:347.30, Y:-21.22, Z:-4.35 [[ 9.99883483e-01 1.51699099e-02 -1.70134941e-03 3.47296810e+02] [-1.51697936e-02 9.99884929e-01 8.12145929e-05 -2.12234116e+01] [ 1.70238565e-03 -5.53960106e-05 9.99998549e-01 -4.35027349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.030371743 meters Centerline goodness [0,1] 0.9935134844162136 Centerline is valid? [True, True] Translation: X:347.33, Y:-21.22, Z:-4.35 [[ 9.99786887e-01 2.06317139e-02 -7.16421674e-04 3.47326817e+02] [-2.06316947e-02 9.99787143e-01 3.40909981e-05 -2.12179645e+01] [ 7.16972534e-04 -1.93027396e-05 9.99999743e-01 -4.34945245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060371743 meters Centerline goodness [0,1] 0.9939101614076689 Centerline is valid? [True, True] Translation: X:347.36, Y:-21.21, Z:-4.35 [[ 9.99749191e-01 2.23861223e-02 -6.46161376e-04 3.47355575e+02] [-2.23861073e-02 9.99749399e-01 3.04310669e-05 -2.12148098e+01] [ 6.46680681e-04 -1.59583965e-05 9.99999791e-01 -4.34838469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.090371743 meters Centerline goodness [0,1] 0.9942949844531567 Centerline is valid? [True, True] Translation: X:347.38, Y:-21.22, Z:-4.35 [[ 9.99726466e-01 2.33877494e-02 8.39812637e-05 3.47383303e+02] [-2.33877491e-02 9.99726469e-01 -4.59771952e-06 -2.12164281e+01] [-8.40658225e-05 2.63232916e-06 9.99999996e-01 -4.34865886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120371743 meters Centerline goodness [0,1] 0.9942207459018607 Centerline is valid? [True, True] Translation: X:347.41, Y:-21.22, Z:-4.35 [[ 9.99712070e-01 2.39935925e-02 2.89926340e-04 3.47412395e+02] [-2.39935894e-02 9.99712112e-01 -1.42815252e-05 -2.12163788e+01] [-2.90185539e-04 7.32103958e-06 9.99999958e-01 -4.34819416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.150371743 meters Centerline goodness [0,1] 0.993322203672788 Centerline is valid? [True, True] Translation: X:347.44, Y:-21.22, Z:-4.35 [[ 9.99716738e-01 2.38000365e-02 3.27587887e-05 3.47439883e+02] [-2.38000364e-02 9.99716739e-01 -2.12936530e-06 -2.12199988e+01] [-3.28001884e-05 1.34910177e-06 9.99999999e-01 -4.34967217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180371743 meters Centerline goodness [0,1] 0.9936129672865845 Centerline is valid? [True, True] Translation: X:347.47, Y:-21.22, Z:-4.35 [[ 9.99748808e-01 2.23852847e-02 -1.10433001e-03 3.47468298e+02] [-2.23852409e-02 9.99749418e-01 5.20050505e-05 -2.12201404e+01] [ 1.10521743e-03 -2.72712940e-05 9.99999389e-01 -4.34994085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.210371743 meters Centerline goodness [0,1] 0.9938391175679311 Centerline is valid? [True, True] Translation: X:347.50, Y:-21.22, Z:-4.35 [[ 9.99770888e-01 2.13630087e-02 -1.33903738e-03 3.47496948e+02] [-2.13629434e-02 9.99771784e-01 6.30662341e-05 -2.12232475e+01] [ 1.34007907e-03 -3.44460052e-05 9.99999102e-01 -4.35079572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240371743 meters Centerline goodness [0,1] 0.9934011105448107 Centerline is valid? [True, True] Translation: X:347.53, Y:-21.23, Z:-4.35 [[ 9.99835948e-01 1.79986605e-02 -2.03091871e-03 3.47525139e+02] [-1.79985028e-02 9.99838009e-01 9.59095017e-05 -2.12292556e+01] [ 2.03231597e-03 -5.93402714e-05 9.99997933e-01 -4.35202235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.270371743 meters Centerline goodness [0,1] 0.9924896431912335 Centerline is valid? [True, True] Translation: X:347.55, Y:-21.23, Z:-4.35 [[ 9.99873294e-01 1.58192728e-02 -1.77391628e-03 3.47553850e+02] [-1.58191495e-02 9.99874866e-01 8.34960916e-05 -2.12334345e+01] [ 1.77501515e-03 -5.54236652e-05 9.99998423e-01 -4.35269864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300371743 meters Centerline goodness [0,1] 0.9917251688332488 Centerline is valid? [True, True] Translation: X:347.58, Y:-21.24, Z:-4.35 [[ 9.99901007e-01 1.38879368e-02 -2.25862572e-03 3.47582030e+02] [-1.38877325e-02 9.99903555e-01 1.06116336e-04 -2.12371224e+01] [ 2.25988163e-03 -7.47386409e-05 9.99997444e-01 -4.35299783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.330371743 meters Centerline goodness [0,1] 0.9909100574101637 Centerline is valid? [True, True] Translation: X:347.61, Y:-21.24, Z:-4.35 [[ 9.99945936e-01 1.00928493e-02 -2.50187619e-03 3.47611303e+02] [-1.00925859e-02 9.99949062e-01 1.17867554e-04 -2.12435840e+01] [ 2.50293837e-03 -9.26107816e-05 9.99996863e-01 -4.35384043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36037174300003 meters Centerline goodness [0,1] 0.9911724942342868 Centerline is valid? [True, True] Translation: X:347.64, Y:-21.24, Z:-4.35 [[ 9.99962181e-01 8.32939403e-03 -2.50137231e-03 3.47640105e+02] [-8.32912635e-03 9.99965305e-01 1.17412008e-04 -2.12445371e+01] [ 2.50226350e-03 -9.65733220e-05 9.99996865e-01 -4.35335967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.390371743 meters Centerline goodness [0,1] 0.9896899061280455 Centerline is valid? [True, True] Translation: X:347.67, Y:-21.25, Z:-4.35 [[ 9.99985899e-01 4.73804488e-03 -2.39857251e-03 3.47668375e+02] [-4.73778848e-03 9.99988770e-01 1.12565048e-04 -2.12545610e+01] [ 2.39907891e-03 -1.01199532e-04 9.99997117e-01 -4.35473079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.420371743 meters Centerline goodness [0,1] 0.990254126277181 Centerline is valid? [True, True] Translation: X:347.70, Y:-21.26, Z:-4.35 [[ 9.99992376e-01 3.29219713e-03 -2.09982767e-03 3.47696621e+02] [-3.29199844e-03 9.99994577e-01 9.80716954e-05 -2.12553745e+01] [ 2.10013916e-03 -9.11583183e-05 9.99997791e-01 -4.35401814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.450371743 meters Centerline goodness [0,1] 0.9889292148620068 Centerline is valid? [True, True] Translation: X:347.72, Y:-21.26, Z:-4.36 [[ 9.99997989e-01 6.96151134e-04 -1.88074199e-03 3.47724806e+02] [-6.95987011e-04 9.99999754e-01 8.79181822e-05 -2.12623163e+01] [ 1.88080274e-03 -8.66090334e-05 9.99998228e-01 -4.35526169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.480371743 meters Centerline goodness [0,1] 0.9796448153719249 Centerline is valid? [True, True] Translation: X:347.75, Y:-21.29, Z:-4.36 [[ 9.99994430e-01 2.37004227e-03 2.35018396e-03 3.47752719e+02] [-2.36978920e-03 9.99997186e-01 -1.10456364e-04 -2.12908679e+01] [-2.35043914e-03 1.04886308e-04 9.99997232e-01 -4.35658963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.510371743 meters Centerline goodness [0,1] 0.9889752723679763 Centerline is valid? [True, True] Translation: X:347.78, Y:-21.27, Z:-4.36 [[ 9.99995743e-01 -2.60701196e-03 -1.31044940e-03 3.47784096e+02] [ 2.60709469e-03 9.99996600e-01 6.14205528e-05 -2.12692198e+01] [ 1.31028482e-03 -6.48367570e-05 9.99999139e-01 -4.35634634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.540371743 meters Centerline goodness [0,1] 0.9887133182844243 Centerline is valid? [True, True] Translation: X:347.81, Y:-21.27, Z:-4.36 [[ 9.99990939e-01 -3.90785628e-03 -1.68847077e-03 3.47814242e+02] [ 3.90799578e-03 9.99992361e-01 7.93284780e-05 -2.12743268e+01] [ 1.68814787e-03 -8.59262959e-05 9.99998571e-01 -4.35709437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.570371743 meters Centerline goodness [0,1] 0.9875971814139733 Centerline is valid? [True, True] Translation: X:347.85, Y:-21.28, Z:-4.36 [[ 9.99983670e-01 -5.29987042e-03 -2.13801061e-03 3.47845785e+02] [ 5.30009762e-03 9.99985949e-01 1.00612126e-04 -2.12763843e+01] [ 2.13744734e-03 -1.11942148e-04 9.99997709e-01 -4.35707745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.600371743 meters Centerline goodness [0,1] 0.9875702410855323 Centerline is valid? [True, True] Translation: X:347.88, Y:-21.28, Z:-4.36 [[ 9.99968178e-01 -7.58259174e-03 -2.47926859e-03 3.47876923e+02] [ 7.58290438e-03 9.99971243e-01 1.16724266e-04 -2.12809938e+01] [ 2.47831222e-03 -1.35520608e-04 9.99996920e-01 -4.35792788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.630371743 meters Centerline goodness [0,1] 0.9874675107439718 Centerline is valid? [True, True] Translation: X:347.91, Y:-21.29, Z:-4.36 [[ 9.99942843e-01 -1.01433155e-02 -3.37985569e-03 3.47907787e+02] [ 1.01439106e-02 9.99948537e-01 1.58979883e-04 -2.12853557e+01] [ 3.37806916e-03 -1.93255751e-04 9.99994276e-01 -4.35925999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.660371743 meters Centerline goodness [0,1] 0.9861304459912349 Centerline is valid? [True, True] Translation: X:347.94, Y:-21.29, Z:-4.36 [[ 9.99925887e-01 -1.15297854e-02 -3.90945707e-03 3.47938699e+02] [ 1.15305939e-02 9.99933504e-01 1.84318912e-04 -2.12903071e+01] [ 3.90707195e-03 -2.29383614e-04 9.99992341e-01 -4.36019430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.690371743 meters Centerline goodness [0,1] 0.9858456637895602 Centerline is valid? [True, True] Translation: X:347.97, Y:-21.29, Z:-4.36 [[ 9.99917825e-01 -1.22571100e-02 -3.75582894e-03 3.47969483e+02] [ 1.22578621e-02 9.99924854e-01 1.77277861e-04 -2.12937850e+01] [ 3.75337379e-03 -2.23301726e-04 9.99992931e-01 -4.36048804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.720371743 meters Centerline goodness [0,1] 0.9859621208232818 Centerline is valid? [True, True] Translation: X:348.00, Y:-21.30, Z:-4.36 [[ 9.99900307e-01 -1.36227382e-02 -3.71442536e-03 3.48000680e+02] [ 1.36234839e-02 9.99907181e-01 1.75516459e-04 -2.12980827e+01] [ 3.71168958e-03 -2.26102375e-04 9.99993086e-01 -4.36069009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.750371743 meters Centerline goodness [0,1] 0.9846455070074196 Centerline is valid? [True, True] Translation: X:348.03, Y:-21.30, Z:-4.36 [[ 9.99887876e-01 -1.43914633e-02 -4.13782688e-03 3.48031379e+02] [ 1.43923959e-02 9.99896405e-01 1.95690808e-04 -2.13022508e+01] [ 4.13458194e-03 -2.55222109e-04 9.99991420e-01 -4.36136730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.780371743 meters Centerline goodness [0,1] 0.9846455070074196 Centerline is valid? [True, True] Translation: X:348.06, Y:-21.30, Z:-4.36 [[ 9.99889335e-01 -1.42897241e-02 -4.13779100e-03 3.48063957e+02] [ 1.42906590e-02 9.99897864e-01 1.96449581e-04 -2.13038966e+01] [ 4.13456117e-03 -2.55559601e-04 9.99991420e-01 -4.36158440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.810371743 meters Centerline goodness [0,1] 0.9847902864066407 Centerline is valid? [True, True] Translation: X:348.10, Y:-21.30, Z:-4.36 [[ 9.99893994e-01 -1.39863884e-02 -4.04737009e-03 3.48096175e+02] [ 1.39872807e-02 9.99902155e-01 1.92225811e-04 -2.13029891e+01] [ 4.04428553e-03 -2.48817135e-04 9.99991791e-01 -4.36091885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.840371743 meters Centerline goodness [0,1] 0.9870616187180414 Centerline is valid? [True, True] Translation: X:348.13, Y:-21.30, Z:-4.36 [[ 9.99905881e-01 -1.31799924e-02 -3.81016192e-03 3.48128539e+02] [ 1.31807785e-02 9.99913113e-01 1.81273717e-04 -2.12990416e+01] [ 3.80744168e-03 -2.31477556e-04 9.99992725e-01 -4.35990516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.870371743 meters Centerline goodness [0,1] 0.9868455057631674 Centerline is valid? [True, True] Translation: X:348.16, Y:-21.30, Z:-4.36 [[ 9.99926780e-01 -1.17602331e-02 -2.85147083e-03 3.48159918e+02] [ 1.17606676e-02 9.99930832e-01 1.35644904e-04 -2.12983873e+01] [ 2.84967838e-03 -1.69170173e-04 9.99995925e-01 -4.35963301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.900371743 meters Centerline goodness [0,1] 0.9876754181554555 Centerline is valid? [True, True] Translation: X:348.19, Y:-21.30, Z:-4.36 [[ 9.99936394e-01 -1.09974859e-02 -2.50278276e-03 3.48192184e+02] [ 1.09978194e-02 9.99939515e-01 1.19509408e-04 -2.12962390e+01] [ 2.50131708e-03 -1.47026959e-04 9.99996861e-01 -4.35942939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.930371743 meters Centerline goodness [0,1] 0.9872632944228275 Centerline is valid? [True, True] Translation: X:348.22, Y:-21.30, Z:-4.36 [[ 9.99949634e-01 -9.79103135e-03 -2.20573888e-03 3.48223000e+02] [ 9.79128921e-03 9.99952059e-01 1.06133090e-04 -2.12979538e+01] [ 2.20459398e-03 -1.27724771e-04 9.99997562e-01 -4.35940143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.960371743 meters Centerline goodness [0,1] 0.987061238275871 Centerline is valid? [True, True] Translation: X:348.25, Y:-21.30, Z:-4.36 [[ 9.99966716e-01 -7.88491502e-03 -2.09641533e-03 3.48253108e+02] [ 7.88514386e-03 9.99968907e-01 1.00916387e-04 -2.12992455e+01] [ 2.09555443e-03 -1.17443564e-04 9.99997797e-01 -4.36011207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.990371743 meters Centerline goodness [0,1] 0.9872545194433606 Centerline is valid? [True, True] Translation: X:348.28, Y:-21.30, Z:-4.36 [[ 9.99978449e-01 -6.36923840e-03 -1.59224291e-03 3.48284733e+02] [ 6.36936812e-03 9.99979712e-01 7.64094776e-05 -2.12964191e+01] [ 1.59172394e-03 -8.65494121e-05 9.99998729e-01 -4.36001563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.020371743 meters Centerline goodness [0,1] 0.988229779698974 Centerline is valid? [True, True] Translation: X:348.32, Y:-21.30, Z:-4.36 [[ 9.99984564e-01 -5.48343262e-03 -8.96743338e-04 3.48316382e+02] [ 5.48347377e-03 9.99984965e-01 4.34316605e-05 -2.12989493e+01] [ 8.96491700e-04 -4.83482586e-05 9.99999597e-01 -4.36025440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.050371743 meters Centerline goodness [0,1] 0.9871374264437848 Centerline is valid? [True, True] Translation: X:348.35, Y:-21.30, Z:-4.36 [[ 9.99986478e-01 -5.15412669e-03 -6.91970879e-04 3.48348370e+02] [ 5.15415122e-03 9.99986717e-01 3.36663710e-05 -2.12998456e+01] [ 6.91788167e-04 -3.72324383e-05 9.99999760e-01 -4.36075829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.080371743 meters Centerline goodness [0,1] 0.9875594109549906 Centerline is valid? [True, True] Translation: X:348.38, Y:-21.30, Z:-4.36 [[ 9.99989879e-01 -4.44553216e-03 -6.92858792e-04 3.48379041e+02] [ 4.44555652e-03 9.99990118e-01 3.36250282e-05 -2.13031147e+01] [ 6.92702464e-04 -3.67048308e-05 9.99999759e-01 -4.36127340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11037174300003 meters Centerline goodness [0,1] 0.9876733034504326 Centerline is valid? [True, True] Translation: X:348.41, Y:-21.30, Z:-4.36 [[ 9.99987856e-01 -4.84659893e-03 -8.93351090e-04 3.48410849e+02] [ 4.84663966e-03 9.99988254e-01 4.34316910e-05 -2.13049556e+01] [ 8.93130101e-04 -4.77609144e-05 9.99999600e-01 -4.36184882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.140371743 meters Centerline goodness [0,1] 0.9868506199363238 Centerline is valid? [True, True] Translation: X:348.44, Y:-21.31, Z:-4.36 [[ 9.99982978e-01 -5.57773665e-03 -1.71263905e-03 3.48442385e+02] [ 5.57788664e-03 9.99984440e-01 8.28140977e-05 -2.13077678e+01] [ 1.71215048e-03 -9.23655944e-05 9.99998530e-01 -4.36388871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.170371743 meters Centerline goodness [0,1] 0.9883811603243917 Centerline is valid? [True, True] Translation: X:348.47, Y:-21.31, Z:-4.36 [[ 9.99980294e-01 -5.81741773e-03 -2.35991017e-03 3.48474557e+02] [ 5.81770356e-03 9.99983070e-01 1.14273558e-04 -2.13076629e+01] [ 2.35920545e-03 -1.28000564e-04 9.99997209e-01 -4.36435044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.200371743 meters Centerline goodness [0,1] 0.9887903456526828 Centerline is valid? [True, True] Translation: X:348.51, Y:-21.31, Z:-4.37 [[ 9.99976755e-01 -6.09150159e-03 -3.06307091e-03 3.48506833e+02] [ 6.09198469e-03 9.99981433e-01 1.48410854e-04 -2.13083503e+01] [ 3.06211000e-03 -1.67067586e-04 9.99995298e-01 -4.36509673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.230371743 meters Centerline goodness [0,1] 0.9882071173821363 Centerline is valid? [True, True] Translation: X:348.54, Y:-21.31, Z:-4.37 [[ 9.99971481e-01 -6.00482070e-03 -4.58025732e-03 3.48537991e+02] [ 6.00590267e-03 9.99981940e-01 2.22507784e-04 -2.13133527e+01] [ 4.57883848e-03 -2.50010018e-04 9.99989486e-01 -4.36699357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.260371743 meters Centerline goodness [0,1] 0.987983701435208 Centerline is valid? [True, True] Translation: X:348.57, Y:-21.31, Z:-4.37 [[ 9.99968699e-01 -6.14236031e-03 -4.98716070e-03 3.48570733e+02] [ 6.14364473e-03 9.99981098e-01 2.42267871e-04 -2.13129648e+01] [ 4.98557834e-03 -2.72899631e-04 9.99987535e-01 -4.36697314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.290371743 meters Centerline goodness [0,1] 0.9875549805950841 Centerline is valid? [True, True] Translation: X:348.60, Y:-21.32, Z:-4.37 [[ 9.99960435e-01 -6.92106927e-03 -5.58811102e-03 3.48601830e+02] [ 6.92269467e-03 9.99976001e-01 2.71577723e-04 -2.13192171e+01] [ 5.58609730e-03 -3.10251765e-04 9.99984350e-01 -4.36883775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.320371743 meters Centerline goodness [0,1] 0.9888233467867122 Centerline is valid? [True, True] Translation: X:348.63, Y:-21.32, Z:-4.37 [[ 9.99948458e-01 -7.81516159e-03 -6.48111247e-03 3.48633961e+02] [ 7.81737032e-03 9.99969394e-01 3.15531890e-04 -2.13179463e+01] [ 6.47844818e-03 -3.66180883e-04 9.99978948e-01 -4.36977682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.350371743 meters Centerline goodness [0,1] 0.9873074139178989 Centerline is valid? [True, True] Translation: X:348.66, Y:-21.32, Z:-4.37 [[ 9.99942752e-01 -8.06696576e-03 -7.02972765e-03 3.48664774e+02] [ 8.06957203e-03 9.99967382e-01 3.42463856e-04 -2.13216388e+01] [ 7.02673571e-03 -3.99171145e-04 9.99975233e-01 -4.37102849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380371743 meters Centerline goodness [0,1] 0.9896218846243433 Centerline is valid? [True, True] Translation: X:348.70, Y:-21.32, Z:-4.37 [[ 9.99948143e-01 -7.16959078e-03 -7.23245330e-03 3.48696989e+02] [ 7.17233080e-03 9.99974216e-01 3.52984617e-04 -2.13225258e+01] [ 7.22973607e-03 -4.04839859e-04 9.99973783e-01 -4.37174798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.410371743 meters Centerline goodness [0,1] 0.9877967148962463 Centerline is valid? [True, True] Translation: X:348.73, Y:-21.33, Z:-4.37 [[ 9.99946624e-01 -8.41092320e-03 -6.00042336e-03 3.48727986e+02] [ 8.41283321e-03 9.99964569e-01 2.93141434e-04 -2.13274562e+01] [ 5.99774516e-03 -3.43606348e-04 9.99981954e-01 -4.37064897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440371743 meters Centerline goodness [0,1] 0.9847814910025707 Centerline is valid? [True, True] Translation: X:348.76, Y:-21.34, Z:-4.37 [[ 9.99942651e-01 -9.32685172e-03 -5.26343711e-03 3.48758477e+02] [ 9.32833568e-03 9.99956457e-01 2.57456760e-04 -2.13361538e+01] [ 5.26080666e-03 -3.06541103e-04 9.99986115e-01 -4.37118112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.470371743 meters Centerline goodness [0,1] 0.9851787493930954 Centerline is valid? [True, True] Translation: X:348.79, Y:-21.34, Z:-4.37 [[ 9.99920815e-01 -1.17828229e-02 -4.41917539e-03 3.48789626e+02] [ 1.17838932e-02 9.99930544e-01 2.16250755e-04 -2.13387960e+01] [ 4.41632041e-03 -2.68308722e-04 9.99990212e-01 -4.36983053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500371743 meters Centerline goodness [0,1] 0.9853294484486019 Centerline is valid? [True, True] Translation: X:348.82, Y:-21.34, Z:-4.37 [[ 9.99905464e-01 -1.30713110e-02 -4.26659710e-03 3.48821099e+02] [ 1.30723219e-02 9.99914532e-01 2.09135911e-04 -2.13423177e+01] [ 4.26349876e-03 -2.64890471e-04 9.99990876e-01 -4.37016490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.530371743 meters Centerline goodness [0,1] 0.9833681955002296 Centerline is valid? [True, True] Translation: X:348.85, Y:-21.35, Z:-4.37 [[ 9.99890169e-01 -1.43185268e-02 -3.82495062e-03 3.48853349e+02] [ 1.43193499e-02 9.99897455e-01 1.87904157e-04 -2.13468681e+01] [ 3.82186788e-03 -2.42654326e-04 9.99992667e-01 -4.37074373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560371743 meters Centerline goodness [0,1] 0.9836078111456686 Centerline is valid? [True, True] Translation: X:348.88, Y:-21.35, Z:-4.37 [[ 9.99834067e-01 -1.77842804e-02 -3.94433848e-03 3.48883867e+02] [ 1.77851814e-02 9.99841812e-01 1.93473689e-04 -2.13499707e+01] [ 3.94027375e-03 -2.63592360e-04 9.99992202e-01 -4.37103487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.590371743 meters Centerline goodness [0,1] 0.9827276180828163 Centerline is valid? [True, True] Translation: X:348.91, Y:-21.36, Z:-4.37 [[ 9.99815490e-01 -1.87906035e-02 -3.98745852e-03 3.48914332e+02] [ 1.87915334e-02 9.99823404e-01 1.95854290e-04 -2.13560231e+01] [ 3.98307413e-03 -2.70748613e-04 9.99992031e-01 -4.37157409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620371743 meters Centerline goodness [0,1] 0.9819281663516068 Centerline is valid? [True, True] Translation: X:348.95, Y:-21.36, Z:-4.37 [[ 9.99799448e-01 -1.92934068e-02 -5.36917834e-03 3.48945708e+02] [ 1.92951017e-02 9.99813797e-01 2.64038021e-04 -2.13622052e+01] [ 5.36308439e-03 -3.67583910e-04 9.99985551e-01 -4.37460106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.650371743 meters Centerline goodness [0,1] 0.9838474311880441 Centerline is valid? [True, True] Translation: X:348.98, Y:-21.36, Z:-4.37 [[ 9.99801665e-01 -1.90972131e-02 -5.65038475e-03 3.48978449e+02] [ 1.90990900e-02 9.99817557e-01 2.78392520e-04 -2.13619551e+01] [ 5.64403736e-03 -3.86254512e-04 9.99983998e-01 -4.37428623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680371743 meters Centerline goodness [0,1] 0.9826200195336956 Centerline is valid? [True, True] Translation: X:349.01, Y:-21.37, Z:-4.37 [[ 9.99813958e-01 -1.85608716e-02 -5.24820914e-03 3.49009341e+02] [ 1.85624845e-02 9.99827669e-01 2.58773784e-04 -2.13694096e+01] [ 5.24250164e-03 -3.56145442e-04 9.99986195e-01 -4.37464130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.710371743 meters Centerline goodness [0,1] 0.9829568172730908 Centerline is valid? [True, True] Translation: X:349.04, Y:-21.37, Z:-4.38 [[ 9.99818125e-01 -1.83114841e-02 -5.32981665e-03 3.49041398e+02] [ 1.83131465e-02 9.99832266e-01 2.63278234e-04 -2.13720912e+01] [ 5.32410164e-03 -3.60836063e-04 9.99985762e-01 -4.37502599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740371743 meters Centerline goodness [0,1] 0.9835374522960265 Centerline is valid? [True, True] Translation: X:349.07, Y:-21.37, Z:-4.38 [[ 9.99825993e-01 -1.77847620e-02 -5.62897003e-03 3.49073203e+02] [ 1.77866102e-02 9.99841767e-01 2.78435002e-04 -2.13738396e+01] [ 5.62312744e-03 -3.78506848e-04 9.99984118e-01 -4.37512890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.770371743 meters Centerline goodness [0,1] 0.9835557319311474 Centerline is valid? [True, True] Translation: X:349.11, Y:-21.38, Z:-4.38 [[ 9.99836319e-01 -1.70459313e-02 -6.06387752e-03 3.49105711e+02] [ 1.70480651e-02 9.99854626e-01 3.00363504e-04 -2.13757023e+01] [ 6.05787601e-03 -4.03691719e-04 9.99981569e-01 -4.37597777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800371743 meters Centerline goodness [0,1] 0.981625738803571 Centerline is valid? [True, True] Translation: X:349.14, Y:-21.38, Z:-4.38 [[ 9.99842318e-01 -1.67785488e-02 -5.81542577e-03 3.49136815e+02] [ 1.67805080e-02 9.99859156e-01 2.88268011e-04 -2.13847505e+01] [ 5.80976998e-03 -3.85808355e-04 9.99983049e-01 -4.37727392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.830371743 meters Centerline goodness [0,1] 0.9824967381403708 Centerline is valid? [True, True] Translation: X:349.17, Y:-21.39, Z:-4.38 [[ 9.99850398e-01 -1.65334600e-02 -5.08191330e-03 3.49169070e+02] [ 1.65349556e-02 9.99863256e-01 2.52424335e-04 -2.13879252e+01] [ 5.07704493e-03 -3.36415782e-04 9.99987055e-01 -4.37640381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86037174300003 meters Centerline goodness [0,1] 0.982903463522476 Centerline is valid? [True, True] Translation: X:349.20, Y:-21.39, Z:-4.38 [[ 9.99851297e-01 -1.63381028e-02 -5.51818219e-03 3.49201707e+02] [ 1.63398677e-02 9.99866458e-01 2.74883958e-04 -2.13899316e+01] [ 5.51295420e-03 -3.65009449e-04 9.99984737e-01 -4.37594084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.890371743 meters Centerline goodness [0,1] 0.9825649540925963 Centerline is valid? [True, True] Translation: X:349.23, Y:-21.40, Z:-4.38 [[ 9.99860138e-01 -1.56978555e-02 -5.76909455e-03 3.49234128e+02] [ 1.56997759e-02 9.99876710e-01 2.87733084e-04 -2.13960707e+01] [ 5.76386648e-03 -3.78266332e-04 9.99983317e-01 -4.37721225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.920371743 meters Centerline goodness [0,1] 0.9817479220337335 Centerline is valid? [True, True] Translation: X:349.27, Y:-21.40, Z:-4.38 [[ 9.99864828e-01 -1.54168267e-02 -5.71384990e-03 3.49266204e+02] [ 1.54187076e-02 9.99881084e-01 2.85271600e-04 -2.13997944e+01] [ 5.70877245e-03 -3.73333220e-04 9.99983635e-01 -4.37794330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.950371743 meters Centerline goodness [0,1] 0.9824952182650171 Centerline is valid? [True, True] Translation: X:349.30, Y:-21.41, Z:-4.38 [[ 9.99848702e-01 -1.61760643e-02 -6.39590361e-03 3.49298318e+02] [ 1.61784391e-02 9.99869069e-01 3.19727999e-04 -2.14054670e+01] [ 6.38989425e-03 -4.23155362e-04 9.99979495e-01 -4.37941413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.980371743 meters Centerline goodness [0,1] 0.9803784162578837 Centerline is valid? [True, True] Translation: X:349.33, Y:-21.41, Z:-4.38 [[ 9.99847401e-01 -1.61710092e-02 -6.60858148e-03 3.49328755e+02] [ 1.61735514e-02 9.99869145e-01 3.31425571e-04 -2.14136426e+01] [ 6.60235723e-03 -4.38259228e-04 9.99978108e-01 -4.38043325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.010371743 meters Centerline goodness [0,1] 0.9806750464426163 Centerline is valid? [True, True] Translation: X:349.36, Y:-21.42, Z:-4.38 [[ 9.99836027e-01 -1.67644460e-02 -6.84639376e-03 3.49360998e+02] [ 1.67671892e-02 9.99859362e-01 3.43473390e-04 -2.14181321e+01] [ 6.83967275e-03 -4.58211849e-04 9.99976504e-01 -4.38060768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.040371743 meters Centerline goodness [0,1] 0.9815005878542121 Centerline is valid? [True, True] Translation: X:349.39, Y:-21.42, Z:-4.38 [[ 9.99809272e-01 -1.81334123e-02 -7.25247862e-03 3.49392723e+02] [ 1.81365283e-02 9.99835453e-01 3.64108165e-04 -2.14197039e+01] [ 7.24468273e-03 -4.95573504e-04 9.99973634e-01 -4.38044008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.070371743 meters Centerline goodness [0,1] 0.9822648292390653 Centerline is valid? [True, True] Translation: X:349.43, Y:-21.42, Z:-4.38 [[ 9.99800809e-01 -1.87144727e-02 -6.93619629e-03 3.49425038e+02] [ 1.87173412e-02 9.99824754e-01 3.48872133e-04 -2.14225992e+01] [ 6.92845179e-03 -4.78629794e-04 9.99975883e-01 -4.38011036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.100371743 meters Centerline goodness [0,1] 0.9791508178014454 Centerline is valid? [True, True] Translation: X:349.45, Y:-21.44, Z:-4.38 [[ 9.99764499e-01 -2.05845365e-02 -6.87185838e-03 3.49454563e+02] [ 2.05873945e-02 9.99787997e-01 3.45400746e-04 -2.14359843e+01] [ 6.86329162e-03 -4.86793063e-04 9.99976329e-01 -4.38126693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.130371743 meters Centerline goodness [0,1] 0.9795589663421682 Centerline is valid? [True, True] Translation: X:349.49, Y:-21.44, Z:-4.38 [[ 9.99749241e-01 -2.14415217e-02 -6.45883141e-03 3.49486263e+02] [ 2.14440680e-02 9.99769997e-01 3.25228536e-04 -2.14363858e+01] [ 6.45037246e-03 -4.63650602e-04 9.99979089e-01 -4.38018850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.160371743 meters Centerline goodness [0,1] 0.9794033587642015 Centerline is valid? [True, True] Translation: X:349.52, Y:-21.44, Z:-4.38 [[ 9.99734141e-01 -2.20507919e-02 -6.73875636e-03 3.49518275e+02] [ 2.20535814e-02 9.99756732e-01 3.39911982e-04 -2.14393989e+01] [ 6.72962171e-03 -4.88435325e-04 9.99977237e-01 -4.38004692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.190371743 meters Centerline goodness [0,1] 0.9801569533146371 Centerline is valid? [True, True] Translation: X:349.55, Y:-21.44, Z:-4.38 [[ 9.99695729e-01 -2.34296684e-02 -7.71356855e-03 3.49550412e+02] [ 2.34333679e-02 9.99725325e-01 3.89566599e-04 -2.14438219e+01] [ 7.70232241e-03 -5.70202955e-04 9.99970174e-01 -4.38063334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.220371743 meters Centerline goodness [0,1] 0.9791529721100573 Centerline is valid? [True, True] Translation: X:349.58, Y:-21.45, Z:-4.38 [[ 9.99681543e-01 -2.38181122e-02 -8.33722760e-03 3.49582220e+02] [ 2.38224522e-02 9.99716116e-01 4.21627990e-04 -2.14496199e+01] [ 8.32481841e-03 -6.20106926e-04 9.99965156e-01 -4.38163886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.250371743 meters Centerline goodness [0,1] 0.9798610623815872 Centerline is valid? [True, True] Translation: X:349.61, Y:-21.45, Z:-4.38 [[ 9.99692360e-01 -2.32993825e-02 -8.50440035e-03 3.49613899e+02] [ 2.33038848e-02 9.99728335e-01 4.30685134e-04 -2.14524829e+01] [ 8.49205531e-03 -6.28738204e-04 9.99963744e-01 -4.38136499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.280371743 meters Centerline goodness [0,1] 0.9798362573099415 Centerline is valid? [True, True] Translation: X:349.65, Y:-21.46, Z:-4.38 [[ 9.99699364e-01 -2.30271125e-02 -8.42222165e-03 3.49645792e+02] [ 2.30315237e-02 9.99734648e-01 4.27135977e-04 -2.14551174e+01] [ 8.41015109e-03 -6.20984162e-04 9.99964441e-01 -4.38147882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.310371743 meters Centerline goodness [0,1] 0.9794960416618015 Centerline is valid? [True, True] Translation: X:349.68, Y:-21.46, Z:-4.38 [[ 9.99723160e-01 -2.21341924e-02 -7.97998883e-03 3.49676633e+02] [ 2.21381373e-02 9.99754839e-01 4.06346763e-04 -2.14595490e+01] [ 7.96903829e-03 -5.82896359e-04 9.99968077e-01 -4.38144195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.340371743 meters Centerline goodness [0,1] 0.9786646236708919 Centerline is valid? [True, True] Translation: X:349.71, Y:-21.46, Z:-4.38 [[ 9.99740921e-01 -2.14330944e-02 -7.66243138e-03 3.49708581e+02] [ 2.14367120e-02 9.99770131e-01 3.90301662e-04 -2.14595332e+01] [ 7.65230465e-03 -5.54457878e-04 9.99970567e-01 -4.38097362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.370371743 meters Centerline goodness [0,1] 0.9785529655589968 Centerline is valid? [True, True] Translation: X:349.74, Y:-21.46, Z:-4.38 [[ 9.99740724e-01 -2.14467455e-02 -7.64992667e-03 3.49740322e+02] [ 2.14503560e-02 9.99769838e-01 3.90216418e-04 -2.14639485e+01] [ 7.63979708e-03 -5.54208895e-04 9.99970663e-01 -4.38148412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.400371743 meters Centerline goodness [0,1] 0.9780138225335127 Centerline is valid? [True, True] Translation: X:349.77, Y:-21.47, Z:-4.38 [[ 9.99734666e-01 -2.16790867e-02 -7.78550576e-03 3.49771333e+02] [ 2.16828356e-02 9.99764821e-01 3.97421630e-04 -2.14705339e+01] [ 7.77505904e-03 -5.66128022e-04 9.99969614e-01 -4.38264570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.430371743 meters Centerline goodness [0,1] 0.9772458697314457 Centerline is valid? [True, True] Translation: X:349.80, Y:-21.47, Z:-4.38 [[ 9.99720053e-01 -2.23125475e-02 -7.87190132e-03 3.49803221e+02] [ 2.23164049e-02 9.99750877e-01 4.02513134e-04 -2.14712044e+01] [ 7.86095916e-03 -5.78072989e-04 9.99968935e-01 -4.38266413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.460371743 meters Centerline goodness [0,1] 0.9764032975175991 Centerline is valid? [True, True] Translation: X:349.83, Y:-21.48, Z:-4.38 [[ 9.99665300e-01 -2.45856248e-02 -8.05205854e-03 3.49833808e+02] [ 2.45897323e-02 9.99697542e-01 4.11497882e-04 -2.14778776e+01] [ 8.03950620e-03 -6.09358118e-04 9.99967497e-01 -4.38355456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.490371743 meters Centerline goodness [0,1] 0.975238359714894 Centerline is valid? [True, True] Translation: X:349.86, Y:-21.48, Z:-4.38 [[ 9.99626987e-01 -2.59067914e-02 -8.64431733e-03 3.49864866e+02] [ 2.59115881e-02 9.99664140e-01 4.43343958e-04 -2.14829547e+01] [ 8.62992844e-03 -6.67166575e-04 9.99962539e-01 -4.38409747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.520371743 meters Centerline goodness [0,1] 0.9751192204022393 Centerline is valid? [True, True] Translation: X:349.90, Y:-21.49, Z:-4.38 [[ 9.99544118e-01 -2.88214691e-02 -8.99324281e-03 3.49895642e+02] [ 2.88267722e-02 9.99584316e-01 4.60579753e-04 -2.14865793e+01] [ 8.97622987e-03 -7.19615945e-04 9.99959454e-01 -4.38394574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.550371743 meters Centerline goodness [0,1] 0.9756446330550302 Centerline is valid? [True, True] Translation: X:349.93, Y:-21.49, Z:-4.38 [[ 9.99512565e-01 -2.98559322e-02 -9.12448141e-03 3.49927188e+02] [ 2.98614414e-02 9.99553938e-01 4.68111053e-04 -2.14888866e+01] [ 9.10643543e-03 -7.40353046e-04 9.99958261e-01 -4.38397768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.580371743 meters Centerline goodness [0,1] 0.9741711020483399 Centerline is valid? [True, True] Translation: X:349.96, Y:-21.50, Z:-4.39 [[ 9.99494429e-01 -3.05349827e-02 -8.86010252e-03 3.49957687e+02] [ 3.05402179e-02 9.99533435e-01 4.56143849e-04 -2.14966727e+01] [ 8.84204036e-03 -7.26502697e-04 9.99960644e-01 -4.38557916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61037174300003 meters Centerline goodness [0,1] 0.9720101195952162 Centerline is valid? [True, True] Translation: X:349.99, Y:-21.50, Z:-4.39 [[ 9.99470340e-01 -3.09808894e-02 -9.96111841e-03 3.49988844e+02] [ 3.09875279e-02 9.99519640e-01 5.12760276e-04 -2.15044659e+01] [ 9.94044771e-03 -8.21159123e-04 9.99950255e-01 -4.38680217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.640371743 meters Centerline goodness [0,1] 0.9723444954022724 Centerline is valid? [True, True] Translation: X:350.02, Y:-21.51, Z:-4.39 [[ 9.99464855e-01 -3.10623899e-02 -1.02534038e-02 3.50020900e+02] [ 3.10694362e-02 9.99517089e-01 5.28602368e-04 -2.15073677e+01] [ 1.02320327e-02 -8.46886963e-04 9.99947293e-01 -4.38702434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.670371743 meters Centerline goodness [0,1] 0.9723444954022724 Centerline is valid? [True, True] Translation: X:350.05, Y:-21.51, Z:-4.39 [[ 9.99468036e-01 -3.09598806e-02 -1.02533378e-02 3.50053513e+02] [ 3.09669345e-02 9.99520269e-01 5.29882581e-04 -2.15091476e+01] [ 1.02320138e-02 -8.47115142e-04 9.99947293e-01 -4.38724171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.700371743 meters Centerline goodness [0,1] 0.9752462743116949 Centerline is valid? [True, True] Translation: X:350.09, Y:-21.51, Z:-4.39 [[ 9.99481732e-01 -3.04716663e-02 -1.03800547e-02 3.50085833e+02] [ 3.04788748e-02 9.99535267e-01 5.36946572e-04 -2.15053582e+01] [ 1.03588691e-02 -8.53040677e-04 9.99945982e-01 -4.38557982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.730371743 meters Centerline goodness [0,1] 0.9747645690865971 Centerline is valid? [True, True] Translation: X:350.12, Y:-21.50, Z:-4.38 [[ 9.99504312e-01 -2.97322697e-02 -1.03499910e-02 3.50118539e+02] [ 2.97394051e-02 9.99557542e-01 5.36155235e-04 -2.15038182e+01] [ 1.03294704e-02 -8.43692043e-04 9.99946294e-01 -4.38485100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.760371743 meters Centerline goodness [0,1] 0.9738850574712644 Centerline is valid? [True, True] Translation: X:350.15, Y:-21.51, Z:-4.39 [[ 9.99533412e-01 -2.89277852e-02 -9.80517990e-03 3.50150695e+02] [ 2.89341580e-02 9.99581190e-01 5.08677528e-04 -2.15052146e+01] [ 9.78635848e-03 -7.92144809e-04 9.99951799e-01 -4.38510138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.790371743 meters Centerline goodness [0,1] 0.9755849675467165 Centerline is valid? [True, True] Translation: X:350.18, Y:-21.51, Z:-4.38 [[ 9.99614180e-01 -2.60729893e-02 -9.57552022e-03 3.50181892e+02] [ 2.60789351e-02 9.99659763e-01 4.96584384e-04 -2.15050890e+01] [ 9.55931483e-03 -7.46112163e-04 9.99954030e-01 -4.38497879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.820371743 meters Centerline goodness [0,1] 0.9750323057042644 Centerline is valid? [True, True] Translation: X:350.21, Y:-21.51, Z:-4.39 [[ 9.99671048e-01 -2.40261800e-02 -8.97433982e-03 3.50211970e+02] [ 2.40313347e-02 9.99711097e-01 4.66979484e-04 -2.15079352e+01] [ 8.96052737e-03 -6.82491235e-04 9.99959621e-01 -4.38541781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.850371743 meters Centerline goodness [0,1] 0.9761091362356309 Centerline is valid? [True, True] Translation: X:350.24, Y:-21.51, Z:-4.39 [[ 9.99772860e-01 -1.96199368e-02 -8.32387922e-03 3.50241853e+02] [ 1.96242146e-02 9.99807333e-01 4.32552913e-04 -2.15083866e+01] [ 8.31378882e-03 -5.95804255e-04 9.99965262e-01 -4.38536804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880371743 meters Centerline goodness [0,1] 0.9763310879394667 Centerline is valid? [True, True] Translation: X:350.27, Y:-21.51, Z:-4.39 [[ 9.99820164e-01 -1.70839070e-02 -8.23283497e-03 3.50272242e+02] [ 1.70880059e-02 9.99853898e-01 4.27784146e-04 -2.15089957e+01] [ 8.22432391e-03 -5.68389947e-04 9.99966018e-01 -4.38541686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.910371743 meters Centerline goodness [0,1] 0.9782452729755375 Centerline is valid? [True, True] Translation: X:350.30, Y:-21.50, Z:-4.38 [[ 9.99859577e-01 -1.47714249e-02 -7.91398675e-03 3.50304240e+02] [ 1.47751467e-02 9.99890757e-01 4.12016612e-04 -2.15024241e+01] [ 7.90703613e-03 -5.28889071e-04 9.99968599e-01 -4.38396079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940371743 meters Centerline goodness [0,1] 0.9779216275575078 Centerline is valid? [True, True] Translation: X:350.33, Y:-21.51, Z:-4.39 [[ 9.99915598e-01 -1.02443360e-02 -7.99060183e-03 3.50333739e+02] [ 1.02479813e-02 9.99947402e-01 4.15389185e-04 -2.15102331e+01] [ 7.98592615e-03 -4.97241663e-04 9.99967988e-01 -4.38664205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.970371743 meters Centerline goodness [0,1] 0.9786388933792116 Centerline is valid? [True, True] Translation: X:350.37, Y:-21.51, Z:-4.39 [[ 9.99936067e-01 -8.30672125e-03 -7.67209517e-03 3.50365215e+02] [ 8.31002949e-03 9.99965391e-01 3.99426438e-04 -2.15119961e+01] [ 7.66851173e-03 -4.63156239e-04 9.99970489e-01 -4.38641001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000371743 meters Centerline goodness [0,1] 0.9803975959315765 Centerline is valid? [True, True] Translation: X:350.40, Y:-21.50, Z:-4.38 [[ 9.99962294e-01 -4.72582728e-03 -7.28546581e-03 3.50396638e+02] [ 4.72871603e-03 9.99988748e-01 3.79334413e-04 -2.15043130e+01] [ 7.28359117e-03 -4.13771008e-04 9.99973389e-01 -4.38423835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.030371743 meters Centerline goodness [0,1] 0.9811864524012635 Centerline is valid? [True, True] Translation: X:350.43, Y:-21.50, Z:-4.38 [[ 9.99966466e-01 -3.09581485e-03 -7.58169764e-03 3.50426879e+02] [ 3.09889565e-03 9.99995121e-01 3.94633521e-04 -2.15044601e+01] [ 7.58043893e-03 -4.18115178e-04 9.99971181e-01 -4.38406696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060371743 meters Centerline goodness [0,1] 0.9817351598173516 Centerline is valid? [True, True] Translation: X:350.46, Y:-21.51, Z:-4.39 [[ 9.99964382e-01 -1.74262433e-03 -8.25824893e-03 3.50456362e+02] [ 1.74622907e-03 9.99998383e-01 4.29311343e-04 -2.15064219e+01] [ 8.25748745e-03 -4.43716846e-04 9.99965808e-01 -4.38541040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.090371743 meters Centerline goodness [0,1] 0.9820475497331392 Centerline is valid? [True, True] Translation: X:350.48, Y:-21.51, Z:-4.39 [[ 9.99953366e-01 -1.30817497e-03 -9.56844697e-03 3.50484915e+02] [ 1.31295818e-03 9.99999016e-01 4.93628720e-04 -2.15099134e+01] [ 9.56779180e-03 -5.06168670e-04 9.99954100e-01 -4.38833737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120371743 meters Centerline goodness [0,1] 0.9816044260027662 Centerline is valid? [True, True] Translation: X:350.51, Y:-21.51, Z:-4.39 [[ 9.99940302e-01 -1.67332932e-03 -1.07978007e-02 3.50513146e+02] [ 1.67941503e-03 9.99998436e-01 5.54563827e-04 -2.15129015e+01] [ 1.07968559e-02 -5.72664709e-04 9.99941548e-01 -4.39001144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.150371743 meters Centerline goodness [0,1] 0.9820644300857688 Centerline is valid? [True, True] Translation: X:350.54, Y:-21.52, Z:-4.39 [[ 9.99929832e-01 -3.83134338e-03 -1.12094589e-02 3.50542426e+02] [ 3.83804939e-03 9.99992468e-01 5.76794258e-04 -2.15171258e+01] [ 1.12071645e-02 -6.19776242e-04 9.99937006e-01 -4.39115205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180371743 meters Centerline goodness [0,1] 0.981520591341077 Centerline is valid? [True, True] Translation: X:350.57, Y:-21.52, Z:-4.39 [[ 9.99920551e-01 -5.41000675e-03 -1.13852407e-02 3.50570759e+02] [ 5.41701852e-03 9.99985157e-01 5.85117031e-04 -2.15211522e+01] [ 1.13819063e-02 -6.46744604e-04 9.99935015e-01 -4.39143753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.210371743 meters Centerline goodness [0,1] 0.980083881465863 Centerline is valid? [True, True] Translation: X:350.60, Y:-21.52, Z:-4.39 [[ 9.99913706e-01 -7.27100395e-03 -1.09413105e-02 3.50600302e+02] [ 7.27758744e-03 9.99973360e-01 5.62014647e-04 -2.15237712e+01] [ 1.09369326e-02 -6.41592493e-04 9.99939984e-01 -4.39064900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240371743 meters Centerline goodness [0,1] 0.9803548505409866 Centerline is valid? [True, True] Translation: X:350.63, Y:-21.53, Z:-4.39 [[ 9.99882589e-01 -1.18412509e-02 -9.72590596e-03 3.50630213e+02] [ 1.18466698e-02 9.99929701e-01 4.99741332e-04 -2.15276184e+01] [ 9.71930468e-03 -6.14902254e-04 9.99952577e-01 -4.38905518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.270371743 meters Centerline goodness [0,1] 0.9785764751464321 Centerline is valid? [True, True] Translation: X:350.66, Y:-21.54, Z:-4.39 [[ 9.99855777e-01 -1.42665212e-02 -9.21366103e-03 3.50659835e+02] [ 1.42714871e-02 9.99898045e-01 4.73441697e-04 -2.15369436e+01] [ 9.20596728e-03 -6.04866060e-04 9.99957441e-01 -4.39015826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300371743 meters Centerline goodness [0,1] 0.977850697292863 Centerline is valid? [True, True] Translation: X:350.69, Y:-21.54, Z:-4.39 [[ 9.99762858e-01 -1.99699251e-02 -8.68505773e-03 3.50690525e+02] [ 1.99745531e-02 9.99800389e-01 4.46440937e-04 -2.15421141e+01] [ 8.67440870e-03 -6.19815213e-04 9.99962185e-01 -4.38923377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.330371743 meters Centerline goodness [0,1] 0.9757811434029199 Centerline is valid? [True, True] Translation: X:350.72, Y:-21.55, Z:-4.39 [[ 9.99710048e-01 -2.27103711e-02 -8.00371459e-03 3.50721820e+02] [ 2.27143924e-02 9.99741910e-01 4.11878577e-04 -2.15455251e+01] [ 7.99229499e-03 -5.93558666e-04 9.99967885e-01 -4.38898433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36037174300003 meters Centerline goodness [0,1] 0.975654111068173 Centerline is valid? [True, True] Translation: X:350.75, Y:-21.55, Z:-4.39 [[ 9.99552730e-01 -2.88994919e-02 -7.69144805e-03 3.50751829e+02] [ 2.89033856e-02 9.99582132e-01 3.95546056e-04 -2.15507992e+01] [ 7.67680295e-03 -6.17678029e-04 9.99970342e-01 -4.38830972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.390371743 meters Centerline goodness [0,1] 0.9733774774366184 Centerline is valid? [True, True] Translation: X:350.78, Y:-21.56, Z:-4.39 [[ 9.99471979e-01 -3.15737436e-02 -7.67211591e-03 3.50781178e+02] [ 3.15776962e-02 9.99501222e-01 3.94567515e-04 -2.15586877e+01] [ 7.65583126e-03 -6.36626920e-04 9.99970491e-01 -4.38948146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.420371743 meters Centerline goodness [0,1] 0.9734617831500499 Centerline is valid? [True, True] Translation: X:350.81, Y:-21.56, Z:-4.39 [[ 9.99382133e-01 -3.41901303e-02 -8.14789150e-03 3.50811897e+02] [ 3.41946767e-02 9.99415103e-01 4.19295135e-04 -2.15593559e+01] [ 8.12879007e-03 -6.97650582e-04 9.99966717e-01 -4.38955744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.450371743 meters Centerline goodness [0,1] 0.9737415460033589 Centerline is valid? [True, True] Translation: X:350.84, Y:-21.57, Z:-4.39 [[ 9.99222341e-01 -3.83535811e-02 -9.14961383e-03 3.50842658e+02] [ 3.83594903e-02 9.99263893e-01 4.71163856e-04 -2.15670561e+01] [ 9.12480791e-03 -8.21771974e-04 9.99958030e-01 -4.39068443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.480371743 meters Centerline goodness [0,1] 0.9665625989774218 Centerline is valid? [True, True] Translation: X:350.87, Y:-21.57, Z:-4.39 [[ 9.99163493e-01 -3.98839437e-02 -9.03240522e-03 3.50872708e+02] [ 3.98897653e-02 9.99203978e-01 4.65220641e-04 -2.15749265e+01] [ 9.00666040e-03 -8.25132006e-04 9.99959099e-01 -4.39214380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.510371743 meters Centerline goodness [0,1] 0.9678098471986417 Centerline is valid? [True, True] Translation: X:350.90, Y:-21.58, Z:-4.39 [[ 9.99080895e-01 -4.17452296e-02 -9.73146908e-03 3.50903913e+02] [ 4.17520792e-02 9.99127876e-01 5.01681617e-04 -2.15776648e+01] [ 9.70203921e-03 -9.07529587e-04 9.99952522e-01 -4.39185774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.540371743 meters Centerline goodness [0,1] 0.9680061718590456 Centerline is valid? [True, True] Translation: X:350.94, Y:-21.58, Z:-4.39 [[ 9.99068053e-01 -4.20806601e-02 -9.60432112e-03 3.50936290e+02] [ 4.20873561e-02 9.99113812e-01 4.96050670e-04 -2.15802754e+01] [ 9.57493574e-03 -8.99808861e-04 9.99953754e-01 -4.39202791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.570371743 meters Centerline goodness [0,1] 0.9686863658989094 Centerline is valid? [True, True] Translation: X:350.97, Y:-21.58, Z:-4.39 [[ 9.99085216e-01 -4.16131155e-02 -9.85291246e-03 3.50968400e+02] [ 4.16201469e-02 9.99133376e-01 5.09587422e-04 -2.15819961e+01] [ 9.82316818e-03 -9.19200924e-04 9.99951329e-01 -4.39246669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.600371743 meters Centerline goodness [0,1] 0.9679160147835748 Centerline is valid? [True, True] Translation: X:351.00, Y:-21.59, Z:-4.39 [[ 9.99092522e-01 -4.12635507e-02 -1.05570542e-02 3.50999439e+02] [ 4.12716081e-02 9.99147815e-01 5.46415145e-04 -2.15854164e+01] [ 1.05255106e-02 -9.81625891e-04 9.99944123e-01 -4.39323710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.630371743 meters Centerline goodness [0,1] 0.9719056573849605 Centerline is valid? [True, True] Translation: X:351.03, Y:-21.58, Z:-4.39 [[ 9.99125535e-01 -4.04692560e-02 -1.05073719e-02 3.51031778e+02] [ 4.04772035e-02 9.99180314e-01 5.44733673e-04 -2.15836700e+01] [ 1.04767142e-02 -9.69566355e-04 9.99944648e-01 -4.39246973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.660371743 meters Centerline goodness [0,1] 0.9730047479086593 Centerline is valid? [True, True] Translation: X:351.06, Y:-21.58, Z:-4.39 [[ 9.99187609e-01 -3.91635552e-02 -9.50459751e-03 3.51063676e+02] [ 3.91700037e-02 9.99232439e-01 4.93195176e-04 -2.15841079e+01] [ 9.47798687e-03 -8.65089629e-04 9.99954709e-01 -4.39203525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.690371743 meters Centerline goodness [0,1] 0.9748414855072464 Centerline is valid? [True, True] Translation: X:351.10, Y:-21.58, Z:-4.39 [[ 9.99198919e-01 -3.88611699e-02 -9.55664924e-03 3.51096219e+02] [ 3.88676834e-02 9.99244243e-01 4.96721214e-04 -2.15845593e+01] [ 9.53012356e-03 -8.67768117e-04 9.99954211e-01 -4.39190622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.720371743 meters Centerline goodness [0,1] 0.9752915864567999 Centerline is valid? [True, True] Translation: X:351.13, Y:-21.59, Z:-4.39 [[ 9.99237007e-01 -3.79009362e-02 -9.42990947e-03 3.51128563e+02] [ 3.79072422e-02 9.99281142e-01 4.90825723e-04 -2.15874311e+01] [ 9.40452794e-03 -8.47913088e-04 9.99955417e-01 -4.39212343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.750371743 meters Centerline goodness [0,1] 0.9740750803785717 Centerline is valid? [True, True] Translation: X:351.16, Y:-21.59, Z:-4.39 [[ 9.99228522e-01 -3.80772018e-02 -9.61706041e-03 3.51159982e+02] [ 3.80837724e-02 9.99274424e-01 5.00959324e-04 -2.15914149e+01] [ 9.59100738e-03 -8.66826785e-04 9.99953630e-01 -4.39266342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.780371743 meters Centerline goodness [0,1] 0.9730066069327541 Centerline is valid? [True, True] Translation: X:351.19, Y:-21.59, Z:-4.39 [[ 9.99224731e-01 -3.80360770e-02 -1.01584363e-02 3.51191907e+02] [ 3.80434146e-02 9.99275947e-01 5.29988961e-04 -2.15945370e+01] [ 1.01309223e-02 -9.16039679e-04 9.99948261e-01 -4.39349070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.810371743 meters Centerline goodness [0,1] 0.973152692646959 Centerline is valid? [True, True] Translation: X:351.22, Y:-21.60, Z:-4.39 [[ 9.99176122e-01 -3.88766073e-02 -1.16484521e-02 3.51224296e+02] [ 3.88863211e-02 9.99243456e-01 6.08495747e-04 -2.15969810e+01] [ 1.16159833e-02 -1.06095987e-03 9.99931969e-01 -4.39457982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.840371743 meters Centerline goodness [0,1] 0.9712310133756518 Centerline is valid? [True, True] Translation: X:351.26, Y:-21.60, Z:-4.40 [[ 9.99120702e-01 -3.99584492e-02 -1.26942681e-02 3.51255174e+02] [ 3.99700700e-02 9.99200658e-01 6.62950589e-04 -2.16008169e+01] [ 1.26576305e-02 -1.16975844e-03 9.99919205e-01 -4.39542886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.870371743 meters Centerline goodness [0,1] 0.9293873312564901 Centerline is valid? [True, False] Translation: X:351.26, Y:-21.60, Z:-4.40 [[ 9.99121355e-01 -3.99353154e-02 -1.27156881e-02 3.51255572e+02] [ 3.99591040e-02 9.99199999e-01 1.62217568e-03 -2.16034178e+01] [ 1.26407334e-02 -2.12885787e-03 9.99917837e-01 -4.39622676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.900371743 meters Centerline goodness [0,1] 0.9713402387561212 Centerline is valid? [False, True] Translation: X:351.26, Y:-21.60, Z:-4.40 [[ 9.99120638e-01 -3.99823545e-02 -1.26238567e-02 3.51255461e+02] [ 4.00112534e-02 9.99197137e-01 2.04492622e-03 -2.16046353e+01] [ 1.25319605e-02 -2.54822431e-03 9.99918225e-01 -4.39642128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.930371743 meters Centerline goodness [0,1] 0.9716951367918151 Centerline is valid? [True, True] Translation: X:351.29, Y:-21.61, Z:-4.40 [[ 9.99042590e-01 -4.20395875e-02 -1.21069080e-02 3.51286108e+02] [ 4.20508948e-02 9.99115238e-01 6.80800489e-04 -2.16079472e+01] [ 1.20675757e-02 -1.18925500e-03 9.99926477e-01 -4.39517844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.960371743 meters Centerline goodness [0,1] 0.9619664582533914 Centerline is valid? [True, True] Translation: X:351.32, Y:-21.62, Z:-4.40 [[ 9.99010906e-01 -4.27411707e-02 -1.22638346e-02 3.51317054e+02] [ 4.27528369e-02 9.99085441e-01 6.90570444e-04 -2.16153053e+01] [ 1.22231028e-02 -1.21420112e-03 9.99924558e-01 -4.39616904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.990371743 meters Centerline goodness [0,1] 0.9696313831586068 Centerline is valid? [True, True] Translation: X:351.35, Y:-21.61, Z:-4.40 [[ 9.99010980e-01 -4.29272691e-02 -1.15893042e-02 3.51349855e+02] [ 4.29377113e-02 9.99077537e-01 6.53594241e-04 -2.16136969e+01] [ 1.15505565e-02 -1.15056602e-03 9.99932628e-01 -4.39514644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.020371743 meters Centerline goodness [0,1] 0.9643975754298204 Centerline is valid? [True, True] Translation: X:351.38, Y:-21.62, Z:-4.39 [[ 9.99034429e-01 -4.27235450e-02 -1.02424776e-02 3.51381034e+02] [ 4.27317119e-02 9.99086415e-01 5.79740471e-04 -2.16179625e+01] [ 1.02083516e-02 -1.01685929e-03 9.99947376e-01 -4.39463053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.050371743 meters Centerline goodness [0,1] 0.9704236791048143 Centerline is valid? [True, True] Translation: X:351.41, Y:-21.62, Z:-4.39 [[ 9.99064416e-01 -4.20999885e-02 -9.89362727e-03 3.51412943e+02] [ 4.21075803e-02 9.99112925e-01 5.60203613e-04 -2.16170047e+01] [ 9.86126632e-03 -9.76276201e-04 9.99950900e-01 -4.39386813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.080371743 meters Centerline goodness [0,1] 0.9667528961871555 Centerline is valid? [True, True] Translation: X:351.44, Y:-21.62, Z:-4.39 [[ 9.99125377e-01 -4.08097393e-02 -9.11297443e-03 3.51443436e+02] [ 4.08161279e-02 9.99166541e-01 5.16096278e-04 -2.16219805e+01] [ 