+ python -m lidar_slam --no-model /working/b5e78cd0-870a-49fe-a261-60ab695c9636 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/b5e78cd0-870a-49fe-a261-60ab695c9636 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 0.010888479 Adjusted end_distance from 9.223372036854776e+18 to 173.900888479 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010888479 meters Centerline goodness [0,1] 0.9735856367863601 Centerline is valid? [0, True] SLAMing on 0.040888479 meters Centerline goodness [0,1] 0.9701601949073975 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 9.99989971e-01 -4.45987623e-03 -4.10222231e-04 3.18445768e-02] [ 4.45986692e-03 9.99990054e-01 -2.35955290e-05 -1.00674846e-02] [ 4.10323384e-04 2.17657558e-05 9.99999916e-01 -1.02766147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.070888479 meters Centerline goodness [0,1] 0.9672106474015781 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.01 [[ 9.99978098e-01 -6.52826773e-03 1.08840763e-03 6.32010069e-02] [ 6.52820520e-03 9.99978689e-01 6.09882361e-05 -1.17346351e-02] [-1.08878259e-03 -5.38815520e-05 9.99999406e-01 -1.08268442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.100888479 meters Centerline goodness [0,1] 0.9638967369034012 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.01, Z:-0.01 [[ 9.99972857e-01 -6.67805264e-03 3.11257998e-03 9.52170389e-02] [ 6.67753932e-03 9.99977690e-01 1.75280741e-04 -9.88460042e-03] [-3.11368107e-03 -1.54491609e-04 9.99995141e-01 -8.40272989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.130888479 meters Centerline goodness [0,1] 0.9573815795155232 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:-0.00 [[ 9.99980527e-01 -3.95822551e-03 4.82477721e-03 1.23700609e-01] [ 3.95695337e-03 9.99992134e-01 2.73186174e-04 6.60253753e-03] [-4.82582059e-03 -2.54089436e-04 9.99988323e-01 -4.28385390e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.160888479 meters Centerline goodness [0,1] 0.9534262056375372 Centerline is valid? [True, True] Translation: X:0.15, Y:0.02, Z:0.00 [[ 9.99986650e-01 -1.00283042e-03 5.06891325e-03 1.54207015e-01] [ 1.00138440e-03 9.99999457e-01 2.87803094e-04 1.51147331e-02] [-5.06919912e-03 -2.82723321e-04 9.99987112e-01 9.55125650e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.190888479 meters Centerline goodness [0,1] 0.9498712970638279 Centerline is valid? [True, False] Translation: X:0.16, Y:0.02, Z:-0.00 [[ 9.99988840e-01 -2.92279139e-04 4.71538515e-03 1.56237061e-01] [ 2.93141439e-04 9.99999940e-01 -1.82179452e-04 2.07872937e-02] [-4.71533163e-03 1.83559694e-04 9.99988866e-01 -2.97819676e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.220888479 meters Centerline goodness [0,1] 0.9483096201540269 Centerline is valid? [False, False] Translation: X:0.16, Y:0.02, Z:-0.00 [[ 9.99989795e-01 1.13600308e-03 4.37266957e-03 1.59464848e-01] [-1.13788305e-03 9.99999261e-01 4.27471931e-04 2.49095024e-02] [-4.37218073e-03 -4.32443155e-04 9.99990348e-01 -3.16917613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.250888479 meters Centerline goodness [0,1] 0.9239118493617209 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.01 [[ 0.99998464 0.00401054 0.00382548 0.16511647] [-0.00401728 0.99999039 0.00175413 0.03177838] [-0.00381841 -0.00176947 0.99999114 -0.00834611] [ 0. 0. 0. 1. ]] SLAMing on 0.280888479 meters Centerline goodness [0,1] 0.9017078049102139 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.01 [[ 9.99984299e-01 4.34346590e-03 3.54048949e-03 1.67958170e-01] [-4.34652679e-03 9.99990186e-01 8.57303711e-04 3.69971979e-02] [-3.53673108e-03 -8.72679084e-04 9.99993365e-01 -1.07053882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.310888479 meters Centerline goodness [0,1] 0.9289366053169734 Centerline is valid? [False, False] Translation: X:0.17, Y:0.05, Z:-0.01 [[ 0.99996377 0.00801737 0.00286072 0.17281626] [-0.0080254 0.99996386 0.00280417 0.04694874] [-0.00283813 -0.00282702 0.99999198 -0.01424442] [ 0. 0. 0. 1. ]] SLAMing on 0.34088847899999997 meters Centerline goodness [0,1] 0.9043684116490978 Centerline is valid? [False, False] Translation: X:0.18, Y:0.05, Z:-0.02 [[ 0.99995869 0.00877805 0.00235771 0.17545588] [-0.00878329 0.99995895 0.00222404 0.05454555] [-0.00233809 -0.00224466 0.99999475 -0.01581001] [ 0. 0. 0. 1. ]] SLAMing on 0.370888479 meters Centerline goodness [0,1] 0.9112792760424854 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:-0.02 [[ 0.99995817 0.00896532 0.00180894 0.17843745] [-0.00896736 0.99995916 0.00112394 0.06191505] [-0.00179879 -0.00114011 0.99999773 -0.01775865] [ 0. 0. 0. 1. ]] SLAMing on 0.400888479 meters Centerline goodness [0,1] 0.8827767304066793 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.02 [[ 9.99960932e-01 8.74134422e-03 1.31267409e-03 1.81197713e-01] [-8.74135925e-03 9.99961794e-01 5.71103643e-06 6.71212354e-02] [-1.31257402e-03 -1.71853691e-05 9.99999138e-01 -1.95470366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.430888479 meters Centerline goodness [0,1] 0.8814193606564769 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.02 [[ 0.99996638 0.00809361 0.00131738 0.18170702] [-0.00809226 0.99996673 -0.00102792 0.06947178] [-0.00132566 0.00101722 0.9999986 -0.01960023] [ 0. 0. 0. 1. ]] SLAMing on 0.46088847899999996 meters Centerline goodness [0,1] 0.8741059946303273 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.02 [[ 0.9999781 0.00618584 0.00235443 0.18041725] [-0.00618068 0.99997849 -0.00219479 0.07084579] [-0.00236795 0.00218019 0.99999482 -0.01846587] [ 0. 0. 0. 1. ]] SLAMing on 0.490888479 meters Centerline goodness [0,1] 0.8733872238859742 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.02 [[ 0.99998356 0.00522762 0.00235601 0.18031251] [-0.00522118 0.99998265 -0.00272887 0.07231423] [-0.00237024 0.00271652 0.9999935 -0.01753784] [ 0. 0. 0. 1. ]] SLAMing on 0.520888479 meters Centerline goodness [0,1] 0.8603482844848949 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.02 [[ 0.99998885 0.00432744 0.00189015 0.18094161] [-0.00432126 0.99998535 -0.00326049 0.07460614] [-0.00190423 0.00325228 0.9999929 -0.01664174] [ 0. 0. 0. 1. ]] SLAMing on 0.550888479 meters Centerline goodness [0,1] 0.8877170795600822 Centerline is valid? [False, False] Translation: X:0.18, Y:0.08, Z:-0.02 [[ 0.99999437 0.00318143 0.00106625 0.18413962] [-0.00317761 0.9999886 -0.00356295 0.07943833] [-0.00107757 0.00355954 0.99999308 -0.01757302] [ 0. 0. 0. 1. ]] SLAMing on 0.580888479 meters Centerline goodness [0,1] 0.8975512695864517 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.02 [[ 0.99999528 0.00288331 0.00106583 0.18525729] [-0.00287955 0.99998969 -0.00351139 0.0796103 ] [-0.00107595 0.0035083 0.99999327 -0.01838241] [ 0. 0. 0. 1. ]] SLAMing on 0.610888479 meters Centerline goodness [0,1] 0.8435950599477148 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.02 [[ 0.99999525 0.00274158 0.00140964 0.186411 ] [-0.00273727 0.99999161 -0.00304831 0.07811574] [-0.00141798 0.00304444 0.99999436 -0.01990655] [ 0. 0. 0. 1. ]] SLAMing on 0.640888479 meters Centerline goodness [0,1] 0.8738969349949478 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.02 [[ 0.99999756 0.00135204 0.00174866 0.18847744] [-0.00134779 0.99999614 -0.002429 0.07616216] [-0.00175193 0.00242663 0.99999552 -0.02174532] [ 0. 0. 0. 1. ]] SLAMing on 0.6708884789999999 meters Centerline goodness [0,1] 0.8528923766816143 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.02 [[ 9.99998554e-01 5.53662329e-04 1.60814193e-03 1.89215668e-01] [-5.50234381e-04 9.99997577e-01 -2.13128112e-03 7.58857156e-02] [-1.60931804e-03 2.13039319e-03 9.99996436e-01 -2.15248322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.700888479 meters Centerline goodness [0,1] 0.8528923766816143 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.02 [[ 9.99998554e-01 5.53662329e-04 1.60814193e-03 1.89215668e-01] [-5.50234381e-04 9.99997577e-01 -2.13128112e-03 7.58857156e-02] [-1.60931804e-03 2.13039319e-03 9.99996436e-01 -2.15248322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.730888479 meters Centerline goodness [0,1] 0.8766774020397209 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.02 [[ 9.99998704e-01 -4.97064702e-04 1.53117340e-03 1.90133424e-01] [ 5.00079588e-04 9.99997936e-01 -1.96925069e-03 7.60786038e-02] [-1.53019139e-03 1.97001385e-03 9.99996889e-01 -2.14656658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.760888479 meters Centerline goodness [0,1] 0.8754706831629908 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.02 [[ 0.99999787 -0.00169524 0.00117408 0.19097041] [ 0.00169736 0.99999693 -0.00180368 0.07584729] [-0.00117102 0.00180567 0.99999768 -0.02085691] [ 0. 0. 0. 1. ]] SLAMing on 0.790888479 meters Centerline goodness [0,1] 0.871823966537623 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:-0.02 [[ 9.99963148e-01 -8.58449678e-03 9.77977650e-05 1.95870419e-01] [ 8.58493504e-03 9.99944355e-01 -6.13066371e-03 7.79534359e-02] [-4.51636602e-05 6.13127737e-03 9.99981203e-01 -2.26640826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.820888479 meters Centerline goodness [0,1] 0.8883210212689981 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:-0.03 [[ 9.99922171e-01 -1.24654077e-02 -5.15796098e-04 2.00128253e-01] [ 1.24601059e-02 9.99879593e-01 -9.24908249e-03 7.75737952e-02] [ 6.31027576e-04 9.24193576e-03 9.99957093e-01 -2.60483662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.850888479 meters Centerline goodness [0,1] 0.8881098774715797 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:-0.03 [[ 0.99987105 -0.01602299 -0.00106957 0.20486934] [ 0.01600901 0.99979986 -0.01199794 0.07683151] [ 0.0012616 0.01197927 0.99992745 -0.03004761] [ 0. 0. 0. 1. ]] SLAMing on 0.880888479 meters Centerline goodness [0,1] 0.8902935836691317 Centerline is valid? [False, False] Translation: X:0.21, Y:0.08, Z:-0.03 [[ 0.99980659 -0.01961715 -0.0013998 0.20826286] [ 0.01959417 0.99969727 -0.01488046 0.07732591] [ 0.00169129 0.01485016 0.9998883 -0.03251344] [ 0. 0. 0. 1. ]] SLAMing on 0.9108884789999999 meters Centerline goodness [0,1] 0.8950778926811948 Centerline is valid? [False, False] Translation: X:0.21, Y:0.08, Z:-0.03 [[ 0.99975521 -0.02209618 -0.00112878 0.20984993] [ 0.02207737 0.9996497 -0.01459698 0.08037612] [ 0.00145092 0.01456848 0.99989282 -0.03172657] [ 0. 0. 0. 1. ]] SLAMing on 0.9408884789999999 meters Centerline goodness [0,1] 0.8989975159687722 Centerline is valid? [False, False] Translation: X:0.21, Y:0.08, Z:-0.03 [[ 0.99979643 -0.02014437 -0.00114038 0.21012922] [ 0.02013069 0.99973742 -0.0109473 0.08093363] [ 0.00136061 0.01092212 0.99993943 -0.03088712] [ 0. 0. 0. 1. ]] SLAMing on 0.970888479 meters Centerline goodness [0,1] 0.8976253883710608 Centerline is valid? [False, False] Translation: X:0.21, Y:0.08, Z:-0.03 [[ 0.99983288 -0.01823391 -0.00131739 0.21104532] [ 0.01822382 0.99980728 -0.00730012 0.08122099] [ 0.00145025 0.0072749 0.99997249 -0.03048905] [ 0. 0. 0. 1. ]] SLAMing on 1.0008884789999999 meters Centerline goodness [0,1] 0.8967622080679405 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:-0.03 [[ 0.99975398 -0.02211675 -0.00167976 0.21505161] [ 0.02209937 0.99970829 -0.00974486 0.08344713] [ 0.00189479 0.00970534 0.99995111 -0.03231072] [ 0. 0. 0. 1. ]] SLAMing on 1.030888479 meters Centerline goodness [0,1] 0.9025189251405551 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:-0.04 [[ 0.99967511 -0.02540411 -0.00207358 0.218654 ] [ 0.02537546 0.99959557 -0.01283678 0.08364139] [ 0.00239885 0.01277999 0.99991546 -0.03521705] [ 0. 0. 0. 1. ]] SLAMing on 1.060888479 meters Centerline goodness [0,1] 0.9059853627258054 Centerline is valid? [False, False] Translation: X:0.22, Y:0.08, Z:-0.04 [[ 0.99958943 -0.02856199 -0.00227713 0.22185492] [ 0.02852322 0.99947222 -0.01554722 0.08372752] [ 0.00271999 0.01547589 0.99987654 -0.03797387] [ 0. 0. 0. 1. ]] SLAMing on 1.090888479 meters Centerline goodness [0,1] 0.910170503549393 Centerline is valid? [False, False] Translation: X:0.22, Y:0.09, Z:-0.04 [[ 0.9994555 -0.03293798 -0.00194664 0.22446246] [ 0.03289693 0.99929127 -0.01829615 0.08605512] [ 0.00254789 0.01822215 0.99983072 -0.03963804] [ 0. 0. 0. 1. ]] SLAMing on 1.1208884789999998 meters Centerline goodness [0,1] 0.9093786661354228 Centerline is valid? [False, False] Translation: X:0.22, Y:0.09, Z:-0.04 [[ 0.99942701 -0.03380005 -0.0017895 0.22482405] [ 0.03376116 0.99925816 -0.01852895 0.08762963] [ 0.00241445 0.01845792 0.99982672 -0.03944352] [ 0. 0. 0. 1. ]] SLAMing on 1.1508884789999998 meters Centerline goodness [0,1] 0.9109424303272358 Centerline is valid? [False, False] Translation: X:0.22, Y:0.09, Z:-0.04 [[ 0.99939419 -0.03476771 -0.00156599 0.22481643] [ 0.03473213 0.99921932 -0.01882607 0.08961128] [ 0.00221931 0.01876027 0.99982155 -0.03878407] [ 0. 0. 0. 1. ]] SLAMing on 1.1808884789999998 meters Centerline goodness [0,1] 0.9147045168136897 Centerline is valid? [False, False] Translation: X:0.23, Y:0.09, Z:-0.04 [[ 0.99917301 -0.04045732 0.00406212 0.2310427 ] [ 0.04049819 0.99912399 -0.01054261 0.09054509] [-0.00363204 0.0106984 0.99993617 -0.04004585] [ 0. 0. 0. 1. ]] SLAMing on 1.2108884789999999 meters Centerline goodness [0,1] 0.9151022202681908 Centerline is valid? [False, False] Translation: X:0.23, Y:0.09, Z:-0.04 [[ 0.99913547 -0.04136417 0.00416096 0.23188971] [ 0.04140546 0.9990885 -0.0103809 0.09106394] [-0.00372777 0.01054421 0.99993746 -0.04012038] [ 0. 0. 0. 1. ]] SLAMing on 1.2408884789999999 meters Centerline goodness [0,1] 0.9181168874245406 Centerline is valid? [False, False] Translation: X:0.23, Y:0.09, Z:-0.04 [[ 0.99912341 -0.04169828 0.00369751 0.2346295 ] [ 0.04173314 0.99907961 -0.0099133 0.0916484 ] [-0.00328074 0.01005892 0.99994403 -0.04179377] [ 0. 0. 0. 1. ]] SLAMing on 1.270888479 meters Centerline goodness [0,1] 0.9211784496879012 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.05 [[ 0.9991073 -0.04212531 0.0031723 0.23940778] [ 0.04215579 0.99905852 -0.01024513 0.09316494] [-0.00273774 0.01036972 0.99994249 -0.04598872] [ 0. 0. 0. 1. ]] SLAMing on 1.300888479 meters Centerline goodness [0,1] 0.9219562030826634 Centerline is valid? [False, False] Translation: X:0.25, Y:0.09, Z:-0.05 [[ 0.99925618 -0.03848302 0.00247755 0.24779819] [ 0.03849646 0.99924289 -0.00562822 0.09470477] [-0.00225908 0.00571941 0.99998109 -0.05334637] [ 0. 0. 0. 1. ]] SLAMing on 1.3308884789999997 meters Centerline goodness [0,1] 0.9222675494326668 Centerline is valid? [False, False] Translation: X:0.25, Y:0.10, Z:-0.06 [[ 0.99940438 -0.03443725 0.00222693 0.25042095] [ 0.03443989 0.9994061 -0.00115898 0.09613195] [-0.0021857 0.00123499 0.99999685 -0.05544861] [ 0. 0. 0. 1. ]] SLAMing on 1.3608884789999998 meters Centerline goodness [0,1] 0.9226969292389853 Centerline is valid? [False, False] Translation: X:0.25, Y:0.10, Z:-0.06 [[ 0.99954789 -0.03000437 0.00193961 0.25307609] [ 0.02999749 0.99954389 0.00348707 0.0980705 ] [-0.00204335 -0.00342731 0.99999204 -0.0572711 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3908884789999998 meters Centerline goodness [0,1] 0.9142136061106892 Centerline is valid? [False, False] Translation: X:0.26, Y:0.10, Z:-0.06 [[ 0.99974061 -0.02271509 0.00165182 0.2579483 ] [ 0.02269605 0.9996846 0.0107514 0.10053652] [-0.00189552 -0.01071112 0.99994084 -0.06039599] [ 0. 0. 0. 1. ]] SLAMing on 1.4208884789999998 meters Centerline goodness [0,1] 0.9101618383404864 Centerline is valid? [False, False] Translation: X:0.26, Y:0.10, Z:-0.06 [[ 9.99763301e-01 -2.17392436e-02 8.64116637e-04 2.61067905e-01] [ 2.17283881e-02 9.99702942e-01 1.10410256e-02 1.02719451e-01] [-1.10388349e-03 -1.10196364e-02 9.99938673e-01 -6.17562760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4508884789999998 meters Centerline goodness [0,1] 0.9081245254365984 Centerline is valid? [False, False] Translation: X:0.26, Y:0.10, Z:-0.06 [[ 9.99776935e-01 -2.11205835e-02 4.21620393e-05 2.64064230e-01] [ 2.11188216e-02 9.99715636e-01 1.10744346e-02 1.04972547e-01] [-2.76048570e-04 -1.10710738e-02 9.99938676e-01 -6.30403419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4808884789999999 meters Centerline goodness [0,1] 0.9155686353198226 Centerline is valid? [False, False] Translation: X:0.27, Y:0.11, Z:-0.07 [[ 9.99767350e-01 -2.15631495e-02 -5.26095585e-04 2.68979845e-01] [ 2.15676853e-02 9.99704876e-01 1.11801745e-02 1.05896384e-01] [ 2.84860546e-04 -1.11889201e-02 9.99937361e-01 -6.58961644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.510888479 meters Centerline goodness [0,1] 0.9302154258287756 Centerline is valid? [False, False] Translation: X:0.27, Y:0.11, Z:-0.07 [[ 9.99719072e-01 -2.36841621e-02 -9.14785895e-04 2.71880105e-01] [ 2.36914808e-02 9.99678325e-01 9.05316168e-03 1.05751889e-01] [ 7.00075084e-04 -9.07229103e-03 9.99958601e-01 -6.79769032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.540888479 meters Centerline goodness [0,1] 0.9186444444444445 Centerline is valid? [False, False] Translation: X:0.28, Y:0.10, Z:-0.07 [[ 0.99968922 -0.0248866 -0.00145948 0.27560565] [ 0.02489772 0.99965659 0.00817317 0.10493498] [ 0.00125558 -0.00820697 0.99996553 -0.0708844 ] [ 0. 0. 0. 1. ]] SLAMing on 1.570888479 meters Centerline goodness [0,1] 0.9364190120492641 Centerline is valid? [False, False] Translation: X:0.28, Y:0.10, Z:-0.07 [[ 0.9996783 -0.02527911 -0.00206667 0.27764015] [ 0.0252962 0.99964204 0.00871203 0.10326488] [ 0.0018457 -0.0087615 0.99995991 -0.07186788] [ 0. 0. 0. 1. ]] SLAMing on 1.6008884789999998 meters Centerline goodness [0,1] 0.9147514875356677 Centerline is valid? [False, False] Translation: X:0.28, Y:0.10, Z:-0.07 [[ 0.99966697 -0.02568489 -0.00249673 0.27925301] [ 0.02570759 0.99962409 0.00952903 0.1011121 ] [ 0.00225104 -0.00959004 0.99995148 -0.07246159] [ 0. 0. 0. 1. ]] SLAMing on 1.6308884789999998 meters Centerline goodness [0,1] 0.9358415841584158 Centerline is valid? [False, False] Translation: X:0.28, Y:0.10, Z:-0.07 [[ 0.99954726 -0.03003221 -0.00182869 0.27984404] [ 0.03004598 0.9995162 0.00803737 0.09516058] [ 0.00158643 -0.00808868 0.99996603 -0.07191106] [ 0. 0. 0. 1. ]] SLAMing on 1.6608884789999998 meters Centerline goodness [0,1] 0.9237455551165548 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.07 [[ 0.99952514 -0.03074769 -0.00201775 0.28069642] [ 0.03076531 0.99948271 0.00937098 0.09026684] [ 0.00172857 -0.0094286 0.99995406 -0.0718362 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6908884789999998 meters Centerline goodness [0,1] 0.9362976565232599 Centerline is valid? [False, False] Translation: X:0.28, Y:0.09, Z:-0.07 [[ 0.99942484 -0.03383242 -0.00231249 0.28257688] [ 0.03384796 0.99940213 0.00704951 0.08829201] [ 0.0020726 -0.00712373 0.99997248 -0.0725309 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7208884789999999 meters Centerline goodness [0,1] 0.9438667644647711 Centerline is valid? [False, False] Translation: X:0.29, Y:0.08, Z:-0.07 [[ 0.99929505 -0.03747142 -0.00230203 0.28520147] [ 0.03748493 0.99927835 0.00613648 0.08282209] [ 0.00207043 -0.00621845 0.99997852 -0.07333186] [ 0. 0. 0. 1. ]] SLAMing on 1.7508884789999999 meters Centerline goodness [0,1] 0.9394011406844106 Centerline is valid? [False, False] Translation: X:0.29, Y:0.08, Z:-0.07 [[ 0.99929368 -0.03750457 -0.00235576 0.28660102] [ 0.03752243 0.9992633 0.00805756 0.07819987] [ 0.00205183 -0.00814027 0.99996476 -0.07416875] [ 0. 0. 0. 1. ]] SLAMing on 1.780888479 meters Centerline goodness [0,1] 0.9483743885016668 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:-0.08 [[ 0.99928637 -0.03767565 -0.00270285 0.28853685] [ 0.03770027 0.99924175 0.00972689 0.07323843] [ 0.00233433 -0.00982184 0.99994904 -0.07526252] [ 0. 0. 0. 1. ]] SLAMing on 1.8108884789999997 meters Centerline goodness [0,1] 0.9504166127012909 Centerline is valid? [False, True] Translation: X:0.29, Y:0.07, Z:-0.08 [[ 0.99919342 -0.04001022 -0.00341902 0.29245396] [ 0.04003742 0.99916373 0.00829771 0.0694189 ] [ 0.00308417 -0.00842791 0.99995973 -0.07800512] [ 0. 0. 0. 1. ]] SLAMing on 1.8408884789999997 meters Centerline goodness [0,1] 0.9459893391561236 Centerline is valid? [True, False] Translation: X:0.30, Y:0.06, Z:-0.08 [[ 0.99917617 -0.04023653 -0.00529194 0.30275201] [ 0.04027673 0.99915871 0.0077233 0.05929404] [ 0.00497673 -0.00793008 0.99995617 -0.08107864] [ 0. 0. 0. 1. ]] SLAMing on 1.8708884789999998 meters Centerline goodness [0,1] 0.9566085966532769 Centerline is valid? [False, True] Translation: X:0.30, Y:0.05, Z:-0.08 [[ 0.9991759 -0.04027187 -0.0050701 0.30343147] [ 0.04031916 0.99914074 0.00959914 0.0533818 ] [ 0.00467917 -0.00979565 0.99994107 -0.08161228] [ 0. 0. 0. 1. ]] SLAMing on 1.9008884789999998 meters Centerline goodness [0,1] 0.9412065004679656 Centerline is valid? [True, False] Translation: X:0.31, Y:0.05, Z:-0.08 [[ 0.99909613 -0.04218918 -0.00519585 0.30571615] [ 0.0422313 0.99907352 0.00828338 0.04958289] [ 0.00484156 -0.00849532 0.99995219 -0.08300553] [ 0. 0. 0. 1. ]] SLAMing on 1.9308884789999998 meters Centerline goodness [0,1] 0.9536824180502341 Centerline is valid? [False, True] Translation: X:0.31, Y:0.04, Z:-0.09 [[ 0.99909661 -0.04203173 -0.00626857 0.31209758] [ 0.04208434 0.9990778 0.00851211 0.04229881] [ 0.00590501 -0.00876823 0.99994412 -0.08568173] [ 0. 0. 0. 1. ]] SLAMing on 1.9608884789999999 meters Centerline goodness [0,1] 0.9545135117868779 Centerline is valid? [True, True] Translation: X:0.34, Y:0.05, Z:-0.09 [[ 9.99236844e-01 -3.81743013e-02 -8.27356624e-03 3.42547823e-01] [ 3.81664440e-02 9.99270784e-01 -1.10555283e-03 4.73344141e-02] [ 8.30973674e-03 7.88936514e-04 9.99965162e-01 -8.51255285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9908884789999999 meters Centerline goodness [0,1] 0.9455069148823517 Centerline is valid? [True, False] Translation: X:0.35, Y:0.04, Z:-0.09 [[ 0.9992931 -0.03648434 -0.00906556 0.34612468] [ 0.03649815 0.99933279 0.00136189 0.04335596] [ 0.00900982 -0.00169181 0.99995798 -0.08794852] [ 0. 0. 0. 1. ]] SLAMing on 2.020888479 meters Centerline goodness [0,1] 0.9374814940146357 Centerline is valid? [False, False] Translation: X:0.35, Y:0.04, Z:-0.09 [[ 0.9993387 -0.0350436 -0.00970073 0.34854371] [ 0.03508237 0.99937698 0.00385621 0.03831719] [ 0.00955955 -0.00419398 0.99994551 -0.08946072] [ 0. 0. 0. 1. ]] SLAMing on 2.050888479 meters Centerline goodness [0,1] 0.8941459502806737 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.09 [[ 0.9994028 -0.03329256 -0.00925485 0.34912328] [ 0.03337036 0.9994079 0.00838283 0.02559747] [ 0.00897029 -0.00868666 0.99992203 -0.08845975] [ 0. 0. 0. 1. ]] SLAMing on 2.080888479 meters Centerline goodness [0,1] 0.8992693000105898 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.09 [[ 0.99940796 -0.03300756 -0.00970733 0.35024547] [ 0.03310618 0.99939999 0.0101803 0.01949996] [ 0.00936547 -0.01049564 0.99990106 -0.08859522] [ 0. 0. 0. 1. ]] SLAMing on 2.110888479 meters Centerline goodness [0,1] 0.9040602833147404 Centerline is valid? [False, False] Translation: X:0.36, Y:0.01, Z:-0.09 [[ 0.99931745 -0.03482911 -0.01231099 0.35906526] [ 0.03493284 0.99935508 0.00831418 0.00755243] [ 0.01201348 -0.00873856 0.99988965 -0.08930033] [ 0. 0. 0. 1. ]] SLAMing on 2.140888479 meters Centerline goodness [0,1] 0.9117671850634299 Centerline is valid? [False, False] Translation: X:0.36, Y:0.00, Z:-0.09 [[ 0.99921885 -0.03739287 -0.01278512 0.36133102] [ 0.03748574 0.99927192 0.00710307 0.00173421] [ 0.01251021 -0.00757678 0.99989304 -0.09052854] [ 0. 0. 0. 1. ]] SLAMing on 2.1708884790000003 meters Centerline goodness [0,1] 0.9180955586880142 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.00, Z:-0.09 [[ 0.99910653 -0.04019256 -0.01306523 0.36306127] [ 0.04026648 0.99917414 0.00544452 -0.00313536] [ 0.01283561 -0.00596574 0.99989982 -0.0914307 ] [ 0. 0. 0. 1. ]] SLAMing on 2.200888479 meters Centerline goodness [0,1] 0.928735583714605 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.02, Z:-0.09 [[ 0.99903768 -0.04217216 -0.01205116 0.36356022] [ 0.04226358 0.99907884 0.0074342 -0.01614301] [ 0.01172654 -0.00793637 0.99989975 -0.09235594] [ 0. 0. 0. 1. ]] SLAMing on 2.230888479 meters Centerline goodness [0,1] 0.9378609670755871 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.09 [[ 0.99905468 -0.04154895 -0.01278438 0.36631804] [ 0.04167631 0.99908249 0.00986204 -0.02270121] [ 0.0123629 -0.01038552 0.99986964 -0.09411107] [ 0. 0. 0. 1. ]] SLAMing on 2.260888479 meters Centerline goodness [0,1] 0.9679927130994747 Centerline is valid? [False, True] Translation: X:0.37, Y:-0.03, Z:-0.10 [[ 0.99894622 -0.04396438 -0.0131749 0.36894533] [ 0.04407234 0.99899616 0.00801914 -0.02609941] [ 0.01280911 -0.00859134 0.99988105 -0.09602985] [ 0. 0. 0. 1. ]] SLAMing on 2.290888479 meters Centerline goodness [0,1] 0.9313557710591367 Centerline is valid? [True, False] Translation: X:0.37, Y:-0.03, Z:-0.10 [[ 0.99895374 -0.0435441 -0.01397612 0.37168773] [ 0.04368371 0.99899691 0.00984411 -0.03102634] [ 0.01353344 -0.01044434 0.99985387 -0.09771785] [ 0. 0. 0. 1. ]] SLAMing on 2.320888479 meters Centerline goodness [0,1] 0.966820938734969 Centerline is valid? [False, True] Translation: X:0.37, Y:-0.04, Z:-0.10 [[ 0.99885444 -0.04575719 -0.01400298 0.37498756] [ 0.04590922 0.99888793 0.01073532 -0.04187638] [ 0.01349619 -0.01136589 0.99984432 -0.10058142] [ 0. 0. 0. 1. ]] SLAMing on 2.350888479 meters Centerline goodness [0,1] 0.9710408003883741 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.04, Z:-0.10 [[ 0.99881561 -0.04713785 -0.01205808 0.40662579] [ 0.04712082 0.99888776 -0.00169196 -0.03904019] [ 0.01212442 0.00112177 0.99992587 -0.09860457] [ 0. 0. 0. 1. ]] SLAMing on 2.3808884790000002 meters Centerline goodness [0,1] 0.9714412173839734 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.04, Z:-0.10 [[ 0.99872596 -0.04887948 -0.01254037 0.4377135 ] [ 0.0488612 0.99880403 -0.00175958 -0.03959172] [ 0.01261138 0.0011446 0.99991982 -0.09875092] [ 0. 0. 0. 1. ]] SLAMing on 2.410888479 meters Centerline goodness [0,1] 0.9747867298578199 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.04, Z:-0.10 [[ 0.99864948 -0.05069852 -0.01135232 0.46885069] [ 0.05068366 0.99871349 -0.00159269 -0.03980753] [ 0.01141846 0.00101516 0.99993429 -0.09816723] [ 0. 0. 0. 1. ]] SLAMing on 2.440888479 meters Centerline goodness [0,1] 0.9764110138200233 Centerline is valid? [True, True] Translation: X:0.50, Y:-0.04, Z:-0.09 [[ 9.98579656e-01 -5.31679679e-02 -3.44060635e-03 4.99929037e-01] [ 5.31666178e-02 9.98585539e-01 -4.82740439e-04 -3.94623770e-02] [ 3.46140608e-03 2.99129378e-04 9.99993965e-01 -9.42953541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.470888479 meters Centerline goodness [0,1] 0.977910460356977 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.04, Z:-0.09 [[ 9.98518779e-01 -5.43779968e-02 1.81127077e-03 5.31937485e-01] [ 5.43776242e-02 9.98520410e-01 2.54390333e-04 -4.01433819e-02] [-1.82242407e-03 -1.55520923e-04 9.99998327e-01 -9.20615583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.500888479 meters Centerline goodness [0,1] 0.9782325229242029 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.04, Z:-0.09 [[ 9.98265510e-01 -5.88398467e-02 1.96067619e-03 5.63533328e-01] [ 5.88394193e-02 9.98267423e-01 2.75005419e-04 -4.17057110e-02] [-1.97346044e-03 -1.59163376e-04 9.99998040e-01 -9.48512883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.530888479 meters Centerline goodness [0,1] 0.9826114515106698 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.04, Z:-0.10 [[ 9.97949209e-01 -6.38012186e-02 5.17495495e-03 5.94634641e-01] [ 6.37983087e-02 9.97962549e-01 7.25621212e-04 -4.34412797e-02] [-5.21070675e-03 -3.93979742e-04 9.99986347e-01 -9.71716924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.560888479 meters Centerline goodness [0,1] 0.981115013354083 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.04, Z:-0.10 [[ 9.97686446e-01 -6.78629664e-02 4.04646539e-03 6.24040475e-01] [ 6.78612205e-02 9.97694609e-01 5.67369254e-04 -4.14623037e-02] [-4.07564006e-03 -2.91458535e-04 9.99991652e-01 -9.83109467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.590888479 meters Centerline goodness [0,1] 0.9858361738614951 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.04, Z:-0.10 [[ 9.96979251e-01 -7.64593095e-02 1.36509365e-02 6.55647513e-01] [ 7.64402362e-02 9.97072327e-01 1.91431725e-03 -4.49754152e-02] [-1.37573384e-02 -8.65053773e-04 9.99904989e-01 -9.59495382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.620888479 meters Centerline goodness [0,1] 0.9858361738614951 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.04, Z:-0.10 [[ 9.96986941e-01 -7.63589387e-02 1.36510565e-02 6.87935089e-01] [ 7.63398677e-02 9.97080018e-01 1.91346102e-03 -4.05399149e-02] [-1.37573055e-02 -8.65575800e-04 9.99904989e-01 -9.61275543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.650888479 meters Centerline goodness [0,1] 0.9845902941852929 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.04, Z:-0.09 [[ 9.96367079e-01 -8.41769721e-02 1.29182188e-02 7.17632620e-01] [ 8.41605544e-02 9.96450563e-01 1.81026480e-03 -3.89342352e-02] [-1.30247490e-02 -7.16483798e-04 9.99914918e-01 -9.14058615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.680888479 meters Centerline goodness [0,1] 0.9881986006912248 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.04, Z:-0.09 [[ 9.95499389e-01 -9.30166925e-02 1.81345316e-02 7.47931106e-01] [ 9.29857973e-02 9.95664192e-01 2.54131293e-03 -3.73532989e-02] [-1.82922882e-02 -8.43621593e-04 9.99832326e-01 -9.09704888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.710888479 meters Centerline goodness [0,1] 0.9899661303979678 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.04, Z:-0.09 [[ 9.94737251e-01 -9.99056642e-02 2.27301552e-02 7.78363992e-01] [ 9.98589159e-02 9.94996508e-01 3.18534953e-03 -3.50278656e-02] [-2.29346596e-02 -8.98777176e-04 9.99736562e-01 -9.12233419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.740888479 meters Centerline goodness [0,1] 0.9881096922754867 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.03, Z:-0.09 [[ 9.94786849e-01 -1.00631537e-01 1.65051428e-02 8.09247695e-01] [ 1.00606996e-01 9.94923557e-01 2.31261689e-03 -3.22463573e-02] [-1.66540776e-02 -6.40028020e-04 9.99861106e-01 -9.36125217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.770888479 meters Centerline goodness [0,1] 0.9902494141278875 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.03, Z:-0.09 [[ 9.93783492e-01 -1.08074379e-01 2.67263975e-02 8.40981373e-01] [ 1.08012744e-01 9.94142462e-01 3.74340009e-03 -2.88672561e-02] [-2.69744123e-02 -8.33337677e-04 9.99635777e-01 -8.78350803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.800888479 meters Centerline goodness [0,1] 0.9911674829419398 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.02, Z:-0.08 [[ 9.93421540e-01 -1.09711046e-01 3.28196504e-02 8.72381571e-01] [ 1.09619055e-01 9.93963053e-01 4.59468221e-03 -2.15177256e-02] [-3.31256073e-02 -9.66797212e-04 9.99450729e-01 -8.18093088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.830888479 meters Centerline goodness [0,1] 0.9914499540095326 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.01, Z:-0.08 [[ 0.99321221 -0.10994208 0.03797682 0.90213181] [ 0.10981909 0.99393738 0.00531572 -0.01299592] [-0.03833101 -0.00110905 0.99926448 -0.07692932] [ 0. 0. 0. 1. ]] SLAMing on 2.860888479 meters Centerline goodness [0,1] 0.9931569915874943 Centerline is valid? [True, True] Translation: X:0.93, Y:0.01, Z:-0.08 [[ 0.99337819 -0.10820953 0.03860666 0.93067388] [ 0.10808128 0.99412739 0.00539995 0.00523399] [-0.03896426 -0.00119153 0.99923989 -0.07634193] [ 0. 0. 0. 1. ]] SLAMing on 2.890888479 meters Centerline goodness [0,1] 0.9933759612169842 Centerline is valid? [True, True] Translation: X:0.96, Y:0.02, Z:-0.08 [[ 0.99404187 -0.10390325 0.03293757 0.96158134] [ 0.10380777 0.99458674 0.00460017 0.01937503] [-0.03323724 -0.00115359 0.99944682 -0.08082795] [ 0. 0. 0. 1. ]] SLAMing on 2.920888479 meters Centerline goodness [0,1] 0.9932194195823163 Centerline is valid? [True, True] Translation: X:0.99, Y:0.03, Z:-0.08 [[ 0.99456548 -0.0997088 0.02996091 0.99088979] [ 0.0996281 0.99501597 0.00417814 0.03351319] [-0.03022818 -0.00117048 0.99954234 -0.08348318] [ 0. 0. 0. 1. ]] SLAMing on 2.950888479 meters Centerline goodness [0,1] 0.9942288390766143 Centerline is valid? [True, True] Translation: X:1.02, Y:0.05, Z:-0.08 [[ 0.99486969 -0.09572412 0.03272906 1.01992658] [ 0.09562571 0.9954069 0.00456275 0.04637556] [-0.0330155 -0.0014096 0.99945385 -0.08371602] [ 0. 0. 0. 1. ]] SLAMing on 2.980888479 meters Centerline goodness [0,1] 0.9936603269936604 Centerline is valid? [True, True] Translation: X:1.05, Y:0.07, Z:-0.08 [[ 0.99559642 -0.08641162 0.03634282 1.04829923] [ 0.08628408 0.99625769 0.00506617 0.06725679] [-0.03664459 -0.00190805 0.99932654 -0.08063598] [ 0. 0. 0. 1. ]] SLAMing on 3.010888479 meters Centerline goodness [0,1] 0.9937880430250979 Centerline is valid? [True, True] Translation: X:1.08, Y:0.08, Z:-0.08 [[ 0.99586637 -0.08302393 0.03684007 1.07794257] [ 0.08289061 0.99654543 0.00513444 0.08172478] [-0.03713909 -0.00205952 0.99930798 -0.07847333] [ 0. 0. 0. 1. ]] SLAMing on 3.040888479 meters Centerline goodness [0,1] 0.9922167712020534 Centerline is valid? [True, True] Translation: X:1.11, Y:0.10, Z:-0.08 [[ 0.99622497 -0.07982483 0.03411446 1.10845178] [ 0.07970871 0.99680687 0.00475259 0.09689247] [-0.0343849 -0.00201543 0.99940663 -0.07859971] [ 0. 0. 0. 1. ]] SLAMing on 3.070888479 meters Centerline goodness [0,1] 0.9926720916715104 Centerline is valid? [True, True] Translation: X:1.14, Y:0.11, Z:-0.08 [[ 0.99628973 -0.07897253 0.03420701 1.13903044] [ 0.07885551 0.9968747 0.0047588 0.10862821] [-0.03447592 -0.00204374 0.99940344 -0.07891376] [ 0. 0. 0. 1. ]] SLAMing on 3.100888479 meters Centerline goodness [0,1] 0.996015520694259 Centerline is valid? [True, True] Translation: X:1.17, Y:0.11, Z:-0.09 [[ 0.99633602 -0.07913294 0.03244251 1.17201678] [ 0.07902789 0.9968622 0.00450984 0.107801 ] [-0.03269759 -0.00192946 0.99946343 -0.08517674] [ 0. 0. 0. 1. ]] SLAMing on 3.1308884790000002 meters Centerline goodness [0,1] 0.9929132549150006 Centerline is valid? [True, True] Translation: X:1.20, Y:0.13, Z:-0.08 [[ 0.99628719 -0.08035329 0.03090596 1.20021424] [ 0.08025858 0.99676482 0.00429492 0.12816553] [-0.03115108 -0.0017985 0.99951307 -0.07809507] [ 0. 0. 0. 1. ]] SLAMing on 3.160888479 meters Centerline goodness [0,1] 0.9956294615912922 Centerline is valid? [True, True] Translation: X:1.23, Y:0.13, Z:-0.08 [[ 0.99624089 -0.08147398 0.02942929 1.23225076] [ 0.08138865 0.99667406 0.00408785 0.12786455] [-0.02966446 -0.00167727 0.99955851 -0.0812121 ] [ 0. 0. 0. 1. ]] SLAMing on 3.190888479 meters Centerline goodness [0,1] 0.9966321566670825 Centerline is valid? [True, True] Translation: X:1.26, Y:0.14, Z:-0.08 [[ 0.99629271 -0.08215707 0.02551565 1.26194523] [ 0.08209318 0.99661836 0.00354325 0.13895441] [-0.02572047 -0.00143545 0.99966814 -0.08266956] [ 0. 0. 0. 1. ]] SLAMing on 3.220888479 meters Centerline goodness [0,1] 0.993608835939439 Centerline is valid? [True, True] Translation: X:1.29, Y:0.15, Z:-0.08 [[ 0.99635782 -0.08144347 0.02525982 1.29126444] [ 0.08138073 0.99667693 0.00350342 0.15460787] [-0.02546121 -0.00143499 0.99967478 -0.07878348] [ 0. 0. 0. 1. ]] SLAMing on 3.250888479 meters Centerline goodness [0,1] 0.9970350404312669 Centerline is valid? [True, True] Translation: X:1.32, Y:0.15, Z:-0.08 [[ 0.99642425 -0.08028973 0.02631093 1.32431475] [ 0.08022133 0.9967704 0.00364663 0.15048489] [-0.02651874 -0.0015229 0.99964716 -0.08023581] [ 0. 0. 0. 1. ]] SLAMing on 3.280888479 meters Centerline goodness [0,1] 0.9971166013234593 Centerline is valid? [True, True] Translation: X:1.36, Y:0.16, Z:-0.08 [[ 0.99654406 -0.07907181 0.02544754 1.35574935] [ 0.07900756 0.9968678 0.00352193 0.15770046] [-0.02564632 -0.00149921 0.99966995 -0.07815142] [ 0. 0. 0. 1. ]] SLAMing on 3.310888479 meters Centerline goodness [0,1] 0.9974004907873394 Centerline is valid? [True, True] Translation: X:1.39, Y:0.17, Z:-0.08 [[ 9.96998528e-01 -7.48064611e-02 1.99481275e-02 1.38578510e+00] [ 7.47661595e-02 9.97197275e-01 2.75956724e-03 1.66474116e-01] [-2.00986518e-02 -1.25983959e-03 9.99797208e-01 -8.11922623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.340888479 meters Centerline goodness [0,1] 0.9979596085779721 Centerline is valid? [True, True] Translation: X:1.42, Y:0.17, Z:-0.08 [[ 9.97273464e-01 -7.20420946e-02 1.59867213e-02 1.41650987e+00] [ 7.20158651e-02 9.97401036e-01 2.21112213e-03 1.74080157e-01] [-1.61044662e-02 -1.05379586e-03 9.99869759e-01 -8.33337904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.370888479 meters Centerline goodness [0,1] 0.9973226516126354 Centerline is valid? [True, True] Translation: X:1.45, Y:0.18, Z:-0.09 [[ 9.97515630e-01 -6.90707645e-02 1.38491248e-02 1.44694609e+00] [ 6.90508000e-02 9.97611307e-01 1.91516835e-03 1.81191192e-01] [-1.39483257e-02 -9.54117218e-04 9.99902262e-01 -8.51468374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.400888479 meters Centerline goodness [0,1] 0.9976316609535681 Centerline is valid? [True, True] Translation: X:1.48, Y:0.19, Z:-0.08 [[ 9.97925756e-01 -6.30961535e-02 1.27695072e-02 1.47523351e+00] [ 6.30786938e-02 9.98006994e-01 1.76586625e-03 1.92368482e-01] [-1.28554769e-02 -9.56719579e-04 9.99916907e-01 -8.47882714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.430888479 meters Centerline goodness [0,1] 0.9971221221221221 Centerline is valid? [True, True] Translation: X:1.50, Y:0.20, Z:-0.08 [[ 9.98113905e-01 -6.01549922e-02 1.22478572e-02 1.50487500e+00] [ 6.01387098e-02 9.98188593e-01 1.69372629e-03 1.99551349e-01] [-1.23275575e-02 -9.53961430e-04 9.99923558e-01 -8.41906622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.460888479 meters Centerline goodness [0,1] 0.993505685119097 Centerline is valid? [True, True] Translation: X:1.53, Y:0.21, Z:-0.08 [[ 9.98221486e-01 -5.85279028e-02 1.13291603e-02 1.53325492e+00] [ 5.85138679e-02 9.98285366e-01 1.56663872e-03 2.12254911e-01] [-1.14014270e-02 -9.00939438e-04 9.99934596e-01 -8.29851704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.490888479 meters Centerline goodness [0,1] 0.9968154854823603 Centerline is valid? [True, True] Translation: X:1.57, Y:0.21, Z:-0.08 [[ 9.98246754e-01 -5.83267708e-02 1.00700230e-02 1.56568434e+00] [ 5.83156831e-02 9.98297223e-01 1.39144841e-03 2.12197472e-01] [-1.01340347e-02 -8.01768585e-04 9.99948328e-01 -8.25580920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.520888479 meters Centerline goodness [0,1] 0.996919554584244 Centerline is valid? [True, True] Translation: X:1.60, Y:0.21, Z:-0.08 [[ 9.98187077e-01 -5.94444509e-02 9.42953866e-03 1.59774886e+00] [ 5.94347913e-02 9.98231342e-01 1.30158404e-03 2.12547810e-01] [-9.49023297e-03 -7.38781701e-04 9.99954694e-01 -8.22371271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.550888479 meters Centerline goodness [0,1] 0.9977715761412862 Centerline is valid? [True, True] Translation: X:1.63, Y:0.21, Z:-0.08 [[ 9.98078874e-01 -6.12509253e-02 9.32128611e-03 1.62850431e+00] [ 6.12415676e-02 9.98122145e-01 1.28631369e-03 2.11896422e-01] [-9.38256999e-03 -7.12992343e-04 9.99955729e-01 -8.15023077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.580888479 meters Centerline goodness [0,1] 0.979437588006295 Centerline is valid? [True, True] Translation: X:1.66, Y:0.22, Z:-0.08 [[ 9.97732006e-01 -6.67709248e-02 8.51402785e-03 1.65761242e+00] [ 6.67633183e-02 9.97768149e-01 1.17483849e-03 2.19088648e-01] [-8.57347086e-03 -6.03749214e-04 9.99963065e-01 -7.84497301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6108884789999998 meters Centerline goodness [0,1] 0.9870754932265626 Centerline is valid? [True, True] Translation: X:1.69, Y:0.22, Z:-0.08 [[ 9.97564786e-01 -6.93776727e-02 7.15791663e-03 1.68905775e+00] [ 6.93723634e-02 9.97590347e-01 9.87683314e-04 2.17863022e-01] [-7.20919170e-03 -4.88716501e-04 9.99973894e-01 -7.78609249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.640888479 meters Centerline goodness [0,1] 0.997964482293073 Centerline is valid? [True, True] Translation: X:1.72, Y:0.21, Z:-0.08 [[ 9.97461612e-01 -7.10001004e-02 5.41456077e-03 1.72211302e+00] [ 7.09970866e-02 9.97476243e-01 7.47043751e-04 2.05434622e-01] [-5.45393592e-03 -3.60729424e-04 9.99985062e-01 -7.80900009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.670888479 meters Centerline goodness [0,1] 0.9979324318736302 Centerline is valid? [True, True] Translation: X:1.75, Y:0.20, Z:-0.08 [[ 9.97344946e-01 -7.27340311e-02 3.58038429e-03 1.75297430e+00] [ 7.27327247e-02 9.97351346e-01 4.93898571e-04 2.03256257e-01] [-3.60682432e-03 -2.32176139e-04 9.99993468e-01 -7.80321277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.700888479 meters Centerline goodness [0,1] 0.9982975189452922 Centerline is valid? [True, True] Translation: X:1.79, Y:0.20, Z:-0.08 [[ 9.97343001e-01 -7.27665015e-02 3.46043185e-03 1.78617106e+00] [ 7.27652813e-02 9.97348979e-01 4.77390776e-04 2.01737100e-01] [-3.48599623e-03 -2.24323052e-04 9.99993899e-01 -7.79168247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.730888479 meters Centerline goodness [0,1] 0.9980152577063822 Centerline is valid? [True, True] Translation: X:1.82, Y:0.20, Z:-0.08 [[ 9.97281335e-01 -7.36020628e-02 3.56021551e-03 1.81827554e+00] [ 7.36007769e-02 9.97287664e-01 4.91038487e-04 1.99580985e-01] [-3.58670046e-03 -2.27668891e-04 9.99993542e-01 -7.80858885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.760888479 meters Centerline goodness [0,1] 0.9981600545781564 Centerline is valid? [True, True] Translation: X:1.85, Y:0.20, Z:-0.08 [[ 9.97227925e-01 -7.43754281e-02 2.18197845e-03 1.85104402e+00] [ 7.43749474e-02 9.97230303e-01 3.00732452e-04 1.97341902e-01] [-2.19830214e-03 -1.37614267e-04 9.99997574e-01 -7.90656061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.790888479 meters Centerline goodness [0,1] 0.9985726992532528 Centerline is valid? [True, True] Translation: X:1.88, Y:0.20, Z:-0.08 [[ 9.96986241e-01 -7.75724323e-02 -9.75914080e-04 1.88096864e+00] [ 7.75723377e-02 9.96986717e-01 -1.34453928e-04 1.95281588e-01] [ 9.83403294e-04 5.83447800e-05 9.99999515e-01 -8.09619951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.820888479 meters Centerline goodness [0,1] 0.9989058177463974 Centerline is valid? [True, True] Translation: X:1.91, Y:0.19, Z:-0.08 [[ 9.96853728e-01 -7.92523047e-02 -1.31034007e-03 1.91334395e+00] [ 7.92521360e-02 9.96854586e-01 -1.80210668e-04 1.91567543e-01] [ 1.32050061e-03 7.57964274e-05 9.99999125e-01 -7.97917192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.850888479 meters Centerline goodness [0,1] 0.9990651099015249 Centerline is valid? [True, True] Translation: X:1.95, Y:0.19, Z:-0.08 [[ 9.96668114e-01 -8.15190484e-02 -2.70460046e-03 1.94546401e+00] [ 8.15183383e-02 9.96671773e-01 -3.71934153e-04 1.91539271e-01] [ 2.72591865e-03 1.50220376e-04 9.99996273e-01 -7.84905368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.880888479 meters Centerline goodness [0,1] 0.9991929977031473 Centerline is valid? [True, True] Translation: X:1.98, Y:0.18, Z:-0.08 [[ 9.96229900e-01 -8.66244674e-02 -4.71039947e-03 1.97581762e+00] [ 8.66223677e-02 9.96241008e-01 -6.48349656e-04 1.84960657e-01] [ 4.74885606e-03 2.37879358e-04 9.99988696e-01 -7.83299626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.910888479 meters Centerline goodness [0,1] 0.9989462156745252 Centerline is valid? [True, True] Translation: X:2.01, Y:0.18, Z:-0.08 [[ 9.96034079e-01 -8.88175599e-02 -5.24915331e-03 2.00795162e+00] [ 8.88149849e-02 9.96047879e-01 -7.22094775e-04 1.82646753e-01] [ 5.29254272e-03 2.53027532e-04 9.99985962e-01 -7.87474620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.940888479 meters Centerline goodness [0,1] 0.9994188459941885 Centerline is valid? [True, True] Translation: X:2.04, Y:0.18, Z:-0.08 [[ 9.95848777e-01 -9.08716294e-02 -5.24974487e-03 2.04035869e+00] [ 9.08690841e-02 9.95862585e-01 -7.21852666e-04 1.79499163e-01] [ 5.29362043e-03 2.41816587e-04 9.99985959e-01 -7.82876086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.970888479 meters Centerline goodness [0,1] 0.9991892397563562 Centerline is valid? [True, True] Translation: X:2.07, Y:0.18, Z:-0.08 [[ 9.95698304e-01 -9.24927114e-02 -5.47595481e-03 2.07125461e+00] [ 9.24899668e-02 9.95713332e-01 -7.52884578e-04 1.79839462e-01] [ 5.52211755e-03 2.43175018e-04 9.99984723e-01 -7.89526046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.000888478999999 meters Centerline goodness [0,1] 0.999150505552793 Centerline is valid? [True, True] Translation: X:2.10, Y:0.18, Z:-0.08 [[ 9.95500382e-01 -9.46269449e-02 -4.97305791e-03 2.10344953e+00] [ 9.46247105e-02 9.95512781e-01 -6.83219893e-04 1.78131921e-01] [ 5.01539373e-03 2.09571499e-04 9.99987401e-01 -7.84220321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.030888479 meters Centerline goodness [0,1] 0.9986320676504725 Centerline is valid? [True, True] Translation: X:2.14, Y:0.18, Z:-0.08 [[ 9.95500339e-01 -9.46469273e-02 -4.58624836e-03 2.13586654e+00] [ 9.46450292e-02 9.95510885e-01 -6.29637374e-04 1.82471982e-01] [ 4.62525341e-03 1.92738609e-04 9.99989285e-01 -7.73877550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.060888479 meters Centerline goodness [0,1] 0.9992318392260261 Centerline is valid? [True, True] Translation: X:2.17, Y:0.17, Z:-0.07 [[ 9.95526563e-01 -9.43861706e-02 -4.25594684e-03 2.17074381e+00] [ 9.43845364e-02 9.95535644e-01 -5.83653206e-04 1.74537716e-01] [ 4.29203557e-03 1.79346701e-04 9.99990773e-01 -7.25015020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.090888479 meters Centerline goodness [0,1] 0.9990902324042676 Centerline is valid? [True, True] Translation: X:2.20, Y:0.19, Z:-0.07 [[ 9.95714743e-01 -9.24771690e-02 -3.51431190e-04 2.19939945e+00] [ 9.24771578e-02 9.95714805e-01 -4.79408120e-05 1.93331568e-01] [ 3.54358669e-04 1.52360156e-05 9.99999937e-01 -6.90614042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1208884789999995 meters Centerline goodness [0,1] 0.9991733829303575 Centerline is valid? [True, True] Translation: X:2.23, Y:0.20, Z:-0.07 [[ 9.95910912e-01 -9.03311056e-02 1.32154110e-03 2.23142655e+00] [ 9.03309440e-02 9.95911787e-01 1.81585998e-04 1.95686734e-01] [-1.33254122e-03 -6.14674221e-05 9.99999110e-01 -6.54451573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.150888479 meters Centerline goodness [0,1] 0.9984519804330326 Centerline is valid? [True, True] Translation: X:2.26, Y:0.20, Z:-0.06 [[ 9.96224545e-01 -8.67923703e-02 1.93410816e-03 2.26100575e+00] [ 8.67920180e-02 9.96226418e-01 2.65478482e-04 2.02339572e-01] [-1.94985115e-03 -9.66110290e-05 9.99998094e-01 -6.41483843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.180888479 meters Centerline goodness [0,1] 0.9985547641168576 Centerline is valid? [True, True] Translation: X:2.29, Y:0.21, Z:-0.06 [[ 9.96510969e-01 -8.34594125e-02 6.43743769e-04 2.29148903e+00] [ 8.34593728e-02 9.96511177e-01 8.83307240e-05 2.08995049e-01] [-6.48869891e-04 -3.42960841e-05 9.99999789e-01 -6.35266761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.210888479 meters Centerline goodness [0,1] 0.9989251534756816 Centerline is valid? [True, True] Translation: X:2.32, Y:0.20, Z:-0.06 [[ 9.97048780e-01 -7.67544192e-02 -1.57799389e-03 2.32395189e+00] [ 7.67541730e-02 9.97050024e-01 -2.16078324e-04 1.99677605e-01] [ 1.58992381e-03 9.43230125e-05 9.99998732e-01 -6.24438071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.240888479 meters Centerline goodness [0,1] 0.9989038942775009 Centerline is valid? [True, True] Translation: X:2.36, Y:0.20, Z:-0.06 [[ 9.97238961e-01 -7.42060125e-02 -2.81458554e-03 2.35572325e+00] [ 7.42052190e-02 9.97242918e-01 -3.85462386e-04 1.99875572e-01] [ 2.83542912e-03 1.75541174e-04 9.99995965e-01 -6.35137967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.270888479 meters Centerline goodness [0,1] 0.99905107682152 Centerline is valid? [True, True] Translation: X:2.39, Y:0.21, Z:-0.07 [[ 9.97386696e-01 -7.21616195e-02 -3.53267398e-03 2.38520878e+00] [ 7.21603558e-02 9.97392926e-01 -4.84044379e-04 2.06578304e-01] [ 3.55839346e-03 2.27860413e-04 9.99993643e-01 -6.55951359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.300888479 meters Centerline goodness [0,1] 0.9990270964002567 Centerline is valid? [True, True] Translation: X:2.42, Y:0.21, Z:-0.07 [[ 9.97464526e-01 -7.10401449e-02 -4.22099402e-03 2.41677986e+00] [ 7.10383354e-02 9.97473419e-01 -5.77249727e-04 2.08957152e-01] [ 4.25133724e-03 2.75933736e-04 9.99990925e-01 -6.63490940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.330888479 meters Centerline goodness [0,1] 0.9991924128219996 Centerline is valid? [True, True] Translation: X:2.45, Y:0.20, Z:-0.07 [[ 9.97503501e-01 -7.05688062e-02 -2.60934140e-03 2.44936023e+00] [ 7.05681132e-02 9.97506899e-01 -3.56810092e-04 2.04762340e-01] [ 2.62801571e-03 1.71783017e-04 9.99996532e-01 -6.50955988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.360888479 meters Centerline goodness [0,1] 0.998840579710145 Centerline is valid? [True, True] Translation: X:2.48, Y:0.21, Z:-0.07 [[ 9.97529202e-01 -7.01917480e-02 -2.93415728e-03 2.47975186e+00] [ 7.01908701e-02 9.97533499e-01 -4.01253721e-04 2.08916432e-01] [ 2.95508488e-03 1.94311251e-04 9.99995615e-01 -6.53018564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.390888479 meters Centerline goodness [0,1] 0.9990027631770303 Centerline is valid? [True, True] Translation: X:2.51, Y:0.21, Z:-0.07 [[ 9.97636767e-01 -6.84546104e-02 -5.90312484e-03 2.51081630e+00] [ 6.84510255e-02 9.97654151e-01 -8.07448085e-04 2.09685350e-01] [ 5.94455054e-03 4.01464948e-04 9.99982250e-01 -6.68358789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.420888479 meters Centerline goodness [0,1] 0.9990664675130695 Centerline is valid? [True, True] Translation: X:2.54, Y:0.22, Z:-0.07 [[ 9.97704103e-01 -6.74455117e-02 -6.13400183e-03 2.54086103e+00] [ 6.74416251e-02 9.97722869e-01 -8.38517787e-04 2.17503264e-01] [ 6.17658817e-03 4.22905585e-04 9.99980835e-01 -6.81822607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.450888479 meters Centerline goodness [0,1] 0.9985298685164096 Centerline is valid? [True, True] Translation: X:2.57, Y:0.22, Z:-0.07 [[ 9.97736071e-01 -6.71284944e-02 -4.06187142e-03 2.57303826e+00] [ 6.71267894e-02 9.97744299e-01 -5.54796817e-04 2.16855406e-01] [ 4.08995172e-03 2.80880409e-04 9.99991597e-01 -6.76112188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.480888479 meters Centerline goodness [0,1] 0.9985082975946299 Centerline is valid? [True, True] Translation: X:2.61, Y:0.21, Z:-0.07 [[ 9.97735388e-01 -6.72508823e-02 -1.18933186e-03 2.60626823e+00] [ 6.72507366e-02 9.97736093e-01 -1.62097335e-04 2.14231489e-01] [ 1.19754051e-03 8.17468035e-05 9.99999280e-01 -6.64661584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.510888479 meters Centerline goodness [0,1] 0.9984402944724036 Centerline is valid? [True, True] Translation: X:2.64, Y:0.21, Z:-0.07 [[ 9.97674706e-01 -6.81554872e-02 -9.92830220e-05 2.63937487e+00] [ 6.81554862e-02 9.97674711e-01 -1.31789767e-05 2.11463337e-01] [ 9.99503799e-05 6.38164906e-06 9.99999995e-01 -6.61530885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.540888479 meters Centerline goodness [0,1] 0.9984402944724036 Centerline is valid? [True, True] Translation: X:2.67, Y:0.22, Z:-0.07 [[ 9.97681733e-01 -6.80525471e-02 -9.93101002e-05 2.67168585e+00] [ 6.80525461e-02 9.97681738e-01 -1.29804397e-05 2.15787795e-01] [ 9.99632253e-05 6.19204237e-06 9.99999995e-01 -6.63310898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.570888479 meters Centerline goodness [0,1] 0.9982998838945099 Centerline is valid? [True, True] Translation: X:2.70, Y:0.22, Z:-0.07 [[ 9.97734484e-01 -6.72694525e-02 -8.49196765e-04 2.70167226e+00] [ 6.72693783e-02 9.97734843e-01 -1.15641153e-04 2.22233548e-01] [ 8.55052318e-04 5.82542278e-05 9.99999633e-01 -6.73155546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.600888479 meters Centerline goodness [0,1] 0.9978153218759103 Centerline is valid? [True, True] Translation: X:2.73, Y:0.23, Z:-0.07 [[ 9.97859334e-01 -6.53937354e-02 -6.38909807e-04 2.73277613e+00] [ 6.53936930e-02 9.97859538e-01 -8.69392478e-05 2.28093812e-01] [ 6.43227527e-04 4.49724681e-05 9.99999792e-01 -6.75938524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.630888479 meters Centerline goodness [0,1] 0.9987341509473117 Centerline is valid? [True, True] Translation: X:2.76, Y:0.23, Z:-0.07 [[ 9.97958691e-01 -6.38365545e-02 -1.82882497e-03 2.76315026e+00] [ 6.38362043e-02 9.97960358e-01 -2.49263559e-04 2.34025428e-01] [ 1.84100694e-03 1.32009491e-04 9.99998297e-01 -6.68567637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.660888479 meters Centerline goodness [0,1] 0.9978521530601606 Centerline is valid? [True, True] Translation: X:2.80, Y:0.23, Z:-0.07 [[ 9.98007331e-01 -6.29165757e-02 -4.78242546e-03 2.79545571e+00] [ 6.29141729e-02 9.98018729e-01 -6.51377057e-04 2.34070754e-01] [ 4.81393259e-03 3.49196736e-04 9.99988352e-01 -7.22033942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.690888479 meters Centerline goodness [0,1] 0.9980532529515197 Centerline is valid? [True, True] Translation: X:2.83, Y:0.23, Z:-0.08 [[ 9.97955208e-01 -6.35503796e-02 -6.83761411e-03 2.82872790e+00] [ 6.35454848e-02 9.97978509e-01 -9.30966481e-04 2.29533005e-01] [ 6.88295521e-03 4.94563344e-04 9.99976190e-01 -7.51074868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.720888479 meters Centerline goodness [0,1] 0.9979515478355385 Centerline is valid? [True, True] Translation: X:2.86, Y:0.23, Z:-0.08 [[ 9.97896783e-01 -6.45010434e-02 -6.45181323e-03 2.86025534e+00] [ 6.44967069e-02 9.97917533e-01 -8.78173830e-04 2.30886670e-01] [ 6.49502068e-03 4.60206133e-04 9.99978801e-01 -7.67720768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.750888479 meters Centerline goodness [0,1] 0.9984094095979573 Centerline is valid? [True, True] Translation: X:2.89, Y:0.23, Z:-0.07 [[ 9.97617865e-01 -6.89709450e-02 1.26644432e-03 2.89146276e+00] [ 6.89707814e-02 9.97618665e-01 1.72430102e-04 2.25612431e-01] [-1.27532116e-03 -8.46716953e-05 9.99999183e-01 -6.78904281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.780888479 meters Centerline goodness [0,1] 0.9981728830645161 Centerline is valid? [True, True] Translation: X:2.92, Y:0.23, Z:-0.06 [[ 9.97427581e-01 -7.15307735e-02 4.64422913e-03 2.92220445e+00] [ 7.15286013e-02 9.97438349e-01 6.32361703e-04 2.27456507e-01] [-4.67756556e-03 -2.98539790e-04 9.99989016e-01 -6.43614561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810888479 meters Centerline goodness [0,1] 0.998211731044349 Centerline is valid? [True, True] Translation: X:2.95, Y:0.23, Z:-0.07 [[ 9.96976514e-01 -7.76145462e-02 3.71643787e-03 2.95345964e+00] [ 7.76131975e-02 9.96983418e-01 5.05973917e-04 2.25800057e-01] [-3.74449786e-03 -2.15999486e-04 9.99992966e-01 -6.65076516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.840888479 meters Centerline goodness [0,1] 0.9981931254727288 Centerline is valid? [True, True] Translation: X:2.99, Y:0.23, Z:-0.07 [[ 9.96853483e-01 -7.92425063e-02 1.93867762e-03 2.98559632e+00] [ 7.92421421e-02 9.96855362e-01 2.64094174e-04 2.25504439e-01] [-1.95350866e-03 -1.09638230e-04 9.99998086e-01 -6.87261822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8708884789999995 meters Centerline goodness [0,1] 0.9978513650151668 Centerline is valid? [True, True] Translation: X:3.02, Y:0.22, Z:-0.07 [[ 9.96660274e-01 -8.16148473e-02 2.70479219e-03 3.01822212e+00] [ 8.16141477e-02 9.96663933e-01 3.68209461e-04 2.23195087e-01] [-2.72582018e-03 -1.46230433e-04 9.99996274e-01 -7.01381496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.900888479 meters Centerline goodness [0,1] 0.997872385245729 Centerline is valid? [True, True] Translation: X:3.05, Y:0.22, Z:-0.07 [[ 9.96294289e-01 -8.59839932e-02 2.10785750e-03 3.04885942e+00] [ 8.59835785e-02 9.96296513e-01 2.86728270e-04 2.20357308e-01] [-2.12470512e-03 -1.04424607e-04 9.99997737e-01 -7.13295286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.930888479 meters Centerline goodness [0,1] 0.9974531141467933 Centerline is valid? [True, True] Translation: X:3.08, Y:0.22, Z:-0.07 [[ 9.96167941e-01 -8.74527245e-02 1.20589796e-03 3.08175639e+00] [ 8.74525895e-02 9.96168669e-01 1.64325473e-04 2.19423933e-01] [-1.21564848e-03 -5.82368691e-05 9.99999259e-01 -7.29686403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.960888479 meters Centerline goodness [0,1] 0.9977707207301941 Centerline is valid? [True, True] Translation: X:3.11, Y:0.22, Z:-0.07 [[ 9.96009090e-01 -8.92485802e-02 -7.64090303e-04 3.11428083e+00] [ 8.92485271e-02 9.96009382e-01 -1.03367083e-04 2.23066608e-01] [ 7.70266476e-04 3.47606200e-05 9.99999703e-01 -7.34034309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.990888479 meters Centerline goodness [0,1] 0.9977281810723827 Centerline is valid? [True, True] Translation: X:3.15, Y:0.23, Z:-0.07 [[ 9.95749023e-01 -9.21010986e-02 1.12719031e-03 3.14602209e+00] [ 9.21009838e-02 9.95749660e-01 1.53442650e-04 2.26142548e-01] [-1.13653161e-03 -4.89750326e-05 9.99999353e-01 -7.02603106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.020888479 meters Centerline goodness [0,1] 0.9975034092101123 Centerline is valid? [True, True] Translation: X:3.18, Y:0.23, Z:-0.07 [[ 9.95581340e-01 -9.38639959e-02 2.71038832e-03 3.17785373e+00] [ 9.38633407e-02 9.95585023e-01 3.68243114e-04 2.27649545e-01] [-2.73298679e-03 -1.12209870e-04 9.99996259e-01 -6.83000332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.050888479 meters Centerline goodness [0,1] 0.9977695949500263 Centerline is valid? [True, True] Translation: X:3.21, Y:0.23, Z:-0.07 [[ 9.95354281e-01 -9.61853957e-02 4.26910421e-03 3.20954072e+00] [ 9.61837930e-02 9.95363422e-01 5.79626327e-04 2.30039654e-01] [-4.30506176e-03 -1.66314910e-04 9.99990719e-01 -6.76006676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0808884789999995 meters Centerline goodness [0,1] 0.9979823879279545 Centerline is valid? [True, True] Translation: X:3.24, Y:0.23, Z:-0.07 [[ 9.95183824e-01 -9.79187934e-02 4.58980329e-03 3.24019502e+00] [ 9.79169605e-02 9.95194393e-01 6.22901032e-04 2.34640359e-01] [-4.62874021e-03 -1.70481444e-04 9.99989273e-01 -6.80437460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.110888479 meters Centerline goodness [0,1] 0.9978184259103876 Centerline is valid? [True, True] Translation: X:3.27, Y:0.23, Z:-0.07 [[ 9.94787326e-01 -1.01569736e-01 9.04236488e-03 3.27212149e+00] [ 1.01562779e-01 9.94828376e-01 1.22641484e-03 2.34615401e-01] [-9.12016780e-03 -3.01654230e-04 9.99958365e-01 -6.55248081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.140888479 meters Centerline goodness [0,1] 0.9979464828279865 Centerline is valid? [True, True] Translation: X:3.30, Y:0.24, Z:-0.06 [[ 9.94513627e-01 -1.03846566e-01 1.25911041e-02 3.30382215e+00] [ 1.03833271e-01 9.94593253e-01 1.70681028e-03 2.38693107e-01] [-1.27002736e-02 -3.90070561e-04 9.99919272e-01 -6.22908370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.170888479 meters Centerline goodness [0,1] 0.997839447905523 Centerline is valid? [True, True] Translation: X:3.33, Y:0.25, Z:-0.06 [[ 9.94345144e-01 -1.05132400e-01 1.49971138e-02 3.33430036e+00] [ 1.05113699e-01 9.94458135e-01 2.03197996e-03 2.46628073e-01] [-1.51276287e-02 -4.44087302e-04 9.99885472e-01 -5.92894293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.200888479 meters Centerline goodness [0,1] 0.998260614443187 Centerline is valid? [True, True] Translation: X:3.36, Y:0.26, Z:-0.06 [[ 9.94382695e-01 -1.04698941e-01 1.55302144e-02 3.36409403e+00] [ 1.04678847e-01 9.94503854e-01 2.10337647e-03 2.55904317e-01] [-1.56650793e-02 -4.65876219e-04 9.99877187e-01 -5.77935984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.230888479 meters Centerline goodness [0,1] 0.998066820760664 Centerline is valid? [True, True] Translation: X:3.39, Y:0.27, Z:-0.06 [[ 9.95227367e-01 -9.66908082e-02 1.31672164e-02 3.39350166e+00] [ 9.66756675e-02 9.95314340e-01 1.78306351e-03 2.68697537e-01] [-1.32779252e-02 -5.01604163e-04 9.99911719e-01 -6.14274274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.260888479 meters Centerline goodness [0,1] 0.9981502501366293 Centerline is valid? [True, True] Translation: X:3.42, Y:0.28, Z:-0.06 [[ 9.95852967e-01 -9.02022494e-02 1.18500083e-02 3.42158174e+00] [ 9.01895268e-02 9.95923327e-01 1.60476566e-03 2.78679082e-01] [-1.19464532e-02 -5.29363998e-04 9.99928498e-01 -6.32112808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2908884789999995 meters Centerline goodness [0,1] 0.9979195998907264 Centerline is valid? [True, True] Translation: X:3.45, Y:0.29, Z:-0.06 [[ 9.96484704e-01 -8.28033285e-02 1.27217793e-02 3.45009920e+00] [ 8.27880696e-02 9.96565687e-01 1.72232343e-03 2.89656571e-01] [-1.28207029e-02 -6.63057407e-04 9.99917592e-01 -6.42784234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.320888479 meters Centerline goodness [0,1] 0.9982068645444381 Centerline is valid? [True, True] Translation: X:3.48, Y:0.30, Z:-0.06 [[ 9.97365458e-01 -7.05485007e-02 1.68834810e-02 3.47932545e+00] [ 7.05198838e-02 9.97507757e-01 2.28509680e-03 3.00646105e-01] [-1.70026135e-02 -1.08845550e-03 9.99854853e-01 -6.17821425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.350888479 meters Centerline goodness [0,1] 0.9984887601536427 Centerline is valid? [True, True] Translation: X:3.51, Y:0.31, Z:-0.06 [[ 9.97716858e-01 -6.53120633e-02 1.71873886e-02 3.50793196e+00] [ 6.52816322e-02 9.97864168e-01 2.32628559e-03 3.09925880e-01] [-1.73026137e-02 -1.19895357e-03 9.99849580e-01 -6.03159460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.380888479 meters Centerline goodness [0,1] 0.9982204170504982 Centerline is valid? [True, True] Translation: X:3.54, Y:0.32, Z:-0.06 [[ 9.97968458e-01 -6.14601323e-02 1.67812325e-02 3.53635511e+00] [ 6.14305828e-02 9.98108774e-01 2.27118657e-03 3.19450661e-01] [-1.68890828e-02 -1.23569167e-03 9.99856606e-01 -5.97980449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.410888479 meters Centerline goodness [0,1] 0.9982377375907355 Centerline is valid? [True, True] Translation: X:3.57, Y:0.32, Z:-0.06 [[ 9.98113412e-01 -5.92054925e-02 1.62581263e-02 3.56768722e+00] [ 5.91774668e-02 9.98245054e-01 2.19992859e-03 3.22047134e-01] [-1.63598420e-02 -1.23366350e-03 9.99865408e-01 -6.17116813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.440888479 meters Centerline goodness [0,1] 0.998527896363904 Centerline is valid? [True, True] Translation: X:3.60, Y:0.33, Z:-0.06 [[ 9.98216181e-01 -5.79705775e-02 1.42782355e-02 3.59788923e+00] [ 5.79488462e-02 9.98317685e-01 1.93139034e-03 3.31033827e-01] [-1.43661788e-02 -1.10053782e-03 9.99896195e-01 -6.43912428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.470888479 meters Centerline goodness [0,1] 0.9980656013456686 Centerline is valid? [True, True] Translation: X:3.63, Y:0.33, Z:-0.07 [[ 9.98203661e-01 -5.85702401e-02 1.26086594e-02 3.63134667e+00] [ 5.85533529e-02 9.98282825e-01 1.70466230e-03 3.27043411e-01] [-1.26868506e-02 -9.63320863e-04 9.99919055e-01 -6.84955578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.500888479 meters Centerline goodness [0,1] 0.9979587542087542 Centerline is valid? [True, True] Translation: X:3.66, Y:0.33, Z:-0.07 [[ 9.98131750e-01 -6.02420875e-02 1.01931944e-02 3.66225970e+00] [ 6.02311434e-02 9.98183506e-01 1.37754158e-03 3.27662335e-01] [-1.02576645e-02 -7.61020231e-04 9.99947099e-01 -7.24911722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.530888479 meters Centerline goodness [0,1] 0.9977493111209272 Centerline is valid? [True, True] Translation: X:3.69, Y:0.33, Z:-0.08 [[ 9.97831875e-01 -6.52122945e-02 8.88292844e-03 3.69221603e+00] [ 6.52041801e-02 9.97871221e-01 1.20036547e-03 3.25613951e-01] [-8.94229724e-03 -6.18558861e-04 9.99959826e-01 -7.50619679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.560888479 meters Centerline goodness [0,1] 0.9975480436741623 Centerline is valid? [True, True] Translation: X:3.72, Y:0.32, Z:-0.07 [[ 9.97630263e-01 -6.77556816e-02 1.19593083e-02 3.72321167e+00] [ 6.77411532e-02 9.97701621e-01 1.61621595e-03 3.24477641e-01] [-1.20413291e-02 -8.02248605e-04 9.99927179e-01 -7.26401624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.590888479 meters Centerline goodness [0,1] 0.9977802906562802 Centerline is valid? [True, True] Translation: X:3.75, Y:0.33, Z:-0.07 [[ 9.97336072e-01 -7.14028591e-02 1.49127993e-02 3.75297302e+00] [ 7.13806739e-02 9.97447110e-01 2.01535937e-03 3.29576665e-01] [-1.50186310e-02 -9.45504931e-04 9.99886767e-01 -6.87432499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6208884789999995 meters Centerline goodness [0,1] 0.9978477547694172 Centerline is valid? [True, True] Translation: X:3.78, Y:0.33, Z:-0.07 [[ 9.97073760e-01 -7.49517551e-02 1.50383197e-02 3.78428034e+00] [ 7.49295992e-02 9.97186756e-01 2.03215747e-03 3.29526347e-01] [-1.51483270e-02 -8.99395626e-04 9.99884853e-01 -6.80744545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.650888479 meters Centerline goodness [0,1] 0.997846359720654 Centerline is valid? [True, True] Translation: X:3.81, Y:0.32, Z:-0.07 [[ 9.96374435e-01 -8.41421720e-02 1.25729540e-02 3.81484022e+00] [ 8.41274141e-02 9.96453557e-01 1.69903807e-03 3.20882108e-01] [-1.26713255e-02 -6.35147992e-04 9.99919514e-01 -6.86891860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.680888479 meters Centerline goodness [0,1] 0.9979517619027714 Centerline is valid? [True, True] Translation: X:3.85, Y:0.32, Z:-0.07 [[ 9.96059008e-01 -8.80308408e-02 1.08177593e-02 3.84622053e+00] [ 8.80201438e-02 9.96117622e-01 1.46192114e-03 3.15150167e-01] [-1.09044548e-02 -5.03978991e-04 9.99940418e-01 -6.92483439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.710888479 meters Centerline goodness [0,1] 0.9977820555741547 Centerline is valid? [True, True] Translation: X:3.88, Y:0.31, Z:-0.07 [[ 9.95746364e-01 -9.15044047e-02 1.07760011e-02 3.87797775e+00] [ 9.14939950e-02 9.95804563e-01 1.45609473e-03 3.13130716e-01] [-1.08640302e-02 -4.63961644e-04 9.99940877e-01 -6.85056959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.740888479 meters Centerline goodness [0,1] 0.9978953071601233 Centerline is valid? [True, True] Translation: X:3.91, Y:0.31, Z:-0.07 [[ 9.95263539e-01 -9.66440996e-02 1.05074699e-02 3.90786539e+00] [ 9.66344891e-02 9.95318924e-01 1.41971757e-03 3.11534709e-01] [-1.05954910e-02 -3.97609140e-04 9.99943787e-01 -6.80143529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.770888479 meters Centerline goodness [0,1] 0.9981682313024292 Centerline is valid? [True, True] Translation: X:3.94, Y:0.32, Z:-0.07 [[ 9.95073403e-01 -9.85256945e-02 1.10276673e-02 3.93881655e+00] [ 9.85152316e-02 9.95134429e-01 1.48933360e-03 3.15882096e-01] [-1.11207490e-02 -3.95603055e-04 9.99938084e-01 -6.74458982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.800888479 meters Centerline goodness [0,1] 0.9979998333194433 Centerline is valid? [True, True] Translation: X:3.97, Y:0.32, Z:-0.07 [[ 9.95001592e-01 -9.89060322e-02 1.37632774e-02 3.97176947e+00] [ 9.88897954e-02 9.95096659e-01 1.85698912e-03 3.19230078e-01] [-1.38794588e-02 -4.86659447e-04 9.99903557e-01 -6.56271968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8308884789999995 meters Centerline goodness [0,1] 0.9981199080843952 Centerline is valid? [True, True] Translation: X:4.00, Y:0.32, Z:-0.07 [[ 9.95081414e-01 -9.79011961e-02 1.51107628e-02 4.00443684e+00] [ 9.78815285e-02 9.95195988e-01 2.03747693e-03 3.20241329e-01] [-1.52376420e-02 -5.48390866e-04 9.99883750e-01 -6.53837569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.860888479 meters Centerline goodness [0,1] 0.9978401279308841 Centerline is valid? [True, True] Translation: X:4.04, Y:0.32, Z:-0.07 [[ 9.95162830e-01 -9.70308581e-02 1.53607888e-02 4.03709324e+00] [ 9.70104478e-02 9.95281210e-01 2.07008042e-03 3.21548067e-01] [-1.54891662e-02 -5.69910087e-04 9.99879873e-01 -6.54020068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.890888479 meters Centerline goodness [0,1] 0.9982097506140972 Centerline is valid? [True, True] Translation: X:4.07, Y:0.32, Z:-0.07 [[ 9.95294775e-01 -9.61915157e-02 1.16405510e-02 4.07071451e+00] [ 9.61797492e-02 9.95362747e-01 1.56775262e-03 3.21807703e-01] [-1.17373753e-02 -4.40790718e-04 9.99931017e-01 -6.73665560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.920888479 meters Centerline goodness [0,1] 0.9980381926327873 Centerline is valid? [True, True] Translation: X:4.10, Y:0.33, Z:-0.07 [[ 9.95370553e-01 -9.58206847e-02 7.47381591e-03 4.10084011e+00] [ 9.58158290e-02 9.95398571e-01 1.00590275e-03 3.30422886e-01] [-7.53581196e-03 -2.85136111e-04 9.99971565e-01 -7.00423609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.950888479 meters Centerline goodness [0,1] 0.9977299706353999 Centerline is valid? [True, True] Translation: X:4.13, Y:0.34, Z:-0.07 [[ 9.95496913e-01 -9.46425242e-02 5.35621262e-03 4.13257392e+00] [ 9.46400162e-02 9.95511300e-01 7.20345334e-04 3.36301344e-01] [-5.40034549e-03 -2.10189506e-04 9.99985396e-01 -7.27296503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.980888479 meters Centerline goodness [0,1] 0.9981459878343472 Centerline is valid? [True, True] Translation: X:4.16, Y:0.35, Z:-0.07 [[ 9.95630692e-01 -9.31975702e-02 5.80839249e-03 4.16212544e+00] [ 9.31945989e-02 9.95647607e-01 7.80714838e-04 3.48112730e-01] [-5.85587281e-03 -2.35992846e-04 9.99982826e-01 -7.27755586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010888479 meters Centerline goodness [0,1] 0.9977913905904905 Centerline is valid? [True, True] Translation: X:4.19, Y:0.35, Z:-0.07 [[ 9.95788988e-01 -9.09810626e-02 1.12577538e-02 4.19378818e+00] [ 9.09697689e-02 9.95852506e-01 1.51229715e-03 3.50341136e-01] [-1.13486527e-02 -4.81813587e-04 9.99935486e-01 -6.89492655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0408884789999995 meters Centerline goodness [0,1] 0.9980419114277382 Centerline is valid? [True, True] Translation: X:4.23, Y:0.36, Z:-0.07 [[ 9.95805098e-01 -9.07223759e-02 1.19020177e-02 4.22500818e+00] [ 9.07097418e-02 9.95876091e-01 1.59819672e-03 3.55053123e-01] [-1.19979270e-02 -5.11863491e-04 9.99927891e-01 -6.76300759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070888479 meters Centerline goodness [0,1] 0.9982705090537809 Centerline is valid? [True, True] Translation: X:4.26, Y:0.36, Z:-0.07 [[ 9.95788762e-01 -9.10478482e-02 1.07252342e-02 4.25664798e+00] [ 9.10376147e-02 9.95846414e-01 1.43954777e-03 3.58015419e-01] [-1.08117538e-02 -4.57085745e-04 9.99941447e-01 -6.78184289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.100888479 meters Centerline goodness [0,1] 0.9978970600483051 Centerline is valid? [True, True] Translation: X:4.29, Y:0.36, Z:-0.07 [[ 9.95711158e-01 -9.18141836e-02 1.13774022e-02 4.28827140e+00] [ 9.18027270e-02 9.95776044e-01 1.52626130e-03 3.63340673e-01] [-1.14694770e-02 -4.75238856e-04 9.99934110e-01 -6.70948645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130888479 meters Centerline goodness [0,1] 0.99804577867404 Centerline is valid? [True, True] Translation: X:4.32, Y:0.37, Z:-0.06 [[ 9.95642314e-01 -9.22675500e-02 1.35307881e-02 4.31863766e+00] [ 9.22514091e-02 9.95734095e-01 1.81356988e-03 3.68732863e-01] [-1.36404007e-02 -5.57432645e-04 9.99906810e-01 -6.45716754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.160888479 meters Centerline goodness [0,1] 0.9980028708731199 Centerline is valid? [True, True] Translation: X:4.35, Y:0.37, Z:-0.06 [[ 9.95660058e-01 -9.19815181e-02 1.41579813e-02 4.35053284e+00] [ 9.19638369e-02 9.95760542e-01 1.89625271e-03 3.73690436e-01] [-1.42723793e-02 -5.86000799e-04 9.99897973e-01 -6.39768627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.190888479 meters Centerline goodness [0,1] 0.9977102414654455 Centerline is valid? [True, True] Translation: X:4.38, Y:0.38, Z:-0.07 [[ 9.95802619e-01 -9.07410349e-02 1.19669737e-02 4.38041092e+00] [ 9.07283215e-02 9.95874392e-01 1.60214604e-03 3.83341175e-01] [-1.20629831e-02 -5.09677777e-04 9.99927110e-01 -6.79306708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.220888479 meters Centerline goodness [0,1] 0.9980215340400275 Centerline is valid? [True, True] Translation: X:4.41, Y:0.39, Z:-0.07 [[ 9.95913526e-01 -8.94515744e-02 1.24363946e-02 4.41143695e+00] [ 8.94377517e-02 9.95991023e-01 1.66434431e-03 3.90387171e-01] [-1.25354156e-02 -5.45259841e-04 9.99921280e-01 -6.83265649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.250888479 meters Centerline goodness [0,1] 0.99817306095333 Centerline is valid? [True, True] Translation: X:4.44, Y:0.40, Z:-0.07 [[ 9.96063933e-01 -8.74928826e-02 1.41998645e-02 4.44193970e+00] [ 8.74746737e-02 9.96164933e-01 1.89958713e-03 3.98076858e-01] [-1.43116074e-02 -6.49981713e-04 9.99897372e-01 -6.60461182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.280888479 meters Centerline goodness [0,1] 0.9981498035465564 Centerline is valid? [True, True] Translation: X:4.47, Y:0.41, Z:-0.06 [[ 9.96288261e-01 -8.45111076e-02 1.63577000e-02 4.47110836e+00] [ 8.44865477e-02 9.96422218e-01 2.18793617e-03 4.07939848e-01] [-1.64840807e-02 -7.97809513e-04 9.99863810e-01 -6.20261194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.310888479 meters Centerline goodness [0,1] 0.9977105750619185 Centerline is valid? [True, True] Translation: X:4.50, Y:0.41, Z:-0.06 [[ 9.96400125e-01 -8.35784910e-02 1.41925206e-02 4.50257528e+00] [ 8.35599169e-02 9.96500948e-01 1.89775025e-03 4.13607435e-01] [-1.43014713e-02 -7.04992740e-04 9.99897480e-01 -6.47104054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.340888479 meters Centerline goodness [0,1] 0.9977735699868912 Centerline is valid? [True, True] Translation: X:4.53, Y:0.42, Z:-0.07 [[ 9.96520371e-01 -8.27060141e-02 1.03375721e-02 4.53432941e+00] [ 8.26961195e-02 9.96573852e-01 1.38169515e-03 4.16123234e-01] [-1.04164286e-02 -5.22010265e-04 9.99945611e-01 -6.89995745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3708884789999995 meters Centerline goodness [0,1] 0.9978357680942274 Centerline is valid? [True, True] Translation: X:4.57, Y:0.42, Z:-0.07 [[ 9.96744440e-01 -8.02857958e-02 7.39674536e-03 4.56673164e+00] [ 8.02806667e-02 9.96771808e-01 9.88232963e-04 4.17091837e-01] [-7.45220832e-03 -3.91200062e-04 9.99972155e-01 -7.08609201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.400888479 meters Centerline goodness [0,1] 0.9978084822173986 Centerline is valid? [True, True] Translation: X:4.60, Y:0.43, Z:-0.07 [[ 9.96879112e-01 -7.86294596e-02 7.03163104e-03 4.59657609e+00] [ 7.86247872e-02 9.96903838e-01 9.38896700e-04 4.25227557e-01] [-7.08368490e-03 -3.83106015e-04 9.99974837e-01 -6.98396684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.430888479 meters Centerline goodness [0,1] 0.998165367135054 Centerline is valid? [True, True] Translation: X:4.63, Y:0.43, Z:-0.07 [[ 9.97063797e-01 -7.64033040e-02 5.13021489e-03 4.62777080e+00] [ 7.64007899e-02 9.97076953e-01 6.84540297e-04 4.29933038e-01] [-5.16752017e-03 -2.90577878e-04 9.99986606e-01 -7.23230146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.460888479 meters Centerline goodness [0,1] 0.998165367135054 Centerline is valid? [True, True] Translation: X:4.66, Y:0.43, Z:-0.07 [[ 9.97071721e-01 -7.62998298e-02 5.13023582e-03 4.66006708e+00] [ 7.62973152e-02 9.97084877e-01 6.84383382e-04 4.34155324e-01] [-5.16749889e-03 -2.90956097e-04 9.99986606e-01 -7.25009043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.490888479 meters Centerline goodness [0,1] 0.9975812168981192 Centerline is valid? [True, True] Translation: X:4.69, Y:0.45, Z:-0.08 [[ 9.97496189e-01 -7.07136254e-02 -9.67529786e-04 4.68792153e+00] [ 7.07135335e-02 9.97496656e-01 -1.28903852e-04 4.51300060e-01] [ 9.74222985e-04 6.01636511e-05 9.99999524e-01 -8.10426715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.520888479 meters Centerline goodness [0,1] 0.9978357680942274 Centerline is valid? [True, True] Translation: X:4.72, Y:0.45, Z:-0.08 [[ 9.97655739e-01 -6.84197123e-02 -1.33032241e-03 4.71938182e+00] [ 6.84195367e-02 9.97656622e-01 -1.77066194e-04 4.47678462e-01] [ 1.33931978e-03 8.56310622e-05 9.99999099e-01 -8.18449580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.550888479 meters Centerline goodness [0,1] 0.9974588098064946 Centerline is valid? [True, True] Translation: X:4.75, Y:0.46, Z:-0.08 [[ 9.97782084e-01 -6.65630899e-02 5.17619890e-04 4.74999646e+00] [ 6.65630629e-02 9.97782218e-01 6.92342127e-05 4.55963696e-01] [-5.21080365e-04 -3.46262917e-05 9.99999864e-01 -8.08227543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5808884789999995 meters Centerline goodness [0,1] 0.9977135255357625 Centerline is valid? [True, True] Translation: X:4.78, Y:0.45, Z:-0.08 [[ 9.97902688e-01 -6.46579524e-02 3.09412819e-03 4.78264371e+00] [ 6.46569834e-02 9.97907463e-01 4.12278292e-04 4.54867755e-01] [-3.11431068e-03 -2.11356621e-04 9.99995128e-01 -7.87988905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.610888479 meters Centerline goodness [0,1] 0.9976122254059216 Centerline is valid? [True, True] Translation: X:4.81, Y:0.45, Z:-0.08 [[ 9.98130373e-01 -6.09993682e-02 3.85165439e-03 4.81367057e+00] [ 6.09978414e-02 9.98137766e-01 5.12738535e-04 4.54423560e-01] [-3.87575843e-03 -2.76837302e-04 9.99992451e-01 -7.77543469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.640888479 meters Centerline goodness [0,1] 0.9975286592457219 Centerline is valid? [True, True] Translation: X:4.84, Y:0.46, Z:-0.08 [[ 9.98236578e-01 -5.92402559e-02 3.78494784e-03 4.84393961e+00] [ 5.92387683e-02 9.98243715e-01 5.04041713e-04 4.60289603e-01] [-3.80815995e-03 -2.78937227e-04 9.99992710e-01 -7.72250090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.670888479 meters Centerline goodness [0,1] 0.9977369459150836 Centerline is valid? [True, True] Translation: X:4.88, Y:0.46, Z:-0.08 [[ 9.98300660e-01 -5.81273051e-02 4.12422529e-03 4.87629541e+00] [ 5.81255321e-02 9.98309131e-01 5.48581521e-04 4.62206278e-01] [-4.14913933e-03 -3.07926505e-04 9.99991345e-01 -7.52426336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.700888479 meters Centerline goodness [0,1] 0.9978897279404159 Centerline is valid? [True, True] Translation: X:4.91, Y:0.46, Z:-0.07 [[ 9.98330323e-01 -5.75123147e-02 5.37588546e-03 4.90805689e+00] [ 5.75092959e-02 9.98344715e-01 7.14567819e-04 4.62910410e-01] [-5.40808329e-03 -4.04211334e-04 9.99985295e-01 -7.31636606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.730888479 meters Centerline goodness [0,1] 0.997603058167166 Centerline is valid? [True, True] Translation: X:4.94, Y:0.46, Z:-0.07 [[ 9.98256466e-01 -5.87261764e-02 5.93829477e-03 4.94013184e+00] [ 5.87225163e-02 9.98274032e-01 7.88986660e-04 4.59741186e-01] [-5.97437964e-03 -4.38899423e-04 9.99982057e-01 -7.37303920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.760888479 meters Centerline goodness [0,1] 0.9977813258133411 Centerline is valid? [True, True] Translation: X:4.97, Y:0.45, Z:-0.07 [[ 9.98164551e-01 -6.01642261e-02 6.91339074e-03 4.97228942e+00] [ 6.01593015e-02 9.98188367e-01 9.18267315e-04 4.53320195e-01] [-6.95611305e-03 -5.00677124e-04 9.99975681e-01 -7.27481438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7908884789999995 meters Centerline goodness [0,1] 0.997354552030588 Centerline is valid? [True, True] Translation: X:5.00, Y:0.45, Z:-0.07 [[ 9.97858125e-01 -6.46593977e-02 9.91591909e-03 5.00257797e+00] [ 6.46494893e-02 9.97907165e-01 1.31687783e-03 4.51644483e-01] [-9.98031523e-03 -6.72998136e-04 9.99949969e-01 -6.80027465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.820888479 meters Centerline goodness [0,1] 0.9974696146347534 Centerline is valid? [True, True] Translation: X:5.04, Y:0.45, Z:-0.07 [[ 9.97771132e-01 -6.56592660e-02 1.19008327e-02 5.03543563e+00] [ 6.56450685e-02 9.97841785e-01 1.58013903e-03 4.49885938e-01] [-1.19788989e-02 -7.95386127e-04 9.99927934e-01 -6.62420181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850888479 meters Centerline goodness [0,1] 0.9973285288270378 Centerline is valid? [True, True] Translation: X:5.07, Y:0.45, Z:-0.07 [[ 9.97791542e-01 -6.52953076e-02 1.21885818e-02 5.06696161e+00] [ 6.52803987e-02 9.97865649e-01 1.61748197e-03 4.53800395e-01] [-1.22681811e-02 -8.18234352e-04 9.99924408e-01 -6.57507924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.880888479 meters Centerline goodness [0,1] 0.9975741742862474 Centerline is valid? [True, True] Translation: X:5.10, Y:0.46, Z:-0.07 [[ 9.97919714e-01 -6.35374853e-02 1.09193339e-02 5.09827995e+00] [ 6.35254220e-02 9.97979170e-01 1.44842074e-03 4.57494889e-01] [-1.09892968e-02 -7.51752319e-04 9.99939333e-01 -6.67602151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.910888479 meters Centerline goodness [0,1] 0.997409648541114 Centerline is valid? [True, True] Translation: X:5.13, Y:0.46, Z:-0.07 [[ 9.98339576e-01 -5.73666310e-02 5.21161392e-03 5.12748282e+00] [ 5.73638001e-02 9.98353102e-01 6.91179626e-04 4.59471373e-01] [-5.24268157e-03 -3.91073996e-04 9.99986181e-01 -7.19830412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.940888479 meters Centerline goodness [0,1] 0.997258680843994 Centerline is valid? [True, True] Translation: X:5.16, Y:0.46, Z:-0.08 [[ 9.98522320e-01 -5.42797356e-02 2.62438211e-03 5.15819566e+00] [ 5.42790074e-02 9.98525747e-01 3.47977803e-04 4.59819982e-01] [-2.63940125e-03 -2.05014747e-04 9.99996496e-01 -7.61530248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.970888479 meters Centerline goodness [0,1] 0.9963942307692307 Centerline is valid? [True, True] Translation: X:5.19, Y:0.46, Z:-0.08 [[ 9.98686529e-01 -5.12335341e-02 5.85148031e-04 5.18774683e+00] [ 5.12334974e-02 9.98686699e-01 7.75082597e-05 4.63846368e-01] [-5.88350577e-04 -4.74272747e-05 9.99999826e-01 -7.95764402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.000888478999999 meters Centerline goodness [0,1] 0.9965247429974612 Centerline is valid? [True, True] Translation: X:5.22, Y:0.47, Z:-0.08 [[ 9.98916816e-01 -4.65131731e-02 1.31113836e-03 5.21893615e+00] [ 4.65129846e-02 9.98917670e-01 1.73951873e-04 4.66277242e-01] [-1.31781033e-03 -1.12778493e-04 9.99999125e-01 -7.95196202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030888479 meters Centerline goodness [0,1] 0.995492594977463 Centerline is valid? [True, True] Translation: X:5.25, Y:0.47, Z:-0.08 [[ 9.98990195e-01 -4.48007131e-02 3.38913779e-03 5.24894948e+00] [ 4.47994447e-02 9.98995900e-01 4.49301866e-04 4.72784197e-01] [-3.40586380e-03 -2.97016668e-04 9.99994156e-01 -7.65854528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.060888479 meters Centerline goodness [0,1] 0.9961615487316422 Centerline is valid? [True, True] Translation: X:5.28, Y:0.47, Z:-0.07 [[ 9.99014894e-01 -4.40976161e-02 4.96408420e-03 5.28136250e+00] [ 4.40948867e-02 9.99027131e-01 6.57990323e-04 4.74490435e-01] [-4.98827060e-03 -4.38451403e-04 9.99987462e-01 -7.33850068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090888479 meters Centerline goodness [0,1] 0.9946621425911367 Centerline is valid? [True, True] Translation: X:5.31, Y:0.47, Z:-0.07 [[ 9.98993374e-01 -4.48154808e-02 1.95240993e-03 5.31336616e+00] [ 4.48150594e-02 9.98995267e-01 2.59087952e-04 4.68091397e-01] [-1.96205943e-03 -1.71329781e-04 9.99998060e-01 -7.47771798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1208884789999995 meters Centerline goodness [0,1] 0.993777353715957 Centerline is valid? [True, True] Translation: X:5.35, Y:0.46, Z:-0.08 [[ 9.98933932e-01 -4.61596138e-02 5.37560799e-04 5.34630939e+00] [ 4.61595820e-02 9.98934076e-01 7.13890436e-05 4.63115558e-01] [-5.40283091e-04 -4.64993562e-05 9.99999853e-01 -7.71152984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150888479 meters Centerline goodness [0,1] 0.996175948176784 Centerline is valid? [True, True] Translation: X:5.38, Y:0.45, Z:-0.08 [[ 9.98869792e-01 -4.75290606e-02 3.57403752e-04 5.37991052e+00] [ 4.75290467e-02 9.98869855e-01 4.73748106e-05 4.45563255e-01] [-3.59251514e-04 -3.03342076e-05 9.99999935e-01 -7.73916204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.180888479 meters Centerline goodness [0,1] 0.9954991560917672 Centerline is valid? [True, True] Translation: X:5.41, Y:0.44, Z:-0.08 [[ 9.98699429e-01 -5.08481671e-02 3.73012882e-03 5.41204539e+00] [ 5.08466765e-02 9.98706349e-01 4.93425532e-04 4.37861824e-01] [-3.75039312e-03 -3.03119144e-04 9.99992921e-01 -7.69185045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.210888478999999 meters Centerline goodness [0,1] 0.9952934834442578 Centerline is valid? [True, True] Translation: X:5.44, Y:0.44, Z:-0.08 [[ 9.98621441e-01 -5.21888033e-02 5.61667666e-03 5.44356533e+00] [ 5.21854447e-02 9.98637135e-01 7.42964160e-04 4.36674878e-01] [-5.64779630e-03 -4.48831171e-04 9.99983950e-01 -7.57325584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.240888479 meters Centerline goodness [0,1] 0.9940262595673187 Centerline is valid? [True, True] Translation: X:5.47, Y:0.44, Z:-0.07 [[ 9.98523299e-01 -5.38802171e-02 6.93852934e-03 5.47358323e+00] [ 5.38751343e-02 9.98547259e-01 9.17518142e-04 4.43874236e-01] [-6.97788553e-03 -5.42349042e-04 9.99975507e-01 -7.45183793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.270888479 meters Centerline goodness [0,1] 0.9946798522876635 Centerline is valid? [True, True] Translation: X:5.51, Y:0.42, Z:-0.07 [[ 9.98354457e-01 -5.70015035e-02 6.26150654e-03 5.50788883e+00] [ 5.69974265e-02 9.98373982e-01 8.27801449e-04 4.22653781e-01] [-6.29851114e-03 -4.69549507e-04 9.99980054e-01 -7.41771077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.300888479 meters Centerline goodness [0,1] 0.9942981999791906 Centerline is valid? [True, True] Translation: X:5.54, Y:0.42, Z:-0.07 [[ 9.98308536e-01 -5.79586070e-02 4.56810101e-03 5.53998961e+00] [ 5.79564471e-02 9.98318930e-01 6.03889332e-04 4.18060791e-01] [-4.59542230e-03 -3.38116969e-04 9.99989384e-01 -7.47582653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3308884789999995 meters Centerline goodness [0,1] 0.9940613865099707 Centerline is valid? [True, True] Translation: X:5.57, Y:0.42, Z:-0.08 [[ 9.98302519e-01 -5.81527908e-02 3.21453953e-03 5.56998833e+00] [ 5.81517229e-02 9.98307666e-01 4.24774237e-04 4.17241146e-01] [-3.23380127e-03 -2.37122178e-04 9.99994743e-01 -7.54724134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.360888479 meters Centerline goodness [0,1] 0.9944194569381976 Centerline is valid? [True, True] Translation: X:5.60, Y:0.42, Z:-0.08 [[ 9.98342563e-01 -5.75208619e-02 1.86473044e-03 5.59932859e+00] [ 5.75205017e-02 9.98344295e-01 2.46274579e-04 4.18126645e-01] [-1.87580893e-03 -1.38606163e-04 9.99998231e-01 -7.62173976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390888479 meters Centerline goodness [0,1] 0.9935934891485809 Centerline is valid? [True, True] Translation: X:5.63, Y:0.42, Z:-0.08 [[ 9.98477747e-01 -5.51360073e-02 1.48665382e-03 5.62992444e+00] [ 5.51357754e-02 9.98478847e-01 1.96573692e-04 4.20694503e-01] [-1.49523068e-03 -1.14306646e-04 9.99998876e-01 -7.80289954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.420888479 meters Centerline goodness [0,1] 0.9930455485245285 Centerline is valid? [True, True] Translation: X:5.66, Y:0.43, Z:-0.08 [[ 9.98574073e-01 -5.33584118e-02 1.64331273e-03 5.65752605e+00] [ 5.33581264e-02 9.98575417e-01 2.17019767e-04 4.25113617e-01] [-1.65255153e-03 -1.29026224e-04 9.99998626e-01 -7.87410693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.450888479 meters Centerline goodness [0,1] 0.9931725649859067 Centerline is valid? [True, True] Translation: X:5.69, Y:0.43, Z:-0.08 [[ 9.98686393e-01 -5.12057580e-02 1.85994291e-03 5.68820312e+00] [ 5.12053880e-02 9.98688113e-01 2.46064342e-04 4.26629485e-01] [-1.87010279e-03 -1.50502012e-04 9.99998240e-01 -7.95060369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.480888479 meters Centerline goodness [0,1] 0.9920231599116924 Centerline is valid? [True, True] Translation: X:5.72, Y:0.43, Z:-0.08 [[ 9.98953369e-01 -4.55725988e-02 3.91209797e-03 5.71886048e+00] [ 4.55709189e-02 9.98960972e-01 5.17527596e-04 4.27089790e-01] [-3.93161827e-03 -3.38708037e-04 9.99992214e-01 -7.96736897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.510888479 meters Centerline goodness [0,1] 0.9913827196469829 Centerline is valid? [True, True] Translation: X:5.75, Y:0.43, Z:-0.08 [[ 9.99073047e-01 -4.28331861e-02 4.28553464e-03 5.74923744e+00] [ 4.28311447e-02 9.99082165e-01 5.67029854e-04 4.29505179e-01] [-4.30588892e-03 -3.82949890e-04 9.99990656e-01 -7.89426630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5408884789999995 meters Centerline goodness [0,1] 0.991387938944032 Centerline is valid? [True, True] Translation: X:5.78, Y:0.43, Z:-0.08 [[ 9.99169628e-01 -4.05355262e-02 4.11416402e-03 5.77923540e+00] [ 4.05336252e-02 9.99178027e-01 5.44415825e-04 4.32825657e-01] [-4.13285046e-03 -3.77201775e-04 9.99991389e-01 -7.98199237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.570888479 meters Centerline goodness [0,1] 0.9911912664120066 Centerline is valid? [True, True] Translation: X:5.81, Y:0.43, Z:-0.08 [[ 9.99255832e-01 -3.82888699e-02 4.66310976e-03 5.80996482e+00] [ 3.82864031e-02 9.99266616e-01 6.17152854e-04 4.32089865e-01] [-4.68331999e-03 -4.38159889e-04 9.99988937e-01 -8.06750025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.600888479 meters Centerline goodness [0,1] 0.9907043483685819 Centerline is valid? [True, True] Translation: X:5.84, Y:0.43, Z:-0.08 [[ 9.99242648e-01 -3.85217165e-02 5.49608124e-03 5.83981206e+00] [ 3.85182926e-02 9.99257630e-01 7.27512479e-04 4.34321154e-01] [-5.52002615e-03 -5.15261831e-04 9.99984632e-01 -7.99368329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630888479 meters Centerline goodness [0,1] 0.9908325693807817 Centerline is valid? [True, True] Translation: X:5.87, Y:0.43, Z:-0.08 [[ 9.99191753e-01 -3.98016768e-02 5.62741072e-03 5.87083185e+00] [ 3.97981069e-02 9.99207464e-01 7.44996612e-04 4.33379726e-01] [-5.65260291e-03 -5.20434177e-04 9.99983888e-01 -8.03375685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.660888479 meters Centerline goodness [0,1] 0.9897647132247395 Centerline is valid? [True, True] Translation: X:5.90, Y:0.43, Z:-0.08 [[ 9.99080835e-01 -4.27147248e-02 3.59679303e-03 5.90207955e+00] [ 4.27132852e-02 9.99087258e-01 4.76163076e-04 4.26568821e-01] [-3.61384926e-03 -3.22094557e-04 9.99993418e-01 -8.29473176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.690888479 meters Centerline goodness [0,1] 0.9897394272394272 Centerline is valid? [True, True] Translation: X:5.93, Y:0.43, Z:-0.08 [[ 9.98999756e-01 -4.43141046e-02 5.97894202e-03 5.93221521e+00] [ 4.43101546e-02 9.99017509e-01 7.91574459e-04 4.25256660e-01] [-6.00814568e-03 -5.25854847e-04 9.99981813e-01 -8.17139520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.720888479 meters Centerline goodness [0,1] 0.9893941595234637 Centerline is valid? [True, True] Translation: X:5.96, Y:0.43, Z:-0.08 [[ 9.98898255e-01 -4.57868241e-02 1.02879955e-02 5.96139274e+00] [ 4.57752007e-02 9.98950837e-01 1.36257053e-03 4.25991554e-01] [-1.03395895e-02 -8.90134270e-04 9.99946149e-01 -7.73856427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750888478999999 meters Centerline goodness [0,1] 0.9900427332697175 Centerline is valid? [True, True] Translation: X:5.99, Y:0.42, Z:-0.07 [[ 9.98745714e-01 -4.71380292e-02 1.68821031e-02 5.99285398e+00] [ 4.71069144e-02 9.98887350e-01 2.23622637e-03 4.18177051e-01] [-1.69687305e-02 -1.43815772e-03 9.99854986e-01 -7.05977452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.780888479 meters Centerline goodness [0,1] 0.9866085331672376 Centerline is valid? [True, True] Translation: X:6.02, Y:0.43, Z:-0.07 [[ 9.98771660e-01 -4.70905466e-02 1.54159708e-02 6.02365339e+00] [ 4.70646075e-02 9.98889762e-01 2.04130556e-03 4.26594890e-01] [-1.54949816e-02 -1.31325152e-03 9.99879083e-01 -7.14546144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810888479 meters Centerline goodness [0,1] 0.9873601929233712 Centerline is valid? [True, True] Translation: X:6.06, Y:0.42, Z:-0.08 [[ 9.98799412e-01 -4.76668443e-02 1.12962678e-02 6.05573864e+00] [ 4.76529593e-02 9.98862833e-01 1.49530792e-03 4.22539956e-01] [-1.13546987e-02 -9.55212085e-04 9.99935077e-01 -7.65049243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.840888479 meters Centerline goodness [0,1] 0.9893583854675452 Centerline is valid? [True, True] Translation: X:6.09, Y:0.41, Z:-0.08 [[ 9.98799801e-01 -4.85365388e-02 6.56979486e-03 6.08842653e+00] [ 4.85318620e-02 9.98821256e-01 8.69526211e-04 4.11769384e-01] [-6.60425455e-03 -5.49638229e-04 9.99978041e-01 -8.28271272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8708884789999995 meters Centerline goodness [0,1] 0.9870013912249008 Centerline is valid? [True, True] Translation: X:6.12, Y:0.42, Z:-0.08 [[ 9.98768069e-01 -4.90796582e-02 7.31658933e-03 6.11638163e+00] [ 4.90738721e-02 9.98794682e-01 9.68359425e-04 4.21586065e-01] [-7.35529726e-03 -6.08113103e-04 9.99972765e-01 -8.25667366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.900888479 meters Centerline goodness [0,1] 0.9862617347682188 Centerline is valid? [True, True] Translation: X:6.14, Y:0.43, Z:-0.08 [[ 9.98700982e-01 -4.98693914e-02 1.04590633e-02 6.14474633e+00] [ 4.98575936e-02 9.98755375e-01 1.38588460e-03 4.25154321e-01] [-1.05151590e-02 -8.62620582e-04 9.99944342e-01 -8.00276810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930888479 meters Centerline goodness [0,1] 0.9887472800746037 Centerline is valid? [True, True] Translation: X:6.18, Y:0.42, Z:-0.08 [[ 9.98656546e-01 -5.00703354e-02 1.33440785e-02 6.17593937e+00] [ 5.00511226e-02 9.98745089e-01 1.77009516e-03 4.18740034e-01] [-1.34159621e-02 -1.09983101e-03 9.99909397e-01 -7.73737587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.960888478999999 meters Centerline goodness [0,1] 0.9883111230855319 Centerline is valid? [True, True] Translation: X:6.21, Y:0.42, Z:-0.07 [[ 9.98671470e-01 -4.94000856e-02 1.46603493e-02 6.20670038e+00] [ 4.93768204e-02 9.98778327e-01 1.94491186e-03 4.16626103e-01] [-1.47385180e-02 -1.21844655e-03 9.99890640e-01 -7.36363297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.990888479 meters Centerline goodness [0,1] 0.9883670205031264 Centerline is valid? [True, True] Translation: X:6.24, Y:0.42, Z:-0.07 [[ 9.98734896e-01 -4.86442307e-02 1.27415075e-02 6.23739842e+00] [ 4.86265964e-02 9.98815597e-01 1.69034915e-03 4.17725963e-01] [-1.28086421e-02 -1.06863454e-03 9.99917395e-01 -7.44717848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.020888479 meters Centerline goodness [0,1] 0.9887220387563088 Centerline is valid? [True, True] Translation: X:6.27, Y:0.42, Z:-0.08 [[ 9.98809843e-01 -4.72933571e-02 1.19262280e-02 6.26777725e+00] [ 4.72778119e-02 9.98880526e-01 1.58219029e-03 4.19192131e-01] [-1.19877040e-02 -1.01646127e-03 9.99927628e-01 -7.53343742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050888479 meters Centerline goodness [0,1] 0.9869005605148433 Centerline is valid? [True, True] Translation: X:6.30, Y:0.43, Z:-0.07 [[ 9.98874094e-01 -4.55692847e-02 1.31903578e-02 6.29654750e+00] [ 4.55501172e-02 9.98960522e-01 1.75009314e-03 4.28345342e-01] [-1.32563972e-02 -1.14730035e-03 9.99911472e-01 -7.43611129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.080888479 meters Centerline goodness [0,1] 0.987439373212287 Centerline is valid? [True, True] Translation: X:6.33, Y:0.43, Z:-0.07 [[ 9.98980527e-01 -4.18270924e-02 1.69823711e-02 6.32646291e+00] [ 4.17947792e-02 9.99123675e-01 2.25338042e-03 4.32928944e-01] [-1.70617413e-02 -1.54130871e-03 9.99853250e-01 -7.32358875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110888479 meters Centerline goodness [0,1] 0.9771850499854814 Centerline is valid? [True, True] Translation: X:6.36, Y:0.45, Z:-0.07 [[ 9.98991149e-01 -4.12127317e-02 1.78380192e-02 6.35608617e+00] [ 4.11769948e-02 9.99149066e-01 2.36624062e-03 4.49169229e-01] [-1.79203595e-02 -1.62933741e-03 9.99838090e-01 -7.27770520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.140888479 meters Centerline goodness [0,1] 0.9872327174589994 Centerline is valid? [True, True] Translation: X:6.39, Y:0.44, Z:-0.07 [[ 9.98917069e-01 -4.19937414e-02 2.00303674e-02 6.38927707e+00] [ 4.19488516e-02 9.99116229e-01 2.65620222e-03 4.35747787e-01] [-2.01242090e-02 -1.81307483e-03 9.99795844e-01 -7.26431140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170888479 meters Centerline goodness [0,1] 0.9876187912793225 Centerline is valid? [True, True] Translation: X:6.42, Y:0.44, Z:-0.07 [[ 9.98851542e-01 -4.33177521e-02 2.04736309e-02 6.42147593e+00] [ 4.32711499e-02 9.99059679e-01 2.71396755e-03 4.35199037e-01] [-2.05719421e-02 -1.82493312e-03 9.99786710e-01 -7.02293030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.200888479 meters Centerline goodness [0,1] 0.9870221265497899 Centerline is valid? [True, True] Translation: X:6.45, Y:0.44, Z:-0.07 [[ 9.98815998e-01 -4.46367112e-02 1.93433771e-02 6.45224091e+00] [ 4.45953736e-02 9.99001843e-01 2.56336600e-03 4.36181193e-01] [-1.94384896e-02 -1.69770584e-03 9.99809613e-01 -6.93558860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230888478999999 meters Centerline goodness [0,1] 0.9867586721372622 Centerline is valid? [True, True] Translation: X:6.48, Y:0.44, Z:-0.07 [[ 9.98828395e-01 -4.51135943e-02 1.75100221e-02 6.48399593e+00] [ 4.50798057e-02 9.98980695e-01 2.31980416e-03 4.35230517e-01] [-1.75968288e-02 -1.52773787e-03 9.99843997e-01 -7.13820504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.260888479 meters Centerline goodness [0,1] 0.9876092992416394 Centerline is valid? [True, True] Translation: X:6.52, Y:0.44, Z:-0.07 [[ 9.98852157e-01 -4.52828757e-02 1.56150669e-02 6.51571915e+00] [ 4.52560344e-02 9.98973280e-01 2.06821356e-03 4.37332455e-01] [-1.56926893e-02 -1.35916357e-03 9.99875938e-01 -7.30075314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290888479 meters Centerline goodness [0,1] 0.9882379834168035 Centerline is valid? [True, True] Translation: X:6.55, Y:0.44, Z:-0.07 [[ 9.98884531e-01 -4.43555838e-02 1.61949103e-02 6.54623209e+00] [ 4.43265942e-02 9.99014791e-01 2.14481207e-03 4.41391185e-01] [-1.62740894e-02 -1.42455438e-03 9.99866553e-01 -7.41831288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.320888479 meters Centerline goodness [0,1] 0.9879843111212567 Centerline is valid? [True, True] Translation: X:6.58, Y:0.45, Z:-0.08 [[ 9.98912209e-01 -4.37245749e-02 1.62037294e-02 6.57602217e+00] [ 4.36954796e-02 9.99042593e-01 2.14547192e-03 4.48480939e-01] [-1.62820257e-02 -1.43510836e-03 9.99866409e-01 -7.52786488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350888479 meters Centerline goodness [0,1] 0.9879843111212567 Centerline is valid? [True, True] Translation: X:6.61, Y:0.45, Z:-0.08 [[ 9.98912208e-01 -4.37245736e-02 1.62037626e-02 6.60587924e+00] [ 4.36954823e-02 9.99042593e-01 2.14522130e-03 4.52433832e-01] [-1.62820479e-02 -1.43485653e-03 9.99866409e-01 -7.54431888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.380888479 meters Centerline goodness [0,1] 0.9872668356113166 Centerline is valid? [True, True] Translation: X:6.64, Y:0.46, Z:-0.08 [[ 9.98970426e-01 -4.29594320e-02 1.45799914e-02 6.63646809e+00] [ 4.29358036e-02 9.99075969e-01 1.92991786e-03 4.57489656e-01] [-1.46494272e-02 -1.30192721e-03 9.99891844e-01 -7.75459329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410888479 meters Centerline goodness [0,1] 0.9859911325742595 Centerline is valid? [True, True] Translation: X:6.67, Y:0.46, Z:-0.08 [[ 9.99045303e-01 -4.20780614e-02 1.17438873e-02 6.66601334e+00] [ 4.20626800e-02 9.99113766e-01 1.55378256e-03 4.61037268e-01] [-1.17988596e-02 -1.05831980e-03 9.99929831e-01 -8.07031131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.440888479 meters Centerline goodness [0,1] 0.986866402473183 Centerline is valid? [True, True] Translation: X:6.70, Y:0.46, Z:-0.08 [[ 9.99015666e-01 -4.27029468e-02 1.20065928e-02 6.69638313e+00] [ 4.26869203e-02 9.99087236e-01 1.58804210e-03 4.61540652e-01] [-1.20634477e-02 -1.07395447e-03 9.99926657e-01 -7.98281577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470888479 meters Centerline goodness [0,1] 0.9868738558828424 Centerline is valid? [True, True] Translation: X:6.73, Y:0.46, Z:-0.08 [[ 9.98970884e-01 -4.34375538e-02 1.30519116e-02 6.72646402e+00] [ 4.34186754e-02 9.99055473e-01 1.72643765e-03 4.64339383e-01] [-1.31145759e-02 -1.15796423e-03 9.99913330e-01 -7.80107069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.500888479 meters Centerline goodness [0,1] 0.9858191317328026 Centerline is valid? [True, True] Translation: X:6.76, Y:0.47, Z:-0.08 [[ 9.98886436e-01 -4.47784093e-02 1.48587642e-02 6.75519584e+00] [ 4.47540847e-02 9.98996100e-01 1.96571811e-03 4.74285248e-01] [-1.49318692e-02 -1.29853877e-03 9.99887670e-01 -7.61432314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.530888479 meters Centerline goodness [0,1] 0.9859884757285579 Centerline is valid? [True, True] Translation: X:6.79, Y:0.48, Z:-0.08 [[ 9.98854845e-01 -4.53862474e-02 1.51356255e-02 6.78501449e+00] [ 4.53610755e-02 9.98968650e-01 2.00244363e-03 4.79156414e-01] [-1.52108988e-02 -1.31358226e-03 9.99883445e-01 -7.69407532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.560888478999999 meters Centerline goodness [0,1] 0.9869865714700816 Centerline is valid? [True, True] Translation: X:6.82, Y:0.48, Z:-0.08 [[ 9.98840722e-01 -4.59033545e-02 1.44946382e-02 6.81555232e+00] [ 4.58803238e-02 9.98945103e-01 1.91764099e-03 4.79689074e-01] [-1.45673740e-02 -1.25039921e-03 9.99893108e-01 -7.83726330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.590888479 meters Centerline goodness [0,1] 0.9890457087031532 Centerline is valid? [True, True] Translation: X:6.85, Y:0.48, Z:-0.08 [[ 9.98817772e-01 -4.67419022e-02 1.33511433e-02 6.84665300e+00] [ 4.67224385e-02 9.98906349e-01 1.76621313e-03 4.80212172e-01] [-1.34190980e-02 -1.14032709e-03 9.99909310e-01 -7.89015420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.620888479 meters Centerline goodness [0,1] 0.9882761797094167 Centerline is valid? [True, True] Translation: X:6.88, Y:0.48, Z:-0.08 [[ 9.98794763e-01 -4.70746816e-02 1.38922910e-02 6.87610296e+00] [ 4.70536370e-02 9.98890673e-01 1.83800689e-03 4.81956486e-01] [-1.39634035e-02 -1.18210884e-03 9.99901808e-01 -7.92774452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.650888479 meters Centerline goodness [0,1] 0.9893426585071395 Centerline is valid? [True, True] Translation: X:6.91, Y:0.48, Z:-0.08 [[ 9.98731166e-01 -4.84839531e-02 1.36148941e-02 6.90629350e+00] [ 4.84638660e-02 9.98823312e-01 1.80164694e-03 4.82877266e-01] [-1.36862246e-02 -1.13953055e-03 9.99905690e-01 -7.89908481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.680888479 meters Centerline goodness [0,1] 0.9886975130373356 Centerline is valid? [True, True] Translation: X:6.94, Y:0.48, Z:-0.08 [[ 9.98560907e-01 -5.19342565e-02 1.33771203e-02 6.93731091e+00] [ 5.19151708e-02 9.98649929e-01 1.77030451e-03 4.82258249e-01] [-1.34509996e-02 -1.07328140e-03 9.99908955e-01 -7.81582955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710888479 meters Centerline goodness [0,1] 0.9882891845956141 Centerline is valid? [True, True] Translation: X:6.97, Y:0.49, Z:-0.08 [[ 9.98481569e-01 -5.31566967e-02 1.44541023e-02 6.96587039e+00] [ 5.31345314e-02 9.98585530e-01 1.91349252e-03 4.86811825e-01] [-1.45353723e-02 -1.14257506e-03 9.99893703e-01 -7.75206686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.740888479 meters Centerline goodness [0,1] 0.9891720144651853 Centerline is valid? [True, True] Translation: X:6.99, Y:0.49, Z:-0.08 [[ 9.98409276e-01 -5.43842453e-02 1.48752056e-02 6.99499588e+00] [ 5.43608886e-02 9.98519410e-01 1.97033152e-03 4.86803066e-01] [-1.49603365e-02 -1.15856787e-03 9.99887417e-01 -7.84599213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770888479 meters Centerline goodness [0,1] 0.9893773729745431 Centerline is valid? [True, True] Translation: X:7.02, Y:0.49, Z:-0.08 [[ 9.98382856e-01 -5.54610038e-02 1.24799488e-02 7.02330655e+00] [ 5.54446385e-02 9.98460393e-01 1.65378173e-03 4.93377980e-01] [-1.25524550e-02 -9.59161073e-04 9.99920755e-01 -8.10558870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.800888479 meters Centerline goodness [0,1] 0.988828671691688 Centerline is valid? [True, True] Translation: X:7.05, Y:0.50, Z:-0.08 [[ 9.98435287e-01 -5.46798614e-02 1.17085349e-02 7.05075079e+00] [ 5.46653936e-02 9.98503523e-01 1.55239660e-03 4.98486447e-01] [-1.17758982e-02 -9.09915872e-04 9.99930248e-01 -8.12421196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.830888479 meters Centerline goodness [0,1] 0.9874981828754179 Centerline is valid? [True, True] Translation: X:7.08, Y:0.51, Z:-0.08 [[ 9.98541454e-01 -5.27528707e-02 1.14934264e-02 7.07791516e+00] [ 5.27387923e-02 9.98607177e-01 1.52477716e-03 5.06479725e-01] [-1.15578545e-02 -9.16403774e-04 9.99932786e-01 -8.08876921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.860888479 meters Centerline goodness [0,1] 0.9879080010803848 Centerline is valid? [True, True] Translation: X:7.11, Y:0.51, Z:-0.08 [[ 9.98664501e-01 -5.04284533e-02 1.12332594e-02 7.10814901e+00] [ 5.04148537e-02 9.98727250e-01 1.49073680e-03 5.09379081e-01] [-1.12941378e-02 -9.22422794e-04 9.99935794e-01 -8.11183944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.890888479 meters Centerline goodness [0,1] 0.9862612846321469 Centerline is valid? [True, True] Translation: X:7.14, Y:0.52, Z:-0.08 [[ 9.98920891e-01 -4.50112239e-02 1.14473897e-02 7.13581667e+00] [ 4.49967458e-02 9.98985978e-01 1.51930722e-03 5.20888891e-01] [-1.15041677e-02 -1.00257244e-03 9.99933322e-01 -8.19470064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.920888479 meters Centerline goodness [0,1] 0.987831467907054 Centerline is valid? [True, True] Translation: X:7.17, Y:0.52, Z:-0.08 [[ 9.99025097e-01 -4.26282864e-02 1.14754107e-02 7.16556303e+00] [ 4.26135789e-02 9.99090468e-01 1.52323806e-03 5.22441888e-01] [-1.15299065e-02 -1.03274473e-03 9.99932995e-01 -8.30397355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950888479 meters Centerline goodness [0,1] 0.9871013230475717 Centerline is valid? [True, True] Translation: X:7.20, Y:0.53, Z:-0.08 [[ 9.99110899e-01 -4.07272523e-02 1.08950633e-02 7.19517012e+00] [ 4.07138802e-02 9.99169799e-01 1.44643917e-03 5.29201514e-01] [-1.09449277e-02 -1.00157284e-03 9.99939601e-01 -8.33584848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.980888478999999 meters Centerline goodness [0,1] 0.9849177330895795 Centerline is valid? [True, True] Translation: X:7.22, Y:0.54, Z:-0.08 [[ 9.99217066e-01 -3.85130711e-02 9.05532425e-03 7.22403499e+00] [ 3.85037420e-02 9.99257733e-01 1.20237947e-03 5.35564988e-01] [-9.09491010e-03 -8.52774221e-04 9.99958277e-01 -8.29983651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010888479 meters Centerline goodness [0,1] 0.9830494391358537 Centerline is valid? [True, True] Translation: X:7.25, Y:0.54, Z:-0.08 [[ 9.99207075e-01 -3.88570618e-02 8.68049503e-03 7.25307319e+00] [ 3.88484997e-02 9.99244447e-01 1.15287317e-03 5.38476063e-01] [-8.71873372e-03 -8.14734817e-04 9.99961659e-01 -8.16385801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.040888479 meters Centerline goodness [0,1] 0.9852382435378387 Centerline is valid? [True, True] Translation: X:7.28, Y:0.54, Z:-0.08 [[ 9.99177846e-01 -3.96675502e-02 8.37367394e-03 7.28295174e+00] [ 3.96596085e-02 9.99212629e-01 1.11241316e-03 5.38241394e-01] [-8.41120746e-03 -7.79401952e-04 9.99964321e-01 -8.01105928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070888479 meters Centerline goodness [0,1] 0.9880064021284999 Centerline is valid? [True, True] Translation: X:7.31, Y:0.54, Z:-0.08 [[ 9.99101180e-01 -4.18207823e-02 6.91773251e-03 7.31227660e+00] [ 4.18154121e-02 9.99124930e-01 9.19182626e-04 5.44728299e-01] [-6.95011995e-03 -6.29088611e-04 9.99975650e-01 -8.26613325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.100888479 meters Centerline goodness [0,1] 0.9752271878501183 Centerline is valid? [True, True] Translation: X:7.34, Y:0.56, Z:-0.09 [[ 9.99091855e-01 -4.22567246e-02 5.46210232e-03 7.33890395e+00] [ 4.22533827e-02 9.99106663e-01 7.25847494e-04 5.61355639e-01] [-5.48789476e-03 -4.94396019e-04 9.99984819e-01 -8.74787496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130888479 meters Centerline goodness [0,1] 0.9885045524466802 Centerline is valid? [True, True] Translation: X:7.37, Y:0.56, Z:-0.09 [[ 9.99092257e-01 -4.23753714e-02 4.35762577e-03 7.36803669e+00] [ 4.23732456e-02 9.99101683e-01 5.79041966e-04 5.57740181e-01] [-4.37824836e-03 -3.93869598e-04 9.99990338e-01 -8.99178027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.160888479 meters Centerline goodness [0,1] 0.9874044927445714 Centerline is valid? [True, True] Translation: X:7.40, Y:0.56, Z:-0.09 [[ 9.99133366e-01 -4.13926264e-02 4.37807517e-03 7.39751771e+00] [ 4.13904654e-02 9.99142877e-01 5.83087498e-04 5.61067055e-01] [-4.39845815e-03 -4.01371605e-04 9.99990246e-01 -8.97767566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190888479 meters Centerline goodness [0,1] 0.9866237407830512 Centerline is valid? [True, True] Translation: X:7.43, Y:0.57, Z:-0.08 [[ 9.99199534e-01 -3.95911013e-02 5.73024152e-03 7.42704190e+00] [ 3.95873684e-02 9.99215821e-01 7.63433630e-04 5.65331135e-01] [-5.75597317e-03 -5.35977345e-04 9.99983291e-01 -8.49703655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.220888479 meters Centerline goodness [0,1] 0.9873065337072816 Centerline is valid? [True, True] Translation: X:7.46, Y:0.57, Z:-0.09 [[ 9.99246491e-01 -3.85564911e-02 4.45505827e-03 7.45652983e+00] [ 3.85542244e-02 9.99256333e-01 5.93583257e-04 5.69395109e-01] [-4.47463168e-03 -4.21374670e-04 9.99989900e-01 -8.54224493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250888479 meters Centerline goodness [0,1] 0.9859374027751852 Centerline is valid? [True, True] Translation: X:7.48, Y:0.57, Z:-0.09 [[ 9.99265407e-01 -3.82610818e-02 2.17643047e-03 7.48487503e+00] [ 3.82605417e-02 9.99267756e-01 2.89266014e-04 5.74341310e-01] [-2.18590442e-03 -2.05782112e-04 9.99997590e-01 -8.72702840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.280888479 meters Centerline goodness [0,1] 0.9836661748508967 Centerline is valid? [True, True] Translation: X:7.51, Y:0.58, Z:-0.09 [[ 9.99311421e-01 -3.70965949e-02 -7.25503205e-04 7.51371887e+00] [ 3.70965338e-02 9.99311682e-01 -9.73897790e-05 5.80391230e-01] [ 7.28616657e-04 7.04090642e-05 9.99999732e-01 -9.03080520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.310888478999999 meters Centerline goodness [0,1] 0.9845466818984319 Centerline is valid? [True, True] Translation: X:7.54, Y:0.58, Z:-0.09 [[ 9.99313010e-01 -3.70563661e-02 5.77608998e-04 7.54245752e+00] [ 3.70563284e-02 9.99313176e-01 7.59636438e-05 5.84707769e-01] [-5.80027219e-04 -5.45073888e-05 9.99999830e-01 -8.97836627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.340888479 meters Centerline goodness [0,1] 0.9874067454957295 Centerline is valid? [True, True] Translation: X:7.57, Y:0.59, Z:-0.09 [[ 9.99283098e-01 -3.78065612e-02 1.98862051e-03 7.57121152e+00] [ 3.78061074e-02 9.99285058e-01 2.65341092e-04 5.85431316e-01] [-1.99723040e-03 -1.89968868e-04 9.99997987e-01 -8.82451365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370888479 meters Centerline goodness [0,1] 0.9878921527835566 Centerline is valid? [True, True] Translation: X:7.60, Y:0.58, Z:-0.08 [[ 9.99142533e-01 -4.11128542e-02 4.89209838e-03 7.60276393e+00] [ 4.11101302e-02 9.99154406e-01 6.56130610e-04 5.82263106e-01] [-4.91493705e-03 -4.54453198e-04 9.99987818e-01 -8.41937272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.400888478999999 meters Centerline goodness [0,1] 0.9885594452057639 Centerline is valid? [True, True] Translation: X:7.63, Y:0.58, Z:-0.08 [[ 9.99046498e-01 -4.33549974e-02 5.14197296e-03 7.63283815e+00] [ 4.33520173e-02 9.99059621e-01 6.89655460e-04 5.83257705e-01] [-5.16703757e-03 -4.66082971e-04 9.99986542e-01 -8.40080139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430888479 meters Centerline goodness [0,1] 0.9894999480195447 Centerline is valid? [True, True] Translation: X:7.66, Y:0.59, Z:-0.08 [[ 9.98988961e-01 -4.47215470e-02 4.58693212e-03 7.66231258e+00] [ 4.47191896e-02 9.98999407e-01 6.15269028e-04 5.85580645e-01] [-4.60985825e-03 -4.09523079e-04 9.99989291e-01 -8.45323746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.460888479 meters Centerline goodness [0,1] 0.9894168914712596 Centerline is valid? [True, True] Translation: X:7.69, Y:0.59, Z:-0.09 [[ 9.98930623e-01 -4.60122128e-02 4.52620114e-03 7.69178849e+00] [ 4.60099306e-02 9.98940798e-01 6.07107221e-04 5.86284668e-01] [-4.54934132e-03 -3.98207794e-04 9.99989572e-01 -8.54261659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490888479 meters Centerline goodness [0,1] 0.9896317186463172 Centerline is valid? [True, True] Translation: X:7.72, Y:0.59, Z:-0.08 [[ 9.98950753e-01 -4.56045795e-02 4.19695403e-03 7.72048863e+00] [ 4.56026101e-02 9.98959501e-01 5.63815941e-04 5.87475826e-01] [-4.21829969e-03 -3.71832301e-04 9.99991034e-01 -8.43902552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.520888479 meters Centerline goodness [0,1] 0.9898935397513853 Centerline is valid? [True, True] Translation: X:7.75, Y:0.59, Z:-0.08 [[ 9.98985120e-01 -4.49644550e-02 2.63202899e-03 7.74972055e+00] [ 4.49636779e-02 9.98988560e-01 3.53741395e-04 5.88693907e-01] [-2.64527264e-03 -2.35036687e-04 9.99996474e-01 -8.30483091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550888479 meters Centerline goodness [0,1] 0.9901517664620999 Centerline is valid? [True, True] Translation: X:7.78, Y:0.59, Z:-0.08 [[ 9.98988511e-01 -4.49418551e-02 1.47818973e-03 7.77850526e+00] [ 4.49416102e-02 9.98989596e-01 1.98433447e-04 5.91626294e-01] [-1.48561413e-03 -1.31800507e-04 9.99998888e-01 -8.33155878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.580888479 meters Centerline goodness [0,1] 0.9895142572944297 Centerline is valid? [True, True] Translation: X:7.81, Y:0.60, Z:-0.08 [[ 9.98999367e-01 -4.46966324e-02 1.57376675e-03 7.80690457e+00] [ 4.46963538e-02 9.99000596e-01 2.11756879e-04 5.97367965e-01] [-1.58165874e-03 -1.41203352e-04 9.99998739e-01 -8.31271170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610888479 meters Centerline goodness [0,1] 0.9893788819875776 Centerline is valid? [True, True] Translation: X:7.84, Y:0.60, Z:-0.08 [[ 9.98999801e-01 -4.46530184e-02 2.34630056e-03 7.83559365e+00] [ 4.46523961e-02 9.99002534e-01 3.16971899e-04 6.02741222e-01] [-2.35811395e-03 -2.11886922e-04 9.99997197e-01 -8.28949651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.640888479 meters Centerline goodness [0,1] 0.9890123559167426 Centerline is valid? [True, True] Translation: X:7.86, Y:0.61, Z:-0.08 [[ 9.99023353e-01 -4.40976579e-02 2.78156138e-03 7.86434499e+00] [ 4.40967785e-02 9.99027193e-01 3.76732158e-04 6.07094717e-01] [-2.79546846e-03 -2.53706327e-04 9.99996060e-01 -8.23601648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670888479 meters Centerline goodness [0,1] 0.9891686243529241 Centerline is valid? [True, True] Translation: X:7.89, Y:0.61, Z:-0.08 [[ 9.99068890e-01 -4.31353230e-02 8.34362647e-04 7.89434859e+00] [ 4.31352433e-02 9.99069236e-01 1.13251484e-04 6.05857117e-01] [-8.38471191e-04 -7.71555987e-05 9.99999646e-01 -8.02779168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.700888479 meters Centerline goodness [0,1] 0.9879455686501937 Centerline is valid? [True, True] Translation: X:7.92, Y:0.61, Z:-0.08 [[ 9.99054454e-01 -4.34741271e-02 4.44116026e-04 7.92272492e+00] [ 4.34741052e-02 9.99054552e-01 5.89473805e-05 6.08511870e-01] [-4.46258823e-04 -3.95840962e-05 9.99999900e-01 -7.96213586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730888478999999 meters Centerline goodness [0,1] 0.9893962256350896 Centerline is valid? [True, True] Translation: X:7.95, Y:0.61, Z:-0.08 [[ 9.99022963e-01 -4.41832106e-02 9.80993434e-04 7.95151559e+00] [ 4.41831016e-02 9.99023441e-01 1.32544241e-04 6.12432106e-01] [-9.85891666e-04 -8.90714074e-05 9.99999510e-01 -7.92470586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.760888479 meters Centerline goodness [0,1] 0.9877372020036165 Centerline is valid? [True, True] Translation: X:7.98, Y:0.62, Z:-0.08 [[ 9.98957676e-01 -4.56456629e-02 1.87182360e-04 7.97894403e+00] [ 4.56456590e-02 9.98957693e-01 2.52712282e-05 6.23533105e-01] [-1.88140780e-04 -1.67008252e-05 9.99999982e-01 -8.32972365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790888479 meters Centerline goodness [0,1] 0.9868916960033133 Centerline is valid? [True, True] Translation: X:8.01, Y:0.63, Z:-0.09 [[ 9.98905137e-01 -4.67706281e-02 -1.01743634e-03 8.00664036e+00] [ 4.67705091e-02 9.98905651e-01 -1.40530734e-04 6.29411896e-01] [ 1.02289562e-03 9.27908566e-05 9.99999473e-01 -8.61918965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.820888479 meters Centerline goodness [0,1] 0.9831800480570055 Centerline is valid? [True, True] Translation: X:8.03, Y:0.63, Z:-0.09 [[ 9.98850485e-01 -4.78860803e-02 -2.15218320e-03 8.03473276e+00] [ 4.78855521e-02 9.98852785e-01 -2.96306785e-04 6.33380715e-01] [ 2.16390315e-03 1.92907696e-04 9.99997640e-01 -8.83735101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850888479 meters Centerline goodness [0,1] 0.9881270038266625 Centerline is valid? [True, True] Translation: X:8.07, Y:0.62, Z:-0.09 [[ 9.98771220e-01 -4.94824460e-02 -2.74565494e-03 8.06597972e+00] [ 4.94815963e-02 9.98774965e-01 -3.76607879e-04 6.22897187e-01] [ 2.76092689e-03 2.40285722e-04 9.99996160e-01 -8.64450535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.880888479 meters Centerline goodness [0,1] 0.9891769964613124 Centerline is valid? [True, True] Translation: X:8.10, Y:0.62, Z:-0.08 [[ 9.98724335e-01 -5.04636423e-02 -1.76757201e-03 8.09509542e+00] [ 5.04632887e-02 9.98725887e-01 -2.44134840e-04 6.20964435e-01] [ 1.77763986e-03 1.54625909e-04 9.99998408e-01 -8.39787289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910888479 meters Centerline goodness [0,1] 0.9899325376232486 Centerline is valid? [True, True] Translation: X:8.12, Y:0.62, Z:-0.08 [[ 9.98685323e-01 -5.12552791e-02 7.22912775e-04 8.12381713e+00] [ 5.12552214e-02 9.98685582e-01 9.81026458e-05 6.23229310e-01] [-7.26990845e-04 -6.09206181e-05 9.99999734e-01 -8.19926501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.940888479 meters Centerline goodness [0,1] 0.9892753623188406 Centerline is valid? [True, True] Translation: X:8.15, Y:0.63, Z:-0.08 [[ 9.98629222e-01 -5.20380353e-02 5.63205856e-03 8.15174540e+00] [ 5.20344859e-02 9.98644988e-01 7.75027709e-04 6.32349392e-01] [-5.66475798e-03 -4.80904046e-04 9.99983839e-01 -7.97155347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970888479 meters Centerline goodness [0,1] 0.9896003811812475 Centerline is valid? [True, True] Translation: X:8.18, Y:0.64, Z:-0.08 [[ 9.98591052e-01 -5.26601710e-02 6.54351218e-03 8.17891539e+00] [ 5.26553819e-02 9.98612336e-01 9.02143641e-04 6.39403949e-01] [-6.58193902e-03 -5.56321435e-04 9.99978184e-01 -8.03519677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.000888479 meters Centerline goodness [0,1] 0.9903284595949137 Centerline is valid? [True, True] Translation: X:8.21, Y:0.64, Z:-0.08 [[ 9.98558279e-01 -5.34976613e-02 4.40050429e-03 8.20808204e+00] [ 5.34955032e-02 9.98567906e-01 6.06762464e-04 6.41796813e-01] [-4.42666273e-03 -3.70480490e-04 9.99990134e-01 -8.26867300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030888479 meters Centerline goodness [0,1] 0.9902912621359223 Centerline is valid? [True, True] Translation: X:8.24, Y:0.64, Z:-0.09 [[ 9.98510074e-01 -5.44520788e-02 -3.55005998e-03 8.23759713e+00] [ 5.44506683e-02 9.98516340e-01 -4.92831415e-04 6.37751290e-01] [ 3.57162859e-03 2.98793994e-04 9.99993577e-01 -8.81826601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.060888478999999 meters Centerline goodness [0,1] 0.9870802646361253 Centerline is valid? [True, True] Translation: X:8.27, Y:0.64, Z:-0.09 [[ 9.98496561e-01 -5.46164886e-02 -4.65370076e-03 8.26517317e+00] [ 5.46140707e-02 9.98507329e-01 -6.45160111e-04 6.40102240e-01] [ 4.68199070e-03 3.90032610e-04 9.99988963e-01 -8.82147361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.090888479 meters Centerline goodness [0,1] 0.9893399958359359 Centerline is valid? [True, True] Translation: X:8.29, Y:0.64, Z:-0.09 [[ 9.98488535e-01 -5.48320441e-02 -3.75389229e-03 8.29316257e+00] [ 5.48304640e-02 9.98495542e-01 -5.22624209e-04 6.39134880e-01] [ 3.77690127e-03 3.16006624e-04 9.99992818e-01 -8.50443793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.120888479 meters Centerline goodness [0,1] 0.9872298829059296 Centerline is valid? [True, True] Translation: X:8.32, Y:0.65, Z:-0.08 [[ 9.98458423e-01 -5.54995748e-02 7.58561092e-04 8.32042828e+00] [ 5.54995116e-02 9.98458709e-01 1.04158265e-04 6.48814130e-01] [-7.63172668e-04 -6.18979273e-05 9.99999707e-01 -8.09855703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150888478999999 meters Centerline goodness [0,1] 0.9848456578974646 Centerline is valid? [True, True] Translation: X:8.35, Y:0.66, Z:-0.08 [[ 9.98444174e-01 -5.57454797e-02 1.29368599e-03 8.34662341e+00] [ 5.57452941e-02 9.98445006e-01 1.79111906e-04 6.57725847e-01] [-1.30165900e-03 -1.06716333e-04 9.99999147e-01 -8.18074347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.180888479 meters Centerline goodness [0,1] 0.9827443000124589 Centerline is valid? [True, True] Translation: X:8.37, Y:0.67, Z:-0.08 [[ 9.98444535e-01 -5.57333154e-02 1.51898564e-03 8.37368352e+00] [ 5.57330582e-02 9.98445683e-01 2.11188214e-04 6.65663772e-01] [-1.52839488e-03 -1.26202003e-04 9.99998824e-01 -8.35517158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210888479 meters Centerline goodness [0,1] 0.9804451279067351 Centerline is valid? [True, True] Translation: X:8.40, Y:0.67, Z:-0.08 [[ 9.98464522e-01 -5.53929750e-02 4.64623525e-04 8.40235827e+00] [ 5.53929514e-02 9.98464630e-01 6.35623387e-05 6.71437207e-01] [-4.67431063e-04 -3.77278718e-05 9.99999890e-01 -8.47892010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.240888479 meters Centerline goodness [0,1] 0.9699248120300752 Centerline is valid? [True, True] Translation: X:8.43, Y:0.67, Z:-0.09 [[ 9.98476948e-01 -5.51593040e-02 -1.11129824e-03 8.42979143e+00] [ 5.51591646e-02 9.98477562e-01 -1.55657449e-04 6.74340682e-01] [ 1.11819231e-03 9.41220927e-05 9.99999370e-01 -8.57902810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270888479 meters Centerline goodness [0,1] 0.9699248120300752 Centerline is valid? [True, True] Translation: X:8.46, Y:0.68, Z:-0.09 [[ 9.98462404e-01 -5.54219558e-02 -1.11112089e-03 8.45712596e+00] [ 5.54218153e-02 9.98463018e-01 -1.56925632e-04 6.78271878e-01] [ 1.11811025e-03 9.51040065e-05 9.99999370e-01 -8.59410649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.300888479 meters Centerline goodness [0,1] 0.9634971176458347 Centerline is valid? [True, True] Translation: X:8.49, Y:0.68, Z:-0.08 [[ 9.98465705e-01 -5.53616113e-02 -1.15198337e-03 8.48601736e+00] [ 5.53614601e-02 9.98466365e-01 -1.62725821e-04 6.80268601e-01] [ 1.15922541e-03 9.87006702e-05 9.99999323e-01 -8.48875058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330888479 meters Centerline goodness [0,1] 0.9606816292601829 Centerline is valid? [True, True] Translation: X:8.51, Y:0.68, Z:-0.08 [[ 9.98421692e-01 -5.61537176e-02 -9.40910860e-04 8.51404434e+00] [ 5.61536176e-02 9.98422132e-01 -1.32403141e-04 6.83390006e-01] [ 9.46861155e-04 7.93586192e-05 9.99999549e-01 -8.37439816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.360888479 meters Centerline goodness [0,1] 0.9559317117639746 Centerline is valid? [True, True] Translation: X:8.54, Y:0.69, Z:-0.09 [[ 9.98337438e-01 -5.76233845e-02 -1.38052459e-03 8.54235976e+00] [ 5.76231710e-02 9.98338386e-01 -1.93942282e-04 6.87636972e-01] [ 1.38940630e-03 1.14069636e-04 9.99999028e-01 -8.55537940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390888479 meters Centerline goodness [0,1] 0.9515673068928244 Centerline is valid? [True, True] Translation: X:8.57, Y:0.69, Z:-0.09 [[ 9.98320691e-01 -5.79207978e-02 -9.89110570e-04 8.56992404e+00] [ 5.79206869e-02 9.98321178e-01 -1.40435439e-04 6.93096894e-01] [ 9.95584162e-04 8.29096406e-05 9.99999501e-01 -8.64658079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.420888479 meters Centerline goodness [0,1] 0.9900899590717387 Centerline is valid? [True, True] Translation: X:8.60, Y:0.68, Z:-0.08 [[ 9.98319348e-01 -5.79496061e-02 5.68148364e-04 8.60061452e+00] [ 5.79495707e-02 9.98319509e-01 7.86322069e-05 6.81542901e-01] [-5.71750301e-04 -4.55760997e-05 9.99999836e-01 -8.41812840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450888479 meters Centerline goodness [0,1] 0.9890996248436849 Centerline is valid? [True, True] Translation: X:8.63, Y:0.69, Z:-0.08 [[ 9.98376636e-01 -5.68217596e-02 3.92172283e-03 8.62925926e+00] [ 5.68200261e-02 9.98384285e-01 5.52120439e-04 6.85232086e-01] [-3.94675890e-03 -3.28391753e-04 9.99992158e-01 -7.99641796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.480888478999999 meters Centerline goodness [0,1] 0.9880621761658032 Centerline is valid? [True, True] Translation: X:8.66, Y:0.69, Z:-0.08 [[ 9.98379967e-01 -5.67707506e-02 3.81089898e-03 8.65737907e+00] [ 5.67691131e-02 9.98387189e-01 5.36578551e-04 6.88502409e-01] [-3.83521469e-03 -3.19367921e-04 9.99992595e-01 -7.98417367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510888479 meters Centerline goodness [0,1] 0.9911721840516344 Centerline is valid? [True, True] Translation: X:8.69, Y:0.69, Z:-0.08 [[ 9.98349777e-01 -5.73735494e-02 2.44936049e-03 8.68701689e+00] [ 5.73728755e-02 9.98352761e-01 3.44603548e-04 6.86278892e-01] [-2.46509694e-03 -2.03508021e-04 9.99996941e-01 -8.02020167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.540888479 meters Centerline goodness [0,1] 0.9911246301929247 Centerline is valid? [True, True] Translation: X:8.72, Y:0.69, Z:-0.08 [[ 9.98370104e-01 -5.70649529e-02 8.52417875e-04 8.71533239e+00] [ 5.70648711e-02 9.98370465e-01 1.19991431e-04 6.88029362e-01] [-8.57876136e-04 -7.11527414e-05 9.99999629e-01 -8.14540982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570888478999999 meters Centerline goodness [0,1] 0.9889950166112956 Centerline is valid? [True, True] Translation: X:8.74, Y:0.70, Z:-0.08 [[ 9.98386801e-01 -5.67752823e-02 6.01697067e-04 8.74184004e+00] [ 5.67752416e-02 9.98386981e-01 8.45249993e-05 6.96225702e-01] [-6.05525449e-04 -5.02271473e-05 9.99999815e-01 -8.32117235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.600888479 meters Centerline goodness [0,1] 0.9899666249478515 Centerline is valid? [True, True] Translation: X:8.77, Y:0.70, Z:-0.08 [[ 9.98362650e-01 -5.71943675e-02 9.07954441e-04 8.77098736e+00] [ 5.71942752e-02 9.98363060e-01 1.27310667e-04 6.98988450e-01] [-9.13749627e-04 -7.51724190e-05 9.99999580e-01 -8.40821719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630888479 meters Centerline goodness [0,1] 0.9911226611226611 Centerline is valid? [True, True] Translation: X:8.80, Y:0.70, Z:-0.08 [[ 9.98349028e-01 -5.73943844e-02 2.25895553e-03 8.79870447e+00] [ 5.73938080e-02 9.98351566e-01 3.19180898e-04 6.99949279e-01] [-2.27355099e-03 -1.89003879e-04 9.99997398e-01 -8.46512185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.660888479 meters Centerline goodness [0,1] 0.9899079907161804 Centerline is valid? [True, True] Translation: X:8.83, Y:0.71, Z:-0.08 [[ 9.98409763e-01 -5.63254039e-02 2.32244249e-03 8.82690250e+00] [ 5.63247885e-02 9.98412445e-01 3.29592249e-04 7.07114723e-01] [-2.33731990e-03 -1.98257037e-04 9.99997249e-01 -8.49585007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690888479 meters Centerline goodness [0,1] 0.9885685781389645 Centerline is valid? [True, True] Translation: X:8.85, Y:0.72, Z:-0.09 [[ 9.98479654e-01 -5.51073429e-02 1.24954425e-03 8.85429783e+00] [ 5.51071641e-02 9.98480430e-01 1.77139805e-04 7.15871989e-01] [-1.25740718e-03 -1.08011651e-04 9.99999204e-01 -8.63525030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.720888479 meters Centerline goodness [0,1] 0.9906385824139083 Centerline is valid? [True, True] Translation: X:8.88, Y:0.72, Z:-0.09 [[ 9.98546524e-01 -5.38034364e-02 -3.16704027e-03 8.88353862e+00] [ 5.38022751e-02 9.98551507e-01 -4.50799320e-04 7.17036969e-01] [ 3.18670739e-03 2.79750122e-04 9.99994883e-01 -9.04729837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.750888479 meters Centerline goodness [0,1] 0.9878829446730681 Centerline is valid? [True, True] Translation: X:8.91, Y:0.72, Z:-0.09 [[ 9.98497736e-01 -5.46033032e-02 -4.55533104e-03 8.91026763e+00] [ 5.46009076e-02 9.98508047e-01 -6.48689065e-04 7.24138846e-01] [ 4.58395527e-03 3.98989353e-04 9.99989414e-01 -9.19294656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.780888479 meters Centerline goodness [0,1] 0.9900678798983884 Centerline is valid? [True, True] Translation: X:8.94, Y:0.73, Z:-0.09 [[ 9.98403103e-01 -5.62428785e-02 -5.28990297e-03 8.93958123e+00] [ 5.62396608e-02 9.98417012e-01 -7.55205056e-04 7.25521161e-01] [ 5.32400403e-03 4.56496723e-04 9.99985723e-01 -9.16185712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810888478999999 meters Centerline goodness [0,1] 0.9901495272606106 Centerline is valid? [True, True] Translation: X:8.97, Y:0.73, Z:-0.09 [[ 9.98297860e-01 -5.81650509e-02 -4.26722282e-03 8.96897868e+00] [ 5.81629773e-02 9.98306916e-01 -6.08534462e-04 7.28608195e-01] [ 4.29539349e-03 3.59304267e-04 9.99990710e-01 -9.01840107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.840888479 meters Centerline goodness [0,1] 0.9916096176323259 Centerline is valid? [True, True] Translation: X:9.00, Y:0.73, Z:-0.09 [[ 9.98156981e-01 -6.06702688e-02 -1.32659925e-03 8.99998946e+00] [ 6.06700706e-02 9.98157857e-01 -1.89173778e-04 7.26685832e-01] [ 1.33563269e-03 1.08340257e-04 9.99999102e-01 -8.66120682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870888479 meters Centerline goodness [0,1] 0.9914820768700808 Centerline is valid? [True, True] Translation: X:9.03, Y:0.73, Z:-0.09 [[ 9.98090878e-01 -6.17618986e-02 -2.60204441e-04 9.02863362e+00] [ 6.17618909e-02 9.98090911e-01 -3.75044896e-05 7.28608522e-01] [ 2.62024036e-04 2.13621707e-05 9.99999965e-01 -8.68555809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.900888478999999 meters Centerline goodness [0,1] 0.9922715404699739 Centerline is valid? [True, True] Translation: X:9.06, Y:0.73, Z:-0.09 [[ 9.98029052e-01 -6.27523246e-02 3.96338581e-04 9.05718336e+00] [ 6.27523072e-02 9.98029130e-01 5.61750074e-05 7.32849732e-01] [-3.99082562e-04 -3.11931290e-05 9.99999920e-01 -8.77442301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930888479 meters Centerline goodness [0,1] 0.9920228872136488 Centerline is valid? [True, True] Translation: X:9.09, Y:0.74, Z:-0.09 [[ 9.97960042e-01 -6.37529952e-02 3.36292372e-03 9.08617819e+00] [ 6.37517393e-02 9.97965674e-01 4.79457106e-04 7.37677639e-01] [-3.38664926e-03 -2.64086798e-04 9.99994230e-01 -8.74439868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.960888479 meters Centerline goodness [0,1] 0.9899099626062796 Centerline is valid? [True, True] Translation: X:9.11, Y:0.75, Z:-0.09 [[ 9.97896590e-01 -6.46067240e-02 5.32611307e-03 9.11311758e+00] [ 6.46035750e-02 9.97910717e-01 7.61339034e-04 7.45014591e-01] [-5.36417293e-03 -4.15651680e-04 9.99985526e-01 -8.60604314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990888479 meters Centerline goodness [0,1] 0.9913803924850412 Centerline is valid? [True, True] Translation: X:9.14, Y:0.74, Z:-0.08 [[ 9.97811804e-01 -6.58460411e-02 5.99186735e-03 9.14322486e+00] [ 6.58420745e-02 9.97829688e-01 8.57086945e-04 7.39769696e-01] [-6.03529892e-03 -4.60694495e-04 9.99981681e-01 -8.43541623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.020888479 meters Centerline goodness [0,1] 0.9920649836079266 Centerline is valid? [True, True] Translation: X:9.17, Y:0.74, Z:-0.08 [[ 9.97548745e-01 -6.98898129e-02 3.45197190e-03 9.17266449e+00] [ 6.98885198e-02 9.97554686e-01 4.93957293e-04 7.40844972e-01] [-3.47805333e-03 -2.51493270e-04 9.99993920e-01 -8.37664799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050888479 meters Centerline goodness [0,1] 0.9929456585447543 Centerline is valid? [True, True] Translation: X:9.20, Y:0.74, Z:-0.08 [[ 9.97371954e-01 -7.23799768e-02 3.21320018e-03 9.20281378e+00] [ 7.23788692e-02 9.97377104e-01 4.59817787e-04 7.38115650e-01] [-3.23805390e-03 -2.26041569e-04 9.99994732e-01 -8.41891453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.080888479 meters Centerline goodness [0,1] 0.9929875821767714 Centerline is valid? [True, True] Translation: X:9.23, Y:0.74, Z:-0.08 [[ 9.97173804e-01 -7.50331750e-02 3.79830802e-03 9.23157846e+00] [ 7.50316458e-02 9.97181005e-01 5.43718385e-04 7.41932750e-01] [-3.82839753e-03 -2.57188428e-04 9.99992639e-01 -8.38269744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110888479 meters Centerline goodness [0,1] 0.9930777756864714 Centerline is valid? [True, True] Translation: X:9.26, Y:0.74, Z:-0.08 [[ 9.97003611e-01 -7.71581369e-02 5.51550583e-03 9.26124564e+00] [ 7.71549432e-02 9.97018802e-01 7.89810894e-04 7.44065590e-01] [-5.56000335e-03 -3.61895774e-04 9.99984478e-01 -8.30119355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.140888479 meters Centerline goodness [0,1] 0.9931423792598787 Centerline is valid? [True, True] Translation: X:9.29, Y:0.75, Z:-0.08 [[ 9.96798444e-01 -7.97369589e-02 5.90585000e-03 9.29043415e+00] [ 7.97333409e-02 9.96815870e-01 8.45928896e-04 7.49642520e-01] [-5.95449680e-03 -3.72327456e-04 9.99982203e-01 -8.39332473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170888479 meters Centerline goodness [0,1] 0.9925025583192365 Centerline is valid? [True, True] Translation: X:9.32, Y:0.76, Z:-0.09 [[ 9.96681187e-01 -8.12282173e-02 5.34676042e-03 9.31767158e+00] [ 8.12252723e-02 9.96695474e-01 7.66013414e-04 7.56831327e-01] [-5.39131382e-03 -3.29179087e-04 9.99985413e-01 -8.58965233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.200888479 meters Centerline goodness [0,1] 0.9929735042556306 Centerline is valid? [True, True] Translation: X:9.35, Y:0.75, Z:-0.09 [[ 9.96509958e-01 -8.33167758e-02 5.12042286e-03 9.34763368e+00] [ 8.33141004e-02 9.96523066e-01 7.33968884e-04 7.53228974e-01] [-5.16377141e-03 -3.04803877e-04 9.99986621e-01 -8.61523911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230888478999999 meters Centerline goodness [0,1] 0.9934975328259597 Centerline is valid? [True, True] Translation: X:9.38, Y:0.76, Z:-0.08 [[ 9.96176858e-01 -8.70097814e-02 7.80808511e-03 9.37745202e+00] [ 8.70036577e-02 9.96207361e-01 1.12119245e-03 7.56799932e-01] [-7.87602657e-03 -4.37574012e-04 9.99968888e-01 -8.21493329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.260888479 meters Centerline goodness [0,1] 0.9929487581863453 Centerline is valid? [True, True] Translation: X:9.40, Y:0.77, Z:-0.08 [[ 9.96087421e-01 -8.79018756e-02 9.11646289e-03 9.40449939e+00] [ 8.78935594e-02 9.96129011e-01 1.30966658e-03 7.65736369e-01] [-9.19629531e-03 -5.03264031e-04 9.99957587e-01 -8.02579075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290888479 meters Centerline goodness [0,1] 0.9932311034972632 Centerline is valid? [True, True] Translation: X:9.43, Y:0.77, Z:-0.08 [[ 9.96058338e-01 -8.81782686e-02 9.61148088e-03 9.43298115e+00] [ 8.81690184e-02 9.96104569e-01 1.38274646e-03 7.66549509e-01] [-9.69596821e-03 -5.29861304e-04 9.99952853e-01 -7.95128423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.320888478999999 meters Centerline goodness [0,1] 0.9928674216354877 Centerline is valid? [True, True] Translation: X:9.46, Y:0.77, Z:-0.08 [[ 9.96183756e-01 -8.70245863e-02 6.68180913e-03 9.46183065e+00] [ 8.70200805e-02 9.96206093e-01 9.62682388e-04 7.71273433e-01] [-6.74023600e-03 -3.77556988e-04 9.99977213e-01 -8.13671699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350888479 meters Centerline goodness [0,1] 0.9932867659360883 Centerline is valid? [True, True] Translation: X:9.49, Y:0.78, Z:-0.08 [[ 9.96264319e-01 -8.62647427e-02 3.97503803e-03 9.48988693e+00] [ 8.62631402e-02 9.96272223e-01 5.73154602e-04 7.76307205e-01] [-4.00966301e-03 -2.28114216e-04 9.99991935e-01 -8.45788997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.380888479 meters Centerline goodness [0,1] 0.9933830304045564 Centerline is valid? [True, True] Translation: X:9.52, Y:0.78, Z:-0.09 [[ 9.96440009e-01 -8.42872858e-02 1.72101735e-03 9.51877229e+00] [ 8.42869817e-02 9.96441490e-01 2.48608023e-04 7.83192498e-01] [-1.73584759e-03 -1.02663623e-04 9.99998488e-01 -8.79485885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410888479 meters Centerline goodness [0,1] 0.9934688256405976 Centerline is valid? [True, True] Translation: X:9.55, Y:0.79, Z:-0.09 [[ 9.96698070e-01 -8.11352267e-02 3.16743685e-03 9.54722620e+00] [ 8.11341797e-02 9.96703083e-01 4.57870763e-04 7.90826953e-01] [-3.19414352e-03 -1.99371516e-04 9.99994879e-01 -8.74225675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.440888479 meters Centerline goodness [0,1] 0.992572656527091 Centerline is valid? [True, True] Translation: X:9.58, Y:0.79, Z:-0.08 [[ 9.96752887e-01 -8.03175324e-02 5.72501636e-03 9.57576219e+00] [ 8.03140974e-02 9.96769261e-01 8.27767174e-04 7.91864471e-01] [-5.77300455e-03 -3.65279799e-04 9.99983269e-01 -8.34448432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.470888479 meters Centerline goodness [0,1] 0.9928446261682243 Centerline is valid? [True, True] Translation: X:9.60, Y:0.80, Z:-0.08 [[ 9.96752627e-01 -8.01214482e-02 8.04695629e-03 9.60485471e+00] [ 8.01146417e-02 9.96784975e-01 1.16517455e-03 7.95369918e-01] [-8.11444060e-03 -5.16711774e-04 9.99966944e-01 -8.04850874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.500888479 meters Centerline goodness [0,1] 0.992745139034079 Centerline is valid? [True, True] Translation: X:9.63, Y:0.80, Z:-0.08 [[ 9.96885943e-01 -7.85855425e-02 6.53681446e-03 9.63307761e+00] [ 7.85810104e-02 9.96907281e-01 9.47675663e-04 8.03961159e-01] [-6.59107153e-03 -4.31055062e-04 9.99978186e-01 -8.40191362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530888479 meters Centerline goodness [0,1] 0.9925285917021455 Centerline is valid? [True, True] Translation: X:9.66, Y:0.81, Z:-0.08 [[ 9.97108079e-01 -7.58139666e-02 5.26508476e-03 9.66170812e+00] [ 7.58109868e-02 9.97121914e-01 7.63537385e-04 8.11051039e-01] [-5.30781819e-03 -3.62178024e-04 9.99985848e-01 -8.44332867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.560888478999999 meters Centerline goodness [0,1] 0.9922983803640006 Centerline is valid? [True, True] Translation: X:9.69, Y:0.82, Z:-0.09 [[ 9.97237356e-01 -7.41996771e-02 3.47329873e-03 9.69058660e+00] [ 7.41983707e-02 9.97243375e-01 5.03643350e-04 8.15606610e-01] [-3.50109432e-03 -2.44538856e-04 9.99993841e-01 -8.52982584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590888479 meters Centerline goodness [0,1] 0.9915466499686914 Centerline is valid? [True, True] Translation: X:9.72, Y:0.82, Z:-0.08 [[ 9.97359117e-01 -7.25554334e-02 3.24045103e-03 9.71994280e+00] [ 7.25542872e-02 9.97364354e-01 4.70030757e-04 8.18185563e-01] [-3.26601363e-03 -2.33680846e-04 9.99994639e-01 -8.47488851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.620888479 meters Centerline goodness [0,1] 0.9915411767163057 Centerline is valid? [True, True] Translation: X:9.75, Y:0.82, Z:-0.08 [[ 9.97484872e-01 -7.06947798e-02 5.11642679e-03 9.74980960e+00] [ 7.06918957e-02 9.97497922e-01 7.42586504e-04 8.20744960e-01] [-5.15612208e-03 -3.79028895e-04 9.99986635e-01 -8.30051627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650888478999999 meters Centerline goodness [0,1] 0.9913321358452734 Centerline is valid? [True, True] Translation: X:9.78, Y:0.83, Z:-0.08 [[ 9.97508530e-01 -7.02406767e-02 6.55594758e-03 9.77640458e+00] [ 7.02359293e-02 9.97529954e-01 9.51870363e-04 8.30407396e-01] [-6.60661410e-03 -4.89035735e-04 9.99978057e-01 -8.19789564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.680888479 meters Centerline goodness [0,1] 0.9916266443934015 Centerline is valid? [True, True] Translation: X:9.81, Y:0.83, Z:-0.08 [[ 9.97451222e-01 -7.09495097e-02 7.56482264e-03 9.80507645e+00] [ 7.09432005e-02 9.97479751e-01 1.09946175e-03 8.33288495e-01] [-7.62376367e-03 -5.59986736e-04 9.99970782e-01 -8.28697303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710888479 meters Centerline goodness [0,1] 0.9906038873297994 Centerline is valid? [True, True] Translation: X:9.83, Y:0.84, Z:-0.08 [[ 9.97525310e-01 -6.94331998e-02 1.10583392e-02 9.83421954e+00] [ 6.94196000e-02 9.97586251e-01 1.60942038e-03 8.40209929e-01] [-1.11433944e-02 -8.37772078e-04 9.99937560e-01 -7.91410555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.740888479 meters Centerline goodness [0,1] 0.9914752594939347 Centerline is valid? [True, True] Translation: X:9.86, Y:0.85, Z:-0.08 [[ 9.97522312e-01 -6.95104240e-02 1.08415316e-02 9.86265822e+00] [ 6.94973395e-02 9.97580887e-01 1.57944443e-03 8.45186386e-01] [-1.09250925e-02 -8.22073455e-04 9.99939981e-01 -8.05574091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770888479 meters Centerline goodness [0,1] 0.9917875203744724 Centerline is valid? [True, True] Translation: X:9.89, Y:0.85, Z:-0.08 [[ 9.97515765e-01 -6.97671542e-02 9.73877308e-03 9.88994032e+00] [ 6.97565840e-02 9.97563030e-01 1.42128738e-03 8.49654299e-01] [-9.81419915e-03 -7.38413027e-04 9.99951567e-01 -8.21362461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.800888479 meters Centerline goodness [0,1] 0.9909373760153689 Centerline is valid? [True, True] Translation: X:9.92, Y:0.86, Z:-0.08 [[ 9.97512199e-01 -7.00028633e-02 8.30733930e-03 9.91751476e+00] [ 6.99951668e-02 9.97546592e-01 1.21398462e-03 8.55461278e-01] [-8.37194041e-03 -6.29490863e-04 9.99964757e-01 -8.48679685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830888479 meters Centerline goodness [0,1] 0.9910596787333152 Centerline is valid? [True, True] Translation: X:9.95, Y:0.86, Z:-0.09 [[ 9.97442057e-01 -7.10549459e-02 7.78058788e-03 9.94599940e+00] [ 7.10482180e-02 9.97472233e-01 1.13806750e-03 8.58470053e-01] [-7.84178569e-03 -5.82359483e-04 9.99969083e-01 -8.65671507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.860888479 meters Centerline goodness [0,1] 0.9908511749347259 Centerline is valid? [True, True] Translation: X:9.97, Y:0.87, Z:-0.08 [[ 9.97413902e-01 -7.12764754e-02 9.22885399e-03 9.97253225e+00] [ 7.12669995e-02 9.97456358e-01 1.35201644e-03 8.65255230e-01] [-9.30174606e-03 -6.90807260e-04 9.99956499e-01 -8.38092188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890888479 meters Centerline goodness [0,1] 0.992329397011182 Centerline is valid? [True, True] Translation: X:10.00, Y:0.87, Z:-0.08 [[ 9.97337382e-01 -7.22473772e-02 9.92280720e-03 1.00011943e+01] [ 7.22364512e-02 9.97386473e-01 1.45558973e-03 8.67068182e-01] [-1.00020362e-02 -7.34925671e-04 9.99949708e-01 -8.30868598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.920888479 meters Centerline goodness [0,1] 0.991304347826087 Centerline is valid? [True, True] Translation: X:10.03, Y:0.88, Z:-0.08 [[ 9.97352397e-01 -7.23525195e-02 7.30126742e-03 1.00278434e+01] [ 7.23465980e-02 9.97378975e-01 1.07224414e-03 8.77454857e-01] [-7.35971018e-03 -5.41183407e-04 9.99972771e-01 -8.47459487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950888479 meters Centerline goodness [0,1] 0.9913256921764816 Centerline is valid? [True, True] Translation: X:10.06, Y:0.88, Z:-0.09 [[ 9.97428738e-01 -7.15052079e-02 4.78722690e-03 1.00560407e+01] [ 7.15026518e-02 9.97440162e-01 7.03210073e-04 8.82009841e-01] [-4.82525556e-03 -3.59102518e-04 9.99988294e-01 -8.57848235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.980888478999999 meters Centerline goodness [0,1] 0.9921568627450981 Centerline is valid? [True, True] Translation: X:10.09, Y:0.88, Z:-0.09 [[ 9.97483512e-01 -7.08823788e-02 1.52717306e-03 1.00854237e+01] [ 7.08821188e-02 9.97484674e-01 2.23784644e-04 8.83104834e-01] [-1.53919411e-03 -1.14972231e-04 9.99998809e-01 -8.76261558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010888479 meters Centerline goodness [0,1] 0.9925916651015255 Centerline is valid? [True, True] Translation: X:10.11, Y:0.89, Z:-0.09 [[ 9.97382110e-01 -7.23101765e-02 4.06367399e-04 1.01140447e+01] [ 7.23101583e-02 9.97382192e-01 5.95514169e-05 8.86966084e-01] [-4.09609781e-04 -3.00110269e-05 9.99999916e-01 -8.97043437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.040888479 meters Centerline goodness [0,1] 0.9921736036997509 Centerline is valid? [True, True] Translation: X:10.14, Y:0.89, Z:-0.09 [[ 9.97325854e-01 -7.30727842e-02 1.22842985e-03 1.01428812e+01] [ 7.30726173e-02 9.97326607e-01 1.80220611e-04 8.92915179e-01] [-1.23831500e-03 -8.99740902e-05 9.99999229e-01 -9.10440532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070888478999999 meters Centerline goodness [0,1] 0.9918848824562871 Centerline is valid? [True, True] Translation: X:10.17, Y:0.90, Z:-0.09 [[ 9.97264545e-01 -7.38331091e-02 3.47848844e-03 1.01709372e+01] [ 7.38317650e-02 9.97270579e-01 5.13411938e-04 8.99013686e-01] [-3.50690098e-03 -2.55184582e-04 9.99993818e-01 -9.10062472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.100888479 meters Centerline goodness [0,1] 0.9918092730729853 Centerline is valid? [True, True] Translation: X:10.20, Y:0.90, Z:-0.09 [[ 9.97214894e-01 -7.42434061e-02 7.09732511e-03 1.01981948e+01] [ 7.42377974e-02 9.97240014e-01 1.05082082e-03 9.04710984e-01] [-7.15575311e-03 -5.21004387e-04 9.99974262e-01 -8.73803010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130888479 meters Centerline goodness [0,1] 0.9918092730729853 Centerline is valid? [True, True] Translation: X:10.23, Y:0.91, Z:-0.09 [[ 9.97193808e-01 -7.45261076e-02 7.09702658e-03 1.02254868e+01] [ 7.45204918e-02 9.97218927e-01 1.05283368e-03 9.08840367e-01] [-7.15575282e-03 -5.21005313e-04 9.99974262e-01 -8.75308238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.160888479 meters Centerline goodness [0,1] 0.992 Centerline is valid? [True, True] Translation: X:10.25, Y:0.91, Z:-0.09 [[ 9.97191209e-01 -7.46293519e-02 6.33653921e-03 1.02541531e+01] [ 7.46248669e-02 9.97211233e-01 9.41650641e-04 9.11408121e-01] [-6.38914286e-03 -4.66142346e-04 9.99979481e-01 -8.68523877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190888479 meters Centerline goodness [0,1] 0.9924292984066072 Centerline is valid? [True, True] Translation: X:10.28, Y:0.91, Z:-0.09 [[ 9.97215105e-01 -7.44754467e-02 3.92953071e-03 1.02830062e+01] [ 7.44737189e-02 9.97222805e-01 5.84427479e-04 9.13203414e-01] [-3.96214313e-03 -2.90153145e-04 9.99992109e-01 -8.71930547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.220888479 meters Centerline goodness [0,1] 0.9918455025130868 Centerline is valid? [True, True] Translation: X:10.31, Y:0.92, Z:-0.09 [[ 9.97404755e-01 -7.19434189e-02 2.81053859e-03 1.03130782e+01] [ 7.19425222e-02 9.97408692e-01 4.18986053e-04 9.18728659e-01] [-2.83339891e-03 -2.15701446e-04 9.99995963e-01 -8.61751455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250888479 meters Centerline goodness [0,1] 0.9918167964428115 Centerline is valid? [True, True] Translation: X:10.34, Y:0.93, Z:-0.08 [[ 9.97513687e-01 -7.02431847e-02 5.68683741e-03 1.03418008e+01] [ 7.02394858e-02 9.97529797e-01 8.47797761e-04 9.25634460e-01] [-5.73234178e-03 -4.46249334e-04 9.99983470e-01 -8.37043676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.280888479 meters Centerline goodness [0,1] 0.9915222384631447 Centerline is valid? [True, True] Translation: X:10.37, Y:0.93, Z:-0.08 [[ 9.97559361e-01 -6.93375530e-02 8.22340859e-03 1.03693748e+01] [ 6.93297807e-02 9.97593041e-01 1.22682069e-03 9.33410199e-01] [-8.28867993e-03 -6.53699354e-04 9.99965435e-01 -8.18202801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310888478999999 meters Centerline goodness [0,1] 0.990240443767856 Centerline is valid? [True, True] Translation: X:10.40, Y:0.94, Z:-0.08 [[ 9.97778177e-01 -6.60926769e-02 8.39452746e-03 1.03971112e+01] [ 6.60844594e-02 9.97813246e-01 1.25284479e-03 9.44686480e-01] [-8.45897456e-03 -6.95313383e-04 9.99963980e-01 -8.31840822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.340888479 meters Centerline goodness [0,1] 0.9908180300500835 Centerline is valid? [True, True] Translation: X:10.43, Y:0.94, Z:-0.09 [[ 9.97786718e-01 -6.61407659e-02 6.86033206e-03 1.04259172e+01] [ 6.61352763e-02 9.97810140e-01 1.02424554e-03 9.44663085e-01] [-6.91305328e-03 -5.68268638e-04 9.99975943e-01 -8.69656866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370888479 meters Centerline goodness [0,1] 0.9908614013905658 Centerline is valid? [True, True] Translation: X:10.45, Y:0.95, Z:-0.08 [[ 9.97849584e-01 -6.49644314e-02 8.70800740e-03 1.04542369e+01] [ 6.49555247e-02 9.97887310e-01 1.30206333e-03 9.50033285e-01] [-8.77419789e-03 -7.33630158e-04 9.99961237e-01 -8.37989075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.400888478999999 meters Centerline goodness [0,1] 0.9908402361925428 Centerline is valid? [True, True] Translation: X:10.48, Y:0.95, Z:-0.08 [[ 9.97754331e-01 -6.61445643e-02 1.05446980e-02 1.04825986e+01] [ 6.61315517e-02 9.97809665e-01 1.57836458e-03 9.53627989e-01] [-1.06260018e-02 -8.77482855e-04 9.99943157e-01 -8.24761949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430888479 meters Centerline goodness [0,1] 0.9908895699126483 Centerline is valid? [True, True] Translation: X:10.51, Y:0.96, Z:-0.08 [[ 9.97571106e-01 -6.80593568e-02 1.48260630e-02 1.05117723e+01] [ 6.80338070e-02 9.97680543e-01 2.22149082e-03 9.57934774e-01] [-1.49428678e-02 -1.20742155e-03 9.99887620e-01 -7.74516833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.460888479 meters Centerline goodness [0,1] 0.9913708652062446 Centerline is valid? [True, True] Translation: X:10.54, Y:0.96, Z:-0.08 [[ 9.97435711e-01 -7.02365816e-02 1.37413470e-02 1.05413584e+01] [ 7.02148323e-02 9.97529767e-01 2.05945233e-03 9.59496493e-01] [-1.38520516e-02 -1.08932493e-03 9.99903462e-01 -7.98481773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490888479 meters Centerline goodness [0,1] 0.9904229348801302 Centerline is valid? [True, True] Translation: X:10.57, Y:0.97, Z:-0.08 [[ 9.97387629e-01 -7.09812784e-02 1.34005706e-02 1.05682923e+01] [ 7.09606439e-02 9.97477092e-01 2.00967191e-03 9.68360864e-01] [-1.35094113e-02 -1.05350879e-03 9.99908189e-01 -8.00171509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.520888479 meters Centerline goodness [0,1] 0.9913449706980333 Centerline is valid? [True, True] Translation: X:10.60, Y:0.97, Z:-0.08 [[ 9.97215913e-01 -7.37565268e-02 1.09725568e-02 1.05982953e+01] [ 7.37428507e-02 9.97275930e-01 1.64634931e-03 9.70123719e-01] [-1.10640958e-02 -8.32618110e-04 9.99938444e-01 -8.46594273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550888479 meters Centerline goodness [0,1] 0.991277674603009 Centerline is valid? [True, True] Translation: X:10.63, Y:0.98, Z:-0.09 [[ 9.97159498e-01 -7.47654573e-02 9.11387690e-03 1.06255140e+01] [ 7.47560596e-02 9.97200913e-01 1.36796677e-03 9.76703844e-01] [-9.19064302e-03 -6.82763530e-04 9.99957532e-01 -8.75938910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.580888479 meters Centerline goodness [0,1] 0.9909705134086834 Centerline is valid? [True, True] Translation: X:10.66, Y:0.98, Z:-0.09 [[ 9.97272270e-01 -7.32653278e-02 8.95606292e-03 1.06551552e+01] [ 7.32561870e-02 9.97312249e-01 1.34489335e-03 9.80341634e-01] [-9.03052531e-03 -6.85137828e-04 9.99958989e-01 -8.71252782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610888479 meters Centerline goodness [0,1] 0.9913090711569799 Centerline is valid? [True, True] Translation: X:10.68, Y:0.99, Z:-0.09 [[ 9.97270887e-01 -7.36919714e-02 4.50227294e-03 1.06825266e+01] [ 7.36896657e-02 9.97280992e-01 6.76104539e-04 9.86132634e-01] [-4.53985470e-03 -3.42488386e-04 9.99989636e-01 -9.19550756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.640888479 meters Centerline goodness [0,1] 0.9919612469463178 Centerline is valid? [True, True] Translation: X:10.71, Y:0.99, Z:-0.09 [[ 9.97280447e-01 -7.35238258e-02 5.09478036e-03 1.07109060e+01] [ 7.35208686e-02 9.97293385e-01 7.65556240e-04 9.89740025e-01] [-5.13727738e-03 -3.88901592e-04 9.99986728e-01 -9.04374242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670888479 meters Centerline goodness [0,1] 0.9915573992620541 Centerline is valid? [True, True] Translation: X:10.74, Y:0.99, Z:-0.09 [[ 9.97123549e-01 -7.56445108e-02 4.74731402e-03 1.07409844e+01] [ 7.56419612e-02 9.97134787e-01 7.14599386e-04 9.91420589e-01] [-4.78776747e-03 -3.53447733e-04 9.99988476e-01 -9.24526678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.700888479 meters Centerline goodness [0,1] 0.9928153717627402 Centerline is valid? [True, True] Translation: X:10.77, Y:0.99, Z:-0.09 [[ 9.96804598e-01 -7.94696402e-02 8.07271713e-03 1.07721764e+01] [ 7.94623907e-02 9.96837124e-01 1.21533832e-03 9.88831335e-01] [-8.14376662e-03 -5.69977419e-04 9.99966677e-01 -8.90167368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730888478999999 meters Centerline goodness [0,1] 0.9922171681342069 Centerline is valid? [True, True] Translation: X:10.80, Y:0.99, Z:-0.09 [[ 9.96599945e-01 -8.19657165e-02 8.37682532e-03 1.08018196e+01] [ 8.19579976e-02 9.96634986e-01 1.26119633e-03 9.93670228e-01] [-8.45201205e-03 -5.70360368e-04 9.99964118e-01 -8.98402170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.760888479 meters Centerline goodness [0,1] 0.9924354821857695 Centerline is valid? [True, True] Translation: X:10.83, Y:1.00, Z:-0.09 [[ 9.96594833e-01 -8.17599442e-02 1.06794259e-02 1.08303310e+01] [ 8.17473707e-02 9.96651783e-01 1.60935625e-03 9.97785661e-01] [-1.07752497e-02 -7.30861138e-04 9.99941678e-01 -8.64073481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790888479 meters Centerline goodness [0,1] 0.9918914411973152 Centerline is valid? [True, True] Translation: X:10.86, Y:1.00, Z:-0.09 [[ 9.96741504e-01 -8.01206285e-02 9.33054263e-03 1.08577128e+01] [ 8.01109451e-02 9.96784959e-01 1.40758544e-03 1.00397045e+00] [-9.41332118e-03 -6.55520242e-04 9.99955479e-01 -8.84548214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.820888478999999 meters Centerline goodness [0,1] 0.9918950534759359 Centerline is valid? [True, True] Translation: X:10.89, Y:1.01, Z:-0.09 [[ 9.96887250e-01 -7.84624544e-02 7.71065491e-03 1.08850226e+01] [ 7.84557881e-02 9.96916915e-01 1.16373209e-03 1.01298678e+00] [-7.77819158e-03 -5.55164178e-04 9.99969595e-01 -9.09039587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850888479 meters Centerline goodness [0,1] 0.9919563763997994 Centerline is valid? [True, True] Translation: X:10.92, Y:1.01, Z:-0.09 [[ 9.97092036e-01 -7.59140686e-02 6.67281590e-03 1.09152994e+01] [ 7.59090165e-02 9.97114239e-01 1.00751463e-03 1.01453750e+00] [-6.73004429e-03 -4.98057922e-04 9.99977229e-01 -9.22387055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.880888479 meters Centerline goodness [0,1] 0.9924380104865158 Centerline is valid? [True, True] Translation: X:10.95, Y:1.02, Z:-0.09 [[ 9.97295161e-01 -7.32894584e-02 5.56933870e-03 1.09453959e+01] [ 7.32858979e-02 9.97310619e-01 8.40996369e-04 1.02044680e+00] [-5.61599679e-03 -4.30567622e-04 9.99984137e-01 -9.44561707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910888479 meters Centerline goodness [0,1] 0.99212746408286 Centerline is valid? [True, True] Translation: X:10.97, Y:1.03, Z:-0.10 [[ 9.97305484e-01 -7.32536837e-02 3.95836554e-03 1.09733545e+01] [ 7.32518862e-02 9.97313293e-01 5.97364961e-04 1.02592439e+00] [-3.99148975e-03 -3.05797610e-04 9.99991987e-01 -9.67021559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.940888479 meters Centerline goodness [0,1] 0.9915978650654658 Centerline is valid? [True, True] Translation: X:11.00, Y:1.03, Z:-0.10 [[ 9.97397667e-01 -7.19738916e-02 4.20153346e-03 1.10026337e+01] [ 7.19718493e-02 9.97406461e-01 6.35476555e-04 1.03084683e+00] [-4.23637434e-03 -3.31430701e-04 9.99990972e-01 -9.54381837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970888479 meters Centerline goodness [0,1] 0.9915261312406077 Centerline is valid? [True, True] Translation: X:11.03, Y:1.03, Z:-0.09 [[ 9.97442031e-01 -7.13556956e-02 4.21424787e-03 1.10307581e+01] [ 7.13536351e-02 9.97450877e-01 6.37488096e-04 1.03443374e+00] [-4.24899364e-03 -3.35155516e-04 9.99990917e-01 -9.47375000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.000888479 meters Centerline goodness [0,1] 0.9917624921597323 Centerline is valid? [True, True] Translation: X:11.06, Y:1.04, Z:-0.09 [[ 9.97421364e-01 -7.15764333e-02 5.23794886e-03 1.10581819e+01] [ 7.15732501e-02 9.97435031e-01 7.92900917e-04 1.03737529e+00] [-5.28126670e-03 -4.15959290e-04 9.99985968e-01 -9.29634280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030888479 meters Centerline goodness [0,1] 0.991223498509454 Centerline is valid? [True, True] Translation: X:11.09, Y:1.04, Z:-0.09 [[ 9.97276011e-01 -7.32977499e-02 8.24608747e-03 1.10867967e+01] [ 7.32898972e-02 9.97309895e-01 1.25088173e-03 1.04084011e+00] [-8.31559145e-03 -6.43119443e-04 9.99965218e-01 -9.03184522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.060888478999999 meters Centerline goodness [0,1] 0.9917179513925107 Centerline is valid? [True, True] Translation: X:11.12, Y:1.04, Z:-0.09 [[ 9.96998617e-01 -7.68539241e-02 9.33977298e-03 1.11172549e+01] [ 7.68440021e-02 9.97042121e-01 1.41713240e-03 1.04032430e+00] [-9.42105924e-03 -6.95173512e-04 9.99955379e-01 -9.20240982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090888479 meters Centerline goodness [0,1] 0.9917270771094909 Centerline is valid? [True, True] Translation: X:11.14, Y:1.05, Z:-0.09 [[ 9.96873206e-01 -7.84552937e-02 9.41162923e-03 1.11445064e+01] [ 7.84452858e-02 9.96917397e-01 1.42841828e-03 1.04645339e+00] [-9.49468389e-03 -6.85653963e-04 9.99954689e-01 -9.23642795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.120888479 meters Centerline goodness [0,1] 0.9926475195822454 Centerline is valid? [True, True] Translation: X:11.17, Y:1.05, Z:-0.09 [[ 9.96727769e-01 -8.01952732e-02 1.01228924e-02 1.11746209e+01] [ 8.01837775e-02 9.96778912e-01 1.53706460e-03 1.04582494e+00] [-1.02135510e-02 -7.20343218e-04 9.99947581e-01 -9.15156008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150888478999999 meters Centerline goodness [0,1] 0.9926608565114049 Centerline is valid? [True, True] Translation: X:11.21, Y:1.04, Z:-0.09 [[ 9.96495854e-01 -8.28803154e-02 1.12634600e-02 1.12054851e+01] [ 8.28662500e-02 9.96559210e-01 1.71057528e-03 1.04466475e+00] [-1.13664778e-02 -7.71220478e-04 9.99935102e-01 -8.82649744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.180888479 meters Centerline goodness [0,1] 0.9933013355592655 Centerline is valid? [True, True] Translation: X:11.23, Y:1.05, Z:-0.09 [[ 9.96403663e-01 -8.42631874e-02 8.91380957e-03 1.12348996e+01] [ 8.42544251e-02 9.96443353e-01 1.35466915e-03 1.04621907e+00] [-8.99625504e-03 -5.98769401e-04 9.99959354e-01 -9.05800034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210888479 meters Centerline goodness [0,1] 0.9926677946982515 Centerline is valid? [True, True] Translation: X:11.26, Y:1.06, Z:-0.09 [[ 9.96385968e-01 -8.46339749e-02 7.21761659e-03 1.12613364e+01] [ 8.46282281e-02 9.96411991e-01 1.09849653e-03 1.05547918e+00] [-7.28468985e-03 -4.83712426e-04 9.99973349e-01 -9.23226466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.240888478999999 meters Centerline goodness [0,1] 0.9926207747141335 Centerline is valid? [True, True] Translation: X:11.29, Y:1.06, Z:-0.10 [[ 9.96414606e-01 -8.44404922e-02 5.26647259e-03 1.12893618e+01] [ 8.44374238e-02 9.96428461e-01 8.02676382e-04 1.06119206e+00] [-5.31544156e-03 -3.55111093e-04 9.99985810e-01 -9.58611456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270888479 meters Centerline goodness [0,1] 0.9933419602604775 Centerline is valid? [True, True] Translation: X:11.32, Y:1.06, Z:-0.09 [[ 9.96370638e-01 -8.48626812e-02 6.62397825e-03 1.13174162e+01] [ 8.48578224e-02 9.96392556e-01 1.01165736e-03 1.06483690e+00] [-6.68593457e-03 -4.45889318e-04 9.99977549e-01 -9.42193202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.300888479 meters Centerline goodness [0,1] 0.9926857811585723 Centerline is valid? [True, True] Translation: X:11.35, Y:1.07, Z:-0.09 [[ 9.96311924e-01 -8.54614695e-02 7.67382926e-03 1.13463385e+01] [ 8.54549477e-02 9.96341343e-01 1.17439033e-03 1.06859470e+00] [-7.74611848e-03 -5.14292411e-04 9.99969866e-01 -9.39409387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330888479 meters Centerline goodness [0,1] 0.992413951641554 Centerline is valid? [True, True] Translation: X:11.37, Y:1.08, Z:-0.10 [[ 9.96201640e-01 -8.68102422e-02 6.80250062e-03 1.13737917e+01] [ 8.68051394e-02 9.96224764e-01 1.04238494e-03 1.07514096e+00] [-6.86730927e-03 -4.47933571e-04 9.99976319e-01 -9.59425883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.360888479 meters Centerline goodness [0,1] 0.9924270872449619 Centerline is valid? [True, True] Translation: X:11.40, Y:1.08, Z:-0.09 [[ 9.96429468e-01 -8.40306089e-02 8.19581275e-03 1.14027353e+01] [ 8.40231027e-02 9.96463015e-01 1.25653746e-03 1.08249712e+00] [-8.27241188e-03 -5.63413339e-04 9.99965624e-01 -9.35923402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390888479 meters Centerline goodness [0,1] 0.9930397341303848 Centerline is valid? [True, True] Translation: X:11.43, Y:1.09, Z:-0.09 [[ 9.96595019e-01 -8.21039521e-02 7.57022872e-03 1.14324303e+01] [ 8.20974913e-02 9.96623627e-01 1.16081766e-03 1.08513767e+00] [-7.63997652e-03 -5.35368316e-04 9.99970672e-01 -9.48272943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.420888479 meters Centerline goodness [0,1] 0.9925989421086743 Centerline is valid? [True, True] Translation: X:11.46, Y:1.09, Z:-0.10 [[ 9.96754922e-01 -8.02516221e-02 6.26911402e-03 1.14603925e+01] [ 8.02471535e-02 9.96774533e-01 9.61515969e-04 1.09288380e+00] [-6.32605641e-03 -4.55317220e-04 9.99979887e-01 -9.73526232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450888479 meters Centerline goodness [0,1] 0.9935357000899563 Centerline is valid? [True, True] Translation: X:11.49, Y:1.10, Z:-0.10 [[ 9.96872535e-01 -7.89076723e-02 4.32761279e-03 1.14901805e+01] [ 7.89055297e-02 9.96881877e-01 6.63904804e-04 1.09621857e+00] [-4.36650594e-03 -3.20355886e-04 9.99990415e-01 -1.00051345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.480888478999999 meters Centerline goodness [0,1] 0.9931396540545063 Centerline is valid? [True, True] Translation: X:11.52, Y:1.10, Z:-0.10 [[ 9.97065161e-01 -7.65569063e-02 3.22969314e-04 1.15207882e+01] [ 7.65568942e-02 9.97065213e-01 4.95619580e-05 1.09890640e+00] [-3.25815778e-04 -2.46909741e-05 9.99999947e-01 -1.03479083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510888479 meters Centerline goodness [0,1] 0.9932056696073922 Centerline is valid? [True, True] Translation: X:11.55, Y:1.10, Z:-0.10 [[ 9.97119905e-01 -7.58412516e-02 9.15273768e-06 1.15475586e+01] [ 7.58412516e-02 9.97119905e-01 5.41674776e-07 1.10433169e+00] [-9.16745822e-06 1.54040380e-07 1.00000000e+00 -1.01805226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.540888479 meters Centerline goodness [0,1] 0.9925153143358909 Centerline is valid? [True, True] Translation: X:11.58, Y:1.11, Z:-0.10 [[ 9.97151775e-01 -7.53960929e-02 1.94089987e-03 1.15761811e+01] [ 7.53956562e-02 9.97153652e-01 2.97280017e-04 1.10573546e+00] [-1.95778915e-03 -1.50097877e-04 9.99998072e-01 -9.83504075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570888478999999 meters Centerline goodness [0,1] 0.9930160588825694 Centerline is valid? [True, True] Translation: X:11.60, Y:1.11, Z:-0.10 [[ 9.97144817e-01 -7.54166294e-02 3.81394157e-03 1.16049502e+01] [ 7.54149346e-02 9.97152066e-01 5.86442928e-04 1.10845521e+00] [-3.84730727e-03 -2.97140371e-04 9.99992555e-01 -9.63455617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.600888479 meters Centerline goodness [0,1] 0.9924574819272074 Centerline is valid? [True, True] Translation: X:11.63, Y:1.12, Z:-0.10 [[ 9.97207006e-01 -7.45560474e-02 4.42515898e-03 1.16317720e+01] [ 7.45537507e-02 9.97216763e-01 6.81957846e-04 1.11873064e+00] [-4.46368680e-03 -3.50140943e-04 9.99989976e-01 -9.74034388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630888479 meters Centerline goodness [0,1] 0.9927672561561938 Centerline is valid? [True, True] Translation: X:11.66, Y:1.12, Z:-0.10 [[ 9.97242114e-01 -7.40568118e-02 4.87392193e-03 1.16598650e+01] [ 7.40540177e-02 9.97253948e-01 7.51527268e-04 1.12490257e+00] [-4.91619361e-03 -3.88521140e-04 9.99987840e-01 -9.89274792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.660888479 meters Centerline goodness [0,1] 0.9925235602094241 Centerline is valid? [True, True] Translation: X:11.69, Y:1.13, Z:-0.10 [[ 9.97430378e-01 -7.13940426e-02 5.96078687e-03 1.16897180e+01] [ 7.13898058e-02 9.97448068e-01 9.20806433e-04 1.12735754e+00] [-6.01131544e-03 -4.92900892e-04 9.99981810e-01 -9.64818664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690888479 meters Centerline goodness [0,1] 0.9920477552127904 Centerline is valid? [True, True] Translation: X:11.72, Y:1.13, Z:-0.10 [[ 9.97488948e-01 -7.05895248e-02 5.73737669e-03 1.17181173e+01] [ 7.05855858e-02 9.97505333e-01 8.86419981e-04 1.13007778e+00] [-5.78563581e-03 -4.79218040e-04 9.99983148e-01 -9.59702408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.720888479 meters Centerline goodness [0,1] 0.9921790272795529 Centerline is valid? [True, True] Translation: X:11.75, Y:1.13, Z:-0.10 [[ 9.97546382e-01 -6.98842567e-02 4.17200515e-03 1.17474727e+01] [ 6.98821676e-02 9.97555045e-01 6.44611273e-04 1.13026942e+00] [-4.20685296e-03 -3.51480880e-04 9.99991089e-01 -9.62050243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750888479 meters Centerline goodness [0,1] 0.9925139057337627 Centerline is valid? [True, True] Translation: X:11.78, Y:1.13, Z:-0.10 [[ 9.97564707e-01 -6.97110096e-02 2.24280487e-03 1.17763972e+01] [ 6.97104056e-02 9.97567210e-01 3.46469421e-04 1.13244659e+00] [-2.26150134e-03 -1.89278829e-04 9.99997425e-01 -9.57368007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.780888479 meters Centerline goodness [0,1] 0.9924983283182882 Centerline is valid? [True, True] Translation: X:11.80, Y:1.14, Z:-0.10 [[ 9.97614605e-01 -6.90186093e-02 1.23723753e-03 1.18043661e+01] [ 6.90184245e-02 9.97615367e-01 1.91513485e-04 1.13685122e+00] [-1.24750517e-03 -1.05664464e-04 9.99999216e-01 -9.54669678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810888478999999 meters Centerline goodness [0,1] 0.9921752738654147 Centerline is valid? [True, True] Translation: X:11.83, Y:1.15, Z:-0.10 [[ 9.97583233e-01 -6.94796461e-02 5.21088807e-04 1.18317134e+01] [ 6.94796140e-02 9.97583368e-01 7.96176438e-05 1.14639579e+00] [-5.25361333e-04 -4.32201774e-05 9.99999861e-01 -9.98804088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.840888479 meters Centerline goodness [0,1] 0.9912015511957134 Centerline is valid? [True, True] Translation: X:11.86, Y:1.16, Z:-0.10 [[ 9.97694555e-01 -6.78089524e-02 2.74224801e-03 1.18591620e+01] [ 6.78080353e-02 9.97698295e-01 4.26134607e-04 1.15827164e+00] [-2.76483191e-03 -2.39205728e-04 9.99996149e-01 -1.00131356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870888479 meters Centerline goodness [0,1] 0.9916296157137788 Centerline is valid? [True, True] Translation: X:11.89, Y:1.16, Z:-0.10 [[ 9.97580554e-01 -6.94322207e-02 3.49368723e-03 1.18891668e+01] [ 6.94307423e-02 9.97586626e-01 5.42829359e-04 1.15524726e+00] [-3.52294550e-03 -2.98946715e-04 9.99993750e-01 -9.99229818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.900888478999999 meters Centerline goodness [0,1] 0.9924546442605133 Centerline is valid? [True, True] Translation: X:11.92, Y:1.15, Z:-0.10 [[ 9.97508628e-01 -7.04634851e-02 3.38154608e-03 1.19195587e+01] [ 7.04621034e-02 9.97514318e-01 5.26158791e-04 1.15031349e+00] [-3.41021562e-03 -2.86577083e-04 9.99994144e-01 -9.60313038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930888479 meters Centerline goodness [0,1] 0.9927872553938786 Centerline is valid? [True, True] Translation: X:11.95, Y:1.15, Z:-0.09 [[ 9.97387766e-01 -7.21705839e-02 3.00865158e-03 1.19488899e+01] [ 7.21694946e-02 9.97392272e-01 4.69202023e-04 1.15117441e+00] [-3.03466842e-03 -2.50843493e-04 9.99995364e-01 -9.44438316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.960888479 meters Centerline goodness [0,1] 0.9923110674662042 Centerline is valid? [True, True] Translation: X:11.98, Y:1.16, Z:-0.10 [[ 9.97308304e-01 -7.32464739e-02 3.33191265e-03 1.19770425e+01] [ 7.32451449e-02 9.97313832e-01 5.19307246e-04 1.15940503e+00] [-3.36099999e-03 -2.73863004e-04 9.99994314e-01 -9.68832556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990888478999999 meters Centerline goodness [0,1] 0.9923092998955068 Centerline is valid? [True, True] Translation: X:12.00, Y:1.17, Z:-0.10 [[ 9.97236043e-01 -7.42653211e-02 2.22203958e-03 1.20049752e+01] [ 7.42647324e-02 9.97238502e-01 3.46429683e-04 1.16821454e+00] [-2.24163114e-03 -1.80452991e-04 9.99997471e-01 -1.01470544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.020888479 meters Centerline goodness [0,1] 0.9923619638285917 Centerline is valid? [True, True] Translation: X:12.03, Y:1.18, Z:-0.10 [[ 9.97231652e-01 -7.43509052e-02 9.87313247e-04 1.20329046e+01] [ 7.43507896e-02 9.97232138e-01 1.53419823e-04 1.17500964e+00] [-9.95987403e-04 -7.95875841e-05 9.99999501e-01 -1.03574413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050888479 meters Centerline goodness [0,1] 0.9923619638285917 Centerline is valid? [True, True] Translation: X:12.06, Y:1.18, Z:-0.10 [[ 9.97210498e-01 -7.46340890e-02 9.87299760e-04 1.20601813e+01] [ 7.46339734e-02 9.97210984e-01 1.53507008e-04 1.17937121e+00] [-9.96003021e-04 -7.93926962e-05 9.99999501e-01 -1.03725064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.080888479 meters Centerline goodness [0,1] 0.9922049229871402 Centerline is valid? [True, True] Translation: X:12.09, Y:1.18, Z:-0.10 [[ 9.97241098e-01 -7.42172510e-02 -1.41146547e-03 1.20897343e+01] [ 7.42170086e-02 9.97242090e-01 -2.23430565e-04 1.17677598e+00] [ 1.42415517e-03 1.18059397e-04 9.99998979e-01 -1.00902688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110888479 meters Centerline goodness [0,1] 0.9926833347269839 Centerline is valid? [True, True] Translation: X:12.12, Y:1.18, Z:-0.10 [[ 9.97196434e-01 -7.47938575e-02 -2.26971881e-03 1.21193810e+01] [ 7.47932327e-02 9.97198999e-01 -3.59029126e-04 1.17596486e+00] [ 2.29021450e-03 1.88262957e-04 9.99997360e-01 -9.83379732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.140888479 meters Centerline goodness [0,1] 0.9924639375404464 Centerline is valid? [True, True] Translation: X:12.15, Y:1.18, Z:-0.10 [[ 9.97084209e-01 -7.62038829e-02 -4.00607416e-03 1.21482362e+01] [ 7.62019548e-02 9.97092204e-01 -6.31953132e-04 1.17712107e+00] [ 4.04258260e-03 3.24839806e-04 9.99991776e-01 -9.83091185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170888479 meters Centerline goodness [0,1] 0.9927095736458399 Centerline is valid? [True, True] Translation: X:12.18, Y:1.18, Z:-0.10 [[ 9.97173817e-01 -7.50031225e-02 -4.34859910e-03 1.21773699e+01] [ 7.50008396e-02 9.97183235e-01 -6.85915128e-04 1.18350664e+00] [ 4.38779589e-03 3.57828023e-04 9.99990310e-01 -9.87891957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.200888479 meters Centerline goodness [0,1] 0.9923293381969776 Centerline is valid? [True, True] Translation: X:12.20, Y:1.19, Z:-0.10 [[ 9.97147088e-01 -7.53673487e-02 -4.17696771e-03 1.22049130e+01] [ 7.53652362e-02 9.97155777e-01 -6.61073711e-04 1.19111529e+00] [ 4.21491085e-03 3.44389568e-04 9.99991058e-01 -1.01967834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230888478999999 meters Centerline goodness [0,1] 0.9926648833904539 Centerline is valid? [True, True] Translation: X:12.23, Y:1.20, Z:-0.10 [[ 9.97220993e-01 -7.44915357e-02 -1.14129463e-03 1.22335444e+01] [ 7.44913759e-02 9.97221641e-01 -1.81919851e-04 1.19711282e+00] [ 1.15167520e-03 9.63976868e-05 9.99999332e-01 -1.00301616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.260888479 meters Centerline goodness [0,1] 0.9917179513925107 Centerline is valid? [True, True] Translation: X:12.26, Y:1.20, Z:-0.10 [[ 9.97162980e-01 -7.51983078e-02 3.34754018e-03 1.22609320e+01] [ 7.51969526e-02 9.97168561e-01 5.29046458e-04 1.20490297e+00] [-3.37784522e-03 -2.75820722e-04 9.99994257e-01 -9.76053931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290888479 meters Centerline goodness [0,1] 0.992091406689005 Centerline is valid? [True, True] Translation: X:12.29, Y:1.21, Z:-0.09 [[ 9.97100589e-01 -7.59265835e-02 5.05660450e-03 1.22903218e+01] [ 7.59234906e-02 9.97113324e-01 8.01118533e-04 1.20550826e+00] [-5.10283392e-03 -4.14880696e-04 9.99986894e-01 -9.36759322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.320888478999999 meters Centerline goodness [0,1] 0.9919544781874648 Centerline is valid? [True, True] Translation: X:12.32, Y:1.21, Z:-0.09 [[ 9.97020855e-01 -7.69924687e-02 4.64478499e-03 1.23191305e+01] [ 7.69898655e-02 9.97031603e-01 7.36938723e-04 1.20779061e+00] [-4.68773616e-03 -3.77141904e-04 9.99988941e-01 -9.14358908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350888479 meters Centerline goodness [0,1] 0.9915114261222271 Centerline is valid? [True, True] Translation: X:12.35, Y:1.21, Z:-0.09 [[ 9.96990449e-01 -7.73920423e-02 4.52939591e-03 1.23471992e+01] [ 7.73895652e-02 9.97000670e-01 7.19881091e-04 1.21138230e+00] [-4.57152383e-03 -3.67186592e-04 9.99989483e-01 -8.96830688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.380888479 meters Centerline goodness [0,1] 0.9915424132314247 Centerline is valid? [True, True] Translation: X:12.38, Y:1.22, Z:-0.09 [[ 9.96862180e-01 -7.91041958e-02 2.88460101e-03 1.23762600e+01] [ 7.91031976e-02 9.96866327e-01 4.58682786e-04 1.21638160e+00] [-2.91184535e-03 -2.29062358e-04 9.99995734e-01 -9.23061076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410888478999999 meters Centerline goodness [0,1] 0.9914969184163794 Centerline is valid? [True, True] Translation: X:12.40, Y:1.22, Z:-0.09 [[ 9.96763409e-01 -8.03140429e-02 3.51575583e-03 1.24028014e+01] [ 8.03125676e-02 9.96769572e-01 5.59044928e-04 1.22467542e+00] [-3.54929759e-03 -2.74876151e-04 9.99993663e-01 -9.37323532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.440888479 meters Centerline goodness [0,1] 0.990968011708133 Centerline is valid? [True, True] Translation: X:12.43, Y:1.23, Z:-0.09 [[ 9.96675380e-01 -8.13676965e-02 4.18149491e-03 1.24314393e+01] [ 8.13656167e-02 9.96684099e-01 6.65399288e-04 1.23020534e+00] [-4.22177149e-03 -3.22957176e-04 9.99991036e-01 -9.44194762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470888479 meters Centerline goodness [0,1] 0.99262269459206 Centerline is valid? [True, True] Translation: X:12.46, Y:1.22, Z:-0.10 [[ 9.96424071e-01 -8.43989378e-02 3.98623867e-03 1.24628360e+01] [ 8.43970668e-02 9.96432000e-01 6.35566411e-04 1.22468704e+00] [-4.02565691e-03 -2.96866819e-04 9.99991853e-01 -9.51269597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.500888479 meters Centerline goodness [0,1] 0.9933179723502304 Centerline is valid? [True, True] Translation: X:12.49, Y:1.22, Z:-0.10 [[ 9.96273770e-01 -8.61774101e-02 3.46828453e-03 1.24925167e+01] [ 8.61760059e-02 9.96279775e-01 5.52575693e-04 1.22367752e+00] [-3.50300128e-03 -2.51633760e-04 9.99993833e-01 -9.51139675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530888479 meters Centerline goodness [0,1] 0.9931158586344709 Centerline is valid? [True, True] Translation: X:12.52, Y:1.23, Z:-0.09 [[ 9.96126445e-01 -8.78807384e-02 3.01355108e-03 1.25219721e+01] [ 8.78796843e-02 9.96130980e-01 4.80675237e-04 1.22537700e+00] [-3.04413369e-03 -2.13983397e-04 9.99995344e-01 -9.37465048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.560888478999999 meters Centerline goodness [0,1] 0.9927719930443527 Centerline is valid? [True, True] Translation: X:12.55, Y:1.23, Z:-0.09 [[ 9.96035864e-01 -8.89193746e-02 2.42955111e-03 1.25503209e+01] [ 8.89186919e-02 9.96038812e-01 3.87803895e-04 1.22942608e+00] [-2.45441048e-03 -1.70234081e-04 9.99996973e-01 -9.39117538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590888479 meters Centerline goodness [0,1] 0.992503654207559 Centerline is valid? [True, True] Translation: X:12.58, Y:1.24, Z:-0.10 [[ 9.96095253e-01 -8.82846427e-02 2.61817952e-04 1.25769766e+01] [ 8.82846348e-02 9.96095287e-01 4.14746634e-05 1.23862434e+00] [-2.64457204e-04 -1.81982131e-05 9.99999965e-01 -9.81773190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.620888479 meters Centerline goodness [0,1] 0.9927578578286096 Centerline is valid? [True, True] Translation: X:12.61, Y:1.25, Z:-0.10 [[ 9.96132356e-01 -8.78601656e-02 -9.59714136e-04 1.26050321e+01] [ 8.78600564e-02 9.96132816e-01 -1.55420832e-04 1.24625065e+00] [ 9.69658044e-04 7.04991811e-05 9.99999527e-01 -1.01216867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650888478999999 meters Centerline goodness [0,1] 0.9915043730561296 Centerline is valid? [True, True] Translation: X:12.63, Y:1.25, Z:-0.10 [[ 9.96282451e-01 -8.61366037e-02 -1.32788111e-03 1.26330157e+01] [ 8.61363951e-02 9.96283331e-01 -2.13644902e-04 1.25030929e+00] [ 1.34134846e-03 9.84717747e-05 9.99999096e-01 -1.02292750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.680888479 meters Centerline goodness [0,1] 0.9920512392556121 Centerline is valid? [True, True] Translation: X:12.66, Y:1.25, Z:-0.10 [[ 9.96319021e-01 -8.57025496e-02 -1.86604066e-03 1.26621211e+01] [ 8.57021343e-02 9.96320758e-01 -3.01531193e-04 1.25025464e+00] [ 1.88501704e-03 1.40497595e-04 9.99998213e-01 -1.01140661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710888479 meters Centerline goodness [0,1] 0.9928454876365006 Centerline is valid? [True, True] Translation: X:12.69, Y:1.25, Z:-0.10 [[ 9.96393691e-01 -8.48371973e-02 -1.50437601e-03 1.26903852e+01] [ 8.48369271e-02 9.96394820e-01 -2.42613637e-04 1.25350724e+00] [ 1.51953512e-03 1.14112059e-04 9.99998839e-01 -1.00186275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.740888478999999 meters Centerline goodness [0,1] 0.9912278865277924 Centerline is valid? [True, True] Translation: X:12.72, Y:1.26, Z:-0.10 [[ 9.96690810e-01 -8.12850759e-02 -4.05893854e-04 1.27200466e+01] [ 8.12850560e-02 9.96690893e-01 -6.53578121e-05 1.26065229e+00] [ 4.09863322e-04 3.21484261e-05 9.99999915e-01 -9.78149835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770888479 meters Centerline goodness [0,1] 0.9916068147653249 Centerline is valid? [True, True] Translation: X:12.75, Y:1.27, Z:-0.10 [[ 9.96781167e-01 -8.01434524e-02 -2.08114948e-03 1.27488857e+01] [ 8.01429260e-02 9.96783326e-01 -3.35236374e-04 1.26879410e+00] [ 2.10132210e-03 1.67367896e-04 9.99997778e-01 -1.00546080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.800888479 meters Centerline goodness [0,1] 0.9904320213921618 Centerline is valid? [True, True] Translation: X:12.78, Y:1.28, Z:-0.10 [[ 9.96874310e-01 -7.88948910e-02 -4.14802878e-03 1.27767923e+01] [ 7.88927886e-02 9.96882882e-01 -6.68299494e-04 1.27815368e+00] [ 4.18782430e-03 3.38961039e-04 9.99991174e-01 -1.04928467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830888479 meters Centerline goodness [0,1] 0.9912560779648991 Centerline is valid? [True, True] Translation: X:12.81, Y:1.29, Z:-0.11 [[ 9.97022260e-01 -7.70132212e-02 -3.94672446e-03 1.28051459e+01] [ 7.70113014e-02 9.97030017e-01 -6.36326303e-04 1.28512321e+00] [ 3.98400829e-03 3.30489102e-04 9.99992009e-01 -1.05984188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.860888479 meters Centerline goodness [0,1] 0.9908153231374354 Centerline is valid? [True, True] Translation: X:12.83, Y:1.29, Z:-0.10 [[ 9.97211741e-01 -7.45578398e-02 -3.14189646e-03 1.28344134e+01] [ 7.45566116e-02 9.97216654e-01 -5.06380472e-04 1.29208921e+00] [ 3.17090611e-03 2.70719398e-04 9.99994936e-01 -1.04644552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890888479 meters Centerline goodness [0,1] 0.9891711090205916 Centerline is valid? [True, True] Translation: X:12.86, Y:1.30, Z:-0.10 [[ 9.97368573e-01 -7.24842851e-02 -1.39935064e-03 1.28646858e+01] [ 7.24840396e-02 9.97369547e-01 -2.25490294e-04 1.29573420e+00] [ 1.41201422e-03 1.23466346e-04 9.99998995e-01 -1.00045336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.920888479 meters Centerline goodness [0,1] 0.9892778764761208 Centerline is valid? [True, True] Translation: X:12.89, Y:1.30, Z:-0.10 [[ 9.97342739e-01 -7.28371412e-02 -1.48691637e-03 1.28927959e+01] [ 7.28368613e-02 9.97343839e-01 -2.41611425e-04 1.29758797e+00] [ 1.50056517e-03 1.32667079e-04 9.99998865e-01 -9.83761117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950888479 meters Centerline goodness [0,1] 0.9904091270007105 Centerline is valid? [True, True] Translation: X:12.92, Y:1.30, Z:-0.10 [[ 9.97216217e-01 -7.44792916e-02 -3.55704189e-03 1.29224188e+01] [ 7.44777124e-02 9.97222513e-01 -5.74547400e-04 1.29957043e+00] [ 3.58995414e-03 3.08027641e-04 9.99993509e-01 -1.01140861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.980888478999999 meters Centerline goodness [0,1] 0.9896129409797693 Centerline is valid? [True, True] Translation: X:12.95, Y:1.31, Z:-0.10 [[ 9.97134737e-01 -7.55323399e-02 -4.14520906e-03 1.29498355e+01] [ 7.55302000e-02 9.97143289e-01 -6.70592175e-04 1.30634764e+00] [ 4.18401879e-03 3.55582282e-04 9.99991184e-01 -1.03792023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010888479 meters Centerline goodness [0,1] 0.9909482398193828 Centerline is valid? [True, True] Translation: X:12.98, Y:1.31, Z:-0.11 [[ 9.97001549e-01 -7.72511944e-02 -4.49052173e-03 1.29785683e+01] [ 7.72486935e-02 9.97011589e-01 -7.27998233e-04 1.31160697e+00] [ 4.53334094e-03 3.78928429e-04 9.99989653e-01 -1.05692453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.040888479 meters Centerline goodness [0,1] 0.9879467823330692 Centerline is valid? [True, True] Translation: X:13.01, Y:1.32, Z:-0.11 [[ 9.96868640e-01 -7.89220156e-02 -4.92239513e-03 1.30060489e+01] [ 7.89190348e-02 9.96880710e-01 -7.97180173e-04 1.31951685e+00] [ 4.96995582e-03 4.06213242e-04 9.99987567e-01 -1.07629548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070888478999999 meters Centerline goodness [0,1] 0.9865316349968678 Centerline is valid? [True, True] Translation: X:13.04, Y:1.32, Z:-0.11 [[ 9.96733913e-01 -8.05432767e-02 -5.85546242e-03 1.30354147e+01] [ 8.05390735e-02 9.96750999e-01 -9.50505141e-04 1.32179520e+00] [ 5.91299482e-03 4.75807190e-04 9.99982405e-01 -1.08296479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.100888479 meters Centerline goodness [0,1] 0.9916727691181086 Centerline is valid? [True, True] Translation: X:13.07, Y:1.32, Z:-0.11 [[ 9.96742802e-01 -8.03983108e-02 -6.31655429e-03 1.30653947e+01] [ 8.03934060e-02 9.96762683e-01 -1.02701449e-03 1.31711344e+00] [ 6.37867583e-03 5.15859988e-04 9.99979523e-01 -1.06211862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130888479 meters Centerline goodness [0,1] 0.9857388172223153 Centerline is valid? [True, True] Translation: X:13.09, Y:1.33, Z:-0.11 [[ 9.96565821e-01 -8.23287795e-02 -8.86213210e-03 1.30921588e+01] [ 8.23192064e-02 9.96604974e-01 -1.44025247e-03 1.32581140e+00] [ 8.95061916e-03 7.05782705e-04 9.99959693e-01 -1.10017303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.160888478999999 meters Centerline goodness [0,1] 0.9929875240726785 Centerline is valid? [True, True] Translation: X:13.12, Y:1.32, Z:-0.11 [[ 9.96408408e-01 -8.44389887e-02 -6.35155446e-03 1.31229173e+01] [ 8.44341149e-02 9.96428530e-01 -1.03210286e-03 1.32250583e+00] [ 6.41601980e-03 4.92108089e-04 9.99979296e-01 -1.05817543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190888479 meters Centerline goodness [0,1] 0.9923744081786567 Centerline is valid? [True, True] Translation: X:13.15, Y:1.33, Z:-0.10 [[ 9.96365926e-01 -8.51520285e-02 -2.01843240e-03 1.31512370e+01] [ 8.51515368e-02 9.96367958e-01 -3.28486009e-04 1.32834597e+00] [ 2.03907262e-03 1.55419645e-04 9.99997909e-01 -1.01544761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.220888479 meters Centerline goodness [0,1] 0.9932700748233917 Centerline is valid? [True, True] Translation: X:13.18, Y:1.34, Z:-0.10 [[ 9.96241551e-01 -8.65868342e-02 2.34347262e-03 1.31801911e+01] [ 8.65861765e-02 9.96244292e-01 3.80882601e-04 1.33730198e+00] [-2.36765064e-03 -1.76538739e-04 9.99997182e-01 -9.98171685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250888479 meters Centerline goodness [0,1] 0.9918390348771681 Centerline is valid? [True, True] Translation: X:13.21, Y:1.34, Z:-0.10 [[ 9.96154332e-01 -8.76150174e-02 3.95591974e-04 1.32077449e+01] [ 8.76149992e-02 9.96154410e-01 6.30712552e-05 1.34437035e+00] [-3.99596679e-04 -2.81689135e-05 9.99999920e-01 -1.03500779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.280888479 meters Centerline goodness [0,1] 0.9926515104068808 Centerline is valid? [True, True] Translation: X:13.24, Y:1.35, Z:-0.11 [[ 9.96220823e-01 -8.68228862e-02 -2.42044916e-03 1.32371457e+01] [ 8.68221825e-02 9.96223746e-01 -3.94508189e-04 1.34620168e+00] [ 2.44556127e-03 1.82868594e-04 9.99996993e-01 -1.05265960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310888478999999 meters Centerline goodness [0,1] 0.9905859269000354 Centerline is valid? [True, True] Translation: X:13.27, Y:1.35, Z:-0.11 [[ 9.96397538e-01 -8.44295655e-02 -7.97462983e-03 1.32662090e+01] [ 8.44218551e-02 9.96429256e-01 -1.29918677e-03 1.34811858e+00] [ 8.05584424e-03 6.21273459e-04 9.99967358e-01 -1.08780440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.340888479 meters Centerline goodness [0,1] 0.9916391455206722 Centerline is valid? [True, True] Translation: X:13.30, Y:1.35, Z:-0.11 [[ 9.96517114e-01 -8.29304498e-02 -8.72824533e-03 1.32959736e+01] [ 8.29211478e-02 9.96555096e-01 -1.42290297e-03 1.34865983e+00] [ 8.81617934e-03 6.94191043e-04 9.99960896e-01 -1.07413044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370888479 meters Centerline goodness [0,1] 0.9853949017969077 Centerline is valid? [True, True] Translation: X:13.32, Y:1.36, Z:-0.11 [[ 9.96646747e-01 -8.15249637e-02 -6.99589209e-03 1.33229921e+01] [ 8.15189510e-02 9.96671139e-01 -1.14081870e-03 1.36000640e+00] [ 7.06560894e-03 5.66695466e-04 9.99974878e-01 -1.05881423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.400888478999999 meters Centerline goodness [0,1] 0.990151689027062 Centerline is valid? [True, True] Translation: X:13.35, Y:1.37, Z:-0.11 [[ 9.96718689e-01 -8.07833089e-02 -5.09038819e-03 1.33501713e+01] [ 8.07801123e-02 9.96731600e-01 -8.30816005e-04 1.36892411e+00] [ 5.14086684e-03 4.16887710e-04 9.99986699e-01 -1.08127585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430888479 meters Centerline goodness [0,1] 0.9910887576434251 Centerline is valid? [True, True] Translation: X:13.38, Y:1.37, Z:-0.11 [[ 9.96844678e-01 -7.93175249e-02 -3.06895192e-03 1.33796616e+01] [ 7.93163560e-02 9.96849369e-01 -5.00909785e-04 1.37329608e+00] [ 3.09901371e-03 2.55911170e-04 9.99995165e-01 -1.06511691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.460888479 meters Centerline goodness [0,1] 0.9825734464457353 Centerline is valid? [True, True] Translation: X:13.41, Y:1.38, Z:-0.11 [[ 9.96833632e-01 -7.94670357e-02 -2.77509089e-03 1.34058278e+01] [ 7.94660790e-02 9.96837468e-01 -4.53507773e-04 1.38465644e+00] [ 2.80235349e-03 2.31546208e-04 9.99996047e-01 -1.09193334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490888478999999 meters Centerline goodness [0,1] 0.9926004891202107 Centerline is valid? [True, True] Translation: X:13.44, Y:1.38, Z:-0.11 [[ 9.96785763e-01 -8.00735469e-02 -2.52373102e-03 1.34360065e+01] [ 8.00727535e-02 9.96788936e-01 -4.14007180e-04 1.37865375e+00] [ 2.54877818e-03 2.10594371e-04 9.99996730e-01 -1.07293025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.520888479 meters Centerline goodness [0,1] 0.9928370963012608 Centerline is valid? [True, True] Translation: X:13.47, Y:1.37, Z:-0.10 [[ 9.96654613e-01 -8.17270539e-02 -5.21403983e-04 1.34674087e+01] [ 8.17270204e-02 9.96654748e-01 -8.53579171e-05 1.37349259e+00] [ 5.26635807e-04 4.24595678e-05 9.99999860e-01 -1.01150904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550888479 meters Centerline goodness [0,1] 0.992891342072801 Centerline is valid? [True, True] Translation: X:13.50, Y:1.38, Z:-0.10 [[ 9.96556044e-01 -8.29209513e-02 -4.07679369e-04 1.34963869e+01] [ 8.29209307e-02 9.96556127e-01 -6.70872127e-05 1.37660338e+00] [ 4.11838309e-04 3.30510145e-05 9.99999915e-01 -1.00434654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.580888479 meters Centerline goodness [0,1] 0.992653044186095 Centerline is valid? [True, True] Translation: X:13.52, Y:1.38, Z:-0.10 [[ 9.96445560e-01 -8.42230638e-02 -1.64958077e-03 1.35241230e+01] [ 8.42227289e-02 9.96446917e-01 -2.71605532e-04 1.38279990e+00] [ 1.66659512e-03 1.31707933e-04 9.99998603e-01 -1.02104321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610888479 meters Centerline goodness [0,1] 0.9935690644769366 Centerline is valid? [True, True] Translation: X:13.55, Y:1.39, Z:-0.11 [[ 9.96210360e-01 -8.67608218e-02 -6.12193225e-03 1.35512634e+01] [ 8.67562828e-02 9.96229060e-01 -1.00363847e-03 1.39264637e+00] [ 6.18592330e-03 4.68718955e-04 9.99980757e-01 -1.11255570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.640888479 meters Centerline goodness [0,1] 0.9920910574549107 Centerline is valid? [True, True] Translation: X:13.58, Y:1.40, Z:-0.11 [[ 9.96232671e-01 -8.65133305e-02 -5.99241363e-03 1.35782472e+01] [ 8.65089727e-02 9.96250586e-01 -9.83132621e-04 1.39960845e+00] [ 6.05499967e-03 4.61031290e-04 9.99981562e-01 -1.10942298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670888479 meters Centerline goodness [0,1] 0.9922767801079995 Centerline is valid? [True, True] Translation: X:13.61, Y:1.40, Z:-0.11 [[ 9.96147698e-01 -8.75147340e-02 -5.56199347e-03 1.36067467e+01] [ 8.75109825e-02 9.96163135e-01 -9.14781631e-04 1.40382190e+00] [ 5.62070972e-03 4.24522102e-04 9.99984114e-01 -1.10495052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.700888479 meters Centerline goodness [0,1] 0.9935897435897436 Centerline is valid? [True, True] Translation: X:13.64, Y:1.41, Z:-0.11 [[ 9.96118097e-01 -8.78838668e-02 -5.01622658e-03 1.36360537e+01] [ 8.78808130e-02 9.96130654e-01 -8.26410280e-04 1.40597362e+00] [ 5.06944520e-03 3.82372166e-04 9.99987077e-01 -1.09362286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730888478999999 meters Centerline goodness [0,1] 0.9937591623036649 Centerline is valid? [True, True] Translation: X:13.66, Y:1.41, Z:-0.11 [[ 9.96097688e-01 -8.82149107e-02 -2.74342134e-03 1.36649269e+01] [ 8.82139949e-02 9.96101443e-01 -4.53287718e-04 1.40653484e+00] [ 2.77271269e-03 2.09510692e-04 9.99996134e-01 -1.06142363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.760888479 meters Centerline goodness [0,1] 0.9926781306221497 Centerline is valid? [True, True] Translation: X:13.69, Y:1.41, Z:-0.11 [[ 9.96077498e-01 -8.84771802e-02 -1.18578895e-03 1.36935082e+01] [ 8.84770080e-02 9.96078200e-01 -1.97007267e-04 1.41063259e+00] [ 1.19856917e-03 9.13194470e-05 9.99999278e-01 -1.05428850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790888479 meters Centerline goodness [0,1] 0.9937218792508109 Centerline is valid? [True, True] Translation: X:13.72, Y:1.42, Z:-0.10 [[ 9.96195170e-01 -8.71298208e-02 1.89132302e-03 1.37226462e+01] [ 8.71293847e-02 9.96196955e-01 3.11914332e-04 1.41607804e+00] [-1.91130727e-03 -1.45937741e-04 9.99998163e-01 -1.01335159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.820888478999999 meters Centerline goodness [0,1] 0.993454895236502 Centerline is valid? [True, True] Translation: X:13.75, Y:1.42, Z:-0.10 [[ 9.96201289e-01 -8.70015938e-02 3.70327894e-03 1.37510424e+01] [ 8.69999212e-02 9.96208131e-01 6.10686527e-04 1.42060714e+00] [-3.74236730e-03 -2.86181730e-04 9.99992956e-01 -1.01347630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850888479 meters Centerline goodness [0,1] 0.9929387678358785 Centerline is valid? [True, True] Translation: X:13.78, Y:1.43, Z:-0.10 [[ 9.96255886e-01 -8.63960215e-02 3.15220440e-03 1.37773388e+01] [ 8.63948035e-02 9.96260843e-01 5.20794057e-04 1.43093159e+00] [-3.18541235e-03 -2.46510066e-04 9.99994896e-01 -1.04244853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.880888479 meters Centerline goodness [0,1] 0.9931859035993479 Centerline is valid? [True, True] Translation: X:13.81, Y:1.43, Z:-0.10 [[ 9.96320378e-01 -8.56667467e-02 2.62932922e-03 1.38064978e+01] [ 8.56658975e-02 9.96323826e-01 4.34111511e-04 1.43220247e+00] [-2.65685227e-03 -2.07270297e-04 9.99996449e-01 -1.03626972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910888478999999 meters Centerline goodness [0,1] 0.9937155665416763 Centerline is valid? [True, True] Translation: X:13.84, Y:1.43, Z:-0.11 [[ 9.96335108e-01 -8.55355131e-02 1.67376131e-04 1.38354111e+01] [ 8.55355098e-02 9.96335122e-01 2.69961630e-05 1.43107759e+00] [-1.69071848e-04 -1.25806224e-05 9.99999986e-01 -1.06029877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.940888479 meters Centerline goodness [0,1] 0.9937155665416763 Centerline is valid? [True, True] Translation: X:13.86, Y:1.44, Z:-0.11 [[ 9.96310266e-01 -8.58243854e-02 1.67506403e-04 1.38626566e+01] [ 8.58243822e-02 9.96310280e-01 2.62116487e-05 1.43566973e+00] [-1.69137950e-04 -1.17388011e-05 9.99999986e-01 -1.06180643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970888479 meters Centerline goodness [0,1] 0.9936775112004355 Centerline is valid? [True, True] Translation: X:13.89, Y:1.44, Z:-0.11 [[ 9.96204927e-01 -8.70366219e-02 -6.08486946e-04 1.38896814e+01] [ 8.70365760e-02 9.96205111e-01 -1.01601447e-04 1.44073858e+00] [ 6.15020853e-04 4.82552422e-05 9.99999810e-01 -1.07769441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.000888479 meters Centerline goodness [0,1] 0.9932987100016754 Centerline is valid? [True, True] Translation: X:13.92, Y:1.44, Z:-0.11 [[ 9.96178797e-01 -8.73371419e-02 1.66576985e-04 1.39173420e+01] [ 8.73371386e-02 9.96178811e-01 2.72066755e-05 1.44459607e+00] [-1.68316617e-04 -1.25543560e-05 9.99999986e-01 -1.05933297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030888478999998 meters Centerline goodness [0,1] 0.9940959718616531 Centerline is valid? [True, True] Translation: X:13.95, Y:1.45, Z:-0.11 [[ 9.95930883e-01 -9.01088259e-02 1.44097487e-03 1.39470029e+01] [ 9.01085732e-02 9.95931919e-01 2.39487493e-04 1.44777591e+00] [-1.45669280e-03 -1.08668800e-04 9.99998933e-01 -1.06609216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.060888479 meters Centerline goodness [0,1] 0.9942006532116238 Centerline is valid? [True, True] Translation: X:13.98, Y:1.45, Z:-0.11 [[ 9.95810704e-01 -9.14282682e-02 1.38347495e-03 1.39753407e+01] [ 9.14280368e-02 9.95811660e-01 2.29731234e-04 1.45171328e+00] [-1.39868442e-03 -1.02280423e-04 9.99999017e-01 -1.08332559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090888478999997 meters Centerline goodness [0,1] 0.994087306579444 Centerline is valid? [True, True] Translation: X:14.00, Y:1.46, Z:-0.11 [[ 9.95802390e-01 -9.15124715e-02 1.75144490e-03 1.40014755e+01] [ 9.15121007e-02 9.95803922e-01 2.90871254e-04 1.45640411e+00] [-1.77071405e-03 -1.29371889e-04 9.99998424e-01 -1.07639098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.120888478999998 meters Centerline goodness [0,1] 0.9939822192401241 Centerline is valid? [True, True] Translation: X:14.03, Y:1.46, Z:-0.11 [[ 9.95794073e-01 -9.16151754e-02 9.07257654e-04 1.40301563e+01] [ 9.16150766e-02 9.95794484e-01 1.49894286e-04 1.45762209e+00] [-9.17174759e-04 -6.61453617e-05 9.99999577e-01 -1.05843056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150888479 meters Centerline goodness [0,1] 0.9932399806856591 Centerline is valid? [True, True] Translation: X:14.06, Y:1.46, Z:-0.11 [[ 9.95736051e-01 -9.22474690e-02 -3.49507371e-04 1.40574676e+01] [ 9.22474540e-02 9.95736112e-01 -5.87837556e-05 1.46350260e+00] [ 3.53439763e-04 2.62919395e-05 9.99999937e-01 -1.07209787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.180888478999996 meters Centerline goodness [0,1] 0.9939868462261197 Centerline is valid? [True, True] Translation: X:14.09, Y:1.47, Z:-0.11 [[ 9.95604825e-01 -9.36453857e-02 -1.25467464e-03 1.40861834e+01] [ 9.36451953e-02 9.95605611e-01 -2.09770356e-04 1.46673448e+00] [ 1.26880513e-03 9.13541273e-05 9.99999191e-01 -1.08916825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210888478999998 meters Centerline goodness [0,1] 0.9951035781544256 Centerline is valid? [True, True] Translation: X:14.12, Y:1.47, Z:-0.11 [[ 9.95509150e-01 -9.46637683e-02 -5.50535157e-04 1.41151149e+01] [ 9.46637310e-02 9.95509301e-01 -9.34280415e-05 1.46758539e+00] [ 5.56907120e-04 4.08927582e-05 9.99999844e-01 -1.08772338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.240888479 meters Centerline goodness [0,1] 0.9937868708422242 Centerline is valid? [True, True] Translation: X:14.14, Y:1.48, Z:-0.11 [[ 9.95410367e-01 -9.56969797e-02 5.37101055e-04 1.41410631e+01] [ 9.56969454e-02 9.95410512e-01 8.93236738e-05 1.48103977e+00] [-5.43184042e-04 -3.75147807e-05 9.99999852e-01 -1.09614747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270888478999996 meters Centerline goodness [0,1] 0.9949332105020727 Centerline is valid? [True, True] Translation: X:14.17, Y:1.48, Z:-0.11 [[ 9.95351566e-01 -9.63079538e-02 1.95576104e-04 1.41699509e+01] [ 9.63079495e-02 9.95351585e-01 3.13922841e-05 1.48438525e+00] [-1.97690311e-04 -1.24108257e-05 9.99999980e-01 -1.10393536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.300888478999997 meters Centerline goodness [0,1] 0.9943335075797177 Centerline is valid? [True, True] Translation: X:14.20, Y:1.49, Z:-0.11 [[ 9.95380752e-01 -9.60000658e-02 1.07031498e-03 1.41984447e+01] [ 9.59999294e-02 9.95381325e-01 1.78176691e-04 1.48860002e+00] [-1.08247652e-03 -7.46034860e-05 9.99999411e-01 -1.08698107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330888479 meters Centerline goodness [0,1] 0.9944922619421582 Centerline is valid? [True, True] Translation: X:14.23, Y:1.49, Z:-0.11 [[ 9.95449838e-01 -9.52851162e-02 6.05958961e-04 1.42269473e+01] [ 9.52850727e-02 9.95450021e-01 1.00411278e-04 1.49194695e+00] [-6.12769561e-04 -4.22155466e-05 9.99999811e-01 -1.08946147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.360888478999996 meters Centerline goodness [0,1] 0.9939722472215827 Centerline is valid? [True, True] Translation: X:14.25, Y:1.50, Z:-0.11 [[ 9.95521311e-01 -9.45320496e-02 -1.00579351e-03 1.42535284e+01] [ 9.45319262e-02 9.95521816e-01 -1.69557494e-04 1.49978756e+00] [ 1.01731800e-03 7.37185007e-05 9.99999480e-01 -1.11942742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390888478999997 meters Centerline goodness [0,1] 0.9930574433826144 Centerline is valid? [True, True] Translation: X:14.28, Y:1.51, Z:-0.12 [[ 9.95506387e-01 -9.46538893e-02 -2.77031224e-03 1.42795765e+01] [ 9.46529559e-02 9.95510221e-01 -4.66403742e-04 1.51048228e+00] [ 2.80202108e-03 2.02089662e-04 9.99996054e-01 -1.15418185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.420888479 meters Centerline goodness [0,1] 0.9936853110297962 Centerline is valid? [True, True] Translation: X:14.31, Y:1.51, Z:-0.12 [[ 9.95443478e-01 -9.52881289e-02 -3.52905483e-03 1.43081337e+01] [ 9.52866123e-02 9.95449701e-01 -5.95797803e-04 1.51223923e+00] [ 3.56976903e-03 2.56811358e-04 9.99993595e-01 -1.16580032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450888478999996 meters Centerline goodness [0,1] 0.9939726256749404 Centerline is valid? [True, True] Translation: X:14.34, Y:1.51, Z:-0.11 [[ 9.95327510e-01 -9.65293263e-02 2.28853010e-03 1.43380499e+01] [ 9.65286955e-02 9.95330128e-01 3.84728444e-04 1.51246262e+00] [-2.31498053e-03 -1.62021979e-04 9.99997307e-01 -1.07112385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.480888478999997 meters Centerline goodness [0,1] 0.994765822917321 Centerline is valid? [True, True] Translation: X:14.37, Y:1.52, Z:-0.11 [[ 9.95015715e-01 -9.96998573e-02 1.91474818e-03 1.43661954e+01] [ 9.96994199e-02 9.95017548e-01 3.22783862e-04 1.51748552e+00] [-1.93738954e-03 -1.30275732e-04 9.99998115e-01 -1.06540952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510888479 meters Centerline goodness [0,1] 0.9941859249189585 Centerline is valid? [True, True] Translation: X:14.40, Y:1.52, Z:-0.11 [[ 9.94443411e-01 -1.05269908e-01 7.41033174e-04 1.43968344e+01] [ 1.05269844e-01 9.94443686e-01 1.24910731e-04 1.51679862e+00] [-7.50065102e-04 -4.62082070e-05 9.99999718e-01 -1.07787137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.540888479 meters Centerline goodness [0,1] 0.9948013835027775 Centerline is valid? [True, True] Translation: X:14.43, Y:1.52, Z:-0.11 [[ 9.94256127e-01 -1.07001718e-01 2.32100302e-03 1.44251855e+01] [ 1.07001094e-01 9.94258826e-01 3.91467950e-04 1.52166637e+00] [-2.34956548e-03 -1.40869544e-04 9.99997230e-01 -1.08102367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570888478999997 meters Centerline goodness [0,1] 0.9941317013874335 Centerline is valid? [True, True] Translation: X:14.45, Y:1.53, Z:-0.11 [[ 9.94167830e-01 -1.07793501e-01 3.29960112e-03 1.44522702e+01] [ 1.07792244e-01 9.94173286e-01 5.56889422e-04 1.52963096e+00] [-3.34040435e-03 -1.97970139e-04 9.99994401e-01 -1.09110029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.600888478999998 meters Centerline goodness [0,1] 0.9941355115718924 Centerline is valid? [True, True] Translation: X:14.48, Y:1.53, Z:-0.11 [[ 9.94007251e-01 -1.09274342e-01 2.95003247e-03 1.44805961e+01] [ 1.09273344e-01 9.94011614e-01 4.98148663e-04 1.53493412e+00] [-2.98680140e-03 -1.72803471e-04 9.99995525e-01 -1.12359238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630888479 meters Centerline goodness [0,1] 0.994268501861691 Centerline is valid? [True, True] Translation: X:14.51, Y:1.54, Z:-0.11 [[ 9.94101374e-01 -1.08365844e-01 4.39337311e-03 1.45079123e+01] [ 1.08363618e-01 9.94111048e-01 7.42322300e-04 1.54143415e+00] [-4.44794313e-03 -2.61861815e-04 9.99990074e-01 -1.09775178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.660888478999997 meters Centerline goodness [0,1] 0.9938186237532478 Centerline is valid? [True, True] Translation: X:14.54, Y:1.54, Z:-0.11 [[ 9.94058719e-01 -1.08817893e-01 2.43498023e-03 1.45353862e+01] [ 1.08817212e-01 9.94061691e-01 4.10990139e-04 1.54428566e+00] [-2.46524365e-03 -1.43580572e-04 9.99996951e-01 -1.08195525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690888478999998 meters Centerline goodness [0,1] 0.9944713199723566 Centerline is valid? [True, True] Translation: X:14.56, Y:1.55, Z:-0.11 [[ 9.94151276e-01 -1.07994270e-01 6.90990580e-04 1.45637851e+01] [ 1.07994215e-01 9.94151516e-01 1.16633336e-04 1.54708821e+00] [-6.99545064e-04 -4.13281939e-05 9.99999754e-01 -1.08888264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.720888479 meters Centerline goodness [0,1] 0.9952391938088547 Centerline is valid? [True, True] Translation: X:14.59, Y:1.55, Z:-0.11 [[ 9.94407338e-01 -1.05612290e-01 3.01509424e-04 1.45927255e+01] [ 1.05612279e-01 9.94407383e-01 5.09176899e-05 1.55294702e+00] [-3.05200731e-04 -1.87898270e-05 9.99999953e-01 -1.09145992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750888478999997 meters Centerline goodness [0,1] 0.9928978756292691 Centerline is valid? [True, True] Translation: X:14.62, Y:1.57, Z:-0.11 [[ 9.94644882e-01 -1.03351341e-01 2.44390373e-04 1.46186703e+01] [ 1.03351334e-01 9.94644912e-01 4.11487169e-05 1.57226074e+00] [-2.47334416e-04 -1.56702895e-05 9.99999969e-01 -1.10501733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.780888478999998 meters Centerline goodness [0,1] 0.9933341691741893 Centerline is valid? [True, True] Translation: X:14.65, Y:1.58, Z:-0.11 [[ 9.95151003e-01 -9.82012709e-02 5.56694718e-03 1.46484961e+01] [ 9.81975181e-02 9.95166497e-01 9.44144986e-04 1.57874713e+00] [-5.63275556e-03 -3.92906433e-04 9.99984059e-01 -1.05905008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810888479 meters Centerline goodness [0,1] 0.9931336742147553 Centerline is valid? [True, True] Translation: X:14.68, Y:1.59, Z:-0.10 [[ 9.95307638e-01 -9.64306906e-02 7.98918996e-03 1.46771574e+01] [ 9.64229040e-02 9.95339534e-01 1.35504548e-03 1.58832904e+00] [-8.08262458e-03 -5.78346220e-04 9.99967168e-01 -1.04437862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.840888478999997 meters Centerline goodness [0,1] 0.9933730532037212 Centerline is valid? [True, True] Translation: X:14.71, Y:1.60, Z:-0.11 [[ 9.95366619e-01 -9.58457253e-02 7.67408788e-03 1.47051387e+01] [ 9.58385175e-02 9.95396043e-01 1.30238025e-03 1.59513304e+00] [-7.76358429e-03 -5.60872621e-04 9.99969706e-01 -1.05614288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870888478999998 meters Centerline goodness [0,1] 0.9931913116123643 Centerline is valid? [True, True] Translation: X:14.73, Y:1.60, Z:-0.11 [[ 9.95494056e-01 -9.45971840e-02 6.55411875e-03 1.47324574e+01] [ 9.45918914e-02 9.95515512e-01 1.11355954e-03 1.60387203e+00] [-6.63006648e-03 -4.88575412e-04 9.99977902e-01 -1.06564911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.900888479 meters Centerline goodness [0,1] 0.9933358402272917 Centerline is valid? [True, True] Translation: X:14.76, Y:1.60, Z:-0.11 [[ 9.95475927e-01 -9.48357900e-02 5.81821061e-03 1.47616581e+01] [ 9.48316212e-02 9.95492836e-01 9.88870200e-04 1.60231505e+00] [-5.88576727e-03 -4.32646135e-04 9.99982585e-01 -1.05345330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930888478999996 meters Centerline goodness [0,1] 0.9936480076892539 Centerline is valid? [True, True] Translation: X:14.79, Y:1.61, Z:-0.10 [[ 9.95368307e-01 -9.59718677e-02 5.59760487e-03 1.47891608e+01] [ 9.59680213e-02 9.95383962e-01 9.52362351e-04 1.60750734e+00] [-5.66316611e-03 -4.10760237e-04 9.99983880e-01 -1.04005722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.960888478999998 meters Centerline goodness [0,1] 0.9946524064171123 Centerline is valid? [True, True] Translation: X:14.82, Y:1.62, Z:-0.11 [[ 9.94922868e-01 -1.00618003e-01 2.12207824e-03 1.48187779e+01] [ 1.00617460e-01 9.94925121e-01 3.61216831e-04 1.61502593e+00] [-2.14765387e-03 -1.45864762e-04 9.99997683e-01 -1.07834128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990888479 meters Centerline goodness [0,1] 0.9937825996244524 Centerline is valid? [True, True] Translation: X:14.85, Y:1.62, Z:-0.11 [[ 9.94847664e-01 -1.01355539e-01 2.27592801e-03 1.48458669e+01] [ 1.01354918e-01 9.94850255e-01 3.87152593e-04 1.62288743e+00] [-2.30344762e-03 -1.54481358e-04 9.99997335e-01 -1.09769839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.020888478999996 meters Centerline goodness [0,1] 0.9938633659646413 Centerline is valid? [True, True] Translation: X:14.87, Y:1.63, Z:-0.11 [[ 9.94754146e-01 -1.02273213e-01 2.09234873e-03 1.48744252e+01] [ 1.02272691e-01 9.94756337e-01 3.55543256e-04 1.62926011e+00] [-2.11773971e-03 -1.39687993e-04 9.99997748e-01 -1.10450944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050888478999997 meters Centerline goodness [0,1] 0.9934734559406148 Centerline is valid? [True, True] Translation: X:14.90, Y:1.64, Z:-0.11 [[ 9.94746960e-01 -1.02317564e-01 3.09873306e-03 1.49024338e+01] [ 1.02316413e-01 9.94751764e-01 5.27994964e-04 1.63529051e+00] [-3.13649334e-03 -2.08170133e-04 9.99995060e-01 -1.07747232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.080888479 meters Centerline goodness [0,1] 0.9935138066238425 Centerline is valid? [True, True] Translation: X:14.93, Y:1.64, Z:-0.11 [[ 9.94740167e-01 -1.02364773e-01 3.66789199e-03 1.49304887e+01] [ 1.02363157e-01 9.94746899e-01 6.26143020e-04 1.64158574e+00] [-3.71271917e-03 -2.47392610e-04 9.99993077e-01 -1.06912533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110888478999996 meters Centerline goodness [0,1] 0.9939087988652009 Centerline is valid? [True, True] Translation: X:14.96, Y:1.64, Z:-0.11 [[ 9.94718301e-01 -1.02529610e-01 4.81456473e-03 1.49584419e+01] [ 1.02526819e-01 9.94729900e-01 8.23487630e-04 1.64343508e+00] [-4.87362336e-03 -3.25516207e-04 9.99988071e-01 -1.06538818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.140888478999997 meters Centerline goodness [0,1] 0.9941664236009834 Centerline is valid? [True, True] Translation: X:14.99, Y:1.65, Z:-0.11 [[ 9.94673282e-01 -1.02913830e-01 5.81433286e-03 1.49857113e+01] [ 1.02909755e-01 9.94690198e-01 9.96543439e-04 1.65242924e+00] [-5.88601801e-03 -3.92883561e-04 9.99982600e-01 -1.05630217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170888479 meters Centerline goodness [0,1] 0.993571816170639 Centerline is valid? [True, True] Translation: X:15.01, Y:1.66, Z:-0.11 [[ 9.94557815e-01 -1.04102538e-01 4.17310369e-03 1.50144043e+01] [ 1.04100445e-01 9.94566531e-01 7.16095562e-04 1.65902597e+00] [-4.22497663e-03 -2.77776483e-04 9.99991036e-01 -1.06465795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.200888478999996 meters Centerline goodness [0,1] 0.9934909144013518 Centerline is valid? [True, True] Translation: X:15.04, Y:1.67, Z:-0.11 [[ 9.94605881e-01 -1.03581967e-01 5.46964686e-03 1.50408092e+01] [ 1.03578356e-01 9.94620852e-01 9.40278547e-04 1.66834614e+00] [-5.53762072e-03 -3.68669546e-04 9.99984599e-01 -1.05442126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230888478999997 meters Centerline goodness [0,1] 0.9933174623063108 Centerline is valid? [True, True] Translation: X:15.07, Y:1.68, Z:-0.11 [[ 9.94661447e-01 -1.03112891e-01 4.04191587e-03 1.50675349e+01] [ 1.03110914e-01 9.94669622e-01 6.95263413e-04 1.67929956e+00] [-4.09206155e-03 -2.74786075e-04 9.99991590e-01 -1.07233514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.260888479 meters Centerline goodness [0,1] 0.9932594087419644 Centerline is valid? [True, True] Translation: X:15.10, Y:1.69, Z:-0.11 [[ 9.94898887e-01 -1.00876218e-01 -4.39182868e-04 1.50968283e+01] [ 1.00876195e-01 9.94898984e-01 -7.57028906e-05 1.68706432e+00] [ 4.44579210e-04 3.10136251e-05 9.99999901e-01 -1.13161257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290888479 meters Centerline goodness [0,1] 0.9939238286143823 Centerline is valid? [True, True] Translation: X:15.13, Y:1.69, Z:-0.11 [[ 9.95152238e-01 -9.83408793e-02 -1.04657863e-03 1.51267995e+01] [ 9.83407438e-02 9.95152785e-01 -1.80287981e-04 1.69175426e+00] [ 1.05923532e-03 7.64926663e-05 9.99999436e-01 -1.13753484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.320888478999997 meters Centerline goodness [0,1] 0.9940262344389673 Centerline is valid? [True, True] Translation: X:15.16, Y:1.70, Z:-0.11 [[ 9.95316131e-01 -9.66656253e-02 -1.24766873e-03 1.51559659e+01] [ 9.66654312e-02 9.95316908e-01 -2.15055721e-04 1.69846455e+00] [ 1.26261427e-03 9.34419930e-05 9.99999199e-01 -1.14067654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350888478999998 meters Centerline goodness [0,1] 0.9924321394320977 Centerline is valid? [True, True] Translation: X:15.18, Y:1.71, Z:-0.11 [[ 9.95628136e-01 -9.33721550e-02 2.50097114e-03 1.51839733e+01] [ 9.33713660e-02 9.95631258e-01 4.30629426e-04 1.71036603e+00] [-2.53025384e-03 -1.95227681e-04 9.99996780e-01 -1.11242754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.380888479 meters Centerline goodness [0,1] 0.9924507841174508 Centerline is valid? [True, True] Translation: X:15.21, Y:1.72, Z:-0.11 [[ 9.95677723e-01 -9.27721888e-02 4.38105030e-03 1.52120188e+01] [ 9.27697625e-02 9.95687301e-01 7.54263615e-04 1.71692834e+00] [-4.43213083e-03 -3.44574483e-04 9.99990119e-01 -1.09514442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410888478999997 meters Centerline goodness [0,1] 0.9927278031297535 Centerline is valid? [True, True] Translation: X:15.24, Y:1.72, Z:-0.11 [[ 9.95649694e-01 -9.30189636e-02 5.39987074e-03 1.52387557e+01] [ 9.30152717e-02 9.95664246e-01 9.31399840e-04 1.72463822e+00] [-5.46309608e-03 -4.25077521e-04 9.99984987e-01 -1.08788608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.440888478999998 meters Centerline goodness [0,1] 0.9918948201858566 Centerline is valid? [True, True] Translation: X:15.27, Y:1.73, Z:-0.11 [[ 9.95435206e-01 -9.52386437e-02 6.19285266e-03 1.52686801e+01] [ 9.52338191e-02 9.95454356e-01 1.07001575e-03 1.72815033e+00] [-6.26660901e-03 -4.75362342e-04 9.99980252e-01 -1.07916447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470888479 meters Centerline goodness [0,1] 0.9918799058901914 Centerline is valid? [True, True] Translation: X:15.30, Y:1.73, Z:-0.11 [[ 9.95261756e-01 -9.70739617e-02 5.53922355e-03 1.52980771e+01] [ 9.70701294e-02 9.95277084e-01 9.57174686e-04 1.73084918e+00] [-5.60597900e-03 -4.14946211e-04 9.99984200e-01 -1.08319873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.500888478999997 meters Centerline goodness [0,1] 0.9921417404898385 Centerline is valid? [True, True] Translation: X:15.33, Y:1.73, Z:-0.11 [[ 9.95116591e-01 -9.85316927e-02 5.87153236e-03 1.53271561e+01] [ 9.85274107e-02 9.95133820e-01 1.01484331e-03 1.73346336e+00] [-5.94295465e-03 -4.31380540e-04 9.99982247e-01 -1.07630839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530888478999998 meters Centerline goodness [0,1] 0.992745617143691 Centerline is valid? [True, True] Translation: X:15.36, Y:1.73, Z:-0.11 [[ 9.94838046e-01 -1.01361939e-01 4.79782462e-03 1.53570407e+01] [ 1.01359111e-01 9.94849558e-01 8.29562417e-04 1.73365003e+00] [-4.85719976e-03 -3.38977015e-04 9.99988146e-01 -1.09281662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.560888479 meters Centerline goodness [0,1] 0.9927524158613795 Centerline is valid? [True, True] Translation: X:15.39, Y:1.74, Z:-0.11 [[ 9.94758156e-01 -1.02156177e-01 4.50842750e-03 1.53859903e+01] [ 1.02153688e-01 9.94768323e-01 7.79485470e-04 1.73799084e+00] [-4.56447012e-03 -3.14847033e-04 9.99989533e-01 -1.10064133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590888478999997 meters Centerline goodness [0,1] 0.9921227111175773 Centerline is valid? [True, True] Translation: X:15.41, Y:1.74, Z:-0.11 [[ 9.94619177e-01 -1.03504800e-01 4.41009514e-03 1.54143338e+01] [ 1.03502426e-01 9.94628908e-01 7.63767900e-04 1.74330126e+00] [-4.46546176e-03 -3.03202653e-04 9.99989984e-01 -1.13194175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.620888478999998 meters Centerline goodness [0,1] 0.9925314138304069 Centerline is valid? [True, True] Translation: X:15.44, Y:1.75, Z:-0.11 [[ 9.94597122e-01 -1.03690577e-01 4.98297753e-03 1.54420134e+01] [ 1.03687547e-01 9.94609545e-01 8.63311994e-04 1.74793646e+00] [-5.04563434e-03 -3.41974907e-04 9.99987212e-01 -1.13142961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650888479 meters Centerline goodness [0,1] 0.9918400398654541 Centerline is valid? [True, True] Translation: X:15.47, Y:1.75, Z:-0.11 [[ 9.94652746e-01 -1.03126130e-01 5.56018134e-03 1.54699688e+01] [ 1.03122339e-01 9.94668212e-01 9.65100232e-04 1.75310680e+00] [-5.63006268e-03 -3.86560692e-04 9.99984076e-01 -1.12226576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.680888478999996 meters Centerline goodness [0,1] 0.992734615704888 Centerline is valid? [True, True] Translation: X:15.50, Y:1.76, Z:-0.11 [[ 9.94727680e-01 -1.02372771e-01 6.05454190e-03 1.54986991e+01] [ 1.02368257e-01 9.94746015e-01 1.05162253e-03 1.75620387e+00] [-6.13038894e-03 -4.26285136e-04 9.99981118e-01 -1.11407776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710888478999998 meters Centerline goodness [0,1] 0.992325450801772 Centerline is valid? [True, True] Translation: X:15.53, Y:1.77, Z:-0.11 [[ 9.94956366e-01 -1.00143822e-01 5.74843009e-03 1.55260703e+01] [ 1.00139708e-01 9.94972884e-01 9.99811495e-04 1.76721076e+00] [-5.81965701e-03 -4.19122701e-04 9.99982978e-01 -1.12938696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.740888479 meters Centerline goodness [0,1] 0.9916022283196142 Centerline is valid? [True, True] Translation: X:15.55, Y:1.77, Z:-0.11 [[ 9.95074295e-01 -9.89330714e-02 6.27652463e-03 1.55549868e+01] [ 9.89281406e-02 9.95093981e-01 1.09201757e-03 1.77334203e+00] [-6.35376854e-03 -4.65713703e-04 9.99979706e-01 -1.12489633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770888478999996 meters Centerline goodness [0,1] 0.992027405792588 Centerline is valid? [True, True] Translation: X:15.58, Y:1.78, Z:-0.11 [[ 9.95159776e-01 -9.80194874e-02 7.01428657e-03 1.55829203e+01] [ 9.80133041e-02 9.95184356e-01 1.22074643e-03 1.77747445e+00] [-7.10016520e-03 -5.27344342e-04 9.99974654e-01 -1.12845118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.800888478999997 meters Centerline goodness [0,1] 0.9917197187200932 Centerline is valid? [True, True] Translation: X:15.61, Y:1.78, Z:-0.12 [[ 9.95360317e-01 -9.60661817e-02 5.39702047e-03 1.56119119e+01] [ 9.60624904e-02 9.95374862e-01 9.39664344e-04 1.78145716e+00] [-5.46232847e-03 -4.16853372e-04 9.99984994e-01 -1.15253576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830888479 meters Centerline goodness [0,1] 0.9916136013651309 Centerline is valid? [True, True] Translation: X:15.64, Y:1.79, Z:-0.12 [[ 9.95457925e-01 -9.51117533e-02 4.15623233e-03 1.56388075e+01] [ 9.51095554e-02 9.95466548e-01 7.23751527e-04 1.78873069e+00] [-4.20622753e-03 -3.25166784e-04 9.99991101e-01 -1.18010813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.860888478999996 meters Centerline goodness [0,1] 0.9916136013651309 Centerline is valid? [True, True] Translation: X:15.67, Y:1.79, Z:-0.12 [[ 9.95430609e-01 -9.53972105e-02 4.15620985e-03 1.56659963e+01] [ 9.53950146e-02 9.95439233e-01 7.23880874e-04 1.79354853e+00] [-4.20631056e-03 -3.24091480e-04 9.99991101e-01 -1.18161560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890888478999997 meters Centerline goodness [0,1] 0.9912488567390039 Centerline is valid? [True, True] Translation: X:15.69, Y:1.80, Z:-0.12 [[ 9.95510249e-01 -9.46077955e-02 2.95118103e-03 1.56927183e+01] [ 9.46066821e-02 9.95514596e-01 5.14909727e-04 1.80297521e+00] [-2.98665826e-03 -2.33396465e-04 9.99995513e-01 -1.20970459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.920888479 meters Centerline goodness [0,1] 0.9896950227377028 Centerline is valid? [True, True] Translation: X:15.72, Y:1.81, Z:-0.12 [[ 9.95766593e-01 -9.18396799e-02 3.79027760e-03 1.57208298e+01] [ 9.18378213e-02 9.95773758e-01 6.61914909e-04 1.81407404e+00] [-3.83504903e-03 -3.11021917e-04 9.99992598e-01 -1.20940335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950888478999996 meters Centerline goodness [0,1] 0.992620387742339 Centerline is valid? [True, True] Translation: X:15.75, Y:1.82, Z:-0.12 [[ 9.95894992e-01 -9.04408339e-02 3.69056289e-03 1.57501762e+01] [ 9.04390622e-02 9.95901783e-01 6.44502571e-04 1.81505461e+00] [-3.73372751e-03 -3.08085836e-04 9.99992982e-01 -1.19665463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.980888478999997 meters Centerline goodness [0,1] 0.9867513913115707 Centerline is valid? [True, True] Translation: X:15.78, Y:1.82, Z:-0.12 [[ 9.95918313e-01 -9.02243613e-02 2.50576610e-03 1.57767361e+01] [ 9.02235440e-02 9.95921443e-01 4.37534633e-04 1.82324944e+00] [-2.53502247e-03 -2.09669656e-04 9.99996765e-01 -1.19767918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010888479 meters Centerline goodness [0,1] 0.9926919153011722 Centerline is valid? [True, True] Translation: X:15.81, Y:1.81, Z:-0.12 [[ 9.95743218e-01 -9.21706480e-02 1.22480161e-04 1.58084009e+01] [ 9.21706461e-02 9.95743226e-01 2.12157907e-05 1.81372173e+00] [-1.23914264e-04 -9.83640414e-06 9.99999992e-01 -1.20207652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.040888478999996 meters Centerline goodness [0,1] 0.9925041237759171 Centerline is valid? [True, True] Translation: X:15.84, Y:1.82, Z:-0.12 [[ 9.95537298e-01 -9.43635818e-02 1.00148919e-03 1.58384395e+01] [ 9.43634532e-02 9.95537798e-01 1.75023149e-04 1.81558295e+00] [-1.01353616e-03 -7.97380940e-05 9.99999483e-01 -1.19060872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070888478999997 meters Centerline goodness [0,1] 0.9934232503758142 Centerline is valid? [True, True] Translation: X:15.87, Y:1.82, Z:-0.12 [[ 9.95189035e-01 -9.79611537e-02 1.54850070e-03 1.58687540e+01] [ 9.79608503e-02 9.95190232e-01 2.70758555e-04 1.81948087e+00] [-1.56757659e-03 -1.17763500e-04 9.99998764e-01 -1.20403014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.100888478999998 meters Centerline goodness [0,1] 0.9930198153897444 Centerline is valid? [True, True] Translation: X:15.90, Y:1.82, Z:-0.12 [[ 9.94564241e-01 -1.03982853e-01 5.43472887e-03 1.58993582e+01] [ 1.03979204e-01 9.94579017e-01 9.50351412e-04 1.82031911e+00] [-5.50408755e-03 -3.80086747e-04 9.99984780e-01 -1.19529510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130888479 meters Centerline goodness [0,1] 0.9932557993861316 Centerline is valid? [True, True] Translation: X:15.93, Y:1.82, Z:-0.12 [[ 9.94331637e-01 -1.06111895e-01 6.69785278e-03 1.59287561e+01] [ 1.06106401e-01 9.94354092e-01 1.17131707e-03 1.82355654e+00] [-6.78432799e-03 -4.53992567e-04 9.99976883e-01 -1.18967147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.160888478999997 meters Centerline goodness [0,1] 0.9933148097854472 Centerline is valid? [True, True] Translation: X:15.96, Y:1.83, Z:-0.12 [[ 9.94100647e-01 -1.08318996e-01 5.55857957e-03 1.59585227e+01] [ 1.08315246e-01 9.94116121e-01 9.72247819e-04 1.82679472e+00] [-5.63118647e-03 -3.64433272e-04 9.99984078e-01 -1.21103698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190888478999998 meters Centerline goodness [0,1] 0.9936847828359926 Centerline is valid? [True, True] Translation: X:15.99, Y:1.83, Z:-0.13 [[ 9.93860059e-01 -1.10641914e-01 7.42277067e-04 1.59887617e+01] [ 1.10641848e-01 9.93860335e-01 1.29758922e-04 1.82799158e+00] [-7.52076509e-04 -4.68353034e-05 9.99999716e-01 -1.26001281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.220888479 meters Centerline goodness [0,1] 0.9932015479552349 Centerline is valid? [True, True] Translation: X:16.02, Y:1.83, Z:-0.13 [[ 9.93711120e-01 -1.11973752e-01 -2.99541176e-04 1.60165747e+01] [ 1.11973741e-01 9.93711165e-01 -5.31631679e-05 1.83224237e+00] [ 3.03610290e-04 1.92880850e-05 9.99999954e-01 -1.27229804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250888478999997 meters Centerline goodness [0,1] 0.9945360911070172 Centerline is valid? [True, True] Translation: X:16.05, Y:1.83, Z:-0.12 [[ 9.93632117e-01 -1.12671265e-01 6.34150528e-04 1.60453226e+01] [ 1.12671218e-01 9.93632319e-01 1.09816407e-04 1.83355696e+00] [-6.42485613e-04 -3.76665960e-05 9.99999793e-01 -1.24181053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.280888478999998 meters Centerline goodness [0,1] 0.993806494810847 Centerline is valid? [True, True] Translation: X:16.07, Y:1.84, Z:-0.12 [[ 9.93508472e-01 -1.13726374e-01 2.68846950e-03 1.60726098e+01] [ 1.13725514e-01 9.93512096e-01 4.71138121e-04 1.84002272e+00] [-2.72460780e-03 -1.62332139e-04 9.99996275e-01 -1.21084658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310888479 meters Centerline goodness [0,1] 0.9931836239702254 Centerline is valid? [True, True] Translation: X:16.10, Y:1.85, Z:-0.12 [[ 9.93483521e-01 -1.13939332e-01 2.88497498e-03 1.60995477e+01] [ 1.13938342e-01 9.93487694e-01 5.05878617e-04 1.84804271e+00] [-2.92382661e-03 -1.73872805e-04 9.99995710e-01 -1.20336592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.340888478999997 meters Centerline goodness [0,1] 0.9941258858205991 Centerline is valid? [True, True] Translation: X:16.13, Y:1.85, Z:-0.12 [[ 9.93612083e-01 -1.12837077e-01 1.68031052e-03 1.61278524e+01] [ 1.12836740e-01 9.93613498e-01 2.94579001e-04 1.85107495e+00] [-1.70281864e-03 -1.03096495e-04 9.99998545e-01 -1.21650334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370888478999998 meters Centerline goodness [0,1] 0.993964668161529 Centerline is valid? [True, True] Translation: X:16.16, Y:1.86, Z:-0.12 [[ 9.93880253e-01 -1.10449437e-01 1.72177194e-03 1.61565161e+01] [ 1.10449079e-01 9.93881738e-01 3.02052690e-04 1.85669405e+00] [-1.74459923e-03 -1.10036080e-04 9.99998472e-01 -1.22362803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.400888479 meters Centerline goodness [0,1] 0.994282722513089 Centerline is valid? [True, True] Translation: X:16.19, Y:1.86, Z:-0.12 [[ 9.94264418e-01 -1.06918273e-01 2.59804201e-03 1.61850013e+01] [ 1.06917444e-01 9.94267797e-01 4.56375144e-04 1.86313373e+00] [-2.63194435e-03 -1.75981557e-04 9.99996521e-01 -1.22461828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430888478999996 meters Centerline goodness [0,1] 0.9936908517350158 Centerline is valid? [True, True] Translation: X:16.21, Y:1.87, Z:-0.12 [[ 9.94399058e-01 -1.05607797e-01 4.18406671e-03 1.62144412e+01] [ 1.05605634e-01 9.94407819e-01 7.35104628e-04 1.86669950e+00] [-4.23830143e-03 -2.89126330e-04 9.99990977e-01 -1.20462346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.460888478999998 meters Centerline goodness [0,1] 0.9937296212691247 Centerline is valid? [True, True] Translation: X:16.24, Y:1.87, Z:-0.12 [[ 9.94402601e-01 -1.05431017e-01 6.91136204e-03 1.62433188e+01] [ 1.05425106e-01 9.94426503e-01 1.21498463e-03 1.86963745e+00] [-7.00093865e-03 -4.79552797e-04 9.99975378e-01 -1.18328756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490888479 meters Centerline goodness [0,1] 0.9939685863874346 Centerline is valid? [True, True] Translation: X:16.27, Y:1.88, Z:-0.12 [[ 9.94415490e-01 -1.05366533e-01 5.97714553e-03 1.62694471e+01] [ 1.05362103e-01 9.94433367e-01 1.05200426e-03 1.87978382e+00] [-6.05471900e-03 -4.16364704e-04 9.99981583e-01 -1.19474884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.520888478999996 meters Centerline goodness [0,1] 0.9947205229196346 Centerline is valid? [True, True] Translation: X:16.30, Y:1.88, Z:-0.12 [[ 9.94548766e-01 -1.04172413e-01 4.56740888e-03 1.62988089e+01] [ 1.04169812e-01 9.94559201e-01 8.04196277e-04 1.88053609e+00] [-4.62633359e-03 -3.24026289e-04 9.99989246e-01 -1.21184340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550888478999997 meters Centerline goodness [0,1] 0.9941513112382869 Centerline is valid? [True, True] Translation: X:16.32, Y:1.89, Z:-0.12 [[ 9.94618106e-01 -1.03579606e-01 2.46754070e-03 1.63244127e+01] [ 1.03578846e-01 9.94621151e-01 4.34286913e-04 1.89355671e+00] [-2.49925144e-03 -1.76364610e-04 9.99996861e-01 -1.24517839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.580888479 meters Centerline goodness [0,1] 0.9946781763325512 Centerline is valid? [True, True] Translation: X:16.35, Y:1.89, Z:-0.12 [[ 9.94964051e-01 -1.00204818e-01 2.35199375e-03 1.63547347e+01] [ 1.00204116e-01 9.94966815e-01 4.14611329e-04 1.89323955e+00] [-2.38170178e-03 -1.76843913e-04 9.99997148e-01 -1.24210832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610888478999996 meters Centerline goodness [0,1] 0.9933899510521692 Centerline is valid? [True, True] Translation: X:16.38, Y:1.90, Z:-0.12 [[ 9.95056601e-01 -9.92710119e-02 2.76157018e-03 1.63809495e+01] [ 9.92700415e-02 9.95060411e-01 4.86625039e-04 1.90143196e+00] [-2.79623692e-03 -2.10078271e-04 9.99996068e-01 -1.23025332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.640888478999997 meters Centerline goodness [0,1] 0.994675610523006 Centerline is valid? [True, True] Translation: X:16.41, Y:1.90, Z:-0.12 [[ 9.94918200e-01 -1.00660982e-01 2.26744770e-03 1.64102135e+01] [ 1.00660331e-01 9.94920770e-01 3.99809446e-04 1.90152759e+00] [-2.29617602e-03 -1.69535659e-04 9.99997349e-01 -1.23407910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670888479 meters Centerline goodness [0,1] 0.9935834465461386 Centerline is valid? [True, True] Translation: X:16.44, Y:1.91, Z:-0.12 [[ 9.94709658e-01 -1.02597699e-01 5.13896457e-03 1.64383476e+01] [ 1.02594375e-01 9.94722862e-01 9.07011282e-04 1.90659439e+00] [-5.20490282e-03 -3.74984025e-04 9.99986384e-01 -1.19408800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.700888478999996 meters Centerline goodness [0,1] 0.9941234289060376 Centerline is valid? [True, True] Translation: X:16.47, Y:1.91, Z:-0.12 [[ 9.94540186e-01 -1.04170712e-01 6.18716994e-03 1.64671052e+01] [ 1.04165922e-01 9.94559333e-01 1.09242851e-03 1.91073089e+00] [-6.26730666e-03 -4.41971800e-04 9.99980263e-01 -1.18805670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730888478999997 meters Centerline goodness [0,1] 0.9935276432269918 Centerline is valid? [True, True] Translation: X:16.49, Y:1.92, Z:-0.12 [[ 9.94369439e-01 -1.05761129e-01 6.63346786e-03 1.64944069e+01] [ 1.05755654e-01 9.94391456e-01 1.17174338e-03 1.91820835e+00] [-6.72018867e-03 -4.63619077e-04 9.99977312e-01 -1.19889157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.760888479 meters Centerline goodness [0,1] 0.9935284539267671 Centerline is valid? [True, True] Translation: X:16.52, Y:1.93, Z:-0.12 [[ 9.94293367e-01 -1.06468951e-01 6.71294364e-03 1.65207318e+01] [ 1.06463356e-01 9.94315919e-01 1.18629868e-03 1.92839789e+00] [-6.80109070e-03 -4.64846394e-04 9.99976764e-01 -1.21328470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790888478999996 meters Centerline goodness [0,1] 0.9938275479672756 Centerline is valid? [True, True] Translation: X:16.55, Y:1.93, Z:-0.12 [[ 9.94144262e-01 -1.07970551e-01 4.42116773e-03 1.65497343e+01] [ 1.07968138e-01 9.94154048e-01 7.81548757e-04 1.92938158e+00] [-4.47970604e-03 -2.99626964e-04 9.99989921e-01 -1.24921036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.820888478999997 meters Centerline goodness [0,1] 0.9937501306410819 Centerline is valid? [True, True] Translation: X:16.58, Y:1.93, Z:-0.13 [[ 9.94149422e-01 -1.07962974e-01 3.30507492e-03 1.65779918e+01] [ 1.07961626e-01 9.94154890e-01 5.84016410e-04 1.93441159e+00] [-3.34880854e-03 -2.23778314e-04 9.99994368e-01 -1.25226274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850888478999998 meters Centerline goodness [0,1] 0.9935753024614101 Centerline is valid? [True, True] Translation: X:16.61, Y:1.94, Z:-0.13 [[ 9.94306743e-01 -1.06517076e-01 2.86580441e-03 1.66070752e+01] [ 1.06516054e-01 9.94310853e-01 5.07452113e-04 1.93698550e+00] [-2.90355275e-03 -1.99308880e-04 9.99995765e-01 -1.25400508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.880888479 meters Centerline goodness [0,1] 0.9939490047156032 Centerline is valid? [True, True] Translation: X:16.63, Y:1.95, Z:-0.13 [[ 9.94290021e-01 -1.06707766e-01 8.98518649e-04 1.66331369e+01] [ 1.06707666e-01 9.94290425e-01 1.58620212e-04 1.94506947e+00] [-9.10314498e-04 -6.18356655e-05 9.99999584e-01 -1.28299171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910888478999997 meters Centerline goodness [0,1] 0.9941885987833685 Centerline is valid? [True, True] Translation: X:16.66, Y:1.95, Z:-0.13 [[ 9.94383650e-01 -1.05823276e-01 1.60974699e-03 1.66614547e+01] [ 1.05822954e-01 9.94384946e-01 2.84449859e-04 1.95079909e+00] [-1.63080959e-03 -1.12504108e-04 9.99998664e-01 -1.27570010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.940888478999998 meters Centerline goodness [0,1] 0.9936671944004666 Centerline is valid? [True, True] Translation: X:16.69, Y:1.96, Z:-0.12 [[ 9.94581801e-01 -1.03816495e-01 5.40155136e-03 1.66891383e+01] [ 1.03812809e-01 9.94596391e-01 9.59099664e-04 1.95972587e+00] [-5.47193386e-03 -3.93152852e-04 9.99984952e-01 -1.24218676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970888479 meters Centerline goodness [0,1] 0.9934626871906264 Centerline is valid? [True, True] Translation: X:16.72, Y:1.96, Z:-0.12 [[ 9.94662448e-01 -1.02948875e-01 6.93849992e-03 1.67177875e+01] [ 1.02942767e-01 9.94686517e-01 1.23277600e-03 1.96279808e+00] [-7.02854522e-03 -5.11927617e-04 9.99975168e-01 -1.23278315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.000888478999997 meters Centerline goodness [0,1] 0.9934352198365077 Centerline is valid? [True, True] Translation: X:16.75, Y:1.97, Z:-0.12 [[ 9.94801116e-01 -1.01554955e-01 7.57163802e-03 1.67469600e+01] [ 1.01547629e-01 9.94829767e-01 1.34685325e-03 1.96823946e+00] [-7.66927051e-03 -5.70969228e-04 9.99970428e-01 -1.22104678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030888478999998 meters Centerline goodness [0,1] 0.9930533825646161 Centerline is valid? [True, True] Translation: X:16.78, Y:1.97, Z:-0.12 [[ 9.94913821e-01 -1.00348992e-01 8.75035054e-03 1.67763473e+01] [ 1.00339158e-01 9.94952074e-01 1.55687242e-03 1.97378705e+00] [-8.86241000e-03 -6.70951080e-04 9.99960503e-01 -1.21156194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.060888479 meters Centerline goodness [0,1] 0.9927205222868823 Centerline is valid? [True, True] Translation: X:16.80, Y:1.98, Z:-0.12 [[ 9.94933250e-01 -1.00146238e-01 8.86337940e-03 1.68044240e+01] [ 1.00136130e-01 9.94972495e-01 1.57806662e-03 1.97848197e+00] [-8.97685615e-03 -6.82526440e-04 9.99959474e-01 -1.21936150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090888478999997 meters Centerline goodness [0,1] 0.9923465131798466 Centerline is valid? [True, True] Translation: X:16.83, Y:1.98, Z:-0.12 [[ 9.94850066e-01 -1.00941771e-01 9.17087993e-03 1.68327820e+01] [ 1.00930961e-01 9.94892088e-01 1.63518927e-03 1.98385761e+00] [-9.28909478e-03 -7.01142426e-04 9.99956610e-01 -1.22905536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.120888478999998 meters Centerline goodness [0,1] 0.9927599732932733 Centerline is valid? [True, True] Translation: X:16.86, Y:1.99, Z:-0.12 [[ 9.94705034e-01 -1.02459243e-01 7.99995189e-03 1.68606001e+01] [ 1.02451054e-01 9.94737022e-01 1.42782866e-03 1.98732076e+00] [-8.10414256e-03 -6.00664848e-04 9.99966980e-01 -1.24743738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150888479 meters Centerline goodness [0,1] 0.9938165865886777 Centerline is valid? [True, True] Translation: X:16.89, Y:1.99, Z:-0.13 [[ 9.94663424e-01 -1.02872000e-01 7.87556520e-03 1.68900581e+01] [ 1.02864068e-01 9.94694428e-01 1.40674120e-03 1.98750473e+00] [-7.97849510e-03 -5.89121343e-04 9.99967998e-01 -1.25622481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.180888478999996 meters Centerline goodness [0,1] 0.9934630967795831 Centerline is valid? [True, True] Translation: X:16.92, Y:1.99, Z:-0.13 [[ 9.94660346e-01 -1.02875711e-01 8.20878122e-03 1.69168040e+01] [ 1.02867080e-01 9.94694028e-01 1.46800955e-03 1.99327624e+00] [-8.31624818e-03 -6.15757537e-04 9.99965230e-01 -1.25405349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210888478999998 meters Centerline goodness [0,1] 0.9927345609420017 Centerline is valid? [True, True] Translation: X:16.95, Y:2.00, Z:-0.12 [[ 9.94703521e-01 -1.02314045e-01 9.83575753e-03 1.69454131e+01] [ 1.02301607e-01 9.94751869e-01 1.76081921e-03 1.99670635e+00] [-9.96429472e-03 -7.45279261e-04 9.99950077e-01 -1.23702142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.240888479 meters Centerline goodness [0,1] 0.9930097654619815 Centerline is valid? [True, True] Translation: X:16.97, Y:2.00, Z:-0.12 [[ 9.94822828e-01 -1.01046791e-01 1.08206441e-02 1.69748964e+01] [ 1.01031644e-01 9.94881323e-01 1.93885973e-03 2.00122072e+00] [-1.09611723e-02 -8.35594455e-04 9.99939575e-01 -1.21818677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270888478999996 meters Centerline goodness [0,1] 0.991609410784926 Centerline is valid? [True, True] Translation: X:17.00, Y:2.01, Z:-0.12 [[ 9.94900867e-01 -1.00299890e-01 1.05923313e-02 1.70011970e+01] [ 1.00285326e-01 9.94956908e-01 1.89862418e-03 2.01304962e+00] [-1.07293450e-02 -8.26687446e-04 9.99942097e-01 -1.20875415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.300888478999997 meters Centerline goodness [0,1] 0.9916849015317286 Centerline is valid? [True, True] Translation: X:17.03, Y:2.02, Z:-0.12 [[ 9.95009617e-01 -9.91801701e-02 1.09159010e-02 1.70303845e+01] [ 9.91646277e-02 9.95069116e-01 1.95732769e-03 2.01974879e+00] [-1.10562040e-02 -8.65088623e-04 9.99938504e-01 -1.20861008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330888479 meters Centerline goodness [0,1] 0.9905905864229656 Centerline is valid? [True, True] Translation: X:17.06, Y:2.03, Z:-0.13 [[ 9.95269539e-01 -9.68192644e-02 8.03588371e-03 1.70589539e+01] [ 9.68107636e-02 9.95301763e-01 1.44109944e-03 2.02925843e+00] [-8.13765541e-03 -6.56322338e-04 9.99966673e-01 -1.26215110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.360888478999996 meters Centerline goodness [0,1] 0.9918140348684622 Centerline is valid? [True, True] Translation: X:17.09, Y:2.03, Z:-0.13 [[ 9.95389945e-01 -9.55990669e-02 7.72499281e-03 1.70886473e+01] [ 9.55911732e-02 9.95419714e-01 1.38552237e-03 2.03122282e+00] [-7.82206479e-03 -6.40693914e-04 9.99969202e-01 -1.26839485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390888478999997 meters Centerline goodness [0,1] 0.9915275406969483 Centerline is valid? [True, True] Translation: X:17.12, Y:2.03, Z:-0.13 [[ 9.95465560e-01 -9.48776886e-02 6.82221228e-03 1.71171521e+01] [ 9.48715133e-02 9.95488773e-01 1.22390808e-03 2.03296492e+00] [-6.90755731e-03 -5.71124742e-04 9.99975979e-01 -1.27950375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.420888479 meters Centerline goodness [0,1] 0.992112676056338 Centerline is valid? [True, True] Translation: X:17.15, Y:2.04, Z:-0.13 [[ 9.95492165e-01 -9.46638228e-02 5.84030777e-03 1.71459309e+01] [ 9.46592902e-02 9.95509176e-01 1.04829768e-03 2.03584390e+00] [-5.91331584e-03 -4.90732740e-04 9.99982396e-01 -1.27558227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450888478999996 meters Centerline goodness [0,1] 0.9920948616600791 Centerline is valid? [True, True] Translation: X:17.17, Y:2.04, Z:-0.13 [[ 9.95429300e-01 -9.53675078e-02 5.05447717e-03 1.71744344e+01] [ 9.53641162e-02 9.95442043e-01 9.08362469e-04 2.03904618e+00] [-5.11806734e-03 -4.22194868e-04 9.99986813e-01 -1.27893654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.480888478999997 meters Centerline goodness [0,1] 0.9918447167495371 Centerline is valid? [True, True] Translation: X:17.20, Y:2.04, Z:-0.13 [[ 9.95344973e-01 -9.62424782e-02 5.07642581e-03 1.72028347e+01] [ 9.62390617e-02 9.95357829e-01 9.13623094e-04 2.04269893e+00] [-5.14078952e-03 -4.20819697e-04 9.99986698e-01 -1.27832896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510888479 meters Centerline goodness [0,1] 0.9920516021639617 Centerline is valid? [True, True] Translation: X:17.23, Y:2.05, Z:-0.13 [[ 9.95220504e-01 -9.76156930e-02 2.70642975e-03 1.72293233e+01] [ 9.76147256e-02 9.95224159e-01 4.87582600e-04 2.05243635e+00] [-2.74109999e-03 -2.21064803e-04 9.99996219e-01 -1.31258030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.540888478999996 meters Centerline goodness [0,1] 0.9913827196469829 Centerline is valid? [True, True] Translation: X:17.26, Y:2.06, Z:-0.13 [[ 9.95283730e-01 -9.69982166e-02 1.28171112e-03 1.72561236e+01] [ 9.69979993e-02 9.95284550e-01 2.30772089e-04 2.06175477e+00] [-1.29805176e-03 -1.05360291e-04 9.99999152e-01 -1.33690494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570888478999997 meters Centerline goodness [0,1] 0.9915782907049283 Centerline is valid? [True, True] Translation: X:17.29, Y:2.06, Z:-0.13 [[ 9.95377896e-01 -9.60355846e-02 1.07080610e-04 1.72858207e+01] [ 9.60355831e-02 9.95377901e-01 1.91293865e-05 2.06350160e+00] [-1.08422774e-04 -8.75741972e-06 9.99999994e-01 -1.34512278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.600888478999998 meters Centerline goodness [0,1] 0.9919769937691458 Centerline is valid? [True, True] Translation: X:17.31, Y:2.06, Z:-0.13 [[ 9.95362917e-01 -9.61813748e-02 1.34424989e-03 1.73143250e+01] [ 9.61811359e-02 9.95363818e-01 2.41423178e-04 2.06142325e+00] [-1.36123812e-03 -1.11012197e-04 9.99999067e-01 -1.30041424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630888479 meters Centerline goodness [0,1] 0.98929902358795 Centerline is valid? [True, True] Translation: X:17.34, Y:2.07, Z:-0.13 [[ 9.95251979e-01 -9.73019704e-02 2.41366022e-03 1.73412659e+01] [ 9.73011972e-02 9.95254885e-01 4.36014535e-04 2.06773384e+00] [-2.44463220e-03 -1.99092299e-04 9.99996992e-01 -1.28215817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.660888478999997 meters Centerline goodness [0,1] 0.9909153418206822 Centerline is valid? [True, True] Translation: X:17.37, Y:2.07, Z:-0.13 [[ 9.95088532e-01 -9.89636104e-02 2.23980102e-03 1.73710429e+01] [ 9.89629479e-02 9.95091036e-01 4.04999324e-04 2.07265627e+00] [-2.26888611e-03 -1.81352872e-04 9.99997410e-01 -1.28876661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690888478999998 meters Centerline goodness [0,1] 0.9908530232945785 Centerline is valid? [True, True] Translation: X:17.40, Y:2.08, Z:-0.13 [[ 9.94992723e-01 -9.99466389e-02 3.88254360e-04 1.73987151e+01] [ 9.99466196e-02 9.94992798e-01 6.89799493e-05 2.07958035e+00] [-3.93204606e-04 -2.98298368e-05 9.99999922e-01 -1.33774637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.720888479 meters Centerline goodness [0,1] 0.9918458426310192 Centerline is valid? [True, True] Translation: X:17.43, Y:2.08, Z:-0.13 [[ 9.95150396e-01 -9.83509038e-02 1.67020698e-03 1.74281594e+01] [ 9.83505339e-02 9.95151788e-01 3.02358702e-04 2.08403496e+00] [-1.69184671e-03 -1.36626635e-04 9.99998559e-01 -1.33278374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750888478999997 meters Centerline goodness [0,1] 0.9918458426310192 Centerline is valid? [True, True] Translation: X:17.46, Y:2.09, Z:-0.13 [[ 9.95122929e-01 -9.86284282e-02 1.67036043e-03 1.74553266e+01] [ 9.86280601e-02 9.95124321e-01 3.01512394e-04 2.08904777e+00] [-1.69195398e-03 -1.35297487e-04 9.99998559e-01 -1.33429238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.780888478999998 meters Centerline goodness [0,1] 0.9887698974914576 Centerline is valid? [True, True] Translation: X:17.48, Y:2.10, Z:-0.14 [[ 9.95153493e-01 -9.83333345e-02 -2.84198301e-04 1.74816643e+01] [ 9.83333236e-02 9.95153533e-01 -5.20679149e-05 2.09872599e+00] [ 2.87940955e-04 2.38694039e-05 9.99999958e-01 -1.35169220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810888479 meters Centerline goodness [0,1] 0.9912813132261227 Centerline is valid? [True, True] Translation: X:17.51, Y:2.10, Z:-0.13 [[ 9.95204286e-01 -9.78140198e-02 -9.19799467e-04 1.75105691e+01] [ 9.78139062e-02 9.95204708e-01 -1.67815443e-04 2.09839189e+00] [ 9.31803464e-04 7.70414689e-05 9.99999563e-01 -1.34597840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.840888478999997 meters Centerline goodness [0,1] 0.991109627063464 Centerline is valid? [True, True] Translation: X:17.54, Y:2.10, Z:-0.13 [[ 9.95267579e-01 -9.71722499e-02 -1.25637644e-05 1.75399423e+01] [ 9.71722499e-02 9.95267579e-01 -3.64401687e-06 2.09980553e+00] [ 1.28584047e-05 2.40592259e-06 1.00000000e+00 -1.31026212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870888478999998 meters Centerline goodness [0,1] 0.9907795648455264 Centerline is valid? [True, True] Translation: X:17.57, Y:2.10, Z:-0.13 [[ 9.95216762e-01 -9.76912781e-02 -1.03538883e-04 1.75686447e+01] [ 9.76912765e-02 9.95216767e-01 -2.02144337e-05 2.10444141e+00] [ 1.05018406e-04 1.00028977e-05 9.99999994e-01 -1.30653103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.900888479 meters Centerline goodness [0,1] 0.9893656949831102 Centerline is valid? [True, True] Translation: X:17.60, Y:2.11, Z:-0.13 [[ 9.95194353e-01 -9.79193250e-02 7.76535302e-05 1.75951856e+01] [ 9.79193242e-02 9.95194356e-01 1.36731664e-05 2.11170935e+00] [-7.86192221e-05 -6.00367676e-06 9.99999997e-01 -1.30482567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930888478999996 meters Centerline goodness [0,1] 0.9906938979451627 Centerline is valid? [True, True] Translation: X:17.62, Y:2.12, Z:-0.13 [[ 9.95177381e-01 -9.80898890e-02 5.94457155e-04 1.76232802e+01] [ 9.80898425e-02 9.95177558e-01 1.06966868e-04 2.11653696e+00] [-6.02082788e-04 -4.81407986e-05 9.99999818e-01 -1.30430156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.960888478999998 meters Centerline goodness [0,1] 0.9905984865856455 Centerline is valid? [True, True] Translation: X:17.65, Y:2.12, Z:-0.13 [[ 9.95307558e-01 -9.67443166e-02 1.84424754e-03 1.76523605e+01] [ 9.67438579e-02 9.95309255e-01 3.36521963e-04 2.12407944e+00] [-1.86815323e-03 -1.56523232e-04 9.99998243e-01 -1.30640530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990888479 meters Centerline goodness [0,1] 0.987963348604748 Centerline is valid? [True, True] Translation: X:17.68, Y:2.13, Z:-0.13 [[ 9.95401573e-01 -9.57806345e-02 1.33370013e-03 1.76799905e+01] [ 9.57803938e-02 9.95402460e-01 2.43285081e-04 2.13169426e+00] [-1.35087039e-03 -1.14424029e-04 9.99999081e-01 -1.31049788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.020888478999996 meters Centerline goodness [0,1] 0.9881853731591647 Centerline is valid? [True, True] Translation: X:17.71, Y:2.14, Z:-0.13 [[ 9.95405685e-01 -9.57430021e-02 8.94875304e-04 1.77088728e+01] [ 9.57428946e-02 9.95406084e-01 1.62319156e-04 2.13587356e+00] [-9.06305245e-04 -7.58954589e-05 9.99999586e-01 -1.31173574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050888478999997 meters Centerline goodness [0,1] 0.9859839399311712 Centerline is valid? [True, True] Translation: X:17.74, Y:2.14, Z:-0.13 [[ 9.95370540e-01 -9.61117148e-02 -1.65307020e-04 1.77372325e+01] [ 9.61117109e-02 9.95370553e-01 -3.17932194e-05 2.13747358e+00] [ 1.67597441e-04 1.57580934e-05 9.99999986e-01 -1.31295962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.080888479 meters Centerline goodness [0,1] 0.9775041736227045 Centerline is valid? [True, True] Translation: X:17.76, Y:2.14, Z:-0.13 [[ 9.95314734e-01 -9.66879994e-02 -1.02234786e-04 1.77640451e+01] [ 9.66879979e-02 9.95314740e-01 -1.92033503e-05 2.14371389e+00] [ 1.03612523e-04 9.22850071e-06 9.99999995e-01 -1.31816685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110888478999996 meters Centerline goodness [0,1] 0.9904674303871561 Centerline is valid? [True, True] Translation: X:17.79, Y:2.14, Z:-0.13 [[ 9.95234667e-01 -9.75087145e-02 -8.82884985e-05 1.77948060e+01] [ 9.75087134e-02 9.95234671e-01 -1.74769139e-05 2.13858534e+00] [ 8.95719262e-05 8.78473265e-06 9.99999996e-01 -1.31283946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.140888478999997 meters Centerline goodness [0,1] 0.9911786786786787 Centerline is valid? [True, True] Translation: X:17.82, Y:2.14, Z:-0.13 [[ 9.95102334e-01 -9.88467271e-02 -8.17850878e-04 1.78235082e+01] [ 9.88466366e-02 9.95102668e-01 -1.50518309e-04 2.14242320e+00] [ 8.28723833e-04 6.89393123e-05 9.99999654e-01 -1.32694430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170888479 meters Centerline goodness [0,1] 0.991795939614784 Centerline is valid? [True, True] Translation: X:17.85, Y:2.15, Z:-0.13 [[ 9.94799773e-01 -1.01846882e-01 -7.90070487e-04 1.78530964e+01] [ 1.01846799e-01 9.94800085e-01 -1.45076992e-04 2.14751485e+00] [ 8.00737827e-04 6.38564085e-05 9.99999677e-01 -1.34492161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.200888478999996 meters Centerline goodness [0,1] 0.9916353775552774 Centerline is valid? [True, True] Translation: X:17.88, Y:2.15, Z:-0.13 [[ 9.94692847e-01 -1.02888910e-01 -1.14771589e-04 1.78803742e+01] [ 1.02888909e-01 9.94692853e-01 -2.15654194e-05 2.15358146e+00] [ 1.16381322e-04 9.64224483e-06 9.99999993e-01 -1.33983434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230888478999997 meters Centerline goodness [0,1] 0.9921759268918608 Centerline is valid? [True, True] Translation: X:17.91, Y:2.16, Z:-0.13 [[ 9.94542435e-01 -1.04332325e-01 -3.32902685e-04 1.79098042e+01] [ 1.04332310e-01 9.94542490e-01 -6.24896300e-05 2.15612194e+00] [ 3.37605554e-04 2.74160827e-05 9.99999943e-01 -1.33482078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.260888479 meters Centerline goodness [0,1] 0.9919974992185058 Centerline is valid? [True, True] Translation: X:17.94, Y:2.16, Z:-0.13 [[ 9.94400780e-01 -1.05662298e-01 -1.60267040e-03 1.79384965e+01] [ 1.05661958e-01 9.94402063e-01 -2.95227552e-04 2.16021135e+00] [ 1.62489317e-03 1.24233215e-04 9.99998672e-01 -1.34335302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290888478999996 meters Centerline goodness [0,1] 0.9920151774173372 Centerline is valid? [True, True] Translation: X:17.97, Y:2.17, Z:-0.13 [[ 9.94348852e-01 -1.06158750e-01 -8.24578932e-04 1.79655689e+01] [ 1.06158660e-01 9.94349192e-01 -1.52252533e-04 2.16612129e+00] [ 8.36082333e-04 6.38559366e-05 9.99999648e-01 -1.32199870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.320888478999997 meters Centerline goodness [0,1] 0.9920243861700351 Centerline is valid? [True, True] Translation: X:18.00, Y:2.17, Z:-0.13 [[ 9.94223025e-01 -1.07332965e-01 -4.59941081e-04 1.79951725e+01] [ 1.07332937e-01 9.94223131e-01 -8.60124233e-05 2.16774122e+00] [ 4.66516030e-04 3.61487048e-05 9.99999891e-01 -1.31918035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350888478999998 meters Centerline goodness [0,1] 0.9933539541882628 Centerline is valid? [True, True] Translation: X:18.02, Y:2.17, Z:-0.13 [[ 9.94138943e-01 -1.08108897e-01 4.76833752e-04 1.80240830e+01] [ 1.08108868e-01 9.94139057e-01 8.66163989e-05 2.16969710e+00] [-4.83403060e-04 -3.45587781e-05 9.99999883e-01 -1.31530070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.380888479 meters Centerline goodness [0,1] 0.9922580914421653 Centerline is valid? [True, True] Translation: X:18.05, Y:2.18, Z:-0.13 [[ 9.94095438e-01 -1.08507687e-01 5.85174770e-04 1.80504863e+01] [ 1.08507643e-01 9.94095609e-01 1.06585375e-04 2.17858680e+00] [-5.93285001e-04 -4.24601001e-05 9.99999823e-01 -1.34514393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410888478999997 meters Centerline goodness [0,1] 0.9929753616542294 Centerline is valid? [True, True] Translation: X:18.08, Y:2.19, Z:-0.14 [[ 9.94152720e-01 -1.07982267e-01 -4.46253326e-04 1.80789691e+01] [ 1.07982240e-01 9.94152820e-01 -8.39777921e-05 2.18540412e+00] [ 4.52712115e-04 3.52993167e-05 9.99999897e-01 -1.36317360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.440888478999998 meters Centerline goodness [0,1] 0.9912410585806344 Centerline is valid? [True, True] Translation: X:18.11, Y:2.20, Z:-0.14 [[ 9.94390920e-01 -1.05766328e-01 -4.27799935e-04 1.81065827e+01] [ 1.05766304e-01 9.94391011e-01 -7.93949790e-05 2.19632556e+00] [ 4.33797726e-04 3.37028283e-05 9.99999905e-01 -1.35972735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470888479 meters Centerline goodness [0,1] 0.9917474511114825 Centerline is valid? [True, True] Translation: X:18.14, Y:2.20, Z:-0.14 [[ 9.94681664e-01 -1.02940173e-01 -3.42162354e-03 1.81368719e+01] [ 1.02938599e-01 9.94687510e-01 -6.33554304e-04 2.19840950e+00] [ 3.46866439e-03 2.77967717e-04 9.99993946e-01 -1.37942051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.500888478999997 meters Centerline goodness [0,1] 0.9899114378811931 Centerline is valid? [True, True] Translation: X:18.16, Y:2.21, Z:-0.14 [[ 9.94865054e-01 -1.01127398e-01 -4.09550527e-03 1.81641896e+01] [ 1.01125125e-01 9.94873426e-01 -7.58934976e-04 2.20748497e+00] [ 4.15125847e-03 3.40879405e-04 9.99991325e-01 -1.38340660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530888478999998 meters Centerline goodness [0,1] 0.990752338009352 Centerline is valid? [True, True] Translation: X:18.19, Y:2.21, Z:-0.14 [[ 9.94987870e-01 -9.99051982e-02 -4.25332142e-03 1.81938468e+01] [ 9.99027354e-02 9.94996896e-01 -7.88131464e-04 2.21154342e+00] [ 4.31078004e-03 3.59262802e-04 9.99990644e-01 -1.38263743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.560888479 meters Centerline goodness [0,1] 0.9847762250869484 Centerline is valid? [True, True] Translation: X:18.22, Y:2.22, Z:-0.14 [[ 9.95120875e-01 -9.86266665e-02 -2.68785265e-03 1.82205058e+01] [ 9.86256772e-02 9.95124478e-01 -4.98510944e-04 2.22189432e+00] [ 2.72391443e-03 2.30987360e-04 9.99996263e-01 -1.36905465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590888478999997 meters Centerline goodness [0,1] 0.9859310517320439 Centerline is valid? [True, True] Translation: X:18.25, Y:2.22, Z:-0.13 [[ 9.95156529e-01 -9.83029078e-02 -1.46017015e-04 1.82496516e+01] [ 9.83029047e-02 9.95156540e-01 -2.84264350e-05 2.22469777e+00] [ 1.48104188e-04 1.39348557e-05 9.99999989e-01 -1.33385557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.620888478999998 meters Centerline goodness [0,1] 0.9873153198336573 Centerline is valid? [True, True] Translation: X:18.28, Y:2.23, Z:-0.13 [[ 9.95154137e-01 -9.83269758e-02 -2.22587090e-04 1.82779657e+01] [ 9.83269687e-02 9.95154162e-01 -4.27017925e-05 2.22830053e+00] [ 2.25707207e-04 2.06085516e-05 9.99999974e-01 -1.34035729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650888479 meters Centerline goodness [0,1] 0.9857428297881197 Centerline is valid? [True, True] Translation: X:18.30, Y:2.24, Z:-0.14 [[ 9.95107076e-01 -9.87987279e-02 -8.48037032e-04 1.83048590e+01] [ 9.87986288e-02 9.95107434e-01 -1.58132910e-04 2.23520016e+00] [ 8.59511286e-04 7.35742812e-05 9.99999628e-01 -1.35944418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.680888478999996 meters Centerline goodness [0,1] 0.9848753520392198 Centerline is valid? [True, True] Translation: X:18.33, Y:2.24, Z:-0.14 [[ 9.95003953e-01 -9.98311742e-02 -9.32815740e-04 1.83330982e+01] [ 9.98310537e-02 9.95004387e-01 -1.74966280e-04 2.24168393e+00] [ 9.45622843e-04 8.09681620e-05 9.99999550e-01 -1.37998973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710888478999998 meters Centerline goodness [0,1] 0.9815993157115139 Centerline is valid? [True, True] Translation: X:18.36, Y:2.25, Z:-0.14 [[ 9.94925844e-01 -1.00605024e-01 -1.09310818e-03 1.83601054e+01] [ 1.00604860e-01 9.94926440e-01 -2.04049386e-04 2.24698102e+00] [ 