9.08431739e-03 -8.87601219e-04 9.99958343e-01 -4.39390523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11037174300003 meters Centerline goodness [0,1] 0.9666928868412181 Centerline is valid? [True, True] Translation: X:351.48, Y:-21.63, Z:-4.39 [[ 9.99134653e-01 -4.06776273e-02 -8.67621693e-03 3.51475381e+02] [ 4.06834211e-02 9.99171966e-01 4.92262869e-04 -2.16252018e+01] [ 8.64900864e-03 -8.44815078e-04 9.99962240e-01 -4.39385720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.140371743 meters Centerline goodness [0,1] 0.9712204334922205 Centerline is valid? [True, True] Translation: X:351.51, Y:-21.62, Z:-4.39 [[ 9.99132169e-01 -4.08274340e-02 -8.24802918e-03 3.51507906e+02] [ 4.08326803e-02 9.99165888e-01 4.68610507e-04 -2.16238514e+01] [ 8.22201724e-03 -8.04992971e-04 9.99965875e-01 -4.39299711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.170371743 meters Centerline goodness [0,1] 0.969093483782508 Centerline is valid? [True, True] Translation: X:351.54, Y:-21.63, Z:-4.39 [[ 9.99100397e-01 -4.15715477e-02 -8.37868974e-03 3.51538892e+02] [ 4.15769900e-02 9.99135190e-01 4.76339350e-04 -2.16298583e+01] [ 8.35164160e-03 -8.24271533e-04 9.99964785e-01 -4.39369612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.200371743 meters Centerline goodness [0,1] 0.9644458393113343 Centerline is valid? [True, True] Translation: X:351.57, Y:-21.64, Z:-4.40 [[ 9.99016506e-01 -4.34531046e-02 -8.82316751e-03 3.51569404e+02] [ 4.34592111e-02 9.99055076e-01 5.01465958e-04 -2.16368921e+01] [ 8.79304003e-03 -8.84420668e-04 9.99960949e-01 -4.39540028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.230371743 meters Centerline goodness [0,1] 0.9670354279571819 Centerline is valid? [True, True] Translation: X:351.60, Y:-21.64, Z:-4.40 [[ 9.98961172e-01 -4.46201060e-02 -9.25326885e-03 3.51600097e+02] [ 4.46268790e-02 9.99003586e-01 5.26674632e-04 -2.16385740e+01] [ 9.22054848e-03 -9.39072017e-04 9.99957049e-01 -4.39610520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.260371743 meters Centerline goodness [0,1] 0.9597244895677259 Centerline is valid? [True, True] Translation: X:351.63, Y:-21.64, Z:-4.40 [[ 9.98898054e-01 -4.57959521e-02 -1.02668811e-02 3.51629615e+02] [ 4.58043631e-02 9.98950258e-01 5.85474382e-04 -2.16439195e+01] [ 1.02292912e-02 -1.05509717e-03 9.99947123e-01 -4.39741166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.290371743 meters Centerline goodness [0,1] 0.9328911694189876 Centerline is valid? [True, False] Translation: X:351.63, Y:-21.65, Z:-4.40 [[ 9.98904862e-01 -4.56539928e-02 -1.02366313e-02 3.51630194e+02] [ 4.56754277e-02 9.98954583e-01 1.86989593e-03 -2.16472962e+01] [ 1.01405616e-02 -2.33541065e-03 9.99945856e-01 -4.39861800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.320371743 meters Centerline goodness [0,1] 0.9388223753149176 Centerline is valid? [False, False] Translation: X:351.63, Y:-21.65, Z:-4.40 [[ 9.98917754e-01 -4.53469613e-02 -1.03428204e-02 3.51630888e+02] [ 4.53767572e-02 9.98966391e-01 2.66447298e-03 -2.16489974e+01] [ 1.02113042e-02 -3.13091301e-03 9.99942962e-01 -4.39936267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.350371743 meters Centerline goodness [0,1] 0.9550131985146079 Centerline is valid? [False, True] Translation: X:351.63, Y:-21.65, Z:-4.40 [[ 9.98929589e-01 -4.50680770e-02 -1.04185145e-02 3.51631517e+02] [ 4.51080317e-02 9.98975511e-01 3.63221717e-03 -2.16514380e+01] [ 1.02441438e-02 -4.09828788e-03 9.99939129e-01 -4.40012294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380371743 meters Centerline goodness [0,1] 0.949275686309577 Centerline is valid? [True, False] Translation: X:351.63, Y:-21.65, Z:-4.40 [[ 9.98943131e-01 -4.47572249e-02 -1.04600412e-02 3.51632006e+02] [ 4.48046313e-02 9.98986330e-01 4.34250621e-03 -2.16529757e+01] [ 1.02550797e-02 -4.80657503e-03 9.99935863e-01 -4.40073258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.410371743 meters Centerline goodness [0,1] 0.9408767931358091 Centerline is valid? [False, False] Translation: X:351.63, Y:-21.65, Z:-4.40 [[ 9.98959143e-01 -4.43736447e-02 -1.05645439e-02 3.51632497e+02] [ 4.44279105e-02 9.99000288e-01 4.95843253e-03 -2.16540176e+01] [ 1.03339586e-02 -5.42263212e-03 9.99931900e-01 -4.40114604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440371743 meters Centerline goodness [0,1] 0.9508200384323189 Centerline is valid? [False, True] Translation: X:351.63, Y:-21.66, Z:-4.40 [[ 9.98981208e-01 -4.38257597e-02 -1.07633262e-02 3.51632960e+02] [ 4.38883040e-02 9.99020496e-01 5.64498017e-03 -2.16553356e+01] [ 1.05053880e-02 -6.11161325e-03 9.99926140e-01 -4.40117699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.470371743 meters Centerline goodness [0,1] 0.8655256178823739 Centerline is valid? [True, False] Translation: X:351.63, Y:-21.66, Z:-4.40 [[ 9.98990212e-01 -4.35950397e-02 -1.08640801e-02 3.51633014e+02] [ 4.36605470e-02 9.99029195e-01 5.86719569e-03 -2.16557382e+01] [ 1.05977525e-02 -6.33560275e-03 9.99923771e-01 -4.40090449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500371743 meters Centerline goodness [0,1] 0.9604404932094353 Centerline is valid? [False, True] Translation: X:351.63, Y:-21.66, Z:-4.40 [[ 9.99020782e-01 -4.28816353e-02 -1.08922681e-02 3.51633072e+02] [ 4.29551199e-02 9.99055173e-01 6.60449268e-03 -2.16571844e+01] [ 1.05987653e-02 -7.06590413e-03 9.99918866e-01 -4.40062315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.530371743 meters Centerline goodness [0,1] 0.9604064080568615 Centerline is valid? [True, True] Translation: X:351.66, Y:-21.66, Z:-4.40 [[ 9.99080844e-01 -4.15950146e-02 -1.03596675e-02 3.51664955e+02] [ 4.16037059e-02 9.99133996e-01 6.24775097e-04 -2.16588663e+01] [ 1.03247085e-02 -1.05520139e-03 9.99946142e-01 -4.39894291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560371743 meters Centerline goodness [0,1] 0.9644850216527524 Centerline is valid? [True, True] Translation: X:351.70, Y:-21.66, Z:-4.40 [[ 9.99172443e-01 -3.95609600e-02 -9.45303706e-03 3.51695238e+02] [ 3.95681024e-02 9.99216714e-01 5.69665057e-04 -2.16612346e+01] [ 9.42309613e-03 -9.43232365e-04 9.99955157e-01 -4.39825323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.590371743 meters Centerline goodness [0,1] 0.9644850216527524 Centerline is valid? [True, True] Translation: X:351.73, Y:-21.66, Z:-4.40 [[ 9.99176724e-01 -3.94527020e-02 -9.45291801e-03 3.51727882e+02] [ 3.94598581e-02 9.99220993e-01 5.71638801e-04 -2.16632968e+01] [ 9.42300143e-03 -9.44178988e-04 9.99955157e-01 -4.39854045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620371743 meters Centerline goodness [0,1] 0.9607943540307678 Centerline is valid? [True, True] Translation: X:351.76, Y:-21.67, Z:-4.40 [[ 9.99211717e-01 -3.86056436e-02 -9.24925132e-03 3.51758353e+02] [ 3.86124561e-02 9.99254105e-01 5.59038002e-04 -2.16681816e+01] [ 9.22077033e-03 -9.15733633e-04 9.99957068e-01 -4.39918520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.650371743 meters Centerline goodness [0,1] 0.9599625276024357 Centerline is valid? [True, True] Translation: X:351.79, Y:-21.67, Z:-4.40 [[ 9.99214899e-01 -3.84737422e-02 -9.45286024e-03 3.51791244e+02] [ 3.84808675e-02 9.99259173e-01 5.72984309e-04 -2.16717270e+01] [ 9.42381245e-03 -9.36288721e-04 9.99955157e-01 -4.39931399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680371743 meters Centerline goodness [0,1] 0.9676623001134266 Centerline is valid? [True, True] Translation: X:351.82, Y:-21.67, Z:-4.40 [[ 9.99245798e-01 -3.76090799e-02 -9.66396456e-03 3.51823166e+02] [ 3.76164907e-02 9.99292077e-01 5.86162298e-04 -2.16722226e+01] [ 9.63507819e-03 -9.49244646e-04 9.99953131e-01 -4.39949227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.710371743 meters Centerline goodness [0,1] 0.9651859412443419 Centerline is valid? [True, True] Translation: X:351.85, Y:-21.68, Z:-4.40 [[ 9.99259056e-01 -3.71355819e-02 -1.01137741e-02 3.51854120e+02] [ 3.71436954e-02 9.99309745e-01 6.15502411e-04 -2.16773796e+01] [ 1.00839360e-02 -9.90709303e-04 9.99948665e-01 -4.40023358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740371743 meters Centerline goodness [0,1] 0.9682159718066361 Centerline is valid? [True, True] Translation: X:351.89, Y:-21.68, Z:-4.40 [[ 9.99249005e-01 -3.71450476e-02 -1.10304428e-02 3.51886002e+02] [ 3.71546999e-02 9.99309300e-01 6.71362808e-04 -2.16791962e+01] [ 1.09978863e-02 -1.08069141e-03 9.99938937e-01 -4.40086532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.770371743 meters Centerline goodness [0,1] 0.9604475958342565 Centerline is valid? [True, True] Translation: X:351.92, Y:-21.69, Z:-4.40 [[ 9.99248374e-01 -3.70469801e-02 -1.14109076e-02 3.51916518e+02] [ 3.70573237e-02 9.99312899e-01 6.96295089e-04 -2.16877191e+01] [ 1.13772715e-02 -1.11862943e-03 9.99934651e-01 -4.40267761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800371743 meters Centerline goodness [0,1] 0.9678024451604361 Centerline is valid? [True, True] Translation: X:351.95, Y:-21.69, Z:-4.40 [[ 9.99263009e-01 -3.65095591e-02 -1.18529045e-02 3.51949162e+02] [ 3.65206869e-02 9.99332635e-01 7.23672602e-04 -2.16869608e+01] [ 1.18185733e-02 -1.15601547e-03 9.99929490e-01 -4.40248073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.830371743 meters Centerline goodness [0,1] 0.9700501004215498 Centerline is valid? [True, True] Translation: X:351.98, Y:-21.69, Z:-4.40 [[ 9.99265216e-01 -3.60059338e-02 -1.31377283e-02 3.51981365e+02] [ 3.60195739e-02 9.99350762e-01 8.03028095e-04 -2.16883822e+01] [ 1.31002850e-02 -1.27565342e-03 9.99913374e-01 -4.40263471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86037174300003 meters Centerline goodness [0,1] 0.9701821710555335 Centerline is valid? [True, True] Translation: X:352.01, Y:-21.69, Z:-4.40 [[ 9.99271417e-01 -3.57106014e-02 -1.34680262e-02 3.52013341e+02] [ 3.57249228e-02 9.99361321e-01 8.24207658e-04 -2.16901566e+01] [ 1.34299915e-02 -1.30475135e-03 9.99908962e-01 -4.40274130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.890371743 meters Centerline goodness [0,1] 0.9689095229713078 Centerline is valid? [True, True] Translation: X:352.04, Y:-21.70, Z:-4.40 [[ 9.99264814e-01 -3.58658285e-02 -1.35452286e-02 3.52043798e+02] [ 3.58803588e-02 9.99355747e-01 8.31157854e-04 -2.16952172e+01] [ 1.35066919e-02 -1.31655446e-03 9.99907914e-01 -4.40292049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.920371743 meters Centerline goodness [0,1] 0.9645036906466894 Centerline is valid? [True, True] Translation: X:352.08, Y:-21.70, Z:-4.40 [[ 9.99229147e-01 -3.69047385e-02 -1.33847624e-02 3.52075994e+02] [ 3.69190256e-02 9.99317922e-01 8.21813913e-04 -2.17000747e+01] [ 1.33453041e-02 -1.31533280e-03 9.99910082e-01 -4.40383292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.950371743 meters Centerline goodness [0,1] 0.9621065588183577 Centerline is valid? [True, True] Translation: X:352.11, Y:-21.70, Z:-4.40 [[ 9.99195669e-01 -3.79256592e-02 -1.30253593e-02 3.52107715e+02] [ 3.79392876e-02 9.99279725e-01 8.00710897e-04 -2.17045605e+01] [ 1.29856099e-02 -1.29423971e-03 9.99914846e-01 -4.40414088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.980371743 meters Centerline goodness [0,1] 0.9585258525852586 Centerline is valid? [True, True] Translation: X:352.14, Y:-21.71, Z:-4.40 [[ 9.99066578e-01 -4.13552936e-02 -1.24784868e-02 3.52138374e+02] [ 4.13680595e-02 9.99143681e-01 7.66543759e-04 -2.17099492e+01] [ 1.24361006e-02 -1.28203903e-03 9.99921847e-01 -4.40400888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.010371743 meters Centerline goodness [0,1] 0.9572576583678206 Centerline is valid? [True, True] Translation: X:352.17, Y:-21.71, Z:-4.40 [[ 9.99010197e-01 -4.28598513e-02 -1.19020634e-02 3.52169757e+02] [ 4.28715792e-02 9.99080323e-01 7.31862915e-04 -2.17139894e+01] [ 1.18597498e-02 -1.24139877e-03 9.99928900e-01 -4.40380829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.040371743 meters Centerline goodness [0,1] 0.9392196316871528 Centerline is valid? [True, False] Translation: X:352.17, Y:-21.72, Z:-4.40 [[ 9.98994254e-01 -4.32209078e-02 -1.19345702e-02 3.52169661e+02] [ 4.32407317e-02 9.99063690e-01 1.40791798e-03 -2.17166736e+01] [ 1.18625442e-02 -1.92256152e-03 9.99927789e-01 -4.40384270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.070371743 meters Centerline goodness [0,1] 0.9200279836470563 Centerline is valid? [False, False] Translation: X:352.17, Y:-21.72, Z:-4.40 [[ 9.98995783e-01 -4.31847188e-02 -1.19375353e-02 3.52169776e+02] [ 4.32095982e-02 9.99064346e-01 1.83401460e-03 -2.17178661e+01] [ 1.18471644e-02 -2.34798895e-03 9.99927063e-01 -4.40406143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.100371743 meters Centerline goodness [0,1] 0.9282497485899174 Centerline is valid? [False, False] Translation: X:352.17, Y:-21.72, Z:-4.40 [[ 9.99004078e-01 -4.29925219e-02 -1.19371235e-02 3.52170002e+02] [ 4.30278641e-02 9.99070171e-01 2.71971239e-03 -2.17202421e+01] [ 1.18090967e-02 -3.23063269e-03 9.99925051e-01 -4.40443793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.130371743 meters Centerline goodness [0,1] 0.9335474848127268 Centerline is valid? [False, False] Translation: X:352.17, Y:-21.72, Z:-4.40 [[ 9.99014614e-01 -4.26996917e-02 -1.21052340e-02 3.52170604e+02] [ 4.27421001e-02 9.99080799e-01 3.26640403e-03 -2.17212824e+01] [ 1.19546324e-02 -3.78058849e-03 9.99921394e-01 -4.40483363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.160371743 meters Centerline goodness [0,1] 0.9270753540084481 Centerline is valid? [False, False] Translation: X:352.17, Y:-21.72, Z:-4.41 [[ 9.99025378e-01 -4.24129535e-02 -1.22243655e-02 3.52170981e+02] [ 4.24617926e-02 9.99091002e-01 3.76365076e-03 -2.17223174e+01] [ 1.20536261e-02 -4.27905110e-03 9.99918197e-01 -4.40504536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.190371743 meters Centerline goodness [0,1] 0.9192646058664795 Centerline is valid? [False, False] Translation: X:352.17, Y:-21.72, Z:-4.40 [[ 9.99038472e-01 -4.20545850e-02 -1.23912997e-02 3.52171298e+02] [ 4.21106832e-02 9.99103692e-01 4.30152484e-03 -2.17233793e+01] [ 1.21992944e-02 -4.81919489e-03 9.99913973e-01 -4.40499385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.220371743 meters Centerline goodness [0,1] 0.8752282410225198 Centerline is valid? [False, False] Translation: X:352.17, Y:-21.72, Z:-4.40 [[ 9.99058900e-01 -4.14739204e-02 -1.26975335e-02 3.52171944e+02] [ 4.15378510e-02 9.99125338e-01 4.81313452e-03 -2.17239866e+01] [ 1.24868079e-02 -5.33603313e-03 9.99907799e-01 -4.40492797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.250371743 meters Centerline goodness [0,1] 0.9511013119692637 Centerline is valid? [False, True] Translation: X:352.17, Y:-21.72, Z:-4.41 [[ 9.99072085e-01 -4.11059768e-02 -1.28556671e-02 3.52172334e+02] [ 4.11754525e-02 9.99138467e-01 5.18700893e-03 -2.17245094e+01] [ 1.26313745e-02 -5.71153374e-03 9.99903909e-01 -4.40501128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.280371743 meters Centerline goodness [0,1] 0.9408170391061452 Centerline is valid? [True, False] Translation: X:352.17, Y:-21.72, Z:-4.41 [[ 9.99084185e-01 -4.07637878e-02 -1.30040321e-02 3.52172714e+02] [ 4.08389300e-02 9.99150240e-01 5.56602148e-03 -2.17249861e+01] [ 1.27660897e-02 -6.09199479e-03 9.99899952e-01 -4.40512091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.310371743 meters Centerline goodness [0,1] 0.9515800538729386 Centerline is valid? [False, True] Translation: X:352.17, Y:-21.73, Z:-4.41 [[ 9.99097148e-01 -4.04252402e-02 -1.30648045e-02 3.52172959e+02] [ 4.05055545e-02 9.99161643e-01 5.94226498e-03 -2.17256021e+01] [ 1.28136341e-02 -6.46609715e-03 9.99896995e-01 -4.40521125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.340371743 meters Centerline goodness [0,1] 0.9528040945224872 Centerline is valid? [True, True] Translation: X:352.20, Y:-21.73, Z:-4.40 [[ 9.99195184e-01 -3.82172490e-02 -1.21830681e-02 3.52202183e+02] [ 3.82298512e-02 9.99268649e-01 8.03112360e-04 -2.17285313e+01] [ 1.21434653e-02 -1.26822288e-03 9.99925461e-01 -4.40369503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.370371743 meters Centerline goodness [0,1] 0.9522130826478653 Centerline is valid? [True, True] Translation: X:352.23, Y:-21.73, Z:-4.40 [[ 9.99293583e-01 -3.54609643e-02 -1.24440871e-02 3.52232789e+02] [ 3.54739026e-02 9.99370266e-01 8.20463135e-04 -2.17304636e+01] [ 1.24071562e-02 -1.26132388e-03 9.99922233e-01 -4.40446165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.400371743 meters Centerline goodness [0,1] 0.9626624792811654 Centerline is valid? [True, True] Translation: X:352.26, Y:-21.73, Z:-4.40 [[ 9.99349571e-01 -3.36824511e-02 -1.28812450e-02 3.52263531e+02] [ 3.36961680e-02 9.99431762e-01 8.49262732e-04 -2.17272825e+01] [ 1.28453202e-02 -1.28275894e-03 9.99916673e-01 -4.40395886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.430371743 meters Centerline goodness [0,1] 0.9514718103485982 Centerline is valid? [True, True] Translation: X:352.29, Y:-21.74, Z:-4.41 [[ 9.99397580e-01 -3.20322702e-02 -1.33570711e-02 3.52293456e+02] [ 3.20469056e-02 9.99485976e-01 8.83057205e-04 -2.17354189e+01] [ 1.33219189e-02 -1.31057803e-03 9.99910400e-01 -4.40539376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.460371743 meters Centerline goodness [0,1] 0.9507537688442211 Centerline is valid? [True, True] Translation: X:352.32, Y:-21.74, Z:-4.41 [[ 9.99464535e-01 -3.01866840e-02 -1.26256403e-02 3.52323700e+02] [ 3.01996030e-02 9.99543540e-01 8.33790259e-04 -2.17378467e+01] [ 1.25947078e-02 -1.21463312e-03 9.99919946e-01 -4.40577351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.490371743 meters Centerline goodness [0,1] 0.9671775278947596 Centerline is valid? [True, True] Translation: X:352.36, Y:-21.73, Z:-4.40 [[ 9.99599860e-01 -2.53082011e-02 -1.26338438e-02 3.52355255e+02] [ 2.53207549e-02 9.99679030e-01 8.34680173e-04 -2.17324014e+01] [ 1.26086645e-02 -1.15424465e-03 9.99919841e-01 -4.40486633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.520371743 meters Centerline goodness [0,1] 0.9703329616755209 Centerline is valid? [True, True] Translation: X:352.39, Y:-21.73, Z:-4.41 [[ 9.99706225e-01 -2.00501638e-02 -1.36181415e-02 3.52386484e+02] [ 2.00642692e-02 9.99798287e-01 8.99928789e-04 -2.17274754e+01] [ 1.35973508e-02 -1.17290247e-03 9.99906864e-01 -4.40502326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.550371743 meters Centerline goodness [0,1] 0.969720040895347 Centerline is valid? [True, True] Translation: X:352.42, Y:-21.73, Z:-4.41 [[ 9.99761351e-01 -1.66483271e-02 -1.41447876e-02 3.52415809e+02] [ 1.66631996e-02 9.99860723e-01 9.34232029e-04 -2.17325542e+01] [ 1.41272642e-02 -1.16970649e-03 9.99899521e-01 -4.40691539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.580371743 meters Centerline goodness [0,1] 0.9713206888272912 Centerline is valid? [True, True] Translation: X:352.45, Y:-21.73, Z:-4.41 [[ 9.99786269e-01 -1.38640858e-02 -1.53363652e-02 3.52447262e+02] [ 1.38812534e-02 9.99903137e-01 1.01351484e-03 -2.17297685e+01] [ 1.53208282e-02 -1.22618619e-03 9.99881877e-01 -4.40688279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61037174300003 meters Centerline goodness [0,1] 0.972378226000306 Centerline is valid? [True, True] Translation: X:352.48, Y:-21.73, Z:-4.41 [[ 9.99835030e-01 -8.02022863e-03 -1.62968747e-02 3.52477577e+02] [ 8.03883861e-03 9.99967108e-01 1.07674778e-03 -2.17288368e+01] [ 1.62877029e-02 -1.20757809e-03 9.99866617e-01 -4.40870972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.640371743 meters Centerline goodness [0,1] 0.9671201814058957 Centerline is valid? [True, True] Translation: X:352.51, Y:-21.74, Z:-4.41 [[ 9.99851731e-01 -5.94128260e-03 -1.61622185e-02 3.52505270e+02] [ 5.95929488e-03 9.99981674e-01 1.06653550e-03 -2.17417233e+01] [ 1.61555858e-02 -1.16269279e-03 9.99868814e-01 -4.41319864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.670371743 meters Centerline goodness [0,1] 0.973615813039205 Centerline is valid? [True, True] Translation: X:352.54, Y:-21.73, Z:-4.41 [[ 9.99887163e-01 -1.41117661e-03 -1.49555891e-02 3.52536768e+02] [ 1.42610066e-03 9.99998496e-01 9.87273642e-04 -2.17301486e+01] [ 1.49541734e-02 -1.00849042e-03 9.99887672e-01 -4.40877609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.700371743 meters Centerline goodness [0,1] 0.9724998908725828 Centerline is valid? [True, True] Translation: X:352.57, Y:-21.73, Z:-4.41 [[ 9.99892863e-01 5.36733088e-04 -1.46278440e-02 3.52566693e+02] [-5.22680075e-04 9.99999398e-01 9.64509074e-04 -2.17314301e+01] [ 1.46283529e-02 -9.56760058e-04 9.99892542e-01 -4.40815407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.730371743 meters Centerline goodness [0,1] 0.9743533824748114 Centerline is valid? [True, True] Translation: X:352.60, Y:-21.73, Z:-4.41 [[ 9.99904650e-01 2.53136164e-03 -1.35751112e-02 3.52596929e+02] [-2.51944174e-03 9.99996426e-01 8.95099998e-04 -2.17334138e+01] [ 1.35773285e-02 -8.60812949e-04 9.99907453e-01 -4.40725562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.760371743 meters Centerline goodness [0,1] 0.9740818855863104 Centerline is valid? [True, True] Translation: X:352.63, Y:-21.74, Z:-4.41 [[ 9.99903559e-01 4.34263826e-03 -1.31914286e-02 3.52625765e+02] [-4.33154796e-03 9.99990241e-01 8.69175173e-04 -2.17397193e+01] [ 1.31950744e-02 -8.11952044e-04 9.99912612e-01 -4.40862082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.790371743 meters Centerline goodness [0,1] 0.9749472631189787 Centerline is valid? [True, True] Translation: X:352.65, Y:-21.74, Z:-4.41 [[ 9.99914842e-01 4.44302695e-03 -1.22706303e-02 3.52654712e+02] [-4.43345295e-03 9.99989846e-01 8.07328462e-04 -2.17417166e+01] [ 1.22740927e-02 -7.52858450e-04 9.99924387e-01 -4.40770389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.820371743 meters Centerline goodness [0,1] 0.973816760746852 Centerline is valid? [True, True] Translation: X:352.68, Y:-21.74, Z:-4.41 [[ 9.99921711e-01 4.27529902e-03 -1.17598020e-02 3.52683076e+02] [-4.26650418e-03 9.99990600e-01 7.72858847e-04 -2.17426797e+01] [ 1.17629956e-02 -7.22625096e-04 9.99930552e-01 -4.40745021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.850371743 meters Centerline goodness [0,1] 0.9737529381039436 Centerline is valid? [True, True] Translation: X:352.71, Y:-21.75, Z:-4.41 [[ 9.99927806e-01 3.11804981e-03 -1.16043244e-02 3.52711379e+02] [-3.10941792e-03 9.99994876e-01 7.61818773e-04 -2.17459291e+01] [ 1.16066404e-02 -7.25681079e-04 9.99932377e-01 -4.40772214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880371743 meters Centerline goodness [0,1] 0.9739647797103338 Centerline is valid? [True, True] Translation: X:352.74, Y:-21.75, Z:-4.41 [[ 9.99933108e-01 2.23956640e-03 -1.13474272e-02 3.52738469e+02] [-2.23126923e-03 9.99997234e-01 7.43801202e-04 -2.17516015e+01] [ 1.13490616e-02 -7.18432282e-04 9.99935339e-01 -4.40879312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.910371743 meters Centerline goodness [0,1] 0.9734152216844983 Centerline is valid? [True, True] Translation: X:352.77, Y:-21.75, Z:-4.41 [[ 9.99947023e-01 -7.02320464e-04 -1.02692653e-02 3.52768395e+02] [ 7.09273687e-04 9.99999522e-01 6.73464345e-04 -2.17508961e+01] [ 1.02687874e-02 -6.80712387e-04 9.99947043e-01 -4.40783892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940371743 meters Centerline goodness [0,1] 0.9723335572069242 Centerline is valid? [True, True] Translation: X:352.80, Y:-21.76, Z:-4.41 [[ 9.99922336e-01 -6.39257603e-03 -1.06984836e-02 3.52798322e+02] [ 6.40044898e-03 9.99979271e-01 7.01817642e-04 -2.17591984e+01] [ 1.06937754e-02 -7.70238235e-04 9.99942523e-01 -4.40953690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.970371743 meters Centerline goodness [0,1] 0.9681846672574405 Centerline is valid? [True, True] Translation: X:352.83, Y:-21.78, Z:-4.41 [[ 9.99891203e-01 -9.67997463e-03 -1.11301505e-02 3.52826421e+02] [ 9.68869138e-03 9.99952797e-01 7.29511129e-04 -2.17755330e+01] [ 1.11225634e-02 -8.37268354e-04 9.99937792e-01 -4.41349628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000371743 meters Centerline goodness [0,1] 0.9709866689676 Centerline is valid? [True, True] Translation: X:352.86, Y:-21.77, Z:-4.41 [[ 9.99856628e-01 -1.32427335e-02 -1.05524133e-02 3.52856866e+02] [ 1.32507674e-02 9.99911965e-01 6.91773074e-04 -2.17703233e+01] [ 1.05423233e-02 -8.31501467e-04 9.99944082e-01 -4.41137121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.030371743 meters Centerline goodness [0,1] 0.96960682876358 Centerline is valid? [True, True] Translation: X:352.89, Y:-21.78, Z:-4.41 [[ 9.99738899e-01 -2.02538982e-02 -1.05789440e-02 3.52885877e+02] [ 2.02623656e-02 9.99794456e-01 6.93825358e-04 -2.17823737e+01] [ 1.05627169e-02 -9.07998631e-04 9.99943801e-01 -4.41313056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060371743 meters Centerline goodness [0,1] 0.9696369779001959 Centerline is valid? [True, True] Translation: X:352.92, Y:-21.79, Z:-4.41 [[ 9.99684915e-01 -2.29355328e-02 -1.01995769e-02 3.52917003e+02] [ 2.29435446e-02 9.99736538e-01 6.69173340e-04 -2.17854024e+01] [ 1.01815419e-02 -9.02976941e-04 9.99947759e-01 -4.41235877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.090371743 meters Centerline goodness [0,1] 0.9622929006781697 Centerline is valid? [True, True] Translation: X:352.95, Y:-21.80, Z:-4.41 [[ 9.99585086e-01 -2.72531916e-02 -9.32307196e-03 3.52946452e+02] [ 2.72600721e-02 9.99628188e-01 6.11708890e-04 -2.17984516e+01] [ 9.30293451e-03 -8.65602697e-04 9.99956352e-01 -4.41336151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120371743 meters Centerline goodness [0,1] 0.9663393507997085 Centerline is valid? [True, True] Translation: X:352.98, Y:-21.80, Z:-4.41 [[ 9.99531857e-01 -2.91732391e-02 -9.21893142e-03 3.52977775e+02] [ 2.91800529e-02 9.99573988e-01 6.05441180e-04 -2.17999105e+01] [ 9.19734137e-03 -8.74166653e-04 9.99957321e-01 -4.41310786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.150371743 meters Centerline goodness [0,1] 0.9653412259254494 Centerline is valid? [True, True] Translation: X:353.01, Y:-21.80, Z:-4.41 [[ 9.99500480e-01 -3.03722913e-02 -8.73580465e-03 3.53009746e+02] [ 3.03784635e-02 9.99538303e-01 5.74687900e-04 -2.18049266e+01] [ 8.71431676e-03 -8.39781155e-04 9.99961677e-01 -4.41301309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180371743 meters Centerline goodness [0,1] 0.9600683322656417 Centerline is valid? [True, True] Translation: X:353.04, Y:-21.81, Z:-4.41 [[ 9.99459875e-01 -3.20358028e-02 -7.32570322e-03 3.53038908e+02] [ 3.20401835e-02 9.99486466e-01 4.81385183e-04 -2.18138717e+01] [ 7.30651966e-03 -7.15842050e-04 9.99973051e-01 -4.41313245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.210371743 meters Centerline goodness [0,1] 0.9632480277082932 Centerline is valid? [True, True] Translation: X:353.07, Y:-21.82, Z:-4.41 [[ 9.99433336e-01 -3.28248348e-02 -7.45227055e-03 3.53070435e+02] [ 3.28293966e-02 9.99460850e-01 4.90592353e-04 -2.18167400e+01] [ 7.43214904e-03 -7.34967898e-04 9.99972111e-01 -4.41254019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240371743 meters Centerline goodness [0,1] 0.9598214285714286 Centerline is valid? [True, True] Translation: X:353.10, Y:-21.82, Z:-4.41 [[ 9.99450209e-01 -3.24685819e-02 -6.71341803e-03 3.53101493e+02] [ 3.24722868e-02 9.99472538e-01 4.43573083e-04 -2.18239316e+01] [ 6.69547476e-03 -6.61329247e-04 9.99977366e-01 -4.41269807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.270371743 meters Centerline goodness [0,1] 0.9562807750516914 Centerline is valid? [True, True] Translation: X:353.13, Y:-21.83, Z:-4.41 [[ 9.99469641e-01 -3.18669937e-02 -6.70306579e-03 3.53132738e+02] [ 3.18706715e-02 9.99491903e-01 4.42558652e-04 -2.18290785e+01] [ 6.68555697e-03 -6.55955145e-04 9.99977436e-01 -4.41352589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300371743 meters Centerline goodness [0,1] 0.9615212908437679 Centerline is valid? [True, True] Translation: X:353.16, Y:-21.83, Z:-4.41 [[ 9.99579339e-01 -2.83542997e-02 -6.09741480e-03 3.53162687e+02] [ 2.83572755e-02 9.99597771e-01 4.02130635e-04 -2.18326367e+01] [ 6.08356011e-03 -5.74867546e-04 9.99981330e-01 -4.41463917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.330371743 meters Centerline goodness [0,1] 0.9671967132852247 Centerline is valid? [True, True] Translation: X:353.19, Y:-21.83, Z:-4.41 [[ 9.99620270e-01 -2.68575145e-02 -6.16360778e-03 3.53193922e+02] [ 2.68605304e-02 9.99639108e-01 4.07048346e-04 -2.18314981e+01] [ 6.15045107e-03 -5.72451552e-04 9.99980922e-01 -4.41493970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36037174300003 meters Centerline goodness [0,1] 0.9678602657339674 Centerline is valid? [True, True] Translation: X:353.23, Y:-21.83, Z:-4.42 [[ 9.99662227e-01 -2.52199127e-02 -6.27597929e-03 3.53225694e+02] [ 2.52230107e-02 9.99681763e-01 4.14960378e-04 -2.18347124e+01] [ 6.26351678e-03 -5.73119309e-04 9.99980220e-01 -4.41500331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.390371743 meters Centerline goodness [0,1] 0.966451913703217 Centerline is valid? [True, True] Translation: X:353.26, Y:-21.84, Z:-4.42 [[ 9.99736780e-01 -2.21602977e-02 -5.94075602e-03 3.53255072e+02] [ 2.21630159e-02 9.99754293e-01 3.92104391e-04 -2.18397736e+01] [ 5.93060719e-03 -5.23666251e-04 9.99982277e-01 -4.41595421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.420371743 meters Centerline goodness [0,1] 0.970890920688922 Centerline is valid? [True, True] Translation: X:353.29, Y:-21.84, Z:-4.42 [[ 9.99765319e-01 -2.08352861e-02 -5.93283543e-03 3.53286830e+02] [ 2.08379779e-02 9.99782789e-01 3.92269443e-04 -2.18355314e+01] [ 5.92337371e-03 -5.15805678e-04 9.99982324e-01 -4.41558529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.450371743 meters Centerline goodness [0,1] 0.9712051341989502 Centerline is valid? [True, True] Translation: X:353.32, Y:-21.84, Z:-4.42 [[ 9.99799562e-01 -1.90460683e-02 -6.17119910e-03 3.53318177e+02] [ 1.90489484e-02 9.99818469e-01 4.08244452e-04 -2.18388577e+01] [ 6.16230339e-03 -5.25717478e-04 9.99980875e-01 -4.41632307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.480371743 meters Centerline goodness [0,1] 0.9712051341989502 Centerline is valid? [True, True] Translation: X:353.35, Y:-21.84, Z:-4.42 [[ 9.99800955e-01 -1.89728134e-02 -6.17114790e-03 3.53349910e+02] [ 1.89756968e-02 9.99819862e-01 4.09018391e-04 -2.18410164e+01] [ 6.16227601e-03 -5.26038809e-04 9.99980875e-01 -4.41660419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.510371743 meters Centerline goodness [0,1] 0.9709409692003991 Centerline is valid? [True, True] Translation: X:353.38, Y:-21.85, Z:-4.42 [[ 9.99809559e-01 -1.85709443e-02 -5.99721511e-03 3.53380691e+02] [ 1.85736614e-02 9.99827416e-01 3.97672032e-04 -2.18466516e+01] [ 5.98879494e-03 -5.08986541e-04 9.99981937e-01 -4.41788862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.540371743 meters Centerline goodness [0,1] 0.9719848658759512 Centerline is valid? [True, True] Translation: X:353.41, Y:-21.85, Z:-4.42 [[ 9.99818864e-01 -1.80198299e-02 -6.12576608e-03 3.53413188e+02] [ 1.80226581e-02 9.99837496e-01 4.06795328e-04 -2.18474371e+01] [ 6.11744024e-03 -5.17124231e-04 9.99981155e-01 -4.41764495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.570371743 meters Centerline goodness [0,1] 0.9703174064329967 Centerline is valid? [True, True] Translation: X:353.44, Y:-21.85, Z:-4.42 [[ 9.99833037e-01 -1.71873759e-02 -6.20425695e-03 3.53442829e+02] [ 1.71902588e-02 9.99852152e-01 4.11625671e-04 -2.18531641e+01] [ 6.19626490e-03 -5.18209727e-04 9.99980669e-01 -4.41894360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.600371743 meters Centerline goodness [0,1] 0.9696356275303644 Centerline is valid? [True, True] Translation: X:353.47, Y:-21.86, Z:-4.42 [[ 9.99833673e-01 -1.72327858e-02 -5.97142467e-03 3.53474039e+02] [ 1.72354609e-02 9.99851380e-01 3.96811669e-04 -2.18593886e+01] [ 5.96369903e-03 -4.99665926e-04 9.99982092e-01 -4.42014664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.630371743 meters Centerline goodness [0,1] 0.9707423673434749 Centerline is valid? [True, True] Translation: X:353.51, Y:-21.86, Z:-4.42 [[ 9.99831943e-01 -1.73948193e-02 -5.78850896e-03 3.53506198e+02] [ 1.73973391e-02 9.99848581e-01 3.85248108e-04 -2.18609430e+01] [ 5.78093115e-03 -4.85888018e-04 9.99983172e-01 -4.42023427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.660371743 meters Centerline goodness [0,1] 0.9692679924443407 Centerline is valid? [True, True] Translation: X:353.54, Y:-21.86, Z:-4.42 [[ 9.99813930e-01 -1.84012864e-02 -5.78777737e-03 3.53538596e+02] [ 1.84038248e-02 9.99830561e-01 3.85624098e-04 -2.18631121e+01] [ 5.77970072e-03 -4.92069585e-04 9.99983176e-01 -4.42099045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.690371743 meters Centerline goodness [0,1] 0.9711305603942728 Centerline is valid? [True, True] Translation: X:353.57, Y:-21.87, Z:-4.42 [[ 9.99810328e-01 -1.83109304e-02 -6.63461146e-03 3.53570238e+02] [ 1.83142665e-02 9.99832182e-01 4.42431405e-04 -2.18676722e+01] [ 6.62539672e-03 -5.63855531e-04 9.99977893e-01 -4.42108673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.720371743 meters Centerline goodness [0,1] 0.9726193001060446 Centerline is valid? [True, True] Translation: X:353.60, Y:-21.87, Z:-4.42 [[ 9.99797169e-01 -1.88438652e-02 -7.10834778e-03 3.53601791e+02] [ 1.88477075e-02 9.99822254e-01 4.73923838e-04 -2.18683180e+01] [ 7.09815374e-03 -6.07803772e-04 9.99974623e-01 -4.42014578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.750371743 meters Centerline goodness [0,1] 0.971826205023761 Centerline is valid? [True, True] Translation: X:353.63, Y:-21.87, Z:-4.42 [[ 9.99745239e-01 -2.14851889e-02 -6.91696215e-03 3.53632245e+02] [ 2.14888897e-02 9.99768981e-01 4.61141063e-04 -2.18718100e+01] [ 6.90545650e-03 -6.09661418e-04 9.99975971e-01 -4.41971523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.780371743 meters Centerline goodness [0,1] 0.9697683299389002 Centerline is valid? [True, True] Translation: X:353.66, Y:-21.88, Z:-4.42 [[ 9.99740612e-01 -2.17655368e-02 -6.70591959e-03 3.53663119e+02] [ 2.17690261e-02 9.99762926e-01 4.47776611e-04 -2.18811944e+01] [ 6.69458369e-03 -5.93641802e-04 9.99977415e-01 -4.42068638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.810371743 meters Centerline goodness [0,1] 0.9675591084041788 Centerline is valid? [True, True] Translation: X:353.70, Y:-21.89, Z:-4.42 [[ 9.99740063e-01 -2.18575459e-02 -6.48493639e-03 3.53695199e+02] [ 2.18608151e-02 9.99760930e-01 4.33645568e-04 -2.18867372e+01] [ 6.47390761e-03 -5.75298843e-04 9.99978879e-01 -4.42142370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.840371743 meters Centerline goodness [0,1] 0.967479674796748 Centerline is valid? [True, True] Translation: X:353.73, Y:-21.89, Z:-4.42 [[ 9.99742196e-01 -2.19364358e-02 -5.85950173e-03 3.53727315e+02] [ 2.19391089e-02 9.99759232e-01 3.92297674e-04 -2.18906213e+01] [ 5.84948533e-03 -5.20748785e-04 9.99982756e-01 -4.42210648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.870371743 meters Centerline goodness [0,1] 0.9727068688066401 Centerline is valid? [True, True] Translation: X:353.76, Y:-21.88, Z:-4.42 [[ 9.99735756e-01 -2.23146021e-02 -5.52058024e-03 3.53759758e+02] [ 2.23169833e-02 9.99750877e-01 3.70097559e-04 -2.18842706e+01] [ 5.51094636e-03 -4.93202460e-04 9.99984693e-01 -4.41979630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.900371743 meters Centerline goodness [0,1] 0.9694679179582997 Centerline is valid? [True, True] Translation: X:353.79, Y:-21.89, Z:-4.42 [[ 9.99723199e-01 -2.27709441e-02 -5.91694488e-03 3.53790700e+02] [ 2.27736881e-02 9.99740567e-01 3.96785124e-04 -2.18928023e+01] [ 5.90637466e-03 -5.31425950e-04 9.99982416e-01 -4.42056631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.930371743 meters Centerline goodness [0,1] 0.9729074515141205 Centerline is valid? [True, True] Translation: X:353.82, Y:-21.89, Z:-4.42 [[ 9.99710914e-01 -2.32789702e-02 -6.01483744e-03 3.53822761e+02] [ 2.32818185e-02 9.99728860e-01 4.03962333e-04 -2.18905186e+01] [ 6.00380275e-03 -5.43881906e-04 9.99981829e-01 -4.42005041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.960371743 meters Centerline goodness [0,1] 0.9681360094850948 Centerline is valid? [True, True] Translation: X:353.85, Y:-21.90, Z:-4.42 [[ 9.99683882e-01 -2.41485375e-02 -6.99880095e-03 3.53852788e+02] [ 2.41524139e-02 9.99708177e-01 4.69867460e-04 -2.19002424e+01] [ 6.98541193e-03 -6.38756864e-04 9.99975398e-01 -4.42221608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.990371743 meters Centerline goodness [0,1] 0.9679675449531979 Centerline is valid? [True, True] Translation: X:353.88, Y:-21.90, Z:-4.42 [[ 9.99670578e-01 -2.45345851e-02 -7.53585801e-03 3.53884492e+02] [ 2.45390943e-02 9.99698743e-01 5.06464906e-04 -2.19023724e+01] [ 7.52116187e-03 -6.91221195e-04 9.99971477e-01 -4.42262312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.020371743 meters Centerline goodness [0,1] 0.9708961695467332 Centerline is valid? [True, True] Translation: X:353.92, Y:-21.90, Z:-4.42 [[ 9.99662919e-01 -2.51032514e-02 -6.62384960e-03 3.53916858e+02] [ 2.51067524e-02 9.99684676e-01 4.45896980e-04 -2.19033252e+01] [ 6.61056748e-03 -6.12050028e-04 9.99977963e-01 -4.42197307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.050371743 meters Centerline goodness [0,1] 0.9686631871369644 Centerline is valid? [True, True] Translation: X:353.95, Y:-21.91, Z:-4.42 [[ 9.99668938e-01 -2.49345465e-02 -6.34690224e-03 3.53948767e+02] [ 2.49377606e-02 9.99688914e-01 4.27747696e-04 -2.19071434e+01] [ 6.33426211e-03 -5.85883614e-04 9.99979767e-01 -4.42192579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.080371743 meters Centerline goodness [0,1] 0.9661950511909517 Centerline is valid? [True, True] Translation: X:353.98, Y:-21.91, Z:-4.42 [[ 9.99674498e-01 -2.48672043e-02 -5.70261587e-03 3.53979868e+02] [ 2.48697990e-02 9.99690625e-01 3.84541340e-04 -2.19118582e+01] [ 5.69128916e-03 -5.26239082e-04 9.99983666e-01 -4.42160578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11037174300003 meters Centerline goodness [0,1] 0.9656438610560081 Centerline is valid? [True, True] Translation: X:354.01, Y:-21.91, Z:-4.42 [[ 9.99700840e-01 -2.38718065e-02 -5.32610629e-03 3.54009945e+02] [ 2.38740548e-02 9.99714910e-01 3.58952602e-04 -2.19145671e+01] [ 5.31601902e-03 -4.86000971e-04 9.99985752e-01 -4.42094153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.140371743 meters Centerline goodness [0,1] 0.9659179584519667 Centerline is valid? [True, True] Translation: X:354.04, Y:-21.92, Z:-4.42 [[ 9.99707953e-01 -2.35358540e-02 -5.48390215e-03 3.54042357e+02] [ 2.35382373e-02 9.99722869e-01 3.70460662e-04 -2.19161105e+01] [ 5.47366328e-03 -4.99433860e-04 9.99984895e-01 -4.42114173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.170371743 meters Centerline goodness [0,1] 0.963556881948677 Centerline is valid? [True, True] Translation: X:354.07, Y:-21.92, Z:-4.42 [[ 9.99705140e-01 -2.37031871e-02 -5.27189424e-03 3.54072874e+02] [ 2.37053928e-02 9.99718924e-01 3.56285348e-04 -2.19217452e+01] [ 5.26196734e-03 -4.81152617e-04 9.99986040e-01 -4.42198395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.200371743 meters Centerline goodness [0,1] 0.9658990256864481 Centerline is valid? [True, True] Translation: X:354.11, Y:-21.92, Z:-4.42 [[ 9.99692673e-01 -2.41124477e-02 -5.75754472e-03 3.54105283e+02] [ 2.41150883e-02 9.99709113e-01 3.89641773e-04 -2.19226419e+01] [ 5.74647471e-03 -5.28365725e-04 9.99983349e-01 -4.42168589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.230371743 meters Centerline goodness [0,1] 0.9647613410561028 Centerline is valid? [True, True] Translation: X:354.14, Y:-21.93, Z:-4.42 [[ 9.99659642e-01 -2.55131343e-02 -5.44797393e-03 3.54136599e+02] [ 2.55155187e-02 9.99674358e-01 3.68603720e-04 -2.19260681e+01] [ 5.43679561e-03 -5.07486144e-04 9.99985092e-01 -4.42151201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.260371743 meters Centerline goodness [0,1] 0.9548464400580186 Centerline is valid? [True, True] Translation: X:354.17, Y:-21.93, Z:-4.42 [[ 9.99648613e-01 -2.59269146e-02 -5.51767392e-03 3.54167749e+02] [ 2.59293732e-02 9.99663707e-01 3.74504922e-04 -2.19333128e+01] [ 5.50610861e-03 -5.17443152e-04 9.99984707e-01 -4.42219406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.290371743 meters Centerline goodness [0,1] 0.9680810559268974 Centerline is valid? [True, True] Translation: X:354.20, Y:-21.93, Z:-4.42 [[ 9.99597130e-01 -2.77726504e-02 -5.85301355e-03 3.54199176e+02] [ 2.77754441e-02 9.99614109e-01 3.96552808e-04 -2.19296553e+01] [ 5.83974160e-03 -5.58963099e-04 9.99982792e-01 -4.42102816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.320371743 meters Centerline goodness [0,1] 0.9615384615384616 Centerline is valid? [True, True] Translation: X:354.23, Y:-21.94, Z:-4.42 [[ 9.99553185e-01 -2.92634387e-02 -6.08952467e-03 3.54228423e+02] [ 2.92664891e-02 9.99571559e-01 4.12406984e-04 -2.19378660e+01] [ 6.07484723e-03 -5.90441722e-04 9.99981374e-01 -4.42159589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.350371743 meters Centerline goodness [0,1] 0.9506196297000021 Centerline is valid? [True, True] Translation: X:354.26, Y:-21.94, Z:-4.42 [[ 9.99484272e-01 -3.13248538e-02 -7.06701290e-03 3.54258014e+02] [ 3.13290200e-02 9.99509011e-01 4.79564638e-04 -2.19439225e+01] [ 7.04852078e-03 -7.00719901e-04 9.99974913e-01 -4.42258177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380371743 meters Centerline goodness [0,1] 0.9434664647611837 Centerline is valid? [True, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99480236e-01 -3.14212803e-02 -7.20835749e-03 3.54258579e+02] [ 3.14321098e-02 9.99504917e-01 1.39398810e-03 -2.19466671e+01] [ 7.16098787e-03 -1.61983744e-03 9.99973048e-01 -4.42319496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.410371743 meters Centerline goodness [0,1] 0.9552380350256053 Centerline is valid? [False, True] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99483620e-01 -3.13042981e-02 -7.24799444e-03 3.54258901e+02] [ 3.13184570e-02 9.99507748e-01 1.84827048e-03 -2.19477426e+01] [ 7.18656779e-03 -2.07431208e-03 9.99972025e-01 -4.42352757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440371743 meters Centerline goodness [0,1] 0.9382861718042182 Centerline is valid? [True, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99486690e-01 -3.11785578e-02 -7.36576827e-03 3.54259157e+02] [ 3.11958360e-02 9.99510776e-01 2.24258197e-03 -2.19485382e+01] [ 7.29224429e-03 -2.47121213e-03 9.99970358e-01 -4.42358752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.470371743 meters Centerline goodness [0,1] 0.9200445949641347 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99487217e-01 -3.11651038e-02 -7.35108373e-03 3.54259089e+02] [ 3.11858097e-02 9.99509906e-01 2.71907949e-03 -2.19498610e+01] [ 7.26274062e-03 -2.94693469e-03 9.99969284e-01 -4.42352369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500371743 meters Centerline goodness [0,1] 0.9456393883380945 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99490931e-01 -3.10335989e-02 -7.40238214e-03 3.54259361e+02] [ 3.10590741e-02 9.99511931e-01 3.35170315e-03 -2.19514288e+01] [ 7.29475385e-03 -3.57990804e-03 9.99966985e-01 -4.42380486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.530371743 meters Centerline goodness [0,1] 0.8908254761554776 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99498923e-01 -3.07373412e-02 -7.55770258e-03 3.54259935e+02] [ 3.07680396e-02 9.99518629e-01 3.97969519e-03 -2.19527288e+01] [ 7.43173927e-03 -4.21023675e-03 9.99963521e-01 -4.42418017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560371743 meters Centerline goodness [0,1] 0.9217206294369193 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99505900e-01 -3.04910798e-02 -7.63220656e-03 3.54260404e+02] [ 3.05257327e-02 9.99524005e-01 4.46578076e-03 -2.19536767e+01] [ 7.49240719e-03 -4.69655291e-03 9.99960902e-01 -4.42463816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.590371743 meters Centerline goodness [0,1] 0.8349594007679235 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.43 [[ 9.99520100e-01 -2.99551156e-02 -7.89058044e-03 3.54261200e+02] [ 2.99972718e-02 9.99536037e-01 5.27953238e-03 -2.19552098e+01] [ 7.72877050e-03 -5.51369461e-03 9.99954932e-01 -4.42509743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620371743 meters Centerline goodness [0,1] 0.8744565905541721 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.43 [[ 9.99526610e-01 -2.97302115e-02 -7.91645720e-03 3.54261266e+02] [ 2.97745911e-02 9.99541239e-01 5.54839862e-03 -2.19555472e+01] [ 7.74787038e-03 -5.78148134e-03 9.99953271e-01 -4.42506409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.650371743 meters Centerline goodness [0,1] 0.9425950801779868 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99536514e-01 -2.93059992e-02 -8.24104837e-03 3.54261795e+02] [ 2.93562678e-02 9.99550724e-01 6.04641726e-03 -2.19562950e+01] [ 8.06014956e-03 -6.28554125e-03 9.99947762e-01 -4.42485957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680371743 meters Centerline goodness [0,1] 0.8545576830114125 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99541135e-01 -2.90920086e-02 -8.43647799e-03 3.54262133e+02] [ 2.91452067e-02 9.99555631e-01 6.25284470e-03 -2.19564706e+01] [ 8.25082127e-03 -6.49585839e-03 9.99944862e-01 -4.42475235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.710371743 meters Centerline goodness [0,1] 0.940487948389266 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99550242e-01 -2.87297735e-02 -8.59735717e-03 3.54262461e+02] [ 2.87894458e-02 9.99561687e-01 6.89940834e-03 -2.19578781e+01] [ 8.39537040e-03 -7.14381842e-03 9.99939240e-01 -4.42483010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740371743 meters Centerline goodness [0,1] 0.834624395803871 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99554392e-01 -2.85672332e-02 -8.65621996e-03 3.54262612e+02] [ 2.86303993e-02 9.99563677e-01 7.26330076e-03 -2.19587801e+01] [ 8.44495064e-03 -7.50789521e-03 9.99936155e-01 -4.42485050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.770371743 meters Centerline goodness [0,1] 0.9559852863899106 Centerline is valid? [False, True] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99557045e-01 -2.84273988e-02 -8.80885706e-03 3.54262976e+02] [ 2.84958862e-02 9.99563871e-01 7.74936653e-03 -2.19600929e+01] [ 8.58472093e-03 -7.99695010e-03 9.99931173e-01 -4.42496464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800371743 meters Centerline goodness [0,1] 0.9404849375459221 Centerline is valid? [True, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99554539e-01 -2.85448145e-02 -8.71303316e-03 3.54262649e+02] [ 2.86166544e-02 9.99556539e-01 8.23488748e-03 -2.19619838e+01] [ 8.47410593e-03 -8.48055702e-03 9.99928132e-01 -4.42476194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.830371743 meters Centerline goodness [0,1] 0.9341680298645191 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99554806e-01 -2.85587937e-02 -8.63628977e-03 3.54262496e+02] [ 2.86332217e-02 9.99552810e-01 8.62082282e-03 -2.19632404e+01] [ 8.38622740e-03 -8.86426968e-03 9.99925545e-01 -4.42475231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86037174300003 meters Centerline goodness [0,1] 0.9248159831756047 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99556957e-01 -2.84499541e-02 -8.74588655e-03 3.54262858e+02] [ 2.85294472e-02 9.99551503e-01 9.10291318e-03 -2.19647094e+01] [ 8.48298659e-03 -9.34839550e-03 9.99920320e-01 -4.42492673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.890371743 meters Centerline goodness [0,1] 0.9212212906343903 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.43 [[ 9.99562000e-01 -2.82324796e-02 -8.87324405e-03 3.54263230e+02] [ 2.83153048e-02 9.99555298e-01 9.35151041e-03 -2.19649714e+01] [ 8.60528177e-03 -9.59866307e-03 9.99916904e-01 -4.42509812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.920371743 meters Centerline goodness [0,1] 0.9499695448530802 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.97, Z:-4.43 [[ 9.99568901e-01 -2.79805301e-02 -8.89397666e-03 3.54263497e+02] [ 2.80661720e-02 9.99559440e-01 9.65480764e-03 -2.19653178e+01] [ 8.61991170e-03 -9.90026534e-03 9.99913837e-01 -4.42537150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.950371743 meters Centerline goodness [0,1] 0.9364136367453186 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.97, Z:-4.43 [[ 9.99566125e-01 -2.80399770e-02 -9.01778709e-03 3.54263597e+02] [ 2.81270298e-02 9.99557525e-01 9.67601928e-03 -2.19655882e+01] [ 8.74248158e-03 -9.92546467e-03 9.99912523e-01 -4.42513398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.980371743 meters Centerline goodness [0,1] 0.929286345094411 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.97, Z:-4.42 [[ 9.99565004e-01 -2.80486480e-02 -9.11457378e-03 3.54263545e+02] [ 2.81352501e-02 9.99558826e-01 9.51637329e-03 -2.19650019e+01] [ 8.84363126e-03 -9.76867452e-03 9.99913178e-01 -4.42475647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.010371743 meters Centerline goodness [0,1] 0.8952172632818745 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99565701e-01 -2.80044448e-02 -9.17392466e-03 3.54263606e+02] [ 2.80913358e-02 9.99560372e-01 9.48366807e-03 -2.19646976e+01] [ 8.90430669e-03 -9.73725712e-03 9.99912946e-01 -4.42462146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.040371743 meters Centerline goodness [0,1] 0.9194121480983117 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99562501e-01 -2.81000862e-02 -9.22994315e-03 3.54263511e+02] [ 2.81851963e-02 9.99560158e-01 9.22418621e-03 -2.19638736e+01] [ 8.96668301e-03 -9.48029839e-03 9.99914858e-01 -4.42430809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.070371743 meters Centerline goodness [0,1] 0.9110278327508526 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99558778e-01 -2.81673096e-02 -9.42618448e-03 3.54263634e+02] [ 2.82485435e-02 9.99563946e-01 8.59865082e-03 -2.19616816e+01] [ 9.17987330e-03 -8.86113288e-03 9.99918602e-01 -4.42385368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.100371743 meters Centerline goodness [0,1] 0.90556418110864 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99558429e-01 -2.80825712e-02 -9.71169907e-03 3.54264103e+02] [ 2.81646170e-02 9.99567860e-01 8.41714768e-03 -2.19607545e+01] [ 9.47112710e-03 -8.68695719e-03 9.99917414e-01 -4.42371706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.130371743 meters Centerline goodness [0,1] 0.8838504207706748 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99556877e-01 -2.80890079e-02 -9.85177930e-03 3.54264284e+02] [ 2.81673986e-02 9.99571918e-01 7.91059336e-03 -2.19586513e+01] [ 9.62536121e-03 -8.18458699e-03 9.99920179e-01 -4.42352894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.160371743 meters Centerline goodness [0,1] 0.9156595906791678 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99552665e-01 -2.81829702e-02 -1.00095090e-02 3.54264417e+02] [ 2.82584640e-02 9.99572644e-01 7.48258613e-03 -2.19572614e+01] [ 9.79434987e-03 -7.76209225e-03 9.99921907e-01 -4.42322366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.190371743 meters Centerline goodness [0,1] 0.915230189318538 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99546401e-01 -2.83556871e-02 -1.01463165e-02 3.54264412e+02] [ 2.84285717e-02 9.99570521e-01 7.11269417e-03 -2.19562356e+01] [ 9.94027353e-03 -7.39791315e-03 9.99923228e-01 -4.42283549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.220371743 meters Centerline goodness [0,1] 0.8939817166074149 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99529683e-01 -2.90157242e-02 -9.92474683e-03 3.54263518e+02] [ 