1.10809063e-03 9.30420120e-05 9.99999382e-01 -1.38471667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.740888479 meters Centerline goodness [0,1] 0.9916770963704631 Centerline is valid? [True, True] Translation: X:18.39, Y:2.24, Z:-0.14 [[ 9.94842173e-01 -1.01414196e-01 -2.05198532e-03 1.83909416e+01] [ 1.01413620e-01 9.94844275e-01 -3.83160836e-04 2.24128783e+00] [ 2.08026380e-03 1.73085299e-04 9.99997821e-01 -1.38982201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770888478999996 meters Centerline goodness [0,1] 0.9909187699630488 Centerline is valid? [True, True] Translation: X:18.42, Y:2.25, Z:-0.14 [[ 9.94565209e-01 -1.04052633e-01 -3.61867419e-03 1.84194245e+01] [ 1.04050862e-01 9.94571748e-01 -6.74924648e-04 2.24512211e+00] [ 3.66925880e-03 2.94730406e-04 9.99993225e-01 -1.41834609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.800888478999997 meters Centerline goodness [0,1] 0.9917040125065139 Centerline is valid? [True, True] Translation: X:18.45, Y:2.25, Z:-0.14 [[ 9.94461820e-01 -1.05064603e-01 -2.66778882e-03 1.84483371e+01] [ 1.05063643e-01 9.94465375e-01 -4.97938613e-04 2.24817049e+00] [ 2.70533934e-03 2.14893328e-04 9.99996317e-01 -1.40372086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830888479 meters Centerline goodness [0,1] 0.9902146925660873 Centerline is valid? [True, True] Translation: X:18.48, Y:2.26, Z:-0.14 [[ 9.94177349e-01 -1.07751728e-01 9.81493622e-04 1.84769728e+01] [ 1.07751600e-01 9.94177831e-01 1.82930489e-04 2.25511262e+00] [-9.95490276e-04 -7.61078404e-05 9.99999502e-01 -1.36107841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.860888478999996 meters Centerline goodness [0,1] 0.9918053296634555 Centerline is valid? [True, True] Translation: X:18.51, Y:2.26, Z:-0.14 [[ 9.94016030e-01 -1.09207344e-01 2.42668867e-03 1.85059297e+01] [ 1.09206564e-01 9.94018975e-01 4.51975733e-04 2.25973030e+00] [-2.46153365e-03 -1.84260793e-04 9.99996953e-01 -1.35041547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890888478999997 meters Centerline goodness [0,1] 0.9927747470120352 Centerline is valid? [True, True] Translation: X:18.54, Y:2.26, Z:-0.14 [[ 9.93897968e-01 -1.10275598e-01 2.47407730e-03 1.85354898e+01] [ 1.10274789e-01 9.93901030e-01 4.61316723e-04 2.25931959e+00] [-2.50985995e-03 -1.85673402e-04 9.99996833e-01 -1.35071112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.920888479 meters Centerline goodness [0,1] 0.9911454643943498 Centerline is valid? [True, True] Translation: X:18.56, Y:2.27, Z:-0.14 [[ 9.93824737e-01 -1.10946616e-01 1.80025380e-03 1.85625696e+01] [ 1.10946189e-01 9.93826358e-01 3.35770487e-04 2.26850514e+00] [-1.82639228e-03 -1.33965718e-04 9.99998323e-01 -1.36528700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950888478999996 meters Centerline goodness [0,1] 0.9923554107400213 Centerline is valid? [True, True] Translation: X:18.59, Y:2.27, Z:-0.14 [[ 9.94014784e-01 -1.09240145e-01 1.09500618e-03 1.85928638e+01] [ 1.09239985e-01 9.94015384e-01 2.04906427e-04 2.26856127e+00] [-1.11083700e-03 -8.40615594e-05 9.99999379e-01 -1.37026391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.980888478999997 meters Centerline goodness [0,1] 0.9923981371259111 Centerline is valid? [True, True] Translation: X:18.62, Y:2.28, Z:-0.14 [[ 9.94196951e-01 -1.07571099e-01 9.38351758e-04 1.86211709e+01] [ 1.07570981e-01 9.94197392e-01 1.75518695e-04 2.27652886e+00] [-9.51787609e-04 -7.35607322e-05 9.99999544e-01 -1.38183714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010888479 meters Centerline goodness [0,1] 0.992465195884035 Centerline is valid? [True, True] Translation: X:18.65, Y:2.28, Z:-0.14 [[ 9.94326002e-01 -1.06371054e-01 9.99924201e-04 1.86498679e+01] [ 1.06370919e-01 9.94326502e-01 1.87186831e-04 2.28297779e+00] [-1.01416239e-03 -7.97618773e-05 9.99999483e-01 -1.39938441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.040888478999996 meters Centerline goodness [0,1] 0.9927540771367119 Centerline is valid? [True, True] Translation: X:18.68, Y:2.29, Z:-0.14 [[ 9.94487219e-01 -1.04857168e-01 3.81345024e-04 1.86784650e+01] [ 1.04857149e-01 9.94487292e-01 7.11886242e-05 2.29002623e+00] [-3.86707418e-04 -3.08094250e-05 9.99999925e-01 -1.41469244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070888478999997 meters Centerline goodness [0,1] 0.9916935180148135 Centerline is valid? [True, True] Translation: X:18.71, Y:2.30, Z:-0.14 [[ 9.94699023e-01 -1.02799317e-01 -2.48091057e-03 1.87065319e+01] [ 1.02798474e-01 9.94702095e-01 -4.65339817e-04 2.29647828e+00] [ 2.51560355e-03 2.07839242e-04 9.99996814e-01 -1.44103551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.100888478999998 meters Centerline goodness [0,1] 0.9879644165358451 Centerline is valid? [True, True] Translation: X:18.73, Y:2.30, Z:-0.14 [[ 9.94741118e-01 -1.02372322e-01 -3.16463688e-03 1.87333928e+01] [ 1.02370945e-01 9.94746116e-01 -5.94681097e-04 2.30187925e+00] [ 3.20888913e-03 2.67586874e-04 9.99994816e-01 -1.44762754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130888478999996 meters Centerline goodness [0,1] 0.9845819579659884 Centerline is valid? [True, True] Translation: X:18.76, Y:2.31, Z:-0.14 [[ 9.94737762e-01 -1.02424357e-01 -2.45703342e-03 1.87601401e+01] [ 1.02423526e-01 9.94740774e-01 -4.62021614e-04 2.30657135e+00] [ 2.49143360e-03 2.07932320e-04 9.99996875e-01 -1.43486014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.160888478999997 meters Centerline goodness [0,1] 0.9914165779086523 Centerline is valid? [True, True] Translation: X:18.79, Y:2.30, Z:-0.14 [[ 9.94622811e-01 -1.03563573e-01 2.22896814e-04 1.87903882e+01] [ 1.03563566e-01 9.94622836e-01 4.12442993e-05 2.30340701e+00] [-2.25969668e-04 -1.79385320e-05 9.99999974e-01 -1.39722806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190888478999998 meters Centerline goodness [0,1] 0.9904471247308682 Centerline is valid? [True, True] Translation: X:18.82, Y:2.31, Z:-0.14 [[ 9.94582162e-01 -1.03919515e-01 2.65668266e-03 1.88172008e+01] [ 1.03918551e-01 9.94585686e-01 4.98919607e-04 2.31125996e+00] [-2.69414603e-03 -2.20137929e-04 9.99996347e-01 -1.38302401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.220888479 meters Centerline goodness [0,1] 0.9935439388241193 Centerline is valid? [True, True] Translation: X:18.85, Y:2.31, Z:-0.14 [[ 9.94509407e-01 -1.04591457e-01 3.41551621e-03 1.88465947e+01] [ 1.04589866e-01 9.94515233e-01 6.41540044e-04 2.31161970e+00] [-3.46388251e-03 -2.80789226e-04 9.99993961e-01 -1.37626205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250888478999997 meters Centerline goodness [0,1] 0.9911399017866471 Centerline is valid? [True, True] Translation: X:18.87, Y:2.32, Z:-0.14 [[ 9.94491744e-01 -1.04750951e-01 3.66184826e-03 1.88725632e+01] [ 1.04749119e-01 9.94498440e-01 6.89133925e-04 2.32218543e+00] [-3.71388982e-03 -3.01762621e-04 9.99993058e-01 -1.37695394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.280888478999998 meters Centerline goodness [0,1] 0.9918809767938228 Centerline is valid? [True, True] Translation: X:18.90, Y:2.32, Z:-0.14 [[ 9.94298905e-01 -1.06628625e-01 1.52884487e-04 1.89038654e+01] [ 1.06628622e-01 9.94298917e-01 2.86988752e-05 2.31882765e+00] [-1.55073001e-04 -1.22333981e-05 9.99999988e-01 -1.41756227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310888479 meters Centerline goodness [0,1] 0.9932483435377002 Centerline is valid? [True, True] Translation: X:18.93, Y:2.32, Z:-0.14 [[ 9.94239704e-01 -1.07172468e-01 -1.21374938e-03 1.89333785e+01] [ 1.07172266e-01 9.94240440e-01 -2.30284876e-04 2.31703185e+00] [ 1.23143891e-03 9.88780956e-05 9.99999237e-01 -1.41491920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.340888478999997 meters Centerline goodness [0,1] 0.9927236889010044 Centerline is valid? [True, True] Translation: X:18.96, Y:2.32, Z:-0.14 [[ 9.94245902e-01 -1.07109532e-01 -1.62332409e-03 1.89623297e+01] [ 1.07109171e-01 9.94247218e-01 -3.07938409e-04 2.32152452e+00] [ 1.64696860e-03 1.32293603e-04 9.99998635e-01 -1.42533146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370888478999998 meters Centerline goodness [0,1] 0.9930257961515839 Centerline is valid? [True, True] Translation: X:18.99, Y:2.33, Z:-0.14 [[ 9.94437879e-01 -1.05324315e-01 3.06802549e-04 1.89905779e+01] [ 1.05324302e-01 9.94437926e-01 5.76646471e-05 2.33027907e+00] [-3.11169580e-04 -2.50301450e-05 9.99999951e-01 -1.43476240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.400888479 meters Centerline goodness [0,1] 0.9924154883711158 Centerline is valid? [True, True] Translation: X:19.02, Y:2.34, Z:-0.14 [[ 9.94553501e-01 -1.04219313e-01 1.29142085e-03 1.90179625e+01] [ 1.04219084e-01 9.94554334e-01 2.43740171e-04 2.33986499e+00] [-1.30979063e-03 -1.07821943e-04 9.99999136e-01 -1.44383281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430888478999996 meters Centerline goodness [0,1] 0.9916507583544861 Centerline is valid? [True, True] Translation: X:19.05, Y:2.35, Z:-0.14 [[ 9.94699393e-01 -1.02811303e-01 1.71845802e-03 1.90464384e+01] [ 1.02810895e-01 9.94700867e-01 3.24528157e-04 2.34679375e+00] [-1.74271685e-03 -1.46131754e-04 9.99998471e-01 -1.44165543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.460888478999998 meters Centerline goodness [0,1] 0.9908141437020259 Centerline is valid? [True, True] Translation: X:19.08, Y:2.35, Z:-0.14 [[ 9.94974269e-01 -1.00082255e-01 3.12195233e-03 1.90765492e+01] [ 1.00080892e-01 9.94979129e-01 5.90103187e-04 2.35233560e+00] [-3.16533626e-03 -2.74689713e-04 9.99994953e-01 -1.40310533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490888479 meters Centerline goodness [0,1] 0.9828125984913748 Centerline is valid? [True, True] Translation: X:19.11, Y:2.36, Z:-0.14 [[ 9.95159740e-01 -9.82095257e-02 3.46131186e-03 1.91051659e+01] [ 9.82078395e-02 9.95165711e-01 6.54232445e-04 2.35633606e+00] [-3.50883073e-03 -3.11137831e-04 9.99993796e-01 -1.37149598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.520888478999996 meters Centerline goodness [0,1] 0.9808469842857739 Centerline is valid? [True, True] Translation: X:19.13, Y:2.36, Z:-0.14 [[ 9.95148696e-01 -9.83241858e-02 3.38036954e-03 1.91334562e+01] [ 9.83225797e-02 9.95154391e-01 6.38477034e-04 2.36006623e+00] [-3.42676733e-03 -3.03012934e-04 9.99994083e-01 -1.36810891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550888478999997 meters Centerline goodness [0,1] 0.9702546004537433 Centerline is valid? [True, True] Translation: X:19.16, Y:2.37, Z:-0.14 [[ 9.95208873e-01 -9.76777488e-02 4.28443755e-03 1.91604805e+01] [ 9.76751559e-02 9.95218020e-01 8.10832779e-04 2.36788738e+00] [-4.34314978e-03 -3.88464870e-04 9.99990493e-01 -1.36006691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.580888479 meters Centerline goodness [0,1] 0.988483523873571 Centerline is valid? [True, True] Translation: X:19.19, Y:2.37, Z:-0.14 [[ 9.95245670e-01 -9.73044961e-02 4.22975296e-03 1.91885842e+01] [ 9.73019640e-02 9.95254584e-01 8.00846781e-04 2.37186036e+00] [-4.28760701e-03 -3.85476022e-04 9.99990734e-01 -1.39645163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610888478999996 meters Centerline goodness [0,1] 0.9909711286089239 Centerline is valid? [True, True] Translation: X:19.22, Y:2.38, Z:-0.14 [[ 9.95240716e-01 -9.74054559e-02 2.84495311e-03 1.92177720e+01] [ 9.74043118e-02 9.95244749e-01 5.38327366e-04 2.37521423e+00] [-2.88386066e-03 -2.58654614e-04 9.99995808e-01 -1.42466880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.640888478999997 meters Centerline goodness [0,1] 0.9850956189516552 Centerline is valid? [True, True] Translation: X:19.24, Y:2.38, Z:-0.14 [[ 9.95161329e-01 -9.82323813e-02 2.08071225e-03 1.92442484e+01] [ 9.82317695e-02 9.95163486e-01 3.94432135e-04 2.38363926e+00] [-2.10939487e-03 -1.88131562e-04 9.99997758e-01 -1.44249598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670888479 meters Centerline goodness [0,1] 0.9850956189516552 Centerline is valid? [True, True] Translation: X:19.27, Y:2.39, Z:-0.14 [[ 9.95134060e-01 -9.85082392e-02 2.08079531e-03 1.92714019e+01] [ 9.85076290e-02 9.95136218e-01 3.93995241e-04 2.38888851e+00] [-2.10948655e-03 -1.87103872e-04 9.99997758e-01 -1.44400553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.700888478999996 meters Centerline goodness [0,1] 0.9918917783472672 Centerline is valid? [True, True] Translation: X:19.30, Y:2.38, Z:-0.14 [[ 9.94730885e-01 -1.02509734e-01 1.49050534e-03 1.93025429e+01] [ 1.02509424e-01 9.94731993e-01 2.83225482e-04 2.38358074e+00] [-1.51168671e-03 -1.28942290e-04 9.99998849e-01 -1.44369794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730888478999997 meters Centerline goodness [0,1] 0.9916225749559083 Centerline is valid? [True, True] Translation: X:19.33, Y:2.39, Z:-0.14 [[ 9.94567250e-01 -1.04081588e-01 1.73467268e-03 1.93317670e+01] [ 1.04081172e-01 9.94568752e-01 3.28919443e-04 2.38686772e+00] [-1.75948570e-03 -1.46585741e-04 9.99998441e-01 -1.43208216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.760888479 meters Centerline goodness [0,1] 0.9922374621339616 Centerline is valid? [True, True] Translation: X:19.36, Y:2.39, Z:-0.14 [[ 9.94481986e-01 -1.04891396e-01 1.83716070e-03 1.93610550e+01] [ 1.04890930e-01 9.94483671e-01 3.48798205e-04 2.38958169e+00] [-1.86361225e-03 -1.54172038e-04 9.99998252e-01 -1.41426248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790888478999996 meters Centerline goodness [0,1] 0.9918470266862787 Centerline is valid? [True, True] Translation: X:19.39, Y:2.39, Z:-0.14 [[ 9.94020838e-01 -1.09187066e-01 8.71113696e-04 1.93898054e+01] [ 1.09186962e-01 9.94021217e-01 1.65876690e-04 2.39390070e+00] [-8.84017085e-04 -6.97706282e-05 9.99999607e-01 -1.43656639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.820888478999997 meters Centerline goodness [0,1] 0.9919946210577185 Centerline is valid? [True, True] Translation: X:19.42, Y:2.40, Z:-0.14 [[ 9.93913423e-01 -1.10145227e-01 2.03398128e-03 1.94181872e+01] [ 1.10144664e-01 9.93915491e-01 3.86940537e-04 2.39867857e+00] [-2.06422516e-03 -1.60553209e-04 9.99997857e-01 -1.42384984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850888478999998 meters Centerline goodness [0,1] 0.9921920913441357 Centerline is valid? [True, True] Translation: X:19.45, Y:2.40, Z:-0.14 [[ 9.93846883e-01 -1.10705429e-01 3.56116901e-03 1.94464992e+01] [ 1.10703700e-01 9.93853223e-01 6.79391195e-04 2.40443114e+00] [-3.61449159e-03 -2.80976234e-04 9.99993428e-01 -1.40855539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.880888478999996 meters Centerline goodness [0,1] 0.9928175403225806 Centerline is valid? [True, True] Translation: X:19.48, Y:2.41, Z:-0.14 [[ 9.93689610e-01 -1.12110672e-01 3.48646641e-03 1.94752862e+01] [ 1.12109020e-01 9.93695690e-01 6.66323065e-04 2.40644177e+00] [-3.53918857e-03 -2.71253975e-04 9.99993700e-01 -1.43108891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910888478999997 meters Centerline goodness [0,1] 0.991870429735789 Centerline is valid? [True, True] Translation: X:19.50, Y:2.41, Z:-0.15 [[ 9.93729731e-01 -1.11783802e-01 2.36709432e-03 1.95029288e+01] [ 1.11783040e-01 9.93732533e-01 4.52386143e-04 2.41250865e+00] [-2.40282807e-03 -1.84948562e-04 9.99997096e-01 -1.45011107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.940888478999998 meters Centerline goodness [0,1] 0.9931750679333516 Centerline is valid? [True, True] Translation: X:19.53, Y:2.42, Z:-0.14 [[ 9.93889859e-01 -1.10342451e-01 2.73700620e-03 1.95314203e+01] [ 1.10341425e-01 9.93893604e-01 5.23505538e-04 2.41858746e+00] [-2.77805784e-03 -2.18301682e-04 9.99996117e-01 -1.43462573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970888479 meters Centerline goodness [0,1] 0.9920919598095358 Centerline is valid? [True, True] Translation: X:19.56, Y:2.43, Z:-0.15 [[ 9.93870560e-01 -1.10537035e-01 1.69524844e-03 1.95574046e+01] [ 1.10536642e-01 9.93871997e-01 3.23965521e-04 2.42539028e+00] [-1.72067014e-03 -1.34592724e-04 9.99998511e-01 -1.45048837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.000888478999997 meters Centerline goodness [0,1] 0.9897413304802064 Centerline is valid? [True, True] Translation: X:19.58, Y:2.43, Z:-0.15 [[ 9.94016279e-01 -1.09227397e-01 1.00650974e-03 1.95848902e+01] [ 1.09227258e-01 9.94016785e-01 1.92515222e-04 2.43440233e+00] [-1.02151551e-03 -8.14249658e-05 9.99999475e-01 -1.45354654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030888478999998 meters Centerline goodness [0,1] 0.9894117647058823 Centerline is valid? [True, True] Translation: X:19.61, Y:2.44, Z:-0.14 [[ 9.94091574e-01 -1.08542725e-01 6.47805171e-04 1.96130044e+01] [ 1.08542668e-01 9.94091784e-01 1.22912526e-04 2.43997654e+00] [-6.57319058e-04 -5.18718048e-05 9.99999783e-01 -1.44819358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.060888479 meters Centerline goodness [0,1] 0.990888287039953 Centerline is valid? [True, True] Translation: X:19.64, Y:2.44, Z:-0.15 [[ 9.94129567e-01 -1.08193475e-01 7.59197209e-04 1.96419122e+01] [ 1.08193396e-01 9.94129855e-01 1.44433314e-04 2.44255179e+00] [-7.70367354e-04 -6.14453041e-05 9.99999701e-01 -1.45222543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090888478999997 meters Centerline goodness [0,1] 0.9911019705777423 Centerline is valid? [True, True] Translation: X:19.67, Y:2.45, Z:-0.15 [[ 9.94216147e-01 -1.07391659e-01 1.13295763e-03 1.96699087e+01] [ 1.07391482e-01 9.94216789e-01 2.16511521e-04 2.44942890e+00] [-1.14965702e-03 -9.35892522e-05 9.99999335e-01 -1.45434549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.120888478999998 meters Centerline goodness [0,1] 0.990688505337332 Centerline is valid? [True, True] Translation: X:19.70, Y:2.45, Z:-0.15 [[ 9.94256451e-01 -1.07021960e-01 6.39736765e-04 1.96983850e+01] [ 1.07021904e-01 9.94256656e-01 1.21821451e-04 2.45462804e+00] [-6.49100107e-04 -5.26559172e-05 9.99999788e-01 -1.45677741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150888479 meters Centerline goodness [0,1] 0.9751039959662171 Centerline is valid? [True, True] Translation: X:19.72, Y:2.47, Z:-0.15 [[ 9.94286786e-01 -1.06738888e-01 -7.71976795e-04 1.97244474e+01] [ 1.06738804e-01 9.94287084e-01 -1.49225731e-04 2.46717255e+00] [ 7.83494745e-04 6.59732924e-05 9.99999691e-01 -1.47067603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.180888478999996 meters Centerline goodness [0,1] 0.9890603674540682 Centerline is valid? [True, True] Translation: X:19.75, Y:2.46, Z:-0.15 [[ 9.94275881e-01 -1.06796581e-01 -3.15628395e-03 1.97543982e+01] [ 1.06795177e-01 9.94280854e-01 -6.10296791e-04 2.46366891e+00] [ 3.20341031e-03 2.69727475e-04 9.99994833e-01 -1.47781212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210888478999998 meters Centerline goodness [0,1] 0.9903991596638655 Centerline is valid? [True, True] Translation: X:19.78, Y:2.47, Z:-0.15 [[ 9.94209782e-01 -1.07415787e-01 -2.95946892e-03 1.97830722e+01] [ 1.07414553e-01 9.94214155e-01 -5.73092846e-04 2.46914279e+00] [ 3.00390511e-03 2.51884481e-04 9.99995457e-01 -1.48518019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.240888479 meters Centerline goodness [0,1] 0.9911274252753015 Centerline is valid? [True, True] Translation: X:19.81, Y:2.48, Z:-0.15 [[ 9.94231422e-01 -1.07253021e-01 -8.18554401e-04 1.98110138e+01] [ 1.07252925e-01 9.94231756e-01 -1.59706598e-04 2.47577656e+00] [ 8.30961794e-04 7.09929646e-05 9.99999652e-01 -1.46526893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270888478999996 meters Centerline goodness [0,1] 0.9871342819963901 Centerline is valid? [True, True] Translation: X:19.84, Y:2.49, Z:-0.15 [[ 9.93976771e-01 -1.09582254e-01 -1.38140360e-03 1.98385342e+01] [ 1.09581987e-01 9.93977724e-01 -2.67458756e-04 2.48505538e+00] [ 1.40239314e-03 1.14470840e-04 9.99999010e-01 -1.49778662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.300888478999997 meters Centerline goodness [0,1] 0.9879232623964777 Centerline is valid? [True, True] Translation: X:19.87, Y:2.48, Z:-0.15 [[ 9.93631269e-01 -1.12677684e-01 -8.00640733e-04 1.98692717e+01] [ 1.12677596e-01 9.93631589e-01 -1.54949283e-04 2.48423561e+00] [ 8.13001250e-04 6.37481801e-05 9.99999667e-01 -1.47783586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330888479 meters Centerline goodness [0,1] 0.9897035029103364 Centerline is valid? [True, True] Translation: X:19.90, Y:2.49, Z:-0.15 [[ 9.93512299e-01 -1.13723984e-01 -4.08570222e-04 1.98988933e+01] [ 1.13723960e-01 9.93512383e-01 -7.97690119e-05 2.48526779e+00] [ 4.14991224e-04 3.27872707e-05 9.99999913e-01 -1.45667618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.360888478999996 meters Centerline goodness [0,1] 0.9903551166211388 Centerline is valid? [True, True] Translation: X:19.93, Y:2.49, Z:-0.14 [[ 9.93391261e-01 -1.14763547e-01 -1.76953797e-03 1.99278950e+01] [ 1.14763114e-01 9.93392827e-01 -3.44386883e-04 2.48598646e+00] [ 1.79736939e-03 1.39033232e-04 9.99998375e-01 -1.44667815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390888478999997 meters Centerline goodness [0,1] 0.990481993528596 Centerline is valid? [True, True] Translation: X:19.96, Y:2.49, Z:-0.15 [[ 9.93253158e-01 -1.15925830e-01 -3.06030523e-03 1.99565278e+01] [ 1.15924543e-01 9.93257845e-01 -5.95387140e-04 2.48962675e+00] [ 3.10869293e-03 2.36605673e-04 9.99995140e-01 -1.45783457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.420888479 meters Centerline goodness [0,1] 0.9879594023829036 Centerline is valid? [True, True] Translation: X:19.98, Y:2.50, Z:-0.15 [[ 9.93239060e-01 -1.16050354e-01 -2.91273973e-03 1.99820194e+01] [ 1.16049189e-01 9.93243306e-01 -5.66424794e-04 2.50025708e+00] [ 2.95879304e-03 2.24574146e-04 9.99995598e-01 -1.46641453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450888478999996 meters Centerline goodness [0,1] 0.985641111764212 Centerline is valid? [True, True] Translation: X:20.01, Y:2.51, Z:-0.15 [[ 9.93275725e-01 -1.15745136e-01 -2.52942810e-03 2.00086837e+01] [ 1.15744256e-01 9.93278926e-01 -4.91985232e-04 2.50888706e+00] [ 2.56937252e-03 1.95910215e-04 9.99996680e-01 -1.46910407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.480888478999997 meters Centerline goodness [0,1] 0.9900453629032258 Centerline is valid? [True, True] Translation: X:20.04, Y:2.51, Z:-0.15 [[ 9.93232897e-01 -1.16104257e-01 -2.86590651e-03 2.00366770e+01] [ 1.16103124e-01 9.93237007e-01 -5.59276730e-04 2.50951271e+00] [ 2.91145882e-03 2.22751349e-04 9.99995737e-01 -1.47135428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510888479 meters Centerline goodness [0,1] 0.9915478743534755 Centerline is valid? [True, True] Translation: X:20.07, Y:2.51, Z:-0.15 [[ 9.93292406e-01 -1.15585385e-01 -3.19612521e-03 2.00655773e+01] [ 1.15583971e-01 9.93297516e-01 -6.24180997e-04 2.51085847e+00] [ 3.24684943e-03 2.50573401e-04 9.99994698e-01 -1.46802562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.540888478999996 meters Centerline goodness [0,1] 0.9843858358726489 Centerline is valid? [True, True] Translation: X:20.09, Y:2.52, Z:-0.15 [[ 9.93366484e-01 -1.14937092e-01 -3.53458138e-03 2.00911701e+01] [ 1.14935361e-01 9.93372733e-01 -6.89727810e-04 2.52262997e+00] [ 3.59043208e-03 2.78904103e-04 9.99993515e-01 -1.46846290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570888478999997 meters Centerline goodness [0,1] 0.9838061788891459 Centerline is valid? [True, True] Translation: X:20.12, Y:2.53, Z:-0.15 [[ 9.93166443e-01 -1.16533441e-01 -6.35397681e-03 2.01198901e+01] [ 1.16527881e-01 9.93186647e-01 -1.23965992e-03 2.52685221e+00] [ 6.45514676e-03 4.90773185e-04 9.99979045e-01 -1.50071276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.600888478999998 meters Centerline goodness [0,1] 0.9917701536518627 Centerline is valid? [True, True] Translation: X:20.15, Y:2.52, Z:-0.15 [[ 9.92961395e-01 -1.18198426e-01 -7.53658487e-03 2.01503090e+01] [ 1.18190647e-01 9.92989832e-01 -1.47088556e-03 2.52219336e+00] [ 7.65760851e-03 5.69778737e-04 9.99970518e-01 -1.50377321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630888478999996 meters Centerline goodness [0,1] 0.9830676033822725 Centerline is valid? [True, True] Translation: X:20.18, Y:2.54, Z:-0.15 [[ 9.92875506e-01 -1.18846536e-01 -8.58667463e-03 2.01759771e+01] [ 1.18836455e-01 9.92912426e-01 -1.67663982e-03 2.53556188e+00] [ 8.72507878e-03 6.44284633e-04 9.99961728e-01 -1.53399991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.660888478999997 meters Centerline goodness [0,1] 0.9923273118188908 Centerline is valid? [True, True] Translation: X:20.21, Y:2.53, Z:-0.15 [[ 9.92758613e-01 -1.19838352e-01 -8.31293461e-03 2.02065253e+01] [ 1.19828913e-01 9.92793225e-01 -1.62618301e-03 2.53013385e+00] [ 8.44790425e-03 6.18277270e-04 9.99964125e-01 -1.50948311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690888478999998 meters Centerline goodness [0,1] 0.9838026834045959 Centerline is valid? [True, True] Translation: X:20.23, Y:2.54, Z:-0.15 [[ 9.92690044e-01 -1.20433676e-01 -7.88708014e-03 2.02322379e+01] [ 1.20425199e-01 9.92721205e-01 -1.54277445e-03 2.54324384e+00] [ 8.01547370e-03 5.81693643e-04 9.99967706e-01 -1.52083350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.720888479 meters Centerline goodness [0,1] 0.9923667341430499 Centerline is valid? [True, True] Translation: X:20.26, Y:2.54, Z:-0.15 [[ 9.92650149e-01 -1.20804919e-01 -7.20090212e-03 2.02625453e+01] [ 1.20797843e-01 9.92676125e-01 -1.41121998e-03 2.54033030e+00] [ 7.31864593e-03 5.30994280e-04 9.99973077e-01 -1.49533619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750888478999997 meters Centerline goodness [0,1] 0.992216010969307 Centerline is valid? [True, True] Translation: X:20.29, Y:2.54, Z:-0.15 [[ 9.92743638e-01 -1.20106245e-01 -5.87875982e-03 2.02909379e+01] [ 1.20101507e-01 9.92760946e-01 -1.15379597e-03 2.54485420e+00] [ 5.97478126e-03 4.39375700e-04 9.99982054e-01 -1.47836770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.780888478999998 meters Centerline goodness [0,1] 0.991424467725583 Centerline is valid? [True, True] Translation: X:20.32, Y:2.55, Z:-0.15 [[ 9.92804935e-01 -1.19465439e-01 -8.14672606e-03 2.03195006e+01] [ 1.19456327e-01 9.92838171e-01 -1.59779766e-03 2.55050086e+00] [ 8.27926219e-03 6.13123431e-04 9.99965538e-01 -1.49577067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810888479 meters Centerline goodness [0,1] 0.9911782706877994 Centerline is valid? [True, True] Translation: X:20.35, Y:2.56, Z:-0.15 [[ 9.92913272e-01 -1.18485757e-01 -9.18472289e-03 2.03485795e+01] [ 1.18474132e-01 9.92955505e-01 -1.80156912e-03 2.55579522e+00] [ 9.33348144e-03 7.00649821e-04 9.99956197e-01 -1.50225542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.840888478999997 meters Centerline goodness [0,1] 0.9905291419148892 Centerline is valid? [True, True] Translation: X:20.38, Y:2.56, Z:-0.15 [[ 9.93069111e-01 -1.17102117e-01 -1.00416846e-02 2.03769627e+01] [ 1.17088141e-01 9.93119572e-01 -1.97061318e-03 2.56197564e+00] [ 1.02033565e-02 7.81192899e-04 9.99947639e-01 -1.51280425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870888478999998 meters Centerline goodness [0,1] 0.9867196751818643 Centerline is valid? [True, True] Translation: X:20.40, Y:2.57, Z:-0.15 [[ 9.93120608e-01 -1.16786246e-01 -8.51059359e-03 2.04036808e+01] [ 1.16776188e-01 9.93156850e-01 -1.67100889e-03 2.56943033e+00] [ 8.64750518e-03 6.65678692e-04 9.99962388e-01 -1.51096584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.900888479 meters Centerline goodness [0,1] 0.9880154720889434 Centerline is valid? [True, True] Translation: X:20.43, Y:2.57, Z:-0.15 [[ 9.93018162e-01 -1.17665758e-01 -8.34859152e-03 2.04317319e+01] [ 1.17656086e-01 9.93053044e-01 -1.64207344e-03 2.57448360e+00] [ 8.48381005e-03 6.48346154e-04 9.99963802e-01 -1.51397902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930888478999996 meters Centerline goodness [0,1] 0.9946267267457849 Centerline is valid? [True, True] Translation: X:20.46, Y:2.57, Z:-0.15 [[ 9.92761088e-01 -1.19891680e-01 -7.16988927e-03 2.04629593e+01] [ 1.19884609e-01 9.92786832e-01 -1.40957085e-03 2.56882295e+00] [ 7.28716747e-03 5.39807717e-04 9.99973303e-01 -1.47068106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.960888478999998 meters Centerline goodness [0,1] 0.9943054320674034 Centerline is valid? [True, True] Translation: X:20.49, Y:2.57, Z:-0.15 [[ 9.92539877e-01 -1.21690707e-01 -7.48092817e-03 2.04929530e+01] [ 1.21683059e-01 9.92567917e-01 -1.47074867e-03 2.57200883e+00] [ 7.60430574e-03 5.49474474e-04 9.99970936e-01 -1.47002579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990888479 meters Centerline goodness [0,1] 0.9942725016440042 Centerline is valid? [True, True] Translation: X:20.52, Y:2.58, Z:-0.15 [[ 9.92236710e-01 -1.23983779e-01 -9.71259800e-03 2.05223853e+01] [ 1.23970994e-01 9.92284004e-01 -1.90990756e-03 2.57629340e+00] [ 9.87445320e-03 6.90999973e-04 9.99951008e-01 -1.48606399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.020888478999996 meters Centerline goodness [0,1] 0.9946067606590794 Centerline is valid? [True, True] Translation: X:20.55, Y:2.58, Z:-0.15 [[ 9.91991345e-01 -1.25751475e-01 -1.18210598e-02 2.05508996e+01] [ 1.25732612e-01 9.92061434e-01 -2.32856574e-03 2.58054061e+00] [ 1.20200381e-02 8.23624331e-04 9.99927418e-01 -1.51203824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050888478999997 meters Centerline goodness [0,1] 0.9949084583236099 Centerline is valid? [True, True] Translation: X:20.58, Y:2.59, Z:-0.15 [[ 9.91771796e-01 -1.27359748e-01 -1.29691889e-02 2.05779647e+01] [ 1.27337177e-01 9.91856197e-01 -2.55488975e-03 2.58690817e+00] [ 1.31889605e-02 8.82407701e-04 9.99912633e-01 -1.54414049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.080888479 meters Centerline goodness [0,1] 0.9948283170835099 Centerline is valid? [True, True] Translation: X:20.61, Y:2.59, Z:-0.15 [[ 9.91677448e-01 -1.28055248e-01 -1.33301229e-02 2.06060944e+01] [ 1.28031410e-01 9.91766626e-01 -2.63008589e-03 2.59206509e+00] [ 1.35571673e-02 9.01522428e-04 9.99907691e-01 -1.54902382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110888478999996 meters Centerline goodness [0,1] 0.9945775348965283 Centerline is valid? [True, True] Translation: X:20.63, Y:2.60, Z:-0.15 [[ 9.91545414e-01 -1.29119872e-01 -1.28744322e-02 2.06342926e+01] [ 1.29097684e-01 9.91628620e-01 -2.54334344e-03 2.59779560e+00] [ 1.30950516e-02 8.59781156e-04 9.99913886e-01 -1.53925207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.140888478999997 meters Centerline goodness [0,1] 0.9936867887080088 Centerline is valid? [True, True] Translation: X:20.66, Y:2.60, Z:-0.15 [[ 9.91372066e-01 -1.30778149e-01 -8.86011485e-03 2.06629006e+01] [ 1.30767710e-01 9.91411491e-01 -1.74990882e-03 2.60255085e+00] [ 9.01286951e-03 5.76193790e-04 9.99959217e-01 -1.48970850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170888479 meters Centerline goodness [0,1] 0.9947292663308074 Centerline is valid? [True, True] Translation: X:20.69, Y:2.61, Z:-0.15 [[ 9.91237428e-01 -1.31879394e-01 -7.49573406e-03 2.06897883e+01] [ 1.31871947e-01 9.91265653e-01 -1.48137683e-03 2.60895265e+00] [ 7.62562679e-03 4.79919118e-04 9.99970809e-01 -1.47854512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.200888478999996 meters Centerline goodness [0,1] 0.9942985523833746 Centerline is valid? [True, True] Translation: X:20.72, Y:2.61, Z:-0.15 [[ 9.91125575e-01 -1.32718444e-01 -7.47726593e-03 2.07187609e+01] [ 1.32711037e-01 9.91153666e-01 -1.48040543e-03 2.61141946e+00] [ 7.60759664e-03 4.74951964e-04 9.99970949e-01 -1.47614587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230888478999997 meters Centerline goodness [0,1] 0.9947581757602767 Centerline is valid? [True, True] Translation: X:20.75, Y:2.61, Z:-0.15 [[ 9.90923196e-01 -1.34193127e-01 -7.96394402e-03 2.07486319e+01] [ 1.34184776e-01 9.90955075e-01 -1.57634054e-03 2.60953021e+00] [ 8.10344481e-03 4.93392366e-04 9.99967045e-01 -1.47320235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.260888479 meters Centerline goodness [0,1] 0.9946938342353815 Centerline is valid? [True, True] Translation: X:20.77, Y:2.62, Z:-0.15 [[ 9.90828303e-01 -1.34928097e-01 -7.32688720e-03 2.07745621e+01] [ 1.34921042e-01 9.90855291e-01 -1.45103235e-03 2.62064225e+00] [ 7.45566998e-03 4.49172662e-04 9.99972105e-01 -1.47971329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290888478999996 meters Centerline goodness [0,1] 0.9951025081094833 Centerline is valid? [True, True] Translation: X:20.80, Y:2.62, Z:-0.15 [[ 9.90662405e-01 -1.36117407e-01 -7.74923714e-03 2.08036716e+01] [ 1.36109532e-01 9.90692602e-01 -1.53710881e-03 2.62490244e+00] [ 7.88633918e-03 4.68010865e-04 9.99968793e-01 -1.48233150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.320888478999997 meters Centerline goodness [0,1] 0.994824060662861 Centerline is valid? [True, True] Translation: X:20.83, Y:2.63, Z:-0.15 [[ 9.90562768e-01 -1.36874961e-01 -7.11670701e-03 2.08325858e+01] [ 1.36868335e-01 9.90588242e-01 -1.41211937e-03 2.62950897e+00] [ 7.24301007e-03 4.24741027e-04 9.99973679e-01 -1.47889804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350888478999998 meters Centerline goodness [0,1] 0.9949744463373084 Centerline is valid? [True, True] Translation: X:20.86, Y:2.63, Z:-0.15 [[ 9.90333602e-01 -1.38367780e-01 -9.68062376e-03 2.08624840e+01] [ 1.38355563e-01 9.90380754e-01 -1.92377523e-03 2.62793362e+00] [ 9.85369197e-03 5.65811109e-04 9.99951291e-01 -1.49908186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.380888478999996 meters Centerline goodness [0,1] 0.9956570795989186 Centerline is valid? [True, True] Translation: X:20.89, Y:2.63, Z:-0.15 [[ 9.90351973e-01 -1.38179582e-01 -1.04581533e-02 2.08909863e+01] [ 1.38165286e-01 9.90406999e-01 -2.08082340e-03 2.63482106e+00] [ 1.06453556e-02 6.15793814e-04 9.99943147e-01 -1.51451198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410888478999997 meters Centerline goodness [0,1] 0.9954658662749857 Centerline is valid? [True, True] Translation: X:20.92, Y:2.64, Z:-0.15 [[ 9.90493236e-01 -1.37239885e-01 -9.40016569e-03 2.09185870e+01] [ 1.37228286e-01 9.90537681e-01 -1.87110219e-03 2.64165687e+00] [ 9.56800817e-03 5.63345444e-04 9.99954067e-01 -1.51540201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.440888478999998 meters Centerline goodness [0,1] 0.9950276243093923 Centerline is valid? [True, True] Translation: X:20.95, Y:2.65, Z:-0.15 [[ 9.90770516e-01 -1.35287516e-01 -8.43048091e-03 2.09466890e+01] [ 1.35278115e-01 9.90806245e-01 -1.67818000e-03 2.65077755e+00] [ 8.58000994e-03 5.22231704e-04 9.99963055e-01 -1.51025810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470888479 meters Centerline goodness [0,1] 0.9948887616381413 Centerline is valid? [True, True] Translation: X:20.97, Y:2.66, Z:-0.15 [[ 9.90869574e-01 -1.34610986e-01 -7.57431392e-03 2.09729565e+01] [ 1.34603369e-01 9.90898409e-01 -1.50887868e-03 2.65870133e+00] [ 7.70848726e-03 4.75573806e-04 9.99970176e-01 -1.51116194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.500888478999997 meters Centerline goodness [0,1] 0.9946549017944258 Centerline is valid? [True, True] Translation: X:21.00, Y:2.67, Z:-0.15 [[ 9.90942060e-01 -1.34121546e-01 -6.72634865e-03 2.10006269e+01] [ 1.34115511e-01 9.90964796e-01 -1.34246441e-03 2.66631609e+00] [ 6.84562813e-03 4.28196763e-04 9.99976477e-01 -1.50991117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530888478999998 meters Centerline goodness [0,1] 0.9944014420528046 Centerline is valid? [True, True] Translation: X:21.03, Y:2.67, Z:-0.15 [[ 9.91159848e-01 -1.32503332e-01 -6.70985822e-03 2.10294066e+01] [ 1.32497294e-01 9.91182463e-01 -1.33849459e-03 2.67139567e+00] [ 6.82804879e-03 4.37624038e-04 9.99976593e-01 -1.51711715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.560888479 meters Centerline goodness [0,1] 0.9944014420528046 Centerline is valid? [True, True] Translation: X:21.06, Y:2.68, Z:-0.15 [[ 9.91122761e-01 -1.32780487e-01 -6.70924075e-03 2.10564798e+01] [ 1.32774435e-01 9.91145373e-01 -1.34158820e-03 2.67687981e+00] [ 6.82796965e-03 4.38862958e-04 9.99976593e-01 -1.51862516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590888478999997 meters Centerline goodness [0,1] 0.9940032208848958 Centerline is valid? [True, True] Translation: X:21.08, Y:2.69, Z:-0.15 [[ 9.91229597e-01 -1.32007518e-01 -6.15643048e-03 2.10827544e+01] [ 1.32002409e-01 9.91248632e-01 -1.23065473e-03 2.68560846e+00] [ 6.26500896e-03 4.07197741e-04 9.99980292e-01 -1.51426769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.620888478999998 meters Centerline goodness [0,1] 0.9950794290440943 Centerline is valid? [True, True] Translation: X:21.11, Y:2.69, Z:-0.15 [[ 9.91226973e-01 -1.31908345e-01 -8.32328324e-03 2.11124843e+01] [ 1.31898980e-01 9.91261762e-01 -1.66665498e-03 2.68530742e+00] [ 8.47039812e-03 5.54200795e-04 9.99963972e-01 -1.51287068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650888479 meters Centerline goodness [0,1] 0.9954352441613588 Centerline is valid? [True, True] Translation: X:21.14, Y:2.69, Z:-0.15 [[ 9.91352732e-01 -1.31015613e-01 -7.39388902e-03 2.11384545e+01] [ 1.31008196e-01 9.91380179e-01 -1.48072281e-03 2.69449481e+00] [ 7.52415283e-03 4.99258535e-04 9.99971569e-01 -1.51891456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.680888478999996 meters Centerline goodness [0,1] 0.9943939073408081 Centerline is valid? [True, True] Translation: X:21.17, Y:2.70, Z:-0.15 [[ 9.91374028e-01 -1.30908730e-01 -6.35939819e-03 2.11657668e+01] [ 1.30903225e-01 9.91394330e-01 -1.27600560e-03 2.70336949e+00] [ 6.47171158e-03 4.32533072e-04 9.99978965e-01 -1.52955332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710888478999998 meters Centerline goodness [0,1] 0.9950870357036974 Centerline is valid? [True, True] Translation: X:21.19, Y:2.71, Z:-0.15 [[ 9.91441022e-01 -1.30465028e-01 -4.85556930e-03 2.11934077e+01] [ 1.30461814e-01 9.91452856e-01 -9.74159539e-04 2.70967431e+00] [ 4.94116180e-03 3.32355348e-04 9.99987737e-01 -1.52436128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.740888479 meters Centerline goodness [0,1] 0.9946804001356392 Centerline is valid? [True, True] Translation: X:21.22, Y:2.72, Z:-0.15 [[ 9.91490980e-01 -1.30065386e-01 -5.35090783e-03 2.12207220e+01] [ 1.30061475e-01 9.91505350e-01 -1.07396642e-03 2.71523601e+00] [ 5.44513960e-03 3.68881052e-04 9.99985107e-01 -1.52479950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770888478999996 meters Centerline goodness [0,1] 0.9947434239810085 Centerline is valid? [True, True] Translation: X:21.25, Y:2.72, Z:-0.15 [[ 9.91464614e-01 -1.30310222e-01 -4.14320457e-03 2.12500560e+01] [ 1.30307870e-01 9.91473229e-01 -8.33622000e-04 2.71700354e+00] [ 4.21650588e-03 2.86614550e-04 9.99991069e-01 -1.50979060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.800888478999997 meters Centerline goodness [0,1] 0.9943090121464367 Centerline is valid? [True, True] Translation: X:21.28, Y:2.72, Z:-0.15 [[ 9.91497133e-01 -1.30095562e-01 -2.92919055e-03 2.12767066e+01] [ 1.30094385e-01 9.91501439e-01 -5.89516689e-04 2.72356171e+00] [ 2.98099015e-03 2.03432862e-04 9.99995536e-01 -1.49419683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830888479 meters Centerline goodness [0,1] 0.994714834546728 Centerline is valid? [True, True] Translation: X:21.31, Y:2.73, Z:-0.15 [[ 9.91487632e-01 -1.30168229e-01 -2.91670370e-03 2.13054339e+01] [ 1.30167059e-01 9.91491901e-01 -5.88395120e-04 2.72705529e+00] [ 2.96847845e-03 2.03727742e-04 9.99995573e-01 -1.49354361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.860888478999996 meters Centerline goodness [0,1] 0.9937608760239378 Centerline is valid? [True, True] Translation: X:21.33, Y:2.74, Z:-0.15 [[ 9.91485935e-01 -1.30157666e-01 -3.82385339e-03 2.13311593e+01] [ 1.30155658e-01 9.91493273e-01 -7.70432466e-04 2.73858703e+00] [ 3.89160260e-03 2.66176800e-04 9.99992392e-01 -1.54133487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890888478999997 meters Centerline goodness [0,1] 0.9939021808172771 Centerline is valid? [True, True] Translation: X:21.36, Y:2.75, Z:-0.16 [[ 9.91386797e-01 -1.30840150e-01 -5.75100062e-03 2.13595168e+01] [ 1.30835609e-01 9.91403398e-01 -1.16055103e-03 2.74638943e+00] [ 5.85340823e-03 3.98119302e-04 9.99982789e-01 -1.58157665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.920888479 meters Centerline goodness [0,1] 0.9948232698264522 Centerline is valid? [True, True] Translation: X:21.39, Y:2.75, Z:-0.16 [[ 9.91357489e-01 -1.30987839e-01 -7.24672345e-03 2.13884903e+01] [ 1.30980620e-01 9.91383848e-01 -1.46403815e-03 2.74901448e+00] [ 7.37605577e-03 5.02204860e-04 9.99972670e-01 -1.59221971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950888478999996 meters Centerline goodness [0,1] 0.994010831474992 Centerline is valid? [True, True] Translation: X:21.42, Y:2.75, Z:-0.16 [[ 9.91535439e-01 -1.29500646e-01 -9.33039057e-03 2.14181809e+01] [ 1.29488624e-01 9.91579118e-01 -1.88377393e-03 2.75179906e+00] [ 9.49577039e-03 6.59649169e-04 9.99954697e-01 -1.57962657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.980888478999997 meters Centerline goodness [0,1] 0.9943768964712373 Centerline is valid? [True, True] Translation: X:21.45, Y:2.76, Z:-0.16 [[ 9.91577979e-01 -1.29169501e-01 -9.39953994e-03 2.14466808e+01] [ 1.29157252e-01 9.91622302e-01 -1.90127429e-03 2.75694885e+00] [ 9.56638008e-03 6.71242970e-04 9.99954016e-01 -1.56070150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010888479 meters Centerline goodness [0,1] 0.9942078798294188 Centerline is valid? [True, True] Translation: X:21.48, Y:2.76, Z:-0.16 [[ 9.91497143e-01 -1.29776638e-01 -9.56238515e-03 2.14752946e+01] [ 1.29763965e-01 9.91543021e-01 -1.93663556e-03 2.76194049e+00] [ 9.73284631e-03 6.79315612e-04 9.99952404e-01 -1.55535795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.040888478999996 meters Centerline goodness [0,1] 0.9923910733262487 Centerline is valid? [True, True] Translation: X:21.50, Y:2.77, Z:-0.16 [[ 9.91486653e-01 -1.29980022e-01 -7.70781359e-03 2.15010022e+01] [ 1.29971794e-01 9.91516463e-01 -1.56111315e-03 2.77419627e+00] [ 7.84533759e-03 5.46024490e-04 9.99969076e-01 -1.55981626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070888478999997 meters Centerline goodness [0,1] 0.9941395506283587 Centerline is valid? [True, True] Translation: X:21.53, Y:2.77, Z:-0.16 [[ 9.91219506e-01 -1.32004065e-01 -7.66930445e-03 2.15319920e+01] [ 1.31995981e-01 9.91249035e-01 -1.55307188e-03 2.77246147e+00] [ 7.80720244e-03 5.27117771e-04 9.99969384e-01 -1.56915583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.100888478999998 meters Centerline goodness [0,1] 0.9933273832292066 Centerline is valid? [True, True] Translation: X:21.56, Y:2.78, Z:-0.16 [[ 9.91001211e-01 -1.33557368e-01 -8.88987500e-03 2.15601940e+01] [ 1.33546559e-01 9.91040903e-01 -1.80117186e-03 2.77693541e+00] [ 9.05078953e-03 5.97751274e-04 9.99958862e-01 -1.58707685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130888478999996 meters Centerline goodness [0,1] 0.9936703483432455 Centerline is valid? [True, True] Translation: X:21.59, Y:2.79, Z:-0.16 [[ 9.90885592e-01 -1.34494489e-01 -7.54822369e-03 2.15868227e+01] [ 1.34486714e-01 9.90914215e-01 -1.53072276e-03 2.78539186e+00] [ 7.68551592e-03 5.01635335e-04 9.99970340e-01 -1.59175912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.160888478999997 meters Centerline goodness [0,1] 0.9945991739913164 Centerline is valid? [True, True] Translation: X:21.62, Y:2.78, Z:-0.15 [[ 9.90822442e-01 -1.35124520e-01 -3.50046767e-03 2.16171411e+01] [ 1.35122846e-01 9.90828598e-01 -7.11700044e-04 2.78357847e+00] [ 3.56453160e-03 2.32175222e-04 9.99993620e-01 -1.54240984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190888478999998 meters Centerline goodness [0,1] 0.9942145082331998 Centerline is valid? [True, True] Translation: X:21.64, Y:2.79, Z:-0.16 [[ 9.90707772e-01 -1.35932363e-01 -4.52808355e-03 2.16439061e+01] [ 1.35929573e-01 9.90718075e-01 -9.19858853e-04 2.79035090e+00] [ 4.61109280e-03 2.95810853e-04 9.99989325e-01 -1.55197835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.220888479 meters Centerline goodness [0,1] 0.9937149651775098 Centerline is valid? [True, True] Translation: X:21.67, Y:2.80, Z:-0.16 [[ 9.90586168e-01 -1.36720554e-01 -6.82162357e-03 2.16708347e+01] [ 1.36714237e-01 9.90609558e-01 -1.38613824e-03 2.79825966e+00] [ 6.94707909e-03 4.40476310e-04 9.99975772e-01 -1.56686738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250888478999997 meters Centerline goodness [0,1] 0.994244695988277 Centerline is valid? [True, True] Translation: X:21.70, Y:2.80, Z:-0.16 [[ 9.90558254e-01 -1.36893439e-01 -7.38455752e-03 2.16996607e+01] [ 1.36886020e-01 9.90585664e-01 -1.50323848e-03 2.80021935e+00] [ 7.52082030e-03 4.78202594e-04 9.99971604e-01 -1.55944545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.280888478999998 meters Centerline goodness [0,1] 0.992621260127161 Centerline is valid? [True, True] Translation: X:21.73, Y:2.81, Z:-0.16 [[ 9.90898471e-01 -1.34474540e-01 -6.06784493e-03 2.17260137e+01] [ 1.34469487e-01 9.90916965e-01 -1.23506535e-03 2.81245070e+00] [ 6.17881532e-03 4.07884372e-04 9.99980828e-01 -1.55690793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310888479 meters Centerline goodness [0,1] 0.9947777353203413 Centerline is valid? [True, True] Translation: X:21.76, Y:2.81, Z:-0.15 [[ 9.91023701e-01 -1.33580916e-01 -5.30684168e-03 2.17555376e+01] [ 1.33577025e-01 9.91037843e-01 -1.08249329e-03 2.81369808e+00] [ 5.40388138e-03 3.63904381e-04 9.99985333e-01 -1.54827653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.340888478999997 meters Centerline goodness [0,1] 0.9905340731015205 Centerline is valid? [True, True] Translation: X:21.78, Y:2.83, Z:-0.16 [[ 9.91121647e-01 -1.32842016e-01 -5.55702234e-03 2.17806941e+01] [ 1.32837741e-01 9.91137150e-01 -1.13307870e-03 2.83007967e+00] [ 5.65829175e-03 3.84836534e-04 9.99983918e-01 -1.58604617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370888478999998 meters Centerline goodness [0,1] 0.9935783316378434 Centerline is valid? [True, True] Translation: X:21.81, Y:2.83, Z:-0.16 [[ 9.91191419e-01 -1.32323577e-01 -5.48103410e-03 2.18108235e+01] [ 1.32319397e-01 9.91206499e-01 -1.11986733e-03 2.82855215e+00] [ 5.58102147e-03 3.84755762e-04 9.99984352e-01 -1.58414386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.400888479 meters Centerline goodness [0,1] 0.9932709248763506 Centerline is valid? [True, True] Translation: X:21.84, Y:2.83, Z:-0.16 [[ 9.91338809e-01 -1.31105684e-01 -7.65933069e-03 2.18401819e+01] [ 1.31097497e-01 9.91368247e-01 -1.56349773e-03 2.83244270e+00] [ 7.79820068e-03 5.45836894e-04 9.99969445e-01 -1.60902719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430888478999996 meters Centerline goodness [0,1] 0.9944418515847088 Centerline is valid? [True, True] Translation: X:21.87, Y:2.83, Z:-0.16 [[ 9.91456756e-01 -1.30259684e-01 -6.77605752e-03 2.18693546e+01] [ 1.30253237e-01 9.91479789e-01 -1.38616262e-03 2.83474910e+00] [ 6.89888519e-03 4.91716869e-04 9.99976082e-01 -1.58164385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.460888478999998 meters Centerline goodness [0,1] 0.9940334635637846 Centerline is valid? [True, True] Translation: X:21.90, Y:2.84, Z:-0.16 [[ 9.91348243e-01 -1.31105173e-01 -6.33209313e-03 2.18985843e+01] [ 1.31099558e-01 9.91368361e-01 -1.29561246e-03 2.83879273e+00] [ 6.44729828e-03 4.54268522e-04 9.99979113e-01 -1.57223742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490888479 meters Centerline goodness [0,1] 0.9947272186078157 Centerline is valid? [True, True] Translation: X:21.93, Y:2.84, Z:-0.15 [[ 9.91331775e-01 -1.31319772e-01 -4.05325378e-03 2.19275726e+01] [ 1.31317465e-01 9.91340019e-01 -8.31321962e-04 2.84259461e+00] [ 4.12732169e-03 2.91852866e-04 9.99991440e-01 -1.53019052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.520888478999996 meters Centerline goodness [0,1] 0.995474536299318 Centerline is valid? [True, True] Translation: X:21.96, Y:2.85, Z:-0.15 [[ 9.91048714e-01 -1.33419212e-01 -4.66481397e-03 2.19566779e+01] [ 1.33416176e-01 9.91059639e-01 -9.57546860e-04 2.84714830e+00] [ 4.75086399e-03 3.26613942e-04 9.99988661e-01 -1.53294850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550888478999997 meters Centerline goodness [0,1] 0.9949608777002892 Centerline is valid? [True, True] Translation: X:21.99, Y:2.85, Z:-0.15 [[ 9.90883630e-01 -1.34649688e-01 -4.36949014e-03 2.19853400e+01] [ 1.34647030e-01 9.90893218e-01 -8.98224249e-04 2.85262435e+00] [ 4.45064376e-03 3.01696834e-04 9.99990050e-01 -1.53703669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.580888479 meters Centerline goodness [0,1] 0.9956454319519086 Centerline is valid? [True, True] Translation: X:22.01, Y:2.86, Z:-0.16 [[ 9.90745378e-01 -1.35719390e-01 -1.96044247e-03 2.20127729e+01] [ 1.35718857e-01 9.90747309e-01 -4.02922873e-04 2.86164276e+00] [ 1.99698755e-03 1.33124961e-04 9.99997997e-01 -1.56687146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610888478999996 meters Centerline goodness [0,1] 0.9956603131381893 Centerline is valid? [True, True] Translation: X:22.04, Y:2.87, Z:-0.16 [[ 9.90708636e-01 -1.36000555e-01 -4.97764071e-04 2.20410372e+01] [ 1.36000520e-01 9.90708760e-01 -1.03733961e-04 2.86751427e+00] [ 5.07247102e-04 3.50739588e-05 9.99999871e-01 -1.57756972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.640888478999997 meters Centerline goodness [0,1] 0.9960099327206741 Centerline is valid? [True, True] Translation: X:22.07, Y:2.87, Z:-0.16 [[ 9.90836723e-01 -1.35053594e-01 -1.76503754e-03 2.20680791e+01] [ 1.35053160e-01 9.90838287e-01 -3.63528735e-04 2.87299855e+00] [ 1.79796263e-03 1.21823724e-04 9.99998376e-01 -1.57455912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670888479 meters Centerline goodness [0,1] 0.9960593861162588 Centerline is valid? [True, True] Translation: X:22.10, Y:2.88, Z:-0.16 [[ 9.90802238e-01 -1.35256427e-01 -4.07738207e-03 2.20973758e+01] [ 1.35254106e-01 9.90810587e-01 -8.41062485e-04 2.87576709e+00] [ 4.15367243e-03 2.81843927e-04 9.99991334e-01 -1.57843137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.700888478999996 meters Centerline goodness [0,1] 0.9962690544718047 Centerline is valid? [True, True] Translation: X:22.13, Y:2.88, Z:-0.16 [[ 9.90728982e-01 -1.35688926e-01 -6.67828126e-03 2.21260763e+01] [ 1.35682703e-01 9.90751384e-01 -1.37840354e-03 2.87874445e+00] [ 6.80355050e-03 4.59497084e-04 9.99976750e-01 -1.58862548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730888478999997 meters Centerline goodness [0,1] 0.9964352800546448 Centerline is valid? [True, True] Translation: X:22.15, Y:2.88, Z:-0.16 [[ 9.90738099e-01 -1.35578946e-01 -7.50794325e-03 2.21528521e+01] [ 1.35571078e-01 9.90766411e-01 -1.54950472e-03 2.88422282e+00] [ 7.64869820e-03 5.17293395e-04 9.99970614e-01 -1.58640655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.760888479 meters Centerline goodness [0,1] 0.9952008190602137 Centerline is valid? [True, True] Translation: X:22.18, Y:2.90, Z:-0.16 [[ 9.90869605e-01 -1.34762448e-01 -4.06294453e-03 2.21779691e+01] [ 1.34760133e-01 9.90877894e-01 -8.39471121e-04 2.89859925e+00] [ 4.13901110e-03 2.84283472e-04 9.99991394e-01 -1.58224013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790888478999996 meters Centerline goodness [0,1] 0.9951653781441016 Centerline is valid? [True, True] Translation: X:22.20, Y:2.91, Z:-0.16 [[ 9.90923710e-01 -1.34419707e-01 -1.24257606e-03 2.22042716e+01] [ 1.34419490e-01 9.90924485e-01 -2.57084053e-04 2.90811557e+00] [ 1.26585620e-03 8.77242434e-05 9.99999195e-01 -1.57303327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.820888478999997 meters Centerline goodness [0,1] 0.9956004250797025 Centerline is valid? [True, True] Translation: X:22.23, Y:2.91, Z:-0.16 [[ 9.90884866e-01 -1.34710277e-01 -5.68282723e-04 2.22327155e+01] [ 1.34710230e-01 9.90885028e-01 -1.19065496e-04 2.91062839e+00] [ 5.79142188e-04 4.14267018e-05 9.99999831e-01 -1.58457098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850888478999998 meters Centerline goodness [0,1] 0.9929574468085106 Centerline is valid? [True, True] Translation: X:22.26, Y:2.92, Z:-0.16 [[ 9.90893546e-01 -1.34645915e-01 -6.77291853e-04 2.22581883e+01] [ 1.34645850e-01 9.90893776e-01 -1.41018187e-04 2.92268431e+00] [ 6.90111805e-04 4.85394736e-05 9.99999761e-01 -1.59451140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.880888478999996 meters Centerline goodness [0,1] 0.9954453549005001 Centerline is valid? [True, True] Translation: X:22.29, Y:2.92, Z:-0.16 [[ 9.90884017e-01 -1.34714868e-01 -8.76817330e-04 2.22880973e+01] [ 1.34714758e-01 9.90884403e-01 -1.83004260e-04 2.92188688e+00] [ 8.93478012e-04 6.32157621e-05 9.99999599e-01 -1.58406122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910888478999997 meters Centerline goodness [0,1] 0.9961798664020317 Centerline is valid? [True, True] Translation: X:22.32, Y:2.92, Z:-0.16 [[ 9.90803297e-01 -1.35287534e-01 -2.47193540e-03 2.23187936e+01] [ 1.35286670e-01 9.90806365e-01 -5.14097929e-04 2.91865224e+00] [ 2.51876037e-03 1.74950013e-04 9.99996813e-01 -1.58423811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.940888478999998 meters Centerline goodness [0,1] 0.9964311663888533 Centerline is valid? [True, True] Translation: X:22.35, Y:2.93, Z:-0.16 [[ 9.90588930e-01 -1.36734877e-01 -6.09473224e-03 2.23460850e+01] [ 1.36729667e-01 9.90607590e-01 -1.26542985e-03 2.92526416e+00] [ 6.21051641e-03 4.20190096e-04 9.99980626e-01 -1.61523943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970888479 meters Centerline goodness [0,1] 0.9961363587849809 Centerline is valid? [True, True] Translation: X:22.37, Y:2.93, Z:-0.16 [[ 9.90474453e-01 -1.37544708e-01 -6.46612076e-03 2.23744023e+01] [ 1.37538844e-01 9.90495461e-01 -1.34498823e-03 2.93056698e+00] [ 6.58965928e-03 4.42833709e-04 9.99978190e-01 -1.62800271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.000888478999997 meters Centerline goodness [0,1] 0.997145656711967 Centerline is valid? [True, True] Translation: X:22.40, Y:2.93, Z:-0.16 [[ 9.90371782e-01 -1.38306725e-01 -5.91471467e-03 2.24034087e+01] [ 1.38301823e-01 9.90389362e-01 -1.23198134e-03 2.93467601e+00] [ 6.02826179e-03 4.02103732e-04 9.99981749e-01 -1.63534608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030888478999998 meters Centerline goodness [0,1] 0.9956904827939326 Centerline is valid? [True, True] Translation: X:22.43, Y:2.95, Z:-0.17 [[ 9.90253143e-01 -1.39186505e-01 -5.08219101e-03 2.24288961e+01] [ 1.39182898e-01 9.90266126e-01 -1.05833774e-03 2.94747461e+00] [ 5.18002794e-03 3.40668193e-04 9.99986526e-01 -1.65207477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.060888479 meters Centerline goodness [0,1] 0.9966019832449992 Centerline is valid? [True, True] Translation: X:22.46, Y:2.94, Z:-0.16 [[ 9.90016831e-01 -1.40901763e-01 -3.65612794e-03 2.24600794e+01] [ 1.40899908e-01 9.90023553e-01 -7.61346206e-04 2.94381507e+00] [ 3.72692779e-03 2.38597469e-04 9.99993027e-01 -1.61013002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090888478999997 meters Centerline goodness [0,1] 0.997351106553875 Centerline is valid? [True, True] Translation: X:22.49, Y:2.94, Z:-0.16 [[ 9.89824379e-01 -1.42253765e-01 -3.40085398e-03 2.24892941e+01] [ 1.42252166e-01 9.89830197e-01 -7.08658314e-04 2.94393176e+00] [ 3.46707728e-03 2.17668430e-04 9.99993966e-01 -1.60338955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.120888478999998 meters Centerline goodness [0,1] 0.9972803392080861 Centerline is valid? [True, True] Translation: X:22.52, Y:2.95, Z:-0.16 [[ 9.89632722e-01 -1.43580382e-01 -3.42770525e-03 2.25156499e+01] [ 1.43578764e-01 9.89638635e-01 -7.14662529e-04 2.95228847e+00] [ 3.49480106e-03 2.15107740e-04 9.99993870e-01 -1.60135810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150888479 meters Centerline goodness [0,1] 0.9974054378591646 Centerline is valid? [True, True] Translation: X:22.55, Y:2.95, Z:-0.16 [[ 9.89501274e-01 -1.44495837e-01 -2.86027137e-03 2.25461957e+01] [ 1.44494710e-01 9.89505392e-01 -5.97909344e-04 2.94958730e+00] [ 2.91664935e-03 1.78337975e-04 9.99995731e-01 -1.58040898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.180888478999996 meters Centerline goodness [0,1] 0.9971294530965489 Centerline is valid? [True, True] Translation: X:22.57, Y:2.96, Z:-0.16 [[ 9.89458491e-01 -1.44791813e-01 -2.68787899e-03 2.25731983e+01] [ 1.44790820e-01 9.89462128e-01 -5.61402334e-04 2.95858575e+00] [ 2.74084093e-03 1.66304103e-04 9.99996230e-01 -1.59543705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210888478999998 meters Centerline goodness [0,1] 0.9972828993816991 Centerline is valid? [True, True] Translation: X:22.60, Y:2.97, Z:-0.16 [[ 9.89368178e-01 -1.45423191e-01 -1.64417999e-03 2.26012580e+01] [ 1.45422818e-01 9.89369539e-01 -3.44897682e-04 2.96542047e+00] [ 1.67685772e-03 1.02129504e-04 9.99998589e-01 -1.62033376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.240888479 meters Centerline goodness [0,1] 0.9967930901783042 Centerline is valid? [True, True] Translation: X:22.63, Y:2.97, Z:-0.16 [[ 9.89349417e-01 -1.45554309e-01 -1.29423940e-03 2.26273498e+01] [ 1.45554078e-01 9.89350260e-01 -2.71257071e-04 2.97219839e+00] [ 1.31993872e-03 7.99862017e-05 9.99999126e-01 -1.61633720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270888478999996 meters Centerline goodness [0,1] 0.9970129367774101 Centerline is valid? [True, True] Translation: X:22.66, Y:2.97, Z:-0.16 [[ 9.89246786e-01 -1.46228756e-01 -2.81920336e-03 2.26565194e+01] [ 1.46227662e-01 9.89250788e-01 -5.91455663e-04 2.97247118e+00] [ 2.87538697e-03 1.72850097e-04 9.99995851e-01 -1.59917311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.300888478999997 meters Centerline goodness [0,1] 0.9967349043026228 Centerline is valid? [True, True] Translation: X:22.68, Y:2.98, Z:-0.16 [[ 9.89298109e-01 -1.45850160e-01 -4.12087525e-03 2.26837506e+01] [ 1.45847822e-01 9.89306659e-01 -8.63839160e-04 2.97727491e+00] [ 4.20280041e-03 2.53573766e-04 9.99991136e-01 -1.60190074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330888479 meters Centerline goodness [0,1] 0.9972855357835323 Centerline is valid? [True, True] Translation: X:22.71, Y:2.98, Z:-0.16 [[ 9.89508305e-01 -1.44386309e-01 -5.08991511e-03 2.27131410e+01] [ 1.44382726e-01 9.89521344e-01 -1.06646693e-03 2.98069981e+00] [ 5.19056286e-03 3.20382062e-04 9.99986478e-01 -1.59502201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.360888478999996 meters Centerline goodness [0,1] 0.9967577084943743 Centerline is valid? [True, True] Translation: X:22.74, Y:2.99, Z:-0.16 [[ 9.90030722e-01 -1.40802328e-01 -3.72478875e-03 2.27403622e+01] [ 1.40800384e-01 9.90037698e-01 -7.80459691e-04 2.99489413e+00] [ 3.79757182e-03 2.48227387e-04 9.99992758e-01 -1.61765534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390888478999997 meters Centerline goodness [0,1] 0.9963484051122329 Centerline is valid? [True, True] Translation: X:22.77, Y:3.00, Z:-0.16 [[ 9.90299469e-01 -1.38939974e-01 -1.62640158e-03 2.27673616e+01] [ 1.38939600e-01 9.90300798e-01 -3.41307381e-04 3.00471433e+00] [ 1.65804803e-03 1.12024933e-04 9.99998619e-01 -1.60829853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.420888479 meters Centerline goodness [0,1] 0.9956440572495333 Centerline is valid? [True, True] Translation: X:22.80, Y:3.01, Z:-0.16 [[ 9.90442868e-01 -1.37923622e-01 -1.05307477e-05 2.27950499e+01] [ 1.37923621e-01 9.90442868e-01 -3.50418909e-06 3.01203076e+00] [ 1.09134144e-05 2.01826024e-06 1.00000000e+00 -1.59518699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450888478999996 meters Centerline goodness [0,1] 0.9965269589452246 Centerline is valid? [True, True] Translation: X:22.83, Y:3.01, Z:-0.15 [[ 9.90570112e-01 -1.37004735e-01 7.45117224e-04 2.28262121e+01] [ 1.37004656e-01 9.90570391e-01 1.55155321e-04 3.00579345e+00] [-7.59348074e-04 -5.16076944e-05 9.99999710e-01 -1.53824479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.480888478999997 meters Centerline goodness [0,1] 0.9965269589452246 Centerline is valid? [True, True] Translation: X:22.85, Y:3.01, Z:-0.15 [[ 9.90531167e-01 -1.37286024e-01 7.45113233e-04 2.28532483e+01] [ 1.37285946e-01 9.90531446e-01 1.55175242e-04 3.01155358e+00] [-7.59361480e-04 -5.14123380e-05 9.99999710e-01 -1.53975029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510888479 meters Centerline goodness [0,1] 0.9964775875770527 Centerline is valid? [True, True] Translation: X:22.88, Y:3.02, Z:-0.16 [[ 9.90282120e-01 -1.39070894e-01 7.79983637e-04 2.28823542e+01] [ 1.39070808e-01 9.90282426e-01 1.63928845e-04 3.01732668e+00] [-7.95201819e-04 -5.38628499e-05 9.99999682e-01 -1.57464053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.540888478999996 meters Centerline goodness [0,1] 0.9968550749612269 Centerline is valid? [True, True] Translation: X:22.91, Y:3.02, Z:-0.16 [[ 9.90185761e-01 -1.39749191e-01 1.52403554e-03 2.29109229e+01] [ 1.39748863e-01 9.90186928e-01 3.19703577e-04 3.02272957e+00] [-1.55375839e-03 -1.03583695e-04 9.99998788e-01 -1.56107051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570888478999997 meters Centerline goodness [0,1] 0.9966317607686495 Centerline is valid? [True, True] Translation: X:22.94, Y:3.03, Z:-0.16 [[ 9.89911138e-01 -1.41687227e-01 8.17844998e-04 2.29396247e+01] [ 1.41687133e-01 9.89911474e-01 1.72137547e-04 3.02784084e+00] [-8.33983839e-04 -5.45227618e-05 9.99999651e-01 -1.59453269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.600888478999998 meters Centerline goodness [0,1] 0.9974273607748184 Centerline is valid? [True, True] Translation: X:22.97, Y:3.03, Z:-0.16 [[ 9.89832302e-01 -1.42238818e-01 -3.65299089e-04 2.29673760e+01] [ 1.42238799e-01 9.89832369e-01 -7.77446544e-05 3.03156439e+00] [ 3.72643170e-04 2.49944665e-05 9.99999930e-01 -1.58229221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630888478999996 meters Centerline goodness [0,1] 0.9970186657449015 Centerline is valid? [True, True] Translation: X:23.00, Y:3.03, Z:-0.16 [[ 9.89779460e-01 -1.42597447e-01 -1.60871538e-03 2.29958946e+01] [ 1.42597080e-01 9.89780762e-01 -3.41257748e-04 3.03218148e+00] [ 1.64093802e-03 1.08371793e-04 9.99998648e-01 -1.57542679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.660888478999997 meters Centerline goodness [0,1] 0.9967819964580363 Centerline is valid? [True, True] Translation: X:23.02, Y:3.04, Z:-0.16 [[ 9.89794026e-01 -1.42447062e-01 -4.07683835e-03 2.30228287e+01] [ 1.42444716e-01 9.89802385e-01 -8.61673774e-04 3.03992476e+00] [ 4.15800722e-03 2.72155474e-04 9.99991318e-01 -1.62030395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690888478999998 meters Centerline goodness [0,1] 0.9970983109571243 Centerline is valid? [True, True] Translation: X:23.05, Y:3.05, Z:-0.16 [[ 9.89884749e-01 -1.41816188e-01 -4.04388906e-03 2.30493876e+01] [ 1.41813873e-01 9.89892971e-01 -8.55068958e-04 3.04998869e+00] [ 4.12427997e-03 2.72940151e-04 9.99991458e-01 -1.62996925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.720888478999996 meters Centerline goodness [0,1] 0.9969256749442508 Centerline is valid? [True, True] Translation: X:23.08, Y:3.05, Z:-0.16 [[ 9.89873398e-01 -1.41897916e-01 -3.95447176e-03 2.30788428e+01] [ 1.41895696e-01 9.89881260e-01 -8.38013633e-04 3.05236425e+00] [ 4.03336987e-03 2.68404881e-04 9.99991830e-01 -1.62603872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750888478999997 meters Centerline goodness [0,1] 0.9970085840631232 Centerline is valid? [True, True] Translation: X:23.11, Y:3.05, Z:-0.16 [[ 9.89833268e-01 -1.42201164e-01 -2.98842430e-03 2.31083374e+01] [ 1.42199894e-01 9.89837758e-01 -6.34410401e-04 3.05458256e+00] [ 3.04826911e-03 2.03006902e-04 9.99995333e-01 -1.60785676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.780888478999998 meters Centerline goodness [0,1] 0.998045687483714 Centerline is valid? [True, True] Translation: X:23.14, Y:3.06, Z:-0.16 [[ 9.89464766e-01 -1.44748809e-01 -2.69426648e-03 2.31384001e+01] [ 1.44747788e-01 9.89468419e-01 -5.70881117e-04 3.05880262e+00] [ 2.74852596e-03 1.74877636e-04 9.99996208e-01 -1.62137107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810888479 meters Centerline goodness [0,1] 0.997552152156489 Centerline is valid? [True, True] Translation: X:23.17, Y:3.06, Z:-0.16 [[ 9.89188571e-01 -1.46627532e-01 -2.51773510e-03 2.31659588e+01] [ 1.46626645e-01 9.89191762e-01 -5.34090339e-04 3.06426079e+00] [ 2.56883516e-03 1.59149008e-04 9.99996688e-01 -1.61790340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.840888478999997 meters Centerline goodness [0,1] 0.9976330076004343 Centerline is valid? [True, True] Translation: X:23.20, Y:3.07, Z:-0.16 [[ 9.88841413e-01 -1.48965088e-01 -1.43613717e-03 2.31958983e+01] [ 1.48964802e-01 9.88842452e-01 -3.04684744e-04 3.06728145e+00] [ 1.46550079e-03 8.73510029e-05 9.99998922e-01 -1.60451517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870888478999998 meters Centerline goodness [0,1] 0.9983836795317039 Centerline is valid? [True, True] Translation: X:23.23, Y:3.06, Z:-0.16 [[ 9.88051494e-01 -1.54124057e-01 -1.41942028e-04 2.32278800e+01] [ 1.54124054e-01 9.88051504e-01 -3.00942039e-05 3.06370665e+00] [ 1.44884276e-04 7.85794228e-06 9.99999989e-01 -1.57795941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.900888479 meters Centerline goodness [0,1] 0.9986899277276796 Centerline is valid? [True, True] Translation: X:23.26, Y:3.07, Z:-0.16 [[ 9.87648834e-01 -1.56681752e-01 -7.80029643e-04 2.32562074e+01] [ 1.56681670e-01 9.87649142e-01 -1.65581870e-04 3.06942952e+00] [ 7.96339265e-04 4.13203939e-05 9.99999682e-01 -1.58557904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930888478999996 meters Centerline goodness [0,1] 0.9986426429056199 Centerline is valid? [True, True] Translation: X:23.28, Y:3.08, Z:-0.16 [[ 9.87423522e-01 -1.58092705e-01 -1.21862636e-03 2.32835255e+01] [ 1.58092506e-01 9.87424272e-01 -2.58962726e-04 3.07583577e+00] [ 1.24424136e-03 6.30501924e-05 9.99999224e-01 -1.56778036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.960888478999998 meters Centerline goodness [0,1] 0.9989059559756684 Centerline is valid? [True, True] Translation: X:23.31, Y:3.08, Z:-0.16 [[ 9.87184470e-01 -1.59562366e-01 -2.58344560e-03 2.33128987e+01] [ 1.59561472e-01 9.87187841e-01 -5.50002697e-04 3.07505440e+00] [ 2.63810581e-03 1.30735740e-04 9.99996512e-01 -1.56772300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990888479 meters Centerline goodness [0,1] 0.9983814169163805 Centerline is valid? [True, True] Translation: X:23.34, Y:3.08, Z:-0.16 [[ 9.87005798e-01 -1.60656359e-01 -3.01473571e-03 2.33408581e+01] [ 1.60655144e-01 9.87010391e-01 -6.42346393e-04 3.08148412e+00] [ 3.07877250e-03 1.49666815e-04 9.99995249e-01 -1.58963268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.020888478999996 meters Centerline goodness [0,1] 0.9985341734488492 Centerline is valid? [True, True] Translation: X:23.37, Y:3.09, Z:-0.16 [[ 9.87063793e-01 -1.60317442e-01 -1.84048673e-03 2.33674422e+01] [ 1.60316989e-01 9.87065504e-01 -3.91969482e-04 3.09202664e+00] [ 1.87952051e-03 9.18375927e-05 9.99998229e-01 -1.60012423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050888478999997 meters Centerline goodness [0,1] 0.9987329605033205 Centerline is valid? [True, True] Translation: X:23.40, Y:3.09, Z:-0.16 [[ 9.87120629e-01 -1.59972231e-01 -1.32274693e-03 2.33966978e+01] [ 1.59971994e-01 9.87121513e-01 -2.83065068e-04 3.09478815e+00] [ 1.35099450e-03 6.78169024e-05 9.99999085e-01 -1.60289598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.080888479 meters Centerline goodness [0,1] 0.9985110901885222 Centerline is valid? [True, True] Translation: X:23.42, Y:3.10, Z:-0.16 [[ 9.87159954e-01 -1.59707173e-01 -2.97388880e-03 2.34233721e+01] [ 1.59705985e-01 9.87164422e-01 -6.34462953e-04 3.10394054e+00] [ 3.03704550e-03 1.51368581e-04 9.99995377e-01 -1.60295262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110888478999996 meters Centerline goodness [0,1] 0.9983349034901299 Centerline is valid? [True, True] Translation: X:23.45, Y:3.10, Z:-0.16 [[ 9.87169390e-01 -1.59593391e-01 -5.15214927e-03 2.34525889e+01] [ 1.59589815e-01 9.87182800e-01 -1.10059083e-03 3.10406562e+00] [ 5.26176016e-03 2.64239031e-04 9.99986122e-01 -1.60566325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.140888478999997 meters Centerline goodness [0,1] 0.9986402912408439 Centerline is valid? [True, True] Translation: X:23.48, Y:3.11, Z:-0.16 [[ 9.87451673e-01 -1.57793314e-01 -6.36116689e-03 2.34821169e+01] [ 1.57787833e-01 9.87472104e-01 -1.35761815e-03 3.10671650e+00] [ 6.49569792e-03 3.36867569e-04 9.99978846e-01 -1.57913520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170888479 meters Centerline goodness [0,1] 0.9987053737958879 Centerline is valid? [True, True] Translation: X:23.51, Y:3.11, Z:-0.16 [[ 9.87325231e-01 -1.58575250e-01 -6.54055452e-03 2.35104306e+01] [ 1.58569454e-01 9.87346835e-01 -1.39877721e-03 3.11314362e+00] [ 6.67960725e-03 3.43915876e-04 9.99977632e-01 -1.59703105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.200888478999996 meters Centerline goodness [0,1] 0.9990576994718734 Centerline is valid? [True, True] Translation: X:23.54, Y:3.12, Z:-0.16 [[ 9.87256278e-01 -1.59046637e-01 -5.40452851e-03 2.35383389e+01] [ 1.59042677e-01 9.87271030e-01 -1.15747023e-03 3.11953645e+00] [ 5.51982618e-03 2.83169070e-04 9.99984726e-01 -1.59488260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230888478999997 meters Centerline goodness [0,1] 0.9990157265032044 Centerline is valid? [True, True] Translation: X:23.56, Y:3.13, Z:-0.16 [[ 9.87132930e-01 -1.59857418e-01 -3.76610775e-03 2.35646847e+01] [ 1.59855502e-01 9.87140096e-01 -8.06443478e-04 3.12798280e+00] [ 3.84659194e-03 1.94033869e-04 9.99992583e-01 -1.59765612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.260888479 meters Centerline goodness [0,1] 0.9988842459909427 Centerline is valid? [True, True] Translation: X:23.59, Y:3.13, Z:-0.16 [[ 9.86752638e-01 -1.62218858e-01 -2.06717506e-03 2.35945364e+01] [ 1.62218282e-01 9.86754798e-01 -4.44193361e-04 3.12903422e+00] [ 2.11185145e-03 1.02975382e-04 9.99997765e-01 -1.58333510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290888478999996 meters Centerline goodness [0,1] 0.9993189208190526 Centerline is valid? [True, True] Translation: X:23.62, Y:3.13, Z:-0.15 [[ 9.86554545e-01 -1.63430233e-01 -8.29719732e-04 2.36229975e+01] [ 1.63430139e-01 9.86554893e-01 -1.79376375e-04 3.13333981e+00] [ 8.47879585e-04 4.13633663e-05 9.99999640e-01 -1.54745229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.320888478999997 meters Centerline goodness [0,1] 0.9990104235387254 Centerline is valid? [True, True] Translation: X:23.65, Y:3.14, Z:-0.15 [[ 9.86263936e-01 -1.65162828e-01 -2.16542373e-03 2.36518795e+01] [ 1.65162202e-01 9.86266308e-01 -4.66447433e-04 3.13601739e+00] [ 2.21272425e-03 1.02394131e-04 9.99997547e-01 -1.54480624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350888478999998 meters Centerline goodness [0,1] 0.9990998902305159 Centerline is valid? [True, True] Translation: X:23.68, Y:3.14, Z:-0.15 [[ 9.86190070e-01 -1.65602185e-01 -2.24992749e-03 2.36790223e+01] [ 1.65601507e-01 9.86192631e-01 -4.85468876e-04 3.14232403e+00] [ 2.29925661e-03 1.06173201e-04 9.99997351e-01 -1.54356827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.380888478999996 meters Centerline goodness [0,1] 0.9983790059363431 Centerline is valid? [True, True] Translation: X:23.71, Y:3.15, Z:-0.15 [[ 9.86295010e-01 -1.64990449e-01 -5.52233456e-04 2.37069908e+01] [ 1.64990408e-01 9.86295164e-01 -1.20295681e-04 3.15095948e+00] [ 5.64512826e-04 2.75338074e-05 9.99999840e-01 -1.51689934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410888478999997 meters Centerline goodness [0,1] 0.9987542072824234 Centerline is valid? [True, True] Translation: X:23.73, Y:3.16, Z:-0.16 [[ 9.86279863e-01 -1.65080668e-01 -6.36322316e-04 2.37324629e+01] [ 1.65080613e-01 9.86280068e-01 -1.37784821e-04 3.15993850e+00] [ 6.50337628e-04 3.08499156e-05 9.99999788e-01 -1.55174578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.440888478999998 meters Centerline goodness [0,1] 0.9983242290365405 Centerline is valid? [True, True] Translation: X:23.76, Y:3.17, Z:-0.15 [[ 9.86785070e-01 -1.62033137e-01 -6.98759855e-04 2.37585573e+01] [ 1.62033071e-01 9.86785317e-01 -1.50989509e-04 3.17296908e+00] [ 7.13991268e-04 3.57719883e-05 9.99999744e-01 -1.54643403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470888478999996 meters Centerline goodness [0,1] 0.9987161074117595 Centerline is valid? [True, True] Translation: X:23.79, Y:3.18, Z:-0.16 [[ 9.87041274e-01 -1.60451511e-01 -2.19920829e-03 2.37874423e+01] [ 1.60450851e-01 9.87043717e-01 -4.74406419e-04 3.17736585e+00] [ 2.24683395e-03 1.15393875e-04 9.99997469e-01 -1.56751250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.500888478999997 meters Centerline goodness [0,1] 0.9984731159341259 Centerline is valid? [True, True] Translation: X:23.81, Y:3.19, Z:-0.16 [[ 9.87368653e-01 -1.58404982e-01 -3.31729790e-03 2.38138036e+01] [ 1.58403469e-01 9.87374209e-01 -7.15626508e-04 3.19128038e+00] [ 3.38877320e-03 1.81115686e-04 9.99994242e-01 -1.59711478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530888478999998 meters Centerline goodness [0,1] 0.9985248497733041 Centerline is valid? [True, True] Translation: X:23.84, Y:3.19, Z:-0.16 [[ 9.87695419e-01 -1.56341149e-01 -3.89924188e-03 2.38438033e+01] [ 1.56339043e-01 9.87703091e-01 -8.41160805e-04 3.19319577e+00] [ 3.98280130e-03 2.21206931e-04 9.99992044e-01 -1.58415149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.560888479 meters Centerline goodness [0,1] 0.9985632183908046 Centerline is valid? [True, True] Translation: X:23.87, Y:3.20, Z:-0.16 [[ 9.88219401e-01 -1.52996691e-01 -3.79854610e-03 2.38729296e+01] [ 1.52994668e-01 9.88226675e-01 -8.19246526e-04 3.20292507e+00] [ 3.87916658e-03 2.28438013e-04 9.99992450e-01 -1.57259271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590888478999997 meters Centerline goodness [0,1] 0.9983261961176445 Centerline is valid? [True, True] Translation: X:23.90, Y:3.21, Z:-0.16 [[ 9.88292481e-01 -1.52529918e-01 -3.54911806e-03 2.38997218e+01] [ 1.52528145e-01 9.88298830e-01 -7.66665831e-04 3.21161675e+00] [ 3.62452870e-03 2.16349684e-04 9.99993408e-01 -1.58675263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.620888478999998 meters Centerline goodness [0,1] 0.9983908145957465 Centerline is valid? [True, True] Translation: X:23.93, Y:3.22, Z:-0.16 [[ 9.88303943e-01 -1.52449107e-01 -3.81913608e-03 2.39277823e+01] [ 1.52447046e-01 9.88311294e-01 -8.26612864e-04 3.21645095e+00] [ 3.90051171e-03 2.34728738e-04 9.99992365e-01 -1.60918176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650888479 meters Centerline goodness [0,1] 0.9980699167244969 Centerline is valid? [True, True] Translation: X:23.96, Y:3.22, Z:-0.16 [[ 9.88316718e-01 -1.52403149e-01 -1.82903131e-03 2.39553237e+01] [ 1.52402674e-01 9.88318404e-01 -3.97343832e-04 3.22339676e+00] [ 1.86822176e-03 1.13952289e-04 9.99998248e-01 -1.59820218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.680888478999996 meters Centerline goodness [0,1] 0.9981146794955142 Centerline is valid? [True, True] Translation: X:23.98, Y:3.23, Z:-0.16 [[ 9.88307503e-01 -1.52467012e-01 -1.44584580e-03 2.39814821e+01] [ 1.52466715e-01 9.88308556e-01 -3.13717744e-04 3.22875699e+00] [ 1.47677338e-03 8.96062411e-05 9.99998906e-01 -1.58586721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710888478999998 meters Centerline goodness [0,1] 0.998500782200591 Centerline is valid? [True, True] Translation: X:24.01, Y:3.23, Z:-0.16 [[ 9.88356046e-01 -1.52148109e-01 -1.81085487e-03 2.40084957e+01] [ 1.52147644e-01 9.88357699e-01 -3.92704613e-04 3.23451020e+00] [ 1.84952161e-03 1.12614677e-04 9.99998283e-01 -1.57829028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.740888479 meters Centerline goodness [0,1] 0.9978350760970752 Centerline is valid? [True, True] Translation: X:24.04, Y:3.24, Z:-0.16 [[ 9.88432808e-01 -1.51639406e-01 -2.46455160e-03 2.40351396e+01] [ 1.51638542e-01 9.88435869e-01 -5.34509333e-04 3.24351674e+00] [ 2.51710388e-03 1.54605549e-04 9.99996820e-01 -1.58963570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770888478999996 meters Centerline goodness [0,1] 0.997896426092991 Centerline is valid? [True, True] Translation: X:24.06, Y:3.25, Z:-0.16 [[ 9.88749167e-01 -1.49546212e-01 -3.31898478e-03 2.40643311e+01] [ 1.49544635e-01 9.88754714e-01 -7.19649979e-04 3.24793256e+00] [ 3.38928278e-03 2.15216948e-04 9.99994233e-01 -1.58968538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.800888478999997 meters Centerline goodness [0,1] 0.9980068892307026 Centerline is valid? [True, True] Translation: X:24.09, Y:3.26, Z:-0.16 [[ 9.88853127e-01 -1.48868693e-01 -2.75788435e-03 2.40924465e+01] [ 1.48867596e-01 9.88856956e-01 -5.99848860e-04 3.25580812e+00] [ 2.81645184e-03 1.82602807e-04 9.99996017e-01 -1.58528899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830888479 meters Centerline goodness [0,1] 0.997767712013177 Centerline is valid? [True, True] Translation: X:24.12, Y:3.26, Z:-0.16 [[ 9.88890295e-01 -1.48596360e-01 -3.88678971e-03 2.41204250e+01] [ 1.48594178e-01 9.88897899e-01 -8.45829672e-04 3.26227331e+00] [ 3.96932538e-03 2.58878431e-04 9.99992089e-01 -1.60318236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.860888478999996 meters Centerline goodness [0,1] 0.9983972970631552 Centerline is valid? [True, True] Translation: X:24.15, Y:3.27, Z:-0.16 [[ 9.88818581e-01 -1.48943641e-01 -7.32157157e-03 2.41492704e+01] [ 1.48935903e-01 9.88845567e-01 -1.59395507e-03 3.26577623e+00] [ 7.47731307e-03 4.85687516e-04 9.99971927e-01 -1.61198615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890888478999997 meters Centerline goodness [0,1] 0.9982187852984621 Centerline is valid? [True, True] Translation: X:24.18, Y:3.27, Z:-0.16 [[ 9.88651812e-01 -1.49981679e-01 -8.54925322e-03 2.41777132e+01] [ 1.49971151e-01 9.88688617e-01 -1.86321483e-03 3.27014612e+00] [ 8.73199743e-03 5.59929376e-04 9.99961719e-01 -1.61983226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.920888479 meters Centerline goodness [0,1] 0.9984352928392916 Centerline is valid? [True, True] Translation: X:24.21, Y:3.28, Z:-0.16 [[ 9.88438152e-01 -1.51348518e-01 -9.14583885e-03 2.42057401e+01] [ 1.51336506e-01 9.88480288e-01 -1.99551363e-03 3.27562756e+00] [ 9.34249945e-03 5.88342513e-04 9.99956185e-01 -1.62975154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950888478999996 meters Centerline goodness [0,1] 0.997334200260078 Centerline is valid? [True, True] Translation: X:24.23, Y:3.29, Z:-0.17 [[ 9.88180719e-01 -1.53056097e-01 -8.52630954e-03 2.42305751e+01] [ 1.53045723e-01 9.88217358e-01 -1.86005962e-03 3.29439182e+00] [ 8.71054056e-03 5.33159849e-04 9.99961920e-01 -1.69017786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.980888478999997 meters Centerline goodness [0,1] 0.998048653570964 Centerline is valid? [True, True] Translation: X:24.26, Y:3.29, Z:-0.17 [[ 9.88121520e-01 -1.53539386e-01 -6.44349449e-03 2.42610256e+01] [ 1.53533455e-01 9.88142447e-01 -1.40819703e-03 3.29254515e+00] [ 6.58330412e-03 4.02177822e-04 9.99978249e-01 -1.66026444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010888479 meters Centerline goodness [0,1] 0.9984146977067407 Centerline is valid? [True, True] Translation: X:24.29, Y:3.30, Z:-0.16 [[ 9.87962289e-01 -1.54608930e-01 -5.15700227e-03 2.42897682e+01] [ 1.54605136e-01 9.87975697e-01 -1.12874268e-03 3.29604157e+00] [ 5.26950661e-03 3.17856161e-04 9.99986066e-01 -1.64279199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.040888478999996 meters Centerline goodness [0,1] 0.9987548332131857 Centerline is valid? [True, True] Translation: X:24.32, Y:3.29, Z:-0.16 [[ 9.87442023e-01 -1.57943974e-01 -3.45726931e-03 2.43207815e+01] [ 1.57942292e-01 9.87448055e-01 -7.55946923e-04 3.29410698e+00] [ 3.53327112e-03 2.00404721e-04 9.99993738e-01 -1.58754322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070888478999997 meters Centerline goodness [0,1] 0.9988177081052678 Centerline is valid? [True, True] Translation: X:24.35, Y:3.30, Z:-0.16 [[ 9.87215087e-01 -1.59349518e-01 -3.75540263e-03 2.43483234e+01] [ 1.59347541e-01 9.87222207e-01 -8.21858189e-04 3.29757662e+00] [ 3.83837958e-03 2.12936629e-04 9.99992611e-01 -1.57803520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.100888478999998 meters Centerline goodness [0,1] 0.9984005608991915 Centerline is valid? [True, True] Translation: X:24.38, Y:3.30, Z:-0.16 [[ 9.86922746e-01 -1.61128585e-01 -4.59040284e-03 2.43772270e+01] [ 1.61125641e-01 9.86933389e-01 -1.00659835e-03 3.29978173e+00] [ 4.69261360e-03 2.53803213e-04 9.99988957e-01 -1.58972819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130888478999996 meters Centerline goodness [0,1] 0.9990358700177487 Centerline is valid? [True, True] Translation: X:24.40, Y:3.31, Z:-0.16 [[ 9.86845764e-01 -1.61594069e-01 -4.77438241e-03 2.44036067e+01] [ 1.61590892e-01 9.86857279e-01 -1.04642496e-03 3.30906764e+00] [ 4.88073010e-03 2.61163321e-04 9.99988055e-01 -1.62094677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.160888478999997 meters Centerline goodness [0,1] 0.9983597953024538 Centerline is valid? [True, True] Translation: X:24.43, Y:3.32, Z:-0.16 [[ 9.86898559e-01 -1.61270701e-01 -4.79542242e-03 2.44307422e+01] [ 1.61267489e-01 9.86910174e-01 -1.05146316e-03 3.31725568e+00] [ 4.90222137e-03 2.64341745e-04 9.99987949e-01 -1.63610350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190888478999998 meters Centerline goodness [0,1] 0.9986022843914477 Centerline is valid? [True, True] Translation: X:24.46, Y:3.32, Z:-0.16 [[ 9.87049673e-01 -1.60326324e-01 -5.33031043e-03 2.44584106e+01] [ 1.60322338e-01 9.87064020e-01 -1.16964601e-03 3.32376680e+00] [ 5.44888268e-03 2.99930881e-04 9.99985110e-01 -1.64052181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.220888478999996 meters Centerline goodness [0,1] 0.9981765455424227 Centerline is valid? [True, True] Translation: X:24.49, Y:3.33, Z:-0.16 [[ 9.87286192e-01 -1.58847675e-01 -5.77860354e-03 2.44880924e+01] [ 1.58842967e-01 9.87303046e-01 -1.26763631e-03 3.32801458e+00] [ 5.90659395e-03 3.33629295e-04 9.99982500e-01 -1.62155188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250888478999997 meters Centerline goodness [0,1] 0.998657245371899 Centerline is valid? [True, True] Translation: X:24.52, Y:3.33, Z:-0.16 [[ 9.87331477e-01 -1.58588421e-01 -5.12510786e-03 2.45173788e+01] [ 1.58584701e-01 9.87344733e-01 -1.12684005e-03 3.33100979e+00] [ 5.23895204e-03 2.99800951e-04 9.99986232e-01 -1.60091229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.280888478999998 meters Centerline goodness [0,1] 0.9986575999647895 Centerline is valid? [True, True] Translation: X:24.54, Y:3.34, Z:-0.16 [[ 9.87417895e-01 -1.58088887e-01 -3.71545283e-03 2.45446100e+01] [ 1.58086929e-01 9.87424861e-01 -8.16727430e-04 3.33811494e+00] [ 3.79784602e-03 2.19086750e-04 9.99992764e-01 -1.57514421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310888479 meters Centerline goodness [0,1] 0.9981580966999233 Centerline is valid? [True, True] Translation: X:24.57, Y:3.34, Z:-0.16 [[ 9.87336889e-01 -1.58585397e-01 -4.06676817e-03 2.45726333e+01] [ 1.58583048e-01 9.87345236e-01 -8.95819491e-04 3.34473950e+00] [ 4.15736807e-03 2.39555138e-04 9.99991329e-01 -1.58751461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.340888478999997 meters Centerline goodness [0,1] 0.9985885673959068 Centerline is valid? [True, True] Translation: X:24.60, Y:3.35, Z:-0.16 [[ 9.86920648e-01 -1.61088186e-01 -6.18317460e-03 2.46013721e+01] [ 1.61082815e-01 9.86939956e-01 -1.36036229e-03 3.35168277e+00] [ 6.32156036e-03 3.46566460e-04 9.99979959e-01 -1.63428522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370888478999998 meters Centerline goodness [0,1] 0.9985885673959068 Centerline is valid? [True, True] Translation: X:24.63, Y:3.36, Z:-0.16 [[ 9.86875579e-01 -1.61364085e-01 -6.18250654e-03 2.46283367e+01] [ 1.61358700e-01 9.86894883e-01 -1.36339705e-03 3.35770299e+00] [ 6.32148739e-03 3.47902034e-04 9.99979959e-01 -1.63579366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.400888479 meters Centerline goodness [0,1] 0.9983723027516882 Centerline is valid? [True, True] Translation: X:24.66, Y:3.36, Z:-0.16 [[ 9.86561370e-01 -1.63297573e-01 -5.52859026e-03 2.46569832e+01] [ 1.63293291e-01 9.86576815e-01 -1.22038532e-03 3.36330400e+00] [ 5.65366493e-03 3.01203315e-04 9.99983973e-01 -1.64038308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430888478999996 meters Centerline goodness [0,1] 0.998744272118435 Centerline is valid? [True, True] Translation: X:24.69, Y:3.37, Z:-0.16 [[ 9.86332861e-01 -1.64743543e-01 -2.65546349e-03 2.46853273e+01] [ 1.64742561e-01 9.86336426e-01 -5.86141170e-04 3.36820675e+00] [ 2.71574335e-03 1.40662441e-04 9.99996302e-01 -1.61084354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.460888478999998 meters Centerline goodness [0,1] 0.9985256255088792 Centerline is valid? [True, True] Translation: X:24.71, Y:3.37, Z:-0.16 [[ 9.85867854e-01 -1.67514543e-01 -1.85830088e-03 2.47134859e+01] [ 1.67514066e-01 9.85869601e-01 -4.10170829e-04 3.37490128e+00] [ 1.90075193e-03 9.30826977e-05 9.99998189e-01 -1.61262423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490888479 meters Centerline goodness [0,1] 0.9991833131000993 Centerline is valid? [True, True] Translation: X:24.74, Y:3.37, Z:-0.16 [[ 9.85132578e-01 -1.71795698e-01 2.02636039e-04 2.47449449e+01] [ 1.71795692e-01 9.85132599e-01 4.46179952e-05 3.37396077e+00] [-2.07288548e-04 -9.14264194e-06 9.99999978e-01 -1.55152434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.520888478999996 meters Centerline goodness [0,1] 0.9990519864191543 Centerline is valid? [True, True] Translation: X:24.77, Y:3.38, Z:-0.15 [[ 9.84815193e-01 -1.73605912e-01 1.53039750e-04 2.47737800e+01] [ 1.73605909e-01 9.84815205e-01 3.24334097e-05 3.37566161e+00] [-1.56346504e-04 -5.37230975e-06 9.99999988e-01 -1.54264051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550888478999997 meters Centerline goodness [0,1] 0.9988960279084145 Centerline is valid? [True, True] Translation: X:24.80, Y:3.39, Z:-0.16 [[ 9.84591420e-01 -1.74860256e-01 -1.90464691e-03 2.48009679e+01] [ 1.74859765e-01 9.84593258e-01 -4.22587947e-04 3.38631993e+00] [ 1.94919634e-03 8.30303569e-05 9.99998097e-01 -1.61552649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.580888479 meters Centerline goodness [0,1] 0.9987699336642798 Centerline is valid? [True, True] Translation: X:24.83, Y:3.40, Z:-0.16 [[ 9.84878658e-01 -1.73229154e-01 -2.38534939e-03 2.48289106e+01] [ 1.73228379e-01 9.84881540e-01 -5.29509543e-04 3.39519755e+00] [ 2.44101307e-03 1.08292441e-04 9.99997015e-01 -1.63225952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610888478999996 meters Centerline goodness [0,1] 0.9990966775359126 Centerline is valid? [True, True] Translation: X:24.86, Y:3.40, Z:-0.16 [[ 9.85147253e-01 -1.71685037e-01 -3.02283110e-03 2.48561277e+01] [ 1.71683788e-01 9.85151881e-01 -6.70045657e-04 3.40311132e+00] [ 3.09298456e-03 1.41122545e-04 9.99995207e-01 -1.64820137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.640888478999997 meters Centerline goodness [0,1] 0.9988541965052994 Centerline is valid? [True, True] Translation: X:24.88, Y:3.41, Z:-0.17 [[ 9.85433907e-01 -1.69981214e-01 -5.13835605e-03 2.48834310e+01] [ 1.69977581e-01 9.85447271e-01 -1.13890848e-03 3.40971000e+00] [ 5.25717199e-03 2.48913702e-04 9.99986150e-01 -1.67033730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670888479 meters Centerline goodness [0,1] 0.9992492658261388 Centerline is valid? [True, True] Translation: X:24.91, Y:3.42, Z:-0.17 [[ 9.85516160e-01 -1.69501350e-01 -5.21457095e-03 2.49105935e+01] [ 1.69497598e-01 9.85529922e-01 -1.15635528e-03 3.41529503e+00] [ 5.33511948e-03 2.55749563e-04 9.99985735e-01 -1.65611671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.700888478999996 meters Centerline goodness [0,1] 0.9991369963045739 Centerline is valid? [True, True] Translation: X:24.94, Y:3.42, Z:-0.16 [[ 9.85554763e-01 -1.69298273e-01 -4.46134614e-03 2.49392597e+01] [ 1.69295516e-01 9.85564836e-01 -9.91389172e-04 3.42033355e+00] [ 4.56478635e-03 2.21782425e-04 9.99989557e-01 -1.62224512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730888478999997 meters Centerline goodness [0,1] 0.9990108150883672 Centerline is valid? [True, True] Translation: X:24.97, Y:3.43, Z:-0.17 [[ 9.85096717e-01 -1.71942796e-01 -4.48696170e-03 2.49685385e+01] [ 1.71940039e-01 9.85106914e-01 -9.95906661e-04 3.42637423e+00] [ 4.59137596e-03 2.09576013e-04 9.99989438e-01 -1.65103584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.760888479 meters Centerline goodness [0,1] 0.9990531971111503 Centerline is valid? [True, True] Translation: X:25.00, Y:3.43, Z:-0.16 [[ 9.85056970e-01 -1.72208916e-01 -2.61818008e-03 2.49964122e+01] [ 1.72207973e-01 9.85060442e-01 -5.83088855e-04 3.43413490e+00] [ 2.67947872e-03 1.23504256e-04 9.99996403e-01 -1.63847799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790888478999996 meters Centerline goodness [0,1] 0.999404354828035 Centerline is valid? [True, True] Translation: X:25.02, Y:3.44, Z:-0.17 [[ 9.84831853e-01 -1.73482629e-01 -3.16222937e-03 2.50246317e+01] [ 1.73481258e-01 9.84836919e-01 -7.04800148e-04 3.43912778e+00] [ 3.23655081e-03 1.45522106e-04 9.99994752e-01 -1.65035088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.820888478999997 meters Centerline goodness [0,1] 0.9994905305127921 Centerline is valid? [True, True] Translation: X:25.05, Y:3.44, Z:-0.17 [[ 9.84202432e-01 -1.76922428e-01 -6.63529802e-03 2.50546925e+01] [ 1.76916471e-01 9.84224758e-01 -1.47887430e-03 3.43977983e+00] [ 6.79227063e-03 2.81618170e-04 9.99976893e-01 -1.68901254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850888478999998 meters Centerline goodness [0,1] 0.9997561948667938 Centerline is valid? [True, True] Translation: X:25.08, Y:3.44, Z:-0.17 [[ 9.84184680e-01 -1.77033248e-01 -6.30430962e-03 2.50816305e+01] [ 1.77027865e-01 9.84204835e-01 -1.40622167e-03 3.44411944e+00] [ 6.45368000e-03 2.67943348e-04 9.99979139e-01 -1.67273704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.880888478999996 meters Centerline goodness [0,1] 0.9996674721230796 Centerline is valid? [True, True] Translation: X:25.11, Y:3.45, Z:-0.17 [[ 9.83930758e-01 -1.78400874e-01 -7.30694797e-03 2.51086898e+01] [ 1.78393682e-01 9.83957844e-01 -1.62976433e-03 3.44998395e+00] [ 7.48048015e-03 3.00061900e-04 9.99971976e-01 -1.68355708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910888478999997 meters Centerline goodness [0,1] 0.9997785798109071 Centerline is valid? [True, True] Translation: X:25.14, Y:3.45, Z:-0.17 [[ 9.83633748e-01 -1.80005648e-01 -7.91306856e-03 2.51378299e+01] [ 1.79997242e-01 9.83665526e-01 -1.76783941e-03 3.45316585e+00] [ 8.10203383e-03 3.14575986e-04 9.99967129e-01 -1.68726282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.940888478999998 meters Centerline goodness [0,1] 0.9997340366586139 Centerline is valid? [True, True] Translation: X:25.16, Y:3.46, Z:-0.17 [[ 9.83054473e-01 -1.83129868e-01 -8.20701884e-03 2.51646770e+01] [ 1.83120936e-01 9.83088685e-01 -1.83331825e-03 3.46084899e+00] [ 8.40396268e-03 2.99374736e-04 9.99964641e-01 -1.72469139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970888478999996 meters Centerline goodness [0,1] 0.9997116237799467 Centerline is valid? [True, True] Translation: X:25.19, Y:3.47, Z:-0.17 [[ 9.82789978e-01 -1.84614157e-01 -6.43986985e-03 2.51923631e+01] [ 1.84608672e-01 9.82811051e-01 -1.44115845e-03 3.46703749e+00] [ 6.59523350e-03 2.27500267e-04 9.99978225e-01 -1.71057529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.000888478999997 meters Centerline goodness [0,1] 0.999669457910974 Centerline is valid? [True, True] Translation: X:25.22, Y:3.47, Z:-0.17 [[ 9.82576089e-01 -1.85760419e-01 -6.10706195e-03 2.52213484e+01] [ 1.85755498e-01 9.82595045e-01 -1.36830681e-03 3.46957098e+00] [ 6.25494606e-03 2.10045216e-04 9.99980416e-01 -1.68947155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030888478999998 meters Centerline goodness [0,1] 0.9997334399573504 Centerline is valid? [True, True] Translation: X:25.25, Y:3.47, Z:-0.17 [[ 9.82178584e-01 -1.87837307e-01 -6.50954455e-03 2.52489679e+01] [ 1.87831761e-01 9.82200133e-01 -1.45859967e-03 3.47256977e+00] [ 6.66765496e-03 2.09906143e-04 9.99977749e-01 -1.67419568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.060888479 meters Centerline goodness [0,1] 0.9997336529497935 Centerline is valid? [True, True] Translation: X:25.28, Y:3.48, Z:-0.17 [[ 9.81970013e-01 -1.88931745e-01 -6.29999631e-03 2.52781142e+01] [ 1.88926559e-01 9.81990202e-01 -1.41373494e-03 3.47694368e+00] [ 6.45363406e-03 1.98008695e-04 9.99979155e-01 -1.67452494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090888478999997 meters Centerline goodness [0,1] 0.9996899156127489 Centerline is valid? [True, True] Translation: X:25.31, Y:3.48, Z:-0.17 [[ 9.81672911e-01 -1.90456184e-01 -6.68861992e-03 2.53051334e+01] [ 1.90450376e-01 9.81695677e-01 -1.50069054e-03 3.48497920e+00] [ 6.85200506e-03 1.99337071e-04 9.99976505e-01 -1.70023057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.120888478999998 meters Centerline goodness [0,1] 0.9997343487115913 Centerline is valid? [True, True] Translation: X:25.33, Y:3.49, Z:-0.17 [[ 9.81491290e-01 -1.91417848e-01 -5.83575298e-03 2.53336329e+01] [ 1.91413429e-01 9.81508624e-01 -1.31174900e-03 3.49040112e+00] [ 5.97893404e-03 1.70428722e-04 9.99982111e-01 -1.69824432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150888479 meters Centerline goodness [0,1] 0.9995793761484139 Centerline is valid? [True, True] Translation: X:25.36, Y:3.50, Z:-0.17 [[ 9.81364411e-01 -1.92108002e-01 -4.29050157e-03 2.53613051e+01] [ 1.92105614e-01 9.81373782e-01 -9.65886111e-04 3.49814612e+00] [ 4.39614021e-03 1.23656815e-04 9.99990329e-01 -1.70401345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.180888478999996 meters Centerline goodness [0,1] 0.9997341427210492 Centerline is valid? [True, True] Translation: X:25.39, Y:3.51, Z:-0.17 [[ 9.81463667e-01 -1.91601558e-01 -4.23239003e-03 2.53880510e+01] [ 1.91599231e-01 9.81472785e-01 -9.52325217e-04 3.50548297e+00] [ 4.33644262e-03 1.23749927e-04 9.99990590e-01 -1.70401730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210888478999998 meters Centerline goodness [0,1] 0.9998005363356308 Centerline is valid? [True, True] Translation: X:25.42, Y:3.51, Z:-0.17 [[ 9.81424213e-01 -1.91736103e-01 -6.61678103e-03 2.54157595e+01] [ 1.91730417e-01 9.81446499e-01 -1.48913976e-03 3.51131907e+00] [ 6.77953843e-03 1.92839630e-04 9.99977000e-01 -1.73025094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.240888479 meters Centerline goodness [0,1] 0.9997344545253375 Centerline is valid? [True, True] Translation: X:25.44, Y:3.52, Z:-0.17 [[ 9.82106258e-01 -1.88156906e-01 -8.01726118e-03 2.54443993e+01] [ 1.88148440e-01 9.82138946e-01 -1.80422456e-03 3.51877861e+00] [ 8.21354175e-03 2.63505043e-04 9.99966234e-01 -1.72932880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270888478999996 meters Centerline goodness [0,1] 0.9999335268440761 Centerline is valid? [True, True] Translation: X:25.47, Y:3.53, Z:-0.17 [[ 9.82531798e-01 -1.85941567e-01 -7.54977716e-03 2.54717319e+01] [ 1.85933987e-01 9.82560768e-01 -1.69998711e-03 3.52689065e+00] [ 7.73421311e-03 2.66531225e-04 9.99970055e-01 -1.72069293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.300888478999997 meters Centerline goodness [0,1] 0.9996011787383954 Centerline is valid? [True, True] Translation: X:25.50, Y:3.54, Z:-0.17 [[ 9.82671886e-01 -1.85211135e-01 -7.26639599e-03 2.54992629e+01] [ 1.85204073e-01 9.82698716e-01 -1.63884767e-03 3.53505795e+00] [ 7.44421085e-03 2.64683403e-04 9.99972256e-01 -1.72686704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330888479 meters Centerline goodness [0,1] 0.9995577471640537 Centerline is valid? [True, True] Translation: X:25.53, Y:3.54, Z:-0.17 [[ 9.82901940e-01 -1.84111954e-01 -2.56233718e-03 2.55264050e+01] [ 1.84111067e-01 9.82905275e-01 -5.79686397e-04 3.54313011e+00] [ 2.62526192e-03 9.80202512e-05 9.99996549e-01 -1.68300085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.360888478999996 meters Centerline goodness [0,1] 0.9994040919022711 Centerline is valid? [True, True] Translation: X:25.55, Y:3.55, Z:-0.17 [[ 9.82831790e-01 -1.84503500e-01 -3.61665197e-04 2.55544029e+01] [ 1.84503482e-01 9.82831857e-01 -8.30206237e-05 3.55102787e+00] [ 3.70773673e-04 1.48668201e-05 9.99999931e-01 -1.66530605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390888478999997 meters Centerline goodness [0,1] 0.9996468926553672 Centerline is valid? [True, True] Translation: X:25.58, Y:3.56, Z:-0.17 [[ 9.82713658e-01 -1.85128203e-01 1.18935801e-03 2.55820999e+01] [ 1.85128014e-01 9.82714377e-01 2.67626197e-04 3.55784399e+00] [-1.21834437e-03 -4.28164324e-05 9.99999257e-01 -1.66408337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.420888479 meters Centerline goodness [0,1] 0.9995356653252554 Centerline is valid? [True, True] Translation: X:25.61, Y:3.56, Z:-0.17 [[ 9.82600100e-01 -1.85730752e-01 -1.06323923e-03 2.56088402e+01] [ 1.85730600e-01 9.82600675e-01 -2.41008256e-04 3.56489584e+00] [ 1.08950223e-03 3.93386765e-05 9.99999406e-01 -1.70132208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450888478999996 meters Centerline goodness [0,1] 0.9996677225704982 Centerline is valid? [True, True] Translation: X:25.64, Y:3.57, Z:-0.17 [[ 9.82515341e-01 -1.86147216e-01 -3.58033624e-03 2.56364730e+01] [ 1.86145496e-01 9.82521856e-01 -8.10751232e-04 3.57092565e+00] [ 3.66867770e-03 1.30112057e-04 9.99993262e-01 -1.72831658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.480888478999997 meters Centerline goodness [0,1] 0.9995796925118903 Centerline is valid? [True, True] Translation: X:25.67, Y:3.57, Z:-0.18 [[ 9.82286802e-01 -1.87204403e-01 -8.19451092e-03 2.56654414e+01] [ 1.87195410e-01 9.82320939e-01 -1.85795322e-03 3.57323473e+00] [ 8.39745668e-03 2.91068095e-04 9.99964698e-01 -1.75784629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510888479 meters Centerline goodness [0,1] 0.9994039340353665 Centerline is valid? [True, True] Translation: X:25.69, Y:3.58, Z:-0.18 [[ 9.82310153e-01 -1.87057088e-01 -8.74121305e-03 2.56934068e+01] [ 1.87046829e-01 9.82348995e-01 -1.98400434e-03 3.58076168e+00] [ 8.95804393e-03 3.13891427e-04 9.99959827e-01 -1.75583659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.540888478999996 meters Centerline goodness [0,1] 0.9995147237233926 Centerline is valid? [True, True] Translation: X:25.72, Y:3.59, Z:-0.18 [[ 9.82236892e-01 -1.87440102e-01 -8.76908886e-03 2.57199180e+01] [ 1.87429769e-01 9.82275984e-01 -1.99301489e-03 3.58993878e+00] [ 8.98723630e-03 3.14024454e-04 9.99959565e-01 -1.77339200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570888478999997 meters Centerline goodness [0,1] 0.9996027454701949 Centerline is valid? [True, True] Translation: X:25.75, Y:3.60, Z:-0.18 [[ 9.82265268e-01 -1.87353862e-01 -7.31261361e-03 2.57461103e+01] [ 1.87346671e-01 9.82292452e-01 -1.66240042e-03 3.60004301e+00] [ 7.49458229e-03 2.62924373e-04 9.99971881e-01 -1.78152938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.600888478999998 meters Centerline goodness [0,1] 0.999073951580897 Centerline is valid? [True, True] Translation: X:25.77, Y:3.61, Z:-0.18 [[ 9.82159206e-01 -1.87996981e-01 -4.51977631e-03 2.57740636e+01] [ 1.87994231e-01 9.82169593e-01 -1.02954011e-03 3.60621166e+00] [ 4.63273729e-03 1.61480423e-04 9.99989256e-01 -1.76794184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630888478999996 meters Centerline goodness [0,1] 0.9992506887052341 Centerline is valid? [True, True] Translation: X:25.80, Y:3.61, Z:-0.18 [[ 9.82044370e-01 -1.88577070e-01 -5.24830253e-03 2.58015901e+01] [ 1.88573374e-01 9.82058377e-01 -1.19487283e-03 3.61080668e+00] [ 5.37946508e-03 1.83728024e-04 9.99985514e-01 -1.75596869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.660888478999997 meters Centerline goodness [0,1] 0.999336474022958 Centerline is valid? [True, True] Translation: X:25.83, Y:3.61, Z:-0.17 [[ 9.81911267e-01 -1.89258070e-01 -5.62549814e-03 2.58305016e+01] [ 1.89253822e-01 9.81927362e-01 -1.28300897e-03 3.61378341e+00] [ 5.76665035e-03 1.95153944e-04 9.99983354e-01 -1.72679121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690888478999998 meters Centerline goodness [0,1] 0.9993802704676744 Centerline is valid? [True, True] Translation: X:25.86, Y:3.62, Z:-0.18 [[ 9.81577626e-01 -1.90907003e-01 -7.73817818e-03 2.58579624e+01] [ 1.90899021e-01 9.81608095e-01 -1.76416246e-03 3.61941095e+00] [ 7.93264930e-03 2.54451760e-04 9.99968504e-01 -1.76250918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.720888478999996 meters Centerline goodness [0,1] 0.999160777385159 Centerline is valid? [True, True] Translation: X:25.88, Y:3.63, Z:-0.18 [[ 9.81609438e-01 -1.90725573e-01 -8.16497439e-03 2.58842022e+01] [ 1.90716675e-01 9.81643358e-01 -1.86215341e-03 3.63120349e+00] [ 8.37025315e-03 2.70710596e-04 9.99964932e-01 -1.79063202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750888478999997 meters Centerline goodness [0,1] 0.9992965486920202 Centerline is valid? [True, True] Translation: X:25.91, Y:3.64, Z:-0.18 [[ 9.81779728e-01 -1.89871786e-01 -7.56768420e-03 2.59117137e+01] [ 1.89864095e-01 9.81808860e-01 -1.72868446e-03 3.64132208e+00] [ 7.75824780e-03 2.60355852e-04 9.99969870e-01 -1.81164745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.780888478999998 meters Centerline goodness [0,1] 0.9994730717720157 Centerline is valid? [True, True] Translation: X:25.94, Y:3.65, Z:-0.18 [[ 9.82135312e-01 -1.88061278e-01 -6.57148357e-03 2.59390820e+01] [ 1.88055439e-01 9.82157268e-01 -1.50104411e-03 3.64908668e+00] [ 6.73651862e-03 2.38425200e-04 9.99977281e-01 -1.78926356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810888478999995 meters Centerline goodness [0,1] 0.999141763126623 Centerline is valid? [True, True] Translation: X:25.97, Y:3.66, Z:-0.18 [[ 9.82629934e-01 -1.85467686e-01 -6.33636777e-03 2.59678710e+01] [ 1.85462203e-01 9.82650333e-01 -1.44730252e-03 3.65530682e+00] [ 6.49486175e-03 2.47006051e-04 9.99978878e-01 -1.78528373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.840888478999997 meters Centerline goodness [0,1] 0.9994496180349163 Centerline is valid? [True, True] Translation: X:26.00, Y:3.66, Z:-0.18 [[ 9.82841717e-01 -1.84364009e-01 -5.66318046e-03 2.59960916e+01] [ 1.84359596e-01 9.82858006e-01 -1.29614801e-03 3.66217116e+00] [ 5.80506530e-03 2.29846678e-04 9.99983124e-01 -1.76880162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870888478999998 meters Centerline goodness [0,1] 0.9992745339430179 Centerline is valid? [True, True] Translation: X:26.02, Y:3.67, Z:-0.17 [[ 9.83137968e-01 -1.82805867e-01 -4.66370283e-03 2.60221686e+01] [ 1.82802854e-01 9.83149010e-01 -1.06785520e-03 3.67124643e+00] [ 4.78032501e-03 1.97310800e-04 9.99988555e-01 -1.74049278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.900888479 meters Centerline goodness [0,1] 0.9989522624582542 Centerline is valid? [True, True] Translation: X:26.05, Y:3.68, Z:-0.18 [[ 9.83312141e-01 -1.81878585e-01 -4.17291463e-03 2.60476959e+01] [ 1.81876162e-01 9.83320979e-01 -9.55972568e-04 3.68358357e+00] [ 4.27718544e-03 1.81065733e-04 9.99990836e-01 -1.77450455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930888478999996 meters Centerline goodness [0,1] 0.9986639507633003 Centerline is valid? [True, True] Translation: X:26.08, Y:3.69, Z:-0.18 [[ 9.83481835e-01 -1.80970488e-01 -3.62793092e-03 2.60755197e+01] [ 1.80968645e-01 9.83488514e-01 -8.32727470e-04 3.69166072e+00] [ 3.71872748e-03 1.62430599e-04 9.99993072e-01 -1.77779837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.960888478999998 meters Centerline goodness [0,1] 0.9987117341368619 Centerline is valid? [True, True] Translation: X:26.10, Y:3.70, Z:-0.18 [[ 9.83518304e-01 -1.80772631e-01 -3.60568049e-03 2.61019828e+01] [ 1.80770809e-01 9.83524900e-01 -8.27486284e-04 3.70022430e+00] [ 3.69586341e-03 1.62046127e-04 9.99993157e-01 -1.78757635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990888479 meters Centerline goodness [0,1] 0.9991037663671934 Centerline is valid? [True, True] Translation: X:26.13, Y:3.70, Z:-0.18 [[ 9.83346087e-01 -1.81703987e-01 -3.75966464e-03 2.61312733e+01] [ 1.81702007e-01 9.83353260e-01 -8.64376056e-04 3.70338881e+00] [ 3.85413906e-03 1.66842200e-04 9.99992559e-01 -1.76208628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.020888478999996 meters Centerline goodness [0,1] 0.9991890944157097 Centerline is valid? [True, True] Translation: X:26.16, Y:3.71, Z:-0.18 [[ 9.83063354e-01 -1.83226692e-01 -3.79753561e-03 2.61589956e+01] [ 1.83224680e-01 9.83070675e-01 -8.74002270e-04 3.70933230e+00] [ 3.89338644e-03 1.63397356e-04 9.99992407e-01 -1.75673564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050888478999997 meters Centerline goodness [0,1] 0.9991899820482508 Centerline is valid? [True, True] Translation: X:26.19, Y:3.71, Z:-0.17 [[ 9.82716871e-01 -1.85071372e-01 -4.01720720e-03 2.61882715e+01] [ 1.85069133e-01 9.82725068e-01 -9.25496290e-04 3.71252856e+00] [ 4.11909309e-03 1.66039765e-04 9.99991503e-01 -1.74354440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.080888479 meters Centerline goodness [0,1] 0.9989287510111279 Centerline is valid? [True, True] Translation: X:26.22, Y:3.72, Z:-0.18 [[ 9.82156015e-01 -1.88045607e-01 -2.90021744e-03 2.62158153e+01] [ 1.88044454e-01 9.82160291e-01 -6.67635751e-04 3.72115085e+00] [ 2.97402438e-03 1.10352664e-04 9.99995571e-01 -1.75304827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110888478999996 meters Centerline goodness [0,1] 0.998907032155114 Centerline is valid? [True, True] Translation: X:26.24, Y:3.73, Z:-0.18 [[ 9.82041037e-01 -1.88637454e-01 -3.36343723e-03 2.62430867e+01] [ 1.88635899e-01 9.82046788e-01 -7.76403196e-04 3.72881601e+00] [ 3.44951145e-03 1.27994793e-04 9.99994042e-01 -1.75919494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.140888478999997 meters Centerline goodness [0,1] 0.999017402886652 Centerline is valid? [True, True] Translation: X:26.27, Y:3.74, Z:-0.18 [[ 9.82019274e-01 -1.88733679e-01 -4.21241653e-03 2.62695416e+01] [ 1.88731246e-01 9.82028296e-01 -9.71326538e-04 3.73753886e+00] [ 4.32003426e-03 1.58846759e-04 9.99990656e-01 -1.77340397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170888479 meters Centerline goodness [0,1] 0.9991699069421993 Centerline is valid? [True, True] Translation: X:26.30, Y:3.74, Z:-0.18 [[ 9.81982457e-01 -1.88872989e-01 -6.11953373e-03 2.62979482e+01] [ 1.88867844e-01 9.82001497e-01 -1.41327279e-03 3.74358949e+00] [ 6.27632034e-03 2.32025947e-04 9.99980277e-01 -1.80637033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.200888478999996 meters Centerline goodness [0,1] 0.9988456177034326 Centerline is valid? [True, True] Translation: X:26.33, Y:3.75, Z:-0.18 [[ 9.82037964e-01 -1.88584697e-01 -6.10326726e-03 2.63257198e+01] [ 1.88579575e-01 9.82056902e-01 -1.40922243e-03 3.74940693e+00] [ 6.25951352e-03 2.32958383e-04 9.99980382e-01 -1.79923375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230888478999997 meters Centerline goodness [0,1] 0.9988894937397932 Centerline is valid? [True, True] Translation: X:26.35, Y:3.76, Z:-0.18 [[ 9.82079062e-01 -1.88375399e-01 -5.95190221e-03 2.63519192e+01] [ 1.88370521e-01 9.82097071e-01 -1.37481737e-03 3.75864552e+00] [ 6.10432750e-03 2.29016432e-04 9.99981342e-01 -1.80747462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.260888479 meters Centerline goodness [0,1] 0.9986931521170935 Centerline is valid? [True, True] Translation: X:26.38, Y:3.77, Z:-0.18 [[ 9.82105435e-01 -1.88239547e-01 -5.89810009e-03 2.63802169e+01] [ 1.88234741e-01 9.82123119e-01 -1.36472040e-03 3.76570805e+00] [ 6.04955480e-03 2.30071978e-04 9.99981675e-01 -1.80322678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290888478999996 meters Centerline goodness [0,1] 0.9986931521170935 Centerline is valid? [True, True] Translation: X:26.41, Y:3.77, Z:-0.18 [[ 9.82054331e-01 -1.88505990e-01 -5.89768808e-03 2.64070893e+01] [ 1.88501177e-01 9.82072013e-01 -1.36650089e-03 3.77200957e+00] [ 6.04954800e-03 2.30256972e-04 9.99981675e-01 -1.80472982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.320888478999997 meters Centerline goodness [0,1] 0.9990410182642431 Centerline is valid? [True, True] Translation: X:26.44, Y:3.78, Z:-0.18 [[ 9.82094447e-01 -1.88324651e-01 -4.93183895e-03 2.64350091e+01] [ 1.88321274e-01 9.82106811e-01 -1.14443035e-03 3.77741163e+00] [ 5.05911707e-03 1.95168496e-04 9.99987184e-01 -1.78809156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350888478999998 meters Centerline goodness [0,1] 0.9991072789426699 Centerline is valid? [True, True] Translation: X:26.46, Y:3.78, Z:-0.18 [[ 9.82287233e-01 -1.87342492e-01 -3.81872525e-03 2.64633030e+01] [ 1.87340456e-01 9.82294643e-01 -8.87275761e-04 3.78273248e+00] [ 3.91733781e-03 1.56157924e-04 9.99992315e-01 -1.76450500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.380888478999996 meters Centerline goodness [0,1] 0.9990852662528585 Centerline is valid? [True, True] Translation: X:26.49, Y:3.79, Z:-0.18 [[ 9.82409055e-01 -1.86719309e-01 -2.88933803e-03 2.64893340e+01] [ 1.86718140e-01 9.82413297e-01 -6.71609550e-04 3.79191766e+00] [ 2.96392657e-03 1.20303481e-04 9.99995600e-01 -1.75108506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410888478999997 meters Centerline goodness [0,1] 0.9987837984580302 Centerline is valid? [True, True] Translation: X:26.52, Y:3.80, Z:-0.18 [[ 9.82675712e-01 -1.85330581e-01 -1.01014618e-03 2.65153818e+01] [ 1.85330437e-01 9.82676230e-01 -2.35061637e-04 3.80310489e+00] [ 1.03621075e-03 4.37785274e-05 9.99999462e-01 -1.78313379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.440888478999998 meters Centerline goodness [0,1] 0.998372537106154 Centerline is valid? [True, True] Translation: X:26.54, Y:3.81, Z:-0.18 [[ 9.83121566e-01 -1.82952716e-01 -5.38427900e-04 2.65440469e+01] [ 1.82952675e-01 9.83121713e-01 -1.25254453e-04 3.81002440e+00] [ 5.52255802e-04 2.46335295e-05 9.99999847e-01 -1.76344587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470888478999996 meters Centerline goodness [0,1] 0.9986113220647905 Centerline is valid? [True, True] Translation: X:26.57, Y:3.82, Z:-0.18 [[ 9.83349557e-01 -1.81719770e-01 -1.25433932e-03 2.65719298e+01] [ 1.81719543e-01 9.83350356e-01 -2.93015518e-04 3.81731593e+00] [ 1.28670173e-03 6.01987119e-05 9.99999170e-01 -1.78901904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.500888478999997 meters Centerline goodness [0,1] 0.9981588181778798 Centerline is valid? [True, True] Translation: X:26.60, Y:3.83, Z:-0.18 [[ 9.84019342e-01 -1.77964235e-01 -5.88779336e-03 2.65996740e+01] [ 1.77959220e-01 9.84036910e-01 -1.36929929e-03 3.82536199e+00] [ 6.03749229e-03 2.99629872e-04 9.99981729e-01 -1.81937909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530888478999998 meters Centerline goodness [0,1] 0.9991069094711161 Centerline is valid? [True, True] Translation: X:26.63, Y:3.83, Z:-0.18 [[ 9.84477516e-01 -1.75390449e-01 -6.49693680e-03 2.66291013e+01] [ 1.75384280e-01 9.84498892e-01 -1.51179718e-03 3.82763107e+00] [ 6.66138187e-03 3.48869754e-04 9.99977752e-01 -1.78755331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.560888478999995 meters Centerline goodness [0,1] 0.9987175028258413 Centerline is valid? [True, True] Translation: X:26.66, Y:3.84, Z:-0.18 [[ 9.84721083e-01 -1.74033096e-01 -6.07211251e-03 2.66551881e+01] [ 1.74027677e-01 9.84739747e-01 -1.41380211e-03 3.83625220e+00] [ 6.22549889e-03 3.35485112e-04 9.99980565e-01 -1.78690063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590888478999997 meters Centerline goodness [0,1] 0.9979177060061167 Centerline is valid? [True, True] Translation: X:26.68, Y:3.85, Z:-0.18 [[ 9.85046206e-01 -1.72235684e-01 -4.34064478e-03 2.66809645e+01] [ 1.72232896e-01 9.85055738e-01 -1.01093668e-03 3.84956474e+00] [ 4.44989642e-03 2.48217521e-04 9.99990068e-01 -1.80036998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.620888478999998 meters Centerline goodness [0,1] 0.9980527909995673 Centerline is valid? [True, True] Translation: X:26.71, Y:3.85, Z:-0.18 [[ 9.85157420e-01 -1.71625444e-01 -3.09265524e-03 2.67094629e+01] [ 1.71624020e-01 9.85162258e-01 -7.22154180e-04 3.85485026e+00] [ 3.17070725e-03 1.80661623e-04 9.99994957e-01 -1.78124024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650888479 meters Centerline goodness [0,1] 0.9983552275629234 Centerline is valid? [True, True] Translation: X:26.74, Y:3.86, Z:-0.18 [[ 9.84916941e-01 -1.73010795e-01 -2.42572510e-03 2.67381400e+01] [ 1.73009921e-01 9.84919918e-01 -5.67368731e-04 3.86013016e+00] [ 2.48730589e-03 1.39136566e-04 9.99996897e-01 -1.80489483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.680888478999996 meters Centerline goodness [0,1] 0.998262493755837 Centerline is valid? [True, True] Translation: X:26.77, Y:3.87, Z:-0.18 [[ 9.84601262e-01 -1.74808689e-01 -1.50899413e-03 2.67652597e+01] [ 1.74808354e-01 9.84602415e-01 -3.52590142e-04 3.86771158e+00] [ 1.54739508e-03 8.33759193e-05 9.99998799e-01 -1.79961553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710888478999998 meters Centerline goodness [0,1] 0.9988894211924568 Centerline is valid? [True, True] Translation: X:26.79, Y:3.87, Z:-0.18 [[ 9.84426654e-01 -1.75782990e-01 -2.12193467e-03 2.67949778e+01] [ 1.75782326e-01 9.84428934e-01 -4.97193975e-04 3.86847279e+00] [ 2.17629213e-03 1.16452391e-04 9.99997625e-01 -1.79192054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.740888479 meters Centerline goodness [0,1] 0.9986313868613139 Centerline is valid? [True, True] Translation: X:26.82, Y:3.88, Z:-0.18 [[ 9.84409933e-01 -1.75851656e-01 -3.64397799e-03 2.68221624e+01] [ 1.75849703e-01 9.84416658e-01 -8.52277401e-04 3.87658380e+00] [ 3.73706703e-03 1.98197893e-04 9.99992997e-01 -1.79489109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770888478999996 meters Centerline goodness [0,1] 0.9988258572329369 Centerline is valid? [True, True] Translation: X:26.85, Y:3.88, Z:-0.18 [[ 9.84276210e-01 -1.76566563e-01 -4.95898383e-03 2.68508741e+01] [ 1.76562944e-01 9.84288665e-01 -1.16182894e-03 3.88169850e+00] [ 5.08621172e-03 2.67987803e-04 9.99987029e-01 -1.82812440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.800888478999997 meters Centerline goodness [0,1] 0.9985435732452231 Centerline is valid? [True, True] Translation: X:26.88, Y:3.89, Z:-0.18 [[ 9.84415268e-01 -1.75753685e-01 -6.10093513e-03 2.68784683e+01] [ 1.75748184e-01 9.84434116e-01 -1.43065770e-03 3.88926853e+00] [ 6.25741204e-03 3.36133018e-04 9.99980366e-01 -1.83632012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830888479 meters Centerline goodness [0,1] 0.998541988553522 Centerline is valid? [True, True] Translation: X:26.90, Y:3.90, Z:-0.18 [[ 9.84430955e-01 -1.75673506e-01 -5.87495193e-03 2.69043889e+01] [ 1.75668402e-01 9.84448431e-01 -1.37788487e-03 3.89914237e+00] [ 6.02564508e-03 3.24389099e-04 9.99981793e-01 -1.84037684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.860888478999996 meters Centerline goodness [0,1] 0.9984323288625675 Centerline is valid? [True, True] Translation: X:26.93, Y:3.90, Z:-0.18 [[ 9.84311936e-01 -1.76323595e-01 -6.32482414e-03 2.69326250e+01] [ 1.76317678e-01 9.84332195e-01 -1.48551843e-03 3.90361906e+00] [ 6.48765998e-03 3.47035215e-04 9.99978895e-01 -1.84637352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890888478999997 meters Centerline goodness [0,1] 0.9984775989560678 Centerline is valid? [True, True] Translation: X:26.96, Y:3.91, Z:-0.18 [[ 9.84352469e-01 -1.76078373e-01 -6.82808955e-03 2.69621435e+01] [ 1.76071460e-01 9.84376078e-01 -1.60539058e-03 3.90590511e+00] [ 7.00408257e-03 3.78038491e-04 9.99975400e-01 -1.81899727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.920888479 meters Centerline goodness [0,1] 0.9990170165359663 Centerline is valid? [True, True] Translation: X:26.99, Y:3.91, Z:-0.18 [[ 9.84118201e-01 -1.77346712e-01 -7.71427954e-03 2.69910867e+01] [ 1.77337912e-01 9.84148347e-01 -1.81558199e-03 3.90943250e+00] [ 7.91398295e-03 4.18713058e-04 9.99968596e-01 -1.83022108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950888478999996 meters Centerline goodness [0,1] 0.9989055967780769 Centerline is valid? [True, True] Translation: X:27.02, Y:3.91, Z:-0.18 [[ 9.84052988e-01 -1.77664395e-01 -8.66487412e-03 2.70195676e+01] [ 1.77653287e-01 9.84091023e-01 -2.04139010e-03 3.91437074e+00] [ 8.88970718e-03 4.69492656e-04 9.99960376e-01 -1.84331650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.980888478999997 meters Centerline goodness [0,1] 0.9988860007426662 Centerline is valid? [True, True] Translation: X:27.05, Y:3.92, Z:-0.18 [[ 9.84097884e-01 -1.77447741e-01 -7.97830830e-03 2.70476884e+01] [ 1.77438298e-01 9.84130128e-01 -1.88181151e-03 3.92079869e+00] [ 8.18561677e-03 4.36229278e-04 9.99966402e-01 -1.84341444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010888479 meters Centerline goodness [0,1] 0.9987991790751496 Centerline is valid? [True, True] Translation: X:27.08, Y:3.93, Z:-0.19 [[ 9.84006998e-01 -1.77979617e-01 -7.31332530e-03 2.70756763e+01] [ 1.77971683e-01 9.84034094e-01 -1.72695650e-03 3.92846217e+00] [ 7.50392449e-03 3.97772473e-04 9.99971766e-01 -1.85928662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.040888478999996 meters Centerline goodness [0,1] 0.9989089877588426 Centerline is valid? [True, True] Translation: X:27.10, Y:3.94, Z:-0.19 [[ 9.83725732e-01 -1.79525477e-01 -7.36795472e-03 2.71039874e+01] [ 1.79517453e-01 9.83753247e-01 -1.74173395e-03 3.93542049e+00] [ 7.56093500e-03 3.90712042e-04 9.99971339e-01 -1.89614457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070888478999997 meters Centerline goodness [0,1] 0.9987529808134066 Centerline is valid? [True, True] Translation: X:27.13, Y:3.94, Z:-0.19 [[ 9.83641390e-01 -1.80005735e-01 -6.89572606e-03 2.71314459e+01] [ 1.79998719e-01 9.83665494e-01 -1.62993299e-03 3.94224917e+00] [ 7.07648506e-03 3.62047697e-04 9.99974896e-01 -1.89522730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.100888478999998 meters Centerline goodness [0,1] 0.9991464215364413 Centerline is valid? [True, True] Translation: X:27.16, Y:3.94, Z:-0.19 [[ 9.83448115e-01 -1.81095734e-01 -5.84299002e-03 2.71607967e+01] [ 1.81090701e-01 9.83465426e-01 -1.38358134e-03 3.94477733e+00] [ 5.99693934e-03 3.02569301e-04 9.99981972e-01 -1.85763153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130888478999996 meters Centerline goodness [0,1] 0.9992097117643185 Centerline is valid? [True, True] Translation: X:27.19, Y:3.95, Z:-0.18 [[ 9.83251402e-01 -1.82166694e-01 -5.65467236e-03 2.71900663e+01] [ 1.82161989e-01 9.83267620e-01 -1.34055352e-03 3.94749185e+00] [ 5.80426043e-03 2.88034763e-04 9.99983114e-01 -1.84420543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.160888478999997 meters Centerline goodness [0,1] 0.9990572449628379 Centerline is valid? [True, True] Translation: X:27.22, Y:3.95, Z:-0.18 [[ 9.82932248e-01 -1.83920621e-01 -4.17138621e-03 2.72180235e+01] [ 1.83918078e-01 9.82941078e-01 -9.88579902e-04 3.95289078e+00] [ 4.28204709e-03 2.04513732e-04 9.99990811e-01 -1.81745300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190888478999998 meters Centerline goodness [0,1] 0.99921016257487 Centerline is valid? [True, True] Translation: X:27.25, Y:3.96, Z:-0.18 [[ 9.82833270e-01 -1.84470331e-01 -3.07586799e-03 2.72460882e+01] [ 1.84468945e-01 9.82838071e-01 -7.30824861e-04 3.95886774e+00] [ 3.15789566e-03 1.50876866e-04 9.99995002e-01 -1.81035244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.220888478999996 meters Centerline goodness [0,1] 0.9993429409961014 Centerline is valid? [True, True] Translation: X:27.27, Y:3.97, Z:-0.18 [[ 9.82652322e-01 -1.85455038e-01 -9.17792503e-04 2.72733710e+01] [ 1.85454914e-01 9.82652750e-01 -2.19254869e-04 3.96758738e+00] [ 9.42533247e-04 4.52421768e-05 9.99999555e-01 -1.81012220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250888478999997 meters Centerline goodness [0,1] 0.9987517519271198 Centerline is valid? [True, True] Translation: X:27.30, Y:3.97, Z:-0.18 [[ 9.81977174e-01 -1.88998201e-01 7.14224493e-04 2.73027685e+01] [ 1.88998128e-01 9.81977433e-01 1.69480423e-04 3.97299949e+00] [-7.33383830e-04 -3.14388143e-05 9.99999731e-01 -1.83061818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.280888478999998 meters Centerline goodness [0,1] 0.9990331795209844 Centerline is valid? [True, True] Translation: X:27.33, Y:3.98, Z:-0.18 [[ 9.81569142e-01 -1.91107141e-01 2.84514991e-04 2.73317304e+01] [ 1.91107129e-01 9.81569183e-01 6.71841183e-05 3.97621685e+00] [-2.92110512e-04 -1.15730143e-05 9.99999957e-01 -1.83226175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310888478999995 meters Centerline goodness [0,1] 0.9991192725191008 Centerline is valid? [True, True] Translation: X:27.36, Y:3.98, Z:-0.18 [[ 9.81185953e-01 -1.93064847e-01 -3.00061324e-04 2.73611140e+01] [ 1.93064834e-01 9.81185999e-01 -7.27420655e-05 3.97816294e+00] [ 3.08459905e-04 1.34422032e-05 9.99999952e-01 -1.82023781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.340888478999997 meters Centerline goodness [0,1] 0.9994710277490026 Centerline is valid? [True, True] Translation: X:27.39, Y:3.99, Z:-0.18 [[ 9.80723016e-01 -1.95398723e-01 -1.30552681e-03 2.73878372e+01] [ 1.95398482e-01 9.80723884e-01 -3.11025671e-04 3.98513428e+00] [ 1.34113535e-03 4.99320765e-05 9.99999099e-01 -1.83068907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370888478999998 meters Centerline goodness [0,1] 0.9994932692943224 Centerline is valid? [True, True] Translation: X:27.42, Y:3.99, Z:-0.18 [[ 9.80763036e-01 -1.95192793e-01 -1.90825307e-03 2.74164140e+01] [ 1.95192275e-01 9.80764889e-01 -4.55770816e-04 3.98880276e+00] [ 1.96051079e-03 7.45269104e-05 9.99998075e-01 -1.83146632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.400888479 meters Centerline goodness [0,1] 0.9995603719253512 Centerline is valid? [True, True] Translation: X:27.44, Y:4.00, Z:-0.18 [[ 9.80901927e-01 -1.94487554e-01 -2.44982087e-03 2.74428965e+01] [ 1.94486700e-01 9.80904981e-01 -5.84416217e-04 3.99840100e+00] [ 2.51670317e-03 9.67974160e-05 9.99996828e-01 -1.82937153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430888478999996 meters Centerline goodness [0,1] 0.9994064499109675 Centerline is valid? [True, True] Translation: X:27.47, Y:4.01, Z:-0.18 [[ 9.81037178e-01 -1.93800403e-01 -2.73102720e-03 2.74706702e+01] [ 1.93799336e-01 9.81040973e-01 -6.52754415e-04 4.00720195e+00] [ 2.80575365e-03 1.11105092e-04 9.99996058e-01 -1.84310123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.460888478999998 meters Centerline goodness [0,1] 0.9994280057199428 Centerline is valid? [True, True] Translation: X:27.50, Y:4.02, Z:-0.19 [[ 9.81273174e-01 -1.92595114e-01 -3.17496847e-03 2.74977711e+01] [ 1.92593668e-01 9.81278301e-01 -7.58043842e-04 4.01525377e+00] [ 3.26152321e-03 1.32369262e-04 9.99994672e-01 -1.86766422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490888479 meters Centerline goodness [0,1] 0.9994273127753304 Centerline is valid? [True, True] Translation: X:27.53, Y:4.02, Z:-0.19 [[ 9.81258209e-01 -1.92661917e-01 -3.70299993e-03 2.75265729e+01] [ 1.92659943e-01 9.81265184e-01 -8.85857998e-04 4.01859606e+00] [ 3.80429600e-03 1.55835677e-04 9.99992751e-01 -1.86392872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.520888478999996 meters Centerline goodness [0,1] 0.9996243176946366 Centerline is valid? [True, True] Translation: X:27.55, Y:4.02, Z:-0.19 [[ 9.81152728e-01 -1.93197020e-01 -3.77310582e-03 2.75543090e+01] [ 1.93194970e-01 9.81159970e-01 -9.03893904e-04 4.02236112e+00] [ 3.87665000e-03 1.57912903e-04 9.99992473e-01 -1.85038385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550888478999997 meters Centerline goodness [0,1] 0.9994916340649382 Centerline is valid? [True, True] Translation: X:27.58, Y:4.03, Z:-0.18 [[ 9.80882114e-01 -1.94591362e-01 -2.11656941e-03 2.75827616e+01] [ 1.94590718e-01 9.80884394e-01 -5.08065286e-04 4.02841575e+00] [ 2.17497502e-03 8.64873899e-05 9.99997631e-01 -1.84567944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.580888479 meters Centerline goodness [0,1] 0.9995817004975562 Centerline is valid? [True, True] Translation: X:27.61, Y:4.04, Z:-0.19 [[ 9.80592985e-01 -1.96053756e-01 -5.68593638e-04 2.76108705e+01] [ 1.96053709e-01 9.80593149e-01 -1.37634779e-04 4.03567716e+00] [ 5.84542841e-04 2.34888070e-05 9.99999829e-01 -1.85748154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610888478999996 meters Centerline goodness [0,1] 0.9993826888310772 Centerline is valid? [True, True] Translation: X:27.64, Y:4.04, Z:-0.19 [[ 9.80296842e-01 -1.97524718e-01 1.44502787e-03 2.76389528e+01] [ 1.97524423e-01 9.80297905e-01 3.45312082e-04 4.04203743e+00] [-1.48476547e-03 -5.30800463e-05 9.99998896e-01 -1.85595635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.640888478999997 meters Centerline goodness [0,1] 0.9992950454915956 Centerline is valid? [True, True] Translation: X:27.67, Y:4.05, Z:-0.18 [[ 9.79964079e-01 -1.99148154e-01 3.22756498e-03 2.76659268e+01] [ 1.99146683e-01 9.79969387e-01 7.74173200e-04 4.04854889e+00] [-3.31709003e-03 -1.15903068e-04 9.99994492e-01 -1.84705536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670888479 meters Centerline goodness [0,1] 0.9994469026548672 Centerline is valid? [True, True] Translation: X:27.70, Y:4.05, Z:-0.18 [[ 9.79591687e-01 -2.00969667e-01 3.36454427e-03 2.76958982e+01] [ 2.00968079e-01 9.79597458e-01 8.07030295e-04 4.04791022e+00] [-3.45808762e-03 -1.14394170e-04 9.99994014e-01 -1.81127871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.700888478999996 meters Centerline goodness [0,1] 0.9992484360839099 Centerline is valid? [True, True] Translation: X:27.72, Y:4.05, Z:-0.18 [[ 9.79486829e-01 -2.01492297e-01 2.53100248e-03 2.77230844e+01] [ 2.01491398e-01 9.79490095e-01 6.07882640e-04 4.05350580e+00] [-2.60157553e-03 -8.54378099e-05 9.99996612e-01 -1.81386328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730888478999997 meters Centerline goodness [0,1] 0.9996681929789635 Centerline is valid? [True, True] Translation: X:27.75, Y:4.06, Z:-0.18 [[ 9.79486474e-01 -2.01501896e-01 1.79831872e-03 2.77516678e+01] [ 2.01501443e-01 9.79488123e-01 4.31361978e-04 4.05941291e+00] [-1.84835208e-03 -6.01494056e-05 9.99998290e-01 -1.81254519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.760888479 meters Centerline goodness [0,1] 0.9997789762178411 Centerline is valid? [True, True] Translation: X:27.78, Y:4.07, Z:-0.18 [[ 9.79917266e-01 -1.99404487e-01 4.94845557e-05 2.77782208e+01] [ 1.99404486e-01 9.79917267e-01 1.15262980e-05 4.06977516e+00] [-5.07891661e-05 -1.42737597e-06 9.99999999e-01 -1.84323662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790888478999996 meters Centerline goodness [0,1] 0.9993578245753891 Centerline is valid? [True, True] Translation: X:27.81, Y:4.08, Z:-0.18 [[ 9.80296246e-01 -1.97532201e-01 5.46962639e-04 2.78057601e+01] [ 1.97532158e-01 9.80296399e-01 1.31204819e-04 4.07687827e+00] [-5.62102682e-04 -2.05768810e-05 9.99999842e-01 -1.84530017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.820888478999997 meters Centerline goodness [0,1] 0.9990294260378524 Centerline is valid? [True, True] Translation: X:27.83, Y:4.09, Z:-0.19 [[ 9.80585894e-01 -1.96086745e-01 1.13677287e-03 2.78314941e+01] [ 1.96086560e-01 9.80586552e-01 2.73257705e-04 4.08686134e+00] [-1.16828640e-03 -4.50467692e-05 9.99999317e-01 -1.87337739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850888478999998 meters Centerline goodness [0,1] 0.9994927775940016 Centerline is valid? [True, True] Translation: X:27.86, Y:4.10, Z:-0.19 [[ 9.81283115e-01 -1.92567020e-01 1.17970840e-03 2.78582482e+01] [ 1.92566818e-01 9.81283822e-01 2.83890569e-04 4.09624783e+00] [-1.21229673e-03 -5.14043293e-05 9.99999264e-01 -1.85406917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.880888478999996 meters Centerline goodness [0,1] 0.9995365159239886 Centerline is valid? [True, True] Translation: X:27.89, Y:4.10, Z:-0.19 [[ 9.81436051e-01 -1.91788001e-01 8.00331700e-04 2.78862507e+01] [ 1.91787908e-01 9.81436377e-01 1.91717196e-04 4.10339065e+00] [-8.22243702e-04 -3.46642252e-05 9.99999661e-01 -1.85171025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910888478999997 meters Centerline goodness [0,1] 0.9991620358119432 Centerline is valid? [True, True] Translation: X:27.91, Y:4.11, Z:-0.19 [[ 9.81189394e-01 -1.93043551e-01 1.24937808e-03 2.79147420e+01] [ 1.93043325e-01 9.81190188e-01 3.00349288e-04 4.10938672e+00] [-1.28385800e-03 -5.35154377e-05 9.99999174e-01 -1.85719393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.940888478999998 meters Centerline goodness [0,1] 0.9995149484081489 Centerline is valid? [True, True] Translation: X:27.94, Y:4.11, Z:-0.18 [[ 9.80924844e-01 -1.94380665e-01 1.61473565e-03 2.79430171e+01] [ 1.94380287e-01 9.80926171e-01 3.88988638e-04 4.11482287e+00] [-1.65954833e-03 -6.76958389e-05 9.99998621e-01 -1.83385158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970888478999996 meters Centerline goodness [0,1] 0.9995138551288284 Centerline is valid? [True, True] Translation: X:27.97, Y:4.12, Z:-0.18 [[ 9.80425681e-01 -1.96888130e-01 7.40253967e-04 2.79715445e+01] [ 1.96888051e-01 9.80425960e-01 1.78616718e-04 4.11967760e+00] [-7.60931718e-04 -2.93732560e-05 9.99999710e-01 -1.84752674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.000888478999997 meters Centerline goodness [0,1] 0.9994475260215244 Centerline is valid? [True, True] Translation: X:28.00, Y:4.12, Z:-0.19 [[ 9.79808001e-01 -1.99940494e-01 -2.82288513e-04 2.79989645e+01] [ 1.99940482e-01 9.79808042e-01 -6.89725249e-05 4.12488072e+00] [ 2.90378955e-04 1.11389304e-05 9.99999958e-01 -1.87894962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030888478999998 meters Centerline goodness [0,1] 0.99942589648472 Centerline is valid? [True, True] Translation: X:28.03, Y:4.13, Z:-0.19 [[ 9.78927301e-01 -2.04206950e-01 9.28222299e-04 2.80288380e+01] [ 2.04206828e-01 9.78927740e-01 2.24373146e-04 4.12846399e+00] [-9.54481114e-04 -3.00956667e-05 9.99999544e-01 -1.87529630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.060888478999995 meters Centerline goodness [0,1] 0.9994707711305651 Centerline is valid? [True, True] Translation: X:28.06, Y:4.13, Z:-0.19 [[ 9.78522256e-01 -2.06132084e-01 1.93839098e-03 2.80576327e+01] [ 2.06131561e-01 9.78524175e-01 4.68205795e-04 4.13333915e+00] [-1.99327467e-03 -5.85862333e-05 9.99998012e-01 -1.86613889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090888478999997 meters Centerline goodness [0,1] 0.9996235523372972 Centerline is valid? [True, True] Translation: X:28.08, Y:4.14, Z:-0.19 [[ 9.78163742e-01 -2.07821207e-01 2.45770219e-03 2.80848375e+01] [ 2.07820367e-01 9.78166827e-01 5.95103055e-04 4.13953879e+00] [-2.52771779e-03 -7.13476600e-05 9.99996803e-01 -1.85749248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.120888478999998 meters Centerline goodness [0,1] 0.9994674950077657 Centerline is valid? [True, True] Translation: X:28.11, Y:4.14, Z:-0.18 [[ 9.77886427e-01 -2.09123323e-01 2.36051581e-03 2.81136467e+01] [ 2.09122552e-01 9.77889274e-01 5.71290885e-04 4.14427109e+00] [-2.42779334e-03 -6.50205114e-05 9.99997051e-01 -1.84825756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150888479 meters Centerline goodness [0,1] 0.9996461820835453 Centerline is valid? [True, True] Translation: X:28.14, Y:4.15, Z:-0.19 [[ 9.77522861e-01 -2.10819310e-01 2.06737023e-03 2.81414402e+01] [ 2.10818722e-01 9.77525046e-01 5.00687361e-04 4.15123808e+00] [-2.12646075e-03 -5.35929916e-05 9.99997738e-01 -1.85701114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.180888478999996 meters Centerline goodness [0,1] 0.9996461820835453 Centerline is valid? [True, True] Translation: X:28.17, Y:4.16, Z:-0.19 [[ 9.77465182e-01 -2.11086581e-01 2.06727653e-03 2.81682406e+01] [ 2.11085994e-01 9.77467366e-01 5.01073767e-04 4.15783043e+00] [-2.12646529e-03 -5.34090405e-05 9.99997738e-01 -1.85851357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210888478999998 meters Centerline goodness [0,1] 0.9998453619634612 Centerline is valid? [True, True] Translation: X:28.20, Y:4.16, Z:-0.18 [[ 9.77369424e-01 -2.11528722e-01 2.14690930e-03 2.81959033e+01] [ 2.11528088e-01 9.77371780e-01 5.21034274e-04 4.16455923e+00] [-2.20854228e-03 -5.51113484e-05 9.99997560e-01 -1.84739902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.240888479 meters Centerline goodness [0,1] 0.9998895442596152 Centerline is valid? [True, True] Translation: X:28.22, Y:4.17, Z:-0.18 [[ 9.77259053e-01 -2.12035626e-01 2.37405845e-03 2.82226355e+01] [ 2.12034848e-01 9.77261935e-01 5.77631931e-04 4.17251170e+00] [-2.44255550e-03 -6.11129108e-05 9.99997015e-01 -1.84597838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270888478999996 meters Centerline goodness [0,1] 0.9996672065316264 Centerline is valid? [True, True] Translation: X:28.25, Y:4.18, Z:-0.19 [[ 9.76931665e-01 -2.13541049e-01 2.17754038e-03 2.82498925e+01] [ 2.13540398e-01 9.76934091e-01 5.29851764e-04 4.17676145e+00] [-2.24045854e-03 -5.26361259e-05 9.99997489e-01 -1.85606358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.300888478999997 meters Centerline goodness [0,1] 0.9996226163784492 Centerline is valid? [True, True] Translation: X:28.28, Y:4.18, Z:-0.19 [[ 9.76788805e-01 -2.14196858e-01 1.82644875e-03 2.82781393e+01] [ 2.14196402e-01 9.76790512e-01 4.43987349e-04 4.18123335e+00] [-1.87915850e-03 -4.24631214e-05 9.99998233e-01 -1.85878612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330888479 meters Centerline goodness [0,1] 0.9996673024885774 Centerline is valid? [True, True] Translation: X:28.30, Y:4.19, Z:-0.18 [[ 9.76808027e-01 -2.14101215e-01 2.59757509e-03 2.83042008e+01] [ 2.14100288e-01 9.76811479e-01 6.33115936e-04 4.18978200e+00] [-2.67289206e-03 -6.22911528e-05 9.99996426e-01 -1.84305979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.360888478999996 meters Centerline goodness [0,1] 0.9996915008483727 Centerline is valid? [True, True] Translation: X:28.33, Y:4.20, Z:-0.19 [[ 9.76983183e-01 -2.13305319e-01 2.16802880e-03 2.83323147e+01] [ 2.13304671e-01 9.76985587e-01 5.28519127e-04 4.19816616e+00] [-2.23086883e-03 -5.39036286e-05 9.99997510e-01 -1.85238871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390888478999997 meters Centerline goodness [0,1] 0.9996013465627215 Centerline is valid? [True, True] Translation: X:28.36, Y:4.21, Z:-0.19 [[ 9.77720173e-01 -2.09908626e-01 1.27727122e-03 2.83597289e+01] [ 2.09908397e-01 9.77721007e-01 3.12009525e-04 4.21002699e+00] [-1.31430840e-03 -3.69480515e-05 9.99999136e-01 -1.88815587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.420888479 meters Centerline goodness [0,1] 0.9996904024767802 Centerline is valid? [True, True] Translation: X:28.39, Y:4.22, Z:-0.19 [[ 9.78330877e-01 -2.07036971e-01 2.09470836e-03 2.83868204e+01] [ 2.07036349e-01 9.78333117e-01 5.11770692e-04 4.21929004e+00] [-2.15527801e-03 -6.70002981e-05 9.99997675e-01 -1.87127212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450888478999996 meters Centerline goodness [0,1] 0.9995373430270985 Centerline is valid? [True, True] Translation: X:28.41, Y:4.23, Z:-0.19 [[ 9.78861021e-01 -2.04520511e-01 1.56881140e-03 2.84149630e+01] [ 2.04520159e-01 9.78862277e-01 3.83441341e-04 4.22862326e+00] [-1.61407192e-03 -5.44822256e-05 9.99998696e-01 -1.88368795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.480888478999997 meters Centerline goodness [0,1] 0.9994262385523557 Centerline is valid? [True, True] Translation: X:28.44, Y:4.24, Z:-0.19 [[ 9.79568552e-01 -2.01094115e-01 2.57056457e-03 2.84416344e+01] [ 2.01093158e-01 9.79571920e-01 6.28400537e-04 4.23745114e+00] [-2.64442052e-03 -9.86384588e-05 9.99996499e-01 -1.85568567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510888479 meters Centerline goodness [0,1] 0.9996461038242905 Centerline is valid? [True, True] Translation: X:28.47, Y:4.24, Z:-0.19 [[ 9.79521620e-01 -2.01315851e-01 3.05341759e-03 2.84701480e+01] [ 2.01314501e-01 9.79526373e-01 7.46209362e-04 4.24097384e+00] [-3.14112683e-03 -1.16230963e-04 9.99995060e-01 -1.87348455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.540888478999996 meters Centerline goodness [0,1] 0.9996247986051336 Centerline is valid? [True, True] Translation: X:28.50, Y:4.25, Z:-0.19 [[ 9.79588923e-01 -2.00949710e-01 4.97562771e-03 2.84953813e+01] [ 2.00946109e-01 9.79601540e-01 1.21852144e-03 4.25307194e+00] [-5.11899410e-03 -1.93817078e-04 9.99986879e-01 -1.85201586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570888478999997 meters Centerline goodness [0,1] 0.9993594274606821 Centerline is valid? [True, True] Translation: X:28.52, Y:4.26, Z:-0.19 [[ 9.79455459e-01 -2.01553707e-01 6.56560111e-03 2.85237557e+01] [ 2.01547443e-01 9.79477432e-01 1.60900124e-03 4.25887826e+00] [-6.75515828e-03 -2.52664938e-04 9.99977152e-01 -1.85331848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.600888478999998 meters Centerline goodness [0,1] 0.9992285141181917 Centerline is valid? [True, True] Translation: X:28.55, Y:4.26, Z:-0.19 [[ 9.79562726e-01 -2.01053614e-01 5.85746135e-03 2.85516117e+01] [ 2.01048612e-01 9.79580212e-01 1.43671073e-03 4.26437442e+00] [-6.02670912e-03 -2.29713805e-04 9.99981813e-01 -1.87266912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630888478999996 meters Centerline goodness [0,1] 0.9991834032222467 Centerline is valid? [True, True] Translation: X:28.58, Y:4.27, Z:-0.19 [[ 9.79772501e-01 -2.00065486e-01 4.43265661e-03 2.85790006e+01] [ 2.00062610e-01 9.79782511e-01 1.08752587e-03 4.27105403e+00] [-4.56061582e-03 -1.78719090e-04 9.99989584e-01 -1.87317464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.660888478999997 meters Centerline goodness [0,1] 0.9990516518900798 Centerline is valid? [True, True] Translation: X:28.61, Y:4.28, Z:-0.19 [[ 9.80284546e-01 -1.97556194e-01 3.70928442e-03 2.86070215e+01] [ 1.97554161e-01 9.80291551e-01 9.10368764e-04 4.27779102e+00] [-3.81602917e-03 -1.59635858e-04 9.99992706e-01 -1.85117409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690888478999998 meters Centerline goodness [0,1] 0.9992086520706938 Centerline is valid? [True, True] Translation: X:28.63, Y:4.29, Z:-0.19 [[ 9.80449247e-01 -1.96746458e-01 3.17896819e-03 2.86347404e+01] [ 1.96744962e-01 9.80454390e-01 7.79922633e-04 4.28627642e+00] [-3.27028033e-03 -1.39228583e-04 9.99994643e-01 -1.87784168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.720888478999996 meters Centerline goodness [0,1] 0.9990304526023533 Centerline is valid? [True, True] Translation: X:28.66, Y:4.29, Z:-0.19 [[ 9.80669390e-01 -1.95614442e-01 4.74727973e-03 2.86626124e+01] [ 1.95611082e-01 9.80680857e-01 1.16654505e-03 4.29308868e+00] [-4.88375941e-03 -2.15374500e-04 9.99988051e-01 -1.88930735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750888478999997 meters Centerline goodness [0,1] 0.9990748083531589 Centerline is valid? [True, True] Translation: X:28.69, Y:4.30, Z:-0.19 [[ 9.80778489e-01 -1.95050490e-01 5.37228445e-03 2.86900517e+01] [ 1.95046170e-01 9.80793171e-01 1.32171749e-03 4.30083341e+00] [-5.52690155e-03 -2.48468578e-04 9.99984696e-01 -1.89317614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.780888478999998 meters Centerline goodness [0,1] 0.998964027508376 Centerline is valid? [True, True] Translation: X:28.72, Y:4.31, Z:-0.19 [[ 9.80768649e-01 -1.95068556e-01 6.41215117e-03 2.87180895e+01] [ 1.95062390e-01 9.80789564e-01 1.57949359e-03 4.30750603e+00] [-6.59708049e-03 -2.98348266e-04 9.99978195e-01 -1.86628760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810888478999995 meters Centerline goodness [0,1] 0.9990506468847971 Centerline is valid? [True, True] Translation: X:28.75, Y:4.31, Z:-0.19 [[ 9.80674399e-01 -1.95535550e-01 6.60088326e-03 2.87457845e+01] [ 1.95529013e-01 9.80696566e-01 1.62779224e-03 4.31385584e+00] [-6.79175480e-03 -3.05669985e-04 9.99976889e-01 -1.88307392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.840888478999997 meters Centerline goodness [0,1] 0.9994480627000772 Centerline is valid? [True, True] Translation: X:28.78, Y:4.32, Z:-0.19 [[ 9.80372499e-01 -1.97042906e-01 6.62234685e-03 2.87750110e+01] [ 1.97036348e-01 9.80394821e-01 1.63497960e-03 4.31776997e+00] [-6.81467568e-03 -2.98046003e-04 9.99976735e-01 -1.86013323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870888478999998 meters Centerline goodness [0,1] 0.9994916340649382 Centerline is valid? [True, True] Translation: X:28.80, Y:4.32, Z:-0.19 [[ 9.80254868e-01 -1.97676877e-01 4.92399075e-03 2.88034370e+01] [ 1.97673255e-01 9.80267211e-01 1.21651799e-03 4.32238554e+00] [-5.06730415e-03 -2.19156403e-04 9.99987137e-01 -1.88097785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.900888479 meters Centerline goodness [0,1] 0.9993359305826103 Centerline is valid? [True, True] Translation: X:28.83, Y:4.33, Z:-0.19 [[ 9.80226383e-01 -1.97862372e-01 2.59210085e-03 2.88292665e+01] [ 1.97861368e-01 9.80229804e-01 6.40783173e-04 4.32983752e+00] [-2.66764138e-03 -1.15235954e-04 9.99996435e-01 -1.90934605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930888478999996 meters Centerline goodness [0,1] 0.9994683561127972 Centerline is valid? [True, True] Translation: X:28.86, Y:4.34, Z:-0.19 [[ 9.80454210e-01 -1.96734129e-01 2.28580664e-03 2.88553429e+01] [ 1.96733344e-01 9.80456869e-01 5.65337572e-04 4.33829726e+00] [-2.35235601e-03 -1.04593219e-04 9.99997228e-01 -1.91721407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.960888478999998 meters Centerline goodness [0,1] 0.9993346935154794 Centerline is valid? [True, True] Translation: X:28.88, Y:4.34, Z:-0.19 [[ 9.80639178e-01 -1.95819608e-01 1.21806848e-03 2.88829605e+01] [ 1.95819385e-01 9.80639933e-01 3.01199954e-04 4.34488258e+00] [-1.25346744e-03 -5.68470563e-05 9.99999213e-01 -1.92700303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990888479 meters Centerline goodness [0,1] 0.9995778903403537 Centerline is valid? [True, True] Translation: X:28.91, Y:4.35, Z:-0.19 [[ 9.80587421e-01 -1.96068463e-01 2.33807579e-03 2.89107001e+01] [ 1.96067641e-01 9.80590203e-01 5.78200621e-04 4.34889633e+00] [-2.40606112e-03 -1.08555252e-04 9.99997100e-01 -1.88219974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.020888479 meters Centerline goodness [0,1] 0.9993780127507386 Centerline is valid? [True, True] Translation: X:28.94, Y:4.35, Z:-0.19 [[ 9.80644118e-01 -1.95798352e-01 3.44264648e-04 2.89393521e+01] [ 1.95798334e-01 9.80644179e-01 8.40674845e-05 4.35357484e+00] [-3.54061398e-04 -1.50338397e-05 9.99999937e-01 -1.91431830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050888479 meters Centerline goodness [0,1] 0.9995994926907416 Centerline is valid? [True, True] Translation: X:28.97, Y:4.36, Z:-0.19 [[ 9.80438292e-01 -1.96826003e-01 -5.28829311e-04 2.89662561e+01] [ 1.96825960e-01 9.80438435e-01 -1.31811414e-04 4.36090874e+00] [ 5.44428496e-04 2.51456207e-05 9.99999851e-01 -1.93691544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.080888479 meters Centerline goodness [0,1] 0.9997105579552032 Centerline is valid? [True, True] Translation: X:28.99, Y:4.37, Z:-0.19 [[ 9.80172387e-01 -1.98145855e-01 5.58407317e-04 2.89944475e+01] [ 1.98145809e-01 9.80172546e-01 1.37444916e-04 4.36584437e+00] [-5.74569662e-04 -2.40736418e-05 9.99999835e-01 -1.92464228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110888479 meters Centerline goodness [0,1] 0.9994431451163827 Centerline is valid? [True, True] Translation: X:29.02, Y:4.37, Z:-0.19 [[ 9.79982434e-01 -1.99083407e-01 -4.74416503e-04 2.90229873e+01] [ 1.99083373e-01 9.79982549e-01 -1.19446188e-04 4.36931246e+00] [ 4.88699648e-04 2.26067287e-05 9.99999880e-01 -1.94232509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.140888479 meters Centerline goodness [0,1] 0.9994425366810864 Centerline is valid? [True, True] Translation: X:29.05, Y:4.37, Z:-0.19 [[ 9.79747988e-01 -2.00234387e-01 -2.65944973e-04 2.90507413e+01] [ 2.00234376e-01 9.79748024e-01 -6.66964327e-05 4.37473570e+00] [ 2.73913981e-04 1.20943702e-05 9.99999962e-01 -1.92851733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170888479 meters Centerline goodness [0,1] 0.9995752291526939 Centerline is valid? [True, True] Translation: X:29.08, Y:4.38, Z:-0.19 [[ 9.79451949e-01 -2.01673311e-01 -1.32469903e-03 2.90785141e+01] [ 2.01673048e-01 9.79452843e-01 -3.30369167e-04 4.37832352e+00] [ 1.36410687e-03 5.64246342e-05 9.99999068e-01 -1.92083348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.200888479 meters Centerline goodness [0,1] 0.9994393990357664 Centerline is valid? [True, True] Translation: X:29.11, Y:4.38, Z:-0.19 [[ 9.79292279e-01 -2.02445788e-01 -1.52805102e-03 2.91069745e+01] [ 2.02445437e-01 9.79293469e-01 -3.82265966e-04 4.38365577e+00] [ 1.57379852e-03 6.50031525e-05 9.99998759e-01 -1.92179796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.230888479 meters Centerline goodness [0,1] 0.999685647566014 Centerline is valid? [True, True] Translation: X:29.13, Y:4.39, Z:-0.19 [[ 9.79075306e-01 -2.03497161e-01 -6.71950133e-04 2.91342445e+01] [ 2.03497094e-01 9.79075536e-01 -1.68299460e-04 4.38847719e+00] [ 6.92138398e-04 2.80379463e-05 9.99999760e-01 -1.90802476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.260888479 meters Centerline goodness [0,1] 0.9994835290683314 Centerline is valid? [True, True] Translation: X:29.16, Y:4.39, Z:-0.19 [[ 9.79014845e-01 -2.03754131e-01 -3.76666014e-03 2.91635898e+01] [ 2.03752013e-01 9.79022078e-01 -9.41810882e-04 4.39168142e+00] [ 3.87954129e-03 1.54582249e-04 9.99992463e-01 -1.94011667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290888479 meters Centerline goodness [0,1] 0.9995053956834532 Centerline is valid? [True, True] Translation: X:29.19, Y:4.40, Z:-0.19 [[ 9.79140327e-01 -2.03150272e-01 -3.76658787e-03 2.91896591e+01] [ 2.03148152e-01 9.79147559e-01 -9.41249839e-04 4.40059540e+00] [ 3.87926048e-03 1.56440310e-04 9.99992463e-01 -1.94225135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.320888479000004 meters Centerline goodness [0,1] 0.9995960049377174 Centerline is valid? [True, True] Translation: X:29.22, Y:4.41, Z:-0.19 [[ 9.79256289e-01 -2.02598515e-01 -3.31082066e-03 2.92178488e+01] [ 2.02596868e-01 9.79261876e-01 -8.29130579e-04 4.40616540e+00] [ 3.41014108e-03 1.41169438e-04 9.99994175e-01 -1.94042710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350888479 meters Centerline goodness [0,1] 0.9995957690493835 Centerline is valid? [True, True] Translation: X:29.25, Y:4.41, Z:-0.19 [[ 9.79794039e-01 -1.99985864e-01 -3.04889420e-03 2.92464991e+01] [ 1.99984457e-01 9.79798773e-01 -7.62595568e-04 4.41448031e+00] [ 3.13981113e-03 1.37455139e-04 9.99995061e-01 -1.94373245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.380888479 meters Centerline goodness [0,1] 0.9995952327411738 Centerline is valid? [True, True] Translation: X:29.27, Y:4.42, Z:-0.19 [[ 9.79979293e-01 -1.99097493e-01 -8.79606988e-04 2.92728981e+01] [ 1.99097375e-01 9.79979687e-01 -2.20517018e-04 4.42298886e+00] [ 9.05901366e-04 4.09746689e-05 9.99999589e-01 -1.92554846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.410888479 meters Centerline goodness [0,1] 0.9994843627396032 Centerline is valid? [True, True] Translation: X:29.30, Y:4.43, Z:-0.20 [[ 9.80160271e-01 -1.98169055e-01 -3.85593581e-03 2.93008163e+01] [ 1.98166782e-01 9.80167839e-01 -9.66909139e-04 4.42918295e+00] [ 3.97107574e-03 1.83607534e-04 9.99992098e-01 -1.95194075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.440888479 meters Centerline goodness [0,1] 0.9995721684305336 Centerline is valid? [True, True] Translation: X:29.33, Y:4.43, Z:-0.20 [[ 9.80252488e-01 -1.97670907e-01 -5.59216729e-03 2.93284269e+01] [ 1.97666119e-01 9.80268402e-01 -1.40180557e-03 4.43423533e+00] [ 5.75892107e-03 2.68741393e-04 9.99983381e-01 -1.95018279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470888479 meters Centerline goodness [0,1] 0.9993008570139829 Centerline is valid? [True, True] Translation: X:29.35, Y:4.44, Z:-0.20 [[ 9.80213427e-01 -1.97855413e-01 -5.90541182e-03 2.93542696e+01] [ 1.97850073e-01 9.80231175e-01 -1.48096664e-03 4.44143550e+00] [ 6.08168603e-03 2.83277223e-04 9.99981466e-01 -1.95464087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.500888479000004 meters Centerline goodness [0,1] 0.9996160621527621 Centerline is valid? [True, True] Translation: X:29.38, Y:4.45, Z:-0.20 [[ 9.80144464e-01 -1.98201478e-01 -5.74492411e-03 2.93818102e+01] [ 1.98196415e-01 9.80161261e-01 -1.44327096e-03 4.44715166e+00] [ 5.91701050e-03 2.75990675e-04 9.99982456e-01 -1.95268750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530888479 meters Centerline goodness [0,1] 0.9997740419378164 Centerline is valid? [True, True] Translation: X:29.41, Y:4.45, Z:-0.19 [[ 9.79729611e-01 -2.00264584e-01 -4.89753250e-03 2.94110111e+01] [ 2.00260925e-01 9.79741826e-01 -1.23148506e-03 4.45194298e+00] [ 5.04494028e-03 2.25737988e-04 9.99987249e-01 -1.94145534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.560888479 meters Centerline goodness [0,1] 0.9998646972601195 Centerline is valid? [True, True] Translation: X:29.44, Y:4.46, Z:-0.20 [[ 9.79598277e-01 -2.00881316e-01 -5.82339272e-03 2.94377318e+01] [ 2.00876157e-01 9.79615551e-01 -1.46380329e-03 4.45921665e+00] [ 5.99873680e-03 2.64158432e-04 9.99981973e-01 -1.95592052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.590888479 meters Centerline goodness [0,1] 0.9995038451997023 Centerline is valid? [True, True] Translation: X:29.47, Y:4.47, Z:-0.20 [[ 9.79483988e-01 -2.01305312e-01 -9.34285147e-03 2.94664147e+01] [ 2.01292021e-01 9.79528454e-01 -2.35141336e-03 4.46535424e+00] [ 9.62494085e-03 4.22530278e-04 9.99953590e-01 -1.99148408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.620888479 meters Centerline goodness [0,1] 0.9995468859738553 Centerline is valid? [True, True] Translation: X:29.49, Y:4.47, Z:-0.20 [[ 9.79463712e-01 -2.01279765e-01 -1.17172382e-02 2.94945594e+01] [ 2.01258827e-01 9.79533650e-01 -2.95167504e-03 4.47046893e+00] [ 1.20715415e-02 5.32860974e-04 9.99926994e-01 -2.01955862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650888479 meters Centerline goodness [0,1] 0.9996152192118785 Centerline is valid? [True, True] Translation: X:29.52, Y:4.48, Z:-0.20 [[ 9.79425037e-01 -2.01407838e-01 -1.27074934e-02 2.95226878e+01] [ 2.01383181e-01 9.79507298e-01 -3.20426608e-03 4.47797587e+00] [ 1.30924468e-02 5.79262984e-04 9.99914122e-01 -2.03312049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.680888479000004 meters Centerline goodness [0,1] 0.9996381891366288 Centerline is valid? [True, True] Translation: X:29.55, Y:4.48, Z:-0.20 [[ 9.79245124e-01 -2.02242105e-01 -1.33085646e-02 2.95512836e+01] [ 2.02215090e-01 9.79335373e-01 -3.35919151e-03 4.48455784e+00] [ 1.37129180e-02 5.98279319e-04 9.99905795e-01 -2.03995479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710888479 meters Centerline goodness [0,1] 0.9997051753072981 Centerline is valid? [True, True] Translation: X:29.58, Y:4.49, Z:-0.20 [[ 9.78714616e-01 -2.04843395e-01 -1.25253005e-02 2.95805152e+01] [ 2.04819641e-01 9.78794616e-01 -3.16446016e-03 4.48945816e+00] [ 1.29079155e-02 5.31675858e-04 9.99916548e-01 -2.04054450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.740888479 meters Centerline goodness [0,1] 0.9996378779648741 Centerline is valid? [True, True] Translation: X:29.61, Y:4.50, Z:-0.20 [[ 9.78398948e-01 -2.06355198e-01 -1.23705564e-02 2.96073872e+01] [ 2.06332144e-01 9.78477019e-01 -3.12572891e-03 4.49611222e+00] [ 1.27493156e-02 5.05766452e-04 9.99918596e-01 -2.04517727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.770888479 meters Centerline goodness [0,1] 0.9997279528451598 Centerline is valid? [True, True] Translation: X:29.64, Y:4.50, Z:-0.20 [[ 9.78040906e-01 -2.08125787e-01 -1.09381835e-02 2.96359945e+01] [ 2.08107865e-01 9.78101975e-01 -2.76455275e-03 4.50076052e+00] [ 1.12740337e-02 4.27523656e-04 9.99936355e-01 -2.02404728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.800888479 meters Centerline goodness [0,1] 0.9997276688453159 Centerline is valid? [True, True] Translation: X:29.66, Y:4.51, Z:-0.20 [[ 9.77618191e-01 -2.10160395e-01 -9.76120882e-03 2.96632556e+01] [ 2.10146213e-01 9.77666854e-01 -2.46809354e-03 4.50559095e+00] [ 1.00619058e-02 3.61572073e-04 9.99949312e-01 -2.01459118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830888479 meters Centerline goodness [0,1] 0.9995896874786295 Centerline is valid? [True, True] Translation: X:29.69, Y:4.51, Z:-0.20 [[ 9.76697314e-01 -2.14333193e-01 -1.11193148e-02 2.96933819e+01] [ 2.14315059e-01 9.76760539e-01 -2.81153574e-03 4.50734448e+00] [ 1.14635134e-02 3.62982797e-04 9.99934226e-01 -2.01601492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.860888479 meters Centerline goodness [0,1] 0.999772665272347 Centerline is valid? [True, True] Translation: X:29.72, Y:4.51, Z:-0.20 [[ 9.76354740e-01 -2.15882999e-01 -1.12228168e-02 2.97210356e+01] [ 2.15864582e-01 9.76419176e-01 -2.84164405e-03 4.51433478e+00] [ 1.15716362e-02 3.51843978e-04 9.99932984e-01 -2.02854679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890888479 meters Centerline goodness [0,1] 0.9997496700195713 Centerline is valid? [True, True] Translation: X:29.75, Y:4.52, Z:-0.20 [[ 9.76055916e-01 -2.17247223e-01 -1.08854670e-02 2.97498719e+01] [ 2.17229954e-01 9.76116559e-01 -2.75876620e-03 4.52034154e+00] [ 1.12248189e-02 3.28060571e-04 9.99936946e-01 -2.03324852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.920888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.78, Y:4.53, Z:-0.20 [[ 9.75840781e-01 -2.18272076e-01 -9.59531155e-03 2.97784347e+01] [ 2.18258681e-01 9.75887914e-01 -2.43447080e-03 4.52586964e+00] [ 9.89532557e-03 2.81395844e-04 9.99951000e-01 -2.01328121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.950888479 meters Centerline goodness [0,1] 0.9997261961804367 Centerline is valid? [True, True] Translation: X:29.81, Y:4.53, Z:-0.20 [[ 9.75728776e-01 -2.18671322e-01 -1.16708786e-02 2.98050202e+01] [ 2.18651531e-01 9.75798514e-01 -2.96126156e-03 4.53220658e+00] [ 1.20359690e-02 3.37532647e-04 9.99927508e-01 -2.03350129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.83, Y:4.54, Z:-0.20 [[ 9.75894266e-01 -2.17908854e-01 -1.20877522e-02 2.98329536e+01] [ 2.17887518e-01 9.75969057e-01 -3.07081653e-03 4.53949126e+00] [ 1.24664303e-02 3.63021905e-04 9.99922225e-01 -2.02893181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010888479 meters Centerline goodness [0,1] 0.9998173682768697 Centerline is valid? [True, True] Translation: X:29.86, Y:4.55, Z:-0.21 [[ 9.75893721e-01 -2.17782173e-01 -1.42256802e-02 2.98595924e+01] [ 2.17752605e-01 9.75997306e-01 -3.61412106e-03 4.54799804e+00] [ 1.46713167e-02 4.29319116e-04 9.99892278e-01 -2.06199204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.040888479 meters Centerline goodness [0,1] 0.9996808607641106 Centerline is valid? [True, True] Translation: X:29.89, Y:4.56, Z:-0.21 [[ 9.75889293e-01 -2.17784768e-01 -1.44873168e-02 2.98871204e+01] [ 2.17754037e-01 9.75996721e-01 -3.68502006e-03 4.55528970e+00] [ 1.49421150e-02 4.41499895e-04 9.99888263e-01 -2.07032682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070888479000004 meters Centerline goodness [0,1] 0.9997039331344372 Centerline is valid? [True, True] Translation: X:29.92, Y:4.56, Z:-0.21 [[ 9.75841178e-01 -2.18069673e-01 -1.34019549e-02 2.99151161e+01] [ 2.18043353e-01 9.75933118e-01 -3.41242809e-03 4.56245957e+00] [ 1.38235588e-02 4.07780653e-04 9.99904367e-01 -2.05887830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.100888479 meters Centerline goodness [0,1] 0.9997039331344372 Centerline is valid? [True, True] Translation: X:29.94, Y:4.57, Z:-0.21 [[ 9.75782183e-01 -2.18333564e-01 -1.34009855e-02 2.99418542e+01] [ 2.18307217e-01 9.75874115e-01 -3.41623392e-03 4.56936060e+00] [ 1.38235534e-02 4.07968338e-04 9.99904367e-01 -2.06038121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130888479 meters Centerline goodness [0,1] 0.9996816228139995 Centerline is valid? [True, True] Translation: X:29.97, Y:4.58, Z:-0.21 [[ 9.75673133e-01 -2.18979930e-01 -1.04751107e-02 2.99677170e+01] [ 2.18963867e-01 9.75729313e-01 -2.67057207e-03 4.58001034e+00] [ 1.08056743e-02 3.11934669e-04 9.99941568e-01 -2.06641866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.160888479 meters Centerline goodness [0,1] 0.9997956217640113 Centerline is valid? [True, True] Translation: X:30.00, Y:4.59, Z:-0.21 [[ 9.75508247e-01 -2.19739165e-01 -9.91763992e-03 2.99964680e+01] [ 2.19724771e-01 9.75558617e-01 -2.53183725e-03 4.58609766e+00] [ 1.02315829e-02 2.90676957e-04 9.99947614e-01 -2.05264826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190888479 meters Centerline goodness [0,1] 0.9997493106041614 Centerline is valid? [True, True] Translation: X:30.02, Y:4.59, Z:-0.20 [[ 9.75362214e-01 -2.20374705e-01 -1.01755107e-02 3.00238894e+01] [ 2.20359553e-01 9.75415246e-01 -2.60086699e-03 4.59135321e+00] [ 1.04985136e-02 2.94516392e-04 9.99944846e-01 -2.04435492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.220888479 meters Centerline goodness [0,1] 0.9995658928897825 Centerline is valid? [True, True] Translation: X:30.05, Y:4.60, Z:-0.20 [[ 9.75430297e-01 -2.20052741e-01 -1.06078671e-02 3.00503197e+01] [ 2.20036246e-01 9.75487926e-01 -2.71230846e-03 4.59846024e+00] [ 1.09446972e-02 3.11552587e-04 9.99940056e-01 -2.03554169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250888479000004 meters Centerline goodness [0,1] 0.9994059994059994 Centerline is valid? [True, True] Translation: X:30.08, Y:4.61, Z:-0.20 [[ 9.75376312e-01 -2.20251265e-01 -1.14206047e-02 3.00768641e+01] [ 2.20232143e-01 9.75443114e-01 -2.92143193e-03 4.60560443e+00] [ 1.17835993e-02 3.34311240e-04 9.99930515e-01 -2.03951413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.280888479 meters Centerline goodness [0,1] 0.9997036226432301 Centerline is valid? [True, True] Translation: X:30.10, Y:4.61, Z:-0.20 [[ 9.75456299e-01 -2.19914312e-01 -1.10771818e-02 3.01043776e+01] [ 2.19896262e-01 9.75519136e-01 -2.83696648e-03 4.61453889e+00] [ 1.14298923e-02 3.31505952e-04 9.99934622e-01 -2.04142948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310888479 meters Centerline goodness [0,1] 0.9997724790680743 Centerline is valid? [True, True] Translation: X:30.13, Y:4.63, Z:-0.21 [[ 9.75702449e-01 -2.18782990e-01 -1.17785297e-02 3.01306052e+01] [ 2.18762489e-01 9.75773472e-01 -3.01748646e-03 4.62678159e+00] [ 1.21533515e-02 3.67468453e-04 9.99926078e-01 -2.06895485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.340888479 meters Centerline goodness [0,1] 0.9991391808626314 Centerline is valid? [True, True] Translation: X:30.16, Y:4.64, Z:-0.21 [[ 9.75770729e-01 -2.18453765e-01 -1.22244564e-02 3.01578615e+01] [ 2.18431609e-01 9.75847222e-01 -3.13542439e-03 4.63693678e+00] [ 1.26141471e-02 3.89247659e-04 9.99920363e-01 -2.10855538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370888479 meters Centerline goodness [0,1] 0.9993443660698137 Centerline is valid? [True, True] Translation: X:30.18, Y:4.65, Z:-0.21 [[ 9.75836997e-01 -2.18200680e-01 -1.14288883e-02 3.01844211e+01] [ 2.18181255e-01 9.75903851e-01 -2.93492391e-03 4.64646257e+00] [ 1.17938985e-02 3.70438138e-04 9.99930381e-01 -2.11229987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.400888479 meters Centerline goodness [0,1] 0.9992521415945248 Centerline is valid? [True, True] Translation: X:30.21, Y:4.65, Z:-0.21 [[ 9.75932206e-01 -2.17794942e-01 -1.10314072e-02 3.02112099e+01] [ 2.17776819e-01 9.75994484e-01 -2.83283555e-03 4.65415519e+00] [ 1.13835699e-02 3.62270668e-04 9.99935139e-01 -2.10182741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430888479000004 meters Centerline goodness [0,1] 0.9991383806090288 Centerline is valid? [True, True] Translation: X:30.24, Y:4.66, Z:-0.21 [[ 9.75879258e-01 -2.18066795e-01 -1.03221210e-02 3.02395590e+01] [ 2.18050906e-01 9.75933788e-01 -2.65411010e-03 4.66062890e+00] [ 1.06524800e-02 3.39343144e-04 9.99943203e-01 -2.08467714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.460888479 meters Centerline goodness [0,1] 0.9992069426506243 Centerline is valid? [True, True] Translation: X:30.27, Y:4.67, Z:-0.21 [[ 9.75819052e-01 -2.18372005e-01 -9.53123014e-03 3.02680603e+01] [ 2.18358465e-01 9.75865549e-01 -2.45155172e-03 4.66787003e+00] [ 9.83654940e-03 3.11046090e-04 9.99951572e-01 -2.07092012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490888479 meters Centerline goodness [0,1] 0.9992769668760451 Centerline is valid? [True, True] Translation: X:30.29, Y:4.68, Z:-0.21 [[ 9.75721342e-01 -2.18855816e-01 -8.36633388e-03 3.02948566e+01] [ 2.18845396e-01 9.75757172e-01 -2.15249948e-03 4.67707375e+00] [ 8.63459732e-03 2.69306034e-04 9.99962685e-01 -2.06710560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.520888479 meters Centerline goodness [0,1] 0.9992102709898689 Centerline is valid? [True, True] Translation: X:30.32, Y:4.69, Z:-0.21 [[ 9.75627130e-01 -2.19295102e-01 -7.83333124e-03 3.03221846e+01] [ 2.19285960e-01 9.75658544e-01 -2.01812256e-03 4.68582774e+00] [ 8.08522095e-03 2.51195563e-04 9.99967283e-01 -2.07877050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550888479 meters Centerline goodness [0,1] 0.9996388832464396 Centerline is valid? [True, True] Translation: X:30.35, Y:4.69, Z:-0.21 [[ 9.75661394e-01 -2.19137444e-01 -7.97645261e-03 3.03501197e+01] [ 2.19127942e-01 9.75693965e-01 -2.05707547e-03 4.69204283e+00] [ 8.23335894e-03 2.59145478e-04 9.99966072e-01 -2.07568582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.580888479 meters Centerline goodness [0,1] 0.9995037780534566 Centerline is valid? [True, True] Translation: X:30.38, Y:4.70, Z:-0.21 [[ 9.75632986e-01 -2.19268946e-01 -7.83622340e-03 3.03780771e+01] [ 2.19259758e-01 9.75664422e-01 -2.02349868e-03 4.69711474e+00] [ 8.08921480e-03 2.56023607e-04 9.99967249e-01 -2.05541955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610888479 meters Centerline goodness [0,1] 0.9996614530435372 Centerline is valid? [True, True] Translation: X:30.41, Y:4.70, Z:-0.20 [[ 9.75646766e-01 -2.19255946e-01 -6.34173418e-03 3.04052340e+01] [ 2.19249930e-01 9.75667355e-01 -1.63738322e-03 4.70494458e+00] [ 6.54642902e-03 2.07082875e-04 9.99978550e-01 -2.02679599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.640888479 meters Centerline goodness [0,1] 0.9993704752911552 Centerline is valid? [True, True] Translation: X:30.43, Y:4.72, Z:-0.21 [[ 9.75526057e-01 -2.19793324e-01 -6.30920661e-03 3.04311515e+01] [ 2.19787374e-01 9.75546438e-01 -1.63006411e-03 4.71580815e+00] [ 6.51320124e-03 2.03486061e-04 9.99978768e-01 -2.06967436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670888479 meters Centerline goodness [0,1] 0.9996849188666082 Centerline is valid? [True, True] Translation: X:30.46, Y:4.72, Z:-0.21 [[ 9.75459429e-01 -2.20091793e-01 -6.20530486e-03 3.04575923e+01] [ 2.20086026e-01 9.75479145e-01 -1.60580440e-03 4.72434909e+00] [ 6.40656985e-03 2.00696159e-04 9.99979458e-01 -2.08486824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.700888479 meters Centerline goodness [0,1] 0.9994382274953935 Centerline is valid? [True, True] Translation: X:30.48, Y:4.73, Z:-0.21 [[ 9.75425638e-01 -2.20236234e-01 -6.38945340e-03 3.04842609e+01] [ 2.20230112e-01 9.75446543e-01 -1.65523726e-03 4.73345441e+00] [ 6.59711345e-03 2.07410821e-04 9.99978217e-01 -2.11023668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.730888479 meters Centerline goodness [0,1] 0.9996183291798567 Centerline is valid? [True, True] Translation: X:30.51, Y:4.74, Z:-0.21 [[ 9.75310729e-01 -2.20764699e-01 -5.65058568e-03 3.05127981e+01] [ 2.20759911e-01 9.75327081e-01 -1.46527425e-03 4.74028781e+00] [ 5.83465007e-03 1.81674899e-04 9.99982962e-01 -2.10794040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.760888479 meters Centerline goodness [0,1] 0.999573091268593 Centerline is valid? [True, True] Translation: X:30.54, Y:4.75, Z:-0.21 [[ 9.75084260e-01 -2.21813816e-01 -3.05223995e-03 3.05395775e+01] [ 2.21812424e-01 9.75089033e-01 -7.91510326e-04 4.74726716e+00] [ 3.15177362e-03 9.47645190e-05 9.99995029e-01 -2.07833829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790888479 meters Centerline goodness [0,1] 0.9996867097813682 Centerline is valid? [True, True] Translation: X:30.57, Y:4.75, Z:-0.21 [[ 9.74968464e-01 -2.22333143e-01 -2.11364196e-03 3.05673419e+01] [ 2.22332474e-01 9.74970753e-01 -5.49657056e-04 4.75457869e+00] [ 2.18294608e-03 6.59670494e-05 9.99997615e-01 -2.07268713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.820888479000004 meters Centerline goodness [0,1] 0.9997310683310549 Centerline is valid? [True, True] Translation: X:30.59, Y:4.76, Z:-0.21 [[ 9.74956311e-01 -2.22396270e-01 -3.01458478e-04 3.05938642e+01] [ 2.22396256e-01 9.74956358e-01 -7.87042004e-05 4.76451298e+00] [ 3.11412380e-04 9.68992000e-06 9.99999951e-01 -2.07052777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850888479 meters Centerline goodness [0,1] 0.9997529255856786 Centerline is valid? [True, True] Translation: X:30.62, Y:4.77, Z:-0.21 [[ 9.74950613e-01 -2.22421369e-01 -1.89728907e-04 3.06206448e+01] [ 2.22421363e-01 9.74950632e-01 -5.08140406e-05 4.77126311e+00] [ 1.96278447e-04 7.34141780e-06 9.99999981e-01 -2.06611283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.880888479 meters Centerline goodness [0,1] 0.9996402635069811 Centerline is valid? [True, True] Translation: X:30.65, Y:4.78, Z:-0.21 [[ 9.74949698e-01 -2.22424649e-01 -6.02258714e-04 3.06489242e+01] [ 2.22424594e-01 9.74949883e-01 -1.57973076e-04 4.77874786e+00] [ 6.22309169e-04 2.00586531e-05 9.99999806e-01 -2.08176046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.910888479 meters Centerline goodness [0,1] 0.9998659487477379 Centerline is valid? [True, True] Translation: X:30.67, Y:4.79, Z:-0.21 [[ 9.75101074e-01 -2.21736959e-01 -3.25827382e-03 3.06749147e+01] [ 2.21735362e-01 9.75106512e-01 -8.48096539e-04 4.78964558e+00] [ 3.36521837e-03 1.04505321e-04 9.99994332e-01 -2.13417866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.940888479 meters Centerline goodness [0,1] 0.999775950529877 Centerline is valid? [True, True] Translation: X:30.70, Y:4.80, Z:-0.22 [[ 9.75157738e-01 -2.21453287e-01 -5.08216938e-03 3.07029361e+01] [ 2.21449387e-01 9.75170966e-01 -1.32478529e-03 4.79671327e+00] [ 5.24936209e-03 1.66431329e-04 9.99986208e-01 -2.16529721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970888479 meters Centerline goodness [0,1] 0.9998205996456843 Centerline is valid? [True, True] Translation: X:30.73, Y:4.81, Z:-0.22 [[ 9.75232091e-01 -2.21106350e-01 -5.86089785e-03 3.07287962e+01] [ 2.21101159e-01 9.75249683e-01 -1.52742817e-03 4.80614261e+00] [ 6.05356284e-03 1.93745657e-04 9.99981658e-01 -2.19159910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.000888479000004 meters Centerline goodness [0,1] 0.9999550046120272 Centerline is valid? [True, True] Translation: X:30.76, Y:4.81, Z:-0.22 [[ 9.75499831e-01 -2.19931956e-01 -5.47859005e-03 3.07556498e+01] [ 2.19927399e-01 9.75515197e-01 -1.42820529e-03 4.81262910e+00] [ 5.65855584e-03 1.88321960e-04 9.99983973e-01 -2.15530865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030888479 meters Centerline goodness [0,1] 0.9997978845246918 Centerline is valid? [True, True] Translation: X:30.78, Y:4.82, Z:-0.21 [[ 9.75310879e-01 -2.20795961e-01 -4.22284643e-03 3.07849546e+01] [ 2.20793253e-01 9.75320010e-01 -1.10297289e-03 4.81597878e+00] [ 4.36215858e-03 1.43365462e-04 9.99990475e-01 -2.14614547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.060888479 meters Centerline goodness [0,1] 0.9996633147782367 Centerline is valid? [True, True] Translation: X:30.81, Y:4.82, Z:-0.21 [[ 9.75214992e-01 -2.21236535e-01 -3.18032360e-03 3.08127543e+01] [ 2.21234997e-01 9.75220172e-01 -8.31843938e-04 4.82357717e+00] [ 3.28555000e-03 1.07627797e-04 9.99994597e-01 -2.13233018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.090888479 meters Centerline goodness [0,1] 0.9997306336842577 Centerline is valid? [True, True] Translation: X:30.84, Y:4.83, Z:-0.21 [[ 9.74932064e-01 -2.22496713e-01 -1.63823481e-03 3.08391316e+01] [ 2.22496306e-01 9.74933439e-01 -4.28729892e-04 4.83406936e+00] [ 1.69256088e-03 5.34813252e-05 9.99998566e-01 -2.14745743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.120888479 meters Centerline goodness [0,1] 0.9997980613893377 Centerline is valid? [True, True] Translation: X:30.87, Y:4.84, Z:-0.21 [[ 9.74807783e-01 -2.23044676e-01 -9.26718584e-04 3.08675925e+01] [ 2.23044545e-01 9.74808223e-01 -2.43722604e-04 4.84109593e+00] [ 9.57733925e-04 3.08831656e-05 9.99999541e-01 -2.14658454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150888479 meters Centerline goodness [0,1] 0.9997076943832351 Centerline is valid? [True, True] Translation: X:30.90, Y:4.85, Z:-0.21 [[ 9.74533902e-01 -2.24239875e-01 -3.90246382e-04 3.08962900e+01] [ 2.24239852e-01 9.74533980e-01 -1.03554093e-04 4.84607810e+00] [ 4.03529317e-04 1.34081835e-05 9.99999918e-01 -2.14923309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.180888479000004 meters Centerline goodness [0,1] 0.9998653863412007 Centerline is valid? [True, True] Translation: X:30.92, Y:4.85, Z:-0.21 [[ 9.74287454e-01 -2.25308580e-01 1.55300323e-05 3.09234706e+01] [ 2.25308580e-01 9.74287454e-01 3.57496492e-06 4.85156228e+00] [-1.59361859e-05 1.60060640e-08 1.00000000e+00 -2.13328015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210888479 meters Centerline goodness [0,1] 0.9998868240566785 Centerline is valid? [True, True] Translation: X:30.95, Y:4.85, Z:-0.21 [[ 9.73740093e-01 -2.27662431e-01 -2.23017756e-04 3.09515405e+01] [ 2.27662423e-01 9.73740118e-01 -5.89049946e-05 4.85430513e+00] [ 2.30571790e-04 6.58539216e-06 9.99999973e-01 -2.11086412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.240888479 meters Centerline goodness [0,1] 0.9998644129078912 Centerline is valid? [True, True] Translation: X:30.98, Y:4.86, Z:-0.21 [[ 9.73511949e-01 -2.28635513e-01 5.35404820e-04 3.09792951e+01] [ 2.28635471e-01 9.73512097e-01 1.39068092e-04 4.86130332e+00] [-5.53018973e-04 -1.29719158e-05 9.99999847e-01 -2.12072421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.270888479 meters Centerline goodness [0,1] 0.9995035877070265 Centerline is valid? [True, True] Translation: X:31.01, Y:4.87, Z:-0.21 [[ 9.73416037e-01 -2.29035525e-01 1.98665502e-03 3.10074241e+01] [ 2.29034940e-01 9.73418063e-01 5.20156623e-04 4.86990557e+00] [-2.05298022e-03 -5.13153855e-05 9.99997891e-01 -2.13686282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.300888479 meters Centerline goodness [0,1] 0.9998199009455201 Centerline is valid? [True, True] Translation: X:31.03, Y:4.88, Z:-0.21 [[ 9.73390655e-01 -2.29108731e-01 4.45210419e-03 3.10336547e+01] [ 2.29105783e-01 9.73400830e-01 1.16824151e-03 4.88010890e+00] [-4.60133625e-03 -1.17152548e-04 9.99989407e-01 -2.13106288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330888479 meters Centerline goodness [0,1] 0.9997758852532497 Centerline is valid? [True, True] Translation: X:31.06, Y:4.89, Z:-0.21 [[ 9.73692217e-01 -2.27787696e-01 6.01933442e-03 3.10611236e+01] [ 2.27782266e-01 9.73710808e-01 1.58177230e-03 4.88961854e+00] [-6.22139925e-03 -1.69061746e-04 9.99980633e-01 -2.11616026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.360888479 meters Centerline goodness [0,1] 0.9997979026789122 Centerline is valid? [True, True] Translation: X:31.09, Y:4.90, Z:-0.21 [[ 9.73719606e-01 -2.27671580e-01 5.98173148e-03 3.10880947e+01] [ 2.27666208e-01 9.73737964e-01 1.57336128e-03 4.89770112e+00] [-6.18284868e-03 -1.70174606e-04 9.99980872e-01 -2.10600500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390888479 meters Centerline goodness [0,1] 0.9997084874985985 Centerline is valid? [True, True] Translation: X:31.12, Y:4.91, Z:-0.21 [[ 9.73677259e-01 -2.27848568e-01 6.13399230e-03 3.11156613e+01] [ 2.27842915e-01 9.73696565e-01 1.61441583e-03 4.90506055e+00] [-6.34048956e-03 -1.74333291e-04 9.99979884e-01 -2.10175695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.420888479 meters Centerline goodness [0,1] 0.999910472481479 Centerline is valid? [True, True] Translation: X:31.14, Y:4.91, Z:-0.21 [[ 9.73706472e-01 -2.27732209e-01 5.80924364e-03 3.11441173e+01] [ 2.27727127e-01 9.73723787e-01 1.53053695e-03 4.91137618e+00] [-6.00515128e-03 -1.67371368e-04 9.99981955e-01 -2.07947618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.450888479 meters Centerline goodness [0,1] 0.9998205755040707 Centerline is valid? [True, True] Translation: X:31.17, Y:4.92, Z:-0.21 [[ 9.73476453e-01 -2.28736030e-01 4.83986631e-03 3.11708671e+01] [ 2.28732510e-01 9.73488475e-01 1.27624624e-03 4.92025368e+00] [-5.00347757e-03 -1.35360899e-04 9.99987473e-01 -2.10720590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.480888479 meters Centerline goodness [0,1] 0.9997316876844647 Centerline is valid? [True, True] Translation: X:31.20, Y:4.93, Z:-0.22 [[ 9.72925943e-01 -2.31109587e-01 1.86256933e-03 3.11988415e+01] [ 2.31109071e-01 9.72927724e-01 4.90477478e-04 4.92888989e+00] [-1.92549939e-03 -4.67415946e-05 9.99998145e-01 -2.16194326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510888479 meters Centerline goodness [0,1] 0.9997762212724058 Centerline is valid? [True, True] Translation: X:31.23, Y:4.94, Z:-0.22 [[ 9.72684640e-01 -2.32124192e-01 1.71752082e-03 3.12266040e+01] [ 2.32123755e-01 9.72686156e-01 4.52593006e-04 4.93613298e+00] [-1.77566651e-03 -4.15528848e-05 9.99998423e-01 -2.16501919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.540888479 meters Centerline goodness [0,1] 0.9997324414715719 Centerline is valid? [True, True] Translation: X:31.25, Y:4.94, Z:-0.22 [[ 9.72388245e-01 -2.33360779e-01 1.96153032e-03 3.12536451e+01] [ 2.33360208e-01 9.72390222e-01 5.18136523e-04 4.94438001e+00] [-2.02828565e-03 -4.60867401e-05 9.99997942e-01 -2.16860447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570888479000004 meters Centerline goodness [0,1] 0.9999107222569413 Centerline is valid? [True, True] Translation: X:31.28, Y:4.95, Z:-0.22 [[ 9.71985697e-01 -2.35038563e-01 8.23846234e-04 3.12814935e+01] [ 2.35038464e-01 9.71986046e-01 2.16676594e-04 4.95077356e+00] [-8.51694399e-04 -1.69709969e-05 9.99999637e-01 -2.17125264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.600888479 meters Centerline goodness [0,1] 0.999933129750574 Centerline is valid? [True, True] Translation: X:31.31, Y:4.96, Z:-0.22 [[ 9.71777822e-01 -2.35897982e-01 -8.29552493e-05 3.13089189e+01] [ 2.35897981e-01 9.71777825e-01 -2.35475547e-05 4.95783794e+00] [ 8.61688924e-05 3.31401553e-06 9.99999996e-01 -2.17663324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630888479 meters Centerline goodness [0,1] 0.999732232511436 Centerline is valid? [True, True] Translation: X:31.34, Y:4.97, Z:-0.22 [[ 9.71456429e-01 -2.37212328e-01 -1.64860638e-03 3.13367931e+01] [ 2.37211925e-01 9.71457827e-01 -4.38589349e-04 4.96628396e+00] [ 1.70559038e-03 3.50013493e-05 9.99998545e-01 -2.22065983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.660888479 meters Centerline goodness [0,1] 0.9997106095009127 Centerline is valid? [True, True] Translation: X:31.36, Y:4.98, Z:-0.22 [[ 9.71084875e-01 -2.38721579e-01 -2.48470121e-03 3.13645201e+01] [ 2.38720669e-01 9.71088052e-01 -6.60986802e-04 4.97590026e+00] [ 2.57065548e-03 4.87247501e-05 9.99996695e-01 -2.24743681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690888479 meters Centerline goodness [0,1] 0.9998221075804408 Centerline is valid? [True, True] Translation: X:31.39, Y:4.98, Z:-0.22 [[ 9.70938305e-01 -2.39324813e-01 -1.56255922e-03 3.13906678e+01] [ 2.39324454e-01 9.70939562e-01 -4.15440232e-04 4.98427749e+00] [ 1.61657572e-03 2.94082018e-05 9.99998693e-01 -2.23957585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.720888479 meters Centerline goodness [0,1] 0.9998887553953634 Centerline is valid? [True, True] Translation: X:31.42, Y:4.99, Z:-0.22 [[ 9.70910583e-01 -2.39442238e-01 2.34070713e-04 3.14186275e+01] [ 2.39442231e-01 9.70910611e-01 6.06460813e-05 4.99028585e+00] [-2.41782973e-04 -2.83550838e-06 9.99999971e-01 -2.19547834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750888479000004 meters Centerline goodness [0,1] 0.9997328940925077 Centerline is valid? [True, True] Translation: X:31.45, Y:5.00, Z:-0.22 [[ 9.70491431e-01 -2.41135107e-01 4.92688248e-04 3.14467309e+01] [ 2.41135072e-01 9.70491556e-01 1.29731945e-04 4.99791705e+00] [-5.09432711e-04 -7.09932467e-06 9.99999870e-01 -2.21031604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.780888479 meters Centerline goodness [0,1] 0.9995566393260917 Centerline is valid? [True, True] Translation: X:31.47, Y:5.01, Z:-0.22 [[ 9.70183013e-01 -2.42365473e-01 1.97440255e-03 3.14729703e+01] [ 2.42364907e-01 9.70185022e-01 5.25125002e-04 5.00827323e+00] [-2.04280795e-03 -3.09414676e-05 9.99997913e-01 -2.19671647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810888479 meters Centerline goodness [0,1] 0.9995358090185676 Centerline is valid? [True, True] Translation: X:31.50, Y:5.02, Z:-0.22 [[ 9.70104441e-01 -2.42684956e-01 1.17721045e-03 3.14988836e+01] [ 2.42684755e-01 9.70105155e-01 3.12873462e-04 5.01766486e+00] [-1.21794761e-03 -1.78289047e-05 9.99999258e-01 -2.20065374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.840888479 meters Centerline goodness [0,1] 0.9996467913198966 Centerline is valid? [True, True] Translation: X:31.53, Y:5.02, Z:-0.22 [[ 9.70112959e-01 -2.42653675e-01 2.01004577e-04 3.15267184e+01] [ 2.42653669e-01 9.70112980e-01 5.21824956e-05 5.02463683e+00] [-2.07659424e-04 -1.84841698e-06 9.99999978e-01 -2.20638336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870888479 meters Centerline goodness [0,1] 0.999602578821867 Centerline is valid? [True, True] Translation: X:31.55, Y:5.03, Z:-0.22 [[ 9.70049573e-01 -2.42900745e-01 -1.74780971e-03 3.15534505e+01] [ 2.42900298e-01 9.70051147e-01 -4.66641234e-04 5.03410103e+00] [ 1.80881232e-03 2.81216296e-05 9.99998364e-01 -2.24718121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.900888479 meters Centerline goodness [0,1] 0.9998020411754355 Centerline is valid? [True, True] Translation: X:31.58, Y:5.05, Z:-0.23 [[ 9.70339739e-01 -2.41735833e-01 -2.13956566e-03 3.15795031e+01] [ 2.41735161e-01 9.70342097e-01 -5.71318445e-04 5.04592494e+00] [ 2.21421877e-03 3.71647413e-05 9.99997548e-01 -2.25197199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930888479000004 meters Centerline goodness [0,1] 0.9994277539341917 Centerline is valid? [True, True] Translation: X:31.61, Y:5.05, Z:-0.23 [[ 9.70227887e-01 -2.42175059e-01 -3.01475956e-03 3.16064293e+01] [ 2.42173721e-01 9.70232569e-01 -8.06708203e-04 5.05412977e+00] [ 3.12038252e-03 5.25952527e-05 9.99995130e-01 -2.27716036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.960888479 meters Centerline goodness [0,1] 0.9994064238133973 Centerline is valid? [True, True] Translation: X:31.63, Y:5.06, Z:-0.23 [[ 9.70188341e-01 -2.42319853e-01 -3.95881209e-03 3.16339677e+01] [ 2.42317545e-01 9.70196415e-01 -1.05965341e-03 5.06317280e+00] [ 4.09760036e-03 6.87737587e-05 9.99991602e-01 -2.28948702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990888479 meters Centerline goodness [0,1] 0.9994064238133973 Centerline is valid? [True, True] Translation: X:31.66, Y:5.07, Z:-0.23 [[ 9.70123255e-01 -2.42580297e-01 -3.95848018e-03 3.16605980e+01] [ 2.42577987e-01 9.70131329e-01 -1.06089364e-03 5.07038297e+00] [ 4.09759753e-03 6.89574391e-05 9.99991602e-01 -2.29098918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.020888479 meters Centerline goodness [0,1] 0.9993881921076782 Centerline is valid? [True, True] Translation: X:31.69, Y:5.08, Z:-0.23 [[ 9.70098220e-01 -2.42667931e-01 -4.66024175e-03 3.16868960e+01] [ 2.42664735e-01 9.70109411e-01 -1.24806756e-03 5.08029003e+00] [ 4.82381035e-03 7.98717912e-05 9.99988362e-01 -2.29533450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.050888479 meters Centerline goodness [0,1] 0.9994519466853735 Centerline is valid? [True, True] Translation: X:31.71, Y:5.09, Z:-0.23 [[ 9.70092876e-01 -2.42691403e-01 -4.54918713e-03 3.17145048e+01] [ 2.42688346e-01 9.70103539e-01 -1.22071886e-03 5.08683475e+00] [ 4.70944051e-03 8.01759700e-05 9.99988907e-01 -2.26702074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.080888479 meters Centerline goodness [0,1] 0.9994312215610781 Centerline is valid? [True, True] Translation: X:31.74, Y:5.10, Z:-0.23 [[ 9.70171735e-01 -2.42385634e-01 -4.00110518e-03 3.17408716e+01] [ 2.42383261e-01 9.70179983e-01 -1.07498693e-03 5.09560673e+00] [ 4.14235354e-03 7.31210116e-05 9.99991418e-01 -2.25438454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110888479 meters Centerline goodness [0,1] 0.9994317436726844 Centerline is valid? [True, True] Translation: X:31.77, Y:5.11, Z:-0.23 [[ 9.70337240e-01 -2.41733955e-01 -3.21485978e-03 3.17664411e+01] [ 2.41732422e-01 9.70342564e-01 -8.63276802e-04 5.10765716e+00] [ 3.32819860e-03 6.05337891e-05 9.99994460e-01 -2.25646703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.140888479 meters Centerline goodness [0,1] 0.9992138536457538 Centerline is valid? [True, True] Translation: X:31.79, Y:5.12, Z:-0.23 [[ 9.70286456e-01 -2.41937505e-01 -3.23062714e-03 3.17938928e+01] [ 2.41935950e-01 9.70291832e-01 -8.69522119e-04 5.11539733e+00] [ 3.34502114e-03 6.20806891e-05 9.99994403e-01 -2.26056547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170888479 meters Centerline goodness [0,1] 0.9991095860661078 Centerline is valid? [True, True] Translation: X:31.82, Y:5.13, Z:-0.23 [[ 9.70421007e-01 -2.41382914e-01 -4.16625636e-03 3.18197133e+01] [ 2.41380328e-01 9.70429947e-01 -1.12021234e-03 5.12597527e+00] [ 4.31346006e-03 8.14252626e-05 9.99990694e-01 -2.28575593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.200888479 meters Centerline goodness [0,1] 0.9991266375545852 Centerline is valid? [True, True] Translation: X:31.85, Y:5.13, Z:-0.23 [[ 9.70492101e-01 -2.41082463e-01 -4.93224496e-03 3.18475507e+01] [ 2.41078825e-01 9.70504630e-01 -1.32817241e-03 5.13381328e+00] [ 5.10696565e-03 9.99210140e-05 9.99986954e-01 -2.28809440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.230888479 meters Centerline goodness [0,1] 0.9988687044490373 Centerline is valid? [True, True] Translation: X:31.87, Y:5.14, Z:-0.23 [[ 9.70314652e-01 -2.41775081e-01 -5.85546311e-03 3.18745720e+01] [ 2.41769957e-01 9.70332313e-01 -1.57840948e-03 5.14031429e+00] [ 6.06336514e-03 1.15878782e-04 9.99981611e-01 -2.29716350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.260888479 meters Centerline goodness [0,1] 0.9993032876115828 Centerline is valid? [True, True] Translation: X:31.90, Y:5.15, Z:-0.23 [[ 9.70066714e-01 -2.42769463e-01 -5.79296025e-03 3.19027224e+01] [ 2.42764457e-01 9.70084004e-01 -1.56284229e-03 5.14662836e+00] [ 5.99906846e-03 1.09736437e-04 9.99981999e-01 -2.29226796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290888479 meters Centerline goodness [0,1] 0.9992578039729316 Centerline is valid? [True, True] Translation: X:31.93, Y:5.15, Z:-0.22 [[ 9.69812226e-01 -2.43832557e-01 -3.15123741e-03 3.19307251e+01] [ 2.43831076e-01 9.69817344e-01 -8.51624081e-04 5.15233295e+00] [ 3.26377837e-03 5.75458373e-05 9.99994672e-01 -2.24086183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.320888479 meters Centerline goodness [0,1] 0.9993687830572666 Centerline is valid? [True, True] Translation: X:31.96, Y:5.16, Z:-0.23 [[ 9.69514448e-01 -2.44993112e-01 -4.48453927e-03 3.19563932e+01] [ 2.44990129e-01 9.69524816e-01 -1.21125295e-03 5.16215544e+00] [ 4.64462074e-03 7.56593787e-05 9.99989211e-01 -2.28694177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350888479 meters Centerline goodness [0,1] 0.9991496598639455 Centerline is valid? [True, True] Translation: X:31.98, Y:5.17, Z:-0.23 [[ 9.69502891e-01 -2.45039864e-01 -4.42832263e-03 3.19827116e+01] [ 2.45036947e-01 9.69513001e-01 -1.19817329e-03 5.17142779e+00] [ 4.58691658e-03 7.65298101e-05 9.99989477e-01 -2.29826251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.380888479 meters Centerline goodness [0,1] 0.9988752136012632 Centerline is valid? [True, True] Translation: X:32.01, Y:5.18, Z:-0.23 [[ 9.69581556e-01 -2.44723171e-01 -4.70914666e-03 3.20087591e+01] [ 2.44719869e-01 9.69592988e-01 -1.27388140e-03 5.18147396e+00] [ 4.87770388e-03 8.27101515e-05 9.99988101e-01 -2.31724005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.410888479 meters Centerline goodness [0,1] 0.9992820936758979 Centerline is valid? [True, True] Translation: X:32.04, Y:5.19, Z:-0.23 [[ 9.70127026e-01 -2.42551178e-01 -4.74126178e-03 3.20369914e+01] [ 2.42547796e-01 9.70138607e-01 -1.28443910e-03 5.18854688e+00] [ 4.91122332e-03 9.60864884e-05 9.99987935e-01 -2.29724928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.440888479 meters Centerline goodness [0,1] 0.9991085406157593 Centerline is valid? [True, True] Translation: X:32.07, Y:5.20, Z:-0.23 [[ 9.70447624e-01 -2.41275317e-01 -4.19879483e-03 3.20654275e+01] [ 2.41272648e-01 9.70456703e-01 -1.13870793e-03 5.19501851e+00] [ 4.34949071e-03 9.20020638e-05 9.99990537e-01 -2.26594889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470888479 meters Centerline goodness [0,1] 0.9991931966855647 Centerline is valid? [True, True] Translation: X:32.09, Y:5.20, Z:-0.23 [[ 9.70606162e-01 -2.40600644e-01 -5.91683660e-03 3.20932873e+01] [ 2.40595325e-01 9.70624187e-01 -1.60561300e-03 5.20154254e+00] [ 6.12933623e-03 1.34854647e-04 9.99981206e-01 -2.27236872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.500888479000004 meters Centerline goodness [0,1] 0.9989759456161758 Centerline is valid? [True, True] Translation: X:32.12, Y:5.21, Z:-0.23 [[ 9.70691791e-01 -2.40246729e-01 -6.24154908e-03 3.21204761e+01] [ 2.40240792e-01 9.70711846e-01 -1.69530877e-03 5.21107347e+00] [ 6.46603802e-03 1.46147617e-04 9.99979084e-01 -2.28630971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530888479 meters Centerline goodness [0,1] 0.9986345015930814 Centerline is valid? [True, True] Translation: X:32.15, Y:5.22, Z:-0.23 [[ 9.70977076e-01 -2.39117279e-01 -5.14246384e-03 3.21468303e+01] [ 2.39113234e-01 9.70990685e-01 -1.39662049e-03 5.22215847e+00] [ 5.32724058e-03 1.26455320e-04 9.99985802e-01 -2.29594680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.560888479 meters Centerline goodness [0,1] 0.9987031793719066 Centerline is valid? [True, True] Translation: X:32.17, Y:5.23, Z:-0.23 [[ 9.71036078e-01 -2.38896269e-01 -4.18420763e-03 3.21722933e+01] [ 2.38893586e-01 9.71045087e-01 -1.13720159e-03 5.23279498e+00] [ 4.33472748e-03 1.04683403e-04 9.99990600e-01 -2.32016514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.590888479 meters Centerline goodness [0,1] 0.9990226739640344 Centerline is valid? [True, True] Translation: X:32.20, Y:5.24, Z:-0.23 [[ 9.70994278e-01 -2.39085739e-01 -2.84966998e-03 3.22001050e+01] [ 2.39084489e-01 9.70998457e-01 -7.76477728e-04 5.23730918e+00] [ 2.95266990e-03 7.26435402e-05 9.99995638e-01 -2.29890494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.620888479 meters Centerline goodness [0,1] 0.9991065591632163 Centerline is valid? [True, True] Translation: X:32.23, Y:5.24, Z:-0.23 [[ 9.71014387e-01 -2.39009112e-01 -2.38839134e-03 3.22270170e+01] [ 2.39008234e-01 9.71017323e-01 -6.50458600e-04 5.24193732e+00] [ 2.47463490e-03 6.07594619e-05 9.99996936e-01 -2.26279584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650888479 meters Centerline goodness [0,1] 0.9992145397421072 Centerline is valid? [True, True] Translation: X:32.26, Y:5.25, Z:-0.23 [[ 9.70487350e-01 -2.41117710e-01 -4.06852032e-03 3.22560955e+01] [ 2.41115177e-01 9.70495874e-01 -1.10922975e-03 5.24591893e+00] [ 4.21593712e-03 9.55114412e-05 9.99991108e-01 -2.26611486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.680888479000004 meters Centerline goodness [0,1] 0.9993432430657414 Centerline is valid? [True, True] Translation: X:32.29, Y:5.25, Z:-0.23 [[ 9.70123236e-01 -2.42565233e-01 -4.79730417e-03 3.22851992e+01] [ 2.42561724e-01 9.70135092e-01 -1.30899858e-03 5.25062366e+00] [ 4.97155067e-03 1.06247568e-04 9.99987636e-01 -2.26438031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710888479 meters Centerline goodness [0,1] 0.9994314205738278 Centerline is valid? [True, True] Translation: X:32.31, Y:5.26, Z:-0.23 [[ 9.69717620e-01 -2.44177844e-01 -4.99172132e-03 3.23108894e+01] [ 2.44174067e-01 9.69730463e-01 -1.36202262e-03 5.26164840e+00] [ 5.17319997e-03 1.01928439e-04 9.99986614e-01 -2.31668859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.740888479 meters Centerline goodness [0,1] 0.9994734994734995 Centerline is valid? [True, True] Translation: X:32.34, Y:5.27, Z:-0.23 [[ 9.69685416e-01 -2.44320566e-01 -4.20188622e-03 3.23382206e+01] [ 2.44317882e-01 9.69694515e-01 -1.14854861e-03 5.26890176e+00] [ 4.35516007e-03 8.71348970e-05 9.99990512e-01 -2.31472018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.770888479 meters Centerline goodness [0,1] 0.9996266690091357 Centerline is valid? [True, True] Translation: X:32.37, Y:5.27, Z:-0.23 [[ 9.69705652e-01 -2.44243355e-01 -4.01654522e-03 3.23656647e+01] [ 2.44240899e-01 9.69713966e-01 -1.09837118e-03 5.27303676e+00] [ 4.16316986e-03 8.40921216e-05 9.99991330e-01 -2.29756391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.800888479 meters Centerline goodness [0,1] 0.999714699556687 Centerline is valid? [True, True] Translation: X:32.39, Y:5.28, Z:-0.23 [[ 9.69964921e-01 -2.43208524e-01 -4.20304819e-03 3.23927519e+01] [ 2.43205826e-01 9.69974023e-01 -1.14912065e-03 5.28110406e+00] [ 4.35632350e-03 9.24009141e-05 9.99990507e-01 -2.30671126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830888479 meters Centerline goodness [0,1] 0.9993196383109473 Centerline is valid? [True, True] Translation: X:32.42, Y:5.29, Z:-0.23 [[ 9.69854287e-01 -2.43625486e-01 -5.41155369e-03 3.24199578e+01] [ 2.43621020e-01 9.69869377e-01 -1.47982079e-03 5.28763879e+00] [ 5.60902227e-03 1.16842313e-04 9.99984262e-01 -2.32960657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.860888479 meters Centerline goodness [0,1] 0.9994101583833971 Centerline is valid? [True, True] Translation: X:32.45, Y:5.29, Z:-0.23 [[ 9.69968255e-01 -2.43176088e-01 -5.19370915e-03 3.24485547e+01] [ 2.43171956e-01 9.69982153e-01 -1.42247809e-03 5.29288092e+00] [ 5.38371783e-03 1.16794174e-04 9.99985501e-01 -2.30952236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890888479 meters Centerline goodness [0,1] 0.9995166322450235 Centerline is valid? [True, True] Translation: X:32.48, Y:5.30, Z:-0.23 [[ 9.69810753e-01 -2.43764654e-01 -6.77465282e-03 3.24768126e+01] [ 2.43757627e-01 9.69834404e-01 -1.85690242e-03 5.29939921e+00] [ 7.02293855e-03 1.49470634e-04 9.99975328e-01 -2.31510204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.920888479 meters Centerline goodness [0,1] 0.9994948274725999 Centerline is valid? [True, True] Translation: X:32.50, Y:5.31, Z:-0.24 [[ 9.69510762e-01 -2.44870305e-01 -9.34967998e-03 3.25035959e+01] [ 2.44856978e-01 9.69555824e-01 -2.56215548e-03 5.30733369e+00] [ 9.69243247e-03 1.94702921e-04 9.99953008e-01 -2.36647135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.950888479 meters Centerline goodness [0,1] 0.9997578372666431 Centerline is valid? [True, True] Translation: X:32.53, Y:5.31, Z:-0.24 [[ 9.69229823e-01 -2.45979912e-01 -9.35056546e-03 3.25310215e+01] [ 2.45966620e-01 9.69274909e-01 -2.56383062e-03 5.31297467e+00] [ 9.69391932e-03 1.85014113e-04 9.99952996e-01 -2.36465278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.980888479 meters Centerline goodness [0,1] 0.9998673710736311 Centerline is valid? [True, True] Translation: X:32.56, Y:5.32, Z:-0.23 [[ 9.68841905e-01 -2.47553701e-01 -7.90750423e-03 3.25604825e+01] [ 2.47544228e-01 9.68874163e-01 -2.17059625e-03 5.31687987e+00] [ 8.19871568e-03 1.45507579e-04 9.99966379e-01 -2.33753570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010888479 meters Centerline goodness [0,1] 0.999690928759079 Centerline is valid? [True, True] Translation: X:32.59, Y:5.32, Z:-0.23 [[ 9.68429249e-01 -2.49182114e-01 -7.28448605e-03 3.25890944e+01] [ 2.49174104e-01 9.68456638e-01 -2.00173757e-03 5.32179127e+00] [ 7.55350607e-03 1.23435923e-04 9.99971464e-01 -2.32749776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.040888479 meters Centerline goodness [0,1] 0.9997786582261671 Centerline is valid? [True, True] Translation: X:32.62, Y:5.33, Z:-0.23 [[ 9.68079934e-01 -2.50584361e-01 -5.35911803e-03 3.26174528e+01] [ 2.50580038e-01 9.68094763e-01 -1.47441023e-03 5.32907643e+00] [ 5.55759825e-03 8.44589579e-05 9.99984553e-01 -2.31122482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070888479 meters Centerline goodness [0,1] 0.9997566317838891 Centerline is valid? [True, True] Translation: X:32.65, Y:5.33, Z:-0.23 [[ 9.67064625e-01 -2.54492444e-01 -4.42793574e-03 3.26454253e+01] [ 2.54489534e-01 9.67074761e-01 -1.21798175e-03 5.33356919e+00] [ 4.59211205e-03 5.10037617e-05 9.99989455e-01 -2.32414164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.100888479 meters Centerline goodness [0,1] 0.9999112924687306 Centerline is valid? [True, True] Translation: X:32.67, Y:5.34, Z:-0.23 [[ 9.66976987e-01 -2.54843930e-01 -3.17464843e-03 3.26727150e+01] [ 2.54842435e-01 9.66982197e-01 -8.73663234e-04 5.34034927e+00] [ 3.29247628e-03 3.57771066e-05 9.99994579e-01 -2.29417349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130888479 meters Centerline goodness [0,1] 0.9998443579766537 Centerline is valid? [True, True] Translation: X:32.70, Y:5.35, Z:-0.23 [[ 9.66805082e-01 -2.55492084e-01 -3.42478892e-03 3.27000828e+01] [ 2.55490341e-01 9.66811147e-01 -9.44515146e-04 5.34589722e+00] [ 3.55244025e-03 3.81615557e-05 9.99993689e-01 -2.29753977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.160888479 meters Centerline goodness [0,1] 0.9999110023361887 Centerline is valid? [True, True] Translation: X:32.73, Y:5.35, Z:-0.23 [[ 9.66940963e-01 -2.54969950e-01 -3.93679190e-03 3.27286798e+01] [ 2.54967640e-01 9.66948976e-01 -1.08638374e-03 5.35216630e+00] [ 4.08367210e-03 4.67144049e-05 9.99991661e-01 -2.28655831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190888479 meters Centerline goodness [0,1] 0.9997777135616956 Centerline is valid? [True, True] Translation: X:32.76, Y:5.36, Z:-0.23 [[ 9.67674383e-01 -2.52130086e-01 -6.05866953e-03 3.27562890e+01] [ 2.52124554e-01 9.67693346e-01 -1.67278734e-03 5.36082035e+00] [ 6.28469420e-03 9.11741074e-05 9.99980247e-01 -2.31720376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.220888479 meters Centerline goodness [0,1] 0.9998668973778784 Centerline is valid? [True, True] Translation: X:32.78, Y:5.37, Z:-0.23 [[ 9.68331951e-01 -2.49582915e-01 -6.44986566e-03 3.27834200e+01] [ 2.49576578e-01 9.68353425e-01 -1.78239868e-03 5.37134440e+00] [ 6.69060576e-03 1.16218194e-04 9.99977611e-01 -2.33326548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250888479000004 meters Centerline goodness [0,1] 0.9996234272550062 Centerline is valid? [True, True] Translation: X:32.81, Y:5.38, Z:-0.24 [[ 9.68997287e-01 -2.46970989e-01 -7.04182241e-03 3.28089238e+01] [ 2.46963367e-01 9.69022863e-01 -1.94584675e-03 5.38216850e+00] [ 7.30425461e-03 1.46448051e-04 9.99973313e-01 -2.36107264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.280888479 meters Centerline goodness [0,1] 0.9996452564130989 Centerline is valid? [True, True] Translation: X:32.84, Y:5.39, Z:-0.24 [[ 9.70337285e-01 -2.41668980e-01 -6.45433949e-03 3.28368103e+01] [ 2.41662459e-01 9.70358735e-01 -1.78341189e-03 5.39358258e+00] [ 6.69402004e-03 1.70739495e-04 9.99977580e-01 -2.36801751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310888479 meters Centerline goodness [0,1] 0.999513941054306 Centerline is valid? [True, True] Translation: X:32.86, Y:5.40, Z:-0.24 [[ 9.70804796e-01 -2.39797414e-01 -5.93704015e-03 3.28629790e+01] [ 2.39791857e-01 9.70822935e-01 -1.64134363e-03 5.40336978e+00] [ 6.15740470e-03 1.69770391e-04 9.99981029e-01 -2.37186592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.340888479 meters Centerline goodness [0,1] 0.9996676489486629 Centerline is valid? [True, True] Translation: X:32.89, Y:5.41, Z:-0.24 [[ 9.71136382e-01 -2.38468301e-01 -5.19596744e-03 3.28902965e+01] [ 2.38464022e-01 9.71150269e-01 -1.43700370e-03 5.41099275e+00] [ 5.38874501e-03 1.56475281e-04 9.99985468e-01 -2.37097248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370888479 meters Centerline goodness [0,1] 0.9995357679724114 Centerline is valid? [True, True] Translation: X:32.92, Y:5.42, Z:-0.23 [[ 9.71915033e-01 -2.35302133e-01 -3.75162534e-03 3.29181309e+01] [ 2.35299878e-01 9.71922266e-01 -1.03770164e-03 5.42017386e+00] [ 3.89046161e-03 1.25800837e-04 9.99992424e-01 -2.34547937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.400888479 meters Centerline goodness [0,1] 0.9994908237586062 Centerline is valid? [True, True] Translation: X:32.95, Y:5.43, Z:-0.23 [[ 9.72172504e-01 -2.34254919e-01 -2.29250618e-03 3.29461305e+01] [ 2.34254070e-01 9.72175204e-01 -6.35879998e-04 5.42875177e+00] [ 2.37767568e-03 8.11561457e-05 9.99997170e-01 -2.33063813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430888479000004 meters Centerline goodness [0,1] 0.9996231100075378 Centerline is valid? [True, True] Translation: X:32.97, Y:5.44, Z:-0.23 [[ 9.72461929e-01 -2.33058559e-01 -1.22639673e-03 3.29722804e+01] [ 2.33058315e-01 9.72462702e-01 -3.40035818e-04 5.43872317e+00] [ 1.27187334e-03 4.48499317e-05 9.99999190e-01 -2.30594945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.460888479 meters Centerline goodness [0,1] 0.999512432959532 Centerline is valid? [True, True] Translation: X:33.00, Y:5.44, Z:-0.23 [[ 9.72483560e-01 -2.32964552e-01 -1.80066337e-03 3.30017283e+01] [ 2.32964024e-01 9.72485225e-01 -5.00393702e-04 5.44245525e+00] [ 1.86769252e-03 6.71348625e-05 9.99998254e-01 -2.31503828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490888479 meters Centerline goodness [0,1] 0.9993178867692036 Centerline is valid? [True, True] Translation: X:33.03, Y:5.45, Z:-0.23 [[ 9.72813007e-01 -2.31582877e-01 -2.05551240e-03 3.30284305e+01] [ 2.31582188e-01 9.72815175e-01 -5.70326202e-04 5.45150094e+00] [ 2.13171144e-03 7.88006884e-05 9.99997725e-01 -2.32556377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.520888479 meters Centerline goodness [0,1] 0.9994054696789536 Centerline is valid? [True, True] Translation: X:33.06, Y:5.46, Z:-0.23 [[ 9.72985724e-01 -2.30859844e-01 -1.58531785e-03 3.30555305e+01] [ 2.30859431e-01 9.72987014e-01 -4.41225957e-04 5.46122973e+00] [ 1.64435503e-03 6.33209817e-05 9.99998646e-01 -2.34123671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.550888479 meters Centerline goodness [0,1] 0.9994458482954294 Centerline is valid? [True, True] Translation: X:33.08, Y:5.47, Z:-0.23 [[ 9.73186478e-01 -2.30017552e-01 -7.13379134e-05 3.30836073e+01] [ 2.30017551e-01 9.73186480e-01 -2.11737048e-05 5.46985642e+00] [ 7.42954166e-05 4.19699107e-06 9.99999997e-01 -2.31942591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.580888479 meters Centerline goodness [0,1] 0.999203381204222 Centerline is valid? [True, True] Translation: X:33.11, Y:5.48, Z:-0.24 [[ 9.73018594e-01 -2.30722715e-01 -1.35837821e-03 3.31100283e+01] [ 2.30722412e-01 9.73019540e-01 -3.78181337e-04 5.47735384e+00] [ 1.40898356e-03 5.45691769e-05 9.99999006e-01 -2.35352596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610888479 meters Centerline goodness [0,1] 0.9995115995115995 Centerline is valid? [True, True] Translation: X:33.14, Y:5.48, Z:-0.23 [[ 9.72930956e-01 -2.31093721e-01 -1.02348520e-03 3.31379063e+01] [ 2.31093547e-01 9.72931493e-01 -2.86276500e-04 5.48059309e+00] [ 1.06193769e-03 4.20064429e-05 9.99999435e-01 -2.32186086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.640888479 meters Centerline goodness [0,1] 0.9996666296255139 Centerline is valid? [True, True] Translation: X:33.17, Y:5.49, Z:-0.23 [[ 9.72781276e-01 -2.31714250e-01 -2.25740354e-03 3.31650403e+01] [ 2.31713411e-01 9.72783891e-01 -6.30181783e-04 5.48640283e+00] [ 2.34198789e-03 8.99583662e-05 9.99997253e-01 -2.34496914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670888479 meters Centerline goodness [0,1] 0.9997121792459096 Centerline is valid? [True, True] Translation: X:33.19, Y:5.49, Z:-0.23 [[ 9.72947252e-01 -2.30996193e-01 -3.79533898e-03 3.31932728e+01] [ 2.30993815e-01 9.72954642e-01 -1.05925325e-03 5.49252278e+00] [ 3.93737615e-03 1.53897702e-04 9.99992237e-01 -2.34551493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.700888479 meters Centerline goodness [0,1] 0.9994889683826961 Centerline is valid? [True, True] Translation: X:33.22, Y:5.50, Z:-0.24 [[ 9.73030597e-01 -2.30630960e-01 -4.56260131e-03 3.32196164e+01] [ 2.30627522e-01 9.73041276e-01 -1.27309569e-03 5.50311241e+00] [ 4.73321468e-03 1.86499625e-04 9.99988781e-01 -2.36028939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.730888479 meters Centerline goodness [0,1] 0.9992221703669133 Centerline is valid? [True, True] Translation: X:33.25, Y:5.51, Z:-0.23 [[ 9.72940698e-01 -2.31013260e-01 -4.38993211e-03 3.32480194e+01] [ 2.31010071e-01 9.72950585e-01 -1.22712959e-03 5.50627361e+00] [ 4.55467022e-03 1.79805799e-04 9.99989611e-01 -2.34509784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.760888479 meters Centerline goodness [0,1] 0.9995989840930357 Centerline is valid? [True, True] Translation: X:33.28, Y:5.51, Z:-0.23 [[ 9.72411733e-01 -2.33208569e-01 -5.40238499e-03 3.32770677e+01] [ 2.33203767e-01 9.72426717e-01 -1.51101274e-03 5.50895533e+00] [ 5.60580461e-03 2.09469982e-04 9.99984265e-01 -2.34133578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790888479 meters Centerline goodness [0,1] 0.9995982680890952 Centerline is valid? [True, True] Translation: X:33.30, Y:5.51, Z:-0.23 [[ 9.71958555e-01 -2.35086929e-01 -5.54110995e-03 3.33046815e+01] [ 2.35081908e-01 9.71974328e-01 -1.54986459e-03 5.51348989e+00] [ 5.75016953e-03 2.03789443e-04 9.99983447e-01 -2.32968474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.820888479 meters Centerline goodness [0,1] 0.9996868569383556 Centerline is valid? [True, True] Translation: X:33.33, Y:5.52, Z:-0.23 [[ 9.71435510e-01 -2.37231374e-01 -5.85881171e-03 3.33323319e+01] [ 2.37225798e-01 9.71453156e-01 -1.63899419e-03 5.51794655e+00] [ 6.08038197e-03 2.02315873e-04 9.99981494e-01 -2.33538792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850888479 meters Centerline goodness [0,1] 0.9998432040139772 Centerline is valid? [True, True] Translation: X:33.36, Y:5.52, Z:-0.23 [[ 9.70657236e-01 -2.40413588e-01 -5.08311617e-03 3.33613160e+01] [ 2.40409423e-01 9.70670532e-01 -1.42403345e-03 5.52266348e+00] [ 5.27638807e-03 1.60219344e-04 9.99986067e-01 -2.31623105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.880888479 meters Centerline goodness [0,1] 0.9999328408327737 Centerline is valid? [True, True] Translation: X:33.39, Y:5.53, Z:-0.23 [[ 9.70379004e-01 -2.41534586e-01 -5.06291709e-03 3.33894907e+01] [ 2.41530462e-01 9.70392199e-01 -1.41985002e-03 5.52830591e+00] [ 5.25595813e-03 1.54943950e-04 9.99986175e-01 -2.32289539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.910888479 meters Centerline goodness [0,1] 0.9998427036987102 Centerline is valid? [True, True] Translation: X:33.42, Y:5.54, Z:-0.23 [[ 9.70207684e-01 -2.42227880e-01 -4.76490307e-03 3.34174130e+01] [ 2.42224229e-01 9.70219374e-01 -1.33759794e-03 5.53571576e+00] [ 4.94700479e-03 1.43572821e-04 9.99987753e-01 -2.32969034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.940888479 meters Centerline goodness [0,1] 0.9998427036987102 Centerline is valid? [True, True] Translation: X:33.44, Y:5.54, Z:-0.23 [[ 9.70140233e-01 -2.42497895e-01 -4.76447888e-03 3.34439724e+01] [ 2.42494240e-01 9.70151921e-01 -1.33910908e-03 5.54324414e+00] [ 4.94699947e-03 1.43764913e-04 9.99987753e-01 -2.33119298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970888479 meters Centerline goodness [0,1] 0.9997747950635077 Centerline is valid? [True, True] Translation: X:33.47, Y:5.55, Z:-0.23 [[ 9.69724586e-01 -2.44143396e-01 -5.31312932e-03 3.34723355e+01] [ 2.44138880e-01 9.69739130e-01 -1.49253476e-03 5.54648216e+00] [ 5.51674191e-03 1.50206210e-04 9.99984771e-01 -2.34252583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.000888479000004 meters Centerline goodness [0,1] 0.9998652775282917 Centerline is valid? [True, True] Translation: X:33.50, Y:5.55, Z:-0.23 [[ 9.69636941e-01 -2.44503826e-01 -4.69910507e-03 3.35000407e+01] [ 2.44500293e-01 9.69648319e-01 -1.32098296e-03 5.55182162e+00] [ 4.87946471e-03 1.31941307e-04 9.99988087e-01 -2.29880600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030888479 meters Centerline goodness [0,1] 0.9997975435281414 Centerline is valid? [True, True] Translation: X:33.53, Y:5.56, Z:-0.23 [[ 9.69419306e-01 -2.45372815e-01 -4.28853752e-03 3.35291912e+01] [ 2.45369873e-01 9.69428784e-01 -1.20736928e-03 5.55597696e+00] [ 4.45368731e-03 1.18169178e-04 9.99990075e-01 -2.28033716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.060888479 meters Centerline goodness [0,1] 0.9999321880650994 Centerline is valid? [True, True] Translation: X:33.56, Y:5.56, Z:-0.23 [[ 9.69206048e-01 -2.46224238e-01 -3.64154798e-03 3.35574704e+01] [ 2.46222118e-01 9.69212884e-01 -1.02633994e-03 5.56252081e+00] [ 3.78214499e-03 9.81052167e-05 9.99992843e-01 -2.27158278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.090888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.58, Y:5.57, Z:-0.23 [[ 9.69121367e-01 -2.46566791e-01 -2.93149700e-03 3.35841389e+01] [ 2.46565415e-01 9.69125798e-01 -8.27373813e-04 5.57082705e+00] [ 3.04499227e-03 7.90198663e-05 9.99995361e-01 -2.27300316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.120888479 meters Centerline goodness [0,1] 0.9998422819548025 Centerline is valid? [True, True] Translation: X:33.61, Y:5.58, Z:-0.23 [[ 9.69225788e-01 -2.46170042e-01 -1.29692769e-03 3.36093449e+01] [ 2.46169772e-01 9.69226655e-01 -3.66238630e-04 5.57988534e+00] [ 1.34717387e-03 3.57035308e-05 9.99999092e-01 -2.27466338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150888479 meters Centerline goodness [0,1] 0.9999323669319385 Centerline is valid? [True, True] Translation: X:33.64, Y:5.59, Z:-0.23 [[ 9.69377310e-01 -2.45573994e-01 -1.02221675e-03 3.36371100e+01] [ 2.45573825e-01 9.69377848e-01 -2.89741292e-04 5.58726347e+00] [ 1.06206720e-03 2.98389556e-05 9.99999436e-01 -2.27361968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.180888479000004 meters Centerline goodness [0,1] 0.9998647308143205 Centerline is valid? [True, True] Translation: X:33.66, Y:5.59, Z:-0.23 [[ 9.69728059e-01 -2.44172542e-01 -2.69461511e-03 3.36647359e+01] [ 2.44171370e-01 9.69731800e-01 -7.60950916e-04 5.59393610e+00] [ 2.79885728e-03 7.99675919e-05 9.99996080e-01 -2.28230323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210888479 meters Centerline goodness [0,1] 0.9997736224928692 Centerline is valid? [True, True] Translation: X:33.69, Y:5.60, Z:-0.23 [[ 9.69680951e-01 -2.44339499e-01 -4.13056215e-03 3.36927054e+01] [ 2.44336738e-01 9.69689741e-01 -1.16811236e-03 5.60096176e+00] [ 4.29077973e-03 1.23448219e-04 9.99990787e-01 -2.29612140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.240888479 meters Centerline goodness [0,1] 0.9999547961305488 Centerline is valid? [True, True] Translation: X:33.72, Y:5.61, Z:-0.23 [[ 9.69669055e-01 -2.44365157e-01 -5.25292056e-03 3.37209741e+01] [ 2.44360686e-01 9.69683271e-01 -1.48657390e-03 5.60637977e+00] [ 5.45693605e-03 1.57877433e-04 9.99985098e-01 -2.29654078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.270888479 meters Centerline goodness [0,1] 0.9998870413880354 Centerline is valid? [True, True] Translation: X:33.75, Y:5.61, Z:-0.23 [[ 9.69647620e-01 -2.44446451e-01 -5.42460327e-03 3.37485449e+01] [ 2.44441674e-01 9.69662779e-01 -1.53697915e-03 5.61360714e+00] [ 5.63574498e-03 1.64329075e-04 9.99984106e-01 -2.30108547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.300888479 meters Centerline goodness [0,1] 0.9998414244614096 Centerline is valid? [True, True] Translation: X:33.77, Y:5.63, Z:-0.23 [[ 9.69692397e-01 -2.44304605e-01 -3.45200103e-03 3.37739392e+01] [ 2.44302663e-01 9.69698535e-01 -9.79688452e-04 5.62517482e+00] [ 3.58674274e-03 1.06663398e-04 9.99993562e-01 -2.30511581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330888479 meters Centerline goodness [0,1] 0.9999322921368602 Centerline is valid? [True, True] Translation: X:33.80, Y:5.63, Z:-0.23 [[ 9.69646830e-01 -2.44500520e-01 -2.12603127e-03 3.38015782e+01] [ 2.44499782e-01 9.69649159e-01 -6.04617984e-04 5.63147663e+00] [ 2.20933384e-03 6.64517314e-05 9.99997557e-01 -2.28589774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.360888479 meters Centerline goodness [0,1] 0.9998418114844863 Centerline is valid? [True, True] Translation: X:33.83, Y:5.64, Z:-0.23 [[ 9.69673594e-01 -2.44402973e-01 -5.53942535e-04 3.38272409e+01] [ 2.44402923e-01 9.69673753e-01 -1.58308404e-04 5.64033312e+00] [ 5.75834581e-04 1.81223042e-05 9.99999834e-01 -2.28044892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390888479 meters Centerline goodness [0,1] 0.9998205674554222 Centerline is valid? [True, True] Translation: X:33.85, Y:5.65, Z:-0.23 [[ 9.69612371e-01 -2.44645696e-01 5.77444303e-04 3.38537297e+01] [ 2.44645642e-01 9.69612543e-01 1.62517212e-04 5.64841964e+00] [-5.99656375e-04 -1.63094664e-05 9.99999820e-01 -2.27384370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.420888479 meters Centerline goodness [0,1] 0.9998640719512472 Centerline is valid? [True, True] Translation: X:33.88, Y:5.65, Z:-0.23 [[ 9.69578451e-01 -2.44777615e-01 1.24353365e-03 3.38806914e+01] [ 2.44777364e-01 9.69579248e-01 3.52157200e-04 5.65483869e+00] [-1.29190462e-03 -3.70551424e-05 9.99999165e-01 -2.25542080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.450888479 meters Centerline goodness [0,1] 0.9996827051651066 Centerline is valid? [True, True] Translation: X:33.91, Y:5.66, Z:-0.23 [[ 9.69569457e-01 -2.44815252e-01 7.48902009e-04 3.39077415e+01] [ 2.44815161e-01 9.69569746e-01 2.12605838e-04 5.66215847e+00] [-7.78161882e-04 -2.27935613e-05 9.99999697e-01 -2.25782908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.480888479 meters Centerline goodness [0,1] 0.999932353206458 Centerline is valid? [True, True] Translation: X:33.93, Y:5.67, Z:-0.23 [[ 9.69594980e-01 -2.44715211e-01 -2.01190270e-04 3.39346325e+01] [ 2.44715204e-01 9.69595001e-01 -5.77398902e-05 5.67046702e+00] [ 2.09202910e-04 6.74998965e-06 9.99999978e-01 -2.26602418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510888479 meters Centerline goodness [0,1] 0.9998865672996211 Centerline is valid? [True, True] Translation: X:33.96, Y:5.68, Z:-0.23 [[ 9.69795094e-01 -2.43920442e-01 -5.41016520e-04 3.39607368e+01] [ 2.43920394e-01 9.69795245e-01 -1.54506145e-04 5.68101471e+00] [ 5.62362456e-04 1.78743390e-05 9.99999842e-01 -2.28810351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.540888479 meters Centerline goodness [0,1] 0.9999317825226823 Centerline is valid? [True, True] Translation: X:33.99, Y:5.69, Z:-0.23 [[ 9.69909677e-01 -2.43464728e-01 -3.80895635e-04 3.39893236e+01] [ 2.43464704e-01 9.69909751e-01 -1.09945526e-04 5.68659541e+00] [ 3.96202249e-04 1.39025865e-05 9.99999921e-01 -2.28235482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570888479 meters Centerline goodness [0,1] 0.999886392038354 Centerline is valid? [True, True] Translation: X:34.01, Y:5.70, Z:-0.23 [[ 9.70107913e-01 -2.42673916e-01 8.84907962e-05 3.40148149e+01] [ 2.42673915e-01 9.70107917e-01 2.47301650e-05 5.69947350e+00] [-9.18469880e-05 -2.51652076e-06 9.99999996e-01 -2.28655370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.600888479 meters Centerline goodness [0,1] 0.999616745947652 Centerline is valid? [True, True] Translation: X:34.04, Y:5.71, Z:-0.23 [[ 9.70315904e-01 -2.41840854e-01 2.18899129e-04 3.40420577e+01] [ 2.41840847e-01 9.70315929e-01 6.11252389e-05 5.71028799e+00] [-2.27183892e-04 -6.37204069e-06 9.99999974e-01 -2.29972136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630888479 meters Centerline goodness [0,1] 0.9997974296067884 Centerline is valid? [True, True] Translation: X:34.07, Y:5.72, Z:-0.23 [[ 9.70566490e-01 -2.40832580e-01 -5.96961549e-04 3.40687137e+01] [ 2.40832520e-01 9.70566674e-01 -1.70866661e-04 5.72017991e+00] [ 6.20541244e-04 2.20697015e-05 9.99999807e-01 -2.30976659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.660888479 meters Centerline goodness [0,1] 0.9997293640054127 Centerline is valid? [True, True] Translation: X:34.09, Y:5.73, Z:-0.23 [[ 9.70947068e-01 -2.39292353e-01 -9.80763832e-04 3.40946041e+01] [ 2.39292191e-01 9.70947562e-01 -2.80783870e-04 5.73136256e+00] [ 1.01945969e-03 3.79371489e-05 9.99999480e-01 -2.32477098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690888479 meters Centerline goodness [0,1] 0.9996165557685801 Centerline is valid? [True, True] Translation: X:34.12, Y:5.74, Z:-0.23 [[ 9.71667313e-01 -2.36315804e-01 -4.18021379e-03 3.41231428e+01] [ 2.36312851e-01 9.71676289e-01 -1.19403647e-03 5.73980960e+00] [ 4.34398431e-03 1.72367970e-04 9.99990550e-01 -2.33874207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.720888479 meters Centerline goodness [0,1] 0.9999324385190523 Centerline is valid? [True, True] Translation: X:34.15, Y:5.75, Z:-0.23 [[ 9.71774095e-01 -2.35862575e-01 -4.89426194e-03 3.41514153e+01] [ 2.35858508e-01 9.71786398e-01 -1.40046613e-03 5.74702905e+00] [ 5.08649473e-03 2.06583390e-04 9.99987042e-01 -2.33452124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750888479000004 meters Centerline goodness [0,1] 0.9997973520670089 Centerline is valid? [True, True] Translation: X:34.18, Y:5.76, Z:-0.23 [[ 9.71910783e-01 -2.35301688e-01 -4.74812298e-03 3.41771606e+01] [ 2.35297855e-01 9.71922360e-01 -1.35823969e-03 5.75745982e+00] [ 4.93440299e-03 2.02864646e-04 9.99987805e-01 -2.33865821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.780888479 meters Centerline goodness [0,1] 0.9998655462184874 Centerline is valid? [True, True] Translation: X:34.20, Y:5.77, Z:-0.23 [[ 9.71787736e-01 -2.35827625e-01 -3.73193800e-03 3.42042837e+01] [ 2.35825253e-01 9.71794889e-01 -1.06949566e-03 5.76644131e+00] [ 3.87889490e-03 1.59237546e-04 9.99992464e-01 -2.32977817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810888479 meters Centerline goodness [0,1] 0.9997535897493336 Centerline is valid? [True, True] Translation: X:34.23, Y:5.78, Z:-0.23 [[ 9.71673860e-01 -2.36304445e-01 -3.18104146e-03 3.42302463e+01] [ 2.36302726e-01 9.71679058e-01 -9.11232241e-04 5.77626355e+00] [ 3.30627959e-03 1.33731782e-04 9.99994525e-01 -2.33121289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.840888479 meters Centerline goodness [0,1] 0.9997763814038776 Centerline is valid? [True, True] Translation: X:34.26, Y:5.78, Z:-0.23 [[ 9.71491104e-01 -2.37055497e-01 -3.11874020e-03 3.42583528e+01] [ 2.37053842e-01 9.71496101e-01 -8.95139923e-04 5.78359987e+00] [ 3.24204179e-03 1.30311123e-04 9.99994736e-01 -2.33201562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870888479 meters Centerline goodness [0,1] 0.999798869197935 Centerline is valid? [True, True] Translation: X:34.28, Y:5.80, Z:-0.24 [[ 9.71623469e-01 -2.36487515e-01 -4.63570229e-03 3.42840123e+01] [ 2.36483859e-01 9.71634508e-01 -1.32939216e-03 5.79587869e+00] [ 4.81859296e-03 1.95399855e-04 9.99988371e-01 -2.36138227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.900888479 meters Centerline goodness [0,1] 0.9995140484184485 Centerline is valid? [True, True] Translation: X:34.31, Y:5.81, Z:-0.24 [[ 9.71591669e-01 -2.36595617e-01 -5.66941255e-03 3.43097184e+01] [ 2.36590148e-01 9.71608181e-01 -1.62623261e-03 5.80829441e+00] [ 5.89320712e-03 2.38706899e-04 9.99982606e-01 -2.37893799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930888479000004 meters Centerline goodness [0,1] 0.9997102418366209 Centerline is valid? [True, True] Translation: X:34.34, Y:5.81, Z:-0.24 [[ 9.71604883e-01 -2.36526821e-01 -6.24620792e-03 3.43384181e+01] [ 2.36520166e-01 9.71624924e-01 -1.79408089e-03 5.81322129e+00] [ 6.49331954e-03 2.65783626e-04 9.99978883e-01 -2.36392523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.960888479 meters Centerline goodness [0,1] 0.9997776493084893 Centerline is valid? [True, True] Translation: X:34.37, Y:5.82, Z:-0.24 [[ 9.71461284e-01 -2.37121248e-01 -6.04052803e-03 3.43664932e+01] [ 2.37115025e-01 9.71480030e-01 -1.73666389e-03 5.81904284e+00] [ 6.28005226e-03 2.54801776e-04 9.99980248e-01 -2.35038180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990888479 meters Centerline goodness [0,1] 0.9997774018342089 Centerline is valid? [True, True] Translation: X:34.39, Y:5.83, Z:-0.23 [[ 9.70824130e-01 -2.39739428e-01 -5.05116985e-03 3.43928578e+01] [ 2.39735113e-01 9.70837251e-01 -1.45202080e-03 5.82901235e+00] [ 5.25197048e-03 1.98714051e-04 9.99986189e-01 -2.34960209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.020888479 meters Centerline goodness [0,1] 0.9998441257682373 Centerline is valid? [True, True] Translation: X:34.42, Y:5.84, Z:-0.24 [[ 9.70437958e-01 -2.41288531e-01 -5.47856187e-03 3.44207519e+01] [ 2.41283468e-01 9.70453400e-01 -1.57690888e-03 5.83824242e+00] [ 5.69717902e-03 2.08405823e-04 9.99983749e-01 -2.35872501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.050888479 meters Centerline goodness [0,1] 0.9997782705099778 Centerline is valid? [True, True] Translation: X:34.45, Y:5.85, Z:-0.24 [[ 9.69995791e-01 -2.43056322e-01 -5.63831108e-03 3.44493055e+01] [ 2.43050981e-01 9.70012156e-01 -1.62421240e-03 5.84526488e+00] [ 5.86400538e-03 2.05082149e-04 9.99982786e-01 -2.36223452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.080888479 meters Centerline goodness [0,1] 0.999866295264624 Centerline is valid? [True, True] Translation: X:34.48, Y:5.85, Z:-0.23 [[ 9.69480200e-01 -2.45099641e-01 -5.85719540e-03 3.44784176e+01] [ 2.45093905e-01 9.69497873e-01 -1.68893429e-03 5.84891995e+00] [ 6.09249567e-03 2.01825458e-04 9.99981420e-01 -2.33730326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110888479 meters Centerline goodness [0,1] 0.9999110221332443 Centerline is valid? [True, True] Translation: X:34.51, Y:5.86, Z:-0.23 [[ 9.69254245e-01 -2.45996653e-01 -5.64403337e-03 3.45060911e+01] [ 2.45991333e-01 9.69270659e-01 -1.62902529e-03 5.85702931e+00] [ 5.87133071e-03 1.90556392e-04 9.99982745e-01 -2.33486785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.140888479 meters Centerline goodness [0,1] 0.9998665331998665 Centerline is valid? [True, True] Translation: X:34.53, Y:5.87, Z:-0.23 [[ 9.69036999e-01 -2.46837430e-01 -6.21110381e-03 3.45328710e+01] [ 2.46831004e-01 9.69056882e-01 -1.79277285e-03 5.86566506e+00] [ 6.46143634e-03 2.04170231e-04 9.99979104e-01 -2.34055113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170888479 meters Centerline goodness [0,1] 0.9998668855659582 Centerline is valid? [True, True] Translation: X:34.56, Y:5.88, Z:-0.24 [[ 9.68787362e-01 -2.47777923e-01 -7.55967546e-03 3.45591591e+01] [ 2.47768430e-01 9.68816826e-01 -2.18231826e-03 5.87533441e+00] [ 7.86467107e-03 2.41153437e-04 9.99969044e-01 -2.36063629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.200888479 meters Centerline goodness [0,1] 0.9999330969425303 Centerline is valid? [True, True] Translation: X:34.59, Y:5.88, Z:-0.24 [[ 9.68295723e-01 -2.49631468e-01 -9.35532929e-03 3.45874633e+01] [ 2.49616985e-01 9.68340875e-01 -2.70386095e-03 5.88215251e+00] [ 9.73411653e-03 2.82887904e-04 9.99952582e-01 -2.37936912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.230888479 meters Centerline goodness [0,1] 0.9999113612693066 Centerline is valid? [True, True] Translation: X:34.62, Y:5.89, Z:-0.24 [[ 9.68040872e-01 -2.50645575e-01 -8.58286757e-03 3.46160360e+01] [ 2.50633405e-01 9.68078887e-01 -2.48276457e-03 5.88919262e+00] [ 8.93118684e-03 2.52264252e-04 9.99960084e-01 -2.37037463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.260888479 meters Centerline goodness [0,1] 0.9998441188259921 Centerline is valid? [True, True] Translation: X:34.64, Y:5.90, Z:-0.24 [[ 9.67872911e-01 -2.51324812e-01 -7.60710667e-03 3.46438590e+01] [ 2.51315254e-01 9.67902780e-01 -2.20280407e-03 5.89680900e+00] [ 7.91655901e-03 2.20252440e-04 9.99968639e-01 -2.36421227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290888479 meters Centerline goodness [0,1] 0.9997777185027118 Centerline is valid? [True, True] Translation: X:34.67, Y:5.91, Z:-0.24 [[ 9.67637405e-01 -2.52238246e-01 -7.32937428e-03 3.46701605e+01] [ 2.52229401e-01 9.67665141e-01 -2.12221840e-03 5.90602013e+00] [ 7.62768465e-03 2.04854218e-04 9.99970888e-01 -2.36816076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.320888479 meters Centerline goodness [0,1] 0.9999778255759807 Centerline is valid? [True, True] Translation: X:34.70, Y:5.91, Z:-0.23 [[ 9.67315618e-01 -2.53466022e-01 -7.44785253e-03 3.46987046e+01] [ 2.53456904e-01 9.67344269e-01 -2.15925559e-03 5.91195785e+00] [ 7.75193539e-03 2.00972014e-04 9.99969933e-01 -2.33984139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350888479 meters Centerline goodness [0,1] 0.9999777188565317 Centerline is valid? [True, True] Translation: X:34.73, Y:5.92, Z:-0.23 [[ 9.67272428e-01 -2.53647703e-01 -6.84788732e-03 3.47250588e+01] [ 2.53639983e-01 9.67296650e-01 -1.98761050e-03 5.92037418e+00] [ 7.12809130e-03 1.85662812e-04 9.99974578e-01 -2.33490873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.380888479 meters Centerline goodness [0,1] 0.999844326824712 Centerline is valid? [True, True] Translation: X:34.75, Y:5.93, Z:-0.23 [[ 9.67302852e-01 -2.53527716e-01 -6.99207718e-03 3.47528085e+01] [ 2.53519652e-01 9.67328104e-01 -2.03116553e-03 5.92776608e+00] [ 7.27858952e-03 1.92123234e-04 9.99973492e-01 -2.33146251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.410888479 meters Centerline goodness [0,1] 0.9998888864196982 Centerline is valid? [True, True] Translation: X:34.78, Y:5.94, Z:-0.24 [[ 9.67693653e-01 -2.52002647e-01 -7.97869905e-03 3.47784660e+01] [ 2.51992098e-01 9.67726517e-01 -2.31742487e-03 5.94022710e+00] [ 8.30519584e-03 2.31988219e-04 9.99965484e-01 -2.36263736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.440888479 meters Centerline goodness [0,1] 0.9998672771915854 Centerline is valid? [True, True] Translation: X:34.80, Y:5.95, Z:-0.24 [[ 9.67928685e-01 -2.51081096e-01 -8.50556074e-03 3.48043446e+01] [ 2.51069066e-01 9.67966021e-01 -2.47119917e-03 5.95021322e+00] [ 8.85356518e-03 2.56461375e-04 9.99960774e-01 -2.37511624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470888479 meters Centerline goodness [0,1] 0.9998895613376331 Centerline is valid? [True, True] Translation: X:34.83, Y:5.96, Z:-0.24 [[ 9.68082821e-01 -2.50485624e-01 -8.52077203e-03 3.48315601e+01] [ 2.50473501e-01 9.68120283e-01 -2.47867978e-03 5.95975429e+00] [ 8.87000588e-03 2.65339711e-04 9.99960626e-01 -2.37550242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.500888479000004 meters Centerline goodness [0,1] 0.9999557404620696 Centerline is valid? [True, True] Translation: X:34.86, Y:5.97, Z:-0.24 [[ 9.68299783e-01 -2.49660050e-01 -8.08641436e-03 3.48593265e+01] [ 2.49649084e-01 9.68333512e-01 -2.35448074e-03 5.96871311e+00] [ 8.41816580e-03 2.61077251e-04 9.99964533e-01 -2.37059512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530888479 meters Centerline goodness [0,1] 0.9997571100512277 Centerline is valid? [True, True] Translation: X:34.89, Y:5.98, Z:-0.24 [[ 9.68828791e-01 -2.47604569e-01 -7.92152936e-03 3.48859703e+01] [ 2.47593977e-01 9.68861137e-01 -2.30638176e-03 5.97869164e+00] [ 8.24593261e-03 2.73166090e-04 9.99965964e-01 -2.36395661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.560888479 meters Centerline goodness [0,1] 0.9995385426738156 Centerline is valid? [True, True] Translation: X:34.91, Y:5.99, Z:-0.24 [[ 9.69137885e-01 -2.46380930e-01 -8.25813385e-03 3.49115182e+01] [ 2.46369369e-01 9.69173023e-01 -2.40513217e-03 5.99129282e+00] [ 8.59613925e-03 2.96353481e-04 9.99963009e-01 -2.37498502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.590888479 meters Centerline goodness [0,1] 0.999647724520575 Centerline is valid? [True, True] Translation: X:34.94, Y:6.00, Z:-0.24 [[ 9.69458278e-01 -2.45107818e-01 -8.53261865e-03 3.49389665e+01] [ 2.45095399e-01 9.69495773e-01 -2.48813628e-03 6.00073525e+00] [ 8.88219938e-03 3.20838742e-04 9.99960501e-01 -2.36979556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.620888479 meters Centerline goodness [0,1] 0.9994090222601615 Centerline is valid? [True, True] Translation: X:34.97, Y:6.01, Z:-0.24 [[ 9.70173539e-01 -2.42242430e-01 -9.05036397e-03 3.49661471e+01] [ 2.42228342e-01 9.70215682e-01 -2.63820194e-03 6.01292295e+00] [ 9.41988951e-03 3.67259057e-04 9.99955564e-01 -2.36294028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650888479 meters Centerline goodness [0,1] 0.9994073358649603 Centerline is valid? [True, True] Translation: X:34.99, Y:6.02, Z:-0.24 [[ 9.70378738e-01 -2.41381981e-01 -9.99222442e-03 3.49921259e+01] [ 2.41364750e-01 9.70430094e-01 -2.91394667e-03 6.02470270e+00] [ 1.04001295e-02 4.15861144e-04 9.99945831e-01 -2.37818586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.680888479000004 meters Centerline goodness [0,1] 0.9992559849446365 Centerline is valid? [True, True] Translation: X:35.02, Y:6.03, Z:-0.24 [[ 9.70352665e-01 -2.41437792e-01 -1.11129393e-02 3.50197978e+01] [ 2.41416442e-01 9.70416187e-01 -3.24431639e-03 6.03308497e+00] [ 1.15674767e-02 4.65284802e-04 9.99932986e-01 -2.38792684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710888479 meters Centerline goodness [0,1] 0.9993654128099083 Centerline is valid? [True, True] Translation: X:35.05, Y:6.04, Z:-0.24 [[ 9.70404094e-01 -2.41194797e-01 -1.18728760e-02 3.50485116e+01] [ 2.41170370e-01 9.70476593e-01 -3.46925370e-03 6.03924177e+00] [ 1.23591142e-02 5.03192087e-04 9.99923497e-01 -2.38483431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.740888479 meters Centerline goodness [0,1] 0.9990352992764745 Centerline is valid? [True, True] Translation: X:35.07, Y:6.05, Z:-0.24 [[ 9.70460833e-01 -2.40969010e-01 -1.18198122e-02 3.50748609e+01] [ 2.40944746e-01 9.70532678e-01 -3.45685443e-03 6.05132611e+00] [ 1.23045088e-02 5.06820175e-04 9.99924168e-01 -2.39895769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.770888479 meters Centerline goodness [0,1] 0.9991925276068264 Centerline is valid? [True, True] Translation: X:35.10, Y:6.06, Z:-0.24 [[ 9.70444070e-01 -2.41072377e-01 -1.10641757e-02 3.51012996e+01] [ 2.41051082e-01 9.70507023e-01 -3.23945737e-03 6.06052486e+00] [ 1.15188039e-02 4.76680682e-04 9.99933543e-01 -2.40091100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.800888479 meters Centerline goodness [0,1] 0.9991278372544317 Centerline is valid? [True, True] Translation: X:35.13, Y:6.07, Z:-0.24 [[ 9.70469147e-01 -2.40972258e-01 -1.10456462e-02 3.51289762e+01] [ 2.40950996e-01 9.70531885e-01 -3.23675346e-03 6.06876758e+00] [ 1.15001196e-02 4.79709916e-04 9.99933756e-01 -2.39372733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830888479 meters Centerline goodness [0,1] 0.9991278372544317 Centerline is valid? [True, True] Translation: X:35.16, Y:6.08, Z:-0.24 [[ 9.70402139e-01 -2.41242001e-01 -1.10446919e-02 3.51554502e+01] [ 2.41220720e-01 9.70464871e-01 -3.24000900e-03 6.07660709e+00] [ 1.15001118e-02 4.79903129e-04 9.99933756e-01 -2.39523072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.860888479 meters Centerline goodness [0,1] 0.9993228484054172 Centerline is valid? [True, True] Translation: X:35.18, Y:6.09, Z:-0.24 [[ 9.70153718e-01 -2.42215232e-01 -1.15561969e-02 3.51809692e+01] [ 2.42192004e-01 9.70222419e-01 -3.38997488e-03 6.08720199e+00] [ 1.20331848e-02 4.89978259e-04 9.99927479e-01 -2.39848800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890888479 meters Centerline goodness [0,1] 0.999127570939388 Centerline is valid? [True, True] Translation: X:35.21, Y:6.09, Z:-0.24 [[ 9.69956547e-01 -2.42988270e-01 -1.18742189e-02 3.52090480e+01] [ 2.42963754e-01 9.70029099e-01 -3.48721618e-03 6.09483592e+00] [ 1.23656905e-02 4.97443364e-04 9.99923418e-01 -2.40192905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.920888479 meters Centerline goodness [0,1] 0.9991517497879374 Centerline is valid? [True, True] Translation: X:35.23, Y:6.10, Z:-0.24 [[ 9.69751717e-01 -2.43807632e-01 -1.18087388e-02 3.52349482e+01] [ 2.43783445e-01 9.69823491e-01 -3.46820042e-03 6.10453607e+00] [ 1.22979660e-02 4.84518301e-04 9.99924260e-01 -2.41078514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.950888479 meters Centerline goodness [0,1] 0.9993013405528143 Centerline is valid? [True, True] Translation: X:35.26, Y:6.11, Z:-0.24 [[ 9.69421996e-01 -2.45103087e-01 -1.20610932e-02 3.52632163e+01] [ 2.45077908e-01 9.69496903e-01 -3.54604266e-03 6.11240789e+00] [ 1.25623385e-02 4.81704256e-04 9.99920975e-01 -2.41147997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.980888479 meters Centerline goodness [0,1] 0.9989136574979359 Centerline is valid? [True, True] Translation: X:35.29, Y:6.12, Z:-0.24 [[ 9.68788882e-01 -2.47537766e-01 -1.31588933e-02 3.52902323e+01] [ 2.47508014e-01 9.68878121e-01 -3.86912110e-03 6.11975620e+00] [ 1.37071174e-02 4.91429971e-04 9.99905932e-01 -2.42398021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010888479 meters Centerline goodness [0,1] 0.9991930207197383 Centerline is valid? [True, True] Translation: X:35.32, Y:6.12, Z:-0.24 [[ 9.68373621e-01 -2.49173148e-01 -1.28558393e-02 3.53194734e+01] [ 2.49144836e-01 9.68458842e-01 -3.78442688e-03 6.12188640e+00] [ 1.33933288e-02 4.61773202e-04 9.99910199e-01 -2.38787487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.040888479 meters Centerline goodness [0,1] 0.9994321408290744 Centerline is valid? [True, True] Translation: X:35.35, Y:6.13, Z:-0.24 [[ 9.68056812e-01 -2.50439175e-01 -1.20924636e-02 3.53476034e+01] [ 2.50414182e-01 9.68132244e-01 -3.56303034e-03 6.12878547e+00] [ 1.25994263e-02 4.21091406e-04 9.99920535e-01 -2.36909846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070888479 meters Centerline goodness [0,1] 0.9993915688830943 Centerline is valid? [True, True] Translation: X:35.37, Y:6.14, Z:-0.24 [[ 9.67532184e-01 -2.52530750e-01 -1.04734729e-02 3.53743967e+01] [ 2.52512125e-01 9.67588809e-01 -3.08597336e-03 6.13776805e+00] [ 1.09133183e-02 3.41099652e-04 9.99940390e-01 -2.36667705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.100888479 meters Centerline goodness [0,1] 0.9994551952580195 Centerline is valid? [True, True] Translation: X:35.40, Y:6.15, Z:-0.24 [[ 9.67434897e-01 -2.52900630e-01 -1.05352425e-02 3.54005806e+01] [ 2.52881794e-01 9.67492199e-01 -3.10524698e-03 6.14780250e+00] [ 1.09780839e-02 3.39953267e-04 9.99939681e-01 -2.38414054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130888479 meters Centerline goodness [0,1] 0.9991271330685637 Centerline is valid? [True, True] Translation: X:35.43, Y:6.16, Z:-0.24 [[ 9.67411054e-01 -2.52960367e-01 -1.12652373e-02 3.54276228e+01] [ 2.52938789e-01 9.67476573e-01 -3.32417485e-03 6.15735891e+00] [ 1.17397377e-02 3.66428002e-04 9.99931020e-01 -2.40691205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.160888479 meters Centerline goodness [0,1] 0.9990438939591482 Centerline is valid? [True, True] Translation: X:35.46, Y:6.17, Z:-0.24 [[ 9.67416708e-01 -2.52926976e-01 -1.15264208e-02 3.54555080e+01] [ 2.52904348e-01 9.67485298e-01 -3.40420257e-03 6.16604211e+00] [ 1.20126573e-02 3.78200503e-04 9.99927774e-01 -2.42300774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190888479 meters Centerline goodness [0,1] 0.9996518560424735 Centerline is valid? [True, True] Translation: X:35.48, Y:6.17, Z:-0.24 [[ 9.67568462e-01 -2.52322052e-01 -1.20354946e-02 3.54825875e+01] [ 2.52297323e-01 9.67643229e-01 -3.55550883e-03 6.17248321e+00] [ 1.25431982e-02 4.03675136e-04 9.99921250e-01 -2.40782081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.220888479 meters Centerline goodness [0,1] 0.9993895925530292 Centerline is valid? [True, True] Translation: X:35.51, Y:6.18, Z:-0.24 [[ 9.67538145e-01 -2.52428683e-01 -1.22350866e-02 3.55102342e+01] [ 2.52403088e-01 9.67615414e-01 -3.61819136e-03 6.18004711e+00] [ 1.27521936e-02 4.12564535e-04 9.99918602e-01 -2.40234025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250888479000004 meters Centerline goodness [0,1] 0.9994337362517696 Centerline is valid? [True, True] Translation: X:35.54, Y:6.19, Z:-0.24 [[ 9.67502478e-01 -2.52571179e-01 -1.21142219e-02 3.55361746e+01] [ 2.52546087e-01 9.67578231e-01 -3.58331891e-03 6.18805390e+00] [ 1.26265005e-02 4.07470595e-04 9.99920200e-01 -2.39951776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.280888479 meters Centerline goodness [0,1] 0.9993907215597528 Centerline is valid? [True, True] Translation: X:35.56, Y:6.20, Z:-0.24 [[ 9.67328139e-01 -2.53304010e-01 -1.06466452e-02 3.55636374e+01] [ 2.53284636e-01 9.67386662e-01 -3.15262663e-03 6.19655670e+00] [ 1.10979956e-02 3.52992783e-04 9.99938353e-01 -2.38382958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310888479 meters Centerline goodness [0,1] 0.9995190941482501 Centerline is valid? [True, True] Translation: X:35.59, Y:6.20, Z:-0.24 [[ 9.67130109e-01 -2.54117056e-01 -9.15833142e-03 3.55925442e+01] [ 2.54102734e-01 9.67173425e-01 -2.71429872e-03 6.20240381e+00] [ 9.54744436e-03 2.97922959e-04 9.99954378e-01 -2.35838436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.340888479 meters Centerline goodness [0,1] 0.9994755817764668 Centerline is valid? [True, True] Translation: X:35.62, Y:6.21, Z:-0.23 [[ 9.66930283e-01 -2.54927214e-01 -7.61205845e-03 3.56202243e+01] [ 2.54917326e-01 9.66960215e-01 -2.25837290e-03 6.20966999e+00] [ 7.93627838e-03 2.43243559e-04 9.99968478e-01 -2.34453371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.370888479 meters Centerline goodness [0,1] 0.999343573585401 Centerline is valid? [True, True] Translation: X:35.65, Y:6.22, Z:-0.23 [[ 9.66746771e-01 -2.55647781e-01 -6.70027480e-03 3.56485362e+01] [ 2.55640124e-01 9.66769966e-01 -1.98983998e-03 6.21679790e+00] [ 6.98632262e-03 2.10812298e-04 9.99975573e-01 -2.33504941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.400888479 meters Centerline goodness [0,1] 0.9992814527718503 Centerline is valid? [True, True] Translation: X:35.67, Y:6.23, Z:-0.24 [[ 9.66630727e-01 -2.56075752e-01 -7.08849231e-03 3.56736377e+01] [ 2.56067192e-01 9.66656692e-01 -2.10528345e-03 6.22642573e+00] [ 7.39125058e-03 2.19901346e-04 9.99972660e-01 -2.35455222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430888479000004 meters Centerline goodness [0,1] 0.9993890198132146 Centerline is valid? [True, True] Translation: X:35.70, Y:6.23, Z:-0.24 [[ 9.66540810e-01 -2.56417025e-01 -7.01230712e-03 3.57001418e+01] [ 2.56408635e-01 9.66566222e-01 -2.08564234e-03 6.23465122e+00] [ 7.31265341e-03 2.17842335e-04 9.99973238e-01 -2.36113895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.460888479 meters Centerline goodness [0,1] 0.9993023306516667 Centerline is valid? [True, True] Translation: X:35.73, Y:6.24, Z:-0.24 [[ 9.66463959e-01 -2.56698373e-01 -7.30485419e-03 3.57257838e+01] [ 2.56689277e-01 9.66491539e-01 -2.17264762e-03 6.24307848e+00] [ 7.61779488e-03 2.24707883e-04 9.99970959e-01 -2.37119248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490888479 meters Centerline goodness [0,1] 0.9996285857857595 Centerline is valid? [True, True] Translation: X:35.75, Y:6.25, Z:-0.24 [[ 9.66131580e-01 -2.57871791e-01 -9.58692871e-03 3.57527024e+01] [ 2.57856146e-01 9.66179102e-01 -2.85489178e-03 6.25043719e+00] [ 9.99888623e-03 2.86152621e-04 9.99949969e-01 -2.38473192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.520888479 meters Centerline goodness [0,1] 0.9993463767484422 Centerline is valid? [True, True] Translation: X:35.78, Y:6.26, Z:-0.24 [[ 9.65946515e-01 -2.58525401e-01 -1.05804853e-02 3.57789463e+01] [ 2.58506368e-01 9.66004411e-01 -3.15223262e-03 6.25858699e+00] [ 1.10357276e-02 3.09765301e-04 9.99939057e-01 -2.40037092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.550888479 meters Centerline goodness [0,1] 0.9994114056505058 Centerline is valid? [True, True] Translation: X:35.81, Y:6.27, Z:-0.24 [[ 9.65675618e-01 -2.59503535e-01 -1.13365259e-02 3.58059565e+01] [ 2.59481708e-01 9.65742104e-01 -3.38117347e-03 6.26610790e+00] [ 1.18255868e-02 3.23495681e-04 9.99930023e-01 -2.40455867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.580888479 meters Centerline goodness [0,1] 0.9993676957962673 Centerline is valid? [True, True] Translation: X:35.83, Y:6.27, Z:-0.24 [[ 9.65387939e-01 -2.60559880e-01 -1.16049790e-02 3.58336948e+01] [ 2.60537050e-01 9.65457636e-01 -3.46401234e-03 6.27268352e+00] [ 1.21066982e-02 3.20588740e-04 9.99926660e-01 -2.39556514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610888479 meters Centerline goodness [0,1] 0.9989736870837428 Centerline is valid? [True, True] Translation: X:35.86, Y:6.28, Z:-0.24 [[ 9.65323001e-01 -2.60817415e-01 -1.12151310e-02 3.58607223e+01] [ 2.60796070e-01 9.65388098e-01 -3.35115466e-03 6.28035529e+00] [ 1.17009935e-02 3.10084576e-04 9.99931493e-01 -2.39477804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.640888479 meters Centerline goodness [0,1] 0.9993230997663602 Centerline is valid? [True, True] Translation: X:35.89, Y:6.29, Z:-0.24 [[ 9.65272878e-01 -2.61034545e-01 -1.04517099e-02 3.58895241e+01] [ 2.61015989e-01 9.65329417e-01 -3.12583520e-03 6.28557889e+00] [ 1.09052940e-02 2.89220544e-04 9.99940494e-01 -2.37171825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670888479 meters Centerline goodness [0,1] 0.9992392296656958 Centerline is valid? [True, True] Translation: X:35.92, Y:6.30, Z:-0.24 [[ 9.65266929e-01 -2.61088006e-01 -9.63378824e-03 3.59157305e+01] [ 2.61072242e-01 9.65314965e-01 -2.88133395e-03 6.29598059e+00] [ 1.00519217e-02 2.66141673e-04 9.99949443e-01 -2.37890425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.700888479 meters Centerline goodness [0,1] 0.9993442336276995 Centerline is valid? [True, True] Translation: X:35.94, Y:6.30, Z:-0.24 [[ 9.65376607e-01 -2.60727934e-01 -8.30369137e-03 3.59423518e+01] [ 2.60716178e-01 9.65412290e-01 -2.48708744e-03 6.30374046e+00] [ 8.66493886e-03 2.36069360e-04 9.99962431e-01 -2.36442162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.730888479 meters Centerline goodness [0,1] 0.9990180675569521 Centerline is valid? [True, True] Translation: X:35.97, Y:6.31, Z:-0.24 [[ 9.65832198e-01 -2.59094992e-01 -6.16047197e-03 3.59696491e+01] [ 2.59088476e-01 9.65851826e-01 -1.84699241e-03 6.31363536e+00] [ 6.42864958e-03 1.87777444e-04 9.99979318e-01 -2.36266273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.760888479 meters Centerline goodness [0,1] 0.998995391906353 Centerline is valid? [True, True] Translation: X:36.00, Y:6.32, Z:-0.24 [[ 9.66109566e-01 -2.58034454e-01 -7.10826300e-03 3.59957453e+01] [ 2.58025750e-01 9.66135689e-01 -2.13128715e-03 6.32355401e+00] [ 7.41749209e-03 2.24942015e-04 9.99972465e-01 -2.37834943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790888479 meters Centerline goodness [0,1] 0.9991054870731974 Centerline is valid? [True, True] Translation: X:36.02, Y:6.33, Z:-0.24 [[ 9.66462733e-01 -2.56673671e-01 -8.27115800e-03 3.60237505e+01] [ 2.56661813e-01 9.66498086e-01 -2.48270241e-03 6.33008938e+00] [ 8.63130272e-03 2.76548955e-04 9.99962711e-01 -2.37726830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.820888479 meters Centerline goodness [0,1] 0.9993002711449314 Centerline is valid? [True, True] Translation: X:36.05, Y:6.34, Z:-0.24 [[ 9.67243899e-01 -2.53692621e-01 -8.90474645e-03 3.60506084e+01] [ 2.53678754e-01 9.67284833e-01 -2.67245130e-03 6.33880584e+00] [ 9.29140736e-03 3.25967228e-04 9.99956781e-01 -2.36938013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850888479 meters Centerline goodness [0,1] 0.9993854123224829 Centerline is valid? [True, True] Translation: X:36.08, Y:6.35, Z:-0.24 [[ 9.67513200e-01 -2.52683502e-01 -8.32198576e-03 3.60786664e+01] [ 2.52671326e-01 9.67548938e-01 -2.50070587e-03 6.34671926e+00] [ 8.68381560e-03 3.16738763e-04 9.99962245e-01 -2.35727784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.880888479 meters Centerline goodness [0,1] 0.9994285588694257 Centerline is valid? [True, True] Translation: X:36.11, Y:6.35, Z:-0.24 [[ 9.67783060e-01 -2.51625822e-01 -8.96635415e-03 3.61059208e+01] [ 2.51611643e-01 9.67824531e-01 -2.69419556e-03 6.35433470e+00] [ 9.35578667e-03 3.51357725e-04 9.99956172e-01 -2.35238405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.910888479 meters Centerline goodness [0,1] 0.9991457110312801 Centerline is valid? [True, True] Translation: X:36.13, Y:6.37, Z:-0.24 [[ 9.68202085e-01 -2.49979690e-01 -9.74050836e-03 3.61322938e+01] [ 2.49962871e-01 9.68250998e-01 -2.92711385e-03 6.36519861e+00] [ 1.01629759e-02 3.99272294e-04 9.99948276e-01 -2.37844663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.940888479 meters Centerline goodness [0,1] 0.9993198025233132 Centerline is valid? [True, True] Translation: X:36.16, Y:6.37, Z:-0.24 [[ 9.68150294e-01 -2.50204430e-01 -9.09679500e-03 3.61584904e+01] [ 2.50189733e-01 9.68192958e-01 -2.73757111e-03 6.37496286e+00] [ 9.49240527e-03 3.74455565e-04 9.99954876e-01 -2.38519846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970888479 meters Centerline goodness [0,1] 0.999341093784318 Centerline is valid? [True, True] Translation: X:36.19, Y:6.38, Z:-0.24 [[ 9.68116274e-01 -2.50395757e-01 -7.26938765e-03 3.61866743e+01] [ 2.50386362e-01 9.68143520e-01 -2.18965926e-03 6.38267556e+00] [ 7.58609193e-03 2.99689237e-04 9.99971180e-01 -2.37902896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.000888479000004 meters Centerline goodness [0,1] 0.9991047057539033 Centerline is valid? [True, True] Translation: X:36.21, Y:6.39, Z:-0.24 [[ 9.67958487e-01 -2.51029596e-01 -6.36474858e-03 3.62148734e+01] [ 2.51022395e-01 9.67979377e-01 -1.91899503e-03 6.39015076e+00] [ 6.64266991e-03 2.59813088e-04 9.99977903e-01 -2.37895841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030888479 meters Centerline goodness [0,1] 0.999518209491273 Centerline is valid? [True, True] Translation: X:36.24, Y:6.40, Z:-0.24 [[ 9.67760223e-01 -2.51801922e-01 -5.99525278e-03 3.62430118e+01] [ 2.51795537e-01 9.67778763e-01 -1.80924825e-03 6.39576875e+00] [ 6.25765051e-03 2.41340593e-04 9.99980392e-01 -2.36961267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.060888479 meters Centerline goodness [0,1] 0.9998021238704571 Centerline is valid? [True, True] Translation: X:36.27, Y:6.40, Z:-0.23 [[ 9.67360523e-01 -2.53342489e-01 -5.58589686e-03 3.62728535e+01] [ 2.53336972e-01 9.67376626e-01 -1.68588940e-03 6.39854057e+00] [ 5.83077347e-03 2.15748659e-04 9.99982978e-01 -2.33492585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.090888479 meters Centerline goodness [0,1] 0.9997143171080101 Centerline is valid? [True, True] Translation: X:36.30, Y:6.41, Z:-0.23 [[ 9.67187260e-01 -2.54010197e-01 -5.25588089e-03 3.63003490e+01] [ 2.54005311e-01 9.67201519e-01 -1.58836622e-03 6.40625824e+00] [ 5.48695720e-03 2.01225918e-04 9.99984926e-01 -2.33331464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.120888479 meters Centerline goodness [0,1] 0.9995599366308748 Centerline is valid? [True, True] Translation: X:36.33, Y:6.41, Z:-0.23 [[ 9.66919505e-01 -2.55039564e-01 -4.63599719e-03 3.63279453e+01] [ 2.55035767e-01 9.66930603e-01 -1.40243827e-03 6.41445084e+00] [ 4.84036481e-03 1.73699813e-04 9.99988270e-01 -2.34599266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150888479 meters Centerline goodness [0,1] 0.9994728402925737 Centerline is valid? [True, True] Translation: X:36.35, Y:6.42, Z:-0.24 [[ 9.66843023e-01 -2.55307523e-01 -5.71297977e-03 3.63540418e+01] [ 2.55301766e-01 9.66859878e-01 -1.72755615e-03 6.42383553e+00] [ 5.96470900e-03 2.11741785e-04 9.99982189e-01 -2.36245310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.180888479000004 meters Centerline goodness [0,1] 0.9995395847492929 Centerline is valid? [True, True] Translation: X:36.38, Y:6.43, Z:-0.24 [[ 9.66802969e-01 -2.55450396e-01 -6.09212239e-03 3.63818617e+01] [ 2.55443838e-01 9.66822136e-01 -1.84458615e-03 6.43203663e+00] [ 6.36119905e-03 2.27156248e-04 9.99979742e-01 -2.37282517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210888479 meters Centerline goodness [0,1] 0.9996478873239436 Centerline is valid? [True, True] Translation: X:36.41, Y:6.44, Z:-0.24 [[ 9.66860391e-01 -2.55236248e-01 -5.95331870e-03 3.64099900e+01] [ 2.55229971e-01 9.66878693e-01 -1.80418012e-03 6.43854485e+00] [ 6.21662917e-03 2.24924934e-04 9.99980651e-01 -2.36988074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.240888479 meters Centerline goodness [0,1] 0.999582325785887 Centerline is valid? [True, True] Translation: X:36.44, Y:6.45, Z:-0.24 [[ 9.67205137e-01 -2.53893152e-01 -7.24505829e-03 3.64365707e+01] [ 2.53883821e-01 9.67232230e-01 -2.19513650e-03 6.44654232e+00] [ 7.56498401e-03 2.83744215e-04 9.99971345e-01 -2.37964858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.270888479 meters Centerline goodness [0,1] 0.9996250468691413 Centerline is valid? [True, True] Translation: X:36.46, Y:6.45, Z:-0.24 [[ 9.67352948e-01 -2.53318837e-01 -7.60536926e-03 3.64645605e+01] [ 2.53308514e-01 9.67382796e-01 -2.30713535e-03 6.45441469e+00] [ 7.94174422e-03 3.05309394e-04 9.99968417e-01 -2.39114432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.300888479 meters Centerline goodness [0,1] 0.9997352220824783 Centerline is valid? [True, True] Translation: X:36.49, Y:6.46, Z:-0.24 [[ 9.67484985e-01 -2.52789277e-01 -8.38959727e-03 3.64928107e+01] [ 2.52776677e-01 9.67521299e-01 -2.54719076e-03 6.46127560e+00] [ 8.76101656e-03 3.43674289e-04 9.99961562e-01 -2.39516643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330888479 meters Centerline goodness [0,1] 0.9996465416307686 Centerline is valid? [True, True] Translation: X:36.52, Y:6.48, Z:-0.24 [[ 9.67655297e-01 -2.52129522e-01 -8.59831315e-03 3.65175418e+01] [ 2.52116262e-01 9.67693431e-01 -2.61043307e-03 6.47591132e+00] [ 8.97869839e-03 3.58224814e-04 9.99959627e-01 -2.42775049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.360888479 meters Centerline goodness [0,1] 0.9994704207948101 Centerline is valid? [True, True] Translation: X:36.55, Y:6.48, Z:-0.24 [[ 9.67977589e-01 -2.50929876e-01 -7.32016487e-03 3.65458472e+01] [ 2.50920210e-01 9.68005215e-01 -2.22516470e-03 6.48325612e+00] [ 7.64431808e-03 3.17132260e-04 9.99970731e-01 -2.41557877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390888479 meters Centerline goodness [0,1] 0.9997578585894162 Centerline is valid? [True, True] Translation: X:36.57, Y:6.49, Z:-0.24 [[ 9.67960754e-01 -2.51005109e-01 -6.95797954e-03 3.65735289e+01] [ 2.50996361e-01 9.67985714e-01 -2.11745515e-03 6.48740820e+00] [ 7.26671686e-03 3.03185942e-04 9.99973551e-01 -2.39344749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.420888479 meters Centerline goodness [0,1] 0.9997343545923449 Centerline is valid? [True, True] Translation: X:36.60, Y:6.49, Z:-0.24 [[ 9.67907359e-01 -2.51234545e-01 -6.04554376e-03 3.66008290e+01] [ 2.51227947e-01 9.67926203e-01 -1.83946855e-03 6.49467893e+00] [ 6.31377826e-03 2.61625599e-04 9.99980034e-01 -2.37428972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.450888479 meters Centerline goodness [0,1] 0.9996248896734333 Centerline is valid? [True, True] Translation: X:36.63, Y:6.50, Z:-0.24 [[ 9.68017121e-01 -2.50828571e-01 -5.28030484e-03 3.66275788e+01] [ 2.50823528e-01 9.68031495e-01 -1.60716035e-03 6.50167282e+00] [ 5.51462312e-03 2.31334046e-04 9.99984768e-01 -2.35403091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.480888479 meters Centerline goodness [0,1] 0.9996231100075378 Centerline is valid? [True, True] Translation: X:36.66, Y:6.51, Z:-0.24 [[ 9.68080640e-01 -2.50596010e-01 -4.63829493e-03 3.66561490e+01] [ 2.50592106e-01 9.68091730e-01 -1.41392743e-03 6.50761269e+00] [ 4.84461954e-03 2.06475673e-04 9.99988243e-01 -2.35175231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510888479 meters Centerline goodness [0,1] 0.9996904435501702 Centerline is valid? [True, True] Translation: X:36.68, Y:6.52, Z:-0.24 [[ 9.68183940e-01 -2.50197199e-01 -4.60655799e-03 3.66840377e+01] [ 2.50193338e-01 9.68194876e-01 -1.40550260e-03 6.51606332e+00] [ 4.81169866e-03 2.08254924e-04 9.99988402e-01 -2.35675128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.540888479 meters Centerline goodness [0,1] 0.9994933251090452 Centerline is valid? [True, True] Translation: X:36.71, Y:6.53, Z:-0.24 [[ 9.68396507e-01 -2.49382545e-01 -4.06844387e-03 3.67097785e+01] [ 2.49379528e-01 9.68405035e-01 -1.24096860e-03 6.52710701e+00] [ 4.24937743e-03 1.87163047e-04 9.99990954e-01 -2.36759457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570888479 meters Centerline goodness [0,1] 0.9994023507537021 Centerline is valid? [True, True] Translation: X:36.74, Y:6.54, Z:-0.24 [[ 9.68974367e-01 -2.47144271e-01 -2.89576500e-03 3.67358809e+01] [ 2.47142732e-01 9.68978684e-01 -8.83520077e-04 6.53802503e+00] [ 3.02429148e-03 1.40441036e-04 9.99995417e-01 -2.37022572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.600888479 meters Centerline goodness [0,1] 0.9994686150780472 Centerline is valid? [True, True] Translation: X:36.76, Y:6.55, Z:-0.24 [[ 9.69172006e-01 -2.46368598e-01 -2.85252044e-03 3.67613566e+01] [ 2.46367099e-01 9.69176194e-01 -8.70678197e-04 6.54974450e+00] [ 2.97910267e-03 1.41069747e-04 9.99995553e-01 -2.37634972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630888479 meters Centerline goodness [0,1] 0.9994688032580067 Centerline is valid? [True, True] Translation: X:36.79, Y:6.55, Z:-0.24 [[ 9.69363836e-01 -2.45615131e-01 -2.63816747e-03 3.67907880e+01] [ 2.45613846e-01 9.69367417e-01 -8.05557859e-04 6.55072848e+00] [ 2.75521079e-03 1.32908197e-04 9.99996196e-01 -2.36413011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.660888479 meters Centerline goodness [0,1] 0.9995552887287928 Centerline is valid? [True, True] Translation: X:36.82, Y:6.56, Z:-0.24 [[ 9.69435497e-01 -2.45328486e-01 -2.95830601e-03 3.68188630e+01] [ 2.45326864e-01 9.69439999e-01 -9.04939843e-04 6.55789935e+00] [ 3.08990769e-03 1.51528871e-04 9.99995215e-01 -2.36106427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690888479 meters Centerline goodness [0,1] 0.9993346640053227 Centerline is valid? [True, True] Translation: X:36.84, Y:6.57, Z:-0.24 [[ 9.69397883e-01 -2.45471730e-01 -3.37247088e-03 3.68431693e+01] [ 2.45469624e-01 9.69403734e-01 -1.03118259e-03 6.56929283e+00] [ 3.52241204e-03 1.71787065e-04 9.99993782e-01 -2.37470854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.720888479 meters Centerline goodness [0,1] 0.9993587333878778 Centerline is valid? [True, True] Translation: X:36.87, Y:6.57, Z:-0.24 [[ 9.69303610e-01 -2.45838384e-01 -3.74165967e-03 3.68707767e+01] [ 2.45835787e-01 9.69310813e-01 -1.14601340e-03 6.57370239e+00] [ 3.90856526e-03 1.91001076e-04 9.99992343e-01 -2.37616329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750888479000004 meters Centerline goodness [0,1] 0.9993587333878778 Centerline is valid? [True, True] Translation: X:36.90, Y:6.58, Z:-0.24 [[ 9.69235662e-01 -2.46106142e-01 -3.74134410e-03 3.68971655e+01] [ 2.46103543e-01 9.69242864e-01 -1.14704392e-03 6.58186053e+00] [ 3.90856562e-03 1.90997832e-04 9.99992343e-01 -2.37766630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.780888479 meters Centerline goodness [0,1] 0.9994679436020218 Centerline is valid? [True, True] Translation: X:36.92, Y:6.59, Z:-0.24 [[ 9.69164050e-01 -2.46379525e-01 -4.26301720e-03 3.69239156e+01] [ 2.46376149e-01 9.69173402e-01 -1.30803412e-03 6.58976639e+00] [ 4.45387571e-03 2.17393889e-04 9.99990058e-01 -2.38367845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810888479 meters Centerline goodness [0,1] 0.9993578672335149 Centerline is valid? [True, True] Translation: X:36.95, Y:6.60, Z:-0.24 [[ 9.68799951e-01 -2.47804814e-01 -4.40782556e-03 3.69501823e+01] [ 2.47801223e-01 9.68809954e-01 -1.35173984e-03 6.59851064e+00] [ 4.60531292e-03 2.17300928e-04 9.99989372e-01 -2.39173511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.840888479 meters Centerline goodness [0,1] 0.9994675304506023 Centerline is valid? [True, True] Translation: X:36.98, Y:6.60, Z:-0.24 [[ 9.68589020e-01 -2.48630798e-01 -4.24697192e-03 3.69790038e+01] [ 2.48627463e-01 9.68598309e-01 -1.30442580e-03 6.60420303e+00] [ 4.43793025e-03 2.07538659e-04 9.99990131e-01 -2.39184486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.870888479 meters Centerline goodness [0,1] 0.9993337478902017 Centerline is valid? [True, True] Translation: X:37.01, Y:6.61, Z:-0.24 [[ 9.68369378e-01 -2.49484351e-01 -4.27867894e-03 3.70051577e+01] [ 2.49480976e-01 9.68378809e-01 -1.31366593e-03 6.61327956e+00] [ 4.47112110e-03 2.04664859e-04 9.99989984e-01 -2.40187944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.900888479 meters Centerline goodness [0,1] 0.9995099240382259 Centerline is valid? [True, True] Translation: X:37.03, Y:6.62, Z:-0.24 [[ 9.67970258e-01 -2.50993539e-01 -5.98527012e-03 3.70328575e+01] [ 2.50986951e-01 9.67988722e-01 -1.83981352e-03 6.61955571e+00] [ 6.25545528e-03 2.78660065e-04 9.99980396e-01 -2.41811474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930888479000004 meters Centerline goodness [0,1] 0.9993768499766319 Centerline is valid? [True, True] Translation: X:37.06, Y:6.63, Z:-0.24 [[ 9.67712592e-01 -2.51966486e-01 -6.72531184e-03 3.70592882e+01] [ 2.51958194e-01 9.67735912e-01 -2.06688189e-03 6.62686609e+00] [ 7.02911075e-03 3.05650205e-04 9.99975249e-01 -2.43019766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.960888479 meters Centerline goodness [0,1] 0.9994207418959563 Centerline is valid? [True, True] Translation: X:37.09, Y:6.63, Z:-0.24 [[ 9.67435144e-01 -2.53028694e-01 -6.76179076e-03 3.70881159e+01] [ 2.53020321e-01 9.67458727e-01 -2.08047535e-03 6.63326023e+00] [ 7.06817345e-03 3.01854505e-04 9.99974975e-01 -2.43389180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990888479 meters Centerline goodness [0,1] 0.9995989483534602 Centerline is valid? [True, True] Translation: X:37.12, Y:6.64, Z:-0.24 [[ 9.66799997e-01 -2.55466864e-01 -5.86920722e-03 3.71175069e+01] [ 2.55460599e-01 9.66817780e-01 -1.80610133e-03 6.63814322e+00] [ 6.13585294e-03 2.46787572e-04 9.99981145e-01 -2.42509028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.020888479 meters Centerline goodness [0,1] 0.9997992371009837 Centerline is valid? [True, True] Translation: X:37.15, Y:6.64, Z:-0.24 [[ 9.66389485e-01 -2.57030858e-01 -5.14790825e-03 3.71453942e+01] [ 2.57026048e-01 9.66403174e-01 -1.58630240e-03 6.64464942e+00] [ 5.38268353e-03 2.09839446e-04 9.99985491e-01 -2.41421873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.050888479 meters Centerline goodness [0,1] 0.9997989545637314 Centerline is valid? [True, True] Translation: X:37.17, Y:6.65, Z:-0.24 [[ 9.65948175e-01 -2.58705590e-01 -3.94218131e-03 3.71736240e+01] [ 2.58702779e-01 9.65956207e-01 -1.21609610e-03 6.65147707e+00] [ 4.12258536e-03 1.54832556e-04 9.99991490e-01 -2.40131551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.080888479 meters Centerline goodness [0,1] 0.9999552041570542 Centerline is valid? [True, True] Translation: X:37.20, Y:6.65, Z:-0.24 [[ 9.65145275e-01 -2.61709444e-01 -1.66270559e-03 3.72044827e+01] [ 2.61708949e-01 9.65146706e-01 -5.12476373e-04 6.65448275e+00] [ 1.73887473e-03 5.94692162e-05 9.99998486e-01 -2.36716495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110888479 meters Centerline goodness [0,1] 0.9998212450283773 Centerline is valid? [True, True] Translation: X:37.23, Y:6.66, Z:-0.24 [[ 9.64769304e-01 -2.63097220e-01 2.05570720e-04 3.72309361e+01] [ 2.63097213e-01 9.64769326e-01 6.28736817e-05 6.66392787e+00] [-2.14870216e-04 -6.57351469e-06 9.99999977e-01 -2.36395555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.140888479 meters Centerline goodness [0,1] 0.9997987432634898 Centerline is valid? [True, True] Translation: X:37.26, Y:6.67, Z:-0.24 [[ 9.64535379e-01 -2.63952519e-01 7.54799863e-04 3.72588099e+01] [ 2.63952419e-01 9.64535674e-01 2.31506710e-04 6.67244954e+00] [-7.89138174e-04 -2.40651629e-05 9.99999688e-01 -2.36586394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170888479 meters Centerline goodness [0,1] 0.9998656786585776 Centerline is valid? [True, True] Translation: X:37.29, Y:6.68, Z:-0.24 [[ 9.64610346e-01 -2.63676211e-01 -1.31771138e-03 3.72863298e+01] [ 2.63675901e-01 9.64611245e-01 -4.07148807e-04 6.67943813e+00] [ 1.37843467e-03 4.52912172e-05 9.99999049e-01 -2.38342153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.200888479 meters Centerline goodness [0,1] 0.9997760258018277 Centerline is valid? [True, True] Translation: X:37.31, Y:6.69, Z:-0.24 [[ 9.64623520e-01 -2.63616956e-01 -2.75067132e-03 3.73147651e+01] [ 2.63615599e-01 9.64627437e-01 -8.51013200e-04 6.68620686e+00] [ 2.87771453e-03 9.57874794e-05 9.99995855e-01 -2.38195097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.230888479 meters Centerline goodness [0,1] 0.9997313933967543 Centerline is valid? [True, True] Translation: X:37.34, Y:6.70, Z:-0.24 [[ 9.64675188e-01 -2.63418886e-01 -3.50316450e-03 3.73407414e+01] [ 2.63416687e-01 9.64681541e-01 -1.08328060e-03 6.69706497e+00] [ 3.66479470e-03 1.22221935e-04 9.99993277e-01 -2.38914737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.260888479 meters Centerline goodness [0,1] 0.9998659846775815 Centerline is valid? [True, True] Translation: X:37.37, Y:6.70, Z:-0.24 [[ 9.64528357e-01 -2.63956548e-01 -3.46246564e-03 3.73680961e+01] [ 2.63954397e-01 9.64534564e-01 -1.07257980e-03 6.70278798e+00] [ 3.62278225e-03 1.20600602e-04 9.99993430e-01 -2.38129102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290888479 meters Centerline goodness [0,1] 0.9998429859584586 Centerline is valid? [True, True] Translation: X:37.39, Y:6.71, Z:-0.24 [[ 9.64319115e-01 -2.64726133e-01 -2.95266042e-03 3.73941275e+01] [ 2.64724574e-01 9.64323631e-01 -9.14076719e-04 6.71211743e+00] [ 3.08930021e-03 9.98198824e-05 9.99995223e-01 -2.38741503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.320888479 meters Centerline goodness [0,1] 0.9997537607449857 Centerline is valid? [True, True] Translation: X:37.42, Y:6.72, Z:-0.24 [[ 9.63889645e-01 -2.66287256e-01 -2.80183162e-03 3.74223300e+01] [ 2.66285853e-01 9.63893713e-01 -8.69105448e-04 6.71819127e+00] [ 2.93209959e-03 9.16336182e-05 9.99995697e-01 -2.39133985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350888479 meters Centerline goodness [0,1] 0.9998655793529886 Centerline is valid? [True, True] Translation: X:37.45, Y:6.73, Z:-0.24 [[ 9.63345348e-01 -2.68251396e-01 -2.63230856e-03 3.74482423e+01] [ 2.68250167e-01 9.63348941e-01 -8.15942830e-04 6.72870252e+00] [ 2.75470947e-03 7.99175182e-05 9.99996203e-01 -2.40433580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.380888479 meters Centerline goodness [0,1] 0.99995502181442 Centerline is valid? [True, True] Translation: X:37.48, Y:6.73, Z:-0.24 [[ 9.62176609e-01 -2.72399522e-01 -3.83053806e-03 3.74784258e+01] [ 2.72396952e-01 9.62184229e-01 -1.18730864e-03 6.72829617e+00] [ 4.00910561e-03 9.89737037e-05 9.99991959e-01 -2.37537752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.410888479 meters Centerline goodness [0,1] 0.9999098733720878 Centerline is valid? [True, True] Translation: X:37.51, Y:6.73, Z:-0.24 [[ 9.61498980e-01 -2.74777971e-01 -4.09616645e-03 3.75075489e+01] [ 2.74775046e-01 9.61507700e-01 -1.27170783e-03 6.73307925e+00] [ 4.28793288e-03 9.72214613e-05 9.99990802e-01 -2.36055514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.440888479 meters Centerline goodness [0,1] 0.9998873949958336 Centerline is valid? [True, True] Translation: X:37.54, Y:6.74, Z:-0.24 [[ 9.60920301e-01 -2.76806016e-01 -3.25636557e-03 3.75354396e+01] [ 2.76804174e-01 9.60925816e-01 -1.01215334e-03 6.74007112e+00] [ 3.40929587e-03 7.12231087e-05 9.99994186e-01 -2.35410726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470888479 meters Centerline goodness [0,1] 0.9999775930448811 Centerline is valid? [True, True] Translation: X:37.56, Y:6.75, Z:-0.24 [[ 9.60222691e-01 -2.79232960e-01 -1.15696863e-03 3.75616740e+01] [ 2.79232729e-01 9.60223387e-01 -3.60004434e-04 6.75036872e+00] [ 1.21147344e-03 2.26209196e-05 9.99999266e-01 -2.35353945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.500888479000004 meters Centerline goodness [0,1] 0.9998876959705314 Centerline is valid? [True, True] Translation: X:37.59, Y:6.76, Z:-0.23 [[ 9.60001539e-01 -2.79994640e-01 2.14644158e-04 3.75897014e+01] [ 2.79994632e-01 9.60001563e-01 6.53407315e-05 6.75881019e+00] [-2.24353782e-04 -2.62799087e-06 9.99999975e-01 -2.34601453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530888479 meters Centerline goodness [0,1] 0.9999101002382343 Centerline is valid? [True, True] Translation: X:37.61, Y:6.77, Z:-0.23 [[ 9.59991549e-01 -2.80025695e-01 1.35491129e-03 3.76148687e+01] [ 2.80025380e-01 9.59992505e-01 4.20597123e-04 6.76793819e+00] [-1.41848269e-03 -2.43601344e-05 9.99998994e-01 -2.33836107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.560888479 meters Centerline goodness [0,1] 0.999820394234655 Centerline is valid? [True, True] Translation: X:37.64, Y:6.78, Z:-0.23 [[ 9.60002030e-01 -2.79988866e-01 1.52855535e-03 3.76420742e+01] [ 2.79988466e-01 9.60003247e-01 4.74143924e-04 6.77570995e+00] [-1.60017312e-03 -2.72012615e-05 9.99998719e-01 -2.32795586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.590888479 meters Centerline goodness [0,1] 0.9999103822198324 Centerline is valid? [True, True] Translation: X:37.67, Y:6.79, Z:-0.23 [[ 9.60334632e-01 -2.78845650e-01 1.58059303e-03 3.76696987e+01] [ 2.78845219e-01 9.60335932e-01 4.90949857e-04 6.78512581e+00] [-1.65479951e-03 -3.07353419e-05 9.99998630e-01 -2.32561266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.620888479 meters Centerline goodness [0,1] 0.9999103038457227 Centerline is valid? [True, True] Translation: X:37.70, Y:6.80, Z:-0.23 [[ 9.60562394e-01 -2.78063143e-01 8.80653388e-04 3.76960555e+01] [ 2.78063009e-01 9.60562798e-01 2.73703664e-04 6.79504165e+00] [-9.22029783e-04 -1.80323153e-05 9.99999575e-01 -2.33265872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650888479 meters Centerline goodness [0,1] 0.999865723748993 Centerline is valid? [True, True] Translation: X:37.72, Y:6.80, Z:-0.23 [[ 9.60657794e-01 -2.77734648e-01 2.59059426e-04 3.77233393e+01] [ 2.77734637e-01 9.60657829e-01 7.94004221e-05 6.80383941e+00] [-2.70919714e-04 -4.32685873e-06 9.99999963e-01 -2.33629358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.680888479000004 meters Centerline goodness [0,1] 0.9999775608661505 Centerline is valid? [True, True] Translation: X:37.75, Y:6.81, Z:-0.23 [[ 9.60786441e-01 -2.77289393e-01 -8.04265271e-05 3.77506730e+01] [ 2.77289392e-01 9.60786445e-01 -2.65036668e-05 6.81416825e+00] [ 8.46219027e-05 3.16294098e-06 9.99999996e-01 -2.33987800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710888479 meters Centerline goodness [0,1] 0.999955238244444 Centerline is valid? [True, True] Translation: X:37.78, Y:6.83, Z:-0.23 [[ 9.61238615e-01 -2.75717611e-01 -3.52366292e-04 3.77767372e+01] [ 2.75717589e-01 9.61238679e-01 -1.10527600e-04 6.82605635e+00] [ 3.69182515e-04 9.08981302e-06 9.99999932e-01 -2.34871412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.740888479 meters Centerline goodness [0,1] 0.9998885843527865 Centerline is valid? [True, True] Translation: X:37.80, Y:6.84, Z:-0.24 [[ 9.61302576e-01 -2.75494202e-01 -5.48535132e-04 3.78041971e+01] [ 2.75494149e-01 9.61302733e-01 -1.72820270e-04 6.83631340e+00] [ 5.74919304e-04 1.50143515e-05 9.99999835e-01 -2.35040976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.770888479 meters Centerline goodness [0,1] 0.9998004036282185 Centerline is valid? [True, True] Translation: X:37.83, Y:6.85, Z:-0.24 [[ 9.61346499e-01 -2.75341331e-01 -2.44439505e-04 3.78296463e+01] [ 2.75341321e-01 9.61346530e-01 -7.69085927e-05 6.84936464e+00] [ 2.56167185e-04 6.63151005e-06 9.99999967e-01 -2.35534951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.800888479 meters Centerline goodness [0,1] 0.9998888271261812 Centerline is valid? [True, True] Translation: X:37.86, Y:6.86, Z:-0.23 [[ 9.61339232e-01 -2.75366582e-01 3.54043570e-04 3.78569333e+01] [ 2.75366561e-01 9.61339298e-01 1.09230419e-04 6.85563681e+00] [-3.70434405e-04 -7.51572710e-06 9.99999931e-01 -2.33671313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830888479 meters Centerline goodness [0,1] 0.9998440841054882 Centerline is valid? [True, True] Translation: X:37.88, Y:6.86, Z:-0.23 [[ 9.61296819e-01 -2.75514726e-01 -2.49212418e-04 3.78842056e+01] [ 2.75514715e-01 9.61296851e-01 -7.96638583e-05 6.86369076e+00] [ 2.61515679e-04 7.91892520e-06 9.99999966e-01 -2.34316330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.860888479 meters Centerline goodness [0,1] 0.9996446734326767 Centerline is valid? [True, True] Translation: X:37.91, Y:6.87, Z:-0.23 [[ 9.61148366e-01 -2.76032032e-01 -3.69546541e-04 3.79103346e+01] [ 2.76032007e-01 9.61148437e-01 -1.17463101e-04 6.87306444e+00] [ 3.87612659e-04 1.08927939e-05 9.99999925e-01 -2.34726270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890888479 meters Centerline goodness [0,1] 0.9996232269503547 Centerline is valid? [True, True] Translation: X:37.94, Y:6.88, Z:-0.23 [[ 9.60864278e-01 -2.77010599e-01 2.22851928e-03 3.79370693e+01] [ 2.77009725e-01 9.60866861e-01 6.97934614e-04 6.88346861e+00] [-2.33464562e-03 -5.32989251e-05 9.99997273e-01 -2.33573342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.920888479 meters Centerline goodness [0,1] 0.9999334457360901 Centerline is valid? [True, True] Translation: X:37.96, Y:6.89, Z:-0.23 [[ 9.60638414e-01 -2.77775402e-01 3.82918455e-03 3.79643320e+01] [ 2.77772819e-01 9.60646042e-01 1.20126693e-03 6.89284144e+00] [-4.01217338e-03 -9.03397741e-05 9.99991947e-01 -2.33186105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.950888479 meters Centerline goodness [0,1] 0.9998453995317814 Centerline is valid? [True, True] Translation: X:37.99, Y:6.90, Z:-0.23 [[ 9.60388304e-01 -2.78631951e-01 4.30588551e-03 3.79903278e+01] [ 2.78628687e-01 9.60397952e-01 1.35230008e-03 6.90251643e+00] [-4.51215763e-03 -9.89899557e-05 9.99989815e-01 -2.32776263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.980888479 meters Centerline goodness [0,1] 0.9999335533455891 Centerline is valid? [True, True] Translation: X:38.02, Y:6.91, Z:-0.23 [[ 9.60194895e-01 -2.79280646e-01 5.29946263e-03 3.80169435e+01] [ 2.79275709e-01 9.60209512e-01 1.66497723e-03 6.91031077e+00] [-5.55359034e-03 -1.18691456e-04 9.99984572e-01 -2.32605338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010888479 meters Centerline goodness [0,1] 0.9999555940407203 Centerline is valid? [True, True] Translation: X:38.04, Y:6.92, Z:-0.23 [[ 9.60114695e-01 -2.79567276e-01 4.68093526e-03 3.80435737e+01] [ 2.79563421e-01 9.60126100e-01 1.47189983e-03 6.91957235e+00] [-4.90578314e-03 -1.04574384e-04 9.99987961e-01 -2.31656006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.040888479 meters Centerline goodness [0,1] 0.9999113946482368 Centerline is valid? [True, True] Translation: X:38.07, Y:6.93, Z:-0.23 [[ 9.60204660e-01 -2.79268666e-01 4.00288209e-03 3.80705029e+01] [ 2.79265839e-01 9.60212999e-01 1.25972783e-03 6.92955504e+00] [-4.19542193e-03 -9.17283042e-05 9.99991195e-01 -2.32487863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070888479 meters Centerline goodness [0,1] 0.9998668678441466 Centerline is valid? [True, True] Translation: X:38.10, Y:6.94, Z:-0.23 [[ 9.60208850e-01 -2.79261202e-01 3.48493304e-03 3.80965699e+01] [ 2.79259057e-01 9.60215171e-01 1.09740073e-03 6.93879291e+00] [-3.65274702e-03 -8.05347764e-05 9.99993325e-01 -2.33828491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.100888479 meters Centerline goodness [0,1] 0.9999778432632442 Centerline is valid? [True, True] Translation: X:38.12, Y:6.95, Z:-0.23 [[ 9.60288836e-01 -2.78995120e-01 2.65981272e-03 3.81238543e+01] [ 2.78993868e-01 9.60292517e-01 8.38108385e-04 6.94873075e+00] [-2.78802640e-03 -6.27546868e-05 9.99996111e-01 -2.34489060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130888479 meters Centerline goodness [0,1] 0.9998674413980514 Centerline is valid? [True, True] Translation: X:38.15, Y:6.96, Z:-0.24 [[ 9.60637446e-01 -2.77804732e-01 4.78032755e-04 3.81490884e+01] [ 2.77804692e-01 9.60637565e-01 1.50344396e-04 6.95989185e+00] [-5.00982606e-04 -1.16267149e-05 9.99999874e-01 -2.36028084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.160888479 meters Centerline goodness [0,1] 0.9997565294378044 Centerline is valid? [True, True] Translation: X:38.18, Y:6.97, Z:-0.24 [[ 9.60638625e-01 -2.77801065e-01 1.73412776e-05 3.81758572e+01] [ 2.77801065e-01 9.60638625e-01 4.12876631e-06 6.97041097e+00] [-1.78056767e-05 8.51172979e-07 1.00000000e+00 -2.37841727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.190888479 meters Centerline goodness [0,1] 0.999756604859052 Centerline is valid? [True, True] Translation: X:38.20, Y:6.98, Z:-0.24 [[ 9.60991582e-01 -2.76577278e-01 -4.33503760e-04 3.82022275e+01] [ 2.76577244e-01 9.60991680e-01 -1.38444772e-04 6.98364636e+00] [ 4.54884184e-04 1.31469849e-05 9.99999896e-01 -2.41185343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.220888479 meters Centerline goodness [0,1] 0.9997127516185341 Centerline is valid? [True, True] Translation: X:38.23, Y:6.99, Z:-0.24 [[ 9.61171511e-01 -2.75951610e-01 -1.90699129e-04 3.82282750e+01] [ 2.75951603e-01 9.61171529e-01 -6.08048211e-05 6.99391243e+00] [ 2.00073761e-04 5.82013150e-06 9.99999980e-01 -2.41542210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250888479 meters Centerline goodness [0,1] 0.999735286331951 Centerline is valid? [True, True] Translation: X:38.26, Y:7.00, Z:-0.24 [[ 9.61465579e-01 -2.74925018e-01 -4.17220630e-04 3.82558596e+01] [ 2.74924986e-01 9.61465670e-01 -1.33450992e-04 7.00222649e+00] [ 4.37832329e-04 1.36041599e-05 9.99999904e-01 -2.40805902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.280888479 meters Centerline goodness [0,1] 0.9997789517893853 Centerline is valid? [True, True] Translation: X:38.28, Y:7.01, Z:-0.24 [[ 9.61869687e-01 -2.73508119e-01 -1.18235060e-04 3.82814374e+01] [ 2.73508116e-01 9.61869694e-01 -3.81715878e-05 7.01251803e+00] [ 1.24166960e-04 4.37784485e-06 9.99999992e-01 -2.40294634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310888479 meters Centerline goodness [0,1] 0.9999116119765772 Centerline is valid? [True, True] Translation: X:38.31, Y:7.02, Z:-0.24 [[ 9.62207034e-01 -2.72318899e-01 -2.04929559e-04 3.83088113e+01] [ 2.72318891e-01 9.62207055e-01 -6.63094676e-05 7.02084516e+00] [ 2.15241988e-04 7.99724601e-06 9.99999977e-01 -2.39008591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.340888479 meters Centerline goodness [0,1] 0.9997129102071464 Centerline is valid? [True, True] Translation: X:38.34, Y:7.03, Z:-0.24 [[ 9.63057800e-01 -2.69289386e-01 1.70282519e-03 3.83351231e+01] [ 2.69288852e-01 9.63059304e-01 5.39537677e-04 7.03427329e+00] [-1.78521341e-03 -6.10541277e-05 9.99998405e-01 -2.38465448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.370888479 meters Centerline goodness [0,1] 0.9995626599024732 Centerline is valid? [True, True] Translation: X:38.36, Y:7.05, Z:-0.24 [[ 9.63537362e-01 -2.67564478e-01 2.23660581e-03 3.83603904e+01] [ 2.67563553e-01 9.63539954e-01 7.08688993e-04 7.04565810e+00] [-2.34467906e-03 -8.44141256e-05 9.99997248e-01 -2.38842597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.400888479 meters Centerline goodness [0,1] 0.9996048125054887 Centerline is valid? [True, True] Translation: X:38.39, Y:7.05, Z:-0.24 [[ 9.63838480e-01 -2.66475663e-01 2.47077198e-03 3.83873747e+01] [ 2.66474529e-01 9.63841642e-01 7.83558293e-04 7.05456350e+00] [-2.59023214e-03 -9.68258335e-05 9.99996641e-01 -2.39037048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430888479000004 meters Centerline goodness [0,1] 0.9997585177379698 Centerline is valid? [True, True] Translation: X:38.41, Y:7.06, Z:-0.24 [[ 9.64305976e-01 -2.64788078e-01 1.12208668e-03 3.84131590e+01] [ 2.64787843e-01 9.64306628e-01 3.55693461e-04 7.06483710e+00] [-1.17621901e-03 -4.58824186e-05 9.99999307e-01 -2.41140242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.460888479 meters Centerline goodness [0,1] 0.9995151835691304 Centerline is valid? [True, True] Translation: X:38.44, Y:7.07, Z:-0.24 [[ 9.64398854e-01 -2.64451604e-01 4.47840345e-04 3.84410891e+01] [ 2.64451567e-01 9.64398957e-01 1.40925113e-04 7.07236623e+00] [-4.69164633e-04 -1.74759363e-05 9.99999890e-01 -2.42155204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490888479 meters Centerline goodness [0,1] 0.9998457062246517 Centerline is valid? [True, True] Translation: X:38.47, Y:7.08, Z:-0.24 [[ 9.64330327e-01 -2.64701733e-01 -1.17271317e-04 3.84694117e+01] [ 2.64701730e-01 9.64330334e-01 -3.88933415e-05 7.07726438e+00] [ 1.23383423e-04 6.46410816e-06 9.99999992e-01 -2.42369993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.520888479 meters Centerline goodness [0,1] 0.999469413923463 Centerline is valid? [True, True] Translation: X:38.50, Y:7.09, Z:-0.24 [[ 9.64427179e-01 -2.64348665e-01 2.01190467e-05 3.84955451e+01] [ 2.64348665e-01 9.64427179e-01 5.90327998e-06 7.08604553e+00] [-2.09638796e-05 -3.74840536e-07 1.00000000e+00 -2.43223749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.550888479 meters Centerline goodness [0,1] 0.9996465103948037 Centerline is valid? [True, True] Translation: X:38.52, Y:7.10, Z:-0.24 [[ 9.64471234e-01 -2.64187403e-01 5.04371675e-04 3.85214693e+01] [ 2.64187355e-01 9.64471366e-01 1.59986965e-04 7.09735985e+00] [-5.28718579e-04 -2.10542070e-05 9.99999860e-01 -2.43425642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.580888479 meters Centerline goodness [0,1] 0.9996681342507577 Centerline is valid? [True, True] Translation: X:38.55, Y:7.10, Z:-0.24 [[ 9.64567635e-01 -2.63834090e-01 9.22337101e-04 3.85489799e+01] [ 2.63833930e-01 9.64568075e-01 2.93059831e-04 7.10454954e+00] [-9.66976096e-04 -3.93322062e-05 9.99999532e-01 -2.43274116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610888479 meters Centerline goodness [0,1] 0.9996026490066225 Centerline is valid? [True, True] Translation: X:38.58, Y:7.11, Z:-0.24 [[ 9.64757793e-01 -2.63139016e-01 5.09658398e-04 3.85766856e+01] [ 2.63138968e-01 9.64757927e-01 1.60975936e-04 7.11416756e+00] [-5.34056029e-04 -2.11918035e-05 9.99999857e-01 -2.43668846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.640888479 meters Centerline goodness [0,1] 0.9996026490066225 Centerline is valid? [True, True] Translation: X:38.60, Y:7.12, Z:-0.24 [[ 9.64686275e-01 -2.63401084e-01 5.09670250e-04 3.86029663e+01] [ 2.63401036e-01 9.64686409e-01 1.60939327e-04 7.12263030e+00] [-5.34063557e-04 -2.10082882e-05 9.99999857e-01 -2.43819169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670888479 meters Centerline goodness [0,1] 0.999712859477846 Centerline is valid? [True, True] Translation: X:38.63, Y:7.13, Z:-0.24 [[ 9.65012435e-01 -2.62201939e-01 -1.06969173e-03 3.86301862e+01] [ 2.62201720e-01 9.65013026e-01 -3.42679927e-04 7.13143586e+00] [ 1.12211779e-03 5.02153804e-05 9.99999369e-01 -2.44265619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.700888479 meters Centerline goodness [0,1] 0.9997793273898844 Centerline is valid? [True, True] Translation: X:38.66, Y:7.14, Z:-0.24 [[ 9.65145531e-01 -2.61709331e-01 -1.52615883e-03 3.86575580e+01] [ 2.61708885e-01 9.65146735e-01 -4.88727680e-04 7.13968913e+00] [ 1.60087181e-03 7.22840109e-05 9.99998716e-01 -2.44555329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.730888479 meters Centerline goodness [0,1] 0.9995575319130108 Centerline is valid? [True, True] Translation: X:38.69, Y:7.15, Z:-0.24 [[ 9.65083728e-01 -2.61937817e-01 -1.40627192e-03 3.86855143e+01] [ 2.61937437e-01 9.65084750e-01 -4.51095259e-04 7.14560501e+00] [ 1.47533049e-03 6.69894331e-05 9.99998909e-01 -2.44006795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.760888479 meters Centerline goodness [0,1] 0.9996906077348067 Centerline is valid? [True, True] Translation: X:38.71, Y:7.16, Z:-0.24 [[ 9.64826207e-01 -2.62888474e-01 -2.01462961e-04 3.87119488e+01] [ 2.62888466e-01 9.64826228e-01 -6.49040989e-05 7.15530601e+00] [ 2.11439289e-04 9.65888679e-06 9.99999978e-01 -2.43249106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790888479 meters Centerline goodness [0,1] 0.9995128647978389 Centerline is valid? [True, True] Translation: X:38.74, Y:7.16, Z:-0.24 [[ 9.64598524e-01 -2.63722173e-01 5.50321112e-04 3.87396878e+01] [ 2.63722116e-01 9.64598681e-01 1.74777950e-04 7.16403794e+00] [-5.76931839e-04 -2.34587040e-05 9.99999833e-01 -2.43570135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.820888479 meters Centerline goodness [0,1] 0.9997564863189586 Centerline is valid? [True, True] Translation: X:38.77, Y:7.17, Z:-0.24 [[ 9.64358745e-01 -2.64596268e-01 1.01249325e-03 3.87679517e+01] [ 2.64596074e-01 9.64359276e-01 3.22915326e-04 7.17137425e+00] [-1.06184945e-03 -4.35044787e-05 9.99999435e-01 -2.43277335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850888479 meters Centerline goodness [0,1] 0.999645390070922 Centerline is valid? [True, True] Translation: X:38.80, Y:7.18, Z:-0.24 [[ 9.64075564e-01 -2.65627149e-01 7.23926564e-04 3.87963925e+01] [ 2.65627051e-01 9.64075836e-01 2.30694378e-04 7.17727813e+00] [-7.59198797e-04 -3.01123343e-05 9.99999711e-01 -2.42969433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.880888479 meters Centerline goodness [0,1] 0.9997995188452286 Centerline is valid? [True, True] Translation: X:38.82, Y:7.18, Z:-0.24 [[ 9.63978381e-01 -2.65980174e-01 -4.76922893e-04 3.88224336e+01] [ 2.65980130e-01 9.63978499e-01 -1.53582928e-04 7.18491159e+00] [ 5.00593429e-04 2.11986087e-05 9.99999874e-01 -2.43861138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.910888479 meters Centerline goodness [0,1] 0.9998442194280628 Centerline is valid? [True, True] Translation: X:38.85, Y:7.19, Z:-0.24 [[ 9.63832406e-01 -2.66504738e-01 -1.52234780e-03 3.88513558e+01] [ 2.66504295e-01 9.63833606e-01 -4.90194258e-04 7.18755534e+00] [ 1.59792906e-03 6.67528848e-05 9.99998721e-01 -2.43959902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.940888479 meters Centerline goodness [0,1] 0.9997776443643964 Centerline is valid? [True, True] Translation: X:38.88, Y:7.20, Z:-0.25 [[ 9.64035771e-01 -2.65755361e-01 -3.02003400e-03 3.88759904e+01] [ 2.65753624e-01 9.64040492e-01 -9.70214030e-04 7.20030733e+00] [ 3.16927464e-03 1.32736052e-04 9.99994969e-01 -2.47722002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970888479 meters Centerline goodness [0,1] 0.9997773968791043 Centerline is valid? [True, True] Translation: X:38.90, Y:7.21, Z:-0.25 [[ 9.64194792e-01 -2.65173131e-01 -3.40795009e-03 3.89037180e+01] [ 2.65170909e-01 9.64200802e-01 -1.09636734e-03 7.20945463e+00] [ 3.57667537e-03 1.53422454e-04 9.99993592e-01 -2.47914791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.000888479 meters Centerline goodness [0,1] 0.9995538602244083 Centerline is valid? [True, True] Translation: X:38.93, Y:7.22, Z:-0.25 [[ 9.64404692e-01 -2.64412913e-01 -3.06603714e-03 3.89290820e+01] [ 2.64411112e-01 9.64409556e-01 -9.85923448e-04 7.22052924e+00] [ 3.21760641e-03 1.40134909e-04 9.99994814e-01 -2.46849741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030888479 meters Centerline goodness [0,1] 0.9997766311510197 Centerline is valid? [True, True] Translation: X:38.96, Y:7.22, Z:-0.24 [[ 9.64488693e-01 -2.64104248e-01 -3.24136351e-03 3.89585730e+01] [ 2.64102228e-01 9.64494128e-01 -1.04399830e-03 7.22279163e+00] [ 3.40200046e-03 1.50873226e-04 9.99994202e-01 -2.44505170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.060888479 meters Centerline goodness [0,1] 0.9999330342195138 Centerline is valid? [True, True] Translation: X:38.99, Y:7.23, Z:-0.24 [[ 9.64722777e-01 -2.63253852e-01 -2.71534812e-03 3.89880325e+01] [ 2.63252428e-01 9.64726590e-01 -8.75612226e-04 7.22681529e+00] [ 2.85007683e-03 1.29901072e-04 9.99995930e-01 -2.42412710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.090888479 meters Centerline goodness [0,1] 0.9996434381476612 Centerline is valid? [True, True] Translation: X:39.01, Y:7.24, Z:-0.24 [[ 9.64794749e-01 -2.62998903e-01 -1.63382337e-03 3.90124118e+01] [ 2.62998387e-01 9.64796129e-01 -5.26660543e-04 7.24126473e+00] [ 1.71481761e-03 7.84264149e-05 9.99998527e-01 -2.43434740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.120888479 meters Centerline goodness [0,1] 0.999888564487731 Centerline is valid? [True, True] Translation: X:39.04, Y:7.25, Z:-0.24 [[ 9.64925874e-01 -2.62520388e-01 -1.05038144e-03 3.90399315e+01] [ 2.62520173e-01 9.64926445e-01 -3.39900413e-04 7.25033428e+00] [ 1.10277161e-03 5.22323872e-05 9.99999391e-01 -2.43164420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150888479 meters Centerline goodness [0,1] 0.999687597625742 Centerline is valid? [True, True] Translation: X:39.07, Y:7.26, Z:-0.24 [[ 9.65054477e-01 -2.62047384e-01 1.01260886e-03 3.90668656e+01] [ 2.62047186e-01 9.65055007e-01 3.25976195e-04 7.25915187e+00] [-1.06264446e-03 -4.92334855e-05 9.99999434e-01 -2.42540459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.180888479000004 meters Centerline goodness [0,1] 0.9999105705598283 Centerline is valid? [True, True] Translation: X:39.09, Y:7.27, Z:-0.24 [[ 9.64970927e-01 -2.62355940e-01 6.86281147e-04 3.90936961e+01] [ 2.62355849e-01 9.64971171e-01 2.19910265e-04 7.26620145e+00] [-7.19936286e-04 -3.21571391e-05 9.99999740e-01 -2.41559599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210888479 meters Centerline goodness [0,1] 0.9998887306391312 Centerline is valid? [True, True] Translation: X:39.12, Y:7.27, Z:-0.24 [[ 9.64845560e-01 -2.62817372e-01 2.71510584e-04 3.91198364e+01] [ 2.62817358e-01 9.64845599e-01 8.71586061e-05 7.27493270e+00] [-2.84872588e-04 -1.27368999e-05 9.99999959e-01 -2.41254498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.240888479 meters Centerline goodness [0,1] 0.9998438615274804 Centerline is valid? [True, True] Translation: X:39.15, Y:7.28, Z:-0.24 [[ 9.64590334e-01 -2.63752044e-01 -5.89135405e-04 3.91489621e+01] [ 2.63751976e-01 9.64590513e-01 -1.91671764e-04 7.27912443e+00] [ 6.18828242e-04 2.94991038e-05 9.99999808e-01 -2.40780397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.270888479 meters Centerline goodness [0,1] 0.9996883209403803 Centerline is valid? [True, True] Translation: X:39.18, Y:7.29, Z:-0.24 [[ 9.64536751e-01 -2.63947877e-01 -6.11701336e-04 3.91755364e+01] [ 2.63947803e-01 9.64536945e-01 -1.99333382e-04 7.28958100e+00] [ 6.42622161e-04 3.08071486e-05 9.99999793e-01 -2.42635946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.300888479 meters Centerline goodness [0,1] 0.9998437081361079 Centerline is valid? [True, True] Translation: X:39.20, Y:7.30, Z:-0.24 [[ 9.64598127e-01 -2.63722670e-01 -8.97976678e-04 3.92035828e+01] [ 2.63722513e-01 9.64598544e-01 -2.91973873e-04 7.29821263e+00] [ 9.43187126e-04 4.48207858e-05 9.99999554e-01 -2.44317369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330888479 meters Centerline goodness [0,1] 0.9998444824598431 Centerline is valid? [True, True] Translation: X:39.23, Y:7.31, Z:-0.24 [[ 9.64615747e-01 -2.63652530e-01 -1.95017569e-03 3.92297643e+01] [ 2.63651789e-01 9.64617714e-01 -6.32105915e-04 7.30691065e+00] [ 2.04783034e-03 9.55720106e-05 9.99997899e-01 -2.44794958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.360888479 meters Centerline goodness [0,1] 0.9998880956111099 Centerline is valid? [True, True] Translation: X:39.26, Y:7.31, Z:-0.24 [[ 9.64499165e-01 -2.64072420e-01 -2.66779475e-03 3.92566054e+01] [ 2.64071036e-01 9.64502846e-01 -8.64429229e-04 7.31338878e+00] [ 2.80136755e-03 1.29253944e-04 9.99996068e-01 -2.43536414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390888479 meters Centerline goodness [0,1] 0.9998433934404224 Centerline is valid? [True, True] Translation: X:39.28, Y:7.32, Z:-0.24 [[ 9.64292167e-01 -2.64826030e-01 -2.79102292e-03 3.92841313e+01] [ 2.64824515e-01 9.64296197e-01 -9.05926872e-04 7.32167297e+00] [ 2.93128581e-03 1.34446896e-04 9.99995695e-01 -2.43204326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.420888479 meters Centerline goodness [0,1] 0.9995976125008383 Centerline is valid? [True, True] Translation: X:39.31, Y:7.33, Z:-0.24 [[ 9.64104159e-01 -2.65516851e-01 -1.99300689e-03 3.93128362e+01] [ 2.65516078e-01 9.64106214e-01 -6.47849158e-04 7.32811911e+00] [ 2.09348520e-03 9.54186951e-05 9.99997804e-01 -2.42946171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.450888479 meters Centerline goodness [0,1] 0.9996880431391774 Centerline is valid? [True, True] Translation: X:39.34, Y:7.34, Z:-0.24 [[ 9.63645522e-01 -2.67180134e-01 -1.44371973e-03 3.93387483e+01] [ 2.67179730e-01 9.63646601e-01 -4.69217191e-04 7.33800065e+00] [ 1.51660113e-03 6.64263960e-05 9.99998848e-01 -2.43823623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.480888479 meters Centerline goodness [0,1] 0.9998658108380113 Centerline is valid? [True, True] Translation: X:39.37, Y:7.35, Z:-0.24 [[ 9.63497803e-01 -2.67714019e-01 -1.08984422e-03 3.93665692e+01] [ 2.67713788e-01 9.63498418e-01 -3.55317509e-04 7.34643143e+00] [ 1.14518667e-03 5.05813142e-05 9.99999343e-01 -2.43468579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510888479 meters Centerline goodness [0,1] 0.9997093803093982 Centerline is valid? [True, True] Translation: X:39.39, Y:7.36, Z:-0.24 [[ 9.63537111e-01 -2.67571635e-01 -1.28666270e-03 3.93930064e+01] [ 2.67571314e-01 9.63537969e-01 -4.18471039e-04 7.35660480e+00] [ 1.35171934e-03 5.89383465e-05 9.99999085e-01 -2.44075817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.540888479 meters Centerline goodness [0,1] 0.9997769002521028 Centerline is valid? [True, True] Translation: X:39.42, Y:7.37, Z:-0.24 [[ 9.63560242e-01 -2.67488423e-01 -1.26665058e-03 3.94192947e+01] [ 2.67488111e-01 9.63561072e-01 -4.12377997e-04 7.36637664e+00] [ 1.33080153e-03 5.85370704e-05 9.99999113e-01 -2.44637329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570888479 meters Centerline goodness [0,1] 0.9998211331216742 Centerline is valid? [True, True] Translation: X:39.45, Y:7.38, Z:-0.24 [[ 9.63741752e-01 -2.66833693e-01 -1.27103451e-03 3.94462806e+01] [ 2.66833379e-01 9.63742589e-01 -4.13672309e-04 7.37529527e+00] [ 1.33533180e-03 5.95188430e-05 9.99999107e-01 -2.43347278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.600888479 meters Centerline goodness [0,1] 0.9996873674102856 Centerline is valid? [True, True] Translation: X:39.47, Y:7.39, Z:-0.24 [[ 9.63799720e-01 -2.66624884e-01 -1.12744016e-03 3.94736720e+01] [ 2.66624636e-01 9.63800378e-01 -3.68119513e-04 7.38523060e+00] [ 1.18477708e-03 5.41901609e-05 9.99999297e-01 -2.43327809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630888479 meters Centerline goodness [0,1] 0.9997770494727221 Centerline is valid? [True, True] Translation: X:39.50, Y:7.40, Z:-0.24 [[ 9.63953964e-01 -2.66067549e-01 -9.02430955e-04 3.95002705e+01] [ 2.66067390e-01 9.63954386e-01 -2.94150341e-04 7.39523115e+00] [ 9.48166137e-04 4.34399385e-05 9.99999550e-01 -2.43741555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.660888479 meters Centerline goodness [0,1] 0.9998218699205095 Centerline is valid? [True, True] Translation: X:39.53, Y:7.41, Z:-0.24 [[ 9.64071804e-01 -2.65639684e-01 -1.05550913e-03 3.95260694e+01] [ 2.65639467e-01 9.64072381e-01 -3.44059629e-04 7.40642119e+00] [ 1.10898309e-03 5.13133044e-05 9.99999384e-01 -2.44921577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.690888479 meters Centerline goodness [0,1] 0.9994433682898047 Centerline is valid? [True, True] Translation: X:39.55, Y:7.42, Z:-0.25 [[ 9.64023683e-01 -2.65811278e-01 -1.64391228e-03 3.95508265e+01] [ 2.65810749e-01 9.64025082e-01 -5.35979386e-04 7.41652157e+00] [ 1.72724204e-03 7.97272660e-05 9.99998505e-01 -2.47051873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.720888479 meters Centerline goodness [0,1] 0.999398690481493 Centerline is valid? [True, True] Translation: X:39.58, Y:7.43, Z:-0.25 [[ 9.63881444e-01 -2.66321145e-01 -2.36856053e-03 3.95777210e+01] [ 2.66320051e-01 9.63884347e-01 -7.71980638e-04 7.42527526e+00] [ 2.48861319e-03 1.13302652e-04 9.99996897e-01 -2.47833820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750888479 meters Centerline goodness [0,1] 0.9997771140730174 Centerline is valid? [True, True] Translation: X:39.61, Y:7.43, Z:-0.25 [[ 9.63639890e-01 -2.67180377e-01 -3.57883304e-03 3.96075733e+01] [ 2.67177877e-01 9.63646521e-01 -1.16807377e-03 7.42701709e+00] [ 3.76081639e-03 1.69417465e-04 9.99992914e-01 -2.47127711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.780888479 meters Centerline goodness [0,1] 0.9998215480704885 Centerline is valid? [True, True] Translation: X:39.63, Y:7.44, Z:-0.25 [[ 9.63507854e-01 -2.67619864e-01 -5.67666907e-03 3.96346192e+01] [ 2.67613578e-01 9.63524539e-01 -1.85345428e-03 7.43611523e+00] [ 5.96563113e-03 2.66664033e-04 9.99982170e-01 -2.48970174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810888479 meters Centerline goodness [0,1] 0.999865927779764 Centerline is valid? [True, True] Translation: X:39.66, Y:7.44, Z:-0.25 [[ 9.63375730e-01 -2.68096901e-01 -5.59052403e-03 3.96620431e+01] [ 2.68090801e-01 9.63391916e-01 -1.82729645e-03 7.44369945e+00] [ 5.87575817e-03 2.61604989e-04 9.99982703e-01 -2.48804132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.840888479 meters Centerline goodness [0,1] 0.9998440424204617 Centerline is valid? [True, True] Translation: X:39.69, Y:7.45, Z:-0.25 [[ 9.62971954e-01 -2.69565164e-01 -4.43142004e-03 3.96886881e+01] [ 2.69561349e-01 9.62982130e-01 -1.44790207e-03 7.45301919e+00] [ 4.65768227e-03 1.99749524e-04 9.99989133e-01 -2.48413690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.870888479 meters Centerline goodness [0,1] 0.999821992790708 Centerline is valid? [True, True] Translation: X:39.72, Y:7.46, Z:-0.25 [[ 9.62560648e-01 -2.71041042e-01 -3.70830552e-03 3.97151626e+01] [ 2.71038380e-01 9.62567778e-01 -1.21213426e-03 7.46206010e+00] [ 3.89803354e-03 1.61659620e-04 9.99992390e-01 -2.47934547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.900888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:7.47, Z:-0.25 [[ 9.62072899e-01 -2.72776522e-01 -2.95055779e-03 3.97429255e+01] [ 2.72774840e-01 9.62077415e-01 -9.66083882e-04 7.46953262e+00] [ 3.10219002e-03 1.24605192e-04 9.99995180e-01 -2.46613958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930888479000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:7.47, Z:-0.24 [[ 9.61485636e-01 -2.74853142e-01 -1.05954916e-03 3.97717796e+01] [ 2.74852926e-01 9.61486219e-01 -3.46931623e-04 7.47415477e+00] [ 1.11409716e-03 4.23495855e-05 9.99999378e-01 -2.43959396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.960888479 meters Centerline goodness [0,1] 0.9998216674097191 Centerline is valid? [True, True] Translation: X:39.80, Y:7.48, Z:-0.24 [[ 9.61373558e-01 -2.75245647e-01 -8.45652225e-04 3.97978965e+01] [ 2.75245509e-01 9.61373930e-01 -2.77146833e-04 7.48349944e+00] [ 8.89271462e-04 3.36796603e-05 9.99999604e-01 -2.44091334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990888479 meters Centerline goodness [0,1] 0.9998887405429462 Centerline is valid? [True, True] Translation: X:39.83, Y:7.49, Z:-0.24 [[ 9.61170986e-01 -2.75953271e-01 -3.58705011e-04 3.98261546e+01] [ 2.75953246e-01 9.61171052e-01 -1.18858706e-04 7.48891913e+00] [ 3.77576321e-04 1.52577280e-05 9.99999929e-01 -2.43250744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.020888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:7.50, Z:-0.24 [[ 9.61194045e-01 -2.75873038e-01 -2.74445058e-04 3.98519189e+01] [ 2.75873023e-01 9.61194084e-01 -9.06524191e-05 7.49931047e+00] [ 2.88803525e-04 1.14225774e-05 9.99999958e-01 -2.42898603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.050888479 meters Centerline goodness [0,1] 0.9996450124245652 Centerline is valid? [True, True] Translation: X:39.88, Y:7.51, Z:-0.24 [[ 9.61550313e-01 -2.74628829e-01 -3.41440266e-05 3.98771654e+01] [ 2.74628828e-01 9.61550314e-01 -1.16732364e-05 7.51139377e+00] [ 3.60370067e-05 1.84747015e-06 9.99999999e-01 -2.43800904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.080888479 meters Centerline goodness [0,1] 0.9995778715840924 Centerline is valid? [True, True] Translation: X:39.90, Y:7.52, Z:-0.25 [[ 9.61749218e-01 -2.73931452e-01 3.20195489e-05 3.99043544e+01] [ 2.73931451e-01 9.61749219e-01 9.14592388e-06 7.52248518e+00] [-3.33001324e-05 -2.49236328e-08 9.99999999e-01 -2.45184196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110888479 meters Centerline goodness [0,1] 0.9996214904370673 Centerline is valid? [True, True] Translation: X:39.93, Y:7.53, Z:-0.25 [[ 9.62073448e-01 -2.72790353e-01 -3.21570544e-04 3.99308111e+01] [ 2.72790333e-01 9.62073502e-01 -1.06883505e-04 7.53342657e+00] [ 3.38531288e-04 1.51084468e-05 9.99999943e-01 -2.45675144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.140888479 meters Centerline goodness [0,1] 0.9997996170459099 Centerline is valid? [True, True] Translation: X:39.96, Y:7.54, Z:-0.25 [[ 9.62851372e-01 -2.70026077e-01 -1.77582282e-03 3.99580972e+01] [ 2.70025460e-01 9.62853006e-01 -5.83192930e-04 7.54479807e+00] [ 1.86733364e-03 8.20107386e-05 9.99998253e-01 -2.46408152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170888479 meters Centerline goodness [0,1] 0.9997324474370695 Centerline is valid? [True, True] Translation: X:39.98, Y:7.56, Z:-0.25 [[ 9.63304831e-01 -2.68398945e-01 -2.41034557e-03 3.99839891e+01] [ 2.68397803e-01 9.63307839e-01 -7.91602670e-04 7.55753119e+00] [ 2.53437010e-03 1.15623221e-04 9.99996782e-01 -2.47857975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.200888479 meters Centerline goodness [0,1] 0.9996456649319012 Centerline is valid? [True, True] Translation: X:40.01, Y:7.57, Z:-0.25 [[ 9.63629060e-01 -2.67221392e-01 -3.42956667e-03 4.00112170e+01] [ 2.67219065e-01 9.63635148e-01 -1.12822872e-03 7.56707236e+00] [ 3.60633783e-03 1.70748382e-04 9.99993483e-01 -2.49518278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.230888479 meters Centerline goodness [0,1] 0.9996667629351521 Centerline is valid? [True, True] Translation: X:40.04, Y:7.58, Z:-0.25 [[ 9.64261371e-01 -2.64908923e-01 -4.82409835e-03 4.00382781e+01] [ 2.64904297e-01 9.64273405e-01 -1.58542117e-03 7.58064525e+00] [ 5.07174196e-03 2.50836010e-04 9.99987107e-01 -2.51945523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.260888479 meters Centerline goodness [0,1] 0.9996470640137645 Centerline is valid? [True, True] Translation: X:40.07, Y:7.59, Z:-0.25 [[ 9.64243288e-01 -2.64960818e-01 -5.53592616e-03 4.00660571e+01] [ 2.64954712e-01 9.64259136e-01 -1.82204709e-03 7.58991032e+00] [ 5.82083847e-03 2.90126955e-04 9.99983017e-01 -2.52150942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290888479 meters Centerline goodness [0,1] 0.9995579133510168 Centerline is valid? [True, True] Translation: X:40.09, Y:7.60, Z:-0.25 [[ 9.64078587e-01 -2.65530928e-01 -6.76790525e-03 4.00912000e+01] [ 2.65521820e-01 9.64102279e-01 -2.22695731e-03 7.60233846e+00] [ 7.11627891e-03 3.49935339e-04 9.99974618e-01 -2.52274997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.320888479 meters Centerline goodness [0,1] 0.9994232603535858 Centerline is valid? [True, True] Translation: X:40.12, Y:7.61, Z:-0.25 [[ 9.63618352e-01 -2.67204097e-01 -6.45309814e-03 4.01194128e+01] [ 2.67195838e-01 9.63639905e-01 -2.12571780e-03 7.61071030e+00] [ 6.78646338e-03 3.24139716e-04 9.99976919e-01 -2.51320117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350888479 meters Centerline goodness [0,1] 0.9995580501171167 Centerline is valid? [True, True] Translation: X:40.15, Y:7.62, Z:-0.25 [[ 9.63213634e-01 -2.68673255e-01 -5.84605486e-03 4.01474907e+01] [ 2.68666506e-01 9.63231333e-01 -1.92544627e-03 7.61800682e+00] [ 6.14841914e-03 2.83976967e-04 9.99981058e-01 -2.50033841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.380888479 meters Centerline goodness [0,1] 0.9996470484426012 Centerline is valid? [True, True] Translation: X:40.17, Y:7.63, Z:-0.25 [[ 9.62264516e-01 -2.72084712e-01 -4.11231794e-03 4.01747175e+01] [ 2.72081403e-01 9.62273285e-01 -1.35451560e-03 7.62842195e+00] [ 4.32571668e-03 1.84517062e-04 9.99990627e-01 -2.49594129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.410888479 meters Centerline goodness [0,1] 0.9998448134435897 Centerline is valid? [True, True] Translation: X:40.20, Y:7.64, Z:-0.25 [[ 9.61547675e-01 -2.74620168e-01 -3.13570208e-03 4.02029743e+01] [ 2.74618252e-01 9.61552778e-01 -1.03473692e-03 7.63591261e+00] [ 3.29930267e-03 1.33827859e-04 9.99994548e-01 -2.49505816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.440888479 meters Centerline goodness [0,1] 0.9997791080382585 Centerline is valid? [True, True] Translation: X:40.23, Y:7.65, Z:-0.25 [[ 9.60875347e-01 -2.76968259e-01 -2.67419359e-03 4.02287715e+01] [ 2.76966874e-01 9.60879062e-01 -8.82395346e-04 7.64634735e+00] [ 2.81397213e-03 1.07208894e-04 9.99996035e-01 -2.50961069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470888479 meters Centerline goodness [0,1] 0.9999557081164877 Centerline is valid? [True, True] Translation: X:40.26, Y:7.65, Z:-0.25 [[ 9.60153312e-01 -2.79461868e-01 -2.58504082e-03 4.02579245e+01] [ 2.79460583e-01 9.60156787e-01 -8.52918113e-04 7.64984929e+00] [ 2.72040258e-03 9.65151354e-05 9.99996295e-01 -2.49514356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.500888479 meters Centerline goodness [0,1] 0.9996904161691212 Centerline is valid? [True, True] Translation: X:40.29, Y:7.66, Z:-0.25 [[ 9.58725800e-01 -2.84326659e-01 -1.78650333e-03 4.02861969e+01] [ 2.84326054e-01 9.58727463e-01 -5.89444082e-04 7.65641195e+00] [ 1.88036447e-03 5.71658074e-05 9.99998230e-01 -2.48114912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530888479 meters Centerline goodness [0,1] 0.9996904161691212 Centerline is valid? [True, True] Translation: X:40.31, Y:7.67, Z:-0.25 [[ 9.58649652e-01 -2.84583299e-01 -1.78594870e-03 4.03123799e+01] [ 2.84582691e-01 9.58651314e-01 -5.91124820e-04 7.66514483e+00] [ 1.88032632e-03 5.84315172e-05 9.99998230e-01 -2.48265597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.560888479 meters Centerline goodness [0,1] 0.9998452457276767 Centerline is valid? [True, True] Translation: X:40.34, Y:7.67, Z:-0.25 [[ 9.57738017e-01 -2.87637666e-01 -1.56968682e-03 4.03411586e+01] [ 2.87637202e-01 9.57739302e-01 -5.18703144e-04 7.67016793e+00] [ 1.65254932e-03 4.52813970e-05 9.99998634e-01 -2.47093310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.590888479 meters Centerline goodness [0,1] 0.9998672654469836 Centerline is valid? [True, True] Translation: X:40.37, Y:7.68, Z:-0.25 [[ 9.56904250e-01 -2.90401769e-01 -1.03433732e-03 4.03680714e+01] [ 2.90401568e-01 9.56904808e-01 -3.42122516e-04 7.67696172e+00] [ 1.08911534e-03 2.70053086e-05 9.99999407e-01 -2.46768711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.620888479 meters Centerline goodness [0,1] 0.9999556541019956 Centerline is valid? [True, True] Translation: X:40.40, Y:7.68, Z:-0.25 [[ 9.56058709e-01 -2.93173934e-01 -8.88709364e-04 4.03959658e+01] [ 2.93173786e-01 9.56059122e-01 -2.95135737e-04 7.68495544e+00] [ 9.36184799e-04 2.16208032e-05 9.99999562e-01 -2.47235107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650888479 meters Centerline goodness [0,1] 0.9999336870026525 Centerline is valid? [True, True] Translation: X:40.42, Y:7.69, Z:-0.25 [[ 9.54743676e-01 -2.97429689e-01 3.06467588e-04 4.04239963e+01] [ 2.97429672e-01 9.54743725e-01 1.00680634e-04 7.69330774e+00] [-3.22543416e-04 -4.97164405e-06 9.99999948e-01 -2.48511213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.680888479000004 meters Centerline goodness [0,1] 0.9999778058903167 Centerline is valid? [True, True] Translation: X:40.45, Y:7.70, Z:-0.25 [[ 9.54194270e-01 -2.99187398e-01 4.42307076e-04 4.04520895e+01] [ 2.99187363e-01 9.54194373e-01 1.44969746e-04 7.70125745e+00] [-4.65420044e-04 -5.99661354e-06 9.99999892e-01 -2.49542474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710888479 meters Centerline goodness [0,1] 0.999822380106572 Centerline is valid? [True, True] Translation: X:40.48, Y:7.71, Z:-0.25 [[ 9.52936821e-01 -3.03167077e-01 -1.06711753e-03 4.04798383e+01] [ 3.03166871e-01 9.52937418e-01 -3.53773225e-04 7.70552105e+00] [ 1.12414861e-03 1.36088515e-05 9.99999368e-01 -2.49697979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.740888479 meters Centerline goodness [0,1] 0.9999332398691502 Centerline is valid? [True, True] Translation: X:40.51, Y:7.71, Z:-0.25 [[ 9.52325814e-01 -3.05076912e-01 -1.90318860e-03 4.05064717e+01] [ 3.05076260e-01 9.52327715e-01 -6.30735280e-04 7.71241619e+00] [ 2.00488202e-03 2.00478285e-05 9.99997990e-01 -2.50366417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.770888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.53, Y:7.72, Z:-0.25 [[ 9.51573527e-01 -3.07410751e-01 -2.54012709e-03 4.05334249e+01] [ 3.07409599e-01 9.51576917e-01 -8.41887329e-04 7.72062216e+00] [ 2.67593152e-03 2.02582459e-05 9.99996419e-01 -2.51659484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.56, Y:7.73, Z:-0.25 [[ 9.50883263e-01 -3.09536118e-01 -2.90033903e-03 4.05605889e+01] [ 3.09534620e-01 9.50887686e-01 -9.63206419e-04 7.72911644e+00] [ 3.05604384e-03 1.81415258e-05 9.99995330e-01 -2.52451851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.59, Y:7.74, Z:-0.25 [[ 9.50455196e-01 -3.10847115e-01 -2.99869112e-03 4.05860728e+01] [ 3.10845521e-01 9.50459926e-01 -9.95311256e-04 7.73771687e+00] [ 3.15952537e-03 1.38690510e-05 9.99995009e-01 -2.53376896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.61, Y:7.74, Z:-0.25 [[ 9.49895232e-01 -3.12564345e-01 -1.60597031e-03 4.06147283e+01] [ 3.12563888e-01 9.49896589e-01 -5.34496769e-04 7.74468178e+00] [ 1.69257035e-03 5.74760745e-06 9.99998568e-01 -2.50671820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.64, Y:7.75, Z:-0.25 [[ 9.49702251e-01 -3.13154248e-01 -2.25341014e-04 4.06415243e+01] [ 3.13154239e-01 9.49702278e-01 -7.53161105e-05 7.75264387e+00] [ 2.37592434e-04 9.61385998e-07 9.99999972e-01 -2.48631538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.920888479 meters Centerline goodness [0,1] 0.9999777307649482 Centerline is valid? [True, True] Translation: X:40.67, Y:7.76, Z:-0.25 [[ 9.49414946e-01 -3.14018761e-01 1.86491991e-03 4.06683809e+01] [ 3.14018152e-01 9.49416778e-01 6.18367860e-04 7.76311405e+00] [-1.96476536e-03 -1.46898481e-06 9.99998070e-01 -2.46995542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.950888479 meters Centerline goodness [0,1] 0.9999777391923779 Centerline is valid? [True, True] Translation: X:40.69, Y:7.77, Z:-0.25 [[ 9.49439310e-01 -3.13943017e-01 2.18609122e-03 4.06945213e+01] [ 3.13942179e-01 9.49441827e-01 7.25554629e-04 7.77405131e+00] [-2.30334925e-03 -2.56384709e-06 9.99997347e-01 -2.46902198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.72, Y:7.78, Z:-0.25 [[ 9.49495167e-01 -3.13770616e-01 2.63233818e-03 4.07190709e+01] [ 3.13769395e-01 9.49498816e-01 8.75219468e-04 7.78473374e+00] [-2.77402013e-03 -5.06949716e-06 9.99996152e-01 -2.48260525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010888479 meters Centerline goodness [0,1] 0.9998674443266172 Centerline is valid? [True, True] Translation: X:40.75, Y:7.80, Z:-0.25 [[ 9.49527976e-01 -3.13674631e-01 2.20185715e-03 4.07455116e+01] [ 3.13673778e-01 9.49530529e-01 7.31772661e-04 7.79534041e+00] [-2.32026911e-03 -4.17376283e-06 9.99997308e-01 -2.50055209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.77, Y:7.81, Z:-0.25 [[ 9.49684182e-01 -3.13209091e-01 -1.42235069e-04 4.07722206e+01] [ 3.13209087e-01 9.49684193e-01 -4.87426782e-05 7.80515005e+00] [ 1.50345047e-04 1.74083427e-06 9.99999989e-01 -2.51493620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.80, Y:7.81, Z:-0.25 [[ 9.49675151e-01 -3.13234578e-01 -1.09833057e-03 4.07993273e+01] [ 3.13234362e-01 9.49675786e-01 -3.68005529e-04 7.81391103e+00] [ 1.15833000e-03 5.45083201e-06 9.99999329e-01 -2.50833795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.100888479 meters Centerline goodness [0,1] 0.9999778462083786 Centerline is valid? [True, True] Translation: X:40.83, Y:7.82, Z:-0.25 [[ 9.49662131e-01 -3.13274352e-01 -1.00841090e-03 4.08256776e+01] [ 3.13274170e-01 9.49662666e-01 -3.38355408e-04 7.82337170e+00] [ 1.06364826e-03 5.41422922e-06 9.99999434e-01 -2.50615379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:7.84, Z:-0.25 [[ 9.49683952e-01 -3.13209667e-01 3.08860319e-04 4.08503253e+01] [ 3.13209651e-01 9.49684002e-01 1.02096864e-04 7.83612781e+00] [-3.25297429e-04 -2.21720824e-07 9.99999947e-01 -2.51162937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.160888479 meters Centerline goodness [0,1] 0.9999779010408609 Centerline is valid? [True, True] Translation: X:40.87, Y:7.85, Z:-0.25 [[ 9.49742226e-01 -3.13031983e-01 8.26131383e-04 4.08749637e+01] [ 3.13031861e-01 9.49742585e-01 2.75462184e-04 7.84775877e+00] [-8.70840629e-04 -3.01262332e-06 9.99999621e-01 -2.51743892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.190888479 meters Centerline goodness [0,1] 0.9997808747480059 Centerline is valid? [True, True] Translation: X:40.90, Y:7.86, Z:-0.25 [[ 9.50006745e-01 -3.12228771e-01 6.15405611e-04 4.09008801e+01] [ 3.12228704e-01 9.50006944e-01 2.04309185e-04 7.85956095e+00] [-6.48430810e-04 -1.94780766e-06 9.99999790e-01 -2.51566872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.220888479 meters Centerline goodness [0,1] 0.9998678617834255 Centerline is valid? [True, True] Translation: X:40.93, Y:7.87, Z:-0.25 [[ 9.50021698e-01 -3.12183876e-01 1.81575017e-05 4.09277332e+01] [ 3.12183876e-01 9.50021698e-01 4.49354860e-06 7.86857360e+00] [-1.86528340e-05 1.39951058e-06 1.00000000e+00 -2.51868017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250888479 meters Centerline goodness [0,1] 0.9998019801980198 Centerline is valid? [True, True] Translation: X:40.95, Y:7.88, Z:-0.25 [[ 9.49858371e-01 -3.12679622e-01 -7.27170032e-04 4.09548365e+01] [ 3.12679526e-01 9.49858649e-01 -2.45344061e-04 7.87694696e+00] [ 7.67422833e-04 5.67092917e-06 9.99999706e-01 -2.51852348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.280888479 meters Centerline goodness [0,1] 0.999801622288838 Centerline is valid? [True, True] Translation: X:40.98, Y:7.89, Z:-0.25 [[ 9.49560891e-01 -3.13580540e-01 -1.16564303e-03 4.09808692e+01] [ 3.13580294e-01 9.49561607e-01 -3.92677927e-04 7.88627225e+00] [ 1.22998603e-03 7.34891774e-06 9.99999244e-01 -2.52630767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310888479 meters Centerline goodness [0,1] 0.9998238894025449 Centerline is valid? [True, True] Translation: X:41.00, Y:7.90, Z:-0.26 [[ 9.49386808e-01 -3.14108649e-01 -6.67095740e-04 4.10047811e+01] [ 3.14108569e-01 9.49387042e-01 -2.25040889e-04 7.89934501e+00] [ 7.04019342e-04 4.11036363e-06 9.99999752e-01 -2.56141902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.340888479 meters Centerline goodness [0,1] 0.9996931305072114 Centerline is valid? [True, True] Translation: X:41.03, Y:7.91, Z:-0.26 [[ 9.49362665e-01 -3.14182074e-01 -3.92428956e-04 4.10311148e+01] [ 3.14182046e-01 9.49362746e-01 -1.33430730e-04 7.90974750e+00] [ 4.14478975e-04 3.38002121e-06 9.99999914e-01 -2.56334506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.370888479 meters Centerline goodness [0,1] 0.9996053843118341 Centerline is valid? [True, True] Translation: X:41.06, Y:7.92, Z:-0.26 [[ 9.49327568e-01 -3.14288332e-01 -1.11408182e-04 4.10577961e+01] [ 3.14288330e-01 9.49327575e-01 -3.90600158e-05 7.91974186e+00] [ 1.18038966e-04 2.06645844e-06 9.99999993e-01 -2.56041089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.400888479 meters Centerline goodness [0,1] 0.9996300487465181 Centerline is valid? [True, True] Translation: X:41.08, Y:7.93, Z:-0.26 [[ 9.49570175e-01 -3.13554594e-01 6.42551615e-06 4.10831683e+01] [ 3.13554594e-01 9.49570175e-01 1.66907351e-06 7.93039498e+00] [-6.62482414e-06 4.29847683e-07 1.00000000e+00 -2.56462876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430888479000004 meters Centerline goodness [0,1] 0.9996704600377873 Centerline is valid? [True, True] Translation: X:41.11, Y:7.94, Z:-0.26 [[ 9.50519767e-01 -3.10663831e-01 3.95255322e-04 4.11089824e+01] [ 3.10663804e-01 9.50519849e-01 1.31692533e-04 7.94336863e+00] [-4.16610136e-04 -2.38483393e-06 9.99999913e-01 -2.55285850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.460888479 meters Centerline goodness [0,1] 0.9994103258495676 Centerline is valid? [True, True] Translation: X:41.14, Y:7.95, Z:-0.26 [[ 9.51214455e-01 -3.08530308e-01 3.31958644e-04 4.11353503e+01] [ 3.08530289e-01 9.51214513e-01 1.10446908e-04 7.95445120e+00] [-3.49840098e-04 -2.63939894e-06 9.99999939e-01 -2.55213833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490888479 meters Centerline goodness [0,1] 0.999475925319358 Centerline is valid? [True, True] Translation: X:41.16, Y:7.97, Z:-0.26 [[ 9.52001937e-01 -3.06091814e-01 -3.36318524e-04 4.11601983e+01] [ 3.06091793e-01 9.52001996e-01 -1.13855559e-04 7.96685437e+00] [ 3.55026161e-04 5.44637277e-06 9.99999937e-01 -2.56026726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.520888479 meters Centerline goodness [0,1] 0.9990455945512126 Centerline is valid? [True, True] Translation: X:41.19, Y:7.98, Z:-0.26 [[ 9.53695434e-01 -3.00767795e-01 -1.93709350e-03 4.11866266e+01] [ 3.00767088e-01 9.53697401e-01 -6.53174572e-04 7.98222725e+00] [ 2.04385491e-03 4.03156368e-05 9.99997911e-01 -2.59282528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.550888479 meters Centerline goodness [0,1] 0.9991805929919138 Centerline is valid? [True, True] Translation: X:41.21, Y:8.00, Z:-0.26 [[ 9.54357934e-01 -2.98656168e-01 -2.32984858e-03 4.12110769e+01] [ 2.98655138e-01 9.54360776e-01 -7.86232786e-04 7.99544787e+00] [ 2.45832937e-03 5.45262498e-05 9.99996977e-01 -2.61677606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.580888479 meters Centerline goodness [0,1] 0.9987515336763029 Centerline is valid? [True, True] Translation: X:41.24, Y:8.01, Z:-0.26 [[ 9.55054327e-01 -2.96423655e-01 -2.06124085e-03 4.12373150e+01] [ 2.96422844e-01 9.55056550e-01 -6.95758366e-04 8.00665773e+00] [ 2.17484081e-03 5.34881636e-05 9.99997634e-01 -2.62796401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610888479 meters Centerline goodness [0,1] 0.9988987021961174 Centerline is valid? [True, True] Translation: X:41.26, Y:8.02, Z:-0.26 [[ 9.56286177e-01 -2.92424937e-01 -2.09869128e-03 4.12637746e+01] [ 2.92424086e-01 9.56288477e-01 -7.08495608e-04 8.02005812e+00] [ 2.21413607e-03 6.38166780e-05 9.99997547e-01 -2.63702968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.640888479 meters Centerline goodness [0,1] 0.9987546165077729 Centerline is valid? [True, True] Translation: X:41.29, Y:8.03, Z:-0.26 [[ 9.56896435e-01 -2.90421590e-01 -2.12452281e-03 4.12894591e+01] [ 2.90420712e-01 9.56898790e-01 -7.17487430e-04 8.03216580e+00] [ 2.24132714e-03 6.95557370e-05 9.99997486e-01 -2.64489409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670888479 meters Centerline goodness [0,1] 0.9985509127087119 Centerline is valid? [True, True] Translation: X:41.32, Y:8.04, Z:-0.26 [[ 9.57411823e-01 -2.88716144e-01 -2.36420730e-03 4.13165470e+01] [ 2.88715048e-01 9.57414738e-01 -7.99962454e-04 8.04196973e+00] [ 2.49448899e-03 8.33112877e-05 9.99996885e-01 -2.64629751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.700888479 meters Centerline goodness [0,1] 0.9985355243038356 Centerline is valid? [True, True] Translation: X:41.34, Y:8.05, Z:-0.26 [[ 9.57833572e-01 -2.87314479e-01 -2.28885208e-03 4.13413836e+01] [ 2.87313449e-01 9.57836303e-01 -7.73809610e-04 8.05452309e+00] [ 2.41467232e-03 8.35628374e-05 9.99997081e-01 -2.64827635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.730888479 meters Centerline goodness [0,1] 0.9984529769450592 Centerline is valid? [True, True] Translation: X:41.37, Y:8.06, Z:-0.26 [[ 9.58481664e-01 -2.85146507e-01 -2.09023055e-03 4.13678856e+01] [ 2.85145642e-01 9.58483940e-01 -7.06743377e-04 8.06377320e+00] [ 2.20497782e-03 8.13804347e-05 9.99997566e-01 -2.63257585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.760888479 meters Centerline goodness [0,1] 0.9986249570299072 Centerline is valid? [True, True] Translation: X:41.40, Y:8.07, Z:-0.26 [[ 9.58575714e-01 -2.84836254e-01 -9.53214868e-04 4.13958753e+01] [ 2.84836072e-01 9.58576187e-01 -3.23761983e-04 8.07153200e+00] [ 1.00594822e-03 3.88403954e-05 9.99999493e-01 -2.62059333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790888479 meters Centerline goodness [0,1] 0.9983922829581994 Centerline is valid? [True, True] Translation: X:41.42, Y:8.08, Z:-0.26 [[ 9.58448862e-01 -2.85261368e-01 1.31569517e-03 4.14210284e+01] [ 2.85261026e-01 9.58449764e-01 4.44601209e-04 8.08484822e+00] [-1.38785527e-03 -5.08109693e-05 9.99999036e-01 -2.63149581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.820888479 meters Centerline goodness [0,1] 0.9985150752146684 Centerline is valid? [True, True] Translation: X:41.45, Y:8.09, Z:-0.26 [[ 9.58244336e-01 -2.85944897e-01 1.81891082e-03 4.14484511e+01] [ 2.85944245e-01 9.58246060e-01 6.14420666e-04 8.09293675e+00] [-1.91865458e-03 -6.86580416e-05 9.99998157e-01 -2.64075810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850888479 meters Centerline goodness [0,1] 0.998514883450636 Centerline is valid? [True, True] Translation: X:41.48, Y:8.10, Z:-0.27 [[ 9.58013187e-01 -2.86722303e-01 1.02652565e-03 4.14757341e+01] [ 2.86722096e-01 9.58013737e-01 3.46433383e-04 8.10208200e+00] [-1.08275585e-03 -3.75601617e-05 9.99999413e-01 -2.65324017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.880888479 meters Centerline goodness [0,1] 0.998552008817618 Centerline is valid? [True, True] Translation: X:41.50, Y:8.11, Z:-0.26 [[ 9.57854489e-01 -2.87253804e-01 1.72149821e-04 4.15033667e+01] [ 2.87253798e-01 9.57854505e-01 5.78553483e-05 8.10781451e+00] [-1.81513651e-04 -5.96631500e-06 9.99999984e-01 -2.64704411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.910888479 meters Centerline goodness [0,1] 0.9991144134609153 Centerline is valid? [True, True] Translation: X:41.53, Y:8.11, Z:-0.26 [[ 9.57704671e-01 -2.87752823e-01 2.74877234e-04 4.15306479e+01] [ 2.87752808e-01 9.57704711e-01 9.16577466e-05 8.11343610e+00] [-2.89625997e-04 -8.68435611e-06 9.99999958e-01 -2.63263781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.940888479 meters Centerline goodness [0,1] 0.9986786812805961 Centerline is valid? [True, True] Translation: X:41.56, Y:8.12, Z:-0.26 [[ 9.57549282e-01 -2.88268502e-01 8.01746328e-04 4.15580586e+01] [ 2.88268376e-01 9.57549618e-01 2.70801670e-04 8.12156889e+00] [-8.45775482e-04 -2.81878328e-05 9.99999642e-01 -2.63169871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970888479 meters Centerline goodness [0,1] 0.9985288072521148 Centerline is valid? [True, True] Translation: X:41.58, Y:8.13, Z:-0.26 [[ 9.57434592e-01 -2.88648044e-01 1.14369986e-03 4.15847646e+01] [ 2.88647787e-01 9.57435275e-01 3.87055416e-04 8.13110227e+00] [-1.20674138e-03 -4.04538091e-05 9.99999271e-01 -2.63349772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.000888479 meters Centerline goodness [0,1] 0.9989361702127659 Centerline is valid? [True, True] Translation: X:41.61, Y:8.14, Z:-0.26 [[ 9.57418449e-01 -2.88689486e-01 2.87994215e-03 4.16107002e+01] [ 2.88687849e-01 9.57422775e-01 9.77908424e-04 8.14109250e+00] [-3.03963409e-03 -1.04863261e-04 9.99995375e-01 -2.64883818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030888479 meters Centerline goodness [0,1] 0.9987494879368707 Centerline is valid? [True, True] Translation: X:41.64, Y:8.15, Z:-0.27 [[ 9.57452140e-01 -2.88577233e-01 2.92921648e-03 4.16356706e+01] [ 2.88575535e-01 9.57456615e-01 9.96080911e-04 8.15335575e+00] [-3.09204397e-03 -1.08399589e-04 9.99995214e-01 -2.66460479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.060888479 meters Centerline goodness [0,1] 0.9987249308437067 Centerline is valid? [True, True] Translation: X:41.66, Y:8.16, Z:-0.27 [[ 9.57408529e-01 -2.88721034e-01 3.01212471e-03 4.16626682e+01] [ 2.88719239e-01 9.57413261e-01 1.02413718e-03 8.16180422e+00] [-3.17953808e-03 -1.10859318e-04 9.99994939e-01 -2.67268581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.090888479 meters Centerline goodness [0,1] 0.9988528386831453 Centerline is valid? [True, True] Translation: X:41.69, Y:8.17, Z:-0.27 [[ 9.57040597e-01 -2.89933804e-01 3.41848176e-03 4.16919185e+01] [ 2.89931494e-01 9.57046694e-01 1.16362524e-03 8.16679571e+00] [-3.60902096e-03 -1.22511071e-04 9.99993480e-01 -2.65774621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.120888479 meters Centerline goodness [0,1] 0.99889301295826 Centerline is valid? [True, True] Translation: X:41.72, Y:8.17, Z:-0.26 [[ 9.56811041e-01 -2.90689707e-01 3.48218457e-03 4.17208991e+01] [ 2.90687312e-01 9.56817370e-01 1.18625091e-03 8.17205741e+00] [-3.67664561e-03 -1.22791092e-04 9.99993234e-01 -2.64377519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150888479 meters Centerline goodness [0,1] 0.9987607618053744 Centerline is valid? [True, True] Translation: X:41.75, Y:8.18, Z:-0.26 [[ 9.56055156e-01 -2.93150940e-01 4.58977277e-03 4.17490095e+01] [ 2.93146800e-01 9.56066161e-01 1.56528760e-03 8.18061786e+00] [-4.84699196e-03 -1.51024085e-04 9.99988242e-01 -2.64692843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.180888479000004 meters Centerline goodness [0,1] 0.9987666075215302 Centerline is valid? [True, True] Translation: X:41.77, Y:8.19, Z:-0.27 [[ 9.55680197e-01 -2.94367607e-01 4.80350432e-03 4.17745582e+01] [ 2.94363081e-01 9.55692256e-01 1.63950224e-03 8.19108471e+00] [-5.07328823e-03 -1.52865491e-04 9.99987119e-01 -2.66000086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210888479 meters Centerline goodness [0,1] 0.999043374279813 Centerline is valid? [True, True] Translation: X:41.80, Y:8.20, Z:-0.27 [[ 9.55296629e-01 -2.95590503e-01 5.88265849e-03 4.18021112e+01] [ 2.95583731e-01 9.55314724e-01 2.00893935e-03 8.20018514e+00] [-6.21361366e-03 -1.80314843e-04 9.99980679e-01 -2.67291261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.240888479 meters Centerline goodness [0,1] 0.9990679325443274 Centerline is valid? [True, True] Translation: X:41.83, Y:8.21, Z:-0.27 [[ 9.55152343e-01 -2.96055673e-01 5.91953068e-03 4.18290230e+01] [ 2.96048815e-01 9.55170669e-01 2.02320369e-03 8.20848649e+00] [-6.25314300e-03 -1.79997701e-04 9.99980433e-01 -2.66678246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.270888479 meters Centerline goodness [0,1] 0.998828125 Centerline is valid? [True, True] Translation: X:41.85, Y:8.22, Z:-0.27 [[ 9.55076026e-01 -2.96304063e-01 5.80402592e-03 4.18537239e+01] [ 2.96297464e-01 9.55093645e-01 1.98545022e-03 8.21938964e+00] [-6.13168524e-03 -1.76537745e-04 9.99981185e-01 -2.65573026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.300888479 meters Centerline goodness [0,1] 0.9988944527541133 Centerline is valid? [True, True] Translation: X:41.88, Y:8.22, Z:-0.26 [[ 9.54859377e-01 -2.97014803e-01 5.07706634e-03 4.18831789e+01] [ 2.97009758e-01 9.54872863e-01 1.73770929e-03 8.22306580e+00] [-5.36407825e-03 -1.51329760e-04 9.99985602e-01 -2.64997079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330888479 meters Centerline goodness [0,1] 0.9990441016728221 Centerline is valid? [True, True] Translation: X:41.91, Y:8.23, Z:-0.26 [[ 9.54683416e-01 -2.97581358e-01 4.99097258e-03 4.19096953e+01] [ 2.97576483e-01 9.54696451e-01 1.70962145e-03 8.23263809e+00] [-5.27361528e-03 -1.46951175e-04 9.99986084e-01 -2.64690734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.360888479 meters Centerline goodness [0,1] 0.9990441016728221 Centerline is valid? [True, True] Translation: X:41.94, Y:8.24, Z:-0.27 [[ 9.54211838e-01 -2.99084491e-01 5.31363688e-03 4.19377591e+01] [ 2.99078986e-01 9.54226621e-01 1.82072330e-03 8.24098545e+00] [-5.61496387e-03 -1.48158593e-04 9.99984225e-01 -2.65562420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390888479 meters Centerline goodness [0,1] 0.9993060976667534 Centerline is valid? [True, True] Translation: X:41.96, Y:8.25, Z:-0.27 [[ 9.53878473e-01 -3.00130980e-01 6.10361454e-03 4.19649849e+01] [ 3.00123726e-01 9.53897986e-01 2.09329147e-03 8.25105700e+00] [-6.45048723e-03 -1.64906132e-04 9.99979182e-01 -2.65645003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.420888479 meters Centerline goodness [0,1] 0.9993060976667534 Centerline is valid? [True, True] Translation: X:41.99, Y:8.26, Z:-0.27 [[ 9.53794623e-01 -3.00397353e-01 6.10309201e-03 4.19910607e+01] [ 3.00390094e-01 9.53814135e-01 2.09481392e-03 8.26008516e+00] [-6.45049197e-03 -1.64713870e-04 9.99979182e-01 -2.65795243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.450888479 meters Centerline goodness [0,1] 0.9995434385598748 Centerline is valid? [True, True] Translation: X:42.02, Y:8.27, Z:-0.27 [[ 9.53714245e-01 -3.00621698e-01 7.46551462e-03 4.20161469e+01] [ 3.00610825e-01 9.53743443e-01 2.56473337e-03 8.26927002e+00] [-7.89120011e-03 -2.01808244e-04 9.99968844e-01 -2.65052394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.480888479 meters Centerline goodness [0,1] 0.9992000518885261 Centerline is valid? [True, True] Translation: X:42.04, Y:8.28, Z:-0.26 [[ 9.53202574e-01 -3.02206620e-01 8.71852476e-03 4.20425990e+01] [ 3.02191846e-01 9.53242419e-01 2.99635216e-03 8.27758434e+00] [-9.21638509e-03 -2.21463498e-04 9.99957504e-01 -2.63097188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.510888479 meters Centerline goodness [0,1] 0.9996539792387543 Centerline is valid? [True, True] Translation: X:42.07, Y:8.29, Z:-0.26 [[ 9.52776456e-01 -3.03550862e-01 8.59639809e-03 4.20704819e+01] [ 3.03536542e-01 9.52815214e-01 2.95580232e-03 8.28507052e+00] [-9.08801522e-03 -2.06897915e-04 9.99958682e-01 -2.62988856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.540888479 meters Centerline goodness [0,1] 0.9994576418266623 Centerline is valid? [True, True] Translation: X:42.10, Y:8.29, Z:-0.26 [[ 9.52390945e-01 -3.04752321e-01 8.80408257e-03 4.20982681e+01] [ 3.04737329e-01 9.52431615e-01 3.02958568e-03 8.29460167e+00] [-9.30855986e-03 -2.02417368e-04 9.99956654e-01 -2.63497709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570888479 meters Centerline goodness [0,1] 0.9995010088299742 Centerline is valid? [True, True] Translation: X:42.13, Y:8.30, Z:-0.26 [[ 9.51878265e-01 -3.06345546e-01 8.95409670e-03 4.21251452e+01] [ 3.06330087e-01 9.51920359e-01 3.08357770e-03 8.30364316e+00] [-9.46822724e-03 -1.92281371e-04 9.99955157e-01 -2.63164142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.600888479 meters Centerline goodness [0,1] 0.9990245805696449 Centerline is valid? [True, True] Translation: X:42.15, Y:8.31, Z:-0.26 [[ 9.51834779e-01 -3.06468438e-01 9.36215153e-03 4.21515190e+01] [ 3.06451516e-01 9.51880799e-01 3.22689176e-03 8.31184232e+00] [-9.90059276e-03 -2.02422275e-04 9.99950967e-01 -2.62896083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630888479 meters Centerline goodness [0,1] 0.9993299760088183 Centerline is valid? [True, True] Translation: X:42.18, Y:8.32, Z:-0.26 [[ 9.51978987e-01 -3.06006287e-01 9.80612922e-03 4.21767425e+01] [ 3.05987675e-01 9.52029466e-01 3.38207136e-03 8.32281589e+00] [-1.03706591e-02 -2.19106183e-04 9.99946199e-01 -2.62578960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.660888479 meters Centerline goodness [0,1] 0.99911555967815 Centerline is valid? [True, True] Translation: X:42.20, Y:8.34, Z:-0.26 [[ 9.52949561e-01 -3.02899302e-01 1.17961029e-02 4.22031370e+01] [ 3.02872120e-01 9.53022518e-01 4.06925909e-03 8.33736564e+00] [-1.24745274e-02 -3.05087985e-04 9.99922144e-01 -2.63645226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.690888479 meters Centerline goodness [0,1] 0.9987379409185223 Centerline is valid? [True, True] Translation: X:42.23, Y:8.35, Z:-0.26 [[ 9.53403073e-01 -3.01456714e-01 1.21008664e-02 4.22299003e+01] [ 3.01427967e-01 9.53479805e-01 4.17646576e-03 8.34953532e+00] [-1.27969554e-02 -3.34315721e-04 9.99918060e-01 -2.64498613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.720888479 meters Centerline goodness [0,1] 0.9989271537388692 Centerline is valid? [True, True] Translation: X:42.26, Y:8.36, Z:-0.27 [[ 9.54718791e-01 -2.97297433e-01 1.12368051e-02 4.22565663e+01] [ 2.97272338e-01 9.54784847e-01 3.87977641e-03 8.36305443e+00] [-1.18821788e-02 -3.63704125e-04 9.99929338e-01 -2.66576206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750888479 meters Centerline goodness [0,1] 0.9987336338270015 Centerline is valid? [True, True] Translation: X:42.28, Y:8.38, Z:-0.27 [[ 9.55224531e-01 -2.95689755e-01 1.06613545e-02 4.22806571e+01] [ 2.95667056e-01 9.55283955e-01 3.68192208e-03 8.37716995e+00] [-1.12733276e-02 -3.64850985e-04 9.99936387e-01 -2.66508925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.780888479 meters Centerline goodness [0,1] 0.9983062839011213 Centerline is valid? [True, True] Translation: X:42.31, Y:8.39, Z:-0.27 [[ 9.55612924e-01 -2.94438951e-01 1.04710551e-02 4.23067289e+01] [ 2.94416965e-01 9.55670217e-01 3.61752896e-03 8.38834568e+00] [-1.10720169e-02 -3.74101163e-04 9.99938633e-01 -2.66903213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810888479 meters Centerline goodness [0,1] 0.9985216292074647 Centerline is valid? [True, True] Translation: X:42.33, Y:8.40, Z:-0.27 [[ 9.55663983e-01 -2.94281531e-01 1.02339223e-02 4.23349893e+01] [ 2.94260498e-01 9.55718706e-01 3.53769464e-03 8.39525042e+00] [-1.08218292e-02 -3.69408274e-04 9.99941374e-01 -2.68420377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.840888479 meters Centerline goodness [0,1] 0.9980690424596108 Centerline is valid? [True, True] Translation: X:42.36, Y:8.40, Z:-0.27 [[ 9.54934827e-01 -2.96720536e-01 7.50993418e-03 4.23629500e+01] [ 2.96709272e-01 9.54964324e-01 2.59769290e-03 8.40470933e+00] [-7.94250804e-03 -2.52360315e-04 9.99968426e-01 -2.71376018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.870888479 meters Centerline goodness [0,1] 0.9987396124842451 Centerline is valid? [True, True] Translation: X:42.39, Y:8.41, Z:-0.27 [[ 9.54235424e-01 -2.98988330e-01 6.38232097e-03 4.23905204e+01] [ 2.98980235e-01 9.54256747e-01 2.20909545e-03 8.41367542e+00] [-6.75086661e-03 -1.99809304e-04 9.99977193e-01 -2.73171240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.900888479 meters Centerline goodness [0,1] 0.9984551676786749 Centerline is valid? [True, True] Translation: X:42.42, Y:8.42, Z:-0.27 [[ 9.53423481e-01 -3.01586160e-01 5.42706825e-03 4.24182038e+01] [ 3.01580342e-01 9.53438915e-01 1.87972119e-03 8.42118880e+00] [-5.74127596e-03 -1.55473223e-04 9.99983507e-01 -2.74384639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930888479000004 meters Centerline goodness [0,1] 0.9984056878164387 Centerline is valid? [True, True] Translation: X:42.45, Y:8.43, Z:-0.27 [[ 9.51827751e-01 -3.06587742e-01 5.28101363e-03 4.24476559e+01] [ 3.06582302e-01 9.51842393e-01 1.83051584e-03 8.42675736e+00] [-5.58790637e-03 -1.23270464e-04 9.99984380e-01 -2.74611405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.960888479 meters Centerline goodness [0,1] 0.9991216230691775 Centerline is valid? [True, True] Translation: X:42.47, Y:8.43, Z:-0.27 [[ 9.50957763e-01 -3.09275347e-01 5.30021845e-03 4.24748933e+01] [ 3.09269908e-01 9.50972527e-01 1.83741472e-03 8.43491600e+00] [-5.60862921e-03 -1.08105722e-04 9.99984266e-01 -2.74726078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990888479 meters Centerline goodness [0,1] 0.9988340458608628 Centerline is valid? [True, True] Translation: X:42.50, Y:8.44, Z:-0.28 [[ 9.50150771e-01 -3.11737733e-01 5.75310018e-03 4.25031664e+01] [ 3.11731359e-01 9.50168183e-01 1.99611229e-03 8.44218590e+00] [-6.08867626e-03 -1.03185889e-04 9.99981459e-01 -2.75188080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.020888479 meters Centerline goodness [0,1] 0.9989796361425904 Centerline is valid? [True, True] Translation: X:42.53, Y:8.45, Z:-0.28 [[ 9.49278525e-01 -3.14364491e-01 6.72673366e-03 4.25309077e+01] [ 3.14355828e-01 9.49302352e-01 2.33605055e-03 8.45071214e+00] [-7.12007543e-03 -1.02974695e-04 9.99974647e-01 -2.75408538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.050888479 meters Centerline goodness [0,1] 0.9989844205795285 Centerline is valid? [True, True] Translation: X:42.56, Y:8.46, Z:-0.27 [[ 9.47829238e-01 -3.18675804e-01 8.09123271e-03 4.25589480e+01] [ 3.18663405e-01 9.47863769e-01 2.81244267e-03 8.45646520e+00] [-8.56564376e-03 -8.73356295e-05 9.99963310e-01 -2.74772716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.080888479 meters Centerline goodness [0,1] 0.9990925001620535 Centerline is valid? [True, True] Translation: X:42.59, Y:8.46, Z:-0.27 [[ 9.47251804e-01 -3.20377575e-01 8.49873786e-03 4.25853993e+01] [ 3.20363948e-01 9.47289926e-01 2.95590552e-03 8.46402922e+00] [-8.99777460e-03 -7.72976181e-05 9.99959516e-01 -2.74315961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110888479 meters Centerline goodness [0,1] 0.9994162288382954 Centerline is valid? [True, True] Translation: X:42.61, Y:8.47, Z:-0.27 [[ 9.46848831e-01 -3.21575196e-01 8.16613133e-03 4.26121003e+01] [ 3.21562647e-01 9.46884042e-01 2.84161125e-03 8.47166156e+00] [-8.64617114e-03 -6.46534801e-05 9.99962619e-01 -2.74435462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.140888479 meters Centerline goodness [0,1] 0.9992198166569144 Centerline is valid? [True, True] Translation: X:42.64, Y:8.48, Z:-0.28 [[ 9.46949541e-01 -3.21272619e-01 8.39468805e-03 4.26382491e+01] [ 3.21259323e-01 9.46986747e-01 2.92375163e-03 8.48055838e+00] [-8.88897967e-03 -7.17734708e-05 9.99960490e-01 -2.75982940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170888479 meters Centerline goodness [0,1] 0.9992409291027782 Centerline is valid? [True, True] Translation: X:42.66, Y:8.49, Z:-0.28 [[ 9.47463809e-01 -3.19751019e-01 8.46263007e-03 4.26640694e+01] [ 3.19737428e-01 9.47501598e-01 2.94936066e-03 8.49116841e+00] [-8.96141659e-03 -8.85929095e-05 9.99959842e-01 -2.76208383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.200888479 meters Centerline goodness [0,1] 0.9991117273652967 Centerline is valid? [True, True] Translation: X:42.69, Y:8.50, Z:-0.28 [[ 9.48270443e-01 -3.17357794e-01 8.19742746e-03 4.26900047e+01] [ 3.17344946e-01 9.48305868e-01 2.85770595e-03 8.50179837e+00] [-8.68058382e-03 -1.08465909e-04 9.99962317e-01 -2.76867062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.230888479 meters Centerline goodness [0,1] 0.9993496921876355 Centerline is valid? [True, True] Translation: X:42.72, Y:8.51, Z:-0.28 [[ 9.50106010e-01 -3.11859772e-01 6.48472441e-03 4.27167927e+01] [ 3.11851601e-01 9.50128132e-01 2.26110327e-03 8.51393742e+00] [-6.86646623e-03 -1.26016121e-04 9.99976418e-01 -2.77741396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.260888479 meters Centerline goodness [0,1] 0.9992831696932836 Centerline is valid? [True, True] Translation: X:42.74, Y:8.52, Z:-0.28 [[ 9.51052108e-01 -3.08974714e-01 5.87480171e-03 4.27441959e+01] [ 3.08967949e-01 9.51070244e-01 2.04889501e-03 8.52353180e+00] [-6.22040584e-03 -1.33480482e-04 9.99980644e-01 -2.78665676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290888479 meters Centerline goodness [0,1] 0.9989384058755985 Centerline is valid? [True, True] Translation: X:42.77, Y:8.54, Z:-0.28 [[ 9.51999608e-01 -3.06053148e-01 5.31205689e-03 4.27699211e+01] [ 3.06047564e-01 9.52014418e-01 1.85392071e-03 8.53543108e+00] [-5.62455302e-03 -1.39189720e-04 9.99984172e-01 -2.79260498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.320888479 meters Centerline goodness [0,1] 0.9991112845190099 Centerline is valid? [True, True] Translation: X:42.80, Y:8.55, Z:-0.28 [[ 9.53494508e-01 -3.01350559e-01 6.00534758e-03 4.27953419e+01] [ 3.01343326e-01 9.53513400e-01 2.09652083e-03 8.54852910e+00] [-6.35796712e-03 -1.89349686e-04 9.99979770e-01 -2.79420088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350888479 meters Centerline goodness [0,1] 0.9989772158509782 Centerline is valid? [True, True] Translation: X:42.82, Y:8.56, Z:-0.28 [[ 9.53768591e-01 -3.00477260e-01 6.23626825e-03 4.28216682e+01] [ 3.00469437e-01 9.53788957e-01 2.17771968e-03 8.55895030e+00] [-6.60243903e-03 -2.03232626e-04 9.99978183e-01 -2.79760387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.380888479 meters Centerline goodness [0,1] 0.9993928354584092 Centerline is valid? [True, True] Translation: X:42.85, Y:8.56, Z:-0.28 [[ 9.53311259e-01 -3.01946791e-01 5.07725695e-03 4.28512155e+01] [ 3.01941624e-01 9.53324767e-01 1.77336201e-03 8.56349890e+00] [-5.37573576e-03 -1.57530764e-04 9.99985538e-01 -2.80386597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.410888479 meters Centerline goodness [0,1] 0.9990669617671311 Centerline is valid? [True, True] Translation: X:42.88, Y:8.57, Z:-0.28 [[ 9.52665864e-01 -3.03977895e-01 5.01905890e-03 4.28786480e+01] [ 3.03972868e-01 9.52679074e-01 1.75427526e-03 8.57108257e+00] [-5.31481329e-03 -1.45580433e-04 9.99985866e-01 -2.80122604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.440888479 meters Centerline goodness [0,1] 0.9994763941007069 Centerline is valid? [True, True] Translation: X:42.91, Y:8.58, Z:-0.28 [[ 9.51895849e-01 -3.06370125e-01 5.62494596e-03 4.29075394e+01] [ 3.06363842e-01 9.51912456e-01 1.96772218e-03 8.57539789e+00] [-5.95730742e-03 -1.49786512e-04 9.99982244e-01 -2.79330662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470888479 meters Centerline goodness [0,1] 0.9993433868108298 Centerline is valid? [True, True] Translation: X:42.94, Y:8.58, Z:-0.28 [[ 9.51108025e-01 -3.08796033e-01 6.20761093e-03 4.29352906e+01] [ 3.08788421e-01 9.51128271e-01 2.17341029e-03 8.58227808e+00] [-6.57537473e-03 -1.50309588e-04 9.99978371e-01 -2.78062723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.500888479 meters Centerline goodness [0,1] 0.9996482434155565 Centerline is valid? [True, True] Translation: X:42.96, Y:8.59, Z:-0.28 [[ 9.50247681e-01 -3.11427385e-01 6.50602749e-03 4.29648462e+01] [ 3.11419073e-01 9.50269943e-01 2.27972044e-03 8.58684468e+00] [-6.89244975e-03 -1.40198012e-04 9.99976237e-01 -2.76477242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530888479 meters Centerline goodness [0,1] 0.9997138706695426 Centerline is valid? [True, True] Translation: X:42.99, Y:8.59, Z:-0.28 [[ 9.49249279e-01 -3.14441826e-01 7.22110776e-03 4.29923082e+01] [ 3.14431660e-01 9.49276735e-01 2.53197039e-03 8.59180077e+00] [-7.65098699e-03 -1.32926165e-04 9.99970722e-01 -2.75398618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.560888479 meters Centerline goodness [0,1] 0.9997368017020156 Centerline is valid? [True, True] Translation: X:43.02, Y:8.60, Z:-0.28 [[ 9.48973952e-01 -3.15273190e-01 7.15916694e-03 4.30187709e+01] [ 3.15263212e-01 9.49000948e-01 2.51138175e-03 8.60075583e+00] [-7.58582755e-03 -1.26213896e-04 9.99971219e-01 -2.76473612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.590888479 meters Centerline goodness [0,1] 0.9996470250832801 Centerline is valid? [True, True] Translation: X:43.05, Y:8.61, Z:-0.28 [[ 9.49409757e-01 -3.13995503e-01 5.28559922e-03 4.30450695e+01] [ 3.13990038e-01 9.49424464e-01 1.85534894e-03 8.60925821e+00] [-5.60084843e-03 -1.01860886e-04 9.99984310e-01 -2.78813247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.620888479 meters Centerline goodness [0,1] 0.9996252452439213 Centerline is valid? [True, True] Translation: X:43.07, Y:8.62, Z:-0.28 [[ 9.49770940e-01 -3.12906023e-01 4.99823306e-03 4.30727867e+01] [ 3.12901119e-01 9.49784086e-01 1.75490578e-03 8.61701094e+00] [-5.29636281e-03 -1.02805798e-04 9.99985969e-01 -2.78583791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650888479 meters Centerline goodness [0,1] 0.9997136690013656 Centerline is valid? [True, True] Translation: X:43.10, Y:8.63, Z:-0.28 [[ 9.50285926e-01 -3.11346869e-01 4.44820939e-03 4.30995996e+01] [ 3.11342962e-01 9.50296331e-01 1.56296617e-03 8.62581179e+00] [-4.71374168e-03 -1.00346067e-04 9.99988885e-01 -2.78034270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.680888479000004 meters Centerline goodness [0,1] 0.9996681048788583 Centerline is valid? [True, True] Translation: X:43.13, Y:8.64, Z:-0.28 [[ 9.51676761e-01 -3.07075623e-01 3.98795252e-03 4.31272344e+01] [ 3.07072443e-01 9.51685111e-01 1.40164555e-03 8.63658180e+00] [-4.22568621e-03 -1.09323177e-04 9.99991066e-01 -2.78511830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710888479 meters Centerline goodness [0,1] 0.9996461899075672 Centerline is valid? [True, True] Translation: X:43.15, Y:8.65, Z:-0.28 [[ 9.52554843e-01 -3.04346763e-01 3.50977692e-03 4.31526527e+01] [ 3.04344282e-01 9.52561303e-01 1.23363046e-03 8.64900665e+00] [-3.71872911e-03 -1.06920131e-04 9.99993080e-01 -2.79223852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.740888479 meters Centerline goodness [0,1] 0.9993157186058318 Centerline is valid? [True, True] Translation: X:43.18, Y:8.66, Z:-0.28 [[ 9.53553367e-01 -3.01205117e-01 3.38428645e-03 4.31782614e+01] [ 3.01202789e-01 9.53559366e-01 1.18977097e-03 8.66138418e+00] [-3.58548314e-03 -1.15153597e-04 9.99993566e-01 -2.79885210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.770888479 meters Centerline goodness [0,1] 0.9996464479063087 Centerline is valid? [True, True] Translation: X:43.21, Y:8.67, Z:-0.28 [[ 9.55309293e-01 -2.95603514e-01 1.64859370e-03 4.32061394e+01] [ 2.95602954e-01 9.55310713e-01 5.79636610e-04 8.67262690e+00] [-1.74626184e-03 -6.64030735e-05 9.99998473e-01 -2.79937967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.800888479 meters Centerline goodness [0,1] 0.9996239936300098 Centerline is valid? [True, True] Translation: X:43.23, Y:8.68, Z:-0.28 [[ 9.55759709e-01 -2.94147052e-01 9.43431571e-04 4.32342509e+01] [ 2.94146869e-01 9.55760174e-01 3.30677276e-04 8.67950830e+00] [-9.98962068e-04 -3.85405745e-05 9.99999500e-01 -2.79976415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830888479 meters Centerline goodness [0,1] 0.9995787326504368 Centerline is valid? [True, True] Translation: X:43.26, Y:8.69, Z:-0.28 [[ 9.56083230e-01 -2.93094769e-01 5.60845990e-04 4.32611474e+01] [ 2.93094704e-01 9.56083394e-01 1.96742213e-04 8.68854724e+00] [-5.93879651e-04 -2.37209412e-05 9.99999823e-01 -2.79972777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.860888479 meters Centerline goodness [0,1] 0.9993608533709475 Centerline is valid? [True, True] Translation: X:43.29, Y:8.70, Z:-0.28 [[ 9.56318461e-01 -2.92326511e-01 4.60025579e-04 4.32861229e+01] [ 2.92326467e-01 9.56318572e-01 1.61538123e-04 8.70048424e+00] [-4.87152880e-04 -2.00042370e-05 9.99999881e-01 -2.80694156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890888479 meters Centerline goodness [0,1] 0.9998007747648036 Centerline is valid? [True, True] Translation: X:43.31, Y:8.71, Z:-0.28 [[ 9.56606271e-01 -2.91382016e-01 9.81914681e-04 4.33139774e+01] [ 2.91381815e-01 9.56606773e-01 3.44718556e-04 8.70943136e+00] [-1.03975102e-03 -4.36478504e-05 9.99999459e-01 -2.82777402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.920888479 meters Centerline goodness [0,1] 0.9995345641525744 Centerline is valid? [True, True] Translation: X:43.34, Y:8.72, Z:-0.28 [[ 9.56666004e-01 -2.91187276e-01 3.55300984e-04 4.33397748e+01] [ 2.91187250e-01 9.56666070e-01 1.24780288e-04 8.71864999e+00] [-3.76238829e-04 -1.59139433e-05 9.99999929e-01 -2.83437340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.950888479 meters Centerline goodness [0,1] 0.9996677078487406 Centerline is valid? [True, True] Translation: X:43.37, Y:8.73, Z:-0.28 [[ 9.56600863e-01 -2.91401364e-01 1.82199680e-04 4.33671118e+01] [ 2.91401357e-01 9.56600881e-01 6.27294283e-05 8.72616510e+00] [-1.92571815e-04 -6.91379129e-06 9.99999981e-01 -2.82890747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.980888479 meters Centerline goodness [0,1] 0.9997775800711743 Centerline is valid? [True, True] Translation: X:43.39, Y:8.73, Z:-0.28 [[ 9.56276992e-01 -2.92462252e-01 -3.82062136e-04 4.33945019e+01] [ 2.92462221e-01 9.56277068e-01 -1.35596312e-04 8.73150936e+00] [ 4.05014062e-04 1.79288921e-05 9.99999918e-01 -2.80267991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.010888479 meters Centerline goodness [0,1] 0.999731855559528 Centerline is valid? [True, True] Translation: X:43.42, Y:8.74, Z:-0.28 [[ 9.55593047e-01 -2.94688947e-01 5.94100957e-04 4.34227062e+01] [ 2.94688874e-01 9.55593231e-01 2.09395926e-04 8.73848376e+00] [-6.29425518e-04 -2.50223488e-05 9.99999802e-01 -2.78823083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.040888479 meters Centerline goodness [0,1] 0.9999555179929719 Centerline is valid? [True, True] Translation: X:43.45, Y:8.75, Z:-0.28 [[ 9.55067203e-01 -2.96385829e-01 1.44166214e-03 4.34511106e+01] [ 2.96385399e-01 9.55068289e-01 5.08137620e-04 8.74641277e+00] [-1.52749058e-03 -5.80179671e-05 9.99998832e-01 -2.79584449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070888479 meters Centerline goodness [0,1] 0.999710873384783 Centerline is valid? [True, True] Translation: X:43.48, Y:8.76, Z:-0.28 [[ 9.54730374e-01 -2.97466251e-01 1.93425002e-03 4.34782060e+01] [ 2.97465478e-01 9.54732331e-01 6.82608315e-04 8.75567540e+00] [-2.04974397e-03 -7.63342844e-05 9.99997896e-01 -2.80839678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.100888479 meters Centerline goodness [0,1] 0.9998883055958896 Centerline is valid? [True, True] Translation: X:43.51, Y:8.76, Z:-0.28 [[ 9.54349822e-01 -2.98682632e-01 2.25872003e-03 4.35053092e+01] [ 2.98681579e-01 9.54352491e-01 7.97953005e-04 8.76443780e+00] [-2.39394979e-03 -8.68882426e-05 9.99997131e-01 -2.81507782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130888479 meters Centerline goodness [0,1] 0.9998881656937082 Centerline is valid? [True, True] Translation: X:43.53, Y:8.77, Z:-0.28 [[ 9.53678557e-01 -3.00823540e-01 1.55143507e-03 4.35333552e+01] [ 3.00823045e-01 9.53679818e-01 5.48691480e-04 8.76908717e+00] [-1.64463162e-03 -5.65678786e-05 9.99998646e-01 -2.79931130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.160888479 meters Centerline goodness [0,1] 0.9998879099692873 Centerline is valid? [True, True] Translation: X:43.56, Y:8.77, Z:-0.28 [[ 9.53207871e-01 -3.02312146e-01 1.45631633e-03 4.35631066e+01] [ 3.02311712e-01 9.53208982e-01 5.14973889e-04 8.77289083e+00] [-1.54385666e-03 -5.06156834e-05 9.99998807e-01 -2.78348950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.190888479 meters Centerline goodness [0,1] 0.999888298110004 Centerline is valid? [True, True] Translation: X:43.59, Y:8.78, Z:-0.28 [[ 9.52541530e-01 -3.04406471e-01 1.15457469e-03 4.35897461e+01] [ 3.04406200e-01 9.52542229e-01 4.08292484e-04 8.78085255e+00] [-1.22406802e-03 -3.74558548e-05 9.99999250e-01 -2.77911696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.220888479 meters Centerline goodness [0,1] 0.9999552021502968 Centerline is valid? [True, True] Translation: X:43.62, Y:8.79, Z:-0.28 [[ 9.51329385e-01 -3.08174534e-01 9.26524904e-04 4.36178223e+01] [ 3.08174360e-01 9.51329836e-01 3.27700251e-04 8.78958668e+00] [-9.82419657e-04 -2.62196580e-05 9.99999517e-01 -2.79709318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250888479 meters Centerline goodness [0,1] 0.9998659247838038 Centerline is valid? [True, True] Translation: X:43.64, Y:8.80, Z:-0.28 [[ 9.50835780e-01 -3.09694770e-01 6.84399873e-04 4.36435826e+01] [ 3.09694676e-01 9.50836026e-01 2.42114692e-04 8.80124606e+00] [-7.25733709e-04 -1.82563150e-05 9.99999736e-01 -2.81408934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.280888479 meters Centerline goodness [0,1] 0.9999326221224032 Centerline is valid? [True, True] Translation: X:43.67, Y:8.81, Z:-0.28 [[ 9.49523441e-01 -3.13696087e-01 9.04518534e-06 4.36721307e+01] [ 3.13696087e-01 9.49523441e-01 2.80535173e-06 8.80653736e+00] [-9.46864335e-06 1.73692026e-07 1.00000000e+00 -2.81574307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310888479 meters Centerline goodness [0,1] 0.9999775033182605 Centerline is valid? [True, True] Translation: X:43.70, Y:8.81, Z:-0.28 [[ 9.48633530e-01 -3.16376150e-01 -7.47116666e-04 4.37008024e+01] [ 3.16376038e-01 9.48633824e-01 -2.66398485e-04 8.81355577e+00] [ 7.93022266e-04 1.63447245e-05 9.99999685e-01 -2.81635364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.340888479 meters Centerline goodness [0,1] 0.9999775033182605 Centerline is valid? [True, True] Translation: X:43.73, Y:8.82, Z:-0.28 [[ 9.48545792e-01 -3.16639105e-01 -7.46947268e-04 4.37267896e+01] [ 3.16638993e-01 9.48546086e-01 -2.66875179e-04 8.82285867e+00] [ 7.93017025e-04 1.66306974e-05 9.99999685e-01 -2.81785629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.76, Y:8.83, Z:-0.28 [[ 9.47622563e-01 -3.19386317e-01 -1.96440857e-03 4.37550801e+01] [ 3.19385553e-01 9.47624598e-01 -6.99565521e-04 8.83042998e+00] [ 2.08495354e-03 3.55203543e-05 9.99997826e-01 -2.81843514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.78, Y:8.84, Z:-0.28 [[ 9.45752574e-01 -3.24881508e-01 -2.01875246e-03 4.37828490e+01] [ 3.24880715e-01 9.45754728e-01 -7.18031510e-04 8.83713883e+00] [ 2.14251984e-03 2.32264049e-05 9.99997705e-01 -2.82149717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430888479000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.81, Y:8.85, Z:-0.28 [[ 9.44637840e-01 -3.28113039e-01 -1.08894556e-03 4.38109707e+01] [ 3.28112809e-01 9.44638467e-01 -3.88775509e-04 8.84547897e+00] [ 1.15622218e-03 9.95507005e-06 9.99999332e-01 -2.81790840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.460888479 meters Centerline goodness [0,1] 0.9999551690128217 Centerline is valid? [True, True] Translation: X:43.84, Y:8.85, Z:-0.28 [[ 9.43414509e-01 -3.31615023e-01 -7.36089435e-04 4.38389678e+01] [ 3.31614918e-01 9.43414796e-01 -2.63430410e-04 8.85348183e+00] [ 7.81795145e-04 4.42583343e-06 9.99999694e-01 -2.81797036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.87, Y:8.86, Z:-0.28 [[ 9.42269152e-01 -3.34856372e-01 -2.34160355e-04 4.38659796e+01] [ 3.34856361e-01 9.42269181e-01 -8.38717989e-05 8.86082374e+00] [ 2.48727093e-04 6.19724368e-07 9.99999969e-01 -2.81839576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.520888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.89, Y:8.87, Z:-0.28 [[ 9.40278551e-01 -3.40403575e-01 1.28564893e-03 4.38937800e+01] [ 3.40403269e-01 9.40279430e-01 4.56684849e-04 8.86566486e+00] [-1.36432640e-03 8.22813103e-06 9.99999069e-01 -2.78733842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.550888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.92, Y:8.87, Z:-0.28 [[ 9.39672267e-01 -3.42065662e-01 2.66707039e-03 4.39209531e+01] [ 3.42064342e-01 9.39676052e-01 9.50331643e-04 8.87398913e+00] [-2.83125799e-03 1.93093886e-05 9.99995992e-01 -2.75893959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.580888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.95, Y:8.88, Z:-0.27 [[ 9.38743434e-01 -3.44588388e-01 4.42813191e-03 4.39473032e+01] [ 3.44584775e-01 9.38753877e-01 1.57860263e-03 8.88257723e+00] [-4.70089414e-03 4.39639823e-05 9.99988950e-01 -2.73032690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.97, Y:8.89, Z:-0.27 [[ 9.38478176e-01 -3.45308695e-01 4.54073258e-03 4.39726333e+01] [ 3.45304902e-01 9.38489160e-01 1.61906630e-03 8.89413310e+00] [-4.82050598e-03 4.84788320e-05 9.99988380e-01 -2.73415088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.00, Y:8.91, Z:-0.27 [[ 9.38301366e-01 -3.45793396e-01 4.18010753e-03 4.39979273e+01] [ 3.45790181e-01 9.38310676e-01 1.49167662e-03 8.90596514e+00] [-4.43805145e-03 4.57979358e-05 9.99990151e-01 -2.74807755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670888479 meters Centerline goodness [0,1] 0.9998887454941925 Centerline is valid? [True, True] Translation: X:44.02, Y:8.92, Z:-0.28 [[ 9.38068970e-01 -3.46435539e-01 3.00404352e-03 4.40234676e+01] [ 3.46433880e-01 9.38073780e-01 1.07249000e-03 8.91907808e+00] [-3.18956311e-03 3.46328635e-05 9.99994913e-01 -2.79140124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.05, Y:8.93, Z:-0.28 [[ 9.37945967e-01 -3.46772442e-01 2.49740956e-03 4.40491007e+01] [ 3.46771296e-01 9.37949291e-01 8.92117023e-04 8.92994146e+00] [-2.65180513e-03 2.92723869e-05 9.99996484e-01 -2.76665483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.730888479 meters Centerline goodness [0,1] 0.999955505128034 Centerline is valid? [True, True] Translation: X:44.07, Y:8.94, Z:-0.28 [[ 9.37515056e-01 -3.47942359e-01 1.27849538e-03 4.40745365e+01] [ 3.47942059e-01 9.37515928e-01 4.57158286e-04 8.94176644e+00] [-1.35767451e-03 1.62495386e-05 9.99999078e-01 -2.76492912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.10, Y:8.95, Z:-0.28 [[ 9.37400983e-01 -3.48251790e-01 2.97313514e-04 4.41002718e+01] [ 3.48251774e-01 9.37401030e-01 1.05957638e-04 8.95281225e+00] [-3.15601932e-04 4.21516496e-06 9.99999950e-01 -2.77890473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.13, Y:8.97, Z:-0.28 [[ 9.37245310e-01 -3.48668483e-01 -1.23177167e-03 4.41265757e+01] [ 3.48668202e-01 9.37246120e-01 -4.42809097e-04 8.96577608e+00] [ 1.30886680e-03 -1.44588641e-05 9.99999143e-01 -2.79882380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.820888479 meters Centerline goodness [0,1] 0.9998895466996554 Centerline is valid? [True, True] Translation: X:44.15, Y:8.98, Z:-0.29 [[ 9.37195631e-01 -3.48796677e-01 -2.28636547e-03 4.41505578e+01] [ 3.48795715e-01 9.37198419e-01 -8.20027045e-04 8.98228225e+00] [ 2.42880081e-03 -2.89487133e-05 9.99997050e-01 -2.85397583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850888479 meters Centerline goodness [0,1] 0.999933964340744 Centerline is valid? [True, True] Translation: X:44.18, Y:8.99, Z:-0.28 [[ 9.37120007e-01 -3.49000833e-01 -2.12366325e-03 4.41760851e+01] [ 3.48999999e-01 9.37122413e-01 -7.63442993e-04 8.99497693e+00] [ 2.25657467e-03 -2.57207676e-05 9.99997454e-01 -2.84730509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.880888479 meters Centerline goodness [0,1] 0.9998243611135506 Centerline is valid? [True, True] Translation: X:44.20, Y:9.01, Z:-0.29 [[ 9.36686404e-01 -3.50165274e-01 -1.69129108e-03 4.42018978e+01] [ 3.50164746e-01 9.36687931e-01 -6.08578445e-04 9.00817111e+00] [ 1.79731498e-03 -2.21833579e-05 9.99998385e-01 -2.85420158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.910888479 meters Centerline goodness [0,1] 0.9999341903215899 Centerline is valid? [True, True] Translation: X:44.23, Y:9.02, Z:-0.28 [[ 9.36579319e-01 -3.50452430e-01 -1.50788590e-03 4.42271020e+01] [ 3.50452010e-01 9.36580532e-01 -5.43384174e-04 9.02034739e+00] [ 1.60268688e-03 -1.95192645e-05 9.99998716e-01 -2.84013170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.940888479 meters Centerline goodness [0,1] 0.9996948361924276 Centerline is valid? [True, True] Translation: X:44.25, Y:9.03, Z:-0.29 [[ 9.36361193e-01 -3.51033710e-01 -1.74634238e-03 4.42519292e+01] [ 3.51033149e-01 9.36362822e-01 -6.28478982e-04 9.03334509e+00] [ 1.85582738e-03 -2.45407329e-05 9.99998278e-01 -2.86265989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970888479 meters Centerline goodness [0,1] 0.9995221546481321 Centerline is valid? [True, True] Translation: X:44.28, Y:9.05, Z:-0.29 [[ 9.36851735e-01 -3.49726785e-01 -4.19251146e-05 4.42750496e+01] [ 3.49726785e-01 9.36851736e-01 -1.57892152e-05 9.05159895e+00] [ 4.47995279e-05 1.29818130e-07 9.99999999e-01 -2.85121929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.000888479 meters Centerline goodness [0,1] 0.9994131200278225 Centerline is valid? [True, True] Translation: X:44.30, Y:9.07, Z:-0.29 [[ 9.37063314e-01 -3.49158766e-01 7.08478065e-04 4.43012491e+01] [ 3.49158674e-01 9.37063582e-01 2.53624977e-04 9.06540623e+00] [-7.52444377e-04 9.70860081e-06 9.99999717e-01 -2.86834953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030888479 meters Centerline goodness [0,1] 0.9990515810574871 Centerline is valid? [True, True] Translation: X:44.33, Y:9.08, Z:-0.28 [[ 9.38372374e-01 -3.45622166e-01 1.61432672e-03 4.43255567e+01] [ 3.45621679e-01 9.38373763e-01 5.79974553e-04 9.08390753e+00] [-1.71529390e-03 1.37142126e-05 9.99998529e-01 -2.83930352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.060888479 meters Centerline goodness [0,1] 0.9990704511554508 Centerline is valid? [True, True] Translation: X:44.35, Y:9.10, Z:-0.28 [[ 9.38844062e-01 -3.44334611e-01 2.34590773e-03 4.43503105e+01] [ 3.44333575e-01 9.38846993e-01 8.44570174e-04 9.09673221e+00] [-2.49326316e-03 1.48551030e-05 9.99996892e-01 -2.84161393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.090888479 meters Centerline goodness [0,1] 0.9986872404071707 Centerline is valid? [True, True] Translation: X:44.37, Y:9.11, Z:-0.28 [[ 9.39243157e-01 -3.43239163e-01 3.02787771e-03 4.43744488e+01] [ 3.43237432e-01 9.39248038e-01 1.09007906e-03 9.11116209e+00] [-3.21808602e-03 1.54316703e-05 9.99994822e-01 -2.84268562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.120888479 meters Centerline goodness [0,1] 0.9983018786810541 Centerline is valid? [True, True] Translation: X:44.40, Y:9.13, Z:-0.29 [[ 9.39828205e-01 -3.41637078e-01 2.65553982e-03 4.43979316e+01] [ 3.41635738e-01 9.39831957e-01 9.56657637e-04 9.12932866e+00] [-2.82259091e-03 8.13347919e-06 9.99996016e-01 -2.88334495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150888479 meters Centerline goodness [0,1] 0.998263851677205 Centerline is valid? [True, True] Translation: X:44.42, Y:9.14, Z:-0.29 [[ 9.40391021e-01 -3.40086038e-01 2.49303718e-03 4.44228150e+01] [ 3.40084850e-01 9.40394325e-01 8.98793329e-04 9.14374638e+00] [-2.65010508e-03 2.62699880e-06 9.99996488e-01 -2.88785017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.180888479000004 meters Centerline goodness [0,1] 0.9980940959804698 Centerline is valid? [True, True] Translation: X:44.45, Y:9.16, Z:-0.29 [[ 9.41059699e-01 -3.38230341e-01 2.62275045e-03 4.44473692e+01] [ 3.38229017e-01 9.41063354e-01 9.46450702e-04 9.15799222e+00] [-2.78829268e-03 -3.57630648e-06 9.99996113e-01 -2.87914299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210888479 meters Centerline goodness [0,1] 0.997770132517839 Centerline is valid? [True, True] Translation: X:44.47, Y:9.17, Z:-0.29 [[ 9.41603798e-01 -3.36717589e-01 1.88471497e-03 4.44717022e+01] [ 3.36716901e-01 9.41605684e-01 6.80942945e-04 9.17158404e+00] [-2.00394380e-03 -6.56307841e-06 9.99997992e-01 -2.90407579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.240888479 meters Centerline goodness [0,1] 0.9980302035456337 Centerline is valid? [True, True] Translation: X:44.50, Y:9.19, Z:-0.29 [[ 9.42993345e-01 -3.32811027e-01 -6.10172672e-04 4.44963940e+01] [ 3.32810953e-01 9.42993542e-01 -2.22121743e-04 9.18771508e+00] [ 6.49313455e-04 6.38717699e-06 9.99999789e-01 -2.91871385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.270888479 meters Centerline goodness [0,1] 0.997279432081447 Centerline is valid? [True, True] Translation: X:44.52, Y:9.20, Z:-0.29 [[ 9.43500086e-01 -3.31367001e-01 -1.87026781e-03 4.45224411e+01] [ 3.31366307e-01 9.43501940e-01 -6.78548021e-04 9.20093122e+00] [ 1.98944973e-03 2.04663792e-05 9.99998021e-01 -2.93791213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.300888479 meters Centerline goodness [0,1] 0.9968593498005263 Centerline is valid? [True, True] Translation: X:44.55, Y:9.22, Z:-0.30 [[ 9.44728212e-01 -3.27843275e-01 -2.71881447e-03 4.45468867e+01] [ 3.27841793e-01 9.44732124e-01 -9.86581867e-04 9.21908687e+00] [ 2.89199560e-03 4.07107117e-05 9.99995817e-01 -2.95670934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.330888479 meters Centerline goodness [0,1] 0.9972859505534116 Centerline is valid? [True, True] Translation: X:44.57, Y:9.23, Z:-0.30 [[ 9.45430945e-01 -3.25815651e-01 -2.11891226e-03 4.45713208e+01] [ 3.25814747e-01 9.45433319e-01 -7.68502654e-04 9.23430257e+00] [ 2.25368044e-03 3.61933297e-05 9.99997460e-01 -2.97175728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.360888479 meters Centerline goodness [0,1] 0.9967369424727196 Centerline is valid? [True, True] Translation: X:44.60, Y:9.25, Z:-0.30 [[ 9.46012371e-01 -3.24126948e-01 -1.52180865e-03 4.45975797e+01] [ 3.24126477e-01 9.46013594e-01 -5.53335641e-04 9.24639583e+00] [ 1.61900266e-03 3.02038844e-05 9.99998689e-01 -2.96079456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390888479 meters Centerline goodness [0,1] 0.9965281430825881 Centerline is valid? [True, True] Translation: X:44.62, Y:9.26, Z:-0.29 [[ 9.46830524e-01 -3.21732742e-01 4.39309380e-05 4.46242122e+01] [ 3.21732741e-01 9.46830525e-01 1.45377744e-05 9.25716485e+00] [-4.62724310e-05 3.69212585e-07 9.99999999e-01 -2.93167730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.420888479 meters Centerline goodness [0,1] 0.9968057876589174 Centerline is valid? [True, True] Translation: X:44.65, Y:9.27, Z:-0.29 [[ 9.47402601e-01 -3.20040482e-01 1.54958138e-03 4.46503506e+01] [ 3.20039991e-01 9.47403868e-01 5.61496092e-04 9.26901643e+00] [-1.64778087e-03 -3.60348461e-05 9.99998642e-01 -2.90517203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.450888479 meters Centerline goodness [0,1] 0.9962507943232366 Centerline is valid? [True, True] Translation: X:44.68, Y:9.28, Z:-0.29 [[ 9.47926486e-01 -3.18484830e-01 1.67061040e-03 4.46766410e+01] [ 3.18484256e-01 9.47927957e-01 6.05924612e-04 9.28173408e+00] [-1.77659610e-03 -4.23088751e-05 9.99998421e-01 -2.91341693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.480888479 meters Centerline goodness [0,1] 0.9959957006470105 Centerline is valid? [True, True] Translation: X:44.70, Y:9.30, Z:-0.29 [[ 9.49167073e-01 -3.14765764e-01 2.09340072e-03 4.47024221e+01] [ 3.14764851e-01 9.49169379e-01 7.60915043e-04 9.29779441e+00] [-2.22650187e-03 -6.33065392e-05 9.99997519e-01 -2.92735288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.510888479 meters Centerline goodness [0,1] 0.9957441429293781 Centerline is valid? [True, True] Translation: X:44.73, Y:9.31, Z:-0.29 [[ 9.49652589e-01 -3.13294539e-01 2.54781252e-03 4.47289196e+01] [ 3.13293182e-01 9.49656004e-01 9.25618422e-04 9.31003864e+00] [-2.70953665e-03 -8.08036413e-05 9.99996326e-01 -2.93226395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.540888479 meters Centerline goodness [0,1] 0.9955099966113182 Centerline is valid? [True, True] Translation: X:44.75, Y:9.32, Z:-0.29 [[ 9.50959250e-01 -3.09288284e-01 4.15486567e-03 4.47537380e+01] [ 3.09284627e-01 9.50968314e-01 1.51169585e-03 9.32371429e+00] [-4.41869542e-03 -1.52525069e-04 9.99990226e-01 -2.90820582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570888479 meters Centerline goodness [0,1] 0.9957955673871247 Centerline is valid? [True, True] Translation: X:44.78, Y:9.33, Z:-0.29 [[ 9.51540276e-01 -3.07490131e-01 4.57416183e-03 4.47804256e+01] [ 3.07485677e-01 9.51551253e-01 1.66463945e-03 9.33341588e+00] [-4.86440963e-03 -1.77482233e-04 9.99988153e-01 -2.89539644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.600888479 meters Centerline goodness [0,1] 0.9960883814356697 Centerline is valid? [True, True] Translation: X:44.81, Y:9.34, Z:-0.29 [[ 9.52136999e-01 -3.05634242e-01 4.77969718e-03 4.48071827e+01] [ 3.05629352e-01 9.52148976e-01 1.73986359e-03 9.34410884e+00] [-5.08274567e-03 -1.95772742e-04 9.99987064e-01 -2.88060463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630888479 meters Centerline goodness [0,1] 0.9957837928999073 Centerline is valid? [True, True] Translation: X:44.83, Y:9.36, Z:-0.29 [[ 9.52657972e-01 -3.04016299e-01 4.10841223e-03 4.48329911e+01] [ 3.04012667e-01 9.52666814e-01 1.49662447e-03 9.35619803e+00] [-4.36894623e-03 -1.76761875e-04 9.99990440e-01 -2.90989368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.660888479 meters Centerline goodness [0,1] 0.9953116090473274 Centerline is valid? [True, True] Translation: X:44.86, Y:9.37, Z:-0.29 [[ 9.54283180e-01 -2.98892581e-01 2.61470114e-03 4.48590003e+01] [ 2.98891090e-01 9.54286754e-01 9.52745108e-04 9.37224242e+00] [-2.77994311e-03 -1.27677758e-04 9.99996128e-01 -2.93369434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.690888479 meters Centerline goodness [0,1] 0.9957336262065178 Centerline is valid? [True, True] Translation: X:44.89, Y:9.38, Z:-0.30 [[ 9.54938399e-01 -2.96800708e-01 1.41175157e-03 4.48860867e+01] [ 2.96800271e-01 9.54939440e-01 5.14341778e-04 9.38394802e+00] [-1.50079426e-03 -7.21564652e-05 9.99998871e-01 -2.95916928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.720888479 meters Centerline goodness [0,1] 0.9957858361954529 Centerline is valid? [True, True] Translation: X:44.91, Y:9.39, Z:-0.30 [[ 9.55621307e-01 -2.94597714e-01 3.22371454e-04 4.49130962e+01] [ 2.94597692e-01 9.55621361e-01 1.17213439e-04 9.39486569e+00] [-3.42595858e-04 -1.70417734e-05 9.99999941e-01 -2.96833657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750888479 meters Centerline goodness [0,1] 0.995942604763213 Centerline is valid? [True, True] Translation: X:44.94, Y:9.40, Z:-0.30 [[ 9.56171551e-01 -2.92806565e-01 -5.29983980e-04 4.49421854e+01] [ 2.92806502e-01 9.56171697e-01 -1.93419980e-04 9.40261144e+00] [ 5.63390322e-04 2.97599265e-05 9.99999841e-01 -2.97057419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.780888479 meters Centerline goodness [0,1] 0.9956668068994531 Centerline is valid? [True, True] Translation: X:44.97, Y:9.41, Z:-0.30 [[ 9.56423989e-01 -2.91981373e-01 1.74702580e-04 4.49697987e+01] [ 2.91981366e-01 9.56424005e-01 6.23033656e-05 9.41203468e+00] [-1.85281163e-04 -8.57853560e-06 9.99999983e-01 -2.95473361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810888479 meters Centerline goodness [0,1] 0.9954611665857417 Centerline is valid? [True, True] Translation: X:44.99, Y:9.43, Z:-0.30 [[ 9.56350040e-01 -2.92223343e-01 3.43695948e-04 4.49941729e+01] [ 2.92223316e-01 9.56350102e-01 1.24923333e-04 9.42619465e+00] [-3.65199169e-04 -1.90344648e-05 9.99999933e-01 -2.96233974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.840888479 meters Centerline goodness [0,1] 0.9957310114544148 Centerline is valid? [True, True] Translation: X:45.02, Y:9.43, Z:-0.30 [[ 9.56020264e-01 -2.93300622e-01 -1.31760972e-05 4.50222649e+01] [ 2.93300622e-01 9.56020264e-01 -6.20017133e-06 9.43253544e+00] [ 1.44151301e-05 2.06293192e-06 1.00000000e+00 -2.97410471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.870888479 meters Centerline goodness [0,1] 0.9960862298758172 Centerline is valid? [True, True] Translation: X:45.05, Y:9.44, Z:-0.30 [[ 9.55582075e-01 -2.94718254e-01 -2.01204253e-03 4.50488665e+01] [ 2.94717356e-01 9.55584187e-01 -7.35838750e-04 9.44031010e+00] [ 2.13954113e-03 1.10170467e-04 9.99997705e-01 -2.99851208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.900888479 meters Centerline goodness [0,1] 0.9961020252520972 Centerline is valid? [True, True] Translation: X:45.08, Y:9.45, Z:-0.30 [[ 9.55271661e-01 -2.95727171e-01 -1.22234159e-03 4.50761176e+01] [ 2.95726840e-01 9.55272441e-01 -4.47189869e-04 9.44679470e+00] [ 1.29991543e-03 6.57085911e-05 9.99999153e-01 -2.99123532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930888479000004 meters Centerline goodness [0,1] 0.9957448610199632 Centerline is valid? [True, True] Translation: X:45.11, Y:9.45, Z:-0.30 [[ 9.54827408e-01 -2.97160370e-01 -5.78696151e-04 4.51070012e+01] [ 2.97160296e-01 9.54827583e-01 -2.13100269e-04 9.44693525e+00] [ 6.15880002e-04 3.15084578e-05 9.99999810e-01 -2.98570229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.960888479 meters Centerline goodness [0,1] 0.995842084049301 Centerline is valid? [True, True] Translation: X:45.13, Y:9.46, Z:-0.30 [[ 9.54647451e-01 -2.97738492e-01 1.87218586e-04 4.51337093e+01] [ 2.97738485e-01 9.54647469e-01 6.79783035e-05 9.45518390e+00] [-1.98967507e-04 -9.15313619e-06 9.99999980e-01 -2.96832200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990888479 meters Centerline goodness [0,1] 0.9962833963386144 Centerline is valid? [True, True] Translation: X:45.16, Y:9.46, Z:-0.30 [[ 9.54049315e-01 -2.99649396e-01 3.80683674e-04 4.51627732e+01] [ 2.99649364e-01 9.54049390e-01 1.38888224e-04 9.45928207e+00] [-4.04808800e-04 -1.84345935e-05 9.99999918e-01 -2.96714427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.020888479 meters Centerline goodness [0,1] 0.9964398396861942 Centerline is valid? [True, True] Translation: X:45.19, Y:9.47, Z:-0.29 [[ 9.53998405e-01 -2.99810653e-01 7.84586494e-04 4.51883305e+01] [ 2.99810518e-01 9.53998727e-01 2.86490027e-04 9.46698985e+00] [-8.34387278e-04 -3.80837453e-05 9.99999651e-01 -2.94552190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.050888479 meters Centerline goodness [0,1] 0.9956780923994039 Centerline is valid? [True, True] Translation: X:45.21, Y:9.48, Z:-0.30 [[ 9.54054055e-01 -2.99633946e-01 5.99181614e-04 4.52147015e+01] [ 2.99633868e-01 9.54054242e-01 2.18889875e-04 9.47651739e+00] [-6.37238597e-04 -2.92976684e-05 9.99999797e-01 -2.96988746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.080888479 meters Centerline goodness [0,1] 0.9963513773017262 Centerline is valid? [True, True] Translation: X:45.24, Y:9.48, Z:-0.30 [[ 9.54280914e-01 -2.98911232e-01 -1.15327865e-04 4.52436077e+01] [ 2.98911229e-01 9.54280921e-01 -4.37014299e-05 9.48279821e+00] [ 1.23118030e-04 7.23064652e-06 9.99999992e-01 -2.98137480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110888479 meters Centerline goodness [0,1] 0.996686901504788 Centerline is valid? [True, True] Translation: X:45.27, Y:9.49, Z:-0.30 [[ 9.55119418e-01 -2.96220928e-01 -2.41196253e-04 4.52701693e+01] [ 2.96220915e-01 9.55119449e-01 -8.88891997e-05 9.49239335e+00] [ 2.56702073e-04 1.34524259e-05 9.99999967e-01 -2.98242047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.140888479 meters Centerline goodness [0,1] 0.9970440184213345 Centerline is valid? [True, True] Translation: X:45.30, Y:9.50, Z:-0.30 [[ 9.55392055e-01 -2.95336173e-01 -1.60188170e-03 4.52988847e+01] [ 2.95335601e-01 9.55393394e-01 -5.87785200e-04 9.49563611e+00] [ 1.70402142e-03 8.84726171e-05 9.99998544e-01 -2.99689698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170888479 meters Centerline goodness [0,1] 0.9970440184213345 Centerline is valid? [True, True] Translation: X:45.32, Y:9.51, Z:-0.30 [[ 9.55311394e-01 -2.95596983e-01 -1.60136810e-03 4.53247727e+01] [ 2.95596409e-01 9.55312732e-01 -5.89185308e-04 9.50522409e+00] [ 1.70396873e-03 8.94967790e-05 9.99998544e-01 -2.99840343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.200888479 meters Centerline goodness [0,1] 0.9970440184213345 Centerline is valid? [True, True] Translation: X:45.35, Y:9.51, Z:-0.30 [[ 9.55230659e-01 -2.95857776e-01 -1.60120738e-03 4.53506583e+01] [ 2.95857202e-01 9.55231997e-01 -5.89622537e-04 9.51481873e+00] [ 1.70396893e-03 8.94967895e-05 9.99998544e-01 -2.99990665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.230888479 meters Centerline goodness [0,1] 0.996886340698748 Centerline is valid? [True, True] Translation: X:45.38, Y:9.52, Z:-0.30 [[ 9.55267824e-01 -2.95739396e-01 -1.26278458e-03 4.53796413e+01] [ 2.95739038e-01 9.55268656e-01 -4.65551770e-04 9.51859732e+00] [ 1.34398053e-03 7.12719273e-05 9.99999094e-01 -2.97887602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.260888479 meters Centerline goodness [0,1] 0.996886340698748 Centerline is valid? [True, True] Translation: X:45.41, Y:9.53, Z:-0.30 [[ 9.55183876e-01 -2.96010422e-01 -1.26258604e-03 4.54055325e+01] [ 2.96010064e-01 9.55184707e-01 -4.66091201e-04 9.52819312e+00] [ 1.34397073e-03 7.14646270e-05 9.99999094e-01 -2.98037989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290888479 meters Centerline goodness [0,1] 0.9968246476002489 Centerline is valid? [True, True] Translation: X:45.43, Y:9.54, Z:-0.30 [[ 9.55261019e-01 -2.95764032e-01 1.54893957e-04 4.54309104e+01] [ 2.95764026e-01 9.55261031e-01 5.64818833e-05 9.53955044e+00] [-1.64669470e-04 -8.14288105e-06 9.99999986e-01 -2.98988322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.320888479 meters Centerline goodness [0,1] 0.9966161226762614 Centerline is valid? [True, True] Translation: X:45.46, Y:9.55, Z:-0.30 [[ 9.55517001e-01 -2.94935680e-01 4.53030183e-04 4.54583966e+01] [ 2.94935635e-01 9.55517108e-01 1.65424636e-04 9.54765056e+00] [-4.81667718e-04 -2.44513074e-05 9.99999884e-01 -2.98516582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350888479 meters Centerline goodness [0,1] 0.9971591520499301 Centerline is valid? [True, True] Translation: X:45.49, Y:9.56, Z:-0.30 [[ 9.55914688e-01 -2.93643847e-01 -6.32330321e-04 4.54851979e+01] [ 2.93643757e-01 9.55914897e-01 -2.33292371e-04 9.55821404e+00] [ 6.72958843e-04 3.73277528e-05 9.99999773e-01 -3.00047780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.380888479 meters Centerline goodness [0,1] 0.9969190330503728 Centerline is valid? [True, True] Translation: X:45.51, Y:9.56, Z:-0.30 [[ 9.56736298e-01 -2.90944275e-01 -2.66158480e-03 4.55145583e+01] [ 2.90942668e-01 9.56739987e-01 -9.80708056e-04 9.56485296e+00] [ 2.83177600e-03 1.63910411e-04 9.99995977e-01 -3.02960164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.410888479 meters Centerline goodness [0,1] 0.9965763748331252 Centerline is valid? [True, True] Translation: X:45.54, Y:9.58, Z:-0.31 [[ 9.56767576e-01 -2.90831271e-01 -3.60242366e-03 4.55400437e+01] [ 2.90828325e-01 9.56774332e-01 -1.32782278e-03 9.57537893e+00] [ 3.83287888e-03 2.22730942e-04 9.99992630e-01 -3.05067041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.440888479 meters Centerline goodness [0,1] 0.9970620639001102 Centerline is valid? [True, True] Translation: X:45.57, Y:9.58, Z:-0.30 [[ 9.57095718e-01 -2.89754305e-01 -3.19833500e-03 4.55687880e+01] [ 2.89751975e-01 9.57101041e-01 -1.17924786e-03 9.57978739e+00] [ 3.40282190e-03 2.01929197e-04 9.99994190e-01 -3.01424926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470888479 meters Centerline goodness [0,1] 0.9971401334604385 Centerline is valid? [True, True] Translation: X:45.60, Y:9.59, Z:-0.30 [[ 9.56550952e-01 -2.91557707e-01 -2.09276232e-03 4.55966375e+01] [ 2.91556714e-01 9.56553233e-01 -7.71707810e-04 9.58687328e+00] [ 2.22683592e-03 1.28018937e-04 9.99997512e-01 -3.02616093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.500888479 meters Centerline goodness [0,1] 0.9975961538461539 Centerline is valid? [True, True] Translation: X:45.63, Y:9.59, Z:-0.30 [[ 9.56136540e-01 -2.92917984e-01 -1.40437764e-03 4.56267809e+01] [ 2.92917537e-01 9.56137567e-01 -5.18587078e-04 9.58975737e+00] [ 1.49468170e-03 8.44732153e-05 9.99998879e-01 -3.02131568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530888479 meters Centerline goodness [0,1] 0.9979795346412045 Centerline is valid? [True, True] Translation: X:45.66, Y:9.60, Z:-0.30 [[ 9.55566566e-01 -2.94774341e-01 7.91446288e-04 4.56554836e+01] [ 2.94774200e-01 9.55566892e-01 2.91496723e-04 9.59572366e+00] [-8.42205624e-04 -4.52465757e-05 9.99999644e-01 -3.00074257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.560888479 meters Centerline goodness [0,1] 0.9976794118284934 Centerline is valid? [True, True] Translation: X:45.68, Y:9.61, Z:-0.30 [[ 9.55403808e-01 -2.95300427e-01 1.10475711e-03 4.56808599e+01] [ 2.95300153e-01 9.55404445e-01 4.07062616e-04 9.60650637e+00] [-1.17569562e-03 -6.26742289e-05 9.99999307e-01 -2.97660594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.590888479 meters Centerline goodness [0,1] 0.9983656926194678 Centerline is valid? [True, True] Translation: X:45.71, Y:9.61, Z:-0.30 [[ 9.54910024e-01 -2.96894832e-01 5.52994937e-04 4.57100011e+01] [ 2.96894764e-01 9.54910183e-01 2.03652918e-04 9.61024563e+00] [-5.88523995e-04 -3.02889117e-05 9.99999826e-01 -2.98507207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.620888479 meters Centerline goodness [0,1] 0.9983176753331877 Centerline is valid? [True, True] Translation: X:45.74, Y:9.62, Z:-0.30 [[ 9.54438367e-01 -2.98408116e-01 8.50220417e-06 4.57385666e+01] [ 2.98408116e-01 9.54438367e-01 1.70445896e-06 9.61683061e+00] [-8.62345423e-06 9.10325693e-07 1.00000000e+00 -2.99367592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650888479 meters Centerline goodness [0,1] 0.9988617459066632 Centerline is valid? [True, True] Translation: X:45.77, Y:9.62, Z:-0.30 [[ 9.53455877e-01 -3.01531223e-01 -9.01449855e-04 4.57671699e+01] [ 3.01531042e-01 9.53456302e-01 -3.33136130e-04 9.62333039e+00] [ 9.59943990e-04 4.58154867e-05 9.99999538e-01 -3.01934983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.680888479 meters Centerline goodness [0,1] 0.99913933883568 Centerline is valid? [True, True] Translation: X:45.80, Y:9.63, Z:-0.30 [[ 9.52294850e-01 -3.05172955e-01 -1.99642631e-03 4.57977424e+01] [ 3.05172078e-01 9.52296938e-01 -7.37624325e-04 9.62562907e+00] [ 2.12629366e-03 9.31822805e-05 9.99997735e-01 -3.01833129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710888479 meters Centerline goodness [0,1] 0.9992479373576058 Centerline is valid? [True, True] Translation: X:45.83, Y:9.63, Z:-0.30 [[ 9.51616614e-01 -3.07281462e-01 -1.98090507e-03 4.58260939e+01] [ 3.07280602e-01 9.51618671e-01 -7.32249151e-04 9.63205199e+00] [ 2.11007284e-03 8.81267570e-05 9.99997770e-01 -3.00118305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.740888479 meters Centerline goodness [0,1] 0.9992251322809892 Centerline is valid? [True, True] Translation: X:45.86, Y:9.64, Z:-0.30 [[ 9.50561815e-01 -3.10528331e-01 -2.09567536e-03 4.58554419e+01] [ 3.10527375e-01 9.50564121e-01 -7.75499213e-04 9.63935820e+00] [ 2.23288828e-03 8.63953715e-05 9.99997503e-01 -3.02253980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.770888479 meters Centerline goodness [0,1] 0.9994232603535858 Centerline is valid? [True, True] Translation: X:45.88, Y:9.64, Z:-0.30 [[ 9.49905589e-01 -3.12534368e-01 -1.28077351e-03 4.58839798e+01] [ 3.12534011e-01 9.49906451e-01 -4.75140621e-04 9.64490531e+00] [ 1.36511280e-03 5.10534487e-05 9.99999067e-01 -2.97007348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.800888479 meters Centerline goodness [0,1] 0.9995331050735915 Centerline is valid? [True, True] Translation: X:45.91, Y:9.65, Z:-0.30 [[ 9.47722787e-01 -3.19093579e-01 -8.98655823e-04 4.59127494e+01] [ 3.19093407e-01 9.47723212e-01 -3.32718003e-04 9.65026088e+00] [ 9.57845162e-04 2.85692844e-05 9.99999541e-01 -2.99915605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.830888479 meters Centerline goodness [0,1] 0.9997113228077188 Centerline is valid? [True, True] Translation: X:45.94, Y:9.66, Z:-0.30 [[ 9.46922387e-01 -3.21462273e-01 -2.60727912e-06 4.59410975e+01] [ 3.21462273e-01 9.46922387e-01 -1.35611789e-06 9.65729978e+00] [ 2.90483173e-06 4.45996511e-07 1.00000000e+00 -2.97709868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.860888479 meters Centerline goodness [0,1] 0.9996877091233549 Centerline is valid? [True, True] Translation: X:45.97, Y:9.66, Z:-0.30 [[ 9.45987183e-01 -3.24203643e-01 4.96327044e-04 4.59689044e+01] [ 3.24203592e-01 9.45987314e-01 1.82453092e-04 9.66440814e+00] [-5.28671044e-04 -1.16872760e-05 9.99999860e-01 -2.95603990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890888479 meters Centerline goodness [0,1] 0.9999553022684099 Centerline is valid? [True, True] Translation: X:46.00, Y:9.67, Z:-0.29 [[ 9.44023474e-01 -3.29878148e-01 2.97009273e-04 4.60000563e+01] [ 3.29878130e-01 9.44023521e-01 1.08944700e-04 9.66699065e+00] [-3.16322215e-04 -4.86949045e-06 9.99999950e-01 -2.94819766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.920888479 meters Centerline goodness [0,1] 0.9998877287526664 Centerline is valid? [True, True] Translation: X:46.03, Y:9.67, Z:-0.29 [[ 9.42998670e-01 -3.32796042e-01 5.49456821e-04 4.60287188e+01] [ 3.32795981e-01 9.42998831e-01 2.02293775e-04 9.67389264e+00] [-5.85459707e-04 -7.90573956e-06 9.99999829e-01 -2.94724948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.950888479 meters Centerline goodness [0,1] 0.9999103259651168 Centerline is valid? [True, True] Translation: X:46.06, Y:9.68, Z:-0.30 [[ 9.41942544e-01 -3.35772600e-01 1.00195138e-03 4.60569588e+01] [ 3.35772396e-01 9.41943077e-01 3.70892920e-04 9.68233244e+00] [-1.06831684e-03 -1.29322062e-05 9.99999429e-01 -2.95507853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.980888479 meters Centerline goodness [0,1] 0.9999775824964132 Centerline is valid? [True, True] Translation: X:46.08, Y:9.69, Z:-0.29 [[ 9.41346755e-01 -3.37436182e-01 1.76350762e-03 4.60831021e+01] [ 3.37435550e-01 9.41348406e-01 6.53791268e-04 9.69181000e+00] [-1.88068792e-03 -2.03741253e-05 9.99998231e-01 -2.93149593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.010888479 meters Centerline goodness [0,1] 0.9998657447808283 Centerline is valid? [True, True] Translation: X:46.11, Y:9.70, Z:-0.30 [[ 9.39399556e-01 -3.42802352e-01 3.87566089e-03 4.61112480e+01] [ 3.42799339e-01 9.39407551e-01 1.43760528e-03 9.70007197e+00] [-4.13363958e-03 -2.19117698e-05 9.99991456e-01 -2.95435758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.040888479 meters Centerline goodness [0,1] 0.9996873185330772 Centerline is valid? [True, True] Translation: X:46.14, Y:9.71, Z:-0.30 [[ 9.38594888e-01 -3.44990694e-01 4.58887070e-03 4.61378669e+01] [ 3.44986487e-01 9.38606105e-01 1.70378084e-03 9.70816265e+00] [-4.89493059e-03 -1.60615982e-05 9.99988020e-01 -2.95390718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070888479 meters Centerline goodness [0,1] 0.9998657898268689 Centerline is valid? [True, True] Translation: X:46.16, Y:9.72, Z:-0.29 [[ 9.37593527e-01 -3.47706969e-01 4.27114592e-03 4.61649214e+01] [ 3.47703352e-01 9.37603255e-01 1.58601151e-03 9.71529890e+00] [-4.55610757e-03 -1.94237402e-06 9.99989621e-01 -2.92160073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.100888479 meters Centerline goodness [0,1] 0.9997769450392576 Centerline is valid? [True, True] Translation: X:46.19, Y:9.72, Z:-0.29 [[ 9.37133385e-01 -3.48957081e-01 3.15825407e-03 4.61901606e+01] [ 3.48955108e-01 9.37138707e-01 1.17368832e-03 9.72495276e+00] [-3.36928898e-03 2.18638609e-06 9.99994324e-01 -2.94338402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130888479 meters Centerline goodness [0,1] 0.9999106604426775 Centerline is valid? [True, True] Translation: X:46.22, Y:9.74, Z:-0.29 [[ 9.37078328e-01 -3.49106898e-01 2.92943569e-03 4.62164757e+01] [ 3.49105201e-01 9.37082907e-01 1.08861326e-03 9.73604709e+00] [-3.12516651e-03 2.56534232e-06 9.99995117e-01 -2.92328426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.160888479 meters Centerline goodness [0,1] 0.9999554962171785 Centerline is valid? [True, True] Translation: X:46.24, Y:9.75, Z:-0.30 [[ 9.36851307e-01 -3.49721129e-01 2.18175513e-03 4.62400510e+01] [ 3.49720187e-01 9.36853848e-01 8.11567009e-04 9.74898557e+00] [-2.32780782e-03 2.68619804e-06 9.99997291e-01 -2.95116364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.190888479 meters Centerline goodness [0,1] 0.9998219135390232 Centerline is valid? [True, True] Translation: X:46.27, Y:9.76, Z:-0.30 [[ 9.36525195e-01 -3.50599302e-01 8.29703316e-04 4.62658428e+01] [ 3.50599167e-01 9.36525563e-01 3.07572496e-04 9.76117317e+00] [-8.84873067e-04 2.84390029e-06 9.99999608e-01 -3.00446390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.220888479 meters Centerline goodness [0,1] 0.9996225493461223 Centerline is valid? [True, True] Translation: X:46.29, Y:9.77, Z:-0.30 [[ 9.36581006e-01 -3.50450991e-01 3.48796202e-04 4.62914481e+01] [ 3.50450967e-01 9.36581071e-01 1.28469612e-04 9.77323553e+00] [-3.71698223e-04 1.91376743e-06 9.99999931e-01 -3.02480765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250888479 meters Centerline goodness [0,1] 0.9998008012217525 Centerline is valid? [True, True] Translation: X:46.32, Y:9.79, Z:-0.30 [[ 9.37392154e-01 -3.48274705e-01 -8.23855434e-04 4.63156850e+01] [ 3.48274569e-01 9.37392517e-01 -3.07809713e-04 9.78665786e+00] [ 8.79478256e-04 1.61051394e-06 9.99999613e-01 -3.01165245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.280888479 meters Centerline goodness [0,1] 0.9997562650949459 Centerline is valid? [True, True] Translation: X:46.34, Y:9.80, Z:-0.30 [[ 9.37675167e-01 -3.47511002e-01 -1.17682740e-03 4.63414009e+01] [ 3.47510723e-01 9.37675905e-01 -4.40975705e-04 9.79821572e+00] [ 1.25672661e-03 4.53182685e-06 9.99999210e-01 -3.01515898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310888479 meters Centerline goodness [0,1] 0.9995578547110581 Centerline is valid? [True, True] Translation: X:46.37, Y:9.81, Z:-0.30 [[ 9.38141094e-01 -3.46249902e-01 -1.51449207e-03 4.63669016e+01] [ 3.46249439e-01 9.38142316e-01 -5.66065758e-04 9.81068844e+00] [ 1.61680931e-03 6.65751943e-06 9.99998693e-01 -3.02498315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.340888479 meters Centerline goodness [0,1] 0.9996018668023269 Centerline is valid? [True, True] Translation: X:46.39, Y:9.83, Z:-0.30 [[ 9.39166667e-01 -3.43455476e-01 -2.07521262e-03 4.63917730e+01] [ 3.43454598e-01 9.39168960e-01 -7.76958481e-04 9.82622363e+00] [ 2.21582593e-03 1.69521905e-05 9.99997545e-01 -3.02172548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.370888479 meters Centerline goodness [0,1] 0.9995148093421256 Centerline is valid? [True, True] Translation: X:46.42, Y:9.84, Z:-0.30 [[ 9.39686188e-01 -3.42030870e-01 -2.17972538e-03 4.64166166e+01] [ 3.42029899e-01 9.39688716e-01 -8.15309879e-04 9.83946337e+00] [ 2.32712449e-03 2.06041829e-05 9.99997292e-01 -3.02628341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.400888479 meters Centerline goodness [0,1] 0.9992971358285011 Centerline is valid? [True, True] Translation: X:46.44, Y:9.86, Z:-0.30 [[ 9.41123402e-01 -3.38060868e-01 -1.26197984e-03 4.64402876e+01] [ 3.38060538e-01 9.41124248e-01 -4.72351863e-04 9.85553161e+00] [ 1.34736351e-03 1.79158076e-05 9.99999092e-01 -3.01096444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.430888479 meters Centerline goodness [0,1] 0.9992326075993773 Centerline is valid? [True, True] Translation: X:46.47, Y:9.87, Z:-0.30 [[ 9.41623340e-01 -3.36667945e-01 -4.25220621e-04 4.64665202e+01] [ 3.36667907e-01 9.41623436e-01 -1.60554184e-04 9.86707532e+00] [ 4.54451149e-04 8.02343033e-06 9.99999897e-01 -3.00616897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.460888479 meters Centerline goodness [0,1] 0.999127685094319 Centerline is valid? [True, True] Translation: X:46.49, Y:9.88, Z:-0.30 [[ 9.42170974e-01 -3.35132593e-01 -8.34162457e-06 4.64906476e+01] [ 3.35132593e-01 9.42170974e-01 -3.63355925e-06 9.88189229e+00] [ 9.07696070e-06 6.27883782e-07 1.00000000e+00 -3.02164234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490888479 meters Centerline goodness [0,1] 0.9991506413746543 Centerline is valid? [True, True] Translation: X:46.52, Y:9.89, Z:-0.30 [[ 9.42657809e-01 -3.33760421e-01 -4.86235808e-04 4.65177406e+01] [ 3.33760371e-01 9.42657934e-01 -1.83560265e-04 9.89322689e+00] [ 5.19619194e-04 1.07482734e-05 9.99999865e-01 -3.03550731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.520888479 meters Centerline goodness [0,1] 0.9984335907755901 Centerline is valid? [True, True] Translation: X:46.54, Y:9.91, Z:-0.30 [[ 9.44797235e-01 -3.27655573e-01 -1.06889844e-04 4.65421528e+01] [ 3.27655570e-01 9.44797241e-01 -4.03480708e-05 9.91021416e+00] [ 1.14209500e-04 3.09769298e-06 9.99999993e-01 -3.01122453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.550888479 meters Centerline goodness [0,1] 0.9987191177109114 Centerline is valid? [True, True] Translation: X:46.57, Y:9.92, Z:-0.30 [[ 9.45811777e-01 -3.24715199e-01 3.48890580e-04 4.65681172e+01] [ 3.24715173e-01 9.45811842e-01 1.29377307e-04 9.92410355e+00] [-3.71995620e-04 -9.07651610e-06 9.99999931e-01 -2.99987439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.580888479 meters Centerline goodness [0,1] 0.9982948045500658 Centerline is valid? [True, True] Translation: X:46.59, Y:9.94, Z:-0.30 [[ 9.46723185e-01 -3.22047842e-01 -6.31762871e-04 4.65947660e+01] [ 3.22047756e-01 9.46723395e-01 -2.37083960e-04 9.93756414e+00] [ 6.74457068e-04 2.09950672e-05 9.99999772e-01 -3.01524249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610888479 meters Centerline goodness [0,1] 0.9985083983657235 Centerline is valid? [True, True] Translation: X:46.62, Y:9.95, Z:-0.30 [[ 9.47468317e-01 -3.19840495e-01 -2.41786791e-03 4.66195025e+01] [ 3.19839221e-01 9.47471398e-01 -9.07023837e-04 9.95295445e+00] [ 2.58096364e-03 8.60473597e-05 9.99996666e-01 -3.04576697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.640888479 meters Centerline goodness [0,1] 0.9979683582605688 Centerline is valid? [True, True] Translation: X:46.65, Y:9.97, Z:-0.30 [[ 9.48970388e-01 -3.15352129e-01 -2.87022740e-03 4.66455672e+01] [ 3.15350312e-01 9.48974721e-01 -1.07688840e-03 9.96710187e+00] [ 3.06337229e-03 1.16808097e-04 9.99995301e-01 -3.04343233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670888479 meters Centerline goodness [0,1] 0.9984654952560029 Centerline is valid? [True, True] Translation: X:46.67, Y:9.98, Z:-0.30 [[ 9.49707802e-01 -3.13126845e-01 -2.58263454e-03 4.66729171e+01] [ 3.13125365e-01 9.49711307e-01 -9.68985845e-04 9.97807993e+00] [ 2.75617270e-03 1.11565034e-04 9.99996196e-01 -3.02330217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.700888479 meters Centerline goodness [0,1] 0.9980058751634968 Centerline is valid? [True, True] Translation: X:46.70, Y:9.99, Z:-0.30 [[ 9.50463585e-01 -3.10825739e-01 -2.51686014e-03 4.66985897e+01] [ 3.10824325e-01 9.50466910e-01 -9.44414488e-04 9.99354522e+00] [ 2.68574062e-03 1.15330223e-04 9.99996387e-01 -3.04142202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.730888479 meters Centerline goodness [0,1] 0.9978251975624987 Centerline is valid? [True, True] Translation: X:46.73, Y:10.01, Z:-0.31 [[ 9.50668672e-01 -3.10189349e-01 -3.41219886e-03 4.67250983e+01] [ 3.10186740e-01 9.50674782e-01 -1.28248659e-03 1.00057882e+01] [ 3.64170509e-03 1.60800985e-04 9.99993356e-01 -3.05517742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.760888479 meters Centerline goodness [0,1] 0.9980219307675768 Centerline is valid? [True, True] Translation: X:46.75, Y:10.02, Z:-0.31 [[ 9.50694250e-01 -3.10094981e-01 -4.64171603e-03 4.67508632e+01] [ 3.10090156e-01 9.50705556e-01 -1.74362273e-03 1.00168763e+01] [ 4.95359388e-03 2.18301657e-04 9.99987707e-01 -3.07246675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790888479 meters Centerline goodness [0,1] 0.9979788858070481 Centerline is valid? [True, True] Translation: X:46.78, Y:10.03, Z:-0.31 [[ 9.50303114e-01 -3.11287933e-01 -4.88000434e-03 4.67787168e+01] [ 3.11282605e-01 9.50315617e-01 -1.83517221e-03 1.00262124e+01] [ 5.20881130e-03 2.24909403e-04 9.99986409e-01 -3.07101114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.820888479 meters Centerline goodness [0,1] 0.9979000149998929 Centerline is valid? [True, True] Translation: X:46.81, Y:10.04, Z:-0.31 [[ 9.49958977e-01 -3.12338904e-01 -4.72764882e-03 4.68060833e+01] [ 3.12333909e-01 9.49970717e-01 -1.77932655e-03 1.00359837e+01] [ 5.04688084e-03 2.13682189e-04 9.99987242e-01 -3.06356116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850888479 meters Centerline goodness [0,1] 0.9978117223032695 Centerline is valid? [True, True] Translation: X:46.83, Y:10.04, Z:-0.31 [[ 9.49101014e-01 -3.14924571e-01 -5.45707723e-03 4.68337615e+01] [ 3.14917963e-01 9.49116674e-01 -2.05306861e-03 1.00449397e+01] [ 5.82596475e-03 2.30037857e-04 9.99983002e-01 -3.07182171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.880888479 meters Centerline goodness [0,1] 0.9980556801914408 Centerline is valid? [True, True] Translation: X:46.86, Y:10.06, Z:-0.31 [[ 9.48627101e-01 -3.16333943e-01 -6.28174305e-03 4.68587830e+01] [ 3.16325213e-01 9.48647865e-01 -2.36398279e-03 1.00565318e+01] [ 6.70697013e-03 2.55464432e-04 9.99977475e-01 -3.09294445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.910888479 meters Centerline goodness [0,1] 0.9984285868044344 Centerline is valid? [True, True] Translation: X:46.89, Y:10.06, Z:-0.31 [[ 9.48397584e-01 -3.17018961e-01 -6.40326142e-03 4.68872170e+01] [ 3.17009887e-01 9.48419165e-01 -2.41242782e-03 1.00635405e+01] [ 6.83776120e-03 2.58043534e-04 9.99976589e-01 -3.07330040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.940888479 meters Centerline goodness [0,1] 0.9984315916122379 Centerline is valid? [True, True] Translation: X:46.91, Y:10.07, Z:-0.31 [[ 9.48097531e-01 -3.17926886e-01 -5.79365011e-03 4.69149720e+01] [ 3.17919464e-01 9.48115205e-01 -2.18451135e-03 1.00728061e+01] [ 6.18756266e-03 2.29215684e-04 9.99980831e-01 -3.05889545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970888479 meters Centerline goodness [0,1] 0.9979476215927312 Centerline is valid? [True, True] Translation: X:46.94, Y:10.08, Z:-0.31 [[ 9.47488165e-01 -3.19742793e-01 -5.54282485e-03 4.69402877e+01] [ 3.19736032e-01 9.47504355e-01 -2.08962219e-03 1.00838100e+01] [ 5.91999232e-03 2.07651472e-04 9.99982455e-01 -3.06170919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.000888479 meters Centerline goodness [0,1] 0.998386958017894 Centerline is valid? [True, True] Translation: X:46.97, Y:10.10, Z:-0.31 [[ 9.47490335e-01 -3.19732182e-01 -5.77893025e-03 4.69664833e+01] [ 3.19724818e-01 9.47507933e-01 -2.18100371e-03 1.00953768e+01] [ 6.17291934e-03 2.18812511e-04 9.99980923e-01 -3.05725226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030888479 meters Centerline goodness [0,1] 0.9980908252354291 Centerline is valid? [True, True] Translation: X:46.99, Y:10.10, Z:-0.31 [[ 9.47181692e-01 -3.20625944e-01 -6.77098050e-03 4.69938260e+01] [ 3.20615845e-01 9.47205860e-01 -2.55715293e-03 1.01035857e+01] [ 7.23340198e-03 2.51204811e-04 9.99973807e-01 -3.08038613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.060888479 meters Centerline goodness [0,1] 0.9979845193936405 Centerline is valid? [True, True] Translation: X:47.02, Y:10.11, Z:-0.31 [[ 9.46988396e-01 -3.21189510e-01 -7.09063868e-03 4.70196299e+01] [ 3.21178453e-01 9.47014906e-01 -2.67758523e-03 1.01145803e+01] [ 7.57495281e-03 2.58281776e-04 9.99971276e-01 -3.08773531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.090888479 meters Centerline goodness [0,1] 0.9985375086028906 Centerline is valid? [True, True] Translation: X:47.05, Y:10.12, Z:-0.31 [[ 9.47038478e-01 -3.21031967e-01 -7.52309059e-03 4.70464034e+01] [ 3.21019510e-01 9.47068319e-01 -2.84156134e-03 1.01237135e+01] [ 8.03711278e-03 2.76009073e-04 9.99967664e-01 -3.08580764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.120888479 meters Centerline goodness [0,1] 0.9984720996793561 Centerline is valid? [True, True] Translation: X:47.07, Y:10.13, Z:-0.31 [[ 9.47296729e-01 -3.20249420e-01 -8.31967877e-03 4.70746668e+01] [ 3.20234126e-01 9.47333209e-01 -3.14564478e-03 1.01302576e+01] [ 8.88889890e-03 3.15613947e-04 9.99960443e-01 -3.06447707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150888479 meters Centerline goodness [0,1] 0.9981940144478845 Centerline is valid? [True, True] Translation: X:47.10, Y:10.14, Z:-0.31 [[ 9.47150099e-01 -3.20670496e-01 -8.78202131e-03 4.71009443e+01] [ 3.20653445e-01 9.47190753e-01 -3.32342676e-03 1.01395984e+01] [ 9.38397429e-03 3.31798598e-04 9.99955914e-01 -3.08374897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.180888479 meters Centerline goodness [0,1] 0.9981940144478845 Centerline is valid? [True, True] Translation: X:47.13, Y:10.15, Z:-0.31 [[ 9.47059838e-01 -3.20936997e-01 -8.78108704e-03 4.71267332e+01] [ 3.20919935e-01 9.47100488e-01 -3.32589509e-03 1.01494310e+01] [ 9.38397460e-03 3.31795781e-04 9.99955914e-01 -3.08525123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210888479 meters Centerline goodness [0,1] 0.9983639729625006 Centerline is valid? [True, True] Translation: X:47.15, Y:10.16, Z:-0.31 [[ 9.47098953e-01 -3.20824524e-01 -8.67165607e-03 4.71537905e+01] [ 3.20807859e-01 9.47138594e-01 -3.28672703e-03 1.01593713e+01] [ 9.26772277e-03 3.30920322e-04 9.99956999e-01 -3.08244777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.240888479 meters Centerline goodness [0,1] 0.9985334713595583 Centerline is valid? [True, True] Translation: X:47.18, Y:10.17, Z:-0.31 [[ 9.47623748e-01 -3.19312997e-01 -6.95998300e-03 4.71795838e+01] [ 3.19302220e-01 9.47649267e-01 -2.63801967e-03 1.01689981e+01] [ 7.43797675e-03 2.77512067e-04 9.99972299e-01 -3.05868011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.270888479 meters Centerline goodness [0,1] 0.99821528404937 Centerline is valid? [True, True] Translation: X:47.21, Y:10.18, Z:-0.31 [[ 9.47583059e-01 -3.19415335e-01 -7.75823281e-03 4.72058642e+01] [ 3.19401942e-01 9.47614768e-01 -2.94128392e-03 1.01789992e+01] [ 8.29130717e-03 3.09116191e-04 9.99965579e-01 -3.07920830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.300888479 meters Centerline goodness [0,1] 0.9982773471145564 Centerline is valid? [True, True] Translation: X:47.23, Y:10.19, Z:-0.31 [[ 9.47659406e-01 -3.19212656e-01 -6.70304205e-03 4.72311188e+01] [ 3.19202645e-01 9.47683073e-01 -2.54242416e-03 1.01879796e+01] [ 7.16393346e-03 2.69723418e-04 9.99974302e-01 -3.06802209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.330888479 meters Centerline goodness [0,1] 0.9981109799291618 Centerline is valid? [True, True] Translation: X:47.26, Y:10.20, Z:-0.31 [[ 9.47598730e-01 -3.19418718e-01 -5.32249046e-03 4.72592899e+01] [ 3.19412396e-01 9.47613654e-01 -2.02108550e-03 1.01959551e+01] [ 5.68923717e-03 2.15108616e-04 9.99983793e-01 -3.05527982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.360888479 meters Centerline goodness [0,1] 0.9986236559139785 Centerline is valid? [True, True] Translation: X:47.29, Y:10.21, Z:-0.30 [[ 9.47986844e-01 -3.18287887e-01 -3.71001909e-03 4.72850004e+01] [ 3.18284807e-01 9.47994091e-01 -1.40866926e-03 1.02063301e+01] [ 3.96543854e-03 1.54557218e-04 9.99992126e-01 -3.02166117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390888479 meters Centerline goodness [0,1] 0.9986178299930891 Centerline is valid? [True, True] Translation: X:47.31, Y:10.21, Z:-0.30 [[ 9.47859085e-01 -3.18663866e-01 -4.06154704e-03 4.73124057e+01] [ 3.18660168e-01 9.47867771e-01 -1.54452392e-03 1.02146182e+01] [ 4.34199350e-03 1.69737765e-04 9.99990559e-01 -3.03634692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.420888479 meters Centerline goodness [0,1] 0.9987865392532883 Centerline is valid? [True, True] Translation: X:47.34, Y:10.22, Z:-0.30 [[ 9.48402036e-01 -3.17049550e-01 -3.62789185e-03 4.73397986e+01] [ 3.17046585e-01 9.48408961e-01 -1.38058186e-03 1.02248859e+01] [ 3.87843799e-03 1.59135924e-04 9.99992466e-01 -3.01969596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.450888479 meters Centerline goodness [0,1] 0.9987026185482302 Centerline is valid? [True, True] Translation: X:47.36, Y:10.24, Z:-0.31 [[ 9.48425529e-01 -3.16973186e-01 -4.12491969e-03 4.73646758e+01] [ 3.16969353e-01 9.48434482e-01 -1.56947253e-03 1.02379508e+01] [ 4.40969678e-03 1.81054689e-04 9.99990261e-01 -3.05483260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.480888479 meters Centerline goodness [0,1] 0.998416314133854 Centerline is valid? [True, True] Translation: X:47.39, Y:10.25, Z:-0.30 [[ 9.48958593e-01 -3.15383123e-01 -3.32772832e-03 4.73930940e+01] [ 3.15380612e-01 9.48964416e-01 -1.26784966e-03 1.02455133e+01] [ 3.55775415e-03 1.53635834e-04 9.99993659e-01 -3.03731583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.510888479 meters Centerline goodness [0,1] 0.9987397331710921 Centerline is valid? [True, True] Translation: X:47.42, Y:10.25, Z:-0.30 [[ 9.49175529e-01 -3.14732682e-01 -3.02542514e-03 4.74211637e+01] [ 3.14730600e-01 9.49180340e-01 -1.15367603e-03 1.02540048e+01] [ 3.23477361e-03 1.42847184e-04 9.99994758e-01 -3.01920226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.540888479 meters Centerline goodness [0,1] 0.9987240208482018 Centerline is valid? [True, True] Translation: X:47.45, Y:10.27, Z:-0.31 [[ 9.48973972e-01 -3.15327084e-01 -4.15104994e-03 4.74456314e+01] [ 3.15323173e-01 9.48983031e-01 -1.58232875e-03 1.02668376e+01] [ 4.43822707e-03 1.92666560e-04 9.99990132e-01 -3.07461621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570888479 meters Centerline goodness [0,1] 0.9984581306462822 Centerline is valid? [True, True] Translation: X:47.47, Y:10.28, Z:-0.31 [[ 9.49245306e-01 -3.14495200e-01 -5.11064013e-03 4.74723862e+01] [ 3.14489259e-01 9.49259032e-01 -1.94819044e-03 1.02761137e+01] [ 5.46401784e-03 2.42069204e-04 9.99985043e-01 -3.09792637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.600888479 meters Centerline goodness [0,1] 0.9982831312209327 Centerline is valid? [True, True] Translation: X:47.50, Y:10.29, Z:-0.31 [[ 9.49749482e-01 -3.12986496e-01 -3.92107059e-03 4.74973110e+01] [ 3.12982984e-01 9.49757556e-01 -1.49522172e-03 1.02880857e+01] [ 4.19205063e-03 1.92857683e-04 9.99991195e-01 -3.07720800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630888479 meters Centerline goodness [0,1] 0.9988038537656858 Centerline is valid? [True, True] Translation: X:47.53, Y:10.30, Z:-0.31 [[ 9.49796071e-01 -3.12841033e-01 -4.23211374e-03 4.75250185e+01] [ 3.12836930e-01 9.49805477e-01 -1.61591234e-03 1.02961608e+01] [ 4.52520849e-03 2.10825722e-04 9.99989739e-01 -3.09173441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.660888479 meters Centerline goodness [0,1] 0.9989554090226546 Centerline is valid? [True, True] Translation: X:47.55, Y:10.30, Z:-0.31 [[ 9.50243593e-01 -3.11476338e-01 -4.42766405e-03 4.75522114e+01] [ 3.11471835e-01 9.50253882e-01 -1.69003764e-03 1.03046960e+01] [ 4.73381168e-03 2.26854790e-04 9.99988770e-01 -3.07974292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.690888479 meters Centerline goodness [0,1] 0.9987355845741318 Centerline is valid? [True, True] Translation: X:47.58, Y:10.31, Z:-0.31 [[ 9.50359786e-01 -3.11129367e-01 -3.84635711e-03 4.75795415e+01] [ 3.11125958e-01 9.50367548e-01 -1.47023938e-03 1.03142584e+01] [ 4.11288762e-03 2.00554838e-04 9.99991522e-01 -3.07390053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.720888479 meters Centerline goodness [0,1] 0.9985612765400881 Centerline is valid? [True, True] Translation: X:47.61, Y:10.32, Z:-0.31 [[ 9.50214775e-01 -3.11564839e-01 -4.38547962e-03 4.76054481e+01] [ 3.11560405e-01 9.50224868e-01 -1.67774466e-03 1.03239031e+01] [ 4.68991803e-03 2.27875955e-04 9.99988976e-01 -3.09898905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750888479 meters Centerline goodness [0,1] 0.9988020039207144 Centerline is valid? [True, True] Translation: X:47.63, Y:10.33, Z:-0.31 [[ 9.50228799e-01 -3.11509898e-01 -5.17805955e-03 4.76308023e+01] [ 3.11503718e-01 9.50242870e-01 -1.98055191e-03 1.03343977e+01] [ 5.53737569e-03 2.68992666e-04 9.99984632e-01 -3.10136102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.780888479 meters Centerline goodness [0,1] 0.998953404705318 Centerline is valid? [True, True] Translation: X:47.65, Y:10.35, Z:-0.31 [[ 9.50138079e-01 -3.11777308e-01 -5.70446897e-03 4.76544498e+01] [ 3.11769809e-01 9.50155157e-01 -2.18254373e-03 1.03477987e+01] [ 6.10059822e-03 2.95236712e-04 9.99981348e-01 -3.12237895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810888479 meters Centerline goodness [0,1] 0.9989064584563567 Centerline is valid? [True, True] Translation: X:47.68, Y:10.35, Z:-0.31 [[ 9.49826071e-01 -3.12712709e-01 -6.41841650e-03 4.76834677e+01] [ 3.12703220e-01 9.49847701e-01 -2.45801906e-03 1.03534298e+01] [ 6.86517195e-03 3.27631083e-04 9.99976381e-01 -3.11815777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.840888479 meters Centerline goodness [0,1] 0.9988591487494515 Centerline is valid? [True, True] Translation: X:47.71, Y:10.36, Z:-0.31 [[ 9.49644152e-01 -3.13268324e-01 -6.24034512e-03 4.77113999e+01] [ 3.13259354e-01 9.49664602e-01 -2.39160587e-03 1.03609133e+01] [ 6.67544923e-03 3.16328049e-04 9.99977669e-01 -3.12113749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.870888479 meters Centerline goodness [0,1] 0.9989949968320553 Centerline is valid? [True, True] Translation: X:47.74, Y:10.37, Z:-0.31 [[ 9.49324088e-01 -3.14240763e-01 -6.04300532e-03 4.77380386e+01] [ 3.14232361e-01 9.49343274e-01 -2.31766702e-03 1.03710337e+01] [ 6.46519190e-03 3.01309301e-04 9.99979055e-01 -3.13814131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.900888479 meters Centerline goodness [0,1] 0.9987053737958879 Centerline is valid? [True, True] Translation: X:47.77, Y:10.38, Z:-0.31 [[ 9.49085401e-01 -3.14978468e-01 -5.04637344e-03 4.77656381e+01] [ 3.14972610e-01 9.49098784e-01 -1.93706693e-03 1.03801708e+01] [ 5.39964127e-03 2.48972535e-04 9.99985391e-01 -3.13117141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.930888479 meters Centerline goodness [0,1] 0.9989890554261351 Centerline is valid? [True, True] Translation: X:47.79, Y:10.39, Z:-0.31 [[ 9.48506482e-01 -3.16723680e-01 -4.64384705e-03 4.77917801e+01] [ 3.16718742e-01 9.48517824e-01 -1.78203096e-03 1.03902317e+01] [ 4.96918310e-03 2.19474519e-04 9.99987629e-01 -3.12345395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.960888479 meters Centerline goodness [0,1] 0.9990071923399373 Centerline is valid? [True, True] Translation: X:47.82, Y:10.40, Z:-0.31 [[ 9.48147686e-01 -3.17791031e-01 -4.98264743e-03 4.78186075e+01] [ 3.17785359e-01 9.48160750e-01 -1.91259455e-03 1.03982702e+01] [ 5.33215612e-03 2.30009692e-04 9.99985758e-01 -3.13938623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990888479 meters Centerline goodness [0,1] 0.9996462994075515 Centerline is valid? [True, True] Translation: X:47.85, Y:10.40, Z:-0.31 [[ 9.47377483e-01 -3.20094181e-01 -3.95235760e-03 4.78507246e+01] [ 3.20090623e-01 9.47385711e-01 -1.51917697e-03 1.03967004e+01] [ 4.23068682e-03 1.74121443e-04 9.99991035e-01 -3.09089489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.020888479 meters Centerline goodness [0,1] 0.9994466578131916 Centerline is valid? [True, True] Translation: X:47.88, Y:10.41, Z:-0.31 [[ 9.47018691e-01 -3.21156803e-01 -3.72924658e-03 4.78758979e+01] [ 3.21153645e-01 9.47026020e-01 -1.43300542e-03 1.04082922e+01] [ 3.99191299e-03 1.59421788e-04 9.99992020e-01 -3.09384551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.050888479 meters Centerline goodness [0,1] 0.9994010249129268 Centerline is valid? [True, True] Translation: X:47.90, Y:10.42, Z:-0.31 [[ 9.46722402e-01 -3.22032047e-01 -3.47193846e-03 4.79036639e+01] [ 3.22029309e-01 9.46728757e-01 -1.33596222e-03 1.04171231e+01] [ 3.71720663e-03 1.46719418e-04 9.99993080e-01 -3.09243402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.080888479 meters Centerline goodness [0,1] 0.9996674794945688 Centerline is valid? [True, True] Translation: X:47.93, Y:10.42, Z:-0.31 [[ 9.46373939e-01 -3.23056873e-01 -3.25952194e-03 4.79322432e+01] [ 3.23054463e-01 9.46379542e-01 -1.25529851e-03 1.04229968e+01] [ 3.49027770e-03 1.34978686e-04 9.99993900e-01 -3.08554760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110888479 meters Centerline goodness [0,1] 0.9995108502312344 Centerline is valid? [True, True] Translation: X:47.96, Y:10.43, Z:-0.31 [[ 9.46165514e-01 -3.23678524e-01 -1.74135973e-03 4.79587364e+01] [ 3.23677838e-01 9.46167114e-01 -6.70541461e-04 1.04320470e+01] [ 1.86465718e-03 7.08036555e-05 9.99998259e-01 -3.09122125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.140888479 meters Centerline goodness [0,1] 0.9994673886509399 Centerline is valid? [True, True] Translation: X:47.99, Y:10.44, Z:-0.31 [[ 9.46060812e-01 -3.23983902e-01 -1.83585642e-03 4.79850762e+01] [ 3.23983139e-01 9.46062591e-01 -7.07073183e-04 1.04414839e+01] [ 1.96591541e-03 7.41477029e-05 9.99998065e-01 -3.11065029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170888479 meters Centerline goodness [0,1] 0.9996436128744849 Centerline is valid? [True, True] Translation: X:48.01, Y:10.45, Z:-0.31 [[ 9.46467825e-01 -3.22795684e-01 -1.26568781e-03 4.80114725e+01] [ 3.22795320e-01 9.46468670e-01 -4.87749809e-04 1.04508085e+01] [ 1.35537739e-03 5.30813999e-05 9.99999080e-01 -3.09557045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.200888479 meters Centerline goodness [0,1] 0.999776840507911 Centerline is valid? [True, True] Translation: X:48.04, Y:10.46, Z:-0.31 [[ 9.46743956e-01 -3.21983410e-01 -1.60189480e-03 4.80389158e+01] [ 3.21982824e-01 9.46745308e-01 -6.18504970e-04 1.04608007e+01] [ 1.71573472e-03 6.97832327e-05 9.99998526e-01 -3.10178910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.230888479 meters Centerline goodness [0,1] 0.9996879318799875 Centerline is valid? [True, True] Translation: X:48.06, Y:10.47, Z:-0.31 [[ 9.47099995e-01 -3.20932203e-01 -2.03004936e-03 4.80640927e+01] [ 3.20931260e-01 9.47102166e-01 -7.83263638e-04 1.04715637e+01] [ 2.17403867e-03 9.03226900e-05 9.99997633e-01 -3.11822039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.260888479 meters Centerline goodness [0,1] 0.9995547243743877 Centerline is valid? [True, True] Translation: X:48.09, Y:10.48, Z:-0.31 [[ 9.47523233e-01 -3.19682910e-01 -1.59998563e-03 4.80912187e+01] [ 3.19682321e-01 9.47524581e-01 -6.18476271e-04 1.04811629e+01] [ 1.71374200e-03 7.45335172e-05 9.99998529e-01 -3.10567138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290888479 meters Centerline goodness [0,1] 0.999173479873118 Centerline is valid? [True, True] Translation: X:48.12, Y:10.49, Z:-0.31 [[ 9.48526263e-01 -3.16697627e-01 -7.35944036e-04 4.81163357e+01] [ 3.16697502e-01 9.48526548e-01 -2.84290796e-04 1.04946665e+01] [ 7.88096676e-04 3.65856484e-05 9.99999689e-01 -3.11918876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.320888479 meters Centerline goodness [0,1] 0.9993741198560475 Centerline is valid? [True, True] Translation: X:48.14, Y:10.50, Z:-0.31 [[ 9.48774971e-01 -3.15952001e-01 -6.22194154e-04 4.81435465e+01] [ 3.15951911e-01 9.48775175e-01 -2.41548418e-04 1.05048761e+01] [ 6.66640073e-04 3.25916616e-05 9.99999777e-01 -3.10643165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350888479 meters Centerline goodness [0,1] 0.9992841643737557 Centerline is valid? [True, True] Translation: X:48.17, Y:10.51, Z:-0.31 [[ 9.48983373e-01 -3.15324783e-01 -9.15989101e-04 4.81730831e+01] [ 3.15324587e-01 9.48983814e-01 -3.55292749e-04 1.05091937e+01] [ 9.81291440e-04 4.83330268e-05 9.99999517e-01 -3.10271836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.380888479 meters Centerline goodness [0,1] 0.9996861901239549 Centerline is valid? [True, True] Translation: X:48.20, Y:10.52, Z:-0.31 [[ 9.48735724e-01 -3.16068584e-01 -1.08462401e-03 4.82004896e+01] [ 3.16068309e-01 9.48736342e-01 -4.20749620e-04 1.05176628e+01] [ 1.16200796e-03 5.63649172e-05 9.99999323e-01 -3.09916354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.410888479 meters Centerline goodness [0,1] 0.9994402650904531 Centerline is valid? [True, True] Translation: X:48.22, Y:10.53, Z:-0.31 [[ 9.48353081e-01 -3.17215241e-01 -9.61332114e-04 4.82247212e+01] [ 3.17215025e-01 9.48353567e-01 -3.73337843e-04 1.05339139e+01] [ 1.03011119e-03 4.91071023e-05 9.99999468e-01 -3.11244374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.440888479 meters Centerline goodness [0,1] 0.9997088465845465 Centerline is valid? [True, True] Translation: X:48.25, Y:10.54, Z:-0.31 [[ 9.47953639e-01 -3.18406349e-01 -1.13815934e-03 4.82546092e+01] [ 3.18406047e-01 9.47954321e-01 -4.42090585e-04 1.05363735e+01] [ 1.21968751e-03 5.66845637e-05 9.99999255e-01 -3.10824327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470888479 meters Centerline goodness [0,1] 0.9998433022922636 Centerline is valid? [True, True] Translation: X:48.28, Y:10.55, Z:-0.31 [[ 9.47227863e-01 -3.20559666e-01 -9.35592208e-04 4.82820203e+01] [ 3.20559464e-01 9.47228324e-01 -3.62709778e-04 1.05460096e+01] [ 1.00248956e-03 4.36558710e-05 9.99999497e-01 -3.13688715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.500888479 meters Centerline goodness [0,1] 0.9996182434708405 Centerline is valid? [True, True] Translation: X:48.31, Y:10.56, Z:-0.32 [[ 9.46425143e-01 -3.22922012e-01 -9.07316009e-04 4.83080346e+01] [ 3.22921823e-01 9.46425577e-01 -3.51946682e-04 1.05553511e+01] [ 9.72358408e-04 4.00990497e-05 9.99999526e-01 -3.15227496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530888479 meters Centerline goodness [0,1] 0.9998204667863555 Centerline is valid? [True, True] Translation: X:48.34, Y:10.56, Z:-0.31 [[ 9.46003124e-01 -3.24156909e-01 -6.22881894e-04 4.83367480e+01] [ 3.24156819e-01 9.46003329e-01 -2.42876478e-04 1.05616969e+01] [ 6.67978434e-04 2.78504931e-05 9.99999777e-01 -3.13703736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.560888479 meters Centerline goodness [0,1] 0.9997975526363145 Centerline is valid? [True, True] Translation: X:48.36, Y:10.57, Z:-0.31 [[ 9.45403893e-01 -3.25900712e-01 4.53185709e-04 4.83632370e+01] [ 3.25900665e-01 9.45404001e-01 1.74367639e-04 1.05720558e+01] [-4.85270121e-04 -1.71543205e-05 9.99999882e-01 -3.12255262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.590888479 meters Centerline goodness [0,1] 0.9998650897153393 Centerline is valid? [True, True] Translation: X:48.39, Y:10.58, Z:-0.31 [[ 9.44978293e-01 -3.27128921e-01 1.64138686e-03 4.83918147e+01] [ 3.27128309e-01 9.44979717e-01 6.35796548e-04 1.05796868e+01] [-1.75906473e-03 -6.38698288e-05 9.99998451e-01 -3.11063440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.620888479 meters Centerline goodness [0,1] 0.9996620327602911 Centerline is valid? [True, True] Translation: X:48.42, Y:10.59, Z:-0.31 [[ 9.44433684e-01 -3.28693281e-01 2.39647898e-03 4.84170994e+01] [ 3.28691978e-01 9.44436720e-01 9.29947047e-04 1.05910214e+01] [-2.56899009e-03 -9.05699000e-05 9.99996696e-01 -3.12617033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.650888479 meters Centerline goodness [0,1] 0.9997976391231028 Centerline is valid? [True, True] Translation: X:48.44, Y:10.60, Z:-0.31 [[ 9.44434915e-01 -3.28692330e-01 2.01087027e-03 4.84439287e+01] [ 3.28691412e-01 9.44437053e-01 7.80424635e-04 1.06002714e+01] [-2.15565998e-03 -7.61044843e-05 9.99997674e-01 -3.12946531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.680888479 meters Centerline goodness [0,1] 0.999864959150143 Centerline is valid? [True, True] Translation: X:48.47, Y:10.61, Z:-0.32 [[ 9.44669711e-01 -3.28022875e-01 -3.61324417e-04 4.84689679e+01] [ 3.28022845e-01 9.44669780e-01 -1.40866415e-04 1.06127992e+01] [ 3.87539664e-04 1.45495723e-05 9.99999925e-01 -3.15581769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710888479 meters Centerline goodness [0,1] 0.9998424310635903 Centerline is valid? [True, True] Translation: X:48.49, Y:10.62, Z:-0.32 [[ 9.44744133e-01 -3.27806152e-01 -1.28433666e-03 4.84948013e+01] [ 3.27805776e-01 9.44745005e-01 -4.99537391e-04 1.06243905e+01] [ 1.37712208e-03 5.09220433e-05 9.99999050e-01 -3.17602121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.740888479 meters Centerline goodness [0,1] 0.99977474433482 Centerline is valid? [True, True] Translation: X:48.52, Y:10.63, Z:-0.32 [[ 9.44936264e-01 -3.27245611e-01 -2.40137489e-03 4.85215763e+01] [ 3.27244293e-01 9.44939311e-01 -9.33799391e-04 1.06339170e+01] [ 2.57473528e-03 9.65446815e-05 9.99996681e-01 -3.19286155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.770888479 meters Centerline goodness [0,1] 0.9997525420678485 Centerline is valid? [True, True] Translation: X:48.55, Y:10.64, Z:-0.32 [[ 9.44909866e-01 -3.27317996e-01 -2.87668515e-03 4.85488064e+01] [ 3.27316100e-01 9.44914237e-01 -1.12021953e-03 1.06449753e+01] [ 3.08488877e-03 1.16921120e-04 9.99995235e-01 -3.20107563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.800888479 meters Centerline goodness [0,1] 0.9999774972434123 Centerline is valid? [True, True] Translation: X:48.58, Y:10.65, Z:-0.32 [[ 9.44520654e-01 -3.28442875e-01 -2.45191468e-03 4.85760043e+01] [ 3.28441499e-01 9.44523832e-01 -9.55717453e-04 1.06546582e+01] [ 2.62979043e-03 9.73843422e-05 9.99996537e-01 -3.20005969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.830888479 meters Centerline goodness [0,1] 0.9996859226023556 Centerline is valid? [True, True] Translation: X:48.60, Y:10.67, Z:-0.32 [[ 9.44302725e-01 -3.29073558e-01 -1.71969405e-03 4.86011967e+01] [ 3.29072883e-01 9.44304288e-01 -6.70315016e-04 1.06671863e+01] [ 1.84449741e-03 6.70756182e-05 9.99998297e-01 -3.20670728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.860888479 meters Centerline goodness [0,1] 0.9998874988749887 Centerline is valid? [True, True] Translation: X:48.63, Y:10.68, Z:-0.32 [[ 9.43907964e-01 -3.30206358e-01 -1.23158410e-03 4.86291699e+01] [ 3.30206011e-01 9.43908766e-01 -4.81258192e-04 1.06754806e+01] [ 1.32141755e-03 4.75869665e-05 9.99999126e-01 -3.19475373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890888479 meters Centerline goodness [0,1] 0.9997973429407792 Centerline is valid? [True, True] Translation: X:48.66, Y:10.69, Z:-0.32 [[ 9.43650200e-01 -3.30942248e-01 -1.23620142e-03 4.86554779e+01] [ 3.30941900e-01 9.43651009e-01 -4.82278322e-04 1.06854727e+01] [ 1.32614899e-03 4.59911890e-05 9.99999120e-01 -3.19306326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.920888479 meters Centerline goodness [0,1] 0.9998874963436312 Centerline is valid? [True, True] Translation: X:48.69, Y:10.69, Z:-0.32 [[ 9.43045238e-01 -3.32664310e-01 3.68548351e-04 4.86850583e+01] [ 3.32664279e-01 9.43045310e-01 1.42376846e-04 1.06908107e+01] [-3.94921489e-04 -1.16649354e-05 9.99999922e-01 -3.15830436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.950888479 meters Centerline goodness [0,1] 0.9998647978728199 Centerline is valid? [True, True] Translation: X:48.71, Y:10.70, Z:-0.32 [[ 9.42896352e-01 -3.33083545e-01 1.34937390e-03 4.87100383e+01] [ 3.33083134e-01 9.42897317e-01 5.25680736e-04 1.07038952e+01] [-1.44741663e-03 -4.62087627e-05 9.99998951e-01 -3.15647312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.980888479 meters Centerline goodness [0,1] 0.9997743529571045 Centerline is valid? [True, True] Translation: X:48.74, Y:10.71, Z:-0.32 [[ 9.42739876e-01 -3.33521752e-01 2.18322870e-03 4.87369373e+01] [ 3.33520675e-01 9.42742401e-01 8.50827748e-04 1.07117708e+01] [-2.34199183e-03 -7.39573354e-05 9.99997255e-01 -3.15360891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.010888479 meters Centerline goodness [0,1] 0.9998870413880354 Centerline is valid? [True, True] Translation: X:48.76, Y:10.72, Z:-0.32 [[ 9.42285052e-01 -3.34801664e-01 2.59356594e-03 4.87628382e+01] [ 3.34800144e-01 9.42288618e-01 1.01233203e-03 1.07223788e+01] [-2.78281811e-03 -8.55790868e-05 9.99996124e-01 -3.15314025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.040888479 meters Centerline goodness [0,1] 0.9997518050541516 Centerline is valid? [True, True] Translation: X:48.79, Y:10.73, Z:-0.32 [[ 9.41987601e-01 -3.35629579e-01 3.48508364e-03 4.87895541e+01] [ 3.35626839e-01 9.41994041e-01 1.36088145e-03 1.07329945e+01] [-3.73968009e-03 -1.12245851e-04 9.99993001e-01 -3.15617727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070888479 meters Centerline goodness [0,1] 0.9997518050541516 Centerline is valid? [True, True] Translation: X:48.82, Y:10.74, Z:-0.32 [[ 9.41895336e-01 -3.35888421e-01 3.48477597e-03 4.88152356e+01] [ 3.35885680e-01 9.41901776e-01 1.36166872e-03 1.07431203e+01] [-3.73968543e-03 -1.12063068e-04 9.99993001e-01 -3.15767988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.100888479 meters Centerline goodness [0,1] 0.9998646392636376 Centerline is valid? [True, True] Translation: X:48.84, Y:10.75, Z:-0.31 [[ 9.41236393e-01 -3.37707475e-01 5.26440170e-03 4.88429840e+01] [ 3.37701233e-01 9.41251101e-01 2.05953391e-03 1.07529861e+01] [-5.65064389e-03 -1.60713323e-04 9.99984022e-01 -3.14034265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130888479 meters Centerline goodness [0,1] 0.9999096249435155 Centerline is valid? [True, True] Translation: X:48.87, Y:10.76, Z:-0.31 [[ 9.40835521e-01 -3.38820920e-01 5.37648366e-03 4.88706557e+01] [ 3.38814420e-01 9.40850870e-01 2.10479364e-03 1.07610515e+01] [-5.77161744e-03 -1.58634426e-04 9.99983331e-01 -3.13498940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.160888479 meters Centerline goodness [0,1] 0.9999548236994873 Centerline is valid? [True, True] Translation: X:48.90, Y:10.77, Z:-0.31 [[ 9.40594517e-01 -3.39494588e-01 5.03776407e-03 4.88964753e+01] [ 3.39488883e-01 9.40607997e-01 1.97353773e-03 1.07720500e+01] [-5.40856655e-03 -1.46033871e-04 9.99985363e-01 -3.13555243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.190888479 meters Centerline goodness [0,1] 0.9998196166854566 Centerline is valid? [True, True] Translation: X:48.92, Y:10.78, Z:-0.32 [[ 9.40413521e-01 -3.40014455e-01 3.54695395e-03 4.89220523e+01] [ 3.40011629e-01 9.40420204e-01 1.38972566e-03 1.07830247e+01] [-3.80815397e-03 -1.00911209e-04 9.99992744e-01 -3.15656742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.220888479 meters Centerline goodness [0,1] 0.9996396477556811 Centerline is valid? [True, True] Translation: X:48.95, Y:10.79, Z:-0.32 [[ 9.40321535e-01 -3.40277244e-01 2.60929529e-03 4.89481961e+01] [ 3.40275718e-01 9.40325152e-01 1.02193179e-03 1.07929009e+01] [-2.80132612e-03 -7.30646441e-05 9.99996074e-01 -3.17331287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250888479 meters Centerline goodness [0,1] 0.9998190495578023 Centerline is valid? [True, True] Translation: X:48.97, Y:10.80, Z:-0.32 [[ 9.40189734e-01 -3.40644616e-01 2.12371585e-03 4.89749550e+01] [ 3.40643604e-01 9.40192131e-01 8.32097061e-04 1.08026652e+01] [-2.28015031e-03 -5.88988938e-05 9.99997399e-01 -3.18725837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.280888479 meters Centerline goodness [0,1] 0.9995947680046827 Centerline is valid? [True, True] Translation: X:49.00, Y:10.81, Z:-0.32 [[ 9.40050585e-01 -3.41032049e-01 1.42787749e-03 4.89997993e+01] [ 3.41031592e-01 9.40051669e-01 5.59755645e-04 1.08137963e+01] [-1.53317323e-03 -3.92472870e-05 9.99998824e-01 -3.20137162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310888479 meters Centerline goodness [0,1] 0.9997965963794155 Centerline is valid? [True, True] Translation: X:49.03, Y:10.82, Z:-0.32 [[ 9.39774565e-01 -3.41794168e-01 7.16151926e-04 4.90272143e+01] [ 3.41794054e-01 9.39774838e-01 2.79899757e-04 1.08219053e+01] [-7.68689665e-04 -1.82662030e-05 9.99999704e-01 -3.20379053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.340888479 meters Centerline goodness [0,1] 0.9997059555314288 Centerline is valid? [True, True] Translation: X:49.05, Y:10.84, Z:-0.32 [[ 9.39632067e-01 -3.42186224e-01 4.07944766e-04 4.90519616e+01] [ 3.42186187e-01 9.39632156e-01 1.59906551e-04 1.08358364e+01] [-4.38035839e-04 -1.06602594e-05 9.99999904e-01 -3.21251779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.370888479 meters Centerline goodness [0,1] 0.9995699703505874 Centerline is valid? [True, True] Translation: X:49.08, Y:10.84, Z:-0.32 [[ 9.39447516e-01 -3.42692188e-01 6.54650297e-04 4.90794709e+01] [ 3.42692093e-01 9.39447744e-01 2.56053868e-04 1.08438456e+01] [-7.02757405e-04 -1.62056901e-05 9.99999753e-01 -3.20597352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.400888479 meters Centerline goodness [0,1] 0.999773648113357 Centerline is valid? [True, True] Translation: X:49.11, Y:10.85, Z:-0.32 [[ 9.39106596e-01 -3.43625383e-01 6.30383308e-04 4.91068885e+01] [ 3.43625295e-01 9.39106808e-01 2.46864025e-04 1.08522440e+01] [-6.76826000e-04 -1.52159842e-05 9.99999771e-01 -3.18900632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.430888479 meters Centerline goodness [0,1] 0.9998190700199023 Centerline is valid? [True, True] Translation: X:49.13, Y:10.86, Z:-0.32 [[ 9.38840471e-01 -3.44351636e-01 7.21713472e-04 4.91345516e+01] [ 3.44351520e-01 9.38840748e-01 2.83101508e-04 1.08622116e+01] [-7.75060483e-04 -1.72640221e-05 9.99999699e-01 -3.19068301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.460888479 meters Centerline goodness [0,1] 0.9998867137937285 Centerline is valid? [True, True] Translation: X:49.16, Y:10.87, Z:-0.32 [[ 9.38780909e-01 -3.44513978e-01 7.23761486e-04 4.91606666e+01] [ 3.44513862e-01 9.38781188e-01 2.83789184e-04 1.08718784e+01] [-7.77223009e-04 -1.70700034e-05 9.99999698e-01 -3.19938023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490888479 meters Centerline goodness [0,1] 0.9997504140857214 Centerline is valid? [True, True] Translation: X:49.18, Y:10.89, Z:-0.32 [[ 9.38733340e-01 -3.44642010e-01 1.26539259e-03 4.91843396e+01] [ 3.44641651e-01 9.38734192e-01 4.98511283e-04 1.08850357e+01] [-1.35967522e-03 -3.18621714e-05 9.99999075e-01 -3.21832980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.520888479 meters Centerline goodness [0,1] 0.9997275451820906 Centerline is valid? [True, True] Translation: X:49.21, Y:10.90, Z:-0.32 [[ 9.38767817e-01 -3.44547624e-01 1.38565189e-03 4.92112820e+01] [ 3.44547194e-01 9.38768839e-01 5.45738315e-04 1.08958725e+01] [-1.48883966e-03 -3.48990962e-05 9.99998891e-01 -3.21921488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.550888479 meters Centerline goodness [0,1] 0.9997276812054645 Centerline is valid? [True, True] Translation: X:49.24, Y:10.90, Z:-0.32 [[ 9.38607985e-01 -3.44981743e-01 1.62740103e-03 4.92374185e+01] [ 3.44981149e-01 9.38609395e-01 6.41377189e-04 1.09048640e+01] [-1.74875732e-03 -4.05790733e-05 9.99998470e-01 -3.21336757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.580888479 meters Centerline goodness [0,1] 0.9996825180851305 Centerline is valid? [True, True] Translation: X:49.27, Y:10.91, Z:-0.32 [[ 9.38438633e-01 -3.45435604e-01 2.67873182e-03 4.92653084e+01] [ 3.45433991e-01 9.38442454e-01 1.05756445e-03 1.09120652e+01] [-2.87915608e-03 -6.71343123e-05 9.99995853e-01 -3.19204203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610888479 meters Centerline goodness [0,1] 0.9997046058760708 Centerline is valid? [True, True] Translation: X:49.29, Y:10.92, Z:-0.32 [[ 9.38436482e-01 -3.45439085e-01 2.96771674e-03 4.92900424e+01] [ 3.45437101e-01 9.38441172e-01 1.17317804e-03 1.09226555e+01] [-3.19028912e-03 -7.57936051e-05 9.99994908e-01 -3.18662098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.640888479 meters Centerline goodness [0,1] 0.9996606104486729 Centerline is valid? [True, True] Translation: X:49.32, Y:10.93, Z:-0.32 [[ 9.38424878e-01 -3.45469104e-01 3.13797414e-03 4.93156806e+01] [ 3.45466885e-01 9.38430121e-01 1.24061830e-03 1.09337693e+01] [-3.37336474e-03 -8.01609216e-05 9.99994307e-01 -3.18650134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670888479 meters Centerline goodness [0,1] 0.9999547367944598 Centerline is valid? [True, True] Translation: X:49.34, Y:10.94, Z:-0.32 [[ 9.38668049e-01 -3.44810091e-01 2.88020127e-03 4.93422911e+01] [ 3.44808216e-01 9.38672464e-01 1.13956452e-03 1.09444816e+01] [-3.09649897e-03 -7.65557397e-05 9.99995203e-01 -3.19231310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.700888479 meters Centerline goodness [0,1] 0.999796568793653 Centerline is valid? [True, True] Translation: X:49.37, Y:10.96, Z:-0.32 [[ 9.39504516e-01 -3.42532415e-01 1.67627282e-03 4.93665506e+01] [ 3.42531776e-01 9.39506010e-01 6.63720279e-04 1.09595638e+01] [-1.80221409e-03 -4.93914947e-05 9.99998375e-01 -3.22713581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.730888479 meters Centerline goodness [0,1] 0.9998644864034691 Centerline is valid? [True, True] Translation: X:49.39, Y:10.97, Z:-0.32 [[ 9.39891808e-01 -3.41472006e-01 5.08975691e-04 4.93915454e+01] [ 3.41471947e-01 9.39891945e-01 2.01234509e-04 1.09714455e+01] [-5.47098104e-04 -1.53377458e-05 9.99999850e-01 -3.24403785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.760888479 meters Centerline goodness [0,1] 0.9998415716096325 Centerline is valid? [True, True] Translation: X:49.42, Y:10.98, Z:-0.32 [[ 9.40053411e-01 -3.41027149e-01 2.61714495e-04 4.94193507e+01] [ 3.41027133e-01 9.40053447e-01 1.02355715e-04 1.09799280e+01] [-2.80931691e-04 -6.96809495e-06 9.99999961e-01 -3.24737671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790888479 meters Centerline goodness [0,1] 0.9998640072529466 Centerline is valid? [True, True] Translation: X:49.45, Y:10.99, Z:-0.32 [[ 9.39960564e-01 -3.41283075e-01 2.46161733e-05 4.94454506e+01] [ 3.41283075e-01 9.39960565e-01 8.12356040e-06 1.09904347e+01] [-2.59106658e-05 7.65256911e-07 1.00000000e+00 -3.24954809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.820888479 meters Centerline goodness [0,1] 0.9999547930652563 Centerline is valid? [True, True] Translation: X:49.47, Y:11.00, Z:-0.32 [[ 9.39686501e-01 -3.42035799e-01 8.90358456e-04 4.94707278e+01] [ 3.42035618e-01 9.39686922e-01 3.52811116e-04 1.10023329e+01] [-9.57332229e-04 -2.69975380e-05 9.99999541e-01 -3.24673234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850888479 meters Centerline goodness [0,1] 0.9997973018625707 Centerline is valid? [True, True] Translation: X:49.50, Y:11.01, Z:-0.32 [[ 9.39375683e-01 -3.42885059e-01 1.77852011e-03 4.94983184e+01] [ 3.42884338e-01 9.39377365e-01 7.05331308e-04 1.10109405e+01] [-1.91254910e-03 -5.27443897e-05 9.99998170e-01 -3.23961077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.880888479 meters Centerline goodness [0,1] 0.9998192417190113 Centerline is valid? [True, True] Translation: X:49.52, Y:11.02, Z:-0.32 [[ 9.39011399e-01 -3.43874906e-01 2.76443049e-03 4.95242622e+01] [ 3.43873161e-01 9.39015465e-01 1.09833957e-03 1.10212854e+01] [-2.97353440e-03 -8.07399257e-05 9.99995576e-01 -3.22641163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.910888479 meters Centerline goodness [0,1] 0.9997964859914524 Centerline is valid? [True, True] Translation: X:49.55, Y:11.03, Z:-0.32 [[ 9.39008874e-01 -3.43881593e-01 2.79002697e-03 4.95491557e+01] [ 3.43879816e-01 9.39013015e-01 1.10852170e-03 1.10319568e+01] [-3.00107185e-03 -8.14777482e-05 9.99995493e-01 -3.22889161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.940888479 meters Centerline goodness [0,1] 0.9998644312892584 Centerline is valid? [True, True] Translation: X:49.57, Y:11.04, Z:-0.32 [[ 9.38941019e-01 -3.44067254e-01 2.73634127e-03 4.95744177e+01] [ 3.44065545e-01 9.38945003e-01 1.08753272e-03 1.10433020e+01] [-2.94345836e-03 -7.96483339e-05 9.99995665e-01 -3.23945070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970888479 meters Centerline goodness [0,1] 0.9997746072531386 Centerline is valid? [True, True] Translation: X:49.60, Y:11.06, Z:-0.33 [[ 9.39195208e-01 -3.43375601e-01 2.35737274e-03 4.96003598e+01] [ 3.43374329e-01 9.39198164e-01 9.37559531e-04 1.10553616e+01] [-2.53597522e-03 -7.10901355e-05 9.99996782e-01 -3.25659929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.000888479 meters Centerline goodness [0,1] 0.9997975936129541 Centerline is valid? [True, True] Translation: X:49.62, Y:11.07, Z:-0.33 [[ 9.39759496e-01 -3.41835360e-01 8.22026005e-04 4.96249895e+01] [ 3.41835205e-01 9.39759855e-01 3.27005078e-04 1.10695924e+01] [-8.84288938e-04 -2.63086992e-05 9.99999609e-01 -3.28003986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030888479 meters Centerline goodness [0,1] 0.9997527700986673 Centerline is valid? [True, True] Translation: X:49.65, Y:11.08, Z:-0.33 [[ 9.40119055e-01 -3.40846183e-01 2.05505958e-04 4.96509359e+01] [ 3.40846173e-01 9.40119077e-01 8.13998555e-05 1.10810240e+01] [-2.20944901e-04 -6.47963597e-06 9.99999976e-01 -3.28725869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.060888479 meters Centerline goodness [0,1] 0.9996853083977701 Centerline is valid? [True, True] Translation: X:49.68, Y:11.09, Z:-0.33 [[ 9.40254892e-01 -3.40471244e-01 -2.63763403e-04 4.96775729e+01] [ 3.40471227e-01 9.40254929e-01 -1.06567344e-04 1.10927957e+01] [ 2.84287956e-04 1.03966171e-05 9.99999960e-01 -3.28944313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.090888479 meters Centerline goodness [0,1] 0.9998879526712083 Centerline is valid? [True, True] Translation: X:49.70, Y:11.11, Z:-0.33 [[ 9.40606252e-01 -3.39498848e-01 -6.41473037e-04 4.97026901e+01] [ 3.39498752e-01 9.40606470e-01 -2.56361235e-04 1.11061502e+01] [ 6.90408033e-04 2.33556840e-05 9.99999761e-01 -3.29573197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.120888479 meters Centerline goodness [0,1] 0.99977518996448 Centerline is valid? [True, True] Translation: X:49.73, Y:11.12, Z:-0.33 [[ 9.40596595e-01 -3.39524586e-01 -1.04937985e-03 4.97302075e+01] [ 3.39524328e-01 9.40597179e-01 -4.20286679e-04 1.11157154e+01] [ 1.12974139e-03 3.90302316e-05 9.99999361e-01 -3.29205377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.150888479 meters Centerline goodness [0,1] 0.999708605115101 Centerline is valid? [True, True] Translation: X:49.76, Y:11.13, Z:-0.33 [[ 9.40443631e-01 -3.39937994e-01 -2.81725887e-03 4.97574537e+01] [ 3.39936142e-01 9.40447845e-01 -1.12679400e-03 1.11262166e+01] [ 3.03252512e-03 1.01998125e-04 9.99995397e-01 -3.30568868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.180888479 meters Centerline goodness [0,1] 0.999574687171222 Centerline is valid? [True, True] Translation: X:49.78, Y:11.14, Z:-0.33 [[ 9.40428995e-01 -3.39969640e-01 -3.73484127e-03 4.97818720e+01] [ 3.39966389e-01 9.40436402e-01 -1.49275787e-03 1.11405645e+01] [ 4.01987304e-03 1.34112290e-04 9.99991911e-01 -3.33012743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210888479 meters Centerline goodness [0,1] 0.9996195250777735 Centerline is valid? [True, True] Translation: X:49.81, Y:11.15, Z:-0.33 [[ 9.40346372e-01 -3.40188808e-01 -4.50284325e-03 4.98085102e+01] [ 3.40184076e-01 9.40357139e-01 -1.80166209e-03 1.11514558e+01] [ 4.84718607e-03 1.62390841e-04 9.99988239e-01 -3.33527069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.240888479 meters Centerline goodness [0,1] 0.9995524425448117 Centerline is valid? [True, True] Translation: X:49.84, Y:11.16, Z:-0.33 [[ 9.39982818e-01 -3.41194192e-01 -4.33880349e-03 4.98369008e+01] [ 3.41189803e-01 9.39992819e-01 -1.73733138e-03 1.11592032e+01] [ 4.67121150e-03 1.52706135e-04 9.99989078e-01 -3.32004315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.270888479 meters Centerline goodness [0,1] 0.9995956691675277 Centerline is valid? [True, True] Translation: X:49.86, Y:11.17, Z:-0.33 [[ 9.39635071e-01 -3.42147231e-01 -4.60499413e-03 4.98629140e+01] [ 3.42142301e-01 9.39646342e-01 -1.84337735e-03 1.11698524e+01] [ 4.95777234e-03 1.56538721e-04 9.99987698e-01 -3.31577899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.300888479 meters Centerline goodness [0,1] 0.9995746681292114 Centerline is valid? [True, True] Translation: X:49.89, Y:11.18, Z:-0.33 [[ 9.39198892e-01 -3.43345571e-01 -4.38874104e-03 4.98903210e+01] [ 3.43341096e-01 9.39209134e-01 -1.75895620e-03 1.11790400e+01] [ 4.72587550e-03 1.45174549e-04 9.99988822e-01 -3.30768123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.330888479 meters Centerline goodness [0,1] 0.9996640763218597 Centerline is valid? [True, True] Translation: X:49.92, Y:11.19, Z:-0.33 [[ 9.38888851e-01 -3.44198247e-01 -3.91065514e-03 4.99178335e+01] [ 3.44194696e-01 9.38896986e-01 -1.56862422e-03 1.11887790e+01] [ 4.21162003e-03 1.26737031e-04 9.99991123e-01 -3.29429239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.360888479 meters Centerline goodness [0,1] 0.9996428172787142 Centerline is valid? [True, True] Translation: X:49.94, Y:11.20, Z:-0.33 [[ 9.38595034e-01 -3.45006733e-01 -3.11719784e-03 4.99431251e+01] [ 3.45004481e-01 9.38600205e-01 -1.25043277e-03 1.11996329e+01] [ 3.35721026e-03 9.82027710e-05 9.99994360e-01 -3.27616354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390888479 meters Centerline goodness [0,1] 0.9996443654145366 Centerline is valid? [True, True] Translation: X:49.97, Y:11.21, Z:-0.33 [[ 9.38492462e-01 -3.45286703e-01 -2.99877022e-03 4.99692007e+01] [ 3.45284614e-01 9.38497248e-01 -1.20474091e-03 1.12100795e+01] [ 3.23031861e-03 9.52110410e-05 9.99994778e-01 -3.26947954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.420888479 meters Centerline goodness [0,1] 0.9997317296729338 Centerline is valid? [True, True] Translation: X:49.99, Y:11.22, Z:-0.33 [[ 9.38333397e-01 -3.45719445e-01 -2.91577729e-03 4.99949892e+01] [ 3.45717475e-01 9.38337923e-01 -1.17062627e-03 1.12208899e+01] [ 3.14069267e-03 9.04025590e-05 9.99995064e-01 -3.26931841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.450888479 meters Centerline goodness [0,1] 0.9994632433520453 Centerline is valid? [True, True] Translation: X:50.02, Y:11.23, Z:-0.33 [[ 9.38245415e-01 -3.45956399e-01 -3.11635748e-03 5.00220390e+01] [ 3.45954143e-01 9.38250585e-01 -1.25327952e-03 1.12291374e+01] [ 3.35750430e-03 9.77669842e-05 9.99994359e-01 -3.26151909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.480888479 meters Centerline goodness [0,1] 0.9997330367074527 Centerline is valid? [True, True] Translation: X:50.05, Y:11.24, Z:-0.33 [[ 9.38087430e-01 -3.46379619e-01 -3.62405988e-03 5.00456976e+01] [ 3.46376573e-01 9.38094424e-01 -1.45676707e-03 1.12425540e+01] [ 3.90430479e-03 1.11285432e-04 9.99992372e-01 -3.26960070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.510888479 meters Centerline goodness [0,1] 0.9995547442005432 Centerline is valid? [True, True] Translation: X:50.07, Y:11.26, Z:-0.33 [[ 9.38240649e-01 -3.45965366e-01 -3.52845137e-03 5.00717119e+01] [ 3.45962469e-01 9.38247277e-01 -1.41999186e-03 1.12551237e+01] [ 3.80182789e-03 1.11582333e-04 9.99992767e-01 -3.27972394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.540888479 meters Centerline goodness [0,1] 0.999443974912148 Centerline is valid? [True, True] Translation: X:50.10, Y:11.27, Z:-0.33 [[ 9.38483969e-01 -3.45301036e-01 -3.87744389e-03 5.00967464e+01] [ 3.45297536e-01 9.38491970e-01 -1.55978262e-03 1.12678354e+01] [ 4.17754451e-03 1.24959168e-04 9.99991266e-01 -3.28919893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570888479 meters Centerline goodness [0,1] 0.9994004663039858 Centerline is valid? [True, True] Translation: X:50.12, Y:11.28, Z:-0.33 [[ 9.38695942e-01 -3.44715651e-01 -4.58791752e-03 5.01233118e+01] [ 3.44710739e-01 9.38707141e-01 -1.84644790e-03 1.12777452e+01] [ 4.94321043e-03 1.51748708e-04 9.99987771e-01 -3.28520383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.600888479 meters Centerline goodness [0,1] 0.9996450045483792 Centerline is valid? [True, True] Translation: X:50.15, Y:11.29, Z:-0.33 [[ 9.39384974e-01 -3.42801443e-01 -6.56057537e-03 5.01488699e+01] [ 3.42791355e-01 9.39407855e-01 -2.63997069e-03 1.12908549e+01] [ 7.06804180e-03 2.31040277e-04 9.99974994e-01 -3.29015126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630888479 meters Centerline goodness [0,1] 0.9995777027027027 Centerline is valid? [True, True] Translation: X:50.18, Y:11.30, Z:-0.33 [[ 9.39737854e-01 -3.41809598e-01 -7.67883597e-03 5.01752747e+01] [ 3.41795720e-01 9.39769184e-01 -3.09310425e-03 1.13027826e+01] [ 8.27358614e-03 2.82113878e-04 9.99965734e-01 -3.29622394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.660888479 meters Centerline goodness [0,1] 0.9992453332741438 Centerline is valid? [True, True] Translation: X:50.20, Y:11.32, Z:-0.33 [[ 9.40789310e-01 -3.38845262e-01 -9.96808781e-03 5.02008421e+01] [ 3.38821717e-01 9.40842032e-01 -4.01432390e-03 1.13168552e+01] [ 1.07386306e-02 3.99228381e-04 9.99942260e-01 -3.31914917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.690888479 meters Centerline goodness [0,1] 0.9994446172301951 Centerline is valid? [True, True] Translation: X:50.23, Y:11.33, Z:-0.33 [[ 9.41208166e-01 -3.37660776e-01 -1.06013488e-02 5.02264739e+01] [ 3.37634046e-01 9.41267765e-01 -4.27140811e-03 1.13290265e+01] [ 1.14209949e-02 4.40907893e-04 9.99934681e-01 -3.32952458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.720888479 meters Centerline goodness [0,1] 0.9993801744366229 Centerline is valid? [True, True] Translation: X:50.25, Y:11.34, Z:-0.34 [[ 9.41650634e-01 -3.36408612e-01 -1.11053736e-02 5.02502741e+01] [ 3.36379173e-01 9.41715996e-01 -4.47612917e-03 1.13443776e+01] [ 1.19639163e-02 4.79333486e-04 9.99928315e-01 -3.35578611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750888479 meters Centerline goodness [0,1] 0.9995806109835776 Centerline is valid? [True, True] Translation: X:50.28, Y:11.36, Z:-0.34 [[ 9.42176288e-01 -3.34972461e-01 -9.86370590e-03 5.02766800e+01] [ 3.34949122e-01 9.42227813e-01 -3.97916588e-03 1.13571956e+01] [ 1.06267690e-02 4.45236113e-04 9.99943435e-01 -3.35506038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.780888479 meters Centerline goodness [0,1] 0.9996465884743666 Centerline is valid? [True, True] Translation: X:50.30, Y:11.37, Z:-0.33 [[ 9.42249318e-01 -3.34768342e-01 -9.81731216e-03 5.03028834e+01] [ 3.34745210e-01 9.42300355e-01 -3.96052100e-03 1.13680859e+01] [ 1.05767138e-02 4.45499992e-04 9.99943966e-01 -3.34567999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810888479 meters Centerline goodness [0,1] 0.9997137635687078 Centerline is valid? [True, True] Translation: X:50.33, Y:11.38, Z:-0.33 [[ 9.42249473e-01 -3.34779744e-01 -9.40499431e-03 5.03273459e+01] [ 3.34758500e-01 9.42296312e-01 -3.79570370e-03 1.13786241e+01] [ 1.01330162e-02 4.28098019e-04 9.99948568e-01 -3.33723668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.840888479 meters Centerline goodness [0,1] 0.9997561840588705 Centerline is valid? [True, True] Translation: X:50.36, Y:11.39, Z:-0.33 [[ 9.41839328e-01 -3.35941534e-01 -9.05353565e-03 5.03551440e+01] [ 3.35921873e-01 9.41882755e-01 -3.65677634e-03 1.13883702e+01] [ 9.75583215e-03 4.02815117e-04 9.99952330e-01 -3.31035381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.870888479 meters Centerline goodness [0,1] 0.9998014997794442 Centerline is valid? [True, True] Translation: X:50.38, Y:11.40, Z:-0.33 [[ 9.41629448e-01 -3.36537556e-01 -8.74394742e-03 5.03797903e+01] [ 3.36519235e-01 9.41669967e-01 -3.53248326e-03 1.14006904e+01] [ 9.42272596e-03 3.83783768e-04 9.99955531e-01 -3.31518770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.900888479 meters Centerline goodness [0,1] 0.9996034019301107 Centerline is valid? [True, True] Translation: X:50.40, Y:11.41, Z:-0.33 [[ 9.41547493e-01 -3.36769183e-01 -8.65070817e-03 5.04045887e+01] [ 3.36751228e-01 9.41587156e-01 -3.49829961e-03 1.14143564e+01] [ 9.32351521e-03 3.80678633e-04 9.99956463e-01 -3.33469296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.930888479 meters Centerline goodness [0,1] 0.9997357875732089 Centerline is valid? [True, True] Translation: X:50.43, Y:11.43, Z:-0.33 [[ 9.41309828e-01 -3.37428097e-01 -8.83662672e-03 5.04316453e+01] [ 3.37409370e-01 9.41351226e-01 -3.57566474e-03 1.14257571e+01] [ 9.52489915e-03 3.84247703e-04 9.99954563e-01 -3.34114866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.960888479 meters Centerline goodness [0,1] 0.9997357875732089 Centerline is valid? [True, True] Translation: X:50.46, Y:11.44, Z:-0.33 [[ 9.41219606e-01 -3.37679709e-01 -8.83560048e-03 5.04572009e+01] [ 3.37660969e-01 9.41260998e-01 -3.57820047e-03 1.14361985e+01] [ 9.52489181e-03 3.84435013e-04 9.99954563e-01 -3.34265190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990888479 meters Centerline goodness [0,1] 0.9994952598314607 Centerline is valid? [True, True] Translation: X:50.48, Y:11.45, Z:-0.33 [[ 9.41091149e-01 -3.38045159e-01 -8.53927588e-03 5.04843907e+01] [ 3.38027650e-01 9.41129818e-01 -3.46042801e-03 1.14462439e+01] [ 9.20634809e-03 3.70066816e-04 9.99957552e-01 -3.33992600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.020888479 meters Centerline goodness [0,1] 0.9996486528030919 Centerline is valid? [True, True] Translation: X:50.51, Y:11.45, Z:-0.33 [[ 9.40629086e-01 -3.39324951e-01 -8.68909149e-03 5.05127350e+01] [ 3.39306871e-01 9.40669147e-01 -3.52177611e-03 1.14545111e+01] [ 9.36858679e-03 3.64416599e-04 9.99956047e-01 -3.32579795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.050888479 meters Centerline goodness [0,1] 0.9998016660055533 Centerline is valid? [True, True] Translation: X:50.54, Y:11.47, Z:-0.33 [[ 9.40309914e-01 -3.40198031e-01 -9.08655770e-03 5.05384495e+01] [ 3.40178286e-01 9.40353742e-01 -3.68420456e-03 1.14662053e+01] [ 9.79793768e-03 3.73244449e-04 9.99951929e-01 -3.33016656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.080888479 meters Centerline goodness [0,1] 0.9995371900826446 Centerline is valid? [True, True] Translation: X:50.56, Y:11.48, Z:-0.34 [[ 9.39507614e-01 -3.42365549e-01 -1.05486610e-02 5.05633686e+01] [ 3.42339034e-01 9.39566742e-01 -4.28052239e-03 1.14802744e+01] [ 1.13766744e-02 4.10364972e-04 9.99935199e-01 -3.35719041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110888479 meters Centerline goodness [0,1] 0.9996480809413835 Centerline is valid? [True, True] Translation: X:50.59, Y:11.49, Z:-0.34 [[ 9.39137291e-01 -3.43381108e-01 -1.05149100e-02 5.05899103e+01] [ 3.43354795e-01 9.39196068e-01 -4.26960351e-03 1.14917359e+01] [ 1.13416634e-02 3.99399092e-04 9.99935602e-01 -3.36022022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.140888479 meters Centerline goodness [0,1] 0.9995827477160928 Centerline is valid? [True, True] Translation: X:50.61, Y:11.50, Z:-0.34 [[ 9.38928023e-01 -3.43953550e-01 -1.04939383e-02 5.06149185e+01] [ 3.43927368e-01 9.38986582e-01 -4.26194434e-03 1.15040915e+01] [ 1.13195781e-02 3.92506396e-04 9.99935854e-01 -3.36386098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170888479 meters Centerline goodness [0,1] 0.9997800651007301 Centerline is valid? [True, True] Translation: X:50.64, Y:11.51, Z:-0.34 [[ 9.38410552e-01 -3.45314469e-01 -1.19813791e-02 5.06420542e+01] [ 3.45280400e-01 9.38486937e-01 -4.86980600e-03 1.15135339e+01] [ 1.29259822e-02 4.32941959e-04 9.99916362e-01 -3.35871835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.200888479 meters Centerline goodness [0,1] 0.9997579651469811 Centerline is valid? [True, True] Translation: X:50.67, Y:11.52, Z:-0.34 [[ 9.38069070e-01 -3.46192794e-01 -1.33029950e-02 5.06688510e+01] [ 3.46150821e-01 9.38163273e-01 -5.41128248e-03 1.15225897e+01] [ 1.43537283e-02 4.71314087e-04 9.99896869e-01 -3.35997487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.230888479 meters Centerline goodness [0,1] 0.9997139651037427 Centerline is valid? [True, True] Translation: X:50.69, Y:11.53, Z:-0.34 [[ 9.37660896e-01 -3.47247033e-01 -1.45445088e-02 5.06940772e+01] [ 3.47196983e-01 9.37773560e-01 -5.91646628e-03 1.15338441e+01] [ 1.56939312e-02 4.97829501e-04 9.99876719e-01 -3.37879437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.260888479 meters Centerline goodness [0,1] 0.99973619996043 Centerline is valid? [True, True] Translation: X:50.72, Y:11.54, Z:-0.34 [[ 9.37092028e-01 -3.48776644e-01 -1.46076189e-02 5.07195232e+01] [ 3.48726323e-01 9.37205754e-01 -5.94355060e-03 1.15444146e+01] [ 1.57633161e-02 4.75592682e-04 9.99875638e-01 -3.38826439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290888479 meters Centerline goodness [0,1] 0.9995807682972574 Centerline is valid? [True, True] Translation: X:50.75, Y:11.55, Z:-0.34 [[ 9.35841565e-01 -3.52107402e-01 -1.48641207e-02 5.07483229e+01] [ 3.52055642e-01 9.35959503e-01 -6.05253374e-03 1.15519901e+01] [ 1.60433569e-02 4.31215106e-04 9.99871204e-01 -3.36748064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.320888479 meters Centerline goodness [0,1] 0.9997125356566349 Centerline is valid? [True, True] Translation: X:50.77, Y:11.56, Z:-0.34 [[ 9.35274546e-01 -3.53569271e-01 -1.58207147e-02 5.07743706e+01] [ 3.53510832e-01 9.35408244e-01 -6.44271191e-03 1.15616938e+01] [ 1.70767720e-02 4.32910418e-04 9.99854088e-01 -3.36783303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350888479 meters Centerline goodness [0,1] 0.9998449165872787 Centerline is valid? [True, True] Translation: X:50.80, Y:11.57, Z:-0.34 [[ 9.34778862e-01 -3.54859253e-01 -1.62292966e-02 5.08015765e+01] [ 3.54797859e-01 9.34919638e-01 -6.61434350e-03 1.15705139e+01] [ 1.75202491e-02 4.24828798e-04 9.99846418e-01 -3.35239881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.380888479 meters Centerline goodness [0,1] 0.9998895881638512 Centerline is valid? [True, True] Translation: X:50.83, Y:11.58, Z:-0.33 [[ 9.33972026e-01 -3.56995930e-01 -1.58164636e-02 5.08274888e+01] [ 3.56937914e-01 9.34105864e-01 -6.44675772e-03 1.15804771e+01] [ 1.70757177e-02 3.75595847e-04 9.99854129e-01 -3.34308855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.410888479 meters Centerline goodness [0,1] 0.9998892727433785 Centerline is valid? [True, True] Translation: X:50.86, Y:11.59, Z:-0.33 [[ 9.33587033e-01 -3.58016544e-01 -1.54727614e-02 5.08551366e+01] [ 3.57961074e-01 9.33715175e-01 -6.31194295e-03 1.15896808e+01] [ 1.67069322e-02 3.54101775e-04 9.99860367e-01 -3.32116430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.440888479 meters Centerline goodness [0,1] 0.9996923144546274 Centerline is valid? [True, True] Translation: X:50.88, Y:11.60, Z:-0.33 [[ 9.33308049e-01 -3.58772667e-01 -1.47735771e-02 5.08804760e+01] [ 3.58722183e-01 9.33424912e-01 -6.02732989e-03 1.16013518e+01] [ 1.59524661e-02 3.25745676e-04 9.99872698e-01 -3.33568690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.470888479 meters Centerline goodness [0,1] 0.9994948385679772 Centerline is valid? [True, True] Translation: X:50.91, Y:11.61, Z:-0.33 [[ 9.33013820e-01 -3.59560746e-01 -1.41873863e-02 5.09077656e+01] [ 3.59514205e-01 9.33121630e-01 -5.79301369e-03 1.16113769e+01] [ 1.53214973e-02 3.04394918e-04 9.99882573e-01 -3.33169470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.500888479 meters Centerline goodness [0,1] 0.99966982170372 Centerline is valid? [True, True] Translation: X:50.93, Y:11.62, Z:-0.33 [[ 9.32435076e-01 -3.60996227e-01 -1.57020333e-02 5.09348790e+01] [ 3.60939412e-01 9.32567224e-01 -6.41196067e-03 1.16193057e+01] [ 1.69578952e-02 3.11254372e-04 9.99856156e-01 -3.33668655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530888479 meters Centerline goodness [0,1] 0.9999559160641862 Centerline is valid? [True, True] Translation: X:50.96, Y:11.63, Z:-0.33 [[ 9.32002607e-01 -3.62089336e-01 -1.62004427e-02 5.09615625e+01] [ 3.62028915e-01 9.32143347e-01 -6.62159443e-03 1.16283177e+01] [ 1.74987436e-02 3.06314561e-04 9.99846838e-01 -3.34062823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.560888479 meters Centerline goodness [0,1] 0.9998674853129556 Centerline is valid? [True, True] Translation: X:50.99, Y:11.64, Z:-0.33 [[ 9.31599000e-01 -3.63098518e-01 -1.68157265e-02 5.09880898e+01] [ 3.63033487e-01 9.31750704e-01 -6.87845778e-03 1.16365813e+01] [ 1.81656228e-02 3.03292566e-04 9.99834945e-01 -3.33043484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.590888479 meters Centerline goodness [0,1] 0.9998229579303782 Centerline is valid? [True, True] Translation: X:51.01, Y:11.65, Z:-0.33 [[ 9.31408736e-01 -3.63567173e-01 -1.72243567e-02 5.10147447e+01] [ 3.63499012e-01 9.31567936e-01 -7.04617804e-03 1.16463198e+01] [ 1.86074174e-02 3.01835147e-04 9.99826821e-01 -3.33295884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.620888479 meters Centerline goodness [0,1] 0.9998893021608218 Centerline is valid? [True, True] Translation: X:51.04, Y:11.66, Z:-0.33 [[ 9.31477678e-01 -3.63450891e-01 -1.58992108e-02 5.10414156e+01] [ 3.63392704e-01 9.31613315e-01 -6.50952685e-03 1.16567891e+01] [ 1.71778098e-02 2.85821743e-04 9.99852410e-01 -3.32049621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.650888479 meters Centerline goodness [0,1] 0.9998896539548022 Centerline is valid? [True, True] Translation: X:51.07, Y:11.67, Z:-0.33 [[ 9.31588883e-01 -3.63200075e-01 -1.50950102e-02 5.10670233e+01] [ 3.63147583e-01 9.31711130e-01 -6.18092404e-03 1.16676078e+01] [ 1.63091010e-02 2.76363670e-04 9.99866960e-01 -3.31389287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.680888479 meters Centerline goodness [0,1] 0.9999115826702034 Centerline is valid? [True, True] Translation: X:51.09, Y:11.68, Z:-0.33 [[ 9.31742793e-01 -3.62831504e-01 -1.44453425e-02 5.10921243e+01] [ 3.62783366e-01 9.31854724e-01 -5.91634770e-03 1.16790077e+01] [ 1.56075979e-02 2.71984362e-04 9.99878157e-01 -3.33592806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710888479 meters Centerline goodness [0,1] 0.9998669003305308 Centerline is valid? [True, True] Translation: X:51.12, Y:11.69, Z:-0.33 [[ 9.31831586e-01 -3.62602785e-01 -1.44608558e-02 5.11200545e+01] [ 3.62554439e-01 9.31943744e-01 -5.92767170e-03 1.16873534e+01] [ 1.56260944e-02 2.80744254e-04 9.99877866e-01 -3.31740739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.740888479 meters Centerline goodness [0,1] 0.9999112097669256 Centerline is valid? [True, True] Translation: X:51.15, Y:11.70, Z:-0.33 [[ 9.32205844e-01 -3.61653605e-01 -1.41043917e-02 5.11479442e+01] [ 3.61607443e-01 9.32312493e-01 -5.78555725e-03 1.16962203e+01] [ 1.52420683e-02 2.93077251e-04 9.99883790e-01 -3.32126828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.770888479 meters Centerline goodness [0,1] 0.9999777619640633 Centerline is valid? [True, True] Translation: X:51.18, Y:11.71, Z:-0.33 [[ 9.32524464e-01 -3.60840505e-01 -1.38655437e-02 5.11753714e+01] [ 3.60795745e-01 9.32627491e-01 -5.69154700e-03 1.17066378e+01] [ 1.49851280e-02 3.04877636e-04 9.99887670e-01 -3.31650764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.800888479 meters Centerline goodness [0,1] 0.9998890540750438 Centerline is valid? [True, True] Translation: X:51.20, Y:11.72, Z:-0.33 [[ 9.33017411e-01 -3.59565049e-01 -1.38379009e-02 5.12017704e+01] [ 3.59520267e-01 9.33119964e-01 -5.68412499e-03 1.17179422e+01] [ 1.49562342e-02 3.28381761e-04 9.99888095e-01 -3.31845751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.830888479 meters Centerline goodness [0,1] 0.999955721844628 Centerline is valid? [True, True] Translation: X:51.23, Y:11.73, Z:-0.33 [[ 9.33589531e-01 -3.58105691e-01 -1.30729808e-02 5.12266987e+01] [ 3.58065561e-01 9.33680996e-01 -5.37129420e-03 1.17300519e+01] [ 1.41294847e-02 3.33599833e-04 9.99900118e-01 -3.33106876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.860888479 meters Centerline goodness [0,1] 0.9998669387030958 Centerline is valid? [True, True] Translation: X:51.25, Y:11.74, Z:-0.33 [[ 9.34866534e-01 -3.54835123e-01 -1.07980699e-02 5.12520587e+01] [ 3.54807517e-01 9.34928839e-01 -4.43751896e-03 1.17416599e+01] [ 1.16700145e-02 3.17251607e-04 9.99931853e-01 -3.32398209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890888479 meters Centerline goodness [0,1] 0.9997780687542999 Centerline is valid? [True, True] Translation: X:51.28, Y:11.75, Z:-0.33 [[ 9.35448719e-01 -3.53324150e-01 -9.88629572e-03 5.12787053e+01] [ 3.53300886e-01 9.35500908e-01 -4.06642740e-03 1.17534383e+01] [ 1.06854056e-02 3.11097269e-04 9.99942861e-01 -3.31547984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.920888479 meters Centerline goodness [0,1] 0.9999111209865571 Centerline is valid? [True, True] Translation: X:51.31, Y:11.77, Z:-0.33 [[ 9.36194374e-01 -3.51370713e-01 -8.87218016e-03 5.13055205e+01] [ 3.51351864e-01 9.36236365e-01 -3.65188341e-03 1.17651240e+01] [ 9.58962258e-03 3.01615662e-04 9.99953973e-01 -3.31414536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.950888479 meters Centerline goodness [0,1] 0.9996220122290161 Centerline is valid? [True, True] Translation: X:51.33, Y:11.78, Z:-0.33 [[ 9.37571610e-01 -3.47690082e-01 -8.43106186e-03 5.13302501e+01] [ 3.47672913e-01 9.37609462e-01 -3.47022801e-03 1.17789127e+01] [ 9.11160723e-03 3.22335424e-04 9.99958436e-01 -3.33781580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.980888479 meters Centerline goodness [0,1] 0.9995102949360044 Centerline is valid? [True, True] Translation: X:51.35, Y:11.79, Z:-0.34 [[ 9.37922143e-01 -3.46763867e-01 -7.54157846e-03 5.13543474e+01] [ 3.46750093e-01 9.37952415e-01 -3.10489798e-03 1.17943326e+01] [ 8.15030816e-03 2.97109537e-04 9.99966742e-01 -3.36013627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.010888479 meters Centerline goodness [0,1] 0.99966520846353 Centerline is valid? [True, True] Translation: X:51.38, Y:11.80, Z:-0.33 [[ 9.38238513e-01 -3.45944511e-01 -5.55777810e-03 5.13839207e+01] [ 3.45937001e-01 9.38254946e-01 -2.29072273e-03 1.17992945e+01] [ 6.00707575e-03 2.26603204e-04 9.99981932e-01 -3.33813672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.040888479 meters Centerline goodness [0,1] 0.9996652383502946 Centerline is valid? [True, True] Translation: X:51.41, Y:11.81, Z:-0.33 [[ 9.38376378e-01 -3.45571615e-01 -5.48025118e-03 5.14112905e+01] [ 3.45564297e-01 9.38392353e-01 -2.26035244e-03 1.18085356e+01] [ 5.92373944e-03 2.27282193e-04 9.99982429e-01 -3.33922520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070888479 meters Centerline goodness [0,1] 0.9997768205860691 Centerline is valid? [True, True] Translation: X:51.44, Y:11.82, Z:-0.33 [[ 9.38395120e-01 -3.45521728e-01 -5.41612690e-03 5.14387419e+01] [ 3.45514571e-01 9.38410722e-01 -2.23550312e-03 1.18180257e+01] [ 5.85496646e-03 2.26434457e-04 9.99982834e-01 -3.34209328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.100888479 meters Centerline goodness [0,1] 0.9995310615872449 Centerline is valid? [True, True] Translation: X:51.46, Y:11.83, Z:-0.34 [[ 9.38583946e-01 -3.45006688e-01 -5.52820314e-03 5.14628294e+01] [ 3.44999225e-01 9.38600197e-01 -2.28135969e-03 1.18332298e+01] [ 5.97585691e-03 2.34021785e-04 9.99982117e-01 -3.36179538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130888479 meters Centerline goodness [0,1] 0.9995752766290377 Centerline is valid? [True, True] Translation: X:51.49, Y:11.84, Z:-0.34 [[ 9.38821183e-01 -3.44363674e-01 -5.33341726e-03 5.14902922e+01] [ 3.44356703e-01 9.38836304e-01 -2.20334899e-03 1.18421939e+01] [ 5.76595910e-03 2.31952725e-04 9.99983350e-01 -3.35794341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.160888479 meters Centerline goodness [0,1] 0.9995515896148155 Centerline is valid? [True, True] Translation: X:51.52, Y:11.85, Z:-0.34 [[ 9.38963260e-01 -3.43950599e-01 -6.78097672e-03 5.15168917e+01] [ 3.43939325e-01 9.38987698e-01 -2.80075563e-03 1.18516870e+01] [ 7.33057530e-03 2.97562081e-04 9.99973087e-01 -3.37258171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.190888479 meters Centerline goodness [0,1] 0.9995520817002979 Centerline is valid? [True, True] Translation: X:51.54, Y:11.86, Z:-0.34 [[ 9.38755969e-01 -3.44509684e-01 -7.09282686e-03 5.15434450e+01] [ 3.44497339e-01 9.38782713e-01 -2.93289104e-03 1.18612955e+01] [ 7.66903261e-03 3.09808991e-04 9.99970545e-01 -3.38937699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.220888479 meters Centerline goodness [0,1] 0.9998202933710717 Centerline is valid? [True, True] Translation: X:51.57, Y:11.87, Z:-0.34 [[ 9.38332515e-01 -3.45656766e-01 -7.31375610e-03 5.15705437e+01] [ 3.45643660e-01 9.38360966e-01 -3.02607311e-03 1.18713559e+01] [ 7.90892589e-03 3.11509365e-04 9.99968675e-01 -3.40897301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250888479 meters Centerline goodness [0,1] 0.9996185689604883 Centerline is valid? [True, True] Translation: X:51.60, Y:11.88, Z:-0.34 [[ 9.37776341e-01 -3.47171871e-01 -6.87218609e-03 5.15973044e+01] [ 3.47160326e-01 9.37801478e-01 -2.84540715e-03 1.18813232e+01] [ 7.43259159e-03 2.82605141e-04 9.99972338e-01 -3.42354271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.280888479 meters Centerline goodness [0,1] 0.9995718309859155 Centerline is valid? [True, True] Translation: X:51.63, Y:11.89, Z:-0.34 [[ 9.36608793e-01 -3.50323679e-01 -6.10640279e-03 5.16263580e+01] [ 3.50314634e-01 9.36628671e-01 -2.52772433e-03 1.18873018e+01] [ 6.60495362e-03 2.28326579e-04 9.99978161e-01 -3.42313192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310888479 meters Centerline goodness [0,1] 0.999729687112833 Centerline is valid? [True, True] Translation: X:51.65, Y:11.90, Z:-0.34 [[ 9.35915832e-01 -3.52171558e-01 -6.06206452e-03 5.16521921e+01] [ 3.52162673e-01 9.35935440e-01 -2.51074485e-03 1.18975363e+01] [ 6.55791394e-03 2.15013007e-04 9.99978474e-01 -3.42635893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.340888479 meters Centerline goodness [0,1] 0.9996390787485055 Centerline is valid? [True, True] Translation: X:51.68, Y:11.91, Z:-0.34 [[ 9.35215863e-01 -3.54029154e-01 -5.88614893e-03 5.16788084e+01] [ 3.54020810e-01 9.35234366e-01 -2.43871629e-03 1.19064087e+01] [ 6.36830543e-03 1.96906954e-04 9.99979703e-01 -3.42803359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.370888479 meters Centerline goodness [0,1] 0.9998194497731838 Centerline is valid? [True, True] Translation: X:51.71, Y:11.91, Z:-0.34 [[ 9.33708676e-01 -3.57993434e-01 -5.36754840e-03 5.17085228e+01] [ 3.57986560e-01 9.33724091e-01 -2.22377072e-03 1.19116943e+01] [ 5.80790457e-03 1.54843829e-04 9.99983122e-01 -3.41541236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.74, Y:11.92, Z:-0.34 [[ 9.32658686e-01 -3.60735260e-01 -4.22452496e-03 5.17366110e+01] [ 3.60731021e-01 9.32668247e-01 -1.75240051e-03 1.19204234e+01] [ 4.57223294e-03 1.10474358e-04 9.99989541e-01 -3.40910431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.430888479 meters Centerline goodness [0,1] 0.9999546598354152 Centerline is valid? [True, True] Translation: X:51.76, Y:11.93, Z:-0.34 [[ 9.31700011e-01 -3.63216171e-01 -3.01720576e-03 5.17648998e+01] [ 3.63214020e-01 9.31704893e-01 -1.25182020e-03 1.19286888e+01] [ 3.26582671e-03 7.04294536e-05 9.99994665e-01 -3.39627583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.460888479 meters Centerline goodness [0,1] 0.9999774332588631 Centerline is valid? [True, True] Translation: X:51.79, Y:11.94, Z:-0.34 [[ 9.29609535e-01 -3.68543332e-01 -1.38726442e-03 5.17927050e+01] [ 3.68542883e-01 9.29610570e-01 -5.75691470e-04 1.19363669e+01] [ 1.50178292e-03 2.39018520e-05 9.99998872e-01 -3.39109712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:11.95, Z:-0.34 [[ 9.28604731e-01 -3.71069724e-01 -7.15896696e-04 5.18190554e+01] [ 3.71069605e-01 9.28605007e-01 -2.97458801e-04 1.19453666e+01] [ 7.75163212e-04 1.05741457e-05 9.99999700e-01 -3.39308607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.520888479 meters Centerline goodness [0,1] 0.9999546238315636 Centerline is valid? [True, True] Translation: X:51.85, Y:11.95, Z:-0.34 [[ 9.26792896e-01 -3.75572788e-01 -8.83963993e-05 5.18478364e+01] [ 3.75572786e-01 9.26792901e-01 -3.80786458e-05 1.19512097e+01] [ 9.62264585e-05 2.09173646e-06 9.99999995e-01 -3.39267608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.550888479 meters Centerline goodness [0,1] 0.9998864565355619 Centerline is valid? [True, True] Translation: X:51.87, Y:11.96, Z:-0.34 [[ 9.25903141e-01 -3.77760973e-01 1.43928294e-04 5.18749920e+01] [ 3.77760969e-01 9.25903152e-01 5.83717988e-05 1.19605962e+01] [-1.55314248e-04 3.23859875e-07 9.99999988e-01 -3.39411114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.580888479 meters Centerline goodness [0,1] 0.9998642257473241 Centerline is valid? [True, True] Translation: X:51.90, Y:11.97, Z:-0.34 [[ 9.25269666e-01 -3.79309922e-01 1.69028298e-04 5.19016140e+01] [ 3.79309915e-01 9.25269681e-01 6.86530295e-05 1.19708070e+01] [-1.82437535e-04 5.91543814e-07 9.99999983e-01 -3.40149156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.610888478999996 meters Centerline goodness [0,1] 0.9999318522556904 Centerline is valid? [True, True] Translation: X:51.93, Y:11.98, Z:-0.34 [[ 9.24598504e-01 -3.80942078e-01 8.60107990e-04 5.19281830e+01] [ 3.80941911e-01 9.24598904e-01 3.56209179e-04 1.19810980e+01] [-9.30949969e-04 -1.69929264e-06 9.99999567e-01 -3.40488760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.640888479 meters Centerline goodness [0,1] 0.9997734635162993 Centerline is valid? [True, True] Translation: X:51.95, Y:11.99, Z:-0.34 [[ 9.23525507e-01 -3.83533293e-01 1.68818358e-03 5.19546875e+01] [ 3.83532651e-01 9.23527050e-01 7.01975200e-04 1.19900955e+01] [-1.82831406e-03 -8.18478918e-07 9.99998329e-01 -3.38904997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670888479 meters Centerline goodness [0,1] 0.9996603260869565 Centerline is valid? [True, True] Translation: X:51.98, Y:12.00, Z:-0.34 [[ 9.23073733e-01 -3.84619260e-01 1.70510401e-03 5.19806561e+01] [ 3.84618608e-01 9.23075308e-01 7.08485832e-04 1.20003636e+01] [-1.84643670e-03 1.83006776e-06 9.99998295e-01 -3.38292095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.700888479 meters Centerline goodness [0,1] 0.9996828273674672 Centerline is valid? [True, True] Translation: X:52.01, Y:12.01, Z:-0.34 [[ 9.22612912e-01 -3.85722616e-01 1.86511413e-03 5.20058721e+01] [ 3.85721835e-01 9.22614797e-01 7.76245108e-04 1.20111393e+01] [-2.02019719e-03 3.24148471e-06 9.99997959e-01 -3.38581462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.730888479 meters Centerline goodness [0,1] 0.999819090477375 Centerline is valid? [True, True] Translation: X:52.03, Y:12.02, Z:-0.34 [[ 9.21896228e-01 -3.87436112e-01 7.77069996e-04 5.20325074e+01] [ 3.87435977e-01 9.21896556e-01 3.22534673e-04 1.20216324e+01] [-8.41339732e-04 3.72137467e-06 9.99999646e-01 -3.39404259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.760888479 meters Centerline goodness [0,1] 0.9997738784370478 Centerline is valid? [True, True] Translation: X:52.06, Y:12.03, Z:-0.34 [[ 9.21631924e-01 -3.88065169e-01 1.42719146e-04 5.20584883e+01] [ 3.88065165e-01 9.21631935e-01 5.79598422e-05 1.20321863e+01] [-1.54026718e-04 1.96668786e-06 9.99999988e-01 -3.40162468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790888479 meters Centerline goodness [0,1] 0.9998184500170203 Centerline is valid? [True, True] Translation: X:52.08, Y:12.04, Z:-0.34 [[ 9.21243098e-01 -3.88987323e-01 -1.31164526e-04 5.20842495e+01] [ 3.88987319e-01 9.21243107e-01 -5.63172954e-05 1.20435226e+01] [ 1.42741129e-04 8.60582435e-07 9.99999990e-01 -3.41092137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.11, Y:12.06, Z:-0.34 [[ 9.21000584e-01 -3.89560699e-01 6.20654272e-04 5.21084709e+01] [ 3.89560614e-01 9.21000793e-01 2.58494875e-04 1.20568206e+01] [-6.72322521e-04 3.70852838e-06 9.99999774e-01 -3.42049271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.13, Y:12.07, Z:-0.34 [[ 9.20898566e-01 -3.89801804e-01 6.20896556e-04 5.21338992e+01] [ 3.89801719e-01 9.20898775e-01 2.57915091e-04 1.20675392e+01] [-6.72318645e-04 4.51290700e-06 9.99999774e-01 -3.42199734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.880888479 meters Centerline goodness [0,1] 0.99997752253366 Centerline is valid? [True, True] Translation: X:52.16, Y:12.08, Z:-0.34 [[ 9.20699581e-01 -3.90266859e-01 2.01508111e-03 5.21592317e+01] [ 3.90265952e-01 9.20701786e-01 8.41147614e-04 1.20796344e+01] [-2.18356082e-03 1.19732945e-05 9.99997616e-01 -3.42234073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.19, Y:12.09, Z:-0.34 [[ 9.20331996e-01 -3.91110299e-01 4.66386447e-03 5.21851964e+01] [ 3.91105437e-01 9.20343812e-01 1.95028578e-03 1.20911899e+01] [-5.05513566e-03 2.91523504e-05 9.99987222e-01 -3.39070042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.21, Y:12.10, Z:-0.34 [[ 9.20043920e-01 -3.91785191e-01 4.85277822e-03 5.22115708e+01] [ 3.91779929e-01 9.20056717e-01 2.03087777e-03 1.21021628e+01] [-5.26049904e-03 3.27243589e-05 9.99986163e-01 -3.37310240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.24, Y:12.11, Z:-0.34 [[ 9.20141613e-01 -3.91547366e-01 5.48380698e-03 5.22375285e+01] [ 3.91540630e-01 9.20157953e-01 2.29691584e-03 1.21138383e+01] [-5.94531995e-03 3.36453979e-05 9.99982326e-01 -3.36747396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.26, Y:12.13, Z:-0.34 [[ 9.20584371e-01 -3.90505234e-01 5.48436001e-03 5.22625171e+01] [ 3.90498468e-01 9.20600707e-01 2.29889627e-03 1.21265705e+01] [-5.94663673e-03 2.53062012e-05 9.99982318e-01 -3.36935932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030888479 meters Centerline goodness [0,1] 0.999977650634722 Centerline is valid? [True, True] Translation: X:52.29, Y:12.14, Z:-0.34 [[ 9.22675210e-01 -3.85540507e-01 5.38273772e-03 5.22850859e+01] [ 3.85533895e-01 9.22690911e-01 2.25793029e-03 1.21439682e+01] [-5.83712676e-03 -8.10846085e-06 9.99982964e-01 -3.38294755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.060888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.31, Y:12.16, Z:-0.34 [[ 9.23918896e-01 -3.82553661e-01 5.15472813e-03 5.23095355e+01] [ 3.82547548e-01 9.23933275e-01 2.16280101e-03 1.21596428e+01] [-5.59001228e-03 -2.63241202e-05 9.99984375e-01 -3.39535565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.090888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.33, Y:12.17, Z:-0.34 [[ 9.25411089e-01 -3.78932878e-01 4.91837492e-03 5.23339775e+01] [ 3.78927254e-01 9.25424158e-01 2.06494108e-03 1.21748038e+01] [-5.33405704e-03 -4.72130663e-05 9.99985773e-01 -3.40804532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.120888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.36, Y:12.19, Z:-0.34 [[ 9.28057867e-01 -3.72415693e-01 3.89205896e-03 5.23583528e+01] [ 3.72412112e-01 9.28066025e-01 1.63441617e-03 1.21942272e+01] [-4.22076992e-03 -6.73828880e-05 9.99991090e-01 -3.42269812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.150888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.38, Y:12.21, Z:-0.34 [[ 9.29089453e-01 -3.69845724e-01 2.63216512e-03 5.23820094e+01] [ 3.69844075e-01 9.29093180e-01 1.10581462e-03 1.22089939e+01] [-2.85450747e-03 -5.39100281e-05 9.99995924e-01 -3.43342930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.180888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.41, Y:12.22, Z:-0.34 [[ 9.29943118e-01 -3.67698464e-01 1.90690128e-03 5.24077170e+01] [ 3.67697594e-01 9.29945073e-01 8.00606257e-04 1.22227409e+01] [-2.06769514e-03 -4.33552649e-05 9.99997861e-01 -3.44071918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210888479 meters Centerline goodness [0,1] 0.9999558391662434 Centerline is valid? [True, True] Translation: X:52.43, Y:12.24, Z:-0.35 [[ 9.31138632e-01 -3.64665031e-01 5.13724649e-04 5.24325363e+01] [ 3.64664967e-01 9.31138773e-01 2.15696016e-04 1.22391673e+01] [-5.57005733e-04 -1.35055113e-05 9.99999845e-01 -3.45246643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.240888479 meters Centerline goodness [0,1] 0.9998457368270269 Centerline is valid? [True, True] Translation: X:52.46, Y:12.25, Z:-0.35 [[ 9.31552446e-01 -3.63606702e-01 4.54163450e-04 5.24566916e+01] [ 3.63606652e-01 9.31552557e-01 1.90509927e-04 1.22522486e+01] [-4.92347809e-04 -1.23331366e-05 9.99999879e-01 -3.45504016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.270888479 meters Centerline goodness [0,1] 0.9998016965957915 Centerline is valid? [True, True] Translation: X:52.48, Y:12.27, Z:-0.35 [[ 9.32252699e-01 -3.61807820e-01 8.06561712e-05 5.24808144e+01] [ 3.61807818e-01 9.32252703e-01 3.34530829e-05 1.22670383e+01] [-8.72955205e-05 -2.00469348e-06 9.99999996e-01 -3.45924408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.300888479 meters Centerline goodness [0,1] 0.9998461301738729 Centerline is valid? [True, True] Translation: X:52.51, Y:12.28, Z:-0.35 [[ 9.32373569e-01 -3.61496171e-01 2.15018922e-04 5.25074211e+01] [ 3.61496160e-01 9.32373594e-01 8.91577148e-05 1.22786099e+01] [-2.32708138e-04 -5.39978212e-06 9.99999973e-01 -3.45553295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.330888479 meters Centerline goodness [0,1] 0.999890063982762 Centerline is valid? [True, True] Translation: X:52.53, Y:12.29, Z:-0.34 [[ 9.32383439e-01 -3.61470127e-01 6.85265984e-04 5.25326379e+01] [ 3.61470013e-01 9.32383691e-01 2.87232422e-04 1.22905859e+01] [-7.42756767e-04 -2.01076493e-05 9.99999724e-01 -3.44899054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.360888478999996 meters Centerline goodness [0,1] 0.9997137761729673 Centerline is valid? [True, True] Translation: X:52.56, Y:12.30, Z:-0.34 [[ 9.32335709e-01 -3.61592618e-01 9.50798953e-04 5.25595289e+01] [ 3.61592399e-01 9.32336193e-01 3.99393917e-04 1.23002224e+01] [-1.03088217e-03 -2.85675369e-05 9.99999468e-01 -3.44396039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390888479 meters Centerline goodness [0,1] 0.9997145680096607 Centerline is valid? [True, True] Translation: X:52.58, Y:12.32, Z:-0.35 [[ 9.32019594e-01 -3.62407606e-01 4.51694802e-04 5.25830539e+01] [ 3.62407557e-01 9.32019703e-01 1.89830861e-04 1.23156073e+01] [-4.89784603e-04 -1.32284726e-05 9.99999880e-01 -3.46272671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.420888479 meters Centerline goodness [0,1] 0.9997153866363079 Centerline is valid? [True, True] Translation: X:52.61, Y:12.32, Z:-0.35 [[ 9.31720211e-01 -3.63176855e-01 -1.44165921e-04 5.26113755e+01] [ 3.63176850e-01 9.31720222e-01 -6.23233377e-05 1.23227755e+01] [ 1.56956698e-04 5.71018839e-06 9.99999988e-01 -3.46073522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.450888479 meters Centerline goodness [0,1] 0.9998248418102599 Centerline is valid? [True, True] Translation: X:52.64, Y:12.33, Z:-0.35 [[ 9.31309933e-01 -3.64227464e-01 -4.04583789e-04 5.26383877e+01] [ 3.64227424e-01 9.31310020e-01 -1.72390241e-04 1.23334344e+01] [ 4.39582197e-04 1.31882328e-05 9.99999903e-01 -3.46373669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.480888479 meters Centerline goodness [0,1] 0.9998688753879104 Centerline is valid? [True, True] Translation: X:52.66, Y:12.35, Z:-0.35 [[ 9.31062422e-01 -3.64859895e-01 -1.52883532e-04 5.26633052e+01] [ 3.64859889e-01 9.31062435e-01 -6.51231505e-05 1.23453291e+01] [ 1.66104939e-04 4.85264975e-06 9.99999986e-01 -3.46599405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.510888479 meters Centerline goodness [0,1] 0.9997374064510481 Centerline is valid? [True, True] Translation: X:52.69, Y:12.35, Z:-0.35 [[ 9.30867067e-01 -3.65358028e-01 -1.24835896e-04 5.26896885e+01] [ 3.65358024e-01 9.30867075e-01 -5.44346979e-05 1.23547696e+01] [ 1.36093779e-04 5.06167115e-06 9.99999991e-01 -3.45920710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.540888479 meters Centerline goodness [0,1] 0.9997148247268899 Centerline is valid? [True, True] Translation: X:52.72, Y:12.37, Z:-0.35 [[ 9.30764901e-01 -3.65617713e-01 6.22027029e-04 5.27156812e+01] [ 3.65617619e-01 9.30765109e-01 2.61679511e-04 1.23665991e+01] [-6.74635719e-04 -1.61380627e-05 9.99999772e-01 -3.45407653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570888479 meters Centerline goodness [0,1] 0.999605790499551 Centerline is valid? [True, True] Translation: X:52.74, Y:12.38, Z:-0.35 [[ 9.30768391e-01 -3.65608445e-01 8.16753665e-04 5.27415702e+01] [ 3.65608283e-01 9.30768749e-01 3.44371799e-04 1.23780367e+01] [-8.86114025e-04 -2.19184799e-05 9.99999607e-01 -3.45308495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.600888479 meters Centerline goodness [0,1] 0.9996715208584255 Centerline is valid? [True, True] Translation: X:52.77, Y:12.39, Z:-0.35 [[ 9.30829461e-01 -3.65453294e-01 6.35473157e-04 5.27678498e+01] [ 3.65453197e-01 9.30829678e-01 2.67958083e-04 1.23892325e+01] [-6.89443438e-04 -1.71875816e-05 9.99999762e-01 -3.45095990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630888479 meters Centerline goodness [0,1] 0.9996497142982245 Centerline is valid? [True, True] Translation: X:52.79, Y:12.40, Z:-0.35 [[ 9.31028400e-01 -3.64946618e-01 2.90675234e-04 5.27930244e+01] [ 3.64946598e-01 9.31028445e-01 1.22742540e-04 1.24006822e+01] [-3.15421386e-04 -8.19585308e-06 9.99999950e-01 -3.45433203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.660888479 meters Centerline goodness [0,1] 0.9997808795494884 Centerline is valid? [True, True] Translation: X:52.82, Y:12.41, Z:-0.35 [[ 9.30794331e-01 -3.65543313e-01 -2.88927794e-05 5.28191072e+01] [ 3.65543312e-01 9.30794331e-01 -1.38771129e-05 1.24106815e+01] [ 3.19659211e-05 2.35517568e-06 9.99999999e-01 -3.45188980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.690888479 meters Centerline goodness [0,1] 0.9998247996145592 Centerline is valid? [True, True] Translation: X:52.84, Y:12.42, Z:-0.35 [[ 9.30607438e-01 -3.66018663e-01 3.66169028e-04 5.28443727e+01] [ 3.66018630e-01 9.30607510e-01 1.54908310e-04 1.24228656e+01] [-3.97458980e-04 -1.01341398e-05 9.99999921e-01 -3.45363157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.720888479 meters Centerline goodness [0,1] 0.9996498369553323 Centerline is valid? [True, True] Translation: X:52.87, Y:12.43, Z:-0.35 [[ 9.29876846e-01 -3.67870884e-01 2.53493698e-04 5.28698754e+01] [ 3.67870869e-01 9.29876880e-01 1.07126080e-04 1.24332803e+01] [-2.75126495e-04 -6.36111501e-06 9.99999962e-01 -3.45587462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750888479 meters Centerline goodness [0,1] 0.9995616726571404 Centerline is valid? [True, True] Translation: X:52.90, Y:12.44, Z:-0.35 [[ 9.29307870e-01 -3.69305485e-01 5.84388436e-04 5.28974002e+01] [ 3.69305403e-01 9.29308054e-01 2.46805840e-04 1.24416535e+01] [-6.34223630e-04 -1.35408023e-05 9.99999799e-01 -3.45285859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.780888479 meters Centerline goodness [0,1] 0.999802847754655 Centerline is valid? [True, True] Translation: X:52.92, Y:12.45, Z:-0.34 [[ 9.28205752e-01 -3.72060092e-01 2.31745394e-03 5.29232457e+01] [ 3.72058795e-01 9.28208643e-01 9.83688558e-04 1.24532878e+01] [-2.51707203e-03 -5.08362579e-05 9.99996831e-01 -3.44623256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810888479 meters Centerline goodness [0,1] 0.999890418164285 Centerline is valid? [True, True] Translation: X:52.95, Y:12.46, Z:-0.34 [[ 9.27467539e-01 -3.73893844e-01 2.71257426e-03 5.29507309e+01] [ 3.73892072e-01 9.27471504e-01 1.15242480e-03 1.24629232e+01] [-2.94671986e-03 -5.46265801e-05 9.99995657e-01 -3.44267184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.840888479 meters Centerline goodness [0,1] 0.9997588671138585 Centerline is valid? [True, True] Translation: X:52.98, Y:12.47, Z:-0.34 [[ 9.26493279e-01 -3.76304648e-01 2.23949312e-03 5.29780269e+01] [ 3.76303447e-01 9.26495985e-01 9.51831080e-04 1.24725386e+01] [-2.43305984e-03 -3.91361191e-05 9.99997039e-01 -3.43599953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.870888479 meters Centerline goodness [0,1] 0.9999561855105483 Centerline is valid? [True, True] Translation: X:53.01, Y:12.48, Z:-0.34 [[ 9.24626545e-01 -3.80872090e-01 1.48458921e-03 5.30064782e+01] [ 3.80871567e-01 9.24627736e-01 6.30982262e-04 1.24804872e+01] [-1.61301590e-03 -1.79851279e-05 9.99998699e-01 -3.43710480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.900888479 meters Centerline goodness [0,1] 0.999846211305666 Centerline is valid? [True, True] Translation: X:53.03, Y:12.49, Z:-0.34 [[ 9.23718185e-01 -3.83070792e-01 1.21795317e-03 5.30334110e+01] [ 3.83070442e-01 9.23718988e-01 5.17655707e-04 1.24910685e+01] [-1.32334525e-03 -1.16061296e-05 9.99999124e-01 -3.44257218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.930888479 meters Centerline goodness [0,1] 0.9999560671294262 Centerline is valid? [True, True] Translation: X:53.06, Y:12.50, Z:-0.34 [[ 9.23004570e-01 -3.84787054e-01 1.21945178e-03 5.30592799e+01] [ 3.84786704e-01 9.23005375e-01 5.19354436e-04 1.25018844e+01] [-1.32540141e-03 -1.01376891e-05 9.99999122e-01 -3.44615283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.960888479 meters Centerline goodness [0,1] 0.9999120279751039 Centerline is valid? [True, True] Translation: X:53.09, Y:12.51, Z:-0.34 [[ 9.21944191e-01 -3.87314272e-01 2.56202599e-03 5.30862183e+01] [ 3.87312734e-01 9.21947751e-01 1.09152197e-03 1.25131656e+01] [-2.78481613e-03 -1.40170494e-05 9.99996122e-01 -3.44569112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990888479 meters Centerline goodness [0,1] 0.9999120473185427 Centerline is valid? [True, True] Translation: X:53.11, Y:12.52, Z:-0.34 [[ 9.21628701e-01 -3.88062733e-01 2.80223165e-03 5.31108692e+01] [ 3.88060893e-01 9.21632961e-01 1.19510720e-03 1.25238886e+01] [-3.04640562e-03 -1.40085761e-05 9.99995360e-01 -3.44488691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.020888479 meters Centerline goodness [0,1] 0.9999121419785626 Centerline is valid? [True, True] Translation: X:53.14, Y:12.53, Z:-0.34 [[ 9.21613134e-01 -3.88103870e-01 2.14878760e-03 5.31362095e+01] [ 3.88102790e-01 9.21615639e-01 9.16031598e-04 1.25349590e+01] [-2.33587167e-03 -1.02762883e-05 9.99997272e-01 -3.44799179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.050888479 meters Centerline goodness [0,1] 0.9999561922285013 Centerline is valid? [True, True] Translation: X:53.16, Y:12.55, Z:-0.35 [[ 9.21999540e-01 -3.87189766e-01 9.66327164e-04 5.31606754e+01] [ 3.87189547e-01 9.22000046e-01 4.12067587e-04 1.25478641e+01] [-1.05050204e-03 -5.77434912e-06 9.99999448e-01 -3.46279450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.080888479 meters Centerline goodness [0,1] 0.9997581886128819 Centerline is valid? [True, True] Translation: X:53.19, Y:12.56, Z:-0.35 [[ 9.22360192e-01 -3.86330577e-01 6.02067909e-04 5.31872446e+01] [ 3.86330492e-01 9.22360388e-01 2.55948332e-04 1.25604402e+01] [-6.54204257e-04 -3.47936061e-06 9.99999786e-01 -3.46652134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.110888478999996 meters Centerline goodness [0,1] 0.999868556531645 Centerline is valid? [True, True] Translation: X:53.21, Y:12.57, Z:-0.35 [[ 9.22985588e-01 -3.84834357e-01 -3.50861015e-04 5.32119384e+01] [ 3.84834327e-01 9.22985654e-01 -1.50535773e-04 1.25734459e+01] [ 3.81771021e-04 3.91898657e-06 9.99999927e-01 -3.47654883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.140888479 meters Centerline goodness [0,1] 0.9999124055622468 Centerline is valid? [True, True] Translation: X:53.24, Y:12.59, Z:-0.35 [[ 9.24237801e-01 -3.81816844e-01 -6.20394371e-04 5.32368418e+01] [ 3.81816750e-01 9.24238009e-01 -2.66873299e-04 1.25890169e+01] [ 6.75288779e-04 9.77742857e-06 9.99999772e-01 -3.49252496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170888479 meters Centerline goodness [0,1] 0.9995408430995277 Centerline is valid? [True, True] Translation: X:53.26, Y:12.60, Z:-0.35 [[ 9.24846043e-01 -3.80339231e-01 -1.36592252e-03 5.32630285e+01] [ 3.80338779e-01 9.24847052e-01 -5.86335302e-04 1.26013730e+01] [ 1.48627574e-03 2.27565790e-05 9.99998895e-01 -3.49372133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.200888479 meters Centerline goodness [0,1] 0.9996291852982877 Centerline is valid? [True, True] Translation: X:53.29, Y:12.62, Z:-0.35 [[ 9.25596799e-01 -3.78509526e-01 -1.05093321e-03 5.32868676e+01] [ 3.78509258e-01 9.25597395e-01 -4.50745371e-04 1.26153581e+01] [ 1.14335246e-03 1.94205225e-05 9.99999346e-01 -3.50027951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.230888479 meters Centerline goodness [0,1] 0.9995410738871042 Centerline is valid? [True, True] Translation: X:53.31, Y:12.63, Z:-0.35 [[ 9.26309608e-01 -3.76762467e-01 -7.44431245e-04 5.33128724e+01] [ 3.76762331e-01 9.26309907e-01 -3.20478607e-04 1.26272340e+01] [ 8.10318347e-04 1.63887616e-05 9.99999672e-01 -3.49282814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.260888479 meters Centerline goodness [0,1] 0.9993049522154648 Centerline is valid? [True, True] Translation: X:53.34, Y:12.64, Z:-0.35 [[ 9.28171291e-01 -3.72153080e-01 -3.74557413e-04 5.33370681e+01] [ 3.72153045e-01 9.28171366e-01 -1.60964266e-04 1.26429020e+01] [ 4.07556813e-04 1.00097285e-05 9.99999917e-01 -3.49017600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290888479 meters Centerline goodness [0,1] 0.99910731781663 Centerline is valid? [True, True] Translation: X:53.36, Y:12.66, Z:-0.35 [[ 9.29106223e-01 -3.69812785e-01 -3.60570908e-04 5.33627543e+01] [ 3.69812752e-01 9.29106293e-01 -1.55381563e-04 1.26552565e+01] [ 3.92470789e-04 1.10222572e-05 9.99999923e-01 -3.48580917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.320888479 meters Centerline goodness [0,1] 0.9991260269183709 Centerline is valid? [True, True] Translation: X:53.39, Y:12.67, Z:-0.35 [[ 9.30723567e-01 -3.65723146e-01 4.71018693e-04 5.33883505e+01] [ 3.65723091e-01 9.30723686e-01 2.01646636e-04 1.26707382e+01] [-5.12135097e-04 -1.54148641e-05 9.99999869e-01 -3.48167157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350888479 meters Centerline goodness [0,1] 0.9988695897915263 Centerline is valid? [True, True] Translation: X:53.41, Y:12.68, Z:-0.35 [[ 9.31345456e-01 -3.64136682e-01 3.43304171e-04 5.34127267e+01] [ 3.64136653e-01 9.31345519e-01 1.46770808e-04 1.26839858e+01] [-3.73179437e-04 -1.16846938e-05 9.99999930e-01 -3.48836373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.380888479 meters Centerline goodness [0,1] 0.9985472679965308 Centerline is valid? [True, True] Translation: X:53.44, Y:12.70, Z:-0.35 [[ 9.31856832e-01 -3.62826100e-01 -2.55173848e-04 5.34390874e+01] [ 3.62826083e-01 9.31856867e-01 -1.10933281e-04 1.26961364e+01] [ 2.78034992e-04 1.07902085e-05 9.99999961e-01 -3.49530368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.410888479 meters Centerline goodness [0,1] 0.9988915934973486 Centerline is valid? [True, True] Translation: X:53.46, Y:12.71, Z:-0.35 [[ 9.32729193e-01 -3.60574642e-01 -1.47648209e-03 5.34646145e+01] [ 3.60574089e-01 9.32730360e-01 -6.34320278e-04 1.27077635e+01] [ 1.60587948e-03 5.92678573e-05 9.99998709e-01 -3.49772968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.440888479 meters Centerline goodness [0,1] 0.9989345278218704 Centerline is valid? [True, True] Translation: X:53.49, Y:12.72, Z:-0.35 [[ 9.32878558e-01 -3.60188394e-01 -1.38460102e-03 5.34915250e+01] [ 3.60187905e-01 9.32879584e-01 -5.96238434e-04 1.27187458e+01] [ 1.50642418e-03 5.75015109e-05 9.99998864e-01 -3.49833118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.470888479 meters Centerline goodness [0,1] 0.9989312510905601 Centerline is valid? [True, True] Translation: X:53.52, Y:12.73, Z:-0.35 [[ 9.33043086e-01 -3.59763227e-01 -1.00974318e-03 5.35176354e+01] [ 3.59762966e-01 9.33043632e-01 -4.35464551e-04 1.27303769e+01] [ 1.09879857e-03 4.30389897e-05 9.99999395e-01 -3.49676313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.500888479 meters Centerline goodness [0,1] 0.999192562849162 Centerline is valid? [True, True] Translation: X:53.54, Y:12.74, Z:-0.35 [[ 9.33024765e-01 -3.59810351e-01 -1.13985897e-03 5.35440620e+01] [ 3.59810018e-01 9.33025460e-01 -4.91711753e-04 1.27418906e+01] [ 1.24044042e-03 4.86465667e-05 9.99999229e-01 -3.50424334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530888479 meters Centerline goodness [0,1] 0.9988704492136589 Centerline is valid? [True, True] Translation: X:53.57, Y:12.75, Z:-0.35 [[ 9.33195387e-01 -3.59366272e-01 -1.50042718e-03 5.35706295e+01] [ 3.59365696e-01 9.33196591e-01 -6.47217530e-04 1.27534104e+01] [ 1.63278168e-03 6.47783569e-05 9.99998665e-01 -3.51210243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.560888479 meters Centerline goodness [0,1] 0.9989752087739572 Centerline is valid? [True, True] Translation: X:53.60, Y:12.76, Z:-0.35 [[ 9.33451554e-01 -3.58696745e-01 -2.20026305e-03 5.35969460e+01] [ 3.58695502e-01 9.33454142e-01 -9.49045455e-04 1.27649209e+01] [ 2.39426417e-03 9.66634953e-05 9.99997129e-01 -3.51370114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.590888479 meters Centerline goodness [0,1] 0.9990604173495029 Centerline is valid? [True, True] Translation: X:53.62, Y:12.78, Z:-0.35 [[ 9.33953443e-01 -3.57380303e-01 -3.20721191e-03 5.36232419e+01] [ 3.57377658e-01 9.33958938e-01 -1.38259007e-03 1.27756533e+01] [ 3.48951469e-03 1.45088873e-04 9.99993901e-01 -3.52527781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.620888479 meters Centerline goodness [0,1] 0.9990141739873376 Centerline is valid? [True, True] Translation: X:53.65, Y:12.79, Z:-0.36 [[ 9.34423483e-01 -3.56135607e-01 -4.49268702e-03 5.36485066e+01] [ 3.56130401e-01 9.34434259e-01 -1.93709057e-03 1.27873639e+01] [ 4.88798760e-03 2.10080481e-04 9.99988032e-01 -3.55605746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.650888479 meters Centerline goodness [0,1] 0.9993002864452365 Centerline is valid? [True, True] Translation: X:53.67, Y:12.80, Z:-0.36 [[ 9.34297056e-01 -3.56458245e-01 -5.15086569e-03 5.36748154e+01] [ 3.56451394e-01 9.34311223e-01 -2.22312619e-03 1.27981905e+01] [ 5.60496329e-03 2.41026995e-04 9.99984263e-01 -3.56805161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.680888479 meters Centerline goodness [0,1] 0.9990788665672428 Centerline is valid? [True, True] Translation: X:53.70, Y:12.81, Z:-0.36 [[ 9.34101771e-01 -3.56973205e-01 -4.90025699e-03 5.37021783e+01] [ 3.56967005e-01 9.34114596e-01 -2.11613295e-03 1.28088426e+01] [ 5.33280434e-03 2.27453474e-04 9.99985755e-01 -3.57286183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710888479 meters Centerline goodness [0,1] 0.9988856112749918 Centerline is valid? [True, True] Translation: X:53.73, Y:12.82, Z:-0.36 [[ 9.33949254e-01 -3.57370916e-01 -4.98187026e-03 5.37285001e+01] [ 3.57364505e-01 9.33962513e-01 -2.15303063e-03 1.28188644e+01] [ 5.42231060e-03 2.30477748e-04 9.99985273e-01 -3.57086231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.740888479 meters Centerline goodness [0,1] 0.9990774299835256 Centerline is valid? [True, True] Translation: X:53.76, Y:12.83, Z:-0.36 [[ 9.33858838e-01 -3.57607164e-01 -4.97860847e-03 5.37550167e+01] [ 3.57600767e-01 9.33872081e-01 -2.15104518e-03 1.28272035e+01] [ 5.41861262e-03 2.28418345e-04 9.99985293e-01 -3.56151937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.770888479 meters Centerline goodness [0,1] 0.9990774299835256 Centerline is valid? [True, True] Translation: X:53.78, Y:12.84, Z:-0.36 [[ 9.33769670e-01 -3.57839946e-01 -4.97770154e-03 5.37803068e+01] [ 3.57833541e-01 9.33782909e-01 -2.15314387e-03 1.28382561e+01] [ 5.41857351e-03 2.29351868e-04 9.99985293e-01 -3.56302535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.800888479 meters Centerline goodness [0,1] 0.9993206968335707 Centerline is valid? [True, True] Translation: X:53.81, Y:12.85, Z:-0.36 [[ 9.33753162e-01 -3.57875758e-01 -5.47480512e-03 5.38080835e+01] [ 3.57868005e-01 9.33769178e-01 -2.36925745e-03 1.28477347e+01] [ 5.96010408e-03 2.53044055e-04 9.99982206e-01 -3.55720968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.830888479 meters Centerline goodness [0,1] 0.9994054696789536 Centerline is valid? [True, True] Translation: X:53.83, Y:12.86, Z:-0.36 [[ 9.33629319e-01 -3.58196414e-01 -5.62348206e-03 5.38346440e+01] [ 3.58188229e-01 9.33646219e-01 -2.43541054e-03 1.28573173e+01] [ 6.12269808e-03 2.59505609e-04 9.99981222e-01 -3.55467001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.860888478999996 meters Centerline goodness [0,1] 0.9995144131020174 Centerline is valid? [True, True] Translation: X:53.86, Y:12.87, Z:-0.36 [[ 9.33642801e-01 -3.58167308e-01 -5.22484443e-03 5.38604732e+01] [ 3.58160242e-01 9.33657390e-01 -2.26270583e-03 1.28663727e+01] [ 5.68864187e-03 2.41227461e-04 9.99983790e-01 -3.55493981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890888479 meters Centerline goodness [0,1] 0.9993131259416822 Centerline is valid? [True, True] Translation: X:53.89, Y:12.88, Z:-0.36 [[ 9.33605192e-01 -3.58272784e-01 -4.68592989e-03 5.38868398e+01] [ 3.58267090e-01 9.33616926e-01 -2.03157192e-03 1.28770585e+01] [ 5.10272039e-03 2.17871621e-04 9.99986957e-01 -3.55131119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.920888479 meters Centerline goodness [0,1] 0.999136518620201 Centerline is valid? [True, True] Translation: X:53.91, Y:12.89, Z:-0.36 [[ 9.33778260e-01 -3.57824837e-01 -4.42133554e-03 5.39122168e+01] [ 3.57819765e-01 9.33788704e-01 -1.91650235e-03 1.28872944e+01] [ 4.81436532e-03 2.07546985e-04 9.99988389e-01 -3.56325960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.950888479 meters Centerline goodness [0,1] 0.9996226666370719 Centerline is valid? [True, True] Translation: X:53.94, Y:12.89, Z:-0.35 [[ 9.33661747e-01 -3.58121642e-01 -4.96303742e-03 5.39423888e+01] [ 3.58115240e-01 9.33674909e-01 -2.15397098e-03 1.28876755e+01] [ 5.40524713e-03 2.33740967e-04 9.99985364e-01 -3.54417213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.980888479 meters Centerline goodness [0,1] 0.9996889787394753 Centerline is valid? [True, True] Translation: X:53.97, Y:12.90, Z:-0.36 [[ 9.33635235e-01 -3.58185543e-01 -5.32587348e-03 5.39675161e+01] [ 3.58178174e-01 9.33650392e-01 -2.31127319e-03 1.29004083e+01] [ 5.80036850e-03 2.50274449e-04 9.99983146e-01 -3.55768184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.010888479 meters Centerline goodness [0,1] 0.9998660325540893 Centerline is valid? [True, True] Translation: X:54.00, Y:12.91, Z:-0.35 [[ 9.33443777e-01 -3.58672925e-01 -6.03727581e-03 5.39950267e+01] [ 3.58663446e-01 9.33463258e-01 -2.62278286e-03 1.29065475e+01] [ 6.57629635e-03 2.82870186e-04 9.99978336e-01 -3.54840123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.040888479 meters Centerline goodness [0,1] 0.9998433093074272 Centerline is valid? [True, True] Translation: X:54.02, Y:12.91, Z:-0.35 [[ 9.32809814e-01 -3.60324291e-01 -5.67946936e-03 5.40220965e+01] [ 3.60315933e-01 9.32827069e-01 -2.46738534e-03 1.29144969e+01] [ 6.18702162e-03 2.55197955e-04 9.99980828e-01 -3.53626212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070888479 meters Centerline goodness [0,1] 0.9999551529285138 Centerline is valid? [True, True] Translation: X:54.05, Y:12.92, Z:-0.35 [[ 9.31376424e-01 -3.64023275e-01 -5.00114307e-03 5.40516055e+01] [ 3.64016838e-01 9.31389829e-01 -2.17448731e-03 1.29207202e+01] [ 5.44957778e-03 2.04765931e-04 9.99985130e-01 -3.52671296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.100888479 meters Centerline goodness [0,1] 0.9999551529285138 Centerline is valid? [True, True] Translation: X:54.08, Y:12.93, Z:-0.35 [[ 9.31278772e-01 -3.64273035e-01 -5.00042537e-03 5.40768908e+01] [ 3.64266592e-01 9.31292174e-01 -2.17613790e-03 1.29318103e+01] [ 5.44956538e-03 2.05103123e-04 9.99985130e-01 -3.52821661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.11, Y:12.94, Z:-0.35 [[ 9.29370102e-01 -3.69129338e-01 -3.83994668e-03 5.41070294e+01] [ 3.69125583e-01 9.29378025e-01 -1.67044652e-03 1.29357127e+01] [ 4.18537288e-03 1.35040498e-04 9.99991232e-01 -3.51697387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.160888479 meters Centerline goodness [0,1] 0.9999547797775165 Centerline is valid? [True, True] Translation: X:54.13, Y:12.94, Z:-0.35 [[ 9.28388133e-01 -3.71602272e-01 -2.68821151e-03 5.41349676e+01] [ 3.71600441e-01 9.28392021e-01 -1.16981196e-03 1.29435951e+01] [ 2.93041890e-03 8.70989532e-05 9.99995703e-01 -3.50366817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.190888479 meters Centerline goodness [0,1] 0.9997957701733684 Centerline is valid? [True, True] Translation: X:54.16, Y:12.95, Z:-0.35 [[ 9.27584480e-01 -3.73612689e-01 -7.68313479e-04 5.41635571e+01] [ 3.73612540e-01 9.27584798e-01 -3.34702461e-04 1.29502473e+01] [ 8.37724990e-04 2.34132577e-05 9.99999649e-01 -3.48198924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.19, Y:12.96, Z:-0.35 [[ 9.26196428e-01 -3.77040915e-01 5.69313803e-04 5.41923320e+01] [ 3.77040834e-01 9.26196603e-01 2.47338858e-04 1.29563139e+01] [-6.20553379e-04 -1.44298157e-05 9.99999807e-01 -3.46075355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.22, Y:12.97, Z:-0.35 [[ 9.25755641e-01 -3.78122322e-01 -4.17234727e-05 5.42195690e+01] [ 3.78122322e-01 9.25755642e-01 -1.96216056e-05 1.29660423e+01] [ 4.60451073e-05 2.38823569e-06 9.99999999e-01 -3.46899273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.280888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.25, Y:12.98, Z:-0.35 [[ 9.25558346e-01 -3.78598996e-01 -2.13269204e-03 5.42458229e+01] [ 3.78597859e-01 9.25560802e-01 -9.29458075e-04 1.29758426e+01] [ 2.32582804e-03 5.28350405e-05 9.99997294e-01 -3.49325480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310888479 meters Centerline goodness [0,1] 0.9999540050134536 Centerline is valid? [True, True] Translation: X:54.27, Y:12.99, Z:-0.35 [[ 9.25661352e-01 -3.78340607e-01 -3.07361008e-03 5.42730538e+01] [ 3.78338238e-01 9.25666451e-01 -1.34106610e-03 1.29856476e+01] [ 3.35251750e-03 7.85088400e-05 9.99994377e-01 -3.50212465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.340888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.30, Y:13.00, Z:-0.35 [[ 9.25607068e-01 -3.78465719e-01 -3.90581257e-03 5.42997884e+01] [ 3.78461892e-01 9.25615303e-01 -1.70487642e-03 1.29967553e+01] [ 4.26051716e-03 9.98444530e-05 9.99990919e-01 -3.51447193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:13.01, Z:-0.35 [[ 9.25650125e-01 -3.78359428e-01 -3.99864893e-03 5.43251484e+01] [ 3.78355418e-01 9.25658756e-01 -1.74485555e-03 1.30078539e+01] [ 4.36156695e-03 1.02215273e-04 9.99990483e-01 -3.53336539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.35, Y:13.02, Z:-0.35 [[ 9.25502205e-01 -3.78720687e-01 -4.03868044e-03 5.43521009e+01] [ 3.78716589e-01 9.25511011e-01 -1.76479020e-03 1.30172064e+01] [ 4.40620577e-03 1.03801934e-04 9.99990287e-01 -3.53038531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.430888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.38, Y:13.03, Z:-0.35 [[ 9.25360231e-01 -3.79068400e-01 -3.94841260e-03 5.43778007e+01] [ 3.79064481e-01 9.25368650e-01 -1.72668285e-03 1.30279805e+01] [ 4.30826814e-03 1.01100667e-04 9.99990714e-01 -3.53372043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.460888479 meters Centerline goodness [0,1] 0.9997921718046415 Centerline is valid? [True, True] Translation: X:54.40, Y:13.04, Z:-0.35 [[ 9.25475435e-01 -3.78798225e-01 -2.66904528e-03 5.44035700e+01] [ 3.78796433e-01 9.25479281e-01 -1.16718473e-03 1.30372051e+01] [ 2.91227361e-03 6.91759588e-05 9.99995757e-01 -3.51848114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490888479 meters Centerline goodness [0,1] 0.9998612620528592 Centerline is valid? [True, True] Translation: X:54.43, Y:13.05, Z:-0.35 [[ 9.25322737e-01 -3.79174181e-01 -2.18475743e-03 5.44305467e+01] [ 3.79172977e-01 9.25325314e-01 -9.57205333e-04 1.30456524e+01] [ 2.38455890e-03 5.73228816e-05 9.99997155e-01 -3.49908657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.520888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.46, Y:13.06, Z:-0.35 [[ 9.25041997e-01 -3.79860676e-01 -1.78050523e-03 5.44568759e+01] [ 3.79859877e-01 9.25043709e-01 -7.80692634e-04 1.30566442e+01] [ 1.94359960e-03 4.58309754e-05 9.99998110e-01 -3.49054402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.550888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.48, Y:13.07, Z:-0.35 [[ 9.24863096e-01 -3.80294204e-01 -2.13821918e-03 5.44818189e+01] [ 3.80293055e-01 9.24865566e-01 -9.36534994e-04 1.30699119e+01] [ 2.33372412e-03 5.30167508e-05 9.99997275e-01 -3.51192244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.580888479 meters Centerline goodness [0,1] 0.9999540588964947 Centerline is valid? [True, True] Translation: X:54.51, Y:13.08, Z:-0.35 [[ 9.24862503e-01 -3.80286076e-01 -3.44239570e-03 5.45077191e+01] [ 3.80283091e-01 9.24868906e-01 -1.50929452e-03 1.30831110e+01] [ 3.75772844e-03 8.68050325e-05 9.99992936e-01 -3.53897246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.610888478999996 meters Centerline goodness [0,1] 0.9998163326216223 Centerline is valid? [True, True] Translation: X:54.53, Y:13.09, Z:-0.36 [[ 9.24885053e-01 -3.80213701e-01 -5.01800284e-03 5.45336941e+01] [ 3.80207362e-01 9.24898657e-01 -2.19909744e-03 1.30945246e+01] [ 5.47727107e-03 1.26030729e-04 9.99984992e-01 -3.56012555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.640888479 meters Centerline goodness [0,1] 0.9998163157532202 Centerline is valid? [True, True] Translation: X:54.56, Y:13.11, Z:-0.36 [[ 9.25034494e-01 -3.79812819e-01 -7.30801993e-03 5.45583627e+01] [ 3.79799358e-01 9.25063342e-01 -3.20317978e-03 1.31068023e+01] [ 7.97699008e-03 1.87470512e-04 9.99968166e-01 -3.58856124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670888479 meters Centerline goodness [0,1] 0.9999308309508439 Centerline is valid? [True, True] Translation: X:54.59, Y:13.11, Z:-0.36 [[ 9.24732316e-01 -3.80542294e-01 -7.59649623e-03 5.45854908e+01] [ 3.80527744e-01 9.24763497e-01 -3.33328728e-03 1.31144954e+01] [ 8.29341921e-03 1.91720891e-04 9.99965591e-01 -3.56943407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.700888479 meters Centerline goodness [0,1] 0.9997705053472254 Centerline is valid? [True, True] Translation: X:54.61, Y:13.12, Z:-0.36 [[ 9.24637469e-01 -3.80766124e-01 -7.91893619e-03 5.46110989e+01] [ 3.80750319e-01 9.24671358e-01 -3.47489987e-03 1.31244488e+01] [ 8.64553763e-03 1.97885146e-04 9.99962607e-01 -3.55852552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.730888479 meters Centerline goodness [0,1] 0.9999540821012031 Centerline is valid? [True, True] Translation: X:54.64, Y:13.13, Z:-0.35 [[ 9.24094066e-01 -3.82103970e-01 -6.83467602e-03 5.46384731e+01] [ 3.82092212e-01 9.24119327e-01 -3.00191199e-03 1.31348983e+01] [ 7.46309869e-03 1.62572578e-04 9.99972137e-01 -3.54332634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.66, Y:13.15, Z:-0.35 [[ 9.23189523e-01 -3.84316650e-01 -4.67085136e-03 5.46644562e+01] [ 3.84311178e-01 9.23201334e-01 -2.05326699e-03 1.31462231e+01] [ 5.10124090e-03 1.00494184e-04 9.99986984e-01 -3.53086379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.790888479 meters Centerline goodness [0,1] 0.9998850283979857 Centerline is valid? [True, True] Translation: X:54.69, Y:13.16, Z:-0.35 [[ 9.22910200e-01 -3.84999466e-01 -3.48927072e-03 5.46901213e+01] [ 3.84996412e-01 9.22916793e-01 -1.53519770e-03 1.31584361e+01] [ 3.81135683e-03 7.34929107e-05 9.99992734e-01 -3.53204979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.72, Y:13.17, Z:-0.35 [[ 9.22339245e-01 -3.86366407e-01 -3.36414958e-03 5.47174026e+01] [ 3.86363573e-01 9.22345377e-01 -1.48120745e-03 1.31683565e+01] [ 3.67519662e-03 6.63909020e-05 9.99993244e-01 -3.52794682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850888479 meters Centerline goodness [0,1] 0.9999769765621402 Centerline is valid? [True, True] Translation: X:54.74, Y:13.18, Z:-0.35 [[ 9.21929965e-01 -3.87337718e-01 -3.82523990e-03 5.47430317e+01] [ 3.87334066e-01 9.21937898e-01 -1.68347731e-03 1.31781178e+01] [ 4.17870789e-03 7.04024560e-05 9.99991267e-01 -3.52703760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.77, Y:13.19, Z:-0.35 [[ 9.21394372e-01 -3.88601981e-01 -4.57291692e-03 5.47698666e+01] [ 3.88596764e-01 9.21405716e-01 -2.01509850e-03 1.31870082e+01] [ 4.99658306e-03 7.96796969e-05 9.99987514e-01 -3.51768394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.80, Y:13.20, Z:-0.35 [[ 9.19945773e-01 -3.92023586e-01 -4.15740338e-03 5.47957241e+01] [ 3.92019311e-01 9.19955165e-01 -1.83143045e-03 1.31972694e+01] [ 4.54258864e-03 5.50342896e-05 9.99989681e-01 -3.51294070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.940888479 meters Centerline goodness [0,1] 0.9999770183623286 Centerline is valid? [True, True] Translation: X:54.82, Y:13.21, Z:-0.35 [[ 9.19158751e-01 -3.93869481e-01 -3.74458587e-03 5.48227069e+01] [ 3.93866021e-01 9.19166378e-01 -1.65160023e-03 1.32085911e+01] [ 4.09241236e-03 4.32176692e-05 9.99991625e-01 -3.51485092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.85, Y:13.22, Z:-0.35 [[ 9.18313183e-01 -3.95842035e-01 -3.15945169e-03 5.48480401e+01] [ 3.95839584e-01 9.18318617e-01 -1.39314139e-03 1.32195745e+01] [ 3.45284723e-03 2.87040594e-05 9.99994038e-01 -3.52176083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.88, Y:13.23, Z:-0.35 [[ 9.16533125e-01 -3.99951245e-01 -2.45596456e-03 5.48756463e+01] [ 3.99949775e-01 9.16536416e-01 -1.08464562e-03 1.32283930e+01] [ 2.68478632e-03 1.18511666e-05 9.99996396e-01 -3.50986218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030888479 meters Centerline goodness [0,1] 0.9999310804291391 Centerline is valid? [True, True] Translation: X:54.90, Y:13.24, Z:-0.35 [[ 9.15735750e-01 -4.01777180e-01 -1.77057586e-03 5.49028680e+01] [ 4.01776417e-01 9.15737461e-01 -7.82876567e-04 1.32391042e+01] [ 1.93592459e-03 5.53243310e-06 9.99998126e-01 -3.50220022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.060888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.93, Y:13.25, Z:-0.35 [[ 9.15129566e-01 -4.03157251e-01 -1.45224535e-03 5.49291900e+01] [ 4.03156738e-01 9.15130718e-01 -6.43132523e-04 1.32500116e+01] [ 1.58827787e-03 3.06708820e-06 9.99998739e-01 -3.49340195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.090888479 meters Centerline goodness [0,1] 0.9999771229868228 Centerline is valid? [True, True] Translation: X:54.95, Y:13.26, Z:-0.35 [[ 9.14737737e-01 -4.04048029e-01 -2.50958393e-04 5.49545285e+01] [ 4.04048014e-01 9.14737771e-01 -1.11396416e-04 1.32625212e+01] [ 2.74570623e-04 4.99265161e-07 9.99999962e-01 -3.48841968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.120888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.98, Y:13.28, Z:-0.35 [[ 9.14751234e-01 -4.04017547e-01 -3.35125595e-05 5.49796639e+01] [ 4.04017547e-01 9.14751235e-01 -1.64664857e-05 1.32757274e+01] [ 3.73084043e-05 1.52307604e-06 9.99999999e-01 -3.49115559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.150888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.00, Y:13.29, Z:-0.35 [[ 9.15063233e-01 -4.03310358e-01 1.84337084e-04 5.50032874e+01] [ 4.03310350e-01 9.15063252e-01 8.08114407e-05 1.32888476e+01] [-2.01272183e-04 3.97475741e-07 9.99999980e-01 -3.49606445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.180888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.03, Y:13.30, Z:-0.35 [[ 9.15605177e-01 -4.02078475e-01 2.44082745e-04 5.50276127e+01] [ 4.02078461e-01 9.15605210e-01 1.06403803e-04 1.33024327e+01] [-2.66266112e-04 7.16540962e-07 9.99999965e-01 -3.49804028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.05, Y:13.32, Z:-0.35 [[ 9.17283088e-01 -3.98235125e-01 -7.22753817e-04 5.50511898e+01] [ 3.98234996e-01 9.17283372e-01 -3.20749783e-04 1.33185927e+01] [ 7.90703889e-04 6.39248762e-06 9.99999687e-01 -3.49961505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.240888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.08, Y:13.33, Z:-0.35 [[ 9.18046507e-01 -3.96469267e-01 -1.65253861e-03 5.50767369e+01] [ 3.96468589e-01 9.18047994e-01 -7.33492121e-04 1.33323237e+01] [ 1.80791684e-03 1.82002280e-05 9.99998366e-01 -3.50061294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.270888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.10, Y:13.35, Z:-0.35 [[ 9.19727652e-01 -3.92552175e-01 -1.95852328e-03 5.51003933e+01] [ 3.92551216e-01 9.19729737e-01 -8.68382055e-04 1.33487776e+01] [ 2.14219736e-03 2.98542939e-05 9.99997705e-01 -3.51574813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.300888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.12, Y:13.36, Z:-0.35 [[ 9.20298065e-01 -3.91215574e-01 -1.35884679e-03 5.51242500e+01] [ 3.91215108e-01 9.20299068e-01 -6.03948935e-04 1.33640764e+01] [ 1.48681966e-03 2.42116444e-05 9.99998894e-01 -3.52978705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.330888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.15, Y:13.38, Z:-0.35 [[ 9.20796552e-01 -3.90042773e-01 -5.87446624e-04 5.51496491e+01] [ 3.90042685e-01 9.20796739e-01 -2.62088779e-04 1.33774592e+01] [ 6.43144770e-04 1.22011860e-05 9.99999793e-01 -3.52474164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.360888478999996 meters Centerline goodness [0,1] 0.9999774815348585 Centerline is valid? [True, True] Translation: X:55.17, Y:13.39, Z:-0.35 [[ 9.20969301e-01 -3.89633774e-01 1.03385772e-03 5.51745231e+01] [ 3.89633506e-01 9.20969881e-01 4.57421790e-04 1.33901035e+01] [-1.13037880e-03 -1.84458189e-05 9.99999361e-01 -3.51660575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390888479 meters Centerline goodness [0,1] 0.9999547244985738 Centerline is valid? [True, True] Translation: X:55.20, Y:13.40, Z:-0.35 [[ 9.20758779e-01 -3.90130079e-01 1.33878110e-03 5.52004726e+01] [ 3.90129629e-01 9.20759752e-01 5.93237108e-04 1.34006723e+01] [-1.46413539e-03 -2.39301018e-05 9.99998928e-01 -3.50684919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.420888479 meters Centerline goodness [0,1] 0.9998877564764513 Centerline is valid? [True, True] Translation: X:55.22, Y:13.41, Z:-0.35 [[ 9.20676322e-01 -3.90324307e-01 1.43034254e-03 5.52247935e+01] [ 3.90323791e-01 9.20677432e-01 6.35070803e-04 1.34120466e+01] [-1.56476767e-03 -2.63979276e-05 9.99998775e-01 -3.50343107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.450888479 meters Centerline goodness [0,1] 0.9999775195018321 Centerline is valid? [True, True] Translation: X:55.25, Y:13.43, Z:-0.35 [[ 9.20387695e-01 -3.91001063e-01 2.15843694e-03 5.52509578e+01] [ 3.90999890e-01 9.20390226e-01 9.58608906e-04 1.34251980e+01] [-2.36142137e-03 -3.83432355e-05 9.99997211e-01 -3.51204128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.28, Y:13.44, Z:-0.35 [[ 9.20257679e-01 -3.91303843e-01 2.66578395e-03 5.52758902e+01] [ 3.91302050e-01 9.20261539e-01 1.18548479e-03 1.34382662e+01] [-2.91710319e-03 -4.78247526e-05 9.99995744e-01 -3.51522619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.30, Y:13.45, Z:-0.35 [[ 9.20150321e-01 -3.91557583e-01 2.45882639e-03 5.53016988e+01] [ 3.91556060e-01 9.20153605e-01 1.09309579e-03 1.34498142e+01] [-2.69050792e-03 -4.30440721e-05 9.99996380e-01 -3.51353833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.33, Y:13.46, Z:-0.35 [[ 9.19647694e-01 -3.92735182e-01 2.68254610e-03 5.53270917e+01] [ 3.92733369e-01 9.19651605e-01 1.19409456e-03 1.34617871e+01] [-2.93597077e-03 -4.46209444e-05 9.99995689e-01 -3.52711025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570888479 meters Centerline goodness [0,1] 0.9999548980696373 Centerline is valid? [True, True] Translation: X:55.35, Y:13.47, Z:-0.35 [[ 9.19174417e-01 -3.93840722e-01 2.80670035e-03 5.53534844e+01] [ 3.93838743e-01 9.19178701e-01 1.24928209e-03 1.34730139e+01] [-3.07187734e-03 -4.29207968e-05 9.99995281e-01 -3.53814045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.600888479 meters Centerline goodness [0,1] 0.99995497523638 Centerline is valid? [True, True] Translation: X:55.38, Y:13.48, Z:-0.35 [[ 9.18665108e-01 -3.95027850e-01 2.72352978e-03 5.53807916e+01] [ 3.95025989e-01 9.18669144e-01 1.21294340e-03 1.34827124e+01] [-2.98116920e-03 -3.84237337e-05 9.99995556e-01 -3.54404726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630888479 meters Centerline goodness [0,1] 0.9999774480176807 Centerline is valid? [True, True] Translation: X:55.41, Y:13.49, Z:-0.35 [[ 9.18235070e-01 -3.96023922e-01 3.06740887e-03 5.54064416e+01] [ 3.96021563e-01 9.18240193e-01 1.36753068e-03 1.34933600e+01] [-3.35819298e-03 -4.09545697e-05 9.99994360e-01 -3.54178185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.43, Y:13.50, Z:-0.35 [[ 9.17734675e-01 -3.97164028e-01 4.87858801e-03 5.54333287e+01] [ 3.97158073e-01 9.17747640e-01 2.17578705e-03 1.35042872e+01] [-5.34145698e-03 -5.92246139e-05 9.99985733e-01 -3.52740497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.46, Y:13.52, Z:-0.35 [[ 9.17625269e-01 -3.97416747e-01 4.87806587e-03 5.54585021e+01] [ 3.97410788e-01 9.17638233e-01 2.17695705e-03 1.35156060e+01] [-5.34145893e-03 -5.90347909e-05 9.99985733e-01 -3.52890703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.48, Y:13.53, Z:-0.35 [[ 9.17405985e-01 -3.97908921e-01 