2.90834301e-02 9.99554217e-01 6.74699155e-03 -2.19560718e+01] [ 9.72455370e-03 -7.03246400e-03 9.99927986e-01 -4.42211671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.250371743 meters Centerline goodness [0,1] 0.8675667123721127 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99507819e-01 -2.98726201e-02 -9.57841022e-03 3.54262609e+02] [ 2.99367633e-02 9.99529841e-01 6.62466991e-03 -2.19572242e+01] [ 9.37601060e-03 -6.90815598e-03 9.99932182e-01 -4.42174170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.280371743 meters Centerline goodness [0,1] 0.9308429443690638 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99503763e-01 -3.00416556e-02 -9.47243787e-03 3.54262432e+02] [ 3.01064564e-02 9.99523742e-01 6.77422486e-03 -2.19579112e+01] [ 9.26441762e-03 -7.05604478e-03 9.99932189e-01 -4.42175060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.310371743 meters Centerline goodness [0,1] 0.9169738570399559 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99497735e-01 -3.02415067e-02 -9.47249792e-03 3.54262388e+02] [ 3.03062153e-02 9.99517776e-01 6.76379601e-03 -2.19582543e+01] [ 9.26338267e-03 -7.04747436e-03 9.99932259e-01 -4.42168653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.340371743 meters Centerline goodness [0,1] 0.877025738798856 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99498123e-01 -3.02340238e-02 -9.45550972e-03 3.54262578e+02] [ 3.02997315e-02 9.99517146e-01 6.88483529e-03 -2.19581310e+01] [ 9.24278782e-03 -7.16787936e-03 9.99931594e-01 -4.42196358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.370371743 meters Centerline goodness [0,1] 0.8368008474576272 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99486488e-01 -3.06010144e-02 -9.50468878e-03 3.54262354e+02] [ 3.06596222e-02 9.99511374e-01 6.08290918e-03 -2.19558746e+01] [ 9.31390135e-03 -6.37119570e-03 9.99936328e-01 -4.42141106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.400371743 meters Centerline goodness [0,1] 0.8368008474576272 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99486488e-01 -3.06010144e-02 -9.50468878e-03 3.54262354e+02] [ 3.06596222e-02 9.99511374e-01 6.08290918e-03 -2.19558746e+01] [ 9.31390135e-03 -6.37119570e-03 9.99936328e-01 -4.42141106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.430371743 meters Centerline goodness [0,1] 0.8866367637102235 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99485063e-01 -3.06012880e-02 -9.65241021e-03 3.54262416e+02] [ 3.06564433e-02 9.99514187e-01 5.61888326e-03 -2.19538681e+01] [ 9.47577588e-03 -5.91189846e-03 9.99937628e-01 -4.42095331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.460371743 meters Centerline goodness [0,1] 0.884038950042337 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99481135e-01 -3.07149876e-02 -9.69790899e-03 3.54262251e+02] [ 3.07687525e-02 9.99511703e-01 5.44427492e-03 -2.19533528e+01] [ 9.52595269e-03 -5.73984264e-03 9.99938153e-01 -4.42058017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.490371743 meters Centerline goodness [0,1] 0.8859987290828214 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99472199e-01 -3.10411919e-02 -9.57952986e-03 3.54261759e+02] [ 3.10929181e-02 9.99502453e-01 5.29878109e-03 -2.19532246e+01] [ 9.41028312e-03 -5.59383993e-03 9.99940076e-01 -4.42020676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.520371743 meters Centerline goodness [0,1] 0.8373622655076878 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99457020e-01 -3.16194221e-02 -9.26699036e-03 3.54260634e+02] [ 3.16671833e-02 9.99485695e-01 5.05327207e-03 -2.19534648e+01] [ 9.10244276e-03 -5.34398773e-03 9.99944292e-01 -4.41945672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.550371743 meters Centerline goodness [0,1] 0.9010737172685991 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99460553e-01 -3.15072996e-02 -9.26788237e-03 3.54260693e+02] [ 3.15566730e-02 9.99488280e-01 5.23023396e-03 -2.19535120e+01] [ 9.09834926e-03 -5.51987605e-03 9.99943374e-01 -4.41951505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.580371743 meters Centerline goodness [0,1] 0.8853025325845078 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99463287e-01 -3.14281617e-02 -9.24163646e-03 3.54260731e+02] [ 3.14783025e-02 9.99490218e-01 5.33102788e-03 -2.19534457e+01] [ 9.06938083e-03 -5.61907768e-03 9.99943085e-01 -4.41959862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61037174300003 meters Centerline goodness [0,1] 0.8868424399135264 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99465873e-01 -3.13311852e-02 -9.29112342e-03 3.54260802e+02] [ 3.13822530e-02 9.99492855e-01 5.40248015e-03 -2.19530509e+01] [ 9.11714537e-03 -5.69117092e-03 9.99942242e-01 -4.41956127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.640371743 meters Centerline goodness [0,1] 0.8609975643333686 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99472617e-01 -3.10455150e-02 -9.52176314e-03 3.54261455e+02] [ 3.11013262e-02 9.99499580e-01 5.77042552e-03 -2.19533154e+01] [ 9.33785242e-03 -6.06352175e-03 9.99938017e-01 -4.41982403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.670371743 meters Centerline goodness [0,1] 0.8845110998135909 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99470526e-01 -3.11220278e-02 -9.49142687e-03 3.54261311e+02] [ 3.11795807e-02 9.99495927e-01 5.97717788e-03 -2.19542883e+01] [ 9.30062060e-03 -6.26995183e-03 9.99937091e-01 -4.41968700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.700371743 meters Centerline goodness [0,1] 0.8690302221657453 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99472410e-01 -3.10424191e-02 -9.55350585e-03 3.54261218e+02] [ 3.11009636e-02 9.99497988e-01 6.04171649e-03 -2.19543786e+01] [ 9.36116038e-03 -6.33565218e-03 9.99936112e-01 -4.41933621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.730371743 meters Centerline goodness [0,1] 0.8738903283353863 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.96, Z:-4.42 [[ 9.99533804e-01 -2.91636634e-02 -9.03634592e-03 3.54258915e+02] [ 2.92361941e-02 9.99540508e-01 8.00117400e-03 -2.19552796e+01] [ 8.79885024e-03 -8.26163225e-03 9.99927160e-01 -4.41772029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.760371743 meters Centerline goodness [0,1] 0.9154660612361816 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99535116e-01 -2.91175808e-02 -9.03983266e-03 3.54258579e+02] [ 2.91888294e-02 9.99543072e-01 7.85234045e-03 -2.19547982e+01] [ 8.80706095e-03 -8.11255215e-03 9.99928309e-01 -4.41711922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.790371743 meters Centerline goodness [0,1] 0.9305682518761028 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99534943e-01 -2.90925022e-02 -9.13919158e-03 3.54258451e+02] [ 2.91628234e-02 9.99545341e-01 7.65778871e-03 -2.19540523e+01] [ 8.91225213e-03 -7.92075203e-03 9.99928914e-01 -4.41658677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.820371743 meters Centerline goodness [0,1] 0.9207793304344155 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99542452e-01 -2.87391564e-02 -9.43118073e-03 3.54258497e+02] [ 2.88098265e-02 9.99557185e-01 7.44491913e-03 -2.19532710e+01] [ 9.21304378e-03 -7.71322341e-03 9.99927810e-01 -4.41552388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.850371743 meters Centerline goodness [0,1] 0.8837829260552206 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99545371e-01 -2.86091072e-02 -9.51685258e-03 3.54258487e+02] [ 2.86810498e-02 9.99560395e-01 7.51089451e-03 -2.19531217e+01] [ 9.29778894e-03 -7.78043316e-03 9.99926505e-01 -4.41525122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880371743 meters Centerline goodness [0,1] 0.8937757582162105 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99552671e-01 -2.83394238e-02 -9.55692821e-03 3.54258601e+02] [ 2.84136725e-02 9.99566400e-01 7.72491113e-03 -2.19533049e+01] [ 9.33386480e-03 -7.99300299e-03 9.99924493e-01 -4.41518332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.910371743 meters Centerline goodness [0,1] 0.9260205697873329 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99557705e-01 -2.81488929e-02 -9.59342791e-03 3.54258810e+02] [ 2.82260393e-02 9.99569526e-01 8.00334476e-03 -2.19536950e+01] [ 9.36401290e-03 -8.27058940e-03 9.99921953e-01 -4.41531920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940371743 meters Centerline goodness [0,1] 0.9286962379739374 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.42 [[ 9.99569674e-01 -2.76681654e-02 -9.74373628e-03 3.54259102e+02] [ 2.77480780e-02 9.99581609e-01 8.16400921e-03 -2.19531865e+01] [ 9.51377644e-03 -8.43086598e-03 9.99919201e-01 -4.41513181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.970371743 meters Centerline goodness [0,1] 0.8942160220181944 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.41 [[ 9.99571985e-01 -2.75037033e-02 -9.96960636e-03 3.54259354e+02] [ 2.75842769e-02 9.99587176e-01 8.03655574e-03 -2.19523795e+01] [ 9.74445562e-03 -8.30812035e-03 9.99918007e-01 -4.41481957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000371743 meters Centerline goodness [0,1] 0.9185859781092846 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.41 [[ 9.99575454e-01 -2.73032901e-02 -1.01706224e-02 3.54259472e+02] [ 2.73848061e-02 9.99593243e-01 7.96368268e-03 -2.19517278e+01] [ 9.94905067e-03 -8.23882226e-03 9.99916566e-01 -4.41437503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.030371743 meters Centerline goodness [0,1] 0.9447852760736196 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.41 [[ 9.99651354e-01 -2.44944889e-02 -9.85850431e-03 3.54257286e+02] [ 2.46006127e-02 9.99639113e-01 1.07913527e-02 -2.19519783e+01] [ 9.59061784e-03 -1.10301156e-02 9.99893173e-01 -4.41250148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060371743 meters Centerline goodness [0,1] 0.9209863477616679 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.41 [[ 9.99666165e-01 -2.38836295e-02 -9.85553107e-03 3.54256952e+02] [ 2.39923009e-02 9.99650967e-01 1.10595866e-02 -2.19518850e+01] [ 9.58794809e-03 -1.12923514e-02 9.99890271e-01 -4.41178186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.090371743 meters Centerline goodness [0,1] 0.925444209024733 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.41 [[ 9.99666582e-01 -2.37246581e-02 -1.01913925e-02 3.54257474e+02] [ 2.38365111e-02 9.99655377e-01 1.09976643e-02 -2.19517225e+01] [ 9.92696450e-03 -1.12369247e-02 9.99887587e-01 -4.41149694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120371743 meters Centerline goodness [0,1] 0.9157107548006844 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.41 [[ 9.99672368e-01 -2.33834398e-02 -1.04101506e-02 3.54257821e+02] [ 2.34982905e-02 9.99662802e-01 1.10504401e-02 -2.19513324e+01] [ 1.01482430e-02 -1.12914404e-02 9.99884752e-01 -4.41131366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.150371743 meters Centerline goodness [0,1] 0.929403556250925 Centerline is valid? [False, False] Translation: X:354.26, Y:-21.95, Z:-4.41 [[ 9.99697444e-01 -2.21988242e-02 -1.05940162e-02 3.54258360e+02] [ 2.23226724e-02 9.99682132e-01 1.17189412e-02 -2.19512003e+01] [ 1.03305020e-02 -1.19518824e-02 9.99875209e-01 -4.41132194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180371743 meters Centerline goodness [0,1] 0.9557888977736627 Centerline is valid? [False, True] Translation: X:354.26, Y:-21.95, Z:-4.41 [[ 9.99704598e-01 -2.17296971e-02 -1.08874754e-02 3.54259014e+02] [ 2.18582367e-02 9.99691091e-01 1.18296649e-02 -2.19508114e+01] [ 1.06270571e-02 -1.20641514e-02 9.99870753e-01 -4.41132519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.210371743 meters Centerline goodness [0,1] 0.9559560830107254 Centerline is valid? [True, True] Translation: X:354.29, Y:-21.95, Z:-4.41 [[ 9.99760914e-01 -1.76737562e-02 -1.28745414e-02 3.54288756e+02] [ 1.76887962e-02 9.99842984e-01 1.05525464e-03 -2.19498211e+01] [ 1.28538696e-02 -1.28273748e-03 9.99916563e-01 -4.40941175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240371743 meters Centerline goodness [0,1] 0.9576695013610753 Centerline is valid? [True, True] Translation: X:354.32, Y:-21.95, Z:-4.41 [[ 9.99793487e-01 -1.57600854e-02 -1.28298048e-02 3.54319160e+02] [ 1.57748666e-02 9.99875016e-01 1.05170477e-03 -2.19516597e+01] [ 1.28116263e-02 -1.25387604e-03 9.99917142e-01 -4.40969664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.270371743 meters Centerline goodness [0,1] 0.9566428254952846 Centerline is valid? [True, True] Translation: X:354.35, Y:-21.95, Z:-4.41 [[ 9.99829979e-01 -1.28327711e-02 -1.32413478e-02 3.54349099e+02] [ 1.28482605e-02 9.99916869e-01 1.08536998e-03 -2.19549206e+01] [ 1.32263187e-02 -1.25531373e-03 9.99911740e-01 -4.41040438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300371743 meters Centerline goodness [0,1] 0.9531757070004636 Centerline is valid? [True, True] Translation: X:354.38, Y:-21.96, Z:-4.41 [[ 9.99829901e-01 -1.31360049e-02 -1.29465980e-02 3.54378430e+02] [ 1.31508291e-02 9.99912962e-01 1.06055412e-03 -2.19604605e+01] [ 1.29315398e-02 -1.23063222e-03 9.99915627e-01 -4.41025722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.330371743 meters Centerline goodness [0,1] 0.9457984259964458 Centerline is valid? [True, False] Translation: X:354.38, Y:-21.96, Z:-4.41 [[ 9.99835713e-01 -1.29604024e-02 -1.26717935e-02 3.54377458e+02] [ 1.29876033e-02 9.99913522e-01 2.06663719e-03 -2.19640075e+01] [ 1.26439132e-02 -2.23087390e-03 9.99917574e-01 -4.40965730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36037174300003 meters Centerline goodness [0,1] 0.9432034120180736 Centerline is valid? [False, False] Translation: X:354.38, Y:-21.97, Z:-4.41 [[ 9.99840213e-01 -1.25458166e-02 -1.27338121e-02 3.54377735e+02] [ 1.25825250e-02 9.99916898e-01 2.80674038e-03 -2.19655996e+01] [ 1.26975410e-02 -2.96651541e-03 9.99914983e-01 -4.40985624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.390371743 meters Centerline goodness [0,1] 0.9603539077311987 Centerline is valid? [False, True] Translation: X:354.38, Y:-21.97, Z:-4.41 [[ 9.99845097e-01 -1.18954741e-02 -1.29722740e-02 3.54378521e+02] [ 1.19438183e-02 9.99921988e-01 3.65564693e-03 -2.19670122e+01] [ 1.29277763e-02 -3.81001915e-03 9.99909174e-01 -4.41029457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.420371743 meters Centerline goodness [0,1] 0.958874047814986 Centerline is valid? [True, True] Translation: X:354.41, Y:-21.97, Z:-4.41 [[ 9.99857472e-01 -1.01617848e-02 -1.34823809e-02 3.54406547e+02] [ 1.01775926e-02 9.99947597e-01 1.10437807e-03 -2.19726230e+01] [ 1.34704519e-02 -1.24143884e-03 9.99908499e-01 -4.41103388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.450371743 meters Centerline goodness [0,1] 0.9630345291103083 Centerline is valid? [True, True] Translation: X:354.44, Y:-21.97, Z:-4.41 [[ 9.99866256e-01 -9.18678911e-03 -1.35304456e-02 3.54436181e+02] [ 9.20256649e-03 9.99957046e-01 1.10426556e-03 -2.19706296e+01] [ 1.35197197e-02 -1.22863270e-03 9.99907850e-01 -4.41010299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.480371743 meters Centerline goodness [0,1] 0.9650471936625653 Centerline is valid? [True, True] Translation: X:354.47, Y:-21.97, Z:-4.41 [[ 9.99887314e-01 -6.14606017e-03 -1.36961662e-02 3.54467088e+02] [ 6.16195622e-03 9.99980389e-01 1.11872255e-03 -2.19710231e+01] [ 1.36890219e-02 -1.20299166e-03 9.99905577e-01 -4.40951826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.510371743 meters Centerline goodness [0,1] 0.9637946259619024 Centerline is valid? [True, True] Translation: X:354.50, Y:-21.98, Z:-4.41 [[ 9.99901978e-01 -4.11909893e-03 -1.33816102e-02 3.54495838e+02] [ 4.13408440e-03 9.99990858e-01 1.09238742e-03 -2.19760731e+01] [ 1.33769882e-02 -1.14760105e-03 9.99909866e-01 -4.40973426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.540371743 meters Centerline goodness [0,1] 0.9637164429530202 Centerline is valid? [True, True] Translation: X:354.52, Y:-21.98, Z:-4.41 [[ 9.99914702e-01 5.20658760e-04 -1.30505730e-02 3.54524429e+02] [-5.06806844e-04 9.99999305e-01 1.06468759e-03 -2.19804255e+01] [ 1.30511183e-02 -1.05798265e-03 9.99914271e-01 -4.40888693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.570371743 meters Centerline goodness [0,1] 0.9644610414131666 Centerline is valid? [True, True] Translation: X:354.55, Y:-21.98, Z:-4.41 [[ 9.99915567e-01 2.75038618e-03 -1.27001903e-02 3.54553843e+02] [-2.73745221e-03 9.99995717e-01 1.03567933e-03 -2.19840253e+01] [ 1.27029844e-02 -1.00082572e-03 9.99918813e-01 -4.40940989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.600371743 meters Centerline goodness [0,1] 0.9659968761872599 Centerline is valid? [True, True] Translation: X:354.58, Y:-21.98, Z:-4.41 [[ 9.99906031e-01 4.63373436e-03 -1.29018605e-02 3.54583637e+02] [-4.62054841e-03 9.99988772e-01 1.05163997e-03 -2.19837568e+01] [ 1.29065886e-02 -9.91927474e-04 9.99916215e-01 -4.40875758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.630371743 meters Centerline goodness [0,1] 0.9654015516879849 Centerline is valid? [True, True] Translation: X:354.61, Y:-21.99, Z:-4.41 [[ 9.99872344e-01 1.02218670e-02 -1.22804445e-02 3.54612282e+02] [-1.02103444e-02 9.99947372e-01 1.00061762e-03 -2.19907048e+01] [ 1.22900263e-02 -8.75102319e-04 9.99924092e-01 -4.41023912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.660371743 meters Centerline goodness [0,1] 0.9660514588413353 Centerline is valid? [True, True] Translation: X:354.64, Y:-21.99, Z:-4.41 [[ 9.99777110e-01 1.75394357e-02 -1.17515645e-02 3.54642380e+02] [-1.75293863e-02 9.99845890e-01 9.57619916e-04 -2.19933597e+01] [ 1.17665496e-02 -7.51408759e-04 9.99930489e-01 -4.41119528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.690371743 meters Centerline goodness [0,1] 0.9692162417374882 Centerline is valid? [True, True] Translation: X:354.67, Y:-21.99, Z:-4.41 [[ 9.99712768e-01 2.09805768e-02 -1.15843413e-02 3.54673019e+02] [-2.09710448e-02 9.99779638e-01 9.43709162e-04 -2.19908123e+01] [ 1.16015881e-02 -7.00502357e-04 9.99932454e-01 -4.40988613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.720371743 meters Centerline goodness [0,1] 0.9693681261238657 Centerline is valid? [True, True] Translation: X:354.70, Y:-22.00, Z:-4.41 [[ 9.99648710e-01 2.37646019e-02 -1.17345551e-02 3.54701373e+02] [-2.37550215e-02 9.99717353e-01 9.55149680e-04 -2.19951215e+01] [ 1.17539371e-02 -6.76059537e-04 9.99930692e-01 -4.41069165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.750371743 meters Centerline goodness [0,1] 0.9708540821023559 Centerline is valid? [True, True] Translation: X:354.73, Y:-22.00, Z:-4.41 [[ 9.99536500e-01 2.82986297e-02 -1.12237797e-02 3.54730835e+02] [-2.82901516e-02 9.99599336e-01 9.13449843e-04 -2.20002350e+01] [ 1.12451321e-02 -5.95504030e-04 9.99936594e-01 -4.41093601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.780371743 meters Centerline goodness [0,1] 0.9711299776799683 Centerline is valid? [True, True] Translation: X:354.76, Y:-22.00, Z:-4.41 [[ 9.99461410e-01 3.08351592e-02 -1.12286989e-02 3.54759532e+02] [-3.08268384e-02 9.99524323e-01 9.13396763e-04 -2.20039239e+01] [ 1.12515224e-02 -5.66759531e-04 9.99936539e-01 -4.41100453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.810371743 meters Centerline goodness [0,1] 0.971940486169321 Centerline is valid? [True, True] Translation: X:354.79, Y:-22.00, Z:-4.41 [[ 9.99424907e-01 3.20084483e-02 -1.11944220e-02 3.54788566e+02] [-3.20002625e-02 9.99487447e-01 9.09634774e-04 -2.20045182e+01] [ 1.12178003e-02 -5.50887205e-04 9.99936927e-01 -4.41033738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.840371743 meters Centerline goodness [0,1] 0.9726939587477751 Centerline is valid? [True, True] Translation: X:354.82, Y:-22.01, Z:-4.41 [[ 9.99315907e-01 3.54478808e-02 -1.05435499e-02 3.54818378e+02] [-3.54408101e-02 9.99371410e-01 8.56761127e-04 -2.20102545e+01] [ 1.05672927e-02 -4.82503072e-04 9.99944048e-01 -4.41069155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.870371743 meters Centerline goodness [0,1] 0.9718339375903766 Centerline is valid? [True, True] Translation: X:354.85, Y:-22.02, Z:-4.41 [[ 9.99246622e-01 3.72873916e-02 -1.07628582e-02 3.54846455e+02] [-3.72801410e-02 9.99304472e-01 8.73583170e-04 -2.20153300e+01] [ 1.07879460e-02 -4.71684160e-04 9.99941697e-01 -4.41053053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.900371743 meters Centerline goodness [0,1] 0.9742060157956646 Centerline is valid? [True, True] Translation: X:354.87, Y:-22.02, Z:-4.41 [[ 9.99138099e-01 4.00966213e-02 -1.07387482e-02 3.54874990e+02] [-4.00895736e-02 9.99195710e-01 8.70834616e-04 -2.20192989e+01] [ 1.07650286e-02 -4.39572208e-04 9.99941959e-01 -4.41094676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.930371743 meters Centerline goodness [0,1] 0.9732825222298578 Centerline is valid? [True, True] Translation: X:354.90, Y:-22.03, Z:-4.41 [[ 9.99035489e-01 4.26440830e-02 -1.04677130e-02 3.54902576e+02] [-4.26375343e-02 9.99090247e-01 8.48078394e-04 -2.20266345e+01] [ 1.04943555e-02 -4.00942943e-04 9.99944852e-01 -4.41211368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.960371743 meters Centerline goodness [0,1] 0.9728127470150185 Centerline is valid? [True, True] Translation: X:354.93, Y:-22.03, Z:-4.41 [[ 9.98922264e-01 4.52229811e-02 -1.04495313e-02 3.54930391e+02] [-4.52166063e-02 9.98976848e-01 8.45632290e-04 -2.20307030e+01] [ 1.04770819e-02 -3.72228579e-04 9.99945045e-01 -4.41217273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.990371743 meters Centerline goodness [0,1] 0.9747323430199669 Centerline is valid? [True, True] Translation: X:354.96, Y:-22.04, Z:-4.41 [[ 9.98668298e-01 5.05672482e-02 -1.02266027e-02 3.54960035e+02] [-5.05614244e-02 9.98720610e-01 8.27387627e-04 -2.20353604e+01] [ 1.02553576e-02 -3.09214194e-04 9.99947365e-01 -4.41127064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.020371743 meters Centerline goodness [0,1] 0.9766638037580913 Centerline is valid? [True, True] Translation: X:354.99, Y:-22.03, Z:-4.41 [[ 9.98517007e-01 5.35519238e-02 -9.79686617e-03 3.54989402e+02] [-5.35467543e-02 9.98565031e-01 7.89398477e-04 -2.20349723e+01] [ 9.82508179e-03 -2.63637419e-04 9.99951698e-01 -4.40863728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.050371743 meters Centerline goodness [0,1] 0.9758407543216343 Centerline is valid? [True, True] Translation: X:355.02, Y:-22.04, Z:-4.41 [[ 9.98183061e-01 5.95586162e-02 -9.12950026e-03 3.55017273e+02] [-5.95543763e-02 9.98224792e-01 7.35816572e-04 -2.20441400e+01] [ 9.15711772e-03 -1.90777944e-04 9.99958055e-01 -4.40971871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.080371743 meters Centerline goodness [0,1] 0.9788593697619846 Centerline is valid? [True, True] Translation: X:355.05, Y:-22.05, Z:-4.41 [[ 9.98022182e-01 6.22557177e-02 -8.71492524e-03 3.55046013e+02] [-6.22519632e-02 9.98060219e-01 7.01686270e-04 -2.20453640e+01] [ 8.74170417e-03 -1.57777257e-04 9.99961778e-01 -4.40744538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11037174300003 meters Centerline goodness [0,1] 0.9786502964654612 Centerline is valid? [True, True] Translation: X:355.07, Y:-22.05, Z:-4.41 [[ 9.97872106e-01 6.46460600e-02 -8.49398361e-03 3.55074640e+02] [-6.46425853e-02 9.97908247e-01 6.83270429e-04 -2.20498751e+01] [ 8.52038704e-03 -1.32743441e-04 9.99963692e-01 -4.40726513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.140371743 meters Centerline goodness [0,1] 0.9791887785894154 Centerline is valid? [True, True] Translation: X:355.10, Y:-22.06, Z:-4.41 [[ 9.97505664e-01 7.01048172e-02 -8.23189178e-03 3.55102091e+02] [-7.01017506e-02 9.97539627e-01 6.60841986e-04 -2.20568901e+01] [ 8.25796646e-03 -8.21236007e-05 9.99965899e-01 -4.40678909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.170371743 meters Centerline goodness [0,1] 0.9812341963931206 Centerline is valid? [True, True] Translation: X:355.13, Y:-22.06, Z:-4.41 [[ 9.97326917e-01 7.25667983e-02 -8.54873981e-03 3.55130422e+02] [-7.25635844e-02 9.97363552e-01 6.85928644e-04 -2.20615393e+01] [ 8.57597715e-03 -6.37678968e-05 9.99963224e-01 -4.40644649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.200371743 meters Centerline goodness [0,1] 0.9832626366048853 Centerline is valid? [True, True] Translation: X:355.16, Y:-22.07, Z:-4.41 [[ 9.96877373e-01 7.83376201e-02 -9.93583572e-03 3.55158977e+02] [-7.83335718e-02 9.96926886e-01 7.96558847e-04 -2.20688864e+01] [ 9.96770229e-03 -1.57619904e-05 9.99950321e-01 -4.40600149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.230371743 meters Centerline goodness [0,1] 0.9845609924478568 Centerline is valid? [True, True] Translation: X:355.19, Y:-22.07, Z:-4.41 [[ 9.96662693e-01 8.10271981e-02 -9.90298043e-03 3.55185547e+02] [-8.10233237e-02 9.96711891e-01 7.92469945e-04 -2.20731695e+01] [ 9.93462997e-03 1.25471597e-05 9.99950650e-01 -4.40655016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.260371743 meters Centerline goodness [0,1] 0.9848899663524838 Centerline is valid? [True, True] Translation: X:355.21, Y:-22.08, Z:-4.40 [[ 9.96216914e-01 8.63053758e-02 -1.01608536e-02 3.55213622e+02] [-8.63015767e-02 9.96268728e-01 8.12583499e-04 -2.20809988e+01] [ 1.01930711e-02 6.73882652e-05 9.99948047e-01 -4.40454773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.290371743 meters Centerline goodness [0,1] 0.9848899663524838 Centerline is valid? [True, True] Translation: X:355.24, Y:-22.08, Z:-4.40 [[ 9.96226343e-01 8.61964544e-02 -1.01609543e-02 3.55241020e+02] [-8.61926625e-02 9.96278157e-01 8.11323965e-04 -2.20831070e+01] [ 1.01930701e-02 6.75374004e-05 9.99948047e-01 -4.40466052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.320371743 meters Centerline goodness [0,1] 0.9855500957774631 Centerline is valid? [True, True] Translation: X:355.27, Y:-22.09, Z:-4.40 [[ 9.96047145e-01 8.83122114e-02 -9.54138853e-03 3.55268391e+02] [-8.83089727e-02 9.96092840e-01 7.61035853e-04 -2.20879871e+01] [ 9.57131756e-03 8.45626304e-05 9.99954190e-01 -4.40471180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.350371743 meters Centerline goodness [0,1] 0.9872493935687185 Centerline is valid? [True, True] Translation: X:355.30, Y:-22.09, Z:-4.40 [[ 9.95935164e-01 8.96195227e-02 -9.02718724e-03 3.55295574e+02] [-8.96166899e-02 9.95976070e-01 7.18635843e-04 -2.20931979e+01] [ 9.05526627e-03 9.32719333e-05 9.99958996e-01 -4.40412752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380371743 meters Centerline goodness [0,1] 0.9883238624580032 Centerline is valid? [True, True] Translation: X:355.32, Y:-22.10, Z:-4.40 [[ 9.95897907e-01 9.01546599e-02 -7.71336965e-03 3.55322440e+02] [-9.01526120e-02 9.95927774e-01 6.13498297e-04 -2.21031534e+01] [ 7.73726880e-03 8.43987517e-05 9.99970063e-01 -4.40217935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.410371743 meters Centerline goodness [0,1] 0.9879412865399809 Centerline is valid? [True, True] Translation: X:355.35, Y:-22.11, Z:-4.40 [[ 9.95959254e-01 8.95200553e-02 -7.16404849e-03 3.55350444e+02] [-8.95182755e-02 9.95985017e-01 5.69354716e-04 -2.21102070e+01] [ 7.18625363e-03 7.42591684e-05 9.99974176e-01 -4.40125463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440371743 meters Centerline goodness [0,1] 0.9896753636382446 Centerline is valid? [True, True] Translation: X:355.38, Y:-22.12, Z:-4.40 [[ 9.96201481e-01 8.68552989e-02 -6.22622624e-03 3.55378687e+02] [-8.68539056e-02 9.96220937e-01 4.94327120e-04 -2.21238764e+01] [ 6.24563186e-03 4.83226571e-05 9.99980495e-01 -4.39889745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.470371743 meters Centerline goodness [0,1] 0.9897963450842638 Centerline is valid? [True, True] Translation: X:355.41, Y:-22.13, Z:-4.40 [[ 9.96441575e-01 8.40427989e-02 -6.40270060e-03 3.55406953e+02] [-8.40412704e-02 9.96462145e-01 5.07879830e-04 -2.21320515e+01] [ 6.42273241e-03 3.20185142e-05 9.99979374e-01 -4.39859363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500371743 meters Centerline goodness [0,1] 0.9919743514521604 Centerline is valid? [True, True] Translation: X:355.43, Y:-22.15, Z:-4.40 [[ 9.96880948e-01 7.86165220e-02 -6.91506674e-03 3.55433532e+02] [-7.86146161e-02 9.96904932e-01 5.47423001e-04 -2.21455059e+01] [ 6.93670062e-03 -2.09024346e-06 9.99975941e-01 -4.39861767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.530371743 meters Centerline goodness [0,1] 0.9924534630219688 Centerline is valid? [True, True] Translation: X:355.46, Y:-22.15, Z:-4.40 [[ 9.97133181e-01 7.53803684e-02 -6.57407450e-03 3.55461019e+02] [-7.53785797e-02 9.97154852e-01 5.19783145e-04 -2.21531881e+01] [ 6.59455173e-03 -2.27486229e-05 9.99978255e-01 -4.39794160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560371743 meters Centerline goodness [0,1] 0.9920830034584774 Centerline is valid? [True, True] Translation: X:355.49, Y:-22.17, Z:-4.40 [[ 9.97493455e-01 7.05207218e-02 -5.79958790e-03 3.55487826e+02] [-7.05192504e-02 9.97510313e-01 4.58055968e-04 -2.21656449e+01] [ 5.81745118e-03 -4.79252388e-05 9.99983077e-01 -4.39630605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.590371743 meters Centerline goodness [0,1] 0.9931857611671997 Centerline is valid? [True, True] Translation: X:355.52, Y:-22.17, Z:-4.40 [[ 9.97668913e-01 6.80386856e-02 -5.24184056e-03 3.55516215e+02] [-6.80374512e-02 9.97682682e-01 4.13669612e-04 -2.21725298e+01] [ 5.25783909e-03 -5.60638407e-05 9.99986176e-01 -4.39547463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620371743 meters Centerline goodness [0,1] 0.9942683257258383 Centerline is valid? [True, True] Translation: X:355.54, Y:-22.18, Z:-4.40 [[ 9.97802529e-01 6.60670547e-02 -5.02569792e-03 3.55544620e+02] [-6.60658968e-02 9.97815183e-01 3.96248477e-04 -2.21793167e+01] [ 5.04089666e-03 -6.33504921e-05 9.99987293e-01 -4.39500229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.650371743 meters Centerline goodness [0,1] 0.9945487583282859 Centerline is valid? [True, True] Translation: X:355.57, Y:-22.19, Z:-4.39 [[ 9.98048501e-01 6.21833099e-02 -5.69427033e-03 3.55573230e+02] [-6.21817624e-02 9.98064741e-01 4.48562255e-04 -2.21883703e+01] [ 5.71114353e-03 -9.36071214e-05 9.99983687e-01 -4.39391129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680371743 meters Centerline goodness [0,1] 0.9953662151161577 Centerline is valid? [True, True] Translation: X:355.60, Y:-22.19, Z:-4.39 [[ 9.98155231e-01 6.04414026e-02 -5.74208629e-03 3.55601958e+02] [-6.04398026e-02 9.98171742e-01 4.51913013e-04 -2.21943653e+01] [ 5.75890253e-03 -1.04028775e-04 9.99983412e-01 -4.39386218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.710371743 meters Centerline goodness [0,1] 0.995648009328669 Centerline is valid? [True, True] Translation: X:355.63, Y:-22.21, Z:-4.40 [[ 9.98301399e-01 5.79429779e-02 -6.07687601e-03 3.55628761e+02] [-5.79411434e-02 9.98319886e-01 4.77652673e-04 -2.22055549e+01] [ 6.09434279e-03 -1.24740187e-04 9.99981422e-01 -4.39541761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740371743 meters Centerline goodness [0,1] 0.9958270739442497 Centerline is valid? [True, True] Translation: X:355.66, Y:-22.21, Z:-4.39 [[ 9.98360022e-01 5.69159141e-02 -6.15179130e-03 3.55656999e+02] [-5.69140168e-02 9.98378967e-01 4.83175456e-04 -2.22084443e+01] [ 6.16931941e-03 -1.32259905e-04 9.99980961e-01 -4.39408635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.770371743 meters Centerline goodness [0,1] 0.9960042676931445 Centerline is valid? [True, True] Translation: X:355.69, Y:-22.21, Z:-4.39 [[ 9.98464839e-01 5.51883271e-02 -4.71310560e-03 3.55685599e+02] [-5.51871962e-02 9.98475957e-01 3.69755202e-04 -2.22133065e+01] [ 4.72632880e-03 -1.09084484e-04 9.99988825e-01 -4.39230267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800371743 meters Centerline goodness [0,1] 0.9962373191418593 Centerline is valid? [True, True] Translation: X:355.71, Y:-22.22, Z:-4.39 [[ 9.98485821e-01 5.48510747e-02 -4.17442683e-03 3.55713217e+02] [-5.48501867e-02 9.98494542e-01 3.27004744e-04 -2.22182858e+01] [ 4.18607897e-03 -9.75415095e-05 9.99991234e-01 -4.39216772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.830371743 meters Centerline goodness [0,1] 0.9968976215098242 Centerline is valid? [True, True] Translation: X:355.74, Y:-22.22, Z:-4.39 [[ 9.98554632e-01 5.36552898e-02 -3.12355216e-03 3.55741551e+02] [-5.36547875e-02 9.98559515e-01 2.44449539e-04 -2.22227865e+01] [ 3.13216874e-03 -7.65026922e-05 9.99995092e-01 -4.39113707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86037174300003 meters Centerline goodness [0,1] 0.9959780773959614 Centerline is valid? [True, True] Translation: X:355.77, Y:-22.23, Z:-4.39 [[ 9.98618001e-01 5.24677182e-02 -3.03748316e-03 3.55770146e+02] [-5.24672384e-02 9.98622618e-01 2.37477279e-04 -2.22250659e+01] [ 3.04575928e-03 -7.77807323e-05 9.99995359e-01 -4.39101817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.890371743 meters Centerline goodness [0,1] 0.9963163014010472 Centerline is valid? [True, True] Translation: X:355.80, Y:-22.23, Z:-4.39 [[ 9.98713657e-01 5.06502625e-02 -2.36274926e-03 3.55798519e+02] [-5.06499676e-02 9.98716450e-01 1.84487730e-04 -2.22295812e+01] [ 2.36906091e-03 -6.45772413e-05 9.99997192e-01 -4.39107093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.920371743 meters Centerline goodness [0,1] 0.9972069950184463 Centerline is valid? [True, True] Translation: X:355.83, Y:-22.23, Z:-4.39 [[ 9.98801464e-01 4.88964542e-02 -2.18459109e-03 3.55827168e+02] [-4.88961983e-02 9.98803851e-01 1.70395130e-04 -2.22328202e+01] [ 2.19030971e-03 -6.33727055e-05 9.99997599e-01 -4.39011082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.950371743 meters Centerline goodness [0,1] 0.9967375267543587 Centerline is valid? [True, True] Translation: X:355.86, Y:-22.24, Z:-4.39 [[ 9.98845616e-01 4.79857546e-02 -2.19133270e-03 3.55855183e+02] [-4.79854956e-02 9.98848018e-01 1.70651117e-04 -2.22363657e+01] [ 2.19699715e-03 -6.53019341e-05 9.99997584e-01 -4.39053489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.980371743 meters Centerline goodness [0,1] 0.9963674104826155 Centerline is valid? [True, True] Translation: X:355.88, Y:-22.24, Z:-4.39 [[ 9.98946651e-01 4.58275234e-02 -2.32932693e-03 3.55884287e+02] [-4.58272248e-02 9.98949364e-01 1.81443025e-04 -2.22384290e+01] [ 2.33519474e-03 -7.45053133e-05 9.99997271e-01 -4.39068117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.010371743 meters Centerline goodness [0,1] 0.9967880532265465 Centerline is valid? [True, True] Translation: X:355.91, Y:-22.24, Z:-4.39 [[ 9.99001697e-01 4.46081416e-02 -2.39236031e-03 3.55913415e+02] [-4.46078237e-02 9.99004558e-01 1.86101000e-04 -2.22393073e+01] [ 2.39828048e-03 -7.91972278e-05 9.99997121e-01 -4.39026814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.040371743 meters Centerline goodness [0,1] 0.9961795606494747 Centerline is valid? [True, True] Translation: X:355.94, Y:-22.25, Z:-4.39 [[ 9.99121244e-01 4.18234229e-02 -2.74621333e-03 3.55941376e+02] [-4.18229936e-02 9.99125013e-01 2.13596349e-04 -2.22458987e+01] [ 2.75274376e-03 -9.85537876e-05 9.99996206e-01 -4.39217132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.070371743 meters Centerline goodness [0,1] 0.9957957087233866 Centerline is valid? [True, True] Translation: X:355.97, Y:-22.24, Z:-4.39 [[ 9.99271688e-01 3.79919991e-02 -3.56395801e-03 3.55970611e+02] [-3.79912521e-02 9.99278033e-01 2.77077692e-04 -2.22446052e+01] [ 3.57191169e-03 -1.41476665e-04 9.99993611e-01 -4.39248718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.100371743 meters Centerline goodness [0,1] 0.995987963891675 Centerline is valid? [True, True] Translation: X:356.00, Y:-22.25, Z:-4.39 [[ 9.99383094e-01 3.49363866e-02 -3.58890040e-03 3.55999713e+02] [-3.49356102e-02 9.99389526e-01 2.78825885e-04 -2.22477328e+01] [ 3.59645064e-03 -1.53273450e-04 9.99993521e-01 -4.39284158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.130371743 meters Centerline goodness [0,1] 0.9951791639710332 Centerline is valid? [True, True] Translation: X:356.03, Y:-22.25, Z:-4.39 [[ 9.99489324e-01 3.17159751e-02 -3.89724987e-03 3.56028621e+02] [-3.17150359e-02 9.99496906e-01 3.02592141e-04 -2.22509679e+01] [ 3.90488619e-03 -1.78836195e-04 9.99992360e-01 -4.39334353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.160371743 meters Centerline goodness [0,1] 0.9949819892976867 Centerline is valid? [True, True] Translation: X:356.06, Y:-22.25, Z:-4.39 [[ 9.99583631e-01 2.85404748e-02 -4.24329217e-03 3.56058325e+02] [-2.85393330e-02 9.99592616e-01 3.29413047e-04 -2.22542338e+01] [ 4.25096513e-03 -2.08175161e-04 9.99990943e-01 -4.39401680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.190371743 meters Centerline goodness [0,1] 0.9952262825457047 Centerline is valid? [True, True] Translation: X:356.09, Y:-22.25, Z:-4.39 [[ 9.99750572e-01 2.18867570e-02 -4.44564124e-03 3.56088999e+02] [-2.18854374e-02 9.99760426e-01 3.45276172e-04 -2.22547538e+01] [ 4.45213315e-03 -2.47895248e-04 9.99990058e-01 -4.39373887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.220371743 meters Centerline goodness [0,1] 0.9948269414551045 Centerline is valid? [True, True] Translation: X:356.12, Y:-22.26, Z:-4.39 [[ 9.99817726e-01 1.86806906e-02 -3.94292203e-03 3.56119064e+02] [-1.86796283e-02 9.99825474e-01 3.06078421e-04 -2.22575034e+01] [ 3.94795164e-03 -2.32370313e-04 9.99992180e-01 -4.39386169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.250371743 meters Centerline goodness [0,1] 0.9937423338392133 Centerline is valid? [True, True] Translation: X:356.15, Y:-22.26, Z:-4.39 [[ 9.99907861e-01 1.26964229e-02 -4.80313501e-03 3.56148718e+02] [-1.26947780e-02 9.99919349e-01 3.72795823e-04 -2.22605905e+01] [ 4.80748080e-03 -3.11786741e-04 9.99988395e-01 -4.39475728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.280371743 meters Centerline goodness [0,1] 0.9922305087562582 Centerline is valid? [True, True] Translation: X:356.18, Y:-22.26, Z:-4.40 [[ 9.99932415e-01 1.04388916e-02 -5.11806887e-03 3.56178231e+02] [-1.04369958e-02 9.99945454e-01 3.96982019e-04 -2.22619479e+01] [ 5.12193375e-03 -3.43537926e-04 9.99986824e-01 -4.39564587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.310371743 meters Centerline goodness [0,1] 0.992146487792684 Centerline is valid? [True, True] Translation: X:356.21, Y:-22.26, Z:-4.40 [[ 9.99951393e-01 8.41539313e-03 -5.13748881e-03 3.56208346e+02] [-8.41345732e-03 9.99964527e-01 3.98298365e-04 -2.22576395e+01] [ 5.14065840e-03 -3.55054962e-04 9.99986724e-01 -4.39521081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.340371743 meters Centerline goodness [0,1] 0.9907561279601164 Centerline is valid? [True, True] Translation: X:356.24, Y:-22.26, Z:-4.39 [[ 9.99951546e-01 8.55374531e-03 -4.87229881e-03 3.56237684e+02] [-8.55200833e-03 9.99963360e-01 3.77223390e-04 -2.22558510e+01] [ 4.87534696e-03 -3.35537172e-04 9.99988059e-01 -4.39482557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.370371743 meters Centerline goodness [0,1] 0.9891087462587296 Centerline is valid? [True, True] Translation: X:356.27, Y:-22.25, Z:-4.39 [[ 9.99935137e-01 1.09413118e-02 -3.16386429e-03 3.56268528e+02] [-1.09405911e-02 9.99940120e-01 2.45014101e-04 -2.22478697e+01] [ 3.16635561e-03 -2.10383663e-04 9.99994965e-01 -4.39368420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.400371743 meters Centerline goodness [0,1] 0.9887432376196421 Centerline is valid? [True, True] Translation: X:356.30, Y:-22.24, Z:-4.39 [[ 9.99918875e-01 1.22992010e-02 -3.31245117e-03 3.56297988e+02] [-1.22984200e-02 9.99924339e-01 2.56054703e-04 -2.22445192e+01] [ 3.31534982e-03 -2.15296015e-04 9.99994481e-01 -4.39357123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.430371743 meters Centerline goodness [0,1] 0.9881108270457899 Centerline is valid? [True, True] Translation: X:356.33, Y:-22.24, Z:-4.39 [[ 9.99893726e-01 1.42776828e-02 -2.94678196e-03 3.56326789e+02] [-1.42770736e-02 9.99898051e-01 2.27670804e-04 -2.22428906e+01] [ 2.94973215e-03 -1.85575186e-04 9.99995632e-01 -4.39413465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.460371743 meters Centerline goodness [0,1] 0.9871119043665947 Centerline is valid? [True, True] Translation: X:356.36, Y:-22.23, Z:-4.40 [[ 9.99841003e-01 1.73664712e-02 -4.04648882e-03 3.56357399e+02] [-1.73653470e-02 9.99849162e-01 3.12794492e-04 -2.22344646e+01] [ 4.05131060e-03 -2.42476076e-04 9.99991764e-01 -4.39529717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.490371743 meters Centerline goodness [0,1] 0.9861720488241043 Centerline is valid? [True, True] Translation: X:356.39, Y:-22.24, Z:-4.40 [[ 9.99823359e-01 1.83564037e-02 -4.03661128e-03 3.56385557e+02] [-1.83552951e-02 9.99831479e-01 3.11518681e-04 -2.22372891e+01] [ 4.04164939e-03 -2.37370463e-04 9.99991804e-01 -4.39686079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.520371743 meters Centerline goodness [0,1] 0.9831317301906758 Centerline is valid? [True, True] Translation: X:356.42, Y:-22.23, Z:-4.40 [[ 9.99794522e-01 1.95510159e-02 -5.35452108e-03 3.56415112e+02] [-1.95490838e-02 9.99808813e-01 4.12943126e-04 -2.22271463e+01] [ 5.36157083e-03 -3.08182294e-04 9.99985579e-01 -4.39789639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.550371743 meters Centerline goodness [0,1] 0.9824601795843189 Centerline is valid? [True, True] Translation: X:356.44, Y:-22.22, Z:-4.40 [[ 9.99791102e-01 1.97072533e-02 -5.41994197e-03 3.56444253e+02] [-1.97052782e-02 9.99805745e-01 4.17584940e-04 -2.22221108e+01] [ 5.42711857e-03 -3.10696243e-04 9.99985225e-01 -4.39768774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.580371743 meters Centerline goodness [0,1] 0.9812222245404661 Centerline is valid? [True, True] Translation: X:356.47, Y:-22.22, Z:-4.40 [[ 9.99787739e-01 1.98799039e-02 -5.40976603e-03 3.56471921e+02] [-1.98779417e-02 9.99802328e-01 4.16241195e-04 -2.22213277e+01] [ 5.41697151e-03 -3.08617830e-04 9.99985280e-01 -4.39816927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61037174300003 meters Centerline goodness [0,1] 0.9782155078874886 Centerline is valid? [True, True] Translation: X:356.50, Y:-22.22, Z:-4.40 [[ 9.99757916e-01 2.13534484e-02 -5.30460540e-03 3.56501675e+02] [-2.13515832e-02 9.99771946e-01 4.08005342e-04 -2.22156261e+01] [ 5.31210798e-03 -2.94644846e-04 9.99985847e-01 -4.39820741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.640371743 meters Centerline goodness [0,1] 0.9768815072923405 Centerline is valid? [True, True] Translation: X:356.53, Y:-22.21, Z:-4.40 [[ 9.99715072e-01 2.32009185e-02 -5.61182881e-03 3.56531480e+02] [-2.31988617e-02 9.99730777e-01 4.31338390e-04 -2.22120572e+01] [ 5.62032542e-03 -3.01027449e-04 9.99984161e-01 -4.39836836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.670371743 meters Centerline goodness [0,1] 0.9765347486313678 Centerline is valid? [True, True] Translation: X:356.56, Y:-22.20, Z:-4.40 [[ 9.99584940e-01 2.81395400e-02 -6.17372909e-03 3.56562421e+02] [-2.81371434e-02 9.99603959e-01 4.74718243e-04 -2.22032584e+01] [ 6.18464240e-03 -3.00810106e-04 9.99980830e-01 -4.39943070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.700371743 meters Centerline goodness [0,1] 0.9752166450370494 Centerline is valid? [True, True] Translation: X:356.59, Y:-22.20, Z:-4.40 [[ 9.99488942e-01 3.12876060e-02 -6.55291440e-03 3.56592062e+02] [-3.12849759e-02 9.99510379e-01 5.03507995e-04 -2.22010915e+01] [ 6.56545951e-03 -2.98242904e-04 9.99978403e-01 -4.39997355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.730371743 meters Centerline goodness [0,1] 0.97441039460216 Centerline is valid? [True, True] Translation: X:356.62, Y:-22.20, Z:-4.40 [[ 9.99226560e-01 3.83920712e-02 -8.50470401e-03 3.56622054e+02] [-3.83878985e-02 9.99262699e-01 6.53393528e-04 -2.21956747e+01] [ 8.52351862e-03 -3.26410453e-04 9.99963621e-01 -4.40137818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.760371743 meters Centerline goodness [0,1] 0.9747164510786389 Centerline is valid? [True, True] Translation: X:356.65, Y:-22.19, Z:-4.40 [[ 9.99075635e-01 4.20951956e-02 -8.71030891e-03 3.56651837e+02] [-4.20909624e-02 9.99113559e-01 6.68822531e-04 -2.21921801e+01] [ 8.73074195e-03 -3.01579010e-04 9.99961841e-01 -4.40207387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.790371743 meters Centerline goodness [0,1] 0.9765765765765766 Centerline is valid? [True, True] Translation: X:356.68, Y:-22.19, Z:-4.40 [[ 9.98840971e-01 4.72330106e-02 -9.26053758e-03 3.56682453e+02] [-4.72284470e-02 9.98883861e-01 7.10984600e-04 -2.21886506e+01] [ 9.28378348e-03 -2.72799740e-04 9.99956868e-01 -4.40152859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.820371743 meters Centerline goodness [0,1] 0.9786727879799666 Centerline is valid? [True, True] Translation: X:356.71, Y:-22.18, Z:-4.40 [[ 9.98300962e-01 5.75219704e-02 -9.29586199e-03 3.56712415e+02] [-5.75178197e-02 9.98344225e-01 7.13463152e-04 -2.21818092e+01] [ 9.32150994e-03 -1.77573236e-04 9.99956538e-01 -4.40209514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.850371743 meters Centerline goodness [0,1] 0.9805821188457844 Centerline is valid? [True, True] Translation: X:356.74, Y:-22.18, Z:-4.40 [[ 9.97647839e-01 6.80166894e-02 -8.51582574e-03 3.56741676e+02] [-6.80135930e-02 9.97684181e-01 6.53009626e-04 -2.21761965e+01] [ 8.54052018e-03 -7.22817360e-05 9.99963526e-01 -4.40130085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880371743 meters Centerline goodness [0,1] 0.98194371796213 Centerline is valid? [True, True] Translation: X:356.77, Y:-22.18, Z:-4.40 [[ 9.97339093e-01 7.24759430e-02 -7.87217297e-03 3.56770440e+02] [-7.24734409e-02 9.97370160e-01 6.03014273e-04 -2.21750539e+01] [ 7.89517444e-03 -3.08862464e-05 9.99968832e-01 -4.40059893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.910371743 meters Centerline goodness [0,1] 0.9830348529966867 Centerline is valid? [True, True] Translation: X:356.80, Y:-22.17, Z:-4.40 [[ 9.97066053e-01 7.61767046e-02 -7.50969562e-03 3.56799035e+02] [-7.61745369e-02 9.97094333e-01 5.74670820e-04 -2.21746647e+01] [ 7.53165148e-03 -9.37179859e-07 9.99971637e-01 -4.39924800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940371743 meters Centerline goodness [0,1] 0.9844648063306956 Centerline is valid? [True, True] Translation: X:356.83, Y:-22.17, Z:-4.40 [[ 9.96601137e-01 8.20688766e-02 -7.13260721e-03 3.56827035e+02] [-8.20670809e-02 9.96626659e-01 5.44569019e-04 -2.21749311e+01] [ 7.15323866e-03 4.26341487e-05 9.99974414e-01 -4.39873708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.970371743 meters Centerline goodness [0,1] 0.9842552569483598 Centerline is valid? [True, True] Translation: X:356.86, Y:-22.18, Z:-4.40 [[ 9.96459784e-01 8.37447701e-02 -7.39672693e-03 3.56856150e+02] [-8.37429026e-02 9.96487235e-01 5.62377878e-04 -2.21775266e+01] [ 7.41784017e-03 5.90364441e-05 9.99972486e-01 -4.39935571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000371743 meters Centerline goodness [0,1] 0.9851298782783285 Centerline is valid? [True, True] Translation: X:356.88, Y:-22.18, Z:-4.40 [[ 9.96228107e-01 8.63910262e-02 -8.13327858e-03 3.56884773e+02] [-8.63888728e-02 9.96261302e-01 6.16376774e-04 -2.21827045e+01] [ 8.15612013e-03 8.85729018e-05 9.99966734e-01 -4.40030236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.030371743 meters Centerline goodness [0,1] 0.9855326977755478 Centerline is valid? [True, True] Translation: X:356.91, Y:-22.19, Z:-4.40 [[ 9.96139849e-01 8.74047538e-02 -8.11237970e-03 3.56913059e+02] [-8.74026437e-02 9.96172876e-01 6.14950579e-04 -2.21871785e+01] [ 8.13508222e-03 9.64666564e-05 9.99966905e-01 -4.40069972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060371743 meters Centerline goodness [0,1] 0.985411970949161 Centerline is valid? [True, True] Translation: X:356.94, Y:-22.19, Z:-4.40 [[ 9.96046160e-01 8.84824597e-02 -7.93104654e-03 3.56940856e+02] [-8.84804834e-02 9.96077730e-01 6.00405437e-04 -2.21917937e+01] [ 7.95306418e-03 1.03711302e-04 9.99968369e-01 -4.40068727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.090371743 meters Centerline goodness [0,1] 0.9871194379391101 Centerline is valid? [True, True] Translation: X:356.97, Y:-22.20, Z:-4.40 [[ 9.95883156e-01 9.03433338e-02 -7.40421971e-03 3.56968757e+02] [-9.03416823e-02 9.95910673e-01 5.57889195e-04 -2.22010922e+01] [ 7.42434301e-03 1.13317213e-04 9.99972433e-01 -4.39847641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120371743 meters Centerline goodness [0,1] 0.9881998545756726 Centerline is valid? [True, True] Translation: X:357.00, Y:-22.21, Z:-4.40 [[ 9.95770662e-01 9.16621190e-02 -6.23262240e-03 3.56996111e+02] [-9.16609750e-02 9.95790161e-01 4.69558882e-04 -2.22094459e+01] [ 6.24942482e-03 1.03715287e-04 9.99980467e-01 -4.39760904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.150371743 meters Centerline goodness [0,1] 0.9873801216021395 Centerline is valid? [True, True] Translation: X:357.02, Y:-22.22, Z:-4.40 [[ 9.95757920e-01 9.18227746e-02 -5.89426057e-03 3.57023195e+02] [-9.18217585e-02 9.95775360e-01 4.43338579e-04 -2.22159778e+01] [ 5.91006802e-03 9.97634688e-05 9.99982530e-01 -4.39658720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180371743 meters Centerline goodness [0,1] 0.9889860030455371 Centerline is valid? [True, True] Translation: X:357.05, Y:-22.23, Z:-4.40 [[ 9.95731134e-01 9.22052107e-02 -4.20817424e-03 3.57051366e+02] [-9.22046974e-02 9.95740023e-01 3.16221630e-04 -2.22280038e+01] [ 4.21940480e-03 7.31417105e-05 9.99991096e-01 -4.39526873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.210371743 meters Centerline goodness [0,1] 0.9889860030455371 Centerline is valid? [True, True] Translation: X:357.08, Y:-22.23, Z:-4.40 [[ 9.95741368e-01 9.20946173e-02 -4.20822088e-03 3.57078777e+02] [-9.20941057e-02 9.95750258e-01 3.15600970e-04 -2.22299814e+01] [ 4.21940217e-03 7.32953964e-05 9.99991096e-01 -4.39538152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240371743 meters Centerline goodness [0,1] 0.9900314904798648 Centerline is valid? [True, True] Translation: X:357.11, Y:-22.24, Z:-4.40 [[ 9.95765065e-01 9.18708760e-02 -3.41734489e-03 3.57105601e+02] [-9.18705412e-02 9.95770927e-01 2.55147838e-04 -2.22364829e+01] [ 3.42633334e-03 5.98860211e-05 9.99994128e-01 -4.39506375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.270371743 meters Centerline goodness [0,1] 0.9894329790313908 Centerline is valid? [True, True] Translation: X:357.13, Y:-22.24, Z:-4.39 [[ 9.95757652e-01 9.19811889e-02 -2.48187870e-03 3.57133134e+02] [-9.19810129e-02 9.95760744e-01 1.85192831e-04 -2.22437238e+01] [ 2.48839164e-03 4.38785382e-05 9.99996903e-01 -4.39455020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300371743 meters Centerline goodness [0,1] 0.9920019891425966 Centerline is valid? [True, True] Translation: X:357.16, Y:-22.26, Z:-4.39 [[ 9.95859163e-01 9.08783320e-02 -2.37836305e-03 3.57160981e+02] [-9.08781673e-02 9.95862002e-01 1.77429938e-04 -2.22561791e+01] [ 2.38464592e-03 3.94460458e-05 9.99997156e-01 -4.39403183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.330371743 meters Centerline goodness [0,1] 0.9926337096471276 Centerline is valid? [True, True] Translation: X:357.19, Y:-22.27, Z:-4.39 [[ 9.96079565e-01 8.84151761e-02 -2.87357631e-03 3.57188442e+02] [-8.84149259e-02 9.96083709e-01 2.14223818e-04 -2.22698885e+01] [ 2.88126318e-03 4.06830690e-05 9.99995848e-01 -4.39397107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36037174300003 meters Centerline goodness [0,1] 0.9933891857056732 Centerline is valid? [True, True] Translation: X:357.22, Y:-22.28, Z:-4.39 [[ 9.96199914e-01 8.70546656e-02 -2.68625848e-03 3.57216590e+02] [-8.70544426e-02 9.96203535e-01 2.00048113e-04 -2.22779021e+01] [ 2.69347531e-03 3.45628209e-05 9.99996372e-01 -4.39435153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.390371743 meters Centerline goodness [0,1] 0.9937824699033988 Centerline is valid? [True, True] Translation: X:357.25, Y:-22.29, Z:-4.39 [[ 9.96341209e-01 8.54254136e-02 -2.58738096e-03 3.57245009e+02] [-8.54252017e-02 9.96344568e-01 1.92485175e-04 -2.22862350e+01] [ 2.59436609e-03 2.92466287e-05 9.99996634e-01 -4.39473317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.420371743 meters Centerline goodness [0,1] 0.9949038780245276 Centerline is valid? [True, True] Translation: X:357.27, Y:-22.30, Z:-4.39 [[ 9.96523573e-01 8.32815961e-02 -2.22374470e-03 3.57271857e+02] [-8.32814350e-02 9.96526054e-01 1.65121656e-04 -2.22988141e+01] [ 2.22977113e-03 2.06490268e-05 9.99997514e-01 -4.39475764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.450371743 meters Centerline goodness [0,1] 0.995433978636805 Centerline is valid? [True, True] Translation: X:357.30, Y:-22.31, Z:-4.39 [[ 9.96602224e-01 8.23376895e-02 -2.12415058e-03 3.57300640e+02] [-8.23375406e-02 9.96604488e-01 1.57630321e-04 -2.23068717e+01] [ 2.12991691e-03 1.78026059e-05 9.99997732e-01 -4.39409951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.480371743 meters Centerline goodness [0,1] 0.9960104725096621 Centerline is valid? [True, True] Translation: X:357.33, Y:-22.32, Z:-4.39 [[ 9.96742731e-01 8.06278829e-02 -1.75276076e-03 3.57328799e+02] [-8.06277792e-02 9.96744272e-01 1.29896092e-04 -2.23185149e+01] [ 1.75752750e-03 1.18482220e-05 9.99998455e-01 -4.39344665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.510371743 meters Centerline goodness [0,1] 0.9963044779817082 Centerline is valid? [True, True] Translation: X:357.36, Y:-22.32, Z:-4.39 [[ 9.96776348e-01 8.02188591e-02 -1.35918567e-03 3.57356546e+02] [-8.02187967e-02 9.96777274e-01 1.00472525e-04 -2.23245558e+01] [ 1.36286517e-03 8.88360245e-06 9.99999071e-01 -4.39345996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.540371743 meters Centerline goodness [0,1] 0.9965847701446816 Centerline is valid? [True, True] Translation: X:357.38, Y:-22.33, Z:-4.39 [[ 9.96807367e-01 7.98369956e-02 -1.06172342e-03 3.57384354e+02] [-7.98369575e-02 9.96807932e-01 7.83159816e-05 -2.23302519e+01] [ 1.06458684e-03 6.69881981e-06 9.99999433e-01 -4.39380404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.570371743 meters Centerline goodness [0,1] 0.9969764118706899 Centerline is valid? [True, True] Translation: X:357.41, Y:-22.34, Z:-4.39 [[ 9.96823353e-01 7.96407126e-02 -7.48551847e-04 3.57412856e+02] [-7.96406937e-02 9.96823634e-01 5.51218786e-05 -2.23398715e+01] [ 7.50564118e-04 4.66841255e-06 9.99999718e-01 -4.39373141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.600371743 meters Centerline goodness [0,1] 0.9971539936892904 Centerline is valid? [True, True] Translation: X:357.44, Y:-22.34, Z:-4.39 [[ 9.96821603e-01 7.96631293e-02 -6.90714746e-04 3.57441093e+02] [-7.96631133e-02 9.96821843e-01 5.07912781e-05 -2.23448505e+01] [ 6.92565738e-04 4.39464377e-06 9.99999760e-01 -4.39407841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.630371743 meters Centerline goodness [0,1] 0.998022901392207 Centerline is valid? [True, True] Translation: X:357.47, Y:-22.35, Z:-4.40 [[ 9.96792228e-01 8.00309711e-02 -5.46561288e-04 3.57468502e+02] [-8.00309612e-02 9.96792377e-01 4.00115421e-05 -2.23492477e+01] [ 5.48010288e-04 3.85863107e-06 9.99999850e-01 -4.39586452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.660371743 meters Centerline goodness [0,1] 0.9982295783926218 Centerline is valid? [True, True] Translation: X:357.50, Y:-22.35, Z:-4.40 [[ 9.96785808e-01 8.01125811e-02 1.68123015e-04 3.57496495e+02] [-8.01125801e-02 9.96785822e-01 -1.28421697e-05 -2.23533656e+01] [-1.68611457e-04 -6.67875978e-07 9.99999986e-01 -4.39533151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.690371743 meters Centerline goodness [0,1] 0.9986210303167514 Centerline is valid? [True, True] Translation: X:357.52, Y:-22.36, Z:-4.39 [[ 9.96808928e-01 7.98150388e-02 1.23283067e-03 3.57524619e+02] [-7.98149871e-02 9.96809691e-01 -9.11828520e-05 -2.23605569e+01] [-1.23617532e-03 -7.50648273e-06 9.99999236e-01 -4.39438304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.720371743 meters Centerline goodness [0,1] 0.9988919212853713 Centerline is valid? [True, True] Translation: X:357.55, Y:-22.36, Z:-4.39 [[ 9.96822289e-01 7.96437018e-02 1.48466002e-03 3.57552058e+02] [-7.96436269e-02 9.96823395e-01 -1.09661534e-04 -2.23642586e+01] [-1.48867769e-03 -8.93064742e-06 9.99998892e-01 -4.39428715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.750371743 meters Centerline goodness [0,1] 0.9988953214819057 Centerline is valid? [True, True] Translation: X:357.58, Y:-22.37, Z:-4.39 [[ 9.96866116e-01 7.90875198e-02 1.76356398e-03 3.57579424e+02] [-7.90874136e-02 9.96867676e-01 -1.29986165e-04 -2.23690777e+01] [-1.76832021e-03 -9.89691001e-06 9.99998436e-01 -4.39424514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.780371743 meters Centerline goodness [0,1] 0.9994474912007858 Centerline is valid? [True, True] Translation: X:357.61, Y:-22.37, Z:-4.39 [[ 9.96894514e-01 7.87292823e-02 1.74031797e-03 3.57607723e+02] [-7.87291788e-02 9.96896033e-01 -1.28046437e-04 -2.23728656e+01] [-1.74499708e-03 -9.36501386e-06 9.99998477e-01 -4.39392646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.810371743 meters Centerline goodness [0,1] 0.9994868637110016 Centerline is valid? [True, True] Translation: X:357.64, Y:-22.38, Z:-4.39 [[ 9.97002097e-01 7.73567351e-02 1.65980206e-03 3.57636051e+02] [-7.73566392e-02 9.97003478e-01 -1.21995168e-04 -2.23782717e+01] [-1.66426558e-03 -6.76727138e-06 9.99998615e-01 -4.39473704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.840371743 meters Centerline goodness [0,1] 0.9991949467426307 Centerline is valid? [True, True] Translation: X:357.66, Y:-22.38, Z:-4.39 [[ 9.97122327e-01 7.57824329e-02 2.02207045e-03 3.57664507e+02] [-7.57822878e-02 9.97124377e-01 -1.48376400e-04 -2.23827789e+01] [-2.02750006e-03 -5.28770417e-06 9.99997945e-01 -4.39466307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.870371743 meters Centerline goodness [0,1] 0.9990139080058343 Centerline is valid? [True, True] Translation: X:357.69, Y:-22.39, Z:-4.40 [[ 9.97380256e-01 7.23069893e-02 2.07942695e-03 3.57692376e+02] [-7.23068286e-02 9.97382424e-01 -1.52430358e-04 -2.23898596e+01] [-2.08500568e-03 1.67426120e-06 9.99997826e-01 -4.39506737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.900371743 meters Centerline goodness [0,1] 0.9989786121381734 Centerline is valid? [True, True] Translation: X:357.72, Y:-22.40, Z:-4.40 [[ 9.97567013e-01 6.96885545e-02 1.88686228e-03 3.57721110e+02] [-6.96884180e-02 9.97568797e-01 -1.38096763e-04 -2.23950851e+01] [-1.89189869e-03 6.26832851e-06 9.99998210e-01 -4.39536979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.930371743 meters Centerline goodness [0,1] 0.9994423906982508 Centerline is valid? [True, True] Translation: X:357.75, Y:-22.40, Z:-4.40 [[ 9.97778783e-01 6.65916323e-02 1.74764634e-03 3.57748800e+02] [-6.65915105e-02 9.97780314e-01 -1.27854678e-04 -2.24008441e+01] [-1.75228116e-03 1.11922755e-05 9.99998465e-01 -4.39529061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.960371743 meters Centerline goodness [0,1] 0.9995244888254874 Centerline is valid? [True, True] Translation: X:357.78, Y:-22.41, Z:-4.40 [[ 9.98202821e-01 5.99081902e-02 1.46199856e-03 3.57777425e+02] [-5.99080981e-02 9.98203891e-01 -1.06724507e-04 -2.24102532e+01] [-1.46576632e-03 1.89471515e-05 9.99998926e-01 -4.39505667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.990371743 meters Centerline goodness [0,1] 0.9994840573728201 Centerline is valid? [True, True] Translation: X:357.81, Y:-22.42, Z:-4.39 [[ 9.98634696e-01 5.22208969e-02 1.31245139e-03 3.57806482e+02] [-5.22208163e-02 9.98635558e-01 -9.56186410e-05 -2.24167943e+01] [-1.31565392e-03 2.69508095e-05 9.99999134e-01 -4.39470237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.020371743 meters Centerline goodness [0,1] 0.9996480185514928 Centerline is valid? [True, True] Translation: X:357.84, Y:-22.42, Z:-4.39 [[ 9.98824019e-01 4.84556556e-02 1.62109343e-03 3.57835674e+02] [-4.84555277e-02 9.98825334e-01 -1.18077803e-04 -2.24217111e+01] [-1.62491072e-03 3.93880085e-05 9.99998679e-01 -4.39394369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.050371743 meters Centerline goodness [0,1] 0.9998752469071629 Centerline is valid? [True, True] Translation: X:357.87, Y:-22.43, Z:-4.39 [[ 9.99153875e-01 4.10984253e-02 1.56651872e-03 3.57865164e+02] [-4.10982970e-02 9.99155102e-01 -1.14007834e-04 -2.24311384e+01] [-1.56988072e-03 4.95301173e-05 9.99998767e-01 -4.39348328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.080371743 meters Centerline goodness [0,1] 0.9997511251218449 Centerline is valid? [True, True] Translation: X:357.90, Y:-22.44, Z:-4.39 [[ 9.99292396e-01 3.75946657e-02 1.16123558e-03 3.57895214e+02] [-3.75945929e-02 9.99293070e-01 -8.44579341e-05 -2.24361087e+01] [-1.16358984e-03 4.07419924e-05 9.99999322e-01 -4.39384963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11037174300003 meters Centerline goodness [0,1] 0.9997503432779927 Centerline is valid? [True, True] Translation: X:357.92, Y:-22.44, Z:-4.39 [[ 9.99415762e-01 3.41742271e-02 5.07316703e-04 3.57924298e+02] [-3.41742128e-02 9.99415890e-01 -3.69621854e-05 -2.24431054e+01] [-5.08283528e-04 1.96034417e-05 9.99999871e-01 -4.39430275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.140371743 meters Centerline goodness [0,1] 0.9997323560899284 Centerline is valid? [True, True] Translation: X:357.95, Y:-22.45, Z:-4.40 [[ 9.99605554e-01 2.80655008e-02 -1.03114604e-03 3.57952866e+02] [-2.80654384e-02 9.99606085e-01 7.49040668e-05 -2.24534800e+01] [ 1.03284208e-03 -4.59349556e-05 9.99999466e-01 -4.39556984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.170371743 meters Centerline goodness [0,1] 0.9997091211302722 Centerline is valid? [True, True] Translation: X:357.98, Y:-22.46, Z:-4.40 [[ 9.99677435e-01 2.53404228e-02 -1.69965742e-03 3.57982894e+02] [-2.53402494e-02 9.99678877e-01 1.23460660e-04 -2.24574157e+01] [ 1.70224016e-03 -8.03510928e-05 9.99998548e-01 -4.39551197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.200371743 meters Centerline goodness [0,1] 0.9996886222572811 Centerline is valid? [True, True] Translation: X:358.01, Y:-22.46, Z:-4.40 [[ 9.99764692e-01 2.13900497e-02 -3.60914619e-03 3.58012778e+02] [-2.13892422e-02 9.99771190e-01 2.62208789e-04 -2.24591473e+01] [ 3.61392904e-03 -1.84950187e-04 9.99993453e-01 -4.39531257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.230371743 meters Centerline goodness [0,1] 0.9997704076308155 Centerline is valid? [True, True] Translation: X:358.04, Y:-22.46, Z:-4.40 [[ 9.99771147e-01 2.09239227e-02 -4.45456896e-03 3.58042019e+02] [-2.09226890e-02 9.99781044e-01 3.23376574e-04 -2.24601599e+01] [ 4.46035991e-03 -2.30101007e-04 9.99990026e-01 -4.39511018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.260371743 meters Centerline goodness [0,1] 0.9998549703725189 Centerline is valid? [True, True] Translation: X:358.07, Y:-22.46, Z:-4.39 [[ 9.99716040e-01 2.32156370e-02 -5.37337792e-03 3.58070638e+02] [-2.32138767e-02 9.99730446e-01 3.89732552e-04 -2.24640669e+01] [ 5.38097739e-03 -2.64884951e-04 9.99985487e-01 -4.39442954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.290371743 meters Centerline goodness [0,1] 0.9997711765684806 Centerline is valid? [True, True] Translation: X:358.10, Y:-22.46, Z:-4.39 [[ 9.99665031e-01 2.53348240e-02 -5.28885423e-03 3.58100192e+02] [-2.53331489e-02 9.99678991e-01 3.83483548e-04 -2.24638946e+01] [ 5.29687194e-03 -2.49371761e-04 9.99985940e-01 -4.39393353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.320371743 meters Centerline goodness [0,1] 0.9997505145637123 Centerline is valid? [True, True] Translation: X:358.13, Y:-22.46, Z:-4.39 [[ 9.99583238e-01 2.84474016e-02 -4.90877671e-03 3.58130257e+02] [-2.84459962e-02 9.99595267e-01 3.55898799e-04 -2.24634692e+01] [ 4.91691436e-03 -2.16115430e-04 9.99987889e-01 -4.39345938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.350371743 meters Centerline goodness [0,1] 0.9996070970677033 Centerline is valid? [True, True] Translation: X:358.16, Y:-22.46, Z:-4.39 [[ 9.99397010e-01 3.43492454e-02 -5.07393336e-03 3.58161280e+02] [-3.43478197e-02 9.99409872e-01 3.67889071e-04 -2.24608541e+01] [ 5.08357581e-03 -1.93388690e-04 9.99987060e-01 -4.39283215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380371743 meters Centerline goodness [0,1] 0.9996460840238165 Centerline is valid? [True, True] Translation: X:358.19, Y:-22.46, Z:-4.39 [[ 9.99296880e-01 3.70984107e-02 -5.42703019e-03 3.58191027e+02] [-3.70968219e-02 9.99311599e-01 3.93168015e-04 -2.24592578e+01] [ 5.43788013e-03 -1.91565999e-04 9.99985196e-01 -4.39256696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.410371743 meters Centerline goodness [0,1] 0.99960668226137 Centerline is valid? [True, True] Translation: X:358.22, Y:-22.46, Z:-4.39 [[ 9.99060751e-01 4.28406977e-02 -6.50315647e-03 3.58219866e+02] [-4.28385404e-02 9.99081897e-01 4.70728253e-04 -2.24569855e+01] [ 6.51735223e-03 -1.91700391e-04 9.99978743e-01 -4.39315120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440371743 meters Centerline goodness [0,1] 0.9995235135695049 Centerline is valid? [True, True] Translation: X:358.25, Y:-22.46, Z:-4.39 [[ 9.98971287e-01 4.47974303e-02 -7.03977308e-03 3.58248202e+02] [-4.47949547e-02 9.98996073e-01 5.09014650e-04 -2.24569534e+01] [ 7.05550821e-03 -1.93144703e-04 9.99975091e-01 -4.39360098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.470371743 meters Centerline goodness [0,1] 0.999335920476477 Centerline is valid? [True, True] Translation: X:358.28, Y:-22.46, Z:-4.39 [[ 9.98905358e-01 4.61584010e-02 -7.58204133e-03 3.58277407e+02] [-4.61555725e-02 9.98934114e-01 5.47692944e-04 -2.24558754e+01] [ 7.59924037e-03 -1.97139958e-04 9.99971106e-01 -4.39382562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500371743 meters Centerline goodness [0,1] 0.9993937873656925 Centerline is valid? [True, True] Translation: X:358.31, Y:-22.45, Z:-4.39 [[ 9.98833355e-01 4.74838317e-02 -8.78716147e-03 3.58306458e+02] [-4.74800892e-02 9.98871983e-01 6.34148445e-04 -2.24542792e+01] [ 8.80736121e-03 -2.16193409e-04 9.99961191e-01 -4.39340204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.530371743 meters Centerline goodness [0,1] 0.9993547044129891 Centerline is valid? [True, True] Translation: X:358.33, Y:-22.45, Z:-4.39 [[ 9.98870189e-01 4.65081239e-02 -9.76417078e-03 3.58334967e+02] [-4.65034604e-02 9.98917881e-01 7.04236885e-04 -2.24547186e+01] [ 9.78635752e-03 -2.49373502e-04 9.99952081e-01 -4.39410677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560371743 meters Centerline goodness [0,1] 0.999109767711482 Centerline is valid? [True, True] Translation: X:358.36, Y:-22.46, Z:-4.39 [[ 9.98938090e-01 4.48675069e-02 -1.04689721e-02 3.58363916e+02] [-4.48620642e-02 9.98992906e-01 7.54257039e-04 -2.24558599e+01] [ 1.04922705e-02 -2.83796386e-04 9.99944914e-01 -4.39463074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.590371743 meters Centerline goodness [0,1] 0.998759074269405 Centerline is valid? [True, True] Translation: X:358.39, Y:-22.46, Z:-4.39 [[ 9.99011910e-01 4.31156035e-02 -1.07818602e-02 3.58392211e+02] [-4.31097400e-02 9.99070042e-01 7.75756374e-04 -2.24572083e+01] [ 1.08052807e-02 -3.10186669e-04 9.99941573e-01 -4.39497820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620371743 meters Centerline goodness [0,1] 0.9990235389441755 Centerline is valid? [True, True] Translation: X:358.42, Y:-22.46, Z:-4.40 [[ 9.99172756e-01 3.88684343e-02 -1.19602941e-02 3.58421754e+02] [-3.88609170e-02 9.99244259e-01 8.60377002e-04 -2.24593755e+01] [ 1.19846967e-02 -3.94877265e-04 9.99928103e-01 -4.39543668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.650371743 meters Centerline goodness [0,1] 0.9983077431071488 Centerline is valid? [True, True] Translation: X:358.45, Y:-22.46, Z:-4.40 [[ 9.99306061e-01 3.52287910e-02 -1.20966067e-02 3.58450067e+02] [-3.52208436e-02 9.99379175e-01 8.69462065e-04 -2.24629654e+01] [ 1.21197270e-02 -4.42806017e-04 9.99926455e-01 -4.39677103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680371743 meters Centerline goodness [0,1] 0.9987510927938055 Centerline is valid? [True, True] Translation: X:358.48, Y:-22.46, Z:-4.40 [[ 9.99357654e-01 3.36807235e-02 -1.22429062e-02 3.58479339e+02] [-3.36724787e-02 9.99432535e-01 8.79003591e-04 -2.24620627e+01] [ 1.22655643e-02 -4.66189968e-04 9.99924666e-01 -4.39534384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.710371743 meters Centerline goodness [0,1] 0.9983922493892635 Centerline is valid? [True, True] Translation: X:358.51, Y:-22.46, Z:-4.39 [[ 9.99396416e-01 3.24423558e-02 -1.24216439e-02 3.58508626e+02] [-3.24337847e-02 9.99473489e-01 8.90895023e-04 -2.24613892e+01] [ 1.24440065e-02 -4.87476370e-04 9.99922452e-01 -4.39444817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740371743 meters Centerline goodness [0,1] 0.9983361756998461 Centerline is valid? [True, True] Translation: X:358.54, Y:-22.46, Z:-4.39 [[ 9.99415834e-01 3.16773331e-02 -1.28272476e-02 3.58536386e+02] [-3.16681489e-02 9.99498016e-01 9.18528859e-04 -2.24619344e+01] [ 1.28499050e-02 -5.11777099e-04 9.99917306e-01 -4.39441283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.770371743 meters Centerline goodness [0,1] 0.9979600757686143 Centerline is valid? [True, True] Translation: X:358.56, Y:-22.46, Z:-4.39 [[ 9.99414016e-01 3.16726686e-02 -1.29794591e-02 3.58564911e+02] [-3.16632755e-02 9.99498161e-01 9.28599345e-04 -2.24625755e+01] [ 1.30023567e-02 -5.17083011e-04 9.99915332e-01 -4.39495276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800371743 meters Centerline goodness [0,1] 0.9978603182516931 Centerline is valid? [True, True] Translation: X:358.59, Y:-22.46, Z:-4.40 [[ 9.99351389e-01 3.34893584e-02 -1.32387635e-02 3.58593102e+02] [-3.34797623e-02 9.99438948e-01 9.45871396e-04 -2.24616136e+01] [ 1.32630125e-02 -5.02027238e-04 9.99911916e-01 -4.39563836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.830371743 meters Centerline goodness [0,1] 0.9980432157875015 Centerline is valid? [True, True] Translation: X:358.62, Y:-22.46, Z:-4.40 [[ 9.99302554e-01 3.48351618e-02 -1.34505282e-02 3.58622621e+02] [-3.48253859e-02 9.99392951e-01 9.60409245e-04 -2.24609258e+01] [ 1.34758191e-02 -4.91319576e-04 9.99909076e-01 -4.39531052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86037174300003 meters Centerline goodness [0,1] 0.9979269025851525 Centerline is valid? [True, True] Translation: X:358.65, Y:-22.46, Z:-4.40 [[ 9.99220310e-01 3.70840794e-02 -1.35478200e-02 3.58651861e+02] [-3.70743826e-02 9.99312042e-01 9.66288467e-04 -2.24595517e+01] [ 1.35743336e-02 -4.63258000e-04 9.99907757e-01 -4.39632574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.890371743 meters Centerline goodness [0,1] 0.9985153587186082 Centerline is valid? [True, True] Translation: X:358.68, Y:-22.46, Z:-4.40 [[ 9.99191245e-01 3.77971025e-02 -1.37198777e-02 3.58679384e+02] [-3.77872431e-02 9.99285329e-01 9.77236233e-04 -2.24607346e+01] [ 1.37470092e-02 -4.58009535e-04 9.99905401e-01 -4.39639830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.920371743 meters Centerline goodness [0,1] 0.9981817801834939 Centerline is valid? [True, True] Translation: X:358.71, Y:-22.46, Z:-4.40 [[ 9.99174084e-01 3.82172479e-02 -1.38055018e-02 3.58707891e+02] [-3.82073181e-02 9.99269351e-01 9.82389013e-04 -2.24605730e+01] [ 1.38329590e-02 -4.54106444e-04 9.99904217e-01 -4.39642160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.950371743 meters Centerline goodness [0,1] 0.9983079526226735 Centerline is valid? [True, True] Translation: X:358.74, Y:-22.46, Z:-4.40 [[ 9.99153831e-01 3.85561909e-02 -1.43193043e-02 3.58735825e+02] [-3.85455628e-02 9.99256326e-01 1.01757232e-03 -2.24607824e+01] [ 1.43478891e-02 -4.64765638e-04 9.99896956e-01 -4.39740845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.980371743 meters Centerline goodness [0,1] 0.9975973089860644 Centerline is valid? [True, True] Translation: X:358.76, Y:-22.46, Z:-4.40 [[ 9.99171232e-01 3.78160442e-02 -1.50597234e-02 3.58764887e+02] [-3.78042201e-02 9.99284593e-01 1.06915283e-03 -2.24600547e+01] [ 1.50893807e-02 -4.98945649e-04 9.99886024e-01 -4.39803216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.010371743 meters Centerline goodness [0,1] 0.9973871237458194 Centerline is valid? [True, True] Translation: X:358.79, Y:-22.46, Z:-4.40 [[ 9.99198348e-01 3.69809434e-02 -1.53320170e-02 3.58792075e+02] [-3.69686158e-02 9.99315836e-01 1.08677606e-03 -2.24641386e+01] [ 1.53617174e-02 -5.19101403e-04 9.99881867e-01 -4.39933255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.040371743 meters Centerline goodness [0,1] 0.9976806385557273 Centerline is valid? [True, True] Translation: X:358.82, Y:-22.47, Z:-4.40 [[ 9.99303450e-01 3.42715968e-02 -1.47673105e-02 3.58821083e+02] [-3.42598801e-02 9.99412411e-01 1.04574771e-03 -2.24652307e+01] [ 1.47944729e-02 -5.39093006e-04 9.99890410e-01 -4.39773557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.070371743 meters Centerline goodness [0,1] 0.9981253514965944 Centerline is valid? [True, True] Translation: X:358.85, Y:-22.47, Z:-4.40 [[ 9.99345789e-01 3.31007033e-02 -1.45717996e-02 3.58849048e+02] [-3.30891913e-02 9.99451872e-01 1.03047156e-03 -2.24695209e+01] [ 1.45979217e-02 -5.47628351e-04 9.99893295e-01 -4.39846705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.100371743 meters Centerline goodness [0,1] 0.9981253514965944 Centerline is valid? [True, True] Translation: X:358.88, Y:-22.47, Z:-4.40 [[ 9.99348186e-01 3.30282320e-02 -1.45718685e-02 3.58877333e+02] [-3.30167266e-02 9.99454269e-01 1.02949628e-03 -2.24714627e+01] [ 1.45979186e-02 -5.47709842e-04 9.99893295e-01 -4.39858338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.130371743 meters Centerline goodness [0,1] 0.9973666203578908 Centerline is valid? [True, True] Translation: X:358.91, Y:-22.47, Z:-4.40 [[ 9.99451457e-01 3.01152798e-02 -1.37787906e-02 3.58906836e+02] [-3.01047215e-02 9.99546276e-01 9.73093785e-04 -2.24743523e+01] [ 1.38018438e-02 -5.57753348e-04 9.99904594e-01 -4.39840597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.160371743 meters Centerline goodness [0,1] 0.9974821566056974 Centerline is valid? [True, True] Translation: X:358.94, Y:-22.48, Z:-4.40 [[ 9.99510344e-01 2.82921640e-02 -1.33650603e-02 3.58935646e+02] [-2.82820827e-02 9.99599537e-01 9.42744094e-04 -2.24774624e+01] [ 1.33863803e-02 -5.64290734e-04 9.99910239e-01 -4.39838657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.190371743 meters Centerline goodness [0,1] 0.9977453027139874 Centerline is valid? [True, True] Translation: X:358.97, Y:-22.48, Z:-4.40 [[ 9.99618628e-01 2.47341806e-02 -1.22808202e-02 3.58965059e+02] [-2.47254047e-02 9.99693905e-01 8.65936250e-04 -2.24812540e+01] [ 1.22984793e-02 -5.61957757e-04 9.99924213e-01 -4.39776921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.220371743 meters Centerline goodness [0,1] 0.9976046656946469 Centerline is valid? [True, True] Translation: X:358.99, Y:-22.48, Z:-4.40 [[ 9.99658216e-01 2.28407499e-02 -1.27181360e-02 3.58993950e+02] [-2.28311948e-02 9.99738933e-01 8.96001057e-04 -2.24848565e+01] [ 1.27352810e-02 -6.05324578e-04 9.99918720e-01 -4.39767608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.250371743 meters Centerline goodness [0,1] 0.9981889714606882 Centerline is valid? [True, True] Translation: X:359.02, Y:-22.49, Z:-4.40 [[ 9.99726759e-01 1.93677156e-02 -1.30881017e-02 3.59022866e+02] [-1.93572982e-02 9.99812205e-01 9.22169796e-04 -2.24904521e+01] [ 1.31035041e-02 -6.68567534e-04 9.99913922e-01 -4.39778899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.280371743 meters Centerline goodness [0,1] 0.99795390011692 Centerline is valid? [True, True] Translation: X:359.05, Y:-22.49, Z:-4.40 [[ 9.99753801e-01 1.77025225e-02 -1.33775494e-02 3.59052450e+02] [-1.76914987e-02 9.99843049e-01 9.41952567e-04 -2.24925693e+01] [ 1.33921248e-02 -7.05051760e-04 9.99910073e-01 -4.39777332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.310371743 meters Centerline goodness [0,1] 0.9977262297133798 Centerline is valid? [True, True] Translation: X:359.08, Y:-22.49, Z:-4.40 [[ 9.99792781e-01 1.52231723e-02 -1.35148447e-02 3.59082126e+02] [-1.52117020e-02 9.99883843e-01 9.51118433e-04 -2.24938686e+01] [ 1.35277539e-02 -7.45337552e-04 9.99908218e-01 -4.39755188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.340371743 meters Centerline goodness [0,1] 0.99832779415146 Centerline is valid? [True, True] Translation: X:359.11, Y:-22.50, Z:-4.40 [[ 9.99801741e-01 1.44645862e-02 -1.36841047e-02 3.59111168e+02] [-1.44527716e-02 9.99895091e-01 9.61877853e-04 -2.24967734e+01] [ 1.36965823e-02 -7.63913911e-04 9.99905906e-01 -4.39684167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.370371743 meters Centerline goodness [0,1] 0.9972245988188895 Centerline is valid? [True, True] Translation: X:359.14, Y:-22.50, Z:-4.40 [[ 9.99816392e-01 1.34690987e-02 -1.36295671e-02 3.59139900e+02] [-1.34573000e-02 9.99908988e-01 9.57013763e-04 -2.24963532e+01] [ 1.36412167e-02 -7.73420875e-04 9.99906655e-01 -4.39627707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.400371743 meters Centerline goodness [0,1] 0.9980010411244143 Centerline is valid? [True, True] Translation: X:359.17, Y:-22.50, Z:-4.40 [[ 9.99846732e-01 1.23027139e-02 -1.24561917e-02 3.59167968e+02] [-1.22927849e-02 9.99924059e-01 8.73366810e-04 -2.24992307e+01] [ 1.24659905e-02 -7.20111666e-04 9.99922037e-01 -4.39542517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.430371743 meters Centerline goodness [0,1] 0.9974614536299132 Centerline is valid? [True, True] Translation: X:359.20, Y:-22.50, Z:-4.40 [[ 9.99856694e-01 1.17064579e-02 -1.22290380e-02 3.59196887e+02] [-1.16968536e-02 9.99931223e-01 8.56602319e-04 -2.25006324e+01] [ 1.22382247e-02 -7.13438296e-04 9.99924856e-01 -4.39564120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.460371743 meters Centerline goodness [0,1] 0.9971875585925293 Centerline is valid? [True, True] Translation: X:359.22, Y:-22.50, Z:-4.40 [[ 9.99864309e-01 1.09558061e-02 -1.23017680e-02 3.59224104e+02] [-1.09460454e-02 9.99939720e-01 8.60493640e-04 -2.25048745e+01] [ 1.23104539e-02 -7.25721168e-04 9.99923960e-01 -4.39735892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.490371743 meters Centerline goodness [0,1] 0.9970782202187161 Centerline is valid? [True, True] Translation: X:359.25, Y:-22.50, Z:-4.40 [[ 9.99865385e-01 1.04957818e-02 -1.26115259e-02 3.59253486e+02] [-1.04854978e-02 9.99944637e-01 8.81298086e-04 -2.25010169e+01] [ 1.26200776e-02 -7.48941324e-04 9.99920083e-01 -4.39603299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.520371743 meters Centerline goodness [0,1] 0.9969339868599437 Centerline is valid? [True, True] Translation: X:359.28, Y:-22.50, Z:-4.40 [[ 9.99876280e-01 9.40899000e-03 -1.26054061e-02 3.59282179e+02] [-9.39864164e-03 9.99955445e-01 8.79935499e-04 -2.25021925e+01] [ 1.26131237e-02 -7.61352939e-04 9.99920162e-01 -4.39691303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.550371743 meters Centerline goodness [0,1] 0.9968772119748511 Centerline is valid? [True, True] Translation: X:359.31, Y:-22.51, Z:-4.40 [[ 9.99880635e-01 8.94938817e-03 -1.25945898e-02 3.59309374e+02] [-8.93903918e-03 9.99959661e-01 8.77756724e-04 -2.25092916e+01] [ 1.26019371e-02 -7.65068420e-04 9.99920300e-01 -4.39826975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.580371743 meters Centerline goodness [0,1] 0.9972446040161984 Centerline is valid? [True, True] Translation: X:359.34, Y:-22.50, Z:-4.40 [[ 9.99885706e-01 7.89590064e-03 -1.28930355e-02 3.59338249e+02] [-7.88498275e-03 9.99968510e-01 8.97418998e-04 -2.25042373e+01] [ 1.28997154e-02 -7.95655066e-04 9.99916479e-01 -4.39641831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61037174300003 meters Centerline goodness [0,1] 0.99662563269387 Centerline is valid? [True, True] Translation: X:359.37, Y:-22.51, Z:-4.40 [[ 9.99888255e-01 7.39710801e-03 -1.29908161e-02 3.59365668e+02] [-7.38599736e-03 9.99972315e-01 9.03038868e-04 -2.25080558e+01] [ 1.29971363e-02 -8.06987824e-04 9.99915208e-01 -4.39777169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.640371743 meters Centerline goodness [0,1] 0.9967450497631815 Centerline is valid? [True, True] Translation: X:359.39, Y:-22.51, Z:-4.40 [[ 9.99896385e-01 6.48540966e-03 -1.28514321e-02 3.59394327e+02] [-6.47447233e-03 9.99978642e-01 8.92481688e-04 -2.25063137e+01] [ 1.28569457e-02 -8.09182972e-04 9.99917019e-01 -4.39654843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.670371743 meters Centerline goodness [0,1] 0.9966427558595379 Centerline is valid? [True, True] Translation: X:359.42, Y:-22.51, Z:-4.40 [[ 9.99908434e-01 5.68439943e-03 -1.22805069e-02 3.59422669e+02] [-5.67436331e-03 9.99983538e-01 8.51929112e-04 -2.25082702e+01] [ 1.22851475e-02 -7.82167046e-04 9.99924229e-01 -4.39662518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.700371743 meters Centerline goodness [0,1] 0.9961973214099162 Centerline is valid? [True, True] Translation: X:359.45, Y:-22.51, Z:-4.40 [[ 9.99925616e-01 3.33101387e-03 -1.17331522e-02 3.59452452e+02] [-3.32169460e-03 9.99994152e-01 8.13667067e-04 -2.25099446e+01] [ 1.17357939e-02 -7.74632595e-04 9.99930833e-01 -4.39666818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.730371743 meters Centerline goodness [0,1] 0.9957663350643392 Centerline is valid? [True, True] Translation: X:359.48, Y:-22.51, Z:-4.40 [[ 9.99925782e-01 1.76303448e-03 -1.20549796e-02 3.59481747e+02] [-1.75308869e-03 9.99998114e-01 8.35553873e-04 -2.25128421e+01] [ 1.20564300e-02 -8.14358412e-04 9.99926987e-01 -4.39794412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.760371743 meters Centerline goodness [0,1] 0.9949835202421177 Centerline is valid? [True, True] Translation: X:359.51, Y:-22.52, Z:-4.40 [[ 9.99915512e-01 -1.23742173e-03 -1.29397499e-02 3.59510822e+02] [ 1.24913019e-03 9.99998818e-01 8.96801278e-04 -2.25168152e+01] [ 1.29386249e-02 -9.12888942e-04 9.99915876e-01 -4.39958667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.790371743 meters Centerline goodness [0,1] 0.9955830205503597 Centerline is valid? [True, True] Translation: X:359.54, Y:-22.51, Z:-4.40 [[ 9.99911487e-01 -2.49247117e-03 -1.30692663e-02 3.59541023e+02] [ 2.50451423e-03 9.99996454e-01 9.05193871e-04 -2.25129429e+01] [ 1.30669638e-02 -9.37845913e-04 9.99914184e-01 -4.39826454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.820371743 meters Centerline goodness [0,1] 0.9951920074929753 Centerline is valid? [True, True] Translation: X:359.57, Y:-22.51, Z:-4.40 [[ 9.99897075e-01 -4.09635963e-03 -1.37498601e-02 3.59570828e+02] [ 4.10983367e-03 9.99991102e-01 9.51826340e-04 -2.25144762e+01] [ 1.37458388e-02 -1.00823801e-03 9.99905013e-01 -4.39870904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.850371743 meters Centerline goodness [0,1] 0.9947304250790436 Centerline is valid? [True, True] Translation: X:359.60, Y:-22.52, Z:-4.40 [[ 9.99897164e-01 -4.88687451e-03 -1.34826041e-02 3.59598738e+02] [ 4.89988131e-03 9.99987561e-01 9.31845683e-04 -2.25154000e+01] [ 1.34778826e-02 -9.97813015e-04 9.99908671e-01 -4.39826697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880371743 meters Centerline goodness [0,1] 0.9942652478158255 Centerline is valid? [True, True] Translation: X:359.63, Y:-22.51, Z:-4.40 [[ 9.99902375e-01 -5.25155996e-03 -1.29483900e-02 3.59626754e+02] [ 5.26352617e-03 9.99985751e-01 8.90241291e-04 -2.25135339e+01] [ 1.29435303e-02 -9.58308571e-04 9.99915770e-01 -4.39677338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.910371743 meters Centerline goodness [0,1] 0.9938116741930089 Centerline is valid? [True, True] Translation: X:359.65, Y:-22.53, Z:-4.40 [[ 9.99911869e-01 -5.55173441e-03 -1.20595669e-02 3.59654242e+02] [ 5.56213156e-03 9.99984188e-01 8.28780928e-04 -2.25252160e+01] [ 1.20547751e-02 -8.95784785e-04 9.99926937e-01 -4.39879782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940371743 meters Centerline goodness [0,1] 0.9932999373825924 Centerline is valid? [True, True] Translation: X:359.68, Y:-22.51, Z:-4.40 [[ 9.99923276e-01 -5.19169940e-03 -1.12466894e-02 3.59683702e+02] [ 5.20067897e-03 9.99986180e-01 7.69319631e-04 -2.25141926e+01] [ 1.12425399e-02 -8.27751027e-04 9.99936458e-01 -4.39646893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.970371743 meters Centerline goodness [0,1] 0.9926752921535893 Centerline is valid? [True, True] Translation: X:359.71, Y:-22.51, Z:-4.40 [[ 9.99942186e-01 -9.54724063e-04 -1.07104684e-02 3.59714371e+02] [ 9.62636193e-04 9.99999268e-01 7.33597748e-04 -2.25104662e+01] [ 1.07097602e-02 -7.43865620e-04 9.99942372e-01 -4.39672689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000371743 meters Centerline goodness [0,1] 0.9915908521826224 Centerline is valid? [True, True] Translation: X:359.74, Y:-22.51, Z:-4.40 [[ 9.99935439e-01 1.23236595e-03 -1.12959473e-02 3.59744816e+02] [-1.22370703e-03 9.99998952e-01 7.73431029e-04 -2.25080248e+01] [ 1.12968886e-02 -7.59558166e-04 9.99935900e-01 -4.39767060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.030371743 meters Centerline goodness [0,1] 0.9909953200735417 Centerline is valid? [True, True] Translation: X:359.77, Y:-22.51, Z:-4.40 [[ 9.99918129e-01 5.14591426e-03 -1.17155862e-02 3.59774159e+02] [-5.13687088e-03 9.99986485e-01 8.01871866e-04 -2.25059180e+01] [ 1.17195542e-02 -7.41624762e-04 9.99931049e-01 -4.39873403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060371743 meters Centerline goodness [0,1] 0.9907735243887199 Centerline is valid? [True, True] Translation: X:359.80, Y:-22.51, Z:-4.40 [[ 9.99900831e-01 7.34660013e-03 -1.20147887e-02 3.59803331e+02] [-7.33725281e-03 9.99972744e-01 8.21879473e-04 -2.25054451e+01] [ 1.20204993e-02 -7.33642426e-04 9.99927482e-01 -4.39916051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.090371743 meters Centerline goodness [0,1] 0.990543833704776 Centerline is valid? [True, True] Translation: X:359.83, Y:-22.50, Z:-4.40 [[ 9.99861957e-01 1.24638846e-02 -1.09872417e-02 3.59834005e+02] [-1.24563747e-02 9.99922134e-01 7.51679076e-04 -2.24997028e+01] [ 1.09957550e-02 -6.14714112e-04 9.99939356e-01 -4.39867444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120371743 meters Centerline goodness [0,1] 0.9893905851885886 Centerline is valid? [True, True] Translation: X:359.86, Y:-22.50, Z:-4.40 [[ 9.99833921e-01 1.47042338e-02 -1.07664367e-02 3.59863961e+02] [-1.46971577e-02 9.99891720e-01 7.36061475e-04 -2.24988219e+01] [ 1.07760942e-02 -5.77703212e-04 9.99941769e-01 -4.39879992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.150371743 meters Centerline goodness [0,1] 0.9898631737026531 Centerline is valid? [True, True] Translation: X:359.90, Y:-22.49, Z:-4.40 [[ 9.99750150e-01 2.02112904e-02 -9.54676535e-03 3.59895213e+02] [-2.02059764e-02 9.99795625e-01 6.52761832e-04 -2.24937438e+01] [ 9.55800739e-03 -4.59697024e-04 9.99954216e-01 -4.39865153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180371743 meters Centerline goodness [0,1] 0.9899138166034096 Centerline is valid? [True, True] Translation: X:359.93, Y:-22.49, Z:-4.40 [[ 9.99678477e-01 2.35976683e-02 -9.27856615e-03 3.59926013e+02] [-2.35927964e-02 9.99721450e-01 6.34189099e-04 -2.24868976e+01] [ 9.29094699e-03 -4.15077871e-04 9.99956752e-01 -4.39644931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.210371743 meters Centerline goodness [0,1] 0.9896089292407646 Centerline is valid? [True, True] Translation: X:359.95, Y:-22.49, Z:-4.40 [[ 9.99567045e-01 2.82698912e-02 -8.15690037e-03 3.59954939e+02] [-2.82662844e-02 9.99600273e-01 5.57141179e-04 -2.24850415e+01] [ 8.16939016e-03 -3.26334697e-04 9.99966577e-01 -4.39887509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240371743 meters Centerline goodness [0,1] 0.9887275546336455 Centerline is valid? [True, True] Translation: X:359.98, Y:-22.48, Z:-4.40 [[ 9.99512751e-01 3.01114218e-02 -8.21961830e-03 3.59983229e+02] [-3.01078273e-02 9.99546499e-01 5.60729531e-04 -2.24842348e+01] [ 8.23277506e-03 -3.12981468e-04 9.99966061e-01 -4.39955325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.270371743 meters Centerline goodness [0,1] 0.9882500522684508 Centerline is valid? [True, True] Translation: X:360.01, Y:-22.47, Z:-4.40 [[ 9.99401836e-01 3.33029604e-02 -9.32108439e-03 3.60013145e+02] [-3.32984805e-02 9.99445250e-01 6.35448659e-04 -2.24740920e+01] [ 9.33707583e-03 -3.24690611e-04 9.99956356e-01 -4.39898964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300371743 meters Centerline goodness [0,1] 0.9880195853734764 Centerline is valid? [True, True] Translation: X:360.04, Y:-22.48, Z:-4.40 [[ 9.99367347e-01 3.44601480e-02 -8.79790059e-03 3.60040718e+02] [-3.44562101e-02 9.99406029e-01 5.98818165e-04 -2.24790354e+01] [ 8.81331026e-03 -2.95297010e-04 9.99961118e-01 -4.40106856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.330371743 meters Centerline goodness [0,1] 0.9875362742437211 Centerline is valid? [True, True] Translation: X:360.07, Y:-22.47, Z:-4.40 [[ 9.99365714e-01 3.47417263e-02 -7.82190202e-03 3.60069919e+02] [-3.47386265e-02 9.99396290e-01 5.31853857e-04 -2.24714549e+01] [ 7.83565738e-03 -2.59794376e-04 9.99969267e-01 -4.39873571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36037174300003 meters Centerline goodness [0,1] 0.9871400790414654 Centerline is valid? [True, True] Translation: X:360.10, Y:-22.47, Z:-4.40 [[ 9.99372691e-01 3.46861627e-02 -7.14804084e-03 3.60098955e+02] [-3.46835764e-02 9.99398226e-01 4.85490829e-04 -2.24716612e+01] [ 7.16057915e-03 -2.37266655e-04 9.99974335e-01 -4.39835632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.390371743 meters Centerline goodness [0,1] 0.98425492816572 Centerline is valid? [True, True] Translation: X:360.13, Y:-22.47, Z:-4.40 [[ 9.99433045e-01 3.31224776e-02 -6.04071998e-03 3.60128134e+02] [-3.31206050e-02 9.99451278e-01 4.09799030e-04 -2.24708082e+01] [ 6.05097886e-03 -2.09494392e-04 9.99981671e-01 -4.39821058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.420371743 meters Centerline goodness [0,1] 0.9853850008351428 Centerline is valid? [True, True] Translation: X:360.16, Y:-22.47, Z:-4.40 [[ 9.99460372e-01 3.23149538e-02 -5.89147550e-03 3.60156764e+02] [-3.23131613e-02 9.99477714e-01 3.99224026e-04 -2.24701423e+01] [ 5.90129936e-03 -2.08636395e-04 9.99982565e-01 -4.39777293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.450371743 meters Centerline goodness [0,1] 0.9840071727934278 Centerline is valid? [True, True] Translation: X:360.19, Y:-22.47, Z:-4.40 [[ 9.99517824e-01 3.03413820e-02 -6.59702067e-03 3.60185429e+02] [-3.03390944e-02 9.99539564e-01 4.46583791e-04 -2.24695356e+01] [ 6.60753313e-03 -2.46220826e-04 9.99978140e-01 -4.39935975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.480371743 meters Centerline goodness [0,1] 0.9827939883618705 Centerline is valid? [True, True] Translation: X:360.21, Y:-22.47, Z:-4.40 [[ 9.99548973e-01 2.91338057e-02 -7.28498578e-03 3.60213092e+02] [-2.91309892e-02 9.99575481e-01 4.92445950e-04 -2.24717817e+01] [ 7.29623999e-03 -2.80005002e-04 9.99973343e-01 -4.40009208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.510371743 meters Centerline goodness [0,1] 0.9818470472728792 Centerline is valid? [True, True] Translation: X:360.24, Y:-22.47, Z:-4.40 [[ 9.99603224e-01 2.71106684e-02 -7.64240424e-03 3.60241356e+02] [-2.71075120e-02 9.99632391e-01 5.16319530e-04 -2.24734623e+01] [ 7.65359259e-03 -3.08948102e-04 9.99970663e-01 -4.40178675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.540371743 meters Centerline goodness [0,1] 0.9820350555809984 Centerline is valid? [True, True] Translation: X:360.27, Y:-22.47, Z:-4.40 [[ 9.99643341e-01 2.56291830e-02 -7.50568829e-03 3.60270570e+02] [-2.56261015e-02 9.99671469e-01 5.06456666e-04 -2.24732618e+01] [ 7.51620251e-03 -3.13934504e-04 9.99971704e-01 -4.40147765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.570371743 meters Centerline goodness [0,1] 0.9793938889351428 Centerline is valid? [True, True] Translation: X:360.30, Y:-22.48, Z:-4.40 [[ 9.99715348e-01 2.28645371e-02 -6.81443363e-03 3.60298534e+02] [-2.28619366e-02 9.99738526e-01 4.59287100e-04 -2.24781508e+01] [ 6.82315322e-03 -3.03365214e-04 9.99976676e-01 -4.40128196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.600371743 meters Centerline goodness [0,1] 0.9802017417455047 Centerline is valid? [True, True] Translation: X:360.33, Y:-22.47, Z:-4.40 [[ 9.99755716e-01 2.12976666e-02 -5.90903741e-03 3.60327923e+02] [-2.12956868e-02 9.99773142e-01 3.97766024e-04 -2.24747163e+01] [ 5.91616839e-03 -2.71831846e-04 9.99982462e-01 -4.39949092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.630371743 meters Centerline goodness [0,1] 0.9796302099655281 Centerline is valid? [True, True] Translation: X:360.36, Y:-22.48, Z:-4.40 [[ 9.99772971e-01 2.06110861e-02 -5.40264788e-03 3.60355958e+02] [-2.06094244e-02 9.99787537e-01 3.63069446e-04 -2.24779238e+01] [ 5.40898328e-03 -2.51641556e-04 9.99985340e-01 -4.39984374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.660371743 meters Centerline goodness [0,1] 0.9798043020174835 Centerline is valid? [True, True] Translation: X:360.38, Y:-22.48, Z:-4.40 [[ 9.99762797e-01 2.08234553e-02 -6.38230656e-03 3.60384923e+02] [-2.08211427e-02 9.99783125e-01 4.28586010e-04 -2.24790678e+01] [ 6.38984703e-03 -2.95597432e-04 9.99979541e-01 -4.40074583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.690371743 meters Centerline goodness [0,1] 0.9799662984459839 Centerline is valid? [True, True] Translation: X:360.41, Y:-22.48, Z:-4.40 [[ 9.99737282e-01 2.18612860e-02 -6.88842686e-03 3.60412417e+02] [-2.18586213e-02 9.99760965e-01 4.61895144e-04 -2.24831059e+01] [ 6.89687791e-03 -3.11202281e-04 9.99976168e-01 -4.40184426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.720371743 meters Centerline goodness [0,1] 0.980241104332799 Centerline is valid? [True, True] Translation: X:360.44, Y:-22.48, Z:-4.40 [[ 9.99668172e-01 2.45938009e-02 -7.66093584e-03 3.60441604e+02] [-2.45905886e-02 9.99697474e-01 5.13238059e-04 -2.24770385e+01] [ 7.67124068e-03 -3.24680831e-04 9.99970523e-01 -4.40228022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.750371743 meters Centerline goodness [0,1] 0.9796436071777598 Centerline is valid? [True, True] Translation: X:360.47, Y:-22.48, Z:-4.40 [[ 9.99621059e-01 2.64282807e-02 -7.69961422e-03 3.60469785e+02] [-2.64250945e-02 9.99650663e-01 5.15267556e-04 -2.24777727e+01] [ 7.71054209e-03 -3.11609266e-04 9.99970225e-01 -4.40225145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.780371743 meters Centerline goodness [0,1] 0.9790386624869384 Centerline is valid? [True, True] Translation: X:360.50, Y:-22.48, Z:-4.40 [[ 9.99591068e-01 2.76507843e-02 -7.28908666e-03 3.60498848e+02] [-2.76479653e-02 9.99617603e-01 4.87248184e-04 -2.24769985e+01] [ 7.29977214e-03 -2.85520518e-04 9.99973316e-01 -4.40230583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.810371743 meters Centerline goodness [0,1] 0.9795139251069156 Centerline is valid? [True, True] Translation: X:360.53, Y:-22.47, Z:-4.40 [[ 9.99492390e-01 3.12733367e-02 -6.07790474e-03 3.60528973e+02] [-3.12714451e-02 9.99510846e-01 4.06042812e-04 -2.24740590e+01] [ 6.08763002e-03 -2.15771836e-04 9.99981447e-01 -4.40127855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.840371743 meters Centerline goodness [0,1] 0.9775839820172335 Centerline is valid? [True, True] Translation: X:360.56, Y:-22.47, Z:-4.40 [[ 9.99461536e-01 3.22768625e-02 -5.90271342e-03 3.60557264e+02] [-3.22750989e-02 9.99478946e-01 3.93805732e-04 -2.24745779e+01] [ 5.91234860e-03 -2.03083022e-04 9.99982501e-01 -4.40126315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.870371743 meters Centerline goodness [0,1] 0.9779969967464753 Centerline is valid? [True, True] Translation: X:360.59, Y:-22.47, Z:-4.40 [[ 9.99466257e-01 3.20345856e-02 -6.40204912e-03 3.60585432e+02] [-3.20325107e-02 9.99486737e-01 4.26400485e-04 -2.24742402e+01] [ 6.41242275e-03 -2.21099189e-04 9.99979416e-01 -4.40184681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.900371743 meters Centerline goodness [0,1] 0.9779006677796327 Centerline is valid? [True, True] Translation: X:360.61, Y:-22.47, Z:-4.40 [[ 9.99488996e-01 3.12583348e-02 -6.68306595e-03 3.60613942e+02] [-3.12560588e-02 9.99511311e-01 4.44750100e-04 -2.24734081e+01] [ 6.69370216e-03 -2.35636528e-04 9.99977569e-01 -4.40183283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.930371743 meters Centerline goodness [0,1] 0.9775421085464754 Centerline is valid? [True, True] Translation: X:360.64, Y:-22.47, Z:-4.40 [[ 9.99567585e-01 2.85896600e-02 -6.87562943e-03 3.60643599e+02] [-2.85871886e-02 9.99591198e-01 4.57467736e-04 -2.24736635e+01] [ 6.88589751e-03 -2.60715005e-04 9.99976258e-01 -4.40160388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.960371743 meters Centerline goodness [0,1] 0.9762915264159228 Centerline is valid? [True, True] Translation: X:360.67, Y:-22.48, Z:-4.40 [[ 9.99638227e-01 2.60457672e-02 -6.71065203e-03 3.60671672e+02] [-2.60433601e-02 9.99660715e-01 4.45844038e-04 -2.24780336e+01] [ 6.71998756e-03 -2.70914816e-04 9.99977384e-01 -4.40213796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.990371743 meters Centerline goodness [0,1] 0.9766863732269319 Centerline is valid? [True, True] Translation: X:360.70, Y:-22.48, Z:-4.40 [[ 9.99704417e-01 2.34057828e-02 -6.57632740e-03 3.60699799e+02] [-2.34034168e-02 9.99726007e-01 4.36509848e-04 -2.24828088e+01] [ 6.58474239e-03 -2.82472292e-04 9.99978280e-01 -4.40269066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.020371743 meters Centerline goodness [0,1] 0.9766863732269319 Centerline is valid? [True, True] Translation: X:360.73, Y:-22.48, Z:-4.40 [[ 9.99706034e-01 2.33366153e-02 -6.57635852e-03 3.60728087e+02] [-2.33342509e-02 9.99727624e-01 4.36040954e-04 -2.24846240e+01] [ 6.58474300e-03 -2.82458373e-04 9.99978280e-01 -4.40280699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.050371743 meters Centerline goodness [0,1] 0.976587160566089 Centerline is valid? [True, True] Translation: X:360.76, Y:-22.49, Z:-4.40 [[ 9.99823211e-01 1.76409907e-02 -6.50714048e-03 3.60758600e+02] [-1.76385540e-02 9.99844335e-01 4.31666711e-04 -2.24850869e+01] [ 6.51374258e-03 -3.16813849e-04 9.99978735e-01 -4.40148814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.080371743 meters Centerline goodness [0,1] 0.9742699781772836 Centerline is valid? [True, True] Translation: X:360.79, Y:-22.49, Z:-4.40 [[ 9.99907967e-01 1.15742574e-02 -7.07766398e-03 3.60787902e+02] [-1.15712244e-02 9.99932941e-01 4.69339534e-04 -2.24898867e+01] [ 7.08262162e-03 -3.87399102e-04 9.99974843e-01 -4.40225414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11037174300003 meters Centerline goodness [0,1] 0.9744090399235594 Centerline is valid? [True, True] Translation: X:360.82, Y:-22.49, Z:-4.40 [[ 9.99936448e-01 8.65523359e-03 -7.22408503e-03 3.60818148e+02] [-8.65199725e-03 9.99962456e-01 4.79124685e-04 -2.24926875e+01] [ 7.22796074e-03 -4.16591472e-04 9.99973791e-01 -4.40262436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.140371743 meters Centerline goodness [0,1] 0.9730216203771531 Centerline is valid? [True, True] Translation: X:360.85, Y:-22.49, Z:-4.40 [[ 9.99965297e-01 2.41584334e-03 -7.97297911e-03 3.60848857e+02] [-2.41170348e-03 9.99996952e-01 5.28810408e-04 -2.24946201e+01] [ 7.97423233e-03 -5.09563595e-04 9.99968075e-01 -4.40341637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.170371743 meters Centerline goodness [0,1] 0.8811367477693487 Centerline is valid? [True, False] Translation: X:360.91, Y:-22.50, Z:-4.40 [[ 9.99966034e-01 -1.46955018e-03 -8.10997662e-03 3.60908773e+02] [ 1.45680370e-03 9.99997695e-01 -1.57738698e-03 -2.24961783e+01] [ 8.11227598e-03 1.56551876e-03 9.99965869e-01 -4.40337187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.200371743 meters Centerline goodness [0,1] 0.9702577384184803 Centerline is valid? [False, True] Translation: X:360.84, Y:-22.49, Z:-4.40 [[ 9.99972479e-01 -3.98687378e-03 -6.25669236e-03 3.60836715e+02] [ 3.99788013e-03 9.99990481e-01 1.74761227e-03 -2.24927684e+01] [ 6.24966529e-03 -1.77257768e-03 9.99978900e-01 -4.40461236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.230371743 meters Centerline goodness [0,1] 0.968737608781852 Centerline is valid? [True, True] Translation: X:360.87, Y:-22.50, Z:-4.40 [[ 9.99957665e-01 -7.22622376e-03 -5.69655856e-03 3.60866934e+02] [ 7.22854114e-03 9.99973799e-01 3.86319125e-04 -2.24960877e+01] [ 5.69361768e-03 -4.27480578e-04 9.99983700e-01 -4.40446770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.260371743 meters Centerline goodness [0,1] 0.969622897733208 Centerline is valid? [True, True] Translation: X:360.90, Y:-22.49, Z:-4.40 [[ 9.99899336e-01 -1.28793109e-02 -5.95327060e-03 3.60897673e+02] [ 1.28819422e-02 9.99916943e-01 4.03851333e-04 -2.24939633e+01] [ 5.94757481e-03 -4.80500368e-04 9.99982198e-01 -4.40403319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.290371743 meters Centerline goodness [0,1] 0.9681857982737773 Centerline is valid? [True, True] Translation: X:360.93, Y:-22.50, Z:-4.40 [[ 9.99858080e-01 -1.54899470e-02 -6.62430625e-03 3.60928669e+02] [ 1.54932630e-02 9.99879871e-01 4.49565764e-04 -2.24965601e+01] [ 6.61654673e-03 -5.52134081e-04 9.99977958e-01 -4.40473594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.320371743 meters Centerline goodness [0,1] 0.965661397670549 Centerline is valid? [True, True] Translation: X:360.96, Y:-22.50, Z:-4.41 [[ 9.99779978e-01 -1.92518883e-02 -8.32827724e-03 3.60958041e+02] [ 1.92572677e-02 9.99814401e-01 5.66199189e-04 -2.25022530e+01] [ 8.31583111e-03 -7.26454477e-04 9.99965159e-01 -4.40711136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.350371743 meters Centerline goodness [0,1] 0.9631451680146752 Centerline is valid? [True, True] Translation: X:360.99, Y:-22.50, Z:-4.41 [[ 9.99748464e-01 -2.04088562e-02 -9.29986281e-03 3.60989057e+02] [ 2.04156145e-02 9.99791380e-01 6.32352184e-04 -2.25036229e+01] [ 9.28501709e-03 -8.22055539e-04 9.99956555e-01 -4.40794432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380371743 meters Centerline goodness [0,1] 0.9597626707892868 Centerline is valid? [True, True] Translation: X:361.02, Y:-22.50, Z:-4.41 [[ 9.99720257e-01 -2.14833425e-02 -9.89310864e-03 3.61018828e+02] [ 2.14910406e-02 9.99768815e-01 6.72463557e-04 -2.25038261e+01] [ 9.87637473e-03 -8.84888640e-04 9.99950836e-01 -4.40884321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.410371743 meters Centerline goodness [0,1] 0.9602409638554217 Centerline is valid? [True, True] Translation: X:361.05, Y:-22.50, Z:-4.41 [[ 9.99740979e-01 -2.07296650e-02 -9.39449588e-03 3.61050020e+02] [ 2.07365786e-02 9.99784770e-01 6.39098844e-04 -2.25033503e+01] [ 9.37922559e-03 -8.33743005e-04 9.99955667e-01 -4.40921616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440371743 meters Centerline goodness [0,1] 0.9595669970288184 Centerline is valid? [True, True] Translation: X:361.08, Y:-22.50, Z:-4.41 [[ 9.99761390e-01 -1.98710725e-02 -9.07208353e-03 3.61081211e+02] [ 1.98774876e-02 9.99802233e-01 6.17495198e-04 -2.25044572e+01] [ 9.05801908e-03 -7.97678085e-04 9.99958657e-01 -4.40888156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.470371743 meters Centerline goodness [0,1] 0.9618059180988577 Centerline is valid? [True, True] Translation: X:361.11, Y:-22.50, Z:-4.41 [[ 9.99799931e-01 -1.80263769e-02 -8.66874687e-03 3.61112067e+02] [ 1.80321638e-02 9.99837233e-01 5.89859370e-04 -2.25008325e+01] [ 8.65670286e-03 -7.46057622e-04 9.99962252e-01 -4.40841786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500371743 meters Centerline goodness [0,1] 0.9637735691291442 Centerline is valid? [True, True] Translation: X:361.14, Y:-22.50, Z:-4.41 [[ 9.99821263e-01 -1.69504328e-02 -8.37402158e-03 3.61143394e+02] [ 1.69557975e-02 9.99856078e-01 5.70052039e-04 -2.24989197e+01] [ 8.36315375e-03 -7.11938364e-04 9.99964775e-01 -4.40863094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.530371743 meters Centerline goodness [0,1] 0.9638316619812864 Centerline is valid? [True, True] Translation: X:361.17, Y:-22.50, Z:-4.41 [[ 9.99861372e-01 -1.40873064e-02 -8.87608430e-03 3.61173358e+02] [ 1.40932207e-02 9.99900503e-01 6.04121174e-04 -2.24971594e+01] [ 8.86669072e-03 -7.29130040e-04 9.99960424e-01 -4.40872387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560371743 meters Centerline goodness [0,1] 0.9642849652916133 Centerline is valid? [True, True] Translation: X:361.20, Y:-22.50, Z:-4.41 [[ 9.99875067e-01 -1.31168412e-02 -8.82033493e-03 3.61204147e+02] [ 1.31226439e-02 9.99913714e-01 6.00329049e-04 -2.24973569e+01] [ 8.81169944e-03 -7.16000163e-04 9.99960920e-01 -4.40907316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.590371743 meters Centerline goodness [0,1] 0.9638662675068562 Centerline is valid? [True, True] Translation: X:361.23, Y:-22.50, Z:-4.41 [[ 9.99906125e-01 -1.04941429e-02 -8.80987815e-03 3.61233674e+02] [ 1.04998286e-02 9.99944696e-01 5.99368227e-04 -2.24972726e+01] [ 8.80310107e-03 -6.91814171e-04 9.99961013e-01 -4.40951430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620371743 meters Centerline goodness [0,1] 0.9634143783171453 Centerline is valid? [True, True] Translation: X:361.26, Y:-22.50, Z:-4.41 [[ 9.99918639e-01 -9.23314671e-03 -8.80139274e-03 3.61264231e+02] [ 9.23877370e-03 9.99957142e-01 5.98885019e-04 -2.24984538e+01] [ 8.79548594e-03 -6.80150368e-04 9.99961088e-01 -4.40987660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.650371743 meters Centerline goodness [0,1] 0.9656776831914539 Centerline is valid? [True, True] Translation: X:361.30, Y:-22.49, Z:-4.41 [[ 9.99935150e-01 -7.33785119e-03 -8.70926639e-03 3.61295133e+02] [ 7.34328730e-03 9.99972862e-01 5.92360752e-04 -2.24915751e+01] [ 8.70468338e-03 -6.56276983e-04 9.99961898e-01 -4.40805245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680371743 meters Centerline goodness [0,1] 0.9647550274990554 Centerline is valid? [True, True] Translation: X:361.32, Y:-22.50, Z:-4.41 [[ 9.99930450e-01 -7.35540853e-03 -9.21917831e-03 3.61323900e+02] [ 7.36149912e-03 9.99972707e-01 6.26882543e-04 -2.24996656e+01] [ 9.21431572e-03 -6.94705916e-04 9.99957306e-01 -4.40947923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.710371743 meters Centerline goodness [0,1] 0.9668088844271552 Centerline is valid? [True, True] Translation: X:361.35, Y:-22.49, Z:-4.41 [[ 9.99925775e-01 -7.35625571e-03 -9.71240911e-03 3.61354587e+02] [ 7.36301688e-03 9.99972674e-01 6.60563550e-04 -2.24906797e+01] [ 9.70728444e-03 -7.32027151e-04 9.99952615e-01 -4.40843330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740371743 meters Centerline goodness [0,1] 0.9672996661101836 Centerline is valid? [True, True] Translation: X:361.38, Y:-22.49, Z:-4.41 [[ 9.99912629e-01 -7.32911780e-03 -1.10008337e-02 3.61384282e+02] [ 7.33778680e-03 9.99972798e-01 7.47875160e-04 -2.24928525e+01] [ 1.09950532e-02 -8.28531590e-04 9.99939209e-01 -4.40996378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.770371743 meters Centerline goodness [0,1] 0.9675505712189498 Centerline is valid? [True, True] Translation: X:361.41, Y:-22.50, Z:-4.41 [[ 9.99895783e-01 -8.50941939e-03 -1.16624328e-02 3.61413319e+02] [ 8.51923279e-03 9.99963397e-01 7.92031938e-04 -2.24952182e+01] [ 1.16552662e-02 -8.91304375e-04 9.99931678e-01 -4.41096864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800371743 meters Centerline goodness [0,1] 0.9681279893063764 Centerline is valid? [True, True] Translation: X:361.44, Y:-22.49, Z:-4.41 [[ 9.99895652e-01 -8.83746045e-03 -1.14273242e-02 3.61443092e+02] [ 8.84689964e-03 9.99960565e-01 7.75732308e-04 -2.24949066e+01] [ 1.14200180e-02 -8.76747753e-04 9.99934405e-01 -4.41090408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.830371743 meters Centerline goodness [0,1] 0.9677547854162736 Centerline is valid? [True, True] Translation: X:361.47, Y:-22.50, Z:-4.41 [[ 9.99889797e-01 -9.85842626e-03 -1.10997532e-02 3.61472464e+02] [ 9.86738999e-03 9.99951033e-01 7.53084971e-04 -2.24978739e+01] [ 1.10917854e-02 -8.62527573e-04 9.99938112e-01 -4.41092148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86037174300003 meters Centerline goodness [0,1] 0.96633356378187 Centerline is valid? [True, True] Translation: X:361.50, Y:-22.50, Z:-4.41 [[ 9.99882894e-01 -1.11387815e-02 -1.04940594e-02 3.61501909e+02] [ 1.11468596e-02 9.99937619e-01 7.11596617e-04 -2.24994499e+01] [ 1.04854785e-02 -8.28489092e-04 9.99944683e-01 -4.41072284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.890371743 meters Centerline goodness [0,1] 0.9672838471849866 Centerline is valid? [True, True] Translation: X:361.53, Y:-22.50, Z:-4.41 [[ 9.99868638e-01 -1.27468710e-02 -1.00112004e-02 3.61533062e+02] [ 1.27543046e-02 9.99918430e-01 6.79040857e-04 -2.24953285e+01] [ 1.00017282e-02 -8.06637557e-04 9.99949656e-01 -4.40982522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.920371743 meters Centerline goodness [0,1] 0.9651629911704398 Centerline is valid? [True, True] Translation: X:361.56, Y:-22.51, Z:-4.41 [[ 9.99867313e-01 -1.29601696e-02 -9.86865383e-03 3.61561784e+02] [ 1.29674005e-02 9.99915696e-01 6.69084612e-04 -2.25076879e+01] [ 9.85915041e-03 -7.96966620e-04 9.99951080e-01 -4.41146853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.950371743 meters Centerline goodness [0,1] 0.966970982096225 Centerline is valid? [True, True] Translation: X:361.59, Y:-22.50, Z:-4.41 [[ 9.99839602e-01 -1.42308095e-02 -1.08745221e-02 3.61592055e+02] [ 1.42396622e-02 9.99898339e-01 7.37088492e-04 -2.25022293e+01] [ 1.08629272e-02 -8.91819785e-04 9.99940599e-01 -4.41187968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.980371743 meters Centerline goodness [0,1] 0.9676033126812275 Centerline is valid? [True, True] Translation: X:361.62, Y:-22.50, Z:-4.41 [[ 9.99828475e-01 -1.45930914e-02 -1.14045123e-02 3.61622291e+02] [ 1.46028528e-02 9.99893074e-01 7.73117219e-04 -2.25048406e+01] [ 1.13920107e-02 -9.39523024e-04 9.99934668e-01 -4.41288170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.010371743 meters Centerline goodness [0,1] 0.9675140946911743 Centerline is valid? [True, True] Translation: X:361.65, Y:-22.50, Z:-4.41 [[ 9.99805617e-01 -1.53689957e-02 -1.23499568e-02 3.61652319e+02] [ 1.53804974e-02 9.99881363e-01 8.36873603e-04 -2.25046779e+01] [ 1.23356297e-02 -1.02665941e-03 9.99923386e-01 -4.41332983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.040371743 meters Centerline goodness [0,1] 0.9656003689418078 Centerline is valid? [True, True] Translation: X:361.68, Y:-22.51, Z:-4.41 [[ 9.99804352e-01 -1.51903650e-02 -1.26692644e-02 3.61681083e+02] [ 1.52024520e-02 9.99884068e-01 8.58275754e-04 -2.25102235e+01] [ 1.26547581e-02 -1.05071172e-03 9.99919373e-01 -4.41423068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.070371743 meters Centerline goodness [0,1] 0.9672818791946308 Centerline is valid? [True, True] Translation: X:361.71, Y:-22.51, Z:-4.41 [[ 9.99815315e-01 -1.44535640e-02 -1.26660840e-02 3.61711866e+02] [ 1.44655875e-02 9.99895000e-01 8.58161093e-04 -2.25116803e+01] [ 1.26523506e-02 -1.04122495e-03 9.99919414e-01 -4.41369698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.100371743 meters Centerline goodness [0,1] 0.9670046507730339 Centerline is valid? [True, True] Translation: X:361.74, Y:-22.51, Z:-4.41 [[ 9.99838490e-01 -1.32756927e-02 -1.21140174e-02 3.61741654e+02] [ 1.32866049e-02 9.99911392e-01 8.20757100e-04 -2.25136981e+01] [ 1.21020479e-02 -9.81578703e-04 9.99926286e-01 -4.41372675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.130371743 meters Centerline goodness [0,1] 0.9686846289013472 Centerline is valid? [True, True] Translation: X:361.77, Y:-22.51, Z:-4.41 [[ 9.99865092e-01 -1.16553946e-02 -1.15736680e-02 3.61772055e+02] [ 1.16652365e-02 9.99931652e-01 7.83221852e-04 -2.25095270e+01] [ 1.15637482e-02 -9.18125764e-04 9.99932716e-01 -4.41171975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.160371743 meters Centerline goodness [0,1] 0.9664947372835158 Centerline is valid? [True, True] Translation: X:361.80, Y:-22.52, Z:-4.41 [[ 9.99874203e-01 -1.08543675e-02 -1.15654662e-02 3.61801053e+02] [ 1.08641419e-02 9.99940677e-01 7.82642798e-04 -2.25178502e+01] [ 1.15562850e-02 -9.08193210e-04 9.99932811e-01 -4.41364280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.190371743 meters Centerline goodness [0,1] 0.967727730246603 Centerline is valid? [True, True] Translation: X:361.83, Y:-22.51, Z:-4.41 [[ 9.99887172e-01 -9.76162514e-03 -1.14172483e-02 3.61831192e+02] [ 9.77107373e-03 9.99951964e-01 7.72081900e-04 -2.25114654e+01] [ 1.14091631e-02 -8.83553563e-04 9.99934523e-01 -4.41151090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.220371743 meters Centerline goodness [0,1] 0.9672466734902764 Centerline is valid? [True, True] Translation: X:361.86, Y:-22.51, Z:-4.41 [[ 9.99906017e-01 -7.21224128e-03 -1.16593408e-02 3.61860256e+02] [ 7.22191756e-03 9.99973611e-01 7.88025737e-04 -2.25138467e+01] [ 1.16533497e-02 -8.72154475e-04 9.99931717e-01 -4.41149415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.250371743 meters Centerline goodness [0,1] 0.9680931403398364 Centerline is valid? [True, True] Translation: X:361.89, Y:-22.51, Z:-4.41 [[ 9.99916003e-01 -5.92805050e-03 -1.15258482e-02 3.61889680e+02] [ 5.93741665e-03 9.99982070e-01 7.78573577e-04 -2.25135231e+01] [ 1.15210261e-02 -8.46941942e-04 9.99933272e-01 -4.41082089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.280371743 meters Centerline goodness [0,1] 0.9686388551822251 Centerline is valid? [True, True] Translation: X:361.92, Y:-22.51, Z:-4.41 [[ 9.99932302e-01 -2.54944088e-03 -1.13530754e-02 3.61919806e+02] [ 2.55831240e-03 9.99996433e-01 7.66966049e-04 -2.25125772e+01] [ 1.13510796e-02 -7.95958840e-04 9.99935258e-01 -4.41042838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.310371743 meters Centerline goodness [0,1] 0.9683601367076929 Centerline is valid? [True, True] Translation: X:361.95, Y:-22.51, Z:-4.41 [[ 9.99931860e-01 -1.67604516e-03 -1.15527160e-02 3.61949089e+02] [ 1.68512633e-03 9.99998279e-01 7.76373955e-04 -2.25145565e+01] [ 1.15513949e-02 -7.95788839e-04 9.99932964e-01 -4.41083365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.340371743 meters Centerline goodness [0,1] 0.970183918147009 Centerline is valid? [True, True] Translation: X:361.98, Y:-22.52, Z:-4.41 [[ 9.99921812e-01 7.47982661e-04 -1.24824099e-02 3.61977866e+02] [-7.37559618e-04 9.99999376e-01 8.39601020e-04 -2.25177346e+01] [ 1.24830301e-02 -8.30328851e-04 9.99921739e-01 -4.41126997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.370371743 meters Centerline goodness [0,1] 0.9702291037260826 Centerline is valid? [True, True] Translation: X:362.01, Y:-22.52, Z:-4.41 [[ 9.99918910e-01 1.01971106e-03 -1.26938145e-02 3.62006630e+02] [-1.00901018e-03 9.99999130e-01 8.49375178e-04 -2.25206038e+01] [ 1.26946696e-02 -8.36498114e-04 9.99919070e-01 -4.41189938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.400371743 meters Centerline goodness [0,1] 0.9709889001009082 Centerline is valid? [True, True] Translation: X:362.04, Y:-22.52, Z:-4.41 [[ 9.99920306e-01 1.80181115e-03 -1.24953927e-02 3.62035172e+02] [-1.79154327e-03 9.99998048e-01 8.32878556e-04 -2.25230464e+01] [ 1.24968690e-02 -8.10426144e-04 9.99921583e-01 -4.41166153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.430371743 meters Centerline goodness [0,1] 0.9706240295438331 Centerline is valid? [True, True] Translation: X:362.06, Y:-22.52, Z:-4.41 [[ 9.99923565e-01 3.28080885e-03 -1.19205579e-02 3.62064111e+02] [-3.27156821e-03 9.99994333e-01 7.94602492e-04 -2.25245865e+01] [ 1.19230972e-02 -7.55542838e-04 9.99928632e-01 -4.41083768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.460371743 meters Centerline goodness [0,1] 0.9694983193803628 Centerline is valid? [True, True] Translation: X:362.09, Y:-22.53, Z:-4.41 [[ 9.99917487e-01 5.67907474e-03 -1.15224383e-02 3.62094139e+02] [-5.67059889e-03 9.99983627e-01 7.68132961e-04 -2.25261927e+01] [ 1.15266119e-02 -7.02730455e-04 9.99933319e-01 -4.41000053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.490371743 meters Centerline goodness [0,1] 0.970851407137319 Centerline is valid? [True, True] Translation: X:362.12, Y:-22.53, Z:-4.41 [[ 9.99911059e-01 6.75508870e-03 -1.14996792e-02 3.62121500e+02] [-6.74673532e-03 9.99976948e-01 7.65040554e-04 -2.25300972e+01] [ 1.15045820e-02 -6.87387219e-04 9.99933584e-01 -4.41068575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.520371743 meters Centerline goodness [0,1] 0.9710196629802951 Centerline is valid? [True, True] Translation: X:362.15, Y:-22.53, Z:-4.41 [[ 9.99895834e-01 7.93436542e-03 -1.20567844e-02 3.62150855e+02] [-7.92527319e-03 9.99968273e-01 8.01709429e-04 -2.25307750e+01] [ 1.20627629e-02 -7.06072608e-04 9.99926993e-01 -4.41065517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.550371743 meters Centerline goodness [0,1] 0.971405777628485 Centerline is valid? [True, True] Translation: X:362.18, Y:-22.53, Z:-4.41 [[ 9.99841581e-01 1.18835649e-02 -1.32511518e-02 3.62181068e+02] [-1.18729279e-02 9.99929126e-01 8.81106414e-04 -2.25301362e+01] [ 1.32606833e-02 -7.23636861e-04 9.99911811e-01 -4.41125987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.580371743 meters Centerline goodness [0,1] 0.9720665718825793 Centerline is valid? [True, True] Translation: X:362.21, Y:-22.53, Z:-4.41 [[ 9.99776916e-01 1.66127745e-02 -1.30435154e-02 3.62210336e+02] [-1.66028739e-02 9.99861787e-01 8.66971006e-04 -2.25322577e+01] [ 1.30561154e-02 -6.50217758e-04 9.99914554e-01 -4.41217147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61037174300003 meters Centerline goodness [0,1] 0.972434434979174 Centerline is valid? [True, True] Translation: X:362.24, Y:-22.53, Z:-4.41 [[ 9.99741943e-01 1.85161588e-02 -1.31605196e-02 3.62239666e+02] [-1.85062560e-02 9.99828363e-01 8.73854466e-04 -2.25333635e+01] [ 1.31744412e-02 -6.30077017e-04 9.99913015e-01 -4.41190229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.640371743 meters Centerline goodness [0,1] 0.9725170981412328 Centerline is valid? [True, True] Translation: X:362.27, Y:-22.54, Z:-4.41 [[ 9.99712108e-01 2.03789960e-02 -1.26648091e-02 3.62267572e+02] [-2.03699916e-02 9.99792158e-01 8.39583916e-04 -2.25363863e+01] [ 1.26792867e-02 -5.81360153e-04 9.99919446e-01 -4.41289438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.670371743 meters Centerline goodness [0,1] 0.9727320398531725 Centerline is valid? [True, True] Translation: X:362.30, Y:-22.54, Z:-4.41 [[ 9.99645714e-01 2.42203210e-02 -1.10373066e-02 3.62296982e+02] [-2.42137178e-02 9.99706537e-01 7.31520858e-04 -2.25397622e+01] [ 1.10517852e-02 -4.64007464e-04 9.99938819e-01 -4.41221216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.700371743 meters Centerline goodness [0,1] 0.9725596416293364 Centerline is valid? [True, True] Translation: X:362.33, Y:-22.54, Z:-4.41 [[ 9.99603991e-01 2.61732864e-02 -1.03354024e-02 3.62326213e+02] [-2.61676076e-02 9.99657335e-01 6.84318059e-04 -2.25411525e+01] [ 1.03497717e-02 -4.13594309e-04 9.99946354e-01 -4.41159073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.730371743 meters Centerline goodness [0,1] 0.974040089459273 Centerline is valid? [True, True] Translation: X:362.36, Y:-22.55, Z:-4.41 [[ 9.99501426e-01 2.99895289e-02 -9.87559208e-03 3.62355034e+02] [-2.99845329e-02 9.99550149e-01 6.53600769e-04 -2.25459762e+01] [ 9.89075072e-03 -3.57159885e-04 9.99951022e-01 -4.41182369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.760371743 meters Centerline goodness [0,1] 0.9743530692571811 Centerline is valid? [True, True] Translation: X:362.38, Y:-22.55, Z:-4.41 [[ 9.99447582e-01 3.15627581e-02 -1.04078246e-02 3.62384108e+02] [-3.15573038e-02 9.99501708e-01 6.87902697e-04 -2.25488139e+01] [ 1.04243505e-02 -3.59079806e-04 9.99945601e-01 -4.41223001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.790371743 meters Centerline goodness [0,1] 0.9757146152716901 Centerline is valid? [True, True] Translation: X:362.41, Y:-22.55, Z:-4.41 [[ 9.99344683e-01 3.47141638e-02 -1.02533683e-02 3.62413292e+02] [-3.47090410e-02 9.99397230e-01 6.77198704e-04 -2.25508636e+01] [ 1.02706963e-02 -3.20870343e-04 9.99947204e-01 -4.41170127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.820371743 meters Centerline goodness [0,1] 0.9750141015731089 Centerline is valid? [True, True] Translation: X:362.44, Y:-22.56, Z:-4.41 [[ 9.99309213e-01 3.56845284e-02 -1.03784424e-02 3.62441007e+02] [-3.56793441e-02 9.99363055e-01 6.84310042e-04 -2.25562732e+01] [ 1.03962512e-02 -3.13541310e-04 9.99945908e-01 -4.41259744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.850371743 meters Centerline goodness [0,1] 0.9760422561780796 Centerline is valid? [True, True] Translation: X:362.47, Y:-22.56, Z:-4.41 [[ 9.99266738e-01 3.72141268e-02 -9.00526941e-03 3.62469417e+02] [-3.72102912e-02 9.99307281e-01 5.93151595e-04 -2.25609392e+01] [ 9.02110491e-03 -2.57627962e-04 9.99959276e-01 -4.41148545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880371743 meters Centerline goodness [0,1] 0.97532725939889 Centerline is valid? [True, True] Translation: X:362.50, Y:-22.56, Z:-4.41 [[ 9.99253090e-01 3.76662780e-02 -8.63212945e-03 3.62498182e+02] [-3.76627762e-02 9.99290345e-01 5.67926889e-04 -2.25646070e+01] [ 8.64739530e-03 -2.42392739e-04 9.99962581e-01 -4.41084982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.910371743 meters Centerline goodness [0,1] 0.97532725939889 Centerline is valid? [True, True] Translation: X:362.53, Y:-22.57, Z:-4.41 [[ 9.99257190e-01 3.75573407e-02 -8.63220413e-03 3.62525616e+02] [-3.75538447e-02 9.99294445e-01 5.66791254e-04 -2.25663260e+01] [ 8.64740081e-03 -2.42197783e-04 9.99962581e-01 -4.41099744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940371743 meters Centerline goodness [0,1] 0.9747869243817142 Centerline is valid? [True, True] Translation: X:362.55, Y:-22.57, Z:-4.41 [[ 9.99267882e-01 3.73137539e-02 -8.44887984e-03 3.62552666e+02] [-3.73104060e-02 9.99303571e-01 5.53578477e-04 -2.25705088e+01] [ 8.46365189e-03 -2.37942055e-04 9.99964154e-01 -4.41085736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.970371743 meters Centerline goodness [0,1] 0.9748517299914077 Centerline is valid? [True, True] Translation: X:362.58, Y:-22.58, Z:-4.41 [[ 9.99274455e-01 3.70901271e-02 -8.65366191e-03 3.62580843e+02] [-3.70866093e-02 9.99311894e-01 5.66681785e-04 -2.25766004e+01] [ 8.66872557e-03 -2.45335654e-04 9.99962396e-01 -4.41087168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000371743 meters Centerline goodness [0,1] 0.9759387835950043 Centerline is valid? [True, True] Translation: X:362.61, Y:-22.58, Z:-4.41 [[ 9.99306239e-01 3.60435630e-02 -9.37557356e-03 3.62608617e+02] [-3.60393962e-02 9.99350182e-01 6.13056795e-04 -2.25844924e+01] [ 9.39157789e-03 -2.74741471e-04 9.99955860e-01 -4.41194552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.030371743 meters Centerline goodness [0,1] 0.9746272396942739 Centerline is valid? [True, True] Translation: X:362.64, Y:-22.59, Z:-4.41 [[ 9.99366860e-01 3.42618443e-02 -9.59193500e-03 3.62636158e+02] [-3.42574088e-02 9.99412846e-01 6.26385060e-04 -2.25903930e+01] [ 9.60776417e-03 -2.97393632e-04 9.99953800e-01 -4.41316995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060371743 meters Centerline goodness [0,1] 0.9743498620285977 Centerline is valid? [True, True] Translation: X:362.67, Y:-22.60, Z:-4.41 [[ 9.99489157e-01 3.06146393e-02 -9.17440815e-03 3.62665791e+02] [-3.06104287e-02 9.99531212e-01 5.99056074e-04 -2.25967561e+01] [ 9.18844718e-03 -3.17917484e-04 9.99957735e-01 -4.41204555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.090371743 meters Centerline goodness [0,1] 0.9737770632816252 Centerline is valid? [True, True] Translation: X:362.69, Y:-22.60, Z:-4.41 [[ 9.99561691e-01 2.82542255e-02 -8.83883722e-03 3.62694470e+02] [-2.82502323e-02 9.99600716e-01 5.76331264e-04 -2.26019914e+01] [ 8.85159181e-03 -3.26379449e-04 9.99960771e-01 -4.41189776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120371743 meters Centerline goodness [0,1] 0.9739346383404983 Centerline is valid? [True, True] Translation: X:362.72, Y:-22.61, Z:-4.41 [[ 9.99641103e-01 2.53779679e-02 -8.58038134e-03 3.62722180e+02] [-2.53741042e-02 9.99677869e-01 5.58873173e-04 -2.26072956e+01] [ 8.59180040e-03 -3.40953105e-04 9.99963032e-01 -4.41148531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.150371743 meters Centerline goodness [0,1] 0.9748630222928605 Centerline is valid? [True, True] Translation: X:362.75, Y:-22.61, Z:-4.41 [[ 9.99775986e-01 1.97838699e-02 -7.52175069e-03 3.62752341e+02] [-1.97807403e-02 9.99804222e-01 4.90247311e-04 -2.26142356e+01] [ 7.52997709e-03 -3.41351692e-04 9.99971591e-01 -4.41073087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180371743 meters Centerline goodness [0,1] 0.9741222665469204 Centerline is valid? [True, True] Translation: X:362.78, Y:-22.62, Z:-4.41 [[ 9.99874677e-01 1.39514601e-02 -7.48243290e-03 3.62782544e+02] [-1.39482006e-02 9.99902600e-01 4.87639843e-04 -2.26183141e+01] [ 7.48850740e-03 -3.83212256e-04 9.99971887e-01 -4.40941344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.210371743 meters Centerline goodness [0,1] 0.9739969038952345 Centerline is valid? [True, True] Translation: X:362.81, Y:-22.62, Z:-4.41 [[ 9.99916831e-01 1.06192539e-02 -7.31870262e-03 3.62812474e+02] [-1.06160480e-02 9.99943535e-01 4.76752873e-04 -2.26221333e+01] [ 7.32335212e-03 -3.99017523e-04 9.99973104e-01 -4.40914261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240371743 meters Centerline goodness [0,1] 0.9735851424269043 Centerline is valid? [True, True] Translation: X:362.84, Y:-22.63, Z:-4.41 [[ 9.99959677e-01 3.83601601e-03 -8.11967998e-03 3.62840776e+02] [-3.83185005e-03 9.99992519e-01 5.28563396e-04 -2.26314654e+01] [ 8.12164681e-03 -4.97428687e-04 9.99966895e-01 -4.41036488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.270371743 meters Centerline goodness [0,1] 0.9741594540612517 Centerline is valid? [True, True] Translation: X:362.87, Y:-22.64, Z:-4.41 [[ 9.99964728e-01 8.74242775e-04 -8.35332300e-03 3.62871046e+02] [-8.69729055e-04 9.99999474e-01 5.43967628e-04 -2.26356296e+01] [ 8.35379417e-03 -5.36683314e-04 9.99964962e-01 -4.40996001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300371743 meters Centerline goodness [0,1] 0.9744878879793909 Centerline is valid? [True, True] Translation: X:362.90, Y:-22.63, Z:-4.41 [[ 9.99967121e-01 -2.39517152e-03 -7.74721230e-03 3.62901059e+02] [ 2.39914975e-03 9.99996995e-01 5.04252083e-04 -2.26329987e+01] [ 7.74598125e-03 -5.22822227e-04 9.99969863e-01 -4.40825905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.330371743 meters Centerline goodness [0,1] 0.9701171753911013 Centerline is valid? [True, True] Translation: X:362.93, Y:-22.65, Z:-4.41 [[ 9.99936805e-01 -9.00590685e-03 -6.72901823e-03 3.62929012e+02] [ 9.00905475e-03 9.99959322e-01 4.37644895e-04 -2.26510214e+01] [ 6.72480312e-03 -4.98239332e-04 9.99977264e-01 -4.40972243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36037174300003 meters Centerline goodness [0,1] 0.9728409494186168 Centerline is valid? [True, True] Translation: X:362.96, Y:-22.64, Z:-4.41 [[ 9.99856227e-01 -1.59595971e-02 -5.72865087e-03 3.62960342e+02] [ 1.59619926e-02 9.99872530e-01 3.72669620e-04 -2.26408024e+01] [ 5.72197298e-03 -4.64056723e-04 9.99983522e-01 -4.40625690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.390371743 meters Centerline goodness [0,1] 0.9715193157993066 Centerline is valid? [True, True] Translation: X:362.99, Y:-22.65, Z:-4.41 [[ 9.99801525e-01 -1.90587439e-02 -5.80307496e-03 3.62990201e+02] [ 1.90612544e-02 9.99818246e-01 3.77605149e-04 -2.26464044e+01] [ 5.79482355e-03 -4.88144092e-04 9.99983091e-01 -4.40649654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.420371743 meters Centerline goodness [0,1] 0.9704471510803371 Centerline is valid? [True, True] Translation: X:363.02, Y:-22.65, Z:-4.41 [[ 9.99657141e-01 -2.52137118e-02 -7.06181240e-03 3.63020623e+02] [ 2.52175824e-02 9.99681881e-01 4.59570477e-04 -2.26505719e+01] [ 7.04797842e-03 -6.37494745e-04 9.99974959e-01 -4.40710711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.450371743 meters Centerline goodness [0,1] 0.9700448804926417 Centerline is valid? [True, True] Translation: X:363.05, Y:-22.65, Z:-4.41 [[ 9.99595929e-01 -2.75223295e-02 -7.10640320e-03 3.63051996e+02] [ 2.75263099e-02 9.99620972e-01 4.62900784e-04 -2.26521029e+01] [ 7.09096957e-03 -6.58326796e-04 9.99974642e-01 -4.40753648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.480371743 meters Centerline goodness [0,1] 0.9694806279225117 Centerline is valid? [True, True] Translation: X:363.08, Y:-22.66, Z:-4.41 [[ 9.99518681e-01 -3.01356474e-02 -7.36534188e-03 3.63082013e+02] [ 3.01399925e-02 9.99545572e-01 4.79628449e-04 -2.26558335e+01] [ 7.34754095e-03 -7.01388944e-04 9.99972760e-01 -4.40795076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.510371743 meters Centerline goodness [0,1] 0.9673804157275232 Centerline is valid? [True, True] Translation: X:363.11, Y:-22.66, Z:-4.41 [[ 9.99380441e-01 -3.44843077e-02 -7.04042570e-03 3.63113210e+02] [ 3.44883872e-02 9.99404993e-01 4.58831128e-04 -2.26562515e+01] [ 7.02041413e-03 -7.01359782e-04 9.99975111e-01 -4.40759804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.540371743 meters Centerline goodness [0,1] 0.9654103748076043 Centerline is valid? [True, True] Translation: X:363.14, Y:-22.66, Z:-4.41 [[ 9.99322136e-01 -3.61903504e-02 -6.74736123e-03 3.63143201e+02] [ 3.61941363e-02 9.99344681e-01 4.39798253e-04 -2.26612256e+01] [ 6.72702310e-03 -6.83715042e-04 9.99977140e-01 -4.40792667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.570371743 meters Centerline goodness [0,1] 0.961376244000748 Centerline is valid? [True, True] Translation: X:363.17, Y:-22.66, Z:-4.41 [[ 9.99223908e-01 -3.88236771e-02 -6.65605583e-03 3.63172446e+02] [ 3.88274201e-02 9.99245837e-01 4.34003987e-04 -2.26639375e+01] [ 6.63418645e-03 -6.92104636e-04 9.99977754e-01 -4.40791080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.600371743 meters Centerline goodness [0,1] 0.962033207954947 Centerline is valid? [True, True] Translation: X:363.20, Y:-22.66, Z:-4.41 [[ 9.99187396e-01 -3.96817006e-02 -7.06473029e-03 3.63204333e+02] [ 3.96859426e-02 9.99212096e-01 4.61224237e-04 -2.26633144e+01] [ 7.04086180e-03 -7.41219925e-04 9.99974938e-01 -4.40788160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.630371743 meters Centerline goodness [0,1] 0.9595606590114828 Centerline is valid? [True, True] Translation: X:363.24, Y:-22.66, Z:-4.41 [[ 9.99138795e-01 -4.08284488e-02 -7.39629577e-03 3.63235619e+02] [ 4.08331306e-02 9.99165863e-01 4.83027000e-04 -2.26637161e+01] [ 7.37040501e-03 -7.84624926e-04 9.99972530e-01 -4.40855134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.660371743 meters Centerline goodness [0,1] 0.9564305878445699 Centerline is valid? [True, True] Translation: X:363.27, Y:-22.66, Z:-4.41 [[ 9.99130422e-01 -4.10480384e-02 -7.31149963e-03 3.63267461e+02] [ 4.10526247e-02 9.99156871e-01 4.78230639e-04 -2.26643062e+01] [ 7.28570466e-03 -7.77971030e-04 9.99973156e-01 -4.40926852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.690371743 meters Centerline goodness [0,1] 0.9559925680048433 Centerline is valid? [True, True] Translation: X:363.30, Y:-22.66, Z:-4.41 [[ 9.99079061e-01 -4.22274611e-02 -7.60733114e-03 3.63299141e+02] [ 4.22324603e-02 9.99107688e-01 4.97648000e-04 -2.26632490e+01] [ 7.57952861e-03 -8.18466007e-04 9.99970940e-01 -4.41022063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.720371743 meters Centerline goodness [0,1] 0.9592210005611789 Centerline is valid? [True, True] Translation: X:363.33, Y:-22.66, Z:-4.41 [[ 9.99100833e-01 -4.17391901e-02 -7.44081409e-03 3.63331839e+02] [ 4.17439651e-02 9.99128222e-01 4.87519821e-04 -2.26624129e+01] [ 7.41397867e-03 -7.97690543e-04 9.99972198e-01 -4.40979758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.750371743 meters Centerline goodness [0,1] 0.9586066171112083 Centerline is valid? [True, True] Translation: X:363.36, Y:-22.66, Z:-4.41 [[ 9.99064323e-01 -4.25497063e-02 -7.74606040e-03 3.63364013e+02] [ 4.25549096e-02 9.99094000e-01 5.08087075e-04 -2.26600894e+01] [ 7.71742352e-03 -8.37244570e-04 9.99969870e-01 -4.41022875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.780371743 meters Centerline goodness [0,1] 0.9620599032204238 Centerline is valid? [True, True] Translation: X:363.40, Y:-22.66, Z:-4.41 [[ 9.99061331e-01 -4.25676404e-02 -8.02822739e-03 3.63396022e+02] [ 4.25732403e-02 9.99093209e-01 5.27841675e-04 -2.26567537e+01] [ 7.99847849e-03 -8.69133860e-04 9.99967634e-01 -4.40978120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.810371743 meters Centerline goodness [0,1] 0.9517974197319528 Centerline is valid? [True, True] Translation: X:363.43, Y:-22.66, Z:-4.41 [[ 9.99061197e-01 -4.24135884e-02 -8.82114470e-03 3.63426743e+02] [ 4.24203439e-02 9.99099684e-01 5.80053366e-04 -2.26620982e+01] [ 8.78860073e-03 -9.53704801e-04 9.99960925e-01 -4.41124874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.840371743 meters Centerline goodness [0,1] 0.9498023715415019 Centerline is valid? [True, False] Translation: X:363.43, Y:-22.66, Z:-4.41 [[ 9.99201409e-01 -3.89712692e-02 -8.81950788e-03 3.63426675e+02] [ 3.90130778e-02 9.99228024e-01 4.61908092e-03 -2.26629338e+01] [ 8.63268798e-03 -4.95946832e-03 9.99950439e-01 -4.41171816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.870371743 meters Centerline goodness [0,1] 0.9482571488207054 Centerline is valid? [False, False] Translation: X:363.43, Y:-22.66, Z:-4.41 [[ 9.99198465e-01 -3.90110847e-02 -8.97564807e-03 3.63427053e+02] [ 3.90515911e-02 9.99227584e-01 4.38275065e-03 -2.26619058e+01] [ 8.79773928e-03 -4.72975106e-03 9.99950113e-01 -4.41183264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.900371743 meters Centerline goodness [0,1] 0.9485466991240663 Centerline is valid? [False, False] Translation: X:363.43, Y:-22.66, Z:-4.41 [[ 9.99187646e-01 -3.92749972e-02 -9.02902208e-03 3.63427263e+02] [ 3.93102563e-02 9.99219974e-01 3.76128718e-03 -2.26598072e+01] [ 8.87425467e-03 -4.11316485e-03 9.99952164e-01 -4.41191271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.930371743 meters Centerline goodness [0,1] 0.9557091546942866 Centerline is valid? [False, True] Translation: X:363.43, Y:-22.66, Z:-4.41 [[ 9.99277805e-01 -3.70242394e-02 -8.54834209e-03 3.63425312e+02] [ 3.70781147e-02 9.99292936e-01 6.23234907e-03 -2.26587747e+01] [ 8.31154987e-03 -6.54480451e-03 9.99944040e-01 -4.41094567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.960371743 meters Centerline goodness [0,1] 0.9440477925105639 Centerline is valid? [True, False] Translation: X:363.43, Y:-22.66, Z:-4.41 [[ 9.99277067e-01 -3.70265556e-02 -8.62426127e-03 3.63425460e+02] [ 3.70791071e-02 9.99294229e-01 6.01535498e-03 -2.26577500e+01] [ 8.39544663e-03 -6.33078618e-03 9.99944717e-01 -4.41087584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.990371743 meters Centerline goodness [0,1] 0.9574833493905248 Centerline is valid? [False, True] Translation: X:363.43, Y:-22.66, Z:-4.41 [[ 9.99272227e-01 -3.71214999e-02 -8.77554203e-03 3.63425731e+02] [ 3.71718088e-02 9.99292968e-01 5.64094364e-03 -2.26565369e+01] [ 8.55993716e-03 -5.96304109e-03 9.99945583e-01 -4.41083878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.020371743 meters Centerline goodness [0,1] 0.9520274367929066 Centerline is valid? [True, True] Translation: X:363.46, Y:-22.66, Z:-4.41 [[ 9.99229459e-01 -3.80824080e-02 -9.49829207e-03 3.63457504e+02] [ 3.80906860e-02 9.99274047e-01 6.92086282e-04 -2.26558543e+01] [ 9.46504044e-03 -1.05334946e-03 9.99954651e-01 -4.41130818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.050371743 meters Centerline goodness [0,1] 0.9577517760133724 Centerline is valid? [True, True] Translation: X:363.49, Y:-22.65, Z:-4.41 [[ 9.99267257e-01 -3.70727136e-02 -9.51642752e-03 3.63489359e+02] [ 3.70809816e-02 9.99312023e-01 6.93778923e-04 -2.26499701e+01] [ 9.48416017e-03 -1.04614904e-03 9.99954477e-01 -4.41060850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.080371743 meters Centerline goodness [0,1] 0.9578641709665964 Centerline is valid? [True, True] Translation: X:363.52, Y:-22.65, Z:-4.41 [[ 9.99313386e-01 -3.57442151e-02 -9.75233931e-03 3.63521233e+02] [ 3.57528420e-02 9.99360409e-01 7.11634489e-04 -2.26500376e+01] [ 9.72066499e-03 -1.05981972e-03 9.99952192e-01 -4.40996380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11037174300003 meters Centerline goodness [0,1] 0.9567396409998322 Centerline is valid? [True, True] Translation: X:363.55, Y:-22.65, Z:-4.41 [[ 9.99427257e-01 -3.25091802e-02 -9.39740466e-03 3.63551127e+02] [ 3.25170435e-02 9.99470946e-01 6.85141558e-04 -2.26473091e+01] [ 9.37015954e-03 -9.90324965e-04 9.99955609e-01 -4.40932609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.140371743 meters Centerline goodness [0,1] 0.9540493251124813 Centerline is valid? [True, True] Translation: X:363.58, Y:-22.65, Z:-4.41 [[ 9.99509074e-01 -2.99891054e-02 -9.06998373e-03 3.63580647e+02] [ 2.99963270e-02 9.99549790e-01 6.61193167e-04 -2.26495932e+01] [ 9.04607175e-03 -9.32934768e-04 9.99958648e-01 -4.40973130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.170371743 meters Centerline goodness [0,1] 0.9530653538872317 Centerline is valid? [True, True] Translation: X:363.61, Y:-22.65, Z:-4.41 [[ 9.99636436e-01 -2.51707799e-02 -9.66578506e-03 3.63610597e+02] [ 2.51787589e-02 9.99682716e-01 7.04669009e-04 -2.26462099e+01] [ 9.64498119e-03 -9.47785288e-04 9.99953037e-01 -4.41089216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.200371743 meters Centerline goodness [0,1] 0.9631265965911471 Centerline is valid? [True, True] Translation: X:363.64, Y:-22.64, Z:-4.41 [[ 9.99702682e-01 -2.21937624e-02 -1.00987833e-02 3.63641988e+02] [ 2.22023227e-02 9.99753227e-01 7.36321935e-04 -2.26372986e+01] [ 1.00799494e-02 -9.60319457e-04 9.99948735e-01 -4.40997826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.230371743 meters Centerline goodness [0,1] 0.9645344095690178 Centerline is valid? [True, True] Translation: X:363.67, Y:-22.63, Z:-4.41 [[ 9.99798347e-01 -1.67029240e-02 -1.11479993e-02 3.63673212e+02] [ 1.67130199e-02 9.99859997e-01 8.13075134e-04 -2.26301486e+01] [ 1.11328578e-02 -9.99227910e-04 9.99937529e-01 -4.41049564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.260371743 meters Centerline goodness [0,1] 0.9636146546848489 Centerline is valid? [True, True] Translation: X:363.70, Y:-22.63, Z:-4.41 [[ 9.99827047e-01 -1.43795403e-02 -1.17942432e-02 3.63703443e+02] [ 1.43906792e-02 9.99896079e-01 8.60110981e-04 -2.26314299e+01] [ 1.17806495e-02 -1.02968939e-03 9.99930076e-01 -4.41158590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.290371743 meters Centerline goodness [0,1] 0.9662281069303612 Centerline is valid? [True, True] Translation: X:363.73, Y:-22.62, Z:-4.41 [[ 9.99874631e-01 -9.77030585e-03 -1.24604759e-02 3.63734317e+02] [ 9.78238301e-03 9.99951738e-01 9.08656366e-04 -2.26223588e+01] [ 1.24509966e-02 -1.03043560e-03 9.99921952e-01 -4.40995392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.320371743 meters Centerline goodness [0,1] 0.96567242281528 Centerline is valid? [True, True] Translation: X:363.76, Y:-22.63, Z:-4.41 [[ 9.99904296e-01 -7.22490092e-03 -1.17982992e-02 3.63763612e+02] [ 7.23554881e-03 9.99973453e-01 8.60057451e-04 -2.26258042e+01] [ 1.17917722e-02 -9.45342310e-04 9.99930028e-01 -4.41132621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.350371743 meters Centerline goodness [0,1] 0.9659124363881062 Centerline is valid? [True, True] Translation: X:363.79, Y:-22.63, Z:-4.41 [[ 9.99911866e-01 -3.30770160e-03 -1.28576955e-02 3.63793661e+02] [ 3.32002651e-03 9.99994049e-01 9.37336242e-04 -2.26250695e+01] [ 1.28545186e-02 -9.79941521e-04 9.99916897e-01 -4.41135467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380371743 meters Centerline goodness [0,1] 0.9684239313362504 Centerline is valid? [True, True] Translation: X:363.82, Y:-22.62, Z:-4.41 [[ 9.99912148e-01 -2.06949770e-03 -1.30924914e-02 3.63823389e+02] [ 2.08211262e-03 9.99997381e-01 9.49966052e-04 -2.26176152e+01] [ 1.30904912e-02 -9.77142637e-04 9.99913838e-01 -4.41017398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.410371743 meters Centerline goodness [0,1] 0.9674535050071531 Centerline is valid? [True, True] Translation: X:363.85, Y:-22.62, Z:-4.41 [[ 9.99908673e-01 -6.04752475e-04 -1.35011297e-02 3.63852898e+02] [ 6.17990869e-04 9.99999332e-01 9.76389280e-04 -2.26172348e+01] [ 1.35005303e-02 -9.84643683e-04 9.99908379e-01 -4.41018237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440371743 meters Centerline goodness [0,1] 0.969681096257805 Centerline is valid? [True, True] Translation: X:363.88, Y:-22.62, Z:-4.41 [[ 9.99913724e-01 2.80126527e-03 -1.28334453e-02 3.63882562e+02] [-2.78957244e-03 9.99995678e-01 9.28931566e-04 -2.26163747e+01] [ 1.28359920e-02 -8.93051596e-04 9.99917216e-01 -4.40996887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.470371743 meters Centerline goodness [0,1] 0.9697434496669678 Centerline is valid? [True, True] Translation: X:363.91, Y:-22.62, Z:-4.41 [[ 9.99910141e-01 3.68491542e-03 -1.28891659e-02 3.63911796e+02] [-3.67324879e-03 9.99992822e-01 9.28706982e-04 -2.26162007e+01] [ 1.28924956e-02 -8.81278417e-04 9.99916500e-01 -4.40952356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500371743 meters Centerline goodness [0,1] 0.9702585028290179 Centerline is valid? [True, True] Translation: X:363.94, Y:-22.61, Z:-4.41 [[ 9.99900855e-01 6.99552548e-03 -1.22205969e-02 3.63942096e+02] [-6.98527272e-03 9.99975214e-01 8.81456498e-04 -2.26141483e+01] [ 1.22264603e-02 -7.96004903e-04 9.99924937e-01 -4.40909630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.530371743 meters Centerline goodness [0,1] 0.9698658367329772 Centerline is valid? [True, True] Translation: X:363.97, Y:-22.61, Z:-4.41 [[ 9.99891512e-01 8.52077415e-03 -1.20150490e-02 3.63970939e+02] [-8.51098736e-03 9.99963406e-01 8.65442073e-04 -2.26136264e+01] [ 1.20219835e-02 -7.63088253e-04 9.99927442e-01 -4.40916601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560371743 meters Centerline goodness [0,1] 0.971582650460281 Centerline is valid? [True, True] Translation: X:364.00, Y:-22.61, Z:-4.41 [[ 9.99841729e-01 1.25320523e-02 -1.26279656e-02 3.64000198e+02] [-1.25215615e-02 9.99921189e-01 9.09486149e-04 -2.26120177e+01] [ 1.26383681e-02 -7.51220355e-04 9.99919850e-01 -4.40919347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.590371743 meters Centerline goodness [0,1] 0.9719274006154619 Centerline is valid? [True, True] Translation: X:364.03, Y:-22.61, Z:-4.41 [[ 9.99781776e-01 1.66984796e-02 -1.25523294e-02 3.64029851e+02] [-1.66884448e-02 9.99860330e-01 9.03764327e-04 -2.26112126e+01] [ 1.25656677e-02 -6.94088247e-04 9.99920808e-01 -4.41001168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620371743 meters Centerline goodness [0,1] 0.9750406830526026 Centerline is valid? [True, True] Translation: X:364.06, Y:-22.61, Z:-4.41 [[ 9.99763032e-01 1.77203835e-02 -1.26438629e-02 3.64059311e+02] [-1.77102987e-02 9.99842747e-01 9.09135150e-04 -2.26063721e+01] [ 1.26579849e-02 -6.84993126e-04 9.99919650e-01 -4.40857776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.650371743 meters Centerline goodness [0,1] 0.9735560194850382 Centerline is valid? [True, True] Translation: X:364.09, Y:-22.61, Z:-4.41 [[ 9.99749609e-01 1.87628119e-02 -1.21932478e-02 3.64087131e+02] [-1.87535256e-02 9.99823754e-01 8.75492798e-04 -2.26089359e+01] [ 1.22075255e-02 -6.46607198e-04 9.99925276e-01 -4.40920747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680371743 meters Centerline goodness [0,1] 0.9757749688746333 Centerline is valid? [True, True] Translation: X:364.12, Y:-22.61, Z:-4.41 [[ 9.99719811e-01 2.05597556e-02 -1.17301496e-02 3.64116105e+02] [-2.05512941e-02 9.99788446e-01 8.41435714e-04 -2.26061986e+01] [ 1.17449677e-02 -6.00130198e-04 9.99930845e-01 -4.40848657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.710371743 meters Centerline goodness [0,1] 0.9744313990008643 Centerline is valid? [True, True] Translation: X:364.14, Y:-22.61, Z:-4.41 [[ 9.99706853e-01 2.07615474e-02 -1.24565807e-02 3.64142962e+02] [-2.07520447e-02 9.99784256e-01 8.91646626e-04 -2.26090732e+01] [ 1.24724052e-02 -6.32885723e-04 9.99922016e-01 -4.40939328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740371743 meters Centerline goodness [0,1] 0.9759637763954128 Centerline is valid? [True, True] Translation: X:364.17, Y:-22.61, Z:-4.41 [[ 9.99689017e-01 2.13569765e-02 -1.28743255e-02 3.64171790e+02] [-2.13468829e-02 9.99771705e-01 9.20931803e-04 -2.26100105e+01] [ 1.28910546e-02 -6.45818691e-04 9.99916698e-01 -4.40927183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.770371743 meters Centerline goodness [0,1] 0.9750680250585332 Centerline is valid? [True, True] Translation: X:364.20, Y:-22.61, Z:-4.41 [[ 9.99673169e-01 2.20151780e-02 -1.29956388e-02 3.64199130e+02] [-2.20049654e-02 9.99757430e-01 9.28331665e-04 -2.26126613e+01] [ 1.30129238e-02 -6.42059676e-04 9.99915122e-01 -4.40980497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800371743 meters Centerline goodness [0,1] 0.9741213720316623 Centerline is valid? [True, True] Translation: X:364.23, Y:-22.62, Z:-4.41 [[ 9.99680915e-01 2.17714746e-02 -1.28090466e-02 3.64227486e+02] [-2.17615440e-02 9.99762772e-01 9.14167477e-04 -2.26151751e+01] [ 1.28259107e-02 -6.35131150e-04 9.99917543e-01 -4.41049737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.830371743 meters Centerline goodness [0,1] 0.9741213720316623 Centerline is valid? [True, True] Translation: X:364.25, Y:-22.62, Z:-4.41 [[ 9.99683268e-01 2.16630767e-02 -1.28091597e-02 3.64254926e+02] [-2.16531575e-02 9.99765126e-01 9.12581732e-04 -2.26170443e+01] [ 1.28259205e-02 -6.34933937e-04 9.99917543e-01 -4.41064744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86037174300003 meters Centerline goodness [0,1] 0.9742895805142084 Centerline is valid? [True, True] Translation: X:364.28, Y:-22.62, Z:-4.41 [[ 9.99702198e-01 2.14391188e-02 -1.16567202e-02 3.64284084e+02] [-2.14308974e-02 9.99769988e-01 8.29762081e-04 -2.26187259e+01] [ 1.16718283e-02 -5.79701003e-04 9.99931714e-01 -4.40986077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.890371743 meters Centerline goodness [0,1] 0.9745520093309299 Centerline is valid? [True, True] Translation: X:364.31, Y:-22.62, Z:-4.41 [[ 9.99733876e-01 2.05016273e-02 -1.05764230e-02 3.64312323e+02] [-2.04948251e-02 9.99789677e-01 7.51136765e-04 -2.26208786e+01] [ 1.05895980e-02 -5.34174931e-04 9.99943786e-01 -4.40902624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.920371743 meters Centerline goodness [0,1] 0.9739952218862978 Centerline is valid? [True, True] Translation: X:364.34, Y:-22.62, Z:-4.41 [[ 9.99736927e-01 2.03565905e-02 -1.05681669e-02 3.64341311e+02] [-2.03497959e-02 9.99792640e-01 7.50074457e-04 -2.26230667e+01] [ 1.05812444e-02 -5.34817093e-04 9.99943874e-01 -4.40920092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.950371743 meters Centerline goodness [0,1] 0.9740935932440155 Centerline is valid? [True, True] Translation: X:364.37, Y:-22.63, Z:-4.41 [[ 9.99749788e-01 1.96696172e-02 -1.06520842e-02 3.64368941e+02] [-1.96626869e-02 9.99806386e-01 7.54960187e-04 -2.26281616e+01] [ 1.06648715e-02 -5.45322692e-04 9.99942980e-01 -4.40945735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.980371743 meters Centerline goodness [0,1] 0.9729237673857357 Centerline is valid? [True, True] Translation: X:364.40, Y:-22.64, Z:-4.41 [[ 9.99778331e-01 1.80148348e-02 -1.08974880e-02 3.64395687e+02] [-1.80074970e-02 9.99837555e-01 7.71099883e-04 -2.26371319e+01] [ 1.09096089e-02 -5.74692472e-04 9.99940323e-01 -4.41159631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.010371743 meters Centerline goodness [0,1] 0.9743384121892542 Centerline is valid? [True, True] Translation: X:364.42, Y:-22.63, Z:-4.41 [[ 9.99791618e-01 1.73161919e-02 -1.08106096e-02 3.64424443e+02] [-1.73089366e-02 9.99849897e-01 7.64339097e-04 -2.26342549e+01] [ 1.08222224e-02 -5.77059666e-04 9.99941272e-01 -4.41016523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.040371743 meters Centerline goodness [0,1] 0.9738018899763753 Centerline is valid? [True, True] Translation: X:364.45, Y:-22.64, Z:-4.41 [[ 9.99799075e-01 1.67357692e-02 -1.10328793e-02 3.64452812e+02] [-1.67281862e-02 9.99859770e-01 7.79237995e-04 -2.26363380e+01] [ 1.10443733e-02 -5.94521367e-04 9.99938832e-01 -4.40975738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.070371743 meters Centerline goodness [0,1] 0.9732671174978867 Centerline is valid? [True, True] Translation: X:364.48, Y:-22.64, Z:-4.41 [[ 9.99822267e-01 1.53772060e-02 -1.09076462e-02 3.64481244e+02] [-1.53697225e-02 9.99881583e-01 7.69580844e-04 -2.26408628e+01] [ 1.09181886e-02 -6.01796568e-04 9.99940214e-01 -4.41002244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.100371743 meters Centerline goodness [0,1] 0.9719702868205635 Centerline is valid? [True, True] Translation: X:364.51, Y:-22.64, Z:-4.41 [[ 9.99830106e-01 1.48684048e-02 -1.08944346e-02 3.64510175e+02] [-1.48609181e-02 9.99889276e-01 7.67834756e-04 -2.26433826e+01] [ 1.09046448e-02 -6.05803005e-04 9.99940359e-01 -4.41036719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.130371743 meters Centerline goodness [0,1] 0.9736375532947782 Centerline is valid? [True, True] Translation: X:364.54, Y:-22.65, Z:-4.41 [[ 9.99834611e-01 1.43326526e-02 -1.11949188e-02 3.64538721e+02] [-1.43247231e-02 9.99897085e-01 7.88186081e-04 -2.26464584e+01] [ 1.12050635e-02 -6.27691612e-04 9.99937024e-01 -4.41004874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.160371743 meters Centerline goodness [0,1] 0.972924988903684 Centerline is valid? [True, True] Translation: X:364.57, Y:-22.65, Z:-4.41 [[ 9.99837458e-01 1.38340934e-02 -1.15618059e-02 3.64566694e+02] [-1.38256156e-02 9.99904091e-01 8.12863458e-04 -2.26511563e+01] [ 1.15719423e-02 -6.52882249e-04 9.99932830e-01 -4.41118333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.190371743 meters Centerline goodness [0,1] 0.9738186731979224 Centerline is valid? [True, True] Translation: X:364.60, Y:-22.65, Z:-4.41 [[ 9.99840268e-01 1.40185209e-02 -1.10869277e-02 3.64595113e+02] [-1.40107448e-02 9.99901541e-01 7.78742289e-04 -2.26533568e+01] [ 1.10967529e-02 -6.23281785e-04 9.99938235e-01 -4.41120093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.220371743 meters Centerline goodness [0,1] 0.9717464129953859 Centerline is valid? [True, True] Translation: X:364.62, Y:-22.66, Z:-4.41 [[ 9.99842737e-01 1.36768742e-02 -1.12891155e-02 3.64623076e+02] [-1.36688028e-02 9.99906264e-01 7.91823884e-04 -2.26566560e+01] [ 1.12988870e-02 -6.37390666e-04 9.99935962e-01 -4.41182000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.250371743 meters Centerline goodness [0,1] 0.9721334902488231 Centerline is valid? [True, True] Translation: X:364.65, Y:-22.66, Z:-4.41 [[ 9.99847111e-01 1.36199990e-02 -1.09658483e-02 3.64651746e+02] [-1.36123878e-02 9.99907052e-01 7.68418963e-04 -2.26576721e+01] [ 1.09752949e-02 -6.19030100e-04 9.99939578e-01 -4.41124091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.280371743 meters Centerline goodness [0,1] 0.9718773057868663 Centerline is valid? [True, True] Translation: X:364.68, Y:-22.66, Z:-4.41 [[ 9.99846448e-01 1.33917563e-02 -1.13022554e-02 3.64678960e+02] [-1.33836691e-02 9.99910122e-01 7.90871315e-04 -2.26623188e+01] [ 1.13118307e-02 -6.39484229e-04 9.99935815e-01 -4.41203195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.310371743 meters Centerline goodness [0,1] 0.9736331829869747 Centerline is valid? [True, True] Translation: X:364.71, Y:-22.66, Z:-4.41 [[ 9.99851076e-01 1.27177167e-02 -1.16655810e-02 3.64708049e+02] [-1.27090644e-02 9.99918904e-01 8.15531753e-04 -2.26629928e+01] [ 1.16750067e-02 -6.67151680e-04 9.99931622e-01 -4.41184480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.340371743 meters Centerline goodness [0,1] 0.9726957435627955 Centerline is valid? [True, True] Translation: X:364.74, Y:-22.67, Z:-4.41 [[ 9.99853368e-01 1.20217269e-02 -1.21951194e-02 3.64735916e+02] [-1.20122375e-02 9.99927488e-01 8.51084043e-04 -2.26670092e+01] [ 1.22044666e-02 -7.04468577e-04 9.99925275e-01 -4.41280850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.370371743 meters Centerline goodness [0,1] 0.9725305976280255 Centerline is valid? [True, True] Translation: X:364.76, Y:-22.67, Z:-4.41 [[ 9.99861247e-01 1.12040488e-02 -1.23270663e-02 3.64764682e+02] [-1.11943003e-02 9.99936972e-01 8.59537596e-04 -2.26671974e+01] [ 1.23359197e-02 -7.21425450e-04 9.99923649e-01 -4.41237194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.400371743 meters Centerline goodness [0,1] 0.9736387390424814 Centerline is valid? [True, True] Translation: X:364.79, Y:-22.67, Z:-4.41 [[ 9.99876525e-01 9.76840875e-03 -1.23090421e-02 3.64792009e+02] [-9.75859578e-03 9.99952017e-01 8.57026883e-04 -2.26730890e+01] [ 1.23168233e-02 -7.36802095e-04 9.99923874e-01 -4.41202767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.430371743 meters Centerline goodness [0,1] 0.971710388247639 Centerline is valid? [True, True] Translation: X:364.82, Y:-22.68, Z:-4.41 [[ 9.99898303e-01 7.69365056e-03 -1.20079479e-02 3.64821036e+02] [-7.68416848e-03 9.99970127e-01 8.35588500e-04 -2.26779803e+01] [ 1.20140179e-02 -7.43232429e-04 9.99927553e-01 -4.41165038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.460371743 meters Centerline goodness [0,1] 0.9717607973421927 Centerline is valid? [True, True] Translation: X:364.85, Y:-22.68, Z:-4.41 [[ 9.99904704e-01 6.59944795e-03 -1.21256352e-02 3.64848130e+02] [-6.58971880e-03 9.99977933e-01 8.42140871e-04 -2.26830594e+01] [ 1.21309253e-02 -7.62156092e-04 9.99926127e-01 -4.41251778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.490371743 meters Centerline goodness [0,1] 0.9719657616353656 Centerline is valid? [True, True] Translation: X:364.88, Y:-22.69, Z:-4.41 [[ 9.99915278e-01 5.48354053e-03 -1.18054126e-02 3.64876435e+02] [-5.47425688e-03 9.99984681e-01 8.18560448e-04 -2.26856725e+01] [ 1.18097204e-02 -7.53865237e-04 9.99929979e-01 -4.41262716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.520371743 meters Centerline goodness [0,1] 0.9700880624176376 Centerline is valid? [True, True] Translation: X:364.90, Y:-22.69, Z:-4.41 [[ 9.99919086e-01 3.19723564e-03 -1.23125634e-02 3.64904718e+02] [-3.18697242e-03 9.99994558e-01 8.53087546e-04 -2.26921322e+01] [ 1.23152239e-02 -8.13778720e-04 9.99923834e-01 -4.41302582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.550371743 meters Centerline goodness [0,1] 0.9690227334861518 Centerline is valid? [True, True] Translation: X:364.93, Y:-22.70, Z:-4.41 [[ 9.99919918e-01 2.32351723e-05 -1.26553122e-02 3.64934910e+02] [-1.21344453e-05 9.99999615e-01 8.77235549e-04 -2.26986367e+01] [ 1.26553277e-02 -8.77011733e-04 9.99919534e-01 -4.41396992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.580371743 meters Centerline goodness [0,1] 0.9711538461538461 Centerline is valid? [True, True] Translation: X:364.96, Y:-22.70, Z:-4.41 [[ 9.99919614e-01 -1.24449128e-03 -1.26180889e-02 3.64963312e+02] [ 1.25561055e-03 9.99998830e-01 8.73333500e-04 -2.27010338e+01] [ 1.26169873e-02 -8.89106702e-04 9.99920007e-01 -4.41309898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61037174300003 meters Centerline goodness [0,1] 0.968388766014272 Centerline is valid? [True, True] Translation: X:364.99, Y:-22.71, Z:-4.41 [[ 9.99911492e-01 -3.85376848e-03 -1.27340758e-02 3.64991648e+02] [ 3.86530029e-03 9.99992142e-01 8.81099817e-04 -2.27082949e+01] [ 1.27305801e-02 -9.30242859e-04 9.99918530e-01 -4.41347263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.640371743 meters Centerline goodness [0,1] 0.9696102594093321 Centerline is valid? [True, True] Translation: X:365.02, Y:-22.71, Z:-4.41 [[ 9.99907323e-01 -5.18729377e-03 -1.25871777e-02 3.65021287e+02] [ 5.19866018e-03 9.99986108e-01 8.70463199e-04 -2.27086290e+01] [ 1.25824874e-02 -9.35818987e-04 9.99920399e-01 -4.41212766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.670371743 meters Centerline goodness [0,1] 0.9690503168408242 Centerline is valid? [True, True] Translation: X:365.05, Y:-22.71, Z:-4.41 [[ 9.99894416e-01 -6.86335077e-03 -1.28082417e-02 3.65050606e+02] [ 6.87525069e-03 9.99975973e-01 8.85282445e-04 -2.27126594e+01] [ 1.28018580e-02 -9.73248846e-04 9.99917579e-01 -4.41271108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.700371743 meters Centerline goodness [0,1] 0.9686027927321669 Centerline is valid? [True, True] Translation: X:365.08, Y:-22.72, Z:-4.41 [[ 9.99853306e-01 -1.02305335e-02 -1.37369227e-02 3.65080349e+02] [ 1.02445397e-02 9.99947072e-01 9.49617414e-04 -2.27182348e+01] [ 1.37264805e-02 -1.09020656e-03 9.99905193e-01 -4.41271550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.730371743 meters Centerline goodness [0,1] 0.9678361344537815 Centerline is valid? [True, True] Translation: X:365.11, Y:-22.72, Z:-4.41 [[ 9.99812977e-01 -1.33430857e-02 -1.39990239e-02 3.65110888e+02] [ 1.33579370e-02 9.99910310e-01 9.67914624e-04 -2.27227869e+01] [ 1.39848534e-02 -1.15473168e-03 9.99901540e-01 -4.41251273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.760371743 meters Centerline goodness [0,1] 0.9681527321714237 Centerline is valid? [True, True] Translation: X:365.14, Y:-22.72, Z:-4.41 [[ 9.99785792e-01 -1.50960532e-02 -1.41590740e-02 3.65141371e+02] [ 1.51114201e-02 9.99885337e-01 9.78935890e-04 -2.27235178e+01] [ 1.41426724e-02 -1.19268991e-03 9.99899276e-01 -4.41216168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.790371743 meters Centerline goodness [0,1] 0.966183574879227 Centerline is valid? [True, True] Translation: X:365.17, Y:-22.73, Z:-4.41 [[ 9.99728213e-01 -1.84305022e-02 -1.42764429e-02 3.65170504e+02] [ 1.84464662e-02 9.99829362e-01 9.87324345e-04 -2.27323737e+01] [ 1.42558099e-02 -1.25040592e-03 9.99897599e-01 -4.41305244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.820371743 meters Centerline goodness [0,1] 0.9633823529411765 Centerline is valid? [True, True] Translation: X:365.20, Y:-22.74, Z:-4.41 [[ 9.99680621e-01 -2.06775633e-02 -1.45291192e-02 3.65201446e+02] [ 2.06943371e-02 9.99785344e-01 1.00509105e-03 -2.27357842e+01] [ 1.45052176e-02 -1.30544054e-03 9.99893942e-01 -4.41377868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.850371743 meters Centerline goodness [0,1] 0.9648516096579477 Centerline is valid? [True, True] Translation: X:365.23, Y:-22.74, Z:-4.41 [[ 9.99612111e-01 -2.37891771e-02 -1.44811257e-02 3.65231889e+02] [ 2.38061637e-02 9.99716091e-01 1.00174527e-03 -2.27376005e+01] [ 1.44531837e-02 -1.34609675e-03 9.99894641e-01 -4.41230985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880371743 meters Centerline goodness [0,1] 0.9656898836695627 Centerline is valid? [True, True] Translation: X:365.26, Y:-22.74, Z:-4.41 [[ 9.99574397e-01 -2.55902744e-02 -1.40058339e-02 3.65263393e+02] [ 2.56063495e-02 9.99671633e-01 9.69588390e-04 -2.27393239e+01] [ 1.39764228e-02 -1.32781401e-03 9.99901443e-01 -4.41180290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.910371743 meters Centerline goodness [0,1] 0.9578542450549682 Centerline is valid? [True, True] Translation: X:365.29, Y:-22.75, Z:-4.41 [[ 9.99494575e-01 -2.84419024e-02 -1.42004147e-02 3.65292422e+02] [ 2.84587154e-02 9.99594485e-01 9.83269187e-04 -2.27485894e+01] [ 1.41666902e-02 -1.38689778e-03 9.99898686e-01 -4.41283965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940371743 meters Centerline goodness [0,1] 0.9563673795218688 Centerline is valid? [True, True] Translation: X:365.32, Y:-22.75, Z:-4.41 [[ 9.99457995e-01 -2.92473774e-02 -1.51098196e-02 3.65323251e+02] [ 2.92665195e-02 9.99571095e-01 1.04725693e-03 -2.27512490e+01] [ 1.50727094e-02 -1.48890114e-03 9.99885292e-01 -4.41298024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.970371743 meters Centerline goodness [0,1] 0.9594049420070601 Centerline is valid? [True, True] Translation: X:365.35, Y:-22.75, Z:-4.41 [[ 9.99410503e-01 -3.05691227e-02 -1.56260833e-02 3.65354549e+02] [ 3.05897637e-02 9.99531436e-01 1.08357408e-03 -2.27501290e+01] [ 1.55856376e-02 -1.56093351e-03 9.99877318e-01 -4.41274639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000371743 meters Centerline goodness [0,1] 0.9550986151909358 Centerline is valid? [True, True] Translation: X:365.39, Y:-22.75, Z:-4.41 [[ 9.99398784e-01 -3.08130774e-02 -1.58941509e-02 3.65385250e+02] [ 3.08344963e-02 9.99523894e-01 1.10424023e-03 -2.27544747e+01] [ 1.58525586e-02 -1.59366448e-03 9.99873070e-01 -4.41348933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.030371743 meters Centerline goodness [0,1] 0.9592081205472542 Centerline is valid? [True, True] Translation: X:365.42, Y:-22.75, Z:-4.41 [[ 9.99377218e-01 -3.14217070e-02 -1.60577692e-02 3.65417618e+02] [ 3.14436634e-02 9.99504902e-01 1.11663244e-03 -2.27512866e+01] [ 1.60147326e-02 -1.62085211e-03 9.99870442e-01 -4.41286113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060371743 meters Centerline goodness [0,1] 0.9576599326599327 Centerline is valid? [True, True] Translation: X:365.45, Y:-22.75, Z:-4.41 [[ 9.99367379e-01 -3.15581937e-02 -1.63988245e-02 3.65448710e+02] [ 3.15811241e-02 9.99500540e-01 1.14115525e-03 -2.27540480e+01] [ 1.63546211e-02 -1.65832665e-03 9.99864879e-01 -4.41309673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.090371743 meters Centerline goodness [0,1] 0.954378064434671 Centerline is valid? [True, True] Translation: X:365.48, Y:-22.75, Z:-4.41 [[ 9.99336771e-01 -3.21929668e-02 -1.70185554e-02 3.65479508e+02] [ 3.22177562e-02 9.99480172e-01 1.18437998e-03 -2.27541281e+01] [ 1.69715800e-02 -1.73189413e-03 9.99854472e-01 -4.41317475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120371743 meters Centerline goodness [0,1] 0.9605956856896806 Centerline is valid? [True, True] Translation: X:365.51, Y:-22.75, Z:-4.41 [[ 9.99337846e-01 -3.20213722e-02 -1.72772023e-02 3.65511939e+02] [ 3.20469233e-02 9.99485640e-01 1.20399206e-03 -2.27520693e+01] [ 1.72297622e-02 -1.75687601e-03 9.99850013e-01 -4.41269440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.150371743 meters Centerline goodness [0,1] 0.9497977236045025 Centerline is valid? [True, False] Translation: X:365.51, Y:-22.75, Z:-4.41 [[ 9.99438576e-01 -2.87995665e-02 -1.71206573e-02 3.65511504e+02] [ 2.88882025e-02 9.99570380e-01 4.95251438e-03 -2.27528186e+01] [ 1.69706717e-02 -5.44431894e-03 9.99841165e-01 -4.41293028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180371743 meters Centerline goodness [0,1] 0.9640265067844745 Centerline is valid? [False, True] Translation: X:365.51, Y:-22.75, Z:-4.41 [[ 9.99431758e-01 -2.90510420e-02 -1.70938090e-02 3.65511512e+02] [ 2.91283423e-02 9.99566471e-01 4.29060587e-03 -2.27506888e+01] [ 1.69617517e-02 -4.78608208e-03 9.99844684e-01 -4.41286039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.210371743 meters Centerline goodness [0,1] 0.9610736842105263 Centerline is valid? [True, True] Translation: X:365.54, Y:-22.75, Z:-4.41 [[ 9.99407238e-01 -2.96233610e-02 -1.75393484e-02 3.65543091e+02] [ 2.96504303e-02 9.99559503e-01 1.28526323e-03 -2.27519933e+01] [ 1.74935486e-02 -1.80455060e-03 9.99845348e-01 -4.41266985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240371743 meters Centerline goodness [0,1] 0.9577595283217519 Centerline is valid? [True, True] Translation: X:365.57, Y:-22.75, Z:-4.41 [[ 9.99365591e-01 -3.08608060e-02 -1.77771257e-02 3.65573273e+02] [ 3.08888121e-02 9.99521978e-01 1.30291642e-03 -2.27532921e+01] [ 1.77284188e-02 -1.85120413e-03 9.99841125e-01 -4.41188473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.270371743 meters Centerline goodness [0,1] 0.952967125301964 Centerline is valid? [True, True] Translation: X:365.60, Y:-22.76, Z:-4.41 [[ 9.99354933e-01 -3.13088416e-02 -1.75918588e-02 3.65603899e+02] [ 3.13363862e-02 9.99508060e-01 1.29222650e-03 -2.27560212e+01] [ 1.75427465e-02 -1.84265820e-03 9.99844416e-01 -4.41234039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300371743 meters Centerline goodness [0,1] 0.9501166186884075 Centerline is valid? [True, True] Translation: X:365.63, Y:-22.76, Z:-4.41 [[ 9.99314315e-01 -3.22826238e-02 -1.81309497e-02 3.65634918e+02] [ 3.23120361e-02 9.99476943e-01 1.33154344e-03 -2.27572533e+01] [ 1.80784805e-02 -1.91647832e-03 9.99834734e-01 -4.41228493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.330371743 meters Centerline goodness [0,1] 0.9435487257001302 Centerline is valid? [True, False] Translation: X:365.63, Y:-22.76, Z:-4.41 [[ 9.99400385e-01 -2.96079579e-02 -1.79510492e-02 3.65634243e+02] [ 2.96944732e-02 9.99548565e-01 4.57221669e-03 -2.27578056e+01] [ 1.78075714e-02 -5.10252207e-03 9.99828413e-01 -4.41230677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36037174300003 meters Centerline goodness [0,1] 0.9579575149624884 Centerline is valid? [False, True] Translation: X:365.63, Y:-22.76, Z:-4.41 [[ 9.99385253e-01 -3.00877634e-02 -1.79956462e-02 3.65634229e+02] [ 3.01580942e-02 9.99538478e-01 3.64962165e-03 -2.27552407e+01] [ 1.78775319e-02 -4.19009245e-03 9.99831404e-01 -4.41207723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.390371743 meters Centerline goodness [0,1] 0.9577651515151515 Centerline is valid? [True, True] Translation: X:365.67, Y:-22.76, Z:-4.41 [[ 9.99347694e-01 -3.12320749e-02 -1.81312817e-02 3.65665205e+02] [ 3.12626915e-02 9.99510211e-01 1.40756099e-03 -2.27563412e+01] [ 1.80784402e-02 -1.97347549e-03 9.99834624e-01 -4.41123602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.420371743 meters Centerline goodness [0,1] 0.9598693223732743 Centerline is valid? [True, True] Translation: X:365.70, Y:-22.75, Z:-4.41 [[ 9.99307373e-01 -3.25538672e-02 -1.80283217e-02 3.65696632e+02] [ 3.25843558e-02 9.99468008e-01 1.39991698e-03 -2.27527958e+01] [ 1.79731581e-02 -1.98638861e-03 9.99836497e-01 -4.41031051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.450371743 meters Centerline goodness [0,1] 0.9551268521254591 Centerline is valid? [True, True] Translation: X:365.73, Y:-22.76, Z:-4.41 [[ 9.99280545e-01 -3.32596794e-02 -1.82259783e-02 3.65727717e+02] [ 3.32909798e-02 9.99444698e-01 1.41655733e-03 -2.27563200e+01] [ 1.81687431e-02 -2.02229885e-03 9.99832890e-01 -4.41114395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.480371743 meters Centerline goodness [0,1] 0.9553671243856652 Centerline is valid? [True, True] Translation: X:365.76, Y:-22.76, Z:-4.41 [[ 9.99230883e-01 -3.50340916e-02 -1.76140792e-02 3.65758769e+02] [ 3.50635992e-02 9.99384145e-01 1.36909928e-03 -2.27564177e+01] [ 1.75552664e-02 -1.98565929e-03 9.99843923e-01 -4.40905876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.510371743 meters Centerline goodness [0,1] 0.9371876779049908 Centerline is valid? [True, False] Translation: X:365.76, Y:-22.76, Z:-4.41 [[ 9.99217991e-01 -3.53773320e-02 -1.76592987e-02 3.65758525e+02] [ 3.54010355e-02 9.99372655e-01 1.03137153e-03 -2.27558458e+01] [ 1.76117330e-02 -1.65572245e-03 9.99843530e-01 -4.40858343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.540371743 meters Centerline goodness [0,1] 0.9533061603767607 Centerline is valid? [False, True] Translation: X:365.76, Y:-22.76, Z:-4.41 [[ 9.99209047e-01 -3.56115293e-02 -1.76946231e-02 3.65758501e+02] [ 3.56320640e-02 9.99364618e-01 8.46494128e-04 -2.27555419e+01] [ 1.76532353e-02 -1.47632053e-03 9.99843080e-01 -4.40840252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.570371743 meters Centerline goodness [0,1] 0.9406786814671 Centerline is valid? [True, False] Translation: X:365.76, Y:-22.76, Z:-4.41 [[ 9.99186728e-01 -3.62177469e-02 -1.77244833e-02 3.65758642e+02] [ 3.62346428e-02 9.99343109e-01 6.32934599e-04 -2.27556064e+01] [ 1.76899168e-02 -1.27466017e-03 9.99842709e-01 -4.40856559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.600371743 meters Centerline goodness [0,1] 0.9377030505041981 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.76, Z:-4.41 [[ 9.99168872e-01 -3.66607482e-02 -1.78200813e-02 3.65759103e+02] [ 3.66759712e-02 9.99327071e-01 5.28096245e-04 -2.27557102e+01] [ 1.77887292e-02 -1.18122612e-03 9.99841070e-01 -4.40894223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.630371743 meters Centerline goodness [0,1] 0.9388819665899347 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.76, Z:-4.41 [[ 9.99169006e-01 -3.66735368e-02 -1.77862283e-02 3.65759231e+02] [ 3.66895557e-02 9.99326546e-01 5.75055162e-04 -2.27555638e+01] [ 1.77531608e-02 -1.22714611e-03 9.99841647e-01 -4.40910132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.660371743 meters Centerline goodness [0,1] 0.9363185555649741 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.76, Z:-4.41 [[ 9.99253563e-01 -3.45160131e-02 -1.73482346e-02 3.65757792e+02] [ 3.45749894e-02 9.99397264e-01 3.11110906e-03 -2.27563736e+01] [ 1.72303951e-02 -3.70860184e-03 9.99844668e-01 -4.40862905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.690371743 meters Centerline goodness [0,1] 0.9139753065503293 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.76, Z:-4.41 [[ 9.99349716e-01 -3.17673675e-02 -1.70581384e-02 3.65756845e+02] [ 3.18775299e-02 9.99472395e-01 6.22538816e-03 -2.27562708e+01] [ 1.68513743e-02 -6.76511121e-03 9.99835119e-01 -4.40843074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.720371743 meters Centerline goodness [0,1] 0.9139753065503293 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.76, Z:-4.41 [[ 9.99349716e-01 -3.17673675e-02 -1.70581384e-02 3.65756845e+02] [ 3.18775299e-02 9.99472395e-01 6.22538816e-03 -2.27562708e+01] [ 1.68513743e-02 -6.76511121e-03 9.99835119e-01 -4.40843074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.750371743 meters Centerline goodness [0,1] 0.8864410004862888 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.76, Z:-4.41 [[ 9.99351830e-01 -3.16739713e-02 -1.71078569e-02 3.65757056e+02] [ 3.17820602e-02 9.99476309e-01 6.08352800e-03 -2.27554566e+01] [ 1.69062082e-02 -6.62330778e-03 9.99835142e-01 -4.40844578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.780371743 meters Centerline goodness [0,1] 0.9246868994065345 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.75, Z:-4.41 [[ 9.99444081e-01 -2.87254286e-02 -1.69227548e-02 3.65756061e+02] [ 2.88820200e-02 9.99541562e-01 9.08269379e-03 -2.27546441e+01] [ 1.66540925e-02 -9.56640788e-03 9.99815546e-01 -4.40798083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.810371743 meters Centerline goodness [0,1] 0.8985375544190372 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.75, Z:-4.41 [[ 9.99447764e-01 -2.84902326e-02 -1.71018371e-02 3.65756421e+02] [ 2.86466428e-02 9.99549339e-01 8.97154842e-03 -2.27536990e+01] [ 1.68385285e-02 -9.45650423e-03 9.99813502e-01 -4.40785952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.840371743 meters Centerline goodness [0,1] 0.8978054164190509 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.75, Z:-4.41 [[ 9.99454550e-01 -2.82122906e-02 -1.71659084e-02 3.65756580e+02] [ 2.83659732e-02 9.99559079e-01 8.77610438e-03 -2.27525213e+01] [ 1.69107456e-02 -9.25824515e-03 9.99814139e-01 -4.40769781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.870371743 meters Centerline goodness [0,1] 0.9131347397434538 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.75, Z:-4.41 [[ 9.99552597e-01 -2.45409960e-02 -1.70981124e-02 3.65755932e+02] [ 2.47454150e-02 9.99623569e-01 1.18484367e-02 -2.27506135e+01] [ 1.68009037e-02 -1.22662356e-02 9.99783611e-01 -4.40712189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.900371743 meters Centerline goodness [0,1] 0.9343821461844668 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.75, Z:-4.41 [[ 9.99560052e-01 -2.41326314e-02 -1.72429253e-02 3.65756304e+02] [ 2.43344471e-02 9.99636665e-01 1.15918864e-02 -2.27489161e+01] [ 1.69569176e-02 -1.20063836e-02 9.99784132e-01 -4.40701297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.930371743 meters Centerline goodness [0,1] 0.9334506818230017 Centerline is valid? [False, False] Translation: X:365.76, Y:-22.75, Z:-4.41 [[ 9.99656754e-01 -1.96703085e-02 -1.73047028e-02 3.65756429e+02] [ 1.99309407e-02 9.99688529e-01 1.50200634e-02 -2.27464485e+01] [ 1.70038636e-02 -1.53598069e-02 9.99737438e-01 -4.40698601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.960371743 meters Centerline goodness [0,1] 0.9391354295196358 Centerline is valid? [False, False] Translation: X:365.75, Y:-22.74, Z:-4.41 [[ 9.99839376e-01 -1.09962949e-02 -1.41528777e-02 3.65749663e+02] [ 1.11491967e-02 9.99879840e-01 1.07704069e-02 -2.27434299e+01] [ 1.40327425e-02 -1.09264701e-02 9.99841835e-01 -4.40990696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.990371743 meters Centerline goodness [0,1] 0.9482417512285404 Centerline is valid? [False, False] Translation: X:365.75, Y:-22.74, Z:-4.41 [[ 9.99846057e-01 -1.01754165e-02 -1.42941973e-02 3.65750101e+02] [ 1.03271303e-02 9.99890698e-01 1.05802452e-02 -2.27412304e+01] [ 1.41849766e-02 -1.07262345e-02 9.99841855e-01 -4.40971227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.020371743 meters Centerline goodness [0,1] 0.9673101070508864 Centerline is valid? [False, True] Translation: X:365.75, Y:-22.74, Z:-4.41 [[ 9.99881925e-01 -5.34017512e-03 -1.44090009e-02 3.65750297e+02] [ 5.54334582e-03 9.99885261e-01 1.40973614e-02 -2.27384040e+01] [ 1.43320652e-02 -1.41755709e-02 9.99796802e-01 -4.40930769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.050371743 meters Centerline goodness [0,1] 0.970570071764731 Centerline is valid? [True, True] Translation: X:365.78, Y:-22.73, Z:-4.40 [[ 9.99882233e-01 -5.08158522e-04 -1.53382313e-02 3.65781157e+02] [ 5.27558950e-04 9.99999066e-01 1.26082158e-03 -2.27325835e+01] [ 1.53375763e-02 -1.26876492e-03 9.99881567e-01 -4.40471116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.080371743 meters Centerline goodness [0,1] 0.9714152225620115 Centerline is valid? [True, True] Translation: X:365.81, Y:-22.73, Z:-4.41 [[ 9.99852317e-01 8.44146684e-03 -1.49695036e-02 3.65810400e+02] [-8.42398731e-03 9.99963761e-01 1.23034791e-03 -2.27323776e+01] [ 1.49793471e-02 -1.10406330e-03 9.99887194e-01 -4.40578415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11037174300003 meters Centerline goodness [0,1] 0.9736752282617971 Centerline is valid? [True, True] Translation: X:365.84, Y:-22.72, Z:-4.40 [[ 9.99813987e-01 1.20755444e-02 -1.50390045e-02 3.65841050e+02] [-1.20583164e-02 9.99926532e-01 1.23570686e-03 -2.27249902e+01] [ 1.50528215e-02 -1.05413193e-03 9.99886144e-01 -4.40350146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.140371743 meters Centerline goodness [0,1] 0.9740665886607808 Centerline is valid? [True, True] Translation: X:365.87, Y:-22.73, Z:-4.40 [[ 9.99694078e-01 2.01785652e-02 -1.43029695e-02 3.65870910e+02] [-2.01638125e-02 9.99795999e-01 1.17491930e-03 -2.27256110e+01] [ 1.43237598e-02 -8.86157477e-04 9.99897017e-01 -4.40489180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.170371743 meters Centerline goodness [0,1] 0.9758218857653214 Centerline is valid? [True, True] Translation: X:365.90, Y:-22.72, Z:-4.40 [[ 9.99631629e-01 2.34842109e-02 -1.36050472e-02 3.65900936e+02] [-2.34711710e-02 9.99723890e-01 1.11736198e-03 -2.27232224e+01] [ 1.36275311e-02 -7.97623990e-04 9.99906823e-01 -4.40438969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.200371743 meters Centerline goodness [0,1] 0.9766328166755746 Centerline is valid? [True, True] Translation: X:365.93, Y:-22.72, Z:-4.40 [[ 9.99461763e-01 2.96239383e-02 -1.40928075e-02 3.65932048e+02] [-2.96105529e-02 9.99560841e-01 1.15756095e-03 -2.27202406e+01] [ 1.41209100e-02 -7.39642087e-04 9.99900021e-01 -4.40353227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.230371743 meters Centerline goodness [0,1] 0.9765019741756483 Centerline is valid? [True, True] Translation: X:365.96, Y:-22.72, Z:-4.41 [[ 9.99389991e-01 3.21345939e-02 -1.36753007e-02 3.65960240e+02] [-3.21222433e-02 9.99483318e-01 1.12188596e-03 -2.27238014e+01] [ 1.37042862e-02 -6.81920267e-04 9.99905859e-01 -4.40535874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.260371743 meters Centerline goodness [0,1] 0.9784221894313637 Centerline is valid? [True, True] Translation: X:365.99, Y:-22.72, Z:-4.40 [[ 9.99305738e-01 3.46323699e-02 -1.37346700e-02 3.65989589e+02] [-3.46201575e-02 9.99399908e-01 1.12600022e-03 -2.27225402e+01] [ 1.37654240e-02 -6.49722038e-04 9.99905041e-01 -4.40403597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.290371743 meters Centerline goodness [0,1] 0.9781884924022537 Centerline is valid? [True, True] Translation: X:366.02, Y:-22.73, Z:-4.40 [[ 9.99182140e-01 3.82724029e-02 -1.30489304e-02 3.66017926e+02] [-3.82616993e-02 9.99267181e-01 1.06901616e-03 -2.27256306e+01] [ 1.30802817e-02 -5.68867608e-04 9.99914288e-01 -4.40461640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.320371743 meters Centerline goodness [0,1] 0.9798208674461855 Centerline is valid? [True, True] Translation: X:366.05, Y:-22.73, Z:-4.40 [[ 9.99122742e-01 3.99543257e-02 -1.25458247e-02 3.66046904e+02] [-3.99445789e-02 9.99201369e-01 1.02661818e-03 -2.27277382e+01] [ 1.25768230e-02 -5.24579892e-04 9.99920771e-01 -4.40443164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.350371743 meters Centerline goodness [0,1] 0.9804544291925995 Centerline is valid? [True, True] Translation: X:366.08, Y:-22.73, Z:-4.41 [[ 9.99021044e-01 4.26962059e-02 -1.15752602e-02 3.66075619e+02] [-4.26880933e-02 9.99087999e-01 9.47137339e-04 -2.27325200e+01] [ 1.16051427e-02 -4.52084348e-04 9.99932556e-01 -4.40569525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380371743 meters Centerline goodness [0,1] 0.9802704547393567 Centerline is valid? [True, True] Translation: X:366.10, Y:-22.73, Z:-4.41 [[ 9.98945059e-01 4.44272834e-02 -1.16183415e-02 3.66104696e+02] [-4.44192424e-02 9.99012527e-01 9.49364423e-04 -2.27344187e+01] [ 1.16490464e-02 -4.32284973e-04 9.99932054e-01 -4.40564040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.410371743 meters Centerline goodness [0,1] 0.9802121800755651 Centerline is valid? [True, True] Translation: X:366.13, Y:-22.74, Z:-4.41 [[ 9.98913335e-01 4.51119343e-02 -1.17073551e-02 3.66132873e+02] [-4.51038264e-02 9.98981847e-01 9.55785276e-04 -2.27384635e+01] [ 1.17385526e-02 -4.26700143e-04 9.99931010e-01 -4.40645130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440371743 meters Centerline goodness [0,1] 0.9785148808263833 Centerline is valid? [True, True] Translation: X:366.16, Y:-22.75, Z:-4.41 [[ 9.98856953e-01 4.63670464e-02 -1.16139784e-02 3.66160705e+02] [-4.63591621e-02 9.98924387e-01 9.47310097e-04 -2.27452006e+01] [ 1.16454102e-02 -4.07812972e-04 9.99932107e-01 -4.40896233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.470371743 meters Centerline goodness [0,1] 0.9805947258552379 Centerline is valid? [True, True] Translation: X:366.19, Y:-22.75, Z:-4.41 [[ 9.98891477e-01 4.56693394e-02 -1.14073615e-02 3.66189552e+02] [-4.56616974e-02 9.98956528e-01 9.29605219e-04 -2.27482396e+01] [ 1.14379127e-02 -4.07695241e-04 9.99934502e-01 -4.40907836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500371743 meters Centerline goodness [0,1] 0.979690481238075 Centerline is valid? [True, True] Translation: X:366.22, Y:-22.75, Z:-4.41 [[ 9.98890615e-01 4.57330895e-02 -1.12260159e-02 3.66218499e+02] [-4.57257020e-02 9.98953615e-01 9.13996063e-04 -2.27528852e+01] [ 1.12560690e-02 -3.99664634e-04 9.99936569e-01 -4.41004129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.530371743 meters Centerline goodness [0,1] 0.9796347419834359 Centerline is valid? [True, True] Translation: X:366.25, Y:-22.76, Z:-4.41 [[ 9.98943275e-01 4.46704568e-02 -1.08112579e-02 3.66246057e+02] [-4.46635560e-02 9.99001699e-01 8.79015119e-04 -2.27610995e+01] [ 1.08397310e-02 -3.95217020e-04 9.99941170e-01 -4.41162982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560371743 meters Centerline goodness [0,1] 0.9784431644926309 Centerline is valid? [True, True] Translation: X:366.27, Y:-22.77, Z:-4.41 [[ 9.98992853e-01 4.36983710e-02 -1.01848983e-02 3.66274725e+02] [-4.36922020e-02 9.99044697e-01 8.27524254e-04 -2.27659511e+01] [ 1.02113301e-02 -3.81690180e-04 9.99947790e-01 -4.41238558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.590371743 meters Centerline goodness [0,1] 0.9779675020655467 Centerline is valid? [True, True] Translation: X:366.30, Y:-22.77, Z:-4.41 [[ 9.99106598e-01 4.11481410e-02 -9.63511641e-03 3.66303633e+02] [-4.11425053e-02 9.99152982e-01 7.82478498e-04 -2.27721715e+01] [ 9.65915283e-03 -3.85366602e-04 9.99953275e-01 -4.41173474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620371743 meters Centerline goodness [0,1] 0.9762903635901348 Centerline is valid? [True, True] Translation: X:366.33, Y:-22.78, Z:-4.41 [[ 9.99194867e-01 3.89775219e-02 -9.50635930e-03 3.66330896e+02] [-3.89719589e-02 9.99240008e-01 7.69808311e-04 -2.27798175e+01] [ 9.52913976e-03 -3.98707069e-04 9.99954517e-01 -4.41405969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.650371743 meters Centerline goodness [0,1] 0.9765776801554448 Centerline is valid? [True, True] Translation: X:366.36, Y:-22.78, Z:-4.41 [[ 9.99281263e-01 3.67132630e-02 -9.43892255e-03 3.66360027e+02] [-3.67076703e-02 9.99325753e-01 7.65138346e-04 -2.27840142e+01] [ 9.46064911e-03 -4.18107556e-04 9.99955160e-01 -4.41420170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680371743 meters Centerline goodness [0,1] 0.9753912619919948 Centerline is valid? [True, True] Translation: X:366.39, Y:-22.79, Z:-4.41 [[ 9.99457584e-01 3.15516771e-02 -9.43553885e-03 3.66389902e+02] [-3.15458585e-02 9.99502013e-01 7.64899386e-04 -2.27924212e+01] [ 9.45497393e-03 -4.66832320e-04 9.99955192e-01 -4.41478859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.710371743 meters Centerline goodness [0,1] 0.9733473684210526 Centerline is valid? [True, True] Translation: X:366.42, Y:-22.80, Z:-4.41 [[ 9.99624580e-01 2.56838848e-02 -9.54138726e-03 3.66419616e+02] [-2.56776665e-02 9.99669975e-01 7.73673899e-04 -2.28010063e+01] [ 9.55810931e-03 -5.28382886e-04 9.99954181e-01 -4.41489510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740371743 meters Centerline goodness [0,1] 0.9720366925938451 Centerline is valid? [True, True] Translation: X:366.45, Y:-22.81, Z:-4.42 [[ 9.99699498e-01 2.23960050e-02 -9.96655971e-03 3.66448265e+02] [-2.23890651e-02 9.99749007e-01 8.07368555e-04 -2.28085343e+01] [ 9.98214001e-03 -5.83983986e-04 9.99950007e-01 -4.41548769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.770371743 meters Centerline goodness [0,1] 0.9696267587833853 Centerline is valid? [True, True] Translation: X:366.48, Y:-22.82, Z:-4.42 [[ 9.99816513e-01 1.63615229e-02 -9.96195023e-03 3.66478262e+02] [-1.63542865e-02 9.99865934e-01 8.07441738e-04 -2.28169369e+01] [ 9.97382565e-03 -6.44372995e-04 9.99950053e-01 -4.41631891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800371743 meters Centerline goodness [0,1] 0.9694449123989218 Centerline is valid? [True, True] Translation: X:366.51, Y:-22.83, Z:-4.42 [[ 9.99857788e-01 1.36521263e-02 -9.90065351e-03 3.66507042e+02] [-1.36448505e-02 9.99906583e-01 8.02068140e-04 -2.28260802e+01] [ 9.91067855e-03 -6.66861140e-04 9.99950666e-01 -4.41744473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.830371743 meters Centerline goodness [0,1] 0.9685205058603202 Centerline is valid? [True, True] Translation: X:366.54, Y:-22.84, Z:-4.42 [[ 9.99926143e-01 7.71985125e-03 -9.38686171e-03 3.66536755e+02] [-7.71304865e-03 9.99969965e-01 7.60679989e-04 -2.28356656e+01] [ 9.39245211e-03 -6.88222486e-04 9.99955653e-01 -4.41787909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86037174300003 meters Centerline goodness [0,1] 0.9676490977459404 Centerline is valid? [True, True] Translation: X:366.57, Y:-22.84, Z:-4.42 [[ 9.99950334e-01 4.95534612e-03 -8.64722895e-03 3.66565135e+02] [-4.94947274e-03 9.99987506e-01 7.00488718e-04 -2.28423072e+01] [ 8.65059208e-03 -6.57654703e-04 9.99962367e-01 -4.41811461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.890371743 meters Centerline goodness [0,1] 0.9659782311206552 Centerline is valid? [True, True] Translation: X:366.59, Y:-22.85, Z:-4.42 [[ 9.99962226e-01 -3.39375493e-04 -8.68509887e-03 3.66594715e+02] [ 3.45497895e-04 9.99999693e-01 7.03441092e-04 -2.28494742e+01] [ 8.68485747e-03 -7.06415204e-04 9.99962036e-01 -4.41798582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.920371743 meters Centerline goodness [0,1] 0.9651226272467663 Centerline is valid? [True, True] Translation: X:366.62, Y:-22.85, Z:-4.42 [[ 9.99963717e-01 -2.21961432e-03 -8.22424563e-03 3.66623782e+02] [ 2.22515972e-03 9.99997303e-01 6.65185778e-04 -2.28543785e+01] [ 8.22274699e-03 -6.83461903e-04 9.99965959e-01 -4.41789709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.950371743 meters Centerline goodness [0,1] 0.9610531398937622 Centerline is valid? [True, True] Translation: X:366.65, Y:-22.86, Z:-4.42 [[ 9.99946133e-01 -7.03583323e-03 -7.63078577e-03 3.66654034e+02] [ 7.04075100e-03 9.99975023e-01 6.17791606e-04 -2.28622187e+01] [ 7.62624850e-03 -6.71484790e-04 9.99970694e-01 -4.41878775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.980371743 meters Centerline goodness [0,1] 0.9642640443561042 Centerline is valid? [True, True] Translation: X:366.68, Y:-22.86, Z:-4.42 [[ 9.99927605e-01 -9.06612719e-03 -7.91139110e-03 3.66684111e+02] [ 9.07147336e-03 9.99958648e-01 6.40132643e-04 -2.28611302e+01] [ 7.90526043e-03 -7.11854274e-04 9.99968500e-01 -4.41770404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.010371743 meters Centerline goodness [0,1] 0.9594852740516825 Centerline is valid? [True, True] Translation: X:366.71, Y:-22.87, Z:-4.42 [[ 9.99884523e-01 -1.27228263e-02 -8.31086108e-03 3.66713256e+02] [ 1.27288506e-02 9.99918759e-01 6.72372651e-04 -2.28685657e+01] [ 8.30163141e-03 -7.78082716e-04 9.99965238e-01 -4.41860020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.040371743 meters Centerline goodness [0,1] 0.9556924882629108 Centerline is valid? [True, True] Translation: X:366.74, Y:-22.87, Z:-4.42 [[ 9.99857428e-01 -1.49433672e-02 -7.86255780e-03 3.66743775e+02] [ 1.49488312e-02 9.99888057e-01 6.36623942e-04 -2.28723704e+01] [ 7.85216434e-03 -7.54069227e-04 9.99968887e-01 -4.41907024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.070371743 meters Centerline goodness [0,1] 0.9645763422818792 Centerline is valid? [True, True] Translation: X:366.78, Y:-22.87, Z:-4.42 [[ 9.99805928e-01 -1.79578889e-02 -8.10060561e-03 3.66775326e+02] [ 1.79637856e-02 9.99838423e-01 6.55755452e-04 -2.28667955e+01] [ 8.08752075e-03 -8.01145731e-04 9.99966975e-01 -4.41761573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.100371743 meters Centerline goodness [0,1] 0.9202572617596368 Centerline is valid? [True, False] Translation: X:366.78, Y:-22.87, Z:-4.42 [[ 9.99805046e-01 -1.79970905e-02 -8.12248156e-03 3.66775513e+02] [ 1.80040695e-02 9.99837604e-01 7.86914710e-04 -2.28668577e+01] [ 8.10700032e-03 -9.32999020e-04 9.99966702e-01 -4.41778809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.130371743 meters Centerline goodness [0,1] 0.9643928114580493 Centerline is valid? [False, True] Translation: X:366.78, Y:-22.87, Z:-4.42 [[ 9.99804104e-01 -1.79904474e-02 -8.25215713e-03 3.66775931e+02] [ 1.79984049e-02 9.99837619e-01 8.91030941e-04 -2.28668570e+01] [ 8.23478709e-03 -1.03938206e-03 9.99965553e-01 -4.41803696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.160371743 meters Centerline goodness [0,1] 0.9627593470247499 Centerline is valid? [True, True] Translation: X:366.81, Y:-22.87, Z:-4.42 [[ 9.99761750e-01 -1.99062088e-02 -8.95469821e-03 3.66807304e+02] [ 1.99137048e-02 9.99801422e-01 7.48711260e-04 -2.28690987e+01] [ 8.93801601e-03 -9.26854097e-04 9.99959626e-01 -4.41880008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.190371743 meters Centerline goodness [0,1] 0.9649897957036756 Centerline is valid? [True, True] Translation: X:366.84, Y:-22.87, Z:-4.42 [[ 9.99758053e-01 -1.99091961e-02 -9.35197300e-03 3.66839403e+02] [ 1.99173829e-02 9.99801323e-01 7.83079540e-04 -2.28705655e+01] [ 9.33452449e-03 -9.69156904e-04 9.99955963e-01 -4.41857989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.220371743 meters Centerline goodness [0,1] 0.9640630266262218 Centerline is valid? [True, True] Translation: X:366.87, Y:-22.87, Z:-4.42 [[ 9.99757254e-01 -2.01473153e-02 -8.91735508e-03 3.66872044e+02] [ 2.01547747e-02 9.99796593e-01 7.47415096e-04 -2.28711116e+01] [ 8.90048282e-03 -9.26960946e-04 9.99959960e-01 -4.41895863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.250371743 meters Centerline goodness [0,1] 0.9597487447742694 Centerline is valid? [True, True] Translation: X:366.90, Y:-22.87, Z:-4.42 [[ 9.99769186e-01 -1.94599018e-02 -9.10426301e-03 3.66901930e+02] [ 1.94676442e-02 9.99810197e-01 7.62559238e-04 -2.28746598e+01] [ 9.08769567e-03 -9.39621781e-04 9.99958265e-01 -4.41973231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.280371743 meters Centerline goodness [0,1] 0.942417702156193 Centerline is valid? [True, False] Translation: X:366.90, Y:-22.87, Z:-4.42 [[ 9.99831484e-01 -1.60716977e-02 -8.87157293e-03 3.66901367e+02] [ 1.61071038e-02 9.99862533e-01 3.93404726e-03 -2.28730537e+01] [ 8.80712656e-03 -4.07627966e-03 9.99952908e-01 -4.41977006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.310371743 meters Centerline goodness [0,1] 0.939006166733315 Centerline is valid? [False, False] Translation: X:366.90, Y:-22.87, Z:-4.42 [[ 9.99880981e-01 -1.28595274e-02 -8.52392811e-03 3.66900420e+02] [ 1.29218224e-02 9.99889907e-01 7.29391948e-03 -2.28727941e+01] [ 8.42919333e-03 -7.40319604e-03 9.99937069e-01 -4.41956909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.340371743 meters Centerline goodness [0,1] 0.9644132599470611 Centerline is valid? [False, True] Translation: X:366.90, Y:-22.87, Z:-4.42 [[ 9.99884577e-01 -1.24372217e-02 -8.72625048e-03 3.66901048e+02] [ 1.24956205e-02 9.99899680e-01 6.67000875e-03 -2.28693589e+01] [ 8.64241869e-03 -6.77827880e-03 9.99939680e-01 -4.41959470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.370371743 meters Centerline goodness [0,1] 0.966374884269001 Centerline is valid? [True, True] Translation: X:366.93, Y:-22.87, Z:-4.42 [[ 9.99890796e-01 -1.08609585e-02 -1.00218014e-02 3.66932416e+02] [ 1.08700166e-02 9.99940559e-01 8.49808555e-04 -2.28676805e+01] [ 1.00119760e-02 -9.58652900e-04 9.99949419e-01 -4.41831891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.400371743 meters Centerline goodness [0,1] 0.9625055324888824 Centerline is valid? [True, True] Translation: X:366.96, Y:-22.87, Z:-4.42 [[ 9.99926617e-01 -6.91709414e-03 -9.94560134e-03 3.66961821e+02] [ 6.92581283e-03 9.99975661e-01 8.42462546e-04 -2.28698003e+01] [ 9.93953189e-03 -9.11282097e-04 9.99950186e-01 -4.41945447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.430371743 meters Centerline goodness [0,1] 0.9687176343767834 Centerline is valid? [True, True] Translation: X:366.99, Y:-22.86, Z:-4.42 [[ 9.99942555e-01 -4.59655133e-03 -9.68285526e-03 3.66992867e+02] [ 4.60470578e-03 9.99989062e-01 8.20027901e-04 -2.28626808e+01] [ 9.67898005e-03 -8.64567494e-04 9.99952784e-01 -4.41757170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.460371743 meters Centerline goodness [0,1] 0.965660091685242 Centerline is valid? [True, True] Translation: X:367.02, Y:-22.87, Z:-4.42 [[ 9.99956900e-01 1.88715428e-03 -9.09048477e-03 3.67021724e+02] [-1.88023547e-03 9.99997936e-01 7.69591102e-04 -2.28667018e+01] [ 9.09191835e-03 -7.52465681e-04 9.99958385e-01 -4.41819140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.490371743 meters Centerline goodness [0,1] 0.9697911381701336 Centerline is valid? [True, True] Translation: X:367.05, Y:-22.86, Z:-4.42 [[ 9.99950356e-01 2.64042828e-03 -9.60800225e-03 3.67050915e+02] [-2.63278430e-03 9.99996208e-01 8.08146504e-04 -2.28601652e+01] [ 9.61009966e-03 -7.82810587e-04 9.99953516e-01 -4.41729230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.520371743 meters Centerline goodness [0,1] 0.9705304518664047 Centerline is valid? [True, True] Translation: X:367.08, Y:-22.86, Z:-4.42 [[ 9.99934751e-01 4.98258177e-03 -1.02795041e-02 3.67081544e+02] [-4.97392538e-03 9.99987254e-01 8.67496061e-04 -2.28574693e+01] [ 1.02836955e-02 -8.16309971e-04 9.99946788e-01 -4.41749396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.550371743 meters Centerline goodness [0,1] 0.8771730688810562 Centerline is valid? [True, False] Translation: X:367.13, Y:-22.85, Z:-4.42 [[ 9.99895255e-01 7.47139538e-03 -1.23958946e-02 3.67129517e+02] [-7.49321393e-03 9.99970455e-01 -1.71463290e-03 -2.28534355e+01] [ 1.23827177e-02 1.80733839e-03 9.99921698e-01 -4.41559314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.580371743 meters Centerline goodness [0,1] 0.9740906190172304 Centerline is valid? [False, True] Translation: X:367.08, Y:-22.84, Z:-4.41 [[ 9.99858396e-01 9.05081698e-03 -1.41869573e-02 3.67077682e+02] [-9.04101040e-03 9.99958844e-01 7.55223334e-04 -2.28426333e+01] [ 1.41932088e-02 -6.26851963e-04 9.99899075e-01 -4.41444301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61037174300003 meters Centerline goodness [0,1] 0.974338207084701 Centerline is valid? [True, True] Translation: X:367.11, Y:-22.84, Z:-4.41 [[ 9.99852269e-01 9.96882418e-03 -1.40022425e-02 3.67107239e+02] [-9.95426416e-03 9.99949840e-01 1.10914643e-03 -2.28397585e+01] [ 1.40125971e-02 -9.69600555e-04 9.99901349e-01 -4.41384958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.640371743 meters Centerline goodness [0,1] 0.974338207084701 Centerline is valid? [True, True] Translation: X:367.13, Y:-22.84, Z:-4.41 [[ 9.99853362e-01 9.85837729e-03 -1.40024012e-02 3.67134695e+02] [-9.84383442e-03 9.99950935e-01 1.10714216e-03 -2.28418449e+01] [ 1.40126288e-02 -9.69142487e-04 9.99901349e-01 -4.41407861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.670371743 meters Centerline goodness [0,1] 0.9752577759750657 Centerline is valid? [True, True] Translation: X:367.16, Y:-22.84, Z:-4.41 [[ 9.99858529e-01 1.10427257e-02 -1.26878143e-02 3.67164521e+02] [-1.10308847e-02 9.99938655e-01 1.00285565e-03 -2.28370222e+01] [ 1.26981102e-02 -8.62755958e-04 9.99919004e-01 -4.41282102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.700371743 meters Centerline goodness [0,1] 0.9750005341766201 Centerline is valid? [True, True] Translation: X:367.19, Y:-22.84, Z:-4.41 [[ 9.99860416e-01 1.06625117e-02 -1.28631110e-02 3.67191939e+02] [-1.06503304e-02 9.99942768e-01 1.01512040e-03 -2.28381825e+01] [ 1.28731986e-02 -8.77982325e-04 9.99916751e-01 -4.41298047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.730371743 meters Centerline goodness [0,1] 0.9735250266240681 Centerline is valid? [True, True] Translation: X:367.22, Y:-22.84, Z:-4.41 [[ 9.99860883e-01 1.00355710e-02 -1.33230123e-02 3.67219708e+02] [-1.00224630e-02 9.99949222e-01 1.05026995e-03 -2.28399589e+01] [ 1.33328759e-02 -9.16594440e-04 9.99910693e-01 -4.41355243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.760371743 meters Centerline goodness [0,1] 0.9733804475853945 Centerline is valid? [True, True] Translation: X:367.25, Y:-22.84, Z:-4.41 [[ 9.99880408e-01 7.23774738e-03 -1.36669003e-02 3.67249615e+02] [-7.22368863e-03 9.99973328e-01 1.07775718e-03 -2.28388805e+01] [ 1.36743363e-02 -9.78902855e-04 9.99906023e-01 -4.41335476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.790371743 meters Centerline goodness [0,1] 0.9733199255439783 Centerline is valid? [True, True] Translation: X:367.28, Y:-22.84, Z:-4.41 [[ 9.99893245e-01 5.57676499e-03 -1.35055190e-02 3.67279422e+02] [-5.56289428e-03 9.99983961e-01 1.06438895e-03 -2.28414676e+01] [ 1.35112382e-02 -9.89145550e-04 9.99908230e-01 -4.41370872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.820371743 meters Centerline goodness [0,1] 0.9730493417531842 Centerline is valid? [True, True] Translation: X:367.31, Y:-22.84, Z:-4.41 [[ 9.99919107e-01 1.25676478e-03 -1.26570493e-02 3.67308682e+02] [-1.24423963e-03 9.99998729e-01 9.97404533e-04 -2.28448087e+01] [ 1.26582867e-02 -9.81575447e-04 9.99919399e-01 -4.41343030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.850371743 meters Centerline goodness [0,1] 0.9725409307722057 Centerline is valid? [True, True] Translation: X:367.34, Y:-22.84, Z:-4.41 [[ 9.99923044e-01 -1.50270697e-03 -1.23145455e-02 3.67339040e+02] [ 1.51476856e-03 9.99998382e-01 9.70190589e-04 -2.28441529e+01] [ 1.23130677e-02 -9.88769614e-04 9.99923702e-01 -4.41263644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880371743 meters Centerline goodness [0,1] 0.9718863426472799 Centerline is valid? [True, True] Translation: X:367.37, Y:-22.85, Z:-4.41 [[ 9.99914386e-01 -5.78299572e-03 -1.17378366e-02 3.67369121e+02] [ 5.79424868e-03 9.99982785e-01 9.24910919e-04 -2.28468460e+01] [ 1.17322858e-02 -9.92843678e-04 9.99930681e-01 -4.41238608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.910371743 meters Centerline goodness [0,1] 0.9717747160195223 Centerline is valid? [True, True] Translation: X:367.40, Y:-22.85, Z:-4.41 [[ 9.99884107e-01 -9.31400040e-03 -1.20425211e-02 3.67399596e+02] [ 9.32609804e-03 9.99956061e-01 9.48809542e-04 -2.28462725e+01] [ 1.20331547e-02 -1.06100931e-03 9.99927036e-01 -4.41292820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940371743 meters Centerline goodness [0,1] 0.9670462127897717 Centerline is valid? [True, True] Translation: X:367.43, Y:-22.85, Z:-4.41 [[ 9.99870931e-01 -1.01220990e-02 -1.24765487e-02 3.67429182e+02] [ 1.01351702e-02 9.99948153e-01 9.84876930e-04 -2.28530354e+01] [ 1.24659328e-02 -1.11120176e-03 9.99921680e-01 -4.41457259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.970371743 meters Centerline goodness [0,1] 0.9724338909875877 Centerline is valid? [True, True] Translation: X:367.46, Y:-22.84, Z:-4.41 [[ 9.99864125e-01 -1.05352217e-02 -1.26783191e-02 3.67460943e+02] [ 1.05487477e-02 9.99943860e-01 1.00046454e-03 -2.28424527e+01] [ 1.26670672e-02 -1.13406899e-03 9.99919126e-01 -4.41248645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000371743 meters Centerline goodness [0,1] 0.9727823453050627 Centerline is valid? [True, True] Translation: X:367.49, Y:-22.84, Z:-4.41 [[ 9.99866308e-01 -1.04422796e-02 -1.25826844e-02 3.67491662e+02] [ 1.04555980e-02 9.99944846e-01 9.93156136e-04 -2.28444423e+01] [ 1.25716196e-02 -1.12458285e-03 9.99920342e-01 -4.41364721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.030371743 meters Centerline goodness [0,1] 0.9717955938738817 Centerline is valid? [True, True] Translation: X:367.52, Y:-22.85, Z:-4.41 [[ 9.99882234e-01 -9.29923419e-03 -1.22082886e-02 3.67522148e+02] [ 9.31170664e-03 9.99956179e-01 9.65192512e-04 -2.28460605e+01] [ 1.21987781e-02 -1.07875885e-03 9.99925010e-01 -4.41414800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060371743 meters Centerline goodness [0,1] 0.9723838471558837 Centerline is valid? [True, True] Translation: X:367.55, Y:-22.84, Z:-4.41 [[ 9.99914419e-01 -6.01913507e-03 -1.16157514e-02 3.67552841e+02] [ 6.03019778e-03 9.99981397e-01 9.17599598e-04 -2.28404890e+01] [ 1.16100122e-02 -9.87566347e-04 9.99932114e-01 -4.41357089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.090371743 meters Centerline goodness [0,1] 0.9724371793757065 Centerline is valid? [True, True] Translation: X:367.58, Y:-22.84, Z:-4.41 [[ 9.99927683e-01 -3.66183024e-03 -1.14551303e-02 3.67582964e+02] [ 3.67243586e-03 9.99992847e-01 9.04942915e-04 -2.28418280e+01] [ 1.14517346e-02 -9.46945703e-04 9.99933978e-01 -4.41386202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120371743 meters Centerline goodness [0,1] 0.973806929614295 Centerline is valid? [True, True] Translation: X:367.61, Y:-22.84, Z:-4.41 [[ 9.99935123e-01 2.36788754e-03 -1.11419614e-02 3.67612969e+02] [-2.35822958e-03 9.99996832e-01 8.79868140e-04 -2.28369967e+01] [ 1.11440095e-02 -8.53535753e-04 9.99937539e-01 -4.41403685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.150371743 meters Centerline goodness [0,1] 0.978211360749792 Centerline is valid? [True, True] Translation: X:367.64, Y:-22.83, Z:-4.41 [[ 9.99891892e-01 8.73032378e-03 -1.18315743e-02 3.67644842e+02] [-8.71987189e-03 9.99961544e-01 9.34689878e-04 -2.28259608e+01] [ 1.18392794e-02 -8.31419019e-04 9.99929568e-01 -4.41259398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180371743 meters Centerline goodness [0,1] 0.9775893796004206 Centerline is valid? [True, True] Translation: X:367.67, Y:-22.83, Z:-4.41 [[ 9.99859971e-01 1.22441875e-02 -1.14069547e-02 3.67674109e+02] [-1.22347064e-02 9.99924748e-01 9.00580196e-04 -2.28275783e+01] [ 1.14171232e-02 -7.60893346e-04 9.99934533e-01 -4.41355201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.210371743 meters Centerline goodness [0,1] 0.9765606156949591 Centerline is valid? [True, True] Translation: X:367.70, Y:-22.83, Z:-4.42 [[ 9.99817719e-01 1.52647030e-02 -1.14681009e-02 3.67703278e+02] [-1.52553237e-02 9.99883221e-01 9.04896629e-04 -2.28305094e+01] [ 1.14805747e-02 -7.29782092e-04 9.99933830e-01 -4.41504636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240371743 meters Centerline goodness [0,1] 0.9770117466242179 Centerline is valid? [True, True] Translation: X:367.73, Y:-22.82, Z:-4.41 [[ 9.99771655e-01 1.80182184e-02 -1.14883603e-02 3.67733617e+02] [-1.80089919e-02 9.99837414e-01 9.06074324e-04 -2.28244664e+01] [ 1.15028183e-02 -6.98973639e-04 9.99933596e-01 -4.41387542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.270371743 meters Centerline goodness [0,1] 0.9784737538597265 Centerline is valid? [True, True] Translation: X:367.76, Y:-22.82, Z:-4.41 [[ 9.99655372e-01 2.36231663e-02 -1.14491735e-02 3.67764960e+02] [-2.36143620e-02 9.99720734e-01 9.03587419e-04 -2.28203935e+01] [ 1.14673217e-02 -6.32911091e-04 9.99934048e-01 -4.41354483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300371743 meters Centerline goodness [0,1] 0.9791105418893257 Centerline is valid? [True, True] Translation: X:367.79, Y:-22.82, Z:-4.41 [[ 9.99550211e-01 2.78305764e-02 -1.11729603e-02 3.67794139e+02] [-2.78224630e-02 9.99612492e-01 8.80973722e-04 -2.28197352e+01] [ 1.11931487e-02 -5.69718196e-04 9.99937192e-01 -4.41420880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.330371743 meters Centerline goodness [0,1] 0.9800057505584677 Centerline is valid? [True, True] Translation: X:367.82, Y:-22.82, Z:-4.41 [[ 9.99516095e-01 2.89240183e-02 -1.14445572e-02 3.67822944e+02] [-2.89155902e-02 9.99581451e-01 9.01249018e-04 -2.28185344e+01] [ 1.14658348e-02 -5.69886775e-04 9.99934103e-01 -4.41404827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36037174300003 meters Centerline goodness [0,1] 0.979477323436499 Centerline is valid? [True, True] Translation: X:367.85, Y:-22.82, Z:-4.41 [[ 9.99484776e-01 3.00015576e-02 -1.14056727e-02 3.67850315e+02] [-2.99932701e-02 9.99549698e-01 8.97008727e-04 -2.28204446e+01] [ 1.14274483e-02 -5.54453146e-04 9.99934551e-01 -4.41476108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.390371743 meters Centerline goodness [0,1] 0.9798921689941665 Centerline is valid? [True, True] Translation: X:367.88, Y:-22.82, Z:-4.42 [[ 9.99462823e-01 3.05857282e-02 -1.17719271e-02 3.67878803e+02] [-3.05769484e-02 9.99531988e-01 9.25132704e-04 -2.28218373e+01] [ 1.17947136e-02 -5.64686137e-04 9.99930281e-01 -4.41529306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.420371743 meters Centerline goodness [0,1] 0.9801369863013698 Centerline is valid? [True, True] Translation: X:367.91, Y:-22.83, Z:-4.42 [[ 9.99475886e-01 3.02066802e-02 -1.16408346e-02 3.67906553e+02] [-3.01980831e-02 9.99543516e-01 9.13631718e-04 -2.28256016e+01] [ 1.16631185e-02 -5.61621981e-04 9.99931826e-01 -4.41585406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.450371743 meters Centerline goodness [0,1] 0.9795171425421674 Centerline is valid? [True, True] Translation: X:367.94, Y:-22.83, Z:-4.42 [[ 9.99534791e-01 2.86378586e-02 -1.04916530e-02 3.67935044e+02] [-2.86307960e-02 9.99589716e-01 8.22774499e-04 -2.28304041e+01] [ 1.05109110e-02 -5.22007359e-04 9.99944623e-01 -4.41512236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.480371743 meters Centerline goodness [0,1] 0.9800507558203685 Centerline is valid? [True, True] Translation: X:367.96, Y:-22.83, Z:-4.41 [[ 9.99584092e-01 2.68582074e-02 -1.05013735e-02 3.67964343e+02] [-2.68510385e-02 9.99639107e-01 8.23081175e-04 -2.28306604e+01] [ 1.05196901e-02 -5.40766065e-04 9.99944520e-01 -4.41350373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.510371743 meters Centerline goodness [0,1] 0.9787940051861292 Centerline is valid? [True, True] Translation: X:367.99, Y:-22.84, Z:-4.41 [[ 9.99679620e-01 2.33585296e-02 -9.74867605e-03 3.67992891e+02] [-2.33521831e-02 9.99727008e-01 7.64352567e-04 -2.28403110e+01] [ 9.76386889e-03 -5.36454815e-04 9.99952188e-01 -4.41435527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.540371743 meters Centerline goodness [0,1] 0.9790269936485533 Centerline is valid? [True, True] Translation: X:368.02, Y:-22.84, Z:-4.41 [[ 9.99731628e-01 2.09615650e-02 -9.86332283e-03 3.68021956e+02] [-2.09549612e-02 9.99780122e-01 7.72420655e-04 -2.28449856e+01] [ 9.87734526e-03 -5.65527812e-04 9.99951058e-01 -4.41481290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.570371743 meters Centerline goodness [0,1] 0.9787373671085444 Centerline is valid? [True, True] Translation: X:368.05, Y:-22.85, Z:-4.41 [[ 9.99804958e-01 1.71231784e-02 -9.84083674e-03 3.68051912e+02] [-1.71164182e-02 9.99853206e-01 7.70774114e-04 -2.28506082e+01] [ 9.85259027e-03 -6.02183904e-04 9.99951281e-01 -4.41458426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.600371743 meters Centerline goodness [0,1] 0.9781910360350516 Centerline is valid? [True, True] Translation: X:368.08, Y:-22.86, Z:-4.42 [[ 9.99827487e-01 1.53877312e-02 -1.04025645e-02 3.68079722e+02] [-1.53800963e-02 9.99881388e-01 8.13545642e-04 -2.28582185e+01] [ 1.04138492e-02 -6.53412851e-04 9.99945561e-01 -4.41602473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.630371743 meters Centerline goodness [0,1] 0.9776029717032667 Centerline is valid? [True, True] Translation: X:368.11, Y:-22.87, Z:-4.42 [[ 9.99867891e-01 1.18367147e-02 -1.11396854e-02 3.68109149e+02] [-1.18277366e-02 9.99929670e-01 8.71499127e-04 -2.28669191e+01] [ 1.11492177e-02 -7.39626730e-04 9.99937572e-01 -4.41667074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.660371743 meters Centerline goodness [0,1] 0.9776200873362445 Centerline is valid? [True, True] Translation: X:368.14, Y:-22.87, Z:-4.42 [[ 9.99887831e-01 9.96538240e-03 -1.11810804e-02 3.68138889e+02] [-9.95622740e-03 9.99950053e-01 8.74159382e-04 -2.28701586e+01] [ 1.11892333e-02 -7.62739949e-04 9.99937108e-01 -4.41642658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.690371743 meters Centerline goodness [0,1] 0.9766996627869031 Centerline is