5.89481601e-03 5.54839843e+01] [ 3.97900216e-01 9.17424921e-01 2.63299564e-03 1.35269655e+01] [-6.45574357e-03 -6.99774000e-05 9.99979159e-01 -3.52328684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.51, Y:13.54, Z:-0.35 [[ 9.17349962e-01 -3.98029783e-01 6.42953145e-03 5.55096118e+01] [ 3.98019414e-01 9.17372490e-01 2.87409069e-03 1.35388139e+01] [-7.04224897e-03 -7.74686444e-05 9.99975200e-01 -3.51909199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.780888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.54, Y:13.55, Z:-0.35 [[ 9.17392018e-01 -3.97935673e-01 6.25178119e-03 5.55351728e+01] [ 3.97925854e-01 9.17413317e-01 2.79662663e-03 1.35513827e+01] [-6.84834482e-03 -7.78575813e-05 9.99976547e-01 -3.52992922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.56, Y:13.56, Z:-0.35 [[ 9.17797760e-01 -3.97015010e-01 5.13352263e-03 5.55616416e+01] [ 3.97008367e-01 9.17812114e-01 2.29776230e-03 1.35640344e+01] [-5.62385539e-03 -7.08296554e-05 9.99984183e-01 -3.54376766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.840888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.59, Y:13.58, Z:-0.36 [[ 9.18483843e-01 -3.95439092e-01 3.91854346e-03 5.55860941e+01] [ 3.95435203e-01 9.18492200e-01 1.75491927e-03 1.35767290e+01] [-4.29311528e-03 -6.23349663e-05 9.99990783e-01 -3.56715061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.61, Y:13.59, Z:-0.36 [[ 9.18771626e-01 -3.94777104e-01 3.12030549e-03 5.56126135e+01] [ 3.94774635e-01 9.18776924e-01 1.39729831e-03 1.35886552e+01] [-3.41848606e-03 -5.19805766e-05 9.99994156e-01 -3.57330568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.900888479 meters Centerline goodness [0,1] 0.9999774475090774 Centerline is valid? [True, True] Translation: X:55.64, Y:13.60, Z:-0.36 [[ 9.19218977e-01 -3.93733823e-01 3.18582753e-03 5.56371047e+01] [ 3.93731239e-01 9.19224495e-01 1.42777064e-03 1.36009569e+01] [-3.49065230e-03 -5.80740516e-05 9.99993906e-01 -3.57998988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.930888479 meters Centerline goodness [0,1] 0.999819584141446 Centerline is valid? [True, True] Translation: X:55.66, Y:13.61, Z:-0.36 [[ 9.19280039e-01 -3.93589001e-01 3.45072700e-03 5.56620216e+01] [ 3.93585966e-01 9.19286514e-01 1.54694917e-03 1.36132295e+01] [-3.78106897e-03 -6.39217724e-05 9.99992850e-01 -3.58987255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.960888479 meters Centerline goodness [0,1] 0.9998414029045926 Centerline is valid? [True, True] Translation: X:55.69, Y:13.62, Z:-0.36 [[ 9.19355037e-01 -3.93405186e-01 4.32153907e-03 5.56876199e+01] [ 3.93400416e-01 9.19365190e-01 1.93911005e-03 1.36239076e+01] [-4.73592854e-03 -8.26353309e-05 9.99988782e-01 -3.58344043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.71, Y:13.64, Z:-0.36 [[ 9.19176482e-01 -3.93808213e-01 5.44848503e-03 5.57119412e+01] [ 3.93800625e-01 9.19192624e-01 2.44695558e-03 1.36350989e+01] [-5.97183846e-03 -1.03567215e-04 9.99982163e-01 -3.56802448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.020888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.74, Y:13.64, Z:-0.36 [[ 9.18681621e-01 -3.94954987e-01 5.88544730e-03 5.57393896e+01] [ 3.94946146e-01 9.18700467e-01 2.64466629e-03 1.36443396e+01] [-6.45148732e-03 -1.05171581e-04 9.99979183e-01 -3.56433570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.76, Y:13.66, Z:-0.36 [[ 9.18295040e-01 -3.95839634e-01 6.72340916e-03 5.57648554e+01] [ 3.95828107e-01 9.18319645e-01 3.02303490e-03 1.36560614e+01] [-7.37087574e-03 -1.14723634e-04 9.99972828e-01 -3.55885647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.080888479 meters Centerline goodness [0,1] 0.9998866855524079 Centerline is valid? [True, True] Translation: X:55.79, Y:13.66, Z:-0.36 [[ 9.17641064e-01 -3.97345860e-01 7.15154006e-03 5.57926434e+01] [ 3.97332855e-01 9.17668925e-01 3.21671612e-03 1.36645847e+01] [-7.84089491e-03 -1.10248980e-04 9.99969254e-01 -3.55982983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.110888478999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.82, Y:13.67, Z:-0.36 [[ 9.16889366e-01 -3.99079857e-01 7.01125834e-03 5.58197659e+01] [ 3.99067392e-01 9.16916168e-01 3.15565410e-03 1.36745333e+01] [-7.68809411e-03 -9.54211085e-05 9.99970442e-01 -3.56401788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.140888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.84, Y:13.69, Z:-0.36 [[ 9.16634798e-01 -3.99676294e-01 6.28545467e-03 5.58449002e+01] [ 3.99666280e-01 9.16656344e-01 2.83043390e-03 1.36866835e+01] [-6.89285923e-03 -8.23899162e-05 9.99976241e-01 -3.58092256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170888479 meters Centerline goodness [0,1] 0.999931832125247 Centerline is valid? [True, True] Translation: X:55.87, Y:13.70, Z:-0.36 [[ 9.16461427e-01 -4.00086959e-01 5.37381923e-03 5.58701273e+01] [ 4.00079643e-01 9.16477179e-01 2.42048008e-03 1.36982065e+01] [-5.89338520e-03 -6.83209490e-05 9.99982632e-01 -3.60017941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.200888479 meters Centerline goodness [0,1] 0.9997265829706761 Centerline is valid? [True, True] Translation: X:55.90, Y:13.71, Z:-0.36 [[ 9.16567518e-01 -3.99861752e-01 3.81636484e-03 5.58962671e+01] [ 3.99858057e-01 9.16575462e-01 1.71971468e-03 1.37083520e+01] [-4.18563448e-03 -5.02303859e-05 9.99991239e-01 -3.62771626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.230888479 meters Centerline goodness [0,1] 0.9993853018850742 Centerline is valid? [True, True] Translation: X:55.92, Y:13.72, Z:-0.36 [[ 9.16487728e-01 -4.00043867e-01 3.89225988e-03 5.59223457e+01] [ 4.00040020e-01 9.16495991e-01 1.75523620e-03 1.37190935e+01] [-4.26941206e-03 -5.15927166e-05 9.99990885e-01 -3.63281008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.260888479 meters Centerline goodness [0,1] 0.9997043236973184 Centerline is valid? [True, True] Translation: X:55.95, Y:13.73, Z:-0.36 [[ 9.16387779e-01 -4.00274485e-01 3.71149426e-03 5.59468970e+01] [ 4.00270983e-01 9.16395294e-01 1.67513363e-03 1.37303369e+01] [-4.07170912e-03 -4.94685267e-05 9.99991709e-01 -3.63196982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.290888479 meters Centerline goodness [0,1] 0.9994750775972248 Centerline is valid? [True, True] Translation: X:55.97, Y:13.74, Z:-0.36 [[ 9.16094856e-01 -4.00944288e-01 3.72723425e-03 5.59730229e+01] [ 4.00940761e-01 9.16102437e-01 1.68255482e-03 1.37410021e+01] [-4.08913912e-03 -4.69796793e-05 9.99991638e-01 -3.63559740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.320888479 meters Centerline goodness [0,1] 0.999703331811958 Centerline is valid? [True, True] Translation: X:56.00, Y:13.75, Z:-0.36 [[ 9.15992426e-01 -4.01183002e-01 3.17398616e-03 5.59979959e+01] [ 4.01180442e-01 9.15997924e-01 1.43379929e-03 1.37521355e+01] [-3.48258063e-03 -4.00081194e-05 9.99993935e-01 -3.63788462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350888479 meters Centerline goodness [0,1] 0.9995899305160041 Centerline is valid? [True, True] Translation: X:56.02, Y:13.76, Z:-0.36 [[ 9.15892766e-01 -4.01411260e-01 3.07258395e-03 5.60245471e+01] [ 4.01408861e-01 9.15897919e-01 1.38845226e-03 1.37619413e+01] [-3.37151362e-03 -3.83109623e-05 9.99994316e-01 -3.63155595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.380888479 meters Centerline goodness [0,1] 0.9996801681401777 Centerline is valid? [True, True] Translation: X:56.05, Y:13.77, Z:-0.36 [[ 9.15844572e-01 -4.01516158e-01 3.67349309e-03 5.60489999e+01] [ 4.01512723e-01 9.15851938e-01 1.66166000e-03 1.37732033e+01] [-4.03155911e-03 -4.68680807e-05 9.99991872e-01 -3.63379390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.410888479 meters Centerline goodness [0,1] 0.9995879403887096 Centerline is valid? [True, True] Translation: X:56.07, Y:13.79, Z:-0.36 [[ 9.15968185e-01 -4.01228254e-01 4.26287388e-03 5.60739261e+01] [ 4.01223619e-01 9.15978103e-01 1.92931629e-03 1.37852961e+01] [-4.67879533e-03 -5.68266515e-05 9.99989053e-01 -3.63505912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.440888479 meters Centerline goodness [0,1] 0.9995901639344262 Centerline is valid? [True, True] Translation: X:56.10, Y:13.80, Z:-0.36 [[ 9.16174907e-01 -4.00755492e-01 4.30996551e-03 5.60996917e+01] [ 4.00750743e-01 9.16185042e-01 1.95206449e-03 1.37982737e+01] [-4.73102650e-03 -6.12106228e-05 9.99988807e-01 -3.63959325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.470888479 meters Centerline goodness [0,1] 0.9997717572410015 Centerline is valid? [True, True] Translation: X:56.12, Y:13.81, Z:-0.36 [[ 9.17002055e-01 -3.98863539e-01 3.88708999e-03 5.61240282e+01] [ 3.98859654e-01 9.17010291e-01 1.76163709e-03 1.38121131e+01] [-4.26715432e-03 -6.50214622e-05 9.99990894e-01 -3.64642659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.500888479 meters Centerline goodness [0,1] 0.9994764636256032 Centerline is valid? [True, True] Translation: X:56.15, Y:13.82, Z:-0.36 [[ 9.17517882e-01 -3.97677712e-01 3.65713344e-03 5.61501443e+01] [ 3.97674262e-01 9.17525168e-01 1.65775556e-03 1.38243379e+01] [-4.01476441e-03 -6.66725226e-05 9.99991939e-01 -3.64984668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530888479 meters Centerline goodness [0,1] 0.9997041352784543 Centerline is valid? [True, True] Translation: X:56.18, Y:13.84, Z:-0.36 [[ 9.17992179e-01 -3.96575372e-01 4.28177659e-03 5.61761041e+01] [ 3.96570625e-01 9.18002161e-01 1.94232422e-03 1.38366936e+01] [-4.70095811e-03 -8.50116237e-05 9.99988947e-01 -3.64309233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.560888479 meters Centerline goodness [0,1] 0.9994085263205787 Centerline is valid? [True, True] Translation: X:56.20, Y:13.85, Z:-0.36 [[ 9.18637902e-01 -3.95073716e-01 4.60051449e-03 5.62012560e+01] [ 3.95068209e-01 9.18649416e-01 2.08834714e-03 1.38490828e+01] [-5.05131101e-03 -1.00917815e-04 9.99987237e-01 -3.63441284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.590888479 meters Centerline goodness [0,1] 0.9998405067328944 Centerline is valid? [True, True] Translation: X:56.23, Y:13.86, Z:-0.36 [[ 9.19608291e-01 -3.92798757e-01 5.45232429e-03 5.62280218e+01] [ 3.92790979e-01 9.19624444e-01 2.47573201e-03 1.38597265e+01] [-5.98655515e-03 -1.35079884e-04 9.99982071e-01 -3.62189701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.620888479 meters Centerline goodness [0,1] 0.9996594160119886 Centerline is valid? [True, True] Translation: X:56.25, Y:13.87, Z:-0.36 [[ 9.20138210e-01 -3.91560921e-01 5.07141700e-03 5.62525529e+01] [ 3.91554165e-01 9.20152176e-01 2.30414072e-03 1.38733803e+01] [-5.56868685e-03 -1.34393465e-04 9.99984486e-01 -3.62817666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.650888479 meters Centerline goodness [0,1] 0.9996151059590654 Centerline is valid? [True, True] Translation: X:56.28, Y:13.89, Z:-0.37 [[ 9.21162806e-01 -3.89160895e-01 3.58925341e-03 5.62755891e+01] [ 3.89157492e-01 9.21169793e-01 1.63088877e-03 1.38892227e+01] [-3.94098995e-03 -1.05529222e-04 9.99992229e-01 -3.66103561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.680888479 meters Centerline goodness [0,1] 0.9997048205081629 Centerline is valid? [True, True] Translation: X:56.30, Y:13.90, Z:-0.37 [[ 9.21692077e-01 -3.87914974e-01 2.38487002e-03 5.62992333e+01] [ 3.87913467e-01 9.21695160e-01 1.08388916e-03 1.39044924e+01] [-2.61858000e-03 -7.38888547e-05 9.99996569e-01 -3.68355465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710888479 meters Centerline goodness [0,1] 0.9997049009148071 Centerline is valid? [True, True] Translation: X:56.33, Y:13.91, Z:-0.37 [[ 9.22049762e-01 -3.87071242e-01 3.00748009e-04 5.63278464e+01] [ 3.87071218e-01 9.22049811e-01 1.35376118e-04 1.39123802e+01] [-3.29704847e-04 -8.41261940e-06 9.99999946e-01 -3.69195862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.740888479 meters Centerline goodness [0,1] 0.9998866906882408 Centerline is valid? [True, True] Translation: X:56.35, Y:13.92, Z:-0.37 [[ 9.22214071e-01 -3.86677713e-01 -1.24674670e-03 5.63540210e+01] [ 3.86677296e-01 9.22214912e-01 -5.69084077e-04 1.39240764e+01] [ 1.36982053e-03 4.27286982e-05 9.99999061e-01 -3.70421314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.770888479 meters Centerline goodness [0,1] 0.9997500113631198 Centerline is valid? [True, True] Translation: X:56.38, Y:13.94, Z:-0.37 [[ 9.22295287e-01 -3.86481653e-01 -1.82627435e-03 5.63786319e+01] [ 3.86480762e-01 9.22297093e-01 -8.32179518e-04 1.39381562e+01] [ 2.00598964e-03 6.16953454e-05 9.99997986e-01 -3.71755599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.800888479 meters Centerline goodness [0,1] 0.9996583065673478 Centerline is valid? [True, True] Translation: X:56.41, Y:13.95, Z:-0.37 [[ 9.22066445e-01 -3.87028597e-01 -1.52882330e-03 5.64052244e+01] [ 3.87027971e-01 9.22067710e-01 -6.97991767e-04 1.39491576e+01] [ 1.67982138e-03 5.18974065e-05 9.99998588e-01 -3.70994027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.830888479 meters Centerline goodness [0,1] 0.9997499488531745 Centerline is valid? [True, True] Translation: X:56.43, Y:13.96, Z:-0.37 [[ 9.21079090e-01 -3.89374466e-01 -9.13721386e-04 5.64336221e+01] [ 3.89374242e-01 9.21079543e-01 -4.18051077e-04 1.39559686e+01] [ 1.00438849e-03 2.92785332e-05 9.99999495e-01 -3.69000734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.860888478999996 meters Centerline goodness [0,1] 0.9997500568052715 Centerline is valid? [True, True] Translation: X:56.46, Y:13.97, Z:-0.37 [[ 9.20569887e-01 -3.90577811e-01 -2.37217074e-04 5.64607707e+01] [ 3.90577796e-01 9.20569918e-01 -1.09563952e-04 1.39672699e+01] [ 2.61168151e-04 8.20955307e-06 9.99999966e-01 -3.68479260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890888479 meters Centerline goodness [0,1] 0.9996813546977422 Centerline is valid? [True, True] Translation: X:56.49, Y:13.98, Z:-0.37 [[ 9.19943668e-01 -3.92050339e-01 4.23478558e-04 5.64851217e+01] [ 3.92050292e-01 9.19943765e-01 1.92732907e-04 1.39817798e+01] [-4.65137461e-04 -1.12785246e-05 9.99999892e-01 -3.68918298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.920888479 meters Centerline goodness [0,1] 0.9998635836573222 Centerline is valid? [True, True] Translation: X:56.51, Y:13.99, Z:-0.37 [[ 9.18857918e-01 -3.94582525e-01 2.18137857e-03 5.65145379e+01] [ 3.94581275e-01 9.18860505e-01 9.94613868e-04 1.39873556e+01] [-2.39683987e-03 -5.31776885e-05 9.99997126e-01 -3.65581890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.950888479 meters Centerline goodness [0,1] 0.9999772489420758 Centerline is valid? [True, True] Translation: X:56.54, Y:14.00, Z:-0.37 [[ 9.18420692e-01 -3.95597607e-01 2.44263912e-03 5.65419439e+01] [ 3.95596040e-01 9.18423938e-01 1.11459174e-03 1.39973289e+01] [-2.68430807e-03 -5.73657551e-05 9.99996396e-01 -3.65094879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.57, Y:14.01, Z:-0.37 [[ 9.18206632e-01 -3.96094572e-01 2.38156308e-03 5.65660944e+01] [ 3.96093083e-01 9.18209718e-01 1.08755162e-03 1.40096151e+01] [-2.61754766e-03 -5.52764446e-05 9.99996573e-01 -3.65011900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.010888479 meters Centerline goodness [0,1] 0.9997038117153858 Centerline is valid? [True, True] Translation: X:56.59, Y:14.02, Z:-0.37 [[ 9.18181223e-01 -3.96155343e-01 2.04593348e-03 5.65908379e+01] [ 3.96154242e-01 9.18183501e-01 9.34853480e-04 1.40205345e+01] [-2.24888957e-03 -4.78596827e-05 9.99997470e-01 -3.65242663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.040888479 meters Centerline goodness [0,1] 0.999840709978382 Centerline is valid? [True, True] Translation: X:56.62, Y:14.03, Z:-0.37 [[ 9.18442500e-01 -3.95552157e-01 1.36601664e-03 5.66170087e+01] [ 3.95551666e-01 9.18443515e-01 6.23625495e-04 1.40336059e+01] [-1.50128554e-03 -3.24339991e-05 9.99998873e-01 -3.65854506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.64, Y:14.04, Z:-0.37 [[ 9.18584860e-01 -3.95220858e-01 1.52563094e-03 5.66437684e+01] [ 3.95220245e-01 9.18586127e-01 6.97032965e-04 1.40447646e+01] [-1.67690538e-03 -3.73236944e-05 9.99998593e-01 -3.65613666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.100888479 meters Centerline goodness [0,1] 0.9999773391647216 Centerline is valid? [True, True] Translation: X:56.67, Y:14.06, Z:-0.37 [[ 9.19036780e-01 -3.94171083e-01 7.44220806e-04 5.66690109e+01] [ 3.94170937e-01 9.19037082e-01 3.39497038e-04 1.40583405e+01] [-8.17786433e-04 -1.86600523e-05 9.99999665e-01 -3.65995752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.69, Y:14.07, Z:-0.37 [[ 9.19233202e-01 -3.93713227e-01 4.64563885e-04 5.66928498e+01] [ 3.93713170e-01 9.19233319e-01 2.12272803e-04 1.40720688e+01] [-5.10617212e-04 -1.22232887e-05 9.99999870e-01 -3.66797996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.72, Y:14.09, Z:-0.37 [[ 9.19852919e-01 -3.92262882e-01 -6.62949596e-04 5.67173026e+01] [ 3.92262764e-01 9.19853157e-01 -3.04377805e-04 1.40864789e+01] [ 7.29212394e-04 1.99323719e-05 9.99999734e-01 -3.67932725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.190888479 meters Centerline goodness [0,1] 0.9999320128722295 Centerline is valid? [True, True] Translation: X:56.74, Y:14.10, Z:-0.37 [[ 9.20246717e-01 -3.91335143e-01 -1.66914227e-03 5.67439557e+01] [ 3.91334395e-01 9.20248229e-01 -7.67035886e-04 1.40984705e+01] [ 1.83619332e-03 5.26694763e-05 9.99998313e-01 -3.68514369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.220888479 meters Centerline goodness [0,1] 0.999886608459009 Centerline is valid? [True, True] Translation: X:56.77, Y:14.11, Z:-0.37 [[ 9.20588676e-01 -3.90527622e-01 -2.15985700e-03 5.67669893e+01] [ 3.90526370e-01 9.20591208e-01 -9.91389127e-04 1.41142107e+01] [ 2.37551020e-03 6.91804903e-05 9.99997176e-01 -3.70550472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250888479 meters Centerline goodness [0,1] 0.9999547214235585 Centerline is valid? [True, True] Translation: X:56.79, Y:14.13, Z:-0.37 [[ 9.20833199e-01 -3.89945648e-01 -2.93453473e-03 5.67941697e+01] [ 3.89943329e-01 9.20837869e-01 -1.34857591e-03 1.41252619e+01] [ 3.22810202e-03 9.75112275e-05 9.99994785e-01 -3.70314780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.280888479 meters Centerline goodness [0,1] 0.9999774551357201 Centerline is valid? [True, True] Translation: X:56.82, Y:14.14, Z:-0.37 [[ 9.20991189e-01 -3.89569706e-01 -3.26718712e-03 5.68179313e+01] [ 3.89566829e-01 9.20996977e-01 -1.50110639e-03 1.41414291e+01] [ 3.59385504e-03 1.09718029e-04 9.99993536e-01 -3.70819466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310888479 meters Centerline goodness [0,1] 0.9998645292391058 Centerline is valid? [True, True] Translation: X:56.84, Y:14.15, Z:-0.37 [[ 9.20797869e-01 -3.90030545e-01 -2.73105967e-03 5.68418971e+01] [ 3.90028536e-01 9.20801915e-01 -1.25491040e-03 1.41549379e+01] [ 3.00421836e-03 9.03276180e-05 9.99995483e-01 -3.71260285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.340888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.87, Y:14.17, Z:-0.37 [[ 9.20437399e-01 -3.90884645e-01 -2.04672508e-03 5.68669360e+01] [ 3.90883519e-01 9.20439672e-01 -9.40769839e-04 1.41679005e+01] [ 2.25161945e-03 6.58886432e-05 9.99997463e-01 -3.70652735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.370888479 meters Centerline goodness [0,1] 0.9999099241110636 Centerline is valid? [True, True] Translation: X:56.89, Y:14.18, Z:-0.37 [[ 9.19532431e-01 -3.93013646e-01 -6.17631908e-04 5.68917347e+01] [ 3.93013544e-01 9.19532639e-01 -2.84283829e-04 1.41801009e+01] [ 6.79660122e-04 1.86704954e-05 9.99999769e-01 -3.69263033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.92, Y:14.19, Z:-0.37 [[ 9.18842704e-01 -3.94623440e-01 -6.53271683e-04 5.69173824e+01] [ 3.94623326e-01 9.18842936e-01 -3.00971695e-04 1.41918668e+01] [ 7.19024556e-04 1.87494019e-05 9.99999741e-01 -3.68839789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.430888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.95, Y:14.20, Z:-0.37 [[ 9.17394960e-01 -3.97977996e-01 3.77978115e-05 5.69460808e+01] [ 3.97977996e-01 9.17394961e-01 1.69537114e-05 1.41981929e+01] [-4.14227259e-05 -5.10552156e-07 9.99999999e-01 -3.67362423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.460888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.97, Y:14.21, Z:-0.37 [[ 9.16737929e-01 -3.99489100e-01 -1.69762721e-04 5.69710606e+01] [ 3.99489092e-01 9.16737945e-01 -7.85863562e-05 1.42115603e+01] [ 1.87022321e-04 4.22473825e-06 9.99999983e-01 -3.68123240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.00, Y:14.22, Z:-0.37 [[ 9.15871909e-01 -4.01470601e-01 4.79174026e-05 5.69975949e+01] [ 4.01470600e-01 9.15871911e-01 2.05823846e-05 1.42223008e+01] [-5.21494254e-05 3.86600479e-07 9.99999999e-01 -3.68319447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.520888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.02, Y:14.23, Z:-0.37 [[ 9.14332664e-01 -4.04963914e-01 8.86531618e-05 5.70225193e+01] [ 4.04963912e-01 9.14332668e-01 4.02831237e-05 1.42348918e+01] [-9.73716934e-05 -9.30844638e-07 9.99999995e-01 -3.69366300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.550888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.05, Y:14.25, Z:-0.37 [[ 9.13484774e-01 -4.06872901e-01 9.87957624e-05 5.70488015e+01] [ 4.06872898e-01 9.13484780e-01 4.40740075e-05 1.42467288e+01] [-1.08180944e-04 -6.36166353e-08 9.99999994e-01 -3.69409782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.580888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.07, Y:14.26, Z:-0.37 [[ 9.12642871e-01 -4.08757834e-01 -1.53197541e-04 5.70749405e+01] [ 4.08757828e-01 9.12642884e-01 -7.20547053e-05 1.42580445e+01] [ 1.69267570e-04 3.13951921e-06 9.99999986e-01 -3.69288809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.610888478999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.10, Y:14.27, Z:-0.37 [[ 9.12529565e-01 -4.09010720e-01 -1.53098566e-04 5.70999772e+01] [ 4.09010714e-01 9.12529578e-01 -7.22689682e-05 1.42696635e+01] [ 1.69265753e-04 3.32861638e-06 9.99999986e-01 -3.69439017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.13, Y:14.28, Z:-0.37 [[ 9.11022146e-01 -4.12356108e-01 -1.04407416e-03 5.71258837e+01] [ 4.12355826e-01 9.11022744e-01 -4.82408563e-04 1.42809425e+01] [ 1.15009942e-03 8.95482193e-06 9.99999339e-01 -3.69588381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.15, Y:14.29, Z:-0.37 [[ 9.10166084e-01 -4.14241195e-01 -1.39009895e-03 5.71510236e+01] [ 4.14240697e-01 9.10167145e-01 -6.41921450e-04 1.42928158e+01] [ 1.53113270e-03 8.41957300e-06 9.99998828e-01 -3.70717119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.18, Y:14.30, Z:-0.37 [[ 9.09372814e-01 -4.15978453e-01 -1.73533619e-03 5.71759350e+01] [ 4.15977681e-01 9.09374470e-01 -8.01383669e-04 1.43046173e+01] [ 1.91142877e-03 6.89539868e-06 9.99998173e-01 -3.72162527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.20, Y:14.32, Z:-0.37 [[ 9.07512023e-01 -4.20020352e-01 -2.19825191e-03 5.72016909e+01] [ 4.20019122e-01 9.07514685e-01 -1.01686325e-03 1.43164712e+01] [ 2.42204915e-03 -4.92208096e-07 9.99997067e-01 -3.73099507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.23, Y:14.33, Z:-0.37 [[ 9.06880503e-01 -4.21376994e-01 -3.03032755e-03 5.72266698e+01] [ 4.21374667e-01 9.06885565e-01 -1.40033637e-03 1.43279937e+01] [ 3.33822984e-03 -6.96550629e-06 9.99994428e-01 -3.73749677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.25, Y:14.34, Z:-0.37 [[ 9.06148817e-01 -4.22947125e-01 -3.17022890e-03 5.72524513e+01] [ 4.22944581e-01 9.06154363e-01 -1.46710710e-03 1.43398954e+01] [ 3.49322548e-03 -1.14137752e-05 9.99993899e-01 -3.74143810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.28, Y:14.35, Z:-0.37 [[ 9.05187486e-01 -4.25005898e-01 -2.36672886e-03 5.72766396e+01] [ 4.25004488e-01 9.05190580e-01 -1.09509441e-03 1.43521340e+01] [ 2.60776226e-03 -1.46046290e-05 9.99996600e-01 -3.73831527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.30, Y:14.36, Z:-0.37 [[ 9.04659351e-01 -4.26133026e-01 -1.45026415e-03 5.73015395e+01] [ 4.26132495e-01 9.04660513e-01 -6.72657140e-04 1.43647834e+01] [ 1.59863814e-03 -9.47911078e-06 9.99998722e-01 -3.73168139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:14.38, Z:-0.37 [[ 9.04408695e-01 -4.26666596e-01 -7.26010209e-04 5.73260054e+01] [ 4.26666463e-01 9.04408987e-01 -3.37744958e-04 1.43778849e+01] [ 8.00714650e-04 -4.30473069e-06 9.99999679e-01 -3.72859383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.35, Y:14.39, Z:-0.37 [[ 9.04564111e-01 -4.26337383e-01 4.54016657e-04 5.73498310e+01] [ 4.26337331e-01 9.04564224e-01 2.08926650e-04 1.43944188e+01] [-4.99760467e-04 4.57670035e-06 9.99999875e-01 -3.72406866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.37, Y:14.41, Z:-0.37 [[ 9.04814681e-01 -4.25805495e-01 2.70938999e-04 5.73739518e+01] [ 4.25805477e-01 9.04814721e-01 1.23977615e-04 1.44081320e+01] [-2.97939945e-04 3.19054352e-06 9.99999956e-01 -3.72929421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.40, Y:14.42, Z:-0.37 [[ 9.05202387e-01 -4.24980738e-01 -1.01423692e-04 5.73973259e+01] [ 4.24980735e-01 9.05202393e-01 -4.81700034e-05 1.44213816e+01] [ 1.12280292e-04 5.00487096e-07 9.99999994e-01 -3.73642274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.42, Y:14.44, Z:-0.38 [[ 9.06421606e-01 -4.22372004e-01 -1.32714977e-03 5.74188003e+01] [ 4.22371554e-01 9.06422578e-01 -6.16549638e-04 1.44386693e+01] [ 1.46337182e-03 -1.69639751e-06 9.99998929e-01 -3.76344304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.030888479 meters Centerline goodness [0,1] 0.9999336062852716 Centerline is valid? [True, True] Translation: X:57.44, Y:14.45, Z:-0.38 [[ 9.07064991e-01 -4.20984334e-01 -2.30052425e-03 5.74426256e+01] [ 4.20982975e-01 9.07067908e-01 -1.06993949e-03 1.44542038e+01] [ 2.53715949e-03 2.02311483e-06 9.99996781e-01 -3.77381789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.060888479 meters Centerline goodness [0,1] 0.9999779215331287 Centerline is valid? [True, True] Translation: X:57.47, Y:14.47, Z:-0.38 [[ 9.07686439e-01 -4.19634171e-01 -3.53437585e-03 5.74663920e+01] [ 4.19630956e-01 9.07693320e-01 -1.64255972e-03 1.44690728e+01] [ 3.89740353e-03 7.79566890e-06 9.99992405e-01 -3.79355384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090888479 meters Centerline goodness [0,1] 0.9998678996036988 Centerline is valid? [True, True] Translation: X:57.49, Y:14.48, Z:-0.38 [[ 9.08216985e-01 -4.18477934e-01 -4.25752517e-03 5.74906062e+01] [ 4.18473256e-01 9.08226964e-01 -1.97863935e-03 1.44832062e+01] [ 4.69481607e-03 1.53734478e-05 9.99988979e-01 -3.80477687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.120888479 meters Centerline goodness [0,1] 0.9999122691582226 Centerline is valid? [True, True] Translation: X:57.51, Y:14.50, Z:-0.38 [[ 9.08792087e-01 -4.17227933e-01 -4.21841322e-03 5.75140150e+01] [ 4.17223316e-01 9.08801877e-01 -1.96291674e-03 1.44986228e+01] [ 4.65268554e-03 2.38628500e-05 9.99989176e-01 -3.79292177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150888479 meters Centerline goodness [0,1] 0.9998687491796824 Centerline is valid? [True, True] Translation: X:57.54, Y:14.51, Z:-0.38 [[ 9.08899886e-01 -4.16995618e-01 -3.95623196e-03 5.75387146e+01] [ 4.16991548e-01 9.08908496e-01 -1.84243623e-03 1.45121841e+01] [ 4.36414068e-03 2.48747881e-05 9.99990477e-01 -3.78600710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.180888479 meters Centerline goodness [0,1] 0.9996722171233775 Centerline is valid? [True, True] Translation: X:57.56, Y:14.53, Z:-0.38 [[ 9.08910966e-01 -4.16978795e-01 -3.08880437e-03 5.75626054e+01] [ 4.16976316e-01 9.08916214e-01 -1.43800543e-03 1.45264935e+01] [ 3.40708215e-03 1.90606361e-05 9.99994196e-01 -3.79278466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210888479 meters Centerline goodness [0,1] 0.9995423041715705 Centerline is valid? [True, True] Translation: X:57.59, Y:14.54, Z:-0.38 [[ 9.08823611e-01 -4.17176781e-01 -1.78262795e-03 5.75885183e+01] [ 4.17175952e-01 9.08825359e-01 -8.31640659e-04 1.45397422e+01] [ 1.96703866e-03 1.21451542e-05 9.99998065e-01 -3.77559802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.240888479 meters Centerline goodness [0,1] 0.9996074668527565 Centerline is valid? [True, True] Translation: X:57.61, Y:14.55, Z:-0.38 [[ 9.09169670e-01 -4.16424942e-01 -8.81931718e-04 5.76117055e+01] [ 4.16424739e-01 9.09170098e-01 -4.11576730e-04 1.45539340e+01] [ 9.73216763e-04 6.93489401e-06 9.99999526e-01 -3.76861900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27088847899999 meters Centerline goodness [0,1] 0.9994774657086871 Centerline is valid? [True, True] Translation: X:57.64, Y:14.57, Z:-0.38 [[ 9.09492089e-01 -4.15720809e-01 -5.90726135e-04 5.76359181e+01] [ 4.15720717e-01 9.09492281e-01 -2.77032939e-04 1.45673428e+01] [ 6.52429218e-04 6.38217380e-06 9.99999787e-01 -3.76698417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.300888479 meters Centerline goodness [0,1] 0.9995433591371662 Centerline is valid? [True, True] Translation: X:57.66, Y:14.58, Z:-0.38 [[ 9.09808980e-01 -4.15027241e-01 9.71966151e-05 5.76606629e+01] [ 4.15027239e-01 9.09808985e-01 4.36750452e-05 1.45815034e+01] [-1.06556687e-04 6.03294429e-07 9.99999994e-01 -3.76349664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.330888479 meters Centerline goodness [0,1] 0.9988545493840502 Centerline is valid? [True, True] Translation: X:57.68, Y:14.60, Z:-0.38 [[ 9.11270839e-01 -4.11806991e-01 6.79129109e-04 5.76844874e+01] [ 4.11806870e-01 9.11271092e-01 3.15544621e-04 1.45992013e+01] [-7.48814205e-04 -7.87657906e-06 9.99999720e-01 -3.76883942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.360888479 meters Centerline goodness [0,1] 0.9987681269045406 Centerline is valid? [True, True] Translation: X:57.71, Y:14.61, Z:-0.38 [[ 9.12010835e-01 -4.10166012e-01 2.81908776e-04 5.77077932e+01] [ 4.10165991e-01 9.12010878e-01 1.31005028e-04 1.46140429e+01] [-3.10837680e-04 -3.84861222e-06 9.99999952e-01 -3.77996291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.390888479 meters Centerline goodness [0,1] 0.998857734002888 Centerline is valid? [True, True] Translation: X:57.73, Y:14.63, Z:-0.38 [[ 9.13765841e-01 -4.06237181e-01 -1.82751145e-03 5.77322859e+01] [ 4.06236284e-01 9.13767668e-01 -8.54809639e-04 1.46317613e+01] [ 2.01717634e-03 3.86943873e-05 9.99997965e-01 -3.80252961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.420888479 meters Centerline goodness [0,1] 0.9988551432151035 Centerline is valid? [True, True] Translation: X:57.76, Y:14.65, Z:-0.38 [[ 9.14602920e-01 -4.04345108e-01 -2.55591960e-03 5.77572124e+01] [ 4.04343343e-01 9.14606489e-01 -1.19622771e-03 1.46458334e+01] [ 2.82134947e-03 6.06042775e-05 9.99996018e-01 -3.80868507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.450888479 meters Centerline goodness [0,1] 0.9984034175494617 Centerline is valid? [True, True] Translation: X:57.78, Y:14.66, Z:-0.38 [[ 9.15255262e-01 -4.02864803e-01 -2.78500134e-03 5.77825047e+01] [ 4.02862699e-01 9.15259496e-01 -1.30413029e-03 1.46598618e+01] [ 3.07438712e-03 7.16389494e-05 9.99995271e-01 -3.81222081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.480888479 meters Centerline goodness [0,1] 0.9976698526397549 Centerline is valid? [True, True] Translation: X:57.81, Y:14.68, Z:-0.38 [[ 9.16586358e-01 -3.99826468e-01 -2.87111312e-03 5.78062986e+01] [ 3.99824219e-01 9.16590851e-01 -1.34362488e-03 1.46767206e+01] [ 3.16885281e-03 8.36076756e-05 9.99994976e-01 -3.80936555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510888479 meters Centerline goodness [0,1] 0.9983656616919703 Centerline is valid? [True, True] Translation: X:57.83, Y:14.69, Z:-0.38 [[ 9.16971460e-01 -3.98941402e-01 -3.01653489e-03 5.78294298e+01] [ 3.98938914e-01 9.16976417e-01 -1.41204704e-03 1.46919839e+01] [ 3.32941538e-03 9.13936844e-05 9.99994453e-01 -3.82393769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.540888479 meters Centerline goodness [0,1] 0.9984450251603568 Centerline is valid? [True, True] Translation: X:57.86, Y:14.70, Z:-0.38 [[ 9.17459149e-01 -3.97815498e-01 -3.39688827e-03 5.78551713e+01] [ 3.97812333e-01 9.17465431e-01 -1.59040657e-03 1.47040609e+01] [ 3.74921594e-03 1.07809014e-04 9.99992966e-01 -3.83029061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570888479 meters Centerline goodness [0,1] 0.9984106187847677 Centerline is valid? [True, True] Translation: X:57.88, Y:14.72, Z:-0.38 [[ 9.17844046e-01 -3.96925257e-01 -3.55638762e-03 5.78793184e+01] [ 3.96921780e-01 9.17850928e-01 -1.66542964e-03 1.47190023e+01] [ 3.92528477e-03 1.16996971e-04 9.99992289e-01 -3.84797112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.600888479 meters Centerline goodness [0,1] 0.9984957235569691 Centerline is valid? [True, True] Translation: X:57.90, Y:14.73, Z:-0.38 [[ 9.18156354e-01 -3.96207228e-01 -2.95672323e-03 5.79036746e+01] [ 3.96204820e-01 9.18161109e-01 -1.38499839e-03 1.47332056e+01] [ 3.26349466e-03 1.00177080e-04 9.99994670e-01 -3.84227402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630888479 meters Centerline goodness [0,1] 0.9985105877781855 Centerline is valid? [True, True] Translation: X:57.93, Y:14.74, Z:-0.38 [[ 9.17821502e-01 -3.96987314e-01 -2.18225320e-03 5.79306620e+01] [ 3.96986000e-01 9.17824094e-01 -1.02394382e-03 1.47434415e+01] [ 2.40941727e-03 7.34736819e-05 9.99997095e-01 -3.82420242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.660888479 meters Centerline goodness [0,1] 0.9983479231033299 Centerline is valid? [True, True] Translation: X:57.96, Y:14.76, Z:-0.38 [[ 9.17370469e-01 -3.98031406e-01 -1.55644740e-03 5.79553716e+01] [ 3.98030740e-01 9.17371788e-01 -7.29944360e-04 1.47555621e+01] [ 1.71838171e-03 5.01154904e-05 9.99998522e-01 -3.81922021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.690888479 meters Centerline goodness [0,1] 0.9984736434775131 Centerline is valid? [True, True] Translation: X:57.98, Y:14.77, Z:-0.38 [[ 9.17113375e-01 -3.98622610e-01 -1.75251732e-03 5.79799201e+01] [ 3.98621766e-01 9.17115048e-01 -8.22355767e-04 1.47688112e+01] [ 1.93506961e-03 5.56019253e-05 9.99998126e-01 -3.82203483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.720888479 meters Centerline goodness [0,1] 0.9980873788494187 Centerline is valid? [True, True] Translation: X:58.00, Y:14.78, Z:-0.38 [[ 9.16950708e-01 -3.98998333e-01 -1.31528521e-03 5.80042699e+01] [ 3.98997857e-01 9.16951650e-01 -6.17249069e-04 1.47826429e+01] [ 1.45233429e-03 4.11909897e-05 9.99998945e-01 -3.83133406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.750888479 meters Centerline goodness [0,1] 0.9983601251483439 Centerline is valid? [True, True] Translation: X:58.03, Y:14.79, Z:-0.38 [[ 9.16699576e-01 -3.99575324e-01 -1.20322701e-03 5.80312225e+01] [ 3.99574925e-01 9.16700365e-01 -5.65814799e-04 1.47944359e+01] [ 1.32908427e-03 3.79028442e-05 9.99999116e-01 -3.82990669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.780888479 meters Centerline goodness [0,1] 0.9982217461167648 Centerline is valid? [True, True] Translation: X:58.06, Y:14.80, Z:-0.38 [[ 9.16388830e-01 -4.00286912e-01 -1.37835241e-03 5.80586965e+01] [ 4.00286389e-01 9.16389866e-01 -6.48521324e-04 1.48042197e+01] [ 1.52270277e-03 4.25619911e-05 9.99998840e-01 -3.82621998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.810888479 meters Centerline goodness [0,1] 0.9983599128164181 Centerline is valid? [True, True] Translation: X:58.08, Y:14.81, Z:-0.38 [[ 9.16180817e-01 -4.00763563e-01 -1.13062665e-03 5.80844394e+01] [ 4.00763210e-01 9.16181514e-01 -5.32869796e-04 1.48146741e+01] [ 1.24941403e-03 3.50915214e-05 9.99999219e-01 -3.82591291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.840888479 meters Centerline goodness [0,1] 0.9984088074657034 Centerline is valid? [True, True] Translation: X:58.11, Y:14.83, Z:-0.38 [[ 9.16082575e-01 -4.00989406e-01 -4.60355730e-04 5.81081108e+01] [ 4.00989347e-01 9.16082691e-01 -2.17114232e-04 1.48287913e+01] [ 5.08784423e-04 1.42968212e-05 9.99999870e-01 -3.82758941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870888479 meters Centerline goodness [0,1] 0.9982359521555804 Centerline is valid? [True, True] Translation: X:58.13, Y:14.84, Z:-0.38 [[ 9.16043675e-01 -4.01078319e-01 -4.09178644e-04 5.81317923e+01] [ 4.01078273e-01 9.16043766e-01 -1.93063550e-04 1.48423857e+01] [ 4.52259150e-04 1.27419796e-05 9.99999898e-01 -3.84654959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.900888479 meters Centerline goodness [0,1] 0.9982562645311289 Centerline is valid? [True, True] Translation: X:58.16, Y:14.85, Z:-0.39 [[ 9.15910306e-01 -4.01380302e-01 -1.47091219e-03 5.81583313e+01] [ 4.01379706e-01 9.15911486e-01 -6.93653825e-04 1.48522913e+01] [ 1.62564436e-03 4.49303836e-05 9.99998678e-01 -3.85380474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930888479 meters Centerline goodness [0,1] 0.9983204134366925 Centerline is valid? [True, True] Translation: X:58.18, Y:14.87, Z:-0.39 [[ 9.15831302e-01 -4.01556056e-01 -2.40008365e-03 5.81825286e+01] [ 4.01554472e-01 9.15834444e-01 -1.13026579e-03 1.48655134e+01] [ 2.65194435e-03 7.13684710e-05 9.99996481e-01 -3.87385334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.960888479 meters Centerline goodness [0,1] 0.9988577586206897 Centerline is valid? [True, True] Translation: X:58.21, Y:14.87, Z:-0.39 [[ 9.15709056e-01 -4.01817981e-01 -4.38574060e-03 5.82101824e+01] [ 4.01812688e-01 9.15719549e-01 -2.06664565e-03 1.48743799e+01] [ 4.84652379e-03 1.30199917e-04 9.99988247e-01 -3.87122187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990888479 meters Centerline goodness [0,1] 0.9984921917070544 Centerline is valid? [True, True] Translation: X:58.23, Y:14.89, Z:-0.39 [[ 9.15613818e-01 -4.02032785e-01 -4.57989965e-03 5.82331317e+01] [ 4.02027015e-01 9.15625263e-01 -2.15800599e-03 1.48887924e+01] [ 5.06106098e-03 1.34656717e-04 9.99987184e-01 -3.89100124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02088847899999 meters Centerline goodness [0,1] 0.9986402779876115 Centerline is valid? [True, True] Translation: X:58.26, Y:14.90, Z:-0.39 [[ 9.15357954e-01 -4.02613957e-01 -4.67091060e-03 5.82598413e+01] [ 4.02607951e-01 9.15369861e-01 -2.20329415e-03 1.48977878e+01] [ 5.16268777e-03 1.36257079e-04 9.99986664e-01 -3.88511763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.050888479 meters Centerline goodness [0,1] 0.9984057908569951 Centerline is valid? [True, True] Translation: X:58.29, Y:14.91, Z:-0.39 [[ 9.15134763e-01 -4.03129927e-01 -3.82460577e-03 5.82864687e+01] [ 4.03125900e-01 9.15142748e-01 -1.80528024e-03 1.49094116e+01] [ 4.22782273e-03 1.10277067e-04 9.99991057e-01 -3.87782822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.080888479 meters Centerline goodness [0,1] 0.9984078146179831 Centerline is valid? [True, True] Translation: X:58.31, Y:14.92, Z:-0.39 [[ 9.14943267e-01 -4.03572147e-01 -2.88810071e-03 5.83104520e+01] [ 4.03569854e-01 9.14947821e-01 -1.36295880e-03 1.49235925e+01] [ 3.19251366e-03 8.14795917e-05 9.99994901e-01 -3.88462617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.110888479 meters Centerline goodness [0,1] 0.9985987453381335 Centerline is valid? [True, True] Translation: X:58.34, Y:14.93, Z:-0.39 [[ 9.14597233e-01 -4.04361452e-01 -1.92833349e-03 5.83358000e+01] [ 4.04360431e-01 9.14599264e-01 -9.10337738e-04 1.49341741e+01] [ 2.13175788e-03 5.28506146e-05 9.99997726e-01 -3.87750210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.140888479 meters Centerline goodness [0,1] 0.9989626780195795 Centerline is valid? [True, True] Translation: X:58.37, Y:14.94, Z:-0.38 [[ 9.13722484e-01 -4.06337698e-01 -9.47583305e-04 5.83665029e+01] [ 4.06337450e-01 9.13722975e-01 -4.48824998e-04 1.49374371e+01] [ 1.04820315e-03 2.50629079e-05 9.99999450e-01 -3.84440418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.170888479 meters Centerline goodness [0,1] 0.9987413194444444 Centerline is valid? [True, True] Translation: X:58.39, Y:14.95, Z:-0.38 [[ 9.13423405e-01 -4.07009256e-01 -1.07207722e-03 5.83918414e+01] [ 4.07008941e-01 9.13424034e-01 -5.06784785e-04 1.49486541e+01] [ 1.18552719e-03 2.65640712e-05 9.99999297e-01 -3.84988876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.200888479 meters Centerline goodness [0,1] 0.9987730061349693 Centerline is valid? [True, True] Translation: X:58.42, Y:14.96, Z:-0.39 [[ 9.13230173e-01 -4.07441792e-01 -1.35579823e-03 5.84181391e+01] [ 4.07441287e-01 9.13231178e-01 -6.42386339e-04 1.49588827e+01] [ 1.49989226e-03 3.42384116e-05 9.99998875e-01 -3.85425455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230888479 meters Centerline goodness [0,1] 0.9990478663550593 Centerline is valid? [True, True] Translation: X:58.44, Y:14.97, Z:-0.39 [[ 9.13033445e-01 -4.07882237e-01 -1.41727026e-03 5.84439033e+01] [ 4.07881685e-01 9.13034545e-01 -6.71945905e-04 1.49697703e+01] [ 1.56809151e-03 3.54305030e-05 9.99998770e-01 -3.85903616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.260888479 meters Centerline goodness [0,1] 0.9986763589020289 Centerline is valid? [True, True] Translation: X:58.47, Y:14.98, Z:-0.39 [[ 9.13056162e-01 -4.07832357e-01 -1.10198986e-03 5.84682843e+01] [ 4.07832023e-01 9.13056826e-01 -5.22048555e-04 1.49813835e+01] [ 1.21908766e-03 2.72328948e-05 9.99999257e-01 -3.85962648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290888479 meters Centerline goodness [0,1] 0.9989607240289265 Centerline is valid? [True, True] Translation: X:58.50, Y:14.99, Z:-0.38 [[ 9.13425228e-01 -4.07005926e-01 -7.26701312e-04 5.84953963e+01] [ 4.07005780e-01 9.13425517e-01 -3.45452005e-04 1.49925024e+01] [ 8.04388535e-04 1.97729422e-05 9.99999676e-01 -3.84727008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.320888479 meters Centerline goodness [0,1] 0.9988952909067279 Centerline is valid? [True, True] Translation: X:58.52, Y:15.00, Z:-0.38 [[ 9.13641461e-01 -4.06519388e-01 -1.12587725e-03 5.85224082e+01] [ 4.06519038e-01 9.13642154e-01 -5.34772657e-04 1.50040247e+01] [ 1.24604437e-03 3.08999347e-05 9.99999223e-01 -3.84807616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350888479 meters Centerline goodness [0,1] 0.999047763325903 Centerline is valid? [True, True] Translation: X:58.55, Y:15.02, Z:-0.39 [[ 9.13973318e-01 -4.05771996e-01 -1.36444633e-03 5.85470392e+01] [ 4.05771481e-01 9.13974336e-01 -6.47466607e-04 1.50159628e+01] [ 1.50979274e-03 3.81137963e-05 9.99998860e-01 -3.85640524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.380888479 meters Centerline goodness [0,1] 0.9990877299680706 Centerline is valid? [True, True] Translation: X:58.57, Y:15.03, Z:-0.39 [[ 9.14311568e-01 -4.05001198e-01 -2.89590155e-03 5.85731035e+01] [ 4.04998874e-01 9.14316150e-01 -1.37455811e-03 1.50280655e+01] [ 3.20446724e-03 8.39375204e-05 9.99994862e-01 -3.88831488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.410888479 meters Centerline goodness [0,1] 0.9992854049372023 Centerline is valid? [True, True] Translation: X:58.60, Y:15.04, Z:-0.39 [[ 9.14534040e-01 -4.04492431e-01 -3.65553848e-03 5.85980413e+01] [ 4.04488728e-01 9.14541340e-01 -1.73417146e-03 1.50404249e+01] [ 4.04460029e-03 1.07334723e-04 9.99991815e-01 -3.90277216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.440888479 meters Centerline goodness [0,1] 0.9994354208286285 Centerline is valid? [True, True] Translation: X:58.62, Y:15.05, Z:-0.39 [[ 9.14619052e-01 -4.04297356e-01 -3.95451510e-03 5.86228461e+01] [ 4.04293016e-01 9.14627593e-01 -1.87683628e-03 1.50522446e+01] [ 4.37570857e-03 1.17807386e-04 9.99990420e-01 -3.91016183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.470888479 meters Centerline goodness [0,1] 0.9994354208286285 Centerline is valid? [True, True] Translation: X:58.65, Y:15.06, Z:-0.39 [[ 9.14508765e-01 -4.04546768e-01 -3.95366418e-03 5.86477395e+01] [ 4.04542424e-01 9.14517303e-01 -1.87862906e-03 1.50641467e+01] [ 4.37568762e-03 1.18597856e-04 9.99990420e-01 -3.91166645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.500888479 meters Centerline goodness [0,1] 0.999564668495059 Centerline is valid? [True, True] Translation: X:58.67, Y:15.07, Z:-0.39 [[ 9.14451869e-01 -4.04677167e-01 -3.76428293e-03 5.86735883e+01] [ 4.04673224e-01 9.14459610e-01 -1.78998728e-03 1.50742226e+01] [ 4.16665168e-03 1.13552703e-04 9.99991313e-01 -3.91202615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.530888479 meters Centerline goodness [0,1] 0.9993491843110032 Centerline is valid? [True, True] Translation: X:58.70, Y:15.09, Z:-0.39 [[ 9.14319978e-01 -4.04975900e-01 -3.67416859e-03 5.86993879e+01] [ 4.04972148e-01 9.14327353e-01 -1.74641491e-03 1.50856478e+01] [ 4.06664879e-03 1.08846095e-04 9.99991725e-01 -3.90991947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.560888479 meters Centerline goodness [0,1] 0.9995622961941654 Centerline is valid? [True, True] Translation: X:58.73, Y:15.10, Z:-0.39 [[ 9.14134201e-01 -4.05396000e-01 -3.57008393e-03 5.87250659e+01] [ 4.05392460e-01 9.14141167e-01 -1.69731682e-03 1.50968546e+01] [ 3.95164614e-03 1.04290247e-04 9.99992187e-01 -3.90768116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590888479 meters Centerline goodness [0,1] 0.9993899915034531 Centerline is valid? [True, True] Translation: X:58.75, Y:15.11, Z:-0.39 [[ 9.14033860e-01 -4.05624860e-01 -3.25203947e-03 5.87497771e+01] [ 4.05621919e-01 9.14039640e-01 -1.54747284e-03 1.51082814e+01] [ 3.60018644e-03 9.53440821e-05 9.99993515e-01 -3.90343760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.620888479 meters Centerline goodness [0,1] 0.999346533359472 Centerline is valid? [True, True] Translation: X:58.78, Y:15.12, Z:-0.39 [[ 9.14368989e-01 -4.04878818e-01 -1.57921862e-03 5.87757251e+01] [ 4.04878124e-01 9.14370352e-01 -7.51599111e-04 1.51197741e+01] [ 1.74829724e-03 4.78478493e-05 9.99998471e-01 -3.89073187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650888479 meters Centerline goodness [0,1] 0.9994113543210953 Centerline is valid? [True, True] Translation: X:58.80, Y:15.13, Z:-0.39 [[ 9.14484498e-01 -4.04619526e-01 -1.06899747e-03 5.88020484e+01] [ 4.04619205e-01 9.14485122e-01 -5.10148427e-04 1.51319479e+01] [ 1.18399830e-03 3.39859199e-05 9.99999298e-01 -3.88882631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.680888479 meters Centerline goodness [0,1] 0.9990406628147825 Centerline is valid? [True, True] Translation: X:58.83, Y:15.14, Z:-0.39 [[ 9.14809568e-01 -4.03883957e-01 -1.09734437e-03 5.88269698e+01] [ 4.03883620e-01 9.14810225e-01 -5.22835061e-04 1.51441021e+01] [ 1.21502654e-03 3.50950997e-05 9.99999261e-01 -3.89052120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710888479 meters Centerline goodness [0,1] 0.9994987140926725 Centerline is valid? [True, True] Translation: X:58.85, Y:15.15, Z:-0.39 [[ 9.15315739e-01 -4.02733915e-01 -1.57844497e-03 5.88537345e+01] [ 4.02733214e-01 9.15317099e-01 -7.53207702e-04 1.51549403e+01] [ 1.74811996e-03 5.37306478e-05 9.99998471e-01 -3.90030812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.740888479 meters Centerline goodness [0,1] 0.9993240296554732 Centerline is valid? [True, True] Translation: X:58.88, Y:15.17, Z:-0.39 [[ 9.15591355e-01 -4.02105193e-01 -1.97102408e-03 5.88795763e+01] [ 4.02104101e-01 9.15593474e-01 -9.39483445e-04 1.51666910e+01] [ 2.18242795e-03 6.76260545e-05 9.99997616e-01 -3.90973668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77088847899999 meters Centerline goodness [0,1] 0.9995407527281475 Centerline is valid? [True, True] Translation: X:58.90, Y:15.18, Z:-0.39 [[ 9.16042056e-01 -4.01075769e-01 -2.27594705e-03 5.89044229e+01] [ 4.01074309e-01 9.16044880e-01 -1.08497544e-03 1.51789340e+01] [ 2.52002700e-03 8.10592418e-05 9.99996821e-01 -3.91609898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.800888479 meters Centerline goodness [0,1] 0.9994970038927525 Centerline is valid? [True, True] Translation: X:58.93, Y:15.19, Z:-0.39 [[ 9.16390351e-01 -4.00279955e-01 -2.16392636e-03 5.89291393e+01] [ 4.00278633e-01 9.16392902e-01 -1.03181374e-03 1.51913729e+01] [ 2.39602112e-03 7.93706658e-05 9.99997126e-01 -3.92181969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.830888479 meters Centerline goodness [0,1] 0.9993215145546072 Centerline is valid? [True, True] Translation: X:58.96, Y:15.20, Z:-0.39 [[ 9.17130779e-01 -3.98584404e-01 -1.26796668e-03 5.89563730e+01] [ 3.98583946e-01 9.17131654e-01 -6.06092908e-04 1.52017968e+01] [ 1.40447156e-03 5.04752965e-05 9.99999012e-01 -3.90570713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.860888479 meters Centerline goodness [0,1] 0.9994518745889059 Centerline is valid? [True, True] Translation: X:58.98, Y:15.21, Z:-0.39 [[ 9.17346310e-01 -3.98089063e-01 -9.19195892e-04 5.89812662e+01] [ 3.98088822e-01 9.17346770e-01 -4.39239416e-04 1.52146496e+01] [ 1.01807779e-03 3.70130480e-05 9.99999481e-01 -3.90357817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.890888479 meters Centerline goodness [0,1] 0.999539352461174 Centerline is valid? [True, True] Translation: X:59.01, Y:15.23, Z:-0.39 [[ 9.17468924e-01 -3.97807181e-01 -4.70170858e-04 5.90082731e+01] [ 3.97807117e-01 9.17469044e-01 -2.25851769e-04 1.52255538e+01] [ 5.21212663e-04 2.01746656e-05 9.99999864e-01 -3.90306551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.920888479 meters Centerline goodness [0,1] 0.9994734879231293 Centerline is valid? [True, True] Translation: X:59.04, Y:15.23, Z:-0.39 [[ 9.17323763e-01 -3.98142068e-01 -8.41228972e-05 5.90355916e+01] [ 3.98142065e-01 9.17323767e-01 -4.18504900e-05 1.52337501e+01] [ 9.38303736e-05 4.89758499e-06 9.99999996e-01 -3.90350247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.950888479 meters Centerline goodness [0,1] 0.9994283452794512 Centerline is valid? [True, True] Translation: X:59.06, Y:15.25, Z:-0.39 [[ 9.17056392e-01 -3.98757025e-01 -6.39268719e-04 5.90613302e+01] [ 3.98756908e-01 9.17056615e-01 -3.05939160e-04 1.52452945e+01] [ 7.08240997e-04 2.56506441e-05 9.99999749e-01 -3.91053303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.980888479 meters Centerline goodness [0,1] 0.9996474373099467 Centerline is valid? [True, True] Translation: X:59.09, Y:15.25, Z:-0.39 [[ 9.16686944e-01 -3.99605471e-01 -7.16946802e-04 5.90890454e+01] [ 3.99605324e-01 9.16687224e-01 -3.44201795e-04 1.52549895e+01] [ 7.94760895e-04 2.90295327e-05 9.99999684e-01 -3.91117328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010888479 meters Centerline goodness [0,1] 0.9995141771928275 Centerline is valid? [True, True] Translation: X:59.11, Y:15.27, Z:-0.39 [[ 9.16314928e-01 -4.00457986e-01 -5.95270985e-04 5.91132171e+01] [ 4.00457886e-01 9.16315121e-01 -2.85154917e-04 1.52681316e+01] [ 6.59648368e-04 2.29107467e-05 9.99999782e-01 -3.92010691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.040888479 meters Centerline goodness [0,1] 0.9995797296998385 Centerline is valid? [True, True] Translation: X:59.14, Y:15.27, Z:-0.39 [[ 9.15330729e-01 -4.02701734e-01 -9.84612157e-04 5.91420354e+01] [ 4.02701459e-01 9.15331258e-01 -4.71289736e-04 1.52746440e+01] [ 1.09103548e-03 3.48812253e-05 9.99999404e-01 -3.90854803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070888479 meters Centerline goodness [0,1] 0.9997784866205919 Centerline is valid? [True, True] Translation: X:59.17, Y:15.28, Z:-0.39 [[ 9.14767798e-01 -4.03979061e-01 -8.90856673e-04 5.91699498e+01] [ 4.03978835e-01 9.14768232e-01 -4.27738321e-04 1.52833336e+01] [ 9.87724709e-04 3.13940010e-05 9.99999512e-01 -3.89986894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.100888479 meters Centerline goodness [0,1] 0.9996234856370845 Centerline is valid? [True, True] Translation: X:59.20, Y:15.29, Z:-0.39 [[ 9.14208306e-01 -4.05244546e-01 -1.76350314e-04 5.91978524e+01] [ 4.05244537e-01 9.14208323e-01 -8.51788836e-05 1.52930078e+01] [ 1.95739203e-04 6.40624149e-06 9.99999981e-01 -3.89462089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130888479 meters Centerline goodness [0,1] 0.9996670292348332 Centerline is valid? [True, True] Translation: X:59.22, Y:15.31, Z:-0.39 [[ 9.13785176e-01 -4.06197644e-01 3.55957485e-04 5.92224790e+01] [ 4.06197608e-01 9.13785245e-01 1.69921025e-04 1.53060341e+01] [-3.94290218e-04 -1.06822349e-05 9.99999922e-01 -3.89422352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.160888479 meters Centerline goodness [0,1] 0.9996664072056044 Centerline is valid? [True, True] Translation: X:59.25, Y:15.31, Z:-0.39 [[ 9.13320047e-01 -4.07242331e-01 4.18158980e-04 5.92503567e+01] [ 4.07242283e-01 9.13320143e-01 1.98957558e-04 1.53148946e+01] [-4.62936959e-04 -1.14199082e-05 9.99999893e-01 -3.88433298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.190888479 meters Centerline goodness [0,1] 0.9997331020217521 Centerline is valid? [True, True] Translation: X:59.28, Y:15.33, Z:-0.39 [[ 9.13222617e-01 -4.07460906e-01 2.48328947e-04 5.92760156e+01] [ 4.07460889e-01 9.13222651e-01 1.17490463e-04 1.53254244e+01] [-2.74652389e-04 -6.11061458e-06 9.99999962e-01 -3.88229638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.220888479 meters Centerline goodness [0,1] 0.9999108893245411 Centerline is valid? [True, True] Translation: X:59.30, Y:15.33, Z:-0.39 [[ 9.12989259e-01 -4.07983586e-01 7.79462908e-05 5.93025923e+01] [ 4.07983584e-01 9.12989263e-01 3.58273957e-05 1.53340835e+01] [-8.57811159e-05 -9.09220408e-07 9.99999996e-01 -3.87300135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.250888479 meters Centerline goodness [0,1] 0.9999107441704786 Centerline is valid? [True, True] Translation: X:59.33, Y:15.34, Z:-0.39 [[ 9.12627927e-01 -4.08791202e-01 1.38973394e-04 5.93304270e+01] [ 4.08791197e-01 9.12627938e-01 6.52668643e-05 1.53420308e+01] [-1.53511522e-04 -2.75326297e-06 9.99999988e-01 -3.85928211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.280888479 meters Centerline goodness [0,1] 0.9999327489968391 Centerline is valid? [True, True] Translation: X:59.36, Y:15.35, Z:-0.39 [[ 9.12353215e-01 -4.09403394e-01 -6.86281286e-04 5.93572802e+01] [ 4.09403261e-01 9.12353473e-01 -3.31337854e-04 1.53514393e+01] [ 7.61781957e-04 2.13313606e-05 9.99999710e-01 -3.85734712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.310888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.38, Y:15.36, Z:-0.39 [[ 9.12035019e-01 -4.10108149e-01 -1.85196448e-03 5.93830588e+01] [ 4.10107183e-01 9.12036898e-01 -8.91896442e-04 1.53620999e+01] [ 2.05483394e-03 5.39368516e-05 9.99997887e-01 -3.86826781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.340888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.41, Y:15.37, Z:-0.39 [[ 9.11135023e-01 -4.12093895e-01 -3.40454765e-03 5.94110528e+01] [ 4.12090646e-01 9.11141379e-01 -1.63903496e-03 1.53712394e+01] [ 3.77746054e-03 9.03999170e-05 9.99992861e-01 -3.87891727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370888479 meters Centerline goodness [0,1] 0.999932383699964 Centerline is valid? [True, True] Translation: X:59.43, Y:15.39, Z:-0.39 [[ 9.10681372e-01 -4.13097987e-01 -3.08091693e-03 5.94345803e+01] [ 4.13095334e-01 9.10686580e-01 -1.48273640e-03 1.53862563e+01] [ 3.41826512e-03 7.75880073e-05 9.99994155e-01 -3.90001062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.400888479 meters Centerline goodness [0,1] 0.9999547828446113 Centerline is valid? [True, True] Translation: X:59.46, Y:15.39, Z:-0.39 [[ 9.10126439e-01 -4.14318231e-01 -3.20437176e-03 5.94634001e+01] [ 4.14315362e-01 9.10132077e-01 -1.54392773e-03 1.53936151e+01] [ 3.55607893e-03 7.75490023e-05 9.99993674e-01 -3.88124429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.49, Y:15.40, Z:-0.38 [[ 9.08871886e-01 -4.17064550e-01 -3.00911874e-03 5.94927848e+01] [ 4.17062031e-01 9.08876866e-01 -1.45089627e-03 1.53996158e+01] [ 3.34003581e-03 6.36896497e-05 9.99994420e-01 -3.84704270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.460888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.52, Y:15.41, Z:-0.38 [[ 9.08203872e-01 -4.18517984e-01 -2.90236528e-03 5.95182451e+01] [ 4.18515650e-01 9.08208508e-01 -1.39883253e-03 1.54113116e+01] [ 3.22138941e-03 5.57398318e-05 9.99994810e-01 -3.84928027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.55, Y:15.42, Z:-0.38 [[ 9.07416395e-01 -4.20225305e-01 -2.48583792e-03 5.95457719e+01] [ 4.20223594e-01 9.07419799e-01 -1.19983478e-03 1.54210250e+01] [ 2.75989948e-03 4.41420051e-05 9.99996190e-01 -3.83390873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.57, Y:15.43, Z:-0.38 [[ 9.06731904e-01 -4.21702281e-01 -2.10743592e-03 5.95724457e+01] [ 4.21701053e-01 9.06734352e-01 -1.01804326e-03 1.54316109e+01] [ 2.34019571e-03 3.43843583e-05 9.99997261e-01 -3.82827245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.550888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.60, Y:15.44, Z:-0.38 [[ 9.05532717e-01 -4.24273485e-01 -1.58396550e-03 5.95995174e+01] [ 4.24272796e-01 9.05534102e-01 -7.64754204e-04 1.54402935e+01] [ 1.75879970e-03 2.04764820e-05 9.99998453e-01 -3.81189116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.580888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.62, Y:15.45, Z:-0.38 [[ 9.05187481e-01 -4.25009278e-01 -1.65451477e-03 5.96249286e+01] [ 4.25008528e-01 9.05188993e-01 -7.98957049e-04 1.54510981e+01] [ 1.83721272e-03 2.00230333e-05 9.99998312e-01 -3.80986266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.610888479 meters Centerline goodness [0,1] 0.9999546680568463 Centerline is valid? [True, True] Translation: X:59.65, Y:15.46, Z:-0.38 [[ 9.04780744e-01 -4.25875297e-01 -1.42687436e-03 5.96504041e+01] [ 4.25874738e-01 9.04781869e-01 -6.90680767e-04 1.54623756e+01] [ 1.58515393e-03 1.72449135e-05 9.99998743e-01 -3.80812759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.68, Y:15.47, Z:-0.38 [[ 9.04417935e-01 -4.26644744e-01 -1.56860719e-03 5.96760851e+01] [ 4.26644068e-01 9.04419296e-01 -7.59645508e-04 1.54738564e+01] [ 1.74277738e-03 1.78000676e-05 9.99998481e-01 -3.80904775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.670888479 meters Centerline goodness [0,1] 0.9998178672252072 Centerline is valid? [True, True] Translation: X:59.70, Y:15.48, Z:-0.38 [[ 9.04013921e-01 -4.27498580e-01 -1.94797290e-03 5.97021286e+01] [ 4.27497539e-01 9.04016020e-01 -9.43651168e-04 1.54834460e+01] [ 2.16440824e-03 2.03201738e-05 9.99997657e-01 -3.80731516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.73, Y:15.49, Z:-0.38 [[ 9.03904346e-01 -4.27728425e-01 -2.30812146e-03 5.97266591e+01] [ 4.27726967e-01 9.03907293e-01 -1.11721277e-03 1.54944516e+01] [ 2.56419148e-03 2.26076863e-05 9.99996712e-01 -3.80807958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.75, Y:15.51, Z:-0.38 [[ 9.03697769e-01 -4.28164236e-01 -2.39360365e-03 5.97522416e+01] [ 4.28162665e-01 9.03700939e-01 -1.16029250e-03 1.55061561e+01] [ 2.65989762e-03 2.37020289e-05 9.99996462e-01 -3.81480049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.760888479 meters Centerline goodness [0,1] 0.9999772308112662 Centerline is valid? [True, True] Translation: X:59.78, Y:15.52, Z:-0.38 [[ 9.03612715e-01 -4.28341001e-01 -2.83676892e-03 5.97784211e+01] [ 4.28338793e-01 9.03617168e-01 -1.37574992e-03 1.55174338e+01] [ 3.15264320e-03 2.80469434e-05 9.99995030e-01 -3.81584914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.80, Y:15.53, Z:-0.38 [[ 9.03561022e-01 -4.28448768e-01 -3.02201001e-03 5.98040112e+01] [ 4.28446260e-01 9.03566075e-01 -1.46633497e-03 1.55294846e+01] [ 3.35883514e-03 3.01542384e-05 9.99994359e-01 -3.81752606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.83, Y:15.54, Z:-0.38 [[ 9.03566191e-01 -4.28435028e-01 -3.40065021e-03 5.98291196e+01] [ 4.28431855e-01 9.03572590e-01 -1.64919050e-03 1.55418154e+01] [ 3.77930530e-03 3.32058989e-05 9.99992858e-01 -3.82051767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850888479 meters Centerline goodness [0,1] 0.9999316426276574 Centerline is valid? [True, True] Translation: X:59.85, Y:15.55, Z:-0.38 [[ 9.03719678e-01 -4.28111052e-01 -3.41633259e-03 5.98532494e+01] [ 4.28107842e-01 9.03726134e-01 -1.65814400e-03 1.55542611e+01] [ 3.79729882e-03 3.59385877e-05 9.99992790e-01 -3.82337583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.88, Y:15.57, Z:-0.38 [[ 9.04028697e-01 -4.27453087e-01 -3.99673449e-03 5.98790935e+01] [ 4.27448682e-01 9.04037530e-01 -1.94116060e-03 1.55674353e+01] [ 4.44295307e-03 4.64659957e-05 9.99990129e-01 -3.81578824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.910888479 meters Centerline goodness [0,1] 0.9999772742767539 Centerline is valid? [True, True] Translation: X:59.90, Y:15.58, Z:-0.38 [[ 9.04151258e-01 -4.27194452e-01 -3.92459301e-03 5.99047570e+01] [ 4.27190195e-01 9.04159775e-01 -1.90768169e-03 1.55800245e+01] [ 4.36341017e-03 4.82851473e-05 9.99990479e-01 -3.81110496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.93, Y:15.59, Z:-0.38 [[ 9.04230377e-01 -4.27028175e-01 -3.78982171e-03 5.99297200e+01] [ 4.27024198e-01 9.04238318e-01 -1.84350603e-03 1.55921732e+01] [ 4.21413102e-03 4.86085748e-05 9.99991119e-01 -3.80349485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.96, Y:15.60, Z:-0.38 [[ 9.04087033e-01 -4.27334355e-01 -3.46197989e-03 5.99554513e+01] [ 4.27331033e-01 9.04093661e-01 -1.68533410e-03 1.56043715e+01] [ 3.85015524e-03 4.42772624e-05 9.99992587e-01 -3.79779997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:15.62, Z:-0.38 [[ 9.03791058e-01 -4.27963624e-01 -2.97675476e-03 5.99812278e+01] [ 4.27961168e-01 9.03795959e-01 -1.45039303e-03 1.56163902e+01] [ 3.31109438e-03 3.69168104e-05 9.99994518e-01 -3.79408954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.030888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.01, Y:15.63, Z:-0.38 [[ 9.03419775e-01 -4.28747842e-01 -2.82814393e-03 6.00063173e+01] [ 4.28745631e-01 9.03424201e-01 -1.37721074e-03 1.56293836e+01] [ 3.14548981e-03 3.16450600e-05 9.99995052e-01 -3.80258735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.060888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.03, Y:15.64, Z:-0.38 [[ 9.03105069e-01 -4.29413716e-01 -2.25704742e-03 6.00322093e+01] [ 4.29412305e-01 9.03107889e-01 -1.10113146e-03 1.56411664e+01] [ 2.51119828e-03 2.52334652e-05 9.99996847e-01 -3.79608422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:15.65, Z:-0.38 [[ 9.03080355e-01 -4.29464785e-01 -2.42298595e-03 6.00562700e+01] [ 4.29463159e-01 9.03083605e-01 -1.18198669e-03 1.56534584e+01] [ 2.69578054e-03 2.68457579e-05 9.99996366e-01 -3.79147182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.120888479 meters Centerline goodness [0,1] 0.9999090143984715 Centerline is valid? [True, True] Translation: X:60.08, Y:15.67, Z:-0.38 [[ 9.03336996e-01 -4.28921952e-01 -2.86898298e-03 6.00821690e+01] [ 4.28919667e-01 9.03341551e-01 -1.40035259e-03 1.56666283e+01] [ 3.19231350e-03 3.44270748e-05 9.99994904e-01 -3.79336626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150888479 meters Centerline goodness [0,1] 0.9998635091790077 Centerline is valid? [True, True] Translation: X:60.11, Y:15.68, Z:-0.38 [[ 9.03494369e-01 -4.28584390e-01 -3.65307493e-03 6.01078910e+01] [ 4.28580680e-01 9.03501753e-01 -1.78390309e-03 1.56793128e+01] [ 4.06511262e-03 4.61090605e-05 9.99991736e-01 -3.79694043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.180888479 meters Centerline goodness [0,1] 0.9998407425945306 Centerline is valid? [True, True] Translation: X:60.13, Y:15.69, Z:-0.38 [[ 9.03681056e-01 -4.28188308e-01 -3.91439754e-03 6.01321821e+01] [ 4.28184047e-01 9.03689532e-01 -1.91086772e-03 1.56939634e+01] [ 4.35561129e-03 5.07323747e-05 9.99990513e-01 -3.81907407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210888479 meters Centerline goodness [0,1] 0.9999545330544694 Centerline is valid? [True, True] Translation: X:60.16, Y:15.71, Z:-0.38 [[ 9.03837077e-01 -4.27855266e-01 -4.29070599e-03 6.01585221e+01] [ 4.27850132e-01 9.03847259e-01 -2.09672974e-03 1.57056599e+01] [ 4.77523971e-03 5.93229501e-05 9.99988597e-01 -3.80454604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.240888479 meters Centerline goodness [0,1] 0.9997952125238919 Centerline is valid? [True, True] Translation: X:60.18, Y:15.72, Z:-0.38 [[ 9.04069699e-01 -4.27355746e-01 -5.00456675e-03 6.01834991e+01] [ 4.27348747e-01 9.04083548e-01 -2.44678497e-03 1.57207292e+01] [ 5.57019408e-03 7.33688224e-05 9.99984484e-01 -3.83405094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27088847899999 meters Centerline goodness [0,1] 0.9999092188280151 Centerline is valid? [True, True] Translation: X:60.21, Y:15.73, Z:-0.38 [[ 9.04071558e-01 -4.27341846e-01 -5.79348743e-03 6.02091539e+01] [ 4.27332458e-01 9.04090117e-01 -2.83396016e-03 1.57342357e+01] [ 6.44890450e-03 8.63575549e-05 9.99979202e-01 -3.84554192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.300888479 meters Centerline goodness [0,1] 0.9998177925568259 Centerline is valid? [True, True] Translation: X:60.23, Y:15.75, Z:-0.39 [[ 9.04102106e-01 -4.27264316e-01 -6.67729017e-03 6.02340800e+01] [ 4.27251846e-01 9.04126758e-01 -3.26582673e-03 1.57476351e+01] [ 7.43248793e-03 9.97562707e-05 9.99972374e-01 -3.86638884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.330888479 meters Centerline goodness [0,1] 0.9998858291090104 Centerline is valid? [True, True] Translation: X:60.26, Y:15.76, Z:-0.39 [[ 9.03875450e-01 -4.27736097e-01 -7.14156843e-03 6.02604402e+01] [ 4.27721820e-01 9.03903657e-01 -3.49635985e-03 1.57587055e+01] [ 7.95080913e-03 1.05669187e-04 9.99968386e-01 -3.85395290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.360888479 meters Centerline goodness [0,1] 0.9999772334031509 Centerline is valid? [True, True] Translation: X:60.29, Y:15.77, Z:-0.38 [[ 9.03638244e-01 -4.28251363e-01 -6.22051229e-03 6.02859736e+01] [ 4.28240545e-01 9.03659650e-01 -3.04515886e-03 1.57708940e+01] [ 6.92531939e-03 8.78464288e-05 9.99976016e-01 -3.84253737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.390888479 meters Centerline goodness [0,1] 0.9999772334031509 Centerline is valid? [True, True] Translation: X:60.31, Y:15.78, Z:-0.38 [[ 9.03525423e-01 -4.28489358e-01 -6.21927728e-03 6.03107245e+01] [ 4.28478529e-01 9.03546823e-01 -3.04768112e-03 1.57831131e+01] [ 6.92530716e-03 8.88305940e-05 9.99976016e-01 -3.84404307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.420888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.34, Y:15.79, Z:-0.38 [[ 9.03367097e-01 -4.28839391e-01 -4.96643410e-03 6.03369906e+01] [ 4.28832489e-01 9.03380746e-01 -2.43407324e-03 1.57949458e+01] [ 5.53040743e-03 6.90933766e-05 9.99984705e-01 -3.83120225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.450888479 meters Centerline goodness [0,1] 0.9999542951164332 Centerline is valid? [True, True] Translation: X:60.36, Y:15.81, Z:-0.38 [[ 9.03110329e-01 -4.29384465e-01 -4.55129363e-03 6.03622062e+01] [ 4.29378663e-01 9.03121795e-01 -2.23318119e-03 1.58063891e+01] [ 5.06926579e-03 6.25806289e-05 9.99987149e-01 -3.82203812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.480888479 meters Centerline goodness [0,1] 0.9998181942140308 Centerline is valid? [True, True] Translation: X:60.39, Y:15.82, Z:-0.38 [[ 9.02610602e-01 -4.30449582e-01 -2.69422001e-03 6.03881170e+01] [ 4.30447550e-01 9.02614622e-01 -1.32324034e-03 1.58181369e+01] [ 3.00143063e-03 3.46503556e-05 9.99995495e-01 -3.81574178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510888479 meters Centerline goodness [0,1] 0.9998633848675972 Centerline is valid? [True, True] Translation: X:60.41, Y:15.83, Z:-0.38 [[ 9.02263471e-01 -4.31173890e-01 -3.11551898e-03 6.04129428e+01] [ 4.31171178e-01 9.02268849e-01 -1.52964342e-03 1.58297772e+01] [ 3.47057803e-03 3.68193943e-05 9.99993977e-01 -3.81628048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.540888479 meters Centerline goodness [0,1] 0.9998177261335156 Centerline is valid? [True, True] Translation: X:60.44, Y:15.84, Z:-0.38 [[ 9.02038534e-01 -4.31646615e-01 -2.77169763e-03 6.04379649e+01] [ 4.31644465e-01 9.02042792e-01 -1.36278374e-03 1.58419494e+01] [ 3.08843086e-03 3.28955047e-05 9.99995230e-01 -3.82345035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.46, Y:15.85, Z:-0.38 [[ 9.02059212e-01 -4.31600513e-01 -3.18982553e-03 6.04634336e+01] [ 4.31597668e-01 9.02064851e-01 -1.56730723e-03 1.58542818e+01] [ 3.55388009e-03 3.70826608e-05 9.99993684e-01 -3.83423581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.600888479 meters Centerline goodness [0,1] 0.9999543399844756 Centerline is valid? [True, True] Translation: X:60.49, Y:15.87, Z:-0.38 [[ 9.02430219e-01 -4.30819147e-01 -3.81599868e-03 6.04891518e+01] [ 4.30815061e-01 9.02438286e-01 -1.87696035e-03 1.58667252e+01] [ 4.25233377e-03 4.98360354e-05 9.99990958e-01 -3.84487795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630888479 meters Centerline goodness [0,1] 0.999863104337311 Centerline is valid? [True, True] Translation: X:60.52, Y:15.88, Z:-0.38 [[ 9.02738169e-01 -4.30168294e-01 -4.36307076e-03 6.05152166e+01] [ 4.30162940e-01 9.02748711e-01 -2.14713669e-03 1.58801063e+01] [ 4.86238663e-03 6.14709021e-05 9.99988177e-01 -3.84789906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.660888479 meters Centerline goodness [0,1] 0.9997722095671981 Centerline is valid? [True, True] Translation: X:60.54, Y:15.89, Z:-0.39 [[ 9.03118652e-01 -4.29369613e-01 -4.29355784e-03 6.05408071e+01] [ 4.29364413e-01 9.03128856e-01 -2.11422646e-03 1.58933038e+01] [ 4.78542057e-03 6.58964076e-05 9.99988548e-01 -3.85495989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.690888479 meters Centerline goodness [0,1] 0.9998166357239451 Centerline is valid? [True, True] Translation: X:60.57, Y:15.91, Z:-0.39 [[ 9.03774142e-01 -4.27984713e-01 -4.62445009e-03 6.05659820e+01] [ 4.27978665e-01 9.03785970e-01 -2.27661145e-03 1.59063462e+01] [ 5.15386801e-03 7.83765854e-05 9.99986716e-01 -3.85810394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.720888479 meters Centerline goodness [0,1] 0.9998859046619355 Centerline is valid? [True, True] Translation: X:60.59, Y:15.92, Z:-0.39 [[ 9.04119478e-01 -4.27250507e-01 -4.99747208e-03 6.05911512e+01] [ 4.27243430e-01 9.04133285e-01 -2.46073770e-03 1.59194117e+01] [ 5.56973228e-03 8.96637704e-05 9.99984485e-01 -3.86692786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.750888479 meters Centerline goodness [0,1] 0.9998623379603074 Centerline is valid? [True, True] Translation: X:60.62, Y:15.93, Z:-0.39 [[ 9.04174708e-01 -4.27137137e-01 -4.68663891e-03 6.06152889e+01] [ 4.27130906e-01 9.04186850e-01 -2.30862172e-03 1.59320883e+01] [ 5.22369534e-03 8.55890425e-05 9.99986353e-01 -3.87688675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.780888479 meters Centerline goodness [0,1] 0.9998165516292509 Centerline is valid? [True, True] Translation: X:60.64, Y:15.95, Z:-0.39 [[ 9.04792241e-01 -4.25838688e-01 -3.52316189e-03 6.06399995e+01] [ 4.25835156e-01 9.04799098e-01 -1.73582481e-03 1.59451730e+01] [ 3.92693506e-03 7.02746226e-05 9.99992287e-01 -3.87346671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.810888479 meters Centerline goodness [0,1] 0.9997935495710419 Centerline is valid? [True, True] Translation: X:60.67, Y:15.96, Z:-0.39 [[ 9.05134564e-01 -4.25116528e-01 -2.71274588e-03 6.06663872e+01] [ 4.25114425e-01 9.05138627e-01 -1.33842201e-03 1.59568820e+01] [ 3.02439640e-03 5.82246164e-05 9.99995425e-01 -3.85890637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.840888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.69, Y:15.97, Z:-0.39 [[ 9.05516433e-01 -4.24304933e-01 -2.30503820e-03 6.06920944e+01] [ 4.24303410e-01 9.05519365e-01 -1.13816846e-03 1.59695683e+01] [ 2.57018722e-03 5.25946712e-05 9.99996696e-01 -3.85082386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870888479 meters Centerline goodness [0,1] 0.9999084228118775 Centerline is valid? [True, True] Translation: X:60.72, Y:15.98, Z:-0.39 [[ 9.05865540e-01 -4.23562786e-01 -1.47963496e-03 6.07165811e+01] [ 4.23562158e-01 9.05866748e-01 -7.30344781e-04 1.59839835e+01] [ 1.64969898e-03 3.48767936e-05 9.99998639e-01 -3.85070030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.900888479 meters Centerline goodness [0,1] 0.9998395672900623 Centerline is valid? [True, True] Translation: X:60.74, Y:16.00, Z:-0.39 [[ 9.05599097e-01 -4.24132556e-01 -1.36029213e-03 6.07412505e+01] [ 4.24132024e-01 9.05600118e-01 -6.73022123e-04 1.59965208e+01] [ 1.51733131e-03 3.25447720e-05 9.99998848e-01 -3.86358584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930888479 meters Centerline goodness [0,1] 0.9997482549490788 Centerline is valid? [True, True] Translation: X:60.77, Y:16.01, Z:-0.39 [[ 9.05317789e-01 -4.24733132e-01 -1.21176248e-03 6.07669145e+01] [ 4.24732709e-01 9.05318599e-01 -6.00151272e-04 1.60081971e+01] [ 1.35193524e-03 2.86524635e-05 9.99999086e-01 -3.86981396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.960888479 meters Centerline goodness [0,1] 0.9999541263360705 Centerline is valid? [True, True] Translation: X:60.79, Y:16.02, Z:-0.39 [[ 9.04937352e-01 -4.25541682e-01 -1.63237292e-03 6.07925650e+01] [ 4.25540916e-01 9.04938824e-01 -8.08445713e-04 1.60202090e+01] [ 1.82122498e-03 3.69512556e-05 9.99998341e-01 -3.87507671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990888479 meters Centerline goodness [0,1] 0.9999079253274405 Centerline is valid? [True, True] Translation: X:60.82, Y:16.03, Z:-0.39 [[ 9.04190038e-01 -4.27125359e-01 -2.07434673e-03 6.08190515e+01] [ 4.27124126e-01 9.04192416e-01 -1.02728574e-03 1.60312339e+01] [ 2.31438837e-03 4.28580020e-05 9.99997321e-01 -3.88161461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.85, Y:16.04, Z:-0.39 [[ 9.03808032e-01 -4.27933769e-01 -1.93163580e-03 6.08459331e+01] [ 4.27932700e-01 9.03810095e-01 -9.57285194e-04 1.60431117e+01] [ 2.15548660e-03 3.85919230e-05 9.99997676e-01 -3.88247867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.050888479 meters Centerline goodness [0,1] 0.9999081431130299 Centerline is valid? [True, True] Translation: X:60.87, Y:16.05, Z:-0.39 [[ 9.03450969e-01 -4.28688030e-01 -1.70850425e-03 6.08723863e+01] [ 4.28687194e-01 9.03452584e-01 -8.47408956e-04 1.60545304e+01] [ 1.90682666e-03 3.31785485e-05 9.99998181e-01 -3.87338269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.90, Y:16.07, Z:-0.39 [[ 9.03043449e-01 -4.29547487e-01 -1.21853138e-03 6.08987170e+01] [ 4.29547062e-01 9.03044271e-01 -6.05184467e-04 1.60665570e+01] [ 1.36034325e-03 2.30912943e-05 9.99999074e-01 -3.87230567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.110888479 meters Centerline goodness [0,1] 0.9999770904925545 Centerline is valid? [True, True] Translation: X:60.92, Y:16.08, Z:-0.39 [[ 9.02669020e-01 -4.30334196e-01 -1.05823768e-03 6.09235245e+01] [ 4.30333876e-01 9.02669640e-01 -5.24924233e-04 1.60791240e+01] [ 1.18113188e-03 1.84373183e-05 9.99999302e-01 -3.87832831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.140888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.95, Y:16.09, Z:-0.39 [[ 9.02303856e-01 -4.31100090e-01 -6.81246540e-04 6.09495551e+01] [ 4.31099957e-01 9.02304113e-01 -3.39270487e-04 1.60917902e+01] [ 7.60951092e-04 1.24397142e-05 9.99999710e-01 -3.88621079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.170888479 meters Centerline goodness [0,1] 0.9999770878680261 Centerline is valid? [True, True] Translation: X:60.97, Y:16.10, Z:-0.39 [[ 9.02163363e-01 -4.31394156e-01 -5.90560030e-04 6.09743265e+01] [ 4.31394055e-01 9.02163556e-01 -2.94743285e-04 1.61044907e+01] [ 6.59932268e-04 1.11425074e-05 9.99999782e-01 -3.88939813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.200888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.00, Y:16.12, Z:-0.39 [[ 9.01918541e-01 -4.31905964e-01 -4.29583331e-04 6.09988407e+01] [ 4.31905911e-01 9.01918643e-01 -2.13734562e-04 1.61171359e+01] [ 4.79762447e-04 7.23158412e-06 9.99999885e-01 -3.89348753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230888479 meters Centerline goodness [0,1] 0.9999543910059063 Centerline is valid? [True, True] Translation: X:61.02, Y:16.13, Z:-0.39 [[ 9.01706694e-01 -4.32348026e-01 -4.70861183e-04 6.10228285e+01] [ 4.32347962e-01 9.01706817e-01 -2.34486426e-04 1.61294601e+01] [ 5.25958482e-04 7.86210722e-06 9.99999862e-01 -3.89745693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.260888479 meters Centerline goodness [0,1] 0.9997952171835537 Centerline is valid? [True, True] Translation: X:61.05, Y:16.14, Z:-0.39 [[ 9.00713252e-01 -4.34413718e-01 -5.99113016e-04 6.10494330e+01] [ 4.34413616e-01 9.00713451e-01 -2.99024002e-04 1.61413751e+01] [ 6.69529281e-04 9.07203022e-06 9.99999776e-01 -3.89821672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290888479 meters Centerline goodness [0,1] 0.9999540873717316 Centerline is valid? [True, True] Translation: X:61.08, Y:16.15, Z:-0.39 [[ 8.99895033e-01 -4.36106148e-01 5.97372573e-04 6.10762162e+01] [ 4.36106048e-01 8.99895232e-01 2.95465552e-04 1.61531472e+01] [-6.66427074e-04 -5.37019039e-06 9.99999778e-01 -3.89270956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.320888479 meters Centerline goodness [0,1] 0.9998858890385011 Centerline is valid? [True, True] Translation: X:61.10, Y:16.16, Z:-0.39 [[ 8.99117115e-01 -4.37706203e-01 1.30098728e-03 6.11015098e+01] [ 4.37705726e-01 8.99118057e-01 6.46264507e-04 1.61649934e+01] [-1.45261514e-03 -1.16178964e-05 9.99998945e-01 -3.89460360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350888479 meters Centerline goodness [0,1] 0.999886021701468 Centerline is valid? [True, True] Translation: X:61.13, Y:16.18, Z:-0.39 [[ 8.97783784e-01 -4.40429130e-01 2.54148286e-03 6.11281909e+01] [ 4.40427320e-01 8.97787381e-01 1.26284234e-03 1.61775039e+01] [-2.83790379e-03 -1.44208858e-05 9.99995973e-01 -3.88467707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.380888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.15, Y:16.19, Z:-0.39 [[ 8.97044015e-01 -4.41930953e-01 3.01137138e-03 6.11535272e+01] [ 4.41928417e-01 8.97049069e-01 1.49727481e-03 1.61903198e+01] [-3.36303998e-03 -1.23108184e-05 9.99994345e-01 -3.88991760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.410888479 meters Centerline goodness [0,1] 0.9999544045230713 Centerline is valid? [True, True] Translation: X:61.18, Y:16.20, Z:-0.39 [[ 8.96617500e-01 -4.42795063e-01 3.09673535e-03 6.11785377e+01] [ 4.42792383e-01 8.96622848e-01 1.54081103e-03 1.62030048e+01] [-3.45886719e-03 -1.03073097e-05 9.99994018e-01 -3.89517100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.440888479 meters Centerline goodness [0,1] 0.9998402883935295 Centerline is valid? [True, True] Translation: X:61.20, Y:16.22, Z:-0.39 [[ 8.96160272e-01 -4.43720688e-01 2.95252471e-03 6.12035576e+01] [ 4.43718253e-01 8.96165136e-01 1.46997247e-03 1.62152146e+01] [-3.29820690e-03 -7.24182428e-06 9.99994561e-01 -3.89835167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.470888479 meters Centerline goodness [0,1] 0.999977241693218 Centerline is valid? [True, True] Translation: X:61.23, Y:16.23, Z:-0.39 [[ 8.95416257e-01 -4.45218518e-01 3.19337101e-03 6.12282239e+01] [ 4.45215675e-01 8.95421951e-01 1.59111059e-03 1.62277588e+01] [-3.56780640e-03 -2.96745890e-06 9.99993635e-01 -3.90578867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.500888479 meters Centerline goodness [0,1] 0.9999083955480237 Centerline is valid? [True, True] Translation: X:61.25, Y:16.24, Z:-0.39 [[ 8.95010235e-01 -4.46027145e-01 4.05776095e-03 6.12525014e+01] [ 4.46022554e-01 8.95019433e-01 2.02362711e-03 1.62416695e+01] [-4.53436753e-03 -1.31407612e-06 9.99989720e-01 -3.91134410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.530888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.28, Y:16.26, Z:-0.39 [[ 8.94915208e-01 -4.46212285e-01 4.62250646e-03 6.12753800e+01] [ 4.46206321e-01 8.94927146e-01 2.30713834e-03 1.62555210e+01] [-5.16627998e-03 -2.10158146e-06 9.99986655e-01 -3.92019153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.560888479 meters Centerline goodness [0,1] 0.9999544533260458 Centerline is valid? [True, True] Translation: X:61.30, Y:16.27, Z:-0.39 [[ 8.94862421e-01 -4.46308693e-01 5.45868772e-03 6.12993392e+01] [ 4.46300371e-01 8.94879070e-01 2.72553481e-03 1.62700769e+01] [-6.10129527e-03 -2.76432236e-06 9.99981387e-01 -3.92038099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.32, Y:16.28, Z:-0.39 [[ 8.94705378e-01 -4.46617564e-01 5.91933384e-03 6.13229620e+01] [ 4.46607772e-01 8.94724958e-01 2.95747057e-03 1.62826899e+01] [-6.61703403e-03 -2.44432510e-06 9.99978107e-01 -3.91444259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.620888479 meters Centerline goodness [0,1] 0.9999544864938671 Centerline is valid? [True, True] Translation: X:61.35, Y:16.30, Z:-0.39 [[ 8.94566807e-01 -4.46886063e-01 6.56313525e-03 6.13477755e+01] [ 4.46874022e-01 8.94590882e-01 3.28049124e-03 1.62957892e+01] [-7.33732677e-03 -1.72392592e-06 9.99973081e-01 -3.91066426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.37, Y:16.31, Z:-0.39 [[ 8.94488466e-01 -4.47032723e-01 7.21997111e-03 6.13714639e+01] [ 4.47018139e-01 8.94517604e-01 3.61095423e-03 1.63088755e+01] [-8.07260596e-03 -2.49885561e-06 9.99967416e-01 -3.90527594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.680888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.40, Y:16.32, Z:-0.39 [[ 8.94395940e-01 -4.47216786e-01 7.28351533e-03 6.13957487e+01] [ 4.47201938e-01 8.94425596e-01 3.64425200e-03 1.63226526e+01] [-8.14433320e-03 -2.20202156e-06 9.99966834e-01 -3.90990246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.42, Y:16.34, Z:-0.39 [[ 8.94614387e-01 -4.46775164e-01 7.55321954e-03 6.14180199e+01] [ 4.46759163e-01 8.94646272e-01 3.78126934e-03 1.63377500e+01] [-8.44683694e-03 -8.30791568e-06 9.99964325e-01 -3.91981520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.740888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.44, Y:16.35, Z:-0.39 [[ 8.94676008e-01 -4.46638783e-01 8.28484397e-03 6.14422132e+01] [ 4.46619508e-01 8.94714366e-01 4.14944162e-03 1.63521758e+01] [-9.26587047e-03 -1.22329241e-05 9.99957071e-01 -3.92557926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:16.37, Z:-0.39 [[ 8.94754082e-01 -4.46466564e-01 9.09613386e-03 6.14666097e+01] [ 4.46443287e-01 8.94800317e-01 4.55902357e-03 1.63662548e+01] [-1.01746750e-02 -1.82970534e-05 9.99948236e-01 -3.93187020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.800888479 meters Centerline goodness [0,1] 0.9999545681704602 Centerline is valid? [True, True] Translation: X:61.49, Y:16.38, Z:-0.39 [[ 8.95339831e-01 -4.45282715e-01 9.48111818e-03 6.14904271e+01] [ 4.45257332e-01 8.95390028e-01 4.75449673e-03 1.63807436e+01] [-1.06063939e-02 -3.53529105e-05 9.99943750e-01 -3.93109973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.51, Y:16.39, Z:-0.39 [[ 8.95576094e-01 -4.44805913e-01 9.54770276e-03 6.15142970e+01] [ 4.44780130e-01 8.95626986e-01 4.78936927e-03 1.63935718e+01] [-1.06815200e-02 -4.26161494e-05 9.99942950e-01 -3.92639515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.54, Y:16.41, Z:-0.39 [[ 8.95935469e-01 -4.44089774e-01 9.16010096e-03 6.15392650e+01] [ 4.44065982e-01 8.95982293e-01 4.59710830e-03 1.64066833e+01] [-1.02488171e-02 -5.10231531e-05 9.99947478e-01 -3.93266195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.890888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.56, Y:16.42, Z:-0.40 [[ 8.97143297e-01 -4.41665792e-01 8.07669768e-03 6.15632251e+01] [ 4.41647175e-01 8.97179649e-01 4.05585466e-03 1.64235196e+01] [-9.03758105e-03 -7.16321075e-05 9.99959158e-01 -3.95633842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.920888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.59, Y:16.44, Z:-0.40 [[ 8.97895178e-01 -4.40148789e-01 7.30025852e-03 6.15865082e+01] [ 4.40133515e-01 8.97924851e-01 3.66760217e-03 1.64381753e+01] [-8.16937419e-03 -8.00338569e-05 9.99966627e-01 -3.96242212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.950888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.61, Y:16.45, Z:-0.40 [[ 8.98439313e-01 -4.39036133e-01 7.35351788e-03 6.16118671e+01] [ 4.39020587e-01 8.98469402e-01 3.69574688e-03 1.64527906e+01] [-8.22947722e-03 -9.20585559e-05 9.99966133e-01 -3.96625943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.64, Y:16.47, Z:-0.40 [[ 8.99127915e-01 -4.37632905e-01 6.81419279e-03 6.16352743e+01] [ 4.37619504e-01 8.99153730e-01 3.42627938e-03 1.64685267e+01] [-7.62645947e-03 -9.86397694e-05 9.99970913e-01 -3.96743000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.66, Y:16.48, Z:-0.40 [[ 9.00062513e-01 -4.35718451e-01 6.07483734e-03 6.16595851e+01] [ 4.35707752e-01 9.00083008e-01 3.05511947e-03 1.64834292e+01] [-6.79902979e-03 -1.02944784e-04 9.99976881e-01 -3.98617375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.68, Y:16.50, Z:-0.40 [[ 9.00128553e-01 -4.35590885e-01 5.40075781e-03 6.16840675e+01] [ 4.35582423e-01 9.00144751e-01 2.71675535e-03 1.64977181e+01] [-6.04485766e-03 -9.29538874e-05 9.99981725e-01 -3.99888097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070888479 meters Centerline goodness [0,1] 0.9999324430832977 Centerline is valid? [True, True] Translation: X:61.71, Y:16.51, Z:-0.40 [[ 9.00028198e-01 -4.35804041e-01 4.90717827e-03 6.17096025e+01] [ 4.35797049e-01 9.00041572e-01 2.46998067e-03 1.65103960e+01] [-5.49309200e-03 -8.45184432e-05 9.99984909e-01 -4.00613697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.100888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.73, Y:16.52, Z:-0.40 [[ 8.99780088e-01 -4.36314415e-01 5.05218201e-03 6.17347785e+01] [ 4.36307002e-01 8.99794268e-01 2.54477767e-03 1.65236586e+01] [-5.65624760e-03 -8.54378906e-05 9.99984000e-01 -4.01239713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130888479 meters Centerline goodness [0,1] 0.9999774815348585 Centerline is valid? [True, True] Translation: X:61.76, Y:16.54, Z:-0.40 [[ 8.98894295e-01 -4.38127435e-01 5.77903706e-03 6.17610664e+01] [ 4.38117759e-01 8.98912867e-01 2.91311367e-03 1.65359441e+01] [-6.47116579e-03 -8.66824923e-05 9.99979058e-01 -4.00639603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.79, Y:16.55, Z:-0.40 [[ 8.98290619e-01 -4.39365960e-01 5.61408088e-03 6.17865067e+01] [ 4.39356843e-01 8.98308158e-01 2.83147847e-03 1.65481510e+01] [-6.28722991e-03 -7.69056981e-05 9.99980232e-01 -3.99798661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.81, Y:16.56, Z:-0.40 [[ 8.97632339e-01 -4.40709280e-01 5.61373676e-03 6.18120045e+01] [ 4.40700186e-01 8.97649891e-01 2.83194250e-03 1.65598358e+01] [-6.28723353e-03 -6.80683390e-05 9.99980233e-01 -3.99162622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.84, Y:16.57, Z:-0.40 [[ 8.96934362e-01 -4.42124539e-01 5.88576985e-03 6.18383520e+01] [ 4.42114566e-01 8.96953671e-01 2.97026352e-03 1.65721713e+01] [-6.59248926e-03 -6.19468383e-05 9.99978267e-01 -3.99032307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.250888479 meters Centerline goodness [0,1] 0.9999323455787835 Centerline is valid? [True, True] Translation: X:61.86, Y:16.59, Z:-0.40 [[ 8.96781408e-01 -4.42435591e-01 5.81852271e-03 6.18631783e+01] [ 4.42425839e-01 8.96800281e-01 2.93807859e-03 1.65852342e+01] [-6.51796334e-03 -6.05494586e-05 9.99978756e-01 -3.99285299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.280888479 meters Centerline goodness [0,1] 0.9999323455787835 Centerline is valid? [True, True] Translation: X:61.89, Y:16.60, Z:-0.40 [[ 8.96659023e-01 -4.42683578e-01 5.81771070e-03 6.18877773e+01] [ 4.42673821e-01 8.96677894e-01 2.93968568e-03 1.65977480e+01] [-6.51796315e-03 -6.05474648e-05 9.99978756e-01 -3.99435423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.310888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.91, Y:16.61, Z:-0.40 [[ 8.96775446e-01 -4.42446368e-01 5.91704079e-03 6.19124059e+01] [ 4.42436258e-01 8.96794964e-01 2.99171063e-03 1.66117664e+01] [-6.63004388e-03 -6.49792445e-05 9.99978019e-01 -3.99381839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.340888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.94, Y:16.63, Z:-0.40 [[ 8.96663835e-01 -4.42661457e-01 6.69338679e-03 6.19372720e+01] [ 4.42648517e-01 8.96688814e-01 3.38544334e-03 1.66253158e+01] [-7.50049034e-03 -7.27868690e-05 9.99971868e-01 -3.99064242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.96, Y:16.64, Z:-0.40 [[ 8.96591410e-01 -4.42817144e-01 6.06802010e-03 6.19622176e+01] [ 4.42806500e-01 8.96611941e-01 3.07103731e-03 1.66388833e+01] [-6.80056724e-03 -6.65069260e-05 9.99976874e-01 -3.99446319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.99, Y:16.65, Z:-0.40 [[ 8.96510029e-01 -4.42989496e-01 5.48407824e-03 6.19857557e+01] [ 4.42980795e-01 8.96526800e-01 2.77710654e-03 1.66512785e+01] [-6.14685214e-03 -6.03625265e-05 9.99981106e-01 -4.00139474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430888479 meters Centerline goodness [0,1] 0.9998421610408352 Centerline is valid? [True, True] Translation: X:62.01, Y:16.66, Z:-0.40 [[ 8.96115269e-01 -4.43791295e-01 5.16823778e-03 6.20110377e+01] [ 4.43783576e-01 8.96130171e-01 2.61794848e-03 1.66630686e+01] [-5.79323655e-03 -5.24045638e-05 9.99983218e-01 -4.00583665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.460888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.04, Y:16.67, Z:-0.40 [[ 8.95047720e-01 -4.45943941e-01 4.85585003e-03 6.20381155e+01] [ 4.45937151e-01 8.95060892e-01 2.46124285e-03 1.66731930e+01] [-5.44385780e-03 -3.75258768e-05 9.99985181e-01 -3.99844699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:16.69, Z:-0.40 [[ 8.94561697e-01 -4.46913436e-01 5.26795492e-03 6.20627630e+01] [ 4.46905451e-01 8.94577207e-01 2.67176673e-03 1.66852872e+01] [-5.90664085e-03 -3.57824113e-05 9.99982555e-01 -3.99653316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.09, Y:16.70, Z:-0.40 [[ 8.93806106e-01 -4.48420986e-01 5.40961104e-03 6.20875822e+01] [ 4.48412590e-01 8.93822476e-01 2.74433387e-03 1.66977517e+01] [-6.06584883e-03 -2.71646805e-05 9.99981602e-01 -3.99622126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.550888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.11, Y:16.71, Z:-0.40 [[ 8.93030324e-01 -4.49953141e-01 6.24596314e-03 6.21121022e+01] [ 4.49941967e-01 8.93052166e-01 3.17103928e-03 1.67112055e+01] [-7.00478999e-03 -2.15132989e-05 9.99975466e-01 -4.00470947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.580888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.14, Y:16.72, Z:-0.40 [[ 8.92741137e-01 -4.50532495e-01 5.80801091e-03 6.21362319e+01] [ 4.50522834e-01 8.92760030e-01 2.95041334e-03 1.67235346e+01] [-6.51441707e-03 -1.73138218e-05 9.99978781e-01 -4.00498433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.610888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.16, Y:16.74, Z:-0.40 [[ 8.92331164e-01 -4.51346282e-01 5.62377223e-03 6.21603595e+01] [ 4.51337236e-01 8.92348885e-01 2.85764287e-03 1.67354475e+01] [-6.30815336e-03 -1.17459763e-05 9.99980103e-01 -4.00790548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.19, Y:16.75, Z:-0.40 [[ 8.91941733e-01 -4.52110578e-01 5.99750616e-03 6.21858033e+01] [ 4.52100299e-01 8.91961897e-01 3.04866995e-03 1.67474618e+01] [-6.72788290e-03 -7.76162742e-06 9.99977368e-01 -4.00545120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.670888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.21, Y:16.76, Z:-0.40 [[ 8.91065311e-01 -4.53842546e-01 5.43633291e-03 6.22118273e+01] [ 4.53834123e-01 8.91081895e-01 2.76509657e-03 1.67592737e+01] [-6.09913630e-03 3.31174601e-06 9.99981400e-01 -3.99604891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.24, Y:16.77, Z:-0.40 [[ 8.90863683e-01 -4.54232498e-01 5.89368607e-03 6.22356804e+01] [ 4.54222593e-01 8.90883179e-01 2.99970561e-03 1.67718561e+01] [-6.61314955e-03 4.71657595e-06 9.99978133e-01 -3.99724173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.26, Y:16.79, Z:-0.40 [[ 8.90639993e-01 -4.54673777e-01 5.67090188e-03 6.22600942e+01] [ 4.54664609e-01 8.90658047e-01 2.88729707e-03 1.67859473e+01] [-6.36361266e-03 6.81614912e-06 9.99979752e-01 -4.00576691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.28, Y:16.80, Z:-0.40 [[ 8.91194334e-01 -4.53590813e-01 5.29459585e-03 6.22820668e+01] [ 4.53582793e-01 8.91210062e-01 2.69737842e-03 1.68016332e+01] [-5.94210316e-03 -2.35079807e-06 9.99982346e-01 -4.02068625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.31, Y:16.82, Z:-0.40 [[ 8.91506411e-01 -4.52974259e-01 5.53536772e-03 6.23070022e+01] [ 4.52965472e-01 8.91523595e-01 2.82147452e-03 1.68156733e+01] [-6.21296626e-03 -8.03216561e-06 9.99980699e-01 -4.02265629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.33, Y:16.83, Z:-0.40 [[ 8.91743022e-01 -4.52511304e-01 5.28223094e-03 6.23303899e+01] [ 4.52503283e-01 8.91758667e-01 2.69417315e-03 1.68291028e+01] [-5.92961903e-03 -1.22832598e-05 9.99982420e-01 -4.01417529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.35, Y:16.84, Z:-0.40 [[ 8.92373472e-01 -4.51256040e-01 6.12963021e-03 6.23546229e+01] [ 4.51245198e-01 8.92394524e-01 3.12817348e-03 1.68443266e+01] [-6.88165561e-03 -2.55328317e-05 9.99976321e-01 -4.00450606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88088847899999 meters Centerline goodness [0,1] 0.9999776790696636 Centerline is valid? [True, True] Translation: X:62.38, Y:16.86, Z:-0.40 [[ 8.92766876e-01 -4.50478936e-01 6.00281132e-03 6.23780288e+01] [ 4.50468508e-01 8.92787056e-01 3.06525790e-03 1.68590563e+01] [-6.74006637e-03 -3.24832584e-05 9.99977285e-01 -4.00477886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.40, Y:16.87, Z:-0.40 [[ 8.93151020e-01 -4.49717091e-01 5.98274801e-03 6.24020905e+01] [ 4.49706709e-01 8.93171057e-01 3.05591955e-03 1.68734131e+01] [-6.71791661e-03 -3.89157413e-05 9.99977434e-01 -4.01123753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.43, Y:16.89, Z:-0.40 [[ 8.93643899e-01 -4.48742340e-01 5.55824142e-03 6.24266202e+01] [ 4.48733350e-01 8.93661183e-01 2.84072487e-03 1.68877986e+01] [-6.24193813e-03 -4.44281526e-05 9.99980518e-01 -4.00989265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.970888479 meters Centerline goodness [0,1] 0.9999777490988385 Centerline is valid? [True, True] Translation: X:62.45, Y:16.90, Z:-0.40 [[ 8.94091194e-01 -4.47852423e-01 5.39848552e-03 6.24498220e+01] [ 4.47843921e-01 8.94107491e-01 2.75993007e-03 1.69035113e+01] [-6.06286771e-03 -4.99502490e-05 9.99981619e-01 -4.01565401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.000888479 meters Centerline goodness [0,1] 0.999955564442667 Centerline is valid? [True, True] Translation: X:62.47, Y:16.92, Z:-0.40 [[ 8.93942989e-01 -4.48151295e-01 5.13323741e-03 6.24736462e+01] [ 4.48143609e-01 8.93957725e-01 2.62510920e-03 1.69169381e+01] [-5.76534333e-03 -4.62704236e-05 9.99983379e-01 -4.02002594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.030888479 meters Centerline goodness [0,1] 0.9999333733093477 Centerline is valid? [True, True] Translation: X:62.50, Y:16.93, Z:-0.40 [[ 8.93430217e-01 -4.49175152e-01 4.91228279e-03 6.24989462e+01] [ 4.49168125e-01 8.93443720e-01 2.51282010e-03 1.69296086e+01] [-5.51754456e-03 -3.85885593e-05 9.99984777e-01 -4.02103500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.060888479 meters Centerline goodness [0,1] 0.9999334235813675 Centerline is valid? [True, True] Translation: X:62.52, Y:16.94, Z:-0.40 [[ 8.92087658e-01 -4.51837052e-01 4.78423628e-03 6.25234453e+01] [ 4.51830416e-01 8.92100486e-01 2.44900144e-03 1.69433210e+01] [-5.37456910e-03 -2.30604909e-05 9.99985557e-01 -4.02889096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.090888479 meters Centerline goodness [0,1] 0.9998673446827328 Centerline is valid? [True, True] Translation: X:62.55, Y:16.96, Z:-0.40 [[ 8.90978032e-01 -4.54023440e-01 4.56751919e-03 6.25486845e+01] [ 4.54017418e-01 8.90989739e-01 2.33847920e-03 1.69565370e+01] [-5.13133710e-03 -9.80032665e-06 9.99986835e-01 -4.03687137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.120888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.57, Y:16.97, Z:-0.40 [[ 8.89787302e-01 -4.56353469e-01 4.47981866e-03 6.25735469e+01] [ 4.56347698e-01 8.89798579e-01 2.29505960e-03 1.69692451e+01] [-5.03349469e-03 2.24004129e-06 9.99987332e-01 -4.04233313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150888479 meters Centerline goodness [0,1] 0.999977918607989 Centerline is valid? [True, True] Translation: X:62.60, Y:16.98, Z:-0.41 [[ 8.87562844e-01 -4.60668710e-01 4.06653557e-03 6.25997230e+01] [ 4.60663993e-01 8.87572160e-01 2.08477004e-03 1.69798457e+01] [-4.56973208e-03 2.29420875e-05 9.99989558e-01 -4.05318697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.180888479 meters Centerline goodness [0,1] 0.9999779444199383 Centerline is valid? [True, True] Translation: X:62.63, Y:16.99, Z:-0.41 [[ 8.86243490e-01 -4.63204080e-01 3.80218683e-03 6.26260242e+01] [ 4.63199979e-01 8.86251646e-01 1.94941365e-03 1.69925995e+01] [-4.27267069e-03 3.35177010e-05 9.99990872e-01 -4.05152008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210888479 meters Centerline goodness [0,1] 0.9999335710015279 Centerline is valid? [True, True] Translation: X:62.65, Y:17.01, Z:-0.41 [[ 8.85120018e-01 -4.65349207e-01 3.55940638e-03 6.26519252e+01] [ 4.65345627e-01 8.85127174e-01 1.82591994e-03 1.70055160e+01] [-4.00021771e-03 4.01959081e-05 9.99991998e-01 -4.05158477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.240888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.68, Y:17.02, Z:-0.41 [[ 8.84039644e-01 -4.67395242e-01 3.94923655e-03 6.26773504e+01] [ 4.67390848e-01 8.84048463e-01 2.02725459e-03 1.70193155e+01] [-4.43884565e-03 5.36635957e-05 9.99990147e-01 -4.05275021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.70, Y:17.03, Z:-0.41 [[ 8.82801188e-01 -4.69730496e-01 3.91456017e-03 6.27015512e+01] [ 4.69726197e-01 8.82809865e-01 2.01062755e-03 1.70345937e+01] [-4.40026540e-03 6.37870722e-05 9.99990317e-01 -4.06090510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.300888479 meters Centerline goodness [0,1] 0.999934151320266 Centerline is valid? [True, True] Translation: X:62.73, Y:17.05, Z:-0.41 [[ 8.82433396e-01 -4.70421544e-01 3.85653337e-03 6.27255943e+01] [ 4.70417372e-01 8.82441821e-01 1.98211664e-03 1.70477005e+01] [-4.33559670e-03 6.50943790e-05 9.99990599e-01 -4.06645792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.330888479 meters Centerline goodness [0,1] 0.9999343616672136 Centerline is valid? [True, True] Translation: X:62.75, Y:17.06, Z:-0.41 [[ 8.82156878e-01 -4.70942785e-01 3.48357208e-03 6.27494011e+01] [ 4.70939383e-01 8.82163754e-01 1.79105170e-03 1.70612847e+01] [-3.91656391e-03 6.05627085e-05 9.99992328e-01 -4.07098299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.360888479 meters Centerline goodness [0,1] 0.9999123633415857 Centerline is valid? [True, True] Translation: X:62.77, Y:17.08, Z:-0.41 [[ 8.82517529e-01 -4.70271157e-01 2.80173546e-03 6.27724239e+01] [ 4.70268953e-01 8.82521975e-01 1.44069026e-03 1.70764056e+01] [-3.15010818e-03 4.61347922e-05 9.99995037e-01 -4.07708291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.390888479 meters Centerline goodness [0,1] 0.9997372972262966 Centerline is valid? [True, True] Translation: X:62.80, Y:17.09, Z:-0.41 [[ 8.82834103e-01 -4.69677203e-01 2.69650941e-03 6.27970024e+01] [ 4.69675159e-01 8.82838220e-01 1.38644030e-03 1.70910733e+01] [-3.03176097e-03 4.24867113e-05 9.99995403e-01 -4.08141029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.420888479 meters Centerline goodness [0,1] 0.9996308440641897 Centerline is valid? [True, True] Translation: X:62.82, Y:17.11, Z:-0.41 [[ 8.83374313e-01 -4.68661286e-01 2.53411940e-03 6.28214880e+01] [ 4.68659475e-01 8.83377947e-01 1.30359777e-03 1.71062774e+01] [-2.84953100e-03 3.60742836e-05 9.99995939e-01 -4.08108429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.450888479 meters Centerline goodness [0,1] 0.9997381456346696 Centerline is valid? [True, True] Translation: X:62.85, Y:17.12, Z:-0.41 [[ 8.83742109e-01 -4.67967318e-01 2.54456679e-03 6.28456521e+01] [ 4.67965486e-01 8.83745771e-01 1.30972800e-03 1.71220061e+01] [-2.86166004e-03 3.33076474e-05 9.99995905e-01 -4.08046035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.480888479 meters Centerline goodness [0,1] 0.9995642606592736 Centerline is valid? [True, True] Translation: X:62.87, Y:17.14, Z:-0.41 [[ 8.84588266e-01 -4.66365496e-01 2.61216286e-03 6.28698836e+01] [ 4.66363557e-01 8.84592122e-01 1.34535295e-03 1.71377447e+01] [-2.93812488e-03 2.81341242e-05 9.99995683e-01 -4.08560904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510888479 meters Centerline goodness [0,1] 0.9991992035321617 Centerline is valid? [True, True] Translation: X:62.89, Y:17.16, Z:-0.41 [[ 8.86502139e-01 -4.62718398e-01 2.37507654e-03 6.28919391e+01] [ 4.62716780e-01 8.86505321e-01 1.22381288e-03 1.71574257e+01] [-2.67179873e-03 1.40750339e-05 9.99996431e-01 -4.09207787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.540888479 meters Centerline goodness [0,1] 0.998765913224214 Centerline is valid? [True, True] Translation: X:62.92, Y:17.17, Z:-0.41 [[ 8.87830214e-01 -4.60167724e-01 1.78205560e-03 6.29153951e+01] [ 4.60166807e-01 8.87832003e-01 9.19043390e-04 1.71730800e+01] [-2.00508010e-03 4.08834635e-06 9.99997990e-01 -4.09955589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570888479 meters Centerline goodness [0,1] 0.9990022774102592 Centerline is valid? [True, True] Translation: X:62.94, Y:17.19, Z:-0.41 [[ 8.88889880e-01 -4.58117911e-01 1.66187968e-03 6.29389172e+01] [ 4.58117110e-01 8.88891433e-01 8.56434728e-04 1.71886188e+01] [-1.86957870e-03 5.93532024e-08 9.99998252e-01 -4.09642468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.600888479 meters Centerline goodness [0,1] 0.9992463069038288 Centerline is valid? [True, True] Translation: X:62.96, Y:17.21, Z:-0.41 [[ 8.91288650e-01 -4.53431607e-01 2.07831905e-03 6.29603878e+01] [ 4.53430339e-01 8.91291073e-01 1.07274007e-03 1.72074882e+01] [-2.33880147e-03 -1.37481396e-05 9.99997265e-01 -4.09370882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63088847899999 meters Centerline goodness [0,1] 0.9989655395357858 Centerline is valid? [True, True] Translation: X:62.98, Y:17.22, Z:-0.41 [[ 8.92346718e-01 -4.51344484e-01 2.34339072e-03 6.29849643e+01] [ 4.51342863e-01 8.92349795e-01 1.20970708e-03 1.72238137e+01] [-2.63711884e-03 -2.18054644e-05 9.99996523e-01 -4.09371517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.660888479 meters Centerline goodness [0,1] 0.9987247103579457 Centerline is valid? [True, True] Translation: X:63.01, Y:17.24, Z:-0.41 [[ 8.93050941e-01 -4.49949488e-01 2.33977138e-03 6.30098075e+01] [ 4.49947866e-01 8.93054006e-01 1.20850333e-03 1.72394894e+01] [-2.63330766e-03 -2.64798961e-05 9.99996532e-01 -4.09504854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.690888479 meters Centerline goodness [0,1] 0.9988391340800138 Centerline is valid? [True, True] Translation: X:63.03, Y:17.26, Z:-0.41 [[ 8.94587829e-01 -4.46885336e-01 2.47238855e-03 6.30320511e+01] [ 4.46883509e-01 8.94591245e-01 1.27834057e-03 1.72579651e+01] [-2.78304881e-03 -3.87182442e-05 9.99996127e-01 -4.10668434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.720888479 meters Centerline goodness [0,1] 0.9982573524665993 Centerline is valid? [True, True] Translation: X:63.06, Y:17.27, Z:-0.41 [[ 8.95036286e-01 -4.45987129e-01 2.35115302e-03 6.30554695e+01] [ 4.45985474e-01 8.95039373e-01 1.21589323e-03 1.72728411e+01] [-2.64664725e-03 -3.96884670e-05 9.99996497e-01 -4.11443620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.750888479 meters Centerline goodness [0,1] 0.9985211856233525 Centerline is valid? [True, True] Translation: X:63.08, Y:17.29, Z:-0.41 [[ 8.95194503e-01 -4.45667180e-01 2.75088078e-03 6.30803662e+01] [ 4.45664912e-01 8.95198728e-01 1.42258093e-03 1.72867453e+01] [-3.09658260e-03 -4.75155886e-05 9.99995204e-01 -4.10856121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.780888479 meters Centerline goodness [0,1] 0.9985213757634201 Centerline is valid? [True, True] Translation: X:63.10, Y:17.30, Z:-0.41 [[ 8.95202641e-01 -4.45648138e-01 3.15738453e-03 6.31048779e+01] [ 4.45645146e-01 8.95208207e-01 1.63392609e-03 1.73004068e+01] [-3.55467266e-03 -5.56218663e-05 9.99993681e-01 -4.10424892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.810888479 meters Centerline goodness [0,1] 0.9981799494668323 Centerline is valid? [True, True] Translation: X:63.13, Y:17.32, Z:-0.41 [[ 8.95432821e-01 -4.45181642e-01 3.65638557e-03 6.31274473e+01] [ 4.45177619e-01 8.95440283e-01 1.89393623e-03 1.73163317e+01] [-4.11722057e-03 -6.81516406e-05 9.99991522e-01 -4.10141084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.840888479 meters Centerline goodness [0,1] 0.9985897737227837 Centerline is valid? [True, True] Translation: X:63.15, Y:17.33, Z:-0.41 [[ 8.95309264e-01 -4.45425581e-01 4.16820628e-03 6.31517876e+01] [ 4.45420352e-01 8.95318963e-01 2.15979524e-03 1.73303639e+01] [-4.69390217e-03 -7.70807736e-05 9.99988981e-01 -4.10002283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870888479 meters Centerline goodness [0,1] 0.9984661923224405 Centerline is valid? [True, True] Translation: X:63.17, Y:17.34, Z:-0.41 [[ 8.95299201e-01 -4.45439207e-01 4.82218845e-03 6.31746255e+01] [ 4.45432197e-01 8.95312183e-01 2.50060912e-03 1.73447364e+01] [-5.43123341e-03 -9.08353560e-05 9.99985247e-01 -4.10113249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.900888479 meters Centerline goodness [0,1] 0.9986336464560205 Centerline is valid? [True, True] Translation: X:63.20, Y:17.36, Z:-0.41 [[ 8.94690754e-01 -4.46652903e-01 5.44407891e-03 6.32013325e+01] [ 4.46643985e-01 8.94707312e-01 2.82410887e-03 1.73569907e+01] [-6.13225364e-03 -9.51389903e-05 9.99981193e-01 -4.09766274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930888479 meters Centerline goodness [0,1] 0.9984927610070904 Centerline is valid? [True, True] Translation: X:63.23, Y:17.37, Z:-0.41 [[ 8.94443643e-01 -4.47156417e-01 4.65930622e-03 6.32255927e+01] [ 4.47149885e-01 8.94455775e-01 2.41828053e-03 1.73702322e+01] [-5.24889301e-03 -7.96074028e-05 9.99986221e-01 -4.10538949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.960888479 meters Centerline goodness [0,1] 0.9982517855239313 Centerline is valid? [True, True] Translation: X:63.25, Y:17.38, Z:-0.41 [[ 8.94106441e-01 -4.47836658e-01 3.99995369e-03 6.32509970e+01] [ 4.47831850e-01 8.94115386e-01 2.07623171e-03 1.73830915e+01] [-4.50623281e-03 -6.50654866e-05 9.99989845e-01 -4.11135393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990888479 meters Centerline goodness [0,1] 0.9986574892918789 Centerline is valid? [True, True] Translation: X:63.28, Y:17.40, Z:-0.41 [[ 8.93587474e-01 -4.48880092e-01 2.84410080e-03 6.32761359e+01] [ 4.48877665e-01 8.93591999e-01 1.47674436e-03 1.73960734e+01] [-3.20434687e-03 -4.29469345e-05 9.99994865e-01 -4.12911032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02088847899999 meters Centerline goodness [0,1] 0.998827367119374 Centerline is valid? [True, True] Translation: X:63.30, Y:17.41, Z:-0.41 [[ 8.93377270e-01 -4.49300724e-01 2.43179067e-03 6.33009635e+01] [ 4.49298949e-01 8.93380579e-01 1.26326070e-03 1.74098917e+01] [-2.74009850e-03 -3.59674035e-05 9.99996245e-01 -4.13936014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.050888479 meters Centerline goodness [0,1] 0.9985734057276695 Centerline is valid? [True, True] Translation: X:63.33, Y:17.42, Z:-0.41 [[ 8.93326224e-01 -4.49403660e-01 2.14648061e-03 6.33259349e+01] [ 4.49402276e-01 8.93328802e-01 1.11560631e-03 1.74237594e+01] [-2.41887051e-03 -3.19671001e-05 9.99997074e-01 -4.14887118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.080888479 meters Centerline goodness [0,1] 0.9986919695507666 Centerline is valid? [True, True] Translation: X:63.35, Y:17.44, Z:-0.41 [[ 8.93252800e-01 -4.49546821e-01 2.66278912e-03 6.33508731e+01] [ 4.49544688e-01 8.93256768e-01 1.38529371e-03 1.74364182e+01] [-3.00130879e-03 -4.03747846e-05 9.99995495e-01 -4.14295543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.110888479 meters Centerline goodness [0,1] 0.9987979479253869 Centerline is valid? [True, True] Translation: X:63.38, Y:17.45, Z:-0.41 [[ 8.93266461e-01 -4.49518311e-01 2.88399544e-03 6.33765361e+01] [ 4.49515806e-01 8.93271115e-01 1.50151800e-03 1.74483475e+01] [-3.25114966e-03 -4.48541307e-05 9.99994714e-01 -4.13027929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.140888479 meters Centerline goodness [0,1] 0.9984832300790429 Centerline is valid? [True, True] Translation: X:63.40, Y:17.46, Z:-0.41 [[ 8.93258603e-01 -4.49533002e-01 3.02465989e-03 6.34000095e+01] [ 4.49530241e-01 8.93263722e-01 1.57628567e-03 1.74608013e+01] [-3.41041138e-03 -4.83546444e-05 9.99994183e-01 -4.12458952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.170888479 meters Centerline goodness [0,1] 0.998058625250672 Centerline is valid? [True, True] Translation: X:63.43, Y:17.47, Z:-0.41 [[ 8.93471644e-01 -4.49106377e-01 3.44728270e-03 6.34250099e+01] [ 4.49102785e-01 8.93478292e-01 1.79696558e-03 1.74743496e+01] [-3.88710096e-03 -5.73535288e-05 9.99992444e-01 -4.12303097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.200888479 meters Centerline goodness [0,1] 0.998058625250672 Centerline is valid? [True, True] Translation: X:63.45, Y:17.49, Z:-0.41 [[ 8.93349222e-01 -4.49349849e-01 3.44687974e-03 6.34494235e+01] [ 4.49346256e-01 8.93355870e-01 1.79773811e-03 1.74871784e+01] [-3.88710360e-03 -5.71654305e-05 9.99992444e-01 -4.12453293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230888479 meters Centerline goodness [0,1] 0.9977173333333333 Centerline is valid? [True, True] Translation: X:63.47, Y:17.50, Z:-0.41 [[ 8.94199169e-01 -4.47654153e-01 3.68860351e-03 6.34733818e+01] [ 4.47650018e-01 8.94206774e-01 1.92541949e-03 1.75027023e+01] [-4.16029627e-03 -7.05050859e-05 9.99991343e-01 -4.13324466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.260888479 meters Centerline goodness [0,1] 0.9977554990273829 Centerline is valid? [True, True] Translation: X:63.50, Y:17.52, Z:-0.41 [[ 8.94841900e-01 -4.46368547e-01 3.61860212e-03 6.34972854e+01] [ 4.46364554e-01 8.94849213e-01 1.88952065e-03 1.75173402e+01] [-4.08152585e-03 -7.56065262e-05 9.99991668e-01 -4.14236475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290888479 meters Centerline goodness [0,1] 0.9980152802082889 Centerline is valid? [True, True] Translation: X:63.52, Y:17.53, Z:-0.41 [[ 8.95336796e-01 -4.45377391e-01 3.31668536e-03 6.35226896e+01] [ 4.45374030e-01 8.95342936e-01 1.73188767e-03 1.75316685e+01] [-3.74091442e-03 -7.34572329e-05 9.99993000e-01 -4.14617692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.320888479 meters Centerline goodness [0,1] 0.9979278817397249 Centerline is valid? [True, True] Translation: X:63.55, Y:17.54, Z:-0.41 [[ 8.96839530e-01 -4.42348067e-01 2.65407862e-03 6.35482836e+01] [ 4.42345900e-01 8.96843455e-01 1.38640070e-03 1.75445430e+01] [-2.99356471e-03 -6.93581608e-05 9.99995517e-01 -4.13377352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350888479 meters Centerline goodness [0,1] 0.9979903794762159 Centerline is valid? [True, True] Translation: X:63.57, Y:17.56, Z:-0.41 [[ 8.97463462e-01 -4.41080394e-01 2.72408024e-03 6.35722520e+01] [ 4.41078101e-01 8.97467593e-01 1.42424417e-03 1.75587111e+01] [-3.07297992e-03 -7.66749672e-05 9.99995275e-01 -4.12756420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38088847899999 meters Centerline goodness [0,1] 0.9981215446026427 Centerline is valid? [True, True] Translation: X:63.60, Y:17.57, Z:-0.41 [[ 8.97919796e-01 -4.40149318e-01 2.93559765e-03 6.35977396e+01] [ 4.40146650e-01 8.97924591e-01 1.53481081e-03 1.75720648e+01] [-3.31149125e-03 -8.60435368e-05 9.99994513e-01 -4.12990997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.410888479 meters Centerline goodness [0,1] 0.9982261166916008 Centerline is valid? [True, True] Translation: X:63.62, Y:17.59, Z:-0.41 [[ 8.98653904e-01 -4.38649256e-01 2.82696488e-03 6.36202575e+01] [ 4.38646771e-01 8.98658346e-01 1.47905592e-03 1.75880683e+01] [-3.18926236e-03 -8.91203600e-05 9.99994910e-01 -4.14789281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.440888479 meters Centerline goodness [0,1] 0.9982236490101659 Centerline is valid? [True, True] Translation: X:63.65, Y:17.60, Z:-0.42 [[ 8.98860412e-01 -4.38230202e-01 2.06155202e-03 6.36454408e+01] [ 4.38228880e-01 8.98862774e-01 1.07842892e-03 1.76021806e+01] [-2.32565249e-03 -6.59254305e-05 9.99997293e-01 -4.15938108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.470888479 meters Centerline goodness [0,1] 0.9976657029660563 Centerline is valid? [True, True] Translation: X:63.67, Y:17.61, Z:-0.42 [[ 8.99152635e-01 -4.37632416e-01 1.55187869e-03 6.36699069e+01] [ 4.37631665e-01 8.99153972e-01 8.12556611e-04 1.76148856e+01] [-1.75097900e-03 -5.14611636e-05 9.99998466e-01 -4.16754386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.500888479 meters Centerline goodness [0,1] 0.9980286277534928 Centerline is valid? [True, True] Translation: X:63.70, Y:17.63, Z:-0.42 [[ 8.99327646e-01 -4.37275091e-01 5.29164910e-04 6.36958111e+01] [ 4.37275004e-01 8.99327801e-01 2.75965546e-04 1.76272907e+01] [-5.96565575e-04 -1.67928563e-05 9.99999822e-01 -4.16785315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.530888479 meters Centerline goodness [0,1] 0.9980945448317204 Centerline is valid? [True, True] Translation: X:63.72, Y:17.64, Z:-0.42 [[ 8.99450502e-01 -4.37022497e-01 -3.63691106e-04 6.37206530e+01] [ 4.37022455e-01 8.99450575e-01 -1.91473341e-04 1.76391289e+01] [ 4.10800332e-04 1.32796128e-05 9.99999916e-01 -4.16751005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.560888479 meters Centerline goodness [0,1] 0.9981975022531222 Centerline is valid? [True, True] Translation: X:63.75, Y:17.65, Z:-0.42 [[ 8.99406982e-01 -4.37112163e-01 -1.94816361e-04 6.37451139e+01] [ 4.37112151e-01 8.99407003e-01 -1.03839230e-04 1.76532885e+01] [ 2.20608590e-04 8.23712951e-06 9.99999976e-01 -4.17441175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.590888479 meters Centerline goodness [0,1] 0.9982017853702395 Centerline is valid? [True, True] Translation: X:63.77, Y:17.67, Z:-0.42 [[ 8.99212407e-01 -4.37512251e-01 -2.78462512e-04 6.37696182e+01] [ 4.37512227e-01 8.99212450e-01 -1.47821166e-04 1.76668077e+01] [ 3.15070529e-04 1.10918726e-05 9.99999950e-01 -4.17932783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.620888479 meters Centerline goodness [0,1] 0.9982836301222914 Centerline is valid? [True, True] Translation: X:63.80, Y:17.68, Z:-0.42 [[ 8.98603881e-01 -4.38760332e-01 6.61136122e-04 6.37952412e+01] [ 4.38760196e-01 8.98604124e-01 3.45919163e-04 1.76790477e+01] [-7.45875252e-04 -2.07640883e-05 9.99999722e-01 -4.17189966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650888479 meters Centerline goodness [0,1] 0.9982596364573934 Centerline is valid? [True, True] Translation: X:63.82, Y:17.69, Z:-0.42 [[ 8.98097080e-01 -4.39796006e-01 1.05284118e-03 6.38218929e+01] [ 4.39795661e-01 8.98097696e-01 5.52008495e-04 1.76907464e+01] [-1.18832537e-03 -3.27222332e-05 9.99999293e-01 -4.15900266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.680888479 meters Centerline goodness [0,1] 0.998581865062312 Centerline is valid? [True, True] Translation: X:63.85, Y:17.70, Z:-0.42 [[ 8.97400321e-01 -4.41215321e-01 1.30510101e-03 6.38496515e+01] [ 4.41214791e-01 8.97401270e-01 6.84931959e-04 1.77002217e+01] [-1.47340178e-03 -3.88282895e-05 9.99998914e-01 -4.15010057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710888479 meters Centerline goodness [0,1] 0.9983069009858552 Centerline is valid? [True, True] Translation: X:63.88, Y:17.71, Z:-0.42 [[ 8.96548806e-01 -4.42942541e-01 1.46394434e-03 6.38764080e+01] [ 4.42941875e-01 8.96550001e-01 7.68901058e-04 1.77116705e+01] [-1.65307829e-03 -4.09150749e-05 9.99998633e-01 -4.15175754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.740888479 meters Centerline goodness [0,1] 0.9986233302501667 Centerline is valid? [True, True] Translation: X:63.90, Y:17.72, Z:-0.42 [[ 8.94933300e-01 -4.46199823e-01 3.25624564e-04 6.39038060e+01] [ 4.46199791e-01 8.94933359e-01 1.69934490e-04 1.77209912e+01] [-3.67237024e-04 -6.78642186e-06 9.99999933e-01 -4.16414479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77088847899999 meters Centerline goodness [0,1] 0.9987967598461571 Centerline is valid? [True, True] Translation: X:63.93, Y:17.73, Z:-0.42 [[ 8.93975781e-01 -4.48115068e-01 -4.33835504e-04 6.39284277e+01] [ 4.48115010e-01 8.93975886e-01 -2.29029609e-04 1.77338523e+01] [ 4.90470099e-04 1.03387223e-05 9.99999880e-01 -4.17925818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.800888479 meters Centerline goodness [0,1] 0.9985835086062583 Centerline is valid? [True, True] Translation: X:63.95, Y:17.75, Z:-0.42 [[ 8.92956265e-01 -4.50141467e-01 -1.32974898e-03 6.39539666e+01] [ 4.50140922e-01 8.92957255e-01 -7.01322318e-04 1.77458907e+01] [ 1.50310326e-03 2.76757246e-05 9.99998870e-01 -4.19256008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.830888479 meters Centerline goodness [0,1] 0.9985998621402723 Centerline is valid? [True, True] Translation: X:63.98, Y:17.75, Z:-0.42 [[ 8.91065345e-01 -4.53867101e-01 -2.68412262e-03 6.39823333e+01] [ 4.53864894e-01 8.91069387e-01 -1.41621673e-03 1.77549080e+01] [ 3.03451368e-03 4.37126188e-05 9.99995395e-01 -4.19786182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.860888479 meters Centerline goodness [0,1] 0.9988843595794894 Centerline is valid? [True, True] Translation: X:64.01, Y:17.77, Z:-0.42 [[ 8.90174252e-01 -4.55612438e-01 -2.66609800e-03 6.40091176e+01] [ 4.55610265e-01 8.90178243e-01 -1.40768149e-03 1.77666462e+01] [ 3.01465963e-03 3.83802004e-05 9.99995455e-01 -4.19283620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.890888479 meters Centerline goodness [0,1] 0.9989003169674623 Centerline is valid? [True, True] Translation: X:64.03, Y:17.78, Z:-0.42 [[ 8.89322275e-01 -4.57273009e-01 -2.69924799e-03 6.40343490e+01] [ 4.57270792e-01 8.89326371e-01 -1.42448432e-03 1.77783076e+01] [ 3.05189066e-03 3.25383720e-05 9.99995342e-01 -4.19415782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.920888479 meters Centerline goodness [0,1] 0.9988989399598437 Centerline is valid? [True, True] Translation: X:64.06, Y:17.79, Z:-0.42 [[ 8.88498782e-01 -4.58871327e-01 -2.64941207e-03 6.40600916e+01] [ 4.58869193e-01 8.88502732e-01 -1.39994558e-03 1.77903480e+01] [ 2.99640475e-03 2.81163658e-05 9.99995510e-01 -4.19859958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.950888479 meters Centerline goodness [0,1] 0.9989418217941519 Centerline is valid? [True, True] Translation: X:64.09, Y:17.80, Z:-0.42 [[ 8.86606507e-01 -4.62510994e-01 -3.53289805e-03 6.40879267e+01] [ 4.62507225e-01 8.86613546e-01 -1.86724501e-03 1.78005257e+01] [ 3.99593661e-03 2.15207071e-05 9.99992016e-01 -4.19748670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.980888479 meters Centerline goodness [0,1] 0.9991368334735979 Centerline is valid? [True, True] Translation: X:64.11, Y:17.81, Z:-0.42 [[ 8.85922340e-01 -4.63820506e-01 -3.48495495e-03 6.41134321e+01] [ 4.63816851e-01 8.85929194e-01 -1.84144036e-03 1.78125017e+01] [ 3.94152114e-03 1.49923243e-05 9.99992232e-01 -4.20608699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010888479 meters Centerline goodness [0,1] 0.9991804516142947 Centerline is valid? [True, True] Translation: X:64.14, Y:17.82, Z:-0.42 [[ 8.85095062e-01 -4.65398455e-01 -3.31789035e-03 6.41390733e+01] [ 4.65395144e-01 8.85101281e-01 -1.75551743e-03 1.78243336e+01] [ 3.75368410e-03 9.66975081e-06 9.99992955e-01 -4.20253527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.040888479 meters Centerline goodness [0,1] 0.9992011744893994 Centerline is valid? [True, True] Translation: X:64.16, Y:17.84, Z:-0.42 [[ 8.84382786e-01 -4.66753250e-01 -2.91389373e-03 6.41644943e+01] [ 4.66750699e-01 8.84387587e-01 -1.54300678e-03 1.78364451e+01] [ 3.29721487e-03 4.54670136e-06 9.99994564e-01 -4.20080011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070888479 meters Centerline goodness [0,1] 0.9994602763385146 Centerline is valid? [True, True] Translation: X:64.19, Y:17.85, Z:-0.42 [[ 8.83670705e-01 -4.68100886e-01 -2.76522193e-03 6.41896508e+01] [ 4.68098592e-01 8.83675031e-01 -1.46534595e-03 1.78484110e+01] [ 3.12948731e-03 4.86797728e-07 9.99995103e-01 -4.19748027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.100888479 meters Centerline goodness [0,1] 0.9994813838407849 Centerline is valid? [True, True] Translation: X:64.21, Y:17.86, Z:-0.42 [[ 8.83487318e-01 -4.68447286e-01 -2.70187784e-03 6.42141434e+01] [ 4.68445094e-01 8.83491449e-01 -1.43276455e-03 1.78612484e+01] [ 3.05826063e-03 1.47889410e-07 9.99995324e-01 -4.19976709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13088847899999 meters Centerline goodness [0,1] 0.9995020351606478 Centerline is valid? [True, True] Translation: X:64.24, Y:17.87, Z:-0.42 [[ 8.83730931e-01 -4.67985870e-01 -2.97790654e-03 6.42384795e+01] [ 4.67983208e-01 8.83735948e-01 -1.57845472e-03 1.78741202e+01] [ 3.37037756e-03 1.31900314e-06 9.99994320e-01 -4.20307058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.160888479 meters Centerline goodness [0,1] 0.9993954181331376 Centerline is valid? [True, True] Translation: X:64.26, Y:17.89, Z:-0.42 [[ 8.83996386e-01 -4.67486565e-01 -2.58843023e-03 6.42629473e+01] [ 4.67484546e-01 8.84000176e-01 -1.37395870e-03 1.78873020e+01] [ 2.93048002e-03 4.52339519e-06 9.99995706e-01 -4.19637424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.190888479 meters Centerline goodness [0,1] 0.9992249063428498 Centerline is valid? [True, True] Translation: X:64.29, Y:17.90, Z:-0.42 [[ 8.85143695e-01 -4.65314185e-01 -1.82991891e-03 6.42869989e+01] [ 4.65313169e-01 8.85145587e-01 -9.72469313e-04 1.79022592e+01] [ 2.07224841e-03 9.28971335e-06 9.99997853e-01 -4.19289363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.220888479 meters Centerline goodness [0,1] 0.9993085416711683 Centerline is valid? [True, True] Translation: X:64.31, Y:17.92, Z:-0.42 [[ 8.85767551e-01 -4.64126535e-01 -1.55108300e-03 6.43112387e+01] [ 4.64125802e-01 8.85768909e-01 -8.25171880e-04 1.79170883e+01] [ 1.75688527e-03 1.10128322e-05 9.99998457e-01 -4.18935666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.250888479 meters Centerline goodness [0,1] 0.9993951046684958 Centerline is valid? [True, True] Translation: X:64.33, Y:17.93, Z:-0.42 [[ 8.86372419e-01 -4.62971697e-01 -1.06922823e-03 6.43337288e+01] [ 4.62971347e-01 8.86373064e-01 -5.69073613e-04 1.79316068e+01] [ 1.21120008e-03 9.38912103e-06 9.99999266e-01 -4.19260755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.280888479 meters Centerline goodness [0,1] 0.9995440531503756 Centerline is valid? [True, True] Translation: X:64.36, Y:17.95, Z:-0.42 [[ 8.88224540e-01 -4.59408687e-01 -9.08200815e-04 6.43580505e+01] [ 4.59408433e-01 8.88225004e-01 -4.84160051e-04 1.79477602e+01] [ 1.02911401e-03 1.28077255e-05 9.99999470e-01 -4.19415083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.310888479 meters Centerline goodness [0,1] 0.9990925393773091 Centerline is valid? [True, True] Translation: X:64.38, Y:17.96, Z:-0.42 [[ 8.88911837e-01 -4.58076733e-01 -1.20510330e-03 6.43827668e+01] [ 4.58076283e-01 8.88912654e-01 -6.42336982e-04 1.79619038e+01] [ 1.36547120e-03 1.89517045e-05 9.99999068e-01 -4.19360830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.340888479 meters Centerline goodness [0,1] 0.9995000434744805 Centerline is valid? [True, True] Translation: X:64.41, Y:17.98, Z:-0.42 [[ 8.90282610e-01 -4.55405748e-01 -1.57453994e-03 6.44052959e+01] [ 4.55404978e-01 8.90284002e-01 -8.37971971e-04 1.79782080e+01] [ 1.78340497e-03 2.89785479e-05 9.99998409e-01 -4.20735620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370888479 meters Centerline goodness [0,1] 0.9993512671914194 Centerline is valid? [True, True] Translation: X:64.43, Y:17.99, Z:-0.42 [[ 8.90893191e-01 -4.54209915e-01 -1.63581394e-03 6.44309860e+01] [ 4.54209079e-01 8.90894692e-01 -8.72070710e-04 1.79922414e+01] [ 1.85344112e-03 3.39203132e-05 9.99998282e-01 -4.20809045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.400888479 meters Centerline goodness [0,1] 0.9992444358094251 Centerline is valid? [True, True] Translation: X:64.45, Y:18.01, Z:-0.42 [[ 8.91596101e-01 -4.52829714e-01 -1.28141220e-03 6.44541639e+01] [ 4.52829201e-01 8.91597022e-01 -6.82622194e-04 1.80082801e+01] [ 1.45161492e-03 2.83624234e-05 9.99998946e-01 -4.21844551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430888479 meters Centerline goodness [0,1] 0.9993733523488483 Centerline is valid? [True, True] Translation: X:64.48, Y:18.02, Z:-0.42 [[ 8.92186180e-01 -4.51666201e-01 -1.20932700e-03 6.44788921e+01] [ 4.51665741e-01 8.92186999e-01 -6.45570424e-04 1.80227492e+01] [ 1.37052817e-03 2.97574352e-05 9.99999060e-01 -4.21940274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.460888479 meters Centerline goodness [0,1] 0.9992204417496752 Centerline is valid? [True, True] Translation: X:64.50, Y:18.04, Z:-0.42 [[ 8.93067685e-01 -4.49920940e-01 -1.12158160e-03 6.45019376e+01] [ 4.49920543e-01 8.93068389e-01 -5.97999880e-04 1.80380591e+01] [ 1.27070174e-03 2.94317632e-05 9.99999192e-01 -4.22408808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490888479 meters Centerline goodness [0,1] 0.9989865010566266 Centerline is valid? [True, True] Translation: X:64.53, Y:18.05, Z:-0.42 [[ 8.94544010e-01 -4.46977277e-01 -1.52580754e-03 6.45270167e+01] [ 4.46976540e-01 8.94545310e-01 -8.13214023e-04 1.80534024e+01] [ 1.72839217e-03 4.54555581e-05 9.99998505e-01 -4.22327990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52088847899999 meters Centerline goodness [0,1] 0.999244060475162 Centerline is valid? [True, True] Translation: X:64.55, Y:18.07, Z:-0.42 [[ 8.95166025e-01 -4.45728027e-01 -2.07686878e-03 6.45537214e+01] [ 4.45726654e-01 8.95168432e-01 -1.10867162e-03 1.80655439e+01] [ 2.35331338e-03 6.67293963e-05 9.99997229e-01 -4.21965581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.550888479 meters Centerline goodness [0,1] 0.9990313831848121 Centerline is valid? [True, True] Translation: X:64.58, Y:18.08, Z:-0.42 [[ 8.95491280e-01 -4.45072037e-01 -2.49982410e-03 6.45763962e+01] [ 4.45070047e-01 8.95494765e-01 -1.33343881e-03 1.80819639e+01] [ 2.83205572e-03 8.14860017e-05 9.99995986e-01 -4.23522657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.580888479 meters Centerline goodness [0,1] 0.9991591384403096 Centerline is valid? [True, True] Translation: X:64.60, Y:18.09, Z:-0.42 [[ 8.96279916e-01 -4.43481574e-01 -2.53116702e-03 6.46026875e+01] [ 4.43479522e-01 8.96283485e-01 -1.35192403e-03 1.80936601e+01] [ 2.86819660e-03 8.91816202e-05 9.99995883e-01 -4.23798209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.610888479 meters Centerline goodness [0,1] 0.9992018809724109 Centerline is valid? [True, True] Translation: X:64.63, Y:18.11, Z:-0.43 [[ 8.96315540e-01 -4.43409514e-01 -2.54075810e-03 6.46260019e+01] [ 4.43407447e-01 8.96319137e-01 -1.35676708e-03 1.81094110e+01] [ 2.87893354e-03 8.95003528e-05 9.99995852e-01 -4.25144928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.640888479 meters Centerline goodness [0,1] 0.9989823535780015 Centerline is valid? [True, True] Translation: X:64.65, Y:18.12, Z:-0.42 [[ 8.96592841e-01 -4.42848107e-01 -2.61378309e-03 6.46523757e+01] [ 4.42845917e-01 8.96596646e-01 -1.39575960e-03 1.81202753e+01] [ 2.96161864e-03 9.39248942e-05 9.99995610e-01 -4.24498839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.670888479 meters Centerline goodness [0,1] 0.9991163602663851 Centerline is valid? [True, True] Translation: X:64.68, Y:18.13, Z:-0.42 [[ 8.96619478e-01 -4.42794978e-01 -2.47384620e-03 6.46786193e+01] [ 4.42793011e-01 8.96622886e-01 -1.32281443e-03 1.81333215e+01] [ 2.80384270e-03 9.06593713e-05 9.99996065e-01 -4.24448234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.700888479 meters Centerline goodness [0,1] 0.998808801871264 Centerline is valid? [True, True] Translation: X:64.71, Y:18.14, Z:-0.42 [[ 8.96564893e-01 -4.42906633e-01 -2.25965327e-03 6.47054536e+01] [ 4.42904990e-01 8.96567737e-01 -1.20947661e-03 1.81433973e+01] [ 2.56161744e-03 8.35625631e-05 9.99996716e-01 -4.23380073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730888479 meters Centerline goodness [0,1] 0.9986390443066687 Centerline is valid? [True, True] Translation: X:64.73, Y:18.16, Z:-0.42 [[ 8.96583023e-01 -4.42867787e-01 -2.64706410e-03 6.47286069e+01] [ 4.42865535e-01 8.96586925e-01 -1.41562297e-03 1.81588743e+01] [ 3.00025688e-03 9.69300601e-05 9.99995495e-01 -4.24711439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.760888479 meters Centerline goodness [0,1] 0.9988550690198958 Centerline is valid? [True, True] Translation: X:64.75, Y:18.17, Z:-0.43 [[ 8.96642809e-01 -4.42742637e-01 -3.26047512e-03 6.47545038e+01] [ 4.42739213e-01 8.96648729e-01 -1.74541407e-03 1.81717309e+01] [ 3.69627010e-03 1.21472788e-04 9.99993161e-01 -4.25478221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790888479 meters Centerline goodness [0,1] 0.9987658865048606 Centerline is valid? [True, True] Translation: X:64.78, Y:18.18, Z:-0.42 [[ 8.96315216e-01 -4.43406705e-01 -3.08670938e-03 6.47826107e+01] [ 4.43403637e-01 8.96320524e-01 -1.65350138e-03 1.81807359e+01] [ 3.49985457e-03 1.13400285e-04 9.99993869e-01 -4.24959875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.820888479 meters Centerline goodness [0,1] 0.9986365997229917 Centerline is valid? [True, True] Translation: X:64.81, Y:18.19, Z:-0.42 [[ 8.96096088e-01 -4.43852863e-01 -2.53727470e-03 6.48089201e+01] [ 4.43850789e-01 8.96099675e-01 -1.36026356e-03 1.81919853e+01] [ 2.87740791e-03 9.27554769e-05 9.99995856e-01 -4.23935476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850888479 meters Centerline goodness [0,1] 0.9989818024263432 Centerline is valid? [True, True] Translation: X:64.83, Y:18.21, Z:-0.42 [[ 8.95846271e-01 -4.44359763e-01 -1.96465281e-03 6.48338659e+01] [ 4.44358521e-01 8.95848423e-01 -1.05285493e-03 1.82053021e+01] [ 2.22787749e-03 7.01859441e-05 9.99997516e-01 -4.23161212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88088847899999 meters Centerline goodness [0,1] 0.9991723116464464 Centerline is valid? [True, True] Translation: X:64.86, Y:18.21, Z:-0.42 [[ 8.95452005e-01 -4.45156547e-01 -1.16421549e-03 6.48622307e+01] [ 4.45156110e-01 8.95452761e-01 -6.25462169e-04 1.82137530e+01] [ 1.32092855e-03 4.18137146e-05 9.99999127e-01 -4.21612592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.910888479 meters Centerline goodness [0,1] 0.998890363569113 Centerline is valid? [True, True] Translation: X:64.89, Y:18.23, Z:-0.42 [[ 8.95382840e-01 -4.45296381e-01 -8.38450527e-04 6.48850642e+01] [ 4.45296154e-01 8.95383232e-01 -4.50240030e-04 1.82283475e+01] [ 9.51224799e-04 2.97784019e-05 9.99999547e-01 -4.22345479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.940888479 meters Centerline goodness [0,1] 0.9993695515119894 Centerline is valid? [True, True] Translation: X:64.91, Y:18.24, Z:-0.42 [[ 8.95200212e-01 -4.45663746e-01 -6.36476390e-04 6.49118106e+01] [ 4.45663615e-01 8.95200438e-01 -3.43150255e-04 1.82381322e+01] [ 7.22703572e-04 2.35338127e-05 9.99999739e-01 -4.21568413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.970888479 meters Centerline goodness [0,1] 0.9992151733158927 Centerline is valid? [True, True] Translation: X:64.94, Y:18.25, Z:-0.42 [[ 8.95266517e-01 -4.45530352e-01 -7.54718756e-04 6.49367167e+01] [ 4.45530168e-01 8.95266835e-01 -4.05481525e-04 1.82499099e+01] [ 8.56328998e-04 2.67640584e-05 9.99999633e-01 -4.21796102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.000888479 meters Centerline goodness [0,1] 0.9992793815783727 Centerline is valid? [True, True] Translation: X:64.96, Y:18.26, Z:-0.42 [[ 8.95179191e-01 -4.45705984e-01 -6.26219087e-04 6.49631622e+01] [ 4.45705856e-01 8.95179410e-01 -3.37992691e-04 1.82593367e+01] [ 7.11223798e-04 2.34545094e-05 9.99999747e-01 -4.21893265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.030888479 meters Centerline goodness [0,1] 0.9993673509457013 Centerline is valid? [True, True] Translation: X:64.99, Y:18.27, Z:-0.42 [[ 8.95007296e-01 -4.46050716e-01 -8.36104307e-04 6.49887790e+01] [ 4.46050489e-01 8.95007686e-01 -4.51002260e-04 1.82709165e+01] [ 9.49489662e-04 3.07055785e-05 9.99999549e-01 -4.22064039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.060888479 meters Centerline goodness [0,1] 0.9996269884805266 Centerline is valid? [True, True] Translation: X:65.01, Y:18.28, Z:-0.42 [[ 8.95046333e-01 -4.45972090e-01 -9.78254943e-04 6.50147372e+01] [ 4.45971780e-01 8.95046867e-01 -5.26270499e-04 1.82812151e+01] [ 1.11028598e-03 3.47623821e-05 9.99999383e-01 -4.22470659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.090888479 meters Centerline goodness [0,1] 0.9996269884805266 Centerline is valid? [True, True] Translation: X:65.04, Y:18.29, Z:-0.42 [[ 8.94920107e-01 -4.46225332e-01 -9.77603157e-04 6.50390170e+01] [ 4.46225022e-01 8.94920640e-01 -5.27482777e-04 1.82943462e+01] [ 1.11025342e-03 3.58239527e-05 9.99999383e-01 -4.22621248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.120888479 meters Centerline goodness [0,1] 0.9994523428771714 Centerline is valid? [True, True] Translation: X:65.06, Y:18.31, Z:-0.42 [[ 8.94801990e-01 -4.46460553e-01 -1.54046230e-03 6.50635773e+01] [ 4.46459786e-01 8.94803315e-01 -8.29421878e-04 1.83060798e+01] [ 1.74871492e-03 5.44138799e-05 9.99998470e-01 -4.23291921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150888479 meters Centerline goodness [0,1] 0.9996260201949094 Centerline is valid? [True, True] Translation: X:65.09, Y:18.32, Z:-0.42 [[ 8.94665741e-01 -4.46731955e-01 -1.94193738e-03 6.50877715e+01] [ 4.46730737e-01 8.94667846e-01 -1.04567262e-03 1.83191502e+01] [ 2.20452431e-03 6.80043561e-05 9.99997568e-01 -4.23935839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.180888479 meters Centerline goodness [0,1] 0.9997135049365303 Centerline is valid? [True, True] Translation: X:65.12, Y:18.33, Z:-0.42 [[ 8.94379576e-01 -4.47304282e-01 -2.01324914e-03 6.51157015e+01] [ 4.47302971e-01 8.94381839e-01 -1.08544151e-03 1.83286579e+01] [ 2.28613611e-03 7.02643984e-05 9.99997384e-01 -4.23750603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210888479 meters Centerline goodness [0,1] 0.9999114495705305 Centerline is valid? [True, True] Translation: X:65.14, Y:18.34, Z:-0.42 [[ 8.94127483e-01 -4.47808171e-01 -1.97153961e-03 6.51425132e+01] [ 4.47806912e-01 8.94129654e-01 -1.06389291e-03 1.83382612e+01] [ 2.23923197e-03 6.83868211e-05 9.99997491e-01 -4.23657083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.240888479 meters Centerline goodness [0,1] 0.9997117388797729 Centerline is valid? [True, True] Translation: X:65.17, Y:18.35, Z:-0.42 [[ 8.94125229e-01 -4.47810300e-01 -2.45154800e-03 6.51676482e+01] [ 4.47808357e-01 8.94128586e-01 -1.32199554e-03 1.83511649e+01] [ 2.78400236e-03 8.42058792e-05 9.99996121e-01 -4.24071254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27088847899999 meters Centerline goodness [0,1] 0.9998439346309054 Centerline is valid? [True, True] Translation: X:65.19, Y:18.36, Z:-0.42 [[ 8.94186341e-01 -4.47691656e-01 -1.72325851e-03 6.51944838e+01] [ 4.47690692e-01 8.94187999e-01 -9.31052347e-04 1.83611984e+01] [ 1.95774145e-03 6.10474943e-05 9.99998082e-01 -4.23656134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.300888479 meters Centerline goodness [0,1] 0.9996660432807908 Centerline is valid? [True, True] Translation: X:65.22, Y:18.37, Z:-0.42 [[ 8.94209286e-01 -4.47647097e-01 -1.35257864e-03 6.52205577e+01] [ 4.47646502e-01 8.94210307e-01 -7.31656728e-04 1.83726649e+01] [ 1.53701377e-03 4.87771440e-05 9.99998818e-01 -4.23136482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.330888479 meters Centerline goodness [0,1] 0.9996864922966678 Centerline is valid? [True, True] Translation: X:65.24, Y:18.39, Z:-0.42 [[ 8.94532450e-01 -4.47002994e-01 -1.36923070e-04 6.52444850e+01] [ 4.47002988e-01 8.94532461e-01 -7.47202983e-05 1.83862343e+01] [ 1.55882328e-04 5.63471024e-06 9.99999988e-01 -4.23669245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.360888479 meters Centerline goodness [0,1] 0.9997989949748743 Centerline is valid? [True, True] Translation: X:65.27, Y:18.40, Z:-0.42 [[ 8.94634273e-01 -4.46799183e-01 -8.40171428e-05 6.52717274e+01] [ 4.46799181e-01 8.94634277e-01 -4.69036283e-05 1.83959722e+01] [ 9.61211187e-05 4.42280282e-06 9.99999995e-01 -4.23490202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.390888479 meters Centerline goodness [0,1] 0.999910514541387 Centerline is valid? [True, True] Translation: X:65.30, Y:18.41, Z:-0.42 [[ 8.94579109e-01 -4.46909582e-01 2.05319518e-04 6.52957366e+01] [ 4.46909569e-01 8.94579133e-01 1.10178340e-04 1.84088559e+01] [-2.32914312e-04 -6.80398431e-06 9.99999973e-01 -4.23783140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.420888479 meters Centerline goodness [0,1] 0.9997091722595078 Centerline is valid? [True, True] Translation: X:65.32, Y:18.42, Z:-0.42 [[ 8.94530610e-01 -4.47006693e-01 5.90649272e-05 6.53221589e+01] [ 4.47006692e-01 8.94530612e-01 3.02006053e-05 1.84189662e+01] [-6.63352582e-05 -6.12948183e-07 9.99999998e-01 -4.23364742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.450888479 meters Centerline goodness [0,1] 0.9997078192075158 Centerline is valid? [True, True] Translation: X:65.35, Y:18.43, Z:-0.42 [[ 8.94690392e-01 -4.46686592e-01 -4.37469882e-04 6.53491574e+01] [ 4.46686529e-01 8.94690499e-01 -2.38171122e-04 1.84297830e+01] [ 4.97787993e-04 1.76775118e-05 9.99999876e-01 -4.23949622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.480888479 meters Centerline goodness [0,1] 0.9999100840713933 Centerline is valid? [True, True] Translation: X:65.38, Y:18.44, Z:-0.42 [[ 8.94837459e-01 -4.46391586e-01 -6.88732544e-04 6.53751958e+01] [ 4.46391430e-01 8.94837723e-01 -3.74309780e-04 1.84428069e+01] [ 7.83392598e-04 2.75021065e-05 9.99999693e-01 -4.24502010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510888479 meters Centerline goodness [0,1] 0.9998646423173235 Centerline is valid? [True, True] Translation: X:65.40, Y:18.46, Z:-0.43 [[ 8.94998080e-01 -4.46069066e-01 -9.08712349e-04 6.53983857e+01] [ 4.46068796e-01 8.94998540e-01 -4.92501931e-04 1.84590042e+01] [ 1.03298610e-03 3.54400592e-05 9.99999466e-01 -4.25551563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.540888479 meters Centerline goodness [0,1] 0.9997735199528921 Centerline is valid? [True, True] Translation: X:65.43, Y:18.47, Z:-0.42 [[ 8.95287888e-01 -4.45487515e-01 -6.86003241e-04 6.54269483e+01] [ 4.45487360e-01 8.95288151e-01 -3.73149122e-04 1.84670754e+01] [ 7.80403849e-04 2.84701164e-05 9.99999695e-01 -4.24813850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570888479 meters Centerline goodness [0,1] 0.9999091817273635 Centerline is valid? [True, True] Translation: X:65.45, Y:18.48, Z:-0.43 [[ 8.95244331e-01 -4.45575507e-01 -2.36090114e-04 6.54504643e+01] [ 4.45575489e-01 8.95244362e-01 -1.28693315e-04 1.84805723e+01] [ 2.68700933e-04 1.00159927e-05 9.99999964e-01 -4.25590680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.600888479 meters Centerline goodness [0,1] 0.9999094305445488 Centerline is valid? [True, True] Translation: X:65.48, Y:18.49, Z:-0.43 [[ 8.94967672e-01 -4.46130481e-01 -6.78576462e-04 6.54765610e+01] [ 4.46130329e-01 8.94967928e-01 -3.69722246e-04 1.84910400e+01] [ 7.72248534e-04 2.81559175e-05 9.99999701e-01 -4.25729861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63088847899999 meters Centerline goodness [0,1] 0.9999093443328876 Centerline is valid? [True, True] Translation: X:65.50, Y:18.50, Z:-0.43 [[ 8.94565595e-01 -4.46936636e-01 -1.96616467e-04 6.55004511e+01] [ 4.46936623e-01 8.94565617e-01 -1.07457811e-04 1.85046578e+01] [ 2.23913164e-04 8.25296124e-06 9.99999975e-01 -4.26732813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.660888479 meters Centerline goodness [0,1] 0.9997950773013957 Centerline is valid? [True, True] Translation: X:65.53, Y:18.52, Z:-0.43 [[ 8.94231098e-01 -4.47605469e-01 -2.94285923e-04 6.55266558e+01] [ 4.47605440e-01 8.94231147e-01 -1.61198176e-04 1.85163615e+01] [ 3.35312823e-04 1.24244417e-05 9.99999944e-01 -4.26523958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.690888479 meters Centerline goodness [0,1] 0.9997951892224017 Centerline is valid? [True, True] Translation: X:65.55, Y:18.53, Z:-0.43 [[ 8.93823347e-01 -4.48419032e-01 -4.43972157e-04 6.55538182e+01] [ 4.48418967e-01 8.93823457e-01 -2.42601051e-04 1.85271856e+01] [ 5.05619656e-04 1.77569471e-05 9.99999872e-01 -4.26604833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.720888479 meters Centerline goodness [0,1] 0.9999082568807339 Centerline is valid? [True, True] Translation: X:65.58, Y:18.54, Z:-0.43 [[ 8.92525089e-01 -4.50996472e-01 -1.07112474e-03 6.55794784e+01] [ 4.50996098e-01 8.92525731e-01 -5.82308532e-04 1.85383591e+01] [ 1.21862548e-03 3.66518984e-05 9.99999257e-01 -4.28490665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.750888479 meters Centerline goodness [0,1] 0.9998169168802636 Centerline is valid? [True, True] Translation: X:65.61, Y:18.55, Z:-0.43 [[ 8.91690847e-01 -4.52643186e-01 -1.25712992e-03 6.56054227e+01] [ 4.52642670e-01 8.91691732e-01 -6.84671439e-04 1.85512202e+01] [ 1.43088422e-03 4.14846101e-05 9.99998975e-01 -4.29440741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.780888479 meters Centerline goodness [0,1] 0.9998858108571037 Centerline is valid? [True, True] Translation: X:65.63, Y:18.56, Z:-0.43 [[ 8.91241352e-01 -4.53526378e-01 -1.63638314e-03 6.56295997e+01] [ 4.53525507e-01 8.91242852e-01 -8.89997341e-04 1.85648950e+01] [ 1.86205204e-03 5.10609414e-05 9.99998265e-01 -4.29821612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.810888479 meters Centerline goodness [0,1] 0.9998171470366392 Centerline is valid? [True, True] Translation: X:65.66, Y:18.58, Z:-0.43 [[ 8.90365836e-01 -4.55244967e-01 -8.35976535e-04 6.56570307e+01] [ 4.55244739e-01 8.90366228e-01 -4.56117486e-04 1.85755296e+01] [ 9.51970463e-04 2.55375072e-05 9.99999547e-01 -4.28973509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.840888479 meters Centerline goodness [0,1] 0.9999082463585274 Centerline is valid? [True, True] Translation: X:65.68, Y:18.59, Z:-0.43 [[ 8.90014875e-01 -4.55930573e-01 -9.13550939e-04 6.56834223e+01] [ 4.55930301e-01 8.90015344e-01 -4.98575981e-04 1.85884035e+01] [ 1.04039039e-03 2.72244850e-05 9.99999458e-01 -4.28192022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870888479 meters Centerline goodness [0,1] 0.9997475964296367 Centerline is valid? [True, True] Translation: X:65.71, Y:18.60, Z:-0.43 [[ 8.89731888e-01 -4.56483415e-01 -2.42436510e-04 6.57092614e+01] [ 4.56483396e-01 8.89731921e-01 -1.33458129e-04 1.86017364e+01] [ 2.76624925e-04 8.07371189e-06 9.99999962e-01 -4.28386258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.900888479 meters Centerline goodness [0,1] 0.9999312525780283 Centerline is valid? [True, True] Translation: X:65.73, Y:18.61, Z:-0.43 [[ 8.89405589e-01 -4.57116614e-01 -1.44872974e-03 6.57347572e+01] [ 4.57115932e-01 8.89406768e-01 -7.90990076e-04 1.86146691e+01] [ 1.65008474e-03 4.12735487e-05 9.99998638e-01 -4.29263552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.76, Y:18.63, Z:-0.43 [[ 8.89275453e-01 -4.57367533e-01 -2.02712368e-03 6.57595809e+01] [ 4.57366197e-01 8.89277761e-01 -1.10686626e-03 1.86278049e+01] [ 2.30892070e-03 5.71711471e-05 9.99997333e-01 -4.29799350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.960888479 meters Centerline goodness [0,1] 0.999839596700275 Centerline is valid? [True, True] Translation: X:65.78, Y:18.64, Z:-0.43 [[ 8.89351137e-01 -4.57220639e-01 -1.95998349e-03 6.57847747e+01] [ 4.57219389e-01 8.89353295e-01 -1.07068512e-03 1.86416483e+01] [ 2.23265711e-03 5.60725745e-05 9.99997506e-01 -4.30917041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990888479 meters Centerline goodness [0,1] 0.9999543670712786 Centerline is valid? [True, True] Translation: X:65.81, Y:18.65, Z:-0.43 [[ 8.89056512e-01 -4.57793666e-01 -1.86475490e-03 6.58102824e+01] [ 4.57792534e-01 8.89058466e-01 -1.01964796e-03 1.86544434e+01] [ 2.12466451e-03 5.28537909e-05 9.99997742e-01 -4.30220494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02088847899999 meters Centerline goodness [0,1] 0.9998173515981735 Centerline is valid? [True, True] Translation: X:65.83, Y:18.67, Z:-0.43 [[ 8.88846063e-01 -4.58203119e-01 -1.60557584e-03 6.58347569e+01] [ 4.58202281e-01 8.88847512e-01 -8.77141464e-04 1.86674519e+01] [ 1.82902105e-03 4.39652230e-05 9.99998326e-01 -4.29715120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.050888479 meters Centerline goodness [0,1] 0.9998630418407176 Centerline is valid? [True, True] Translation: X:65.86, Y:18.68, Z:-0.43 [[ 8.88443912e-01 -4.58983418e-01 -1.27946761e-03 6.58587837e+01] [ 4.58982887e-01 8.88444833e-01 -6.99232989e-04 1.86815145e+01] [ 1.45767273e-03 3.39755563e-05 9.99998937e-01 -4.29447965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.080888479 meters Centerline goodness [0,1] 0.9998404958301053 Centerline is valid? [True, True] Translation: X:65.88, Y:18.70, Z:-0.43 [[ 8.87887409e-01 -4.60059731e-01 -9.96284993e-04 6.58842909e+01] [ 4.60059408e-01 8.87887968e-01 -5.45818714e-04 1.86950709e+01] [ 1.13569867e-03 2.62752794e-05 9.99999355e-01 -4.29412327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.110888479 meters Centerline goodness [0,1] 0.999817655505664 Centerline is valid? [True, True] Translation: X:65.91, Y:18.71, Z:-0.43 [[ 8.87131607e-01 -4.61515696e-01 -8.79400478e-04 6.59100023e+01] [ 4.61515445e-01 8.87132043e-01 -4.82238314e-04 1.87074712e+01] [ 1.00270489e-03 2.19519475e-05 9.99999497e-01 -4.29880538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.140888479 meters Centerline goodness [0,1] 0.9998633288535569 Centerline is valid? [True, True] Translation: X:65.94, Y:18.72, Z:-0.43 [[ 8.86696826e-01 -4.62350576e-01 -8.26900128e-04 6.59358449e+01] [ 4.62350353e-01 8.86697211e-01 -4.53784864e-04 1.87211744e+01] [ 9.43017731e-04 2.00520318e-05 9.99999555e-01 -4.29956260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.170888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.96, Y:18.73, Z:-0.43 [[ 8.86291438e-01 -4.63127203e-01 -8.24467291e-04 6.59615613e+01] [ 4.63126983e-01 8.86291822e-01 -4.52760847e-04 1.87335063e+01] [ 9.40404482e-04 1.94450141e-05 9.99999558e-01 -4.29720504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.200888479 meters Centerline goodness [0,1] 0.9999543566570815 Centerline is valid? [True, True] Translation: X:65.99, Y:18.75, Z:-0.43 [[ 8.85938106e-01 -4.63803146e-01 -5.60592645e-04 6.59851991e+01] [ 4.63803045e-01 8.85938283e-01 -3.07419019e-04 1.87475952e+01] [ 6.39232394e-04 1.23496484e-05 9.99999796e-01 -4.30042357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230888479 meters Centerline goodness [0,1] 0.9999089253187614 Centerline is valid? [True, True] Translation: X:66.01, Y:18.76, Z:-0.43 [[ 8.85708226e-01 -4.64241990e-01 -5.59281873e-04 6.60081769e+01] [ 4.64241888e-01 8.85708403e-01 -3.07453092e-04 1.87617129e+01] [ 6.38093289e-04 1.26716603e-05 9.99999796e-01 -4.30875725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.260888479 meters Centerline goodness [0,1] 0.9998632509800346 Centerline is valid? [True, True] Translation: X:66.03, Y:18.77, Z:-0.43 [[ 8.85589827e-01 -4.64467879e-01 -4.97972098e-04 6.60328098e+01] [ 4.64467798e-01 8.85589967e-01 -2.74574994e-04 1.87748189e+01] [ 5.68530359e-04 1.18688178e-05 9.99999838e-01 -4.30962915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.06, Y:18.79, Z:-0.43 [[ 8.85207793e-01 -4.65195184e-01 -7.76665665e-04 6.60580310e+01] [ 4.65194988e-01 8.85208134e-01 -4.27617789e-04 1.87870409e+01] [ 8.86436500e-04 1.72296246e-05 9.99999607e-01 -4.29464925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.08, Y:18.80, Z:-0.43 [[ 8.84793167e-01 -4.65983331e-01 -7.65845756e-04 6.60831543e+01] [ 4.65983140e-01 8.84793499e-01 -4.21718026e-04 1.88003956e+01] [ 8.74128917e-04 1.62620178e-05 9.99999618e-01 -4.29126458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.11, Y:18.81, Z:-0.43 [[ 8.84456462e-01 -4.66621285e-01 -1.15901431e-03 6.61075472e+01] [ 4.66620851e-01 8.84457221e-01 -6.36604090e-04 1.88141597e+01] [ 1.32215159e-03 2.22283581e-05 9.99999126e-01 -4.29546294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38088847899999 meters Centerline goodness [0,1] 0.9999088755239658 Centerline is valid? [True, True] Translation: X:66.13, Y:18.83, Z:-0.43 [[ 8.83507196e-01 -4.68417212e-01 -5.91115120e-04 6.61329522e+01] [ 4.68417099e-01 8.83507394e-01 -3.26079231e-04 1.88277419e+01] [ 6.74995703e-04 1.12049173e-05 9.99999772e-01 -4.30776157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.410888479 meters Centerline goodness [0,1] 0.9999545237499716 Centerline is valid? [True, True] Translation: X:66.16, Y:18.84, Z:-0.43 [[ 8.82972461e-01 -4.69424777e-01 1.06910903e-04 6.61573459e+01] [ 4.69424773e-01 8.82972468e-01 5.81919000e-05 1.88414685e+01] [-1.21716103e-04 -1.19521887e-06 9.99999993e-01 -4.30968303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.440888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.18, Y:18.85, Z:-0.43 [[ 8.82262485e-01 -4.70757697e-01 -3.13625257e-04 6.61818236e+01] [ 4.70757665e-01 8.82262541e-01 -1.72796125e-04 1.88540681e+01] [ 3.58044922e-04 4.81004524e-06 9.99999936e-01 -4.30831189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.470888479 meters Centerline goodness [0,1] 0.9998856907706728 Centerline is valid? [True, True] Translation: X:66.21, Y:18.86, Z:-0.43 [[ 8.80800599e-01 -4.73486993e-01 6.10311441e-04 6.62096008e+01] [ 4.73486875e-01 8.80800810e-01 3.34051985e-04 1.88645666e+01] [-6.95732082e-04 -5.25873120e-06 9.99999758e-01 -4.29152147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.500888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.24, Y:18.88, Z:-0.43 [[ 8.80008365e-01 -4.74957455e-01 8.33142542e-04 6.62355679e+01] [ 4.74957235e-01 8.80008759e-01 4.56675701e-04 1.88776646e+01] [-9.50074264e-04 -6.17135861e-06 9.99999549e-01 -4.28558316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.530888479 meters Centerline goodness [0,1] 0.9999542512066244 Centerline is valid? [True, True] Translation: X:66.26, Y:18.89, Z:-0.43 [[ 8.79448449e-01 -4.75993143e-01 9.76177815e-04 6.62606982e+01] [ 4.75992842e-01 8.79448991e-01 5.35475942e-04 1.88910031e+01] [-1.11338147e-03 -6.26983478e-06 9.99999380e-01 -4.28096231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.560888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.28, Y:18.91, Z:-0.43 [[ 8.78798642e-01 -4.77191446e-01 1.12732016e-03 6.62843567e+01] [ 4.77191044e-01 8.78799365e-01 6.19949778e-04 1.89050034e+01] [-1.28652297e-03 -6.86394177e-06 9.99999172e-01 -4.28611734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.590888479 meters Centerline goodness [0,1] 0.9998628822158234 Centerline is valid? [True, True] Translation: X:66.31, Y:18.92, Z:-0.43 [[ 8.78754048e-01 -4.77272993e-01 1.34613260e-03 6.63085422e+01] [ 4.77272420e-01 8.78755079e-01 7.39677201e-04 1.89188234e+01] [-1.53594881e-03 -7.52237318e-06 9.99998820e-01 -4.29114353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.620888479 meters Centerline goodness [0,1] 0.999977167385894 Centerline is valid? [True, True] Translation: X:66.33, Y:18.93, Z:-0.43 [[ 8.78739137e-01 -4.77301050e-01 1.11212025e-03 6.63326386e+01] [ 4.77300659e-01 8.78739840e-01 6.11196178e-04 1.89329086e+01] [-1.26898895e-03 -6.26627476e-06 9.99999195e-01 -4.29087248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650888479 meters Centerline goodness [0,1] 0.9998633132859486 Centerline is valid? [True, True] Translation: X:66.36, Y:18.95, Z:-0.43 [[ 8.78868248e-01 -4.77063037e-01 1.20877769e-03 6.63560881e+01] [ 4.77062573e-01 8.78869079e-01 6.65623286e-04 1.89464097e+01] [-1.37990160e-03 -8.33257759e-06 9.99999048e-01 -4.29324422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.680888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.38, Y:18.96, Z:-0.43 [[ 8.79281535e-01 -4.76301320e-01 1.01727061e-03 6.63801065e+01] [ 4.76300991e-01 8.79282123e-01 5.60378588e-04 1.89613284e+01] [-1.16137693e-03 -8.20354354e-06 9.99999326e-01 -4.29164234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710888479 meters Centerline goodness [0,1] 0.9998399487836107 Centerline is valid? [True, True] Translation: X:66.40, Y:18.98, Z:-0.43 [[ 8.79432681e-01 -4.76021735e-01 1.21155428e-03 6.64031503e+01] [ 4.76021267e-01 8.79433515e-01 6.67501450e-04 1.89759183e+01] [-1.38322663e-03 -1.02969879e-05 9.99999043e-01 -4.30068982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.740888479 meters Centerline goodness [0,1] 0.999748864181183 Centerline is valid? [True, True] Translation: X:66.43, Y:18.99, Z:-0.43 [[ 8.79612759e-01 -4.75689303e-01 1.04005818e-03 6.64274589e+01] [ 4.75688958e-01 8.79613374e-01 5.72393482e-04 1.89906376e+01] [-1.18713054e-03 -8.74041918e-06 9.99999295e-01 -4.30715877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77088847899999 meters Centerline goodness [0,1] 0.9997044715724386 Centerline is valid? [True, True] Translation: X:66.45, Y:19.01, Z:-0.43 [[ 8.80019271e-01 -4.74937860e-01 3.35702976e-04 6.64518585e+01] [ 4.74937824e-01 8.80019335e-01 1.83924618e-04 1.90056536e+01] [-3.82777874e-04 -2.41916690e-06 9.99999927e-01 -4.31262527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:19.02, Z:-0.43 [[ 8.80018818e-01 -4.74937839e-01 9.64240728e-04 6.64765236e+01] [ 4.74937542e-01 8.80019346e-01 5.31044115e-04 1.90191171e+01] [-1.10076344e-03 -9.37469269e-06 9.99999394e-01 -4.30838300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.830888479 meters Centerline goodness [0,1] 0.999908644512961 Centerline is valid? [True, True] Translation: X:66.50, Y:19.03, Z:-0.43 [[ 8.80131746e-01 -4.74728381e-01 1.03602578e-03 6.65001648e+01] [ 4.74728037e-01 8.80132356e-01 5.71852204e-04 1.90331852e+01] [-1.18331428e-03 -1.14747938e-05 9.99999300e-01 -4.30781384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.860888479 meters Centerline goodness [0,1] 0.9999771412896884 Centerline is valid? [True, True] Translation: X:66.52, Y:19.05, Z:-0.43 [[ 8.80250975e-01 -4.74505377e-01 1.69382664e-03 6.65246210e+01] [ 4.74504456e-01 8.80252604e-01 9.35037928e-04 1.90476098e+01] [-1.93467583e-03 -1.93397619e-05 9.99998128e-01 -4.29585330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.890888479 meters Centerline goodness [0,1] 0.9998638282420226 Centerline is valid? [True, True] Translation: X:66.55, Y:19.06, Z:-0.43 [[ 8.80063489e-01 -4.74849559e-01 2.48031056e-03 6.65478869e+01] [ 4.74847579e-01 8.80066983e-01 1.37145042e-03 1.90623533e+01] [-2.83407206e-03 -2.91939758e-05 9.99995984e-01 -4.30002168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.920888479 meters Centerline goodness [0,1] 0.9998866367387657 Centerline is valid? [True, True] Translation: X:66.57, Y:19.08, Z:-0.43 [[ 8.79797900e-01 -4.75338370e-01 3.01469205e-03 6.65719311e+01] [ 4.75335449e-01 8.79803065e-01 1.66695328e-03 1.90770395e+01] [-3.44470216e-03 -3.35919970e-05 9.99994066e-01 -4.30296259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.950888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.60, Y:19.09, Z:-0.43 [[ 8.79361169e-01 -4.76142309e-01 3.52642869e-03 6.65965479e+01] [ 4.76138312e-01 8.79368239e-01 1.95142773e-03 1.90910130e+01] [-4.03018670e-03 -3.69419664e-05 9.99991878e-01 -4.30318387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.980888479 meters Centerline goodness [0,1] 0.999977335055869 Centerline is valid? [True, True] Translation: X:66.62, Y:19.10, Z:-0.43 [[ 8.78491710e-01 -4.77744688e-01 3.51133670e-03 6.66223358e+01] [ 4.77740732e-01 8.78498726e-01 1.94435669e-03 1.91044546e+01] [-4.01361090e-03 -3.05926706e-05 9.99991945e-01 -4.29770366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010888479 meters Centerline goodness [0,1] 0.999977335055869 Centerline is valid? [True, True] Translation: X:66.65, Y:19.12, Z:-0.43 [[ 8.78360505e-01 -4.77985876e-01 3.51089312e-03 6.66464408e+01] [ 4.77981919e-01 8.78367521e-01 1.94515725e-03 1.91179007e+01] [-4.01361218e-03 -3.04058755e-05 9.99991945e-01 -4.29920568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.67, Y:19.13, Z:-0.43 [[ 8.78017501e-01 -4.78615015e-01 3.59655477e-03 6.66699290e+01] [ 4.78610862e-01 8.78024867e-01 1.99408563e-03 1.91313692e+01] [-4.11226385e-03 -2.94919004e-05 9.99991544e-01 -4.29628352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070888479 meters Centerline goodness [0,1] 0.9999318568994889 Centerline is valid? [True, True] Translation: X:66.69, Y:19.14, Z:-0.43 [[ 8.77435676e-01 -4.79679625e-01 3.75391179e-03 6.66941638e+01] [ 4.79675107e-01 8.77443706e-01 2.08217440e-03 1.91448557e+01] [-4.29262290e-03 -2.63160638e-05 9.99990786e-01 -4.29542194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.100888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.72, Y:19.16, Z:-0.43 [[ 8.76808571e-01 -4.80825379e-01 3.69923694e-03 6.67177945e+01] [ 4.80820996e-01 8.76816374e-01 2.05317507e-03 1.91591694e+01] [-4.23077020e-03 -2.15707037e-05 9.99991050e-01 -4.30070434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13088847899999 meters Centerline goodness [0,1] 0.9998193682404208 Centerline is valid? [True, True] Translation: X:66.74, Y:19.17, Z:-0.43 [[ 8.75787958e-01 -4.82683811e-01 3.43384061e-03 6.67413718e+01] [ 4.82680043e-01 8.75794690e-01 1.90732711e-03 1.91741738e+01] [-3.92797529e-03 -1.29677810e-05 9.99992285e-01 -4.30935745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.77, Y:19.19, Z:-0.43 [[ 8.75070762e-01 -4.83981181e-01 3.65753885e-03 6.67657260e+01] [ 4.83976917e-01 8.75078406e-01 2.03174207e-03 1.91884778e+01] [-4.18395820e-03 -7.75370979e-06 9.99991247e-01 -4.31141469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.79, Y:19.20, Z:-0.43 [[ 8.74440114e-01 -4.85117632e-01 3.92048032e-03 6.67898774e+01] [ 4.85112737e-01 8.74448902e-01 2.17933046e-03 1.92027371e+01] [-4.48549134e-03 -3.81904054e-06 9.99989940e-01 -4.31129360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.81, Y:19.22, Z:-0.43 [[ 8.73272252e-01 -4.87216478e-01 3.95942761e-03 6.68126395e+01] [ 4.87211499e-01 8.73281228e-01 2.20258702e-03 1.92166219e+01] [-4.53083049e-03 5.62053275e-06 9.99989736e-01 -4.31121621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.250888479 meters Centerline goodness [0,1] 0.9998875697067818 Centerline is valid? [True, True] Translation: X:66.84, Y:19.23, Z:-0.43 [[ 8.72770248e-01 -4.88114938e-01 3.98767032e-03 6.68370166e+01] [ 4.88109895e-01 8.72779358e-01 2.21876753e-03 1.92308290e+01] [-4.56336992e-03 9.94705022e-06 9.99989588e-01 -4.31018269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.280888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.86, Y:19.25, Z:-0.43 [[ 8.72384268e-01 -4.88805909e-01 3.80431247e-03 6.68609949e+01] [ 4.88801321e-01 8.72392562e-01 2.11801165e-03 1.92457249e+01] [-4.35415051e-03 1.18329169e-05 9.99990521e-01 -4.30953049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.310888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.88, Y:19.26, Z:-0.43 [[ 8.72467362e-01 -4.88658709e-01 3.65632797e-03 6.68839120e+01] [ 4.88654463e-01 8.72475023e-01 2.03703224e-03 1.92601986e+01] [-4.18546838e-03 9.43684279e-06 9.99991241e-01 -4.31155108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.340888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.91, Y:19.28, Z:-0.43 [[ 8.73226978e-01 -4.87298427e-01 3.85837417e-03 6.69056709e+01] [ 4.87293681e-01 8.73235502e-01 2.15071296e-03 1.92775945e+01] [-4.41730835e-03 2.10077228e-06 9.99990244e-01 -4.31368234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.93, Y:19.29, Z:-0.43 [[ 8.73757088e-01 -4.86345766e-01 4.04310577e-03 6.69290098e+01] [ 4.86340542e-01 8.73766442e-01 2.25420625e-03 1.92934728e+01] [-4.62905381e-03 -3.30243827e-06 9.99989286e-01 -4.30876948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.400888479 meters Centerline goodness [0,1] 0.9998885123082412 Centerline is valid? [True, True] Translation: X:66.95, Y:19.31, Z:-0.43 [[ 8.75358754e-01 -4.83450442e-01 4.76677278e-03 6.69509407e+01] [ 4.83443126e-01 8.75371732e-01 2.65971947e-03 1.93120750e+01] [-5.45854070e-03 -2.37451938e-05 9.99985102e-01 -4.29932282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430888479 meters Centerline goodness [0,1] 0.9999331625264565 Centerline is valid? [True, True] Translation: X:66.97, Y:19.33, Z:-0.43 [[ 8.76456375e-01 -4.81452243e-01 5.28785667e-03 6.69749317e+01] [ 4.81443197e-01 8.76472325e-01 2.95152805e-03 1.93288251e+01] [-6.05567983e-03 -4.10829573e-05 9.99981663e-01 -4.29836119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.460888479 meters Centerline goodness [0,1] 0.9998878747785527 Centerline is valid? [True, True] Translation: X:67.00, Y:19.34, Z:-0.43 [[ 8.77600910e-01 -4.79368173e-01 4.77466935e-03 6.69990451e+01] [ 4.79360759e-01 8.77613897e-01 2.66644839e-03 1.93449753e+01] [-5.46852667e-03 -5.12884117e-05 9.99985046e-01 -4.30069138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490888479 meters Centerline goodness [0,1] 0.9997992147064073 Centerline is valid? [True, True] Translation: X:67.02, Y:19.36, Z:-0.43 [[ 8.80055004e-01 -4.74853310e-01 4.18618919e-03 6.70198326e+01] [ 4.74847555e-01 8.80064957e-01 2.33907626e-03 1.93649278e+01] [-4.79483651e-03 -7.07140643e-05 9.99988502e-01 -4.30865315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52088847899999 meters Centerline goodness [0,1] 0.9997344075074145 Centerline is valid? [True, True] Translation: X:67.04, Y:19.38, Z:-0.43 [[ 8.80929729e-01 -4.73227655e-01 4.28935135e-03 6.70413399e+01] [ 4.73221589e-01 8.80940168e-01 2.39751851e-03 1.93828467e+01] [-4.91323396e-03 -8.22316749e-05 9.99987927e-01 -4.31315740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.550888479 meters Centerline goodness [0,1] 0.9998893536037531 Centerline is valid? [True, True] Translation: X:67.07, Y:19.40, Z:-0.43 [[ 8.81841605e-01 -4.71522996e-01 4.63111763e-03 6.70655988e+01] [ 4.71515898e-01 8.81853760e-01 2.58910814e-03 1.93974834e+01] [-5.30479253e-03 -9.95376909e-05 9.99985925e-01 -4.31005488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.580888479 meters Centerline goodness [0,1] 0.9997120708748616 Centerline is valid? [True, True] Translation: X:67.09, Y:19.41, Z:-0.43 [[ 8.82397428e-01 -4.70473654e-01 5.41471876e-03 6.70896368e+01] [ 4.70463926e-01 8.82414033e-01 3.02804527e-03 1.94135601e+01] [-6.20263934e-03 -1.24509514e-04 9.99980756e-01 -4.30292358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.610888479 meters Centerline goodness [0,1] 0.9995381468692955 Centerline is valid? [True, True] Translation: X:67.11, Y:19.43, Z:-0.43 [[ 8.83518729e-01 -4.68363063e-01 5.54054429e-03 6.71110869e+01] [ 4.68352825e-01 8.83536089e-01 3.10007949e-03 1.94318675e+01] [-6.34723356e-03 -1.44048714e-04 9.99979846e-01 -4.28858187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.640888479 meters Centerline goodness [0,1] 0.9995826835643217 Centerline is valid? [True, True] Translation: X:67.14, Y:19.45, Z:-0.43 [[ 8.83815570e-01 -4.67801782e-01 5.61520727e-03 6.71353009e+01] [ 4.67791250e-01 8.83833395e-01 3.14267632e-03 1.94476258e+01] [-6.43305729e-03 -1.50801438e-04 9.99979296e-01 -4.28811297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.670888479 meters Centerline goodness [0,1] 0.9992545821275103 Centerline is valid? [True, True] Translation: X:67.16, Y:19.47, Z:-0.43 [[ 8.84183527e-01 -4.67102774e-01 5.87276695e-03 6.71574478e+01] [ 4.67091226e-01 8.84203015e-01 3.28850841e-03 1.94656228e+01] [-6.72878965e-03 -1.64527047e-04 9.99977348e-01 -4.28961130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.700888479 meters Centerline goodness [0,1] 0.9994089446378144 Centerline is valid? [True, True] Translation: X:67.18, Y:19.48, Z:-0.43 [[ 8.83946476e-01 -4.67548350e-01 6.09654439e-03 6.71815654e+01] [ 4.67535909e-01 8.83967484e-01 3.41483579e-03 1.94801081e+01] [-6.98574784e-03 -1.68178633e-04 9.99975585e-01 -4.29748017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730888479 meters Centerline goodness [0,1] 0.9990549450549451 Centerline is valid? [True, True] Translation: X:67.21, Y:19.50, Z:-0.43 [[ 8.83615241e-01 -4.68172847e-01 6.18803253e-03 6.72057548e+01] [ 4.68160030e-01 8.83636892e-01 3.46830208e-03 1.94953268e+01] [-7.09173869e-03 -1.67655081e-04 9.99974839e-01 -4.30079667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.760888479 meters Centerline goodness [0,1] 0.9989280245022971 Centerline is valid? [True, True] Translation: X:67.23, Y:19.51, Z:-0.43 [[ 8.83235649e-01 -4.68895892e-01 5.60629915e-03 6.72314258e+01] [ 4.68885374e-01 8.83253430e-01 3.14403463e-03 1.95095195e+01] [-6.42600787e-03 -1.48211795e-04 9.99979342e-01 -4.31160694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790888479 meters Centerline goodness [0,1] 0.9991704686851929 Centerline is valid? [True, True] Translation: X:67.26, Y:19.52, Z:-0.43 [[ 8.82843423e-01 -4.69639562e-01 5.11597331e-03 6.72554226e+01] [ 4.69630808e-01 8.82858236e-01 2.87045342e-03 1.95239332e+01] [-5.86475766e-03 -1.31542242e-04 9.99982794e-01 -4.32111650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.820888479 meters Centerline goodness [0,1] 0.9990177889337554 Centerline is valid? [True, True] Translation: X:67.28, Y:19.54, Z:-0.43 [[ 8.81945362e-01 -4.71325726e-01 4.94354180e-03 6.72805436e+01] [ 4.71317575e-01 8.81959209e-01 2.77427116e-03 1.95380364e+01] [-5.66758759e-03 -1.16777450e-04 9.99983932e-01 -4.32671864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850888479 meters Centerline goodness [0,1] 0.9992336158006525 Centerline is valid? [True, True] Translation: X:67.30, Y:19.55, Z:-0.43 [[ 8.81381059e-01 -4.72381973e-01 4.76445000e-03 6.73037555e+01] [ 4.72374410e-01 8.81393930e-01 2.67522525e-03 1.95531899e+01] [-5.46308549e-03 -1.07288606e-04 9.99985071e-01 -4.32913589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88088847899999 meters Centerline goodness [0,1] 0.9991479693268958 Centerline is valid? [True, True] Translation: X:67.33, Y:19.57, Z:-0.43 [[ 8.80439340e-01 -4.74142951e-01 3.87705283e-03 6.73297258e+01] [ 4.74137958e-01 8.80447872e-01 2.17731618e-03 1.95660285e+01] [-4.44590203e-03 -7.87369054e-05 9.99990114e-01 -4.33247225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.910888479 meters Centerline goodness [0,1] 0.9990373676380502 Centerline is valid? [True, True] Translation: X:67.36, Y:19.58, Z:-0.43 [[ 8.79743695e-01 -4.75436846e-01 3.29192378e-03 6.73550674e+01] [ 4.75433252e-01 8.79749852e-01 1.84955179e-03 1.95805698e+01] [-3.77541452e-03 -6.20414966e-05 9.99992871e-01 -4.33514377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.940888479 meters Centerline goodness [0,1] 0.9989514384953142 Centerline is valid? [True, True] Translation: X:67.38, Y:19.59, Z:-0.43 [[ 8.79191449e-01 -4.76460071e-01 2.86303726e-03 6.73803181e+01] [ 4.76457355e-01 8.79196109e-01 1.60931378e-03 1.95949953e+01] [-3.28394498e-03 -5.07797573e-05 9.99994607e-01 -4.33925698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.970888479 meters Centerline goodness [0,1] 0.9990380621324414 Centerline is valid? [True, True] Translation: X:67.40, Y:19.61, Z:-0.43 [[ 8.77973450e-01 -4.78705349e-01 1.95171320e-03 6.74041970e+01] [ 4.78704091e-01 8.77975619e-01 1.09778662e-03 1.96101848e+01] [-2.23907293e-03 -2.95344108e-05 9.99997493e-01 -4.34993980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.000888479 meters Centerline goodness [0,1] 0.9991933374029824 Centerline is valid? [True, True] Translation: X:67.43, Y:19.62, Z:-0.44 [[ 8.77109277e-01 -4.80288905e-01 1.37270084e-03 6.74298835e+01] [ 4.80288286e-01 8.77110350e-01 7.71402940e-04 1.96243660e+01] [-1.57450639e-03 -1.73125410e-05 9.99998760e-01 -4.35328483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.030888479 meters Centerline goodness [0,1] 0.9992381367000436 Centerline is valid? [True, True] Translation: X:67.45, Y:19.64, Z:-0.44 [[ 8.76413011e-01 -4.81558513e-01 1.27766774e-03 6.74547688e+01] [ 4.81557977e-01 8.76413943e-01 7.18295499e-04 1.96384732e+01] [-1.46566713e-03 -1.42524315e-05 9.99998926e-01 -4.35568247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.060888479 meters Centerline goodness [0,1] 0.9987831377661887 Centerline is valid? [True, True] Translation: X:67.48, Y:19.65, Z:-0.44 [[ 8.75367749e-01 -4.83456213e-01 1.18070856e-03 6.74787045e+01] [ 4.83455756e-01 8.75368545e-01 6.64799093e-04 1.96525500e+01] [-1.35495638e-03 -1.11233379e-05 9.99999082e-01 -4.35451907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.090888479 meters Centerline goodness [0,1] 0.9989956112578877 Centerline is valid? [True, True] Translation: X:67.50, Y:19.67, Z:-0.43 [[ 8.74824217e-01 -4.84437137e-01 1.80295913e-03 6.75032763e+01] [ 4.84436074e-01 8.74826074e-01 1.01489997e-03 1.96669011e+01] [-2.06893090e-03 -1.44406304e-05 9.99997860e-01 -4.34810434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.120888479 meters Centerline goodness [0,1] 0.9989345046533878 Centerline is valid? [True, True] Translation: X:67.53, Y:19.68, Z:-0.43 [[ 8.74333652e-01 -4.85321312e-01 1.97214745e-03 6.75271422e+01] [ 4.85320041e-01 8.74335876e-01 1.11103298e-03 1.96810885e+01] [-2.26352725e-03 -1.42908397e-05 9.99997438e-01 -4.34473409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150888479 meters Centerline goodness [0,1] 0.9989381298082133 Centerline is valid? [True, True] Translation: X:67.55, Y:19.70, Z:-0.43 [[ 8.74119218e-01 -4.85704774e-01 2.54259641e-03 6.75505748e+01] [ 4.85702658e-01 8.74122916e-01 1.43384848e-03 1.96959601e+01] [-2.91896884e-03 -1.84086803e-05 9.99995740e-01 -4.32889234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.180888479 meters Centerline goodness [0,1] 0.9992641648270787 Centerline is valid? [True, True] Translation: X:67.57, Y:19.71, Z:-0.43 [[ 8.74335966e-01 -4.85318040e-01 1.73720470e-03 6.75746090e+01] [ 4.85317050e-01 8.74337692e-01 9.80508622e-04 1.97107656e+01] [-1.99476207e-03 -1.41988938e-05 9.99998010e-01 -4.32719514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210888479 meters Centerline goodness [0,1] 0.9991122082196526 Centerline is valid? [True, True] Translation: X:67.60, Y:19.73, Z:-0.43 [[ 8.74735500e-01 -4.84598265e-01 1.52526288e-03 6.75986642e+01] [ 4.84597501e-01 8.74736830e-01 8.60340753e-04 1.97260674e+01] [-1.75112325e-03 -1.34320184e-05 9.99998467e-01 -4.33026664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.240888479 meters Centerline goodness [0,1] 0.9989824857656253 Centerline is valid? [True, True] Translation: X:67.62, Y:19.74, Z:-0.43 [[ 8.75097865e-01 -4.83945296e-01 8.22384840e-04 6.76228473e+01] [ 4.83945074e-01 8.75098252e-01 4.63443299e-04 1.97419415e+01] [-9.43948741e-04 -7.56914919e-06 9.99999554e-01 -4.33744081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27088847899999 meters Centerline goodness [0,1] 0.9991774001515316 Centerline is valid? [True, True] Translation: X:67.65, Y:19.76, Z:-0.44 [[ 8.76636767e-01 -4.81152653e-01 -3.22203892e-04 6.76450647e+01] [ 4.81152619e-01 8.76636826e-01 -1.82735885e-04 1.97602078e+01] [ 3.70379653e-04 5.16374900e-06 9.99999931e-01 -4.35825310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.300888479 meters Centerline goodness [0,1] 0.9990279937791602 Centerline is valid? [True, True] Translation: X:67.67, Y:19.78, Z:-0.44 [[ 8.77466781e-01 -4.79635915e-01 -1.19844905e-03 6.76690912e+01] [ 4.79635434e-01 8.77467600e-01 -6.79606271e-04 1.97761046e+01] [ 1.37756379e-03 2.15132958e-05 9.99999051e-01 -4.36635492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.330888479 meters Centerline goodness [0,1] 0.9990906532141078 Centerline is valid? [True, True] Translation: X:67.69, Y:19.79, Z:-0.44 [[ 8.78329258e-01 -4.78051484e-01 -2.11973543e-03 6.76931033e+01] [ 4.78049976e-01 8.78331815e-01 -1.20155794e-03 1.97918195e+01] [ 2.43623762e-03 4.20240183e-05 9.99997031e-01 -4.37527619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.360888479 meters Centerline goodness [0,1] 0.9987704387592217 Centerline is valid? [True, True] Translation: X:67.72, Y:19.81, Z:-0.44 [[ 8.79053703e-01 -4.76711075e-01 -3.33726049e-03 6.77150071e+01] [ 4.76707333e-01 8.79060035e-01 -1.89020740e-03 1.98088367e+01] [ 3.83473513e-03 7.06972680e-05 9.99992645e-01 -4.39738110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.390888479 meters Centerline goodness [0,1] 0.998899866258251 Centerline is valid? [True, True] Translation: X:67.74, Y:19.83, Z:-0.44 [[ 8.80310770e-01 -4.74374154e-01 -4.70212103e-03 6.77392797e+01] [ 4.74366680e-01 8.80323320e-01 -2.66543964e-03 1.98252124e+01] [ 5.40380247e-03 1.15885678e-04 9.99985393e-01 -4.40071042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.420888479 meters Centerline goodness [0,1] 0.9984928085436224 Centerline is valid? [True, True] Translation: X:67.76, Y:19.84, Z:-0.44 [[ 8.80571105e-01 -4.73892589e-01 -4.51030771e-03 6.77638511e+01] [ 4.73885698e-01 8.80582648e-01 -2.55819284e-03 1.98395681e+01] [ 5.18400733e-03 1.15300376e-04 9.99986556e-01 -4.39648595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.450888479 meters Centerline goodness [0,1] 0.9987502424098774 Centerline is valid? [True, True] Translation: X:67.79, Y:19.85, Z:-0.44 [[ 8.80487887e-01 -4.74054110e-01 -3.71237717e-03 6.77886194e+01] [ 4.74049435e-01 8.80495708e-01 -2.10749404e-03 1.98525544e+01] [ 4.26779838e-03 9.57726780e-05 9.99990888e-01 -4.37945352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.480888479 meters Centerline goodness [0,1] 0.9988547721428725 Centerline is valid? [True, True] Translation: X:67.81, Y:19.87, Z:-0.44 [[ 8.80093227e-01 -4.74790402e-01 -3.15995384e-03 6.78135405e+01] [ 4.74787016e-01 8.80098897e-01 -1.79494074e-03 1.98671597e+01] [ 3.63329253e-03 7.94101297e-05 9.99993396e-01 -4.36896263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510888479 meters Centerline goodness [0,1] 0.9989009804977912 Centerline is valid? [True, True] Translation: X:67.84, Y:19.88, Z:-0.44 [[ 8.79719659e-01 -4.75479828e-01 -3.50072698e-03 6.78379806e+01] [ 4.75475672e-01 8.79726620e-01 -1.98985457e-03 1.98805389e+01] [ 4.02581842e-03 8.60036684e-05 9.99991893e-01 -4.36967412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.540888479 meters Centerline goodness [0,1] 0.9987501885491413 Centerline is valid? [True, True] Translation: X:67.86, Y:19.90, Z:-0.44 [[ 8.79231966e-01 -4.76379142e-01 -3.75006922e-03 6.78612062e+01] [ 4.76374385e-01 8.79239959e-01 -2.13067885e-03 1.98951707e+01] [ 4.31222167e-03 8.69240407e-05 9.99990699e-01 -4.38054755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570888479 meters Centerline goodness [0,1] 0.9988808299076685 Centerline is valid? [True, True] Translation: X:67.89, Y:19.91, Z:-0.44 [[ 8.78451655e-01 -4.77816859e-01 -3.70662859e-03 6.78880902e+01] [ 4.77812216e-01 8.78459471e-01 -2.10810250e-03 1.99070529e+01] [ 4.26340991e-03 8.07937124e-05 9.99990908e-01 -4.37478910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.600888479 meters Centerline goodness [0,1] 0.9989211116865182 Centerline is valid? [True, True] Translation: X:67.91, Y:19.92, Z:-0.44 [[ 8.78090158e-01 -4.78476518e-01 -4.23034344e-03 6.79136064e+01] [ 4.78470469e-01 8.78100344e-01 -2.40755133e-03 1.99194937e+01] [ 4.86662280e-03 8.99527180e-05 9.99988154e-01 -4.36784864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63088847899999 meters Centerline goodness [0,1] 0.9988596264738789 Centerline is valid? [True, True] Translation: X:67.94, Y:19.93, Z:-0.44 [[ 8.77950721e-01 -4.78734674e-01 -3.95522696e-03 6.79386341e+01] [ 4.78729381e-01 8.77959626e-01 -2.25265007e-03 1.99321858e+01] [ 4.55095128e-03 8.42323981e-05 9.99989641e-01 -4.36347876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.660888479 meters Centerline goodness [0,1] 0.9989673199802069 Centerline is valid? [True, True] Translation: X:67.96, Y:19.95, Z:-0.44 [[ 8.77822610e-01 -4.78958667e-01 -5.10491619e-03 6.79613181e+01] [ 4.78949861e-01 8.77837448e-01 -2.90627445e-03 1.99494201e+01] [ 5.87327194e-03 1.06194526e-04 9.99982747e-01 -4.39760580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.690888479 meters Centerline goodness [0,1] 0.998666494601454 Centerline is valid? [True, True] Translation: X:67.99, Y:19.96, Z:-0.44 [[ 8.77795230e-01 -4.79007286e-01 -5.24928816e-03 6.79865822e+01] [ 4.78997957e-01 8.77810918e-01 -2.99159883e-03 1.99612852e+01] [ 6.04088010e-03 1.11612881e-04 9.99981747e-01 -4.39117364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.720888479 meters Centerline goodness [0,1] 0.9987515336763029 Centerline is valid? [True, True] Translation: X:68.01, Y:19.98, Z:-0.44 [[ 8.78014780e-01 -4.78598896e-01 -5.75702192e-03 6.80107549e+01] [ 4.78587671e-01 8.78033645e-01 -3.28023622e-03 1.99759124e+01] [ 6.62477637e-03 1.24856166e-04 9.99978048e-01 -4.40229364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.750888479 meters Centerline goodness [0,1] 0.9991136476641373 Centerline is valid? [True, True] Translation: X:68.04, Y:19.99, Z:-0.44 [[ 8.78140075e-01 -4.78353408e-01 -6.93001484e-03 6.80350592e+01] [ 4.78337128e-01 8.78167406e-01 -3.94949746e-03 1.99885580e+01] [ 7.97496873e-03 1.53328607e-04 9.99968188e-01 -4.40760416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.780888479 meters Centerline goodness [0,1] 0.9987681269045406 Centerline is valid? [True, True] Translation: X:68.06, Y:20.00, Z:-0.44 [[ 8.78202276e-01 -4.78231917e-01 -7.41592729e-03 6.80610395e+01] [ 4.78213243e-01 8.78233571e-01 -4.22962434e-03 2.00004356e+01] [ 8.53565766e-03 1.68071082e-04 9.99963556e-01 -4.39862815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.810888479 meters Centerline goodness [0,1] 0.9990503323836657 Centerline is valid? [True, True] Translation: X:68.09, Y:20.01, Z:-0.44 [[ 8.78244000e-01 -4.78159282e-01 -7.15381550e-03 6.80856380e+01] [ 4.78141877e-01 8.78273120e-01 -4.08303113e-03 2.00137331e+01] [ 8.23534309e-03 1.65358819e-04 9.99966075e-01 -4.40060976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.840888479 meters Centerline goodness [0,1] 0.9991291284753216 Centerline is valid? [True, True] Translation: X:68.11, Y:20.03, Z:-0.44 [[ 8.78304227e-01 -4.78047035e-01 -7.26069651e-03 6.81111003e+01] [ 4.78029085e-01 8.78334221e-01 -4.14612105e-03 2.00278512e+01] [ 8.35935908e-03 1.70731538e-04 9.99965045e-01 -4.40141934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870888479 meters Centerline goodness [0,1] 0.999107065075355 Centerline is valid? [True, True] Translation: X:68.14, Y:20.04, Z:-0.44 [[ 8.78516572e-01 -4.77666975e-01 -6.54934896e-03 6.81361387e+01] [ 4.77652339e-01 8.78540970e-01 -3.74268650e-03 2.00402791e+01] [ 7.54162913e-03 1.59700266e-04 9.99971549e-01 -4.40097053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.900888479 meters Centerline goodness [0,1] 0.999107065075355 Centerline is valid? [True, True] Translation: X:68.16, Y:20.05, Z:-0.44 [[ 8.78384479e-01 -4.77909852e-01 -6.54831486e-03 6.81600581e+01] [ 4.77895209e-01 8.78408873e-01 -3.74449593e-03 2.00540299e+01] [ 7.54162937e-03 1.59698808e-04 9.99971549e-01 -4.40247213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930888479 meters Centerline goodness [0,1] 0.9992007430929082 Centerline is valid? [True, True] Translation: X:68.18, Y:20.07, Z:-0.44 [[ 8.78332014e-01 -4.78010391e-01 -6.24015652e-03 6.81831743e+01] [ 4.77997096e-01 8.78354167e-01 -3.56837081e-03 2.00671047e+01] [ 7.18678581e-03 1.51437626e-04 9.99974163e-01 -4.40680997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.960888479 meters Centerline goodness [0,1] 0.9989380377538415 Centerline is valid? [True, True] Translation: X:68.21, Y:20.08, Z:-0.44 [[ 8.78180657e-01 -4.78287017e-01 -6.34530032e-03 6.82090010e+01] [ 4.78273253e-01 8.78203567e-01 -3.63183025e-03 2.00793137e+01] [ 7.30952264e-03 1.54615646e-04 9.99973273e-01 -4.40321594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990888479 meters Centerline goodness [0,1] 0.9992622808540184 Centerline is valid? [True, True] Translation: X:68.24, Y:20.09, Z:-0.44 [[ 8.77920519e-01 -4.78771957e-01 -5.74240604e-03 6.82358870e+01] [ 4.78760683e-01 8.77939288e-01 -3.28852789e-03 2.00914049e+01] [ 6.61593881e-03 1.37827877e-04 9.99978105e-01 -4.39585904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02088847899999 meters Centerline goodness [0,1] 0.9989566805051405 Centerline is valid? [True, True] Translation: X:68.26, Y:20.10, Z:-0.44 [[ 8.77811807e-01 -4.78978052e-01 -5.14359648e-03 6.82604499e+01] [ 4.78968997e-01 8.77826868e-01 -2.94787028e-03 2.01041786e+01] [ 5.92715236e-03 1.24052092e-04 9.99982427e-01 -4.39316494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.050888479 meters Centerline goodness [0,1] 0.9990242421614121 Centerline is valid? [True, True] Translation: X:68.28, Y:20.12, Z:-0.44 [[ 8.77840623e-01 -4.78932136e-01 -4.45524764e-03 6.82838415e+01] [ 4.78925342e-01 8.77851922e-01 -2.55332497e-03 2.01173220e+01] [ 5.13391708e-03 1.07681388e-04 9.99986816e-01 -4.39552247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.080888479 meters Centerline goodness [0,1] 0.999303242101596 Centerline is valid? [True, True] Translation: X:68.31, Y:20.13, Z:-0.44 [[ 8.77794792e-01 -4.79016611e-01 -4.40341822e-03 6.83104670e+01] [ 4.79009961e-01 8.77805830e-01 -2.52629834e-03 2.01280800e+01] [ 5.07548505e-03 1.08290338e-04 9.99987114e-01 -4.38391526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.110888479 meters Centerline goodness [0,1] 0.9991937065527686 Centerline is valid? [True, True] Translation: X:68.33, Y:20.14, Z:-0.44 [[ 8.77860112e-01 -4.78895499e-01 -4.55236237e-03 6.83336583e+01] [ 4.78888394e-01 8.77871909e-01 -2.61098768e-03 2.01433032e+01] [ 5.24678129e-03 1.12008435e-04 9.99986229e-01 -4.39927234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.140888479 meters Centerline goodness [0,1] 0.9994335388570557 Centerline is valid? [True, True] Translation: X:68.36, Y:20.16, Z:-0.44 [[ 8.77787875e-01 -4.79028138e-01 -4.52659788e-03 6.83592742e+01] [ 4.79021100e-01 8.77799539e-01 -2.59910150e-03 2.01552298e+01] [ 5.21848829e-03 1.13123885e-04 9.99986377e-01 -4.39523135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.170888479 meters Centerline goodness [0,1] 0.9993464764186908 Centerline is valid? [True, True] Translation: X:68.38, Y:20.17, Z:-0.44 [[ 8.77756093e-01 -4.79087907e-01 -4.36095532e-03 6.83838304e+01] [ 4.79081367e-01 8.77766920e-01 -2.50565731e-03 2.01687521e+01] [ 5.02833244e-03 1.10103532e-04 9.99987352e-01 -4.39559879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.200888479 meters Centerline goodness [0,1] 0.9996724747805581 Centerline is valid? [True, True] Translation: X:68.41, Y:20.18, Z:-0.44 [[ 8.77837213e-01 -4.78940350e-01 -4.23899341e-03 6.84082582e+01] [ 4.78934172e-01 8.77847441e-01 -2.43490741e-03 2.01812853e+01] [ 4.88736493e-03 1.07253531e-04 9.99988051e-01 -4.39221617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.230888479 meters Centerline goodness [0,1] 0.9993652739171354 Centerline is valid? [True, True] Translation: X:68.43, Y:20.19, Z:-0.44 [[ 8.77560852e-01 -4.79448574e-01 -4.00184987e-03 6.84338012e+01] [ 4.79443062e-01 8.77569971e-01 -2.30140173e-03 2.01941666e+01] [ 4.61530706e-03 1.00960912e-04 9.99989344e-01 -4.39130161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.260888479 meters Centerline goodness [0,1] 0.9994751000590513 Centerline is valid? [True, True] Translation: X:68.46, Y:20.21, Z:-0.44 [[ 8.77092540e-01 -4.80306065e-01 -3.84202815e-03 6.84581721e+01] [ 4.80300995e-01 8.77100950e-01 -2.20879163e-03 2.02069290e+01] [ 4.43074256e-03 9.19847193e-05 9.99990180e-01 -4.39338884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290888479 meters Centerline goodness [0,1] 0.9995408129796864 Centerline is valid? [True, True] Translation: X:68.48, Y:20.22, Z:-0.44 [[ 8.76599965e-01 -4.81206025e-01 -3.64191928e-03 6.84841137e+01] [ 4.81201468e-01 8.76607526e-01 -2.09589763e-03 2.02198265e+01] [ 4.20109242e-03 8.47668824e-05 9.99991172e-01 -4.39398278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.320888479 meters Centerline goodness [0,1] 0.9997149185324883 Centerline is valid? [True, True] Translation: X:68.51, Y:20.23, Z:-0.44 [[ 8.75276483e-01 -4.83607419e-01 -3.86549070e-03 6.85112334e+01] [ 4.83602304e-01 8.75285015e-01 -2.22576655e-03 2.02307843e+01] [ 4.45980330e-03 7.88009096e-05 9.99990052e-01 -4.39494677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350888479 meters Centerline goodness [0,1] 0.9995384716819411 Centerline is valid? [True, True] Translation: X:68.54, Y:20.24, Z:-0.44 [[ 8.74614028e-01 -4.84807746e-01 -3.42795446e-03 6.85357239e+01] [ 4.84803734e-01 8.74620743e-01 -1.97340611e-03 2.02439882e+01] [ 3.95488265e-03 6.40835481e-05 9.99992177e-01 -4.40237150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38088847899999 meters Centerline goodness [0,1] 0.9998457028236384 Centerline is valid? [True, True] Translation: X:68.56, Y:20.25, Z:-0.44 [[ 8.72958365e-01 -4.87786815e-01 -2.77793031e-03 6.85632432e+01] [ 4.87784189e-01 8.72962784e-01 -1.60118908e-03 2.02541158e+01] [ 3.20606870e-03 4.27409153e-05 9.99994860e-01 -4.39431271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.410888479 meters Centerline goodness [0,1] 0.9999113082039911 Centerline is valid? [True, True] Translation: X:68.59, Y:20.27, Z:-0.44 [[ 8.72081371e-01 -4.89353700e-01 -2.65291250e-03 6.85881769e+01] [ 4.89351313e-01 8.72085406e-01 -1.52892611e-03 2.02663047e+01] [ 3.06175192e-03 3.51417587e-05 9.99995312e-01 -4.39046974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.440888479 meters Centerline goodness [0,1] 0.9996681929789635 Centerline is valid? [True, True] Translation: X:68.61, Y:20.28, Z:-0.44 [[ 8.71291799e-01 -4.90759255e-01 -2.44028117e-03 6.86146532e+01] [ 4.90757239e-01 8.71295216e-01 -1.40687476e-03 2.02791404e+01] [ 2.81664212e-03 2.82127935e-05 9.99996033e-01 -4.38906402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.470888479 meters Centerline goodness [0,1] 0.9997786190254809 Centerline is valid? [True, True] Translation: X:68.64, Y:20.29, Z:-0.44 [[ 8.70190908e-01 -4.92712725e-01 -1.39785215e-03 6.86405374e+01] [ 4.92712063e-01 8.70192031e-01 -8.07361783e-04 2.02913820e+01] [ 1.61419722e-03 1.38202682e-05 9.99998697e-01 -4.38866752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.500888479 meters Centerline goodness [0,1] 0.999911490717589 Centerline is valid? [True, True] Translation: X:68.67, Y:20.30, Z:-0.44 [[ 8.69786270e-01 -4.93425855e-01 -1.66427506e-03 6.86650346e+01] [ 4.93424918e-01 8.69787862e-01 -9.61804487e-04 2.03043220e+01] [ 1.92214545e-03 1.53695539e-05 9.99998153e-01 -4.38687561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.530888479 meters Centerline goodness [0,1] 0.9998891868531282 Centerline is valid? [True, True] Translation: X:68.69, Y:20.32, Z:-0.44 [[ 8.69607153e-01 -4.93742919e-01 -1.15328132e-03 6.86889503e+01] [ 4.93742470e-01 8.69607917e-01 -6.65960856e-04 2.03187929e+01] [ 1.33171602e-03 9.70035689e-06 9.99999113e-01 -4.40269350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.560888479 meters Centerline goodness [0,1] 0.9999113494825026 Centerline is valid? [True, True] Translation: X:68.71, Y:20.33, Z:-0.44 [[ 8.69357763e-01 -4.94182648e-01 -7.68292055e-04 6.87142724e+01] [ 4.94182447e-01 8.69358102e-01 -4.45263962e-04 2.03319680e+01] [ 8.87962647e-04 7.41723433e-06 9.99999606e-01 -4.39599858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.590888479 meters Centerline goodness [0,1] 0.9998217309920671 Centerline is valid? [True, True] Translation: X:68.74, Y:20.35, Z:-0.44 [[ 8.69446771e-01 -4.94026588e-01 -2.06439336e-04 6.87385844e+01] [ 4.94026573e-01 8.69446796e-01 -1.21011903e-04 2.03453912e+01] [ 2.39271116e-04 3.22689075e-06 9.99999971e-01 -4.39923312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.620888479 meters Centerline goodness [0,1] 0.9999110537902204 Centerline is valid? [True, True] Translation: X:68.76, Y:20.36, Z:-0.44 [[ 8.69401920e-01 -4.94105496e-01 -2.44599841e-04 6.87618246e+01] [ 4.94105476e-01 8.69401954e-01 -1.42106025e-04 2.03583900e+01] [ 2.82870948e-04 2.68913006e-06 9.99999960e-01 -4.40622609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650888479 meters Centerline goodness [0,1] 0.9999331431627742 Centerline is valid? [True, True] Translation: X:68.79, Y:20.37, Z:-0.44 [[ 8.69236056e-01 -4.94397246e-01 2.05462504e-04 6.87864988e+01] [ 4.94397232e-01 8.69236080e-01 1.17089086e-04 2.03716248e+01] [-2.36483943e-04 -1.97961814e-07 9.99999972e-01 -4.40578097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.680888479 meters Centerline goodness [0,1] 0.9998444962790181 Centerline is valid? [True, True] Translation: X:68.81, Y:20.39, Z:-0.44 [[ 8.69566847e-01 -4.93814713e-01 7.26023657e-04 6.88093596e+01] [ 4.93814535e-01 8.69567150e-01 4.19184120e-04 2.03858678e+01] [-8.38325608e-04 -5.98757915e-06 9.99999649e-01 -4.40973136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710888479 meters Centerline goodness [0,1] 0.9999777411743757 Centerline is valid? [True, True] Translation: X:68.83, Y:20.40, Z:-0.44 [[ 8.69746860e-01 -4.93496471e-01 1.27763058e-03 6.88345781e+01] [ 4.93495919e-01 8.69747799e-01 7.37687230e-04 2.03989072e+01] [-1.47526243e-03 -1.10956741e-05 9.99998912e-01 -4.40358027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.740888479 meters Centerline goodness [0,1] 0.9997996750283794 Centerline is valid? [True, True] Translation: X:68.86, Y:20.41, Z:-0.44 [[ 8.70099746e-01 -4.92874126e-01 1.23590259e-03 6.88584721e+01] [ 4.92873608e-01 8.70100624e-01 7.14894146e-04 2.04133028e+01] [-1.42771244e-03 -1.28854486e-05 9.99998981e-01 -4.41037258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77088847899999 meters Centerline goodness [0,1] 0.9998886488653319 Centerline is valid? [True, True] Translation: X:68.88, Y:20.43, Z:-0.44 [[ 8.71045985e-01 -4.91198383e-01 1.74380467e-03 6.88825346e+01] [ 4.91197347e-01 8.71047730e-01 1.00911336e-03 2.04278064e+01] [-2.01461195e-03 -2.24319172e-05 9.99997970e-01 -4.41389499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.800888479 meters Centerline goodness [0,1] 0.9999777143875914 Centerline is valid? [True, True] Translation: X:68.91, Y:20.44, Z:-0.44 [[ 8.71403986e-01 -4.90563129e-01 1.70579451e-03 6.89072607e+01] [ 4.90562136e-01 8.71405655e-01 9.87294433e-04 2.04417411e+01] [-1.97076923e-03 -2.35341085e-05 9.99998058e-01 -4.41887984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.93, Y:20.46, Z:-0.44 [[ 8.71797466e-01 -4.89863341e-01 1.75645529e-03 6.89303901e+01] [ 4.89862286e-01 8.71799235e-01 1.01683763e-03 2.04578077e+01] [-2.02938786e-03 -2.60552680e-05 9.99997940e-01 -4.42753712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.96, Y:20.47, Z:-0.44 [[ 8.72021014e-01 -4.89461650e-01 2.57777379e-03 6.89550708e+01] [ 4.89459376e-01 8.72024823e-01 1.49232543e-03 2.04705458e+01] [-2.97831880e-03 -3.96235870e-05 9.99995564e-01 -4.43006270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.890888479 meters Centerline goodness [0,1] 0.9999109210760734 Centerline is valid? [True, True] Translation: X:68.98, Y:20.48, Z:-0.44 [[ 8.71979898e-01 -4.89536422e-01 2.26907035e-03 6.89794302e+01] [ 4.89534659e-01 8.71982850e-01 1.31423140e-03 2.04840989e+01] [-2.62195456e-03 -3.51947857e-05 9.99996562e-01 -4.43381697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.920888479 meters Centerline goodness [0,1] 0.999866506474436 Centerline is valid? [True, True] Translation: X:69.00, Y:20.50, Z:-0.44 [[ 8.71995015e-01 -4.89509605e-01 2.24512695e-03 6.90027516e+01] [ 4.89507876e-01 8.71997904e-01 1.30168114e-03 2.04983545e+01] [-2.59493142e-03 -3.60521423e-05 9.99996633e-01 -4.44188420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.950888479 meters Centerline goodness [0,1] 0.9999328859060402 Centerline is valid? [True, True] Translation: X:69.03, Y:20.51, Z:-0.44 [[ 8.71840962e-01 -4.89782763e-01 2.48640632e-03 6.90277797e+01] [ 4.89780643e-01 8.71844506e-01 1.44158879e-03 2.05113233e+01] [-2.87382503e-03 -3.90424703e-05 9.99995870e-01 -4.44720167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.980888479 meters Centerline goodness [0,1] 0.9998883430102724 Centerline is valid? [True, True] Translation: X:69.05, Y:20.52, Z:-0.44 [[ 8.71716361e-01 -4.90002420e-01 2.86591663e-03 6.90524775e+01] [ 4.89999601e-01 8.71721071e-01 1.66292998e-03 2.05238858e+01] [-3.31311963e-03 -4.53052714e-05 9.99994511e-01 -4.44395687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010888479 meters Centerline goodness [0,1] 0.99986570571646 Centerline is valid? [True, True] Translation: X:69.08, Y:20.54, Z:-0.44 [[ 8.71691266e-01 -4.90045956e-01 3.04909834e-03 6.90762339e+01] [ 4.90042759e-01 8.71696598e-01 1.77077396e-03 2.05372004e+01] [-3.52564926e-03 -4.93796317e-05 9.99993784e-01 -4.43943689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.040888479 meters Centerline goodness [0,1] 0.9998876202463364 Centerline is valid? [True, True] Translation: X:69.10, Y:20.55, Z:-0.44 [[ 8.71653716e-01 -4.90107731e-01 3.76969541e-03 6.91006439e+01] [ 4.90102843e-01 8.71661866e-01 2.18984073e-03 2.05509996e+01] [-4.35915761e-03 -6.12443718e-05 9.99990497e-01 -4.43941390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.12, Y:20.57, Z:-0.44 [[ 8.71476173e-01 -4.90427984e-01 3.11014175e-03 6.91236848e+01] [ 4.90424655e-01 8.71481721e-01 1.80783176e-03 2.05650753e+01] [-3.59704297e-03 -5.01921093e-05 9.99993529e-01 -4.44095469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.100888479 meters Centerline goodness [0,1] 0.9999105805557419 Centerline is valid? [True, True] Translation: X:69.15, Y:20.58, Z:-0.44 [[ 8.71452297e-01 -4.90468583e-01 3.38591875e-03 6.91493516e+01] [ 4.90464636e-01 8.71458873e-01 1.96843200e-03 2.05765014e+01] [-3.91614299e-03 -5.47211806e-05 9.99992330e-01 -4.44427607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13088847899999 meters Centerline goodness [0,1] 0.9998432672070217 Centerline is valid? [True, True] Translation: X:69.17, Y:20.59, Z:-0.44 [[ 8.71219776e-01 -4.90884148e-01 2.97570466e-03 6.91740816e+01] [ 4.90881099e-01 8.71224857e-01 1.73083460e-03 2.05903842e+01] [-3.44214713e-03 -4.72201593e-05 9.99994075e-01 -4.44659499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.160888479 meters Centerline goodness [0,1] 0.9998206479094272 Centerline is valid? [True, True] Translation: X:69.20, Y:20.61, Z:-0.45 [[ 8.70940383e-01 -4.91382215e-01 2.52332186e-03 6.91976412e+01] [ 4.91380021e-01 8.70944038e-01 1.46892362e-03 2.06058218e+01] [-2.91947507e-03 -3.94349481e-05 9.99995738e-01 -4.45842691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.190888479 meters Centerline goodness [0,1] 0.9999329638898821 Centerline is valid? [True, True] Translation: X:69.22, Y:20.62, Z:-0.45 [[ 8.70436766e-01 -4.92277473e-01 1.65096789e-03 6.92238638e+01] [ 4.92276537e-01 8.70438331e-01 9.60312041e-04 2.06159504e+01] [-1.90980572e-03 -2.31581524e-05 9.99998176e-01 -4.46331186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.220888479 meters Centerline goodness [0,1] 0.9999550167562583 Centerline is valid? [True, True] Translation: X:69.25, Y:20.63, Z:-0.45 [[ 8.70272880e-01 -4.92566891e-01 1.72394970e-03 6.92474773e+01] [ 4.92565868e-01 8.70274588e-01 1.00382745e-03 2.06299984e+01] [-1.99476178e-03 -2.44450234e-05 9.99998010e-01 -4.46414904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.250888479 meters Centerline goodness [0,1] 0.9999775829989463 Centerline is valid? [True, True] Translation: X:69.27, Y:20.64, Z:-0.45 [[ 8.70212469e-01 -4.92673044e-01 1.87885903e-03 6.92717100e+01] [ 4.92671829e-01 8.70214497e-01 1.09428495e-03 2.06436968e+01] [-2.17413506e-03 -2.65994954e-05 9.99997636e-01 -4.46076170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.280888479 meters Centerline goodness [0,1] 0.9998211171235634 Centerline is valid? [True, True] Translation: X:69.30, Y:20.66, Z:-0.45 [[ 8.70385684e-01 -4.92368211e-01 1.51875929e-03 6.92981544e+01] [ 4.92367416e-01 8.70387009e-01 8.84889265e-04 2.06562785e+01] [-1.75759970e-03 -2.24073584e-05 9.99998455e-01 -4.45359707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.310888479 meters Centerline goodness [0,1] 0.9999329519041659 Centerline is valid? [True, True] Translation: X:69.32, Y:20.67, Z:-0.45 [[ 8.70321621e-01 -4.92481916e-01 1.35572365e-03 6.93213357e+01] [ 4.92481282e-01 8.70322677e-01 7.90739345e-04 2.06709032e+01] [-1.56934186e-03 -2.05290288e-05 9.99998768e-01 -4.46074555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.340888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:20.68, Z:-0.45 [[ 8.69896473e-01 -4.93233533e-01 8.98895176e-04 6.93462752e+01] [ 4.93233256e-01 8.69896937e-01 5.23435175e-04 2.06847215e+01] [-1.04012194e-03 -1.19694179e-05 9.99999459e-01 -4.46063947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:20.70, Z:-0.45 [[ 8.69125793e-01 -4.94590456e-01 7.98734891e-04 6.93723475e+01] [ 4.94590237e-01 8.69126159e-01 4.65340686e-04 2.06976709e+01] [-9.24354450e-04 -9.39311398e-06 9.99999573e-01 -4.46399247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.40, Y:20.71, Z:-0.45 [[ 8.68462512e-01 -4.95754079e-01 8.70295881e-04 6.93976352e+01] [ 4.95753820e-01 8.68462948e-01 5.07458916e-04 2.07111612e+01] [-1.00739455e-03 -9.25653776e-06 9.99999493e-01 -4.46527959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430888479 meters Centerline goodness [0,1] 0.9999102354076435 Centerline is valid? [True, True] Translation: X:69.42, Y:20.72, Z:-0.45 [[ 8.67821302e-01 -4.96875894e-01 7.30827332e-04 6.94225575e+01] [ 4.96875712e-01 8.67821609e-01 4.25942968e-04 2.07243068e+01] [-8.45868544e-04 -6.51203000e-06 9.99999642e-01 -4.46885321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.460888479 meters Centerline goodness [0,1] 0.9999327700961388 Centerline is valid? [True, True] Translation: X:69.45, Y:20.74, Z:-0.45 [[ 8.66570731e-01 -4.99054171e-01 3.20051122e-04 6.94477488e+01] [ 4.99054136e-01 8.66570790e-01 1.86545470e-04 2.07358452e+01] [-3.70443248e-04 -1.93200808e-06 9.99999931e-01 -4.46639710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490888479 meters Centerline goodness [0,1] 0.9999106464727695 Centerline is valid? [True, True] Translation: X:69.47, Y:20.75, Z:-0.45 [[ 8.65624717e-01 -5.00693305e-01 2.52235372e-04 6.94730878e+01] [ 5.00693284e-01 8.65624754e-01 1.46017980e-04 2.07480141e+01] [-2.91451407e-04 -1.04216550e-07 9.99999958e-01 -4.46007005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52088847899999 meters Centerline goodness [0,1] 0.9997983780635333 Centerline is valid? [True, True] Translation: X:69.50, Y:20.76, Z:-0.44 [[ 8.64613982e-01 -5.02436118e-01 7.80486364e-04 6.94994422e+01] [ 5.02435911e-01 8.64614334e-01 4.55882656e-04 2.07607982e+01] [-9.03871610e-04 -2.01814164e-06 9.99999592e-01 -4.44924424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.550888479 meters Centerline goodness [0,1] 0.9998875241823008 Centerline is valid? [True, True] Translation: X:69.52, Y:20.77, Z:-0.45 [[ 8.63168067e-01 -5.04916200e-01 7.20173085e-04 6.95247941e+01] [ 5.04916025e-01 8.63168368e-01 4.20589502e-04 2.07734306e+01] [-8.33993079e-04 5.87503788e-07 9.99999652e-01 -4.45551233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.580888479 meters Centerline goodness [0,1] 0.9998651776284745 Centerline is valid? [True, True] Translation: X:69.55, Y:20.79, Z:-0.45 [[ 8.62611525e-01 -5.05866893e-01 2.06214364e-04 6.95494629e+01] [ 5.05866879e-01 8.62611550e-01 1.19272546e-04 2.07878383e+01] [-2.38218925e-04 1.43114344e-06 9.99999972e-01 -4.46621294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.610888479 meters Centerline goodness [0,1] 0.999797616370587 Centerline is valid? [True, True] Translation: X:69.57, Y:20.80, Z:-0.45 [[ 8.62247390e-01 -5.06487335e-01 1.35049234e-04 6.95739120e+01] [ 5.06487329e-01 8.62247401e-01 7.75648277e-05 2.08020132e+01] [-1.55731454e-04 1.52065575e-06 9.99999988e-01 -4.47051050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.60, Y:20.82, Z:-0.45 [[ 8.61981429e-01 -5.06939834e-01 1.45241138e-04 6.95977005e+01] [ 5.06939827e-01 8.61981441e-01 8.45534212e-05 2.08153517e+01] [-1.68058663e-04 7.45038783e-07 9.99999986e-01 -4.46873073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.670888479 meters Centerline goodness [0,1] 0.9999775633834418 Centerline is valid? [True, True] Translation: X:69.62, Y:20.83, Z:-0.45 [[ 8.61439019e-01 -5.07860950e-01 -2.67695703e-04 6.96219396e+01] [ 5.07860925e-01 8.61439061e-01 -1.58455084e-04 2.08274299e+01] [ 3.11076685e-04 5.47204894e-07 9.99999952e-01 -4.47135561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.65, Y:20.84, Z:-0.45 [[ 8.60880081e-01 -5.08807371e-01 -7.38947157e-04 6.96464777e+01] [ 5.08807184e-01 8.60880398e-01 -4.36147723e-04 2.08409658e+01] [ 8.58060299e-04 -5.10734611e-07 9.99999632e-01 -4.47503142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.67, Y:20.85, Z:-0.45 [[ 8.60411397e-01 -5.09598154e-01 -1.39621750e-03 6.96710201e+01] [ 5.09597489e-01 8.60412530e-01 -8.23075013e-04 2.08544882e+01] [ 1.62076054e-03 -3.32581042e-06 9.99998687e-01 -4.48273999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.760888479 meters Centerline goodness [0,1] 0.9999775007874724 Centerline is valid? [True, True] Translation: X:69.70, Y:20.87, Z:-0.45 [[ 8.60259339e-01 -5.09852568e-01 -2.05647784e-03 6.96950455e+01] [ 5.09851127e-01 8.60261797e-01 -1.21234479e-03 2.08696905e+01] [ 2.38722642e-03 -5.56661105e-06 9.99997151e-01 -4.49304802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.72, Y:20.88, Z:-0.45 [[ 8.60699297e-01 -5.09106365e-01 -2.72557136e-03 6.97175677e+01] [ 5.09103833e-01 8.60703613e-01 -1.60561235e-03 2.08841227e+01] [ 3.16333659e-03 -5.64940337e-06 9.99994997e-01 -4.50416357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.820888479 meters Centerline goodness [0,1] 0.9999098510288251 Centerline is valid? [True, True] Translation: X:69.74, Y:20.90, Z:-0.45 [[ 8.61329494e-01 -5.08037797e-01 -3.01654839e-03 6.97414896e+01] [ 5.08034682e-01 8.61334776e-01 -1.77901866e-03 2.08995368e+01] [ 3.50206675e-03 -1.89961487e-07 9.99993868e-01 -4.51058178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850888479 meters Centerline goodness [0,1] 0.9999098510288251 Centerline is valid? [True, True] Translation: X:69.77, Y:20.91, Z:-0.45 [[ 8.61192487e-01 -5.08270010e-01 -3.01606862e-03 6.97652259e+01] [ 5.08266894e-01 8.61197769e-01 -1.77983231e-03 2.09136181e+01] [ 3.50206695e-03 -1.89614146e-07 9.99993868e-01 -4.51208300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.79, Y:20.93, Z:-0.45 [[ 8.62212834e-01 -5.06527637e-01 -4.33394310e-03 6.97883411e+01] [ 5.06521185e-01 8.62223726e-01 -2.55659575e-03 2.09289345e+01] [ 5.03181497e-03 9.09567550e-06 9.99987340e-01 -4.52948677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.81, Y:20.94, Z:-0.45 [[ 8.62513118e-01 -5.06017538e-01 -4.16810898e-03 6.98124609e+01] [ 5.06011553e-01 8.62523189e-01 -2.46123719e-03 2.09439211e+01] [ 4.84051983e-03 1.37380609e-05 9.99988285e-01 -4.51933949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.84, Y:20.96, Z:-0.45 [[ 8.62871615e-01 -5.05407414e-01 -3.99027167e-03 6.98352127e+01] [ 5.05401923e-01 8.62880841e-01 -2.35595806e-03 2.09585787e+01] [ 4.63384765e-03 1.61983564e-05 9.99989264e-01 -4.52379209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.970888479 meters Centerline goodness [0,1] 0.9999775376805409 Centerline is valid? [True, True] Translation: X:69.86, Y:20.97, Z:-0.45 [[ 8.62928635e-01 -5.05315496e-01 -3.22802180e-03 6.98589528e+01] [ 5.05311894e-01 8.62934672e-01 -1.90816808e-03 2.09733038e+01] [ 3.74979884e-03 1.54550665e-05 9.99992969e-01 -4.51463021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.88, Y:20.99, Z:-0.45 [[ 8.63506253e-01 -5.04335203e-01 -1.71904561e-03 6.98821629e+01] [ 5.04334179e-01 8.63507964e-01 -1.01635094e-03 2.09882206e+01] [ 1.99699113e-03 1.06519331e-05 9.99998006e-01 -4.50435608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.030888479 meters Centerline goodness [0,1] 0.9999775124243855 Centerline is valid? [True, True] Translation: X:69.91, Y:21.00, Z:-0.45 [[ 8.63879164e-01 -5.03697694e-01 -1.19258337e-03 6.99060236e+01] [ 5.03697199e-01 8.63879987e-01 -7.06645000e-04 2.10028984e+01] [ 1.38618436e-03 9.75498993e-06 9.99999039e-01 -4.50216365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.060888479 meters Centerline goodness [0,1] 0.99997747798473 Centerline is valid? [True, True] Translation: X:69.93, Y:21.02, Z:-0.45 [[ 8.64077941e-01 -5.03356077e-01 -1.40452548e-03 6.99303782e+01] [ 5.03355388e-01 8.64079082e-01 -8.32497118e-04 2.10173625e+01] [ 1.63266357e-03 1.23669251e-05 9.99998667e-01 -4.49601537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.090888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.95, Y:21.03, Z:-0.45 [[ 8.64769957e-01 -5.02166929e-01 -1.13864275e-03 6.99538385e+01] [ 5.02166476e-01 8.64770707e-01 -6.74164963e-04 2.10332217e+01] [ 1.32320824e-03 1.12093904e-05 9.99999124e-01 -4.50101184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.120888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.98, Y:21.05, Z:-0.45 [[ 8.65045144e-01 -5.01691095e-01 -1.71560334e-03 6.99779404e+01] [ 5.01690065e-01 8.65046845e-01 -1.01697658e-03 2.10485025e+01] [ 1.99428535e-03 1.90294991e-05 9.99998011e-01 -4.51200288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.00, Y:21.06, Z:-0.45 [[ 8.65292342e-01 -5.01263481e-01 -2.02131482e-03 7.00024218e+01] [ 5.01262048e-01 8.65294703e-01 -1.19861694e-03 2.10633808e+01] [ 2.34985590e-03 2.39456540e-05 9.99997239e-01 -4.52068383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.180888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.03, Y:21.08, Z:-0.45 [[ 8.66001760e-01 -5.00030947e-01 -3.16286044e-03 7.00257982e+01] [ 5.00027437e-01 8.66007535e-01 -1.87407206e-03 2.10785444e+01] [ 3.67615499e-03 4.14327046e-05 9.99993242e-01 -4.54330630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210888479 meters Centerline goodness [0,1] 0.9999774891385094 Centerline is valid? [True, True] Translation: X:70.05, Y:21.09, Z:-0.45 [[ 8.66469167e-01 -4.99219046e-01 -3.39518543e-03 7.00502279e+01] [ 4.99214987e-01 8.66475817e-01 -2.01367560e-03 2.10937622e+01] [ 3.94711128e-03 4.98603697e-05 9.99992209e-01 -4.54991051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.240888479 meters Centerline goodness [0,1] 0.9997961956521739 Centerline is valid? [True, True] Translation: X:70.07, Y:21.11, Z:-0.46 [[ 8.67368428e-01 -4.97645996e-01 -4.52469203e-03 7.00746569e+01] [ 4.97638761e-01 8.67380226e-01 -2.68453089e-03 2.11095838e+01] [ 5.26057445e-03 7.68152030e-05 9.99986160e-01 -4.56287284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27088847899999 meters Centerline goodness [0,1] 0.9999319295697949 Centerline is valid? [True, True] Translation: X:70.10, Y:21.12, Z:-0.46 [[ 8.67623626e-01 -4.97198612e-01 -4.77317295e-03 7.00995873e+01] [ 4.97190546e-01 8.67636752e-01 -2.83347476e-03 2.11240850e+01] [ 5.55017999e-03 8.52131854e-05 9.99984594e-01 -4.55972125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.300888479 meters Centerline goodness [0,1] 0.9998869519998191 Centerline is valid? [True, True] Translation: X:70.12, Y:21.14, Z:-0.46 [[ 8.67935136e-01 -4.96654512e-01 -4.78500381e-03 7.01223917e+01] [ 4.96646399e-01 8.67948321e-01 -2.84006135e-03 2.11395270e+01] [ 5.56366530e-03 8.85341195e-05 9.99984519e-01 -4.56851632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.330888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.15, Y:21.15, Z:-0.46 [[ 8.68063121e-01 -4.96432970e-01 -4.55234811e-03 7.01472039e+01] [ 4.96425608e-01 8.68075054e-01 -2.70494425e-03 2.11535002e+01] [ 5.29460334e-03 8.81601708e-05 9.99985980e-01 -4.55994874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.360888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.17, Y:21.17, Z:-0.46 [[ 8.68341767e-01 -4.95946667e-01 -4.41361367e-03 7.01711248e+01] [ 4.95939744e-01 8.68352979e-01 -2.62185457e-03 2.11683286e+01] [ 5.13287461e-03 8.77793908e-05 9.99986823e-01 -4.56118312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.390888479 meters Centerline goodness [0,1] 0.999864330130017 Centerline is valid? [True, True] Translation: X:70.19, Y:21.18, Z:-0.46 [[ 8.68275425e-01 -4.96062273e-01 -4.47295640e-03 7.01943748e+01] [ 4.96055160e-01 8.68286942e-01 -2.65798512e-03 2.11818820e+01] [ 5.20233577e-03 8.90300585e-05 9.99986464e-01 -4.56327313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.420888479 meters Centerline goodness [0,1] 0.9999094551463431 Centerline is valid? [True, True] Translation: X:70.22, Y:21.20, Z:-0.46 [[ 8.68083988e-01 -4.96401718e-01 -3.93999303e-03 7.02188775e+01] [ 4.96396191e-01 8.68092926e-01 -2.34369118e-03 2.11963485e+01] [ 4.58369240e-03 7.87232597e-05 9.99989492e-01 -4.56001056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.450888479 meters Centerline goodness [0,1] 0.9998865621525966 Centerline is valid? [True, True] Translation: X:70.24, Y:21.21, Z:-0.46 [[ 8.67758485e-01 -4.96974291e-01 -3.43013343e-03 7.02440826e+01] [ 4.96970102e-01 8.67765262e-01 -2.04156580e-03 2.12102658e+01] [ 3.99115635e-03 6.69122844e-05 9.99992033e-01 -4.55345429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.480888479 meters Centerline goodness [0,1] 0.9997513056453619 Centerline is valid? [True, True] Translation: X:70.27, Y:21.22, Z:-0.46 [[ 8.67066427e-01 -4.98185961e-01 -2.56132547e-03 7.02679535e+01] [ 4.98183631e-01 8.67070208e-01 -1.52416591e-03 2.12242293e+01] [ 2.98016707e-03 4.55426613e-05 9.99995558e-01 -4.55774119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510888479 meters Centerline goodness [0,1] 0.9998197467441756 Centerline is valid? [True, True] Translation: X:70.29, Y:21.24, Z:-0.46 [[ 8.66615948e-01 -4.98967011e-01 -2.95317824e-03 7.02921947e+01] [ 4.98963918e-01 8.66620978e-01 -1.75757837e-03 2.12376091e+01] [ 3.43625984e-03 4.96160597e-05 9.99994095e-01 -4.56105571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.32, Y:21.25, Z:-0.46 [[ 8.66155460e-01 -4.99765610e-01 -3.00884682e-03 7.03170494e+01] [ 4.99762396e-01 8.66160685e-01 -1.79300224e-03 2.12501754e+01] [ 3.50222568e-03 4.93101799e-05 9.99993866e-01 -4.55518408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570888479 meters Centerline goodness [0,1] 0.9998859853149086 Centerline is valid? [True, True] Translation: X:70.34, Y:21.26, Z:-0.46 [[ 8.65217574e-01 -5.01385135e-01 -3.39042581e-03 7.03432267e+01] [ 5.01381064e-01 8.65224216e-01 -2.02109285e-03 2.12624014e+01] [ 3.94682443e-03 4.87897521e-05 9.99992210e-01 -4.55365000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.600888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.37, Y:21.28, Z:-0.46 [[ 8.64441401e-01 -5.02717793e-01 -3.98566390e-03 7.03679912e+01] [ 5.02712174e-01 8.64450588e-01 -2.37734496e-03 2.12759045e+01] [ 4.64054311e-03 5.14336494e-05 9.99989231e-01 -4.55988312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63088847899999 meters Centerline goodness [0,1] 0.999932077522188 Centerline is valid? [True, True] Translation: X:70.39, Y:21.29, Z:-0.46 [[ 8.63895221e-01 -5.03650450e-01 -4.61205990e-03 7.03921676e+01] [ 5.03642932e-01 8.63907531e-01 -2.75239108e-03 2.12895807e+01] [ 5.37063628e-03 5.49461296e-05 9.99985577e-01 -4.56779652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.660888479 meters Centerline goodness [0,1] 0.9999318398691326 Centerline is valid? [True, True] Translation: X:70.42, Y:21.30, Z:-0.46 [[ 8.62863940e-01 -5.05408162e-01 -5.33012611e-03 7.04161628e+01] [ 5.05398160e-01 8.62880401e-01 -3.18006370e-03 2.13038063e+01] [ 6.20649151e-03 5.01263674e-05 9.99980738e-01 -4.59851628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.44, Y:21.32, Z:-0.46 [[ 8.61995210e-01 -5.06886576e-01 -5.50063697e-03 7.04404980e+01] [ 5.06875933e-01 8.62012759e-01 -3.28498714e-03 2.13170355e+01] [ 6.40673514e-03 4.35026832e-05 9.99979476e-01 -4.59702996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.720888479 meters Centerline goodness [0,1] 0.9999315271723005 Centerline is valid? [True, True] Translation: X:70.47, Y:21.33, Z:-0.46 [[ 8.61221617e-01 -5.08197115e-01 -5.74611661e-03 7.04655226e+01] [ 5.08185517e-01 8.61240786e-01 -3.43361223e-03 2.13303208e+01] [ 6.69374181e-03 3.70078404e-05 9.99977596e-01 -4.59740017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.49, Y:21.34, Z:-0.46 [[ 8.59386989e-01 -5.11301235e-01 -5.00494711e-03 7.04914190e+01] [ 5.11292479e-01 8.59401563e-01 -2.99232240e-03 2.13423712e+01] [ 5.83123751e-03 1.25711226e-05 9.99982998e-01 -4.59539188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.780888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:21.36, Z:-0.46 [[ 8.58304801e-01 -5.13120903e-01 -4.45057804e-03 7.05162210e+01] [ 5.13113994e-01 8.58316340e-01 -2.66281412e-03 2.13554046e+01] [ 5.18634945e-03 1.85227358e-06 9.99986551e-01 -4.58855159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.810888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.54, Y:21.37, Z:-0.46 [[ 8.55943159e-01 -5.17058994e-01 -3.36222090e-03 7.05421782e+01] [ 5.17055075e-01 8.55949763e-01 -2.01330970e-03 2.13670979e+01] [ 3.91889207e-03 -1.51747098e-05 9.99992321e-01 -4.57126186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.840888479 meters Centerline goodness [0,1] 0.9999544750978785 Centerline is valid? [True, True] Translation: X:70.57, Y:21.38, Z:-0.46 [[ 8.54725065e-01 -5.19075527e-01 -2.37942588e-03 7.05662231e+01] [ 5.19073572e-01 8.54728376e-01 -1.42471600e-03 2.13790701e+01] [ 2.77329802e-03 -1.73566096e-05 9.99996154e-01 -4.57545986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.59, Y:21.39, Z:-0.46 [[ 8.53743997e-01 -5.20689116e-01 -2.00816515e-03 7.05908103e+01] [ 5.20687728e-01 8.53746358e-01 -1.20250629e-03 2.13928426e+01] [ 2.34059562e-03 -1.89944289e-05 9.99997261e-01 -4.57199672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.900888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:21.41, Z:-0.46 [[ 8.52809931e-01 -5.22218369e-01 -1.78764158e-03 7.06148905e+01] [ 5.22217269e-01 8.52811805e-01 -1.07211083e-03 2.14087290e+01] [ 2.08439781e-03 -1.92305402e-05 9.99997827e-01 -4.56002097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:21.42, Z:-0.46 [[ 8.51469825e-01 -5.24401570e-01 -1.45953342e-03 7.06401563e+01] [ 5.24400840e-01 8.51471076e-01 -8.75145348e-04 2.14207463e+01] [ 1.70167808e-03 -2.02206928e-05 9.99998552e-01 -4.58762606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.960888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:21.44, Z:-0.46 [[ 8.50851372e-01 -5.25404307e-01 -1.50231066e-03 7.06639104e+01] [ 5.25403533e-01 8.50852698e-01 -9.01985747e-04 2.14374404e+01] [ 1.75215227e-03 -2.18635177e-05 9.99998465e-01 -4.57595770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990888479 meters Centerline goodness [0,1] 0.9998866778477857 Centerline is valid? [True, True] Translation: X:70.69, Y:21.45, Z:-0.46 [[ 8.50441328e-01 -5.26068158e-01 -1.35669382e-03 7.06879007e+01] [ 5.26067528e-01 8.50442410e-01 -8.14236656e-04 2.14517100e+01] [ 1.58213394e-03 -2.12520597e-05 9.99998748e-01 -4.57950523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.71, Y:21.47, Z:-0.46 [[ 8.50081344e-01 -5.26649766e-01 -1.31655221e-03 7.07115141e+01] [ 5.26649171e-01 8.50082363e-01 -7.91567212e-04 2.14661419e+01] [ 1.53605650e-03 -2.04646125e-05 9.99998820e-01 -4.57966186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.73, Y:21.48, Z:-0.46 [[ 8.50114737e-01 -5.26596673e-01 -9.37232161e-04 7.07346520e+01] [ 5.26596371e-01 8.50115253e-01 -5.64352551e-04 2.14817249e+01] [ 1.09394153e-03 -1.37786346e-05 9.99999402e-01 -4.57635388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.76, Y:21.50, Z:-0.46 [[ 8.50246542e-01 -5.26383128e-01 -1.27288703e-03 7.07579567e+01] [ 5.26382570e-01 8.50247495e-01 -7.66342702e-04 2.14977763e+01] [ 1.48565888e-03 -1.84453134e-05 9.99998896e-01 -4.57508297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.110888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.78, Y:21.51, Z:-0.46 [[ 8.50679506e-01 -5.25683444e-01 -1.13820397e-03 7.07808910e+01] [ 5.25682998e-01 8.50680267e-01 -6.84699853e-04 2.15136985e+01] [ 1.32818303e-03 -1.58743422e-05 9.99999118e-01 -4.58225288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.140888479 meters Centerline goodness [0,1] 0.9999774200103868 Centerline is valid? [True, True] Translation: X:70.80, Y:21.53, Z:-0.46 [[ 8.51714719e-01 -5.24005257e-01 -7.26226156e-04 7.08034137e+01] [ 5.24005074e-01 8.51715029e-01 -4.38114916e-04 2.15329085e+01] [ 8.48112250e-04 -7.39726735e-06 9.99999640e-01 -4.58396955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.170888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:21.55, Z:-0.46 [[ 8.52247176e-01 -5.23139296e-01 -1.66008893e-04 7.08270762e+01] [ 5.23139287e-01 8.52247192e-01 -1.01368864e-04 2.15487185e+01] [ 1.94510649e-04 -4.54445468e-07 9.99999981e-01 -4.58170794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.200888479 meters Centerline goodness [0,1] 0.999909798173413 Centerline is valid? [True, True] Translation: X:70.85, Y:21.57, Z:-0.46 [[ 8.52942826e-01 -5.22004345e-01 1.33560555e-05 7.08505569e+01] [ 5.22004345e-01 8.52942826e-01 6.51960565e-06 2.15652245e+01] [-1.47952142e-05 1.41106815e-06 1.00000000e+00 -4.57233903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.87, Y:21.58, Z:-0.46 [[ 8.54407955e-01 -5.19602366e-01 6.54580870e-04 7.08732966e+01] [ 5.19602217e-01 8.54408205e-01 3.93233794e-04 2.15843840e+01] [-7.63604476e-04 4.13959016e-06 9.99999708e-01 -4.56743050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.260888479 meters Centerline goodness [0,1] 0.9999552362407395 Centerline is valid? [True, True] Translation: X:70.90, Y:21.60, Z:-0.46 [[ 8.55071659e-01 -5.18509553e-01 5.49554611e-04 7.08957358e+01] [ 5.18509448e-01 8.55071835e-01 3.29311835e-04 2.16013198e+01] [-6.40660002e-04 3.36404116e-06 9.99999795e-01 -4.56830281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.92, Y:21.62, Z:-0.46 [[ 8.55837151e-01 -5.17244448e-01 9.75543110e-04 7.09182887e+01] [ 5.17244115e-01 8.55837707e-01 5.86240767e-04 2.16189867e+01] [-1.13813636e-03 2.86730518e-06 9.99999352e-01 -4.56443015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.320888479 meters Centerline goodness [0,1] 0.9998883878744587 Centerline is valid? [True, True] Translation: X:70.94, Y:21.64, Z:-0.46 [[ 8.56705747e-01 -5.15804329e-01 1.07576543e-03 7.09397541e+01] [ 5.15803923e-01 8.56706422e-01 6.47820865e-04 2.16356499e+01] [-1.25576396e-03 -1.07830823e-07 9.99999212e-01 -4.56455705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350888479 meters Centerline goodness [0,1] 0.9998441327098642 Centerline is valid? [True, True] Translation: X:70.96, Y:21.66, Z:-0.46 [[ 8.59007101e-01 -5.11963324e-01 -5.96044157e-04 7.09610837e+01] [ 5.11963196e-01 8.59007308e-01 -3.61074662e-04 2.16567057e+01] [ 6.96863271e-04 5.01302733e-06 9.99999757e-01 -4.56906833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38088847899999 meters Centerline goodness [0,1] 0.9999554575621924 Centerline is valid? [True, True] Translation: X:70.98, Y:21.67, Z:-0.46 [[ 8.60079372e-01 -5.10159823e-01 -6.54325111e-04 7.09842815e+01] [ 5.10159669e-01 8.60079621e-01 -3.96458964e-04 2.16749383e+01] [ 7.65029128e-04 7.17589441e-06 9.99999707e-01 -4.57381551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.410888479 meters Centerline goodness [0,1] 0.999822695035461 Centerline is valid? [True, True] Translation: X:71.01, Y:21.70, Z:-0.46 [[ 8.61918884e-01 -5.07043173e-01 -1.74875693e-03 7.10056714e+01] [ 5.07042070e-01 8.61920658e-01 -1.05758356e-03 2.16956432e+01] [ 2.04353025e-03 2.48579101e-05 9.99997912e-01 -4.57639990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.440888479 meters Centerline goodness [0,1] 0.9998006953517727 Centerline is valid? [True, True] Translation: X:71.03, Y:21.71, Z:-0.46 [[ 8.62431944e-01 -5.06166043e-01 -2.66084173e-03 7.10291447e+01] [ 5.06163486e-01 8.62436047e-01 -1.60923846e-03 2.17131248e+01] [ 3.10934768e-03 4.10377269e-05 9.99995165e-01 -4.58079141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.470888479 meters Centerline goodness [0,1] 0.999778990872323 Centerline is valid? [True, True] Translation: X:71.05, Y:21.73, Z:-0.46 [[ 8.62576133e-01 -5.05919508e-01 -2.80473942e-03 7.10532937e+01] [ 5.05916663e-01 8.62580692e-01 -1.69714126e-03 2.17297359e+01] [ 3.27793094e-03 4.49491323e-05 9.99994627e-01 -4.58242598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.500888479 meters Centerline goodness [0,1] 0.9997129926040402 Centerline is valid? [True, True] Translation: X:71.08, Y:21.75, Z:-0.46 [[ 8.62403659e-01 -5.06210379e-01 -3.31387336e-03 7.10768331e+01] [ 5.06206405e-01 8.62410024e-01 -2.00639799e-03 2.17457942e+01] [ 3.87357709e-03 5.28210457e-05 9.99992496e-01 -4.58205422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.530888479 meters Centerline goodness [0,1] 0.9996023593346146 Centerline is valid? [True, True] Translation: X:71.10, Y:21.76, Z:-0.46 [[ 8.61978358e-01 -5.06926987e-01 -4.28257274e-03 7.10987089e+01] [ 5.06920364e-01 8.61988994e-01 -2.59208424e-03 2.17613392e+01] [ 5.00552802e-03 6.33971798e-05 9.99987470e-01 -4.57725331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.560888479 meters Centerline goodness [0,1] 0.999801482265749 Centerline is valid? [True, True] Translation: X:71.12, Y:21.78, Z:-0.46 [[ 8.61727103e-01 -5.07354418e-01 -4.23027983e-03 7.11208207e+01] [ 5.07347953e-01 8.61737484e-01 -2.56193915e-03 2.17765414e+01] [ 4.94520184e-03 6.14685907e-05 9.99987771e-01 -4.57714768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.590888479 meters Centerline goodness [0,1] 0.9996926926707203 Centerline is valid? [True, True] Translation: X:71.14, Y:21.79, Z:-0.46 [[ 8.61483109e-01 -5.07769914e-01 -4.07023876e-03 7.11431019e+01] [ 5.07763935e-01 8.61492723e-01 -2.46487205e-03 2.17932025e+01] [ 4.75806894e-03 5.67251892e-05 9.99988679e-01 -4.56906422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.620888479 meters Centerline goodness [0,1] 0.9998013595832965 Centerline is valid? [True, True] Translation: X:71.17, Y:21.81, Z:-0.46 [[ 8.60961958e-01 -5.08654256e-01 -3.91841736e-03 7.11678468e+01] [ 5.08648713e-01 8.60970873e-01 -2.37526981e-03 2.18074201e+01] [ 4.58183431e-03 5.19190000e-05 9.99989502e-01 -4.55401546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650888479 meters Centerline goodness [0,1] 0.9996486142223393 Centerline is valid? [True, True] Translation: X:71.19, Y:21.82, Z:-0.45 [[ 8.60271330e-01 -5.09820311e-01 -4.06066072e-03 7.11918407e+01] [ 5.09814363e-01 8.60280912e-01 -2.46320136e-03 2.18216881e+01] [ 4.74909899e-03 4.88383542e-05 9.99988722e-01 -4.54734862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.680888479 meters Centerline goodness [0,1] 0.9997156667614444 Centerline is valid? [True, True] Translation: X:71.21, Y:21.84, Z:-0.46 [[ 8.59485553e-01 -5.11148467e-01 -3.43945768e-03 7.12149843e+01] [ 5.11144212e-01 8.59492434e-01 -2.08582859e-03 2.18366023e+01] [ 4.02235594e-03 3.46806531e-05 9.99991910e-01 -4.55539942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710888479 meters Centerline goodness [0,1] 0.9996951219512196 Centerline is valid? [True, True] Translation: X:71.24, Y:21.85, Z:-0.46 [[ 8.57864244e-01 -5.13859415e-01 -4.17621312e-03 7.12404172e+01] [ 5.13853163e-01 8.57874409e-01 -2.53488345e-03 2.18512508e+01] [ 4.88524008e-03 2.86255502e-05 9.99988067e-01 -4.55287103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.740888479 meters Centerline goodness [0,1] 0.9996951219512196 Centerline is valid? [True, True] Translation: X:71.26, Y:21.87, Z:-0.46 [[ 8.57722110e-01 -5.14096633e-01 -4.17541261e-03 7.12639668e+01] [ 5.14090378e-01 8.57732272e-01 -2.53620233e-03 2.18656256e+01] [ 4.88523922e-03 2.88173670e-05 9.99988067e-01 -4.55437301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77088847899999 meters Centerline goodness [0,1] 0.9993899117550932 Centerline is valid? [True, True] Translation: X:71.29, Y:21.88, Z:-0.46 [[ 8.56943549e-01 -5.15389499e-01 -4.62801658e-03 7.12873937e+01] [ 5.15381835e-01 8.56956045e-01 -2.81068628e-03 2.18800043e+01] [ 5.41460498e-03 2.34037937e-05 9.99985341e-01 -4.56336520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.800888479 meters Centerline goodness [0,1] 0.9994104031095776 Centerline is valid? [True, True] Translation: X:71.31, Y:21.89, Z:-0.46 [[ 8.56387203e-01 -5.16311596e-01 -4.82648439e-03 7.13116073e+01] [ 5.16303260e-01 8.56400803e-01 -2.93395953e-03 2.18946732e+01] [ 5.64824243e-03 2.06757716e-05 9.99984048e-01 -4.56858238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.830888479 meters Centerline goodness [0,1] 0.9996522041561603 Centerline is valid? [True, True] Translation: X:71.33, Y:21.91, Z:-0.46 [[ 8.55808546e-01 -5.17272243e-01 -4.59990007e-03 7.13349288e+01] [ 5.17264675e-01 8.55820908e-01 -2.79805015e-03 2.19101892e+01] [ 5.38404433e-03 1.52294108e-05 9.99985506e-01 -4.56830875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.860888479 meters Centerline goodness [0,1] 0.9995667713635872 Centerline is valid? [True, True] Translation: X:71.36, Y:21.93, Z:-0.46 [[ 8.55481116e-01 -5.17815497e-01 -4.37849234e-03 7.13585228e+01] [ 5.17808639e-01 8.55492321e-01 -2.66511345e-03 2.19257743e+01] [ 5.12580362e-03 1.27330684e-05 9.99986863e-01 -4.56622650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.890888479 meters Centerline goodness [0,1] 0.9997610617546756 Centerline is valid? [True, True] Translation: X:71.38, Y:21.94, Z:-0.46 [[ 8.55323177e-01 -5.18079741e-01 -3.95529146e-03 7.13822871e+01] [ 5.18074150e-01 8.55332322e-01 -2.40693513e-03 2.19411321e+01] [ 4.63007296e-03 9.57314052e-06 9.99989281e-01 -4.56709189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.920888479 meters Centerline goodness [0,1] 0.9997827503801868 Centerline is valid? [True, True] Translation: X:71.41, Y:21.96, Z:-0.46 [[ 8.55525832e-01 -5.17744210e-01 -4.06014787e-03 7.14052485e+01] [ 5.17738302e-01 8.55535466e-01 -2.47347435e-03 2.19574301e+01] [ 4.75422752e-03 1.40271405e-05 9.99988698e-01 -4.56663760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.950888479 meters Centerline goodness [0,1] 0.9995019165385365 Centerline is valid? [True, True] Translation: X:71.43, Y:21.97, Z:-0.46 [[ 8.55541465e-01 -5.17716676e-01 -4.27144325e-03 7.14284169e+01] [ 5.17710128e-01 8.55552128e-01 -2.60375658e-03 2.19728546e+01] [ 5.00245056e-03 1.62522882e-05 9.99987488e-01 -4.57483482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.980888479 meters Centerline goodness [0,1] 0.9994590852048986 Centerline is valid? [True, True] Translation: X:71.45, Y:21.99, Z:-0.46 [[ 8.55676685e-01 -5.17494378e-01 -4.12048183e-03 7.14501208e+01] [ 5.17488280e-01 8.55686606e-01 -2.51230161e-03 2.19884626e+01] [ 4.82594307e-03 1.74168547e-05 9.99988355e-01 -4.59075026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010888479 meters Centerline goodness [0,1] 0.9993293817332237 Centerline is valid? [True, True] Translation: X:71.47, Y:22.01, Z:-0.46 [[ 8.55949240e-01 -5.17050568e-01 -3.09967711e-03 7.14721584e+01] [ 5.17047107e-01 8.55954853e-01 -1.89191605e-03 2.20066058e+01] [ 3.63139993e-03 1.67050197e-05 9.99993406e-01 -4.59783828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.040888479 meters Centerline goodness [0,1] 0.9994172997237569 Centerline is valid? [True, True] Translation: X:71.50, Y:22.02, Z:-0.46 [[ 8.56176254e-01 -5.16677637e-01 -2.53801202e-03 7.14954146e+01] [ 5.16675311e-01 8.56180016e-01 -1.55038999e-03 2.20228670e+01] [ 2.97404701e-03 1.60789435e-05 9.99995577e-01 -4.59410308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070888479 meters Centerline goodness [0,1] 0.999285992470466 Centerline is valid? [True, True] Translation: X:71.52, Y:22.04, Z:-0.46 [[ 8.56400499e-01 -5.16308874e-01 -1.82553491e-03 7.15186171e+01] [ 5.16307667e-01 8.56402444e-01 -1.11637913e-03 2.20390369e+01] [ 2.13978901e-03 1.35299747e-05 9.99997711e-01 -4.59377966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.100888479 meters Centerline goodness [0,1] 0.9993344497402207 Centerline is valid? [True, True] Translation: X:71.54, Y:22.06, Z:-0.46 [[ 8.57095585e-01 -5.15156559e-01 -9.37245714e-04 7.15399768e+01] [ 5.15156240e-01 8.57096097e-01 -5.73170779e-04 2.20556608e+01] [ 1.09858233e-03 8.43416547e-06 9.99999397e-01 -4.59485663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13088847899999 meters Centerline goodness [0,1] 0.9995043957938287 Centerline is valid? [True, True] Translation: X:71.56, Y:22.07, Z:-0.46 [[ 8.57469489e-01 -5.14534599e-01 -4.71329016e-04 7.15618771e+01] [ 5.14534518e-01 8.57469618e-01 -2.88687485e-04 2.20710268e+01] [ 5.52690010e-04 5.02566210e-06 9.99999847e-01 -4.59007027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.160888479 meters Centerline goodness [0,1] 0.9991812462294234 Centerline is valid? [True, True] Translation: X:71.59, Y:22.09, Z:-0.46 [[ 8.57859027e-01 -5.13884824e-01 5.26429046e-04 7.15854390e+01] [ 5.13884725e-01 8.57859189e-01 3.19964384e-04 2.20861866e+01] [-6.16026835e-04 -3.96049025e-06 9.99999810e-01 -4.58047341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.190888479 meters Centerline goodness [0,1] 0.9988605826077609 Centerline is valid? [True, True] Translation: X:71.61, Y:22.10, Z:-0.46 [[ 8.58512864e-01 -5.12791360e-01 8.26998022e-04 7.16082327e+01] [ 5.12791111e-01 8.58513262e-01 5.04826304e-04 2.21029008e+01] [-9.68859336e-04 -9.32264153e-06 9.99999531e-01 -4.58505324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.220888479 meters Centerline goodness [0,1] 0.9990721960902775 Centerline is valid? [True, True] Translation: X:71.63, Y:22.12, Z:-0.46 [[ 8.59795216e-01 -5.10638591e-01 6.45200028e-04 7.16307903e+01] [ 5.10638440e-01 8.59795458e-01 3.93135776e-04 2.21214476e+01] [-7.55490353e-04 -8.55232371e-06 9.99999715e-01 -4.60003577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.250888479 meters Centerline goodness [0,1] 0.9989881810940561 Centerline is valid? [True, True] Translation: X:71.65, Y:22.14, Z:-0.46 [[ 8.60813173e-01 -5.08920993e-01 3.23642134e-04 7.16527150e+01] [ 5.08920954e-01 8.60813234e-01 1.97371860e-04 2.21380545e+01] [-3.79042115e-04 -5.19203364e-06 9.99999928e-01 -4.61148429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.280888479 meters Centerline goodness [0,1] 0.9987098716322274 Centerline is valid? [True, True] Translation: X:71.67, Y:22.16, Z:-0.46 [[ 8.63417627e-01 -5.04489711e-01 -3.63553076e-04 7.16749248e+01] [ 5.04489662e-01 8.63417704e-01 -2.22832277e-04 2.21572517e+01] [ 4.26314753e-04 8.98854721e-06 9.99999909e-01 -4.62834367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.310888479 meters Centerline goodness [0,1] 0.9985828394743623 Centerline is valid? [True, True] Translation: X:71.70, Y:22.17, Z:-0.46 [[ 8.64554184e-01 -5.02539560e-01 -2.30511488e-04 7.16992413e+01] [ 5.02539540e-01 8.64554215e-01 -1.42716818e-04 2.21735375e+01] [ 2.71010526e-04 7.54528464e-06 9.99999963e-01 -4.63316901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.340888479 meters Centerline goodness [0,1] 0.9984495790176361 Centerline is valid? [True, True] Translation: X:71.72, Y:22.19, Z:-0.46 [[ 8.65649052e-01 -5.00651286e-01 -9.64101340e-05 7.17218037e+01] [ 5.00651282e-01 8.65649057e-01 -5.98861803e-05 2.21905542e+01] [ 1.13439435e-04 3.57255792e-06 9.99999994e-01 -4.63711678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370888479 meters Centerline goodness [0,1] 0.9986051801463488 Centerline is valid? [True, True] Translation: X:71.75, Y:22.21, Z:-0.46 [[ 8.66305994e-01 -4.99513588e-01 3.15613552e-04 7.17453689e+01] [ 4.99513552e-01 8.66306052e-01 1.91900813e-04 2.22073234e+01] [-3.69274994e-04 -8.59157780e-06 9.99999932e-01 -4.63909277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.400888479 meters Centerline goodness [0,1] 0.998219762778028 Centerline is valid? [True, True] Translation: X:71.77, Y:22.22, Z:-0.46 [[ 8.67721449e-01 -4.97048764e-01 1.41869537e-03 7.17690459e+01] [ 4.97048008e-01 8.67722608e-01 8.68379817e-04 2.22240190e+01] [-1.66266116e-03 -4.83520853e-05 9.99998617e-01 -4.63715364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430888479 meters Centerline goodness [0,1] 0.998687889868789 Centerline is valid? [True, True] Translation: X:71.79, Y:22.24, Z:-0.46 [[ 8.68122494e-01 -4.96342607e-01 2.71127263e-03 7.17938766e+01] [ 4.96339834e-01 8.68126723e-01 1.66187912e-03 2.22395378e+01] [-3.17858964e-03 -9.70020396e-05 9.99994944e-01 -4.63728802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.460888479 meters Centerline goodness [0,1] 0.9984387030541535 Centerline is valid? [True, True] Translation: X:71.82, Y:22.25, Z:-0.46 [[ 8.68489708e-01 -4.95698193e-01 2.98799650e-03 7.18179271e+01] [ 4.95694817e-01 8.68494841e-01 1.83304106e-03 2.22545754e+01] [-3.50369468e-03 -1.10842915e-04 9.99993856e-01 -4.63531428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490888479 meters Centerline goodness [0,1] 0.9984792991925293 Centerline is valid? [True, True] Translation: X:71.84, Y:22.27, Z:-0.46 [[ 8.68788004e-01 -4.95168515e-01 3.94292935e-03 7.18409060e+01] [ 4.95162626e-01 8.68796938e-01 2.41950342e-03 2.22694836e+01] [-4.62366687e-03 -1.49644296e-04 9.99989300e-01 -4.63475300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52088847899999 meters Centerline goodness [0,1] 0.9982612802129395 Centerline is valid? [True, True] Translation: X:71.87, Y:22.28, Z:-0.46 [[ 8.68535214e-01 -4.95607595e-01 4.43774670e-03 7.18658325e+01] [ 4.95600138e-01 8.68546535e-01 2.72381052e-03 2.22826784e+01] [-5.20433070e-03 -1.66377478e-04 9.99986444e-01 -4.63346316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.550888479 meters Centerline goodness [0,1] 0.9982424177472939 Centerline is valid? [True, True] Translation: X:71.89, Y:22.30, Z:-0.46 [[ 8.68156238e-01 -4.96264638e-01 5.11428192e-03 7.18911801e+01] [ 4.96254732e-01 8.68171281e-01 3.14129635e-03 2.22973397e+01] [-5.99898698e-03 -1.89149419e-04 9.99981988e-01 -4.63423477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.580888479 meters Centerline goodness [0,1] 0.99789536981359 Centerline is valid? [True, True] Translation: X:71.91, Y:22.31, Z:-0.46 [[ 8.67927388e-01 -4.96660898e-01 5.47736934e-03 7.19130074e+01] [ 4.96649531e-01 8.67944648e-01 3.36615526e-03 2.23143052e+01] [-6.42589110e-03 -2.01245423e-04 9.99979333e-01 -4.63530646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.610888479 meters Centerline goodness [0,1] 0.9981179691175841 Centerline is valid? [True, True] Translation: X:71.94, Y:22.32, Z:-0.46 [[ 8.67435598e-01 -4.97528104e-01 4.61186132e-03 7.19401666e+01] [ 4.97520054e-01 8.67447842e-01 2.83494853e-03 2.23248535e+01] [-5.41101571e-03 -1.64641778e-04 9.99985347e-01 -4.64598757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.640888479 meters Centerline goodness [0,1] 0.9986417730251811 Centerline is valid? [True, True] Translation: X:71.97, Y:22.34, Z:-0.46 [[ 8.67076926e-01 -4.98153589e-01 4.53940652e-03 7.19664825e+01] [ 4.98145791e-01 8.67088794e-01 2.79190168e-03 2.23377904e+01] [-5.32686437e-03 -1.59507277e-04 9.99985799e-01 -4.64922043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.670888479 meters Centerline goodness [0,1] 0.9983462909668829 Centerline is valid? [True, True] Translation: X:71.99, Y:22.35, Z:-0.46 [[ 8.66956960e-01 -4.98362935e-01 4.47384111e-03 7.19895238e+01] [ 4.98355355e-01 8.66968489e-01 2.75313301e-03 2.23526171e+01] [-5.25073871e-03 -1.57285154e-04 9.99986202e-01 -4.64872198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.700888479 meters Centerline goodness [0,1] 0.9985346090854237 Centerline is valid? [True, True] Translation: X:72.01, Y:22.37, Z:-0.46 [[ 8.66719492e-01 -4.98756553e-01 6.26284499e-03 7.20138322e+01] [ 4.98741699e-01 8.66742092e-01 3.85545003e-03 2.23663994e+01] [-7.35120234e-03 -2.18051737e-04 9.99972956e-01 -4.64243362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.730888479 meters Centerline goodness [0,1] 0.998598171152519 Centerline is valid? [True, True] Translation: X:72.04, Y:22.38, Z:-0.46 [[ 8.66344663e-01 -4.99408144e-01 6.19929733e-03 7.20394057e+01] [ 4.99393597e-01 8.66366817e-01 3.81763542e-03 2.23802871e+01] [-7.27742372e-03 -2.11498680e-04 9.99973497e-01 -4.64072222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.760888479 meters Centerline goodness [0,1] 0.9983205219301079 Centerline is valid? [True, True] Translation: X:72.06, Y:22.40, Z:-0.46 [[ 8.66041764e-01 -4.99936749e-01 5.90847294e-03 7.20626596e+01] [ 4.99923535e-01 8.66061896e-01 3.64025007e-03 2.23954071e+01] [-6.93699806e-03 -1.98823913e-04 9.99975919e-01 -4.64410057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790888479 meters Centerline goodness [0,1] 0.998576788717816 Centerline is valid? [True, True] Translation: X:72.09, Y:22.41, Z:-0.47 [[ 8.64891056e-01 -5.01931861e-01 5.27902200e-03 7.20900644e+01] [ 5.01921344e-01 8.64907151e-01 3.25339249e-03 2.24053166e+01] [-6.19884522e-03 -1.64176256e-04 9.99980773e-01 -4.65692896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.820888479 meters Centerline goodness [0,1] 0.9990494091213515 Centerline is valid? [True, True] Translation: X:72.12, Y:22.42, Z:-0.47 [[ 8.64025591e-01 -5.03421174e-01 5.18654804e-03 7.21166843e+01] [ 5.03411038e-01 8.64041144e-01 3.19805155e-03 2.24179719e+01] [-6.09135777e-03 -1.52232850e-04 9.99981436e-01 -4.66038261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850888479 meters Centerline goodness [0,1] 0.9987231095528719 Centerline is valid? [True, True] Translation: X:72.14, Y:22.43, Z:-0.47 [[ 8.63000461e-01 -5.05176356e-01 5.20138308e-03 7.21424874e+01] [ 5.05166188e-01 8.63016124e-01 3.20824810e-03 2.24315509e+01] [-6.10960855e-03 -1.41156728e-04 9.99981326e-01 -4.66477491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88088847899999 meters Centerline goodness [0,1] 0.999305902002039 Centerline is valid? [True, True] Translation: X:72.17, Y:22.44, Z:-0.47 [[ 8.61076781e-01 -5.08450273e-01 5.00971854e-03 7.21687738e+01] [ 5.08440887e-01 8.61091346e-01 3.09160907e-03 2.24431380e+01] [-5.88575476e-03 -1.14967051e-04 9.99982672e-01 -4.67019483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.910888479 meters Centerline goodness [0,1] 0.9992387498096874 Centerline is valid? [True, True] Translation: X:72.19, Y:22.46, Z:-0.47 [[ 8.59978775e-01 -5.10296907e-01 5.79413401e-03 7.21938080e+01] [ 5.10284387e-01 8.59998286e-01 3.57660260e-03 2.24569495e+01] [-6.80807456e-03 -1.19146201e-04 9.99976818e-01 -4.67530045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.940888479 meters Centerline goodness [0,1] 0.9994145326018605 Centerline is valid? [True, True] Translation: X:72.22, Y:22.47, Z:-0.47 [[ 8.59123949e-01 -5.11732164e-01 6.01931689e-03 7.22177454e+01] [ 5.11718674e-01 8.59145028e-01 3.71740919e-03 2.24714434e+01] [-7.07378403e-03 -1.13518407e-04 9.99974974e-01 -4.67512407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.970888479 meters Centerline goodness [0,1] 0.9993925456675489 Centerline is valid? [True, True] Translation: X:72.24, Y:22.49, Z:-0.47 [[ 8.58325782e-01 -5.13064759e-01 6.43465227e-03 7.22420501e+01] [ 5.13049372e-01 8.58349894e-01 3.97509288e-03 2.24861762e+01] [-7.56266316e-03 -1.10630406e-04 9.99971397e-01 -4.67399297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.000888479 meters Centerline goodness [0,1] 0.9996299440562485 Centerline is valid? [True, True] Translation: X:72.27, Y:22.50, Z:-0.47 [[ 8.56723871e-01 -5.15730648e-01 6.79023494e-03 7.22705112e+01] [ 5.15713579e-01 8.56750775e-01 4.19703268e-03 2.24960969e+01] [-7.98207743e-03 -9.38817173e-05 9.99968138e-01 -4.68147664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.030888479 meters Centerline goodness [0,1] 0.9995203209488924 Centerline is valid? [True, True] Translation: X:72.29, Y:22.51, Z:-0.47 [[ 8.56317946e-01 -5.16405049e-01 6.73806494e-03 7.22947653e+01] [ 5.16388248e-01 8.56344450e-01 4.16648539e-03 2.25099970e+01] [-7.92169860e-03 -8.83786565e-05 9.99968619e-01 -4.69077123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.060888479 meters Centerline goodness [0,1] 0.999630274032188 Centerline is valid? [True, True] Translation: X:72.32, Y:22.52, Z:-0.47 [[ 8.55681073e-01 -5.17466946e-01 6.15305779e-03 7.23195915e+01] [ 5.17452956e-01 8.55703193e-01 3.80575689e-03 2.25245513e+01] [-7.23454459e-03 -7.25962015e-05 9.99973828e-01 -4.70460562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.090888479 meters Centerline goodness [0,1] 0.9997600872410033 Centerline is valid? [True, True] Translation: X:72.34, Y:22.54, Z:-0.47 [[ 8.54580856e-01 -5.19273569e-01 6.82063856e-03 7.23443260e+01] [ 5.19256421e-01 8.54608072e-01 4.22064036e-03 2.25377881e+01] [-8.02063975e-03 -6.52180863e-05 9.99967832e-01 -4.71693240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.120888479 meters Centerline goodness [0,1] 0.999956384254716 Centerline is valid? [True, True] Translation: X:72.37, Y:22.55, Z:-0.47 [[ 8.53853517e-01 -5.20461460e-01 7.35120274e-03 7.23694248e+01] [ 5.20441570e-01 8.53885159e-01 4.55059320e-03 2.25504814e+01] [-8.64549130e-03 -5.96685117e-05 9.99962625e-01 -4.71607933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150888479 meters Centerline goodness [0,1] 0.9999345564014747 Centerline is valid? [True, True] Translation: X:72.39, Y:22.56, Z:-0.47 [[ 8.53227368e-01 -5.21482855e-01 7.66094077e-03 7.23942192e+01] [ 5.21461274e-01 8.53261759e-01 4.74456253e-03 2.25639658e+01] [-9.01099581e-03 -5.33066702e-05 9.99959399e-01 -4.71047069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.180888479 meters Centerline goodness [0,1] 0.9998028736639215 Centerline is valid? [True, True] Translation: X:72.42, Y:22.58, Z:-0.47 [[ 8.52102723e-01 -5.23313508e-01 7.99514689e-03 7.24198059e+01] [ 5.23290072e-01 8.52140230e-01 4.95271638e-03 2.25763404e+01] [-9.40480969e-03 -3.64421237e-05 9.99955773e-01 -4.70868237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210888479 meters Centerline goodness [0,1] 0.9998905764432967 Centerline is valid? [True, True] Translation: X:72.44, Y:22.59, Z:-0.47 [[ 8.51884062e-01 -5.23675576e-01 7.57864168e-03 7.24440087e+01] [ 5.23654515e-01 8.51917772e-01 4.69662067e-03 2.25898091e+01] [-8.91588507e-03 -3.23863583e-05 9.99960252e-01 -4.71457813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.240888479 meters Centerline goodness [0,1] 0.999869218361742 Centerline is valid? [True, True] Translation: X:72.47, Y:22.60, Z:-0.47 [[ 8.51725947e-01 -5.23938711e-01 7.15104547e-03 7.24680414e+01] [ 5.23919947e-01 8.51755966e-01 4.43429931e-03 2.26038521e+01] [-8.41424671e-03 -3.02324104e-05 9.99964599e-01 -4.71954476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27088847899999 meters Centerline goodness [0,1] 0.9998909558807494 Centerline is valid? [True, True] Translation: X:72.49, Y:22.62, Z:-0.47 [[ 8.52565929e-01 -5.22569583e-01 7.23653370e-03 7.24926885e+01] [ 5.22550295e-01 8.52596639e-01 4.49002396e-03 2.26190267e+01] [-8.51619426e-03 -4.65886273e-05 9.99963735e-01 -4.72025435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.300888479 meters Centerline goodness [0,1] 0.9998041860667508 Centerline is valid? [True, True] Translation: X:72.52, Y:22.63, Z:-0.47 [[ 8.53321516e-01 -5.21328810e-01 7.65912012e-03 7.25154694e+01] [ 5.21307135e-01 8.53355886e-01 4.75428172e-03 2.26345094e+01] [-9.01449927e-03 -6.41769126e-05 9.99959367e-01 -4.71697184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.330888479 meters Centerline goodness [0,1] 0.9997376131543272 Centerline is valid? [True, True] Translation: X:72.54, Y:22.65, Z:-0.47 [[ 8.53893645e-01 -5.20379784e-01 8.39786206e-03 7.25396952e+01] [ 5.20353661e-01 8.53934935e-01 5.21473997e-03 2.26504674e+01] [-9.88487305e-03 -8.29750496e-05 9.99951140e-01 -4.71233510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.360888479 meters Centerline goodness [0,1] 0.9999124707324012 Centerline is valid? [True, True] Translation: X:72.56, Y:22.67, Z:-0.47 [[ 8.54900758e-01 -5.18726745e-01 8.20108994e-03 7.25641175e+01] [ 5.18701730e-01 8.54940088e-01 5.09530488e-03 2.26659843e+01] [-9.65451147e-03 -1.02060463e-04 9.99953389e-01 -4.70108395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.390888479 meters Centerline goodness [0,1] 0.999803660638321 Centerline is valid? [True, True] Translation: X:72.59, Y:22.68, Z:-0.47 [[ 8.55512644e-01 -5.17727426e-01 7.51184112e-03 7.25879154e+01] [ 5.17706383e-01 8.55545616e-01 4.66904868e-03 2.26813419e+01] [-8.84401729e-03 -1.05502089e-04 9.99960885e-01 -4.70280192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.420888479 meters Centerline goodness [0,1] 0.999738425320429 Centerline is valid? [True, True] Translation: X:72.61, Y:22.70, Z:-0.47 [[ 8.56088808e-01 -5.16780811e-01 7.03891929e-03 7.26116763e+01] [ 5.16762289e-01 8.56117738e-01 4.37669426e-03 2.26970749e+01] [-8.28793527e-03 -1.09390925e-04 9.99965648e-01 -4.71468692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.450888479 meters Centerline goodness [0,1] 0.9997597413943736 Centerline is valid? [True, True] Translation: X:72.63, Y:22.71, Z:-0.47 [[ 8.57201566e-01 -5.14938393e-01 6.62771664e-03 7.26345842e+01] [ 5.14921900e-01 8.57227179e-01 4.12314030e-03 2.27142182e+01] [-7.80462208e-03 -1.21605884e-04 9.99969536e-01 -4.72786011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.480888479 meters Centerline goodness [0,1] 0.9997382998211716 Centerline is valid? [True, True] Translation: X:72.66, Y:22.73, Z:-0.47 [[ 8.57673677e-01 -5.14151385e-01 6.64955837e-03 7.26573181e+01] [ 5.14134745e-01 8.57699444e-01 4.13851585e-03 2.27298604e+01] [-7.83114617e-03 -1.30727112e-04 9.99969328e-01 -4.73322179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510888479 meters Centerline goodness [0,1] 0.9996070469578885 Centerline is valid? [True, True] Translation: X:72.68, Y:22.75, Z:-0.47 [[ 8.57886141e-01 -5.13796352e-01 6.68409976e-03 7.26812814e+01] [ 5.13779518e-01 8.57912169e-01 4.16123680e-03 2.27455416e+01] [-7.87239881e-03 -1.35713827e-04 9.99969003e-01 -4.73683142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.540888479 meters Centerline goodness [0,1] 0.999825814318063 Centerline is valid? [True, True] Translation: X:72.71, Y:22.76, Z:-0.47 [[ 8.58094702e-01 -5.13443727e-01 7.00145686e-03 7.27058629e+01] [ 5.13425226e-01 8.58123253e-01 4.36118514e-03 2.27612317e+01] [-8.24733609e-03 -1.47585290e-04 9.99965979e-01 -4.73888723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570888479 meters Centerline goodness [0,1] 0.9999561893496309 Centerline is valid? [True, True] Translation: X:72.73, Y:22.78, Z:-0.47 [[ 8.58256235e-01 -5.13180744e-01 6.46207338e-03 7.27296672e+01] [ 5.13164964e-01 8.58280551e-01 4.02682692e-03 2.27766490e+01] [-7.61276194e-03 -1.39939651e-04 9.99971013e-01 -4.74939618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.600888479 meters Centerline goodness [0,1] 0.9998908940144456 Centerline is valid? [True, True] Translation: X:72.75, Y:22.79, Z:-0.48 [[ 8.58118314e-01 -5.13415612e-01 6.11296249e-03 7.27534497e+01] [ 5.13401489e-01 8.58140077e-01 3.81035013e-03 2.27906930e+01] [-7.20207135e-03 -1.31327187e-04 9.99974056e-01 -4.76180968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63088847899999 meters Centerline goodness [0,1] 0.9998908940144456 Centerline is valid? [True, True] Translation: X:72.78, Y:22.81, Z:-0.48 [[ 8.57978520e-01 -5.13649204e-01 6.11192481e-03 7.27768175e+01] [ 5.13635075e-01 8.58000279e-01 3.81201401e-03 2.28053619e+01] [-7.20207115e-03 -1.31327183e-04 9.99974056e-01 -4.76331108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.660888479 meters Centerline goodness [0,1] 0.999803024665689 Centerline is valid? [True, True] Translation: X:72.80, Y:22.82, Z:-0.48 [[ 8.57528700e-01 -5.14413887e-01 4.78352791e-03 7.28011428e+01] [ 5.14405236e-01 8.57542036e-01 2.98488069e-03 2.28198026e+01] [-5.63754034e-03 -9.89490504e-05 9.99984104e-01 -4.77305512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.690888479 meters Centerline goodness [0,1] 0.9998463092258376 Centerline is valid? [True, True] Translation: X:72.83, Y:22.83, Z:-0.48 [[ 8.56815210e-01 -5.15607267e-01 4.10384756e-03 7.28277049e+01] [ 5.15600912e-01 8.56825035e-01 2.56106276e-03 2.28327499e+01] [-4.83678190e-03 -7.84099762e-05 9.99988300e-01 -4.77955852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.720888479 meters Centerline goodness [0,1] 0.9998463867980425 Centerline is valid? [True, True] Translation: X:72.85, Y:22.85, Z:-0.48 [[ 8.55997026e-01 -5.16963773e-01 4.18914239e-03 7.28514135e+01] [ 5.16957161e-01 8.56007273e-01 2.61564692e-03 2.28484657e+01] [-4.93813106e-03 -7.33788210e-05 9.99987805e-01 -4.77975703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.750888479 meters Centerline goodness [0,1] 0.9997592365610226 Centerline is valid? [True, True] Translation: X:72.88, Y:22.86, Z:-0.48 [[ 8.55193591e-01 -5.18289727e-01 4.43639763e-03 7.28754786e+01] [ 5.18282321e-01 8.55205095e-01 2.77167387e-03 2.28629780e+01] [-5.23055995e-03 -7.10112647e-05 9.99986318e-01 -4.77758769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.780888479 meters Centerline goodness [0,1] 0.9999121863405853 Centerline is valid? [True, True] Translation: X:72.90, Y:22.87, Z:-0.48 [[ 8.53327886e-01 -5.21344974e-01 5.56219314e-03 7.29024222e+01] [ 5.21333390e-01 8.53346011e-01 3.47600712e-03 2.28739526e+01] [-6.55867417e-03 -6.64167990e-05 9.99978489e-01 -4.76794117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.810888479 meters Centerline goodness [0,1] 0.9999343286195875 Centerline is valid? [True, True] Translation: X:72.93, Y:22.89, Z:-0.48 [[ 8.52224538e-01 -5.23151871e-01 5.04544741e-03 7.29281225e+01] [ 5.23142362e-01 8.52239472e-01 3.15465321e-03 2.28881001e+01] [-5.95029217e-03 -4.89856043e-05 9.99982296e-01 -4.76706565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.840888479 meters Centerline goodness [0,1] 0.9999126885381878 Centerline is valid? [True, True] Translation: X:72.95, Y:22.90, Z:-0.48 [[ 8.51454890e-01 -5.24404099e-01 4.99110496e-03 7.29519659e+01] [ 5.24394805e-01 8.51469518e-01 3.12228111e-03 2.29026052e+01] [-5.88711074e-03 -4.11720125e-05 9.99982670e-01 -4.76934484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870888479 meters Centerline goodness [0,1] 0.9999779861753181 Centerline is valid? [True, True] Translation: X:72.98, Y:22.92, Z:-0.48 [[ 8.50392293e-01 -5.26125793e-01 4.95957766e-03 7.29771170e+01] [ 5.26116642e-01 8.50406755e-01 3.10322348e-03 2.29171234e+01] [-5.85034426e-03 -2.96409909e-05 9.99982886e-01 -4.77823691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.900888479 meters Centerline goodness [0,1] 0.9999780354946407 Centerline is valid? [True, True] Translation: X:73.00, Y:22.93, Z:-0.48 [[ 8.48742510e-01 -5.28792612e-01 3.81121095e-03 7.30019226e+01] [ 5.28787230e-01 8.48751067e-01 2.38578779e-03 2.29296125e+01] [-4.49635632e-03 -9.59983599e-06 9.99989891e-01 -4.78899173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930888479 meters Centerline goodness [0,1] 0.9997363043048322 Centerline is valid? [True, True] Translation: X:73.03, Y:22.94, Z:-0.48 [[ 8.47871632e-01 -5.30188982e-01 3.65222980e-03 7.30260604e+01] [ 5.30184051e-01 8.47879498e-01 2.28663485e-03 2.29428258e+01] [-4.30899937e-03 -2.41882864e-06 9.99990716e-01 -4.79546152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.960888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.05, Y:22.96, Z:-0.48 [[ 8.46872242e-01 -5.31786194e-01 3.29391184e-03 7.30510330e+01] [ 5.31782195e-01 8.46878648e-01 2.06247292e-03 2.29567504e+01] [-3.88633823e-03 4.99259813e-06 9.99992448e-01 -4.79335579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990888479 meters Centerline goodness [0,1] 0.9999120801828733 Centerline is valid? [True, True] Translation: X:73.08, Y:22.97, Z:-0.48 [[ 8.45492621e-01 -5.33977389e-01 3.22123403e-03 7.30753293e+01] [ 5.33973574e-01 8.45498757e-01 2.01853310e-03 2.29696025e+01] [-3.80140040e-03 1.33990050e-05 9.99992775e-01 -4.79733663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02088847899999 meters Centerline goodness [0,1] 0.9998679635579419 Centerline is valid? [True, True] Translation: X:73.10, Y:22.98, Z:-0.48 [[ 8.45107269e-01 -5.34589119e-01 2.85958771e-03 7.30989152e+01] [ 5.34586117e-01 8.45112107e-01 1.79170821e-03 2.29845151e+01] [-3.37449991e-03 1.45102541e-05 9.99994306e-01 -4.80344382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.050888479 meters Centerline goodness [0,1] 0.9999117893529749 Centerline is valid? [True, True] Translation: X:73.12, Y:23.00, Z:-0.48 [[ 8.45051161e-01 -5.34679046e-01 2.61780462e-03 7.31218108e+01] [ 5.34676526e-01 8.45055216e-01 1.64153419e-03 2.29991599e+01] [-3.08988338e-03 1.24983010e-05 9.99995226e-01 -4.80876345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.080888479 meters Centerline goodness [0,1] 0.9999779992519746 Centerline is valid? [True, True] Translation: X:73.14, Y:23.01, Z:-0.48 [[ 8.46020618e-01 -5.33144704e-01 2.41613042e-03 7.31443473e+01] [ 5.33142550e-01 8.46024069e-01 1.51542626e-03 2.30144364e+01] [-2.85204597e-03 6.06007284e-06 9.99995933e-01 -4.81132891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.110888479 meters Centerline goodness [0,1] 0.9999779934420457 Centerline is valid? [True, True] Translation: X:73.17, Y:23.03, Z:-0.48 [[ 8.46522710e-01 -5.32347352e-01 2.36611616e-03 7.31675954e+01] [ 5.32345284e-01 8.46526016e-01 1.48394831e-03 2.30299811e+01] [-2.79295484e-03 3.39483497e-06 9.99996100e-01 -4.81129766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.140888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:23.05, Z:-0.48 [[ 8.47195691e-01 -5.31275393e-01 2.43252293e-03 7.31910968e+01] [ 5.31273200e-01 8.47199184e-01 1.52658301e-03 2.30458019e+01] [-2.87186743e-03 -9.80306941e-07 9.99995876e-01 -4.81022643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.170888479 meters Centerline goodness [0,1] 0.999934133971502 Centerline is valid? [True, True] Translation: X:73.21, Y:23.06, Z:-0.48 [[ 8.47951179e-01 -5.30067784e-01 2.63489271e-03 7.32141120e+01] [ 5.30065201e-01 8.47955272e-01 1.65474526e-03 2.30613838e+01] [-3.11139831e-03 -6.47825602e-06 9.99995160e-01 -4.80898450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.200888479 meters Centerline goodness [0,1] 0.9998682013882787 Centerline is valid? [True, True] Translation: X:73.24, Y:23.08, Z:-0.48 [[ 8.49292842e-01 -5.27914142e-01 2.88569087e-03 7.32363254e+01] [ 5.27911026e-01 8.49297744e-01 1.81397128e-03 2.30781054e+01] [-3.40843184e-03 -1.72047916e-05 9.99994191e-01 -4.80641136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.26, Y:23.09, Z:-0.48 [[ 8.49821439e-01 -5.27064447e-01 2.56728458e-03 7.32607285e+01] [ 5.27061977e-01 8.49825317e-01 1.61361120e-03 2.30940030e+01] [-3.03222053e-03 -1.81633094e-05 9.99995403e-01 -4.80528543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.28, Y:23.11, Z:-0.48 [[ 8.50358109e-01 -5.26200323e-01 2.07515775e-03 7.32840724e+01] [ 5.26198705e-01 8.50360641e-01 1.30509555e-03 2.31095017e+01] [-2.45137418e-03 -1.78532625e-05 9.99996995e-01 -4.80819253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.31, Y:23.12, Z:-0.48 [[ 8.51626920e-01 -5.24147686e-01 8.90423391e-04 7.33085728e+01] [ 5.24147387e-01 8.51627385e-01 5.59908928e-04 2.31237794e+01] [-1.05178391e-03 -1.01204222e-05 9.99999447e-01 -4.80513448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.320888479 meters Centerline goodness [0,1] 0.9999779973156725 Centerline is valid? [True, True] Translation: X:73.33, Y:23.14, Z:-0.48 [[ 8.52089181e-01 -5.23396540e-01 2.97288424e-04 7.33330073e+01] [ 5.23396507e-01 8.52089233e-01 1.85652156e-04 2.31388560e+01] [-3.50485962e-04 -2.59247096e-06 9.99999939e-01 -4.80306494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350888479 meters Centerline goodness [0,1] 0.9999779117796479 Centerline is valid? [True, True] Translation: X:73.36, Y:23.15, Z:-0.48 [[ 8.52490769e-01 -5.22742274e-01 -6.60235424e-05 7.33575600e+01] [ 5.22742272e-01 8.52490771e-01 -4.31821684e-05 2.31547484e+01] [ 7.88576055e-05 2.29910335e-06 9.99999997e-01 -4.80560039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38088847899999 meters Centerline goodness [0,1] 0.9999779599753151 Centerline is valid? [True, True] Translation: X:73.38, Y:23.17, Z:-0.48 [[ 8.53218984e-01 -5.21552712e-01 -3.65710636e-04 7.33814053e+01] [ 5.21552660e-01 8.53219063e-01 -2.32172185e-04 2.31706674e+01] [ 4.33121319e-04 7.35636070e-06 9.99999906e-01 -4.81166301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.410888479 meters Centerline goodness [0,1] 0.9999779205581683 Centerline is valid? [True, True] Translation: X:73.40, Y:23.19, Z:-0.48 [[ 8.53295809e-01 -5.21426918e-01 -4.81621213e-04 7.34042540e+01] [ 5.21426829e-01 8.53295944e-01 -3.05019812e-04 2.31857808e+01] [ 5.70010968e-04 9.14190546e-06 9.99999838e-01 -4.81842507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.440888479 meters Centerline goodness [0,1] 0.999978027772895 Centerline is valid? [True, True] Translation: X:73.43, Y:23.20, Z:-0.48 [[ 8.53379644e-01 -5.21289474e-01 -6.83688714e-04 7.34273345e+01] [ 5.21289295e-01 8.53379918e-01 -4.31999361e-04 2.32004968e+01] [ 8.08642938e-04 1.22598540e-05 9.99999673e-01 -4.82102133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.470888479 meters Centerline goodness [0,1] 0.9999336547392631 Centerline is valid? [True, True] Translation: X:73.45, Y:23.21, Z:-0.48 [[ 8.52584469e-01 -5.22589207e-01 -4.94509519e-04 7.34536915e+01] [ 5.22589113e-01 8.52584612e-01 -3.13698537e-04 2.32129571e+01] [ 5.85546676e-04 9.02921020e-06 9.99999829e-01 -4.80265175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.500888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:23.23, Z:-0.48 [[ 8.51759385e-01 -5.23933068e-01 -3.00537513e-04 7.34778303e+01] [ 5.23933033e-01 8.51759438e-01 -1.90290108e-04 2.32266074e+01] [ 3.55684943e-04 4.61985448e-06 9.99999937e-01 -4.79986938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.530888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.50, Y:23.24, Z:-0.48 [[ 8.50696461e-01 -5.25657224e-01 -1.18689541e-04 7.35042130e+01] [ 5.25657219e-01 8.50696469e-01 -7.65262480e-05 2.32394574e+01] [ 1.41195349e-04 2.71059427e-06 9.99999990e-01 -4.79054633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.560888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.53, Y:23.25, Z:-0.48 [[ 8.49555992e-01 -5.27498431e-01 1.45174206e-04 7.35296285e+01] [ 5.27498424e-01 8.49556005e-01 9.01947392e-05 2.32531380e+01] [-1.70911201e-04 -4.63165869e-08 9.99999985e-01 -4.78016009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.590888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.55, Y:23.27, Z:-0.48 [[ 8.47857686e-01 -5.30221765e-01 1.49112060e-03 7.35542876e+01] [ 5.30220928e-01 8.47858998e-01 9.42027408e-04 2.32657607e+01] [-1.76374346e-03 -8.08182757e-06 9.99998445e-01 -4.77235012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.620888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:23.28, Z:-0.48 [[ 8.46836359e-01 -5.31851932e-01 1.30551880e-03 7.35789970e+01] [ 5.31851294e-01 8.46837365e-01 8.23986232e-04 2.32791168e+01] [-1.54380077e-03 -3.43963763e-06 9.99998808e-01 -4.76936636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.60, Y:23.29, Z:-0.48 [[ 8.46364341e-01 -5.32603210e-01 1.10601558e-03 7.36036998e+01] [ 5.32602753e-01 8.46365063e-01 6.98226598e-04 2.32930948e+01] [-1.30797067e-03 -1.88715276e-06 9.99999145e-01 -4.77190261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.680888479 meters Centerline goodness [0,1] 0.9999555979841485 Centerline is valid? [True, True] Translation: X:73.63, Y:23.31, Z:-0.48 [[ 8.46057989e-01 -5.33090810e-01 -2.58089343e-04 7.36281732e+01] [ 5.33090785e-01 8.46058029e-01 -1.65190803e-04 2.33061309e+01] [ 3.06420260e-04 2.17594797e-06 9.99999953e-01 -4.78060859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.65, Y:23.32, Z:-0.48 [[ 8.46149231e-01 -5.32945356e-01 -8.52151202e-04 7.36519522e+01] [ 5.32945080e-01 8.46149660e-01 -5.41718927e-04 2.33210072e+01] [ 1.00975404e-03 4.22526293e-06 9.99999490e-01 -4.78434863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.740888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.68, Y:23.34, Z:-0.48 [[ 8.46476817e-01 -5.32423951e-01 -1.31706725e-03 7.36753672e+01] [ 5.32423293e-01 8.46477842e-01 -8.36868866e-04 2.33356930e+01] [ 1.56043727e-03 7.15281400e-06 9.99998782e-01 -4.78544768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.70, Y:23.35, Z:-0.48 [[ 8.47437044e-01 -5.30893939e-01 -1.44288868e-03 7.36980967e+01] [ 5.30893149e-01 8.47438273e-01 -9.15577877e-04 2.33516648e+01] [ 1.70883384e-03 9.87489393e-06 9.99998540e-01 -4.79006881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:23.37, Z:-0.48 [[ 8.48097637e-01 -5.29837268e-01 -1.69356374e-03 7.37208083e+01] [ 5.29836177e-01 8.48099328e-01 -1.07509034e-03 2.33674831e+01] [ 2.00593320e-03 1.44702374e-05 9.99997988e-01 -4.79885819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.74, Y:23.38, Z:-0.48 [[ 8.48694125e-01 -5.28880285e-01 -1.98129684e-03 7.37449877e+01] [ 5.28878787e-01 8.48696438e-01 -1.25906187e-03 2.33826693e+01] [ 2.34741257e-03 2.06925411e-05 9.99997245e-01 -4.79282637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.77, Y:23.40, Z:-0.48 [[ 8.49388175e-01 -5.27765789e-01 -1.73206342e-03 7.37679471e+01] [ 5.27764642e-01 8.49389941e-01 -1.10007085e-03 2.33978923e+01] [ 2.05177700e-03 2.02653388e-05 9.99997895e-01 -4.79593264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.890888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.79, Y:23.41, Z:-0.48 [[ 8.50808798e-01 -5.25474355e-01 -1.04482184e-03 7.37909817e+01] [ 5.25473935e-01 8.50809439e-01 -6.64267266e-04 2.34141712e+01] [ 1.23799970e-03 1.61377878e-05 9.99999234e-01 -4.78966373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.920888479 meters Centerline goodness [0,1] 0.9999106025388879 Centerline is valid? [True, True] Translation: X:73.81, Y:23.43, Z:-0.48 [[ 8.51118205e-01 -5.24973864e-01 -4.92189780e-04 7.38149734e+01] [ 5.24973770e-01 8.51118348e-01 -3.14514260e-04 2.34296507e+01] [ 5.84023519e-04 9.30208796e-06 9.99999829e-01 -4.78490398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.950888479 meters Centerline goodness [0,1] 0.9999332368977412 Centerline is valid? [True, True] Translation: X:73.84, Y:23.45, Z:-0.48 [[ 8.51490245e-01 -5.24370444e-01 -5.70985004e-06 7.38389226e+01] [ 5.24370444e-01 8.51490245e-01 -5.19955112e-06 2.34460610e+01] [ 7.58837256e-06 1.43329046e-06 1.00000000e+00 -4.78466191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.980888479 meters Centerline goodness [0,1] 0.9998446894899159 Centerline is valid? [True, True] Translation: X:73.86, Y:23.46, Z:-0.48 [[ 8.51787037e-01 -5.23887224e-01 1.00996389e-03 7.38628801e+01] [ 5.23886833e-01 8.51787635e-01 6.40616487e-04 2.34613343e+01] [-1.19588555e-03 -1.65620351e-05 9.99999285e-01 -4.77809922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.89, Y:23.48, Z:-0.48 [[ 8.51908366e-01 -5.23688755e-01 1.49100223e-03 7.38867930e+01] [ 5.23687899e-01 8.51909671e-01 9.47211427e-04 2.34763058e+01] [-1.76624319e-03 -2.61175163e-05 9.99998440e-01 -4.77246583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.040888479 meters Centerline goodness [0,1] 0.999977767896843 Centerline is valid? [True, True] Translation: X:73.91, Y:23.49, Z:-0.48 [[ 8.51858349e-01 -5.23770423e-01 1.37757249e-03 7.39094041e+01] [ 5.23769691e-01 8.51859462e-01 8.76269356e-04 2.34913504e+01] [-1.63246213e-03 -2.49266479e-05 9.99998667e-01 -4.77893041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070888479 meters Centerline goodness [0,1] 0.999977649635689 Centerline is valid? [True, True] Translation: X:73.93, Y:23.50, Z:-0.48 [[ 8.51650619e-01 -5.24107918e-01 1.45376467e-03 7.39338804e+01] [ 5.24107103e-01 8.51651860e-01 9.24308236e-04 2.35044672e+01] [-1.72253865e-03 -2.52592913e-05 9.99998516e-01 -4.77824232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.100888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.96, Y:23.52, Z:-0.48 [[ 8.51365928e-01 -5.24571305e-01 1.00091634e-03 7.39577789e+01] [ 5.24570920e-01 8.51366517e-01 6.36222871e-04 2.35188863e+01] [-1.18589092e-03 -1.66068681e-05 9.99999297e-01 -4.77831237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:23.53, Z:-0.48 [[ 8.50918375e-01 -5.25295596e-01 1.56710690e-03 7.39825905e+01] [ 5.25294648e-01 8.50919818e-01 9.97916353e-04 2.35332126e+01] [-1.85768338e-03 -2.59524925e-05 9.99998274e-01 -4.77544577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.01, Y:23.55, Z:-0.48 [[ 8.50322327e-01 -5.26259409e-01 1.72484089e-03 7.40071108e+01] [ 5.26258262e-01 8.50324076e-01 1.09911249e-03 2.35487588e+01] [-2.04509203e-03 -2.68881229e-05 9.99997908e-01 -4.77434082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.190888479 meters Centerline goodness [0,1] 0.9999552882788223 Centerline is valid? [True, True] Translation: X:74.03, Y:23.56, Z:-0.48 [[ 8.49752196e-01 -5.27178162e-01 2.09532865e-03 7.40302688e+01] [ 5.27176468e-01 8.49754779e-01 1.33681202e-03 2.35638616e+01] [-2.48525364e-03 -3.13509953e-05 9.99996911e-01 -4.77869642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.220888479 meters Centerline goodness [0,1] 0.9999327972043637 Centerline is valid? [True, True] Translation: X:74.06, Y:23.58, Z:-0.48 [[ 8.47996773e-01 -5.29992531e-01 3.06418948e-03 7.40560123e+01] [ 5.29988926e-01 8.48002309e-01 1.95528461e-03 2.35781734e+01] [-3.63472599e-03 -3.40885477e-05 9.99993394e-01 -4.77265450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.250888479 meters Centerline goodness [0,1] 0.9997990174184904 Centerline is valid? [True, True] Translation: X:74.08, Y:23.59, Z:-0.48 [[ 8.46929435e-01 -5.31698672e-01 2.65608829e-03 7.40810870e+01] [ 5.31695969e-01 8.46933600e-01 1.69544215e-03 2.35920496e+01] [-3.15099476e-03 -2.36884189e-05 9.99995035e-01 -4.77068032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.280888479 meters Centerline goodness [0,1] 0.999865831842576 Centerline is valid? [True, True] Translation: X:74.11, Y:23.61, Z:-0.48 [[ 8.45862221e-01 -5.33396591e-01 2.27576693e-03 7.41056927e+01] [ 5.33394610e-01 8.45865283e-01 1.45374772e-03 2.36060697e+01] [-2.70041631e-03 -1.57884620e-05 9.99996354e-01 -4.77220296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.310888479 meters Centerline goodness [0,1] 0.999798508966351 Centerline is valid? [True, True] Translation: X:74.13, Y:23.62, Z:-0.48 [[ 8.43352741e-01 -5.37359334e-01 1.04928350e-03 7.41313952e+01] [ 5.37358917e-01 8.43353393e-01 6.69334188e-04 2.36187748e+01] [-1.24458978e-03 -6.42974627e-07 9.99999225e-01 -4.77464940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.340888479 meters Centerline goodness [0,1] 0.999798414191641 Centerline is valid? [True, True] Translation: X:74.15, Y:23.63, Z:-0.48 [[ 8.41908680e-01 -5.39619295e-01 8.89464963e-04 7.41547491e+01] [ 5.39618996e-01 8.41909150e-01 5.68082500e-04 2.36319691e+01] [-1.05539697e-03 1.69860274e-06 9.99999443e-01 -4.77655961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.370888479 meters Centerline goodness [0,1] 0.9998431231931153 Centerline is valid? [True, True] Translation: X:74.18, Y:23.65, Z:-0.48 [[ 8.40538426e-01 -5.41751525e-01 6.62055855e-04 7.41786575e+01] [ 5.41751360e-01 8.40538687e-01 4.22870308e-04 2.36452725e+01] [-7.85574194e-04 3.23091721e-06 9.99999691e-01 -4.77858982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.20, Y:23.66, Z:-0.48 [[ 8.38089675e-01 -5.45532068e-01 6.78007502e-04 7.42040178e+01] [ 5.45531897e-01 8.38089949e-01 4.32415025e-04 2.36591118e+01] [-8.04127536e-04 7.47215122e-06 9.99999677e-01 -4.77541388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430888479 meters Centerline goodness [0,1] 0.9998876555969981 Centerline is valid? [True, True] Translation: X:74.23, Y:23.67, Z:-0.48 [[ 8.37089489e-01 -5.47065122e-01 9.69677383e-04 7.42282940e+01] [ 5.47064772e-01 8.37090050e-01 6.19415679e-04 2.36741529e+01] [-1.15056800e-03 1.19699822e-05 9.99999338e-01 -4.77556128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.460888479 meters Centerline goodness [0,1] 0.9998206197587336 Centerline is valid? [True, True] Translation: X:74.25, Y:23.69, Z:-0.48 [[ 8.36326239e-01 -5.48230466e-01 1.33308790e-03 7.42520999e+01] [ 5.48229804e-01 8.36327302e-01 8.52544529e-04 2.36901008e+01] [-1.58228869e-03 1.78331564e-05 9.99998748e-01 -4.77552485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.28, Y:23.70, Z:-0.48 [[ 8.35986442e-01 -5.48748913e-01 1.13990762e-03 7.42752327e+01] [ 5.48748428e-01 8.35987219e-01 7.29693562e-04 2.37048855e+01] [-1.35336675e-03 1.55085908e-05 9.99999084e-01 -4.77506891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.30, Y:23.72, Z:-0.48 [[ 8.35842750e-01 -5.48967756e-01 1.14011499e-03 7.42984171e+01] [ 5.48967272e-01 8.35843527e-01 7.29370244e-04 2.37198517e+01] [-1.35335848e-03 1.62469837e-05 9.99999084e-01 -4.77657327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.550888479 meters Centerline goodness [0,1] 0.9998878244677271 Centerline is valid? [True, True] Translation: X:74.32, Y:23.74, Z:-0.48 [[ 8.36267921e-01 -5.48320537e-01 7.43841024e-04 7.43210242e+01] [ 5.48320331e-01 8.36268252e-01 4.75491976e-04 2.37366070e+01] [-8.82772648e-04 1.02244708e-05 9.99999610e-01 -4.77482340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.580888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.34, Y:23.75, Z:-0.48 [[ 8.36791252e-01 -5.47522025e-01 1.82234218e-04 7.43438521e+01] [ 5.47522013e-01 8.36791271e-01 1.15208024e-04 2.37538053e+01] [-2.15570934e-04 3.37217898e-06 9.99999977e-01 -4.77472433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.610888479 meters Centerline goodness [0,1] 0.999955258271627 Centerline is valid? [True, True] Translation: X:74.37, Y:23.77, Z:-0.48 [[ 8.37528015e-01 -5.46394381e-01 6.74750752e-05 7.43667193e+01] [ 5.46394380e-01 8.37528017e-01 4.17922324e-05 2.37708096e+01] [-7.93473069e-05 1.86583642e-06 9.99999997e-01 -4.78448960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:23.79, Z:-0.48 [[ 8.40063439e-01 -5.42488171e-01 -5.32041422e-05 7.43888794e+01] [ 5.42488170e-01 8.40063441e-01 -3.57346670e-05 2.37900260e+01] [ 6.40804889e-05 1.15676949e-06 9.99999998e-01 -4.78526884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.670888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:23.81, Z:-0.48 [[ 8.41600605e-01 -5.40100381e-01 -1.12885980e-05 7.44112860e+01] [ 5.40100380e-01 8.41600605e-01 -9.06351496e-06 2.38070486e+01] [ 1.43956988e-05 1.53088361e-06 1.00000000e+00 -4.77698508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:23.82, Z:-0.48 [[ 8.43404246e-01 -5.37279488e-01 1.70393269e-04 7.44328945e+01] [ 5.37279477e-01 8.43404263e-01 1.09035213e-04 2.38245806e+01] [-2.02292793e-04 -4.11954584e-07 9.99999980e-01 -4.77445303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.730888479 meters Centerline goodness [0,1] 0.999844437530557 Centerline is valid? [True, True] Translation: X:74.45, Y:23.85, Z:-0.48 [[ 8.46693392e-01 -5.32080121e-01 1.02214067e-03 7.44533820e+01] [ 5.32079716e-01 8.46694009e-01 6.56208419e-04 2.38457997e+01] [-1.21459584e-03 -1.17470139e-05 9.99999262e-01 -4.76558898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.760888479 meters Centerline goodness [0,1] 0.9998003061971643 Centerline is valid? [True, True] Translation: X:74.48, Y:23.86, Z:-0.48 [[ 8.48256876e-01 -5.29583801e-01 1.12715755e-03 7.44756649e+01] [ 5.29583305e-01 8.48257624e-01 7.24932638e-04 2.38636648e+01] [-1.34003257e-03 -1.80052718e-05 9.99999102e-01 -4.76125443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790888479 meters Centerline goodness [0,1] 0.9997783933518005 Centerline is valid? [True, True] Translation: X:74.50, Y:23.88, Z:-0.48 [[ 8.49426154e-01 -5.27705582e-01 1.42422075e-03 7.44990566e+01] [ 5.27704788e-01 8.49427347e-01 9.15616668e-04 2.38812686e+01] [-1.69294808e-03 -2.61806358e-05 9.99998567e-01 -4.75508926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.820888479 meters Centerline goodness [0,1] 0.9996463619485456 Centerline is valid? [True, True] Translation: X:74.52, Y:23.90, Z:-0.47 [[ 8.51428917e-01 -5.24466980e-01 1.78478272e-03 7.45208623e+01] [ 5.24465725e-01 8.51430787e-01 1.14840547e-03 2.39003764e+01] [-2.12191971e-03 -4.17282630e-05 9.99997748e-01 -4.74822202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850888479 meters Centerline goodness [0,1] 0.9997353972349011 Centerline is valid? [True, True] Translation: X:74.54, Y:23.92, Z:-0.48 [[ 8.51988451e-01 -5.23558524e-01 1.46644247e-03 7.45444588e+01] [ 5.23557675e-01 8.51989713e-01 9.43800288e-04 2.39177027e+01] [-1.74352859e-03 -3.63397347e-05 9.99998479e-01 -4.75249322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88088847899999 meters Centerline goodness [0,1] 0.9995580012817963 Centerline is valid? [True, True] Translation: X:74.57, Y:23.93, Z:-0.48 [[ 8.52368868e-01 -5.22939831e-01 1.11608572e-03 7.45685291e+01] [ 5.22939339e-01 8.52369598e-01 7.18307375e-04 2.39340784e+01] [-1.32694907e-03 -2.86177161e-05 9.99999119e-01 -4.75921752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.910888479 meters Centerline goodness [0,1] 0.9995575514899454 Centerline is valid? [True, True] Translation: X:74.59, Y:23.95, Z:-0.48 [[ 8.52687680e-01 -5.22420531e-01 7.12935913e-04 7.45905343e+01] [ 5.22420330e-01 8.52687978e-01 4.59376781e-04 2.39508870e+01] [-8.47899744e-04 -1.92527067e-05 9.99999640e-01 -4.76686130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.940888479 meters Centerline goodness [0,1] 0.9995363829035676 Centerline is valid? [True, True] Translation: X:74.61, Y:23.97, Z:-0.48 [[ 8.53470662e-01 -5.21140840e-01 2.32238464e-04 7.46140255e+01] [ 5.21140819e-01 8.53470694e-01 1.48332105e-04 2.39682329e+01] [-2.75510641e-04 -5.56815658e-06 9.99999962e-01 -4.77962783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.970888479 meters Centerline goodness [0,1] 0.9996036551800066 Centerline is valid? [True, True] Translation: X:74.64, Y:23.99, Z:-0.48 [[ 8.53714430e-01 -5.20741350e-01 -3.43945809e-04 7.46356912e+01] [ 5.20741303e-01 8.53714499e-01 -2.22901856e-04 2.39854434e+01] [ 4.09705737e-04 1.11877423e-05 9.99999916e-01 -4.79320757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.000888479 meters Centerline goodness [0,1] 0.9994516822388911 Centerline is valid? [True, True] Translation: X:74.66, Y:24.00, Z:-0.48 [[ 8.53945021e-01 -5.20362130e-01 -1.07442763e-03 7.46597095e+01] [ 5.20361666e-01 8.53945697e-01 -6.95619698e-04 2.40015920e+01] [ 1.27947700e-03 3.49300275e-05 9.99999181e-01 -4.81011470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.030888479 meters Centerline goodness [0,1] 0.9995157917904699 Centerline is valid? [True, True] Translation: X:74.68, Y:24.02, Z:-0.48 [[ 8.53853339e-01 -5.20512585e-01 -1.06011937e-03 7.46831326e+01] [ 5.20512133e-01 8.53853997e-01 -6.87009387e-04 2.40162251e+01] [ 1.26278419e-03 3.48002671e-05 9.99999202e-01 -4.81371597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.060888479 meters Centerline goodness [0,1] 0.9992739114171929 Centerline is valid? [True, True] Translation: X:74.71, Y:24.03, Z:-0.48 [[ 8.53683047e-01 -5.20789258e-01 -1.95038039e-03 7.47074985e+01] [ 5.20787729e-01 8.53685273e-01 -1.26320039e-03 2.40310492e+01] [ 2.32287221e-03 6.26385827e-05 9.99997300e-01 -4.81820361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.090888479 meters Centerline goodness [0,1] 0.9993602611899142 Centerline is valid? [True, True] Translation: X:74.73, Y:24.04, Z:-0.48 [[ 8.53295900e-01 -5.21419969e-01 -2.70627413e-03 7.47331193e+01] [ 5.21417028e-01 8.53300187e-01 -1.75324653e-03 2.40438618e+01] [ 3.22344197e-03 8.49406669e-05 9.99994801e-01 -4.80998899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.120888479 meters Centerline goodness [0,1] 0.9993596820490175 Centerline is valid? [True, True] Translation: X:74.76, Y:24.06, Z:-0.48 [[ 8.53338828e-01 -5.21348828e-01 -2.87131323e-03 7.47559351e+01] [ 5.21345521e-01 8.53343654e-01 -1.85913915e-03 2.40604132e+01] [ 3.41947694e-03 8.95293290e-05 9.99994150e-01 -4.81570775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150888479 meters Centerline goodness [0,1] 0.9995588008206304 Centerline is valid? [True, True] Translation: X:74.78, Y:24.08, Z:-0.48 [[ 8.53465887e-01 -5.21136605e-01 -3.55232820e-03 7.47787116e+01] [ 5.21131539e-01 8.53473272e-01 -2.30052667e-03 2.40756096e+01] [ 4.23070583e-03 1.12190771e-04 9.99991044e-01 -4.81964496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.180888479 meters Centerline goodness [0,1] 0.9996019988502189 Centerline is valid? [True, True] Translation: X:74.81, Y:24.09, Z:-0.48 [[ 8.53665363e-01 -5.20806092e-01 -4.05739074e-03 7.48050728e+01] [ 5.20799468e-01 8.53674995e-01 -2.62992008e-03 2.40883327e+01] [ 4.83337142e-03 1.31984746e-04 9.99988310e-01 -4.81155177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210888479 meters Centerline goodness [0,1] 0.9994250713132697 Centerline is valid? [True, True] Translation: X:74.83, Y:24.11, Z:-0.48 [[ 8.54421797e-01 -5.19549780e-01 -5.60534312e-03 7.48256385e+01] [ 5.19537111e-01 8.54440161e-01 -3.63327361e-03 2.41069056e+01] [ 6.67709678e-03 1.92164391e-04 9.99977689e-01 -4.84394250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24088847899999 meters Centerline goodness [0,1] 0.9994027473621342 Centerline is valid? [True, True] Translation: X:74.85, Y:24.12, Z:-0.48 [[ 8.54614016e-01 -5.19225064e-01 -6.34159796e-03 7.48501286e+01] [ 5.19208821e-01 8.54637516e-01 -4.11292525e-03 2.41222394e+01] [ 7.55530140e-03 2.22349963e-04 9.99971434e-01 -4.84834306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27088847899999 meters Centerline goodness [0,1] 0.9995346569757135 Centerline is valid? [True, True] Translation: X:74.88, Y:24.14, Z:-0.48 [[ 8.54795949e-01 -5.18917394e-01 -6.97315448e-03 7.48753523e+01] [ 5.18897727e-01 8.54824354e-01 -4.52464902e-03 2.41371404e+01] [ 8.30874135e-03 2.49297646e-04 9.99965451e-01 -4.84599147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.300888479 meters Centerline goodness [0,1] 0.999689116869851 Centerline is valid? [True, True] Translation: X:74.90, Y:24.15, Z:-0.48 [[ 8.54879464e-01 -5.18773798e-01 -7.40603606e-03 7.49008205e+01] [ 5.18751588e-01 8.54911501e-01 -4.80780811e-03 2.41507480e+01] [ 8.82567028e-03 2.68203442e-04 9.99961017e-01 -4.83803840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.330888479 meters Centerline goodness [0,1] 0.999644539233982 Centerline is valid? [True, True] Translation: X:74.93, Y:24.16, Z:-0.48 [[ 8.54786643e-01 -5.18932087e-01 -7.02027085e-03 7.49275690e+01] [ 5.18912110e-01 8.54815433e-01 -4.56055380e-03 2.41618523e+01] [ 8.36765357e-03 2.55396914e-04 9.99964958e-01 -4.81479330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.360888479 meters Centerline goodness [0,1] 0.9996673910151226 Centerline is valid? [True, True] Translation: X:74.95, Y:24.18, Z:-0.48 [[ 8.54747841e-01 -5.19002615e-01 -6.51256184e-03 7.49510590e+01] [ 5.18985428e-01 8.54772619e-01 -4.23041052e-03 2.41772313e+01] [ 7.76235367e-03 2.36009569e-04 9.99969845e-01 -4.81175973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.390888479 meters Centerline goodness [0,1] 0.9996662290558732 Centerline is valid? [True, True] Translation: X:74.98, Y:24.19, Z:-0.48 [[ 8.55063170e-01 -5.18495929e-01 -5.38015404e-03 7.49766069e+01] [ 5.18484170e-01 8.55080073e-01 -3.49784977e-03 2.41910025e+01] [ 6.41408337e-03 2.01357816e-04 9.99979409e-01 -4.78505828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.420888479 meters Centerline goodness [0,1] 0.9995999733315555 Centerline is valid? [True, True] Translation: X:75.00, Y:24.21, Z:-0.48 [[ 8.55346217e-01 -5.18035921e-01 -4.65118471e-03 7.49993772e+01] [ 5.18027126e-01 8.55358845e-01 -3.02367505e-03 2.42064287e+01] [ 5.54480427e-03 1.76849164e-04 9.99984612e-01 -4.78076697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.450888479 meters Centerline goodness [0,1] 0.9997108347976956 Centerline is valid? [True, True] Translation: X:75.02, Y:24.22, Z:-0.48 [[ 8.55791474e-01 -5.17303591e-01 -4.23658988e-03 7.50220872e+01] [ 5.17296282e-01 8.55801944e-01 -2.75470765e-03 2.42224392e+01] [ 5.05070201e-03 1.65883123e-04 9.99987231e-01 -4.77806011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.480888479 meters Centerline goodness [0,1] 0.9997105643994211 Centerline is valid? [True, True] Translation: X:75.05, Y:24.24, Z:-0.48 [[ 8.57081948e-01 -5.15157633e-01 -4.81109383e-03 7.50465941e+01] [ 5.15148163e-01 8.57095427e-01 -3.13042613e-03 2.42386299e+01] [ 5.73622944e-03 2.04605582e-04 9.99983527e-01 -4.77398676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510888479 meters Centerline goodness [0,1] 0.9996420421495369 Centerline is valid? [True, True] Translation: X:75.07, Y:24.25, Z:-0.48 [[ 8.57664280e-01 -5.14184169e-01 -5.15966552e-03 7.50714303e+01] [ 5.14173247e-01 8.57679770e-01 -3.35916038e-03 2.42541544e+01] [ 6.15256783e-03 2.28069900e-04 9.99981047e-01 -4.77696093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.540888479 meters Centerline goodness [0,1] 0.9996878483835006 Centerline is valid? [True, True] Translation: X:75.10, Y:24.27, Z:-0.48 [[ 8.58426684e-01 -5.12902532e-01 -5.88399340e-03 7.50950921e+01] [ 5.12888287e-01 8.58446806e-01 -3.83231661e-03 2.42710680e+01] [ 7.01670023e-03 2.71931549e-04 9.99975346e-01 -4.78787891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570888479 meters Centerline goodness [0,1] 0.9994431079034126 Centerline is valid? [True, True] Translation: X:75.12, Y:24.29, Z:-0.48 [[ 8.59166572e-01 -5.11657108e-01 -6.30912582e-03 7.51166712e+01] [ 5.11640696e-01 8.59189684e-01 -4.10924812e-03 2.42881774e+01] [ 7.52326183e-03 3.02523101e-04 9.99971654e-01 -4.80509203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.600888479 meters Centerline goodness [0,1] 0.9995310406431442 Centerline is valid? [True, True] Translation: X:75.14, Y:24.30, Z:-0.48 [[ 8.60285967e-01 -5.09771937e-01 -6.37399997e-03 7.51407416e+01] [ 5.09755128e-01 8.60309519e-01 -4.15218158e-03 2.43042530e+01] [ 7.60027849e-03 3.22884370e-04 9.99971065e-01 -4.81248408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63088847899999 meters Centerline goodness [0,1] 0.9991795099234948 Centerline is valid? [True, True] Translation: X:75.16, Y:24.32, Z:-0.48 [[ 8.60475916e-01 -5.09452394e-01 -6.28132298e-03 7.51626677e+01] [ 5.09436057e-01 8.60498782e-01 -4.09256512e-03 2.43223798e+01] [ 7.49003787e-03 3.21621306e-04 9.99971898e-01 -4.82278777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.660888479 meters Centerline goodness [0,1] 0.9995114910625069 Centerline is valid? [True, True] Translation: X:75.18, Y:24.34, Z:-0.48 [[ 8.60444054e-01 -5.09508035e-01 -6.13123519e-03 7.51845279e+01] [ 5.09492454e-01 8.60465841e-01 -3.99700544e-03 2.43379314e+01] [ 7.31222483e-03 3.15381498e-04 9.99973216e-01 -4.82591882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.690888479 meters Centerline goodness [0,1] 0.999354364717145 Centerline is valid? [True, True] Translation: X:75.21, Y:24.35, Z:-0.48 [[ 8.60240226e-01 -5.09854615e-01 -5.91809246e-03 7.52103081e+01] [ 5.09840087e-01 8.60260530e-01 -3.86090755e-03 2.43504562e+01] [ 7.05960289e-03 3.04027211e-04 9.99975034e-01 -4.80942992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.720888479 meters Centerline goodness [0,1] 0.9991980039208698 Centerline is valid? [True, True] Translation: X:75.23, Y:24.36, Z:-0.48 [[ 8.60102182e-01 -5.10088732e-01 -5.80712215e-03 7.52338346e+01] [ 5.10074753e-01 8.60121734e-01 -3.78802215e-03 2.43648576e+01] [ 6.92705939e-03 2.96019726e-04 9.99975964e-01 -4.81050635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.750888479 meters Centerline goodness [0,1] 0.9996652308791038 Centerline is valid? [True, True] Translation: X:75.26, Y:24.38, Z:-0.48 [[ 8.59255436e-01 -5.11509665e-01 -6.16094356e-03 7.52606412e+01] [ 5.11493944e-01 8.59277469e-01 -4.02190879e-03 2.43771843e+01] [ 7.35120522e-03 3.04561673e-04 9.99972933e-01 -4.80455453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.780888479 meters Centerline goodness [0,1] 0.9995765828003477 Centerline is valid? [True, True] Translation: X:75.29, Y:24.39, Z:-0.48 [[ 8.58157207e-01 -5.13349575e-01 -6.19849106e-03 7.52871878e+01] [ 5.13333708e-01 8.58179544e-01 -4.04661657e-03 2.43904209e+01] [ 7.39674712e-03 2.90738773e-04 9.99972601e-01 -4.80566588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.810888479 meters Centerline goodness [0,1] 0.9997316396815458 Centerline is valid? [True, True] Translation: X:75.31, Y:24.40, Z:-0.48 [[ 8.57461385e-01 -5.14512688e-01 -6.05527705e-03 7.53123305e+01] [ 5.14497553e-01 8.57482721e-01 -3.95605615e-03 2.44042578e+01] [ 7.22773653e-03 2.76740159e-04 9.99973841e-01 -4.80692664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.840888479 meters Centerline goodness [0,1] 0.9995073781320675 Centerline is valid? [True, True] Translation: X:75.34, Y:24.42, Z:-0.48 [[ 8.56925166e-01 -5.15407391e-01 -5.87209983e-03 7.53378208e+01] [ 5.15393166e-01 8.56945245e-01 -3.83821651e-03 2.44189891e+01] [ 7.01031318e-03 2.62624195e-04 9.99975393e-01 -4.81172500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.870888479 meters Centerline goodness [0,1] 0.9995964939810352 Centerline is valid? [True, True] Translation: X:75.36, Y:24.43, Z:-0.48 [[ 8.56050793e-01 -5.16862588e-01 -5.48682992e-03 7.53638261e+01] [ 5.16850185e-01 8.56068344e-01 -3.58852586e-03 2.44326401e+01] [ 6.55187617e-03 2.36091345e-04 9.99978508e-01 -4.82102812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.900888479 meters Centerline goodness [0,1] 0.9997539204939487 Centerline is valid? [True, True] Translation: X:75.39, Y:24.45, Z:-0.48 [[ 8.55632886e-01 -5.17556028e-01 -5.30303091e-03 7.53895902e+01] [ 5.17544442e-01 8.55649290e-01 -3.47025582e-03 2.44466031e+01] [ 6.33358645e-03 2.24710824e-04 9.99979917e-01 -4.82230359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930888479 meters Centerline goodness [0,1] 0.9995288416234771 Centerline is valid? [True, True] Translation: X:75.41, Y:24.46, Z:-0.48 [[ 8.55373216e-01 -5.17990213e-01 -4.77503202e-03 7.54126368e+01] [ 5.17980828e-01 8.55386520e-01 -3.12444737e-03 2.44626962e+01] [ 5.70293118e-03 1.99193552e-04 9.99983718e-01 -4.82721953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.960888479 meters Centerline goodness [0,1] 0.9996401340500664 Centerline is valid? [True, True] Translation: X:75.43, Y:24.48, Z:-0.48 [[ 8.55541915e-01 -5.17721262e-01 -3.56749186e-03 7.54346261e+01] [ 5.17716017e-01 8.55549340e-01 -2.33527380e-03 2.44775936e+01] [ 4.26118621e-03 1.50976945e-04 9.99990910e-01 -4.82705445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99088847899999 meters Centerline goodness [0,1] 0.9993708147948407 Centerline is valid? [True, True] Translation: X:75.46, Y:24.49, Z:-0.48 [[ 8.55551777e-01 -5.17704937e-01 -3.57147580e-03 7.54589275e+01] [ 5.17699672e-01 8.55559217e-01 -2.33989605e-03 2.44928063e+01] [ 4.26698478e-03 1.52950369e-04 9.99990885e-01 -4.83237026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02088847899999 meters Centerline goodness [0,1] 0.9994389712977716 Centerline is valid? [True, True] Translation: X:75.48, Y:24.51, Z:-0.48 [[ 8.55743490e-01 -5.17388497e-01 -3.49603587e-03 7.54831608e+01] [ 5.17383444e-01 8.55750618e-01 -2.29172515e-03 2.45086112e+01] [ 4.17744709e-03 1.52337795e-04 9.99991263e-01 -4.84819841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.050888479 meters Centerline goodness [0,1] 0.9993945645349359 Centerline is valid? [True, True] Translation: X:75.50, Y:24.53, Z:-0.49 [[ 8.56435925e-01 -5.16231162e-01 -4.78476567e-03 7.55044722e+01] [ 5.16221683e-01 8.56449264e-01 -3.13573561e-03 2.45262184e+01] [ 5.71667347e-03 2.15556842e-04 9.99983636e-01 -4.88561613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.080888479 meters Centerline goodness [0,1] 0.9992802842877063 Centerline is valid? [True, True] Translation: X:75.53, Y:24.54, Z:-0.49 [[ 8.56733465e-01 -5.15726909e-01 -5.79017555e-03 7.55296478e+01] [ 5.15712998e-01 8.56752989e-01 -3.79735354e-03 2.45401183e+01] [ 6.91914761e-03 2.67251063e-04 9.99976027e-01 -4.89201710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.110888479 meters Centerline goodness [0,1] 0.998966385044041 Centerline is valid? [True, True] Translation: X:75.55, Y:24.56, Z:-0.49 [[ 8.57222524e-01 -5.14904787e-01 -6.52726924e-03 7.55524766e+01] [ 5.14887088e-01 8.57247318e-01 -4.28034447e-03 2.45563852e+01] [ 7.79945391e-03 3.08401036e-04 9.99969536e-01 -4.90363001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.140888479 meters Centerline goodness [0,1] 0.9993261606882146 Centerline is valid? [True, True] Translation: X:75.58, Y:24.57, Z:-0.49 [[ 8.57506852e-01 -5.14427122e-01 -6.83623742e-03 7.55769124e+01] [ 5.14407666e-01 8.57534038e-01 -4.48626502e-03 2.45725324e+01] [ 8.17016269e-03 3.30390067e-04 9.99966569e-01 -4.91147640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.170888479 meters Centerline goodness [0,1] 0.9989428462178637 Centerline is valid? [True, True] Translation: X:75.60, Y:24.59, Z:-0.49 [[ 8.57746934e-01 -5.14016350e-01 -7.57555197e-03 7.56011734e+01] [ 5.13992420e-01 8.57780306e-01 -4.97386607e-03 2.45886233e+01] [ 9.05480777e-03 3.72542080e-04 9.99958935e-01 -4.92520836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.200888479 meters Centerline goodness [0,1] 0.9988980592349382 Centerline is valid? [True, True] Translation: X:75.62, Y:24.61, Z:-0.49 [[ 8.57474175e-01 -5.14467101e-01 -7.85115804e-03 7.56227917e+01] [ 5.14441418e-01 8.57510033e-01 -5.15470366e-03 2.46058587e+01] [ 9.38437224e-03 3.81064399e-04 9.99955893e-01 -4.94280976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.230888479 meters Centerline goodness [0,1] 0.999031007751938 Centerline is valid? [True, True] Translation: X:75.65, Y:24.62, Z:-0.49 [[ 8.56955985e-01 -5.15336730e-01 -7.38208354e-03 7.56477748e+01] [ 5.15314026e-01 8.56987708e-01 -4.85014896e-03 2.46208426e+01] [ 8.82581475e-03 3.52272987e-04 9.99960990e-01 -4.94233921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.260888479 meters Centerline goodness [0,1] 0.9994133706369441 Centerline is valid? [True, True] Translation: X:75.67, Y:24.63, Z:-0.49 [[ 8.55437503e-01 -5.17873222e-01 -5.83124010e-03 7.56721648e+01] [ 5.17859116e-01 8.55457339e-01 -3.83097512e-03 2.46348566e+01] [ 6.97233657e-03 2.57398947e-04 9.99975660e-01 -4.94428393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290888479 meters Centerline goodness [0,1] 0.999571657235611 Centerline is valid? [True, True] Translation: X:75.70, Y:24.65, Z:-0.49 [[ 8.54047302e-01 -5.20174661e-01 -4.63993253e-03 7.56975099e+01] [ 5.20165753e-01 8.54059884e-01 -3.05026337e-03 2.46488182e+01] [ 5.54944995e-03 1.91535205e-04 9.99984583e-01 -4.94023157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.320888479 meters Centerline goodness [0,1] 0.9995932754880694 Centerline is valid? [True, True] Translation: X:75.72, Y:24.66, Z:-0.49 [[ 8.52636927e-01 -5.22492667e-01 -3.41817570e-03 7.57235550e+01] [ 5.22487846e-01 8.52643769e-01 -2.24832720e-03 2.46621125e+01] [ 4.08922068e-03 1.31051539e-04 9.99991631e-01 -4.92557246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350888479 meters Centerline goodness [0,1] 0.9998191926953849 Centerline is valid? [True, True] Translation: X:75.75, Y:24.67, Z:-0.49 [[ 8.49985110e-01 -5.26806523e-01 -4.47948112e-04 7.57505729e+01] [ 5.26806440e-01 8.49985227e-01 -2.96045081e-04 2.46732925e+01] [ 5.36707757e-04 1.56519599e-05 9.99999856e-01 -4.89955952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38088847899999 meters Centerline goodness [0,1] 0.9998414352376206 Centerline is valid? [True, True] Translation: X:75.78, Y:24.69, Z:-0.49 [[ 8.49072394e-01 -5.28275767e-01 8.85510967e-04 7.57761787e+01] [ 5.28275448e-01 8.49072855e-01 5.81177375e-04 2.46873963e+01] [-1.05888525e-03 -2.56679618e-05 9.99999439e-01 -4.88605690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.410888479 meters Centerline goodness [0,1] 0.9998413058263432 Centerline is valid? [True, True] Translation: X:75.80, Y:24.70, Z:-0.49 [[ 8.48178249e-01 -5.29707159e-01 1.99589529e-03 7.58025995e+01] [ 5.29705535e-01 8.48180596e-01 1.31251397e-03 2.47001469e+01] [-2.38812771e-03 -5.60090181e-05 9.99997147e-01 -4.87539059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.440888479 meters Centerline goodness [0,1] 0.9998413058263432 Centerline is valid? [True, True] Translation: X:75.83, Y:24.72, Z:-0.49 [[ 8.48029859e-01 -5.29944691e-01 1.99563176e-03 7.58256198e+01] [ 5.29943068e-01 8.48032205e-01 1.31291445e-03 2.47153905e+01] [-2.38813205e-03 -5.58194384e-05 9.99997147e-01 -4.87689299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.470888479 meters Centerline goodness [0,1] 0.9998868496684695 Centerline is valid? [True, True] Translation: X:75.85, Y:24.73, Z:-0.49 [[ 8.46546058e-01 -5.32308442e-01 2.73776005e-03 7.58511409e+01] [ 5.32305392e-01 8.46550482e-01 1.80307303e-03 2.47299211e+01] [-3.27744308e-03 -6.90599268e-05 9.99994627e-01 -4.87523086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.500888479 meters Centerline goodness [0,1] 0.999954645440733 Centerline is valid? [True, True] Translation: X:75.88, Y:24.75, Z:-0.49 [[ 8.45904712e-01 -5.33330092e-01 2.05712006e-03 7.58758342e+01] [ 5.33328372e-01 8.45907212e-01 1.35504511e-03 2.47458281e+01] [-2.46281903e-03 -4.91185557e-05 9.99996966e-01 -4.88566078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.530888479 meters Centerline goodness [0,1] 0.9998866804161095 Centerline is valid? [True, True] Translation: X:75.90, Y:24.76, Z:-0.49 [[ 8.45473842e-01 -5.34013416e-01 1.91175215e-03 7.58990677e+01] [ 5.34011930e-01 8.45476002e-01 1.26045413e-03 2.47616680e+01] [-2.28943998e-03 -4.47825400e-05 9.99997378e-01 -4.90052195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.560888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:24.78, Z:-0.49 [[ 8.44866758e-01 -5.34975468e-01 1.18770894e-03 7.59241290e+01] [ 5.34974897e-01 8.44867592e-01 7.82235955e-04 2.47753576e+01] [-1.42193384e-03 -2.54906848e-05 9.99998989e-01 -4.92268905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.590888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.95, Y:24.79, Z:-0.49 [[ 8.44333695e-01 -5.35817240e-01 7.04450891e-04 7.59471629e+01] [ 5.35817039e-01 8.44333989e-01 4.64434579e-04 2.47910607e+01] [-8.43643885e-04 -1.46809740e-05 9.99999644e-01 -4.93753549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.620888479 meters Centerline goodness [0,1] 0.9999545815828318 Centerline is valid? [True, True] Translation: X:75.97, Y:24.81, Z:-0.50 [[ 8.43897325e-01 -5.36504685e-01 1.69487452e-04 7.59705127e+01] [ 5.36504673e-01 8.43897342e-01 1.10136862e-04 2.48058008e+01] [-2.02118953e-04 -2.01339333e-06 9.99999980e-01 -4.95041469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650888479 meters Centerline goodness [0,1] 0.9998409163219854 Centerline is valid? [True, True] Translation: X:75.99, Y:24.82, Z:-0.50 [[ 8.43701665e-01 -5.36811887e-01 -7.05965051e-04 7.59936845e+01] [ 5.36811683e-01 8.43701960e-01 -4.68378005e-04 2.48208946e+01] [ 8.47054978e-04 1.62010159e-05 9.99999641e-01 -4.96874216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.680888479 meters Centerline goodness [0,1] 0.9998865827378927 Centerline is valid? [True, True] Translation: X:76.02, Y:24.84, Z:-0.50 [[ 8.43295260e-01 -5.37447566e-01 -1.79371425e-03 7.60169791e+01] [ 5.37446254e-01 8.43297167e-01 -1.18796353e-03 2.48369739e+01] [ 2.15110225e-03 3.77790056e-05 9.99997686e-01 -4.99545975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710888479 meters Centerline goodness [0,1] 0.9999088443745585 Centerline is valid? [True, True] Translation: X:76.04, Y:24.85, Z:-0.50 [[ 8.42991333e-01 -5.37924239e-01 -1.76787616e-03 7.60402479e+01] [ 5.37922964e-01 8.42993186e-01 -1.17158307e-03 2.48530306e+01] [ 2.12053049e-03 3.66531870e-05 9.99997751e-01 -5.00306738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74088847899999 meters Centerline goodness [0,1] 0.9999772753096239 Centerline is valid? [True, True] Translation: X:76.06, Y:24.87, Z:-0.50 [[ 8.42964215e-01 -5.37968934e-01 -8.70741956e-04 7.60627193e+01] [ 5.37968625e-01 8.42964665e-01 -5.76826854e-04 2.48698715e+01] [ 1.04431963e-03 1.78125438e-05 9.99999455e-01 -5.00526552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77088847899999 meters Centerline goodness [0,1] 0.9999317157554514 Centerline is valid? [True, True] Translation: X:76.09, Y:24.88, Z:-0.50 [[ 8.42486134e-01 -5.38717934e-01 3.17330072e-04 7.60876399e+01] [ 5.38717894e-01 8.42486194e-01 2.08535674e-04 2.48844463e+01] [-3.79688112e-04 -4.73702593e-06 9.99999928e-01 -4.99182211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.800888479 meters Centerline goodness [0,1] 0.9999315927488314 Centerline is valid? [True, True] Translation: X:76.11, Y:24.90, Z:-0.50 [[ 8.42103346e-01 -5.39314468e-01 1.36324764e-03 7.61115731e+01] [ 5.39313715e-01 8.42104449e-01 9.01564957e-04 2.49004522e+01] [-1.63422393e-03 -2.39927177e-05 9.99998664e-01 -4.98351266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.830888479 meters Centerline goodness [0,1] 0.9998861851539915 Centerline is valid? [True, True] Translation: X:76.13, Y:24.92, Z:-0.50 [[ 8.41369760e-01 -5.40450681e-01 3.16058796e-03 7.61342058e+01] [ 5.40446628e-01 8.41375694e-01 2.09373694e-03 2.49164139e+01] [-3.79080345e-03 -5.34778429e-05 9.99992813e-01 -4.97602955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.860888479 meters Centerline goodness [0,1] 0.9998636022642025 Centerline is valid? [True, True] Translation: X:76.16, Y:24.93, Z:-0.50 [[ 8.40950552e-01 -5.41101340e-01 3.39253104e-03 7.61583458e+01] [ 5.41096675e-01 8.40957393e-01 2.24753663e-03 2.49308101e+01] [-4.06911914e-03 -5.43799034e-05 9.99991720e-01 -4.97162389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.890888479 meters Centerline goodness [0,1] 0.9997724428262601 Centerline is valid? [True, True] Translation: X:76.18, Y:24.95, Z:-0.50 [[ 8.40627238e-01 -5.41600780e-01 3.80019277e-03 7.61817903e+01] [ 5.41594924e-01 8.40635826e-01 2.51932974e-03 2.49468532e+01] [-4.55904914e-03 -5.96520839e-05 9.99989606e-01 -4.97506982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.920888479 meters Centerline goodness [0,1] 0.9999544668063018 Centerline is valid? [True, True] Translation: X:76.20, Y:24.96, Z:-0.50 [[ 8.40651654e-01 -5.41560152e-01 4.17099996e-03 7.62034345e+01] [ 5.41553088e-01 8.40661999e-01 2.76706077e-03 2.49629593e+01] [-5.00493102e-03 -6.73163039e-05 9.99987473e-01 -4.97514620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.950888479 meters Centerline goodness [0,1] 0.9999773108862368 Centerline is valid? [True, True] Translation: X:76.23, Y:24.98, Z:-0.50 [[ 8.40677779e-01 -5.41517653e-01 4.41618445e-03 7.62271855e+01] [ 5.41509729e-01 8.40689375e-01 2.93048610e-03 2.49786443e+01] [-5.29954930e-03 -7.21877028e-05 9.99985955e-01 -4.98036137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.980888479 meters Centerline goodness [0,1] 0.9998186475642101 Centerline is valid? [True, True] Translation: X:76.25, Y:24.99, Z:-0.50 [[ 8.40548718e-01 -5.41714457e-01 4.82693765e-03 7.62501725e+01] [ 5.41704981e-01 8.40562574e-01 3.20514845e-03 2.49948815e+01] [-5.79361839e-03 -7.93072556e-05 9.99983214e-01 -4.98460159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010888479 meters Centerline goodness [0,1] 0.9997961356377557 Centerline is valid? [True, True] Translation: X:76.27, Y:25.01, Z:-0.50 [[ 8.40176295e-01 -5.42286761e-01 5.37228214e-03 7.62726837e+01] [ 5.42275020e-01 8.40193467e-01 3.56939569e-03 2.50113267e+01] [-6.44939238e-03 -8.56672430e-05 9.99979199e-01 -4.98831849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.040888479 meters Centerline goodness [0,1] 0.9998865698729582 Centerline is valid? [True, True] Translation: X:76.30, Y:25.03, Z:-0.50 [[ 8.39821952e-01 -5.42829195e-01 5.96270750e-03 7.62958274e+01] [ 5.42814738e-01 8.39843114e-01 3.96287190e-03 2.50267005e+01] [-7.15890140e-03 -9.14613050e-05 9.99974371e-01 -4.98943944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070888479 meters Centerline goodness [0,1] 0.9998870898538943 Centerline is valid? [True, True] Translation: X:76.32, Y:25.04, Z:-0.50 [[ 8.39475871e-01 -5.43365811e-01 5.81873899e-03 7.63183863e+01] [ 5.43352042e-01 8.39496032e-01 3.86912548e-03 2.50433593e+01] [-6.98715880e-03 -8.64137695e-05 9.99975586e-01 -4.98556063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.100888479 meters Centerline goodness [0,1] 0.9999545826142248 Centerline is valid? [True, True] Translation: X:76.34, Y:25.06, Z:-0.50 [[ 8.39210829e-01 -5.43774604e-01 5.86222199e-03 7.63425300e+01] [ 5.43760631e-01 8.39231299e-01 3.89913771e-03 2.50586188e+01] [-7.04001224e-03 -8.45530592e-05 9.99975215e-01 -4.99064451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13088847899999 meters Centerline goodness [0,1] 0.999955030916245 Centerline is valid? [True, True] Translation: X:76.37, Y:25.07, Z:-0.50 [[ 8.38771316e-01 -5.44459902e-01 5.10833218e-03 7.63653403e+01] [ 5.44449294e-01 8.38786868e-01 3.39936724e-03 2.50745035e+01] [-6.13562110e-03 -7.00638816e-05 9.99981174e-01 -4.99944252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.160888479 meters Centerline goodness [0,1] 0.9998646362098139 Centerline is valid? [True, True] Translation: X:76.39, Y:25.09, Z:-0.50 [[ 8.38743174e-01 -5.44501753e-01 5.26591740e-03 7.63866592e+01] [ 5.44490477e-01 8.38759701e-01 3.50500717e-03 2.50904530e+01] [-6.32532186e-03 -7.25589607e-05 9.99979992e-01 -4.99671145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.190888479 meters Centerline goodness [0,1] 0.9999550894842028 Centerline is valid? [True, True] Translation: X:76.41, Y:25.11, Z:-0.50 [[ 8.38611546e-01 -5.44699580e-01 5.74820505e-03 7.64089184e+01] [ 5.44686136e-01 8.38631243e-01 3.82781905e-03 2.51069404e+01] [-6.90563577e-03 -7.90856621e-05 9.99976153e-01 -5.00081481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.220888479 meters Centerline goodness [0,1] 0.9999100699206367 Centerline is valid? [True, True] Translation: X:76.43, Y:25.12, Z:-0.50 [[ 8.38603786e-01 -5.44706579e-01 6.19942175e-03 7.64324008e+01] [ 5.44690923e-01 8.38626696e-01 4.13086948e-03 2.51230891e+01] [-7.44911236e-03 -8.73940332e-05 9.99972251e-01 -5.00003406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.250888479 meters Centerline goodness [0,1] 0.9998654044595989 Centerline is valid? [True, True] Translation: X:76.46, Y:25.14, Z:-0.50 [[ 8.38395364e-01 -5.45023169e-01 6.55429286e-03 7.64553993e+01] [ 5.45005656e-01 8.38420978e-01 4.37004899e-03 2.51391586e+01] [-7.87703458e-03 -9.17021338e-05 9.99968971e-01 -4.99785628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.280888479 meters Centerline goodness [0,1] 0.9998426860237769 Centerline is valid? [True, True] Translation: X:76.48, Y:25.16, Z:-0.50 [[ 8.38722934e-01 -5.44504435e-01 7.66557550e-03 7.64777737e+01] [ 5.44480430e-01 8.38757955e-01 5.11419512e-03 2.51569228e+01] [-9.21426435e-03 -1.15636893e-04 9.99957541e-01 -4.98791780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.310888479 meters Centerline goodness [0,1] 0.9999551659978928 Centerline is valid? [True, True] Translation: X:76.50, Y:25.17, Z:-0.50 [[ 8.38632441e-01 -5.44635054e-01 8.26358985e-03 7.65000729e+01] [ 5.44607131e-01 8.38673144e-01 5.51634957e-03 2.51733806e+01] [-9.93484823e-03 -1.25779741e-04 9.99950640e-01 -4.98619457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.340888479 meters Centerline goodness [0,1] 0.9999102011494253 Centerline is valid? [True, True] Translation: X:76.52, Y:25.19, Z:-0.50 [[ 8.38961471e-01 -5.44125581e-01 8.42630749e-03 7.65230849e+01] [ 5.44096490e-01 8.39003774e-01 5.62816749e-03 2.51905498e+01] [-1.01321337e-02 -1.37091344e-04 9.99948659e-01 -4.98870724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.55, Y:25.21, Z:-0.50 [[ 8.39299446e-01 -5.43599751e-01 8.70351271e-03 7.65459268e+01] [ 5.43568654e-01 8.39344558e-01 5.81639298e-03 2.52087844e+01] [-1.04670358e-02 -1.50738712e-04 9.99945208e-01 -4.99055195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.400888479 meters Centerline goodness [0,1] 0.9998214086393571 Centerline is valid? [True, True] Translation: X:76.57, Y:25.23, Z:-0.50 [[ 8.39596066e-01 -5.43138398e-01 8.89524785e-03 7.65687399e+01] [ 5.43105857e-01 8.39643170e-01 5.94763695e-03 2.52263093e+01] [-1.06992241e-02 -1.62551376e-04 9.99942748e-01 -4.99629814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430888479 meters Centerline goodness [0,1] 0.9999776421400943 Centerline is valid? [True, True] Translation: X:76.59, Y:25.24, Z:-0.50 [[ 8.39840329e-01 -5.42759806e-01 8.94510060e-03 7.65915551e+01] [ 5.42726855e-01 8.39887947e-01 5.98309232e-03 2.52432377e+01] [-1.07602642e-02 -1.70095909e-04 9.99942092e-01 -5.00033297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.460888479 meters Centerline goodness [0,1] 0.9999776466380543 Centerline is valid? [True, True] Translation: X:76.61, Y:25.26, Z:-0.50 [[ 8.40126262e-01 -5.42320059e-01 8.76460689e-03 7.66148597e+01] [ 5.42288378e-01 8.40171961e-01 5.86438640e-03 2.52611147e+01] [-1.05441513e-02 -1.73880565e-04 9.99944394e-01 -5.00431322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49088847899999 meters Centerline goodness [0,1] 0.9998222577706681 Centerline is valid? [True, True] Translation: X:76.64, Y:25.28, Z:-0.50 [[ 8.40792078e-01 -5.41312035e-01 7.06838522e-03 7.66360401e+01] [ 5.41291381e-01 8.40821775e-01 4.73102797e-03 2.52794847e+01] [-8.50421459e-03 -1.51754841e-04 9.99963827e-01 -5.02094268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52088847899999 meters Centerline goodness [0,1] 0.9998222222222222 Centerline is valid? [True, True] Translation: X:76.66, Y:25.30, Z:-0.50 [[ 8.41063409e-01 -5.40896715e-01 6.56390974e-03 7.66592413e+01] [ 5.40878882e-01 8.41089010e-01 4.39459349e-03 2.52966530e+01] [-7.89785353e-03 -1.45851617e-04 9.99968801e-01 -5.03266329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.550888479 meters Centerline goodness [0,1] 0.9999555199715328 Centerline is valid? [True, True] Translation: X:76.68, Y:25.31, Z:-0.50 [[ 8.41475664e-01 -5.40262146e-01 5.95993578e-03 7.66823839e+01] [ 5.40247417e-01 8.41496758e-01 3.99184206e-03 2.53130725e+01] [-7.17190780e-03 -1.39198036e-04 9.99974272e-01 -5.03981817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.580888479 meters Centerline goodness [0,1] 0.9998670890281993 Centerline is valid? [True, True] Translation: X:76.70, Y:25.33, Z:-0.50 [[ 8.41303715e-01 -5.40539914e-01 4.96586995e-03 7.67031820e+01] [ 5.40529690e-01 8.41318363e-01 3.32657504e-03 2.53321272e+01] [-5.97602416e-03 -1.14459790e-04 9.99982137e-01 -5.04659088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.610888479 meters Centerline goodness [0,1] 0.9999555604932785 Centerline is valid? [True, True] Translation: X:76.73, Y:25.35, Z:-0.50 [[ 8.40713461e-01 -5.41455510e-01 5.17751586e-03 7.67276924e+01] [ 5.41444408e-01 8.40729396e-01 3.46917559e-03 2.53480524e+01] [-6.23129403e-03 -1.13245611e-04 9.99980579e-01 -5.04752207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:25.36, Z:-0.50 [[ 8.39547139e-01 -5.43262501e-01 5.14356433e-03 7.67521815e+01] [ 5.43251567e-01 8.39562889e-01 3.44818428e-03 2.53641752e+01] [-6.19161495e-03 -1.00663861e-04 9.99980827e-01 -5.04845239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.670888479 meters Centerline goodness [0,1] 0.9999112944359435 Centerline is valid? [True, True] Translation: X:76.78, Y:25.38, Z:-0.50 [[ 8.36692126e-01 -5.47646255e-01 5.46497583e-03 7.67769374e+01] [ 5.47633992e-01 8.36709970e-01 3.66562059e-03 2.53782118e+01] [-6.58006315e-03 -7.41893495e-05 9.99978348e-01 -5.04611790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.80, Y:25.39, Z:-0.50 [[ 8.34970354e-01 -5.50263841e-01 5.84924787e-03 7.68031450e+01] [ 5.50249843e-01 8.34990839e-01 3.92542882e-03 2.53919334e+01] [-7.04408993e-03 -5.90689691e-05 9.99975188e-01 -5.03829083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.83, Y:25.41, Z:-0.50 [[ 8.33422086e-01 -5.52598924e-01 6.48506231e-03 7.68275054e+01] [ 5.52581773e-01 8.33447315e-01 4.35402052e-03 2.54061542e+01] [-7.81098482e-03 -4.52096328e-05 9.99969493e-01 -5.02251486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.760888479 meters Centerline goodness [0,1] 0.9999777955413447 Centerline is valid? [True, True] Translation: X:76.85, Y:25.42, Z:-0.50 [[ 8.30295882e-01 -5.57271146e-01 7.59074501e-03 7.68525093e+01] [ 5.57247832e-01 8.30330579e-01 5.09740628e-03 2.54197009e+01] [-9.14346513e-03 -2.42924057e-06 9.99958198e-01 -5.00549744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:25.44, Z:-0.50 [[ 8.29015679e-01 -5.59167281e-01 8.05951409e-03 7.68761314e+01] [ 5.59141069e-01 8.29054854e-01 5.41418516e-03 2.54352564e+01] [-9.70921448e-03 1.79609433e-05 9.99952864e-01 -5.00824822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:25.45, Z:-0.50 [[ 8.28087606e-01 -5.60531979e-01 8.64965363e-03 7.68983011e+01] [ 5.60501825e-01 8.28132779e-01 5.81419413e-03 2.54532969e+01] [-1.04221034e-02 3.34845463e-05 9.99945688e-01 -5.00769700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:25.47, Z:-0.50 [[ 8.28172210e-01 -5.60398652e-01 9.17289629e-03 7.69200991e+01] [ 5.60364701e-01 8.28223008e-01 6.16863604e-03 2.54702396e+01] [-1.10540991e-02 3.14743382e-05 9.99938901e-01 -5.00662226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88088847899999 meters Centerline goodness [0,1] 0.9999778883360972 Centerline is valid? [True, True] Translation: X:76.94, Y:25.49, Z:-0.50 [[ 8.28397306e-01 -5.60063264e-01 9.32973207e-03 7.69425125e+01] [ 5.60028090e-01 8.28449841e-01 6.27686634e-03 2.54871322e+01] [-1.12446573e-02 2.51728654e-05 9.99936777e-01 -4.99981908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.910888479 meters Centerline goodness [0,1] 0.9999780065100731 Centerline is valid? [True, True] Translation: X:76.96, Y:25.50, Z:-0.50 [[ 8.28892840e-01 -5.59328921e-01 9.37112139e-03 7.69643957e+01] [ 5.59293356e-01 8.28945811e-01 6.30741916e-03 2.55037139e+01] [-1.12960738e-02 1.30313514e-05 9.99936197e-01 -4.99267993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:25.52, Z:-0.50 [[ 8.29569920e-01 -5.58332929e-01 8.83678882e-03 7.69853814e+01] [ 5.58301232e-01 8.29616984e-01 5.94926644e-03 2.55210106e+01] [-1.06528214e-02 -1.74239371e-06 9.99943257e-01 -4.98959166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.970888479 meters Centerline goodness [0,1] 0.9998904349731565 Centerline is valid? [True, True] Translation: X:77.01, Y:25.54, Z:-0.50 [[ 8.31618836e-01 -5.55274059e-01 8.99058053e-03 7.70050968e+01] [ 5.55241044e-01 8.31667432e-01 6.05515805e-03 2.55432025e+01] [-1.08394452e-02 -4.36441727e-05 9.99941251e-01 -4.99304241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.000888479 meters Centerline goodness [0,1] 0.9999346191565871 Centerline is valid? [True, True] Translation: X:77.03, Y:25.56, Z:-0.50 [[ 8.32721363e-01 -5.53615062e-01 9.24631138e-03 7.70260548e+01] [ 5.53580015e-01 8.32772693e-01 6.22961174e-03 2.55623786e+01] [-1.11488825e-02 -6.89575888e-05 9.99937847e-01 -4.98772653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.030888479 meters Centerline goodness [0,1] 0.9998474879079698 Centerline is valid? [True, True] Translation: X:77.05, Y:25.58, Z:-0.50 [[ 8.33843496e-01 -5.51923824e-01 9.22583736e-03 7.70475183e+01] [ 5.51888805e-01 8.33894528e-01 6.21801596e-03 2.55816489e+01] [-1.11252464e-02 -9.32158187e-05 9.99938108e-01 -4.98775792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.060888479 meters Centerline goodness [0,1] 0.9998478194704118 Centerline is valid? [True, True] Translation: X:77.07, Y:25.60, Z:-0.50 [[ 8.35922945e-01 -5.48773828e-01 8.95073560e-03 7.70670937e+01] [ 5.48740662e-01 8.35970854e-01 6.03469085e-03 2.56034542e+01] [-1.07942345e-02 -1.32903967e-04 9.99941732e-01 -4.98566370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.090888479 meters Centerline goodness [0,1] 0.9995869475423379 Centerline is valid? [True, True] Translation: X:77.09, Y:25.62, Z:-0.50 [[ 8.36551759e-01 -5.47822895e-01 8.43977569e-03 7.70892803e+01] [ 5.47793339e-01 8.36594320e-01 5.69213578e-03 2.56219285e+01] [-1.01789507e-02 -1.38513294e-04 9.99948184e-01 -4.99064909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.120888479 meters Centerline goodness [0,1] 0.9993924534033458 Centerline is valid? [True, True] Translation: X:77.11, Y:25.64, Z:-0.50 [[ 8.37207966e-01 -5.46829676e-01 7.75420738e-03 7.71101248e+01] [ 5.46804667e-01 8.37243863e-01 5.23166256e-03 2.56405321e+01] [-9.35299088e-03 -1.39952792e-04 9.99956250e-01 -4.99839675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150888479 meters Centerline goodness [0,1] 0.9992852501624432 Centerline is valid? [True, True] Translation: X:77.13, Y:25.66, Z:-0.50 [[ 8.37230390e-01 -5.46810839e-01 6.57118109e-03 7.71302587e+01] [ 5.46792868e-01 8.37256169e-01 4.43478712e-03 2.56600210e+01] [-7.92675157e-03 -1.19863590e-04 9.99968576e-01 -5.02152219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.180888479 meters Centerline goodness [0,1] 0.9995459066730096 Centerline is valid? [True, True] Translation: X:77.15, Y:25.68, Z:-0.50 [[ 8.36816276e-01 -5.47452662e-01 5.83981564e-03 7.71521150e+01] [ 5.47438469e-01 8.36836646e-01 3.94331490e-03 2.56772962e+01] [-7.04574997e-03 -1.02890352e-04 9.99975173e-01 -5.03885346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210888479 meters Centerline goodness [0,1] 0.9993738935187184 Centerline is valid? [True, True] Translation: X:77.18, Y:25.69, Z:-0.51 [[ 8.36143848e-01 -5.48490235e-01 4.68270020e-03 7.71751852e+01] [ 5.48481118e-01 8.36156956e-01 3.16346987e-03 2.56946127e+01] [-5.65060468e-03 -7.67432247e-05 9.99984032e-01 -5.06186334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24088847899999 meters Centerline goodness [0,1] 0.999200121062758 Centerline is valid? [True, True] Translation: X:77.20, Y:25.71, Z:-0.51 [[ 8.35416057e-01 -5.49603958e-01 3.93721711e-03 7.71991667e+01] [ 5.49597519e-01 8.35425333e-01 2.66095712e-03 2.57109778e+01] [-4.75172348e-03 -5.91215526e-05 9.99988709e-01 -5.07142202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27088847899999 meters Centerline goodness [0,1] 0.9992031014430325 Centerline is valid? [True, True] Translation: X:77.22, Y:25.73, Z:-0.51 [[ 8.34042803e-01 -5.51682081e-01 4.41417844e-03 7.72221167e+01] [ 5.51674007e-01 8.34054482e-01 2.98505766e-03 2.57281857e+01] [-5.32846813e-03 -5.44783521e-05 9.99985802e-01 -5.07489026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.300888479 meters Centerline goodness [0,1] 0.9990507831039392 Centerline is valid? [True, True] Translation: X:77.24, Y:25.74, Z:-0.51 [[ 8.33703873e-01 -5.52192986e-01 4.55610991e-03 7.72432284e+01] [ 5.52184384e-01 8.33716320e-01 3.08268137e-03 2.57446384e+01] [-5.50073822e-03 -5.42306556e-05 9.99984869e-01 -5.07352316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.330888479 meters Centerline goodness [0,1] 0.9990507831039392 Centerline is valid? [True, True] Translation: X:77.27, Y:25.76, Z:-0.51 [[ 8.33554650e-01 -5.52418222e-01 4.55573908e-03 7.72660229e+01] [ 5.52409620e-01 8.33567097e-01 3.08322930e-03 2.57601670e+01] [-5.50074625e-03 -5.34060241e-05 9.99984869e-01 -5.07502733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.360888479 meters Centerline goodness [0,1] 0.9989226459814695 Centerline is valid? [True, True] Translation: X:77.29, Y:25.78, Z:-0.51 [[ 8.33137170e-01 -5.53052625e-01 3.90505456e-03 7.72881393e+01] [ 5.53046306e-01 8.33146321e-01 2.64413644e-03 2.57775625e+01] [-4.71582844e-03 -4.32523537e-05 9.99988879e-01 -5.08281528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.390888479 meters Centerline goodness [0,1] 0.9988822492584154 Centerline is valid? [True, True] Translation: X:77.31, Y:25.79, Z:-0.51 [[ 8.32892460e-01 -5.53422943e-01 3.63254206e-03 7.73110990e+01] [ 5.53417473e-01 8.32900381e-01 2.46096317e-03 2.57945198e+01] [-4.38749915e-03 -3.94054250e-05 9.99990374e-01 -5.08777275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.420888479 meters Centerline goodness [0,1] 0.9989076890126365 Centerline is valid? [True, True] Translation: X:77.33, Y:25.81, Z:-0.51 [[ 8.32874410e-01 -5.53452156e-01 3.30568270e-03 7.73321131e+01] [ 5.53447620e-01 8.32880970e-01 2.24098559e-03 2.58110315e+01] [-3.99351852e-03 -3.69373327e-05 9.99992025e-01 -5.09189049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.450888479 meters Centerline goodness [0,1] 0.9991840065279478 Centerline is valid? [True, True] Translation: X:77.35, Y:25.83, Z:-0.51 [[ 8.33001354e-01 -5.53257120e-01 3.91185485e-03 7.73544450e+01] [ 5.53250763e-01 8.33010538e-01 2.65261886e-03 2.58285755e+01] [-4.72619658e-03 -4.53984185e-05 9.99988830e-01 -5.08016413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.480888479 meters Centerline goodness [0,1] 0.9991829187004106 Centerline is valid? [True, True] Translation: X:77.38, Y:25.85, Z:-0.51 [[ 8.33360186e-01 -5.52715430e-01 4.05628629e-03 7.73753859e+01] [ 5.52708580e-01 8.33370056e-01 2.75240049e-03 2.58466697e+01] [-4.90168175e-03 -5.17967468e-05 9.99987985e-01 -5.07608225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510888479 meters Centerline goodness [0,1] 0.9990337334392648 Centerline is valid? [True, True] Translation: X:77.40, Y:25.86, Z:-0.51 [[ 8.33739930e-01 -5.52138600e-01 4.54930119e-03 7.73986119e+01] [ 5.52129970e-01 8.33752339e-01 3.08758387e-03 2.58634917e+01] [-5.49776474e-03 -6.24364231e-05 9.99984885e-01 -5.07478027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.540888479 meters Centerline goodness [0,1] 0.9990362374710872 Centerline is valid? [True, True] Translation: X:77.42, Y:25.88, Z:-0.51 [[ 8.34991798e-01 -5.50251377e-01 3.48124445e-03 7.74188223e+01] [ 5.50246303e-01 8.34999053e-01 2.36372309e-03 2.58838338e+01] [-4.20747770e-03 -5.81475083e-05 9.99991147e-01 -5.08293083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570888479 meters Centerline goodness [0,1] 0.9987992109100265 Centerline is valid? [True, True] Translation: X:77.44, Y:25.90, Z:-0.51 [[ 8.35534604e-01 -5.49430973e-01 2.74425422e-03 7.74421282e+01] [ 5.49427816e-01 8.35539109e-01 1.86335672e-03 2.59007305e+01] [-3.31671762e-03 -4.91294214e-05 9.99994498e-01 -5.08958573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.600888479 meters Centerline goodness [0,1] 0.9988828735928504 Centerline is valid? [True, True] Translation: X:77.47, Y:25.92, Z:-0.51 [[ 8.36165868e-01 -5.48472333e-01 2.17748015e-03 7.74657043e+01] [ 5.48470340e-01 8.36168702e-01 1.47894660e-03 2.59181714e+01] [-2.63190204e-03 -4.23613881e-05 9.99996536e-01 -5.09582070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63088847899999 meters Centerline goodness [0,1] 0.9986522911051213 Centerline is valid? [True, True] Translation: X:77.49, Y:25.94, Z:-0.51 [[ 8.36720425e-01 -5.47627615e-01 1.71060540e-03 7.74880681e+01] [ 5.47626382e-01 8.36722173e-01 1.16274518e-03 2.59352225e+01] [-2.06805284e-03 -3.61199962e-05 9.99997861e-01 -5.09919704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.660888479 meters Centerline goodness [0,1] 0.9989103728234163 Centerline is valid? [True, True] Translation: X:77.51, Y:25.95, Z:-0.51 [[ 8.37800280e-01 -5.45976394e-01 6.83837403e-04 7.75090139e+01] [ 5.45976196e-01 8.37800559e-01 4.64575904e-04 2.59538289e+01] [-8.26566836e-04 -1.58628787e-05 9.99999658e-01 -5.10796875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.690888479 meters Centerline goodness [0,1] 0.9987572406529752 Centerline is valid? [True, True] Translation: X:77.53, Y:25.97, Z:-0.51 [[ 8.38311300e-01 -5.45191579e-01 5.53281003e-04 7.75310406e+01] [ 5.45191450e-01 8.38311482e-01 3.75761626e-04 2.59700424e+01] [-6.68683892e-04 -1.33611453e-05 9.99999776e-01 -5.10981887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.720888479 meters Centerline goodness [0,1] 0.9989717884454726 Centerline is valid? [True, True] Translation: X:77.56, Y:25.99, Z:-0.51 [[ 8.38491811e-01 -5.44913114e-01 1.08668775e-03 7.75553452e+01] [ 5.44912615e-01 8.38492515e-01 7.38114040e-04 2.59856834e+01] [-1.31338756e-03 -2.67527163e-05 9.99999137e-01 -5.10342008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.750888479 meters Centerline goodness [0,1] 0.9987560855298432 Centerline is valid? [True, True] Translation: X:77.58, Y:26.00, Z:-0.51 [[ 8.39396114e-01 -5.43519668e-01 7.30477050e-04 7.75780294e+01] [ 5.43519441e-01 8.39396432e-01 4.96749159e-04 2.60023025e+01] [-8.83152767e-04 -1.99408353e-05 9.99999610e-01 -5.10972015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.780888479 meters Centerline goodness [0,1] 0.9987971991924052 Centerline is valid? [True, True] Translation: X:77.60, Y:26.02, Z:-0.51 [[ 8.39667047e-01 -5.43100670e-01 9.55423017e-04 7.76022212e+01] [ 5.43100282e-01 8.39667590e-01 6.49230829e-04 2.60182841e+01] [-1.15483544e-03 -2.62472228e-05 9.99999333e-01 -5.11180186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.810888479 meters Centerline goodness [0,1] 0.9989477527004101 Centerline is valid? [True, True] Translation: X:77.63, Y:26.03, Z:-0.51 [[ 8.40232934e-01 -5.42225244e-01 6.34052120e-04 7.76254658e+01] [ 5.42225072e-01 8.40233173e-01 4.31405214e-04 2.60337970e+01] [-7.66670422e-04 -1.86819123e-05 9.99999706e-01 -5.11093109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.840888479 meters Centerline goodness [0,1] 0.9987565922051194 Centerline is valid? [True, True] Translation: X:77.65, Y:26.05, Z:-0.51 [[ 8.40758764e-01 -5.41409356e-01 7.81463258e-04 7.76498673e+01] [ 5.41409096e-01 8.40759127e-01 5.31126251e-04 2.60500139e+01] [-9.44579088e-04 -2.34577342e-05 9.99999554e-01 -5.11166080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.870888479 meters Centerline goodness [0,1] 0.9984744961540114 Centerline is valid? [True, True] Translation: X:77.67, Y:26.07, Z:-0.51 [[ 8.42380934e-01 -5.38881343e-01 1.12242426e-03 7.76732321e+01] [ 5.38880802e-01 8.42381681e-01 7.64711142e-04 2.60667564e+01] [-1.35759820e-03 -3.93251996e-05 9.99999078e-01 -5.11692740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.900888479 meters Centerline goodness [0,1] 0.9986249274864104 Centerline is valid? [True, True] Translation: X:77.70, Y:26.08, Z:-0.51 [[ 8.43026415e-01 -5.37870033e-01 1.51382991e-03 7.76990259e+01] [ 5.37869046e-01 8.43027772e-01 1.03156845e-03 2.60792130e+01] [-1.83105041e-03 -5.53972010e-05 9.99998322e-01 -5.11940090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930888479 meters Centerline goodness [0,1] 0.9986883694927645 Centerline is valid? [True, True] Translation: X:77.72, Y:26.09, Z:-0.51 [[ 8.43438489e-01 -5.37221419e-01 2.15947227e-03 7.77240992e+01] [ 5.37219409e-01 8.43441249e-01 1.47149584e-03 2.60945340e+01] [-2.61190708e-03 -8.10058111e-05 9.99996586e-01 -5.11180790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.960888479 meters Centerline goodness [0,1] 0.9987530367854148 Centerline is valid? [True, True] Translation: X:77.75, Y:26.11, Z:-0.51 [[ 8.44406448e-01 -5.35690341e-01 3.68901455e-03 7.77479365e+01] [ 5.35684451e-01 8.44414493e-01 2.51643698e-03 2.61092016e+01] [-4.46308834e-03 -1.48747879e-04 9.99990029e-01 -5.09647281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99088847899999 meters Centerline goodness [0,1] 0.9990078723174809 Centerline is valid? [True, True] Translation: X:77.77, Y:26.12, Z:-0.51 [[ 8.44289342e-01 -5.35874884e-01 3.69005237e-03 7.77730513e+01] [ 5.35868991e-01 8.44297393e-01 2.51738239e-03 2.61226244e+01] [-4.46450358e-03 -1.48014478e-04 9.99990023e-01 -5.09192543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02088847899999 meters Centerline goodness [0,1] 0.9988341213809184 Centerline is valid? [True, True] Translation: X:77.80, Y:26.13, Z:-0.51 [[ 8.43564232e-01 -5.37020524e-01 2.88858288e-03 7.77995782e+01] [ 5.37016916e-01 8.43569170e-01 1.97187301e-03 2.61329735e+01] [-3.49565574e-03 -1.12183674e-04 9.99993884e-01 -5.07696633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.050888479 meters Centerline goodness [0,1] 0.9992203235657202 Centerline is valid? [True, True] Translation: X:77.83, Y:26.15, Z:-0.51 [[ 8.42519483e-01 -5.38658361e-01 2.84465753e-03 7.78251216e+01] [ 5.38654870e-01 8.42524278e-01 1.94185974e-03 2.61467055e+01] [-3.44269202e-03 -1.03766031e-04 9.99994069e-01 -5.08128079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.080888479 meters Centerline goodness [0,1] 0.9992842580141413 Centerline is valid? [True, True] Translation: X:77.85, Y:26.16, Z:-0.51 [[ 8.41651258e-01 -5.40014618e-01 2.71527851e-03 7.78485599e+01] [ 5.40011441e-01 8.41655632e-01 1.85485926e-03 2.61611063e+01] [-3.28698056e-03 -9.48631640e-05 9.99994593e-01 -5.09177136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.110888479 meters Centerline goodness [0,1] 0.9993702086998068 Centerline is valid? [True, True] Translation: X:77.88, Y:26.17, Z:-0.51 [[ 8.39479049e-01 -5.43386082e-01 2.54793142e-03 7.78768508e+01] [ 5.43383299e-01 8.39482912e-01 1.74087711e-03 2.61702604e+01] [-3.08491328e-03 -7.69264822e-05 9.99995239e-01 -5.09855133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.140888479 meters Centerline goodness [0,1] 0.9994521868700149 Centerline is valid? [True, True] Translation: X:77.90, Y:26.18, Z:-0.51 [[ 8.37985381e-01 -5.45683898e-01 3.09577663e-03 7.79028386e+01] [ 5.45679805e-01 8.37991095e-01 2.11524798e-03 2.61833794e+01] [-3.74849001e-03 -8.32441013e-05 9.99992971e-01 -5.09862174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.170888479 meters Centerline goodness [0,1] 0.999782011596983 Centerline is valid? [True, True] Translation: X:77.93, Y:26.20, Z:-0.51 [[ 8.36401474e-01 -5.48107114e-01 3.34161761e-03 7.79271071e+01] [ 5.48102357e-01 8.36408145e-01 2.28482735e-03 2.61968694e+01] [-4.04728631e-03 -7.94844685e-05 9.99991807e-01 -5.10201466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.200888479 meters Centerline goodness [0,1] 0.9997591311202593 Centerline is valid? [True, True] Translation: X:77.96, Y:26.21, Z:-0.51 [[ 8.32968710e-01 -5.53301917e-01 4.48521067e-03 7.79570813e+01] [ 5.53293418e-01 8.32980782e-01 3.06752227e-03 2.62051917e+01] [-5.43336024e-03 -7.35125244e-05 9.99985236e-01 -5.09388874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.230888479 meters Centerline goodness [0,1] 0.9998466660825375 Centerline is valid? [True, True] Translation: X:77.98, Y:26.22, Z:-0.51 [[ 8.31260046e-01 -5.55860554e-01 5.07734012e-03 7.79812431e+01] [ 5.55849701e-01 8.31275550e-01 3.47428791e-03 2.62187965e+01] [-6.15188830e-03 -6.57987454e-05 9.99981075e-01 -5.09713552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.260888479 meters Centerline goodness [0,1] 0.9999124419928203 Centerline is valid? [True, True] Translation: X:78.01, Y:26.23, Z:-0.51 [[ 8.29884788e-01 -5.57915335e-01 4.66032953e-03 7.80059295e+01] [ 5.57906220e-01 8.29897872e-01 3.18949001e-03 2.62328333e+01] [-5.64706294e-03 -4.68824114e-05 9.99984054e-01 -5.10409444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290888479 meters Centerline goodness [0,1] 0.9999123825378398 Centerline is valid? [True, True] Translation: X:78.03, Y:26.25, Z:-0.51 [[ 8.28493203e-01 -5.59985540e-01 3.89958685e-03 7.80315585e+01] [ 5.59979180e-01 8.28502380e-01 2.66909882e-03 2.62459431e+01] [-4.72547374e-03 -2.76427846e-05 9.99988835e-01 -5.11585478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.320888479 meters Centerline goodness [0,1] 0.9999779449063761 Centerline is valid? [True, True] Translation: X:78.06, Y:26.26, Z:-0.51 [[ 8.27232404e-01 -5.61851172e-01 3.13207098e-03 7.80567014e+01] [ 5.61847080e-01 8.27238333e-01 2.14447688e-03 2.62587394e+01] [-3.79584603e-03 -1.42358334e-05 9.99992796e-01 -5.13009056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350888479 meters Centerline goodness [0,1] 0.9999778535677902 Centerline is valid? [True, True] Translation: X:78.08, Y:26.27, Z:-0.51 [[ 8.25927451e-01 -5.63772592e-01 2.07627288e-03 7.80822195e+01] [ 5.63770797e-01 8.25930061e-01 1.42239338e-03 2.62690056e+01] [-2.51676259e-03 -4.25171971e-06 9.99996833e-01 -5.14007181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:26.28, Z:-0.51 [[ 8.25726777e-01 -5.64067264e-01 1.84717737e-03 7.81059981e+01] [ 5.64065845e-01 8.25728843e-01 1.26508429e-03 2.62840356e+01] [-2.23886027e-03 -2.68430349e-06 9.99997494e-01 -5.14211298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:26.30, Z:-0.52 [[ 8.26079260e-01 -5.63551803e-01 1.55648510e-03 7.81285170e+01] [ 5.63550792e-01 8.26080726e-01 1.06702270e-03 2.62993645e+01] [-1.88710491e-03 -4.28690849e-06 9.99998219e-01 -5.15676601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.440888479 meters Centerline goodness [0,1] 0.9999778270509978 Centerline is valid? [True, True] Translation: X:78.15, Y:26.32, Z:-0.52 [[ 8.27606105e-01 -5.61308979e-01 6.04197247e-04 7.81508000e+01] [ 5.61308826e-01 8.27606326e-01 4.13785199e-04 2.63156924e+01] [-7.32298811e-04 -3.30990967e-06 9.99999732e-01 -5.18720270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.470888479 meters Centerline goodness [0,1] 0.9999779293297137 Centerline is valid? [True, True] Translation: X:78.17, Y:26.33, Z:-0.52 [[ 8.28541413e-01 -5.59927018e-01 9.28158365e-04 7.81748769e+01] [ 5.59926657e-01 8.28541933e-01 6.35684800e-04 2.63315237e+01] [-1.12495522e-03 -6.99057171e-06 9.99999367e-01 -5.18671900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.500888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:26.35, Z:-0.52 [[ 8.29503723e-01 -5.58499978e-01 1.16140887e-03 7.81993236e+01] [ 5.58499410e-01 8.29504536e-01 7.96224548e-04 2.63478289e+01] [-1.40808532e-03 -1.18250566e-05 9.99999009e-01 -5.17520316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.530888479 meters Centerline goodness [0,1] 0.9999555209607472 Centerline is valid? [True, True] Translation: X:78.22, Y:26.36, Z:-0.52 [[ 8.32132298e-01 -5.54574203e-01 1.81407401e-03 7.82215680e+01] [ 5.54572805e-01 8.32134275e-01 1.24580612e-03 2.63640907e+01] [-2.20044510e-03 -3.06393992e-05 9.99997579e-01 -5.15661355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.560888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:26.38, Z:-0.52 [[ 8.33515828e-01 -5.52490539e-01 2.35966013e-03 7.82448154e+01] [ 5.52488165e-01 8.33519167e-01 1.62048224e-03 2.63810063e+01] [-2.86212305e-03 -4.70133000e-05 9.99995903e-01 -5.15234944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.590888479 meters Centerline goodness [0,1] 0.9999778216416421 Centerline is valid? [True, True] Translation: X:78.27, Y:26.40, Z:-0.51 [[ 8.36790963e-01 -5.47517063e-01 2.43920884e-03 7.82686891e+01] [ 5.47514501e-01 8.36794515e-01 1.67654330e-03 2.63979488e+01] [-2.95905264e-03 -6.74140759e-05 9.99995620e-01 -5.14552556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.620888479 meters Centerline goodness [0,1] 0.99984464468019 Centerline is valid? [True, True] Translation: X:78.29, Y:26.41, Z:-0.52 [[ 8.38316350e-01 -5.45180002e-01 2.11258731e-03 7.82901626e+01] [ 5.45178072e-01 8.38319009e-01 1.45198099e-03 2.64148336e+01] [-2.56261310e-03 -6.54831250e-05 9.99996714e-01 -5.15421189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650888479 meters Centerline goodness [0,1] 0.999889049151226 Centerline is valid? [True, True] Translation: X:78.31, Y:26.43, Z:-0.52 [[ 8.39779843e-01 -5.42925578e-01 1.27797717e-03 7.83141353e+01] [ 5.42924869e-01 8.39780814e-01 8.78354122e-04 2.64300344e+01] [-1.55010163e-03 -4.37785000e-05 9.99998798e-01 -5.16220061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.680888479 meters Centerline goodness [0,1] 0.999911010256068 Centerline is valid? [True, True] Translation: X:78.34, Y:26.45, Z:-0.52 [[ 8.42168401e-01 -5.39214408e-01 4.54921960e-04 7.83365021e+01] [ 5.39214317e-01 8.42168524e-01 3.12306512e-04 2.64470582e+01] [-5.51521126e-04 -1.77142423e-05 9.99999848e-01 -5.17925047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710888479 meters Centerline goodness [0,1] 0.9997101578524926 Centerline is valid? [True, True] Translation: X:78.36, Y:26.46, Z:-0.52 [[ 8.43151072e-01 -5.37676405e-01 5.94427850e-04 7.83600814e+01] [ 5.37676251e-01 8.43151281e-01 4.07539319e-04 2.64638480e+01] [-7.20316879e-04 -2.40074751e-05 9.99999740e-01 -5.18786199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74088847899999 meters Centerline goodness [0,1] 0.9997551147621274 Centerline is valid? [True, True] Translation: X:78.38, Y:26.48, Z:-0.52 [[ 8.43861304e-01 -5.36560515e-01 9.55649825e-04 7.83838085e+01] [ 5.36560115e-01 8.43861844e-01 6.56479979e-04 2.64799359e+01] [-1.15867766e-03 -4.12144715e-05 9.99999328e-01 -5.18913272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77088847899999 meters Centerline goodness [0,1] 0.9997991967871486 Centerline is valid? [True, True] Translation: X:78.41, Y:26.49, Z:-0.52 [[ 8.44329820e-01 -5.35822089e-01 1.35798774e-03 7.84090995e+01] [ 5.35821278e-01 8.44330910e-01 9.33968267e-04 2.64940893e+01] [-1.64703186e-03 -6.09385298e-05 9.99998642e-01 -5.18467522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.800888479 meters Centerline goodness [0,1] 0.999596882558452 Centerline is valid? [True, True] Translation: X:78.43, Y:26.51, Z:-0.52 [[ 8.45054207e-01 -5.34675925e-01 2.24557198e-03 7.84342194e+01] [ 5.34673700e-01 8.45057184e-01 1.54627992e-03 2.65087463e+01] [-2.72439538e-03 -1.06042073e-04 9.99996283e-01 -5.17934997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.830888479 meters Centerline goodness [0,1] 0.9995751151661524 Centerline is valid? [True, True] Translation: X:78.46, Y:26.53, Z:-0.52 [[ 8.44632239e-01 -5.35343542e-01 1.91629111e-03 7.84561339e+01] [ 5.35341922e-01 8.44634408e-01 1.32043192e-03 2.65254746e+01] [-2.32545011e-03 -8.94084025e-05 9.99997292e-01 -5.18739327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.860888479 meters Centerline goodness [0,1] 0.9998650563389785 Centerline is valid? [True, True] Translation: X:78.48, Y:26.54, Z:-0.52 [[ 8.43930765e-01 -5.36451468e-01 8.28608560e-04 7.84813372e+01] [ 5.36451166e-01 8.43931171e-01 5.70059362e-04 2.65395408e+01] [-1.00509777e-03 -3.65826055e-05 9.99999494e-01 -5.20146948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.890888479 meters Centerline goodness [0,1] 0.9998193152046255 Centerline is valid? [True, True] Translation: X:78.51, Y:26.55, Z:-0.52 [[ 8.42023229e-01 -5.39440254e-01 -1.04610686e-03 7.85111818e+01] [ 5.39439770e-01 8.42023878e-01 -7.23509443e-04 2.65483514e+01] [ 1.27113707e-03 4.49001129e-05 9.99999191e-01 -5.20937786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.920888479 meters Centerline goodness [0,1] 0.9998184953262547 Centerline is valid? [True, True] Translation: X:78.54, Y:26.56, Z:-0.52 [[ 8.40663164e-01 -5.41556531e-01 -1.40267688e-03 7.85372521e+01] [ 5.41555665e-01 8.40664333e-01 -9.70231407e-04 2.65616251e+01] [ 1.70461558e-03 5.60101946e-05 9.99998546e-01 -5.21694867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.950888479 meters Centerline goodness [0,1] 0.9998409163219854 Centerline is valid? [True, True] Translation: X:78.56, Y:26.58, Z:-0.52 [[ 8.39268236e-01 -5.43713907e-01 -2.00352295e-03 7.85633713e+01] [ 5.43712146e-01 8.39270625e-01 -1.38586436e-03 2.65752106e+01] [ 2.43501168e-03 7.37721778e-05 9.99997033e-01 -5.22350331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.59, Y:26.59, Z:-0.52 [[ 8.36281845e-01 -5.48289441e-01 -3.37109396e-03 7.85900389e+01] [ 5.48284499e-01 8.36288634e-01 -2.33006740e-03 2.65858948e+01] [ 4.09675891e-03 1.00274501e-04 9.99991603e-01 -5.23753814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.62, Y:26.60, Z:-0.52 [[ 8.34356934e-01 -5.51211303e-01 -3.82180910e-03 7.86161020e+01] [ 5.51204972e-01 8.34365681e-01 -2.64368817e-03 2.66000226e+01] [ 4.64601716e-03 9.91793767e-05 9.99989202e-01 -5.24146593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.040888479 meters Centerline goodness [0,1] 0.9999310756789046 Centerline is valid? [True, True] Translation: X:78.64, Y:26.61, Z:-0.52 [[ 8.32560046e-01 -5.53926620e-01 -3.01175745e-03 7.86422877e+01] [ 5.53922701e-01 8.32565490e-01 -2.08468754e-03 2.66140599e+01] [ 3.66224924e-03 6.73467336e-05 9.99993292e-01 -5.23949128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.67, Y:26.62, Z:-0.52 [[ 8.29299120e-01 -5.58797435e-01 -2.89770351e-03 7.86684527e+01] [ 5.58793839e-01 8.29304181e-01 -2.00524530e-03 2.66246354e+01] [ 3.52360357e-03 4.37292909e-05 9.99993791e-01 -5.21839108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.100888479 meters Centerline goodness [0,1] 0.9999309344567995 Centerline is valid? [True, True] Translation: X:78.69, Y:26.64, Z:-0.52 [[ 8.28102363e-01 -5.60569380e-01 -2.90612462e-03 7.86930024e+01] [ 5.60565771e-01 8.28107462e-01 -2.01187878e-03 2.66388301e+01] [ 3.53438112e-03 3.69675851e-05 9.99993753e-01 -5.20835454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13088847899999 meters Centerline goodness [0,1] 0.9999538873005626 Centerline is valid? [True, True] Translation: X:78.72, Y:26.65, Z:-0.52 [[ 8.26837539e-01 -5.62433527e-01 -2.86562702e-03 7.87177024e+01] [ 5.62430023e-01 8.26842504e-01 -1.98558514e-03 2.66540331e+01] [ 3.48618188e-03 3.00416551e-05 9.99993923e-01 -5.19940851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:26.67, Z:-0.52 [[ 8.25155958e-01 -5.64899241e-01 -2.54816933e-03 7.87413360e+01] [ 5.64896479e-01 8.25159892e-01 -1.76667128e-03 2.66703135e+01] [ 3.10063839e-03 1.83274504e-05 9.99995193e-01 -5.19985378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:26.69, Z:-0.52 [[ 8.24660107e-01 -5.65625976e-01 -1.72167573e-03 7.87648333e+01] [ 5.65624714e-01 8.24661904e-01 -1.19479534e-03 2.66873742e+01] [ 2.09560766e-03 1.14777095e-05 9.99997804e-01 -5.20059011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:26.70, Z:-0.52 [[ 8.24160135e-01 -5.66355711e-01 -1.13134761e-03 7.87862976e+01] [ 5.66355167e-01 8.24160912e-01 -7.85018202e-04 2.67034610e+01] [ 1.37701202e-03 6.23614478e-06 9.99999052e-01 -5.20030238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.250888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:26.72, Z:-0.52 [[ 8.24009421e-01 -5.66574969e-01 -1.13066109e-03 7.88089294e+01] [ 5.66574424e-01 8.24010197e-01 -7.86008107e-04 2.67192617e+01] [ 1.37700879e-03 7.07442710e-06 9.99999052e-01 -5.20180727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.280888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:26.74, Z:-0.52 [[ 8.23246282e-01 -5.67684330e-01 2.44068615e-04 7.88321470e+01] [ 5.67684306e-01 8.23246319e-01 1.67809066e-04 2.67363442e+01] [-2.96191166e-04 4.05733019e-07 9.99999956e-01 -5.18360458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.310888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.86, Y:26.75, Z:-0.52 [[ 8.22707858e-01 -5.68464236e-01 4.38717635e-04 7.88553348e+01] [ 5.68464155e-01 8.22707975e-01 3.02812572e-04 2.67523752e+01] [-5.33074614e-04 2.68966957e-07 9.99999858e-01 -5.18037785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.340888479 meters Centerline goodness [0,1] 0.9999542752629172 Centerline is valid? [True, True] Translation: X:78.88, Y:26.77, Z:-0.52 [[ 8.22239120e-01 -5.69142187e-01 -2.61715940e-05 7.88780980e+01] [ 5.69142187e-01 8.22239120e-01 -1.99961033e-05 2.67682790e+01] [ 3.28999344e-05 1.54622011e-06 9.99999999e-01 -5.18789188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.90, Y:26.78, Z:-0.52 [[ 8.21913540e-01 -5.69611622e-01 -8.55691326e-04 7.89007288e+01] [ 5.69611309e-01 8.21913986e-01 -5.96690990e-04 2.67846889e+01] [ 1.04318679e-03 3.01694704e-06 9.99999456e-01 -5.19166476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.92, Y:26.80, Z:-0.52 [[ 8.22096276e-01 -5.69344799e-01 -2.05226791e-03 7.89219535e+01] [ 5.69343010e-01 8.22098838e-01 -1.42751564e-03 2.68024088e+01] [ 2.49991567e-03 5.11090146e-06 9.99996875e-01 -5.20930473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.94, Y:26.82, Z:-0.52 [[ 8.22253957e-01 -5.69116625e-01 -2.16719344e-03 7.89428850e+01] [ 5.69114627e-01 8.22256813e-01 -1.50802216e-03 2.68193172e+01] [ 2.64023006e-03 6.59570371e-06 9.99996515e-01 -5.21597023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.460888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:26.84, Z:-0.52 [[ 8.22427199e-01 -5.68867197e-01 -1.90121084e-03 7.89648978e+01] [ 5.68865655e-01 8.22429396e-01 -1.32483852e-03 2.68362953e+01] [ 2.31726886e-03 8.04968329e-06 9.99997315e-01 -5.22038591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49088847899999 meters Centerline goodness [0,1] 0.999908999909 Centerline is valid? [True, True] Translation: X:78.99, Y:26.85, Z:-0.52 [[ 8.22716277e-01 -5.68451993e-01 -5.08533308e-04 7.89865752e+01] [ 5.68451882e-01 8.22716435e-01 -3.54506743e-04 2.68539407e+01] [ 6.19898774e-04 2.58175149e-06 9.99999808e-01 -5.21971375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:26.87, Z:-0.52 [[ 8.22835541e-01 -5.68279465e-01 3.48986187e-04 7.90093848e+01] [ 5.68279414e-01 8.22835615e-01 2.41283524e-04 2.68705775e+01] [-4.24274736e-04 -2.14993091e-07 9.99999910e-01 -5.21229040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.550888479 meters Centerline goodness [0,1] 0.9998407607088423 Centerline is valid? [True, True] Translation: X:79.03, Y:26.89, Z:-0.52 [[ 8.23108514e-01 -5.67878268e-01 2.57818343e-03 7.90325678e+01] [ 5.67875432e-01 8.23112552e-01 1.79467020e-03 2.68871229e+01] [-3.14128935e-03 -1.31212875e-05 9.99995066e-01 -5.19051975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.580888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.05, Y:26.90, Z:-0.52 [[ 8.23375146e-01 -5.67490448e-01 2.82120623e-03 7.90536435e+01] [ 5.67487045e-01 8.23379980e-01 1.96554564e-03 2.69041576e+01] [-3.43835310e-03 -1.73834481e-05 9.99994089e-01 -5.19257578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.610888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:26.92, Z:-0.52 [[ 8.23393479e-01 -5.67459537e-01 3.58511351e-03 7.90765447e+01] [ 5.67454037e-01 8.23401284e-01 2.49840483e-03 2.69197193e+01] [-4.36973072e-03 -2.27831102e-05 9.99990452e-01 -5.19232368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.10, Y:26.94, Z:-0.52 [[ 8.23536205e-01 -5.67249145e-01 4.06520945e-03 7.90977252e+01] [ 5.67242062e-01 8.23546238e-01 2.83493443e-03 2.69370390e+01] [-4.95600208e-03 -2.87133549e-05 9.99987719e-01 -5.19482432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.670888479 meters Centerline goodness [0,1] 0.9998863610536604 Centerline is valid? [True, True] Translation: X:79.12, Y:26.95, Z:-0.52 [[ 8.24115545e-01 -5.66400237e-01 4.93354883e-03 7.91216987e+01] [ 5.66389780e-01 8.24130311e-01 3.44215330e-03 2.69527992e+01] [-6.01552358e-03 -4.24204079e-05 9.99981906e-01 -5.18752224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.700888479 meters Centerline goodness [0,1] 0.999931877015305 Centerline is valid? [True, True] Translation: X:79.14, Y:26.97, Z:-0.52 [[ 8.24040243e-01 -5.66505160e-01 5.43882175e-03 7.91444455e+01] [ 5.66492439e-01 8.24058190e-01 3.79683606e-03 2.69689071e+01] [-6.63283283e-03 -4.76943176e-05 9.99978001e-01 -5.18209390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.730888479 meters Centerline goodness [0,1] 0.9999546300077129 Centerline is valid? [True, True] Translation: X:79.17, Y:26.98, Z:-0.52 [[ 8.23672078e-01 -5.67036288e-01 5.84432491e-03 7.91662697e+01] [ 5.67021595e-01 8.23692810e-01 4.08225367e-03 2.69849112e+01] [-7.12871438e-03 -4.85799331e-05 9.99974589e-01 -5.18683696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.760888479 meters Centerline goodness [0,1] 0.9998864462209303 Centerline is valid? [True, True] Translation: X:79.19, Y:27.00, Z:-0.52 [[ 8.23446798e-01 -5.67366122e-01 5.57264203e-03 7.91895470e+01] [ 5.67352761e-01 8.23465653e-01 3.89410474e-03 2.70013176e+01] [-6.79826242e-03 -4.49342380e-05 9.99976891e-01 -5.19244145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790888479 meters Centerline goodness [0,1] 0.9998872477167663 Centerline is valid? [True, True] Translation: X:79.21, Y:27.02, Z:-0.52 [[ 8.23606774e-01 -5.67141762e-01 4.70146022e-03 7.92109157e+01] [ 5.67132238e-01 8.23620192e-01 3.28688492e-03 2.70171986e+01] [-5.73634727e-03 -4.07510264e-05 9.99983546e-01 -5.20291373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.23, Y:27.03, Z:-0.52 [[ 8.23511672e-01 -5.67284913e-01 4.04380890e-03 7.92336493e+01] [ 5.67277867e-01 8.23521600e-01 2.82760092e-03 2.70334992e+01] [-4.93421932e-03 -3.45990740e-05 9.99987826e-01 -5.22061995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.26, Y:27.05, Z:-0.52 [[ 8.23253442e-01 -5.67664664e-01 3.25552021e-03 7.92556112e+01] [ 5.67660096e-01 8.23259879e-01 2.27764109e-03 2.70501119e+01] [-3.97307554e-03 -2.70469513e-05 9.99992107e-01 -5.23949915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.28, Y:27.07, Z:-0.53 [[ 8.22259210e-01 -5.69108100e-01 2.40051505e-03 7.92787136e+01] [ 5.69105621e-01 8.22262714e-01 1.67965654e-03 2.70665194e+01] [-2.92976016e-03 -1.49664486e-05 9.99995708e-01 -5.27327183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:27.08, Z:-0.53 [[ 8.21448719e-01 -5.70279495e-01 1.81640833e-03 7.93024512e+01] [ 5.70278080e-01 8.21450727e-01 1.27051221e-03 2.70822324e+01] [-2.21663701e-03 -7.80277239e-06 9.99997543e-01 -5.28294466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.32, Y:27.10, Z:-0.53 [[ 8.20898451e-01 -5.71071694e-01 1.68922480e-03 7.93243174e+01] [ 5.71070469e-01 8.20900189e-01 1.18273654e-03 2.70977124e+01] [-2.06211232e-03 -6.24019570e-06 9.99997874e-01 -5.29612900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:27.11, Z:-0.53 [[ 8.19526002e-01 -5.73038989e-01 1.85726520e-03 7.93480524e+01] [ 5.73037514e-01 8.19528107e-01 1.30018817e-03 2.71128531e+01] [-2.26713955e-03 -1.25537797e-06 9.99997430e-01 -5.28963161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.37, Y:27.13, Z:-0.53 [[ 8.18906327e-01 -5.73924808e-01 1.65606781e-03 7.93709574e+01] [ 5.73923635e-01 8.18908001e-01 1.16046126e-03 2.71280003e+01] [-2.02218469e-03 1.47393414e-07 9.99997955e-01 -5.28808620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.030888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:27.14, Z:-0.53 [[ 8.18168867e-01 -5.74975830e-01 1.58117053e-03 7.93941038e+01] [ 5.74974763e-01 8.18170395e-01 1.10757227e-03 2.71435433e+01] [-1.93049420e-03 2.95200047e-06 9.99998137e-01 -5.28680812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.060888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.42, Y:27.16, Z:-0.53 [[ 8.16385693e-01 -5.77506281e-01 9.46943819e-04 7.94185123e+01] [ 5.77505900e-01 8.16386242e-01 6.63129234e-04 2.71590496e+01] [-1.15603320e-03 5.49642328e-06 9.99999332e-01 -5.29128078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.090888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:27.17, Z:-0.53 [[ 8.15569478e-01 -5.78658977e-01 4.62571632e-04 7.94418008e+01] [ 5.78658887e-01 8.15569609e-01 3.23074518e-04 2.71742523e+01] [-5.64209335e-04 4.18146961e-06 9.99999841e-01 -5.29854657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.120888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.47, Y:27.19, Z:-0.53 [[ 8.14712887e-01 -5.79864561e-01 6.02288167e-05 7.94656474e+01] [ 5.79864559e-01 8.14712889e-01 4.07288552e-05 2.71901920e+01] [-7.26864130e-05 1.74223306e-06 9.99999997e-01 -5.30181335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.49, Y:27.21, Z:-0.53 [[ 8.13470910e-01 -5.81605602e-01 -4.06515712e-05 7.94895905e+01] [ 5.81605602e-01 8.13470911e-01 -3.01949525e-05 2.72063367e+01] [ 5.06304243e-05 9.19533970e-07 9.99999999e-01 -5.30962263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.180888479 meters Centerline goodness [0,1] 0.9999548114507784 Centerline is valid? [True, True] Translation: X:79.51, Y:27.22, Z:-0.53 [[ 8.12989342e-01 -5.82278566e-01 3.06223483e-05 7.95122299e+01] [ 5.82278566e-01 8.12989343e-01 1.97037586e-05 2.72225708e+01] [-3.63687191e-05 1.81179127e-06 9.99999999e-01 -5.31519689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:27.24, Z:-0.53 [[ 8.12794056e-01 -5.82551129e-01 7.12649017e-05 7.95342292e+01] [ 5.82551127e-01 8.12794059e-01 4.89104071e-05 2.72385659e+01] [-8.64165016e-05 1.76136063e-06 9.99999996e-01 -5.31634636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.56, Y:27.26, Z:-0.53 [[ 8.13770055e-01 -5.81186920e-01 2.49502850e-04 7.95567075e+01] [ 5.81186894e-01 8.13770093e-01 1.74104314e-04 2.72562311e+01] [-3.04225107e-04 3.32690909e-06 9.99999954e-01 -5.31040735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27088847899999 meters Centerline goodness [0,1] 0.9999773863096719 Centerline is valid? [True, True] Translation: X:79.58, Y:27.27, Z:-0.53 [[ 8.14593455e-01 -5.80032223e-01 3.52276127e-04 7.95791619e+01] [ 5.80032170e-01 8.14593531e-01 2.47532727e-04 2.72734534e+01] [-4.30538812e-04 2.69294695e-06 9.99999907e-01 -5.30779953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.300888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:27.29, Z:-0.53 [[ 8.15475717e-01 -5.78791277e-01 1.11597082e-04 7.96012584e+01] [ 5.78791272e-01 8.15475724e-01 7.68358777e-05 2.72911031e+01] [-1.35476647e-04 1.93362453e-06 9.99999991e-01 -5.30020582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.330888479 meters Centerline goodness [0,1] 0.9999550066365211 Centerline is valid? [True, True] Translation: X:79.62, Y:27.31, Z:-0.53 [[ 8.17850099e-01 -5.75431248e-01 -3.05764802e-04 7.96211390e+01] [ 5.75431207e-01 8.17850157e-01 -2.16294624e-04 2.73101263e+01] [ 3.74532477e-04 9.49970407e-07 9.99999930e-01 -5.31152918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.360888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.64, Y:27.33, Z:-0.53 [[ 8.18759223e-01 -5.74136361e-01 -8.79750531e-04 7.96428867e+01] [ 5.74136024e-01 8.18759696e-01 -6.22245766e-04 2.73285194e+01] [ 1.07755820e-03 4.37298824e-06 9.99999419e-01 -5.32482110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.390888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.67, Y:27.35, Z:-0.53 [[ 8.19589606e-01 -5.72949150e-01 -1.46606188e-03 7.96653016e+01] [ 5.72948213e-01 8.19590917e-01 -1.03607567e-03 2.73467751e+01] [ 1.79518967e-03 9.17931881e-06 9.99998389e-01 -5.33720973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.420888479 meters Centerline goodness [0,1] 0.9999548848435632 Centerline is valid? [True, True] Translation: X:79.69, Y:27.36, Z:-0.53 [[ 8.21068433e-01 -5.70829609e-01 -4.30778372e-04 7.96864677e+01] [ 5.70829528e-01 8.21068546e-01 -3.04662235e-04 2.73647396e+01] [ 5.27608796e-04 4.24752947e-06 9.99999861e-01 -5.34015135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.450888479 meters Centerline goodness [0,1] 0.9999549590127016 Centerline is valid? [True, True] Translation: X:79.71, Y:27.38, Z:-0.53 [[ 8.21604333e-01 -5.70057852e-01 6.04109778e-04 7.97096701e+01] [ 5.70057694e-01 8.21604555e-01 4.24740476e-04 2.73812119e+01] [-7.38465989e-04 -4.59118924e-06 9.99999727e-01 -5.32340719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.73, Y:27.40, Z:-0.53 [[ 8.22033362e-01 -5.69436838e-01 1.68529350e-03 7.97325748e+01] [ 5.69435597e-01 8.22035089e-01 1.18892526e-03 2.73976021e+01] [-2.06238823e-03 -1.76701215e-05 9.99997873e-01 -5.30754067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.510888479 meters Centerline goodness [0,1] 0.9998872578863108 Centerline is valid? [True, True] Translation: X:79.75, Y:27.41, Z:-0.53 [[ 8.22425989e-01 -5.68864013e-01 3.03749190e-03 7.97542182e+01] [ 5.68859967e-01 8.22431598e-01 2.14599206e-03 2.74139486e+01] [-3.71890697e-03 -3.70121005e-05 9.99993084e-01 -5.29582706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.540888479 meters Centerline goodness [0,1] 0.9999775058484794 Centerline is valid? [True, True] Translation: X:79.78, Y:27.43, Z:-0.53 [[ 8.22953135e-01 -5.68091629e-01 4.47654307e-03 7.97767311e+01] [ 5.68082822e-01 8.22965308e-01 3.16385028e-03 2.74315982e+01] [-5.48139651e-03 -6.06532887e-05 9.99984975e-01 -5.28091321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.80, Y:27.45, Z:-0.53 [[ 8.22950582e-01 -5.68091049e-01 4.98999217e-03 7.97991429e+01] [ 5.68080094e-01 8.22965707e-01 3.52874749e-03 2.74477608e+01] [-6.11124230e-03 -6.92695793e-05 9.99981324e-01 -5.28158154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.600888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.82, Y:27.46, Z:-0.53 [[ 8.22780712e-01 -5.68334835e-01 5.23597060e-03 7.98217785e+01] [ 5.68322763e-01 8.22797369e-01 3.70494333e-03 2.74635619e+01] [-6.41379119e-03 -7.26346329e-05 9.99979429e-01 -5.28185171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63088847899999 meters Centerline goodness [0,1] 0.9999774546274377 Centerline is valid? [True, True] Translation: X:79.84, Y:27.48, Z:-0.53 [[ 8.22597405e-01 -5.68599856e-01 5.26428465e-03 7.98439971e+01] [ 5.68587646e-01 8.22614246e-01 3.72696918e-03 2.74786281e+01] [-6.44962968e-03 -7.25879580e-05 9.99979198e-01 -5.28663008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.87, Y:27.49, Z:-0.53 [[ 8.22054194e-01 -5.69388316e-01 4.88340566e-03 7.98680299e+01] [ 5.69377817e-01 8.22068697e-01 3.45823227e-03 2.74938327e+01] [-5.98357197e-03 -6.23514898e-05 9.99982096e-01 -5.29216362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.690888479 meters Centerline goodness [0,1] 0.9999322324877453 Centerline is valid? [True, True] Translation: X:79.89, Y:27.51, Z:-0.53 [[ 8.21415368e-01 -5.70314829e-01 4.21771794e-03 7.98908126e+01] [ 5.70307001e-01 8.21426195e-01 2.98838158e-03 2.75097373e+01] [-5.16886233e-03 -4.93084865e-05 9.99986640e-01 -5.29972941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.92, Y:27.52, Z:-0.53 [[ 8.19909596e-01 -5.72485579e-01 2.91819222e-03 7.99160685e+01] [ 5.72481846e-01 8.19914789e-01 2.06746792e-03 2.75248212e+01] [-3.57626453e-03 -2.45247171e-05 9.99993605e-01 -5.31312899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.94, Y:27.54, Z:-0.53 [[ 8.19120560e-01 -5.73618015e-01 1.97035270e-03 7.99387548e+01] [ 5.73616315e-01 8.19122929e-01 1.39659354e-03 2.75402559e+01] [-2.41507229e-03 -1.37520298e-05 9.99997084e-01 -5.32696658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.780888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.96, Y:27.56, Z:-0.53 [[ 8.18065086e-01 -5.75123574e-01 1.54584075e-03 7.99612456e+01] [ 5.75122530e-01 8.18066547e-01 1.09582038e-03 2.75553913e+01] [-1.89483274e-03 -7.40455649e-06 9.99998205e-01 -5.33974379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.810888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.99, Y:27.57, Z:-0.54 [[ 8.15661939e-01 -5.78528687e-01 3.99214330e-04 7.99858824e+01] [ 5.78528619e-01 8.15662037e-01 2.81548470e-04 2.75689188e+01] [-4.88507840e-04 1.30854390e-06 9.99999881e-01 -5.35140083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.840888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.01, Y:27.58, Z:-0.54 [[ 8.14292030e-01 -5.80455306e-01 3.58011703e-04 8.00088884e+01] [ 5.80455251e-01 8.14292108e-01 2.53389571e-04 2.75830985e+01] [-4.38607426e-04 1.47666469e-06 9.99999904e-01 -5.35036469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.03, Y:27.60, Z:-0.53 [[ 8.12861344e-01 -5.82456874e-01 6.51963683e-04 8.00328150e+01] [ 5.82456691e-01 8.12861606e-01 4.61300520e-04 2.75986215e+01] [-7.98643905e-04 4.76724864e-06 9.99999681e-01 -5.34154548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.900888479 meters Centerline goodness [0,1] 0.999909338168631 Centerline is valid? [True, True] Translation: X:80.06, Y:27.61, Z:-0.53 [[ 8.11076040e-01 -5.84938921e-01 1.45450021e-03 8.00564790e+01] [ 5.84938011e-01 8.11077344e-01 1.03214886e-03 2.76144964e+01] [-1.78345621e-03 1.36412560e-05 9.99998410e-01 -5.33261045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930888479 meters Centerline goodness [0,1] 0.9999094161873273 Centerline is valid? [True, True] Translation: X:80.08, Y:27.63, Z:-0.53 [[ 8.10584237e-01 -5.85619686e-01 1.66638941e-03 8.00791095e+01] [ 5.85618490e-01 8.10585950e-01 1.18385607e-03 2.76300344e+01] [-2.04404126e-03 1.62533824e-05 9.99997911e-01 -5.33410870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.960888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.10, Y:27.65, Z:-0.53 [[ 8.10188411e-01 -5.86165475e-01 2.18526764e-03 8.01015739e+01] [ 5.86163419e-01 8.10191357e-01 1.55260190e-03 2.76466799e+01] [-2.68056659e-03 2.30238896e-05 9.99996407e-01 -5.32935300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.12, Y:27.66, Z:-0.53 [[ 8.10158484e-01 -5.86204533e-01 2.73433973e-03 8.01241225e+01] [ 5.86201309e-01 8.10163098e-01 1.94428571e-03 2.76643064e+01] [-3.35501024e-03 2.76939683e-05 9.99994372e-01 -5.32580176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:27.68, Z:-0.53 [[ 8.11318025e-01 -5.84601002e-01 2.17506176e-03 8.01460603e+01] [ 5.84598955e-01 8.11320940e-01 1.54714865e-03 2.76837285e+01] [-2.66913781e-03 1.63092457e-05 9.99996438e-01 -5.32358737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:27.70, Z:-0.53 [[ 8.12326392e-01 -5.83199726e-01 1.97809460e-03 8.01676531e+01] [ 5.83198027e-01 8.12328800e-01 1.40748056e-03 2.77017011e+01] [-2.42770549e-03 1.02872612e-05 9.99997053e-01 -5.32932435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:27.72, Z:-0.53 [[ 8.14678523e-01 -5.79906669e-01 2.67556418e-03 8.01863012e+01] [ 5.79903537e-01 8.14682917e-01 1.90591055e-03 2.77220000e+01] [-3.28498667e-03 -1.13525871e-06 9.99994604e-01 -5.33386468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.110888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:27.74, Z:-0.53 [[ 8.15704408e-01 -5.78462339e-01 2.76427745e-03 8.02072984e+01] [ 5.78458987e-01 8.15709092e-01 1.96917547e-03 2.77406102e+01] [-3.39394010e-03 -7.24397989e-06 9.99994241e-01 -5.33489946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.140888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.23, Y:27.76, Z:-0.53 [[ 8.15550310e-01 -5.78679577e-01 2.76375320e-03 8.02297154e+01] [ 5.78676224e-01 8.15554993e-01 1.96991086e-03 2.77567007e+01] [-3.39393991e-03 -7.24314739e-06 9.99994241e-01 -5.33640060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.170888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.25, Y:27.77, Z:-0.53 [[ 8.16369552e-01 -5.77520756e-01 3.24515076e-03 8.02513385e+01] [ 5.77516118e-01 8.16376002e-01 2.31464200e-03 2.77746915e+01] [-3.98601700e-03 -1.54763820e-05 9.99992056e-01 -5.32934270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.200888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:27.79, Z:-0.53 [[ 8.17066570e-01 -5.76530202e-01 3.89183082e-03 8.02729890e+01] [ 5.76523510e-01 8.17075838e-01 2.77784600e-03 2.77920507e+01] [-4.78143305e-03 -2.59531358e-05 9.99988569e-01 -5.31839892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:27.81, Z:-0.53 [[ 8.18526440e-01 -5.74454919e-01 4.00152888e-03 8.02947524e+01] [ 5.74447812e-01 8.18536221e-01 2.85787329e-03 2.78115966e+01] [-4.91711569e-03 -4.05753417e-05 9.99987910e-01 -5.30775085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.32, Y:27.83, Z:-0.53 [[ 8.19237424e-01 -5.73438121e-01 4.33183564e-03 8.03159416e+01] [ 5.73429769e-01 8.19248874e-01 3.09548934e-03 2.78299406e+01] [-5.32392306e-03 -5.19372064e-05 9.99985826e-01 -5.30893153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:27.85, Z:-0.53 [[ 8.19814332e-01 -5.72612258e-01 4.43423567e-03 8.03383373e+01] [ 5.72603489e-01 8.19826322e-01 3.16953029e-03 2.78482030e+01] [-5.45021502e-03 -5.93675403e-05 9.99985146e-01 -5.31469238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.36, Y:27.87, Z:-0.53 [[ 8.20560989e-01 -5.71542169e-01 4.38321032e-03 8.03589085e+01] [ 5.71533577e-01 8.20572693e-01 3.13464279e-03 2.78678873e+01] [-5.38832324e-03 -6.70137109e-05 9.99985481e-01 -5.32202047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:27.88, Z:-0.53 [[ 8.20505010e-01 -5.71619704e-01 4.73749743e-03 8.03822169e+01] [ 5.71609663e-01 8.20518683e-01 3.38875089e-03 2.78842175e+01] [-5.82428194e-03 -7.24877733e-05 9.99983036e-01 -5.32564651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.40, Y:27.90, Z:-0.53 [[ 8.20295398e-01 -5.71919289e-01 4.87719191e-03 8.04048320e+01] [ 5.71908641e-01 8.20309894e-01 3.49077957e-03 2.79015155e+01] [-5.99725295e-03 -7.41622274e-05 9.99982014e-01 -5.32379577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:27.92, Z:-0.53 [[ 8.19789168e-01 -5.72630535e-01 6.32374003e-03 8.04272064e+01] [ 5.72612629e-01 8.19813553e-01 4.52935210e-03 2.79186431e+01] [-7.77793310e-03 -9.20603835e-05 9.99969747e-01 -5.31284289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.440888479 meters Centerline goodness [0,1] 0.9999558011049724 Centerline is valid? [True, True] Translation: X:80.45, Y:27.94, Z:-0.53 [[ 8.19422343e-01 -5.73153504e-01 6.48722156e-03 8.04497682e+01] [ 5.73134659e-01 8.19448017e-01 4.64863627e-03 2.79354085e+01] [-7.98032301e-03 -9.11449056e-05 9.99968153e-01 -5.30645210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.47, Y:27.95, Z:-0.53 [[ 8.18984853e-01 -5.73776748e-01 6.63730090e-03 8.04723242e+01] [ 5.73757030e-01 8.19011743e-01 4.75769042e-03 2.79525857e+01] [-8.16587952e-03 -8.82783396e-05 9.99966655e-01 -5.30576316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.500888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:27.97, Z:-0.53 [[ 8.18452191e-01 -5.74544218e-01 5.91201496e-03 8.04938562e+01] [ 5.74528577e-01 8.18473540e-01 4.24005858e-03 2.79705418e+01] [-7.27492895e-03 -7.36636898e-05 9.99973535e-01 -5.32075744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.530888479 meters Centerline goodness [0,1] 0.9998899962598728 Centerline is valid? [True, True] Translation: X:80.52, Y:27.99, Z:-0.53 [[ 8.18091583e-01 -5.75061922e-01 5.47249427e-03 8.05151163e+01] [ 5.75048519e-01 8.18109883e-01 3.92672406e-03 2.79873465e+01] [-6.73521114e-03 -6.54701736e-05 9.99977316e-01 -5.33024440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.560888479 meters Centerline goodness [0,1] 0.9999779730831075 Centerline is valid? [True, True] Translation: X:80.54, Y:28.00, Z:-0.53 [[ 8.17479124e-01 -5.75936580e-01 4.99379972e-03 8.05380831e+01] [ 5.75925430e-01 8.17494375e-01 3.58418520e-03 2.80039042e+01] [-6.14666655e-03 -5.39403304e-05 9.99981108e-01 -5.33828284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.590888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:28.02, Z:-0.54 [[ 8.15458014e-01 -5.78802941e-01 3.92214453e-03 8.05619913e+01] [ 5.78796090e-01 8.15467446e-01 2.81628218e-03 2.80205233e+01] [-4.82845359e-03 -2.64379564e-05 9.99988343e-01 -5.35093587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.620888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.59, Y:28.04, Z:-0.54 [[ 8.14027811e-01 -5.80813863e-01 3.73899777e-03 8.05850643e+01] [ 5.80807652e-01 8.14036397e-01 2.68601997e-03 2.80365592e+01] [-4.60375791e-03 -1.48564371e-05 9.99989403e-01 -5.35633058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:28.05, Z:-0.54 [[ 8.12710779e-01 -5.82659245e-01 3.06483457e-03 8.06077043e+01] [ 5.82655080e-01 8.12716558e-01 2.20296494e-03 2.80515757e+01] [-3.77441970e-03 -4.63192171e-06 9.99992877e-01 -5.36101752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.680888479 meters Centerline goodness [0,1] 0.999978039835738 Centerline is valid? [True, True] Translation: X:80.63, Y:28.07, Z:-0.54 [[ 8.11623856e-01 -5.84176761e-01 2.05596843e-03 8.06304075e+01] [ 5.84174892e-01 8.11626461e-01 1.47789421e-03 2.80671798e+01] [-2.53202983e-03 1.55093623e-06 9.99996794e-01 -5.36902328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.65, Y:28.08, Z:-0.54 [[ 8.10119211e-01 -5.86265141e-01 2.19282977e-04 8.06525574e+01] [ 5.86265120e-01 8.10119241e-01 1.57162138e-04 2.80842866e+01] [-2.69784041e-04 1.23789333e-06 9.99999964e-01 -5.39823020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.68, Y:28.10, Z:-0.54 [[ 8.09366553e-01 -5.87303529e-01 -5.89583003e-04 8.06758403e+01] [ 5.87303375e-01 8.09366768e-01 -4.25961016e-04 2.81022142e+01] [ 7.27357297e-04 -1.50548797e-06 9.99999735e-01 -5.40753563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:28.12, Z:-0.54 [[ 8.08789741e-01 -5.88096666e-01 -1.21079047e-03 8.06984553e+01] [ 5.88096018e-01 8.08790647e-01 -8.73489735e-04 2.81194680e+01] [ 1.49297241e-03 -5.59151833e-06 9.99998886e-01 -5.41932501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.800888479 meters Centerline goodness [0,1] 0.9999344090253182 Centerline is valid? [True, True] Translation: X:80.72, Y:28.14, Z:-0.54 [[ 8.08018176e-01 -5.89154956e-01 -1.75062073e-03 8.07214610e+01] [ 5.89153603e-01 8.08020072e-01 -1.26285064e-03 2.81370358e+01] [ 2.15855140e-03 -1.09782330e-05 9.99997670e-01 -5.42962039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.830888479 meters Centerline goodness [0,1] 0.9999780701754386 Centerline is valid? [True, True] Translation: X:80.74, Y:28.15, Z:-0.54 [[ 8.06603205e-01 -5.91091216e-01 -1.56337361e-03 8.07429660e+01] [ 5.91090142e-01 8.06604720e-01 -1.12710876e-03 2.81542403e+01] [ 1.92724862e-03 -1.49651855e-05 9.99998143e-01 -5.43830874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.860888479 meters Centerline goodness [0,1] 0.9999780773868245 Centerline is valid? [True, True] Translation: X:80.77, Y:28.17, Z:-0.54 [[ 8.05979760e-01 -5.91940791e-01 -1.65136203e-03 8.07653791e+01] [ 5.91939590e-01 8.05981452e-01 -1.19246908e-03 2.81710453e+01] [ 2.03683825e-03 -1.64006143e-05 9.99997926e-01 -5.43690254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.890888479 meters Centerline goodness [0,1] 0.9998250256993504 Centerline is valid? [True, True] Translation: X:80.79, Y:28.19, Z:-0.54 [[ 8.05206838e-01 -5.92992721e-01 -1.25751000e-03 8.07879123e+01] [ 5.92992027e-01 8.05207820e-01 -9.07393860e-04 2.81879077e+01] [ 1.55063484e-03 -1.50536655e-05 9.99998798e-01 -5.43604820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.920888479 meters Centerline goodness [0,1] 0.9999127190207074 Centerline is valid? [True, True] Translation: X:80.81, Y:28.21, Z:-0.54 [[ 8.04770170e-01 -5.93586489e-01 2.33439987e-04 8.08087111e+01] [ 5.93586465e-01 8.04770203e-01 1.66609186e-04 2.82074655e+01] [-2.86762508e-04 4.48471406e-06 9.99999959e-01 -5.41766076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.950888479 meters Centerline goodness [0,1] 0.999912671382412 Centerline is valid? [True, True] Translation: X:80.83, Y:28.22, Z:-0.54 [[ 8.05061976e-01 -5.93190213e-01 7.64980021e-04 8.08297500e+01] [ 5.93189957e-01 8.05062340e-01 5.51419819e-04 2.82247906e+01] [-9.42953445e-04 9.85133693e-06 9.99999555e-01 -5.41706344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.980888479 meters Centerline goodness [0,1] 0.999694756350158 Centerline is valid? [True, True] Translation: X:80.85, Y:28.24, Z:-0.54 [[ 8.05578581e-01 -5.92488931e-01 1.27563796e-04 8.08506667e+01] [ 5.92488924e-01 8.05578591e-01 9.02868693e-05 2.82432924e+01] [-1.56256634e-04 2.84696827e-06 9.99999988e-01 -5.41426747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.010888479 meters Centerline goodness [0,1] 0.9996946165256085 Centerline is valid? [True, True] Translation: X:80.87, Y:28.26, Z:-0.54 [[ 8.07443361e-01 -5.89944396e-01 -9.10058832e-04 8.08708059e+01] [ 5.89944028e-01 8.07443874e-01 -6.59141651e-04 2.82647584e+01] [ 1.12367835e-03 -4.66422254e-06 9.99999369e-01 -5.41625426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.040888479 meters Centerline goodness [0,1] 0.9997174343034756 Centerline is valid? [True, True] Translation: X:80.89, Y:28.28, Z:-0.54 [[ 8.08618195e-01 -5.88333072e-01 -9.01138435e-04 8.08916579e+01] [ 5.88332710e-01 8.08618697e-01 -6.52108928e-04 2.82838186e+01] [ 1.11233464e-03 -2.86207333e-06 9.99999381e-01 -5.42870252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070888479 meters Centerline goodness [0,1] 0.9996520907173454 Centerline is valid? [True, True] Translation: X:80.91, Y:28.30, Z:-0.54 [[ 8.09674579e-01 -5.86878089e-01 -1.08829732e-03 8.09121373e+01] [ 5.86877559e-01 8.09675311e-01 -7.88807043e-04 2.83027655e+01] [ 1.34410104e-03 -2.02662362e-08 9.99999097e-01 -5.43450547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.100888479 meters Centerline goodness [0,1] 0.9995652173913043 Centerline is valid? [True, True] Translation: X:80.93, Y:28.32, Z:-0.54 [[ 8.10857936e-01 -5.85242703e-01 -6.22235730e-04 8.09334013e+01] [ 5.85242528e-01 8.10858174e-01 -4.52107165e-04 2.83219425e+01] [ 7.69137348e-04 2.43587098e-06 9.99999704e-01 -5.43329939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13088847899999 meters Centerline goodness [0,1] 0.9995674740484429 Centerline is valid? [True, True] Translation: X:80.95, Y:28.34, Z:-0.54 [[ 8.13494358e-01 -5.81572804e-01 5.56799968e-05 8.09526665e+01] [ 5.81572803e-01 8.13494360e-01 3.97033714e-05 2.83430208e+01] [-6.83857643e-05 8.35031991e-08 9.99999998e-01 -5.43382554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.160888479 meters Centerline goodness [0,1] 0.9995249508756019 Centerline is valid? [True, True] Translation: X:80.97, Y:28.36, Z:-0.54 [[ 8.14690091e-01 -5.79896576e-01 1.29692558e-04 8.09749998e+01] [ 5.79896569e-01 8.14690101e-01 9.22867491e-05 2.83618877e+01] [-1.59176013e-04 2.31695548e-08 9.99999987e-01 -5.43534296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.190888479 meters Centerline goodness [0,1] 0.9994388206600332 Centerline is valid? [True, True] Translation: X:81.00, Y:28.38, Z:-0.54 [[ 8.15927691e-01 -5.78153957e-01 -7.35810155e-05 8.09958539e+01] [ 5.78153954e-01 8.15927694e-01 -5.38543820e-05 2.83804679e+01] [ 9.11729124e-05 1.40012651e-06 9.99999996e-01 -5.43712585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.220888479 meters Centerline goodness [0,1] 0.9995689190645544 Centerline is valid? [True, True] Translation: X:81.02, Y:28.40, Z:-0.54 [[ 8.17731349e-01 -5.75600070e-01 -9.06754913e-06 8.10168896e+01] [ 5.75600070e-01 8.17731349e-01 -8.15706809e-06 2.84012432e+01] [ 1.21100282e-05 1.45100838e-06 1.00000000e+00 -5.43802106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.250888479 meters Centerline goodness [0,1] 0.9994835711058033 Centerline is valid? [True, True] Translation: X:81.04, Y:28.42, Z:-0.54 [[ 8.18579750e-01 -5.74392884e-01 8.88496911e-05 8.10379543e+01] [ 5.74392881e-01 8.18579755e-01 6.38213676e-05 2.84188903e+01] [-1.09389098e-04 -1.20824910e-06 9.99999994e-01 -5.43915232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.280888479 meters Centerline goodness [0,1] 0.9994825467324983 Centerline is valid? [True, True] Translation: X:81.06, Y:28.43, Z:-0.54 [[ 8.18763323e-01 -5.74130889e-01 5.85728948e-04 8.10608999e+01] [ 5.74130734e-01 8.18763532e-01 4.22816801e-04 2.84346556e+01] [-7.22325688e-04 -9.90189811e-06 9.99999739e-01 -5.42784634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.310888479 meters Centerline goodness [0,1] 0.9992699476080048 Centerline is valid? [True, True] Translation: X:81.08, Y:28.45, Z:-0.54 [[ 8.18741338e-01 -5.74156682e-01 2.59345061e-03 8.10810017e+01] [ 5.74153606e-01 8.18745444e-01 1.87988009e-03 2.84532362e+01] [-3.20272158e-03 -5.00965209e-05 9.99994870e-01 -5.41432025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.340888479 meters Centerline goodness [0,1] 0.9993765854077992 Centerline is valid? [True, True] Translation: X:81.10, Y:28.47, Z:-0.54 [[ 8.18465765e-01 -5.74548199e-01 2.85623855e-03 8.11047578e+01] [ 5.74544469e-01 8.18470747e-01 2.07109918e-03 2.84688483e+01] [-3.52769400e-03 -5.40877197e-05 9.99993776e-01 -5.41388463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.370888479 meters Centerline goodness [0,1] 0.9992470527493331 Centerline is valid? [True, True] Translation: X:81.13, Y:28.48, Z:-0.54 [[ 8.18152024e-01 -5.74995327e-01 2.76403114e-03 8.11276551e+01] [ 5.74991833e-01 8.18156691e-01 2.00533729e-03 2.84844766e+01] [-3.41447014e-03 -5.13754335e-05 9.99994169e-01 -5.41621112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.400888479 meters Centerline goodness [0,1] 0.9993536989960791 Centerline is valid? [True, True] Translation: X:81.15, Y:28.50, Z:-0.54 [[ 8.16777565e-01 -5.76951294e-01 1.27046371e-03 8.11516296e+01] [ 5.76950557e-01 8.16778553e-01 9.22195574e-04 2.84982005e+01] [-1.56974944e-03 -2.02339083e-05 9.99998768e-01 -5.42271225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430888479 meters Centerline goodness [0,1] 0.9995462304717042 Centerline is valid? [True, True] Translation: X:81.18, Y:28.51, Z:-0.54 [[ 8.15691634e-01 -5.78486950e-01 9.05712183e-05 8.11761556e+01] [ 5.78486946e-01 8.15691639e-01 6.41819734e-05 2.85136070e+01] [-1.11006619e-04 4.15686952e-08 9.99999994e-01 -5.43306008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.460888479 meters Centerline goodness [0,1] 0.9994170858610937 Centerline is valid? [True, True] Translation: X:81.20, Y:28.53, Z:-0.54 [[ 8.14728252e-01 -5.79842958e-01 -1.41456913e-04 8.12009978e+01] [ 5.79842949e-01 8.14728264e-01 -1.04497388e-04 2.85293637e+01] [ 1.75841019e-04 3.11418043e-06 9.99999985e-01 -5.44320569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49088847899999 meters Centerline goodness [0,1] 0.9995676984264222 Centerline is valid? [True, True] Translation: X:81.23, Y:28.54, Z:-0.55 [[ 8.13319680e-01 -5.81816601e-01 -7.36324217e-04 8.12254156e+01] [ 5.81816354e-01 8.13320013e-01 -5.36047951e-04 2.85436629e+01] [ 9.10748819e-04 7.57287649e-06 9.99999585e-01 -5.46054479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52088847899999 meters Centerline goodness [0,1] 0.9993275925644752 Centerline is valid? [True, True] Translation: X:81.25, Y:28.56, Z:-0.55 [[ 8.12840073e-01 -5.82486545e-01 -6.63355664e-04 8.12492996e+01] [ 5.82486343e-01 8.12840344e-01 -4.84596547e-04 2.85580053e+01] [ 8.21473215e-04 7.50387772e-06 9.99999663e-01 -5.45481947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.550888479 meters Centerline goodness [0,1] 0.999523871358698 Centerline is valid? [True, True] Translation: X:81.27, Y:28.57, Z:-0.55 [[ 8.12589906e-01 -5.82835040e-01 -9.80368609e-04 8.12716450e+01] [ 5.82834602e-01 8.12590497e-01 -7.14372993e-04 2.85728356e+01] [ 1.21299983e-03 9.09953465e-06 9.99999264e-01 -5.45570745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.580888479 meters Centerline goodness [0,1] 0.9991958269941317 Centerline is valid? [True, True] Translation: X:81.30, Y:28.59, Z:-0.55 [[ 8.12359281e-01 -5.83156161e-01 -1.13593926e-03 8.12951683e+01] [ 5.83155572e-01 8.12360075e-01 -8.29160236e-04 2.85879433e+01] [ 1.40632160e-03 1.11467036e-05 9.99999011e-01 -5.45213956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.610888479 meters Centerline goodness [0,1] 0.9996741114104458 Centerline is valid? [True, True] Translation: X:81.32, Y:28.60, Z:-0.55 [[ 8.12685098e-01 -5.82698326e-01 -2.36478903e-03 8.13185482e+01] [ 5.82695778e-01 8.12688538e-01 -1.72354284e-03 2.86027249e+01] [ 2.92614247e-03 2.27449974e-05 9.99995719e-01 -5.47120591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.640888479 meters Centerline goodness [0,1] 0.9995444981888381 Centerline is valid? [True, True] Translation: X:81.34, Y:28.62, Z:-0.55 [[ 8.13239214e-01 -5.81921752e-01 -3.00930816e-03 8.13426920e+01] [ 5.81917614e-01 8.13244781e-01 -2.19490729e-03 2.86191202e+01] [ 3.72456845e-03 3.38152522e-05 9.99993063e-01 -5.47985664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.670888479 meters Centerline goodness [0,1] 0.9996299762749494 Centerline is valid? [True, True] Translation: X:81.37, Y:28.63, Z:-0.55 [[ 8.13598280e-01 -5.81418027e-01 -3.30411542e-03 8.13665868e+01] [ 5.81413029e-01 8.13604988e-01 -2.41099923e-03 2.86346183e+01] [ 4.09004320e-03 4.05290750e-05 9.99991635e-01 -5.48127764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.700888479 meters Centerline goodness [0,1] 0.9997388579387186 Centerline is valid? [True, True] Translation: X:81.39, Y:28.65, Z:-0.55 [[ 8.14199572e-01 -5.80576591e-01 -3.14319837e-03 8.13898805e+01] [ 5.80572062e-01 8.14205638e-01 -2.29351368e-03 2.86499590e+01] [ 3.89077019e-03 4.25246976e-05 9.99992430e-01 -5.47856019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.730888479 meters Centerline goodness [0,1] 0.9998037505451374 Centerline is valid? [True, True] Translation: X:81.41, Y:28.66, Z:-0.55 [[ 8.15188295e-01 -5.79188894e-01 -2.87537750e-03 8.14144483e+01] [ 5.79185089e-01 8.15193365e-01 -2.09998400e-03 2.86646431e+01] [ 3.56027607e-03 4.65066015e-05 9.99993661e-01 -5.46465836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.760888479 meters Centerline goodness [0,1] 0.9996721024789053 Centerline is valid? [True, True] Translation: X:81.44, Y:28.68, Z:-0.55 [[ 8.15396314e-01 -5.78895564e-01 -2.96262188e-03 8.14367194e+01] [ 5.78891525e-01 8.15401695e-01 -2.16298740e-03 2.86816615e+01] [ 3.66787071e-03 4.86552536e-05 9.99993272e-01 -5.48198394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790888479 meters Centerline goodness [0,1] 0.9999342220663041 Centerline is valid? [True, True] Translation: X:81.46, Y:28.70, Z:-0.55 [[ 8.15598659e-01 -5.78602186e-01 -4.28211610e-03 8.14621692e+01] [ 5.78593732e-01 8.15609897e-01 -3.12868840e-03 2.86954674e+01] [ 5.30280223e-03 7.41485298e-05 9.99985937e-01 -5.49620528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.820888479 meters Centerline goodness [0,1] 0.9997802149497791 Centerline is valid? [True, True] Translation: X:81.49, Y:28.71, Z:-0.55 [[ 8.15275408e-01 -5.79057235e-01 -4.32762438e-03 8.14859853e+01] [ 5.79048595e-01 8.15286890e-01 -3.16398218e-03 2.87100527e+01] [ 5.36038220e-03 7.36120470e-05 9.99985630e-01 -5.49900479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850888479 meters Centerline goodness [0,1] 0.9998678210296742 Centerline is valid? [True, True] Translation: X:81.51, Y:28.72, Z:-0.55 [[ 8.14937544e-01 -5.79530520e-01 -4.60169872e-03 8.15102353e+01] [ 5.79520749e-01 8.14950532e-01 -3.36618657e-03 2.87247204e+01] [ 5.70096467e-03 7.64519278e-05 9.99983746e-01 -5.49675497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88088847899999 meters Centerline goodness [0,1] 0.9998013595832965 Centerline is valid? [True, True] Translation: X:81.53, Y:28.74, Z:-0.55 [[ 8.14372268e-01 -5.80326228e-01 -4.39071611e-03 8.15339021e+01] [ 5.80317347e-01 8.14384101e-01 -3.21122550e-03 2.87395421e+01] [ 5.43928778e-03 6.71242653e-05 9.99985205e-01 -5.50168723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.910888479 meters Centerline goodness [0,1] 0.9999557090973514 Centerline is valid? [True, True] Translation: X:81.56, Y:28.75, Z:-0.55 [[ 8.12855934e-01 -5.82450491e-01 -4.08111493e-03 8.15594549e+01] [ 5.82442833e-01 8.12866178e-01 -2.98730984e-03 2.87526097e+01] [ 5.05736037e-03 5.12363906e-05 9.99987210e-01 -5.50828952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.940888479 meters Centerline goodness [0,1] 0.9999113003370588 Centerline is valid? [True, True] Translation: X:81.58, Y:28.77, Z:-0.55 [[ 8.11680154e-01 -5.84090025e-01 -3.76437098e-03 8.15846127e+01] [ 5.84083520e-01 8.11688882e-01 -2.75691135e-03 2.87664916e+01] [ 4.66578249e-03 3.90231752e-05 9.99989114e-01 -5.49854763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:28.78, Z:-0.55 [[ 8.10503293e-01 -5.85726708e-01 -2.93873538e-03 8.16108601e+01] [ 5.85722749e-01 8.10508620e-01 -2.15370821e-03 2.87799506e+01] [ 3.64335478e-03 2.43034316e-05 9.99993363e-01 -5.47551003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:28.79, Z:-0.54 [[ 8.08018013e-01 -5.89154129e-01 -2.07439017e-03 8.16382230e+01] [ 5.89152164e-01 8.08020676e-01 -1.52148968e-03 2.87919466e+01] [ 2.57254207e-03 7.25961217e-06 9.99996691e-01 -5.44616980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.030888479 meters Centerline goodness [0,1] 0.9999335798259792 Centerline is valid? [True, True] Translation: X:81.66, Y:28.81, Z:-0.54 [[ 8.06831994e-01 -5.90778984e-01 -1.52515773e-03 8.16619155e+01] [ 5.90777925e-01 8.06833435e-01 -1.11866339e-03 2.88064992e+01] [ 1.89143107e-03 1.54389626e-06 9.99998211e-01 -5.44269211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.060888479 meters Centerline goodness [0,1] 0.9999335798259792 Centerline is valid? [True, True] Translation: X:81.68, Y:28.82, Z:-0.54 [[ 8.06673092e-01 -5.90995938e-01 -1.52441455e-03 8.16841221e+01] [ 5.90994877e-01 8.06674533e-01 -1.11967699e-03 2.88228789e+01] [ 1.89143094e-03 2.29211121e-06 9.99998211e-01 -5.44419635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.090888479 meters Centerline goodness [0,1] 0.9999111269107714 Centerline is valid? [True, True] Translation: X:81.71, Y:28.84, Z:-0.55 [[ 8.05605077e-01 -5.92451252e-01 -1.40478808e-03 8.17078053e+01] [ 5.92450354e-01 8.05606302e-01 -1.03176697e-03 2.88370142e+01] [ 1.74297776e-03 -1.07049061e-06 9.99998481e-01 -5.45123574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.120888479 meters Centerline goodness [0,1] 0.9999777481085892 Centerline is valid? [True, True] Translation: X:81.73, Y:28.85, Z:-0.54 [[ 8.03647811e-01 -5.95100578e-01 -2.34492700e-03 8.17343579e+01] [ 5.95098085e-01 8.03651232e-01 -1.72265659e-03 2.88504209e+01] [ 2.90965740e-03 -1.10523730e-05 9.99995767e-01 -5.44336187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.76, Y:28.87, Z:-0.55 [[ 8.02685280e-01 -5.96395102e-01 -3.03695379e-03 8.17588189e+01] [ 5.96390927e-01 8.02691025e-01 -2.23168811e-03 2.88655510e+01] [ 3.76870341e-03 -1.98684920e-05 9.99992898e-01 -5.45189345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.180888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:28.88, Z:-0.55 [[ 8.01751466e-01 -5.97648759e-01 -3.24769282e-03 8.17830357e+01] [ 5.97643990e-01 8.01758043e-01 -2.38761458e-03 2.88806736e+01] [ 4.03081873e-03 -2.66906048e-05 9.99991876e-01 -5.46051955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:28.89, Z:-0.55 [[ 8.00980171e-01 -5.98682200e-01 -3.22323100e-03 8.18079009e+01] [ 5.98677505e-01 8.00986655e-01 -2.37122892e-03 2.88941880e+01] [ 4.00137756e-03 -3.03685425e-05 9.99991994e-01 -5.46089727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24088847899999 meters Centerline goodness [0,1] 0.9999551579560997 Centerline is valid? [True, True] Translation: X:81.83, Y:28.91, Z:-0.55 [[ 8.00965661e-01 -5.98700864e-01 -3.35929515e-03 8.18315919e+01] [ 5.98695759e-01 8.00972705e-01 -2.47263848e-03 2.89098235e+01] [ 4.17107452e-03 -3.06972450e-05 9.99991301e-01 -5.46352961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:28.92, Z:-0.55 [[ 8.01462422e-01 -5.98037046e-01 -3.11090669e-03 8.18556155e+01] [ 5.98032666e-01 8.01468459e-01 -2.28908100e-03 2.89249631e+01] [ 3.86224883e-03 -2.58114253e-05 9.99992541e-01 -5.48642674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.300888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.88, Y:28.94, Z:-0.55 [[ 8.03740146e-01 -5.94971631e-01 -3.24596292e-03 8.18763674e+01] [ 5.94966834e-01 8.03746700e-01 -2.38935163e-03 2.89430223e+01] [ 4.03052843e-03 -1.08224541e-05 9.99991877e-01 -5.50375729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.330888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.90, Y:28.96, Z:-0.55 [[ 8.05133650e-01 -5.93082957e-01 -3.52295688e-03 8.18980779e+01] [ 5.93077276e-01 8.05141358e-01 -2.59572780e-03 2.89615550e+01] [ 4.37596021e-03 5.22127892e-07 9.99990425e-01 -5.48286152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.360888479 meters Centerline goodness [0,1] 0.9998423991354467 Centerline is valid? [True, True] Translation: X:81.92, Y:28.98, Z:-0.55 [[ 8.06866911e-01 -5.90722200e-01 -3.61526334e-03 8.19186085e+01] [ 5.90716197e-01 8.06875010e-01 -2.66323811e-03 2.89793450e+01] [ 4.49029952e-03 1.32840949e-05 9.99989918e-01 -5.52222114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.390888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.94, Y:29.00, Z:-0.55 [[ 8.08366749e-01 -5.88667507e-01 -3.71030640e-03 8.19406637e+01] [ 5.88661153e-01 8.08375263e-01 -2.73518512e-03 2.89973737e+01] [ 4.60943451e-03 2.69194588e-05 9.99989376e-01 -5.51074913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.420888479 meters Centerline goodness [0,1] 0.9999097818977378 Centerline is valid? [True, True] Translation: X:81.96, Y:29.01, Z:-0.55 [[ 8.10846522e-01 -5.85249546e-01 -3.29964808e-03 8.19635846e+01] [ 5.85244493e-01 8.10853234e-01 -2.43215597e-03 2.90141589e+01] [ 4.09894850e-03 4.10043384e-05 9.99991598e-01 -5.48513017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.450888479 meters Centerline goodness [0,1] 0.9998641427406938 Centerline is valid? [True, True] Translation: X:81.99, Y:29.03, Z:-0.55 [[ 8.11585192e-01 -5.84226841e-01 -2.91115841e-03 8.19850586e+01] [ 5.84222900e-01 8.11590412e-01 -2.14625342e-03 2.90314034e+01] [ 3.61656710e-03 4.11020834e-05 9.99993459e-01 -5.48682513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:29.05, Z:-0.55 [[ 8.12213448e-01 -5.83350983e-01 -3.30831287e-03 8.20082728e+01] [ 5.83345882e-01 8.12220185e-01 -2.44001000e-03 2.90479545e+01] [ 4.11046072e-03 5.19182472e-05 9.99991551e-01 -5.48084873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.510888479 meters Centerline goodness [0,1] 0.999909403877514 Centerline is valid? [True, True] Translation: X:82.03, Y:29.06, Z:-0.55 [[ 8.12218932e-01 -5.83341691e-01 -3.58861252e-03 8.20313149e+01] [ 5.83335678e-01 8.12226858e-01 -2.64919150e-03 2.90641286e+01] [ 4.46015132e-03 5.83577729e-05 9.99990052e-01 -5.47907422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.05, Y:29.08, Z:-0.55 [[ 8.12614030e-01 -5.82790246e-01 -3.73731277e-03 8.20535622e+01] [ 5.82783720e-01 8.12622622e-01 -2.75860517e-03 2.90809859e+01] [ 4.64471309e-03 6.36362241e-05 9.99989211e-01 -5.48477204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570888479 meters Centerline goodness [0,1] 0.9998419365036355 Centerline is valid? [True, True] Translation: X:82.08, Y:29.10, Z:-0.55 [[ 8.12651598e-01 -5.82734881e-01 -4.17584523e-03 8.20767174e+01] [ 5.82726722e-01 8.12662324e-01 -3.08449397e-03 2.90982645e+01] [ 5.19099432e-03 7.32423523e-05 9.99986524e-01 -5.49569425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.600888479 meters Centerline goodness [0,1] 0.9998645964975628 Centerline is valid? [True, True] Translation: X:82.10, Y:29.12, Z:-0.55 [[ 8.12637858e-01 -5.82746828e-01 -5.08394077e-03 8.21000145e+01] [ 5.82734726e-01 8.12653755e-01 -3.75677456e-03 2.91151768e+01] [ 6.32073202e-03 9.03084011e-05 9.99980020e-01 -5.50705024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63088847899999 meters Centerline goodness [0,1] 0.999931924935896 Centerline is valid? [True, True] Translation: X:82.12, Y:29.13, Z:-0.55 [[ 8.12232702e-01 -5.83307985e-01 -5.46197011e-03 8.21242448e+01] [ 5.83294011e-01 8.12251061e-01 -4.03865983e-03 2.91302737e+01] [ 6.79227355e-03 9.43971305e-05 9.99976928e-01 -5.49902534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.660888479 meters Centerline goodness [0,1] 0.9998867522819416 Centerline is valid? [True, True] Translation: X:82.15, Y:29.15, Z:-0.55 [[ 8.11922862e-01 -5.83743188e-01 -5.01571073e-03 8.21459696e+01] [ 5.83731416e-01 8.11938350e-01 -3.70819958e-03 2.91469982e+01] [ 6.23708413e-03 8.29440926e-05 9.99980546e-01 -5.50530437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.17, Y:29.16, Z:-0.55 [[ 8.11135404e-01 -5.84840413e-01 -4.58785220e-03 8.21690301e+01] [ 5.84830565e-01 8.11148375e-01 -3.39468142e-03 2.91640256e+01] [ 5.70677574e-03 7.04300920e-05 9.99983714e-01 -5.50070136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.19, Y:29.18, Z:-0.55 [[ 8.09475273e-01 -5.87141172e-01 -3.87638232e-03 8.21929054e+01] [ 5.87134159e-01 8.09484553e-01 -2.86996739e-03 2.91797421e+01] [ 4.82294763e-03 4.72111619e-05 9.99988368e-01 -5.48487865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:29.20, Z:-0.55 [[ 8.08758024e-01 -5.88128768e-01 -3.87427099e-03 8.22156934e+01] [ 5.88121778e-01 8.08767303e-01 -2.86785225e-03 2.91958263e+01] [ 4.82005011e-03 4.08553776e-05 9.99988383e-01 -5.48244906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.780888479 meters Centerline goodness [0,1] 0.999932211049599 Centerline is valid? [True, True] Translation: X:82.24, Y:29.21, Z:-0.55 [[ 8.07795697e-01 -5.89448597e-01 -4.05752760e-03 8.22389734e+01] [ 5.89440931e-01 8.07805886e-01 -3.00643150e-03 2.92122208e+01] [ 5.04983151e-03 3.69095838e-05 9.99987249e-01 -5.47860050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.810888479 meters Centerline goodness [0,1] 0.9999549133208594 Centerline is valid? [True, True] Translation: X:82.26, Y:29.23, Z:-0.55 [[ 8.06415377e-01 -5.91331244e-01 -4.64754781e-03 8.22626790e+01] [ 5.91321207e-01 8.06428769e-01 -3.44530733e-03 2.92276731e+01] [ 5.78523413e-03 3.01552290e-05 9.99983265e-01 -5.47107585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.840888479 meters Centerline goodness [0,1] 0.9998866470188166 Centerline is valid? [True, True] Translation: X:82.29, Y:29.24, Z:-0.55 [[ 8.05421320e-01 -5.92680395e-01 -5.14267290e-03 8.22853665e+01] [ 5.92668136e-01 8.05437738e-01 -3.81204364e-03 2.92429535e+01] [ 6.40142635e-03 2.24028618e-05 9.99979510e-01 -5.48141348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.870888479 meters Centerline goodness [0,1] 0.9999546680568463 Centerline is valid? [True, True] Translation: X:82.31, Y:29.26, Z:-0.55 [[ 8.04043018e-01 -5.94541141e-01 -5.97138688e-03 8.23094136e+01] [ 5.94524642e-01 8.04065191e-01 -4.42919916e-03 2.92584444e+01] [ 7.43472545e-03 1.11300092e-05 9.99972362e-01 -5.47907377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.900888479 meters Centerline goodness [0,1] 0.9998862602365787 Centerline is valid? [True, True] Translation: X:82.33, Y:29.27, Z:-0.55 [[ 8.00908908e-01 -5.98739678e-01 -7.46448132e-03 8.23344920e+01] [ 5.98714057e-01 8.00943692e-01 -5.53902314e-03 2.92726658e+01] [ 9.29506216e-03 -3.28369167e-05 9.99956799e-01 -5.49069710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930888479 meters Centerline goodness [0,1] 0.9999544377619829 Centerline is valid? [True, True] Translation: X:82.36, Y:29.29, Z:-0.55 [[ 7.99482841e-01 -6.00636474e-01 -7.93807781e-03 8.23584167e+01] [ 6.00607593e-01 7.99522247e-01 -5.89033673e-03 2.92877670e+01] [ 9.88462089e-03 -5.84466572e-05 9.99951144e-01 -5.50084459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.960888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.38, Y:29.30, Z:-0.55 [[ 7.97843967e-01 -6.02806395e-01 -8.33391190e-03 8.23819934e+01] [ 6.02774638e-01 7.97887487e-01 -6.18816075e-03 2.93038712e+01] [ 1.03797869e-02 -8.62840114e-05 9.99946125e-01 -5.48910416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.41, Y:29.32, Z:-0.55 [[ 7.94989471e-01 -6.06568551e-01 -8.14457967e-03 8.24056807e+01] [ 6.06538416e-01 7.95031179e-01 -6.04766443e-03 2.93194965e+01] [ 1.01435178e-02 -1.32170910e-04 9.99948544e-01 -5.48663389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:29.34, Z:-0.55 [[ 7.93800114e-01 -6.08126360e-01 -7.98176139e-03 8.24297306e+01] [ 6.08097457e-01 7.93840229e-01 -5.93078250e-03 2.93362190e+01] [ 9.94290846e-03 -1.45832972e-04 9.99950557e-01 -5.49011228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.45, Y:29.35, Z:-0.55 [[ 7.92977612e-01 -6.09200941e-01 -7.79230754e-03 8.24535156e+01] [ 6.09173417e-01 7.93015883e-01 -5.79293361e-03 2.93530388e+01] [ 9.70848425e-03 -1.53199942e-04 9.99952860e-01 -5.48278077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.48, Y:29.37, Z:-0.55 [[ 7.92367238e-01 -6.10002501e-01 -7.14903887e-03 8.24762980e+01] [ 6.09979337e-01 7.92399474e-01 -5.31809686e-03 2.93692702e+01] [ 8.90894702e-03 -1.46880268e-04 9.99960304e-01 -5.47179886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.110888479 meters Centerline goodness [0,1] 0.9999089771305041 Centerline is valid? [True, True] Translation: X:82.50, Y:29.39, Z:-0.54 [[ 7.92520082e-01 -6.09828735e-01 -4.56434753e-03 8.24987343e+01] [ 6.09819290e-01 7.92533220e-01 -3.39536490e-03 2.93862410e+01] [ 5.68798813e-03 -9.25323041e-05 9.99983819e-01 -5.43500783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.140888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.52, Y:29.40, Z:-0.54 [[ 7.92908602e-01 -6.09326515e-01 -4.14080936e-03 8.25205098e+01] [ 6.09318729e-01 7.92919411e-01 -3.08140210e-03 2.94040661e+01] [ 5.16090812e-03 -7.98024649e-05 9.99986679e-01 -5.42438065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.170888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.54, Y:29.42, Z:-0.54 [[ 7.93788343e-01 -6.08181804e-01 -3.86786825e-03 8.25413896e+01] [ 6.08174986e-01 7.93797763e-01 -2.88056448e-03 2.94238056e+01] [ 4.82221206e-03 -6.57822158e-05 9.99988371e-01 -5.41519782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.200888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.56, Y:29.44, Z:-0.54 [[ 7.96617482e-01 -6.04462966e-01 -5.01099799e-03 8.25608820e+01] [ 6.04451450e-01 7.96633240e-01 -3.73161710e-03 2.94439197e+01] [ 6.24755191e-03 -5.62335826e-05 9.99980482e-01 -5.41771934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.58, Y:29.46, Z:-0.54 [[ 7.98482533e-01 -6.01997764e-01 -4.93322577e-03 8.25819785e+01] [ 6.01986540e-01 7.98497771e-01 -3.67628900e-03 2.94634783e+01] [ 6.15228754e-03 -3.42829606e-05 9.99981074e-01 -5.41585572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:29.48, Z:-0.54 [[ 8.00551339e-01 -5.99246373e-01 -4.61938477e-03 8.26029497e+01] [ 5.99236474e-01 8.00564666e-01 -3.44424434e-03 2.94831675e+01] [ 5.76206715e-03 -1.08094198e-05 9.99983399e-01 -5.41030266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.62, Y:29.51, Z:-0.54 [[ 8.04998329e-01 -5.93259212e-01 -4.60400538e-03 8.26212180e+01] [ 5.93249271e-01 8.05011494e-01 -3.43450760e-03 2.95068928e+01] [ 5.74383052e-03 3.34500459e-05 9.99983504e-01 -5.42503049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.320888479 meters Centerline goodness [0,1] 0.9999553611284707 Centerline is valid? [True, True] Translation: X:82.64, Y:29.53, Z:-0.54 [[ 8.07158721e-01 -5.90317350e-01 -4.49729782e-03 8.26418849e+01] [ 5.90307809e-01 8.07171248e-01 -3.35662457e-03 2.95273608e+01] [ 5.61156322e-03 5.45387705e-05 9.99984254e-01 -5.43425234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350888479 meters Centerline goodness [0,1] 0.9998886265425224 Centerline is valid? [True, True] Translation: X:82.66, Y:29.55, Z:-0.54 [[ 8.08948669e-01 -5.87867703e-01 -3.68982032e-03 8.26617166e+01] [ 5.87861257e-01 8.08957082e-01 -2.75367682e-03 2.95476348e+01] [ 4.60370395e-03 5.84807829e-05 9.99989401e-01 -5.43553102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38088847899999 meters Centerline goodness [0,1] 0.9998663220746814 Centerline is valid? [True, True] Translation: X:82.68, Y:29.57, Z:-0.54 [[ 8.11590743e-01 -5.84225655e-01 -9.21684408e-04 8.26839351e+01] [ 5.84225249e-01 8.11591266e-01 -6.89771563e-04 2.95657243e+01] [ 1.15101326e-03 2.13409128e-05 9.99999337e-01 -5.38008674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.410888479 meters Centerline goodness [0,1] 0.9998219967514407 Centerline is valid? [True, True] Translation: X:82.70, Y:29.58, Z:-0.54 [[ 8.12473590e-01 -5.82997906e-01 3.28259078e-04 8.27048572e+01] [ 5.82997854e-01 8.12473656e-01 2.44492508e-04 2.95848282e+01] [-4.09240473e-04 -7.26936706e-06 9.99999916e-01 -5.36688045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.440888479 meters Centerline goodness [0,1] 0.9999111565200008 Centerline is valid? [True, True] Translation: X:82.73, Y:29.60, Z:-0.54 [[ 8.13175755e-01 -5.82016636e-01 1.35143678e-03 8.27271240e+01] [ 5.82015764e-01 8.13176877e-01 1.00792252e-03 2.96028184e+01] [-1.68558482e-03 -3.30606472e-05 9.99998579e-01 -5.35681050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.470888479 meters Centerline goodness [0,1] 0.9998228246185192 Centerline is valid? [True, True] Translation: X:82.75, Y:29.62, Z:-0.54 [[ 8.14519587e-01 -5.80133447e-01 1.73941188e-03 8.27468360e+01] [ 5.80131995e-01 8.14521443e-01 1.29905855e-03 2.96226255e+01] [-2.17041558e-03 -4.90201489e-05 9.99997643e-01 -5.36062296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.500888479 meters Centerline goodness [0,1] 0.9999334752527941 Centerline is valid? [True, True] Translation: X:82.77, Y:29.64, Z:-0.54 [[ 8.15086725e-01 -5.79334481e-01 2.27827724e-03 8.27696346e+01] [ 5.79331986e-01 8.15089906e-01 1.70148011e-03 2.96399184e+01] [-2.84272688e-03 -6.69749713e-05 9.99995957e-01 -5.36284678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.530888479 meters Centerline goodness [0,1] 0.9997557292591934 Centerline is valid? [True, True] Translation: X:82.79, Y:29.66, Z:-0.54 [[ 8.15096260e-01 -5.79318414e-01 2.87430325e-03 8.27919997e+01] [ 5.79314438e-01 8.15101324e-01 2.14804100e-03 2.96572956e+01] [-3.58724809e-03 -8.57348161e-05 9.99993562e-01 -5.36845178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.560888479 meters Centerline goodness [0,1] 0.9997780884539422 Centerline is valid? [True, True] Translation: X:82.81, Y:29.67, Z:-0.54 [[ 8.14643401e-01 -5.79956365e-01 2.59691104e-03 8.28147572e+01] [ 5.79953119e-01 8.14647537e-01 1.94179245e-03 2.96743435e+01] [-3.24172208e-03 -7.57817453e-05 9.99994743e-01 -5.37901350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.590888479 meters Centerline goodness [0,1] 0.999911061700945 Centerline is valid? [True, True] Translation: X:82.84, Y:29.69, Z:-0.54 [[ 8.12064720e-01 -5.83563216e-01 2.20526359e-03 8.28393369e+01] [ 5.83560886e-01 8.12067713e-01 1.64965358e-03 2.96899530e+01] [-2.75350051e-03 -5.27198979e-05 9.99996208e-01 -5.41086768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.620888479 meters Centerline goodness [0,1] 0.9998887702438156 Centerline is valid? [True, True] Translation: X:82.86, Y:29.71, Z:-0.54 [[ 8.10319737e-01 -5.85983725e-01 2.23547971e-03 8.28626377e+01] [ 5.85981339e-01 8.10322820e-01 1.67290209e-03 2.97062795e+01] [-2.79175362e-03 -4.56361916e-05 9.99996102e-01 -5.41248806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650888479 meters Centerline goodness [0,1] 0.9999777158774373 Centerline is valid? [True, True] Translation: X:82.89, Y:29.72, Z:-0.54 [[ 8.06880243e-01 -5.90697594e-01 4.54164313e-03 8.28890928e+01] [ 5.90687800e-01 8.06893022e-01 3.40209369e-03 2.97195722e+01] [-5.67422871e-03 -6.23889967e-05 9.99983899e-01 -5.39107723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.680888479 meters Centerline goodness [0,1] 0.9997774166981993 Centerline is valid? [True, True] Translation: X:82.91, Y:29.74, Z:-0.54 [[ 8.05212115e-01 -5.92965977e-01 4.98001487e-03 8.29121082e+01] [ 5.92954233e-01 8.05227513e-01 3.73224387e-03 2.97359928e+01] [-6.22313863e-03 -5.23270819e-05 9.99980635e-01 -5.39267162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:29.75, Z:-0.54 [[ 8.03863889e-01 -5.94793306e-01 4.87551587e-03 8.29343253e+01] [ 5.94782080e-01 8.03878673e-01 3.65457943e-03 2.97522630e+01] [-6.09304261e-03 -3.79149615e-05 9.99981437e-01 -5.39453936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:29.77, Z:-0.54 [[ 8.02589673e-01 -5.96518150e-01 3.98923380e-03 8.29568306e+01] [ 5.96510654e-01 8.02599587e-01 2.99055736e-03 2.97682822e+01] [-4.98567914e-03 -2.05699884e-05 9.99987571e-01 -5.40343204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:29.78, Z:-0.54 [[ 7.99792493e-01 -6.00272028e-01 2.33677486e-03 8.29810456e+01] [ 6.00269471e-01 7.99795907e-01 1.75199470e-03 2.97832524e+01] [-2.92061638e-03 1.46239483e-06 9.99995735e-01 -5.42775169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.00, Y:29.80, Z:-0.54 [[ 7.98058265e-01 -6.02577487e-01 1.83783795e-03 8.30037589e+01] [ 6.02575909e-01 7.98060381e-01 1.37895286e-03 2.97987920e+01] [-2.29763161e-03 6.95214382e-06 9.99997360e-01 -5.44528595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:29.82, Z:-0.55 [[ 7.96146896e-01 -6.05100371e-01 1.91336925e-03 8.30270347e+01] [ 6.05098669e-01 7.96149195e-01 1.43551569e-03 2.98151989e+01] [-2.39195846e-03 1.48958236e-05 9.99997139e-01 -5.45871076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:29.83, Z:-0.55 [[ 7.94567626e-01 -6.07172653e-01 1.91247081e-03 8.30495195e+01] [ 6.07170955e-01 7.94569927e-01 1.43599252e-03 2.98310980e+01] [-2.39148718e-03 2.02035632e-05 9.99997140e-01 -5.47287722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.890888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:29.85, Z:-0.55 [[ 7.92066588e-01 -6.10427526e-01 2.95908730e-03 8.30730918e+01] [ 6.10423480e-01 7.92072114e-01 2.22292326e-03 2.98468439e+01] [-3.70074408e-03 4.55931233e-05 9.99993151e-01 -5.46817403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.920888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:29.86, Z:-0.55 [[ 7.91244528e-01 -6.11489856e-01 3.50046599e-03 8.30966013e+01] [ 6.11484201e-01 7.91252269e-01 2.63031827e-03 2.98643167e+01] [-4.37816460e-03 5.92547112e-05 9.99990414e-01 -5.45789722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.950888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:29.88, Z:-0.55 [[ 7.91082756e-01 -6.11699128e-01 3.49987833e-03 8.31186060e+01] [ 6.11693472e-01 7.91090496e-01 2.63109994e-03 2.98809706e+01] [-4.37816202e-03 5.94349356e-05 9.99990414e-01 -5.45939925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.14, Y:29.90, Z:-0.54 [[ 7.90172931e-01 -6.12868690e-01 4.32533961e-03 8.31415386e+01] [ 6.12860057e-01 7.90184765e-01 3.25387579e-03 2.98987335e+01] [-5.41201605e-03 7.97033140e-05 9.99985352e-01 -5.44658441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:29.92, Z:-0.54 [[ 7.90480512e-01 -6.12474372e-01 3.96278195e-03 8.31633386e+01] [ 6.12467114e-01 7.90490442e-01 2.98254543e-03 2.99157245e+01] [-4.95927389e-03 6.94295820e-05 9.99987700e-01 -5.44439713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.040888479 meters Centerline goodness [0,1] 0.9999555861517622 Centerline is valid? [True, True] Translation: X:83.18, Y:29.94, Z:-0.55 [[ 7.91173609e-01 -6.11576397e-01 4.31633009e-03 8.31846909e+01] [ 6.11567768e-01 7.91185380e-01 3.24945129e-03 2.99350746e+01] [-5.40230497e-03 6.88482502e-05 9.99985405e-01 -5.45089028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070888479 meters Centerline goodness [0,1] 0.9999777352273234 Centerline is valid? [True, True] Translation: X:83.21, Y:29.95, Z:-0.55 [[ 7.92577177e-01 -6.09751758e-01 4.92049535e-03 8.32056486e+01] [ 6.09740498e-01 7.92592449e-01 3.70624356e-03 2.99540782e+01] [-6.15983598e-03 6.27412276e-05 9.99981026e-01 -5.45264671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.100888479 meters Centerline goodness [0,1] 0.9999558450160062 Centerline is valid? [True, True] Translation: X:83.22, Y:29.98, Z:-0.55 [[ 7.96320770e-01 -6.04845994e-01 5.87831073e-03 8.32237712e+01] [ 6.04829779e-01 7.96342466e-01 4.42895168e-03 2.99774664e+01] [-7.35998215e-03 2.85111674e-05 9.99972915e-01 -5.45555964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13088847899999 meters Centerline goodness [0,1] 0.9998895296171096 Centerline is valid? [True, True] Translation: X:83.24, Y:30.00, Z:-0.55 [[ 7.97878071e-01 -6.02789853e-01 5.91405841e-03 8.32441787e+01] [ 6.02773367e-01 7.97899989e-01 4.45815547e-03 2.99970728e+01] [-7.40615802e-03 7.77241543e-06 9.99972574e-01 -5.45921236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.160888479 meters Centerline goodness [0,1] 0.9999559830094417 Centerline is valid? [True, True] Translation: X:83.26, Y:30.02, Z:-0.55 [[ 7.99555788e-01 -6.00557660e-01 6.40620724e-03 8.32635070e+01] [ 6.00538224e-01 7.99581451e-01 4.83152640e-03 3.00159598e+01] [-8.02389467e-03 -1.59025723e-05 9.99967808e-01 -5.46128517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.190888479 meters Centerline goodness [0,1] 0.999955834290257 Centerline is valid? [True, True] Translation: X:83.29, Y:30.04, Z:-0.55 [[ 8.00854802e-01 -5.98816809e-01 7.07211251e-03 8.32854112e+01] [ 5.98793038e-01 8.00886027e-01 5.33565825e-03 3.00354570e+01] [-8.85903793e-03 -3.83557934e-05 9.99960757e-01 -5.46340202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.220888479 meters Centerline goodness [0,1] 0.9998681637406341 Centerline is valid? [True, True] Translation: X:83.30, Y:30.06, Z:-0.54 [[ 8.03006781e-01 -5.95911201e-01 8.36363744e-03 8.33047713e+01] [ 5.95877771e-01 8.03050331e-01 6.31255326e-03 3.00555279e+01] [-1.04781430e-02 -8.53174421e-05 9.99945099e-01 -5.44318189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.250888479 meters Centerline goodness [0,1] 0.9998017970401691 Centerline is valid? [True, True] Translation: X:83.33, Y:30.07, Z:-0.54 [[ 8.03673755e-01 -5.95001158e-01 9.06184134e-03 8.33256053e+01] [ 5.94961842e-01 8.03724835e-01 6.84076806e-03 3.00739599e+01] [-1.13534919e-02 -1.06295938e-04 9.99935541e-01 -5.43590710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.280888479 meters Centerline goodness [0,1] 0.9998242260453057 Centerline is valid? [True, True] Translation: X:83.35, Y:30.09, Z:-0.54 [[ 8.04224340e-01 -5.94248709e-01 9.57515560e-03 8.33469538e+01] [ 5.94204729e-01 8.04281329e-01 7.23072939e-03 3.00932703e+01] [-1.19979705e-02 -1.25525822e-04 9.99928014e-01 -5.43637886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.310888479 meters Centerline goodness [0,1] 0.9998236098249328 Centerline is valid? [True, True] Translation: X:83.37, Y:30.11, Z:-0.54 [[ 8.04718096e-01 -5.93555524e-01 1.09830348e-02 8.33667132e+01] [ 5.93497559e-01 8.04793026e-01 8.29652664e-03 3.01139147e+01] [-1.37635190e-02 -1.57960774e-04 9.99905266e-01 -5.43595424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.340888479 meters Centerline goodness [0,1] 0.999779239701532 Centerline is valid? [True, True] Translation: X:83.39, Y:30.13, Z:-0.54 [[ 8.04323756e-01 -5.94072025e-01 1.19047917e-02 8.33881799e+01] [ 5.94003924e-01 8.04411836e-01 8.99647654e-03 3.01316876e+01] [-1.49209104e-02 -1.64586830e-04 9.99888663e-01 -5.43550108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.370888479 meters Centerline goodness [0,1] 0.9997144237950881 Centerline is valid? [True, True] Translation: X:83.41, Y:30.15, Z:-0.54 [[ 8.03872119e-01 -5.94676959e-01 1.22037122e-02 8.34101581e+01] [ 5.94605388e-01 8.03964731e-01 9.22735164e-03 3.01494680e+01] [-1.52986476e-02 -1.61217655e-04 9.99882956e-01 -5.43766067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.400888479 meters Centerline goodness [0,1] 0.9999121052978531 Centerline is valid? [True, True] Translation: X:83.43, Y:30.17, Z:-0.55 [[ 8.02330578e-01 -5.96758202e-01 1.20537218e-02 8.34332212e+01] [ 5.96688543e-01 8.02421107e-01 9.11862331e-03 3.01671409e+01] [-1.51137740e-02 -1.23832636e-04 9.99885773e-01 -5.47601448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430888479 meters Centerline goodness [0,1] 0.9995600818247806 Centerline is valid? [True, True] Translation: X:83.46, Y:30.19, Z:-0.55 [[ 8.01078138e-01 -5.98442279e-01 1.18598558e-02 8.34553397e+01] [ 5.98374960e-01 8.01165919e-01 8.97646639e-03 3.01851709e+01] [-1.48736092e-02 -9.42102653e-05 9.99889377e-01 -5.49396879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.460888479 meters Centerline goodness [0,1] 0.9997808603422962 Centerline is valid? [True, True] Translation: X:83.48, Y:30.20, Z:-0.55 [[ 8.00141583e-01 -5.99699872e-01 1.15546863e-02 8.34766564e+01] [ 5.99636067e-01 8.00225005e-01 8.74808209e-03 3.02038899e+01] [-1.44925726e-02 -7.10976028e-05 9.99894975e-01 -5.49291695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49088847899999 meters Centerline goodness [0,1] 0.9993004241178786 Centerline is valid? [True, True] Translation: X:83.50, Y:30.22, Z:-0.55 [[ 7.99162210e-01 -6.01010938e-01 1.12077623e-02 8.34990054e+01] [ 6.00950989e-01 7.99240796e-01 8.48875848e-03 3.02212297e+01] [-1.40595375e-02 -4.85791681e-05 9.99901159e-01 -5.51433287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52088847899999 meters Centerline goodness [0,1] 0.99967103820343 Centerline is valid? [True, True] Translation: X:83.52, Y:30.24, Z:-0.55 [[ 7.97881319e-01 -6.02717310e-01 1.08279938e-02 8.35205828e+01] [ 6.02661451e-01 7.97954788e-01 8.20560754e-03 3.02385590e+01] [-1.35859112e-02 -2.14865092e-05 9.99907707e-01 -5.54298084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.550888479 meters Centerline goodness [0,1] 0.9993662033394527 Centerline is valid? [True, True] Translation: X:83.54, Y:30.26, Z:-0.55 [[ 7.97376671e-01 -6.03401557e-01 9.84915876e-03 8.35422821e+01] [ 6.03355362e-01 7.97437497e-01 7.46627213e-03 3.02559878e+01] [-1.23592487e-02 -1.08884662e-05 9.99923622e-01 -5.54144961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.580888479 meters Centerline goodness [0,1] 0.9996493919141011 Centerline is valid? [True, True] Translation: X:83.56, Y:30.27, Z:-0.56 [[ 7.96756326e-01 -6.04229315e-01 9.28930425e-03 8.35644993e+01] [ 6.04188249e-01 7.96810476e-01 7.04453508e-03 3.02737109e+01] [-1.16583295e-02 -2.89424487e-07 9.99932039e-01 -5.56637603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.610888479 meters Centerline goodness [0,1] 0.9995414046121593 Centerline is valid? [True, True] Translation: X:83.59, Y:30.29, Z:-0.56 [[ 7.96077352e-01 -6.05149759e-01 7.39048430e-03 8.35851555e+01] [ 6.05123781e-01 7.96111656e-01 5.60721255e-03 3.02936734e+01] [-9.27685402e-03 8.38288570e-06 9.99956969e-01 -5.59350463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.640888479 meters Centerline goodness [0,1] 0.9990825086834 Centerline is valid? [True, True] Translation: X:83.61, Y:30.31, Z:-0.56 [[ 7.96069548e-01 -6.05170230e-01 6.50136983e-03 8.36061273e+01] [ 6.05150110e-01 7.96096095e-01 4.93473269e-03 3.03115630e+01] [-8.16206845e-03 5.91424826e-06 9.99966690e-01 -5.60485587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.670888479 meters Centerline goodness [0,1] 0.9992368575976277 Centerline is valid? [True, True] Translation: X:83.63, Y:30.33, Z:-0.56 [[ 7.95774834e-01 -6.05567133e-01 5.55529357e-03 8.36269513e+01] [ 6.05552442e-01 7.95794225e-01 4.21808664e-03 3.03282768e+01] [-6.97520517e-03 7.37439273e-06 9.99975673e-01 -5.61331023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.700888479 meters Centerline goodness [0,1] 0.9993233509407604 Centerline is valid? [True, True] Translation: X:83.65, Y:30.35, Z:-0.56 [[ 7.95372394e-01 -6.06100488e-01 4.99531018e-03 8.36474162e+01] [ 6.06088612e-01 7.95388080e-01 3.79422493e-03 3.03452523e+01] [-6.27289176e-03 9.77884643e-06 9.99980325e-01 -5.61139985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.730888479 meters Centerline goodness [0,1] 0.9994095133952979 Centerline is valid? [True, True] Translation: X:83.67, Y:30.36, Z:-0.56 [[ 7.95265620e-01 -6.06238566e-01 5.23388944e-03 8.36688007e+01] [ 6.06225521e-01 7.95282843e-01 3.97714199e-03 3.03632315e+01] [-6.57351933e-03 1.00330576e-05 9.99978394e-01 -5.60484753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.760888479 meters Centerline goodness [0,1] 0.9993005464480874 Centerline is valid? [True, True] Translation: X:83.69, Y:30.38, Z:-0.56 [[ 7.95403743e-01 -6.06051032e-01 5.91886361e-03 8.36893874e+01] [ 6.06034325e-01 7.95425764e-01 4.50007884e-03 3.03813062e+01] [-7.43529404e-03 7.65495716e-06 9.99972358e-01 -5.59603673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790888479 meters Centerline goodness [0,1] 0.9992168976093624 Centerline is valid? [True, True] Translation: X:83.71, Y:30.40, Z:-0.56 [[ 7.95647341e-01 -6.05722233e-01 6.77386591e-03 8.37088116e+01] [ 6.05700321e-01 7.95676176e-01 5.15209719e-03 3.04020448e+01] [-8.51054353e-03 3.68032790e-06 9.99963785e-01 -5.59336046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.820888479 meters Centerline goodness [0,1] 0.9993468463564913 Centerline is valid? [True, True] Translation: X:83.73, Y:30.42, Z:-0.56 [[ 7.95603344e-01 -6.05783393e-01 6.46529242e-03 8.37296300e+01] [ 6.05763413e-01 7.95629613e-01 4.92004750e-03 3.04211505e+01] [-8.12446117e-03 2.03135580e-06 9.99966996e-01 -5.60237850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850888479 meters Centerline goodness [0,1] 0.9992852656429361 Centerline is valid? [True, True] Translation: X:83.75, Y:30.44, Z:-0.56 [[ 7.95482329e-01 -6.05947470e-01 5.96049994e-03 8.37505706e+01] [ 6.05930475e-01 7.95504659e-01 4.53829068e-03 3.04395742e+01] [-7.49157123e-03 1.51852771e-06 9.99971938e-01 -5.61192606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88088847899999 meters Centerline goodness [0,1] 0.9993297442217466 Centerline is valid? [True, True] Translation: X:83.77, Y:30.46, Z:-0.56 [[ 7.94978712e-01 -6.06616483e-01 5.02895719e-03 8.37714239e+01] [ 6.06604387e-01 7.94994618e-01 3.83091179e-03 3.04579594e+01] [-6.32188814e-03 5.09416813e-06 9.99980017e-01 -5.60869112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.910888479 meters Centerline goodness [0,1] 0.9995885753881466 Centerline is valid? [True, True] Translation: X:83.79, Y:30.48, Z:-0.56 [[ 7.94462777e-01 -6.07293048e-01 4.90409825e-03 8.37927209e+01] [ 6.07281545e-01 7.94477913e-01 3.73775814e-03 3.04752645e+01] [-6.16611227e-03 8.65864814e-06 9.99980989e-01 -5.60290676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.940888479 meters Centerline goodness [0,1] 0.9992682506887053 Centerline is valid? [True, True] Translation: X:83.81, Y:30.49, Z:-0.56 [[ 7.93961181e-01 -6.07952680e-01 4.37965834e-03 8.38142864e+01] [ 6.07943512e-01 7.93973261e-01 3.33879716e-03 3.04938115e+01] [-5.50716229e-03 1.17095370e-05 9.99984835e-01 -5.60708689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.970888479 meters Centerline goodness [0,1] 0.9993305403187492 Centerline is valid? [True, True] Translation: X:83.83, Y:30.51, Z:-0.56 [[ 7.93547909e-01 -6.08495379e-01 3.88462964e-03 8.38346939e+01] [ 6.08488165e-01 7.93557417e-01 2.96300442e-03 3.05119867e+01] [-4.88565116e-03 1.24651985e-05 9.99988065e-01 -5.61542369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.000888479 meters Centerline goodness [0,1] 0.9995249406175772 Centerline is valid? [True, True] Translation: X:83.85, Y:30.53, Z:-0.56 [[ 7.93130120e-01 -6.09043867e-01 3.19060980e-03 8.38540272e+01] [ 6.09039004e-01 7.93136538e-01 2.43381645e-03 3.05324072e+01] [-4.01289019e-03 1.28726779e-05 9.99991948e-01 -5.62838052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.030888479 meters Centerline goodness [0,1] 0.9993547970836828 Centerline is valid? [True, True] Translation: X:83.87, Y:30.55, Z:-0.56 [[ 7.92956561e-01 -6.09266853e-01 3.71399993e-03 8.38747412e+01] [ 6.09260257e-01 7.92965259e-01 2.83496454e-03 3.05508933e+01] [-4.67232285e-03 1.47888187e-05 9.99989085e-01 -5.61843609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.060888479 meters Centerline goodness [0,1] 0.9992263721150126 Centerline is valid? [True, True] Translation: X:83.90, Y:30.57, Z:-0.56 [[ 7.92829348e-01 -6.09427565e-01 4.43488640e-03 8.38952182e+01] [ 6.09418151e-01 7.92841751e-01 3.38751249e-03 3.05684974e+01] [-5.58060659e-03 1.69809469e-05 9.99984428e-01 -5.60330193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.090888479 meters Centerline goodness [0,1] 0.9993559329311492 Centerline is valid? [True, True] Translation: X:83.92, Y:30.59, Z:-0.56 [[ 7.92426046e-01 -6.09948066e-01 4.93137098e-03 8.39167300e+01] [ 6.09936428e-01 7.92441390e-01 3.76792020e-03 3.05866163e+01] [-6.20605811e-03 2.20246988e-05 9.99980742e-01 -5.59307144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.120888479 meters Centerline goodness [0,1] 0.998927383889306 Centerline is valid? [True, True] Translation: X:83.94, Y:30.60, Z:-0.56 [[ 7.92327925e-01 -6.10089897e-01 2.60314566e-03 8.39371616e+01] [ 6.10086653e-01 7.92332202e-01 1.98967170e-03 3.06046578e+01] [-3.27643473e-03 1.16719687e-05 9.99994632e-01 -5.59899909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150888479 meters Centerline goodness [0,1] 0.9990782422293676 Centerline is valid? [True, True] Translation: X:83.96, Y:30.62, Z:-0.56 [[ 7.92353603e-01 -6.10059601e-01 1.74669991e-03 8.39582118e+01] [ 6.10058141e-01 7.92355528e-01 1.33450429e-03 3.06232534e+01] [-2.19813448e-03 8.18921665e-06 9.99997584e-01 -5.60737563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.180888479 meters Centerline goodness [0,1] 0.9989110475295725 Centerline is valid? [True, True] Translation: X:83.98, Y:30.64, Z:-0.56 [[ 7.92705193e-01 -6.09604422e-01 9.62179550e-04 8.39788633e+01] [ 6.09603980e-01 7.92705777e-01 7.34676939e-04 3.06420944e+01] [-1.21058760e-03 4.16625854e-06 9.99999267e-01 -5.61052110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210888479 meters Centerline goodness [0,1] 0.9988077750101126 Centerline is valid? [True, True] Translation: X:84.00, Y:30.66, Z:-0.56 [[ 7.94228655e-01 -6.07618445e-01 8.17798545e-04 8.39975524e+01] [ 6.07618123e-01 7.94229076e-01 6.25377347e-04 3.06623785e+01] [-1.02951019e-03 2.16606971e-07 9.99999470e-01 -5.59835180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24088847899999 meters Centerline goodness [0,1] 0.999038831218762 Centerline is valid? [True, True] Translation: X:84.02, Y:30.68, Z:-0.56 [[ 7.94867884e-01 -6.06781835e-01 9.23370205e-04 8.40183909e+01] [ 6.06781424e-01 7.94868420e-01 7.05536629e-04 3.06807118e+01] [-1.16206463e-03 -5.24518738e-07 9.99999325e-01 -5.58164123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27088847899999 meters Centerline goodness [0,1] 0.9990816282943915 Centerline is valid? [True, True] Translation: X:84.04, Y:30.70, Z:-0.56 [[ 7.95914827e-01 -6.05408243e-01 6.68939525e-04 8.40395451e+01] [ 6.05408027e-01 7.95915108e-01 5.12009032e-04 3.06993793e+01] [-8.42393563e-04 -2.53422186e-06 9.99999645e-01 -5.58278822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.300888479 meters Centerline goodness [0,1] 0.9991014889611501 Centerline is valid? [True, True] Translation: X:84.06, Y:30.72, Z:-0.56 [[ 7.96888084e-01 -6.04126875e-01 -3.16929342e-04 8.40613580e+01] [ 6.04126826e-01 7.96888147e-01 -2.43819804e-04 3.07175311e+01] [ 3.99855333e-04 2.83157895e-06 9.99999920e-01 -5.58543457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.330888479 meters Centerline goodness [0,1] 0.9991492257954738 Centerline is valid? [True, True] Translation: X:84.08, Y:30.74, Z:-0.56 [[ 7.99075795e-01 -6.01228853e-01 -1.31919299e-03 8.40826993e+01] [ 6.01228000e-01 7.99076883e-01 -1.01337432e-03 3.07378091e+01] [ 1.66340650e-03 1.66271252e-05 9.99998616e-01 -5.59586392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.360888479 meters Centerline goodness [0,1] 0.998893287362193 Centerline is valid? [True, True] Translation: X:84.10, Y:30.76, Z:-0.56 [[ 8.00132006e-01 -5.99821308e-01 -1.78114077e-03 8.41038159e+01] [ 5.99819748e-01 8.00133988e-01 -1.36832655e-03 3.07575728e+01] [ 2.24590269e-03 2.64784605e-05 9.99997478e-01 -5.60812215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.390888479 meters Centerline goodness [0,1] 0.9988309065788076 Centerline is valid? [True, True] Translation: X:84.12, Y:30.78, Z:-0.56 [[ 8.01149649e-01 -5.98460874e-01 -1.95499820e-03 8.41241556e+01] [ 5.98458993e-01 8.01152034e-01 -1.50089771e-03 3.07772437e+01] [ 2.46447934e-03 3.24574180e-05 9.99996963e-01 -5.62083492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.420888479 meters Centerline goodness [0,1] 0.999045943138211 Centerline is valid? [True, True] Translation: X:84.14, Y:30.80, Z:-0.56 [[ 8.03453579e-01 -5.95362519e-01 -2.41210613e-03 8.41444981e+01] [ 5.95359639e-01 8.03457198e-01 -1.85248382e-03 3.07971910e+01] [ 3.04092347e-03 5.23141153e-05 9.99995375e-01 -5.63363943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.450888479 meters Centerline goodness [0,1] 0.9989808051639205 Centerline is valid? [True, True] Translation: X:84.17, Y:30.82, Z:-0.56 [[ 8.04753786e-01 -5.93602263e-01 -2.77434780e-03 8.41650670e+01] [ 5.93598441e-01 8.04758566e-01 -2.13110626e-03 3.08160877e+01] [ 3.49770966e-03 6.81673050e-05 9.99993881e-01 -5.63732227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.480888479 meters Centerline goodness [0,1] 0.9988526993434891 Centerline is valid? [True, True] Translation: X:84.19, Y:30.83, Z:-0.56 [[ 8.06260803e-01 -5.91551967e-01 -3.12855643e-03 8.41888605e+01] [ 5.91547085e-01 8.06266868e-01 -2.40503264e-03 3.08326650e+01] [ 3.94515319e-03 8.83951118e-05 9.99992214e-01 -5.62214677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.510888479 meters Centerline goodness [0,1] 0.9987297554779295 Centerline is valid? [True, True] Translation: X:84.21, Y:30.85, Z:-0.56 [[ 8.07901172e-01 -5.89308175e-01 -3.40181776e-03 8.42116455e+01] [ 5.89302377e-01 8.07908326e-01 -2.61631037e-03 3.08506118e+01] [ 4.29016998e-03 1.09020921e-04 9.99990791e-01 -5.61401967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.540888479 meters Centerline goodness [0,1] 0.9988064027964277 Centerline is valid? [True, True] Translation: X:84.23, Y:30.87, Z:-0.56 [[ 8.11248459e-01 -5.84687924e-01 -3.99610728e-03 8.42318242e+01] [ 5.84679868e-01 8.11258286e-01 -3.07328472e-03 3.08724180e+01] [ 5.03878761e-03 1.56754017e-04 9.99987293e-01 -5.62173317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570888479 meters Centerline goodness [0,1] 0.9989344698987747 Centerline is valid? [True, True] Translation: X:84.25, Y:30.89, Z:-0.56 [[ 8.12696054e-01 -5.82670730e-01 -4.46590471e-03 8.42528972e+01] [ 5.82660639e-01 8.12708302e-01 -3.43445291e-03 3.08917643e+01] [ 5.63063302e-03 1.89059442e-04 9.99984130e-01 -5.63016479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.600888479 meters Centerline goodness [0,1] 0.998919651746563 Centerline is valid? [True, True] Translation: X:84.27, Y:30.91, Z:-0.56 [[ 8.13979095e-01 -5.80874875e-01 -4.73416249e-03 8.42746394e+01] [ 5.80863501e-01 8.13992834e-01 -3.64136777e-03 3.09096524e+01] [ 5.96875339e-03 2.14095043e-04 9.99982164e-01 -5.63444679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63088847899999 meters Centerline goodness [0,1] 0.998913899951019 Centerline is valid? [True, True] Translation: X:84.30, Y:30.93, Z:-0.56 [[ 8.14733303e-01 -5.79808063e-01 -5.67926326e-03 8.42977784e+01] [ 5.79791664e-01 8.14753054e-01 -4.36902142e-03 3.09260527e+01] [ 7.16039093e-03 2.66797765e-04 9.99974328e-01 -5.63871628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.660888479 meters Centerline goodness [0,1] 0.998743932555565 Centerline is valid? [True, True] Translation: X:84.32, Y:30.94, Z:-0.57 [[ 8.14851342e-01 -5.79627567e-01 -7.01238413e-03 8.43217757e+01] [ 5.79602551e-01 8.14881447e-01 -5.39538059e-03 3.09412100e+01] [ 8.84157305e-03 3.32037388e-04 9.99960857e-01 -5.65224307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.690888479 meters Centerline goodness [0,1] 0.9989540195534304 Centerline is valid? [True, True] Translation: X:84.35, Y:30.96, Z:-0.57 [[ 8.14200132e-01 -5.80540142e-01 -7.16157851e-03 8.43464526e+01] [ 5.80514052e-01 8.14231560e-01 -5.51382026e-03 3.09560281e+01] [ 9.03217724e-03 3.31956225e-04 9.99959154e-01 -5.65413375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.720888479 meters Centerline goodness [0,1] 0.9991225817497004 Centerline is valid? [True, True] Translation: X:84.37, Y:30.97, Z:-0.57 [[ 8.13404681e-01 -5.81649365e-01 -7.53927035e-03 8.43733583e+01] [ 5.81620474e-01 8.13439550e-01 -5.80710604e-03 3.09692409e+01] [ 9.51044023e-03 3.38533242e-04 9.99954717e-01 -5.66017278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.750888479 meters Centerline goodness [0,1] 0.9988632463967055 Centerline is valid? [True, True] Translation: X:84.39, Y:30.99, Z:-0.57 [[ 8.13571571e-01 -5.81412102e-01 -7.82726090e-03 8.43942518e+01] [ 5.81380943e-01 8.13609145e-01 -6.02978811e-03 3.09871543e+01] [ 9.87412283e-03 3.55043867e-04 9.99951187e-01 -5.68155432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.780888479 meters Centerline goodness [0,1] 0.9989710169782199 Centerline is valid? [True, True] Translation: X:84.42, Y:31.00, Z:-0.57 [[ 8.13752792e-01 -5.81164026e-01 -7.40061927e-03 8.44190090e+01] [ 5.81136127e-01 8.13786371e-01 -5.70468334e-03 3.10022997e+01] [ 9.33787984e-03 3.41434772e-04 9.99956343e-01 -5.67267909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.810888479 meters Centerline goodness [0,1] 0.9988435592675875 Centerline is valid? [True, True] Translation: X:84.44, Y:31.02, Z:-0.57 [[ 8.14227088e-01 -5.80509889e-01 -6.52052358e-03 8.44405729e+01] [ 5.80488205e-01 8.14253139e-01 -5.02699179e-03 3.10195133e+01] [ 8.22757524e-03 3.08025865e-04 9.99966105e-01 -5.66988698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.840888479 meters Centerline goodness [0,1] 0.9992096043749465 Centerline is valid? [True, True] Translation: X:84.46, Y:31.04, Z:-0.57 [[ 8.15533100e-01 -5.78677468e-01 -6.17663447e-03 8.44631194e+01] [ 5.78657948e-01 8.15556430e-01 -4.76318882e-03 3.10356241e+01] [ 7.79374401e-03 3.10379517e-04 9.99969580e-01 -5.66352514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.870888479 meters Centerline goodness [0,1] 0.9992096043749465 Centerline is valid? [True, True] Translation: X:84.48, Y:31.05, Z:-0.57 [[ 8.15381307e-01 -5.78891349e-01 -6.17493422e-03 8.44849083e+01] [ 5.78871818e-01 8.15404629e-01 -4.76539327e-03 3.10525501e+01] [ 7.79371489e-03 3.11117197e-04 9.99969580e-01 -5.66502992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.900888479 meters Centerline goodness [0,1] 0.9990763414529363 Centerline is valid? [True, True] Translation: X:84.51, Y:31.07, Z:-0.57 [[ 8.15715446e-01 -5.78408068e-01 -7.23999868e-03 8.45087348e+01] [ 5.78381205e-01 8.15747491e-01 -5.58671587e-03 3.10680099e+01] [ 9.13741229e-03 3.69691267e-04 9.99958185e-01 -5.67310008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930888479 meters Centerline goodness [0,1] 0.9989020215720468 Centerline is valid? [True, True] Translation: X:84.53, Y:31.08, Z:-0.57 [[ 8.15733314e-01 -5.78366581e-01 -8.44145324e-03 8.45341814e+01] [ 5.78330017e-01 8.15776874e-01 -6.51784453e-03 3.10827771e+01] [ 1.06560458e-02 4.34877121e-04 9.99943128e-01 -5.67540045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.960888479 meters Centerline goodness [0,1] 0.9989449205460574 Centerline is valid? [True, True] Translation: X:84.56, Y:31.10, Z:-0.57 [[ 8.15581707e-01 -5.78566048e-01 -9.37057655e-03 8.45574500e+01] [ 5.78521005e-01 8.15635395e-01 -7.23526440e-03 3.10977908e+01] [ 1.18290522e-02 4.79873930e-04 9.99929919e-01 -5.68579529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99088847899999 meters Centerline goodness [0,1] 0.9992631442070131 Centerline is valid? [True, True] Translation: X:84.58, Y:31.11, Z:-0.57 [[ 8.15216499e-01 -5.79051683e-01 -1.10094297e-02 8.45817943e+01] [ 5.78989532e-01 8.15290646e-01 -8.50197383e-03 3.11114654e+01] [ 1.38989673e-02 5.56604801e-04 9.99903250e-01 -5.71062726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02088847899999 meters Centerline goodness [0,1] 0.9993704957888339 Centerline is valid? [True, True] Translation: X:84.61, Y:31.12, Z:-0.57 [[ 8.14615348e-01 -5.79899134e-01 -1.09009048e-02 8.46108684e+01] [ 5.79838203e-01 8.14688101e-01 -8.42355038e-03 3.11213380e+01] [ 1.37656470e-02 5.41192369e-04 9.99905103e-01 -5.68146649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.050888479 meters Centerline goodness [0,1] 0.9992627287709255 Centerline is valid? [True, True] Translation: X:84.63, Y:31.14, Z:-0.57 [[ 8.13910512e-01 -5.80895414e-01 -1.04974119e-02 8.46327914e+01] [ 5.80838988e-01 8.13978048e-01 -8.11218205e-03 3.11381758e+01] [ 1.32569922e-02 5.05284118e-04 9.99911995e-01 -5.69476253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.080888479 meters Centerline goodness [0,1] 0.9996511729310195 Centerline is valid? [True, True] Translation: X:84.66, Y:31.15, Z:-0.57 [[ 8.12381124e-01 -5.83047579e-01 -9.61403938e-03 8.46633356e+01] [ 5.83000388e-01 8.12437895e-01 -7.43055011e-03 3.11455005e+01] [ 1.21431742e-02 4.31449963e-04 9.99926176e-01 -5.65043544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.110888479 meters Centerline goodness [0,1] 0.9998257991464158 Centerline is valid? [True, True] Translation: X:84.69, Y:31.16, Z:-0.57 [[ 8.11466163e-01 -5.84323276e-01 -9.43269823e-03 8.46869206e+01] [ 5.84277917e-01 8.11520884e-01 -7.29183434e-03 3.11610459e+01] [ 1.19156201e-02 4.05759555e-04 9.99928924e-01 -5.65300344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.140888479 meters Centerline goodness [0,1] 0.9998255408234473 Centerline is valid? [True, True] Translation: X:84.71, Y:31.17, Z:-0.56 [[ 8.10547704e-01 -5.85602363e-01 -9.07144160e-03 8.47125019e+01] [ 5.85560440e-01 8.10598378e-01 -7.01713340e-03 3.11747697e+01] [ 1.14625458e-02 3.75844027e-04 9.99934232e-01 -5.64382003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.170888479 meters Centerline goodness [0,1] 0.9995395140777125 Centerline is valid? [True, True] Translation: X:84.74, Y:31.19, Z:-0.57 [[ 8.08943149e-01 -5.87834486e-01 -7.84851682e-03 8.47352713e+01] [ 5.87803187e-01 8.08981166e-01 -6.07332748e-03 3.11913977e+01] [ 9.91941363e-03 2.99593455e-04 9.99950757e-01 -5.65727536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.200888479 meters Centerline goodness [0,1] 0.9997808507374373 Centerline is valid? [True, True] Translation: X:84.76, Y:31.20, Z:-0.56 [[ 8.08058882e-01 -5.89055760e-01 -7.35906231e-03 8.47633624e+01] [ 5.89028265e-01 8.08092346e-01 -5.69771065e-03 3.12022128e+01] [ 9.30307121e-03 2.69389993e-04 9.99956689e-01 -5.62084253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.230888479 meters Centerline goodness [0,1] 0.9998463126001712 Centerline is valid? [True, True] Translation: X:84.79, Y:31.21, Z:-0.56 [[ 8.07196903e-01 -5.90245159e-01 -6.61905576e-03 8.47910430e+01] [ 5.90222932e-01 8.07224008e-01 -5.12759712e-03 3.12141179e+01] [ 8.36960009e-03 2.32262022e-04 9.99964947e-01 -5.60620715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.260888479 meters Centerline goodness [0,1] 0.9998680709778139 Centerline is valid? [True, True] Translation: X:84.81, Y:31.23, Z:-0.56 [[ 8.07195655e-01 -5.90241315e-01 -7.09682440e-03 8.48129416e+01] [ 5.90215766e-01 8.07226813e-01 -5.49748043e-03 3.12314293e+01] [ 8.97358702e-03 2.48884668e-04 9.99959706e-01 -5.62528231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290888479 meters Centerline goodness [0,1] 0.9999340253342717 Centerline is valid? [True, True] Translation: X:84.84, Y:31.25, Z:-0.56 [[ 8.07781431e-01 -5.89426879e-01 -8.06929845e-03 8.48369107e+01] [ 5.89393766e-01 8.07821680e-01 -6.25477278e-03 3.12478290e+01] [ 1.02052854e-02 2.96495109e-04 9.99947881e-01 -5.63221155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.320888479 meters Centerline goodness [0,1] 0.9999558946764875 Centerline is valid? [True, True] Translation: X:84.86, Y:31.26, Z:-0.56 [[ 8.08005583e-01 -5.89109552e-01 -8.77008585e-03 8.48618258e+01] [ 5.89070382e-01 8.08053109e-01 -6.80127227e-03 3.12629876e+01] [ 1.10933896e-02 3.29268137e-04 9.99938412e-01 -5.62804076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.89, Y:31.28, Z:-0.56 [[ 8.09101053e-01 -5.87591681e-01 -9.56571561e-03 8.48869101e+01] [ 5.87544932e-01 8.09157505e-01 -7.42190521e-03 3.12779277e+01] [ 1.21012203e-02 3.84783588e-04 9.99926704e-01 -5.62635803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38088847899999 meters Centerline goodness [0,1] 0.9999778516057586 Centerline is valid? [True, True] Translation: X:84.91, Y:31.30, Z:-0.56 [[ 8.09396371e-01 -5.87179814e-01 -9.86817364e-03 8.49080428e+01] [ 5.87130028e-01 8.09456424e-01 -7.65681347e-03 3.12961046e+01] [ 1.24837829e-02 4.03495967e-04 9.99921993e-01 -5.63905447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.410888479 meters Centerline goodness [0,1] 0.9999778344231408 Centerline is valid? [True, True] Translation: X:84.93, Y:31.31, Z:-0.56 [[ 8.09537290e-01 -5.86987720e-01 -9.73619828e-03 8.49337400e+01] [ 5.86939183e-01 8.09595734e-01 -7.55929940e-03 3.13095206e+01] [ 1.23196005e-02 4.04978489e-04 9.99924029e-01 -5.61736374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.440888479 meters Centerline goodness [0,1] 0.999889105748758 Centerline is valid? [True, True] Translation: X:84.95, Y:31.33, Z:-0.56 [[ 8.09840480e-01 -5.86566763e-01 -9.89093518e-03 8.49542340e+01] [ 5.86516636e-01 8.09900771e-01 -7.67969294e-03 3.13288558e+01] [ 1.25153287e-02 4.18128188e-04 9.99921593e-01 -5.63777549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.470888479 meters Centerline goodness [0,1] 0.9999556511519613 Centerline is valid? [True, True] Translation: X:84.98, Y:31.34, Z:-0.56 [[ 8.10207288e-01 -5.86065122e-01 -9.58249891e-03 8.49791020e+01] [ 5.86017981e-01 8.10263846e-01 -7.44486352e-03 3.13434092e+01] [ 1.21275273e-02 4.16366020e-04 9.99926372e-01 -5.63234359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.500888479 meters Centerline goodness [0,1] 0.9999778383529464 Centerline is valid? [True, True] Translation: X:85.00, Y:31.36, Z:-0.56 [[ 8.10216307e-01 -5.86070021e-01 -8.45379374e-03 8.50015521e+01] [ 5.86033329e-01 8.10260326e-01 -6.56822318e-03 3.13598462e+01] [ 1.06992124e-02 3.67476631e-04 9.99942694e-01 -5.63572364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.530888479 meters Centerline goodness [0,1] 0.9999777337400637 Centerline is valid? [True, True] Translation: X:85.03, Y:31.37, Z:-0.56 [[ 8.08532186e-01 -5.88405089e-01 -7.42673681e-03 8.50274369e+01] [ 5.88376843e-01 8.08566239e-01 -5.77298729e-03 3.13731735e+01] [ 9.40186375e-03 2.97926074e-04 9.99955757e-01 -5.62172779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.560888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:31.39, Z:-0.56 [[ 8.07017278e-01 -5.90485966e-01 -7.03112545e-03 8.50544799e+01] [ 5.90460701e-01 8.07047865e-01 -5.46846797e-03 3.13855245e+01] [ 8.90350838e-03 2.61544874e-04 9.99960329e-01 -5.59994247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.590888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:31.40, Z:-0.56 [[ 8.05278838e-01 -5.92864308e-01 -6.15672859e-03 8.50798641e+01] [ 5.92844990e-01 8.05302346e-01 -4.79052537e-03 3.13999324e+01] [ 7.79815949e-03 2.07723002e-04 9.99969572e-01 -5.58471053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.620888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:31.41, Z:-0.56 [[ 8.03381140e-01 -5.95446079e-01 -4.76567794e-03 8.51053498e+01] [ 5.95434538e-01 8.03395262e-01 -3.70999599e-03 3.14139834e+01] [ 6.03782565e-03 1.42891564e-04 9.99981762e-01 -5.56653392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.650888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:31.43, Z:-0.55 [[ 8.01752803e-01 -5.97644430e-01 -3.68482455e-03 8.51308663e+01] [ 5.97637546e-01 8.01761264e-01 -2.87036883e-03 3.14292417e+01] [ 4.66980953e-03 9.91367505e-05 9.99989091e-01 -5.54453146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.680888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.16, Y:31.44, Z:-0.55 [[ 7.98945124e-01 -6.01401377e-01 -1.75279080e-03 8.51561277e+01] [ 6.01399826e-01 7.98947046e-01 -1.36645757e-03 3.14433064e+01] [ 2.22217649e-03 3.75965314e-05 9.99997530e-01 -5.52417586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710888479 meters Centerline goodness [0,1] 0.999887356943318 Centerline is valid? [True, True] Translation: X:85.18, Y:31.46, Z:-0.55 [[ 7.98157843e-01 -6.02444496e-01 -2.16506984e-03 8.51808395e+01] [ 6.02442130e-01 7.98160778e-01 -1.68875750e-03 3.14592981e+01] [ 2.74545649e-03 4.35657591e-05 9.99996230e-01 -5.51801371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:31.48, Z:-0.55 [[ 7.97542667e-01 -6.03256466e-01 -2.70757304e-03 8.52038851e+01] [ 6.03252768e-01 7.97547261e-01 -2.11292921e-03 3.14757710e+01] [ 3.43405567e-03 5.18002671e-05 9.99994102e-01 -5.52887349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77088847899999 meters Centerline goodness [0,1] 0.9999546320660557 Centerline is valid? [True, True] Translation: X:85.23, Y:31.49, Z:-0.56 [[ 7.96839072e-01 -6.04166160e-01 -5.54470258e-03 8.52281081e+01] [ 6.04150674e-01 7.96858357e-01 -4.32687676e-03 3.14918131e+01] [ 7.03249510e-03 9.79886614e-05 9.99975267e-01 -5.56810835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:31.51, Z:-0.56 [[ 7.96337752e-01 -6.04814883e-01 -6.71885251e-03 8.52502022e+01] [ 6.04792170e-01 7.96366088e-01 -5.24262204e-03 3.15080817e+01] [ 8.52148212e-03 1.11388462e-04 9.99963685e-01 -5.59097808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.27, Y:31.52, Z:-0.56 [[ 7.95685551e-01 -6.05668419e-01 -7.09016714e-03 8.52737490e+01] [ 6.05643121e-01 7.95717132e-01 -5.53681969e-03 3.15240801e+01] [ 8.99524429e-03 1.11456472e-04 9.99959536e-01 -5.59566877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:31.54, Z:-0.56 [[ 7.94356916e-01 -6.07409791e-01 -7.10186716e-03 8.52980425e+01] [ 6.07384456e-01 7.94388656e-01 -5.54846314e-03 3.15395567e+01] [ 9.01183355e-03 9.38963461e-05 9.99959388e-01 -5.60084751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.890888479 meters Centerline goodness [0,1] 0.9997952358200806 Centerline is valid? [True, True] Translation: X:85.32, Y:31.56, Z:-0.56 [[ 7.93684588e-01 -6.08291447e-01 -6.80367903e-03 8.53199521e+01] [ 6.08268228e-01 7.93713745e-01 -5.31542426e-03 3.15562760e+01] [ 8.63350068e-03 8.03085218e-05 9.99962727e-01 -5.61467211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.920888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:31.57, Z:-0.56 [[ 7.92866919e-01 -6.09362898e-01 -6.23752912e-03 8.53439083e+01] [ 6.09343388e-01 7.92891451e-01 -4.87663037e-03 3.15721339e+01] [ 7.91732113e-03 6.57217639e-05 9.99968655e-01 -5.59245835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.950888479 meters Centerline goodness [0,1] 0.9999771653003905 Centerline is valid? [True, True] Translation: X:85.37, Y:31.59, Z:-0.56 [[ 7.91866868e-01 -6.10668114e-01 -5.59628289e-03 8.53676494e+01] [ 6.10652425e-01 7.91886641e-01 -4.37758182e-03 3.15884849e+01] [ 7.10487129e-03 4.90782852e-05 9.99974759e-01 -5.58865215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:31.60, Z:-0.56 [[ 7.90417031e-01 -6.12531888e-01 -6.75303356e-03 8.53926065e+01] [ 6.12509093e-01 7.90445877e-01 -5.28463881e-03 3.16028730e+01] [ 8.57491732e-03 4.07740549e-05 9.99963234e-01 -5.58972166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.010888479 meters Centerline goodness [0,1] 0.9999315584148929 Centerline is valid? [True, True] Translation: X:85.42, Y:31.62, Z:-0.56 [[ 7.89666855e-01 -6.13487061e-01 -7.73850181e-03 8.54157940e+01] [ 6.13457175e-01 7.89704771e-01 -6.05557280e-03 3.16189702e+01] [ 9.82614735e-03 3.46456725e-05 9.99951722e-01 -5.59998783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.040888479 meters Centerline goodness [0,1] 0.9999085735183196 Centerline is valid? [True, True] Translation: X:85.44, Y:31.64, Z:-0.56 [[ 7.88919381e-01 -6.14450127e-01 -7.56644077e-03 8.54386745e+01] [ 6.14421556e-01 7.88955664e-01 -5.92544201e-03 3.16355961e+01] [ 9.61047491e-03 2.57117339e-05 9.99953818e-01 -5.60221064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:31.65, Z:-0.56 [[ 7.88278839e-01 -6.15272044e-01 -7.53547303e-03 8.54608525e+01] [ 6.15243713e-01 7.88314855e-01 -5.90437980e-03 3.16520667e+01] [ 9.57312516e-03 1.81452493e-05 9.99954176e-01 -5.60892563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.100888479 meters Centerline goodness [0,1] 0.9997934500722925 Centerline is valid? [True, True] Translation: X:85.48, Y:31.67, Z:-0.56 [[ 7.86193048e-01 -6.17946956e-01 -6.48468462e-03 8.54848877e+01] [ 6.17926068e-01 7.86219791e-01 -5.08088836e-03 3.16672784e+01] [ 8.23810688e-03 -1.24965691e-05 9.99966066e-01 -5.60300100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:31.68, Z:-0.56 [[ 7.85004971e-01 -6.19460087e-01 -6.03294219e-03 8.55087666e+01] [ 6.19442023e-01 7.85028152e-01 -4.73077119e-03 3.16830402e+01] [ 7.66655340e-03 -2.33790192e-05 9.99970611e-01 -5.59100316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.160888479 meters Centerline goodness [0,1] 0.9998853841921878 Centerline is valid? [True, True] Translation: X:85.53, Y:31.70, Z:-0.56 [[ 7.83981426e-01 -6.20750491e-01 -6.47693664e-03 8.55326137e+01] [ 6.20729697e-01 7.84008180e-01 -5.08105268e-03 3.16996440e+01] [ 8.23203726e-03 -3.69759911e-05 9.99966116e-01 -5.57639700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.190888479 meters Centerline goodness [0,1] 0.9999081768513842 Centerline is valid? [True, True] Translation: X:85.55, Y:31.72, Z:-0.56 [[ 7.83318502e-01 -6.21584530e-01 -6.69302247e-03 8.55548596e+01] [ 6.21562351e-01 7.83347094e-01 -5.25103731e-03 3.17160621e+01] [ 8.50692326e-03 -4.68961068e-05 9.99963814e-01 -5.58612151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.220888479 meters Centerline goodness [0,1] 0.9999311073347724 Centerline is valid? [True, True] Translation: X:85.58, Y:31.73, Z:-0.56 [[ 7.83005367e-01 -6.21971583e-01 -7.34476735e-03 8.55777617e+01] [ 6.21944859e-01 7.83039812e-01 -5.76580293e-03 3.17344664e+01] [ 9.33741082e-03 -5.33856560e-05 9.99956404e-01 -5.59093286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.250888479 meters Centerline goodness [0,1] 0.9998623695377911 Centerline is valid? [True, True] Translation: X:85.60, Y:31.75, Z:-0.56 [[ 7.83112256e-01 -6.21841654e-01 -6.93913041e-03 8.55985227e+01] [ 6.21817789e-01 7.83142998e-01 -5.44817159e-03 3.17512168e+01] [ 8.82223142e-03 -4.83447821e-05 9.99961082e-01 -5.59029543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.280888479 meters Centerline goodness [0,1] 0.999816357918417 Centerline is valid? [True, True] Translation: X:85.62, Y:31.77, Z:-0.56 [[ 7.83391702e-01 -6.21482384e-01 -7.55568414e-03 8.56198820e+01] [ 6.21454060e-01 7.83428136e-01 -5.93356335e-03 3.17693810e+01] [ 9.60694064e-03 -4.72062912e-05 9.99953851e-01 -5.61829630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.310888479 meters Centerline goodness [0,1] 0.9999083598707874 Centerline is valid? [True, True] Translation: X:85.64, Y:31.79, Z:-0.56 [[ 7.83892478e-01 -6.20850153e-01 -7.59404424e-03 8.56406845e+01] [ 6.20821469e-01 7.83929261e-01 -5.96808974e-03 3.17890412e+01] [ 9.65848292e-03 -3.62050445e-05 9.99953355e-01 -5.59550512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.340888479 meters Centerline goodness [0,1] 0.9999770962644007 Centerline is valid? [True, True] Translation: X:85.66, Y:31.81, Z:-0.56 [[ 7.84153301e-01 -6.20524135e-01 -7.30740427e-03 8.56610643e+01] [ 6.20497558e-01 7.84187348e-01 -5.74313375e-03 3.18069604e+01] [ 9.29412708e-03 -3.07292118e-05 9.99956808e-01 -5.60198809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.370888479 meters Centerline goodness [0,1] 0.9999088069671477 Centerline is valid? [True, True] Translation: X:85.68, Y:31.83, Z:-0.56 [[ 7.84840421e-01 -6.19665517e-01 -6.33722742e-03 8.56829575e+01] [ 6.19645473e-01 7.84866006e-01 -4.98401852e-03 3.18264299e+01] [ 8.06229878e-03 -1.51750911e-05 9.99967499e-01 -5.58587322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.400888479 meters Centerline goodness [0,1] 0.9998174682851145 Centerline is valid? [True, True] Translation: X:85.70, Y:31.85, Z:-0.55 [[ 7.86877838e-01 -6.17087497e-01 -5.12726596e-03 8.57039697e+01] [ 6.17074307e-01 7.86894543e-01 -4.03467043e-03 3.18469469e+01] [ 6.52436228e-03 1.08886585e-05 9.99978716e-01 -5.54661922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430888479 meters Centerline goodness [0,1] 0.9998861410939563 Centerline is valid? [True, True] Translation: X:85.72, Y:31.87, Z:-0.55 [[ 7.87718708e-01 -6.16017877e-01 -4.60569795e-03 8.57238149e+01] [ 6.16007214e-01 7.87732172e-01 -3.62445770e-03 3.18651214e+01] [ 5.86078718e-03 1.79099770e-05 9.99982825e-01 -5.54321096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.460888479 meters Centerline goodness [0,1] 0.9999772432469335 Centerline is valid? [True, True] Translation: X:85.75, Y:31.89, Z:-0.55 [[ 7.88807271e-01 -6.14622146e-01 -4.76510030e-03 8.57454765e+01] [ 6.14610692e-01 7.88821663e-01 -3.75249447e-03 3.18850774e+01] [ 6.06518055e-03 3.13133260e-05 9.99981606e-01 -5.53405433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:31.90, Z:-0.55 [[ 7.90190568e-01 -6.12837325e-01 -5.41102742e-03 8.57650420e+01] [ 6.12822515e-01 7.90209093e-01 -4.26087380e-03 3.19044836e+01] [ 6.88706557e-03 5.09028566e-05 9.99976283e-01 -5.54402445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52088847899999 meters Centerline goodness [0,1] 0.999977157476358 Centerline is valid? [True, True] Translation: X:85.79, Y:31.93, Z:-0.55 [[ 7.92503190e-01 -6.09838136e-01 -6.01179318e-03 8.57856382e+01] [ 6.09819743e-01 7.92525987e-01 -4.73712713e-03 3.19256032e+01] [ 7.65338311e-03 8.80781881e-05 9.99970709e-01 -5.54648770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.550888479 meters Centerline goodness [0,1] 0.9999772178429853 Centerline is valid? [True, True] Translation: X:85.81, Y:31.94, Z:-0.55 [[ 7.93135106e-01 -6.09016972e-01 -5.91874019e-03 8.58081013e+01] [ 6.08999104e-01 7.93157184e-01 -4.66613742e-03 3.19438868e+01] [ 7.53624819e-03 9.63699219e-05 9.99971597e-01 -5.53873241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.580888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.83, Y:31.96, Z:-0.55 [[ 7.93371345e-01 -6.08706280e-01 -6.21074550e-03 8.58309156e+01] [ 6.08686577e-01 7.93395647e-01 -4.89877452e-03 3.19616643e+01] [ 7.90949326e-03 1.06149913e-04 9.99968714e-01 -5.52824588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.610888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.85, Y:31.98, Z:-0.55 [[ 7.94126572e-01 -6.07717725e-01 -6.49257635e-03 8.58509315e+01] [ 6.07696162e-01 7.94153103e-01 -5.12080825e-03 3.19807507e+01] [ 8.26810560e-03 1.21056175e-04 9.99965811e-01 -5.53726560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.640888479 meters Centerline goodness [0,1] 0.9999771720768844 Centerline is valid? [True, True] Translation: X:85.87, Y:32.00, Z:-0.55 [[ 7.94431470e-01 -6.07317654e-01 -6.62627190e-03 8.58725600e+01] [ 6.07295149e-01 7.94459093e-01 -5.22985561e-03 3.19995783e+01] [ 8.44048560e-03 1.30659099e-04 9.99964370e-01 -5.54176001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.670888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:32.02, Z:-0.56 [[ 7.95123939e-01 -6.06411665e-01 -6.54318248e-03 8.58917727e+01] [ 6.06389690e-01 7.95150849e-01 -5.16441617e-03 3.20194335e+01] [ 8.33457931e-03 1.38632531e-04 9.99965257e-01 -5.56438088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.92, Y:32.04, Z:-0.55 [[ 7.95181111e-01 -6.06332797e-01 -6.89489822e-03 8.59160943e+01] [ 6.06308361e-01 7.95210989e-01 -5.44568628e-03 3.20352653e+01] [ 8.78479702e-03 1.49872427e-04 9.99961402e-01 -5.54566946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:32.05, Z:-0.56 [[ 7.95346041e-01 -6.06104659e-01 -7.86236675e-03 8.59369834e+01] [ 6.06072874e-01 7.95384883e-01 -6.20957464e-03 3.20534020e+01] [ 1.00172598e-02 1.73593390e-04 9.99949811e-01 -5.55794832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:32.07, Z:-0.56 [[ 7.95180168e-01 -6.06322291e-01 -7.86003185e-03 8.59585984e+01] [ 6.06290488e-01 7.95218994e-01 -6.21253037e-03 3.20705760e+01] [ 1.00172423e-02 1.74618402e-04 9.99949811e-01 -5.55945422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:32.09, Z:-0.56 [[ 7.94961048e-01 -6.06610346e-01 -7.79870792e-03 8.59803063e+01] [ 6.06579016e-01 7.94999282e-01 -6.16759112e-03 3.20890451e+01] [ 9.94129177e-03 1.72462123e-04 9.99950569e-01 -5.57384322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.820888479 meters Centerline goodness [0,1] 0.9998864152657883 Centerline is valid? [True, True] Translation: X:86.00, Y:32.11, Z:-0.56 [[ 7.94545518e-01 -6.07158503e-01 -7.48145473e-03 8.60035758e+01] [ 6.07129668e-01 7.94580723e-01 -5.91947811e-03 3.21069291e+01] [ 9.53868118e-03 1.61081668e-04 9.99954493e-01 -5.56753063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.03, Y:32.12, Z:-0.56 [[ 7.93648111e-01 -6.08336477e-01 -7.02904525e-03 8.60259673e+01] [ 6.08311063e-01 7.93679225e-01 -5.56228129e-03 3.21233697e+01] [ 8.96254579e-03 1.38648053e-04 9.99959826e-01 -5.55259830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.05, Y:32.14, Z:-0.55 [[ 7.92686766e-01 -6.09595048e-01 -6.44733580e-03 8.60497448e+01] [ 6.09573680e-01 7.92712977e-01 -5.10532005e-03 3.21392774e+01] [ 8.22306458e-03 1.16793431e-04 9.99966183e-01 -5.52592806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:32.15, Z:-0.55 [[ 7.90822089e-01 -6.12018032e-01 -5.86103510e-03 8.60730161e+01] [ 6.12000442e-01 7.90843803e-01 -4.64094478e-03 3.21546439e+01] [ 7.47550518e-03 8.32055802e-05 9.99972055e-01 -5.51161001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.09, Y:32.17, Z:-0.55 [[ 7.90120948e-01 -6.12917777e-01 -6.37867016e-03 8.60937762e+01] [ 6.12896959e-01 7.90146690e-01 -5.05221193e-03 3.21718979e+01] [ 8.13667561e-03 8.23909298e-05 9.99966893e-01 -5.53097248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.12, Y:32.19, Z:-0.55 [[ 7.89619633e-01 -6.13562661e-01 -6.45727159e-03 8.61158488e+01] [ 6.13541316e-01 7.89646031e-01 -5.11840917e-03 3.21885409e+01] [ 8.23942364e-03 7.97934579e-05 9.99966052e-01 -5.53217748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.000888479 meters Centerline goodness [0,1] 0.9999545051295466 Centerline is valid? [True, True] Translation: X:86.14, Y:32.21, Z:-0.55 [[ 7.89074770e-01 -6.14261722e-01 -6.59888642e-03 8.61382005e+01] [ 6.14239431e-01 7.89102358e-01 -5.23354969e-03 3.22057521e+01] [ 8.42196608e-03 7.63657827e-05 9.99964532e-01 -5.54030816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.030888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:32.22, Z:-0.55 [[ 7.88079702e-01 -6.15533949e-01 -6.95268092e-03 8.61608223e+01] [ 6.15509253e-01 7.88110368e-01 -5.51426331e-03 3.22211142e+01] [ 8.87369619e-03 6.62395512e-05 9.99960626e-01 -5.54554186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.060888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.18, Y:32.24, Z:-0.55 [[ 7.87463769e-01 -6.16319597e-01 -7.13906971e-03 8.61837665e+01] [ 6.16293552e-01 7.87496127e-01 -5.66627446e-03 3.22375140e+01] [ 9.11422574e-03 6.22232154e-05 9.99958463e-01 -5.54426938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.090888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.21, Y:32.25, Z:-0.55 [[ 7.86192609e-01 -6.17939003e-01 -7.25058075e-03 8.62071157e+01] [ 6.17912178e-01 7.86226040e-01 -5.75791129e-03 3.22534111e+01] [ 9.25863335e-03 4.66051589e-05 9.99957137e-01 -5.53907343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.120888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:32.27, Z:-0.55 [[ 7.85740901e-01 -6.18522730e-01 -6.39288623e-03 8.62303348e+01] [ 6.18501876e-01 7.85766906e-01 -5.07923581e-03 3.22713622e+01] [ 8.16494124e-03 3.69511941e-05 9.99966666e-01 -5.53096967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.150888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.25, Y:32.29, Z:-0.55 [[ 7.85407989e-01 -6.18951015e-01 -5.82512234e-03 8.62527783e+01] [ 6.18933694e-01 7.85429590e-01 -4.63051803e-03 3.22890102e+01] [ 7.44128728e-03 3.14813649e-05 9.99972313e-01 -5.52527160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.180888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.27, Y:32.31, Z:-0.55 [[ 7.85096244e-01 -6.19350137e-01 -5.41252255e-03 8.62745270e+01] [ 6.19335173e-01 7.85114901e-01 -4.30541155e-03 3.23060550e+01] [ 6.91600933e-03 2.79968445e-05 9.99976084e-01 -5.51311475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.30, Y:32.32, Z:-0.55 [[ 7.85197932e-01 -6.19217446e-01 -5.82762461e-03 8.62962740e+01] [ 6.19200100e-01 7.85219557e-01 -4.63493913e-03 3.23238569e+01] [ 7.44599999e-03 3.08788741e-05 9.99972278e-01 -5.52393165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.32, Y:32.34, Z:-0.55 [[ 7.84971679e-01 -6.19502955e-01 -5.96249558e-03 8.63181460e+01] [ 6.19484775e-01 7.84994323e-01 -4.74613205e-03 3.23410475e+01] [ 7.62076801e-03 3.19040152e-05 9.99970961e-01 -5.52206630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.34, Y:32.36, Z:-0.55 [[ 7.84578380e-01 -6.20000677e-01 -5.99381987e-03 8.63401271e+01] [ 6.19982299e-01 7.84601274e-01 -4.77380394e-03 3.23577768e+01] [ 7.66252038e-03 2.93611331e-05 9.99970642e-01 -5.51183679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.300888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:32.37, Z:-0.55 [[ 7.84016984e-01 -6.20713534e-01 -5.66380769e-03 8.63616528e+01] [ 6.20697142e-01 7.84037441e-01 -4.51099527e-03 3.23739651e+01] [ 7.24067310e-03 2.11876545e-05 9.99973786e-01 -5.51543675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.330888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:32.39, Z:-0.55 [[ 7.82813541e-01 -6.22230637e-01 -5.65638377e-03 8.63841608e+01] [ 6.22214302e-01 7.82833976e-01 -4.50873724e-03 3.23902957e+01] [ 7.23348384e-03 1.00176850e-05 9.99973838e-01 -5.51872746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.360888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.41, Y:32.41, Z:-0.55 [[ 7.82531505e-01 -6.22587088e-01 -5.45545665e-03 8.64060578e+01] [ 6.22571884e-01 7.82550521e-01 -4.35108739e-03 3.24074454e+01] [ 6.97810127e-03 8.44903472e-06 9.99975653e-01 -5.52189547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.390888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:32.42, Z:-0.55 [[ 7.82438004e-01 -6.22708438e-01 -4.99712234e-03 8.64281101e+01] [ 6.22695668e-01 7.82453961e-01 -3.98794112e-03 3.24249992e+01] [ 6.39334275e-03 8.63025890e-06 9.99979562e-01 -5.51502451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.420888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:32.44, Z:-0.55 [[ 7.83223803e-01 -6.21726808e-01 -4.03128086e-03 8.64500516e+01] [ 6.21718476e-01 7.83234177e-01 -3.21886324e-03 3.24435347e+01] [ 5.15869051e-03 1.47685145e-05 9.99986694e-01 -5.49422271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.450888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:32.46, Z:-0.55 [[ 7.83841333e-01 -6.20947920e-01 -4.05522009e-03 8.64715922e+01] [ 6.20939467e-01 7.83851823e-01 -3.24001338e-03 3.24620378e+01] [ 5.19057123e-03 2.16102077e-05 9.99986529e-01 -5.49598617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.49, Y:32.48, Z:-0.55 [[ 7.84532049e-01 -6.20073787e-01 -4.23831205e-03 8.64925553e+01] [ 6.20064546e-01 7.84543496e-01 -3.38548109e-03 3.24810363e+01] [ 5.42438823e-03 2.79913786e-05 9.99985288e-01 -5.51354891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:32.50, Z:-0.55 [[ 7.85266418e-01 -6.19135270e-01 -5.30757874e-03 8.65142924e+01] [ 6.19120736e-01 7.85284353e-01 -4.24257795e-03 3.25004542e+01] [ 6.79468818e-03 4.55219360e-05 9.99976915e-01 -5.53108767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.54, Y:32.52, Z:-0.56 [[ 7.86185132e-01 -6.17960364e-01 -6.15841179e-03 8.65355727e+01] [ 6.17940743e-01 7.86209250e-01 -4.92479116e-03 3.25195182e+01] [ 7.88512605e-03 6.62640303e-05 9.99968910e-01 -5.55718706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.56, Y:32.54, Z:-0.56 [[ 7.86621602e-01 -6.17402251e-01 -6.39657520e-03 8.65568317e+01] [ 6.17381067e-01 7.86647605e-01 -5.11499231e-03 3.25381268e+01] [ 8.18985833e-03 7.44390197e-05 9.99966460e-01 -5.58304728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:32.55, Z:-0.56 [[ 7.86776106e-01 -6.17201402e-01 -6.76673724e-03 8.65806223e+01] [ 6.17177656e-01 7.86805200e-01 -5.41466087e-03 3.25549019e+01] [ 8.66604033e-03 8.38467684e-05 9.99962446e-01 -5.56144390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:32.57, Z:-0.56 [[ 7.87013445e-01 -6.16891404e-01 -7.40492297e-03 8.66027306e+01] [ 6.16862928e-01 7.87048274e-01 -5.92806221e-03 3.25728924e+01] [ 9.48500246e-03 9.76421987e-05 9.99955012e-01 -5.56418977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.62, Y:32.59, Z:-0.56 [[ 7.87686324e-01 -6.16029837e-01 -7.58261203e-03 8.66245304e+01] [ 6.15999909e-01 7.87722811e-01 -6.07326784e-03 3.25917379e+01] [ 9.71431067e-03 1.12941702e-04 9.99952809e-01 -5.56194716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:32.61, Z:-0.56 [[ 7.88205527e-01 -6.15369366e-01 -7.25197742e-03 8.66458177e+01] [ 6.15341958e-01 7.88238879e-01 -5.80905267e-03 3.26093967e+01] [ 9.29100361e-03 1.16281436e-04 9.99956831e-01 -5.55483455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:32.63, Z:-0.56 [[ 7.88709613e-01 -6.14732467e-01 -6.41408028e-03 8.66660754e+01] [ 6.14710985e-01 7.88735685e-01 -5.14044894e-03 3.26277165e+01] [ 8.21901486e-03 1.11515890e-04 9.99966217e-01 -5.56017355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.69, Y:32.65, Z:-0.55 [[ 7.89104976e-01 -6.14229437e-01 -5.96112702e-03 8.66884100e+01] [ 6.14210841e-01 7.89127484e-01 -4.78076015e-03 3.26453682e+01] [ 7.64057278e-03 1.11132786e-04 9.99970804e-01 -5.54935221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.780888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:32.66, Z:-0.55 [[ 7.88632679e-01 -6.14832270e-01 -6.30691916e-03 8.67115166e+01] [ 6.14811452e-01 7.88657889e-01 -5.06082660e-03 3.26613930e+01] [ 8.08556106e-03 1.13567110e-04 9.99967305e-01 -5.54167804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.810888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:32.68, Z:-0.56 [[ 7.86453509e-01 -6.17606679e-01 -7.27100553e-03 8.67361225e+01] [ 6.17579106e-01 7.86487113e-01 -5.83678480e-03 3.26774331e+01] [ 9.32338943e-03 9.99387876e-05 9.99956531e-01 -5.55170288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.840888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:32.69, Z:-0.56 [[ 7.85185950e-01 -6.19219474e-01 -7.08988084e-03 8.67582766e+01] [ 6.19193317e-01 7.85217955e-01 -5.69211143e-03 3.26942961e+01] [ 9.09176798e-03 7.93590914e-05 9.99958666e-01 -5.55822237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.78, Y:32.71, Z:-0.56 [[ 7.83618444e-01 -6.21213696e-01 -5.97316171e-03 8.67815663e+01] [ 6.21195163e-01 7.83641207e-01 -4.79879430e-03 3.27113558e+01] [ 7.66189240e-03 4.99245559e-05 9.99970646e-01 -5.55446697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.900888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.81, Y:32.73, Z:-0.55 [[ 7.82012060e-01 -6.23237790e-01 -5.63877494e-03 8.68058246e+01] [ 6.23221309e-01 7.82032388e-01 -4.53247823e-03 3.27279226e+01] [ 7.23451635e-03 3.02479310e-05 9.99973830e-01 -5.53494482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:32.74, Z:-0.55 [[ 7.79299824e-01 -6.26632953e-01 -4.78816771e-03 8.68296207e+01] [ 6.26621131e-01 7.79314534e-01 -3.84921082e-03 3.27428930e+01] [ 6.14353103e-03 -6.77748301e-07 9.99981128e-01 -5.51676437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.960888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.85, Y:32.76, Z:-0.55 [[ 7.78086913e-01 -6.28136859e-01 -4.98419162e-03 8.68512618e+01] [ 6.28124075e-01 7.78102876e-01 -4.00759839e-03 3.27595423e+01] [ 6.39553410e-03 -1.24308922e-05 9.99979548e-01 -5.52063659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.87, Y:32.78, Z:-0.55 [[ 7.74522406e-01 -6.32518022e-01 -5.99951848e-03 8.68743277e+01] [ 6.32499620e-01 7.74545640e-01 -4.82517157e-03 3.27761587e+01] [ 7.69890886e-03 -5.74896629e-05 9.99970361e-01 -5.53863114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.90, Y:32.79, Z:-0.56 [[ 7.72430354e-01 -6.35062442e-01 -6.85878353e-03 8.68971763e+01] [ 6.35038486e-01 7.72460799e-01 -5.51678048e-03 3.27931057e+01] [ 8.80164149e-03 -9.42628175e-05 9.99961260e-01 -5.55191298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.92, Y:32.81, Z:-0.56 [[ 7.69895611e-01 -6.38130641e-01 -7.07347329e-03 8.69205166e+01] [ 6.38105257e-01 7.69928093e-01 -5.69326411e-03 3.28097037e+01] [ 9.07911207e-03 -1.30401443e-04 9.99958776e-01 -5.56457839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.94, Y:32.83, Z:-0.56 [[ 7.67474080e-01 -6.41044539e-01 -6.74065685e-03 8.69439977e+01] [ 6.41021576e-01 7.67503665e-01 -5.42808292e-03 3.28263500e+01] [ 8.65312175e-03 -1.54993525e-04 9.99962549e-01 -5.56354743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.110888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.97, Y:32.84, Z:-0.55 [[ 7.63764470e-01 -6.45461799e-01 -6.54980104e-03 8.69671551e+01] [ 6.45440275e-01 7.63792528e-01 -5.27494598e-03 3.28421953e+01] [ 8.40746522e-03 -1.98689066e-04 9.99964637e-01 -5.54391866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.140888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.99, Y:32.86, Z:-0.55 [[ 7.62192050e-01 -6.47320278e-01 -6.30375754e-03 8.69893600e+01] [ 6.47300399e-01 7.62218088e-01 -5.07741124e-03 3.28594877e+01] [ 8.09154928e-03 -2.10462285e-04 9.99967241e-01 -5.54618496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.170888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:32.88, Z:-0.55 [[ 7.61220566e-01 -6.48460991e-01 -6.44925816e-03 8.70111538e+01] [ 6.48440196e-01 7.61247852e-01 -5.19803609e-03 3.28791840e+01] [ 8.28020756e-03 -2.25106252e-04 9.99965693e-01 -5.54331144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.200888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.03, Y:32.90, Z:-0.55 [[ 7.60700761e-01 -6.49068519e-01 -6.66414913e-03 8.70320137e+01] [ 6.49046317e-01 7.60729914e-01 -5.37370084e-03 3.28994251e+01] [ 8.55751764e-03 -2.37563130e-04 9.99963356e-01 -5.54705377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.05, Y:32.92, Z:-0.55 [[ 7.60400501e-01 -6.49420758e-01 -6.61495139e-03 8.70490880e+01] [ 6.49398867e-01 7.60429236e-01 -5.33743899e-03 3.29235975e+01] [ 8.49644611e-03 -2.37150657e-04 9.99963876e-01 -5.51923905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.07, Y:32.94, Z:-0.55 [[ 7.60637942e-01 -6.49148422e-01 -6.02067351e-03 8.70700627e+01] [ 6.49130281e-01 7.60661739e-01 -4.85761261e-03 3.29418950e+01] [ 7.73300754e-03 -2.13317037e-04 9.99970077e-01 -5.51371060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.09, Y:32.96, Z:-0.55 [[ 7.60825214e-01 -6.48933171e-01 -5.54373691e-03 8.70903157e+01] [ 6.48917762e-01 7.60845387e-01 -4.47613774e-03 3.29621570e+01] [ 7.12264091e-03 -1.91870898e-04 9.99974615e-01 -5.50378988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:32.99, Z:-0.55 [[ 7.62465687e-01 -6.47001043e-01 -5.97722726e-03 8.71061745e+01] [ 6.46983073e-01 7.62489092e-01 -4.82576680e-03 3.29862757e+01] [ 7.67984673e-03 -1.87683262e-04 9.99970492e-01 -5.52128857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35088847899999 meters Centerline goodness [0,1] 0.9999557140010186 Centerline is valid? [True, True] Translation: X:87.12, Y:33.01, Z:-0.55 [[ 7.63563655e-01 -6.45708849e-01 -5.53415134e-03 8.71244647e+01] [ 6.45693386e-01 7.63583694e-01 -4.47140061e-03 3.30093395e+01] [ 7.11301066e-03 -1.59165922e-04 9.99974690e-01 -5.52939561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:33.03, Z:-0.55 [[ 7.64677397e-01 -6.44396275e-01 -4.68178668e-03 8.71432228e+01] [ 6.44385171e-01 7.64691720e-01 -3.78487295e-03 3.30317785e+01] [ 6.01908154e-03 -1.22667112e-04 9.99981878e-01 -5.53002292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.16, Y:33.06, Z:-0.55 [[ 7.67943336e-01 -6.40509721e-01 -3.21393625e-03 8.71595045e+01] [ 6.40504447e-01 7.67950059e-01 -2.60002967e-03 3.30565317e+01] [ 4.13348681e-03 -6.18650023e-05 9.99991455e-01 -5.51644151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.440888479 meters Centerline goodness [0,1] 0.9999781649853705 Centerline is valid? [True, True] Translation: X:87.18, Y:33.08, Z:-0.55 [[ 7.69498926e-01 -6.38641025e-01 -3.00719714e-03 8.71785855e+01] [ 6.38636394e-01 7.69504801e-01 -2.43270783e-03 3.30774759e+01] [ 3.86767966e-03 -4.85394752e-05 9.99992519e-01 -5.50870140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.470888479 meters Centerline goodness [0,1] 0.9999562554680665 Centerline is valid? [True, True] Translation: X:87.20, Y:33.10, Z:-0.55 [[ 7.71317243e-01 -6.36444986e-01 -2.73686842e-03 8.71977610e+01] [ 6.36441135e-01 7.71322098e-01 -2.21419428e-03 3.30986052e+01] [ 3.52021994e-03 -3.40094176e-05 9.99993803e-01 -5.50579533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.500888479 meters Centerline goodness [0,1] 0.9998262267306731 Centerline is valid? [True, True] Translation: X:87.21, Y:33.13, Z:-0.55 [[ 7.74900153e-01 -6.32078188e-01 -2.63010716e-03 8.72129519e+01] [ 6.32074600e-01 7.74904616e-01 -2.12993572e-03 3.31261817e+01] [ 3.38436809e-03 -1.19364118e-05 9.99994273e-01 -5.51230310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.530888479 meters Centerline goodness [0,1] 0.9996766195968524 Centerline is valid? [True, True] Translation: X:87.23, Y:33.15, Z:-0.55 [[ 7.76634678e-01 -6.29946662e-01 -2.40410158e-03 8.72306467e+01] [ 6.29943649e-01 7.76638399e-01 -1.94839580e-03 3.31489349e+01] [ 3.09450303e-03 -1.25678147e-06 9.99995212e-01 -5.51713585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.560888479 meters Centerline goodness [0,1] 0.9998703767715175 Centerline is valid? [True, True] Translation: X:87.25, Y:33.17, Z:-0.55 [[ 7.78372752e-01 -6.27798247e-01 -2.28486629e-03 8.72489912e+01] [ 6.27795512e-01 7.78376105e-01 -1.85295128e-03 3.31714465e+01] [ 2.94176489e-03 7.85798586e-06 9.99995673e-01 -5.52145814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.590888479 meters Centerline goodness [0,1] 0.999784077904692 Centerline is valid? [True, True] Translation: X:87.27, Y:33.19, Z:-0.55 [[ 7.80012027e-01 -6.25757290e-01 -3.00845226e-03 8.72675899e+01] [ 6.25752540e-01 7.80017829e-01 -2.43821390e-03 3.31927260e+01] [ 3.87237652e-03 1.92895213e-05 9.99992502e-01 -5.53286755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.620888479 meters Centerline goodness [0,1] 0.9994607652819119 Centerline is valid? [True, True] Translation: X:87.29, Y:33.22, Z:-0.55 [[ 7.82668201e-01 -6.22421035e-01 -4.74785979e-03 8.72853003e+01] [ 6.22409127e-01 7.82682600e-01 -3.85056194e-03 3.32163113e+01] [ 6.11273799e-03 5.86011223e-05 9.99981315e-01 -5.54776270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.650888479 meters Centerline goodness [0,1] 0.9995275827267066 Centerline is valid? [True, True] Translation: X:87.31, Y:33.24, Z:-0.56 [[ 7.83291110e-01 -6.21638043e-01 -4.60214579e-03 8.73051870e+01] [ 6.21626830e-01 7.83304627e-01 -3.73426794e-03 3.32370360e+01] [ 5.92624511e-03 6.42015821e-05 9.99982438e-01 -5.55686544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.680888479 meters Centerline goodness [0,1] 0.9992675097485835 Centerline is valid? [True, True] Translation: X:87.33, Y:33.26, Z:-0.56 [[ 7.83940278e-01 -6.20820741e-01 -4.38723416e-03 8.73250360e+01] [ 6.20810528e-01 7.83952551e-01 -3.56171399e-03 3.32580858e+01] [ 5.65056933e-03 6.85298995e-05 9.99984033e-01 -5.56320733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710888479 meters Centerline goodness [0,1] 0.9992675097485835 Centerline is valid? [True, True] Translation: X:87.35, Y:33.28, Z:-0.56 [[ 7.83769246e-01 -6.21036658e-01 -4.38613284e-03 8.73464070e+01] [ 6.21026440e-01 7.83781516e-01 -3.56307055e-03 3.32755278e+01] [ 5.65056727e-03 6.87206499e-05 9.99984033e-01 -5.56470933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74088847899999 meters Centerline goodness [0,1] 0.9993377483443708 Centerline is valid? [True, True] Translation: X:87.37, Y:33.30, Z:-0.56 [[ 7.84732035e-01 -6.19820267e-01 -4.29765659e-03 8.73651542e+01] [ 6.19810431e-01 7.84743799e-01 -3.49278545e-03 3.32983260e+01] [ 5.53745857e-03 7.71682494e-05 9.99984665e-01 -5.57039713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77088847899999 meters Centerline goodness [0,1] 0.9992517850271495 Centerline is valid? [True, True] Translation: X:87.39, Y:33.32, Z:-0.56 [[ 7.85075215e-01 -6.19383149e-01 -4.62840281e-03 8.73861428e+01] [ 6.19371722e-01 7.85088853e-01 -3.76332077e-03 3.33189036e+01] [ 5.96464492e-03 8.77880457e-05 9.99982207e-01 -5.57884199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.800888479 meters Centerline goodness [0,1] 0.9991681774554761 Centerline is valid? [True, True] Translation: X:87.41, Y:33.34, Z:-0.56 [[ 7.85884910e-01 -6.18352024e-01 -5.06772437e-03 8.74054652e+01] [ 6.18338307e-01 7.85901243e-01 -4.11998441e-03 3.33387288e+01] [ 6.53033158e-03 1.04265466e-04 9.99978672e-01 -5.59087364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.830888479 meters Centerline goodness [0,1] 0.9993624888435547 Centerline is valid? [True, True] Translation: X:87.43, Y:33.36, Z:-0.56 [[ 7.87130936e-01 -6.16764767e-01 -5.10994604e-03 8.74251495e+01] [ 6.16750766e-01 7.87147514e-01 -4.15749981e-03 3.33604292e+01] [ 6.58648072e-03 1.20933589e-04 9.99978302e-01 -5.57980930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.860888479 meters Centerline goodness [0,1] 0.9991511936339522 Centerline is valid? [True, True] Translation: X:87.44, Y:33.38, Z:-0.56 [[ 7.87793443e-01 -6.15917713e-01 -5.18288376e-03 8.74444907e+01] [ 6.15903294e-01 7.87810481e-01 -4.21645133e-03 3.33809069e+01] [ 6.68011720e-03 1.29537528e-04 9.99977679e-01 -5.58871529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.890888479 meters Centerline goodness [0,1] 0.9991910418529399 Centerline is valid? [True, True] Translation: X:87.46, Y:33.40, Z:-0.56 [[ 7.88193103e-01 -6.15402709e-01 -5.58015197e-03 8.74635072e+01] [ 6.15385977e-01 7.88212842e-01 -4.54037311e-03 3.34016630e+01] [ 7.19250535e-03 1.44743501e-04 9.99974123e-01 -5.61265214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.920888479 meters Centerline goodness [0,1] 0.9991930517508654 Centerline is valid? [True, True] Translation: X:87.48, Y:33.42, Z:-0.56 [[ 7.88422644e-01 -6.15091583e-01 -7.21651784e-03 8.74847217e+01] [ 6.15063550e-01 7.88455646e-01 -5.87563748e-03 3.34208876e+01] [ 9.30395939e-03 1.93868556e-04 9.99956698e-01 -5.61810181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.950888479 meters Centerline goodness [0,1] 0.9991489723841539 Centerline is valid? [True, True] Translation: X:87.50, Y:33.44, Z:-0.56 [[ 7.88367753e-01 -6.15165971e-01 -6.86395013e-03 8.75034422e+01] [ 6.15140608e-01 7.88397612e-01 -5.58912212e-03 3.34411758e+01] [ 8.84975962e-03 1.83989195e-04 9.99960823e-01 -5.63943609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.980888479 meters Centerline goodness [0,1] 0.9992132012078425 Centerline is valid? [True, True] Translation: X:87.52, Y:33.46, Z:-0.56 [[ 7.87989894e-01 -6.15654369e-01 -6.45176788e-03 8.75245369e+01] [ 6.15631966e-01 7.88016288e-01 -5.25485671e-03 3.34592802e+01] [ 8.31927367e-03 1.68859443e-04 9.99965380e-01 -5.63623941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.010888479 meters Centerline goodness [0,1] 0.999198717948718 Centerline is valid? [True, True] Translation: X:87.55, Y:33.48, Z:-0.56 [[ 7.87290718e-01 -6.16557100e-01 -5.53795494e-03 8.75472781e+01] [ 6.16540595e-01 7.87310183e-01 -4.51349158e-03 3.34774761e+01] [ 7.14291359e-03 1.39055988e-04 9.99974479e-01 -5.62632904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.040888479 meters Centerline goodness [0,1] 0.9992378532867577 Centerline is valid? [True, True] Translation: X:87.57, Y:33.49, Z:-0.56 [[ 7.86191599e-01 -6.17965943e-01 -4.56752041e-03 8.75717344e+01] [ 6.17954727e-01 7.86204860e-01 -3.72475714e-03 3.34937638e+01] [ 5.89277980e-03 1.05851945e-04 9.99982632e-01 -5.58687941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070888479 meters Centerline goodness [0,1] 0.9990869325179428 Centerline is valid? [True, True] Translation: X:87.59, Y:33.51, Z:-0.56 [[ 7.85730509e-01 -6.18557520e-01 -3.76315165e-03 8.75945964e+01] [ 6.18549904e-01 7.85739516e-01 -3.07062978e-03 3.35120973e+01] [ 4.85621809e-03 8.49904081e-05 9.99988205e-01 -5.57552500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10088847899999 meters Centerline goodness [0,1] 0.9991945910430046 Centerline is valid? [True, True] Translation: X:87.62, Y:33.53, Z:-0.56 [[ 7.85317442e-01 -6.19086813e-01 -2.83442174e-03 8.76168035e+01] [ 6.19082490e-01 7.85322554e-01 -2.31436127e-03 3.35310873e+01] [ 3.65872586e-03 6.27674019e-05 9.99993305e-01 -5.56636155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13088847899999 meters Centerline goodness [0,1] 0.9989180703466418 Centerline is valid? [True, True] Translation: X:87.64, Y:33.55, Z:-0.56 [[ 7.84879876e-01 -6.19644852e-01 -1.95911960e-03 8.76378370e+01] [ 6.19642785e-01 7.84882320e-01 -1.60095472e-03 3.35510705e+01] [ 2.52970169e-03 4.26028199e-05 9.99996799e-01 -5.55572319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.160888479 meters Centerline goodness [0,1] 0.998920337870737 Centerline is valid? [True, True] Translation: X:87.66, Y:33.57, Z:-0.56 [[ 7.84551083e-01 -6.20059699e-01 -2.35975640e-03 8.76558737e+01] [ 6.20056704e-01 7.84554630e-01 -1.92761906e-03 3.35711635e+01] [ 3.04659671e-03 4.91328440e-05 9.99995358e-01 -5.57906104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.190888479 meters Centerline goodness [0,1] 0.9990049119241192 Centerline is valid? [True, True] Translation: X:87.68, Y:33.59, Z:-0.56 [[ 7.84156499e-01 -6.20554665e-01 -3.23909186e-03 8.76801001e+01] [ 6.20549018e-01 7.84163186e-01 -2.64828884e-03 3.35855683e+01] [ 4.18338459e-03 6.66576361e-05 9.99991247e-01 -5.56868886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.220888479 meters Centerline goodness [0,1] 0.9991121633619414 Centerline is valid? [True, True] Translation: X:87.70, Y:33.60, Z:-0.56 [[ 7.83887144e-01 -6.20886968e-01 -4.50747367e-03 8.77008840e+01] [ 6.20876046e-01 7.83900099e-01 -3.68382432e-03 3.36034191e+01] [ 5.82064757e-03 8.91200932e-05 9.99983056e-01 -5.58804748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.250888479 meters Centerline goodness [0,1] 0.9991521292155076 Centerline is valid? [True, True] Translation: X:87.72, Y:33.62, Z:-0.56 [[ 7.83148043e-01 -6.21806398e-01 -5.99557936e-03 8.77234887e+01] [ 6.21787075e-01 7.83170985e-01 -4.90328224e-03 3.36218318e+01] [ 7.74445605e-03 1.12022132e-04 9.99970005e-01 -5.60837468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.280888479 meters Centerline goodness [0,1] 0.9989202692975399 Centerline is valid? [True, True] Translation: X:87.75, Y:33.64, Z:-0.56 [[ 7.82564891e-01 -6.22544712e-01 -5.50203873e-03 8.77454761e+01] [ 6.22528442e-01 7.82584226e-01 -4.50199853e-03 3.36405747e+01] [ 7.10850410e-03 9.79303950e-05 9.99974729e-01 -5.61855843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.310888479 meters Centerline goodness [0,1] 0.9988107625984837 Centerline is valid? [True, True] Translation: X:87.77, Y:33.66, Z:-0.56 [[ 7.82031356e-01 -6.23217678e-01 -5.16573701e-03 8.77683891e+01] [ 6.23203334e-01 7.82048412e-01 -4.22911608e-03 3.36587603e+01] [ 6.67551633e-03 8.79968475e-05 9.99977715e-01 -5.61864438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.340888479 meters Centerline goodness [0,1] 0.9990677373561879 Centerline is valid? [True, True] Translation: X:87.79, Y:33.68, Z:-0.56 [[ 7.81316272e-01 -6.24118085e-01 -4.63667516e-03 8.77911762e+01] [ 6.24106532e-01 7.81330027e-01 -3.79811996e-03 3.36766294e+01] [ 5.99324888e-03 7.37536709e-05 9.99982038e-01 -5.61465087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.370888479 meters Centerline goodness [0,1] 0.9990236033282391 Centerline is valid? [True, True] Translation: X:87.82, Y:33.69, Z:-0.56 [[ 7.79617176e-01 -6.26248074e-01 -3.22623830e-03 8.78155083e+01] [ 6.26242492e-01 7.79623851e-01 -2.64442572e-03 3.36933999e+01] [ 4.17131884e-03 4.12322014e-05 9.99991299e-01 -5.59097310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.400888479 meters Centerline goodness [0,1] 0.9987965289360894 Centerline is valid? [True, True] Translation: X:87.84, Y:33.71, Z:-0.56 [[ 7.78667719e-01 -6.27432387e-01 -2.27645442e-03 8.78378454e+01] [ 6.27429614e-01 7.78671046e-01 -1.86572752e-03 3.37105155e+01] [ 2.94322702e-03 2.44668780e-05 9.99995668e-01 -5.58116745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430888479 meters Centerline goodness [0,1] 0.9988153162682463 Centerline is valid? [True, True] Translation: X:87.86, Y:33.73, Z:-0.56 [[ 7.77821522e-01 -6.28482783e-01 -1.75245487e-03 8.78611346e+01] [ 6.28481137e-01 7.77823496e-01 -1.43826463e-03 3.37281973e+01] [ 2.26702513e-03 1.73283502e-05 9.99997430e-01 -5.57517551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.460888479 meters Centerline goodness [0,1] 0.9988806521785043 Centerline is valid? [True, True] Translation: X:87.88, Y:33.74, Z:-0.56 [[ 7.76815583e-01 -6.29722885e-01 -2.57636052e-03 8.78824504e+01] [ 6.29719339e-01 7.76819855e-01 -2.11327838e-03 3.37446102e+01] [ 3.33214776e-03 1.92435352e-05 9.99994448e-01 -5.58424184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49088847899999 meters Centerline goodness [0,1] 0.9989179785292994 Centerline is valid? [True, True] Translation: X:87.90, Y:33.76, Z:-0.56 [[ 7.76399673e-01 -6.30233943e-01 -2.95396701e-03 8.79048511e+01] [ 6.30229276e-01 7.76405292e-01 -2.42540914e-03 3.37621085e+01] [ 3.82205078e-03 2.14103763e-05 9.99992696e-01 -5.58351359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52088847899999 meters Centerline goodness [0,1] 0.9990504526175856 Centerline is valid? [True, True] Translation: X:87.93, Y:33.78, Z:-0.56 [[ 7.76205924e-01 -6.30467208e-01 -3.93227491e-03 8.79263906e+01] [ 6.30458946e-01 7.76215884e-01 -3.22780099e-03 3.37792359e+01] [ 5.08731692e-03 2.63003558e-05 9.99987059e-01 -5.59353828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.550888479 meters Centerline goodness [0,1] 0.9991306560366396 Centerline is valid? [True, True] Translation: X:87.95, Y:33.80, Z:-0.56 [[ 7.76050404e-01 -6.30658090e-01 -4.01788867e-03 8.79480960e+01] [ 6.30649452e-01 7.76060804e-01 -3.30098597e-03 3.37970639e+01] [ 5.19991942e-03 2.78522082e-05 9.99986480e-01 -5.59786288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.580888479 meters Centerline goodness [0,1] 0.9990941074852002 Centerline is valid? [True, True] Translation: X:87.97, Y:33.82, Z:-0.56 [[ 7.76110171e-01 -6.30582193e-01 -4.37050218e-03 8.79699010e+01] [ 6.30571960e-01 7.76122476e-01 -3.59253953e-03 3.38154597e+01] [ 5.65743642e-03 3.22903420e-05 9.99983996e-01 -5.60386182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.610888479 meters Centerline goodness [0,1] 0.9991141109470576 Centerline is valid? [True, True] Translation: X:87.99, Y:33.83, Z:-0.56 [[ 7.76504289e-01 -6.30100265e-01 -3.84006592e-03 8.79913723e+01] [ 6.30092349e-01 7.76513783e-01 -3.15853285e-03 3.38339799e+01] [ 4.97205650e-03 3.30181459e-05 9.99987639e-01 -5.61235878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.640888479 meters Centerline goodness [0,1] 0.9991551378181435 Centerline is valid? [True, True] Translation: X:88.01, Y:33.85, Z:-0.56 [[ 7.76339048e-01 -6.30306878e-01 -3.30485760e-03 8.80135102e+01] [ 6.30301009e-01 7.76346082e-01 -2.72016402e-03 3.38516357e+01] [ 4.28025134e-03 2.87144681e-05 9.99990839e-01 -5.60723377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.670888479 meters Centerline goodness [0,1] 0.9989224820941878 Centerline is valid? [True, True] Translation: X:88.03, Y:33.87, Z:-0.56 [[ 7.76258735e-01 -6.30408465e-01 -2.74650001e-03 8.80348485e+01] [ 6.30404411e-01 7.76263593e-01 -2.26116557e-03 3.38686952e+01] [ 3.55746588e-03 2.38438068e-05 9.99993672e-01 -5.60153865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.700888479 meters Centerline goodness [0,1] 0.9990676978493485 Centerline is valid? [True, True] Translation: X:88.06, Y:33.89, Z:-0.56 [[ 7.76227286e-01 -6.30447951e-01 -2.56523349e-03 8.80579315e+01] [ 6.30444408e-01 7.76231525e-01 -2.11388924e-03 3.38854758e+01] [ 3.32391225e-03 2.36213997e-05 9.99994476e-01 -5.58828646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.730888479 meters Centerline goodness [0,1] 0.9989267902611477 Centerline is valid? [True, True] Translation: X:88.08, Y:33.90, Z:-0.56 [[ 7.76686756e-01 -6.29879109e-01 -3.16085581e-03 8.80790141e+01] [ 6.29873730e-01 7.76693187e-01 -2.60333152e-03 3.39029807e+01] [ 4.09479931e-03 3.10330685e-05 9.99991616e-01 -5.59638226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.760888479 meters Centerline goodness [0,1] 0.9991738863352327 Centerline is valid? [True, True] Translation: X:88.10, Y:33.92, Z:-0.56 [[ 7.77146519e-01 -6.29309546e-01 -3.57539439e-03 8.80996588e+01] [ 6.29302655e-01 7.77154743e-01 -2.94517339e-03 3.39216512e+01] [ 4.63206044e-03 3.88260628e-05 9.99989271e-01 -5.61534365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790888479 meters Centerline goodness [0,1] 0.9988788763379447 Centerline is valid? [True, True] Translation: X:88.12, Y:33.94, Z:-0.56 [[ 7.78105237e-01 -6.28123184e-01 -3.67503346e-03 8.81210605e+01] [ 6.28115878e-01 7.78113914e-01 -3.02986457e-03 3.39405711e+01] [ 4.76272285e-03 4.92066230e-05 9.99988657e-01 -5.62169288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.820888479 meters Centerline goodness [0,1] 0.9990263313859961 Centerline is valid? [True, True] Translation: X:88.14, Y:33.96, Z:-0.56 [[ 7.80398156e-01 -6.25269687e-01 -4.06644225e-03 8.81417095e+01] [ 6.25260696e-01 7.80408747e-01 -3.35406588e-03 3.39615169e+01] [ 5.27068283e-03 7.49203159e-05 9.99986107e-01 -5.63006051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85088847899999 meters Centerline goodness [0,1] 0.9989177948478547 Centerline is valid? [True, True] Translation: X:88.16, Y:33.98, Z:-0.56 [[ 7.81347434e-01 -6.24083865e-01 -3.93905456e-03 8.81624421e+01] [ 6.24075416e-01 7.81357359e-01 -3.24849997e-03 3.39799710e+01] [ 5.10514569e-03 7.99400038e-05 9.99986965e-01 -5.63683195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88088847899999 meters Centerline goodness [0,1] 0.9989206577638569 Centerline is valid? [True, True] Translation: X:88.18, Y:34.00, Z:-0.56 [[ 7.82173707e-01 -6.23044209e-01 -4.49514568e-03 8.81840115e+01] [ 6.23033182e-01 7.82186617e-01 -3.70824142e-03 3.39971461e+01] [ 5.82644113e-03 9.98640246e-05 9.99983021e-01 -5.63716044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.910888479 meters Centerline goodness [0,1] 0.9990466303680007 Centerline is valid? [True, True] Translation: X:88.21, Y:34.01, Z:-0.56 [[ 7.82605333e-01 -6.22496262e-01 -5.22455594e-03 8.82074477e+01] [ 6.22481335e-01 7.82622763e-01 -4.31267981e-03 3.40143517e+01] [ 6.77348346e-03 1.22937664e-04 9.99977052e-01 -5.63324038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.940888479 meters Centerline goodness [0,1] 0.9991914377513458 Centerline is valid? [True, True] Translation: X:88.23, Y:34.03, Z:-0.56 [[ 7.82784164e-01 -6.22268978e-01 -5.50203028e-03 8.82318735e+01] [ 6.22252402e-01 7.82803488e-01 -4.54385002e-03 3.40306753e+01] [ 7.13450540e-03 1.33202283e-04 9.99974540e-01 -5.62793154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.970888479 meters Centerline goodness [0,1] 0.9992345962495216 Centerline is valid? [True, True] Translation: X:88.25, Y:34.05, Z:-0.56 [[ 7.82752213e-01 -6.22313754e-01 -4.95615821e-03 8.82539397e+01] [ 6.22300288e-01 7.82767894e-01 -4.09576642e-03 3.40479532e+01] [ 6.42837331e-03 1.21751546e-04 9.99979330e-01 -5.62399856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.000888479 meters Centerline goodness [0,1] 0.9989359664616628 Centerline is valid? [True, True] Translation: X:88.28, Y:34.07, Z:-0.56 [[ 7.82841015e-01 -6.22211456e-01 -3.58453250e-03 8.82776288e+01] [ 6.22204403e-01 7.82849217e-01 -2.96405174e-03 3.40653675e+01] [ 4.65041541e-03 9.00693741e-05 9.99989183e-01 -5.61480191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.030888479 meters Centerline goodness [0,1] 0.9991253893084175 Centerline is valid? [True, True] Translation: X:88.30, Y:34.08, Z:-0.56 [[ 7.82776003e-01 -6.22296448e-01 -2.97669641e-03 8.82998289e+01] [ 6.22291577e-01 7.82781659e-01 -2.46338477e-03 3.40820359e+01] [ 3.86305895e-03 7.59053812e-05 9.99992535e-01 -5.61297399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.060888479 meters Centerline goodness [0,1] 0.999465811965812 Centerline is valid? [True, True] Translation: X:88.32, Y:34.10, Z:-0.56 [[ 7.82780237e-01 -6.22291938e-01 -2.80095898e-03 8.83214924e+01] [ 6.22287626e-01 7.82785245e-01 -2.31751467e-03 3.40988817e+01] [ 3.63472005e-03 7.11025685e-05 9.99993392e-01 -5.61574896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.090888479 meters Centerline goodness [0,1] 0.99944597157408 Centerline is valid? [True, True] Translation: X:88.35, Y:34.11, Z:-0.56 [[ 7.83194731e-01 -6.21770911e-01 -2.63569085e-03 8.83463089e+01] [ 6.21767084e-01 7.83199163e-01 -2.18273570e-03 3.41147711e+01] [ 3.42143244e-03 7.07212859e-05 9.99994144e-01 -5.61156125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.120888479 meters Centerline goodness [0,1] 0.9991260231923602 Centerline is valid? [True, True] Translation: X:88.37, Y:34.13, Z:-0.56 [[ 7.83697167e-01 -6.21138661e-01 -2.34843677e-03 8.83681392e+01] [ 6.21135621e-01 7.83700683e-01 -1.94426871e-03 3.41324220e+01] [ 3.04813196e-03 6.50201486e-05 9.99995352e-01 -5.61887273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.150888479 meters Centerline goodness [0,1] 0.9993574090733839 Centerline is valid? [True, True] Translation: X:88.39, Y:34.15, Z:-0.56 [[ 7.84752573e-01 -6.19803915e-01 -2.55044470e-03 8.83903188e+01] [ 6.19800322e-01 7.84756714e-01 -2.11181447e-03 3.41500928e+01] [ 3.31038948e-03 7.64853916e-05 9.99994518e-01 -5.63283941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.180888479 meters Centerline goodness [0,1] 0.9992722446970184 Centerline is valid? [True, True] Translation: X:88.41, Y:34.17, Z:-0.56 [[ 7.85316220e-01 -6.19088083e-01 -2.89480178e-03 8.84116074e+01] [ 6.19083449e-01 7.85321550e-01 -2.39727184e-03 3.41683685e+01] [ 3.75747265e-03 9.04925929e-05 9.99992937e-01 -5.64845835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210888479 meters Centerline goodness [0,1] 0.9991208696957351 Centerline is valid? [True, True] Translation: X:88.44, Y:34.18, Z:-0.56 [[ 7.85688263e-01 -6.18614308e-01 -3.20801648e-03 8.84362350e+01] [ 6.18608602e-01 7.85694805e-01 -2.65893103e-03 3.41846486e+01] [ 4.16537467e-03 1.04584313e-04 9.99991319e-01 -5.64976183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24088847899999 meters Centerline goodness [0,1] 0.9992696967093393 Centerline is valid? [True, True] Translation: X:88.46, Y:34.20, Z:-0.56 [[ 7.85915238e-01 -6.18322763e-01 -3.76825073e-03 8.84609050e+01] [ 6.18314882e-01 7.85924261e-01 -3.12453564e-03 3.42004705e+01] [ 4.89353118e-03 1.25654670e-04 9.99988019e-01 -5.64433103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27088847899999 meters Centerline goodness [0,1] 0.9995696055434806 Centerline is valid? [True, True] Translation: X:88.49, Y:34.21, Z:-0.56 [[ 7.86082069e-01 -6.18108166e-01 -4.15638881e-03 8.84867764e+01] [ 6.18098565e-01 7.86093045e-01 -3.44794627e-03 3.42142061e+01] [ 5.39851209e-03 1.41310780e-04 9.99985418e-01 -5.64523441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.300888479 meters Centerline goodness [0,1] 0.9996981392440544 Centerline is valid? [True, True] Translation: X:88.51, Y:34.23, Z:-0.56 [[ 7.86023368e-01 -6.18183639e-01 -4.03172158e-03 8.85084527e+01] [ 6.18174606e-01 7.86033695e-01 -3.34452658e-03 3.42302723e+01] [ 5.23660062e-03 1.36568143e-04 9.99986280e-01 -5.64892039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.330888479 meters Centerline goodness [0,1] 0.9997414071759508 Centerline is valid? [True, True] Translation: X:88.53, Y:34.25, Z:-0.57 [[ 7.85989491e-01 -6.18227458e-01 -3.91543465e-03 8.85301905e+01] [ 6.18218931e-01 7.85999232e-01 -3.24980506e-03 3.42463072e+01] [ 5.08664735e-03 1.33716801e-04 9.99987054e-01 -5.65473993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.360888479 meters Centerline goodness [0,1] 0.9997619150686118 Centerline is valid? [True, True] Translation: X:88.55, Y:34.26, Z:-0.56 [[ 7.85678085e-01 -6.18625218e-01 -3.57586027e-03 8.85541424e+01] [ 6.18618098e-01 7.85686213e-01 -2.97046226e-03 3.42612377e+01] [ 4.64710698e-03 1.21735220e-04 9.99989195e-01 -5.64762430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.390888479 meters Centerline goodness [0,1] 0.9998051695025328 Centerline is valid? [True, True] Translation: X:88.58, Y:34.28, Z:-0.57 [[ 7.85464124e-01 -6.18897413e-01 -3.47880265e-03 8.85758269e+01] [ 6.18890679e-01 7.85471819e-01 -2.88941689e-03 3.42777233e+01] [ 4.52075408e-03 1.16534771e-04 9.99989775e-01 -5.65366732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.420888479 meters Centerline goodness [0,1] 0.9999131737176843 Centerline is valid? [True, True] Translation: X:88.60, Y:34.29, Z:-0.56 [[ 7.84318853e-01 -6.20348234e-01 -3.46497414e-03 8.86038528e+01] [ 6.20341556e-01 7.84326499e-01 -2.88034352e-03 3.42890795e+01] [ 4.50448705e-03 1.09640276e-04 9.99989849e-01 -5.63737315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.450888479 meters Centerline goodness [0,1] 0.9999127532881105 Centerline is valid? [True, True] Translation: X:88.63, Y:34.31, Z:-0.56 [[ 7.83335370e-01 -6.21592062e-01 -3.00110420e-03 8.86261993e+01] [ 6.21587062e-01 7.83341114e-01 -2.49479243e-03 3.43057380e+01] [ 3.90163147e-03 8.88116101e-05 9.99992385e-01 -5.64260859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.480888479 meters Centerline goodness [0,1] 0.9998687060986017 Centerline is valid? [True, True] Translation: X:88.66, Y:34.32, Z:-0.56 [[ 7.80743165e-01 -6.24850279e-01 -1.49672998e-03 8.86551766e+01] [ 6.24849038e-01 7.80744598e-01 -1.24571475e-03 3.43157595e+01] [ 1.94694905e-03 3.73529879e-05 9.99998104e-01 -5.61050852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.510888479 meters Centerline goodness [0,1] 0.999978076906213 Centerline is valid? [True, True] Translation: X:88.68, Y:34.33, Z:-0.56 [[ 7.79068944e-01 -6.26937770e-01 -7.82919166e-04 8.86785475e+01] [ 6.26937431e-01 7.79069337e-01 -6.51934798e-04 3.43313387e+01] [ 1.01867086e-03 1.70608238e-05 9.99999481e-01 -5.60929023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:34.35, Z:-0.56 [[ 7.77522895e-01 -6.28854264e-01 -6.80518566e-04 8.87048856e+01] [ 6.28854007e-01 7.77523193e-01 -5.67896744e-04 3.43455408e+01] [ 8.86243257e-04 1.36058935e-05 9.99999607e-01 -5.60582904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:34.36, Z:-0.56 [[ 7.76102472e-01 -6.30606484e-01 -6.44431216e-04 8.87287457e+01] [ 6.30606255e-01 7.76102740e-01 -5.36845971e-04 3.43611041e+01] [ 8.38683383e-04 1.02651295e-05 9.99999648e-01 -5.61294984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.75, Y:34.38, Z:-0.56 [[ 7.75928057e-01 -6.30821081e-01 -6.43618566e-04 8.87499103e+01] [ 6.30820852e-01 7.75928324e-01 -5.37822219e-04 3.43788132e+01] [ 8.38671469e-04 1.13033369e-05 9.99999648e-01 -5.61445525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.77, Y:34.39, Z:-0.56 [[ 7.73843921e-01 -6.33376183e-01 4.44159207e-04 8.87745931e+01] [ 6.33376075e-01 7.73844048e-01 3.69249225e-04 3.43928361e+01] [-5.77583624e-04 -4.42145244e-06 9.99999833e-01 -5.61996573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:34.41, Z:-0.56 [[ 7.72822156e-01 -6.34621689e-01 1.10803444e-03 8.87982283e+01] [ 6.34621020e-01 7.72822950e-01 9.21423984e-04 3.44090260e+01] [-1.44107009e-03 -8.91492237e-06 9.99998962e-01 -5.62077401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.82, Y:34.42, Z:-0.56 [[ 7.71681751e-01 -6.36007639e-01 1.24809246e-03 8.88235578e+01] [ 6.36006790e-01 7.71682760e-01 1.03938689e-03 3.44223554e+01] [-1.62418943e-03 -8.28061801e-06 9.99998681e-01 -5.61422706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.85, Y:34.44, Z:-0.56 [[ 7.70816255e-01 -6.37057275e-01 5.75013422e-04 8.88470120e+01] [ 6.37057096e-01 7.70816469e-01 4.77467475e-04 3.44380137e+01] [-7.47403944e-04 -1.72331026e-06 9.99999721e-01 -5.61805879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.87, Y:34.45, Z:-0.56 [[ 7.69929458e-01 -6.38128879e-01 4.04266831e-04 8.88702544e+01] [ 6.38128791e-01 7.69929564e-01 3.35298080e-04 3.44544889e+01] [-5.25220373e-04 -1.81564244e-07 9.99999862e-01 -5.62665336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.780888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.89, Y:34.47, Z:-0.56 [[ 7.68206949e-01 -6.40201568e-01 1.88424066e-04 8.88932511e+01] [ 6.40201549e-01 7.68206973e-01 1.55923636e-04 3.44691197e+01] [-2.44571237e-04 8.47757749e-07 9.99999970e-01 -5.63663442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.810888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.92, Y:34.49, Z:-0.56 [[ 7.66889057e-01 -6.41779588e-01 3.65535991e-04 8.89163195e+01] [ 6.41779517e-01 7.66889144e-01 3.03273365e-04 3.44860016e+01] [-4.74960239e-04 2.01648658e-06 9.99999887e-01 -5.63507862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.840888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.94, Y:34.50, Z:-0.56 [[ 7.65408075e-01 -6.43544570e-01 9.30483462e-04 8.89398862e+01] [ 6.43544103e-01 7.65408640e-01 7.75424374e-04 3.45023113e+01] [-1.21122023e-03 5.29106771e-06 9.99999266e-01 -5.63425201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.96, Y:34.52, Z:-0.56 [[ 7.63803219e-01 -6.45448691e-01 7.93622485e-04 8.89645028e+01] [ 6.45448352e-01 7.63803631e-01 6.61638537e-04 3.45184564e+01] [-1.03322546e-03 6.88068108e-06 9.99999466e-01 -5.63141589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.900888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.99, Y:34.53, Z:-0.56 [[ 7.60818950e-01 -6.48964145e-01 2.53439815e-04 8.89909185e+01] [ 6.48964111e-01 7.60818992e-01 2.10222437e-04 3.45319608e+01] [-3.29248649e-04 4.53213015e-06 9.99999946e-01 -5.63054744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.01, Y:34.55, Z:-0.56 [[ 7.59589414e-01 -6.50402574e-01 6.43312685e-04 8.90134656e+01] [ 6.50402352e-01 7.59589687e-01 5.37226773e-04 3.45480253e+01] [-8.38067357e-04 1.03403136e-05 9.99999649e-01 -5.62780581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.960888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.04, Y:34.57, Z:-0.56 [[ 7.58901814e-01 -6.51203593e-01 1.38439953e-03 8.90357919e+01] [ 6.51202566e-01 7.58903077e-01 1.15666774e-03 3.45657103e+01] [-1.80385125e-03 2.37272851e-05 9.99998373e-01 -5.62451425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.06, Y:34.59, Z:-0.56 [[ 7.59171202e-01 -6.50884327e-01 2.94604773e-03 8.90574598e+01] [ 6.50879661e-01 7.59176917e-01 2.46502402e-03 3.45852605e+01] [-3.84101693e-03 4.61472984e-05 9.99992622e-01 -5.61565496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.08, Y:34.60, Z:-0.56 [[ 7.59999805e-01 -6.49915821e-01 3.11793311e-03 8.90784240e+01] [ 6.49910580e-01 7.60006200e-01 2.61048981e-03 3.46030279e+01] [-4.06624712e-03 4.24059692e-05 9.99991732e-01 -5.61157150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:34.62, Z:-0.56 [[ 7.60947871e-01 -6.48806776e-01 2.84695222e-03 8.91000664e+01] [ 6.48802398e-01 7.60953196e-01 2.38362661e-03 3.46218951e+01] [-3.71291049e-03 3.32938316e-05 9.99993107e-01 -5.61532004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:34.64, Z:-0.56 [[ 7.63252202e-01 -6.46097801e-01 1.92536961e-03 8.91202463e+01] [ 6.46095790e-01 7.63254631e-01 1.61222099e-03 3.46433451e+01] [-2.51119970e-03 1.34419763e-05 9.99996847e-01 -5.63287295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.110888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:34.66, Z:-0.57 [[ 7.64497350e-01 -6.44625956e-01 1.08578646e-03 8.91398327e+01] [ 6.44625315e-01 7.64498121e-01 9.09530803e-04 3.46620997e+01] [-1.41638887e-03 4.59154795e-06 9.99998997e-01 -5.65052864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.140888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:34.68, Z:-0.57 [[ 7.65951549e-01 -6.42897731e-01 8.56289079e-04 8.91603412e+01] [ 6.42897331e-01 7.65952027e-01 7.16420710e-04 3.46821145e+01] [-1.11646160e-03 1.76241132e-06 9.99999377e-01 -5.66583697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.170888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.18, Y:34.70, Z:-0.57 [[ 7.68598453e-01 -6.39730364e-01 1.21639696e-03 8.91794682e+01] [ 6.39729552e-01 7.68599416e-01 1.01903211e-03 3.47026580e+01] [-1.58682777e-03 -5.06142640e-06 9.99998741e-01 -5.66222096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.200888479 meters Centerline goodness [0,1] 0.9998883255533468 Centerline is valid? [True, True] Translation: X:89.20, Y:34.72, Z:-0.57 [[ 7.69360353e-01 -6.38811538e-01 2.11317598e-03 8.91987494e+01] [ 6.38809077e-01 7.69363255e-01 1.77337183e-03 3.47210203e+01] [-2.75865034e-03 -1.44459779e-05 9.99996195e-01 -5.65498347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.22, Y:34.74, Z:-0.56 [[ 7.70186188e-01 -6.37814300e-01 2.48079959e-03 8.92198054e+01] [ 6.37810901e-01 7.70190183e-01 2.08219657e-03 3.47404391e+01] [-3.23874224e-03 -2.13980133e-05 9.99994755e-01 -5.64641208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.24, Y:34.76, Z:-0.56 [[ 7.70680950e-01 -6.37214861e-01 2.84486094e-03 8.92389901e+01] [ 6.37210382e-01 7.70686201e-01 2.38948299e-03 3.47597215e+01] [-3.71510914e-03 -2.87540925e-05 9.99993099e-01 -5.64694044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.26, Y:34.78, Z:-0.57 [[ 7.71520242e-01 -6.36199417e-01 2.61102946e-03 8.92592438e+01] [ 6.36195638e-01 7.71524660e-01 2.19318929e-03 3.47803394e+01] [-3.40977937e-03 -3.09643832e-05 9.99994186e-01 -5.66278776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.28, Y:34.80, Z:-0.57 [[ 7.71728759e-01 -6.35945866e-01 2.75267767e-03 8.92791642e+01] [ 6.35941659e-01 7.71733668e-01 2.31368071e-03 3.47982220e+01] [-3.59570972e-03 -3.49915404e-05 9.99993535e-01 -5.66615642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:34.82, Z:-0.57 [[ 7.71643625e-01 -6.36048094e-01 2.98983903e-03 8.93015771e+01] [ 6.36043129e-01 7.71649416e-01 2.51337540e-03 3.48157946e+01] [-3.90573517e-03 -3.77635297e-05 9.99992372e-01 -5.66134052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.32, Y:34.83, Z:-0.56 [[ 7.70858153e-01 -6.36998448e-01 3.26892290e-03 8.93239724e+01] [ 6.36992514e-01 7.70865083e-01 2.74971225e-03 3.48323502e+01] [-4.27146096e-03 -3.73586930e-05 9.99990877e-01 -5.64676229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.35, Y:34.85, Z:-0.56 [[ 7.70095666e-01 -6.37919153e-01 3.43786747e-03 8.93454830e+01] [ 6.37912592e-01 7.70103339e-01 2.89353756e-03 3.48504194e+01] [-4.49335625e-03 -3.52417844e-05 9.99989904e-01 -5.64664460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.440888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:34.87, Z:-0.57 [[ 7.69548364e-01 -6.38577410e-01 3.76912501e-03 8.93661571e+01] [ 6.38569521e-01 7.69557594e-01 3.17436602e-03 3.48683373e+01] [-4.92763721e-03 -3.59798235e-05 9.99987858e-01 -5.65206226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.39, Y:34.89, Z:-0.57 [[ 7.69343878e-01 -6.38824761e-01 3.59481530e-03 8.93869116e+01] [ 6.38817582e-01 7.69352275e-01 3.02871569e-03 3.48856561e+01] [-4.70049790e-03 -3.36926532e-05 9.99988952e-01 -5.66020067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.500888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.41, Y:34.90, Z:-0.57 [[ 7.69503994e-01 -6.38633776e-01 3.24078188e-03 8.94091344e+01] [ 6.38627939e-01 7.69510818e-01 2.73073774e-03 3.49034327e+01] [-4.23775807e-03 -3.16597426e-05 9.99991020e-01 -5.65660722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.530888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:34.92, Z:-0.57 [[ 7.70024898e-01 -6.38006969e-01 2.96032381e-03 8.94303520e+01] [ 6.38002087e-01 7.70030588e-01 2.49607994e-03 3.49220579e+01] [-3.87205628e-03 -3.33509381e-05 9.99992503e-01 -5.65873262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.560888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.45, Y:34.94, Z:-0.57 [[ 7.70586075e-01 -6.37332360e-01 2.13632451e-03 8.94507059e+01] [ 6.37329815e-01 7.70589036e-01 1.80145219e-03 3.49411964e+01] [-2.79435202e-03 -2.66306652e-05 9.99996095e-01 -5.66746311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.590888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.47, Y:34.96, Z:-0.57 [[ 7.70559998e-01 -6.37364277e-01 2.01712248e-03 8.94723460e+01] [ 6.37362009e-01 7.70562637e-01 1.70050462e-03 3.49589253e+01] [-2.63816011e-03 -2.47035974e-05 9.99996520e-01 -5.66929993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.620888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.49, Y:34.98, Z:-0.57 [[ 7.70785622e-01 -6.37091918e-01 1.84753041e-03 8.94926189e+01] [ 6.37090011e-01 7.70787836e-01 1.55887274e-03 3.49775285e+01] [-2.41719919e-03 -2.45135250e-05 9.99997078e-01 -5.67615849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.650888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.51, Y:35.00, Z:-0.57 [[ 7.71276116e-01 -6.36499187e-01 1.39188831e-03 8.95139294e+01] [ 6.36498105e-01 7.71277372e-01 1.17388997e-03 3.49971904e+01] [-1.82071197e-03 -1.94590221e-05 9.99998342e-01 -5.69386695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.680888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:35.01, Z:-0.57 [[ 7.71355847e-01 -6.36402173e-01 1.55917283e-03 8.95338958e+01] [ 6.36400813e-01 7.71357422e-01 1.31605699e-03 3.50149766e+01] [-2.04022107e-03 -2.28893971e-05 9.99997918e-01 -5.70035914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:35.03, Z:-0.57 [[ 7.71401797e-01 -6.36345233e-01 2.00318723e-03 8.95558719e+01] [ 6.36342985e-01 7.71404397e-01 1.69152201e-03 3.50324741e+01] [-2.62165941e-03 -3.01289766e-05 9.99996563e-01 -5.68880032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.58, Y:35.05, Z:-0.57 [[ 7.71488820e-01 -6.36233180e-01 3.51316480e-03 8.95773440e+01] [ 6.36226250e-01 7.71496817e-01 2.96990098e-03 3.50494931e+01] [-4.59994500e-03 -5.60777346e-05 9.99989419e-01 -5.65160949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.60, Y:35.07, Z:-0.56 [[ 7.71294017e-01 -6.36467786e-01 3.78102287e-03 8.95980350e+01] [ 6.36459759e-01 7.71303283e-01 3.19713716e-03 3.50665345e+01] [-4.95119017e-03 -5.94638606e-05 9.99987741e-01 -5.64064868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:35.08, Z:-0.56 [[ 7.70747340e-01 -6.37128065e-01 4.04571294e-03 8.96202698e+01] [ 6.37118876e-01 7.70757955e-01 3.42230454e-03 3.50844945e+01] [-5.29871170e-03 -6.01320359e-05 9.99985960e-01 -5.63779896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.64, Y:35.10, Z:-0.57 [[ 7.70671688e-01 -6.37222293e-01 3.59143945e-03 8.96390618e+01] [ 6.37215045e-01 7.70680055e-01 3.03966726e-03 3.51038164e+01] [-4.70479449e-03 -5.40662475e-05 9.99988931e-01 -5.65292649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:35.12, Z:-0.57 [[ 7.70753347e-01 -6.37124832e-01 3.35065955e-03 8.96609515e+01] [ 6.37118521e-01 7.70760628e-01 2.83629171e-03 3.51211315e+01] [-4.38962834e-03 -5.13140771e-05 9.99990364e-01 -5.65804636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.890888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.68, Y:35.14, Z:-0.57 [[ 7.70369592e-01 -6.37588379e-01 3.42811760e-03 8.96823726e+01] [ 6.37581769e-01 7.70377217e-01 2.90353726e-03 3.51389467e+01] [-4.49220531e-03 -5.10915281e-05 9.99989909e-01 -5.65848250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.920888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.71, Y:35.16, Z:-0.56 [[ 7.69722043e-01 -6.38373759e-01 2.63067142e-03 8.97055240e+01] [ 6.38369869e-01 7.69726537e-01 2.22889656e-03 3.51550064e+01] [-3.44776668e-03 -3.62894443e-05 9.99994056e-01 -5.64698584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.950888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.73, Y:35.17, Z:-0.56 [[ 7.68886002e-01 -6.39381166e-01 2.45788898e-03 8.97271946e+01] [ 6.39377772e-01 7.68889930e-01 2.08354269e-03 3.51721911e+01] [-3.22202404e-03 -3.04872357e-05 9.99994809e-01 -5.64662169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.75, Y:35.19, Z:-0.57 [[ 7.67943322e-01 -6.40514001e-01 2.20640021e-03 8.97489090e+01] [ 6.40511269e-01 7.67946491e-01 1.87118746e-03 3.51903140e+01] [-2.89291907e-03 -2.37417226e-05 9.99995815e-01 -5.65102058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.77, Y:35.21, Z:-0.57 [[ 7.67123840e-01 -6.41492744e-01 2.84160350e-03 8.97680783e+01] [ 6.41488209e-01 7.67129102e-01 2.41225954e-03 3.52101167e+01] [-3.72732373e-03 -2.76466635e-05 9.99993053e-01 -5.66547141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.040888479 meters Centerline goodness [0,1] 0.9999109409092933 Centerline is valid? [True, True] Translation: X:89.79, Y:35.23, Z:-0.57 [[ 7.66687638e-01 -6.42010041e-01 3.62945896e-03 8.97899308e+01] [ 6.42002646e-01 7.66696228e-01 3.08161079e-03 3.52282220e+01] [-4.76111756e-03 -3.25106359e-05 9.99988665e-01 -5.65981262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:35.25, Z:-0.56 [[ 7.66421530e-01 -6.42325513e-01 3.99681821e-03 8.98105415e+01] [ 6.42316538e-01 7.66431950e-01 3.39565135e-03 3.52454329e+01] [-5.24440267e-03 -3.52778654e-05 9.99986247e-01 -5.64944322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.83, Y:35.26, Z:-0.56 [[ 7.65940601e-01 -6.42897783e-01 4.17569306e-03 8.98325030e+01] [ 6.42887988e-01 7.65951983e-01 3.54903806e-03 3.52630394e+01] [-5.48004908e-03 -3.38494398e-05 9.99984984e-01 -5.64050226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.86, Y:35.28, Z:-0.56 [[ 7.64846341e-01 -6.44203584e-01 3.43744490e-03 8.98551251e+01] [ 6.44196954e-01 7.64854065e-01 2.92288407e-03 3.52805856e+01] [-4.51207610e-03 -2.11656543e-05 9.99989820e-01 -5.63492150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:35.30, Z:-0.56 [[ 7.64260693e-01 -6.44899621e-01 3.17364725e-03 8.98763679e+01] [ 6.44893970e-01 7.64267282e-01 2.69981646e-03 3.52985862e+01] [-4.16662537e-03 -1.66976208e-05 9.99991319e-01 -5.64163791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.90, Y:35.32, Z:-0.57 [[ 7.63849376e-01 -6.45391303e-01 2.04842608e-03 8.98953930e+01] [ 6.45388949e-01 7.63852123e-01 1.74318534e-03 3.53179739e+01] [-2.68973127e-03 -9.49948351e-06 9.99996383e-01 -5.66769739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.92, Y:35.34, Z:-0.57 [[ 7.63951675e-01 -6.45272564e-01 1.07520302e-03 8.99155541e+01] [ 6.45271917e-01 7.63952432e-01 9.14226292e-04 3.53368984e+01] [-1.41132910e-03 -4.62639442e-06 9.99999004e-01 -5.68591584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.250888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.94, Y:35.36, Z:-0.57 [[ 7.64329962e-01 -6.44825329e-01 -6.71440235e-05 8.99358718e+01] [ 6.44825327e-01 7.64329965e-01 -5.78338320e-05 3.53554934e+01] [ 8.86129089e-05 9.07963700e-07 9.99999996e-01 -5.70332858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.280888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:35.37, Z:-0.57 [[ 7.64890602e-01 -6.44159326e-01 -1.06293524e-03 8.99578536e+01] [ 6.44158686e-01 7.64891341e-01 -9.08053551e-04 3.53737769e+01] [ 1.39796112e-03 9.86266013e-06 9.99999023e-01 -5.69850513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.310888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.98, Y:35.39, Z:-0.57 [[ 7.64788812e-01 -6.44279642e-01 -1.34752444e-03 8.99791423e+01] [ 6.44278613e-01 7.64789999e-01 -1.15159238e-03 3.53920726e+01] [ 1.77252074e-03 1.25437936e-05 9.99998429e-01 -5.69575690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.340888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.00, Y:35.41, Z:-0.57 [[ 7.64589449e-01 -6.44516484e-01 -1.21493778e-03 9.00008390e+01] [ 6.44515646e-01 7.64590414e-01 -1.03915521e-03 3.54106862e+01] [ 1.59868244e-03 1.14806984e-05 9.99998722e-01 -5.69570405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.02, Y:35.43, Z:-0.57 [[ 7.64754494e-01 -6.44319699e-01 -1.63983731e-03 9.00201636e+01] [ 6.44318176e-01 7.64756252e-01 -1.40098163e-03 3.54298172e+01] [ 2.15675589e-03 1.48300162e-05 9.99997674e-01 -5.71745219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.400888479 meters Centerline goodness [0,1] 0.9999777649308489 Centerline is valid? [True, True] Translation: X:90.04, Y:35.45, Z:-0.57 [[ 7.65193833e-01 -6.43796765e-01 -2.03054026e-03 9.00419512e+01] [ 6.43794424e-01 7.65196527e-01 -1.73630495e-03 3.54489893e+01] [ 2.67158987e-03 2.13593433e-05 9.99996431e-01 -5.72126571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:35.47, Z:-0.57 [[ 7.65658113e-01 -6.43246167e-01 -1.42195080e-03 9.00622916e+01] [ 6.43245018e-01 7.65659434e-01 -1.21584345e-03 3.54669072e+01] [ 1.87081668e-03 1.62576318e-05 9.99998250e-01 -5.71440060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.460888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:35.49, Z:-0.57 [[ 7.66302092e-01 -6.42479681e-01 -9.80824440e-04 9.00819752e+01] [ 6.42479134e-01 7.66302720e-01 -8.39056403e-04 3.54850437e+01] [ 1.29068513e-03 1.28114412e-05 9.99999167e-01 -5.70579497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:35.50, Z:-0.57 [[ 7.66129230e-01 -6.42685804e-01 -9.80038299e-04 9.01028987e+01] [ 6.42685255e-01 7.66129857e-01 -8.39975870e-04 3.55030386e+01] [ 1.29067717e-03 1.36739017e-05 9.99999167e-01 -5.70729979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:35.52, Z:-0.57 [[ 7.67739593e-01 -6.40761844e-01 -4.19546649e-04 9.01232486e+01] [ 6.40761743e-01 7.67739708e-01 -3.59442034e-04 3.55228815e+01] [ 5.52419363e-04 7.12843871e-06 9.99999847e-01 -5.70347110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.550888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:35.54, Z:-0.57 [[ 7.68551645e-01 -6.39787034e-01 -9.58821581e-04 9.01442866e+01] [ 6.39786506e-01 7.68552243e-01 -8.22183690e-04 3.55431751e+01] [ 1.26292694e-03 1.84495187e-05 9.99999202e-01 -5.71396424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.580888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.17, Y:35.56, Z:-0.57 [[ 7.69200201e-01 -6.39006902e-01 -1.10932796e-03 9.01656993e+01] [ 6.39006194e-01 7.69201001e-01 -9.51450947e-04 3.55631954e+01] [ 1.46127990e-03 2.29888244e-05 9.99998932e-01 -5.72215610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.610888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:35.58, Z:-0.57 [[ 7.70608876e-01 -6.37308005e-01 -6.82945177e-04 9.01865140e+01] [ 6.37307735e-01 7.70609179e-01 -5.86698912e-04 3.55834569e+01] [ 9.00191736e-04 1.68691447e-05 9.99999595e-01 -5.71588022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.21, Y:35.60, Z:-0.57 [[ 7.71099314e-01 -6.36713487e-01 -1.33555028e-03 9.02089081e+01] [ 6.36712456e-01 7.71100470e-01 -1.14624558e-03 3.56022919e+01] [ 1.75967347e-03 3.35076821e-05 9.99998451e-01 -5.70726954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.670888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.23, Y:35.62, Z:-0.57 [[ 7.71175337e-01 -6.36619851e-01 -1.94021012e-03 9.02316067e+01] [ 6.36617675e-01 7.71177777e-01 -1.66524571e-03 3.56209536e+01] [ 2.55637540e-03 4.90243629e-05 9.99996731e-01 -5.70813508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:35.64, Z:-0.58 [[ 7.71505021e-01 -6.36204428e-01 -4.89156872e-03 9.02508280e+01] [ 6.36190608e-01 7.71520518e-01 -4.19524723e-03 3.56408528e+01] [ 6.44298050e-03 1.24684228e-04 9.99979236e-01 -5.76029868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.27, Y:35.66, Z:-0.58 [[ 7.71447114e-01 -6.36265488e-01 -5.96475468e-03 9.02731907e+01] [ 6.36244913e-01 7.71470158e-01 -5.11915489e-03 3.56593439e+01] [ 7.85877182e-03 1.54112442e-04 9.99969107e-01 -5.77527071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:35.68, Z:-0.58 [[ 7.71549055e-01 -6.36136171e-01 -6.54438572e-03 9.02926566e+01] [ 6.36111400e-01 7.71576790e-01 -5.61629298e-03 3.56789826e+01] [ 8.62222324e-03 1.70287176e-04 9.99962813e-01 -5.80185512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.32, Y:35.70, Z:-0.58 [[ 7.70896723e-01 -6.36922970e-01 -6.88281998e-03 9.03162671e+01] [ 6.36895561e-01 7.70927428e-01 -5.91138751e-03 3.56950828e+01] [ 9.07125320e-03 1.73431769e-04 9.99958840e-01 -5.79723633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.34, Y:35.71, Z:-0.58 [[ 7.69863076e-01 -6.38171775e-01 -6.90151828e-03 9.03383614e+01] [ 6.38144270e-01 7.69893993e-01 -5.92709122e-03 3.57118143e+01] [ 9.09593979e-03 1.58884338e-04 9.99958618e-01 -5.79659329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:35.73, Z:-0.58 [[ 7.68692096e-01 -6.39583123e-01 -6.77425886e-03 9.03624092e+01] [ 6.39556642e-01 7.68721932e-01 -5.82175266e-03 3.57287503e+01] [ 8.93101610e-03 1.42613011e-04 9.99960108e-01 -5.78822509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:35.74, Z:-0.58 [[ 7.66257032e-01 -6.42512705e-01 -5.25211770e-03 9.03873898e+01] [ 6.42496838e-01 7.66275027e-01 -4.51616887e-03 3.57443071e+01] [ 6.92626251e-03 8.60771372e-05 9.99976009e-01 -5.76191518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.41, Y:35.76, Z:-0.58 [[ 7.65350508e-01 -6.43600377e-01 -4.14186330e-03 9.04091669e+01] [ 6.43590526e-01 7.65361713e-01 -3.56139843e-03 3.57618780e+01] [ 5.46214096e-03 6.00541216e-05 9.99985081e-01 -5.75936045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.43, Y:35.78, Z:-0.58 [[ 7.64663499e-01 -6.44420904e-01 -3.38102153e-03 9.04307617e+01] [ 6.44414345e-01 7.64670972e-01 -2.90779220e-03 3.57790697e+01] [ 4.45921110e-03 4.47037759e-05 9.99990057e-01 -5.75105698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.45, Y:35.80, Z:-0.58 [[ 7.64333357e-01 -6.44816590e-01 -2.46649460e-03 9.04523657e+01] [ 6.44813100e-01 7.64337336e-01 -2.12178815e-03 3.57969768e+01] [ 3.25339811e-03 3.13254289e-05 9.99994707e-01 -5.75019902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.48, Y:35.81, Z:-0.57 [[ 7.63952963e-01 -6.45264957e-01 -3.00104482e-03 9.04757765e+01] [ 6.45259783e-01 7.63958856e-01 -2.58429845e-03 3.58128008e+01] [ 3.96023199e-03 3.78289279e-05 9.99992158e-01 -5.73910009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.030888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.50, Y:35.83, Z:-0.57 [[ 7.63986020e-01 -6.45224006e-01 -3.36797254e-03 9.04970420e+01] [ 6.45217492e-01 7.63993443e-01 -2.89951321e-03 3.58302524e+01] [ 4.44394447e-03 4.21127603e-05 9.99990125e-01 -5.74516949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.060888479 meters Centerline goodness [0,1] 0.9999553671055568 Centerline is valid? [True, True] Translation: X:90.52, Y:35.85, Z:-0.57 [[ 7.63945172e-01 -6.45268728e-01 -4.00537118e-03 9.05198025e+01] [ 6.45259503e-01 7.63955671e-01 -3.45077436e-03 3.58480527e+01] [ 5.28660281e-03 5.16985972e-05 9.99986024e-01 -5.74461579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.090888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.54, Y:35.86, Z:-0.58 [[ 7.63890902e-01 -6.45325366e-01 -5.08551486e-03 9.05415749e+01] [ 6.45310497e-01 7.63907827e-01 -4.38120128e-03 3.58649256e+01] [ 6.71216493e-03 6.50236746e-05 9.99977471e-01 -5.76571827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.120888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:35.88, Z:-0.58 [[ 7.63744818e-01 -6.45492081e-01 -5.81609423e-03 9.05643516e+01] [ 6.45472614e-01 7.63766959e-01 -5.01362175e-03 3.58832804e+01] [ 7.67839374e-03 7.49980842e-05 9.99970518e-01 -5.77875973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.150888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:35.90, Z:-0.58 [[ 7.64087473e-01 -6.45081038e-01 -6.38660456e-03 9.05867729e+01] [ 6.45057529e-01 7.64114158e-01 -5.50794254e-03 3.59017671e+01] [ 8.43316426e-03 8.88225436e-05 9.99964436e-01 -5.80078541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.180888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.61, Y:35.92, Z:-0.58 [[ 7.64302370e-01 -6.44826656e-01 -6.36169812e-03 9.06082340e+01] [ 6.44803293e-01 7.64328840e-01 -5.48985138e-03 3.59204776e+01] [ 8.40243185e-03 9.38625229e-05 9.99964695e-01 -5.80011874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.63, Y:35.94, Z:-0.58 [[ 7.64520845e-01 -6.44574241e-01 -5.65025434e-03 9.06297572e+01] [ 6.44555782e-01 7.64541719e-01 -4.87890562e-03 3.59391099e+01] [ 7.46467205e-03 8.81209433e-05 9.99972135e-01 -5.79682255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:35.96, Z:-0.58 [[ 7.64231604e-01 -6.44924264e-01 -4.76968366e-03 9.06527003e+01] [ 6.44911119e-01 7.64246484e-01 -4.11818709e-03 3.59554173e+01] [ 6.30113274e-03 7.12266931e-05 9.99980145e-01 -5.77032914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27088847899999 meters Centerline goodness [0,1] 0.9999774926851227 Centerline is valid? [True, True] Translation: X:90.68, Y:35.97, Z:-0.58 [[ 7.63347284e-01 -6.45973448e-01 -4.38498947e-03 9.06759080e+01] [ 6.45962338e-01 7.63359876e-01 -3.78903179e-03 3.59730675e+01] [ 5.79493895e-03 5.98090738e-05 9.99983207e-01 -5.76072661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.300888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:35.99, Z:-0.58 [[ 7.62514279e-01 -6.46956886e-01 -4.33148549e-03 9.06981444e+01] [ 6.46946059e-01 7.62526580e-01 -3.74320320e-03 3.59901343e+01] [ 5.72456390e-03 5.20084215e-05 9.99983613e-01 -5.75843900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.330888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.72, Y:36.01, Z:-0.58 [[ 7.60894062e-01 -6.48860488e-01 -4.50494592e-03 9.07209493e+01] [ 6.48848809e-01 7.60907396e-01 -3.89328907e-03 3.60068994e+01] [ 5.95404811e-03 3.93517411e-05 9.99982274e-01 -5.77332348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.360888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:36.02, Z:-0.58 [[ 7.59997940e-01 -6.49908330e-01 -4.72171123e-03 9.07429867e+01] [ 6.49895498e-01 7.60012606e-01 -4.08416214e-03 3.60241184e+01] [ 6.24289106e-03 3.53359384e-05 9.99980512e-01 -5.77271095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.390888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.77, Y:36.04, Z:-0.58 [[ 7.58735535e-01 -6.51384543e-01 -4.30875640e-03 9.07656105e+01] [ 6.51373872e-01 7.58747769e-01 -3.72864814e-03 3.60421557e+01] [ 5.69804307e-03 2.24465054e-05 9.99983766e-01 -5.78536606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.420888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.79, Y:36.06, Z:-0.58 [[ 7.57874962e-01 -6.52388741e-01 -3.80439854e-03 9.07876800e+01] [ 6.52380422e-01 7.57884510e-01 -3.29456651e-03 3.60595887e+01] [ 5.03263282e-03 1.49543369e-05 9.99987336e-01 -5.78099019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.450888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.81, Y:36.08, Z:-0.58 [[ 7.56968164e-01 -6.53440070e-01 -3.90824437e-03 9.08096814e+01] [ 6.53431295e-01 7.56978253e-01 -3.38632391e-03 3.60774670e+01] [ 5.17121573e-03 9.57020915e-06 9.99986629e-01 -5.78548369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.83, Y:36.09, Z:-0.58 [[ 7.55869164e-01 -6.54713329e-01 -3.50195380e-03 9.08316998e+01] [ 6.54706295e-01 7.55877276e-01 -3.03499995e-03 3.60936755e+01] [ 4.63410222e-03 1.31168177e-06 9.99989262e-01 -5.78330170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.85, Y:36.11, Z:-0.58 [[ 7.55489845e-01 -6.55153061e-01 -3.09215041e-03 9.08531647e+01] [ 6.55147571e-01 7.55496173e-01 -2.68209733e-03 3.61110951e+01] [ 4.09329208e-03 4.82467453e-07 9.99991622e-01 -5.76933132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.87, Y:36.13, Z:-0.58 [[ 7.55311031e-01 -6.55358897e-01 -3.15629426e-03 9.08749990e+01] [ 6.55353173e-01 7.55317626e-01 -2.73919472e-03 3.61289800e+01] [ 4.17916032e-03 4.56535499e-07 9.99991267e-01 -5.75886377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:36.15, Z:-0.58 [[ 7.56119200e-01 -6.54421844e-01 -3.97567075e-03 9.08963166e+01] [ 6.54412744e-01 7.56129652e-01 -3.45119926e-03 3.61481519e+01] [ 5.26466272e-03 7.78841979e-06 9.99986142e-01 -5.76760822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.92, Y:36.17, Z:-0.58 [[ 7.56755725e-01 -6.53681751e-01 -4.57611909e-03 9.09163652e+01] [ 6.53669681e-01 7.56769561e-01 -3.97229894e-03 3.61675030e+01] [ 6.05968696e-03 1.47896551e-05 9.99981640e-01 -5.78552833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.94, Y:36.19, Z:-0.58 [[ 7.57366688e-01 -6.52973134e-01 -4.66745208e-03 9.09352562e+01] [ 6.52960556e-01 7.57381070e-01 -4.05305796e-03 3.61868862e+01] [ 6.18157781e-03 2.19889779e-05 9.99980894e-01 -5.80200124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.96, Y:36.21, Z:-0.58 [[ 7.57870433e-01 -6.52389877e-01 -4.45586239e-03 9.09559545e+01] [ 6.52378385e-01 7.57883532e-01 -3.87237268e-03 3.62065040e+01] [ 5.90332146e-03 2.78484500e-05 9.99982575e-01 -5.79417010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.98, Y:36.23, Z:-0.58 [[ 7.58423799e-01 -6.51742744e-01 -4.97363785e-03 9.09776051e+01] [ 6.51728402e-01 7.58440106e-01 -4.32392618e-03 3.62263582e+01] [ 6.59029393e-03 3.79074689e-05 9.99978283e-01 -5.80276533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.00, Y:36.24, Z:-0.58 [[ 7.57980643e-01 -6.52256956e-01 -5.11949283e-03 9.09995900e+01] [ 6.52241753e-01 7.57997930e-01 -4.45342541e-03 3.62440106e+01] [ 6.78534267e-03 3.64632754e-05 9.99976979e-01 -5.80061415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.02, Y:36.26, Z:-0.58 [[ 7.57079402e-01 -6.53314188e-01 -3.36901224e-03 9.10209825e+01] [ 6.53307616e-01 7.57086898e-01 -2.93049714e-03 3.62612283e+01] [ 4.46517038e-03 1.76176730e-05 9.99990031e-01 -5.78099487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.780888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.04, Y:36.28, Z:-0.58 [[ 7.56654116e-01 -6.53812615e-01 -1.90094609e-03 9.10426740e+01] [ 6.53810519e-01 7.56656503e-01 -1.65568688e-03 3.62804570e+01] [ 2.52087219e-03 9.92374098e-06 9.99996823e-01 -5.76546256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.810888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:36.30, Z:-0.58 [[ 7.56334152e-01 -6.54184389e-01 -1.19791869e-03 9.10637248e+01] [ 6.54183555e-01 7.56335101e-01 -1.04480401e-03 3.62992254e+01] [ 1.58952243e-03 6.56225040e-06 9.99998737e-01 -5.75497678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.840888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.08, Y:36.32, Z:-0.58 [[ 7.56533641e-01 -6.53952608e-01 -1.68427265e-03 9.10828860e+01] [ 6.53950961e-01 7.56535515e-01 -1.46783066e-03 3.63187553e+01] [ 2.23410376e-03 9.03155344e-06 9.99997504e-01 -5.75914846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.10, Y:36.34, Z:-0.58 [[ 7.56682147e-01 -6.53778851e-01 -2.31127570e-03 9.11026411e+01] [ 6.53775749e-01 7.56685677e-01 -2.01414077e-03 3.63382273e+01] [ 3.06571186e-03 1.30083601e-05 9.99995301e-01 -5.78134534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.900888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.12, Y:36.36, Z:-0.58 [[ 7.56818440e-01 -6.53619031e-01 -2.83037825e-03 9.11239843e+01] [ 6.53614371e-01 7.56823732e-01 -2.46829932e-03 3.63575434e+01] [ 3.75542484e-03 1.80785404e-05 9.99992948e-01 -5.78389121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.15, Y:36.38, Z:-0.58 [[ 7.56904400e-01 -6.53513418e-01 -3.99273939e-03 9.11457294e+01] [ 6.53504137e-01 7.56914930e-01 -3.48294359e-03 3.63767739e+01] [ 5.29831443e-03 2.69836162e-05 9.99985963e-01 -5.79643783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.960888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:36.40, Z:-0.58 [[ 7.56552007e-01 -6.53909505e-01 -5.60530866e-03 9.11667758e+01] [ 6.53891232e-01 7.56572771e-01 -4.88863306e-03 3.63952582e+01] [ 7.43754754e-03 3.32429658e-05 9.99972341e-01 -5.82475794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:36.41, Z:-0.58 [[ 7.55876069e-01 -6.54690050e-01 -5.68385876e-03 9.11878831e+01] [ 6.54671253e-01 7.55897438e-01 -4.96119299e-03 3.64139661e+01] [ 7.54445797e-03 2.89881255e-05 9.99971540e-01 -5.83286602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.21, Y:36.43, Z:-0.58 [[ 7.54255506e-01 -6.56560850e-01 -5.14613500e-03 9.12100318e+01] [ 6.56545470e-01 7.54273061e-01 -4.49390732e-03 3.64330186e+01] [ 6.83211461e-03 1.08827164e-05 9.99976661e-01 -5.83075512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.23, Y:36.45, Z:-0.58 [[ 7.53149698e-01 -6.57838894e-01 -3.67729949e-03 9.12323140e+01] [ 6.57831046e-01 7.53158675e-01 -3.21334500e-03 3.64513517e+01] [ 4.88345333e-03 1.08804821e-06 9.99988076e-01 -5.80815665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:36.47, Z:-0.58 [[ 7.52215989e-01 -6.58913781e-01 -1.93263168e-03 9.12538252e+01] [ 6.58911617e-01 7.52218472e-01 -1.68878792e-03 3.64687491e+01] [ 2.56652688e-03 -3.10019432e-06 9.99996706e-01 -5.78766633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.110888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:36.49, Z:-0.58 [[ 7.51354593e-01 -6.59898276e-01 -7.35382800e-04 9.12748639e+01] [ 6.59897962e-01 7.51354953e-01 -6.43479825e-04 3.64859905e+01] [ 9.77164736e-04 -1.79608884e-06 9.99999523e-01 -5.77419148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.140888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:36.51, Z:-0.58 [[ 7.50590975e-01 -6.60764598e-01 -1.82603247e-03 9.12966947e+01] [ 6.60762666e-01 7.50593196e-01 -1.59793246e-03 3.65054788e+01] [ 2.42646475e-03 -7.18039858e-06 9.99997056e-01 -5.77280271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.170888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:36.52, Z:-0.58 [[ 7.50407752e-01 -6.60971067e-01 -2.33539803e-03 9.13168336e+01] [ 6.60967905e-01 7.50411386e-01 -2.04467162e-03 3.65248803e+01] [ 3.10397805e-03 -9.28570919e-06 9.99995183e-01 -5.77990086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.200888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:36.54, Z:-0.58 [[ 7.50546464e-01 -6.60810725e-01 -3.03180239e-03 9.13368598e+01] [ 6.60805397e-01 7.50552587e-01 -2.65358677e-03 3.65447358e+01] [ 4.02904572e-03 -1.17912147e-05 9.99991883e-01 -5.79581577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:36.57, Z:-0.58 [[ 7.50867905e-01 -6.60439706e-01 -4.09681797e-03 9.13560577e+01] [ 6.60429961e-01 7.50879081e-01 -3.58774971e-03 3.65659936e+01] [ 5.44570727e-03 -1.17352245e-05 9.99985172e-01 -5.82594211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:36.58, Z:-0.58 [[ 7.51037898e-01 -6.60243712e-01 -4.50727921e-03 9.13767993e+01] [ 6.60231899e-01 7.51051423e-01 -3.94954865e-03 3.65849695e+01] [ 5.99286313e-03 -9.58880068e-06 9.99982043e-01 -5.82519235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:36.60, Z:-0.58 [[ 7.51361407e-01 -6.59868500e-01 -5.44046096e-03 9.13973292e+01] [ 6.59851282e-01 7.51381104e-01 -4.76689537e-03 3.66036256e+01] [ 7.23338366e-03 -8.23392549e-06 9.99973839e-01 -5.82987229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:36.62, Z:-0.58 [[ 7.51665327e-01 -6.59521401e-01 -5.54592231e-03 9.14173787e+01] [ 6.59503471e-01 7.51685787e-01 -4.86309095e-03 3.66230108e+01] [ 7.37610353e-03 -2.13816558e-06 9.99972796e-01 -5.82244284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:36.64, Z:-0.58 [[ 7.51804964e-01 -6.59365743e-01 -5.11008084e-03 9.14373194e+01] [ 6.59350499e-01 7.51822331e-01 -4.48360561e-03 3.66427660e+01] [ 6.79820883e-03 1.46260782e-06 9.99976892e-01 -5.81732353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.46, Y:36.66, Z:-0.58 [[ 7.51622114e-01 -6.59574179e-01 -5.10884135e-03 9.14580258e+01] [ 6.59558930e-01 7.51639476e-01 -4.48501822e-03 3.66610224e+01] [ 6.79820904e-03 1.45693903e-06 9.99976892e-01 -5.81882473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:36.68, Z:-0.58 [[ 7.51795971e-01 -6.59380691e-01 -4.46350573e-03 9.14781265e+01] [ 6.59369033e-01 7.51809221e-01 -3.92098386e-03 3.66807168e+01] [ 5.94112581e-03 4.68240670e-06 9.99982351e-01 -5.81250344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.440888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:36.70, Z:-0.58 [[ 7.51945724e-01 -6.59214721e-01 -3.68502351e-03 9.14975821e+01] [ 6.59206775e-01 7.51954754e-01 -3.23663646e-03 3.67005406e+01] [ 4.90460935e-03 4.58247750e-06 9.99987972e-01 -5.80571077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.52, Y:36.72, Z:-0.58 [[ 7.51888541e-01 -6.59281963e-01 -3.30385384e-03 9.15184637e+01] [ 6.59275563e-01 7.51895799e-01 -2.90495909e-03 3.67196335e+01] [ 4.39934095e-03 6.05535170e-06 9.99990323e-01 -5.79528341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.500888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:36.74, Z:-0.58 [[ 7.51837969e-01 -6.59338024e-01 -3.61098590e-03 9.15387373e+01] [ 6.59330382e-01 7.51846640e-01 -3.17443938e-03 3.67382470e+01] [ 4.80793620e-03 5.83134756e-06 9.99988442e-01 -5.80046037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.530888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:36.76, Z:-0.58 [[ 7.51952829e-01 -6.59202636e-01 -4.33904096e-03 9.15599052e+01] [ 6.59191585e-01 7.51965348e-01 -3.81702799e-03 3.67572865e+01] [ 5.77900336e-03 9.96570522e-06 9.99983301e-01 -5.79616336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.560888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:36.78, Z:-0.58 [[ 7.51939072e-01 -6.59217321e-01 -4.48946582e-03 9.15801417e+01] [ 6.59205487e-01 7.51952474e-01 -3.94990436e-03 3.67750182e+01] [ 5.97971030e-03 1.06069209e-05 9.99982121e-01 -5.80161854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.590888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.60, Y:36.79, Z:-0.58 [[ 7.51702585e-01 -6.59486908e-01 -4.49912106e-03 9.16009990e+01] [ 6.59475011e-01 7.51716048e-01 -3.96143683e-03 3.67932154e+01] [ 5.99457723e-03 1.07643982e-05 9.99982032e-01 -5.79962300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.620888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.62, Y:36.81, Z:-0.58 [[ 7.51575255e-01 -6.59635027e-01 -4.03335170e-03 9.16215741e+01] [ 6.59625455e-01 7.51586077e-01 -3.55350221e-03 3.68123179e+01] [ 5.37542551e-03 1.02228796e-05 9.99985552e-01 -5.79689526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.650888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:36.83, Z:-0.58 [[ 7.51729197e-01 -6.59461559e-01 -3.69685577e-03 9.16414722e+01] [ 6.59453512e-01 7.51738287e-01 -3.25780375e-03 3.68307567e+01] [ 4.92746436e-03 1.10816811e-05 9.99987860e-01 -5.80043357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.680888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.66, Y:36.85, Z:-0.58 [[ 7.52105036e-01 -6.59032664e-01 -3.73671468e-03 9.16627220e+01] [ 6.59024426e-01 7.52114318e-01 -3.29528513e-03 3.68497905e+01] [ 4.98213715e-03 1.58142933e-05 9.99987589e-01 -5.79910471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.68, Y:36.87, Z:-0.58 [[ 7.53644141e-01 -6.57267470e-01 -4.47001253e-03 9.16845069e+01] [ 6.57255641e-01 7.53657397e-01 -3.94340234e-03 3.68690823e+01] [ 5.96072808e-03 3.39811194e-05 9.99982234e-01 -5.78838069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.71, Y:36.89, Z:-0.58 [[ 7.54540047e-01 -6.56236147e-01 -4.84122162e-03 9.17056927e+01] [ 6.56222238e-01 7.54555576e-01 -4.27287399e-03 3.68886786e+01] [ 6.45698513e-03 4.71372576e-05 9.99979152e-01 -5.79437093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.73, Y:36.91, Z:-0.58 [[ 7.55402854e-01 -6.55240425e-01 -5.14909691e-03 9.17253799e+01] [ 6.55224666e-01 7.55420401e-01 -4.54484776e-03 3.69084400e+01] [ 6.86770083e-03 5.93756685e-05 9.99976415e-01 -5.80487189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:36.93, Z:-0.58 [[ 7.56946505e-01 -6.53449339e-01 -5.99579006e-03 9.17438472e+01] [ 6.53427911e-01 7.56970246e-01 -5.29260885e-03 3.69291366e+01] [ 7.99708643e-03 8.84052063e-05 9.99968019e-01 -5.83072537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:36.95, Z:-0.58 [[ 7.57444363e-01 -6.52866435e-01 -6.59205459e-03 9.17657627e+01] [ 6.52840477e-01 7.57473040e-01 -5.82285468e-03 3.69486824e+01] [ 8.79485001e-03 1.06928392e-04 9.99961319e-01 -5.83558908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.79, Y:36.97, Z:-0.58 [[ 7.58208659e-01 -6.51972296e-01 -7.19399486e-03 9.17858142e+01] [ 6.51941342e-01 7.58242777e-01 -6.35435199e-03 3.69674065e+01] [ 9.59765610e-03 1.27862035e-04 9.99953933e-01 -5.84754925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.890888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.81, Y:36.98, Z:-0.58 [[ 7.59141572e-01 -6.50883904e-01 -7.36329602e-03 9.18093964e+01] [ 6.50851381e-01 7.59177266e-01 -6.50831414e-03 3.69839235e+01] [ 9.82620385e-03 1.48320443e-04 9.99951711e-01 -5.80340369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.920888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.83, Y:37.00, Z:-0.58 [[ 7.59309286e-01 -6.50694583e-01 -6.77994502e-03 9.18285892e+01] [ 6.50666996e-01 7.59339542e-01 -5.99337801e-03 3.70028207e+01] [ 9.04813895e-03 1.39341119e-04 9.99959055e-01 -5.81337327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.950888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.85, Y:37.02, Z:-0.58 [[ 7.59323527e-01 -6.50687423e-01 -5.80159502e-03 9.18459491e+01] [ 6.50667217e-01 7.59345681e-01 -5.12927307e-03 3.70248482e+01] [ 7.74296960e-03 1.19870036e-04 9.99970016e-01 -5.84938369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.87, Y:37.04, Z:-0.58 [[ 7.59058333e-01 -6.51004685e-01 -4.83188915e-03 9.18693568e+01] [ 6.50990654e-01 7.59073705e-01 -4.27526760e-03 3.70417990e+01] [ 6.45097924e-03 9.96628177e-05 9.99979187e-01 -5.82648507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.89, Y:37.06, Z:-0.58 [[ 7.58544963e-01 -6.51610044e-01 -3.72693469e-03 9.18911678e+01] [ 6.51601694e-01 7.58554115e-01 -3.29962195e-03 3.70601760e+01] [ 4.97714845e-03 7.44346564e-05 9.99987611e-01 -5.82208710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.92, Y:37.08, Z:-0.58 [[ 7.57285516e-01 -6.53078400e-01 -2.69254291e-03 9.19160851e+01] [ 6.53074050e-01 7.57290302e-01 -2.38409693e-03 3.70764342e+01] [ 3.59603884e-03 4.70121777e-05 9.99993533e-01 -5.79818040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.94, Y:37.09, Z:-0.58 [[ 7.56534859e-01 -6.53947749e-01 -2.71083145e-03 9.19396871e+01] [ 6.53943338e-01 7.56539715e-01 -2.40231239e-03 3.70937578e+01] [ 3.62183843e-03 4.47029003e-05 9.99993440e-01 -5.78853185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:37.11, Z:-0.58 [[ 7.55650193e-01 -6.54966841e-01 -3.34999083e-03 9.19600765e+01] [ 6.54960113e-01 7.55657617e-01 -2.96904034e-03 3.71114033e+01] [ 4.47606906e-03 4.94455366e-05 9.99989981e-01 -5.80423162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.98, Y:37.13, Z:-0.58 [[ 7.55044434e-01 -6.55661223e-01 -4.03279298e-03 9.19812256e+01] [ 6.55651471e-01 7.55055202e-01 -3.57652467e-03 3.71293015e+01] [ 5.38996986e-03 5.63283942e-05 9.99985472e-01 -5.81699169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:37.15, Z:-0.59 [[ 7.54534623e-01 -6.56234049e-01 -5.86302936e-03 9.20030046e+01] [ 6.56213443e-01 7.54557398e-01 -5.20101616e-03 3.71482928e+01] [ 7.83707607e-03 7.69480905e-05 9.99969287e-01 -5.85151190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.02, Y:37.17, Z:-0.59 [[ 7.54171446e-01 -6.56647167e-01 -6.31890950e-03 9.20243850e+01] [ 6.56623219e-01 7.54197913e-01 -5.60861926e-03 3.71660983e+01] [ 8.44859230e-03 8.07178062e-05 9.99964307e-01 -5.85575005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.05, Y:37.18, Z:-0.59 [[ 7.54055784e-01 -6.56779584e-01 -6.36021443e-03 9.20464231e+01] [ 6.56755300e-01 7.54082602e-01 -5.64837059e-03 3.71841137e+01] [ 8.50586154e-03 8.20819767e-05 9.99963821e-01 -5.85539333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.250888479 meters Centerline goodness [0,1] 0.9999547337211144 Centerline is valid? [True, True] Translation: X:92.07, Y:37.20, Z:-0.59 [[ 7.53956898e-01 -6.56892744e-01 -6.39682967e-03 9.20688165e+01] [ 6.56868157e-01 7.53984029e-01 -5.68400744e-03 3.72012215e+01] [ 8.55689066e-03 8.36229015e-05 9.99963386e-01 -5.85195122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.280888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.09, Y:37.22, Z:-0.59 [[ 7.53983292e-01 -6.56865542e-01 -6.07086234e-03 9.20895966e+01] [ 6.56843372e-01 7.54007727e-01 -5.39742924e-03 3.72196802e+01] [ 8.12286240e-03 8.19657773e-05 9.99967006e-01 -5.85723511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.310888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.11, Y:37.24, Z:-0.59 [[ 7.54142992e-01 -6.56686800e-01 -5.54922960e-03 9.21104700e+01] [ 6.56668249e-01 7.54163404e-01 -4.93659036e-03 3.72389723e+01] [ 7.42681961e-03 7.88921335e-05 9.99972418e-01 -5.85622623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.340888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.13, Y:37.26, Z:-0.59 [[ 7.54413931e-01 -6.56383110e-01 -4.56433339e-03 9.21307070e+01] [ 6.56370538e-01 7.54427735e-01 -4.06302941e-03 3.72585309e+01] [ 6.11036358e-03 6.93120223e-05 9.99981329e-01 -5.85925200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.15, Y:37.28, Z:-0.58 [[ 7.55156073e-01 -6.55536212e-01 -3.40301515e-03 9.21521907e+01] [ 6.55529205e-01 7.55163738e-01 -3.03146035e-03 3.72768143e+01] [ 4.55706567e-03 5.84498757e-05 9.99989615e-01 -5.84354520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.17, Y:37.29, Z:-0.58 [[ 7.55363554e-01 -6.55295876e-01 -3.63537984e-03 9.21736231e+01] [ 6.55287878e-01 7.55372300e-01 -3.23828202e-03 3.72943059e+01] [ 4.86809808e-03 6.38598787e-05 9.99988149e-01 -5.83445777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.20, Y:37.31, Z:-0.58 [[ 7.56117153e-01 -6.54425725e-01 -3.71782763e-03 9.21954597e+01] [ 6.54417338e-01 7.56126289e-01 -3.31397631e-03 3.73130789e+01] [ 4.97989856e-03 7.27434694e-05 9.99987598e-01 -5.82956061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.460888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.22, Y:37.33, Z:-0.58 [[ 7.56363320e-01 -6.54143797e-01 -3.22810608e-03 9.22165506e+01] [ 6.54137462e-01 7.56370206e-01 -2.87958698e-03 3.73323129e+01] [ 4.32530723e-03 6.63888496e-05 9.99990644e-01 -5.83359547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49088847899999 meters Centerline goodness [0,1] 0.9998636611525177 Centerline is valid? [True, True] Translation: X:92.24, Y:37.35, Z:-0.58 [[ 7.56445589e-01 -6.54050679e-01 -2.78923876e-03 9.22369534e+01] [ 6.54045943e-01 7.56450729e-01 -2.48976225e-03 3.73517862e+01] [ 3.73835238e-03 5.90793760e-05 9.99993011e-01 -5.84052337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.26, Y:37.37, Z:-0.59 [[ 7.57397569e-01 -6.52944981e-01 -3.43144391e-03 9.22560349e+01] [ 6.52937807e-01 7.57405338e-01 -3.06167341e-03 3.73715934e+01] [ 4.59809822e-03 7.83845384e-05 9.99989426e-01 -5.86816984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.550888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.28, Y:37.39, Z:-0.59 [[ 7.57839576e-01 -6.52427527e-01 -4.18312564e-03 9.22781400e+01] [ 6.52416856e-01 7.57851114e-01 -3.73283610e-03 3.73894377e+01] [ 5.60559145e-03 9.97492487e-05 9.99984284e-01 -5.86968060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.580888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.30, Y:37.41, Z:-0.59 [[ 7.57934651e-01 -6.52313130e-01 -4.75863016e-03 9.23005521e+01] [ 6.52299299e-01 7.57949580e-01 -4.24951362e-03 3.74083311e+01] [ 6.37881526e-03 1.16802504e-04 9.99979648e-01 -5.87607712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.610888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.32, Y:37.43, Z:-0.59 [[ 7.58075422e-01 -6.52147256e-01 -5.06071991e-03 9.23217588e+01] [ 6.52131608e-01 7.58092303e-01 -4.51942083e-03 3.74272090e+01] [ 6.78382071e-03 1.25806439e-04 9.99976982e-01 -5.88242703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.34, Y:37.45, Z:-0.59 [[ 7.57344626e-01 -6.52995632e-01 -5.08160863e-03 9.23430141e+01] [ 6.52979870e-01 7.57361665e-01 -4.53857605e-03 3.74457801e+01] [ 6.81228591e-03 1.19078037e-04 9.99976789e-01 -5.89520266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.670888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.37, Y:37.46, Z:-0.59 [[ 7.56525139e-01 -6.53943009e-01 -5.31561324e-03 9.23658465e+01] [ 6.53925761e-01 7.56543804e-01 -4.75099026e-03 3.74638493e+01] [ 7.12837113e-03 1.18227131e-04 9.99974586e-01 -5.89515529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.39, Y:37.48, Z:-0.59 [[ 7.53905758e-01 -6.56966106e-01 -4.65229425e-03 9.23900584e+01] [ 6.56952938e-01 7.53920108e-01 -4.16033472e-03 3.74799790e+01] [ 6.24065708e-03 8.01619229e-05 9.99980524e-01 -5.88076300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.41, Y:37.50, Z:-0.59 [[ 7.52264115e-01 -6.58849620e-01 -3.98504207e-03 9.24118575e+01] [ 6.58839986e-01 7.52274668e-01 -3.56336639e-03 3.74968196e+01] [ 5.34556879e-03 5.50876010e-05 9.99985711e-01 -5.87617700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.44, Y:37.51, Z:-0.59 [[ 7.50082362e-01 -6.61337411e-01 -3.04628823e-03 9.24363509e+01] [ 6.61331792e-01 7.50088547e-01 -2.72630544e-03 3.75136709e+01] [ 4.08799369e-03 3.03463632e-05 9.99991644e-01 -5.85239708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:37.53, Z:-0.59 [[ 7.47873376e-01 -6.63836879e-01 -2.45176239e-03 9.24583767e+01] [ 6.63833252e-01 7.47877395e-01 -2.19456923e-03 3.75304037e+01] [ 3.29045366e-03 1.36984945e-05 9.99994586e-01 -5.85386868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.48, Y:37.55, Z:-0.59 [[ 7.43571156e-01 -6.68655744e-01 -1.19686087e-03 9.24825345e+01] [ 6.68654883e-01 7.43572119e-01 -1.07306880e-03 3.75469014e+01] [ 1.60746599e-03 -2.38386006e-06 9.99998708e-01 -5.85491786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.50, Y:37.56, Z:-0.59 [[ 7.41732487e-01 -6.70695429e-01 -7.47615628e-04 9.25043784e+01] [ 6.70695093e-01 7.41732864e-01 -6.71606827e-04 3.75645278e+01] [ 1.00497471e-03 -3.26953080e-06 9.99999495e-01 -5.85538496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.53, Y:37.58, Z:-0.59 [[ 7.40118281e-01 -6.72476561e-01 -4.52552323e-04 9.25270733e+01] [ 6.72476438e-01 7.40118419e-01 -4.07282976e-04 3.75826720e+01] [ 6.08830565e-04 -2.89319844e-06 9.99999815e-01 -5.85552700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.55, Y:37.60, Z:-0.59 [[ 7.37544496e-01 -6.75297381e-01 -1.25036458e-03 9.25500012e+01] [ 6.75296451e-01 7.37545556e-01 -1.12120419e-03 3.75983125e+01] [ 1.67934709e-03 -1.74287843e-05 9.99998590e-01 -5.86018357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.57, Y:37.62, Z:-0.59 [[ 7.36424270e-01 -6.76517851e-01 -1.70027086e-03 9.25722945e+01] [ 6.76516134e-01 7.36426233e-01 -1.52466448e-03 3.76158046e+01] [ 2.28358680e-03 -2.74607381e-05 9.99997392e-01 -5.87040289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:37.63, Z:-0.59 [[ 7.35210873e-01 -6.77833942e-01 -2.47347098e-03 9.25932618e+01] [ 6.77830315e-01 7.35215033e-01 -2.21809261e-03 3.76349942e+01] [ 3.32203151e-03 -4.58278089e-05 9.99994481e-01 -5.88564616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.61, Y:37.65, Z:-0.59 [[ 7.35023567e-01 -6.78036929e-01 -2.50584515e-03 9.26133812e+01] [ 6.78033198e-01 7.35027837e-01 -2.24968002e-03 3.76543633e+01] [ 3.36723207e-03 -4.54783744e-05 9.99994330e-01 -5.89612627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.030888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.63, Y:37.67, Z:-0.59 [[ 7.35246744e-01 -6.77794785e-01 -2.54053290e-03 9.26330719e+01] [ 6.77790945e-01 7.35251132e-01 -2.28204092e-03 3.76745881e+01] [ 3.41468513e-03 -4.40870365e-05 9.99994169e-01 -5.90372370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.060888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:37.69, Z:-0.59 [[ 7.35653506e-01 -6.77351793e-01 -2.90996733e-03 9.26524836e+01] [ 6.77346751e-01 7.35659260e-01 -2.61392942e-03 3.76939439e+01] [ 3.91129419e-03 -4.81105689e-05 9.99992350e-01 -5.92128752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.090888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.67, Y:37.72, Z:-0.59 [[ 7.37504157e-01 -6.75335168e-01 -3.16682082e-03 9.26715758e+01] [ 6.75329177e-01 7.37510955e-01 -2.84494684e-03 3.77165650e+01] [ 4.25685770e-03 -4.04863725e-05 9.99990939e-01 -5.92802927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.120888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.69, Y:37.74, Z:-0.59 [[ 7.38391314e-01 -6.74367120e-01 -2.69348865e-03 9.26922916e+01] [ 6.74362772e-01 7.38396226e-01 -2.42175716e-03 3.77373109e+01] [ 3.62201526e-03 -2.81840221e-05 9.99993440e-01 -5.91652435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.150888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.71, Y:37.76, Z:-0.59 [[ 7.40336112e-01 -6.72236396e-01 -8.18172944e-04 9.27115714e+01] [ 6.72235992e-01 7.40336564e-01 -7.37067790e-04 3.77597972e+01] [ 1.10120714e-03 -4.32739884e-06 9.99999394e-01 -5.88157013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.180888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.73, Y:37.78, Z:-0.59 [[ 7.41368312e-01 -6.71098224e-01 -4.46875057e-04 9.27309059e+01] [ 6.71098102e-01 7.41368447e-01 -4.03842900e-04 3.77807947e+01] [ 6.02317320e-04 -5.00673101e-07 9.99999819e-01 -5.87501376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:37.80, Z:-0.59 [[ 7.42596553e-01 -6.69738760e-01 -5.94074903e-04 9.27501557e+01] [ 6.69738545e-01 7.42596790e-01 -5.36589053e-04 3.78020703e+01] [ 8.00532603e-04 5.94320352e-07 9.99999680e-01 -5.88042644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:37.83, Z:-0.59 [[ 7.45171425e-01 -6.66872216e-01 -9.97365845e-04 9.27674931e+01] [ 6.66871609e-01 7.45172092e-01 -8.99971764e-04 3.78250713e+01] [ 1.34337536e-03 5.51827613e-06 9.99999098e-01 -5.89554635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:37.85, Z:-0.59 [[ 7.46087058e-01 -6.65847355e-01 -1.18418776e-03 9.27874163e+01] [ 6.65846497e-01 7.46087998e-01 -1.06842536e-03 3.78459218e+01] [ 1.59491647e-03 8.65106004e-06 9.99998728e-01 -5.89984224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.300888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:37.86, Z:-0.59 [[ 7.45906621e-01 -6.66049482e-01 -1.18377450e-03 9.28078705e+01] [ 6.66048624e-01 7.45907560e-01 -1.06888375e-03 3.78644557e+01] [ 1.59491582e-03 8.83608848e-06 9.99998728e-01 -5.90134422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.330888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:37.89, Z:-0.59 [[ 7.47060902e-01 -6.64754561e-01 -1.17527418e-03 9.28272710e+01] [ 6.64753714e-01 7.47061827e-01 -1.06150386e-03 3.78858441e+01] [ 1.58364201e-03 1.17401570e-05 9.99998746e-01 -5.90894300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.360888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:37.91, Z:-0.59 [[ 7.47109858e-01 -6.64699869e-01 -9.71797488e-04 9.28473098e+01] [ 6.64699289e-01 7.47110490e-01 -8.78755612e-04 3.79057546e+01] [ 1.31014884e-03 1.05738814e-05 9.99999142e-01 -5.91363789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.390888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.87, Y:37.93, Z:-0.59 [[ 7.46820340e-01 -6.65025805e-01 -2.43730924e-04 9.28671969e+01] [ 6.65025767e-01 7.46820380e-01 -2.22059318e-04 3.79250629e+01] [ 3.29698398e-04 3.75107050e-06 9.99999946e-01 -5.90792232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.420888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.89, Y:37.95, Z:-0.59 [[ 7.46687006e-01 -6.65174286e-01 1.29783298e-03 9.28869985e+01] [ 6.65173257e-01 7.46688134e-01 1.17016425e-03 3.79450380e+01] [-1.74743966e-03 -1.04626542e-05 9.99998473e-01 -5.87842978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.450888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.91, Y:37.96, Z:-0.59 [[ 7.46737685e-01 -6.65116500e-01 1.69431815e-03 9.29076206e+01] [ 6.65114742e-01 7.46739607e-01 1.52911889e-03 3.79643447e+01] [-2.28225667e-03 -1.49347229e-05 9.99997396e-01 -5.86419502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:37.98, Z:-0.59 [[ 7.46847373e-01 -6.64993230e-01 1.73349363e-03 9.29282730e+01] [ 6.64991388e-01 7.46849385e-01 1.56539818e-03 3.79841447e+01] [-2.33563785e-03 -1.63551849e-05 9.99997272e-01 -5.85371415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:38.01, Z:-0.59 [[ 7.47298169e-01 -6.64488408e-01 7.76074315e-04 9.29478779e+01] [ 6.64488039e-01 7.47298572e-01 7.00293943e-04 3.80061163e+01] [-1.04529643e-03 -7.63628140e-06 9.99999454e-01 -5.85946418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.97, Y:38.03, Z:-0.59 [[ 7.47299356e-01 -6.64487514e-01 -1.25242059e-04 9.29656269e+01] [ 6.64487504e-01 7.47299367e-01 -1.14497414e-04 3.80265238e+01] [ 1.69675413e-04 2.34206052e-06 9.99999986e-01 -5.88184282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:38.05, Z:-0.59 [[ 7.47018100e-01 -6.64803106e-01 -8.88075656e-04 9.29849150e+01] [ 6.64802617e-01 7.47018628e-01 -8.06113817e-04 3.80463973e+01] [ 1.19931603e-03 1.17865914e-05 9.99999281e-01 -5.90260563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.00, Y:38.07, Z:-0.59 [[ 7.45757254e-01 -6.66213865e-01 -2.28127182e-03 9.30040151e+01] [ 6.66210658e-01 7.45760743e-01 -2.06728415e-03 3.80661581e+01] [ 3.07853633e-03 2.18845473e-05 9.99995261e-01 -5.93708983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.03, Y:38.08, Z:-0.59 [[ 7.44290631e-01 -6.67852172e-01 -2.22076539e-03 9.30272855e+01] [ 6.67849135e-01 7.44293944e-01 -2.01412353e-03 3.80842331e+01] [ 2.99803901e-03 1.59570286e-05 9.99995506e-01 -5.92223346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.05, Y:38.10, Z:-0.59 [[ 7.42748948e-01 -6.69566838e-01 -2.06163953e-03 9.30488713e+01] [ 6.69564228e-01 7.42751809e-01 -1.86960318e-03 3.81011523e+01] [ 2.78311078e-03 8.24571419e-06 9.99996127e-01 -5.90757314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.07, Y:38.12, Z:-0.59 [[ 7.40740271e-01 -6.71789891e-01 -1.48107964e-03 9.30706972e+01] [ 6.71788544e-01 7.40741751e-01 -1.34517096e-03 3.81185208e+01] [ 2.00076978e-03 1.44996351e-06 9.99997998e-01 -5.89268293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.09, Y:38.14, Z:-0.59 [[ 7.37178595e-01 -6.75697338e-01 -9.09131389e-04 9.30923907e+01] [ 6.75696832e-01 7.37179156e-01 -8.26955311e-04 3.81363247e+01] [ 1.22896421e-03 -4.68344421e-06 9.99999245e-01 -5.87686654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.11, Y:38.16, Z:-0.59 [[ 7.35780040e-01 -6.77220167e-01 -7.60211225e-04 9.31135113e+01] [ 6.77219814e-01 7.35780433e-01 -6.91922683e-04 3.81562549e+01] [ 1.02793254e-03 -5.72720432e-06 9.99999472e-01 -5.87632825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.780888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.13, Y:38.17, Z:-0.59 [[ 7.33806964e-01 -6.79357054e-01 -1.15468538e-03 9.31347214e+01] [ 6.79356244e-01 7.33807872e-01 -1.04906137e-03 3.81747307e+01] [ 1.56000446e-03 -1.46341812e-05 9.99998783e-01 -5.88297817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.810888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.16, Y:38.19, Z:-0.59 [[ 7.33185795e-01 -6.80025921e-01 -1.82673485e-03 9.31558358e+01] [ 6.80023893e-01 7.33188070e-01 -1.66118529e-03 3.81941001e+01] [ 2.46898926e-03 -2.42658936e-05 9.99996952e-01 -5.87870302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.840888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.18, Y:38.21, Z:-0.59 [[ 7.32648141e-01 -6.80604441e-01 -2.07289017e-03 9.31764204e+01] [ 6.80601829e-01 7.32651073e-01 -1.88577250e-03 3.82139765e+01] [ 2.80217034e-03 -2.92051292e-05 9.99996073e-01 -5.87842097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:38.23, Z:-0.59 [[ 7.32607459e-01 -6.80647264e-01 -2.36919592e-03 9.31953150e+01] [ 6.80643852e-01 7.32611289e-01 -2.15549023e-03 3.82331098e+01] [ 3.20282821e-03 -3.34504177e-05 9.99994870e-01 -5.88597382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.900888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.21, Y:38.25, Z:-0.59 [[ 7.32743069e-01 -6.80502232e-01 -2.07566657e-03 9.32146653e+01] [ 6.80499607e-01 7.32746008e-01 -1.89024762e-03 3.82533716e+01] [ 2.80725412e-03 -2.74244481e-05 9.99996059e-01 -5.88447952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930888479 meters Centerline goodness [0,1] 0.9999560410576521 Centerline is valid? [True, True] Translation: X:93.23, Y:38.27, Z:-0.59 [[ 7.32866241e-01 -6.80370997e-01 -1.54231600e-03 9.32343886e+01] [ 6.80369545e-01 7.32867864e-01 -1.40586559e-03 3.82738832e+01] [ 2.08682400e-03 -1.90334046e-05 9.99997822e-01 -5.87847958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.960888479 meters Centerline goodness [0,1] 0.9998904253687186 Centerline is valid? [True, True] Translation: X:93.25, Y:38.29, Z:-0.59 [[ 7.33454038e-01 -6.79738541e-01 -8.30476969e-04 9.32549409e+01] [ 6.79738119e-01 7.33454508e-01 -7.58040198e-04 3.82948626e+01] [ 1.12438621e-03 -8.51920804e-06 9.99999368e-01 -5.85890903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.28, Y:38.31, Z:-0.59 [[ 7.33656878e-01 -6.79519927e-01 -5.04848059e-04 9.32750815e+01] [ 6.79519770e-01 7.33657052e-01 -4.62002349e-04 3.83148736e+01] [ 6.84325140e-04 -4.10303577e-06 9.99999766e-01 -5.85454480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.29, Y:38.33, Z:-0.59 [[ 7.34564829e-01 -6.78537806e-01 -9.78372919e-04 9.32933132e+01] [ 6.78537219e-01 7.34565481e-01 -8.92716581e-04 3.83347079e+01] [ 1.32442092e-03 -8.10423687e-06 9.99999123e-01 -5.88654621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.31, Y:38.36, Z:-0.59 [[ 7.36386008e-01 -6.76561634e-01 5.37923106e-05 9.33115391e+01] [ 6.76561633e-01 7.36386010e-01 4.72384636e-05 3.83572788e+01] [-7.15716370e-05 1.60806984e-06 9.99999997e-01 -5.85750438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.33, Y:38.38, Z:-0.59 [[ 7.37457850e-01 -6.75393061e-01 3.64310704e-04 9.33297770e+01] [ 6.75392980e-01 7.37457940e-01 3.30318091e-04 3.83783935e+01] [-4.91758368e-04 2.45722294e-06 9.99999879e-01 -5.85758019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.110888479 meters Centerline goodness [0,1] 0.9999783334055553 Centerline is valid? [True, True] Translation: X:93.35, Y:38.40, Z:-0.59 [[ 7.39777995e-01 -6.72850991e-01 -2.48385716e-04 9.33460070e+01] [ 6.72850952e-01 7.39778037e-01 -2.28826514e-04 3.84021149e+01] [ 3.37716444e-04 2.15425488e-06 9.99999943e-01 -5.87213682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.140888479 meters Centerline goodness [0,1] 0.9999782750380187 Centerline is valid? [True, True] Translation: X:93.37, Y:38.42, Z:-0.59 [[ 7.40811899e-01 -6.71711866e-01 -9.48728775e-04 9.33659761e+01] [ 6.71711304e-01 7.40812506e-01 -8.68338507e-04 3.84234118e+01] [ 1.28610342e-03 6.00365571e-06 9.99999173e-01 -5.87988605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.170888479 meters Centerline goodness [0,1] 0.9999565406345068 Centerline is valid? [True, True] Translation: X:93.39, Y:38.44, Z:-0.59 [[ 7.41858724e-01 -6.70555406e-01 -1.03942582e-03 9.33859390e+01] [ 6.70554731e-01 7.41859452e-01 -9.51642297e-04 3.84442147e+01] [ 1.40923675e-03 8.99224144e-06 9.99999007e-01 -5.88206195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.200888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.40, Y:38.47, Z:-0.59 [[ 7.44026219e-01 -6.68150151e-01 -6.01586296e-04 9.34043095e+01] [ 6.68149923e-01 7.44026462e-01 -5.51850039e-04 3.84665138e+01] [ 8.16314810e-04 8.64106041e-06 9.99999667e-01 -5.87365007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.230888479 meters Centerline goodness [0,1] 0.9998919689734892 Centerline is valid? [True, True] Translation: X:93.42, Y:38.49, Z:-0.59 [[ 7.45076984e-01 -6.66978237e-01 -5.65257641e-04 9.34220275e+01] [ 6.66978036e-01 7.45077198e-01 -5.17534132e-04 3.84877640e+01] [ 7.66344582e-04 8.58833882e-06 9.99999706e-01 -5.88462440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.260888479 meters Centerline goodness [0,1] 0.99980528331278 Centerline is valid? [True, True] Translation: X:93.44, Y:38.51, Z:-0.59 [[ 7.46085844e-01 -6.65849715e-01 -2.64597241e-04 9.34423547e+01] [ 6.65849671e-01 7.46085891e-01 -2.43907015e-04 3.85080966e+01] [ 3.59817685e-04 5.79358572e-06 9.99999935e-01 -5.88399762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.290888479 meters Centerline goodness [0,1] 0.999935175781672 Centerline is valid? [True, True] Translation: X:93.46, Y:38.53, Z:-0.59 [[ 7.46994097e-01 -6.64830544e-01 4.08972921e-04 9.34610974e+01] [ 6.64830439e-01 7.46994209e-01 3.73278791e-04 3.85286300e+01] [-5.53667546e-04 -6.93940669e-06 9.99999847e-01 -5.88226312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.320888479 meters Centerline goodness [0,1] 0.9998488316848788 Centerline is valid? [True, True] Translation: X:93.48, Y:38.55, Z:-0.59 [[ 7.48787354e-01 -6.62809670e-01 9.16636733e-04 9.34784719e+01] [ 6.62809141e-01 7.48787914e-01 8.38075915e-04 3.85508517e+01] [-1.24185133e-03 -1.99854412e-05 9.99999229e-01 -5.87848343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35088847899999 meters Centerline goodness [0,1] 0.9997407815436459 Centerline is valid? [True, True] Translation: X:93.50, Y:38.57, Z:-0.59 [[ 7.49793065e-01 -6.61672341e-01 2.71943075e-04 9.34950791e+01] [ 6.61672294e-01 7.49793114e-01 2.48216703e-04 3.85731974e+01] [-3.68139172e-04 -6.17396400e-06 9.99999932e-01 -5.90258907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38088847899999 meters Centerline goodness [0,1] 0.9997837136368551 Centerline is valid? [True, True] Translation: X:93.52, Y:38.59, Z:-0.59 [[ 7.50587003e-01 -6.60771599e-01 -2.13450384e-04 9.35173976e+01] [ 6.60771569e-01 7.50587033e-01 -1.97310832e-04 3.85916852e+01] [ 2.90590485e-04 7.05700084e-06 9.99999958e-01 -5.91045456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.410888479 meters Centerline goodness [0,1] 0.9997416632580569 Centerline is valid? [True, True] Translation: X:93.54, Y:38.61, Z:-0.59 [[ 7.52263392e-01 -6.58862234e-01 -5.87595726e-04 9.35356932e+01] [ 6.58862014e-01 7.52263621e-01 -5.38952327e-04 3.86133318e+01] [ 7.97122223e-04 1.82896017e-05 9.99999682e-01 -5.91131229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.440888479 meters Centerline goodness [0,1] 0.9997194284974317 Centerline is valid? [True, True] Translation: X:93.56, Y:38.63, Z:-0.59 [[ 7.52369723e-01 -6.58740995e-01 -3.17095814e-04 9.35560601e+01] [ 6.58740930e-01 7.52369790e-01 -2.92676797e-04 3.86319958e+01] [ 4.31371516e-04 1.13171691e-05 9.99999907e-01 -5.90157457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.470888479 meters Centerline goodness [0,1] 0.9997836574865326 Centerline is valid? [True, True] Translation: X:93.58, Y:38.65, Z:-0.59 [[ 7.52297883e-01 -6.58822235e-01 -1.07626341e-03 9.35780227e+01] [ 6.58821494e-01 7.52298652e-01 -9.88860580e-04 3.86509130e+01] [ 1.46115485e-03 3.48522501e-05 9.99998932e-01 -5.90217404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.500888479 meters Centerline goodness [0,1] 0.9998481759423936 Centerline is valid? [True, True] Translation: X:93.60, Y:38.67, Z:-0.59 [[ 7.51994992e-01 -6.59167070e-01 -1.51833828e-03 9.35987090e+01] [ 6.59165595e-01 7.51996523e-01 -1.39540229e-03 3.86702990e+01] [ 2.06158834e-03 4.84991797e-05 9.99997874e-01 -5.91022878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.530888479 meters Centerline goodness [0,1] 0.9996976437811805 Centerline is valid? [True, True] Translation: X:93.62, Y:38.69, Z:-0.59 [[ 7.52239647e-01 -6.58887121e-01 -1.80973755e-03 9.36177599e+01] [ 6.58885028e-01 7.52241822e-01 -1.66161499e-03 3.86909250e+01] [ 2.45617699e-03 5.75236921e-05 9.99996982e-01 -5.92959384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.560888479 meters Centerline goodness [0,1] 0.9997835685222058 Centerline is valid? [True, True] Translation: X:93.64, Y:38.71, Z:-0.59 [[ 7.52146427e-01 -6.58993496e-01 -1.82306379e-03 9.36375617e+01] [ 6.58991367e-01 7.52148634e-01 -1.67626116e-03 3.87102408e+01] [ 2.47586014e-03 5.94105433e-05 9.99996933e-01 -5.93695645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.590888479 meters Centerline goodness [0,1] 0.9995890736855765 Centerline is valid? [True, True] Translation: X:93.66, Y:38.73, Z:-0.59 [[ 7.51857952e-01 -6.59322541e-01 -1.84567690e-03 9.36584304e+01] [ 6.59320357e-01 7.51860215e-01 -1.69800130e-03 3.87293217e+01] [ 2.50722156e-03 5.97634253e-05 9.99996855e-01 -5.94404272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.620888479 meters Centerline goodness [0,1] 0.9998486780950734 Centerline is valid? [True, True] Translation: X:93.68, Y:38.75, Z:-0.59 [[ 7.51479534e-01 -6.59755131e-01 -1.29474528e-03 9.36800056e+01] [ 6.59754056e-01 7.51480648e-01 -1.19212359e-03 3.87485738e+01] [ 1.75948568e-03 4.16430304e-05 9.99998451e-01 -5.94711820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.650888479 meters Centerline goodness [0,1] 0.9997625369686765 Centerline is valid? [True, True] Translation: X:93.70, Y:38.77, Z:-0.60 [[ 7.51076673e-01 -6.60214982e-01 9.11948538e-05 9.36983707e+01] [ 6.60214977e-01 7.51076679e-01 8.31899786e-05 3.87695114e+01] [-1.23417598e-04 -2.27384408e-06 9.99999992e-01 -5.95096650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.680888479 meters Centerline goodness [0,1] 0.9997840452641127 Centerline is valid? [True, True] Translation: X:93.72, Y:38.79, Z:-0.59 [[ 7.50537698e-01 -6.60827271e-01 6.94427942e-04 9.37207323e+01] [ 6.60826964e-01 7.50538019e-01 6.36972135e-04 3.87873734e+01] [-9.42123129e-04 -1.91748910e-05 9.99999556e-01 -5.94150750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710888479 meters Centerline goodness [0,1] 0.9997195979465942 Centerline is valid? [True, True] Translation: X:93.74, Y:38.81, Z:-0.59 [[ 7.50223940e-01 -6.61182286e-01 1.42281122e-03 9.37411664e+01] [ 6.61180995e-01 7.50225288e-01 1.30752240e-03 3.88062988e+01] [-1.93193961e-03 -4.01988734e-05 9.99998133e-01 -5.94066121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74088847899999 meters Centerline goodness [0,1] 0.999653889417669 Centerline is valid? [True, True] Translation: X:93.76, Y:38.83, Z:-0.59 [[ 7.49540363e-01 -6.61956160e-01 1.81273860e-03 9.37628614e+01] [ 6.61954061e-01 7.49542554e-01 1.66751412e-03 3.88250787e+01] [-2.46254596e-03 -4.99194568e-05 9.99996967e-01 -5.94224347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77088847899999 meters Centerline goodness [0,1] 0.9997410668047644 Centerline is valid? [True, True] Translation: X:93.78, Y:38.84, Z:-0.59 [[ 7.48203497e-01 -6.63466194e-01 2.03400962e-03 9.37836127e+01] [ 6.63463553e-01 7.48206260e-01 1.87266984e-03 3.88439977e+01] [-2.76431186e-03 -5.16468739e-05 9.99996178e-01 -5.94859467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.800888479 meters Centerline goodness [0,1] 0.9997633441621308 Centerline is valid? [True, True] Translation: X:93.81, Y:38.86, Z:-0.60 [[ 7.47324634e-01 -6.64456173e-01 1.97108043e-03 9.38072533e+01] [ 6.64453696e-01 7.47327232e-01 1.81479575e-03 3.88616744e+01] [-2.67889432e-03 -4.65498943e-05 9.99996411e-01 -5.95224989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.830888479 meters Centerline goodness [0,1] 0.9997837510542136 Centerline is valid? [True, True] Translation: X:93.83, Y:38.88, Z:-0.60 [[ 7.46434043e-01 -6.65454081e-01 2.66207629e-03 9.38273761e+01] [ 6.65449562e-01 7.46438787e-01 2.45300260e-03 3.88804815e+01] [-3.61943758e-03 -5.95271441e-05 9.99993448e-01 -5.96753256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.860888479 meters Centerline goodness [0,1] 0.9998059633917599 Centerline is valid? [True, True] Translation: X:93.85, Y:38.90, Z:-0.60 [[ 7.46007164e-01 -6.65929837e-01 3.28079978e-03 9.38473785e+01] [ 6.65922975e-01 7.46014375e-01 3.02395434e-03 3.88996360e+01] [-4.46126522e-03 -7.11316493e-05 9.99990046e-01 -5.97261204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.890888479 meters Centerline goodness [0,1] 0.9997619871905834 Centerline is valid? [True, True] Translation: X:93.87, Y:38.92, Z:-0.60 [[ 7.45645223e-01 -6.66329937e-01 4.19713520e-03 9.38680730e+01] [ 6.66318697e-01 7.45657030e-01 3.87132698e-03 3.89186703e+01] [-5.70920443e-03 -9.00068164e-05 9.99983698e-01 -5.97188335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.920888479 meters Centerline goodness [0,1] 0.999827292156905 Centerline is valid? [True, True] Translation: X:93.89, Y:38.94, Z:-0.60 [[ 7.45715096e-01 -6.66249765e-01 4.49957235e-03 9.38877513e+01] [ 6.66236831e-01 7.45728664e-01 4.15266136e-03 3.89375271e+01] [-6.12216974e-03 -9.89214386e-05 9.99981254e-01 -5.97159736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.950888479 meters Centerline goodness [0,1] 0.9998057707663422 Centerline is valid? [True, True] Translation: X:93.91, Y:38.96, Z:-0.60 [[ 7.45735713e-01 -6.66227122e-01 4.43475200e-03 9.39089544e+01] [ 6.66214551e-01 7.45748893e-01 4.09395350e-03 3.89563633e+01] [-6.03471425e-03 -9.85110219e-05 9.99981786e-01 -5.97287089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.980888479 meters Centerline goodness [0,1] 0.999913307325531 Centerline is valid? [True, True] Translation: X:93.93, Y:38.97, Z:-0.60 [[ 7.45456504e-01 -6.66538695e-01 4.55719325e-03 9.39314888e+01] [ 6.66525411e-01 7.45470427e-01 4.20937326e-03 3.89739647e+01] [-6.20296296e-03 -1.00419570e-04 9.99980756e-01 -5.97353815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.010888479 meters Centerline goodness [0,1] 0.9998479582971329 Centerline is valid? [True, True] Translation: X:93.95, Y:38.99, Z:-0.60 [[ 7.45130245e-01 -6.66899114e-01 5.14689560e-03 9.39518520e+01] [ 6.66882157e-01 7.45148012e-01 4.75701052e-03 3.89926270e+01] [-7.00764513e-03 -1.12219572e-04 9.99975440e-01 -5.98052341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.040888479 meters Centerline goodness [0,1] 0.9998046281422307 Centerline is valid? [True, True] Translation: X:93.97, Y:39.01, Z:-0.60 [[ 7.44852911e-01 -6.67207203e-01 5.35622257e-03 9.39717538e+01] [ 6.67188826e-01 7.44872160e-01 4.95335347e-03 3.90123330e+01] [-7.29461419e-03 -1.15907900e-04 9.99973387e-01 -5.99499597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070888479 meters Centerline goodness [0,1] 0.9997623522803379 Centerline is valid? [True, True] Translation: X:93.99, Y:39.03, Z:-0.60 [[ 7.44974551e-01 -6.67073680e-01 5.06199534e-03 9.39912217e+01] [ 6.67057246e-01 7.44991740e-01 4.68376420e-03 3.90325897e+01] [-6.89556054e-03 -1.12644460e-04 9.99976219e-01 -6.03465105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10088847899999 meters Centerline goodness [0,1] 0.9997834419732767 Centerline is valid? [True, True] Translation: X:94.01, Y:39.05, Z:-0.60 [[ 7.45223233e-01 -6.66797192e-01 4.88233225e-03 9.40124206e+01] [ 6.66781884e-01 7.45239218e-01 4.51965701e-03 3.90514353e+01] [-6.65220007e-03 -1.12702711e-04 9.99977868e-01 -6.04047547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13088847899999 meters Centerline goodness [0,1] 0.9997829719816829 Centerline is valid? [True, True] Translation: X:94.03, Y:39.07, Z:-0.60 [[ 7.45371129e-01 -6.66628056e-01 5.37719690e-03 9.40348057e+01] [ 6.66609474e-01 7.45390514e-01 4.97909005e-03 3.90699185e+01] [-7.32731268e-03 -1.26779573e-04 9.99973147e-01 -6.03592483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.160888479 meters Centerline goodness [0,1] 0.9998484553267952 Centerline is valid? [True, True] Translation: X:94.06, Y:39.09, Z:-0.60 [[ 7.46058919e-01 -6.65859633e-01 5.19986183e-03 9.40576458e+01] [ 6.65842221e-01 7.46077028e-01 4.81719109e-03 3.90880995e+01] [-7.08707055e-03 -1.31620821e-04 9.99974878e-01 -6.02552720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.190888479 meters Centerline goodness [0,1] 0.9998484553267952 Centerline is valid? [True, True] Translation: X:94.08, Y:39.11, Z:-0.60 [[ 7.45870386e-01 -6.66070823e-01 5.19862926e-03 9.40778397e+01] [ 6.66053407e-01 7.45888491e-01 4.81852097e-03 3.91069068e+01] [-7.08707396e-03 -1.31427361e-04 9.99974878e-01 -6.02702933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.220888479 meters Centerline goodness [0,1] 0.9998046620653731 Centerline is valid? [True, True] Translation: X:94.10, Y:39.13, Z:-0.60 [[ 7.46210231e-01 -6.65690597e-01 5.13027071e-03 9.40966145e+01] [ 6.65673610e-01 7.46227854e-01 4.75751707e-03 3.91277567e+01] [-6.99538528e-03 -1.35022088e-04 9.99975523e-01 -6.03854667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.250888479 meters Centerline goodness [0,1] 0.9997613313371955 Centerline is valid? [True, True] Translation: X:94.12, Y:39.15, Z:-0.61 [[ 7.46309215e-01 -6.65583626e-01 4.58172017e-03 9.41181533e+01] [ 6.65570068e-01 7.46323269e-01 4.25000871e-03 3.91463899e+01] [-6.24818058e-03 -1.22364857e-04 9.99980472e-01 -6.06154574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.280888479 meters Centerline goodness [0,1] 0.9997183281693498 Centerline is valid? [True, True] Translation: X:94.14, Y:39.17, Z:-0.61 [[ 7.46017640e-01 -6.65910159e-01 4.61956355e-03 9.41373644e+01] [ 6.65896368e-01 7.46031933e-01 4.28742360e-03 3.91661586e+01] [-6.30138085e-03 -1.22343045e-04 9.99980139e-01 -6.08944684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.310888479 meters Centerline goodness [0,1] 0.9996967793636699 Centerline is valid? [True, True] Translation: X:94.16, Y:39.18, Z:-0.61 [[ 7.45477387e-01 -6.66510413e-01 5.22836660e-03 9.41582935e+01] [ 6.66492753e-01 7.45495709e-01 4.85369605e-03 3.91840062e+01] [-7.13276382e-03 -1.33652202e-04 9.99974553e-01 -6.08936996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.340888479 meters Centerline goodness [0,1] 0.9998912310470099 Centerline is valid? [True, True] Translation: X:94.18, Y:39.20, Z:-0.61 [[ 7.44453977e-01 -6.67650264e-01 5.60369957e-03 9.41812696e+01] [ 6.67629998e-01 7.44475055e-01 5.20357825e-03 3.92010776e+01] [-7.64598494e-03 -1.32626592e-04 9.99970760e-01 -6.08238963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.370888479 meters Centerline goodness [0,1] 0.9999565179580833 Centerline is valid? [True, True] Translation: X:94.20, Y:39.22, Z:-0.61 [[ 7.42771884e-01 -6.69511853e-01 6.61874616e-03 9.42030342e+01] [ 6.69483631e-01 7.42801360e-01 6.14875970e-03 3.92185209e+01] [-9.03308115e-03 -1.35983615e-04 9.99959192e-01 -6.06284210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.400888479 meters Centerline goodness [0,1] 0.9999565207939303 Centerline is valid? [True, True] Translation: X:94.23, Y:39.24, Z:-0.61 [[ 7.41993903e-01 -6.70369056e-01 7.09762692e-03 9.42253483e+01] [ 6.70336619e-01 7.42027836e-01 6.59595586e-03 3.92358724e+01] [-9.68836145e-03 -1.36359794e-04 9.99953057e-01 -6.06277177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430888479 meters Centerline goodness [0,1] 0.9998913350574837 Centerline is valid? [True, True] Translation: X:94.25, Y:39.26, Z:-0.61 [[ 7.41169127e-01 -6.71269988e-01 8.05780817e-03 9.42456662e+01] [ 6.71228185e-01 7.41212913e-01 7.49279374e-03 3.92554079e+01] [-1.10022390e-02 -1.44799446e-04 9.99939463e-01 -6.06765959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.460888479 meters Centerline goodness [0,1] 0.9998041477161448 Centerline is valid? [True, True] Translation: X:94.27, Y:39.28, Z:-0.61 [[ 7.40201246e-01 -6.72327795e-01 8.80066959e-03 9.42651780e+01] [ 6.72277944e-01 7.40253548e-01 8.18846279e-03 3.92751503e+01] [-1.20200580e-02 -1.44614301e-04 9.99927746e-01 -6.08309562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49088847899999 meters Centerline goodness [0,1] 0.9998696275694233 Centerline is valid? [True, True] Translation: X:94.29, Y:39.29, Z:-0.61 [[ 7.39685232e-01 -6.72899575e-01 8.48047204e-03 9.42858752e+01] [ 6.72853286e-01 7.39733833e-01 7.89374008e-03 3.92933316e+01] [-1.15849864e-02 -1.32769482e-04 9.99932883e-01 -6.08444878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52088847899999 meters Centerline goodness [0,1] 0.9997605728837908 Centerline is valid? [True, True] Translation: X:94.31, Y:39.31, Z:-0.61 [[ 7.38718494e-01 -6.73972802e-01 7.45979904e-03 9.43091581e+01] [ 6.73937014e-01 7.38756152e-01 6.94617763e-03 3.93114023e+01] [-1.01925072e-02 -1.03835194e-04 9.99948050e-01 -6.08543877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.550888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.33, Y:39.33, Z:-0.61 [[ 7.37087824e-01 -6.75768885e-01 6.16063230e-03 9.43327840e+01] [ 6.75744519e-01 7.37113566e-01 5.73899440e-03 3.93279972e+01] [-8.41931949e-03 -6.71293863e-05 9.99964555e-01 -6.09497869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.580888479 meters Centerline goodness [0,1] 0.9999345321229051 Centerline is valid? [True, True] Translation: X:94.35, Y:39.35, Z:-0.61 [[ 7.36007790e-01 -6.76949245e-01 5.67915098e-03 9.43537924e+01] [ 6.76928558e-01 7.36029699e-01 5.29244054e-03 3.93467607e+01] [-7.76273741e-03 -5.08979834e-05 9.99969868e-01 -6.10544552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.610888479 meters Centerline goodness [0,1] 0.9999781396873976 Centerline is valid? [True, True] Translation: X:94.37, Y:39.37, Z:-0.61 [[ 7.34170069e-01 -6.78935575e-01 6.38712210e-03 9.43740085e+01] [ 6.78909466e-01 7.34197851e-01 5.95418594e-03 3.93660108e+01] [-8.73191997e-03 -3.51074426e-05 9.99961875e-01 -6.12728913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.640888479 meters Centerline goodness [0,1] 0.9999122672340052 Centerline is valid? [True, True] Translation: X:94.39, Y:39.38, Z:-0.61 [[ 7.33290472e-01 -6.79879840e-01 6.96317021e-03 9.43947352e+01] [ 6.79848816e-01 7.33323532e-01 6.49504761e-03 3.93848973e+01] [-9.52210850e-03 -2.88535127e-05 9.99954663e-01 -6.12655442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.670888479 meters Centerline goodness [0,1] 0.9999341252936914 Centerline is valid? [True, True] Translation: X:94.41, Y:39.40, Z:-0.61 [[ 7.32797016e-01 -6.80404192e-01 7.65959320e-03 9.44148387e+01] [ 6.80366646e-01 7.32837045e-01 7.14784360e-03 3.94028645e+01] [-1.04766564e-02 -2.65867221e-05 9.99945118e-01 -6.11392359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.700888479 meters Centerline goodness [0,1] 0.9999561422744616 Centerline is valid? [True, True] Translation: X:94.44, Y:39.42, Z:-0.61 [[ 7.31865636e-01 -6.81397075e-01 8.40931343e-03 9.44369150e+01] [ 6.81351847e-01 7.31913947e-01 7.85077662e-03 3.94202515e+01] [-1.15043900e-02 -1.60123853e-05 9.99933822e-01 -6.10175149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.730888479 meters Centerline goodness [0,1] 0.9999341252936914 Centerline is valid? [True, True] Translation: X:94.46, Y:39.44, Z:-0.61 [[ 7.31634860e-01 -6.81649578e-01 8.01768327e-03 9.44585999e+01] [ 6.81608435e-01 7.31678790e-01 7.48924972e-03 3.94386333e+01] [-1.09714127e-02 -1.44756284e-05 9.99939812e-01 -6.10118220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.760888479 meters Centerline goodness [0,1] 0.999934132525359 Centerline is valid? [True, True] Translation: X:94.48, Y:39.46, Z:-0.61 [[ 7.31507784e-01 -6.81790186e-01 7.64886665e-03 9.44798736e+01] [ 6.81752707e-01 7.31547772e-01 7.14868954e-03 3.94570813e+01] [-1.04694177e-02 -1.46864980e-05 9.99945194e-01 -6.09913643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.790888479 meters Centerline goodness [0,1] 0.9999561816707929 Centerline is valid? [True, True] Translation: X:94.50, Y:39.48, Z:-0.61 [[ 7.32322606e-01 -6.80911274e-01 7.96479227e-03 9.44986528e+01] [ 6.80870550e-01 7.32365917e-01 7.44704844e-03 3.94765145e+01] [-1.09039216e-02 -3.06494308e-05 9.99940550e-01 -6.09657747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.820888479 meters Centerline goodness [0,1] 0.9998686140977073 Centerline is valid? [True, True] Translation: X:94.52, Y:39.50, Z:-0.61 [[ 7.33207408e-01 -6.79949742e-01 8.67438349e-03 9.45184904e+01] [ 6.79901334e-01 7.33258716e-01 8.11359991e-03 3.94979377e+01] [-1.18774075e-02 -5.12266498e-05 9.99929460e-01 -6.10062926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85088847899999 meters Centerline goodness [0,1] 0.9999346319780363 Centerline is valid? [True, True] Translation: X:94.54, Y:39.52, Z:-0.61 [[ 7.35759307e-01 -6.77183242e-01 9.00545561e-03 9.45362451e+01] [ 6.77130827e-01 7.35814410e-01 8.42594814e-03 3.95202976e+01] [-1.23322549e-02 -1.01598162e-04 9.99923950e-01 -6.11071268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88088847899999 meters Centerline goodness [0,1] 0.999978126298751 Centerline is valid? [True, True] Translation: X:94.56, Y:39.54, Z:-0.61 [[ 7.37036742e-01 -6.75798472e-01 8.55951464e-03 9.45568628e+01] [ 6.75750995e-01 7.37086433e-01 8.01142957e-03 3.95404798e+01] [-1.17232140e-02 -1.20617427e-04 9.99931273e-01 -6.11917358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.910888479 meters Centerline goodness [0,1] 0.9999781444650858 Centerline is valid? [True, True] Translation: X:94.58, Y:39.56, Z:-0.61 [[ 7.38259439e-01 -6.74472134e-01 7.76797804e-03 9.45781021e+01] [ 6.74432921e-01 7.38300293e-01 7.27400013e-03 3.95607766e+01] [-1.06412109e-02 -1.31119132e-04 9.99943372e-01 -6.12520523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.940888479 meters Centerline goodness [0,1] 0.999934235043953 Centerline is valid? [True, True] Translation: X:94.60, Y:39.58, Z:-0.61 [[ 7.39264320e-01 -6.73378351e-01 7.06118678e-03 9.45991825e+01] [ 6.73345870e-01 7.39298030e-01 6.61524507e-03 3.95811518e+01] [-9.67488430e-03 -1.35793695e-04 9.99953188e-01 -6.13117437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.970888479 meters Centerline goodness [0,1] 0.999824734363019 Centerline is valid? [True, True] Translation: X:94.62, Y:39.60, Z:-0.61 [[ 7.40949235e-01 -6.71536726e-01 5.71464432e-03 9.46184052e+01] [ 6.71515383e-01 7.40971260e-01 5.35550995e-03 3.96013145e+01] [-7.83080882e-03 -1.30689434e-04 9.99969330e-01 -6.14875522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.000888479 meters Centerline goodness [0,1] 0.9999563080283997 Centerline is valid? [True, True] Translation: X:94.64, Y:39.62, Z:-0.62 [[ 7.41416536e-01 -6.71022566e-01 5.49878671e-03 9.46391461e+01] [ 6.71002781e-01 7.41436915e-01 5.15454096e-03 3.96208690e+01] [-7.53581675e-03 -1.31960724e-04 9.99971597e-01 -6.15669577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.030888479 meters Centerline goodness [0,1] 0.9999562114113062 Centerline is valid? [True, True] Translation: X:94.66, Y:39.64, Z:-0.62 [[ 7.42011668e-01 -6.70358830e-01 6.14194260e-03 9.46593809e+01] [ 6.70334097e-01 7.42037071e-01 5.76047841e-03 3.96410526e+01] [-8.41913666e-03 -1.57188647e-04 9.99964546e-01 -6.15938106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.060888479 meters Centerline goodness [0,1] 0.9999125740388608 Centerline is valid? [True, True] Translation: X:94.68, Y:39.66, Z:-0.62 [[ 7.43717731e-01 -6.68466953e-01 5.98901351e-03 9.46781921e+01] [ 6.68443358e-01 7.43741824e-01 5.61922899e-03 3.96609052e+01] [-8.21054872e-03 -1.75803938e-04 9.99966277e-01 -6.15436903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.090888479 meters Centerline goodness [0,1] 0.9999562908407457 Centerline is valid? [True, True] Translation: X:94.70, Y:39.68, Z:-0.62 [[ 7.44157348e-01 -6.67975352e-01 6.22658171e-03 9.46982460e+01] [ 6.67949820e-01 7.44183374e-01 5.84330259e-03 3.96804250e+01] [-8.53690069e-03 -1.89292429e-04 9.99963542e-01 -6.15053471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.120888479 meters Centerline goodness [0,1] 0.9999344032885819 Centerline is valid? [True, True] Translation: X:94.72, Y:39.70, Z:-0.61 [[ 7.44371318e-01 -6.67739097e-01 5.98662300e-03 9.47188937e+01] [ 6.67715480e-01 7.44395368e-01 5.61905135e-03 3.96997084e+01] [-8.20847471e-03 -1.85299813e-04 9.99966293e-01 -6.14790885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.150888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.74, Y:39.72, Z:-0.61 [[ 7.43434905e-01 -6.68783873e-01 5.71595436e-03 9.47431023e+01] [ 6.68762363e-01 7.43456860e-01 5.36641608e-03 3.97167097e+01] [-7.83853802e-03 -1.66965886e-04 9.99969264e-01 -6.14709168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.180888479 meters Centerline goodness [0,1] 0.9999780557384244 Centerline is valid? [True, True] Translation: X:94.76, Y:39.74, Z:-0.62 [[ 7.42338142e-01 -6.70003412e-01 5.43242066e-03 9.47629627e+01] [ 6.69984001e-01 7.42358004e-01 5.10222492e-03 3.97359994e+01] [-7.45130906e-03 -1.47941242e-04 9.99972228e-01 -6.15342750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:39.75, Z:-0.62 [[ 7.41345786e-01 -6.71103870e-01 5.10102867e-03 9.47867979e+01] [ 6.71086773e-01 7.41363324e-01 4.79211504e-03 3.97533671e+01] [-6.99772252e-03 -1.29381423e-04 9.99975507e-01 -6.16968028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:39.77, Z:-0.62 [[ 7.39380049e-01 -6.73273126e-01 4.52121520e-03 9.48095715e+01] [ 6.73259724e-01 7.39393866e-01 4.24914922e-03 3.97696002e+01] [-6.20379676e-03 -9.77840598e-05 9.99980751e-01 -6.18223600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:39.79, Z:-0.62 [[ 7.38174842e-01 -6.74595079e-01 4.40250013e-03 9.48321834e+01] [ 6.74582391e-01 7.38187965e-01 4.13841182e-03 3.97875952e+01] [-6.04162486e-03 -8.50224225e-05 9.99981746e-01 -6.18073938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.300888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:39.80, Z:-0.62 [[ 7.36354107e-01 -6.76578696e-01 4.88844823e-03 9.48561910e+01] [ 6.76563079e-01 7.36370329e-01 4.59766513e-03 3.98048704e+01] [-6.71039051e-03 -7.81660209e-05 9.99977482e-01 -6.17249600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.330888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:39.82, Z:-0.62 [[ 7.35494795e-01 -6.77514603e-01 4.62265667e-03 9.48776418e+01] [ 6.77500643e-01 7.35509319e-01 4.34971573e-03 3.98235966e+01] [-6.34700298e-03 -6.73404098e-05 9.99979855e-01 -6.17957228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.360888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.90, Y:39.84, Z:-0.62 [[ 7.34450997e-01 -6.78648417e-01 4.24953573e-03 9.49007802e+01] [ 6.78636629e-01 7.34463289e-01 4.00043597e-03 3.98418234e+01] [-5.83601753e-03 -5.42335800e-05 9.99982969e-01 -6.17864899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.390888479 meters Centerline goodness [0,1] 0.9999778550390859 Centerline is valid? [True, True] Translation: X:94.92, Y:39.86, Z:-0.62 [[ 7.34052569e-01 -6.79080779e-01 4.01512594e-03 9.49224945e+01] [ 6.79070252e-01 7.34063548e-01 3.78153239e-03 3.98603293e+01] [-5.51532356e-03 -4.92909881e-05 9.99984789e-01 -6.18090816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.420888479 meters Centerline goodness [0,1] 0.9999778491527301 Centerline is valid? [True, True] Translation: X:94.94, Y:39.88, Z:-0.62 [[ 7.33557286e-01 -6.79619814e-01 3.25837017e-03 9.49440223e+01] [ 6.79612880e-01 7.33564522e-01 3.07013553e-03 3.98787179e+01] [-4.47674969e-03 -3.76899542e-05 9.99989979e-01 -6.18802053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.450888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:39.90, Z:-0.62 [[ 7.32947050e-01 -6.80284001e-01 1.51686449e-03 9.49647640e+01] [ 6.80282498e-01 7.32948619e-01 1.42965688e-03 3.98960101e+01] [-2.08435644e-03 -1.59664296e-05 9.99997828e-01 -6.20955593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.99, Y:39.91, Z:-0.62 [[ 7.32294051e-01 -6.80987506e-01 1.19977261e-03 9.49857316e+01] [ 6.80986568e-01 7.32295034e-01 1.13006884e-03 3.99148928e+01] [-1.64815028e-03 -1.05136540e-05 9.99998642e-01 -6.21672296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:39.93, Z:-0.62 [[ 7.31691563e-01 -6.81634522e-01 1.35469656e-03 9.50054873e+01] [ 6.81633324e-01 7.31692817e-01 1.27761655e-03 3.99336220e+01] [-1.86208929e-03 -1.14149267e-05 9.99998266e-01 -6.22021951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.540888479 meters Centerline goodness [0,1] 0.9998883330355548 Centerline is valid? [True, True] Translation: X:95.03, Y:39.95, Z:-0.62 [[ 7.31070177e-01 -6.82299461e-01 1.95971230e-03 9.50260863e+01] [ 6.82296957e-01 7.31072804e-01 1.84876518e-03 3.99521951e+01] [-2.69410385e-03 -1.44713526e-05 9.99996371e-01 -6.21453179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:39.97, Z:-0.62 [[ 7.29729070e-01 -6.83730435e-01 2.85945352e-03 9.50481370e+01] [ 6.83725103e-01 7.29734672e-01 2.70029453e-03 3.99699547e+01] [-3.93291593e-03 -1.54032580e-05 9.99992266e-01 -6.19977087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:39.99, Z:-0.62 [[ 7.28916382e-01 -6.84596488e-01 2.92521394e-03 9.50697699e+01] [ 6.84590912e-01 7.28922252e-01 2.76295286e-03 3.99875288e+01] [-4.02376136e-03 -1.13867245e-05 9.99991905e-01 -6.18907791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.09, Y:40.00, Z:-0.62 [[ 7.28355470e-01 -6.85196154e-01 2.13069442e-03 9.50925030e+01] [ 6.85193197e-01 7.28358587e-01 2.01302723e-03 4.00040957e+01] [-2.93122810e-03 -6.26207455e-06 9.99995704e-01 -6.17467631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:40.02, Z:-0.62 [[ 7.28589984e-01 -6.84948796e-01 1.33521638e-03 9.51126986e+01] [ 6.84947633e-01 7.28591207e-01 1.26222242e-03 4.00224429e+01] [-1.83738464e-03 -5.08931458e-06 9.99998312e-01 -6.18521023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:40.04, Z:-0.62 [[ 7.29052003e-01 -6.84457643e-01 9.54800562e-04 9.51316407e+01] [ 6.84457048e-01 7.29052629e-01 9.02155474e-04 4.00413923e+01] [-1.31358707e-03 -4.19828168e-06 9.99999137e-01 -6.20211058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.15, Y:40.06, Z:-0.62 [[ 7.30212677e-01 -6.83219134e-01 1.03070205e-03 9.51506333e+01] [ 6.83218438e-01 7.30213404e-01 9.74751425e-04 4.00620255e+01] [-1.41860127e-03 -7.58120474e-06 9.99998994e-01 -6.21969587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.17, Y:40.08, Z:-0.62 [[ 7.30651552e-01 -6.82749177e-01 1.36778456e-03 9.51700885e+01] [ 6.82747951e-01 7.30652832e-01 1.29401565e-03 4.00809122e+01] [-1.88286378e-03 -1.16224346e-05 9.99998227e-01 -6.21815418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.780888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.19, Y:40.10, Z:-0.62 [[ 7.30821907e-01 -6.82566925e-01 1.31645624e-03 9.51906290e+01] [ 6.82565790e-01 7.30823092e-01 1.24522181e-03 4.00996780e+01] [-1.81204384e-03 -1.14673862e-05 9.99998358e-01 -6.21763275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.810888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.21, Y:40.12, Z:-0.62 [[ 7.31477657e-01 -6.81865283e-01 4.16132317e-04 9.52139393e+01] [ 6.81865170e-01 7.31477775e-01 3.92629106e-04 4.01177042e+01] [-5.72111697e-04 -3.45328548e-06 9.99999836e-01 -6.20283336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.840888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.23, Y:40.14, Z:-0.62 [[ 7.31871258e-01 -6.81442925e-01 -3.77426287e-05 9.52347226e+01] [ 6.81442924e-01 7.31871259e-01 -3.68508489e-05 4.01369523e+01] [ 5.27344955e-05 1.25062995e-06 9.99999999e-01 -6.20762432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.26, Y:40.16, Z:-0.62 [[ 7.32095176e-01 -6.81202294e-01 -2.97104462e-04 9.52557730e+01] [ 6.81202234e-01 7.32095236e-01 -2.83886929e-04 4.01551159e+01] [ 4.10893188e-04 5.44402786e-06 9.99999916e-01 -6.20293228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.900888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.28, Y:40.17, Z:-0.62 [[ 7.32877592e-01 -6.80360353e-01 4.74826852e-04 9.52756560e+01] [ 6.80360205e-01 7.32877746e-01 4.49413584e-04 4.01733676e+01] [-6.53753217e-04 -6.31185102e-06 9.99999786e-01 -6.18956211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.930888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:40.19, Z:-0.62 [[ 7.32724937e-01 -6.80523201e-01 1.52994909e-03 9.52961022e+01] [ 6.80521655e-01 7.32726534e-01 1.45066751e-03 4.01929073e+01] [-2.10824719e-03 -2.17767724e-05 9.99997777e-01 -6.18194814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.960888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.32, Y:40.21, Z:-0.62 [[ 7.32544609e-01 -6.80716112e-01 1.99265896e-03 9.53186440e+01] [ 6.80713486e-01 7.32547319e-01 1.89076174e-03 4.02102762e+01] [-2.74678895e-03 -2.86374935e-05 9.99996227e-01 -6.17443019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:40.23, Z:-0.62 [[ 7.32390791e-01 -6.80882240e-01 1.76219692e-03 9.53389075e+01] [ 6.80880183e-01 7.32392910e-01 1.67350929e-03 4.02288049e+01] [-2.43008329e-03 -2.58178300e-05 9.99997047e-01 -6.17779415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.36, Y:40.25, Z:-0.62 [[ 7.32652286e-01 -6.80602260e-01 1.09158631e-03 9.53587628e+01] [ 6.80601471e-01 7.32653099e-01 1.03675023e-03 4.02489534e+01] [-1.50536864e-03 -1.66421779e-05 9.99998867e-01 -6.18691240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.38, Y:40.27, Z:-0.62 [[ 7.32824677e-01 -6.80417139e-01 7.13197444e-04 9.53800583e+01] [ 6.80416803e-01 7.32825024e-01 6.76380511e-04 4.02686535e+01] [-9.82869827e-04 -1.03968049e-05 9.99999517e-01 -6.19491540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:40.29, Z:-0.62 [[ 7.32917725e-01 -6.80317269e-01 -1.48026903e-04 9.54027186e+01] [ 6.80317254e-01 7.32917740e-01 -1.42661856e-04 4.02866403e+01] [ 2.05546868e-04 3.85414674e-06 9.99999979e-01 -6.20130387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.110888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:40.31, Z:-0.62 [[ 7.32726787e-01 -6.80522912e-01 -1.47853000e-04 9.54226710e+01] [ 6.80522897e-01 7.32726802e-01 -1.42844343e-04 4.03057190e+01] [ 2.05544704e-04 4.04852436e-06 9.99999979e-01 -6.20280595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.140888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.44, Y:40.32, Z:-0.62 [[ 7.32116514e-01 -6.81179295e-01 -4.21967205e-04 9.54434109e+01] [ 6.81179175e-01 7.32116636e-01 -4.03978640e-04 4.03241358e+01] [ 5.84111096e-04 8.32416071e-06 9.99999829e-01 -6.20360539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.170888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:40.34, Z:-0.62 [[ 7.30989400e-01 -6.82388541e-01 -6.13447463e-04 9.54649330e+01] [ 6.82388289e-01 7.30989658e-01 -5.86375485e-04 4.03429622e+01] [ 8.48559662e-04 1.00248990e-05 9.99999640e-01 -6.20669531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.200888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:40.36, Z:-0.62 [[ 7.28446242e-01 -6.85101000e-01 -1.64082200e-03 9.54859763e+01] [ 6.85099215e-01 7.28448089e-01 -1.56434939e-03 4.03612328e+01] [ 2.26699098e-03 1.54185660e-05 9.99997430e-01 -6.24454150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.51, Y:40.38, Z:-0.63 [[ 7.27067344e-01 -6.86563566e-01 -1.88304626e-03 9.55080129e+01] [ 6.86561214e-01 7.27069783e-01 -1.79732758e-03 4.03791274e+01] [ 2.60308567e-03 1.39516656e-05 9.99996612e-01 -6.25493532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.53, Y:40.39, Z:-0.62 [[ 7.23742387e-01 -6.90069985e-01 -6.11490290e-04 9.55313461e+01] [ 6.90069737e-01 7.23742645e-01 -5.85141910e-04 4.03948754e+01] [ 8.46350469e-04 1.52105919e-06 9.99999642e-01 -6.24235608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.55, Y:40.41, Z:-0.62 [[ 7.21994218e-01 -6.91899089e-01 1.55353457e-05 9.55528082e+01] [ 6.91899089e-01 7.21994218e-01 1.27209727e-05 4.04131291e+01] [-2.00180592e-05 1.56442284e-06 1.00000000e+00 -6.21453290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:40.43, Z:-0.62 [[ 7.20261284e-01 -6.93701949e-01 1.13542746e-03 9.55743223e+01] [ 6.93701105e-01 7.20262178e-01 1.08223378e-03 4.04312290e+01] [-1.56855313e-03 8.15619189e-06 9.99998770e-01 -6.20691847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.60, Y:40.45, Z:-0.62 [[ 7.16938998e-01 -6.97131596e-01 2.45170058e-03 9.55974408e+01] [ 6.97127667e-01 7.16943190e-01 2.34066001e-03 4.04493980e+01] [-3.38947808e-03 3.10378654e-05 9.99994255e-01 -6.19495430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:40.47, Z:-0.62 [[ 7.15512273e-01 -6.98595547e-01 2.53942285e-03 9.56183712e+01] [ 6.98591337e-01 7.15516778e-01 2.42565851e-03 4.04687108e+01] [-3.51155389e-03 3.84303691e-05 9.99993834e-01 -6.19467710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.64, Y:40.49, Z:-0.62 [[ 7.14018016e-01 -7.00121482e-01 2.86066291e-03 9.56397359e+01] [ 7.00116145e-01 7.14023745e-01 2.73406868e-03 4.04880417e+01] [-3.95676145e-03 5.06219946e-05 9.99992171e-01 -6.19485979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.440888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:40.51, Z:-0.62 [[ 7.13360590e-01 -7.00791767e-01 2.75096783e-03 9.56607520e+01] [ 7.00786832e-01 7.13365893e-01 2.63044343e-03 4.05075011e+01] [-3.80583972e-03 5.13873478e-05 9.99992756e-01 -6.19220436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:40.53, Z:-0.62 [[ 7.13046019e-01 -7.01112770e-01 2.50173638e-03 9.56800105e+01] [ 7.01108686e-01 7.13050406e-01 2.39336380e-03 4.05260668e+01] [-3.46188207e-03 4.74105785e-05 9.99994007e-01 -6.19346241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.500888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.70, Y:40.55, Z:-0.62 [[ 7.13192967e-01 -7.00963354e-01 2.48345870e-03 9.56973532e+01] [ 7.00959327e-01 7.13197290e-01 2.37665335e-03 4.05473574e+01] [-3.43714292e-03 4.57910803e-05 9.99994092e-01 -6.21236002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.530888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:40.57, Z:-0.62 [[ 7.13246419e-01 -7.00909264e-01 2.39784884e-03 9.57157059e+01] [ 7.00905507e-01 7.13250448e-01 2.29536068e-03 4.05673393e+01] [-3.31910632e-03 4.35076677e-05 9.99994491e-01 -6.22414559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.560888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:40.59, Z:-0.62 [[ 7.13111586e-01 -7.01048802e-01 1.56339179e-03 9.57352322e+01] [ 7.01047206e-01 7.13113299e-01 1.49606756e-03 4.05881621e+01] [-2.16369185e-03 2.91483366e-05 9.99997659e-01 -6.23868708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.590888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:40.61, Z:-0.62 [[ 7.13086961e-01 -7.01075522e-01 3.13799244e-04 9.57534820e+01] [ 7.01075458e-01 7.13087030e-01 2.98748760e-04 4.06099387e+01] [-4.33211614e-04 6.96310358e-06 9.99999906e-01 -6.24860196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.620888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:40.63, Z:-0.63 [[ 7.12892639e-01 -7.01272710e-01 8.19399184e-04 9.57723120e+01] [ 7.01272271e-01 7.12893110e-01 7.84708052e-04 4.06293423e+01] [-1.13443837e-03 1.52093324e-05 9.99999356e-01 -6.25470263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.650888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:40.65, Z:-0.63 [[ 7.13025119e-01 -7.01138096e-01 7.41569285e-04 9.57908390e+01] [ 7.01137736e-01 7.13025505e-01 7.10307411e-04 4.06486692e+01] [-1.02678140e-03 1.34751832e-05 9.99999473e-01 -6.25553223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.680888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:40.67, Z:-0.63 [[ 7.13174052e-01 -7.00985587e-01 1.40645545e-03 9.58089419e+01] [ 7.00984292e-01 7.13175438e-01 1.34793980e-03 4.06698634e+01] [-1.94793586e-03 2.45874890e-05 9.99998102e-01 -6.25356530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:40.69, Z:-0.62 [[ 7.14198605e-01 -6.99939326e-01 2.30064893e-03 9.58267504e+01] [ 6.99935846e-01 7.14202309e-01 2.20760134e-03 4.06934896e+01] [-3.18831577e-03 3.36408521e-05 9.99994917e-01 -6.24439694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:40.72, Z:-0.62 [[ 7.14788872e-01 -6.99335178e-01 2.67895874e-03 9.58456482e+01] [ 6.99330449e-01 7.14793892e-01 2.57212898e-03 4.07151292e+01] [-3.71368362e-03 3.49482455e-05 9.99993104e-01 -6.24067277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.86, Y:40.74, Z:-0.62 [[ 7.15359771e-01 -6.98749942e-01 2.98610182e-03 9.58638176e+01] [ 6.98744055e-01 7.15366002e-01 2.86861879e-03 4.07366459e+01] [-4.14060294e-03 3.44264105e-05 9.99991427e-01 -6.23473191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:40.76, Z:-0.62 [[ 7.16928457e-01 -6.97139739e-01 3.12585478e-03 9.58814855e+01] [ 6.97133263e-01 7.16935271e-01 3.00497193e-03 4.07588397e+01] [-4.33592089e-03 2.47874531e-05 9.99990600e-01 -6.23133052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.90, Y:40.78, Z:-0.62 [[ 7.18011177e-01 -6.96025862e-01 2.81954346e-03 9.59001433e+01] [ 6.96020584e-01 7.18016712e-01 2.71049111e-03 4.07803676e+01] [-3.91105124e-03 1.62973813e-05 9.99992352e-01 -6.23155986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.860888479 meters Centerline goodness [0,1] 0.9999777965273768 Centerline is valid? [True, True] Translation: X:95.92, Y:40.80, Z:-0.62 [[ 7.20128429e-01 -6.93837213e-01 2.22874997e-03 9.59162100e+01] [ 6.93833901e-01 7.20131878e-01 2.14375008e-03 4.08020641e+01] [-3.09240748e-03 2.60690422e-06 9.99995218e-01 -6.24545822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.890888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:40.82, Z:-0.62 [[ 7.20722889e-01 -6.93219552e-01 2.27378148e-03 9.59350335e+01] [ 6.93216101e-01 7.20726475e-01 2.18736088e-03 4.08236518e+01] [-3.15509584e-03 -2.59115185e-07 9.99995023e-01 -6.24973687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.920888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.95, Y:40.84, Z:-0.62 [[ 7.21427099e-01 -6.92486939e-01 2.18631913e-03 9.59536622e+01] [ 6.92483742e-01 7.21430412e-01 2.10426208e-03 4.08446424e+01] [-3.03445111e-03 -4.08123578e-06 9.99995396e-01 -6.24801754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.950888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:40.87, Z:-0.62 [[ 7.23303472e-01 -6.90526298e-01 2.34922311e-03 9.59697193e+01] [ 6.90522589e-01 7.23307287e-01 2.26309363e-03 4.08679837e+01] [-3.26193586e-03 -1.47118607e-05 9.99994680e-01 -6.24856358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.99, Y:40.89, Z:-0.63 [[ 7.24068249e-01 -6.89725247e-01 2.06253584e-03 9.59871238e+01] [ 6.89722385e-01 7.24071187e-01 1.98692273e-03 4.08887117e+01] [-2.86385354e-03 -1.60905260e-05 9.99995899e-01 -6.25462849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.010888479 meters Centerline goodness [0,1] 0.9999559665345663 Centerline is valid? [True, True] Translation: X:96.01, Y:40.91, Z:-0.63 [[ 7.24917406e-01 -6.88832976e-01 1.97133688e-03 9.60065556e+01] [ 6.88830358e-01 7.24920086e-01 1.89929921e-03 4.09102020e+01] [-2.73736163e-03 -1.89183676e-05 9.99996253e-01 -6.25971114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.040888479 meters Centerline goodness [0,1] 0.9999341888779204 Centerline is valid? [True, True] Translation: X:96.02, Y:40.93, Z:-0.63 [[ 7.25797959e-01 -6.87904896e-01 2.04398666e-03 9.60245053e+01] [ 6.87902073e-01 7.25800836e-01 1.97075931e-03 4.09317159e+01] [-2.83922220e-03 -2.43104204e-05 9.99995969e-01 -6.25807263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070888479 meters Centerline goodness [0,1] 0.9999780706563453 Centerline is valid? [True, True] Translation: X:96.04, Y:40.95, Z:-0.63 [[ 7.25575360e-01 -6.88138341e-01 2.45379767e-03 9.60425956e+01] [ 6.88134271e-01 7.25579509e-01 2.36664781e-03 4.09519429e+01] [-3.40900641e-03 -2.86390649e-05 9.99994189e-01 -6.25933028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:40.97, Z:-0.63 [[ 7.23540803e-01 -6.90275005e-01 3.02039285e-03 9.60629930e+01] [ 6.90268855e-01 7.23547107e-01 2.91408234e-03 4.09721024e+01] [-4.19691471e-03 -2.35743671e-05 9.99991193e-01 -6.25194811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13088847899999 meters Centerline goodness [0,1] 0.9998247382026902 Centerline is valid? [True, True] Translation: X:96.08, Y:40.99, Z:-0.63 [[ 7.22188484e-01 -6.91690931e-01 2.72955902e-03 9.60820605e+01] [ 6.91685912e-01 7.22193642e-01 2.63494977e-03 4.09919224e+01] [-3.79384103e-03 -1.49328603e-05 9.99992803e-01 -6.25476785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.160888479 meters Centerline goodness [0,1] 0.9999344835116838 Centerline is valid? [True, True] Translation: X:96.10, Y:41.01, Z:-0.63 [[ 7.20380085e-01 -6.93573953e-01 2.77565099e-03 9.61030779e+01] [ 6.93568776e-01 7.20385433e-01 2.67973048e-03 4.10112426e+01] [-3.85812980e-03 -5.31961426e-06 9.99992557e-01 -6.25465835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:41.03, Z:-0.63 [[ 7.18770752e-01 -6.95241332e-01 2.84555128e-03 9.61232602e+01] [ 6.95235898e-01 7.18776384e-01 2.74883804e-03 4.10305475e+01] [-3.95642088e-03 2.54500979e-06 9.99992173e-01 -6.26017703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.220888479 meters Centerline goodness [0,1] 0.9998908725828277 Centerline is valid? [True, True] Translation: X:96.14, Y:41.05, Z:-0.63 [[ 7.15994807e-01 -6.98100991e-01 2.53823062e-03 9.61447219e+01] [ 6.98096679e-01 7.15999306e-01 2.45353197e-03 4.10483052e+01] [-3.53018447e-03 1.52142193e-05 9.99993769e-01 -6.25386221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.250888479 meters Centerline goodness [0,1] 0.9999781587856285 Centerline is valid? [True, True] Translation: X:96.17, Y:41.07, Z:-0.63 [[ 7.14329914e-01 -6.99805131e-01 2.35668127e-03 9.61656237e+01] [ 6.99801422e-01 7.14333801e-01 2.27823103e-03 4.10680899e+01] [-3.27777485e-03 2.18003279e-05 9.99994628e-01 -6.25328637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.280888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.18, Y:41.09, Z:-0.63 [[ 7.11727457e-01 -7.02453308e-01 1.83748778e-03 9.61847857e+01] [ 7.02451060e-01 7.11729828e-01 1.77742150e-03 4.10882091e+01] [-2.55635048e-03 2.57055493e-05 9.99996732e-01 -6.27068433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.310888479 meters Centerline goodness [0,1] 0.9999347528219404 Centerline is valid? [True, True] Translation: X:96.20, Y:41.11, Z:-0.63 [[ 7.10569877e-01 -7.03625551e-01 1.23807960e-03 9.62044305e+01] [ 7.03624534e-01 7.10570956e-01 1.19679359e-03 4.11089538e+01] [-1.72183795e-03 2.07377089e-05 9.99998517e-01 -6.27955299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.340888479 meters Centerline goodness [0,1] 0.9999347244282948 Centerline is valid? [True, True] Translation: X:96.22, Y:41.13, Z:-0.63 [[ 7.09816744e-01 -7.04385331e-01 1.22261881e-03 9.62237780e+01] [ 7.04384338e-01 7.09817797e-01 1.18277095e-03 4.11283432e+01] [-1.70096310e-03 2.16429124e-05 9.99998553e-01 -6.28613708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.370888479 meters Centerline goodness [0,1] 0.9999349028968211 Centerline is valid? [True, True] Translation: X:96.24, Y:41.15, Z:-0.63 [[ 7.09024794e-01 -7.05180153e-01 2.18920111e-03 9.62419959e+01] [ 7.05176970e-01 7.09028173e-01 2.11920942e-03 4.11502216e+01] [-3.04662968e-03 4.12021819e-05 9.99995358e-01 -6.26400936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.400888479 meters Centerline goodness [0,1] 0.9997823389852644 Centerline is valid? [True, True] Translation: X:96.26, Y:41.17, Z:-0.63 [[ 7.09147027e-01 -7.05056481e-01 2.41919056e-03 9.62599653e+01] [ 7.05052586e-01 7.09151152e-01 2.34388403e-03 4.11700161e+01] [-3.36814240e-03 4.34981684e-05 9.99994327e-01 -6.25949508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.430888479 meters Centerline goodness [0,1] 0.9998695793935442 Centerline is valid? [True, True] Translation: X:96.28, Y:41.20, Z:-0.63 [[ 7.10291889e-01 -7.03902854e-01 2.49075502e-03 9.62755407e+01] [ 7.03898718e-01 7.10296255e-01 2.41350621e-03 4.11950720e+01] [-3.46804788e-03 3.89453767e-05 9.99993986e-01 -6.27133144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.460888479 meters Centerline goodness [0,1] 0.9996534621299084 Centerline is valid? [True, True] Translation: X:96.29, Y:41.22, Z:-0.63 [[ 7.10993810e-01 -7.03194458e-01 2.31447317e-03 9.62940516e+01] [ 7.03190879e-01 7.10997576e-01 2.24365927e-03 4.12171697e+01] [-3.22331358e-03 3.22885721e-05 9.99994805e-01 -6.27459189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49088847899999 meters Centerline goodness [0,1] 0.9996316678944404 Centerline is valid? [True, True] Translation: X:96.31, Y:41.24, Z:-0.63 [[ 7.12129807e-01 -7.02044403e-01 2.18942036e-03 9.63132600e+01] [ 7.02041192e-01 7.12133173e-01 2.12342708e-03 4.12396110e+01] [-3.04989896e-03 2.49075666e-05 9.99995349e-01 -6.27057352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52088847899999 meters Centerline goodness [0,1] 0.9995056633782535 Centerline is valid? [True, True] Translation: X:96.33, Y:41.26, Z:-0.63 [[ 7.12790972e-01 -7.01372874e-01 2.26304781e-03 9.63316612e+01] [ 7.01369436e-01 7.12794564e-01 2.19620804e-03 4.12603873e+01] [-3.15344892e-03 2.17953012e-05 9.99995028e-01 -6.27026195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.550888479 meters Centerline goodness [0,1] 0.9995500707031753 Centerline is valid? [True, True] Translation: X:96.35, Y:41.28, Z:-0.63 [[ 7.14558889e-01 -6.99570262e-01 2.65379234e-03 9.63483645e+01] [ 6.99565518e-01 7.14563817e-01 2.57644864e-03 4.12831622e+01] [-3.69871083e-03 1.54773323e-05 9.99993160e-01 -6.26296327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.580888479 meters Centerline goodness [0,1] 0.9993980565826812 Centerline is valid? [True, True] Translation: X:96.37, Y:41.30, Z:-0.63 [[ 7.15182477e-01 -6.98930281e-01 3.23831872e-03 9.63663749e+01] [ 6.98923208e-01 7.15189808e-01 3.14437729e-03 4.13048070e+01] [-4.51371305e-03 1.45325695e-05 9.99989813e-01 -6.25824235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.610888479 meters Centerline goodness [0,1] 0.9993147458135252 Centerline is valid? [True, True] Translation: X:96.38, Y:41.33, Z:-0.63 [[ 7.17219864e-01 -6.96829260e-01 4.96466050e-03 9.63815010e+01] [ 6.96812559e-01 7.17237047e-01 4.82450615e-03 4.13291795e+01] [-6.92269549e-03 -7.93861650e-07 9.99976038e-01 -6.25486470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.640888479 meters Centerline goodness [0,1] 0.9992723848656052 Centerline is valid? [True, True] Translation: X:96.40, Y:41.35, Z:-0.63 [[ 7.18459094e-01 -6.95550176e-01 5.14614664e-03 9.63988759e+01] [ 6.95532177e-01 7.18477524e-01 5.00376942e-03 4.13511503e+01] [-7.17776340e-03 -1.56930736e-05 9.99974239e-01 -6.25987677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.670888479 meters Centerline goodness [0,1] 0.9993803418803419 Centerline is valid? [True, True] Translation: X:96.42, Y:41.37, Z:-0.63 [[ 7.19822834e-01 -6.94139244e-01 5.07923201e-03 9.64166178e+01] [ 6.94121658e-01 7.19840753e-01 4.94105496e-03 4.13725132e+01] [-7.08601834e-03 -3.10792371e-05 9.99974893e-01 -6.26664968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.700888479 meters Centerline goodness [0,1] 0.9993803286395009 Centerline is valid? [True, True] Translation: X:96.44, Y:41.39, Z:-0.63 [[ 7.20921851e-01 -6.92997667e-01 5.09104442e-03 9.64360210e+01] [ 6.92979961e-01 7.20939825e-01 4.95392168e-03 4.13938489e+01] [-7.10339284e-03 -4.33986220e-05 9.99974770e-01 -6.27431603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.730888479 meters Centerline goodness [0,1] 0.9993375360615451 Centerline is valid? [True, True] Translation: X:96.46, Y:41.42, Z:-0.63 [[ 7.22916004e-01 -6.90922821e-01 4.25514545e-03 9.64552524e+01] [ 6.90910406e-01 7.22928525e-01 4.14228259e-03 4.14155487e+01] [-5.93816360e-03 -5.45981043e-05 9.99982367e-01 -6.27296465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.760888479 meters Centerline goodness [0,1] 0.9994040017028523 Centerline is valid? [True, True] Translation: X:96.47, Y:41.44, Z:-0.63 [[ 7.23409054e-01 -6.90405513e-01 4.42355278e-03 9.64741103e+01] [ 6.90392073e-01 7.23422576e-01 4.30829821e-03 4.14359716e+01] [-6.17457078e-03 -6.26761570e-05 9.99980935e-01 -6.27497141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.790888479 meters Centerline goodness [0,1] 0.99936092708178 Centerline is valid? [True, True] Translation: X:96.49, Y:41.46, Z:-0.63 [[ 7.23559662e-01 -6.90249568e-01 4.11695632e-03 9.64936766e+01] [ 6.90237920e-01 7.23571372e-01 4.01043164e-03 4.14567289e+01] [-5.74711044e-03 -6.01071942e-05 9.99983483e-01 -6.28012256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.820888479 meters Centerline goodness [0,1] 0.9994032141182488 Centerline is valid? [True, True] Translation: X:96.51, Y:41.48, Z:-0.63 [[ 7.24429513e-01 -6.89338554e-01 3.77341049e-03 9.65124262e+01] [ 6.89328747e-01 7.24439337e-01 3.67767317e-03 4.14788350e+01] [-5.26876891e-03 -6.30946581e-05 9.99986118e-01 -6.30003100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85088847899999 meters Centerline goodness [0,1] 0.999298200842159 Centerline is valid? [True, True] Translation: X:96.53, Y:41.50, Z:-0.63 [[ 7.25088764e-01 -6.88642242e-01 4.25991212e-03 9.65314573e+01] [ 6.88629718e-01 7.25101273e-01 4.15400478e-03 4.14993819e+01] [-5.94949086e-03 -7.85201120e-05 9.99982299e-01 -6.30078433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88088847899999 meters Centerline goodness [0,1] 0.9991474123966237 Centerline is valid? [True, True] Translation: X:96.55, Y:41.52, Z:-0.63 [[ 7.25928037e-01 -6.87751350e-01 5.15417363e-03 9.65534128e+01] [ 6.87732983e-01 7.25946327e-01 5.02743174e-03 4.15188251e+01] [-7.19927638e-03 -1.04858446e-04 9.99974079e-01 -6.29856422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.910888479 meters Centerline goodness [0,1] 0.9989733059548255 Centerline is valid? [True, True] Translation: X:96.57, Y:41.54, Z:-0.63 [[ 7.25940055e-01 -6.87738079e-01 5.23171668e-03 9.65741724e+01] [ 6.87719136e-01 7.25958899e-01 5.10568893e-03 4.15383738e+01] [-7.30938798e-03 -1.08472429e-04 9.99973280e-01 -6.30330639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.940888479 meters Centerline goodness [0,1] 0.9989745999871825 Centerline is valid? [True, True] Translation: X:96.59, Y:41.56, Z:-0.63 [[ 7.25958422e-01 -6.87719244e-01 5.15863494e-03 9.65945837e+01] [ 6.87700805e-01 7.25976742e-01 5.03714381e-03 4.15574392e+01] [-7.20918972e-03 -1.09159571e-04 9.99974007e-01 -6.30901760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.970888479 meters Centerline goodness [0,1] 0.999297319166152 Centerline is valid? [True, True] Translation: X:96.61, Y:41.58, Z:-0.63 [[ 7.26282971e-01 -6.87379338e-01 4.76356627e-03 9.66148405e+01] [ 6.87363595e-01 7.26298585e-01 4.65347520e-03 4.15761468e+01] [-6.65847414e-03 -1.05437754e-04 9.99977827e-01 -6.31733147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.000888479 meters Centerline goodness [0,1] 0.999297319166152 Centerline is valid? [True, True] Translation: X:96.63, Y:41.60, Z:-0.63 [[ 7.26096175e-01 -6.87576657e-01 4.76301189e-03 9.66345106e+01] [ 6.87560914e-01 7.26111789e-01 4.65404256e-03 4.15954806e+01] [-6.65849010e-03 -1.04421690e-04 9.99977827e-01 -6.31883630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.030888479 meters Centerline goodness [0,1] 0.9993588373584099 Centerline is valid? [True, True] Translation: X:96.66, Y:41.61, Z:-0.63 [[ 7.26454268e-01 -6.87200633e-01 4.41444752e-03 9.66562415e+01] [ 6.87187089e-01 7.26467673e-01 4.31562377e-03 4.16143162e+01] [-6.17265280e-03 -1.01551970e-04 9.99980944e-01 -6.32433225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.060888479 meters Centerline goodness [0,1] 0.9993350921219141 Centerline is valid? [True, True] Translation: X:96.68, Y:41.63, Z:-0.63 [[ 7.27649747e-01 -6.85937221e-01 3.99668939e-03 9.66769369e+01] [ 6.85926091e-01 7.27660716e-01 3.90895413e-03 4.16330690e+01] [-5.58953100e-03 -1.02915953e-04 9.99984373e-01 -6.33789296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.090888479 meters Centerline goodness [0,1] 0.9992288082945953 Centerline is valid? [True, True] Translation: X:96.70, Y:41.65, Z:-0.64 [[ 7.28397604e-01 -6.85146769e-01 3.29163363e-03 9.66980399e+01] [ 6.85139210e-01 7.28405036e-01 3.21963818e-03 4.16522877e+01] [-4.60356721e-03 -8.99494721e-05 9.99989399e-01 -6.35000728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.120888479 meters Centerline goodness [0,1] 0.9991873048462295 Centerline is valid? [True, True] Translation: X:96.72, Y:41.67, Z:-0.64 [[ 7.29024874e-01 -6.84480890e-01 2.94017769e-03 9.67167023e+01] [ 6.84474847e-01 7.29030798e-01 2.87728592e-03 4.16726016e+01] [-4.11292732e-03 -8.51353316e-05 9.99991538e-01 -6.35810858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.150888479 meters Centerline goodness [0,1] 0.9993134520489165 Centerline is valid? [True, True] Translation: X:96.74, Y:41.69, Z:-0.64 [[ 7.30482937e-01 -6.82926437e-01 2.48204607e-03 9.67378693e+01] [ 6.82922121e-01 7.30487149e-01 2.42913606e-03 4.16917494e+01] [-3.47202399e-03 -7.93982768e-05 9.99993969e-01 -6.37421562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.180888479 meters Centerline goodness [0,1] 0.99911609356473 Centerline is valid? [True, True] Translation: X:96.76, Y:41.71, Z:-0.64 [[ 7.30971294e-01 -6.82404746e-01 2.17485717e-03 9.67600999e+01] [ 6.82401427e-01 7.30974526e-01 2.12961907e-03 4.17096018e+01] [-3.04302735e-03 -7.25647691e-05 9.99995367e-01 -6.38000182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21088847899999 meters Centerline goodness [0,1] 0.9992909782351803 Centerline is valid? [True, True] Translation: X:96.78, Y:41.73, Z:-0.64 [[ 7.30866933e-01 -6.82515377e-01 2.50711906e-03 9.67811793e+01] [ 6.82510966e-01 7.30871228e-01 2.45535301e-03 4.17280585e+01] [-3.50819737e-03 -8.34000718e-05 9.99993843e-01 -6.38182058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24088847899999 meters Centerline goodness [0,1] 0.9993510707332901 Centerline is valid? [True, True] Translation: X:96.80, Y:41.74, Z:-0.64 [[ 7.29956176e-01 -6.83486553e-01 3.18013159e-03 9.68039212e+01] [ 6.83479453e-01 7.29963096e-01 3.11697081e-03 4.17447369e+01] [-4.45178633e-03 -1.01697493e-04 9.99990086e-01 -6.37597468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27088847899999 meters Centerline goodness [0,1] 0.9995236032914682 Centerline is valid? [True, True] Translation: X:96.83, Y:41.76, Z:-0.64 [[ 7.28700434e-01 -6.84825973e-01 3.01072334e-03 9.68287911e+01] [ 6.84819618e-01 7.28706648e-01 2.95141416e-03 4.17604898e+01] [-4.21513919e-03 -8.88943737e-05 9.99991112e-01 -6.37246857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.300888479 meters Centerline goodness [0,1] 0.9995230248894285 Centerline is valid? [True, True] Translation: X:96.85, Y:41.78, Z:-0.64 [[ 7.26967850e-01 -6.86664459e-01 3.10889868e-03 9.68517185e+01] [ 6.86657693e-01 7.26974493e-01 3.04947341e-03 4.17772896e+01] [-4.35405505e-03 -8.21199281e-05 9.99990518e-01 -6.37601657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.330888479 meters Centerline goodness [0,1] 0.9995873422670113 Centerline is valid? [True, True] Translation: X:96.88, Y:41.79, Z:-0.64 [[ 7.24768819e-01 -6.88984890e-01 3.15905285e-03 9.68762893e+01] [ 6.88977924e-01 7.24775701e-01 3.09899000e-03 4.17932541e+01] [-4.42476202e-03 -6.95336477e-05 9.99990208e-01 -6.37367608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.360888479 meters Centerline goodness [0,1] 0.9999344520188779 Centerline is valid? [True, True] Translation: X:96.90, Y:41.81, Z:-0.64 [[ 7.20375408e-01 -6.93573089e-01 3.95498894e-03 9.69020362e+01] [ 6.93562226e-01 7.20386263e-01 3.88219428e-03 4.18076159e+01] [-5.54170518e-03 -5.36063596e-05 9.99984643e-01 -6.36729857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.390888479 meters Centerline goodness [0,1] 0.9999342552212311 Centerline is valid? [True, True] Translation: X:96.93, Y:41.82, Z:-0.64 [[ 7.17020051e-01 -6.97038108e-01 4.48578620e-03 9.69288545e+01] [ 6.97024185e-01 7.17034082e-01 4.40563265e-03 4.18220841e+01] [-6.28735544e-03 -3.22254792e-05 9.99980234e-01 -6.37040675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.420888479 meters Centerline goodness [0,1] 0.9999560149549154 Centerline is valid? [True, True] Translation: X:96.95, Y:41.84, Z:-0.64 [[ 7.16018911e-01 -6.98065017e-01 4.70646957e-03 9.69513338e+01] [ 6.98049697e-01 7.16034379e-01 4.62475895e-03 4.18395167e+01] [-6.59837645e-03 -2.60652088e-05 9.99978230e-01 -6.37013117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.450888479 meters Centerline goodness [0,1] 0.9999559238363893 Centerline is valid? [True, True] Translation: X:96.97, Y:41.86, Z:-0.64 [[ 7.14992541e-01 -6.99114398e-01 4.97243924e-03 9.69735696e+01] [ 6.99097304e-01 7.15009831e-01 4.88896262e-03 4.18571478e+01] [-6.97328710e-03 -1.93529343e-05 9.99975686e-01 -6.37014337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.480888479 meters Centerline goodness [0,1] 0.9999779064115594 Centerline is valid? [True, True] Translation: X:97.00, Y:41.87, Z:-0.64 [[ 7.13537419e-01 -7.00595653e-01 5.48479909e-03 9.69969965e+01] [ 7.00574873e-01 7.13558498e-01 5.39594931e-03 4.18729118e+01] [-7.69410364e-03 -7.69931222e-06 9.99970400e-01 -6.35404097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.02, Y:41.89, Z:-0.64 [[ 7.12695025e-01 -7.01448658e-01 5.96495574e-03 9.70181914e+01] [ 7.01424082e-01 7.12719987e-01 5.87180076e-03 4.18909115e+01] [-8.37010994e-03 -8.39595653e-07 9.99964970e-01 -6.35189715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.04, Y:41.91, Z:-0.64 [[ 7.12023787e-01 -7.02130888e-01 5.86034350e-03 9.70394133e+01] [ 7.02107162e-01 7.12047903e-01 5.77200917e-03 4.19090916e+01] [-8.22555123e-03 4.78131867e-06 9.99966170e-01 -6.35309105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:41.93, Z:-0.64 [[ 7.11482514e-01 -7.02678454e-01 5.96843763e-03 9.70606508e+01] [ 7.02653837e-01 7.11507547e-01 5.88178988e-03 4.19275622e+01] [-8.37959543e-03 8.95495281e-06 9.99964891e-01 -6.35511773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.08, Y:41.94, Z:-0.64 [[ 7.11559505e-01 -7.02603077e-01 5.65559530e-03 9.70820663e+01] [ 7.02580951e-01 7.11581981e-01 5.57603573e-03 4.19445555e+01] [-7.94215957e-03 5.83229665e-06 9.99968461e-01 -6.36736055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.10, Y:41.96, Z:-0.64 [[ 7.11334739e-01 -7.02834758e-01 5.11778261e-03 9.71027559e+01] [ 7.02816633e-01 7.11353149e-01 5.04750223e-03 4.19638451e+01] [-7.18811079e-03 6.39905451e-06 9.99974165e-01 -6.38136098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.12, Y:41.98, Z:-0.64 [[ 7.11076648e-01 -7.03099595e-01 4.57828611e-03 9.71238903e+01] [ 7.03085081e-01 7.11091386e-01 4.51765755e-03 4.19831194e+01] [-6.43194301e-03 6.52386813e-06 9.99979315e-01 -6.39491582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.14, Y:42.00, Z:-0.64 [[ 7.10579283e-01 -7.03603492e-01 4.38264024e-03 9.71446938e+01] [ 7.03590189e-01 7.10592799e-01 4.32675383e-03 4.20003004e+01] [-6.15859170e-03 9.08103762e-06 9.99981036e-01 -6.40988536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.16, Y:42.02, Z:-0.64 [[ 7.10141345e-01 -7.04043529e-01 4.68830712e-03 9.71649974e+01] [ 7.04028304e-01 7.10156821e-01 4.62999683e-03 4.20187863e+01] [-6.58915258e-03 1.27487321e-05 9.99978291e-01 -6.41062354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.19, Y:42.04, Z:-0.64 [[ 7.09827709e-01 -7.04351577e-01 5.78612742e-03 9.71850931e+01] [ 7.04328383e-01 7.09851291e-01 5.71613783e-03 4.20364809e+01] [-8.13346071e-03 1.78607462e-05 9.99966923e-01 -6.40132078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.780888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.21, Y:42.06, Z:-0.64 [[ 7.09936224e-01 -7.04242440e-01 5.75705180e-03 9.72057062e+01] [ 7.04219457e-01 7.09959566e-01 5.68953230e-03 4.20560945e+01] [-8.09408411e-03 1.50228178e-05 9.99967242e-01 -6.40001917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.810888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.23, Y:42.08, Z:-0.64 [[ 7.09850441e-01 -7.04328196e-01 5.84329031e-03 9.72257455e+01] [ 7.04304497e-01 7.09874491e-01 5.77780558e-03 4.20754443e+01] [-8.21747411e-03 1.40778062e-05 9.99966236e-01 -6.39975097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.840888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.25, Y:42.10, Z:-0.64 [[ 7.10257418e-01 -7.03918600e-01 5.74505779e-03 9.72459730e+01] [ 7.03895654e-01 7.10280652e-01 5.68358873e-03 4.20955864e+01] [-8.08138722e-03 7.11015467e-06 9.99967345e-01 -6.40392481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:42.12, Z:-0.64 [[ 7.11289557e-01 -7.02879554e-01 5.24391112e-03 9.72638424e+01] [ 7.02860392e-01 7.11308887e-01 5.18999702e-03 4.21152989e+01] [-7.37798337e-03 -5.85325735e-06 9.99972782e-01 -6.41002554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.900888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.28, Y:42.14, Z:-0.64 [[ 7.11748433e-01 -7.02411764e-01 5.64642002e-03 9.72827862e+01] [ 7.02389517e-01 7.11770829e-01 5.59041971e-03 4.21360129e+01] [-7.94573363e-03 -1.29862412e-05 9.99968432e-01 -6.41186939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.930888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.30, Y:42.16, Z:-0.64 [[ 7.12790183e-01 -7.01344625e-01 6.77285063e-03 9.73002378e+01] [ 7.01312533e-01 7.12822359e-01 6.70932039e-03 4.21566761e+01] [-9.53338516e-03 -3.24526758e-05 9.99954556e-01 -6.40734203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.32, Y:42.18, Z:-0.64 [[ 7.12929980e-01 -7.01197559e-01 7.26815784e-03 9.73202150e+01] [ 7.01160555e-01 7.12967027e-01 7.20377998e-03 4.21759538e+01] [-1.02332298e-02 -3.96451301e-05 9.99947638e-01 -6.42079965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:42.20, Z:-0.64 [[ 7.12837546e-01 -7.01292192e-01 7.20377485e-03 9.73390650e+01] [ 7.01255813e-01 7.12873944e-01 7.14319113e-03 4.21959727e+01] [-1.01448476e-02 -4.02458584e-05 9.99948539e-01 -6.41350866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.36, Y:42.21, Z:-0.64 [[ 7.12104285e-01 -7.02040802e-01 6.79697461e-03 9.73598031e+01] [ 7.02008423e-01 7.12136722e-01 6.74261189e-03 4.22142897e+01] [-9.57396387e-03 -2.99093908e-05 9.99954168e-01 -6.44867152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.38, Y:42.23, Z:-0.65 [[ 7.11644836e-01 -7.02506202e-01 6.83106778e-03 9.73799614e+01] [ 7.02473481e-01 7.11677620e-01 6.78030700e-03 4.22343012e+01] [-9.62472579e-03 -2.65264977e-05 9.99953681e-01 -6.45476925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.40, Y:42.25, Z:-0.65 [[ 7.11322635e-01 -7.02831528e-01 6.92474398e-03 9.73994163e+01] [ 7.02797888e-01 7.11356340e-01 6.87645929e-03 4.22532616e+01] [-9.75895292e-03 -2.46857063e-05 9.99952380e-01 -6.45034646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.110888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.42, Y:42.27, Z:-0.64 [[ 7.10951467e-01 -7.03200133e-01 7.58843958e-03 9.74183175e+01] [ 7.03159727e-01 7.10991964e-01 7.53825970e-03 4.22721206e+01] [-1.06962248e-02 -2.34516878e-05 9.99942793e-01 -6.43543912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.140888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.44, Y:42.29, Z:-0.64 [[ 7.10798643e-01 -7.03354704e-01 7.57956200e-03 9.74380332e+01] [ 7.03314365e-01 7.10839053e-01 7.53291781e-03 4.22926255e+01] [-1.06861619e-02 -2.35729239e-05 9.99942901e-01 -6.44427933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.170888479 meters Centerline goodness [0,1] 0.9998520084566597 Centerline is valid? [True, True] Translation: X:97.46, Y:42.31, Z:-0.64 [[ 7.10678454e-01 -7.03489431e-01 6.22547578e-03 9.74562769e+01] [ 7.03462196e-01 7.10705720e-01 6.19016167e-03 4.23134054e+01] [-8.77919455e-03 -1.98276656e-05 9.99961462e-01 -6.44598124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.200888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.48, Y:42.33, Z:-0.65 [[ 7.10665733e-01 -7.03494522e-01 7.04793993e-03 9.74761936e+01] [ 7.03459576e-01 7.10700680e-01 7.01206994e-03 4.23331574e+01] [-9.94192849e-03 -2.52969850e-05 9.99950577e-01 -6.47238518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.230888479 meters Centerline goodness [0,1] 0.9999325418240691 Centerline is valid? [True, True] Translation: X:97.50, Y:42.35, Z:-0.65 [[ 7.10275341e-01 -7.03893340e-01 6.56543532e-03 9.74955280e+01] [ 7.03863006e-01 7.10305684e-01 6.53479575e-03 4.23519284e+01] [-9.26326523e-03 -2.03372431e-05 9.99957095e-01 -6.47974699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.52, Y:42.37, Z:-0.65 [[ 7.09570042e-01 -7.04606260e-01 6.35405261e-03 9.75159438e+01] [ 7.04577854e-01 7.09598491e-01 6.32686471e-03 4.23714417e+01] [-8.96677463e-03 -1.24289058e-05 9.99959798e-01 -6.48696041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.290888479 meters Centerline goodness [0,1] 0.9999326357389859 Centerline is valid? [True, True] Translation: X:97.54, Y:42.39, Z:-0.65 [[ 7.08774952e-01 -7.05408964e-01 6.02173008e-03 9.75356222e+01] [ 7.05383458e-01 7.08800531e-01 5.99861209e-03 4.23898791e+01] [-8.49968022e-03 -4.03720661e-06 9.99963877e-01 -6.49271840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.55, Y:42.41, Z:-0.65 [[ 7.07206963e-01 -7.06985755e-01 5.42707566e-03 9.75545677e+01] [ 7.06965073e-01 7.07227786e-01 5.40773501e-03 4.24086580e+01] [-7.66137032e-03 1.23650911e-05 9.99970651e-01 -6.51485313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.57, Y:42.43, Z:-0.65 [[ 7.06739035e-01 -7.07452554e-01 5.55151517e-03 9.75738849e+01] [ 7.07430914e-01 7.06760839e-01 5.53339571e-03 4.24279859e+01] [-7.83820844e-03 1.66467036e-05 9.99969281e-01 -6.51900669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.59, Y:42.45, Z:-0.65 [[ 7.06107534e-01 -7.08072906e-01 6.70155363e-03 9.75948465e+01] [ 7.08041371e-01 7.06139334e-01 6.68257128e-03 4.24467591e+01] [-9.46397829e-03 2.63632934e-05 9.99955215e-01 -6.49538732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.62, Y:42.47, Z:-0.65 [[ 7.05873175e-01 -7.08306308e-01 6.72568779e-03 9.76150162e+01] [ 7.08274522e-01 7.05905216e-01 6.71028277e-03 4.24662013e+01] [-9.50063370e-03 2.70247056e-05 9.99954868e-01 -6.48861725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.440888479 meters Centerline goodness [0,1] 0.9999775568373095 Centerline is valid? [True, True] Translation: X:97.63, Y:42.49, Z:-0.65 [[ 7.05884358e-01 -7.08298959e-01 6.31332908e-03 9.76345676e+01] [ 7.08270927e-01 7.05912589e-01 6.30162477e-03 4.24854530e+01] [-8.92009274e-03 2.33290880e-05 9.99960215e-01 -6.48900563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.65, Y:42.51, Z:-0.65 [[ 7.06695488e-01 -7.07494894e-01 5.69750270e-03 9.76521409e+01] [ 7.07472024e-01 7.06718455e-01 5.68867087e-03 4.25060669e+01] [-8.05123590e-03 1.06657268e-05 9.99967588e-01 -6.51024024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.500888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.67, Y:42.53, Z:-0.65 [[ 7.07304922e-01 -7.06889409e-01 5.20676690e-03 9.76710683e+01] [ 7.06870277e-01 7.07324087e-01 5.20075212e-03 4.25273872e+01] [-7.35922823e-03 1.99118591e-06 9.99972921e-01 -6.52325546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.530888479 meters Centerline goodness [0,1] 0.9999776750831603 Centerline is valid? [True, True] Translation: X:97.69, Y:42.55, Z:-0.65 [[ 7.08030611e-01 -7.06163366e-01 5.09450539e-03 9.76899246e+01] [ 7.06145012e-01 7.08048939e-01 5.09141975e-03 4.25481273e+01] [-7.20253325e-03 -7.42146511e-06 9.99974061e-01 -6.53041353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.560888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.71, Y:42.57, Z:-0.65 [[ 7.08271299e-01 -7.05921905e-01 5.10202129e-03 9.77095272e+01] [ 7.05903470e-01 7.08289675e-01 5.10178635e-03 4.25680641e+01] [-7.21517174e-03 -1.19143189e-05 9.99973970e-01 -6.52894827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.590888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.73, Y:42.59, Z:-0.65 [[ 7.08162619e-01 -7.06028744e-01 5.39605688e-03 9.77291579e+01] [ 7.06008101e-01 7.08183177e-01 5.39895958e-03 4.25877395e+01] [-7.63321736e-03 -1.36814856e-05 9.99970866e-01 -6.52992431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.620888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:42.61, Z:-0.65 [[ 7.07771189e-01 -7.06421816e-01 5.30675191e-03 9.77490355e+01] [ 7.06401840e-01 7.07791083e-01 5.31253368e-03 4.26080197e+01] [-7.50896137e-03 -1.13589687e-05 9.99971807e-01 -6.52826809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.650888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.77, Y:42.63, Z:-0.65 [[ 7.07369177e-01 -7.06826246e-01 5.05025935e-03 9.77694706e+01] [ 7.06808145e-01 7.07387205e-01 5.05848472e-03 4.26275557e+01] [-7.14795861e-03 -8.65172296e-06 9.99974453e-01 -6.53048150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.680888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.79, Y:42.65, Z:-0.65 [[ 7.06557869e-01 -7.07640633e-01 4.55103655e-03 9.77903106e+01] [ 7.07625935e-01 7.06572526e-01 4.56080221e-03 4.26470273e+01] [-6.44304636e-03 -2.03919711e-06 9.99979243e-01 -6.53695275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.81, Y:42.67, Z:-0.65 [[ 7.05736110e-01 -7.08459280e-01 4.68944957e-03 9.78097282e+01] [ 7.08443676e-01 7.05751690e-01 4.70201716e-03 4.26655179e+01] [-6.64077465e-03 3.82759328e-06 9.99977950e-01 -6.54928485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74088847899999 meters Centerline goodness [0,1] 0.9999101103395582 Centerline is valid? [True, True] Translation: X:97.83, Y:42.69, Z:-0.66 [[ 7.05419122e-01 -7.08772743e-01 5.00613175e-03 9.78294132e+01] [ 7.08754955e-01 7.05436885e-01 5.02148251e-03 4.26858316e+01] [-7.09059992e-03 5.87089636e-06 9.99974861e-01 -6.55222921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.85, Y:42.71, Z:-0.66 [[ 7.05445147e-01 -7.08746053e-01 5.11638697e-03 9.78478121e+01] [ 7.08727453e-01 7.05463700e-01 5.13470299e-03 4.27051049e+01] [-7.24862576e-03 3.87260156e-06 9.99973728e-01 -6.55372505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.87, Y:42.72, Z:-0.65 [[ 7.05964544e-01 -7.08227400e-01 5.29271791e-03 9.78669110e+01] [ 7.08207468e-01 7.05984383e-01 5.31346154e-03 4.27248442e+01] [-7.49971525e-03 -2.77310072e-06 9.99971877e-01 -6.54890898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.89, Y:42.75, Z:-0.66 [[ 7.06038401e-01 -7.08154690e-01 5.16838303e-03 9.78865353e+01] [ 7.08135665e-01 7.06057317e-01 5.19080423e-03 4.27452719e+01] [-7.32506702e-03 -4.99075832e-06 9.99973171e-01 -6.55088203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.91, Y:42.76, Z:-0.66 [[ 7.06259289e-01 -7.07938424e-01 4.58300276e-03 9.79052180e+01] [ 7.07923447e-01 7.06274159e-01 4.60502498e-03 4.27649803e+01] [-6.49693055e-03 -7.92656000e-06 9.99978895e-01 -6.55677752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.890888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.92, Y:42.78, Z:-0.66 [[ 7.07063937e-01 -7.07137157e-01 4.19887333e-03 9.79240736e+01] [ 7.07124564e-01 7.07076404e-01 4.22024488e-03 4.27846833e+01] [-5.95321622e-03 -1.48564921e-05 9.99982279e-01 -6.55646232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.920888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:42.80, Z:-0.66 [[ 7.06873881e-01 -7.07327146e-01 4.19819099e-03 9.79434738e+01] [ 7.07314552e-01 7.06886347e-01 4.22092355e-03 4.28043068e+01] [-5.95321770e-03 -1.42190304e-05 9.99982279e-01 -6.55796606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.950888479 meters Centerline goodness [0,1] 0.9999552862795948 Centerline is valid? [True, True] Translation: X:97.96, Y:42.82, Z:-0.66 [[ 7.06708489e-01 -7.07490514e-01 4.50381514e-03 9.79630813e+01] [ 7.07476006e-01 7.06722840e-01 4.53078819e-03 4.28245377e+01] [-6.38843869e-03 -1.56053256e-05 9.99979594e-01 -6.55815809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.98, Y:42.84, Z:-0.66 [[ 7.05710907e-01 -7.08478789e-01 5.47004768e-03 9.79820588e+01] [ 7.08457392e-01 7.05732106e-01 5.50623844e-03 4.28447321e+01] [-7.76144141e-03 -1.05168121e-05 9.99969880e-01 -6.55876411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.010888479 meters Centerline goodness [0,1] 0.9999776820586069 Centerline is valid? [True, True] Translation: X:98.00, Y:42.86, Z:-0.66 [[ 7.05185562e-01 -7.09001225e-01 5.53054192e-03 9.80009183e+01] [ 7.08979345e-01 7.05207248e-01 5.56995982e-03 4.28644830e+01] [-7.84928659e-03 -6.81525474e-06 9.99969194e-01 -6.56652048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:42.88, Z:-0.66 [[ 7.04668490e-01 -7.09514738e-01 5.58168351e-03 9.80203651e+01] [ 7.09492449e-01 7.04690596e-01 5.62392881e-03 4.28848137e+01] [-7.92362026e-03 -2.84312264e-06 9.99968608e-01 -6.57468018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.04, Y:42.90, Z:-0.66 [[ 7.04433442e-01 -7.09749610e-01 5.38673435e-03 9.80392478e+01] [ 7.09728837e-01 7.04454038e-01 5.43008157e-03 4.29043834e+01] [-7.64870504e-03 -2.01034618e-06 9.99970748e-01 -6.57653653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.06, Y:42.92, Z:-0.66 [[ 7.04475462e-01 -7.09707449e-01 5.44611965e-03 9.80584319e+01] [ 7.09686202e-01 7.04496513e-01 5.49164234e-03 4.29239821e+01] [-7.73423178e-03 -3.69130675e-06 9.99970090e-01 -6.56757752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:42.94, Z:-0.66 [[ 7.04299908e-01 -7.09884057e-01 5.12508773e-03 9.80781185e+01] [ 7.09865232e-01 7.04318555e-01 5.16976582e-03 4.29446722e+01] [-7.27962871e-03 -2.94400467e-06 9.99973503e-01 -6.56558254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.10, Y:42.97, Z:-0.66 [[ 7.04188429e-01 -7.09994600e-01 5.13076793e-03 9.80970788e+01] [ 7.09975716e-01 7.04207120e-01 5.17839010e-03 4.29660367e+01] [-7.28975232e-03 -3.84175596e-06 9.99973429e-01 -6.57263858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.11, Y:42.99, Z:-0.66 [[ 7.04377326e-01 -7.09811109e-01 4.55758088e-03 9.81145316e+01] [ 7.09796189e-01 7.04392071e-01 4.60220041e-03 4.29887312e+01] [-6.47701681e-03 -6.73207877e-06 9.99979024e-01 -6.59921570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.13, Y:43.01, Z:-0.66 [[ 7.04275512e-01 -7.09915143e-01 4.06127245e-03 9.81332886e+01] [ 7.09903286e-01 7.04287221e-01 4.10307213e-03 4.30096679e+01] [-5.77313532e-03 -6.58256759e-06 9.99983335e-01 -6.60777937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.250888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.15, Y:43.03, Z:-0.66 [[ 7.04757198e-01 -7.09438467e-01 3.78863026e-03 9.81518848e+01] [ 7.09428131e-01 7.04767381e-01 3.82959041e-03 4.30314396e+01] [-5.38696178e-03 -1.11705224e-05 9.99985490e-01 -6.60964337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.280888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.17, Y:43.05, Z:-0.66 [[ 7.04750841e-01 -7.09444842e-01 3.77719847e-03 9.81700477e+01] [ 7.09434557e-01 7.04760963e-01 3.82016057e-03 4.30510018e+01] [-5.37221525e-03 -1.25862531e-05 9.99985569e-01 -6.60598829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.310888479 meters Centerline goodness [0,1] 0.9999778319663046 Centerline is valid? [True, True] Translation: X:98.19, Y:43.07, Z:-0.66 [[ 7.04804035e-01 -7.09393547e-01 3.47381040e-03 9.81895024e+01] [ 7.09384843e-01 7.04812596e-01 3.51421637e-03 4.30713557e+01] [-4.94134774e-03 -1.25654362e-05 9.99987791e-01 -6.60299911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.340888479 meters Centerline goodness [0,1] 0.9999557404620696 Centerline is valid? [True, True] Translation: X:98.21, Y:43.09, Z:-0.66 [[ 7.04723504e-01 -7.09476129e-01 2.89922958e-03 9.82086490e+01] [ 7.09470061e-01 7.04729468e-01 2.93420447e-03 4.30920230e+01] [-4.12492055e-03 -1.08862701e-05 9.99991492e-01 -6.60220450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.370888479 meters Centerline goodness [0,1] 0.9999779784188505 Centerline is valid? [True, True] Translation: X:98.23, Y:43.11, Z:-0.66 [[ 7.05199862e-01 -7.09004380e-01 2.43792087e-03 9.82253781e+01] [ 7.09000082e-01 7.05204076e-01 2.46871383e-03 4.31131287e+01] [-3.46956065e-03 -1.24505539e-05 9.99993981e-01 -6.60443613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.400888479 meters Centerline goodness [0,1] 0.9999779750236768 Centerline is valid? [True, True] Translation: X:98.24, Y:43.13, Z:-0.66 [[ 7.05245316e-01 -7.08959253e-01 2.41297594e-03 9.82443802e+01] [ 7.08955041e-01 7.05249444e-01 2.44386235e-03 4.31341951e+01] [-3.43434876e-03 -1.28310248e-05 9.99994103e-01 -6.61312007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.430888479 meters Centerline goodness [0,1] 0.9999338901253884 Centerline is valid? [True, True] Translation: X:98.26, Y:43.16, Z:-0.66 [[ 7.05855713e-01 -7.08352962e-01 1.94769521e-03 9.82626321e+01] [ 7.08350213e-01 7.05858400e-01 1.97382703e-03 4.31556538e+01] [-2.77296324e-03 -1.35867690e-05 9.99996155e-01 -6.62563545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.28, Y:43.18, Z:-0.66 [[ 7.06122809e-01 -7.08087696e-01 1.54740817e-03 9.82817048e+01] [ 7.08085960e-01 7.06124504e-01 1.56779154e-03 4.31756124e+01] [-2.20279673e-03 -1.13553628e-05 9.99997574e-01 -6.63076005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49088847899999 meters Centerline goodness [0,1] 0.9999560284935362 Centerline is valid? [True, True] Translation: X:98.30, Y:43.20, Z:-0.66 [[ 7.06233496e-01 -7.07977001e-01 1.67785008e-03 9.83010912e+01] [ 7.07974957e-01 7.06235489e-01 1.70107351e-03 4.31962639e+01] [-2.38927819e-03 -1.34792607e-05 9.99997146e-01 -6.62943260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52088847899999 meters Centerline goodness [0,1] 0.9999560110852065 Centerline is valid? [True, True] Translation: X:98.32, Y:43.22, Z:-0.66 [[ 7.06157958e-01 -7.08051119e-01 2.13322097e-03 9.83194174e+01] [ 7.08047811e-01 7.06161180e-01 2.16454870e-03 4.32169843e+01] [-3.03900897e-03 -1.80908504e-05 9.99995382e-01 -6.62569275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.550888479 meters Centerline goodness [0,1] 0.9998902160548041 Centerline is valid? [True, True] Translation: X:98.34, Y:43.24, Z:-0.66 [[ 7.06139736e-01 -7.08068661e-01 2.33352895e-03 9.83372717e+01] [ 7.08064696e-01 7.06143591e-01 2.36970988e-03 4.32376573e+01] [-3.32572382e-03 -2.10568403e-05 9.99994470e-01 -6.62882204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.580888479 meters Centerline goodness [0,1] 0.9999560497516811 Centerline is valid? [True, True] Translation: X:98.36, Y:43.26, Z:-0.66 [[ 7.05883653e-01 -7.08324908e-01 2.02321917e-03 9.83559519e+01] [ 7.08321928e-01 7.05886552e-01 2.05461794e-03 4.32588857e+01] [-2.88350027e-03 -1.72307188e-05 9.99995843e-01 -6.63020423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.610888479 meters Centerline goodness [0,1] 0.9999780383888962 Centerline is valid? [True, True] Translation: X:98.38, Y:43.28, Z:-0.66 [[ 7.05564004e-01 -7.08644636e-01 1.48865614e-03 9.83760443e+01] [ 7.08643023e-01 7.05565574e-01 1.51202178e-03 4.32786597e+01] [-2.12183065e-03 -1.19023498e-05 9.99997749e-01 -6.63485846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.640888479 meters Centerline goodness [0,1] 0.9999122749303683 Centerline is valid? [True, True] Translation: X:98.39, Y:43.30, Z:-0.66 [[ 7.05123570e-01 -7.09083725e-01 1.01099191e-03 9.83948996e+01] [ 7.09082981e-01 7.05124294e-01 1.02745125e-03 4.32976664e+01] [-1.44142392e-03 -7.60293617e-06 9.99998961e-01 -6.63586910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.670888479 meters Centerline goodness [0,1] 0.9998244189364177 Centerline is valid? [True, True] Translation: X:98.41, Y:43.32, Z:-0.66 [[ 7.04763068e-01 -7.09442466e-01 6.37008247e-04 9.84141437e+01] [ 7.09442172e-01 7.04763356e-01 6.46343773e-04 4.33175224e+01] [-9.07483790e-04 -3.59870555e-06 9.99999588e-01 -6.63785194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.700888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.43, Y:43.34, Z:-0.67 [[ 7.03066893e-01 -7.11123384e-01 6.91048640e-04 9.84332367e+01] [ 7.11123036e-01 7.03067232e-01 7.02683237e-04 4.33367397e+01] [-9.85548136e-04 -2.61271284e-06 9.99999514e-01 -6.65084774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.730888479 meters Centerline goodness [0,1] 0.9999779944105803 Centerline is valid? [True, True] Translation: X:98.45, Y:43.36, Z:-0.67 [[ 7.01696492e-01 -7.12475987e-01 3.03280730e-05 9.84527538e+01] [ 7.12475987e-01 7.01696493e-01 2.97290512e-05 4.33553179e+01] [-4.24623375e-05 7.47252825e-07 9.99999999e-01 -6.66085715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.760888479 meters Centerline goodness [0,1] 0.9999340717299579 Centerline is valid? [True, True] Translation: X:98.47, Y:43.37, Z:-0.67 [[ 6.98766411e-01 -7.15349910e-01 -9.38768019e-05 9.84746368e+01] [ 7.15349904e-01 6.98766417e-01 -9.77397039e-05 4.33732385e+01] [ 1.35516045e-04 1.14246092e-06 9.99999991e-01 -6.65807302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.790888479 meters Centerline goodness [0,1] 0.9998970875784707 Centerline is valid? [True, True] Translation: X:98.50, Y:43.39, Z:-0.67 [[ 6.97486482e-01 -7.16597322e-01 9.40347737e-04 9.84959315e+01] [ 7.16596683e-01 6.97487116e-01 9.57464550e-04 4.33904722e+01] [-1.34199696e-03 6.03148808e-06 9.99999100e-01 -6.66849882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.52, Y:43.41, Z:-0.66 [[ 6.96595959e-01 -7.17463626e-01 -1.18924822e-04 9.85155749e+01] [ 7.17463616e-01 6.96595969e-01 -1.23216640e-04 4.34120736e+01] [ 1.71246009e-04 5.07981034e-07 9.99999985e-01 -6.64579135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.53, Y:43.43, Z:-0.66 [[ 6.96055275e-01 -7.17988017e-01 -5.10799266e-04 9.85348918e+01] [ 7.17987827e-01 6.96055463e-01 -5.22406025e-04 4.34311432e+01] [ 7.30625885e-04 -3.12418519e-06 9.99999733e-01 -6.64824929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.55, Y:43.45, Z:-0.66 [[ 6.96357239e-01 -7.17695281e-01 -2.79921959e-04 9.85539613e+01] [ 7.17695224e-01 6.96357296e-01 -2.87895141e-04 4.34513454e+01] [ 4.01546683e-04 -4.20787699e-07 9.99999919e-01 -6.64597021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.910888479 meters Centerline goodness [0,1] 0.9998248264687206 Centerline is valid? [True, True] Translation: X:98.57, Y:43.47, Z:-0.66 [[ 6.96973822e-01 -7.17096411e-01 4.78282907e-04 9.85722452e+01] [ 7.17096246e-01 6.96973986e-01 4.86288397e-04 4.34722934e+01] [-6.82066408e-04 4.04459485e-06 9.99999767e-01 -6.62430306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.940888479 meters Centerline goodness [0,1] 0.9999781339514137 Centerline is valid? [True, True] Translation: X:98.59, Y:43.49, Z:-0.66 [[ 6.97084237e-01 -7.16988804e-01 7.88629428e-04 9.85908356e+01] [ 7.16988352e-01 6.97084683e-01 8.04534293e-04 4.34916029e+01] [-1.12658358e-03 4.60994098e-06 9.99999365e-01 -6.62125785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.970888479 meters Centerline goodness [0,1] 0.9999780287384101 Centerline is valid? [True, True] Translation: X:98.61, Y:43.51, Z:-0.66 [[ 6.97190370e-01 -7.16885777e-01 6.08020895e-04 9.86104149e+01] [ 7.16885510e-01 6.97190635e-01 6.19352736e-04 4.35118705e+01] [-8.67911642e-04 4.07460554e-06 9.99999623e-01 -6.61734334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.000888479 meters Centerline goodness [0,1] 0.9999125663948939 Centerline is valid? [True, True] Translation: X:98.63, Y:43.53, Z:-0.66 [[ 6.97638317e-01 -7.16449929e-01 5.26841568e-04 9.86287953e+01] [ 7.16449727e-01 6.97638516e-01 5.37529683e-04 4.35310544e+01] [-7.52658073e-04 2.45419427e-06 9.99999717e-01 -6.62352756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.030888479 meters Centerline goodness [0,1] 0.9999562784190277 Centerline is valid? [True, True] Translation: X:98.65, Y:43.55, Z:-0.66 [[ 6.98880375e-01 -7.15237651e-01 1.15076197e-03 9.86470252e+01] [ 7.15236685e-01 6.98881322e-01 1.17523720e-03 4.35524436e+01] [-1.64481995e-03 1.71696328e-06 9.99998647e-01 -6.62376697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.060888479 meters Centerline goodness [0,1] 0.9999781606936163 Centerline is valid? [True, True] Translation: X:98.67, Y:43.57, Z:-0.66 [[ 6.99476671e-01 -7.14654586e-01 1.09972818e-03 9.86655944e+01] [ 7.14653703e-01 6.99477535e-01 1.12364559e-03 4.35730731e+01] [-1.57225363e-03 -3.90665125e-08 9.99998764e-01 -6.62184200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.090888479 meters Centerline goodness [0,1] 0.999978107143639 Centerline is valid? [True, True] Translation: X:98.68, Y:43.59, Z:-0.66 [[ 7.01222222e-01 -7.12942163e-01 9.31885506e-04 9.86846327e+01] [ 7.12941527e-01 7.01222841e-01 9.52353110e-04 4.35943310e+01] [-1.33243209e-03 -3.43128890e-06 9.99999112e-01 -6.61661155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.120888479 meters Centerline goodness [0,1] 0.9999125319804947 Centerline is valid? [True, True] Translation: X:98.70, Y:43.61, Z:-0.66 [[ 7.01861843e-01 -7.12312548e-01 8.87672051e-04 9.87037110e+01] [ 7.12311969e-01 7.01862404e-01 9.08262034e-04 4.36142256e+01] [-1.26999008e-03 -5.17503912e-06 9.99999194e-01 -6.61280747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.150888479 meters Centerline goodness [0,1] 0.9999562602515035 Centerline is valid? [True, True] Translation: X:98.72, Y:43.64, Z:-0.66 [[ 7.02791283e-01 -7.11395628e-01 8.19848799e-04 9.87232765e+01] [ 7.11395134e-01 7.02791761e-01 8.38536278e-04 4.36354422e+01] [-1.17271402e-03 -6.07954035e-06 9.99999312e-01 -6.61083111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.180888479 meters Centerline goodness [0,1] 0.9999781215131162 Centerline is valid? [True, True] Translation: X:98.74, Y:43.66, Z:-0.66 [[ 7.04905407e-01 -7.09300270e-01 1.22235833e-03 9.87414912e+01] [ 7.09299165e-01 7.04906467e-01 1.25177332e-03 4.36579450e+01] [-1.74953144e-03 -1.53640354e-05 9.99998469e-01 -6.60927671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21088847899999 meters Centerline goodness [0,1] 0.9998692212123194 Centerline is valid? [True, True] Translation: X:98.76, Y:43.68, Z:-0.66 [[ 7.06103565e-01 -7.08107722e-01 1.10011530e-03 9.87609029e+01] [ 7.08106825e-01 7.06104422e-01 1.12693339e-03 4.36795360e+01] [-1.57478651e-03 -1.67325334e-05 9.99998760e-01 -6.61252931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24088847899999 meters Centerline goodness [0,1] 0.9999129147435339 Centerline is valid? [True, True] Translation: X:98.78, Y:43.70, Z:-0.66 [[ 7.07004128e-01 -7.07208751e-01 9.71980447e-04 9.87804206e+01] [ 7.07208050e-01 7.07004796e-01 9.95912995e-04 4.37009451e+01] [-1.39151322e-03 -1.67222023e-05 9.99999032e-01 -6.62009947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27088847899999 meters Centerline goodness [0,1] 0.9997596994058021 Centerline is valid? [True, True] Translation: X:98.80, Y:43.72, Z:-0.66 [[ 7.07705530e-01 -7.06507504e-01 1.71927149e-04 9.87999822e+01] [ 7.06507482e-01 7.07705551e-01 1.74639258e-04 4.37216967e+01] [-2.45057744e-04 -2.12535104e-06 9.99999970e-01 -6.62861508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.300888479 meters Centerline goodness [0,1] 0.99989076529832 Centerline is valid? [True, True] Translation: X:98.82, Y:43.74, Z:-0.66 [[ 7.07387926e-01 -7.06825112e-01 -7.63876771e-04 9.88192423e+01] [ 7.06824676e-01 7.07388338e-01 -7.85765048e-04 4.37409436e+01] [ 1.09575599e-03 1.59137565e-05 9.99999400e-01 -6.64063640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.330888479 meters Centerline goodness [0,1] 0.9998687003523207 Centerline is valid? [True, True] Translation: X:98.84, Y:43.76, Z:-0.66 [[ 7.06237232e-01 -7.07974681e-01 -9.07471460e-04 9.88409143e+01] [ 7.07974064e-01 7.06237815e-01 -9.34704054e-04 4.37608389e+01] [ 1.30263747e-03 1.76565471e-05 9.99999151e-01 -6.64435950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.360888479 meters Centerline goodness [0,1] 0.9999781267771993 Centerline is valid? [True, True] Translation: X:98.86, Y:43.78, Z:-0.66 [[ 7.04501757e-01 -7.09701882e-01 -7.16424488e-04 9.88615219e+01] [ 7.09701499e-01 7.04502121e-01 -7.37215811e-04 4.37798640e+01] [ 1.02792602e-03 1.09223014e-05 9.99999472e-01 -6.64874147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.390888479 meters Centerline goodness [0,1] 0.9999780316344464 Centerline is valid? [True, True] Translation: X:98.89, Y:43.80, Z:-0.66 [[ 7.00391058e-01 -7.13759316e-01 6.39079470e-05 9.88853226e+01] [ 7.13759313e-01 7.00391061e-01 6.38156034e-05 4.37970078e+01] [-9.03095363e-05 9.19014300e-07 9.99999996e-01 -6.63550596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.420888479 meters Centerline goodness [0,1] 0.9999561787905347 Centerline is valid? [True, True] Translation: X:98.91, Y:43.82, Z:-0.66 [[ 6.98097574e-01 -7.16002569e-01 3.14313219e-04 9.89067888e+01] [ 7.16002496e-01 6.98097645e-01 3.22246292e-04 4.38150387e+01] [-4.50150491e-04 8.96952609e-08 9.99999899e-01 -6.63060151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.450888479 meters Centerline goodness [0,1] 0.9999561297681459 Centerline is valid? [True, True] Translation: X:98.93, Y:43.83, Z:-0.66 [[ 6.95808983e-01 -7.18226792e-01 3.66144980e-04 9.89280590e+01] [ 7.18226694e-01 6.95809079e-01 3.74744100e-04 4.38332543e+01] [-5.23918254e-04 2.22478812e-06 9.99999863e-01 -6.62558345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:43.85, Z:-0.66 [[ 6.91870745e-01 -7.22021378e-01 -5.23753648e-05 9.89511458e+01] [ 7.22021376e-01 6.91870747e-01 -5.58430980e-05 4.38515767e+01] [ 7.65568933e-05 8.20072854e-07 9.99999997e-01 -6.63520557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:43.87, Z:-0.66 [[ 6.89933551e-01 -7.23872652e-01 -2.81045260e-04 9.89720984e+01] [ 7.23872593e-01 6.89933608e-01 -2.91518926e-04 4.38709288e+01] [ 4.04925149e-04 -2.31227364e-06 9.99999918e-01 -6.64190861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:43.89, Z:-0.66 [[ 6.86721352e-01 -7.26920637e-01 -4.14913091e-04 9.89941135e+01] [ 7.26920510e-01 6.86721477e-01 -4.29699545e-04 4.38900609e+01] [ 5.97287198e-04 -6.52498309e-06 9.99999822e-01 -6.64926478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:43.91, Z:-0.67 [[ 6.85379104e-01 -7.28186310e-01 -4.25323802e-04 9.90154094e+01] [ 7.28186177e-01 6.85379236e-01 -4.40636603e-04 4.39100369e+01] [ 6.12373645e-04 -7.71179319e-06 9.99999812e-01 -6.65461302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.04, Y:43.93, Z:-0.67 [[ 6.83808528e-01 -7.29659467e-01 -1.72044525e-03 9.90372072e+01] [ 7.29657303e-01 6.83810691e-01 -1.77738899e-03 4.39286714e+01] [ 2.47334755e-03 -3.99416954e-05 9.99996940e-01 -6.65530788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:43.95, Z:-0.67 [[ 6.83229454e-01 -7.30202040e-01 -1.57890588e-03 9.90568970e+01] [ 7.30200216e-01 6.83231278e-01 -1.63253074e-03 4.39485525e+01] [ 2.27083516e-03 -3.75243322e-05 9.99997421e-01 -6.65513869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:43.97, Z:-0.67 [[ 6.83497874e-01 -7.29950860e-01 -1.54846263e-03 9.90756100e+01] [ 7.29949106e-01 6.83499628e-01 -1.60041359e-03 4.39677552e+01] [ 2.22659691e-03 -3.64196281e-05 9.99997520e-01 -6.65593817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.09, Y:43.99, Z:-0.67 [[ 6.85446129e-01 -7.28122834e-01 -8.61248636e-04 9.90935897e+01] [ 7.28122288e-01 6.85446670e-01 -8.91889923e-04 4.39906093e+01] [ 1.23974543e-03 -1.57518322e-05 9.99999231e-01 -6.66028908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:44.01, Z:-0.67 [[ 6.88949286e-01 -7.24807958e-01 -1.51837270e-03 9.91114951e+01] [ 7.24806254e-01 6.88950959e-01 -1.57170972e-03 4.40138020e+01] [ 2.18527204e-03 -1.76977360e-05 9.99997612e-01 -6.67942391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:44.03, Z:-0.67 [[ 6.88746188e-01 -7.25000955e-01 -1.51779549e-03 9.91306347e+01] [ 7.24999251e-01 6.88747860e-01 -1.57226760e-03 4.40336852e+01] [ 2.18527391e-03 -1.75072774e-05 9.99997612e-01 -6.68092587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.780888479 meters Centerline goodness [0,1] 0.9999558518387709 Centerline is valid? [True, True] Translation: X:99.15, Y:44.06, Z:-0.67 [[ 6.90691401e-01 -7.23147563e-01 -1.72964692e-03 9.91501193e+01] [ 7.23145342e-01 6.90693566e-01 -1.79201045e-03 4.40555349e+01] [ 2.49054398e-03 -1.30599045e-05 9.99996899e-01 -6.68655984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.810888479 meters Centerline goodness [0,1] 0.9999558518387709 Centerline is valid? [True, True] Translation: X:99.17, Y:44.08, Z:-0.67 [[ 6.90489038e-01 -7.23340790e-01 -1.72900684e-03 9.91692469e+01] [ 7.23338569e-01 6.90491203e-01 -1.79262848e-03 4.40754283e+01] [ 2.49054531e-03 -1.28670116e-05 9.99996899e-01 -6.68806179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.840888479 meters Centerline goodness [0,1] 0.9999778574908108 Centerline is valid? [True, True] Translation: X:99.19, Y:44.10, Z:-0.67 [[ 6.94905444e-01 -7.19101120e-01 -5.65588931e-05 9.91879122e+01] [ 7.19101117e-01 6.94905447e-01 -6.05160385e-05 4.40977812e+01] [ 8.28202340e-05 1.38136139e-06 9.99999997e-01 -6.67526713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.21, Y:44.12, Z:-0.67 [[ 6.96768275e-01 -7.17295675e-01 9.41502089e-04 9.92066204e+01] [ 7.17295014e-01 6.96768911e-01 9.73746954e-04 4.41185233e+01] [-1.35447386e-03 -3.14123089e-06 9.99999083e-01 -6.66240902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.900888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:44.14, Z:-0.67 [[ 6.99034665e-01 -7.15087353e-01 7.84684520e-04 9.92257024e+01] [ 7.15086891e-01 6.99035105e-01 8.12503819e-04 4.41396007e+01] [-1.12953323e-03 -6.85072080e-06 9.99999362e-01 -6.66043238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.930888479 meters Centerline goodness [0,1] 0.9999336591406648 Centerline is valid? [True, True] Translation: X:99.24, Y:44.16, Z:-0.67 [[ 7.03198589e-01 -7.10993167e-01 6.78874661e-04 9.92412026e+01] [ 7.10992819e-01 7.03198917e-01 7.03257989e-04 4.41627616e+01] [-9.77395551e-04 -1.18550169e-05 9.99999522e-01 -6.67947990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96088847899999 meters Centerline goodness [0,1] 0.9999559587774156 Centerline is valid? [True, True] Translation: X:99.26, Y:44.18, Z:-0.67 [[ 7.05012248e-01 -7.09194581e-01 8.81001105e-04 9.92599600e+01] [ 7.09193994e-01 7.05012799e-01 9.12353573e-04 4.41847792e+01] [-1.26815326e-03 -1.84197513e-05 9.99999196e-01 -6.68540026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99088847899999 meters Centerline goodness [0,1] 0.9998895784103708 Centerline is valid? [True, True] Translation: X:99.28, Y:44.21, Z:-0.67 [[ 7.06517239e-01 -7.07694289e-01 1.47825546e-03 9.92793949e+01] [ 7.07692630e-01 7.06518784e-01 1.53277316e-03 4.42057565e+01] [-2.12915007e-03 -3.67801700e-05 9.99997733e-01 -6.67868433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.30, Y:44.22, Z:-0.67 [[ 7.07747542e-01 -7.06462703e-01 1.96624016e-03 9.93019110e+01] [ 7.06459759e-01 7.07750271e-01 2.04018173e-03 4.42237284e+01] [-2.83291931e-03 -5.48640578e-05 9.99995986e-01 -6.66512892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.050888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.32, Y:44.24, Z:-0.67 [[ 7.09566496e-01 -7.04631393e-01 3.16049286e-03 9.93235646e+01] [ 7.04623756e-01 7.09573527e-01 3.28214268e-03 4.42435074e+01] [-4.55530283e-03 -1.01940130e-04 9.99989619e-01 -6.65117034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.080888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.34, Y:44.26, Z:-0.66 [[ 7.10234049e-01 -7.03957232e-01 3.43667048e-03 9.93432074e+01] [ 7.03948185e-01 7.10242354e-01 3.57099310e-03 4.42638275e+01] [-4.95469535e-03 -1.17002944e-04 9.99987719e-01 -6.64819011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.110888479 meters Centerline goodness [0,1] 0.9998666073810583 Centerline is valid? [True, True] Translation: X:99.37, Y:44.28, Z:-0.67 [[ 7.10294103e-01 -7.03899424e-01 2.80848693e-03 9.93655951e+01] [ 7.03893380e-01 7.10299649e-01 2.91860747e-03 4.42830138e+01] [-4.04927340e-03 -9.61943151e-05 9.99991797e-01 -6.65600677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.140888479 meters Centerline goodness [0,1] 0.9999554267885001 Centerline is valid? [True, True] Translation: X:99.39, Y:44.30, Z:-0.67 [[ 7.09660398e-01 -7.04540692e-01 2.12883405e-03 9.93874536e+01] [ 7.04537221e-01 7.09663588e-01 2.21292011e-03 4.43017138e+01] [-3.06984827e-03 -7.05789471e-05 9.99995286e-01 -6.66757051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.170888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.41, Y:44.32, Z:-0.67 [[ 7.08641648e-01 -7.05565515e-01 2.07797688e-03 9.94097394e+01] [ 7.05562209e-01 7.08644692e-01 2.16114689e-03 4.43211243e+01] [-2.99737800e-03 -6.53367419e-05 9.99995506e-01 -6.67844523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.200888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.43, Y:44.34, Z:-0.67 [[ 7.07502673e-01 -7.06709236e-01 1.42256639e-03 9.94318996e+01] [ 7.06707689e-01 7.07504101e-01 1.47952982e-03 4.43401077e+01] [-2.05206895e-03 -4.14326968e-05 9.99997894e-01 -6.68701728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.46, Y:44.36, Z:-0.67 [[ 7.05175112e-01 -7.09032619e-01 8.97962038e-04 9.94566655e+01] [ 7.09032005e-01 7.05175683e-01 9.33655370e-04 4.43564697e+01] [-1.29521311e-03 -2.17067054e-05 9.99999161e-01 -6.69226411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:44.38, Z:-0.67 [[ 7.03783524e-01 -7.10414268e-01 5.64357109e-04 9.94774083e+01] [ 7.10414025e-01 7.03783750e-01 5.87438445e-04 4.43751607e+01] [-8.14510016e-04 -1.25022939e-05 9.99999668e-01 -6.69887654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.50, Y:44.39, Z:-0.67 [[ 7.02005085e-01 -7.12171862e-01 3.15142539e-04 9.94999554e+01] [ 7.12171787e-01 7.02005156e-01 3.26613083e-04 4.43933713e+01] [-4.53836334e-04 -4.84842010e-06 9.99999897e-01 -6.70450362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.52, Y:44.41, Z:-0.67 [[ 6.99271029e-01 -7.14855949e-01 -9.99744283e-04 9.95234200e+01] [ 7.14855188e-01 6.99271744e-01 -1.04326809e-03 4.44099260e+01] [ 1.44487933e-03 1.48547643e-05 9.99998956e-01 -6.72517989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.55, Y:44.43, Z:-0.67 [[ 6.98057327e-01 -7.16040273e-01 -1.51495585e-03 9.95450872e+01] [ 7.16038524e-01 6.98058971e-01 -1.58287742e-03 4.44283635e+01] [ 2.19093250e-03 2.01724338e-05 9.99997600e-01 -6.72537635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:44.45, Z:-0.67 [[ 6.96768725e-01 -7.17293613e-01 -1.79371843e-03 9.95668010e+01] [ 7.17291163e-01 6.96771033e-01 -1.87485518e-03 4.44464227e+01] [ 2.59463269e-03 1.97220797e-05 9.99996634e-01 -6.72096391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.59, Y:44.46, Z:-0.67 [[ 6.95528057e-01 -7.18494926e-01 -2.40074145e-03 9.95882688e+01] [ 7.18490542e-01 6.95532200e-01 -2.50999732e-03 4.44649171e+01] [ 3.47321332e-03 2.08635362e-05 9.99993968e-01 -6.71702485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.440888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.61, Y:44.49, Z:-0.67 [[ 6.95109480e-01 -7.18898953e-01 -2.66571207e-03 9.96078084e+01] [ 7.18893546e-01 6.95114591e-01 -2.78837535e-03 4.44855569e+01] [ 3.85753548e-03 2.18629419e-05 9.99992559e-01 -6.72395049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.470888479 meters Centerline goodness [0,1] 0.9999772561863173 Centerline is valid? [True, True] Translation: X:99.63, Y:44.51, Z:-0.67 [[ 6.95148484e-01 -7.18859602e-01 -3.07533911e-03 9.96259003e+01] [ 7.18852405e-01 6.95155286e-01 -3.21682654e-03 4.45061691e+01] [ 4.45028488e-03 2.54571749e-05 9.99990097e-01 -6.73364478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.500888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:44.53, Z:-0.67 [[ 6.95599833e-01 -7.18424789e-01 -2.58741900e-03 9.96430608e+01] [ 7.18419681e-01 6.95604645e-01 -2.70905708e-03 4.45283443e+01] [ 3.74607444e-03 2.55669145e-05 9.99992983e-01 -6.74375374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.530888479 meters Centerline goodness [0,1] 0.9999548349216386 Centerline is valid? [True, True] Translation: X:99.66, Y:44.55, Z:-0.67 [[ 6.95409382e-01 -7.18608894e-01 -2.65509568e-03 9.96617897e+01] [ 7.18603512e-01 6.95414450e-01 -2.78137840e-03 4.45489660e+01] [ 3.84511516e-03 2.62355544e-05 9.99992607e-01 -6.74323977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.560888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:44.57, Z:-0.67 [[ 6.95168178e-01 -7.18841160e-01 -2.93095722e-03 9.96813474e+01] [ 7.18834597e-01 6.95174357e-01 -3.07182067e-03 4.45695461e+01] [ 4.24567744e-03 2.85585257e-05 9.99990987e-01 -6.73869420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.590888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.70, Y:44.59, Z:-0.67 [[ 6.94284889e-01 -7.19692885e-01 -3.26245117e-03 9.97003706e+01] [ 7.19684764e-01 6.94292554e-01 -3.41904717e-03 4.45891681e+01] [ 4.72575948e-03 2.58563851e-05 9.99988833e-01 -6.73674573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.620888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.72, Y:44.61, Z:-0.67 [[ 6.93332514e-01 -7.20611288e-01 -3.06551388e-03 9.97199162e+01] [ 7.20604115e-01 6.93339290e-01 -3.21518371e-03 4.46100391e+01] [ 4.44233889e-03 2.01694848e-05 9.99990133e-01 -6.73998714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.650888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.74, Y:44.63, Z:-0.67 [[ 6.92078520e-01 -7.21816206e-01 -2.94737931e-03 9.97385137e+01] [ 7.21809579e-01 6.92084796e-01 -3.09319556e-03 4.46304788e+01] [ 4.27255509e-03 1.32875830e-05 9.99990873e-01 -6.74460438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.680888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.76, Y:44.65, Z:-0.68 [[ 6.91200700e-01 -7.22658487e-01 -2.51081751e-03 9.97562895e+01] [ 7.22653683e-01 6.91205260e-01 -2.63498761e-03 4.46510605e+01] [ 3.63968643e-03 6.85376550e-06 9.99993376e-01 -6.75386935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.77, Y:44.67, Z:-0.68 [[ 6.89304397e-01 -7.24468201e-01 -2.29665611e-03 9.97732669e+01] [ 7.24464189e-01 6.89308223e-01 -2.41108884e-03 4.46720064e+01] [ 3.32986114e-03 -1.87096023e-06 9.99994456e-01 -6.77892967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.79, Y:44.69, Z:-0.68 [[ 6.88134890e-01 -7.25580091e-01 -1.97598920e-03 9.97919129e+01] [ 7.25577124e-01 6.88137727e-01 -2.07521294e-03 4.46912465e+01] [ 2.86548592e-03 -5.70613180e-06 9.99995894e-01 -6.77927900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:44.71, Z:-0.68 [[ 6.86583625e-01 -7.27049327e-01 -1.48391262e-03 9.98120051e+01] [ 7.27047652e-01 6.86585229e-01 -1.56056232e-03 4.47114441e+01] [ 2.15343827e-03 -7.41865281e-06 9.99997681e-01 -6.76740286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.83, Y:44.73, Z:-0.67 [[ 6.84029042e-01 -7.29454524e-01 -6.06149150e-04 9.98333125e+01] [ 7.29454244e-01 6.84029310e-01 -6.38821722e-04 4.47308206e+01] [ 8.80615180e-04 -5.18546036e-06 9.99999612e-01 -6.74891692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.830888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.85, Y:44.75, Z:-0.67 [[ 6.82374360e-01 -7.31002740e-01 -4.76555221e-04 9.98530874e+01] [ 7.31002567e-01 6.82374527e-01 -5.02945688e-04 4.47516193e+01] [ 6.92843820e-04 -5.16584766e-06 9.99999760e-01 -6.74353827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:44.77, Z:-0.67 [[ 6.80968659e-01 -7.32312560e-01 -1.53553422e-05 9.98722240e+01] [ 7.32312559e-01 6.80968659e-01 -1.71406931e-05 4.47719965e+01] [ 2.30088517e-05 4.27364849e-07 1.00000000e+00 -6.74894520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.890888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.89, Y:44.79, Z:-0.68 [[ 6.78528598e-01 -7.34573523e-01 8.25516110e-04 9.98911159e+01] [ 7.34573012e-01 6.78529100e-01 8.66491049e-04 4.47940600e+01] [-1.19663809e-03 1.84628986e-05 9.99999284e-01 -6.76615598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.920888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.91, Y:44.81, Z:-0.68 [[ 6.77502290e-01 -7.35520162e-01 8.59046524e-04 9.99112462e+01] [ 7.35519608e-01 6.77502834e-01 9.03201388e-04 4.48133391e+01] [-1.24632929e-03 1.99245547e-05 9.99999223e-01 -6.76771623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.950888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.93, Y:44.83, Z:-0.68 [[ 6.75491477e-01 -7.37367273e-01 8.77117791e-04 9.99327217e+01] [ 7.37366697e-01 6.75492046e-01 9.21454586e-04 4.48330933e+01] [-1.27193655e-03 2.43227284e-05 9.99999191e-01 -6.76312508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.95, Y:44.85, Z:-0.68 [[ 6.75288730e-01 -7.37552955e-01 8.77000548e-04 9.99516822e+01] [ 7.37552380e-01 6.75289299e-01 9.21566176e-04 4.48531597e+01] [-1.27193294e-03 2.45105885e-05 9.99999191e-01 -6.76462727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:44.87, Z:-0.68 [[ 6.73459624e-01 -7.39223530e-01 8.41142726e-04 9.99709188e+01] [ 7.39223000e-01 6.73460149e-01 8.85191303e-04 4.48734202e+01] [-1.22083035e-03 2.56514470e-05 9.99999254e-01 -6.77673600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.99, Y:44.89, Z:-0.68 [[ 6.72375850e-01 -7.40209562e-01 7.21796645e-04 9.99904166e+01] [ 7.40209173e-01 6.72376237e-01 7.58931939e-04 4.48949718e+01] [-1.04708759e-03 2.39929901e-05 9.99999452e-01 -6.78340338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.01, Y:44.92, Z:-0.68 [[ 6.71188812e-01 -7.41286069e-01 7.36679232e-04 1.00009246e+02] [ 7.41285665e-01 6.71189215e-01 7.74966797e-04 4.49174176e+01] [-1.06892325e-03 2.59407107e-05 9.99999428e-01 -6.79090177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.03, Y:44.94, Z:-0.68 [[ 6.70899435e-01 -7.41548076e-01 6.32380171e-04 1.00027962e+02] [ 7.41547777e-01 6.70899732e-01 6.65940042e-04 4.49381237e+01] [-9.18090244e-04 2.21613118e-05 9.99999578e-01 -6.79189819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.05, Y:44.96, Z:-0.68 [[ 6.70223349e-01 -7.42157105e-01 1.86927414e-03 1.00046661e+02] [ 7.42154491e-01 6.70225952e-01 1.97091690e-03 4.49605525e+01] [-2.71556602e-03 6.63356692e-05 9.99996311e-01 -6.78432462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:44.98, Z:-0.68 [[ 6.69276711e-01 -7.43010425e-01 2.04749498e-03 1.00066637e+02] [ 7.43007289e-01 6.69279839e-01 2.16007794e-03 4.49811437e+01] [-2.97530754e-03 7.56138319e-05 9.99995571e-01 -6.78393598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.09, Y:45.00, Z:-0.68 [[ 6.68036665e-01 -7.44126228e-01 1.78071508e-03 1.00086860e+02] [ 7.44123858e-01 6.68039035e-01 1.87929374e-03 4.50023144e+01] [-2.58801895e-03 6.96354532e-05 9.99996649e-01 -6.78720616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:45.02, Z:-0.68 [[ 6.65097944e-01 -7.46755074e-01 1.25859544e-03 1.00105122e+02] [ 7.46753895e-01 6.65099132e-01 1.32853322e-03 4.50242633e+01] [-1.82917966e-03 5.62563281e-05 9.99998325e-01 -6.80883485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.250888479 meters Centerline goodness [0,1] 0.9999776865405212 Centerline is valid? [True, True] Translation: X:100.12, Y:45.05, Z:-0.68 [[ 6.63412378e-01 -7.48253363e-01 9.59753409e-04 1.00123624e+02] [ 7.48252677e-01 6.63413071e-01 1.01381858e-03 4.50458985e+01] [-1.39530612e-03 4.55582608e-05 9.99999026e-01 -6.82507781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.280888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:45.07, Z:-0.68 [[ 6.61985849e-01 -7.49515521e-01 1.10412300e-03 1.00142355e+02] [ 7.49514615e-01 6.61986768e-01 1.16662563e-03 4.50672668e+01] [-1.60531883e-03 5.52666665e-05 9.99998710e-01 -6.84102294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.310888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:45.09, Z:-0.68 [[ 6.58585391e-01 -7.52505044e-01 1.20026783e-03 1.00163714e+02] [ 7.52503979e-01 6.58586482e-01 1.26817068e-03 4.50852997e+01] [-1.74478500e-03 6.80076326e-05 9.99998476e-01 -6.84483502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.340888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:45.11, Z:-0.68 [[ 6.56697026e-01 -7.54152453e-01 1.75886111e-03 1.00183070e+02] [ 7.54150169e-01 6.56699373e-01 1.85908660e-03 4.51065263e+01] [-2.55707771e-03 1.05588764e-04 9.99996725e-01 -6.83993515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:45.13, Z:-0.68 [[ 6.55016576e-01 -7.55612179e-01 1.87631285e-03 1.00202781e+02] [ 7.55609583e-01 6.55019252e-01 1.98432235e-03 4.51279748e+01] [-2.72839918e-03 1.17995940e-04 9.99996271e-01 -6.84004010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.22, Y:45.15, Z:-0.68 [[ 6.52179326e-01 -7.58063015e-01 1.60982981e-03 1.00221359e+02] [ 7.58061110e-01 6.52181304e-01 1.70301971e-03 4.51498969e+01] [-2.34089716e-03 1.09675119e-04 9.99997254e-01 -6.84349739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.430888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.24, Y:45.17, Z:-0.68 [[ 6.50733303e-01 -7.59304296e-01 1.77637380e-03 1.00237881e+02] [ 7.59301978e-01 6.50735715e-01 1.88035561e-03 4.51744502e+01] [-2.58371197e-03 1.25194122e-04 9.99996654e-01 -6.84551119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:45.19, Z:-0.69 [[ 6.49781851e-01 -7.60116955e-01 2.40013783e-03 1.00258520e+02] [ 7.60112721e-01 6.49786261e-01 2.54309177e-03 4.51935933e+01] [-3.49262376e-03 1.71920424e-04 9.99993886e-01 -6.85316845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:45.22, Z:-0.69 [[ 6.48742722e-01 -7.60998948e-01 3.67182735e-03 1.00273338e+02] [ 7.60989045e-01 6.48753057e-01 3.89157102e-03 4.52198550e+01] [-5.34359067e-03 2.69592011e-04 9.99985687e-01 -6.85042006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:45.24, Z:-0.68 [[ 6.48597576e-01 -7.61121113e-01 3.97934877e-03 1.00291670e+02] [ 7.61109471e-01 6.48609718e-01 4.21976535e-03 4.52409674e+01] [-5.79279679e-03 2.91790464e-04 9.99983179e-01 -6.84840594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.550888479 meters Centerline goodness [0,1] 0.9999780031235564 Centerline is valid? [True, True] Translation: X:100.31, Y:45.26, Z:-0.68 [[ 6.48752038e-01 -7.60989808e-01 3.91218282e-03 1.00310242e+02] [ 7.60978541e-01 6.48763772e-01 4.15076962e-03 4.52612422e+01] [-5.69677586e-03 2.84266922e-04 9.99983733e-01 -6.84500833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.580888479 meters Centerline goodness [0,1] 0.9999562659902473 Centerline is valid? [True, True] Translation: X:100.33, Y:45.28, Z:-0.68 [[ 6.48971783e-01 -7.60801645e-01 4.05979846e-03 1.00329015e+02] [ 7.60789503e-01 6.48984416e-01 4.30816306e-03 4.52814199e+01] [-5.91240348e-03 2.92775790e-04 9.99982479e-01 -6.84601770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.610888479 meters Centerline goodness [0,1] 0.9998258673980236 Centerline is valid? [True, True] Translation: X:100.34, Y:45.31, Z:-0.69 [[ 6.48741061e-01 -7.60994250e-01 4.77352286e-03 1.00341374e+02] [ 7.60977460e-01 6.48758531e-01 5.06694221e-03 4.53081864e+01] [-6.95277757e-03 3.45409833e-04 9.99975769e-01 -6.85200718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.640888479 meters Centerline goodness [0,1] 0.9998257991464158 Centerline is valid? [True, True] Translation: X:100.36, Y:45.33, Z:-0.69 [[ 6.48648928e-01 -7.61071277e-01 5.00800073e-03 1.00356444e+02] [ 7.61052776e-01 6.48668159e-01 5.31886225e-03 4.53329578e+01] [-7.29656389e-03 3.61278565e-04 9.99973314e-01 -6.85444376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.670888479 meters Centerline goodness [0,1] 0.9997616364739533 Centerline is valid? [True, True] Translation: X:100.37, Y:45.35, Z:-0.69 [[ 6.48840042e-01 -7.60907568e-01 5.12578290e-03 1.00374549e+02] [ 7.60888163e-01 6.48860185e-01 5.44650163e-03 4.53544315e+01] [-7.47020075e-03 3.66239196e-04 9.99972031e-01 -6.85672249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.700888479 meters Centerline goodness [0,1] 0.9997194406077348 Centerline is valid? [True, True] Translation: X:100.39, Y:45.38, Z:-0.69 [[ 6.49886691e-01 -7.60011535e-01 5.45480181e-03 1.00391379e+02] [ 7.59989519e-01 6.49909473e-01 5.79715518e-03 4.53773066e+01] [-7.95103218e-03 3.78098205e-04 9.99968319e-01 -6.86943342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.730888479 meters Centerline goodness [0,1] 0.9997194406077348 Centerline is valid? [True, True] Translation: X:100.41, Y:45.40, Z:-0.69 [[ 6.49683943e-01 -7.60184865e-01 5.45397612e-03 1.00410247e+02] [ 7.60162848e-01 6.49706724e-01 5.79793190e-03 4.53974758e+01] [-7.95098503e-03 3.79086767e-04 9.99968319e-01 -6.87094011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.760888479 meters Centerline goodness [0,1] 0.9997842502696872 Centerline is valid? [True, True] Translation: X:100.43, Y:45.42, Z:-0.69 [[ 6.50477148e-01 -7.59507867e-01 5.22293158e-03 1.00426722e+02] [ 7.59487637e-01 6.50498020e-01 5.55473918e-03 4.54221503e+01] [-7.61637476e-03 3.53521060e-04 9.99970933e-01 -6.88008518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.790888479 meters Centerline goodness [0,1] 0.9997845709730929 Centerline is valid? [True, True] Translation: X:100.44, Y:45.45, Z:-0.69 [[ 6.53239694e-01 -7.57135823e-01 4.82159844e-03 1.00441284e+02] [ 7.57118507e-01 6.53257420e-01 5.12936368e-03 4.54483415e+01] [-7.03336995e-03 2.99817447e-04 9.99975221e-01 -6.89696540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.820888479 meters Centerline goodness [0,1] 0.9996779802923939 Centerline is valid? [True, True] Translation: X:100.46, Y:45.47, Z:-0.69 [[ 6.55178556e-01 -7.55461188e-01 4.41064454e-03 1.00458015e+02] [ 7.55446647e-01 6.55193352e-01 4.69424717e-03 4.54729003e+01] [-6.43614652e-03 2.56436544e-04 9.99979255e-01 -6.90652143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85088847899999 meters Centerline goodness [0,1] 0.999613601236476 Centerline is valid? [True, True] Translation: X:100.47, Y:45.50, Z:-0.69 [[ 6.57040271e-01 -7.53844076e-01 4.14632332e-03 1.00473720e+02] [ 7.53831182e-01 6.57053315e-01 4.41478774e-03 4.54981521e+01] [-6.05241706e-03 2.24934476e-04 9.99981659e-01 -6.91939434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88088847899999 meters Centerline goodness [0,1] 0.9995493755632805 Centerline is valid? [True, True] Translation: X:100.49, Y:45.52, Z:-0.69 [[ 6.59125352e-01 -7.52022810e-01 3.93246181e-03 1.00491184e+02] [ 7.52011168e-01 6.59137053e-01 4.18898934e-03 4.55208334e+01] [-5.74224683e-03 1.96186129e-04 9.99983494e-01 -6.93219727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.910888479 meters Centerline goodness [0,1] 0.99955017671629 Centerline is valid? [True, True] Translation: X:100.50, Y:45.55, Z:-0.69 [[ 6.64045061e-01 -7.47684269e-01 3.52009087e-03 1.00501749e+02] [ 7.47674871e-01 6.64054376e-01 3.75130162e-03 4.55507991e+01] [-5.14232096e-03 1.40850178e-04 9.99986768e-01 -6.94610255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.940888479 meters Centerline goodness [0,1] 0.9994453096665458 Centerline is valid? [True, True] Translation: X:100.52, Y:45.58, Z:-0.70 [[ 6.66901092e-01 -7.45138879e-01 3.31427240e-03 1.00517268e+02] [ 7.45130509e-01 6.66909318e-01 3.53357676e-03 4.55757791e+01] [-4.84332458e-03 1.13019281e-04 9.99988265e-01 -6.95461626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.970888479 meters Centerline goodness [0,1] 0.9994437669811522 Centerline is valid? [True, True] Translation: X:100.53, Y:45.60, Z:-0.70 [[ 6.72770632e-01 -7.39844527e-01 3.12288551e-03 1.00529034e+02] [ 7.39837031e-01 6.72777877e-01 3.33121840e-03 4.56022924e+01] [-4.56559198e-03 6.92804329e-05 9.99989575e-01 -6.96598230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.000888479 meters Centerline goodness [0,1] 0.9993177699605585 Centerline is valid? [True, True] Translation: X:100.55, Y:45.63, Z:-0.70 [[ 6.75289238e-01 -7.37544361e-01 3.57211682e-03 1.00545780e+02] [ 7.37534516e-01 6.75298683e-01 3.81131100e-03 4.56264351e+01] [-5.22325672e-03 6.08221486e-05 9.99986357e-01 -6.96694163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.030888479 meters Centerline goodness [0,1] 0.999319090986467 Centerline is valid? [True, True] Translation: X:100.56, Y:45.65, Z:-0.70 [[ 6.77259018e-01 -7.35732051e-01 4.30943086e-03 1.00562742e+02] [ 7.35717669e-01 6.77272726e-01 4.60059638e-03 4.56506968e+01] [-6.30346619e-03 5.47290440e-05 9.99980131e-01 -6.96105914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.060888479 meters Centerline goodness [0,1] 0.9992781163082018 Centerline is valid? [True, True] Translation: X:100.58, Y:45.68, Z:-0.69 [[ 6.80344389e-01 -7.32868005e-01 5.99999009e-03 1.00578437e+02] [ 7.32839980e-01 6.80370845e-01 6.40921739e-03 4.56760469e+01] [-8.77932869e-03 3.65575242e-05 9.99961460e-01 -6.94779715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.090888479 meters Centerline goodness [0,1] 0.9993853457959772 Centerline is valid? [True, True] Translation: X:100.60, Y:45.70, Z:-0.69 [[ 6.81188370e-01 -7.32080122e-01 6.41098632e-03 1.00595233e+02] [ 7.32048063e-01 6.81218537e-01 6.85116012e-03 4.56974702e+01] [-9.38288086e-03 2.62195295e-05 9.99955979e-01 -6.94278365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.120888479 meters Centerline goodness [0,1] 0.9990659363987603 Centerline is valid? [True, True] Translation: X:100.61, Y:45.72, Z:-0.69 [[ 6.82049360e-01 -7.31274816e-01 6.76863079e-03 1.00612933e+02] [ 7.31239011e-01 6.82082945e-01 7.23636218e-03 4.57198794e+01] [-9.90853704e-03 1.39306961e-05 9.99950909e-01 -6.94007110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.150888479 meters Centerline goodness [0,1] 0.9990261458664126 Centerline is valid? [True, True] Translation: X:100.63, Y:45.74, Z:-0.69 [[ 6.82830432e-01 -7.30541340e-01 7.20782500e-03 1.00630310e+02] [ 7.30500650e-01 6.82868473e-01 7.71029265e-03 4.57419352e+01] [-1.05546840e-02 4.98391496e-07 9.99944298e-01 -6.94507213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.180888479 meters Centerline goodness [0,1] 0.9988162178159219 Centerline is valid? [True, True] Translation: X:100.65, Y:45.76, Z:-0.69 [[ 6.84836635e-01 -7.28657763e-01 7.52644304e-03 1.00645876e+02] [ 7.28613247e-01 6.84877991e-01 8.05437322e-03 4.57646353e+01] [-1.10235768e-02 -3.20637517e-05 9.99939238e-01 -6.93772780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21088847899999 meters Centerline goodness [0,1] 0.9989223227115206 Centerline is valid? [True, True] Translation: X:100.66, Y:45.79, Z:-0.69 [[ 6.85501958e-01 -7.28030601e-01 7.64914784e-03 1.00663482e+02] [ 7.27984548e-01 6.85544632e-01 8.18877580e-03 4.57860350e+01] [-1.12055116e-02 -4.49604070e-05 9.99937215e-01 -6.93541444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24088847899999 meters Centerline goodness [0,1] 0.9989653060793547 Centerline is valid? [True, True] Translation: X:100.68, Y:45.81, Z:-0.69 [[ 6.85811964e-01 -7.27737113e-01 7.78743079e-03 1.00682001e+02] [ 7.27689308e-01 6.85856174e-01 8.34139460e-03 4.58068726e+01] [-1.14113999e-02 -5.37980915e-05 9.99934886e-01 -6.94174833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27088847899999 meters Centerline goodness [0,1] 0.9987959696668849 Centerline is valid? [True, True] Translation: X:100.70, Y:45.83, Z:-0.69 [[ 6.85663831e-01 -7.27873555e-01 8.07460408e-03 1.00699857e+02] [ 7.27822128e-01 6.85711372e-01 8.65245891e-03 4.58270802e+01] [-1.18347439e-02 -5.58026021e-05 9.99929965e-01 -6.93694965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.300888479 meters Centerline goodness [0,1] 0.9987295134036336 Centerline is valid? [True, True] Translation: X:100.72, Y:45.85, Z:-0.69 [[ 6.85133351e-01 -7.28375979e-01 7.79260468e-03 1.00718532e+02] [ 7.28328089e-01 6.85177664e-01 8.35249713e-03 4.58468273e+01] [-1.14230769e-02 -4.70014729e-05 9.99934753e-01 -6.93668315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.330888479 meters Centerline goodness [0,1] 0.998707216276359 Centerline is valid? [True, True] Translation: X:100.74, Y:45.87, Z:-0.70 [[ 6.84427658e-01 -7.29043795e-01 7.34343032e-03 1.00738558e+02] [ 7.29001269e-01 6.84467051e-01 7.87436246e-03 4.58663610e+01] [-1.07670912e-02 -3.60614300e-05 9.99942033e-01 -6.95476325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.360888479 meters Centerline goodness [0,1] 0.9990258983969675 Centerline is valid? [True, True] Translation: X:100.76, Y:45.89, Z:-0.70 [[ 6.83434425e-01 -7.29983500e-01 6.44032165e-03 1.00758090e+02] [ 7.29950798e-01 6.83464769e-01 6.90960501e-03 4.58859138e+01] [-9.44563060e-03 -2.11439944e-05 9.99955389e-01 -6.97050131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.390888479 meters Centerline goodness [0,1] 0.9990485252140818 Centerline is valid? [True, True] Translation: X:100.78, Y:45.90, Z:-0.70 [[ 6.80994537e-01 -7.32269947e-01 5.21211271e-03 1.00779049e+02] [ 7.32248578e-01 6.81014482e-01 5.59410974e-03 4.59040674e+01] [-7.64592268e-03 7.00395323e-06 9.99970769e-01 -6.99076649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.420888479 meters Centerline goodness [0,1] 0.9988809121621621 Centerline is valid? [True, True] Translation: X:100.80, Y:45.92, Z:-0.70 [[ 6.79640870e-01 -7.33530239e-01 4.65577280e-03 1.00798613e+02] [ 7.33513211e-01 6.79656817e-01 4.99807518e-03 4.59225592e+01] [-6.83056700e-03 1.81746951e-05 9.99976671e-01 -6.99619373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.450888479 meters Centerline goodness [0,1] 0.9993436653116531 Centerline is valid? [True, True] Translation: X:100.82, Y:45.94, Z:-0.70 [[ 6.76680300e-01 -7.36263720e-01 4.41657990e-03 1.00820288e+02] [ 7.36248446e-01 6.76694712e-01 4.74258702e-03 4.59416919e+01] [-6.48047102e-03 4.24848870e-05 9.99979001e-01 -6.99636742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.480888479 meters Centerline goodness [0,1] 0.9991349845985062 Centerline is valid? [True, True] Translation: X:100.84, Y:45.96, Z:-0.70 [[ 6.75457228e-01 -7.37387031e-01 4.23071120e-03 1.00840544e+02] [ 7.37373026e-01 6.75470476e-01 4.54500503e-03 4.59602715e+01] [-6.20914827e-03 4.96558218e-05 9.99980722e-01 -6.99728075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.510888479 meters Centerline goodness [0,1] 0.9994295613960956 Centerline is valid? [True, True] Translation: X:100.86, Y:45.98, Z:-0.70 [[ 6.73984075e-01 -7.38736604e-01 3.70105201e-03 1.00861396e+02] [ 7.38725902e-01 6.73994234e-01 3.97660916e-03 4.59790121e+01] [-5.43215446e-03 5.38917462e-05 9.99985244e-01 -6.99631428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.540888479 meters Centerline goodness [0,1] 0.9994072945111239 Centerline is valid? [True, True] Translation: X:100.88, Y:46.00, Z:-0.70 [[ 6.71711726e-01 -7.40807936e-01 2.63819527e-03 1.00884260e+02] [ 7.40802514e-01 6.71716905e-01 2.83479353e-03 4.59974332e+01] [-3.87215790e-03 5.02176391e-05 9.99992502e-01 -6.99537738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.570888479 meters Centerline goodness [0,1] 0.999215420174304 Centerline is valid? [True, True] Translation: X:100.90, Y:46.02, Z:-0.70 [[ 6.70675011e-01 -7.41747492e-01 2.38487008e-03 1.00904416e+02] [ 7.41743062e-01 6.70679249e-01 2.56406183e-03 4.60160824e+01] [-3.50136931e-03 4.93086384e-05 9.99993869e-01 -6.99720249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60088847899999 meters Centerline goodness [0,1] 0.9993858924676535 Centerline is valid? [True, True] Translation: X:100.92, Y:46.04, Z:-0.70 [[ 6.70006786e-01 -7.42351184e-01 2.37198262e-03 1.00924314e+02] [ 7.42346805e-01 6.70010983e-01 2.55032370e-03 4.60368572e+01] [-3.48249023e-03 5.20995354e-05 9.99993935e-01 -6.99712439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63088847899999 meters Centerline goodness [0,1] 0.9993422308981731 Centerline is valid? [True, True] Translation: X:100.94, Y:46.06, Z:-0.70 [[ 6.69574974e-01 -7.42742150e-01 1.85851946e-03 1.00944097e+02] [ 7.42739460e-01 6.69577552e-01 1.99923987e-03 4.60562591e+01] [-2.72934262e-03 4.17547553e-05 9.99996274e-01 -7.00179101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.660888479 meters Centerline goodness [0,1] 0.999303224171787 Centerline is valid? [True, True] Translation: X:100.96, Y:46.08, Z:-0.70 [[ 6.69612424e-01 -7.42708047e-01 1.98983553e-03 1.00962376e+02] [ 7.42704963e-01 6.69615379e-01 2.14063534e-03 4.60770393e+01] [-2.92229156e-03 4.44647024e-05 9.99995729e-01 -7.00217920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.690888479 meters Centerline goodness [0,1] 0.9991111675449178 Centerline is valid? [True, True] Translation: X:100.98, Y:46.10, Z:-0.70 [[ 6.70261415e-01 -7.42121531e-01 2.29535399e-03 1.00981374e+02] [ 7.42117417e-01 6.70265343e-01 2.47161493e-03 4.60975446e+01] [-3.37273489e-03 4.67940596e-05 9.99994311e-01 -7.00077598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.720888479 meters Centerline goodness [0,1] 0.9993629626483767 Centerline is valid? [True, True] Translation: X:101.00, Y:46.12, Z:-0.70 [[ 6.70966755e-01 -7.41480680e-01 3.16447989e-03 1.01000246e+02] [ 7.41472850e-01 6.70974215e-01 3.40813405e-03 4.61190035e+01] [-4.65034996e-03 5.96312806e-05 9.99989185e-01 -6.98393866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.750888479 meters Centerline goodness [0,1] 0.9992569948626502 Centerline is valid? [True, True] Translation: X:101.02, Y:46.14, Z:-0.70 [[ 6.71552573e-01 -7.40951361e-01 2.86741191e-03 1.01019887e+02] [ 7.40944921e-01 6.71558693e-01 3.08985452e-03 4.61386178e+01] [-4.21506731e-03 4.95945353e-05 9.99991115e-01 -6.97976711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.780888479 meters Centerline goodness [0,1] 0.99917323836174 Centerline is valid? [True, True] Translation: X:101.04, Y:46.16, Z:-0.70 [[ 6.72294024e-01 -7.40280406e-01 2.38018422e-03 1.01039130e+02] [ 7.40275964e-01 6.72298237e-01 2.56471695e-03 4.61599893e+01] [-3.49880336e-03 3.77492927e-05 9.99993878e-01 -6.98340257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.810888479 meters Centerline goodness [0,1] 0.9992351003930734 Centerline is valid? [True, True] Translation: X:101.06, Y:46.18, Z:-0.70 [[ 6.74229799e-01 -7.38517557e-01 2.44869134e-03 1.01057906e+02] [ 7.38512839e-01 6.74234245e-01 2.63987816e-03 4.61818122e+01] [-3.60058792e-03 2.85054693e-05 9.99993517e-01 -6.97607406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.840888479 meters Centerline goodness [0,1] 0.999385983485073 Centerline is valid? [True, True] Translation: X:101.08, Y:46.20, Z:-0.70 [[ 6.75123846e-01 -7.37699499e-01 2.69080361e-03 1.01076871e+02] [ 7.37693790e-01 6.75129208e-01 2.90244349e-03 4.62031482e+01] [-3.95777122e-03 2.54803015e-05 9.99992168e-01 -6.96773815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.870888479 meters Centerline goodness [0,1] 0.9992988718210211 Centerline is valid? [True, True] Translation: X:101.09, Y:46.22, Z:-0.70 [[ 6.76172643e-01 -7.36738112e-01 2.74086648e-03 1.01094646e+02] [ 7.36732172e-01 6.76178197e-01 2.95850137e-03 4.62231891e+01] [-4.03295487e-03 1.88268252e-05 9.99991867e-01 -6.96395827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.900888479 meters Centerline goodness [0,1] 0.9991527398275826 Centerline is valid? [True, True] Translation: X:101.11, Y:46.24, Z:-0.70 [[ 6.77261504e-01 -7.35738536e-01 2.37962204e-03 1.01112776e+02] [ 7.35734051e-01 6.77265684e-01 2.56883518e-03 4.62434661e+01] [-3.50162739e-03 1.09957876e-05 9.99993869e-01 -6.96981609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.930888479 meters Centerline goodness [0,1] 0.999297947026912 Centerline is valid? [True, True] Translation: X:101.13, Y:46.26, Z:-0.70 [[ 6.80012920e-01 -7.33197982e-01 1.77415102e-03 1.01131199e+02] [ 7.33195481e-01 6.80015235e-01 1.91517926e-03 4.62642715e+01] [-2.61065529e-03 -1.54713486e-06 9.99996592e-01 -6.97347614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96088847899999 meters Centerline goodness [0,1] 0.9991042102120036 Centerline is valid? [True, True] Translation: X:101.15, Y:46.28, Z:-0.70 [[ 6.81404338e-01 -7.31905745e-01 1.45240532e-03 1.01149989e+02] [ 7.31904063e-01 6.81405886e-01 1.56914082e-03 4.62840588e+01] [-2.13814071e-03 -6.19801127e-06 9.99997714e-01 -6.97597182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99088847899999 meters Centerline goodness [0,1] 0.9991491353087575 Centerline is valid? [True, True] Translation: X:101.17, Y:46.30, Z:-0.70 [[ 6.83749357e-01 -7.29716505e-01 7.99623360e-04 1.01169017e+02] [ 7.29715994e-01 6.83749824e-01 8.63860659e-04 4.63049616e+01] [-1.17711571e-03 -7.16621533e-06 9.99999307e-01 -6.97623195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02088847899999 meters Centerline goodness [0,1] 0.9991470124109694 Centerline is valid? [True, True] Translation: X:101.19, Y:46.33, Z:-0.70 [[ 6.84723031e-01 -7.28802907e-01 8.32844552e-04 1.01189078e+02] [ 7.28802353e-01 6.84723538e-01 8.98937350e-04 4.63263777e+01] [-1.22541642e-03 -8.54403803e-06 9.99999249e-01 -6.97058955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.050888479 meters Centerline goodness [0,1] 0.9994030487154888 Centerline is valid? [True, True] Translation: X:101.21, Y:46.35, Z:-0.70 [[ 6.85854490e-01 -7.27737948e-01 1.04761536e-03 1.01208078e+02] [ 7.27737067e-01 6.85855290e-01 1.13248876e-03 4.63474530e+01] [-1.54266758e-03 -1.43339719e-05 9.99998810e-01 -6.96911943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.080888479 meters Centerline goodness [0,1] 0.9989963484165795 Centerline is valid? [True, True] Translation: X:101.23, Y:46.37, Z:-0.70 [[ 6.88517312e-01 -7.25219817e-01 3.59091494e-04 1.01226330e+02] [ 7.25219713e-01 6.88517405e-01 3.87913565e-04 4.63686899e+01] [-5.28563348e-04 -6.66497470e-06 9.99999860e-01 -6.97524199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.110888479 meters Centerline goodness [0,1] 0.999191076294278 Centerline is valid? [True, True] Translation: X:101.24, Y:46.39, Z:-0.70 [[ 6.89685032e-01 -7.24109441e-01 2.73194784e-04 1.01244462e+02] [ 7.24109380e-01 6.89685086e-01 2.95028542e-04 4.63898752e+01] [-4.02051320e-04 -5.65386394e-06 9.99999919e-01 -6.97833529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.140888479 meters Centerline goodness [0,1] 0.9992753159835455 Centerline is valid? [True, True] Translation: X:101.26, Y:46.41, Z:-0.70 [[ 6.91031125e-01 -7.22824704e-01 6.57102164e-04 1.01264381e+02] [ 7.22824355e-01 6.91031437e-01 7.09682154e-04 4.64104365e+01] [-9.67054046e-04 -1.54430087e-05 9.99999532e-01 -6.96758080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.170888479 meters Centerline goodness [0,1] 0.9992524721812862 Centerline is valid? [True, True] Translation: X:101.28, Y:46.43, Z:-0.70 [[ 6.92280751e-01 -7.21627849e-01 7.80763560e-04 1.01284928e+02] [ 7.21627356e-01 6.92281191e-01 8.43960858e-04 4.64305747e+01] [-1.14953359e-03 -2.08375134e-05 9.99999339e-01 -6.95960373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.200888479 meters Centerline goodness [0,1] 0.9992725872360454 Centerline is valid? [True, True] Translation: X:101.30, Y:46.45, Z:-0.70 [[ 6.94565901e-01 -7.19429082e-01 6.79555026e-05 1.01304412e+02] [ 7.19429079e-01 6.94565904e-01 7.26081510e-05 4.64504606e+01] [-9.94359906e-05 -1.54198124e-06 9.99999995e-01 -6.96475999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.230888479 meters Centerline goodness [0,1] 0.9992299959360896 Centerline is valid? [True, True] Translation: X:101.32, Y:46.47, Z:-0.70 [[ 6.95184390e-01 -7.18830868e-01 -9.20195201e-04 1.01323681e+02] [ 7.18830174e-01 6.95184998e-01 -9.99617502e-04 4.64716316e+01] [ 1.35826182e-03 3.34544069e-05 9.99999077e-01 -6.98158931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.260888479 meters Centerline goodness [0,1] 0.9992507439042665 Centerline is valid? [True, True] Translation: X:101.34, Y:46.49, Z:-0.70 [[ 6.95844422e-01 -7.18190214e-01 -1.83231344e-03 1.01341565e+02] [ 7.18187466e-01 6.95846831e-01 -1.98765751e-03 4.64931081e+01] [ 2.70252567e-03 6.71558454e-05 9.99996346e-01 -7.00397950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.290888479 meters Centerline goodness [0,1] 0.9993582750433164 Centerline is valid? [True, True] Translation: X:101.36, Y:46.51, Z:-0.70 [[ 6.96881417e-01 -7.17178702e-01 -3.31664152e-03 1.01360706e+02] [ 7.17169684e-01 6.96889297e-01 -3.59880082e-03 4.65127860e+01] [ 4.89231528e-03 1.29342662e-04 9.99988024e-01 -7.03344180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.320888479 meters Centerline goodness [0,1] 0.9994633811281876 Centerline is valid? [True, True] Translation: X:101.38, Y:46.53, Z:-0.70 [[ 6.97262646e-01 -7.16804300e-01 -4.04953018e-03 1.01384189e+02] [ 7.16790834e-01 6.97274386e-01 -4.39667841e-03 4.65305813e+01] [ 5.97519166e-03 1.62973503e-04 9.99982135e-01 -7.02658954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35088847899999 meters Centerline goodness [0,1] 0.9993325869789873 Centerline is valid? [True, True] Translation: X:101.41, Y:46.55, Z:-0.70 [[ 6.97429815e-01 -7.16637376e-01 -4.74592088e-03 1.01405463e+02] [ 7.16618882e-01 6.97445936e-01 -5.15206513e-03 4.65494596e+01] [ 7.00218566e-03 1.92187317e-04 9.99975466e-01 -7.02943167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38088847899999 meters Centerline goodness [0,1] 0.9996979699264341 Centerline is valid? [True, True] Translation: X:101.43, Y:46.57, Z:-0.70 [[ 6.97081649e-01 -7.16966784e-01 -5.98370851e-03 1.01429071e+02] [ 7.16937382e-01 6.97107289e-01 -6.49743022e-03 4.65656219e+01] [ 8.82972847e-03 2.39295056e-04 9.99960989e-01 -7.03088529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.410888479 meters Centerline goodness [0,1] 0.9995899693556045 Centerline is valid? [True, True] Translation: X:101.45, Y:46.58, Z:-0.70 [[ 6.96764499e-01 -7.17272220e-01 -6.30843491e-03 1.01450278e+02] [ 7.17239507e-01 6.96793011e-01 -6.85490844e-03 4.65842630e+01] [ 9.31250874e-03 2.51598097e-04 9.99956606e-01 -7.02879037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.440888479 meters Centerline goodness [0,1] 0.9995236342377065 Centerline is valid? [True, True] Translation: X:101.47, Y:46.60, Z:-0.70 [[ 6.96815462e-01 -7.17222268e-01 -6.35846914e-03 1.01470754e+02] [ 7.17189021e-01 6.96844426e-01 -6.91047475e-03 4.66022097e+01] [ 9.38721015e-03 2.55101400e-04 9.99955907e-01 -7.04330755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.470888479 meters Centerline goodness [0,1] 0.9997396115872844 Centerline is valid? [True, True] Translation: X:101.49, Y:46.62, Z:-0.70 [[ 6.96878202e-01 -7.17161619e-01 -6.32327419e-03 1.01491673e+02] [ 7.17128701e-01 6.96906842e-01 -6.87599245e-03 4.66223937e+01] [ 9.33793092e-03 2.57127852e-04 9.99956368e-01 -7.04742376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.500888479 meters Centerline goodness [0,1] 0.9997828588799861 Centerline is valid? [True, True] Translation: X:101.51, Y:46.64, Z:-0.70 [[ 6.97044773e-01 -7.17000471e-01 -6.23771720e-03 1.01513632e+02] [ 7.16968402e-01 6.97072635e-01 -6.78611026e-03 4.66420068e+01] [ 9.21378622e-03 2.57976556e-04 9.99957519e-01 -7.04641691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.530888479 meters Centerline goodness [0,1] 0.999760853968737 Centerline is valid? [True, True] Translation: X:101.54, Y:46.66, Z:-0.70 [[ 6.96959723e-01 -7.17086466e-01 -5.84327956e-03 1.01535201e+02] [ 7.17058296e-01 6.96984175e-01 -6.36078868e-03 4.66601951e+01] [ 8.63390886e-03 2.43241434e-04 9.99962698e-01 -7.03755035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.560888479 meters Centerline goodness [0,1] 0.9998687175896549 Centerline is valid? [True, True] Translation: X:101.56, Y:46.68, Z:-0.70 [[ 6.97023620e-01 -7.17032002e-01 -4.81467437e-03 1.01560999e+02] [ 7.17012856e-01 6.97040219e-01 -5.24381870e-03 4.66757443e+01] [ 7.11600749e-03 2.02882072e-04 9.99974660e-01 -7.00466037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.590888479 meters Centerline goodness [0,1] 0.9998905429071804 Centerline is valid? [True, True] Translation: X:101.58, Y:46.69, Z:-0.70 [[ 6.96851959e-01 -7.17202116e-01 -4.29782056e-03 1.01584329e+02] [ 7.17186843e-01 6.96865189e-01 -4.68414234e-03 4.66920670e+01] [ 6.35447833e-03 1.81813405e-04 9.99979794e-01 -6.97864277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.620888479 meters Centerline goodness [0,1] 0.9998905429071804 Centerline is valid? [True, True] Translation: X:101.60, Y:46.71, Z:-0.70 [[ 6.96646878e-01 -7.17401329e-01 -4.29648000e-03 1.01602946e+02] [ 7.17386052e-01 6.96660103e-01 -4.68537228e-03 4.67124471e+01] [ 6.35447851e-03 1.81815149e-04 9.99979794e-01 -6.98014457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.650888479 meters Centerline goodness [0,1] 0.9999781009110021 Centerline is valid? [True, True] Translation: X:101.62, Y:46.73, Z:-0.70 [[ 6.96350026e-01 -7.17692661e-01 -3.72638987e-03 1.01621758e+02] [ 7.17681176e-01 6.96359979e-01 -4.06311336e-03 4.67329211e+01] [ 5.51097542e-03 1.54989231e-04 9.99984802e-01 -6.98545097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.680888479 meters Centerline goodness [0,1] 0.9998458794777516 Centerline is valid? [True, True] Translation: X:101.64, Y:46.75, Z:-0.70 [[ 6.95580777e-01 -7.18444038e-01 -2.35512348e-03 1.01644574e+02] [ 7.18439446e-01 6.95584757e-01 -2.57060825e-03 4.67504508e+01] [ 3.48502616e-03 9.60520786e-05 9.99993923e-01 -6.96970447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71088847899999 meters Centerline goodness [0,1] 0.9999119388855866 Centerline is valid? [True, True] Translation: X:101.67, Y:46.77, Z:-0.70 [[ 6.95523844e-01 -7.18501063e-01 -1.67469540e-03 1.01666774e+02] [ 7.18498736e-01 6.95525857e-01 -1.82981775e-03 4.67686264e+01] [ 2.47951995e-03 6.94153528e-05 9.99996924e-01 -6.95317478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74088847899999 meters Centerline goodness [0,1] 0.9999779161697805 Centerline is valid? [True, True] Translation: X:101.69, Y:46.79, Z:-0.69 [[ 6.95309387e-01 -7.18709318e-01 -1.33151099e-03 1.01688991e+02] [ 7.18707844e-01 6.95310660e-01 -1.45624765e-03 4.67864299e+01] [ 1.97243254e-03 5.55752720e-05 9.99998053e-01 -6.93990145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.71, Y:46.81, Z:-0.70 [[ 6.95312576e-01 -7.18706342e-01 -1.27131327e-03 1.01705311e+02] [ 7.18704999e-01 6.95313736e-01 -1.39031092e-03 4.68087216e+01] [ 1.88318686e-03 5.30014653e-05 9.99998225e-01 -6.95356594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.800888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.73, Y:46.83, Z:-0.70 [[ 6.95709654e-01 -7.18317754e-01 -2.77156791e-03 1.01729071e+02] [ 7.18311368e-01 6.95715165e-01 -3.03106814e-03 4.68262355e+01] [ 4.10549188e-03 1.17894630e-04 9.99991565e-01 -6.96922383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.830888479 meters Centerline goodness [0,1] 0.9999778122919902 Centerline is valid? [True, True] Translation: X:101.75, Y:46.85, Z:-0.70 [[ 6.96034338e-01 -7.17999122e-01 -3.66886925e-03 1.01748587e+02] [ 7.17987935e-01 6.96043989e-01 -4.01114022e-03 4.68459733e+01] [ 5.43368955e-03 1.57687469e-04 9.99985225e-01 -6.98484676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.860888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.77, Y:46.86, Z:-0.70 [[ 6.95583627e-01 -7.18431953e-01 -4.35273935e-03 1.01769452e+02] [ 7.18416189e-01 6.95597221e-01 -4.76300068e-03 4.68646489e+01] [ 6.44964528e-03 1.85986877e-04 9.99979184e-01 -6.98992201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.890888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.79, Y:46.89, Z:-0.70 [[ 6.94878163e-01 -7.19109810e-01 -5.04172863e-03 1.01785954e+02] [ 7.19088678e-01 6.94896422e-01 -5.51681726e-03 4.68866660e+01] [ 7.47067660e-03 2.08065875e-04 9.99972072e-01 -7.01442202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.920888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.81, Y:46.90, Z:-0.70 [[ 6.92173628e-01 -7.21710222e-01 -5.47946905e-03 1.01813374e+02] [ 7.21685315e-01 6.92195288e-01 -5.99921191e-03 4.69013612e+01] [ 8.12255521e-03 1.98043924e-04 9.99966992e-01 -6.99713126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.950888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.83, Y:46.92, Z:-0.70 [[ 6.90278919e-01 -7.23522950e-01 -5.43648497e-03 1.01833952e+02] [ 7.23498463e-01 6.90300304e-01 -5.95520430e-03 4.69211991e+01] [ 8.06153421e-03 1.77463459e-04 9.99967490e-01 -7.00660846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.86, Y:46.94, Z:-0.70 [[ 6.85913241e-01 -7.27662876e-01 -5.45579445e-03 1.01857472e+02] [ 7.27638321e-01 6.85934926e-01 -5.97927038e-03 4.69385393e+01] [ 8.09321304e-03 1.31415610e-04 9.99967241e-01 -7.00039913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.88, Y:46.96, Z:-0.70 [[ 6.83294422e-01 -7.30120274e-01 -5.75484969e-03 1.01879671e+02] [ 7.30093015e-01 6.83318647e-01 -6.30995598e-03 4.69574841e+01] [ 8.53942290e-03 1.09982168e-04 9.99963532e-01 -6.99840660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.90, Y:46.98, Z:-0.70 [[ 6.80560024e-01 -7.32666927e-01 -6.10152205e-03 1.01901730e+02] [ 7.32636359e-01 6.80587369e-01 -6.69317069e-03 4.69759472e+01] [ 9.05648364e-03 8.49075083e-05 9.99958986e-01 -6.99912512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.93, Y:46.99, Z:-0.70 [[ 6.74474361e-01 -7.38274433e-01 -5.93285556e-03 1.01926463e+02] [ 7.38245747e-01 6.74500454e-01 -6.50805285e-03 4.69914126e+01] [ 8.80644279e-03 9.60940557e-06 9.99961222e-01 -7.00323179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.95, Y:47.01, Z:-0.70 [[ 6.71332178e-01 -7.41138636e-01 -5.16034182e-03 1.01948052e+02] [ 7.41117008e-01 6.71352010e-01 -5.66204936e-03 4.70095342e+01] [ 7.66076939e-03 -2.33011602e-05 9.99970656e-01 -6.99474627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.97, Y:47.03, Z:-0.70 [[ 6.66324495e-01 -7.45657686e-01 -2.50646132e-03 1.01969241e+02] [ 7.45652604e-01 6.66329208e-01 -2.75337108e-03 4.70283712e+01] [ 3.72320069e-03 -3.43108146e-05 9.99993068e-01 -6.96938998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.99, Y:47.05, Z:-0.70 [[ 6.64003196e-01 -7.47727451e-01 -1.84802083e-03 1.01988843e+02] [ 7.47724696e-01 6.64005767e-01 -2.02999094e-03 4.70478216e+01] [ 2.74497644e-03 -3.38903450e-05 9.99996232e-01 -6.96974406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.01, Y:47.07, Z:-0.70 [[ 6.61522160e-01 -7.49923908e-01 -1.60096524e-03 1.02009005e+02] [ 7.49921845e-01 6.61524097e-01 -1.75945562e-03 4.70679850e+01] [ 2.37853492e-03 -3.66799248e-05 9.99997171e-01 -6.96975374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:47.09, Z:-0.70 [[ 6.59140900e-01 -7.52017383e-01 -1.76926154e-03 1.02028232e+02] [ 7.52014869e-01 6.59143273e-01 -1.94516686e-03 4.70888690e+01] [ 2.62899613e-03 -4.83719535e-05 9.99996543e-01 -6.96137373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.250888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.05, Y:47.11, Z:-0.70 [[ 6.55495162e-01 -7.55196193e-01 -2.19125544e-03 1.02048071e+02] [ 7.55192350e-01 6.55498821e-01 -2.41047262e-03 4.71103432e+01] [ 3.25674511e-03 -7.47662067e-05 9.99994694e-01 -6.95998736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.280888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.07, Y:47.13, Z:-0.70 [[ 6.54350196e-01 -7.56186326e-01 -2.83927557e-03 1.02067177e+02] [ 7.56179885e-01 6.54356348e-01 -3.12284431e-03 4.71312457e+01] [ 4.21935016e-03 -1.03569281e-04 9.99991093e-01 -6.97127553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.310888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.09, Y:47.15, Z:-0.70 [[ 6.53163088e-01 -7.57208353e-01 -3.67300264e-03 1.02087370e+02] [ 7.57197583e-01 6.53173400e-01 -4.04100734e-03 4.71507496e+01] [ 5.45899214e-03 -1.41751888e-04 9.99985090e-01 -7.00160607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.340888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.10, Y:47.17, Z:-0.70 [[ 6.52344295e-01 -7.57908885e-01 -4.58725575e-03 1.02103631e+02] [ 7.57892086e-01 6.52360398e-01 -5.04953406e-03 4.71746142e+01] [ 6.81963071e-03 -1.82610096e-04 9.99976729e-01 -7.01181319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.370888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.12, Y:47.20, Z:-0.70 [[ 6.51818595e-01 -7.58359905e-01 -4.77222640e-03 1.02119250e+02] [ 7.58341718e-01 6.51836036e-01 -5.25556390e-03 4.71992084e+01] [ 7.09631808e-03 -1.93304093e-04 9.99974802e-01 -7.03748802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.400888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.14, Y:47.22, Z:-0.70 [[ 6.51698304e-01 -7.58464590e-01 -4.55918043e-03 1.02135356e+02] [ 7.58447972e-01 6.51714226e-01 -5.02420002e-03 4.72222416e+01] [ 6.78196055e-03 -1.83638516e-04 9.99976985e-01 -7.03098798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.430888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.15, Y:47.24, Z:-0.70 [[ 6.51317928e-01 -7.58793452e-01 -4.17781821e-03 1.02153250e+02] [ 7.58779487e-01 6.51331305e-01 -4.60667829e-03 4.72434121e+01] [ 6.21666111e-03 -1.69630600e-04 9.99980662e-01 -7.02825537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:47.27, Z:-0.70 [[ 6.51449089e-01 -7.58681790e-01 -4.00334909e-03 1.02170320e+02] [ 7.58668953e-01 6.51461370e-01 -4.41626266e-03 4.72672170e+01] [ 5.95856534e-03 -1.60246382e-04 9.99982235e-01 -7.03076176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.19, Y:47.29, Z:-0.70 [[ 6.51460543e-01 -7.58672833e-01 -3.83319815e-03 1.02188336e+02] [ 7.58661062e-01 6.51471802e-01 -4.22905313e-03 4.72873552e+01] [ 5.70568823e-03 -1.53036932e-04 9.99983711e-01 -7.04467181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.20, Y:47.31, Z:-0.70 [[ 6.52263188e-01 -7.57983814e-01 -3.64298379e-03 1.02202640e+02] [ 7.57973156e-01 6.52273346e-01 -4.02200965e-03 4.73131651e+01] [ 5.42483944e-03 -1.37875085e-04 9.99985276e-01 -7.04738565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.550888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.22, Y:47.33, Z:-0.71 [[ 6.52745355e-01 -7.57569961e-01 -3.35486671e-03 1.02219712e+02] [ 7.57560915e-01 6.52753965e-01 -3.70432233e-03 4.73349383e+01] [ 4.99618587e-03 -1.23536700e-04 9.99987511e-01 -7.05475907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.580888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.24, Y:47.36, Z:-0.71 [[ 6.53279213e-01 -7.57109684e-01 -3.34615445e-03 1.02236426e+02] [ 7.57100665e-01 6.53287772e-01 -3.69735965e-03 4.73582793e+01] [ 4.98530858e-03 -1.17967555e-04 9.99987566e-01 -7.05190573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.610888479 meters Centerline goodness [0,1] 0.9999556511519613 Centerline is valid? [True, True] Translation: X:102.25, Y:47.38, Z:-0.71 [[ 6.53851340e-01 -7.56617882e-01 -2.79389335e-03 1.02253762e+02] [ 7.56611589e-01 6.53857302e-01 -3.08753122e-03 4.73801241e+01] [ 4.16288890e-03 -9.51056613e-05 9.99991331e-01 -7.05571445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.640888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.27, Y:47.40, Z:-0.70 [[ 6.55480181e-01 -7.55211625e-01 -1.06504635e-03 1.02269955e+02] [ 7.55210705e-01 6.55481045e-01 -1.17904544e-03 4.74048596e+01] [ 1.58854652e-03 -3.14934828e-05 9.99998738e-01 -7.04242071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.670888479 meters Centerline goodness [0,1] 0.9999779244574936 Centerline is valid? [True, True] Translation: X:102.29, Y:47.43, Z:-0.70 [[ 6.56409350e-01 -7.54404619e-01 -6.60486242e-04 1.02287733e+02] [ 7.54404263e-01 6.56409682e-01 -7.32306407e-04 4.74279641e+01] [ 9.86004900e-04 -1.75808638e-05 9.99999514e-01 -7.03889953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.700888479 meters Centerline goodness [0,1] 0.9999779444199383 Centerline is valid? [True, True] Translation: X:102.31, Y:47.45, Z:-0.70 [[ 6.57740785e-01 -7.53244121e-01 -5.94822668e-04 1.02305231e+02] [ 7.53243832e-01 6.57741054e-01 -6.60014914e-04 4.74510485e+01] [ 8.88391642e-04 -1.39277783e-05 9.99999605e-01 -7.04079706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.730888479 meters Centerline goodness [0,1] 0.9999559626563326 Centerline is valid? [True, True] Translation: X:102.32, Y:47.47, Z:-0.70 [[ 6.59251248e-01 -7.51922343e-01 -7.63034882e-04 1.02322679e+02] [ 7.51921866e-01 6.59251690e-01 -8.46514969e-04 4.74744002e+01] [ 1.13954555e-03 -1.56765627e-05 9.99999351e-01 -7.04728173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.760888479 meters Centerline goodness [0,1] 0.9998240249884517 Centerline is valid? [True, True] Translation: X:102.34, Y:47.50, Z:-0.71 [[ 6.63283728e-01 -7.48367078e-01 -1.18841160e-03 1.02337945e+02] [ 7.48365918e-01 6.63284793e-01 -1.31799842e-03 4.74994430e+01] [ 1.77460197e-03 -1.51598305e-05 9.99998425e-01 -7.05137119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.790888479 meters Centerline goodness [0,1] 0.9999341354175815 Centerline is valid? [True, True] Translation: X:102.35, Y:47.52, Z:-0.71 [[ 6.65697931e-01 -7.46220433e-01 -1.15296538e-03 1.02354948e+02] [ 7.46219339e-01 6.65698930e-01 -1.27768403e-03 4.75219956e+01] [ 1.72096175e-03 -9.81344375e-06 9.99998519e-01 -7.05862008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.820888479 meters Centerline goodness [0,1] 0.999846211305666 Centerline is valid? [True, True] Translation: X:102.37, Y:47.55, Z:-0.71 [[ 6.67865353e-01 -7.44280725e-01 -1.43943606e-03 1.02371535e+02] [ 7.44279012e-01 6.67866904e-01 -1.59717663e-03 4.75454674e+01] [ 2.15009948e-03 -4.64311908e-06 9.99997689e-01 -7.06354764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85088847899999 meters Centerline goodness [0,1] 0.9998460421844415 Centerline is valid? [True, True] Translation: X:102.39, Y:47.57, Z:-0.71 [[ 6.69850312e-01 -7.42494661e-01 -1.49574757e-03 1.02387735e+02] [ 7.42492804e-01 6.69851982e-01 -1.66075103e-03 4.75682023e+01] [ 2.23502825e-03 1.87278867e-06 9.99997502e-01 -7.06814850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88088847899999 meters Centerline goodness [0,1] 0.9996698653050444 Centerline is valid? [True, True] Translation: X:102.40, Y:47.59, Z:-0.71 [[ 6.72490928e-01 -7.40104097e-01 -1.37023658e-03 1.02403119e+02] [ 7.40102534e-01 6.72492324e-01 -1.52111260e-03 4.75910155e+01] [ 2.04725525e-03 8.81885807e-06 9.99997904e-01 -7.08668473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.42, Y:47.61, Z:-0.71 [[ 6.72774257e-01 -7.39846696e-01 -1.29077862e-03 1.02421773e+02] [ 7.39845305e-01 6.72775495e-01 -1.43474053e-03 4.76116280e+01] [ 1.92989226e-03 1.02799937e-05 9.99998138e-01 -7.07862597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.940888479 meters Centerline goodness [0,1] 0.9997799005150328 Centerline is valid? [True, True] Translation: X:102.44, Y:47.63, Z:-0.71 [[ 6.71715370e-01 -7.40809184e-01 -4.62677753e-04 1.02442164e+02] [ 7.40809006e-01 6.71715530e-01 -5.14259079e-04 4.76313604e+01] [ 6.91755680e-04 2.67988150e-06 9.99999761e-01 -7.07377388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.970888479 meters Centerline goodness [0,1] 0.9998230401698814 Centerline is valid? [True, True] Translation: X:102.46, Y:47.65, Z:-0.71 [[ 6.70173191e-01 -7.42204741e-01 -1.32002055e-04 1.02462121e+02] [ 7.42204726e-01 6.70173204e-01 -1.48885344e-04 4.76505667e+01] [ 1.98967648e-04 1.80641732e-06 9.99999980e-01 -7.06409348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.000888479 meters Centerline goodness [0,1] 0.9998682332271879 Centerline is valid? [True, True] Translation: X:102.48, Y:47.67, Z:-0.71 [[ 6.68600612e-01 -7.43621691e-01 5.45504654e-05 1.02481718e+02] [ 7.43621688e-01 6.68600614e-01 5.93606150e-05 4.76696671e+01] [-8.06143156e-05 8.76365684e-07 9.99999997e-01 -7.07013469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.030888479 meters Centerline goodness [0,1] 0.9997788002123518 Centerline is valid? [True, True] Translation: X:102.50, Y:47.69, Z:-0.71 [[ 6.64829217e-01 -7.46994913e-01 8.44392877e-04 1.02503872e+02] [ 7.46994326e-01 6.64829753e-01 9.36509713e-04 4.76890580e+01] [-1.26094550e-03 8.13766925e-06 9.99999205e-01 -7.06105477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.060888479 meters Centerline goodness [0,1] 0.9997143233859271 Centerline is valid? [True, True] Translation: X:102.52, Y:47.71, Z:-0.71 [[ 6.62922433e-01 -7.48687116e-01 1.20400510e-03 1.02524477e+02] [ 7.48685921e-01 6.62923527e-01 1.33753413e-03 4.77079608e+01] [-1.79955788e-03 1.47402927e-05 9.99998381e-01 -7.06592404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.090888479 meters Centerline goodness [0,1] 0.9996467055290584 Centerline is valid? [True, True] Translation: X:102.55, Y:47.73, Z:-0.71 [[ 6.60731522e-01 -7.50620885e-01 1.46422037e-03 1.02545200e+02] [ 7.50619123e-01 6.60733143e-01 1.62663633e-03 4.77278656e+01] [-2.18844613e-03 2.43019097e-05 9.99997605e-01 -7.06509938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.120888479 meters Centerline goodness [0,1] 0.9999779239701532 Centerline is valid? [True, True] Translation: X:102.57, Y:47.75, Z:-0.71 [[ 6.58459296e-01 -7.52615486e-01 1.13369557e-03 1.02566163e+02] [ 7.52614432e-01 6.58460272e-01 1.25961818e-03 4.77478156e+01] [-1.69450164e-03 2.38283479e-05 9.99998564e-01 -7.06412836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.150888479 meters Centerline goodness [0,1] 0.999955770804308 Centerline is valid? [True, True] Translation: X:102.59, Y:47.77, Z:-0.71 [[ 6.54494030e-01 -7.56066288e-01 1.15439536e-03 1.02588240e+02] [ 7.56065199e-01 6.54495047e-01 1.28406903e-03 4.77662509e+01] [-1.72638735e-03 3.23826434e-05 9.99998509e-01 -7.06648667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.180888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.61, Y:47.78, Z:-0.71 [[ 6.52625144e-01 -7.57679395e-01 1.53508514e-03 1.02609298e+02] [ 7.57677471e-01 6.52626947e-01 1.70824577e-03 4.77848365e+01] [-2.29614055e-03 4.82552834e-05 9.99997363e-01 -7.07215031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21088847899999 meters Centerline goodness [0,1] 0.9999555545678793 Centerline is valid? [True, True] Translation: X:102.63, Y:47.81, Z:-0.71 [[ 6.51223521e-01 -7.58883549e-01 1.91972501e-03 1.02628915e+02] [ 7.58880545e-01 6.51226347e-01 2.13621765e-03 4.78060189e+01] [-2.87131594e-03 6.56867811e-05 9.99995876e-01 -7.06942695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24088847899999 meters Centerline goodness [0,1] 0.9999116568753037 Centerline is valid? [True, True] Translation: X:102.65, Y:47.83, Z:-0.71 [[ 6.49393268e-01 -7.60446774e-01 3.01439131e-03 1.02647950e+02] [ 7.60439371e-01 6.49400255e-01 3.35730895e-03 4.78270179e+01] [-4.51060125e-03 1.12048000e-04 9.99989821e-01 -7.05917914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:47.85, Z:-0.71 [[ 6.48729754e-01 -7.61010060e-01 3.65998912e-03 1.02667633e+02] [ 7.60999150e-01 6.48740063e-01 4.07722360e-03 4.78465375e+01] [-5.47718975e-03 1.40232348e-04 9.99984990e-01 -7.05719021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.300888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.68, Y:47.87, Z:-0.71 [[ 6.47958667e-01 -7.61666396e-01 3.72383860e-03 1.02684886e+02] [ 7.61655109e-01 6.47969351e-01 4.14911747e-03 4.78693664e+01] [-5.57317663e-03 1.47824074e-04 9.99984459e-01 -7.05721797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.330888479 meters Centerline goodness [0,1] 0.9998893854254236 Centerline is valid? [True, True] Translation: X:102.71, Y:47.89, Z:-0.71 [[ 6.47705624e-01 -7.61882134e-01 3.61085002e-03 1.02705241e+02] [ 7.61871515e-01 6.47715673e-01 4.02518555e-03 4.78868293e+01] [-5.40552111e-03 1.43868453e-04 9.99985380e-01 -7.05894517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.360888479 meters Centerline goodness [0,1] 0.9999558966216813 Centerline is valid? [True, True] Translation: X:102.72, Y:47.91, Z:-0.71 [[ 6.48042211e-01 -7.61599468e-01 2.74633200e-03 1.02723130e+02] [ 7.61593320e-01 6.48048022e-01 3.06203712e-03 4.79102837e+01] [-4.11180086e-03 1.07258798e-04 9.99991541e-01 -7.06501765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.390888479 meters Centerline goodness [0,1] 0.9995597816516992 Centerline is valid? [True, True] Translation: X:102.74, Y:47.93, Z:-0.71 [[ 6.49008907e-01 -7.60775297e-01 2.89596908e-03 1.02740244e+02] [ 7.60768446e-01 6.49015359e-01 3.23035140e-03 4.79341656e+01] [-4.33709996e-03 1.06635069e-04 9.99990589e-01 -7.07332436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.420888479 meters Centerline goodness [0,1] 0.9996707421472002 Centerline is valid? [True, True] Translation: X:102.76, Y:47.95, Z:-0.71 [[ 6.50549152e-01 -7.59456900e-01 3.31945660e-03 1.02759120e+02] [ 7.59447871e-01 6.50557611e-01 3.70494228e-03 4.79547356e+01] [-4.97324173e-03 1.10707190e-04 9.99987627e-01 -7.07230960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.450888479 meters Centerline goodness [0,1] 0.9998685190866459 Centerline is valid? [True, True] Translation: X:102.77, Y:47.98, Z:-0.71 [[ 6.51649410e-01 -7.58509743e-01 4.00192630e-03 1.02774881e+02] [ 7.58496596e-01 6.51661687e-01 4.46770596e-03 4.79794552e+01] [-5.99670054e-03 1.24069520e-04 9.99982012e-01 -7.06273718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.480888479 meters Centerline goodness [0,1] 0.9999131906766787 Centerline is valid? [True, True] Translation: X:102.79, Y:48.00, Z:-0.71 [[ 6.54929403e-01 -7.55673441e-01 5.01276995e-03 1.02789326e+02] [ 7.55652709e-01 6.54948575e-01 5.59894499e-03 4.80041605e+01] [-7.51408056e-03 1.20999494e-04 9.99971762e-01 -7.05005511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.510888479 meters Centerline goodness [0,1] 0.9998907700709995 Centerline is valid? [True, True] Translation: X:102.81, Y:48.03, Z:-0.71 [[ 6.56769054e-01 -7.54072030e-01 5.45737490e-03 1.02805107e+02] [ 7.54047387e-01 6.56791718e-01 6.09729820e-03 4.80282519e+01] [-8.18216067e-03 1.10602516e-04 9.99966519e-01 -7.05376759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.540888479 meters Centerline goodness [0,1] 0.9998907700709995 Centerline is valid? [True, True] Translation: X:102.82, Y:48.05, Z:-0.71 [[ 6.56558682e-01 -7.54255216e-01 5.45581667e-03 1.02823457e+02] [ 7.54230567e-01 6.56581341e-01 6.09869229e-03 4.80488607e+01] [-8.18215789e-03 1.10794331e-04 9.99966519e-01 -7.05526958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.570888479 meters Centerline goodness [0,1] 0.9998260793947563 Centerline is valid? [True, True] Translation: X:102.84, Y:48.07, Z:-0.71 [[ 6.58887748e-01 -7.52220785e-01 5.55202834e-03 1.02839960e+02] [ 7.52195163e-01 6.58911134e-01 6.20918123e-03 4.80709222e+01] [-8.32896847e-03 8.50554268e-05 9.99965310e-01 -7.05345974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60088847899999 meters Centerline goodness [0,1] 0.9994134897360704 Centerline is valid? [True, True] Translation: X:102.85, Y:48.10, Z:-0.71 [[ 6.64089522e-01 -7.47631325e-01 5.70163259e-03 1.02853495e+02] [ 7.47604113e-01 6.64113997e-01 6.37874398e-03 4.80981990e+01] [-8.55548282e-03 2.65069324e-05 9.99963401e-01 -7.05650092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63088847899999 meters Centerline goodness [0,1] 0.9995220819846632 Centerline is valid? [True, True] Translation: X:102.87, Y:48.12, Z:-0.71 [[ 6.66652726e-01 -7.45347064e-01 5.64780069e-03 1.02868735e+02] [ 7.45320255e-01 6.66676649e-01 6.32161308e-03 4.81218226e+01] [-8.47705259e-03 -4.90034263e-06 9.99964069e-01 -7.06338992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.660888479 meters Centerline goodness [0,1] 0.999457111834962 Centerline is valid? [True, True] Translation: X:102.89, Y:48.15, Z:-0.71 [[ 6.68984070e-01 -7.43255568e-01 5.61028347e-03 1.02885008e+02] [ 7.43229012e-01 6.69007593e-01 6.28297196e-03 4.81461734e+01] [-8.42317614e-03 -3.34827097e-05 9.99964524e-01 -7.07080737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.690888479 meters Centerline goodness [0,1] 0.9993712737127372 Centerline is valid? [True, True] Translation: X:102.90, Y:48.17, Z:-0.71 [[ 6.73120798e-01 -7.39511930e-01 5.52243247e-03 1.02898448e+02] [ 7.39486053e-01 6.73143446e-01 6.18692481e-03 4.81711600e+01] [-8.29269393e-03 -8.07859802e-05 9.99965612e-01 -7.07185936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.720888479 meters Centerline goodness [0,1] 0.9991349480968859 Centerline is valid? [True, True] Translation: X:102.92, Y:48.19, Z:-0.71 [[ 6.74780993e-01 -7.37997075e-01 5.56137509e-03 1.02916932e+02] [ 7.37970765e-01 6.74803903e-01 6.23235139e-03 4.81939582e+01] [-8.35229471e-03 -1.01340025e-04 9.99965114e-01 -7.07481582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.750888479 meters Centerline goodness [0,1] 0.9990481341265549 Centerline is valid? [True, True] Translation: X:102.93, Y:48.22, Z:-0.71 [[ 6.76361969e-01 -7.36547620e-01 5.66489249e-03 1.02933199e+02] [ 7.36520250e-01 6.76385680e-01 6.35085954e-03 4.82162751e+01] [-8.50936264e-03 -1.23171831e-04 9.99963787e-01 -7.07691936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.780888479 meters Centerline goodness [0,1] 0.9985968699406368 Centerline is valid? [True, True] Translation: X:102.95, Y:48.24, Z:-0.71 [[ 6.78778281e-01 -7.34318284e-01 6.05840704e-03 1.02949017e+02] [ 7.34286870e-01 6.78805297e-01 6.79415954e-03 4.82406430e+01] [-9.10155436e-03 -1.63119191e-04 9.99958567e-01 -7.07930843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.810888479 meters Centerline goodness [0,1] 0.9986645701854524 Centerline is valid? [True, True] Translation: X:102.97, Y:48.26, Z:-0.71 [[ 6.79560048e-01 -7.33596610e-01 5.84419974e-03 1.02966610e+02] [ 7.33567324e-01 6.79585157e-01 6.55712849e-03 4.82642295e+01] [-8.78191863e-03 -1.68848598e-04 9.99961424e-01 -7.08303299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.840888479 meters Centerline goodness [0,1] 0.9987511842218586 Centerline is valid? [True, True] Translation: X:102.98, Y:48.29, Z:-0.71 [[ 6.81764717e-01 -7.31552970e-01 5.20795050e-03 1.02981165e+02] [ 7.31529637e-01 6.81784586e-01 5.84537432e-03 4.82887738e+01] [-7.82690132e-03 -1.75399830e-04 9.99969354e-01 -7.09690086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.870888479 meters Centerline goodness [0,1] 0.9988587916110417 Centerline is valid? [True, True] Translation: X:103.00, Y:48.31, Z:-0.71 [[ 6.82489047e-01 -7.30878282e-01 5.06340409e-03 1.03000282e+02] [ 7.30856196e-01 6.82507806e-01 5.68462190e-03 4.83100673e+01] [-7.61057950e-03 -1.79071926e-04 9.99971023e-01 -7.10557740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.900888479 meters Centerline goodness [0,1] 0.9984341484341485 Centerline is valid? [True, True] Translation: X:103.02, Y:48.33, Z:-0.71 [[ 6.83212963e-01 -7.30205867e-01 4.40887590e-03 1.03016558e+02] [ 7.30189096e-01 6.83227169e-01 4.95168925e-03 4.83325349e+01] [-6.62801634e-03 -1.63745176e-04 9.99978021e-01 -7.10888189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.930888479 meters Centerline goodness [0,1] 0.9985801871571475 Centerline is valid? [True, True] Translation: X:103.04, Y:48.35, Z:-0.71 [[ 6.83339905e-01 -7.30090925e-01 3.71695951e-03 1.03037696e+02] [ 7.30079000e-01 6.83349999e-01 4.17523064e-03 4.83526584e+01] [-5.58828228e-03 -1.39427629e-04 9.99984376e-01 -7.11463379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96088847899999 meters Centerline goodness [0,1] 0.998147868972498 Centerline is valid? [True, True] Translation: X:103.05, Y:48.38, Z:-0.71 [[ 6.83919187e-01 -7.29550520e-01 3.25339857e-03 1.03053195e+02] [ 7.29541369e-01 6.83926913e-01 3.65621389e-03 4.83756555e+01] [-4.89247958e-03 -1.27065988e-04 9.99988024e-01 -7.12292782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99088847899999 meters Centerline goodness [0,1] 0.9982965326893221 Centerline is valid? [True, True] Translation: X:103.07, Y:48.40, Z:-0.71 [[ 6.84072614e-01 -7.29410911e-01 2.09337905e-03 1.03070401e+02] [ 7.29407122e-01 6.84075812e-01 2.35262447e-03 4.83973322e+01] [-3.14805994e-03 -8.24403823e-05 9.99995041e-01 -7.14030191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02088847899999 meters Centerline goodness [0,1] 0.9982097793499126 Centerline is valid? [True, True] Translation: X:103.09, Y:48.42, Z:-0.72 [[ 6.83739425e-01 -7.29723596e-01 1.96790602e-03 1.03091015e+02] [ 7.29720247e-01 6.83742253e-01 2.21201044e-03 4.84182851e+01] [-2.95969670e-03 -7.64178759e-05 9.99995617e-01 -7.15197291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.050888479 meters Centerline goodness [0,1] 0.9981647414444564 Centerline is valid? [True, True] Translation: X:103.11, Y:48.44, Z:-0.72 [[ 6.83141867e-01 -7.30284230e-01 1.46019302e-03 1.03110819e+02] [ 7.30282389e-01 6.83143425e-01 1.64098875e-03 4.84392713e+01] [-2.19590947e-03 -5.46748740e-05 9.99997587e-01 -7.15489515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.080888479 meters Centerline goodness [0,1] 0.9983570054262058 Centerline is valid? [True, True] Translation: X:103.13, Y:48.46, Z:-0.72 [[ 6.81506785e-01 -7.31811299e-01 8.51668367e-04 1.03133312e+02] [ 7.31810674e-01 6.81507316e-01 9.56864722e-04 4.84585698e+01] [-1.28066264e-03 -2.88497989e-05 9.99999180e-01 -7.15436568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.110888479 meters Centerline goodness [0,1] 0.9983336940056264 Centerline is valid? [True, True] Translation: X:103.15, Y:48.48, Z:-0.72 [[ 6.80336760e-01 -7.32899286e-01 7.27873197e-04 1.03154666e+02] [ 7.32898830e-01 6.80337149e-01 8.17872309e-04 4.84788617e+01] [-1.09461721e-03 -2.29711821e-05 9.99999401e-01 -7.15443463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.140888479 meters Centerline goodness [0,1] 0.9987002014687724 Centerline is valid? [True, True] Translation: X:103.18, Y:48.50, Z:-0.72 [[ 6.79024570e-01 -7.34115229e-01 6.81260863e-04 1.03175958e+02] [ 7.34114830e-01 6.79024911e-01 7.65592934e-04 4.84985449e+01] [-1.02462653e-03 -1.97327101e-05 9.99999475e-01 -7.15155446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.170888479 meters Centerline goodness [0,1] 0.9984394980385357 Centerline is valid? [True, True] Translation: X:103.20, Y:48.52, Z:-0.71 [[ 6.77719565e-01 -7.35320016e-01 8.16114485e-04 1.03197443e+02] [ 7.35319443e-01 6.77720056e-01 9.17914128e-04 4.85179974e+01] [-1.22805779e-03 -2.19835148e-05 9.99999246e-01 -7.14997216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.200888479 meters Centerline goodness [0,1] 0.9987228331457269 Centerline is valid? [True, True] Translation: X:103.22, Y:48.54, Z:-0.72 [[ 6.75567148e-01 -7.37297686e-01 1.07322140e-03 1.03216974e+02] [ 7.37296696e-01 6.75568000e-01 1.20833779e-03 4.85385650e+01] [-1.61593869e-03 -2.50307248e-05 9.99998694e-01 -7.16286715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.230888479 meters Centerline goodness [0,1] 0.998828277568025 Centerline is valid? [True, True] Translation: X:103.24, Y:48.56, Z:-0.72 [[ 6.74727974e-01 -7.38065779e-01 1.03322862e-03 1.03239472e+02] [ 7.38064861e-01 6.74728764e-01 1.16440108e-03 4.85578552e+01] [-1.55655366e-03 -2.30642458e-05 9.99998788e-01 -7.15681475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.260888479 meters Centerline goodness [0,1] 0.9986520567005827 Centerline is valid? [True, True] Translation: X:103.26, Y:48.58, Z:-0.72 [[ 6.74038133e-01 -7.38695629e-01 1.16723398e-03 1.03258237e+02] [ 7.38694457e-01 6.74039143e-01 1.31624711e-03 4.85785454e+01] [-1.75906737e-03 -2.49714732e-05 9.99998453e-01 -7.15691191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.290888479 meters Centerline goodness [0,1] 0.9989283292872296 Centerline is valid? [True, True] Translation: X:103.28, Y:48.60, Z:-0.71 [[ 6.71864233e-01 -7.40672187e-01 1.77843957e-03 1.03282760e+02] [ 7.40669473e-01 6.71866586e-01 2.00553108e-03 4.85958081e+01] [-2.68031521e-03 -3.02087005e-05 9.99996407e-01 -7.13279634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.320888479 meters Centerline goodness [0,1] 0.9989335538772934 Centerline is valid? [True, True] Translation: X:103.30, Y:48.62, Z:-0.71 [[ 6.70737114e-01 -7.41693346e-01 1.64442054e-03 1.03303083e+02] [ 7.41691025e-01 6.70739129e-01 1.85591004e-03 4.86154150e+01] [-2.47949333e-03 -2.51757828e-05 9.99996926e-01 -7.12100422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35088847899999 meters Centerline goodness [0,1] 0.9989756554715254 Centerline is valid? [True, True] Translation: X:103.32, Y:48.64, Z:-0.71 [[ 6.69478314e-01 -7.42828952e-01 1.98392549e-03 1.03323830e+02] [ 7.42825578e-01 6.69481253e-01 2.23904948e-03 4.86356571e+01] [-2.99143170e-03 -2.52844713e-05 9.99995525e-01 -7.11969799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38088847899999 meters Centerline goodness [0,1] 0.9992804186655037 Centerline is valid? [True, True] Translation: X:103.34, Y:48.66, Z:-0.71 [[ 6.68085221e-01 -7.44082804e-01 1.70854086e-03 1.03344110e+02] [ 7.44080304e-01 6.68087405e-01 1.92892612e-03 4.86557308e+01] [-2.57673539e-03 -1.73954339e-05 9.99996680e-01 -7.12078179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.410888479 meters Centerline goodness [0,1] 0.9991262750922872 Centerline is valid? [True, True] Translation: X:103.37, Y:48.67, Z:-0.71 [[ 6.66466106e-01 -7.45534695e-01 9.74203810e-04 1.03365264e+02] [ 7.45533884e-01 6.66466818e-01 1.09932101e-03 4.86748326e+01] [-1.46885647e-03 -6.35824249e-06 9.99998921e-01 -7.12810709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.440888479 meters Centerline goodness [0,1] 0.999169453369178 Centerline is valid? [True, True] Translation: X:103.39, Y:48.70, Z:-0.71 [[ 6.65649567e-01 -7.46263962e-01 8.67764628e-04 1.03385077e+02] [ 7.46263319e-01 6.65650132e-01 9.79515203e-04 4.86951337e+01] [-1.30860454e-03 -4.43295892e-06 9.99999144e-01 -7.13230014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.470888479 meters Centerline goodness [0,1] 0.9990374308153398 Centerline is valid? [True, True] Translation: X:103.40, Y:48.71, Z:-0.71 [[ 6.64944459e-01 -7.46892558e-01 6.11034824e-04 1.03404618e+02] [ 7.46892240e-01 6.64944739e-01 6.89412096e-04 4.87149527e+01] [-9.21221156e-04 -2.04358441e-06 9.99999576e-01 -7.13307912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.500888479 meters Centerline goodness [0,1] 0.999167761717039 Centerline is valid? [True, True] Translation: X:103.42, Y:48.73, Z:-0.71 [[ 6.64482936e-01 -7.47303279e-01 4.87005472e-04 1.03423677e+02] [ 7.47303076e-01 6.64483115e-01 5.50227121e-04 4.87342346e+01] [-7.34793444e-04 -1.67584550e-06 9.99999730e-01 -7.13386873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.530888479 meters Centerline goodness [0,1] 0.9992755214050494 Centerline is valid? [True, True] Translation: X:103.44, Y:48.75, Z:-0.71 [[ 6.63675049e-01 -7.48020756e-01 6.14755348e-04 1.03444546e+02] [ 7.48020434e-01 6.63675334e-01 6.94236798e-04 4.87534462e+01] [-9.27301495e-04 -8.98078457e-07 9.99999570e-01 -7.13031922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.560888479 meters Centerline goodness [0,1] 0.9992100065832785 Centerline is valid? [True, True] Translation: X:103.46, Y:48.77, Z:-0.71 [[ 6.63253502e-01 -7.48394514e-01 6.66512208e-04 1.03462703e+02] [ 7.48394134e-01 6.63253836e-01 7.54175434e-04 4.87730561e+01] [-1.00648754e-03 -1.39567015e-06 9.99999493e-01 -7.13426657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.590888479 meters Centerline goodness [0,1] 0.9991231915826392 Centerline is valid? [True, True] Translation: X:103.48, Y:48.79, Z:-0.71 [[ 6.62701748e-01 -7.48882711e-01 1.03873155e-03 1.03481909e+02] [ 7.48881788e-01 6.62702562e-01 1.17570687e-03 4.87934909e+01] [-1.56883661e-03 -1.25585434e-06 9.99998769e-01 -7.13598324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.620888479 meters Centerline goodness [0,1] 0.9994511766772041 Centerline is valid? [True, True] Translation: X:103.50, Y:48.81, Z:-0.71 [[ 6.61882067e-01 -7.49607510e-01 8.43096908e-04 1.03501652e+02] [ 7.49606901e-01 6.61882604e-01 9.55171246e-04 4.88126070e+01] [-1.27403472e-03 -2.19458712e-07 9.99999188e-01 -7.14018768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.650888479 meters Centerline goodness [0,1] 0.9994721330224783 Centerline is valid? [True, True] Translation: X:103.52, Y:48.83, Z:-0.72 [[ 6.61463618e-01 -7.49976980e-01 6.42187342e-04 1.03521040e+02] [ 7.49976628e-01 6.61463929e-01 7.26639517e-04 4.88327917e+01] [-9.69746673e-04 9.79893414e-07 9.99999530e-01 -7.15001139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.680888479 meters Centerline goodness [0,1] 0.999121072291804 Centerline is valid? [True, True] Translation: X:103.54, Y:48.85, Z:-0.72 [[ 6.60735711e-01 -7.50618501e-01 4.32225171e-04 1.03540454e+02] [ 7.50618342e-01 6.60735852e-01 4.88523177e-04 4.88533800e+01] [-6.52281202e-04 1.65143227e-06 9.99999787e-01 -7.15644675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71088847899999 meters Centerline goodness [0,1] 0.9992298213185459 Centerline is valid? [True, True] Translation: X:103.56, Y:48.87, Z:-0.72 [[ 6.60198544e-01 -7.51091022e-01 3.98424489e-04 1.03558911e+02] [ 7.51090887e-01 6.60198664e-01 4.51337171e-04 4.88725882e+01] [-6.02034612e-04 1.28085955e-06 9.99999819e-01 -7.16299577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74088847899999 meters Centerline goodness [0,1] 0.9992509033224641 Centerline is valid? [True, True] Translation: X:103.58, Y:48.89, Z:-0.72 [[ 6.59635825e-01 -7.51585138e-01 5.99352826e-04 1.03578608e+02] [ 7.51584831e-01 6.59636097e-01 6.79605309e-04 4.88914866e+01] [-9.06136008e-04 2.17248373e-06 9.99999589e-01 -7.16838176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77088847899999 meters Centerline goodness [0,1] 0.99938293370945 Centerline is valid? [True, True] Translation: X:103.60, Y:48.91, Z:-0.72 [[ 6.59766022e-01 -7.51470922e-01 4.98977566e-04 1.03597515e+02] [ 7.51470709e-01 6.59766211e-01 5.66008317e-04 4.89114895e+01] [-7.54547330e-04 1.53396954e-06 9.99999715e-01 -7.16887888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.800888479 meters Centerline goodness [0,1] 0.9994464617837215 Centerline is valid? [True, True] Translation: X:103.62, Y:48.93, Z:-0.72 [[ 6.59803614e-01 -7.51437918e-01 4.96139441e-04 1.03616407e+02] [ 7.51437708e-01 6.59803800e-01 5.62059929e-04 4.89324455e+01] [-7.49707832e-04 1.96871189e-06 9.99999719e-01 -7.16702879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.830888479 meters Centerline goodness [0,1] 0.9992263141606614 Centerline is valid? [True, True] Translation: X:103.63, Y:48.95, Z:-0.72 [[ 6.60209211e-01 -7.51081561e-01 5.34741716e-04 1.03634953e+02] [ 7.51081317e-01 6.60209428e-01 6.06291612e-04 4.89529336e+01] [-8.08415973e-04 1.35520522e-06 9.99999673e-01 -7.16661216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.860888479 meters Centerline goodness [0,1] 0.9993155524154376 Centerline is valid? [True, True] Translation: X:103.65, Y:48.97, Z:-0.72 [[ 6.61864189e-01 -7.49623740e-01 2.06720601e-04 1.03653848e+02] [ 7.49623704e-01 6.61864222e-01 2.34122190e-04 4.89733314e+01] [-3.12324521e-04 5.56911629e-09 9.99999951e-01 -7.17717429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.890888479 meters Centerline goodness [0,1] 0.9993126843003791 Centerline is valid? [True, True] Translation: X:103.67, Y:48.99, Z:-0.72 [[ 6.62539287e-01 -7.49027161e-01 -6.41164932e-05 1.03672596e+02] [ 7.49027158e-01 6.62539291e-01 -7.53562372e-05 4.89942147e+01] [ 9.89235644e-05 1.90147303e-06 9.99999995e-01 -7.17981671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.920888479 meters Centerline goodness [0,1] 0.9993555125897282 Centerline is valid? [True, True] Translation: X:103.69, Y:49.02, Z:-0.72 [[ 6.63543088e-01 -7.48138051e-01 -1.66651883e-04 1.03691205e+02] [ 7.48138026e-01 6.63543109e-01 -1.91110145e-04 4.90153738e+01] [ 2.53557480e-04 2.13120480e-06 9.99999968e-01 -7.18355877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.950888479 meters Centerline goodness [0,1] 0.9994224147506386 Centerline is valid? [True, True] Translation: X:103.71, Y:49.04, Z:-0.72 [[ 6.65195212e-01 -7.46669474e-01 1.62734353e-04 1.03708808e+02] [ 7.46669451e-01 6.65195232e-01 1.84472525e-04 4.90368480e+01] [-2.45990119e-04 -1.20147023e-06 9.99999970e-01 -7.18689138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.980888479 meters Centerline goodness [0,1] 0.9994004263634748 Centerline is valid? [True, True] Translation: X:103.73, Y:49.06, Z:-0.72 [[ 6.65937057e-01 -7.46007400e-01 8.91367972e-04 1.03727208e+02] [ 7.46006710e-01 6.65937653e-01 1.01477215e-03 4.90573878e+01] [-1.35062303e-03 -1.08078928e-05 9.99999088e-01 -7.18563057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.010888479 meters Centerline goodness [0,1] 0.9993542065648243 Centerline is valid? [True, True] Translation: X:103.75, Y:49.08, Z:-0.72 [[ 6.66240684e-01 -7.45736188e-01 9.42741449e-04 1.03745424e+02] [ 7.45735415e-01 6.66241351e-01 1.07395095e-03 4.90777380e+01] [-1.42897742e-03 -1.24741273e-05 9.99998979e-01 -7.18268055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.040888479 meters Centerline goodness [0,1] 0.9994203286290773 Centerline is valid? [True, True] Translation: X:103.77, Y:49.10, Z:-0.72 [[ 6.67245675e-01 -7.44837691e-01 1.55533988e-04 1.03765574e+02] [ 7.44837670e-01 6.67245693e-01 1.75435770e-04 4.90987350e+01] [-2.34450557e-04 -1.21118551e-06 9.99999973e-01 -7.18486469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.070888479 meters Centerline goodness [0,1] 0.9993741897992937 Centerline is valid? [True, True] Translation: X:103.78, Y:49.12, Z:-0.72 [[ 6.67613655e-01 -7.44507812e-01 -3.54025941e-04 1.03784761e+02] [ 7.44507702e-01 6.67613749e-01 -4.06246038e-04 4.91204947e+01] [ 5.38805934e-04 7.64036218e-06 9.99999855e-01 -7.19362218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10088847899999 meters Centerline goodness [0,1] 0.9993743575993207 Centerline is valid? [True, True] Translation: X:103.80, Y:49.14, Z:-0.72 [[ 6.67939524e-01 -7.44215189e-01 -7.37980031e-04 1.03804265e+02] [ 7.44214710e-01 6.67939931e-01 -8.45033894e-04 4.91422341e+01] [ 1.12181339e-03 1.52159422e-05 9.99999371e-01 -7.20178389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13088847899999 meters Centerline goodness [0,1] 0.9994419642857143 Centerline is valid? [True, True] Translation: X:103.82, Y:49.16, Z:-0.72 [[ 6.68083891e-01 -7.44085238e-01 -1.03602312e-03 1.03823406e+02] [ 7.44084293e-01 6.68084694e-01 -1.18606579e-03 4.91641090e+01] [ 1.57468524e-03 2.15029213e-05 9.99998760e-01 -7.20968486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.160888479 meters Centerline goodness [0,1] 0.9994858152064564 Centerline is valid? [True, True] Translation: X:103.84, Y:49.19, Z:-0.72 [[ 6.67920297e-01 -7.44232200e-01 -9.53640033e-04 1.03842021e+02] [ 7.44231398e-01 6.67920977e-01 -1.09281801e-03 4.91857757e+01] [ 1.45026654e-03 2.01864774e-05 9.99998948e-01 -7.22136375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.190888479 meters Centerline goodness [0,1] 0.9995084018591348 Centerline is valid? [True, True] Translation: X:103.86, Y:49.21, Z:-0.72 [[ 6.67536359e-01 -7.44576657e-01 -9.00407358e-04 1.03861514e+02] [ 7.44575942e-01 6.67536966e-01 -1.03253056e-03 4.92065510e+01] [ 1.36985335e-03 1.88300310e-05 9.99999062e-01 -7.22359692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.220888479 meters Centerline goodness [0,1] 0.9995748679853218 Centerline is valid? [True, True] Translation: X:103.88, Y:49.23, Z:-0.72 [[ 6.66972949e-01 -7.45080923e-01 -1.22641850e-03 1.03880249e+02] [ 7.45079598e-01 6.66974076e-01 -1.40532806e-03 4.92260753e+01] [ 1.86507248e-03 2.35363955e-05 9.99998260e-01 -7.22992579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.250888479 meters Centerline goodness [0,1] 0.9994853549931754 Centerline is valid? [True, True] Translation: X:103.90, Y:49.25, Z:-0.72 [[ 6.66390612e-01 -7.45600269e-01 -1.94691885e-03 1.03900784e+02] [ 7.45596929e-01 6.66393455e-01 -2.23199332e-03 4.92459937e+01] [ 2.96158880e-03 3.57626790e-05 9.99995614e-01 -7.23289343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.280888479 meters Centerline goodness [0,1] 0.9996639182649221 Centerline is valid? [True, True] Translation: X:103.92, Y:49.26, Z:-0.72 [[ 6.65202194e-01 -7.46658419e-01 -2.69192767e-03 1.03920753e+02] [ 7.46652047e-01 6.65207639e-01 -3.08504575e-03 4.92646437e+01] [ 4.09416623e-03 4.22459005e-05 9.99991618e-01 -7.24300465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.310888479 meters Centerline goodness [0,1] 0.9996195931884804 Centerline is valid? [True, True] Translation: X:103.94, Y:49.28, Z:-0.73 [[ 6.64675930e-01 -7.47125579e-01 -3.04576548e-03 1.03938896e+02] [ 7.47117422e-01 6.64682907e-01 -3.49148938e-03 4.92842277e+01] [ 4.63304928e-03 4.51644951e-05 9.99989266e-01 -7.25423142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.340888479 meters Centerline goodness [0,1] 0.9996188853517464 Centerline is valid? [True, True] Translation: X:103.96, Y:49.30, Z:-0.72 [[ 6.64168905e-01 -7.47576384e-01 -3.03569443e-03 1.03959104e+02] [ 7.47568272e-01 6.64175841e-01 -3.48289772e-03 4.93036212e+01] [ 4.61996698e-03 4.38435267e-05 9.99989327e-01 -7.24237019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.370888479 meters Centerline goodness [0,1] 0.9995739050481038 Centerline is valid? [True, True] Translation: X:103.98, Y:49.32, Z:-0.72 [[ 6.63548176e-01 -7.48128248e-01 -2.81810417e-03 1.03978360e+02] [ 7.48121263e-01 6.63554159e-01 -3.23310674e-03 4.93221146e+01] [ 4.28874323e-03 3.70384320e-05 9.99990803e-01 -7.23815973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.400888479 meters Centerline goodness [0,1] 0.9996199078835577 Centerline is valid? [True, True] Translation: X:104.00, Y:49.34, Z:-0.72 [[ 6.63136838e-01 -7.48491772e-01 -3.09866671e-03 1.03997447e+02] [ 7.48483316e-01 6.63144076e-01 -3.55797614e-03 4.93427284e+01] [ 4.71797834e-03 4.01247154e-05 9.99988869e-01 -7.24083277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.430888479 meters Centerline goodness [0,1] 0.9996620327602911 Centerline is valid? [True, True] Translation: X:104.02, Y:49.36, Z:-0.72 [[ 6.62576759e-01 -7.48986291e-01 -3.40200301e-03 1.04016645e+02] [ 7.48976095e-01 6.62585492e-01 -3.90830976e-03 4.93627273e+01] [ 5.18138827e-03 4.15362850e-05 9.99986576e-01 -7.23711890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46088847899999 meters Centerline goodness [0,1] 0.9996620327602911 Centerline is valid? [True, True] Translation: X:104.03, Y:49.38, Z:-0.72 [[ 6.62368837e-01 -7.49170180e-01 -3.40092205e-03 1.04034718e+02] [ 7.49159981e-01 6.62377566e-01 -3.90925071e-03 4.93835883e+01] [ 5.18138852e-03 4.15311457e-05 9.99986576e-01 -7.23862009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49088847899999 meters Centerline goodness [0,1] 0.9996420581655481 Centerline is valid? [True, True] Translation: X:104.05, Y:49.40, Z:-0.73 [[ 6.61939924e-01 -7.49548018e-01 -3.64778576e-03 1.04053218e+02] [ 7.49536290e-01 6.61949973e-01 -4.19311409e-03 4.94027992e+01] [ 5.55759204e-03 4.14418158e-05 9.99984556e-01 -7.25515899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52088847899999 meters Centerline goodness [0,1] 0.999753324512816 Centerline is valid? [True, True] Translation: X:104.07, Y:49.42, Z:-0.72 [[ 6.61272540e-01 -7.50137746e-01 -3.46273657e-03 1.04072956e+02] [ 7.50127169e-01 6.61281605e-01 -3.98366208e-03 4.94227231e+01] [ 5.27813929e-03 3.67935622e-05 9.99986070e-01 -7.24626881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.550888479 meters Centerline goodness [0,1] 0.9997530587046807 Centerline is valid? [True, True] Translation: X:104.09, Y:49.44, Z:-0.72 [[ 6.60821739e-01 -7.50534565e-01 -3.53490348e-03 1.04092390e+02] [ 7.50523537e-01 6.60831193e-01 -4.06886940e-03 4.94425001e+01] [ 5.38980161e-03 3.57690905e-05 9.99985474e-01 -7.24145181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.580888479 meters Centerline goodness [0,1] 0.9997520176743767 Centerline is valid? [True, True] Translation: X:104.11, Y:49.46, Z:-0.72 [[ 6.58913683e-01 -7.52211941e-01 -3.15506612e-03 1.04114150e+02] [ 7.52203166e-01 6.58921236e-01 -3.63346391e-03 4.94616726e+01] [ 4.81207501e-03 2.08883647e-05 9.99988422e-01 -7.22085793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.610888479 meters Centerline goodness [0,1] 0.9997750483646016 Centerline is valid? [True, True] Translation: X:104.13, Y:49.48, Z:-0.72 [[ 6.58054964e-01 -7.52963270e-01 -3.15882634e-03 1.04132833e+02] [ 7.52954481e-01 6.58062545e-01 -3.63811730e-03 4.94816447e+01] [ 4.81807400e-03 1.56287003e-05 9.99988393e-01 -7.22179964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.640888479 meters Centerline goodness [0,1] 0.9997068043934234 Centerline is valid? [True, True] Translation: X:104.15, Y:49.50, Z:-0.72 [[ 6.57192373e-01 -7.53716652e-01 -3.06480289e-03 1.04151581e+02] [ 7.53708372e-01 6.57199519e-01 -3.53286857e-03 4.95027728e+01] [ 4.67696886e-03 1.18066857e-05 9.99989063e-01 -7.21996339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.670888479 meters Centerline goodness [0,1] 0.999775159636658 Centerline is valid? [True, True] Translation: X:104.17, Y:49.52, Z:-0.72 [[ 6.56781125e-01 -7.54073815e-01 -3.35201145e-03 1.04169569e+02] [ 7.54063905e-01 6.56789679e-01 -3.86591722e-03 4.95240116e+01] [ 5.11675347e-03 1.14306140e-05 9.99986909e-01 -7.21823476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.700888479 meters Centerline goodness [0,1] 0.9997524752475248 Centerline is valid? [True, True] Translation: X:104.19, Y:49.54, Z:-0.72 [[ 6.56571410e-01 -7.54256931e-01 -3.23518948e-03 1.04187157e+02] [ 7.54247701e-01 6.56579380e-01 -3.73133239e-03 4.95447613e+01] [ 4.93854202e-03 9.75194087e-06 9.99987805e-01 -7.22149201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.730888479 meters Centerline goodness [0,1] 0.9997972333618709 Centerline is valid? [True, True] Translation: X:104.21, Y:49.57, Z:-0.72 [[ 6.56231559e-01 -7.54551326e-01 -3.52657118e-03 1.04205296e+02] [ 7.54540347e-01 6.56241035e-01 -4.07053318e-03 4.95661488e+01] [ 5.38570693e-03 1.02720902e-05 9.99985497e-01 -7.21985022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.760888479 meters Centerline goodness [0,1] 0.99968515270094 Centerline is valid? [True, True] Translation: X:104.22, Y:49.59, Z:-0.72 [[ 6.56376650e-01 -7.54424607e-01 -3.63389591e-03 1.04222921e+02] [ 7.54412938e-01 6.56386709e-01 -4.19619699e-03 4.95871764e+01] [ 5.55095524e-03 1.28276323e-05 9.99984593e-01 -7.22200535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.790888479 meters Centerline goodness [0,1] 0.999797616370587 Centerline is valid? [True, True] Translation: X:104.24, Y:49.61, Z:-0.72 [[ 6.56649012e-01 -7.54188756e-01 -3.37575005e-03 1.04241249e+02] [ 7.54178668e-01 6.56657689e-01 -3.90068816e-03 4.96089321e+01] [ 5.15856738e-03 1.54643536e-05 9.99986694e-01 -7.21269976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.820888479 meters Centerline goodness [0,1] 0.9997751293006522 Centerline is valid? [True, True] Translation: X:104.26, Y:49.63, Z:-0.72 [[ 6.57136541e-01 -7.53763003e-01 -3.59180340e-03 1.04258262e+02] [ 7.53751565e-01 6.57146357e-01 -4.15250394e-03 4.96317446e+01] [ 5.49034436e-03 2.14346382e-05 9.99984928e-01 -7.21282278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85088847899999 meters Centerline goodness [0,1] 0.9998426541988851 Centerline is valid? [True, True] Translation: X:104.27, Y:49.65, Z:-0.72 [[ 6.57618751e-01 -7.53341807e-01 -3.70125145e-03 1.04274758e+02] [ 7.53329653e-01 6.57629166e-01 -4.27934071e-03 4.96531347e+01] [ 5.65785718e-03 2.59122203e-05 9.99983994e-01 -7.22514903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88088847899999 meters Centerline goodness [0,1] 0.9997984773846843 Centerline is valid? [True, True] Translation: X:104.29, Y:49.68, Z:-0.72 [[ 6.58035878e-01 -7.52977659e-01 -3.66444754e-03 1.04290733e+02] [ 7.52965721e-01 6.58046081e-01 -4.24010858e-03 4.96769408e+01] [ 5.60408237e-03 3.09401903e-05 9.99984297e-01 -7.24255412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.910888479 meters Centerline goodness [0,1] 0.9998424700693131 Centerline is valid? [True, True] Translation: X:104.31, Y:49.70, Z:-0.72 [[ 6.58385325e-01 -7.52670622e-01 -3.96222080e-03 1.04308934e+02] [ 7.52656649e-01 6.58397246e-01 -4.58648752e-03 4.97000174e+01] [ 6.06082967e-03 3.74842483e-05 9.99981632e-01 -7.24157221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.940888479 meters Centerline goodness [0,1] 0.9997985134772096 Centerline is valid? [True, True] Translation: X:104.33, Y:49.72, Z:-0.73 [[ 6.58759824e-01 -7.52345027e-01 -3.52896917e-03 1.04325328e+02] [ 7.52333931e-01 6.58769276e-01 -4.08630744e-03 4.97210921e+01] [ 5.39908954e-03 3.69319258e-05 9.99985424e-01 -7.25134969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.970888479 meters Centerline goodness [0,1] 0.9998650684777476 Centerline is valid? [True, True] Translation: X:104.34, Y:49.74, Z:-0.72 [[ 6.59084605e-01 -7.52060904e-01 -3.44672896e-03 1.04343161e+02] [ 7.52050300e-01 6.59093616e-01 -3.99400178e-03 4.97426811e+01] [ 5.27544965e-03 4.02715326e-05 9.99986084e-01 -7.24787853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.000888479 meters Centerline goodness [0,1] 0.999888005375742 Centerline is valid? [True, True] Translation: X:104.36, Y:49.76, Z:-0.72 [[ 6.59438634e-01 -7.51753207e-01 -2.79355018e-03 1.04360184e+02] [ 7.51746234e-01 6.59444550e-01 -3.23802148e-03 4.97637314e+01] [ 4.27638448e-03 3.52356315e-05 9.99990856e-01 -7.24416915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.030888479 meters Centerline goodness [0,1] 0.9999552232122868 Centerline is valid? [True, True] Translation: X:104.38, Y:49.79, Z:-0.72 [[ 6.60034240e-01 -7.51232768e-01 -2.03232642e-03 1.04377317e+02] [ 7.51229067e-01 6.60037368e-01 -2.35810143e-03 4.97857841e+01] [ 3.11289444e-03 2.96850025e-05 9.99995154e-01 -7.22975857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.060888479 meters Centerline goodness [0,1] 0.9999329444109166 Centerline is valid? [True, True] Translation: X:104.40, Y:49.81, Z:-0.72 [[ 6.59931401e-01 -7.51324131e-01 -1.61111695e-03 1.04395397e+02] [ 7.51321802e-01 6.59933367e-01 -1.87093523e-03 4.98078548e+01] [ 2.46890862e-03 2.42216163e-05 9.99996952e-01 -7.22687269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.090888479 meters Centerline goodness [0,1] 0.9999107282344276 Centerline is valid? [True, True] Translation: X:104.41, Y:49.83, Z:-0.72 [[ 6.59978347e-01 -7.51283589e-01 -1.24497664e-03 1.04411623e+02] [ 7.51282198e-01 6.59979521e-01 -1.44608002e-03 4.98294697e+01] [ 1.90807527e-03 1.90527135e-05 9.99998179e-01 -7.23651591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.120888479 meters Centerline goodness [0,1] 0.9998213966779782 Centerline is valid? [True, True] Translation: X:104.43, Y:49.85, Z:-0.72 [[ 6.59697578e-01 -7.51530560e-01 -9.60414784e-04 1.04429562e+02] [ 7.51529730e-01 6.59698277e-01 -1.11714723e-03 4.98515537e+01] [ 1.47315426e-03 1.51990598e-05 9.99998915e-01 -7.24010301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.150888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.45, Y:49.87, Z:-0.72 [[ 6.59751735e-01 -7.51483295e-01 -7.11188965e-04 1.04446074e+02] [ 7.51482840e-01 6.59752118e-01 -8.27418332e-04 4.98729211e+01] [ 1.09099948e-03 1.14443774e-05 9.99999405e-01 -7.24995339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.180888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.46, Y:49.89, Z:-0.72 [[ 6.59242544e-01 -7.51930200e-01 -4.93201516e-04 1.04464400e+02] [ 7.51929980e-01 6.59242728e-01 -5.75324625e-04 4.98935853e+01] [ 7.57743473e-04 8.42546366e-06 9.99999713e-01 -7.24693526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21088847899999 meters Centerline goodness [0,1] 0.999888534676862 Centerline is valid? [True, True] Translation: X:104.48, Y:49.91, Z:-0.72 [[ 6.58079520e-01 -7.52948113e-01 -6.96567713e-04 1.04483054e+02] [ 7.52947675e-01 6.58079888e-01 -8.11696890e-04 4.99135762e+01] [ 1.06956284e-03 9.68205980e-06 9.99999428e-01 -7.24658105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.50, Y:49.93, Z:-0.72 [[ 6.57030776e-01 -7.53863384e-01 -7.46838265e-04 1.04501884e+02] [ 7.53862881e-01 6.57031200e-01 -8.70863472e-04 4.99340947e+01] [ 1.14720813e-03 9.17045666e-06 9.99999342e-01 -7.24777549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27088847899999 meters Centerline goodness [0,1] 0.9999551931176629 Centerline is valid? [True, True] Translation: X:104.52, Y:49.95, Z:-0.72 [[ 6.55892944e-01 -7.54853469e-01 -8.28414189e-04 1.04521401e+02] [ 7.54852850e-01 6.55893467e-01 -9.66343900e-04 4.99548824e+01] [ 1.27279950e-03 8.48733379e-06 9.99999190e-01 -7.24812927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.300888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.54, Y:49.98, Z:-0.73 [[ 6.54997108e-01 -7.55630824e-01 -9.20090366e-04 1.04539740e+02] [ 7.55630061e-01 6.54997754e-01 -1.07331964e-03 4.99750863e+01] [ 1.41369053e-03 7.77332254e-06 9.99999001e-01 -7.25034044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.330888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.56, Y:50.00, Z:-0.72 [[ 6.53716665e-01 -7.56738995e-01 -7.83761424e-04 1.04558654e+02] [ 7.56738442e-01 6.53717135e-01 -9.15367446e-04 4.99952502e+01] [ 1.20505251e-03 5.28855621e-06 9.99999274e-01 -7.24282653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.360888479 meters Centerline goodness [0,1] 0.9999553979616869 Centerline is valid? [True, True] Translation: X:104.58, Y:50.02, Z:-0.72 [[ 6.53451697e-01 -7.56968078e-01 -4.57546151e-04 1.04576116e+02] [ 7.56967889e-01 6.53451857e-01 -5.34421924e-04 5.00158747e+01] [ 7.03524718e-04 2.87116865e-06 9.99999753e-01 -7.24359931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.390888479 meters Centerline goodness [0,1] 0.9999330864968551 Centerline is valid? [True, True] Translation: X:104.59, Y:50.04, Z:-0.72 [[ 6.53141153e-01 -7.57236160e-01 -1.80637252e-04 1.04593966e+02] [ 7.57236130e-01 6.53141178e-01 -2.12831720e-04 5.00373965e+01] [ 2.79145502e-04 2.22410102e-06 9.99999961e-01 -7.24267685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.420888479 meters Centerline goodness [0,1] 0.9999777143875914 Centerline is valid? [True, True] Translation: X:104.61, Y:50.06, Z:-0.73 [[ 6.52928732e-01 -7.57418413e-01 -1.19072870e-03 1.04611149e+02] [ 7.57417136e-01 6.52929818e-01 -1.39098091e-03 5.00581228e+01] [ 1.83101683e-03 6.33308446e-06 9.99998324e-01 -7.25797277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.450888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:50.08, Z:-0.73 [[ 6.52748730e-01 -7.57572382e-01 -1.78389278e-03 1.04628973e+02] [ 7.57569515e-01 6.52751167e-01 -2.08418554e-03 5.00796392e+01] [ 2.74335950e-03 9.02667399e-06 9.99996237e-01 -7.26937787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.480888479 meters Centerline goodness [0,1] 0.9999553681015823 Centerline is valid? [True, True] Translation: X:104.65, Y:50.10, Z:-0.73 [[ 6.52771039e-01 -7.57551696e-01 -2.32335245e-03 1.04647630e+02] [ 7.57546832e-01 6.52775173e-01 -2.71490821e-03 5.01014744e+01] [ 3.57331012e-03 1.21651610e-05 9.99993616e-01 -7.27006389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.510888479 meters Centerline goodness [0,1] 0.9999775714349796 Centerline is valid? [True, True] Translation: X:104.67, Y:50.12, Z:-0.73 [[ 6.52220349e-01 -7.58025086e-01 -2.56612991e-03 1.04665650e+02] [ 7.58019154e-01 6.52225397e-01 -2.99905607e-03 5.01211807e+01] [ 3.94705483e-03 1.08697773e-05 9.99992210e-01 -7.27481608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.68, Y:50.14, Z:-0.73 [[ 6.51117328e-01 -7.58972180e-01 -2.73033050e-03 1.04684865e+02] [ 7.58965462e-01 6.51123053e-01 -3.19336588e-03 5.01411563e+01] [ 4.20145699e-03 7.02931148e-06 9.99991174e-01 -7.26423770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.70, Y:50.16, Z:-0.73 [[ 6.49955137e-01 -7.59968798e-01 -2.39702203e-03 1.04704208e+02] [ 7.59963620e-01 6.49959557e-01 -2.80534212e-03 5.01618041e+01] [ 3.68993986e-03 1.69698438e-06 9.99993192e-01 -7.25869763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.72, Y:50.18, Z:-0.72 [[ 6.47140887e-01 -7.62369217e-01 -1.35972736e-03 1.04723729e+02] [ 7.62367553e-01 6.47142316e-01 -1.59282994e-03 5.01806895e+01] [ 2.09426162e-03 -5.82663670e-06 9.99997807e-01 -7.24503607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.74, Y:50.20, Z:-0.72 [[ 6.45775044e-01 -7.63526851e-01 -1.15776665e-03 1.04742111e+02] [ 7.63525644e-01 6.45776082e-01 -1.35750021e-03 5.02013197e+01] [ 1.78414587e-03 -7.34477030e-06 9.99998408e-01 -7.24267873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.660888479 meters Centerline goodness [0,1] 0.9999551870938831 Centerline is valid? [True, True] Translation: X:104.76, Y:50.22, Z:-0.72 [[ 6.44875186e-01 -7.64287111e-01 -1.09844450e-03 1.04760547e+02] [ 7.64286024e-01 6.44876121e-01 -1.28883634e-03 5.02226224e+01] [ 1.69340163e-03 -8.38720038e-06 9.99998566e-01 -7.24066829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.78, Y:50.24, Z:-0.72 [[ 6.43662141e-01 -7.65309245e-01 -8.98221244e-04 1.04779359e+02] [ 7.65308519e-01 6.43662768e-01 -1.05465222e-03 5.02421290e+01] [ 1.38528667e-03 -8.57666258e-06 9.99999040e-01 -7.24345377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.80, Y:50.26, Z:-0.72 [[ 6.43080400e-01 -7.65798054e-01 -9.69156144e-04 1.04796989e+02] [ 7.65797208e-01 6.43081130e-01 -1.13865334e-03 5.02636588e+01] [ 1.49522454e-03 -9.93142489e-06 9.99998882e-01 -7.23586925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.82, Y:50.28, Z:-0.72 [[ 6.42562377e-01 -7.66232005e-01 -1.45127829e-03 1.04815506e+02] [ 7.66230112e-01 6.42564015e-01 -1.70330972e-03 5.02844813e+01] [ 2.23766963e-03 -1.75303876e-05 9.99997496e-01 -7.23899847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.780888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.83, Y:50.31, Z:-0.72 [[ 6.41994618e-01 -7.66706308e-01 -2.08519697e-03 1.04833194e+02] [ 7.66702398e-01 6.41998003e-01 -2.44878585e-03 5.03075850e+01] [ 3.21619185e-03 -2.66181842e-05 9.99994828e-01 -7.24279187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.810888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.85, Y:50.33, Z:-0.72 [[ 6.41809389e-01 -7.66861108e-01 -2.17951588e-03 1.04850749e+02] [ 7.66856831e-01 6.41813089e-01 -2.56116688e-03 5.03300111e+01] [ 3.36290109e-03 -2.75956952e-05 9.99994345e-01 -7.24297887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.840888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.87, Y:50.35, Z:-0.72 [[ 6.41539221e-01 -7.67087357e-01 -2.10089041e-03 1.04867545e+02] [ 7.67083382e-01 6.41542661e-01 -2.46985245e-03 5.03513662e+01] [ 3.24240341e-03 -2.70509039e-05 9.99994743e-01 -7.24393354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.870888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.88, Y:50.37, Z:-0.72 [[ 6.41192794e-01 -7.67376609e-01 -2.22295826e-03 1.04884964e+02] [ 7.67372154e-01 6.41196647e-01 -2.61488067e-03 5.03739991e+01] [ 3.43195164e-03 -2.91936263e-05 9.99994110e-01 -7.24150799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.900888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.90, Y:50.40, Z:-0.72 [[ 6.41609374e-01 -7.67028111e-01 -2.29963622e-03 1.04900290e+02] [ 7.67023341e-01 6.41613495e-01 -2.70526692e-03 5.03970853e+01] [ 3.55049341e-03 -2.81500412e-05 9.99993697e-01 -7.24531520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.930888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.92, Y:50.42, Z:-0.72 [[ 6.41927827e-01 -7.66761912e-01 -2.19910729e-03 1.04916586e+02] [ 7.66757540e-01 6.41931593e-01 -2.58916627e-03 5.04197118e+01] [ 3.39695053e-03 -2.41242135e-05 9.99994230e-01 -7.24495953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.93, Y:50.44, Z:-0.72 [[ 6.42299449e-01 -7.66451538e-01 -1.85983059e-03 1.04932943e+02] [ 7.66448405e-01 6.42302141e-01 -2.19125580e-03 5.04425039e+01] [ 2.87406455e-03 -1.80217984e-05 9.99995870e-01 -7.24149669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99088847899999 meters Centerline goodness [0,1] 0.9999777486037249 Centerline is valid? [True, True] Translation: X:104.95, Y:50.47, Z:-0.72 [[ 6.42711589e-01 -7.66106485e-01 -1.63323623e-03 1.04949786e+02] [ 7.66104065e-01 6.42713664e-01 -1.92571165e-03 5.04656622e+01] [ 2.52500343e-03 -1.35517247e-05 9.99996812e-01 -7.22945892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.97, Y:50.49, Z:-0.72 [[ 6.43650131e-01 -7.65318126e-01 -1.63566621e-03 1.04965032e+02] [ 7.65315693e-01 6.43652209e-01 -1.92966765e-03 5.04895826e+01] [ 2.52960980e-03 -9.77018264e-06 9.99996800e-01 -7.21605911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.98, Y:50.51, Z:-0.72 [[ 6.44148128e-01 -7.64899123e-01 -1.58808212e-03 1.04981330e+02] [ 7.64896825e-01 6.44150085e-01 -1.87468482e-03 5.05126660e+01] [ 2.45690801e-03 -7.14425063e-06 9.99996982e-01 -7.21343950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08088847899998 meters Centerline goodness [0,1] 0.9999333318518189 Centerline is valid? [True, True] Translation: X:105.00, Y:50.54, Z:-0.72 [[ 6.44795354e-01 -7.64353964e-01 -1.40301116e-03 1.04997426e+02] [ 7.64352167e-01 6.44796880e-01 -1.65746712e-03 5.05360619e+01] [ 2.17154879e-03 -3.66752143e-06 9.99997642e-01 -7.21057812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11088847899998 meters Centerline goodness [0,1] 0.9998898605634734 Centerline is valid? [True, True] Translation: X:105.01, Y:50.56, Z:-0.72 [[ 6.47479540e-01 -7.62081599e-01 -1.37146598e-03 1.05010338e+02] [ 7.62079878e-01 6.47480993e-01 -1.61966311e-03 5.05605020e+01] [ 2.12231361e-03 3.53209999e-06 9.99997748e-01 -7.20736050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14088847899998 meters Centerline goodness [0,1] 0.9999558742415885 Centerline is valid? [True, True] Translation: X:105.03, Y:50.58, Z:-0.72 [[ 6.48794648e-01 -7.60962336e-01 -1.35191885e-03 1.05025566e+02] [ 7.60960660e-01 6.48796056e-01 -1.59718038e-03 5.05837207e+01] [ 2.09251373e-03 7.48502409e-06 9.99997811e-01 -7.20636459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17088847899998 meters Centerline goodness [0,1] 0.9999341412012644 Centerline is valid? [True, True] Translation: X:105.04, Y:50.61, Z:-0.72 [[ 6.50030555e-01 -7.59906450e-01 -1.56973576e-03 1.05040447e+02] [ 7.59904188e-01 6.50032451e-01 -1.85446812e-03 5.06071781e+01] [ 2.42960147e-03 1.26121600e-05 9.99997048e-01 -7.21610920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20088847899999 meters Centerline goodness [0,1] 0.9997591047456366 Centerline is valid? [True, True] Translation: X:105.05, Y:50.63, Z:-0.72 [[ 6.52870923e-01 -7.57465988e-01 -2.19905185e-03 1.05052215e+02] [ 7.57461533e-01 6.52874625e-01 -2.59785506e-03 5.06331039e+01] [ 3.40349200e-03 3.03668413e-05 9.99994208e-01 -7.23066473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230888479 meters Centerline goodness [0,1] 0.9996713985278654 Centerline is valid? [True, True] Translation: X:105.07, Y:50.66, Z:-0.72 [[ 6.53617851e-01 -7.56821143e-01 -2.33711574e-03 1.05069028e+02] [ 7.56816098e-01 6.53622029e-01 -2.76346910e-03 5.06563975e+01] [ 3.61904217e-03 3.74859176e-05 9.99993451e-01 -7.22301650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.260888479 meters Centerline goodness [0,1] 0.9996716862195762 Centerline is valid? [True, True] Translation: X:105.08, Y:50.68, Z:-0.72 [[ 6.54045300e-01 -7.56451493e-01 -2.42562733e-03 1.05084832e+02] [ 7.56446057e-01 6.54049797e-01 -2.86805485e-03 5.06797705e+01] [ 3.75602543e-03 4.09815656e-05 9.99992945e-01 -7.22807459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290888479 meters Centerline goodness [0,1] 0.9996280575854374 Centerline is valid? [True, True] Translation: X:105.10, Y:50.70, Z:-0.72 [[ 6.54086997e-01 -7.56415777e-01 -2.31805066e-03 1.05101142e+02] [ 7.56410803e-01 6.54091103e-01 -2.74350396e-03 5.07021316e+01] [ 3.59144599e-03 4.10917023e-05 9.99993550e-01 -7.22466775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.320888479 meters Centerline goodness [0,1] 0.9996949159929395 Centerline is valid? [True, True] Translation: X:105.12, Y:50.72, Z:-0.72 [[ 6.53938885e-01 -7.56543267e-01 -2.49409461e-03 1.05118973e+02] [ 7.56537503e-01 6.53943639e-01 -2.95347011e-03 5.07243497e+01] [ 3.86542523e-03 4.45128386e-05 9.99992528e-01 -7.21512930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.350888479 meters Centerline goodness [0,1] 0.9996949159929395 Centerline is valid? [True, True] Translation: X:105.14, Y:50.75, Z:-0.72 [[ 6.53725022e-01 -7.56728075e-01 -2.49326246e-03 1.05136731e+02] [ 7.56722310e-01 6.53729775e-01 -2.95417292e-03 5.07454659e+01] [ 3.86542549e-03 4.45094304e-05 9.99992528e-01 -7.21663055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.380888479 meters Centerline goodness [0,1] 0.9997164729231641 Centerline is valid? [True, True] Translation: X:105.15, Y:50.77, Z:-0.72 [[ 6.53725119e-01 -7.56726641e-01 -2.87382411e-03 1.05153044e+02] [ 7.56718977e-01 6.53731434e-01 -3.40610351e-03 5.07701294e+01] [ 4.45619842e-03 5.19781867e-05 9.99990070e-01 -7.21768566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.410888479 meters Centerline goodness [0,1] 0.9996729674929689 Centerline is valid? [True, True] Translation: X:105.17, Y:50.79, Z:-0.72 [[ 6.53931144e-01 -7.56548042e-01 -3.01990415e-03 1.05168986e+02] [ 7.56539575e-01 6.53938114e-01 -3.57959130e-03 5.07925928e+01] [ 4.68296322e-03 5.61292273e-05 9.99989033e-01 -7.21642384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.440888479 meters Centerline goodness [0,1] 0.9996518787667805 Centerline is valid? [True, True] Translation: X:105.19, Y:50.82, Z:-0.72 [[ 6.53839246e-01 -7.56627621e-01 -2.98055308e-03 1.05185634e+02] [ 7.56619361e-01 6.53846037e-01 -3.53596744e-03 5.08153189e+01] [ 4.62423345e-03 5.68101197e-05 9.99989307e-01 -7.21396341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.470888479 meters Centerline goodness [0,1] 0.9994363876785676 Centerline is valid? [True, True] Translation: X:105.20, Y:50.84, Z:-0.72 [[ 6.53573726e-01 -7.56854995e-01 -3.44977494e-03 1.05201298e+02] [ 7.56843922e-01 6.53582827e-01 -4.09458310e-03 5.08385425e+01] [ 5.35371933e-03 6.51707341e-05 9.99985667e-01 -7.21634051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.500888479 meters Centerline goodness [0,1] 0.9996535746763089 Centerline is valid? [True, True] Translation: X:105.22, Y:50.86, Z:-0.72 [[ 6.53057020e-01 -7.57299876e-01 -3.66419958e-03 1.05216817e+02] [ 7.57287390e-01 6.53067296e-01 -4.34919575e-03 5.08612341e+01] [ 5.68661432e-03 6.54206848e-05 9.99983829e-01 -7.23378308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53088847899997 meters Centerline goodness [0,1] 0.9994374729554305 Centerline is valid? [True, True] Translation: X:105.24, Y:50.88, Z:-0.72 [[ 6.52320370e-01 -7.57934222e-01 -3.72159162e-03 1.05235571e+02] [ 7.57921330e-01 6.52330983e-01 -4.42100781e-03 5.08826549e+01] [ 5.77854263e-03 6.32397773e-05 9.99983302e-01 -7.21866466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.56088847899997 meters Centerline goodness [0,1] 0.999676256663717 Centerline is valid? [True, True] Translation: X:105.25, Y:50.91, Z:-0.72 [[ 6.51517444e-01 -7.58625431e-01 -3.53211478e-03 1.05251482e+02] [ 7.58613828e-01 6.51527016e-01 -4.19614849e-03 5.09052109e+01] [ 5.48457316e-03 5.43528291e-05 9.99984958e-01 -7.21736376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59088847899997 meters Centerline goodness [0,1] 0.9994604743509506 Centerline is valid? [True, True] Translation: X:105.27, Y:50.93, Z:-0.72 [[ 6.51259063e-01 -7.58847261e-01 -3.53082849e-03 1.05268147e+02] [ 7.58835659e-01 6.51268632e-01 -4.19662672e-03 5.09259257e+01] [ 5.48411654e-03 5.37726228e-05 9.99984961e-01 -7.21521846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62088847899997 meters Centerline goodness [0,1] 0.9995689190645544 Centerline is valid? [True, True] Translation: X:105.29, Y:50.95, Z:-0.72 [[ 6.50587791e-01 -7.59425956e-01 -2.78271777e-03 1.05286158e+02] [ 7.59418744e-01 6.50593741e-01 -3.30987365e-03 5.09483397e+01] [ 4.32402272e-03 4.01153579e-05 9.99990651e-01 -7.19833104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65088847899997 meters Centerline goodness [0,1] 0.9996558177555015 Centerline is valid? [True, True] Translation: X:105.30, Y:50.97, Z:-0.72 [[ 6.50162245e-01 -7.59791060e-01 -2.56923408e-03 1.05303648e+02] [ 7.59784906e-01 6.50167320e-01 -3.05814135e-03 5.09701780e+01] [ 3.99398049e-03 3.62227684e-05 9.99992023e-01 -7.18850464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68088847899998 meters Centerline goodness [0,1] 0.9995278159340659 Centerline is valid? [True, True] Translation: X:105.32, Y:50.99, Z:-0.72 [[ 6.49722449e-01 -7.60167822e-01 -2.37100259e-03 1.05320135e+02] [ 7.60162582e-01 6.49726774e-01 -2.82269670e-03 5.09922359e+01] [ 3.68622707e-03 3.16219578e-05 9.99993205e-01 -7.19261010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.71088847899998 meters Centerline goodness [0,1] 0.9994838709677419 Centerline is valid? [True, True] Translation: X:105.34, Y:51.01, Z:-0.72 [[ 6.48849030e-01 -7.60913492e-01 -2.36541755e-03 1.05338562e+02] [ 7.60908272e-01 6.48853341e-01 -2.81848731e-03 5.10140578e+01] [ 3.67943410e-03 2.89069756e-05 9.99993230e-01 -7.17428509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.74088847899998 meters Centerline goodness [0,1] 0.9989880939565526 Centerline is valid? [True, True] Translation: X:105.35, Y:51.04, Z:-0.72 [[ 6.48406782e-01 -7.61288859e-01 -2.81393479e-03 1.05354996e+02] [ 7.61281477e-01 6.48412888e-01 -3.35249918e-03 5.10353441e+01] [ 4.37681186e-03 3.15867743e-05 9.99990421e-01 -7.18100147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.77088847899998 meters Centerline goodness [0,1] 0.9988021134141907 Centerline is valid? [True, True] Translation: X:105.37, Y:51.06, Z:-0.72 [[ 6.47695564e-01 -7.61892050e-01 -3.31064934e-03 1.05371428e+02] [ 7.61881836e-01 6.47704024e-01 -3.94527034e-03 5.10568836e+01] [ 5.15019101e-03 3.30104965e-05 9.99986737e-01 -7.19412334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.80088847899998 meters Centerline goodness [0,1] 0.999100488306348 Centerline is valid? [True, True] Translation: X:105.39, Y:51.08, Z:-0.72 [[ 6.46591841e-01 -7.62826248e-01 -3.88662368e-03 1.05389152e+02] [ 7.62812166e-01 6.46603522e-01 -4.63514335e-03 5.10790444e+01] [ 6.04891357e-03 3.22820462e-05 9.99981705e-01 -7.19941070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.83088847899998 meters Centerline goodness [0,1] 0.9993786690662896 Centerline is valid? [True, True] Translation: X:105.41, Y:51.10, Z:-0.72 [[ 6.44345067e-01 -7.64715876e-01 -5.39116104e-03 1.05405903e+02] [ 7.64688859e-01 6.44367620e-01 -6.42799058e-03 5.11014819e+01] [ 8.38947605e-03 1.92832338e-05 9.99964808e-01 -7.22898625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.86088847899998 meters Centerline goodness [0,1] 0.9991019692531378 Centerline is valid? [True, True] Translation: X:105.42, Y:51.12, Z:-0.72 [[ 6.42518317e-01 -7.66248415e-01 -5.79481122e-03 1.05423901e+02] [ 7.66217214e-01 6.42544447e-01 -6.91472540e-03 5.11229721e+01] [ 9.02182115e-03 2.75361860e-06 9.99959303e-01 -7.22980765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89088847899998 meters Centerline goodness [0,1] 0.9993590839172791 Centerline is valid? [True, True] Translation: X:105.44, Y:51.14, Z:-0.72 [[ 6.40191816e-01 -7.68190333e-01 -6.16852417e-03 1.05442495e+02] [ 7.68155037e-01 6.40221533e-01 -7.36391395e-03 5.11447441e+01] [ 9.60610951e-03 -2.40654749e-05 9.99953860e-01 -7.22816745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92088847899998 meters Centerline goodness [0,1] 0.9996155160628845 Centerline is valid? [True, True] Translation: X:105.46, Y:51.16, Z:-0.72 [[ 6.35479451e-01 -7.72089514e-01 -6.60684036e-03 1.05461795e+02] [ 7.72049234e-01 6.35513788e-01 -7.88706551e-03 5.11647089e+01] [ 1.02882587e-02 -8.87379765e-05 9.99947071e-01 -7.22848572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95088847899999 meters Centerline goodness [0,1] 0.9996375034650404 Centerline is valid? [True, True] Translation: X:105.48, Y:51.19, Z:-0.72 [[ 6.33264738e-01 -7.73906250e-01 -6.69982646e-03 1.05479363e+02] [ 7.73864874e-01 6.33300168e-01 -8.00344348e-03 5.11872745e+01] [ 1.04369162e-02 -1.16461819e-04 9.99945527e-01 -7.20156170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.980888479 meters Centerline goodness [0,1] 0.9994892965059369 Centerline is valid? [True, True] Translation: X:105.50, Y:51.21, Z:-0.72 [[ 6.31539046e-01 -7.75317458e-01 -6.42436174e-03 1.05498034e+02] [ 7.75279472e-01 6.31571707e-01 -7.67584073e-03 5.12083348e+01] [ 1.00086584e-02 -1.33082654e-04 9.99949903e-01 -7.21197492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010888479 meters Centerline goodness [0,1] 0.9995320542817033 Centerline is valid? [True, True] Translation: X:105.52, Y:51.23, Z:-0.72 [[ 6.30059028e-01 -7.76520134e-01 -6.48862439e-03 1.05515184e+02] [ 7.76481402e-01 6.30092421e-01 -7.75720489e-03 5.12316929e+01] [ 1.01120588e-02 -1.50799186e-04 9.99948860e-01 -7.19761256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.040888479 meters Centerline goodness [0,1] 0.9992774412921049 Centerline is valid? [True, True] Translation: X:105.53, Y:51.26, Z:-0.72 [[ 6.28427854e-01 -7.77841880e-01 -6.35937477e-03 1.05530820e+02] [ 7.77804704e-01 6.28460008e-01 -7.60659870e-03 5.12566169e+01] [ 9.91334375e-03 -1.66153108e-04 9.99950848e-01 -7.18652044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.070888479 meters Centerline goodness [0,1] 0.9995102736080059 Centerline is valid? [True, True] Translation: X:105.55, Y:51.28, Z:-0.72 [[ 6.28077783e-01 -7.78122298e-01 -6.63230066e-03 1.05547375e+02] [ 7.78081869e-01 6.28112775e-01 -7.93392768e-03 5.12787965e+01] [ 1.03393988e-02 -1.77349185e-04 9.99946531e-01 -7.18462808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.100888479 meters Centerline goodness [0,1] 0.9994272866112337 Centerline is valid? [True, True] Translation: X:105.57, Y:51.30, Z:-0.72 [[ 6.27847912e-01 -7.78305443e-01 -6.90194454e-03 1.05566345e+02] [ 7.78261648e-01 6.27885820e-01 -8.25854520e-03 5.12993706e+01] [ 1.07613038e-02 -1.86408370e-04 9.99942078e-01 -7.22035448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.130888479 meters Centerline goodness [0,1] 0.9993849025388678 Centerline is valid? [True, True] Translation: X:105.58, Y:51.33, Z:-0.72 [[ 6.28285239e-01 -7.77949817e-01 -7.19309273e-03 1.05577936e+02] [ 7.77902160e-01 6.28326386e-01 -8.61290739e-03 5.13261829e+01] [ 1.12200197e-02 -1.84159801e-04 9.99937037e-01 -7.19058142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.160888479 meters Centerline goodness [0,1] 0.9994290185463235 Centerline is valid? [True, True] Translation: X:105.59, Y:51.35, Z:-0.72 [[ 6.28458382e-01 -7.77809106e-01 -7.28396836e-03 1.05593402e+02] [ 7.77760172e-01 6.28500566e-01 -8.72662470e-03 5.13500192e+01] [ 1.13656264e-02 -1.80860042e-04 9.99935393e-01 -7.18897283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.190888479 meters Centerline goodness [0,1] 0.9994504100786337 Centerline is valid? [True, True] Translation: X:105.61, Y:51.37, Z:-0.72 [[ 6.29276454e-01 -7.77143451e-01 -7.69414545e-03 1.05609324e+02] [ 7.77088740e-01 6.29323466e-01 -9.22310981e-03 5.13739186e+01] [ 1.20097857e-02 -1.75147950e-04 9.99927865e-01 -7.18824260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.220888479 meters Centerline goodness [0,1] 0.9990929992195575 Centerline is valid? [True, True] Translation: X:105.62, Y:51.40, Z:-0.72 [[ 6.31882378e-01 -7.75014162e-01 -8.81532995e-03 1.05622902e+02] [ 7.74942136e-01 6.31943847e-01 -1.05669600e-02 5.13990561e+01] [ 1.37603372e-02 -1.54294778e-04 9.99905310e-01 -7.19535440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.250888479 meters Centerline goodness [0,1] 0.9990661544665408 Centerline is valid? [True, True] Translation: X:105.64, Y:51.42, Z:-0.72 [[ 6.33608688e-01 -7.73599414e-01 -9.16389873e-03 1.05638467e+02] [ 7.73521335e-01 6.33674942e-01 -1.09914624e-02 5.14234532e+01] [ 1.43099219e-02 -1.24185118e-04 9.99897600e-01 -7.19044101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.28088847899997 meters Centerline goodness [0,1] 0.9993628950050968 Centerline is valid? [True, True] Translation: X:105.65, Y:51.45, Z:-0.72 [[ 6.35274118e-01 -7.72228826e-01 -9.45704123e-03 1.05653429e+02] [ 7.72145487e-01 6.35344498e-01 -1.13452787e-02 5.14460726e+01] [ 1.47696304e-02 -9.48497897e-05 9.99890919e-01 -7.20925078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31088847899997 meters Centerline goodness [0,1] 0.9992206424433913 Centerline is valid? [True, True] Translation: X:105.67, Y:51.47, Z:-0.72 [[ 6.39256434e-01 -7.68928179e-01 -1.00333005e-02 1.05665231e+02] [ 7.68833840e-01 6.39335167e-01 -1.20445064e-02 5.14734202e+01] [ 1.56760022e-02 -1.44127144e-05 9.99877124e-01 -7.18945678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.34088847899997 meters Centerline goodness [0,1] 0.9989077695393728 Centerline is valid? [True, True] Translation: X:105.68, Y:51.50, Z:-0.72 [[ 6.41427511e-01 -7.67111742e-01 -1.05035382e-02 1.05679869e+02] [ 7.67008101e-01 6.41513503e-01 -1.26094623e-02 5.14972332e+01] [ 1.64110282e-02 3.17571252e-05 9.99865330e-01 -7.19353013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37088847899997 meters Centerline goodness [0,1] 0.9986996098829649 Centerline is valid? [True, True] Translation: X:105.70, Y:51.52, Z:-0.72 [[ 6.43246554e-01 -7.65587226e-01 -1.04914248e-02 1.05695434e+02] [ 7.65483498e-01 6.43332102e-01 -1.26023946e-02 5.15216542e+01] [ 1.63977027e-02 7.54343598e-05 9.99865546e-01 -7.19182491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.40088847899997 meters Centerline goodness [0,1] 0.9990738791833298 Centerline is valid? [True, True] Translation: X:105.71, Y:51.55, Z:-0.72 [[ 6.46374411e-01 -7.62945062e-01 -1.07215788e-02 1.05710445e+02] [ 7.62836263e-01 6.46463309e-01 -1.28851103e-02 5.15471819e+01] [ 1.67617386e-02 1.49796442e-04 9.99859501e-01 -7.17900454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.43088847899998 meters Centerline goodness [0,1] 0.9989105840945278 Centerline is valid? [True, True] Translation: X:105.73, Y:51.57, Z:-0.72 [[ 6.47247796e-01 -7.62210077e-01 -1.02999716e-02 1.05727073e+02] [ 7.62109457e-01 6.47329723e-01 -1.23856964e-02 5.15693421e+01] [ 1.61079803e-02 1.66908937e-04 9.99870244e-01 -7.17412791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.46088847899998 meters Centerline goodness [0,1] 0.9989554608506727 Centerline is valid? [True, True] Translation: X:105.74, Y:51.59, Z:-0.72 [[ 6.48034197e-01 -7.61541078e-01 -1.03375602e-02 1.05744621e+02] [ 7.61439543e-01 6.48116618e-01 -1.24367220e-02 5.15922418e+01] [ 1.61710192e-02 1.87994027e-04 9.99869223e-01 -7.16450736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.49088847899998 meters Centerline goodness [0,1] 0.9990596790371113 Centerline is valid? [True, True] Translation: X:105.76, Y:51.62, Z:-0.72 [[ 6.49386042e-01 -7.60395488e-01 -9.82187052e-03 1.05760045e+02] [ 7.60303657e-01 6.49460282e-01 -1.18190735e-02 5.16153501e+01] [ 1.53660850e-02 2.07537296e-04 9.99881913e-01 -7.16604248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.52088847899998 meters Centerline goodness [0,1] 0.9987435081253141 Centerline is valid? [True, True] Translation: X:105.78, Y:51.64, Z:-0.72 [[ 6.49878454e-01 -7.59971031e-01 -1.01008784e-02 1.05778842e+02] [ 7.59873751e-01 6.49956907e-01 -1.21614689e-02 5.16377330e+01] [ 1.58074997e-02 2.28084219e-04 9.99875028e-01 -7.15770004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.55088847899998 meters Centerline goodness [0,1] 0.9988277897557197 Centerline is valid? [True, True] Translation: X:105.80, Y:51.66, Z:-0.72 [[ 6.50603959e-01 -7.59346914e-01 -1.03321012e-02 1.05795162e+02] [ 7.59245039e-01 6.50685947e-01 -1.24406345e-02 5.16598384e+01] [ 1.61697105e-02 2.49329511e-04 9.99869231e-01 -7.17400183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.58088847899998 meters Centerline goodness [0,1] 0.9988195615514334 Centerline is valid? [True, True] Translation: X:105.81, Y:51.68, Z:-0.72 [[ 6.52202125e-01 -7.57967660e-01 -1.08358171e-02 1.05813189e+02] [ 7.57855290e-01 6.52292062e-01 -1.30546596e-02 5.16821825e+01] [ 1.69631273e-02 3.02295411e-04 9.99856070e-01 -7.17421338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.61088847899998 meters Centerline goodness [0,1] 0.9989120883718984 Centerline is valid? [True, True] Translation: X:105.83, Y:51.70, Z:-0.72 [[ 6.53185551e-01 -7.57122701e-01 -1.06701343e-02 1.05831272e+02] [ 7.57013525e-01 6.53272617e-01 -1.28612110e-02 5.17048276e+01] [ 1.67080214e-02 3.23321238e-04 9.99860359e-01 -7.18025734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64088847899998 meters Centerline goodness [0,1] 0.9989665063696954 Centerline is valid? [True, True] Translation: X:105.85, Y:51.73, Z:-0.72 [[ 6.54324880e-01 -7.56134517e-01 -1.09336128e-02 1.05851115e+02] [ 7.56019632e-01 6.54416123e-01 -1.31853926e-02 5.17264395e+01] [ 1.71250629e-02 3.61504483e-04 9.99853290e-01 -7.16487416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67088847899998 meters Centerline goodness [0,1] 0.9986114909641722 Centerline is valid? [True, True] Translation: X:105.87, Y:51.75, Z:-0.72 [[ 6.55490072e-01 -7.55118519e-01 -1.13485151e-02 1.05870140e+02] [ 7.54994473e-01 6.55588176e-01 -1.36926540e-02 5.17482651e+01] [ 1.77795289e-02 4.07332511e-04 9.99841849e-01 -7.16240901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70088847899999 meters Centerline goodness [0,1] 0.9987746392580229 Centerline is valid? [True, True] Translation: X:105.89, Y:51.77, Z:-0.72 [[ 6.56808078e-01 -7.53968344e-01 -1.16140084e-02 1.05887205e+02] [ 7.53838226e-01 6.56910599e-01 -1.40140762e-02 5.17706995e+01] [ 1.81955350e-02 4.49474979e-04 9.99834347e-01 -7.17719980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730888479 meters Centerline goodness [0,1] 0.9989486300649747 Centerline is valid? [True, True] Translation: X:105.90, Y:51.79, Z:-0.72 [[ 6.59007537e-01 -7.52045794e-01 -1.16700664e-02 1.05901653e+02] [ 7.51914058e-01 6.59110663e-01 -1.40848420e-02 5.17942474e+01] [ 1.82843114e-02 5.07130085e-04 9.99832699e-01 -7.22005698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.760888479 meters Centerline goodness [0,1] 0.9986308006656415 Centerline is valid? [True, True] Translation: X:105.92, Y:51.81, Z:-0.72 [[ 6.59755601e-01 -7.51390947e-01 -1.15841070e-02 1.05923058e+02] [ 7.51261001e-01 6.59857084e-01 -1.39834618e-02 5.18133600e+01] [ 1.81509017e-02 5.22979410e-04 9.99835122e-01 -7.18717067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790888479 meters Centerline goodness [0,1] 0.9989202464378718 Centerline is valid? [True, True] Translation: X:105.94, Y:51.83, Z:-0.72 [[ 6.60007492e-01 -7.51173511e-01 -1.13343374e-02 1.05940855e+02] [ 7.51048985e-01 6.60104602e-01 -1.36870982e-02 5.18334234e+01] [ 1.77632339e-02 5.20944719e-04 9.99842086e-01 -7.18482335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.820888479 meters Centerline goodness [0,1] 0.9987072710704219 Centerline is valid? [True, True] Translation: X:105.96, Y:51.85, Z:-0.72 [[ 6.60369177e-01 -7.50860661e-01 -1.09917022e-02 1.05959686e+02] [ 7.50743432e-01 6.60460446e-01 -1.32777393e-02 5.18525642e+01] [ 1.72293167e-02 5.16261595e-04 9.99851431e-01 -7.18027605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.850888479 meters Centerline goodness [0,1] 0.9985607856417202 Centerline is valid? [True, True] Translation: X:105.98, Y:51.87, Z:-0.72 [[ 6.60229794e-01 -7.50981674e-01 -1.10970586e-02 1.05979063e+02] [ 7.50862055e-01 6.60322838e-01 -1.34135592e-02 5.18735783e+01] [ 1.74009784e-02 5.23671183e-04 9.99848454e-01 -7.17564135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.880888479 meters Centerline goodness [0,1] 0.9987743285222206 Centerline is valid? [True, True] Translation: X:106.00, Y:51.89, Z:-0.72 [[ 6.59295967e-01 -7.51808871e-01 -1.05947991e-02 1.05998493e+02] [ 7.51699930e-01 6.59380916e-01 -1.28071565e-02 5.18933844e+01] [ 1.66145422e-02 4.79596933e-04 9.99861854e-01 -7.18532614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.910888479 meters Centerline goodness [0,1] 0.9988597009882592 Centerline is valid? [True, True] Translation: X:106.02, Y:51.91, Z:-0.72 [[ 6.58506007e-01 -7.52502008e-01 -1.05150956e-02 1.06018219e+02] [ 7.52394665e-01 6.58589792e-01 -1.27182834e-02 5.19141348e+01] [ 1.64956684e-02 4.63564166e-04 9.99863830e-01 -7.18432064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.940888479 meters Centerline goodness [0,1] 0.9990894074795647 Centerline is valid? [True, True] Translation: X:106.04, Y:51.93, Z:-0.72 [[ 6.57599570e-01 -7.53303600e-01 -9.82296419e-03 1.06037653e+02] [ 7.53210000e-01 6.57672801e-01 -1.18819882e-02 5.19345048e+01] [ 1.54110409e-02 4.14835483e-04 9.99881157e-01 -7.18177760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.970888479 meters Centerline goodness [0,1] 0.998849668747204 Centerline is valid? [True, True] Translation: X:106.06, Y:51.95, Z:-0.71 [[ 6.55145166e-01 -7.55445096e-01 -9.35510040e-03 1.06063538e+02] [ 7.55360323e-01 6.55211861e-01 -1.13224986e-02 5.19504683e+01] [ 1.46830988e-02 3.51408538e-04 9.99892136e-01 -7.14455270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.000888479 meters Centerline goodness [0,1] 0.9991308771781066 Centerline is valid? [True, True] Translation: X:106.08, Y:51.97, Z:-0.72 [[ 6.53566799e-01 -7.56814415e-01 -9.07636676e-03 1.06080801e+02] [ 7.56734737e-01 6.53629746e-01 -1.09860677e-02 5.19724366e+01] [ 1.42469977e-02 3.11727074e-04 9.99898458e-01 -7.17544163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03088847899997 meters Centerline goodness [0,1] 0.9992595256733027 Centerline is valid? [True, True] Translation: X:106.10, Y:51.99, Z:-0.72 [[ 6.51830950e-01 -7.58311758e-01 -8.92695982e-03 1.06101475e+02] [ 7.58234731e-01 6.51892016e-01 -1.08116404e-02 5.19933152e+01] [ 1.40180079e-02 2.78630857e-04 9.99901704e-01 -7.17811137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.06088847899997 meters Centerline goodness [0,1] 0.9991923828955198 Centerline is valid? [True, True] Translation: X:106.12, Y:52.01, Z:-0.72 [[ 6.49768162e-01 -7.60085110e-01 -8.48303272e-03 1.06121205e+02] [ 7.60015697e-01 6.49823494e-01 -1.02745250e-02 5.20133243e+01] [ 1.33219874e-02 2.28821170e-04 9.99911232e-01 -7.18415711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09088847899997 meters Centerline goodness [0,1] 0.9991422383290802 Centerline is valid? [True, True] Translation: X:106.15, Y:52.03, Z:-0.71 [[ 6.45862052e-01 -7.63411210e-01 -8.09531158e-03 1.06147741e+02] [ 7.63348173e-01 6.45912765e-01 -9.81154659e-03 5.20292159e+01] [ 1.27191097e-02 1.57364309e-04 9.99919096e-01 -7.14451737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.12088847899997 meters Centerline goodness [0,1] 0.9994866200346532 Centerline is valid? [True, True] Translation: X:106.17, Y:52.05, Z:-0.72 [[ 6.44138985e-01 -7.64863993e-01 -8.24858767e-03 1.06167813e+02] [ 7.64798661e-01 6.44191784e-01 -9.99769474e-03 5.20487208e+01] [ 1.29605491e-02 1.31396143e-04 9.99916000e-01 -7.15154196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.15088847899997 meters Centerline goodness [0,1] 0.9993167065254527 Centerline is valid? [True, True] Translation: X:106.19, Y:52.07, Z:-0.72 [[ 6.42340066e-01 -7.66377172e-01 -8.07902403e-03 1.06186411e+02] [ 7.66314595e-01 6.42390863e-01 -9.79393977e-03 5.20696166e+01] [ 1.26957431e-02 9.99658923e-05 9.99919401e-01 -7.19461242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.18088847899998 meters Centerline goodness [0,1] 0.9994191924624088 Centerline is valid? [True, True] Translation: X:106.21, Y:52.09, Z:-0.72 [[ 6.39289664e-01 -7.68924571e-01 -7.98310878e-03 1.06209202e+02] [ 7.68863591e-01 6.39339504e-01 -9.68383912e-03 5.20879302e+01] [ 1.25500587e-02 5.28565767e-05 9.99921244e-01 -7.17335446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.21088847899998 meters Centerline goodness [0,1] 0.9995066495066495 Centerline is valid? [True, True] Translation: X:106.23, Y:52.11, Z:-0.72 [[ 6.37748142e-01 -7.70204100e-01 -7.93425240e-03 1.06228932e+02] [ 7.70143889e-01 6.37797495e-01 -9.63049857e-03 5.21083166e+01] [ 1.24778958e-02 3.13165774e-05 9.99922148e-01 -7.17186291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.24088847899998 meters Centerline goodness [0,1] 0.9995066495066495 Centerline is valid? [True, True] Translation: X:106.25, Y:52.13, Z:-0.72 [[ 6.37530086e-01 -7.70384632e-01 -7.93153005e-03 1.06246425e+02] [ 7.70324407e-01 6.37579421e-01 -9.63274106e-03 5.21296450e+01] [ 1.24778960e-02 3.13110539e-05 9.99922148e-01 -7.17336424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.27088847899998 meters Centerline goodness [0,1] 0.9995933828407558 Centerline is valid? [True, True] Translation: X:106.27, Y:52.15, Z:-0.72 [[ 6.35971600e-01 -7.71675444e-01 -7.55858472e-03 1.06265697e+02] [ 7.71620821e-01 6.36016516e-01 -9.18150676e-03 5.21492868e+01] [ 1.18925280e-02 6.81619917e-06 9.99929281e-01 -7.19133435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.30088847899998 meters Centerline goodness [0,1] 0.9995469939814915 Centerline is valid? [True, True] Translation: X:106.29, Y:52.17, Z:-0.72 [[ 6.32987927e-01 -7.74130854e-01 -6.90693933e-03 1.06288764e+02] [ 7.74085332e-01 6.33025608e-01 -8.39512901e-03 5.21680887e+01] [ 1.08711979e-02 -3.25451237e-05 9.99940906e-01 -7.18285825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.33088847899998 meters Centerline goodness [0,1] 0.9996136427053597 Centerline is valid? [True, True] Translation: X:106.31, Y:52.19, Z:-0.72 [[ 6.31440807e-01 -7.75393040e-01 -6.93836762e-03 1.06309220e+02] [ 7.75347123e-01 6.31478924e-01 -8.43841371e-03 5.21878486e+01] [ 1.09245202e-02 -5.12846127e-05 9.99940324e-01 -7.18726381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36088847899998 meters Centerline goodness [0,1] 0.9997202195200688 Centerline is valid? [True, True] Translation: X:106.33, Y:52.21, Z:-0.72 [[ 6.30072664e-01 -7.76507547e-01 -6.66843982e-03 1.06329162e+02] [ 7.76465146e-01 6.30107947e-01 -8.11487702e-03 5.22077563e+01] [ 1.05031002e-02 -6.48489216e-05 9.99944839e-01 -7.18630817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39088847899998 meters Centerline goodness [0,1] 0.9996334152758011 Centerline is valid? [True, True] Translation: X:106.35, Y:52.23, Z:-0.72 [[ 6.28850503e-01 -7.77504109e-01 -5.86561420e-03 1.06348354e+02] [ 7.77471304e-01 6.28877854e-01 -7.14249142e-03 5.22287156e+01] [ 9.24207130e-03 -6.87874009e-05 9.99957289e-01 -7.17874554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42088847899998 meters Centerline goodness [0,1] 0.999441616734317 Centerline is valid? [True, True] Translation: X:106.37, Y:52.25, Z:-0.72 [[ 6.28844921e-01 -7.77516481e-01 -4.71035921e-03 1.06368390e+02] [ 7.77495327e-01 6.28862560e-01 -5.73556803e-03 5.22486923e+01] [ 7.42166722e-03 -5.54994444e-05 9.99972458e-01 -7.18163456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45088847899999 meters Centerline goodness [0,1] 0.9995483870967742 Centerline is valid? [True, True] Translation: X:106.39, Y:52.27, Z:-0.72 [[ 6.29359785e-01 -7.77102373e-01 -4.26179648e-03 1.06386890e+02] [ 7.77085040e-01 6.29374213e-01 -5.19032538e-03 5.22696569e+01] [ 6.71567898e-03 -4.51962180e-05 9.99977449e-01 -7.18085239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.480888479 meters Centerline goodness [0,1] 0.9995471405158285 Centerline is valid? [True, True] Translation: X:106.41, Y:52.29, Z:-0.72 [[ 6.30035559e-01 -7.76555949e-01 -4.00655920e-03 1.06405948e+02] [ 7.76540595e-01 6.30048298e-01 -4.88331153e-03 5.22918928e+01] [ 6.31649042e-03 -3.45959533e-05 9.99980050e-01 -7.17995470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510888479 meters Centerline goodness [0,1] 0.9995691419461858 Centerline is valid? [True, True] Translation: X:106.42, Y:52.31, Z:-0.72 [[ 6.32902169e-01 -7.74221440e-01 -4.00093563e-03 1.06423420e+02] [ 7.74206067e-01 6.32914814e-01 -4.87891766e-03 5.23146959e+01] [ 6.30961409e-03 -9.67107639e-06 9.99980094e-01 -7.18206472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.540888479 meters Centerline goodness [0,1] 0.9996115415326845 Centerline is valid? [True, True] Translation: X:106.44, Y:52.34, Z:-0.72 [[ 6.34682362e-01 -7.72762302e-01 -4.08955490e-03 1.06440379e+02] [ 7.72746190e-01 6.34695537e-01 -4.99010377e-03 5.23370720e+01] [ 6.45178633e-03 6.94287934e-06 9.99979187e-01 -7.19138271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.570888479 meters Centerline goodness [0,1] 0.9996107687317548 Centerline is valid? [True, True] Translation: X:106.46, Y:52.36, Z:-0.72 [[ 6.36317195e-01 -7.71417270e-01 -3.97790368e-03 1.06456525e+02] [ 7.71401996e-01 6.36329628e-01 -4.85442558e-03 5.23583468e+01] [ 6.27604570e-03 2.03916245e-05 9.99980305e-01 -7.20283125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.600888479 meters Centerline goodness [0,1] 0.9994801594177786 Centerline is valid? [True, True] Translation: X:106.47, Y:52.38, Z:-0.72 [[ 6.38215973e-01 -7.69848097e-01 -3.77875121e-03 1.06474067e+02] [ 7.69834268e-01 6.38227159e-01 -4.61451817e-03 5.23807689e+01] [ 5.96417968e-03 3.60470361e-05 9.99982213e-01 -7.20701946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.630888479 meters Centerline goodness [0,1] 0.9995658780117213 Centerline is valid? [True, True] Translation: X:106.49, Y:52.40, Z:-0.72 [[ 6.41661028e-01 -7.66983931e-01 -2.60291841e-03 1.06491356e+02] [ 7.66977336e-01 6.41666306e-01 -3.18089189e-03 5.24044840e+01] [ 4.10989801e-03 4.46749373e-05 9.99991553e-01 -7.20918620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.660888479 meters Centerline goodness [0,1] 0.9995683049493838 Centerline is valid? [True, True] Translation: X:106.51, Y:52.43, Z:-0.72 [[ 6.43380468e-01 -7.65542775e-01 -2.41523085e-03 1.06507955e+02] [ 7.65537089e-01 6.43385000e-01 -2.95083185e-03 5.24267465e+01] [ 3.81291130e-03 4.95587825e-05 9.99992730e-01 -7.21439671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.690888479 meters Centerline goodness [0,1] 0.9998051273168197 Centerline is valid? [True, True] Translation: X:106.53, Y:52.45, Z:-0.72 [[ 6.44297684e-01 -7.64772624e-01 -1.82438659e-03 1.06526311e+02] [ 7.64769369e-01 6.44300265e-01 -2.23162301e-03 5.24493268e+01] [ 2.88213695e-03 4.25945559e-05 9.99995846e-01 -7.21416548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.720888479 meters Centerline goodness [0,1] 0.9996547780870391 Centerline is valid? [True, True] Translation: X:106.54, Y:52.47, Z:-0.72 [[ 6.46201176e-01 -7.63166101e-01 -1.24176880e-03 1.06542822e+02] [ 7.63164591e-01 6.46202368e-01 -1.51853131e-03 5.24717313e+01] [ 1.96132556e-03 3.36027361e-05 9.99998076e-01 -7.22120949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.750888479 meters Centerline goodness [0,1] 0.9996107939802802 Centerline is valid? [True, True] Translation: X:106.56, Y:52.49, Z:-0.72 [[ 6.46733225e-01 -7.62716016e-01 -6.43942505e-04 1.06563488e+02] [ 7.62715607e-01 6.46733545e-01 -7.89552755e-04 5.24919637e+01] [ 1.01866375e-03 1.94850006e-05 9.99999481e-01 -7.20937197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78088847899997 meters Centerline goodness [0,1] 0.9996978721567612 Centerline is valid? [True, True] Translation: X:106.58, Y:52.51, Z:-0.72 [[ 6.48009923e-01 -7.61631874e-01 -1.66452998e-04 1.06581428e+02] [ 7.61631847e-01 6.48009944e-01 -2.04326709e-04 5.25129021e+01] [ 2.63484932e-04 5.62983108e-06 9.99999965e-01 -7.21094928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81088847899997 meters Centerline goodness [0,1] 0.9998484946864922 Centerline is valid? [True, True] Translation: X:106.60, Y:52.53, Z:-0.72 [[ 6.48053691e-01 -7.61594628e-01 -1.90229539e-04 1.06600689e+02] [ 7.61594592e-01 6.48053719e-01 -2.35082217e-04 5.25336180e+01] [ 3.02316314e-04 7.46810979e-06 9.99999954e-01 -7.21232059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84088847899997 meters Centerline goodness [0,1] 0.9997382998211716 Centerline is valid? [True, True] Translation: X:106.62, Y:52.55, Z:-0.72 [[ 6.48432885e-01 -7.61271827e-01 9.96851313e-07 1.06622431e+02] [ 7.61271827e-01 6.48432885e-01 -9.34964451e-07 5.25533844e+01] [ 6.53709426e-08 1.36513652e-06 1.00000000e+00 -7.20772511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87088847899997 meters Centerline goodness [0,1] 0.9998041903270022 Centerline is valid? [True, True] Translation: X:106.64, Y:52.57, Z:-0.72 [[ 6.48470533e-01 -7.61239576e-01 -5.25067494e-04 1.06641876e+02] [ 7.61239303e-01 6.48470745e-01 -6.45382944e-04 5.25747155e+01] [ 8.31781947e-04 1.88098082e-05 9.99999654e-01 -7.21448572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90088847899997 meters Centerline goodness [0,1] 0.9996309482459187 Centerline is valid? [True, True] Translation: X:106.66, Y:52.60, Z:-0.72 [[ 6.48810094e-01 -7.60948800e-01 -1.54487053e-03 1.06660868e+02] [ 7.60946444e-01 6.48811931e-01 -1.89413927e-03 5.25956570e+01] [ 2.44367344e-03 5.33729424e-05 9.99997013e-01 -7.23826102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93088847899998 meters Centerline goodness [0,1] 0.9998255598438761 Centerline is valid? [True, True] Translation: X:106.68, Y:52.62, Z:-0.72 [[ 6.48699549e-01 -7.61042507e-01 -1.78831733e-03 1.06680434e+02] [ 7.61039344e-01 6.48702011e-01 -2.19500169e-03 5.26161552e+01] [ 2.83057464e-03 6.29167539e-05 9.99995992e-01 -7.24532595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96088847899998 meters Centerline goodness [0,1] 0.9998907366534823 Centerline is valid? [True, True] Translation: X:106.70, Y:52.63, Z:-0.72 [[ 6.47785883e-01 -7.61820110e-01 -1.88934598e-03 1.06703078e+02] [ 7.61816581e-01 6.47788635e-01 -2.31970562e-03 5.26347001e+01] [ 2.99109524e-03 6.33374577e-05 9.99995525e-01 -7.24384266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.72, Y:52.65, Z:-0.72 [[ 6.46841801e-01 -7.62622366e-01 -1.67670215e-03 1.06723348e+02] [ 7.62619586e-01 6.46843972e-01 -2.05986732e-03 5.26548207e+01] [ 2.65546556e-03 5.37223898e-05 9.99996473e-01 -7.23729401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02088847899998 meters Centerline goodness [0,1] 0.9998902305159165 Centerline is valid? [True, True] Translation: X:106.74, Y:52.67, Z:-0.72 [[ 6.45598180e-01 -7.63676251e-01 -1.25474054e-03 1.06742373e+02] [ 7.63674697e-01 6.45599398e-01 -1.54092031e-03 5.26748718e+01] [ 1.98682398e-03 3.66017447e-05 9.99998026e-01 -7.23836056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05088847899998 meters Centerline goodness [0,1] 0.9999779885980938 Centerline is valid? [True, True] Translation: X:106.76, Y:52.69, Z:-0.72 [[ 6.43960823e-01 -7.65057970e-01 -8.71873950e-04 1.06763746e+02] [ 7.65057218e-01 6.43961413e-01 -1.07283613e-03 5.26942839e+01] [ 1.38223501e-03 2.38309803e-05 9.99999044e-01 -7.23214539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08088847899998 meters Centerline goodness [0,1] 0.9998678908778651 Centerline is valid? [True, True] Translation: X:106.78, Y:52.71, Z:-0.72 [[ 6.42217551e-01 -7.66521997e-01 -8.03303195e-04 1.06784877e+02] [ 7.66521359e-01 6.42218053e-01 -9.89148087e-04 5.27144676e+01] [ 1.27409958e-03 1.94992062e-05 9.99999188e-01 -7.22757181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.81, Y:52.73, Z:-0.72 [[ 6.39163153e-01 -7.69071124e-01 -2.64178266e-04 1.06807453e+02] [ 7.69071055e-01 6.39163208e-01 -3.26864544e-04 5.27326544e+01] [ 4.20235110e-04 5.74791451e-06 9.99999912e-01 -7.22314324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.83, Y:52.75, Z:-0.72 [[ 6.37452997e-01 -7.70489227e-01 -1.70436219e-04 1.06828545e+02] [ 7.70489197e-01 6.37453019e-01 -2.11722669e-04 5.27522300e+01] [ 2.71775118e-04 3.64398453e-06 9.99999963e-01 -7.21845983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.85, Y:52.77, Z:-0.72 [[ 6.34732980e-01 -7.72731374e-01 -5.17127525e-04 1.06852143e+02] [ 7.72731110e-01 6.34733191e-01 -6.38429772e-04 5.27703172e+01] [ 8.21572719e-04 5.63190532e-06 9.99999662e-01 -7.21499292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.87, Y:52.79, Z:-0.72 [[ 6.33507597e-01 -7.73736130e-01 -7.25419618e-04 1.06871800e+02] [ 7.73735612e-01 6.33508012e-01 -8.95570852e-04 5.27899624e+01] [ 1.15249467e-03 6.06794628e-06 9.99999336e-01 -7.21453150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.89, Y:52.81, Z:-0.72 [[ 6.32481528e-01 -7.74575215e-01 -5.94341606e-04 1.06890586e+02] [ 7.74574867e-01 6.32481808e-01 -7.33276555e-04 5.28098883e+01] [ 9.43888099e-04 3.42180561e-06 9.99999555e-01 -7.21648802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.91, Y:52.83, Z:-0.72 [[ 6.31532366e-01 -7.75349475e-01 -2.49968241e-04 1.06911228e+02] [ 7.75349412e-01 6.31532416e-01 -3.10456648e-04 5.28294335e+01] [ 3.98575446e-04 2.25069259e-06 9.99999921e-01 -7.20876142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:52.85, Z:-0.72 [[ 6.31210801e-01 -7.75611294e-01 -2.11573928e-04 1.06930158e+02] [ 7.75611249e-01 6.31210837e-01 -2.63314591e-04 5.28498405e+01] [ 3.37777527e-04 2.10789579e-06 9.99999943e-01 -7.20798718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.95, Y:52.87, Z:-0.72 [[ 6.31044850e-01 -7.75746290e-01 -3.00838434e-04 1.06948093e+02] [ 7.75746201e-01 6.31044922e-01 -3.72742586e-04 5.28695782e+01] [ 4.78996244e-04 1.84301661e-06 9.99999885e-01 -7.20890519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.350888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.97, Y:52.89, Z:-0.72 [[ 6.31491398e-01 -7.75382336e-01 -9.19927273e-04 1.06966727e+02] [ 7.75381504e-01 6.31492068e-01 -1.13648069e-03 5.28892786e+01] [ 1.46213383e-03 4.38318866e-06 9.99998931e-01 -7.21962359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.380888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.99, Y:52.91, Z:-0.72 [[ 6.31917785e-01 -7.75034382e-01 -1.27243413e-03 1.06985191e+02] [ 7.75032785e-01 6.31919067e-01 -1.57337835e-03 5.29103348e+01] [ 2.02349770e-03 8.06759850e-06 9.99997953e-01 -7.21822427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.00, Y:52.93, Z:-0.72 [[ 6.32525835e-01 -7.74538029e-01 -1.38231331e-03 1.07002634e+02] [ 7.74536144e-01 6.32527345e-01 -1.70855627e-03 5.29307861e+01] [ 2.19769278e-03 1.00543574e-05 9.99997585e-01 -7.22255534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.440888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.02, Y:52.95, Z:-0.72 [[ 6.33288004e-01 -7.73914999e-01 -1.37065403e-03 1.07021907e+02] [ 7.73913141e-01 6.33289487e-01 -1.69609718e-03 5.29514776e+01] [ 2.18065583e-03 1.33508316e-05 9.99997622e-01 -7.21413709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.04, Y:52.97, Z:-0.72 [[ 6.33730962e-01 -7.73552719e-01 -1.12198376e-03 1.07039317e+02] [ 7.73551472e-01 6.33731955e-01 -1.38928693e-03 5.29725054e+01] [ 1.78572365e-03 1.25219531e-05 9.99998406e-01 -7.21143354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.500888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:52.99, Z:-0.72 [[ 6.34244750e-01 -7.73132021e-01 -6.88593665e-04 1.07057513e+02] [ 7.73131550e-01 6.34245124e-01 -8.54229274e-04 5.29937454e+01] [ 1.09716918e-03 9.41694571e-06 9.99999398e-01 -7.19837848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.07, Y:53.01, Z:-0.72 [[ 6.34816017e-01 -7.72663296e-01 -2.34550442e-04 1.07073879e+02] [ 7.72663241e-01 6.34816061e-01 -2.91600714e-04 5.30149582e+01] [ 3.74205556e-04 3.88429973e-06 9.99999930e-01 -7.19610918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:53.04, Z:-0.72 [[ 6.35938227e-01 -7.71739889e-01 3.38551867e-04 1.07093160e+02] [ 7.71739776e-01 6.35938318e-01 4.16984179e-04 5.30366187e+01] [-5.37101429e-04 -3.90223737e-06 9.99999856e-01 -7.18153217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.11, Y:53.06, Z:-0.72 [[ 6.36277710e-01 -7.71460058e-01 2.35325325e-04 1.07111114e+02] [ 7.71460003e-01 6.36277753e-01 2.90141922e-04 5.30583839e+01] [-3.73565173e-04 -3.06676196e-06 9.99999930e-01 -7.18263840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.13, Y:53.08, Z:-0.72 [[ 6.36142022e-01 -7.71571978e-01 -1.01959281e-04 1.07129207e+02] [ 7.71571967e-01 6.36142030e-01 -1.28763971e-04 5.30793431e+01] [ 1.64211256e-04 3.24324991e-06 9.99999987e-01 -7.18303499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.15, Y:53.10, Z:-0.72 [[ 6.35211257e-01 -7.72338209e-01 -5.91752671e-04 1.07148485e+02] [ 7.72337859e-01 6.35211533e-01 -7.34776867e-04 5.30986804e+01] [ 9.43384370e-04 9.70554611e-06 9.99999555e-01 -7.18507378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.17, Y:53.12, Z:-0.72 [[ 6.34142351e-01 -7.73215597e-01 -1.05821588e-03 1.07166963e+02] [ 7.73214479e-01 6.34143233e-01 -1.31480409e-03 5.31194735e+01] [ 1.68768747e-03 1.55451188e-05 9.99998576e-01 -7.18999536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.19, Y:53.14, Z:-0.72 [[ 6.33432938e-01 -7.73796433e-01 -1.33909500e-03 1.07185825e+02] [ 7.73794644e-01 6.33434353e-01 -1.66409349e-03 5.31409549e+01] [ 2.13589838e-03 1.79070878e-05 9.99997719e-01 -7.19806078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:53.16, Z:-0.72 [[ 6.31770454e-01 -7.75154791e-01 -1.06929715e-03 1.07202464e+02] [ 7.75153651e-01 6.31771358e-01 -1.32945120e-03 5.31622152e+01] [ 1.70608178e-03 1.10384007e-05 9.99998545e-01 -7.23134192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.22, Y:53.18, Z:-0.72 [[ 6.31987405e-01 -7.74977759e-01 -1.18061051e-03 1.07222200e+02] [ 7.74976367e-01 6.31988507e-01 -1.46887381e-03 5.31826076e+01] [ 1.88447680e-03 1.33645000e-05 9.99998224e-01 -7.20061303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.24, Y:53.20, Z:-0.72 [[ 6.31933118e-01 -7.75022120e-01 -1.11698249e-03 1.07240607e+02] [ 7.75020873e-01 6.31934105e-01 -1.39070346e-03 5.32042993e+01] [ 1.78368528e-03 1.31468285e-05 9.99998409e-01 -7.20103581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.26, Y:53.23, Z:-0.72 [[ 6.31083101e-01 -7.75713362e-01 -1.70283074e-03 1.07258713e+02] [ 7.75710468e-01 6.31085399e-01 -2.11888038e-03 5.32250237e+01] [ 2.71827544e-03 1.62859768e-05 9.99996305e-01 -7.21786249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.28, Y:53.25, Z:-0.72 [[ 6.30611713e-01 -7.76095413e-01 -2.18564406e-03 1.07277110e+02] [ 7.76090641e-01 6.30615501e-01 -2.72153326e-03 5.32457834e+01] [ 3.49047050e-03 1.99728472e-05 9.99993908e-01 -7.22311221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.30, Y:53.27, Z:-0.72 [[ 6.30187648e-01 -7.76439668e-01 -2.22951474e-03 1.07295624e+02] [ 7.76434700e-01 6.30191591e-01 -2.77768915e-03 5.32663956e+01] [ 3.56172949e-03 1.93927842e-05 9.99993657e-01 -7.21882431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:53.29, Z:-0.72 [[ 6.28998634e-01 -7.77404298e-01 -1.81003155e-03 1.07316546e+02] [ 7.77401023e-01 6.29001239e-01 -2.25655275e-03 5.32867705e+01] [ 2.89276589e-03 1.22482248e-05 9.99995816e-01 -7.20040732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.33, Y:53.31, Z:-0.72 [[ 6.28310792e-01 -7.77960564e-01 -1.70557448e-03 1.07334991e+02] [ 7.77957655e-01 6.28313107e-01 -2.12746416e-03 5.33072859e+01] [ 2.72671802e-03 9.84396256e-06 9.99996282e-01 -7.19563295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.35, Y:53.33, Z:-0.72 [[ 6.27678598e-01 -7.78470976e-01 -1.58652137e-03 1.07353544e+02] [ 7.78468457e-01 6.27680603e-01 -1.98051591e-03 5.33288353e+01] [ 2.53760285e-03 8.07060228e-06 9.99996780e-01 -7.18955079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.37, Y:53.35, Z:-0.72 [[ 6.28427243e-01 -7.77867696e-01 -1.02362973e-03 1.07370419e+02] [ 7.77866645e-01 6.28428076e-01 -1.27911042e-03 5.33494880e+01] [ 1.63825634e-03 7.58041142e-06 9.99998658e-01 -7.18521839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.39, Y:53.37, Z:-0.72 [[ 6.29053707e-01 -7.77361211e-01 -9.91110838e-04 1.07387571e+02] [ 7.77360222e-01 6.29054488e-01 -1.23946980e-03 5.33715981e+01] [ 1.58697847e-03 9.24293140e-06 9.99998741e-01 -7.18121828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.40, Y:53.39, Z:-0.72 [[ 6.29748643e-01 -7.76798065e-01 -1.18854695e-03 1.07404335e+02] [ 7.76796643e-01 6.29749765e-01 -1.48643683e-03 5.33934467e+01] [ 1.90314842e-03 1.28222944e-05 9.99998189e-01 -7.18431694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.100888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.42, Y:53.42, Z:-0.72 [[ 6.30480469e-01 -7.76203693e-01 -1.48469191e-03 1.07421683e+02] [ 7.76201471e-01 6.30482217e-01 -1.85740965e-03 5.34159705e+01] [ 2.37780007e-03 1.86404622e-05 9.99997173e-01 -7.18996731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.130888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.44, Y:53.44, Z:-0.72 [[ 6.31407607e-01 -7.75447486e-01 -2.37291305e-03 1.07437934e+02] [ 7.75441811e-01 6.31412065e-01 -2.96674612e-03 5.34382612e+01] [ 3.79884175e-03 3.31700706e-05 9.99992784e-01 -7.21060601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.46, Y:53.46, Z:-0.72 [[ 6.31196816e-01 -7.75619079e-01 -2.37148253e-03 1.07455116e+02] [ 7.75613401e-01 6.31201270e-01 -2.96789028e-03 5.34598682e+01] [ 3.79883511e-03 3.39692606e-05 9.99992784e-01 -7.21211076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.47, Y:53.48, Z:-0.72 [[ 6.31076374e-01 -7.75715001e-01 -2.97444709e-03 1.07472974e+02] [ 7.75706064e-01 6.31083382e-01 -3.72389097e-03 5.34817273e+01] [ 4.76580222e-03 4.27629655e-05 9.99988643e-01 -7.21906068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.49, Y:53.50, Z:-0.72 [[ 6.30917189e-01 -7.75843906e-01 -3.11988779e-03 1.07490571e+02] [ 7.75834067e-01 6.30924901e-01 -3.90764581e-03 5.35025641e+01] [ 5.00013808e-03 4.48856776e-05 9.99987498e-01 -7.22205279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.250888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.51, Y:53.52, Z:-0.72 [[ 6.30756503e-01 -7.75974547e-01 -3.12045900e-03 1.07509717e+02] [ 7.75964693e-01 6.30764220e-01 -3.91087850e-03 5.35226578e+01] [ 5.00301605e-03 4.54460377e-05 9.99987484e-01 -7.20225022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.53, Y:53.54, Z:-0.72 [[ 6.30852095e-01 -7.75896344e-01 -3.24001498e-03 1.07526329e+02] [ 7.75885710e-01 6.30860413e-01 -4.06248918e-03 5.35445955e+01] [ 5.19606769e-03 4.89484847e-05 9.99986499e-01 -7.20301510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.54, Y:53.57, Z:-0.72 [[ 6.30861726e-01 -7.75889022e-01 -3.11579112e-03 1.07544372e+02] [ 7.75879175e-01 6.30869419e-01 -3.90928764e-03 5.35662157e+01] [ 4.99883070e-03 4.87425075e-05 9.99987505e-01 -7.18888645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34088847899997 meters Centerline goodness [0,1] 0.9998393574297189 Centerline is valid? [True, True] Translation: X:107.56, Y:53.59, Z:-0.72 [[ 6.31203021e-01 -7.75611377e-01 -3.12056928e-03 1.07559378e+02] [ 7.75601488e-01 6.31210732e-01 -3.91707404e-03 5.35883224e+01] [ 5.00786402e-03 5.21507870e-05 9.99987459e-01 -7.19232745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.58, Y:53.61, Z:-0.72 [[ 6.31125515e-01 -7.75674988e-01 -2.98288347e-03 1.07576016e+02] [ 7.75665941e-01 6.31132562e-01 -3.74659620e-03 5.36114420e+01] [ 4.78873584e-03 5.08513467e-05 9.99988533e-01 -7.19555699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40088847899997 meters Centerline goodness [0,1] 0.9999081515499426 Centerline is valid? [True, True] Translation: X:107.59, Y:53.63, Z:-0.72 [[ 6.30902835e-01 -7.75855775e-01 -3.07051690e-03 1.07593456e+02] [ 7.75846180e-01 6.30910305e-01 -3.85891102e-03 5.36335628e+01] [ 4.93117915e-03 5.23490966e-05 9.99987840e-01 -7.19774342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.61, Y:53.66, Z:-0.72 [[ 6.29849426e-01 -7.76711455e-01 -3.00273482e-03 1.07610191e+02] [ 7.76702281e-01 6.29856582e-01 -3.77526043e-03 5.36551005e+01] [ 4.82358031e-03 4.56146326e-05 9.99988365e-01 -7.20744738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.63, Y:53.68, Z:-0.72 [[ 6.28808246e-01 -7.77555970e-01 -2.62749321e-03 1.07628740e+02] [ 7.77548944e-01 6.28813734e-01 -3.30569689e-03 5.36761533e+01] [ 4.22256817e-03 3.56448940e-05 9.99991084e-01 -7.19648893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:53.70, Z:-0.72 [[ 6.27307799e-01 -7.78767951e-01 -2.32462030e-03 1.07647813e+02] [ 7.78762453e-01 6.27312106e-01 -2.92643958e-03 5.36970953e+01] [ 3.73727981e-03 2.54513624e-05 9.99993016e-01 -7.18245309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.67, Y:53.72, Z:-0.72 [[ 6.24384608e-01 -7.81115025e-01 -1.78296076e-03 1.07667834e+02] [ 7.81111798e-01 6.24387153e-01 -2.24546607e-03 5.37164247e+01] [ 2.86722508e-03 9.34276545e-06 9.99995889e-01 -7.16196655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.69, Y:53.74, Z:-0.71 [[ 6.22907875e-01 -7.82293212e-01 -1.76381199e-03 1.07685820e+02] [ 7.82290052e-01 6.22910372e-01 -2.22335072e-03 5.37376004e+01] [ 2.83800896e-03 5.13009589e-06 9.99995973e-01 -7.14970976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.70, Y:53.76, Z:-0.72 [[ 6.21719738e-01 -7.83237958e-01 -1.69361186e-03 1.07702806e+02] [ 7.83235046e-01 6.21722044e-01 -2.13579738e-03 5.37592538e+01] [ 2.72579341e-03 1.37122035e-06 9.99996285e-01 -7.16183988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.72, Y:53.78, Z:-0.72 [[ 6.20014408e-01 -7.84588275e-01 -1.83665117e-03 1.07720486e+02] [ 7.84584852e-01 6.20017128e-01 -2.31747122e-03 5.37815166e+01] [ 2.95701593e-03 -4.14313828e-06 9.99995628e-01 -7.17439843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.74, Y:53.80, Z:-0.72 [[ 6.19031176e-01 -7.85364442e-01 -1.75969260e-03 1.07738289e+02] [ 7.85361299e-01 6.19033677e-01 -2.22185713e-03 5.38034229e+01] [ 2.83427657e-03 -6.59563674e-06 9.99995983e-01 -7.17214979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.76, Y:53.82, Z:-0.72 [[ 6.17882571e-01 -7.86268879e-01 -1.54226076e-03 1.07756831e+02] [ 7.86266464e-01 6.17884496e-01 -1.94874220e-03 5.38248309e+01] [ 2.48517436e-03 -8.53407334e-06 9.99996912e-01 -7.16912763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.77, Y:53.85, Z:-0.72 [[ 6.16583857e-01 -7.87288317e-01 -1.20522133e-03 1.07774775e+02] [ 7.87286844e-01 6.16585035e-01 -1.52322001e-03 5.38453505e+01] [ 1.94233476e-03 -9.66202669e-06 9.99998114e-01 -7.16674837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.79, Y:53.87, Z:-0.72 [[ 6.13595923e-01 -7.89620120e-01 -3.30813351e-04 1.07794479e+02] [ 7.89620009e-01 6.13596012e-01 -4.18816443e-04 5.38654773e+01] [ 5.33691643e-04 -4.23277912e-06 9.99999858e-01 -7.16000430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.81, Y:53.89, Z:-0.72 [[ 6.12138505e-01 -7.90750557e-01 -8.48533571e-05 1.07812144e+02] [ 7.90750549e-01 6.12138511e-01 -1.09538825e-04 5.38874477e+01] [ 1.38559895e-04 -4.49058770e-08 9.99999990e-01 -7.15422547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:53.91, Z:-0.71 [[ 6.10804196e-01 -7.91781448e-01 6.10247050e-04 1.07829767e+02] [ 7.91781075e-01 6.10804500e-01 7.69027626e-04 5.39099814e+01] [-9.81643452e-04 1.34567651e-05 9.99999518e-01 -7.14908472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.85, Y:53.93, Z:-0.71 [[ 6.08901295e-01 -7.93244725e-01 1.42068071e-03 1.07848629e+02] [ 7.93242696e-01 6.08902952e-01 1.79473761e-03 5.39321133e+01] [-2.28872282e-03 3.41265454e-05 9.99997380e-01 -7.13987729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:53.95, Z:-0.71 [[ 6.08373208e-01 -7.93649454e-01 1.60740222e-03 1.07865628e+02] [ 7.93646854e-01 6.08375330e-01 2.03218538e-03 5.39527198e+01] [-2.59074668e-03 3.93825717e-05 9.99996643e-01 -7.14098523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.88, Y:53.97, Z:-0.71 [[ 6.07828317e-01 -7.94066933e-01 1.56298257e-03 1.07882965e+02] [ 7.94064475e-01 6.07830325e-01 1.97633499e-03 5.39746135e+01] [-2.51937047e-03 3.98365621e-05 9.99996826e-01 -7.14462103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:54.00, Z:-0.71 [[ 6.07447155e-01 -7.94358672e-01 1.50135963e-03 1.07899947e+02] [ 7.94356402e-01 6.07449009e-01 1.89938189e-03 5.39969314e+01] [-2.42078989e-03 3.88405121e-05 9.99997069e-01 -7.14683160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.92, Y:54.02, Z:-0.72 [[ 6.07709098e-01 -7.94158339e-01 1.47813934e-03 1.07915202e+02] [ 7.94156136e-01 6.07710894e-01 1.87101738e-03 5.40208400e+01] [-2.38416544e-03 3.68391472e-05 9.99997157e-01 -7.15379841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.93, Y:54.04, Z:-0.72 [[ 6.08076784e-01 -7.93876228e-01 1.77737121e-03 1.07931536e+02] [ 7.93873036e-01 6.08079380e-01 2.25178513e-03 5.40422299e+01] [-2.86842147e-03 4.17488142e-05 9.99995885e-01 -7.16416447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.95, Y:54.07, Z:-0.72 [[ 6.08793616e-01 -7.93326484e-01 1.85026813e-03 1.07947190e+02] [ 7.93323018e-01 6.08796426e-01 2.34537062e-03 5.40666498e+01] [-2.98708126e-03 4.00136370e-05 9.99995538e-01 -7.16689440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.96, Y:54.09, Z:-0.72 [[ 6.10526744e-01 -7.91993047e-01 2.02678793e-03 1.07962219e+02] [ 7.91988876e-01 6.10530107e-01 2.57078553e-03 5.40897001e+01] [-3.27345931e-03 3.56601728e-05 9.99994642e-01 -7.17110168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.98, Y:54.11, Z:-0.72 [[ 6.11506152e-01 -7.91236826e-01 2.12394926e-03 1.07978081e+02] [ 7.91232236e-01 6.11509840e-01 2.69521678e-03 5.41115028e+01] [-3.43137065e-03 3.23954812e-05 9.99994112e-01 -7.16998745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09088847899997 meters Centerline goodness [0,1] 0.9998859853149086 Centerline is valid? [True, True] Translation: X:107.99, Y:54.13, Z:-0.72 [[ 6.12145013e-01 -7.90742377e-01 2.23068174e-03 1.07994191e+02] [ 7.90737307e-01 6.12149077e-01 2.83195540e-03 5.41345180e+01] [-3.60485691e-03 3.03158954e-05 9.99993502e-01 -7.17211086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.01, Y:54.16, Z:-0.72 [[ 6.13911653e-01 -7.89370750e-01 2.51031067e-03 1.08008940e+02] [ 7.89364308e-01 6.13916785e-01 3.18924837e-03 5.41571909e+01] [-4.05862123e-03 2.36329107e-05 9.99991763e-01 -7.17480929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:54.18, Z:-0.72 [[ 6.14626663e-01 -7.88813731e-01 2.63873609e-03 1.08024951e+02] [ 7.88806601e-01 6.14632327e-01 3.35398205e-03 5.41801835e+01] [-4.26751960e-03 2.00056531e-05 9.99990894e-01 -7.17833059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.04, Y:54.20, Z:-0.72 [[ 6.15623337e-01 -7.88034874e-01 2.99057735e-03 1.08040991e+02] [ 7.88025694e-01 6.15630601e-01 3.80373504e-03 5.42025836e+01] [-4.83856679e-03 1.49837387e-05 9.99988294e-01 -7.18200084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.06, Y:54.23, Z:-0.72 [[ 6.17057224e-01 -7.86908376e-01 3.94854179e-03 1.08056351e+02] [ 7.86892328e-01 6.17069857e-01 5.02547173e-03 5.42261241e+01] [-6.39111191e-03 6.07360655e-06 9.99979577e-01 -7.18007973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.07, Y:54.25, Z:-0.72 [[ 6.17691925e-01 -7.86409247e-01 4.14505753e-03 1.08073685e+02] [ 7.86391531e-01 6.17705833e-01 5.27871929e-03 5.42486349e+01] [-6.71165988e-03 -9.84146375e-07 9.99977477e-01 -7.17539803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.09, Y:54.27, Z:-0.72 [[ 6.18139526e-01 -7.86056022e-01 4.41099435e-03 1.08090432e+02] [ 7.86035927e-01 6.18155264e-01 5.62060002e-03 5.42701546e+01] [-7.14478587e-03 -7.11499907e-06 9.99974476e-01 -7.17606827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.11, Y:54.29, Z:-0.72 [[ 6.18752113e-01 -7.85573241e-01 4.52831313e-03 1.08107771e+02] [ 7.85552030e-01 6.18768683e-01 5.77270376e-03 5.42924357e+01] [-7.33685996e-03 -1.46470812e-05 9.99973085e-01 -7.17757572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.12, Y:54.32, Z:-0.72 [[ 6.19169712e-01 -7.85243676e-01 4.60842143e-03 1.08124868e+02] [ 7.85221673e-01 6.19186862e-01 5.87827639e-03 5.43152943e+01] [-7.46935336e-03 -2.10183179e-05 9.99972104e-01 -7.18434107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.14, Y:54.34, Z:-0.72 [[ 6.19449106e-01 -7.85021220e-01 4.94868314e-03 1.08141495e+02] [ 7.84995811e-01 6.19468872e-01 6.31605912e-03 5.43378042e+01] [-8.02379560e-03 -2.77816388e-05 9.99967808e-01 -7.18808097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.16, Y:54.36, Z:-0.72 [[ 6.20091972e-01 -7.84504582e-01 6.20534512e-03 1.08158699e+02] [ 7.84464555e-01 6.20123018e-01 7.92488793e-03 5.43606147e+01] [-1.00651882e-02 -4.62860916e-05 9.99949344e-01 -7.17504684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.18, Y:54.38, Z:-0.72 [[ 6.20131363e-01 -7.84467624e-01 6.90214199e-03 1.08175146e+02] [ 7.84418041e-01 6.20169770e-01 8.82006391e-03 5.43815613e+01] [-1.11995544e-02 -5.54335587e-05 9.99937281e-01 -7.16234173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.19, Y:54.40, Z:-0.72 [[ 6.19776960e-01 -7.84742070e-01 7.51024577e-03 1.08192994e+02] [ 7.84683314e-01 6.19822459e-01 9.60289186e-03 5.44030807e+01] [-1.21908122e-02 -5.84865901e-05 9.99925688e-01 -7.15623176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.21, Y:54.42, Z:-0.72 [[ 6.18887099e-01 -7.85440353e-01 7.88736802e-03 1.08212259e+02] [ 7.85375528e-01 6.18937355e-01 1.00911098e-02 5.44233663e+01] [-1.28077515e-02 -5.07118317e-05 9.99917976e-01 -7.15343562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.23, Y:54.44, Z:-0.72 [[ 6.18088279e-01 -7.86072108e-01 7.58421034e-03 1.08229360e+02] [ 7.86012161e-01 6.18134807e-01 9.70784531e-03 5.44437459e+01] [-1.23191308e-02 -3.90238447e-05 9.99924116e-01 -7.15231640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.25, Y:54.46, Z:-0.72 [[ 6.16807501e-01 -7.87074880e-01 7.85108231e-03 1.08248702e+02] [ 7.87010657e-01 6.16857465e-01 1.00545198e-02 5.44644973e+01] [-1.27566587e-02 -2.28178171e-05 9.99918630e-01 -7.15835262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.27, Y:54.49, Z:-0.72 [[ 6.16001217e-01 -7.87705836e-01 7.87501349e-03 1.08267144e+02] [ 7.87641198e-01 6.16051552e-01 1.00910153e-02 5.44861379e+01] [-1.28001659e-02 -1.33926292e-05 9.99918074e-01 -7.16237034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.600888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.28, Y:54.51, Z:-0.72 [[ 6.15053107e-01 -7.88445732e-01 7.93743709e-03 1.08284538e+02] [ 7.88380054e-01 6.15104323e-01 1.01765981e-02 5.45069623e+01] [-1.29060472e-02 -1.43121124e-06 9.99916714e-01 -7.16543998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.630888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.30, Y:54.53, Z:-0.72 [[ 6.12330704e-01 -7.90563309e-01 7.79509245e-03 1.08304172e+02] [ 7.90500067e-01 6.12380317e-01 9.99955401e-03 5.45272512e+01] [-1.26788417e-02 3.89871706e-05 9.99919619e-01 -7.18182274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.32, Y:54.55, Z:-0.72 [[ 6.10786387e-01 -7.91754760e-01 8.02426090e-03 1.08322840e+02] [ 7.91687771e-01 6.10839091e-01 1.02994398e-02 5.45480122e+01] [-1.30561627e-02 6.19515894e-05 9.99914763e-01 -7.18051928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.34, Y:54.57, Z:-0.72 [[ 6.09140834e-01 -7.93019124e-01 8.25312333e-03 1.08341907e+02] [ 7.92948294e-01 6.09196735e-01 1.05991337e-02 5.45689898e+01] [-1.34330915e-02 8.79349122e-05 9.99909768e-01 -7.17313148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.36, Y:54.59, Z:-0.72 [[ 6.07717180e-01 -7.94107257e-01 8.57285784e-03 1.08360877e+02] [ 7.94030854e-01 6.07777634e-01 1.10159140e-02 5.45906653e+01] [-1.39582085e-02 1.12553425e-04 9.99902573e-01 -7.16805660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.38, Y:54.61, Z:-0.72 [[ 6.06252897e-01 -7.95224159e-01 8.71557564e-03 1.08378912e+02] [ 7.95145222e-01 6.06315527e-01 1.12052512e-02 5.46109471e+01] [-1.41950753e-02 1.36932352e-04 9.99899235e-01 -7.16319918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.40, Y:54.63, Z:-0.72 [[ 6.03907898e-01 -7.97014159e-01 7.98006139e-03 1.08397666e+02] [ 7.96948074e-01 6.03960598e-01 1.02646716e-02 5.46330307e+01] [-1.30007312e-02 1.60778333e-04 9.99915474e-01 -7.18708888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.41, Y:54.65, Z:-0.72 [[ 6.02705909e-01 -7.97927983e-01 7.51799152e-03 1.08414688e+02] [ 7.97869341e-01 6.02752773e-01 9.67517433e-03 5.46538840e+01] [-1.22515826e-02 1.67090195e-04 9.99924933e-01 -7.19964995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.43, Y:54.68, Z:-0.72 [[ 6.00831896e-01 -7.99343346e-01 7.15871417e-03 1.08432206e+02] [ 7.99290234e-01 6.00874514e-01 9.21630976e-03 5.46762122e+01] [-1.16684848e-02 1.84437452e-04 9.99931904e-01 -7.21998153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.45, Y:54.70, Z:-0.72 [[ 5.99717295e-01 -8.00180069e-01 7.14313577e-03 1.08449749e+02] [ 8.00127202e-01 5.99759801e-01 9.20013648e-03 5.46986804e+01] [-1.16459315e-02 1.97936274e-04 9.99932164e-01 -7.22689335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.47, Y:54.72, Z:-0.72 [[ 5.99037429e-01 -8.00690338e-01 7.01000675e-03 1.08466579e+02] [ 8.00639401e-01 5.99078410e-01 9.03371432e-03 5.47214010e+01] [-1.14327515e-02 2.00954601e-04 9.99934624e-01 -7.23377624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.48, Y:54.74, Z:-0.72 [[ 5.98318866e-01 -8.01226692e-01 7.09377806e-03 1.08483094e+02] [ 8.01174507e-01 5.98360880e-01 9.14692749e-03 5.47443590e+01] [-1.15734017e-02 2.10574850e-04 9.99933004e-01 -7.24104279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.50, Y:54.77, Z:-0.72 [[ 5.98179202e-01 -8.01332303e-01 6.94144829e-03 1.08498909e+02] [ 8.01282287e-01 5.98219440e-01 8.95532440e-03 5.47668988e+01] [-1.13287000e-02 2.05170762e-04 9.99935807e-01 -7.24600182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.51, Y:54.79, Z:-0.73 [[ 5.98291732e-01 -8.01250002e-01 6.74066166e-03 1.08514273e+02] [ 8.01202786e-01 5.98329671e-01 8.70059787e-03 5.47897880e+01] [-1.10044919e-02 1.95141128e-04 9.99939430e-01 -7.25184280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.53, Y:54.82, Z:-0.73 [[ 5.99036603e-01 -8.00697700e-01 6.19205094e-03 1.08526905e+02] [ 8.00657787e-01 5.99068581e-01 7.99645194e-03 5.48154756e+01] [-1.01122038e-02 1.67546395e-04 9.99948856e-01 -7.27064257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.54, Y:54.84, Z:-0.73 [[ 5.98813395e-01 -8.00864660e-01 6.18985870e-03 1.08543754e+02] [ 8.00824738e-01 5.98845362e-01 7.99814875e-03 5.48373521e+01] [-1.01122029e-02 1.67593367e-04 9.99948856e-01 -7.27214408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.56, Y:54.86, Z:-0.73 [[ 5.99172862e-01 -8.00596577e-01 6.08296817e-03 1.08559091e+02] [ 8.00557964e-01 5.99203719e-01 7.86448499e-03 5.48609080e+01] [-9.94121691e-03 1.57582629e-04 9.99950572e-01 -7.27920755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.57, Y:54.88, Z:-0.73 [[ 6.00088145e-01 -7.99912797e-01 5.80819373e-03 1.08573868e+02] [ 7.99877526e-01 6.00116237e-01 7.51298447e-03 5.48841498e+01] [-9.49532379e-03 1.37390720e-04 9.99954909e-01 -7.28122272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.59, Y:54.91, Z:-0.73 [[ 6.02951375e-01 -7.97758814e-01 5.52392046e-03 1.08585447e+02] [ 7.97726792e-01 6.02976670e-01 7.14848733e-03 5.49116507e+01] [-9.03356395e-03 9.63890842e-05 9.99959192e-01 -7.29229121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.60, Y:54.94, Z:-0.73 [[ 6.04369857e-01 -7.96685366e-01 5.43171103e-03 1.08599016e+02] [ 7.96654329e-01 6.04394260e-01 7.03264720e-03 5.49373354e+01] [-8.88570208e-03 7.68761208e-05 9.99960518e-01 -7.30549096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.61, Y:54.96, Z:-0.73 [[ 6.05915300e-01 -7.95514992e-01 4.74832471e-03 1.08612502e+02] [ 7.95491216e-01 6.05933903e-01 6.15062006e-03 5.49617510e+01] [-7.77008139e-03 5.04957985e-05 9.99969811e-01 -7.31683834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.63, Y:54.99, Z:-0.73 [[ 6.07662438e-01 -7.94185365e-01 3.99600257e-03 1.08625897e+02] [ 7.94168483e-01 6.07675576e-01 5.17829869e-03 5.49868787e+01] [-6.54080220e-03 2.68416942e-05 9.99978608e-01 -7.33105067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.64, Y:55.01, Z:-0.74 [[ 6.11032656e-01 -7.91600170e-01 2.87479862e-03 1.08635893e+02] [ 7.91591397e-01 6.11039419e-01 3.72677062e-03 5.50146191e+01] [-4.70672753e-03 -1.51269597e-06 9.99988923e-01 -7.35959049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.65, Y:55.04, Z:-0.74 [[ 6.12543803e-01 -7.90433529e-01 2.21941939e-03 1.08649014e+02] [ 7.90428287e-01 6.12547824e-01 2.87862710e-03 5.50392996e+01] [-3.63486389e-03 -8.99332310e-06 9.99993394e-01 -7.37378661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.66, Y:55.06, Z:-0.74 [[ 6.14011956e-01 -7.89295039e-01 1.63083575e-03 1.08662058e+02] [ 7.89292203e-01 6.14014121e-01 2.11571207e-03 5.50649293e+01] [-2.67127723e-03 -1.18665657e-05 9.99996432e-01 -7.39040798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.350888479 meters Centerline goodness [0,1] 0.9999559762271627 Centerline is valid? [True, True] Translation: X:108.67, Y:55.09, Z:-0.74 [[ 6.16244710e-01 -7.87554141e-01 9.65133225e-04 1.08672755e+02] [ 7.87553147e-01 6.16245466e-01 1.25125948e-03 5.50937050e+01] [-1.58019356e-03 -1.09883268e-05 9.99998751e-01 -7.41774903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.380888479 meters Centerline goodness [0,1] 0.9998246075594142 Centerline is valid? [True, True] Translation: X:108.69, Y:55.12, Z:-0.74 [[ 6.17171063e-01 -7.86828621e-01 7.74590953e-04 1.08688183e+02] [ 7.86827981e-01 6.17171549e-01 1.00424105e-03 5.51187638e+01] [-1.26822110e-03 -1.03186808e-05 9.99999196e-01 -7.42523419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.410888479 meters Centerline goodness [0,1] 0.9998465417077715 Centerline is valid? [True, True] Translation: X:108.70, Y:55.14, Z:-0.74 [[ 6.17642656e-01 -7.86458710e-01 4.97887604e-04 1.08703335e+02] [ 7.86458445e-01 6.17642856e-01 6.44996134e-04 5.51433303e+01] [-8.14779549e-04 -6.80921393e-06 9.99999668e-01 -7.42869880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.440888479 meters Centerline goodness [0,1] 0.9997604320933879 Centerline is valid? [True, True] Translation: X:108.71, Y:55.17, Z:-0.74 [[ 6.19195157e-01 -7.85237113e-01 1.84755253e-04 1.08713802e+02] [ 7.85237077e-01 6.19195184e-01 2.39426121e-04 5.51699968e+01] [-3.02405839e-04 -3.17481949e-06 9.99999954e-01 -7.44206768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.470888479 meters Centerline goodness [0,1] 0.9997605103307134 Centerline is valid? [True, True] Translation: X:108.73, Y:55.20, Z:-0.75 [[ 6.19578294e-01 -7.84934832e-01 2.14290501e-04 1.08728437e+02] [ 7.84934784e-01 6.19578331e-01 2.76578250e-04 5.51950503e+01] [-3.49865654e-04 -3.15781236e-06 9.99999939e-01 -7.45174809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.500888479 meters Centerline goodness [0,1] 0.9995447154471545 Centerline is valid? [True, True] Translation: X:108.74, Y:55.22, Z:-0.75 [[ 6.19760093e-01 -7.84791064e-01 -6.42471830e-04 1.08741480e+02] [ 7.84790616e-01 6.19760426e-01 -8.38392506e-04 5.52218975e+01] [ 1.05614156e-03 1.53963542e-05 9.99999442e-01 -7.46217671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53088847899997 meters Centerline goodness [0,1] 0.9997602650161276 Centerline is valid? [True, True] Translation: X:108.76, Y:55.24, Z:-0.75 [[ 6.18838387e-01 -7.85517416e-01 -1.19984679e-03 1.08757098e+02] [ 7.85515857e-01 6.18839550e-01 -1.56512712e-03 5.52449228e+01] [ 1.97194726e-03 2.60620606e-05 9.99998055e-01 -7.46511675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.56088847899997 meters Centerline goodness [0,1] 0.9995243757431629 Centerline is valid? [True, True] Translation: X:108.77, Y:55.27, Z:-0.75 [[ 6.17858284e-01 -7.86286870e-01 -2.02478696e-03 1.08771905e+02] [ 7.86282442e-01 6.17861600e-01 -2.63913053e-03 5.52673299e+01] [ 3.32615179e-03 3.85542212e-05 9.99994468e-01 -7.47571660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59088847899997 meters Centerline goodness [0,1] 0.9994786915157045 Centerline is valid? [True, True] Translation: X:108.79, Y:55.29, Z:-0.75 [[ 6.15976124e-01 -7.87760213e-01 -2.69476010e-03 1.08788765e+02] [ 7.87752373e-01 6.15982017e-01 -3.51477103e-03 5.52908668e+01] [ 4.42872054e-03 4.22113705e-05 9.99990192e-01 -7.48485958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62088847899997 meters Centerline goodness [0,1] 0.9994386752736458 Centerline is valid? [True, True] Translation: X:108.80, Y:55.31, Z:-0.75 [[ 6.12550470e-01 -7.90424008e-01 -3.43654910e-03 1.08804621e+02] [ 7.90411301e-01 6.12560109e-01 -4.48196805e-03 5.53141675e+01] [ 5.64774804e-03 2.91443888e-05 9.99984051e-01 -7.50292532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65088847899997 meters Centerline goodness [0,1] 0.999309258100028 Centerline is valid? [True, True] Translation: X:108.82, Y:55.34, Z:-0.75 [[ 6.10160770e-01 -7.92269893e-01 -3.50018134e-03 1.08821609e+02] [ 7.92256720e-01 6.10170809e-01 -4.56877984e-03 5.53370995e+01] [ 5.75541519e-03 1.46480420e-05 9.99983437e-01 -7.50882376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68088847899998 meters Centerline goodness [0,1] 0.9993336629194162 Centerline is valid? [True, True] Translation: X:108.84, Y:55.36, Z:-0.75 [[ 6.08014375e-01 -7.93918109e-01 -3.54351453e-03 1.08838291e+02] [ 7.93904620e-01 6.08024700e-01 -4.62797974e-03 5.53593538e+01] [ 5.82878129e-03 6.65649088e-07 9.99983013e-01 -7.51348810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71088847899998 meters Centerline goodness [0,1] 0.9993994509265615 Centerline is valid? [True, True] Translation: X:108.85, Y:55.38, Z:-0.75 [[ 6.05675434e-01 -7.95704070e-01 -3.50749434e-03 1.08854637e+02] [ 7.95690881e-01 6.05685589e-01 -4.58137789e-03 5.53804424e+01] [ 5.76985981e-03 -1.60532216e-05 9.99983354e-01 -7.51349370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74088847899998 meters Centerline goodness [0,1] 0.999397473693271 Centerline is valid? [True, True] Translation: X:108.87, Y:55.40, Z:-0.75 [[ 6.01805560e-01 -7.98633458e-01 -3.82981414e-03 1.08873856e+02] [ 7.98617773e-01 6.01817744e-01 -5.00553185e-03 5.54022839e+01] [ 6.30243532e-03 -4.62007472e-05 9.99980138e-01 -7.49971403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77088847899998 meters Centerline goodness [0,1] 0.9993555870601881 Centerline is valid? [True, True] Translation: X:108.89, Y:55.43, Z:-0.75 [[ 6.00276084e-01 -7.99780705e-01 -4.40981802e-03 1.08892269e+02] [ 7.99759921e-01 6.00292278e-01 -5.76616271e-03 5.54250257e+01] [ 7.25884538e-03 -6.55061406e-05 9.99973652e-01 -7.49890687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80088847899998 meters Centerline goodness [0,1] 0.999397719939772 Centerline is valid? [True, True] Translation: X:108.91, Y:55.45, Z:-0.75 [[ 5.99047879e-01 -8.00698219e-01 -4.89904533e-03 1.08910012e+02] [ 8.00672593e-01 5.99067905e-01 -6.40660105e-03 5.54471624e+01] [ 8.06461487e-03 -8.46705591e-05 9.99967477e-01 -7.50173532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83088847899998 meters Centerline goodness [0,1] 0.9993769068798075 Centerline is valid? [True, True] Translation: X:108.93, Y:55.47, Z:-0.75 [[ 5.98250317e-01 -8.01288488e-01 -5.77208975e-03 1.08926338e+02] [ 8.01252923e-01 5.98278152e-01 -7.55026216e-03 5.54694041e+01] [ 9.50325334e-03 -1.07957057e-04 9.99954837e-01 -7.52043147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86088847899998 meters Centerline goodness [0,1] 0.9997628952643718 Centerline is valid? [True, True] Translation: X:108.94, Y:55.49, Z:-0.75 [[ 5.98224707e-01 -8.01308687e-01 -5.62035647e-03 1.08942589e+02] [ 8.01274925e-01 5.98251100e-01 -7.35644358e-03 5.54914997e+01] [ 9.25716658e-03 -1.02644396e-04 9.99957146e-01 -7.52816639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89088847899998 meters Centerline goodness [0,1] 0.9992901393908106 Centerline is valid? [True, True] Translation: X:108.96, Y:55.51, Z:-0.75 [[ 6.00347418e-01 -7.99722816e-01 -5.13764916e-03 1.08959213e+02] [ 7.99694517e-01 6.00369397e-01 -6.72805841e-03 5.55149582e+01] [ 8.46506915e-03 -6.93773660e-05 9.99964168e-01 -7.51324387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92088847899998 meters Centerline goodness [0,1] 0.9993321268528094 Centerline is valid? [True, True] Translation: X:108.98, Y:55.54, Z:-0.75 [[ 6.01288688e-01 -7.99017868e-01 -4.72857744e-03 1.08976205e+02] [ 7.98993847e-01 6.01307279e-01 -6.19583621e-03 5.55379857e+01] [ 7.79391187e-03 -5.26180535e-05 9.99969626e-01 -7.48884096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95088847899999 meters Centerline goodness [0,1] 0.9995461912479741 Centerline is valid? [True, True] Translation: X:108.99, Y:55.56, Z:-0.75 [[ 6.02531141e-01 -7.98082285e-01 -4.57051792e-03 1.08993480e+02] [ 7.98059809e-01 6.02548475e-01 -5.98973574e-03 5.55602668e+01] [ 7.53426058e-03 -3.85443499e-05 9.99971616e-01 -7.48415040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.980888479 meters Centerline goodness [0,1] 0.9993749730591835 Centerline is valid? [True, True] Translation: X:109.01, Y:55.58, Z:-0.75 [[ 6.05102168e-01 -7.96138852e-01 -3.78071061e-03 1.09009676e+02] [ 7.96123424e-01 6.05113979e-01 -4.95634284e-03 5.55826771e+01] [ 6.23369794e-03 -1.08184737e-05 9.99980570e-01 -7.48179292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010888479 meters Centerline goodness [0,1] 0.9994190174940288 Centerline is valid? [True, True] Translation: X:109.03, Y:55.60, Z:-0.75 [[ 6.06315137e-01 -7.95216634e-01 -3.52975405e-03 1.09026268e+02] [ 7.95203158e-01 6.06325412e-01 -4.62960553e-03 5.56045653e+01] [ 5.82171891e-03 1.28351474e-07 9.99983054e-01 -7.48684262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.040888479 meters Centerline goodness [0,1] 0.9994805644532941 Centerline is valid? [True, True] Translation: X:109.04, Y:55.63, Z:-0.75 [[ 6.07421841e-01 -7.94372973e-01 -3.20749470e-03 1.09043194e+02] [ 7.94361814e-01 6.07430309e-01 -4.21048645e-03 5.56264188e+01] [ 5.29302614e-03 9.63011889e-06 9.99985992e-01 -7.45912969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.070888479 meters Centerline goodness [0,1] 0.9996122528111672 Centerline is valid? [True, True] Translation: X:109.06, Y:55.65, Z:-0.75 [[ 6.10002563e-01 -7.92394906e-01 -2.68081271e-03 1.09059473e+02] [ 7.92387089e-01 6.10008453e-01 -3.51957172e-03 5.56478523e+01] [ 4.42420911e-03 2.27063899e-05 9.99990213e-01 -7.45561595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.100888479 meters Centerline goodness [0,1] 0.9997186451682718 Centerline is valid? [True, True] Translation: X:109.08, Y:55.67, Z:-0.75 [[ 6.10747276e-01 -7.91822991e-01 -2.02852799e-03 1.09076882e+02] [ 7.91818503e-01 6.10750645e-01 -2.66624618e-03 5.56700102e+01] [ 3.35011981e-03 2.21765997e-05 9.99994388e-01 -7.45217653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.130888479 meters Centerline goodness [0,1] 0.999567558217475 Centerline is valid? [True, True] Translation: X:109.09, Y:55.69, Z:-0.74 [[ 6.11902224e-01 -7.90931508e-01 -1.73722390e-03 1.09094084e+02] [ 7.90928212e-01 6.11904689e-01 -2.28342967e-03 5.56914474e+01] [ 2.86905192e-03 2.32162975e-05 9.99995884e-01 -7.44844368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.160888479 meters Centerline goodness [0,1] 0.9996305713106026 Centerline is valid? [True, True] Translation: X:109.11, Y:55.71, Z:-0.74 [[ 6.12769226e-01 -7.90261153e-01 -1.08877414e-03 1.09112156e+02] [ 7.90259853e-01 6.12770193e-01 -1.43353995e-03 5.57135939e+01] [ 1.80003927e-03 1.80146756e-05 9.99998380e-01 -7.43772396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.190888479 meters Centerline goodness [0,1] 0.9995031216919786 Centerline is valid? [True, True] Translation: X:109.13, Y:55.74, Z:-0.74 [[ 6.15467568e-01 -7.88161947e-01 -6.46214900e-04 1.09129310e+02] [ 7.88161488e-01 6.15467907e-01 -8.50738341e-04 5.57359312e+01] [ 1.06824412e-03 1.42801600e-05 9.99999429e-01 -7.43571508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.220888479 meters Centerline goodness [0,1] 0.9996107771482939 Centerline is valid? [True, True] Translation: X:109.15, Y:55.76, Z:-0.74 [[ 6.16386487e-01 -7.87443419e-01 -7.48440194e-04 1.09147885e+02] [ 7.87442802e-01 6.16386941e-01 -9.86688729e-04 5.57586414e+01] [ 1.23829031e-03 1.88277559e-05 9.99999233e-01 -7.43681111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.250888479 meters Centerline goodness [0,1] 0.9995898985538528 Centerline is valid? [True, True] Translation: X:109.16, Y:55.78, Z:-0.74 [[ 6.17429026e-01 -7.86625813e-01 -1.10817987e-03 1.09164350e+02] [ 7.86624460e-01 6.17430020e-01 -1.45921838e-03 5.57812670e+01] [ 1.83208237e-03 2.92423893e-05 9.99998321e-01 -7.44791765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.28088847899997 meters Centerline goodness [0,1] 0.9996947630052763 Centerline is valid? [True, True] Translation: X:109.18, Y:55.80, Z:-0.74 [[ 6.18770453e-01 -7.85569459e-01 -1.93684039e-03 1.09184993e+02] [ 7.85565317e-01 6.18773482e-01 -2.55181066e-03 5.58023775e+01] [ 3.20308999e-03 5.74704022e-05 9.99994868e-01 -7.44693528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31088847899997 meters Centerline goodness [0,1] 0.999715480072662 Centerline is valid? [True, True] Translation: X:109.20, Y:55.82, Z:-0.74 [[ 6.19355871e-01 -7.85107572e-01 -2.09865697e-03 1.09203953e+02] [ 7.85102702e-01 6.19359424e-01 -2.76631203e-03 5.58244756e+01] [ 3.47167549e-03 6.56703453e-05 9.99993972e-01 -7.44782879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.34088847899997 meters Centerline goodness [0,1] 0.9997820876007845 Centerline is valid? [True, True] Translation: X:109.22, Y:55.85, Z:-0.75 [[ 6.19655007e-01 -7.84871270e-01 -2.18198158e-03 1.09222035e+02] [ 7.84866005e-01 6.19658845e-01 -2.87571082e-03 5.58454150e+01] [ 3.60914699e-03 6.93854396e-05 9.99993485e-01 -7.45415988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37088847899997 meters Centerline goodness [0,1] 0.999737205177058 Centerline is valid? [True, True] Translation: X:109.24, Y:55.87, Z:-0.75 [[ 6.19106913e-01 -7.85304020e-01 -2.05581139e-03 1.09240415e+02] [ 7.85299339e-01 6.19110323e-01 -2.71245476e-03 5.58666992e+01] [ 3.40287568e-03 6.48721634e-05 9.99994208e-01 -7.45041531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.40088847899997 meters Centerline goodness [0,1] 0.99991253963048 Centerline is valid? [True, True] Translation: X:109.26, Y:55.89, Z:-0.74 [[ 6.18531339e-01 -7.85757933e-01 -1.85855418e-03 1.09259710e+02] [ 7.85754105e-01 6.18534128e-01 -2.45342774e-03 5.58882415e+01] [ 3.07737950e-03 5.71553706e-05 9.99995263e-01 -7.44348316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.43088847899998 meters Centerline goodness [0,1] 0.9998904013502554 Centerline is valid? [True, True] Translation: X:109.28, Y:55.91, Z:-0.74 [[ 6.17606979e-01 -7.86485444e-01 -1.50508908e-03 1.09279453e+02] [ 7.86482933e-01 6.17608811e-01 -1.98821852e-03 5.59094181e+01] [ 2.49326121e-03 4.42107580e-05 9.99996891e-01 -7.43324755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.46088847899998 meters Centerline goodness [0,1] 0.999824110107073 Centerline is valid? [True, True] Translation: X:109.30, Y:55.93, Z:-0.74 [[ 6.15653295e-01 -7.88016612e-01 -9.16404216e-04 1.09302447e+02] [ 7.88015680e-01 6.15653976e-01 -1.21202381e-03 5.59285920e+01] [ 1.51928279e-03 2.40455581e-05 9.99998846e-01 -7.41480615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.49088847899998 meters Centerline goodness [0,1] 0.9999339904946313 Centerline is valid? [True, True] Translation: X:109.32, Y:55.95, Z:-0.74 [[ 6.14622263e-01 -7.88821331e-01 -6.17550101e-04 1.09322993e+02] [ 7.88820907e-01 6.14622573e-01 -8.17945791e-04 5.59497817e+01] [ 1.02477332e-03 1.55912616e-05 9.99999475e-01 -7.40817939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.52088847899998 meters Centerline goodness [0,1] 0.9998676869473173 Centerline is valid? [True, True] Translation: X:109.34, Y:55.97, Z:-0.74 [[ 6.13326423e-01 -7.89829407e-01 -4.54905018e-04 1.09342899e+02] [ 7.89829178e-01 6.13326592e-01 -6.01773967e-04 5.59691821e+01] [ 7.54304119e-04 9.78661832e-06 9.99999715e-01 -7.41691807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.55088847899998 meters Centerline goodness [0,1] 0.9999558255107676 Centerline is valid? [True, True] Translation: X:109.36, Y:55.99, Z:-0.74 [[ 6.12448606e-01 -7.90510164e-01 -6.20384959e-04 1.09360962e+02] [ 7.90509738e-01 6.12448921e-01 -8.21039313e-04 5.59892702e+01] [ 1.02899402e-03 1.24240321e-05 9.99999471e-01 -7.42523942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.58088847899998 meters Centerline goodness [0,1] 0.9999557355642609 Centerline is valid? [True, True] Translation: X:109.38, Y:56.01, Z:-0.74 [[ 6.11446376e-01 -7.91285666e-01 -5.70204244e-04 1.09380704e+02] [ 7.91285304e-01 6.11446641e-01 -7.56133740e-04 5.60099392e+01] [ 9.46967260e-04 1.11409961e-05 9.99999552e-01 -7.42420043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.40, Y:56.03, Z:-0.74 [[ 6.10650138e-01 -7.91900292e-01 -5.80305248e-04 1.09399815e+02] [ 7.91899918e-01 6.10650414e-01 -7.69270201e-04 5.60297804e+01] [ 9.63548936e-04 1.02112763e-05 9.99999536e-01 -7.42422619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.42, Y:56.05, Z:-0.74 [[ 6.09482186e-01 -7.92799391e-01 -7.67732898e-04 1.09422140e+02] [ 7.92798737e-01 6.09482670e-01 -1.01861068e-03 5.60478603e+01] [ 1.27547382e-03 1.21673920e-05 9.99999187e-01 -7.41700106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67088847899998 meters Centerline goodness [0,1] 0.9999775880230395 Centerline is valid? [True, True] Translation: X:109.44, Y:56.07, Z:-0.74 [[ 6.08924435e-01 -7.93228052e-01 -5.38796186e-04 1.09441341e+02] [ 7.93227728e-01 6.08924674e-01 -7.16067979e-04 5.60680920e+01] [ 8.96091500e-04 8.64321515e-06 9.99999598e-01 -7.41332038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.46, Y:56.09, Z:-0.74 [[ 6.08363461e-01 -7.93658351e-01 -5.66462292e-04 1.09459662e+02] [ 7.93657995e-01 6.08363725e-01 -7.51761112e-04 5.60884818e+01] [ 9.41256595e-04 7.76666549e-06 9.99999557e-01 -7.41020557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.48, Y:56.11, Z:-0.74 [[ 6.07042719e-01 -7.94668846e-01 -7.49596438e-04 1.09479156e+02] [ 7.94668223e-01 6.07043182e-01 -9.95698898e-04 5.61076565e+01] [ 1.24628830e-03 8.75129749e-06 9.99999223e-01 -7.42137304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.50, Y:56.13, Z:-0.74 [[ 6.06697109e-01 -7.94932081e-01 -1.26674826e-03 1.09497426e+02] [ 7.94930303e-01 6.06698431e-01 -1.68117017e-03 5.61282011e+01] [ 2.10495028e-03 1.29844970e-05 9.99997785e-01 -7.42938817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.52, Y:56.15, Z:-0.74 [[ 6.06415146e-01 -7.95146729e-01 -1.53291143e-03 1.09516688e+02] [ 7.95144122e-01 6.06417084e-01 -2.03615116e-03 5.61486036e+01] [ 2.54862261e-03 1.58673919e-05 9.99996752e-01 -7.42038421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.820888479 meters Centerline goodness [0,1] 0.9999548165552141 Centerline is valid? [True, True] Translation: X:109.54, Y:56.17, Z:-0.74 [[ 6.06066648e-01 -7.95413375e-01 -8.84060226e-04 1.09536295e+02] [ 7.95412506e-01 6.06067292e-01 -1.17563293e-03 5.61683185e+01] [ 1.47091415e-03 9.31935011e-06 9.99998918e-01 -7.41806249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.55, Y:56.19, Z:-0.74 [[ 6.05695642e-01 -7.95696323e-01 -3.89163688e-04 1.09554175e+02] [ 7.95696153e-01 6.05695767e-01 -5.19322413e-04 5.61895781e+01] [ 6.48937732e-04 4.89527315e-06 9.99999789e-01 -7.41847052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.57, Y:56.21, Z:-0.74 [[ 6.04797444e-01 -7.96379258e-01 3.59422822e-04 1.09572522e+02] [ 7.96379116e-01 6.04797551e-01 4.75104831e-04 5.62105990e+01] [-5.95741675e-04 -1.10535799e-06 9.99999823e-01 -7.41315137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.59, Y:56.23, Z:-0.74 [[ 6.02845308e-01 -7.97857777e-01 7.09161494e-04 1.09593599e+02] [ 7.97857223e-01 6.02845725e-01 9.40355691e-04 5.62301909e+01] [-1.17778508e-03 -1.07939570e-06 9.99999306e-01 -7.40644911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:56.25, Z:-0.74 [[ 6.01813174e-01 -7.98636269e-01 1.00693435e-03 1.09612358e+02] [ 7.98635150e-01 6.01814016e-01 1.33702587e-03 5.62507187e+01] [-1.67378455e-03 -4.66619220e-07 9.99998599e-01 -7.40030552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:56.27, Z:-0.74 [[ 6.01586440e-01 -7.98807074e-01 1.00655890e-03 1.09628894e+02] [ 7.98805955e-01 6.01587282e-01 1.33730827e-03 5.62728303e+01] [-1.67378434e-03 -4.61278900e-07 9.99998599e-01 -7.40180665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.000888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.65, Y:56.29, Z:-0.74 [[ 6.00985103e-01 -7.99259738e-01 8.81680975e-04 1.09647097e+02] [ 7.99258878e-01 6.00985749e-01 1.17237447e-03 5.62934232e+01] [-1.46690941e-03 1.11755545e-07 9.99998924e-01 -7.40281748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.67, Y:56.31, Z:-0.74 [[ 6.00640349e-01 -7.99519033e-01 6.97097312e-04 1.09666611e+02] [ 7.99518497e-01 6.00640754e-01 9.26333255e-04 5.63135016e+01] [-1.15932612e-03 9.49065558e-07 9.99999328e-01 -7.39698850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.06088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.68, Y:56.34, Z:-0.74 [[ 6.00703568e-01 -7.99471718e-01 4.42811517e-04 1.09683637e+02] [ 7.99471502e-01 6.00703731e-01 5.87856042e-04 5.63360126e+01] [-7.35972810e-04 8.87966466e-07 9.99999729e-01 -7.40553739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.70, Y:56.36, Z:-0.74 [[ 6.00944973e-01 -7.99290376e-01 -1.85179984e-04 1.09699821e+02] [ 7.99290337e-01 6.00945002e-01 -2.49530974e-04 5.63588761e+01] [ 3.10730692e-04 1.94181292e-06 9.99999952e-01 -7.42518234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.12088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.72, Y:56.38, Z:-0.74 [[ 6.01516872e-01 -7.98859808e-01 -6.78275886e-04 1.09715231e+02] [ 7.98859292e-01 6.01517254e-01 -9.07865322e-04 5.63825763e+01] [ 1.13325177e-03 4.24931430e-06 9.99999358e-01 -7.44319102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.15088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.73, Y:56.41, Z:-0.75 [[ 6.02641604e-01 -7.98011204e-01 -1.10262185e-03 1.09729304e+02] [ 7.98009843e-01 6.02642613e-01 -1.47392054e-03 5.64055841e+01] [ 1.84069202e-03 8.34274827e-06 9.99998306e-01 -7.46067520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.18088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.75, Y:56.43, Z:-0.75 [[ 6.02528595e-01 -7.98096499e-01 -1.12740525e-03 1.09746046e+02] [ 7.98095073e-01 6.02529650e-01 -1.50878541e-03 5.64283391e+01] [ 1.88345144e-03 9.30978305e-06 9.99998226e-01 -7.45935641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.21088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.76, Y:56.45, Z:-0.74 [[ 6.01184118e-01 -7.99110167e-01 -7.73408345e-04 1.09763596e+02] [ 7.99109494e-01 6.01184615e-01 -1.03644263e-03 5.64498191e+01] [ 1.29319304e-03 5.05489817e-06 9.99999164e-01 -7.43821561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.24088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.78, Y:56.47, Z:-0.74 [[ 5.99618519e-01 -8.00285852e-01 -4.30895074e-04 1.09781423e+02] [ 8.00285643e-01 5.99618674e-01 -5.78921793e-04 5.64714677e+01] [ 7.21675654e-04 2.29308719e-06 9.99999740e-01 -7.42882171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.27088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.80, Y:56.49, Z:-0.74 [[ 5.97943898e-01 -8.01537955e-01 -3.88885576e-05 1.09798889e+02] [ 8.01537953e-01 5.97943899e-01 -5.43421327e-05 5.64921667e+01] [ 6.68104577e-05 1.32289178e-06 9.99999998e-01 -7.42399811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.30088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.82, Y:56.51, Z:-0.74 [[ 5.94437490e-01 -8.04141534e-01 6.81634966e-04 1.09816540e+02] [ 8.04141018e-01 5.94437881e-01 9.10183833e-04 5.65134683e+01] [-1.13710627e-03 7.08324283e-06 9.99999353e-01 -7.42169264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.33088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.83, Y:56.53, Z:-0.74 [[ 5.92936974e-01 -8.05248598e-01 6.63993818e-04 1.09832935e+02] [ 8.05248108e-01 5.92937346e-01 8.87802169e-04 5.65349730e+01] [-1.10860818e-03 8.26903427e-06 9.99999385e-01 -7.43069727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:56.56, Z:-0.74 [[ 5.91681084e-01 -8.06171849e-01 6.66242524e-04 1.09849498e+02] [ 8.06171358e-01 5.91681459e-01 8.90510936e-04 5.65573255e+01] [-1.11210820e-03 1.02071638e-05 9.99999382e-01 -7.43883480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.87, Y:56.58, Z:-0.74 [[ 5.90141379e-01 -8.07299743e-01 5.27252113e-04 1.09865095e+02] [ 8.07299435e-01 5.90141614e-01 7.04756677e-04 5.65804032e+01] [-8.80103297e-04 9.74425566e-06 9.99999613e-01 -7.44858196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.88, Y:56.60, Z:-0.74 [[ 5.89679641e-01 -8.07637204e-01 2.61205701e-04 1.09881255e+02] [ 8.07637129e-01 5.89679699e-01 3.48131010e-04 5.66018717e+01] [-4.35191255e-04 5.67365337e-06 9.99999905e-01 -7.44898973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.90, Y:56.62, Z:-0.74 [[ 5.89097024e-01 -8.08062283e-01 2.08617193e-04 1.09897750e+02] [ 8.08062235e-01 5.89097061e-01 2.77516681e-04 5.66247977e+01] [-3.47146538e-04 5.09142398e-06 9.99999940e-01 -7.44928694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.91, Y:56.65, Z:-0.74 [[ 5.88770957e-01 -8.08299705e-01 5.88783742e-04 1.09912990e+02] [ 8.08299320e-01 5.88771252e-01 7.88605531e-04 5.66469670e+01] [-9.84088559e-04 1.16054651e-05 9.99999516e-01 -7.43841120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.93, Y:56.67, Z:-0.74 [[ 5.88969713e-01 -8.08154834e-01 6.64313854e-04 1.09928714e+02] [ 8.08154343e-01 5.88970088e-01 8.90358668e-04 5.66697591e+01] [-1.11080865e-03 1.24738366e-05 9.99999383e-01 -7.43786814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.94, Y:56.69, Z:-0.74 [[ 5.89371624e-01 -8.07861571e-01 8.78542330e-04 1.09943735e+02] [ 8.07860710e-01 5.89372278e-01 1.17921329e-03 5.66922181e+01] [-1.47042960e-03 1.47449781e-05 9.99998919e-01 -7.44120090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.96, Y:56.72, Z:-0.74 [[ 5.89920538e-01 -8.07460719e-01 9.72744405e-04 1.09958971e+02] [ 8.07459663e-01 5.89921340e-01 1.30633227e-03 5.67161459e+01] [-1.62865468e-03 1.48196336e-05 9.99998674e-01 -7.44326815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.600888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.97, Y:56.74, Z:-0.74 [[ 5.92112766e-01 -8.05854467e-01 1.02528614e-03 1.09972078e+02] [ 8.05853288e-01 5.92113653e-01 1.37819242e-03 5.67408070e+01] [-1.71770844e-03 1.01848818e-05 9.99998525e-01 -7.44915728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.630888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.99, Y:56.76, Z:-0.75 [[ 5.93270501e-01 -8.05002643e-01 9.25517149e-04 1.09986798e+02] [ 8.05001682e-01 5.93271223e-01 1.24410516e-03 5.67649949e+01] [-1.55059063e-03 6.95196941e-06 9.99998798e-01 -7.45431615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.00, Y:56.79, Z:-0.75 [[ 5.94296592e-01 -8.04245451e-01 9.02963549e-04 1.10001472e+02] [ 8.04244534e-01 5.94297278e-01 1.21441792e-03 5.67889429e+01] [-1.51331887e-03 4.47906766e-06 9.99998855e-01 -7.46006570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:56.81, Z:-0.75 [[ 5.95907389e-01 -8.03052331e-01 1.15637006e-03 1.10014812e+02] [ 8.03050822e-01 5.95908511e-01 1.55678167e-03 5.68137147e+01] [-1.93926791e-03 9.26227113e-07 9.99998120e-01 -7.46609245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.03, Y:56.84, Z:-0.75 [[ 5.96047312e-01 -8.02948208e-01 1.33300623e-03 1.10030278e+02] [ 8.02946200e-01 5.96048802e-01 1.79597364e-03 5.68370395e+01] [-2.23661058e-03 -1.52974941e-07 9.99997499e-01 -7.46982182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.750888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.05, Y:56.86, Z:-0.75 [[ 5.95735512e-01 -8.03179844e-01 1.15655800e-03 1.10046138e+02] [ 8.03178332e-01 5.95736634e-01 1.55879719e-03 5.68598838e+01] [-1.94099845e-03 2.91483733e-07 9.99998116e-01 -7.47328386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.78088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.06, Y:56.88, Z:-0.75 [[ 5.95249829e-01 -8.03539825e-01 1.17953501e-03 1.10062499e+02] [ 8.03538251e-01 5.95250997e-01 1.59063981e-03 5.68822006e+01] [-1.98026182e-03 9.73425958e-07 9.99998039e-01 -7.47438132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:56.90, Z:-0.75 [[ 5.94459834e-01 -8.04124826e-01 8.78017486e-04 1.10078570e+02] [ 8.04123953e-01 5.94460482e-01 1.18425870e-03 5.69043175e+01] [-1.47423852e-03 2.04066174e-06 9.99998913e-01 -7.48641585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.84088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.10, Y:56.93, Z:-0.75 [[ 5.92928416e-01 -8.05253607e-01 1.58785298e-03 1.10095071e+02] [ 8.05250752e-01 5.92930542e-01 2.14455417e-03 5.69265154e+01] [-2.66839651e-03 7.05270073e-06 9.99996440e-01 -7.48279661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:56.95, Z:-0.75 [[ 5.91964290e-01 -8.05962456e-01 1.67307474e-03 1.10112257e+02] [ 8.05959284e-01 5.91966654e-01 2.26107086e-03 5.69487738e+01] [-2.81274268e-03 9.95690821e-06 9.99996044e-01 -7.47720038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.90088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.13, Y:56.97, Z:-0.75 [[ 5.90622948e-01 -8.06945518e-01 1.86111916e-03 1.10129468e+02] [ 8.06941593e-01 5.90625880e-01 2.51695679e-03 5.69708460e+01] [-3.13027214e-03 1.52420164e-05 9.99995101e-01 -7.47546222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.93088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.15, Y:56.99, Z:-0.75 [[ 5.89545711e-01 -8.07732997e-01 1.80558280e-03 1.10146348e+02] [ 8.07729302e-01 5.89548476e-01 2.44332923e-03 5.69922253e+01] [-3.03803623e-03 1.79678639e-05 9.99995385e-01 -7.47781899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.96088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.16, Y:57.01, Z:-0.75 [[ 5.87995459e-01 -8.08862944e-01 1.44150059e-03 1.10163723e+02] [ 8.08860591e-01 5.87997226e-01 1.95123888e-03 5.70139256e+01] [-2.42588318e-03 1.86534192e-05 9.99997057e-01 -7.47799238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.99088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.18, Y:57.04, Z:-0.75 [[ 5.87294760e-01 -8.09371745e-01 1.49740107e-03 1.10180155e+02] [ 8.09369205e-01 5.87296669e-01 2.02806042e-03 5.70354753e+01] [-2.52087346e-03 2.08810508e-05 9.99996822e-01 -7.47529260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.02088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.20, Y:57.06, Z:-0.75 [[ 5.86820684e-01 -8.09715257e-01 1.63947001e-03 1.10196792e+02] [ 8.09712209e-01 5.86822974e-01 2.22177985e-03 5.70583071e+01] [-2.76108771e-03 2.37125098e-05 9.99996188e-01 -7.47761217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.05088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.21, Y:57.08, Z:-0.75 [[ 5.85913079e-01 -8.10372818e-01 1.32646625e-03 1.10213099e+02] [ 8.10370824e-01 5.85914580e-01 1.79816398e-03 5.70811304e+01] [-2.23437913e-03 2.13617572e-05 9.99997504e-01 -7.48624922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.08088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.23, Y:57.10, Z:-0.75 [[ 5.85336213e-01 -8.10789982e-01 1.05984144e-03 1.10229574e+02] [ 8.10788709e-01 5.85337172e-01 1.43718980e-03 5.71030011e+01] [-1.78562368e-03 1.80682435e-05 9.99998406e-01 -7.49248469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.25, Y:57.13, Z:-0.75 [[ 5.84637735e-01 -8.11293952e-01 9.17784195e-04 1.10245232e+02] [ 8.11292997e-01 5.84638456e-01 1.24472000e-03 5.71262768e+01] [-1.54640574e-03 1.68816083e-05 9.99998804e-01 -7.49614093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.26, Y:57.15, Z:-0.75 [[ 5.84527167e-01 -8.11373229e-01 1.21416040e-03 1.10261045e+02] [ 8.11371554e-01 5.84528428e-01 1.64864260e-03 5.71487695e+01] [-2.04737574e-03 2.14588253e-05 9.99997904e-01 -7.49821636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.28, Y:57.17, Z:-0.75 [[ 5.84159567e-01 -8.11637082e-01 1.68760960e-03 1.10277072e+02] [ 8.11633841e-01 5.84162004e-01 2.29363533e-03 5.71709760e+01] [-2.84743689e-03 2.98720452e-05 9.99995946e-01 -7.49745859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.29, Y:57.19, Z:-0.75 [[ 5.84783767e-01 -8.11185146e-01 2.57019471e-03 1.10291712e+02] [ 8.11177613e-01 5.84789413e-01 3.49610213e-03 5.71947291e+01] [-4.33900877e-03 4.04206424e-05 9.99990586e-01 -7.47839882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.31, Y:57.22, Z:-0.75 [[ 5.85221157e-01 -8.10869002e-01 2.76733183e-03 1.10307389e+02] [ 8.10860255e-01 5.85227699e-01 3.76662500e-03 5.72183217e+01] [-4.67375870e-03 3.96107527e-05 9.99989077e-01 -7.47236575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.32, Y:57.24, Z:-0.75 [[ 5.85986021e-01 -8.10315218e-01 3.10331879e-03 1.10322416e+02] [ 8.10304196e-01 5.85994237e-01 4.22670311e-03 5.72424046e+01] [-5.24348878e-03 3.78432978e-05 9.99986252e-01 -7.47299239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.34, Y:57.27, Z:-0.75 [[ 5.86678501e-01 -8.09813627e-01 3.19788025e-03 1.10336652e+02] [ 8.09801900e-01 5.86687216e-01 4.35813057e-03 5.72653358e+01] [-5.40542898e-03 3.28279915e-05 9.99985390e-01 -7.47950795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.35, Y:57.29, Z:-0.75 [[ 5.88413413e-01 -8.08554832e-01 2.95615381e-03 1.10349577e+02] [ 8.08544789e-01 5.88420838e-01 4.03009982e-03 5.72908360e+01] [-4.99801919e-03 1.88179701e-05 9.99987510e-01 -7.48887347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.350888479 meters Centerline goodness [0,1] 0.9999333244432591 Centerline is valid? [True, True] Translation: X:110.36, Y:57.31, Z:-0.75 [[ 5.89015263e-01 -8.08115698e-01 3.16824690e-03 1.10363928e+02] [ 8.08104141e-01 5.89023784e-01 4.32191143e-03 5.73140942e+01] [-5.35877725e-03 1.46016438e-05 9.99985642e-01 -7.49479869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.380888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.38, Y:57.34, Z:-0.75 [[ 5.89611244e-01 -8.07679292e-01 3.56950166e-03 1.10379032e+02] [ 8.07664598e-01 5.89622049e-01 4.87207836e-03 5.73384733e+01] [-6.03973368e-03 1.03279370e-05 9.99981761e-01 -7.49284633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.410888479 meters Centerline goodness [0,1] 0.9999556875083085 Centerline is valid? [True, True] Translation: X:110.39, Y:57.36, Z:-0.75 [[ 5.90111016e-01 -8.07312396e-01 3.96032564e-03 1.10393754e+02] [ 8.07294278e-01 5.90124305e-01 5.40873620e-03 5.73619197e+01] [-6.70362419e-03 5.39341064e-06 9.99977530e-01 -7.48748912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.440888479 meters Centerline goodness [0,1] 0.9999778511151963 Centerline is valid? [True, True] Translation: X:110.41, Y:57.39, Z:-0.75 [[ 5.91423395e-01 -8.06349457e-01 4.34984917e-03 1.10407113e+02] [ 8.06327545e-01 5.91439391e-01 5.94447517e-03 5.73866613e+01] [-7.36599647e-03 -8.29848684e-06 9.99972871e-01 -7.48989623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:57.41, Z:-0.75 [[ 5.91825798e-01 -8.06054983e-01 4.19390457e-03 1.10421740e+02] [ 8.06034583e-01 5.91840658e-01 5.73464713e-03 5.74107767e+01] [-7.10456413e-03 -1.34799964e-05 9.99974762e-01 -7.49543551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.500888479 meters Centerline goodness [0,1] 0.9999557874259439 Centerline is valid? [True, True] Translation: X:110.43, Y:57.44, Z:-0.75 [[ 5.92930618e-01 -8.05243637e-01 3.99589541e-03 1.10434462e+02] [ 8.05225079e-01 5.92944082e-01 5.46698488e-03 5.74357720e+01] [-6.77159732e-03 -2.39475294e-05 9.99977072e-01 -7.50742462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53088847899997 meters Centerline goodness [0,1] 0.9999558137993505 Centerline is valid? [True, True] Translation: X:110.45, Y:57.46, Z:-0.75 [[ 5.93334562e-01 -8.04946166e-01 3.97089303e-03 1.10450029e+02] [ 8.04927811e-01 5.93347848e-01 5.43598607e-03 5.74595779e+01] [-6.73179698e-03 -2.90761778e-05 9.99977341e-01 -7.51113608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.56088847899997 meters Centerline goodness [0,1] 0.9999337821432513 Centerline is valid? [True, True] Translation: X:110.47, Y:57.48, Z:-0.75 [[ 5.93463808e-01 -8.04851898e-01 3.75915269e-03 1.10465035e+02] [ 8.04835429e-01 5.93475713e-01 5.14891588e-03 5.74824046e+01] [-6.37508054e-03 -3.01959639e-05 9.99979679e-01 -7.51387182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59088847899997 meters Centerline goodness [0,1] 0.9998896076656437 Centerline is valid? [True, True] Translation: X:110.48, Y:57.51, Z:-0.75 [[ 5.93292148e-01 -8.04981420e-01 3.05641776e-03 1.10479075e+02] [ 8.04970527e-01 5.93300020e-01 4.18770137e-03 5.75068223e+01] [-5.18439451e-03 -2.42041206e-05 9.99986561e-01 -7.53475109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.62088847899997 meters Centerline goodness [0,1] 0.9998894270107698 Centerline is valid? [True, True] Translation: X:110.49, Y:57.53, Z:-0.75 [[ 5.93200004e-01 -8.05049758e-01 2.93982557e-03 1.10493500e+02] [ 8.05039669e-01 5.93207289e-01 4.03036942e-03 5.75299091e+01] [-4.98857388e-03 -2.41389489e-05 9.99987557e-01 -7.54385444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.65088847899997 meters Centerline goodness [0,1] 0.9999119136754019 Centerline is valid? [True, True] Translation: X:110.51, Y:57.55, Z:-0.76 [[ 5.92486587e-01 -8.05575529e-01 2.77708189e-03 1.10508788e+02] [ 8.05566527e-01 5.92493095e-01 3.80827597e-03 5.75530844e+01] [-4.71325578e-03 -1.92282162e-05 9.99988892e-01 -7.55350475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.68088847899998 meters Centerline goodness [0,1] 0.999911902035063 Centerline is valid? [True, True] Translation: X:110.52, Y:57.58, Z:-0.76 [[ 5.92077573e-01 -8.05877349e-01 2.41773560e-03 1.10523460e+02] [ 8.05870522e-01 5.92082509e-01 3.31710116e-03 5.75767673e+01] [-4.10467565e-03 -1.55993584e-05 9.99991576e-01 -7.56509030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.71088847899998 meters Centerline goodness [0,1] 0.9998678006433702 Centerline is valid? [True, True] Translation: X:110.54, Y:57.60, Z:-0.76 [[ 5.91800015e-01 -8.06081561e-01 2.29310309e-03 1.10539083e+02] [ 8.06075415e-01 5.91804458e-01 3.14781263e-03 5.76006168e+01] [-3.89446235e-03 -1.44615354e-05 9.99992416e-01 -7.57102349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.74088847899998 meters Centerline goodness [0,1] 0.999758650196371 Centerline is valid? [True, True] Translation: X:110.55, Y:57.62, Z:-0.76 [[ 5.91496597e-01 -8.06304106e-01 2.33768528e-03 1.10554392e+02] [ 8.06297712e-01 5.91501216e-01 3.21096359e-03 5.76242296e+01] [-3.97175681e-03 -1.44037453e-05 9.99992112e-01 -7.56956070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.77088847899998 meters Centerline goodness [0,1] 0.9996924563947103 Centerline is valid? [True, True] Translation: X:110.57, Y:57.65, Z:-0.76 [[ 5.91369780e-01 -8.06397065e-01 2.35726327e-03 1.10569922e+02] [ 8.06390557e-01 5.91374478e-01 3.23979998e-03 5.76479019e+01] [-4.00659053e-03 -1.50449616e-05 9.99991973e-01 -7.56617927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.80088847899998 meters Centerline goodness [0,1] 0.9997369978302321 Centerline is valid? [True, True] Translation: X:110.58, Y:57.67, Z:-0.76 [[ 5.90990591e-01 -8.06671463e-01 3.35741122e-03 1.10583833e+02] [ 8.06658244e-01 5.91000127e-01 4.61820688e-03 5.76715232e+01] [-5.70960616e-03 -2.10333691e-05 9.99983700e-01 -7.55255774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83088847899998 meters Centerline goodness [0,1] 0.999583817054739 Centerline is valid? [True, True] Translation: X:110.60, Y:57.69, Z:-0.76 [[ 5.90641923e-01 -8.06927049e-01 3.29487749e-03 1.10599150e+02] [ 8.06914313e-01 5.90651113e-01 4.53365856e-03 5.76947854e+01] [-5.60445478e-03 -1.90850007e-05 9.99984295e-01 -7.55314836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86088847899998 meters Centerline goodness [0,1] 0.999583817054739 Centerline is valid? [True, True] Translation: X:110.62, Y:57.72, Z:-0.76 [[ 5.90416371e-01 -8.07092102e-01 3.29361010e-03 1.10615308e+02] [ 8.07079363e-01 5.90425557e-01 4.53457911e-03 5.77171506e+01] [-5.60445457e-03 -1.90850000e-05 9.99984295e-01 -7.55464945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89088847899998 meters Centerline goodness [0,1] 0.9998258067325698 Centerline is valid? [True, True] Translation: X:110.63, Y:57.74, Z:-0.76 [[ 5.89845295e-01 -8.07510999e-01 2.91787473e-03 1.10628978e+02] [ 8.07500996e-01 5.89852512e-01 4.01944763e-03 5.77404897e+01] [-4.96686391e-03 -1.46655193e-05 9.99987665e-01 -7.56426279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92088847899998 meters Centerline goodness [0,1] 0.999539251393216 Centerline is valid? [True, True] Translation: X:110.64, Y:57.76, Z:-0.76 [[ 5.89636679e-01 -8.07663794e-01 2.78980359e-03 1.10644268e+02] [ 8.07654646e-01 5.89643279e-01 3.84403582e-03 5.77639937e+01] [-4.74967749e-03 -1.33866851e-05 9.99988720e-01 -7.57536901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95088847899999 meters Centerline goodness [0,1] 0.9995212395543176 Centerline is valid? [True, True] Translation: X:110.66, Y:57.79, Z:-0.76 [[ 5.89441528e-01 -8.07806563e-01 2.69115255e-03 1.10658362e+02] [ 8.07798041e-01 5.89447671e-01 3.71042703e-03 5.77871212e+01] [-4.58360091e-03 -1.31720146e-05 9.99989495e-01 -7.58070594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.980888479 meters Centerline goodness [0,1] 0.9995218118981894 Centerline is valid? [True, True] Translation: X:110.67, Y:57.81, Z:-0.76 [[ 5.88819605e-01 -8.08258979e-01 2.98258570e-03 1.10670725e+02] [ 8.08248510e-01 5.88827158e-01 4.11376384e-03 5.78113923e+01] [-5.08121402e-03 -1.15943535e-05 9.99987090e-01 -7.59625789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010888479 meters Centerline goodness [0,1] 0.9996945299033405 Centerline is valid? [True, True] Translation: X:110.69, Y:57.83, Z:-0.76 [[ 5.88144952e-01 -8.08750285e-01 2.91405081e-03 1.10686038e+02] [ 8.08740292e-01 5.88152171e-01 4.02038306e-03 5.78344957e+01] [-4.96539126e-03 -7.85770268e-06 9.99987672e-01 -7.60403475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.040888479 meters Centerline goodness [0,1] 0.9994794152097523 Centerline is valid? [True, True] Translation: X:110.70, Y:57.86, Z:-0.76 [[ 5.87537742e-01 -8.09192583e-01 2.60104482e-03 1.10701271e+02] [ 8.09184616e-01 5.87543500e-01 3.59060820e-03 5.78569052e+01] [-4.43372050e-03 -4.89238350e-06 9.99990171e-01 -7.60860903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.070888479 meters Centerline goodness [0,1] 0.999457982828896 Centerline is valid? [True, True] Translation: X:110.72, Y:57.88, Z:-0.76 [[ 5.86308451e-01 -8.10085189e-01 2.09473462e-03 1.10716298e+02] [ 8.10080025e-01 5.86312193e-01 2.89253418e-03 5.78790958e+01] [-3.57136755e-03 9.85438956e-07 9.99993623e-01 -7.61172611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.100888479 meters Centerline goodness [0,1] 0.9995869744793705 Centerline is valid? [True, True] Translation: X:110.73, Y:57.90, Z:-0.76 [[ 5.85930840e-01 -8.10359042e-01 1.80938105e-03 1.10732378e+02] [ 8.10355189e-01 5.85933634e-01 2.49890066e-03 5.79027107e+01] [-3.08518395e-03 2.05836249e-06 9.99995241e-01 -7.61222532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.130888479 meters Centerline goodness [0,1] 0.9996750010833297 Centerline is valid? [True, True] Translation: X:110.75, Y:57.93, Z:-0.76 [[ 5.85632820e-01 -8.10575019e-01 1.52972027e-03 1.10747191e+02] [ 8.10572262e-01 5.85634817e-01 2.11395628e-03 5.79251753e+01] [-2.60937761e-03 1.94664321e-06 9.99996596e-01 -7.61939761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.160888479 meters Centerline goodness [0,1] 0.9994372903365437 Centerline is valid? [True, True] Translation: X:110.76, Y:57.95, Z:-0.76 [[ 5.85811827e-01 -8.10446629e-01 8.74209866e-04 1.10761282e+02] [ 8.10445730e-01 5.85812480e-01 1.20718282e-03 5.79494229e+01] [-1.49048030e-03 1.31768074e-06 9.99998889e-01 -7.62697404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.190888479 meters Centerline goodness [0,1] 0.9992453643811988 Centerline is valid? [True, True] Translation: X:110.78, Y:57.97, Z:-0.76 [[ 5.86284094e-01 -8.10104782e-01 1.09692424e-03 1.10775501e+02] [ 8.10103362e-01 5.86285120e-01 1.51709766e-03 5.79720063e+01] [-1.87211843e-03 -8.28218606e-07 9.99998248e-01 -7.63023355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.220888479 meters Centerline goodness [0,1] 0.9994614506365653 Centerline is valid? [True, True] Translation: X:110.79, Y:58.00, Z:-0.76 [[ 5.86408382e-01 -8.10014619e-01 1.23591503e-03 1.10790292e+02] [ 8.10012815e-01 5.86409684e-01 1.70935626e-03 5.79954145e+01] [-2.10935610e-03 -1.27382616e-06 9.99997775e-01 -7.63789760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.250888479 meters Centerline goodness [0,1] 0.9995693275048989 Centerline is valid? [True, True] Translation: X:110.80, Y:58.02, Z:-0.76 [[ 5.86773586e-01 -8.09749795e-01 1.42434654e-03 1.10804728e+02] [ 8.09747393e-01 5.86775314e-01 1.97219122e-03 5.80180288e+01] [-2.43275283e-03 -3.86881616e-06 9.99997041e-01 -7.64152255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.28088847899997 meters Centerline goodness [0,1] 0.9993743122828972 Centerline is valid? [True, True] Translation: X:110.82, Y:58.04, Z:-0.76 [[ 5.87883858e-01 -8.08944749e-01 9.81299982e-04 1.10819013e+02] [ 8.08943608e-01 5.87884677e-01 1.35869563e-03 5.80405499e+01] [-1.67600092e-03 -4.93888141e-06 9.99998595e-01 -7.64669215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31088847899997 meters Centerline goodness [0,1] 0.9995266170331798 Centerline is valid? [True, True] Translation: X:110.84, Y:58.06, Z:-0.76 [[ 5.88434284e-01 -8.08544035e-01 1.27919966e-03 1.10835113e+02] [ 8.08542094e-01 5.88435675e-01 1.77155853e-03 5.80640451e+01] [-2.18510980e-03 -8.15900846e-06 9.99997613e-01 -7.64085167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.34088847899997 meters Centerline goodness [0,1] 0.9995035506917913 Centerline is valid? [True, True] Translation: X:110.85, Y:58.09, Z:-0.76 [[ 5.89324026e-01 -8.07895997e-01 1.11823721e-03 1.10850006e+02] [ 8.07894510e-01 5.89325087e-01 1.54995121e-03 5.80870197e+01] [-1.91120462e-03 -1.00057878e-05 9.99998174e-01 -7.63792737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37088847899997 meters Centerline goodness [0,1] 0.9992451202415615 Centerline is valid? [True, True] Translation: X:110.86, Y:58.11, Z:-0.76 [[ 5.91569635e-01 -8.06252843e-01 1.31189419e-03 1.10864251e+02] [ 8.06250791e-01 5.91571089e-01 1.81881119e-03 5.81121461e+01] [-2.24250037e-03 -1.82377432e-05 9.99997485e-01 -7.64045603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.40088847899997 meters Centerline goodness [0,1] 0.9994184669064593 Centerline is valid? [True, True] Translation: X:110.88, Y:58.14, Z:-0.76 [[ 5.92465291e-01 -8.05595039e-01 1.22975392e-03 1.10879435e+02] [ 8.05593233e-01 5.92466567e-01 1.70566661e-03 5.81368155e+01] [-2.10266464e-03 -1.98668282e-05 9.99997789e-01 -7.64514913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.43088847899998 meters Centerline goodness [0,1] 0.9992913132180823 Centerline is valid? [True, True] Translation: X:110.89, Y:58.16, Z:-0.76 [[ 5.94165593e-01 -8.04340588e-01 1.86184235e-03 1.10894478e+02] [ 8.04336436e-01 5.94168509e-01 2.58483360e-03 5.81615884e+01] [-3.18533467e-03 -3.82715482e-05 9.99994926e-01 -7.63869505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.46088847899998 meters Centerline goodness [0,1] 0.999313775947847 Centerline is valid? [True, True] Translation: X:110.91, Y:58.18, Z:-0.76 [[ 5.94379565e-01 -8.04181386e-01 2.28715633e-03 1.10910689e+02] [ 8.04175110e-01 5.94383964e-01 3.17738677e-03 5.81840976e+01] [-3.91464434e-03 -4.92995778e-05 9.99992337e-01 -7.63462461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.49088847899998 meters Centerline goodness [0,1] 0.9993099432859638 Centerline is valid? [True, True] Translation: X:110.93, Y:58.21, Z:-0.76 [[ 5.93855779e-01 -8.04568469e-01 2.21181274e-03 1.10927258e+02] [ 8.04562596e-01 5.93859896e-01 3.07445820e-03 5.82069460e+01] [-3.78711901e-03 -4.62429709e-05 9.99992828e-01 -7.63878701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.52088847899998 meters Centerline goodness [0,1] 0.9993567201303714 Centerline is valid? [True, True] Translation: X:110.94, Y:58.23, Z:-0.77 [[ 5.93373623e-01 -8.04924942e-01 1.89221883e-03 1.10942426e+02] [ 8.04920641e-01 5.93376639e-01 2.63176009e-03 5.82289062e+01] [-3.24116779e-03 -3.85310294e-05 9.99994747e-01 -7.65278938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.55088847899998 meters Centerline goodness [0,1] 0.9992916630892075 Centerline is valid? [True, True] Translation: X:110.96, Y:58.25, Z:-0.77 [[ 5.92697686e-01 -8.05423707e-01 1.45083313e-03 1.10958997e+02] [ 8.05421180e-01 5.92699461e-01 2.01782656e-03 5.82515008e+01] [-2.48511337e-03 -2.74294046e-05 9.99996912e-01 -7.65971591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58088847899998 meters Centerline goodness [0,1] 0.9993786424408639 Centerline is valid? [True, True] Translation: X:110.98, Y:58.27, Z:-0.77 [[ 5.91762974e-01 -8.06110830e-01 1.38301677e-03 1.10976395e+02] [ 8.06108533e-01 5.91764590e-01 1.92451580e-03 5.82735995e+01] [-2.36979338e-03 -2.39955731e-05 9.99997192e-01 -7.66641112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61088847899998 meters Centerline goodness [0,1] 0.9994410765725096 Centerline is valid? [True, True] Translation: X:110.99, Y:58.30, Z:-0.77 [[ 5.90761546e-01 -8.06845431e-01 1.11619628e-03 1.10992683e+02] [ 8.06843934e-01 5.90762600e-01 1.55452051e-03 5.82954096e+01] [-1.91366479e-03 -1.77547394e-05 9.99998169e-01 -7.67222159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64088847899998 meters Centerline goodness [0,1] 0.9993967727341276 Centerline is valid? [True, True] Translation: X:111.01, Y:58.32, Z:-0.77 [[ 5.89054658e-01 -8.08092229e-01 1.24834253e-03 1.11013010e+02] [ 8.08090359e-01 5.89055981e-01 1.73859045e-03 5.83169419e+01] [-2.14028507e-03 -1.53512399e-05 9.99997709e-01 -7.67033744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67088847899998 meters Centerline goodness [0,1] 0.9993742177722152 Centerline is valid? [True, True] Translation: X:111.03, Y:58.34, Z:-0.77 [[ 5.88154639e-01 -8.08747858e-01 1.01140605e-03 1.11030733e+02] [ 8.08746632e-01 5.88155508e-01 1.40864484e-03 5.83391438e+01] [-1.73410254e-03 -1.05297545e-05 9.99998496e-01 -7.67521294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70088847899999 meters Centerline goodness [0,1] 0.9993522477004794 Centerline is valid? [True, True] Translation: X:111.05, Y:58.36, Z:-0.77 [[ 5.87276750e-01 -8.09385859e-01 7.41489002e-04 1.11048369e+02] [ 8.09385201e-01 5.87277218e-01 1.03260584e-03 5.83613010e+01] [-1.27123616e-03 -6.27517697e-06 9.99999192e-01 -7.67891108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730888479 meters Centerline goodness [0,1] 0.9994810361977252 Centerline is valid? [True, True] Translation: X:111.07, Y:58.38, Z:-0.77 [[ 5.86305495e-01 -8.10089284e-01 1.10350919e-03 1.11066405e+02] [ 8.10087821e-01 5.86306534e-01 1.53977829e-03 5.83824728e+01] [-1.89435255e-03 -8.84111529e-06 9.99998206e-01 -7.68090190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.760888479 meters Centerline goodness [0,1] 0.9995433690665159 Centerline is valid? [True, True] Translation: X:111.08, Y:58.40, Z:-0.77 [[ 5.85772857e-01 -8.10474278e-01 1.26692247e-03 1.11084039e+02] [ 8.10472350e-01 5.85774227e-01 1.76793280e-03 5.84048643e+01] [-2.17499459e-03 -8.80141746e-06 9.99997635e-01 -7.68292067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790888479 meters Centerline goodness [0,1] 0.9993703180979264 Centerline is valid? [True, True] Translation: X:111.10, Y:58.43, Z:-0.77 [[ 5.85088205e-01 -8.10968316e-01 1.47777434e-03 1.11101948e+02] [ 8.10965690e-01 5.85090071e-01 2.06378473e-03 5.84264291e+01] [-2.53829512e-03 -9.07181934e-06 9.99996778e-01 -7.68625989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.820888479 meters Centerline goodness [0,1] 0.9995218742529285 Centerline is valid? [True, True] Translation: X:111.12, Y:58.45, Z:-0.77 [[ 5.83826905e-01 -8.11876320e-01 1.72801611e-03 1.11120784e+02] [ 8.11872726e-01 5.83829462e-01 2.41574322e-03 5.84461075e+01] [-2.97015143e-03 -7.44673947e-06 9.99995589e-01 -7.68139298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.850888479 meters Centerline goodness [0,1] 0.9996520074818391 Centerline is valid? [True, True] Translation: X:111.14, Y:58.47, Z:-0.77 [[ 5.83351372e-01 -8.12218023e-01 1.74934884e-03 1.11137177e+02] [ 8.12214340e-01 5.83353995e-01 2.44596983e-03 5.84673518e+01] [-3.00715041e-03 -6.01364031e-06 9.99995478e-01 -7.68029117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.880888479 meters Centerline goodness [0,1] 0.9997162129712502 Centerline is valid? [True, True] Translation: X:111.16, Y:58.49, Z:-0.77 [[ 5.82625884e-01 -8.12737104e-01 2.34077291e-03 1.11156155e+02] [ 8.12730504e-01 5.82630586e-01 3.27533377e-03 5.84889062e+01] [-4.02579117e-03 -5.87668926e-06 9.99991896e-01 -7.67317225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.910888479 meters Centerline goodness [0,1] 0.9998037591033971 Centerline is valid? [True, True] Translation: X:111.17, Y:58.51, Z:-0.77 [[ 5.82490672e-01 -8.12833852e-01 2.39699072e-03 1.11173393e+02] [ 8.12826923e-01 5.82495604e-01 3.35626346e-03 5.85104143e+01] [-4.12432111e-03 -6.65356968e-06 9.99991495e-01 -7.67387617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.940888479 meters Centerline goodness [0,1] 0.999475329558621 Centerline is valid? [True, True] Translation: X:111.19, Y:58.53, Z:-0.77 [[ 5.82862609e-01 -8.12566688e-01 2.56047277e-03 1.11189954e+02] [ 8.12558773e-01 5.82868233e-01 3.58663522e-03 5.85312961e+01] [-4.40679854e-03 -9.98095520e-06 9.99990290e-01 -7.67270224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.970888479 meters Centerline goodness [0,1] 0.999542074620031 Centerline is valid? [True, True] Translation: X:111.21, Y:58.55, Z:-0.77 [[ 5.83377908e-01 -8.12196806e-01 2.56216890e-03 1.11207040e+02] [ 8.12188868e-01 5.83383535e-01 3.59085125e-03 5.85534221e+01] [-4.41120507e-03 -1.38582364e-05 9.99990270e-01 -7.66877748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.00088847899997 meters Centerline goodness [0,1] 0.9995414246407827 Centerline is valid? [True, True] Translation: X:111.22, Y:58.58, Z:-0.77 [[ 5.85344218e-01 -8.10779814e-01 2.87063148e-03 1.11223618e+02] [ 8.10769818e-01 5.85351256e-01 4.02602821e-03 5.85760741e+01] [-4.94455014e-03 -2.91909671e-05 9.99987775e-01 -7.66380756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03088847899997 meters Centerline goodness [0,1] 0.9994537190805 Centerline is valid? [True, True] Translation: X:111.24, Y:58.60, Z:-0.77 [[ 5.86150087e-01 -8.10197576e-01 2.82188674e-03 1.11240842e+02] [ 8.10187906e-01 5.86156879e-01 3.95856304e-03 5.85998929e+01] [-4.86128650e-03 -3.40535617e-05 9.99988183e-01 -7.66790705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.06088847899997 meters Centerline goodness [0,1] 0.9995826927300681 Centerline is valid? [True, True] Translation: X:111.26, Y:58.62, Z:-0.77 [[ 5.86879916e-01 -8.09670078e-01 2.51578390e-03 1.11257320e+02] [ 8.09662380e-01 5.86885307e-01 3.53074976e-03 5.86232514e+01] [-4.33521904e-03 -3.51905439e-05 9.99990602e-01 -7.67503469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09088847899997 meters Centerline goodness [0,1] 0.9995841085695524 Centerline is valid? [True, True] Translation: X:111.27, Y:58.65, Z:-0.77 [[ 5.88842818e-01 -8.08244760e-01 2.13161868e-03 1.11274198e+02] [ 8.08239220e-01 5.88846675e-01 2.99279607e-03 5.86463449e+01] [-3.67410831e-03 -3.94286551e-05 9.99993250e-01 -7.69222347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.12088847899997 meters Centerline goodness [0,1] 0.9996053064356979 Centerline is valid? [True, True] Translation: X:111.29, Y:58.67, Z:-0.77 [[ 5.89734326e-01 -8.07594582e-01 2.10129944e-03 1.11291773e+02] [ 8.07589189e-01 5.89738068e-01 2.95171341e-03 5.86692824e+01] [-3.62300403e-03 -4.37400120e-05 9.99993436e-01 -7.68924306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.15088847899997 meters Centerline goodness [0,1] 0.9998027915945396 Centerline is valid? [True, True] Translation: X:111.31, Y:58.69, Z:-0.77 [[ 5.90693218e-01 -8.06892918e-01 2.31095738e-03 1.11308793e+02] [ 8.06886381e-01 5.90697736e-01 3.24847188e-03 5.86910401e+01] [-3.98624625e-03 -5.41702701e-05 9.99992053e-01 -7.67942415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.18088847899998 meters Centerline goodness [0,1] 0.9997151808601538 Centerline is valid? [True, True] Translation: X:111.33, Y:58.71, Z:-0.77 [[ 5.90844227e-01 -8.06783271e-01 1.96296090e-03 1.11325839e+02] [ 8.06778554e-01 5.90847486e-01 2.75932530e-03 5.87130608e+01] [-3.38598800e-03 -4.66566660e-05 9.99994266e-01 -7.68631477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.21088847899998 meters Centerline goodness [0,1] 0.9997152869031976 Centerline is valid? [True, True] Translation: X:111.34, Y:58.74, Z:-0.77 [[ 5.90810295e-01 -8.06808937e-01 1.59211186e-03 1.11342653e+02] [ 8.06805831e-01 5.90812439e-01 2.23882697e-03 5.87356765e+01] [-2.74694510e-03 -3.81968892e-05 9.99996226e-01 -7.70002030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.24088847899998 meters Centerline goodness [0,1] 0.9998899405679067 Centerline is valid? [True, True] Translation: X:111.36, Y:58.76, Z:-0.77 [[ 5.90421692e-01 -8.07093502e-01 1.51791487e-03 1.11361682e+02] [ 8.07090677e-01 5.90423643e-01 2.13557341e-03 5.87570678e+01] [-2.61982025e-03 -3.57939202e-05 9.99996568e-01 -7.71041271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.27088847899998 meters Centerline goodness [0,1] 0.9997365994995391 Centerline is valid? [True, True] Translation: X:111.38, Y:58.78, Z:-0.77 [[ 5.89860071e-01 -8.07503738e-01 1.67626053e-03 1.11379117e+02] [ 8.07500290e-01 5.89862452e-01 2.36007077e-03 5.87787297e+01] [-2.89452912e-03 -3.85306470e-05 9.99995810e-01 -7.70893204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.30088847899998 meters Centerline goodness [0,1] 0.999823990143448 Centerline is valid? [True, True] Translation: X:111.40, Y:58.80, Z:-0.77 [[ 5.89107372e-01 -8.08052489e-01 1.91816958e-03 1.11396846e+02] [ 8.08047968e-01 5.89110494e-01 2.70334453e-03 5.88005052e+01] [-3.31445811e-03 -4.25871617e-05 9.99994506e-01 -7.70679510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33088847899998 meters Centerline goodness [0,1] 0.9999119136754019 Centerline is valid? [True, True] Translation: X:111.42, Y:58.82, Z:-0.77 [[ 5.86947805e-01 -8.09622805e-01 1.78562336e-03 1.11416174e+02] [ 8.09618895e-01 5.86950520e-01 2.51645885e-03 5.88218658e+01] [-3.08545503e-03 -3.13555834e-05 9.99995239e-01 -7.70986244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36088847899998 meters Centerline goodness [0,1] 0.9999559199506304 Centerline is valid? [True, True] Translation: X:111.43, Y:58.84, Z:-0.77 [[ 5.85650521e-01 -8.10562183e-01 1.55390176e-03 1.11433586e+02] [ 8.10559223e-01 5.85652582e-01 2.19077343e-03 5.88432175e+01] [-2.68580467e-03 -2.34981962e-05 9.99996393e-01 -7.71339012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.45, Y:58.86, Z:-0.77 [[ 5.84132205e-01 -8.11657350e-01 1.38301866e-03 1.11451032e+02] [ 8.11655006e-01 5.84133842e-01 1.95060015e-03 5.88646316e+01] [-2.39108696e-03 -1.68743494e-05 9.99997141e-01 -7.71323247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42088847899998 meters Centerline goodness [0,1] 0.9999115709422116 Centerline is valid? [True, True] Translation: X:111.47, Y:58.89, Z:-0.77 [[ 5.82451594e-01 -8.12863736e-01 1.63916001e-03 1.11468580e+02] [ 8.12860445e-01 5.82453901e-01 2.31323950e-03 5.88861654e+01] [-2.83508364e-03 -1.49417053e-05 9.99995981e-01 -7.71381902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.49, Y:58.91, Z:-0.77 [[ 5.78943263e-01 -8.15366379e-01 1.53814701e-03 1.11487975e+02] [ 8.15363487e-01 5.78945307e-01 2.17174580e-03 5.89065614e+01] [-2.66127150e-03 -3.16869505e-06 9.99996459e-01 -7.71157844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.51, Y:58.93, Z:-0.77 [[ 5.76764246e-01 -8.16909265e-01 1.50270146e-03 1.11505690e+02] [ 8.16906506e-01 5.76766203e-01 2.12285640e-03 5.89279997e+01] [-2.60088847e-03 3.17892460e-06 9.99996618e-01 -7.71099685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.53, Y:58.95, Z:-0.77 [[ 5.72687542e-01 -8.19772829e-01 1.22004432e-03 1.11525942e+02] [ 8.19771015e-01 5.72688842e-01 1.72426249e-03 5.89472608e+01] [-2.11220931e-03 1.26933202e-05 9.99997769e-01 -7.71524640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.54, Y:58.97, Z:-0.77 [[ 5.70569659e-01 -8.21248754e-01 8.64972369e-04 1.11544062e+02] [ 8.21247843e-01 5.70570315e-01 1.22330218e-03 5.89681996e+01] [-1.49816295e-03 1.23775827e-05 9.99998878e-01 -7.72173767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:58.99, Z:-0.77 [[ 5.68607890e-01 -8.22608636e-01 3.15631197e-04 1.11561604e+02] [ 8.22608516e-01 5.68607978e-01 4.44728318e-04 5.89911933e+01] [-5.45307771e-04 6.76487990e-06 9.99999851e-01 -7.72491962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.600888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.58, Y:59.01, Z:-0.77 [[ 5.65581390e-01 -8.24692456e-01 -2.09192076e-04 1.11580369e+02] [ 8.24692402e-01 5.65581429e-01 -2.97890758e-04 5.90125278e+01] [ 3.63983414e-04 -4.03764701e-06 9.99999934e-01 -7.73275652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.630888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.60, Y:59.04, Z:-0.77 [[ 5.64517408e-01 -8.25421107e-01 -3.03024588e-04 1.11597064e+02] [ 8.25420994e-01 5.64517490e-01 -4.32128359e-04 5.90353289e+01] [ 5.27750549e-04 -6.17887537e-06 9.99999861e-01 -7.73759600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.61, Y:59.06, Z:-0.77 [[ 5.63742388e-01 -8.25950468e-01 -5.86977582e-04 1.11614242e+02] [ 8.25950046e-01 5.63742693e-01 -8.35155889e-04 5.90580291e+01] [ 1.02070172e-03 -1.40013862e-05 9.99999479e-01 -7.73991296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.63, Y:59.08, Z:-0.77 [[ 5.63586447e-01 -8.26056971e-01 -4.45318498e-04 1.11631182e+02] [ 8.26056727e-01 5.63586623e-01 -6.34677030e-04 5.90806351e+01] [ 7.75254933e-04 -1.01629689e-05 9.99999699e-01 -7.73626227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.65, Y:59.10, Z:-0.77 [[ 5.64142824e-01 -8.25677016e-01 -5.82488724e-04 1.11646955e+02] [ 8.25676599e-01 5.64143125e-01 -8.29381149e-04 5.91025340e+01] [ 1.01340796e-03 -1.30578852e-05 9.99999486e-01 -7.73531281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.66, Y:59.13, Z:-0.77 [[ 5.65106290e-01 -8.25017920e-01 -5.59145427e-04 1.11662648e+02] [ 8.25017535e-01 5.65106566e-01 -7.96977616e-04 5.91259920e+01] [ 9.73497568e-04 -1.09277186e-05 9.99999526e-01 -7.73435508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.78088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.68, Y:59.15, Z:-0.77 [[ 5.64878851e-01 -8.25173661e-01 -5.58893679e-04 1.11678472e+02] [ 8.25173276e-01 5.64879128e-01 -7.97154505e-04 5.91486094e+01] [ 9.73498276e-04 -1.08884069e-05 9.99999526e-01 -7.73585649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.69, Y:59.17, Z:-0.77 [[ 5.66005768e-01 -8.24401162e-01 -4.40224977e-04 1.11693434e+02] [ 8.24400923e-01 5.66005939e-01 -6.28804328e-04 5.91727411e+01] [ 7.67556971e-04 -7.01500080e-06 9.99999705e-01 -7.73317147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.84088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.71, Y:59.20, Z:-0.77 [[ 5.69205843e-01 -8.22195055e-01 -7.84512931e-06 1.11707797e+02] [ 8.22195055e-01 5.69205843e-01 -1.25300957e-05 5.91969166e+01] [ 1.47676762e-05 6.81977183e-07 1.00000000e+00 -7.72760731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:59.22, Z:-0.77 [[ 5.70521105e-01 -8.21282910e-01 2.25464254e-04 1.11723246e+02] [ 8.21282848e-01 5.70521149e-01 3.18354032e-04 5.92205541e+01] [-3.90090852e-04 3.54223073e-06 9.99999924e-01 -7.71824893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.90088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.74, Y:59.24, Z:-0.77 [[ 5.71716621e-01 -8.20450959e-01 5.73025771e-04 1.11738785e+02] [ 8.20450556e-01 5.71716909e-01 8.13636183e-04 5.92436254e+01] [-9.95157109e-04 4.96998271e-06 9.99999505e-01 -7.71381188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.93088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:59.27, Z:-0.77 [[ 5.73958358e-01 -8.18884434e-01 2.94768970e-04 1.11753467e+02] [ 8.18884328e-01 5.73958434e-01 4.17746977e-04 5.92666388e+01] [-5.11271633e-04 1.61232096e-06 9.99999869e-01 -7.71795818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.96088847899998 meters Centerline goodness [0,1] 0.999955442677004 Centerline is valid? [True, True] Translation: X:111.77, Y:59.29, Z:-0.77 [[ 5.74654642e-01 -8.18395976e-01 2.62871822e-04 1.11768971e+02] [ 8.18395891e-01 5.74654702e-01 3.72351503e-04 5.92903702e+01] [-4.55791501e-04 1.15969965e-06 9.99999896e-01 -7.72488152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.99088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.78, Y:59.31, Z:-0.77 [[ 5.76486743e-01 -8.17106499e-01 -7.24705850e-05 1.11783667e+02] [ 8.17106492e-01 5.76486747e-01 -1.05871524e-04 5.93137589e+01] [ 1.28286642e-04 1.81734428e-06 9.99999992e-01 -7.73086617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.02088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.80, Y:59.34, Z:-0.77 [[ 5.77364891e-01 -8.16486240e-01 5.14763441e-05 1.11799663e+02] [ 8.16486237e-01 5.77364893e-01 7.08032497e-05 5.93369540e+01] [-8.75305130e-05 1.15041597e-06 9.99999996e-01 -7.73323991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.05088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.82, Y:59.36, Z:-0.77 [[ 5.77817055e-01 -8.16166188e-01 -4.51284921e-04 1.11815190e+02] [ 8.16165932e-01 5.77817232e-01 -6.47405782e-04 5.93601024e+01] [ 7.89150913e-04 5.75872463e-06 9.99999689e-01 -7.73385948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.83, Y:59.38, Z:-0.77 [[ 5.78437884e-01 -8.15726299e-01 -4.69070297e-04 1.11830321e+02] [ 8.15726021e-01 5.78438074e-01 -6.72955404e-04 5.93831033e+01] [ 8.20275540e-04 6.63005261e-06 9.99999664e-01 -7.74184064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11088847899998 meters Centerline goodness [0,1] 0.9999777386968233 Centerline is valid? [True, True] Translation: X:111.85, Y:59.41, Z:-0.77 [[ 5.79575659e-01 -8.14918273e-01 -5.13612152e-04 1.11846104e+02] [ 8.14917940e-01 5.79575887e-01 -7.36936051e-04 5.94077746e+01] [ 8.98219873e-04 8.55844052e-06 9.99999597e-01 -7.74336403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:59.43, Z:-0.77 [[ 5.79848611e-01 -8.14724052e-01 -5.54668004e-04 1.11860622e+02] [ 8.14723663e-01 5.79848876e-01 -7.96190461e-04 5.94303884e+01] [ 9.70299137e-04 9.76878460e-06 9.99999529e-01 -7.74617521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.88, Y:59.45, Z:-0.77 [[ 5.80094635e-01 -8.14548989e-01 -3.97619920e-04 1.11876373e+02] [ 8.14548789e-01 5.80094771e-01 -5.72008425e-04 5.94538620e+01] [ 6.96586121e-04 7.93819468e-06 9.99999757e-01 -7.74679242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20088847899999 meters Centerline goodness [0,1] 0.9999777486037249 Centerline is valid? [True, True] Translation: X:111.89, Y:59.48, Z:-0.78 [[ 5.79828083e-01 -8.14738807e-01 -2.65446098e-04 1.11892260e+02] [ 8.14738717e-01 5.79828144e-01 -3.82996851e-04 5.94772630e+01] [ 4.65955515e-04 5.80311702e-06 9.99999891e-01 -7.75500080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.91, Y:59.50, Z:-0.78 [[ 5.79350314e-01 -8.15078602e-01 -2.93635114e-04 1.11907380e+02] [ 8.15078492e-01 5.79350388e-01 -4.23326135e-04 5.94992435e+01] [ 5.15161691e-04 5.91846353e-06 9.99999867e-01 -7.76121219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.92, Y:59.52, Z:-0.78 [[ 5.78654278e-01 -8.15572851e-01 -3.88628952e-04 1.11924058e+02] [ 8.15572659e-01 5.78654408e-01 -5.60100924e-04 5.95213321e+01] [ 6.81684964e-04 7.14964793e-06 9.99999768e-01 -7.76327135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.94, Y:59.54, Z:-0.78 [[ 5.76972854e-01 -8.16762116e-01 -1.40377143e-03 1.11942345e+02] [ 8.16759626e-01 5.76974562e-01 -2.01695340e-03 5.95419214e+01] [ 2.45731153e-03 1.71835373e-05 9.99996981e-01 -7.76632918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.96, Y:59.56, Z:-0.78 [[ 5.75804189e-01 -8.17586326e-01 -1.46119825e-03 1.11959422e+02] [ 8.17583627e-01 5.75806043e-01 -2.10086532e-03 5.95643744e+01] [ 2.55900554e-03 1.50352877e-05 9.99996726e-01 -7.77205304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.350888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:59.58, Z:-0.78 [[ 5.74042206e-01 -8.18823944e-01 -1.70163845e-03 1.11976850e+02] [ 8.18820287e-01 5.74044728e-01 -2.44713177e-03 5.95849038e+01] [ 2.98058667e-03 1.14208327e-05 9.99995558e-01 -7.78261685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.380888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.99, Y:59.61, Z:-0.78 [[ 5.72703856e-01 -8.19760252e-01 -1.85017967e-03 1.11994170e+02] [ 8.19755928e-01 5.72706845e-01 -2.66230545e-03 5.96064817e+01] [ 3.24206275e-03 8.01684929e-06 9.99994744e-01 -7.78561254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.01, Y:59.63, Z:-0.78 [[ 5.71323844e-01 -8.20722212e-01 -2.02893484e-03 1.12012028e+02] [ 8.20717013e-01 5.71327447e-01 -2.92114696e-03 5.96283074e+01] [ 3.55663636e-03 3.73956753e-06 9.99993675e-01 -7.77457621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.440888479 meters Centerline goodness [0,1] 0.9999776171184278 Centerline is valid? [True, True] Translation: X:112.03, Y:59.65, Z:-0.78 [[ 5.69246325e-01 -8.22164925e-01 -1.85944691e-03 1.12030512e+02] [ 8.22160562e-01 5.69249362e-01 -2.67851701e-03 5.96487800e+01] [ 3.26067171e-03 -4.02795241e-06 9.99994684e-01 -7.77406797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.05, Y:59.67, Z:-0.78 [[ 5.68498285e-01 -8.22681981e-01 -2.01446351e-03 1.12047353e+02] [ 8.22676857e-01 5.68501854e-01 -2.90366273e-03 5.96712495e+01] [ 3.53401725e-03 -6.52522500e-06 9.99993755e-01 -7.77220050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.50088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.06, Y:59.69, Z:-0.78 [[ 5.67953747e-01 -8.23057848e-01 -2.07847104e-03 1.12063259e+02] [ 8.23052391e-01 5.67957550e-01 -2.99720361e-03 5.96926936e+01] [ 3.64735527e-03 -8.41754107e-06 9.99993348e-01 -7.77937050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53088847899997 meters Centerline goodness [0,1] 0.9999775865160481 Centerline is valid? [True, True] Translation: X:112.08, Y:59.71, Z:-0.78 [[ 5.67317553e-01 -8.23496613e-01 -2.03021761e-03 1.12079359e+02] [ 8.23491404e-01 5.67321186e-01 -2.92923419e-03 5.97149260e+01] [ 3.56399989e-03 -1.00607768e-05 9.99993649e-01 -7.78461474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.56088847899997 meters Centerline goodness [0,1] 0.9999552081700298 Centerline is valid? [True, True] Translation: X:112.10, Y:59.74, Z:-0.78 [[ 5.66583739e-01 -8.24001596e-01 -2.05848494e-03 1.12096817e+02] [ 8.23996236e-01 5.66587478e-01 -2.97198546e-03 5.97369785e+01] [ 3.61523255e-03 -1.23052086e-05 9.99993465e-01 -7.78495445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:59.76, Z:-0.78 [[ 5.65753790e-01 -8.24571029e-01 -2.29496894e-03 1.12113745e+02] [ 8.24564366e-01 5.65758444e-01 -3.31506664e-03 5.97594979e+01] [ 4.03190597e-03 -1.68380953e-05 9.99991872e-01 -7.78134055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.62088847899997 meters Centerline goodness [0,1] 0.9999773776128857 Centerline is valid? [True, True] Translation: X:112.13, Y:59.78, Z:-0.78 [[ 5.64523272e-01 -8.25414131e-01 -2.23326287e-03 1.12130550e+02] [ 8.25407819e-01 5.64527689e-01 -3.22801582e-03 5.97817388e+01] [ 3.92518860e-03 -2.10625808e-05 9.99992296e-01 -7.77551240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.65088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.15, Y:59.80, Z:-0.78 [[ 5.62242976e-01 -8.26970348e-01 -1.69704426e-03 1.12148117e+02] [ 8.26966705e-01 5.62245537e-01 -2.45469220e-03 5.98021216e+01] [ 2.98411322e-03 -2.32656473e-05 9.99995547e-01 -7.76705602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.68088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.17, Y:59.82, Z:-0.78 [[ 5.60760726e-01 -8.27976927e-01 -1.27138549e-03 1.12165179e+02] [ 8.27974881e-01 5.60762167e-01 -1.84099634e-03 5.98249423e+01] [ 2.23724737e-03 -2.03168087e-05 9.99997497e-01 -7.75718583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.71088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:59.85, Z:-0.78 [[ 5.59808569e-01 -8.28621650e-01 -7.26246964e-04 1.12181900e+02] [ 8.28620980e-01 5.59809040e-01 -1.05341793e-03 5.98471607e+01] [ 1.27944452e-03 -1.20710854e-05 9.99999181e-01 -7.75048800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.74088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.20, Y:59.87, Z:-0.77 [[ 5.59077640e-01 -8.29115250e-01 -3.05734819e-04 1.12198802e+02] [ 8.29115131e-01 5.59077724e-01 -4.45319152e-04 5.98700698e+01] [ 5.40150427e-04 -4.52138346e-06 9.99999854e-01 -7.73938531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.77088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.21, Y:59.89, Z:-0.77 [[ 5.59282499e-01 -8.28977032e-01 -4.08109489e-04 1.12214780e+02] [ 8.28976819e-01 5.59282648e-01 -5.93854159e-04 5.98932871e+01] [ 7.20540014e-04 -6.18106855e-06 9.99999740e-01 -7.74254061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.80088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.23, Y:59.92, Z:-0.78 [[ 5.60022705e-01 -8.28476911e-01 -7.60495098e-04 1.12230418e+02] [ 8.28476174e-01 5.60023221e-01 -1.10494061e-03 5.99165014e+01] [ 1.34131270e-03 -1.12602410e-05 9.99999100e-01 -7.75027588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.25, Y:59.94, Z:-0.78 [[ 5.62485096e-01 -8.26805783e-01 -1.64747227e-03 1.12245161e+02] [ 8.26802323e-01 5.62487509e-01 -2.39186265e-03 5.99405258e+01] [ 2.90428845e-03 -1.67468041e-05 9.99995782e-01 -7.75834461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.26, Y:59.96, Z:-0.78 [[ 5.63809650e-01 -8.25902085e-01 -2.10353686e-03 1.12260550e+02] [ 8.25896436e-01 5.63813574e-01 -3.05480945e-03 5.99646471e+01] [ 3.70897612e-03 -1.49725479e-05 9.99993122e-01 -7.76538697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:59.99, Z:-0.78 [[ 5.66621176e-01 -8.23973883e-01 -2.73544278e-03 1.12273449e+02] [ 8.23964301e-01 5.66627779e-01 -3.97375580e-03 5.99891776e+01] [ 4.82424886e-03 -2.29301291e-06 9.99988363e-01 -7.78590049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.29, Y:60.01, Z:-0.78 [[ 5.67854098e-01 -8.23123514e-01 -3.06653769e-03 1.12287981e+02] [ 8.23111446e-01 5.67862378e-01 -4.45720928e-03 6.00136203e+01] [ 5.41020515e-03 6.94228640e-06 9.99985365e-01 -7.79552718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95088847899999 meters Centerline goodness [0,1] 0.9999550652676986 Centerline is valid? [True, True] Translation: X:112.30, Y:60.04, Z:-0.78 [[ 5.68922941e-01 -8.22385150e-01 -3.05805331e-03 1.12302696e+02] [ 8.22373124e-01 5.68931160e-01 -4.44744146e-03 6.00378003e+01] [ 5.39733163e-03 1.53906260e-05 9.99985434e-01 -7.80079998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.32, Y:60.06, Z:-0.78 [[ 5.69579507e-01 -8.21930606e-01 -3.04374383e-03 1.12317474e+02] [ 8.21918672e-01 5.69587639e-01 -4.42918808e-03 6.00620264e+01] [ 5.37416411e-03 2.10648792e-05 9.99985559e-01 -7.80019181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:60.09, Z:-0.78 [[ 5.70321608e-01 -8.21416091e-01 -2.97801700e-03 1.12332738e+02] [ 8.21404647e-01 5.70329383e-01 -4.33605708e-03 6.00859411e+01] [ 5.26015765e-03 2.67900453e-05 9.99986165e-01 -7.79374255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.35, Y:60.11, Z:-0.78 [[ 5.70405561e-01 -8.21357568e-01 -3.04010778e-03 1.12348292e+02] [ 8.21345627e-01 5.70413662e-01 -4.42896574e-03 6.01094090e+01] [ 5.37188354e-03 2.93274618e-05 9.99985571e-01 -7.79237808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:60.13, Z:-0.78 [[ 5.70092837e-01 -8.21576195e-01 -2.59093258e-03 1.12363676e+02] [ 8.21567513e-01 5.70098724e-01 -3.77711255e-03 6.01326803e+01] [ 4.58027312e-03 2.46787718e-05 9.99989510e-01 -7.79306232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.100888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.38, Y:60.16, Z:-0.78 [[ 5.69802644e-01 -8.21778509e-01 -2.24267495e-03 1.12379376e+02] [ 8.21771996e-01 5.69807057e-01 -3.27161389e-03 6.01559248e+01] [ 3.96643400e-03 2.12067754e-05 9.99992133e-01 -7.79042174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.130888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.40, Y:60.18, Z:-0.78 [[ 5.69081037e-01 -8.22280453e-01 -1.27662157e-03 1.12395560e+02] [ 8.22278341e-01 5.69082469e-01 -1.86376006e-03 6.01782009e+01] [ 2.25903642e-03 1.08922413e-05 9.99997448e-01 -7.77847192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.41, Y:60.20, Z:-0.78 [[ 5.68492850e-01 -8.22687672e-01 -9.34678961e-04 1.12412163e+02] [ 8.22686537e-01 5.68493618e-01 -1.36653633e-03 6.02006966e+01] [ 1.65559161e-03 7.91833226e-06 9.99998629e-01 -7.76855273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.43, Y:60.22, Z:-0.78 [[ 5.67799688e-01 -8.23166125e-01 -1.02257614e-03 1.12428115e+02] [ 8.23164766e-01 5.67800609e-01 -1.49568389e-03 6.02235731e+01] [ 1.81181567e-03 7.50020034e-06 9.99998359e-01 -7.76514867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.44, Y:60.25, Z:-0.78 [[ 5.68009058e-01 -8.23021344e-01 -1.25558701e-03 1.12443151e+02] [ 8.23019297e-01 5.68010446e-01 -1.83577154e-03 6.02460594e+01] [ 2.22406570e-03 9.36252053e-06 9.99997527e-01 -7.77234036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.46, Y:60.27, Z:-0.78 [[ 5.68437491e-01 -8.22724712e-01 -1.69288981e-03 1.12458482e+02] [ 8.22720985e-01 5.68440012e-01 -2.47671413e-03 6.02696119e+01] [ 2.99996022e-03 1.50811975e-05 9.99995500e-01 -7.77766170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.28088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:60.29, Z:-0.78 [[ 5.70243972e-01 -8.21472727e-01 -2.09073509e-03 1.12473326e+02] [ 8.21467029e-01 5.70247804e-01 -3.05961993e-03 6.02942319e+01] [ 3.70563142e-03 2.72598815e-05 9.99993134e-01 -7.78261831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.49, Y:60.32, Z:-0.78 [[ 5.71020831e-01 -8.20932600e-01 -2.20809710e-03 1.12488666e+02] [ 8.20926233e-01 5.71025100e-01 -3.23341413e-03 6.03185230e+01] [ 3.91529393e-03 3.36619902e-05 9.99992335e-01 -7.78526322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.34088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.50, Y:60.34, Z:-0.78 [[ 5.71529133e-01 -8.20578609e-01 -2.27958317e-03 1.12502890e+02] [ 8.20571814e-01 5.71533678e-01 -3.33962412e-03 6.03415160e+01] [ 4.04328266e-03 3.81307850e-05 9.99991825e-01 -7.79583099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:60.37, Z:-0.78 [[ 5.71779601e-01 -8.20403172e-01 -2.59291850e-03 1.12517761e+02] [ 8.20394369e-01 5.71785478e-01 -3.80074654e-03 6.03653500e+01] [ 4.60073767e-03 4.59736027e-05 9.99989415e-01 -7.81109041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.40088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.53, Y:60.39, Z:-0.78 [[ 5.71498933e-01 -8.20597114e-01 -3.05716210e-03 1.12533821e+02] [ 8.20584867e-01 5.71507108e-01 -4.48351328e-03 6.03887368e+01] [ 5.42634793e-03 5.36621003e-05 9.99985276e-01 -7.81638442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.43088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.55, Y:60.41, Z:-0.78 [[ 5.71345833e-01 -8.20702601e-01 -3.34376124e-03 1.12549437e+02] [ 8.20687936e-01 5.71355614e-01 -4.90652719e-03 6.04115268e+01] [ 5.93727638e-03 5.91393565e-05 9.99982372e-01 -7.82653215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.46088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.56, Y:60.43, Z:-0.78 [[ 5.71217230e-01 -8.20791568e-01 -3.47524955e-03 1.12564655e+02] [ 8.20775722e-01 5.71227798e-01 -5.10058258e-03 6.04341327e+01] [ 6.17167432e-03 6.11401922e-05 9.99980953e-01 -7.83617281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.49088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.58, Y:60.46, Z:-0.78 [[ 5.70799432e-01 -8.21080189e-01 -3.91560798e-03 1.12582092e+02] [ 8.21060051e-01 5.70812858e-01 -5.75099345e-03 6.04562867e+01] [ 6.95710617e-03 6.77145066e-05 9.99975797e-01 -7.82424359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.52088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.60, Y:60.48, Z:-0.78 [[ 5.70475943e-01 -8.21305594e-01 -3.78419277e-03 1.12597555e+02] [ 8.21286780e-01 5.70488490e-01 -5.55946981e-03 6.04788518e+01] [ 6.72486208e-03 6.36362806e-05 9.99977386e-01 -7.82433931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.55088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.61, Y:60.50, Z:-0.78 [[ 5.69517099e-01 -8.21971943e-01 -3.52115767e-03 1.12613045e+02] [ 8.21955642e-01 5.69527981e-01 -5.17703505e-03 6.05018702e+01] [ 6.26077538e-03 5.41745656e-05 9.99980400e-01 -7.82446235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.63, Y:60.53, Z:-0.78 [[ 5.68428610e-01 -8.22725808e-01 -3.34086098e-03 1.12627924e+02] [ 8.22711132e-01 5.68438425e-01 -4.91419478e-03 6.05250666e+01] [ 5.94210862e-03 4.48053843e-05 9.99982345e-01 -7.83063784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.64, Y:60.55, Z:-0.78 [[ 5.66429348e-01 -8.24106560e-01 -2.48420597e-03 1.12644005e+02] [ 8.24098446e-01 5.66434795e-01 -3.65704478e-03 6.05476929e+01] [ 4.42093529e-03 2.42272081e-05 9.99990227e-01 -7.83999822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:60.57, Z:-0.78 [[ 5.65303457e-01 -8.24879178e-01 -2.51859587e-03 1.12660771e+02] [ 8.24870836e-01 5.65309067e-01 -3.70986388e-03 6.05699386e+01] [ 4.48397455e-03 1.96825987e-05 9.99989947e-01 -7.83663833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.68, Y:60.59, Z:-0.78 [[ 5.65080227e-01 -8.25032120e-01 -2.51759300e-03 1.12676213e+02] [ 8.25023776e-01 5.65085835e-01 -3.71054476e-03 6.05928153e+01] [ 4.48397475e-03 1.96813889e-05 9.99989947e-01 -7.83813949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:60.61, Z:-0.78 [[ 5.62911604e-01 -8.26514080e-01 -2.23631846e-03 1.12694132e+02] [ 8.26507499e-01 5.62916046e-01 -3.29831681e-03 6.06141967e+01] [ 3.98496483e-03 8.32683144e-06 9.99992060e-01 -7.82419024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.71, Y:60.64, Z:-0.78 [[ 5.62219817e-01 -8.26984560e-01 -2.32692557e-03 1.12710864e+02] [ 8.26977431e-01 5.62224632e-01 -3.43397330e-03 6.06370811e+01] [ 4.14809777e-03 6.33291007e-06 9.99991397e-01 -7.81709994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.73, Y:60.66, Z:-0.78 [[ 5.61804413e-01 -8.27266556e-01 -2.41800654e-03 1.12726643e+02] [ 8.27258853e-01 5.61809617e-01 -3.56995026e-03 6.06596801e+01] [ 4.31175978e-03 5.29649732e-06 9.99990704e-01 -7.82258725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.74, Y:60.68, Z:-0.78 [[ 5.61824411e-01 -8.27252737e-01 -2.49807814e-03 1.12741754e+02] [ 8.27244505e-01 5.61829965e-01 -3.69038238e-03 6.06829893e+01] [ 4.45637408e-03 6.82549463e-06 9.99990070e-01 -7.82703661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.75, Y:60.71, Z:-0.78 [[ 5.63160446e-01 -8.26342869e-01 -2.78832172e-03 1.12754609e+02] [ 8.26332592e-01 5.63167348e-01 -4.12138801e-03 6.07086777e+01] [ 4.97597135e-03 1.69215941e-05 9.99987620e-01 -7.83096453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:60.73, Z:-0.78 [[ 5.63819423e-01 -8.25893053e-01 -2.88519212e-03 1.12769322e+02] [ 8.25882030e-01 5.63826804e-01 -4.26711263e-03 6.07330689e+01] [ 5.15092732e-03 2.30526545e-05 9.99986734e-01 -7.83974155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.78, Y:60.76, Z:-0.78 [[ 5.64477141e-01 -8.25442594e-01 -3.17503565e-03 1.12784192e+02] [ 8.25429235e-01 5.64486069e-01 -4.69639223e-03 6.07558983e+01] [ 5.66886558e-03 3.02388122e-05 9.99983931e-01 -7.84609501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.80, Y:60.78, Z:-0.78 [[ 5.65266597e-01 -8.24901389e-01 -3.37243798e-03 1.12800113e+02] [ 8.24886284e-01 5.65276656e-01 -4.99214248e-03 6.07789244e+01] [ 6.02438573e-03 4.00135651e-05 9.99981852e-01 -7.83694114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.81, Y:60.80, Z:-0.78 [[ 5.65530574e-01 -8.24721305e-01 -3.15260838e-03 1.12814546e+02] [ 8.24708095e-01 5.65539360e-01 -4.66802654e-03 6.08015822e+01] [ 5.63274507e-03 3.99300760e-05 9.99984135e-01 -7.83894892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:60.83, Z:-0.78 [[ 5.65535373e-01 -8.24718931e-01 -2.90304826e-03 1.12829765e+02] [ 8.24707710e-01 5.65542823e-01 -4.30212864e-03 6.08253107e+01] [ 5.18984504e-03 3.88396428e-05 9.99986532e-01 -7.83562797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.00088847899997 meters Centerline goodness [0,1] 0.9999777441467106 Centerline is valid? [True, True] Translation: X:112.84, Y:60.85, Z:-0.78 [[ 5.66111781e-01 -8.24325113e-01 -2.35775068e-03 1.12843542e+02] [ 8.24317700e-01 5.66116690e-01 -3.49612680e-03 6.08483030e+01] [ 4.21670713e-03 3.56629477e-05 9.99991109e-01 -7.83412264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:60.87, Z:-0.78 [[ 5.66190717e-01 -8.24271121e-01 -2.27839916e-03 1.12858984e+02] [ 8.24264189e-01 5.66195300e-01 -3.38075493e-03 6.08723759e+01] [ 4.07667755e-03 3.61492183e-05 9.99991690e-01 -7.83209106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.06088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.87, Y:60.90, Z:-0.78 [[ 5.66023871e-01 -8.24386252e-01 -2.06992957e-03 1.12874541e+02] [ 8.24380523e-01 5.66027655e-01 -3.07358611e-03 6.08956758e+01] [ 3.70545952e-03 3.33134878e-05 9.99993134e-01 -7.82915740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.89, Y:60.92, Z:-0.78 [[ 5.66375865e-01 -8.24145151e-01 -1.77473642e-03 1.12890315e+02] [ 8.24140932e-01 5.66378644e-01 -2.63734887e-03 6.09192296e+01] [ 3.17873109e-03 3.10978235e-05 9.99994947e-01 -7.81901898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.12088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.90, Y:60.94, Z:-0.78 [[ 5.66648819e-01 -8.23957749e-01 -1.65651461e-03 1.12904699e+02] [ 8.23954068e-01 5.66651239e-01 -2.46296213e-03 6.09421772e+01] [ 2.96804279e-03 3.07426252e-05 9.99995595e-01 -7.81784676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.15088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.92, Y:60.97, Z:-0.78 [[ 5.66983099e-01 -8.23728286e-01 -1.37006175e-03 1.12919762e+02] [ 8.23725763e-01 5.66984753e-01 -2.03898000e-03 6.09664438e+01] [ 2.45636963e-03 2.75120432e-05 9.99996983e-01 -7.81853811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.18088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.93, Y:60.99, Z:-0.78 [[ 5.67811952e-01 -8.23157165e-01 -1.36735856e-03 1.12931770e+02] [ 8.23154648e-01 5.67813597e-01 -2.03576991e-03 6.09910956e+01] [ 2.45216337e-03 3.03869334e-05 9.99996993e-01 -7.82879954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.21088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.95, Y:61.01, Z:-0.78 [[ 5.68036775e-01 -8.23002127e-01 -1.31163637e-03 1.12947001e+02] [ 8.22999808e-01 5.68038289e-01 -1.95430042e-03 6.10145772e+01] [ 2.35345308e-03 3.06380250e-05 9.99997230e-01 -7.82851305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.24088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.96, Y:61.04, Z:-0.78 [[ 5.67955389e-01 -8.23058300e-01 -1.30797763e-03 1.12961951e+02] [ 8.23055990e-01 5.67956895e-01 -1.95006449e-03 6.10380997e+01] [ 2.34789168e-03 3.10108190e-05 9.99997243e-01 -7.83173972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.27088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.98, Y:61.06, Z:-0.78 [[ 5.67938355e-01 -8.23069624e-01 -1.55503744e-03 1.12977039e+02] [ 8.23066358e-01 5.67940483e-01 -2.31930353e-03 6.10620705e+01] [ 2.79211700e-03 3.73224315e-05 9.99996101e-01 -7.83807080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.30088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.99, Y:61.09, Z:-0.79 [[ 5.67800246e-01 -8.23164193e-01 -1.89517798e-03 1.12989958e+02] [ 8.23159339e-01 5.67803407e-01 -2.82731058e-03 6.10865696e+01] [ 3.40342934e-03 4.53141852e-05 9.99994207e-01 -7.85384695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.01, Y:61.11, Z:-0.78 [[ 5.67592864e-01 -8.23307395e-01 -1.80930995e-03 1.13006170e+02] [ 8.23302966e-01 5.67595746e-01 -2.70116378e-03 6.11096753e+01] [ 3.25084475e-03 4.35510399e-05 9.99994715e-01 -7.84877301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.02, Y:61.13, Z:-0.79 [[ 5.67314767e-01 -8.23499408e-01 -1.63710909e-03 1.13020622e+02] [ 8.23495781e-01 5.67317128e-01 -2.44445301e-03 6.11320249e+01] [ 2.94176563e-03 3.86218589e-05 9.99995672e-01 -7.85303958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.04, Y:61.15, Z:-0.78 [[ 5.66804613e-01 -8.23851007e-01 -1.43132209e-03 1.13036780e+02] [ 8.23848229e-01 5.66806419e-01 -2.13964470e-03 6.11548304e+01] [ 2.57403098e-03 3.35683169e-05 9.99996687e-01 -7.84864632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.05, Y:61.18, Z:-0.79 [[ 5.65979965e-01 -8.24417378e-01 -1.63298315e-03 1.13051299e+02] [ 8.24413762e-01 5.65982320e-01 -2.44172691e-03 6.11771934e+01] [ 2.93724169e-03 3.57147293e-05 9.99995686e-01 -7.85172811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.07, Y:61.20, Z:-0.79 [[ 5.65378458e-01 -8.24830170e-01 -1.54635744e-03 1.13066633e+02] [ 8.24826924e-01 5.65380571e-01 -2.31398253e-03 6.12008943e+01] [ 2.78292306e-03 3.27986281e-05 9.99996127e-01 -7.85949825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.08, Y:61.22, Z:-0.79 [[ 5.64676027e-01 -8.25310819e-01 -1.74250635e-03 1.13080799e+02] [ 8.25306699e-01 5.64678714e-01 -2.60825797e-03 6.12235409e+01] [ 3.13657977e-03 3.47185828e-05 9.99995080e-01 -7.86967072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.10, Y:61.25, Z:-0.79 [[ 5.63575885e-01 -8.26062097e-01 -1.90614937e-03 1.13097326e+02] [ 8.26057165e-01 5.63579108e-01 -2.85478993e-03 6.12468834e+01] [ 3.43249972e-03 3.43024187e-05 9.99994108e-01 -7.86967901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:61.27, Z:-0.79 [[ 5.62460032e-01 -8.26822520e-01 -1.79790205e-03 1.13113372e+02] [ 8.26818130e-01 5.62462905e-01 -2.69462674e-03 6.12703005e+01] [ 3.23923128e-03 2.90818371e-05 9.99994753e-01 -7.86831248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.570888479 meters Centerline goodness [0,1] 0.999977773826458 Centerline is valid? [True, True] Translation: X:113.13, Y:61.29, Z:-0.79 [[ 5.61272006e-01 -8.27630185e-01 -1.41858814e-03 1.13129215e+02] [ 8.27627450e-01 5.61273798e-01 -2.12795667e-03 6.12932196e+01] [ 2.55737753e-03 2.03000274e-05 9.99996730e-01 -7.86592257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.600888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.15, Y:61.32, Z:-0.79 [[ 5.58199805e-01 -8.29705976e-01 -9.85371622e-04 1.13145476e+02] [ 8.29704658e-01 5.58200675e-01 -1.47899990e-03 6.13152703e+01] [ 1.77717016e-03 8.01003207e-06 9.99998421e-01 -7.85194959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.630888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.16, Y:61.34, Z:-0.79 [[ 5.56543352e-01 -8.30818236e-01 -7.45662152e-04 1.13160810e+02] [ 8.30817480e-01 5.56543852e-01 -1.12061727e-03 6.13380517e+01] [ 1.34602295e-03 4.16294302e-06 9.99999094e-01 -7.85601151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.18, Y:61.36, Z:-0.78 [[ 5.54752458e-01 -8.32015362e-01 -3.83729530e-04 1.13177003e+02] [ 8.32015161e-01 5.54752591e-01 -5.78543665e-04 6.13612629e+01] [ 6.94232168e-04 1.67973393e-06 9.99999759e-01 -7.84421434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.19, Y:61.38, Z:-0.78 [[ 5.52670582e-01 -8.33399776e-01 -2.00402305e-04 1.13192743e+02] [ 8.33399721e-01 5.52670619e-01 -3.03658783e-04 6.13844063e+01] [ 3.63825627e-04 8.08051105e-07 9.99999934e-01 -7.83847493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.21, Y:61.41, Z:-0.78 [[ 5.49115613e-01 -8.35746185e-01 5.99200215e-04 1.13208708e+02] [ 8.35745702e-01 5.49115939e-01 8.98221399e-04 6.14070584e+01] [-1.07971550e-03 7.55161041e-06 9.99999417e-01 -7.82741468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.22, Y:61.43, Z:-0.78 [[ 5.47388128e-01 -8.36878362e-01 9.18614766e-04 1.13223767e+02] [ 8.36877228e-01 5.47388898e-01 1.37793097e-03 6.14303923e+01] [-1.65600014e-03 1.45047238e-05 9.99998629e-01 -7.82625355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.78088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.24, Y:61.45, Z:-0.78 [[ 5.45859265e-01 -8.37876264e-01 1.01478448e-03 1.13238789e+02] [ 8.37874879e-01 5.45860208e-01 1.52338626e-03 6.14544175e+01] [-1.83033965e-03 1.87079180e-05 9.99998325e-01 -7.83176300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.25, Y:61.48, Z:-0.78 [[ 5.44449962e-01 -8.38793015e-01 7.18732721e-04 1.13253711e+02] [ 8.38792321e-01 5.44450437e-01 1.07882469e-03 6.14786329e+01] [-1.29622495e-03 1.55014278e-05 9.99999160e-01 -7.83637091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.84088847899997 meters Centerline goodness [0,1] 0.9999778344231408 Centerline is valid? [True, True] Translation: X:113.27, Y:61.50, Z:-0.78 [[ 5.41764793e-01 -8.40529924e-01 5.96921875e-04 1.13269180e+02] [ 8.40529446e-01 5.41765122e-01 8.96219250e-04 6.15027913e+01] [-1.07669055e-03 1.61903766e-05 9.99999420e-01 -7.83895608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:61.53, Z:-0.78 [[ 5.40129050e-01 -8.41582046e-01 5.19182058e-04 1.13284996e+02] [ 8.41581685e-01 5.40129299e-01 7.79579698e-04 6.15272719e+01] [-9.36505718e-04 1.58604688e-05 9.99999561e-01 -7.83625140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.90088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.30, Y:61.55, Z:-0.78 [[ 5.38545394e-01 -8.42596445e-01 2.97716489e-04 1.13300375e+02] [ 8.42596327e-01 5.38545477e-01 4.47147201e-04 6.15511727e+01] [-5.37098510e-04 1.00457543e-05 9.99999856e-01 -7.83777134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.93088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:61.58, Z:-0.78 [[ 5.35257971e-01 -8.44688532e-01 -4.35144189e-04 1.13314991e+02] [ 8.44688275e-01 5.35258147e-01 -6.58432204e-04 6.15761701e+01] [ 7.89084604e-04 -1.51301094e-05 9.99999689e-01 -7.84808551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.33, Y:61.60, Z:-0.79 [[ 5.33541540e-01 -8.45773272e-01 -9.98293052e-04 1.13330493e+02] [ 8.45771931e-01 5.33542472e-01 -1.50710128e-03 6.15992071e+01] [ 1.80729772e-03 -4.02271042e-05 9.99998366e-01 -7.85366183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.35, Y:61.62, Z:-0.79 [[ 5.32311758e-01 -8.46547084e-01 -1.49195973e-03 1.13348187e+02] [ 8.46544091e-01 5.32313845e-01 -2.25209241e-03 6.16210415e+01] [ 2.70069309e-03 -6.41944192e-05 9.99996351e-01 -7.86889632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.02088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.36, Y:61.65, Z:-0.79 [[ 5.29966412e-01 -8.48016467e-01 -1.91660128e-03 1.13360091e+02] [ 8.48011530e-01 5.29969870e-01 -2.89512066e-03 6.16477742e+01] [ 3.47085092e-03 -9.09832727e-05 9.99993972e-01 -7.86058846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.05088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:61.67, Z:-0.79 [[ 5.28830014e-01 -8.48725845e-01 -1.80438766e-03 1.13374881e+02] [ 8.48721469e-01 5.28833085e-01 -2.72718049e-03 6.16722131e+01] [ 3.26884845e-03 -8.92076461e-05 9.99994653e-01 -7.85951043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:61.70, Z:-0.79 [[ 5.28014655e-01 -8.49233879e-01 -1.53063481e-03 1.13388696e+02] [ 8.49230726e-01 5.28016868e-01 -2.31541115e-03 6.16968131e+01] [ 2.77452659e-03 -7.72910872e-05 9.99996148e-01 -7.85653720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11088847899998 meters Centerline goodness [0,1] 0.9999342710661233 Centerline is valid? [True, True] Translation: X:113.40, Y:61.72, Z:-0.79 [[ 5.27177807e-01 -8.49754194e-01 -1.17008730e-03 1.13402582e+02] [ 8.49752350e-01 5.27179102e-01 -1.77167143e-03 6.17214752e+01] [ 2.12233080e-03 -6.02985739e-05 9.99997746e-01 -7.85166594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14088847899998 meters Centerline goodness [0,1] 0.9999129886232625 Centerline is valid? [True, True] Translation: X:113.42, Y:61.74, Z:-0.79 [[ 5.27031572e-01 -8.49845554e-01 -5.06359320e-04 1.13416288e+02] [ 8.49845207e-01 5.27031814e-01 -7.68333967e-04 6.17449417e+01] [ 9.19832677e-04 -2.53907826e-05 9.99999577e-01 -7.85196365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17088847899998 meters Centerline goodness [0,1] 0.9999129526462396 Centerline is valid? [True, True] Translation: X:113.43, Y:61.77, Z:-0.78 [[ 5.27435820e-01 -8.49594727e-01 -5.05011258e-04 1.13426424e+02] [ 8.49594382e-01 5.27436061e-01 -7.67051880e-04 6.17720228e+01] [ 9.18044381e-04 -2.44840901e-05 9.99999578e-01 -7.84370778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20088847899999 meters Centerline goodness [0,1] 0.9999132377502549 Centerline is valid? [True, True] Translation: X:113.44, Y:61.80, Z:-0.78 [[ 5.28516715e-01 -8.48922716e-01 -5.51934603e-04 1.13438749e+02] [ 8.48922303e-01 5.28517002e-01 -8.38314308e-04 6.17981461e+01] [ 1.00337088e-03 -2.54864701e-05 9.99999496e-01 -7.84013644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230888479 meters Centerline goodness [0,1] 0.9997830802603037 Centerline is valid? [True, True] Translation: X:113.45, Y:61.82, Z:-0.78 [[ 5.31543231e-01 -8.47030997e-01 -5.32716421e-04 1.13449618e+02] [ 8.47030610e-01 5.31543497e-01 -8.09888469e-04 6.18241918e+01] [ 9.69162587e-04 -2.07363820e-05 9.99999530e-01 -7.84159341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.260888479 meters Centerline goodness [0,1] 0.999848887161885 Centerline is valid? [True, True] Translation: X:113.46, Y:61.85, Z:-0.78 [[ 5.33487723e-01 -8.45807652e-01 -5.15240986e-04 1.13461648e+02] [ 8.45807289e-01 5.33487972e-01 -7.83558692e-04 6.18509203e+01] [ 9.37614806e-04 -1.77756394e-05 9.99999560e-01 -7.84057644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290888479 meters Centerline goodness [0,1] 0.9996121358386485 Centerline is valid? [True, True] Translation: X:113.47, Y:61.88, Z:-0.78 [[ 5.35778888e-01 -8.44358160e-01 -5.30419654e-04 1.13473592e+02] [ 8.44357774e-01 5.35779151e-01 -8.07010273e-04 6.18776099e+01] [ 9.65593500e-04 -1.54848916e-05 9.99999534e-01 -7.84555084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.320888479 meters Centerline goodness [0,1] 0.9993138053780504 Centerline is valid? [True, True] Translation: X:113.48, Y:61.91, Z:-0.79 [[ 5.40189275e-01 -8.41543028e-01 -9.37887682e-04 1.13481637e+02] [ 8.41541824e-01 5.40190089e-01 -1.42378833e-03 6.19055541e+01] [ 1.70481678e-03 -2.01565221e-05 9.99998547e-01 -7.86158165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.350888479 meters Centerline goodness [0,1] 0.9993571061203498 Centerline is valid? [True, True] Translation: X:113.49, Y:61.93, Z:-0.79 [[ 5.42404431e-01 -8.40116663e-01 -1.19382261e-03 1.13494142e+02] [ 8.40114703e-01 5.42405745e-01 -1.81488626e-03 6.19314538e+01] [ 2.17225243e-03 -1.85455771e-05 9.99997640e-01 -7.86782054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.380888479 meters Centerline goodness [0,1] 0.9995706772566276 Centerline is valid? [True, True] Translation: X:113.51, Y:61.96, Z:-0.79 [[ 5.44648255e-01 -8.38663138e-01 -1.55578288e-03 1.13506514e+02] [ 8.38659801e-01 5.44650476e-01 -2.36587040e-03 6.19573571e+01] [ 2.83152618e-03 -1.62053706e-05 9.99995991e-01 -7.86702391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.410888479 meters Centerline goodness [0,1] 0.9992924680002573 Centerline is valid? [True, True] Translation: X:113.52, Y:61.98, Z:-0.79 [[ 5.47015508e-01 -8.37120879e-01 -1.63353016e-03 1.13519694e+02] [ 8.37117190e-01 5.47017947e-01 -2.48504231e-03 6.19832615e+01] [ 2.97385111e-03 -8.09949798e-06 9.99995578e-01 -7.86587638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.440888479 meters Centerline goodness [0,1] 0.9996140486298727 Centerline is valid? [True, True] Translation: X:113.53, Y:62.01, Z:-0.79 [[ 5.51016453e-01 -8.34491366e-01 -2.24257084e-03 1.13529214e+02] [ 8.34484394e-01 5.51021017e-01 -3.41102442e-03 6.20091516e+01] [ 4.08217409e-03 8.14020933e-06 9.99991668e-01 -7.87148045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.470888479 meters Centerline goodness [0,1] 0.999293906196508 Centerline is valid? [True, True] Translation: X:113.54, Y:62.03, Z:-0.79 [[ 5.52731483e-01 -8.33355051e-01 -2.69572901e-03 1.13541062e+02] [ 8.33344950e-01 5.52738056e-01 -4.10304346e-03 6.20340929e+01] [ 4.90932401e-03 2.14091410e-05 9.99987949e-01 -7.88631669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.50088847899997 meters Centerline goodness [0,1] 0.9992505674275192 Centerline is valid? [True, True] Translation: X:113.55, Y:62.06, Z:-0.79 [[ 5.54046978e-01 -8.32480259e-01 -2.92663940e-03 1.13554199e+02] [ 8.32468328e-01 5.54054707e-01 -4.45700556e-03 6.20595950e+01] [ 5.33188748e-03 3.30558560e-05 9.99985785e-01 -7.88837063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53088847899997 meters Centerline goodness [0,1] 0.9992719174268705 Centerline is valid? [True, True] Translation: X:113.57, Y:62.09, Z:-0.79 [[ 5.56010886e-01 -8.31169849e-01 -2.92843547e-03 1.13567087e+02] [ 8.31157874e-01 5.56018596e-01 -4.46191875e-03 6.20859527e+01] [ 5.33687692e-03 4.68832033e-05 9.99985758e-01 -7.88707419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.56088847899997 meters Centerline goodness [0,1] 0.9992111042408477 Centerline is valid? [True, True] Translation: X:113.58, Y:62.11, Z:-0.79 [[ 5.56649344e-01 -8.30742465e-01 -2.90959138e-03 1.13580889e+02] [ 8.30730628e-01 5.56656945e-01 -4.43494072e-03 6.21088516e+01] [ 5.30393784e-03 5.16201701e-05 9.99985933e-01 -7.88478613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59088847899997 meters Centerline goodness [0,1] 0.9992111042408477 Centerline is valid? [True, True] Translation: X:113.60, Y:62.13, Z:-0.79 [[ 5.56424109e-01 -8.30893347e-01 -2.90811781e-03 1.13595953e+02] [ 8.30881508e-01 5.56431706e-01 -4.43590746e-03 6.21319526e+01] [ 5.30393495e-03 5.19445469e-05 9.99985933e-01 -7.88628846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.62088847899997 meters Centerline goodness [0,1] 0.9992522326197496 Centerline is valid? [True, True] Translation: X:113.61, Y:62.16, Z:-0.79 [[ 5.56661362e-01 -8.30735052e-01 -2.72042171e-03 1.13610380e+02] [ 8.30724679e-01 5.56668007e-01 -4.15171631e-03 6.21551848e+01] [ 4.96334800e-03 5.11786046e-05 9.99987681e-01 -7.88219224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.65088847899997 meters Centerline goodness [0,1] 0.9990397746671219 Centerline is valid? [True, True] Translation: X:113.63, Y:62.18, Z:-0.79 [[ 5.57121717e-01 -8.30427251e-01 -2.44395921e-03 1.13626420e+02] [ 8.30418863e-01 5.57127076e-01 -3.73267633e-03 6.21786747e+01] [ 4.46131200e-03 5.00452186e-05 9.99990047e-01 -7.85271018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.68088847899998 meters Centerline goodness [0,1] 0.9991892295547163 Centerline is valid? [True, True] Translation: X:113.64, Y:62.20, Z:-0.79 [[ 5.57009863e-01 -8.30501860e-01 -2.58328189e-03 1.13641499e+02] [ 8.30492478e-01 5.57015851e-01 -3.94779640e-03 6.22026618e+01] [ 4.71758121e-03 5.35653578e-05 9.99988871e-01 -7.85024242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71088847899998 meters Centerline goodness [0,1] 0.9989773308334754 Centerline is valid? [True, True] Translation: X:113.66, Y:62.23, Z:-0.79 [[ 5.57132251e-01 -8.30419778e-01 -2.57839131e-03 1.13655709e+02] [ 8.30410427e-01 5.57138214e-01 -3.94108079e-03 6.22262114e+01] [ 4.70927176e-03 5.45801831e-05 9.99988910e-01 -7.85861406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74088847899998 meters Centerline goodness [0,1] 0.9991693821481056 Centerline is valid? [True, True] Translation: X:113.67, Y:62.25, Z:-0.79 [[ 5.56847430e-01 -8.30609394e-01 -2.99575488e-03 1.13670878e+02] [ 8.30596756e-01 5.56855484e-01 -4.58244602e-03 6.22494155e+01] [ 5.47442525e-03 6.34590045e-05 9.99985013e-01 -7.85809103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77088847899998 meters Centerline goodness [0,1] 0.9992524721812862 Centerline is valid? [True, True] Translation: X:113.69, Y:62.27, Z:-0.79 [[ 5.57053722e-01 -8.30467544e-01 -3.84812044e-03 1.13686035e+02] [ 8.30446692e-01 5.57067007e-01 -5.88559153e-03 6.22726307e+01] [ 7.03145368e-03 8.29317801e-05 9.99975276e-01 -7.86519481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.80088847899998 meters Centerline goodness [0,1] 0.999231950844854 Centerline is valid? [True, True] Translation: X:113.70, Y:62.30, Z:-0.79 [[ 5.57011876e-01 -8.30493407e-01 -4.29772637e-03 1.13702176e+02] [ 8.30467363e-01 5.57028448e-01 -6.57775879e-03 6.22970643e+01] [ 7.85674116e-03 9.47682812e-05 9.99969131e-01 -7.87055968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83088847899998 meters Centerline goodness [0,1] 0.9991922970646375 Centerline is valid? [True, True] Translation: X:113.72, Y:62.32, Z:-0.79 [[ 5.57506828e-01 -8.30158497e-01 -4.79653240e-03 1.13718360e+02] [ 8.30126011e-01 5.57527450e-01 -7.34498910e-03 6.23206278e+01] [ 8.77170359e-03 1.13155273e-04 9.99961521e-01 -7.86792477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86088847899998 meters Centerline goodness [0,1] 0.9991251093613298 Centerline is valid? [True, True] Translation: X:113.73, Y:62.34, Z:-0.79 [[ 5.58413199e-01 -8.29539635e-01 -6.22046810e-03 1.13733247e+02] [ 8.29484964e-01 5.58447822e-01 -9.52496632e-03 6.23441292e+01] [ 1.13751439e-02 1.59082148e-04 9.99935288e-01 -7.88171671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89088847899998 meters Centerline goodness [0,1] 0.9991237631168387 Centerline is valid? [True, True] Translation: X:113.75, Y:62.37, Z:-0.79 [[ 5.58733367e-01 -8.29321225e-01 -6.58259026e-03 1.13748230e+02] [ 8.29259952e-01 5.58772114e-01 -1.00825044e-02 6.23681262e+01] [ 1.20398028e-02 1.74753140e-04 9.99927504e-01 -7.89071708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92088847899998 meters Centerline goodness [0,1] 0.9991675382612222 Centerline is valid? [True, True] Translation: X:113.76, Y:62.39, Z:-0.79 [[ 5.58932351e-01 -8.29184814e-01 -6.86818276e-03 1.13764239e+02] [ 8.29118005e-01 5.58974516e-01 -1.05272942e-02 6.23911792e+01] [ 1.25682116e-02 1.89511323e-04 9.99920999e-01 -7.88544962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95088847899999 meters Centerline goodness [0,1] 0.9990604915337475 Centerline is valid? [True, True] Translation: X:113.78, Y:62.41, Z:-0.79 [[ 5.59172163e-01 -8.29019669e-01 -7.27188078e-03 1.13781824e+02] [ 8.28944686e-01 5.59219407e-01 -1.11517694e-02 6.24146905e+01] [ 1.33116130e-02 2.07772087e-04 9.99911375e-01 -7.86916907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.980888479 meters Centerline goodness [0,1] 0.9989947384181033 Centerline is valid? [True, True] Translation: X:113.80, Y:62.44, Z:-0.79 [[ 5.58998617e-01 -8.29138906e-01 -7.01569079e-03 1.13799119e+02] [ 8.29069096e-01 5.59042605e-01 -1.07610400e-02 6.24356411e+01] [ 1.28444670e-02 1.98914052e-04 9.99917487e-01 -7.85488512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010888479 meters Centerline goodness [0,1] 0.9992085053586326 Centerline is valid? [True, True] Translation: X:113.82, Y:62.46, Z:-0.79 [[ 5.58241296e-01 -8.29647806e-01 -7.15354461e-03 1.13815297e+02] [ 8.29575174e-01 5.58287095e-01 -1.09795140e-02 6.24577184e+01] [ 1.31028614e-02 1.94815136e-04 9.99914135e-01 -7.85597554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.040888479 meters Centerline goodness [0,1] 0.9991653826399589 Centerline is valid? [True, True] Translation: X:113.83, Y:62.48, Z:-0.78 [[ 5.57409545e-01 -8.30207548e-01 -7.07295850e-03 1.13833271e+02] [ 8.30136501e-01 5.57454387e-01 -1.08626020e-02 6.24800872e+01] [ 1.29610659e-02 1.83397018e-04 9.99915985e-01 -7.84157729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.070888479 meters Centerline goodness [0,1] 0.9994642206553653 Centerline is valid? [True, True] Translation: X:113.85, Y:62.50, Z:-0.78 [[ 5.55649770e-01 -8.31383571e-01 -7.39533891e-03 1.13853445e+02] [ 8.31305925e-01 5.55698957e-01 -1.13634950e-02 6.25013630e+01] [ 1.35570051e-02 1.66334320e-04 9.99908086e-01 -7.82242935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.100888479 meters Centerline goodness [0,1] 0.9991655255049641 Centerline is valid? [True, True] Translation: X:113.87, Y:62.52, Z:-0.78 [[ 5.54580187e-01 -8.32097329e-01 -7.40619222e-03 1.13870323e+02] [ 8.32019433e-01 5.54629617e-01 -1.13864109e-02 6.25241329e+01] [ 1.35822957e-02 1.52582031e-04 9.99907745e-01 -7.83050934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.130888479 meters Centerline goodness [0,1] 0.9992060426591134 Centerline is valid? [True, True] Translation: X:113.89, Y:62.55, Z:-0.78 [[ 5.53392406e-01 -8.32885210e-01 -7.68586967e-03 1.13888230e+02] [ 8.32801290e-01 5.53445758e-01 -1.18239183e-02 6.25464548e+01] [ 1.41016786e-02 1.42464394e-04 9.99900556e-01 -7.81969872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.160888479 meters Centerline goodness [0,1] 0.9993557254531398 Centerline is valid? [True, True] Translation: X:113.91, Y:62.57, Z:-0.78 [[ 5.51023204e-01 -8.34455912e-01 -7.53394759e-03 1.13909050e+02] [ 8.34375340e-01 5.51074696e-01 -1.15961657e-02 6.25670064e+01] [ 1.38282569e-02 1.03616282e-04 9.99904380e-01 -7.79859249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.190888479 meters Centerline goodness [0,1] 0.9992886397930588 Centerline is valid? [True, True] Translation: X:113.93, Y:62.59, Z:-0.78 [[ 5.49968862e-01 -8.35151021e-01 -7.55135197e-03 1.13925875e+02] [ 8.35070053e-01 5.50020694e-01 -1.16293568e-02 6.25886205e+01] [ 1.38656691e-02 8.98762525e-05 9.99903863e-01 -7.81308783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.220888479 meters Centerline goodness [0,1] 0.9995038398481318 Centerline is valid? [True, True] Translation: X:113.94, Y:62.61, Z:-0.78 [[ 5.49039561e-01 -8.35760856e-01 -7.70396684e-03 1.13943380e+02] [ 8.35676542e-01 5.49093603e-01 -1.18715239e-02 6.26102222e+01] [ 1.41519539e-02 7.99119302e-05 9.99899853e-01 -7.79596752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25088847899997 meters Centerline goodness [0,1] 0.999373988127361 Centerline is valid? [True, True] Translation: X:113.96, Y:62.63, Z:-0.78 [[ 5.48645018e-01 -8.36016237e-01 -8.09295428e-03 1.13959544e+02] [ 8.35923129e-01 5.48704697e-01 -1.24770482e-02 6.26325744e+01] [ 1.48716569e-02 8.03826783e-05 9.99889408e-01 -7.80553616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28088847899997 meters Centerline goodness [0,1] 0.9996752684447523 Centerline is valid? [True, True] Translation: X:113.98, Y:62.66, Z:-0.78 [[ 5.48441333e-01 -8.36141316e-01 -8.93327561e-03 1.13977487e+02] [ 8.36027769e-01 5.48514076e-01 -1.37796271e-02 6.26556742e+01] [ 1.64217429e-02 8.88505805e-05 9.99865150e-01 -7.80073013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31088847899997 meters Centerline goodness [0,1] 0.9995883436247427 Centerline is valid? [True, True] Translation: X:113.99, Y:62.68, Z:-0.78 [[ 5.48892307e-01 -8.35840324e-01 -9.39084579e-03 1.13993659e+02] [ 8.35714673e-01 5.48972623e-01 -1.44929367e-02 6.26791511e+01] [ 1.72690981e-02 1.06993820e-04 9.99850872e-01 -7.80540021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.34088847899997 meters Centerline goodness [0,1] 0.9996964703841817 Centerline is valid? [True, True] Translation: X:114.01, Y:62.70, Z:-0.78 [[ 5.49353928e-01 -8.35531332e-01 -9.88207029e-03 1.14009788e+02] [ 8.35391993e-01 5.49442788e-01 -1.52591577e-02 6.27026688e+01] [ 1.81791366e-02 1.27275812e-04 9.99834738e-01 -7.80421495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37088847899997 meters Centerline goodness [0,1] 0.9996298151253185 Centerline is valid? [True, True] Translation: X:114.03, Y:62.73, Z:-0.78 [[ 5.50002951e-01 -8.35097657e-01 -1.04238398e-02 1.14025975e+02] [ 8.34942377e-01 5.50101699e-01 -1.61042908e-02 6.27264645e+01] [ 1.91828275e-02 1.54101885e-04 9.99815981e-01 -7.80837993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.40088847899997 meters Centerline goodness [0,1] 0.9996084062132881 Centerline is valid? [True, True] Translation: X:114.04, Y:62.75, Z:-0.78 [[ 5.51552900e-01 -8.34072857e-01 -1.05767686e-02 1.14042026e+02] [ 8.33912730e-01 5.51654268e-01 -1.63440249e-02 6.27489255e+01] [ 1.94668271e-02 1.94492328e-04 9.99810484e-01 -7.82548323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.43088847899998 meters Centerline goodness [0,1] 0.999825616880286 Centerline is valid? [True, True] Translation: X:114.06, Y:62.77, Z:-0.78 [[ 5.51615878e-01 -8.34031171e-01 -1.05796837e-02 1.14058103e+02] [ 8.33870734e-01 5.51717288e-01 -1.63595017e-02 6.27716681e+01] [ 1.94813288e-02 2.02072294e-04 9.99810200e-01 -7.82559036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.46088847899998 meters Centerline goodness [0,1] 0.9996286588029707 Centerline is valid? [True, True] Translation: X:114.07, Y:62.79, Z:-0.78 [[ 5.51487982e-01 -8.34114283e-01 -1.06943024e-02 1.14073938e+02] [ 8.33950177e-01 5.51591624e-01 -1.65463616e-02 6.27943974e+01] [ 1.97004442e-02 2.06604165e-04 9.99805906e-01 -7.82823258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49088847899998 meters Centerline goodness [0,1] 0.9998031668270493 Centerline is valid? [True, True] Translation: X:114.09, Y:62.82, Z:-0.78 [[ 5.50870447e-01 -8.34529673e-01 -1.00982958e-02 1.14092621e+02] [ 8.34383265e-01 5.50962966e-01 -1.56325516e-02 6.28165133e+01] [ 1.86096151e-02 1.85661655e-04 9.99826809e-01 -7.80743999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52088847899998 meters Centerline goodness [0,1] 0.9999124937104854 Centerline is valid? [True, True] Translation: X:114.11, Y:62.84, Z:-0.78 [[ 5.50169304e-01 -8.34995708e-01 -9.79311433e-03 1.14107729e+02] [ 8.34857959e-01 5.50256430e-01 -1.51673477e-02 6.28388346e+01] [ 1.80533944e-02 1.68749669e-04 9.99837010e-01 -7.83644544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55088847899998 meters Centerline goodness [0,1] 0.9998020890599231 Centerline is valid? [True, True] Translation: X:114.13, Y:62.86, Z:-0.78 [[ 5.49810869e-01 -8.35232207e-01 -9.75542113e-03 1.14125697e+02] [ 8.35095369e-01 5.49897384e-01 -1.51192579e-02 6.28604385e+01] [ 1.79925717e-02 1.66025336e-04 9.99838107e-01 -7.78678201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58088847899998 meters Centerline goodness [0,1] 0.9999121303984887 Centerline is valid? [True, True] Translation: X:114.14, Y:62.88, Z:-0.78 [[ 5.49124688e-01 -8.35690226e-01 -9.16097663e-03 1.14143729e+02] [ 8.35569605e-01 5.49201080e-01 -1.41989200e-02 6.28820332e+01] [ 1.68971169e-02 1.42343897e-04 9.99857223e-01 -7.78774316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.16, Y:62.90, Z:-0.78 [[ 5.48487704e-01 -8.36109021e-01 -9.10728458e-03 1.14159921e+02] [ 8.35989709e-01 5.48563293e-01 -1.41251272e-02 6.29039575e+01] [ 1.68060683e-02 1.33862403e-04 9.99858759e-01 -7.78838137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:62.93, Z:-0.78 [[ 5.48052168e-01 -8.36396190e-01 -8.95733075e-03 1.14176649e+02] [ 8.36280667e-01 5.48125347e-01 -1.39014102e-02 6.29270946e+01] [ 1.65368265e-02 1.27855446e-04 9.99863249e-01 -7.78768183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.19, Y:62.95, Z:-0.78 [[ 5.47810718e-01 -8.36555990e-01 -8.80298734e-03 1.14192051e+02] [ 8.36444318e-01 5.47881429e-01 -1.36690187e-02 6.29489669e+01] [ 1.62578928e-02 1.24826221e-04 9.99867824e-01 -7.79966124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.21, Y:62.97, Z:-0.78 [[ 5.47486565e-01 -8.36770461e-01 -8.58240416e-03 1.14208346e+02] [ 8.36664204e-01 5.47553816e-01 -1.33352528e-02 6.29721973e+01] [ 1.58578738e-02 1.20281390e-04 9.99874249e-01 -7.79016248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.22, Y:62.99, Z:-0.78 [[ 5.46742655e-01 -8.37255023e-01 -8.74615012e-03 1.14224390e+02] [ 8.37144598e-01 5.46812595e-01 -1.35980878e-02 6.29948989e+01] [ 1.61675724e-02 1.12862311e-04 9.99869290e-01 -7.79668570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.24, Y:63.02, Z:-0.78 [[ 5.44279718e-01 -8.38858971e-01 -8.67270077e-03 1.14243809e+02] [ 8.38750465e-01 5.44348806e-01 -1.34920074e-02 6.30163299e+01] [ 1.60388658e-02 6.91941817e-05 9.99871367e-01 -7.80461979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.26, Y:63.04, Z:-0.78 [[ 5.42630949e-01 -8.39925102e-01 -8.80209788e-03 1.14261743e+02] [ 8.39813336e-01 5.42702332e-01 -1.37018110e-02 6.30386751e+01] [ 1.62854140e-02 4.29075061e-05 9.99867383e-01 -7.80578935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.28, Y:63.06, Z:-0.78 [[ 5.40497991e-01 -8.41297535e-01 -8.96547087e-03 1.14279744e+02] [ 8.41181627e-01 5.40572343e-01 -1.39646744e-02 6.30609764e+01] [ 1.65949317e-02 6.28908228e-06 9.99862295e-01 -7.80864521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.30, Y:63.08, Z:-0.78 [[ 5.38642170e-01 -8.42485554e-01 -9.09414850e-03 1.14297227e+02] [ 8.42366319e-01 5.38718934e-01 -1.41737171e-02 6.30833242e+01] [ 1.68403419e-02 -2.60426688e-05 9.99858191e-01 -7.81709486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:63.10, Z:-0.78 [[ 5.35842508e-01 -8.44271001e-01 -8.90417588e-03 1.14315148e+02] [ 8.44156817e-01 5.35916478e-01 -1.38851249e-02 6.31038510e+01] [ 1.64947029e-02 -7.62806194e-05 9.99863950e-01 -7.83084861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.910888479 meters Centerline goodness [0,1] 0.9999776060911432 Centerline is valid? [True, True] Translation: X:114.33, Y:63.13, Z:-0.78 [[ 5.34889607e-01 -8.44878683e-01 -8.55100036e-03 1.14331663e+02] [ 8.44773321e-01 5.34957946e-01 -1.33428658e-02 6.31269292e+01] [ 1.58475285e-02 -8.66967201e-05 9.99874416e-01 -7.82789703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.35, Y:63.15, Z:-0.78 [[ 5.33906366e-01 -8.45506397e-01 -7.93258023e-03 1.14348668e+02] [ 8.45415682e-01 5.33965284e-01 -1.23854975e-02 6.31501289e+01] [ 1.47077398e-02 -9.36317663e-05 9.99891831e-01 -7.82158928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.37, Y:63.17, Z:-0.78 [[ 5.33184989e-01 -8.45967997e-01 -7.20519480e-03 1.14367101e+02] [ 8.45893107e-01 5.33233663e-01 -1.12566774e-02 6.31720994e+01] [ 1.33648413e-02 -9.29331722e-05 9.99910682e-01 -7.82206598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.38, Y:63.20, Z:-0.78 [[ 5.33153701e-01 -8.45990096e-01 -6.92017293e-03 1.14383088e+02] [ 8.45920928e-01 5.33198603e-01 -1.08182216e-02 6.31954911e+01] [ 1.28419348e-02 -8.61442393e-05 9.99917535e-01 -7.82112117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:63.22, Z:-0.78 [[ 5.33551211e-01 -8.45740542e-01 -6.78528642e-03 1.14399176e+02] [ 8.45673940e-01 5.33594349e-01 -1.06140365e-02 6.32188962e+01] [ 1.25973114e-02 -7.50079017e-05 9.99920648e-01 -7.82333482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.41, Y:63.24, Z:-0.78 [[ 5.35735150e-01 -8.44361735e-01 -6.41165110e-03 1.14414705e+02] [ 8.44302129e-01 5.35773514e-01 -1.00327167e-02 6.32415990e+01] [ 1.19064349e-02 -3.84916767e-05 9.99929115e-01 -7.84883067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.43, Y:63.27, Z:-0.78 [[ 5.36795860e-01 -8.43687570e-01 -6.44116332e-03 1.14429823e+02] [ 8.43627280e-01 5.36834503e-01 -1.00860952e-02 6.32656529e+01] [ 1.19673519e-02 -1.97669544e-05 9.99928388e-01 -7.83829503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.44, Y:63.29, Z:-0.78 [[ 5.38156964e-01 -8.42823611e-01 -5.95334138e-03 1.14444539e+02] [ 8.42772022e-01 5.38189892e-01 -9.32519585e-03 6.32884683e+01] [ 1.10635234e-02 1.10953540e-06 9.99938797e-01 -7.84956084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:63.31, Z:-0.78 [[ 5.39282985e-01 -8.42107325e-01 -5.39583872e-03 1.14459335e+02] [ 8.42064848e-01 5.39309978e-01 -8.45809227e-03 6.33119638e+01] [ 1.00326511e-02 1.76591285e-05 9.99949672e-01 -7.84143510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.47, Y:63.34, Z:-0.79 [[ 5.42113831e-01 -8.40292183e-01 -4.65213502e-03 1.14474024e+02] [ 8.40260499e-01 5.42133789e-01 -7.29714021e-03 6.33364584e+01] [ 8.65380946e-03 4.68753355e-05 9.99962554e-01 -7.85253347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.49, Y:63.36, Z:-0.78 [[ 5.43136699e-01 -8.39633692e-01 -4.21778001e-03 1.14489078e+02] [ 8.39607594e-01 5.43153073e-01 -6.62023558e-03 6.33598149e+01] [ 7.84947301e-03 5.44127731e-05 9.99969191e-01 -7.84992855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.50, Y:63.38, Z:-0.79 [[ 5.43749394e-01 -8.39238416e-01 -3.93419608e-03 1.14504047e+02] [ 8.39215675e-01 5.43763623e-01 -6.17844471e-03 6.33829796e+01] [ 7.32446087e-03 5.78865448e-05 9.99973174e-01 -7.85730687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.52, Y:63.41, Z:-0.78 [[ 5.44532223e-01 -8.38734013e-01 -3.14864030e-03 1.14520726e+02] [ 8.38719416e-01 5.44541323e-01 -4.94860027e-03 6.34057337e+01] [ 5.86512412e-03 5.38465571e-05 9.99982799e-01 -7.84693712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.54, Y:63.43, Z:-0.79 [[ 5.44823037e-01 -8.38545865e-01 -2.94784520e-03 1.14535196e+02] [ 8.38533055e-01 5.44831009e-01 -4.63548099e-03 6.34283185e+01] [ 5.49314089e-03 5.36511968e-05 9.99984911e-01 -7.85393098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.55, Y:63.45, Z:-0.79 [[ 5.44607914e-01 -8.38685822e-01 -2.88313082e-03 1.14550264e+02] [ 8.38673556e-01 5.44615543e-01 -4.53612422e-03 6.34503441e+01] [ 5.37458092e-03 5.24035713e-05 9.99985555e-01 -7.85256204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36088847899998 meters Centerline goodness [0,1] 0.9999093566588865 Centerline is valid? [True, True] Translation: X:114.56, Y:63.47, Z:-0.79 [[ 5.44549832e-01 -8.38723745e-01 -2.82151208e-03 1.14564654e+02] [ 8.38711992e-01 5.44557139e-01 -4.44037086e-03 6.34737080e+01] [ 5.26071902e-03 5.15671877e-05 9.99986161e-01 -7.87254514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:63.50, Z:-0.79 [[ 5.43974429e-01 -8.39097816e-01 -2.58383382e-03 1.14583362e+02] [ 8.39087947e-01 5.43980563e-01 -4.06996665e-03 6.34955331e+01] [ 4.82065550e-03 4.58939675e-05 9.99988380e-01 -7.85193913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.60, Y:63.52, Z:-0.79 [[ 5.43389775e-01 -8.39477630e-01 -2.20487739e-03 1.14599332e+02] [ 8.39470436e-01 5.43394247e-01 -3.47558177e-03 6.35183072e+01] [ 4.11579083e-03 3.76662095e-05 9.99991529e-01 -7.85481553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.62, Y:63.54, Z:-0.79 [[ 5.42562656e-01 -8.40013184e-01 -1.90141133e-03 1.14615467e+02] [ 8.40007829e-01 5.42565987e-01 -2.99942662e-03 6.35409166e+01] [ 3.55119902e-03 3.01764731e-05 9.99993694e-01 -7.85534731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:63.56, Z:-0.79 [[ 5.42329047e-01 -8.40164027e-01 -1.90056705e-03 1.14630194e+02] [ 8.40158672e-01 5.42332376e-01 -2.99996192e-03 6.35642682e+01] [ 3.55119913e-03 3.01886008e-05 9.99993694e-01 -7.85684855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:63.59, Z:-0.79 [[ 5.40662108e-01 -8.41239194e-01 -1.05103727e-03 1.14647356e+02] [ 8.41237555e-01 5.40663129e-01 -1.66035457e-03 6.35856018e+01] [ 1.96501244e-03 1.35187765e-05 9.99998069e-01 -7.85310980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.66, Y:63.61, Z:-0.79 [[ 5.39710198e-01 -8.41850478e-01 -8.20975649e-04 1.14663501e+02] [ 8.41849477e-01 5.39710822e-01 -1.29838767e-03 6.36079110e+01] [ 1.53613772e-03 9.61514568e-06 9.99998820e-01 -7.85422320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.68, Y:63.63, Z:-0.79 [[ 5.38667153e-01 -8.42518278e-01 -8.06395689e-04 1.14679735e+02] [ 8.42517311e-01 5.38667756e-01 -1.27644661e-03 6.36303043e+01] [ 1.50980896e-03 8.17753589e-06 9.99998860e-01 -7.85576013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.600888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.70, Y:63.65, Z:-0.78 [[ 5.37301967e-01 -8.43389617e-01 -7.41371202e-04 1.14698134e+02] [ 8.43388799e-01 5.37302479e-01 -1.17455040e-03 6.36517466e+01] [ 1.38894420e-03 5.82407361e-06 9.99999035e-01 -7.84833030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.630888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:63.67, Z:-0.79 [[ 5.36991637e-01 -8.43587422e-01 -4.93845019e-04 1.14713791e+02] [ 8.43587058e-01 5.36991864e-01 -7.83485974e-04 6.36744068e+01] [ 9.26129670e-04 4.12414872e-06 9.99999571e-01 -7.85211485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.73, Y:63.70, Z:-0.79 [[ 5.36642410e-01 -8.43809623e-01 -4.93936753e-04 1.14729379e+02] [ 8.43809258e-01 5.36642637e-01 -7.84389458e-04 6.36976480e+01] [ 9.26942895e-04 4.14824448e-06 9.99999570e-01 -7.85279403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.75, Y:63.72, Z:-0.79 [[ 5.36459938e-01 -8.43925664e-01 -4.56651758e-04 1.14745723e+02] [ 8.43925352e-01 5.36460132e-01 -7.25857485e-04 6.37207055e+01] [ 8.57545222e-04 4.01346558e-06 9.99999632e-01 -7.86245395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.76, Y:63.74, Z:-0.79 [[ 5.36083439e-01 -8.44164880e-01 -4.48660083e-04 1.14761201e+02] [ 8.44164578e-01 5.36083627e-01 -7.13638609e-04 6.37443083e+01] [ 8.42947976e-04 3.82689006e-06 9.99999645e-01 -7.86839732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.78, Y:63.77, Z:-0.79 [[ 5.35835994e-01 -8.44321892e-01 -5.74759828e-04 1.14775856e+02] [ 8.44321398e-01 5.35836302e-01 -9.13624023e-04 6.37670136e+01] [ 1.07936994e-03 4.27061458e-06 9.99999417e-01 -7.87821321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.78088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.79, Y:63.79, Z:-0.79 [[ 5.35152487e-01 -8.44755438e-01 -2.57448198e-04 1.14791949e+02] [ 8.44755338e-01 5.35152549e-01 -4.11146577e-04 6.37900128e+01] [ 4.85092366e-04 2.54537396e-06 9.99999882e-01 -7.88691535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81088847899997 meters Centerline goodness [0,1] 0.9999072700296736 Centerline is valid? [True, True] Translation: X:114.81, Y:63.81, Z:-0.79 [[ 5.34506177e-01 -8.45164558e-01 -1.28578925e-04 1.14807242e+02] [ 8.45164533e-01 5.34506193e-01 -2.06552229e-04 6.38118272e+01] [ 2.43296856e-04 1.73309520e-06 9.99999970e-01 -7.88649060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.82, Y:63.83, Z:-0.79 [[ 5.33872182e-01 -8.45565160e-01 2.31442617e-04 1.14823518e+02] [ 8.45565081e-01 5.33872232e-01 3.64763480e-04 6.38349881e+01] [-4.31992077e-04 9.62720110e-07 9.99999907e-01 -7.88047229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.84, Y:63.86, Z:-0.79 [[ 5.32915597e-01 -8.46167793e-01 1.01592187e-03 1.14840041e+02] [ 8.46166259e-01 5.32916566e-01 1.61132692e-03 6.38581344e+01] [-1.90485453e-03 9.37560085e-07 9.99998186e-01 -7.86548555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.85, Y:63.88, Z:-0.79 [[ 5.32310667e-01 -8.46547955e-01 1.38380538e-03 1.14854605e+02] [ 8.46545103e-01 5.32312465e-01 2.19735282e-03 6.38814877e+01] [-2.59678139e-03 1.77932114e-06 9.99996628e-01 -7.86569748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.87, Y:63.91, Z:-0.79 [[ 5.31725933e-01 -8.46913847e-01 2.11381663e-03 1.14869295e+02] [ 8.46907183e-01 5.31730135e-01 3.35964980e-03 6.39053890e+01] [-3.96931394e-03 3.79356272e-06 9.99992122e-01 -7.86065200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.96088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.88, Y:63.93, Z:-0.79 [[ 5.31289783e-01 -8.47185493e-01 2.81197679e-03 1.14883758e+02] [ 8.47173684e-01 5.31297224e-01 4.47302688e-03 6.39285085e+01] [-5.28347894e-03 5.75925554e-06 9.99986042e-01 -7.85011676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.99088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:63.95, Z:-0.79 [[ 5.31022022e-01 -8.47353050e-01 2.90189628e-03 1.14898655e+02] [ 8.47340462e-01 5.31029951e-01 4.61870544e-03 6.39524258e+01] [-5.45466798e-03 6.25983254e-06 9.99985123e-01 -7.85443093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.02088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.91, Y:63.98, Z:-0.79 [[ 5.30981721e-01 -8.47379625e-01 2.48668547e-03 1.14912885e+02] [ 8.47370372e-01 5.30987544e-01 3.95995251e-03 6.39751404e+01] [-4.67598208e-03 4.48119044e-06 9.99989068e-01 -7.85989591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.93, Y:64.00, Z:-0.79 [[ 5.30995581e-01 -8.47372235e-01 1.99718259e-03 1.14927315e+02] [ 8.47366261e-01 5.30999337e-01 3.18186775e-03 6.39990515e+01] [-3.75672902e-03 2.78742506e-06 9.99992943e-01 -7.86722852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.94, Y:64.02, Z:-0.79 [[ 5.31056540e-01 -8.47334732e-01 1.67408340e-03 1.14941116e+02] [ 8.47330529e-01 5.31059179e-01 2.66874307e-03 6.40224943e+01] [-3.15035605e-03 1.24851410e-06 9.99995038e-01 -7.87950190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.95, Y:64.05, Z:-0.79 [[ 5.31234725e-01 -8.47224493e-01 5.69988569e-04 1.14954362e+02] [ 8.47224008e-01 5.31235031e-01 9.06998220e-04 6.40473372e+01] [-1.07122900e-03 1.07904928e-06 9.99999426e-01 -7.89814805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.97, Y:64.07, Z:-0.79 [[ 5.30926263e-01 -8.47417913e-01 4.29188257e-04 1.14968189e+02] [ 8.47417638e-01 5.30926437e-01 6.82910032e-04 6.40708815e+01] [-8.06577586e-04 1.12682771e-06 9.99999675e-01 -7.90742472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.98, Y:64.09, Z:-0.79 [[ 5.30473067e-01 -8.47701377e-01 8.36723619e-04 1.14982615e+02] [ 8.47700327e-01 5.30473727e-01 1.33439426e-03 6.40946185e+01] [-1.57502775e-03 1.43066850e-06 9.99998760e-01 -7.89695217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.00, Y:64.12, Z:-0.79 [[ 5.29421668e-01 -8.48358355e-01 8.94331076e-04 1.14997056e+02] [ 8.48357154e-01 5.29422423e-01 1.42735076e-03 6.41183871e+01] [-1.68438386e-03 3.04174928e-06 9.99998581e-01 -7.88632508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.01, Y:64.14, Z:-0.79 [[ 5.29004128e-01 -8.48618855e-01 8.19310021e-04 1.15011778e+02] [ 8.48617847e-01 5.29004763e-01 1.30819866e-03 6.41427931e+01] [-1.54358096e-03 3.23861178e-06 9.99998809e-01 -7.88660001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.03, Y:64.17, Z:-0.79 [[ 5.28601482e-01 -8.48869836e-01 6.89459171e-04 1.15025918e+02] [ 8.48869122e-01 5.28601931e-01 1.10103704e-03 6.41670663e+01] [-1.29908658e-03 3.25079129e-06 9.99999156e-01 -7.88835093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.04, Y:64.19, Z:-0.79 [[ 5.28283941e-01 -8.49067764e-01 1.03215555e-04 1.15038913e+02] [ 8.49067748e-01 5.28283951e-01 1.62702627e-04 6.41909759e+01] [-1.92672677e-04 1.68381347e-06 9.99999981e-01 -7.90324329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:64.21, Z:-0.79 [[ 5.28335257e-01 -8.49035820e-01 -1.79202090e-04 1.15052997e+02] [ 8.49035771e-01 5.28335287e-01 -2.89885570e-04 6.42144517e+01] [ 3.40802020e-04 1.00778270e-06 9.99999942e-01 -7.90782755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.350888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.07, Y:64.24, Z:-0.79 [[ 5.28073076e-01 -8.49198827e-01 -4.21747355e-04 1.15067492e+02] [ 8.49198556e-01 5.28073244e-01 -6.79343776e-04 6.42385126e+01] [ 7.99611432e-04 5.95912181e-07 9.99999680e-01 -7.90676588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.380888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.08, Y:64.26, Z:-0.79 [[ 5.27824165e-01 -8.49353538e-01 -4.67227141e-04 1.15082037e+02] [ 8.49353204e-01 5.27824372e-01 -7.52778499e-04 6.42630692e+01] [ 8.85988954e-04 4.93813416e-07 9.99999608e-01 -7.90071850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.10, Y:64.29, Z:-0.79 [[ 5.27846346e-01 -8.49339880e-01 -5.33076068e-05 1.15096728e+02] [ 8.49339876e-01 5.27846348e-01 -8.84803372e-05 6.42874420e+01] [ 1.03288105e-04 1.42774652e-06 9.99999995e-01 -7.89548574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.440888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.11, Y:64.31, Z:-0.79 [[ 5.27753356e-01 -8.49397635e-01 2.30878810e-04 1.15111146e+02] [ 8.49397555e-01 5.27753406e-01 3.68169214e-04 6.43113456e+01] [-4.34569138e-04 1.80535880e-06 9.99999906e-01 -7.88593893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.12, Y:64.34, Z:-0.79 [[ 5.28292145e-01 -8.49062076e-01 1.00029173e-03 1.15124447e+02] [ 8.49060558e-01 5.28293092e-01 1.60560783e-03 6.43356484e+01] [-1.89170792e-03 1.07825175e-06 9.99998211e-01 -7.87046623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.14, Y:64.36, Z:-0.79 [[ 5.28651332e-01 -8.48837970e-01 1.36719930e-03 1.15138073e+02] [ 8.48835127e-01 5.28653100e-01 2.19692868e-03 6.43602966e+01] [-2.58761063e-03 -8.82480908e-07 9.99996652e-01 -7.86795195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:64.38, Z:-0.79 [[ 5.29295966e-01 -8.48435829e-01 1.55701169e-03 1.15150948e+02] [ 8.48432134e-01 5.29298256e-01 2.50405111e-03 6.43840330e+01] [-2.94865025e-03 -4.36540452e-06 9.99995653e-01 -7.86852595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.16, Y:64.41, Z:-0.79 [[ 5.31021845e-01 -8.47357292e-01 1.19143744e-03 1.15163734e+02] [ 8.47355125e-01 5.31023182e-01 1.91645473e-03 6.44091215e+01] [-2.25660279e-03 -8.10870670e-06 9.99997454e-01 -7.87637952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.18, Y:64.43, Z:-0.79 [[ 5.31749635e-01 -8.46901378e-01 6.18520347e-04 1.15177981e+02] [ 8.46900794e-01 5.31749995e-01 9.94092859e-04 6.44329719e+01] [-1.17079680e-03 -4.78314168e-06 9.99999315e-01 -7.88007158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.19, Y:64.46, Z:-0.79 [[ 5.32171094e-01 -8.46636826e-01 1.10830697e-04 1.15191924e+02] [ 8.46636807e-01 5.32171105e-01 1.76086593e-04 6.44566061e+01] [-2.08062288e-04 1.25152682e-07 9.99999978e-01 -7.88360574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.21, Y:64.48, Z:-0.79 [[ 5.32064899e-01 -8.46703401e-01 -5.42047874e-04 1.15206976e+02] [ 8.46702946e-01 5.32065175e-01 -8.77702896e-04 6.44803113e+01] [ 1.03155882e-03 8.04137168e-06 9.99999468e-01 -7.88632285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:64.50, Z:-0.79 [[ 5.31593916e-01 -8.46999180e-01 -5.44910677e-04 1.15221677e+02] [ 8.46998721e-01 5.31594195e-01 -8.81787857e-04 6.45031289e+01] [ 1.03654494e-03 7.21441336e-06 9.99999463e-01 -7.88634418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.24, Y:64.53, Z:-0.79 [[ 5.30651239e-01 -8.47590224e-01 -2.73629460e-04 1.15236690e+02] [ 8.47590107e-01 5.30651310e-01 -4.44966877e-04 6.45266602e+01] [ 5.22351406e-04 4.19660092e-06 9.99999864e-01 -7.88519674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:64.55, Z:-0.79 [[ 5.29384319e-01 -8.48382127e-01 -9.69286387e-05 1.15252394e+02] [ 8.48382112e-01 5.29384328e-01 -1.58436973e-04 6.45506395e+01] [ 1.85727598e-04 1.64152551e-06 9.99999983e-01 -7.88523527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.27, Y:64.57, Z:-0.79 [[ 5.26387996e-01 -8.50244456e-01 2.09007559e-04 1.15268521e+02] [ 8.50244389e-01 5.26388037e-01 3.35993052e-04 6.45723728e+01] [-3.95695308e-04 8.44794736e-07 9.99999922e-01 -7.88009071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.28, Y:64.60, Z:-0.79 [[ 5.24497638e-01 -8.51411826e-01 3.61076505e-04 1.15284703e+02] [ 8.51411628e-01 5.24497762e-01 5.81254922e-04 6.45955588e+01] [-6.84271133e-04 2.55790077e-06 9.99999766e-01 -7.87386097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.30, Y:64.62, Z:-0.79 [[ 5.22677820e-01 -8.52529996e-01 7.08553514e-04 1.15301320e+02] [ 8.52529228e-01 5.22678300e-01 1.14414500e-03 6.46187140e+01] [-1.34576348e-03 6.04336827e-06 9.99999094e-01 -7.86645928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.32, Y:64.64, Z:-0.79 [[ 5.19052523e-01 -8.54741288e-01 1.34499624e-03 1.15318144e+02] [ 8.54738519e-01 5.19054265e-01 2.17590524e-03 6.46413920e+01] [-2.55796208e-03 2.02109927e-05 9.99996728e-01 -7.85252597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:64.66, Z:-0.79 [[ 5.17260427e-01 -8.55826593e-01 1.57914994e-03 1.15333126e+02] [ 8.55822774e-01 5.17262837e-01 2.55687091e-03 6.46639229e+01] [-3.00507370e-03 2.89043491e-05 9.99995484e-01 -7.85054206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:64.69, Z:-0.78 [[ 5.15768532e-01 -8.56726480e-01 1.59975979e-03 1.15348295e+02] [ 8.56722561e-01 5.15771012e-01 2.59165244e-03 6.46877565e+01] [-3.04544700e-03 3.38575333e-05 9.99995362e-01 -7.84929929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:64.71, Z:-0.78 [[ 5.13548790e-01 -8.58058554e-01 1.77724873e-03 1.15363663e+02] [ 8.58053716e-01 5.13551863e-01 2.88180946e-03 6.47112904e+01] [-3.38547065e-03 4.50251136e-05 9.99994268e-01 -7.84516649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:64.74, Z:-0.79 [[ 5.12381357e-01 -8.58756419e-01 1.66036628e-03 1.15378767e+02] [ 8.58752198e-01 5.12384045e-01 2.69304270e-03 6.47352825e+01] [-3.16341290e-03 4.59783194e-05 9.99994995e-01 -7.85195444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.39, Y:64.76, Z:-0.79 [[ 5.11605987e-01 -8.59219168e-01 1.31714479e-03 1.15393404e+02] [ 8.59216514e-01 5.11607681e-01 2.13598633e-03 6.47585210e+01] [-2.50914179e-03 3.89291584e-05 9.99996851e-01 -7.85367653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:64.78, Z:-0.79 [[ 5.10587410e-01 -8.59825288e-01 9.84766378e-04 1.15407814e+02] [ 8.59823806e-01 5.10588359e-01 1.59708483e-03 6.47832604e+01] [-1.87602418e-03 3.12741652e-05 9.99998240e-01 -7.85820292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.42, Y:64.81, Z:-0.79 [[ 5.10450536e-01 -8.59906830e-01 7.03178479e-04 1.15421790e+02] [ 8.59906074e-01 5.10451020e-01 1.14019477e-03 6.48082086e+01] [-1.33939945e-03 2.26544114e-05 9.99999103e-01 -7.86458664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.100888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:64.83, Z:-0.79 [[ 5.10241051e-01 -8.60031331e-01 4.24269334e-04 1.15435883e+02] [ 8.60031056e-01 5.10241227e-01 6.87233895e-04 6.48330216e+01] [-8.07522387e-04 1.42298587e-05 9.99999674e-01 -7.87396726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.130888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.45, Y:64.86, Z:-0.79 [[ 5.10847018e-01 -8.59671625e-01 1.48549987e-04 1.15449056e+02] [ 8.59671591e-01 5.10847040e-01 2.39106669e-04 6.48585753e+01] [-2.81439540e-04 5.55727525e-06 9.99999960e-01 -7.87814384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:64.88, Z:-0.79 [[ 5.11220820e-01 -8.59449394e-01 1.11464093e-04 1.15463116e+02] [ 8.59449376e-01 5.11220832e-01 1.79551616e-04 6.48813600e+01] [-2.11298294e-04 4.00722100e-06 9.99999978e-01 -7.88350878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.48, Y:64.91, Z:-0.79 [[ 5.11721709e-01 -8.59151244e-01 1.79408552e-04 1.15475934e+02] [ 8.59151195e-01 5.11721741e-01 2.89396694e-04 6.49067989e+01] [-3.40442786e-04 6.04850123e-06 9.99999942e-01 -7.87628953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:64.93, Z:-0.79 [[ 5.13011950e-01 -8.58381180e-01 6.98430873e-04 1.15489831e+02] [ 8.58380429e-01 5.13012426e-01 1.13580110e-03 6.49309115e+01] [-1.33325400e-03 1.68398571e-05 9.99999111e-01 -7.87254726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:64.95, Z:-0.79 [[ 5.13873722e-01 -8.57865085e-01 1.13722318e-03 1.15502822e+02] [ 8.57863085e-01 5.13874980e-01 1.85257321e-03 6.49543792e+01] [-2.17364842e-03 2.35930962e-05 9.99997637e-01 -7.87034403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:64.98, Z:-0.79 [[ 5.15202596e-01 -8.57067124e-01 1.49360727e-03 1.15515039e+02] [ 8.57063666e-01 5.15204760e-01 2.43477549e-03 6.49803963e+01] [-2.85627960e-03 2.57138731e-05 9.99995920e-01 -7.86323765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31088847899997 meters Centerline goodness [0,1] 0.9998877363150568 Centerline is valid? [True, True] Translation: X:115.53, Y:65.01, Z:-0.79 [[ 5.19418173e-01 -8.54517364e-01 2.19893563e-03 1.15526695e+02] [ 8.54509831e-01 5.19422828e-01 3.58820271e-03 6.50075358e+01] [-4.20835888e-03 1.52344146e-05 9.99991145e-01 -7.86519926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.54, Y:65.03, Z:-0.79 [[ 5.21833711e-01 -8.53043986e-01 2.35286416e-03 1.15538843e+02] [ 8.53035335e-01 5.21839015e-01 3.84177453e-03 6.50315148e+01] [-4.50501897e-03 2.30880809e-06 9.99989852e-01 -7.86049709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:65.06, Z:-0.79 [[ 5.24574155e-01 -8.51360968e-01 2.54132125e-03 1.15551406e+02] [ 8.51350847e-01 5.24580310e-01 4.15132389e-03 6.50568619e+01] [-4.86740222e-03 -1.41212219e-05 9.99988154e-01 -7.85884929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.57, Y:65.08, Z:-0.79 [[ 5.24337961e-01 -8.51506459e-01 2.54017114e-03 1.15565747e+02] [ 8.51496336e-01 5.24344114e-01 4.15202749e-03 6.50804489e+01] [-4.86740201e-03 -1.41192170e-05 9.99988154e-01 -7.86035038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43088847899998 meters Centerline goodness [0,1] 0.9998881206506903 Centerline is valid? [True, True] Translation: X:115.58, Y:65.11, Z:-0.79 [[ 5.27151421e-01 -8.49767554e-01 2.54624346e-03 1.15578020e+02] [ 8.49757350e-01 5.27157569e-01 4.16457110e-03 6.51062235e+01] [-4.88118891e-03 -3.16704745e-05 9.99988086e-01 -7.86243469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46088847899998 meters Centerline goodness [0,1] 0.9999104002867191 Centerline is valid? [True, True] Translation: X:115.59, Y:65.13, Z:-0.79 [[ 5.32970050e-01 -8.46130819e-01 2.35849654e-03 1.15587958e+02] [ 8.46122019e-01 5.32975265e-01 3.85962689e-03 6.51338797e+01] [-4.52276958e-03 -6.14896848e-05 9.99989770e-01 -7.86870666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49088847899998 meters Centerline goodness [0,1] 0.9999775487752857 Centerline is valid? [True, True] Translation: X:115.60, Y:65.16, Z:-0.79 [[ 5.35553319e-01 -8.44499263e-01 1.90710993e-03 1.15602257e+02] [ 8.44493494e-01 5.35556711e-01 3.12210337e-03 6.51589916e+01] [-3.65797951e-03 -6.15108915e-05 9.99993308e-01 -7.87479834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:65.18, Z:-0.79 [[ 5.37764408e-01 -8.43093866e-01 1.47479649e-03 1.15614404e+02] [ 8.43090407e-01 5.37766427e-01 2.41550154e-03 6.51840240e+01] [-2.82959057e-03 -5.55839848e-05 9.99995995e-01 -7.88215716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.63, Y:65.21, Z:-0.79 [[ 5.41494327e-01 -8.40703872e-01 9.45742440e-04 1.15626690e+02] [ 8.40702447e-01 5.41495151e-01 1.54833906e-03 6.52100194e+01] [-1.81380959e-03 -4.33288357e-05 9.99998354e-01 -7.89557730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:65.23, Z:-0.79 [[ 5.42604263e-01 -8.39987761e-01 1.08386944e-03 1.15640724e+02] [ 8.39985884e-01 5.42605343e-01 1.77668687e-03 6.52347830e+01] [-2.08050858e-03 -5.36028353e-05 9.99997834e-01 -7.90094729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:65.26, Z:-0.79 [[ 5.43533983e-01 -8.39386395e-01 1.13530669e-03 1.15656220e+02] [ 8.39384334e-01 5.43535165e-01 1.86102978e-03 6.52595715e+01] [-2.17920219e-03 -5.85742772e-05 9.99997624e-01 -7.90255971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.67, Y:65.28, Z:-0.79 [[ 5.44632142e-01 -8.38674190e-01 1.19723149e-03 1.15669897e+02] [ 8.38671892e-01 5.44633454e-01 1.96441587e-03 6.52840653e+01] [-2.29955721e-03 -6.57996246e-05 9.99997354e-01 -7.90734082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.68, Y:65.31, Z:-0.79 [[ 5.44391325e-01 -8.38830764e-01 1.01761928e-03 1.15684071e+02] [ 8.38829105e-01 5.44392273e-01 1.66911452e-03 6.53082233e+01] [-1.95408868e-03 -5.50427902e-05 9.99998089e-01 -7.91205448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.70, Y:65.33, Z:-0.79 [[ 5.43764715e-01 -8.39236872e-01 1.18631179e-03 1.15699158e+02] [ 8.39234615e-01 5.43766005e-01 1.94754350e-03 6.53315174e+01] [-2.27952634e-03 -6.34115127e-05 9.99997400e-01 -7.91351213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:65.35, Z:-0.79 [[ 5.42767515e-01 -8.39882240e-01 1.11694198e-03 1.15715891e+02] [ 8.39880237e-01 5.42768661e-01 1.83506802e-03 6.53532748e+01] [-2.14748214e-03 -5.79178143e-05 9.99997692e-01 -7.90989032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.73, Y:65.38, Z:-0.79 [[ 5.41976434e-01 -8.40393278e-01 8.26178500e-04 1.15731622e+02] [ 8.40392184e-01 5.41977063e-01 1.35698297e-03 6.53763710e+01] [-1.58816917e-03 -4.11388405e-05 9.99998738e-01 -7.91207694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:65.40, Z:-0.79 [[ 5.41076039e-01 -8.40973405e-01 6.72843255e-04 1.15747750e+02] [ 8.40972679e-01 5.41076457e-01 1.10530351e-03 6.54001609e+01] [-1.29359050e-03 -3.22104485e-05 9.99999163e-01 -7.91496056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:65.42, Z:-0.79 [[ 5.39411931e-01 -8.42041942e-01 3.69081474e-04 1.15767533e+02] [ 8.42041725e-01 5.39412057e-01 6.05551767e-04 6.54222783e+01] [-7.08986983e-04 -1.58598471e-05 9.99999749e-01 -7.92048885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.78, Y:65.45, Z:-0.79 [[ 5.38231811e-01 -8.42796776e-01 3.33009953e-04 1.15780546e+02] [ 8.42796599e-01 5.38231914e-01 5.46779902e-04 6.54464356e+01] [-6.40060923e-04 -1.36346812e-05 9.99999795e-01 -7.93375799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:65.47, Z:-0.79 [[ 5.36657902e-01 -8.43799901e-01 1.52258768e-04 1.15797985e+02] [ 8.43799865e-01 5.36657923e-01 2.48563333e-04 6.54692772e+01] [-2.91448590e-04 -4.91754913e-06 9.99999958e-01 -7.94045115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.82, Y:65.49, Z:-0.79 [[ 5.34874491e-01 -8.44931466e-01 3.11715012e-04 1.15815020e+02] [ 8.44931310e-01 5.34874582e-01 5.12860099e-04 6.54932448e+01] [-6.00060072e-04 -1.09380114e-05 9.99999820e-01 -7.94437278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:65.52, Z:-0.79 [[ 5.31479144e-01 -8.47070724e-01 1.05277738e-03 1.15833090e+02] [ 8.47068945e-01 5.31480186e-01 1.73617150e-03 6.55152606e+01] [-2.03019036e-03 -3.09639188e-05 9.99997939e-01 -7.93476683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.85, Y:65.54, Z:-0.79 [[ 5.29437039e-01 -8.48347822e-01 1.54738122e-03 1.15851483e+02] [ 8.48343982e-01 5.29439298e-01 2.55291198e-03 6.55379997e+01] [-2.98500175e-03 -3.88946148e-05 9.99995544e-01 -7.92381335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00088847899997 meters Centerline goodness [0,1] 0.9998628351964886 Centerline is valid? [True, True] Translation: X:115.87, Y:65.56, Z:-0.79 [[ 5.27521392e-01 -8.49539495e-01 1.95627163e-03 1.15868411e+02] [ 8.49533356e-01 5.27525017e-01 3.22995608e-03 6.55605281e+01] [-3.77595748e-03 -4.19529193e-05 9.99992870e-01 -7.91501198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.89, Y:65.58, Z:-0.79 [[ 5.23108118e-01 -8.52261154e-01 2.97018096e-03 1.15886986e+02] [ 8.52247020e-01 5.23116549e-01 4.90851794e-03 6.55818716e+01] [-5.73708998e-03 -3.63577131e-05 9.99983542e-01 -7.90173788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.90, Y:65.60, Z:-0.79 [[ 5.20803090e-01 -8.53670988e-01 3.16014909e-03 1.15902596e+02] [ 8.53655005e-01 5.20812677e-01 5.22374794e-03 6.56038559e+01] [-6.10520777e-03 -2.28669799e-05 9.99981363e-01 -7.90518524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09088847899997 meters Centerline goodness [0,1] 0.9999311626626282 Centerline is valid? [True, True] Translation: X:115.92, Y:65.63, Z:-0.79 [[ 5.18424276e-01 -8.55118136e-01 3.04026984e-03 1.15918839e+02] [ 8.55103353e-01 5.18433191e-01 5.02820623e-03 6.56274450e+01] [-5.87588713e-03 -6.99924269e-06 9.99982737e-01 -7.91594292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.93, Y:65.65, Z:-0.79 [[ 5.16132347e-01 -8.56504230e-01 2.81137491e-03 1.15934009e+02] [ 8.56491594e-01 5.16140004e-01 4.65240145e-03 6.56504943e+01] [-5.43586458e-03 6.66409466e-06 9.99985226e-01 -7.93117124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.95, Y:65.67, Z:-0.80 [[ 5.13367085e-01 -8.58166196e-01 2.23960370e-03 1.15948941e+02] [ 8.58158186e-01 5.13371970e-01 3.70795622e-03 6.56727631e+01] [-4.33179244e-03 1.83915692e-05 9.99990618e-01 -7.95101788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18088847899998 meters Centerline goodness [0,1] 0.9997240935322925 Centerline is valid? [True, True] Translation: X:115.96, Y:65.70, Z:-0.80 [[ 5.11749137e-01 -8.59132201e-01 2.16367057e-03 1.15964406e+02] [ 8.59124728e-01 5.11753711e-01 3.58338432e-03 6.56967870e+01] [-4.18586730e-03 2.50690623e-05 9.99991239e-01 -7.95302386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.98, Y:65.72, Z:-0.80 [[ 5.10216200e-01 -8.60044006e-01 1.93330523e-03 1.15979788e+02] [ 8.60038040e-01 5.10219862e-01 3.20356467e-03 6.57202276e+01] [-3.74161731e-03 2.82054495e-05 9.99993000e-01 -7.95590134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.00, Y:65.74, Z:-0.80 [[ 5.06081327e-01 -8.62482556e-01 2.35188462e-03 1.15995212e+02] [ 8.62473739e-01 5.06086789e-01 3.90021056e-03 6.57433143e+01] [-4.55412131e-03 5.46149886e-05 9.99989628e-01 -7.95649178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.01, Y:65.77, Z:-0.80 [[ 5.03908267e-01 -8.63753300e-01 2.58760131e-03 1.16009950e+02] [ 8.63742630e-01 5.03914905e-01 4.29384795e-03 6.57684957e+01] [-5.01275620e-03 7.13160818e-05 9.99987434e-01 -7.95724623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.03, Y:65.79, Z:-0.80 [[ 5.01662235e-01 -8.65059121e-01 2.77823321e-03 1.16025076e+02] [ 8.65046826e-01 5.01669920e-01 4.61294395e-03 6.57918911e+01] [-5.38422527e-03 8.91620412e-05 9.99985501e-01 -7.95820006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.04, Y:65.82, Z:-0.80 [[ 4.96425412e-01 -8.68073227e-01 3.26841322e-03 1.16039923e+02] [ 8.68056261e-01 4.96436151e-01 5.42909966e-03 6.58163629e+01] [-6.33541454e-03 1.42023525e-04 9.99979921e-01 -7.95465642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.05, Y:65.84, Z:-0.80 [[ 4.93839033e-01 -8.69546428e-01 3.46688074e-03 1.16054639e+02] [ 8.69527353e-01 4.93851174e-01 5.76201418e-03 6.58395930e+01] [-6.72246197e-03 1.69040126e-04 9.99977390e-01 -7.95434943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39088847899998 meters Centerline goodness [0,1] 0.9999771329262994 Centerline is valid? [True, True] Translation: X:116.07, Y:65.86, Z:-0.80 [[ 4.89681119e-01 -8.71892379e-01 4.01002685e-03 1.16068310e+02] [ 8.71866922e-01 4.89697484e-01 6.66667861e-03 6.58647020e+01] [-7.77632633e-03 2.31663125e-04 9.99969737e-01 -7.95862547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:65.89, Z:-0.80 [[ 4.88052391e-01 -8.72803329e-01 4.38318445e-03 1.16082206e+02] [ 8.72772928e-01 4.88071999e-01 7.28974167e-03 6.58882885e+01] [-8.50182040e-03 2.67748880e-04 9.99963823e-01 -7.95903413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.10, Y:65.91, Z:-0.80 [[ 4.86807496e-01 -8.73494810e-01 5.02768316e-03 1.16096142e+02] [ 8.73454807e-01 4.86833354e-01 8.36578280e-03 6.59124653e+01] [-9.75511172e-03 3.18928243e-04 9.99952367e-01 -7.95658887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.11, Y:65.94, Z:-0.80 [[ 4.86157363e-01 -8.73856188e-01 5.13616902e-03 1.16107550e+02] [ 8.73814408e-01 4.86184381e-01 8.55142892e-03 6.59385043e+01] [-9.96984424e-03 3.30718361e-04 9.99950245e-01 -7.95849186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.12, Y:65.97, Z:-0.80 [[ 4.86878637e-01 -8.73452352e-01 5.49384574e-03 1.16118449e+02] [ 8.73404465e-01 4.86909511e-01 9.15251521e-03 6.59661867e+01] [-1.06692917e-02 3.42185275e-04 9.99943023e-01 -7.97160827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.13, Y:65.99, Z:-0.80 [[ 4.87968392e-01 -8.72845875e-01 5.18922761e-03 1.16130208e+02] [ 8.72803070e-01 4.87995885e-01 8.64971577e-03 6.59923759e+01] [-1.00821904e-02 3.08385897e-04 9.99949126e-01 -7.97608581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:66.02, Z:-0.80 [[ 4.89872684e-01 -8.71779508e-01 5.02426805e-03 1.16141885e+02] [ 8.71739280e-01 4.89898371e-01 8.37932826e-03 6.60183382e+01] [-9.76630740e-03 2.75047788e-04 9.99952271e-01 -7.98453122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.600888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.15, Y:66.04, Z:-0.80 [[ 4.92494740e-01 -8.70302411e-01 4.75873202e-03 1.16152453e+02] [ 8.70266220e-01 4.92517675e-01 7.94014089e-03 6.60435446e+01] [-9.25408339e-03 2.30886107e-04 9.99957153e-01 -7.99054474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.630888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.16, Y:66.07, Z:-0.80 [[ 4.98048660e-01 -8.67137956e-01 4.39287159e-03 1.16159534e+02] [ 8.67106972e-01 4.98068008e-01 7.33201046e-03 6.60708372e+01] [-8.54581337e-03 1.57391598e-04 9.99963471e-01 -7.99930439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.660888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:66.10, Z:-0.80 [[ 5.00459859e-01 -8.65750186e-01 4.06754391e-03 1.16168580e+02] [ 8.65723557e-01 5.00476373e-01 6.79135216e-03 6.60992698e+01] [-7.91532402e-03 1.22569443e-04 9.99968666e-01 -8.00767135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.690888479 meters Centerline goodness [0,1] 0.9999112393209808 Centerline is valid? [True, True] Translation: X:116.18, Y:66.13, Z:-0.80 [[ 5.05364166e-01 -8.62895178e-01 4.35561163e-03 1.16175461e+02] [ 8.62864501e-01 5.05382929e-01 7.27653015e-03 6.61290375e+01] [-8.48013454e-03 8.10050743e-05 9.99964040e-01 -8.00650270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.19, Y:66.15, Z:-0.80 [[ 5.07123653e-01 -8.61861206e-01 4.56753677e-03 1.16185406e+02] [ 8.61827391e-01 5.07144218e-01 7.63479650e-03 6.61548806e+01] [-8.89653478e-03 6.46424068e-05 9.99960423e-01 -8.00954059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75088847899997 meters Centerline goodness [0,1] 0.9998895442596152 Centerline is valid? [True, True] Translation: X:116.20, Y:66.18, Z:-0.80 [[ 5.08506371e-01 -8.61045434e-01 4.69380909e-03 1.16196136e+02] [ 8.61009648e-01 5.08528031e-01 7.85029418e-03 6.61811850e+01] [-9.14639345e-03 4.94903065e-05 9.99958170e-01 -8.01143614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78088847899997 meters Centerline goodness [0,1] 0.9997594050743657 Centerline is valid? [True, True] Translation: X:116.20, Y:66.21, Z:-0.80 [[ 5.11327687e-01 -8.59372482e-01 4.78896363e-03 1.16203984e+02] [ 8.59335112e-01 5.11350113e-01 8.01420003e-03 6.62084131e+01] [-9.33602005e-03 1.74422307e-05 9.99956418e-01 -8.00791981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81088847899997 meters Centerline goodness [0,1] 0.9998472516202239 Centerline is valid? [True, True] Translation: X:116.22, Y:66.23, Z:-0.80 [[ 5.12218372e-01 -8.58840934e-01 4.95883773e-03 1.16215299e+02] [ 8.58800795e-01 5.12242375e-01 8.30328841e-03 6.62346010e+01] [-9.67133079e-03 5.55690863e-06 9.99953232e-01 -8.00744690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84088847899997 meters Centerline goodness [0,1] 0.9998479913137893 Centerline is valid? [True, True] Translation: X:116.23, Y:66.26, Z:-0.80 [[ 5.12627600e-01 -8.58595476e-01 5.17226203e-03 1.16225972e+02] [ 8.58551748e-01 5.12653693e-01 8.66531191e-03 6.62593736e+01] [-1.00915768e-02 -1.42344579e-06 9.99949079e-01 -8.00858930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87088847899997 meters Centerline goodness [0,1] 0.9997391190921344 Centerline is valid? [True, True] Translation: X:116.24, Y:66.29, Z:-0.80 [[ 5.13599283e-01 -8.58015869e-01 4.95431166e-03 1.16235536e+02] [ 8.57975682e-01 5.13623178e-01 8.30422671e-03 6.62864583e+01] [-9.66980759e-03 -1.43659548e-05 9.99953246e-01 -8.01684089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90088847899997 meters Centerline goodness [0,1] 0.9998260150931907 Centerline is valid? [True, True] Translation: X:116.25, Y:66.31, Z:-0.80 [[ 5.13927819e-01 -8.57821508e-01 4.52293709e-03 1.16247629e+02] [ 8.57787969e-01 5.13947720e-01 7.58561576e-03 6.63114047e+01] [-8.83165756e-03 -1.87379445e-05 9.99961000e-01 -8.02617001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93088847899998 meters Centerline goodness [0,1] 0.9998041264037608 Centerline is valid? [True, True] Translation: X:116.26, Y:66.34, Z:-0.80 [[ 5.14199952e-01 -8.57660509e-01 4.10627290e-03 1.16260136e+02] [ 8.57632826e-01 5.14216347e-01 6.89094964e-03 6.63371441e+01] [-8.02160802e-03 -2.16515396e-05 9.99967826e-01 -8.03565602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96088847899998 meters Centerline goodness [0,1] 0.9997169112843517 Centerline is valid? [True, True] Translation: X:116.27, Y:66.36, Z:-0.80 [[ 5.14932647e-01 -8.57223175e-01 3.57732973e-03 1.16270560e+02] [ 8.57202130e-01 5.14945072e-01 6.00676700e-03 6.63634738e+01] [-6.99126820e-03 -2.65857732e-05 9.99975560e-01 -8.04575683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99088847899998 meters Centerline goodness [0,1] 0.9996736576451136 Centerline is valid? [True, True] Translation: X:116.28, Y:66.39, Z:-0.80 [[ 5.15094448e-01 -8.57126664e-01 3.40459073e-03 1.16282877e+02] [ 8.57107577e-01 5.15105698e-01 5.72024037e-03 6.63883457e+01] [-6.65669464e-03 -2.83635410e-05 9.99977844e-01 -8.04727365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02088847899998 meters Centerline goodness [0,1] 0.9995653496761855 Centerline is valid? [True, True] Translation: X:116.30, Y:66.41, Z:-0.80 [[ 5.14932114e-01 -8.57224653e-01 3.28833037e-03 1.16295592e+02] [ 8.57206826e-01 5.14942613e-01 5.52833478e-03 6.64130870e+01] [-6.43232629e-03 -2.79378711e-05 9.99979312e-01 -8.04805617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05088847899998 meters Centerline goodness [0,1] 0.9997187912349391 Centerline is valid? [True, True] Translation: X:116.31, Y:66.44, Z:-0.80 [[ 5.14600296e-01 -8.57423797e-01 3.31178626e-03 1.16308886e+02] [ 8.57405696e-01 5.14610952e-01 5.57135342e-03 6.64378793e+01] [-6.48129248e-03 -2.74757184e-05 9.99978996e-01 -8.04575549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08088847899998 meters Centerline goodness [0,1] 0.9996959231988879 Centerline is valid? [True, True] Translation: X:116.32, Y:66.46, Z:-0.80 [[ 5.13023570e-01 -8.58368950e-01 3.09229640e-03 1.16322141e+02] [ 8.58353168e-01 5.13032889e-01 5.20524441e-03 6.64621673e+01] [-6.05446993e-03 -1.61306526e-05 9.99981671e-01 -8.04770064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11088847899998 meters Centerline goodness [0,1] 0.9998060177601518 Centerline is valid? [True, True] Translation: X:116.34, Y:66.49, Z:-0.81 [[ 5.11914270e-01 -8.59032091e-01 2.76519898e-03 1.16335516e+02] [ 8.59019466e-01 5.11921738e-01 4.65740231e-03 6.64861911e+01] [-5.41642352e-03 -8.83095852e-06 9.99985331e-01 -8.05462301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14088847899998 meters Centerline goodness [0,1] 0.9996752403221616 Centerline is valid? [True, True] Translation: X:116.35, Y:66.51, Z:-0.81 [[ 5.10413152e-01 -8.59926048e-01 2.36776661e-03 1.16349837e+02] [ 8.59916796e-01 5.10418644e-01 3.98899065e-03 6.65104874e+01] [-4.63878919e-03 4.89792537e-08 9.99989241e-01 -8.06436114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17088847899998 meters Centerline goodness [0,1] 0.999762644571034 Centerline is valid? [True, True] Translation: X:116.36, Y:66.53, Z:-0.81 [[ 5.06921026e-01 -8.61990665e-01 1.77946228e-03 1.16364707e+02] [ 8.61985448e-01 5.06924149e-01 2.99917913e-03 6.65332109e+01] [-3.48731681e-03 1.35236245e-05 9.99993919e-01 -8.06920545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20088847899999 meters Centerline goodness [0,1] 0.9996539418189683 Centerline is valid? [True, True] Translation: X:116.38, Y:66.56, Z:-0.81 [[ 5.04861567e-01 -8.63198538e-01 1.75528038e-03 1.16379798e+02] [ 8.63193463e-01 5.04864618e-01 2.96009263e-03 6.65568761e+01] [-3.44132659e-03 2.07095390e-05 9.99994078e-01 -8.06059415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230888479 meters Centerline goodness [0,1] 0.9998702085316259 Centerline is valid? [True, True] Translation: X:116.39, Y:66.58, Z:-0.81 [[ 5.02449446e-01 -8.64604326e-01 1.97833921e-03 1.16394249e+02] [ 8.64597880e-01 5.02453339e-01 3.33883632e-03 6.65795721e+01] [-3.88079547e-03 3.28714310e-05 9.99992469e-01 -8.05731115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.260888479 meters Centerline goodness [0,1] 0.9997194708789193 Centerline is valid? [True, True] Translation: X:116.41, Y:66.60, Z:-0.81 [[ 5.00087169e-01 -8.65972410e-01 2.14683538e-03 1.16409820e+02] [ 8.65964821e-01 5.00091775e-01 3.62570069e-03 6.66022163e+01] [-4.21337148e-03 4.59175197e-05 9.99991123e-01 -8.05254659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290888479 meters Centerline goodness [0,1] 0.9997194708789193 Centerline is valid? [True, True] Translation: X:116.42, Y:66.63, Z:-0.81 [[ 4.99855811e-01 -8.66105976e-01 2.14633087e-03 1.16423797e+02] [ 8.66098387e-01 4.99860417e-01 3.62599933e-03 6.66259996e+01] [-4.21336553e-03 4.64568663e-05 9.99991123e-01 -8.05404979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.320888479 meters Centerline goodness [0,1] 0.9998484487648575 Centerline is valid? [True, True] Translation: X:116.44, Y:66.65, Z:-0.81 [[ 4.95445531e-01 -8.68636053e-01 2.26585662e-03 1.16439071e+02] [ 8.68627609e-01 4.95450707e-01 3.83067036e-03 6.66499651e+01] [-4.45007865e-03 7.02971058e-05 9.99990096e-01 -8.05561007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.350888479 meters Centerline goodness [0,1] 0.999718882449615 Centerline is valid? [True, True] Translation: X:116.45, Y:66.68, Z:-0.81 [[ 4.93602542e-01 -8.69684471e-01 2.33487001e-03 1.16453456e+02] [ 8.69675511e-01 4.93608058e-01 3.94848757e-03 6.66753592e+01] [-4.58644897e-03 8.15957643e-05 9.99989479e-01 -8.06095253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.380888479 meters Centerline goodness [0,1] 0.9994570528830492 Centerline is valid? [True, True] Translation: X:116.47, Y:66.70, Z:-0.81 [[ 4.91790740e-01 -8.70710935e-01 2.08253917e-03 1.16467104e+02] [ 8.70703809e-01 4.91795142e-01 3.52345021e-03 6.67006358e+01] [-4.09208928e-03 8.04746045e-05 9.99991624e-01 -8.06640747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.410888479 meters Centerline goodness [0,1] 0.9998698989548549 Centerline is valid? [True, True] Translation: X:116.48, Y:66.72, Z:-0.81 [[ 4.91116902e-01 -8.71091290e-01 2.03776776e-03 1.16481630e+02] [ 8.71084464e-01 4.91121123e-01 3.44957588e-03 6.67237859e+01] [-4.00568630e-03 8.09228194e-05 9.99991974e-01 -8.06480775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.440888479 meters Centerline goodness [0,1] 0.9997399276131856 Centerline is valid? [True, True] Translation: X:116.49, Y:66.75, Z:-0.81 [[ 4.90655514e-01 -8.71350997e-01 2.14629073e-03 1.16494342e+02] [ 8.71343417e-01 4.90660201e-01 3.63548572e-03 6.67487106e+01] [-4.22088355e-03 8.63851796e-05 9.99991088e-01 -8.06489723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.470888479 meters Centerline goodness [0,1] 0.9996112562900892 Centerline is valid? [True, True] Translation: X:116.51, Y:66.77, Z:-0.81 [[ 4.90108225e-01 -8.71658932e-01 2.15252695e-03 1.16505886e+02] [ 8.71651302e-01 4.90112944e-01 3.64839164e-03 6.67739763e+01] [-4.23513448e-03 8.81461682e-05 9.99991028e-01 -8.07593009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50088847899997 meters Centerline goodness [0,1] 0.9998055777580955 Centerline is valid? [True, True] Translation: X:116.52, Y:66.80, Z:-0.81 [[ 4.89761352e-01 -8.71853602e-01 2.26169191e-03 1.16519834e+02] [ 8.71845167e-01 4.89766565e-01 3.83608611e-03 6.67969641e+01] [-4.45220657e-03 9.30784387e-05 9.99990085e-01 -8.08417291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53088847899997 meters Centerline goodness [0,1] 0.9997410500420794 Centerline is valid? [True, True] Translation: X:116.53, Y:66.82, Z:-0.81 [[ 4.89438484e-01 -8.72034971e-01 2.23138254e-03 1.16531157e+02] [ 8.72026754e-01 4.89443562e-01 3.78677442e-03 6.68229155e+01] [-4.39433554e-03 9.24321449e-05 9.99990341e-01 -8.08814883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56088847899997 meters Centerline goodness [0,1] 0.9996336680601646 Centerline is valid? [True, True] Translation: X:116.55, Y:66.84, Z:-0.81 [[ 4.89146591e-01 -8.72198485e-01 2.32725893e-03 1.16546711e+02] [ 8.72189536e-01 4.89152118e-01 3.95221595e-03 6.68447701e+01] [-4.58550040e-03 9.65979286e-05 9.99989482e-01 -8.08995568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59088847899997 meters Centerline goodness [0,1] 0.99967683557394 Centerline is valid? [True, True] Translation: X:116.56, Y:66.87, Z:-0.81 [[ 4.89212011e-01 -8.72160988e-01 2.61127644e-03 1.16557942e+02] [ 8.72149706e-01 4.89218969e-01 4.43744170e-03 6.68712486e+01] [-5.14764950e-03 1.06574199e-04 9.99986745e-01 -8.08135274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62088847899997 meters Centerline goodness [0,1] 0.9996337627644448 Centerline is valid? [True, True] Translation: X:116.57, Y:66.90, Z:-0.81 [[ 4.89017283e-01 -8.72270010e-01 2.66964465e-03 1.16570900e+02] [ 8.72258203e-01 4.89024558e-01 4.53958523e-03 6.68966582e+01] [-5.26526585e-03 1.08683808e-04 9.99986132e-01 -8.07887968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65088847899997 meters Centerline goodness [0,1] 0.9992260893866758 Centerline is valid? [True, True] Translation: X:116.58, Y:66.92, Z:-0.81 [[ 4.88829529e-01 -8.72374906e-01 2.77746159e-03 1.16584173e+02] [ 8.72362112e-01 4.88837407e-01 4.72612056e-03 6.69214232e+01] [-5.48067610e-03 1.12684972e-04 9.99984975e-01 -8.09430769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68088847899998 meters Centerline goodness [0,1] 0.9996142884693681 Centerline is valid? [True, True] Translation: X:116.60, Y:66.95, Z:-0.81 [[ 4.90645426e-01 -8.71353537e-01 3.17474487e-03 1.16596175e+02] [ 8.71336774e-01 4.90655684e-01 5.40605220e-03 6.69472206e+01] [-6.26828933e-03 1.13817170e-04 9.99980348e-01 -8.08239142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71088847899998 meters Centerline goodness [0,1] 0.9995296129997862 Centerline is valid? [True, True] Translation: X:116.61, Y:66.97, Z:-0.81 [[ 4.91678066e-01 -8.70771408e-01 3.13603286e-03 1.16608080e+02] [ 8.70755021e-01 4.91688056e-01 5.34307721e-03 6.69719184e+01] [-6.19454877e-03 1.03642492e-04 9.99980808e-01 -8.08808492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74088847899998 meters Centerline goodness [0,1] 0.9995064483594772 Centerline is valid? [True, True] Translation: X:116.62, Y:67.00, Z:-0.81 [[ 4.92704523e-01 -8.70191711e-01 2.93920870e-03 1.16619551e+02] [ 8.70177293e-01 4.92713282e-01 5.01005645e-03 6.69978629e+01] [-5.80789676e-03 8.91551949e-05 9.99983130e-01 -8.09947101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77088847899998 meters Centerline goodness [0,1] 0.9994224228292725 Centerline is valid? [True, True] Translation: X:116.63, Y:67.02, Z:-0.81 [[ 4.95904667e-01 -8.68374761e-01 1.95860680e-03 1.16631562e+02] [ 8.68368337e-01 4.95908533e-01 3.34025644e-03 6.70230798e+01] [-3.87188421e-03 4.43433692e-05 9.99992503e-01 -8.12044818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80088847899998 meters Centerline goodness [0,1] 0.9994852878098996 Centerline is valid? [True, True] Translation: X:116.64, Y:67.05, Z:-0.81 [[ 4.97134958e-01 -8.67671788e-01 1.58166963e-03 1.16644564e+02] [ 8.67667597e-01 4.97137473e-01 2.69701358e-03 6.70487163e+01] [-3.12642984e-03 3.15837567e-05 9.99995112e-01 -8.12953995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83088847899998 meters Centerline goodness [0,1] 0.9994009157430784 Centerline is valid? [True, True] Translation: X:116.66, Y:67.07, Z:-0.81 [[ 4.98347382e-01 -8.66976116e-01 1.51685634e-03 1.16657293e+02] [ 8.66972254e-01 4.98349690e-01 2.58788287e-03 6.70744724e+01] [-2.99955753e-03 2.54077082e-05 9.99995501e-01 -8.13328636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86088847899998 meters Centerline goodness [0,1] 0.9996996546027932 Centerline is valid? [True, True] Translation: X:116.67, Y:67.10, Z:-0.81 [[ 4.99817494e-01 -8.66128890e-01 1.79407176e-03 1.16669098e+02] [ 8.66123474e-01 4.99820714e-01 3.06303651e-03 6.71000785e+01] [-3.54969863e-03 2.29284303e-05 9.99993700e-01 -8.13561511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89088847899998 meters Centerline goodness [0,1] 0.9993565131593058 Centerline is valid? [True, True] Translation: X:116.68, Y:67.13, Z:-0.81 [[ 5.02792559e-01 -8.64404463e-01 2.13685305e-03 1.16679009e+02] [ 8.64396753e-01 5.02797100e-01 3.65111416e-03 6.71275339e+01] [-4.23044289e-03 1.13357993e-05 9.99991052e-01 -8.13638421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92088847899998 meters Centerline goodness [0,1] 0.9993589195657748 Centerline is valid? [True, True] Translation: X:116.69, Y:67.15, Z:-0.81 [[ 5.04284697e-01 -8.63534189e-01 2.37700613e-03 1.16691046e+02] [ 8.63524625e-01 5.04290299e-01 4.06417817e-03 6.71516178e+01] [-4.70825793e-03 3.10047142e-06 9.99988916e-01 -8.13771740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95088847899999 meters Centerline goodness [0,1] 0.9993358186570682 Centerline is valid? [True, True] Translation: X:116.70, Y:67.18, Z:-0.81 [[ 5.06975462e-01 -8.61955891e-01 2.81474077e-03 1.16701648e+02] [ 8.61942438e-01 5.06983275e-01 4.81586930e-03 6.71761675e+01] [-5.57809341e-03 -1.53830451e-05 9.99984442e-01 -8.13176797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.980888479 meters Centerline goodness [0,1] 0.9992075051405072 Centerline is valid? [True, True] Translation: X:116.71, Y:67.20, Z:-0.81 [[ 5.08064380e-01 -8.61314974e-01 2.66475333e-03 1.16714084e+02] [ 8.61302901e-01 5.08071367e-01 4.56058043e-03 6.72004775e+01] [-5.28198108e-03 -2.19086914e-05 9.99986050e-01 -8.14064570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010888479 meters Centerline goodness [0,1] 0.9992926651519698 Centerline is valid? [True, True] Translation: X:116.73, Y:67.22, Z:-0.81 [[ 5.09234733e-01 -8.60623628e-01 2.63768880e-03 1.16727073e+02] [ 8.60611776e-01 5.09241564e-01 4.51672024e-03 6.72249798e+01] [-5.23041692e-03 -3.00447856e-05 9.99986321e-01 -8.13824618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.040888479 meters Centerline goodness [0,1] 0.9991449885642221 Centerline is valid? [True, True] Translation: X:116.74, Y:67.25, Z:-0.81 [[ 5.11212095e-01 -8.59451778e-01 2.19877391e-03 1.16740562e+02] [ 8.59443523e-01 5.11216822e-01 3.76710264e-03 6.72494056e+01] [-4.36169327e-03 -3.60664384e-05 9.99990487e-01 -8.14383365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.070888479 meters Centerline goodness [0,1] 0.9990333182960623 Centerline is valid? [True, True] Translation: X:116.75, Y:67.27, Z:-0.81 [[ 5.11623691e-01 -8.59206962e-01 2.14364880e-03 1.16754504e+02] [ 8.59199108e-01 5.11628181e-01 3.67381284e-03 6.72733912e+01] [-4.25331670e-03 -3.77885537e-05 9.99990954e-01 -8.14938670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.100888479 meters Centerline goodness [0,1] 0.9989486106640918 Centerline is valid? [True, True] Translation: X:116.77, Y:67.30, Z:-0.82 [[ 5.11959430e-01 -8.59006714e-01 2.23766782e-03 1.16767214e+02] [ 8.58998142e-01 5.11964318e-01 3.83778365e-03 6.72971839e+01] [-4.44228800e-03 -4.26370353e-05 9.99990132e-01 -8.15839175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.130888479 meters Centerline goodness [0,1] 0.9991846018496663 Centerline is valid? [True, True] Translation: X:116.78, Y:67.32, Z:-0.82 [[ 5.12095446e-01 -8.58926089e-01 2.05643643e-03 1.16781338e+02] [ 8.58918843e-01 5.12099573e-01 3.52811013e-03 6.73212182e+01] [-4.08348605e-03 -4.04171249e-05 9.99991662e-01 -8.16025186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.160888479 meters Centerline goodness [0,1] 0.9990752091532787 Centerline is valid? [True, True] Translation: X:116.80, Y:67.34, Z:-0.82 [[ 5.12572707e-01 -8.58642604e-01 1.44885078e-03 1.16796140e+02] [ 8.58639003e-01 5.12574753e-01 2.48694403e-03 6.73447075e+01] [-2.87804043e-03 -3.06998465e-05 9.99995858e-01 -8.17426712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.190888479 meters Centerline goodness [0,1] 0.9987975091260468 Centerline is valid? [True, True] Translation: X:116.81, Y:67.37, Z:-0.82 [[ 5.12643396e-01 -8.58600758e-01 1.21947030e-03 1.16808059e+02] [ 8.58598206e-01 5.12644846e-01 2.09335317e-03 6.73690546e+01] [-2.42250978e-03 -2.61086639e-05 9.99997065e-01 -8.18410355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.220888479 meters Centerline goodness [0,1] 0.9993326157158234 Centerline is valid? [True, True] Translation: X:116.83, Y:67.39, Z:-0.82 [[ 5.13341417e-01 -8.58183776e-01 1.09337314e-03 1.16825418e+02] [ 8.58181722e-01 5.13342581e-01 1.87774418e-03 6.73918664e+01] [-2.17272458e-03 -2.56110137e-05 9.99997639e-01 -8.17766052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25088847899997 meters Centerline goodness [0,1] 0.9988231266315745 Centerline is valid? [True, True] Translation: X:116.84, Y:67.42, Z:-0.82 [[ 5.13596095e-01 -8.58031534e-01 9.68938920e-04 1.16836197e+02] [ 8.58029918e-01 5.13597008e-01 1.66511056e-03 6.74167118e+01] [-1.92636150e-03 -2.38157012e-05 9.99998144e-01 -8.18996968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28088847899997 meters Centerline goodness [0,1] 0.999012048710294 Centerline is valid? [True, True] Translation: X:116.85, Y:67.44, Z:-0.82 [[ 5.13409347e-01 -8.58143171e-01 1.06761257e-03 1.16853639e+02] [ 8.58141210e-01 5.13410457e-01 1.83509937e-03 6.74389659e+01] [-2.12290145e-03 -2.59948258e-05 9.99997746e-01 -8.18447255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31088847899997 meters Centerline goodness [0,1] 0.9989681191822345 Centerline is valid? [True, True] Translation: X:116.87, Y:67.46, Z:-0.82 [[ 5.13008679e-01 -8.58382455e-01 1.28720504e-03 1.16869240e+02] [ 8.58379599e-01 5.13010293e-01 2.21455229e-03 6.74622869e+01] [-2.56128226e-03 -3.11740009e-05 9.99996719e-01 -8.18143769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34088847899997 meters Centerline goodness [0,1] 0.9990747713824637 Centerline is valid? [True, True] Translation: X:116.89, Y:67.49, Z:-0.82 [[ 5.12104173e-01 -8.58921319e-01 1.86613508e-03 1.16886275e+02] [ 8.58915307e-01 5.12107572e-01 3.21419189e-03 6.74858895e+01] [-3.71639985e-03 -4.31490987e-05 9.99993093e-01 -8.17271971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37088847899997 meters Centerline goodness [0,1] 0.9991385808118876 Centerline is valid? [True, True] Translation: X:116.90, Y:67.51, Z:-0.82 [[ 5.11308668e-01 -8.59394453e-01 2.14950521e-03 1.16901571e+02] [ 8.59386469e-01 5.11313184e-01 3.70472230e-03 6.75089596e+01] [-4.28288815e-03 -4.70009323e-05 9.99990827e-01 -8.16795403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40088847899997 meters Centerline goodness [0,1] 0.99911609356473 Centerline is valid? [True, True] Translation: X:116.92, Y:67.53, Z:-0.82 [[ 5.10289459e-01 -8.59999909e-01 2.19659692e-03 1.16916677e+02] [ 8.59991565e-01 5.10294185e-01 3.78849779e-03 6.75322113e+01] [-4.37901838e-03 -4.41756694e-05 9.99990411e-01 -8.16693944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43088847899998 meters Centerline goodness [0,1] 0.999181087429692 Centerline is valid? [True, True] Translation: X:116.93, Y:67.55, Z:-0.82 [[ 5.08641753e-01 -8.60974535e-01 2.53328948e-03 1.16932526e+02] [ 8.60963431e-01 5.08648060e-01 4.37276868e-03 6.75549595e+01] [-5.05339526e-03 -4.31031240e-05 9.99987231e-01 -8.16803353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46088847899998 meters Centerline goodness [0,1] 0.9991166839021027 Centerline is valid? [True, True] Translation: X:116.95, Y:67.58, Z:-0.82 [[ 5.08023474e-01 -8.61339604e-01 2.49724892e-03 1.16948046e+02] [ 8.61328815e-01 5.08029610e-01 4.31135138e-03 6.75789670e+01] [-4.98221408e-03 -3.93152534e-05 9.99987588e-01 -8.17073974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49088847899998 meters Centerline goodness [0,1] 0.9992655318413549 Centerline is valid? [True, True] Translation: X:116.96, Y:67.60, Z:-0.82 [[ 5.07744880e-01 -8.61504741e-01 2.17195853e-03 1.16963124e+02] [ 8.61496577e-01 5.07749525e-01 3.75079855e-03 6.76025597e+01] [-4.33414165e-03 -3.33139216e-05 9.99990607e-01 -8.17769782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52088847899998 meters Centerline goodness [0,1] 0.9993114429573525 Centerline is valid? [True, True] Translation: X:116.98, Y:67.63, Z:-0.82 [[ 5.07350622e-01 -8.61738168e-01 1.63597647e-03 1.16977977e+02] [ 8.61733533e-01 5.07353259e-01 2.82642264e-03 6.76254283e+01] [-3.26565426e-03 -2.42115003e-05 9.99994667e-01 -8.19114897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55088847899998 meters Centerline goodness [0,1] 0.9993957443135224 Centerline is valid? [True, True] Translation: X:116.99, Y:67.65, Z:-0.82 [[ 5.06956945e-01 -8.61970222e-01 1.41139178e-03 1.16992524e+02] [ 8.61966771e-01 5.06958909e-01 2.43932026e-03 6.76498307e+01] [-2.81813906e-03 -2.00575346e-05 9.99996029e-01 -8.19779172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58088847899998 meters Centerline goodness [0,1] 0.9993497344749106 Centerline is valid? [True, True] Translation: X:117.01, Y:67.67, Z:-0.82 [[ 5.06359843e-01 -8.62321005e-01 1.48115899e-03 1.17006545e+02] [ 8.62317200e-01 5.06362009e-01 2.56174333e-03 6.76738246e+01] [-2.95904773e-03 -1.99350823e-05 9.99995622e-01 -8.20611208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61088847899998 meters Centerline goodness [0,1] 0.9993966427478613 Centerline is valid? [True, True] Translation: X:117.02, Y:67.70, Z:-0.82 [[ 5.05055692e-01 -8.63085000e-01 1.74106455e-03 1.17022014e+02] [ 8.63079737e-01 5.05058693e-01 3.01395077e-03 6.76962212e+01] [-3.48063548e-03 -1.95354539e-05 9.99993942e-01 -8.20435622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64088847899998 meters Centerline goodness [0,1] 0.999326745574981 Centerline is valid? [True, True] Translation: X:117.04, Y:67.72, Z:-0.82 [[ 5.04089527e-01 -8.63648893e-01 2.08293637e-03 1.17037678e+02] [ 8.63641355e-01 5.04093830e-01 3.60829342e-03 6.77191486e+01] [-4.16629399e-03 -1.99929312e-05 9.99991321e-01 -8.19852081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67088847899998 meters Centerline goodness [0,1] 0.9995012144344205 Centerline is valid? [True, True] Translation: X:117.05, Y:67.74, Z:-0.82 [[ 5.02684799e-01 -8.64467003e-01 2.18943205e-03 1.17053517e+02] [ 8.64458672e-01 5.02689567e-01 3.79538876e-03 6.77422182e+01] [-4.38159300e-03 -1.52107174e-05 9.99990401e-01 -8.19254825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70088847899999 meters Centerline goodness [0,1] 0.9996116421066258 Centerline is valid? [True, True] Translation: X:117.07, Y:67.76, Z:-0.82 [[ 4.99707518e-01 -8.66189261e-01 2.92594997e-03 1.17069569e+02] [ 8.66174385e-01 4.99716084e-01 5.07652310e-03 6.77640820e+01] [-5.85937405e-03 -2.39384047e-06 9.99982834e-01 -8.19629793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730888479 meters Centerline goodness [0,1] 0.9995245299330019 Centerline is valid? [True, True] Translation: X:117.08, Y:67.79, Z:-0.82 [[ 4.98515848e-01 -8.66874755e-01 3.17943813e-03 1.17084475e+02] [ 8.66857181e-01 4.98525987e-01 5.51983180e-03 6.77878996e+01] [-6.37003537e-03 4.39514642e-06 9.99979711e-01 -8.20322603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.760888479 meters Centerline goodness [0,1] 0.9995678011885467 Centerline is valid? [True, True] Translation: X:117.10, Y:67.81, Z:-0.82 [[ 4.97396136e-01 -8.67517393e-01 3.26434890e-03 1.17099228e+02] [ 8.67498857e-01 4.97406848e-01 5.67104819e-03 6.78118708e+01] [-6.54344244e-03 1.10614798e-05 9.99978591e-01 -8.20487913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790888479 meters Centerline goodness [0,1] 0.9995901285701959 Centerline is valid? [True, True] Translation: X:117.11, Y:67.84, Z:-0.82 [[ 4.96577869e-01 -8.67984801e-01 3.57861910e-03 1.17114209e+02] [ 8.67962504e-01 4.96590763e-01 6.22139266e-03 6.78359985e+01] [-7.17718346e-03 1.67012892e-05 9.99974244e-01 -8.20567105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.820888479 meters Centerline goodness [0,1] 0.9995903671603821 Centerline is valid? [True, True] Translation: X:117.13, Y:67.86, Z:-0.82 [[ 4.94921895e-01 -8.68929043e-01 3.82579254e-03 1.17130698e+02] [ 8.68903553e-01 4.94936681e-01 6.65568160e-03 6.78589743e+01] [-7.67684011e-03 3.02021790e-05 9.99970532e-01 -8.19892793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.850888479 meters Centerline goodness [0,1] 0.9995673992040145 Centerline is valid? [True, True] Translation: X:117.15, Y:67.88, Z:-0.82 [[ 4.94190596e-01 -8.69344321e-01 4.01333344e-03 1.17145966e+02] [ 8.69316245e-01 4.94206891e-01 6.98673334e-03 6.78827667e+01] [-8.05729398e-03 3.60780421e-05 9.99967539e-01 -8.19808472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.880888479 meters Centerline goodness [0,1] 0.9997620592688731 Centerline is valid? [True, True] Translation: X:117.16, Y:67.91, Z:-0.82 [[ 4.93398000e-01 -8.69795463e-01 3.77713675e-03 1.17160316e+02] [ 8.69770577e-01 4.93412456e-01 6.57972220e-03 6.79069434e+01] [-7.58669884e-03 3.88206395e-05 9.99971220e-01 -8.20136352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.910888479 meters Centerline goodness [0,1] 0.9997185964456566 Centerline is valid? [True, True] Translation: X:117.17, Y:67.93, Z:-0.82 [[ 4.93002660e-01 -8.70019567e-01 3.78551582e-03 1.17174274e+02] [ 8.69994543e-01 4.93017192e-01 6.59870542e-03 6.79316707e+01] [-7.60732722e-03 4.01987834e-05 9.99971063e-01 -8.21208023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.940888479 meters Centerline goodness [0,1] 0.9996108528807697 Centerline is valid? [True, True] Translation: X:117.19, Y:67.96, Z:-0.82 [[ 4.93324930e-01 -8.69838367e-01 3.42464980e-03 1.17187284e+02] [ 8.69817858e-01 4.93336816e-01 5.97331651e-03 6.79563034e+01] [-6.88532571e-03 3.20355993e-05 9.99976295e-01 -8.23008531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.970888479 meters Centerline goodness [0,1] 0.9996768425361398 Centerline is valid? [True, True] Translation: X:117.20, Y:67.98, Z:-0.82 [[ 4.93756884e-01 -8.69593969e-01 3.23556703e-03 1.17201431e+02] [ 8.69575633e-01 4.93767484e-01 5.64707272e-03 6.79803793e+01] [-6.50827817e-03 2.52892219e-05 9.99978821e-01 -8.23218982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00088847899997 meters Centerline goodness [0,1] 0.9997631607277425 Centerline is valid? [True, True] Translation: X:117.22, Y:68.00, Z:-0.82 [[ 4.94708250e-01 -8.69054018e-01 2.97685989e-03 1.17215536e+02] [ 8.69038469e-01 4.94717206e-01 5.19868282e-03 6.80035792e+01] [-5.99063999e-03 1.51744839e-05 9.99982056e-01 -8.23359677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03088847899997 meters Centerline goodness [0,1] 0.9996757668114908 Centerline is valid? [True, True] Translation: X:117.23, Y:68.03, Z:-0.82 [[ 4.94938974e-01 -8.68922111e-01 3.12684241e-03 1.17229090e+02] [ 8.68904932e-01 4.94948850e-01 5.46400011e-03 6.80281051e+01] [-6.29541757e-03 1.25821808e-05 9.99980184e-01 -8.23615528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06088847899997 meters Centerline goodness [0,1] 0.999676382386572 Centerline is valid? [True, True] Translation: X:117.24, Y:68.05, Z:-0.82 [[ 4.95613450e-01 -8.68537605e-01 3.12044804e-03 1.17242459e+02] [ 8.68520465e-01 4.95623273e-01 5.45641556e-03 6.80527061e+01] [-6.28566877e-03 5.90003639e-06 9.99980245e-01 -8.23707781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09088847899997 meters Centerline goodness [0,1] 0.9999783601307048 Centerline is valid? [True, True] Translation: X:117.26, Y:68.08, Z:-0.82 [[ 4.95849491e-01 -8.68401004e-01 3.60254853e-03 1.17255630e+02] [ 8.68378122e-01 4.95862578e-01 6.30404476e-03 6.80776810e+01] [-7.26080781e-03 2.51694069e-06 9.99973640e-01 -8.24173953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12088847899997 meters Centerline goodness [0,1] 0.9995241082437432 Centerline is valid? [True, True] Translation: X:117.27, Y:68.10, Z:-0.82 [[ 4.97042201e-01 -8.67718401e-01 3.71859348e-03 1.17268709e+02] [ 8.67693969e-01 4.97056111e-01 6.51147144e-03 6.81026005e+01] [-7.49847320e-03 -9.87495914e-06 9.99971886e-01 -8.24261832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15088847899997 meters Centerline goodness [0,1] 0.9997403496624545 Centerline is valid? [True, True] Translation: X:117.28, Y:68.13, Z:-0.82 [[ 4.97487411e-01 -8.67462846e-01 3.80620720e-03 1.17281992e+02] [ 8.67437209e-01 4.97501971e-01 6.66919073e-03 6.81258821e+01] [-7.67887075e-03 -1.61926791e-05 9.99970517e-01 -8.24037418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18088847899998 meters Centerline goodness [0,1] 0.9995442708333333 Centerline is valid? [True, True] Translation: X:117.30, Y:68.15, Z:-0.82 [[ 4.98144499e-01 -8.67084900e-01 3.97922746e-03 1.17295715e+02] [ 8.67056832e-01 4.98160391e-01 6.97671853e-03 6.81499665e+01] [-8.03170080e-03 -2.51975995e-05 9.99967745e-01 -8.23577750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21088847899998 meters Centerline goodness [0,1] 0.9995442708333333 Centerline is valid? [True, True] Translation: X:117.31, Y:68.17, Z:-0.82 [[ 4.97902405e-01 -8.67223948e-01 3.97728081e-03 1.17309316e+02] [ 8.67195876e-01 4.97918289e-01 6.97782822e-03 6.81739679e+01] [-8.03170060e-03 -2.51959405e-05 9.99967745e-01 -8.23727859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24088847899998 meters Centerline goodness [0,1] 0.9994378499924326 Centerline is valid? [True, True] Translation: X:117.32, Y:68.20, Z:-0.82 [[ 4.98493591e-01 -8.66885173e-01 3.77318567e-03 1.17322756e+02] [ 8.66859867e-01 4.98507870e-01 6.62378079e-03 6.81972563e+01] [-7.62302010e-03 -3.10890494e-05 9.99970944e-01 -8.23171347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27088847899998 meters Centerline goodness [0,1] 0.9995684260498037 Centerline is valid? [True, True] Translation: X:117.34, Y:68.22, Z:-0.82 [[ 5.00226099e-01 -8.65885421e-01 4.03584520e-03 1.17335100e+02] [ 8.65856401e-01 5.00242377e-01 7.08930700e-03 6.82225647e+01] [-8.15742837e-03 -5.17939845e-05 9.99966726e-01 -8.23324065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30088847899998 meters Centerline goodness [0,1] 0.9996325833711557 Centerline is valid? [True, True] Translation: X:117.35, Y:68.25, Z:-0.82 [[ 5.01357427e-01 -8.65230152e-01 4.18510951e-03 1.17346752e+02] [ 8.65198883e-01 5.01374890e-01 7.35606698e-03 6.82470513e+01] [-8.46299977e-03 -6.70667351e-05 9.99964186e-01 -8.24089636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33088847899998 meters Centerline goodness [0,1] 0.9995680438867411 Centerline is valid? [True, True] Translation: X:117.36, Y:68.27, Z:-0.83 [[ 5.02610527e-01 -8.64502298e-01 4.29361087e-03 1.17359689e+02] [ 8.64469321e-01 5.02628859e-01 7.55134597e-03 6.82720222e+01] [-8.68624868e-03 -8.36911097e-05 9.99962270e-01 -8.25483152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36088847899998 meters Centerline goodness [0,1] 0.9995895087067364 Centerline is valid? [True, True] Translation: X:117.37, Y:68.30, Z:-0.83 [[ 5.04849864e-01 -8.63198942e-01 3.76854887e-03 1.17373002e+02] [ 8.63173472e-01 5.04863921e-01 6.63160793e-03 6.82974386e+01] [-7.62700130e-03 -9.50549489e-05 9.99970909e-01 -8.26741165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39088847899998 meters Centerline goodness [0,1] 0.9993711237368261 Centerline is valid? [True, True] Translation: X:117.39, Y:68.32, Z:-0.83 [[ 5.05794132e-01 -8.62648234e-01 3.21253814e-03 1.17388854e+02] [ 8.62629696e-01 5.05804326e-01 5.65603999e-03 6.83220716e+01] [-6.50408860e-03 -8.95610437e-05 9.99978844e-01 -8.27329204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42088847899998 meters Centerline goodness [0,1] 0.9995236548662986 Centerline is valid? [True, True] Translation: X:117.40, Y:68.35, Z:-0.83 [[ 5.06314677e-01 -8.62343874e-01 2.91375505e-03 1.17402891e+02] [ 8.62328603e-01 5.06323054e-01 5.13276910e-03 6.83457579e+01] [-5.90151335e-03 -8.61820123e-05 9.99982582e-01 -8.27222510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45088847899999 meters Centerline goodness [0,1] 0.9993708235702508 Centerline is valid? [True, True] Translation: X:117.42, Y:68.37, Z:-0.83 [[ 5.06110207e-01 -8.62464817e-01 2.62637106e-03 1.17418388e+02] [ 8.62452398e-01 5.06117015e-01 4.62902216e-03 6.83696999e+01] [-5.32161983e-03 -7.76753475e-05 9.99985837e-01 -8.28143326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.480888479 meters Centerline goodness [0,1] 0.9994128903192137 Centerline is valid? [True, True] Translation: X:117.43, Y:68.39, Z:-0.83 [[ 5.05621124e-01 -8.62751543e-01 2.65607227e-03 1.17432279e+02] [ 8.62738828e-01 5.05628094e-01 4.68454195e-03 6.83942385e+01] [-5.38458056e-03 -7.71066868e-05 9.99985500e-01 -8.28776076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510888479 meters Centerline goodness [0,1] 0.9993477977303361 Centerline is valid? [True, True] Translation: X:117.45, Y:68.42, Z:-0.83 [[ 5.05327487e-01 -8.62923948e-01 2.52788220e-03 1.17446530e+02] [ 8.62912419e-01 5.05333805e-01 4.46125671e-03 6.84178906e+01] [-5.12714958e-03 -7.30546968e-05 9.99986853e-01 -8.29214241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.540888479 meters Centerline goodness [0,1] 0.9994563444601501 Centerline is valid? [True, True] Translation: X:117.46, Y:68.44, Z:-0.83 [[ 5.04748370e-01 -8.63264002e-01 2.08499685e-03 1.17462554e+02] [ 8.63256152e-01 5.04752672e-01 3.68175843e-03 6.84401748e+01] [-4.23073725e-03 -5.84752029e-05 9.99991049e-01 -8.30691145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.570888479 meters Centerline goodness [0,1] 0.9995414847161572 Centerline is valid? [True, True] Translation: X:117.48, Y:68.46, Z:-0.83 [[ 5.04312718e-01 -8.63519780e-01 1.50745834e-03 1.17478292e+02] [ 8.63515678e-01 5.04314969e-01 2.66210365e-03 6.84639991e+01] [-3.05901296e-03 -4.08188163e-05 9.99995320e-01 -8.31453848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.600888479 meters Centerline goodness [0,1] 0.9994745944525931 Centerline is valid? [True, True] Translation: X:117.49, Y:68.49, Z:-0.83 [[ 5.04105890e-01 -8.63640851e-01 1.31583627e-03 1.17493528e+02] [ 8.63637723e-01 5.04107606e-01 2.32483701e-03 6.84875448e+01] [-2.67114728e-03 -3.55581906e-05 9.99996432e-01 -8.32340010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.630888479 meters Centerline goodness [0,1] 0.9996272992348673 Centerline is valid? [True, True] Translation: X:117.51, Y:68.51, Z:-0.83 [[ 5.04083816e-01 -8.63653694e-01 1.34313171e-03 1.17509940e+02] [ 8.63650430e-01 5.04085604e-01 2.37466621e-03 6.85110795e+01] [-2.72794260e-03 -3.70345246e-05 9.99996278e-01 -8.32601545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.660888479 meters Centerline goodness [0,1] 0.9997151059586684 Centerline is valid? [True, True] Translation: X:117.52, Y:68.53, Z:-0.83 [[ 5.03937271e-01 -8.63738599e-01 1.69094110e-03 1.17523500e+02] [ 8.63733416e-01 5.03940105e-01 2.99271974e-03 6.85340547e+01] [-3.43706059e-03 -4.76206858e-05 9.99994092e-01 -8.32111028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.690888479 meters Centerline goodness [0,1] 0.9996478640755332 Centerline is valid? [True, True] Translation: X:117.54, Y:68.56, Z:-0.83 [[ 5.03806452e-01 -8.63814555e-01 1.86394100e-03 1.17538365e+02] [ 8.63808252e-01 5.03809897e-01 3.30030406e-03 6.85578910e+01] [-3.78992261e-03 -5.26268648e-05 9.99992817e-01 -8.31796093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.720888479 meters Centerline goodness [0,1] 0.9996914464549401 Centerline is valid? [True, True] Translation: X:117.56, Y:68.58, Z:-0.83 [[ 5.03469921e-01 -8.64010661e-01 1.90157123e-03 1.17555424e+02] [ 8.64004094e-01 5.03473509e-01 3.36912277e-03 6.85800635e+01] [-3.86834874e-03 -5.32866453e-05 9.99992516e-01 -8.30599657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75088847899997 meters Centerline goodness [0,1] 0.9998456415797482 Centerline is valid? [True, True] Translation: X:117.57, Y:68.60, Z:-0.83 [[ 5.03352875e-01 -8.64079147e-01 1.76400731e-03 1.17571033e+02] [ 8.64073489e-01 5.03355963e-01 3.12718915e-03 6.86029987e+01] [-3.59006253e-03 -4.98476994e-05 9.99993554e-01 -8.30339187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78088847899997 meters Centerline goodness [0,1] 0.9997794441993825 Centerline is valid? [True, True] Translation: X:117.59, Y:68.63, Z:-0.83 [[ 5.03429387e-01 -8.64034971e-01 1.55582649e-03 1.17586734e+02] [ 8.64030566e-01 5.03431789e-01 2.75957864e-03 6.86265180e+01] [-3.16762497e-03 -4.49713414e-05 9.99994982e-01 -8.30142824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81088847899997 meters Centerline goodness [0,1] 0.9997786925153809 Centerline is valid? [True, True] Translation: X:117.60, Y:68.65, Z:-0.83 [[ 5.03226574e-01 -8.64153724e-01 1.16513716e-03 1.17601127e+02] [ 8.64151251e-01 5.03227921e-01 2.06737307e-03 6.86494290e+01] [-2.37285769e-03 -3.35023326e-05 9.99997184e-01 -8.30588187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84088847899997 meters Centerline goodness [0,1] 0.999690361392489 Centerline is valid? [True, True] Translation: X:117.62, Y:68.67, Z:-0.83 [[ 5.02781000e-01 -8.64413719e-01 4.34953124e-04 1.17617255e+02] [ 8.64413376e-01 5.02781188e-01 7.70220739e-04 6.86723561e+01] [-8.84475621e-04 -1.12730550e-05 9.99999609e-01 -8.31933134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87088847899997 meters Centerline goodness [0,1] 0.9997782655934722 Centerline is valid? [True, True] Translation: X:117.63, Y:68.70, Z:-0.83 [[ 5.01595326e-01 -8.65102304e-01 3.64992010e-04 1.17632504e+02] [ 8.65102062e-01 5.01595459e-01 6.46288931e-04 6.86961899e+01] [-7.42184378e-04 -8.42016593e-06 9.99999725e-01 -8.32591182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90088847899997 meters Centerline goodness [0,1] 0.9998002840404757 Centerline is valid? [True, True] Translation: X:117.65, Y:68.72, Z:-0.83 [[ 5.00416564e-01 -8.65784764e-01 7.72540930e-05 1.17648122e+02] [ 8.65784753e-01 5.00416570e-01 1.34406023e-04 6.87199272e+01] [-1.55025915e-04 -3.73584526e-07 9.99999988e-01 -8.32927699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93088847899998 meters Centerline goodness [0,1] 0.9999110814716017 Centerline is valid? [True, True] Translation: X:117.67, Y:68.74, Z:-0.83 [[ 4.97620107e-01 -8.67395080e-01 6.34461631e-05 1.17666433e+02] [ 8.67395073e-01 4.97620111e-01 1.10749026e-04 6.87412919e+01] [-1.27635247e-04 -7.80528507e-08 9.99999992e-01 -8.32806078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96088847899998 meters Centerline goodness [0,1] 0.9999556038979778 Centerline is valid? [True, True] Translation: X:117.68, Y:68.76, Z:-0.83 [[ 4.95900025e-01 -8.68379602e-01 1.80823264e-04 1.17683513e+02] [ 8.68379543e-01 4.95900058e-01 3.19179009e-04 6.87639849e+01] [-3.66838808e-04 -1.25765523e-06 9.99999933e-01 -8.32092964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.70, Y:68.79, Z:-0.83 [[ 4.94209074e-01 -8.69343080e-01 2.11612057e-05 1.17700457e+02] [ 8.69343079e-01 4.94209075e-01 3.45950141e-05 6.87870096e+01] [-4.05329959e-05 1.29917785e-06 9.99999999e-01 -8.31455320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:68.81, Z:-0.83 [[ 4.90678659e-01 -8.71340606e-01 -4.39750630e-05 1.17719018e+02] [ 8.71340602e-01 4.90678661e-01 -8.10854644e-05 6.88072761e+01] [ 9.22306827e-05 1.46964909e-06 9.99999996e-01 -8.30862938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.74, Y:68.83, Z:-0.83 [[ 4.88557044e-01 -8.72531933e-01 -1.99487968e-04 1.17735068e+02] [ 8.72531859e-01 4.88557085e-01 -3.59314354e-04 6.88309677e+01] [ 4.10974508e-04 1.48595107e-06 9.99999916e-01 -8.31290061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.75, Y:68.85, Z:-0.83 [[ 4.86505612e-01 -8.73677403e-01 -2.92035580e-04 1.17750716e+02] [ 8.73677245e-01 4.86505700e-01 -5.24962555e-04 6.88543861e+01] [ 6.00724896e-04 2.52388581e-07 9.99999820e-01 -8.31762133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.77, Y:68.88, Z:-0.83 [[ 4.82841526e-01 -8.75707636e-01 -4.44064230e-04 1.17767868e+02] [ 8.75707273e-01 4.82841730e-01 -7.96965062e-04 6.88769902e+01] [ 9.12321132e-04 -4.06244928e-06 9.99999584e-01 -8.32659182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.78, Y:68.90, Z:-0.83 [[ 4.81547582e-01 -8.76419706e-01 -6.51696592e-04 1.17783671e+02] [ 8.76418927e-01 4.81548023e-01 -1.16899043e-03 6.89005147e+01] [ 1.33834945e-03 -8.23471251e-06 9.99999104e-01 -8.32880009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.80, Y:68.92, Z:-0.83 [[ 4.80331654e-01 -8.77086385e-01 -9.87492023e-04 1.17799682e+02] [ 8.77084598e-01 4.80332669e-01 -1.77082308e-03 6.89244693e+01] [ 2.02748949e-03 -1.55316641e-05 9.99997945e-01 -8.33303299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:68.95, Z:-0.83 [[ 4.79097822e-01 -8.77759558e-01 -1.85351647e-03 1.17816851e+02] [ 8.77753269e-01 4.79101406e-01 -3.32289280e-03 6.89463306e+01] [ 3.80472327e-03 -3.49394388e-05 9.99992761e-01 -8.33093271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.83, Y:68.97, Z:-0.83 [[ 4.78712912e-01 -8.77967701e-01 -2.58139771e-03 1.17832007e+02] [ 8.77955496e-01 4.78719869e-01 -4.62977075e-03 6.89702714e+01] [ 5.30055556e-03 -5.00212644e-05 9.99985951e-01 -8.33374582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.85, Y:68.99, Z:-0.83 [[ 4.78371062e-01 -8.78152596e-01 -3.02410976e-03 1.17845596e+02] [ 8.78135833e-01 4.78380617e-01 -5.42620684e-03 6.89933493e+01] [ 6.21171311e-03 -5.98388153e-05 9.99980705e-01 -8.34188679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.86, Y:69.02, Z:-0.84 [[ 4.78594172e-01 -8.78030310e-01 -3.22386270e-03 1.17858752e+02] [ 8.78011229e-01 4.78605026e-01 -5.78881954e-03 6.90167467e+01] [ 6.62571590e-03 -6.00923602e-05 9.99978048e-01 -8.35417504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:69.04, Z:-0.84 [[ 4.79245523e-01 -8.77673667e-01 -3.55853350e-03 1.17871033e+02] [ 8.77650381e-01 4.79258731e-01 -6.39353538e-03 6.90423303e+01] [ 7.31689589e-03 -5.90750762e-05 9.99973229e-01 -8.35288582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.350888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.89, Y:69.07, Z:-0.84 [[ 4.79466098e-01 -8.77553442e-01 -3.49540763e-03 1.17885126e+02] [ 8.77530948e-01 4.79478836e-01 -6.28347791e-03 6.90656647e+01] [ 7.19006165e-03 -5.46137396e-05 9.99974150e-01 -8.35677902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.380888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:69.09, Z:-0.83 [[ 4.79675462e-01 -8.77439865e-01 -3.27635981e-03 1.17899350e+02] [ 8.77420072e-01 4.79686649e-01 -5.89374786e-03 6.90900660e+01] [ 6.74303538e-03 -4.76576334e-05 9.99977264e-01 -8.34663955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.91, Y:69.11, Z:-0.83 [[ 4.80080081e-01 -8.77218880e-01 -3.18621985e-03 1.17913806e+02] [ 8.77200130e-01 4.80090652e-01 -5.73558097e-03 6.91142508e+01] [ 6.56103428e-03 -4.14142937e-05 9.99978475e-01 -8.31323871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.440888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:69.14, Z:-0.83 [[ 4.80199400e-01 -8.77152495e-01 -3.46943828e-03 1.17927289e+02] [ 8.77130239e-01 4.80211932e-01 -6.24852710e-03 6.91378047e+01] [ 7.14697679e-03 -4.26102642e-05 9.99974459e-01 -8.31205945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.94, Y:69.16, Z:-0.83 [[ 4.80193488e-01 -8.77156479e-01 -3.27486472e-03 1.17940282e+02] [ 8.77136621e-01 4.80204653e-01 -5.90239367e-03 6.91622838e+01] [ 6.74992813e-03 -3.82127698e-05 9.99977218e-01 -8.30997043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:69.19, Z:-0.83 [[ 4.80409837e-01 -8.77037708e-01 -3.35378214e-03 1.17953453e+02] [ 8.77016852e-01 4.80421542e-01 -6.04844171e-03 6.91872323e+01] [ 6.91594064e-03 -3.55925581e-05 9.99976084e-01 -8.31570054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.97, Y:69.21, Z:-0.83 [[ 4.82110327e-01 -8.76104094e-01 -3.35390111e-03 1.17965889e+02] [ 8.76083187e-01 4.82121993e-01 -6.05256980e-03 6.92127261e+01] [ 6.91967066e-03 -2.02899667e-05 9.99976059e-01 -8.31962016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:69.24, Z:-0.83 [[ 4.83034260e-01 -8.75594089e-01 -3.59103170e-03 1.17978944e+02] [ 8.75570082e-01 4.83047608e-01 -6.48374854e-03 6.92365234e+01] [ 7.41177116e-03 -1.23272433e-05 9.99972532e-01 -8.32174012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:69.26, Z:-0.83 [[ 4.83909693e-01 -8.75110549e-01 -3.59661369e-03 1.17992760e+02] [ 8.75086420e-01 4.83923059e-01 -6.49846340e-03 6.92615706e+01] [ 7.42735818e-03 -2.67837130e-06 9.99972417e-01 -8.30759889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.01, Y:69.29, Z:-0.83 [[ 4.84730119e-01 -8.74655713e-01 -3.75444640e-03 1.18005499e+02] [ 8.74629378e-01 4.84744659e-01 -6.78726316e-03 6.92850495e+01] [ 7.75646634e-03 6.24176565e-06 9.99969918e-01 -8.30908874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65088847899997 meters Centerline goodness [0,1] 0.9999772266630229 Centerline is valid? [True, True] Translation: X:118.02, Y:69.31, Z:-0.83 [[ 4.86392629e-01 -8.73728034e-01 -4.64042237e-03 1.18018259e+02] [ 8.73687717e-01 4.86414764e-01 -8.39344777e-03 6.93107877e+01] [ 9.59076056e-03 2.82310983e-05 9.99954007e-01 -8.32214749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.03, Y:69.34, Z:-0.83 [[ 4.87042831e-01 -8.73363617e-01 -5.02731375e-03 1.18031629e+02] [ 8.73316221e-01 4.87068775e-01 -9.09866443e-03 6.93358812e+01] [ 1.03950900e-02 4.10046330e-05 9.99945969e-01 -8.33397049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.05, Y:69.36, Z:-0.83 [[ 4.88192079e-01 -8.72719132e-01 -5.45997377e-03 1.18045377e+02] [ 8.72663128e-01 4.88222606e-01 -9.88696546e-03 6.93610800e+01] [ 1.12942265e-02 6.20204298e-05 9.99936216e-01 -8.33670551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.06, Y:69.39, Z:-0.83 [[ 4.88265051e-01 -8.72677944e-01 -5.51782811e-03 1.18058317e+02] [ 8.72620675e-01 4.88296223e-01 -9.99777666e-03 6.93852937e+01] [ 1.14191738e-02 6.65940306e-05 9.99934797e-01 -8.34400134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.07, Y:69.41, Z:-0.83 [[ 4.88358379e-01 -8.72625449e-01 -5.56061928e-03 1.18071703e+02] [ 8.72567207e-01 4.88390030e-01 -1.00820640e-02 6.94099758e+01] [ 1.15136166e-02 7.16463874e-05 9.99933714e-01 -8.34398223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.09, Y:69.43, Z:-0.83 [[ 4.88500876e-01 -8.72545278e-01 -5.62414412e-03 1.18085607e+02] [ 8.72485614e-01 4.88533244e-01 -1.02040724e-02 6.94340724e+01] [ 1.16510966e-02 7.77134888e-05 9.99932121e-01 -8.33644642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:69.46, Z:-0.83 [[ 4.87963610e-01 -8.72846206e-01 -5.56917314e-03 1.18099507e+02] [ 8.72787656e-01 4.87995384e-01 -1.01100092e-02 6.94576505e+01] [ 1.15422139e-02 7.26110031e-05 9.99933384e-01 -8.34159118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.11, Y:69.48, Z:-0.83 [[ 4.87136716e-01 -8.73308835e-01 -5.43119070e-03 1.18114115e+02] [ 8.73253102e-01 4.87166988e-01 -9.86644050e-03 6.94814001e+01] [ 1.12623465e-02 6.35013012e-05 9.99936576e-01 -8.33121479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.13, Y:69.51, Z:-0.83 [[ 4.85829541e-01 -8.74038679e-01 -5.10333882e-03 1.18128254e+02] [ 8.73989463e-01 4.85856342e-01 -9.27537861e-03 6.95051272e+01] [ 1.05865292e-02 4.59885795e-05 9.99943960e-01 -8.33702854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:69.53, Z:-0.83 [[ 4.84776563e-01 -8.74625427e-01 -4.69540647e-03 1.18142996e+02] [ 8.74583764e-01 4.84799300e-01 -8.53690971e-03 6.95291670e+01] [ 9.74292807e-03 3.19674780e-05 9.99952536e-01 -8.32037735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.16, Y:69.55, Z:-0.83 [[ 4.82787293e-01 -8.75728175e-01 -4.07337280e-03 1.18157193e+02] [ 8.75696828e-01 4.82804477e-01 -7.40966075e-03 6.95523378e+01] [ 8.45549132e-03 1.02504212e-05 9.99964252e-01 -8.31553796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:69.58, Z:-0.83 [[ 4.82080598e-01 -8.76117534e-01 -4.04525251e-03 1.18170891e+02] [ 8.76086581e-01 4.82097570e-01 -7.36449562e-03 6.95767961e+01] [ 8.40237015e-03 6.28901570e-06 9.99964699e-01 -8.31360157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.18, Y:69.60, Z:-0.83 [[ 4.81166452e-01 -8.76620346e-01 -3.95157287e-03 1.18184041e+02] [ 8.76590794e-01 4.81182678e-01 -7.19796202e-03 6.96000354e+01] [ 8.21130837e-03 -4.94549629e-07 9.99966287e-01 -8.34039424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:69.62, Z:-0.83 [[ 4.79370615e-01 -8.77603011e-01 -4.09503663e-03 1.18198460e+02] [ 8.77571267e-01 4.79388105e-01 -7.46432301e-03 6.96241317e+01] [ 8.51382420e-03 -1.55093716e-05 9.99963757e-01 -8.32488981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.21, Y:69.65, Z:-0.83 [[ 4.78551252e-01 -8.78048766e-01 -4.36606639e-03 1.18212290e+02] [ 8.78012656e-01 4.78571168e-01 -7.96321211e-03 6.96490441e+01] [ 9.08156206e-03 -2.26564183e-05 9.99958762e-01 -8.33419103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.100888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:69.67, Z:-0.83 [[ 4.78309268e-01 -8.78180620e-01 -4.36384990e-03 1.18225500e+02] [ 8.78144504e-01 4.78329174e-01 -7.96442720e-03 6.96732875e+01] [ 9.08156233e-03 -2.26314625e-05 9.99958762e-01 -8.33569237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.130888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.24, Y:69.70, Z:-0.83 [[ 4.77298334e-01 -8.78728029e-01 -4.83223557e-03 1.18239110e+02] [ 8.78683721e-01 4.77322793e-01 -8.82439139e-03 6.96979693e+01] [ 1.00607762e-02 -3.41394198e-05 9.99949389e-01 -8.34437818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.25, Y:69.72, Z:-0.84 [[ 4.75320871e-01 -8.79796066e-01 -5.38066316e-03 1.18252880e+02] [ 8.79741138e-01 4.75351321e-01 -9.83113517e-03 6.97238832e+01] [ 1.12070994e-02 -6.06470039e-05 9.99937197e-01 -8.36341667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.27, Y:69.75, Z:-0.84 [[ 4.74397159e-01 -8.80295139e-01 -5.27297840e-03 1.18265672e+02] [ 8.80242353e-01 4.74426458e-01 -9.64030838e-03 6.97472954e+01] [ 1.09879571e-02 -6.81640073e-05 9.99939628e-01 -8.37563750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.220888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.28, Y:69.77, Z:-0.84 [[ 4.72920138e-01 -8.81090923e-01 -5.03269687e-03 1.18278910e+02] [ 8.81042815e-01 4.72946909e-01 -9.20756492e-03 6.97724605e+01] [ 1.04929003e-02 -7.95785448e-05 9.99944945e-01 -8.37384778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:69.80, Z:-0.84 [[ 4.69796504e-01 -8.82764840e-01 -4.18123635e-03 1.18293147e+02] [ 8.82731657e-01 4.69815100e-01 -7.65461376e-03 6.97956512e+01] [ 8.72163186e-03 -9.47989120e-05 9.99961961e-01 -8.37485950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.31, Y:69.82, Z:-0.84 [[ 4.67846965e-01 -8.83802799e-01 -3.43950992e-03 1.18307644e+02] [ 8.83780338e-01 4.67859599e-01 -6.30160624e-03 6.98198516e+01] [ 7.17858497e-03 -9.15838883e-05 9.99974229e-01 -8.36243692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:69.84, Z:-0.83 [[ 4.66155752e-01 -8.84698873e-01 -2.59202237e-03 1.18322041e+02] [ 8.84686110e-01 4.66162952e-01 -4.75276558e-03 6.98440103e+01] [ 5.41307115e-03 -7.75971724e-05 9.99985346e-01 -8.34878952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.33, Y:69.87, Z:-0.83 [[ 4.64237249e-01 -8.85710295e-01 -1.02514688e-03 1.18334977e+02] [ 8.85708294e-01 4.64238379e-01 -1.88295063e-03 6.98691598e+01] [ 2.14366128e-03 -3.38452743e-05 9.99997702e-01 -8.32544828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:69.89, Z:-0.83 [[ 4.64126680e-01 -8.85768692e-01 -4.99271172e-04 1.18347844e+02] [ 8.85768216e-01 4.64126948e-01 -9.18790577e-04 6.98930371e+01] [ 1.04556113e-03 -1.58033152e-05 9.99999453e-01 -8.33253859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.36, Y:69.92, Z:-0.83 [[ 4.64417723e-01 -8.85616188e-01 -3.83804087e-04 1.18358604e+02] [ 8.85615905e-01 4.64417881e-01 -7.07790646e-04 6.99186790e+01] [ 8.05076335e-04 -1.11924835e-05 9.99999676e-01 -8.33661430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43088847899998 meters Centerline goodness [0,1] 0.9998866547276313 Centerline is valid? [True, True] Translation: X:118.37, Y:69.95, Z:-0.83 [[ 4.66482682e-01 -8.84530301e-01 -2.32224382e-04 1.18368516e+02] [ 8.84530197e-01 4.66482739e-01 -4.29656687e-04 6.99451793e+01] [ 4.88373025e-04 -4.98207533e-06 9.99999881e-01 -8.34768346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.38, Y:69.97, Z:-0.84 [[ 4.67915239e-01 -8.83773335e-01 -1.46112455e-04 1.18380006e+02] [ 8.83773293e-01 4.67915262e-01 -2.70575291e-04 6.99699102e+01] [ 3.07495475e-04 -2.52398363e-06 9.99999953e-01 -8.35599081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.39, Y:70.00, Z:-0.84 [[ 4.69490285e-01 -8.82937632e-01 1.01477705e-04 1.18390982e+02] [ 8.82937613e-01 4.69490296e-01 1.83534593e-04 6.99964575e+01] [-2.09692396e-04 3.43077441e-06 9.99999978e-01 -8.35984622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.40, Y:70.02, Z:-0.84 [[ 4.70920014e-01 -8.82175907e-01 9.86283761e-05 1.18402285e+02] [ 8.82175889e-01 4.70920025e-01 1.78867206e-04 7.00214275e+01] [-2.04238417e-04 2.77542815e-06 9.99999979e-01 -8.36994451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55088847899998 meters Centerline goodness [0,1] 0.9999327324095251 Centerline is valid? [True, True] Translation: X:118.41, Y:70.05, Z:-0.84 [[ 4.74790065e-01 -8.80098686e-01 8.34542405e-04 1.18410370e+02] [ 8.80097350e-01 4.74790798e-01 1.53368895e-03 7.00503111e+01] [-1.74603068e-03 6.29828251e-06 9.99998476e-01 -8.36051738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.42, Y:70.08, Z:-0.84 [[ 4.76132153e-01 -8.79373177e-01 9.94007515e-04 1.18421580e+02] [ 8.79371277e-01 4.76133190e-01 1.82808351e-03 7.00763824e+01] [-2.08084757e-03 3.69232213e-06 9.99997835e-01 -8.35864854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.43, Y:70.10, Z:-0.84 [[ 4.77588849e-01 -8.78582722e-01 1.13664459e-03 1.18432892e+02] [ 8.78580231e-01 4.77590201e-01 2.09226171e-03 7.01021755e+01] [-2.38107530e-03 -6.07388799e-07 9.99997165e-01 -8.35620932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64088847899998 meters Centerline goodness [0,1] 0.9999778053977273 Centerline is valid? [True, True] Translation: X:118.44, Y:70.13, Z:-0.84 [[ 4.79107607e-01 -8.77754367e-01 1.78094573e-03 1.18441946e+02] [ 8.77748230e-01 4.79110917e-01 3.28231201e-03 7.01294153e+01] [-3.73433425e-03 -9.35869045e-06 9.99993027e-01 -8.36449732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67088847899998 meters Centerline goodness [0,1] 0.9999335812964931 Centerline is valid? [True, True] Translation: X:118.45, Y:70.15, Z:-0.84 [[ 4.79012816e-01 -8.77805513e-01 2.05036709e-03 1.18453104e+02] [ 8.77797366e-01 4.79017204e-01 3.78195081e-03 7.01544076e+01] [-4.30197838e-03 -1.17960822e-05 9.99990746e-01 -8.36686069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.46, Y:70.18, Z:-0.84 [[ 4.78470978e-01 -8.78099953e-01 2.44871052e-03 1.18464640e+02] [ 8.78088320e-01 4.78477244e-01 4.51997393e-03 7.01795933e+01] [-5.14064116e-03 -1.24922372e-05 9.99986787e-01 -8.37593351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730888479 meters Centerline goodness [0,1] 0.9999557756943216 Centerline is valid? [True, True] Translation: X:118.48, Y:70.20, Z:-0.84 [[ 4.77922369e-01 -8.78398948e-01 2.34468596e-03 1.18475919e+02] [ 8.78388272e-01 4.77928120e-01 4.33075726e-03 7.02041776e+01] [-4.92472397e-03 -1.02211172e-05 9.99987873e-01 -8.38808705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.760888479 meters Centerline goodness [0,1] 0.9999559422843926 Centerline is valid? [True, True] Translation: X:118.49, Y:70.23, Z:-0.84 [[ 4.76128526e-01 -8.79371806e-01 2.61780720e-03 1.18487678e+02] [ 8.79358495e-01 4.76135722e-01 4.83847405e-03 7.02297840e+01] [-5.50124919e-03 -1.74451740e-06 9.99984868e-01 -8.39414913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790888479 meters Centerline goodness [0,1] 0.9998896929050477 Centerline is valid? [True, True] Translation: X:118.50, Y:70.25, Z:-0.84 [[ 4.74366748e-01 -8.80322638e-01 2.87060251e-03 1.18500794e+02] [ 8.80306627e-01 4.74375434e-01 5.30949119e-03 7.02534213e+01] [-6.03580860e-03 8.36434124e-06 9.99981784e-01 -8.39504309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.820888479 meters Centerline goodness [0,1] 0.9999558186798622 Centerline is valid? [True, True] Translation: X:118.51, Y:70.28, Z:-0.84 [[ 4.72576765e-01 -8.81284782e-01 2.88672835e-03 1.18514541e+02] [ 8.81268589e-01 4.72585582e-01 5.34253436e-03 7.02777422e+01] [-6.07252043e-03 1.92254119e-05 9.99981562e-01 -8.39242572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.850888479 meters Centerline goodness [0,1] 0.9999337865277655 Centerline is valid? [True, True] Translation: X:118.53, Y:70.30, Z:-0.84 [[ 4.68418981e-01 -8.83501276e-01 3.02552277e-03 1.18528342e+02] [ 8.83483509e-01 4.68428750e-01 5.60313300e-03 7.03012977e+01] [-6.36761700e-03 4.83856225e-05 9.99979725e-01 -8.40394859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.880888479 meters Centerline goodness [0,1] 0.999955959747209 Centerline is valid? [True, True] Translation: X:118.54, Y:70.33, Z:-0.84 [[ 4.66423799e-01 -8.84555880e-01 3.12005185e-03 1.18541444e+02] [ 8.84536987e-01 4.66434230e-01 5.78169481e-03 7.03266277e+01] [-6.56953112e-03 6.30811998e-05 9.99978418e-01 -8.41661466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:70.35, Z:-0.84 [[ 4.64248304e-01 -8.85699553e-01 3.13277980e-03 1.18555730e+02] [ 8.85680506e-01 4.64258867e-01 5.80899289e-03 7.03517630e+01] [-6.59944321e-03 7.78269078e-05 9.99978220e-01 -8.42491111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.940888479 meters Centerline goodness [0,1] 0.9999558995391502 Centerline is valid? [True, True] Translation: X:118.57, Y:70.37, Z:-0.84 [[ 4.61113696e-01 -8.87336463e-01 2.85667490e-03 1.18571823e+02] [ 8.87320641e-01 4.61122536e-01 5.29971213e-03 7.03741720e+01] [-6.01990499e-03 9.10167547e-05 9.99981876e-01 -8.42741887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.970888479 meters Centerline goodness [0,1] 0.9998897148024792 Centerline is valid? [True, True] Translation: X:118.58, Y:70.40, Z:-0.84 [[ 4.59334815e-01 -8.88258371e-01 2.93139843e-03 1.18584175e+02] [ 8.88241720e-01 4.59344157e-01 5.43995759e-03 7.03993592e+01] [-6.17860861e-03 1.05028469e-04 9.99980907e-01 -8.43296118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00088847899997 meters Centerline goodness [0,1] 0.9999118554429264 Centerline is valid? [True, True] Translation: X:118.60, Y:70.43, Z:-0.84 [[ 4.56418115e-01 -8.89761859e-01 2.51776369e-03 1.18597760e+02] [ 8.89749584e-01 4.56425047e-01 4.67484754e-03 7.04251746e+01] [-5.30867145e-03 1.06494095e-04 9.99985903e-01 -8.43940848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03088847899997 meters Centerline goodness [0,1] 0.9999117153703541 Centerline is valid? [True, True] Translation: X:118.61, Y:70.45, Z:-0.84 [[ 4.54672711e-01 -8.90654140e-01 2.81572329e-03 1.18610905e+02] [ 8.90638785e-01 4.54681412e-01 5.23148474e-03 7.04509322e+01] [-5.93970058e-03 1.29179023e-04 9.99982351e-01 -8.43851936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06088847899997 meters Centerline goodness [0,1] 0.9998232747194487 Centerline is valid? [True, True] Translation: X:118.63, Y:70.48, Z:-0.84 [[ 4.53283067e-01 -8.91362886e-01 2.58212972e-03 1.18625085e+02] [ 8.91349970e-01 4.53290404e-01 4.80011274e-03 7.04761971e+01] [-5.44909697e-03 1.25771421e-04 9.99985146e-01 -8.43624739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09088847899997 meters Centerline goodness [0,1] 0.9999557424208896 Centerline is valid? [True, True] Translation: X:118.64, Y:70.50, Z:-0.84 [[ 4.51791934e-01 -8.92118744e-01 2.86272211e-03 1.18641170e+02] [ 8.92102863e-01 4.51800980e-01 5.32507665e-03 7.04993270e+01] [-6.04398135e-03 1.48015913e-04 9.99981724e-01 -8.43772742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12088847899997 meters Centerline goodness [0,1] 0.9998672830631069 Centerline is valid? [True, True] Translation: X:118.65, Y:70.52, Z:-0.84 [[ 4.49323585e-01 -8.93364104e-01 2.98222061e-03 1.18654906e+02] [ 8.93346883e-01 4.49333449e-01 5.54955789e-03 7.05238757e+01] [-6.29778728e-03 1.70610241e-04 9.99980154e-01 -8.43591792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15088847899997 meters Centerline goodness [0,1] 0.9998892653865745 Centerline is valid? [True, True] Translation: X:118.67, Y:70.55, Z:-0.84 [[ 4.48037620e-01 -8.94008855e-01 3.23383269e-03 1.18668388e+02] [ 8.93988596e-01 4.48049249e-01 6.02171269e-03 7.05481811e+01] [-6.83238078e-03 1.93055722e-04 9.99976640e-01 -8.43375327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18088847899998 meters Centerline goodness [0,1] 0.9999557541701695 Centerline is valid? [True, True] Translation: X:118.68, Y:70.58, Z:-0.84 [[ 4.47081321e-01 -8.94486495e-01 3.49329245e-03 1.18678558e+02] [ 8.94462839e-01 4.47094917e-01 6.50881612e-03 7.05758473e+01] [-7.38388142e-03 2.14650176e-04 9.99972716e-01 -8.43577375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21088847899998 meters Centerline goodness [0,1] 0.9998450779036827 Centerline is valid? [True, True] Translation: X:118.69, Y:70.60, Z:-0.84 [[ 4.45675598e-01 -8.95185077e-01 4.11585385e-03 1.18689553e+02] [ 8.95152224e-01 4.45694524e-01 7.67380956e-03 7.06031143e+01] [-8.70389332e-03 2.64286067e-04 9.99962085e-01 -8.44062662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24088847899998 meters Centerline goodness [0,1] 0.9999557932894213 Centerline is valid? [True, True] Translation: X:118.70, Y:70.63, Z:-0.84 [[ 4.45121946e-01 -8.95458981e-01 4.43466719e-03 1.18702698e+02] [ 8.95420807e-01 4.45143943e-01 8.27341820e-03 7.06272429e+01] [-9.38257187e-03 2.88213262e-04 9.99955941e-01 -8.43806838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27088847899998 meters Centerline goodness [0,1] 0.9999336121622519 Centerline is valid? [True, True] Translation: X:118.72, Y:70.65, Z:-0.84 [[ 4.45044917e-01 -8.95495702e-01 4.74029648e-03 1.18715090e+02] [ 8.95452027e-01 4.45070056e-01 8.84946066e-03 7.06526003e+01] [-1.00344180e-02 3.06300605e-04 9.99949607e-01 -8.43266982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30088847899998 meters Centerline goodness [0,1] 0.9998676256453249 Centerline is valid? [True, True] Translation: X:118.73, Y:70.68, Z:-0.84 [[ 4.45500929e-01 -8.95267500e-01 5.00259213e-03 1.18727704e+02] [ 8.95218786e-01 4.45528904e-01 9.34454707e-03 7.06769754e+01] [-1.05946687e-02 3.15410057e-04 9.99943825e-01 -8.42903916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33088847899998 meters Centerline goodness [0,1] 0.9997130179474161 Centerline is valid? [True, True] Translation: X:118.74, Y:70.70, Z:-0.84 [[ 4.47910722e-01 -8.94065473e-01 4.78706100e-03 1.18737310e+02] [ 8.94020763e-01 4.47936219e-01 8.94534887e-03 7.07049846e+01] [-1.01420256e-02 2.73014257e-04 9.99948531e-01 -8.43402209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36088847899998 meters Centerline goodness [0,1] 0.9998019366197183 Centerline is valid? [True, True] Translation: X:118.75, Y:70.73, Z:-0.84 [[ 4.49691348e-01 -8.93172906e-01 4.45555943e-03 1.18748668e+02] [ 8.93134109e-01 4.49713360e-01 8.32812301e-03 7.07301789e+01] [-9.44217843e-03 2.34327229e-04 9.99955394e-01 -8.44012179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39088847899998 meters Centerline goodness [0,1] 0.999868108678449 Centerline is valid? [True, True] Translation: X:118.76, Y:70.76, Z:-0.84 [[ 4.51708220e-01 -8.92157264e-01 3.88595913e-03 1.18759359e+02] [ 8.92127696e-01 4.51724897e-01 7.26576394e-03 7.07568880e+01] [-8.23758856e-03 1.84766473e-04 9.99966053e-01 -8.44851666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42088847899998 meters Centerline goodness [0,1] 0.9998024843084756 Centerline is valid? [True, True] Translation: X:118.77, Y:70.79, Z:-0.85 [[ 4.56243828e-01 -8.89848810e-01 3.26560201e-03 1.18766601e+02] [ 8.89827848e-01 4.56255500e-01 6.10905131e-03 7.07853835e+01] [-6.92608092e-03 1.18606650e-04 9.99976007e-01 -8.46538133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45088847899999 meters Centerline goodness [0,1] 0.99973764757324 Centerline is valid? [True, True] Translation: X:118.78, Y:70.81, Z:-0.85 [[ 4.58504980e-01 -8.88686400e-01 3.10907674e-03 1.18777877e+02] [ 8.88667348e-01 4.58515512e-01 5.81979279e-03 7.08123674e+01] [-6.59753061e-03 9.45310000e-05 9.99978232e-01 -8.47096891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.480888479 meters Centerline goodness [0,1] 0.9994519586996076 Centerline is valid? [True, True] Translation: X:118.79, Y:70.84, Z:-0.85 [[ 4.60461700e-01 -8.87674930e-01 2.87082756e-03 1.18789507e+02] [ 8.87658649e-01 4.60470644e-01 5.37680323e-03 7.08387912e+01] [-6.09478525e-03 7.25029557e-05 9.99981424e-01 -8.47677057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510888479 meters Centerline goodness [0,1] 0.9996064111254456 Centerline is valid? [True, True] Translation: X:118.80, Y:70.87, Z:-0.85 [[ 4.62283399e-01 -8.86728100e-01 2.70821604e-03 1.18800954e+02] [ 8.86713578e-01 4.62291329e-01 5.07519653e-03 7.08650075e+01] [-5.75230417e-03 5.52328255e-05 9.99983454e-01 -8.47867824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.540888479 meters Centerline goodness [0,1] 0.9996509979278002 Centerline is valid? [True, True] Translation: X:118.81, Y:70.89, Z:-0.85 [[ 4.65331692e-01 -8.85132404e-01 2.65383202e-03 1.18811398e+02] [ 8.85118415e-01 4.65339259e-01 4.97649999e-03 7.08916161e+01] [-5.63979362e-03 3.32324284e-05 9.99984096e-01 -8.48164655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.570888479 meters Centerline goodness [0,1] 0.9996292661650856 Centerline is valid? [True, True] Translation: X:118.82, Y:70.92, Z:-0.85 [[ 4.66626172e-01 -8.84450375e-01 2.74767894e-03 1.18823189e+02] [ 8.84435347e-01 4.66634261e-01 5.15597719e-03 7.09162397e+01] [-5.84236709e-03 2.42304762e-05 9.99982933e-01 -8.48015550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.600888479 meters Centerline goodness [0,1] 0.9994991071039679 Centerline is valid? [True, True] Translation: X:118.84, Y:70.94, Z:-0.85 [[ 4.67803313e-01 -8.83828866e-01 2.56839546e-03 1.18835161e+02] [ 8.83815710e-01 4.67810363e-01 4.82224875e-03 7.09418158e+01] [-5.46356466e-03 1.41243120e-05 9.99985075e-01 -8.47550987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.630888479 meters Centerline goodness [0,1] 0.9996955264130837 Centerline is valid? [True, True] Translation: X:118.84, Y:70.97, Z:-0.85 [[ 4.70945767e-01 -8.82156787e-01 3.08011141e-03 1.18844721e+02] [ 8.82137802e-01 4.70955839e-01 5.78754195e-03 7.09687982e+01] [-6.55611586e-03 -8.53567544e-06 9.99978508e-01 -8.46711020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.660888479 meters Centerline goodness [0,1] 0.9994788047255039 Centerline is valid? [True, True] Translation: X:118.86, Y:70.99, Z:-0.85 [[ 4.72643544e-01 -8.81247074e-01 3.41697362e-03 1.18855552e+02] [ 8.81223650e-01 4.72655894e-01 6.42528845e-03 7.09936701e+01] [-7.27731936e-03 -2.57531319e-05 9.99973520e-01 -8.46560909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.690888479 meters Centerline goodness [0,1] 0.9995646969202308 Centerline is valid? [True, True] Translation: X:118.87, Y:71.02, Z:-0.85 [[ 4.74186371e-01 -8.80417773e-01 3.43959806e-03 1.18867271e+02] [ 8.80393985e-01 4.74198844e-01 6.47205314e-03 7.10193438e+01] [-7.32916404e-03 -4.07579443e-05 9.99973140e-01 -8.46462006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.720888479 meters Centerline goodness [0,1] 0.9996072527328664 Centerline is valid? [True, True] Translation: X:118.88, Y:71.04, Z:-0.85 [[ 4.75525801e-01 -8.79695994e-01 3.18917598e-03 1.18879224e+02] [ 8.79675501e-01 4.75536493e-01 6.00469624e-03 7.10447592e+01] [-6.79887679e-03 -4.99480079e-05 9.99976886e-01 -8.46539046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75088847899997 meters Centerline goodness [0,1] 0.9996296215603826 Centerline is valid? [True, True] Translation: X:118.89, Y:71.07, Z:-0.85 [[ 4.77937815e-01 -8.78390076e-01 2.51379640e-03 1.18889305e+02] [ 8.78377312e-01 4.77944423e-01 4.73561653e-03 7.10703868e+01] [-5.36117353e-03 -5.52684972e-05 9.99985627e-01 -8.48711558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78088847899997 meters Centerline goodness [0,1] 0.9994576065260783 Centerline is valid? [True, True] Translation: X:118.90, Y:71.10, Z:-0.85 [[ 4.78843219e-01 -8.77897869e-01 2.12221279e-03 1.18901476e+02] [ 8.77888762e-01 4.78847919e-01 3.99911124e-03 7.10961574e+01] [-4.52702841e-03 -5.18805355e-05 9.99989752e-01 -8.49797494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81088847899997 meters Centerline goodness [0,1] 0.99954316045945 Centerline is valid? [True, True] Translation: X:118.91, Y:71.12, Z:-0.85 [[ 4.79517183e-01 -8.77530790e-01 1.72717090e-03 1.18913819e+02] [ 8.77524750e-01 4.79520291e-01 3.25622123e-03 7.11221578e+01] [-3.68564788e-03 -4.57788153e-05 9.99993207e-01 -8.50987189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84088847899997 meters Centerline goodness [0,1] 0.999608933692535 Centerline is valid? [True, True] Translation: X:118.93, Y:71.15, Z:-0.85 [[ 4.79800982e-01 -8.77375951e-01 1.56765412e-03 1.18926638e+02] [ 8.77370969e-01 4.79803541e-01 2.95707653e-03 7.11472099e+01] [-3.34663384e-03 -4.33940100e-05 9.99994399e-01 -8.51570126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87088847899997 meters Centerline goodness [0,1] 0.9995212291353833 Centerline is valid? [True, True] Translation: X:118.94, Y:71.17, Z:-0.85 [[ 4.79484371e-01 -8.77549625e-01 1.18041018e-03 1.18940860e+02] [ 8.77546799e-01 4.79485823e-01 2.22725175e-03 7.11719993e+01] [-2.52051389e-03 -3.20672361e-05 9.99996823e-01 -8.51824074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90088847899997 meters Centerline goodness [0,1] 0.9994570764653506 Centerline is valid? [True, True] Translation: X:118.95, Y:71.20, Z:-0.85 [[ 4.78772662e-01 -8.77938251e-01 1.07972192e-03 1.18954062e+02] [ 8.77935885e-01 4.78773878e-01 2.03862134e-03 7.11957594e+01] [-2.30672630e-03 -2.81095444e-05 9.99997339e-01 -8.52197746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93088847899998 meters Centerline goodness [0,1] 0.9995199755623922 Centerline is valid? [True, True] Translation: X:118.97, Y:71.22, Z:-0.85 [[ 4.76011974e-01 -8.79438595e-01 5.98785577e-04 1.18969939e+02] [ 8.79437869e-01 4.76012350e-01 1.12977025e-03 7.12190075e+01] [-1.27859289e-03 -1.11894538e-05 9.99999183e-01 -8.52708325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96088847899998 meters Centerline goodness [0,1] 0.9994968498424921 Centerline is valid? [True, True] Translation: X:118.99, Y:71.24, Z:-0.85 [[ 4.73647121e-01 -8.80714595e-01 4.55916143e-04 1.18985139e+02] [ 8.80714175e-01 4.73647340e-01 8.59960037e-04 7.12428733e+01] [-9.73322824e-04 -5.78578603e-06 9.99999526e-01 -8.52851128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99088847899998 meters Centerline goodness [0,1] 0.9995207493737066 Centerline is valid? [True, True] Translation: X:119.00, Y:71.27, Z:-0.85 [[ 4.70970610e-01 -8.82148796e-01 4.30901011e-04 1.19000151e+02] [ 8.82148421e-01 4.70970807e-01 8.14048753e-04 7.12660452e+01] [-9.21053924e-04 -3.27439179e-06 9.99999576e-01 -8.53176150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02088847899998 meters Centerline goodness [0,1] 0.9995207493737066 Centerline is valid? [True, True] Translation: X:119.01, Y:71.29, Z:-0.85 [[ 4.70725168e-01 -8.82279792e-01 4.31125226e-04 1.19012968e+02] [ 8.82279416e-01 4.70725365e-01 8.13930582e-04 7.12904757e+01] [-9.21056083e-04 -2.76469707e-06 9.99999576e-01 -8.53326451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05088847899998 meters Centerline goodness [0,1] 0.9996061096765723 Centerline is valid? [True, True] Translation: X:119.03, Y:71.31, Z:-0.85 [[ 4.67687033e-01 -8.83894091e-01 2.72410594e-04 1.19028549e+02] [ 8.83893942e-01 4.67687113e-01 5.13456766e-04 7.13142700e+01] [-5.81244326e-04 6.45002586e-07 9.99999831e-01 -8.53409330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08088847899998 meters Centerline goodness [0,1] 0.9996709443896018 Centerline is valid? [True, True] Translation: X:119.05, Y:71.34, Z:-0.85 [[ 4.61880023e-01 -8.86942394e-01 1.85598175e-04 1.19047263e+02] [ 8.86942325e-01 4.61880060e-01 3.49113581e-04 7.13359142e+01] [-3.95367731e-04 3.36628830e-06 9.99999922e-01 -8.52976387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11088847899998 meters Centerline goodness [0,1] 0.9997150247709238 Centerline is valid? [True, True] Translation: X:119.06, Y:71.36, Z:-0.85 [[ 4.58848527e-01 -8.88514400e-01 4.36071170e-04 1.19063427e+02] [ 8.88514017e-01 4.58848734e-01 8.25076274e-04 7.13596727e+01] [-9.33182855e-04 8.87031370e-06 9.99999565e-01 -8.52523274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14088847899998 meters Centerline goodness [0,1] 0.9996708938522971 Centerline is valid? [True, True] Translation: X:119.08, Y:71.38, Z:-0.85 [[ 4.56281156e-01 -8.89835322e-01 7.78889189e-04 1.19079550e+02] [ 8.89834094e-01 4.56281820e-01 1.47823894e-03 7.13831743e+01] [-1.67078220e-03 1.85895816e-05 9.99998604e-01 -8.52077006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17088847899998 meters Centerline goodness [0,1] 0.99991192725191 Centerline is valid? [True, True] Translation: X:119.10, Y:71.41, Z:-0.85 [[ 4.52760731e-01 -8.91631564e-01 9.35610909e-04 1.19095447e+02] [ 8.91629796e-01 4.52761697e-01 1.77566216e-03 7.14079478e+01] [-2.00684521e-03 3.02684679e-05 9.99997986e-01 -8.51981928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20088847899999 meters Centerline goodness [0,1] 0.9995613650320203 Centerline is valid? [True, True] Translation: X:119.11, Y:71.43, Z:-0.85 [[ 4.51339671e-01 -8.92351753e-01 9.21951923e-04 1.19109716e+02] [ 8.92350035e-01 4.51340612e-01 1.75148469e-03 7.14317265e+01] [-1.97905478e-03 3.21893050e-05 9.99998041e-01 -8.52889537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230888479 meters Centerline goodness [0,1] 0.9996494764053805 Centerline is valid? [True, True] Translation: X:119.12, Y:71.46, Z:-0.85 [[ 4.50294337e-01 -8.92879967e-01 6.12234301e-04 1.19122877e+02] [ 8.92879211e-01 4.50294753e-01 1.16182527e-03 7.14564416e+01] [-1.31305640e-03 2.34879396e-05 9.99999138e-01 -8.53671137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.260888479 meters Centerline goodness [0,1] 0.9998020585906572 Centerline is valid? [True, True] Translation: X:119.14, Y:71.48, Z:-0.85 [[ 4.49693724e-01 -8.93182823e-01 1.41058210e-05 1.19137043e+02] [ 8.93182822e-01 4.49693724e-01 2.37094507e-05 7.14804408e+01] [-2.75201732e-05 1.93708582e-06 1.00000000e+00 -8.54441945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290888479 meters Centerline goodness [0,1] 0.9998021586687477 Centerline is valid? [True, True] Translation: X:119.15, Y:71.51, Z:-0.85 [[ 4.49639086e-01 -8.93210296e-01 -2.42335078e-04 1.19150612e+02] [ 8.93210175e-01 4.49639152e-01 -4.64967588e-04 7.15055559e+01] [ 5.24277176e-04 -7.38855569e-06 9.99999863e-01 -8.54791654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.320888479 meters Centerline goodness [0,1] 0.9997795803209311 Centerline is valid? [True, True] Translation: X:119.16, Y:71.53, Z:-0.85 [[ 4.49725098e-01 -8.93166912e-01 -4.49998007e-04 1.19162911e+02] [ 8.93166497e-01 4.49725323e-01 -8.61280803e-04 7.15305277e+01] [ 9.71643015e-04 -1.45835500e-05 9.99999528e-01 -8.54656495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.350888479 meters Centerline goodness [0,1] 0.9996478408240524 Centerline is valid? [True, True] Translation: X:119.18, Y:71.56, Z:-0.86 [[ 4.49881310e-01 -8.93088165e-01 -5.80766943e-04 1.19175504e+02] [ 8.93087473e-01 4.49881684e-01 -1.11138159e-03 7.15554005e+01] [ 1.25383815e-03 -1.86858781e-05 9.99999214e-01 -8.55131238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.380888479 meters Centerline goodness [0,1] 0.9998457164267924 Centerline is valid? [True, True] Translation: X:119.19, Y:71.58, Z:-0.85 [[ 4.50879491e-01 -8.92584569e-01 -6.87277042e-04 1.19188656e+02] [ 8.92583601e-01 4.50880014e-01 -1.31463107e-03 7.15793653e+01] [ 1.48329889e-03 -2.07120310e-05 9.99998900e-01 -8.54925227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.410888479 meters Centerline goodness [0,1] 0.9998017970401691 Centerline is valid? [True, True] Translation: X:119.20, Y:71.60, Z:-0.85 [[ 4.51479192e-01 -8.92281364e-01 -7.12256636e-04 1.19202339e+02] [ 8.92280324e-01 4.51479753e-01 -1.36218690e-03 7.16046265e+01] [ 1.53702344e-03 -2.05335411e-05 9.99998819e-01 -8.54762530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.440888479 meters Centerline goodness [0,1] 0.9996482511486798 Centerline is valid? [True, True] Translation: X:119.22, Y:71.63, Z:-0.85 [[ 4.51800281e-01 -8.92118890e-01 -6.26409227e-04 1.19215032e+02] [ 8.92118083e-01 4.51800715e-01 -1.20046166e-03 7.16298778e+01] [ 1.35396666e-03 -1.64620835e-05 9.99999083e-01 -8.54754962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.470888479 meters Centerline goodness [0,1] 0.999691466854725 Centerline is valid? [True, True] Translation: X:119.23, Y:71.65, Z:-0.85 [[ 4.53158136e-01 -8.91430134e-01 -1.44783159e-04 1.19228818e+02] [ 8.91430090e-01 4.53158159e-01 -2.80090862e-04 7.16540810e+01] [ 3.15291104e-04 -2.13861179e-06 9.99999950e-01 -8.54589051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50088847899997 meters Centerline goodness [0,1] 0.9997130939506963 Centerline is valid? [True, True] Translation: X:119.24, Y:71.68, Z:-0.85 [[ 4.53581816e-01 -8.91214634e-01 1.13901450e-04 1.19241453e+02] [ 8.91214608e-01 4.53581830e-01 2.14683237e-04 7.16793672e+01] [-2.42992471e-04 4.13422399e-06 9.99999970e-01 -8.54493885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53088847899997 meters Centerline goodness [0,1] 0.9998017140716914 Centerline is valid? [True, True] Translation: X:119.25, Y:71.70, Z:-0.85 [[ 4.54295110e-01 -8.90851221e-01 2.34141506e-04 1.19254271e+02] [ 8.90851110e-01 4.54295170e-01 4.45515205e-04 7.17035675e+01] [-5.03257120e-04 6.18984098e-06 9.99999873e-01 -8.54836201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56088847899997 meters Centerline goodness [0,1] 0.9997796434631233 Centerline is valid? [True, True] Translation: X:119.27, Y:71.73, Z:-0.85 [[ 4.55942406e-01 -8.90009193e-01 3.98417764e-04 1.19267340e+02] [ 8.90008868e-01 4.55942580e-01 7.60158066e-04 7.17291268e+01] [-8.58203290e-04 8.00704609e-06 9.99999632e-01 -8.54487352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59088847899997 meters Centerline goodness [0,1] 0.9997791860798905 Centerline is valid? [True, True] Translation: X:119.28, Y:71.75, Z:-0.85 [[ 4.57044648e-01 -8.89443437e-01 7.49812005e-04 1.19280580e+02] [ 8.89442280e-01 4.57045263e-01 1.43470652e-03 7.17533524e+01] [-1.61878833e-03 1.11895617e-05 9.99998690e-01 -8.53919794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62088847899997 meters Centerline goodness [0,1] 0.9998234774933804 Centerline is valid? [True, True] Translation: X:119.29, Y:71.78, Z:-0.85 [[ 4.58081452e-01 -8.88909522e-01 1.11551961e-03 1.19294034e+02] [ 8.88906954e-01 4.58082810e-01 2.13675180e-03 7.17776587e+01] [-2.41037938e-03 1.27867752e-05 9.99997095e-01 -8.53132654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65088847899997 meters Centerline goodness [0,1] 0.9997124720766152 Centerline is valid? [True, True] Translation: X:119.31, Y:71.80, Z:-0.85 [[ 4.59065496e-01 -8.88401530e-01 1.26168456e-03 1.19307077e+02] [ 8.88398237e-01 4.59067229e-01 2.41895592e-03 7.18012951e+01] [-2.72820218e-03 1.04191420e-05 9.99996278e-01 -8.52890778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68088847899998 meters Centerline goodness [0,1] 0.9996897713171423 Centerline is valid? [True, True] Translation: X:119.32, Y:71.83, Z:-0.85 [[ 4.62592998e-01 -8.86569731e-01 1.35260744e-03 1.19319181e+02] [ 8.86565934e-01 4.62594976e-01 2.59482165e-03 7.18271616e+01] [-2.92619974e-03 -1.17065414e-06 9.99995719e-01 -8.52584134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.71088847899998 meters Centerline goodness [0,1] 0.9996453822114851 Centerline is valid? [True, True] Translation: X:119.33, Y:71.85, Z:-0.85 [[ 4.64964515e-01 -8.85328218e-01 1.39499678e-03 1.19330311e+02] [ 8.85324166e-01 4.64966608e-01 2.67857394e-03 7.18519063e+01] [-3.02004401e-03 -1.04174678e-05 9.99995440e-01 -8.53644406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74088847899998 meters Centerline goodness [0,1] 0.9997129355650753 Centerline is valid? [True, True] Translation: X:119.34, Y:71.88, Z:-0.85 [[ 4.67338045e-01 -8.84077898e-01 1.19240832e-03 1.19342341e+02] [ 8.84074933e-01 4.67339566e-01 2.28979753e-03 7.18778254e+01] [-2.58161897e-03 -1.59311986e-05 9.99996667e-01 -8.54607281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77088847899998 meters Centerline goodness [0,1] 0.9997339305115186 Centerline is valid? [True, True] Translation: X:119.35, Y:71.90, Z:-0.86 [[ 4.72305442e-01 -8.81434763e-01 5.72293503e-04 1.19353919e+02] [ 8.81434079e-01 4.72305789e-01 1.09823919e-03 7.19042475e+01] [-1.23832374e-03 -1.42653515e-05 9.99999233e-01 -8.56647658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80088847899998 meters Centerline goodness [0,1] 0.999754962019113 Centerline is valid? [True, True] Translation: X:119.37, Y:71.93, Z:-0.86 [[ 4.74756840e-01 -8.80116993e-01 1.45446165e-04 1.19366943e+02] [ 8.80116950e-01 4.74756862e-01 2.77068838e-04 7.19302217e+01] [-3.12904557e-04 -3.53069096e-06 9.99999951e-01 -8.57410400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83088847899998 meters Centerline goodness [0,1] 0.9998001864926069 Centerline is valid? [True, True] Translation: X:119.38, Y:71.96, Z:-0.86 [[ 4.76790368e-01 -8.79017022e-01 1.41978530e-04 1.19379069e+02] [ 8.79016980e-01 4.76790389e-01 2.71629848e-04 7.19556287e+01] [-3.06461259e-04 -4.70895668e-06 9.99999953e-01 -8.58302895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86088847899998 meters Centerline goodness [0,1] 0.9997996304294587 Centerline is valid? [True, True] Translation: X:119.39, Y:71.98, Z:-0.86 [[ 4.80162525e-01 -8.77179335e-01 6.02386534e-04 1.19391307e+02] [ 8.77178570e-01 4.80162902e-01 1.15893797e-03 7.19809568e+01] [-1.30584010e-03 -2.80780216e-05 9.99999147e-01 -8.58360187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89088847899998 meters Centerline goodness [0,1] 0.9997550056794138 Centerline is valid? [True, True] Translation: X:119.40, Y:72.01, Z:-0.86 [[ 4.81105827e-01 -8.76662134e-01 8.28286390e-04 1.19404872e+02] [ 8.76660686e-01 4.81106538e-01 1.59392746e-03 7.20060997e+01] [-1.79582984e-03 -4.07216735e-05 9.99998387e-01 -8.58162611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92088847899998 meters Centerline goodness [0,1] 0.9999777669082662 Centerline is valid? [True, True] Translation: X:119.42, Y:72.03, Z:-0.86 [[ 4.81294258e-01 -8.76558694e-01 8.32712685e-04 1.19417943e+02] [ 8.76557229e-01 4.81294976e-01 1.60320521e-03 7.20310730e+01] [-1.80608389e-03 -4.16931356e-05 9.99998368e-01 -8.58581202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95088847899999 meters Centerline goodness [0,1] 0.9997990981740257 Centerline is valid? [True, True] Translation: X:119.43, Y:72.06, Z:-0.86 [[ 4.81354902e-01 -8.76525192e-01 1.02254464e-03 1.19430698e+02] [ 8.76522978e-01 4.81355986e-01 1.97086759e-03 7.20553514e+01] [-2.21972308e-03 -5.24029003e-05 9.99997535e-01 -8.59025085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.980888479 meters Centerline goodness [0,1] 0.9998884327026062 Centerline is valid? [True, True] Translation: X:119.45, Y:72.08, Z:-0.86 [[ 4.80897117e-01 -8.76775814e-01 1.46123688e-03 1.19446702e+02] [ 8.76771284e-01 4.80899332e-01 2.81934353e-03 7.20781919e+01] [-3.17464006e-03 -7.46436432e-05 9.99994958e-01 -8.58436664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010888479 meters Centerline goodness [0,1] 0.9999105465605153 Centerline is valid? [True, True] Translation: X:119.46, Y:72.10, Z:-0.86 [[ 4.80251600e-01 -8.77129356e-01 1.57881691e-03 1.19462449e+02] [ 8.77124062e-01 4.80254189e-01 3.04851896e-03 7.21015155e+01] [-3.43217891e-03 -7.92378023e-05 9.99994107e-01 -8.57576814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.040888479 meters Centerline goodness [0,1] 0.9999551519228613 Centerline is valid? [True, True] Translation: X:119.48, Y:72.13, Z:-0.86 [[ 4.79431218e-01 -8.77577724e-01 1.74487754e-03 1.19475583e+02] [ 8.77571250e-01 4.79434386e-01 3.37203967e-03 7.21251163e+01] [-3.79578119e-03 -8.54067213e-05 9.99992792e-01 -8.57460537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.070888479 meters Centerline goodness [0,1] 0.9999775855112745 Centerline is valid? [True, True] Translation: X:119.49, Y:72.15, Z:-0.86 [[ 4.78477474e-01 -8.78097833e-01 1.87149848e-03 1.19490913e+02] [ 8.78090380e-01 4.78481126e-01 3.61884957e-03 7.21494583e+01] [-4.07318066e-03 -8.81931900e-05 9.99991701e-01 -8.57898180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.100888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.51, Y:72.17, Z:-0.86 [[ 4.76794064e-01 -8.79013354e-01 1.71582954e-03 1.19506323e+02] [ 8.79007086e-01 4.76797145e-01 3.32048987e-03 7.21732667e+01] [-3.73685756e-03 -7.49635336e-05 9.99993015e-01 -8.59299638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.130888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.52, Y:72.20, Z:-0.86 [[ 4.75879212e-01 -8.79509763e-01 1.24591531e-03 1.19520713e+02] [ 8.79506462e-01 4.75880840e-01 2.41020423e-03 7.21977266e+01] [-2.71270538e-03 -5.11755241e-05 9.99996319e-01 -8.60599139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.160888479 meters Centerline goodness [0,1] 0.9999548685546654 Centerline is valid? [True, True] Translation: X:119.53, Y:72.22, Z:-0.86 [[ 4.74841474e-01 -8.80070707e-01 1.06024605e-03 1.19533893e+02] [ 8.80068316e-01 4.74842656e-01 2.05227416e-03 7.22213536e+01] [-2.30959642e-03 -4.14159320e-05 9.99997332e-01 -8.61953641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.55, Y:72.24, Z:-0.86 [[ 4.72735251e-01 -8.81204266e-01 6.50402740e-04 1.19550042e+02] [ 8.81203368e-01 4.72735698e-01 1.25826853e-03 7.22448929e+01] [-1.41626019e-03 -2.16908024e-05 9.99998997e-01 -8.63625900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.220888479 meters Centerline goodness [0,1] 0.9998644619137977 Centerline is valid? [True, True] Translation: X:119.56, Y:72.27, Z:-0.86 [[ 4.71456160e-01 -8.81889437e-01 3.31669611e-04 1.19564978e+02] [ 8.81889205e-01 4.71456276e-01 6.40487265e-04 7.22686442e+01] [-7.21206674e-04 -9.46581704e-06 9.99999740e-01 -8.64107430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.58, Y:72.29, Z:-0.86 [[ 4.69700626e-01 -8.82825694e-01 3.41189655e-04 1.19580222e+02] [ 8.82825447e-01 4.69700750e-01 6.59360499e-04 7.22926876e+01] [-7.42357427e-04 -8.49113014e-06 9.99999724e-01 -8.64135289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.60, Y:72.32, Z:-0.86 [[ 4.68180278e-01 -8.83632922e-01 2.94693693e-04 1.19595180e+02] [ 8.83632738e-01 4.68180371e-01 5.69462775e-04 7.23163744e+01] [-6.41165858e-04 -6.21024552e-06 9.99999794e-01 -8.63990507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.61, Y:72.34, Z:-0.86 [[ 4.64467853e-01 -8.85589660e-01 7.53337904e-04 1.19611838e+02] [ 8.85588454e-01 4.64468463e-01 1.46182338e-03 7.23390727e+01] [-1.64447737e-03 -1.18226192e-05 9.99998648e-01 -8.63631765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.63, Y:72.36, Z:-0.86 [[ 4.62574935e-01 -8.86579732e-01 8.99148137e-04 1.19626316e+02] [ 8.86578012e-01 4.62575808e-01 1.74641427e-03 7.23629181e+01] [-1.96425967e-03 -1.06824976e-05 9.99998071e-01 -8.63909179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.64, Y:72.39, Z:-0.86 [[ 4.60504219e-01 -8.87656898e-01 1.04707259e-03 1.19641217e+02] [ 8.87654564e-01 4.60505409e-01 2.03550113e-03 7.23864798e+01] [-2.28900921e-03 -7.91809237e-06 9.99997380e-01 -8.63290617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.66, Y:72.41, Z:-0.86 [[ 4.58519843e-01 -8.88683306e-01 1.23914687e-03 1.19656191e+02] [ 8.88680035e-01 4.58521517e-01 2.41103938e-03 7.24106703e+01] [-2.71082595e-03 -4.30431736e-06 9.99996326e-01 -8.62793518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.67, Y:72.43, Z:-0.86 [[ 4.55647662e-01 -8.90158718e-01 1.63254724e-03 1.19671702e+02] [ 8.90153037e-01 4.55650587e-01 3.18016351e-03 7.24335104e+01] [-3.57472138e-03 4.18281363e-06 9.99993611e-01 -8.62576203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.69, Y:72.46, Z:-0.86 [[ 4.54000447e-01 -8.90999769e-01 1.73389715e-03 1.19685317e+02] [ 8.90993362e-01 4.54003758e-01 3.37900425e-03 7.24580933e+01] [-3.79788783e-03 1.08214111e-05 9.99992788e-01 -8.62669718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.70, Y:72.48, Z:-0.86 [[ 4.52937336e-01 -8.91540093e-01 2.00796282e-03 1.19698071e+02] [ 8.91531491e-01 4.52941786e-01 3.91639481e-03 7.24822245e+01] [-4.40111326e-03 1.62806615e-05 9.99990315e-01 -8.62710212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.71, Y:72.51, Z:-0.86 [[ 4.50709287e-01 -8.92667961e-01 2.24737416e-03 1.19710997e+02] [ 8.92657184e-01 4.50714889e-01 4.38641031e-03 7.25068821e+01] [-4.92853294e-03 2.91388310e-05 9.99987854e-01 -8.63071565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.72, Y:72.53, Z:-0.86 [[ 4.49687807e-01 -8.93183477e-01 2.03783260e-03 1.19724335e+02] [ 8.93174611e-01 4.49692423e-01 3.97978821e-03 7.25321104e+01] [-4.47107895e-03 3.04781120e-05 9.99990004e-01 -8.63584784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.74, Y:72.56, Z:-0.86 [[ 4.48524850e-01 -8.93768115e-01 2.00363340e-03 1.19737513e+02] [ 8.93759539e-01 4.48529324e-01 3.91559610e-03 7.25571212e+01] [-4.39832328e-03 3.45243081e-05 9.99990327e-01 -8.64287037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:72.58, Z:-0.86 [[ 4.47885412e-01 -8.94088993e-01 1.87908232e-03 1.19749356e+02] [ 8.94081443e-01 4.47889352e-01 3.67442781e-03 7.25820858e+01] [-4.12688642e-03 3.43300186e-05 9.99991484e-01 -8.64551741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.76, Y:72.61, Z:-0.86 [[ 4.47380375e-01 -8.94341592e-01 1.97904988e-03 1.19760815e+02] [ 8.94333207e-01 4.47384750e-01 3.87301208e-03 7.26062106e+01] [-4.34919253e-03 3.72204338e-05 9.99990542e-01 -8.64912507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.77, Y:72.63, Z:-0.86 [[ 4.47077976e-01 -8.94492823e-01 1.96796834e-03 1.19772206e+02] [ 8.94484526e-01 4.47082306e-01 3.85292730e-03 7.26316542e+01] [-4.32625964e-03 3.77582866e-05 9.99990641e-01 -8.64958133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.78, Y:72.66, Z:-0.86 [[ 4.46793469e-01 -8.94634866e-01 2.01303234e-03 1.19783997e+02] [ 8.94626174e-01 4.46798002e-01 3.94389959e-03 7.26571312e+01] [-4.42776891e-03 3.88028390e-05 9.99990197e-01 -8.64848125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.80, Y:72.68, Z:-0.86 [[ 4.46425248e-01 -8.94818554e-01 2.06215180e-03 1.19795807e+02] [ 8.94809421e-01 4.46430009e-01 4.04308236e-03 7.26814672e+01] [-4.53843156e-03 4.02988102e-05 9.99989700e-01 -8.64840544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:72.71, Z:-0.86 [[ 4.45804595e-01 -8.95127649e-01 2.18047758e-03 1.19806261e+02] [ 8.95117428e-01 4.45809925e-01 4.27788761e-03 7.27079841e+01] [-4.80133403e-03 4.46815312e-05 9.99988473e-01 -8.64941501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.82, Y:72.73, Z:-0.87 [[ 4.45299884e-01 -8.95378776e-01 2.20481146e-03 1.19817403e+02] [ 8.95368313e-01 4.45305340e-01 4.32867907e-03 7.27332822e+01] [-4.85762168e-03 4.65580300e-05 9.99988201e-01 -8.65215991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.820888479 meters Centerline goodness [0,1] 0.9999775391941063 Centerline is valid? [True, True] Translation: X:119.83, Y:72.76, Z:-0.87 [[ 4.45348316e-01 -8.95354887e-01 2.12227848e-03 1.19829294e+02] [ 8.95345181e-01 4.45353371e-01 4.16913742e-03 7.27589695e+01] [-4.67802144e-03 4.34534762e-05 9.99989057e-01 -8.65268809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.850888479 meters Centerline goodness [0,1] 0.9999775769670606 Centerline is valid? [True, True] Translation: X:119.84, Y:72.78, Z:-0.87 [[ 4.45074765e-01 -8.95490617e-01 2.23796364e-03 1.19841566e+02] [ 8.95479810e-01 4.45080389e-01 4.39967815e-03 7.27836626e+01] [-4.93594423e-03 4.58655399e-05 9.99987817e-01 -8.65255697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.85, Y:72.81, Z:-0.86 [[ 4.44679624e-01 -8.95685883e-01 2.61359398e-03 1.19852977e+02] [ 8.95671126e-01 4.44687301e-01 5.14189588e-03 7.28092127e+01] [-5.76775561e-03 5.44243351e-05 9.99983365e-01 -8.64053653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.87, Y:72.83, Z:-0.86 [[ 4.44433599e-01 -8.95807989e-01 2.61217798e-03 1.19865412e+02] [ 8.95793229e-01 4.44441272e-01 5.14261515e-03 7.28338544e+01] [-5.76775544e-03 5.44203882e-05 9.99983365e-01 -8.64203761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.940888479 meters Centerline goodness [0,1] 0.9998431618569636 Centerline is valid? [True, True] Translation: X:119.88, Y:72.86, Z:-0.86 [[ 4.44443898e-01 -8.95802271e-01 2.81278842e-03 1.19877576e+02] [ 8.95785133e-01 4.44452795e-01 5.54158093e-03 7.28589804e+01] [-6.21431246e-03 5.67322144e-05 9.99980689e-01 -8.63894073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.970888479 meters Centerline goodness [0,1] 0.9999551549396833 Centerline is valid? [True, True] Translation: X:119.89, Y:72.88, Z:-0.86 [[ 4.44550767e-01 -8.95749191e-01 2.82900986e-03 1.19889419e+02] [ 8.95731829e-01 4.44559765e-01 5.57732780e-03 7.28844335e+01] [-6.25355082e-03 5.46288206e-05 9.99980445e-01 -8.63550773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00088847899997 meters Centerline goodness [0,1] 0.9999552462574682 Centerline is valid? [True, True] Translation: X:119.90, Y:72.91, Z:-0.86 [[ 4.46421934e-01 -8.94817936e-01 2.88431241e-03 1.19897912e+02] [ 8.94799844e-01 4.46431249e-01 5.69026292e-03 7.29118900e+01] [-6.37939651e-03 4.06241195e-05 9.99979651e-01 -8.64131146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03088847899997 meters Centerline goodness [0,1] 0.9997771339425006 Centerline is valid? [True, True] Translation: X:119.91, Y:72.94, Z:-0.86 [[ 4.47827941e-01 -8.94116282e-01 2.49189774e-03 1.19907890e+02] [ 8.94102751e-01 4.47834873e-01 4.91900736e-03 7.29367730e+01] [-5.51412328e-03 2.51436854e-05 9.99984797e-01 -8.64939373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06088847899997 meters Centerline goodness [0,1] 0.9998439381103135 Centerline is valid? [True, True] Translation: X:119.92, Y:72.96, Z:-0.87 [[ 4.49380601e-01 -8.93337192e-01 2.39519897e-03 1.19918399e+02] [ 8.93324665e-01 4.49386984e-01 4.73086703e-03 7.29626453e+01] [-5.30263071e-03 1.37304550e-05 9.99985941e-01 -8.65994445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09088847899997 meters Centerline goodness [0,1] 0.9999108972645461 Centerline is valid? [True, True] Translation: X:119.93, Y:72.99, Z:-0.87 [[ 4.50814079e-01 -8.92615738e-01 1.95218134e-03 1.19929236e+02] [ 8.92607401e-01 4.50818306e-01 3.85789410e-03 7.29883054e+01] [-4.32369607e-03 3.33853076e-06 9.99990653e-01 -8.66722519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.94, Y:73.01, Z:-0.87 [[ 4.53167704e-01 -8.91424326e-01 1.30528176e-03 1.19939462e+02] [ 8.91420590e-01 4.53169584e-01 2.58066336e-03 7.30138481e+01] [-2.89198009e-03 -5.91825058e-06 9.99995818e-01 -8.67391457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.95, Y:73.04, Z:-0.87 [[ 4.53404903e-01 -8.91303852e-01 1.19920417e-03 1.19951589e+02] [ 8.91300697e-01 4.53406489e-01 2.37129644e-03 7.30392893e+01] [-2.65727260e-03 -6.30591486e-06 9.99996469e-01 -8.68012474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18088847899998 meters Centerline goodness [0,1] 0.9999112432600351 Centerline is valid? [True, True] Translation: X:119.96, Y:73.06, Z:-0.87 [[ 4.52799491e-01 -8.91611617e-01 1.15952615e-03 1.19963565e+02] [ 8.91608664e-01 4.52800976e-01 2.29489058e-03 7.30634680e+01] [-2.57118568e-03 -5.28172873e-06 9.99996694e-01 -8.68553516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21088847899998 meters Centerline goodness [0,1] 0.9998445446267961 Centerline is valid? [True, True] Translation: X:119.98, Y:73.09, Z:-0.87 [[ 4.51833305e-01 -8.92101599e-01 1.18408360e-03 1.19976969e+02] [ 8.92098519e-01 4.51834856e-01 2.34404944e-03 7.30885918e+01] [-2.62614050e-03 -2.80037690e-06 9.99996552e-01 -8.68328588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24088847899998 meters Centerline goodness [0,1] 0.99995561375086 Centerline is valid? [True, True] Translation: X:119.99, Y:73.11, Z:-0.87 [[ 4.49997283e-01 -8.93028583e-01 1.54807082e-03 1.19990451e+02] [ 8.93023312e-01 4.49999945e-01 3.06799466e-03 7.31124560e+01] [-3.43643871e-03 1.87407725e-06 9.99994095e-01 -8.68156587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27088847899998 meters Centerline goodness [0,1] 0.9999113573407202 Centerline is valid? [True, True] Translation: X:120.00, Y:73.14, Z:-0.87 [[ 4.48687499e-01 -8.93687482e-01 1.48759933e-03 1.20003888e+02] [ 8.93682614e-01 4.48689965e-01 2.94978543e-03 7.31373123e+01] [-3.30365721e-03 5.90981122e-06 9.99994543e-01 -8.67858505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30088847899998 meters Centerline goodness [0,1] 0.9999112865665684 Centerline is valid? [True, True] Translation: X:120.02, Y:73.16, Z:-0.87 [[ 4.47532835e-01 -8.94266060e-01 1.60468853e-03 1.20017390e+02] [ 8.94260390e-01 4.47535712e-01 3.18446066e-03 7.31623285e+01] [-3.56591051e-03 9.85868318e-06 9.99993642e-01 -8.67616406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33088847899998 meters Centerline goodness [0,1] 0.9998886587837086 Centerline is valid? [True, True] Translation: X:120.03, Y:73.19, Z:-0.87 [[ 4.46302252e-01 -8.94880800e-01 1.62877179e-03 1.20030613e+02] [ 8.94874953e-01 4.46305224e-01 3.23495013e-03 7.31864146e+01] [-3.62182412e-03 1.37815504e-05 9.99993441e-01 -8.67283510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36088847899998 meters Centerline goodness [0,1] 0.9999108237654665 Centerline is valid? [True, True] Translation: X:120.04, Y:73.21, Z:-0.87 [[ 4.44632919e-01 -8.95711482e-01 1.58381868e-03 1.20044103e+02] [ 8.95705953e-01 4.44635740e-01 3.14715059e-03 7.32100700e+01] [-3.52316131e-03 1.93090641e-05 9.99993793e-01 -8.67706690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39088847899998 meters Centerline goodness [0,1] 0.9998663399420806 Centerline is valid? [True, True] Translation: X:120.06, Y:73.24, Z:-0.87 [[ 4.43404646e-01 -8.96320209e-01 1.55045741e-03 1.20057017e+02] [ 8.96314911e-01 4.43407356e-01 3.08176526e-03 7.32351423e+01] [-3.44973270e-03 2.32290644e-05 9.99994049e-01 -8.67834220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42088847899998 meters Centerline goodness [0,1] 0.9999330282397589 Centerline is valid? [True, True] Translation: X:120.07, Y:73.26, Z:-0.87 [[ 4.42476408e-01 -8.96779083e-01 1.38002351e-03 1.20070334e+02] [ 8.96774883e-01 4.42478559e-01 2.74469635e-03 7.32593040e+01] [-3.07201709e-03 2.31070426e-05 9.99995281e-01 -8.68239614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45088847899999 meters Centerline goodness [0,1] 0.9999553382014694 Centerline is valid? [True, True] Translation: X:120.08, Y:73.28, Z:-0.87 [[ 4.41642697e-01 -8.97190846e-01 5.60924112e-04 1.20083252e+02] [ 8.97190154e-01 4.41643053e-01 1.11432728e-03 7.32847443e+01] [-1.24749248e-03 1.11210838e-05 9.99999222e-01 -8.68755704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.480888479 meters Centerline goodness [0,1] 0.9999776715938017 Centerline is valid? [True, True] Translation: X:120.10, Y:73.31, Z:-0.87 [[ 4.41268036e-01 -8.97375252e-01 4.21298895e-04 1.20095280e+02] [ 8.97374862e-01 4.41268237e-01 8.36632471e-04 7.33095960e+01] [-9.36679095e-04 8.88387052e-06 9.99999561e-01 -8.69726125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510888479 meters Centerline goodness [0,1] 0.9999330536463448 Centerline is valid? [True, True] Translation: X:120.11, Y:73.33, Z:-0.87 [[ 4.41338032e-01 -8.97340928e-01 -1.92448862e-06 1.20107455e+02] [ 8.97340928e-01 4.41338032e-01 -7.26674454e-06 7.33343910e+01] [ 7.37009732e-06 1.48016833e-06 1.00000000e+00 -8.70238629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.540888479 meters Centerline goodness [0,1] 0.9999105785567379 Centerline is valid? [True, True] Translation: X:120.12, Y:73.36, Z:-0.87 [[ 4.41467953e-01 -8.97276989e-01 -2.27512863e-04 1.20119787e+02] [ 8.97276872e-01 4.41468012e-01 -4.57687374e-04 7.33594139e+01] [ 5.11112000e-04 -2.08772234e-06 9.99999869e-01 -8.70429457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.570888479 meters Centerline goodness [0,1] 0.9999328122550447 Centerline is valid? [True, True] Translation: X:120.13, Y:73.38, Z:-0.87 [[ 4.42362464e-01 -8.96836147e-01 -6.12428275e-04 1.20131613e+02] [ 8.96835310e-01 4.42362888e-01 -1.22572667e-03 7.33837927e+01] [ 1.37019153e-03 -7.03183008e-06 9.99999061e-01 -8.70899655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.600888479 meters Centerline goodness [0,1] 0.9999552492616128 Centerline is valid? [True, True] Translation: X:120.14, Y:73.41, Z:-0.87 [[ 4.42531901e-01 -8.96752583e-01 -5.66961615e-04 1.20143396e+02] [ 8.96751862e-01 4.42532264e-01 -1.13670514e-03 7.34095815e+01] [ 1.27024207e-03 -5.39559932e-06 9.99999193e-01 -8.71020645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.630888479 meters Centerline goodness [0,1] 0.9999552722799955 Centerline is valid? [True, True] Translation: X:120.16, Y:73.43, Z:-0.87 [[ 4.43012780e-01 -8.96514944e-01 -7.94334246e-04 1.20155089e+02] [ 8.96513530e-01 4.43013492e-01 -1.59230460e-03 7.34346152e+01] [ 1.77942566e-03 -6.72010955e-06 9.99998417e-01 -8.71192905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.660888479 meters Centerline goodness [0,1] 0.9999775774698417 Centerline is valid? [True, True] Translation: X:120.17, Y:73.46, Z:-0.87 [[ 4.43281293e-01 -8.96382199e-01 -8.05524804e-04 1.20167201e+02] [ 8.96380743e-01 4.43282025e-01 -1.61577009e-03 7.34597283e+01] [ 1.80542221e-03 -5.81626955e-06 9.99998370e-01 -8.71164380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.690888479 meters Centerline goodness [0,1] 0.9998663548279318 Centerline is valid? [True, True] Translation: X:120.18, Y:73.48, Z:-0.87 [[ 4.44097880e-01 -8.95978056e-01 -6.29505721e-04 1.20178940e+02] [ 8.95977164e-01 4.44098327e-01 -1.26428324e-03 7.34848902e+01] [ 1.41233247e-03 -2.55724462e-06 9.99999003e-01 -8.70516272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.720888479 meters Centerline goodness [0,1] 0.9999776730893746 Centerline is valid? [True, True] Translation: X:120.19, Y:73.51, Z:-0.87 [[ 4.44464336e-01 -8.95796408e-01 -5.00029791e-04 1.20190621e+02] [ 8.95795843e-01 4.44464617e-01 -1.00576404e-03 7.35103484e+01] [ 1.12320536e-03 -8.98362915e-07 9.99999369e-01 -8.69646600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.20, Y:73.54, Z:-0.87 [[ 4.44518956e-01 -8.95769276e-01 -5.49333738e-04 1.20202633e+02] [ 8.95768594e-01 4.44519296e-01 -1.10535703e-03 7.35360020e+01] [ 1.23433431e-03 -7.23759373e-07 9.99999238e-01 -8.69700068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78088847899997 meters Centerline goodness [0,1] 0.999911010256068 Centerline is valid? [True, True] Translation: X:120.21, Y:73.56, Z:-0.87 [[ 4.45066246e-01 -8.95497618e-01 -2.30177899e-04 1.20214108e+02] [ 8.95497497e-01 4.45066305e-01 -4.65479616e-04 7.35615773e+01] [ 5.19280314e-04 1.04553212e-06 9.99999865e-01 -8.69140061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:73.59, Z:-0.87 [[ 4.45027927e-01 -8.95516679e-01 -1.50634263e-04 1.20225324e+02] [ 8.95516627e-01 4.45027952e-01 -3.05642321e-04 7.35858290e+01] [ 3.40744254e-04 1.12388178e-06 9.99999942e-01 -8.69472537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84088847899997 meters Centerline goodness [0,1] 0.9999332309541297 Centerline is valid? [True, True] Translation: X:120.24, Y:73.61, Z:-0.87 [[ 4.45400271e-01 -8.95331547e-01 -1.40946890e-04 1.20236493e+02] [ 8.95331501e-01 4.45400293e-01 -2.86613204e-04 7.36116178e+01] [ 3.19391629e-04 1.46340824e-06 9.99999949e-01 -8.69543322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87088847899997 meters Centerline goodness [0,1] 0.9999113219677656 Centerline is valid? [True, True] Translation: X:120.25, Y:73.64, Z:-0.87 [[ 4.45834443e-01 -8.95115439e-01 -3.17734691e-05 1.20247190e+02] [ 8.95115436e-01 4.45834444e-01 -6.74128978e-05 7.36361851e+01] [ 7.45080325e-05 1.61406909e-06 9.99999997e-01 -8.69859531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90088847899997 meters Centerline goodness [0,1] 0.9999116295510782 Centerline is valid? [True, True] Translation: X:120.26, Y:73.66, Z:-0.87 [[ 4.46949483e-01 -8.94559195e-01 8.10624912e-05 1.20258810e+02] [ 8.94559181e-01 4.46949491e-01 1.59761398e-04 7.36617626e+01] [-1.79146866e-04 1.10992166e-06 9.99999984e-01 -8.68583728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93088847899998 meters Centerline goodness [0,1] 0.9998450195939513 Centerline is valid? [True, True] Translation: X:120.27, Y:73.69, Z:-0.87 [[ 4.46941717e-01 -8.94563077e-01 -5.99999278e-05 1.20270727e+02] [ 8.94563068e-01 4.46941721e-01 -1.24328632e-04 7.36867106e+01] [ 1.38036274e-04 1.89393276e-06 9.99999990e-01 -8.68100853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96088847899998 meters Centerline goodness [0,1] 0.9999115885330327 Centerline is valid? [True, True] Translation: X:120.28, Y:73.71, Z:-0.87 [[ 4.47022979e-01 -8.94522469e-01 -9.08270902e-05 1.20281713e+02] [ 8.94522450e-01 4.47022989e-01 -1.86194310e-04 7.37117764e+01] [ 2.07156791e-04 1.98626383e-06 9.99999979e-01 -8.68537780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99088847899998 meters Centerline goodness [0,1] 0.9999116061168567 Centerline is valid? [True, True] Translation: X:120.29, Y:73.74, Z:-0.87 [[ 4.47223685e-01 -8.94422052e-01 -4.09982807e-04 1.20292444e+02] [ 8.94421667e-01 4.47223873e-01 -8.30396985e-04 7.37373320e+01] [ 9.26079474e-04 4.67569328e-06 9.99999571e-01 -8.69553264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02088847899998 meters Centerline goodness [0,1] 0.9999117679497077 Centerline is valid? [True, True] Translation: X:120.30, Y:73.76, Z:-0.87 [[ 4.47400909e-01 -8.94332899e-01 -1.04504865e-03 1.20302102e+02] [ 8.94330405e-01 4.47402129e-01 -2.11234262e-03 7.37634954e+01] [ 2.35669449e-03 1.04452207e-05 9.99997223e-01 -8.71325503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05088847899998 meters Centerline goodness [0,1] 0.9999338711810607 Centerline is valid? [True, True] Translation: X:120.31, Y:73.79, Z:-0.87 [[ 4.47152859e-01 -8.94456413e-01 -1.43070000e-03 1.20314019e+02] [ 8.94451734e-01 4.47155147e-01 -2.89304070e-03 7.37885750e+01] [ 3.22744368e-03 1.39393209e-05 9.99994792e-01 -8.71995230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08088847899998 meters Centerline goodness [0,1] 0.9998674911660778 Centerline is valid? [True, True] Translation: X:120.33, Y:73.81, Z:-0.87 [[ 4.45745971e-01 -8.95158289e-01 -1.47233718e-03 1.20326258e+02] [ 8.95153333e-01 4.45748402e-01 -2.97864612e-03 7.38132118e+01] [ 3.32265171e-03 9.75197078e-06 9.99994480e-01 -8.73233404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11088847899998 meters Centerline goodness [0,1] 0.999801539173962 Centerline is valid? [True, True] Translation: X:120.34, Y:73.84, Z:-0.87 [[ 4.44677594e-01 -8.95689653e-01 -1.37180174e-03 1.20339284e+02] [ 8.95685347e-01 4.44679710e-01 -2.77740781e-03 7.38379883e+01] [ 3.09770784e-03 6.34830704e-06 9.99995202e-01 -8.72768050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14088847899998 meters Centerline goodness [0,1] 0.999845590506022 Centerline is valid? [True, True] Translation: X:120.35, Y:73.86, Z:-0.87 [[ 4.43003918e-01 -8.96518711e-01 -1.31472051e-03 1.20352516e+02] [ 8.96514753e-01 4.43005869e-01 -2.66407664e-03 7.38632395e+01] [ 2.97082346e-03 1.53005725e-06 9.99995587e-01 -8.71287590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17088847899998 meters Centerline goodness [0,1] 0.9997575597284669 Centerline is valid? [True, True] Translation: X:120.36, Y:73.89, Z:-0.87 [[ 4.41673892e-01 -8.97174901e-01 -1.17070989e-03 1.20364800e+02] [ 8.97171760e-01 4.41675444e-01 -2.37377342e-03 7.38870876e+01] [ 2.64676374e-03 -1.89410789e-06 9.99996497e-01 -8.72592150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20088847899999 meters Centerline goodness [0,1] 0.9997574902444939 Centerline is valid? [True, True] Translation: X:120.38, Y:73.91, Z:-0.87 [[ 4.39098136e-01 -8.98438381e-01 -1.14086752e-03 1.20377625e+02] [ 8.98435398e-01 4.39099618e-01 -2.31536720e-03 7.39116549e+01] [ 2.58116925e-03 -8.32234735e-06 9.99996669e-01 -8.70772507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230888479 meters Centerline goodness [0,1] 0.9998014340871484 Centerline is valid? [True, True] Translation: X:120.39, Y:73.94, Z:-0.87 [[ 4.37692117e-01 -8.99124380e-01 -9.80137023e-04 1.20390372e+02] [ 8.99122179e-01 4.37693214e-01 -1.98950183e-03 7.39356024e+01] [ 2.21780892e-03 -1.04736679e-05 9.99997541e-01 -8.71237815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.260888479 meters Centerline goodness [0,1] 0.9997124466367316 Centerline is valid? [True, True] Translation: X:120.40, Y:73.96, Z:-0.87 [[ 4.36517596e-01 -8.99695257e-01 -9.12990552e-04 1.20403213e+02] [ 8.99693342e-01 4.36518551e-01 -1.85586733e-03 7.39608975e+01] [ 2.06825234e-03 -1.12927774e-05 9.99997861e-01 -8.70421022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290888479 meters Centerline goodness [0,1] 0.9998457945984051 Centerline is valid? [True, True] Translation: X:120.42, Y:73.99, Z:-0.87 [[ 4.35076482e-01 -9.00393126e-01 -8.20353629e-04 1.20416232e+02] [ 9.00391580e-01 4.35077256e-01 -1.66869585e-03 7.39851235e+01] [ 1.85939948e-03 -1.26291800e-05 9.99998271e-01 -8.70543119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.320888479 meters Centerline goodness [0,1] 0.9997570993242945 Centerline is valid? [True, True] Translation: X:120.43, Y:74.01, Z:-0.87 [[ 4.32383338e-01 -9.01689397e-01 -9.38032915e-04 1.20430293e+02] [ 9.01687378e-01 4.32384355e-01 -1.90860377e-03 7.40108266e+01] [ 2.12655854e-03 -2.05639691e-05 9.99997739e-01 -8.69971385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.350888479 meters Centerline goodness [0,1] 0.9996688522418703 Centerline is valid? [True, True] Translation: X:120.44, Y:74.04, Z:-0.87 [[ 4.31156499e-01 -9.02276671e-01 -9.39365418e-04 1.20443064e+02] [ 9.02274644e-01 4.31157522e-01 -1.91258855e-03 7.40354520e+01] [ 2.13069849e-03 -2.29406155e-05 9.99997730e-01 -8.70220882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.380888479 meters Centerline goodness [0,1] 0.9999115083403389 Centerline is valid? [True, True] Translation: X:120.45, Y:74.06, Z:-0.87 [[ 4.30131312e-01 -9.02765755e-01 -1.02247106e-03 1.20454929e+02] [ 9.02763353e-01 4.30132526e-01 -2.08280600e-03 7.40595832e+01] [ 2.32008399e-03 -2.71693321e-05 9.99997308e-01 -8.70744207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.410888479 meters Centerline goodness [0,1] 0.9998674648229551 Centerline is valid? [True, True] Translation: X:120.47, Y:74.09, Z:-0.87 [[ 4.28924101e-01 -9.03339593e-01 -1.30159207e-03 1.20466462e+02] [ 9.03335701e-01 4.28926075e-01 -2.65210085e-03 7.40859948e+01] [ 2.95403448e-03 -3.82246067e-05 9.99995636e-01 -8.71498409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.440888479 meters Centerline goodness [0,1] 0.999889695338525 Centerline is valid? [True, True] Translation: X:120.48, Y:74.11, Z:-0.87 [[ 4.28806536e-01 -9.03395276e-01 -1.38915456e-03 1.20478416e+02] [ 9.03390837e-01 4.28808785e-01 -2.83218053e-03 7.41106851e+01] [ 3.15426019e-03 -4.04919798e-05 9.99995024e-01 -8.72215851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.470888479 meters Centerline goodness [0,1] 0.9998016616347489 Centerline is valid? [True, True] Translation: X:120.49, Y:74.14, Z:-0.87 [[ 4.29407150e-01 -9.03109495e-01 -1.65517792e-03 1.20488395e+02] [ 9.03103183e-01 4.29410338e-01 -3.37670774e-03 7.41367306e+01] [ 3.76028733e-03 -4.48139967e-05 9.99992929e-01 -8.71964585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50088847899997 meters Centerline goodness [0,1] 0.9998458387473297 Centerline is valid? [True, True] Translation: X:120.50, Y:74.16, Z:-0.87 [[ 4.29840032e-01 -9.02903119e-01 -1.87182775e-03 1.20499485e+02] [ 9.02895039e-01 4.29844105e-01 -3.82027571e-03 7.41611678e+01] [ 4.25393298e-03 -4.79565565e-05 9.99990951e-01 -8.72440340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53088847899997 meters Centerline goodness [0,1] 0.9998678472313995 Centerline is valid? [True, True] Translation: X:120.51, Y:74.19, Z:-0.87 [[ 4.30748037e-01 -9.02470496e-01 -1.76960394e-03 1.20510066e+02] [ 9.02463258e-01 4.30751670e-01 -3.61462283e-03 7.41871583e+01] [ 4.02435031e-03 -4.00108433e-05 9.99991901e-01 -8.72072385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56088847899997 meters Centerline goodness [0,1] 0.9999779696862884 Centerline is valid? [True, True] Translation: X:120.52, Y:74.21, Z:-0.87 [[ 4.31441607e-01 -9.02139319e-01 -1.67007562e-03 1.20520538e+02] [ 9.02132863e-01 4.31444838e-01 -3.41311562e-03 7.42119278e+01] [ 3.79965131e-03 -3.40700091e-05 9.99992781e-01 -8.72245018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59088847899997 meters Centerline goodness [0,1] 0.9999341628810323 Centerline is valid? [True, True] Translation: X:120.53, Y:74.24, Z:-0.87 [[ 4.33973567e-01 -9.00925010e-01 -1.03431118e-03 1.20529210e+02] [ 9.00922524e-01 4.33974799e-01 -2.11666695e-03 7.42388701e+01] [ 2.35582318e-03 -1.32567325e-05 9.99997225e-01 -8.72192205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.54, Y:74.26, Z:-0.87 [[ 4.35269000e-01 -9.00300037e-01 -8.61261515e-04 1.20540007e+02] [ 9.00298308e-01 4.35269852e-01 -1.76442009e-03 7.42647847e+01] [ 1.96338864e-03 -7.39491733e-06 9.99998073e-01 -8.71573210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65088847899997 meters Centerline goodness [0,1] 0.9997612691798511 Centerline is valid? [True, True] Translation: X:120.55, Y:74.29, Z:-0.87 [[ 4.37080418e-01 -8.99422101e-01 -7.69303477e-04 1.20550777e+02] [ 8.99420719e-01 4.37081095e-01 -1.57692017e-03 7.42897693e+01] [ 1.75456486e-03 -2.68655802e-06 9.99998461e-01 -8.71383843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68088847899998 meters Centerline goodness [0,1] 0.999582875960483 Centerline is valid? [True, True] Translation: X:120.56, Y:74.32, Z:-0.87 [[ 4.41151923e-01 -8.97431637e-01 -1.19913071e-03 1.20560831e+02] [ 8.97428269e-01 4.41153553e-01 -2.45859301e-03 7.43166484e+01] [ 2.73541992e-03 8.47923960e-06 9.99996259e-01 -8.70355008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71088847899998 meters Centerline goodness [0,1] 0.9997365648050579 Centerline is valid? [True, True] Translation: X:120.57, Y:74.34, Z:-0.87 [[ 4.42950895e-01 -8.96545177e-01 -1.11831627e-03 1.20571238e+02] [ 8.96542241e-01 4.42952306e-01 -2.29432646e-03 7.43419311e+01] [ 2.55232810e-03 1.36561800e-05 9.99996743e-01 -8.70676076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74088847899998 meters Centerline goodness [0,1] 0.9996492920082416 Centerline is valid? [True, True] Translation: X:120.58, Y:74.37, Z:-0.87 [[ 4.44311964e-01 -8.95871196e-01 -1.29590453e-03 1.20581382e+02] [ 8.95867248e-01 4.44313853e-01 -2.65974351e-03 7.43673673e+01] [ 2.95857593e-03 2.07974371e-05 9.99995623e-01 -8.71463711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77088847899998 meters Centerline goodness [0,1] 0.9997152245345017 Centerline is valid? [True, True] Translation: X:120.59, Y:74.39, Z:-0.87 [[ 4.45626647e-01 -8.95217819e-01 -1.39578524e-03 1.20591299e+02] [ 8.95213231e-01 4.45628832e-01 -2.86625661e-03 7.43927001e+01] [ 3.18792614e-03 2.77549130e-05 9.99994918e-01 -8.72821903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80088847899998 meters Centerline goodness [0,1] 0.9997365590217558 Centerline is valid? [True, True] Translation: X:120.60, Y:74.42, Z:-0.87 [[ 4.47928659e-01 -8.94067336e-01 -1.87490645e-03 1.20602571e+02] [ 8.94059040e-01 4.47932581e-01 -3.85176621e-03 7.44184195e+01] [ 4.28357004e-03 4.90394140e-05 9.99990824e-01 -8.73690422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83088847899998 meters Centerline goodness [0,1] 0.9997365590217558 Centerline is valid? [True, True] Translation: X:120.61, Y:74.44, Z:-0.87 [[ 4.47682696e-01 -8.94190524e-01 -1.87376651e-03 1.20614585e+02] [ 8.94182227e-01 4.47686615e-01 -3.85232116e-03 7.44432587e+01] [ 4.28356925e-03 4.91288161e-05 9.99990824e-01 -8.73840577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86088847899998 meters Centerline goodness [0,1] 0.9996924023377423 Centerline is valid? [True, True] Translation: X:120.63, Y:74.47, Z:-0.87 [[ 4.48382305e-01 -8.93839111e-01 -2.22561863e-03 1.20627746e+02] [ 8.93827391e-01 4.48387824e-01 -4.57758780e-03 7.44692439e+01] [ 5.08956731e-03 6.31904719e-05 9.99987046e-01 -8.73790941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89088847899998 meters Centerline goodness [0,1] 0.9996262421950576 Centerline is valid? [True, True] Translation: X:120.64, Y:74.49, Z:-0.87 [[ 4.49064763e-01 -8.93495703e-01 -2.50361677e-03 1.20639751e+02] [ 8.93480869e-01 4.49071736e-01 -5.14909313e-03 7.44948951e+01] [ 5.72499611e-03 7.53426014e-05 9.99983609e-01 -8.74700798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92088847899998 meters Centerline goodness [0,1] 0.9996267755603855 Centerline is valid? [True, True] Translation: X:120.65, Y:74.52, Z:-0.87 [[ 4.49355880e-01 -8.93349258e-01 -2.52900905e-03 1.20653769e+02] [ 8.93334088e-01 4.49362989e-01 -5.20682937e-03 7.45197791e+01] [ 5.78796022e-03 8.04693958e-05 9.99983246e-01 -8.74271435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95088847899999 meters Centerline goodness [0,1] 0.9997794247397211 Centerline is valid? [True, True] Translation: X:120.67, Y:74.55, Z:-0.87 [[ 4.49198124e-01 -8.93428099e-01 -2.69767308e-03 1.20667088e+02] [ 8.93410815e-01 4.49206216e-01 -5.55794569e-03 7.45450229e+01] [ 6.17743637e-03 8.64884656e-05 9.99980916e-01 -8.74023415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.980888479 meters Centerline goodness [0,1] 0.9996478563253808 Centerline is valid? [True, True] Translation: X:120.68, Y:74.57, Z:-0.87 [[ 4.49021971e-01 -8.93517640e-01 -2.34441147e-03 1.20679489e+02] [ 8.93504567e-01 4.49028085e-01 -4.83402433e-03 7.45703388e+01] [ 5.37199260e-03 7.58407754e-05 9.99985568e-01 -8.74317560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010888479 meters Centerline goodness [0,1] 0.9996698798362604 Centerline is valid? [True, True] Translation: X:120.69, Y:74.59, Z:-0.87 [[ 4.48496662e-01 -8.93782241e-01 -2.01229558e-03 1.20693470e+02] [ 8.93772597e-01 4.48501172e-01 -4.15260079e-03 7.45945511e+01] [ 4.61403776e-03 6.38929516e-05 9.99989353e-01 -8.73586563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.040888479 meters Centerline goodness [0,1] 0.9999560400914366 Centerline is valid? [True, True] Translation: X:120.71, Y:74.62, Z:-0.87 [[ 4.47884341e-01 -8.94089652e-01 -1.81959283e-03 1.20707022e+02] [ 8.94081756e-01 4.47888034e-01 -3.75795471e-03 7.46187426e+01] [ 4.17492227e-03 5.62643178e-05 9.99991283e-01 -8.73222461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.070888479 meters Centerline goodness [0,1] 0.9998014472290858 Centerline is valid? [True, True] Translation: X:120.72, Y:74.64, Z:-0.87 [[ 4.46929929e-01 -8.94567309e-01 -1.72312882e-03 1.20721095e+02] [ 8.94560230e-01 4.46933248e-01 -3.55898974e-03 7.46438757e+01] [ 3.95387943e-03 4.91765185e-05 9.99992182e-01 -8.72846651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.100888479 meters Centerline goodness [0,1] 0.9997357584832537 Centerline is valid? [True, True] Translation: X:120.73, Y:74.67, Z:-0.87 [[ 4.46009491e-01 -8.95026746e-01 -1.63041672e-03 1.20734741e+02] [ 8.95020397e-01 4.46012468e-01 -3.37139548e-03 7.46687884e+01] [ 3.74467531e-03 4.44181619e-05 9.99992988e-01 -8.72740655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.130888479 meters Centerline goodness [0,1] 0.9997787170011728 Centerline is valid? [True, True] Translation: X:120.75, Y:74.69, Z:-0.87 [[ 4.44153439e-01 -8.95949339e-01 -1.58242362e-03 1.20748912e+02] [ 8.95943356e-01 4.44156257e-01 -3.27439179e-03 7.46927277e+01] [ 3.63653252e-03 3.65704438e-05 9.99993387e-01 -8.73574010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.160888479 meters Centerline goodness [0,1] 0.999911758217516 Centerline is valid? [True, True] Translation: X:120.76, Y:74.72, Z:-0.87 [[ 4.43314098e-01 -8.96364709e-01 -1.70849793e-03 1.20762052e+02] [ 8.96357729e-01 4.43317389e-01 -3.53754212e-03 7.47170758e+01] [ 3.92833476e-03 3.68169685e-05 9.99992283e-01 -8.73636971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.190888479 meters Centerline goodness [0,1] 0.9998003283489373 Centerline is valid? [True, True] Translation: X:120.78, Y:74.74, Z:-0.87 [[ 4.42500181e-01 -8.96766004e-01 -2.07917646e-03 1.20775394e+02] [ 8.96755661e-01 4.42505064e-01 -4.30736183e-03 7.47419449e+01] [ 4.78274177e-03 4.14951295e-05 9.99988562e-01 -8.74265476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.220888479 meters Centerline goodness [0,1] 0.999867552592658 Centerline is valid? [True, True] Translation: X:120.79, Y:74.77, Z:-0.88 [[ 4.41757498e-01 -8.97131741e-01 -2.22542334e-03 1.20787830e+02] [ 8.97119891e-01 4.41763101e-01 -4.61119240e-03 7.47655633e+01] [ 5.11995699e-03 4.05572720e-05 9.99986892e-01 -8.75224303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.80, Y:74.79, Z:-0.88 [[ 4.39796774e-01 -8.98094039e-01 -2.42782214e-03 1.20803317e+02] [ 8.98079926e-01 4.39803474e-01 -5.03491377e-03 7.47887962e+01] [ 5.58959065e-03 3.39605047e-05 9.99984378e-01 -8.75355857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28088847899997 meters Centerline goodness [0,1] 0.9998667821221608 Centerline is valid? [True, True] Translation: X:120.82, Y:74.81, Z:-0.87 [[ 4.38539612e-01 -8.98708521e-01 -2.45025874e-03 1.20817843e+02] [ 8.98694134e-01 4.38546456e-01 -5.08513560e-03 7.48130537e+01] [ 5.64460698e-03 2.80002405e-05 9.99984069e-01 -8.74787944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31088847899997 meters Centerline goodness [0,1] 0.9998891205038364 Centerline is valid? [True, True] Translation: X:120.83, Y:74.84, Z:-0.87 [[ 4.37540210e-01 -8.99195086e-01 -2.60019220e-03 1.20831658e+02] [ 8.99178872e-01 4.37547936e-01 -5.39994213e-03 7.48373752e+01] [ 5.99331016e-03 2.46539298e-05 9.99982040e-01 -8.74607726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34088847899997 meters Centerline goodness [0,1] 0.9998666251722759 Centerline is valid? [True, True] Translation: X:120.85, Y:74.86, Z:-0.88 [[ 4.35919098e-01 -8.99981652e-01 -2.75069864e-03 1.20845755e+02] [ 8.99963502e-01 4.35927777e-01 -5.71561104e-03 7.48608338e+01] [ 6.34305101e-03 1.60156342e-05 9.99979883e-01 -8.75469824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37088847899997 meters Centerline goodness [0,1] 0.999933147632312 Centerline is valid? [True, True] Translation: X:120.86, Y:74.89, Z:-0.88 [[ 4.35414816e-01 -9.00225462e-01 -2.83826197e-03 1.20858929e+02] [ 9.00206115e-01 4.35424066e-01 -5.90192779e-03 7.48856619e+01] [ 6.54891324e-03 1.47660226e-05 9.99978556e-01 -8.75973429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40088847899997 meters Centerline goodness [0,1] 0.9999331714597581 Centerline is valid? [True, True] Translation: X:120.87, Y:74.91, Z:-0.88 [[ 4.34510434e-01 -9.00662097e-01 -2.91038699e-03 1.20872568e+02] [ 9.00641733e-01 4.34520181e-01 -6.05652450e-03 7.49093767e+01] [ 6.71950393e-03 1.04071131e-05 9.99977424e-01 -8.76540779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43088847899998 meters Centerline goodness [0,1] 0.9999776436396155 Centerline is valid? [True, True] Translation: X:120.89, Y:74.93, Z:-0.88 [[ 4.34325990e-01 -9.00751560e-01 -2.74983434e-03 1.20886202e+02] [ 9.00733358e-01 4.34334695e-01 -5.72635559e-03 7.49344068e+01] [ 6.35237218e-03 1.02375450e-05 9.99979823e-01 -8.76640843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46088847899998 meters Centerline goodness [0,1] 0.9999776626161544 Centerline is valid? [True, True] Translation: X:120.90, Y:74.96, Z:-0.88 [[ 4.34179384e-01 -9.00821832e-01 -2.87926953e-03 1.20899776e+02] [ 9.00801849e-01 4.34188930e-01 -6.00011509e-03 7.49588516e+01] [ 6.65518163e-03 1.14749600e-05 9.99977854e-01 -8.75687737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.91, Y:74.98, Z:-0.88 [[ 4.34067541e-01 -9.00875610e-01 -2.91627631e-03 1.20912774e+02] [ 9.00855088e-01 4.34077337e-01 -6.08074813e-03 7.49827563e+01] [ 6.74388714e-03 1.23130376e-05 9.99977260e-01 -8.75778186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52088847899998 meters Centerline goodness [0,1] 0.9999776461383704 Centerline is valid? [True, True] Translation: X:120.93, Y:75.01, Z:-0.87 [[ 4.34557007e-01 -9.00640248e-01 -2.71146289e-03 1.20926741e+02] [ 9.00622474e-01 4.34565466e-01 -5.65822956e-03 7.50073628e+01] [ 6.27433740e-03 1.68188835e-05 9.99980316e-01 -8.74861033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.94, Y:75.03, Z:-0.87 [[ 4.34814369e-01 -9.00516714e-01 -2.47240867e-03 1.20939324e+02] [ 9.00501910e-01 4.34821398e-01 -5.16349821e-03 7.50321169e+01] [ 5.72487263e-03 1.87544847e-05 9.99983613e-01 -8.74062624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58088847899998 meters Centerline goodness [0,1] 0.9999552952747105 Centerline is valid? [True, True] Translation: X:120.95, Y:75.06, Z:-0.87 [[ 4.35710092e-01 -9.00085111e-01 -1.87325214e-03 1.20952429e+02] [ 9.00076593e-01 4.35714118e-01 -3.91593659e-03 7.50571952e+01] [ 4.34087862e-03 2.01426885e-05 9.99990578e-01 -8.72961008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61088847899998 meters Centerline goodness [0,1] 0.999932768589485 Centerline is valid? [True, True] Translation: X:120.97, Y:75.08, Z:-0.87 [[ 4.35959269e-01 -8.99964869e-01 -1.65825006e-03 1.20965623e+02] [ 8.99958182e-01 4.35962422e-01 -3.46941520e-03 7.50823150e+01] [ 3.84528651e-03 2.01680011e-05 9.99992607e-01 -8.72754091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.98, Y:75.11, Z:-0.87 [[ 4.36156275e-01 -8.99869647e-01 -1.52394811e-03 1.20978671e+02] [ 8.99863989e-01 4.36158937e-01 -3.19105841e-03 7.51070526e+01] [ 3.53622020e-03 2.04541275e-05 9.99993747e-01 -8.72459933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67088847899998 meters Centerline goodness [0,1] 0.9999327776283947 Centerline is valid? [True, True] Translation: X:120.99, Y:75.13, Z:-0.87 [[ 4.36119597e-01 -8.99887672e-01 -1.36942308e-03 1.20991468e+02] [ 8.99883096e-01 4.36121747e-01 -2.86994002e-03 7.51317581e+01] [ 3.17985882e-03 1.93164061e-05 9.99994944e-01 -8.72406165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:75.16, Z:-0.87 [[ 4.35889877e-01 -8.99998643e-01 -1.56780701e-03 1.21003744e+02] [ 8.99992640e-01 4.35892696e-01 -3.28700124e-03 7.51558420e+01] [ 3.64169228e-03 2.17557933e-05 9.99993369e-01 -8.73189999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730888479 meters Centerline goodness [0,1] 0.999955105614043 Centerline is valid? [True, True] Translation: X:121.02, Y:75.18, Z:-0.88 [[ 4.35504143e-01 -9.00184958e-01 -1.78421657e-03 1.21016696e+02] [ 9.00177177e-01 4.35507797e-01 -3.74268663e-03 7.51796190e+01] [ 4.14615043e-03 2.38444947e-05 9.99991404e-01 -8.75291442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.760888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.03, Y:75.20, Z:-0.88 [[ 4.35078354e-01 -9.00390171e-01 -2.08951544e-03 1.21029875e+02] [ 9.00379489e-01 4.35083370e-01 -4.38602935e-03 7.52046914e+01] [ 4.85825114e-03 2.69095861e-05 9.99988198e-01 -8.75824592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.04, Y:75.23, Z:-0.88 [[ 4.34316297e-01 -9.00757678e-01 -2.22698790e-03 1.21043839e+02] [ 9.00745531e-01 4.34322006e-01 -4.67804433e-03 7.52285258e+01] [ 5.18101420e-03 2.58014953e-05 9.99986578e-01 -8.75673320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:75.25, Z:-0.88 [[ 4.33750491e-01 -9.01030338e-01 -2.20018028e-03 1.21056694e+02] [ 9.01018470e-01 4.33756070e-01 -4.62477696e-03 7.52530305e+01] [ 5.12140590e-03 2.35962073e-05 9.99986885e-01 -8.75722222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.850888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.07, Y:75.28, Z:-0.88 [[ 4.31903447e-01 -9.01917123e-01 -2.21703323e-03 1.21070732e+02] [ 9.01905065e-01 4.31909137e-01 -4.66382206e-03 7.52762570e+01] [ 5.16393788e-03 1.47673236e-05 9.99986667e-01 -8.75861691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:75.30, Z:-0.88 [[ 4.30449880e-01 -9.02612175e-01 -2.04034382e-03 1.21084298e+02] [ 9.02601954e-01 4.30454716e-01 -4.29533631e-03 7.53014318e+01] [ 4.75529846e-03 7.30868024e-06 9.99988693e-01 -8.75365577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.910888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.10, Y:75.33, Z:-0.87 [[ 4.29228741e-01 -9.03193942e-01 -1.84152093e-03 1.21097836e+02] [ 9.03185607e-01 4.29232691e-01 -3.88008251e-03 7.53265508e+01] [ 4.29490801e-03 2.20773030e-06 9.99990777e-01 -8.74754941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.940888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.11, Y:75.35, Z:-0.88 [[ 4.26554915e-01 -9.04459933e-01 -1.77027219e-03 1.21112398e+02] [ 9.04452238e-01 4.26558589e-01 -3.73081466e-03 7.53499967e+01] [ 4.12949719e-03 -9.72931060e-06 9.99991474e-01 -8.76349092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.970888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.13, Y:75.37, Z:-0.88 [[ 4.25039065e-01 -9.05173110e-01 -1.85306847e-03 1.21125712e+02] [ 9.05164671e-01 4.25043104e-01 -3.90874813e-03 7.53744500e+01] [ 4.32572768e-03 -1.59614578e-05 9.99990644e-01 -8.76112313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00088847899997 meters Centerline goodness [0,1] 0.9999318522556904 Centerline is valid? [True, True] Translation: X:121.14, Y:75.40, Z:-0.87 [[ 4.23608275e-01 -9.05843913e-01 -1.68376138e-03 1.21138603e+02] [ 9.05836938e-01 4.23611621e-01 -3.55473332e-03 7.53997149e+01] [ 3.93329443e-03 -1.93988067e-05 9.99992264e-01 -8.74600996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:75.42, Z:-0.87 [[ 4.22193078e-01 -9.06504623e-01 -1.54041931e-03 1.21151734e+02] [ 9.06498781e-01 4.22195888e-01 -3.25474112e-03 7.54249976e+01] [ 3.60079657e-03 -2.22590540e-05 9.99993517e-01 -8.74585136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.16, Y:75.45, Z:-0.88 [[ 4.20486127e-01 -9.07297154e-01 -1.81400391e-03 1.21163859e+02] [ 9.07289053e-01 4.20490039e-01 -3.83424139e-03 7.54492092e+01] [ 4.24156688e-03 -3.35805805e-05 9.99991004e-01 -8.75540456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:75.47, Z:-0.88 [[ 4.20047672e-01 -9.07499693e-01 -2.06419834e-03 1.21175228e+02] [ 9.07489189e-01 4.20052742e-01 -4.36649588e-03 7.54738434e+01] [ 4.82966584e-03 -3.91012524e-05 9.99988336e-01 -8.76887839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.19, Y:75.50, Z:-0.88 [[ 4.19771236e-01 -9.07627598e-01 -2.06224999e-03 1.21186300e+02] [ 9.07617101e-01 4.19776299e-01 -4.36536074e-03 7.54996089e+01] [ 4.82780555e-03 -3.92804902e-05 9.99988345e-01 -8.77552314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:75.53, Z:-0.88 [[ 4.19757436e-01 -9.07633986e-01 -2.05987094e-03 1.21197617e+02] [ 9.07623498e-01 4.19762488e-01 -4.36343448e-03 7.55250276e+01] [ 4.82505798e-03 -3.80031959e-05 9.99988359e-01 -8.78489039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:75.55, Z:-0.88 [[ 4.20773786e-01 -9.07163288e-01 -2.04671878e-03 1.21208934e+02] [ 9.07152922e-01 4.20778763e-01 -4.33692415e-03 7.55497708e+01] [ 4.79551417e-03 -3.18229237e-05 9.99988501e-01 -8.78657991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.22, Y:75.58, Z:-0.88 [[ 4.21405350e-01 -9.06870599e-01 -1.80220194e-03 1.21220028e+02] [ 9.06862543e-01 4.21409203e-01 -3.82261152e-03 7.55752193e+01] [ 4.22607848e-03 -2.34804893e-05 9.99991070e-01 -8.78121664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.23, Y:75.60, Z:-0.88 [[ 4.22082489e-01 -9.06555884e-01 -1.67407758e-03 1.21230370e+02] [ 9.06548918e-01 4.22085808e-01 -3.55388324e-03 7.56003091e+01] [ 3.92839814e-03 -1.76013374e-05 9.99992284e-01 -8.78270318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:75.63, Z:-0.88 [[ 4.23762963e-01 -9.05772078e-01 -1.37649620e-03 1.21238459e+02] [ 9.05767355e-01 4.23765198e-01 -2.92487842e-03 7.56271063e+01] [ 3.23258439e-03 -7.33017957e-06 9.99994775e-01 -8.77483132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:75.65, Z:-0.88 [[ 4.24821230e-01 -9.05276357e-01 -1.28062089e-03 1.21248194e+02] [ 9.05272260e-01 4.24823161e-01 -2.72364833e-03 7.56520088e+01] [ 3.00969185e-03 -2.24693719e-06 9.99995471e-01 -8.78018575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.26, Y:75.68, Z:-0.88 [[ 4.25781038e-01 -9.04825568e-01 -1.09548481e-03 1.21258467e+02] [ 9.04822563e-01 4.25782447e-01 -2.33182211e-03 7.56783843e+01] [ 2.57633047e-03 1.62626654e-06 9.99996681e-01 -8.78279588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.27, Y:75.70, Z:-0.88 [[ 4.27426647e-01 -9.04049585e-01 -8.99267175e-04 1.21267613e+02] [ 9.04047557e-01 4.27427593e-01 -1.91482329e-03 7.57043223e+01] [ 2.11546681e-03 5.46620629e-06 9.99997762e-01 -8.78090405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.28, Y:75.73, Z:-0.88 [[ 4.27567533e-01 -9.03983109e-01 -7.37001233e-04 1.21278950e+02] [ 9.03981743e-01 4.27568168e-01 -1.57173397e-03 7.57303572e+01] [ 1.73593923e-03 5.78675717e-06 9.99998493e-01 -8.78003309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.29, Y:75.76, Z:-0.88 [[ 4.27314019e-01 -9.04103028e-01 -6.66084618e-04 1.21290458e+02] [ 9.04101910e-01 4.27314538e-01 -1.42179174e-03 7.57558808e+01] [ 1.57007386e-03 5.34316918e-06 9.99998767e-01 -8.77447645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.30, Y:75.78, Z:-0.88 [[ 4.26878497e-01 -9.04308940e-01 -3.00297125e-04 1.21300700e+02] [ 9.04308711e-01 4.26878602e-01 -6.43522807e-04 7.57810758e+01] [ 7.10133845e-04 3.14474217e-06 9.99999748e-01 -8.77137725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.480888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:75.81, Z:-0.88 [[ 4.26652754e-01 -9.04415494e-01 -2.02558653e-04 1.21311636e+02] [ 9.04415389e-01 4.26652803e-01 -4.35406136e-04 7.58067917e+01] [ 4.80210273e-04 2.57006438e-06 9.99999885e-01 -8.77331772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.32, Y:75.83, Z:-0.88 [[ 4.26037543e-01 -9.04705474e-01 -1.28573483e-04 1.21323665e+02] [ 9.04705432e-01 4.26037562e-01 -2.78125826e-04 7.58327178e+01] [ 3.06399091e-04 2.17091456e-06 9.99999953e-01 -8.76568093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:75.86, Z:-0.88 [[ 4.25343627e-01 -9.05031931e-01 5.54649272e-05 1.21335076e+02] [ 9.05031924e-01 4.25343630e-01 1.15111317e-04 7.58575118e+01] [-1.27771071e-04 1.23566486e-06 9.99999992e-01 -8.76746713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.570888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.35, Y:75.88, Z:-0.88 [[ 4.23894050e-01 -9.05711780e-01 7.06314790e-05 1.21347026e+02] [ 9.05711768e-01 4.23894056e-01 1.47269727e-04 7.58828123e+01] [-1.63324191e-04 1.54500056e-06 9.99999987e-01 -8.76488939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.600888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.36, Y:75.91, Z:-0.88 [[ 4.22608739e-01 -9.06312226e-01 -4.55765741e-05 1.21358513e+02] [ 9.06312221e-01 4.22608741e-01 -1.01134283e-04 7.59083177e+01] [ 1.10920296e-04 1.43362591e-06 9.99999994e-01 -8.77348250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.630888479 meters Centerline goodness [0,1] 0.9999776055896449 Centerline is valid? [True, True] Translation: X:121.37, Y:75.93, Z:-0.88 [[ 4.20640130e-01 -9.07227536e-01 -2.79967221e-04 1.21369892e+02] [ 9.07227336e-01 4.20640223e-01 -6.02860101e-04 7.59341507e+01] [ 6.64696759e-04 -4.06764763e-07 9.99999779e-01 -8.78613226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.660888479 meters Centerline goodness [0,1] 0.9999328663817217 Centerline is valid? [True, True] Translation: X:121.38, Y:75.96, Z:-0.88 [[ 4.19460715e-01 -9.07773383e-01 -4.39294963e-04 1.21381269e+02] [ 9.07772893e-01 4.19460945e-01 -9.43142130e-04 7.59582781e+01] [ 1.04042640e-03 -3.16898771e-06 9.99999459e-01 -8.78825160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.39, Y:75.98, Z:-0.88 [[ 4.18159880e-01 -9.08373381e-01 -3.39414277e-04 1.21393277e+02] [ 9.08373087e-01 4.18160018e-01 -7.30958424e-04 7.59838797e+01] [ 8.05912656e-04 -2.65730751e-06 9.99999675e-01 -8.78516313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:76.01, Z:-0.88 [[ 4.17905638e-01 -9.08490376e-01 -3.39214518e-04 1.21404888e+02] [ 9.08490081e-01 4.17905776e-01 -7.31051372e-04 7.60089228e+01] [ 8.05912842e-04 -2.66253482e-06 9.99999675e-01 -8.78666420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.42, Y:76.03, Z:-0.88 [[ 4.16346797e-01 -9.09205857e-01 -2.31337225e-04 1.21417019e+02] [ 9.09205720e-01 4.16346862e-01 -5.00055671e-04 7.60343533e+01] [ 5.50970073e-04 -2.13655115e-06 9.99999848e-01 -8.78370296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:76.06, Z:-0.88 [[ 4.13076536e-01 -9.10696314e-01 4.42908470e-06 1.21429077e+02] [ 9.10696314e-01 4.13076536e-01 7.26737993e-06 7.60586426e+01] [-8.44792707e-06 1.03156700e-06 1.00000000e+00 -8.78190080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81088847899997 meters Centerline goodness [0,1] 0.9999775945509948 Centerline is valid? [True, True] Translation: X:121.44, Y:76.08, Z:-0.88 [[ 4.11233559e-01 -9.11530010e-01 7.81449190e-06 1.21440958e+02] [ 9.11530010e-01 4.11233559e-01 1.33640013e-05 7.60841817e+01] [-1.53952695e-05 1.62741809e-06 1.00000000e+00 -8.78708029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.45, Y:76.11, Z:-0.88 [[ 4.09403332e-01 -9.12353497e-01 -9.50327664e-05 1.21452793e+02] [ 9.12353473e-01 4.09403343e-01 -2.05816493e-04 7.61084365e+01] [ 2.26684130e-04 -2.44151636e-06 9.99999974e-01 -8.79470186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.47, Y:76.13, Z:-0.88 [[ 4.06018054e-01 -9.13865050e-01 -1.01728770e-04 1.21465667e+02] [ 9.13865023e-01 4.06018067e-01 -2.22060483e-04 7.61340176e+01] [ 2.44237032e-04 -2.80579913e-06 9.99999970e-01 -8.79998403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:76.16, Z:-0.88 [[ 4.04606464e-01 -9.14490882e-01 -1.91530836e-04 1.21478029e+02] [ 9.14490787e-01 4.04606509e-01 -4.15547643e-04 7.61595126e+01] [ 4.57509153e-04 -7.01992282e-06 9.99999895e-01 -8.79438504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:76.19, Z:-0.88 [[ 4.03492247e-01 -9.14983063e-01 -3.19030313e-05 1.21490063e+02] [ 9.14983060e-01 4.03492248e-01 -7.22215484e-05 7.61851234e+01] [ 7.89541194e-05 -4.98983464e-08 9.99999997e-01 -8.79417807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.50, Y:76.21, Z:-0.88 [[ 4.02474922e-01 -9.15431011e-01 -3.09610255e-05 1.21499648e+02] [ 9.15431009e-01 4.02474923e-01 -7.02778717e-05 7.62117526e+01] [ 7.67955795e-05 -5.76018397e-08 9.99999997e-01 -8.79821621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:76.24, Z:-0.88 [[ 4.02425579e-01 -9.15452703e-01 -2.90376466e-05 1.21511155e+02] [ 9.15452701e-01 4.02425580e-01 -6.63729392e-05 7.62363958e+01] [ 7.24467784e-05 1.27576513e-07 9.99999997e-01 -8.80807075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.52, Y:76.26, Z:-0.88 [[ 4.02816621e-01 -9.15280690e-01 1.67549955e-04 1.21521723e+02] [ 9.15280620e-01 4.02816656e-01 3.59046109e-04 7.62617435e+01] [-3.96119883e-04 8.72548599e-06 9.99999922e-01 -8.80686308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05088847899998 meters Centerline goodness [0,1] 0.9999554059176348 Centerline is valid? [True, True] Translation: X:121.53, Y:76.29, Z:-0.88 [[ 4.03154772e-01 -9.15131724e-01 3.95981742e-04 1.21529550e+02] [ 9.15131328e-01 4.03154966e-01 8.51473097e-04 7.62889515e+01] [-9.38852050e-04 1.90998548e-05 9.99999559e-01 -8.79350914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08088847899998 meters Centerline goodness [0,1] 0.9999554128767612 Centerline is valid? [True, True] Translation: X:121.54, Y:76.32, Z:-0.88 [[ 4.04287245e-01 -9.14631566e-01 9.60610947e-04 1.21539207e+02] [ 9.14629219e-01 4.04288384e-01 2.07228825e-03 7.63153470e+01] [-2.28374410e-03 4.08031319e-05 9.99997391e-01 -8.77667374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11088847899998 meters Centerline goodness [0,1] 0.9999554019400156 Centerline is valid? [True, True] Translation: X:121.55, Y:76.34, Z:-0.88 [[ 4.04650897e-01 -9.14470788e-01 9.11120098e-04 1.21550045e+02] [ 9.14468674e-01 4.04651921e-01 1.96669738e-03 7.63415761e+01] [-2.16717380e-03 3.73649272e-05 9.99997651e-01 -8.77428058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14088847899998 meters Centerline goodness [0,1] 0.999844326824712 Centerline is valid? [True, True] Translation: X:121.56, Y:76.37, Z:-0.88 [[ 4.06080999e-01 -9.13836836e-01 6.78382143e-04 1.21558549e+02] [ 9.13835662e-01 4.06081565e-01 1.46455010e-03 7.63687766e+01] [-1.61383831e-03 2.52038291e-05 9.99998697e-01 -8.78228749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17088847899998 meters Centerline goodness [0,1] 0.9998891598315229 Centerline is valid? [True, True] Translation: X:121.57, Y:76.39, Z:-0.88 [[ 4.06944555e-01 -9.13452578e-01 7.19452590e-04 1.21568280e+02] [ 9.13451255e-01 4.06945190e-01 1.55493681e-03 7.63938810e+01] [-1.71313881e-03 2.44118025e-05 9.99998532e-01 -8.78513679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20088847899999 meters Centerline goodness [0,1] 0.9999334442595674 Centerline is valid? [True, True] Translation: X:121.58, Y:76.42, Z:-0.88 [[ 4.07923523e-01 -9.13015631e-01 9.25914402e-04 1.21578092e+02] [ 9.13013435e-01 4.07924572e-01 2.00286980e-03 7.64199765e+01] [-2.20635467e-03 2.83545852e-05 9.99997566e-01 -8.78660091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230888479 meters Centerline goodness [0,1] 0.999688909628247 Centerline is valid? [True, True] Translation: X:121.59, Y:76.45, Z:-0.88 [[ 4.09060043e-01 -9.12506940e-01 9.82800832e-04 1.21587700e+02] [ 9.12504460e-01 4.09061223e-01 2.12763511e-03 7.64463551e+01] [-2.34350752e-03 2.64796318e-05 9.99997254e-01 -8.78487477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.260888479 meters Centerline goodness [0,1] 0.9998893070622095 Centerline is valid? [True, True] Translation: X:121.60, Y:76.47, Z:-0.88 [[ 4.12167860e-01 -9.11106972e-01 1.31959052e-03 1.21595449e+02] [ 9.11102480e-01 4.12169972e-01 2.86096326e-03 7.64723758e+01] [-3.15053916e-03 2.30850943e-05 9.99995037e-01 -8.78682640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290888479 meters Centerline goodness [0,1] 0.9997565132700268 Centerline is valid? [True, True] Translation: X:121.60, Y:76.50, Z:-0.88 [[ 4.13770400e-01 -9.10380535e-01 1.15641880e-03 1.21604703e+02] [ 9.10377084e-01 4.13772016e-01 2.50674145e-03 7.64988539e+01] [-2.76058236e-03 1.55617612e-05 9.99996189e-01 -8.78919804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.320888479 meters Centerline goodness [0,1] 0.9998014691284495 Centerline is valid? [True, True] Translation: X:121.61, Y:76.53, Z:-0.88 [[ 4.17258346e-01 -9.08787587e-01 7.71182101e-04 1.21611943e+02] [ 9.08786049e-01 4.17259059e-01 1.67199416e-03 7.65251721e+01] [-1.84127025e-03 3.18601703e-06 9.99998305e-01 -8.80446918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.350888479 meters Centerline goodness [0,1] 0.9997347362836553 Centerline is valid? [True, True] Translation: X:121.62, Y:76.55, Z:-0.88 [[ 4.18920592e-01 -9.08022745e-01 4.82640046e-04 1.21621532e+02] [ 9.08022143e-01 4.18920870e-01 1.04552561e-03 7.65518740e+01] [-1.15154902e-03 2.55640025e-07 9.99999337e-01 -8.80808600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.380888479 meters Centerline goodness [0,1] 0.9998677656807864 Centerline is valid? [True, True] Translation: X:121.63, Y:76.58, Z:-0.88 [[ 4.20272035e-01 -9.07398103e-01 3.13741691e-04 1.21630926e+02] [ 9.07397849e-01 4.20272152e-01 6.79173488e-04 7.65776279e+01] [-7.48137631e-04 -7.49088198e-07 9.99999720e-01 -8.81643224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.410888479 meters Centerline goodness [0,1] 0.9998457402265415 Centerline is valid? [True, True] Translation: X:121.64, Y:76.60, Z:-0.88 [[ 4.22055394e-01 -9.06570043e-01 -2.32876056e-05 1.21640597e+02] [ 9.06570042e-01 4.22055395e-01 -5.43257038e-05 7.66039493e+01] [ 5.90787152e-05 1.81661073e-06 9.99999998e-01 -8.82274220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.440888479 meters Centerline goodness [0,1] 0.9997576024680476 Centerline is valid? [True, True] Translation: X:121.65, Y:76.63, Z:-0.88 [[ 4.22058989e-01 -9.06568366e-01 -8.63490511e-05 1.21651444e+02] [ 9.06568346e-01 4.22058997e-01 -1.91479981e-04 7.66292221e+01] [ 2.10034087e-04 2.53453052e-06 9.99999978e-01 -8.82814624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.470888479 meters Centerline goodness [0,1] 0.9998460726537074 Centerline is valid? [True, True] Translation: X:121.66, Y:76.65, Z:-0.88 [[ 4.21720506e-01 -9.06725848e-01 -2.27153386e-04 1.21662493e+02] [ 9.06725711e-01 4.21720567e-01 -4.98454342e-04 7.66539946e+01] [ 5.47756690e-04 4.24260157e-06 9.99999850e-01 -8.83229401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50088847899997 meters Centerline goodness [0,1] 0.9997350583975448 Centerline is valid? [True, True] Translation: X:121.67, Y:76.68, Z:-0.88 [[ 4.20575344e-01 -9.07257604e-01 -1.36902955e-04 1.21674628e+02] [ 9.07257554e-01 4.20575367e-01 -3.02344469e-04 7.66790383e+01] [ 3.31882329e-04 2.95238913e-06 9.99999945e-01 -8.82247610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53088847899997 meters Centerline goodness [0,1] 0.9998459473139814 Centerline is valid? [True, True] Translation: X:121.69, Y:76.70, Z:-0.88 [[ 4.19747082e-01 -9.07641111e-01 3.34057492e-05 1.21686325e+02] [ 9.07641108e-01 4.19747084e-01 6.92496560e-05 7.67046536e+01] [-7.68758005e-05 1.25309014e-06 9.99999997e-01 -8.82008104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56088847899997 meters Centerline goodness [0,1] 0.9997792981681748 Centerline is valid? [True, True] Translation: X:121.70, Y:76.73, Z:-0.88 [[ 4.19276895e-01 -9.07858406e-01 -6.86041625e-07 1.21697894e+02] [ 9.07858406e-01 4.19276895e-01 -5.18601242e-06 7.67298787e+01] [ 4.99580638e-06 1.55154654e-06 1.00000000e+00 -8.82044396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59088847899997 meters Centerline goodness [0,1] 0.9998239978879746 Centerline is valid? [True, True] Translation: X:121.71, Y:76.75, Z:-0.88 [[ 4.18991454e-01 -9.07990155e-01 -1.99843699e-04 1.21708464e+02] [ 9.07990048e-01 4.18991502e-01 -4.40208031e-04 7.67547652e+01] [ 4.83437370e-04 2.98731288e-06 9.99999883e-01 -8.82287758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62088847899997 meters Centerline goodness [0,1] 0.9998026272505977 Centerline is valid? [True, True] Translation: X:121.72, Y:76.78, Z:-0.88 [[ 4.19163000e-01 -9.07910967e-01 -2.35039200e-04 1.21719385e+02] [ 9.07910820e-01 4.19163065e-01 -5.17838344e-04 7.67803427e+01] [ 5.68670864e-04 3.66404140e-06 9.99999838e-01 -8.82994522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65088847899997 meters Centerline goodness [0,1] 0.9998023975760769 Centerline is valid? [True, True] Translation: X:121.73, Y:76.81, Z:-0.88 [[ 4.19524755e-01 -9.07743880e-01 -1.67815509e-04 1.21730124e+02] [ 9.07743804e-01 4.19524789e-01 -3.70648619e-04 7.68057047e+01] [ 4.06856782e-04 3.16278291e-06 9.99999917e-01 -8.83306913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68088847899998 meters Centerline goodness [0,1] 0.9997579598213303 Centerline is valid? [True, True] Translation: X:121.74, Y:76.83, Z:-0.88 [[ 4.19764256e-01 -9.07633169e-01 -2.39089794e-05 1.21741799e+02] [ 9.07633167e-01 4.19764256e-01 -5.60611920e-05 7.68314500e+01] [ 6.09191323e-05 1.83190180e-06 9.99999998e-01 -8.83174274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71088847899998 meters Centerline goodness [0,1] 0.9997366110623354 Centerline is valid? [True, True] Translation: X:121.75, Y:76.86, Z:-0.88 [[ 4.19640529e-01 -9.07690380e-01 2.00805657e-05 1.21752502e+02] [ 9.07690379e-01 4.19640530e-01 4.07155782e-05 7.68566875e+01] [-4.53837579e-05 1.14102947e-06 9.99999999e-01 -8.83673848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74088847899998 meters Centerline goodness [0,1] 0.9998904229673461 Centerline is valid? [True, True] Translation: X:121.76, Y:76.88, Z:-0.88 [[ 4.19366930e-01 -9.07816819e-01 3.76013008e-05 1.21764231e+02] [ 9.07816816e-01 4.19366931e-01 7.89562983e-05 7.68817475e+01] [-8.74465977e-05 1.02343273e-06 9.99999996e-01 -8.83731139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77088847899998 meters Centerline goodness [0,1] 0.9997800602634878 Centerline is valid? [True, True] Translation: X:121.78, Y:76.91, Z:-0.88 [[ 4.18397426e-01 -9.08264033e-01 -2.02105359e-04 1.21778019e+02] [ 9.08263923e-01 4.18397475e-01 -4.47341339e-04 7.69059293e+01] [ 4.90864420e-04 3.60145882e-06 9.99999880e-01 -8.82993147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80088847899998 meters Centerline goodness [0,1] 0.9998452286194393 Centerline is valid? [True, True] Translation: X:121.79, Y:76.93, Z:-0.88 [[ 4.17341104e-01 -9.08749888e-01 -2.10649362e-04 1.21790585e+02] [ 9.08749768e-01 4.17341157e-01 -4.66418958e-04 7.69312923e+01] [ 5.11770824e-04 3.22824357e-06 9.99999869e-01 -8.83089778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83088847899998 meters Centerline goodness [0,1] 0.9997357293868921 Centerline is valid? [True, True] Translation: X:121.80, Y:76.96, Z:-0.88 [[ 4.16049682e-01 -9.09341873e-01 -1.38555745e-04 1.21803237e+02] [ 9.09341821e-01 4.16049705e-01 -3.08250061e-04 7.69563611e+01] [ 3.37950765e-04 2.25280667e-06 9.99999943e-01 -8.83221784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86088847899998 meters Centerline goodness [0,1] 0.9998237691375702 Centerline is valid? [True, True] Translation: X:121.82, Y:76.98, Z:-0.88 [[ 4.15429210e-01 -9.09625485e-01 -2.19577412e-04 1.21815620e+02] [ 9.09625355e-01 4.15429268e-01 -4.86715948e-04 7.69816579e+01] [ 5.33948114e-04 2.46284033e-06 9.99999857e-01 -8.83247379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89088847899998 meters Centerline goodness [0,1] 0.9998678501420611 Centerline is valid? [True, True] Translation: X:121.83, Y:77.01, Z:-0.88 [[ 4.15068891e-01 -9.09789950e-01 -2.52579490e-04 1.21828010e+02] [ 9.09789777e-01 4.15068967e-01 -5.59790320e-04 7.70066055e+01] [ 6.14129515e-04 2.55730925e-06 9.99999811e-01 -8.82940009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92088847899998 meters Centerline goodness [0,1] 0.9998017184401851 Centerline is valid? [True, True] Translation: X:121.84, Y:77.03, Z:-0.88 [[ 4.14276378e-01 -9.10151057e-01 -3.68439057e-04 1.21839765e+02] [ 9.10150692e-01 4.14276542e-01 -8.15066004e-04 7.70308432e+01] [ 8.94468844e-04 2.32752900e-06 9.99999600e-01 -8.83260859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95088847899999 meters Centerline goodness [0,1] 0.9998017402797665 Centerline is valid? [True, True] Translation: X:121.85, Y:77.06, Z:-0.88 [[ 4.13982914e-01 -9.10284603e-01 -2.97716322e-04 1.21851248e+02] [ 9.10284364e-01 4.13983021e-01 -6.59992148e-04 7.70559670e+01] [ 7.24030192e-04 2.21896003e-06 9.99999738e-01 -8.83563864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.86, Y:77.08, Z:-0.88 [[ 4.13270120e-01 -9.10608362e-01 -4.67386784e-04 1.21863297e+02] [ 9.10607774e-01 4.13270384e-01 -1.03493578e-03 7.70813944e+01] [ 1.13557829e-03 2.10199314e-06 9.99999355e-01 -8.83720588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010888479 meters Centerline goodness [0,1] 0.9998897050713608 Centerline is valid? [True, True] Translation: X:121.88, Y:77.11, Z:-0.88 [[ 4.12447507e-01 -9.10981151e-01 -6.29876355e-04 1.21875115e+02] [ 9.10980083e-01 4.12447988e-01 -1.39475031e-03 7.71060144e+01] [ 1.53038247e-03 1.45647193e-06 9.99998829e-01 -8.84630024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.040888479 meters Centerline goodness [0,1] 0.9999117329037668 Centerline is valid? [True, True] Translation: X:121.89, Y:77.13, Z:-0.89 [[ 4.10749460e-01 -9.11747832e-01 -8.78409876e-04 1.21888580e+02] [ 9.11745758e-01 4.10750399e-01 -1.94481929e-03 7.71298464e+01] [ 2.13399198e-03 -2.05300571e-06 9.99997723e-01 -8.85231439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.070888479 meters Centerline goodness [0,1] 0.9998893805309734 Centerline is valid? [True, True] Translation: X:121.90, Y:77.15, Z:-0.88 [[ 4.09358149e-01 -9.12373388e-01 -8.41300154e-04 1.21901146e+02] [ 9.12371483e-01 4.09359013e-01 -1.86403678e-03 7.71547949e+01] [ 2.04509135e-03 -4.51962365e-06 9.99997909e-01 -8.84534681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.100888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.91, Y:77.18, Z:-0.88 [[ 4.06961074e-01 -9.13445107e-01 -8.48765926e-04 1.21914686e+02] [ 9.13443168e-01 4.06961959e-01 -1.88216941e-03 7.71781016e+01] [ 2.06467389e-03 -9.32974932e-06 9.99997869e-01 -8.84472647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.130888479 meters Centerline goodness [0,1] 0.9999778511151963 Centerline is valid? [True, True] Translation: X:121.93, Y:77.20, Z:-0.88 [[ 4.06044680e-01 -9.13852734e-01 -9.48144906e-04 1.21926667e+02] [ 9.13850313e-01 4.06045787e-01 -2.10361464e-03 7.72035724e+01] [ 2.30738423e-03 -1.23009877e-05 9.99997338e-01 -8.84167391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:77.23, Z:-0.88 [[ 4.05362469e-01 -9.14155613e-01 -8.85996678e-04 1.21939100e+02] [ 9.14153496e-01 4.05363437e-01 -1.96743826e-03 7.72293054e+01] [ 2.15769539e-03 -1.24113311e-05 9.99997672e-01 -8.84368965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.95, Y:77.25, Z:-0.88 [[ 4.04721625e-01 -9.14439476e-01 -9.22935047e-04 1.21950738e+02] [ 9.14437177e-01 4.04722677e-01 -2.05033809e-03 7.72538696e+01] [ 2.24844283e-03 -1.41499557e-05 9.99997472e-01 -8.84818509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.220888479 meters Centerline goodness [0,1] 0.9999777975133215 Centerline is valid? [True, True] Translation: X:121.96, Y:77.28, Z:-0.89 [[ 4.04579034e-01 -9.14502396e-01 -1.08312342e-03 1.21962854e+02] [ 9.14499227e-01 4.04580483e-01 -2.40770201e-03 7.72796831e+01] [ 2.64005985e-03 -1.64097775e-05 9.99996515e-01 -8.85136479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25088847899997 meters Centerline goodness [0,1] 0.9999336547392631 Centerline is valid? [True, True] Translation: X:121.98, Y:77.30, Z:-0.89 [[ 4.04384587e-01 -9.14588222e-01 -1.22056294e-03 1.21975374e+02] [ 9.14584192e-01 4.04386428e-01 -2.71506745e-03 7.73034487e+01] [ 2.97674780e-03 -1.83761388e-05 9.99995569e-01 -8.86761353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28088847899997 meters Centerline goodness [0,1] 0.9999112353815769 Centerline is valid? [True, True] Translation: X:121.99, Y:77.33, Z:-0.89 [[ 4.04748813e-01 -9.14426018e-01 -1.85907928e-03 1.21987590e+02] [ 9.14416664e-01 4.04753081e-01 -4.13612476e-03 7.73291609e+01] [ 4.53464816e-03 -2.58814855e-05 9.99989718e-01 -8.86490159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31088847899997 meters Centerline goodness [0,1] 0.999911325899488 Centerline is valid? [True, True] Translation: X:122.00, Y:77.35, Z:-0.89 [[ 4.04840887e-01 -9.14384858e-01 -2.04630004e-03 1.21999284e+02] [ 9.14373510e-01 4.04846057e-01 -4.55574009e-03 7.73544955e+01] [ 4.99413626e-03 -2.67326917e-05 9.99987529e-01 -8.86505673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34088847899997 meters Centerline goodness [0,1] 0.9999114142711609 Centerline is valid? [True, True] Translation: X:122.01, Y:77.38, Z:-0.89 [[ 4.05078288e-01 -9.14279866e-01 -1.97678925e-03 1.22011498e+02] [ 9.14269257e-01 4.05083111e-01 -4.40452791e-03 7.73800630e+01] [ 4.82773512e-03 -2.31390171e-05 9.99988346e-01 -8.86442405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37088847899997 meters Centerline goodness [0,1] 0.9999331401827501 Centerline is valid? [True, True] Translation: X:122.02, Y:77.40, Z:-0.89 [[ 4.05596927e-01 -9.14050218e-01 -1.82520597e-03 1.22024149e+02] [ 9.14041156e-01 4.05601034e-01 -4.07012826e-03 7.74048849e+01] [ 4.46060706e-03 -1.74818580e-05 9.99990051e-01 -8.85907988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40088847899997 meters Centerline goodness [0,1] 0.999955571352408 Centerline is valid? [True, True] Translation: X:122.04, Y:77.43, Z:-0.89 [[ 4.06288789e-01 -9.13743004e-01 -1.77244275e-03 1.22035920e+02] [ 9.13734452e-01 4.06292655e-01 -3.95339325e-03 7.74294961e+01] [ 4.33251590e-03 -1.33226463e-05 9.99990615e-01 -8.86058450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43088847899998 meters Centerline goodness [0,1] 0.9997108605235648 Centerline is valid? [True, True] Translation: X:122.05, Y:77.45, Z:-0.89 [[ 4.07830735e-01 -9.13055899e-01 -1.73699234e-03 1.22048199e+02] [ 9.13047660e-01 4.07834434e-01 -3.87875128e-03 7.74536612e+01] [ 4.24992202e-03 -4.08280692e-06 9.99990969e-01 -8.86281278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46088847899998 meters Centerline goodness [0,1] 0.9998218024680359 Centerline is valid? [True, True] Translation: X:122.06, Y:77.48, Z:-0.89 [[ 4.09189450e-01 -9.12447432e-01 -1.91801246e-03 1.22060210e+02] [ 9.12437368e-01 4.09193945e-01 -4.28549644e-03 7.74788267e+01] [ 4.69512931e-03 3.51368619e-06 9.99988978e-01 -8.86187741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49088847899998 meters Centerline goodness [0,1] 0.9997993579454254 Centerline is valid? [True, True] Translation: X:122.07, Y:77.50, Z:-0.89 [[ 4.10812120e-01 -9.11717806e-01 -2.01108841e-03 1.22071532e+02] [ 9.11706727e-01 4.10817042e-01 -4.49471066e-03 7.75034029e+01] [ 4.92409714e-03 1.29587816e-05 9.99987876e-01 -8.86350381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52088847899998 meters Centerline goodness [0,1] 0.9996443733191083 Centerline is valid? [True, True] Translation: X:122.08, Y:77.53, Z:-0.89 [[ 4.12054175e-01 -9.11157185e-01 -1.98509597e-03 1.22082156e+02] [ 9.11146362e-01 4.12058956e-01 -4.44121733e-03 7.75281465e+01] [ 4.86462366e-03 2.13091705e-05 9.99988167e-01 -8.86553868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55088847899998 meters Centerline goodness [0,1] 0.9998005274939604 Centerline is valid? [True, True] Translation: X:122.09, Y:77.55, Z:-0.89 [[ 4.14788500e-01 -9.09915772e-01 -1.94628361e-03 1.22093057e+02] [ 9.09905340e-01 4.14793064e-01 -4.35728939e-03 7.75540060e+01] [ 4.77207128e-03 3.64196779e-05 9.99988613e-01 -8.86866128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58088847899998 meters Centerline goodness [0,1] 0.9998437220932309 Centerline is valid? [True, True] Translation: X:122.10, Y:77.58, Z:-0.89 [[ 4.15673208e-01 -9.09511666e-01 -2.07670167e-03 1.22104987e+02] [ 9.09499768e-01 4.15678393e-01 -4.65242532e-03 7.75795183e+01] [ 5.09467512e-03 4.51288649e-05 9.99987021e-01 -8.86796402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61088847899998 meters Centerline goodness [0,1] 0.9997986532137184 Centerline is valid? [True, True] Translation: X:122.12, Y:77.60, Z:-0.89 [[ 4.16271197e-01 -9.09238138e-01 -2.07345015e-03 1.22116474e+02] [ 9.09226257e-01 4.16276357e-01 -4.64847147e-03 7.76039106e+01] [ 5.08969582e-03 4.97894594e-05 9.99987046e-01 -8.87379876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64088847899998 meters Centerline goodness [0,1] 0.9997986532137184 Centerline is valid? [True, True] Translation: X:122.13, Y:77.63, Z:-0.89 [[ 4.16026522e-01 -9.09350119e-01 -2.07219277e-03 1.22127635e+02] [ 9.09338236e-01 4.16031680e-01 -4.64903234e-03 7.76291515e+01] [ 5.08969595e-03 4.97966329e-05 9.99987046e-01 -8.87529997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67088847899998 meters Centerline goodness [0,1] 0.9997766860205449 Centerline is valid? [True, True] Translation: X:122.14, Y:77.65, Z:-0.89 [[ 4.16289862e-01 -9.09229437e-01 -2.14061889e-03 1.22142484e+02] [ 9.09216735e-01 4.16295362e-01 -4.80628013e-03 7.76531072e+01] [ 5.26114110e-03 5.45191744e-05 9.99986159e-01 -8.86340871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70088847899999 meters Centerline goodness [0,1] 0.999775578446554 Centerline is valid? [True, True] Translation: X:122.15, Y:77.68, Z:-0.89 [[ 4.16050243e-01 -9.09339055e-01 -2.16298544e-03 1.22154630e+02] [ 9.09326073e-01 4.16055862e-01 -4.85933465e-03 7.76774898e+01] [ 5.31870555e-03 5.48683111e-05 9.99985854e-01 -8.86833711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730888479 meters Centerline goodness [0,1] 0.9997526589166461 Centerline is valid? [True, True] Translation: X:122.17, Y:77.70, Z:-0.89 [[ 4.15264545e-01 -9.09698096e-01 -2.17531788e-03 1.22167424e+02] [ 9.09684960e-01 4.15270239e-01 -4.88898890e-03 7.77019076e+01] [ 5.35084867e-03 5.13697902e-05 9.99985683e-01 -8.87292535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.760888479 meters Centerline goodness [0,1] 0.9997975526363145 Centerline is valid? [True, True] Translation: X:122.18, Y:77.73, Z:-0.89 [[ 4.13592956e-01 -9.10459245e-01 -2.19747988e-03 1.22183485e+02] [ 9.10445826e-01 4.13598792e-01 -4.94333629e-03 7.77255794e+01] [ 5.40958125e-03 4.38426858e-05 9.99985367e-01 -8.86403356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790888479 meters Centerline goodness [0,1] 0.9997745818493305 Centerline is valid? [True, True] Translation: X:122.20, Y:77.75, Z:-0.89 [[ 4.12411439e-01 -9.10995223e-01 -2.12361487e-03 1.22196818e+02] [ 9.10982679e-01 4.12416904e-01 -4.78075499e-03 7.77502773e+01] [ 5.23105963e-03 3.70616823e-05 9.99986317e-01 -8.86189736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.820888479 meters Centerline goodness [0,1] 0.9998195027300212 Centerline is valid? [True, True] Translation: X:122.21, Y:77.77, Z:-0.89 [[ 4.10938263e-01 -9.11661423e-01 -1.78741271e-03 1.22211657e+02] [ 9.11652527e-01 4.10942149e-01 -4.02733956e-03 7.77747756e+01] [ 4.40609334e-03 2.54886045e-05 9.99990293e-01 -8.86069896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.850888479 meters Centerline goodness [0,1] 0.9997964997964998 Centerline is valid? [True, True] Translation: X:122.22, Y:77.80, Z:-0.89 [[ 4.10629631e-01 -9.11800555e-01 -1.74743089e-03 1.22224286e+02] [ 9.11792042e-01 4.10633349e-01 -3.94019243e-03 7.77998984e+01] [ 4.31022305e-03 2.46661826e-05 9.99990711e-01 -8.85888589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.880888479 meters Centerline goodness [0,1] 0.9998866881203825 Centerline is valid? [True, True] Translation: X:122.24, Y:77.82, Z:-0.89 [[ 4.09724169e-01 -9.12208007e-01 -1.63021718e-03 1.22236802e+02] [ 9.12200588e-01 4.09727412e-01 -3.67915203e-03 7.78234834e+01] [ 4.02409661e-03 2.03524419e-05 9.99991903e-01 -8.86650642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.910888479 meters Centerline goodness [0,1] 0.999841431645713 Centerline is valid? [True, True] Translation: X:122.25, Y:77.85, Z:-0.89 [[ 4.09026963e-01 -9.12520811e-01 -1.64704578e-03 1.22249815e+02] [ 9.12513229e-01 4.09030279e-01 -3.71985074e-03 7.78486481e+01] [ 4.06813280e-03 1.85681902e-05 9.99991725e-01 -8.85847118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.940888479 meters Centerline goodness [0,1] 0.9999092208882736 Centerline is valid? [True, True] Translation: X:122.26, Y:77.87, Z:-0.89 [[ 4.07844007e-01 -9.13050045e-01 -1.69752940e-03 1.22261932e+02] [ 9.13041983e-01 4.07847539e-01 -3.83697284e-03 7.78733563e+01] [ 4.19568141e-03 1.49707721e-05 9.99991198e-01 -8.87125401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.970888479 meters Centerline goodness [0,1] 0.9999092250085102 Centerline is valid? [True, True] Translation: X:122.28, Y:77.90, Z:-0.89 [[ 4.05179099e-01 -9.14234822e-01 -2.14207019e-03 1.22276425e+02] [ 9.14221988e-01 4.05184761e-01 -4.84411113e-03 7.78961821e+01] [ 5.29658927e-03 4.40491320e-06 9.99985973e-01 -8.86826031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00088847899997 meters Centerline goodness [0,1] 0.9999091837893064 Centerline is valid? [True, True] Translation: X:122.29, Y:77.92, Z:-0.88 [[ 4.03867453e-01 -9.14815014e-01 -2.13799833e-03 1.22289401e+02] [ 9.14802217e-01 4.03873112e-01 -4.83867016e-03 7.79209235e+01] [ 5.28996815e-03 -1.66422175e-06 9.99986008e-01 -8.84893149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03088847899997 meters Centerline goodness [0,1] 0.9999544750978785 Centerline is valid? [True, True] Translation: X:122.30, Y:77.95, Z:-0.88 [[ 4.02187971e-01 -9.15555121e-01 -1.91226003e-03 1.22301972e+02] [ 9.15544873e-01 4.02192517e-01 -4.33186688e-03 7.79452888e+01] [ 4.73515958e-03 -8.53511992e-06 9.99988789e-01 -8.84879476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06088847899997 meters Centerline goodness [0,1] 0.9999772938852433 Centerline is valid? [True, True] Translation: X:122.31, Y:77.97, Z:-0.88 [[ 3.99353224e-01 -9.16795523e-01 -1.72351670e-03 1.22314962e+02] [ 9.16787196e-01 3.99356943e-01 -3.90749710e-03 7.79704424e+01] [ 4.27067421e-03 -1.96264763e-05 9.99990880e-01 -8.84369762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09088847899997 meters Centerline goodness [0,1] 0.999977242729052 Centerline is valid? [True, True] Translation: X:122.33, Y:78.00, Z:-0.88 [[ 3.98128505e-01 -9.17328202e-01 -1.63184840e-03 1.22326927e+02] [ 9.17320730e-01 3.98131848e-01 -3.70264566e-03 7.79955598e+01] [ 4.04623211e-03 -2.27995883e-05 9.99991814e-01 -8.84337966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.34, Y:78.02, Z:-0.88 [[ 3.96107274e-01 -9.18202912e-01 -1.56195019e-03 1.22339537e+02] [ 9.18196062e-01 3.96110353e-01 -3.54675987e-03 7.80211446e+01] [ 3.87534988e-03 -2.92791271e-05 9.99992490e-01 -8.84215564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.35, Y:78.05, Z:-0.88 [[ 3.95333957e-01 -9.18536502e-01 -1.32518749e-03 1.22351396e+02] [ 9.18531564e-01 3.95336177e-01 -3.01207510e-03 7.80470942e+01] [ 3.29059549e-03 -2.64509705e-05 9.99994586e-01 -8.84133719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.36, Y:78.07, Z:-0.88 [[ 3.94576435e-01 -9.18862400e-01 -1.15182503e-03 1.22362952e+02] [ 9.18858663e-01 3.94578116e-01 -2.62054625e-03 7.80731154e+01] [ 2.86240636e-03 -2.43586072e-05 9.99995903e-01 -8.83965159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.37, Y:78.10, Z:-0.88 [[ 3.94344360e-01 -9.18962285e-01 -9.19024138e-04 1.22374069e+02] [ 9.18959901e-01 3.94345430e-01 -2.09356022e-03 7.80980598e+01] [ 2.28631585e-03 -1.89626677e-05 9.99997386e-01 -8.83983845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24088847899998 meters Centerline goodness [0,1] 0.9999773222060958 Centerline is valid? [True, True] Translation: X:122.38, Y:78.12, Z:-0.88 [[ 3.94717979e-01 -9.18802121e-01 -6.15465574e-04 1.22384738e+02] [ 9.18801048e-01 3.94718459e-01 -1.40428540e-03 7.81244325e+01] [ 1.53319602e-03 -1.11937204e-05 9.99998825e-01 -8.83080019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.40, Y:78.15, Z:-0.88 [[ 3.95052459e-01 -9.18658498e-01 -3.44636499e-04 1.22395678e+02] [ 9.18658160e-01 3.95052609e-01 -7.88671901e-04 7.81503532e+01] [ 8.60669692e-04 -5.03635889e-06 9.99999630e-01 -8.82801503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.41, Y:78.18, Z:-0.88 [[ 3.95591993e-01 -9.18426352e-01 -1.03204023e-04 1.22406074e+02] [ 9.18426321e-01 3.95592006e-01 -2.38532687e-04 7.81753837e+01] [ 2.59901392e-04 -4.23670715e-07 9.99999966e-01 -8.82527358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.42, Y:78.20, Z:-0.88 [[ 3.97247581e-01 -9.17711440e-01 2.68539294e-04 1.22415646e+02] [ 9.17711238e-01 3.97247672e-01 6.08599298e-04 7.82016776e+01] [-6.65195148e-04 4.67692911e-06 9.99999779e-01 -8.82216704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.43, Y:78.23, Z:-0.88 [[ 3.98519241e-01 -9.17159879e-01 4.12454987e-04 1.22425841e+02] [ 9.17159400e-01 3.98519454e-01 9.37453840e-04 7.82276963e+01] [-1.02416639e-03 4.69357588e-06 9.99999476e-01 -8.81803984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:78.25, Z:-0.88 [[ 3.99592274e-01 -9.16692755e-01 6.38235726e-04 1.22435318e+02] [ 9.16691601e-01 3.99592784e-01 1.45457169e-03 7.82525957e+01] [-1.58842972e-03 3.82972210e-06 9.99998738e-01 -8.81604134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:78.28, Z:-0.88 [[ 4.01992972e-01 -9.15642215e-01 9.92662992e-04 1.22443150e+02] [ 9.15639413e-01 4.01994197e-01 2.26517900e-03 7.82789343e+01] [-2.47313828e-03 -1.66467966e-06 9.99996942e-01 -8.81994801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:78.31, Z:-0.88 [[ 4.02785783e-01 -9.15293635e-01 1.08385078e-03 1.22452909e+02] [ 9.15290290e-01 4.02787241e-01 2.47438201e-03 7.83056638e+01] [-2.70134737e-03 -4.60780076e-06 9.99996351e-01 -8.82593595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.480888479 meters Centerline goodness [0,1] 0.9998647795907329 Centerline is valid? [True, True] Translation: X:122.46, Y:78.33, Z:-0.88 [[ 4.03840925e-01 -9.14828328e-01 1.27958636e-03 1.22463413e+02] [ 9.14823655e-01 4.03842952e-01 2.92408169e-03 7.83321473e+01] [-3.19178469e-03 -1.02679799e-05 9.99994906e-01 -8.83140152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510888479 meters Centerline goodness [0,1] 0.9999550106849623 Centerline is valid? [True, True] Translation: X:122.47, Y:78.36, Z:-0.88 [[ 4.04661222e-01 -9.14465933e-01 1.16272911e-03 1.22473712e+02] [ 9.14462069e-01 4.04662892e-01 2.65872877e-03 7.83578464e+01] [-2.90183021e-03 -1.26127691e-05 9.99995790e-01 -8.83523159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.540888479 meters Centerline goodness [0,1] 0.9999324522099385 Centerline is valid? [True, True] Translation: X:122.48, Y:78.38, Z:-0.88 [[ 4.05375225e-01 -9.14149448e-01 1.30945332e-03 1.22483543e+02] [ 9.14144535e-01 4.05377339e-01 2.99689555e-03 7.83833178e+01] [-3.27043311e-03 -1.78376132e-05 9.99994652e-01 -8.84358752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.570888479 meters Centerline goodness [0,1] 0.9999100335125166 Centerline is valid? [True, True] Translation: X:122.49, Y:78.41, Z:-0.89 [[ 4.05349823e-01 -9.14160771e-01 1.26692886e-03 1.22494057e+02] [ 9.14156166e-01 4.05351803e-01 2.90191134e-03 7.84092967e+01] [-3.16636541e-03 -1.81184227e-05 9.99994987e-01 -8.85149743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.600888479 meters Centerline goodness [0,1] 0.9998874634256133 Centerline is valid? [True, True] Translation: X:122.50, Y:78.43, Z:-0.89 [[ 4.05182956e-01 -9.14234811e-01 1.21786572e-03 1.22504911e+02] [ 9.14230549e-01 4.05184786e-01 2.79147319e-03 7.84346851e+01] [-3.04552262e-03 -1.76473151e-05 9.99995362e-01 -8.85579774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.630888479 meters Centerline goodness [0,1] 0.9998874558264119 Centerline is valid? [True, True] Translation: X:122.52, Y:78.46, Z:-0.89 [[ 4.04812754e-01 -9.14398798e-01 1.21369782e-03 1.22516141e+02] [ 9.14394560e-01 4.04814573e-01 2.78388369e-03 7.84589505e+01] [-3.03690247e-03 -1.71529408e-05 9.99995388e-01 -8.86124822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.660888479 meters Centerline goodness [0,1] 0.9999775543185491 Centerline is valid? [True, True] Translation: X:122.53, Y:78.48, Z:-0.89 [[ 4.04421564e-01 -9.14571965e-01 1.14885992e-03 1.22528171e+02] [ 9.14568163e-01 4.04423196e-01 2.63709241e-03 7.84839182e+01] [-2.87643639e-03 -1.57863362e-05 9.99995863e-01 -8.85755218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.690888479 meters Centerline goodness [0,1] 0.9999548807724412 Centerline is valid? [True, True] Translation: X:122.54, Y:78.51, Z:-0.89 [[ 4.03680789e-01 -9.14899168e-01 1.15465103e-03 1.22539168e+02] [ 9.14895323e-01 4.03682440e-01 2.65232061e-03 7.85082298e+01] [-2.89271826e-03 -1.43060516e-05 9.99995816e-01 -8.85688915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.720888479 meters Centerline goodness [0,1] 0.9998872578863108 Centerline is valid? [True, True] Translation: X:122.55, Y:78.53, Z:-0.89 [[ 4.02782062e-01 -9.15295195e-01 1.14723333e-03 1.22551445e+02] [ 9.15291395e-01 4.02783696e-01 2.63744062e-03 7.85333007e+01] [-2.87612361e-03 -1.22609730e-05 9.99995864e-01 -8.85580434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75088847899997 meters Centerline goodness [0,1] 0.9999094858797972 Centerline is valid? [True, True] Translation: X:122.56, Y:78.56, Z:-0.89 [[ 4.00891968e-01 -9.16124167e-01 1.46301842e-03 1.22563932e+02] [ 9.16117980e-01 4.00894637e-01 3.36707076e-03 7.85587196e+01] [-3.67117113e-03 -9.53414627e-06 9.99993261e-01 -8.86095407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78088847899997 meters Centerline goodness [0,1] 0.9999320636789782 Centerline is valid? [True, True] Translation: X:122.58, Y:78.58, Z:-0.89 [[ 3.99603147e-01 -9.16687018e-01 1.49571051e-03 1.22575586e+02] [ 9.16680544e-01 3.99605946e-01 3.44505409e-03 7.85845514e+01] [-3.75573117e-03 -5.56572808e-06 9.99992947e-01 -8.86428702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81088847899997 meters Centerline goodness [0,1] 0.9999547634126481 Centerline is valid? [True, True] Translation: X:122.59, Y:78.61, Z:-0.89 [[ 3.98223983e-01 -9.17286548e-01 1.74573636e-03 1.22587154e+02] [ 9.17277719e-01 3.98227809e-01 4.02467748e-03 7.86093226e+01] [-4.38698328e-03 -1.39802637e-06 9.99990377e-01 -8.86702959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84088847899997 meters Centerline goodness [0,1] 0.9999773201487798 Centerline is valid? [True, True] Translation: X:122.60, Y:78.63, Z:-0.89 [[ 3.95506258e-01 -9.18460576e-01 2.22945406e-03 1.22600500e+02] [ 9.18446164e-01 3.95512542e-01 5.14516178e-03 7.86340464e+01] [-5.60740529e-03 1.26898476e-05 9.99984278e-01 -8.85892787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87088847899997 meters Centerline goodness [0,1] 0.9998412194347411 Centerline is valid? [True, True] Translation: X:122.61, Y:78.66, Z:-0.89 [[ 3.93803372e-01 -9.19192107e-01 2.18534693e-03 1.22612301e+02] [ 9.19178250e-01 3.93809435e-01 5.04718313e-03 7.86585159e+01] [-5.49994113e-03 2.11256377e-05 9.99984875e-01 -8.85987673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90088847899997 meters Centerline goodness [0,1] 0.9998863584708396 Centerline is valid? [True, True] Translation: X:122.62, Y:78.68, Z:-0.89 [[ 3.92275146e-01 -9.19845903e-01 1.92972283e-03 1.22624016e+02] [ 9.19835091e-01 3.92279892e-01 4.45997341e-03 7.86843750e+01] [-4.85947973e-03 2.54900552e-05 9.99988192e-01 -8.86326304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93088847899998 meters Centerline goodness [0,1] 0.9997958026091889 Centerline is valid? [True, True] Translation: X:122.64, Y:78.71, Z:-0.89 [[ 3.90779790e-01 -9.20482490e-01 1.77248388e-03 1.22635344e+02] [ 9.20473362e-01 3.90783809e-01 4.09939710e-03 7.87092597e+01] [-4.46608126e-03 2.95626556e-05 9.99990027e-01 -8.86805503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96088847899998 meters Centerline goodness [0,1] 0.9998180701794283 Centerline is valid? [True, True] Translation: X:122.65, Y:78.73, Z:-0.89 [[ 3.88474321e-01 -9.21458266e-01 1.53822648e-03 1.22647194e+02] [ 9.21451389e-01 3.88477365e-01 3.56005347e-03 7.87343813e+01] [-3.87800686e-03 3.44115697e-05 9.99992480e-01 -8.87428598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99088847899998 meters Centerline goodness [0,1] 0.9998632478632479 Centerline is valid? [True, True] Translation: X:122.66, Y:78.76, Z:-0.89 [[ 3.87465268e-01 -9.21883135e-01 1.46693415e-03 1.22658942e+02] [ 9.21876875e-01 3.87468043e-01 3.39749680e-03 7.87603418e+01] [-3.70048510e-03 3.59206648e-05 9.99993153e-01 -8.87356786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02088847899998 meters Centerline goodness [0,1] 0.9999088464518482 Centerline is valid? [True, True] Translation: X:122.67, Y:78.79, Z:-0.89 [[ 3.86373916e-01 -9.22341076e-01 1.46188815e-03 1.22670140e+02] [ 9.22334853e-01 3.86376680e-01 3.38838318e-03 7.87864361e+01] [-3.69008448e-03 3.91675136e-05 9.99993191e-01 -8.87325065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05088847899998 meters Centerline goodness [0,1] 0.9998637664047955 Centerline is valid? [True, True] Translation: X:122.68, Y:78.81, Z:-0.89 [[ 3.85122898e-01 -9.22864428e-01 1.26572599e-03 1.22680392e+02] [ 9.22859760e-01 3.85124976e-01 2.93545595e-03 7.88129618e+01] [-3.19649056e-03 3.75762847e-05 9.99994891e-01 -8.87413872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08088847899998 meters Centerline goodness [0,1] 0.9997262898590393 Centerline is valid? [True, True] Translation: X:122.69, Y:78.84, Z:-0.89 [[ 3.84164890e-01 -9.23263601e-01 1.28862797e-03 1.22691495e+02] [ 9.23258758e-01 3.84167049e-01 2.99086639e-03 7.88382219e+01] [-3.25640647e-03 4.07512036e-05 9.99994697e-01 -8.87696849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11088847899998 meters Centerline goodness [0,1] 0.9994781977403694 Centerline is valid? [True, True] Translation: X:122.70, Y:78.86, Z:-0.89 [[ 3.83269305e-01 -9.23635896e-01 1.17090173e-03 1.22702776e+02] [ 9.23631893e-01 3.83271091e-01 2.71959743e-03 7.88643653e+01] [-2.96069060e-03 3.91439703e-05 9.99995616e-01 -8.88047120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14088847899998 meters Centerline goodness [0,1] 0.9994544462629569 Centerline is valid? [True, True] Translation: X:122.72, Y:78.89, Z:-0.89 [[ 3.81180707e-01 -9.24500317e-01 6.57589545e-04 1.22715158e+02] [ 9.24499056e-01 3.81181273e-01 1.52712237e-03 7.88893763e+01] [-1.66248594e-03 2.58313277e-05 9.99998618e-01 -8.88535180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17088847899998 meters Centerline goodness [0,1] 0.9998403284671533 Centerline is valid? [True, True] Translation: X:122.73, Y:78.91, Z:-0.89 [[ 3.80083935e-01 -9.24951922e-01 3.79926504e-04 1.22725806e+02] [ 9.24951503e-01 3.80084125e-01 8.80956030e-04 7.89148833e+01] [-9.59246006e-04 1.65763559e-05 9.99999540e-01 -8.88658089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20088847899999 meters Centerline goodness [0,1] 0.9996363719006386 Centerline is valid? [True, True] Translation: X:122.74, Y:78.94, Z:-0.89 [[ 3.79330958e-01 -9.25261028e-01 2.32252633e-04 1.22736425e+02] [ 9.25260872e-01 3.79331029e-01 5.37607823e-04 7.89409307e+01] [-5.85528198e-04 1.09629831e-05 9.99999829e-01 -8.89203296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230888479 meters Centerline goodness [0,1] 0.9997721005492377 Centerline is valid? [True, True] Translation: X:122.75, Y:78.97, Z:-0.89 [[ 3.78373204e-01 -9.25653131e-01 -2.20871159e-05 1.22745868e+02] [ 9.25653129e-01 3.78373204e-01 -5.52951527e-05 7.89677804e+01] [ 5.95413040e-05 4.77196143e-07 9.99999998e-01 -8.89070347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.260888479 meters Centerline goodness [0,1] 0.9997048272103901 Centerline is valid? [True, True] Translation: X:122.76, Y:78.99, Z:-0.89 [[ 3.78151946e-01 -9.25743541e-01 -4.10180365e-05 1.22756123e+02] [ 9.25743536e-01 3.78151948e-01 -9.98931500e-05 7.89923514e+01] [ 1.07986489e-04 -1.97393111e-07 9.99999994e-01 -8.89552623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290888479 meters Centerline goodness [0,1] 0.999751440515196 Centerline is valid? [True, True] Translation: X:122.77, Y:79.02, Z:-0.89 [[ 3.77869462e-01 -9.25858872e-01 1.34406124e-04 1.22766069e+02] [ 9.25858820e-01 3.77869486e-01 3.10053662e-04 7.90176793e+01] [-3.37853907e-04 7.28128541e-06 9.99999943e-01 -8.88926858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.320888479 meters Centerline goodness [0,1] 0.9998416898477961 Centerline is valid? [True, True] Translation: X:122.78, Y:79.04, Z:-0.89 [[ 3.77903415e-01 -9.25845009e-01 1.68366544e-04 1.22775222e+02] [ 9.25844927e-01 3.77903452e-01 3.89915299e-04 7.90448120e+01] [-4.24627432e-04 8.53098793e-06 9.99999910e-01 -8.88447240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.350888479 meters Centerline goodness [0,1] 0.9997971830985916 Centerline is valid? [True, True] Translation: X:122.79, Y:79.07, Z:-0.89 [[ 3.78384758e-01 -9.25648366e-01 2.77850193e-04 1.22785102e+02] [ 9.25648141e-01 3.78384860e-01 6.46367442e-04 7.90714632e+01] [-7.03443273e-04 1.26159269e-05 9.99999753e-01 -8.88238428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.380888479 meters Centerline goodness [0,1] 0.9998423600945839 Centerline is valid? [True, True] Translation: X:122.79, Y:79.10, Z:-0.89 [[ 3.78744141e-01 -9.25501416e-01 6.14099288e-05 1.22795000e+02] [ 9.25501406e-01 3.78744146e-01 1.39950135e-04 7.90974752e+01] [-1.52782699e-04 3.82968197e-06 9.99999988e-01 -8.87675583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.410888479 meters Centerline goodness [0,1] 0.9996625725469024 Centerline is valid? [True, True] Translation: X:122.80, Y:79.13, Z:-0.89 [[ 3.81022146e-01 -9.24565911e-01 -3.63709308e-05 1.22802914e+02] [ 9.24565906e-01 3.81022148e-01 -8.90157448e-05 7.91250027e+01] [ 9.61590533e-05 2.89647501e-07 9.99999995e-01 -8.86554528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.440888479 meters Centerline goodness [0,1] 0.9997749774977498 Centerline is valid? [True, True] Translation: X:122.81, Y:79.15, Z:-0.89 [[ 3.82170580e-01 -9.24091794e-01 -5.67084461e-05 1.22811892e+02] [ 9.24091784e-01 3.82170585e-01 -1.36930122e-04 7.91521976e+01] [ 1.48208302e-04 -7.31450610e-08 9.99999989e-01 -8.86460329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.470888479 meters Centerline goodness [0,1] 0.9998205312275664 Centerline is valid? [True, True] Translation: X:122.82, Y:79.18, Z:-0.89 [[ 3.83075673e-01 -9.23716959e-01 -8.92887263e-05 1.22820518e+02] [ 9.23716934e-01 3.83075684e-01 -2.13678733e-04 7.91780985e+01] [ 2.31583009e-04 -6.22384123e-07 9.99999973e-01 -8.86901534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50088847899997 meters Centerline goodness [0,1] 0.9997535731887629 Centerline is valid? [True, True] Translation: X:122.83, Y:79.21, Z:-0.89 [[ 3.84907128e-01 -9.22955187e-01 -4.75615302e-04 1.22828274e+02] [ 9.22954506e-01 3.84907421e-01 -1.12127481e-03 7.92058405e+01] [ 1.21795426e-03 -7.38462019e-06 9.99999258e-01 -8.87661419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53088847899997 meters Centerline goodness [0,1] 0.9997535731887629 Centerline is valid? [True, True] Translation: X:122.84, Y:79.23, Z:-0.89 [[ 3.84649491e-01 -9.23062589e-01 -4.75301528e-04 1.22839023e+02] [ 9.23061908e-01 3.84649785e-01 -1.12140808e-03 7.92312678e+01] [ 1.21795448e-03 -7.38368598e-06 9.99999258e-01 -8.87811530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56088847899997 meters Centerline goodness [0,1] 0.9997089313301838 Centerline is valid? [True, True] Translation: X:122.85, Y:79.26, Z:-0.89 [[ 3.84846533e-01 -9.22980278e-01 -7.43354521e-04 1.22848410e+02] [ 9.22978613e-01 3.84847251e-01 -1.75328900e-03 7.92566182e+01] [ 1.90432911e-03 -1.13531329e-05 9.99998187e-01 -8.88497558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59088847899997 meters Centerline goodness [0,1] 0.9998660564795178 Centerline is valid? [True, True] Translation: X:122.86, Y:79.28, Z:-0.89 [[ 3.85215554e-01 -9.22826198e-01 -8.86062538e-04 1.22858069e+02] [ 9.22823830e-01 3.85216573e-01 -2.09050223e-03 7.92834486e+01] [ 2.27049620e-03 -1.23856519e-05 9.99997422e-01 -8.88696956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62088847899997 meters Centerline goodness [0,1] 0.9996875697388976 Centerline is valid? [True, True] Translation: X:122.87, Y:79.31, Z:-0.89 [[ 3.85165799e-01 -9.22846841e-01 -1.00771339e-03 1.22867837e+02] [ 9.22843775e-01 3.85167117e-01 -2.37889075e-03 7.93095935e+01] [ 2.58348987e-03 -1.36946706e-05 9.99996663e-01 -8.88716179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65088847899997 meters Centerline goodness [0,1] 0.9996212205610392 Centerline is valid? [True, True] Translation: X:122.88, Y:79.34, Z:-0.89 [[ 3.85786734e-01 -9.22587403e-01 -1.03931765e-03 1.22876989e+02] [ 9.22584137e-01 3.85788134e-01 -2.45466914e-03 7.93351305e+01] [ 2.66560325e-03 -1.18791858e-05 9.99996447e-01 -8.88809437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68088847899998 meters Centerline goodness [0,1] 0.9996216083869388 Centerline is valid? [True, True] Translation: X:122.89, Y:79.36, Z:-0.89 [[ 3.86132129e-01 -9.22443191e-01 -7.33329254e-04 1.22886485e+02] [ 9.22441560e-01 3.86132826e-01 -1.73474074e-03 7.93618276e+01] [ 1.88336228e-03 -6.61424617e-06 9.99998226e-01 -8.88325878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71088847899998 meters Centerline goodness [0,1] 0.9996446181866643 Centerline is valid? [True, True] Translation: X:122.89, Y:79.39, Z:-0.89 [[ 3.87203719e-01 -9.21994061e-01 -4.81409408e-04 1.22893844e+02] [ 9.21993354e-01 3.87204019e-01 -1.14125814e-03 7.93880776e+01] [ 1.23863689e-03 -1.95687817e-06 9.99999233e-01 -8.88755260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74088847899998 meters Centerline goodness [0,1] 0.9997124529971245 Centerline is valid? [True, True] Translation: X:122.90, Y:79.41, Z:-0.89 [[ 3.87836683e-01 -9.21728045e-01 -3.43312053e-04 1.22902531e+02] [ 9.21727685e-01 3.87836835e-01 -8.15421891e-04 7.94145377e+01] [ 8.84746286e-04 -1.89702371e-07 9.99999609e-01 -8.89308863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77088847899998 meters Centerline goodness [0,1] 0.9996898263027295 Centerline is valid? [True, True] Translation: X:122.91, Y:79.44, Z:-0.89 [[ 3.88543963e-01 -9.21430173e-01 -1.55603767e-04 1.22911351e+02] [ 9.21430098e-01 3.88543994e-01 -3.71974026e-04 7.94412158e+01] [ 4.03207000e-04 1.15026806e-06 9.99999919e-01 -8.89466091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80088847899998 meters Centerline goodness [0,1] 0.9996467055290584 Centerline is valid? [True, True] Translation: X:122.92, Y:79.47, Z:-0.89 [[ 3.91365121e-01 -9.20235480e-01 5.40298692e-05 1.22918476e+02] [ 9.20235472e-01 3.91365125e-01 1.25082269e-04 7.94675974e+01] [-1.36250549e-04 7.67364677e-07 9.99999991e-01 -8.89504327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83088847899998 meters Centerline goodness [0,1] 0.9995363624321102 Centerline is valid? [True, True] Translation: X:122.93, Y:79.49, Z:-0.89 [[ 3.92312465e-01 -9.19832010e-01 5.93442524e-05 1.22927370e+02] [ 9.19832000e-01 3.92312469e-01 1.36564853e-04 7.94933170e+01] [-1.48898214e-04 1.01064816e-06 9.99999989e-01 -8.89822936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86088847899998 meters Centerline goodness [0,1] 0.9996025261670274 Centerline is valid? [True, True] Translation: X:122.94, Y:79.52, Z:-0.89 [[ 3.93557850e-01 -9.19299852e-01 1.51326341e-05 1.22936666e+02] [ 9.19299852e-01 3.93557850e-01 3.21147767e-05 7.95198137e+01] [-3.54786764e-05 1.27240588e-06 9.99999999e-01 -8.90133283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89088847899998 meters Centerline goodness [0,1] 0.999580008399832 Centerline is valid? [True, True] Translation: X:122.95, Y:79.55, Z:-0.89 [[ 3.94407058e-01 -9.18935815e-01 -2.00802219e-04 1.22945721e+02] [ 9.18935690e-01 3.94407109e-01 -4.80153592e-04 7.95465974e+01] [ 5.20428155e-04 4.85164018e-06 9.99999865e-01 -8.90871248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92088847899998 meters Centerline goodness [0,1] 0.9996473984617757 Centerline is valid? [True, True] Translation: X:122.95, Y:79.57, Z:-0.89 [[ 3.95792475e-01 -9.18339925e-01 -3.15530486e-04 1.22954043e+02] [ 9.18339616e-01 3.95792601e-01 -7.53104087e-04 7.95731948e+01] [ 8.16490183e-04 8.30878535e-06 9.99999667e-01 -8.91296144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95088847899999 meters Centerline goodness [0,1] 0.9994260739040219 Centerline is valid? [True, True] Translation: X:122.96, Y:79.60, Z:-0.89 [[ 3.96016724e-01 -9.18243217e-01 -3.85924047e-04 1.22963368e+02] [ 9.18242755e-01 3.96016912e-01 -9.21206429e-04 7.95986198e+01] [ 9.98724004e-04 1.04411920e-05 9.99999501e-01 -8.91885398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.980888479 meters Centerline goodness [0,1] 0.9996479957759493 Centerline is valid? [True, True] Translation: X:122.97, Y:79.63, Z:-0.89 [[ 3.95462515e-01 -9.18482065e-01 -3.10283416e-04 1.22973604e+02] [ 9.18481765e-01 3.95462637e-01 -7.41750763e-04 7.96250334e+01] [ 8.03990270e-04 8.34496240e-06 9.99999677e-01 -8.92214878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010888479 meters Centerline goodness [0,1] 0.9996257649804077 Centerline is valid? [True, True] Translation: X:122.98, Y:79.65, Z:-0.89 [[ 3.93376667e-01 -9.19377395e-01 -6.10480652e-05 1.22984409e+02] [ 9.19377383e-01 3.93376671e-01 -1.49144259e-04 7.96511363e+01] [ 1.61134745e-04 2.54366117e-06 9.99999987e-01 -8.92410427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.040888479 meters Centerline goodness [0,1] 0.9997142103411889 Centerline is valid? [True, True] Translation: X:123.00, Y:79.68, Z:-0.89 [[ 3.91812826e-01 -9.20044949e-01 6.72186598e-07 1.22995321e+02] [ 9.20044949e-01 3.91812826e-01 -2.43127339e-06 7.96756710e+01] [ 1.97350948e-06 1.57104599e-06 1.00000000e+00 -8.92980801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.070888479 meters Centerline goodness [0,1] 0.9997343839922086 Centerline is valid? [True, True] Translation: X:123.01, Y:79.70, Z:-0.89 [[ 3.89913582e-01 -9.20851453e-01 -3.95668279e-06 1.23006865e+02] [ 9.20851453e-01 3.89913582e-01 -1.34286230e-05 7.97005087e+01] [ 1.39085314e-05 1.59248543e-06 1.00000000e+00 -8.93294858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.100888479 meters Centerline goodness [0,1] 0.9998675613632351 Centerline is valid? [True, True] Translation: X:123.02, Y:79.73, Z:-0.89 [[ 3.88095883e-01 -9.21619002e-01 9.42232665e-06 1.23019162e+02] [ 9.21619002e-01 3.88095883e-01 1.87172366e-05 7.97260629e+01] [-2.09069271e-05 1.41971284e-06 1.00000000e+00 -8.93484921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.130888479 meters Centerline goodness [0,1] 0.9998454984880923 Centerline is valid? [True, True] Translation: X:123.03, Y:79.75, Z:-0.89 [[ 3.84392632e-01 -9.23169705e-01 -8.07422748e-06 1.23032185e+02] [ 9.23169705e-01 3.84392632e-01 -2.32559932e-05 7.97501965e+01] [ 2.45729019e-05 1.48555023e-06 1.00000000e+00 -8.93704415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.160888479 meters Centerline goodness [0,1] 0.9999113946482368 Centerline is valid? [True, True] Translation: X:123.04, Y:79.78, Z:-0.89 [[ 3.82389084e-01 -9.24001398e-01 7.74387286e-05 1.23043180e+02] [ 9.24001380e-01 3.82389091e-01 1.81081426e-04 7.97752866e+01] [-1.96931216e-04 2.30993152e-06 9.99999981e-01 -8.94412963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.190888479 meters Centerline goodness [0,1] 0.99988937563609 Centerline is valid? [True, True] Translation: X:123.05, Y:79.80, Z:-0.90 [[ 3.79377870e-01 -9.25241822e-01 5.32369385e-05 1.23054786e+02] [ 9.25241814e-01 3.79377873e-01 1.23617196e-04 7.98007499e+01] [-1.34572716e-04 2.35941317e-06 9.99999991e-01 -8.95584527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.220888479 meters Centerline goodness [0,1] 0.9997782164164208 Centerline is valid? [True, True] Translation: X:123.07, Y:79.83, Z:-0.90 [[ 3.77981659e-01 -9.25813049e-01 2.54567104e-04 1.23066385e+02] [ 9.25812851e-01 3.77981744e-01 6.05455791e-04 7.98261952e+01] [-6.56760590e-04 6.83031178e-06 9.99999784e-01 -8.95760243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25088847899997 meters Centerline goodness [0,1] 0.9997569544179058 Centerline is valid? [True, True] Translation: X:123.08, Y:79.85, Z:-0.90 [[ 3.76374850e-01 -9.26467321e-01 5.23743659e-04 1.23077782e+02] [ 9.26466478e-01 3.76375215e-01 1.25038871e-03 7.98518249e+01] [-1.35556841e-03 1.46160793e-05 9.99999081e-01 -8.95216919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28088847899997 meters Centerline goodness [0,1] 0.9998891352549889 Centerline is valid? [True, True] Translation: X:123.09, Y:79.88, Z:-0.89 [[ 3.73451744e-01 -9.27649105e-01 9.65487530e-04 1.23088433e+02] [ 9.27646228e-01 3.73452990e-01 2.31078153e-03 7.98781635e+01] [-2.50415862e-03 3.26654745e-05 9.99996864e-01 -8.94048688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31088847899997 meters Centerline goodness [0,1] 0.9997350934899225 Centerline is valid? [True, True] Translation: X:123.10, Y:79.90, Z:-0.89 [[ 3.71940353e-01 -9.28256046e-01 1.04230749e-03 1.23100160e+02] [ 9.28252694e-01 3.71941811e-01 2.49506894e-03 7.99030377e+01] [-2.70374056e-03 3.95079087e-05 9.99996344e-01 -8.94723647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34088847899997 meters Centerline goodness [0,1] 0.9997794004103152 Centerline is valid? [True, True] Translation: X:123.11, Y:79.93, Z:-0.90 [[ 3.70632777e-01 -9.28778976e-01 9.78873277e-04 1.23111240e+02] [ 9.28776016e-01 3.70634068e-01 2.34507160e-03 7.99276619e+01] [-2.54085698e-03 3.99936245e-05 9.99996771e-01 -8.95404739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37088847899997 meters Centerline goodness [0,1] 0.9999114593709189 Centerline is valid? [True, True] Translation: X:123.12, Y:79.95, Z:-0.90 [[ 3.69373221e-01 -9.29280660e-01 9.37114687e-04 1.23121591e+02] [ 9.29277948e-01 3.69374407e-01 2.24565946e-03 7.99542989e+01] [-2.43299409e-03 4.13535432e-05 9.99997039e-01 -8.95858887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40088847899997 meters Centerline goodness [0,1] 0.9999115102979891 Centerline is valid? [True, True] Translation: X:123.13, Y:79.98, Z:-0.90 [[ 3.68291747e-01 -9.29710038e-01 6.59791779e-04 1.23132306e+02] [ 9.29708692e-01 3.68292337e-01 1.58178875e-03 7.99794884e+01] [-1.71360113e-03 3.08544101e-05 9.99998531e-01 -8.97688999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43088847899998 meters Centerline goodness [0,1] 0.9998896490840874 Centerline is valid? [True, True] Translation: X:123.14, Y:80.00, Z:-0.90 [[ 3.67960767e-01 -9.29841132e-01 5.86708343e-04 1.23142864e+02] [ 9.29840067e-01 3.67961233e-01 1.40708208e-03 8.00046000e+01] [-1.52424872e-03 2.77939238e-05 9.99998838e-01 -8.98659425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46088847899998 meters Centerline goodness [0,1] 0.9998675233490097 Centerline is valid? [True, True] Translation: X:123.15, Y:80.03, Z:-0.90 [[ 3.69086247e-01 -9.29394844e-01 7.51845826e-04 1.23154660e+02] [ 9.29393094e-01 3.69087012e-01 1.80429945e-03 8.00291140e+01] [-1.95440314e-03 3.28182043e-05 9.99998090e-01 -8.99397180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49088847899998 meters Centerline goodness [0,1] 0.9998456619997795 Centerline is valid? [True, True] Translation: X:123.16, Y:80.06, Z:-0.90 [[ 3.69385518e-01 -9.29275577e-01 1.11408072e-03 1.23160354e+02] [ 9.29271721e-01 3.69387195e-01 2.67752566e-03 8.00574862e+01] [-2.89968635e-03 4.62445062e-05 9.99995795e-01 -8.98728060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52088847899998 meters Centerline goodness [0,1] 0.9999558752151083 Centerline is valid? [True, True] Translation: X:123.17, Y:80.08, Z:-0.90 [[ 3.70131540e-01 -9.28978503e-01 1.25882891e-03 1.23169711e+02] [ 9.28973567e-01 3.70133677e-01 3.02860984e-03 8.00828526e+01] [-3.27944841e-03 4.84347596e-05 9.99994621e-01 -8.98755649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55088847899998 meters Centerline goodness [0,1] 0.9998454370818521 Centerline is valid? [True, True] Translation: X:123.18, Y:80.11, Z:-0.90 [[ 3.70909730e-01 -9.28667934e-01 1.35646035e-03 1.23178296e+02] [ 9.28662194e-01 3.70912207e-01 3.26562064e-03 8.01092558e+01] [-3.53580488e-03 4.84429726e-05 9.99993748e-01 -8.99452244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58088847899998 meters Centerline goodness [0,1] 0.9999779580320931 Centerline is valid? [True, True] Translation: X:123.19, Y:80.14, Z:-0.90 [[ 3.73657642e-01 -9.27565368e-01 1.56675013e-03 1.23187933e+02] [ 9.27557684e-01 3.73660924e-01 3.77576325e-03 8.01351662e+01] [-4.08770053e-03 4.24083308e-05 9.99991644e-01 -9.00741293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61088847899998 meters Centerline goodness [0,1] 0.9998458081853826 Centerline is valid? [True, True] Translation: X:123.20, Y:80.16, Z:-0.90 [[ 3.74889625e-01 -9.27067607e-01 1.84977920e-03 1.23195316e+02] [ 9.27056877e-01 3.74894186e-01 4.46062176e-03 8.01629616e+01] [-4.82876941e-03 4.26097080e-05 9.99988341e-01 -9.00405889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64088847899998 meters Centerline goodness [0,1] 0.9998463395895072 Centerline is valid? [True, True] Translation: X:123.20, Y:80.19, Z:-0.90 [[ 3.76505913e-01 -9.26412245e-01 1.91039371e-03 1.23204688e+02] [ 9.26400773e-01 3.76510758e-01 4.61045129e-03 8.01894908e+01] [-4.99046232e-03 3.39280380e-05 9.99987547e-01 -9.00440573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67088847899998 meters Centerline goodness [0,1] 0.9997588882556662 Centerline is valid? [True, True] Translation: X:123.21, Y:80.21, Z:-0.90 [[ 3.77907464e-01 -9.25841028e-01 2.08307237e-03 1.23214518e+02] [ 9.25827357e-01 3.77913204e-01 5.03137461e-03 8.02146775e+01] [-5.44547360e-03 2.71713662e-05 9.99985173e-01 -9.00715751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70088847899999 meters Centerline goodness [0,1] 0.9998239669057782 Centerline is valid? [True, True] Translation: X:123.22, Y:80.24, Z:-0.90 [[ 3.80529015e-01 -9.24765552e-01 2.51836871e-03 1.23219617e+02] [ 9.24745509e-01 3.80537348e-01 6.08848922e-03 8.02425297e+01] [-6.58875844e-03 1.20033500e-05 9.99978294e-01 -9.01558266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730888479 meters Centerline goodness [0,1] 0.9997575490412166 Centerline is valid? [True, True] Translation: X:123.23, Y:80.27, Z:-0.90 [[ 3.81680182e-01 -9.24290670e-01 2.64490135e-03 1.23228090e+02] [ 9.24268515e-01 3.81689346e-01 6.39961363e-03 8.02685094e+01] [-6.92463384e-03 1.99334929e-06 9.99976024e-01 -9.02594157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.760888479 meters Centerline goodness [0,1] 0.9998681260714757 Centerline is valid? [True, True] Translation: X:123.24, Y:80.29, Z:-0.90 [[ 3.82901629e-01 -9.23786067e-01 2.37594175e-03 1.23237082e+02] [ 9.23768156e-01 3.82909000e-01 5.75247521e-03 8.02943589e+01] [-6.22382593e-03 -7.81279284e-06 9.99980632e-01 -9.03453894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790888479 meters Centerline goodness [0,1] 0.999801788309915 Centerline is valid? [True, True] Translation: X:123.25, Y:80.32, Z:-0.90 [[ 3.85062367e-01 -9.22887856e-01 2.23137628e-03 1.23245723e+02] [ 9.22872027e-01 3.85068831e-01 5.40529647e-03 8.03213382e+01] [-5.84771593e-03 -2.21015014e-05 9.99982902e-01 -9.04473195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.820888479 meters Centerline goodness [0,1] 0.9996241681957863 Centerline is valid? [True, True] Translation: X:123.26, Y:80.35, Z:-0.91 [[ 3.85327394e-01 -9.22776581e-01 2.48612293e-03 1.23255772e+02] [ 9.22756895e-01 3.85335413e-01 6.02755292e-03 8.03477423e+01] [-6.52007589e-03 -2.84941814e-05 9.99978744e-01 -9.05195024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.850888479 meters Centerline goodness [0,1] 0.9993375728669847 Centerline is valid? [True, True] Translation: X:123.27, Y:80.37, Z:-0.91 [[ 3.85980014e-01 -9.22504118e-01 2.36240301e-03 1.23266090e+02] [ 9.22486311e-01 3.85987242e-01 5.73188305e-03 8.03744014e+01] [-6.19954314e-03 -3.31078550e-05 9.99980782e-01 -9.05564835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.880888479 meters Centerline goodness [0,1] 0.99951447740113 Centerline is valid? [True, True] Translation: X:123.28, Y:80.40, Z:-0.91 [[ 3.85818404e-01 -9.22571372e-01 2.49463707e-03 1.23276431e+02] [ 9.22551484e-01 3.85826467e-01 6.05770620e-03 8.04008457e+01] [-6.55116333e-03 -3.57434044e-05 9.99978540e-01 -9.06004474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.910888479 meters Centerline goodness [0,1] 0.9995375366116849 Centerline is valid? [True, True] Translation: X:123.29, Y:80.43, Z:-0.91 [[ 3.85355142e-01 -9.22764840e-01 2.54257128e-03 1.23285989e+02] [ 9.22744152e-01 3.85363529e-01 6.17899455e-03 8.04259870e+01] [-6.68157316e-03 -3.49645391e-05 9.99977677e-01 -9.05677770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.940888479 meters Centerline goodness [0,1] 0.9994928447002271 Centerline is valid? [True, True] Translation: X:123.30, Y:80.45, Z:-0.91 [[ 3.84342247e-01 -9.23187023e-01 2.59962610e-03 1.23297181e+02] [ 9.23165375e-01 3.84351037e-01 6.32229501e-03 8.04522460e+01] [-6.83582969e-03 -3.00402609e-05 9.99976635e-01 -9.06472836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.970888479 meters Centerline goodness [0,1] 0.9997127198797843 Centerline is valid? [True, True] Translation: X:123.31, Y:80.48, Z:-0.91 [[ 3.81949343e-01 -9.24179381e-01 2.67779980e-03 1.23310068e+02] [ 9.24156400e-01 3.81958729e-01 6.51752159e-03 8.04776285e+01] [-7.04616808e-03 -1.46572609e-05 9.99975175e-01 -9.07295250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.00088847899997 meters Centerline goodness [0,1] 0.9995807682972574 Centerline is valid? [True, True] Translation: X:123.32, Y:80.50, Z:-0.91 [[ 3.80891850e-01 -9.24616007e-01 2.57651820e-03 1.23322438e+02] [ 9.24594708e-01 3.80900565e-01 6.27578332e-03 8.05032065e+01] [-6.78408695e-03 -8.15963206e-06 9.99976988e-01 -9.07221275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03088847899997 meters Centerline goodness [0,1] 0.9995811379819669 Centerline is valid? [True, True] Translation: X:123.33, Y:80.53, Z:-0.91 [[ 3.79670284e-01 -9.25118122e-01 2.63360026e-03 1.23334073e+02] [ 9.25095846e-01 3.79679418e-01 6.41990900e-03 8.05279913e+01] [-6.93909797e-03 -1.11600960e-06 9.99975924e-01 -9.07047592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.06088847899997 meters Centerline goodness [0,1] 0.9996032882992087 Centerline is valid? [True, True] Translation: X:123.35, Y:80.55, Z:-0.91 [[ 3.78460487e-01 -9.25614210e-01 2.44849780e-03 1.23345671e+02] [ 9.25594939e-01 3.78468407e-01 5.97276022e-03 8.05533161e+01] [-6.45515079e-03 5.86342961e-06 9.99979165e-01 -9.07700333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09088847899997 meters Centerline goodness [0,1] 0.9998232747194487 Centerline is valid? [True, True] Translation: X:123.36, Y:80.58, Z:-0.91 [[ 3.76602961e-01 -9.26372089e-01 2.22766196e-03 1.23356961e+02] [ 9.26356128e-01 3.76609550e-01 5.43795869e-03 8.05785045e+01] [-5.87653192e-03 1.56569580e-05 9.99982733e-01 -9.09566745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.12088847899997 meters Centerline goodness [0,1] 0.9996688449311197 Centerline is valid? [True, True] Translation: X:123.37, Y:80.60, Z:-0.91 [[ 3.75904198e-01 -9.26656097e-01 2.12416801e-03 1.23367783e+02] [ 9.26641568e-01 3.75910199e-01 5.18917688e-03 8.06042618e+01] [-5.60707881e-03 1.77090075e-05 9.99984280e-01 -9.10537692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.15088847899997 meters Centerline goodness [0,1] 0.9998893536037531 Centerline is valid? [True, True] Translation: X:123.38, Y:80.63, Z:-0.91 [[ 3.75008798e-01 -9.27018641e-01 2.20019584e-03 1.23380797e+02] [ 9.27003034e-01 3.75015251e-01 5.37932770e-03 8.06283740e+01] [-5.81184405e-03 2.22930057e-05 9.99983111e-01 -9.10220921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.18088847899998 meters Centerline goodness [0,1] 0.9997359910236948 Centerline is valid? [True, True] Translation: X:123.39, Y:80.65, Z:-0.91 [[ 3.74542091e-01 -9.27207376e-01 2.16880928e-03 1.23392814e+02] [ 9.27192189e-01 3.74548370e-01 5.30694774e-03 8.06533774e+01] [-5.73296507e-03 2.32277151e-05 9.99983566e-01 -9.09837044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.21088847899998 meters Centerline goodness [0,1] 0.9997347890467876 Centerline is valid? [True, True] Translation: X:123.40, Y:80.68, Z:-0.91 [[ 3.73880804e-01 -9.27474362e-01 2.11006833e-03 1.23404839e+02] [ 9.27459969e-01 3.73886758e-01 5.16701542e-03 8.06782195e+01] [-5.58120094e-03 2.51560262e-05 9.99984425e-01 -9.10130303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24088847899998 meters Centerline goodness [0,1] 0.9998672302007037 Centerline is valid? [True, True] Translation: X:123.42, Y:80.70, Z:-0.91 [[ 3.72908446e-01 -9.27865219e-01 2.32935396e-03 1.23416203e+02] [ 9.27847657e-01 3.72915719e-01 5.70895955e-03 8.07040504e+01] [-6.16579772e-03 3.23663765e-05 9.99980991e-01 -9.11110491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27088847899998 meters Centerline goodness [0,1] 0.9996452800070944 Centerline is valid? [True, True] Translation: X:123.43, Y:80.73, Z:-0.91 [[ 3.72556583e-01 -9.28006483e-01 2.35785286e-03 1.23427336e+02] [ 9.27988462e-01 3.72564043e-01 5.78350878e-03 8.07299993e+01] [-6.24558484e-03 3.33759756e-05 9.99980496e-01 -9.11604339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30088847899998 meters Centerline goodness [0,1] 0.999845005867635 Centerline is valid? [True, True] Translation: X:123.44, Y:80.76, Z:-0.91 [[ 3.72273182e-01 -9.28119886e-01 2.48084453e-03 1.23438194e+02] [ 9.28099904e-01 3.72281446e-01 6.09034499e-03 8.07559751e+01] [-6.57614269e-03 3.51994573e-05 9.99978376e-01 -9.11657371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33088847899998 meters Centerline goodness [0,1] 0.9998006291258695 Centerline is valid? [True, True] Translation: X:123.45, Y:80.78, Z:-0.91 [[ 3.72229088e-01 -9.28137475e-01 2.51664504e-03 1.23449751e+02] [ 9.28116880e-01 3.72237594e-01 6.18306552e-03 8.07807311e+01] [-6.67552471e-03 3.42239036e-05 9.99977718e-01 -9.11814290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36088847899998 meters Centerline goodness [0,1] 0.9998887033945465 Centerline is valid? [True, True] Translation: X:123.46, Y:80.81, Z:-0.91 [[ 3.72681046e-01 -9.27956795e-01 2.24164624e-03 1.23462443e+02] [ 9.27940435e-01 3.72687787e-01 5.51029146e-03 8.08059900e+01] [-5.94874658e-03 2.65329946e-05 9.99982306e-01 -9.12265145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39088847899998 meters Centerline goodness [0,1] 0.9999111407308675 Centerline is valid? [True, True] Translation: X:123.47, Y:80.83, Z:-0.91 [[ 3.72739455e-01 -9.27933593e-01 2.13193857e-03 1.23473918e+02] [ 9.27918773e-01 3.72745551e-01 5.24456891e-03 8.08319443e+01] [-5.66128229e-03 2.34080599e-05 9.99983975e-01 -9.12425991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.48, Y:80.86, Z:-0.91 [[ 3.72607267e-01 -9.27986974e-01 2.00001455e-03 1.23484987e+02] [ 9.27973912e-01 3.72612634e-01 4.92377488e-03 8.08565022e+01] [-5.31442964e-03 2.13270232e-05 9.99985878e-01 -9.12839986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.50, Y:80.88, Z:-0.91 [[ 3.72356259e-01 -9.28087723e-01 1.99877200e-03 1.23495291e+02] [ 9.28074659e-01 3.72361623e-01 4.92427923e-03 8.08821013e+01] [-5.31442908e-03 2.14234530e-05 9.99985878e-01 -9.12990129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.480888479 meters Centerline goodness [0,1] 0.9998667732480682 Centerline is valid? [True, True] Translation: X:123.51, Y:80.91, Z:-0.91 [[ 3.72628941e-01 -9.27979356e-01 1.40993833e-03 1.23507252e+02] [ 9.27972849e-01 3.72631608e-01 3.47511672e-03 8.09073114e+01] [-3.75022416e-03 1.34554314e-05 9.99992968e-01 -9.14030570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510888479 meters Centerline goodness [0,1] 0.9999553541531799 Centerline is valid? [True, True] Translation: X:123.52, Y:80.93, Z:-0.91 [[ 3.72502371e-01 -9.28030438e-01 1.22005215e-03 1.23518876e+02] [ 9.28025561e-01 3.72504369e-01 3.00892367e-03 8.09333200e+01] [-3.24684751e-03 1.14083789e-05 9.99994729e-01 -9.14800028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.540888479 meters Centerline goodness [0,1] 0.9999553441846964 Centerline is valid? [True, True] Translation: X:123.53, Y:80.96, Z:-0.91 [[ 3.72217146e-01 -9.28145085e-01 1.04737443e-03 1.23530719e+02] [ 9.28141487e-01 3.72218620e-01 2.58456456e-03 8.09591299e+01] [-2.78870316e-03 1.00924141e-05 9.99996112e-01 -9.14902181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.570888479 meters Centerline goodness [0,1] 0.9999776376403238 Centerline is valid? [True, True] Translation: X:123.54, Y:80.98, Z:-0.92 [[ 3.71125833e-01 -9.28582232e-01 8.08989858e-04 1.23544445e+02] [ 9.28580085e-01 3.71126715e-01 1.99685034e-03 8.09829605e+01] [-2.15447749e-03 1.01291253e-05 9.99997679e-01 -9.15261942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.600888479 meters Centerline goodness [0,1] 0.9999551448820311 Centerline is valid? [True, True] Translation: X:123.56, Y:81.01, Z:-0.92 [[ 3.70456806e-01 -9.28849370e-01 7.76404368e-04 1.23556542e+02] [ 9.28847390e-01 3.70457620e-01 1.91802375e-03 8.10083666e+01] [-2.06918006e-03 1.06162180e-05 9.99997859e-01 -9.15250800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.630888479 meters Centerline goodness [0,1] 0.9999775729439997 Centerline is valid? [True, True] Translation: X:123.57, Y:81.03, Z:-0.92 [[ 3.69893959e-01 -9.29073660e-01 7.70363859e-04 1.23568181e+02] [ 9.29071708e-01 3.69894761e-01 1.90449728e-03 8.10337274e+01] [-2.05437182e-03 1.12612252e-05 9.99997890e-01 -9.15292300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.660888479 meters Centerline goodness [0,1] 0.9999774424217815 Centerline is valid? [True, True] Translation: X:123.58, Y:81.06, Z:-0.92 [[ 3.69303312e-01 -9.29308711e-01 6.18906294e-04 1.23579806e+02] [ 9.29307451e-01 3.69303830e-01 1.53051146e-03 8.10591771e+01] [-1.65088210e-03 9.93127812e-06 9.99998637e-01 -9.16019628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.59, Y:81.08, Z:-0.92 [[ 3.68807432e-01 -9.29505790e-01 2.52948221e-04 1.23592020e+02] [ 9.29505581e-01 3.68807519e-01 6.24587968e-04 8.10832190e+01] [-6.73847339e-04 4.76409880e-06 9.99999773e-01 -9.17084491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.720888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.60, Y:81.11, Z:-0.92 [[ 3.68672157e-01 -9.29559461e-01 2.23069500e-04 1.23603393e+02] [ 9.29559298e-01 3.68672225e-01 5.49643020e-04 8.11079237e+01] [-5.93165398e-04 4.71824993e-06 9.99999824e-01 -9.17424160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:81.13, Z:-0.92 [[ 3.68486583e-01 -9.29633059e-01 1.17584942e-04 1.23615041e+02] [ 9.29633014e-01 3.68486602e-01 2.88225143e-04 8.11336358e+01] [-3.11272097e-04 3.10374615e-06 9.99999952e-01 -9.17650026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78088847899997 meters Centerline goodness [0,1] 0.999977333000884 Centerline is valid? [True, True] Translation: X:123.63, Y:81.16, Z:-0.92 [[ 3.68212935e-01 -9.29741483e-01 1.01648457e-04 1.23626314e+02] [ 9.29741449e-01 3.68212949e-01 2.48613637e-04 8.11583993e+01] [-2.68574690e-04 2.96402664e-06 9.99999964e-01 -9.18043723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:81.18, Z:-0.92 [[ 3.67884973e-01 -9.29871295e-01 -1.44657777e-04 1.23639180e+02] [ 9.29871224e-01 3.67885001e-01 -3.64102847e-04 8.11839729e+01] [ 3.91786213e-04 -5.65138439e-07 9.99999923e-01 -9.17990365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.65, Y:81.21, Z:-0.92 [[ 3.67348240e-01 -9.30083455e-01 -1.92427289e-04 1.23650571e+02] [ 9.30083330e-01 3.67348290e-01 -4.83624353e-04 8.12081443e+01] [ 5.20498845e-04 -1.31485924e-06 9.99999865e-01 -9.18257427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.66, Y:81.23, Z:-0.92 [[ 3.66838000e-01 -9.30284783e-01 -3.22881378e-04 1.23662164e+02] [ 9.30284431e-01 3.66838142e-01 -8.09241364e-04 8.12328381e+01] [ 8.71270131e-04 -3.51103580e-06 9.99999620e-01 -9.18872522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:81.26, Z:-0.92 [[ 3.66630255e-01 -9.30366627e-01 -4.41642099e-04 1.23673834e+02] [ 9.30365970e-01 3.66630521e-01 -1.10579702e-03 8.12589502e+01] [ 1.19071612e-03 -5.47013568e-06 9.99999291e-01 -9.19700092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:81.28, Z:-0.92 [[ 3.66682573e-01 -9.30346039e-01 -3.70472823e-04 1.23684491e+02] [ 9.30345576e-01 3.66682761e-01 -9.28875994e-04 8.12847326e+01] [ 1.00002210e-03 -4.06511163e-06 9.99999500e-01 -9.20216833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96088847899998 meters Centerline goodness [0,1] 0.9999543910059063 Centerline is valid? [True, True] Translation: X:123.70, Y:81.31, Z:-0.92 [[ 3.66438621e-01 -9.30442117e-01 -4.50995686e-04 1.23695190e+02] [ 9.30441430e-01 3.66438899e-01 -1.13077729e-03 8.13103515e+01] [ 1.21738517e-03 -5.26460122e-06 9.99999259e-01 -9.20152916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99088847899998 meters Centerline goodness [0,1] 0.9999542512066244 Centerline is valid? [True, True] Translation: X:123.71, Y:81.34, Z:-0.92 [[ 3.66005805e-01 -9.30612534e-01 -2.48890584e-04 1.23706571e+02] [ 9.30612324e-01 3.66005890e-01 -6.26220064e-04 8.13365209e+01] [ 6.73863660e-04 -2.42046655e-06 9.99999773e-01 -9.19822757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.72, Y:81.36, Z:-0.92 [[ 3.65103178e-01 -9.30966939e-01 -4.76460797e-04 1.23718826e+02] [ 9.30966170e-01 3.65103489e-01 -1.19704344e-03 8.13598982e+01] [ 1.28836537e-03 -6.52451851e-06 9.99999170e-01 -9.19756344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.73, Y:81.39, Z:-0.92 [[ 3.64530484e-01 -9.31191280e-01 -5.70973313e-04 1.23729470e+02] [ 9.31190176e-01 3.64530931e-01 -1.43414801e-03 8.13857658e+01] [ 1.54360355e-03 -8.89407255e-06 9.99998809e-01 -9.19056865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.74, Y:81.41, Z:-0.92 [[ 3.63774494e-01 -9.31486817e-01 -6.53712301e-04 1.23740578e+02] [ 9.31485369e-01 3.63775081e-01 -1.64265637e-03 8.14113783e+01] [ 1.76791700e-03 -1.13669548e-05 9.99998437e-01 -9.19230119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11088847899998 meters Centerline goodness [0,1] 0.9999309598876948 Centerline is valid? [True, True] Translation: X:123.75, Y:81.44, Z:-0.92 [[ 3.63239236e-01 -9.31695666e-01 -6.65896708e-04 1.23751308e+02] [ 9.31694161e-01 3.63239846e-01 -1.67477675e-03 8.14360762e+01] [ 1.80226246e-03 -1.20674474e-05 9.99998376e-01 -9.19862058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14088847899998 meters Centerline goodness [0,1] 0.9999540810469522 Centerline is valid? [True, True] Translation: X:123.76, Y:81.46, Z:-0.92 [[ 3.62257461e-01 -9.32077764e-01 -7.57281241e-04 1.23762111e+02] [ 9.32075817e-01 3.62258252e-01 -1.90542426e-03 8.14615201e+01] [ 2.05033496e-03 -1.55893762e-05 9.99997898e-01 -9.20163374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.77, Y:81.49, Z:-0.92 [[ 3.61257717e-01 -9.32465690e-01 -7.73682452e-04 1.23772978e+02] [ 9.32463655e-01 3.61258545e-01 -1.94826769e-03 8.14879605e+01] [ 2.09619217e-03 -1.76040295e-05 9.99997803e-01 -9.20166975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.78, Y:81.51, Z:-0.92 [[ 3.60197507e-01 -9.32875745e-01 -7.74997053e-04 1.23784258e+02] [ 9.32873700e-01 3.60198340e-01 -1.95310478e-03 8.15139752e+01] [ 2.10115673e-03 -1.94708951e-05 9.99997792e-01 -9.19873393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.230888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.80, Y:81.54, Z:-0.92 [[ 3.58685047e-01 -9.33458435e-01 -6.22313693e-04 1.23796407e+02] [ 9.33457114e-01 3.58685587e-01 -1.57066601e-03 8.15387159e+01] [ 1.68936639e-03 -1.75287302e-05 9.99998573e-01 -9.19969182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.260888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.81, Y:81.56, Z:-0.92 [[ 3.57722650e-01 -9.33827821e-01 -3.26599449e-04 1.23808442e+02] [ 9.33827456e-01 3.57722799e-01 -8.25355741e-04 8.15625702e+01] [ 8.87572222e-04 -9.73909023e-06 9.99999606e-01 -9.20222939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290888479 meters Centerline goodness [0,1] 0.9999769271590411 Centerline is valid? [True, True] Translation: X:123.82, Y:81.59, Z:-0.92 [[ 3.55614643e-01 -9.34632650e-01 -1.86694799e-04 1.23819185e+02] [ 9.34632530e-01 3.55614692e-01 -4.74370403e-04 8.15883282e+01] [ 5.09753480e-04 -5.79797052e-06 9.99999870e-01 -9.19731956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.320888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.83, Y:81.61, Z:-0.92 [[ 3.54561910e-01 -9.35032502e-01 -2.67775828e-04 1.23829061e+02] [ 9.35032255e-01 3.54562011e-01 -6.79379188e-04 8.16141787e+01] [ 7.30184758e-04 -9.49705385e-06 9.99999733e-01 -9.19441836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.350888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:81.64, Z:-0.92 [[ 3.53503944e-01 -9.35433020e-01 -1.63476834e-04 1.23839658e+02] [ 9.35432927e-01 3.53503982e-01 -4.16863706e-04 8.16387385e+01] [ 4.47737787e-04 -5.55864850e-06 9.99999900e-01 -9.19298241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.380888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.85, Y:81.67, Z:-0.92 [[ 3.52052878e-01 -9.35980113e-01 1.24086872e-05 1.23849240e+02] [ 9.35980112e-01 3.52052878e-01 2.73119376e-05 8.16658905e+01] [-2.99319445e-05 1.99903816e-06 1.00000000e+00 -9.18612533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.410888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.86, Y:81.69, Z:-0.92 [[ 3.51399083e-01 -9.36225763e-01 -7.36461373e-05 1.23860704e+02] [ 9.36225743e-01 3.51399091e-01 -1.90693561e-04 8.16900398e+01] [ 2.04411410e-04 -1.93986716e-06 9.99999979e-01 -9.19845939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.440888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:81.72, Z:-0.92 [[ 3.50948178e-01 -9.36394847e-01 -2.59438548e-04 1.23870480e+02] [ 9.36394614e-01 3.50948273e-01 -6.60694706e-04 8.17153997e+01] [ 7.09720629e-04 -1.10672554e-05 9.99999748e-01 -9.20764696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.470888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.88, Y:81.74, Z:-0.92 [[ 3.50616458e-01 -9.36519088e-01 -3.12075549e-04 1.23878290e+02] [ 9.36518751e-01 3.50616597e-01 -7.94481099e-04 8.17421444e+01] [ 8.53465582e-04 -1.37064545e-05 9.99999636e-01 -9.20907270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.89, Y:81.77, Z:-0.92 [[ 3.51093730e-01 -9.36340316e-01 -6.71518599e-05 1.23886546e+02] [ 9.36340300e-01 3.51093737e-01 -1.74380560e-04 8.17690374e+01] [ 1.86856146e-04 -1.65307133e-06 9.99999983e-01 -9.20658922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53088847899997 meters Centerline goodness [0,1] 0.9999313862269286 Centerline is valid? [True, True] Translation: X:123.90, Y:81.80, Z:-0.92 [[ 3.51554127e-01 -9.36167557e-01 2.23821813e-05 1.23896136e+02] [ 9.36167556e-01 3.51554128e-01 5.26488160e-05 8.17952903e+01] [-5.71566617e-05 2.44456334e-06 9.99999998e-01 -9.20580956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.91, Y:81.82, Z:-0.92 [[ 3.52450004e-01 -9.35830638e-01 1.06369679e-04 1.23905209e+02] [ 9.35830600e-01 3.52450020e-01 2.65817271e-04 8.18210439e+01] [-2.86249942e-04 5.85670268e-06 9.99999959e-01 -9.20413882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.91, Y:81.85, Z:-0.92 [[ 3.53379377e-01 -9.35480066e-01 2.50433254e-04 1.23913287e+02] [ 9.35479852e-01 3.53379466e-01 6.32192873e-04 8.18480976e+01] [-6.79901799e-04 1.08713400e-05 9.99999769e-01 -9.20409632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.92, Y:81.88, Z:-0.92 [[ 3.56773590e-01 -9.34190874e-01 1.27126367e-04 1.23919489e+02] [ 9.34190820e-01 3.56773613e-01 3.19323195e-04 8.18761502e+01] [-3.43664148e-04 4.83420232e-06 9.99999941e-01 -9.20823621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.93, Y:81.90, Z:-0.92 [[ 3.58520986e-01 -9.33521651e-01 1.71711751e-04 1.23927293e+02] [ 9.33521551e-01 3.58521027e-01 4.33067450e-04 8.19037827e+01] [-4.65840114e-04 5.03285091e-06 9.99999891e-01 -9.21349261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68088847899998 meters Centerline goodness [0,1] 0.9998876984929138 Centerline is valid? [True, True] Translation: X:123.94, Y:81.93, Z:-0.92 [[ 3.60297081e-01 -9.32837612e-01 6.35869814e-05 1.23935300e+02] [ 9.32837598e-01 3.60297086e-01 1.57589230e-04 8.19294717e+01] [-1.69915365e-04 2.53738759e-06 9.99999986e-01 -9.21983241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71088847899998 meters Centerline goodness [0,1] 0.9999775653968681 Centerline is valid? [True, True] Translation: X:123.94, Y:81.96, Z:-0.92 [[ 3.63669200e-01 -9.31528097e-01 3.44096742e-04 1.23941832e+02] [ 9.31527687e-01 3.63669363e-01 8.73058545e-04 8.19573914e+01] [-9.38416007e-04 3.03114006e-06 9.99999560e-01 -9.21749622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.95, Y:81.98, Z:-0.92 [[ 3.64953491e-01 -9.31025665e-01 4.01526103e-04 1.23950581e+02] [ 9.31025105e-01 3.64953712e-01 1.02030503e-03 8.19842266e+01] [-1.09646861e-03 1.46699868e-06 9.99999399e-01 -9.21476426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.96, Y:82.01, Z:-0.92 [[ 3.65763803e-01 -9.30707632e-01 3.80133659e-04 1.23959221e+02] [ 9.30707130e-01 3.65764000e-01 9.66490714e-04 8.20105185e+01] [-1.03855949e-03 2.85787992e-07 9.99999461e-01 -9.21660954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80088847899998 meters Centerline goodness [0,1] 0.9999553332142219 Centerline is valid? [True, True] Translation: X:123.97, Y:82.04, Z:-0.92 [[ 3.66053507e-01 -9.30593676e-01 4.89861594e-04 1.23967747e+02] [ 9.30592840e-01 3.66053835e-01 1.24752192e-03 8.20360164e+01] [-1.34025172e-03 -7.98079882e-07 9.99999102e-01 -9.21895059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83088847899998 meters Centerline goodness [0,1] 0.9999328874074406 Centerline is valid? [True, True] Translation: X:123.98, Y:82.06, Z:-0.92 [[ 3.66378061e-01 -9.30465858e-01 6.34587956e-04 1.23976270e+02] [ 9.30464450e-01 3.66378611e-01 1.61888934e-03 8.20629952e+01] [-1.73882071e-03 -2.66400234e-06 9.99998488e-01 -9.21364341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86088847899998 meters Centerline goodness [0,1] 0.9999775648935454 Centerline is valid? [True, True] Translation: X:123.99, Y:82.09, Z:-0.92 [[ 3.66054969e-01 -9.30592873e-01 8.15337684e-04 1.23985584e+02] [ 9.30590540e-01 3.66055877e-01 2.08360682e-03 8.20881280e+01] [-2.23744880e-03 -3.96909276e-06 9.99997497e-01 -9.21007920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.00, Y:82.11, Z:-0.92 [[ 3.65329401e-01 -9.30877700e-01 1.06606847e-03 1.23996125e+02] [ 9.30873707e-01 3.65330956e-01 2.72646513e-03 8.21145397e+01] [-2.92747341e-03 -3.68276274e-06 9.99995715e-01 -9.20135201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.01, Y:82.14, Z:-0.92 [[ 3.63968322e-01 -9.31410477e-01 1.25861807e-03 1.24006497e+02] [ 9.31404903e-01 3.63970498e-01 3.22226202e-03 8.21405779e+01] [-3.45934845e-03 -5.18258958e-07 9.99994016e-01 -9.19746984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.02, Y:82.17, Z:-0.92 [[ 3.60827120e-01 -9.32631693e-01 1.38355417e-03 1.24017027e+02] [ 9.32624954e-01 3.60829773e-01 3.54547202e-03 8.21663683e+01] [-3.80584711e-03 1.10346852e-05 9.99992758e-01 -9.20020971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.980888479 meters Centerline goodness [0,1] 0.9999325888142372 Centerline is valid? [True, True] Translation: X:124.03, Y:82.19, Z:-0.92 [[ 3.58855190e-01 -9.33392471e-01 1.20322978e-03 1.24027508e+02] [ 9.33387372e-01 3.58857207e-01 3.08528628e-03 8.21918106e+01] [-3.31157066e-03 1.59084864e-05 9.99994517e-01 -9.20797547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.04, Y:82.22, Z:-0.92 [[ 3.56852001e-01 -9.34160446e-01 9.53846953e-04 1.24038096e+02] [ 9.34157241e-01 3.56853276e-01 2.44717012e-03 8.22176459e+01] [-2.62643294e-03 1.77654814e-05 9.99996551e-01 -9.21511773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.040888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.05, Y:82.24, Z:-0.92 [[ 3.52483467e-01 -9.35817765e-01 7.18201205e-04 1.24049750e+02] [ 9.35815950e-01 3.52484198e-01 1.84332353e-03 8.22429925e+01] [-1.97816948e-03 2.23630764e-05 9.99998043e-01 -9.22632254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.070888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.06, Y:82.27, Z:-0.92 [[ 3.49961388e-01 -9.36763858e-01 7.08269802e-04 1.24060732e+02] [ 9.36762092e-01 3.49962104e-01 1.81906464e-03 8.22689311e+01] [-1.95190160e-03 2.68779139e-05 9.99998095e-01 -9.22608011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.100888479 meters Centerline goodness [0,1] 0.9999100476747323 Centerline is valid? [True, True] Translation: X:124.07, Y:82.29, Z:-0.92 [[ 3.47739468e-01 -9.37590938e-01 7.03427681e-04 1.24072101e+02] [ 9.37589194e-01 3.47740178e-01 1.80888454e-03 8.22942371e+01] [-1.94060382e-03 3.05056458e-05 9.99998117e-01 -9.22443017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.130888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.08, Y:82.32, Z:-0.92 [[ 3.45001513e-01 -9.38601869e-01 6.98777012e-04 1.24082700e+02] [ 9.38600149e-01 3.45002218e-01 1.79701128e-03 8.23201393e+01] [-1.92775777e-03 3.59005972e-05 9.99998141e-01 -9.22249999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.09, Y:82.35, Z:-0.92 [[ 3.40895933e-01 -9.40100493e-01 1.01321063e-03 1.24094089e+02] [ 9.40096872e-01 3.40897433e-01 2.60997021e-03 8.23453231e+01] [-2.79903518e-03 6.27879082e-05 9.99996081e-01 -9.21570772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.10, Y:82.37, Z:-0.92 [[ 3.38840677e-01 -9.40843222e-01 1.01343838e-03 1.24102804e+02] [ 9.40839601e-01 3.38842185e-01 2.61116856e-03 8.23720684e+01] [-2.80009591e-03 6.87128429e-05 9.99996077e-01 -9.21202579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.220888479 meters Centerline goodness [0,1] 0.9999775301096531 Centerline is valid? [True, True] Translation: X:124.11, Y:82.40, Z:-0.92 [[ 3.36866944e-01 -9.41551524e-01 1.17858088e-03 1.24113036e+02] [ 9.41546622e-01 3.36868995e-01 3.03963238e-03 8.23987340e+01] [-3.25899785e-03 8.57371730e-05 9.99994686e-01 -9.21137271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.13, Y:82.42, Z:-0.92 [[ 3.35339224e-01 -9.42096530e-01 1.31625311e-03 1.24125264e+02] [ 9.42090407e-01 3.35341792e-01 3.39816354e-03 8.24229342e+01] [-3.64279275e-03 1.00491901e-04 9.99993360e-01 -9.21034334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.13, Y:82.45, Z:-0.92 [[ 3.33970675e-01 -9.42582310e-01 1.47540168e-03 1.24134497e+02] [ 9.42574611e-01 3.33973913e-01 3.81147266e-03 8.24503133e+01] [-4.08537238e-03 1.17756064e-04 9.99991648e-01 -9.20719501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31088847899997 meters Centerline goodness [0,1] 0.9999775774698417 Centerline is valid? [True, True] Translation: X:124.14, Y:82.48, Z:-0.92 [[ 3.32297401e-01 -9.43173137e-01 1.69429765e-03 1.24144939e+02] [ 9.43162973e-01 3.32301690e-01 4.38095167e-03 8.24757188e+01] [-4.69501391e-03 1.42219956e-04 9.99988968e-01 -9.19620056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34088847899997 meters Centerline goodness [0,1] 0.9999775774698417 Centerline is valid? [True, True] Translation: X:124.15, Y:82.50, Z:-0.92 [[ 3.32041023e-01 -9.43263427e-01 1.69319446e-03 1.24154823e+02] [ 9.43253262e-01 3.32045310e-01 4.38137798e-03 8.25015030e+01] [-4.69501088e-03 1.42313968e-04 9.99988968e-01 -9.19770267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37088847899997 meters Centerline goodness [0,1] 0.9997762913581352 Centerline is valid? [True, True] Translation: X:124.16, Y:82.53, Z:-0.92 [[ 3.31816075e-01 -9.43342618e-01 1.67272404e-03 1.24163371e+02] [ 9.43332682e-01 3.31820262e-01 4.33184907e-03 8.25285884e+01] [-4.64146157e-03 1.40558098e-04 9.99989218e-01 -9.19393311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40088847899997 meters Centerline goodness [0,1] 0.9999330267446533 Centerline is valid? [True, True] Translation: X:124.17, Y:82.56, Z:-0.92 [[ 3.31906302e-01 -9.43310987e-01 1.60907360e-03 1.24171303e+02] [ 9.43301778e-01 3.31910175e-01 4.17029292e-03 8.25551824e+01] [-4.46795103e-03 1.33695482e-04 9.99990010e-01 -9.19357843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43088847899998 meters Centerline goodness [0,1] 0.999888497390839 Centerline is valid? [True, True] Translation: X:124.18, Y:82.58, Z:-0.92 [[ 3.32633334e-01 -9.43054954e-01 1.55552589e-03 1.24180104e+02] [ 9.43046331e-01 3.32636948e-01 4.03477756e-03 8.25820972e+01] [-4.32244234e-03 1.24831473e-04 9.99990650e-01 -9.19419407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46088847899998 meters Centerline goodness [0,1] 0.9999555565431879 Centerline is valid? [True, True] Translation: X:124.19, Y:82.61, Z:-0.92 [[ 3.35880151e-01 -9.41903987e-01 1.18478944e-03 1.24186715e+02] [ 9.41898972e-01 3.35882230e-01 3.07461566e-03 8.26092636e+01] [-3.29394247e-03 8.32495858e-05 9.99994571e-01 -9.19640512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49088847899998 meters Centerline goodness [0,1] 0.9998888172377755 Centerline is valid? [True, True] Translation: X:124.20, Y:82.63, Z:-0.92 [[ 3.38151095e-01 -9.41091143e-01 1.13919338e-03 1.24195805e+02] [ 9.41086493e-01 3.38153006e-01 2.95929570e-03 8.26346506e+01] [-3.17018864e-03 7.13904262e-05 9.99994972e-01 -9.20213760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52088847899998 meters Centerline goodness [0,1] 0.9998891155859132 Centerline is valid? [True, True] Translation: X:124.20, Y:82.66, Z:-0.92 [[ 3.40683084e-01 -9.40177533e-01 1.11480908e-03 1.24200400e+02] [ 9.40173073e-01 3.40684902e-01 2.89671300e-03 8.26633116e+01] [-3.10322310e-03 6.12523572e-05 9.99995183e-01 -9.20114951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55088847899998 meters Centerline goodness [0,1] 0.9999334841027006 Centerline is valid? [True, True] Translation: X:124.21, Y:82.69, Z:-0.92 [[ 3.43400117e-01 -9.39188778e-01 8.93750219e-04 1.24207268e+02] [ 9.39185903e-01 3.43401278e-01 2.32411298e-03 8.26900979e+01] [-2.48969580e-03 4.12969352e-05 9.99996900e-01 -9.20509580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58088847899998 meters Centerline goodness [0,1] 0.9997788735820269 Centerline is valid? [True, True] Translation: X:124.21, Y:82.72, Z:-0.92 [[ 3.48598743e-01 -9.37271856e-01 6.19482841e-04 1.24211322e+02] [ 9.37270474e-01 3.48599292e-01 1.60995370e-03 8.27187209e+01] [-1.72491557e-03 1.93951409e-05 9.99998512e-01 -9.21440648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61088847899998 meters Centerline goodness [0,1] 0.9998896734333628 Centerline is valid? [True, True] Translation: X:124.22, Y:82.74, Z:-0.92 [[ 3.50799228e-01 -9.36450604e-01 4.10443753e-04 1.24219078e+02] [ 9.36449996e-01 3.50799468e-01 1.06697454e-03 8.27448686e+01] [-1.14315240e-03 1.00662063e-05 9.99999347e-01 -9.21917597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64088847899998 meters Centerline goodness [0,1] 0.9998898775438287 Centerline is valid? [True, True] Translation: X:124.23, Y:82.77, Z:-0.92 [[ 3.52426871e-01 -9.35839279e-01 3.80592189e-04 1.24227101e+02] [ 9.35838756e-01 3.52427076e-01 9.88907602e-04 8.27722317e+01] [-1.05958957e-03 7.65530920e-06 9.99999439e-01 -9.22309869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67088847899998 meters Centerline goodness [0,1] 0.9998024322781753 Centerline is valid? [True, True] Translation: X:124.23, Y:82.80, Z:-0.92 [[ 3.55215889e-01 -9.34784143e-01 5.28071496e-04 1.24233553e+02] [ 9.34783132e-01 3.55216282e-01 1.37473618e-03 8.27983530e+01] [-1.47266117e-03 5.30419265e-06 9.99998916e-01 -9.22148534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70088847899999 meters Centerline goodness [0,1] 0.9996935268492371 Centerline is valid? [True, True] Translation: X:124.24, Y:82.83, Z:-0.92 [[ 3.56198515e-01 -9.34410074e-01 6.57671983e-04 1.24241928e+02] [ 9.34408500e-01 3.56199122e-01 1.71473834e-03 8.28252324e+01] [-1.83653096e-03 3.74704223e-06 9.99998314e-01 -9.21444540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.730888479 meters Centerline goodness [0,1] 0.9999561095505618 Centerline is valid? [True, True] Translation: X:124.25, Y:82.85, Z:-0.92 [[ 3.57189092e-01 -9.34031895e-01 6.09992830e-04 1.24250547e+02] [ 9.34030539e-01 3.57189612e-01 1.59135763e-03 8.28524141e+01] [-1.70426188e-03 1.33634743e-06 9.99998548e-01 -9.21256084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.760888479 meters Centerline goodness [0,1] 0.9998027267546359 Centerline is valid? [True, True] Translation: X:124.26, Y:82.88, Z:-0.92 [[ 3.58294317e-01 -9.33608570e-01 4.69688214e-04 1.24259704e+02] [ 9.33607766e-01 3.58294624e-01 1.22535196e-03 8.28794438e+01] [-1.31228585e-03 -5.32079019e-07 9.99999139e-01 -9.21573345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790888479 meters Centerline goodness [0,1] 0.9999780682516011 Centerline is valid? [True, True] Translation: X:124.27, Y:82.91, Z:-0.92 [[ 3.60354901e-01 -9.32815255e-01 2.11907592e-04 1.24268108e+02] [ 9.32815093e-01 3.60354963e-01 5.50968135e-04 8.29064960e+01] [-5.90313434e-04 -8.73467194e-07 9.99999826e-01 -9.22327007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.820888479 meters Centerline goodness [0,1] 0.999780557384244 Centerline is valid? [True, True] Translation: X:124.28, Y:82.93, Z:-0.92 [[ 3.61206888e-01 -9.32485699e-01 7.80989040e-05 1.24277194e+02] [ 9.32485677e-01 3.61206896e-01 2.00305239e-04 8.29321145e+01] [-2.14991633e-04 4.74477535e-07 9.99999977e-01 -9.22971643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.850888479 meters Centerline goodness [0,1] 0.9997807306056221 Centerline is valid? [True, True] Translation: X:124.29, Y:82.96, Z:-0.92 [[ 3.61774949e-01 -9.32265443e-01 -1.74940926e-04 1.24287122e+02] [ 9.32265327e-01 3.61774992e-01 -4.63435128e-04 8.29589544e+01] [ 4.95333807e-04 4.56786008e-06 9.99999877e-01 -9.22912764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.880888479 meters Centerline goodness [0,1] 0.9998900131984162 Centerline is valid? [True, True] Translation: X:124.30, Y:82.98, Z:-0.92 [[ 3.62246897e-01 -9.32082131e-01 -2.92466091e-04 1.24295969e+02] [ 9.32081811e-01 3.62247015e-01 -7.72872057e-04 8.29848850e+01] [ 8.26325203e-04 7.36818096e-06 9.99999659e-01 -9.23677662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.910888479 meters Centerline goodness [0,1] 0.9999340615864782 Centerline is valid? [True, True] Translation: X:124.30, Y:83.01, Z:-0.92 [[ 3.62560959e-01 -9.31960028e-01 -2.39243545e-04 1.24304801e+02] [ 9.31959813e-01 3.62561038e-01 -6.33241798e-04 8.30118952e+01] [ 6.76896432e-04 6.62338477e-06 9.99999771e-01 -9.23227252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.940888479 meters Centerline goodness [0,1] 0.9998238738937079 Centerline is valid? [True, True] Translation: X:124.31, Y:83.04, Z:-0.92 [[ 3.62328237e-01 -9.32050558e-01 -7.40526680e-05 1.24314483e+02] [ 9.32050537e-01 3.62328245e-01 -1.99058601e-04 8.30384275e+01] [ 2.12364053e-04 3.10372307e-06 9.99999977e-01 -9.23858946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97088847899997 meters Centerline goodness [0,1] 0.999867978084362 Centerline is valid? [True, True] Translation: X:124.32, Y:83.06, Z:-0.92 [[ 3.61786999e-01 -9.32260772e-01 -1.43314703e-04 1.24324997e+02] [ 9.32260694e-01 3.61787027e-01 -3.81783208e-04 8.30641322e+01] [ 4.07770909e-04 4.51753687e-06 9.99999917e-01 -9.23548588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00088847899997 meters Centerline goodness [0,1] 0.9999558966216813 Centerline is valid? [True, True] Translation: X:124.34, Y:83.09, Z:-0.92 [[ 3.60398064e-01 -9.32798598e-01 -1.04046205e-04 1.24336632e+02] [ 9.32798557e-01 3.60398079e-01 -2.78614735e-04 8.30893566e+01] [ 2.97389487e-04 3.35806086e-06 9.99999956e-01 -9.23198076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03088847899997 meters Centerline goodness [0,1] 0.9999338653498523 Centerline is valid? [True, True] Translation: X:124.35, Y:83.12, Z:-0.92 [[ 3.59163650e-01 -9.33274566e-01 -2.38510584e-04 1.24347802e+02] [ 9.33274351e-01 3.59163729e-01 -6.33599220e-04 8.31154094e+01] [ 6.76986388e-04 4.96999746e-06 9.99999771e-01 -9.23139790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06088847899997 meters Centerline goodness [0,1] 0.9995806942819941 Centerline is valid? [True, True] Translation: X:124.36, Y:83.14, Z:-0.92 [[ 3.57410271e-01 -9.33947334e-01 -5.24371614e-04 1.24358729e+02] [ 9.33946301e-01 3.57410656e-01 -1.38891079e-03 8.31411677e+01] [ 1.48458553e-03 6.67605289e-06 9.99998898e-01 -9.23552004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09088847899997 meters Centerline goodness [0,1] 0.9997570617725656 Centerline is valid? [True, True] Translation: X:124.37, Y:83.17, Z:-0.92 [[ 3.55886885e-01 -9.34528693e-01 -8.04315766e-04 1.24369731e+02] [ 9.34526266e-01 3.55887794e-01 -2.12984256e-03 8.31671645e+01] [ 2.27664515e-03 6.32882534e-06 9.99997408e-01 -9.24414437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12088847899997 meters Centerline goodness [0,1] 0.9997790250585583 Centerline is valid? [True, True] Translation: X:124.38, Y:83.19, Z:-0.93 [[ 3.53729862e-01 -9.35347041e-01 -1.04791596e-03 1.24380813e+02] [ 9.35342921e-01 3.53731415e-01 -2.77592396e-03 8.31931338e+01] [ 2.96713306e-03 1.76642505e-06 9.99995598e-01 -9.25511528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15088847899997 meters Centerline goodness [0,1] 0.9996690349057853 Centerline is valid? [True, True] Translation: X:124.39, Y:83.22, Z:-0.93 [[ 3.50055951e-01 -9.36727940e-01 -1.26433518e-03 1.24394400e+02] [ 9.36721945e-01 3.50058234e-01 -3.35111518e-03 8.32180947e+01] [ 3.58167416e-03 -1.12526956e-05 9.99993586e-01 -9.26406413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18088847899998 meters Centerline goodness [0,1] 0.9997567179033506 Centerline is valid? [True, True] Translation: X:124.41, Y:83.24, Z:-0.93 [[ 3.47922236e-01 -9.37522612e-01 -1.21188069e-03 1.24406356e+02] [ 9.37517100e-01 3.47924346e-01 -3.21497941e-03 8.32432008e+01] [ 3.43575869e-03 -1.75960397e-05 9.99994098e-01 -9.25813834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21088847899998 meters Centerline goodness [0,1] 0.9997786680241695 Centerline is valid? [True, True] Translation: X:124.42, Y:83.27, Z:-0.93 [[ 3.45844531e-01 -9.38291280e-01 -1.01724512e-03 1.24418187e+02] [ 9.38287391e-01 3.45846027e-01 -2.70159219e-03 8.32691338e+01] [ 2.88669057e-03 -2.01373824e-05 9.99995833e-01 -9.25381251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24088847899998 meters Centerline goodness [0,1] 0.9999113003370588 Centerline is valid? [True, True] Translation: X:124.43, Y:83.30, Z:-0.92 [[ 3.44000276e-01 -9.38968941e-01 -1.06672432e-03 1.24429095e+02] [ 9.38964661e-01 3.44001929e-01 -2.83522704e-03 8.32951109e+01] [ 3.02914535e-03 -2.62975577e-05 9.99995412e-01 -9.24997472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27088847899998 meters Centerline goodness [0,1] 0.9997790543526293 Centerline is valid? [True, True] Translation: X:124.44, Y:83.32, Z:-0.93 [[ 3.40889447e-01 -9.40102954e-01 -9.06183841e-04 1.24440650e+02] [ 9.40099863e-01 3.40890650e-01 -2.41091887e-03 8.33208167e+01] [ 2.57542155e-03 -3.00465030e-05 9.99996683e-01 -9.25691126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30088847899998 meters Centerline goodness [0,1] 0.9998450813323005 Centerline is valid? [True, True] Translation: X:124.45, Y:83.35, Z:-0.93 [[ 3.39131726e-01 -9.40738227e-01 -1.12272655e-03 1.24452092e+02] [ 9.40733483e-01 3.39133582e-01 -2.98808034e-03 8.33458350e+01] [ 3.19175568e-03 -4.28336139e-05 9.99994905e-01 -9.26048710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33088847899998 meters Centerline goodness [0,1] 0.9997337770382696 Centerline is valid? [True, True] Translation: X:124.46, Y:83.37, Z:-0.93 [[ 3.37832054e-01 -9.41205969e-01 -9.09822168e-04 1.24463093e+02] [ 9.41202846e-01 3.37833277e-01 -2.42461900e-03 8.33717539e+01] [ 2.58943408e-03 -3.72131968e-05 9.99996647e-01 -9.25360404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36088847899998 meters Centerline goodness [0,1] 0.9998894074450908 Centerline is valid? [True, True] Translation: X:124.47, Y:83.40, Z:-0.92 [[ 3.36387889e-01 -9.41723222e-01 -7.49399363e-04 1.24474238e+02] [ 9.41721100e-01 3.36388722e-01 -1.99953442e-03 8.33974397e+01] [ 2.13509749e-03 -3.31060277e-05 9.99997720e-01 -9.24706850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.48, Y:83.42, Z:-0.92 [[ 3.35007016e-01 -9.42215451e-01 -5.86650041e-04 1.24484765e+02] [ 9.42214147e-01 3.35007528e-01 -1.56741936e-03 8.34239303e+01] [ 1.67337892e-03 -2.76534855e-05 9.99998600e-01 -9.24444148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42088847899998 meters Centerline goodness [0,1] 0.9999779098279176 Centerline is valid? [True, True] Translation: X:124.50, Y:83.45, Z:-0.93 [[ 3.34450129e-01 -9.42413177e-01 -7.17959638e-04 1.24496919e+02] [ 9.42411223e-01 3.34450898e-01 -1.91945503e-03 8.34488030e+01] [ 2.04904195e-03 -3.46512385e-05 9.99997900e-01 -9.25887561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45088847899999 meters Centerline goodness [0,1] 0.9999778883360972 Centerline is valid? [True, True] Translation: X:124.50, Y:83.48, Z:-0.93 [[ 3.34762423e-01 -9.42302070e-01 -9.64462516e-04 1.24504322e+02] [ 9.42298542e-01 3.34763809e-01 -2.57879355e-03 8.34758493e+01] [ 2.75286964e-03 -4.55284465e-05 9.99996210e-01 -9.25388609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.480888479 meters Centerline goodness [0,1] 0.9999778883360972 Centerline is valid? [True, True] Translation: X:124.51, Y:83.50, Z:-0.93 [[ 3.35388807e-01 -9.42079248e-01 -1.01892240e-03 1.24513161e+02] [ 9.42075304e-01 3.35390351e-01 -2.72647405e-03 8.35023264e+01] [ 2.91029136e-03 -4.54727550e-05 9.99995764e-01 -9.25793981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510888479 meters Centerline goodness [0,1] 0.9998454131884634 Centerline is valid? [True, True] Translation: X:124.52, Y:83.53, Z:-0.93 [[ 3.36217108e-01 -9.41784143e-01 -8.27649635e-04 1.24522401e+02] [ 9.41781533e-01 3.36218125e-01 -2.21731699e-03 8.35283322e+01] [ 2.36650479e-03 -3.39652357e-05 9.99997199e-01 -9.25940406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.540888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.53, Y:83.56, Z:-0.93 [[ 3.36699107e-01 -9.41611989e-01 -7.57276570e-04 1.24531391e+02] [ 9.41609799e-01 3.36699958e-01 -2.03086333e-03 8.35554312e+01] [ 2.16726025e-03 -2.92691672e-05 9.99997651e-01 -9.25665865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.570888479 meters Centerline goodness [0,1] 0.9999778849130877 Centerline is valid? [True, True] Translation: X:124.54, Y:83.58, Z:-0.93 [[ 3.37180610e-01 -9.41439748e-01 -6.61734044e-04 1.24540166e+02] [ 9.41438071e-01 3.37181259e-01 -1.77693049e-03 8.35809049e+01] [ 1.89599731e-03 -2.38351139e-05 9.99998202e-01 -9.25692262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.600888479 meters Centerline goodness [0,1] 0.9999559286926246 Centerline is valid? [True, True] Translation: X:124.55, Y:83.61, Z:-0.93 [[ 3.38167268e-01 -9.41085771e-01 -6.86077392e-04 1.24547413e+02] [ 9.41083966e-01 3.38167963e-01 -1.84354174e-03 8.36082327e+01] [ 1.96694030e-03 -2.22309580e-05 9.99998065e-01 -9.25649136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.630888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.56, Y:83.63, Z:-0.93 [[ 3.38149370e-01 -9.41092177e-01 -7.19100347e-04 1.24556598e+02] [ 9.41090191e-01 3.38150134e-01 -1.93379274e-03 8.36345957e+01] [ 2.06304110e-03 -2.28274862e-05 9.99997872e-01 -9.25804153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.660888479 meters Centerline goodness [0,1] 0.9999779458791875 Centerline is valid? [True, True] Translation: X:124.57, Y:83.66, Z:-0.93 [[ 3.37921000e-01 -9.41174216e-01 -7.02609089e-04 1.24566266e+02] [ 9.41172316e-01 3.37921730e-01 -1.89115625e-03 8.36610396e+01] [ 2.01733438e-03 -2.22148124e-05 9.99997965e-01 -9.26034099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.690888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.58, Y:83.69, Z:-0.93 [[ 3.38171375e-01 -9.41084255e-01 -7.38646945e-04 1.24575826e+02] [ 9.41082151e-01 3.38172181e-01 -1.98997776e-03 8.36862944e+01] [ 2.12252658e-03 -2.21739416e-05 9.99997747e-01 -9.25935396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72088847899997 meters Centerline goodness [0,1] 0.9999337675240093 Centerline is valid? [True, True] Translation: X:124.58, Y:83.71, Z:-0.93 [[ 3.38244191e-01 -9.41058150e-01 -6.52105261e-04 1.24584794e+02] [ 9.41056507e-01 3.38244819e-01 -1.75856976e-03 8.37126186e+01] [ 1.87548763e-03 -1.88418938e-05 9.99998241e-01 -9.26370099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75088847899997 meters Centerline goodness [0,1] 0.9998453414639535 Centerline is valid? [True, True] Translation: X:124.59, Y:83.74, Z:-0.93 [[ 3.37948516e-01 -9.41164302e-01 -7.46297870e-04 1.24593661e+02] [ 9.41162148e-01 3.37949339e-01 -2.01371144e-03 8.37394161e+01] [ 2.14744420e-03 -2.18565131e-05 9.99997694e-01 -9.26639017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78088847899997 meters Centerline goodness [0,1] 0.9996264967593101 Centerline is valid? [True, True] Translation: X:124.60, Y:83.76, Z:-0.93 [[ 3.37611324e-01 -9.41285257e-01 -8.11737754e-04 1.24602985e+02] [ 9.41282705e-01 3.37612299e-01 -2.19211542e-03 8.37647287e+01] [ 2.33745857e-03 -2.39917190e-05 9.99997268e-01 -9.27083079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81088847899997 meters Centerline goodness [0,1] 0.9994944499395538 Centerline is valid? [True, True] Translation: X:124.61, Y:83.79, Z:-0.93 [[ 3.36482326e-01 -9.41689465e-01 -7.71616113e-04 1.24613717e+02] [ 9.41687156e-01 3.36483210e-01 -2.08547865e-03 8.37908227e+01] [ 2.22350914e-03 -2.48942764e-05 9.99997528e-01 -9.27300560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84088847899997 meters Centerline goodness [0,1] 0.9998015304209761 Centerline is valid? [True, True] Translation: X:124.62, Y:83.82, Z:-0.93 [[ 3.35494583e-01 -9.42041600e-01 -1.00389796e-03 1.24623918e+02] [ 9.42037691e-01 3.35496083e-01 -2.71415325e-03 8.38169835e+01] [ 2.89364911e-03 -3.51259987e-05 9.99995813e-01 -9.26667183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87088847899997 meters Centerline goodness [0,1] 0.9999559510175315 Centerline is valid? [True, True] Translation: X:124.63, Y:83.84, Z:-0.93 [[ 3.34500430e-01 -9.42394918e-01 -1.13166048e-03 1.24634598e+02] [ 9.42389945e-01 3.34502341e-01 -3.06179438e-03 8.38433415e+01] [ 3.26396255e-03 -4.22939234e-05 9.99994672e-01 -9.27211138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90088847899997 meters Centerline goodness [0,1] 0.9999337236275267 Centerline is valid? [True, True] Translation: X:124.64, Y:83.87, Z:-0.93 [[ 3.33426734e-01 -9.42774915e-01 -1.43944146e-03 1.24644289e+02] [ 9.42766876e-01 3.33429836e-01 -3.89375713e-03 8.38688035e+01] [ 4.15088927e-03 -5.87750037e-05 9.99991383e-01 -9.28971490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93088847899998 meters Centerline goodness [0,1] 0.9998022021494033 Centerline is valid? [True, True] Translation: X:124.65, Y:83.90, Z:-0.93 [[ 3.33075609e-01 -9.42898660e-01 -1.66019573e-03 1.24653693e+02] [ 9.42887943e-01 3.33079740e-01 -4.49599908e-03 8.38951218e+01] [ 4.79224907e-03 -6.78709035e-05 9.99988515e-01 -9.29026956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96088847899998 meters Centerline goodness [0,1] 0.9998015041573851 Centerline is valid? [True, True] Translation: X:124.66, Y:83.92, Z:-0.93 [[ 3.32683534e-01 -9.43037136e-01 -1.62078225e-03 1.24663205e+02] [ 9.43026905e-01 3.32687476e-01 -4.39316562e-03 8.39216699e+01] [ 4.68213228e-03 -6.69074030e-05 9.99989037e-01 -9.29359099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.67, Y:83.95, Z:-0.93 [[ 3.32599629e-01 -9.43067002e-01 -1.45473216e-03 1.24672415e+02] [ 9.43058744e-01 3.32602806e-01 -3.94710944e-03 8.39486468e+01] [ 4.20623667e-03 -5.90907478e-05 9.99991152e-01 -9.28597806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02088847899998 meters Centerline goodness [0,1] 0.999801377118644 Centerline is valid? [True, True] Translation: X:124.68, Y:83.97, Z:-0.93 [[ 3.32715284e-01 -9.43026110e-01 -1.51490810e-03 1.24682000e+02] [ 9.43017143e-01 3.32718728e-01 -4.11294180e-03 8.39735492e+01] [ 4.38264980e-03 -6.01457077e-05 9.99990394e-01 -9.29426996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05088847899998 meters Centerline goodness [0,1] 0.9998898872445384 Centerline is valid? [True, True] Translation: X:124.69, Y:84.00, Z:-0.93 [[ 3.32893855e-01 -9.42963157e-01 -1.47203643e-03 1.24691171e+02] [ 9.42954672e-01 3.32897105e-01 -4.00047786e-03 8.40002754e+01] [ 4.26233989e-03 -5.63291334e-05 9.99990915e-01 -9.29689032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08088847899998 meters Centerline goodness [0,1] 0.999955853787745 Centerline is valid? [True, True] Translation: X:124.70, Y:84.03, Z:-0.93 [[ 3.33131132e-01 -9.42879367e-01 -1.46605606e-03 1.24699825e+02] [ 9.42870935e-01 3.33134353e-01 -3.98787975e-03 8.40269091e+01] [ 4.24848317e-03 -5.38147550e-05 9.99990974e-01 -9.29741801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11088847899998 meters Centerline goodness [0,1] 0.9999780181130749 Centerline is valid? [True, True] Translation: X:124.71, Y:84.05, Z:-0.93 [[ 3.33871359e-01 -9.42617131e-01 -1.69098101e-03 1.24709123e+02] [ 9.42605894e-01 3.33875637e-01 -4.60307379e-03 8.40532033e+01] [ 4.90351358e-03 -5.70941656e-05 9.99987976e-01 -9.29764994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14088847899998 meters Centerline goodness [0,1] 0.999977985690699 Centerline is valid? [True, True] Translation: X:124.72, Y:84.08, Z:-0.93 [[ 3.34777913e-01 -9.42295929e-01 -1.45956369e-03 1.24717340e+02] [ 9.42287544e-01 3.34781092e-01 -3.97555242e-03 8.40794237e+01] [ 4.23478119e-03 -4.44015397e-05 9.99991032e-01 -9.30578855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17088847899998 meters Centerline goodness [0,1] 0.9999123556607288 Centerline is valid? [True, True] Translation: X:124.73, Y:84.11, Z:-0.93 [[ 3.35094101e-01 -9.42183895e-01 -1.20458004e-03 1.24726299e+02] [ 9.42178168e-01 3.35096264e-01 -3.28536368e-03 8.41064331e+01] [ 3.49906702e-03 -3.40230243e-05 9.99993878e-01 -9.30823174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20088847899999 meters Centerline goodness [0,1] 0.9996264146797055 Centerline is valid? [True, True] Translation: X:124.74, Y:84.13, Z:-0.93 [[ 3.35216822e-01 -9.42140588e-01 -8.90830219e-04 1.24735612e+02] [ 9.42137448e-01 3.35218005e-01 -2.43289830e-03 8.41328773e+01] [ 2.59075456e-03 -2.37360718e-05 9.99996644e-01 -9.30962863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.230888479 meters Centerline goodness [0,1] 0.9999123671815094 Centerline is valid? [True, True] Translation: X:124.75, Y:84.16, Z:-0.93 [[ 3.35744823e-01 -9.41952902e-01 -3.80302893e-04 1.24745348e+02] [ 9.41952325e-01 3.35745038e-01 -1.04206840e-03 8.41591817e+01] [ 1.10926417e-03 -8.35812339e-06 9.99999385e-01 -9.29174941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.260888479 meters Centerline goodness [0,1] 0.9999123671815094 Centerline is valid? [True, True] Translation: X:124.75, Y:84.19, Z:-0.93 [[ 3.35481312e-01 -9.42046785e-01 -3.80011778e-04 1.24754783e+02] [ 9.42046209e-01 3.35481527e-01 -1.04217483e-03 8.41851176e+01] [ 1.10926438e-03 -8.35847678e-06 9.99999385e-01 -9.29325051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290888479 meters Centerline goodness [0,1] 0.9999780456211992 Centerline is valid? [True, True] Translation: X:124.76, Y:84.21, Z:-0.93 [[ 3.35484614e-01 -9.42045680e-01 -1.03861790e-04 1.24764304e+02] [ 9.42045636e-01 3.35484630e-01 -2.88309999e-04 8.42112114e+01] [ 3.06445223e-04 -1.11897699e-06 9.99999953e-01 -9.28894566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.320888479 meters Centerline goodness [0,1] 0.9999560883502393 Centerline is valid? [True, True] Translation: X:124.77, Y:84.24, Z:-0.93 [[ 3.35612446e-01 -9.42000151e-01 4.07838534e-05 1.24772931e+02] [ 9.42000145e-01 3.35612449e-01 1.06992581e-04 8.42379401e+01] [-1.14474596e-04 2.51035397e-06 9.99999993e-01 -9.28297522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.350888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.78, Y:84.26, Z:-0.93 [[ 3.36832868e-01 -9.41564358e-01 4.23273544e-04 1.24781357e+02] [ 9.41563649e-01 3.36833134e-01 1.15559249e-03 8.42636148e+01] [-1.23063726e-03 9.29744970e-06 9.99999243e-01 -9.28165991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.380888479 meters Centerline goodness [0,1] 0.9999340804218853 Centerline is valid? [True, True] Translation: X:124.79, Y:84.29, Z:-0.93 [[ 3.37223076e-01 -9.41424632e-01 5.08631962e-04 1.24790442e+02] [ 9.41423608e-01 3.37223459e-01 1.38898719e-03 8.42904718e+01] [-1.47914938e-03 1.04396060e-05 9.99998906e-01 -9.28116134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.410888479 meters Centerline goodness [0,1] 0.9999561422744616 Centerline is valid? [True, True] Translation: X:124.80, Y:84.32, Z:-0.93 [[ 3.37636206e-01 -9.41276530e-01 5.35359414e-04 1.24799289e+02] [ 9.41275393e-01 3.37636630e-01 1.46330466e-03 8.43161760e+01] [-1.55813128e-03 9.85600902e-06 9.99998786e-01 -9.28732917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.440888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:84.34, Z:-0.93 [[ 3.37921711e-01 -9.41174113e-01 4.54796225e-04 1.24808623e+02] [ 9.41173291e-01 3.37922017e-01 1.24378053e-03 8.43426444e+01] [-1.32429969e-03 7.74161675e-06 9.99999123e-01 -9.29118125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47088847899997 meters Centerline goodness [0,1] 0.9999780132799789 Centerline is valid? [True, True] Translation: X:124.82, Y:84.37, Z:-0.93 [[ 3.38230129e-01 -9.41063421e-01 1.33930177e-04 1.24818203e+02] [ 9.41063351e-01 3.38230155e-01 3.63421456e-04 8.43690549e+01] [-3.87301863e-04 3.11669561e-06 9.99999925e-01 -9.29172217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.50088847899997 meters Centerline goodness [0,1] 0.9999559558677795 Centerline is valid? [True, True] Translation: X:124.83, Y:84.39, Z:-0.93 [[ 3.38696008e-01 -9.40895811e-01 -2.94218622e-04 1.24828541e+02] [ 9.40895460e-01 3.38696136e-01 -8.13580461e-04 8.43940306e+01] [ 8.65145158e-04 -1.27251101e-06 9.99999626e-01 -9.30539159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.84, Y:84.42, Z:-0.93 [[ 3.38534862e-01 -9.40953702e-01 -5.26476219e-04 1.24838366e+02] [ 9.40952580e-01 3.38535271e-01 -1.45318562e-03 8.44201976e+01] [ 1.54561116e-03 -3.43516499e-06 9.99998806e-01 -9.30744721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.56088847899997 meters Centerline goodness [0,1] 0.999933989042181 Centerline is valid? [True, True] Translation: X:124.85, Y:84.45, Z:-0.93 [[ 3.38439514e-01 -9.40987893e-01 -6.93990129e-04 1.24848498e+02] [ 9.40985942e-01 3.38440225e-01 -1.91575324e-03 8.44464487e+01] [ 2.03757478e-03 -4.66836182e-06 9.99997924e-01 -9.31473830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:84.47, Z:-0.93 [[ 3.37001359e-01 -9.41504060e-01 -4.34475859e-04 1.24859276e+02] [ 9.41503292e-01 3.37001639e-01 -1.20238425e-03 8.44713592e+01] [ 1.27846873e-03 -3.85532651e-06 9.99999183e-01 -9.31966635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.62088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.87, Y:84.50, Z:-0.93 [[ 3.35644107e-01 -9.41988832e-01 -2.70901860e-04 1.24870213e+02] [ 9.41988532e-01 3.35644217e-01 -7.51771055e-04 8.44969921e+01] [ 7.99086580e-04 -2.85892058e-06 9.99999681e-01 -9.31317634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.65088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.88, Y:84.52, Z:-0.93 [[ 3.33746944e-01 -9.42662705e-01 -3.67914254e-05 1.24881959e+02] [ 9.42662699e-01 3.33746947e-01 -1.05954759e-04 8.45228053e+01] [ 1.12158626e-04 6.80172851e-07 9.99999994e-01 -9.31311117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.68088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.90, Y:84.55, Z:-0.93 [[ 3.29549270e-01 -9.44138355e-01 2.12697620e-04 1.24896774e+02] [ 9.44138174e-01 3.29549339e-01 5.84543690e-04 8.45461516e+01] [-6.21984477e-04 8.17999617e-06 9.99999807e-01 -9.30365752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71088847899998 meters Centerline goodness [0,1] 0.9999777886366665 Centerline is valid? [True, True] Translation: X:124.91, Y:84.57, Z:-0.93 [[ 3.26749411e-01 -9.45110889e-01 4.79995844e-04 1.24907384e+02] [ 9.45109963e-01 3.26749763e-01 1.32315296e-03 8.45720133e+01] [-1.40736480e-03 2.13094035e-05 9.99999009e-01 -9.29839259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:84.60, Z:-0.93 [[ 3.24075736e-01 -9.46030956e-01 5.90611506e-04 1.24920813e+02] [ 9.46029551e-01 3.24076272e-01 1.63032404e-03 8.45961271e+01] [-1.73374018e-03 3.03874767e-05 9.99998497e-01 -9.30494340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77088847899998 meters Centerline goodness [0,1] 0.9998886488653319 Centerline is valid? [True, True] Translation: X:124.93, Y:84.62, Z:-0.93 [[ 3.21983142e-01 -9.46745120e-01 7.31318217e-04 1.24931770e+02] [ 9.46742963e-01 3.21983970e-01 2.02137200e-03 8.46226978e+01] [-2.14919682e-03 4.15226662e-05 9.99997690e-01 -9.30463638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.94, Y:84.65, Z:-0.93 [[ 3.17921754e-01 -9.48116285e-01 1.12603139e-03 1.24943743e+02] [ 9.48111164e-01 3.17923739e-01 3.11703172e-03 8.46487464e+01] [-3.31330065e-03 7.66307369e-05 9.99994508e-01 -9.30302769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83088847899998 meters Centerline goodness [0,1] 0.9999553172475425 Centerline is valid? [True, True] Translation: X:124.96, Y:84.67, Z:-0.93 [[ 3.16258272e-01 -9.48672042e-01 1.43592968e-03 1.24955071e+02] [ 9.48663701e-01 3.16261514e-01 3.97963488e-03 8.46739893e+01] [-4.22949765e-03 1.03621919e-04 9.99991050e-01 -9.30582486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86088847899998 meters Centerline goodness [0,1] 0.9999553740768012 Centerline is valid? [True, True] Translation: X:124.97, Y:84.70, Z:-0.93 [[ 3.14828644e-01 -9.49147111e-01 1.63898591e-03 1.24965831e+02] [ 9.49136237e-01 3.14832886e-01 4.54509367e-03 8.47006984e+01] [-4.82996919e-03 1.24695238e-04 9.99988328e-01 -9.30542208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:84.73, Z:-0.93 [[ 3.13940009e-01 -9.49441122e-01 1.79611348e-03 1.24976632e+02] [ 9.49428044e-01 3.13945116e-01 4.98540782e-03 8.47258334e+01] [-5.29723225e-03 1.40161529e-04 9.99985960e-01 -9.30495124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.99, Y:84.75, Z:-0.93 [[ 3.13349047e-01 -9.49636623e-01 1.63089966e-03 1.24986721e+02] [ 9.49625832e-01 3.13353264e-01 4.52887027e-03 8.47516450e+01] [-4.81182880e-03 1.29627264e-04 9.99988415e-01 -9.31463992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95088847899999 meters Centerline goodness [0,1] 0.9999776186213071 Centerline is valid? [True, True] Translation: X:125.00, Y:84.78, Z:-0.93 [[ 3.13645405e-01 -9.49539125e-01 1.41758060e-03 1.24996352e+02] [ 9.49530960e-01 3.13648589e-01 3.93931132e-03 8.47766229e+01] [-4.18515238e-03 1.10489770e-04 9.99991236e-01 -9.32675455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.980888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.01, Y:84.80, Z:-0.93 [[ 3.14078291e-01 -9.49396364e-01 1.17086674e-03 1.25005939e+02] [ 9.49390785e-01 3.14080461e-01 3.25589310e-03 8.48015782e+01] [-3.45887944e-03 8.90047489e-05 9.99994014e-01 -9.33564505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010888479 meters Centerline goodness [0,1] 0.9999775824964132 Centerline is valid? [True, True] Translation: X:125.01, Y:84.83, Z:-0.93 [[ 3.15917270e-01 -9.48786277e-01 9.37640181e-04 1.25014599e+02] [ 9.48782693e-01 3.15918654e-01 2.60888343e-03 8.48287441e+01] [-2.77149082e-03 6.54254446e-05 9.99996157e-01 -9.34687606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.040888479 meters Centerline goodness [0,1] 0.9999775417162621 Centerline is valid? [True, True] Translation: X:125.02, Y:84.86, Z:-0.94 [[ 3.16624502e-01 -9.48550370e-01 1.05851295e-03 1.25023656e+02] [ 9.48545791e-01 3.16626264e-01 2.94813327e-03 8.48557043e+01] [-3.13160591e-03 7.05967739e-05 9.99995094e-01 -9.35445434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.070888479 meters Centerline goodness [0,1] 0.9999326553976698 Centerline is valid? [True, True] Translation: X:125.03, Y:84.88, Z:-0.94 [[ 3.17280636e-01 -9.48330924e-01 1.20705378e-03 1.25032834e+02] [ 9.48324956e-01 3.17282922e-01 3.36540024e-03 8.48814426e+01] [-3.57449067e-03 7.69028964e-05 9.99993609e-01 -9.36459332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.100888479 meters Centerline goodness [0,1] 0.9999551489056333 Centerline is valid? [True, True] Translation: X:125.04, Y:84.91, Z:-0.94 [[ 3.18884342e-01 -9.47792318e-01 1.58028264e-03 1.25042682e+02] [ 9.47782056e-01 3.18888245e-01 4.41162209e-03 8.49068471e+01] [-4.68523508e-03 9.09663201e-05 9.99989020e-01 -9.37033385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.130888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.05, Y:84.93, Z:-0.94 [[ 3.19428555e-01 -9.47608577e-01 1.83959971e-03 1.25052361e+02] [ 9.47594647e-01 3.19433836e-01 5.13909716e-03 8.49327777e+01] [-5.45748293e-03 1.01620459e-04 9.99985103e-01 -9.36432763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.160888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.06, Y:84.96, Z:-0.94 [[ 3.19872263e-01 -9.47458175e-01 2.17772629e-03 1.25062358e+02] [ 9.47438611e-01 3.19879655e-01 6.08974941e-03 8.49587270e+01] [-6.46639319e-03 1.15320050e-04 9.99979086e-01 -9.35595047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.190888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.07, Y:84.99, Z:-0.93 [[ 3.20461209e-01 -9.47258167e-01 2.56480115e-03 1.25072284e+02] [ 9.47230971e-01 3.20471447e-01 7.17913882e-03 8.49851893e+01] [-7.62244342e-03 1.28823573e-04 9.99970940e-01 -9.34735746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22088847899997 meters Centerline goodness [0,1] 0.9999103500829262 Centerline is valid? [True, True] Translation: X:125.08, Y:85.01, Z:-0.93 [[ 3.22722031e-01 -9.46488583e-01 3.13900550e-03 1.25082103e+02] [ 9.46447730e-01 3.22737270e-01 8.79484770e-03 8.50121016e+01] [-9.33729700e-03 1.32613510e-04 9.99956398e-01 -9.33667768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25088847899997 meters Centerline goodness [0,1] 0.9999329683834208 Centerline is valid? [True, True] Translation: X:125.09, Y:85.04, Z:-0.93 [[ 3.24038938e-01 -9.46038305e-01 3.20826353e-03 1.25090582e+02] [ 9.45995533e-01 3.24054798e-01 8.99664697e-03 8.50373604e+01] [-9.55082584e-03 1.19739033e-04 9.99954383e-01 -9.33805890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28088847899997 meters Centerline goodness [0,1] 0.9999551981362425 Centerline is valid? [True, True] Translation: X:125.10, Y:85.06, Z:-0.93 [[ 3.25124891e-01 -9.45665499e-01 3.25099811e-03 1.25099066e+02] [ 9.45621484e-01 3.25141127e-01 9.12446688e-03 8.50645977e+01] [-9.68572671e-03 1.07622356e-04 9.99953086e-01 -9.34637716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31088847899997 meters Centerline goodness [0,1] 0.9999105225483178 Centerline is valid? [True, True] Translation: X:125.11, Y:85.09, Z:-0.94 [[ 3.26095207e-01 -9.45332079e-01 3.02924660e-03 1.25107154e+02] [ 9.45293786e-01 3.26109265e-01 8.50911462e-03 8.50912247e+01] [-9.03180440e-03 8.87464898e-05 9.99959208e-01 -9.35658221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.12, Y:85.12, Z:-0.94 [[ 3.27122785e-01 -9.44977641e-01 2.81806059e-03 1.25116208e+02] [ 9.44944431e-01 3.27134916e-01 7.92265179e-03 8.51162956e+01] [-8.40861481e-03 7.12307373e-05 9.99964644e-01 -9.37434090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37088847899997 meters Centerline goodness [0,1] 0.9998203579368109 Centerline is valid? [True, True] Translation: X:125.13, Y:85.14, Z:-0.94 [[ 3.27120995e-01 -9.44978945e-01 2.57830882e-03 1.25126053e+02] [ 9.44951099e-01 3.27131150e-01 7.25476454e-03 8.51428547e+01] [-7.69904487e-03 6.31899565e-05 9.99970360e-01 -9.38582515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.14, Y:85.17, Z:-0.94 [[ 3.26358333e-01 -9.45242856e-01 2.48617414e-03 1.25135866e+02] [ 9.45216927e-01 3.26367796e-01 7.00153781e-03 8.51679105e+01] [-7.42956078e-03 6.49636730e-05 9.99972398e-01 -9.38865590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43088847899998 meters Centerline goodness [0,1] 0.9999775048364602 Centerline is valid? [True, True] Translation: X:125.15, Y:85.19, Z:-0.94 [[ 3.24315523e-01 -9.45945464e-01 2.57319964e-03 1.25146412e+02] [ 9.45917660e-01 3.24325721e-01 7.25311431e-03 8.51934448e+01] [-7.69560541e-03 8.17374165e-05 9.99970385e-01 -9.38953914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46088847899998 meters Centerline goodness [0,1] 0.9998875444199541 Centerline is valid? [True, True] Translation: X:125.16, Y:85.22, Z:-0.94 [[ 3.22937561e-01 -9.46416500e-01 2.67198476e-03 1.25155914e+02] [ 9.46386488e-01 3.22948601e-01 7.53767220e-03 8.52196081e+01] [-7.99669109e-03 9.45327927e-05 9.99968021e-01 -9.39703711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49088847899998 meters Centerline goodness [0,1] 0.9999774317309862 Centerline is valid? [True, True] Translation: X:125.17, Y:85.24, Z:-0.94 [[ 3.21591668e-01 -9.46874710e-01 2.66134797e-03 1.25165340e+02] [ 9.46844904e-01 3.21602664e-01 7.51363606e-03 8.52444600e+01] [-7.97036856e-03 1.03561008e-04 9.99968231e-01 -9.40317713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.18, Y:85.27, Z:-0.94 [[ 3.20128451e-01 -9.47370698e-01 2.55638226e-03 1.25175122e+02] [ 9.47343173e-01 3.20138639e-01 7.22251953e-03 8.52693585e+01] [-7.66080011e-03 1.09637289e-04 9.99970650e-01 -9.41034490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.19, Y:85.30, Z:-0.94 [[ 3.17781934e-01 -9.48160140e-01 2.64424837e-03 1.25185183e+02] [ 9.48130664e-01 3.17792908e-01 7.47736139e-03 8.52957259e+01] [-7.93005940e-03 1.30922602e-04 9.99968548e-01 -9.41771515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.19, Y:85.32, Z:-0.94 [[ 3.16256048e-01 -9.48670154e-01 2.65533642e-03 1.25193545e+02] [ 9.48640400e-01 3.16267163e-01 7.51488856e-03 8.53230737e+01] [-7.96894621e-03 1.42330446e-04 9.99968237e-01 -9.42427776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.20, Y:85.35, Z:-0.94 [[ 3.15007914e-01 -9.49085626e-01 2.54735908e-03 1.25203479e+02] [ 9.49058209e-01 3.15018181e-01 7.21538172e-03 8.53497340e+01] [-7.65047950e-03 1.44689695e-04 9.99970724e-01 -9.43024183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:85.38, Z:-0.94 [[ 3.12620798e-01 -9.49874804e-01 2.46837251e-03 1.25213056e+02] [ 9.49849041e-01 3.12630503e-01 6.99764988e-03 8.53756422e+01] [-7.41857985e-03 1.56970372e-04 9.99972470e-01 -9.44494706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.22, Y:85.40, Z:-0.94 [[ 3.11779578e-01 -9.50151527e-01 2.36027165e-03 1.25222042e+02] [ 9.50127943e-01 3.11788473e-01 6.69625452e-03 8.54011372e+01] [-7.09836195e-03 1.54804641e-04 9.99974794e-01 -9.44789076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70088847899999 meters Centerline goodness [0,1] 0.9998416002896452 Centerline is valid? [True, True] Translation: X:125.23, Y:85.43, Z:-0.95 [[ 3.11542049e-01 -9.50229520e-01 2.32619307e-03 1.25230840e+02] [ 9.50206583e-01 3.11550696e-01 6.60412061e-03 8.54276443e+01] [-7.00015743e-03 1.52902704e-04 9.99975487e-01 -9.45506622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.730888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:85.46, Z:-0.95 [[ 3.12325370e-01 -9.49973730e-01 1.66616903e-03 1.25237320e+02] [ 9.49961944e-01 3.12329797e-01 4.73316175e-03 8.54552066e+01] [-5.01677355e-03 1.04510676e-04 9.99987410e-01 -9.47145582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.760888479 meters Centerline goodness [0,1] 0.9999774011299435 Centerline is valid? [True, True] Translation: X:125.25, Y:85.48, Z:-0.95 [[ 3.13212104e-01 -9.49682234e-01 1.35369871e-03 1.25245228e+02] [ 9.49674441e-01 3.13215019e-01 3.84805150e-03 8.54812033e+01] [-4.07842491e-03 8.03167646e-05 9.99991680e-01 -9.48172017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790888479 meters Centerline goodness [0,1] 0.9999773873323836 Centerline is valid? [True, True] Translation: X:125.25, Y:85.51, Z:-0.95 [[ 3.13804643e-01 -9.49487026e-01 1.01619708e-03 1.25252885e+02] [ 9.49482630e-01 3.13806283e-01 2.89010854e-03 8.55070904e+01] [-3.06300959e-03 5.79319930e-05 9.99995307e-01 -9.49348713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.820888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:85.53, Z:-0.95 [[ 3.14500762e-01 -9.49256851e-01 8.37477213e-04 1.25260693e+02] [ 9.49253860e-01 3.14501874e-01 2.38326380e-03 8.55337983e+01] [-2.52571765e-03 4.54401944e-05 9.99996809e-01 -9.49699885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.850888479 meters Centerline goodness [0,1] 0.9999550106849623 Centerline is valid? [True, True] Translation: X:125.27, Y:85.56, Z:-0.95 [[ 3.15248374e-01 -9.49008852e-01 8.12970057e-04 1.25268897e+02] [ 9.49006029e-01 3.15249419e-01 2.31541360e-03 8.55607491e+01] [-2.45363634e-03 4.15831150e-05 9.99996989e-01 -9.49703580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.880888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.28, Y:85.59, Z:-0.95 [[ 3.15600191e-01 -9.48891793e-01 9.40308532e-04 1.25276805e+02] [ 9.48888005e-01 3.15601588e-01 2.68175071e-03 8.55868354e+01] [-2.84145411e-03 4.58864502e-05 9.99995962e-01 -9.49586070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.910888479 meters Centerline goodness [0,1] 0.9998881882016191 Centerline is valid? [True, True] Translation: X:125.28, Y:85.61, Z:-0.95 [[ 3.16832284e-01 -9.48480687e-01 1.30001637e-03 1.25283161e+02] [ 9.48473429e-01 3.16834946e-01 3.71093870e-03 8.56146438e+01] [-3.93164430e-03 5.72858024e-05 9.99992269e-01 -9.48198843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.940888479 meters Centerline goodness [0,1] 0.9999552902778709 Centerline is valid? [True, True] Translation: X:125.29, Y:85.64, Z:-0.95 [[ 3.17436523e-01 -9.48278376e-01 1.47490005e-03 1.25292466e+02] [ 9.48269012e-01 3.17439944e-01 4.21454419e-03 8.56403740e+01] [-4.46475331e-03 6.07517569e-05 9.99990031e-01 -9.47349201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97088847899997 meters Centerline goodness [0,1] 0.9999105285525757 Centerline is valid? [True, True] Translation: X:125.30, Y:85.67, Z:-0.95 [[ 3.18045742e-01 -9.48073953e-01 1.63907100e-03 1.25300152e+02] [ 9.48062361e-01 3.18049959e-01 4.68863881e-03 8.56676639e+01] [-4.96648279e-03 6.27399201e-05 9.99987665e-01 -9.46790855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00088847899997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.31, Y:85.69, Z:-0.95 [[ 3.18639735e-01 -9.47874539e-01 1.60541350e-03 1.25308271e+02] [ 9.47863396e-01 3.18643774e-01 4.59653956e-03 8.56933035e+01] [-4.86849783e-03 5.70725429e-05 9.99988147e-01 -9.46416959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03088847899997 meters Centerline goodness [0,1] 0.999866232665983 Centerline is valid? [True, True] Translation: X:125.31, Y:85.72, Z:-0.95 [[ 3.20501166e-01 -9.47247090e-01 1.39785566e-03 1.25314754e+02] [ 9.47238627e-01 3.20504212e-01 4.00417094e-03 8.57200695e+01] [-4.24095790e-03 4.07614260e-05 9.99991006e-01 -9.46904662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06088847899997 meters Centerline goodness [0,1] 0.9998884526146707 Centerline is valid? [True, True] Translation: X:125.32, Y:85.75, Z:-0.95 [[ 3.21372529e-01 -9.46951996e-01 1.27044700e-03 1.25322401e+02] [ 9.46944993e-01 3.21375039e-01 3.64213168e-03 8.57466830e+01] [-3.85721382e-03 3.25623492e-05 9.99992560e-01 -9.47533203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09088847899997 meters Centerline goodness [0,1] 0.9999553979616869 Centerline is valid? [True, True] Translation: X:125.33, Y:85.77, Z:-0.95 [[ 3.22340926e-01 -9.46623249e-01 8.67443365e-04 1.25330237e+02] [ 9.46619980e-01 3.22342093e-01 2.48751868e-03 8.57735962e+01] [-2.63435652e-03 1.93101446e-05 9.99996530e-01 -9.48155089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12088847899997 meters Centerline goodness [0,1] 0.9999553919928628 Centerline is valid? [True, True] Translation: X:125.34, Y:85.80, Z:-0.95 [[ 3.24372496e-01 -9.45929415e-01 1.60583857e-04 1.25338239e+02] [ 9.45929305e-01 3.24372536e-01 4.57162706e-04 8.58007206e+01] [-4.84532644e-04 3.60996853e-06 9.99999883e-01 -9.48979449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15088847899997 meters Centerline goodness [0,1] 0.9999553919928628 Centerline is valid? [True, True] Translation: X:125.35, Y:85.83, Z:-0.95 [[ 3.24110826e-01 -9.46019105e-01 1.60456129e-04 1.25347235e+02] [ 9.46018994e-01 3.24110866e-01 4.57207327e-04 8.58268125e+01] [-4.84532441e-04 3.60870182e-06 9.99999883e-01 -9.49129554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18088847899998 meters Centerline goodness [0,1] 0.999910766073261 Centerline is valid? [True, True] Translation: X:125.36, Y:85.85, Z:-0.95 [[ 3.24743585e-01 -9.45802087e-01 -1.25726068e-04 1.25355665e+02] [ 9.45802017e-01 3.24743610e-01 -3.65451022e-04 8.58521688e+01] [ 3.86473076e-04 -2.34093723e-07 9.99999925e-01 -9.49522530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21088847899998 meters Centerline goodness [0,1] 0.9999776695993926 Centerline is valid? [True, True] Translation: X:125.36, Y:85.88, Z:-0.95 [[ 3.25388345e-01 -9.45580459e-01 -1.45325739e-04 1.25364328e+02] [ 9.45580364e-01 3.25388377e-01 -4.23383455e-04 8.58783961e+01] [ 4.47630428e-04 3.46876942e-07 9.99999900e-01 -9.49364462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24088847899998 meters Centerline goodness [0,1] 0.9998665925514174 Centerline is valid? [True, True] Translation: X:125.37, Y:85.90, Z:-0.95 [[ 3.25795882e-01 -9.45440090e-01 -2.83078263e-04 1.25372827e+02] [ 9.45439733e-01 3.25796005e-01 -8.21469125e-04 8.59038959e+01] [ 8.68875610e-04 -2.17880347e-09 9.99999623e-01 -9.48877965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27088847899998 meters Centerline goodness [0,1] 0.9999555743130678 Centerline is valid? [True, True] Translation: X:125.38, Y:85.93, Z:-0.95 [[ 3.26585028e-01 -9.45167820e-01 1.10412168e-04 1.25380945e+02] [ 9.45167768e-01 3.26585046e-01 3.14188367e-04 8.59303485e+01] [-3.33019697e-04 1.74880598e-06 9.99999945e-01 -9.46558763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.39, Y:85.96, Z:-0.95 [[ 3.26488622e-01 -9.45201111e-01 2.01092189e-04 1.25389326e+02] [ 9.45200934e-01 3.26488684e-01 5.77690620e-04 8.59558493e+01] [-6.11688140e-04 1.46310997e-06 9.99999813e-01 -9.46187447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:85.98, Z:-0.95 [[ 3.26580315e-01 -9.45169435e-01 1.94563550e-04 1.25398392e+02] [ 9.45169270e-01 3.26580373e-01 5.57922327e-04 8.59826454e+01] [-5.90871767e-04 1.68903892e-06 9.99999825e-01 -9.45234913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36088847899998 meters Centerline goodness [0,1] 0.9999332279819271 Centerline is valid? [True, True] Translation: X:125.41, Y:86.01, Z:-0.95 [[ 3.26833150e-01 -9.45082055e-01 1.80827435e-05 1.25407278e+02] [ 9.45082054e-01 3.26833151e-01 4.79667781e-05 8.60085986e+01] [-5.12425813e-05 1.41254319e-06 9.99999999e-01 -9.45174407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.42, Y:86.03, Z:-0.95 [[ 3.26818979e-01 -9.45086956e-01 -1.62995348e-05 1.25416198e+02] [ 9.45086955e-01 3.26818980e-01 -5.06839514e-05 8.60339283e+01] [ 5.32277387e-05 1.15999959e-06 9.99999999e-01 -9.45335251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42088847899998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.43, Y:86.06, Z:-0.95 [[ 3.26703823e-01 -9.45126704e-01 -3.55054069e-04 1.25425658e+02] [ 9.45126138e-01 3.26704016e-01 -1.03413485e-03 8.60605017e+01] [ 1.09338605e-03 2.28492699e-06 9.99999402e-01 -9.45371590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45088847899999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.44, Y:86.09, Z:-0.95 [[ 3.26584356e-01 -9.45167951e-01 -4.50904053e-04 1.25435306e+02] [ 9.45167038e-01 3.26584667e-01 -1.31323190e-03 8.60867623e+01] [ 1.38848305e-03 2.70134558e-06 9.99999036e-01 -9.45400352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.480888479 meters Centerline goodness [0,1] 0.999888846897717 Centerline is valid? [True, True] Translation: X:125.44, Y:86.11, Z:-0.95 [[ 3.25895083e-01 -9.45405779e-01 -5.54697317e-04 1.25444915e+02] [ 9.45404401e-01 3.25895555e-01 -1.61424719e-03 8.61122375e+01] [ 1.70689201e-03 1.66193678e-06 9.99998543e-01 -9.45152491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:86.14, Z:-0.95 [[ 3.24706476e-01 -9.45814555e-01 -7.29549966e-04 1.25454271e+02] [ 9.45812168e-01 3.24707296e-01 -2.12509283e-03 8.61385790e+01] [ 2.24683392e-03 1.41691496e-08 9.99997476e-01 -9.45711988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.540888479 meters Centerline goodness [0,1] 0.999977798006261 Centerline is valid? [True, True] Translation: X:125.46, Y:86.16, Z:-0.95 [[ 3.23484931e-01 -9.46232799e-01 -9.94963515e-04 1.25463848e+02] [ 9.46228357e-01 3.23486461e-01 -2.89921183e-03 8.61645088e+01] [ 3.06518655e-03 -3.61135367e-06 9.99995302e-01 -9.46750118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.570888479 meters Centerline goodness [0,1] 0.9999113141032747 Centerline is valid? [True, True] Translation: X:125.47, Y:86.19, Z:-0.95 [[ 3.22043779e-01 -9.46723729e-01 -1.40885677e-03 1.25473774e+02] [ 9.46714819e-01 3.22046860e-01 -4.10747266e-03 8.61897629e+01] [ 4.34235974e-03 -1.09995650e-05 9.99990572e-01 -9.47937996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.600888479 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.49, Y:86.22, Z:-0.95 [[ 3.19148787e-01 -9.47702913e-01 -1.80015085e-03 1.25485733e+02] [ 9.47688384e-01 3.19153862e-01 -5.24778272e-03 8.62151624e+01] [ 5.54786407e-03 -3.11585583e-05 9.99984610e-01 -9.49366406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.630888479 meters Centerline goodness [0,1] 0.9999777560281163 Centerline is valid? [True, True] Translation: X:125.50, Y:86.24, Z:-0.95 [[ 3.17489418e-01 -9.48259709e-01 -1.99825502e-03 1.25496353e+02] [ 9.48241784e-01 3.17495704e-01 -5.83079281e-03 8.62400390e+01] [ 6.16354328e-03 -4.36138843e-05 9.99981004e-01 -9.49632248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.660888479 meters Centerline goodness [0,1] 0.999955536782197 Centerline is valid? [True, True] Translation: X:125.51, Y:86.26, Z:-0.95 [[ 3.15859659e-01 -9.48803841e-01 -1.98666984e-03 1.25507328e+02] [ 9.48786095e-01 3.15865902e-01 -5.80322237e-03 8.62647723e+01] [ 6.13364094e-03 -5.19208785e-05 9.99981188e-01 -9.49861418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.690888479 meters Centerline goodness [0,1] 0.9997775602811638 Centerline is valid? [True, True] Translation: X:125.52, Y:86.29, Z:-0.95 [[ 3.12562778e-01 -9.49895266e-01 -1.86904899e-03 1.25520279e+02] [ 9.49879554e-01 3.12568359e-01 -5.46389415e-03 8.62901696e+01] [ 5.77433276e-03 -6.75614811e-05 9.99983326e-01 -9.49598623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72088847899997 meters Centerline goodness [0,1] 0.9996890409133312 Centerline is valid? [True, True] Translation: X:125.53, Y:86.32, Z:-0.95 [[ 3.11001525e-01 -9.50407743e-01 -1.78147929e-03 1.25530290e+02] [ 9.50393442e-01 3.11006619e-01 -5.21420403e-03 8.63154377e+01] [ 5.50967173e-03 -7.14808344e-05 9.99984819e-01 -9.49483150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75088847899997 meters Centerline goodness [0,1] 0.9997110918505678 Centerline is valid? [True, True] Translation: X:125.54, Y:86.34, Z:-0.95 [[ 3.09944222e-01 -9.50753496e-01 -1.53937248e-03 1.25539859e+02] [ 9.50742797e-01 3.09948038e-01 -4.51090154e-03 8.63408402e+01] [ 4.76588089e-03 -6.54194314e-05 9.99988641e-01 -9.48868984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78088847899997 meters Centerline goodness [0,1] 0.9995096837460162 Centerline is valid? [True, True] Translation: X:125.55, Y:86.37, Z:-0.95 [[ 3.09066084e-01 -9.51040023e-01 -1.01564762e-03 1.25550600e+02] [ 9.51035350e-01 3.09067749e-01 -2.98141504e-03 8.63654451e+01] [ 3.14934895e-03 -4.44625171e-05 9.99995040e-01 -9.47882313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81088847899997 meters Centerline goodness [0,1] 0.9991784167869435 Centerline is valid? [True, True] Translation: X:125.56, Y:86.39, Z:-0.95 [[ 3.08803061e-01 -9.51125883e-01 -4.74222517e-04 1.25559561e+02] [ 9.51124858e-01 3.08803424e-01 -1.39606277e-03 8.63909581e+01] [ 1.47427298e-03 -1.99363670e-05 9.99998913e-01 -9.47056234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84088847899997 meters Centerline goodness [0,1] 0.9989119332060221 Centerline is valid? [True, True] Translation: X:125.57, Y:86.42, Z:-0.95 [[ 3.08651273e-01 -9.51175261e-01 -1.18268500e-04 1.25566757e+02] [ 9.51175196e-01 3.08651296e-01 -3.52089656e-04 8.64182021e+01] [ 3.71402697e-04 -3.82114317e-06 9.99999931e-01 -9.46309581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87088847899997 meters Centerline goodness [0,1] 0.9983085175046182 Centerline is valid? [True, True] Translation: X:125.57, Y:86.45, Z:-0.95 [[ 3.08616030e-01 -9.51186506e-01 6.14856956e-04 1.25574204e+02] [ 9.51184799e-01 3.08616641e-01 1.80204288e-03 8.64453445e+01] [-1.90383396e-03 2.87032714e-05 9.99998187e-01 -9.47235993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90088847899997 meters Centerline goodness [0,1] 0.997738960808654 Centerline is valid? [True, True] Translation: X:125.58, Y:86.47, Z:-0.95 [[ 3.08703271e-01 -9.51158103e-01 7.44440124e-04 1.25581782e+02] [ 9.51155595e-01 3.08704166e-01 2.18450662e-03 8.64726664e+01] [-2.30762294e-03 3.37140498e-05 9.99997337e-01 -9.47973280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93088847899998 meters Centerline goodness [0,1] 0.9974140789037462 Centerline is valid? [True, True] Translation: X:125.59, Y:86.50, Z:-0.95 [[ 3.08660397e-01 -9.51171926e-01 8.52842342e-04 1.25590051e+02] [ 9.51168625e-01 3.08661573e-01 2.50585953e-03 8.64991234e+01] [-2.64674290e-03 3.77372796e-05 9.99996497e-01 -9.48737389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96088847899998 meters Centerline goodness [0,1] 0.9969735127134557 Centerline is valid? [True, True] Translation: X:125.60, Y:86.52, Z:-0.95 [[ 3.09077785e-01 -9.51036123e-01 1.10233053e-03 1.25597507e+02] [ 9.51030594e-01 3.09079747e-01 3.24326549e-03 8.65241284e+01] [-3.42517067e-03 4.59287428e-05 9.99994133e-01 -9.49218297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99088847899998 meters Centerline goodness [0,1] 0.9960629921259843 Centerline is valid? [True, True] Translation: X:125.60, Y:86.55, Z:-0.95 [[ 3.10271520e-01 -9.50645533e-01 2.15766157e-03 1.25602369e+02] [ 9.50624251e-01 3.10279012e-01 6.36148776e-03 8.65510867e+01] [-6.71699702e-03 7.73369412e-05 9.99977438e-01 -9.49499629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02088847899998 meters Centerline goodness [0,1] 0.9953604489317986 Centerline is valid? [True, True] Translation: X:125.61, Y:86.58, Z:-0.95 [[ 3.10770471e-01 -9.50481078e-01 2.72676975e-03 1.25609098e+02] [ 9.50446996e-01 3.10782420e-01 8.04958354e-03 8.65781493e+01] [-8.49840894e-03 9.00772458e-05 9.99963884e-01 -9.49813440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05088847899998 meters Centerline goodness [0,1] 0.9944915721053211 Centerline is valid? [True, True] Translation: X:125.62, Y:86.61, Z:-0.95 [[ 3.11400623e-01 -9.50272581e-01 3.41672500e-03 1.25615083e+02] [ 9.50218929e-01 3.11419350e-01 1.00982328e-02 8.66050570e+01] [-1.06601080e-02 1.02040802e-04 9.99943174e-01 -9.50352662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08088847899998 meters Centerline goodness [0,1] 0.9931630320084418 Centerline is valid? [True, True] Translation: X:125.62, Y:86.63, Z:-0.95 [[ 3.12906203e-01 -9.49772975e-01 4.58309212e-03 1.25617228e+02] [ 9.49676134e-01 3.12939746e-01 1.35630036e-02 8.66320545e+01] [-1.43160060e-02 1.08505251e-04 9.99897515e-01 -9.50593993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11088847899998 meters Centerline goodness [0,1] 0.992570219145465 Centerline is valid? [True, True] Translation: X:125.62, Y:86.66, Z:-0.95 [[ 3.14136236e-01 -9.49364149e-01 5.11251147e-03 1.25622351e+02] [ 9.49243300e-01 3.14177821e-01 1.51477488e-02 8.66593762e+01] [-1.59869674e-02 9.45604591e-05 9.99872196e-01 -9.51003960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14088847899998 meters Centerline goodness [0,1] 0.9920420321396382 Centerline is valid? [True, True] Translation: X:125.63, Y:86.69, Z:-0.95 [[ 3.15217370e-01 -9.49002464e-01 5.68628162e-03 1.25627294e+02] [ 9.48852543e-01 3.15268644e-01 1.68681467e-02 8.66856600e+01] [-1.78006191e-02 7.83099317e-05 9.99841553e-01 -9.50203984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17088847899998 meters Centerline goodness [0,1] 0.991361164707946 Centerline is valid? [True, True] Translation: X:125.63, Y:86.71, Z:-0.95 [[ 3.16262362e-01 -9.48652111e-01 6.10656809e-03 1.25632134e+02] [ 9.48478741e-01 3.16321306e-01 1.81358449e-02 8.67129972e+01] [-1.91362452e-02 5.62648542e-05 9.99816884e-01 -9.50353244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20088847899999 meters Centerline goodness [0,1] 0.9907699728141717 Centerline is valid? [True, True] Translation: X:125.63, Y:86.74, Z:-0.95 [[ 3.18033168e-01 -9.48053476e-01 7.03636521e-03 1.25632197e+02] [ 9.47822620e-01 3.18110997e-01 2.09206771e-02 8.67420452e+01] [-2.20722658e-02 1.57569075e-05 9.99756378e-01 -9.51847398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.230888479 meters Centerline goodness [0,1] 0.989965019676432 Centerline is valid? [True, True] Translation: X:125.64, Y:86.77, Z:-0.95 [[ 3.18378575e-01 -9.47935331e-01 7.32745639e-03 1.25636175e+02] [ 9.47684460e-01 3.18462885e-01 2.18072236e-02 8.67698780e+01] [-2.30053606e-02 1.16378417e-06 9.99735342e-01 -9.52677086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.260888479 meters Centerline goodness [0,1] 0.989500796717089 Centerline is valid? [True, True] Translation: X:125.64, Y:86.80, Z:-0.95 [[ 3.18255182e-01 -9.47974926e-01 7.56158898e-03 1.25639673e+02] [ 9.47707179e-01 3.18345000e-01 2.25291940e-02 8.67968531e+01] [-2.37643050e-02 -3.86058104e-06 9.99717589e-01 -9.52855414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290888479 meters Centerline goodness [0,1] 0.9893834573380325 Centerline is valid? [True, True] Translation: X:125.64, Y:86.83, Z:-0.96 [[ 3.17587286e-01 -9.48197399e-01 7.74647731e-03 1.25644243e+02] [ 9.47915864e-01 3.17681746e-01 2.31046200e-02 8.68253678e+01] [-2.43686550e-02 5.27517956e-06 9.99703040e-01 -9.56553301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.320888479 meters Centerline goodness [0,1] 0.9886621315192744 Centerline is valid? [True, True] Translation: X:125.65, Y:86.85, Z:-0.96 [[ 3.14736962e-01 -9.49147189e-01 7.76256549e-03 1.25645811e+02] [ 9.48864310e-01 3.14832666e-01 2.31714178e-02 8.68531101e+01] [-2.44369953e-02 7.27196872e-05 9.99701369e-01 -9.58734852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.350888479 meters Centerline goodness [0,1] 0.988735190660135 Centerline is valid? [True, True] Translation: X:125.65, Y:86.88, Z:-0.96 [[ 3.12070865e-01 -9.50024565e-01 8.06857493e-03 1.25651807e+02] [ 9.49718746e-01 3.12175122e-01 2.41038636e-02 8.68790971e+01] [-2.54180708e-02 1.40763312e-04 9.99676899e-01 -9.59810463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.380888479 meters Centerline goodness [0,1] 0.9884660989544034 Centerline is valid? [True, True] Translation: X:125.66, Y:86.91, Z:-0.96 [[ 3.08709276e-01 -9.51119426e-01 8.39165991e-03 1.25658708e+02] [ 9.50788403e-01 3.08823223e-01 2.50924355e-02 8.69061862e+01] [-2.64574423e-02 2.32425334e-04 9.99649914e-01 -9.61934454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.410888479 meters Centerline goodness [0,1] 0.9856789592516934 Centerline is valid? [True, True] Translation: X:125.67, Y:86.93, Z:-0.96 [[ 3.00221902e-01 -9.53823503e-01 9.35597328e-03 1.25666535e+02] [ 9.53412586e-01 3.00367210e-01 2.79996598e-02 8.69317851e+01] [-2.95169612e-02 5.13991536e-04 9.99564147e-01 -9.61083515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.440888479 meters Centerline goodness [0,1] 0.9838082901554405 Centerline is valid? [True, True] Translation: X:125.67, Y:86.96, Z:-0.97 [[ 2.95456321e-01 -9.55298448e-01 1.05089127e-02 1.25669234e+02] [ 9.54780081e-01 2.95642243e-01 3.14747644e-02 8.69598377e+01] [-3.31746722e-02 7.34282428e-04 9.99449299e-01 -9.67528612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47088847899997 meters Centerline goodness [0,1] 0.9808848797250859 Centerline is valid? [True, True] Translation: X:125.68, Y:86.99, Z:-0.97 [[ 2.90995198e-01 -9.56660910e-01 1.10317297e-02 1.25677061e+02] [ 9.56089799e-01 2.91202760e-01 3.30643085e-02 8.69854182e+01] [-3.48438016e-02 9.25769224e-04 9.99392342e-01 -9.66030882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50088847899997 meters Centerline goodness [0,1] 0.9747550382953233 Centerline is valid? [True, True] Translation: X:125.68, Y:87.01, Z:-0.96 [[ 2.84168013e-01 -9.58697489e-01 1.21517388e-02 1.25682789e+02] [ 9.58005003e-01 2.84424824e-01 3.64545576e-02 8.70120566e+01] [-3.84051490e-02 1.28220736e-03 9.99261427e-01 -9.64962616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53088847899997 meters Centerline goodness [0,1] 0.9715656996587031 Centerline is valid? [True, True] Translation: X:125.69, Y:87.04, Z:-0.97 [[ 2.81471273e-01 -9.59487162e-01 1.25820733e-02 1.25686435e+02] [ 9.58744499e-01 2.81748712e-01 3.77710127e-02 8.70402005e+01] [-3.97857847e-02 1.43153850e-03 9.99207207e-01 -9.67939521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56088847899997 meters Centerline goodness [0,1] 0.9668478726136461 Centerline is valid? [True, True] Translation: X:125.69, Y:87.07, Z:-0.96 [[ 2.79141238e-01 -9.60158678e-01 1.32469628e-02 1.25694186e+02] [ 9.59334554e-01 2.79450822e-01 3.98051568e-02 8.70661885e+01] [-4.19211413e-02 1.59700840e-03 9.99119646e-01 -9.64982772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59088847899997 meters Centerline goodness [0,1] 0.9629415170816444 Centerline is valid? [True, True] Translation: X:125.70, Y:87.10, Z:-0.97 [[ 2.77632347e-01 -9.60587237e-01 1.38722889e-02 1.25696700e+02] [ 9.59682164e-01 2.77973330e-01 4.17249662e-02 8.70955417e+01] [-4.39365963e-02 1.72878789e-03 9.99032826e-01 -9.67431310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62088847899997 meters Centerline goodness [0,1] 0.9527231386344623 Centerline is valid? [True, True] Translation: X:125.70, Y:87.12, Z:-0.97 [[ 2.77102508e-01 -9.60736865e-01 1.41023620e-02 1.25697348e+02] [ 9.59799866e-01 2.77455479e-01 4.24579198e-02 8.71243849e+01] [-4.47036664e-02 1.77024908e-03 9.98998723e-01 -9.66499671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65088847899997 meters Centerline goodness [0,1] 0.9463038040196671 Centerline is valid? [True, False] Translation: X:126.16, Y:85.92, Z:-0.74 [[ 9.84652829e-01 1.39334449e-01 -1.05093851e-01 1.26163430e+02] [-1.40017078e-01 9.90148688e-01 8.90734487e-04 8.59160397e+01] [ 1.04182648e-01 1.38378696e-02 9.94461909e-01 -7.42734365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68088847899998 meters Centerline goodness [0,1] 0.939741626587875 Centerline is valid? [False, False] Translation: X:126.17, Y:85.92, Z:-0.74 [[ 9.84877115e-01 1.36877018e-01 -1.06215587e-01 1.26168136e+02] [-1.37891691e-01 9.90444795e-01 -2.23357556e-03 8.59248091e+01] [ 1.04894950e-01 1.68460444e-02 9.94340616e-01 -7.44094383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71088847899998 meters Centerline goodness [0,1] 0.9279229240990365 Centerline is valid? [False, False] Translation: X:126.20, Y:85.94, Z:-0.74 [[ 9.85060701e-01 1.36855283e-01 -1.04527736e-01 1.26199284e+02] [-1.38083120e-01 9.90410113e-01 -4.56719419e-03 8.59363147e+01] [ 1.02900283e-01 1.89324794e-02 9.94511485e-01 -7.44458498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74088847899998 meters Centerline goodness [0,1] 0.9222646887348578 Centerline is valid? [False, False] Translation: X:126.20, Y:85.95, Z:-0.75 [[ 9.85219557e-01 1.35118899e-01 -1.05286790e-01 1.26203386e+02] [-1.36571505e-01 9.90607707e-01 -6.67790300e-03 8.59450999e+01] [ 1.03395594e-01 2.09583760e-02 9.94419478e-01 -7.45358705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77088847899998 meters Centerline goodness [0,1] 0.9164067238540854 Centerline is valid? [False, False] Translation: X:126.21, Y:85.95, Z:-0.75 [[ 9.85353705e-01 1.33405341e-01 -1.06212477e-01 1.26207667e+02] [-1.35073009e-01 9.90798038e-01 -8.63307237e-03 8.59533512e+01] [ 1.04083416e-01 2.28530687e-02 9.94305979e-01 -7.46031269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80088847899998 meters Centerline goodness [0,1] 0.9052934507717799 Centerline is valid? [False, False] Translation: X:126.22, Y:85.97, Z:-0.74 [[ 9.85337922e-01 1.30978724e-01 -1.09333218e-01 1.26223779e+02] [-1.32461520e-01 9.91167619e-01 -6.37947105e-03 8.59660140e+01] [ 1.07531970e-01 2.07683789e-02 9.93984683e-01 -7.44976499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83088847899998 meters Centerline goodness [0,1] 0.89901633623416 Centerline is valid? [False, False] Translation: X:126.23, Y:85.97, Z:-0.75 [[ 9.85512126e-01 1.28781470e-01 -1.10368394e-01 1.26228153e+02] [-1.30510061e-01 9.91410090e-01 -8.55317022e-03 8.59739160e+01] [ 1.08318850e-01 2.28334389e-02 9.93853943e-01 -7.45337073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86088847899998 meters Centerline goodness [0,1] 0.8940920766646908 Centerline is valid? [False, False] Translation: X:126.23, Y:85.98, Z:-0.75 [[ 9.85660268e-01 1.26967311e-01 -1.11144671e-01 1.26231768e+02] [-1.28906680e-01 9.91602075e-01 -1.04111524e-02 8.59818171e+01] [ 1.08889411e-01 2.45891499e-02 9.93749702e-01 -7.45481367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89088847899998 meters Centerline goodness [0,1] 0.882693412274113 Centerline is valid? [False, False] Translation: X:126.25, Y:85.99, Z:-0.74 [[ 9.85882212e-01 1.24641631e-01 -1.11806651e-01 1.26249830e+02] [-1.26066992e-01 9.92005108e-01 -5.74268877e-03 8.59933978e+01] [ 1.10196990e-01 1.97567429e-02 9.93713386e-01 -7.44702025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2640.33 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%| | 0/5797 [00:00