valid? [True, True] Translation: X:368.17, Y:-22.88, Z:-4.42 [[ 9.99906303e-01 8.32884606e-03 -1.08634563e-02 3.68166706e+02] [-8.32011991e-03 9.99965027e-01 8.48204572e-04 -2.28770489e+01] [ 1.08701409e-02 -7.57739839e-04 9.99940631e-01 -4.41741660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.720371743 meters Centerline goodness [0,1] 0.9735587342869527 Centerline is valid? [True, True] Translation: X:368.19, Y:-22.89, Z:-4.42 [[ 9.99924212e-01 5.33561201e-03 -1.10951041e-02 3.68194862e+02] [-5.32632289e-03 9.99985440e-01 8.66607593e-04 -2.28907205e+01] [ 1.10995664e-02 -8.07445808e-04 9.99938072e-01 -4.41868579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.750371743 meters Centerline goodness [0,1] 0.9742570385818561 Centerline is valid? [True, True] Translation: X:368.22, Y:-22.89, Z:-4.42 [[ 9.99925518e-01 3.51734593e-03 -1.16870720e-02 3.68224510e+02] [-3.50692240e-03 9.99993435e-01 9.12259714e-04 -2.28925451e+01] [ 1.16902040e-02 -8.71206112e-04 9.99931288e-01 -4.41810895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.780371743 meters Centerline goodness [0,1] 0.9736904582047353 Centerline is valid? [True, True] Translation: X:368.25, Y:-22.90, Z:-4.42 [[ 9.99925294e-01 1.21161832e-03 -1.21630090e-02 3.68252972e+02] [-1.20015707e-03 9.99998829e-01 9.49558435e-04 -2.29015503e+01] [ 1.21641453e-02 -9.34889976e-04 9.99925577e-01 -4.41905812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.810371743 meters Centerline goodness [0,1] 0.9722023616076265 Centerline is valid? [True, True] Translation: X:368.28, Y:-22.91, Z:-4.42 [[ 9.99919586e-01 -2.64437563e-04 -1.26787579e-02 3.68282605e+02] [ 2.77000745e-04 9.99999472e-01 9.89138437e-04 -2.29067766e+01] [ 1.26784896e-02 -9.92570922e-04 9.99919132e-01 -4.41997448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.840371743 meters Centerline goodness [0,1] 0.9722780406646356 Centerline is valid? [True, True] Translation: X:368.31, Y:-22.91, Z:-4.42 [[ 9.99917751e-01 -1.39602495e-03 -1.27492247e-02 3.68311213e+02] [ 1.40880907e-03 9.99998514e-01 9.93810554e-04 -2.29125045e+01] [ 1.27478183e-02 -1.01169004e-03 9.99918231e-01 -4.42123557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.870371743 meters Centerline goodness [0,1] 0.9712466270912035 Centerline is valid? [True, True] Translation: X:368.34, Y:-22.92, Z:-4.42 [[ 9.99913120e-01 -1.74314107e-03 -1.30657907e-02 3.68339873e+02] [ 1.75658364e-03 9.99997940e-01 1.01743165e-03 -2.29189526e+01] [ 1.30639902e-02 -1.04029441e-03 9.99914121e-01 -4.42166373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.900371743 meters Centerline goodness [0,1] 0.9724972497249725 Centerline is valid? [True, True] Translation: X:368.37, Y:-22.92, Z:-4.42 [[ 9.99905487e-01 -1.87016588e-03 -1.36205639e-02 3.68368423e+02] [ 1.88471837e-03 9.99997667e-01 1.05566318e-03 -2.29176969e+01] [ 1.36185578e-02 -1.08123433e-03 9.99906679e-01 -4.42054976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.930371743 meters Centerline goodness [0,1] 0.9703741869002382 Centerline is valid? [True, True] Translation: X:368.40, Y:-22.93, Z:-4.42 [[ 9.99904428e-01 3.38445110e-04 -1.38210217e-02 3.68397193e+02] [-3.23652152e-04 9.99999372e-01 1.07254572e-03 -2.29260064e+01] [ 1.38213760e-02 -1.06797001e-03 9.99903910e-01 -4.42234782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.960371743 meters Centerline goodness [0,1] 0.975273306361367 Centerline is valid? [True, True] Translation: X:368.43, Y:-22.92, Z:-4.42 [[ 9.99899075e-01 1.77308472e-03 -1.40959854e-02 3.68426704e+02] [-1.75785837e-03 9.99997858e-01 1.09250688e-03 -2.29171546e+01] [ 1.40978923e-02 -1.06761787e-03 9.99900050e-01 -4.41920514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.990371743 meters Centerline goodness [0,1] 0.9745886497400867 Centerline is valid? [True, True] Translation: X:368.46, Y:-22.92, Z:-4.42 [[ 9.99893203e-01 3.20603302e-03 -1.42584573e-02 3.68455829e+02] [-3.19066801e-03 9.99994305e-01 1.10022415e-03 -2.29185512e+01] [ 1.42619035e-02 -1.05461265e-03 9.99897738e-01 -4.41925301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.020371743 meters Centerline goodness [0,1] 0.9759401406179449 Centerline is valid? [True, True] Translation: X:368.49, Y:-22.92, Z:-4.42 [[ 9.99875007e-01 6.48720193e-03 -1.44182517e-02 3.68485158e+02] [-6.47181235e-03 9.99978437e-01 1.11377077e-03 -2.29207815e+01] [ 1.44251660e-02 -1.02031934e-03 9.99895431e-01 -4.42026872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.050371743 meters Centerline goodness [0,1] 0.9758335487205997 Centerline is valid? [True, True] Translation: X:368.51, Y:-22.92, Z:-4.42 [[ 9.99862946e-01 8.00031691e-03 -1.44942802e-02 3.68514311e+02] [-7.98493673e-03 9.99967494e-01 1.11868210e-03 -2.29221727e+01] [ 1.45027589e-02 -1.00279286e-03 9.99894327e-01 -4.41985316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.080371743 meters Centerline goodness [0,1] 0.9756638120239274 Centerline is valid? [True, True] Translation: X:368.55, Y:-22.92, Z:-4.42 [[ 9.99850047e-01 1.11562578e-02 -1.32446856e-02 3.68545026e+02] [-1.11436875e-02 9.99937384e-01 1.02250929e-03 -2.29232177e+01] [ 1.32552636e-02 -8.74761326e-04 9.99911762e-01 -4.42016085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11037174300003 meters Centerline goodness [0,1] 0.9755671902268761 Centerline is valid? [True, True] Translation: X:368.57, Y:-22.93, Z:-4.42 [[ 9.99829414e-01 1.30360193e-02 -1.30845669e-02 3.68573652e+02] [-1.30239259e-02 9.99914676e-01 1.00903583e-03 -2.29257646e+01] [ 1.30966043e-02 -8.38451276e-04 9.99913884e-01 -4.42009219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.140371743 meters Centerline goodness [0,1] 0.9771576338756599 Centerline is valid? [True, True] Translation: X:368.60, Y:-22.92, Z:-4.42 [[ 9.99776705e-01 1.65690358e-02 -1.31151368e-02 3.68603811e+02] [-1.65571878e-02 9.99862409e-01 1.01145423e-03 -2.29237667e+01] [ 1.31300911e-02 -7.94078593e-04 9.99913481e-01 -4.41934013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.170371743 meters Centerline goodness [0,1] 0.9773270460564563 Centerline is valid? [True, True] Translation: X:368.63, Y:-22.93, Z:-4.42 [[ 9.99737666e-01 1.86040414e-02 -1.33599560e-02 3.68632770e+02] [-1.85919468e-02 9.99826625e-01 1.02892958e-03 -2.29253493e+01] [ 1.33767820e-02 -7.80272069e-04 9.99910222e-01 -4.42018745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.200371743 meters Centerline goodness [0,1] 0.9786649495599914 Centerline is valid? [True, True] Translation: X:368.66, Y:-22.93, Z:-4.42 [[ 9.99701077e-01 2.03272276e-02 -1.35853154e-02 3.68661787e+02] [-2.03148933e-02 9.99793085e-01 1.04530737e-03 -2.29263261e+01] [ 1.36037526e-02 -7.69010674e-04 9.99907169e-01 -4.42093122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.230371743 meters Centerline goodness [0,1] 0.9789052241858063 Centerline is valid? [True, True] Translation: X:368.69, Y:-22.92, Z:-4.42 [[ 9.99603195e-01 2.39750765e-02 -1.47867672e-02 3.68692270e+02] [-2.39608585e-02 9.99712250e-01 1.13797706e-03 -2.29226154e+01] [ 1.48097954e-02 -7.83221865e-04 9.99890022e-01 -4.42068040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.260371743 meters Centerline goodness [0,1] 0.9787839586028461 Centerline is valid? [True, True] Translation: X:368.72, Y:-22.93, Z:-4.42 [[ 9.99546492e-01 2.57995448e-02 -1.55303982e-02 3.68720073e+02] [-2.57841117e-02 9.99666822e-01 1.19317526e-03 -2.29255048e+01] [ 1.55560072e-02 -7.92196624e-04 9.99878684e-01 -4.42167429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.290371743 meters Centerline goodness [0,1] 0.9795041250917886 Centerline is valid? [True, True] Translation: X:368.75, Y:-22.92, Z:-4.42 [[ 9.99452368e-01 2.89849412e-02 -1.59636344e-02 3.68749785e+02] [-2.89690417e-02 9.99579557e-01 1.22636994e-03 -2.29239909e+01] [ 1.59924688e-02 -7.63247152e-04 9.99871821e-01 -4.42063558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.320371743 meters Centerline goodness [0,1] 0.9796597713075244 Centerline is valid? [True, True] Translation: X:368.78, Y:-22.92, Z:-4.42 [[ 9.99416170e-01 3.05584950e-02 -1.52806408e-02 3.68779078e+02] [-3.05441259e-02 9.99532731e-01 1.17289797e-03 -2.29234684e+01] [ 1.53093426e-02 -7.05479380e-04 9.99882556e-01 -4.42002782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.350371743 meters Centerline goodness [0,1] 0.9808943442054129 Centerline is valid? [True, True] Translation: X:368.81, Y:-22.92, Z:-4.42 [[ 9.99373892e-01 3.15626603e-02 -1.59882025e-02 3.68807672e+02] [-3.15470785e-02 9.99501515e-01 1.22591504e-03 -2.29240873e+01] [ 1.60189257e-02 -7.20766403e-04 9.99871429e-01 -4.41981660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380371743 meters Centerline goodness [0,1] 0.9807688142934489 Centerline is valid? [True, True] Translation: X:368.84, Y:-22.93, Z:-4.42 [[ 9.99305521e-01 3.37404709e-02 -1.58131427e-02 3.68835342e+02] [-3.37255257e-02 9.99430399e-01 1.21090860e-03 -2.29252514e+01] [ 1.58449922e-02 -6.76761102e-04 9.99874231e-01 -4.42106984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.410371743 meters Centerline goodness [0,1] 0.9809200717388016 Centerline is valid? [True, True] Translation: X:368.86, Y:-22.92, Z:-4.42 [[ 9.99289657e-01 3.45625487e-02 -1.50203809e-02 3.68864056e+02] [-3.45491724e-02 9.99402338e-01 1.14919580e-03 -2.29227192e+01] [ 1.50511229e-02 -6.29437750e-04 9.99886527e-01 -4.41871916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440371743 meters Centerline goodness [0,1] 0.9802323565111843 Centerline is valid? [True, True] Translation: X:368.89, Y:-22.93, Z:-4.42 [[ 9.99289390e-01 3.44916264e-02 -1.52001029e-02 3.68890951e+02] [-3.44779820e-02 9.99404786e-01 1.15887088e-03 -2.29251903e+01] [ 1.52310270e-02 -6.33978496e-04 9.99883800e-01 -4.41915012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.470371743 meters Centerline goodness [0,1] 0.9802691556327328 Centerline is valid? [True, True] Translation: X:368.92, Y:-22.93, Z:-4.42 [[ 9.99300499e-01 3.44491070e-02 -1.45523818e-02 3.68920020e+02] [-3.44365974e-02 9.99406269e-01 1.10941290e-03 -2.29263660e+01] [ 1.45819599e-02 -6.07502347e-04 9.99893493e-01 -4.41840615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500371743 meters Centerline goodness [0,1] 0.9803828062341491 Centerline is valid? [True, True] Translation: X:368.95, Y:-22.93, Z:-4.42 [[ 9.99334178e-01 3.37342074e-02 -1.38997464e-02 3.68949143e+02] [-3.37227404e-02 9.99430666e-01 1.05859873e-03 -2.29273505e+01] [ 1.39275438e-02 -5.89156350e-04 9.99902833e-01 -4.41802667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.530371743 meters Centerline goodness [0,1] 0.9803828062341491 Centerline is valid? [True, True] Translation: X:368.98, Y:-22.93, Z:-4.42 [[ 9.99337876e-01 3.36244453e-02 -1.38998857e-02 3.68976559e+02] [-3.36129932e-02 9.99434365e-01 1.05676935e-03 -2.29293524e+01] [ 1.39275567e-02 -5.88852873e-04 9.99902833e-01 -4.41825538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560371743 meters Centerline goodness [0,1] 0.9796754133171546 Centerline is valid? [True, True] Translation: X:369.00, Y:-22.93, Z:-4.42 [[ 9.99359107e-01 3.30898703e-02 -1.36541812e-02 3.69004118e+02] [-3.30787984e-02 9.99452210e-01 1.03598760e-03 -2.29336908e+01] [ 1.36809823e-02 -5.83659738e-04 9.99906241e-01 -4.41932543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.590371743 meters Centerline goodness [0,1] 0.9799467843468103 Centerline is valid? [True, True] Translation: X:369.03, Y:-22.93, Z:-4.42 [[ 9.99421770e-01 3.08451143e-02 -1.43075105e-02 3.69033364e+02] [-3.08327287e-02 9.99523969e-01 1.08549913e-03 -2.29340207e+01] [ 1.43341820e-02 -6.43731876e-04 9.99897053e-01 -4.41858791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620371743 meters Centerline goodness [0,1] 0.9794259203052509 Centerline is valid? [True, True] Translation: X:369.06, Y:-22.94, Z:-4.42 [[ 9.99465854e-01 2.93794820e-02 -1.43126571e-02 3.69061973e+02] [-2.93669547e-02 9.99568109e-01 1.08469180e-03 -2.29370918e+01] [ 1.43383432e-02 -6.63793266e-04 9.99896980e-01 -4.41869701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.650371743 meters Centerline goodness [0,1] 0.9788184281842819 Centerline is valid? [True, True] Translation: X:369.09, Y:-22.94, Z:-4.42 [[ 9.99509921e-01 2.77724687e-02 -1.44432876e-02 3.69090630e+02] [-2.77595593e-02 9.99614031e-01 1.09355172e-03 -2.29405344e+01] [ 1.44680836e-02 -6.92076490e-04 9.99895092e-01 -4.41927495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680371743 meters Centerline goodness [0,1] 0.978751976434404 Centerline is valid? [True, True] Translation: X:369.12, Y:-22.94, Z:-4.42 [[ 9.99606015e-01 2.40865034e-02 -1.44102171e-02 3.69120501e+02] [-2.40732683e-02 9.99709601e-01 1.09123197e-03 -2.29443528e+01] [ 1.44323163e-02 -7.43901024e-04 9.99895572e-01 -4.41898529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.710371743 meters Centerline goodness [0,1] 0.9786274764815537 Centerline is valid? [True, True] Translation: X:369.15, Y:-22.95, Z:-4.42 [[ 9.99654995e-01 2.21973787e-02 -1.40415969e-02 3.69148939e+02] [-2.21846467e-02 9.99753327e-01 1.06186537e-03 -2.29484656e+01] [ 1.40617038e-02 -7.49991158e-04 9.99900848e-01 -4.41951534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740371743 meters Centerline goodness [0,1] 0.9775190773499827 Centerline is valid? [True, True] Translation: X:369.18, Y:-22.95, Z:-4.42 [[ 9.99741694e-01 1.84666981e-02 -1.32486711e-02 3.69178905e+02] [-1.84550349e-02 9.99829189e-01 1.00205995e-03 -2.29508056e+01] [ 1.32649128e-02 -7.57296425e-04 9.99911730e-01 -4.41807164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.770371743 meters Centerline goodness [0,1] 0.9764525928000517 Centerline is valid? [True, True] Translation: X:369.21, Y:-22.96, Z:-4.42 [[ 9.99777460e-01 1.71558062e-02 -1.22763511e-02 3.69206447e+02] [-1.71457253e-02 9.99852572e-01 9.25947778e-04 -2.29571307e+01] [ 1.22904266e-02 -7.15254774e-04 9.99924214e-01 -4.41916002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800371743 meters Centerline goodness [0,1] 0.9775737279896295 Centerline is valid? [True, True] Translation: X:369.24, Y:-22.96, Z:-4.42 [[ 9.99832951e-01 1.32034455e-02 -1.26387578e-02 3.69236943e+02] [-1.31924316e-02 9.99912521e-01 9.54416264e-04 -2.29596554e+01] [ 1.26502537e-02 -7.87520882e-04 9.99919672e-01 -4.41839073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.830371743 meters Centerline goodness [0,1] 0.976976739163301 Centerline is valid? [True, True] Translation: X:369.27, Y:-22.96, Z:-4.42 [[ 9.99853765e-01 1.15798103e-02 -1.25839668e-02 3.69266421e+02] [-1.15687733e-02 9.99932629e-01 9.49511649e-04 -2.29638111e+01] [ 1.25941142e-02 -8.03791738e-04 9.99920368e-01 -4.41891347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86037174300003 meters Centerline goodness [0,1] 0.97682025952644 Centerline is valid? [True, True] Translation: X:369.30, Y:-22.97, Z:-4.42 [[ 9.99883160e-01 7.61290836e-03 -1.32555327e-02 3.69296015e+02] [-7.60031150e-03 9.99970617e-01 1.00042662e-03 -2.29692022e+01] [ 1.32627594e-02 -8.99563558e-04 9.99911641e-01 -4.41992411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.890371743 meters Centerline goodness [0,1] 0.9767245668303446 Centerline is valid? [True, True] Translation: X:369.33, Y:-22.97, Z:-4.42 [[ 9.99899752e-01 5.75236329e-03 -1.29381754e-02 3.69325034e+02] [-5.74022203e-03 9.99983049e-01 9.75345582e-04 -2.29728986e+01] [ 1.29435667e-02 -9.00979806e-04 9.99915823e-01 -4.42070870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.920371743 meters Centerline goodness [0,1] 0.9762404972818436 Centerline is valid? [True, True] Translation: X:369.35, Y:-22.97, Z:-4.42 [[ 9.99901065e-01 4.06659145e-03 -1.34655983e-02 3.69354112e+02] [-4.05329796e-03 9.99991271e-01 1.01436340e-03 -2.29737156e+01] [ 1.34696058e-02 -9.59682966e-04 9.99908820e-01 -4.42057825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.950371743 meters Centerline goodness [0,1] 0.9762495416010527 Centerline is valid? [True, True] Translation: X:369.38, Y:-22.98, Z:-4.42 [[ 9.99907963e-01 1.32526430e-03 -1.35021726e-02 3.69382803e+02] [-1.31164749e-03 9.99998622e-01 1.01729570e-03 -2.29785508e+01] [ 1.35035022e-02 -9.99491984e-04 9.99908324e-01 -4.42130241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.980371743 meters Centerline goodness [0,1] 0.9758816639916714 Centerline is valid? [True, True] Translation: X:369.41, Y:-22.98, Z:-4.42 [[ 9.99901615e-01 -1.13798445e-03 -1.39808936e-02 3.69411498e+02] [ 1.15282164e-03 9.99998781e-01 1.05323452e-03 -2.29828847e+01] [ 1.39796780e-02 -1.06924838e-03 9.99901708e-01 -4.42159442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.010371743 meters Centerline goodness [0,1] 0.9764822860601344 Centerline is valid? [True, True] Translation: X:369.44, Y:-22.98, Z:-4.42 [[ 9.99900743e-01 -1.88865074e-03 -1.39619775e-02 3.69440850e+02] [ 1.90349881e-03 9.99997637e-01 1.05025191e-03 -2.29820934e+01] [ 1.39599610e-02 -1.07672428e-03 9.99901975e-01 -4.42084072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.040371743 meters Centerline goodness [0,1] 0.9750887369058956 Centerline is valid? [True, True] Translation: X:369.47, Y:-22.99, Z:-4.42 [[ 9.99900671e-01 -2.54450609e-03 -1.38626995e-02 3.69468439e+02] [ 2.55918663e-03 9.99996183e-01 1.04135915e-03 -2.29861682e+01] [ 1.38599969e-02 -1.07673295e-03 9.99903366e-01 -4.42133017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.070371743 meters Centerline goodness [0,1] 0.9748623932735232 Centerline is valid? [True, True] Translation: X:369.50, Y:-22.99, Z:-4.42 [[ 9.99912904e-01 -4.14208978e-03 -1.25310939e-02 3.69496462e+02] [ 4.15421099e-03 9.99990928e-01 9.41415748e-04 -2.29910031e+01] [ 1.25270808e-02 -9.93390562e-04 9.99921040e-01 -4.42149074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.100371743 meters Centerline goodness [0,1] 0.9749810133449062 Centerline is valid? [True, True] Translation: X:369.53, Y:-22.99, Z:-4.42 [[ 9.99909378e-01 -4.70315523e-03 -1.26140854e-02 3.69526348e+02] [ 4.71547544e-03 9.99988434e-01 9.47138124e-04 -2.29924160e+01] [ 1.26094849e-02 -1.00653370e-03 9.99919991e-01 -4.42125453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.130371743 meters Centerline goodness [0,1] 0.9751104148989405 Centerline is valid? [True, True] Translation: X:369.56, Y:-22.99, Z:-4.42 [[ 9.99917087e-01 -5.06370493e-03 -1.18396675e-02 3.69556214e+02] [ 5.07457845e-03 9.99986729e-01 8.88536076e-04 -2.29919592e+01] [ 1.18350111e-02 -9.48543726e-04 9.99929514e-01 -4.42057368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.160371743 meters Centerline goodness [0,1] 0.9756877242579102 Centerline is valid? [True, True] Translation: X:369.59, Y:-22.99, Z:-4.42 [[ 9.99918042e-01 -4.69570575e-03 -1.19105159e-02 3.69585414e+02] [ 4.70667873e-03 9.99988524e-01 8.93422038e-04 -2.29931067e+01] [ 1.19061840e-02 -9.49407786e-04 9.99928668e-01 -4.42056067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.190371743 meters Centerline goodness [0,1] 0.9760917935517648 Centerline is valid? [True, True] Translation: X:369.62, Y:-22.99, Z:-4.42 [[ 9.99930696e-01 -3.86975614e-03 -1.11188350e-02 3.69615022e+02] [ 3.87926335e-03 9.99992128e-01 8.33614252e-04 -2.29933439e+01] [ 1.11155216e-02 -8.76689369e-04 9.99937836e-01 -4.42073629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.220371743 meters Centerline goodness [0,1] 0.974936306425974 Centerline is valid? [True, True] Translation: X:369.64, Y:-22.99, Z:-4.42 [[ 9.99926662e-01 -2.90291493e-03 -1.17576893e-02 3.69644533e+02] [ 2.91347489e-03 9.99995368e-01 8.81103926e-04 -2.29942459e+01] [ 1.17550770e-02 -9.15295041e-04 9.99930488e-01 -4.42103883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.250371743 meters Centerline goodness [0,1] 0.9756470126129272 Centerline is valid? [True, True] Translation: X:369.67, Y:-23.00, Z:-4.42 [[ 9.99923268e-01 -2.03463413e-03 -1.22195691e-02 3.69672660e+02] [ 2.04596599e-03 9.99997488e-01 9.14924508e-04 -2.29967110e+01] [ 1.22176768e-02 -9.39855127e-04 9.99924920e-01 -4.42178046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.280371743 meters Centerline goodness [0,1] 0.9759722404085374 Centerline is valid? [True, True] Translation: X:369.70, Y:-23.00, Z:-4.42 [[ 9.99920745e-01 4.67230734e-04 -1.25811864e-02 3.69702758e+02] [-4.55413994e-04 9.99999453e-01 9.42087475e-04 -2.29951040e+01] [ 1.25816197e-02 -9.36283161e-04 9.99920410e-01 -4.42279869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.310371743 meters Centerline goodness [0,1] 0.9756973332749486 Centerline is valid? [True, True] Translation: X:369.73, Y:-22.99, Z:-4.42 [[ 9.99919017e-01 1.21990464e-03 -1.26676942e-02 3.69732050e+02] [-1.20804485e-03 9.99998825e-01 9.43832943e-04 -2.29946282e+01] [ 1.26688307e-02 -9.28453366e-04 9.99919316e-01 -4.42274367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.340371743 meters Centerline goodness [0,1] 0.9768670788931281 Centerline is valid? [True, True] Translation: X:369.76, Y:-22.99, Z:-4.42 [[ 9.99916919e-01 4.42116108e-03 -1.21081659e-02 3.69762390e+02] [-4.41054361e-03 9.99989865e-01 9.03447803e-04 -2.29886162e+01] [ 1.21120375e-02 -8.49969151e-04 9.99926285e-01 -4.42084269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.370371743 meters Centerline goodness [0,1] 0.9769721692216593 Centerline is valid? [True, True] Translation: X:369.79, Y:-22.99, Z:-4.42 [[ 9.99918486e-01 5.70443927e-03 -1.14227756e-02 3.69789827e+02] [-5.69509141e-03 9.99983421e-01 8.50713649e-04 -2.29899797e+01] [ 1.14274390e-02 -7.85590554e-04 9.99934396e-01 -4.42088672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.400371743 meters Centerline goodness [0,1] 0.9773445732349841 Centerline is valid? [True, True] Translation: X:369.82, Y:-22.99, Z:-4.42 [[ 9.99918223e-01 6.67829721e-03 -1.09063216e-02 3.69818760e+02] [-6.66984066e-03 9.99977427e-01 8.11569073e-04 -2.29895368e+01] [ 1.09114953e-02 -7.38759278e-04 9.99940195e-01 -4.42071486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.430371743 meters Centerline goodness [0,1] 0.9787645636403606 Centerline is valid? [True, True] Translation: X:369.85, Y:-22.99, Z:-4.42 [[ 9.99912933e-01 8.67740340e-03 -9.94127480e-03 3.69848814e+02] [-8.67047690e-03 9.99962137e-01 7.39629639e-04 -2.29865589e+01] [ 9.94731646e-03 -6.53369649e-04 9.99950311e-01 -4.41943325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.460371743 meters Centerline goodness [0,1] 0.9753277972027972 Centerline is valid? [True, True] Translation: X:369.88, Y:-23.00, Z:-4.42 [[ 9.99917897e-01 9.27269919e-03 -8.84396772e-03 3.69875786e+02] [-9.26725221e-03 9.99956842e-01 6.56680483e-04 -2.29978162e+01] [ 8.84967524e-03 -5.74667288e-04 9.99960676e-01 -4.42228085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.490371743 meters Centerline goodness [0,1] 0.9762578099309438 Centerline is valid? [True, True] Translation: X:369.91, Y:-22.99, Z:-4.42 [[ 9.99918963e-01 8.96480879e-03 -9.03874109e-03 3.69905173e+02] [-8.95911121e-03 9.99959641e-01 6.70645289e-04 -2.29899666e+01] [ 9.04438851e-03 -5.89611856e-04 9.99958925e-01 -4.42096727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.520371743 meters Centerline goodness [0,1] 0.9768205397596691 Centerline is valid? [True, True] Translation: X:369.93, Y:-22.99, Z:-4.42 [[ 9.99920857e-01 8.76039722e-03 -9.02962847e-03 3.69933260e+02] [-8.75471168e-03 9.99961453e-01 6.68989804e-04 -2.29929566e+01] [ 9.03514102e-03 -5.89885065e-04 9.99959008e-01 -4.42146380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.550371743 meters Centerline goodness [0,1] 0.9766761925697955 Centerline is valid? [True, True] Translation: X:369.96, Y:-23.00, Z:-4.42 [[ 9.99923839e-01 7.82951026e-03 -9.54020252e-03 3.69961537e+02] [-7.82312920e-03 9.99969150e-01 7.05994900e-04 -2.29950367e+01] [ 9.54543580e-03 -6.31306893e-04 9.99954242e-01 -4.42223016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.580371743 meters Centerline goodness [0,1] 0.9758941093969145 Centerline is valid? [True, True] Translation: X:369.99, Y:-23.00, Z:-4.42 [[ 9.99928874e-01 5.84445543e-03 -1.03965953e-02 3.69991242e+02] [-5.83676894e-03 9.99982670e-01 7.69516511e-04 -2.29987722e+01] [ 1.04009125e-02 -7.08779254e-04 9.99945658e-01 -4.42376489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61037174300003 meters Centerline goodness [0,1] 0.976985747853394 Centerline is valid? [True, True] Translation: X:370.02, Y:-23.00, Z:-4.42 [[ 9.99933838e-01 4.75216835e-03 -1.04755044e-02 3.70020545e+02] [-4.74431655e-03 9.99988446e-01 7.74261631e-04 -2.29981050e+01] [ 1.04790628e-02 -7.24511295e-04 9.99944831e-01 -4.42336616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.640371743 meters Centerline goodness [0,1] 0.9755792247721533 Centerline is valid? [True, True] Translation: X:370.05, Y:-23.00, Z:-4.42 [[ 9.99947386e-01 2.53333338e-03 -9.94022575e-03 3.70050192e+02] [-2.52615532e-03 9.99996539e-01 7.34611613e-04 -2.30018708e+01] [ 9.94205237e-03 -7.09462408e-04 9.99950325e-01 -4.42399206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.670371743 meters Centerline goodness [0,1] 0.9756501025607093 Centerline is valid? [True, True] Translation: X:370.08, Y:-23.00, Z:-4.42 [[ 9.99951437e-01 2.10376585e-03 -9.62800439e-03 3.70078557e+02] [-2.09702184e-03 9.99997549e-01 7.10498561e-04 -2.30025976e+01] [ 9.62947552e-03 -6.90273921e-04 9.99953397e-01 -4.42415363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.700371743 meters Centerline goodness [0,1] 0.9749453654444714 Centerline is valid? [True, True] Translation: X:370.11, Y:-23.00, Z:-4.43 [[ 9.99942838e-01 1.67527232e-03 -1.05600655e-02 3.70106791e+02] [-1.66714679e-03 9.99998308e-01 7.78214013e-04 -2.30046287e+01] [ 1.05613513e-02 -7.60564349e-04 9.99943938e-01 -4.42509512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.730371743 meters Centerline goodness [0,1] 0.9748503784544974 Centerline is valid? [True, True] Translation: X:370.13, Y:-23.01, Z:-4.43 [[ 9.99940398e-01 2.33032933e-03 -1.06662582e-02 3.70134958e+02] [-2.32212038e-03 9.99996998e-01 7.81939103e-04 -2.30067907e+01] [ 1.06680484e-02 -7.57124163e-04 9.99942808e-01 -4.42558852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.760371743 meters Centerline goodness [0,1] 0.9756162030000661 Centerline is valid? [True, True] Translation: X:370.17, Y:-23.01, Z:-4.43 [[ 9.99937353e-01 4.84794055e-03 -1.00889851e-02 3.70165058e+02] [-4.84070671e-03 9.99988009e-01 7.41299785e-04 -2.30052687e+01] [ 1.00924579e-02 -6.92415527e-04 9.99948830e-01 -4.42536236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.790371743 meters Centerline goodness [0,1] 0.9747081282690737 Centerline is valid? [True, True] Translation: X:370.19, Y:-23.01, Z:-4.43 [[ 9.99931580e-01 6.40656039e-03 -9.78729290e-03 3.70193884e+02] [-6.39983840e-03 9.99979263e-01 7.17974131e-04 -2.30062280e+01] [ 9.79168969e-03 -6.55287915e-04 9.99951846e-01 -4.42571473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.820371743 meters Centerline goodness [0,1] 0.9771807628524046 Centerline is valid? [True, True] Translation: X:370.22, Y:-23.01, Z:-4.43 [[ 9.99917749e-01 8.82655245e-03 -9.30524716e-03 3.70223705e+02] [-8.82058130e-03 9.99960865e-01 6.82542228e-04 -2.30060492e+01] [ 9.31090750e-03 -6.00408398e-04 9.99956472e-01 -4.42539850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.850371743 meters Centerline goodness [0,1] 0.9771525888571871 Centerline is valid? [True, True] Translation: X:370.26, Y:-23.00, Z:-4.43 [[ 9.99855306e-01 1.42375949e-02 -9.30897646e-03 3.70255005e+02] [-1.42318508e-02 9.99898489e-01 6.83011867e-04 -2.30023232e+01] [ 9.31775594e-03 -5.50429076e-04 9.99956437e-01 -4.42513623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880371743 meters Centerline goodness [0,1] 0.9787747333008721 Centerline is valid? [True, True] Translation: X:370.28, Y:-23.00, Z:-4.43 [[ 9.99804688e-01 1.73998874e-02 -9.37178609e-03 3.70284031e+02] [-1.73942094e-02 9.99848473e-01 6.87029715e-04 -2.30049599e+01] [ 9.38232025e-03 -5.23880720e-04 9.99955848e-01 -4.42643864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.910371743 meters Centerline goodness [0,1] 0.980411752948231 Centerline is valid? [True, True] Translation: X:370.32, Y:-23.00, Z:-4.43 [[ 9.99684353e-01 2.34000651e-02 -9.14496890e-03 3.70315399e+02] [-2.33949039e-02 9.99726077e-01 6.70958797e-04 -2.29996809e+01] [ 9.15816436e-03 -4.56801342e-04 9.99957959e-01 -4.42634703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940371743 meters Centerline goodness [0,1] 0.9805674482575035 Centerline is valid? [True, True] Translation: X:370.35, Y:-23.00, Z:-4.43 [[ 9.99607298e-01 2.65271723e-02 -9.03101472e-03 3.70345157e+02] [-2.65222729e-02 9.99648004e-01 6.61860695e-04 -2.29998871e+01] [ 9.04539313e-03 -4.22077744e-04 9.99959001e-01 -4.42630520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.970371743 meters Centerline goodness [0,1] 0.9813995866574813 Centerline is valid? [True, True] Translation: X:370.37, Y:-23.00, Z:-4.43 [[ 9.99553667e-01 2.86720195e-02 -8.38943924e-03 3.70374424e+02] [-2.86678747e-02 9.99588803e-01 6.13910341e-04 -2.29980729e+01] [ 8.40359158e-03 -3.73128939e-04 9.99964620e-01 -4.42545464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000371743 meters Centerline goodness [0,1] 0.9825780867085505 Centerline is valid? [True, True] Translation: X:370.40, Y:-23.00, Z:-4.43 [[ 9.99479879e-01 3.13771808e-02 -7.44600611e-03 3.70404505e+02] [-3.13739889e-02 9.99507567e-01 5.45119792e-04 -2.29972468e+01] [ 7.45944377e-03 -3.11225351e-04 9.99972130e-01 -4.42563704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.030371743 meters Centerline goodness [0,1] 0.9826812774789654 Centerline is valid? [True, True] Translation: X:370.43, Y:-23.00, Z:-4.43 [[ 9.99472379e-01 3.16306613e-02 -7.37997399e-03 3.70432011e+02] [-3.16275420e-02 9.99499579e-01 5.39029532e-04 -2.29996257e+01] [ 7.39333075e-03 -3.05334692e-04 9.99972622e-01 -4.42690362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060371743 meters Centerline goodness [0,1] 0.9820122290161201 Centerline is valid? [True, True] Translation: X:370.46, Y:-23.00, Z:-4.43 [[ 9.99498873e-01 3.07266608e-02 -7.60753564e-03 3.70460999e+02] [-3.07233229e-02 9.99527773e-01 5.55274950e-04 -2.30021459e+01] [ 7.62100490e-03 -3.21267913e-04 9.99970908e-01 -4.42780604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.090371743 meters Centerline goodness [0,1] 0.9815514558790842 Centerline is valid? [True, True] Translation: X:370.49, Y:-23.01, Z:-4.43 [[ 9.99552838e-01 2.87953346e-02 -8.05927409e-03 3.70488845e+02] [-2.87915301e-02 9.99585265e-01 5.87712509e-04 -2.30057542e+01] [ 8.07285501e-03 -3.55410873e-04 9.99967351e-01 -4.42850277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120371743 meters Centerline goodness [0,1] 0.9799105653073483 Centerline is valid? [True, True] Translation: X:370.52, Y:-23.01, Z:-4.43 [[ 9.99681309e-01 2.36873351e-02 -8.72872135e-03 3.70519044e+02] [-2.36826738e-02 9.99719323e-01 6.37011901e-04 -2.30113469e+01] [ 8.74136051e-03 -4.30089431e-04 9.99961701e-01 -4.42982668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.150371743 meters Centerline goodness [0,1] 0.980245702436958 Centerline is valid? [True, True] Translation: X:370.55, Y:-23.02, Z:-4.43 [[ 9.99753136e-01 2.06206173e-02 -8.27386639e-03 3.70546685e+02] [-2.06163335e-02 9.99787279e-01 6.02720971e-04 -2.30181078e+01] [ 8.28453484e-03 -4.31995393e-04 9.99965589e-01 -4.43087465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180371743 meters Centerline goodness [0,1] 0.9783726289664954 Centerline is valid? [True, True] Translation: X:370.58, Y:-23.02, Z:-4.43 [[ 9.99818371e-01 1.71649379e-02 -8.28189108e-03 3.70576678e+02] [-1.71605250e-02 9.99852565e-01 6.03604580e-04 -2.30236143e+01] [ 8.29103088e-03 -4.61373349e-04 9.99965522e-01 -4.43139524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.210371743 meters Centerline goodness [0,1] 0.9774074239115904 Centerline is valid? [True, True] Translation: X:370.61, Y:-23.02, Z:-4.43 [[ 9.99912623e-01 1.01265223e-02 -8.49702338e-03 3.70607249e+02] [-1.01216224e-02 9.99948583e-01 6.19461017e-04 -2.30249433e+01] [ 8.50285948e-03 -5.33403228e-04 9.99963708e-01 -4.43047110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240371743 meters Centerline goodness [0,1] 0.9792696716404674 Centerline is valid? [True, True] Translation: X:370.64, Y:-23.03, Z:-4.43 [[ 9.99940467e-01 6.98190636e-03 -8.38546256e-03 3.70636860e+02] [-6.97702761e-03 9.99975474e-01 6.10923893e-04 -2.30283845e+01] [ 8.38952230e-03 -5.52381919e-04 9.99964655e-01 -4.43087791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.270371743 meters Centerline goodness [0,1] 0.9776001776001776 Centerline is valid? [True, True] Translation: X:370.67, Y:-23.03, Z:-4.43 [[ 9.99954577e-01 1.28440554e-03 -9.44428819e-03 3.70667230e+02] [-1.27796168e-03 9.99998947e-01 6.88305500e-04 -2.30336008e+01] [ 9.44516230e-03 -6.76204797e-04 9.99955165e-01 -4.43132424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300371743 meters Centerline goodness [0,1] 0.9773189495092405 Centerline is valid? [True, True] Translation: X:370.70, Y:-23.04, Z:-4.43 [[ 9.99954910e-01 -7.91739522e-04 -9.46314542e-03 3.70696190e+02] [ 7.98292215e-04 9.99999444e-01 6.88686315e-04 -2.30374841e+01] [ 9.46259491e-03 -6.96209618e-04 9.99954986e-01 -4.43194836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.330371743 meters Centerline goodness [0,1] 0.975573026242941 Centerline is valid? [True, True] Translation: X:370.73, Y:-23.04, Z:-4.43 [[ 9.99946980e-01 -2.91450235e-03 -9.87636557e-03 3.70725575e+02] [ 2.92174101e-03 9.99995474e-01 7.18578217e-04 -2.30415068e+01] [ 9.87422657e-03 -7.47396301e-04 9.99950969e-01 -4.43246108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36037174300003 meters Centerline goodness [0,1] 0.9750154908382757 Centerline is valid? [True, True] Translation: X:370.76, Y:-23.04, Z:-4.43 [[ 9.99948693e-01 -5.01398042e-03 -8.80176425e-03 3.70755210e+02] [ 5.01980719e-03 9.99987196e-01 6.40032290e-04 -2.30446159e+01] [ 8.79844244e-03 -6.84182611e-04 9.99961059e-01 -4.43220589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.390371743 meters Centerline goodness [0,1] 0.973780027529861 Centerline is valid? [True, True] Translation: X:370.78, Y:-23.05, Z:-4.43 [[ 9.99940020e-01 -6.64796133e-03 -8.70405740e-03 3.70784493e+02] [ 6.65372089e-03 9.99977663e-01 6.32919099e-04 -2.30476513e+01] [ 8.69965536e-03 -6.90795505e-04 9.99961919e-01 -4.43312756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.420371743 meters Centerline goodness [0,1] 0.9750343665469381 Centerline is valid? [True, True] Translation: X:370.82, Y:-23.05, Z:-4.43 [[ 9.99940281e-01 -6.45437829e-03 -8.81909181e-03 3.70815918e+02] [ 6.46029045e-03 9.99978926e-01 6.42059220e-04 -2.30490170e+01] [ 8.81476186e-03 -6.98994771e-04 9.99960905e-01 -4.43333655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.450371743 meters Centerline goodness [0,1] 0.9750343665469381 Centerline is valid? [True, True] Translation: X:370.85, Y:-23.05, Z:-4.43 [[ 9.99940513e-01 -6.41825665e-03 -8.81906865e-03 3.70846783e+02] [ 6.42417020e-03 9.99979158e-01 6.42377373e-04 -2.30512935e+01] [ 8.81476190e-03 -6.98994358e-04 9.99960905e-01 -4.43359372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.480371743 meters Centerline goodness [0,1] 0.9750105511006464 Centerline is valid? [True, True] Translation: X:370.88, Y:-23.05, Z:-4.43 [[ 9.99942701e-01 -6.10233935e-03 -8.79525182e-03 3.70878361e+02] [ 6.10821166e-03 9.99981139e-01 6.40961324e-04 -2.30529770e+01] [ 8.79117457e-03 -6.94647857e-04 9.99961116e-01 -4.43414111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.510371743 meters Centerline goodness [0,1] 0.9755371386673184 Centerline is valid? [True, True] Translation: X:370.91, Y:-23.05, Z:-4.43 [[ 9.99945854e-01 -4.98400396e-03 -9.13499364e-03 3.70909066e+02] [ 4.99028950e-03 9.99987327e-01 6.65408363e-04 -2.30496281e+01] [ 9.13156148e-03 -7.10958597e-04 9.99958054e-01 -4.43426938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.540371743 meters Centerline goodness [0,1] 0.9756010685663402 Centerline is valid? [True, True] Translation: X:370.94, Y:-23.05, Z:-4.44 [[ 9.99946280e-01 -4.34187621e-03 -9.41201005e-03 3.70938671e+02] [ 4.34851744e-03 9.99990310e-01 6.85262468e-04 -2.30503087e+01] [ 9.40894352e-03 -7.26153945e-04 9.99955471e-01 -4.43575828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.570371743 meters Centerline goodness [0,1] 0.9761607421613666 Centerline is valid? [True, True] Translation: X:370.97, Y:-23.05, Z:-4.44 [[ 9.99949893e-01 -3.74028529e-03 -9.28552114e-03 3.70969496e+02] [ 3.74672481e-03 9.99992752e-01 6.76202958e-04 -2.30505056e+01] [ 9.28292465e-03 -7.10959368e-04 9.99956660e-01 -4.43583085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.600371743 meters Centerline goodness [0,1] 0.9760913364674279 Centerline is valid? [True, True] Translation: X:371.00, Y:-23.05, Z:-4.44 [[ 9.99954258e-01 -3.20227025e-03 -9.01259387e-03 3.71000058e+02] [ 3.20831505e-03 9.99994638e-01 6.56327474e-04 -2.30490788e+01] [ 9.01044380e-03 -6.85212693e-04 9.99959170e-01 -4.43517317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.630371743 meters Centerline goodness [0,1] 0.9778476746798472 Centerline is valid? [True, True] Translation: X:371.03, Y:-23.05, Z:-4.43 [[ 9.99966179e-01 -2.47239592e-03 -7.84404033e-03 3.71030600e+02] [ 2.47695013e-03 9.99996769e-01 5.70932941e-04 -2.30461705e+01] [ 7.84260342e-03 -5.90342928e-04 9.99969072e-01 -4.43476053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.660371743 meters Centerline goodness [0,1] 0.9777214394687248 Centerline is valid? [True, True] Translation: X:371.06, Y:-23.05, Z:-4.44 [[ 9.99968136e-01 -2.23584838e-03 -7.66345563e-03 3.71059889e+02] [ 2.24018506e-03 9.99997335e-01 5.57354021e-04 -2.30468779e+01] [ 7.66218905e-03 -5.74503820e-04 9.99970480e-01 -4.43511644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.690371743 meters Centerline goodness [0,1] 0.977632112447628 Centerline is valid? [True, True] Translation: X:371.09, Y:-23.05, Z:-4.44 [[ 9.99971930e-01 -2.49840634e-03 -7.06372421e-03 3.71090045e+02] [ 2.50209527e-03 9.99996738e-01 5.13446849e-04 -2.30457916e+01] [ 7.06241837e-03 -5.31106548e-04 9.99974920e-01 -4.43512321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.720371743 meters Centerline goodness [0,1] 0.9767347764515476 Centerline is valid? [True, True] Translation: X:371.12, Y:-23.05, Z:-4.44 [[ 9.99975043e-01 -3.00697751e-03 -6.39311250e-03 3.71119450e+02] [ 3.01000963e-03 9.99995362e-01 4.64709768e-04 -2.30500639e+01] [ 6.39168548e-03 -4.83941500e-04 9.99979456e-01 -4.43608614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.750371743 meters Centerline goodness [0,1] 0.9767337000631257 Centerline is valid? [True, True] Translation: X:371.15, Y:-23.05, Z:-4.44 [[ 9.99967669e-01 -3.96109441e-03 -6.99791795e-03 3.71150183e+02] [ 3.96475176e-03 9.99992011e-01 5.08839312e-04 -2.30489554e+01] [ 6.99584649e-03 -5.36567868e-04 9.99975385e-01 -4.43623714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.780371743 meters Centerline goodness [0,1] 0.9769404842724598 Centerline is valid? [True, True] Translation: X:371.18, Y:-23.05, Z:-4.44 [[ 9.99961908e-01 -5.07326950e-03 -7.10248189e-03 3.71181254e+02] [ 5.07706486e-03 9.99986978e-01 5.16442465e-04 -2.30466721e+01] [ 7.09976935e-03 -5.52482554e-04 9.99974644e-01 -4.43686643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.810371743 meters Centerline goodness [0,1] 0.9763433055864275 Centerline is valid? [True, True] Translation: X:371.21, Y:-23.05, Z:-4.44 [[ 9.99963177e-01 -5.31542621e-03 -6.73726367e-03 3.71211199e+02] [ 5.31884856e-03 9.99985735e-01 4.90157532e-04 -2.30491917e+01] [ 6.73456216e-03 -5.25973968e-04 9.99977184e-01 -4.43739722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.840371743 meters Centerline goodness [0,1] 0.9770293058657308 Centerline is valid? [True, True] Translation: X:371.24, Y:-23.05, Z:-4.44 [[ 9.99964947e-01 -5.95415234e-03 -5.88673800e-03 3.71243182e+02] [ 5.95677840e-03 9.99982166e-01 4.28665528e-04 -2.30457779e+01] [ 5.88408067e-03 -4.63716495e-04 9.99982581e-01 -4.43717396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.870371743 meters Centerline goodness [0,1] 0.9776281789745682 Centerline is valid? [True, True] Translation: X:371.27, Y:-23.05, Z:-4.44 [[ 9.99969180e-01 -5.85978445e-03 -5.22513757e-03 3.71274468e+02] [ 5.86185457e-03 9.99982747e-01 3.80957827e-04 -2.30470817e+01] [ 5.22281509e-03 -4.11575082e-04 9.99986276e-01 -4.43743381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.900371743 meters Centerline goodness [0,1] 0.977812634976926 Centerline is valid? [True, True] Translation: X:371.31, Y:-23.05, Z:-4.44 [[ 9.99972904e-01 -5.77185992e-03 -4.56905507e-03 3.71305894e+02] [ 5.77344220e-03 9.99983278e-01 3.33190537e-04 -2.30476915e+01] [ 4.56705554e-03 -3.59560684e-04 9.99989506e-01 -4.43740346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.930371743 meters Centerline goodness [0,1] 0.9783751657294382 Centerline is valid? [True, True] Translation: X:371.34, Y:-23.04, Z:-4.44 [[ 9.99980299e-01 -4.58814770e-03 -4.28368349e-03 3.71338217e+02] [ 4.58952945e-03 9.99989419e-01 3.12786563e-04 -2.30434362e+01] [ 4.28220306e-03 -3.32440493e-04 9.99990776e-01 -4.43700077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.960371743 meters Centerline goodness [0,1] 0.9783987498850998 Centerline is valid? [True, True] Translation: X:371.37, Y:-23.04, Z:-4.44 [[ 9.99983299e-01 -3.63318699e-03 -4.49469097e-03 3.71369464e+02] [ 3.63469859e-03 9.99993341e-01 3.28186595e-04 -2.30411545e+01] [ 4.49346867e-03 -3.44517961e-04 9.99989845e-01 -4.43713413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.990371743 meters Centerline goodness [0,1] 0.979572006940428 Centerline is valid? [True, True] Translation: X:371.40, Y:-23.04, Z:-4.44 [[ 9.99990358e-01 -4.90503604e-04 -4.36383558e-03 3.71400469e+02] [ 4.91898174e-04 9.99999828e-01 3.18506967e-04 -2.30370662e+01] [ 4.36367860e-03 -3.20650459e-04 9.99990428e-01 -4.43780878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.020371743 meters Centerline goodness [0,1] 0.9810729942244798 Centerline is valid? [True, True] Translation: X:371.43, Y:-23.04, Z:-4.44 [[ 9.99989585e-01 1.58925429e-03 -4.27839116e-03 3.71429779e+02] [-1.58793514e-03 9.99998691e-01 3.11708722e-04 -2.30366499e+01] [ 4.27888094e-03 -3.04911668e-04 9.99990799e-01 -4.43885501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.050371743 meters Centerline goodness [0,1] 0.9819051822257323 Centerline is valid? [True, True] Translation: X:371.46, Y:-23.03, Z:-4.44 [[ 9.99982458e-01 3.81401022e-03 -4.53172779e-03 3.71459940e+02] [-3.81255368e-03 9.99992678e-01 3.30005594e-04 -2.30311105e+01] [ 4.53295325e-03 -3.12722350e-04 9.99989677e-01 -4.43877936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.080371743 meters Centerline goodness [0,1] 0.9842982168764918 Centerline is valid? [True, True] Translation: X:371.49, Y:-23.03, Z:-4.44 [[ 9.99956709e-01 8.05046317e-03 -4.66574962e-03 3.71490977e+02] [-8.04896383e-03 9.99967549e-01 3.40038563e-04 -2.30262952e+01] [ 4.66833568e-03 -3.02469392e-04 9.99989058e-01 -4.43947347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11037174300003 meters Centerline goodness [0,1] 0.9831438190079337 Centerline is valid? [True, True] Translation: X:371.52, Y:-23.03, Z:-4.44 [[ 9.99938195e-01 1.01040397e-02 -4.63847458e-03 3.71520053e+02] [-1.01025820e-02 9.99948911e-01 3.37602650e-04 -2.30265548e+01] [ 4.64164875e-03 -2.90721215e-04 9.99989185e-01 -4.43981055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.140371743 meters Centerline goodness [0,1] 0.985301775147929 Centerline is valid? [True, True] Translation: X:371.55, Y:-23.02, Z:-4.44 [[ 9.99879640e-01 1.49904668e-02 -3.99894450e-03 3.71550718e+02] [-1.49894213e-02 9.99887610e-01 2.91281191e-04 -2.30214160e+01] [ 4.00286150e-03 -2.31304269e-04 9.99991962e-01 -4.43943936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.170371743 meters Centerline goodness [0,1] 0.9851558046741402 Centerline is valid? [True, True] Translation: X:371.58, Y:-23.02, Z:-4.44 [[ 9.99840912e-01 1.74194276e-02 -3.83589937e-03 3.71580454e+02] [-1.74184851e-02 9.99848248e-01 2.78991578e-04 -2.30206726e+01] [ 3.84017714e-03 -2.12131637e-04 9.99992604e-01 -4.43996062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.200371743 meters Centerline goodness [0,1] 0.9867492850333651 Centerline is valid? [True, True] Translation: X:371.61, Y:-23.02, Z:-4.44 [[ 9.99793865e-01 1.99188597e-02 -3.93268535e-03 3.71610066e+02] [-1.99178888e-02 9.99801578e-01 2.85896526e-04 -2.30189150e+01] [ 3.93759975e-03 -2.07506803e-04 9.99992226e-01 -4.44034292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.230371743 meters Centerline goodness [0,1] 0.988641821150706 Centerline is valid? [True, True] Translation: X:371.64, Y:-23.01, Z:-4.44 [[ 9.99676936e-01 2.51595725e-02 -3.60826759e-03 3.71640836e+02] [-2.51587884e-02 9.99683433e-01 2.62543872e-04 -2.30133798e+01] [ 3.61373082e-03 -1.71679413e-04 9.99993456e-01 -4.44042460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.260371743 meters Centerline goodness [0,1] 0.9889488066162068 Centerline is valid? [True, True] Translation: X:371.67, Y:-23.01, Z:-4.44 [[ 9.99561643e-01 2.94726755e-02 -2.80770614e-03 3.71669977e+02] [-2.94722188e-02 9.99565579e-01 2.03918535e-04 -2.30110285e+01] [ 2.81249644e-03 -1.21079816e-04 9.99996038e-01 -4.44077538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.290371743 meters Centerline goodness [0,1] 0.9902373706634205 Centerline is valid? [True, True] Translation: X:371.70, Y:-23.01, Z:-4.44 [[ 9.99534610e-01 3.04236764e-02 -2.22802421e-03 3.71698557e+02] [-3.04233923e-02 9.99537088e-01 1.61302380e-04 -2.30104685e+01] [ 2.23190024e-03 -9.34432572e-05 9.99997505e-01 -4.44062611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.320371743 meters Centerline goodness [0,1] 0.9896222297657727 Centerline is valid? [True, True] Translation: X:371.73, Y:-23.01, Z:-4.44 [[ 9.99514183e-01 3.10795768e-02 -2.33623607e-03 3.71727767e+02] [-3.10792666e-02 9.99516909e-01 1.68998462e-04 -2.30108304e+01] [ 2.34035986e-03 -9.63078562e-05 9.99997257e-01 -4.44109687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.350371743 meters Centerline goodness [0,1] 0.9899960864886019 Centerline is valid? [True, True] Translation: X:371.76, Y:-23.01, Z:-4.44 [[ 9.99564868e-01 2.93681597e-02 -2.75421173e-03 3.71756151e+02] [-2.93677229e-02 9.99568656e-01 1.98929730e-04 -2.30110018e+01] [ 2.75886591e-03 -1.17958243e-04 9.99996187e-01 -4.44242022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380371743 meters Centerline goodness [0,1] 0.9901605007428335 Centerline is valid? [True, True] Translation: X:371.78, Y:-23.01, Z:-4.44 [[ 9.99606344e-01 2.79187640e-02 -2.77485490e-03 3.71784031e+02] [-2.79183157e-02 9.99610188e-01 2.00181371e-04 -2.30141337e+01] [ 2.77936205e-03 -1.22633293e-04 9.99996130e-01 -4.44374020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.410371743 meters Centerline goodness [0,1] 0.9887933344702414 Centerline is valid? [True, True] Translation: X:371.81, Y:-23.02, Z:-4.44 [[ 9.99728120e-01 2.31164836e-02 -3.05194201e-03 3.71813715e+02] [-2.31159170e-02 9.99732767e-01 2.20789980e-04 -2.30179770e+01] [ 3.05623032e-03 -1.50181513e-04 9.99995318e-01 -4.44484141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440371743 meters Centerline goodness [0,1] 0.9884038199181446 Centerline is valid? [True, True] Translation: X:371.84, Y:-23.02, Z:-4.44 [[ 9.99796150e-01 2.00209423e-02 -2.61140644e-03 3.71842567e+02] [-2.00205182e-02 9.99799552e-01 1.88460798e-04 -2.30213196e+01] [ 2.61465615e-03 -1.36140671e-04 9.99996573e-01 -4.44491021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.470371743 meters Centerline goodness [0,1] 0.9871707483324407 Centerline is valid? [True, True] Translation: X:371.87, Y:-23.03, Z:-4.45 [[ 9.99860292e-01 1.65621049e-02 -2.25666863e-03 3.71871751e+02] [-1.65617789e-02 9.99862831e-01 1.63056847e-04 -2.30271835e+01] [ 2.25905965e-03 -1.25659619e-04 9.99997440e-01 -4.44513938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500371743 meters Centerline goodness [0,1] 0.9849671767088855 Centerline is valid? [True, True] Translation: X:371.90, Y:-23.03, Z:-4.45 [[ 9.99959575e-01 8.87044808e-03 -1.47113058e-03 3.71901471e+02] [-8.87030136e-03 9.99960652e-01 1.06229925e-04 -2.30333530e+01] [ 1.47201500e-03 -9.31762595e-05 9.99998912e-01 -4.44500865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.530371743 meters Centerline goodness [0,1] 0.9854511836119018 Centerline is valid? [True, True] Translation: X:371.93, Y:-23.04, Z:-4.45 [[ 9.99987478e-01 4.81412492e-03 -1.36648710e-03 3.71931894e+02] [-4.81399443e-03 9.99988408e-01 9.87648098e-05 -2.30377215e+01] [ 1.36694672e-03 -9.21853119e-05 9.99999061e-01 -4.44530297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560371743 meters Centerline goodness [0,1] 0.9832597183923473 Centerline is valid? [True, True] Translation: X:371.96, Y:-23.05, Z:-4.45 [[ 9.99994127e-01 -2.99322398e-03 -1.66945260e-03 3.71960462e+02] [ 2.99342931e-03 9.99995512e-01 1.20512110e-04 -2.30459282e+01] [ 1.66908438e-03 -1.25508791e-04 9.99998599e-01 -4.44636657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.590371743 meters Centerline goodness [0,1] 0.9808369182635901 Centerline is valid? [True, True] Translation: X:371.99, Y:-23.05, Z:-4.45 [[ 9.99975500e-01 -6.67847302e-03 -2.09676894e-03 3.71990506e+02] [ 6.67880547e-03 9.99977685e-01 1.51591466e-04 -2.30514415e+01] [ 2.09570975e-03 -1.65591664e-04 9.99997790e-01 -4.44745487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620371743 meters Centerline goodness [0,1] 0.9783210332103321 Centerline is valid? [True, True] Translation: X:372.02, Y:-23.06, Z:-4.45 [[ 9.99914867e-01 -1.27746637e-02 -2.65824847e-03 3.72020964e+02] [ 1.27752194e-02 9.99918375e-01 1.92181943e-04 -2.30568926e+01] [ 2.65557643e-03 -2.26125289e-04 9.99996448e-01 -4.44846232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.650371743 meters Centerline goodness [0,1] 0.9812386869526931 Centerline is valid? [True, True] Translation: X:372.05, Y:-23.05, Z:-4.45 [[ 9.99878957e-01 -1.52664540e-02 -3.00128621e-03 3.72052096e+02] [ 1.52671741e-02 9.99883426e-01 2.17165155e-04 -2.30497776e+01] [ 2.99762099e-03 -2.62960027e-04 9.99995473e-01 -4.44764102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680371743 meters Centerline goodness [0,1] 0.9786829731770896 Centerline is valid? [True, True] Translation: X:372.08, Y:-23.06, Z:-4.45 [[ 9.99854508e-01 -1.68612403e-02 -2.58099284e-03 3.72081535e+02] [ 1.68617777e-02 9.99857813e-01 1.86621376e-04 -2.30568020e+01] [ 2.57747919e-03 -2.30114351e-04 9.99996652e-01 -4.44841520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.710371743 meters Centerline goodness [0,1] 0.9790365635637842 Centerline is valid? [True, True] Translation: X:372.11, Y:-23.06, Z:-4.45 [[ 9.99814553e-01 -1.91530151e-02 -2.00551145e-03 3.72112437e+02] [ 1.91533449e-02 9.99816547e-01 1.45391129e-04 -2.30561337e+01] [ 2.00235885e-03 -1.83776419e-04 9.99997978e-01 -4.44830292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740371743 meters Centerline goodness [0,1] 0.9595533865720202 Centerline is valid? [True, True] Translation: X:372.14, Y:-23.07, Z:-4.45 [[ 9.99816592e-01 -1.90346512e-02 -2.11310283e-03 3.72144035e+02] [ 1.90350185e-02 9.99818806e-01 1.53838214e-04 -2.30691007e+01] [ 2.10979169e-03 -1.94032950e-04 9.99997756e-01 -4.44964316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.770371743 meters Centerline goodness [0,1] 0.9594511064408456 Centerline is valid? [True, True] Translation: X:372.17, Y:-23.07, Z:-4.45 [[ 9.99837473e-01 -1.78816992e-02 -2.29623103e-03 3.72174333e+02] [ 1.78821284e-02 9.99840088e-01 1.66512528e-04 -2.30689221e+01] [ 2.29288631e-03 -2.07546963e-04 9.99997350e-01 -4.45036213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800371743 meters Centerline goodness [0,1] 0.9800973904357597 Centerline is valid? [True, True] Translation: X:372.21, Y:-23.05, Z:-4.45 [[ 9.99857734e-01 -1.66584906e-02 -2.64704660e-03 3.72206891e+02] [ 1.66590573e-02 9.99861210e-01 1.92191245e-04 -2.30541706e+01] [ 2.64347760e-03 -2.36261203e-04 9.99996478e-01 -4.44954539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.830371743 meters Centerline goodness [0,1] 0.9855395719512806 Centerline is valid? [True, True] Translation: X:372.24, Y:-23.05, Z:-4.45 [[ 9.99932465e-01 -1.13637659e-02 -2.43517524e-03 3.72238263e+02] [ 1.13642297e-02 9.99935409e-01 1.76705355e-04 -2.30451153e+01] [ 2.43300991e-03 -2.04367312e-04 9.99997019e-01 -4.45013897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86037174300003 meters Centerline goodness [0,1] 0.985568674941972 Centerline is valid? [True, True] Translation: X:372.27, Y:-23.04, Z:-4.45 [[ 9.99965990e-01 -7.93670014e-03 -2.24243257e-03 3.72268991e+02] [ 7.93708466e-03 9.99968488e-01 1.62626884e-04 -2.30424653e+01] [ 2.24107118e-03 -1.80419730e-04 9.99997473e-01 -4.45036302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.890371743 meters Centerline goodness [0,1] 0.989025078209139 Centerline is valid? [True, True] Translation: X:372.30, Y:-23.03, Z:-4.45 [[ 9.99998195e-01 -1.47041618e-04 -1.89450711e-03 3.72300235e+02] [ 1.47302148e-04 9.99999980e-01 1.37379718e-04 -2.30306424e+01] [ 1.89448688e-03 -1.37658535e-04 9.99998196e-01 -4.44958792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.920371743 meters Centerline goodness [0,1] 0.9886801170491298 Centerline is valid? [True, True] Translation: X:372.33, Y:-23.03, Z:-4.45 [[ 9.99991120e-01 4.01849741e-03 -1.26928000e-03 3.72330180e+02] [-4.01838385e-03 9.99991922e-01 9.20048820e-05 -2.30310943e+01] [ 1.26963947e-03 -8.69036107e-05 9.99999190e-01 -4.45021849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.950371743 meters Centerline goodness [0,1] 0.9904803787153685 Centerline is valid? [True, True] Translation: X:372.36, Y:-23.03, Z:-4.45 [[ 9.99969986e-01 7.68469690e-03 -9.85910749e-04 3.72360737e+02] [-7.68463018e-03 9.99970470e-01 7.14434139e-05 -2.30265297e+01] [ 9.86430657e-04 -6.38649101e-05 9.99999511e-01 -4.45016665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.980371743 meters Centerline goodness [0,1] 0.9910975355054302 Centerline is valid? [True, True] Translation: X:372.39, Y:-23.02, Z:-4.45 [[ 9.99910415e-01 1.33779411e-02 -4.38817751e-04 3.72390913e+02] [-1.33779285e-02 9.99910511e-01 3.15330083e-05 -2.30180895e+01] [ 4.39200328e-04 -2.56597109e-05 9.99999903e-01 -4.45061264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.010371743 meters Centerline goodness [0,1] 0.9924429283652585 Centerline is valid? [True, True] Translation: X:372.42, Y:-23.02, Z:-4.45 [[ 9.99888543e-01 1.49296987e-02 7.01128372e-05 3.72420401e+02] [-1.49296984e-02 9.99888546e-01 -5.53724804e-06 -2.30150158e+01] [-7.01876922e-05 4.48986737e-06 9.99999998e-01 -4.45053774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.040371743 meters Centerline goodness [0,1] 0.9925694793346908 Centerline is valid? [True, True] Translation: X:372.45, Y:-23.01, Z:-4.45 [[ 9.99859949e-01 1.67322621e-02 3.36057755e-04 3.72450140e+02] [-1.67322547e-02 9.99860006e-01 -2.47774675e-05 -2.30110730e+01] [-3.36425292e-04 1.91509934e-05 9.99999943e-01 -4.45174375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.070371743 meters Centerline goodness [0,1] 0.9918912473169569 Centerline is valid? [True, True] Translation: X:372.48, Y:-23.01, Z:-4.45 [[ 9.99853684e-01 1.70746529e-02 1.03295509e-03 3.72477857e+02] [-1.70745841e-02 9.99854216e-01 -7.54090851e-05 -2.30140628e+01] [-1.03409208e-03 5.77607731e-05 9.99999464e-01 -4.45223352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.100371743 meters Centerline goodness [0,1] 0.9925687193692734 Centerline is valid? [True, True] Translation: X:372.51, Y:-23.01, Z:-4.45 [[ 9.99872895e-01 1.59103293e-02 1.02691193e-03 3.72506205e+02] [-1.59102607e-02 9.99873421e-01 -7.48700774e-05 -2.30130374e+01] [-1.02797316e-03 5.85221244e-05 9.99999470e-01 -4.45224159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.130371743 meters Centerline goodness [0,1] 0.9914661704107404 Centerline is valid? [True, True] Translation: X:372.53, Y:-23.02, Z:-4.45 [[ 9.99909296e-01 1.33765593e-02 1.57085989e-03 3.72534316e+02] [-1.33763968e-02 9.99910526e-01 -1.13888103e-04 -2.30173330e+01] [-1.57224277e-03 9.28653272e-05 9.99998760e-01 -4.45285620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.160371743 meters Centerline goodness [0,1] 0.9917617574917351 Centerline is valid? [True, True] Translation: X:372.56, Y:-23.02, Z:-4.45 [[ 9.99949208e-01 9.88084792e-03 1.98758148e-03 3.72564668e+02] [-9.88058222e-03 9.99951176e-01 -1.43457078e-04 -2.30157347e+01] [-1.98890191e-03 1.23811330e-04 9.99998014e-01 -4.45320691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.190371743 meters Centerline goodness [0,1] 0.99051613592648 Centerline is valid? [True, True] Translation: X:372.59, Y:-23.02, Z:-4.45 [[ 9.99968506e-01 7.65155018e-03 2.10753270e-03 3.72594371e+02] [-7.65124646e-03 9.99970717e-01 -1.52134193e-04 -2.30185035e+01] [-2.10863504e-03 1.36004149e-04 9.99997768e-01 -4.45375733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.220371743 meters Centerline goodness [0,1] 0.9919164882226981 Centerline is valid? [True, True] Translation: X:372.62, Y:-23.02, Z:-4.45 [[ 9.99981546e-01 5.71966419e-03 2.04756452e-03 3.72624199e+02] [-5.71937360e-03 9.99983633e-01 -1.47746055e-04 -2.30173283e+01] [-2.04837606e-03 1.36032542e-04 9.99997893e-01 -4.45375834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.250371743 meters Centerline goodness [0,1] 0.8906440155974468 Centerline is valid? [True, False] Translation: X:372.67, Y:-23.02, Z:-4.45 [[ 9.99999842e-01 9.00672684e-05 5.54333873e-04 3.72671661e+02] [-8.76420108e-05 9.99990432e-01 -4.37355496e-03 -2.30154830e+01] [-5.54722484e-04 4.37350569e-03 9.99990282e-01 -4.45075082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.280371743 meters Centerline goodness [0,1] 0.9909498616966995 Centerline is valid? [False, True] Translation: X:372.62, Y:-23.01, Z:-4.45 [[ 9.99995980e-01 2.72371181e-03 -7.88307331e-04 3.72615929e+02] [-2.72405909e-03 9.99996193e-01 -4.39805247e-04 -2.30115306e+01] [ 7.87106428e-04 4.41950875e-04 9.99999593e-01 -4.45236727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.310371743 meters Centerline goodness [0,1] 0.9923715383169035 Centerline is valid? [True, True] Translation: X:372.64, Y:-23.01, Z:-4.45 [[ 9.99981162e-01 5.95098981e-03 -1.50366651e-03 3.72644575e+02] [-5.95083649e-03 9.99982288e-01 1.06421338e-04 -2.30106522e+01] [ 1.50427319e-03 -9.74712596e-05 9.99998864e-01 -4.45346093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.340371743 meters Centerline goodness [0,1] 0.9923715383169035 Centerline is valid? [True, True] Translation: X:372.67, Y:-23.01, Z:-4.45 [[ 9.99981599e-01 5.87708647e-03 -1.50368331e-03 3.72672860e+02] [-5.87693342e-03 9.99982725e-01 1.06184402e-04 -2.30125908e+01] [ 1.50428139e-03 -9.73454011e-05 9.99998864e-01 -4.45365832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.370371743 meters Centerline goodness [0,1] 0.9912250006729294 Centerline is valid? [True, True] Translation: X:372.70, Y:-23.01, Z:-4.45 [[ 9.99972457e-01 7.22526959e-03 -1.69707422e-03 3.72702362e+02] [-7.22507721e-03 9.99973892e-01 1.19463462e-04 -2.30104503e+01] [ 1.69789307e-03 -1.07198679e-04 9.99998553e-01 -4.45354829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.400371743 meters Centerline goodness [0,1] 0.9909885603280811 Centerline is valid? [True, True] Translation: X:372.73, Y:-23.01, Z:-4.45 [[ 9.99964161e-01 8.36987792e-03 -1.27388287e-03 3.72730067e+02] [-8.36977069e-03 9.99964969e-01 8.94860602e-05 -2.30137686e+01] [ 1.27458723e-03 -7.88207456e-05 9.99999185e-01 -4.45427173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.430371743 meters Centerline goodness [0,1] 0.9915630070308274 Centerline is valid? [True, True] Translation: X:372.76, Y:-23.01, Z:-4.45 [[ 9.99947100e-01 1.02658423e-02 -6.39666987e-04 3.72760285e+02] [-1.02658155e-02 9.99947304e-01 4.51216762e-05 -2.30127913e+01] [ 6.40096492e-04 -3.85525860e-05 9.99999794e-01 -4.45474979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.460371743 meters Centerline goodness [0,1] 0.9919584884131598 Centerline is valid? [True, True] Translation: X:372.79, Y:-23.01, Z:-4.46 [[ 9.99891257e-01 1.47364019e-02 -5.58606789e-04 3.72791285e+02] [-1.47363821e-02 9.99891413e-01 3.94870107e-05 -2.30101759e+01] [ 5.59128028e-04 -3.12508737e-05 9.99999843e-01 -4.45586112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.490371743 meters Centerline goodness [0,1] 0.991417361451692 Centerline is valid? [True, True] Translation: X:372.82, Y:-23.01, Z:-4.46 [[ 9.99859466e-01 1.67605904e-02 -3.61011584e-04 3.72820250e+02] [-1.67605824e-02 9.99859531e-01 2.50144115e-05 -2.30098653e+01] [ 3.61380129e-04 -1.89601318e-05 9.99999935e-01 -4.45542840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.520371743 meters Centerline goodness [0,1] 0.9920690966375143 Centerline is valid? [True, True] Translation: X:372.85, Y:-23.01, Z:-4.46 [[ 9.99830400e-01 1.84164612e-02 -6.97590520e-05 3.72848588e+02] [-1.84164609e-02 9.99830403e-01 4.42838458e-06 -2.30097658e+01] [ 6.98287762e-05 -3.14291867e-06 9.99999998e-01 -4.45538006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.550371743 meters Centerline goodness [0,1] 0.9916359163591636 Centerline is valid? [True, True] Translation: X:372.88, Y:-23.01, Z:-4.46 [[ 9.99803250e-01 1.98337970e-02 -2.86129756e-04 3.72875959e+02] [-1.98337922e-02 9.99803291e-01 1.95626888e-05 -2.30128364e+01] [ 2.86461474e-04 -1.38838017e-05 9.99999959e-01 -4.45580608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.580371743 meters Centerline goodness [0,1] 0.9928434329585961 Centerline is valid? [True, True] Translation: X:372.91, Y:-23.01, Z:-4.46 [[ 9.99773748e-01 2.12661462e-02 -4.52285069e-04 3.72905309e+02] [-2.12661342e-02 9.99773850e-01 3.13587347e-05 -2.30090540e+01] [ 4.52849664e-04 -2.17332847e-05 9.99999897e-01 -4.45588901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61037174300003 meters Centerline goodness [0,1] 0.9932002632156175 Centerline is valid? [True, True] Translation: X:372.93, Y:-23.01, Z:-4.46 [[ 9.99768185e-01 2.15232221e-02 -5.72521275e-04 3.72933872e+02] [-2.15232028e-02 9.99768348e-01 3.97719431e-05 -2.30074346e+01] [ 5.73244670e-04 -2.74402319e-05 9.99999835e-01 -4.45684194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.640371743 meters Centerline goodness [0,1] 0.9917554575584102 Centerline is valid? [True, True] Translation: X:372.96, Y:-23.01, Z:-4.46 [[ 9.99776677e-01 2.11312617e-02 -2.58514583e-04 3.72961151e+02] [-2.11312578e-02 9.99776710e-01 1.75340612e-05 -2.30142527e+01] [ 2.58827376e-04 -1.20674072e-05 9.99999966e-01 -4.45745851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.670371743 meters Centerline goodness [0,1] 0.9937843980175789 Centerline is valid? [True, True] Translation: X:372.99, Y:-23.01, Z:-4.46 [[ 9.99789026e-01 2.05330281e-02 5.46104113e-04 3.72989893e+02] [-2.05330100e-02 9.99789175e-01 -3.88436686e-05 -2.30123933e+01] [-5.46786559e-04 2.76223124e-05 9.99999850e-01 -4.45667728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.700371743 meters Centerline goodness [0,1] 0.9932696779841865 Centerline is valid? [True, True] Translation: X:373.02, Y:-23.01, Z:-4.46 [[ 9.99767696e-01 2.15467739e-02 5.39372596e-04 3.73018548e+02] [-2.15467564e-02 9.99767841e-01 -3.83305573e-05 -2.30141599e+01] [-5.40073276e-04 2.66999230e-05 9.99999854e-01 -4.45754035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.730371743 meters Centerline goodness [0,1] 0.9936874897524184 Centerline is valid? [True, True] Translation: X:373.05, Y:-23.02, Z:-4.46 [[ 9.99766759e-01 2.15816103e-02 8.13880411e-04 3.73047241e+02] [-2.15815706e-02 9.99767089e-01 -5.75207617e-05 -2.30162428e+01] [-8.14932240e-04 3.99425279e-05 9.99999667e-01 -4.45756861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.760371743 meters Centerline goodness [0,1] 0.9937182498497842 Centerline is valid? [True, True] Translation: X:373.08, Y:-23.02, Z:-4.46 [[ 9.99746741e-01 2.25041375e-02 1.31168942e-04 3.73075885e+02] [-2.25041365e-02 9.99746750e-01 -9.69092409e-06 -2.30186710e+01] [-1.31353810e-04 6.73662601e-06 9.99999991e-01 -4.45874766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.790371743 meters Centerline goodness [0,1] 0.9932816255188989 Centerline is valid? [True, True] Translation: X:373.10, Y:-23.02, Z:-4.46 [[ 9.99728317e-01 2.33027053e-02 -5.24651667e-04 3.73103114e+02] [-2.33026896e-02 9.99728455e-01 3.60241026e-05 -2.30212576e+01] [ 5.25348659e-04 -2.37885206e-05 9.99999862e-01 -4.45965643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.820371743 meters Centerline goodness [0,1] 0.994535519125683 Centerline is valid? [True, True] Translation: X:373.13, Y:-23.02, Z:-4.46 [[ 9.99716150e-01 2.38130674e-02 -7.46530808e-04 3.73131739e+02] [-2.38130355e-02 9.99716428e-01 5.15941421e-05 -2.30208454e+01] [ 7.47547728e-04 -3.38023324e-05 9.99999720e-01 -4.45992658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.850371743 meters Centerline goodness [0,1] 0.9937925401579091 Centerline is valid? [True, True] Translation: X:373.16, Y:-23.03, Z:-4.46 [[ 9.99706990e-01 2.41255086e-02 -1.97347301e-03 3.73159528e+02] [-2.41252852e-02 9.99708934e-01 1.36935023e-04 -2.30250365e+01] [ 1.97620223e-03 -8.92843006e-05 9.99998043e-01 -4.46155180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880371743 meters Centerline goodness [0,1] 0.9940863877912522 Centerline is valid? [True, True] Translation: X:373.19, Y:-23.03, Z:-4.46 [[ 9.99715629e-01 2.37292204e-02 -2.36321901e-03 3.73187337e+02] [-2.37289001e-02 9.99718417e-01 1.63479450e-04 -2.30300644e+01] [ 2.36643281e-03 -1.07356373e-04 9.99997194e-01 -4.46348463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.910371743 meters Centerline goodness [0,1] 0.9941636353765134 Centerline is valid? [True, True] Translation: X:373.22, Y:-23.03, Z:-4.46 [[ 9.99750311e-01 2.22325729e-02 -2.24230894e-03 3.73216013e+02] [-2.22322803e-02 9.99752820e-01 1.55351975e-04 -2.30337650e+01] [ 2.24520856e-03 -1.05461545e-04 9.99997474e-01 -4.46380441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940371743 meters Centerline goodness [0,1] 0.9939796610169491 Centerline is valid? [True, True] Translation: X:373.25, Y:-23.04, Z:-4.46 [[ 9.99777207e-01 2.10088023e-02 -2.04124927e-03 3.73245017e+02] [-2.10085577e-02 9.99779286e-01 1.41220689e-04 -2.30363192e+01] [ 2.04376561e-03 -9.83055232e-05 9.99997907e-01 -4.46349937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.970371743 meters Centerline goodness [0,1] 0.9935471626494591 Centerline is valid? [True, True] Translation: X:373.27, Y:-23.04, Z:-4.46 [[ 9.99844392e-01 1.75840685e-02 -1.41174403e-03 3.73274473e+02] [-1.75839480e-02 9.99845386e-01 9.77195510e-05 -2.30417248e+01] [ 1.41324406e-03 -7.28803115e-05 9.99998999e-01 -4.46308789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000371743 meters Centerline goodness [0,1] 0.992788526222318 Centerline is valid? [True, True] Translation: X:373.30, Y:-23.05, Z:-4.46 [[ 9.99876257e-01 1.56883867e-02 -1.15953307e-03 3.73302684e+02] [-1.56883046e-02 9.99876928e-01 7.98742490e-05 -2.30475774e+01] [ 1.16064346e-03 -6.16732573e-05 9.99999325e-01 -4.46347842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.030371743 meters Centerline goodness [0,1] 0.9931761786600496 Centerline is valid? [True, True] Translation: X:373.33, Y:-23.05, Z:-4.46 [[ 9.99899820e-01 1.40955008e-02 -1.29133739e-03 3.73331474e+02] [-1.40953975e-02 9.99900651e-01 8.90750436e-05 -2.30520527e+01] [ 1.29246466e-03 -7.08642062e-05 9.99999162e-01 -4.46339173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060371743 meters Centerline goodness [0,1] 0.9918517721723229 Centerline is valid? [True, True] Translation: X:373.36, Y:-23.06, Z:-4.46 [[ 9.99946945e-01 1.03005473e-02 7.64745746e-05 3.73361091e+02] [-1.03005469e-02 9.99946948e-01 -5.41989618e-06 -2.30590315e+01] [-7.65263454e-05 4.63187869e-06 9.99999997e-01 -4.46402511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.090371743 meters Centerline goodness [0,1] 0.9909545855969171 Centerline is valid? [True, True] Translation: X:373.39, Y:-23.06, Z:-4.46 [[ 9.99963531e-01 8.52470469e-03 5.15255684e-04 3.73390590e+02] [-8.52468737e-03 9.99963664e-01 -3.57960566e-05 -2.30644784e+01] [-5.15542112e-04 3.14023576e-05 9.99999867e-01 -4.46465917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120371743 meters Centerline goodness [0,1] 0.9911069568700761 Centerline is valid? [True, True] Translation: X:373.42, Y:-23.07, Z:-4.47 [[ 9.99985345e-01 5.38364857e-03 5.71264317e-04 3.73419103e+02] [-5.38362672e-03 9.99985507e-01 -3.97770721e-05 -2.30719612e+01] [-5.71470184e-04 3.67010154e-05 9.99999836e-01 -4.46537894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.150371743 meters Centerline goodness [0,1] 0.9918032786885246 Centerline is valid? [True, True] Translation: X:373.45, Y:-23.07, Z:-4.46 [[ 9.99992496e-01 3.82087244e-03 6.39171165e-04 3.73449019e+02] [-3.82084480e-03 9.99992700e-01 -4.44603627e-05 -2.30712763e+01] [-6.39336376e-04 4.20178553e-05 9.99999795e-01 -4.46495824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180371743 meters Centerline goodness [0,1] 0.9910111164299771 Centerline is valid? [True, True] Translation: X:373.48, Y:-23.08, Z:-4.47 [[ 9.99996819e-01 2.51782256e-03 1.52191622e-04 3.73477570e+02] [-2.51782093e-03 9.99996830e-01 -1.08957758e-05 -2.30763690e+01] [-1.52218573e-04 1.05125499e-05 9.99999988e-01 -4.46574444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.210371743 meters Centerline goodness [0,1] 0.991563315058285 Centerline is valid? [True, True] Translation: X:373.51, Y:-23.08, Z:-4.47 [[ 9.99999696e-01 5.23396951e-04 -5.77703215e-04 3.73506607e+02] [-5.23374234e-04 9.99999862e-01 3.94728557e-05 -2.30803719e+01] [ 5.77723795e-04 -3.91704887e-05 9.99999832e-01 -4.46668829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240371743 meters Centerline goodness [0,1] 0.9907692307692307 Centerline is valid? [True, True] Translation: X:373.54, Y:-23.09, Z:-4.47 [[ 9.99999750e-01 -3.80686406e-04 -5.95799806e-04 3.73535841e+02] [ 3.80710901e-04 9.99999927e-01 4.10003485e-05 -2.30864195e+01] [ 5.95784154e-04 -4.12271657e-05 9.99999822e-01 -4.46826038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.270371743 meters Centerline goodness [0,1] 0.9905450500556173 Centerline is valid? [True, True] Translation: X:373.57, Y:-23.09, Z:-4.47 [[ 9.99999729e-01 -3.86857015e-05 -7.35043648e-04 3.73566822e+02] [ 3.87231095e-05 9.99999998e-01 5.08779219e-05 -2.30878787e+01] [ 7.35041678e-04 -5.09063713e-05 9.99999729e-01 -4.46891767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300371743 meters Centerline goodness [0,1] 0.9905882352941177 Centerline is valid? [True, True] Translation: X:373.60, Y:-23.09, Z:-4.47 [[ 9.99999740e-01 3.46858477e-04 -6.32784710e-04 3.73597119e+02] [-3.46830899e-04 9.99999939e-01 4.36912737e-05 -2.30884834e+01] [ 6.32799826e-04 -4.34717930e-05 9.99999799e-01 -4.46894857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.330371743 meters Centerline goodness [0,1] 0.9909699970870959 Centerline is valid? [True, True] Translation: X:373.63, Y:-23.09, Z:-4.47 [[ 9.99999682e-01 7.89485550e-04 1.12405002e-04 3.73627895e+02] [-7.89484682e-04 9.99999688e-01 -7.76111944e-06 -2.30880804e+01] [-1.12411095e-04 7.67237495e-06 9.99999994e-01 -4.46893867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36037174300003 meters Centerline goodness [0,1] 0.9898602139150694 Centerline is valid? [True, True] Translation: X:373.66, Y:-23.10, Z:-4.47 [[ 9.99999264e-01 1.21244379e-03 -3.54611516e-05 3.73656822e+02] [-1.21244370e-03 9.99999265e-01 2.51544078e-06 -2.30964353e+01] [ 3.54641753e-05 -2.47244428e-06 9.99999999e-01 -4.46982597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.390371743 meters Centerline goodness [0,1] 0.9901415169343298 Centerline is valid? [True, True] Translation: X:373.69, Y:-23.10, Z:-4.47 [[ 9.99998963e-01 1.43459130e-03 -1.26855738e-04 3.73686183e+02] [-1.43459023e-03 9.99998971e-01 8.50923050e-06 -2.30989949e+01] [ 1.26867815e-04 -8.32723567e-06 9.99999992e-01 -4.47025936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.420371743 meters Centerline goodness [0,1] 0.991654081551546 Centerline is valid? [True, True] Translation: X:373.72, Y:-23.10, Z:-4.47 [[ 9.99999222e-01 1.23457317e-03 -1.80689763e-04 3.73716037e+02] [-1.23457099e-03 9.99999238e-01 1.22152298e-05 -2.30998216e+01] [ 1.80704706e-04 -1.19921459e-05 9.99999984e-01 -4.47029128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.450371743 meters Centerline goodness [0,1] 0.9908635894176532 Centerline is valid? [True, True] Translation: X:373.75, Y:-23.10, Z:-4.47 [[ 9.99999117e-01 1.31893766e-03 -1.60841558e-04 3.73746052e+02] [-1.31893593e-03 9.99999130e-01 1.08390486e-05 -2.31013831e+01] [ 1.60855714e-04 -1.06268993e-05 9.99999987e-01 -4.47040496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.480371743 meters Centerline goodness [0,1] 0.9923498424967573 Centerline is valid? [True, True] Translation: X:373.78, Y:-23.10, Z:-4.47 [[ 9.99999497e-01 1.00329395e-03 -1.42040131e-05 3.73775444e+02] [-1.00329394e-03 9.99999497e-01 7.21321343e-07 -2.31011316e+01] [ 1.42047296e-05 -7.07070180e-07 1.00000000e+00 -4.47038500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.510371743 meters Centerline goodness [0,1] 0.9912002536863802 Centerline is valid? [True, True] Translation: X:373.80, Y:-23.11, Z:-4.47 [[ 9.99999843e-01 5.22433306e-04 -2.01542453e-04 3.73804411e+02] [-5.22430544e-04 9.99999863e-01 1.37563547e-05 -2.31055058e+01] [ 2.01549612e-04 -1.36510606e-05 9.99999980e-01 -4.47138591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.540371743 meters Centerline goodness [0,1] 0.992278604860248 Centerline is valid? [True, True] Translation: X:373.84, Y:-23.11, Z:-4.47 [[ 9.99999632e-01 7.08748058e-04 4.82684788e-04 3.73835392e+02] [-7.08732089e-04 9.99999748e-01 -3.32533274e-05 -2.31058676e+01] [-4.82708234e-04 3.29112210e-05 9.99999883e-01 -4.47182470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.570371743 meters Centerline goodness [0,1] 0.991903794931301 Centerline is valid? [True, True] Translation: X:373.87, Y:-23.11, Z:-4.47 [[ 9.99999826e-01 5.65929204e-04 1.64116238e-04 3.73865118e+02] [-5.65927459e-04 9.99999840e-01 -1.06784541e-05 -2.31091309e+01] [-1.64122255e-04 1.05855744e-05 9.99999986e-01 -4.47239302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.600371743 meters Centerline goodness [0,1] 0.9905710071639275 Centerline is valid? [True, True] Translation: X:373.89, Y:-23.12, Z:-4.47 [[ 9.99999878e-01 -1.39019349e-04 -4.73034903e-04 3.73893881e+02] [ 1.39034737e-04 9.99999990e-01 3.24966886e-05 -2.31150610e+01] [ 4.73030380e-04 -3.25624530e-05 9.99999888e-01 -4.47399929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.630371743 meters Centerline goodness [0,1] 0.9893737640079103 Centerline is valid? [True, True] Translation: X:373.92, Y:-23.12, Z:-4.47 [[ 9.99999646e-01 -6.79407449e-04 -4.95421320e-04 3.73923062e+02] [ 6.79424394e-04 9.99999769e-01 3.40338879e-05 -2.31216408e+01] [ 4.95398083e-04 -3.43704772e-05 9.99999877e-01 -4.47491287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.660371743 meters Centerline goodness [0,1] 0.9893211289092296 Centerline is valid? [True, True] Translation: X:373.95, Y:-23.12, Z:-4.47 [[ 9.99998810e-01 -1.54070218e-03 -7.27167782e-05 3.73953528e+02] [ 1.54070254e-03 9.99998813e-01 5.01373610e-06 -2.31215374e+01] [ 7.27089672e-05 -5.12576506e-06 9.99999997e-01 -4.47462889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.690371743 meters Centerline goodness [0,1] 0.9889518710964152 Centerline is valid? [True, True] Translation: X:373.98, Y:-23.13, Z:-4.47 [[ 9.99995443e-01 -2.97817065e-03 4.95019455e-04 3.73984004e+02] [ 2.97818750e-03 9.99995565e-01 -3.33094468e-05 -2.31286990e+01] [-4.94918058e-04 3.47835558e-05 9.99999877e-01 -4.47474130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.720371743 meters Centerline goodness [0,1] 0.9814877850802545 Centerline is valid? [True, True] Translation: X:374.01, Y:-23.15, Z:-4.48 [[ 9.99993582e-01 -3.32617746e-03 1.33109596e-03 3.74013674e+02] [ 3.32630238e-03 9.99994464e-01 -9.16473615e-05 -2.31459898e+01] [-1.33078375e-03 9.60744010e-05 9.99999110e-01 -4.47550528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.750371743 meters Centerline goodness [0,1] 0.9886408147277712 Centerline is valid? [True, True] Translation: X:374.05, Y:-23.13, Z:-4.47 [[ 9.99987565e-01 -4.45229380e-03 2.24650524e-03 3.74046404e+02] [ 4.45265328e-03 9.99990075e-01 -1.55041476e-04 -2.31339607e+01] [-2.24579265e-03 1.65042457e-04 9.99997465e-01 -4.47399627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.780371743 meters Centerline goodness [0,1] 0.8916920400173989 Centerline is valid? [True, False] Translation: X:374.09, Y:-23.14, Z:-4.47 [[ 9.99961767e-01 -8.58353273e-03 1.66944339e-03 3.74093158e+02] [ 8.58951977e-03 9.99956583e-01 -3.61276176e-03 -2.31355012e+01] [-1.63836065e-03 3.62696335e-03 9.99992080e-01 -4.47091884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.810371743 meters Centerline goodness [0,1] 0.988674234534472 Centerline is valid? [False, True] Translation: X:374.04, Y:-23.13, Z:-4.47 [[ 9.99976679e-01 -6.52774722e-03 2.00745650e-03 3.74039771e+02] [ 6.52887968e-03 9.99978531e-01 -5.58093880e-04 -2.31348011e+01] [-2.00377031e-03 5.71187307e-04 9.99997829e-01 -4.47300885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.840371743 meters Centerline goodness [0,1] 0.9868810723749156 Centerline is valid? [True, True] Translation: X:374.07, Y:-23.14, Z:-4.47 [[ 9.99974752e-01 -6.99258924e-03 1.26464089e-03 3.74070069e+02] [ 6.99270282e-03 9.99975547e-01 -8.54134270e-05 -2.31435606e+01] [-1.26401271e-03 9.42545284e-05 9.99999197e-01 -4.47461039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.870371743 meters Centerline goodness [0,1] 0.9860909656029838 Centerline is valid? [True, True] Translation: X:374.10, Y:-23.14, Z:-4.48 [[ 9.99973903e-01 -7.15550041e-03 9.96413080e-04 3.74101899e+02] [ 7.15557125e-03 9.99974396e-01 -6.75542918e-05 -2.31446642e+01] [-9.95904183e-04 7.46824336e-05 9.99999501e-01 -4.47511733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.900371743 meters Centerline goodness [0,1] 0.9869468569065343 Centerline is valid? [True, True] Translation: X:374.13, Y:-23.15, Z:-4.48 [[ 9.99975178e-01 -7.04470256e-03 1.27473183e-04 3.74133091e+02] [ 7.04470369e-03 9.99975186e-01 -8.35592322e-06 -2.31503535e+01] [-1.27411155e-04 9.25372661e-06 9.99999992e-01 -4.47605074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.930371743 meters Centerline goodness [0,1] 0.9888687548537406 Centerline is valid? [True, True] Translation: X:374.17, Y:-23.15, Z:-4.48 [[ 9.99978296e-01 -6.58822124e-03 4.50252977e-05 3.74165372e+02] [ 6.58822136e-03 9.99978297e-01 -2.60001111e-06 -2.31495714e+01] [-4.50071911e-05 2.89659131e-06 9.99999999e-01 -4.47633639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.960371743 meters Centerline goodness [0,1] 0.9883321717132605 Centerline is valid? [True, True] Translation: X:374.20, Y:-23.15, Z:-4.48 [[ 9.99982271e-01 -5.95434488e-03 5.03238289e-05 3.74197098e+02] [ 5.95434504e-03 9.99982273e-01 -2.96794946e-06 -2.31526888e+01] [-5.03052646e-05 3.26754228e-06 9.99999999e-01 -4.47740687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.990371743 meters Centerline goodness [0,1] 0.9878955246993238 Centerline is valid? [True, True] Translation: X:374.23, Y:-23.16, Z:-4.48 [[ 9.99992718e-01 -3.81542926e-03 -7.62124993e-05 3.74227360e+02] [ 3.81542972e-03 9.99992721e-01 5.91684272e-06 -2.31562689e+01] [ 7.61893692e-05 -6.20758307e-06 9.99999997e-01 -4.47816507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.020371743 meters Centerline goodness [0,1] 0.9883122591989243 Centerline is valid? [True, True] Translation: X:374.26, Y:-23.16, Z:-4.48 [[ 9.99997188e-01 -2.37099080e-03 -4.41088599e-05 3.74258610e+02] [ 2.37099095e-03 9.99997189e-01 3.26177327e-06 -2.31591944e+01] [ 4.41010022e-05 -3.36634580e-06 9.99999999e-01 -4.47873531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.050371743 meters Centerline goodness [0,1] 0.9882383286045912 Centerline is valid? [True, True] Translation: X:374.29, Y:-23.16, Z:-4.48 [[ 9.99999102e-01 1.17285992e-03 6.48008965e-04 3.74288454e+02] [-1.17283132e-03 9.99999311e-01 -4.45135303e-05 -2.31613221e+01] [-6.48060727e-04 4.37534852e-05 9.99999789e-01 -4.47871754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.080371743 meters Centerline goodness [0,1] 0.9882755251587689 Centerline is valid? [True, True] Translation: X:374.32, Y:-23.16, Z:-4.48 [[ 9.99995521e-01 2.91852241e-03 6.62820060e-04 3.74318580e+02] [-2.91849284e-03 9.99995740e-01 -4.55814654e-05 -2.31628003e+01] [-6.62950267e-04 4.36468257e-05 9.99999779e-01 -4.47895678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11037174300003 meters Centerline goodness [0,1] 0.9882035466461064 Centerline is valid? [True, True] Translation: X:374.35, Y:-23.16, Z:-4.48 [[ 9.99988824e-01 4.62558844e-03 9.78025734e-04 3.74347978e+02] [-4.62552483e-03 9.99989300e-01 -6.72824826e-05 -2.31640996e+01] [-9.78326490e-04 6.27578483e-05 9.99999519e-01 -4.47948580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.140371743 meters Centerline goodness [0,1] 0.9883888203863543 Centerline is valid? [True, True] Translation: X:374.38, Y:-23.17, Z:-4.48 [[ 9.99969477e-01 7.76894910e-03 8.29276374e-04 3.74377239e+02] [-7.76890445e-03 9.99969820e-01 -5.70519387e-05 -2.31657953e+01] [-8.29694580e-04 5.06076284e-05 9.99999655e-01 -4.48062253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.170371743 meters Centerline goodness [0,1] 0.9901228866825726 Centerline is valid? [True, True] Translation: X:374.41, Y:-23.17, Z:-4.48 [[ 9.99946658e-01 1.02739145e-02 1.06214761e-03 3.74407020e+02] [-1.02738427e-02 9.99947220e-01 -7.29734242e-05 -2.31654526e+01] [-1.06284127e-03 6.20571941e-05 9.99999433e-01 -4.48162476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.200371743 meters Centerline goodness [0,1] 0.9905340055561271 Centerline is valid? [True, True] Translation: X:374.44, Y:-23.17, Z:-4.48 [[ 9.99939496e-01 1.09512210e-02 1.03685159e-03 3.74435998e+02] [-1.09511528e-02 9.99940032e-01 -7.13953324e-05 -2.31674584e+01] [-1.03757128e-03 6.00362925e-05 9.99999460e-01 -4.48233951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.230371743 meters Centerline goodness [0,1] 0.9913464246396477 Centerline is valid? [True, True] Translation: X:374.46, Y:-23.17, Z:-4.48 [[ 9.99940105e-01 1.09240398e-02 6.72229466e-04 3.74464777e+02] [-1.09240111e-02 9.99940330e-01 -4.64146748e-05 -2.31660295e+01] [-6.72696390e-04 3.90684527e-05 9.99999773e-01 -4.48305260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.260371743 meters Centerline goodness [0,1] 0.9913464246396477 Centerline is valid? [True, True] Translation: X:374.49, Y:-23.17, Z:-4.48 [[ 9.99940891e-01 1.08518707e-02 6.72232990e-04 3.74493056e+02] [-1.08518420e-02 9.99941116e-01 -4.63633287e-05 -2.31679002e+01] [-6.72696535e-04 3.90656220e-05 9.99999773e-01 -4.48323595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.290371743 meters Centerline goodness [0,1] 0.9908057719320649 Centerline is valid? [True, True] Translation: X:374.52, Y:-23.17, Z:-4.48 [[ 9.99948254e-01 1.01710764e-02 1.94151390e-04 3.74521226e+02] [-1.01710740e-02 9.99948273e-01 -1.37085968e-05 -2.31725272e+01] [-1.94280778e-04 1.17331593e-05 9.99999981e-01 -4.48395132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.320371743 meters Centerline goodness [0,1] 0.990825454267438 Centerline is valid? [True, True] Translation: X:374.55, Y:-23.18, Z:-4.48 [[ 9.99958459e-01 9.10865453e-03 3.36386905e-04 3.74548628e+02] [-9.10864714e-03 9.99958515e-01 -2.34910774e-05 -2.31785716e+01] [-3.36586922e-04 2.04260719e-05 9.99999943e-01 -4.48467413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.350371743 meters Centerline goodness [0,1] 0.9902944688635382 Centerline is valid? [True, True] Translation: X:374.58, Y:-23.18, Z:-4.48 [[ 9.99982395e-01 5.86472526e-03 9.02645334e-04 3.74578574e+02] [-5.86467204e-03 9.99982801e-01 -6.15964468e-05 -2.31827661e+01] [-9.02991055e-04 5.63016435e-05 9.99999591e-01 -4.48462770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380371743 meters Centerline goodness [0,1] 0.9889945479903639 Centerline is valid? [True, True] Translation: X:374.61, Y:-23.19, Z:-4.49 [[ 9.99993216e-01 3.61075773e-03 7.28470481e-04 3.74606306e+02] [-3.61072225e-03 9.99993480e-01 -5.00165900e-05 -2.31931738e+01] [-7.28646330e-04 4.73859461e-05 9.99999733e-01 -4.48550158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.410371743 meters Centerline goodness [0,1] 0.9901224613213728 Centerline is valid? [True, True] Translation: X:374.64, Y:-23.19, Z:-4.49 [[ 9.99998508e-01 1.46176532e-03 9.20495784e-04 3.74635797e+02] [-1.46170812e-03 9.99998930e-01 -6.28115072e-05 -2.31943619e+01] [-9.20586614e-04 6.14659173e-05 9.99999574e-01 -4.48593648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440371743 meters Centerline goodness [0,1] 0.9880552912305304 Centerline is valid? [True, True] Translation: X:374.67, Y:-23.20, Z:-4.49 [[ 9.99991492e-01 -4.10273409e-03 -4.28332965e-04 3.74665783e+02] [ 4.10274694e-03 9.99991583e-01 2.91316526e-05 -2.32029341e+01] [ 4.28209841e-04 -3.08887465e-05 9.99999908e-01 -4.48814220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.470371743 meters Centerline goodness [0,1] 0.9871702069240945 Centerline is valid? [True, True] Translation: X:374.70, Y:-23.21, Z:-4.49 [[ 9.99975444e-01 -6.89732253e-03 -1.24013700e-03 3.74696217e+02] [ 6.89743254e-03 9.99976209e-01 8.44489022e-05 -2.32093339e+01] [ 1.23952503e-03 -9.30005898e-05 9.99999227e-01 -4.48963962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500371743 meters Centerline goodness [0,1] 0.9858885967957939 Centerline is valid? [True, True] Translation: X:374.73, Y:-23.22, Z:-4.49 [[ 9.99922204e-01 -1.22200919e-02 -2.50118582e-03 3.74726489e+02] [ 1.22205556e-02 9.99925312e-01 1.70195044e-04 -2.32184362e+01] [ 2.49891921e-03 -2.00747683e-04 9.99996858e-01 -4.49110532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.530371743 meters Centerline goodness [0,1] 0.9853811261216843 Centerline is valid? [True, True] Translation: X:374.76, Y:-23.22, Z:-4.49 [[ 9.99892560e-01 -1.43442300e-02 -3.01844028e-03 3.74757432e+02] [ 1.43449159e-02 9.99897085e-01 2.05710388e-04 -2.32226393e+01] [ 3.01517889e-03 -2.48987559e-04 9.99995423e-01 -4.49181566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560371743 meters Centerline goodness [0,1] 0.9816312074061408 Centerline is valid? [True, True] Translation: X:374.79, Y:-23.23, Z:-4.49 [[ 9.99841052e-01 -1.76174934e-02 -2.73773433e-03 3.74786670e+02] [ 1.76180688e-02 9.99844772e-01 1.86183565e-04 -2.32335733e+01] [ 2.73402927e-03 -2.34387563e-04 9.99996235e-01 -4.49271623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.590371743 meters Centerline goodness [0,1] 0.982128469933348 Centerline is valid? [True, True] Translation: X:374.82, Y:-23.24, Z:-4.49 [[ 9.99821709e-01 -1.86837139e-02 -2.73286157e-03 3.74819018e+02] [ 1.86842933e-02 9.99825416e-01 1.86629777e-04 -2.32369670e+01] [ 2.72889752e-03 -2.37658090e-04 9.99996248e-01 -4.49318692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620371743 meters Centerline goodness [0,1] 0.9806190268277301 Centerline is valid? [True, True] Translation: X:374.85, Y:-23.24, Z:-4.49 [[ 9.99817771e-01 -1.89064074e-02 -2.64061692e-03 3.74850230e+02] [ 1.89069492e-02 9.99821231e-01 1.80370266e-04 -2.32440019e+01] [ 2.63673470e-03 -2.30263407e-04 9.99996497e-01 -4.49382610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.650371743 meters Centerline goodness [0,1] 0.981658498714154 Centerline is valid? [True, True] Translation: X:374.88, Y:-23.25, Z:-4.49 [[ 9.99819866e-01 -1.88351528e-02 -2.33952734e-03 3.74883468e+02] [ 1.88355795e-02 9.99822582e-01 1.60465401e-04 -2.32471510e+01] [ 2.33608988e-03 -2.04502849e-04 9.99997250e-01 -4.49376296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680371743 meters Centerline goodness [0,1] 0.9803614079953678 Centerline is valid? [True, True] Translation: X:374.91, Y:-23.25, Z:-4.49 [[ 9.99832689e-01 -1.81692214e-02 -2.11505396e-03 3.74914359e+02] [ 1.81695682e-02 9.99834909e-01 1.44894902e-04 -2.32510402e+01] [ 2.11207216e-03 -1.83300277e-04 9.99997753e-01 -4.49395221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.710371743 meters Centerline goodness [0,1] 0.9797913950456323 Centerline is valid? [True, True] Translation: X:374.94, Y:-23.26, Z:-4.49 [[ 9.99857996e-01 -1.67592845e-02 -1.76493525e-03 3.74944882e+02] [ 1.67595238e-02 9.99859542e-01 1.20912211e-04 -2.32564007e+01] [ 1.76266095e-03 -1.50474515e-04 9.99998435e-01 -4.49454813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740371743 meters Centerline goodness [0,1] 0.9826315282328002 Centerline is valid? [True, True] Translation: X:374.98, Y:-23.25, Z:-4.49 [[ 9.99869363e-01 -1.60919156e-02 -1.51913865e-03 3.74977029e+02] [ 1.60920927e-02 9.99870508e-01 1.04462262e-04 -2.32548787e+01] [ 1.51726093e-03 -1.28894736e-04 9.99998841e-01 -4.49436954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.770371743 meters Centerline goodness [0,1] 0.9821617973194484 Centerline is valid? [True, True] Translation: X:375.01, Y:-23.26, Z:-4.50 [[ 9.99875632e-01 -1.56759692e-02 -1.72776540e-03 3.75009334e+02] [ 1.56761979e-02 9.99877114e-01 1.18871506e-04 -2.32575440e+01] [ 1.72568966e-03 -1.45941514e-04 9.99998500e-01 -4.49505476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800371743 meters Centerline goodness [0,1] 0.9816592840895486 Centerline is valid? [True, True] Translation: X:375.04, Y:-23.26, Z:-4.50 [[ 9.99875143e-01 -1.57198678e-02 -1.60755143e-03 3.75040940e+02] [ 1.57200660e-02 9.99876426e-01 1.10748275e-04 -2.32615071e+01] [ 1.60561183e-03 -1.36005261e-04 9.99998702e-01 -4.49636620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.830371743 meters Centerline goodness [0,1] 0.981120802963317 Centerline is valid? [True, True] Translation: X:375.07, Y:-23.27, Z:-4.50 [[ 9.99867854e-01 -1.61740211e-02 -1.63556379e-03 3.75071737e+02] [ 1.61742269e-02 9.99869182e-01 1.12637588e-04 -2.32665674e+01] [ 1.63352803e-03 -1.39076684e-04 9.99998656e-01 -4.49694802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86037174300003 meters Centerline goodness [0,1] 0.9810349756980844 Centerline is valid? [True, True] Translation: X:375.10, Y:-23.27, Z:-4.50 [[ 9.99843078e-01 -1.76763550e-02 -1.16852162e-03 3.75102173e+02] [ 1.76764609e-02 9.99843756e-01 8.03592506e-05 -2.32719039e+01] [ 1.16691859e-03 -1.01001967e-04 9.99999314e-01 -4.49785046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.890371743 meters Centerline goodness [0,1] 0.9821318253100794 Centerline is valid? [True, True] Translation: X:375.13, Y:-23.27, Z:-4.50 [[ 9.99828571e-01 -1.84881827e-02 -1.00769784e-03 3.75134142e+02] [ 1.84882623e-02 9.99829075e-01 6.97534171e-05 -2.32727168e+01] [ 1.00623598e-03 -8.83720414e-05 9.99999490e-01 -4.49818779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.920371743 meters Centerline goodness [0,1] 0.9814020706484399 Centerline is valid? [True, True] Translation: X:375.16, Y:-23.28, Z:-4.50 [[ 9.99807085e-01 -1.96300102e-02 -6.75236589e-04 3.75164781e+02] [ 1.96300466e-02 9.99807311e-01 4.72819058e-05 -2.32800237e+01] [ 6.74178334e-04 -6.05277101e-05 9.99999771e-01 -4.49877777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.950371743 meters Centerline goodness [0,1] 0.9782685387709025 Centerline is valid? [True, True] Translation: X:375.19, Y:-23.29, Z:-4.50 [[ 9.99751771e-01 -2.22789615e-02 2.09260408e-04 3.75194463e+02] [ 2.22789650e-02 9.99751793e-01 -1.44148945e-05 -2.32891849e+01] [-2.08887319e-04 1.90734216e-05 9.99999978e-01 -4.49966489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.980371743 meters Centerline goodness [0,1] 0.9777756850927583 Centerline is valid? [True, True] Translation: X:375.23, Y:-23.29, Z:-4.50 [[ 9.99712741e-01 -2.39481019e-02 9.61027072e-04 3.75225894e+02] [ 2.39481763e-02 9.99713199e-01 -6.59827715e-05 -2.32926066e+01] [-9.59171287e-04 8.89786631e-05 9.99999536e-01 -4.50012676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.010371743 meters Centerline goodness [0,1] 0.9697708206402025 Centerline is valid? [True, True] Translation: X:375.26, Y:-23.30, Z:-4.50 [[ 9.99645779e-01 -2.64552161e-02 2.90486060e-03 3.75255218e+02] [ 2.64559078e-02 9.99649961e-01 -1.99941292e-04 -2.33038092e+01] [-2.89855430e-03 2.76721193e-04 9.99995761e-01 -4.50154611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.040371743 meters Centerline goodness [0,1] 0.9714513407087944 Centerline is valid? [True, True] Translation: X:375.29, Y:-23.30, Z:-4.50 [[ 9.99612225e-01 -2.75429669e-02 4.09681725e-03 3.75286814e+02] [ 2.75443534e-02 9.99620542e-01 -2.82386178e-04 -2.33040596e+01] [-4.08748492e-03 3.95120858e-04 9.99991568e-01 -4.50181689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.070371743 meters Centerline goodness [0,1] 0.9663137632338787 Centerline is valid? [True, True] Translation: X:375.32, Y:-23.31, Z:-4.50 [[ 9.99558338e-01 -2.88634767e-02 7.07308205e-03 3.75316690e+02] [ 2.88676467e-02 9.99583123e-01 -4.88152013e-04 -2.33094195e+01] [-7.05604369e-03 6.92119649e-04 9.99974866e-01 -4.50302713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.100371743 meters Centerline goodness [0,1] 0.9687287718722916 Centerline is valid? [True, True] Translation: X:375.35, Y:-23.31, Z:-4.50 [[ 9.99551745e-01 -2.87181706e-02 8.46021720e-03 3.75350037e+02] [ 2.87241345e-02 9.99587206e-01 -5.84249649e-04 -2.33055169e+01] [-8.43994629e-03 8.27000173e-04 9.99964041e-01 -4.50323182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.130371743 meters Centerline goodness [0,1] 0.9626928275154961 Centerline is valid? [True, True] Translation: X:375.38, Y:-23.31, Z:-4.50 [[ 9.99551895e-01 -2.80934161e-02 1.03328692e-02 3.75380929e+02] [ 2.81022945e-02 9.99604797e-01 -7.15025698e-04 -2.33119869e+01] [-1.03086981e-02 1.00508262e-03 9.99946359e-01 -4.50336491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.160371743 meters Centerline goodness [0,1] 0.9553328963386085 Centerline is valid? [True, True] Translation: X:375.41, Y:-23.32, Z:-4.50 [[ 9.99524576e-01 -2.74016927e-02 1.41340076e-02 3.75413467e+02] [ 2.74182651e-02 9.99623568e-01 -9.80048743e-04 -2.33164847e+01] [-1.41018321e-02 1.36711277e-03 9.99899630e-01 -4.50309296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.190371743 meters Centerline goodness [0,1] 0.9479225154407636 Centerline is valid? [True, False] Translation: X:375.41, Y:-23.32, Z:-4.50 [[ 9.99527509e-01 -2.72355836e-02 1.42471885e-02 3.75413714e+02] [ 2.72493913e-02 9.99628365e-01 -7.75890755e-04 -2.33165627e+01] [-1.42207619e-02 1.16375137e-03 9.99898203e-01 -4.50357583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.220371743 meters Centerline goodness [0,1] 0.9511601796407185 Centerline is valid? [False, True] Translation: X:375.41, Y:-23.32, Z:-4.51 [[ 9.99531488e-01 -2.68436194e-02 1.47045577e-02 3.75414125e+02] [ 2.68482909e-02 9.99639512e-01 -1.20338449e-04 -2.33174339e+01] [-1.46960266e-02 5.15074313e-04 9.99891875e-01 -4.50510289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.250371743 meters Centerline goodness [0,1] 0.9488089677720691 Centerline is valid? [True, False] Translation: X:375.41, Y:-23.32, Z:-4.51 [[ 9.99535535e-01 -2.66103083e-02 1.48527819e-02 3.75414531e+02] [ 2.66087956e-02 9.99645878e-01 2.99488884e-04 -2.33179885e+01] [-1.48554917e-02 9.58648559e-05 9.99889646e-01 -4.50598867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.280371743 meters Centerline goodness [0,1] 0.9445183577247158 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.51 [[ 9.99538266e-01 -2.64088853e-02 1.50274810e-02 3.75415268e+02] [ 2.64007691e-02 9.99651166e-01 7.38247753e-04 -2.33183902e+01] [-1.50417352e-02 -3.41169822e-04 9.99886808e-01 -4.50729676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.310371743 meters Centerline goodness [0,1] 0.9391562186266956 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.51 [[ 9.99542907e-01 -2.61742893e-02 1.51289113e-02 3.75415804e+02] [ 2.61605059e-02 9.99657141e-01 1.10827643e-03 -2.33186547e+01] [-1.51527326e-02 -7.11989876e-04 9.99884937e-01 -4.50819881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.340371743 meters Centerline goodness [0,1] 0.9395493723065392 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.51 [[ 9.99540975e-01 -2.61275508e-02 1.53359497e-02 3.75415954e+02] [ 2.61112352e-02 9.99658245e-01 1.26317836e-03 -2.33188327e+01] [-1.53637124e-02 -8.62157935e-04 9.99881600e-01 -4.50885720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.370371743 meters Centerline goodness [0,1] 0.9327232830664364 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.51 [[ 9.99542917e-01 -2.58524704e-02 1.56718702e-02 3.75416666e+02] [ 2.58239020e-02 9.99664461e-01 2.02257501e-03 -2.33200172e+01] [-1.57189003e-02 -1.61694168e-03 9.99875143e-01 -4.51058015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.400371743 meters Centerline goodness [0,1] 0.9291959060919031 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.51 [[ 9.99550337e-01 -2.55359120e-02 1.57175528e-02 3.75417501e+02] [ 2.54976792e-02 9.99671427e-01 2.62812523e-03 -2.33209085e+01] [-1.57795000e-02 -2.22618234e-03 9.99873018e-01 -4.51173954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.430371743 meters Centerline goodness [0,1] 0.9216423136174782 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.51 [[ 9.99547238e-01 -2.55045994e-02 1.59635151e-02 3.75418024e+02] [ 2.54576833e-02 9.99670984e-01 3.13533379e-03 -2.33218162e+01] [-1.60382283e-02 -2.72752012e-03 9.99867659e-01 -4.51304156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.460371743 meters Centerline goodness [0,1] 0.9175749953419042 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.51 [[ 9.99553385e-01 -2.53457977e-02 1.58310062e-02 3.75418900e+02] [ 2.52924521e-02 9.99673753e-01 3.56090276e-03 -2.33223836e+01] [-1.59160953e-02 -3.15890745e-03 9.99868341e-01 -4.51384446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.490371743 meters Centerline goodness [0,1] 0.9111204130040463 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.51 [[ 9.99554921e-01 -2.52905902e-02 1.58223029e-02 3.75419526e+02] [ 2.52324732e-02 9.99674150e-01 3.86204784e-03 -2.33231875e+01] [-1.59148207e-02 -3.46109309e-03 9.99867361e-01 -4.51460099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.520371743 meters Centerline goodness [0,1] 0.9038113365210528 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.52 [[ 9.99552504e-01 -2.52839966e-02 1.59847217e-02 3.75420348e+02] [ 2.52178308e-02 9.99672614e-01 4.32744775e-03 -2.33236696e+01] [-1.60889037e-02 -3.92241123e-03 9.99862872e-01 -4.51597969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.550371743 meters Centerline goodness [0,1] 0.8878837209302326 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.52 [[ 9.99543298e-01 -2.54736998e-02 1.62568513e-02 3.75420598e+02] [ 2.53998655e-02 9.99666171e-01 4.73219515e-03 -2.33243209e+01] [-1.63719708e-02 -4.31711212e-03 9.99856650e-01 -4.51696264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.580371743 meters Centerline goodness [0,1] 0.8907361763474864 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.52 [[ 9.99541846e-01 -2.55335866e-02 1.62522096e-02 3.75421076e+02] [ 2.54551908e-02 9.99663398e-01 5.01246380e-03 -2.33246679e+01] [-1.63747252e-02 -4.59646423e-03 9.99855360e-01 -4.51757554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61037174300003 meters Centerline goodness [0,1] 0.85425930668405 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.33, Z:-4.52 [[ 9.99541217e-01 -2.56060173e-02 1.61767797e-02 3.75421802e+02] [ 2.55213218e-02 9.99659582e-01 5.42057787e-03 -2.33252506e+01] [-1.63100722e-02 -5.00523820e-03 9.99854454e-01 -4.51838930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.640371743 meters Centerline goodness [0,1] 0.8302192962121564 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.33, Z:-4.52 [[ 9.99520766e-01 -2.63108974e-02 1.63087279e-02 3.75422356e+02] [ 2.62230138e-02 9.99640547e-01 5.57940956e-03 -2.33255882e+01] [-1.64496650e-02 -5.14907172e-03 9.99851437e-01 -4.51950450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.670371743 meters Centerline goodness [0,1] 0.8310134083145493 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.52 [[ 9.99506454e-01 -2.68061700e-02 1.63791802e-02 3.75423193e+02] [ 2.67185326e-02 9.99627611e-01 5.54617920e-03 -2.33247495e+01] [-1.65217525e-02 -5.10581425e-03 9.99850470e-01 -4.52074318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.700371743 meters Centerline goodness [0,1] 0.8065656095973217 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.52 [[ 9.99502752e-01 -2.70676150e-02 1.61738166e-02 3.75423998e+02] [ 2.69816872e-02 9.99620755e-01 5.50761250e-03 -2.33243040e+01] [-1.63167607e-02 -5.06847699e-03 9.99854026e-01 -4.52122559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.730371743 meters Centerline goodness [0,1] 0.8176993622270844 Centerline is valid? [False, False] Translation: X:375.42, Y:-23.32, Z:-4.52 [[ 9.99500198e-01 -2.71896171e-02 1.61269591e-02 3.75424841e+02] [ 2.71015758e-02 9.99616701e-01 5.65295549e-03 -2.33238370e+01] [-1.62744793e-02 -5.21306413e-03 9.99853972e-01 -4.52218640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.760371743 meters Centerline goodness [0,1] 0.7645760743321719 Centerline is valid? [False, False] Translation: X:375.43, Y:-23.32, Z:-4.52 [[ 9.99475848e-01 -2.80331809e-02 1.61916355e-02 3.75425281e+02] [ 2.79558631e-02 9.99596744e-01 4.98197674e-03 -2.33212872e+01] [-1.63247667e-02 -4.52671429e-03 9.99856495e-01 -4.52266946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.790371743 meters Centerline goodness [0,1] 0.7602370563942229 Centerline is valid? [False, False] Translation: X:375.43, Y:-23.32, Z:-4.52 [[ 9.99469355e-01 -2.83311117e-02 1.60734424e-02 3.75425884e+02] [ 2.82579036e-02 9.99589315e-01 4.76362209e-03 -2.33199103e+01] [-1.62018000e-02 -4.30689251e-03 9.99859466e-01 -4.52304324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.820371743 meters Centerline goodness [0,1] 0.736877822759928 Centerline is valid? [False, False] Translation: X:375.43, Y:-23.32, Z:-4.52 [[ 9.99449770e-01 -2.91014527e-02 1.59142351e-02 3.75426824e+02] [ 2.90406140e-02 9.99570065e-01 4.04078710e-03 -2.33167083e+01] [-1.60249858e-02 -3.57640458e-03 9.99865195e-01 -4.52354434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.850371743 meters Centerline goodness [0,1] 0.7289159447436198 Centerline is valid? [False, False] Translation: X:375.43, Y:-23.32, Z:-4.52 [[ 9.99442960e-01 -2.94392357e-02 1.57194560e-02 3.75427566e+02] [ 2.93825589e-02 9.99560923e-01 3.82443415e-03 -2.33152679e+01] [-1.58251424e-02 -3.36042594e-03 9.99869128e-01 -4.52392558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880371743 meters Centerline goodness [0,1] 0.7442764174352732 Centerline is valid? [False, False] Translation: X:375.43, Y:-23.31, Z:-4.52 [[ 9.99443742e-01 -2.95916543e-02 1.53798511e-02 3.75428886e+02] [ 2.95377985e-02 9.99556752e-01 3.71719954e-03 -2.33136998e+01] [-1.54830321e-02 -3.26084488e-03 9.99874813e-01 -4.52463624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5812.16 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%| | 0/12797 [00:00